*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="transit" *n code=0068 name="transit:NeedComms" *n code=0069 name="transit:NeedComms:A" *n code=006A name="transit:NeedComms:B.GoToSurface" *n code=006B name="transit:NeedComms:C" *n code=006C name="transit:NeedComms:C:A_Timeout" *n code=006D name="transit:NeedComms:C:A_Timeout:A" *n code=006E name="transit:NeedComms:D" *n code=006F name="transit:NeedComms:D:A_Timeout" *n code=0070 name="transit:NeedComms:D:A_Timeout:A" *n code=0071 name="transit:NeedComms:E" *n code=0072 name="transit:NeedComms:E:A_Timeout" *n code=0073 name="transit:NeedComms:E:A_Timeout:A" *n code=0074 name="transit:B" *n code=0075 name="transit:C" *n code=0076 name="transit:StandardEnvelopes" *n code=0077 name="transit:StandardEnvelopes:A.AltitudeEnvelope" *n code=0078 name="transit:StandardEnvelopes:B.DepthEnvelope" *n code=0079 name="transit:StandardEnvelopes:C.OffshoreEnvelope" *n code=007A name="transit:E" *n code=007B name="transit:F" *n code=007C name="transit:G" *n code=007D name="transit:BackseatDriver" *n code=007E name="transit:BackseatDriver:A.BackseatDriver" *n code=007F name="transit:PowerOnly" *n code=0080 name="transit:PowerOnly:A" *n code=0081 name="transit:PowerOnly:B" *n code=0082 name="transit:PowerOnly:C" *n code=0083 name="transit:PowerOnly:D" *n code=0084 name="transit:PowerOnly:E.Wait" *n code=0085 name="transit:BuoyancyHold.Buoyancy" *n code=0086 name="transit:MassHold.Pitch" *n code=0087 name="transit:Transit" *n code=0088 name="transit:Transit:A.Pitch" *n code=0089 name="transit:Transit:B.SetSpeed" *n code=008A name="transit:Transit:Wpt1.Waypoint" *n code=008B name="transit:Transit:PhoneHome" *n code=008C name="marl" *n code=008D name="marl:AbortDrift" *n code=008E name="marl:AbortDrift:A" *n code=008F name="marl:AbortDrift:B.AbortDrift" *n code=0090 name="marl:AbortDrift:C.Execute" *n code=0091 name="marl:AbortDrift.Redefine.AcousticTimeout" *n code=0092 name="marl:B." *n code=0093 name="marl:SendObservationData" *n code=0094 name="marl:SendObservationData:A" *n code=0095 name="marl:SendObservationData:B" *n code=0096 name="marl:SendObservationData:C" *n code=0097 name="marl:SendObservationData:D.SendDirect" *n code=0098 name="marl:SendObservationData:E" *n code=0099 name="marl:UpdateContactLabel" *n code=009A name="marl:UpdateContactLabel:A" *n code=009B name="marl:UpdateContactLabel:B" *n code=009C name="marl:NeedComms" *n code=009D name="marl:NeedComms:A" *n code=009E name="marl:NeedComms:B.GoToSurface" *n code=009F name="marl:NeedComms:C" *n code=00A0 name="marl:NeedComms:C:A_Timeout" *n code=00A1 name="marl:NeedComms:C:A_Timeout:A" *n code=00A2 name="marl:NeedComms:D" *n code=00A3 name="marl:NeedComms:D:A_Timeout" *n code=00A4 name="marl:NeedComms:D:A_Timeout:A" *n code=00A5 name="marl:NeedComms:E" *n code=00A6 name="marl:NeedComms:E:A_Timeout" *n code=00A7 name="marl:NeedComms:E:A_Timeout:A" *n code=00A8 name="marl:F" *n code=00A9 name="marl:StandardEnvelopes" *n code=00AA name="marl:StandardEnvelopes:A.AltitudeEnvelope" *n code=00AB name="marl:StandardEnvelopes:B.DepthEnvelope" *n code=00AC name="marl:StandardEnvelopes:C.OffshoreEnvelope" *n code=00AD name="marl:H" *n code=00AE name="marl:I" *n code=00AF name="marl:J" *n code=00B0 name="marl:SpeedTimeout" *n code=00B1 name="marl:SpeedTimeout:A" *n code=00B2 name="marl:SpeedTimeout:B" *n code=00B3 name="marl:UpdateSpeed" *n code=00B4 name="marl:UpdateSpeed:A" *n code=00B5 name="marl:UpdateCommandMode" *n code=00B6 name="marl:UpdateCommandMode:A" *n code=00B7 name="marl:UpdateHeading" *n code=00B8 name="marl:UpdateHeading:A" *n code=00B9 name="marl:UpdateHeading:B" *n code=00BA name="marl:UpdateRudder" *n code=00BB name="marl:UpdateRudder:A" *n code=00BC name="marl:UpdateRudder:B" *n code=00BD name="marl:Science" *n code=00BE name="marl:Science:A" *n code=00BF name="marl:Science:B" *n code=00C0 name="marl:Science:C" *n code=00C1 name="marl:Science:D" *n code=00C2 name="marl:Science:E" *n code=00C3 name="marl:Science:F" *n code=00C4 name="marl:Science:Read_Oil" *n code=00C5 name="marl:Science:OceanCurrent" *n code=00C6 name="marl:Science:OceanCurrent:A." *n code=00C7 name="marl:Science:PeakDetectChl" *n code=00C8 name="marl:Science:PeakDetectChl:A" *n code=00C9 name="marl:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=00CA name="marl:Science:PeakDetectChl:C" *n code=00CB name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=00CC name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=00CD name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=00CE name="marl:Science:EdgeDetectChl" *n code=00CF name="marl:Science:EdgeDetectChl:A" *n code=00D0 name="marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=00D1 name="marl:Science:EdgeDetectChl:C" *n code=00D2 name="marl:Science:EdgeDetectChl:D" *n code=00D3 name="marl:Science:HighestChlPeakReport" *n code=00D4 name="marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00D5 name="marl:Science:PeakDepthAvgProfilesChl" *n code=00D6 name="marl:Science:PeakDepthAvgProfilesChl:A" *n code=00D7 name="marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=00D8 name="marl:Science:PeakDetectNO3" *n code=00D9 name="marl:Science:PeakDetectNO3:A" *n code=00DA name="marl:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=00DB name="marl:Science:PeakDetectNO3:C" *n code=00DC name="marl:Science:PeakDetectOil" *n code=00DD name="marl:Science:PeakDetectOil:A" *n code=00DE name="marl:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=00DF name="marl:Science:PeakDetectOil:C" *n code=00E0 name="marl:Science:HighestOilPeakReport" *n code=00E1 name="marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00E2 name="marl:Science:PeakDetectFDOM" *n code=00E3 name="marl:Science:PeakDetectFDOM:A" *n code=00E4 name="marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=00E5 name="marl:Science:PeakDetectFDOM:C" *n code=00E6 name="marl:Science:PeakDetectSalinity" *n code=00E7 name="marl:Science:PeakDetectSalinity:A" *n code=00E8 name="marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=00E9 name="marl:Science:PeakDetectSalinity:C" *n code=00EA name="marl:Science:HighestSaltPeakReport" *n code=00EB name="marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00EC name="marl:Science:PeakDetectPlanktivoreLMavgROI" *n code=00ED name="marl:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=00EE name="marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=00EF name="marl:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=00F0 name="marl:Science:EdgeDetectPlanktivoreLMavgROI" *n code=00F1 name="marl:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00F2 name="marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00F3 name="marl:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00F4 name="marl:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00F5 name="marl:Science:PeakDetectPlanktivoreHMavgROI" *n code=00F6 name="marl:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00F7 name="marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00F8 name="marl:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00F9 name="marl:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00FA name="marl:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00FB name="marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00FC name="marl:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00FD name="marl:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00FE name="marl:Science:PeakDetectPlanktivoreDiatoms" *n code=00FF name="marl:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0100 name="marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=0101 name="marl:Science:PeakDetectPlanktivoreDiatoms:C" *n code=0102 name="marl:Science:EdgeDetectPlanktivoreDiatoms" *n code=0103 name="marl:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=0104 name="marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=0105 name="marl:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0106 name="marl:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0107 name="marl:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0108 name="marl:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0109 name="marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=010A name="marl:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=010B name="marl:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=010C name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=010D name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=010E name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=010F name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0110 name="marl:Science:ChlThreshTrigger" *n code=0111 name="marl:Science:ChlThreshTrigger:A.ValueDetect" *n code=0112 name="marl:Science:ChlThreshTrigger:B" *n code=0113 name="marl:Science:ChlThreshTrigger:C" *n code=0114 name="marl:BackseatDriver" *n code=0115 name="marl:BackseatDriver:A.BackseatDriver" *n code=0116 name="marl:U" *n code=0117 name="marl:PowerOnly" *n code=0118 name="marl:PowerOnly:A" *n code=0119 name="marl:PowerOnly:B" *n code=011A name="marl:PowerOnly:C" *n code=011B name="marl:PowerOnly:D" *n code=011C name="marl:PowerOnly:E.Wait" *n code=011D name="marl:StartingMission" *n code=011E name="marl:JoystickControl" *n code=011F name="marl:JoystickControl:A.Buoyancy" *n code=0120 name="marl:JoystickControl:B.Pitch" *n code=0121 name="marl:JoystickControl:C.Pitch" *n code=0122 name="marl:JoystickControl:D.SetSpeed" *n code=0123 name="marl:JoystickControl:CmdHeading" *n code=0124 name="marl:JoystickControl:CmdHeading:A.Point" *n code=0125 name="marl:JoystickControl:CmdRudder" *n code=0126 name="marl:JoystickControl:CmdRudder:A.Point" *n code=0127 name="run_backseat_on_surface" *n code=0128 name="run_backseat_on_surface:Science" *n code=0129 name="run_backseat_on_surface:Science:A" *n code=012A name="run_backseat_on_surface:Science:B" *n code=012B name="run_backseat_on_surface:Science:C" *n code=012C name="run_backseat_on_surface:Science:D" *n code=012D name="run_backseat_on_surface:Science:E" *n code=012E name="run_backseat_on_surface:Science:F" *n code=012F name="run_backseat_on_surface:Science:Read_Oil" *n code=0130 name="run_backseat_on_surface:Science:OceanCurrent" *n code=0131 name="run_backseat_on_surface:Science:OceanCurrent:A." *n code=0132 name="run_backseat_on_surface:Science:PeakDetectChl" *n code=0133 name="run_backseat_on_surface:Science:PeakDetectChl:A" *n code=0134 name="run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0135 name="run_backseat_on_surface:Science:PeakDetectChl:C" *n code=0136 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0137 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0138 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0139 name="run_backseat_on_surface:Science:EdgeDetectChl" *n code=013A name="run_backseat_on_surface:Science:EdgeDetectChl:A" *n code=013B name="run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=013C name="run_backseat_on_surface:Science:EdgeDetectChl:C" *n code=013D name="run_backseat_on_surface:Science:EdgeDetectChl:D" *n code=013E name="run_backseat_on_surface:Science:HighestChlPeakReport" *n code=013F name="run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0140 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl" *n code=0141 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A" *n code=0142 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0143 name="run_backseat_on_surface:Science:PeakDetectNO3" *n code=0144 name="run_backseat_on_surface:Science:PeakDetectNO3:A" *n code=0145 name="run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0146 name="run_backseat_on_surface:Science:PeakDetectNO3:C" *n code=0147 name="run_backseat_on_surface:Science:PeakDetectOil" *n code=0148 name="run_backseat_on_surface:Science:PeakDetectOil:A" *n code=0149 name="run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=014A name="run_backseat_on_surface:Science:PeakDetectOil:C" *n code=014B name="run_backseat_on_surface:Science:HighestOilPeakReport" *n code=014C name="run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=014D name="run_backseat_on_surface:Science:PeakDetectFDOM" *n code=014E name="run_backseat_on_surface:Science:PeakDetectFDOM:A" *n code=014F name="run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0150 name="run_backseat_on_surface:Science:PeakDetectFDOM:C" *n code=0151 name="run_backseat_on_surface:Science:PeakDetectSalinity" *n code=0152 name="run_backseat_on_surface:Science:PeakDetectSalinity:A" *n code=0153 name="run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0154 name="run_backseat_on_surface:Science:PeakDetectSalinity:C" *n code=0155 name="run_backseat_on_surface:Science:HighestSaltPeakReport" *n code=0156 name="run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0157 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI" *n code=0158 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0159 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=015A name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=015B name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI" *n code=015C name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=015D name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=015E name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=015F name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0160 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI" *n code=0161 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0162 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=0163 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0164 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0165 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0166 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0167 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0168 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0169 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms" *n code=016A name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A" *n code=016B name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=016C name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:C" *n code=016D name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms" *n code=016E name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=016F name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=0170 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0171 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0172 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0173 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0174 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0175 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0176 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0177 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0178 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0179 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=017A name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=017B name="run_backseat_on_surface:Science:ChlThreshTrigger" *n code=017C name="run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect" *n code=017D name="run_backseat_on_surface:Science:ChlThreshTrigger:B" *n code=017E name="run_backseat_on_surface:Science:ChlThreshTrigger:C" *n code=017F name="run_backseat_on_surface:BackseatDriver" *n code=0180 name="run_backseat_on_surface:BackseatDriver:A.BackseatDriver" *n code=0181 name="run_backseat_on_surface:C" *n code=0182 name="run_backseat_on_surface:PowerOnly" *n code=0183 name="run_backseat_on_surface:PowerOnly:A" *n code=0184 name="run_backseat_on_surface:PowerOnly:B" *n code=0185 name="run_backseat_on_surface:PowerOnly:C" *n code=0186 name="run_backseat_on_surface:PowerOnly:D" *n code=0187 name="run_backseat_on_surface:PowerOnly:E.Wait" *n code=0188 name="run_backseat_on_surface:E.GoToSurface" *n code=0189 name="run_backseat_on_surface:CheckIn" *n code=018A name="run_backseat_on_surface:CheckIn:Read_GPS" *n code=018B name="run_backseat_on_surface:CheckIn:Read_Iridium" *n code=018C name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout" *n code=018D name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=018E name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:B" *n code=018F name="run_backseat_on_surface:CheckIn:C.Wait" *n code=0190 name="run_backseat_on_surface:CheckIn:D" *n code=0191 name="run_backseat_on_surface:CheckIn:E" *n code=0192 name="run_backseat_on_surface:G" *n code=0193 name="run_backseat_on_surface:H.Execute" *n code=0194 name="keepstation" *n code=0195 name="keepstation:NeedComms" *n code=0196 name="keepstation:NeedComms:A" *n code=0197 name="keepstation:NeedComms:B.GoToSurface" *n code=0198 name="keepstation:NeedComms:C" *n code=0199 name="keepstation:NeedComms:C:A_Timeout" *n code=019A name="keepstation:NeedComms:C:A_Timeout:A" *n code=019B name="keepstation:NeedComms:D" *n code=019C name="keepstation:NeedComms:D:A_Timeout" *n code=019D name="keepstation:NeedComms:D:A_Timeout:A" *n code=019E name="keepstation:NeedComms:E" *n code=019F name="keepstation:NeedComms:E:A_Timeout" *n code=01A0 name="keepstation:NeedComms:E:A_Timeout:A" *n code=01A1 name="keepstation:B" *n code=01A2 name="keepstation:StandardEnvelopes" *n code=01A3 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=01A4 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=01A5 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=01A6 name="keepstation:D" *n code=01A7 name="keepstation:E" *n code=01A8 name="keepstation:BackseatDriver" *n code=01A9 name="keepstation:BackseatDriver:A.BackseatDriver" *n code=01AA 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code=01BD name="keepstation:SurfaceComms:setStation" *n code=01BE name="keepstation:SurfaceComms:setStation:A" *n code=01BF name="keepstation:SurfaceComms:setSink" *n code=01C0 name="keepstation:SurfaceComms:setSink:A" *n code=01C1 name="keepstation:StartingMission" *n code=01C2 name="keepstation:DiveCmd" *n code=01C3 name="keepstation:DiveCmd:SurfaceSink" *n code=01C4 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=01C5 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=01C6 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=01C7 name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=01C8 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=01C9 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=01CA name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=01CB name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=01CC name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=01CD name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=01CE name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=01CF name="keepstation:DiveCmd:TransitToStation" *n code=01D0 name="keepstation:DiveCmd:TransitToStation:dive" *n code=01D1 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=01D2 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=01D3 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=01D4 name="keepstation:DiveCmd:StationKeep" *n code=01D5 name="keepstation:DiveCmd:StationKeep:A" *n code=01D6 name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=01D7 name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=01D8 name="keepstation:TransitToStation" *n code=01D9 name="keepstation:TransitToStation:Dive" *n code=01DA name="keepstation:TransitToStation:Dive:A" *n code=01DB name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=01DC name="keepstation:TransitToStation:C" *n code=01DD name="keepstation:TransitToStation:D" *n code=01DE name="keepstation:OnStation" *n code=01DF name="keepstation:KeepStation" *n code=01E0 name="keepstation:KeepStation:Dive" *n code=01E1 name="keepstation:KeepStation:Dive:A" *n code=01E2 name="keepstation:KeepStation:B.Wait" *n code=01E3 name="lineCaptureHoming" *n code=01E4 name="lineCaptureHoming:Science" *n code=01E5 name="lineCaptureHoming:Science:A" *n code=01E6 name="lineCaptureHoming:Science:B" *n code=01E7 name="lineCaptureHoming:Science:C" *n code=01E8 name="lineCaptureHoming:Science:D" *n code=01E9 name="lineCaptureHoming:Science:E" *n code=01EA name="lineCaptureHoming:Science:F" *n code=01EB name="lineCaptureHoming:Science:Read_Oil" *n code=01EC name="lineCaptureHoming:Science:OceanCurrent" *n code=01ED name="lineCaptureHoming:Science:OceanCurrent:A." *n code=01EE name="lineCaptureHoming:Science:PeakDetectChl" *n code=01EF name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=01F0 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=01F1 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=01F2 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=01F3 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=01F4 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=01F5 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=01F6 name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=01F7 name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=01F8 name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=01F9 name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=01FA name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=01FB name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=01FC name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=01FD name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=01FE name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=01FF name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0200 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0201 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0202 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0203 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0204 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0205 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0206 name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=0207 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=0208 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0209 name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=020A name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=020B name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=020C name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=020D name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=020E name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=020F name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0210 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0211 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0212 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0213 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0214 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0215 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0216 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0217 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0218 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0219 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=021A name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=021B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=021C name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=021D name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=021E name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=021F name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0220 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0221 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0222 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0223 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0224 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0225 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=0226 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0227 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=0228 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=0229 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=022A name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=022B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=022C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=022D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=022E name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=022F name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0230 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0231 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0232 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0233 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0234 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0235 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0236 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0237 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=0238 name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=0239 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=023A name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=023B name="lineCaptureHoming:StandardEnvelopes" *n code=023C name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=023D name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=023E name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=023F name="lineCaptureHoming:C" *n code=0240 name="lineCaptureHoming:D" *n code=0241 name="lineCaptureHoming:E" *n code=0242 name="lineCaptureHoming:NeedComms" *n code=0243 name="lineCaptureHoming:NeedComms:A" *n code=0244 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=0245 name="lineCaptureHoming:NeedComms:C" *n code=0246 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=0247 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=0248 name="lineCaptureHoming:NeedComms:D" *n code=0249 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=024A name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=024B name="lineCaptureHoming:NeedComms:E" *n code=024C name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=024D name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=024E name="lineCaptureHoming:G" *n code=024F name="lineCaptureHoming:H" *n code=0250 name="lineCaptureHoming:MicromodemComms" *n code=0251 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=0252 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=0253 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=0254 name="lineCaptureHoming:J" *n code=0255 name="lineCaptureHoming:LineCapture" *n code=0256 name="lineCaptureHoming:LineCapture:A" *n code=0257 name="lineCaptureHoming:LineCapture:B" *n code=0258 name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=0259 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=025A name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=025B name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=025C name="lineCaptureHoming:LineCapture:D" *n code=025D name="lineCaptureHoming:LineCapture:E" *n code=025E name="lineCaptureHoming:LineCapture:F" *n code=025F name="lineCaptureHoming:LineCapture:G" *n code=0260 name="lineCaptureHoming:LineCapture:H" *n code=0261 name="lineCaptureHoming:LineCapture:HoldMass" *n code=0262 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=0263 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=0264 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=0265 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=0266 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=0267 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=0268 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=0269 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=026A name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=026B name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=026C name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=026D name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=026E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=026F name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=0270 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=0271 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=0272 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=0273 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=0274 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=0275 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=0276 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=0277 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=0278 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=0279 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=027A name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=027B name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=027C name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=027D name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=027E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=027F name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0280 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0281 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0282 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0283 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0284 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0285 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0286 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0287 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=0288 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0289 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=028A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=028B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=028C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=028D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=028E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=028F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0290 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0291 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0292 name="lineCaptureHoming:LineCapture:M" *n code=0293 name="lineCaptureHoming:L" *n code=0294 name="lineCaptureHoming:M" *n code=0295 name="lineCaptureHoming:N" *n code=0296 name="lineCaptureHoming:O" *n code=0297 name="lineCaptureHoming:P" *n code=0298 name="lineCaptureHoming:Q" *n code=0299 name="lineCaptureHoming:U" *n code=029A name="lineCaptureHoming:TrackAC." *n code=029B name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=029C name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=029D name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=029E name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=029F name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=02A0 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=02A1 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=02A2 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=02A3 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=02A4 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=02A5 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=02A6 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=02A7 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=02A8 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=02A9 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=02AA name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=02AB name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=02AC name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=02AD name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=02AE name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=02AF name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=02B0 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=02B1 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=02B2 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=02B3 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=02B4 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=02B5 name="lineCaptureHoming:restartDHCP" *n code=02B6 name="lineCaptureHoming:restartDHCP:A" *n code=02B7 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=02B8 name="lineCaptureHoming:StartingMission" *n code=02B9 name="lineCaptureHoming:Z" *n code=02BA name="lineCaptureHoming:BA.Execute" *n code=02BB name="lineCaptureHoming:InitialDive" *n code=02BC name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=02BD name="lineCaptureHoming:InitialDive:B.Mass" *n code=02BE name="lineCaptureHoming:InitialDive:C.Pitch" *n code=02BF name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=02C0 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=02C1 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=02C2 name="lineCaptureHoming:RepeatHack" *n code=02C3 name="lineCaptureHoming:RepeatHack:A" *n code=02C4 name="lineCaptureHoming:Lap" *n code=02C5 name="lineCaptureHoming:Lap:A" *n code=02C6 name="lineCaptureHoming:Lap:B" *n code=02C7 name="lineCaptureHoming:Lap:C" *n code=02C8 name="lineCaptureHoming:Lap:D" *n code=02C9 name="lineCaptureHoming:Lap:E" *n code=02CA name="lineCaptureHoming:Lap:Docked" *n code=02CB name="lineCaptureHoming:Lap:Docked:A" *n code=02CC name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=02CD name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=02CE name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=02CF name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=02D0 name="lineCaptureHoming:Lap:Docked:C" *n code=02D1 name="lineCaptureHoming:Lap:Docked:D" *n code=02D2 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=02D3 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=02D4 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=02D5 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=02D6 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=02D7 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=02D8 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=02D9 name="lineCaptureHoming:Lap:Docked:Detach" *n code=02DA name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=02DB name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=02DC name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=02DD name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=02DE name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=02DF name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=02E0 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=02E1 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=02E2 name="lineCaptureHoming:Lap:Docked:Drift" *n code=02E3 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=02E4 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=02E5 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=02E6 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=02E7 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=02E8 name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e 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 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elementURI="platform_propeller_rotation_rate" type=04 *e code=003A elementURI="platform_relative_humidity" type=04 *e code=003B elementURI="platform_roll_angle" type=04 *e code=003C elementURI="platform_roll_rate" type=04 *e code=003D elementURI="platform_rudder_angle" type=04 *e code=003E elementURI="platform_speed_wrt_ground" type=04 *e code=003F elementURI="platform_speed_wrt_sea_water" type=04 *e code=0040 elementURI="platform_temperature" type=04 *e code=0041 elementURI="platform_vehicle_power" type=04 *e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0044 elementURI="platform_x_sea_water_velocity" type=04 *e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0047 elementURI="platform_x_velocity_current" type=04 *e code=0048 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element=0345 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1364 owner=02DB element=0346 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1365 owner=02DB element=0330 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1366 owner=02DB element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1367 owner=02DB element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=1368 owner=02DB element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1369 owner=02DB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=136A owner=02DB element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=136B owner=02DB element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=136C owner=02DB element=07EF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=136D owner=02DB element=006E universal=3FFF unitName="enum" type=02 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unitName="enum" type=02 size=0001 fl=05 *a code=1398 owner=02E5 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=1399 owner=02E6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=139A owner=02E6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=139B owner=02E6 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=139C owner=02E6 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=139D owner=02E6 element=0534 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=139E owner=02E6 element=0535 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=139F owner=02E6 element=0536 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=13A0 owner=02E6 element=0532 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=13A1 owner=02E6 element=0533 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=13A2 owner=02E7 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13A3 owner=02E7 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=13A4 owner=02E7 element=0523 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=13A5 owner=02E8 element=0334 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=13A6 owner=01E9 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13A7 owner=01E7 element=0776 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=13A8 owner=01E7 element=0779 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=13A9 owner=01E6 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13AA owner=01E6 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13AB owner=0245 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13AC owner=0248 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13AD owner=0252 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=13AE owner=024B element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 ih@Iha_;h CYh.>yhDbDh}VDh9yh=%hP=ٔhvQ-h>9?hI?h=hFy?hhO=Eh>? hQ 5!h;4 h|?Q 9!h;4 h:) hOY?"hy"hQ I"h? h>I h*:i h": h;4y?#hɮ#hC?$hGW&hBhCB?hB?hBh=B?hBhqDBh#;BhE߿gh=߿gh%=hh*DAT read: user:108> ihBDAT read: Tx time:20:33:35.5030 ih$Ping request sent.ihyRDbDZVDZģ9yfy%fJ=ٔf:Q-j>9hIh=jFyhny<E~>Q 5 ;4|?Q 9 ;4:)7Y y VQ I?>I:i:;4y9ɮ=C9*UUHBUL=qUUƷ<1}˜}L? "3#@ɢ ) R= jGi ̒8)1i5#G:9I=AIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250604 E x E cE wE "E ˀ:*E L9VE ɕ5ZE BE ;a% 2E ;a- JE ";a- :E ";a- b Z,I3h?AYn>ynDE!EE! E&)EIM)iM$M'M#M#M" M"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502567yM`"?x&1?`"?M?MA>M=I I9Mv/?K7??YMx>yMI >M9I=FyE>Q 5;4@|?Q 9;4:)2Y>Q E:yƿQ I?'?I;i;$;4yɮC*9999˜A }x>}x>}g@"}@ɢ) fGi)页Wiu=O;I;:IYIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754612E  E ^E E "E ~:*E ;9VE c5ZE a- @a- @a- @a- @JZ,Mh?A2υ@2Kʌ@2)<ٱ2\ :AHRS rotation from veh to nav: [[-0.307482,0.950638,0.041743],[-0.951068,-0.305627,-0.045410],[-0.030411,-0.053663,0.998096]]2H`ȭӿ k?M_?%o`dӿ?#yf?i2υ@I2 a_;2 CYN&>yRQ->9I=FyE>Q 55;4|?Q 9=;4W:);2Y9y=u˿Q I=?T?I$B}CByByB}=ByB}rDB};B}ȧEBE‚CBEƒCBE•CBE¦=BE§=CEr6*☹˜ "h @ɢi)m> uYGiq)quηqiuQ~;yIyM2:IYIiO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006609  CmGSkA 9SkAYAtZ,"gh?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258593:օ@:ь@:=_=ٱ:, BAHRS rotation from veh to nav: [[-0.306311,0.949796,0.063732],[-0.950371,-0.301292,-0.077572],[-0.054475,-0.084331,0.994948]]:H@ӿd?P?@qi ^Hӿ@۳ 2䫿?i:օ@I:G_;8YNB>yRDPPbDZSVDZޣ9yr4%r[=ٔry=Q-r>9tIt=vFytz;Ez>xQ 5=;4z|?Q 9E;4z:)zT3YAyE3˿Q IE?z)?IzD$checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510627I>)>] Z, h?A:ną@:7@:_<ٱ: BAHRS rotation from veh to nav: [[-0.308809,0.944667,0.110639],[-0.950780,-0.303474,-0.062622],[-0.025581,-0.124531,0.991886]]:Hӿ`:? R?l`lӿ1J῿?i:ną@I:S_;: CYN>yN3DbDZoVDZ9yu%}A=ٔ}ҋQ-}>9I=FyLE>Q 5;4i|?Q 9;4Q:)3Yya˿Q I??Iv$ nGi)8KiA <II=)>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762677%ʃ:C"<II O)>E~ EEE"E:*EVE*5ZEa@a@a@a@Bu>BuCBqBqBu=BqButDBuG;BuE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014488&Z,_h?A25@2H0@2~<ٱ2 :AHRS rotation from veh to nav: [[-0.325391,0.936411,0.131361],[-0.945365,-0.319204,-0.066288],[-0.020141,-0.145753,0.989116]]2H6Կ`?o?n@ mԿ`8` ¿`֦?i25@I2{X_;2 CYN=yR-DbD^CVD^ڣ9yEP~%EN=ٔMR`Q-M>9QIQ=UFyQ/E>Q 5;4|?Q 9;4l:)74YyͿQ I?ܳ?I%/iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896bE}Dz5jE}A5rE}E3Es EEE"Eso:*E~:VE5ZEBE;a- 2E;a- JE;;a5 :E;;a5 |,Z,S=h?AYn>ynDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518565y-V-Ϳ~jt?Fx?-m-D=-+?) )9-|?5^?y&1?ʡE?Y-M>y-`=--2?-1B-B -B)-B)Y-BbDVDƣ9yM13=%U"=ٔUQ-U>9YIY=]FyYE>Q 5;4a|?Q 9;4:)fY;?Q E:yQ I?J?I;i:;4yɮ>C*!˜! =x>=x>=C>"=@ɢ) pGi)顕ܚiGJ<I:u=IQIaOu> AAm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770493E q E bE E "E 2h:*E 9VE H5ZE a @a @a @a @Ę3Z,h?A2_@2(@2Y<ٱ2 :AHRS rotation from veh to nav: [[-0.363140,0.928511,0.077432],[-0.931301,-0.359180,-0.060572],[-0.028430,-0.094108,0.995156]]2H =׿]?ҳ?6ֿS{@Q?i2_@I2_D_;2 CYN=yNDbDZ1VDZ֣9y=%==ٔEBBDBM>B=BBB?;BE YYY"]@ɢ)<> Gi)顽i`<I:>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022591I IO-,>9Z,h?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2784706@6o@66ٱ6y BAHRS rotation from veh to nav: [[-0.361882,0.930079,0.063203],[-0.932198,-0.361541,-0.017155],[0.006895,-0.065126,0.997853]]6H)׿4?`.?@|#׿ X>|?i?i6@I6e_;6 CYF?=yJ0DbDVD£9y ]<%M=ٔQ->9IY=]FyYeq;Ee>aQ 5m<4e|?Q 9u<4e:)e=YqyuQ Iu?e?Ie:ieG* Gi )  ~N iMk}Ap<A4<I1 IA OU >@Z,i?A2@2@2@WWٱ2Ya :AHRS rotation from veh to nav: [[-0.341072,0.937447,0.069743],[-0.938567,-0.343747,0.030482],[0.052549,-0.055061,0.997099]]2H տ?ڱ?` տ@6??@19I=FyhY=E>Q 5<4|?Q 9<4:)!>YyQ I??I$ Gi)ʷiڊ<Ii1I5A5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778792 w:=>!8>IIIYOm5>E} EiEE"E݉:*E9VE5ZEa@a@a@a@B>BCBBB=BBsDBF;BE checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030701FZ,di?AY=y{DI%=)%=bD5>VD59yQ<%J=ٔQ->9I=FyE>Q 5<4|?Q 9<4;)/?YyQ I?y?I:i:#,<4y)ɮ5gC1*AAII˜I "ɢ) Gi)i<I :=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282584M >D?AzDE ErEE"EO:*E?:VEZEBEѺ;a% 2EӺ;a- JEY;a5 :EY;a5 A} UAI I O >LZ,6i?A2@2hߋ@2wýٱ2 :AHRS rotation from veh to nav: [[-0.333253,0.940544,0.065719],[-0.938009,-0.337785,0.077720],[0.095298,-0.035745,0.994807]]2HTտ`?Ұ?+Dտy?xe?@'Mu?i2@I2 _;2 CY~=y~tDchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534478yQ{GzGzǿ(#p= 9+뿜 rhѿS㥫?Y_yC/]=nBܜB B)YBbDuVD9y5<%52=ٔ=;Q-=>9E>IE>=EFyEKEM<EU>YQ 5m<4]s|?Q 9<4]4:)]5-?Yj?Q Eg:y?Q I?]@I]<>>@4w@" "?ɢ) Gi)Ni?<I!:>A ܏AI I! O5 >U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786632E  E hE }E "E :*E ]9VE s5ZE a @a @a @a @SZ,\Pi?A22@2-@2?rٱ2E :AHRS rotation from veh to nav: [[-0.325199,0.943422,0.064815],[-0.943797,-0.328084,0.040114],[0.059109,-0.048127,0.997091]]2HԿ0?@?3`SԿÉ? {C? *?i22@I2&_;2 CYN=yRDbDZVDZ9y}좺%}k=ٔ}=Q-?9?I?=FyME<E?BA<B>BCBDB#>B=BBtDB?;BEQ 5<4[|?Q 9<4:).?Yy?Q I?*@Iph Gi)|iiY I] A] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290778PZZ,3Sji?A2/@2|@2k,Rٱ2&ߋ :AHRS rotation from veh to nav: [[-0.316175,0.945242,0.080933],[-0.947313,-0.319174,0.026932],[0.051289,-0.068154,0.996356]]2H5<Կ m?? ?`dP WmԿ@)?B? r%?i2/@I2qj_;2 CYJ=yJ D LLbDVDVDV9ynA%nT=ٔr9pIp=rFyrNEv<E->1Q 5E<45$|?Q 9E<45f:)5T1?YAyM?Q I?50A@I5=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542615`Z,bi?A2Q;@26@2|ѽٱ22 :AHRS rotation from veh to nav: [[-0.323088,0.934479,0.149541],[-0.940844,-0.334216,0.055785],[0.102109,-0.122671,0.987181]]2HxԿ@A?)$?ecտߏ?#?@dg?i2Q;@I2c_;2 CY^=y^ҏDbDjVDj{9y}<%}A=ٔQ->9I=FyPE~E>Q 5<4h|?Q 9<4i:)1?Yy?Q I?Y@I;%B>BBBB=BBBT;BEB}LjCB}LjCB}ǓCB}Ǥ=B}Ǥ=C}R6 4= a= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046864= 8GQ i ɪ9 Y A#gZ, i?A>?@>:@>\ٱ> @ JAHRS rotation from veh to nav: [[-0.320444,0.920110,0.225199],[-0.934790,-0.345616,0.081961],[0.153246,-0.184249,0.970859]]>H &Կq?N?`ֿ j??{ǿG?i>?@I>_;> CY^y=y^DbDj^VDjj9y% R=ٔ Q- >9I=FyRE<:E]>YQ 5e<4]|?Q 9m<4]:)]-?Yiym3?Q Im?]p@I]:i]:],r<4yɮ-C*˜ )))"-[?ɢy)= Gi)顅ɸi<Imz:IiIyO8>%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298547E| ErEE"E :*E?:VE5ZEBEG;a2EI;aJEY;a:EY;a I >) >\NmZ,OϷi?AYnP=yndD}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550487y-?S?HzGѿ?5?>= 9q= ףpͿB`"۹!rhYkyνlgBB )#BYBbDuVDuV9yy%4=ٔQ->9I=FyTEE>Q 5<4;|?Q 9 <4:)>YM1p?Q EMb:yMN@Q IM?y@I3I I O% >E  E eE E "E :*E 9VE 5ZE a @a @a @a @4tZ,i?A2b@2]@2ٱ2½ >AHRS rotation from veh to nav: [[-0.289327,0.950139,0.116302],[-0.953192,-0.297121,0.056078],[0.087838,-0.094633,0.991630]]2HTҿg?Ž? ӿI?@|?`9m?i2b@I2_;2 CYN=yRDbDZVDZA9yf/u<%fl=ٔfTC>Q-f?9hIh=jFyjVEn9=E?!Q 5-<4%W|?Q 9-<4%:)%&Y)y- @Q I5?%_~@I%;:i%b;%"<4AYA]AABe>BeCBeDBeM>Be=BeDBeuDBet;BeѧEyɮC*☱˜ "?ɢa)eW> eGia)imiim1<Iw:MS>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054684IIO$>= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306554$_zZ,xi?A2@2d@2ٱ2k BAHRS rotation from veh to nav: [[-0.284973,0.958105,0.028723],[-0.958027,-0.285670,0.024028],[0.031227,-0.020670,0.999299]]2H`=ҿ˨?@|i?'lHҿۚ?`?`q*A?i2@I2y_;0YR1 >yRDbDbUVDb-9yEp=%EC=ٔMc >Q-M>9QIQ=UFyUXET<E>Q 5<4P|?Q 9<4n:)ؾYy?Q I?X@IU:iX:՜<4yɮC*QQQ˜QbE5jE5rEI1E}v E}lE}Ey"E}Vz:*E}:VE}5ZEyBE}z;a2E}{;aJE}C;a:E}C;a "g ?ɢ)K#> uGi) i<1I1 v:checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558583m(=I I O% >FZ,Zj?A2H@2C@2,ٱ2@ >AHRS rotation from veh to nav: [[-0.293477,0.955293,0.035878],[-0.955935,-0.293565,-0.002921],[0.007742,-0.035154,0.999352]]2HUҿ?^?@ҿ g??i2H@I2G_;2 CYN$>yRDbDZVDZ9yr <%rQ=ٔru=Q-r>9tIt=vFyvYEzuEz>|Q 5E<4~V|?Q 9E<4~:)~wDYAyE?Q IE?~@I~:i~;:~0<4yUCɮUCUE*☩˜ "8?ɢY)Y ]iGiY)aeaie oB]>B]CB]DB] A>B]=B]DB]sDB];B]ԧE checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062696qZ,~6j?A2]@2&@2ٱ2 :AHRS rotation from veh to nav: [[-0.301346,0.946356,0.116622],[-0.953054,-0.302742,-0.005975],[0.029651,-0.112947,0.993158]]2H@IӿH?ڽ?j`!`ӿyx@\?꼿@?i2]@I2u_;2 CYN >yRDbDZVDZ9y=Y<%=E=ٔEWQ-E>9E?IE?=MFyM[EMEM>QQ 5<4U|?Q 9<4U:)UYy@Q I?UV@IU%iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318720AAI9IQOew>Ex E`EE"Eˀ:*E9VEU5ZEBE;a2E;aJE;a:E;a/Z,9j?A2ꈅ@2@2ٱ2iD :AHRS rotation from veh to nav: [[-0.314843,0.926646,0.205430],[-0.945909,-0.324186,0.012621],[0.078292,-0.190344,0.978590]]2H b&Կ?K?D@uԿ؉? ?2]ȿP?i2ꈅ@I2/_;2 CYn$>ynDechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566574y|?5^?T㥛 ?HzG?>>=> 9T㥛 ?S㥛?OnӿYA?y$>ΩBB SB)YBbDVDߢ9y5%=.=ٔ=ԽQ-=>9Ec?IEc?=EFyE^EEEM>QQ 5]<4U|?Q 9]<4U:)UY]Z?Q E]y:y]ѿQ Ie?Uh@IUw;iUU;U<4yiɮC*˜ %X?%X?%>"%P@ɢq)uc> uiGiy)y}r1yi}~J =Ie,r: checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818920I% >)% > g#>E  E pE E "E :*E  :VE 5ZE a @a @a @a @A I! I1 O= >xZ,fRj?A2l@25@2ٱ2lZ JAHRS rotation from veh to nav: [[-0.313526,0.921901,0.227596],[-0.945615,-0.324995,0.013790],[0.086680,-0.210895,0.973658]]2H Կ6?!?zBԿ=?`0?@ʿ4(?i2l@I2J_;2CYR>yRDbDnAVDn9yv>%v{=B>BCBDB6>B=BBtDB;BEٔ5)μQ-5?99I9==Fy=_E=_c;EE?AQ 5M<4E|?Q 9u<4E :)EYqyu ӿQ Iu?E@IEK;iE;E<4y})CɮCE*☹˜ "¶@ɢ))) -yGi))15<1i5=9I9% q:6>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072063AII)O=P>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322606ԞZ,lj?AFg@F0@F4/ٱF0 VAHRS rotation from veh to nav: [[-0.309905,0.934224,0.176592],[-0.949798,-0.312587,-0.013141],[0.042924,-0.171799,0.984196]]FHzӿ)??@dmԿi銿+?ſ`~?iFg@IF _;F CYx>yFDi%bDVD9yS=%>=ٔ=Q->9I=FyaE8<E>Q 5<4B|?Q 9<4:)bYyϿQ I ?ۨ@In:i;:<4y1ɮ5C1*IIIIEuy EueEuEq"Eu:*Eu9VEuF5ZEqBEuߤ;a2Eu;aJEu:*;a:Eu;*;a˜ "?@ɢ)&> hGi)Ii{= II%Ro:checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575662>A I I O >>Z,`j?A>ر@>@>kٱ>M JAHRS rotation from veh to nav: [[-0.310989,0.942824,0.119870],[-0.950147,-0.311406,-0.015717],[0.022510,-0.118782,0.992665]]>H=ӿ@+?`ү?gӿ ?h?i>ر@I>_;> CYn9>ynYD v491I1=5Fy5cE5wE]>aQ 5m<4e|?Q 9m<4e:)eοYiym̿Q Im?e@IeU:iez:e<4yɮC*☱˜ "k'@ɢ!)! %bGi)))-Q)i-=1IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.827169-2n:= >E EoE|E"Eҝ:*E:VEם5ZEa@a@a@a@A9IIIYOeV>B%>B%CB%EB%i>B%=B!B%sDB%;B%WE yRDbDZVDZd9yf<%fP=ٔf7Q-j>9hIh=jFyjeEnE~>Q 5 <4|?Q 9 <4>:)ܿYy̿Q I?@I;i;<4yɮC!*111Y˜Y qqq"u@ɢ) [Gi)顩i$=Il:=M&>Et EhEE"Es:*E]9VE5ZEBE4;a2E5;aJE&5;a:E'5;aIQ Ia Om >٭Z,ej?AYn,)>yn De=e 9MbX9?q= ףp?L7A`尿Y?y=+ГB B)BYBbDgVDF9y<%.=ٔQ->9I=FyhEE>Q 5=4t|?Q 9=4:)߿Y (?Q E :y Y׿Q I-?@I;i5;2=4y5bCɮ=8C=E*iqqq˜q l ?l ?mi>"ؕ@ɢ) VGi)iC,=Iak:II IY Oe >E x E uE E "E ˀ:*E :VE 5ZE a @a @a @a @fZ,$j?A2}@2}x@2Бٱ2Qyʽ :AHRS rotation from veh to nav: [[-0.315103,0.940241,0.129061],[-0.942385,-0.326078,0.074727],[0.112345,-0.098078,0.988817]]2H*Կt??(wԿJ!?`¼?c?i2}@I2q_;0YR_>yRvDXZAABb>BbCB`B`Bb=B`BbrDBbp;Bb+EBCBCBCB=BC6bDZ$VDZ79yzq%zn=ٔzL8Q-z?9I=FyiE% E%?)Q 55=4-|?Q 95=4-V:)-Y1y]׿Q I]?-G@I-;i-;-7=4yaɮe=Ca*☙˜ "څ@ɢ)d: > kGi)i:0=I! @j: Y]CIIGO>Uv9QYUֱAi I Z,9j?AB@BQ@B{ٱBս JAHRS rotation from veh to nav: [[-0.312030,0.941809,0.125036],[-0.939607,-0.325389,0.106119],[0.140629,-0.084373,0.986461]]BHJӿK#?`/?B*Կ*? ? r ?iB@IBt_;@Y^O >y^ۨDbDjVDj9y%R׼%%G=ٔ-Q-->9)I)=5Fy5kE5w;EU>YQ 5e=4]|?Q 9e=4]:)]YiymK׿Q Im?]+@I]*:i].:])=4yɮ@C*˜ "㵕@ɢ!)! %vGi)))))i- 6=1I1I=?)=G?Ee EeiEeEa"EeO:*Ee9VEeS5ZEaBEeк;au2EeҺ;auJEe8;au:Ee8;au h:IIO= nManaging dock network, ignoring radio surface power offgZ,mk?A2@2@2#ٱ2F :AHRS rotation from veh to nav: [[-0.305680,0.943786,0.125805],[-0.939694,-0.320330,0.119849],[0.153411,-0.081583,0.984789]]2HBӿ3?_?@JԿ`h?`? ⴿ@d?i2@I2i_;2 CYN>yRDbDZWVDZ9yv;=%vN=ٔvQ-v>9xIx=zFyzmE~}<E>!Q 5-=4%ߺ|?Q 9-=4%d;)%Y)y-uֿQ I-?%@I%:i%:%j7=4yYɮ];CY*qqqq˜q "@ɢ) dGi)i:=Iog:IqIO=Ems EmaEmEi"Emso:*Em9VEmc5ZEiau@au@au@au@B>BB"EB#>B=BBsDBX;B Eߍ %=ߍ %=Z,!k?A20@2+@2ٱ2ν :AHRS rotation from veh to nav: [[-0.293092,0.945823,0.139697],[-0.944713,-0.308967,0.109808],[0.147020,-0.099790,0.984087]]2Hҿ /D??;ӿ\?@? ԋ}?i20@I2m_;2 CYN(>yRD Vp9AIA=MFyMoEM=EM>QQ 5}=4U,|?Q 9}=4U ;)UYyտQ I?U@IU;iU;UE=4yɮ>C*˜ "@ @ɢA)I MmGiQ)qqqiu?=yIyUe:BDAT read: Response Not Received *response not receivedI!IAbE*5jEDz5rE!2E} ExEE"E݉:*E:VEq5ZEBEj;a2Ek;aJEco;a:Edo;aO> ) - @A'Z,^;k?AF"@Fi@F ٱF ZAHRS rotation from veh to nav: [[-0.295184,0.941294,0.163805],[-0.945704,-0.312263,0.090195],[0.136050,-0.128287,0.982361]]FH Kҿ??5C@ӿ?j?ko?iF"@IFB_;F CY=y)D-a=-a=y=`"??Q˿=?===(\9 99= r? 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@I &% mXGii)iqqiuU=qIyI?)>EM EMoEMEI"EMT;*EM:VEM(5ZEIa]@a]@a]@a]@&`:=|>Bu>BuCBu;EBuw>Bu=BqBuvDBu;BuEA.AIIO>KZ,ʢk?A2މ@2@2ٱ2V :AHRS rotation from veh to nav: [[-0.343921,0.926142,0.154855],[-0.935069,-0.352864,0.033653],[0.085810,-0.133226,0.987364]]2Hֿ?F?`Qֿ;?? @|?i2މ@I2[?_;2 CYR(>yRDbDbxVDb#9yM!;%Mi=ٔU=Q-U>9U ?I ?=FyzEE>Q 5U=4|?Q 9U=4";) YYy]Q I]?(@I WGi)顙it,[=Im_:DQzDU@AE]v E]aE]EY"E]Vz:*E]9VE]H5ZEYBE]y;au2E]z;auJE];au:E];au}>A AI I O >uZ,襼k?AJ@J@J-ٱJ" VAHRS rotation from veh to nav: [[-0.355955,0.922003,0.152336],[-0.930465,-0.364813,0.033842],[0.086777,-0.129697,0.987749]]JH@ֿ ??_@Y׿S?@6?`?iJ@IJd_;HY~fB>y~DyQ?&1ʿ"~j?\>PS> 9HzG??;BB B)fBYB 4<bDһVD9y5<\=%5/=ٔ=UQ-=>9=c?I=c?==FyE|EEjEE>IQ 5=4M|?Q 9=4M);)MſYL?Q E:yj¿Q I?MAIMH;iM;M=4yɮiC*☹˜ ??3K7?""@ɢi)q u=Giq)qqqiuCLa=yIEL]:l >A iAzA hAAIIYIiOu>Ea  Ee fEe Ea "Ea *Ee 9VEe 5ZEa am @am @am @au @AY AY Be >Be CBe HEBe >Be =Ba Be qDBe ;Be EmZ,k?A2p@2k@2׷ٱ25 :AHRS rotation from veh to nav: [[-0.374902,0.911177,0.170891],[-0.920574,-0.387672,0.047472],[0.109506,-0.139521,0.984146]]2H@f׿](? 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ϲۿ }[?R?`!ɿ ?i2–@I2\_;2 CYNq>yNEyNbX9?Q?1Zd?%?\="= 9@5^I ??QYb>y>u^BB B)iBYBbD]VD]ߞ9ymJ;%m;=ٔ9c?Ic?=FyEFE>ԉԑQ 5>4Ǵ|?Q 9>4n9;)?Y>Q E(;yϿQ I?AI =i =w)>4yɮ*1111˜9 >>9@"|?ɢ)a6> Gi)iþ=II?) ?7O:ԹAIIYIiO}> E v E cE E "E Vz:*E L9VE 5ZE a @a @a @a @B >B B EB >B =B B B ;B ֦E 6[,Sl?A2Yt@2"o@2=ٱ2: :AHRS rotation from veh to nav: [[-0.398612,0.885410,0.239076],[-0.898454,-0.429323,0.091989],[0.184089,-0.178131,0.966634]]2H ݂ٿGU??`"zۿ?;?ƿ?i2Yt@I2j_;2C\Ybm>yb3EbDjVDj9y*%[=ٔЧ=Q->9I=FyE7E>Q 5>4E|?Q 9>4<;)AYy5ϿQ I5?AIv%4y9ɮECA*☙˜ "ky?ɢ) i> Gi )IIIiU=QIY-N:IaIqO}Y>A 3<[,j.l?A2g@2a@2 Aٱ2@ :AHRS rotation from veh to nav: [[-0.399813,0.895137,0.197180],[-0.897234,-0.426188,0.115481],[0.187407,-0.130746,0.973542]]2Hٿ?@0=?`#Fۿ&??EA'?i2g@I2t_;2 CYN->yNE V9III=MFyUEUpEU>YQ 5e>4]۳|?Q 9m>4]?;)]CYiym>οQ Im?]AI]:i]:]D>4Ey EbEE"E:*E9VE5ZEBE;a2E;aJEO;a:EO;ayɮC*Q˜Q iii"mr?ɢ) Fi)i܉= IL:A-iAzA-gAQIIO%M>qԡ C[, m?A2P@2܉@2Khٱ2 :AHRS rotation from veh to nav: [[-0.383271,0.906919,0.174933],[-0.895834,-0.411126,0.168693],[0.224910,-0.092056,0.970021]]2Hؿ`z?3d?Oڿ??󐷿i ?i2P@I2_t_;2 CYN >yR&E TTybDZVDZ59yM<%M;=ٔ7Q->9I=FyE~=E>Q 5>4|?Q 9>4xC;)DYy/˿Q I?AI-:i: T>4yɮC*)ԡE ElEE"E1:*E:VE5ZEa@a@a@a@)˜B-(>B-XCB-EB->B)B)B-ODB-;B-ŦE AAA"E+o?ɢQ)] > ]FiY)YYYi]$<=I iAEK:  %|>I I O >nEI[,&m?A2=@2M8@2|ٱ2ދ :AHRS rotation from veh to nav: [[-0.371392,0.913842,0.164199],[-0.895815,-0.399173,0.195387],[0.244096,-0.074526,0.966883]]2H׿`1>?u? 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L@9ڿ`? ?@3M?i6,@I6T[_;6 CYF>yFEbDRVDR9yV#=%Za=ٔZQ-Z>9\I\=^Fy^Eb<Eb>`Q 5f?4bbm|?Q 9j?4bx;)bYhyjQ Ij?bk?AIb:ibF:bh?4yrCɮr`CrѼE*xx||˜ !!!"%]@ɢ1)1 5 Fi9)9=h9i==AIA5_::====IE ElEE"Ea:*E:VEZEa@a@a@a@B-<A)B5>B5NCB5@FB5tU?B5=B1B1B5;B5JEqII O>ԡ T[,!#gn?A2@2@2Bٱ2u :AHRS rotation from veh to nav: [[-0.323939,0.905865,0.272896],[-0.838458,-0.408501,0.360714],[0.438237,-0.111962,0.891859]]2HkԿ? w?` $ڿ@?@ ?`?i2@I2_;0YBv?yB EbDJVDJi9yn>%rG=ٔr>Q-r>9tIt=vFyvEvX?Ez>xQ 5~?4z4b|?Q 9?4z;)z"߾YyMQ I?zNDAIz;iz;z?4y ɮ SC*))))˜) III"Mw^@ɢY)eƕ= eEia)aeaie=iIiy9:ԡIIO">a }In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.E EmEE"Es:*E:VE5ZEBE(;a2E);a JEYG;a :EYG;a  <[,]n?A22@2-@2ٱ2% >AHRS rotation from veh to nav: [[-0.318084,0.903123,0.288430],[-0.837265,-0.410316,0.361424],[0.444757,-0.126529,0.886669]]2H|[Կb?u?@Bڿ !?v?2_?i22@I2`p_;2 CYF ?yFEIJ<)J4=bDNVDN9yV}=%VN=ٔZ̕Q-Z>9XIX=ZFy^E^g<E^>`Q 5f?4bXW|?Q 9f?4b;)bpѾYhyjWQ Ij?b IAIb:ib_:b?4ylɮnLCp*xxxx˜| "@^@ɢ) Ei)^Kipt=In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERI7:IQIiOu=1a  Y E  E oE E "E O:*E :VE 5ZE a @a @a @a @g[,ݚn?AB>BMCBFBn?B=BBGDB;BEBOCBOCBCBB=C 6rG|=u99YEAr@Tm@!ٱ k& AHRS rotation from veh to nav: [[-0.313608,0.900834,0.300247],[-0.845217,-0.408926,0.344074],[0.432732,-0.145869,0.889643]]H )Կ`?>7?` @+ڿ@O??׫¿w?ir@Iu_; CY?yQEbD VD q9yks=%5=ٔ!9!I!=%Fy%E%:<E->1)Q 5=?4- K|?Q 9=?4-;)-þYAyEQQ IE?-iNAI--;i--;-a,?4yMCɮM&CI*aaaa˜i "]@ɢ) Ei)顝̷i=II?)9?m5:IIO >aԉԹ 琬[,n?A: m@:g@:ݾٱ:W# FAHRS rotation from veh to nav: [[-0.316508,0.902244,0.292878],[-0.851277,-0.406380,0.331940],[0.418511,-0.144259,0.896682]]:HAԿ/?`?@=`ڿ`>??`w¿ ?i: m@I:|>_;: CYN ?yNEy䥛 ?X9v?T㥛 ?u?>> 9~jt??~jt?Yd?yf><7B)B B)>BYkBbD5VD59yE>%EY=ٔM*=Q-M>9IIQ=UFyUEUEU>YQ 5e?4]1O|?Q 9e?4];;)])Ym?Q EmT:ymSQ Im?]TAI]:i]:]9?4yuCɮ}JC}ڼE*☑˜ >>p@"d@ɢA)Ea= EEiA)IMIiMY=QIqԙU4:E| EkEE"E :*E:VE5ZEBEF;a2EH;aJE@;a:E@;auSk=IIO> x[,:n?A2K@2F@2 Ӿٱ2# :AHRS rotation from veh to nav: [[-0.322619,0.901420,0.288719],[-0.857066,-0.407653,0.315050],[0.401689,-0.145810,0.904094]]2HɥԿo?]z?`m@ڿ)?G?`¿U?i2K@I2_;2CYB2?yBE DDbDNVDN9yr+@>%rQ=ٔv@=Q-v>9tIt=vFyzEz)Ez>|Q 5?4~LS|?Q 9?4~;)~" Y y ;Q I ?~ZAI~:i~:~ IIB>BLCB0'FB?B=BBFDB;BE!E EdEE"Ea:*E9VE5ZEBE|;2E};JE&;:E&;I ע[,jn?A 6@6@6Aоٱ6.( >AHRS rotation from veh to nav: [[-0.330648,0.896820,0.293914],[-0.856448,-0.415961,0.305733],[0.396444,-0.150632,0.905617]]6HU)տ ?}?hڿ ?W_? 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pJUEy?`נ?Yȿ?iB=@IB^;BCYjMAyjGbDrQVDrQ9yzx>%zm=ٔ~ Z], v?AA0A2@AB6>B6ڏCB6GB6!AB6=B6DB6DB6%;B6ERӀ@R͇@R ٱRk ^AHRS rotation from veh to nav: [[-0.387719,0.815932,0.428870],[-0.766104,-0.543970,0.342316],[0.512599,-0.195837,0.835996]]RHcؿ?r?@`4h@?6g?-ɿ{?iRӀ@IRӻ^;RCYfp AyfOGbDn*VDnP9yvʩ>%vK=ٔv9z"?Iz"?=zFyz\E~Em>iQ 5uC4m{?Q 9}C4mf=)m tAYyy}οQ I}?mI BImr;iimBC4yɮeB*☡˜ "@ɢ)}= i)iY9=I)9AhAzAEUR EUCEU<EQ"EUs9*EU09VEU 4ZEQBEU:ae2EU:aeJEU9:am:EU9:am!AaIqIO:>Qy ],v?AB@Bі@BٱBwi JAHRS rotation from veh to nav: [[-0.394871,0.813757,0.426469],[-0.767393,-0.547367,0.333911],[0.505158,-0.195418,0.840611]]BHEٿL ?FK?|^?@*?@vɿI?iB@IBҨ^;BCYR"AyVBGIZ<)ZR=bD^)VD^ P9yf>%fL=ٔf 9hIh=jFyj^EnEn>pQ 5vC4r{?Q 9vC4rG=)rDwAYtyzϿQ Iz?r. BIr:ir:rC4y|ɮ~B|*˜ 111"5Q@ɢA)I MJiI)IIIiM/=QIQa9AI IO-,>i߁I߁ԉE]T E]FE];EY"E]9*E];J9VE]4ZEYae@ae@ae@ae@ԩ Rr],4w?AfH@fC@fٱfpd ~AHRS rotation from veh to nav: [[-0.404449,0.811120,0.422498],[-0.766760,-0.552539,0.326772],[0.498498,-0.191792,0.845408]]fH ~ٿ?@6 ?Kf? e?ȿ ?ifH@If!^;dY$AyGbD= VD=O9yE0>%EB=ٔM•9QIQ=UFyU`EUzżE]>YQ 5eC4]{?Q 9mC4]=)]zAYiymѿQ Im?]) BI]w;i];]xC4yuCɮ}B}bE*☑˜GSB*** querying acoustic contact ***:B "@ɢ) i)IIIiM2=QIQԩ%9AqIyIO<>B]l>B]CB]GB];'AB]=B]DB]ȻDB][;B]:E2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. Eu R Eu =Eq Eq "Eu s9*Eu 8VEq ZEq BEu :a 2Eu :a JEu 9a :Eu 9a 1 u],20w?AY'Ay6Gy} ףp= ?|?5^?ףp= ?}QX?}R>}>y y9}(\?w/?rh|?Y}z4?y}&>}{>y}ZB }B)}I{ByY}BbD.VD4N9y>%6=ٔQ->9I=FycEE>Q 5C4 {?Q 9C45=)~AYC?Q E:ymԿQ I?' BI ;i ;(C4y9Cɮ|BlE*˜  0>0><"\@"9?ɢA)I MiQ)QQQi] 6=aIiE*DAT read: user:109> MBDAT read: Tx time:20:34:36.0028 M$Ping request sent.MA>a A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250944$],xJw?A 6~@6Le@6P%ٱ6)Y >AHRS rotation from veh to nav: [[-0.427426,0.801390,0.418427],[-0.759630,-0.569310,0.314402],[0.490173,-0.183466,0.852098]]6HZۿ ?`?`N7 (? ^?{ǿbD?i6~@I6^;6 CYJ)AyJG LLPRAbDVNVDVWM9y^>%^q=ٔ^ ԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502921  wf> Cy liA A 9 liAY ΘA}],Pdw?AB>BoCBGB,AB=B"DBDB@;BEBUڏCBUďCBUˈCBU=BU=CU8J}@J@JٱJOVP VAHRS rotation from veh to nav: [[-0.437942,0.795001,0.419738],[-0.754322,-0.578956,0.309529],[0.489085,-0.181062,0.853236]]JH?ܿ@p??h#`ΆQ? ,M? -ǿM?iJ}@IJ^;J CY^+Ay^JGbDj,VDj\L9yr>%rH=ٔrG;Q-r>9tIt=vFyvfEz.Ez>xQ 5C4z7{?Q 9C4z =)zlAYyڿQ I?z BIz&;izT;zPC4yECɮB*))))˜) III"MP?ɢY)Y ] ia)aaaie|[=iIi=mu9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755487E5U E1E5=E1"E5:*E1VE5|4ZE1BE5 :aE2E5:aMJE5G+:aM:E5I+:aM~=II)OE>! m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007013],'0~w?A2;}@2@2ٱ2V :AHRS rotation from veh to nav: [[-0.446424,0.788252,0.423514],[-0.748967,-0.588144,0.305181],[0.489647,-0.180958,0.852936]]2H`6ܿ \9???^V?@)ǿ AK?i2;}@I2^;2CYf.AyfGbDr6VDruK9yvQ>%zI=ٔzϺQ-z>9x|I|=FyiEwE> Q 5D4 g{?Q 9D4 =) "AYyܿQ I? BI ;i ; D4y%@Cɮ%B!*999A˜A YYY"]'?ɢi)q uziq)qqyi}o=yIo9)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258979AAzAEhAE=S E=CE=@E9"E=9*E=09VE=4ZE9aE@aE@aE@aE@QI1IIOU>ԁ ;],4w?ABL|@BqS@BٱBQY NAHRS rotation from veh to nav: [[-0.452139,0.781423,0.430056],[-0.744199,-0.596276,0.301037],[0.491670,-0.183936,0.851134]]BHܿk?@ ?y2D?w?:ǿ|%fL=ٔj)Q-j>9hIl=nFynkEnEr>pQ 5vD4r{?Q 9zD4r=)rЅAYxyzܿQ Iz?rBIr:Y:??echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.519053ir:r~D4yɮxB*˜   " {=?ɢ!)! %i!))))i-=)I1-j9IIO=ԁB%s>B%dCB%GB%2AB% =B%#DB%DB%C;B%EԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762986EM V EM =EM >EI "EM =:*EM 8VEM 4ZEI BEM :a] 2EM :a] JEM 9ae :EM 9ae ],w?AnG_|@nn*@nٱna vAHRS rotation from veh to nav: [[-0.454936,0.775048,0.438559],[-0.740424,-0.602826,0.297276],[0.494778,-0.189479,0.848111]]nH ݿ0?[?@YJ@? p? @ȿ#?inG_|@In^;lY52Ay=GԱyQ?Zd;~jt??yD> 9K7A`?ZBB B)YܯBbD bVD I9y%>%7=ٔ%Q-%>9!I!=-Fy-mE-R7E->1Q 5=D45!z?Q 9ED45g=)5AYE{1?Q EE:yEDQ IE?5BI5N;i5;5!#D4yYɮ]/BY*☑˜ r>r>tY@"VB?ɢ) Zi)aiiimы=iIq-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015276Efc9IIO%,> 1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266999],w?AFL|@F4!@FٱFi NAHRS rotation from veh to nav: [[-0.454749,0.770208,0.447194],[-0.738254,-0.606853,0.294465],[0.498181,-0.196235,0.844575]]FHݿ?՞?ǟWk ?3?=ɿ?iFL|@IF^;FCYV4AyV^GbD^VD^H9yf>%fc=ٔjf2Q-j>9hIh=jFynoEnLEn>pQ 5vD4rz?Q 9vD4r=)rAYxyzbQ Iz?rqBIr:irp:r/D4bE4jE45rEM2Ee EGE;E"E<:*ER9VE4ZEa@a@a@a@yɮB*)111˜1 III"M0??ɢa)i mii)iiiim=qIyU^9Ae>Ae>IIO=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009iԙ B I>B `CB ^GB 8AB =B B DB ;B E7],Ԛw?A2||@2.9@2epٱ2Vq :AHRS rotation from veh to nav: [[-0.451633,0.768278,0.453625],[-0.738025,-0.607394,0.293924],[0.501345,-0.202040,0.841328]]2H@ܿ? 1? @o? ?vɿ(?i2||@I2^;2CYn-7AynEG ppvAvAbDzVDzG9y%>%%E=ٔ-'Q-->9)I)=-Fy5qE54;E5>9Q 5ED4=z?Q 9ED4="=)=AYIyMYQ IM?=BI=[:i=R:=9>D4yU]CɮUBUuE*iiii˜q "7=?ɢ) 4i)顩iD=Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771020Y9I1IIO]=ES EFE=E"E9*E;J9VE|4ZEBE:a%2E:a%JEe:a-:Ee:a-ԡM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022958 ?!],uw?A2|@2Lo@2ٱ2w :AHRS rotation from veh to nav: [[-0.446172,0.769176,0.457492],[-0.740037,-0.604558,0.294712],[0.503266,-0.207069,0.838956]]2Hܿ@?`G?aX@?`?`9ʿ@?i2|@I2^;0Y^Z9Ay^GbDjVDjG9y%>%%K=ٔ%\Q-%>9)I)=-Fy-sE5<E5>1Q 5ED45qz?Q 9ED45=)50AYAyEmQ IE?5GBI5:i5p:5QLD4yQɮUBQ*aiii˜i "=?ɢ) i)顡iㅄ=IS9AE؟AIIIYOm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274952D=D4=E%Y E%KE%;E!"E%:*E%]t9VE%4ZE!a-@a-@a-@a-@) ^,8Nx?A 2}@2(@2ٱ2w >AHRS rotation from veh to nav: [[-0.439044,0.774764,0.454951],[-0.744118,-0.597333,0.299135],[0.503517,-0.207204,0.838772]]2H Lܿ??@ Z%??ʿ`7?i2}@I2+^;2CYF:AyFGbDNVDN'F9yVρ>%VR=ٔVDQ-V>9Z"?IZ"?=ZFyZuE^c<E^>`Q 5fD4b$z?Q 9fD4b=)b1AYdyf'Q Ij?bBIb[:ib:bYD4ylɮn]Bl*xxxx˜xchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527071 "q??ɢ1)1 5Di1)111i=;=IN9AzAqAIIO (>B(>B^CBGBw=AB=BBDB;BEԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778951 E- X E- CE- =E) "E- ~ :*E- 09VE- |4ZE) BE- :a= 2E- :aE JE- 9:aE :E- 9:aE ; ^, P3x?A6'M~@6^!@6ٱ6r >AHRS rotation from veh to nav: [[-0.430410,0.784810,0.445893],[-0.750307,-0.585688,0.306608],[0.501783,-0.202589,0.840935]]6H@׋ۿ*??y?@?nɿ?i6'M~@I6A^;4DYJ=AyJpGIN=)Np=yGz?#~jԿB`"۹0?㥾ν 9RQ?Onۿy&1|Y?yؾ`BB B)~BY3BbD5VD5]E9yE>%E@=ٔEE;Q-M>9III=UFyUwEU<EU>YQ 5eD4];z?Q 9eD4]=)]VAYm)?Q Em:ym9Q Im?]BI]h;i] ;]hD4yu?Cɮ}By*!!!˜) uUg>uUg>up>i@"uI?ɢ) i)顱iM{=I9H9checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031409A II!O5O>  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283077 ^,Mx?AF3@F@F ٱFZe NAHRS rotation from veh to nav: [[-0.420776,0.798582,0.430365],[-0.758043,-0.570119,0.316756],[0.498315,-0.192952,0.845253]]FHڿ@??A k>E?`d?लȿ O ?iF3@IF^;F CYV?AyVGbDbJVDbD9yfĥ>%jS=ٔj)9lIl=nFDlzDn@AErW Er?Er8Ep"Er :*Er?9VErF4ZEpaz@az@az@az@ynyEz=E~>|Q 5 D4z?Q 9 D4 =)^AYyn8Q I?BI:i:rvD4y Cɮ`B%tE*1111˜A YYY"]?ɢi)q u?iq)qqqiu?~=yI5B9)AIIO">checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534949Qԁ B <A B >B YCB BGB BAB =B B DB ;B ŐE0E^,fx?A2:@2@2w.ٱ2S :AHRS rotation from veh to nav: [[-0.410564,0.814865,0.409186],[-0.766617,-0.551440,0.328955],[0.493695,-0.178632,0.851091]]2HFڿ^?0?@!f ??iƿ"%RM=ٔVZ9TIX=ZFyZ{EZ=EZ>|Q 5D4~ z?Q 9D4~=)~gAY y '7Q I ?~zBI~k:i~V:~D4yɮ)B*))))˜1Y iii"m?ɢ) i)顩i=I}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787064=9ER EE9E"Es9*EVE4ZEBEm:a52Er:a5JE19a5:E69a5ԉAIIO >Ա- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038922 - ^,ܼx?A2@2~@2ٱ2N> :AHRS rotation from veh to nav: [[-0.400155,0.831985,0.384289],[-0.775491,-0.530849,0.341780],[0.488355,-0.161247,0.857618]]2H!ٿ`?/? ?@5A?Ŀ`q?i2@I2^;2CY^BAyb}GbDjΧVDjB9yrT>%rF=ٔrs9tIt=vFyv}Ezd=Ez>|Q 5D4~ z?Q 9D4~=)~iAYy5Q I ?~lBI~;i~;~D4yCɮB*☩˜Թ "h?ɢ) Pi)i=I89A!I)I9OM1>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290977ET E=E:E"E9*E8VE(4ZEa%@a-@a-@a-@9 CW&^,tx?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542961YvDAyvGbD~#VD~8B9yE>%MD=ٔMQ-M>9IIQ=UFyUEUEU>YQ 5eD4]fz?Q 9mD4]}=)]rAYiyiQ Im?]fBI]:i]:]4D4yq1G SkA!%MAM9MSkAYU'AɮukB*☩˜ "ɢ) i)iº= I) QQ 19IBu>BuQCBuPGBuxGABqBu$DBuDBu;BuEB-^CB-\CB-ŚCB-=B-=C-<6AiIqIO\>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795577E= ] E= KE= 9E9 "E= :*E= ]t9VE= 4ZE9 BE= +;am 2E= .;am JE= (:au :E= ):au ԡ ,^,qtx?A6ۉ@6@6Yٱ6 >AHRS rotation from veh to nav: [[-0.378972,0.861947,0.336790],[-0.792210,-0.490284,0.363353],[0.478313,-0.129108,0.868647]]6H`Aؿ?`? Y@`߿*A???i6ۉ@I6G^;6CYRFAyRnGymNbX9?Zd;+m?mymi i9mM?QѿRQؿYmnr?ym\m¾mľBmB mSB)m\vBiYmWBbD`VDiA9y>%D=ٔj9I=FyEՓ=E>Q 5D4vz?Q 9D4=)AYp?Q EH:yQ I?%BI;i;ίD4yCɮBsEq*☙˜ Z>Z>7t@"l6@ɢ)6q= Oi )i=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047022 V,9ԡAYIiIyOZ> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299012 3i3^,wNx?A2@2{@2ٱ2 8 :AHRS rotation from veh to nav: [[-0.368914,0.873563,0.317475],[-0.799282,-0.472499,0.371339],[0.474395,-0.116760,0.872535]]2H@J׿:?Q?ීk=޿?@|\?㽿?i2@I2r9_;2CYBIAyBKGbDJVDJ@9yR>%V\=ٔVD9XIX=ZFyZEZ=EZ>ErQ Er<Er<Ep"Er29*Er8VEr 4ZEpav@av@av@av@Q 5%D4_z?Q 9%D4m=)pAY)y-Q I-?BI:i4:&D4y5Cɮ5hB5rE*IIIQ˜Q "y7@ɢ) i)i=Il&9Iu>)qAIIO&>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550935) Be =>Be FCBe GBe LABe =Ba Be |DBe ;Be E9^,,x?AY~JAy~OGbDVD?9y=*x>%=A=ٔ=Q-=>9AIA=EFyEEMEM>QQ 5]D4U Gz?Q 9]D4U=)UAYYyYQ I]?UwBIU;iU;UD4ymCɮm/Bm{E*☁˜ "ɢ) Qi)项iC=Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.803429"91ER EDE7E"Es9*Ea99VEԺ4ZEBEn:a 2Es:a JEeH:a :EhH:aAIIO">Yԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054986\{@^,hy?A0Y~LAy~GbD xVD '?9y>%%L=ٔ!Q-%>9!I)=-Fy-E)E->1Q 5=D45.z?Q 9=D45=)5jAYAyAQ IE?5%BI5;i5;5~D4yMCɮMBQ*aaai˜i "ɢ )  i )  i'v=I(9ԉmchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306936ԹbEa4jEƫ4rEƆ0EP ETE?E"E9*E9VE^4ZEa@a@a@a@5r=AE>AE>A .AI I O > QF^,y?A6E@6@6ٱ6V >AHRS rotation from veh to nav: [[-0.351048,0.891502,0.286338],[-0.811452,-0.442239,0.382061],[0.467238,-0.098228,0.878658]]6H@wֿ/?\S?jMܿs?:?@t%?i6E@I6_;4YFNAyFpG HHbDR՝VDRf>9yZТ>%ZR=ٔZa9^ ?b=b%=fchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.559352dIf ?=jFyjEj{=Ej>lQ 5rD4nz?Q 9rD4n=)nחAYtyvQ Iv?nBIn:int:n9D4yxɮznB|*   ˜ )))"-o9@ɢA)A EFiA)AIIiM=IIQ59=B>B4CBkHBPAB=B&DBmDB;B9EI1IAOM1>}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811477EU M EU =EU 9EQ "EU ,9*EU 8VEU 4ZEQ BEU uW:a} 2EU W:a} JEU 9a :EU 9a ԑ GL^,5y?AZ@Z̲@ZpٱZ jAHRS rotation from veh to nav: [[-0.352268,0.891607,0.284507],[-0.812024,-0.442321,0.380748],[0.465321,-0.096901,0.879822]]ZHֿ ?]5?Nܿ+^?`?θ`'?iZ@IZ^;XYvQAyzHYy}l?> ףp=?Mb?}w?}>}}m}mB}B }nB)}oByY}(BbD'VD=9y>%<=ٔ;Q->9I=FyEE>Q 5D41 z?Q 9D4=)AY ?Q E/:y8Q I? BIa:iH:\D4yCɮ"BE*˜ > > ap@" gw@ɢ!)! %i!))))i-=)I9checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063932ԁ=ԱI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314934eS^,pOy?A2{@2F@2Oٱ2̛ :AHRS rotation from veh to nav: [[-0.355383,0.889505,0.287201],[-0.811723,-0.446042,0.377032],[0.463475,-0.099137,0.880547]]2Hֿv?a?ܿ@J!?? a`p-?i2{@I2^;0YFSAyFHbDNVDN<9yV>%V\=ٔV׷;Q-Z>9XIX=ZFyZE^ME^>`Q 5fE4bz?Q 9fE4b=)bAYdyfQ Ij?b"BIbF:ib:bVE4ylErQ Er>EpEp"Er29*Er9VEpZEpav@av@av@av@ɮzBx*☩˜Թ "w@ɢ) 9i)i>= I  9checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567300IIO k>B ;>B (CB rHB UAB  =B 'DB dDB ;B bE9 sY^,Gqiy?A2p@2Qk@2ٱ2I :AHRS rotation from veh to nav: [[-0.360095,0.885803,0.292720],[-0.810620,-0.452395,0.371799],[0.461765,-0.103401,0.880954]]2H@ ׿X??` ܿ@??x`0?i2p@I2?^;0YB*UAyBHIF=)F=bDNVDN*<9yVT>%VJ=ٔV;Q-V>9XIX=ZFyZEZYE^>`Q 5fE4bfy?Q 9fE4b| >)bAYdyfQ If?bo$BIb|:ibR:brE4yhɮnBl*txxx˜x   " Nyv@ɢ!)! %i!))))i- =1I1)9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.819599IIO=ES E?E:E"E9*E?9VE(4ZEBE:a2E:aJE*9a:E/9aAq < checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071191ԡ `^,My?A65@60@6ٱ6h >AHRS rotation from veh to nav: [[-0.366211,0.880256,0.301728],[-0.808697,-0.461472,0.364765],[0.460325,-0.110426,0.880856]]6H@o׿ +?O?`ݿMX?`u?D/?i65@I6^;6 CY^WAy^FHbDjDVDja;9yr>%rG=ٔrF;Q-r>9tIt=vFyvEzڎEz>|Q 5E4~\y?Q 9E4~>)~AYyQ I?~[&BI~;i~,:~E4yCɮYBE*))))˜) III"MTu@ɢY)Y e8ia)aaaie#҆=iIiUC9qIIO=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323007ԡD=D%=EO E7E9E"E9*E8VE4ZEa @a @a @a @ rf^,'y?A2@2@2@ٱ2 :AHRS rotation from veh to nav: [[-0.373553,0.873553,0.312031],[-0.805993,-0.472173,0.356972],[0.459166,-0.118147,0.880459]]2HL׿$?P?@ 8޿?@b?@> ,?i2@I2^;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.575082YVPYAyVHbDnVDn:9yv>%vJ=ٔzR;Q-z>9xIx=~Fy~E=E=>AQ 5ME4Ey?Q 9ME4E!>)EAYQyUQ IU?EK(BIEM:iEf:EG.E4yyɮ}B*☱˜ "t@ɢ) i)i#%=!I!8IqIO=B>B CByHBZAB =BB]DBI;BEiQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8278611 E Q E ;E =E "E 29*E 8VE |4ZE BE ڝ:aU 2E ߝ:a] JE 9a :E 9a Y "m^,y?A6B@6 @6sٱ6 >AHRS rotation from veh to nav: [[-0.381874,0.865763,0.323460],[-0.802399,-0.484242,0.348805],[0.458615,-0.126345,0.879607]]6HpؿU? ?`A ޿R?Y?,`%?i6B@I6^;6CYJm[AyJH LLRARAy%M?Fx?Zd;?%nR?%K>%=! !9%Q?v?S㥻?Y%•?y%Ը>%/=%B%B % B)%gB!Y%BbDVD99yJ>%>=̼ٔ:Q->9I=FyEżE>Q 5E4Iy?Q 9E4->) AYU?Q E,:yԿQ I?*BI;i ;=E4yɮB*˜ >>>" @ɢ))1 5$i1)111i5bv=9I98)Qԁ gt^,y?Afsetting unavailable, lastComms_.elapsed()=60.159302  9 I0N=@N7@Nm#ٱNr ^AHRS rotation from veh to nav: [[-0.390901,0.857749,0.333861],[-0.797838,-0.496629,0.341781],[0.458968,-0.132765,0.878477]]D`zD`Ed EfEEf:Ed"Ed*EfA9VEf(4ZEdaj@aj@aj@aj@NHٿr?]?`߿?_?p@|?iN=@IN^;NCYr]Ayr[HbD~VD~@99y !>% W=ٔ kQ- >9"?I"?=FyEE>!Q 5%E4%y?Q 9-E4%c8>)%ѠAY)y-LֿQ I-?%+BI%-:i%$:%ZJE4y5Cɮ=B=E*IQQQ˜Q iii"mV@ɢ) i)顉i=IU8ԙA.AIIO&> Mf>I[Gc9YA A A B >B CB HB _AB =B B ZDB ;B EBm(CBm,CBmʤCBm =Bm=CmKH7/z^,ظy?A2Հ@2aЇ@2ٱ2?a! :AHRS rotation from veh to nav: [[-0.400688,0.848737,0.345099],[-0.792335,-0.510124,0.334633],[0.460059,-0.139350,0.876885]]2H`ٿ`(??`ZRj?q?<p?i2Հ@I2^;0YV`AyZ H`bDf%VDf89yn!>%nM=ٔrJQ-r>9v ?Iv ?=vFyvEzEz>|Q 5 E4~{y?Q 9 E4~C>)~AYy׿Q I?~-BI~4;i~;~QXE4y!ɮ%kB!*AAAI˜I qqq"u3@ɢ) i)顙ip=Iu8ES E>EE"E9*E9VEZEBE:a2E:aJE 9a:E9aA؟AII9O9>A h^,z?A2~e@2I`@2ٱ2da( :AHRS rotation from veh to nav: [[-0.410986,0.839109,0.356353],[-0.785810,-0.524237,0.328143],[0.462161,-0.145163,0.874834]]2H`Mڿ ?z?[%J?` ?`¿?i2~e@I25^;2 CY^aAyb HI`)b4<bDjVDj79y%>%%E=ٔ-Q-->9-"?I5"?=5Fy5E5E5>9Q 5EE4=y?Q 9ME4=RO>)=AYIyMٿQ IM?=H/BI=:i=:=fE4yUCɮUB]E*iiiq˜q "q@ɢ) i)顩iX=I*8IiaIeAAiIqIO:>nManaging dock network, ignoring radio surface power offER E?E9E"Es9*E?9VE4ZEa@a@a@a@qԡ A^,nz?A2@20@2ٱ2£1 :AHRS rotation from veh to nav: [[-0.421339,0.828052,0.369868],[-0.778536,-0.539427,0.320780],[0.465140,-0.152799,0.871950]]2H8ڿg?? @B??ÿ?i2@I2^;2CYBcdAyBp HbDNVDN)79yVZ>%VS=ٔVQ-V>9XIX=ZFyZEZE^>dQ 5jE4fy?Q 9jE4fFZ>)fjAYhyjZۿQ Ij?f0BIf :if:fQtE4yrCɮrBrE*x|||˜| "v=@ɢ))) -i))111i5=9yI58BU>BUCBU HBUTeABU =BU(DBUXDBU;BUEԡAIIO (>E [ E @E ;E "E a:*E 9VE 4ZE BE ;a 2E ;a JE $:a :E &:a  l^,O8z?A2|@2 {@2ٱ2; :AHRS rotation from veh to nav: [[-0.431087,0.816405,0.384249],[-0.770915,-0.554539,0.313331],[0.468886,-0.161151,0.868433]]2H ۿ??VȾ@ ?:?`Ŀ4?i2|@I2^;2 CY^fAy^HyEoʡ?Mb??E-?E=Eff>A A9EZd;?E >EBE؅B EsB)E3iBAYEBbD]VD]n69ymj>%m>=ٔm!Q-m>9qIq=uFyuE}E}>Q 5E4Yy?Q 9E4%b>)AY%?Q ER:y6ſQ I?)2BI7:i:EE4yAɮEBA*YYYa˜a }>}>}Z?"}@ɢ) Ai)顙i1܈=I}8AIIOE>)Y  BDAT read: Response Not Received  *response not received %J=ٔn0Q->9I=FyEE>Q 5E4y?Q 9E4i>)SAYyſQ I?T3BIV;i;ԑE4y)ɮ-5B91*aiii˜i "P@ɢ)  i)i=Ia58ԑA .AI I O >BM >BM CBM oHBM jABI BI BM UDBM ;BM 9EԹ K~^,!lz?A:}@:ׅ@:(!ٱ:&S FAHRS rotation from veh to nav: [[-0.444440,0.795062,0.412734],[-0.758743,-0.579032,0.298379],[0.476216,-0.180548,0.860593]]:H@qܿ`&q?;j?Go?Sz?/ǿ?i:}@I:4^;: CYRkAyRHbD5rVD559ԑy5 >%51=ٔ= Q-=>9E ?IE ?=EFyEEMȓEM>aQ 5mE4ey?Q 9mE4e/r>)eAYyy}IƿQ I?e4BIe ;ie;eE4yCɮBE*EO E@E8E"E9*E9VEF4ZEBEDŽ:a2Ē:aJE#:a:Ea˜ "3@ɢ) = i9)99aieF=aIiA؟AIIO> e^,܅z?A2hw}@2@2<ٱ2_ :AHRS rotation from veh to nav: [[-0.446696,0.787845,0.423985],[-0.755682,-0.585934,0.292618],[0.478965,-0.189686,0.857095]]2H੖ܿ6?@"? .A?]?Gȿ@Rm?i2hw}@I2t^;0YBmAyB;HbDJVDJ^49yRy>%R=ٔVL Q-V ?9V"?IV"?=ZFyZEZ?LEZ ?\Q 5bE4^y?Q 9bE4^x>)^ǯAYdyf+ƿQ If?^5BI^:i^:^E4yhɮjBh*tttt˜x   "  @ɢ)! % i!)!!!i-,d=)I)AIIO>EP E<E5E"E9*E8VE4ZEa@a@a@a@I a^,ùz?A46wt}@6@66zٱ65i BAHRS rotation from veh to nav: [[-0.446247,0.783244,0.432888],[-0.754615,-0.589363,0.288458],[0.481061,-0.197940,0.854049]]6H`Qܿ@V?@n?% @v?? Vɿ_T?i6wt}@I65^;4PR%=YVpAyVHIZ<)ZbD^VD^39yf԰>%fH=ٔj\Q-j>9hIh=jFyjEnEn>pQ 5vE4ry?Q 9vE4r>)r$AYxyzſQ Iz?r6BIrl:irB:r E4y|ɮ~B|*˜ 111"5@ɢA)I M iI)IIIiM~=QIYAiIqIԉO=Bz>BCBHBpAB =BBTDBe;B EI%>)%>ԹE T E ?E 9E "E 9*E ?9VE 4ZE BE x:a 2E }:a JE )9a :E .9a ҹ^,z?A6}@6ͅ@6ٱ6r BAHRS rotation from veh to nav: [[-0.443603,0.781059,0.439504],[-0.755304,-0.589785,0.285779],[0.482423,-0.205187,0.851567]]6Hcܿo? ?s+6J?@?@Cʿ @?i6}@I6^;4\Yb=rAybHyMS?ClǿX9v?M?Md;MM4BI M)B)M{lBIYMBbDeFVDe39yu>%u@=ٔuoQ-u>9yIy=}Fy}EM;E>Q 5E47y?Q 9E4A>),AY%?Q E:yTQ I?7BI ;i? ;E4yCɮKB*☹˜ >>q?"%>ɢ) p i)iy=IAIIO]3>A ^,/mz?A2}@2@2ٱ2 `w >AHRS rotation from veh to nav: [[-0.439349,0.781895,0.442280],[-0.757388,-0.587164,0.285662],[0.483048,-0.209472,0.850168]]2H@MܿI?QN?`<@ HH?C?ʿ4?i2}@I2k^;2CYVtAyZkHbDjVDj29!ym>%uJ=ٔuQ-u>9yIy=}Fy}EZ<E>Q 5E4y?Q 9E4>)AYyQ I?|7BI;i;E4yCɮBES ECEE"E9*E09VEZEa@a@a@a@*˜ "=>ɢ)  i)iΉ= I  I)IAAzAAyIYIqO}>B k>B CB HB zvAB B B SDB ;B O~Eԡ ̺^,0Iz?AB~~@B :@B ٱB9y NAHRS rotation from veh to nav: [[-0.433554,0.785843,0.441002],[-0.761091,-0.581351,0.287700],[0.482464,-0.210909,0.850145]]BH`Xۿ@%?_9?Z`mi??ʿb4?iB~~@IBљ^;@YZvAyZH \\bDfVDf29ynк>%nT=ٔnA:Q-r>9pIp=rFyrEv<Ev>xQ 5~E4z;y?Q 9~E4z>)zAY|y~FQ I?z7BIz;iz;zrE4y ɮ B *!!!!˜!y "ރ>ɢ) H i)iD=IIIO>EO EDEE"E9*Ea99VEZEBEȄ:a2Ë́:aJEaH:a:EcH:aԹ ֶ^,0{?A2/@2c@2lٱ2@t :AHRS rotation from veh to nav: [[-0.426492,0.793445,0.434223],[-0.766065,-0.572110,0.292976],[0.480883,-0.207692,0.851831]]2HKۿ@c? Q? N??ࣕʿ 2B?i2/@I2^;2CYBxAyBHbDJgVDJR19yR>%RM=ٔVx;Q-V>9TIX=ZFyZEZ<E^>\Q 5bE4^Cy?Q 9fE4^>)^عAYdyfQ If?^F8BI^:i^4:^^E4yjCɮnBl*tttx˜x   " Um>ɢ!)! % i!)!))i-q=)I1II O=D=DR=EMZ EM?EM<EI"EM:*EM?9VEM 4ZEIa]@a]@a]@a]@)Y e "G} kA 9 kAY A^, {?A2@2/@2Gٱ2il :AHRS rotation from veh to nav: [[-0.418583,0.803512,0.423270],[-0.772091,-0.560247,0.299998],[0.478187,-0.201229,0.854894]]2Hڿ^?@? +3??ɿK[?i2@I2^;2CYnzAyn$HbDzVDz09y>%D=ٔ;Q->9!I!=%Fy%E-<E->1Q 55F45y?Q 9=F455>)5׻AY9y=6Q I=?58BI5;i57;5F4yMCɮMBI*aaaa˜a "g>ɢ) T i)顙iF?=IA>A>1IyIO=B_>BCBHB |AB =BBRDB;B}EBUCBUCBUÖCBU =BU =CU5aԑEe R Ee @Ee 8Ea "Ee s9*Ee 9VEe F4ZEa BEe e:am 2Ee j:am JEe $:au :Ee ':au -^,:{?A2xR@2CM@2QGٱ2 Oa :AHRS rotation from veh to nav: [[-0.409701,0.815472,0.408841],[-0.778944,-0.545991,0.308448],[0.474754,-0.192092,0.858900]]2H@8ڿ X?`q*? x?`_b?xȿ|?i2xR@I2^;2 CY^O}Ay^HI`)b%A=ٔ9I=FyE;<E>Q 5F4y?Q 9F4e>)>AY ?Q E:yl-Q I?~9BIr;if;F4yCɮB*˜ >>q@"CJ?ɢ!)! -i)))))i-r=1I1ԑIIO= D^,T{?AD0zD2?AR@R@RhٱR3uT ^AHRS rotation from veh to nav: [[-0.400128,0.828125,0.392564],[-0.786252,-0.530267,0.317213],[0.470856,-0.181729,0.863290]]RHٿ`??(5M?"?`Bǿ@?iR@IR^;RCYf0AyfHEn` EnEEn<El"En*:*EnA9VEn 4ZElar@ar@ar@ar@bDv|VDv4/9y~|>%~V=ٔ=9I=Fy E C=E >Q 5F4y?Q 9F4t>)AY!y%,Q I%?8:BI;i;F4y-Cɮ-B-E*˜ "?ɢ )  3i ) i=1I9IIO=I B <A <B V>B CB LHB AB =B B B ;B |E^,n{?A6_)@6*$@6cٱ6G BAHRS rotation from veh to nav: [[-0.390965,0.839868,0.376522],[-0.793147,-0.514979,0.325138],[0.466974,-0.171520,0.867477]]6Hٿ`2??uaz?? 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BAHRS rotation from veh to nav: [[-0.288151,0.910274,0.297272],[-0.838379,-0.389818,0.381003],[0.462699,-0.139440,0.875481]]:H@qҿ ??ؿ`Xb?ڜ?@/ ?i:9@I:T^;:CYJAyJHbDVE VDV9yZ4>%^S=ٔ^";Q-^>9b ?Ib ?=bFybEf+Ef>hQ 5jK4jv?Q 9nK4j A)j"BYlynyQ In?jBIjn;ijY;jK4ytɮv)Bt*˜ !!!"%v@ɢ1)1 5ri1)999i=-=AIAq=ԡA II)OE> E- ` E- TE) E) "E- *:*E- 9VE) ZE) a5 @a5 @a5 @a5 @:9[a,0o?A2@2S@2uٱ21$ :AHRS rotation from veh to nav: [[-0.291953,0.907822,0.301036],[-0.837257,-0.394737,0.378397],[0.462347,-0.141570,0.875325]]2H`]ҿ@ ?-D?@_Cٿ7? ?¿?i2@I2^;2 CYBAyB\HbDJVDJT9hyr>%rG=ٔv}:Q-v>9tIt=vFyvEz2Ez>|Q 5K4~v?Q 9K4~HA)~#BY y Q I ?~BI~:i~:~FK4yCɮB^E*))))˜1 III"M|@ɢY)a e[ia)aaaieg=iIiqqyyBA4<B>BCBHB.AB0 =BBDB˰;BkEA)zA-hAAu؟AIyIO~>) !ba,c?A6@6@6ٱ6y( >AHRS rotation from veh to nav: [[-0.295625,0.904979,0.305973],[-0.836091,-0.400042,0.375392],[0.462124,-0.144846,0.874906]]6H`ҿ?@?A@Hٿl?p?`R¿;?i6@I6/^;6CYFAyFHIJ<)JR=bDR VDR9yZZ>%ZM=ٔZ%:Q-Z>9^"?I^"?=^FybEb2Eb>dQ 5jK4fv?Q 9jK4fA)fa$BYhyjtQ In?Ep ErKEr2Ep"Ep*Er]t9VEr4ZEpBEr,;az2Er,;azJEr":az:Er#:azfBIf;if;9f-K4yyɮ}B*☙˜ "1@ɢ!)) -Ki)))))i-ִ=YIYaAI IO%,>ԑ%=R= SKha,ɢ?A2`τ@2,ʋ@2ٱ2- :AHRS rotation from veh to nav: [[-0.299029,0.901520,0.312800],[-0.834814,-0.405937,0.371889],[0.462242,-0.149924,0.873988]]2H`J#ӿ@?`?˶ ٿ`?`?@0ÿ?i2`τ@I2_;0YBAyBHbDJ`VDJ9yV>%VK=ٔV߭Q-V>9XIX=ZFyZEZ&E^>`Q 5bK4b% v?Q 9fK4bxA)b'%BYdyfQ If?bBIb:ib:b?K4yjCɮn8Bl*txxx˜x   " @ɢ!)! %Yi!))))i-=1I1ԙAIIQIiO}=bEu4jEuþ4rEu%1Eb EJEE"E1:*Ek9VEZEa@a@a@a@B>BCBHBAB4 =BBDB&;B$kE9 Suna,{?A6_@6+@6ٱ63 BAHRS rotation from veh to nav: [[-0.302061,0.898169,0.319455],[-0.833647,-0.411416,0.368468],[0.462376,-0.155013,0.873029]]6HTӿͽ?q?=Tڿ?@?wÿ`?i6_@I6^;6CYFAyFPHy)\(? ףp= ?J +?GA?Q8=H= 9Zd;O?IB9RB )6BY[BbD-VD-r9y=6>%=A=ٔEƺQ-E>9AIA=MFyMEM EM>QQ 5]K4U/v?Q 9]K4U$A)U%BYe??Q Ee:yeHQ Ie?U!BIU;iU ;UK4ymCɮmBq*☉˜ ==Zl@"O?ɢ) /i)iE=IA>A>A.AIIO>AiyI}AE EQEE"E*Ev9VEZEBEw9;a 2Ey9;a JE:a :E:aԁԙ /]ua,օ?A2<@2@2Nٱ2X; :AHRS rotation from veh to nav: [[-0.303808,0.894895,0.326899],[-0.833025,-0.416021,0.364686],[0.462353,-0.161521,0.871861]]2Hqӿ@?? $`ڿW?@/?ĿH?i2<@I29^;2CYvAyvH xxbD-VD59y>%M=ٔ8Q->9 ?I ?=FyE%E%>)Q 55K4-u?Q 95K4-~*A)-&BY1y5TQ I=?-BI-;i-];-K4yAɮEBA*YYYY˜a yyy"}?ɢ) Bi)顑iȌ=IqA%؟AI1IAOM>ԡE h E LE 4E "E G:*E |9VE 4ZE a @a @a @a @ H{a,Z?A2@2@25ٱ2nB :AHRS rotation from veh to nav: [[-0.304740,0.892187,0.333370],[-0.832571,-0.419526,0.361696],[0.462558,-0.167331,0.870655]]2Hڀӿ@̌?U?`kڿ&? ?kſ`h?i2@I2B^;2CYBAyBHbDJ}VDJ9yR>%VQ=ٔVvQ-V>9V"?IZ"?=ZFyZEZYCEZ>\Q 5bK4^1u?Q 9fK4^30A)^c'BYdyfGQ If?^BI^A:i^:^K4yjCɮjiBngE*tttx˜x   " A?ɢa)a e ia)aiiimҒ=iIqBy>BCB?HBAB5 =B0DBDB{;BbjEA II!O5 >) oa,8 ?A6ə@6@62Fٱ6zrH BAHRS rotation from veh to nav: [[-0.304407,0.890364,0.338508],[-0.832630,-0.421330,0.359455],[0.462670,-0.172432,0.869600]]6Hh{ӿ }??ڿP?a?<ƿ@?i6ə@I6'^;6CYFAyJ7HbDRVDR9yZ>%ZI=ٔZ3Q-Z>Eb\ EbOEb3E`"Eb:*Eb9VEb4ZE`BEb;aj2Eb;ajJEb@:aj:EbA:aj9\Il=nFynErp:Er>xQ 5K4zwu?Q 9K4z66A)z%(BY y Q I ?zBIz{v;izhg;zK4y!ɮ%,B!*AAAI˜I "?ɢ )  i )  i2 =IA)zA))AaIiIO>Yԁ Oa,$?A0:i@:5@: Hٱ:L BAHRS rotation from veh to nav: [[-0.303630,0.889326,0.341918],[-0.832907,-0.422012,0.358011],[0.462682,-0.176083,0.868861]]:Hnӿ\u??,<ۿ? ?ƿ ?i:i@I:^;:CY^AybΗHIb%=)b=bDjPVDjY9yr>%rG=ٔvgQ-v>9tIt=vFyvEz4;Ez>|Q 5L4~u?Q 9L4~%E^ EHE4E"EC#:*E[9VE4ZEa@a@a@a@Bm>BCB™HB AB4 =BBDB;BiE  *DAT read: user:110>  BDAT read: Tx time:20:35:36.0525  $Ping request sent. %@=ٔ9Q->9 ?I ?=FyE<;E>Q 5L4iu?Q 9L4AA))BY+?Q E:yQ I?BIU:i:L4yɮwB*˜ ==d@"@ɢ)  i)   i = IA!I1IAOM>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508431E EJEE"E*Ek9VEZEBEc ;a2Ef ;aJEڏ:a:Eۏ:aA Ka,*W?A2n҄@2:͋@2?ٱ2]R :AHRS rotation from veh to nav: [[-0.298774,0.890115,0.344134],[-0.835084,-0.418396,0.357184],[0.461919,-0.180664,0.868327]]2Hӿ`{?@L?@@ڿ?`?`ǿ@U?i2n҄@I2^;2CYNAyRԘHbDZ VDZ9ybD>%bX=ٔb:Q-b>9dId=fFyfEj <Ej>hQ 5rL4j u?Q 9rL4jFA)j *BYpyrNQ Ir?jBIj;ij;j.!L4yxɮzRBx9*☉˜ " @checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977ɢ) wi)i=IA=>A=> =a>=CiAiIqIO">liA-e?95liAY5.Aԑu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754927 E d E YE 8E "E 9:*E *9VE F4ZE a @a @a @a @՛a,q?A2k@27@2<ٱ2Q :AHRS rotation from veh to nav: [[-0.295284,0.892129,0.341927],[-0.836900,-0.414163,0.357865],[0.460875,-0.180487,0.868918]]2H ҿ`Q?!?ڿB?~? 3ǿ@-?i2k@I2M^;2CYBAyBH DDbDNYVDNr9yV>%VL=ٔVc@;Q-V>9XIX=ZFyZEZ3<E^>`Q 5fL4b>u?Q 9fL4bLA)b*BYdyfQ If?bdBIb[:ib:b3/L4ynCɮnBl*xxxx˜x "0@ɢ!)! %Ei)))))i-@=1I1BEg>BABERHBEABABABEDBE;BEhEBCBCBCB4 =B3 =C|6ԙA ؟AII!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006860! Ha,c}?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259775~%@~@~ٱ~/P AHRS rotation from veh to nav: [[-0.291268,0.894742,0.338524],[-0.838787,-0.409017,0.359363],[0.460000,-0.179279,0.869632]]~H#ҿມ?`b?`WV-ڿ?p?ƿ@?i~%@I~^;~CY-Ay-HE=[ E=KE=3E9"E=a:*E=]t9VE=4ZE9BE= ;aE2E= ;aMJE=!:aM:E=#:aMbDUVDU9ye9>%e?=ٔm;Q-m>9m"?Im"?=uFyuEuL><Eu>yQ 5L4}u?Q 9L4}QA)}<+BYyQ I?}BIyiy}(>L4yCɮBoE*☩˜ "@ɢy)y }hi)顁ig=IAI!I)O5->checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510934Qy ea,yX?A2$J@2D@2ٱ2"L :AHRS rotation from veh to nav: [[-0.287077,0.898319,0.332582],[-0.840933,-0.402605,0.361581],[0.458714,-0.175878,0.871005]]2Hw_ҿ?I?@Gٿ"$?`[? )ƿD?i2$J@I2^;2CYfAyfHbDr(VDr9yvѫ>%zR=ٔzs;Q-z>9xI|=~Fy~E\<E>Q 5 L4u?Q 9L4VA)+BYycQ I?QBI:i|:KL4y!ɮ%]B!*1199˜9 QQQ"U#4@ɢi)i m\ii)iqqiu0ߔ=qIyAhAzAQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763896D%=DEZ EHE1E"E:*E[9VE-4ZEa@a@a@a @AIQIiO}>ԁB=_>B=CB=HB=AB=2 =B9B9B=);B=gEԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022 a,3?A2r@2m@2ٱ2?nG :AHRS rotation from veh to nav: [[-0.283150,0.901885,0.326235],[-0.843130,-0.396202,0.363531],[0.457119,-0.172125,0.872591]]2H@!ҿ`>?@?``[ٿD?nA?-ƿD?i2r@I2^;2CY^Ay^`HIb >)b>yDl?A`"OM?̽Y 9-?MbEԸY?5?yƽӆB LB )m3BYYBbDVD9y>%?=ٔ;;Q->9I=FyEC><E>Q 5L4u?Q 9L4]A)<,BY9?Q E:yQ I?BI. ;i ;ZL4yɮB*˜ (=(=[@"3?ɢ))) -Si))111i5 7=9I9ԱAaIqIO>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267330E] EGE4E"E:*ER9VE4ZEBE;a 2E!;a JEt:a :E t:a 9 a,Vن?A2%@2@2ٱ2YA :AHRS rotation from veh to nav: [[-0.279713,0.905649,0.318687],[-0.845267,-0.389708,0.365582],[0.455284,-0.167118,0.874522]]2H`ѿ?`^e? n ؿ e?``#?dſ?i2%@I2+^;2CYBAyBHbDJ!VDJl9yRγ>%V]=ٔV];Q-V>9TIX=ZFyZEZC<EZ>\Q 5bL4^@u?Q 9fL4^3cA)^,BYdyfQ If?^gBI^I:i^w:^gL4yjCɮjBl*tttx˜x   " |b?ɢ!)! %Ii!)!))i-=)I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519162I1IIOU=9U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771597ԁ bEEH4jEEH4rEE0E [ E IE 2E "E a:*E c9VE 4ZE a% @a% @a% @a% @#a,?A :@@: @:ٱ:I; BAHRS rotation from veh to nav: [[-0.277086,0.908771,0.312023],[-0.847062,-0.384323,0.367127],[0.453552,-0.162577,0.876276]]:H@ǻѿ?0?@!ؿ? ?SĿ@s ?i:@@I:^;:CYJWAyJfHbDVVDV/9yZIE>%^I=ٔ^;Q-^>9`I`=bFybEb] <Ef>dQ 5jL4fu?Q 9nL4fuiAApApBvW>BvCBv'HBvBBv1 =BtBvDBv;Bv=gE)f -BY|y~eQ I~?fBIf;if;fuL4y ɮ B *!!!!˜! AAA"Ew?ɢQ)Q UiQ)YYYi]=aIaAu>Au>qIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022887ԙ e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072a, ?A:ƅ@:_@: ٱ:;+5 BAHRS rotation from veh to nav: [[-0.275354,0.911778,0.304698],[-0.848535,-0.379485,0.368754],[0.451850,-0.157010,0.878168]]:H fѿI-?.? 3'{Iؿ??Ŀ?i:ƅ@DEZa EZGEZ5EX"EZ%.:*EZR9VEZ4ZEXBEZ23;a^2EZ53;abJEZt:ab:EXabI:^;:CY-bAy- H 11bDE.VDE8yU>%U@=ٔU;Q-]>9YIY=]Fy]EeX;Ee>iQ 5uL4mBu?Q 9uL4m pA)my-BYqy}/Q I}?mBIm$:im:m„L4ysCɮBxE*☙˜ "\?ɢ) i)iA=IIIO=Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526887 5a,,&?A2΅@2|Ɍ@2(ٱ2#/ :AHRS rotation from veh to nav: [[-0.274754,0.914011,0.298486],[-0.849551,-0.376151,0.369830],[0.450304,-0.151967,0.879848]]2Hѿ??d?/ؿ@J? ?sÿ'?i2΅@I2Q~^;0Y^&BybHbDjVDjy8yrz>%rS=ٔr;Q-v>9tIt=vFyvEz';Ez>9|Q 5eL4~)u?Q 9eL4~ vA)~-BYayeQ Ie?~BI~fBCBHBBBBBB;BfEԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030800 a,}@?A2kͅ@27Ȍ@2`ٱ2!v( :AHRS rotation from veh to nav: [[-0.275096,0.915948,0.292166],[-0.850159,-0.373662,0.370952],[0.448944,-0.146340,0.881495]]2H -ѿrO?ز?4׿??E¿@55?i2kͅ@I2J^;2CYRByR2Hy-'1Z?y&1?~jt-b?-`<-D) )9-Mb?v/X9vY-`?y-xi--B-IB ))-V0B)Y-SBbDEVDE8yU>%UC=ٔUn;Q-U>ԙ9I=FyEqE>Q 5L4wu?Q 9L4~A)_.BY6c?Q Eo:yQ I?ɝBI:i:nL4yɮB*   ˜ -E>-E>-k@"-;SJ@ɢA)E= EiA)IIIiM=IIQAeiAzAeiAIIO5=-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283761EX EGE4E"E~ :*ER9VE4ZEBE:a2E:aJEa:Ea Ga,WZ?A2I…@2@2%ٱ2! :AHRS rotation from veh to nav: [[-0.276440,0.917426,0.286199],[-0.850367,-0.372250,0.371896],[0.447725,-0.140567,0.883053]]2H@3ѿ [?Q?36@׿@%??`A?i2I…@I2^;2CYfByfǞHIj<)j4<bDrVDr8yzȚ>%zQ=ٔzKd;Q-z>9|I|=~Fy~E\lE> Q 5L4 lu?Q 9L4 wA) .BYyQ I? kBI :i X; L4y%[Cɮ%)B%wE*9999˜A YYY"]vJ@ɢi)i uˍiq)qqqiud=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535050IIyIO=!Q5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787573D zD E Z E KE 2E "E :*E ]t9VE 4ZE a @a @a @a @y qa,1t?A2>@2 @2b4ٱ2 :AHRS rotation from veh to nav: [[-0.278650,0.918116,0.281810],[-0.850082,-0.372328,0.372467],[0.446894,-0.135774,0.884223]]2Heѿ@5a?. ? 38׿? ? aK?i2>@I2X^;2CBBI>B@BBHBBBB@B@B@BB;BBPfEY^Byb\HbDjVDj 8y5>%5F=ٔ=;Q-=>99I9=EFyEEEc»EE>IQ 5UL4Mau?Q 9UL4MҎA)MJ/BYYy]Q I]?MBIM;iM";ML4yaɮeBi*yyy☁˜ "J@ɢ) ٌi)顱i5͗=IQAAIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038927ԁԩ = checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290923Ya,?A2ې@2@2jٱ2 :AHRS rotation from veh to nav: [[-0.281759,0.917748,0.279910],[-0.849265,-0.374301,0.372354],[0.446498,-0.132803,0.884874]]2HXҿ1^? ?-- ׿?m? P?i2ې@I2^;2CYBByBHbDJVDJ8ER^ ERIER1EP"ERC#:*ERc9VER-4ZEPBERd ;aZ2ERf ;aZJER:aZ:ER:aZyb4>%bR=ٔbƔ:Q-f>9dId=fFyfEjEj>lQ 5rL4n$Vu?Q 9rL4nA)n/BYtyv|Q Iv?nßBIn;in:nL4yxɮzBzE*    ˜ )))"-hJ@ɢ) ыi)顡iq0=IԱ=L=AE>AE>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545757AIIO> KG kA ?9 kAY 0A9 na, 맇?A6k@6e@6ٱ6~ BAHRS rotation from veh to nav: [[-0.285670,0.916576,0.279788],[-0.847957,-0.377782,0.371820],[0.446500,-0.131031,0.885138]]6HiHҿT? ?@v"-ؿ?t?` S?i6k@I6^;4YFByFH HHbDRBVDRI8yZ>%ZK=ٔZ'Q-^>9`I`=bFybEb;Eb>dQ 5jL4fJu?Q 9jL4f֞A)f40BYlyn Q In?fpBIf;if;fL4yrCCɮv0BvE*||˜ "3J@ɢ1)1 5i1)199i==AIA=iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800753)E] EDE4E"E:*Ea99VE4ZEa@a@a@a@AaIIIOu6>9BG>BBHB BB0 =BBDB8;BeEBeƷCBeƸCBeƔCBe1 =Be1 =Ce|=5i  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050921~ma,>?A2xB@2E=@2Kٱ2  :AHRS rotation from veh to nav: [[-0.289782,0.914214,0.283265],[-0.846268,-0.382992,0.370335],[0.447054,-0.132402,0.884654]]2Hˋҿ`=A?!? ؿ?`?O?i2xB@I2^;2CY^By^CHyu(\?:v?B`"۹?uN?u%<=̺ٔQ->9I=FyEA;E>Q 5L4Bu?Q 9L4A)1BYRs?Q E_:yQ I?)BIa:ij:L4yɮB*˜ x>x>:K>"َ@ɢ) i)!!!i%=)I)i%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302971uFJ=ԡEc EJE3E"Eg5:*Ek9VE4ZEBE?;a2E?;aJEڏ:a:Eۏ:aAII O > a,ߣۇ?A2@2u@2ٱ2 :AHRS rotation from veh to nav: [[-0.294385,0.911525,0.287157],[-0.843944,-0.388942,0.369435],[0.448437,-0.133588,0.883775]]2H 6ҿ6+?`?`oؿԤ?`2?j`G?i2@I2P^;2CYBByBHbDJXVDJr8LyV>%V[=ٔV!Q-V>9XIX=ZFyZE^i{E^>`Q 5fL4b;u?Q 9fL4bЯA)b1BYhyjQ Ij?bǡBIb]:ibU:bL4ylɮnBl*xxxx˜| "@ɢ!)) -ii)))))i-`=1I9AAAA}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554922A5.AIAIYOuy>- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806896E Z E IE 2E "E :*E c9VE 4ZE a @a @a @a @! 9a,v?ABE>BCBHBeBBBBDB;BAeEZ@Z݋@Z2ٱZ bAHRS rotation from veh to nav: [[-0.299091,0.908412,0.292116],[-0.841253,-0.395509,0.368600],[0.450375,-0.135498,0.882498]]ZHO$ӿ??Pٿ"??@X`l=?iZ@IZm^;ZCYjHByjHIr%=)r<bDvVDv8y~>%E=ٔSQ->9  ?I  ?= Fy EkE>Q 5%M43u?Q 9%M4A)y2BY!y%Q I-?wBI;i;]M4y1ɮ5cB5E*IIII˜I iii"mo@ɢy)y pi)顁i™=IA؟AIIO>)checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058852Qԁ E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310853b,U?A2ش@2@2"ٱ2} :AHRS rotation from veh to nav: [[-0.303400,0.905052,0.298043],[-0.838455,-0.402181,0.367755],[0.452705,-0.138319,0.880867]]2H@jӿ.?@$?TٿL?? o0?i2ش@I2^;2CEB^ EBJE@E@"EBC#:*EBk9VE@ZE@BEBd ;aJ2EBf ;aJJE@aJ:E@aJYRByR^HbDZJVDZz8y>%J=ٔ ӻQ- >9 "?I "?= FyEcE>9Q 5EM4=+u?Q 9EM4= A)==3BYIyM>Q IM?=$BI=$:i=:=M4yU,CɮUBQY*☉˜ "88@ɢ) Ti)i# = I I1IAOM>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.562900Ա b,U/)?A2@2^@2ٱ2Z$ :AHRS rotation from veh to nav: [[-0.307140,0.901359,0.305314],[-0.835607,-0.408964,0.366755],[0.455441,-0.142477,0.878791]]2H/ӿ`?B?`Jy,ڿx? %?`<¿?i2@I2b^;2CYbnBybHbDrVDr8yz̽>%~K=ٔ~Q->9I = Fy EmLE>Q 5M4#u?Q 9M4A)4BYyQ I?ԣBI?';i,;3 M4ԹyɮB*199˜9 "@ɢ) #i)顡i{=I checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817226bE54jE5ô4rE5ç/E] EFE3E"E:*E;J9VE4ZEa@a@a@a@IIIYOm5>B%@>B!B%HB%BB%. =B!B%DB%R;B%dEߥ 4=ߥ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0671519 b, C?A2m@2h@2 ٱ2a) :AHRS rotation from veh to nav: [[-0.309649,0.898262,0.311837],[-0.833102,-0.414377,0.366377],[0.458321,-0.146344,0.876656]]2HIӿ`?$?@ƨ'ڿr?@!U? h¿` ?i2m@I2 ^;2CYBByBH DDyMQ?ʡE?V-?M5?M=M=I I9MMrBM#DB I)MN*BIYMJBbDeFVDe8yuߡ>%uC=ٔu9Q-u>9yIy=}Fy}E E>Q 5M4.u?Q 9M47A)4BY]?Q Eu:yQ I?UBI;ic;;.M4y+Cɮ[BE*☹˜ D>D>M@"T^@ɢ) i)i[ǚ=IIIO=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.318928Ec EEE"Eg5:*EVEZEBE?;a2E?;aJExe:a:Eze:aiԙ b,\?A.Z@.uU@.,ٱ.n. :AHRS rotation from veh to nav: [[-0.311056,0.895552,0.318166],[-0.830907,-0.418765,0.366373],[0.461343,-0.150404,0.874380]].H`Xӿ]?\?ʖ ڿr?`?p@ÿ`?i.Z@I. _;,YBByBqHbDJVDJ8yR>%RX=ٔVvQ-V>9TIX=ZFyZEZ˻EZ>\Q 5bM4^u?Q 9fM4^RA)^5BYdyfQ If?^ϤBI^[:i^:^q;M4yhɮjBl*tttx˜xechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.570956 "k^@ɢ) i)顩iK=II9IIO]=qԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822911E X E JE E "E ~ :*E k9VE ZE a @a @a @a @ B! A% <B- :>B) B- {HB- -BB- - =B) B) B- (;B- dE!b,v?A2T@2zO@2Dٱ23 :AHRS rotation from veh to nav: [[-0.311104,0.893323,0.324327],[-0.829189,-0.421893,0.366677],[0.464392,-0.154854,0.871986]]2Hӿ ??Jۿw? ? >ÿP?i2T@I2^;2CY^By^)HbDjVDjv8yr>%rG=ٔrQ-r>9tIt=vFyvEvEz>xQ 5M4z~u?Q 9M4zA)z6BYyQ I?zSBIz<;iz7;zIM4y ɮB*!)))˜) AAA"E3]@ɢ) ʁi)iS=IIIO=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.074921)  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326839#b,?AE2W E2FE22E0"E2 :*E2;J9VE24ZE0BE2:a:2E2 :a:JE0a::E2{e:a:%ED=ٔEQ-E>9III=MFyM×EU:EU>QQ 5eM4Uu?Q 9eM4UA)U7BYayeQ Ie?UإBIU:iU:U]XM4yqɮuBq*☉˜ "]@ɢ) i)i˔=IIIO=ԉԹ}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578817 k *b,dy?AJTn@J!i@JUٱJw; ZAHRS rotation from veh to nav: [[-0.307532,0.891845,0.331718],[-0.827540,-0.422755,0.369399],[0.469682,-0.160907,0.868048]]JH`ӿ?:?5{iۿ=?E?@Ŀ ?iJTn@IJ^;H`Yf5ByjHbD- VD-p8yEx>%EJ=ٔMٻQ-M>9IIQ=UFyUŗE];E]>aQ 5mM4e u?Q 9uM4e)A)e8BYqy}Q I}?eZBIe*;ie*;efM4yCɮ B*☩˜ "]@ɢ )  (i )iЛ=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.833058Du=DuR=E[ EEE7E"Ea:*EA9VEԺ4ZEa@a@a@a@AII!O5.>B7>BCB=HB BB. =BBB,;BdEA  >AHRS rotation from veh to nav: [[-0.304083,0.892265,0.333762],[-0.827615,-0.420939,0.371299],[0.471790,-0.163321,0.866453]]2H`vӿo?Y\?`{ڿ\?1?Ŀ ?i2@I2^;2CY^By^1Hy}X9v?L7A`?l?}3?}+=}=y y9}I +?~jtv/?Y}9?y}D}xi>}yB}5BB y)}V)ByY}fLBbDs VD8yҧ>%D=ٔQ->9I=FyǗE<E>Q 5M4u?Q 9M4@A)9BY?Q E:yQ I?BI:i:uM4yCɮB*˜ v> v>  Un@" M?ɢ!)! %|i!))))i-%=)I1IAIIO >EW ERE3E"E :*E9VE4ZEBEa2EaJE:a:E:aqԡ 37b,4ވ?A2w@2D@2~ٱ2B :AHRS rotation from veh to nav: [[-0.299556,0.893229,0.335274],[-0.828342,-0.417858,0.373153],[0.473408,-0.165942,0.865071]]2H+ӿT?@!u?ȁ@1ڿ@?QL?=ſ?i2w@I2^;2CYRE ByRӨH TTbDZ; VDZ8yr>%rW=ٔvYQ-v>9tIt=zFyzɗEzY\<Ez>|Q 5M4~<u?Q 9M4~A)~Z:BY y Q I ?~BI~:i~:~VM4yCɮHBE*1119˜A aeCԉ =uGQ"Ň?i;9Y-Aɢ) zi)项iX==IԡIIIYOm5>D zD AAE U E BE E "E :*E (9VE ZE a @a @a @a @ A A @AB />B B HB BB , =B B B ;B dEB˶CB˶CB˓CB. =B. =Cˣ5#\=b, ?A2a@2.@2l ٱ2C :AHRS rotation from veh to nav: [[-0.294231,0.895265,0.334557],[-0.829706,-0.413012,0.375512],[0.474359,-0.167097,0.864328]]2Hҿ@?ai?nڿb?[?mcſ?i2a@I2_^;0Y BypHbD5 VD588yEę>%EE=ٔM*Q-M>9III=UFyU˗EUt<EU>YQ 5eM4]ot?Q 9eM4]A)]';BYiymQ Im?]RBI]|:i]:]ߐM4yqɮuBy*☑˜ "-!?ɢ) xi)ik=IIIO> 1Y CDb,?AE&R E&>E&2E$"E&s9*E&9VE&4ZE$BE&V:a*2E&[:a*JE&9a*:E&9a.B!@B]@Bj'ٱBD JAHRS rotation from veh to nav: [[-0.288501,0.897745,0.332899],[-0.831612,-0.407259,0.377573],[0.474540,-0.167913,0.864070]]BHvҿR?7N? ڿ`&*?^?`)~ſ`v?iB!@IB.^;BCYRB ByR HbDZ? 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Ͽÿ]?i2@I2^;2CYBAByBHbDJVDJ8yRRh>%RJ=ٔV9TIT=ZFyZEZ:EZ>\Q 5bS4^*r?Q 9bS4^D)^i~BYdyfQ If?^,BI^:i^$:^NS4yjCɮjRBh*tttt˜x   " &@ɢI)! %<Ϳi%Y9)!!!i-W=)I1 5hA1uy8A؟AIIO$>)I Ee { Ee fEe .Ea "Ee =:*Ee 9VEe ـ4ZEa am @am @am @am @d,D,?AN9@N@NJӈٱNNV" ZAHRS rotation from veh to nav: [[-0.259535,0.939821,0.222212],[-0.928929,-0.305863,0.208658],[0.264068,-0.152265,0.952409]]NH`8п@? sq?@ʹ`@ӿN?{?o}ÿ #z?iN9@IN^;LYfAByf}H llbDVD8yB>%A=ٔ%9-"?I-"?=-Fy-E5n9E5>9Q 5ES4=k!r?Q 9ES4=ND)=~BYIyMQ IM?=BI=:i9='#S4yaɮm)Bi*aaii˜1 aaa"e}&@ɢ`ƽ) ¿i9)顙iU=Ie8=ԁ B- >B- MCB- HB- BBB- =B) B) B- ;B- KEed,E?A6@6@6ٱ6c@ >AHRS rotation from veh to nav: [[-0.259596,0.941223,0.216123],[-0.931993,-0.302802,0.199248],[0.252979,-0.149701,0.955819]]6H9п`??@@aӿ?`0? j)ÿ?i6@I64^;6CYJQBByJHyMQ?Q?~jtMH?M%uG=ٔ}9yI=FyE:E>Q 5S4r?Q 9S4D)BY.?Q E:yQ I?CBI ;i ;{1S4yCɮB*˜ I>I>@"9 @ɢٽ) ׵ir9)icS=IDDE-x E-lE-+E)"E-ˀ:*E-:VE- [4ZE)BE)a2E)aJE-C;a:E-C;aԩ8II)O5> d,ݶ_?A2@2@2Qzٱ2ý :AHRS rotation from veh to nav: [[-0.260320,0.942583,0.209215],[-0.934696,-0.300337,0.190105],[0.242025,-0.146064,0.959213]]2Hп)??@8ӿ `U??=¿ޱ?i2@I2l^;2CYBBByBOHbDJ}VDJt8yR~.>%VX=ٔV^9XIX=ZFyZEZ8EZ>\Q 5bS4^ r?Q 9fS4^D)^XBYdyfQ If?^BI^:i^1:^>S4yjjCɮjBnUEl*xxxx˜x "u @ɢ}=ý) iM9)isQ=II?):?UTDAT read: user:111>Rx Time:20:36:28.3849 ]TRx dataTimestamp_ set to:1761510989.604733 E- E-hE)E)"E-:*E-]9VE)ZE)a5@a5@a5@a5@]8IIOk>1a йd,y?A2=$@2 @2nٱ2q) :AHRS rotation from veh to nav: [[-0.260555,0.943506,0.204713],[-0.937444,-0.297951,0.180069],[0.230890,-0.144989,0.962116]]2H п31?4?ӿ`} ?΍?¿`?i2=$@I2^;2CYBBByBHID)F=bDNkVDNc8yVN>%VJ=ٔV@9XIX=ZFyZEZ:E^>`Q 5fS4bYr?Q 9fS4bΘD)bBYdyfQ If?bLBIbp:ib:bLS4ylɮn`Bl*txxx˜x "a @ɢ%R)! %%i%r9))))i-GO=1I19548IIO=B<A4<B>BBHBCBBBBB ;BKEiԙD1zD5@AbE [4jE^4rET/E9 E=lE9E9"E9*E=:VE9ZE9BE=ݽ;aM2E=޽;aMJE9aM:E9aM d,en?A6'@6"@6Wcٱ6 >AHRS rotation from veh to nav: [[-0.260818,0.944658,0.198986],[-0.939941,-0.295503,0.170849],[0.220195,-0.142474,0.964995]]6H<п:?^x?`@ҿb?Y/?<¿=?i6'@I6^;6CYF,CByF HbDR VDR 8yV,>%ZJ=ٔZ 9\I\=^Fy^E^:Eb>`Q 5fS4bq?Q 9jS4b"D)bBYhyjtQ Ij?bBIbN:ibF:bZS4ypɮr=Bp*xxx|˜| "@ɢ-%ѫ)) -hi-M9)111i5M=9I9ԙ8DAT read: $Error in header *Received a bad headeru|8II O= EE | EE rEA EA "EE :*EE ?:VEA ZEA aM @aM @aM @aM @d,MI?AJA)@J$@JXٱJE bAHRS rotation from veh to nav: [[-0.261247,0.945963,0.192104],[-0.942168,-0.293175,0.162383],[0.209929,-0.138572,0.967847]]JH@Eп@TE?@ݖ?<&bҿ?? ?iJA)@IJm^;JCYjlCByjZHbDVD8yE>%MA=ٔ]9iIi=uFy}E:9E>Q 5S4,q?Q 9S4D)BYyjQ I?jBIk;i;jS4y WCɮ BTE*˜ 111"5,@ɢMŖ)I MqiU9)QQQiU>K=iIq }iAyM8IIO+>!QB >B LCB [HB =DBB =B B DB i;B kJEԁ d,%#Ǔ?AiIA6-@6X(@63]Nٱ6 BAHRS rotation from veh to nav: [[-0.261300,0.946997,0.186869],[-0.944275,-0.290929,0.153961],[0.200166,-0.136226,0.970245]]6H!пM?O?7ҿ? ?o@ ?i6-@I6^;6CYFCByFH HHyUl?MbP?+UW?U:UQ Q9Ud;O?v/ rhYU4?yUx齙UC UBUA UMB)UAQYU BbDmVDm8y}zx>%G=ٔb9I=FyE*:E>Q 5S4 q?Q 9S4D)(BYH7?Q E:yQ I?BI;i;xS4yɮƢB*˜ s6>s6>;u@"?E~ EoE/E"E:*E:VEJ4ZEBEu;a 2Ew;a JEN;a :EN;a ɢ)8< i 9)!!i%6J=!I)QAe.AIyԁIO;>ԩ d,?A2.@2)@2oDٱ2U :AHRS rotation from veh to nav: [[-0.261639,0.948025,0.181089],[-0.946147,-0.288992,0.145909],[0.190659,-0.133162,0.972583]]2Hп8V?-?F~ҿ $?g? q e?i2.@I2^;2CYBCByBHbDJVDJ8yR=%VY=ٔV9Z ?IZ ?=ZFyZEZ9E^>`Q 5fS4bq?Q 9fS4bD)b>BYdyfQ If?bBIbp:ibF:bHS4ynMCɮnBn^E*xxxx˜x "N?ɢ5锓)9 =iEg9)AAIiM^H=QI8ԹA؟AE  E jE -E "E O:*E 9VE t4ZE a@a@a@a@I1IaOm5> 9 d,?AY~3DBy~PHbD VD +8y=%%C=ٔ%Q-%>9%"?I-"?=-Fy-E-E->1Q 5=S45q?Q 9ES45 D)5WBYAyAQ IE?5BI5&;i5e;5S4yIɮMBQ*aaai˜i "ɢ2,) si?9)顡iF=II?)$?AAB>BKCBHBDBB =BBDB;BIEAe.AIiIyO9>AE{ EeE0E"E=:*E9VE4ZEBE;a%2E;a%JE/*;a-:E0*;a-i e,t?A 2@2X@2-1ٱ2 >AHRS rotation from veh to nav: [[-0.264309,0.948883,0.172519],[-0.948838,-0.287883,0.129729],[0.172763,-0.129404,0.976426]]2H oп ?]??\lҿ??@L>?i2@I2^;2CYZhDByZHIbR=)b=bDfVDf8yn1>%rO=ٔr]<=Q-r>9r ?Iv ?=vFyvEvEv>xQ 5~S4zq?Q 9S4zD)zlBYyQ I?zBIz;iz;zS4y ;Cɮ BB]E*!!))˜) AAA"EF?ɢ]`)Y ]ei]9)aaaie?E=aIi8i.<ԡG 9Y,AIIO> E%  E% tE% .E! 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KY?i2:@I2f^;2CYZDBy^-Hxy}ʡE?oʡ?{Gz?}-2?}->}#=y y9}'1Z?QI +Y}B?y}u}9}B}ZA }B)}AyY}pBbDVD8y:>%R=ٔ*9I=FyEE>Q 5S4q?Q 9S4{D)BYC?Q E:yQ I?BI:iH:S4E EgE)E"EO:*E&9VEFA4ZEBE;a2E;aJEw1;a:Ew1;ayɮB* ˜  %{>%{>%@"%(I@ɢ=|e)9 =Ei=9)99AiEMB=AII UhAUhA!8Qy I I O >.e,Rb?A6@6@6 kٱ6&  JAHRS rotation from veh to nav: [[-0.270696,0.949080,0.161156],[-0.951174,-0.289479,0.107099],[0.148297,-0.124296,0.981101]]6H@Sѿ^? ?@p҆ҿj?c?`ѿ@-e?i6@I6^;6CYVEByVmH \\bDjBVDjf8yv>%vW=ٔz9|I|=~FyE4ֻE >Q 5%S4dq?Q 9%S4D)BY)y-Q I-?vBI Q;iH;CS4yECɮEBEfEY*iiii˜i "eI@ɢS)  9i9)!!i%oA=!I)ԁE ElE*E"E*E:VE(N4ZEa@a@a@a@58IIOe>ԩ Ve,#|?A6؆@6ZӍ@6<ٱ6  >AHRS rotation from veh to nav: [[-0.273920,0.948446,0.159432],[-0.951370,-0.291506,0.099596],[0.140937,-0.124397,0.982172]]6HѿY?Ch? q ҿ$? : ?~ؿ m?i6؆@I6g^;6CYF9EByFHbDRVDR@8yZ=%ZN=ٔZ9\I\=^Fy^EbEb>dQ 5jS4fwq?Q 9jS4fD)fBYhyjyQ Ij?fBIf:if:fS4ypɮrBp*||||˜| "dI@ɢ-qI)) -1i5O9)15F01i5B@=9I9Թu8II O=B5<A5<B=>B9B=*HB=EBB= =B9B9B=B;B=:IEE{ EkE.E"E=:*E:VEـ4ZEBE;a2E;aJE@;a:E@;a9 >%e,?A2-@2@2 ٱ2o :AHRS rotation from veh to nav: [[-0.277487,0.947457,0.159141],[-0.951354,-0.294068,0.091925],[0.133893,-0.125891,0.982967]]2H@XѿQ? ^? }qҿ@g?j#?2 wt?i2-@I2^;2CYBEByBHbDJVDJ8yR->%RK=ٔRҐ9TIT=VFyVEZ' EZ>\Q 5S4^Dq?Q 9S4^qD)^ЀBYyQ I?^BI^$G?P? pҿw?@?`x?i]@I]^;YYEBy:HI=)=y=Zd;O?Zd;O?%e1=ٔexi9qIq=uFyuE}eE}>Q 5S4q?Q 9S4D)BYkM?Q E:yOQ I?hBI ;i ;ES4y Cɮ9BeE*IQQQ˜Q A>A>@"@'@ɢe_) si9)项i}==I߅%=߁g9ԙA-؟AI9IIOUv>B5 >B5 KCB5 HB5 $FBB5 =B1 B5 DB5 ;B5 IE P2e,1ɔ?A2˅@2@2Έٱ2 :AHRS rotation from veh to nav: [[-0.284302,0.945107,0.161072],[-0.951184,-0.299098,0.076088],[0.120088,-0.131577,0.984005]]2H2ҿR>??p`k$ӿz??`|?i2˅@I2H^;2CYBEByBHbDJVDJ8yR)>%Vl=ٔV) rz8e,㔡?AZk@Zf@ZٱZ?f bAHRS rotation from veh to nav: [[-0.287545,0.944050,0.161519],[-0.951022,-0.301410,0.068627],[0.113471,-0.133874,0.984481]]ZH#gҿ`5?`?nNJӿ@?m ?"`݀?iZk@IZ^;ZCYj+FByjHbDrVDr@8yzo=%zE=ٔ~Ճ9~ ?I ?=FyE E> Q 5T4 Y~q?Q 9T4 D) BYyQ I? BI D;i P; T4y!ɮ-B)*99AA˜A YYY"]'~@ɢu)q u?iu 9)yyyi}/;=yIIE EuE,E"Ea:*E:VEg4ZEa@a@a@a@_9A>A>yA1I9IIO]>ԡ >e,h?A2O@2J@2ܽٱ2 :AHRS rotation from veh to nav: [[-0.290975,0.942853,0.162365],[-0.950677,-0.304001,0.061620],[0.107458,-0.136427,0.984805]]2HUҿ@+?@d?ktӿ ?`^?qv`?i2O@I2^;2C@YFaFByFH HHJAHbDrVDr8yv>%zK=ٔzu9|I|=~Fy~EE E> Q 5 T4 uq?Q 9T4 E) /BYyQ I? ABI  :i $:  T4y!ɮ%ԠB!*1199˜9 QQQ"Uܱ~@ɢm6<)i mBϾim9)qqqiu:=yIy9AAAAB>BJCB=HBFBBBBBّ;BHEԩA؟AIIO (>DzDAAE~ ElE+E"E:*E:VE [4ZEBEu;a2Ew;aJEC;a:EC;a Ee,C?A2:@25@2Cнٱ2 :AHRS rotation from veh to nav: [[-0.293590,0.941801,0.163758],[-0.950500,-0.305842,0.054872],[0.101762,-0.139542,0.984973]]2H,ҿ;#?? ~j`ӿ? ??i2:@I2ی^;2CYBFByBCHbDNVDN8yVI>%VO=ٔVm9Z"?IZ"?=ZFyZEZԻE^>`Q 5fT4bmq?Q 9fT4b E)bDBYdyfQ If?bBIb9:ib:b.T4ynCɮnBlnnE*xxxx˜| "~@ɢwļ) )i9)i9=I9A!I1IAOM1>1a E | E yE .E "E :*E :VE ـ4ZE a @a @a @a @Ke,+1?A1=(@=#@="ZŽٱ= MAHRS rotation from veh to nav: [[-0.295836,0.940786,0.165540],[-0.950381,-0.307333,0.048192],[0.096214,-0.143069,0.985025]]=Hҿ?j0?i@Wӿ?`?P¿R?i=(@I=^;=CYFByuHy oʡ?X9v?l? -? < =  9 /$?{GzS㥫?Y 1H?y ף /]= !B A ` B) A Y BbD%GVD%8y5Ѳ=%53=ٔ5H99I9==Fy=ØEEEE>IQ 5UT4Mgdq?Q 9]T4MfE)McBY]H?Q E]:y]Q I]?MBIM$;iM#;M>T4yeCɮejBmxE*yy☁˜GSB*** querying acoustic contact ***:B i=i=<@"8f~@ɢz) Ϟi9)顽ʦiq8=Ie2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.y9AzAgAԉB>BBHBGBBBBB;BHEA.AI I! O5 >Թ i I  DAT read:  BDAT read: Tx time:20:36:36.3021 % $Ping request sent.% %-^=ٔ-ak95 ?I5 ?=5Fy5ŘE5E5>AQ 5ET4E\q?Q 9MT4EE)E{BYIyMQ IM?E(BIEN:iE:EKT4yQɮ}HBy*☑˜E EmE-E"E*E:VEt4ZEBE1;a2E2;aJENG;a:ENG;aԱ "]~@ɢ꼎) xi9)   i 7= I]9}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920AIIO> b> C9 Xe,^d?AjA2?92jAY2Ab @b@bIǰٱb jAHRS rotation from veh to nav: [[-0.299459,0.939933,0.163861],[-0.950206,-0.309321,0.037795],[0.086210,-0.144384,0.985759]]bHV*ӿ?h?hӿY??,{¿V?ib @Ib^;bCYr/GByrHbDzVDz8y=% L=ٔ >B9 I=FyǘEmE>Q 5%T4Tq?Q 9-T4E%E)BY)y-Q I-?BIt:i:YT4y9ɮ=4B9*IIQQ˜Q iii"myD~@ɢnm) Pix9)額NiN6=I" 9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503288E EoE+E"E:*E:VE [4ZEa@a@a@a@A؟AIIO(>!I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755258y S^e,İ~?A2 @2@2iٱ28i :AHRS rotation from veh to nav: [[-0.299861,0.939986,0.162816],[-0.950524,-0.308911,0.032841],[0.081166,-0.144912,0.986110]]2H0ӿ^? $?@j 1ӿР?GǴ?|¿ 6?i2 @I2D^;2CY^gGByb@HbDjVDj8yr>%rM=ٔrO9v"?Iv"?=vFyvɘEv=Ez>xQ 5UT4ziLq?Q 9UT4z,E)zBYQy]&Q I]?zeBIzQA>IIIYOm5>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933E} EE)E"E݉:*EVEFA4ZEBES;a2ET;aJEN;a:EN;aԩ 'ee,?A2@2y@25ٱ2fy :AHRS rotation from veh to nav: [[-0.300437,0.940334,0.159718],[-0.950714,-0.308700,0.029120],[0.076687,-0.143098,0.986733]]2H\:ӿ6?q? ?lӿѝ? ơ?Q¿Q?i2@I2,}^;0Y^xGBybUH ``bDj<VDj8yrP&=%rJ=ٔv 69tIt=vFyv˘Ez"Ez>|Q 5T4~Dq?Q 9T4~4E)~ŁBY y :Q I ?~BI~:i~=:~uT4yCɮKBE*))))˜1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962 QQQ"U_F~@ɢ) Ti9) i$4=IԱII)OE/>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511134 E  E nE 1E "E O:*E :VE -4ZE a @a @a @a @9 *le,%w?AV@V@V9ٱVk bAHRS rotation from veh to nav: [[-0.300279,0.940784,0.157347],[-0.951129,-0.307774,0.025070],[0.072013,-0.142130,0.987225]]VH7ӿ?#?`oӿ?po?`N1¿Y?iV@IV2^;TYzGByzHy{Gz?Q??C?u=< 99v?S㥫S㥫?Y4?y/]A B)lAYBbD$VD8yf=%==ٔ19I=Fy͘E':E>Q 5%T4:q?Q 9%T4;mL>mg@"mg@ɢ}@ϻ) i9)顅mi3=I I IO% >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629441Bu>BqBuHBuGBBqBqBqBu_;BuIHEa  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148636re,9B̕?A 2 @2@2:cٱ2J >AHRS rotation from veh to nav: [[-0.300250,0.941262,0.154517],[-0.951468,-0.307008,0.021336],[0.067521,-0.140612,0.987760]]2HJ7ӿ?@7?lrӿٕ?I?@@?i2 @I2܏^;2CYBGByFHbDN VDNq8yJ$>%W=ٔLB9 I = Fy ϘE 9E>Q 5T42q?Q 9%T4BE)BY!y%Q I%?)BI;i;T4y)ɮ5B1*AIII˜I aaa"e|@E} ElE/E"E݉:*E:VEJ4ZEBEa2EaJEC;a:EC;aɢh) |i9)顝i 3=II?)W? 9AzAhAIIIOU=iԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857 @ye,敡?A2@2]@2,ٱ2 :AHRS rotation from veh to nav: [[-0.298995,0.941921,0.152930],[-0.952171,-0.305072,0.017387],[0.063032,-0.140417,0.988084]]2H"ӿ6$? 7?.x Kӿ͑?"?@/b?i2@I27^;2C`Yb HByb HIf>)f=bDjVDjP8yv=%vL=ٔv79xIx=zFyzјEzf;E~>YQ 5eT4])q?Q 9eT4]IE)] BYaym\Q Im?]BI]$:i]:]XT4yurCɮuBuE*☑˜gWNCompleted lineCaptureHoming:InitialDivecWjAggregate::uninitialize lineCaptureHoming:InitialDive1WUninitialize.qWUninitialize.CXdAggregate::initialize lineCaptureHoming:RepeatHack "@ɢ9)6< ;ig9)i'+2= I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519336 9IIO>E EnE3E"EO:*E:VE4ZEa@a@a@a@A m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770870q@e,j?A.E#@.@.`opٱ.:z :AHRS rotation from veh to nav: [[-0.297364,0.942661,0.151542],[-0.952960,-0.302792,0.013558],[0.058666,-0.140381,0.988358]].HӿG*?e?@~ `ӿPċ? ??i.E#@I.&%_;,YBHByBHbDJVDJ 8yf2<%fL=ٔf39hIh=jFyjӘEn;En>pQ 5vT4r!q?Q 9vT4rPE)rBYxyz Q Iz?rJBIrF:iprT4y~fCɮ BECXhAggregate::uninitialize lineCaptureHoming:RepeatHack1XVAggregate::initialize lineCaptureHoming:Lapq QQQ"U5@ip:)iAAB->B)B-JHB-?HBB- =B)B)B-/;B-HEAIE59IIO>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022839qbEjEA{4rE0E EqE.E"E:*E$ :VEـ4ZEBEݽ;a2E޽;aJEU;a:EU;aԡ W(e,?A6.@6)@6^ٱ6 >AHRS rotation from veh to nav: [[-0.296089,0.943392,0.149474],[-0.953610,-0.300879,0.009992],[0.054400,-0.139581,0.988715]]6H` ҿD0?!?Aӿv?@^ګ?@?i6.@I6h_;6CYFLHByFZHbDNVVDN8yV>%VL=ٔZ.9XIX=^Fy^՘E^g;E^>`Q 5fT4bq?Q 9fT4bWE)b2BYhyjQ Ij?bBIb:ib:bT4ylɮrBpBzXqz~X~ZAggregate::initialize lineCaptureHoming:Lap:B "od@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275042i1)111i19IA IIy59AEzAEAEAEAIIOI>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526834E  E mE ,E "E :*E :VE g4ZE a @a @a @a @ Te,J3?A2d5@220@2hOٱ2B :AHRS rotation from veh to nav: [[-0.295385,0.943775,0.148445],[-0.954036,-0.299620,0.006504],[0.050615,-0.139700,0.988899]]2Hҿh3?;?`w,ӿz??? ?i2d5@I2^;2CYbPHByf_H hhyUʡE?=ٔ}?9I=Fy:E>Q 5T4q?Q 9T4^E)@BY-?Q E:yQ I?nBIh;i ;T4yUCɮBEqJfAggregate::initialize lineCaptureHoming:LineCapture1KAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesq#KJInitialize AltitudeEnvelopeComponent.CKDInitialize DepthEnvelopeComponent.cKJInitialize OffshoreEnvelopeComponent.1q#LxAggregate::initialize lineCaptureHoming:LineCapture:HoldMasscLInitialize.1LAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyqLY  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030936T:e,߉M?A2,@2Y'@2VEٱ2 :AHRS rotation from veh to nav: [[-0.296450,0.944099,0.144202],[-0.953826,-0.300313,0.005295],[0.048305,-0.135974,0.989534]]2Hҿ6?9u?@S8ӿu?s?g@C?i2,@I2^;2CYBHByBHbDNVDNB8yVp>%VY=ٔV ;Q-V>9XIX=ZFyX^;E^>`Q 5fT4bCq?Q 9fT4bdE)bLBYdyfQ If?bBIb:ib|:b#T4ylɮnjBlxڒ|D]<D]<Ee} EepEaEa"Ee݉:*Ee :VEaZEaBEeS;am2EeT;amJEe9R;au:Ee:R;au’|@Ґ Q@1 "@i)iI9i98<IIOk>=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283007ԉԹ nde,dg?A28$@2@2:ٱ2  >AHRS rotation from veh to nav: [[-0.297457,0.944966,0.136232],[-0.953648,-0.300886,0.004829],[0.045553,-0.128481,0.990665]]2H ӿ(=?@ p?`HAӿHs?R?@r?i28$@I2^;2CYBHByFHbDNVDN'8yVV=%VJ=ٔV;Q-V>9XIX=ZFyX^$E^>`Q 5fT4bVp?Q 9fT4bGkE)bXBYdyfGQ If?b{BIb:ib:bAT4ylɮn_Blxڒx’||~ E @z@1q !!!"%U'@i1)111i19I9IE6?)E?1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536748ԱEm EmkEm)Ei"Em~:*Em:VEmFA4ZEia}@a}@a}@a}@%!<I1IIOUS>M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786931 MLe,@?AB'@B"@B,ٱB  VAHRS rotation from veh to nav: [[-0.297068,0.946021,0.129591],[-0.953932,-0.300005,0.003302],[0.042002,-0.122640,0.991562]]BH*ӿE?m?F3ӿ4 k?`A?`Qe`?iB'@IB^;BCYbHBybHIj<)jC=bDvVDv 8y*=%E=ٔ3 9 I =Fy:E>!Q 55T4% p?Q 95T4%rE)%eBY9y=@Q IE?% BI%:f;i%dh;%T4yUICɮU>BUEyڒy’ @Q@q "4Z@iB<A<B>BBHBHBB =BBB;BGE)顑iIm9qqqqchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038871I IO%o>E} E}jE}0Ey"E}:*E}9VE}4ZEyBE}ݽ;a2E}޽;aJE}b<;a:E}c<;aI cve,?A29/@2*@2Aٱ2 >AHRS rotation from veh to nav: [[-0.296265,0.947174,0.122838],[-0.954334,-0.298736,0.001781],[0.038383,-0.116701,0.992425]]2Hҿ ?O?@Sr?{ӿ.]?`?`ཿ`?i29/@I2^;2CYBHByFHbDN\VDN8yr=%rL=ٔrW9tIt=vFytz;Ez>%==checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291256|Q 5U4~Vp?Q 9U4~xE)~pBYy*Q I?~BI~(:i~:~U4y%7Cɮ%B!9ڒA’AAE @IMMLMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceMLMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1MMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideqU#MUInitialize.#MUdInitializing internal variables to default values.UMUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance]M]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1]N]Initialize.qeNeInitialize.1eeCPeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceecPeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1eQeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqm'QmInitialize.mCQmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlmcQmInitialize.1mqm1m "5@i)顡iI9IIO=QGkA)U9UkAYUbAychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543198Ա E | E pE )E "E :*E  :VE FA4ZE a @a @a @a @̠e,U?A2w7@2F2@2ٱ2 :AHRS rotation from veh to nav: [[-0.295343,0.948390,0.115453],[-0.954757,-0.297387,0.000497],[0.034806,-0.110083,0.993313]]2H ҿ`5Y?`V?^aӿ@L@? ҡ? c.8?i2w7@I27^;2C@YRHByRHy]tV?ʡEZd;O?]2?]]j9I=Fy7;E>Q 5U4p?Q 9U4-E)tBY"?Q E:yQ I?BI:i:U4y:CɮCPAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancecPAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide11QAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlq#QUninitialize.CQAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1qMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide11NUninitialize.q#MInitialize.#MdInitializing internal variables to default values.'MPDetached from dock at depth 50.191044 m.ڒ’?@ ==]0@"m?iQ)U)YYYiYYIa mjAmjAm 9ԩIIO>BDAT read: Rx Time:20:36:41.5001 TRx dataTimestamp_ set to:1761511002.960701checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796046B>BBHBHBB =BBBz;BaGEByByByB}ǒ =B}ǒ =C}55 i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047119 e,Ζ?A2>@29@2Tٱ2xн :AHRS rotation from veh to nav: [[-0.294516,0.949692,0.106512],[-0.955128,-0.296193,-0.000079],[0.031473,-0.101756,0.994311]]2H Xҿ`c?^D? iҿ <? @f?i2>@I2^;2CYVHByVH ddtbD VD 8EU EUmEU+EQ"EU:*EU:VEU [4ZEQBEQa2EQaJEUNG;a:EUOG;ay%O=ٔ9I=%Fy)U ;EU>YQ 5eU4]Xp?Q 9eU4]ԅE)]xBYaymQ Im?]BI]:i]:] U4y+CɮBڒ’ @ "gl?iI)i)qqqiqqIy AIIO )>EDAT read: 20:36:41.5001 LVL= 19040, 16561, 23106, 29811, AGC= 85, IDX= 94,-0.44, 1.112, 2.335, 0.476, 1.716, PHS=-0.502, 0.664,-1.284, RAW= 353.5, 13.1, CAL= 353.9, 16.0, ROT= 156.1, -16.0 MYgot valid direction response: 20:36:41.5001 LVL= 19040, 16561, 23106, 29811, AGC= 85, IDX= 94,-0.44, 1.112, 2.335, 0.476, 1.716, PHS=-0.502, 0.664,-1.284, RAW= 353.5, 13.1, CAL= 353.9, 16.0, ROT= 156.1, -16.0 Q]DAT read: Range 11 to 50 : 2095.4 m (Round-trip 2793.9 ms) speed -0.5 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [-0.878837,0.389447,0.275637]mFpublishing direction and range infoyĖoݷ? ?YE2`J@BZ st)UIi)?Zn@ j>@ 5>)].@I5ϣ6⿩b 0s? @K )4kI].@i5ԁ Ѳe,薡?A2pC@2?>@2gٱ2 :AHRS rotation from veh to nav: [[-0.294012,0.950863,0.097042],[-0.955396,-0.295325,-0.000863],[0.027838,-0.092967,0.995280]]2Hҿwm?׸?`ҿHL?̷@U?i2pC@I2^;2CYdydbDrVDrk8ٔ-9)I)=5Fy15:E5>9Q 5EU4= p?Q 9EU4=E)={BYIyMQ IM?="BI=-:i=:=g-U4yQɮQYQJM2RM}ݖ?AMpEMpEMpU?MdBe?Tf@ wh!@MĖoݷ? ?M].@M5—M_@EK@M/{@M l?yzϬ,.?( kbY?jMDrMDZMD3?bMV̋>zMCڒ’^@ ? "o"l?i))iI(9 4Initializing EZServoServo.EI EMjEM,EI"EI*EM9VEMg4ZEIa]@a]@a]@a]@ԁ 8Initializing DockingStepper.IIOh>Ա Ee,??ANvC@NE>@NuüٱNa ^AHRS rotation from veh to nav: [[-0.294039,0.951592,0.089521],[-0.955496,-0.294993,-0.002680],[0.023857,-0.086325,0.995981]]NHҿps??`k+ҿee@ n?`a`?iNvC@INf^;LYfHByfHbDrVDrP8yv`f<%z<ٔzB$9xI|==FyAEW6EE>IQ 5UU4Mp?Q 9UU4MבEAYA]@ABe>BaBe7HBeIBBe =BaBaBe";BeGE)M}BYyy}Q I}?MBIM;iMQ;M;U4yCɮBEڒ’Թ`;? "ck?i ))iII%?)%?L9<IIOk>Emz EmmEm+Ei"Eml:*Em:VEm [4ZEiBEm;au2Em;auJEia}:Eia}9 e,b?A2B@2S=@2ٱ2J쪽 :AHRS rotation from veh to nav: [[-0.294177,0.951928,0.085397],[-0.955551,-0.294765,-0.005931],[0.019526,-0.083346,0.996329]]2H`ҿ 2v?ܵ?@mҿ!Kx?%V ?i2B@I2^;0YBHByBHID)F=bDNVDND8yV%VO=ٔV39XIX=ZFyX^E^>`Q 5fU4bQp?Q 9fU4bחE)bBYdyfQ Ij?b$BIb:ib:bIU4ylɮrBp  ڒ ’  9? )))"-Wk?i9)A)AAAiAIIIi9m<IIO=AqE} ~ E} kE} -Ey "E} :*E} :VE} t4ZEy a @a @a @a @ԙ e,=6?A6 =@67@6rٱ6l BAHRS rotation from veh to nav: [[-0.294839,0.951908,0.083310],[-0.955432,-0.295032,-0.010265],[0.014808,-0.082623,0.996471]]6Hҿv?S?ҿS?@&?i6 =@I6ѕ^;4YJHByJHyS㥛?{Gz?$?#= 9X9v?Mb~jtY?y BQA B)BYGBbD-VD-%8y=S%EA=ٔE69III=MFyIMκEU>QQ 5]U4Up?Q 9eU4UIE)UyBYev?Q Ee:yeQ Ie?UBIU` ;iU:UWU4yqɮuşBqڒ’11=^K?q }"=}"=}@"}3o@i))顉iI9ԡB]>BYB]+HB]HBB] =BYBYB];B]FE"I I O > {e,P?A29@24@2kٱ2m :AHRS rotation from veh to nav: [[-0.295222,0.951895,0.082097],[-0.955380,-0.294985,-0.015283],[0.009669,-0.082946,0.996507]]2H`ҿ@u?K?`xҿ@Lj̓?; c?i29@I2{^;2CYnHBynHbDzgVDz8y %N=ٔT9 I = Fy  |E>bEg4jEg4rEOJ0E! E%|E%/E!"E!*E%P$:VE%J4ZE!BE%v;a52E%w;a5JE%};a5:E%};a=Q 5EU4pp?Q 9EU4QE)sBYAyEQ IE?'BI;i-;eU4yQɮUǟBQqqqqqqڒy’nk? "o@i))iI iAiAIiIO[>) 8e,i?A22@2P-@2ٱ2Q& >AHRS rotation from veh to nav: [[-0.296098,0.951920,0.078580],[-0.955149,-0.295435,-0.020203],[0.003984,-0.081038,0.996703]]2HFҿ v?`? iҿ@=Qp?꾴?i22@I2^;2CYFHByFH HHbDN$VDN8yV{%VP=ٔZl9XIX=^Fy\^E^>`Q 5fU4bDp?Q 9fU4bQE)blBYhyjQ Ij?bBIbF:ib_:bwsU4yCɮBE199AAAڒ’`w@E5} E5lE5,E1"E5݉:*E5:VE5g4ZE1a=@a=@a=@a=@ "#o@i ) )i!I)"9II!O-O>Yԉ e,Ӄ?A06%@6@6ܿ;ٱ6 Q >AHRS rotation from veh to nav: [[-0.297674,0.951863,0.073119],[-0.954665,-0.296635,-0.024931],[-0.002041,-0.077226,0.997012]]6H  ӿu?@?`ҿ@s` ų?i6%@I6Aw^;4YFHByFHbDNVDN8yV/%VJ=ٔZPt9XIX=ZFy\^E^>`Q 5fU4bp?Q 9fU4bvE)beBYhyjQ Ij?b$BIb:ib:bU4ynCɮnBrEB|A~<B>BBHBHBB =BBBʏ;BFE!!!!!ڒ!’))-@ "n@i))iIIIO%=ԉԹE= E=hE=.E9"E=O:*E=]9VE=ـ4ZE9BE=;aE2E=;aMJE=5;aM:E=5;aM &e,?A2@2s@2L<ٱ2  :AHRS rotation from veh to nav: [[-0.298987,0.951602,0.071144],[-0.954216,-0.297452,-0.031520],[-0.008832,-0.077311,0.996968]]2H"ӿs?y6?s ӿ [# ʳ`)?i2@I2E^;2CYBHByBHbDJVDJm8yR%RK=ٔV9TIT=ZFyXZaEZ>\dQ 5jU4fup?Q 9jU4fE)f\BYhyj'Q In?fBIf;ifT;fU4ypɮrBp ڒ ’  xF@ QQQ"Utn@ia)i)iiiiiqIqI}3?)}?u,$9IIO=EU  EU oEU ,EQ "EU :*EU :VEU g4ZEQ a] @a] @a] @ae @a AHRS rotation from veh to nav: [[-0.300433,0.951152,0.071068],[-0.953670,-0.298313,-0.039019],[-0.015913,-0.079498,0.996708]]6HJ:ӿo?}1?`w@ӿL bK`Y@?i6 @I6y^;6CYFHByFHIJ=)J4=!yE`"?~jti|?5E>EEqA A9EGz?y&1|T㥛 YEp?yE`廙EE BEA EB)EBAYE(BQQbD]VD]K8ym<%m?=ٔmI9qIq=uFyq}kE}>Q 5U4hp?Q 9U4'E)MBYF?Q E:yQ I?*BIv:i:U4yɮBڒ’ @ >>="ޏ@iq)q)yyyiyIml&9IIYIiO}>B>BICBHBHBB =BBDB;BFEqԡ $e,`ї?A2@2@2?i<ٱ2n :AHRS rotation from veh to nav: [[-0.301787,0.950659,0.071920],[-0.953095,-0.299010,-0.046940],[-0.023119,-0.082713,0.996305]]2H|Pӿk?Xi?"ӿ@,?i2@I2f^;2CYBHByBHbDJVDJ58yR^%VX=ٔV9XIX=ZFyXZk}EZ>D=D<E EE+E"E:*EVE [4ZEBE;a-2E;a-JEN;a-:EN;a-YQ 5eU4]ʑp?Q 9eU4]@E)]=BYaymQ Im?]BI]:i]:]U4yqɮuBqyڒ’@ "я@i)1)199i99IAI!I9OE=ԡ a>*CU 7Gq ؓ9 Y GA Ne,;뗡?A2@2@2<ٱ2 :AHRS rotation from veh to nav: [[-0.303016,0.950408,0.070040],[-0.952498,-0.299693,-0.054135],[-0.030460,-0.083117,0.996074]]2H dӿ i?`!?z-.ӿ@0 #G?i2@I2z^;2CYBHByBHbDNcVDN8yV֮<%ZJ=ٔZ}9\I\=bFy`bFZEf>hQ 5~U4j[p?Q 9U4j'E)j-BYy Q I?j!BIj;ij`;jU4yCɮxBEڒ’@@   " Ǐ@iA)A)IIIiIQIQ YY-(9 =&Changing to mode: 3E EmE)E"EO:*E:VEFA4ZEa%@a%@a%@a%@9@ @@_0@IIO-N>1a :f, %?A25@2@2+b=ٱ2z :AHRS rotation from veh to nav: [[-0.303951,0.950441,0.065390],[-0.951932,-0.300261,-0.060562],[-0.037926,-0.080655,0.996020]]2Hsӿ j? f?;v@{7ӿ kɥe?i25@I2h^;2CYBHByBH DDALANAABR>BRJCBRHBRHBBR =BPBPBR;BRFEBaBaBaBe =Be =Cet5bDrRVDr8yzn%~E=ٔ~ړ9|I=Fy(E> Q 5U4 }p?Q 9U4 oEQ =tI) BYy$Q I? BI  ;i  ; U4y!ɮ%}B)AIIIIIڒI’QQU@ qqq"uq@i))顁iI 1)97@ @@`4@IIO!>YDzD?AE EjE,E"E:*E9VEg4ZEBEݽ;a%2E޽;a%JEc<;a-:Ec<;a-ԉԱ ?`f,?A:߅@:ڌ@:'8=ٱ:? BAHRS rotation from veh to nav: [[-0.305405,0.950321,0.060153],[-0.951156,-0.301466,-0.066480],[-0.045043,-0.077518,0.995973]]:HËӿi?g̮?o8Kӿ@`@س?i:߅@I:R`;:CYJHByJHbDjVDj8yr <%rL=ٔv9tIx=zFyxzEz>|Q 5U4~}p?Q 9U4~E)~ BY y PQ I ?~BI~:i~:~U4yCɮ]BEAAIIIIڒQ’QYeA@ "@i))顱iIԑ*9-5@) @)@-5@)I9IQO]>E-  E) E- 0E) "E- O:*E) VE- 4ZE) a5 @a5 @a5 @a5 @ f,`8?A2Ӆ@2jΌ@2U=ٱ2晽 :AHRS rotation from veh to nav: [[-0.306728,0.950179,0.055486],[-0.950369,-0.302555,-0.072514],[-0.052113,-0.074974,0.995823]]2Hnӿg?h?@mi]ӿB`1?i2Ӆ@I2Ora;2CY^HBybHy}(\?}t<}y y9}Q?~jth?v/Y}(?y}D;}xi} B}MA }A)}ByY}BbDVD8y<%?=ٔ9I=FyfE>Q 5U4wp?Q 9U4E)BY?Q E:yKQ I?BI:i:~U4yɮWBڒ’[@ f>f>~0@"6b@i))))111i19I9IE8?)Eb?5/-993@ @@05@IIO (>B>BICBHB|HBB =BBB;ByFEI ia Ia rf,vR?AJŅ@J@J=ٱJ! VAHRS rotation from veh to nav: [[-0.308057,0.950163,0.047854],[-0.949054,-0.303413,-0.085068],[-0.066309,-0.071622,0.995225]]JH`6ӿ@g?^?^kӿǵ@ U?iJŅ@IJ}`;JCYZHBy^HI`)bbDfVDf8Er ErkEr+Ep"Era:*Er:VEr [4ZEpBErg;az2Erh;azJEr@;az:Er@;azy~d%~V=ٔ~)=Q->9I=Fy +E >Q 5U4pp?Q 9U4E)BYyxQ I%?BI;i;U4y)ɮ-^B)ڒ’u@ "Y@iA)A)AIIiIIIQIQ0@ @@3@II O*>yԩ f,\l?A@Z@Z@Z%=ٱZ[ fAHRS rotation from veh to nav: [[-0.308509,0.950164,0.044836],[-0.948397,-0.303621,-0.091417],[-0.073248,-0.070726,0.994803]]ZHӿg??DYnӿ ge@l?iZ@IZ`;XYrHByrHbD~VD~Y8y;%H=ٔ9I=%Fy!%˺E%>)Q 55V4-jp?Q 95V4-E)-́BY9y=Q I=?-BI-;i-;-"V4yECɮE ڄ!f,^?AB(A(B2>B2JCB2oHB2^HBB2 =B0B0B2;B2FEfą@fξ@f6O=ٱfl rAHRS rotation from veh to nav: [[-0.307964,0.950491,0.041530],[-0.948016,-0.302900,-0.097552],[-0.080143,-0.069414,0.994363]]fH`ӿ lj?vC?`&V`bӿ@2@Cű`?ifą@If_;dYzHByzHbD }VD @8yl=%J=ٔW9!I!=%Fy!%]:E->)Q 55V4-#dp?Q 9=V4-E)-BY9y=yQ I=?-BI-;i-;-=V4yIɮM0BIiiiiiiڒq’qqu e@ "Y@i))顩iI hAhA19 +@ @@o0@I!I9OE>bE|a4jEd4rE\00E EyE)E"E:*E:VEFA4ZEBE;a 2E;a JEr;a:Er;a1a 'f,9?ARÅ@R콌@RFz=ٱRG fAHRS rotation from veh to nav: [[-0.307888,0.950795,0.034542],[-0.947433,-0.303073,-0.102552],[-0.087037,-0.064300,0.994128]]RH oӿl?u?`_Q eӿ@@Hu ?iRÅ@IRe_;RCY!y-H 119bDU4VDU8ymQ%mE=ٔu9yIy=FyۇE>Q 5V4]p?Q 9V4TE)BYylQ I?BI;i ;V4yCɮBEڒ’`e@ "ea@i))  i  I19m@)@i @i@mP0@iqIIO>ԙi9I=AE | E kE .E "E :*E :VE ـ4ZE a @a @a @a @ W-f,'?AԑYUHByUHyx&1?Zd;O? rhA?j<C  99)I)=5Fy15E5>9Q 5EV4=Vp?Q 9EV4=E)=BYM?Q EM:yMwQ IM?=BI=` ;i=z ;=-V4yQɮ] BYڒ’E@ ´=´= @"{@i))i!I)Թ39B=>B9B=cHB=SHBB= =B9B9B=;B=FE@&@ @@.5@IIOf> s4f,SԘ?A2ą@2@2=ٱ2Vi :AHRS rotation from veh to nav: [[-0.307372,0.951309,0.023081],[-0.946243,-0.302988,-0.113240],[-0.100733,-0.056647,0.993299]]2Hӿ` q??G`&dӿ@T ɹ`?i2ą@I2^;2CYBHByBHbDJVDJ8yR/=%R}=ٔV.=Q-V ?9TIT=ZFE^y E^nE^/E\"E^:*E^:VE^J4ZE\BE^ʤ;ab2E^ˤ;afJE^J;af:E^J;afyXj9Ej?lQ 5rV4nPp?Q 9rV4nyE)nBYpyrpQ Iv?n}BIn :in:nD9V4yxɮzBxڒ’%@ 999"=i{@iQ)Q)QQQiQYIYIe5?)e:?-49`$@ @@5@IIO>Aq :f,혡?ARƅ@R@R=ٱR!6_ ^AHRS rotation from veh to nav: [[-0.306825,0.951584,0.018625],[-0.945655,-0.302582,-0.119085],[-0.107684,-0.054151,0.992709]]RHӿ_s?}?B]ӿ\|)෹`F?iRƅ@IR(^;RCYfHByf HIj%=)j=bDnVDnn8yv+=%vF=ٔz9xIx=zFy|~Z:E~>Q 5 V4Jp?Q 9 V4?F)vBYydQ I?BId:i[:GV4yCɮޞB%E9AAAAAڒA’IIM @ iii"m{@iy)y)顁iIPExceeded connect timeout, disconnecting.Q]V69E} ElE,E"E݉:*E:VEg4ZEa@a@a@a@!@ @@/5@II O >yԩ B= >B9 B= VHB= IHBB9 B9 B= DB= ;B= sFEMAf,?A2Ʌ@2Ì@2;=ٱ2GZ :AHRS rotation from veh to nav: [[-0.306344,0.951793,0.015582],[-0.945025,-0.302117,-0.125110],[-0.114372,-0.053052,0.992020]]2H"ӿu?l?=Uӿ@wG)?i2Ʌ@I2^;2CYBHByB"HbDJ{VDJS8yRR3=%VO=ٔV9TIX=ZFyXZ0:EZ>Q 5%V4\Cp?Q 9%V4 F)fBY)y-[Q I-?kBI:i:UV4y1ɮ5՞B1qqڒ’j!@ "{@i))  i IԱ89@ @@2@IIOF>E~ EjE-E"E:*E9VEt4ZEBEv;a2Ew;aJEc<;a:Ec<;a 9 gGf,n!?AF?˅@Fƌ@F=ٱFR VAHRS rotation from veh to nav: [[-0.305845,0.952011,0.011584],[-0.944336,-0.301786,-0.130976],[-0.121195,-0.050998,0.991318]]FHӿ@v?q?@8`uPӿ c ?iF?˅@IFK^;FCYfHByj4HbDrlVDrE8yzN=%zE=ٔz9|I|=~Fy|&:E> Q 5V4 9nManaging dock network, ignoring radio surface power offa E  E mE E "E *E :VE ZE a @a @a @a @d)Nf,e;?A,2yх@2Ȟ@2 |>ٱ2T >AHRS rotation from veh to nav: [[-0.304863,0.952343,0.010055],[-0.943749,-0.300658,-0.137633],[-0.128050,-0.051448,0.990432]]2Hނӿy??03`=ӿ@ckW ?i2yх@I2^;2CYFIByF=H HHy#~j?{GztMb??ף= 9Zd;?L7A`尿~jt?Y>y+D={ B/A GA)) BY\BbD-PVD-+8y=b<%=F=ٔE܈9AIA=EFyAM :EM>QQ 5]V4Ut5p?Q 9]V4UF)USBYeS>Q Ee:yeQ Ie?UJBIU\ ;iU:U?rV4yiɮmBiڒ’@#@ U=U=U @"U݇@ia)i)iiiiqIm:9ԑ%=@ @@Z0@II!O5->B>BKCBoHB^HBB =BBB;BFEBBBBŏ =Bŏ =C 5Ա Uf,7U?A6܅@6P׌@69 >ٱ6G^ >AHRS rotation from veh to nav: [[-0.303315,0.952833,0.010418],[-0.943300,-0.298697,-0.144795],[-0.134854,-0.053746,0.989407]]6Hiӿ`}?U?/ӿ`¿B@8?i6܅@I6_;4YFIByF[HDPDRR=EV EVrEV/ET"EV~:*EV?:VEVJ4ZETBEV;aZ2EV;aZJEVY;aZ:EVY;a^\bDbJVDb%8yjy=%jR=ٔj19lIp=rFyprb;Er>tQ 5zV4v.p?Q 9zV4v"F)vPBY|y~Q I~?vBIv;iv;vV4yCɮB !)))))ڒ)’115 ##@ QQQ"U @ia)a)aaiiiiIqU<93@ @@O0@IIO>A (9[f,o?A2@2f@2>ٱ2Db :AHRS rotation from veh to nav: [[-0.301287,0.953486,0.009536],[-0.942948,-0.296442,-0.151563],[-0.141686,-0.054656,0.988402]]2HJHӿ`?̇?@,ҿ`lfÿ"¿`?i2@I2)a;2CYBIByBPHbDJ VDJ8yR٨%RM=ٔV9TIT=ZFyXZ;EZ> Q 5V4 'p?Q 9V4 F) MBY!y%Q I%? BI /;i [0; ˍV4y)ɮ-B)'MMZDetected possible detachment. 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Wg,ӈ_?A beB@b4=@bqс>ٱbN< nAHRS rotation from veh to nav: [[-0.226498,0.973914,-0.013824],[-0.941157,-0.222491,-0.254404],[-0.250843,-0.044611,0.966999]]bH̿L*?O@z̿&Hп пEצ?ibeB@Ib#q^;bCYv?HByvJHbD~VD~ 8y ҍ% M=E EsE,E"E:*EZ:VEg4ZEBE;a2E;a%JE%];a%:E&];a%ٔ-ܺQ-->9)Y)=-Fy15;<E5>9Q 5EX4=?o?Q 9EX4=F)=n|BYIyM?Q IM?=ICI=:i=:= X4yQɮUBQqyyyyڒy’y:@ " v@i))顱iI iA,s9t>i>I%0@! @!@%3@!I1IAOU>qԡ ]g,"Py?A2\@2W@2[>ٱ2@ :AHRS rotation from veh to nav: [[-0.223509,0.974630,-0.011858],[-0.942103,-0.219137,-0.253814],[-0.249973,-0.045558,0.967180]]2H̿*0?I@%@ ̿ }>п Ͽ@_S $?i2\@I2d^;2C@YFTHByFcH HHiMMb@Mb@Mb@IIII I9MI +? rh/$YM94>yMC MM'BMB M;A)M"BIYM BbDaVDayuG=%uD=ٔQ->9Y=Fy;E>Q 5X49o?Q 9X4F)V|BYd>Q Em;yjQ I?_CI ;i:X4yɮBڒ’ ~:@ d>d>n@"ar@i ) ) iIIu9ԩe4@a @a@e15@aIqIO;>B>BBHBFBB =BBB;BFE Sdg,,?A2Lw@2r@2>ٱ2*=C :AHRS rotation from veh to nav: [[-0.220519,0.975329,-0.010252],[-0.943045,-0.215881,-0.253105],[-0.249074,-0.046146,0.967384]]2H`9̿5?8 l-˿@2п Ͽt@?i2Lw@I2^;2CY^EHBy^RHbDjVDj8lyr<%vT=ٔv1Q-v>9xYx=zFyxzv <Ez>Q 5X4(4o?Q 9 X4mF)?|BY y 2Q I ?uCI|:i:X4yɮB99999ڒA’AAE@|:@ "Tr@i))iIu9 1@ @@05@IIO >E ExE-E"E:*E:VEt4ZEBE";2E$;JEXo;:EYo;1a jg,?AJ<@J @JJX>ٱJF VAHRS rotation from veh to nav: [[-0.217821,0.975952,-0.008497],[-0.943939,-0.212874,-0.252315],[-0.248057,-0.046939,0.967608]]JH˿:?"g4@q?˿%п@QϿ V?iJ<@IJ^;JCYbQHByb`HbDnVDn8yvT<%vJ=ٔz*Q-z>9xYx=zFy|~k;E~>Q 5 X4S.o?Q 9 X4ԖF)'|BYyQ I?CIp:iF:X4yCɮ%B%߿E9AAAAIڒI’IIM`DH;@ iii"m s@iy))顁iII/?)?]w9q2@ @@@5@I9IQO]>iԙbEշg4jEշ|a4rEշS)0E  E wE *E "E ;*E :VE (N4ZE a @a @a @a @ qg,Ɲ?A2ǧ@2@2u>ٱ2WG :AHRS rotation from veh to nav: [[-0.215058,0.976574,-0.007293],[-0.944878,-0.209955,-0.251247],[-0.246893,-0.047142,0.967895]]2H ˿@?} p<ʿ pп/Ͽ#?i2ǧ@I2^;2CYBPHByB^HID)F49qYq=}Fyy};E}>Q 5X4(o?Q 9X4HF) |BY]`>Q Er;y5Q I?CI:ij:ԙX4yCɮBڒ’۳;@ ]`>]`>-@"Ot@i))i I B>BBHBGBB =BBB(;BGEy9m3@i @i@m"1@iIyIO> Gwg,?AE EtE1E"Es:*Ev:VE-4ZEBE;a2E;aJE`;a:E`;aF@F@FRH~>ٱF1A NAHRS rotation from veh to nav: [[-0.212118,0.977214,-0.007718],[-0.945832,-0.207280,-0.249872],[-0.245779,-0.045703,0.968248]]FH&˿@UE?Ԝ BD`&ʿ ϿuϿ`Vf@?iF@IF^;FCYVDHByVPHbDSVD8y3ټ%A=ٔ1Q- >9 Y = Fy ;E>Q 5%X4"o?Q 9%X4F){BY!y-Q I-?CIg:i:X4y5uCɮ5ȜB1QQYYYڒY’Yae3 <@ yyy"}"u@i) )   i Iz9!}/@ @@O0@IIOE>Iy Z}g,N?A2؈@2ҏ@2 |>ٱ2 5 :AHRS rotation from veh to nav: [[-0.209618,0.977738,-0.009454],[-0.946753,-0.205373,-0.247954],[-0.244376,-0.043025,0.968726]]2HʿI?\`K Iʿ@ϿGϿc?i2؈@I2^;2CYBLHByBYHi Mb@Mb@Mb@     9 K7A`?!rh~jtY +>y l罙 D   A) >"B Y  BbD%EVD%8y5<%5Y=ٔ5{Q-5>99Y9==Fy9E;EE>IQ 5UY4MPo?Q 9UY4MF)M{BYU?T>Q EU;yU Q I?MCIM?T>@"v@i))项iI jAE5 E1E5*E1"E5:*E1VE5(N4ZE1a=@a=@a=@aE@/|9e0@a @a@e?0@aIqԁIO;>B>BKCBHBGBB =BBDB;BGEԩ g,u?A:d@:3@:M{>ٱ:u+ BAHRS rotation from veh to nav: [[-0.206771,0.978329,-0.010824],[-0.947743,-0.203029,-0.246094],[-0.242958,-0.040626,0.969186]]:HywʿyN?+`Sɿ@Ͽ@AϿ ̤?i:d@I:X^;:CYJ7HByJ@H LLbDVVDVX8y^tQ%^R=ٔ^FvQ-b>9`Y`=bFy`f<Ef>hQ 5nY4jo?Q 9nY4j;F)j{BYlynQ Ir?jCIj;ijY;j\Y4ytɮvϜBt    ڒ’@<@ 111"5QPv@iA)I)IIIiIQIQL~9Ա1@ @@D0@IIO>EE EEqEE,EA"EE1:*EE$ :VEEg4ZEABEE;aU2EE;aUJEEU;aU:EEU;aU}FG-9Y A  %= 9 g,3T.?A:t @:C@:y>ٱ:v, BAHRS rotation from veh to nav: [[-0.203841,0.978957,-0.009593],[-0.948798,-0.199958,-0.244537],[-0.241310,-0.040745,0.969592]]:HxʿS?\`\`7ɿMϿ=ο`ܤ?i:t @I:b~^;:CYv$HByv(HbDVD_8yM*%M3=ٔUWtQ-U>9QYQ=]FyY];E]>aQ 5mY4e o?Q 9mY4eF)e{BYqyuQ I}?eCIe=R;ieh;eJ'Y4yɮٜB!))19ڒ9’AIU`V^=@ "v@i))顑iII8?)Y?9U0@Q @Q@U44@QIaIO|>EU  EU nEU .EQ "EU :*EU :VEU ـ4ZEQ a] @a] @a] @a] @a g,A)H?A 6&@6!@6w>ٱ6+6 >AHRS rotation from veh to nav: [[-0.200764,0.979622,-0.005952],[-0.949940,-0.196158,-0.243180],[-0.239392,-0.043168,0.969963]]6HɿY?axeɿ Ͽfο ?i6&@I6^;6CYF#HByDbDRVDR>8yV%Zi=ٔZQ-Z>9XY\=^Fy\^I<Eb>`Q 5fY4bo?Q 9jY4bߞF)bf{BYhyjXQ Ij?bCIb:ib:b3Y4yrgCɮrBpyڒ’శ=@ " v@i))iIB=>B9B9B9B= =B9B=DB=;B=FEBLCBLCBBŠ =BŠ =CZ5F9qm1@i @i@m00@iIyIO>ԙ i߁ I߅ AE]  E] zE] /EY "E] ҝ:*E]  :VE] J4ZEY BE] ;am 2E] ;am JE] v;am :E] v;am )g,=b?A6D@6?@6yu>ٱ6V@ >AHRS rotation from veh to nav: [[-0.197374,0.980326,-0.002228],[-0.951141,-0.192048,-0.241761],[-0.237433,-0.045598,0.970333]]6H Cɿ^?bAbo@ȿο@2dο X ?i6D@I6^;6C@YDyJ'HIN4=)NbDRVDR8yZk%ZH=ٔ^Q-^>9\Y\=^Fy\bG<Eb>dQ 5jY4f o?Q 9jY4f8F)fD{BYlynQ In?fCIf:if :fAY4ypɮpp   ڒ ’  >@ )))"-w@i))iIU9ԱM0@I @I@M/0@QIaIqO nFg,{?A6PZ@6U@6s>ٱ6C >AHRS rotation from veh to nav: [[-0.195002,0.980803,-0.000272],[-0.952198,-0.189381,-0.239696],[-0.235146,-0.046482,0.970848]]6Hȿb?1`gx=ȿ\οDο̧/?i6PZ@I6K^;6CYJHByJHan@an an@an an@an an@an bDrVDr8yzϼ%zH=|ٔ~Q->9Y=Fy  ;E >Q 5Y4o?Q 9Y4F)"{BQ A%+:Y!Q E%O;y%Q I%?,CI ;i>gMY4y)ɮ-œB)'MeDetached at range: 2095.40 m. Transitioning docking module to standby.iiiiqڒq’yC>@i))iQIYDD%=E EvE,E"EC:*E:VEg4ZEa%@a%@a%@a%@59)4@ @@4@IIO">QB=<A=<BE>BELCBEHBEFBBE =BABABE;BEFEԁ C.g,?A2i@2d@2)Vp>ٱ2z> :AHRS rotation from veh to nav: [[-0.193309,0.981138,-0.000536],[-0.953179,-0.187930,-0.236923],[-0.232555,-0.045288,0.971528]]2HVȿ {e?xAq@ȿ}Sο[Ϳ0?i2i@I2ʻ^;2CYBHByBHbDJVDJ8yr"%rK=ٔv^ٻQ-v>9tYt=vFyxz;Ez>|Q 5Y4~o?Q 9Y4~F)~{BQ A  :Y Q E (;y Q I ?~@CI~:i~P?~VY4yɮʜB511999ڒ9’AAE>@Yii)q)qqqiqyIyu9 }&Changing to mode: 1ԑE0@A @A@E4@AIYIiO9>E% E%sE%+E!"E%:*E%Z:VE% [4ZE!BE%;a52E%;a5JE%%];a5:E%&];a5Ա Yg,?A2z@2u@2tm>ٱ2R7 :AHRS rotation from veh to nav: [[-0.191483,0.981495,-0.001304],[-0.954211,-0.186471,-0.233903],[-0.229818,-0.043544,0.972259]]2Hȿ hh?<^U HǿͿjͿ@hK?i2z@I2^;2CYbHBybH ddbDjiVDj8yrc%rJ=ٔvQ-v>9tYt=zFyxz ;Ez>QQ 5]Y4Un?Q 9]Y4ULF)UzBQ Ae9YaQ Ee;yeQ Ie?UTCIU ;iU1?UP^Y4yiɮmΜBqڒ’U?@Թi))iI9@ @@5@IIO&>D) zD- @AE5  E5 tE5 -E1 "E5 :*E5 v:VE5 t4ZE1 a= @a= @a= @a= @9 h@g,qɞ?A2W@2&@2hj>ٱ23 :AHRS rotation from veh to nav: [[-0.189906,0.981801,-0.001228],[-0.955182,-0.185046,-0.231053],[-0.227076,-0.042705,0.972940]]2HNȿj?T@ِǿ )ͿͿwݥS"?i2W@I2b`;2CY^ HBy^ HaMaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9MB`"?X9vi|?5YMN>yM}MM BMB M A)MBIYMBbDe&VDe8yu0<%uB=B>BBHBFBBBBB;BFEٔһQ->9Y=FyP;E> Q 5Y4 ~n?Q 95Y4 F) zBQ A=T:Y=w>Q E=[;y= Q I=? hCI ;i ; ?mY4yAɮEȜBAڒ’?@ w>w>@@"B@i ) )111i11I9 9AJ@ @@5@IIOG>iԙ E=  E= xE9 E9 "E= :*E= :VE9 ZE9 BE= ;aM 2E= ;aM JE= Xo;aM :E= Yo;aM jg,M㞡?AN@N@Ng>ٱNl9 VAHRS rotation from veh to nav: [[-0.188469,0.982079,0.001075],[-0.956133,-0.183239,-0.228545],[-0.224252,-0.044102,0.973533]]NH ȿ 0m?Q?`@dtǿ`@Ϳ`M̿@z .'?iN@INZ.a;NCY^HBy^HbDfVDfo8yn<%nT=ٔrQ-r>9pYt=vFytv;Ev>xQ 5Y4zjn?Q 9Y4zF)z^zBYyQ I?zzCIz";iz#;z zY4yɮœB111111ڒ9’99E`j@@ YYY"]œ@ii)i)qqqiqyIyUȄ9y@ @@5@IIO>ԩ=a= g,p'?A2h@27@2d>ٱ2? :AHRS rotation from veh to nav: [[-0.187119,0.982332,0.003339],[-0.957077,-0.181541,-0.225935],[-0.221337,-0.045473,0.974137]]2H@ǿBo?Zk?`<ǿo̿@T̿@,H ,?i2h@I2d`;2CYBGByBHIF<)Fpy94 BB A)BYbDVD[8y%;=ٔ߻Q->9Y=Fy9g;E>Q 5Y4;n?Q 9 Y4F)zBY >Q E G;y Q I ?CI:i:nY4yɮӜB999AAAڒA’AAMvH@@ >>$@"@bEt4jEcw4rE).0E EwE/E"E*E:VEJ4ZEa@a@a@a@i))!i!!I)ڄ9"@ @@E1@IIOC>BBBHBFBB =BBB;BFE) }g,6?A2~@2M@2,a>ٱ2XA :AHRS rotation from veh to nav: [[-0.186780,0.982391,0.004555],[-0.957879,-0.181086,-0.222879],[-0.218130,-0.045993,0.974835]]2H@iǿo?r?@`-ǿO̿˿a1?i2~@I2_;2CYBHByFHbDNVDN;8yV=%Va=ٔVQ-Z>9XYX=ZFyX^ѳ:E^>`Q 5fY4bn?Q 9fY4b[F)byBYdyfQ Ij?bCIb6:ib:b%Y4ynXCɮnBn޿E||||ڒ’ @v@@ "i@i))项iI9)]$@Y @Y@]3@YIyIO>E EvE-E"Es:*E:VEt4ZEBE;a2E;aJEh;a:Eh;aYԉ g,<0?A027@2@2g=^>ٱ2WA >AHRS rotation from veh to nav: [[-0.185995,0.982536,0.005355],[-0.958665,-0.180277,-0.220141],[-0.215331,-0.046078,0.975453]]2H`ǿ`p?u?a`Oǿ -̿ ˿6?i27@I2_;2CYFGByFHbDNVDN 8yV%/%VJ=ٔVQ-Z>9XYX=ZFyX^;E^>`Q 5fY4bn?Q 9fY4bJF)byBYdyjQ Ij?bCIb:ib:bBY4ylɮnBl|||ڒ’ @@ !!!"%ޣ@i1)9)999iAAIA 9_'@ @@4@ԱII O5 >ԹE  E pE +E "E 1:*E  :VE [4ZE a @a @a @a @ tg,J?A6@6̬@65[>ٱ6KA BAHRS rotation from veh to nav: [[-0.185799,0.982569,0.006004],[-0.959391,-0.180090,-0.217111],[-0.212245,-0.046099,0.976129]]6HDǿ`5q?x?`T- ǿH˿*˿Sry/ݼ{ BqB )BY3BbD5VD58yEXH<%EA=ٔM]Q-M>9IYI=MFyQU}Q:EU>YQ 5eY4]n?Q 9eY4]F)]?yBYm3>Q Em;;ymQ Im?]CI]:i]<:]Y4yqɮuBB>BBHBFBB =BBB;BFEڒ’@b@@ 3>3> @"@i))顙iI 90*@ @@ o0@ IYIyO9>Q E  E vE 1E "E s:*E :VE -4ZE BE ;a- 2E a- JE a- :E a5 g,d?A2@2@2W>ٱ2>A :AHRS rotation from veh to nav: [[-0.185962,0.982534,0.006711],[-0.960047,-0.180243,-0.214058],[-0.209110,-0.046250,0.976798]]2Hǿ@p?3}{?7ǿDf˿ʿ `A?i2@I2d_;2C Fgc>FCYHyLG)5jAIu 9}jAY}AbDcVD8ٔQ->9Y=FyE>Q 5Y4Kn?Q 9Y4F)xBYyQ I?CI:i:Y4yKCɮBE119999ڒ9’AAE:A@ "@i))iI)9Ie,@a @a@eO0@aIqIO>>qԱ g,6x~?AJ@J˫@JŗT>ٱJC6A ZAHRS rotation from veh to nav: [[-0.186166,0.982493,0.007121],[-0.960654,-0.180498,-0.211103],[-0.206122,-0.046141,0.977438]]JHIǿ p?*}?@`ǿm˿4bʿş+G?iJ@IJQ_;JCYfHByfHqiMb@Mb@Mb@ 9@5^I ?/$bX9ȶYb>yE7B )BYBbDQVD8y _<%<ٔDQ->9Y=FycE>Q 5Y4n?Q 9Y4F)xBYɗ>Q E3;yQ I?CI" ;i ;Y4yɮB!!!ڒ!’!)-JA@ Eɗ>Eɗ>E@"Ey@iY)Y)aaaiaaIiE EwE-E"E1:*E:VEt4ZEa@a@a@a@m;9ԡ/@ @@N0@I)I9OM1>Bu<AqB}>B}KCB}HB}FBB} =ByB}DB}ҏ;B}FEB9B9B9B=lj =B=lj =C=Ǭ65 g,J?A2@2]@2Q>ٱ2t= :AHRS rotation from veh to nav: [[-0.186089,0.982509,0.006773],[-0.961244,-0.180626,-0.208289],[-0.203423,-0.045271,0.978044]]2H ǿp?{?@ǿ`8ʿ ʿ-"L?i2@I2_;2CYB&HByB*HIF<)FC=J@AJ@AbDN VDN|8yVv=%V_=ٔVQQ-Z>9XYX=ZFyX^ :E^>`Q 5fY4bn?Q 9fY4bF)bxBYdyjQ Ij?bCIb:ibb:bY4ylɮnBl|||ڒ’  yA@ !!!"%ȓ@i1)9)999iAAIA5I9P1@ @@i0@IIO>E E{E+E"E:*E5":VE [4ZEBEٱ6l6 BAHRS rotation from veh to nav: [[-0.186700,0.982402,0.005443],[-0.961741,-0.181638,-0.205088],[-0.200491,-0.043525,0.978728]]6Hǿo?Kv??ǿU@ʿ@ɿ`HQ?i6T@I6rO_;6CYJHByJ"HbDRVDRF8yZ%ZJ=ٔ^+Q-^>9\Y\=bFy`bѦEb>dQ 5jY4fn?Q 9jY4fùF)fIxBYlynQ In?f7CIf^;if;fY4ypɮrBp    ڒ ’ YA@ 111"5֕@iA)A)AAAiIIIQ UhAUhA1=j93@ @@O0@IIAOm>iԉE EzE,E"E:*E :VEg4ZEa@a@a@a@Թ g,`̟?A2@2@2K>ٱ21 :AHRS rotation from veh to nav: [[-0.187063,0.982336,0.004840],[-0.962222,-0.182236,-0.202286],[-0.197831,-0.042498,0.979314]]2H`ǿKo?0s?`Sǿ`ɿ@Rɿ;¥@V?i2@I2+v_;2CYB>HByBHHB!B!B%HB%FBB% =B!B!B%;B%FEi]Mb@Mb@Mb@YYYY Y9]y]`弙]@Y]B Y)]^BYY]pBbDuVDu8yÍ=%>=ٔyλQ->9Y=Fy^$E>Q 5Y4 n?Q 9Y4F)xBY>Q E5;yQ I?VCI:i3:Y4yɮxBڒ’A@ >>@"&@i))i!I!ԑU9p6@ @@00@II O*>i! I% AE  E wE *E "E 7:*E :VE (N4ZE BE ;a 2E ;a JE k;a :E k;a  g,埡?A2@@2@2pMI>ٱ23 :AHRS rotation from veh to nav: [[-0.187143,0.982315,0.005875],[-0.962719,-0.182214,-0.199927],[-0.195321,-0.043071,0.979793]]2H Qǿo?x?`Rǿ@4ɿEɿ@] @wZ?i2@@I2)_;2CYBAHByBLH DDbDNnVDN8yV<%VY=ٔV߻Q-V>9XYX=ZFyX^48E^>`Q 5fZ4btn?Q 9fZ4bUF)bwBYdyfQ Ij?bpCIb[:ib:bZ4ylɮnvBlyyyyyyڒ’`B@ " '@i))iI9m8@i @i@i@iIIO>I 2g,'?A:@@:@:GF>ٱ:מ8 BAHRS rotation from veh to nav: [[-0.186876,0.982355,0.007498],[-0.963224,-0.181726,-0.197926],[-0.193071,-0.044210,0.980188]]:Hǿso?~?BǿUɿ ȿ ]?i:@@I:3_;:CYJRHByJaHi-Mb@Mb@Mb@)))) )9-NbX9?MbMb`Y->y-@-)) -AA)))Y-BbDEZVDE8yU"=%U@=ٔĪQ->9Y=FyZ:E>Q 5Z4n?Q 9Z4$F)wBYɇ>Q EH;yQ I?CI:i:wZ4yɮmBڒ’@LB@ =ɇ>=ɇ>=O\@"=ي@iI)Q)QQQiQYIYD=D=E EzE,E"E:*E :VEg4ZEa@a@a@a@IUc99@ @@/0@IIO)>qAA@AB>BBHBGBB =BBB;BFEԡ h,?A6@6}@6D>ٱ6X6:@ >AHRS rotation from veh to nav: [[-0.185729,0.982564,0.008537],[-0.963873,-0.180494,-0.195884],[-0.190928,-0.044610,0.980590]]6H ǿ*q?|? @iǿɿPpȿ@)צ`?i6@I6`;6CYJLHByJZHbDR=VDR8yZQ%ZU=ٔZQ-^>9\Y\=bFy`ba;Eb>dQ 5jZ4fn?Q 9jZ4fF)fwBYhynQ In?fCIfd:if;f^#Z4ypɮrpBp'M4Docking module at standby.    ڒ ’ 4|B@ 111"5@iA)A)AAIiIIIQ=9ԩ9@ @@00@IIO>E E~E*E"E:*E(:VE(N4ZEBE';a2E(;aJE;a:E;a B h,3m3?A2ĉ@2}@2HB>ٱ26 :AHRS rotation from veh to nav: [[-0.184519,0.982793,0.008409],[-0.964564,-0.179441,-0.193433],[-0.188595,-0.043803,0.981078]]2H Pǿ@ s?8?@ƿfȿ#ȿ@cmd?i2ĉ@I2a;2ClYrHHByrUHIv=)v=zAAxbD~VD~8y {% E=ٔ Q- >9Y=Fy3T;E>!Q 5-Z4%n?Q 9-Z4%&F)%wBY)y-|Q I-?%CI%:i%:%1Z4y9ɮ=rB9/M]8Undocking sequence complete.q]1eaڒa’aamRB@ "@i)顙iI91@9 @9@E/0@AIIO">1DzDbEUg4jEU7i4rEUI"0E EyE,E"E:*E:VEg4ZEa@a@a@a@a *h,HM?A2Ӊ@2Pΐ@2!@>ٱ2s0 :AHRS rotation from veh to nav: [[-0.182846,0.983111,0.007695],[-0.965284,-0.178035,-0.191127],[-0.186529,-0.042375,0.981535]]2Hgǿu?;? `ƿ vȿ1ǿ4@h?i2Ӊ@I2a;2CBb>B`BbHBbKGBBb =B`B`Bb;BbFEYn}HBy%H9iMb@Mb@Mb@ 9zG?lZd;O?Y W>yj< B7B )YbDVDy8y=%>=ٔ)Q->9Y=Fỷ;E>Q 5Z4n?Q 9Z4WF)wBY6e>Q Em;yQ I?CI ;i ;@Z4y=Cɮ;B M%HTransitioning to midcourse guidance.1%q-)ڒ)’))5@PB@ M6e>M6e>Ms8@"M+*@ii)iiiiiI9I)iiIaIyO{>ԑ E } E qE E "E ݉:*E $ :VE ZE BE T;a 2E U;a JE U;a :E U;a Th,[#g?A2@2]@2]>>ٱ2y- :AHRS rotation from veh to nav: [[-0.180669,0.983514,0.007720],[-0.966072,-0.175982,-0.189039],[-0.184564,-0.041612,0.981939]]2H, ǿ`x??@ƿp2ȿ@̟ǿ#N l?i2@I2`;2CYBHByBHbDJVDJh8yRh<%R`=ٔVQ-V>9TYT=VFyXZ;EZ>\Q 5bZ4^Dn?Q 9bZ4^4F)^wBYdyfQ If?^CI^:i^:^MZ4yhɮj9Bh“z@qzMzCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1zM~Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideL~Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock|ڒ|’C@ !!!"%<@i1)111i1ԙI9IIO=! < h,i?A:G@:@:q;>ٱ:w / BAHRS rotation from veh to nav: [[-0.178415,0.983915,0.008934],[-0.966891,-0.173630,-0.187012],[-0.182453,-0.042004,0.982317]]:HIƿ;|?K?`~9ƿ`ǿZǿ }#o?i:G@I:}_;:CYbHByfH hhbDnVDn68yv?V=%vF=ٔv`Q-z>9xYx=zFyx~;E~>Q 5 Z4on?Q 9 Z4QF)wBY y}Q I?CI:i:\Z4yɮ.B!=M=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=MEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1ENEInitialize.qENEInitialize.1EEqE"MI1MړINUNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1UUNU:Initialize WaypointComponent.N]ZNavigating to waypoint: 36.779130,-121.859630Yڒa’aaelLC@ "&Q@颕 HBɢ<)3= S >i)顥i:IAE E|E.E"E:*EP$:VEـ4ZEa@a@a@a@ 9IqIO>!B>BLCBPHBtGBB =BBDB;BFEQy g&h,ښ?A2<@2 @29>ٱ22 :AHRS rotation from veh to nav: [[-0.175891,0.984351,0.010713],[-0.967742,-0.170908,-0.185108],[-0.180381,-0.042927,0.982660]]2Hƿ?? Rſǿ ǿwq?i2<@I2-_;2CYNHByRHa]a] a]a] aeae aeae y]+η?I +Zd;O]v=]94]j] Y9]/$?J +/$?Y]>y]Ƚ]<]x B]mB ]A)]BYY]BbDVD8yA=%?=ٔᠻQ->9I=Fy.;E>Q 5Z4n?Q 9Z4F)wBYK;>Q E;yQ I?CIE;iD;+kZ4yɮ#BNEZNavigating to waypoint: 36.779130,-121.859630ZERE?bMSW?jM2"IQYړYaڒa’aae[C@ %r=%r=%@"%ёh@U HBɢUj,<)Y ]">iY)];,9YYie:eȽɧmw>my0FԁE EtE,E"E:*Ev:VEg4ZEBE;a2E;aJE`;a:E`;a GkAEW9MkAYMٱ2O6 :AHRS rotation from veh to nav: [[-0.173012,0.984840,0.012541],[-0.968648,-0.167835,-0.183174],[-0.178292,-0.043839,0.983001]]2H@@%ƿσ??)@{ſ ?rǿHƿ@ rt?i2*)@I2^;2CYBHByBHbDJfVDJ8yR_<%R]=ٔVQ-V>9TIT=ZFyXZ%<EZ>\Q 5bZ4^(n?Q 9bZ4^)F)^wBYdyfQ If?^,CI^:i^:^xZ4yj0CɮjBjEZxR|b|j|"||ړڒ’ `QC@ !!!"%Qh@9ɢR<) )>i)9项i_:jȽɧ>[Q9II O=E EvE+E"Es:*E:VE [4ZEa@a@a@a@ 9 Jx3h,Π?AB6>B4B6HB6GBB6 =B4B4B6;B6FEB-KCB-KCB)B- =B- =C-5^C@^>@^Y5>ٱ^ < jAHRS rotation from veh to nav: [[-0.169934,0.985344,0.014811],[-0.969579,-0.164491,-0.181269],[-0.176176,-0.045165,0.983322]]^Hiſ ?wU? ſ3ǿƿ_w?i^C@I^ڧ^;^CYrHByrHIt)vC=bDz*VDz8y=<%D=ٔ _Q- >9 I = Fyz;E>Q 5%Z4޸n?Q 9%Z4F)wBY)y-bQ I-?@CI-:i$:Z4y1ɮ5B1ZQRQbQjY"YYړYaڒa’aae@C@ "h@颕 HBɢNOO<) 6>i)P9顡ib;MȽɧV>駭*^Ie ? e ?Ib992;IIOc>i E  E E .E "E :*E VE ـ4ZE BE #;a 2E $;a JE h;a :E h;a 9h,Dk蠡?A 2\@2UW@2;2>ٱ2v> >AHRS rotation from veh to nav: [[-0.167069,0.985809,0.016381],[-0.970490,-0.161497,-0.179077],[-0.173890,-0.045816,0.983699]]2Hbſ? ;Ɛ? @Ŀ@ƿ@ Bƿ`3uuz?i2\@I2^;2CYFHByFHbDVVDV8yb<%bN=ٔfQ-f>9hIh=jFyh];E]>aQ 5mZ4en?Q 9mZ4e"F)ewBYiym/Q Iu?eSCIe:ie:eZ4yyɮ}ByZRbj"ړڒ’oD@ " i@HBɢ1\<) ?>i):iV3;=.Ƚɧ>_@lI ?  ?I  jAjAM9ԁjZX<ԙ^A] ;IIO>5nManaging dock network, ignoring radio surface power off @h,F?A2v@2q@2p0>ٱ28 :AHRS rotation from veh to nav: [[-0.164007,0.986331,0.015907],[-0.971420,-0.158680,-0.176533],[-0.171595,-0.044405,0.984166]]2H*Ŀ?I?OĿƿſ 1@J~?i2v@I2ʅ^;2CYBHByBHbDJVDJ|8PyVm<%VL=ٔVQ-Z>9XIX=ZFyX^<Eb>dQ 5jZ4fn?Q 9jZ4fF)dYhynQ In?feCIf:if;foZ4yr/CɮrBpZRb j "  ړ  ڒ’MD@ 111"5Ai@AɢMu<)I MgL>iI)M%;:IQiU&S;mȽɧm>mxI? ? ? ?I9E EnE,E"E1:*E:VEg4ZEa@a@a@a@m9.=^AAYAYBe>BaBeHBeGBBe =BaBaBe;BeFEIIO^>! 8Fh,"?AY HBy H yMb?Mb?~jt== 9/$?Zd;ktY=y 0 BB )HBYBbDVDB8yE\;%E3=ٔEQ-M>9III=MFyIUEU>YQ 5eZ4]n?Q 9eZ4],F)]wBYe>Q Ee;ymi0Q Im?]vCI]:i]:]WZ4yu!CɮuכBqZRbj"ړڒ’D@ _>_>P@"=@HBɢi<) gP>i)k:iyx;Fǽɧ}>kI ?  ?I9jAjA)E EsE)E"E:*EZ:VEFA4ZEBE޽;a2E߽;aJE%];a:E&];aQ-·3=^A yI I O >ԁ Lh,Y5?A2w@2F@2i+>ٱ2( :AHRS rotation from veh to nav: [[-0.158740,0.987226,0.013678],[-0.973146,-0.154107,-0.170989],[-0.166696,-0.040453,0.985178]]2HQĿ@Z?4?$ɹÿſNVſ@P@?i2w@I2^;0YvHByvHbD~VD~>8y Li% `=ٔ_Q->9I=Fyy<E>!Q 5-Z4%en?Q 9-Z4%F)%xwBY1y5/Q I5?%CI%N:i%:%Z4y9ɮ=ڛBAYZaRabaji"iiړiiڒq’qqu D@ "=@颥HBɢV<) NL>i):顩i;ǽɧ?>駽aI\ ? \ ?II.?)>{9ԉ^A5ֽIIԱO>E EE,E"E:*E=:VEg4ZEa@a@a@a@ B] >B] KCB] HB] GBBY BY BY B] ;B] FE7Sh,P?A2@2Z@2i(>ٱ2F, :AHRS rotation from veh to nav: [[-0.156308,0.987586,0.015554],[-0.973999,-0.151504,-0.168439],[-0.163991,-0.041478,0.985589]]2HĿM?@ڏ?+@dÿgſ`Ŀ<?i2@I2ۘ^;0YBHByBHbDJVDJ;8yRw<%VO=ٔVQ-V>9TIX=ZFyXZ;EZ>\Q 5bZ4^n?Q 9fZ4^IF)^cwBYdyf/Q If?^CI^$:i^:^Z4yj"Cɮj؛BlZxR|b|j|"||ړڒ’ D@ !!!"%=@=HBɢ=Á<)9 =iT>iA)EG]:AAiET;MǽɧM>MIWIQIUY ? 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Id?IAAIIO%M>iԙ ~h,Gr?A}b@}]@}$=ٱ}R AHRS rotation from veh to nav: [[-0.075414,0.996874,0.023550],[-0.990964,-0.072298,-0.112974],[-0.110918,-0.031857,0.993319]]}H XNd?? !뼿'e@O`D?i}b@I}\^;}CY|HByHDD=E EuE)E"EƱ:*E:VEFA4ZEa@a@a@a@iyl?S㥫?I +>/]=94 9x&1?KS㥛Y>y^/ݼ` BA A)HBYBbD&VD8yn<%8=ٔ1ڼQ->9I=FyEy=E>Q 5[4\n?Q 9[4F)tBY>Q E;yQ I?* CI ;i ;4[4yɮBZRbj"ړ!ڒ!’!!-``H@ M>M>M8@"Mf1@Yɢ]hd<<)Y ]=iY)eq[;aaieABJCBBB =BBB(;BGEԙA.AIIOa> mh,@!?AYwHByHbDEVDE8yUn%Ue=ٔ]Q-]>9e ?Ie ?=eFyeEeEe>iQ 5u[4m%Yn?Q 9u[4mOF)mtBYyyyQ I}?mM CIm;imz;m[4yɮBZRbj"ړڒ’@MH@ "ɢpE<) ,=i)=a;ikTF<5Ľɧd?6=i?I? ?I9mGs9YAE  E vE *E "E :*E :VE (N4ZE BE ;a2E ;aJE h;a:E h;aIqIO;>) h,z;?AYsHBy HI!)%4<bD5VD58yU%UK=ٔQ->9I=FyEE>Q 5[4Tn?Q 9[4HF)tBYyQ I?v CI:i:[4yɮBZRbj"ړڒ’`>H@ !!!"!1ɢ5Fm9<)9 ==i9)=_g;99i=KiyIyԁDzD?AE EuEE"E:*E:VEZEa%@a%@a%@a%@ԩ B >B KCB B B =B B B ;B FEBBBBʋ =Bʋ =CQ4oh,UT?A:@:[@:c=@ٱ: VAHRS rotation from veh to nav: [[-0.053954,0.998291,0.022464],[-0.993295,-0.051353,-0.103579],[-0.102248,-0.027902,0.994368]]:Hџ?@?J`% , ??i:@I:^;:CY^yHBy^HbDjVDj8y h<% O=ٔ Q->9I=FyEf=E=>AQ 5M[4EMQn?Q 9M[4E G)EtBYIyUQ IU?E CIE:iE:E[4yyɮ}ByZRbj"ړڒ’H@ 111"52@UGBɢUoB<)][ = ]=iY)]Um;YYie@P E!  E% pE! E! "E! *E%  :VE! ZE! BE% E;a5 2E% F;a5 JE% :R;a= :E% :R;a= )h,Jn?A2nw@2=r@2M=ٱ2 Nؼ :AHRS rotation from veh to nav: [[-0.041980,0.998870,0.022264],[-0.994344,-0.039593,-0.098551],[-0.097559,-0.026275,0.994883]]2Hm~?f̖?E@: 皿?i2nw@I2^;2CYflHByfHpbDxVDxy%K=ٔ?Q- >9 I = Fy E^<E>Q 5%[4Mn?Q 9%[4G)ltBY!y-?Q I-? CI:iM:[4y5Bɮ5B5EZQRQbQjQ"YYړYYڒa’aae(I@ "3@频ɢ-:<) =i)Zs;顙iT<\ýɧ?駭Ro=i?I? ?Ii9I1IIOU= 1a 6h,s?A1YHByH E EsEE"E:*EZ:VEZEa@a@a@a@yUuV?T㥛 ?S㥛Ur>U=U/ݼQ Q9U{Gz?#~j/$YU>yU㥽UUBUA UQA)U BQYUBbDm VDm8y h=%0=ٔQ->9I=FyEE>Q 5\4In?Q 9\4E G)NtBY>Q E:yQ I? CI:i/:\4y ɮ B Z)R)b1j1"11ړ11ڒ9’99=cI@ ]>]>]̔@"]B@mHBɢuK<)q u>iq)u{;qyi}Z<}Ҽ½ɧ?駅 =i]?I]? ]?Iaee9Au?Au>B>BBHBGBBBBB;BFEIIO(>ԉԹ ;h, ?AY~zHBy~HbD VD8y%E%%l=ٔ!Q-%?9)I)=-Fy-E)E5?1Q 5u\45Fn?Q 9u\45@G)58tBYqyqQ Iu?5! CI5  dfh,e?Az,@z&@zϝ=ٱzՈ  AHRS rotation from veh to nav: [[0.011076,0.999926,0.005031],[-0.996971,0.011430,-0.076929],[-0.076981,-0.004163,0.997024]]zH?d?+t?/h? @ q?iz,@Iz^;zCYHByHbD- VD-8y==%=I=ٔ=OQ-=>9E"?IE"?=EFyEEM>EM>QQ 5]\4U \4yiɮmxBiZRbj"ړڒ’`I@ QQQ"UF@iɢmW<)i m: >ii)u;qqiua<}Zɧ}?}%=i}8w?yI8w? 8w?IiE]=!A.AIIOb>Ez EhE-E"El:*E]9VEt4ZEa@a@a@a@QB >B JCB HB HBB B B B ;B FEy Mh,=֣?AJ2@J@Jv=ٱJ; VAHRS rotation from veh to nav: [[0.025337,0.999677,-0.002106],[-0.997122,0.025121,-0.071529],[-0.071453,0.003912,0.997436]]JH?Z? @alf?@OJOp??iJ2@IJ+^;HYZxHBy^HIb<)`bDfVDf8yn)'%nQ=ٔrgQ-r>9r ?Ir ?=vFyvEve=Ev>xQ 5~\4zAn?Q 9~\4zG)z tBYyܿQ I?z} CIz';iz3;z-\4y ɮ B Z)R)b1j1"11ړ11ڒ9’99=HI@ YYY"]1F@iɢuO<)q u=iq)u;qyi}gd<ɧ ?駅=i&?I&? &?IQ9ԁ =AiAzAjAԩA؟AII O >E  E jE /E "E :*E 9VE J4ZE BE ;a 2E ;a JE c<;a% :E c<;a% wh,?AF@F@Fk=ٱF&< NAHRS rotation from veh to nav: [[0.039455,0.999193,-0.007571],[-0.997066,0.038871,-0.065936],[-0.065588,0.010150,0.997795]]FHk3?c?`?+᰿`dʰɄ? ?iF@IF1_;FCYVHByVHbD^VD^8yf"=%fK=ٔjoQ-j>9j"?Ij"?=nFynE+=E>!Q 5-\4%?n?Q 9-\4%bG)%sBY1y5ۿQ I5?% CI%N:i%g:%G<\4yYɮ]xBYZRbj"ړڒ’`+J@ "tG@ɢZ<) : >i);i?Lg<%%ɧ%)?-!=i-,?))I-,? -,?I1 99Ա9 A- .AI1 IA OU >9 vai,D ?AiIAJ@J\@Jv=ٱJws`< VAHRS rotation from veh to nav: [[0.054740,0.998447,-0.010378],[-0.996685,0.054011,-0.060846],[-0.060191,0.013674,0.998093]]JH?F?@L?&'`KѮ/?@a?iJ@IJ!^;JCYZHByZHyu)\(?Mb?uG?uuyuu99 ?I ?=FyEm=E>bEET4jEE|a4rEES)0E EoE+E"E:*E:VE [4ZEa@a@a@a@Q 5\4>n?Q 9\4#G)sBY>Q E:yտQ I? CI:iU:/K\4yɮ|BZ R b j "ړڒ’gaJ@ =====Xێ@"=<@IɢM8S<)U< U=iQ)Uk;QYi]i<]RɧeJ?e;=ie!?aaIe!? e!?Ii -Ƨ9B->B-KCB-HB-HBB- =B)B)B-;B-FEAyIIO>>9a i,f#?A6@6 @69\I\=^FybEb'=Eb>dQ 5j\4fYE EpE-E"E:*E :VEt4ZEBE#;a2E$;aJE:R;a:E:R;aA؟AIIO+>ԁԱ %= %=i,t=?ABה@B@BBI=ٱBZb< JAHRS rotation from veh to nav: [[0.086185,0.996200,-0.012591],[-0.995068,0.085450,-0.050384],[-0.049116,0.016871,0.998651]]LBH1??nɉ` ?˩ %@F??iBה@IBI^;BCYViHByV~HbD^VD^8yf~%fJ=ٔjAYQ-j>9n"?In"?=nFynEn"=Er>pQ 5v\4r;n?Q 9v\4r-G)rsBYxyzѿQ Iz?rD CIr;ir;rbf\4y|ɮBGSB*** querying acoustic contact ***:BZ!R!b!j!"))ړ))ڒ)’115J@ QQQ"Ue>@aɢeo?<)i m=ii)m֝;iiimEm]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.DzDAAE EkE*E"E~:*E:VE(N4ZEa@a@a@a@B% >B! B% $HB% !HBB! B! B! B% ;B% FE9 i,W?A2w@2F@2d'4=ٱ2G:< :AHRS rotation from veh to nav: [[0.102792,0.994618,-0.012988],[-0.993731,0.102106,-0.045540],[-0.043969,0.017588,0.998878]]2HP?@? #?Q@?@?i2w@I2^;2CYBfHByByHbDJVDJ8yR+%RM=ٔVSQ-V>9TIX=ZFyZ EZ+=EZ>|Q 5 \4:n?Q 9 \4.3G)Y y ϿQ I ?w CI:i:t\4yBɮ=nB= EZyRybyjy"ړڒ’`J@*DAT read: user:112> BDAT read: Tx time:20:37:36.5518 $Ping request sent.ECaG%@9!Y-*Am=AyzA}hAu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875ԉ A .AI E=  E= lE= -E9 "E= O:*E= :VE= t4ZE9 BE= ;aE 2E= ;aE JE= C;aM :E= C;aM IQ O] >i,t`q?ANک@N@N=ٱN< ZAHRS rotation from veh to nav: [[0.119831,0.992702,-0.013519],[-0.992030,0.119193,-0.040862],[-0.038952,0.018308,0.999073]]NH`:?7?寋p?@뤿@`I?h?iNک@IN^;LYbmHBybHIf<)fp;bDjVDj8yrs<%rF=ٔvGQ-v>9v ?Iv ?=zFyz Eza*=Ez>|Q 5\4~+:n?Q 9\4~f8G)~sBY y [ͿQ I ?~ CI~p:i~:~\4yɮjBZ1R1b9j9"99ړ9AڒA’AAE,K@Y iii"mG A@yɢ}L<) =i);顁iq<눻ɧ#@駕C+>irM)?IrM)? rM)?I9U<ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503570AaIqIOEQ>Ա "i,AHRS rotation from veh to nav: [[0.137403,0.990397,-0.015297],[-0.989926,0.136772,-0.036607],[-0.034163,0.020173,0.999213]]6H j?`U?`1T@y? $} A??i6:@I6^;6CY~BHBy~NHyMbX9?Q?~jt?=ļ 9?{GzZd;O?Yf>yףj<=B;B A)#BYfBbDVD8yŽ%>=ٔ6Q->9IE EE*E"E*EVE(N4ZEa@a@a@a@=FyE'=E>Q 5\49n?Q 9\4=G)sBY1>Q E:yοQ I? CIU:i:ӑ\4yɮBZRbj"ړڒ’(fK@ `>`>y@"@@ɢ<) =i!)%;!!i%Ir<-ZCɧ--@M) >iUu+?QQIUu+? Uu+?IQB>BB0HB+HBBBBBBFEBBBBÊ =BÊ =C?5-(9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007418}<A ؟AI I! O- >9 (i,<?A2 Ҕ@2̛@2<ٱ2u< :AHRS rotation from veh to nav: [[0.155663,0.987676,-0.016271],[-0.987373,0.155083,-0.032325],[-0.029403,0.021098,0.999345]]2H? ?p@`??@?i2 Ҕ@I2^;0YB^HByBoHbDJVDJ8yR=%V\=ٔVvRQ-V>9Z"?IZ"?=ZFyZEZM=EZ>\Q 5b\4^59n?Q 9f\4^ BG)^tBYdyf˿Q If?^ CI^|:i^:^\4yhɮnrBlZqRqbyjy"yyړyڒ’@(K@ "A@ɢ4<<) =i)<;iks<2ɧ6@S >iP-?IP-? P-?I 695checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852DD%=E EnE/E"E:*E:VEJ4ZEBEE;a2EF;aJEJ;a:EJ;aAqIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511647ԡ /i,򾤡?AY~PHBy~^H bDVD8y%%%C=ٔ%Q-%>9)I)=-Fy-E5E5>9Q 5}\4=8n?Q 9}\4=GG)=tBYyyyQ I?=9 CI=;i=;=Q\4yɮyBZRbj"ړڒ’K@ "ɢf(<) L=i)$S;ikpt<ɧb@@ >iLo/?ILo/? Lo/?I qH9IIIYOe4>ԡiAIAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763129E EE,E"E:*EVEg4ZEa@a@a@a@B >B B B B B B B ;B FE 5i,ؤ?A2@2Z@2<ٱ2ǘ< :AHRS rotation from veh to nav: [[0.194447,0.980681,-0.021353],[-0.980699,0.193904,-0.025099],[-0.020474,0.025821,0.999457]]2H@?`a?ݕa ?`p??i2@I2X^;2CYBIHByBVHbDNVDN8yV~%VR=ٔVQ-V>9XIX=ZFyZE^=E^>`Q 5f\4b!9n?Q 9f\4bKG)b$tBYdyfƿQ If?bg CIb :ib:b\4ynqBɮnLBlZ|R|b|j|"ړڒ’   K@ )))"-\D@9ɢ=fQ%<)EX< E=iA)E ";AAiEtiU)w1?QQIU)w1? U)w1?IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.028376UV9IIO=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279079E } E kE *E "E ݉:*E :VE (N4ZE BE T;a 2E U;a JE @;a :E @;a AHRS rotation from veh to nav: [[0.214451,0.976438,-0.024064],[-0.976602,0.213951,-0.021752],[-0.016091,0.028165,0.999474]]6H#s?`>? @S@ b?F%z@Wל?`?@i6ڻ@I6 ^;6CY^HByb#HbDjVDj8yr̽%rG=ٔr.Q-r>9tIt=vFyvEzK=Ez>xQ 5\4z9n?Q 9\4zPG)z3tBYy:ĿQ I?z CIz;iz;zC\4yUBɮEBEZ1R1b1j1"19ړ99ڒ9’AAE@./L@ aaa"eE@qɢu;)q u`i3?I3? 3?Iue9II)O5=ԩ > <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531991 Bi,^ ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7829546d@6_@6:H?<ٱ6H< BAHRS rotation from veh to nav: [[0.234562,0.971711,-0.027551],[-0.972031,0.234110,-0.018652],[-0.011675,0.031155,0.999446]]6H? A?@Q6 @Q?臿9?w?i6d@I6^;6CYJ%HByJ*HING>)Ly}MbX9? rhy}C }̼y y9}S? rh~jtY}/>y}C}ļ};By })B)}LByY}=BbDEy EjE'E"E:*E9VE'4ZEa@a@a@a@VD8y U<%==ٔ'Q->9I=FyEC=E>Q 5\4;n?Q 9\4UG)%tBY>>Q E:yQ I? CIz ;i] ;[\4yɮBBZ R b j "ړڒ’@vfL@ =====AMd@"=@IɢMp7;)Q U=i)I;iu<*ɧ^@ۯ1>i5?I5? 5?IB}>ByB}$HB}!HBByByByB};B}FE w9)IIO>Y%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035557ԁ %Ii,^&?AY~ HBy~ HbDVD8y5s%=S=ٔ=Q-=>9AIA=EFyEEMEM>IQ 5U\4M5i97?I97? 97?I59}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287462ԉE~ ElE.E"E:*E:VEـ4ZEBEv;a2Ex;aJEC;a:EC;a5<AE?AE>ԹA I I O > E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542517 Pi,9@?A6s@6B@6f;ٱ6= BAHRS rotation from veh to nav: [[0.275134,0.960838,-0.033045],[-0.961399,0.274844,-0.013117],[-0.003521,0.035378,0.999368]]6H͛?.?B렿 ?@݊@l? ?i6s@I6^;6CYFGByJHbDRVDR8yZ%ZS=ٔZ̬Q-Z>9\I\=^FybEb=Eb>dQ 5j\4f=n?Q 9j\4f^G)ftBYlynQ In?f CIf;if+;fo\4ypɮrVBtZ R b j "  ړ ڒ’L@ 111"5@IɢM[;)I MںiQ)UX<;QQiUu<]ްɧ]p@]@>ie:?aaIe:? e:?IiԹUͯ9`=<Ae.AIiIyO9>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790837bE=^n4jE=d4rE=#e0E} EoE-E"E݉:*E:VEt4ZEa@a@a@a@Bu >Bq Bu HBu HBBq Bq Bu DBu ;Bu nFE9 y8Vi,PZ?A6Pd@6_@6_nٱ6X|= BAHRS rotation from veh to nav: [[0.294777,0.954855,-0.036863],[-0.955566,0.294576,-0.010904],[0.000447,0.038439,0.999261]]6H`?+?`ߢT?TM=?M??i6Pd@I6b^;6CYFGByJH LLbDRVDR8yZ%ZJ=ٔ^ Q-b>9f ?If ?=fFyjEjN=En>tQ 5~]4v(@n?Q 9]4v)cG)vtBYyvQ I ?vK CIvf;ivd;v]4yɮhBZQRQbQjY"Yaړaaڒi’iqu`L@ "6@ɢ@T;) i)4;iu<%=%=%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.051650U.ɧU{@]H>i]NBD zD @AE  E lE )E "E *E :VE FA4ZE BE T;a 2E U;a JE a :E a ԙ b\i,ts?A2 @2u@2ʭٱ28'= :AHRS rotation from veh to nav: [[0.314115,0.948542,-0.039988],[-0.949376,0.314016,-0.008905],[0.004110,0.040761,0.999160]]2Hu?uZ?SyIa ? < p?`ޤ?`?i2 @I20^;2CYBGByBHbDJVDJ8yR;%VK=ٔVUQ-V>9V"?IZ"?=ZFyZ EZP=EZ>Q 5]4Bn?Q 9]4gG)sBYy׳Q I%?y CIr;i* ;]4y)ɮ-gB)ZIRIbIjI"QQړQQڒQ’YY] *2M@ yyy"}:@颉ɢҦ;) i)H;顑iku<ɧ@駥Q>i;>?I;>? ;>?Iq9-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.555034ԡAII O= > Ici,ˍ?A2ߣ@2@2ٱ26= :AHRS rotation from veh to nav: [[0.331809,0.942301,-0.044401],[-0.943316,0.331807,-0.007646],[0.007528,0.044421,0.998985]]2H]9I=Fy#E.=E>Q 5]4Gn?Q 9]4mG)sBY` ?Q E:yQ I? CI& ;ii ;]4yɮuBZRbj"ړ  ڒ ’  `hM@ -,>-,>-r?w@"-(@AɢE@:)A EiI)M;IIiMpti]A?YYI]A? ]A?IaBA<B>BBHBGBB =BBB;BzFE1AIIO=>=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.058879) vii,ͮ?A G9I=Fy%EBC=E%>!Q 5-]4%qLn?Q 95]4%rG)%sBY1y5Q I5?% CI%;i%;%T,]4y=8BɮE^BEEZaRabaja"aaړiiڒi’iiuM@   " >)@9ɢE@)A E0iA)E_;IIiM+nti]ED?YYIeED? eED?IaM 9achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.311187E} EjE-E"E݉:*E9VEt4ZEBEa2EV;aJEc<;a:Ed<;aA.AIIOB>yԡ E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562864[pi,ԁ?ADJ̛@JƢ@JXٱJ`C= RAHRS rotation from veh to nav: [[0.365672,0.929442,-0.049216],[-0.930650,0.365876,-0.005125],[0.013243,0.047677,0.998775]]JH`+g?`?2@j?xt <? (i??iJ̛@IJY_;JCYZGByZHbDfVDf8ynz2%nN=ٔnQ-r>9r ?Ir ?=rFyr'Ev=8=Ev>xQ 5~]4zQn?Q 9~]4zjxG)zsBY|yOQ I?z!CIz<;izH;z0:]4y SBɮ B Z)R)b)j)"11ړ11ڒ1’99=M@ YYY"]c*@iɢm@)q uiq)uM;qqius<}ɧc@駅p>ilG?IlG? lG?Iu9ԹAIIO$>BDAT read: Rx Time:20:37:41.7749 TRx dataTimestamp_ set to:1761511063.240608checking for new query: numPingsReceived=0, elapsed TxPingTime=5.815939E~ EkE,E"E:*E:VEg4ZEa@a@a@a@B >B B HB GBB =B B DB ;B FEBBBBBC5 vi,`ۥ?ANS[@N"V@NٱN&H= ^AHRS rotation from veh to nav: [[0.381873,0.922786,-0.051377],[-0.924076,0.382188,-0.003940],[0.016000,0.048981,0.998672]]pNHp?u?N@u?6#pOb? ? ?iNS[@IN^;NCY GBy HbD%VD%8y5L%5E=ٔ5ٻQ-5>99I9==Fy=)EEn,=EE>IQ 5U]4MWn?Q 9U]4M~G)MYsBYQyU Q I]?M[CIMQ;iM;MH]4yaɮeBaZRbj"ړڒ’N@ "C+@ɢ) 6Ži);i0s<᥽ɧE@{>iN J?IN J? N J?I checking for new query: numPingsReceived=0, elapsed TxPingTime=6.068551IIO!>1iߩ I߭ A DAT read: 20:37:41.7749 LVL= 12512, 11697, 16450, 20035, AGC= 80, IDX= 174, 0.03,-2.040,-2.815, 2.549,-2.449, PHS= 0.512,-0.321,-1.329, RAW= 56.9, 14.1, CAL= 52.9, 17.7, ROT= 97.1, -17.7  Ygot valid direction response: 20:37:41.7749 LVL= 12512, 11697, 16450, 20035, AGC= 80, IDX= 174, 0.03,-2.040,-2.815, 2.549,-2.449, PHS= 0.512,-0.321,-1.329, RAW= 56.9, 14.1, CAL= 52.9, 17.7, ROT= 97.1, -17.7  PDAT read: Bearing 206.2, 73.1 (Local)  ~Local bearing/azimuth received: Bearing 206.2, 73.1 (Local)  DAT read: Range 11 to 50 : 2114.1 m (Round-trip 2818.9 ms) speed -0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.117750,0.945356,0.304033] Fpublishing direction and range infoy  G$1\@?z0Gu?Y !E 0 - B@ CN) PI o?i Z  M;~? d{> \l? 2+>) i?I 2+ + ?/T®L|F? ) |I i?i 2+ ԁ E  E E )E "E ~:*E .:VE FA4ZE BE ;a 2E ;a JE ;a :E ;a |i,:?A2@2@2ٱ2eF= :AHRS rotation from veh to nav: [[0.397862,0.915970,-0.052005],[-0.917251,0.398304,-0.002019],[0.018865,0.048505,0.998645]]2Hv?O?rZ@}?``JQ?ը??i2@I2:_;2CYNGByRkH TTbDZVDZ8yfB%fQ=ٔfBQ-f>9hIh=jFyj+En_6=En>Q 5 ]4v]n?Q 9 ]4kG)4sBY y ОQ I ?CI:i:V]4y9ɮ=B9YJR率?AEEa ?-%1n䀗p@ ،@G$1\@?z0Gu?i?2+—#Am@c؏@ن@mhK?Ƹ?j9?j~DrlDZ; ?bezECDZRbj"ړڒ’@3@`n? "q,@ɢ[)1 5Bi1)=A;99i=BriEM?AIIMM? MM?IIM'9ԑIIIYOm5>Ա !i,M?A6gy@66t@6 ٱ60A= >AHRS rotation from veh to nav: [[0.413858,0.908852,-0.052054],[-0.910079,0.414435,0.000310],[0.021854,0.047245,0.998644]]6H`|?P?@ͦ]`?L4?a?|0??i6gy@I6^;6CYFGByFHy/$?:v?9AIA=EFyE-EM+=EM>QEe EeoEe,Ea"Eea:*Ee:VEeg4ZEaam@am@am@am@Q 5u]4Uen?Q 9u]4UYG)U"sBYu.?Q Eu:ԹyuQ I?UCIU׬BBHBGBB =BBB;BFE V=V=pݑ@"CZ@ɢٺ) i);iq<{Uɧ@k>iP?IP? P?IK9IiIO>A ‰i,(?A6e@64@6ͼٱ6s?= BAHRS rotation from veh to nav: [[0.429648,0.901442,-0.052966],[-0.902649,0.430369,0.002486],[0.025036,0.046742,0.998593]]6HY??X`,?\d??`?y?i6e@I6_;6CYFGByJoHbDRVDR8yZ9W%ZS=ٔZQ-Z>9\I\=^Fy^/Eb8=Eb>dQ 5j]4fmn?Q 9j]4fǐG)fsBYhyjSQ In?fCIf :ifF:f~r]4yr5BɮrnBr(EZRbj "  ړ  ڒ ’? 111"54\@AɢECN)I M.iI)Min;IIiM%pi]MT?YYI]MT? ]MT?IaUZ9IIO=Em EmmEm.Ei"Em:*Em:VEmـ4ZEiBEm#;a}2Em$;a}JEmNG;a}:EmOG;a}Aiԙ i,!B?A2x@2G@2/bٱ2GD= :AHRS rotation from veh to nav: [[0.445635,0.893492,-0.055508],[-0.894766,0.446518,0.004004],[0.028363,0.047882,0.998450]]2HF?}?`k``?fp?F ??M?i2x@I2P_;2CYvGByvHIz%=)z=bDVD~8y =% D=ٔQ->9I=Fy1E/=E%>!Q 5-]4%vn?Q 95]4%G)%sBY1y5Q I5?%fCI%:i%:%]4y=OBɮEBAZaRabaja"aaړiiڒi’iiu? "s]@颡ɢ ); 6Ži)N΍;顩in<JȜɧu@駵A>iV#X?IV#X? V#X?Iqz9A>AI1IAOU=ԙE} E}jE}*Ey"E}O:*E}9VE}(N4ZEya@a@a@a@B>BBHBGBB =BBBu;B_FE Ԗi,\?A>j0@>9+@>"ٱ>dK= FAHRS rotation from veh to nav: [[0.461890,0.884988,-0.058764],[-0.886370,0.462949,0.005080],[0.031701,0.049740,0.998259]]>H`?Q?X`%]?t?;?@w??i>j0@I>_;>CYNGByRHbDZVDZO8ybeW<%bO=ٔb Q-f>9dId=fFyf3EjD>=Ej>lQ 5r]4nn?Q 9r]4nG)nrBYpyvQ Iv?nCIn:in_:n͎]4yxɮz~BxZRbj"ړڒ’`p? " ^@ ɢ) i)S;im<%"ɧ%@%+B>i%|[?!!I-|[? -|[?I)9IqIO=) D zD ?AE | E kE ,E "E :*E :VE g4ZE BE 2;a 2E 3;a JE @;a :E @;a i,[}v?A2$̟@2Ʀ@2Yٱ2eV= >AHRS rotation from veh to nav: [[0.478601,0.875789,-0.062728],[-0.877330,0.479854,0.005739],[0.035126,0.052287,0.998014]]2Hd?w? ?w?? \Ū?@?i2$̟@I2<_;0YFGByFHbDNVDNk8yV =%VL=ٔV; Q-V>9XIX=ZFyZ5E^lB=E^>`Q 5f]4bZn?Q 9f]4bG)brBYdyj3Q Ij?bCIb:ib:bϜ]4ylɮnwBlZ|R|bj"ړڒ ’    g!@ )))"-4 `@9ɢE)A E(iA)Ed;AIiMcnkiUH_?QQIUH_? UH_?IY]v9QA؟AIIO!>yԩ i,lZ?A:Dm@:h@:sٱ:#k=@ FAHRS rotation from veh to nav: [[0.495698,0.865740,-0.069123],[-0.867634,0.497179,0.004976],[0.038675,0.057507,0.997596]]:H?$?`?at? 0ͣ? q?M?i:Dm@I:^;:CYNGByNHy%|?5^?T㥛 9m"?Im"?=uFyu7Eu.<=Eu>yQ 5]4}n?Q 9]4}G)} sBY0?Q E:y&Q I?};CI}7:i}:}ī]4yiBɮB)EZRbj"ړڒ’@B]<A]%=B]>BYB]HB]GBB] =BYB]DB]|;B]hFE `=`=V?"'?ɢ) :i)K;i"i<rvɧy@a>itc?Itc? tc?Iԩ 9R5<AhAzAjA Aa Ii Iy O >:i,z5?A2@2@2 +ٱ2X= :AHRS rotation from veh to nav: [[0.513474,0.854801,-0.075233],[-0.857080,0.515170,0.003716],[0.041934,0.062573,0.997159]]2H `n?Z?~B@3m E|?`pn?`dx???i2@I2 _;2CYBGByBHbDJVDJ^8lyr6<%rS=ٔv Q-v>9tIt=vFyv9EzZ=Ez>|Q 5]4~n?Q 9]4~ G)~-sBY y Q I ?~~CI~t:i~ ;~L]4yJBɮlB%3EZIRQbQjQ"QQړYYڒa’aam`X@ "7 ?颱ɢ0>) bi);iG*g<ޑɧ@>i7g?I7g? 7g?II*?)>?9iQIQucU< DM=DM<EU EUjEU*EQ"EUa:*EU9VEU(N4ZEQBEUg;a]2EUi;aeJEUc<;ae:EUd<;aeAIIOI>9a !i,Ħ?A2cġ@23@2:7ٱ2= :AHRS rotation from veh to nav: [[0.531456,0.843301,-0.079987],[-0.845897,0.533340,0.002620],[0.044870,0.066268,0.996792]]2H`?R?z` ?we?-??`?i2cġ@I2 _;2CYBGByBHbDJVDJP8yR/=%RN=ٔV!Q-V>9TIT=ZFyZ;EZ7[=EZ>\Q 5b]4^n?Q 9b]4^xG)^QsBYdyf吿Q If?^CI^:i^t:^#]4yhɮj]BhZxRxb|j|9"ړڒ’ @ "w?ɢ:) i)Ą; i-[d<-Ŏɧ5:@5uȹ>i5:j?11I=:j? =:j?I9-ۺ9iU@;Em{ EmoEiEi"Em=:*Em:VEiZEiau@au@au@au@A>A>ԙB]>B]LCB]HB]GBBYBYBYB];B]FEA I I O > M"i,ݦ?A2Ev@2q@2(PBٱ2s= :AHRS rotation from veh to nav: [[0.549632,0.831507,-0.080623],[-0.834060,0.551663,0.003542],[0.047422,0.065297,0.996738]]2H??@ 8?m?G?M?H?i2Ev@I2+_;2CYBGByBHbDJrVDJ?8yRp=%VJ=ٔVϻQ-V>9TIX=ZFyZ=EZ \=EZ>\Q 5b]4^n?Q 9f]4^G)^wsBYdyfQ If?^ CI^$:i^:^E]4yhɮjPBlZ|R|b|j|"||ړڒ’   "@ !!!"%?9ɢ=àP;)A E@EiA)E-w;AAiE biUn?QQIUn? Un?ԙI ugd>uC7GSkA =ڣ9=SkAY=AIqIO>Da zDe @AEm y Em kEm ,Ei "Em :*Em :VEm g4ZEi BEm ʤ;a} 2Em ̤;a} JEm @;a} :Em @;a}  uLi,T?A6.@6(@6GKٱ6M:= BAHRS rotation from veh to nav: [[0.568150,0.818946,-0.080825],[-0.821428,0.570295,0.004292],[0.049609,0.063953,0.996719]]6HH.?4?@$I@??7q?Nf?`?_?`?i6.@I6@_;6CYFHByFHbDRLVDR8yZQ*=%ZJ=ٔZQ-Z>9\I\=^Fy^?Ebb=Eb>dQ 5j]4fn?Q 9j]4feG)fsBYhyj:Q In?fQCIf:if:fq]4yrdBɮraBpZRbj "  ړ  ڒ’@@ 111"5?AɢM;)M M;iI)M;QQiUA_<]`ɧ]@]>i]r?YaIer? er?Ia ii9II!O5 >!Qy 6i,?A6@6@6PSٱ6R= >AHRS rotation from veh to nav: [[0.586977,0.805310,-0.083269],[-0.807959,0.589230,0.003109],[0.051568,0.065453,0.996522]]6H?@?Q?twi?@g???i6@I6d_;6CYfHByf HE% E%qE!E!"E%~:*E%$ :VE!ZE!a-@a-@a-@a-@ymoʡ?{Gz? rh?m ?mף=mC9I=FyAE[=E>Q 5]4]n?Q 9]4G)sBY?Q E:yQ I?CI;i;]4yɮUBZRbj"ړAAAAB>BBHBGBBBBB;BFEBBBB =B =C4ڒ’!%g@q [->[->=@"`p@ɢ;) i?v?I?v? ?v?I) 9AzAgAIIO>ԙ ^^i,9}+?A2@2ͫ@2Yٱ25= >AHRS rotation from veh to nav: [[0.606186,0.790895,-0.083812],[-0.793549,0.608500,0.002643],[0.053090,0.064906,0.996478]]2He?`O?t@dx?Pe?.? ? &?i2@I29_;2CY^2HByb9HdfAbDr>VDr8yztT=%~U=ٔe{Q-e>9iIi=mFyuCEuw=E}>Q 5^4n?Q 9^4G) tBYyQ I?CIA;iA;^4yɮKBZRbj"ړڒ’K@ "Dq@ɢ ;)  @H=i ) V;i]X<ɧ!AZh>izqy?!I%zqy? %zqy?I!.9IqIO=E5 E5lE5)E1"E5:*E5:VE5FA4ZE1BE5#;a=2E5$;aEJE5C;aE:E5C;aE) Fi,B[E?A,6u{@6Ev@6]ٱ6= >AHRS rotation from veh to nav: [[0.625577,0.775597,-0.084277],[-0.778283,0.627912,0.001547],[0.054118,0.064623,0.996441]]6H? ?& ?WY?Z?(??i6u{@I6Y__;6CY^5HByb=HbDj9VDj 8yr;%rL=ٔr-Q-v>9tIt=vFyvEEz=Ez>|Q 5^4~n?Q 9^4~G)~@tBYy ނQ I ?~CI~7:i~:~^4y]BɮCB=EZ1R1b1j1"99ړ99ڒA’AAE@ "gs@ɢ-6U;)) -T=i))5l ;11i5GU<=P|ɧ=A=>i=4|?AAIE4|? E4|?IA-=9)Y5X<EE} EAEE+EA"EE݉:*EAVEE [4ZEAaM@aM@aM@aM@A]>A]?IB>BB=HB5HBB =BBB;BvFEIO%>ԉ cpi,3_?A0:E@:W@@:ueaٱ:== BAHRS rotation from veh to nav: [[0.644551,0.759660,-0.086431],[-0.762580,0.646893,-0.001199],[0.055001,0.066683,0.996257]]:H *?"O?R g X?S )?%?V?i:E@I:&m_;:CYJBHByJNHbDV)VDV8y^ =%^M=ٔ^IQ-b>9`I`=bFybGEfZ}=Ef>hQ 5n^4jn?Q 9n^4jG)jvtBYpyrQ Ir?j5CIj ;ij ;j^4ytɮvief?aaIef? ef?IiuO952;ԉAIIO=>iI IM A EM  EM rEI EI "EM :*EM ?:VEI ZEI BEM ;aU 2EM ;aU JEM Y;a] :EM Y;a] i,y?A2@2@2|dٱ27= :AHRS rotation from veh to nav: [[0.663636,0.742590,-0.090260],[-0.745975,0.665948,-0.005864],[0.055754,0.071224,0.995901]]2H9I=FyIEJz=E%>)Q 5=^4-n?Q 9E^4-G)-tBYAyMAyQ IM?-oCI-$k;i- l;-z*^4yQɮ]6BaZRbj"ړڒ’@ "v@ɢ<) =i)̋;iN<mɧAT>i?  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" ?@? ?``˶?i2C?I2^;0YB*JByBHIF=)F=bDNMVDN8yVU;%VN=ٔVI;Q-V>9Z ?IZ ?=ZFyZE^<E^>`Q 5fc4bz:t?Q 9fc4bi+G)b}tBYdyf?Q If?b)CIb:ib|:bmc4yn CɮnBnEZ|R|b|j|"ړڒ’   G@ )))"-р@9ɢ=x?=)A E ?iA)E|%=AAiE&M>ɧM,MAU#$?iQUt;QIQ QIYIE EkE/E"E1:*E:VEJ4ZEa@a@a@a@y^AA>AA؟AIIO->ԩ% %=% < %wl,Ӽౡ?A6mЋ?6?6=ٱ6 BAHRS rotation from veh to nav: [[0.257320,-0.962807,-0.082397],[0.965808,0.253452,0.054570],[-0.031656,-0.093622,0.995104]]6Hw?@P @?8??`?5@?i6mЋ?I64^;6CYF9JByJHbDRQVDR8yZp=%ZJ=ٔZ7$;Q-^>Bb>B`BbHBbJBB`B`B`Bbi;BbJFE9^"?In"?=nFynEr,<Er>tQ 5zc4vp?t?Q 9zc4v&G)vwtBYxyzK?Q Iz?v,*CIv :ivF:vc4yɮBZ!R!b!j!"))ړ))ڒ)’1157G@ QQQ"U@aɢe/=)i mC?ii)mX'=iiimI(un>ɧuKA}s"?iy}\;yIy yI^Aut'ԱA.AIIO >bEMg4jEMk4rEMa0E EmE,E"E:*E:VEg4ZEBE޽;a2E߽;aJENG;a:EOG;a A }l,?A2p?2[?2z=ٱ2Iƽ :AHRS rotation from veh to nav: [[0.252587,-0.963813,-0.085230],[0.967026,0.248496,0.055780],[-0.032582,-0.096509,0.994799]]2H@a*? ѵ??/?̴ d?i2p?I2^;2CYB5JByBHbDJ>VDJ8yR %RK=ٔV;Q-V>9V ?IV ?=ZFyZEZ(I<EZ>|Q 5c4~KDt?Q 9c4~ G)~ptBYy?Q I?~b*CI~&;i~;~c4y!ɮ%B)ZIRIbIjI"IIړIQڒQ’QQeH@ "^@ɢ=) a ?i)<)=i/+]ɂ>ɧHA ?i ;I I @@@@AiߑIߕAA II)O5>E~ EkE+E"E:*E:VE [4ZEa@a@a@a@q 7l,ds?A 28?2#?2GF =ٱ2Ͻ >AHRS rotation from veh to nav: [[0.246672,-0.964930,-0.089790],[0.968520,0.242260,0.057269],[-0.033508,-0.101090,0.994313]]2H@?{?`?@[R?`' ṿ i?i28?I2^;0YF.JByFH HHyHzG?ˡEy&1?=*?'`e= 9kt?9I=Fy Ea<E>Q 5c4Ht?Q 9c4QG)tBY?Q E:yo?Q I?*CI ;i2 ;c4yɮ B Z)R)b)j)"))ړ11ڒ1’19=RH@ ]\=]\=]'@"]I]|@iɢm"=)i m ?ii)u7!+=qqiu-}H>ɧ}MFA}?iԌ;"I IiAIIO >ԙAA@ABBBHBJBB =BBB>;BFE m G lA 2H9 lAY 9AE  E lE .E "E :*E :VE ـ4ZE BE #;a 2E $;a JE C;a :E C;a cl,Ց.?A@F4 ?Ft?F& =ٱF(ս ^AHRS rotation from veh to nav: [[0.240438,-0.966213,-0.092856],[0.970058,0.235803,0.058182],[-0.034321,-0.104065,0.993978]]FH?7@eŷ@ ?.?@ʭ?`?iF4 ?IF^;FCYf?JByfHbDnTVDn8yvp6=%vX=ٔz ;Q-z>9xIx=zFyz"E~"<E~>Q 5 d4+Lt?Q 9 d4G)tBYyK?Q I?*CI :i:Pd4yɮBZ9RAbAjA"AAړAIڒI’IIMQH@ iii"m |@ɢY=) ?i),=i 0WW>ɧCA?iƋ;I IԩA؟AIIO>=4= l,kH?A6׎?66ê?6O=ٱ6tlӽ >AHRS rotation from veh to nav: [[0.234365,-0.967787,-0.091982],[0.971514,0.229741,0.058138],[-0.035133,-0.102987,0.994062]]6H?`"?+h?Bĭ?@``][?i6׎?I6~^;6CYFKJByFHbDRtVDRп8yVF<%ZN=ٔZx;Q-Z>9Z"?I^"?=^Fy^$E^=<Eb>`Q 5fd4bOt?Q 9jd4b G)btBYhyj?Q Ij?b+CIbp:ib:b(d4lyr!CɮrBrEZR b j "  ړ  ڒ’H@ 111"5/}@IɢUݩ=)Q U?iQ)U.=QYi]2e->ɧeAAe?iae;Њ;aIi iIiA>A>Ey E}jE})Ey"Ey*E}9VE}FA4ZEya@a@a@a@AIIO> 9a K,l,Gb?AB&>B$B&HB&JBB$B$B$B&F;B&'FEB JCB JCB B =B =C 85Bǫ?B?BS=ٱB0ͽ NAHRS rotation from veh to nav: [[0.228075,-0.969542,-0.089272],[0.972988,0.223598,0.057427],[-0.035717,-0.099958,0.994350]]BH 1?}`ڶ "?ݞ?` g?vIؖ?iBǫ?IB^;@YIJByHI=);!%AA9bD-_VD-8yMѦ%MA=ٔM{:Q-U>9QIQ=UFyU&E]y<E]>aQ 5md4eSt?Q 9md4eG)etBYqyu߰?Q Iu?eO+CIeW:ie:ed4y}0Cɮ})5tӇ>ɧ>Ah?igى;I IiIIMAiE| EoE-E"E :*E:VEt4ZEBE2;a2E3;aJEN;a:EN;a^AK'ԑAII O > Ul,|?A2 ?2Nv?2=ٱ2̽ :AHRS rotation from veh to nav: [[0.221437,-0.971060,-0.089490],[0.974507,0.216958,0.057140],[-0.036071,-0.099862,0.994347]]2HX?趿)/?`D?lA?@w ?i2 ?I2^;0YBSJByBHbDJJVDJ8yR}<%VV=ٔVr:Q-V>9TIX=ZFyZ(EZ<EZ>\Q 5bd4^Vt?Q 9fd4^AG)^tBYdyf?Q If?^+CI^:i^:^Y-d4yhɮj7BlZxR|b|j|"||ړڒ’ FI@ "~@频ԙɢr0=) ?i)2=i?7L>ɧE EnEE"E:*E:VEZEa@a@a@a@! 2@l,?A Nf?N8R?N=ٱN]ν ^AHRS rotation from veh to nav: [[0.214889,-0.972443,-0.090434],[0.975956,0.210356,0.057090],[-0.036493,-0.100528,0.994265]]NHz??`& ;??:??/`?iNf?IN"^;NCYjTJByjHye rh?:vZd;OeC+?eTeja a9ep= ף?~jt?Mb?Ye%?ye=e=e Be&A eB)e'BaYeBbDCVD8y~:%7=ٔx:Q->9I=Fy+E1v<E>Q 5 d4"Yt?Q 9 d4F)tBY'?Q E:yz?Q I?+CI ;i2 ;u>u?"u(H@颁ɢ[=) ?i)4=顉iT:M>ɧ9A駕x?iH<;I I!BU<AU<B]>BYB]HB]'JBBYBYBYB]=;B]FE^AAzAQA.AIIO>y E  E pE +E "E O:*E  :VE [4ZE BE ;a 2E ;a JE :R;a :E ;R;a hl,ׯ?ANF8?N#?N=ٱNν VAHRS rotation from veh to nav: [[0.208650,-0.973780,-0.090648],[0.977305,0.204136,0.056597],[-0.036609,-0.100400,0.994273]]NH ?5) 4@F? $!?R?_@Գ?iNF8?IN` ^;NCY^_JBy^H ``bDj+VDj8yr<%r]=ٔr9Q-r>9v ?Iv ?=vFyv,Ez<Ez>|Q 5d4~Zt?Q 9d4~UF)~tBYyK?Q I ?~,CI~;i~o:~Id4yHCɮaBZ1R1b1j1"19ړ99ڒ9’AAE`I@ aaa"eKI@qɢubҳ=)y }?iy)}v6=yyi}<`>ɧ6A駍"?ib;I I@jA@jAY^A¼A؟AIIO$>ԁԱ Ol,ɲ?A.v?.?.=ٱ.nͽ :AHRS rotation from veh to nav: [[0.202528,-0.975065,-0.090728],[0.978601,0.198077,0.055732],[-0.036371,-0.100074,0.994315]].Hn?39P?@Z?ވ?3 um?i.v?I.*^;.CYB\JByBHbDJVDJ{8yrxһ%rJ=ٔryQ-r>9v"?Iv"?=vFyv.Ez~<Ez>xQ 5d4z\t?Q 9d4znF)ztBYy?Q I?zQ,CIzY;ize;zWd4y_CɮB EZARAbAjA"AAړIIڒI’IIU@I@ iii"mI@颁ɢR=) 9?i)m8=顉iOr?䉌>ɧ2A駕?iw;I ID]<D]<Ea EeyEe-Ea"Ea*Ee:VEet4ZEaam@am@am@am@Ա^AԅAU.AIyIO> BE >BA BE HBE 1JBBA BA BA BE !;BE FEyl,e㲡?A2lē?2?2F=ٱ2ӽ :AHRS rotation from veh to nav: [[0.196825,-0.975913,-0.094093],[0.979781,0.192270,0.055328],[-0.035904,-0.103080,0.994025]]2H`1?`:u]Z?P? S?b@vc@ ?i2lē?I2_^;2CYBSJByBHbDJ!VDJ8yRX%VN=ٔVXQ-V>9Z ?IZ ?=ZFyZ0EZp<E^>`Q 5bd4b ^t?Q 9fd4bF)btBYdyf߿?Q If?b,CIby:ib:bed4yhɮnBlZ|R|byjy"yyړyڒ’ 5I@ "J@ɢ=) ?i)dg:=i$B >ɧ /A  ?i   ; 'I  I@E@E@A@AEm EmnEiEi"Em~:*Em:VEiZEiBEm;au2Em;auJEmJ;a}:EmJ;a}AA-؟AIYIqO}>i l,g?A vHi?vT?vE=ٱv޽ ~AHRS rotation from veh to nav: [[0.191896,-0.976325,-0.099830],[0.980774,0.187101,0.055451],[-0.035460,-0.108552,0.993458]]vH ?@ >z b??@ d?`' ʻh?ivHi?Iv:^;vCY KJBy HI<)p<bD%VD%R8y5%5B=ٔ5PQ-5>9="?I="?==Fy=3EEpC<EE>IQ 5Ud4M_t?Q 9Ud4MoF)MtBYQyU?Q IU?M,CIM):iM;Mtd4yaɮeBaZRbj"ړڒ’ "J@ "aJ@aɢe*A=)a e?ia)mb<=iiimD*ގ>ɧN,A駕( ?i;I IiIIOM1>ԙDqzDu@AE}z E}mE},Ey"E}l:*E}:VE}g4ZEya@a@a@a@ l,K?A:?:\?:J=ٱ:4 BAHRS rotation from veh to nav: [[0.187141,-0.976699,-0.105062],[0.981701,0.182114,0.055650],[-0.035220,-0.113554,0.992907]]:H??`AX庿j?O?@.~? b ?i:?I:@^;:CYJMJByJHLyU-?y&1 rhU5?U`UC Q Q9UOn?I +?~jt?YU8?yU9=U9I=Fy5E?<E>Q 5d4Hat?Q 9d4F)tBY :?Q E:y?Q I?'-CI:ij:d4yɮBZRbj"ړڒ’&WJ@ )>)>=X?"4@ɢM=) v?i)>>=ivG%>ɧ%(A%?i!%׻;)I) )I)IIO (>BBBHB;JBBBBB;BEE! bE ^n4jE g4rE /E | E iE +E "E :*E 9VE [4ZE BE 2;a 2E 3;a JE 8;a :E 8;a +l,:1?A2?2?26=ٱ2! :AHRS rotation from veh to nav: [[0.181880,-0.977159,-0.109909],[0.982699,0.176653,0.055643],[-0.034957,-0.118128,0.992383]]2HG?D"`Er??@G}?塿 =?i2?I2I^;2CYBTJByBHbDJVDJD8yRă<%RY=ٔV7Q-V>9TIT=ZFyZ7EZfi<EZ>\Q 5bd4^bt?Q 9bd4^^F)^tBYdyf?Q If?^m-CI^:i^:^,d4yhɮjBhZxRxb|j|9"AAړAAڒA’IIM@\J@ " @颹ɢ=) ?i)@=iGJ+>ɧ2%A(?iq;I IIIO=iԑ &l,J?A2a?2(M?2\)=ٱ2& :AHRS rotation from veh to nav: [[0.176775,-0.977609,-0.114153],[0.983639,0.171384,0.055507],[-0.034700,-0.122097,0.991911]]2H?`H9y??pk?AġA༽?i2a?I2O^;0YbMJBybH ddbDnVDnJ8yv%vF=ٔv"Q-v>9xIx=zFyz9EzBN<E~> Q 5 d4 ct?Q 9d4 xF) tBYy>?Q I? -CI :i  d4y%tCɮ%ßB%EGS=B*** querying acoustic contact ***:9B9ZARAbIjI"IIړIIڒQ’QQU?J@ qԙE= E=oE=)E9"E=~:*E=:VE=FA4ZE9aE@aE@aE@aE@qq"ul@yɢ}Ͱ=)y }Z?i)$B=顁i,Mm>ɧs!A駍;)?i4;I I^AU֣I9IIO]v>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. B >B KCB B B B B B ;B EEl,_d?AB?B?B =ٱBH6 JAHRS rotation from veh to nav: [[0.171194,-0.978243,-0.117188],[0.984637,0.165722,0.055019],[-0.034401,-0.124806,0.991585]]BH?M$?`a6?t+?M?iB?IB7Q^;BCYR3JByRHbD^VD^I8yfb%fL=ٔf1DQ-f>9hIh=jFyj;Ejqh<En>pQ 5vd4r#et?Q 9vd4rF)rtBYtyv?Q Iv?r.CIr[:ir:rd4y|ɮ~ПB|ZRbj"!!ړ!!ڒ!’))-AJ@ III"M2@Yɢ]ʳ=)a e ?ia)eC=aaimjOm>ɧmAu?>iu.۳?u ;uZ<;Iu.۳? u.۳?Iy^A=aA ec>e*CUGkAI I)-C9-kAY54AO==*DAT read: user:113> BDAT read: Tx time:20:38:36.8015 %$Ping request sent.%9AII=MFyM=EMm<EM>QQ 5]d4U3ft?Q 9]d4UܹF)UtBYaye?Q Ie?UR.CIUf;iUr;U7d4yiɮm֟BqZRbj"ړڒ’$K@ "C@ɢ$=)  ?i)FE=i R >ɧA#d>iJ?IJ? J?Iԑ^A &checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501858EQ EUsEU)EQ"EQ*EUZ:VEUFA4ZEQa]@a]@ae@ae@Am.AIyIO> (l,?A2=?2|?2{ =ٱ2* :AHRS rotation from veh to nav: [[0.159453,-0.979729,-0.121265],[0.986631,0.153963,0.053433],[-0.033680,-0.128163,0.991181]]2Hh?`Y 1 z??[?y>g`?i2=?I2|^;2CYBIByBpHID)F;y @5^I ? rh b0? C   9 V-?K?L7A`堿Y 9 ?I ?=Fy?Ed<E>Q 5d4Xgt?Q 9d4F)tBY>?Q E:yq?Q I?.CI:i:d4yɮBZRbj"ړڒ’   [ZK@ -->-->-)̢?"-]+@9ɢ=$=)A ET>iA)EXG=AAiERCUM >ɧMAMX,>iUzG?QU/̄BBHB1JBB =BBDB;BEEBIBMKCBIBMň =BMň =CMŇ5O@>I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006393Ea  Ee nEe /Ea "Ea *Ee :VEe J4ZEa BEe ;au 2Ea au JEa au :Ea au q ml,?A2_?22K?2r =ٱ2 :AHRS rotation from veh to nav: [[0.153739,-0.980808,-0.119914],[0.987540,0.148388,0.052399],[-0.033600,-0.126476,0.991400]]2H ?bೲ?`_?Ԫ?3 ]0?i2_?I2c^;2CY^JBy^vHbDfVDf(8ynC<%rM=ٔr5SQ-r>9pIt=vFyvAEvw<Ev>|Q 5~d4~Aht?Q 9d4~FF)~tBYy2?Q I?~.CI~:i~:~/d4y CɮBEZ1R1b1j1"99ړ99ڒ9’9AEaK@ ",@ɢ=)! %?i!)-H=))i-WU>ɧUAUs>i]?YYI]? ]?Ia)e?eS?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116a^A2;A؟AII O >ԁ l,s̳?A0:F?:?:a& =ٱ:' FAHRS rotation from veh to nav: [[0.148333,-0.981811,-0.118510],[0.988371,0.143123,0.051374],[-0.033478,-0.124753,0.991623]]:H ?j`V? Q?M?@#@￿ `?i:F?I:$/^;8bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509927YfIByfcHbDnVDn8yv%vJ=ٔzQ-z>9z"?Iz"?=~Fy~CE~-]<E~>Q 5 d4it?Q 9 d4`F)tBYy?Q I?7/CI:ip:Zd4yɮB!ZARAbAjA"AAړAIڒI’IIM5K@ iii"mr,@颁ɢ^F=) >i)4J=顉iZݖ>ɧA駕\>iVȮ?5zԹuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761826 Bm >Bi Bm HBm JBBm =Bi Bi Bm ;Bm dEE%l,^泡?A2a?2?2=ٱ2 :AHRS rotation from veh to nav: [[0.143925,-0.982507,-0.118178],[0.989027,0.138791,0.050629],[-0.033342,-0.124169,0.991701]]2H`%l?p@@?@?@?'ɿ`?i2a?I27^;2CpYvIByvaH xxbDVD'8y\O%H=ٔQ->9I=FyEE%2<E%>)Q 55d4-it?Q 95d4-jF)-ltBY1y5|?Q I=?-/CI-;i-;-d4yAɮAAZaRabaji"iiړiiڒq’qqu`K@ "~,@颡ɢ$=) Z>i)-L=顩i0]ŗ>ɧ A駽?3>ix?Ix? x?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014227 E- E-kE-+E)"E-:*E-:VE- [4ZE)BE-E;aM2E-G;aMJE-@;aM:E-@;aM^A}U<9AIIO->a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265877 m,6:?A20!?2n ?2m=ٱ2 :AHRS rotation from veh to nav: [[0.140188,-0.982965,-0.118859],[0.989568,0.135072,0.050099],[-0.033191,-0.124642,0.991646]]2H?rtm@? J??a迿@?i20!?I2^;2CYBIByB'HbDJVDJ!8yR%VQ=ٔVʹQ-V>9XIX=ZFyZGEZ<E^>`Q 5fe4bajt?Q 9fe4b˒F)bQtBYhyj?Q Ij?b/CIb:ib:bNe4ylɮn3BpZRbj"ړ ڒ ’   `%L@9 ",@ɢy=) >i)M=i_<>ɧ.AI>i6?j2"=I6? 6?I^AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517957ԑE EjE.E"E*E9VEـ4ZEa%@a%@a%@a%@ 7m,D?A2?2r?2]=ٱ2\ :AHRS rotation from veh to nav: [[0.137097,-0.983066,-0.121595],[0.990014,0.131921,0.049681],[-0.032798,-0.127192,0.991336]]2H@f?Gu 2??o?ʠ`G?i2?I28^;2CYBIByB%Hy Dl?J +?Mb O ? H= @  9 Cl?kt?㥛 Y /?y  0=   A B)  Y BbD%VD%+8y5%5B=ٔ5(tQ-5>99I9==Fy=IEE;EE>IQ 5Ue4Mlt?Q 9Ue4M=F)M%tBYU41?Q EU:y]?Q I]?M0CIM ;iMC ;Me4yeCɮe^BeEԙZ!R!b!j!"!)ړ))ڒ)’)1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7699745^L@ u >u >u@"uʟ?ɢ=) >i)ɧA >iV ?IV ? V ?IA A B>BBcHBIBB =BBDBv;BXEE^Au)<A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022006E!  E% iE% ,E! "E! *E% 9VE% g4ZE! BE! a5 2E% F;a5 JE% 8;a5 :E% 8;a5 Y b m,53?A6a?6?6H=ٱ6= >AHRS rotation from veh to nav: [[0.135685,-0.982693,-0.126114],[0.990223,0.130352,0.049657],[-0.032359,-0.131619,0.990772]]6H^?7r$ ?_?l?`K g?i6a?I6^;6CYFIByFHINC>)Np<bDZVDZ8yj>%jP=ٔr֒Q-r>9pIp=rFyvKEvn;Ez>|Q 5 e4~nt?Q 9 e4~+F)~sBYyͽ?Q I?~]0CI~kO;i~P;~e4y!ɮ-mB)ZaRabaja"aiړiiڒq’qy}@֎L@ "?颹ɢ`=) >i)SwP=idU>ɧlAz>i?I? ?IQ@ejA@ejA^A5=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273774IAe.AIiIyO9>iԙ Km,VM?A2Yɛ?2?22a=ٱ2) :AHRS rotation from veh to nav: [[0.135114,-0.982012,-0.131896],[0.990319,0.129567,0.049811],[-0.031826,-0.137350,0.990011]]2HiK?`l`??Ҁ?qK,?i2Yɛ?I2n^;0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525809YzIByzHbDVD38y%F=ٔrQ->9% ?I% ?=%Fy%ME%F:E->)Q 55e4-pt?Q 9=e4-|F)-sBY9y=ʽ?Q I=?-0CI-;i-@;-&,e4yECɮMBMEZiRibiji"iiړqqڒq’qy}L@ "ޣ?颩ɢ՞=) b>i)#Q=顱i71g#>ɧ @駽A>iĨ?;T=IĨ? Ĩ?ID=D=E~ ElE.E"E:*E:VEـ4ZEa@a@a@a@qԡ^A=Ho=AEjAzAEhAI1IAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777980O]>B >B B %HB IBB B B B j;B MEE tm,Ug?A2m?2?2A=ٱ2X >AHRS rotation from veh to nav: [[0.135900,-0.981041,-0.138166],[0.990228,0.130097,0.050235],[-0.031308,-0.143642,0.989134]]2H(e?@dh@??`m? b¿?i2m?I2%^;2CYFIByFHbDNVDN?8yV%VR=ٔVOQ-Z>9XIX=ZFyZOE^E^>`Q 5fe4brt?Q 9fe4buF)bsBYdyf?Q Ij?b0CIb-:ib[:b9e4ylɮnBlZ9R9b9j9"AAړAAڒA’IIM@mL@ "c?颹ɢ4=) G>i)nR=i̢i8>ɧ@>i?I? ?I^A-B=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029857IIO >bE|a4jEYe4rEXQ0E EE*E"E:*EVE(N4ZEBE޽;a2E߽;aJEC;a:EC;a) e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281836[ m,?A:r|?:g?:L?<ٱ:> BAHRS rotation from veh to nav: [[0.137444,-0.979828,-0.145074],[0.990042,0.131399,0.050502],[-0.030421,-0.150570,0.988131]]:H`—?@Ző¿@m??o۩?& Eÿ@Ş?i:r|?I:i^;:CYJFIByJH LLbDVVDV68yZ%^J=ٔ^aQ-^>9`I`=bFybQEf1{Ef>hQ 5ne4jtt?Q 9ne4jnF)jsBYlynK?Q Ir?j11CIja;ij+;jGe4yvCɮvBvEZ R b j "ړڒ’Z(M@ 999"=?IɢM<=)Q UL>iQ)US=QQiUk >ɧ@>id?Id? d?I@e=@e=Qԁ^A`T=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533909IIOn>DzDAAE EoE.E"E~:*E:VEـ4ZEa@a@a@a@ԩ &m,^?A6 ?6[?6<ٱ6՞#@ FAHRS rotation from veh to nav: [[0.140870,-0.978073,-0.153393],[0.989584,0.134466,0.051406],[-0.029652,-0.159037,0.986827]]6H ?_L_ÿ૪?@16?Q?.]`O[Ŀ?i6 ?I6i.^;6CY^CIBy^HyE-?8ym%m?=ٔmQ-u>9qIq=}Fy}SE}E}>Q 5e4wt?Q 9e4gF)`sBY-?Q E:y?Q I?t1CI;i;Ve4yɮBZRbj"ړڒ’_M@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785744 m=m=m@"me>颙ɢS=) >i)!U=顡ipon~>ɧ@Q>il?Il? l?I@@@@ԩB>BBHBIBB =BBBv;BYEEIIO=r>edG}lA 9lAYĕA checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038238 E  E mE +E "E :*E :VE [4ZE BE a 2E a JE NG;a :E OG;a *,m,-@?AJC~?Ji?J9<ٱJ- fAHRS rotation from veh to nav: [[0.145127,-0.975904,-0.162944],[0.988996,0.138306,0.052512],[-0.028710,-0.168771,0.985237]]JH? :UĿۥ??@?`6f@Mſ?iJC~?IJ^;JClYr2IByruHbD~VD~98y 0'% Q=ٔ Q- >9I=FyUE3E>!Q 5-e4%zt?Q 9-e4%taF)%AsBY)y-??Q I-?%1CI%:i%:%de4y9ɮ=B9ZYRYbYjY"aaړaaڒa’iim@$M@ " >颙ɢl=) W>i) V=顡ip:*>ɧ?@駭3>i4?I4? 4?IIIO=%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2899101Y 3m,+ϴ?A2eә?2?2h<ٱ2J7 :AHRS rotation from veh to nav: [[0.150284,-0.973594,-0.171839],[0.988239,0.142970,0.054245],[-0.028245,-0.177970,0.983630]]2H`9hIh=jFyjWEnXEn>pQ 5ve4r~}t?Q 9ve4r$[F)r!sBYtyvw?Q Iz?r1CIr:irg:rcre49E EoEE"Ea:*E:VEZEa@a@a@a@y|ɮBZ Rbj"ړڒ’!!%@M@ AAA"Ee>qɢu&=)y }>iy)}W=yyi}"s:>ɧ@駅۾>i?;iQy=I? ?II9IQOe=iԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793846B B B HB \IBB B B B ;B rEEBmKCBiBiBmʇ =Bmʇ =Cm7?5 9m,贡?A2?2 ?2\<ٱ2D= :AHRS rotation from veh to nav: [[0.155792,-0.971664,-0.177756],[0.987413,0.148221,0.055191],[-0.027280,-0.184117,0.982526]]2H?`ƿ@?@? A?`H!ǿp?i2?I2^;2CYN$IByNdHbDZVDZ&8yf %fJ=ٔf[Q-f>9hIh=jFyjYEnaEn>pQ 5ve4rt?Q 9ve4rTF)rsBYtyv?Q Iz?r/2CIrN:irF:re4y|ɮ~B|ZRbj!"!!ړ!!ڒ!’))-M@ III"M>Yɢ]x=)a e{>ia)eeW=aaimvdum؍>ɧm@u6>iu?qqIu? }?Iyԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047788A؟AIIO>E ElE*E"E:*E:VE(N4ZEBE;a 2E;a JEC;a :EC;a   DAT read: 20:38:41.9913 LVL= 26384, 32753, 15842, 32755, AGC= 85, IDX= 89, 0.20, 2.897, 2.013,-2.072,-2.991, PHS=-0.293,-1.234, 0.875, RAW= 183.5, 7.2, CAL= 183.4, 6.9, ROT= 326.6, -6.9  Ygot valid direction response: 20:38:41.9913 LVL= 26384, 32753, 15842, 32755, AGC= 85, IDX= 89, 0.20, 2.897, 2.013,-2.072,-2.991, PHS=-0.293,-1.234, 0.875, RAW= 183.5, 7.2, CAL= 183.4, 6.9, ROT= 326.6, -6.9  PDAT read: Bearing 240.9, -35.8 (Local)  ~Local bearing/azimuth received: Bearing 240.9, -35.8 (Local)  DAT read: Range 11 to 50 : 2089.2 m (Round-trip 2785.6 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages.  ^direction in FSK: [0.828801,-0.546494,0.120137] Fpublishing direction and range infoyI M C_r?t{|rjƹI?YM EI M gM M = M )M UIM iM 󝿉M `?M L@M >M L@ M Ϣ=)M ih@IM ϢI I M C*F?H6[m?n:? M =?)M PIM ;iM ϢI I \@m,?A2B?2-?2<ٱ2B :AHRS rotation from veh to nav: [[0.162363,-0.969790,-0.182062],[0.986371,0.154530,0.056512],[-0.026671,-0.188756,0.981662]]2H@P? MǿY?? ?O$)ȿ i?i2B?I2;^;2CY]HBy]4Ha@a9 a@a a@a a@a iMb@Mb@Mb@© 9I +?MbMb`Y9?ԱyBA B)BY3BbDVD?8y% ,=ٔ0Q->9"?Y"?=Fy\EEdE>!Q 5Me4%t?Q 9Me4%MF)%rBYU=?Q EU:yU[?Q IU?%v2CI%W;i%;%7e4y]Cɮ]4BeݿEJyR}?A} E} E}J[?}鈺@q}đ{J?o@}C_r?t{|rjƹI?};}Ϣ—}6#@T@)S@/uy@}:GҐ?6(ά?t?Dx?j}pDr}*DZ},?b}(z}'C},?}(}'Cڗ}D}Z?ZRbj"ړڒ ’  `fR@  }Z?Qɢ]$Q=)Y ]y~>iY)]X=YaieB$x)c>ɧ@駍`K>i?>;I? ?IAA>AI!I1OEs>E EmEE"E~:*E:VEZEa@a@a@a@ 1 JFm,ۤ?A2Z?2F?2<ٱ2F :AHRS rotation from veh to nav: [[0.169342,-0.967885,-0.185802],[0.985215,0.161278,0.057798],[-0.025976,-0.192842,0.980886]]2H?Yǿ?Ť?@—?ȿjc?i2Z?I2^;0YB IByBBH DDbDNVDN-8yV5=%Vx=ٔV Q-V ?9XYX=ZFyZ]EZ$E^ ?`Q 5fe4bt?Q 9fe4bHF)brBYdyfs?Q If?b2CIb:ib:be4ylɮn/B9ZYRYbYjY"YYړaaڒa’aam;?颱ɢ4=) Ą>i)*Y=iQzG>ɧ@>i?g;I? ?IBQBQBUvHBU3IBBU =BQBQBU;BU}EE9^A]dO=AIi I O >E z E qE E "E l:*E $ :VE ZE BE ;a 2E ;a JE U;a :E U;a Mm,6?A:Z?:E?:on<ٱ:K BAHRS rotation from veh to nav: [[0.177046,-0.965794,-0.189465],[0.983880,0.168749,0.059193],[-0.025196,-0.196891,0.980102]]:H o?a@ȿ{??N?͙@3ɿ \?i:Z?I:j^;:CYyCHbDVD8y:%:=ٔQ->9Y=Fy`EґE>Q 5e4Ët?Q 9e4BF)rBYys?Q I?2CI;i:e4yɮ.BZ R b j " ړڒ’8*?AɢEz=)I M>iI)MZ=IIiUP|]x>ɧ]#@]ӂ>i]r?YYI]r? ]r?Ia^AMm=qA=.AIyI)O=P>ԑ Sm,SZP?A:b?:M?:u<ٱ:N BAHRS rotation from veh to nav: [[0.184488,-0.963868,-0.192153],[0.982542,0.176104,0.059985],[-0.023979,-0.199865,0.979530]]:HM?tȿ`p?@?j?)ɿ`OX?i:b?I:$^;8YJHByJ6HPiMb@Mb@Mb@ 9㥛 ?~jth?Q?Y?yD;<BA B)^BY\BbD5VD538yM'Ѽ%MR=ٔMMQ-M>9U ?YU ?=UFyUbE]!E]>aQ 5me4et?Q 9me4e4iE ErE+E"EO:*E?:VE [4ZEa@a@a@a@)Ni[=)1i54=K>>ɧ= @=n>i=$?=;9I=$? =$?IA@UjA@UjA^Aur=Iq I O >! BM >BI BM PHBM IBBI BI BI BM ;BM {EEBZm,5j?A2i?2LT?2t<ٱ2P :AHRS rotation from veh to nav: [[0.191975,-0.961925,-0.194539],[0.981140,0.183557,0.060585],[-0.022569,-0.202501,0.979022]]2H ?``ȿe?`~?@?Mɿ%T?i2i?I2^;0YBIByB;HbDJVDJ8ynN#<%rQ=ٔrlQ-r>9tYt=vFyvdEvEz>x|Q 5e4zjt?Q 9e4zM6F)zrBY y M?Q I ?z\3CIz,;izB;z0e4yCɮSBZIRIbIjQ"QQړQaڒa’aim#?颩ɢ]ۓ=) >i).\=顱i>πVǢ>ɧ@E_>iC?IC? C?I)Ey EkE,E"E:*E:VEg4ZEBEˤ;a 2E̤;aJE@;a:E@;a^AyQIYIiOu>ԉ -`m,?AYHByHYiMb@Mb@Mb@ 9Cl?~jt?&1?Yd?yD<P=#BQA $B)BYBbDVD"8y\%==ٔQ->9Y=FyfEE>Q 5e4t?Q 9e4v/F) sBY?Q E:y?Q I?3CIL:i:Qe4yCɮBԿEZRbj"ړڒ’!!%@IɢM{=)Q Uk>iQ)U\=QYi]b]{e>ɧe@e>ie8?aaIe8? e8?Iiԁ^AII1O=r>ԹE | E E +E "E :*E VE [4ZE a @a @a @a @ b"gm,h익?A2?2k?2c<ٱ2V :AHRS rotation from veh to nav: [[0.206592,-0.957781,-0.199936],[0.978231,0.198103,0.061794],[-0.019577,-0.208350,0.977858]]2Hq? %ɿM?t[?? 8ʿJ?i2?I2^;0YBHByBHbDJVDJ8yRS%R^=ٔVUQ-V>9TYT=VFyVhEZ&EZ>\Q 5be4^t?Q 9be4^)F)^sBY`yf ?Q If?^3CI^@;i^:^(e4yhɮjBhZxRxbxjx"||ړ||ڒ’8@)ɢ55=)1 5g>i1)5m]=11i=YE>ɧE@E/>iEZ?AAIEZ? MZ?IIԹB<A<B>BBDHB IBBBBDB;BrEE^Aur=II OK>A bEm [4jEmwX4rEm/E } E iE (E "E ݉:*E 9VE c44ZE BE T;a% 2E U;a- JE 8;a- :E 8;a- yLmm,eǷ?AR?R?RW <ٱRZ ZAHRS rotation from veh to nav: [[0.213490,-0.955530,-0.203432],[0.976774,0.204870,0.062785],[-0.018316,-0.212111,0.977074]]RH S? ʿA?,9?? fp&˿0D?iR?IR02^;PYbHByb,HbDjVDj8yr"=%vF=ٔv]HQ-v>9xYx=zFyzjEzE~>Q 5e4לt?Q 9 e4+#F)&sBY y C?Q I ?4CI:i:e4yɮBZ9R9b9j9"AAړAAڒA’AIM;@qɢue=)y }w>iy)}{^=yyiƄ{>ɧf@駍>ii`?Ii`? i`?IQ%]ԑ^A! I I O >ԙ G4tm,<ѵ?AY~HBy~HMonly read 2 of 4 data items for water velocity. 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Y˿YA?i>{?I>k#^;>CYNIByN9dYd=fFyfxEf=Ef>hQ 5nf4j5t?Q 9rf4jE)jIsBYpyrW?Q Ir?j6CIj;ij;jFMf4yvDCɮzBz˿EZRbj"ړڒ’!%:@9QɢU8=)Q UU>iY)]d=YYi]뎼eէ>ɧev~@eK>ieTa?iiImTa? mTa?Ii@@@@aEu EusEqEq"Eu:*EuZ:VEqZEqBEu#;a}2Eu$;a}JEu%];a:Eu&];aI!I1OMR>ԑ m,燶?A6?6؍?66(<ٱ6uX >AHRS rotation from veh to nav: [[0.243630,-0.949188,-0.199216],[0.969671,0.234247,0.069760],[-0.019549,-0.210170,0.977469]]6H@F/?_ɿ?`?۱? ʿnG?i6?I6^;6CY^ IBybGHiEMb@Mb@Mb@AAAA A9E(\?Zd;O?~jtYEz4?yEj=EDEBA E[B)AAYE3BbD]VD]\8ymQ<%m@=ٔmD;Q-u>9qYq=uFyuzE}E}>Q 5f4St?Q 9f4E)5sBY 6?Q E:y\?Q I?M6CIs:i:(\f4ԙyXCɮ)BEZRbj"ړڒ’@@颙ɢ| =) †>i)d=顡inB>ɧFp@駭8@>i?I? ?IAzAiAIYIiOu=iߡIߡE} E}lE}*Ey"E}:*E}:VE}(N4ZEya@a@a@a@ m,¡?A2Y.?2?2Z<ٱ2 V :AHRS rotation from veh to nav: [[0.247066,-0.948923,-0.196225],[0.968791,0.237703,0.070295],[-0.020061,-0.207468,0.978036]]2Hߟ?]ɿU?@m?? Rʿ L?i2Y.?I2 &^;2CYvIByv9!Y!=%Fy%|E%E%>)Q 55f4-Ht?Q 95f4-rE)-#sBY9y=?Q I=?-6CI-+;i-Y;-if4yAɮM.BIZiRibiji"iiړqqڒq’qq}C@颡ɢK=) >i)e=顩izґO>ɧ:c@駵V5>i>ِ?ܥ=I>ِ? >ِ?IIABBB]HBIBB =BBBl;BVEEIO=!QE ~ E mE +E "E :*E :VE [4ZE BE w;a 2E x;a JE NG;a :E OG;a y 6m,^?A2?2A?21<ٱ2݄R :AHRS rotation from veh to nav: [[0.251388,-0.948545,-0.192528],[0.967669,0.242090,0.070781],[-0.020530,-0.204097,0.978735]]2H`?zZȿ`$???  ʿQ?i2?I2^;2CYNHByR!HbDZVDZI8ybc\%bP=ٔf!:Q-f>9dYd=fFyf~Ej :Ej>lQ 5rf4nVt?Q 9rf4n+E)nsBYpyv_?Q Iv?n6CIn:in:nwf4yxɮz8BxZRbj"ړڒ’`@ɢ=) n>i) ŋf=  i 9>ɧ8V@a`+>i?I? ?IYAiIIO$>ԉԩ  m,9ն?A>]?>ݧ?> <ٱ>S JAHRS rotation from veh to nav: [[0.256392,-0.947026,-0.193404],[0.966345,0.246805,0.072557],[-0.020980,-0.205498,0.978433]]>Hh? NwȿL? L??`{@MʿQO?i>]?I>Y&^;>CYNHByR Hi%Mb@Mb@Mb@!!!! !9%> ףp=?Zd;O?I +Y%1?y!%94%B! %B)%1B!Y% BEE{ EEiEE*EA"EE=:*EE9VEE(N4ZEAaM@aM@aM@aM@bDUVDU88ye%e@=ٔe:Q-m>9iYi=mFymEuGEu>Q 5f4t?Q 9f42E)rBY3?Q E:y?Q I?*7CI9;i8;f4yɮ@BZqRqbqjq"yyړyyڒy’`n@Աɢ5=) ^>i)Qg=inM>ɧH@ 5 >i |P?IQI]|P? ]|P?IiA>A>IIO<>BBBBB =BBB{;BeEE 1 Hm,Tﶡ?A2>?2)?2 <ٱ2V :AHRS rotation from veh to nav: [[0.261691,-0.945158,-0.195434],[0.964920,0.251777,0.074408],[-0.021121,-0.208050,0.977890]]2H?`>ɿ?`?@` ?@eʿJ?i2>?I2^;0Y^HBy^%H `` fp91Y1=5Fy5E=bE=>AQ 5Mf4E[t?Q 9Mf4E?E)ErBYIyM?Q IU?Eo7CIE:iE:EXf4y]kCɮ]^B]EZyRybyj"ړڒ’@Y@颱ɢc=) r>i)h=i땼>ɧ;@N>i(?I(? (?IbE|a4jEd4rEA0EM EMjEM)EI"EMO:*EM9VEMFA4ZEIBEM;a]2EM;aeJEMc<;ae:EMd<;ae^Ap,=AII O>i 0m,0 ?A 6{?6Af?6<ٱ6G[ >AHRS rotation from veh to nav: [[0.267441,-0.942774,-0.199130],[0.963333,0.256981,0.077136],[-0.021549,-0.212458,0.976933]]6H?4+}ɿ@?_r?(?1˿C?i6{?I6/^;6CYFHByFHi Mb@Mb@Mb@     9  rh?9Y=FyEhE>Q 5f4t?Q 9f4E)rBY,?Q E:yl?Q I?7CI@:i:f4yɮdBZRbj"ړڒ’  f @1ɢ5Ɠ=)9 =e>i9)=>h=99i=gPE,ߩ>ɧEv/@M_ >iM?IIIM? M?IQ^Ai=qIIO>ԙE]} E]lE]+EY"E]݉:*E]:VE] [4ZEYae@ae@ae@ae@ \m,'#?A2?2:?2ޘ<ٱ2] :AHRS rotation from veh to nav: [[0.273578,-0.940639,-0.200881],[0.961597,0.262688,0.079534],[-0.022044,-0.214926,0.976382]]2HL?@ zɿg??X\?࣒ஂ˿>?i2?I2,^;0YBHByBHbDJLVDJE8yVl%VT=ٔVy:Q-V>9XYX=ZFyZEZE^>`Q 5ff4bt?Q 9ff4bE)brBYdyf?Q If?b7CIb:ib:bf4ylɮngBlZ|R|b|j|"ړڒ’   &%!@1ɢ==)A E_>iA)Ewi=AAiMM>ɧU$@U>iU?QQIU? ]?IYA5AAA1B=>B9B=DHB= IBB9B9B9B=;B=EEԁG !MQ9QYU@A^AT=AjAzAjAIIO%M>! Ea  Ee hEe ,Ea "Ea *Ee ]9VEe g4ZEa BEe T;au 2Ee V;au JEe 5;au :Ee 5;au Nm,9\Y\=bFybEbEb>dQ 5jf4f3t?Q 9jf4fE)fdrBYlyn?Q In?f<8CIfD;if;f,f4ypɮroBt|Z R b j "ړڒ’!@AɢM_ۑ=)I M!O>iI)M>#j=IQiUٙ]G]>ɧ]@]b=i]`׉?YYI]`׉? e`׉?Ia@q@q@q@q1II O-N>Qԁ lm,LV?A2 ?2Ḥ?2<ٱ2d :AHRS rotation from veh to nav: [[0.286953,-0.935629,-0.205563],[0.957664,0.274993,0.085195],[-0.023183,-0.221307,0.974929]]2Hn]?Oʿ/?@{?[ϵ? ES̿2?i2 ?I2^;2CYBHByBHD=DE! E%nE%-E!"E!*E%:VE%t4ZE!a-@a-@a-@a-@YiUMb@Mb@Mb@QQQQ Q9Uy&1?A`"?Zd;YU`%?yUY=UyQQ UB)U1BQYQbDuVDu8yf%>=ٔ:Q->9Y=FyEE>Q 5f4t?Q 9f4pE)>rBY&?Q E:y`?Q I?8CI:i::f4y}CɮBEZRbj"ړڒ’"@ɢ=) [6>i)j=i&%n>ɧ% @%m=i-?))I-? -?I)IIO=ԁԱB=>B9B=7HB=IBB= =B9B9B=;B=EEBLCBLCBBdž =Bdž =Ch4 m,Rp?A2@?2}͢?2;<ٱ2i :AHRS rotation from veh to nav: [[0.294386,-0.932497,-0.209253],[0.955390,0.281704,0.088723],[-0.023786,-0.226037,0.973828]]2H9?@ʿ? q? ?p[̿)?i2@?I2 ^;0YLyPbDZVDZ$8ٔb:Q-b>9dYd=fFyfEf;Ef>hQ 5nf4jzt?Q 9rf4j4E)jrBYpyrP?Q Ir?j8CIj;ij;jsf4yvCɮvŢBzEZRbj"ړڒ’!% #@Թɢy=) i)Vk=igVЪ>ɧ@}=iuƇ?I%uƇ? %uƇ?I!AE>AE>E1 E5mE1E1"E1*E5:VE1ZE1BE1a=2E1a=JE5NG;a=:E5OG;aEAAIQIaO>a e %=A !m,l?A:}˅?:?:(<ٱ:o BAHRS rotation from veh to nav: [[0.302498,-0.928883,-0.213707],[0.952835,0.288939,0.092839],[-0.024488,-0.231711,0.972476]]:H \?i Z˿}? }?`Nķ?Ϳ?i:}˅?I:^;8YJHByJH LLiMb@Mb@Mb@ 9Mb?Q?J +Y ?yu<HBKA )Y\BbD5VD5B8yE.%E<ٔE:Q-M>9IYI=MFyMEU(EU>YQ 5ef4]$t?Q 9ef4]E)]qBYe !?Q Em:ym`?Q Im?]9CI] ;i]:]If4yqɮuעBqZ1R1b1j1"QQړYYڒY’aiu y$@ɢ~=) f>i)[k=iʔ>ɧ?4=iΆ?vQ;IΆ? Ά?I)AAIQIaOu6>DzDAAE% E%kE%,E!"E%m:*E%:VE%g4ZE!a-@a-@a-@a-@Qy m,R?A6Ŭ?6?6<ٱ6r BAHRS rotation from veh to nav: [[0.310818,-0.925664,-0.215727],[0.950135,0.296581,0.096348],[-0.025205,-0.234917,0.971689]]6Hq?@ `˿g?/?;?Mϙ`ο?i6Ŭ?I6^;6CYFHByFHbDRVDR.8yZ\;%ZV=ٔZ:Q-Z>9\Y\=^Fy^EbEb>dQ 5jf4fNt?Q 9jf4fE)fqBYhyj8?Q Ij?fC9CIfp:if:ff4ypɮr֢BpZRbj"  ړ  ڒ ’`/%@AɢMO{=)I M+>iI)MGl=IQiU*U.>ɧ]_?]=i]?YYI]? e?IaB>BBHBHBB =BBBx;BfEEԁA II)O= >ԡEM | EM jEM *EI "EM :*EM 9VEM (N4ZEI BEM 2;aU 2EM 3;aU JEM c<;a] :EM d<;a] m,-?A2?2R?2B<ٱ2ʑu :AHRS rotation from veh to nav: [[0.318477,-0.922727,-0.217134],[0.947577,0.303638,0.099508],[-0.025889,-0.237442,0.971057]]2H`a? ˿R?`n?by? `dο`?i2?I2%^;2CYBHByBHbDJVDJ+8yR$Ӽ%RK=ٔV:Q-V>9TYT=VFyVEZEZ>\Q 5g4^t?Q 9g4^GE)^qBYy(?Q I ?^9CI^$i)l=il[>ɧ?=iL ?3;IL ? 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R?L`gɿU?iV>IV;^;V CYr@EByrHB>BBHBEEBBBBB;BFEa@a a@a a@a a@a bDVD/8y<%-=ٔQ->9 ?I ?=FyCE=E>Q 5k4x?Q 9k4C)mBQ A+:YQ E:y./?Q I?%OCIX;i>=k4yPCɮB5EZRbj"ړڒ’!%F@IɢU)Q U/iQ)U7%=QYi]{ e>ɧeeie%?e` X!p,?A6[>6!H+?6v.=ٱ6`cL >AHRS rotation from veh to nav: [[0.783691,-0.614550,-0.090316],[0.619696,0.763601,0.181357],[-0.042487,-0.198096,0.979261]]6H?`d?`ko?6?6[ɿV?i6[>I6T8^;4YF/EByFHbDNVDNF8yVH%Vt=ٔVOQ-Z?9Z"?IZ"?=ZFyZEE^xE^?`Q 5fk4b y?Q 9fk4bC)bmBQ Af :YdQ Ejm:yj.?Q Ij?bWOCIb:ibN?bk4ylɮnBpZRb j "  ړ  ڒ’G@ɢ49Q) ,4i)1#=i?ƎY:>ɧeꅾi%?с<I%?Ew EmE+E"E}:*E:VE [4ZEBE;a 2E;a JEOG;a :EOG;a %?IYAaIyIO>yߕ=ߕ<ԩ 'p,4?A2a>28+?2+=ٱ2ZK :AHRS rotation from veh to nav: [[0.784329,-0.613754,-0.090189],[0.618939,0.764456,0.180338],[-0.041738,-0.197265,0.979461]]2H`9? ߣY?kv?`N? ^`?ɿ W?i2a>I2^;2 C@YB,EByFH HJAbDNVDN>8yV%VJ=ٔZQ-Z>9XIX=ZFyZGE^~ E^>`Q 5fk4bPy?Q 9fk4bC)bmBQ Af9YhQ Ej@:yj.?Q Ij?bOCIb:ib>?bjk4ynfCɮn7BpZRbj"ړ ڒ ’   `;FG@9ɢ=43)9 =4i9)E| =AAiEoM>ɧMӧMBiM-%?MBB{HB&EBBBBĺDB;BFE K'.p,1]?A6 >6{*?6%'=ٱ6?aK >AHRS rotation from veh to nav: [[0.784858,-0.613004,-0.090689],[0.618332,0.765088,0.179739],[-0.040796,-0.197146,0.979525]]6H?ຝ j7 `?{??&㤿<ɿDX?i6 >I6^;6 CYFEByFaHbDNVDN38yV4%VJ=ٔZQ-Z>9XIX=^Fy^IE^uE^>`Q 5fk4b)y?Q 9fk4bC)bmBQ Aj9YhQ Ej:yj].?Q Ij?bOCIb':ib?b~k4lyrWCɮr&BpZRb j "  ړ  ڒ’zG@9ɢEH)A Ey;iA)E=IIiM1U+>ɧUAUiU$?U2V*?2$=ٱ2J :AHRS rotation from veh to nav: [[0.786049,-0.611479,-0.090662],[0.616865,0.766414,0.179130],[-0.040050,-0.196731,0.979639]]2HP'?`=5\?u? ?y|.ɿ 4Y?i2+>I2^;2 CYfDByfDHbDnVDn8yvg%vF=ٔz@Q-z>9z ?Iz ?=zFy~KE~eE~>Q 5 k49y?Q 9 k4C)mBQ A9YQ E9y-?Q I?PCI<:i@k4ynCɮ_B%6E9ZARAbAjI"IIړIIڒI’QQU`ŮG@yɢe) rAi)=顉i4>ɧ駕iI$?<II$? I$?IA%؟AI1IAOM>iԑ E=  E= iE= )E9 "E= ~:*E= 9VE= FA4ZE9 a] @a] @ae @ae @9;p,M?A>3>>)?> =ٱ>?rI JAHRS rotation from veh to nav: [[0.787456,-0.609766,-0.089993],[0.615120,0.768141,0.177726],[-0.039244,-0.195308,0.979957]]>H2?3 ?@?຿? ȿ[?i>3>I>|^;> CYVDByVEHBE>BABEUHBEEBBABABEúDBE;BEFEԙaa aa aa aa y#~j?ʡE9%"?I%"?=%Fy%ME-E->1Q 5=k45Ky?Q 9=k45 C)5mBQ AET:YE$?Q EE:yE6?Q IE?5WPCI5;i5:5k4yIɮIIZiRibqjq"qqړqyڒy’yy}`gG@ J>J>V?"H@)ɢMF)Q U:AiQ)U!(=QQiU]>ɧ]|]mie#?e.& !Bp,5?A2Z>2!-)?2)=ٱ20I :AHRS rotation from veh to nav: [[0.788894,-0.607831,-0.090486],[0.613333,0.769595,0.177610],[-0.038319,-0.195614,0.979932]]2H>?Ys* m??@?@ ɿ[?i2Z>I2^;2 CYBDByBHbDJVDJ-8yR_%Rf=ٔVo*Q-V>9TIX=ZFyZOEZ>ӻEZ>`Q 5fk4bZy?Q 9jk4b"C)bfmBYhyjI6?Q Ij?bPCIb:ib|:byk4ynCɮrBpZRbj"ړ  ڒ ’  H@ )))"-T@AɢEڸ)A EIiI)M;=IIiMYU>ɧUUiU*#?bEajEe7i4rEexE0Ez EjE0E"El:*E9VE4ZEBE;a2E;aJEc<;a:Ed<;aU]G<I*#? *#?IA II)O= >!Qy 'KHp,%"?A6 >6\(?6=ٱ6LKI BAHRS rotation from veh to nav: [[0.790866,-0.605292,-0.090296],[0.610841,0.771705,0.177045],[-0.037482,-0.195175,0.980052]]6H`N?^?`α?h?0ȿ\?i6 >I6 ^;6 CYFDByFHbDRVDR08yZ %ZJ=ٔZQ-Z>9\I\=^Fy^QEb~Eb>dQ 5fl4fjy?Q 9jl4fC)f=mBYhyj|5?Q Ij?fPCIfK:if:fl4ypɮrBpZRbj" ړ  ڒ ’ HH@ 111"5ZD@AɢE욼)A MJiI)MVO=IIiM)U->ɧUϪU=iU7"?]mmEE{ EErEE-EA"EE=:*EE?:VEEt4ZEAaU@aU@aU@aU@}UGԁlA=9lAY(/AA9A9BABABE0HBEDBBABABABE;BEFEԩ NuNp,f29'?2=ٱ2)PH :AHRS rotation from veh to nav: [[0.792858,-0.602753,-0.089809],[0.608305,0.773925,0.176086],[-0.036631,-0.194243,0.980269]]2H_?I@;w??@?D ȿ]^?i2e>I27#^;2 CYfDByfHbDrVDr8yv%zF=ٔzaQ-z>9~ ?I~ ?=~Fy~SE=E> Q 5l4 ^{y?Q 9l4 @C) mBYy4?Q I? QCI :i : l4y%Cɮ%B%.EZARAbAjA"IIړIIڒI’QQU}H@ qqq"u1@颁ɢ^) Mi)4=顉i}Vh>ɧ}駝Y1i>"?n<I>"? >"?IA>A>ԱA%؟AI1IAO]>E~ EmEE"E:*E:VEZEBEw;a2Ex;aJEOG;a :EOG;a  9 D]Up,V?A2>2&?2=ٱ2UG :AHRS rotation from veh to nav: [[0.794667,-0.600379,-0.089716],[0.605997,0.775901,0.175344],[-0.035662,-0.193708,0.980411]]2H`m?O6 `Td?-?q?WBjȿ_?i2>I2 ^;0YBDByBHbDJVDJ58yRX%RO=ٔV Q-V>9V"?IV"?=ZFyZUEZEZ>\Q 5bl4^y?Q 9bl4^C)^lBYdyf3?Q If?^VQCI^:i^ :^"l4yhɮjBhZxR|b|j|"YYړYYڒa’aae@H@ "@颱ɢi) yTi)O=i#֌>ɧi!?<I!? !?IE=AAIIaIyO>9i D =D 4=E- w E- hE- +E) "E- }:*E- ]9VE- [4ZE) aM @aM @aM @aU @[p,5]p?A J>J%?J=ٱJ@KG RAHRS rotation from veh to nav: [[0.796831,-0.597544,-0.089452],[0.603195,0.778193,0.174845],[-0.034867,-0.193279,0.980524]]JH?@T涿`M? ?@Sa?@ ڡ`^ȿ t`?iJ>IJ)^;J CYZDByZHBr>BpBrHBrDBBpBpBpBr;BrFEBBBBBCU04yRQ??Mb?< 9~jt?y&1|QY?y`廙B PB) BYBbDVDW8y&%7=ٔSQ->9I=FyXE:E>Q 5l4y?Q 9 l4ЦC)lBY ?Q E :y  ?Q I ?QCI:ij:[2l4yCɮ=BZ9R9b9jA"AAړAAڒI’IIM!H@ m,=m,=mU@"m0>yɢ*) Yi) =顁io1@>ɧ#駕i8!?<I8!? 8!?IiA.AIIO (>ԙ (obp,5?A6PH>6$?6W1 =ٱ6G >AHRS rotation from veh to nav: [[0.798963,-0.594725,-0.089221],[0.600406,0.780399,0.174615],[-0.034220,-0.193080,0.980586]]6H`?@`3׶6??Y?J`ٶȿ`?i6PH>I6 ^;6 CYFDByFHIH)J49f ?If ?=fFyfZEf\Ej>hQ 5nl4j"y?Q 9rl4jgC)jlBYpyr?Q Ir?jQCIj;ij;j#?l4ytɮzCBxZRbj"ړڒ’!%I@ AAA"E`>QɢUj)U U\iQ)]= =YYi]eR>ɧe!eOie@ ?m! 2%$?2 =ٱ2++H :AHRS rotation from veh to nav: [[0.800923,-0.592005,-0.089742],[0.597822,0.782206,0.175392],[-0.033636,-0.194125,0.980400]]2H(? O@\!??I20^;2 CYVDByVHbDbVDb_8yf4%jI=ٔjQ-j>9n"?In"?=nFyn\ErEr>tQ 5vl4v y?Q 9zl4vC)vlBYxyz?Q Iz?vRCIv6:iv :vVMl4|yCɮxB /EZ!R)b)j)"))ړ)1ڒ1’115KI@ QQQ"U}>iɢm)i m_ii)uS=qqiuy|}/>ɧ}}7i}" ?} <I" ? " ?IA)1I9IQOe>E}y E}E}+Ey"E}:*E}*5:VE} [4ZEya@a@a@a@BA<B>BPCBHBDBBBBĺDB;BFEQԁ cnp,?A2>2Z#?2p=ٱ28TH :AHRS rotation from veh to nav: [[0.802784,-0.589489,-0.089666],[0.595347,0.784065,0.175513],[-0.033158,-0.194281,0.980385]]2Hh?a` ? ?1w?" 6ȿP_?i2>I2]^;2 CYNtDByRHbDZVDZH8yb%bK=ٔbЛQ-b>9dId=fFyf^EjEj>lQ 55l4ny?Q 95l4nC)nlBY9y=?Q I=?nRRCInAT颩ɢ|) bi)[T=项iT-ya>ɧ -iYr ?7 <IYr ? Yr ?IA%.AI1IAOM>ԉԱEm } Em kEi Ei "Em ݉:*Em :VEi ZEi BEm U;au 2Em V;au JEm @;au :Em @;a} Bup,?A20>2 "?2kz=ٱ2G :AHRS rotation from veh to nav: [[0.804532,-0.587186,-0.089108],[0.593001,0.785917,0.175170],[-0.032826,-0.193771,0.980498]]2H ?@;@϶?:&?k?Π@zȿ<`?i20>I2\^;0YBpDByBH DDbDNVDN 8yV%VL=ٔVYQ-V>9Z ?IZ ?=ZFyZ`EZIE^>`Q 5bl4by?Q 9fl4bԹɢ;) ci)~=ivuV>ɧji53 ?9) <I53 ? 53 ?I &^Am B B HB zDBB B B B ŏ;B FEO >Z7|p,=?A2>2N!?2=ٱ26G :AHRS rotation from veh to nav: [[0.806683,-0.584328,-0.088451],[0.590082,0.788110,0.175174],[-0.032650,-0.193503,0.980556]]2H X?@Ѳ`@? 28? l?`tȿ`?i2>I2+^;2 CYBqDByBHQye~jt?v/y&1|?e$?exe`;a a9ex?~jt:v?YeK?yee9I=FybEE>Q 5l4Py?Q 9l4(C)lBY?Q E:y?Q I?RCI ;i ;jyl4y CɮݭB0EZRbj"ړڒ’dI@ /=/=_@"ju,@!ɢ%h )! %ci!)-,L<))i-Br5s>ɧ5ѫ5ti=?=5 <9I=? =?I9 Β{^A]<ԁA؟AIIOL>ԩ p, ¡?A2/>2F ?2Gk=ٱ2 *E :AHRS rotation from veh to nav: [[0.808408,-0.582178,-0.086864],[0.587735,0.790247,0.173430],[-0.032323,-0.191256,0.981008]]2H z?3@<?I?`2?ૌ{ȿjd?i2/>I2^;0YB^DByBHbDJVDJ:8yR(G%R[=ٔVeQ-V>9V"?IV"?=ZFyZdEZ EZ>\Q 5bl4^z?Q 9bl4^ڐC)^lBYdyf?Q If?^SCI^p:i^:^sl4yhɮjBhZxRxbxj|"||ړڒ ’ OJ@Թ "D,@ɢ E5~ E5iE5*E1"E5:*E59VE5(N4ZE1BE5w;aE2E5x;aEJE58;aE:E58;aE)I MbhiI)MVɧ}}Wi}x?}= Ɖp,O)¡?AYxyxI~%=)~=bD VD 8y{%4=ٔ%Q-%>9!I)=-Fy-fE-E->1Q 5=l45.z?Q 9=l45׌C)5lBYAyAQ IE?5SSCI5:i5:5Hl4yM5CɮM;BU'EZqRqbqjq"qqړqyڒy’yy@WJ@ "ɢ\) ~hi)<i\$kN>ɧ  C6i ?G <I? ?I!!))E{ EEE"E=:*EVEZEa @a @a @a @9B>BBHBeDBBBBBҏ;BFE@y@y@}@}iԙ AI IQ Ii Ou >{p,C¡?A2iS>2)?2g<ٱ2C :AHRS rotation from veh to nav: [[0.811724,-0.577604,-0.086481],[0.583242,0.793927,0.171781],[-0.030562,-0.189878,0.981332]]2H?{`#`? g??KMȿ`g?i2iS>I2 ^;2CYBZDByBHbDJVDJ=8yR%RP=ٔV Q-V>9TIT=VFyZhEZiEZ>\Q 5bl4^V$z?Q 9bl4^dC)^lBYdyf?Q If?^SCI^:i^:^l4QyQɮ]=BaZRbj"ړڒ’@uJ@ "Q+@ɢ) Eii)><i&g v>ɧ T i *K?"I <I*K? *K?IAI)I9OE>ybE [4jE^4rE x/Ev EfE+E"EVz:*E9VE [4ZEBEd;a2Ee;aJE-;a:E-;aԩ p,\¡?A6r>6|?6p<ٱ6\4C >AHRS rotation from veh to nav: [[0.812762,-0.576047,-0.087111],[0.581872,0.795172,0.170664],[-0.029042,-0.189397,0.981471]]6H`%?@nL ?` r?@T?;`)>ȿ5h?i6r>I6J'^;6 CYFRDByFuHbDNVDN/8yV%VJ=ٔVvQ-Z>9XIX=ZFyZjE^E^>`Q 5fl4b4z?Q 9fl4bۅC)blBYdyj?Q Ij?bSCIb:ibN:bl4ynLCɮnpBn(EGSzB*** querying acoustic contact ***:xBxZRbj"ړ  ڒ ’  `J@ )))"-j+@Թɢ) ^ki)<iFd4>ɧ!s爾iY?H <IY? Y?III!O- > C2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.aG5 !M91 Y5 =AE u E E E "E v:*E VE ZE a @a @a @a @B >B QCB tHB QDBB =B B źDB ;B FEY p,v¡?A6ͭ>6[?6<ٱ6 B BAHRS rotation from veh to nav: [[0.813675,-0.574670,-0.087682],[0.580684,0.796430,0.168834],[-0.027191,-0.188292,0.981737]]6H ?cWr ?Z|?Z?@כ ȿcj?i6ͭ>I6 ^;6 CYF@DByF`H HHyX9v?~jt?S?< 9Q?MbPL7A`?Y(?y+=BA B)7 BY(BbD-VD-98y]%%]?=ٔe"Q-e>9aIi=mFymlEmeEm>qQ 5}l4uFz?Q 9l4uԁC)ulBYc?Q E:y ?Q I?uTCIu ;iu" ;ul4yɮyBZRbj"ړڒ’J@1 }7b>}7b>} gP@"}M'v@颉ɢ) oi)K8<顱i=`>ɧ)툾i4?H <I4? 4?I=*DAT read: user:114> EBDAT read: Tx time:20:39:37.1012 E$Ping request sent.Eaԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250029Թ p,¡?AE"~ E"iE".E "E":*E"9VE"ـ4ZE BE"w;a*2E"x;a*JE"8;a*:E"8;a*F>Fs`?F<ٱFA rAHRS rotation from veh to nav: [[0.814398,-0.573440,-0.089010],[0.579759,0.797338,0.167724],[-0.025208,-0.188198,0.981807]]FH@?Y`ɶc?`˃?w?.Йȿj?iF>IFY-^;F CYz8DByzVHbDVD48y-9%5M=ٔ=Q-=>9AIA=EFyEnEMy@EM>QQ 5]l4U`Wz?Q 9]l4U~C)UlBYYy] ?Q I]?ULTCIU ;iU;Ul4ymdCɮmBiZRbj"ړڒ’`&K@ "v@ɢ_+) qi)CY<iH]>ɧ-i?G <I? ?IԑIIO=ԹEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501966 p,dw¡?A27>2$?2z<ٱ2FB :AHRS rotation from veh to nav: [[0.814971,-0.572343,-0.090810],[0.579045,0.798047,0.166817],[-0.023006,-0.188534,0.981797]]2H`=?P`Z?@?? DZ?@̎!ȿj?i27>I2^;2 CYN)DByRCHbDZVDZ08yb1%bQ=ٔb乻Q-b>9dId=fFyfpEj8Ej>hQ 5rl4jgz?Q 9rl4jhzC)jlBYpyrW ?Q Ir?jTCIj;ij;jl4yxɮzBxchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754635ZRbj"ړڒ’` \K@ III"MTv@颉ɢɱ") ui)F<iY#~>ɧ1  i 8?-F <1I58? 58?I1AAzAEjAEUu EU|EU)EQ"EUv:*EUP$:VEUFA4ZEQa]@a]@ae@ae@IIO=BiAm4=Bu>BuPCBuhHBuGDBBu =BqBuĺDBu;Bu#GEB5PCB5PCB1B1B5Ă =C5l5U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005994Q s p,`Y¡?A2r>2?2<ٱ24;@ :AHRS rotation from veh to nav: [[0.815196,-0.571907,-0.091528],[0.578818,0.798816,0.163896],[-0.020620,-0.186586,0.982222]]2H ?M`Yn@???`ǿ]n?i2r>I2B^;0bDNVDN48yVS%VK=ٔZ»Q-Z>9XIX=ZFyZrE^&NE^>`Q 5fl4bSxz?Q 9fl4bvC)blBYhyj; ?Q Ij?bTCIb:ib:bl4yz{Cɮ~B)EZ!R!b!j!"))ړ))ڒ)’)15`zK@ QQQ"Uv@aɢe<)a mvii)mVɧu3}i}?}G 6?6!<ٱ6=L VAHRS rotation from veh to nav: [[0.815628,-0.571249,-0.091790],[0.578284,0.799845,0.160734],[-0.018402,-0.184180,0.982720]]6H@?GL?`U??`ג1ǿrr?i6>I6|#^;6 CY~"DBy~;HbD VD )8yUㄻ%U@=ٔ]Q-]>9YIY=eFyeuEeoӺEe>iQ 5ul4mz?Q 9ul4mrC)mlBYyy} ?Q I}?m UCIm@;im];mtl4yɮBZRbj"ړڒ’@YK@ "u@ɢ1-) Qwi)*<in8Sn>ɧi?aH <I? ?III O=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764349Em { Em iEm .Ei "Em =:*Em 9VEm ـ4ZEi a} @a} @a} @a} @) Bm >Bm OCBi Bi Bm =Bi Bm úDBm ;Bm GE\p,¡?A2>2?21:<ٱ2; :AHRS rotation from veh to nav: [[0.816257,-0.570224,-0.092568],[0.577470,0.800996,0.157908],[-0.015896,-0.182349,0.983105]]2H?`E?``z??`U6?@G 6Wǿ`u?i2>I2^;2 CYB)DByBCHyeS?kt~jthe/?e 0eDa a9e r?{Gzty&1|?Ye#?yeףe`;eBeA eB)e; BaYeQBbD}VD}:8y<%G=ٔǻQ->9I=FywE#E>Q 5m49z?Q 9m4nC)lBY#?Q E:y*?Q I?NUCI ;ie ;m4yCɮ9B EZRbj"ړڒ’K@ t=t=i.@"B@!ɢ%Ff1)) -ui))-Y<))i-P5ރ>ɧ==܈i=t?=I <9I=t? =t?IAAQAU>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014084)A.AIIO >Qԁ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266206Dp,á?AE| EhE1E"E :*E]9VE-4ZEBEa2EaJE5;a:E5;a> >>|a?>wX<ٱ>^: ^AHRS rotation from veh to nav: [[0.816836,-0.569174,-0.093921],[0.576719,0.801997,0.155551],[-0.013212,-0.181226,0.983353]]>H`#?6, |t?? ?f2ǿ`w?i> >I> %^;> CYb7DByfUH ddbDnVDn38yvV=%vU=ٔvQ-z>9z ?Iz ?=zFyzyE~"E~>Q 5 m4%z?Q 9 m4jC)Y y?Q I?UCI:i:9m4yɮ2ByZRbj"ړڒ’`*L@   " ׆B@9ɢ=b3)9 EriA)EZuɧMMoÈiM:?UJ %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518065 qp,+á?ANI>N6{?N<ٱN; ZAHRS rotation from veh to nav: [[0.818902,-0.565462,-0.098248],[0.573877,0.804333,0.153992],[-0.008053,-0.182487,0.983175]]NHq4?C@&3]??`?}[ǿ ,v?iNI>IN:3^;NCYb5DBybQHbDrVDr8yzsѻ%~I=ٔ~ PQ-~>9"?I"?=Fy{E z E >Q 5%m4/z?Q 9%m4gC)lBY)y-?Q I-?UCI|;iV;u#m4y=Cɮ=cB=!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771041ZRbj" ړڒ’>_L@ iii"mOB@频ɢS1) ri)<顱i.J>ɧ̪駽xi?F <I? ?ID)zD-AAE5~ E5lE5+E1"E5:*E5:VE5 [4ZE1aE@aE@aE@aE@B >B B [HB =DBB B B B ;B FEAIIO (>)- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021986Q Up,Eá?AJ?>JE?J*N;ٱJ:< VAHRS rotation from veh to nav: [[0.820078,-0.563395,-0.100296],[0.572224,0.805603,0.153506],[-0.005686,-0.183278,0.983045]]JH>?TO?`??Iwuǿ u?iJ?>IJ ^;J CYn0DBynKHbDvVDv(8y~Q%J=ٔݿQ->9 I = Fy }E E>Q 5m4 z?Q 9%m4?cC)lBY!y%?Q I%?VCI;i+;1m4y-Cɮ5B1ZQRQbQjQ"QQړYYڒY’aaeǏL@ "s/B@频ɢG) si)&<顙ibG=>ɧ駥Pi?A <I? ?IAhAzA1AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800aEEv EEiEE-EA"EEVz:*EE9VEEt4ZEABEEd;aM2EEe;aUJEE8;aU:EE8;aUԉԹ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525959]p,v_á?AB >Ba?B[#Z;ٱB; > JAHRS rotation from veh to nav: [[0.821379,-0.561086,-0.102562],[0.570373,0.806928,0.153433],[-0.003329,-0.184525,0.982822]]BHH?jA@?[?? hDkǿGs?iB >IBC^;B CYR)DByRCHIV=)Vp<bD^VD^18y%ˁ%-H=ٔ-мQ-->9)I1=5Fy5E5CE5>9Q 5Em4=9z?Q 9Mm4=[_C)=lBYIyM?Q IM?=TVCI=:i= :=?m4yQɮUBYZyRybyjy"yyړڒ’L@ " B@颹ɢ0>) ui)<iDW>ɧlVi~?u9 <I~? ~?IԑA)I1IAOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778199DM =DM R=EU  EQ EU ,EQ "EU :*EQ VEU g4ZEQ a] @a] @a] @a] @B >B B hHB GDBB B B B Џ;B FE 0p,vPyá?AB>B?BW:ٱB= JAHRS rotation from veh to nav: [[0.822739,-0.558797,-0.104150],[0.568419,0.808544,0.152170],[-0.000822,-0.184397,0.982851]]BHS? `}0??Pz?@JTǿs?iB>IBR-^;@YnDByn5Hy`"?(\¿Mb7?z 9K7?9I=FyEE>Q 5m4 z?Q 9m4N[C)lBY)?Q E:y^?Q I?VCIn:iv:Nm4yCɮϯB"EZRbj"ړڒ!’!!%eL@ Eq>Eq>E_?"EDO%@Qɢ]B@)Y ]lxiY)]ɧmmim?m}- I  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282621p,F?á?A bE g4jE k4rE S0E"x E"gE E "E"ˀ:*E"&9VE ZE BE";a&2E";a*JE"x1;a*:E"x1;a*VɁ>VZ?VٱVH> ^AHRS rotation from veh to nav: [[0.824250,-0.556241,-0.105869],[0.566225,0.810143,0.151849],[0.001304,-0.185107,0.982717]]VH`A`?`: ??o?`^U?ǿkr?iVɁ>IVnW^;V CYfDByf3HbDnVDn8yv%vX=ٔzkQ-z>9|I|=~Fy~E~E~>Q 5 m4{?Q 9 m4WC)lBYy?Q I?VCI;i;[m4yɮЯB!ZARAbAjA"AAړAIڒI’IIU*M@ qqq"u!%@颁ɢS) xi)<顉i?g>ɧ駕˵id?= <Id? d?IA>A>IA=.AIIIYOe>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533969ԉԡ p,á?AN GP^kAd9kAYVxA]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786530&x>?bٱt? AHRS rotation from veh to nav: [[0.825392,-0.554184,-0.107747],[0.564550,0.811375,0.151505],[0.003461,-0.185880,0.982566]]Hi? ߻H`??@d?Zl?ǿ@/q?i&x>IA^; CYDBy.H bDVD8y%%%8=ٔ%hQ-->9m ?Im ?=mFymEuEu>yQ 5m4}{?Q 9m4}nSC)}lBYy,?Q I?})WCI};i};}km4y CɮB#EZRbj"ړڒ’eM@ AAAEv EEB>BPCBBBBBĺDB;BFEE"EVz:*EVEZEBEd;2Ee;JE:E"E$@ɢ7) yi):<ih=G>ɧ(Si%A?%  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037967 Fp,á?A2vh>2 ?2Ьٱ2> :AHRS rotation from veh to nav: [[0.826553,-0.552304,-0.108488],[0.562834,0.812825,0.150112],[0.005274,-0.185137,0.982699]]2H s?yŻ??6?` u?ǿDr?i2vh>I26^;2CYBDByB)HbDJVDJ8yR%Vg=ٔVQ-V>9Z"?IZ"?=ZFyZEZ!ĻE^?`Q 5bm4b1.{?Q 9fm4b'PC)blBYdyf?Q If?bcWCIby:ib-:bwm4yhɮnBllZ|Rbj"ړ ڒ ’   M@ "D$@颹ɢ;p) zi)<i:~>ɧƨ_i/?<I/? /?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291286^A<Ez EE+E"El:*EVE [4ZEBE;2E;JE:E9II O>a - BDAT read: Rx Time:20:39:42.2501 5 TRx dataTimestamp_ set to:1761511183.5064645 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545078p,{á?AV>V?VٱViO? ^AHRS rotation from veh to nav: [[0.827505,-0.550579,-0.109991],[0.561415,0.813858,0.149832],[0.007023,-0.185737,0.982574]]VHz?X@](?  ?@-?`|?9ǿ?q?iV>IVX\^;V CYfDByf%HbDnzVDn8yvB %vF=ٔv늻Q-z>9xIx=zFyzE~E~>Q 5 m4A{?Q 9 m4DLC)lBY y 4?Q I?WCIW:iN:+m4y3 Cɮ^BE9ZARAbAjA"AIړIIڒI’IQU`M@ qqq"u$@ɢU) {i)R<iv\8\}>ɧOi>?<I>? >?I^AP;AjAzAqIAIqO;>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794588ԑB >B B [HB =DBB B B B ;B FEBuOCBqBqBqBuɃ =CuW4E | E iE *E "E :*E 9VE (N4ZE BE 2;2E 3;JE 8;:E 8; p,á?A6>6(?6Xٱ6> >AHRS rotation from veh to nav: [[0.828467,-0.548915,-0.111060],[0.559966,0.815073,0.148638],[0.008932,-0.185331,0.982636]]6H΂? gn >???J?ǿ q?i6>I6vT^;6CY\y^&HIb=)`yEQ?Q?E\/?E\EL=A A9E/$?~jt?:v?YE&1?yED9qIy=}Fy}E}QE>Q 5m4U{?Q 9m4GC)lBY51?Q E:yi?Q I?ԙWCIx1;i$1;m4yK CɮBZRbj"ړڒ’ M@ uZ >uZ >u+?"u+@ɢ0S=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049304)! %{i!)Gv<i5-|>ɧ-75i5Q?=C<9IEQ? EQ?I@jA@jA^A;I1 IA OM > DAT read: 20:39:42.2501 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 24,-0.06, 0.758,-0.889, 0.796, 0.724, PHS= 0.136,-1.568, 0.028, RAW= 146.8, 16.7, CAL= 146.7, 18.4, ROT= 3.3, -18.4  Ygot valid direction response: 20:39:42.2501 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 24,-0.06, 0.758,-0.889, 0.796, 0.724, PHS= 0.136,-1.568, 0.028, RAW= 146.8, 16.7, CAL= 146.7, 18.4, ROT= 3.3, -18.4  8DAT read: $Error in header  *Received a bad header% X#Rx 1: Read direction message, but no range.- \direction in FSK: [0.947303,0.054621,0.315649]y  牦MP?:L? \ 3?   ) [I C >i 9ȿ B`< (#@ ;> #@ l>) k=I l ]?Q? i? :>) eI k=i lA q,zġ?A2*>2?2/ٱ2> :AHRS rotation from veh to nav: [[0.828974,-0.547971,-0.111938],[0.559184,0.815889,0.147096],[0.010724,-0.184533,0.982768]]2H@?񧼿?? ?? Þǿr?i2*>I2b^;2 CEB{ EBrE@E@"EB=:*EB?:VE@ZE@aF@aF@aF@aF@YJCByNHbDVLVDV8y^%^V=ٔbՙQ-b>9`I`=bFyfEf Ef>hQ 5nm4jg{?Q 9nm4jCC)jlBYpyr+?Q Ir?j8XCIj;ij;j4m4yvB CɮvBtZ R b j"ړڒ’i,N@ 999"=@IɢMu)Q U>iQ)Ujɧe eie ?eݱiԙ ! q,V.ġ?AR>R?R0LٱR= bAHRS rotation from veh to nav: [[0.829014,-0.547648,-0.113212],[0.559088,0.816170,0.145904],[0.012496,-0.184253,0.982799]]RHH? U|@ ?? ?`?ǿs?iR>IRB^;R CYnCBynHbD~VD~8y?<% F=ٔ jQ- >9 I=FyE"E>Q 5%m4{{?Q 9-m4?C)lBY)y-%?Q I-?XCI:i:m4y=Y CɮEBEEZaRabaja"aaړiiڒi’iiuxaN@ "P@颡ɢURb) i){O]<顩iJQ1z>ɧ駵Alif? <If? f?IAA>qIyIO=E| EkE,E"E :*E:VEg4ZEAAB>BBBB =BBB;BFEԙ q,*Hġ?A2 >>2?2hٱ2_v= :AHRS rotation from veh to nav: [[0.828855,-0.547633,-0.114444],[0.559284,0.816248,0.144709],[0.014167,-0.183950,0.982834]]2H`?6@3L?`?ԅ??ǿ`_s?i2 >>I2U^;2CY^CBy^H `bAbDj,VDj8yr;x%rM=ٔr4Q-v>9tIt=vFyvEz%:Ez>QQ 5]m4U{?Q 9]m4UU;C)UlBYaye5?Q Ie?UXCIUw;iU;Um4yiɮmBiZRbj"ړڒ’N@ "V@ɢ9i) ̀i)O<i/Fy>ɧXi)?<I)? )?IIYIiO}=Ez EiEE"El:*E9VEZEBE;a2E;aJEa:Ea) q,bġ?A 6>6R&?6ٱ6L: >AHRS rotation from veh to nav: [[0.828415,-0.548318,-0.114350],[0.559886,0.816468,0.141095],[0.015999,-0.180908,0.983370]]6H`?ы`F ?` ?e?a?(ǿw?i6>I6==^;6CYCBy HbDVD8y];%;=ٔrQ->9I=FyE:E>Q 5m4Y{?Q 9m46C)mBY y c?Q I ?YCI:i[:m4yq CɮBEZ1R9b9j9"99ړ9AڒA’AAERN@ aaa"e%@yɢ} f)y }xiy)}A<顁i,ex>ɧ֧駍Di?Dq<I? ?IԑAAIqIO@>ԹD =D %=E  E jE -E "E *E 9VE t4ZE a @a @a @a @B >B QCB NHB 3DBB B B B Ώ;B FE ~Fq, {ġ?A6:>6s?60ٱ68 >AHRS rotation from veh to nav: [[0.827723,-0.549132,-0.115452],[0.560846,0.816225,0.138667],[0.018089,-0.179529,0.983586]]6H@|?@} Jr?@?ֿ?م?`ƿ@y?i6:>I6Y^;6C\YbCByb HyM@5^I ?{Gz~jtxMb0?MףMĻI I9M|?5^?~jt?~jtYM2?yM=MDMBI MB)MBIYM(BbDe6VDe8yu\Z%uR=ٔuQ-u>9yIy=}Fy}EG;E>Q 5m4{?Q 9m4n2C)mBY<3?Q E:yV%?Q I?[YCI ;i7 ;zm4y CɮBZRbj"ړڒ’)N@ m=m=m=?"m@颡ɢ&o) i)7V4<顩i*7Lw>ɧji?c<I? ?IAiAzAA!I)I9O]2>A ia Ie A-%q,ġ?AE6{ E6gE4E4"E6=:*E6&9VE4ZE4BE6;a:2E6;a:JE6x1;a>:E6x1;a>B>B?B%ٱB(8 JAHRS rotation from veh to nav: [[0.827041,-0.549838,-0.116966],[0.561778,0.815901,0.136788],[0.020221,-0.178838,0.983671]]BHw?Ft?`?G? ȴ?@+ƿ;z?iB>IB>^;B CYVCByVHIZ<)Z=bDb+VDb8yjr %jU=ٔj7Q-j>9lIl=nFy]EeJ=;Ee>iQ 5mm4m{?Q 9um4m-C)mmBYqyu%?Q Iu?mYCIm`:im6:mrm4y CɮBBEZRbj"ړڒ’@M1O@ "@ɢC߀) Ki)''<iB{(Fv>ɧ8[i;?Y<I;? ;?IAIIIQIiOu>qԡ [Z+q,#ġ?A:[h>: ?:'ٱ:Z6 FAHRS rotation from veh to nav: [[0.826356,-0.550648,-0.117988],[0.562699,0.815735,0.133968],[0.022478,-0.177097,0.983937]]:H q?z4`??%?x?ƿh|?i:[h>I:+b^;8YNCByRHbDZ)VDZ8yb<%bK=ٔfQ-f>9dId=fFyfEj^B;Ej>lQ 5rm4n{?Q 9rm4n)C)nmBYtyv%?Q Iv?nYCIn:in:nm4yz CɮzlBxZRb!j!"!!ړ!!ڒ)’))-`bO@q "@ɢx) 逿i)'\<it& h-u>ɧ l zi5\?5BT<1I5\? 5\?I9DqzDu@AB>BB[HB=DBBBBźDB;BGEE EiE'E"E*E9VE'4ZEBE2EJE8;:E8;ԡAIIO!> D2q,؀ġ?A2~6>2q?2!"ʼٱ2Nn5 :AHRS rotation from veh to nav: [[0.825428,-0.551718,-0.119484],[0.563968,0.815206,0.131828],[0.024672,-0.176199,0.984045]]2Hi? z ?`+?? C?ƿL}?i2~6>I2J^;0YrCByHbD:VD8y-%-D=ٔ-KQ-->91I1=5Fy5E=v;E=>AQ 5Mn4EM{?Q 9Mn4E %C)EmBYIyMZ&?Q IM?E2ZCIE:iEY;En4yYɮ]qBYZyRybyjy"ړڒ’@;O@ QQQ"U@频ɢPx) !i)B <顙iKv$t>ɧ톾i~?S<I~? ~?IA>A>AI IO-,>bE|a4jE [4rE0E}| E}jE}*Ey"E} :*E}9VE}(N4ZEyBE}2;2E}4;JE}c<;:E}d<;)Q j8q,Lġ?A6U>6?6ܼٱ654 BAHRS rotation from veh to nav: [[0.824650,-0.552601,-0.120769],[0.565006,0.814863,0.129488],[0.026855,-0.175017,0.984199]]6H@c?``꾿?[? ?? fƿ ~?i6U>I6c?^;4YNCByNH PRAbDZ*VDZ8ybJ%bR=ٔbQ-b>9dId=fFyfEjY;Ej>hQ 5rn4j|?Q 9rn4j C)hYpyr&?Q Iv?jxZCIj" ;ijq ;j)n4yz CɮzBzEZRbj"ړڒ’!!%$O@ AAA"E @QɢU)Q ]iY)]L;YYie"e s>ɧemim(?mW iŁGlA =;9=lAY=n-Ai9I=AԉB >B B NHB 3DBB B B B ;B *GED =D <E { E fE ,E "E =:*E 9VE g4ZE BE ;2E ;JE -;:E -;Թ >q, )ġ?A2g6>2?2,ٱ2l4 :AHRS rotation from veh to nav: [[0.824231,-0.552847,-0.122491],[0.565514,0.814722,0.128151],[0.028948,-0.174896,0.984161]]2H`?`[?@3?=g?`?@bƿ?~?i2g6>I2O[^;2CYRCByRHy](\?+η ףp= ]'?]v]Q8Y Y9]q= ףp?=ٔQ->9I=FyE:E>Q 5n4j|?Q 9n4TC)lBY,?Q E:y]?Q I?ZCI/:i:)"n4y CɮбBEZRbj"ړڒ’ P@ ==h޷?"G@ɢ%{) i)%;!!i%ɷ -Iq>ɧ-̨- i-+?-^<)I5+? 5+?I9Թ p|Eq,š?AE& E$E&*E$"E&1:*E$VE&(N4ZE$a*@a*@a*@a*@>3>>`?>iٱ> 5 FAHRS rotation from veh to nav: [[0.824191,-0.552417,-0.124683],[0.565463,0.814818,0.127764],[0.031015,-0.175805,0.983936]]>H_?e4뿿 E?`?Z?@_Ÿ?ǀƿh|?i>3>I>P^;9dId=jFyjEjXEj>lQ 5rn4n%|?Q 9rn4nwC)nlBYtyvW?Q Iv?n[CIn9:in:nm/n4yxɮxxZRbj"yyړyڒ’P@ "@ɢ) wi)8;ip>ɧ(i?g<I? ?IA-jAzA)AaIqIO>I Kq,0š?A2I>2T?2ٱ2D5 >AHRS rotation from veh to nav: [[0.824046,-0.552269,-0.126285],[0.565566,0.814908,0.126729],[0.032922,-0.175853,0.983866]]2H ^?@/*??8?0۠?\ƿ{?i2I>I2Oq^;2CYFCByFHIJ<)Jp;bDRVDR8yZ%ZK=ٔZQ-^>9\I\=bFybEb9Eb>dQ 5jn4f8|?Q 9jn4f`C)flBYhynb?Q In?fH[CIfw;if ;fw=n4yv CɮvBtZRbj"ړڒ’!!%`2P@ AAA"E@QɢUa)Q ]ځiY)];YYi];eVo>ɧem$熾imBr?mpyԩ lRq,ظJš?A6>6?6 ٱ64 >AHRS rotation from veh to nav: [[0.824467,-0.551424,-0.127225],[0.564863,0.815545,0.125759],[0.034411,-0.175549,0.983869]]@6H@b?CH[???[?exƿ{?i6>I6V^;6 CYJCByJHbDV2VDV8y^;%^J=ٔbpQ-b>9`I`=bFybEfuEf>hQ 5nn4j@K|?Q 9nn4jAC)jlBYpyr.?Q Ir?j[CIj;ij& ;jKn4ytɮvBtZRbj"ړڒ’!!%{LP@ AAA"E=@QɢU!)Q UiY)]ǔ;YYi]en>ɧeeӆim(6?m{2W~?20ٱ2W4 :AHRS rotation from veh to nav: [[0.825045,-0.550367,-0.128054],[0.563940,0.816287,0.125091],[0.035683,-0.175420,0.983847]]2Hf?d@ ???E?,tƿ {?i2O>I2]^;2CYNCByRHbDZ6VDZ8y%%%D=ٔ-GQ-->9)I)=-Fy5E5*E5>9Q 5En4=^|?Q 9En4= C)=lBYIyM?Q IM?=[CI=|:i=:=6Zn4yU) CɮUZBU EZqRqbyjy"yyړyڒ’)gP@ " @颹ɢ) i)fr;im>ɧmiA?<IA? A?IA>A>I!IIO>1QB1 B1 B1 B1 B5 =B1 B1 B5 ;B5 GEEm } Em lEi Ei "Em ݉:*Em :VEi ZEi BEm U;a} 2Em V;a} JEm C;a} :Em C;a} ԁ ^q,n~š?A2>2sB?2Zٱ2V4 :AHRS rotation from veh to nav: [[0.825544,-0.549587,-0.128186],[0.563175,0.816883,0.124642],[0.036211,-0.175089,0.983886]]2H@j?6 hh@?#?@? L?Qiƿ{?i2>I2P^;2 CY^CBybH ddYyzG?RQ~jt? 7?½< 9RQ?~jtI +Y"?y9BA )BY\BbD3VD8y=%A=ٔɣQ->9I=FyE E>Q 5n4r|?Q 9n4jC)lBY"?Q E:y?Q I?\CIr;i;hn4yA CɮB EZ R b j "  ړڒ’@;P@ =#==#==q!@"=L@IɢMڢ)Q UiQ)U:;QYi]QL]aol>ɧeeie7?e::4?:7ٱ:og2 FAHRS rotation from veh to nav: [[0.826337,-0.548522,-0.127636],[0.561958,0.817996,0.122829],[0.037031,-0.173224,0.984186]]:HYq?~@`V`? -? q?? 2,ƿs~?i:>I:U];: CYnCByn HbDv'VDv8y~%V=ٔA Q->9 I = Fy E +zE >Q 5n4|?Q 9%n4.C)lBY!y%I?Q I%?Y\CI:i:Ivn4y)ɮ5B1ZQRQbQjQ"QQړYYڒY’YaeP@ ":K@频ɢKԱ)1 5xi1)=7;99i=E]k>ɧEE iE?E6{r?6ٱ6'1 BAHRS rotation from veh to nav: [[0.827279,-0.547164,-0.127359],[0.560520,0.819158,0.121642],[0.037769,-0.172019,0.984369]]6H@y?^@OM`?6?@#?V?ƿ?i68>I6];4YJ DByJ HbDVVDV8y^p*=%^O=ٔ^2Q-b>9`I`=bFybEfEf>hQ 5nn4j|?Q 9nn4jC)jlBYpyr?Q Iv?j\CIjF;ijG;jn4yzZ CɮzBzEZRbj"ړڒ!’!!%P@ AAA"EK@QɢU)Y ]|iY)]\:YYiete]j>ɧm.mime?m:BQCBtHBQDBB =BBB;BFEE5x E5kE5,E1"E5ˀ:*E5:VE5g4ZE1BE5;aE2E5;aEJE5@;aE:E5@;aEaԑԹ rq,\š?A2a>2d?2Oٱ21 :AHRS rotation from veh to nav: [[0.828190,-0.545721,-0.127634],[0.559164,0.819984,0.122315],[0.037908,-0.172669,0.984250]]2H?v`QV?O=? P?h?@ƿ@~?i2a>I2X];2CY DBy (HI4=)bD5VD58yMN{<%MA=ٔU7Q-U>9QIQ=]Fy]Ee|Ee>iQ 5}n4m|?Q 9n4mAB)mlBYyn?Q I?m\CImE;imV;mn4yɮBZRbj"ړڒ’@@P@ "K@ ɢ ) {i)9idGɧZ%iHi%?%EA EEgEE*EA"EA*EE&9VEE(N4ZEAaM@aM@aM@aM@ yq,š?A2>2X?2ٱ2z 2 :AHRS rotation from veh to nav: [[0.828724,-0.544842,-0.127918],[0.558347,0.820528,0.122406],[0.038268,-0.172863,0.984202]]2H?Xo@_?A?U?@ᗣ?_ ƿ~?i2>I2/];2 CYFDByF$HbDNVDN8yV}%VU=ٔZ)vQ-Z>9XIX=ZFy^E^n'E^>`Q 5fn4bM|?Q 9fn4bB)blBYhyj.?Q Ij?b]CIb:ib:bDn4yns Cɮn޲BpZ|Rbj"ړ ڒ ’   tP@ "K@ɢQ) {i)i7.h>ɧi"(?<I"(? "(?IIQIiOu>B>BOCBHBeDBB =BBúDBΏ;BFEEU  EU fEU -EQ "EU :*EU 9VEU t4ZEQ BEU l;a] 2EU m;a] JEU -;ae :EU -;ae a 0q,ضš?A02h>2?2Nvٱ2`l2 >AHRS rotation from veh to nav: [[0.829226,-0.543978,-0.128344],[0.557574,0.821023,0.122608],[0.038677,-0.173231,0.984121]]2H? Ehm@?E?Bc?ͣ?s,ƿ }?i2h>I2Q];2CYF DByF8Hy(\?I +Q?z4?9\= 9)\(?Zd;Ol?YG!?yj=A 7 B)BYbD5VD5{8yE=%EA=ٔE}Q-E>9III=MFyMEMEU>QQ 5en4U/|?Q 9en4UHB)UlBYe!?Q Ee:ye?Q Im?U`]CIUZ;iU;U n4yqɮuֲBqZRbj"ړڒ’!% Q@ e=e=eKI@"e}o@颙ɢ߇) wi)d顡iQHg>ɧ駭Hi?a<I? ?IAA>ԉIIO (>Թ i I AbEg4jE|a4rE[/E] w E] mE] *EY "E] }:*E] :VE] (N4ZEY am @am @am @am @%q,ơ?AJ>J|L?J ٱJI2P ZAHRS rotation from veh to nav: [[0.829744,-0.543105,-0.128693],[0.556775,0.821544,0.122748],[0.039062,-0.173503,0.984058]]JHC? ay?J?@il??@U5ƿ h}?iJ>IJ];JCYb'DBybAH ddbDnVDnV8yv<%vN=ٔv~Q-v>9xIx=zFyzE~E~>Q 5 n4|?Q 9 n4B) mBY y ?Q I?]CI:i:n4y CɮBEZ9R9b9j9"AAړAAڒA’IIM Q@ iii"m2no@yɢ") vi)顁iѺf>ɧ駕炾i$?<I$? $?IIAIYOe= G1 I I } 89y Y *ABq,l3ơ?A2پ>2LC?2!ٱ2!?2 :AHRS rotation from veh to nav: [[0.829809,-0.542989,-0.128766],[0.556650,0.821715,0.122171],[0.039471,-0.173056,0.984121]]2H@ˍ?)`e{?@|K?F?5? &ƿ}?i2پ>I2];0Yz0DByzKHbDVDJ8yi<%I=ٔ Q->9!I!=%Fy%E-E->1Q 5=n45|?Q 9=n45.B)5%mBY9y=?Q IE?5]CI5/;i5+;5n4yM CɮM2BMEZiRibiji"qqړqqڒq’yy} 5Q@ "lo@颩ɢbь) si)i,项i+ e>ɧ$i?_<I? ?II9IIB}>ByB}HB}pDBB} =ByByB}Ϗ;B}FEDzDAAEy EnE,E"E:*E:VEg4ZEBEˤ;a-2E̤;a-JEJ;a-:EJ;a-O==Iqԡ +q,wMMơ?AF>FGZ?FI#ٱF+j1 VAHRS rotation from veh to nav: [[0.829601,-0.543326,-0.128681],[0.556933,0.821660,0.121248],[0.039855,-0.172254,0.984246]]FH@?bx@d? 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"E% ˀ:*E% 9VE% J4ZE! a- @a5 @a5 @a5 @%r,^&ˡ?A2oҲ>2??2˄ٱ2H3 :AHRS rotation from veh to nav: [[0.841541,-0.519629,-0.147631],[0.536293,0.836441,0.112942],[0.064797,-0.174219,0.982573]]2H?̠@¿`P)? ?? ?LƿI20^;2CYF1FByFHbDNVDNy8yV|=%VM=ٔV9Q-Z>9XIX=ZFyZE^E^>Q 5q4X?Q 9q4"(B)uoBY!y%5?Q I%?jCI@;i;~q4y- Cɮ-B-޾EZIRQbQjQ"QQړQYڒY’YYe(V@y "j >@频ɢ}) 'i)C顙i:ջ-1>ɧ3駭…i] ?B <I] ? ] ?IA .AInGԩu49Y&AIO'> A! A% @AB- >B- LCB- =HB- FBB) B) B) B- J;B- =FE r,&:@ˡ?AY~0FBy~HI<)=bDVDf8y=%EA=ٔEQ-E>9M ?IM ?=MFyMEMEM>QQ 5]q4UWk?Q 9eq4U9$B)UhoBYayaQ Ie?UkCIU;iU;U6q4yiɮmBqZRbj"ړڒ’CV@ "ɢx~)Ez EdE+E"El:*E9VE [4ZEBE;a2E;aJE&;a:E&;a i)1iջe0>ɧ덅i #1 ? y < I #1 ? #1 ?IA%>A%>AIIO$>1Y 8r,YZˡ?A2>2?2 ٱ24 :AHRS rotation from veh to nav: [[0.842489,-0.517971,-0.148050],[0.534788,0.837263,0.113987],[0.064915,-0.175208,0.982389]]2H`?@7M¿`?? @.?@?8mƿ o?i2>I2H^;0YDyFHbDLVDLyV%VT=ٔZSQ-Z>9XIX=ZFyZ E^E^>`Q 5fq4b|?Q 9fq4b B)b\oBYdyj?Q Ij?bCkCIb:ib|:bq4yn)Cɮn;Bn߾EZ|Rbj"ړڒ ’   [V@ )))"-B=@9ɢEY)A EiA)ElIIiM ջUZ />ɧUUYiU& ?U* 6Re?6Քٱ66 BAHRS rotation from veh to nav: [[0.843302,-0.516363,-0.149033],[0.533473,0.837880,0.115602],[0.065179,-0.176993,0.982052]]6H`T? `ÿ 6?`?@??ƿl?i6>I6L^;4YJ>FByJHyQ?!rh\/?l̼ 9+?V-Yv?ymLBA B)AYBbD5VD5l8yE =%EA=ٔE $Q-M>9M"?IM"?=MFyM#EUoEU>YQ 5eq4]?Q 9eq4]B)YYe?Q Em:ym>Q Im?]kCI]w;i]Y;]xq4yuFCɮumBqZRbj"ړڒ’vV@ ?=?=C@"̸B@QɢU |)Y ]iY)]uYYieq ֻe->ɧeJmu;imN ?m6 BMCBVHBFBBBBºDB;BFEBMCBMCBĔCBĆ =BCc6A.AI IO-,>Ez EzE,E"El:*E :VEg4ZEBEa2EaJEv;a :Ev;a  Ir,%ˍˡ?A2;.>2?2bٱ2627 :AHRS rotation from veh to nav: [[0.844265,-0.514715,-0.149286],[0.531925,0.838772,0.116267],[0.065372,-0.177569,0.981935]]2H@7?x ÿ? 8?@ý?=? ƿ`l?i2;.>I2m];2CYF4FByFHbDNVDNp8yVܼ%VT=ٔZQ-Z>9Z ?IZ ?=ZFyZ%E^E^>`Q 5fq4bȢ?Q 9fq4bB)b]oBYhyj>Q Ij?bkCIb:ibd:bq4y!ɮ%sB!ZaRabaji"iiړiiڒi’qqu8V@ "B@ɢD) i)}piGֻ,>ɧm3i ?<I ?  ?I!Ae؟AIqIO>2t?2ٱ2x8 >AHRS rotation from veh to nav: [[0.845214,-0.512898,-0.150164],[0.530347,0.839626,0.117303],[0.065917,-0.178785,0.981678]]2H@ ?i 8ÿ?`7??߰? nƿi?i2u<>I2N];0YFCFByFHbDRVDR;8yZ=%ZJ=ٔZ簺Q-Z>9^"?I^"?=^Fy^'EbGEb>dQ 5jq4f嵀?Q 9jq4fB)f^oBYhyj>Q Ij?flCIdidfq4yrcCɮrBrEZRbj"  ړ  ڒ ’ IV@ 111"5kB@ɢ) ޾i))iMֻ n+>ɧ   i  ? +< I ?  ?I9I5BDAT read: Rx Time:20:40:13.4579 5TRx dataTimestamp_ set to:1761511214.756615AIIO$>yԩ B <A <B >B B bHB FBB B B B ;B EERmr,ˡ?A,:E>:?:_ٱ:8 FAHRS rotation from veh to nav: [[0.846497,-0.510751,-0.150256],[0.528212,0.841012,0.117010],[0.066604,-0.178415,0.981698]]:H?X@;ÿ??a? ?`Qƿj?i:E>I:O];:CYNjFByN HbDVVDV-8y^۽=%bG=ٔbۺQ-b>9`Id=fFyf)EfǻEf>hQ 5nq4jFɀ?Q 9rq4jB)j_oBYpyrY>Q Ir?jFlCIj@;ij+;jbq4ytɮvBxZ Rbj"ړڒ’%`V@ AAA"EOTB@QɢUЁx)Q UʾiY)]"YYi]Z:׻e*>ɧe:e3ie* ?mHԹiIA=DAT read: 20:40:13.4579 LVL= 32752, 32753, 29458, 32755, AGC= 89, IDX= 40, 0.07, 2.442, 0.820, 2.337, 2.208, PHS= 0.335,-1.343, 0.084, RAW= 142.0, 11.8, CAL= 141.5, 12.8, ROT= 8.5, -12.8 EYgot valid direction response: 20:40:13.4579 LVL= 32752, 32753, 29458, 32755, AGC= 89, IDX= 40, 0.07, 2.442, 0.820, 2.337, 2.208, PHS= 0.335,-1.343, 0.084, RAW= 142.0, 11.8, CAL= 141.5, 12.8, ROT= 8.5, -12.8 M6DAT read: bearing request MDreceived a bearing request messageUBDAT read: Tx time:20:40:15.0607 U$Ping request sent.Uim竿1=@BR>@ d>)>Idr2 ?\!!'?iڏ? >)aRI>id}:publishing transmit ping timeQ}:publishing range request flagyy7v?ws?@|[? )Ii )Ir2 ?\!!'?iڏ? )Ii Xr,]ˡ?A2 >2)?29ٱ2;7 :AHRS rotation from veh to nav: [[0.847796,-0.508562,-0.150352],[0.526024,0.842442,0.116574],[0.067378,-0.177920,0.981736]]2H &!?#F@>ÿ@0?I?@׽? ?? ƿ`j?i2 >I2^;2ClYrFByr1HIv<)v%=bDzVDz+8y=% H=ٔ Q- >9 I=Fy+E^̻E>Q 5%q4܀?Q 9-q4B)`oBY)y->Q I-?lCIK:iB:q4y5Cɮ5B=EZYRYbYjY"Yaړaaڒa’aim`V@ "?$B@颙ɢn)9 wi);[顡i6ػ)>ɧ͟駭giy ?^a<Iy ? y ?IIIAO>Ex EdE+E"Eˀ:*E9VE [4ZEa@a@a@a@1a (r,7ˡ?A2>2՟ ?2溜ٱ2.l7 :AHRS rotation from veh to nav: [[0.848860,-0.506694,-0.150662],[0.524209,0.843603,0.116362],[0.068139,-0.177753,0.981713]]2H)?6 HÿQ?? ɽ?`q?ƿ2j?i2>I2_;2CY^FByb&H9a@a9 a@a a@a a@a iMb@Mb@Mb@© 9Cl?3333339Y=Fy-EXE>Q 5q4_?Q 9q4B)oBY?Q E:y>Q I?lCIf:i;q4yCɮ"BؾEZRbj"ړ  ڒ ’  V@9ɢ=Pp)9 EiA)EAAiE6EٻM(>ɧMAM6}iMj ?UtBqBuHBuFBBqBqBqBu;BuEEߡߥC=ԑD=D<Ey EE)E"E:*EVEFA4ZEBEˤ;a2E̤;aJE&;a:E&;a hs,w̡?A2V>2 ?2Eٱ2CB5 :AHRS rotation from veh to nav: [[0.850046,-0.504784,-0.150383],[0.522115,0.845184,0.114283],[0.069413,-0.175663,0.982000]]2H3?`0'?ÿ)? ?A? ű?|ƿl?i2V>I2M^_;0YNFByRIHbDZVDZ68yv=%vX=ٔv\Q-v>9xYx=zFyz/EzлE~> Q 5q4 ?Q 9q4  B) oBYyT>Q I? mCI :i  ; q4y!ɮ%B!ZARAbAjI"IIړIIڒI’QQU ?W@ԙɢ;m) %i!)%W !!i%1xڻ-'>ɧ-ڜ-zi5! ?5% >>[ ?>ᏽٱ>3 VAHRS rotation from veh to nav: [[0.851319,-0.502839,-0.149700],[0.519932,0.846769,0.112489],[0.070197,-0.173597,0.982312]]>H`>?@A\)ÿ H??@̼?@u?o8ƿ o?i> >I>_;>CY^FBy^mHbDjVDj48yz=%zJ=ٔQ->9 Y =Fy1Ek˻E>!Q 5Er4%?Q 9Mr4% B)%oBYQyU>Q IU?%DmCI%;i%';% r4yeCɮe@BaZRbj"99ړAIڒQ’yy-W@ɢT._) !i)+ iGdܻ&>ɧUxis ?<Is ? s ?I)U"YIIO>Aa Aa Bm >Bm NCBm HBm GBBm =Bi Bi Bm ;Bm EEԙ s,B̡?A2u֧>2 ?2=ٱ2q5 :AHRS rotation from veh to nav: [[0.852517,-0.500387,-0.151090],[0.517913,0.847680,0.114910],[0.070577,-0.176215,0.981818]]2H G?@+Vÿ?1 ?j?`N?5ƿ`k?i2u֧>I2 _;2CYvFByvHauau auau auau a}a} yuy&1?L7A`?L7A`?u`%?u+=u+=u q9urh|?:v)\(?Yu?yuTuGa=quA u^B)uAqYu(BbDVDQ8DzD?AEz EgE,E"El:*E&9VEg4ZEBE;a2E;aJEx1;a:Ex1;ayh=%>=ٔChQ->9I=Fy3EUE>Q 5r4G(?Q 9r4B)oBY?Q E:y\>Q I?mCI:iE:r4yɮ/BZRbj"ړڒ’!% FW@ E0=E0=E@"E%@ԑɢF)b) i) iݻ%%>ɧ%%vi%e ?%N *s,U\̡?A2>28! ?2]ٱ29 :AHRS rotation from veh to nav: [[0.853780,-0.497726,-0.152739],[0.515823,0.848462,0.118487],[0.070619,-0.179948,0.981138]]2H)R?@߿@ÿ ?&?.U?? ǿ`{e?i2>I2$_;2CYFFByFHbDNVDN[8yVn=%V^=ٔVQ-Z>9XIX=ZFyZ5E^ٻE^>`Q 5fr4b8?Q 9fr4bB)bpBYhyjO>Q Ij?bmCIb :ib:b'r4ynCɮnXBrپEZ|Rbj"ړ ڒ ’   @=^W@ "3@ɢU) Hi) i߻$>ɧti ?<I ?  ?IbEE|a4jEEĞ]4rEE@o/Ex EjEE"Eˀ:*E9VEZEa@a@a@a@!]+IYIiO}> ґCI M Ge kAy P9 kAY F@AQs,v̡?A2R>2 ?2ٱ2:: >AHRS rotation from veh to nav: [[0.854753,-0.496057,-0.152723],[0.514213,0.849340,0.119193],[0.070587,-0.180413,0.981055]]2H"Z?g߿oÿnt?-?n? ?ǿ d?i2R>I2 )_;2CYFGByFHbDRVDR\8yZ=%ZJ=ٔZV8Q-^>9\I\=bFyb7EbEb>dQ 5jr4fVK?Q 9jr4fB)f=pBYhyn^>Q In?fmCIfK:if;f6r4ypɮrKBpZRb j "  ړ  ڒ’&xW@ 111"5r@AɢMN)I MfiI)MN IQiUứU#>ɧ]]Ssi]% ?]9zBB7HB_GBBBBBǎ;BEEyIIOf>D=D=E EkE-E"E:*E:VEt4ZEBE#6b- ?6ٱ6:@ >AHRS rotation from veh to nav: [[0.855717,-0.494476,-0.152456],[0.512657,0.850153,0.120096],[0.070226,-0.180926,0.980986]]6H b?|߿ÿg?s4??@V?(ǿ`=d?i6ݭ>I6_;6CYN=GByN HbDVVDVY8y^=%^J=ٔb1j:Q-b>9`I`=fFyf9EfeEf>hQ 5rr4j]?Q 9rr4j(A)jipBYtyvu>Q Iv?j=nCIjB;ijC;j-Dr4yz CɮztBzھEZRbj"ړ!ڒ!’!!%'W@ AAA"E$@Qɢ]*D)Y ]BiY)e aaie&"仩m">ɧmmqim` ?mkZ ?ZٱZ9 jAHRS rotation from veh to nav: [[0.856328,-0.493714,-0.151490],[0.511698,0.850781,0.119735],[0.069770,-0.180050,0.981180]]ZH` g?`߿@ dÿ_?`9??zܱ? ǿe?iZ>IZ_;ZClY~dGBy9I=Fy;E+E>Q 5r4q?Q 9r4A)pBY y>Q I?nCI;i8<|Sr4y&CɮBZARAbIjI"Iiړiqڒq’qqu`ܰW@ "u@ɢC,6) i) ibY绩ˡ!>ɧboi8 ?U< I8 ? -8 ?I)IIO$>1B <A <B >B B HB GBB =B B úDB ;B EEBNCBNCBɓCBɅ =BC Z5a 0s,̡?A2H>2 ?2u*ٱ27 :AHRS rotation from veh to nav: [[0.856780,-0.493477,-0.149695],[0.511062,0.851312,0.118675],[0.068874,-0.178181,0.981584]]2Hj?߿5)ÿZ?=?ua? ?ƿ#i?i2H>I2z2_;2CYFGByFmH HH9yUK?/$L7A`?U^:?UQQ Q9U%C?J +?㥛 ?YUZ$?yUH=U=UBQ U4 B)QQYUBbDmVDmk8Ex EkE+E"Eˀ:*E:VE [4ZEBE;a2E;aJEa:Eayu=%K=ٔ7;Q->9I=Fy=EE>Q 5r4ۂ?Q 9r4 A)pBY%?Q E:yB"?Q I?nCIP ;i ;aar4yɮBZRbj"ړڒ’`W@ ==rV@"|?@)ɢ-r1)) -i))5i11i5<黩= >ɧ=t=!oiE^ ?EF2ҙ ?2ٱ26 :AHRS rotation from veh to nav: [[0.856993,-0.493500,-0.148392],[0.510803,0.851563,0.117986],[0.068139,-0.176912,0.981865]]2H|l? ߿@¿X?@?W4?`q?@ƿ`pk?i2>I2sE_;2CYFGByFHbDRVDRb8yV-I=%VX=ٔZ;Q-Z>9XI\=^Fy^?E^hEb>`Q 5fr4b?Q 9fr4bQA)bpBYhyj#"?Q Ij?bnCIbl:ibd:bynr4ynDCɮrBr۾EZRbj"ړ  ڒ ’  W@ )))"-w?@AɢE/+)A EiA)M'IIiM=K컩U>ɧUU ^L=s,̡?A6>6` ?6ٱ66 BAHRS rotation from veh to nav: [[0.857482,-0.492889,-0.147597],[0.510087,0.851922,0.118485],[0.067341,-0.176886,0.981925]]6H~p?|߿q¿R?B?@ U?>=?4ƿk?i6>I6s_;6CYJGByNHbDVVDVd8y^=%^J=ٔ^8;Q-b>9`I`=bFybAEf. 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;f/Zt4yrnCɮrBrEZR b j "  ړ ڒ’`M[@AɢEdn;)A E >iA)M7GIIiM;U=ɧUUOiU/1 ?]PF 6`?6#!ٱ6_$ >AHRS rotation from veh to nav: [[0.874861,-0.471410,-0.111316],[0.482775,0.867294,0.121366],[0.039331,-0.159919,0.986346]]6H ?+޿3@? ??$#?6xĿ@&?i6>I6S^;6CLYRIByR^Hi-Mb@Mb@Mb@)))) )9-x&1?~jt?Mb?Y-A ?y-D=-<-y B) -B)))Y-BbDEVDE=8yU<%UA=ٔU:Q-]>9YYY=]FyeEe˺Ee>iQ 5ut4mF?Q 9ut4mlA)m{sBYu ?Q E}:y}~?Q I}?mxCIm ;imT ;mit4yɮBZRbj"ړڒ’m[@ɢ褀;) ?>i)iX>=ɧ\Oium ?u A>A؟AIIO>Bu<Au4=B}>B}MCB}HB}JBB} =ByB}ºDB};B}EE) 2i3t,rNС?A24>2?2ٱ2;% :AHRS rotation from veh to nav: [[0.875174,-0.470920,-0.110926],[0.482294,0.867317,0.123102],[0.038237,-0.161234,0.986175]]2Hm?@#޿e??@?@?RĿ@?i24>I2^;2CYFJByFHbDNVDNN8yV=%VV=ٔV;;Q-Z>9Z"?YZ"?=ZFyZE^oĺE^>E EgE-E"EO:*E&9VEt4ZEBE;a 2E;aJEx1;a:Ex1;a!Q 5-t4%xW?Q 9-t4%qhA)%sBY)y-Y?Q I-?%xCI%:i%I:%vt4y=Cɮ]BYZRbj"ړڒ’-[@ɢx<) ?i)fi@%J=ɧ%E%Ni- ?-ռ <)I- ? - ?I1)A.AIIOQԁ U9t,)С?AB>B?BTٱBgm( RAHRS rotation from veh to nav: [[0.875651,-0.470006,-0.111038],[0.481511,0.867364,0.125804],[0.037182,-0.163626,0.985822]]BH`U? ޿l ?r?V?u ?@Ŀً?iB>IB:^;BCYb JBybH ddbDrVDr;8y~;<%~E=ٔ&;Q->9  ?Y  ?=FyE|E>YQ 5t4i?Q 9t4dA)sBYy?Q I?@yCI;i;kt4yɮ BZRbj"ړڒ’x[@ ɢ .H<)  .?i)i BC%=ɧ%%ENi-j ?-y <)I-j ? -j ?I1E%~ E%iE%(E!"E%:*E%9VE%c44ZE!aE@aE@aU@aU@ԉA؟AIIO*>Ա T|@t,x ѡ?A6F>6y?6ٱ6P( BAHRS rotation from veh to nav: [[0.876121,-0.469392,-0.109920],[0.480739,0.867716,0.126332],[0.036080,-0.163525,0.985879]]6H/ ? ޿@#k?S?@+? y?dĿR?i6F>I65^;6CYNJByNHB!B!B%HB%OJBB!B!B!B%Ŏ;B%EEiEMb@Mb@Mb@AAAA A9Ex&1?Q?~jtx?YE!?yE\=E;EBEA A)EAAYEBbD]VD]68ym%mC=ٔm,;Q-u>9u"?Yu"?=uFy}E} E}>Q 5t4{?Q 9t4`A)sBY"?Q E:y?Q I?yCI:if:yt4yCɮNBEԱZRbj"ړڒ’<\@yɢ}@ <) /?i):顁iD%=DE| EkE,E"E :*E:VEg4ZEBE2;a-2E3;a-JE@;a-:E@;a- 9 i I A_Ft,ѡ?A2=>2N?2Tٱ2<' :AHRS rotation from veh to nav: [[0.876474,-0.469089,-0.108395],[0.480177,0.868074,0.126010],[0.034985,-0.162493,0.986089]]2H ?޿ÿ6?B?!??Ŀ@ ?i2=>I2Bl_;2CYF/JByFHbDNVDN(8yVH=%VX=ٔVR=;Q-Z>9XYX=ZFyZE^4E^>`Q 5ft4b%?Q 9ft4b']A)bsBYdyf?Q Ij?byCIbB:ib:bt4ylɮnDBlZ|R|b|j"ړڒ ’    t\@1ɢ5S<)  ?i)߼iGxT=ɧMi ? <I ?  ?I!A!I1IAOM>AqE= y E= nE= -E9 "E= :*E= :VE= t4ZE9 a] @a] @a] @a] @ԙ Lt,T5ѡ?A2^>2&?2 ٱ2pl' :AHRS rotation from veh to nav: [[0.876804,-0.468741,-0.107223],[0.479672,0.868226,0.126879],[0.033620,-0.162680,0.986106]]2H?ݿr??@=?6?Ŀ.?i2^>I2\_;2CYF:JByFHi Mb@Mb@Mb@     9 '1Z?Dl?~jthY "?y O= D B  )  Y (BbD%bVD%8y54<%=A=ٔ=S;Q-=>9AYA=EFyEEEEE>IQ 5Ut4Mݞ?Q 9]t4MYA)MsBY]#?Q E]:y]@?Q I]?MzCIM? ;iMu ;M~t4yeCɮmBmEZRbj"ړ ڒ’@9\@iaɢuNq'<)q u?iq)}ۼyyi}ڄJ=ɧ駅3Miy ?ک <Iy ? y ?IAIIO'>ԙAAAAB>BBHBxJBBBBB;BEE St,Oѡ?A:EJ>:0>:ٱ:' BAHRS rotation from veh to nav: [[0.877149,-0.468307,-0.106296],[0.479112,0.868440,0.127532],[0.032587,-0.162792,0.986122]]:H ?ݿ06@ũ?A?@R?A?_ĿP?i:EJ>I:\V`;:CYNDJByNHbDV@VDVɽ8y^<%^S=ٔb.;Q-b>9`Y`=fFyfEf=޺Ef>hQ 5nt4Er{ ErkEpEp"Er=:*Er:VEpZEpBEr;az2Er;azJEpaz:Epazj?Q 9~t4jcUA)jsBY|y~?Q I?jCzCIj;ij4;jt4y Cɮ B Z)R)b)j)"11ړ11ڒ1’99= Q\@aɢeq<)i m?ii)mؼiiiuLu=ɧ}i}RuMi}X ?}:k A>A.AIIO>) Yt,siѡ?AF>F>F ٱFE) RAHRS rotation from veh to nav: [[0.877544,-0.467682,-0.105785],[0.478481,0.868460,0.129745],[0.031191,-0.164473,0.985888]]FH?ݿ n?@l?y?n?q ſe?iF>IF`;DYZZJByZHbDf>VDfǽ8yjW]=%nH=ٔ%[;Q-%>9% ?Y% ?=-Fy-E-E->1Q 5Et45„?Q 9Et45gQA)5sBYIyM?Q IM?5zCI5D;i5E;5t4yQɮUBYGSuB*** querying acoustic contact ***:qBqZRbj"ړڒ’/l\@ɢRk<) ?i)exԼiPOX=ɧ>00Mi2 ?# <I2 ? 2 ?I 9=ÑCYbE|a4jET\4rEò0E | E iE +E "E  :*E 9VE  [4ZE a=@a=@a=@a=@ImkA69kAY M(AAIIO>>yT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա U`t,sLѡ?A2>2>2ٱ2[+ :AHRS rotation from veh to nav: [[0.877528,-0.467777,-0.105499],[0.478602,0.868024,0.132186],[0.029742,-0.166489,0.985595]]2H@? ݿ@l?@?x?t?Oſ?i2>I2`;2C@Bb>B`BbHBbJBBb =B`B`Bb;BbEEY%NJBy%H ))]only read 2 of 4 data items for beam range. Device response is::RA, 0.76, 297.04, 329.95 ae@ae ae@ae ae@ae ae@ae bDmBVDm˽8y}%}@=ٔAd;Q->9Y=FyE=9E>Q 5t4Ԅ?Q 9t4lMA)sBQ A+:YQ E:y?Q I?zCI; ;i>]t4y%Cɮ"BEZRbj"ړڒ’@\@ ɢ bk<)  ?i )lмizQk=ɧCLi< ?%Ez ElE.E"El:*E:VEـ4ZEBE;a 2E;a JEC;a :EC;a   checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250970ft,(ѡ?A2 *>2>2{ٱ2xc* :AHRS rotation from veh to nav: [[0.877369,-0.468349,-0.104274],[0.478952,0.867894,0.131777],[0.028781,-0.165560,0.985780]]2H`h?@lݿ'? ??x?@1ſ?i2 *>I2K9Z"?Y^"?=^Fy^E^:Eb>`Q 5ft4b儈?Q 9ft4bIA)bsBQ Aj :YhQ EjY:yj?Q Ij?b {CIbQ:ibK?bt4lypɮrBpZRb j "  ړ  ڒ’Ξ\@yɢ<) ?i)̼顁iS=ɧ駝Li ?{<I ?  ?IA  II)O5 >1echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503371E | E hE ,E "E :*E ]9VE g4ZE a= @aE @aE @aE @i cmt,ѡ?A6x>6?6ٱ6( BAHRS rotation from veh to nav: [[0.877112,-0.469227,-0.102468],[0.479494,0.867747,0.130770],[0.027555,-0.163833,0.986103]]6HN?޿P;? ??h7?vĿ`(?i6x>I6Ta;6CYJHJByJHaa aa aa aa iMb@Mb@Mb@ 9S㥛?333333?Zd;OY$&?y=jPBhA B)YB9bD5RVD5ڽ8yM;%MA=ٔM=;Q-U>9QYQ=UFyUE]:E]>aQ 5mt4e?Q 9mt4eEA)esBQ AuT:YuZ'?Q Eu:yu?Q Iu?eQ{CIes;ieT:et4y}ECɮ}gBEZRbj"ړڒ’ \@qɢ}xF^<)y }?iy)}ȼ顁iZVM=ɧ駍pLiD ?Z<ID ? D ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755185IiAAIIIYOm5>B<A<B>BB8HBJBB =BBB;BEEBMCBMCBBƅ =Bƅ =C%4ԑm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007009 wtt,ѡ?A2>27?2 [ؼٱ2( :AHRS rotation from veh to nav: [[0.876874,-0.469849,-0.101656],[0.479995,0.867366,0.131459],[0.026408,-0.164067,0.986096]]2HZ?޿$:?v?? ?%ſ?i2>I2Ra;0YZOJByZHEbx EbaE`E`"Ebˀ:*Eb9VE`ZE`BEb;aj2Eb;ajJEb;aj:Eb;ajIn4=)np>bDveVDv8yz<%~P=ٔ~;?;Q-~>9Y=FyE:E > Q 5t4  ?Q 9t4 AA) sBYy?Q I? {CI a;i n; t4y)ɮ-cB)ZIRIbIjI"IIړQQڒQ’QY]\@颁ɢ<) ?i)@ż顉i,X=ԙɧI駝:Li ?0!<I ?  ?IA)I1IAOM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259040! /zt,ѡ?A2b>2&I?2ϼٱ2<( :AHRS rotation from veh to nav: [[0.876764,-0.470296,-0.100528],[0.480250,0.867231,0.131418],[0.025375,-0.163501,0.986217]]2H`t?S޿/j?Z?`M?@?Ŀ?i2b>I2a;0YVMJByVH-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511599bD^vVD^8y}lJ%}B=ٔ ;Q->9Y=FyE%,:E>Q 5u4?Q 9u4=A)sBYy?Q I?{CI);i*;Z u4yfCɮBEZRbj"ړڒ’  _\@1ɢ5tu}<)9 =v?i9)=:99i=~ZE# =ɧEELiMt ?M)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762969y et,ޓҡ?AB6>B4B4B4B4B4B4B6Î;B6EEB.>Bm?BżٱBu% JAHRS rotation from veh to nav: [[0.876523,-0.471229,-0.098234],[0.480755,0.867223,0.129610],[0.024114,-0.160833,0.986687]]BHz ?(޿%?J??`v?+Ŀ?iB.>IBWb;BCYRXJByVHi5Mb@Mb@Mb@1111 195#~j?S㥫?I +Y5%?y5/]=5945B1 5sB)5B1Y5BbDxVD8y<%F=ٔG;Q->9Y=FyE|:E>Q 5u40?Q 9u49A)sBY&?Q E :y ?Q I ?|CI1M;iL;u4yCɮBZIRQYbQjY"YYړaaڒi’iiu ]@颱ɢ<) ?i)71项i]T=ɧ~YIKil ?0<Il ? l ?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015099AaIiIyԁO9>E EdE*E"E*E9VE(N4ZEBE2;a2E3;aJE&;a:E&;aԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028 At,oҡ?A >Y>>?>ٱ>n" VAHRS rotation from veh to nav: [[0.876152,-0.472390,-0.095946],[0.481488,0.867127,0.127515],[0.022961,-0.157920,0.987185]]>H`o ?;޿󏸿`??iR? ?6Ŀ?i>Y>I>b;>CY^=JBybH ddbDjVDj8yrp%vZ=ٔvI;Q-v>9xYx=zFyzEzH;E~>Q 5u4B?Q 9 u4Q6A)zsBY y ?Q I ?\|CI:i:&u4y-CɮEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519561 E  E iE +E "E O:*E 9VE [4ZE a @a @a% @a% @9 !lt,+L8ҡ?A2>2??2kٱ2! :AHRS rotation from veh to nav: [[0.876161,-0.472599,-0.094831],[0.481521,0.867089,0.127650],[0.021900,-0.157505,0.987275]]2H ??޿`F>?0?V?l?)Ŀ`—?i2>I2b;2CYbKJBybHiMMb@Mb@Mb@IIII I9Mjt?~jt?:vYM ?yM9yY=FyEs8E>Q 5u4XU?Q 9u42A)hsBYo!?Q E:y?Q I?|CI ;i ;5u4y,Cɮ2BEZRbj"ړڒ’;]@ɢO<) ?i ) ᵼ  i 1achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771041x(=ɧ{駵sTIi ?1<I ?  ?IAhAzAI IO-,>9AYA]@ABe>BaBe+HBeJBBaBaBeúDBeҎ;BeEEi M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023076St,9%Rҡ?A022>2?2R]ٱ2* :AHRS rotation from veh to nav: [[0.875838,-0.473544,-0.093076],[0.482124,0.867143,0.124979],[0.021527,-0.154336,0.987784]]2H@?N޿ӷ`? ??: ?Iÿ?i22>I2wb;2CEP ERmER*EP"EP*ER:VER(N4ZEPBER;aZ2ER;aZJEROG;aZ:EROG;aZY^1JBy^HbDflVDf8yn%nU=ٔrr~:Q-r>9pYp=vFyvEv=:Ev>xQ 5~u4zf?Q 9~u4z/A)zXsBYy3?Q I?z|CIz;iz;zCu4y CCɮ mB EZ1R1b1j1"11ړڒ’~W]@ԉɢ&+b<) ~ ?i);iC]cMA=ɧM*zM:"HiMT ?MyԹ }t,lҡ?A>>>?>ڧٱ>$= RAHRS rotation from veh to nav: [[0.875807,-0.473907,-0.091509],[0.482226,0.867195,0.124218],[0.020489,-0.152919,0.988026]]>H?~T޿$m@??̿?`? גÿ`?i>>I>b;<`Y^3JByfHbDrOVDr׽8yz%;%zI= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527692ٔ /';Q- >9Y=FyE9E%>)Q 55u4-y?Q 95u4-+,A)-FsBYAyEC?Q IE?- }CI-c;i-v;-lQu4yUcCɮUBQZqRybyjy"yyړڒ’ n]@颱ɢ<)  ?i)项i(e:=ɧxgFi̻ ?<I̻ ? ̻ ?IIIO=E{ EhEE"E=:*E]9VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779100A B] >BY B] HB] JBB] =B] 9DB] ºDB] ;B] EEtt,rҡ?A2d>2?2+ٱ2[? :AHRS rotation from veh to nav: [[0.876181,-0.473411,-0.090493],[0.481592,0.867464,0.124803],[0.019417,-0.152930,0.988046]]2H ?_L޿*`e?D?`??8ÿ?i2d>I2F2a;0Yb=JBybHAiMb@Mb@Mb@ 9Zd;?QA`"Y?yuY )YbDAVDʽ8y%7<%-7=ٔ-H;Q-->9)Y1=5Fy5E5hٺE=>9Q 5Eu4=?Q 9Mu4=(AQ =MtI)=5sBYM?Q EM:yMr>Q IM?=g}CI=;i=;=`u4yYɮ]BYZyRybyjy"ړڒ’ Њ]@ɢ M<) B?i),i@g%61=ɧ%u%Di- ?-x<)I- ? - ?IA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031090I1IAOU>iD=D<E EpE,E"E7:*E :VEg4ZEBE;a2E;aJE:R;a:E;R;aԑ iߡ Iߥ A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283285;t,$ҡ?A:CJ>:{?:ٱ: BAHRS rotation from veh to nav: [[0.876526,-0.472901,-0.089814],[0.480997,0.867688,0.125537],[0.018564,-0.153237,0.988015]]:H ?D޿`??`?? Bÿѝ?i:CJ>I:`;8YN?JByNHbDVSVDV۽8y^;%^g=ٔb;Q-b>9`Y`=fFyfEfEf>hQ 5nu4j?Q 9nu4jQ&A)j'sBYpyr>Q Ir?j}CIj;ij;jHmu4yvCɮvBvEZ Rbj"ړڒ’%@x]@IɢM%C<)I M?iQ)UofQQiUZi]0=ɧ]s]#BieY ?ewA=ٔQ->9Y=FyEE>Q 5u4?Q 9u4x#A)sBY?Q E:y4>Q I?}CIe;i ;V|u4yCɮ'BZRbj"ړڒ’}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787117`X]@ɢv <) \?i)8*i:k=ɧHp:@io ?8<Io ? o ?I IIO=ABAB>BLCBHBJBB =B:DBBB;B0FEi- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039067ԙ t,mҡ?A2>2p>2ٱ2! :AHRS rotation from veh to nav: [[0.877862,-0.470329,-0.090275],[0.478600,0.868385,0.129803],[0.017343,-0.157155,0.987422]]2Hq?޿;`?`?e?U‘?@Ŀ`?i2>I2^;2CEB} EBjEB,E@"EB݉:*EB9VEBg4ZE@BEBT;aJ2EBV;aJJEBc<;aJ:EBd<;aJYRHJByRHbD^eVD^8yE.;%MO=ٔMJ;Q-M>9QYQ=UFyUEUE]>aQ 5mu4exŅ?Q 9mu4e A)esBYiym>Q Iu?e~CIe6:ie:e&u4yyɮ}&ByZRbj"ړڒ’ P]@ɢ+2<) ?i)i#m=ɧ?m =i>7 ?D<Ն(I>7 ? >7 ?IA iAzA qA .AII!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292941ԡ '̺t,Iҡ?AB#>Bl>BٱB# NAHRS rotation from veh to nav: [[0.878566,-0.468927,-0.090714],[0.477324,0.868737,0.132129],[0.016848,-0.159384,0.987073]]BH@6? ޿@9y?`??|@?fĿ?iB#>IB^;BCYZEJBy^HbDfyVDf8rBDAT read: Rx Time:20:40:42.3941 vTRx dataTimestamp_ set to:1761511243.736803vchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.544347yn%zR=ٔzB:Q-z>9~ ?Y~ ?=~Fy~ErE> Q 5u4 ׅ?Q 9u4 NA) sBYy>Q I? \~CI :i < u4yCɮiBEZRbj"ړڒ’]@aɢe<)a e@?ia)e$țiiim(o=ɧ5j駕D^;i! ?Z<I! ? ! ?IE~ EcEE"E:*EL9VEZEa@a@a@a@A؟AII O5->checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795044) B >B MCB HB xJBB B B B ;B ~FEBBBBBCː5\t,"ӡ?AZH>Z>Z)5ٱZR% jAHRS rotation from veh to nav: [[0.879369,-0.467384,-0.090898],[0.475863,0.869212,0.134257],[0.016260,-0.161316,0.986769]]ZH`#?`ݿEt??S/?u? Ŀ@?iZH>IZ0^;ZCYzHJByzHI<)iMb@Mb@Mb@ 9$C?T㥛 ~jtY?y B)YBbD VD 8yM+;%M)=QٔU:Q-U>9]"?Y]"?=]Fy]E]bEe>aQ 5u4ew?Q 9u4ehA)aY?Q E:y>Q I?e~CIe$;ie؛;eu4yɮgBZRbj"ړڒ’|^@DAT read: 20:40:42.3941 LVL= 32112, 32753, 32754, 32755, AGC= 90, IDX= 12, 0.47,-2.413, 2.063,-2.676,-2.735, PHS= 0.424,-1.440, 0.016, RAW= 138.0, 11.8, CAL= 137.4, 12.8, ROT= 12.6, -12.8 %Ygot valid direction response: 20:40:42.3941 LVL= 32112, 32753, 32754, 32755, AGC= 90, IDX= 12, 0.47,-2.413, 2.063,-2.676,-2.735, PHS= 0.424,-1.440, 0.016, RAW= 138.0, 11.8, CAL= 137.4, 12.8, ROT= 12.6, -12.8 -PDAT read: Bearing 190.6, 10.8 (Local) 5~Local bearing/azimuth received: Bearing 190.6, 10.8 (Local) =DAT read: Range 11 to 50 : 2016.7 m (Round-trip 2689.0 ms) speed 0.5 m/s ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.951665,0.212722,0.221548]MFpublishing direction and range infoyx R t?~{:?@|[?YDp} )ZI>iQo<%@.z@ )z0a>IHƝY?$j.X? Ĭ? !>)ORIz0a>iqɢuh<)q }"?iy)}h^yyi}Kqlc=ɧe駅7iH ?<IH ? H ?IyE EmE.E"Ea:*E:VEـ4ZEBEh;a2Ei;aJEOG;a:EOG;aA.AI!I1O=r>ԩ 't, ӡ?A2`>2 >2Kٱ2 ' :AHRS rotation from veh to nav: [[0.880223,-0.465788,-0.090826],[0.474305,0.869769,0.136148],[0.015581,-0.162920,0.986516]]2H*?zݿa@ [?%?Om?@'?Ŀ`?i2`>I2^;0\YjRJByjHbDrvVDr8yzA<%zy=ٔ~;Q-~?9 ?Y ?=FyEޱE ? Q 5u4 ?Q 9u4 qA) sBYy>Q I? ~CI r;i ; "u4y%Cɮ-B-EJR-[ӡ?ADDx??=ޝ@iԴz@^{@x R t?~{:?@|[?z0a>d—qMی@@_5x@I?cbzT?>(p?j^DrfDZ|a?bwzC|a?wCڗDp??ZaRibiji"iiړiqڒq’qû@} ?颡ɢ,<) ?i)f顩i4sA=ɧb駵Sx5i ?b<I ?  ?I^A ;II O>E y E gE ,E "E :*E &9VE g4ZE a @a @a @a @Q Lt,/:ӡ?A2_>2 >2mٱ2Τ( :AHRS rotation from veh to nav: [[0.881163,-0.464146,-0.090111],[0.472590,0.870457,0.137710],[0.014521,-0.163930,0.986365]]2H|2?ݿ@>?@?x?@?Ŀ`M?i2_>I2];2CYFXJByFHiMMb@Mb@Mb@IIII I9MA`"? rh~jt?YM?yMCM9yYy=}FyEE>Q 5u4?Q 9u4A)sBY&?Q E:yr>Q I?CI ;i ;u4yCɮBZRbj"ړڒ’`?ɢ5A<) ?i) /g  i u=ɧ_h2iAR ?C<IAR ? AR ?I^ArQI)I9OM0>AAB>BBBB =BBBŏ;BFEqԡ t,ݴTӡ?AE0 E2jE2)E0"E0*E29VE2FA4ZE0BE2ˤ;a:2E2̤;a:JE2c<;a::E2d<;a:>4>>>>&^ٱ>) JAHRS rotation from veh to nav: [[0.882249,-0.462180,-0.089589],[0.470586,0.871264,0.139456],[0.013602,-0.165194,0.986167]]>Hb;?`Zݿ Gﶿ?e??,ۋ?`%ſ?i>4>I>{];9hYh=jFyjœEnwûEn>pQ 5vu4r#?Q 9vu4rA)r#sBYtyvP>Q Iz?rUCIry:irN:r,u4y|ɮ~B|ZRbj!"!!ړ!!ڒ!’))- ?QɢU7 t,nӡ?A>c>>P>>.)Qٱ>H, FAHRS rotation from veh to nav: [[0.883471,-0.459847,-0.089547],[0.468311,0.872069,0.142059],[0.012766,-0.167441,0.985799]]>HeE?#nݿ춿 ?? .?@$?`nſ`?i>c>I>];9lYl=nFynĜEr ѻEr>tQ 5vu4v6?Q 9zu4vNA)v3sBYxyz >Q Iz?vCIv:iv:vPu4y(CɮBEZ!R!b!j!"!)ړ))ڒ)’)15j?Yɢ]<)a e1?ia)eaaie/ym=ɧmWm,iun?ugԑB >B B HB JBB =B 9DB B ;B FEԹ t,lӡ?AF >FP>FyDٱFN.. fAHRS rotation from veh to nav: [[0.884615,-0.457682,-0.089350],[0.466169,0.872855,0.144261],[0.011964,-0.169267,0.985498]]FH N?Jݿ߶?`m?!w?਀?@ſ 2?iF >IF];FCYrJByr$HimMb@Mb@Mb@iiii i9mZd;O?p= ףZd;?Ymj?ymmy=im/A mB)iiYibDVD 8yb=%?=ٔ :Q->9Y=FyƜEE>Q 5u4K?Q 9u4A)UsBY?Q E:yV>Q I?CI ;iz ;Mu4y?Cɮ7BEZRbj"ړڒ’H?ɢ%.<)! %F$?i!)%!)i-S{-=ɧ5S5{)ԑiW?+<IW? W?IIIO=ԹEu EgE)E"Ev:*E&9VEFA4ZEBEA;a2EC;aJEx1;a:Ex1;a +t,ZFӡ?A2+>2c>2E7ٱ2. :AHRS rotation from veh to nav: [[0.885467,-0.456149,-0.088744],[0.464567,0.873516,0.145421],[0.011186,-0.169993,0.985382]]2HU?1ݿ뷶u?@?#??`Qſ`??i2+>I2n];2CYFJByF5HIJ4=)JR=bDR]VDR8yVC=%ZZ=ٔZ;Q-Z>9\Y\=^Fy^ȜEbEb>dQ 5fu4f\?Q 9ju4fO A)fssBYhyjt>Q Ij?fCIf:ifp:fiu4yraCɮrrBpZaRabaja"aaړiiڒi’iiuʼ@ɢ<) '?i)i0z}@=ɧP&i,?Sb<I,? ,?IA>A>II O5=I E  E lE E "E :*E :VE ZE a @a @a @a @R[t,i7ӡ?AF{C>Fj>F)ٱFLj- RAHRS rotation from veh to nav: [[0.885882,-0.455641,-0.087209],[0.463796,0.874064,0.144586],[0.010347,-0.168533,0.985642]]FH$Y?6)ݿ`PSԮ?U? ΁?`0? ſ``?iF{C>IF<];FCYZJBy^AHi=Mb@Mb@Mb@9999 99=+?ˡEˡE?Y=?y='===B=A =B)=B9Y=BbDiVD8y<%9=ٔ:Q->9Y=Fy˜EE>Q 5v4q?Q 9v4; A)sBYu!?Q E:y>Q I?,CI;ih; v4yCɮBEZRbj"ړ!ڒ!’!!i)I)%+@Yɢ]2%<)a e?*?ia)ei|vaaim m=ɧu^MuK$iu?uB9A9BE>BABEDHBEJBBABE:DBABE;BEFEԑԹ >t,ӡ?AD zD"?AE& E&kE&+E$"E&:*E&:VE& [4ZE$BE&;a*2E&;a*JE&@;a.:E&@;a.P^N>^>^rٱ^R}( jAHRS rotation from veh to nav: [[0.885848,-0.456237,-0.084388],[0.463876,0.874654,0.140708],[0.009614,-0.163792,0.986448]]^HX?@2ݿp $?@+??`z?Ŀ?i^N>I^^;^CYrJByrRHbD~]VD~8y =% X=ٔ :Q- >9"?Y"?=Fy̜Eo9E>!Q 5%v4%ރ?Q 9-v4%A)%sBY)y->Q I-?%JCI%6:i%-:% v4y1ɮ=B9ZYRYbYjY"Yaړaaڒa’aim 2 @频ɢx =)Jڼ -?i)n顙iD􀼩=ɧJ駥"id?S<Id? d?I^AzA%jAzA%iAAYIqIO>! %ht,ӡ?A 46C2>21>2Wٱ2Y=%vG kA!MD9MkAYMu5A UAHRS rotation from veh to nav: [[0.885661,-0.456952,-0.082453],[0.464244,0.874862,0.138182],[0.008993,-0.160661,0.986969]]2HVW?>ݿ`.???j?Ŀ`??i2>I2];2CYmJBymbHbD}0VD}8y<%B=ٔa:Q->9Y=FyϜE:E>Q 5v4痆?Q 9v4A)sBYy>Q I?kCId:i:%v4yCɮBZRbj"ړڒ’ @ɢ=) 0?i)Sdi%$%N=ɧ-zG-i-V?-t<)I-V? -V?I1^A]bE [4jE [4rE/E]| E]lEYEY"E] :*E]:VEYZEYam@am@au@au@)IIIOu6>Qԁ BU >BQ BU vHBU JBBQ BQ BQ BU :;BU )FEOu, ԡ?A2>2>2 ٱ2].# :AHRS rotation from veh to nav: [[0.885205,-0.458048,-0.081266],[0.465123,0.874651,0.136554],[0.008531,-0.158677,0.987294]]2HS?Pݿʹ?#?z?x?OĿ?i2>I2&^;0YFJByFlHiMb@Mb@Mb@ 9{Gz?~jthkt?YY#?yD = BhA :B)BY=BbD}VD}8yԝ<%K=ٔ:Q->9Y=FyќE ;E>Q 5v4?Q 9v4fA)tBYP%?Q E:y!?Q I?CIa:i':3v4yɮBZRbj"ړڒ’@ɢ}=) 2?i)T[!!i%"G-=ɧ-oE-i-?-4<)I-? 5?I1ԁEe EexEe*Ea"Ee:*Ee:VEe(N4ZEaBEe޽;au2Ee;a}JEeYo;a}:EeYo;a}^AbިԱIIO> ia Ia .zu,e#ԡ?A2㉈>26>2Oٱ2# :AHRS rotation from veh to nav: [[0.884744,-0.458990,-0.080964],[0.466011,0.874079,0.137186],[0.007802,-0.159105,0.987231]]2HO?`ݿ ?s?O?T?@]Ŀ@e?i2㉈>I2f^;2CYFJByFHbDNKVDNӽ8yV)=%VZ=ٔVl:Q-Z>9XYX=ZFyZӜE^.;E^>`Q 5fv4b?Q 9fv4b]@)b2tBYdyff?Q Ij?bCIby:ib-:b@v4ynCɮnBnEZ|R|b|j"ړڒ ’   @e@1ɢ5=)9 =6?i9)=2RAAiE\lM=ɧMCMpiMS?Md;IIMS? US?IQԹ+w@@@@E} z E} yEy Ey "E} l:*E} :VEy ZEy a @a @a @a @I I O >A ͧu,1x=ԡ?AfZ>f>fݻٱfQ! nAHRS rotation from veh to nav: [[0.884008,-0.460706,-0.079246],[0.467423,0.873577,0.135568],[0.006771,-0.156884,0.987594]]fHI?6|ݿ`~I C? X?GZ?@{?Ŀ@^?ifZ>If.^;dYzJByzHi}Mb@Mb@Mb@yyyy y9}uV?X9v?x&?Y}r(?y}<}7=}B}A y)yyY}BbDAVDʽ8y%<%;=ٔ;Q->9Y=Fy՜En;E>Q 5v4fц?Q 9v4k@)PtBY)?Q E:y ?Q I?ЀCIs:i:?Pv4yUCɮUZBUEZRbj"ړڒ’ 9@ ɢ /=) 9?i)GiIi=ɧ%BPi%l?% &;!I%l? %l?II%ѼIIO>AAB>BKCBHBJBB =BBDB;BEEBBBĔCBĄ =BCĺ5Aiԑ u,DWԡ?AE{ EkEE"E=:*E:VEZEBE;a2E;aJE@;a:E@;a>>>A>> 4ٱ>X JAHRS rotation from veh to nav: [[0.882891,-0.463182,-0.077243],[0.469545,0.872751,0.133540],[0.005560,-0.154171,0.988029]]>H`@?Ĥݿ 0Ƴ ?`??yv?ܻÿ@?i>>I>8^;>CYJByHbD-9VD-ý8y=}#<%=R=ٔE~K;Q-E>9AYA=EFyEלEM;EM>QQ 5]v4Uㆈ?Q 9]v4U@)UjtBYYye ?Q Ie?UCIU;iU;U]v4yiɮmXBiZRbj"ړڒ’B@ɢ>*=) :?i)>iІK=ɧ@YiĆ?4;IĆ? Ć?IqԡtۼA-iAzA-hAIIOb> *u,6qԡ?A2>2d>2Cٱ2p :AHRS rotation from veh to nav: [[0.881851,-0.465546,-0.074869],[0.471508,0.872083,0.130962],[0.004323,-0.150790,0.988556]]2H@ 8?ݿ* /-?`?[?q?Mÿ@?i2>I2 ^;2CYJJByJHbDR&VDR8yZ[%ZS=ٔZQ;Q-Z>9\Y\=^Fy^ٜEb:;Eb>dQ 5jv4f?Q 9jv4f]@)ftBYhyj ?Q In?fCIf:if:f`kv4yrCɮrBpZRb j "  ړ  ڒ’ @@ɢ"=) 9?i)Y5iw+ =ɧ?ii̚?%+;I̚? ̚?I!!!!E5 E5mE5)E1"E5:*E5:VE5FA4ZE1aE@aE@aE@aE@I9IiO\>) B >B B HB KBB =B B B Ԏ;B EE"u,ԡ?AY~KBy~H iMb@Mb@Mb@ 9/$?&1?Q?Y1(?yP=< B ):BYBbDBVD˽8y=%:=ٔQ->9Y=FyۜEE>Q 5v4 ?Q 9v4:@)tBY(?Q E:y?Q I?7CI:i:zv4yCɮBEZRbj"!!ړ!!ڒ!’))-@QɢUƅ'=)Y ]%A?iY)]*YYie9eNľ=ɧm>m>imy?m,;iImy? my?IqIAIIO=>Em EmqEm*Ei"Em:*Em$ :VEm(N4ZEiBEmb 6d>6{wٱ6 >AHRS rotation from veh to nav: [[0.879083,-0.471686,-0.068743],[0.476668,0.870227,0.124473],[0.001110,-0.142190,0.989839]]@6H@r!?0޿$?`?@vݿ? .R?@E3¿¬?i6>I63^;6CYJKByNHbDV4VDV8y^%^]=ٔb:9`Y`=fFyfݜEf<Ef>hQ 5nv4j?Q 9nv4j@)jtBYpyrz?Q Ir?jVCIjI;ij;jv4yvACɮvBvEZ!R)b)j)")1ړ11ڒ9’AAEƁ@颁ɢ6=) @?i)!顑iY=ɧ#>駥Ti\?4;I\? \?IԩA II1O= >Eu } Eu zEu (Eq "Eu ݉:*Eu  :VEu c44ZEq a} @a} @a} @a} @ .u,¿ԡ?Al>>Ss:ٱu AHRS rotation from veh to nav: [[0.877825,-0.474272,-0.067004],[0.478981,0.868921,0.124717],[-0.000928,-0.141574,0.989927]]H$?wZ޿4'?2?u?ajN¿|?i>IZ^;Y-KBy-HiMb@Mb@Mb@ 9MbX9?V-?9Y=FyߜEt;E>Q 5 v4/?Q 9 v4@)tBY|"?Q E:y?Q I?zCI ;iu ;(v4yɮBZRbj"ړڒ’W@1ɢ5w#=)9 =B@?i9)=>99i==}G9=ɧz=駅ci?'*;I? ?IB<A<B>BBHBKBB =BBDB;BEEA.AI!I9OER>1Y &5u,ԡ?AE EmE*E"E:*E:VE(N4ZEBE޽;a2E߽;aJENG;a:EOG;a>>>?>$;ٱ>Y JAHRS rotation from veh to nav: [[0.876454,-0.476885,-0.066396],[0.481479,0.867348,0.126036],[-0.002516,-0.142433,0.989801]]>H ? 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D9 zD= ?AEM { EM hEI EI "EM =:*EM ]9VEI ZEI BEM ;aU 2EM ;a] JEM 5;a] :EM 5;a] w,pޡ?A>X>>?>=ٱ>o FAHRS rotation from veh to nav: [[0.815915,-0.575390,-0.056651],[0.577211,0.804993,0.137165],[-0.033320,-0.144614,0.988927]]>H?i@X@x? ??@D¿ J?i>X>I>];>CPYVGByVHbD^JVD^8yf_%fX=ٔfQ-j>9j"?Ij"?=jFyjEn)<En>pQ 5v{4r ɍ?Q 9v{4r|?)rsBYtyvq?Q Iz?rCIr:irg:r>{4y|ɮ~WB|ZRbj!"!!ړ!!ڒ)’))-F@ III"Mml@Yɢ]<)a edia)eq! Zw,ޡ?A6v>63c?6=ٱ6 >AHRS rotation from veh to nav: [[0.814199,-0.577763,-0.057178],[0.579669,0.803432,0.135944],[-0.032605,-0.143830,0.989065]]6H ? }@yF??f?`i¿k?i6v>I6];6CYJGByJpHIN<)N;bDV=VDVۼ8yZ%^K=ٔ^aQ-^>9b ?Ib ?=bFybEf;Ef>hQ 5j{4j֍?Q 9n{4jy?)jrBYlynq?Q In?jˍCIj;ij;jG{4yvCɮvBv\E|ZRbj"ړڒ’%fF@ 999"=@QɢUp;)Q UNiQ)]pBqBuHBuGBBqBqBqBu;Bq^A*:<%=4=QA؟AIIO>ԁ !w,ޡ?A2[>2K?2=ٱ2 :AHRS rotation from veh to nav: [[0.812790,-0.579660,-0.058016],[0.581682,0.802082,0.135315],[-0.031903,-0.143729,0.989103]]2Ha?``K#??Q?U e¿?i2[>I2];2CYFGByFoHbDR,VDR˼8yZ %ZK=ٔZ-Q-Z>9~"?I~"?=~FyE;E> Q 5{4 9午?Q 9{4 L?) rBYykr?Q I? CI ;i  ; {4y!ɮ%B!ZARIbIjI"IIړIIڒQ’QaQeC0G@ "@频ɢh;) i)jn<顙i|`h=ɧ駭Ǽi?_;VԹ w,nޡ?A2i>2R?2<ٱ22 :AHRS rotation from veh to nav: [[0.811608,-0.581129,-0.059846],[0.583368,0.800712,0.136167],[-0.031212,-0.145427,0.988877]]2H@? ?@o?`m?W¿?i2i>I2&];2CYF~GByF]HbDN>VDNܼ8yV%VK=ٔVQ-Z>9XIX=ZFyZE^I;E^>`Q 5f|4b?Q 9f|4b`?)brBYdyfr?Q Ij?bCIb:ib|:bv |4ynCɮn+Bn]EZ|R|b|j"ړڒ ’   `~bG@ )))"-@Թɢv˵;) #i)l<i;zۼf=ɧEŽi [? ?; I [? [?I9IIO>Eq EujEu*Eq"Eq*Eu9VEu(N4ZEqa}@a@a@a@Bu <Au <B >B B HB GBB =B B B ێ;B EEA ʵw,Jޡ?A6G>6?6w<ٱ6 >AHRS rotation from veh to nav: [[0.811091,-0.581547,-0.062724],[0.584101,0.799614,0.139441],[-0.030936,-0.149736,0.988242]]6Hu??o? 0? *ÿ?i6G>I6)];6CY^]GByb3H ``ddyMZd;?{Gzt?J +M?Mף;MHI I9M#~j?Q?RQYM%?yM\>M½M"BMA MpB)MWBIYM\BbDeVDe8yu%u>=ٔur(Q-u>9yIy=}FyE;E>Q 5|4?Q 9|4}?)krBYr+?Q E:yP?Q I?7CI ;iC ;y|4yɮ>-?"eG?颡ɢ{;) "i)jj<顩i'yd=ɧ駽D˽i!?1;I!? !?IIIO=AiDy zD} @AE y E cE (E "E :*E L9VE c44ZE BE ˤ;a 2E ̤;a JE ";a :E ";a ԙ w,&ޡ?A2g!>2,?2ֆ<ٱ2T :AHRS rotation from veh to nav: [[0.810811,-0.581667,-0.065180],[0.584521,0.798914,0.141672],[-0.030333,-0.152968,0.987765]]2H*? e?ഐ?Q"?xÿ@ƛ?i2g!>I2 ];2CY~AGBy~HbDFVD8yE%MM=ٔMBƺQ-M>9IIQ=UFyUEU:EU>aQ 5e|4e>?Q 9m|4ex?)e4rBYiymP?Q Im?eYCIe:ie:eg(|4y}Cɮ}B}^EZRbj"ړڒ’`G@ "??ɢS:) 2>i)0Qh<iwlc=ɧ2Qнih ?#;Ih ? h ?IqIIO=PExceeded connect timeout, disconnecting.ԡ w, ߡ?A2Ud>2 ?2^<ٱ2E :AHRS rotation from veh to nav: [[0.810535,-0.581809,-0.067312],[0.584951,0.798379,0.142908],[-0.029405,-0.155206,0.987444]]2H?-V;@?R?J?@Oÿ%?i2Ud>I2];2CYNGByRHbDZ@VDZ޼8yvؽ%vP=ٔvBQ-v>9xIx=zFyzEz:E~>YQ 5e|4]!?Q 9e|4]s?)]qBYaymP?Q Im?]{CI]:i]:]6|4yqɮuBqZRbj"ړڒ’ %H@ "7?ɢPm) hi)JPe<i va=ɧclսida?d;Ida? da?IE9 E=kE=*E9"E9*E=:VE=(N4ZE9aE@aE@aE@aE@B>BBPHBtGBB =BBBЎ;BEE^A=<IIOa>) w,I%ߡ?A2h>23 ?2b<ٱ2 >AHRS rotation from veh to nav: [[0.810166,-0.582224,-0.068168],[0.585494,0.797991,0.142856],[-0.028777,-0.155649,0.987393]]2H ?rs]?#?I?wKÿ?i2h>I2,];2CYFGByFHIH)J=bDR VDR8yZH%ZN=ٔZϺQ-^>9\I\=^Fy^Eb:Eb>dQ 5j|4f'0?Q 9j|4fo?)fqBYhyjP?Q In?fCIfy:if-:fC|4yrQCɮr!BrUEZRbj "  ړ  ڒ’s1H@ 111"5{A?IɢURv)Q U|iQ)Ut0b6)@ ?61<ٱ6D!@ >AHRS rotation from veh to nav: [[0.810073,-0.582192,-0.069526],[0.585662,0.797793,0.143268],[-0.027942,-0.156777,0.987239]]6H@? P{̱??V?Ҝ`DĿu?i6b>I6TA^;4Y^FBybHbDjVDj8yrذ%rG=ٔr^Q-v>9tIt=vFyvEz9Ez>|Q 5|4~??Q 9|4~i?)~qBY y P?Q I ?~CI~!;i~(:~KR|4yɮ4BZARAbIjI"IIړQQڒY’aaefH@ "a5?颹ɢU) ni)V^<ir$^=ɧ ߽i?(;A>bE(N4jEL4rEǒ/Eu EuiEu)Eq"Eu:*Eu9VEuFA4ZEqa@a@a@a@A.AII O= >A A B- >B- NCB- HB- 7GBB- =B) B) B- ;B- EEq  TDAT read: user:116>Rx Time:20:41:32.1266  TRx dataTimestamp_ set to:1761511293.388732w,!Yߡ?A2P>21 ?2Z<ٱ2t" :AHRS rotation from veh to nav: [[0.810223,-0.581821,-0.070874],[0.585497,0.797837,0.143697],[-0.027060,-0.157924,0.987080]]2HX?F@$c??d?`6Ŀ)?i2P>I2Y^;2CY%FBy%H9yE?/$ rh&?C 9v?y&1+ηY?y`evB|A mB)BYQBbDVD8y>»%;=ٔ^Q->9 ?I ?=FyEE>Q 5|4R?Q 9|42f?)`qBY ?Q E :y ?Q I ?ߎCI:i:a|4yxCɮBZ9R9b9j9"99ړ9AڒA’AAEH@ ==q@"#d>@ɢb) ‘i).Z<iפp%'\=ɧ% -bI޽i- ?-;)IM ? M ?IQ^A-~Eԑ Ee y Ee jEe ,Ea "Ee :*Ee 9VEe g4ZEa BEe ˤ;am 2Ee ̤;au JEe c<;au :Ee d<;au Dw,tsߡ?A2M)>2?2~9<ٱ2"# :AHRS rotation from veh to nav: [[0.810872,-0.580757,-0.072166],[0.584639,0.798370,0.144230],[-0.026147,-0.159144,0.986909]]2H@?{y\???$v?gƚ`^Ŀ”?i2M)>I22^;2CYFFByFaH HH N49f"?If"?=fFyfEj?Ej>lQ 5r|4na?Q 9r|4nc?)n8qBYpyr?Q Iv?nCIn:inN:njn|4yxɮzBxZԑRbj"ړڒ’H@ "V>@!ɢ--)Q ]iY)e4V DAT read: 20:41:32.1266 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 300,-0.10,-2.253, 2.369,-2.184,-2.437, PHS= 0.286,-1.432, 0.210, RAW= 147.7, 11.1, CAL= 147.5, 12.2, ROT= 2.5, -12.2  Ygot valid direction response: 20:41:32.1266 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 300,-0.10,-2.253, 2.369,-2.184,-2.437, PHS= 0.286,-1.432, 0.210, RAW= 147.7, 11.1, CAL= 147.5, 12.2, ROT= 2.5, -12.2  6DAT read: bearing request  Dreceived a bearing request message BDAT read: Tx time:20:41:33.7294  $Ping request sent. ie Ke = W>e $@e aF>e S$@ e ^ Z>)e ¸2=Ie ^ Za e Nm?d>?`D? e > )e :GIe ¸2=ie ^ Ze :publishing transmit ping time m :publishing range request flaga ya ya e *^??-)ԥ?\ ?a a a a a )a Ia ia a a a a a )a Ia a e Nm?d>?`D? a )a Ia ia *w,Iߡ?A2k>2V?2 Z<ٱ2?$ :AHRS rotation from veh to nav: [[0.811729,-0.579487,-0.072736],[0.583475,0.799189,0.144408],[-0.025553,-0.159660,0.986841]]2H?'Оҫ??{?* oĿ@4?i2k>I2^;2CYFFByF%HIbDfVDfh8y~%G=ٔQ->9 I = Fy E efE >Q 5=|4r?Q 9E|4_?) qBYAyE5?Q IE?CI;iG;||4yMCɮMBUVEZRbj"ړڒ’!I@ "J>>@E{ EE)E"E=:*Ex:VEFA4ZEa%@a%@a-@a-@1ɢ=TvW)9 =Ui9)=7Q<9AiElE:X=ɧMy M@۽iMk?MX;IIMk? Mk?IQ@a@a@a@aB>BMCBHBFBBBBBb;BWEEBqBqBuÓCBqBuÄ =Cu4!A-.AI9IIQO]>y Tw,>#ߡ?A2Ў>2?2<ٱ2Kw% :AHRS rotation from veh to nav: [[0.812725,-0.577967,-0.073703],[0.582115,0.800054,0.145107],[-0.024901,-0.160836,0.986667]]2H?~4޲௠?@ ? ݒ?CĿƒ?i2Ў>I2E_;2CYbFByb2HbDjVDjF8yr1<%rL=ٔrպQ-r>9v ?Iv ?=vFyvEzEz>|Q 5|4~?Q 9|4~*\?)~pBYy?Q I?~8CI~a;i~+;~Ċ|4yɮBZRbj"ړڒ’6I@   " )>@ɢAQ)! %i!)%eLE-x E-iE)E)"E-ˀ:*E-9VE)ZE)BE-;a52E-;a5JE-8;a=:E-8;a=ԁԩ 6?6 6<ٱ6v& BAHRS rotation from veh to nav: [[0.814026,-0.576016,-0.074610],[0.580329,0.801265,0.145575],[-0.024071,-0.161800,0.986530]]6H ?n`??5?%Ŀ ?i6m>I61^;6CYRZFByRHIZ%=)Zp=bDfVDfM8yr%rJ=ٔviQ-v>9z"?Iz"?=zFy~EfE> Q 5|4 ה?Q 9|4 X?) pBYy"?Q I? WCI b:;i 6; |4y5Cɮ5_B5WEZaRibiji"iiړqqڒ’lI@ 111"5m>@AɢMb)I MҾiI)MsFAu>ԱA!I)I9OM0>E=y E9E=-E9"E=:*E9VE=t4ZE9aE@aE@aE@aE@ B A <B >B B VHB FBB B B B ;;B 1EE9 Dgw,ߡ?A2>2?2<ٱ2* :AHRS rotation from veh to nav: [[0.815956,-0.572950,-0.077099],[0.577639,0.802597,0.148897],[-0.023432,-0.166029,0.985842]]2H`O?Uྼ`|??? qp@ſ?i2>I2_;2CYn9I=FyEE>Q 5|4p?Q 9|4/V?)pBY8?Q E:y>Q I?xCI:i;ȧ|4yɮnBZRbj"ړڒ’ I@ g= g= :?" 3@颙ɢĞ) i)@<顡itUfSmS=ɧ,%zӽiP?@;IP? P?IAIIO (>9i9I9i D9 zD9 EA  EE eEE 0EA "EA *EE 9VEE 4ZEA BEE ˤ;aU 2EE ̤;aU JEE 0*;aU :EE 1*;aU w,ȴߡ?A 27>2?2z<ٱ2. >AHRS rotation from veh to nav: [[0.817910,-0.569851,-0.079329],[0.574893,0.803991,0.151973],[-0.022822,-0.169906,0.985196]]2HQ,? 8<Ne?K?s?@^{ſ?i27>I2Z_;0YF9FByFHbDRVDRS8yZ%ZY=ٔZpԺQ-^>9\I`=bFybEbEb>dQ 5j|4fݹ?Q 9j|4fS?)fpBYlyn>Q In?fCIfeԙ xx,?A2>2=?28ɵ<ٱ20 :AHRS rotation from veh to nav: [[0.819575,-0.567311,-0.080343],[0.572542,0.805439,0.153180],[-0.022189,-0.171542,0.984927]]2H9?i'c@DR?'?d?ſ@?i2>I24_;2CYFFByFH HHPbDRVDRj8yZa%ZJ=ٔZzͺQ-^>9`I`=bFybĝEfEf>hQ 5j|4j̎?Q 9n|4jQ?)jpBYlyn>Q In?jCIj;ij;j|4ytɮvBtZ R b j "ړڒ’ J@ 999"=@ɢ") i)+5<ia@P=ɧ}#dȽiK?8#;BeNCBe HBelFBBaBaBaBe6;Be-EEIIO>! x,j(?A6 >6_?6̯<ٱ6=1 >AHRS rotation from veh to nav: [[0.821212,-0.564865,-0.080865],[0.570220,0.807020,0.153519],[-0.021458,-0.172182,0.984831]]6H]G?@_>????` ƿ@?i6 >I6;_;6CYJFByJHbDVVDVx8yZ'R;%^J=ٔ^Q-^>9`I`=bFybƝEfEf>dQ 5j|4f]ߎ?Q 9n|4f/O?)fpBYlyr >Q Ir?fҏCIf%;if&;f.|4yv Cɮv&BvOEZRbj"!!ړ!!ڒ!’))- 6J@ III"M@Yɢ]0)a eia)e'/Jy?JG4<ٱJ:62 VAHRS rotation from veh to nav: [[0.822728,-0.562512,-0.081845],[0.568069,0.808461,0.153913],[-0.020409,-0.173122,0.984689]]JHS?``-?@?h?)政 (ƿ`?iJ>IJ?_;HY~FBy~HbD VD 8y0%D=ٔ%}$Q-%>9!I!=%Fy-ȝE-λE->1Q 5=|45?Q 9=|45L?)5pBYAyE>Q IE?5CI5:i5:5|4yMA CɮMuBIQZqRqbqjq"yyړyyڒy’Bi Bm HBm 9FBBm =Bi Bm úDBm 9;Bm 4EE 7x,"\?A2x>2?2<ٱ22 :AHRS rotation from veh to nav: [[0.824801,-0.559379,-0.082451],[0.565092,0.810517,0.154055],[-0.019347,-0.173657,0.984616]]2H@d?`o|;??`?ϓb:ƿ?i2x>I2_;2CY^FBy^HIb4>)b;yV-?w/ĿMb?-?&< 9i|?5?K7+?Y?yI =BCA mB)|BYBbDVDZ8y縼%B=ٔE%Q->9I=FԹyʝE E>Q 5|4?Q 9|4XJ?)pBY(?Q E:yW>Q I?CI ;i ;|4yɮzBZRbj"ړ  ڒ ’ )J@ 5G=5G=5o:@"5z^@AɢEF)A MMiI)M"A>IIO%o> d> CD! zD% ?AE- | E- jE) E) "E- :*E- 9VE) ZE) BE- 2;a= 2E- 3;a= JE- c<;a= :E- d<;a= I y9 Y CfAx,u?AJ >J?Ji<ٱJ3 VAHRS rotation from veh to nav: [[0.826833,-0.556251,-0.083258],[0.562144,0.812418,0.154826],[-0.018482,-0.174818,0.984427]]JHju?dP`?T?`T?`쒿@o`ƿm?iJ >IJ_;JCY\y`bDjVDjb8ٔrQ-r>9tIt=vFyv̝EvEz>xQ 5|4zZ?Q 9|4z7H?)zpBYy>Q I?z-CIza;izn;z|4yh CɮBPEGS-B*** querying acoustic contact ***:)B)Z1R1b1j9"9AړAAڒA’AIMJ@ iii"m=^@ɢJμ) i) <iX Aq- DAT read: 5 BDAT read: Tx time:20:41:37.3007 5 $Ping request sent.5 6?6%<ٱ6S3 BAHRS rotation from veh to nav: [[0.828996,-0.552989,-0.083483],[0.558985,0.814682,0.154366],[-0.017351,-0.174634,0.984480]]6H"? _@5??`D?gđ lZƿ ݀?i6@>I6_;6CYJFByJHbDRVDRT8yZ'<%Z<ٔ^9Q-^>9`I`=bFybΝEb=Ef>dQ 5j}4f)?Q 9j}4fE?)fpBYlyn>Q In?fKCIfD;if;f }4ypɮvBtZ R b j "  ړڒ’K@ 111"5Z^@IɢMü)I MiQ)U )x,y?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016YvEByvHbD~VD~K8yE}%MA=ٔMQ-M>9U ?IU ?=UFyUѝE]E]>iQ 5u}4m=?Q 9u}4mC?)mpBYyQ I?mkCImst;imHv;mu}4y CɮBQEZRbj"ړڒ’jchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755102I 0x,c?A6o>6T?6n<ٱ6.4 BAHRS rotation from veh to nav: [[0.832968,-0.546943,-0.083774],[0.553093,0.818668,0.154502],[-0.015921,-0.175030,0.984434]]6H?`0r?`2??`M@cgƿ`|?i6o>I6f_;6CYJ-FByJHbDVVDV68y^=%^S=ٔ^lrQ-^>9`I`=bFybҝEfEf>hQ 5n}4jN?Q 9n}4jA?)jpBYlyn>Q Ir?jCIj; ;ijG ;j%}4ytɮvBtZRbj"ړڒ’oK@ "]@ɢC) %i)<i*R?F=ɧ0ƿWi?;I? ?I@@@@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007036yIIO>Ee EeeEe/Ea"Ee1:*Ee9VEeJ4ZEaa@a@a@a@B <A <B5 >B1 B1 B1 B5 =B1 B5 ºDB5 1;B5 )EEBNCBNCBBBCH5ԡ ߝ ?ߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2593207x,l?A2?8>2r?2x<ٱ2L6 :AHRS rotation from veh to nav: [[0.834290,-0.544707,-0.085176],[0.551119,0.819720,0.155973],[-0.015140,-0.177069,0.984082]]2H?>n@ε`â? %;?? @0ƿ}?i2?8>I2^;2C9I=Fy՝ERE>Q 5}4a?Q 9}4P>?)qBY?Q E:yq>Q I?CI;i$;D5}4y  Cɮ TB ZARAbIjI"IIړQQڒY’YYeK@  K> K>#@"'i@颩ɢZ) }i)<项iPLD=ɧ¿8iD?;ID? D?IԩIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511139 Ee y Ee fEe *Ea "Ee :*Ee 9VEe (N4ZEa BEe ˤ;am 2Ee ̤;am JEe -;au :Ee -;au G-=x,D?AJD>J?J|p<ٱJ8 VAHRS rotation from veh to nav: [[0.835317,-0.542929,-0.086450],[0.549572,0.820423,0.157724],[-0.014707,-0.179260,0.983692]]JH?`_`!`?@?N0?`ƿgz?iJD>IJ^;JCYbUFBybHdf@AbDj{VDj(8lyv޵=%vZ=ٔvGQ-v>9xIx=zFyzםEzE~>Q 5 }4q?Q 9 }4;?)3qBY y >Q I ?ĐCId:i[:[B}4y CɮBREZ9R9b9j9"AAړAAڒA’IIM0K@ iii"mW@yɢ}C) tվi)(2;顁iANC=ɧs駍 \i(%?բ; I(%? (%?II!]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763159IaOm= 1i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015226a Dx,?A2 >2?2Ai<ٱ2x8 :AHRS rotation from veh to nav: [[0.835566,-0.542504,-0.086710],[0.549206,0.820726,0.157421],[-0.014236,-0.179158,0.983717]]2H? 2\ 2?cC?b&?`'ƿz?i2 >I2#^;2CYbSFBybHbDjVDjI8y~ Q%~I=ٔӗQ->9I = Fy ٝE E >Q 5}4B?Q 9}48?)PqBY!y%g>Q I%?CI;i;P}4y)ɮ)19ZQRQbQjQ"YYړYYڒa’aaeO L@ "R@频ɢA) ־i)` ;顙iVLB=ɧ駭;iu?re;Iu? u?IEz EgEE"El:*E&9VEZEa-@a-@a-@a-@IyIO=B>BMCBHBCFBBBBBO;BFEEiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267949ԑ ?Jx,*?A2t>2?2jg<ٱ26 :AHRS rotation from veh to nav: [[0.836195,-0.541708,-0.085620],[0.548251,0.821655,0.155899],[-0.014102,-0.177303,0.984055]]2H?U@*뵿E?J?@?ጿޱƿ`a}?i2t>I2^;2CYNhFByRHfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519726bDZVDZb8yrO=%rL=ٔrܯQ-v>9tIt=zFyz۝Ez:E~>AQ 5M}4E픏?Q 9U}4E5?)ElqBYQyU>Q I}?ECIE;iE;E^}4y!CɮBSEԙZRbj"ړڒ’?L@ AAA"E2K@yɢ})y }˾iy);顁imJSA=ɧ駍 ia?x;Ia? a?II1IIOU=E- E-qE)E)"E-~:*E-$ :VE)ZE)BE-;a52E-;a5JE-U;a=:E-U;a=u>u%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771233! &Qx,D?AYeFBye(H qqbDVD_8y=%@=ٔQ->9I=FyݝEE>Q 5}4এ?Q 9}42?)qBYyQ I? CI;ij;wm}4yɮBZRbj"ړڒ’sL@ ")ɢ-})) -i1)5*;11i5GH=3@=ɧ==ώiE?E;AIE? E?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023108!^A &<EU~ EUgEU)EQ"EU:*EU&9VEUFA4ZEQau@au@a}@a}@ԁAAB>BBHBaFBBBBB;BvEEA ؟AI I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026ԙ gQWx,^?A21>2Bo?2i<ٱ2{f. :AHRS rotation from veh to nav: [[0.836475,-0.541972,-0.081097],[0.547820,0.823132,0.149492],[-0.014267,-0.169473,0.985431]]2Hf? W`´`?W?"?7Mſ?i21>I2^;2CY^FBy^:HyMoʡ?~jt?I +?M-?M9"?I"?=FyߝE%ZE%>)Q 5=}4-˷?Q 9E}4-.?)-qBYEI?Q EE:yE'?Q IM?-@CI-yc;i-b;-,|}4yU8!CɮU(BUJEqZyRybyjy"ړڒ’KL@ L=L=*?@"6^@颹ɢ&) i)E;iF>=ɧxܓi?;I? ?I^Aq:ԡAIIO5O>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527406EE { EE iEE +EA "EE =:*EE 9VEE [4ZEA BEE ;aM 2EE ;aU JEE 8;aU :EE 8;aU N{]x,ҋx?A:P>:~?:^g<ٱ:h+ ZAHRS rotation from veh to nav: [[0.836349,-0.542345,-0.079891],[0.548015,0.823384,0.147369],[-0.014144,-0.167033,0.985850]]:H^?ZsW?)Y? ?l@Xaſ?i:P>I:^;8YfFByfDHbDnVDn8yv<%v^=ٔzQ-z>9xIx=zFy~E~&:E~>Q 5 }4Ə?Q 9 }4+?)qBYy'?Q I?\CI:i:}4yɮ$B!Z9RAbAjA"AAړAIڒI’IIML@ iii"mBO^@颁ɢ۟) i);顉iKEr==ɧQ駕@i?|H;I? ?I@jA@jAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779852^Ayb]AII O%>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031037bdx,e?A2y'>26j?2]a<ٱ2I) >AHRS rotation from veh to nav: [[0.836523,-0.542248,-0.078719],[0.547759,0.823984,0.144947],[-0.013734,-0.164371,0.986303]]2H ?Z&>?^? ?  ſˏ?i2y'>I2^;0Y^FBy^QHIb=)b,>bDjVDj8yr"<%rK=ٔrQ-r>9tIt=vFyvEvIEz>xQ 5~}4z֏?Q 9}4z:'?)zqBYyx'?Q I?z{CIz;iz;z}4y `!CɮmBZ1R1b1j1"11ړ99ڒ9’9AEI M@ aaa"e#b^@qɢu魑)q ujiq)} ;yyi}7C<=ɧ:駅i?;I? ?I@@@@E| EeE-E"E :*E9VEt4ZEa @a @a @a @B]>BYB]0HB]FBBYBYBYB];B]~EEQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.284180AU>AQԁAqIIO>ԩ 0jx,A?A>6>@>q?>aYU<ٱ>yb% NAHRS rotation from veh to nav: [[0.836467,-0.542530,-0.077357],[0.547863,0.824504,0.141563],[-0.013021,-0.160794,0.986902]]>H`V?@h\ͳ@?Ub??@Ŀ?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535737i>6>I>H^;>CYfFByfkHbDUVDU8yeI=%eB=ٔe޺Q-e>9iIi=mFymEu9Eu>yQ 5}4}珈?Q 9}4}.#?)}qBYyl'?Q I?}CI}:i}p:}}4yɮcBZRbj"ړڒ’ !AM@ "^@ɢ() ˢi)=F;iB;=ɧ,zi t? ; I t? t?IԱGA)I1IAOu>9YAD=D<E z E fE *E "E l:*E 9VE (N4ZE BE ;a2E ;aJE -;a:E -;aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.787062 -uqx,6?A2抹>2?2@6L<ٱ2$ :AHRS rotation from veh to nav: [[0.836121,-0.543031,-0.077577],[0.548403,0.824291,0.140710],[-0.012464,-0.160194,0.987007]]2H`?@`@ܳ?`??>Ŀ`?i2抹>I2ɯ^;2CY^FBybaHbDjVDjo8lyr>%rS=ٔvTQ-v>9tIt=zFyzEz:Ez>|Q 5}4~0?Q 9}4~q?)~qBY y '?Q I ?~CI~9:i~:~I}4y!CɮBKEZ1R1b9j"ړڒ’ZtM@ "^@ɢ&) Ǧi)0;ir@%Y:=ɧ%-ui-J?-;)I-J? -J?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039030 AI IO-->9bEjEwX4rE]%0E| EhE,E"E :*E]9VEg4ZEa%@a-@a-@a-@BQAUp<B]>BYB]bHB]FBBYBYBYB];B]zEEa e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291114ƫwx,,?A:n>:ߍ?:"B<ٱ:& JAHRS rotation from veh to nav: [[0.836245,-0.542611,-0.079164],[0.548228,0.824172,0.142079],[-0.011849,-0.162213,0.986685]]:H ?]`D?_?`/?@1DbĿ?i:n>I: ^;:CY^FBy^tH ``)yZd;?Mb~jt?>?< 9V-?S㥻?Zd;O?Y?y/=j<BA B)YBbDVDv8ya =%9=ٔQ->9I=FyEE> Q 5}4 ?Q 9}4 x?) qBYt?Q E:y B?Q I? ݑCI 3:i ; }4y!ɮ%B!ZARAbAjI"IIړIIڒI’QQUVM@ u4>u4>u(@"u@@颁ɢ$) i):;顉i>9=ɧ»駝{5ij?2F;Ij? j?IAzAhAQA II!O1BDAT read: Rx Time:20:41:42.3446 TRx dataTimestamp_ set to:1761511303.721127checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544960yԩ D zD E { E fE +E "E =:*E 9VE [4ZE BE ;a% 2E ;a% JE a% :E a% o}x,?ANs>N4?N3;<ٱNJ' VAHRS rotation from veh to nav: [[0.836146,-0.542640,-0.080011],[0.548388,0.823984,0.142550],[-0.011426,-0.163070,0.986548]]NH`?@N]@{d?^???VfvĿΑ?iNs>IN^;NCYbFBybkHbDnVDn8yvڣ%v_=ٔvQ-v>9xIx=zFyzEz~:E~>Q 5 }4?Q 9 }4V?)qBY y -B?Q I ?CI:i|:}4y!CɮBLEZ9R9b9j9"AAړAAڒA’IIMLM@ iii"mn@@颁ɢݖ) ˢi)V;顉iu=-7=ɧ駕TiH?ԙ;IH? H?I=<%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796048A.AIIO- > DAT read: 20:41:42.3446 LVL= 21920, 23217, 21762, 32755, AGC= 88, IDX= 84, 0.17,-1.305,-2.827,-1.307,-1.304, PHS= 0.101,-1.478,-0.047, RAW= 145.1, 18.4, CAL= 145.0, 20.3, ROT= 5.0, -20.3  Ygot valid direction response: 20:41:42.3446 LVL= 21920, 23217, 21762, 32755, AGC= 88, IDX= 84, 0.17,-1.305,-2.827,-1.307,-1.304, PHS= 0.101,-1.478,-0.047, RAW= 145.1, 18.4, CAL= 145.0, 20.3, ROT= 5.0, -20.3  PDAT read: Bearing 201.0, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 201.0, 0.5 (Local)  DAT read: Range 11 to 50 : 1979.8 m (Round-trip 2639.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.E \direction in FSK: [0.934320,0.081742,0.346936]M Fpublishing direction and range infoy  k: ?Z?Fv>{14?Y yD U Z U ) XI =i / @ "@ l> p!@ g>) ¸=I g umn{?J^?a) I ¸=i g ! x,?A2wx>2?23<ٱ2S* :AHRS rotation from veh to nav: [[0.836213,-0.542280,-0.081735],[0.548295,0.823725,0.144394],[-0.010975,-0.165559,0.986139]]2HA?ZZ 촿ࡋ?[?@~{? y1ſ s?i2wx>I2^;2CYNFByR{HbDZVDZ8yvg=%vJ=ٔvVQ-v>9z ?Iz ?=zFyzEz~E~>Q 5 }4c%?Q 9 }4?)qBY y 'B?Q I ?CId:i9:}4yɮBJRR?ADD9?1>ɜ@p6&d@40a@k: ?Z?Fv>{14?¸= g—ӌkՕ@g@S!@ؠ?RИ&?C_?j8DrDZ\?b$z])D\?$])DڗD{9?E| EdE*E"E :*E9VE(N4ZEa@a@a@a@ZRbj"B>BB{HBFBB =BBBw;BmEEBMCBMCBBBCT[4ړ!!ڒ!’!-@3@-`{? III"M@@Yɢ]f)Y ](ia)e;aaie;m6=ɧmÿmœim?u;qIu? u?IyA؟AIIO>)Iy ܊x,-?AFb>F?F*<ٱFE* RAHRS rotation from veh to nav: [[0.836308,-0.542046,-0.082311],[0.548161,0.823828,0.144318],[-0.010417,-0.165814,0.986102]]FH ?qXR?\?y?@Uf9ſ%?iFb>IFi^;FCYZFBy^pHbDfVDf8ynθ%nK=ٔnQ-r>9r"?Ir"?=rFyrEvչEv>xQ 5~}4z4?Q 9~}4z@ ?)zqBY|yB?Q I?z:CIzj;izD;z}4y !Cɮ cB CEZ)R)b)j)"11ړ11ڒ9’99=U? YYY"]@@iɢmƖ)q u͠iq)u;i:Z5=ɧ:ȿ.iC?;IC? C?IQAAIYIiO}>Ez EeE,E"El:*E9VEg4ZEBE;a2E;aJE0*;a:E1*;ayԩ CÑx,dG?A6:>6s?6w#<ٱ6* BAHRS rotation from veh to nav: [[0.836480,-0.541734,-0.082624],[0.547907,0.824035,0.144097],[-0.009977,-0.165805,0.986108]]6Hp?U&t?~^?q?@n9ſ2?i6:>I6J^;4YJFByJsHbDVVDVk8y^c;%^M=ٔ^gQ-b>9`I`=bFybEfHEf>hQ 5n}4jC?Q 9n}4j?)hYlyrB?Q Ir?jZCIj;ij;j}4ytɮvbBtZ R b j "ړڒ’? 999"=Z@@IɢM2~)Q UiQ)UӅ;QQiU9e`4=ɧeu̿e#ie1?e;aIe1? m1?IiԱA.AIIO>AAB>BNCBHBFBB =BBúDBK;BEEEE{ EmE-E"E=:*E:VEt4ZEBE;2E;JEOG;:EOG; E %=E %=9 x,Da?AF*>Fk?F <ٱF * jAHRS rotation from veh to nav: [[0.836549,-0.541609,-0.082730],[0.547809,0.824208,0.143480],[-0.009524,-0.165349,0.986189]]FH`?@T-े?_?]? '$*ſ܎?iF*>IFE^;FCYvFByvoHymK7?sh|?~jtx?mI,?mm;i i9mK7A?Mb?{GzYm "?ym>mףmBmA i)m|BiYm=BbDVDy %==ٔeQ->9 ?I ?=FyEsE>Q 5~4T?Q 9~4?)qBYh%?Q E:yE?Q I?~CI ;i ;~4y"CɮBDEZRbj"ړڒ’? ]>]> ?"6@)ɢ-ph)) ->i1) y;顱iK72=ɧѿ駽¾ih%?P;Ih%? h%?IA؟AI IO-,>9a E } E eE *E "E ݉:*E 9VE (N4ZE a @a @a @a @Yx,P{?A02g>2?2<ٱ2( >AHRS rotation from veh to nav: [[0.836300,-0.542088,-0.082120],[0.548193,0.824182,0.142158],[-0.009380,-0.163904,0.986432]]2H`?X ˊ? _?:2?@6Ŀ@ِ?i2g>I2;#^;2CYFByUH p;bDVD8y4M%E=ٔ|Q->9"?I"?=FyE:E> Q 5~4 d?Q 9~4 >) qBYyE?Q I? CI D;i Q; P~4y!ɮ%B!ZARAbAjA"IIړIIڒI’IQU4h? qqq"u <@颁ɢ) ݫi)g;顉ip5ԙ1=ɧֿ!ūi?;I? ?IAyIIO^>Թ x,?A2>2@?2 <ٱ2?' :AHRS rotation from veh to nav: [[0.836098,-0.542420,-0.081979],[0.548503,0.824100,0.141436],[-0.009158,-0.163220,0.986547]]2HQ?[V? _?? dĿ`ˑ?i2>I2_];2CYFFByFKHbDNVDN8yV}%Va=ٔZ Q-Z>9XIX=^Fy^E^:`Eb>dQ 5j~4fs?Q 9j~4fo>)fqBYhyjE?Q Ij?fCIf:if6:f$~4yr0"CɮrBpZRbj "  ړ  ڒ’@ 111"5V@@AɢE񒳼)I MiI)M2W;IIiU|4U/=ɧ]!ۿB>BOCBBB =BBBB;B@EEEy EgE+E"E:*E&9VE [4ZEBEˤ;a2E̤;aJEx1;a:Ex1;aeNi1 ?;I1 ? 1 ?IA II!O5 >A )x,Ӯ?A:!>:?:Wc<ٱ:( BAHRS rotation from veh to nav: [[0.836117,-0.542371,-0.082112],[0.548475,0.824094,0.141575],[-0.009118,-0.163410,0.986516]]:Hx?[`O? ^?` ?Y@Ŀ`?i:!>I:];8YNFByNBHbDVVDV8y^Ꜽ%^I=ٔbxѸQ-b>9`I`=fFyfEfEf>hQ 5n~4jӂ?Q 9n~4j>)jqBYpyrE?Q Ir?jߒCIj ;ij* ;j,2~4ytɮvBxZ Rbj"ړڒ!’!!%`[@ AAA"E?@QɢU)Y ]iY)]2?2bd<ٱ2yi( :AHRS rotation from veh to nav: [[0.835675,-0.543024,-0.082295],[0.549146,0.823603,0.141832],[-0.009240,-0.163717,0.986464]]2Hٽ? s` C?Z?'?z삿`Ŀ?i2v>I2_];2CYb~FByb!HIf<)fbDjVDjb8yr%rH=ٔvɜ9Q-v>9tIt=zFyzEz;Ez>|Q 5~4~?Q 9~4~>)~yqBY y E?Q I ?~CI~:i~p:~x@~4yW"CɮoBEEZ1R1b1j1"99ړ99ڒ9’AAE@ aaa"eM@qɢu()q uyiy)}Pf0;顁i1-=ɧ駍>i?;I? ?IAԩIIO&>B<A=B>BNCB{HBFBB =BBBB=EEE} EfEE"E݉:*E9VEZEBEU;a2EV;aJE-;a:E-;a 64?6<ٱ6s( >AHRS rotation from veh to nav: [[0.835170,-0.543741,-0.082686],[0.549919,0.823122,0.141630],[-0.008950,-0.163756,0.986460]]6H`?Sf@*?W? ?aTĿ ?i6yu>I6m];6CYNwFByRHy]bX9?X9v~jth]E?]]DY Y9]uV?+η?i|?5Y]r(?y]v=]q]/BY Y)YYY]BbDmVDm]8y}mz%A=ٔ[3Q->9I=FyE;E>Q 5~4?Q 9~4>)WqBY*?Q E:y4?Q I?%CI':i:KO~4y`"CɮB;EZRbj"ړڒ’@ @ p>p>E?"Z?ɢX) 3ľi)%;!!i%;M/-Il+=ɧ--i-Pw?-1;-2iyIy1 9=CnG1:9Y+AD zD @AE x E cE -E "E ˀ:*E L9VE t4ZE a @a @a @a @Y ex,c?A2{d>2?2<ٱ2K%) :AHRS rotation from veh to nav: [[0.834164,-0.545217,-0.083118],[0.551440,0.822011,0.142166],[-0.009188,-0.164424,0.986347]]2Hx?kr0Ge?M?2?` т ſ'?i2{d>I2];2CYFTFByFHbDNVDNU8yV%VY=ٔZ%:Q-Z>9XIX=^Fy^Eb;Eb>dQ 5j~4f?Q 9j~4f>)f8qBYhyjQ5?Q In?fECIfB:if[:f|\~4yr"CɮrBraԉԹ Px,oK?A2{>2Y?2ʇ<ٱ2' :AHRS rotation from veh to nav: [[0.832986,-0.547114,-0.082461],[0.553215,0.821059,0.140766],[-0.009310,-0.162874,0.986603]]2Hҧ?@)?@F??@ Ŀ@@?i2{>I2\;2CYFOFByFH HHbDRVDRI8yV?@%ZJ=ٔZs9Q-Z>9^ ?I^ ?=^Fy^E^>;Eb>`Q 5f~4bŐ?Q 9j~4b >)bqBYhyj5?Q Ij?bgCIb;ib;bj~4ypɮrBpZRbj"ړ  ڒ ’   ̢@ )))B=>B9B=VHB=FBB= =B9B9B=,;B=&EE"-?aɢept)a eؾia)m:iiim}+uu(=ɧuuiuR?u;yI}R? }R?IyAjAzAjAbE [4jE]4rEL/Et EiE*E"Es:*E9VE(N4ZEBE;a2E ;aJE8;a:E8;aԉA؟AIIO >Թ wx,L0?A6x>66?6/<ٱ6s$ BAHRS rotation from veh to nav: [[0.831761,-0.549186,-0.081052],[0.555055,0.820260,0.138156],[-0.009390,-0.159901,0.987088]]6Hȝ?˿????`:wĿ:?i6x>I6];6CYJ>FByJHbDnVDn48yv#%vG=ٔzL9Q-z>9z"?Iz"?=~Fy~E~$;E>Q 5 ~45א?Q 9 ~4p>)pBYy6?Q I?CI:i:x~4y"Cɮ@B%=EZARAbAjA"AAړIIڒI’IIUG@ iii"m:?颁ɢ*,) i)ް:顉ip)t&=ɧ駕iEP?m*;IEP? EP?ID=DE~ EdEE"E:*E9VEZEa@a@a@a@^A0::!A I!I1OM>I }_x,I?A 6>6D?6 :<ٱ6" >AHRS rotation from veh to nav: [[0.830741,-0.550846,-0.080238],[0.556577,0.819458,0.136786],[-0.009596,-0.158293,0.987346]]6Hm?@y?9?7?-BĿU?i6>I6A];4YJFByJHbDR}VDR*8yZ%ZN=ٔZ:Q-Z>9\I\=^Fy^Ebw;Eb>dQ 5j~4f琈?Q 9j~4f>)fpBYhyj7?Q Ij?fCIfK:if:f׆~4ypɮrPBpiZRbj"ړڒ’2@ "(?ɢ7s) 9i)}j:i&%=ɧ>½i?};I? ?I ^AM}<ԡA9A=AABE>BABE$HBEFBBE =BABABE=;BE8EEBNCBNCBBǃ =Bǃ =Cn5A.AEs EjE)E"Eso:*E9VEFA4ZEBE;a2E;aJEc<;a:Ed<;aIIO> x,[c?A2>2b?2R!<ٱ2l :AHRS rotation from veh to nav: [[0.830147,-0.551973,-0.078620],[0.557458,0.819234,0.134526],[-0.009846,-0.155504,0.987786]]2H? ĩt ?)7? #8? D* ÿ?i2>I2IW];2CPYFByHI!)%49 ?I ?=FyEy;E>!Q 5-~4%?Q 9-~4%>)%pBY-(?Q E-:y-?Q I-?%ѓCI%:i%:%}~4y="Cɮ=B9ZYRYbYjY"aaړaaڒa’iimn@ Iz>Iz>[?"@ɢR )c: i)R:i$Z#=ɧUif?;If? f?I@@@@A؟AIIO>! 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Q?iB!>IB^;BےCYV+JByVHa-a5 a5a5 a5a5 a5a5 y-zG?~jtJ +- 7?--H- )9-RQ?q= ףp?MbY-"?y)-)-A ))-0B)Y-BbDMPVDM8iYI]Aye6<%e@=ٔmb^;Q-m>9iIi=uFyuݞEuV<Eu>Q 54F?Q 94U=) tBY-?Q E:y Fo?Q I ?BCI:iH:V)4yɮB1QZqRqbqjq"yyړyyڒy’@}G@  > >b?"S@ɢ4f<)  ?i).iZN *<ɧ dH P i Ξ? w;1I5Ξ? 5Ξ?I1^A-0ԁE} EhE*E"E݉:*E]9VE(N4ZEBEU;a2EV;aJE5;a:E5;aI!I1O}Y>ԩ R~{,?A6w>6?6yI6v^;6ڒCYHyH R49`I`=bFybߞEfe<Ef>hQ 5n4jTR?Q 9n4jP=)jsBYlyrp?Q Ir?jbCIj];ij;j/4yv+Cɮv&BvEZ R b j "ړڒ’YG@ 999"=I@IɢM&<)Q QiQ)U'QQiUO]3Ȕ<ɧe[e/ieš?e;aIeš? eš?IiԱ^A;AzAIIO>E EmEE"E:*E:VEZEa@a@a@a@ 9 Uڅ{,v?A2}l>2 ?2w9ٱ2 :AHRS rotation from veh to nav: [[0.817652,-0.570352,-0.078384],[0.575713,0.810009,0.111540],[-0.000126,-0.136328,0.990664]]2H4*?R@ I2^;0YF$JByFHbDNfVDN*8yV%V<ٔZ/;Q-Z>9XI\=^Fy^E^U<Eb>`Q 5f4b_?Q 9f4bJ=)bsBYhyjr?Q Ij?bCIb:ib:b64y=+Cɮ=!B=EZRbj"ړڒ’@[H@ !!!"% @AɢE<)I M- ?iI)U QQiUmHQe<ɧeqmjAimu?meѴ;mbi E  E oE E "E O:*E :VE ZE BE ;a 2E ;a JE N;a :E N;a H{,f2?A 2>2+?2h|:ٱ2 ~ >AHRS rotation from veh to nav: [[0.815123,-0.573952,-0.078451],[0.579288,0.807387,0.112037],[-0.000963,-0.136769,0.990602]]2H{?]`e@?? m?`O?i2>I2_;0YFJByFHbDRFVDR 8yV%ZJ=ٔZ;Q-Z>9\I\=^Fy^Eb1<Eb>dQ 5f4fl?Q 9j4fE=)fsBYhyj;s?Q Ij?fCIdif:f=4yr+Cɮr'BpZRbj" ړ  ڒ ’ LH@ 111"5~P @%ŁG9ɢMj^2b?2 :ٱ2)3 :AHRS rotation from veh to nav: [[0.813469,-0.576271,-0.078616],[0.581606,0.805617,0.112764],[-0.001648,-0.137454,0.990507]]2H?p- ??޼?[`@;?i2>I2X^;0PYnIByn`HbDv=VDv8y~%E=ٔ:Q->9 I = Fy E O;E >Q 54z?Q 94?=)sBY!y%s?Q I%?ˡCI:i:E4y-+Cɮ-B5EZIRIbQjQ"QQړQQڒY’YY] H@ yyy"}݁ @颉ɢr<) >i)顑)i-rS5<ɧ5y5ei5A?5Ӟ;9I=A? =A?I9E]~ E]nE]+EY"E]:*E]:VE] [4ZEYae@ae@ae@ae@Am>Am>IIO=! A A B% >B! B% HB% ZJBB! B! B! B% X;B% GEE{,6f?AF>FX?F:ٱF! NAHRS rotation from veh to nav: [[0.812452,-0.577669,-0.078868],[0.583026,0.804626,0.112506],[-0.001532,-0.137388,0.990516]]FH? C|0@%??7ͼ?Y@N?iF>IF^;FܒCYZIByZnH|aM@a9M aM@aM aM@aM aM@aM iMMb@Mb@Mb@M©MMM I9M㥛 ?i|?5?@5^I ¿YM?yM=MbM6 BMA MB)MBIYM BbDaVDayu<%uC=ٔ}Q-}>9yY=FyE;E>Q 54I?Q 94p:=)BsBY?Q E:yI?Q I?CIu ;i ;dL4yɮ}BZRbj"ړڒ’FH@yɢf}<) >i) 顉i3U䔍<ɧ駵mi?$;I? ?IIYIqO=)DaDeR=bE [4jE [4rE//Em| EmjEm-Ei"Em :*Em9VEmt4ZEiBEm2;a}2Em3;a}JEmc<;a}:Emd<;a}Q=%=ԁ @{,?AYvIByv6HbD~OVD~8yE%EM=ٔMQ-M>9IYI=UFyUEUEU>YaQ 5m4eQ?Q 9m4e 6=)esBYiyiQ Iu?e CIe:iey:e\S4y}+Cɮ}B}EZRbj"ړڒ’EH@ɢ<) >i).Ti>WV<ɧ+ui?;I? ?IԁPExceeded connect timeout, disconnecting.^A=] ;ԱAiE} E}nE})Ey"E}~:*E}:VE}FA4ZEya@a@a@a@IIO> +{,?A~0:>~s?~(;ٱ~v AHRS rotation from veh to nav: [[0.812213,-0.577551,-0.082132],[0.583357,0.803560,0.118266],[-0.002307,-0.143970,0.989579]]~H?@K{@۪?¶?F?bm¿`?i~0:>I~aB^;~ؒCY=IBy=2HIIԱiEMb@Mb@Mb@AAAA A9E rh?L7A`?L7A`YE ?yE+=E+AEVA EA)AAYEB QQbD]<VD]8ym%m9=ٔuD:Q-u>9qYq=}Fy}E}r:E}>Q 54?Q 9412=)rBY?Q E:y%?Q I?(CI;i;[4yɮBZRbaja"iiړiiڒi’qqu %I@颹ɢG<) S>i)iW-a<ɧCvi?J;I? ?I^A0:D<B>BBHB1JBBBBBF;B4EEBMCBBBŅ =BŅ =Cr5A؟AIIOe> 9 E} | E} hEy Ey "E} :*E} ]9VEy ZEy BEy a 2Ey a JE} 5;a :E} 5;a R{,6?A>iq>>/?>K;ٱ>: ZAHRS rotation from veh to nav: [[0.813104,-0.576176,-0.082969],[0.582111,0.804030,0.121171],[-0.003106,-0.146822,0.989158]]>H? p@x=`?? ? pqi ¿.?i>iq>I>?^;VDn8yv%vg=ٔv;Q-z>9z"?Yz"?=zFyzE~ލE~>Q 5 4?Q 9 4/=)rBY y?%?Q I?ACI6:iN:Ca4y+CɮBEZ9RAbAjA"AAړAAڒI’IIM` PI@yɢ}PQ<)y }>iy)顁ipXć<ɧÚ駍wi?3;I? ?II^Azl<A II)OE>i nManaging dock network, ignoring radio surface power offԙ Z:{,?A2`>2?2l;ٱ2 :AHRS rotation from veh to nav: [[0.814311,-0.574260,-0.084401],[0.580418,0.804735,0.124563],[-0.003611,-0.150421,0.988615]]2H?V`P`Ȓ?d?b? mAÿ?i2`>I2];2ڒCYFIByFHbDN)VDN8yr͎%rK=ٔrg:Q-v>9tYt=vFyvEzEz>|Q 54~Ø?Q 94~+=)~ZrBYy|$?Q I ?~]CI~;i~:~Lh4yɮBZ1R1b1j1"99ړ99ڒA’AAEI@iɢuS<)q u">iq)uUyyi}LY9ą<ɧG駅rxi?3<;I? ?I@@@@qEy ElE-E"E:*E:VEt4ZEa@a@a@a@AIAM>ԡAQIaIyO}>B A R=B >B B pHB IBB B B B 8;B %EE d{,Re?A2>2l?2{;ٱ2/ :AHRS rotation from veh to nav: [[0.816010,-0.571690,-0.085432],[0.578022,0.805914,0.128040],[-0.004348,-0.153863,0.988083]]2H?HK޵@'? ?c?vq`ȱÿ`_?i2>I25*^;2ؒCYF~IByFHimMb@Mb@Mb@iiii i9mx&? ףp= EԸYm7 ?ymQ8mƽm BmA mA)iiYmBbDVDں8y,%?=ٔ:Q->9Y=FyE<E>Q 54Ԙ?Q 94(=)2rBY ?Q E:y?Q I?zCI: ;i. ;o4y,CɮdBEZRbj"ړڒ’gI@!ɢ%ϖ<)) -+>i))-B-))i5oZ=ϰ<ɧ=ȗ=@ri=?=;9I=? E?IAAaIqIO>E EiE)E"EO:*E9VEFA4ZEBE;a2E;aJE8;a:E8;a) L{,B?A6n>60?6" ;ٱ6t" >AHRS rotation from veh to nav: [[0.818086,-0.568538,-0.086605],[0.575075,0.807415,0.131798],[-0.005006,-0.157627,0.987486]]6H-?v1+ g? W??t -Ŀ|?i6n>I63%^;6ےCYJsIByJHbDRVDRҺ8yZb%ZZ=ٔ^:Q-^>9`Y`=bFybEbaEb>dQ 5j4f㘈?Q 9j4f%&=)frBYlynk?Q In?fCIf;if;fRv4ypɮriBtZ R b j "  ړ ڒ’bI@AɢEr<)A Eܹ>iI)MBػIIiMZU<ɧUUmiU&?:;I&? &?I1A!I1IAO]>YE EkE+E"E~:*E:VE [4ZEa@a@a@a@ԉ y{,)?A0Y`IByHiMb@Mb@Mb@ 9v/?S㥻9Y=FyEE>Q 54d?Q 94y#=)rBY ?Q E:y>Q I?CI. ;iX ;~4y5,CɮBZRbj"ړڒ’   e&J@1ɢ50<)9 =Y>i9)=ͻ99iEt{[M<ɧM{M_biM?M;IIM? M?IQAaԁzAaBm>BiBm%HBmIBBiBiBiBm&;BmEEA1I9IQO]U>Ա E  E mE ,E "E O:*E :VE g4ZE BE a 2E a JE OG;a :E OG;a {,j4?A2>2?2*M;ٱ2H) :AHRS rotation from veh to nav: [[0.822487,-0.561719,-0.089369],[0.568756,0.810678,0.138991],[-0.005624,-0.165147,0.986253]]2HQ?඿?3?`? s?@ w#ſ`b?i2>I2IU^;2ْCYFWIByFHlbDrVDrκ8yz̼%zl=ٔz:Q-z?9Y=FyE%E%>)Q 554-Z?Q 954-!=)-qBY1y5 >Q I=?-΢CI-;i-;-4yaɮeBaZRbj"ړڒ’ ZTJ@AɢEɰ<)A E>iA)M;ŻIIiM\U@V|<ɧUU'Yi]L?]f;YI]L? ]L?IY Ae.AIqIO>1q h{,[N?A2>2Q?2J;ٱ2, :AHRS rotation from veh to nav: [[0.824839,-0.558247,-0.089446],[0.565333,0.812646,0.141442],[-0.006271,-0.167233,0.985897]]2He? )嶿4?1??@ygſx?i2>I2Uz^;0YFAIByFHbDRVDR8yV.d%ZO=ٔZv:Q-Z>9^ ?Y^ ?=^Fy^Eb-Eb>dQ 5f4f?Q 9j4fW=)fqBYhyj>Q Ij?fCIf6:ifp:f|4yrX,CɮrBrE9ZyRbj"ړڒ’uJ@ɢ<) >i) z i\%+ y<ɧ%%{zOi%<?%;)I-<? -<?I)Ee EejEe+Ea"Ee:*Ee9VEe [4ZEaau@au@au@au@AE؟AIQiIyO>ԑ Aa Ae @ABa Ba Be HBe IBBa Be 9DBa Be 9;Be (EE{,h?A2>2?2;ٱ2:, :AHRS rotation from veh to nav: [[0.827032,-0.555155,-0.088436],[0.562111,0.814728,0.142299],[-0.006947,-0.167397,0.985865]]2H w?`£?`@?6? t|Emſ4?i2>I2U^;2ؒCi!I%AԙYLIByHiMb@Mb@Mb@ 9x&? rh?Y7 ?yC<BA )YbDVD8y<%#=ٔV:Q->9"?Y"?=FyEE>Q 54,?Q 94=)rBY ?Q E:y>Q I? CIm ;i;@4yɮ BZRbj"ړڒ ’   J@9ɢ=>y<)9 =d>i9)EX7AAiEd%]M|\u<ɧMqM;AiM?U`;QIU? U?IQAe>Ae>Em EmpEm0Ei"EmO:*Em :VEm4ZEiBEiau2EiauJEm:R;a}:Em;R;a}  CAIGI)O5q>] A9YY]2A! {,@?A:]>:w?:;ٱ:, BAHRS rotation from veh to nav: [[0.828777,-0.552647,-0.087803],[0.559526,0.816287,0.143547],[-0.007658,-0.168097,0.985741]]:H`X?@HAz??`_?M^ 0ſ@0?i:]>I:WS^;:ْC H)JnAJHHLLiNILLIPiP PP)PP TVTTTTIX)XiX)XIXZuX \^3C^nA\i`bi`bAA)` `I`YdYjKIByjHbDvVDv8y~%~=ٔ~;Q- ?9Y=FyE !E  ?Q 54J:?Q 94=)rBYy>Q I%?#CI3;i;ř4y-|,Cɮ-SB-EGSEB*** querying acoustic contact ***:ABAZIRQbQjQ"QQړQYڒY’YYe$J@颉ɢS<) >i)顑iM]s<ɧf駝ù8i:4?{;;I:4? :4?IAI-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.I1OE>!IEu| EqEu,Eq"Eu :*EqVEug4ZEqa}@a}@a}@a@y C= 4= *DAT read: user:117>  BDAT read: Tx time:20:42:37.5504 % $Ping request sent.% z?<ٱ.- eAHRS rotation from veh to nav: [[0.831642,-0.548624,-0.085925],[0.555238,0.818986,0.144821],[-0.009080,-0.168148,0.985720]]H М?`S@2?"5?z?ޅſ?i>I];֒CY%JIBy-HiMb@Mb@Mb@ 9B`"?Cl绿T㥛 ?Y?y;߽= )YbDVD8y l_% !=ٔf8;Q->9Y=FyE/'E>!Q 5-4%aP?Q 9-4%=)%8rBY5p?Q E5:y5>Q I5?%GCI%:i%:%4y=,Cɮ=BAZYRabaja"aaړaiڒi’iim.K@颙ɢx<) I>i)ԡ顡i^Јo<ɧW駭,i?̹;I? ?IB >B LCB HB pIBB  =B :DB DB R;B =EEyA-.A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243618IAIQOew>ԩbEjEʞ]4rE?0E}  E} mE} *Ey "E} :*E} :VE} (N4ZEy BE} ;a 2E} ;a JE} OG;a :E} OG;a {,=?AY]?IBy]HbDmVDm8yG %=ٔQ- ?9 ?Y ?=FyEE ?Q 54^?Q 94=)QrBYyQ I?_CI:i:E4yɮBZRbj"ړڒ’@@XK@)ɢ5B<)1 5>i1)=499i=%^Efm<ɧENEC$iM[?Mɰ;IIM[? U[?IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497294ԱIqIO> M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7470679 {,?A2ؼ>2B?2 <ٱ2, :AHRS rotation from veh to nav: [[0.832591,-0.547309,-0.085117],[0.553804,0.819901,0.145135],[-0.009647,-0.167976,0.985744]]2H?``2ʵ@¸?I2k];2גCY^NIBy^HbDjVDj8yr!=%rU=ٔr#:Q-r>9tYt=vFyvEzEz>xQ 54zo?Q 94z=)znrBYy>Q I?z{CIz;iz&;z䮂4yɮBZ1R1b1j1"19ړ99ڒ9’AAE`ʈK@ɢ#<) >i) i q^ Ej<ɧBi4?E= E=qE9E9"E=:*E=$ :VE9ZE9aE@aE@aE@aE@M};MIM4? M4?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002640a^Ajb<A>A>IqIO>q B <A <B >B KCB HB \IBB B B B d;B JEEBBLCBBBC 5{, ?A<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251347Y=bIBy=HiMb@Mb@Mb@ 9 +?L7A`尿bX9ȶ?Y?y+E=A )BYBbDVD8y (=%0=ٔQ->9Y=FyEE>Q 54^?Q 94?=)rBYm?Q E:y?Q I?CI7 ;ia;4y,CɮBEZRbj" ړ  ڒ ’`K@9ɢ=P<)A E;>iA)EAAiEс_U?Fh<ɧU:UiUHG?UF;QIUHG? UHG?IYԉ^A] ;I)I9DM=DM<EU EUnEU-EQ"EU:*EU:VEUt4ZEQBEU#;a]2EU$;a]JEUJ;a]:EUJ;aeOm5>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503487 |,J?A\Y~mIBy~H  AAbDVD8y%<%%h=ٔ!Q-%>91YA=MFyMEQE]>aQ 5m4e?Q 9m4e =)erBYiyiQ Im?eCIe:ie:e>4y},Cɮ}B}ݽEZRbj"ړڒ’K@ɢc<) ö>i)1i8`7f<ɧo3/iܓ?I;Iܓ? ܓ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755157^A=q9IIOa>EU EUuEU(EQ"EUs:*EU:VEUc44ZEQae@ae@ae@ae@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008048|,ȷ?AIO>^~?><ٱ+ AHRS rotation from veh to nav: [[0.834230,-0.545201,-0.082561],[0.551294,0.821482,0.145748],[-0.011640,-0.167103,0.985871]]H`?Ir@"3?I??և`cſ@?iO>IOc];YzIByHI?>)>iMMb@Mb@Mb@IIII I9M333333?/$kt?YM?yMM =IM"A I)M4BIYM BbDeVDe8yu<%u6=ٔ};Q-}>9yYy=Fy EݻE>Q 54⥙?Q 94 =)rBYC?Q E:y?Q I?ۣCI:i:Ă4yɮBZARAbIjI"IIړIIڒQ’QQU,L@颙ɢ<) ->i)iiZ`c<ɧ/ i?Xĸ;I? ?I@ @ @ @ aB>BBHBfIBB =BBDBQ;B6EEiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259971ԡAhAzAgAII)O5>Թ E] ~ E] kE] *EY "E] :*E] :VE] (N4ZEY BE] w;am 2E] x;am JE] @;am :E] @;am Z< |,ǃ7?AY IBy HbD-VD-8ye<=%m^=ٔmQ-m>9qYq=uFyu EuEu>ԙQ 54?Q 94=)sBYyQ I?CIM7;i{8;˂4y,Cɮ B޽EZ1R1b9j9"99ړAAڒA’AIM[L@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511854颙ɢ4<) T>i)1zV顡iVaa<ɧ,駵W i?V;I? ?IIyIO>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763260! $|,`Q?A6ݞ>6?6}oI<ٱ6Q) >AHRS rotation from veh to nav: [[0.833890,-0.545950,-0.081025],[0.551793,0.821381,0.144422],[-0.012294,-0.165141,0.986193]]6H:?lx J?H?`i|?-X#ſ@?i6ݞ>I6F];6ӒCYJIByJH R;PbDVVDV8yZ%=%^V=ٔ^:Q-^>9`Y`=bFyb Eb,:Ef>dQ 5r4fř?Q 9v4fT=)f sBY|y?Q I?fCIf2;if;f҂4y ɮ BZ1R1b1j1"11ړ19ڒ9’9AE`OL@iɢm<)i m~>iq)u,Bqqiub}y_<ɧ}*}i? E;I? ?IE% E!E!E!"E%:*E!VE!ZE!a-@a-@a-@a-@A؟AIIO>!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017146QA A AAB >B ICB HB IBB =B B DB >;B EEy N|,;k?A2.Ļ>2?2W<ٱ2X0( :AHRS rotation from veh to nav: [[0.833724,-0.546438,-0.079434],[0.552024,0.821386,0.143507],[-0.013172,-0.163495,0.986456]]2Hݭ?k| U /?H?s^?iĿ ?i2.Ļ>I2j];2ՒCYfIByfHzchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268590 qqiMb@Mb@Mb@ 9Cl??Dl?Yd?y<O= )YbDVD8y-7<;%-5=ٔ-:Q-5>95"?Y5"?=5Fy=E=F%:E=>AQ 5M4ETؙ?Q 9M4E<)E:sBYM?Q EU:yU$?QQ IU?E8CIE94;iE3;Eق4ye-CɮeDBe߽EZRbj"ړڒ’L@Yɢ]<)Y ](>ia)eo(aaiebC]<ɧa+駍 i?;I? ?IA>A>E- E-rE)E)"E-1:*E-?:VE)ZE)BE-;a=2E-;a=JE-Y;a=:E-Y;aMԁAIIOL>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519130ԩ 6!|,H?A2o4>2?2M]<ٱ2|' :AHRS rotation from veh to nav: [[0.833247,-0.547226,-0.079013],[0.552736,0.820958,0.143219],[-0.013507,-0.163010,0.986532]]2H?,:?@IE?T?Ŀ?i2o4>I2`];2֒CYVIByV.HbDn{VDnQ8yv2j=%va=ٔv>r:Q-v>9xYx=zFyzEz;E~>Q 543癈?Q 9 4<)OsBY y  %?Q I ?TCI:i:S4yɮ9BZ9R9b9j9"AAړAAڒA’AIML@ɢ<) >i)iϢc%[<ɧ%,% i%ο?%;)I-ο? -ο?I)ԱiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.772363AIIO!>E5 E5mE5+E1"E5:*E5:VE5 [4ZE1aE@aE@aE@aE@  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0231869 g'|, ?Anf>?jza<ٱ5) AHRS rotation from veh to nav: [[0.831952,-0.549057,-0.079955],[0.554678,0.819441,0.144393],[-0.013762,-0.164477,0.986285]]HX?`w@?@8?w{?/ ſ`?inf>Ii];ؒCYIBy6HiMb@Mb@Mb@ 9-?Dl?9Y=FyE;E>Q 54?Q 94<)VsBYu?Q E:y5?Q I?yCI :ij:}4y1-Cɮ{BZ!R!b!j!"!!ړ))ڒ)’)15.M@Yɢ]lx<) >i)izdX\X<ɧ2iaf?肷;Iaf? af?IBU>BUJCBUHBUIBBU =BQBUDBU3;BUEE1Am.AIyIO`>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275769Y Ee ~ Ee nEa Ea "Ee : nG*Ee :VEa ZEa ׅ9 Y vABEe v;a% 2Ee x;a% JEe J;a% :Ee J;a% -|,͸?A0Y=IBy=KHIMC=)M<bDelVDeD8yu;=%ud=ٔ}Q->9 ?Y ?=FyEE>Q 54>?Q 94<)\sBYyQ I?CI6;idI;4yɮsBZRbj"ړڒ’I]M@)ɢ-:=)) ->i))5ú11i5ee=0SV<ɧ=\7=`i="?E Z;AIE"? E"?IA]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527212AeiAzAeiAqAe؟AIqIO>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779210r4|,X?AJ>J?JT<ٱJ7&(P VAHRS rotation from veh to nav: [[0.829163,-0.553146,-0.080740],[0.558857,0.816891,0.142717],[-0.012987,-0.163458,0.986465]]JH ?^f '? #?D? -Ŀ?iJ>IJQ];JԒCYbIBybcHbDjzVDjP8yrI=%vT=ٔvQ-v>9z"?Yz"?=zFyzEz+V<Ez>|Q 54~z?Q 9 4~<)~bsBY y M6?Q I ?~CI~:i~:~4y4-CɮoB׽EZ9R9b9j9"99ړAAڒA’AIM M@ɢ4=)E EjEE"E:*E9VEZEa @a @a @a @ <>i){iFsf%S<ɧ%<%$i%?%?;)I-? -?I)I9IQOe>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.032884! BE <AE <BI BI BM >HBM IBBM =BI BI BM ;BM DE:|,?AZsj>Z?Z?L<fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.283535ٱZ% vAHRS rotation from veh to nav: [[0.827590,-0.555554,-0.080339],[0.561195,0.815694,0.140370],[-0.012451,-0.161255,0.986834]]ZH{?`O?)?@?`Ŀ`%?iZsj>IZn];ZגC|YEIByE_HiMb@Mb@Mb@ 9rh|?(\µ?Mb`?Y?y=;EBA )YB p< 4<bDVD]8y%޻%%8=ٔ-읺Q-->9)Y)=-Fy-E5;E5>9Q 5E4=(?Q 9E4=<)=YsBYMj?Q EM:yM;?Q IM?=ؤCI=;i=<;=F4yQɮ]qBYZyRybyjy"yyړڒ’M@颱ɢ=) >i)4项igQQuBDAT read: Rx Time:20:42:42.5450 }TRx dataTimestamp_ set to:1761511363.972629}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536267ԁ ȄA|,^?AF>F?F&><ٱF}a# NAHRS rotation from veh to nav: [[0.826347,-0.557456,-0.079961],[0.563041,0.814865,0.137767],[-0.011642,-0.158865,0.987232]]FHoq?@Mxn? `?[?ׇUĿf?iF>IF];FՒCYvIByvfH xxzAzAbDoVDF8yy<%^=ٔQ->9Y=FyE%;E%>)Q 554-6?Q 954-<)-RsBY1y5Pi)w>顩ihN<ɧJ駵/"i, ?4;I, ? , ?IA>A>I9IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787112ԉԱE} EpE*E"E݉:*E :VE(N4ZEa%@a%@a%@a%@ } =y  DAT read: 20:42:42.5450 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 442, 0.05, 0.613,-1.022, 0.712, 0.586, PHS= 0.129,-1.563, 0.082, RAW= 148.6, 16.0, CAL= 148.8, 17.8, ROT= 1.2, -17.8  Ygot valid direction response: 20:42:42.5450 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 442, 0.05, 0.613,-1.022, 0.712, 0.586, PHS= 0.129,-1.563, 0.082, RAW= 148.6, 16.0, CAL= 148.8, 17.8, ROT= 1.2, -17.8  PDAT read: Bearing 198.9, -2.8 (Local)  ~Local bearing/azimuth received: Bearing 198.9, -2.8 (Local)  DAT read: Range 11 to 50 : 1942.8 m (Round-trip 2590.4 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.951921,0.019940,0.305695] Fpublishing direction and range infoy   }e&"v?<k?ќ?Y D    ) WI >i bȿ = %@ 5> 6&@ >) ) ЎI U}?UJA<ٱUK" AHRS rotation from veh to nav: [[0.825517,-0.558758,-0.079444],[0.564254,0.814177,0.136873],[-0.011797,-0.157818,0.987398]]UHj?WqV]? ?` ?3)`]3Ŀ@Ø?iUN>IU%];U֒CY JBy}HB>BBcHBIBB =BBDB;BDEBJCBJCBBÈ =BÈ =CJ6i%Mb@Mb@Mb@!!!! !9%S?sh|??:vY%?y%=%Լ!%VA !)%jB!Y!11bD]mVD]D8ym =%m=ٔu9Q-u>9qYq=uFyuE}:;E}>Q 54{J?Q 94I<):sBY8?Q E:yV:?Q I?CI/:iZ: 4yɮBJRw?ADDR+?Uǜ@'JC@ W[l9|@ }e&"v?<k?ќ?<—]*@9@.sb@"O8E?P&1w ?h3e?jDrDZ$Cx?bjzDꗥ$Cx?jDڗD◥-+?ZaRabaja"aiړiiڒi’iu@3[@uy?ɢ"<) Q?i)i9ijw"K<ɧRj(i? E;!I%? %?I)IIO k>D zD ?AE  E tE +E "E s:*E v:VE [4ZE BE ;a% 2E ;a- JE `;a- :E `;a- 1 `M|,":?AF>F?FעA<ٱFi" RAHRS rotation from veh to nav: [[0.825098,-0.559356,-0.079593],[0.564866,0.813744,0.136919],[-0.011818,-0.157931,0.987379]]FH@3g?=4`b?`0 ??64`7Ŀ?iF>IF֞];FԒCYfIByfdHbDvVDvV8yq%=ٔ –8Q- ?9YYY=]Fy] EeU!;Ee?iQ 5u4mV?Q 9u4m<)m,sBYqy}:?Q I}?m4CImU;imQ;m4yx-CɮBؽEZRbj"ړڒ’9?ɢZ*=) >i)~:iX%kII<ɧW,iM?Q;IM? 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M+?IIAazAaI1IIOU=! ~,e?AE EE+E"EO:*EVE [4ZEa@a@a@a@:L>:4?:=ٱ:n FAHRS rotation from veh to nav: [[0.836476,-0.545331,-0.054058],[0.546752,0.823832,0.149545],[-0.037017,-0.154648,0.987276]]:H`i?Ys~? \?L$?}ÿ×?i:L>I:k'^;:ȒC|Y HIBy HbD%VD%8y52<%5R=ٔ=޿;Q-=>99Y9=EFyEEE:EE>IQ 5U4ML?Q 9U4M;)MQqBYYy]2'?Q I]?MCIM;iM ;M&4yaɮeBaZRbj"ړڒ’ .=@9ɢ=05=)9 =->iA)EBDCBBB =BBB;BDEQԁ 3~, ?A:ӳ>:d0?:3 =ٱ:5 BAHRS rotation from veh to nav: [[0.836441,-0.545638,-0.051423],[0.546652,0.823906,0.149499],[-0.039204,-0.153157,0.987424]]:H ?u$T,~?p]?"? ÿ?i:ӳ>I:D^;8YN4IByNwHi%Mb@Mb@Mb@!!!! !9%S?V-?X9v?Y%/?y%m=%<%B%A %A)%@B!Y!bD=VD=ȸ8yM>%MH=ٔU;Q-U>Q9YYY=]Fy]Ee%Ee>iQ 5u4m?Q 9u4mW;)mPqBYu?Q Eu:y}-?Q I}?mݭCImi ;im ;mH4yR0Cɮ BZRbj"ړڒ’_=@ɢl2=) r>i) <i;8ɧ駍ϼiy?4g;Iy? y?IbEFA4jEJJ4rE“/E5 E1E5)E1"E5a:*E1VE5FA4ZE1BE5g;aE2E5h;aEJE1aM:E1aMԁAIIOu6>ԩ &~,?A25>2H?2(=ٱ2t :AHRS rotation from veh to nav: [[0.836173,-0.546097,-0.050919],[0.546917,0.823240,0.152175],[-0.041183,-0.155093,0.987041]]2H?y Y?W?vz? ÿ ו?i25>I2Q^;2ǒCYF"IByFaHbDNVDN8yVOB%VV=ٔV;Q-Z>9XYX=ZFyZE^}:E^>`Q 5f4bG?Q 9f4bp;)bOqBYdyf.?Q Ij?bCIbW:ib-:b 4yng0Cɮn=BlZyRybyjy"yyړڒ’ -=@颱Թɢ-=) '>i)<iq*wɧԼiUH?%;IUH? UH?IAM.AIYIqO}>EE EEzEE+EA"EE~:*EE :VEE [4ZEAaM@aM@aM@aM@ = =B >B B iHB )IBB B B B ;B DEBECBGCBʗCBʍ =Bʉ =Cʦ69 B,~,m?A2̸>2<?2.=ٱ2# :AHRS rotation from veh to nav: [[0.836217,-0.545935,-0.051914],[0.546734,0.822567,0.156415],[-0.042690,-0.159180,0.986326]]2HJ?Mx x~?wR?e?iۥ@`Ŀ?i2̸>I2s^;2ƒCYF#IByFbHbDNVDN8yVR;%VJ=ٔZXt;Q-Z>9Z ?YZ ?=^Fy^E^E^>`Q 5f4b?Q 9f4bP;)bMqBYhyj.?Q Ij?bCIb:ib:b4yn0CɮnmBrEZRbj"ړ  ڒ ’   \>@9ɢ=>0=)9 =ё>iA)E߶IiEm  Em rEm )Ei "Em :*Em ?:VEm FA4ZEi BEm ;a 2Em ;a JEm Y;a :Em Y;a ԙ +3~,I?A2褸>2(?22=ٱ2A% :AHRS rotation from veh to nav: [[0.836348,-0.545728,-0.051981],[0.546456,0.822379,0.158364],[-0.043676,-0.160852,0.986012]]2H]? v 1|?P?CE?\ΖĿ@h?i2褸>I2^;0YjIByj>Ha]a] a]a] a]a] a]ae y]ʡE?Zd;?I +?]/?]y=]94=] Y9]K7A?~jt?Mbp?Y] "?y]D=];]B]A Y)]BYY] BbD}VD}8yA%==ٔ;Q->9"?I"?=FyE 9E>Q 541?Q 94;)?qBY"?Q E:y'?Q I?>CIs:i:4yX0Cɮ.BEZRbj"ړڒ’ 5>@ = = tX@" _@q颙ɢB$=) >i)<顡ihrd┹ɧ 駭@ݼi?;I? ?IAaIqIO;>ԡ CT9~,!?AE EnE+E"E*E:VE [4ZEa@a@a@a@:v>:?:5=ٱ:;( FAHRS rotation from veh to nav: [[0.836514,-0.545376,-0.053014],[0.546144,0.822012,0.161317],[-0.044400,-0.163897,0.985478]]:H?s$z?`M??਻Ŀ?i:v>I:Y^;8YNHByR3HbDZCVDZG8yb%bX=ٔb :Q-f>9dId=fFyfEjsEj>lQ 5U4nA?Q 9]4n;)n2qBYYy]x'?Q I]?n]CInsi)> <iY7˹ɧ zi? g;I? ?IA)I1IAOU>BiAm<Bu>BuECBuDHBu IBBu =BqBqBuݍ;BuDE) G=@~,?A6O>6<?6Z5=ٱ6O- >AHRS rotation from veh to nav: [[0.836680,-0.544861,-0.055620],[0.545895,0.821399,0.165237],[-0.044345,-0.168613,0.984684]]6H@?o?zw?H?@~&? cſ?i6O>I6u|^;4YJHByJ&HbDR%VDR+8yZӼ%ZK=ٔ^Q-^>9\I\=bFybEbCEb>dQ 5j4fS?Q 9j4f;)f%qBYlync'?Q In?f~CIf;if;f8*4yrp0CɮrgBvEZR b j "  ړ ڒ’$?@ 111"5j @ɢ#=) r>i)<i;ɧhi1?(;I1? 1?I)D5=D5R=E=~ E=rE9E9"E=:*E=?:VE9ZE9BE=v;aE2E=w;aMJE9aM:E9aMAIIO>Yԁ KhF~,?A,2>2%?2B2=ٱ2g2 >AHRS rotation from veh to nav: [[0.836383,-0.544977,-0.058847],[0.546407,0.820372,0.168610],[-0.043612,-0.173176,0.983925]]2H?sp`$!+|?|@??XT@*ƿO|?i2>I2*g^;2ȒCY^HBy^HbDfVDf8yn%nG=ٔrQ-r>9pIt=vFyvEv~:Ev>xQ 5~4zld?Q 94z;)zqBYy'?Q I?zCIz;iz;z_14y ɮ {BZ)R1b1j1"11ړ99ڒ9’99E?@ YYY"]'@qɢu=)q uL>iy)}EE EEpEE)EA"EE:*EE :VEEFA4ZEAaM@aM@aM@aM@Ա Bm >Bi Bm HBm HBBm =Bi Bi Bm Ǎ;Bm DEL~,4?A6>6?6,=ٱ66 BAHRS rotation from veh to nav: [[0.836549,-0.544342,-0.062266],[0.546270,0.819931,0.171178],[-0.042126,-0.177213,0.983270]]6H ??kW᯿ {?I6 ^;6ÒCYJHByJHbDVVDV8yZ<%^M=`ٔ^tQ-b>9`I`=fFyfŸEfGEf>hQ 5n4j[u?Q 9n4j̾;Q =rtI)j qBYpyrx'?Q Ir?jCIj;ijm ;jZ84yv0CɮvBvEZRbj"!!ړ))ڒ)’11=`1@@ iii"m<@颉ɢ=) O>i)#S<顑i>ɧJ駥is?q;Is? s?IA>A>A II!OM>i1I1EU  EU lEU (EQ "EU :*EU :VEU c44ZEQ BEU ;a] 2EU ;a] JEU C;ae :EU C;ae a xS~,N?A2+ڸ>2C?2p&=ٱ2\7 :AHRS rotation from veh to nav: [[0.836234,-0.544594,-0.064265],[0.546866,0.819508,0.171301],[-0.040624,-0.178392,0.983121]]2Hn? Pm@s?@i9?0?̤ƿ@u?i2+ڸ>I2w^;2ȒCY^HBybH!a@a9 a@a a@a a@a iMb@Mb@Mb@© 9Cl?Mbp?/$Y;?y;,BVA A)yBY(B 4<<bDVD8yג%7=ٔ\Q->9 Y = Fy ğE :E >Q 54戟?Q 9%4ۺ;)pBY%?Q E%:y%?Q I%?CI;i;"@4y1ɮ5B1ZQRQbQjQ"YYړYYڒY’aae@#j@@颉ɢT=) .>i)Y<顑iqϚ^ɧ駥Ai?qw;I? ?IQI)I9OM1>yԡ E]  E] qE] -EY "E] :*E] $ :VE] t4ZEY am @am @am @am @>Y~,h?A2%>2vi?23# =ٱ26 :AHRS rotation from veh to nav: [[0.835969,-0.544894,-0.065161],[0.547383,0.819490,0.169730],[-0.039086,-0.177558,0.983334]]2H B?`o@j`)?B9?`?@`5ƿxw?i2%>I2J^;2ǒCYFHByFHbDNVDN8yVǽ%Va=ٔZQ-Z>9XYX=^Fy^ƟE^z:E^>`Q 5f4b֘?Q 9f4b;)bpBYhyj?Q Ij?bCI`ib:b|F4yn0CɮnBlZ|R|bj"ړ ڒ ’   ৘@@9ɢ=. =)9 = >i9)E[AA@AB>BBHBHBBBBDB;BXDE Ge>G1]A39YY]:%A) ,`~,\?AnF>n?nE=ٱn4 vAHRS rotation from veh to nav: [[0.835550,-0.545530,-0.065218],[0.548123,0.819556,0.167003],[-0.037655,-0.175286,0.983797]]nHҼ?t8?9?W`?G@oƿD{?inF>InJ^;nŒCYhHBy|H   A AiMb@Mb@Mb@ 9Gz?Zd;O&1Yp?yjPB )BYzBbDVDy5%;=ٔ%WQ->9Y=FyȟE9:E> Q 5]4N?Q 9]4;)pBYe?Q Ee:yeq?Q Ie?"CISd;i:b;N4yiɮu BqZRbj"ړڒ’@@ɢ^<) =i)<i;{Eɧ1ռi?;I? ?IAiAzAiAE  E rE +E "E 1:*E ?:VE  [4ZE BE ;a2E ;aJE Y;a:E Y;aIIO=9aԑ f~,?A2>2?2=ٱ2Ì4 :AHRS rotation from veh to nav: [[0.835260,-0.545823,-0.066470],[0.548659,0.819360,0.166201],[-0.036253,-0.175291,0.983849]]2H`r?`bw@4?18?F?ˏoƿ{?i2>I2q^;2ƒCYvYHByvjH||bDVD޷8y%V=ٔpQ->9Y=%Fy%ʟE%:E%>)Q 554-^?Q 954-;)-pBY1y=?Q I=?-@CI-;i-;-T4yE0CɮE@BEEZaRibiji"iiړiqڒq’qquaA@颡ɢe<) =i)<顩irXƟɧ 駵 ̼iG?,ͽ;IG? G?IiII9IIqO=ԡE% E%qE%,E!"E%:*E%$ :VE%g4ZE!a-@a-@a-@a5@B >B FCB HB |HBB B B B ;B EDE fl~,?A:L>:?: =ٱ:D4 JAHRS rotation from veh to nav: [[0.834880,-0.546215,-0.068004],[0.549358,0.819154,0.164903],[-0.034367,-0.175033,0.983963]]:HV?zhW?6??` ygƿ |?i:L>I:K^;:ȒCYnNHByr\HbDVD8y%uJ=ٔuQ-}>9yYy=}Fy}̟E:E>Q 54ϟ?Q 94;)}pBYy?Q I?`CI;i;\4ys0CɮBEZRbj"ړڒ’6A@ɢ,<) =i))<  i 5Cɧ *¼i'?Ď;I'? '?IIIOU=bE [4jEșT4rEQ/E5 } E5 rE5 *E1 "E5 ݉:*E5 ?:VE5 (N4ZE1 BE5 T;aE 2E5 U;aE JE1 aE :E1 aE I s~,?A2->2.?2N$=ٱ22C3 >AHRS rotation from veh to nav: [[0.834520,-0.546624,-0.069125],[0.550018,0.819085,0.163035],[-0.032500,-0.174076,0.984196]]2Hc?}/?5?@V?ɣ !Hƿ~?i2->B%=B%=I2y^;2ƒCYN(HByN.HIR%=)R=i%Mb@Mb@Mb@!!!! !9%S?J + ףp= Y%?y%H%Q8%B! %A)%B!Y%BbD=VD=8yM%MG=ٔMuQ-M>9QYQ=UFyUΟE]X:E]>aQ 5m4eៈ?Q 9m4e;)egpBYm?Q Em:ym>Q Iu?eCIe:ie:ec4y0CɮBEZ1R1b9j9"99ړ99ڒA’AAE;lA@颉ɢ\<) #=i))p<项i<簺ɧⴼi;?L;I;? ;?I)A5>A5>I)I9OM1>Yԁ E=  E= oE= ,E9 "E= :*E= :VE= g4ZE9 aE @aE @aE @aM @Vy~,?A4Ji>Jh?J=<ٱJ-/ RAHRS rotation from veh to nav: [[0.833778,-0.547836,-0.068481],[0.551234,0.819098,0.158808],[-0.030908,-0.170159,0.984932]]JHO? 󇱿?` 6?S?`l@ſ?iJi>IJc^;HY^HBy^"H fp9tYt=vFyvПEzo;Ez>|Q 54~u?Q 94~;)~QpBYy >Q I ?~CI~y:i~:~i4y0Cɮ2BEZ1R1b1j1"99ړ99ڒA’AAEA@yɢ*<) BBJHB?HBB =BBBt;B:DEBqBuECBuÓCBuÌ =BuÌ =Cu(5Թ iA IE A7܀~,?A`D+>?_<ٱ(* -AHRS rotation from veh to nav: [[0.832991,-0.549230,-0.066879],[0.552482,0.819165,0.154054],[-0.029826,-0.165275,0.985796]]Hܧ?I? 6? ?̊'ſऋ?iD+>I+X^;ÒCYEGByEHiMb@Mb@Mb@ 9Q?i|?5 rhY?yqC BA A)YQBbDVD8y琽%:=ٔS!Q->9Y=FyҟE[;E> Q 54 ?Q 94 ;) >pBY?Q E:y >Q I? CI  ;i  ; q4y!ɮ%BB!E E{E*E"E:*E5":VE(N4ZEBE;a2E;aJEDz;a:EDz;aZ9R9b9j9"99ړ9AڒA’Aam A@颱ɢ%l<) ƹi)<项i6ƙVƺɧji>?Ƽ;I>? >?IIiIyO>9 ~,h?A2Ӽ>2F@?2<ٱ2% :AHRS rotation from veh to nav: [[0.832294,-0.550482,-0.065238],[0.553560,0.819137,0.150286],[-0.029291,-0.161195,0.986488]]2H '?q`ö?_6?I2q^;0YFGByFHbDRVDR8yV%Zb=ٔZPºQ-Z>9XY\=^Fy^ԟE^h;Eb>`Q 5f4b?Q 9j4b;)b/pBYhyj>Q Ij?bگCIbW:ib:bw4yn0CɮroBrE9ZyRybj"ړڒ’VB@ɢK<)  i)<iͺɧi.?";I.? .?IA!zA%jAIIO=iE EnE-E"E:*E:VEt4ZEa @a @a @a @ԑ߭ =߭ <B >B GCB HB HBB B B DB G;B DE q-~,=E7?AFA)>Fk?F ^<ٱFW RAHRS rotation from veh to nav: [[0.831940,-0.551288,-0.062908],[0.554109,0.819528,0.146070],[-0.028971,-0.156380,0.987272]]FH@@?@'B?9?l?@>Ŀ?iFA)>IF7W^;FĒCԙYGByHBAbD VD Է8y!%)=ٔ--Q-%>9!Y!=%Fy%ןE-E:E->1Q 5=45+?Q 9=45;)5pBY9yEN>Q IE?5CI5:i5-:5N4yIɮMyBIZiRibqjq"qqړqqڒy’yy} -@B@颡ɢ ?<) i)|r<顱ix׺ɧ駽ui6??;I6? 6?IIQIyO8>E  E mE *E "E :*E :VE (N4ZE BE ޽;a 2E ߽;a JE NG;a% :E OG;a%  ~,!Q?A6{<>6t?6~q<ٱ6] >AHRS rotation from veh to nav: [[0.831867,-0.551614,-0.060983],[0.554237,0.820064,0.142535],[-0.028615,-0.152369,0.987909]]6H?Ӧ9N?`=?@>?)MӀÿ?i6{<>I6l^;6ÒC VfC)VnAVCV8\FTXXiZuIXXIXiZnA ^C\)\\ \b```bpAI`)`id)dIdfufiF dj3Chjuihhill)l lIpYpYvGByvH%only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 358.18, 329.10 a-@a- a-@a- a-@a- a-@a- bD5VD58yE"X%En=ٔMQ-M?9IYI=MFyU؟EU9EU?YQ 5e4] ;?Q 9e4];)] pBQ Am+:YiQ Em:ymx>Q Im?]CI]:i]>],4yu0CɮuByZRbj"ړڒ’4lB@ɢ <)  i)9<i N5ݺɧX]iW?;IW? W?IIIO=)Iy E  E oE ,E "E O:*E :VE g4ZE a- @a- @a- @a- @P?~,j?A2->2Xm?2<ٱ2߀ :AHRS rotation from veh to nav: [[0.831931,-0.551643,-0.059836],[0.554144,0.820436,0.140747],[-0.028550,-0.150249,0.988236]]2H-?@΢?`A??T<];ÿࠟ?i2->I2y^;2ŒCY]GByeHbD}VD}8y}%C=ٔ Q->9Y=Fy۟EiE>Q 54M?Q 94;)oBQ A :YQ El:yu>Q I?8CI3;i,D?4yɮBZRbj"!!ړ!!ڒ!’!)-` B@Yɢ8֬<) \;i)<i:ɧ pt@i?˨;I? ?IA->A->AQAQB]>BYB]HB]GBB] =BYBYB];B]CEAaIqԁIO?>ԩ ,~,?AE>E2?EV<ٱEL ]AHRS rotation from veh to nav: [[0.832414,-0.550919,-0.059794],[0.553397,0.820782,0.141665],[-0.028968,-0.151013,0.988107]]EH"? @Nl?C? 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R?/d?ÿ?i:%ú>I:y];:ÒCYNGByNHPieMb@Mb@Mb@aaaa a9eI +?MbMb?Ye9?yee=eEBa a)e@BaYeBqu@AbD}VD}8y&"%J=ٔMQ->9Y=FyEvE>Q 54?Q 94,;) pBY?Q E:ym ?Q I?CI:i:4y0CɮBEZRbj"ړ!!ڒ!’))5pC@ɢo<) i)<iG^hɧC2һi?;!I%? %?I!IIOA>! 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CI ;i ; 4y!ɮ))ZIRIbIjI"IIړQQڒQ’QQ]D@颩ɢ}ڂ<) 0ͽi)<顱i1ɧ%iA?;='IA? A?IIYIiOu=yԁE  E nE )E "E :*E :VE FA4ZE a@a@a@a@ԩB>BBHBGBB =BBB;BCEBHCBHCBȔCBȊ =BȊ =C`5 ~,9?A22>2O?2ه<ٱ2u. :AHRS rotation from veh to nav: [[0.836586,-0.542931,-0.073139],[0.547315,0.822494,0.154757],[-0.023866,-0.169497,0.985242]]2HP?_@5? Q??cpſ`?i22>I2j];0Y^GBy^jHbDjIVDja8y%%H=ٔ%wQ-%>9!Y)=-Fy-E-4G:E->1Q 5=45Ԡ?Q 9E45;)5.pBYAyEv?Q IE?5'CI5;i5;5…4yM0CɮMBQZRbj"ړڒ’=D@ɢ0<)  i)71<inɧƱ"8iW?;IW? W?IԱII O=D zD E  E E (E "E :*E VE c44ZE BE a% 2E a% JE J;a% :E J;a% ) 9 m~,%S?A6'>6Vj?6:<ٱ6- >AHRS rotation from veh to nav: [[0.836389,-0.543116,-0.074009],[0.547674,0.822494,0.153483],[-0.022487,-0.168905,0.985376]]6H?5aD ?@Q?U? ſ3?i6'>I6UT];6ÒCYJGByJnHi%Mb@Mb@Mb@!!!! !9%\(\?~jt?9Y=FyE6v:E%>!Q 5-4%栈?Q 954%{;)%6pBY5:?Q EU:yU?Q IU?%ICI%;i%>;%Ʌ4yYɮeBaZRbj"ړڒ’6vD@!ɢ%w<)! %i!)-^<))i-ǖUɧUU)iiUY?U;YI]Y? ]Y?IYA.AIIOE>9i E%  E% oE% *E! "E% a:*E% :VE% (N4ZE! a- @a5 @a5 @a5 @W~,Am?A^Z>^?^W<ٱ^E- jAHRS rotation from veh to nav: [[0.835628,-0.544181,-0.074788],[0.548877,0.821900,0.152361],[-0.021443,-0.168366,0.985491]]^Hv?iQ%f?M? ?<ſ$?i^Z>I^Or];^CYrGByrjHbD%4VD%M8y5%5U=ٔ52Q-=>9= ?Y= ?==Fy=EE;t;EE>IQ 5U4M?Q 9U4Mx;)M>pBYQy]A?Q I]?MfCIMd:iM9:M_Ѕ4ye1CɮeABEZRbj"ړڒ’`D@ɢi!w<)A E(iA)E.BiBiBiBiBiBiBm;BmCEYԁ^A"9A؟AI I O% >Ա `~,q?A`PX>?<ٱb' AHRS rotation from veh to nav: [[0.833016,-0.548255,-0.074171],[0.552911,0.820301,0.146273],[-0.019352,-0.162858,0.986460]]H?Mq?@???ѓĿ?iPX>Ik];YyiHiMb@Mb@Mb@ 9Cl?~jt?Zd;O?Y;?y=j<A )BYbDVD8D=D<E EzE+E"E:*E :VE [4ZEBE#;a2E$;aJEv;a:Ev;ayy%4=ٔQ->9"?Y"?=FyE-<E>Q 5 4?Q 9 4~s;)@pBY?Q E:y&?Q I?CI ;i ;Q؅4yɮBBZ9R9bAjA"AAړAIڒI’IIU@D@yɢ}<)y }iy)Xо<顁i^-znɧ-:-.i-??-r;)I-?? -??I1^AAI)IAOUu>9 j~,??AY}GBy\HbD-VD-8y5%=k=ٔ=Q-=?9AYA=EFyEEMEM?QQ 5U4Uv?Q 9]4U p;)UApBYYyYQ I]?UCIU3;iU;Ucޅ4ym1CɮmoBmEZRbj"ړڒ’N E@ɢ<`<) i)<i3bFɧyʽiK+?>;IK+? K+?I@@@@IE~ EoE(E"E:*E:VEc44ZEa@a@a@a@qAIIO>B>BBuHBGBBBBBΌ;BCEԡ ~, ?A2락>2p?2<ٱ2R" :AHRS rotation from veh to nav: [[0.831653,-0.550508,-0.072760],[0.554987,0.819655,0.141968],[-0.018517,-0.158448,0.987194]]2H?ĝ^`t?@:?+?@ HĿ?i2락>I2 X];2’CYFGByFeH Np9XY\=^Fy^E^;Eb>`Q 5r4b'?Q 9v4b-l;)bDpBY|y~'?Q I~?bűCIb;ibd;b$4y0Cɮ B EZiRibiji"iiړiqڒq’qqy?E@ɢ<}r<) i)J<iHɧ1ٽxiS?۵;IS? S?I!AIIԡO>DzDAAE EnE*E"EO:*E:VE(N4ZEBE;a 2E;a JEJ;a :EJ;a  ~,n?A:e>:X?:8<ٱ: JAHRS rotation from veh to nav: [[0.829726,-0.553522,-0.071892],[0.557881,0.818242,0.138740],[-0.017971,-0.155223,0.987716]]:H?s~g *?` /?`7?fWÿ^?i:e>I:T];:ĒCYnGBynlHiMb@Mb@Mb@ 9Mb?ˡE?~jth?Y#?y'=D;~B B)@BYzBbDVD8yXN<%7=ٔzQ->9Y=FyE;E> Q 54 :?Q 94 g;) =pBYi#?Q E:y'?Q I? CI  ;i  ; 4y%0Cɮ-B-EZIRIbIjI"IIړQQڒQ’QY]vE@颁ɢz<) i)<顉i5cɧn駝Xi?Y;I? ?IA.A II)O5.>1Y E  E kE +E "E *E :VE [4ZE a @a @a @a @*~,?AF m>F?F<ٱF bAHRS rotation from veh to nav: [[0.827519,-0.556882,-0.071384],[0.561171,0.816489,0.135769],[-0.017323,-0.152410,0.988166]]FH{?@@IFo];FCYnGByn^HbDvzVDv8y~%\=ٔ0Q->9 ?Y  ?= Fy E f.<E >Q 54bJ?Q 9%4c;)7pBY!y%)?Q I%?CIa;i];p4y)ɮ-B1ZIRQbQjQ"QQړYYڒY’YYe pE@颉ɢc<) i)ɼ<顑iz ɧ駝7ʻiL?A;IL? L?IAiAzA9BAAABM>BIBIBIBIBIBMDBM;BM~CEAII)O=>a CGkAE79EkAYEI)AyB?3AԉԹ ],O?A21v>2?2<ٱ2 :AHRS rotation from veh to nav: [[0.825284,-0.560315,-0.070377],[0.564459,0.814708,0.132806],[-0.017076,-0.149328,0.988640]]2Hh?@>` ???h|+ÿ?i21v>I2c];2’CYnGBynhHtvBAbDzVDz8y<%J=ٔQ->9 Y = Fy E 9!<E>Q 5%4~[?Q 9%4_;)1pBY!y%*?Q I%?)CI;i;4y-0Cɮ5B1ZQRQbQjQ"QQړYYڒY’Yae (E@颉ɢF^p<) i)r<顑i ɧ駥Eڻiv?5 ;ĹIv? v?IԑDDR=E~ EoE,E"E:*E:VEg4ZEBEw;a2Ex;aJEN;a:EN;aA ؟AI!I1O9 ;,Ƈ"?AFu>Fp?Fl<ٱF RAHRS rotation from veh to nav: [[0.820860,-0.567374,-0.065392],[0.570894,0.811835,0.122488],[-0.016408,-0.137877,0.990313]]FH{D? 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Y@ÿ ?i2}>I2\;2CYGByH bDVDM8y޷%1=ٔ#:Q->9Y=FyEcE>Q 54?Q 94;)'oBYy?Q I?SCI+;i,;vs4yɮXBZaRabaja"aaړaiڒi’iquQI@颙ɢtO;) mi)\%<顡ix!Ve2ɧ޽駭#Fi?;I? ?IAjAzAhAA؟AIIaO[>Euz EugEqEq"Eul:*Eu&9VEqZEqBEu;a2Eu;aJEux1;a:Eux1;a) i I An7v,?A>>>n$?><ٱ>" FAHRS rotation from veh to nav: [[0.817191,-0.572009,-0.070739],[0.575830,0.804965,0.143004],[-0.024857,-0.157596,0.987191]]>H@n&?M3m?F?@M?t,Ŀ@?i>>I>)];< NsC)NnANLLPPiRIPPITiT TT)TT VnAXXXXZpAIX)\i\)\I\^`e` `b@CbnA`i`didd)d dIdYdYn%GBynHieMb@Mb@Mb@aaaa a9e1Zd?~jt+?Ye"?yee=eEBa a)aaYeBquAAbDyVDyy1J=%^=ٔ3:Q->9"?Y"?=Fy E௻E>Q 54?Q 94`;)1oBY?Q E:y?Q I?oCI:i:y4y=1Cɮ=oB9ZyRybyj"ړڒ’ׁI@ɢtB;) Zi)Ѥ<i &3ɧ Rн i ? ۜ;)I5? 5?I1YAIIO=>yԩ E u E cE E "E v:*E L9VE ZE a @a @a @a @b|,R?A2c>2(?2s<ٱ2Z#@ JAHRS rotation from veh to nav: [[0.818247,-0.570498,-0.070734],[0.574293,0.805720,0.144925],[-0.025687,-0.159207,0.986911]]2H`/?A`?`u?@?`M`ĿƔ?i2c>I2\;0Bb<Ab<BdBfPCBfHBf#GBBf =BdBdBfK;BfKDEYGByHbDVDB8y%H=ٔ;Q->9Y=Fy"EE>Q 54?Q 94;) e 4=e <M, ?Af>fV?feK<ٱfL%l rAHRS rotation from veh to nav: [[0.818965,-0.569445,-0.070918],[0.573242,0.806175,0.146546],[-0.026278,-0.160669,0.986658]]fH`4?`8`'@W? /? ?蚿АĿ?if>If\;fCY9iYi=mFym$EuBEu>yQ 5}4}1Y s,Ϥ'?A2]>2"?2z<ٱ2% :AHRS rotation from veh to nav: [[0.819414,-0.568796,-0.070934],[0.572586,0.806510,0.147265],[-0.026555,-0.161287,0.986550]]2H 8?3@(R?@?`?1 Ŀё?i2]>I2p\;2CYF1GByFH LLbDRVDR!8yVA%Vk=ٔZP:Q-Z?9XY\=^Fy^&E^Eb?`Q 5f4bƢ?Q 9f4b;)bWoBYhyj$?Q Ij?bδCIbl:ib:b4yn0CɮrBrxEZRbj"ړ  ڒ ’  @J@9AɢMw;)I M!NiI)MnBOCBBB =BBúDB;BDEԑiI [,VA?A:2>:?:"[<ٱ:$ BAHRS rotation from veh to nav: [[0.819851,-0.568312,-0.069757],[0.571945,0.807123,0.146395],[-0.026896,-0.159919,0.986764]]:H8I:\;8YJGByNHbDVVDV&8y^%^J=ٔ^x\:Q-b>9`Y`=bFyb(EfEf>hQ 5n4jMע?Q 9n4j ;)jeoBYlyr$?Q Ir?jCIj;ij;j4yv0Cɮv BtZ R b j "ړڒ’@JJ@AɢM\m;)I MiiI)Mn2?2<ٱ2+# :AHRS rotation from veh to nav: [[0.819960,-0.568224,-0.069193],[0.571780,0.807314,0.145988],[-0.027093,-0.159268,0.986864]]2H@=?.@L??@?RbĿc?i2>I2\;0YN1GByRH TTamam amau auau auau ymMb?:v/$?m#?mԽm9I=Fy*EaE>Q 54颈?Q 94M;)noBY'?Q E:yZ-?Q I?CI ;i;64yɮBZRbj"ړڒ’ +J@ %`>%`>%1?"%&i@1ɢ=;)9 =Ni9)==<99iEэEP:ɧMM ȻiM?M-;IIM? M?II1IIOU=!===%=QEe y Ee dEe +Ea "Ee :*Ee 9VEe [4ZEa am @am @am @am @y p,SAu?AB6>B4B6HB6-GBB4B4B4B6;B6DEZ5>Zh?Z<ٱZ8Q# bAHRS rotation from veh to nav: [[0.819827,-0.568470,-0.068742],[0.571959,0.807241,0.145686],[-0.027327,-0.158755,0.986940]]ZHIZS\;ZCY0GBy!%@AbD-VD-98y %K=ٔ:Q->9I=Fy,E:E>Q 54K?Q 94;)voBYyg-?Q I?5CI;i;D4y0CɮByEZRbj"ړڒ’õJ@ "l@!ɢ-;)) -Oi))5<11 AECi5:ac<ɧ 駥Ճ߻_GiTx?};)m99iYm`+AImTx? uTx?IqIIO >yԩ 4,2 ?A2>2(?2@<ٱ2! :AHRS rotation from veh to nav: [[0.819339,-0.569291,-0.067759],[0.572648,0.806985,0.144397],[-0.027523,-0.157112,0.987197]]2H 8?7X!S?@?{?.>Ŀ?i2>I2\;0YFGByFHbDNVDN08yV%VZ=ٔVt :Q-Z>9XIX=^Fy^.E^;E^>`Q 5f4bh ?Q 9f4b:)b~oBYdyj-?Q Ij?bTCIb):ib:bЪ4ylɮn(BlGSzB*** querying acoustic contact ***:xBxZRbj"ړ  ڒ ’  J@ )))"-y@AɢE`;)A EjiA)MzBɧUU_iUK?] ;YI]K? ]K?IYD4=DE EjE.E"E:*E9VEـ4ZEBE#;a%2E%;a%JEc<;a%:Ed<;a-ԱAIIO=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. 1 ©,?A6f>6ԉ?6<ٱ6& BAHRS rotation from veh to nav: [[0.818485,-0.570679,-0.066397],[0.573857,0.806463,0.142500],[-0.027775,-0.154736,0.987565]]6H1?Ch ]??m=?p`eÿ"?i6f>I6A\;6CYJ4GByJHIR=)Rp<bDVVDV8y^z=%^J=ٔb":Q-b>9`I`=fFyf0Ef|o;Ef>hQ 5n4j?Q 9n4j:)joBYpyr-?Q Ir?jvCIj+;ijI;j屆4yv0Cɮv6BvzE*DAT read: user:118>  BDAT read: Tx time:20:43:37.8001  $Ping request sent. E-| E-iE-+E)"E- :*E-9VE- [4ZE)a5@a=@a=@a=@9Bm>BmNCBiBiBm =BiBiBm';Bm!EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250723i ,\?A02>2?2<ٱ2 >AHRS rotation from veh to nav: [[0.817223,-0.572747,-0.064097],[0.575639,0.805778,0.139146],[-0.028048,-0.150610,0.988195]]2H&?Shk???`.GÿK?i2>I2H];0YN'GByRH TV;bDZVDZ(8yO%F=ٔ S-:Q- >9 I = Fy2EJ;E>Q 5%4.?Q 9%4:)oBY)y-o.?Q I-?CI:ip:4y1ɮ5=B1ZQRQbYjY"YYړYaڒa’aaevNK@ "x@频ɢ4;) Xi)<顡i[Bɧ7駭i\?;I\? \?Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790A%.AI1IAOM>ԹD1zD1bEg4jEǣf4rE?/E={ E=nE=.E9"E==:*E=:VE=ـ4ZE9BE=;aM2E=;aMJE=J;aM:E=J;aM  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754799Զ,?A2a>2?2OS<ٱ2t :AHRS rotation from veh to nav: [[0.816037,-0.574340,-0.064945],[0.577316,0.804444,0.139912],[-0.028112,-0.151667,0.988032]]2H?``;_y? ?@?@qɜiÿ?i2a>I2 ];0\Yb.GBybHy}㥛 ?9 ?I ?=Fy5Ep;E>Q 54@?Q 94:)oBY'+?Q E:y7?Q I?CIo;iQ;4y0CɮVBZRbj"ړڒ’   ܄K@ -=-=-g6#?"-?9ɢ=;)A EQiA)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006677!A EE ~ EA EE +EA "EE :*EA VEE [4ZEA aU @aU @aU @aU @B] >BY BY BY B] =BY BY B] U;B] NEEB!B%OCB%̓CB!B%́ =C%̗5,?AV:>V}?V<ٱV 5 bAHRS rotation from veh to nav: [[0.815296,-0.575169,-0.066881],[0.578358,0.803256,0.142412],[-0.028189,-0.154789,0.987545]]VH ?g` ?F?`:?|ݜÿ?iV:>IV.];VCYjGByjH llbDvVDv8|y~l½%S=ٔRO9Q->9I = Fy 7E X;E >Q 54P?Q 9%4:)woBY!y%8?Q I%?޵CI:i:Kdž4y-0Cɮ-B5rEZIRQbQjQ"Qړڒ’_K@ "?ɢn:) 5Gwi1)5䀕<11i5=Hɧ=k=6?6<ٱ6 BAHRS rotation from veh to nav: [[0.815240,-0.575132,-0.067877],[0.578436,0.802950,0.143813],[-0.028210,-0.156505,0.987274]]6Hq? {gg``?ű?yh?✿[Ŀ?i6F>I6j];4YJGByNHR@ARAAbDVVDV8y^`=%^O=ٔb]8Q-b>9b"?Ib"?=fFyf9Ef~9Ef>hQ 5n4ja?Q 9n4j:)jkoBYpyr$8?Q Ir?jCIj;ij;j3Ά4ytɮvBtZ R bj"ړڒ’K@ 999"=?QɢUp;)Q U'aiQY)Un2?2 <ٱ2" :AHRS rotation from veh to nav: [[0.815332,-0.574864,-0.069024],[0.578313,0.802789,0.145204],[-0.028061,-0.158306,0.986991]]2H 4?@Ie`?r?? bCĿn?i2a2>I2<];2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723YfGByfHbDnVDnڵ8yvR%vG=ٔz罹Q-z>9~ ?I~ ?=~Fy;EĹE> Q 54 s?Q 94 M:) _oBY!y%8?Q I%? #CI 9;i TE; cՆ4y50Cɮ5B1ZaRabaja"iiړiiڒq’qquL@ "p?Թɢ_:) oi)<i̡ݹOɧ֏$fir?wg;Ir? r?IA ؟AII!O5 >B>BMCBHB#GBBBBºDB~;BtEEE| EnE)E"E :*E:VEFA4ZEBE2;2E3;JEJ;:EJ;uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793A ,aRD?A2D>2?2<ٱ2{7# :AHRS rotation from veh to nav: [[0.815257,-0.574922,-0.069434],[0.578430,0.802679,0.145344],[-0.027828,-0.158656,0.986942]]2H?`emƱ?`?`?`NĿ?i2D>I2];0YR%GByRHIVC>)V4<bDZVDZ8yfT=%fM=ٔfQ-f>9j"?Ij"?=jFyj=Ej%9En>pQ 5v4r񃣈?Q 9v4r:)rSoBYtyv 8?Q Iv?rECIrd:ir:rY܆4yxɮ~B|ZRbj"ړڒ’RL@ "?ɢl?;) Zi)[<iE  Sɧ  zi 4? ;I4? 4?I1AE>AE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519335AIIO>AqE~ EgE,E"E:*E&9VEg4ZEBEw;2Ex;JEx1;:Ex1; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770750ԙ >,c^?A2w>22?2L<ٱ2R! BAHRS rotation from veh to nav: [[0.815776,-0.574281,-0.068635],[0.577721,0.803496,0.143640],[-0.027341,-0.156830,0.987247]]2H?`|?`=?b?d@Ŀ ?i2w>I28\;2CYRGByRHy5ףp= ? rȿQ?5?5C5<1 195E? ףp= ?L7A`堿Y5&?y5Q8=5+5B1 5B)5yB1Y5B AE<bDMVDM8y]TG%]@=ٔeɕQ-e>9aIa=mFym?Em)Em>qQ 5}4u*?Q 94u :)u9oBYD'?Q E :y 3-?Q I ?uiCIu m"|>mX?"m%@yɢ}0:) oi)s<顁i>`JXɧ駕@ip?;Ip? p?IAIIO%>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023203ԱE } E jE +E "E ݉:*E 9VE [4ZE a @a @a @a @A @AA ?AB B B HB GBB =B B B ;B EE \,x?ARF>Ry?R<ٱR! ZAHRS rotation from veh to nav: [[0.816387,-0.573396,-0.068775],[0.576858,0.804030,0.144125],[-0.027344,-0.157335,0.987167]]RH?AY5 u? ?@r?#Ŀޖ?iRF>IR];PYfGByfHbDVDε8y%!%-O=ٔ-6Q-->91I1=5Fy5AE50E5>9Q 5E4=?Q 9M4=:)="oBYIyM,?Q IM?=CI=:i=|:=4yQɮU BYZyRybyjy"yړڒ’L@ "@颹ɢ`9)0 i)D<ie\ɧi?^Ӷ;I? ?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275226AIIO>) < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526966^C,?A2 >2&?2tP<ٱ2y# >AHRS rotation from veh to nav: [[0.817119,-0.572268,-0.069473],[0.575819,0.804524,0.145512],[-0.027379,-0.158904,0.986914]]2H%? Pɱ@m??!?( VĿ@͔?i2 >I2\;2CYFFByFH HHbDPVDPyZ2%ZR=ٔZ{8Q-Z>9\I\=^Fy^CE-5OE->9Q 5E4=L?Q 9M4=:)= oBYIyU,?Q IU?=CI=c;i=G;=4ye0Cɮe6BetEZRbj"ړڒ’L@ "C@ ɢ 0) iEx EnE,E"Eˀ:*E:VEg4ZEBE;a%2E;a%JEJ;a%:EJ;a-)^<))i--5!aɧ5Y=(፼i=?=;9I=? =?IAQAIIO)>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778754yԩ m,E?A2>>2?2k<ٱ2o% BAHRS rotation from veh to nav: [[0.818243,-0.570562,-0.070268],[0.574205,0.805276,0.147716],[-0.027696,-0.161216,0.986530]]2H /? B_?`?@\?_\@Ŀ`?i2>>I2N\;2CVchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030989XY^FBy^HjAAj@AbDrVDr8y=%D=ٔ>:Q->9I=FyEEuE>Q 54fʣ?Q 94:)nBYy,?Q I?ζCI:i:4yw0CɮvBjEZRbj"ړ  ڒ ’   #M@ )))"-<@AɢE +)A EiA)M7EE| EEeEE+EA"EE :*EE9VEE [4ZEAaU@aU@aU@aU@B>BNCBHBGBBBBBq;BgEEAYi9Y"AiQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283025! U,9?A2>23?2^_<ٱ2ϕ' :AHRS rotation from veh to nav: [[0.819225,-0.569120,-0.070524],[0.572777,0.805964,0.149493],[-0.028240,-0.162863,0.986244]]2H7?@:6 /T?u?"?ꜿĿP?i2>I2|\;2CY^FBybHbDj_VDj8yrH%rN=ٔrx:Q-r>9v ?Iv ?=vFyvGEzDEz>|xQ 54zڣ?Q 94z:)znBY y +?Q I ?zCIz+;iz,;z4y0CɮBkEZ1R1b9j9"99ړAAڒA’AAMSM@ iii"m @ɢH}) i)r<!i%*=jɧ==dŗi=J?=,;9IEJ? EJ?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534825)AA>YE} EjE*E"E݉:*E9VE(N4ZEBEU;a]2EV;aeJEc<;am:Ed<;auA ؟AI1 IY O >ԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786753,Xu?A2>2U?2f<ٱ2* :AHRS rotation from veh to nav: [[0.820528,-0.567147,-0.071265],[0.570866,0.806724,0.152675],[-0.029098,-0.165957,0.985704]]2HA?&r>D??ڊ?˝`>ſ`?i2>I2^];2CYtyvHYyuQ?y&1 rh?u5?u`euC=q q9uʡE?{Gzy&1|Yu?yu#u`uBq u0B)uBqYuBbDIVD8y;%?=ٔY;Q->9"?I"?=FyIEE>Q 54?Q 94<:)nBY?Q E:y?Q I?CI ;i]:-4yɮBZRbj"ړڒ’PM@ j=j=WF@"$u@颩ɢ]#) i)4b<i?oɧic?=;Ic? c?Ih%ԉAIIO%M>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039710ԱE { E sE )E "E =:*E Z:VE FA4ZE a @a @a @a @ B} <A} <B >B B HB FBB B B úDB \;B VEE),YP?A2K>2?2Tf<ٱ2j+ :AHRS rotation from veh to nav: [[0.821667,-0.565553,-0.070801],[0.569193,0.807721,0.153646],[-0.029708,-0.166545,0.985586]]2H`K? @6??? k\Qſ?i2K>I2S\;2CY^FBybHbDj<VDj~8yr%rW=ٔre:Q-v>9tIt=vFyvKEzEz>|Q 54~?Q 94~:)~nBYy?Q I ?~-CI~;i~:~ 4y0CɮBlEZԹRbj"ړڒ’#M@ "u@ɢP|) טi)#<io` 2tɧ   zi{?D;checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290928I{? %{?I!))))AII O> BDAT read: Rx Time:20:43:42.7459  TRx dataTimestamp_ set to:1761511424.216553 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5438079 ",+?A:Iw>:?:<ٱ:3^, JAHRS rotation from veh to nav: [[0.822807,-0.563945,-0.070399],[0.567505,0.808656,0.154963],[-0.030462,-0.167457,0.985409]]:H`nT?` (???@V1`7oſw?i:Iw>I:t\;:CYZFByZ^HbDj+VDjn8yrʔ%vJ=ٔv`:Q-v>9xIx=zFyzMEuE> Q 54 ?Q 94 /:) nBY!y%?Q I%? MCI ~^;i _; 4y1ɮ5B9ZaRabaja"iiړiiڒi’qqumM@D=D=bE} [4jE}T4rE}[/E~ EjEE"E:*E9VEZEBEw;a2Ex;aJEa:Ea III"Mdlu@aɢe׻)i m⧾ii)mFqԙ ^ ,}-?AbDAT read: 20:43:42.7459 LVL= 28656, 32753, 30162, 32755, AGC= 87, IDX= 455, 0.35,-0.248,-1.977,-0.144,-0.477, PHS= 0.331,-1.456, 0.289, RAW= 148.8, 9.5, CAL= 148.4, 10.3, ROT= 1.6, -10.3 fYgot valid direction response: 20:43:42.7459 LVL= 28656, 32753, 30162, 32755, AGC= 87, IDX= 455, 0.35,-0.248,-1.977,-0.144,-0.477, PHS= 0.331,-1.456, 0.289, RAW= 148.8, 9.5, CAL= 148.4, 10.3, ROT= 1.6, -10.3 jPDAT read: Bearing 192.3, -2.1 (Local) n~Local bearing/azimuth received: Bearing 192.3, -2.1 (Local) rDAT read: Range 11 to 50 : 1906.2 m (Round-trip 2541.6 ms) speed 0.8 m/s vR#Rx 1: Read range and direction messages.z\direction in FSK: [0.983501,0.027472,0.178802]zFpublishing direction and range infoy@B^5x?d!??YBFD 4> )? Z<ٱ -@Bo@Bu @)@IBx>iB5^B>B6&@B)>B%@ BX8>)BI 5\; CYMFByMEHbD]"VD]f8ym4A%mB=ٔu9Q-u>9qIy=}Fy}OE}xE>Q 54>!?Q 94o:)nBYy?Q I?nCI :is;A4y0CɮBJ@RB.?ABVDBVDB(?BF-@/ķJ@~$7u@B^5x?d!??B<BX8—BqĢ3@ڋxy@Yip@B9)?_k?O{?jB DrBDZB;n댊?bBd XzB#CB;n댊?Bd XB#CڗBDBv(?ZRbj"ړڒ’ȝ@ "?q   " Zu@颩ɢ$) i)<项ihDf}ɧQ`Ai?<;I? ?IE} EE+E"E݉:*EVE [4ZEa@a@a@a@BM>BMMCBMoHBMFBBM =BIBMºDBMT;BMIEEBMCBNCBBĄ =Bă =C05ԡAyIIO^> ,F?A2!>2?2<ٱ2\- :AHRS rotation from veh to nav: [[0.824444,-0.561572,-0.070202],[0.565103,0.810107,0.156154],[-0.030821,-0.168412,0.985235]]2Ha?@fS?`f? ?`mſ ?i2!>I2\;2CY^FByb5HbDjVDj_8yr%rT=ٔr?#:Q-v>9tIt=vFyvQEz^Ez>|Q 54~1?Q 94~:)~nBYy<?Q I ?~CI~;i~:~"4y0CɮBmEZRbj"ړڒ’ =~? "Hu@ɢm:) 븾i)GX{<im~ ɧ 3 W)i ?C1;I? ?Iߕ%=ߕ4=AIIO>DzDE EhE,E"EO:*E]9VEg4ZEBE;a2E;aJE5;a :E5;a1 Q k,\`?A2(>2?2<ٱ2+ :AHRS rotation from veh to nav: [[0.824243,-0.562022,-0.068951],[0.565395,0.810260,0.154299],[-0.030852,-0.166164,0.985615]]2H3`?``???Dſ )?i2(>I2\;0YFFByF'Hy #~j?Dl~jt E? O D  9 T㥛 ?~jt/$?Y !?y ļ < B  B) B Y BbD-VD-[8y=Լ%=E=ٔ=8Q-=>9AIA=EFyESEE=_:EM>IQ 5]4MD?Q 9]4MI:)MnBY];!?Q E]:y]?Q I]?MCIM ;iM; ;MB*4yiɮm BiZ R b j "  ړ11ڒ1’19=`,? }$>}$>}c5@"}Z@颉ɢf() ri)`0v<顱iZF|߂ɧƝ駽q|i;?P";I;? ;?I)IIO$>Yԁ E  E rE +E "E :*E ?:VE [4ZE a @a @a @a @A A AAB% >B% LCB% IHB% FBB% =B! B% DB% o;B% ]EEc,tz?A0:Wh>: ?:m<ٱ: ) BAHRS rotation from veh to nav: [[0.823965,-0.562560,-0.067886],[0.565794,0.810260,0.152830],[-0.030971,-0.164336,0.985918]]:H]?}`?`? ?@ſ`?i:Wh>I:7\;8Y^FByb$HIb<)bp;bDj%VDjh8yrػ%rP=ٔr9Q-v>9tIt=vFyvUEz:Ez>|Q 54~V?Q 94~Ǯ:)~nBYy ?Q I ?~ηCI~:i~:~14yS0CɮfBdEZ1R1b1j1"99ړ99ڒA’AAE? aaa"e$Z@qɢ}N)y }ƿiy)}q<顁iS,zɧ̖駍Gqi`%?#;I`%? `%?IIyԉIO=Թ $,cz?AF->FV?F<ٱFr& RAHRS rotation from veh to nav: [[0.823310,-0.563674,-0.066572],[0.566739,0.809975,0.150819],[-0.031091,-0.161900,0.986317]]FHX? "?`Q?N? P֟ Ŀ@?iF->IF\;FC\Yb[FBybH df4<bDjCVDj8y%.%%F=ٔ%29Q-%>9)I)=-Fy-WE-6;E5>9Q 5=4=h?Q 9E4=:)=nBYAyE?Q IE?=CI=:i=:=S84yIɮUxBQZqRqbqE} E}tE}(Ey"E}:*E}v:VE}c44ZEyBE};a2E};aJE}`;a:E}`;ajq"ړڒ’o? ":?:Q<ٱ:% FAHRS rotation from veh to nav: [[0.822497,-0.564884,-0.066368],[0.567928,0.809327,0.149821],[-0.030918,-0.160920,0.986483]]:H@Q?@@x,??Y-? 򨟿ĿD?i:>I:0\;:CYN`FByRHbDZ3VDZu8ybF<%bQ=ٔbQ-f>9dId=fFyfYEjq;Ej>lQ 5r4ny?Q 9r4n:)nnBYpyrs?Q Iv?nCIn:in9:n*?4yz^0CɮzBzeEZRbj"ړ!!ڒ!’!!- S@ "EWZ@ɢ/g) Ͼi)f<i0Vu |Uɧ  1[i Mv? ; I Mv? Mv?I1IIO=AE EoE+E"E*E:VE [4ZEa@a@a@a@B>BBHBvFBBBBBw;BeEEqԡ 1,0?A2u>2M?2 <ٱ2D% :AHRS rotation from veh to nav: [[0.821700,-0.566011,-0.066644],[0.569098,0.808599,0.149316],[-0.030627,-0.160620,0.986541]]2H\K? 6? ??\0Ŀ?i2u>I2\;0YFGFByFH HHbDR)VDRl8yZ {%ZK=ٔZ>Q-Z>9\I\=^Fy^[Ebf;Eb>dQ 5j4f勤?Q 9j4f:)fnBYhyj?Q Ij?f/CIf;if3;f1F4ypɮrBpZRbj"  ړ  ڒ ’@ 111"5oZ@AɢE)I MPܾiI)M/Ca9I=Fy^EE>Q 54 ?Q 94:)nBYM ?Q E:yX?Q I?RCI:i;M4yh0CɮBfEZRbj"  ړ  ڒ ’)@ =>=>@"'@ɢw) ޾i)Z<i1p-Njɧ-,z5#Hi5?5;1I5? 5?I9!IYIiO}7>QE  E E ,E "E :*E ,:VE g4ZE a @a @a @a @B A B >B ICB HB MFBB B :DB DB f;B DEEy e> ) A I>,?A*>9,Y./AJ}>Jk?JC<ٱJ bAHRS rotation from veh to nav: [[0.820563,-0.567871,-0.064795],[0.570762,0.808169,0.145239],[-0.030112,-0.156161,0.987273]]JH B?+@n@C?`?5?՞ÿ?iJ}>IJM\;HY~FBy~HbD  VD d8y=%=Q=ٔE Q-E>9AIA=EFyE`EMT;EM>QQ 5]4U+?Q 9]4Uj:)UnBYaye?Q Ie?UqCIU:iU:UT4ymr0CɮmBiZRbj"ړڒ’8 @ !!!"%'@IYɢ])Y eria)eTA>IIO>yԩ߅ =߅ = .E,ػ?A2Z>2'?2qD<ٱ2n :AHRS rotation from veh to nav: [[0.820321,-0.568346,-0.063698],[0.571145,0.808400,0.142414],[-0.029447,-0.153206,0.987755]]2H@? /@|NF?j?:?`p'@ÿ@?i2Z>I2\;0YFFByFHIJ<)JbDR/VDRr8yV*J%ZT=ٔZ+Q-Z>9XI\=^Fy^bE^Q:Eb>`Q 5f4b?Q 9j4b:)bnBYhyj?Q Ij?bCIbF:ib:b\[4ylɮrBpZRbj"ړ  ڒ ’ `: @ 111"5'@Ee~ EejEe*Ea"Ee:*Ee9VEe(N4ZEaBEew;am2Eex;amJEec<;au:Eed<;au颹ɢ ) i)O<i&kɧh:i ?;I ?  ?IIyIO=Ա 9 [K,/?A6 >6?6`<ٱ6 >AHRS rotation from veh to nav: [[0.820183,-0.568439,-0.064627],[0.571400,0.808343,0.141718],[-0.028317,-0.153163,0.987795]]6H>? 0f@H?? #?.`Ԛÿ?i6 >I6\;4YJFByJH PR<bDV.VDVq8y^&%^I=ٔ^a6Q-b>9`I`=bFybdEf9:Ef>hQ 5n4jҤ?Q 9n4j+:)jnBYlyn?Q Ir?jCIjr;ijn;jtb4yv|0CɮvBvgEZ R b j "ړڒ’`=@ 999"='@IɢMľ)Q UiQ)U۬HBHCBHB$FBB =BBDB;BaEE1iIAa H@R,qI?A46>6?6a<ٱ6_" BAHRS rotation from veh to nav: [[0.820121,-0.568076,-0.068492],[0.571558,0.807696,0.144734],[-0.026899,-0.157847,0.987097]]6Hm>?- 3J?@??b`S4ĿL?i6>I6\;6CY^EByb|HbDhVDhyr%rH=ٔrcQ-r>9tIt=vFyvfEz9Ez>|Q 54~䤈?Q 94~n:)~nBYy?Q I ?~ҸCI~7;i~3;~i4yɮBZ1R1b1j1"19ړ99ڒ9’AAE`|@ aaa"e>'@qɢu?)y }iy)}A9aIa=eFyehEeEm>qQ 5}4u?Q 9}4uT:)unBY}V?Q E}:y}?Q I}?uCIua:iu:ur4y#0CɮQB^E ZARAbAjA"AAړIIڒI’IQU@ }>}>}K.@"}9W@频ɢ`)  i)0E9<顙ib\ ɧB駭i^?ֶ;I^? ^?IAIIO%o>1Aa Aa Bm >Bm ICBm HBm FBBi Bi Bm DBm ;Bm mEEB-ICE { E qE ,E "E =:*E $ :VE g4ZE BE ;2E ;JE U;:E U;B-JCB-ʕCB-ʅ =B-ʇ =C-ʑ:6ԡ z^,$'}?A2>2?25s<ٱ2i* :AHRS rotation from veh to nav: [[0.820632,-0.566418,-0.075727],[0.570969,0.807225,0.149608],[-0.023612,-0.166011,0.985841]]2HB? @b@aE??@[&?`- ?ſ?i2>I2];2C @)@Bt@@@DiDIDDIDiD HH)HH JnAJuHLNCNpAIL)PiP)PIPPP PV3CTV`eiTTiXX)X XIXYXYbEBybTHhhbDn:VDn|8yyg%n=ٔQ-?9I=FyjEE?Q 54?Q 94b:)nBYy?Q I?CI;i;)x4yɮ[BZ Rbj"9ړ99ڒ9’AAE?<@ "FW@颱ɢ4Z)  i)$I3<项ipC`G ɧ4Xi?˶;I? ?IԩAAIIIaOm5> n|e,?A2S>2d?2><ٱ2Q, :AHRS rotation from veh to nav: [[0.820931,-0.565637,-0.078279],[0.570627,0.807475,0.149563],[-0.021390,-0.167449,0.985649]]2HE? B? ? $? U畿nſ o?i2S>I2@\;2CYEByXHbD-'VD-j8DqDu<E} E}nE}+Ey"E}~:*E}:VE} [4ZEya@a@a@a@yB;%J=ٔQ->9I=FylE"E>Q 54C?Q 94:)nBYy?Q I?1CI:i;(4y,0CɮlB_EZRbj"ړڒ’*@ "@W@)ɢ-)) -B i))5l,<11i5O]= ɧ=V#=Vi=?=ۻ;AIE? E?IAAIIO">1Y k,?A6S$>6h?6w<ٱ6G. >AHRS rotation from veh to nav: [[0.821178,-0.564858,-0.081259],[0.570357,0.807626,0.149779],[-0.018977,-0.169342,0.985375]]6HG?@Pfʹ@]@??+?nſ`0?i6S$>I6g ];6CYJEByJ[HINC=)N%=bDR*VDRm8y^U;%^Y=ٔ^ѻQ-^>9`I`=bFybnEb{Ef>dQ 5j4f*?Q 9n4fԃ:)fnBYlyn?Q In?fOCIfj;iff;f4ypɮvjBtZ R b j "ړڒ!’!!-@S@ YYY"]>W@yɢ}]) i)%<顉i*h[]ɧgi'?;I'? '?I!1B >B B uHB EBB  =B B B p;B NEEEm~ EmoEm.Ei"Em:*Em:VEmـ4ZEiBEmw;au2Emx;auJEmN;au:EmN;a}AyIIO>YԉԱ fr,?A6>6G?68È<ٱ6. BAHRS rotation from veh to nav: [[0.821496,-0.564151,-0.082940],[0.569970,0.808152,0.148404],[-0.016694,-0.169187,0.985443]]6H@I? @;2=?b?@?3@ſ?i6>I6c\;4YEByMH ))bD5VD5[8yE%EB=ٔEϱQ-E>9III=MFyMpEUeEU>YQ 5e4]DqzDqE} E}pE}-Ey"E}a:*E} :VE}t4ZEya@a@a@a@ x,l?A2ѿ>2a6?2qr<ٱ2;?4?`?%P Tſ@?i2ѿ>I2];2CYNEByR9Hy]?Q:v?],?]u]9I=FyrEs*E>Q 54ZN?Q 94|:)Yr?Q E:y@?Q I?CI:is:O4yɮBZRbj"ړڒ’զ@ x=x=V;P@"y@ɢT) i)нI B <A <B B B \HB EBB =B B DB b;B AEEE  E nE ,E "E O:*E :VE g4ZE BE ;a 2E ;a JE J;a :E J;a ~,o?A 2S>2W?2Y<ٱ21Z* >AHRS rotation from veh to nav: [[0.822160,-0.563105,-0.083464],[0.569101,0.809627,0.143621],[-0.013299,-0.165579,0.986107]]2H!O?]@6?w?@*b?`< 1ſ0?i2S>I2v\;2CY^EByb7H ddbDjVDj`8yr]%rU=ٔrQQ-v>9tIt=vFyvtEz Ez>|Q 54~^?Q 94~y:)~znBYy  ?Q I ?~CI~:i~9:~4y>0CɮBZ1R1b1j1"99ړ99ڒA’AAE/@ "y@ɢ!)1 5i9)==a<99i=ITE;ɧE$˽EiEA~?M`Q;IIMA~? MA~?IIiAIIO >ԙ ʅ,EJ?A6W>6$?6TI<ٱ6Yj( >AHRS rotation from veh to nav: [[0.822857,-0.562146,-0.083048],[0.568115,0.810672,0.141622],[-0.012288,-0.163715,0.986431]]6H@T?B -?? ?h*Ŀא?i6W>I6\\;6CYJEByJ&HPTVAAbDV VDVP8y^{ %^M=ٔb%Q-b>9`Id=fFyfvEf^FEf>hQ 5n4jo?Q 9n4j=v:)hYpyr?Q Ir?jʹCIj;ij;j4ytɮvBxZ Rbj"ړڒ’%h@D=%=D=R=EE EEqEAEA"EE:*EE$ :VEAZEAaM@aM@aM@aM@ QQQ"Umy@iɢm<)i moiq)u! e,k(2?A:>:Y?:F<ٱ:) ZAHRS rotation from veh to nav: [[0.823615,-0.560927,-0.083777],[0.567019,0.811234,0.142789],[-0.012132,-0.165107,0.986201]]:H[?ar@%??F?`؈5"ſ?i:>I:];8YjEByj(HbDz7VDzy8|y3L;%E=ٔĹQ->9I!=%Fy%xE-QE->1Q 5E45+?Q 9E45r:)1YIyMb?Q IM?5CI5uE;i5(;5C4yeF0CɮeBeaEZRbj"ړڒ’: @ "y@ɢ) i)A<iO0<ɧdnei?;I? ?IA>A>B>BHCBCHBEBB =BBDB6;BEE)A1EU EUmEU)EQ"EU~:*EU:VEUFA4ZEQBEU;a]2EU;aeJEUNG;ae:EUOG;aeIIO">:9Y<,AQԁ -ݒ,*L?A2>2}?26E<ٱ27' :AHRS rotation from veh to nav: [[0.825122,-0.558912,-0.082411],[0.564827,0.813003,0.141412],[-0.012037,-0.163230,0.986515]]2Heg??@? ?෦Ŀ ?i2>I2\;2CY^EBy^HIb=)b=bDj3VDju8y%%%I=ٔ%9)I)=-Fy-zE5R׻E5>9Q 5E4=]?Q 9E4=ao:)9YAyM?Q IM?= CI=:i=$:=V4yU/CɮUBUXEYZyRybyjy"yړڒ’!@ "yy@颹ɢ~l) 4i)]";i^;Mɧe`3i ?µ;I ?  ?IAIIYIqO}>ԁEY E]oE].EY"EY*E]:VE]ـ4ZEYae@ae@ae@ae@Ա ,fe?A2?>2t?2M<ٱ2:6# >AHRS rotation from veh to nav: [[0.826674,-0.557101,-0.079050],[0.562542,0.815140,0.138182],[-0.012545,-0.158700,0.987247]]2H`t? <W??`?񰉿HPĿ`?i2?>I2];2CYFEByF"HyʡE?T㥛 ? rh??=C = 9S?~jt?L7A`?Y/?yD<+=B=A B)@BYB -4<-bD-NVD-8y<%C=ٔ:Q->9I=Fy|E׻E>ԹQ 54?Q 94ik:)nBYp?Q E:y ?Q I?*CIf;i7:4yɮBZ)R1b1j1"QQړQYڒY’YYe!@ Q=Q=͊@"@颩ɢ) 5i)ş;iJɧ`3i ?y;I ?  ?I^A<AiAzAhAA I I! OE >A A @AB >B B B B =B B B ;B DEEm  Em lEm *Ei "Em :*Em :VEm (N4ZEi BEm ޽;au 2Em ߽;au JEm C;a} :Em C;a} 9 >4,??A2:>2c?2*xX<ٱ2e<" >AHRS rotation from veh to nav: [[0.827925,-0.555435,-0.077665],[0.560683,0.816458,0.137950],[-0.013212,-0.157758,0.987389]]2H\~?@᳿?`m ?X?h1Ŀ?i2:>I2R];2CY^EBy^HbDfVDfb8yn'%nW=ٔnG:Q-r>9pIp=rFyr~EvUEv>xQ 5~4z򳥈?Q 94zg:)znBYy~?Q I?zHCIz*;iz+;zM4y /Cɮ  BYEZ1R1b1j1"11ړ99ڒ9’9AE1"@ YYY"]S@yɢ}a)}4Ȁ9 }4i)ȶ;顁iSH{PɧK_駍Ƣ2i{ ?6;I{ ? { ?I^A] ;A9IiIO9>iԑ ,ɑ?A6@'>6?6Da<ٱ6t BAHRS rotation from veh to nav: [[0.828957,-0.554125,-0.076006],[0.559143,0.817670,0.137019],[-0.013778,-0.156080,0.987648]]6H@І?`cu ?@[*?Ӊ?7qÿК?i6@'>I6B];6CYNEByL PPbDV7VDVy8y^\%bL=ٔb:Q-b>9dId=fFyfEfEj>hQ 5r4jĥ?Q 9r4jd:)jnBYpyr?Q Ir?jgCIj ;ij ;jIŇ4yxɮz BxZRbj"ړbEg4jEYe4rE/E%~ E%iE%+E!"E%:*E%9VE% [4ZE!a5@a5@a5@a5@1ڒ1’99=ap#@ YYY"]@iɢm@)q uPiq)u+R;qqi}&Eڪɧ[駅/i?;I? ?I@jA@jAqԩ^A"A)I9IIOe> ]D,s?AN]>N(?N"a<ٱN]% ZAHRS rotation from veh to nav: [[0.829442,-0.553015,-0.078744],[0.558422,0.817428,0.141335],[-0.013793,-0.161202,0.986825]]NHʊ?K(?_(?D?I? CĿ ?iN]>IN*$];LYzEByz H@AbD>VD8y%E=ٔ8Q->9!I!=%Fy%E%E->)Q 554-L֥?Q 9=4-*`:)-nBY9y=?Q I=?-CI-;i-@;-̇4yE/CɮM BMZEZiRibiji"iiړqqڒq’qy}fC$@ "퍨@颩ɢR) hi)";顱iCɧ&W駽p,i?;I? ?I@@@@BU>BUICBU6HBUEBBQBQBQBU;BUDEBBICBÓCBÉ =BÉ =CP5E-{ E-gE-,E)"E-=:*E-&9VE-g4ZE)BE-;a=2E-;a=JE-w1;a=:E-x1;a=iߑIߕAAII O>) *,E?A2W>2$?2R<ٱ2 , >AHRS rotation from veh to nav: [[0.829657,-0.552048,-0.083138],[0.558125,0.816758,0.146295],[-0.012858,-0.167776,0.985741]]2H?a@H)?"?ȹ?Uyſ1?i2W>I2>];2CYFEByFHbDRVDRc8yZfP%ZQ=ٔZQ-Z>9\I\=^FybEbuEb>dQ 5j4f楈?Q 9j4f}\:)fnBYlyn?Q In?fCIf<;ifw;fbӇ4ypɮr+BtZ R b j "  ړ ڒ’ t %@ 111"5:@ɢk) ~i);i_@]ɧR(iB?U9;IB? B?IQ=ܪ&yE= E=nE=*E9"E=:*E=:VE=(N4ZE9aM@aM@aM@aM@AIIO>ԩ .V,$)?A9I=FyEE>Q 54?Q 94W:)nBYr ?Q E :y v3?Q I ?ʺCI@:i/: ۇ4y/Cɮ7BZ1R9b9j9"99ړ9AڒA’AAE`h%@ e=e=e?"e]X?qɢ}A)y }iy)}`;顁i'=ߛɧԔ駕k!ni?^;I? ?Iԩ9AzAjAA) I1 BI AM p<"U TFailed to parse device response: 49.42.22 IY Oe > <,m?AlYrEByrH xzp<bD~VD~I8y [% S=ٔQ->9I=FyEE>!Q 5-4%?Q 9-4%S:)!Y)y1Q I5?%CI%:i%|:%4y=0Cɮ=>B9ZaRibiji"iiړiqڒq’qqu@u&@ "颡ɢ2')  i);顩i:'oɧȹ駽'i?;I? ?I 9A.AIIO>a fƀ,?A2>2O?2V;ٱ2q0 :AHRS rotation from veh to nav: [[0.827446,-0.554218,-0.090420],[0.561496,0.814439,0.146329],[-0.007457,-0.171850,0.985095]]2Hoz? 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BAHRS rotation from veh to nav: [[0.829749,-0.541097,-0.136859],[0.555741,0.823658,0.112870],[0.051652,-0.169712,0.984139]]:HN?P?g[?@?r?`ſ~?i:z>I:];:CY%HBy%HbD53VD5ώ8ye/%eU=ٔmùQ-m>9iYq=uFyuIEu:Eu>yQ 54}?Q 94}8Q =tI)}pBYy@?Q I?}=CI}<:i}:}|y4y/*CɮTB EZ9R9b9j9"9AړAAڒA’AIMCH@颙ɢ$u) BECB|HBhHBB =BBDBg;B'CEԉAI IO-,>ԹEU EQEU*EQ"EU~:*EQVEU(N4ZEQBEU;ae2EU;aeJEUJ;ae:EUJ;ae $ &,a ?A2v>2ّ?2pRٱ2. FAHRS rotation from veh to nav: [[0.828687,-0.542733,-0.136814],[0.557339,0.822627,0.112510],[0.051484,-0.169488,0.984187]]2H ? ^`?R?|ͼ?\?Ʊſu~?i2v>I2gZ];0YN$HByR(HIP)R4=XbDZnVDZC8yb=%fU=ٔf49Q-f>9dYh=jFyjKEj;En>lQ 5r4nI ?Q 9r4n08)npBYtyv?Q Iv?n\CIn):in:n44yxɮzLB|ZRbj"ړ!ڒ!’!!%SH@IɢU1 ټ)Q UX=iQ)UbYYi]CefrNɧeegie“?e{;aIe“? m“?IiAII9O]>A E]  E] vEY EY "E] :*E] :VEY ZEY ae @ae @ae @ae @3,,<. ?A2>2N)?2Qٱ2K0 :AHRS rotation from veh to nav: [[0.827407,-0.544444,-0.137758],[0.559260,0.821163,0.113665],[0.051237,-0.171089,0.983922]]2H z?l` t?F?#?@;?BſJ|?i2>I2,];2CYF,HByF2HiMMb@Mb@Mb@IIII I9MMb?MbP?I +YM ?yM:M94MBI I)M;AIYM=B e49Y=FyME;E>Q 54?Q 94E8)pBY ?Q E:y?Q I?~CIe ;i ;4y&*Cɮ7BZRbj"ړڒ’I@ɢּ)  41=i ) t  i \^Pɧ Ki?ޞ;I? ?I!I1IAIOU>qB>BFCBHB|HBB =BBB);BBEԡ </3,> ?A2>2?2Oٱ20 :AHRS rotation from veh to nav: [[0.826127,-0.546337,-0.137950],[0.561198,0.819766,0.114193],[0.050699,-0.171756,0.983834]]2H@o?{[ V?;?;? 7?ſ{?i2>I29];2CYb7HByb@HbDrߔVDr8yzx<%~S=ٔ:Q->9Y = Fy OE;E>Q 5-4.?Q 9-48)pBY1y5b?Q I5?CI8;i#9;ys4yɮ1BZRbj"ړڒ ’   `jFI@bEG4jEK4rE@o/E} EnE)E"E݉:*E:VEFA4ZEBET;a-2EU;a-JEa5:Ea5频ɢf'ϼ) 8_=i)ҵ顡iiP?Rɧ 駭\޼i۷?Ⱦ;I۷? ۷?IAA>ԡIIO$> dH9,N ?A2du>2*?2wNٱ2. :AHRS rotation from veh to nav: [[0.824360,-0.549276,-0.136846],[0.563819,0.818251,0.112129],[0.050385,-0.169591,0.984226]]2H(a?. ? /?u?̩?'ſ~?i2du>I2N#];2CYF5HByF=HiMb@Mb@Mb@ 9Cl?:v:vY;?yTԼB )YBbD-ҒVD-8y=Tͻ%=F=ٔ=G:Q-=>9AYA=EFyEQEM;EM>IQ 5]4MA?Q 9]4M8)MpBY]g?Q E]:y]{?Q Ie?MCIM ;iM:M4ym*Cɮm!Bm EZRbj"ړڒ’!%`zI@iɢKϼ) T=i)^顑idcSɧ駥Zؼi?;I? ?IIqIO=E% E%qE%+E!"E%:*E%$ :VE% [4ZE!a-@a-@a-@a-@)i! I! Q -@, ?A6>6O<?69Mٱ6y~) FAHRS rotation from veh to nav: [[0.822894,-0.552136,-0.134132],[0.565977,0.817353,0.107722],[0.050156,-0.164559,0.985091]]6H@&U?`:+{? '?୓??Hſ݅?i6>I6H];6CYNPHByR_HTV@AbDZAVDZ8ybL=%bR=ٔf:Q-f>9dYd=fFyjSEji;Ej>lQ 5r4n1R?Q 9r4n8)npBYtyv3?Q Iv?nCIn':in:nj4yz*CɮzBz EZRbj"ړ!!ڒ!’!!-@I@QɢU˽)Q U*=iQ)]YYi]#eB}GCB}HB}HBB} =ByB}DB}&;B}BEB]ECB]ECBYB]Œ =B]‹ =C]5O=aD5?AzD5?AE9 E=nE=(E9"E9*E=:VE=c44ZE9BE=#;aE2E=$;aEJE9aM:E9aMԉԹ pWF,1 ?A2(>2?2Nٱ2 # :AHRS rotation from veh to nav: [[0.821686,-0.554661,-0.131086],[0.567703,0.816879,0.102093],[0.050454,-0.158307,0.986100]]2H@K?ǿn*?#?"?`(թ? dCĿ!?i2(>I2@!];0YRcHByRuHbDZ2VDZă8y-3=%E=ٔ9!Y!=%Fy%UE-;E->1Q 5=45pd?Q 9=458)5pBY9y=?Q IE?5CI5;i5;54yIɮMBIZiRibiji"qqړqqڒq’yy}-I@颡ɢ) T=i)P<顩i : @WɧY駽μi?k;I? ?II9IIԑO=EE  EA EE -EA "EE ~:*EA VEE t4ZEA aM @aM @aM @aM @ L,t4 ?A2*>2?2Oٱ21 :AHRS rotation from veh to nav: [[0.820946,-0.556447,-0.128120],[0.568747,0.816788,0.096870],[0.050744,-0.152393,0.987016]]2H/E?@j@;f-3? !#?r̸?? ÿ?i2*>I2!;];2CYNxHByRHIV=)V=i-Mb@Mb@Mb@)))) )9-K?{Gzy&1Y-^?y-#-`-AB) -B)-A)Y-BbDVD8yL=%A=ٔM3Q->9Y=FyWE*F;E>Q 54 w?Q 94m8)pBY?Q E:y?Q I?CI ;i& ;4y *CɮBZ R b j "  ړ ڒ’@wJ@AɢE)A M=iI)MWjIIiM U:XɧUU]żi]"e?];YI]"e? ]"e?IaI1IAO=Bu>BqBuHBuHBBu =BqBqBu*;BuBEI emS,`N ?AJ>Jl0?JWRٱJ^ ZAHRS rotation from veh to nav: [[0.820731,-0.556582,-0.128904],[0.569004,0.816606,0.096901],[0.051331,-0.152877,0.986911]]JH@nC? G5?@!?|θ?H?`uÿ ǔ?iJ>IJ%];JCYjHBynH tvbDzyVDzB8y<%V=ٔɺQ->9 Y = Fy YEe:E>Q 5%4ч?Q 9%4V8)pBY!y%?Q I%?i1)5%11i5} =qZɧ==ӶiEB?E;AIEB? EB?IIaAIIO!>ԑ UY,)h ?A6Ɣ>6 ?6Uٱ6W >AHRS rotation from veh to nav: [[0.820833,-0.556648,-0.127971],[0.568785,0.817073,0.094210],[0.052120,-0.150119,0.987293]]6H@CD?^a}3?@u%?*?`x?7ÿ?i6Ɣ>I6U];6CPYHBy HiMb@Mb@Mb@ 9I +?x&{GzY9?y7ףB =B);AYBbDVD}8yJ=%?=ٔQ->9Y=Fy\EE>Q 54c?Q 94D8)pBYM?Q E:yH>Q I?\CIv:i::4yx)CɮuBuEZRbj"ړڒ’`1J@颁ɢ`) B>i)z顱i\ɧ]ھ+i?l%;I? ?IE EoEE"E:*E:VEZEa@a@a@a@A9IQIaOmW>   ͑C) q 59 Y 'A{`, ?A2 >2y?2oWٱ2s :AHRS rotation from veh to nav: [[0.821320,-0.556246,-0.126589],[0.568041,0.817885,0.091620],[0.052572,-0.147157,0.987715]]2H @H?`4c-?,?lt?`? ¿`\?i2 >I2;B];2CBCBffAiBI@BPJFsC FlAFXF6FDF3CHIJD)HiH)HIJmAHNlF LNCNVlARiRFSFPiPRmA)P VK>FIT V C)TTVFXYX|YUHByUH YYbDm;VDmz8y}3`=%}O=ٔ}EQ->9Y=Fy^EE>Q 54?Q 94q8)pBYy>Q I?zCI;i/;4y|)CɮBZRbj"ړڒ’`J@ɢր)  b.>i ) }  i>AAAA@AB%>B%FCB%HB%HBB% =B!B%DB%";B%BE=}+]ɧ=ʾ=i=q?=M;9I=q? Eq?IA)AIIO$>QE EpE'E"E:*E :VE'4ZEBEE;a%2EF;a%JE:R;a%:E:R;a%ԁ f,L ?A2|I>25{?2 Xٱ21 :AHRS rotation from veh to nav: [[0.822235,-0.554778,-0.127084],[0.566687,0.818752,0.092257],[0.052868,-0.147874,0.987592]]2HO?JD L"?`73?+?? ¿Z?i2|I>I2+[];0YEHByMHYQUAAbDeVDex8yu=%uK=ٔuAQ-}>9yYy=}Fy}`EE>Q 54 ?Q 948)pBYy>Q I?CI;in;*NJ4yr)CɮBGSB*** querying acoustic contact ***:BZRbj"ړڒ’AJ@ɢR}) ;>i ) F  i 9Z^ɧPC@iS?o;IS? S?I!A.AIIO (>}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.PExceeded connect timeout, disconnecting.E%  E% }E% (E! "E% :*E% k&:VE% c44ZE! a5 @a5 @a5 @a5 @1 l, ?A6K>6<?6@Zٱ6m BAHRS rotation from veh to nav: [[0.823312,-0.552982,-0.127939],[0.565079,0.819751,0.093239],[0.053319,-0.149061,0.987390]]6HX? O` ? g;?޷?@L?kÿౘ?i6K>I6];4YHBy HiMb@Mb@Mb@ 9S?{Gz~jtx?Y?yף; BOA B)AYBbDVDu8y=%@=ٔ؊Q->9  ?Y  ?= Fy bE "E >Q 54Ϭ?Q 9%48)qBY%?Q E%:y%>Q I%?CI:i:Ί4y)ɮ5uB1ZQRQbQjQ"QYړYYڒY’Yae`K@颉ɢ8Z) +^>i)顑itz_ɧe駥QiGS?$;IGS? GS?I*DAT read: user:119> BDAT read: Tx time:20:44:38.0499 $Ping request sent.B>BGCBDHB IBB =BBDB;BBEԉm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879Թ s, ?A6>6`?6}]ٱ6\ BAHRS rotation from veh to nav: [[0.824624,-0.550565,-0.129900],[0.563092,0.820859,0.095483],[0.054060,-0.151883,0.986919]]6HQc?@:?zD?`q?ອ? pÿ ה?i6>I6#^;6CY^HBy^HI`)bC=bDjVDjt8y~=%^=ٔ2Q->9 Y = Fy dE IԻE >Q 54ެ?Q 9%4W8)qBY!y%f>Q I%?CI:i: Պ4y-h)Cɮ5ZB5EZQRQbQjQ"QYړYYڒY’YaeHK@颉ɢU7) j>i)c顑i_Y`ɧ駥li%?;I%? %?IE EwE,E"Ea:*E:VEg4ZEBEh;a2Ei;aJEk;a:Ek;aԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769rAiIqIO> 1 y,q ?A2L>2|?2k^ٱ2 :AHRS rotation from veh to nav: [[0.826562,-0.547216,-0.131719],[0.560223,0.822431,0.098781],[0.054275,-0.155441,0.986353]]2H2s?ʂ,W? [Q?I?@ɫ?~ÿ 4?i2L>I2׈^;2CYFHByF Hi Mb@Mb@Mb@     9 V-?L7A`尿~jt?Y  ?y + =  A =B)  Y  %p<%<bD-VD-r8y5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965}nManaging dock network, ignoring radio surface power off%G=ٔ)Q->9Y=FyfEE>Q 5 4?Q 9 4d8)9qBY ?Q E:y>Q I5?CI;i;܊4yM])CɮMLBUEZRbj"ړڒ’!!%@ɃK@颉ɢՋ`) f\>i)N顑iVaɧV駥5$Ri%?;I%? %?IE EEE"E:*EVEZEa@a@a@a@9A؟AIIOn>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006865i ɀ,N?A :>:x?:_ٱ:W" BAHRS rotation from veh to nav: [[0.828415,-0.544157,-0.132745],[0.557462,0.824041,0.100965],[0.054447,-0.157641,0.985994]]:H a?`i?@^? ع?p?-ĿD?i:>I:^;8YJIByJJHbDVVDVr8y^T>%^S=ٔ^Q-b>9b"?Yb"?=bFybhEfEf>hQ 5n4j?Q 9n4j8)jVqBYlynZ>Q Ir?j CIj;ij+;j4ytɮv3BtZ R b j "ړڒ’K@AɢE)I M܇>iI)MKIIiUsUaɧ]i];i]?]qp;YI]? e?IaiiiiBA<B>BECBHBGIBB =BBDB&;BBEiMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258831A5>A5>ԙAqIyIO~>bE}FA4jEyrE}]%0E EpE)E"E:*E :VEFA4ZEBE;a2E;a JE:R;a :E:R;a  i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511089y,'?A2˽>2D?2a^ٱ2r % :AHRS rotation from veh to nav: [[0.830370,-0.540912,-0.133791],[0.554549,0.825674,0.103626],[0.054415,-0.160242,0.985577]]2Hd?&O ݾ?k?`@?Eܫ?͂Ŀ@؉?i2˽>I2x^;2C\Yn!IByn_H ppbDzVDz=q8y;+=%F=ٔ 8Q- >9 Y = Fy jEF E>9Q 5E4=?Q 9E4=8)=xqBYAyM>Q IM?='CI=:i=:=I4yUR)CɮUBUEZRbj"ړڒ’K@ɢ) >i)KN߼i%ݬ=^bɧ=1H=' i=?=pC;=9IE? E?IAAIIO%+>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763272A E  E xE 'E "E :*E :VE '4ZE a @a @a @a @,7?A2.>2?2,\ٱ2) :AHRS rotation from veh to nav: [[0.832323,-0.537585,-0.135055],[0.551673,0.827080,0.107689],[0.053809,-0.164138,0.984969]]2H`d?3yI M?ow? ? ݌?yſ ݄?i2.>I2]^;2CY^6IBybzHiMb@Mb@Mb@ 9@5^I ?V-T㥛 ?Yb?y=B )Y(BbDVD0q8y A=% ;=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735ٔ{:Q->9Y=FylEE>Q 54$?Q 94IG8)qBY-x?Q E-:y- ?Q I-?KCIl=ic=4y1ɮ5 B9ZRbj"ړڒ’o*L@Yɢ])a eT>ia)eܼaaie mlcɧm3m(iu_&?u;uIu_&? u_&?IyAhAzAfAqB>BCCBHBzIBB =BBDB2;BBEBFCBFCBBNJ =BNJ =Cf6AIIO>e #?e %=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267247ԡ ,P?A2L1>2 ?2DXٱ23- :AHRS rotation from veh to nav: [[0.834325,-0.534243,-0.135965],[0.548741,0.828449,0.112056],[0.052775,-0.168100,0.984356]]2H@ʲ?Ig`I???I?Mſ?i2L1>I2/^;2CY^EIBy^HbDfVDf?q8yn=%r`=ٔr9;Q-r>9pYt=vFyvnEv>Ev?xQ 5~4z0?Q 94z8)zqBYy ?Q I?z`CIz;iz;z@4y G)Cɮ BZ1R1b1j1"19ړ99ڒ9’9AE@JL@iɢmPT:)i u>iq)u9Vۼyqyi}H" cɧ&駅li O?*̿;I O?  O?IE EtE(E"E:*Ev:VEc44ZEBEE;a2EF;aJE`;a:E`;aIIIYOm>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518868 /,̸j?A6`̸>6<?6 Tٱ60 >AHRS rotation from veh to nav: [[0.835861,-0.531666,-0.136628],[0.546497,0.829414,0.115819],[0.051744,-0.171475,0.983829]]6H@`?`h}@|? ?N?@-~?ſ@{?i6`̸>I6^;6CY^fIBybH%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771295iMb@Mb@Mb@ 9|?5^? rh?p= ף?Y?yC<=A B)YbDBVDq8y[=%:=ٔ`;Q->9Y=FypEE>Q 54B?Q 94ڰ8)qBY?Q E:y ?Q I?CI ;ii ;V4yɮBZRbj"ړڒ ’   L@9ɢ=@o)9 =8>i9)=_ؼAAiE%M^dɧM'MZiMI?Mp;QIUI? UI?IQE EoEE"E:*E:VEZEa@a@a@a@ ^A5h%<A=>A=>1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023125I1 IA OM >Y ],?A2O>2!?2Oٱ2x&3 :AHRS rotation from veh to nav: [[0.836837,-0.530085,-0.136799],[0.545104,0.829934,0.118622],[0.050654,-0.173837,0.983471]]2H@^?t@}q? Ҏ?`^?@`?@I@ƿx?i2O>I2^;2CYFxIByFHbDNwVDNq8yV&H=%Va=ٔVR;Q-Z?9XYX=ZFyZrE^ФE^?Q 54P?Q 9%4ǭ8)rBY!y%c ?Q I%?CI;i;p4y-(Cɮ-B5EZQRQbQjQ"QQړQYڒY’YaeL@颉ɢ`:) J>i)ּ顑if'dɧ'駝QiG?{&;IG? G?IA@AAAAB>BDCB HBIBB =BBBX;B CE9^AjZX;II)O5=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857aE EvE*E"EU:*E:VE(N4ZEBE;a2E;aJEh;a:Eh;aԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527627A,3o?A2E`>2?2tJٱ294 :AHRS rotation from veh to nav: [[0.837475,-0.529231,-0.136198],[0.544237,0.830260,0.120310],[0.049408,-0.174881,0.983349]]2H@? uncj?`}?`̾?@K?`bƿw?i2E`>I2D^;2CYbIBybHbDjVDj^r8yr<%rG=ٔrG;Q-v>9tYt=vFyvtEz+Ez>|Q 54~4`?Q 94~B8)~7rBYy# ?Q I ?~CI~;i~o:~n 4yɮBZRbj"ړڒ’`L@ ɢ @)  Կ>i )4Լi5P*=heɧ=2(=i=C?EȾ;AIEC? EC?IAԑ^A}"AiAzAjAIIO l>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779909E  E pE -E "E :*E  :VE t4ZE a @a @a @a @ :?:wDٱ:Gc3 BAHRS rotation from veh to nav: [[0.837541,-0.529534,-0.134606],[0.544261,0.830233,0.120384],[0.048007,-0.174088,0.983559]]:H"?:j?`E?Ѿ?c? Hƿ@Qy?i:A^>I:f^;:CYJIByJHiMb@Mb@Mb@ 9$C?Mb?ˡE?Y?y='=AB =B)AYzBbD1VD1yM>=%MD=ٔM>\;Q-U>9QYQ=UFyUvE]E]>aQ 5m4ep?Q 9m4e8)ePrBYmU?Q Eu:yuT1?Q Iu?eCIez:ie :e4y(CɮBZ9R9b9j9"AAړAAڒA’IIM M@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031647 !M 9QYUA颩ɢ:) >i)Ѽ顱iE~-fɧ9駽iK ? h;IK ? K ?I@@@@!B>BECBJHBIBB =BBDBq;B+CEIIO>I U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283657S,}%?A :>:X?: @ٱ:0 FAHRS rotation from veh to nav: [[0.836932,-0.531027,-0.132495],[0.545297,0.829785,0.118780],[0.046867,-0.171660,0.984041]]:H@%? - s??Vh?@? ſ@C}?i:>I:OI^;:CYNIByRHbDZVDZBr8yb=%bS=ٔb^A;Q-f>9dYd=fFyfxEjK;Ej>lQ 5r4n?Q 9r4n8)ngrBYpyr1?Q Iv?nCInv;in;n{4yxɮzBxZRbj"ړڒ!’!!%`LM@IɢU;)Q UO>iQ)UμQYi]T/esfɧe,Je!ieY?e';aImY? mY?IiD=D<E ErE&E"E:*E?:VE4ZEBE;a2E;aJEY;a:EY;aIIO}=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534770ԙ F~, ?A6~>68_?6 ;ٱ6c- FAHRS rotation from veh to nav: [[0.835817,-0.533343,-0.130208],[0.547097,0.828913,0.116569],[0.045760,-0.168667,0.984610]]6H@? &४с?t? x׽?m?@ߖſ?i6~>I6c^;4P checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787827Yy!i Mb@Mb@Mb@     9 \(\?K?Mb`Y ?y ^=  {B  ) ;A Y BbD%VD%tr8y5z%=5=ٔ= ;Q-=>9AYA=EFyEzEE;EM>IQ 5U4M?Q 9]4ME8)MkrBY]?Q E]:y]9?Q I]?MCIMm ;iM` ;M`#4ym(CɮmnBmEZRbj"ړڒ’ M@9ɢ=%:)9 =>i9)E˼AAiEm2MygɧmfmC8imRs?u/ڽ;qIuRs? uRs?IqE EpE(E"EO:*E :VEc44ZEa@a@a@a@A}.AIIOB>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038801! e,?A2 >2?2W7ٱ2>r+ :AHRS rotation from veh to nav: [[0.834290,-0.536123,-0.128578],[0.549500,0.827561,0.114859],[0.044827,-0.166479,0.985025]]2H@?`':u?`{?@jg??1Oſ T?i2 >I2U ^;0YFIByFHbDNVDNUr8yVo%Vh=ٔVB-;Q-Z>9Z ?YZ ?=ZFyZ|E^?<E^>`Q 5f4b?Q 9f4b|8)borBYdyj:?Q Ij?b6CIb:ib :b)4ylɮll|ZRbj"  ړ  ڒ ’`M@BYA]<Be>BeDCBepHBeIBBe =BaBaBel;Be"CEɢ@;) >i) xɼiS43hɧ} Kim&?;Im&? m&?I=BDAT read: Rx Time:20:44:42.9500 %TRx dataTimestamp_ set to:1761511484.226072)5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295006A؟AIIO>QE ElE'E"E:*E:VE'4ZEBEݽ;a2E߽;aJEC;a:EC;aԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542862ǃ,?A>M>>R?>n4ٱ>a( RAHRS rotation from veh to nav: [[0.832408,-0.539482,-0.126711],[0.552410,0.825963,0.112372],[0.044036,-0.163536,0.985554]]>H?@oC@8`X?Jn?nļ?䋦?Ŀ?i>M>I>E^;>CY^IBy^H f49v"?Yv"?=vFyv~Ev^ <Ez>xQ 5~4zj?Q 94z8)zsrBYy;?Q I?zVCIz#;iz@;z04y ɮaBZ1R1b1j1"11ړ99ڒ9’9AEtM@YqɢuH;)q u>iq)}Ƽyyi}ު7iɧΌ駅Jai??;I?? ??IAIIO>ԉ=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797353ԹE  E qE *E "E *E $ :VE (N4ZE a @a @a @a @ ݹ̓,69?A21>2F?21ٱ2+$ :AHRS rotation from veh to nav: [[0.830388,-0.543154,-0.124251],[0.555497,0.824372,0.108783],[0.043343,-0.159353,0.986270]]2H?`aο? Ba?7ٻ? 1?eĿ?i21>I2&];2CYFIByF$HiEMb@Mb@Mb@AAAA A9EZd;? ףp= ?y&1YE?yEQ=E`eEBA A)AAYEzBbD]ЃVD]r8ymOI<%mB=ٔuY:Q-u>9qYy=}Fy}E}.<E>Q 54G?Q 94z8)arBYF!?Q E:y7?Q I?xCI:i ;84y(CɮFBEԹZRbj"ړڒ’N@ɢ;) >i) Gü  i f:>jɧWbXuiu?q;Iu? u?IDAT read: 20:44:42.9500 LVL= 23648, 27105, 22354, 32755, AGC= 82, IDX= 483, 0.28, 0.650,-1.152, 0.604, 0.333, PHS= 0.419,-1.440, 0.227, RAW= 144.6, 9.0, CAL= 144.2, 9.8, ROT= 5.8, -9.8 Ygot valid direction response: 20:44:42.9500 LVL= 23648, 27105, 22354, 32755, AGC= 82, IDX= 483, 0.28, 0.650,-1.152, 0.604, 0.333, PHS= 0.419,-1.440, 0.227, RAW= 144.6, 9.0, CAL= 144.2, 9.8, ROT= 5.8, -9.8 PDAT read: Bearing 190.8, 6.6 (Local) ~Local bearing/azimuth received: Bearing 190.8, 6.6 (Local) DAT read: Range 11 to 50 : 1871.9 m (Round-trip 2495.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.980363,0.099582,0.170209]Fpublishing direction and range infoyquu"_?-&S/~?rl?YuDqu`\uiuRW q)uRIu+>iuQurh>u!@u| >u!@ u%/>)u4Q=Iu%/qqu_hA ?! US?& ? u>)u Iu4Q=iu%/qqAI I!O-->Be>BaBeHBeJBBe =BaBaBej;Ba9 Vԃ, tS?A20>2?2ƫ0ٱ2AO :AHRS rotation from veh to nav: [[0.828227,-0.546840,-0.122504],[0.558732,0.822619,0.105432],[0.043119,-0.155769,0.986852]]2H Հ?@e\!?R???9ÿJ?i20>I2 ^;2CYNIByN-H PPTVAbDZVDZgr8yrM<%rS=ٔv:Q-v>9tYt=zFyzEz$<Ez>|Q 54~έ?Q 94~A8)~PrBY y 8?Q I ?~CI~p:i~$:~>4y (Cɮ5BEJR$>?ADD8?@4g@A3#s@u"_?-&S/~?rl?4Q=%/—]3u@.Iݒ@9Imv@?C QU?賙`?jDrDZf}q?bqx,zCꗥf}q?qx,CڗD◥P8?bEc44jE:4rE 0E} EyE}(Ey"E}a:*EyVE}c44ZEyBE}g;a2E}h;aJE}U;a:E}U;aZRbj"ړ!!ڒ!’!%?@-:?频ɢ;) >i)u顙i&=Iiԙ \ڃ,&Wm?AzE+>z?zC0ٱz AHRS rotation from veh to nav: [[0.826062,-0.550536,-0.120549],[0.561935,0.820917,0.101611],[0.043020,-0.151678,0.987493]]zHo? Hܾ^?`D?/?? ,jÿ?izE+>Iz];zCYIBy5HiMb@Mb@Mb@ 9$C?Q?EԸY?yu=ƽk BA B)AYB@AbDVDcr8yy<%<=ٔ5h9Q-=>99Y9==Fy=EE <EE>IQ 5U4Mୈ?Q 9U4MЇ8)M,rBYU?Q E]:y]+?Q I]?MCIM&:iM:MF4ye(CɮeBeEiZRbj"ړڒ’?ɢƗ<) >i)bia?]lɧei?{;I? ?IE EvE*E"E:*E:VE(N4ZEa@a@a@a@AI)IIOU2>ԙ ,#?A2a>2?2s.ٱ2 >AHRS rotation from veh to nav: [[0.824204,-0.553582,-0.119310],[0.564682,0.819294,0.099456],[0.042693,-0.149345,0.987863]]2H`_? ?@7?@u?ۥ?`ÿ?i2a>I2c^;2CYFIByF(HbDjVDjr8yr^%r[=ٔvn:Q-v>9tYt=zFyzEz<Ez>AAB >B FCB HB JBB  =B B DB n;B 2CEBDCBECBB =B =C5!Q 5-4%7רּ?Q 9-4%*8)%rBY1y5,?Q I5?%CI%:i%$:%M4y9ɮ=BAZaRabaja"aaړaiڒi’iim`h?颙ɢ>y<) X>i)顡imBfmɧn駭i?;A>A II!O5 >E EuE(E"E*E:VEc44ZEBEX;a2EY;aJEmd;a:Emd;a) A,3?A61>6c?6+ٱ6 >AHRS rotation from veh to nav: [[0.822866,-0.555658,-0.118891],[0.566684,0.817908,0.099480],[0.041965,-0.149232,0.987911]]6H@T? oE"?`M,?@w?`v|?@ ÿ?i61>I6^;4YJIByJ*HIN<)N=bDVVDVs8yZT;%^M=ٔ^:Q-^>9`Y`=bFybEfI;Ef>hQ 5j4j?Q 9n4j<8)jqBYlynL-?Q In?jCIjr;ij;jS4yv'CɮvBvEZiRibiji"iiړqqڒq’qqqT?ɢ<) >i)i6$EnɧϷ i?n;I? ?IQAIIO >ԁԩ E  E tE )E "E :*E v:VE FA4ZE a @a @a @a @,fں?A2K>2c?2hO(ٱ2 :AHRS rotation from veh to nav: [[0.821573,-0.557772,-0.117935],[0.568622,0.816618,0.099016],[0.041080,-0.148409,0.988072]]2HRJ?D1`&2? !?Y?i?@¿ J?i2K>I2b{^;2C@YRIByRBHi-Mb@Mb@Mb@)))) )9-7A`?{Gzt?v/Y-?y-ף;-x-2 B-A -fB)-A)Y-B =p<=<bDEVDEt8yU;=%UA=ٔU;Q->9Y=FyE:;E>Q 54'?Q 94u|8)qBYV?Q E:y?Q I?CIe:in:[4y'CɮBZRbj"ړ!!ڒ!’!)-b@Yɢ]<)a e>ia)eaaieGmoɧmmӎiu߽?u ;qIu߽? u߽?IyԱIIOB>BECBHB'JBB =BBDB;B:CE = = ,4?A2F>2y?2o%ٱ2w :AHRS rotation from veh to nav: [[0.820509,-0.559310,-0.118053],[0.570213,0.815376,0.100096],[0.040273,-0.149445,0.987950]]2HA?8.??? ߟ?`? ÿH?i2F>I2^;2ClE] E]{E],EY"E]ҝ:*E]5":VE]g4ZEYBE];am2E];amJE]Dz;am:E]Ez;auYIBy2HbDVDu8y%2=ٔ ;:Q- >9 Y=FyE;E>Q 5%4#?Q 9%4x8)qBY)y->?Q I-?8CI3;ir;`c4y1ɮ5B9ZYRYbYjY"YYړYaڒa’aae @颹ɢ0T<) >i)?iHJ M}qɧMmM󽊼iMa?MX;QIUa? Ua?IQ1^A :AjAzAa I I O >=*,R?A^o>^?^ٱ^O fAHRS rotation from veh to nav: [[0.820239,-0.559960,-0.116847],[0.570690,0.815003,0.100412],[0.039004,-0.149045,0.988061]]^He??0齿 C? ??J?ÿ1?i^o>I^^;^C ) nA    nAiԼIIinA ף)!! %nA%9!!)-nAI-))i))1I5nA51 1999i99iAA)A AIAYAYUIByUfHiMb@Mb@Mb@ 9ʡE?QY?yu̽A B)YAbDJVD$w8y6=%Z=ٔA^;Q->9 Y = Fy E p:E>Q 543?Q 9%4 v8)qBY%?Q E%:y%:>Q I%?SCI:i:i4y5'Cɮ5B5EZQRQbQjQ"YYړYYڒY’aae`Т@ ɢ a<)) ->i1)5%11i5pM= rɧ=T=й{i=<?EE;AIE<? u<?IqIEU EUEU-EQ"EU:*EU n:VEUt4ZEQa]@a]@a]@a]@^Ae0;IIO%> %e>%ȑCy89Y*AiQIQԡ ,'k?A2>2?2Qٱ2A :AHRS rotation from veh to nav: [[0.820131,-0.560445,-0.115263],[0.570950,0.814773,0.100797],[0.037422,-0.148476,0.988208]]2H >?+ぽ@9E??͹?(?Gÿe?i2>I2^;2CBPAR<BVs>BVACBVHBV1JBBV =BTBVDBV;BVJCEYIBy\HBAbDՆVD$x8yE̲%MY=ٔM;Q-M>9IYQ=UFyUEU?:EU>ԙQ 54KD?Q 94Zs8)gqBYyg>Q I?pCIN:i:p4yɮBZRbj"ړ!!ڒ!’))5` @颁ɢRa<) \>i)[!顉iO{rɧ駥S`ix?k;Ix? x?I^A &<IYIiE} E}vE}*Ey"E}s:*E}:VE}(N4ZEyBE};a2E};aJE}h;a:E}h;aO~> +,ZF"?A6[>6'?6Bٱ6M BAHRS rotation from veh to nav: [[0.820294,-0.560125,-0.115661],[0.570811,0.814467,0.104008],[0.035945,-0.151338,0.987828]]6H?? D??`F?@Xg? _ÿ J?i6[>I6g^;6CY%IBy%_HbD5sVD5Fy8yE;%EK=ٔEp;Q-M>9IYI=MFyMEUEU>YQ 5e4]T?Q 9e4]p8)]LqBYaym >Q Im?]CI]:i]:]w4yu'CɮuBuEZRbj"ړڒ’d @IɢMH^<)Q U>iq)uqqiu}R}sɧ}w駅TFi ?v;I ?  ?I@@@@!Au>Au>IIIOmx>QE  E sE )E "E ҝ:*E Z:VE FA4ZE a @a @a @a @y V,:!<?A2>2B?2- ٱ2 :AHRS rotation from veh to nav: [[0.821174,-0.559012,-0.114801],[0.569652,0.815001,0.106162],[0.034217,-0.152574,0.987700]]2H G?mc:?|?@v-?܄?ÿI26o^;0YZJBy^rHiEMb@Mb@Mb@AAAA A9EK7?&1:vYE ?yEнETE BA EB)EVAAYEAbD]<VD]z8ym=%mH=ٔm;Q-u>9qYq=uFyuE}hE}>Q 543f?Q 94Yn8)DqBY ?Q E:y>Q I?CI:is:~4yE'CɮBEZRbj"ړڒ’@ɢMy<) ?i)Ri!U Otɧ 5F ?i ;?롾;I;? ;?QIIAIYOe=ԁBr>BBHB;JBB =BBB;B;CEԱ >,U?A2>2Z?2Zٱ2? :AHRS rotation from veh to nav: [[0.822371,-0.557528,-0.113436],[0.568005,0.816013,0.107204],[0.032795,-0.152594,0.987745]]2H`P?F -?@?`q?ʠ?@2ÿ?i2>I20^;2CY^ JBy^H f9)Y)=-Fy-E5E5>D==D=<EE EEpEE&EA"EE:*EE :VEE4ZEABEE";aM2EE#;aUJEE9R;aU:EE:R;aUYQ 5e4]0w?Q 9e4]l8)]=qBYaym>Q Im?]CI]l:i]y:]4yu8'CɮuiBuEZRbj"ړڒ’3@ɢt<) l?i)aiӲWtɧLiB?,;IB? 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[)>,e?A6>6ST?6%=ٱ6 >AHRS rotation from veh to nav: [[0.827451,-0.559439,-0.048504],[0.560081,0.816000,0.143013],[-0.040428,-0.145503,0.988532]]6H@zz?``~ը.?? DN?@՟¿ ?i6>I6y^;6CYFDJByFHbDRVDR8yZ %ZL=ٔZ3;Q-Z>9\Y\=^Fy^Eb|;Eb>dQ 5j4f2?Q 9j4f:7)fqBYhyj[K?Q In?fCIf3;if;fʌ4yro#CɮrBrӼE|Z R b j "  ړڒ’!)5 6@aɢe6=)i m?ii)mH;iiimfufyɧu}ϻi}#P?}N;yI}#P? }#P?I CIayeA9YC2AE ElEE"EƱ:*E:VEZEa@a@a@a@)AI)I9Oe4>QBM <AI BM >BM ECBM HBM OJBBM =BI BM DBM +;BM BEy oE,?5?A2Q>2]?2)=ٱ2  :AHRS rotation from veh to nav: [[0.825958,-0.561709,-0.047711],[0.562219,0.814589,0.142671],[-0.041275,-0.144664,0.988620]]2H>n? m?`? C?" Z¿Ţ?i2Q>I2C/_;2CYZGJByZHv-only read 0 of 1 data item for BIT error. Device response is::TS,00050300332630,35.0, +11.4, 0.0,1495.1,A, 0.00, 352.02, 293.23, 327.53 av@av av@av av@av av@av bDz6VDz/8y<%E=ٔ ;Q- >9 Y=FyE;E>Q 5%4B?Q 9%4d7)qBQ A-+:Y)Q E-:y- L?Q I-?CI:i >ό4y1ɮ5B9ZYYRYbaja"aaړaiڒi’iime7@频ɢ5=) ?i)=;顡i{€ɧ/駭9 iV?D;IV? V?I5=5<ԉ^AAhAzAhAE EoE(E"Es:*E:VEc44ZEBE;a2E;aJEN;a:EN;aԹAII)O=> ^9K,/?A2>2?2,=ٱ2{ :AHRS rotation from veh to nav: [[0.824509,-0.563831,-0.047752],[0.564278,0.813003,0.143585],[-0.042135,-0.145332,0.988485]]2H@`b? r@?`?`?@¿ૡ?i2>I2_;0YF5JByFH Np9XY\=^Fy^E^;Eb>`Q 5f4bfP?Q 9f4b7)bqBQ Aj :YhQ Ej_:yjL?Q Ij?b2CIb:ibO?brԌ4y]]#Cɮ]B]ԼEZRbj"ړڒ’h7@Թɢ2=) D ?i);iօɧZ.iu/?J; I u/? u/?I ^AqA!I)I9O]3>E  E kE E "E *E :VE ZE a @a @a @a @9 !R,H?A2,L>2?2/=ٱ2PU :AHRS rotation from veh to nav: [[0.823722,-0.565026,-0.047207],[0.565366,0.812199,0.143852],[-0.042938,-0.145183,0.988473]]2H[?`+z??i?` Z¿?i2,L>I2`_;2CYFJByFHa=iߙIߙa aa aa aa iMb@Mb@Mb@ 9-?ˡE?p= ףY5?y= BOA A)BYBbD1VD8yJ%8=ٔ:Q->9Y=FyEE;E>Q 5 4a?Q 9 47)bqBQ AT:Yu ?Q E:y7?Q I?UCI#9;iI8;8܌4y!ɮ%B!ZARIbIjI"IIړIQڒQ’QQ]d<8@颁ɢʭ*=) ?i);顉i|ɧt駕(Cii?Z;Ii? i?I@jA@jAB>BDCBHB1JBB =BBDBy;B,CEA^AqA .AI I! OE >ԙ =NX,b?AD=D4=E" E"pE E "E":*E" :VE ZE BE"E;a*2E"F;a*JE":R;a*:E":R;a*B>B`?B2=ٱBV JAHRS rotation from veh to nav: [[0.822829,-0.566401,-0.046286],[0.566609,0.811413,0.143399],[-0.043664,-0.144218,0.988582]]BHT? !??Z?@+[ u¿v?iB>IB0e`;BCYVIByVpHbD^VD^k8yf%f^=ٔf;Q-j>9j ?Yj ?=jFyjEn;En>pQ 5v4rBp?Q 9v4r7)r;qBYtyz(8?Q Iz?rrCIr:ir:r4y~K#Cɮ~B~ռEZRb!j!"!!ړ!!ڒ)’))-:8@Yɢ]p/=)Y ]>iY)e ;aaievm큼ɧm]mxbUimŎ?mp;qIuŎ? uŎ?Iq@@@@iԡII)O5q>PExceeded connect timeout, disconnecting. U =U %=,z^,и|?A:Ӷ>:?:5=ٱ: BAHRS rotation from veh to nav: [[0.822104,-0.567511,-0.045560],[0.567609,0.810750,0.143193],[-0.044326,-0.143580,0.988646]]:HN? )S)?? %T? ױ``¿?i:Ӷ>I:g`;:CYNIByNmHbDVԤVDV8y^һ%^K=ٔbM:Q-b>9`Yd=fFyfEfI;Ef>hQ 5n4j?Q 9r4jƸ7)jqBYpyr8?Q Ir?jCIj-:ij:j4ytɮvBxZ Rbj"ړڒ’!%d9@IɢMe )=)Q U7>iQ)U# ;QQiU9befɧmmhiu=?} ;}lAAB>BBHBJBB =BBB;BiCE! \e,R~?A 2>2f?2c9=ٱ2R >AHRS rotation from veh to nav: [[0.821873,-0.567899,-0.044896],[0.567866,0.810452,0.143862],[-0.045313,-0.143731,0.988579]]2H`L?`:,+?8?`j?C3e¿p?i2>I2a;2CY^IByb[Hi}Mb@Mb@Mb@yyyy y9}zG?Q?lY} ?y}<}y}A y)yyY}BbDCVD8y!%==ٔ;Q->9Y=FyE[P:E>Q 540?Q 94ϴ7)pBYj?Q E:y#?Q I?CIU:i:;4y9#Cɮ{BּEZRbj"ړڒ’ p9@1ɢ5!=)1 5>i9)=;99i=T8EH肼ɧE-E:{kiE.?M൳;IIM.? M.?IIAeiAzAejAIIO=ibEjE(N4rE0Ee EesEaEa"Ee:*EeZ:VEaZEaBEaau2EaauJEe%];au:Ee&];auԙ @k,qZ?A29>2?2G==ٱ2z :AHRS rotation from veh to nav: [[0.822023,-0.567613,-0.045754],[0.567566,0.810111,0.146935],[-0.046336,-0.146752,0.988087]]2HN?)`m)?`m??\¿i?i29>I2E$a;0PYRIByR4HIV<)V<bD^VD^T8yfl%fY=ٔfv2;Q-f>9hYh=jFyjEngEn>pQ 5v4r"?Q 9v4r]7)rpBYtyz"?Q Iz?rCIr:ir:r4y|ɮ~B|ZRb!j!"!!ړ!!ڒ)’))-`M9@颱ɢ!=) >i)+;i _ɧmi^"?ֳ;I^"? ^"?IUnManaging dock network, ignoring radio surface power offIyIO=E  E rE )E "E :*E ?:VE FA4ZE a @a @a @a @) pr,;?AJI>J?J]A=ٱJ ZAHRS rotation from veh to nav: [[0.822132,-0.567394,-0.046514],[0.567326,0.809753,0.149803],[-0.047333,-0.149546,0.987621]]JHN?(Ч'? ?`,?;T$ÿ?iJI>IJ&a;JCYjIByjH|iMb@Mb@Mb@ 9|?5^?/$ rhY?yC2 B )YfBbDVD8y V% 8=ٔ ;Q- >9Y=FyEaE>!Q 5-4%e?Q 9-4%߭7)%pBY-?Q E-:y- ?Q I-?%CI% ;i%e ;%4y="Cɮ=aB=ͼEZYRYbYjY"aaړaaڒa’iimBB:@BBBJHBIBB =BBDB;BuCEB]DCB]ECB]•CBYBYC]5^6颹ɢ=)  >i)P;i7ڃɧŠ^i\?;I\? \?I!^A59A=>A=>QIIO>ԁ Sx,?AE EoE+E"E:*E:VE [4ZEBEa2EaJEN;a:EN;aZkx>Z?ZE=ٱZ4 fAHRS rotation from veh to nav: [[0.822223,-0.567187,-0.047408],[0.567113,0.809344,0.152794],[-0.048294,-0.152517,0.987120]]ZHO?@f&E%?$?Î?`ÿ@}?iZkx>IZ a;ZCYnIBynHbDvgVDv8y~5%~]=ٔ*;Q->9Y = Fy E !E >Q 54?Q 947)npBY!y% ?Q I%? CIj;iD; 4y)ɮ-iB1ZIRQbQjQ"QQړQYYڒa’aae`:@颉ɢ=) >i)<顙iw}<ɧ駥Pi ?:;I ?  ?I^Au0;ԙA؟AIIO">Ա ~,F?A2R)>2"k?2DJ=ٱ2} :AHRS rotation from veh to nav: [[0.822522,-0.566764,-0.047287],[0.566587,0.809365,0.154621],[-0.049362,-0.153972,0.986841]]2H R?"`5z!?`Q?@?@EVÿ4?i2R)>I2oa;2CYFIByFHbDNVDNf8yVV%VP=ٔZ1;Q-Z>9Z"?YZ"?=^Fy^ E ȺE >Q 54!ұ?Q 94Ч7)HpBYy%h ?Q I%?(CI;i; 4y-"Cɮ-VB-μEZIRIbIjI"QQړQQڒQ’YY]`+;@颁ɢJ=) a>i) <顉itࠄɧBs駝ÛBiI?%;II? I?IEE EEmEE)EA"EE:*EE:VEEFA4ZEAae@am@am@am@^Ah%<A zA hAAIIYIiOu>B<ABz>BBCB HBIBB =BBDB;BZCE9 N,7?A2 >2C?2N=ٱ2J :AHRS rotation from veh to nav: [[0.822817,-0.566314,-0.047547],[0.566066,0.809277,0.156971],[-0.050416,-0.156073,0.986458]]2H`T?`> X5??@?&Щ 3ÿ`?i2 >I2`;0YFxIByFHiMb@Mb@Mb@ 9n?~jtMbYV?yD@ BOA )=BYBimAAbDuVDu8y߼%>=ٔ ;Q->9Y=Fy EE>Q 54j㱈?Q 94פ7)+pBY_?Q E:y?Q I?FCIv:i:s4yɮ[BZRbj"ړڒ’s;@ ɢk =) J>i)<iΤ%ɧ%TV%+w+i-?-4;)I-? -?I1@A@A@A@AQEM EMxEM(EI"EMO:*EM:VEMc44ZEIBEM;aU2EM;a]JEMXo;a]:EMYo;a]II O>iԙ Ջ,1?A2I>2?2Q=ٱ2K :AHRS rotation from veh to nav: [[0.823413,-0.565514,-0.046750],[0.565126,0.809825,0.157533],[-0.051228,-0.156134,0.986407]]2HeY?`刺`?? *? :@5ÿ`?i2I>I2Y`;2CY^tIBy^HbDjqVDj8yr%%rU=ٔr ;Q-r>9tYt=vFyvEz2>Ez>|Q 54~'?Q 94~#7)~pBYy?Q I?~aCI~;i~o:~&4yx"Cɮ7BZ1R1b1j1"19ړ99ڒ9’AAE.;@iɢm_=)q uM>iq)u9HԡGe?9Yj0AEe  Ee nEe )Ea "Ee :*Ee :VEe FA4ZEa a @a @a @a @ c,8K?AF>F?FxT=ٱFO- NAHRS rotation from veh to nav: [[0.823948,-0.564903,-0.044667],[0.564289,0.810726,0.155889],[-0.051850,-0.153649,0.986764]]FH@]?`ަ?w?*?ƪÿ?iF>IF1l`;FCYZYIByZHI^<)\i=Mb@Mb@Mb@9999 99=Fx?+QY= ?y==u9=A =VA)=B9Y=BbDUVDUR8ym%mB=ٔm]:Q-u>9qYq=uFy}E}9E}>Q 54?Q 94r7)pBY? ?Q E:yj>Q I?CI ;i ;"4yɮEBZRbj"ړڒ’@>B<@B=>B=DCB=HB=pIBB9B9B=DB=;B=?CEqɢ}@=)y }>iy)}ɧ駍si?'9;I? ?IA>A>I1IAOU=! E]  E] E] +EY "E] :*E] C:VE] [4ZEY BE] ";ae 2E] #;ae JE] @;am :E] @;am ,e?A6s>63d?6 V=ٱ6A >AHRS rotation from veh to nav: [[0.824663,-0.563926,-0.043795],[0.563196,0.811492,0.155855],[-0.052351,-0.153193,0.986809]]6Hc? @\l?? ?ͪ ֛ÿ?i6s>I6`;4YJUIByJH R9!Y!=-Fy-E-XE->1Q 5=45K?Q 9=457)5oBYAyE>Q IE?5CI5H;i5;5u)4yMe"CɮM!BMϼEZiRqbqjq"qqړqyڒy’yy̧<@颩ɢ=) >i)F<顱i0䴅ɧ۽駽󫯻if?,;If? f?IIIO=Yԁԩ ,3?A2>2?2W=ٱ2{D :AHRS rotation from veh to nav: [[0.825836,-0.562130,-0.044768],[0.561462,0.812269,0.158049],[-0.052480,-0.155658,0.986416]]2H@m?릿 ??`:?ުÿ@?i2>I2`%`;0PYR2IByRtHbDZVDZ28yb=%fR=ٔf9Q-f>9hYh=jFyjEjAEj>pQ 5r4r%?Q 9v4rt7)roBYtyv>Q Iv?rCIr[:ir:rF04yxɮ~2B|ZRbj"ړڒ’@=@ɢM#<) >i)C <i҅ɧ`gi'?;I'? '?IIE- E-tE-'E)"E-:*E-v:VE-'4ZE)aM@aU@aU@aU@IyO>A1A5AAB=>B9B=HB=GIBB= =B9B9B=x;B=.CE! ,M?A2>2H,?2W=ٱ29H& :AHRS rotation from veh to nav: [[0.827323,-0.559713,-0.047527],[0.559257,0.812808,0.163018],[-0.052613,-0.161448,0.985478]]2Hmy?@*wUo?`?? 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?IA->A->!AYIaIqOY>Qy Ǭ,Ƭ?AB3>B_?Bo<ٱB ^AHRS rotation from veh to nav: [[0.816553,-0.573515,-0.065741],[0.576484,0.804190,0.144722],[-0.030132,-0.156072,0.987286]]BH 3!?IB];BCYnFByn#Ham@a9m au@au au@au au@au imMb@Mb@Mb@m©mmm i9m +?9Y=Fy}E;;E>Q 54I?Q 946)mBYk?Q E:y6?Q I?CI ;i ;4yɮBZ R b j "ړڒ’`H@QYɢ])Y ]ia)eE,ԩ u,j?A2F>2?2<ٱ2$" :AHRS rotation from veh to nav: [[0.815931,-0.574069,-0.068572],[0.577474,0.803493,0.144648],[-0.027941,-0.157621,0.987104]]2H?@^`z?6?`ԃ?,Ŀ[?i2F>I2];2~CYF|FByFHIR%=)R4<bDZVDZ8yj;%jZ=ٔnݿQ-n>9r"?Yr"?=vFyvEvK;Ev>|Q 54~X?Q 94~E6)~mBYy6?Q I?~CI~;i~;~O4yCɮBEZRbj"ړڒ’!E MI@频ɢNv) i)'<顡iF'㭈Աɧ삾駵bzQifh?;Ifh? fh?IE EE,E"E:*EVEg4ZEa@a@a@a@^Arg:AzAgABBBbHBFBB =BBBz;BGCE A .AI I O >9 ž,W|?A2,B>2?2<ٱ2! :AHRS rotation from veh to nav: [[0.815312,-0.574735,-0.070333],[0.578446,0.803048,0.143226],[-0.025837,-0.157458,0.987188]]2H`?:dR??;U?t@'Ŀ ?i2,B>I2.];2CYFUFByFHi Mb@Mb@Mb@     9 ʡE?Zd;O?/$Y -?y j<  B  B) vB Y bD-ܵVD-X8y5 %5D=ٔ=|Q-=>9E ?YE ?=EFyEEE5;EM>IQ 5U4M h?Q 94M6)MmBY?Q E:y<"?Q I?MCIMbE9jE9rE=S/E EpE)E"E:*E :VEFA4ZEBE޽;a2E߽;aJE:R;a:E;R;ai ,\?A:Q>:1?:<ٱ: BAHRS rotation from veh to nav: [[0.814843,-0.575259,-0.071473],[0.579199,0.802923,0.140867],[-0.023647,-0.156182,0.987445]]:H`1? hL͈?? ? 7ÿ&?i:Q>I:];8YNGFByNHbDVVDV8y^1 %^R=ٔ^Q-b>9b"?Yb"?=bFybEf;Ef>hQ 5n4jw?Q 9n4j'6)j[mBYlyr"?Q Ir?jCIj;ij;jX4yvCɮvBvEZ R b j "ړڒ’!!%{I@IɢMZ)Q UPܾiQ)U E  E xE +E "E ҝ:*E :VE [4ZE a @a @a @a @,1?A2:>2&?2 <ٱ2 :AHRS rotation from veh to nav: [[0.814978,-0.575000,-0.072013],[0.579079,0.803396,0.138643],[-0.021865,-0.154692,0.987721]]2HL?`ff so@ч?k? ?c@ÿh?i2:>I27];0YB>FByFHhbDNeVDN֧8yrY%rH=ٔrQ-r>9tYt=vFyvEzEz>xQ 54z͆?Q 94z6)z2mBYy"?Q I?z&CIz;iz;z{4yɮBBM<AM<B]>BYB]$HB]FBB] =BYB]DB]t;B]=CEB%GCB!B%CB% =B% =C%6ZyRybyjy"ړڒ’bI@ɢd)  i)<!i%S 1ɧ[ Vi=H?uݭ;qI}=H? }=H?I@@@@A]>A]>A I I O >9 ,.?A: >:?:<ٱ:w FAHRS rotation from veh to nav: [[0.815150,-0.574509,-0.073963],[0.578910,0.803625,0.138026],[-0.019859,-0.155330,0.987663]]:H`?_b`?ﲿ`m?K?@֪?U`ÿ?i: >I:6 ^;:CYN)FByNH)i]Mb@Mb@Mb@YYYY Y9]K7A`?~jtQY] ?y]]uYY Y)]BYY]BDu@AzDu@AE} E}sEyEy"E}:*E}Z:VEyZEyBEya2EyaJE}%];a:E}&];abDuVDu8y F%?=ٔMQ->9Y=FyE{E>Q 54a?Q 94>6)mBY ?Q E:y?Q I?CCI:i:4ycCɮBEZRbj"ړڒ’ (I@1ɢ5ԧ)1 =[i9)=<99i=KDE^ɧE~EKiE6r?M);IIM6r? M6r?IIAA.AIIO>qԡ ,G?AF>F>?F<ٱF" VAHRS rotation from veh to nav: [[0.815877,-0.573098,-0.076834],[0.577943,0.804092,0.139351],[-0.018080,-0.158099,0.987258]]FH?V^~?`?@? <Ŀ?iF>IF7^;F~CYf!FByfHbDnVDn)8yvM%vV=ٔzQ-z>9z ?Yz ?=~Fy~EOE> Q 5 4 ?Q 94 V6) lBYyr?Q I? ^CI :i ; Ď4y!ɮ%B!ZARAbAjA"AIړIIڒI’IQU@J@ԙߙߝ<ɢǼ)! %Wi!)%Ԋ B=>B=FCB=HB=MFBB9B9B9B=;B=HCE ,"a?A6>6^?6Gކ<ٱ6s$ BAHRS rotation from veh to nav: [[0.816818,-0.571468,-0.078950],[0.576660,0.804898,0.140006],[-0.016463,-0.159887,0.986998]]6H_#?@vI 6@t??@?ې-wĿ|?i6>I6;^;6CY^FBybHiEMb@Mb@Mb@AAAA A9EˡE?)\(YE?yEGaE̼E{BA A)AAYEzB Y]bDeVDeX8ym"ʼ%uB=ٔuZ|Q-u>9}"?Y}"?=}Fy}E}3xE>Q 54?Q 94{6)lBY?Q E:y]?Q I?{CI ;i ;ˎ4yLCɮBEZRbj"ړڒ’MJ@颹ɢfDȼ) i)P<iɧiV+i?뫮;I? ?I1!AIIOC>E ErE(E"Ea:*E?:VEc44ZEBEg;a2Ei;aJEY;a:EY;aQy i] AIY ;,{?A2 >2R?2u<ٱ22& :AHRS rotation from veh to nav: [[0.817994,-0.569521,-0.080820],[0.575031,0.805940,0.140710],[-0.015001,-0.161574,0.986747]]2H`-? 9 f?`C?`?ϸrĿm?i2 >I2@ ^;2}CYFFByFHbDrVDr8yvNQ%zR=ٔz-vQ-z>9|Y|=~Fy~ECE>Q 5 4ŵ?Q 946)lBYy?Q I?CIU;i;Ҏ4y!ɮ%B!ZARAbAjA"AIړIIڒI’QQUvJ@yɢ}":) i);顁ieɧ<駕@i<?i֮;I<? <?II yy (GAuB9qYu3AAI IO% >yԡE  E qE ,E "E *E $ :VE g4ZE a @a @a @a @ %,Jy?A2P>2c?2[<ٱ2' :AHRS rotation from veh to nav: [[0.819061,-0.567721,-0.082655],[0.573550,0.806929,0.141093],[-0.013405,-0.162970,0.986540]]2H5?*(Z?\?S? t4Ŀ@?i2P>I2];2~CYFFByFHbDNLVDN8yV;%VO=ٔVӄQ-Z>9XYX=ZFyZE^E^>`Q 5f4bյ?Q 9f4b06)blBYdyf\?Q Ij?bCIb:ib:bَ4yn6CApAr@ABv>BtBvHBv$FBBtBtBtBv;BvdCEɮ~iB}EZRbj"ړڒ’jJ@ԹYɢefpӼ) Gi);顡ikwɧ*" ûi ,? ; I ,? ,?IA.AI!I9OEQ> 9 H+,U?A2f>2?2 'B<ٱ2'& :AHRS rotation from veh to nav: [[0.820213,-0.565983,-0.083146],[0.571935,0.808318,0.139683],[-0.011850,-0.162124,0.986699]]2H/??` IKM??@?`DvĿ ?i2f>I23^;2}CYDyFH HHiMb@Mb@Mb@ 9S㥛?L7A`尿~jt?Y?y+D<A -B)YbD-VD-8y=х:%=B=ٔ=8qQ-E>9E ?YE ?=EFyEEMƙEM>QEe EesEe)Ea"Ees:*EeZ:VEeFA4ZEaBEe;am2Ee;amJEe%];au:Ee&];auQ 5u4U嵈?Q 9-4Uw6)UlBY5?Q E5:y5>Q I5?UCIUX%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode. _02,^.?A:3>:H?:4&<ٱ:( FAHRS rotation from veh to nav: [[0.821566,-0.563756,-0.084903],[0.570022,0.809615,0.139996],[-0.010185,-0.163412,0.986505]]:HEJ? I /=?`]?a?ۄ@Ŀs?i:3>I:1];:|CYNEByNgHbDZ VDZ\8ybe%bR=ٔbQ-b>9f"?Yf"?=fFyfEjŻEj>lpQ 5r4n?Q 9v4n6)nlBYtyv>Q Iv?nCIn+;in-;n4yzCɮzKB|ZRbj"ړ!!ڒ!’!!-K@QɢU)Q UEiQ)]U;YYi]Re ɧe̽e裻imK?m%;iImK? mK?Ii*DAT read: user:120> BDAT read: Tx time:20:45:38.2997 $Ping request sent. Eu EurEu,Eq"Eu:*Eu?:VEug4ZEqa}@a}@a}@a}@B>BGCBHBFBBBBB;BcCE9M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253164i "[8,, ?A2R>2?2 <ٱ2) :AHRS rotation from veh to nav: [[0.822574,-0.561960,-0.087026],[0.568596,0.810527,0.140516],[-0.008427,-0.165067,0.986246]]2HR?TG1??j?HB ſT?i2R>I2];2}CYvEByvkH9iuMb@Mb@Mb@qqqq q9u"~j?p= ף~jt?YuS?yuuD=uBuA uB)uBqYuBbDYVD8y<%==ٔOQ->9 ?Y ?=FyEoE>Q 54?Q 94.6)mBY?Q E:y>Q I?CIK ;i ;`4yɮIBZRbj"ړڒ’ QK@IɢM )Q ci)#;i0.ɧY(ji&?c(;I&? &?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504007AIIOD>Ey E}sE})Ey"Ey*E}Z:VE}FA4ZEyBE}E;a2E}F;aJEya:Eyaԑ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548435>,?A6>6L?6;ٱ60%* >AHRS rotation from veh to nav: [[0.823766,-0.560064,-0.087962],[0.566884,0.811773,0.140241],[-0.007139,-0.165390,0.986202]]6HK\? `#? ?@g?O=}~+ſ?i6>I6];6|CYFEByF}HIJ<)J<bDRVDRҩ8yZ\=%ZZ=ٔZaQ-^>9\Y\=bFybEbEb>dQ 5j4f?Q 9j4fŸ6)fmBYhyn>Q In?fCIf;if;f4yrCɮrBrEZR b j "  ړ  ڒ’ ݀K@ԙɢB$) i)I$;iE ?ɧ<+i?; ;I? ?IA%jAzA%hAAaIqIO>ߕ>ߕ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007045E  E oE -E "E :*E :VE t4ZE a @a @a @a @ lE,a?A6p >61?6;ٱ6u)BB<AB4=BF>BDBFHBFFBBF =BDBFDBF;BFTCE RAHRS rotation from veh to nav: [[0.824749,-0.558482,-0.088812],[0.565472,0.812940,0.139175],[-0.005527,-0.165005,0.986277]]6HWd?g Y??x? Уvſ`?i6p >I6^;4YZEByZhHbDfVDf8yj$%nH=ٔn'Q-n>9pYp=rFyrEvEv>xQ 5z4z#?Q 9~4z&6)z/mBY|y~>Q I~?z7CIz;iz;z4y ɮ B Z)R)b)j)")1ړ11ڒ1’19=.K@aɢe)i m ii)mԪ;iiimF] u*Gɧu㔼}S9ni}U?}z ;yI}U? }U?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263060A؟AIIO >!Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511178y K,0?A2s>2??2;ٱ2`e' :AHRS rotation from veh to nav: [[0.825409,-0.557551,-0.088526],[0.564520,0.814034,0.136623],[-0.004111,-0.162744,0.986660]]2Hi?t?` ?|?~pĿ`?i2s>I2}];0Y-EBy-HD9zD=?AbEjER4rE/EE EExEE)EA"EE:*EE:VEEFA4ZEABEE;aU2EE;aUJEEXo;a]:EEYo;a]iMb@Mb@Mb@ 9!rh?Q롿Q?Yl?y\\= )=BYBbD߸VD8yp(=%9=ٔiRQ->9"?Y"?=FyE ),E >Q 54_4?Q 946)PmBY?Q E%:y%`?Q I%?UCI ;iQ:4y-Cɮ-B-EZIRIbIjIQ"QYړYYڒY’aae@K@颉ɢ8)  gi) 1;is 5Hɧ\i%b?%;!I%b? %b?I)AԁIIO=>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762856]PExceeded connect timeout, disconnecting.ԩ cR,yJ?A2 >2R?2@;ٱ2W' :AHRS rotation from veh to nav: [[0.825944,-0.556632,-0.089317],[0.563745,0.814673,0.136013],[-0.002945,-0.162691,0.986673]]2H!n?ݶ2 ?`? h?hĿҒ?i2 >I28^;0Y^FBy^HbDf.VDff8yr=%r^=ٔrOQ-r>9tYt=vFyvEv'Ez>xQ 5~4zSB?Q 94z46)zlmBYy"?Q I?zmCIz;:iz:z2 4y ɮBZ1R1b1j1"11ړ99ڒ9’9AEL@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015038ɢM{) i);i&Cɧ9<;:i?Ү;%j:I%? %?I!A=>A=>ԱEI EMpEM.EI"EI*EM :VEMـ4ZEIa]@a]@a]@a]@AaIqIO>B>BHCBHBFBBBBDBg;B:CEBABABEƔCBABEƊ =CE0#5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783 9 X,Sd?A6>66?6U:ٱ6Z& FAHRS rotation from veh to nav: [[0.826184,-0.556139,-0.090164],[0.563399,0.815105,0.134856],[-0.001506,-0.162215,0.986754]]6Hp?\?`V?B?ಪX@rĿ}?i6>I6];6}CYZ FByZHbDfKVDf8ynR%nK=ٔriQ-r>9pYp=rFyvEvLjEv>xQ 5 4zQ?Q 94z>6)zmBYy%?Q I%?zCIz;iz;z?4yMTCɮMBUEZYRqbyjy"ړڒ’`QVL@qɢu )q uiy)};yyi} l7ɧ<駅:i ?;I ?  ?Iu>u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520471A9AIIIYOmV>DQDU<E] E]tE]'EY"E]:*E]v:VE]'4ZEYBE];am2E];amJE]`;am:E]`;ami % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771047^,+~?AnManaging dock network, ignoring radio surface power off :Ū>:+?:8ٱ:<% BAHRS rotation from veh to nav: [[0.826280,-0.555898,-0.090769],[0.563260,0.815449,0.133345],[-0.000109,-0.161307,0.986904]]:Hp?@< 9?@)?t? }uĿ@?i:Ū>I:]];:CYN FByNHaa aa aa aa y/$?I +)\(??9Ga= 9B`"?~jtx?ʡE?Y?y;={B7A fB)YBbDlVD8yD%>=ٔTQ->9I=FyE͹E>Q 54b?Q 946)mBY5?Q E:y!?Q I?CI ;i: ;4yɮBZRbj "  ړ  ڒ ’L@ x=x=r*@"M@ɢ) .i)j;itw-ɧ<A:it?;It? t?IqAaIiIO9>ԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022857 Em  Em sEm (Ei "Em O:*Em Z:VEm c44ZEi au @au @au @au @e,?AAAB>BICBHB$FBB =BBBD;BCEB>B??BΫٱB% JAHRS rotation from veh to nav: [[0.826106,-0.555963,-0.091940],[0.563513,0.815414,0.132488],[0.001311,-0.161259,0.986911]]BHvo? sf`K??a?`yU? #ĿƔ?iB>IBX^;B}CPYVFByVHbDbVDbȪ8yj<%jY=ٔj[wQ-j>9lIl=nFynErV:Er>tQ 5z4vDp?Q 9z4vA6)vmBYxyz!?Q Iz?vCIv:iv:vW 4yE=CɮErBEEZaRabaja"iiړiiڒi’iquL@ ",M@ɢ[d) i)YS;iH\$ɧ<3o:i?h;I? ?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275388^AK'<A%hAzA%jAAIIYIiOu>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5283352r?2tM3ٱ2f& :AHRS rotation from veh to nav: [[0.825667,-0.556356,-0.093502],[0.564151,0.815042,0.132060],[0.002736,-0.161787,0.986822]]2Hk?``﷿ ??@U?if?lĿ ?i28>I2m^;2|CYF FByFHbDR׹VDR8yV =%ZL=ٔZiQ-Z>9\I\=^Fy^Eb8:Eb>dQ 5f4fo?Q 9j4fɢ6)fmBYhyj!?Q Ij?fCIfl:if:fT'4ypɮrkBp|Z R b j "  ړ ڒ’L@DzDAAE% E!E%*E!"E%:*E!VE%(N4ZE!BE%޽;a52E%߽;a5JE%%];a5:E%&];a5 QQQ"UM@ɢ) i).9:;i.ɧa<Q:i?H;I? ?I!^Ae;1AAIIIYOm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778866Y9Y\Aԁ r,?A2>2ܶ?2Zٱ2% :AHRS rotation from veh to nav: [[0.825077,-0.557101,-0.094271],[0.565006,0.814667,0.130715],[0.003978,-0.161113,0.986928]]2Hg? !"`??@? VKp?ZĿ?i2>I2!^;2{CYF+FByFHbDNVDN98yn<%rG=ٔrFQ-r>9tIt=vFyvEv&;Ez>xQ 5~4z?Q 94z:6)znBYy"?Q I?zCIzf;iz;z}.4y ɮfBZ1R1b1j1"11Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009ړ9AڒI’IIMxM@Y qqq"uqN@颁ɢ) yi);";顉i*4ɧ*<駝3:i?-;I? ?I@@@@E5 E5rE1E1"E5~:*E5?:VE1ZE1a=@a=@a=@a=@ԁB%>B!B%HB%9FBB% =B!B!B%:;B%CEAqIyIO~>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282922 Px,?AF>Fn"?F姻ٱF?# rAHRS rotation from veh to nav: [[0.824144,-0.558453,-0.094427],[0.566357,0.814085,0.128476],[0.005124,-0.159362,0.987207]]FHc_?`^,? ? q?@t? eĿ3?iF>IF^;F|CY3FBԹyH5A5Ay gfffff?/$9AIA=EFyEEM^;EU>YQ 5e4]򠶈?Q 9e4]6)]nBYm?Q Em:ym&G?Q Iu?]#CI]6D;i]~C;]64y}&Cɮ}3BZRbj"ړڒ’]M@ ;>;>?"E? ɢ ؼ)  i)l;iBMchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535150g ɧռBii=?2;I=? =?IIIOi>E= E=zE=,E9"E=O:*E= :VE=g4ZE9BE=;aE2E=;aEJE=v;aM:E=v;aM 9 i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787162!,t?A2>2?2sۻٱ2YW :AHRS rotation from veh to nav: [[0.823076,-0.560095,-0.094017],[0.567891,0.813619,0.124593],[0.006710,-0.155941,0.987744]]2HV?L *,? + ? L?`|{?ÿ?i2>I29z^;2{CYF9FByFHbDRVDR8yZz<%Z=ٔZ-Q-Z ?9\I\=^Fy^Eb;Eb ?dQ 5j4fӬ?Q 9j4f 6)f!nBYhyjG?Q Ij?fA]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038936qEM  EM lEM +EI "EM 1:*EM :VEM [4ZEI aU @aU @aU @aU @ԙ B <A B% >B% JCB% HB% MFBB! B! B% DB% );B% CE@ ,]?AB>B+?Bx ٱB - VAHRS rotation from veh to nav: [[0.821829,-0.561902,-0.094146],[0.569679,0.812771,0.121944],[0.007999,-0.153850,0.988062]]BHkL?:?`7?7?a?]ÿ3?iB>IB^;BzCYb4FBybHbDnԺVDn8yr =%vF=ٔvLQ-v>9xIx=zFyzE~i;E~>Q 54?Q 9 4M6).nBY y "H?Q I ?]CI:i:C4yCɮBEZ9R9b9j9"AAړAAڒA’AIMM@ iii"m?yɢ}tn) i)5:顁i*\ɧŽ駍PDiQT?*%;IQT? QT?II9IIOU=iBDAT read: Rx Time:20:45:43.1527 TRx dataTimestamp_ set to:1761511544.484628checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291986ԙe checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542911 $3,g+3?A2?>2?2ٱ2> :AHRS rotation from veh to nav: [[0.820552,-0.563786,-0.094020],[0.571501,0.811866,0.119416],[0.009006,-0.151720,0.988383]]2HA? I???@q?kÿԠ?i2?>I2_;2{CE EnEE"E:*E:VEZEBEE;a 2EF;aJEJ;a:EJ;aY*FByHI=)=bDVD8y%1=ٔQ->9I=FyEɝ;E>Q 544Ͷ?Q 946)=nBYyH?Q I?CI/;i;K4yCɮBEZRbj"ړ!)ڒ9’AAM`M@ "%?yɢʛ) i)i8{:顑iɧcϞi@?jF;I@? @?IDAT read: 20:45:43.1527 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 465,-0.45, 2.065, 0.452, 2.050, 1.890, PHS= 0.277,-1.392, 0.116, RAW= 145.0, 12.5, CAL= 144.6, 13.6, ROT= 5.4, -13.6 Ygot valid direction response: 20:45:43.1527 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 465,-0.45, 2.065, 0.452, 2.050, 1.890, PHS= 0.277,-1.392, 0.116, RAW= 145.0, 12.5, CAL= 144.6, 13.6, ROT= 5.4, -13.6 PDAT read: Bearing 196.8, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 196.8, 3.5 (Local) DAT read: Range 11 to 50 : 1836.6 m (Round-trip 2448.9 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.%\direction in FSK: [0.967647,0.091470,0.235142]%Fpublishing direction and range infoy`E?hPmj?#?YD )UIҍ>i-h=p!@f_>!@ s>)=IsXQ?E:6d?Qm?? A>)i5_I=isIAIQOeV>) :,lM?A,2w>22?2¿)ٱ2E :AHRS rotation from veh to nav: [[0.819519,-0.564946,-0.096048],[0.572959,0.810824,0.119512],[0.010360,-0.152974,0.988176]]2H9? @@U?D?W?`7? ÿ #?i2w>I2`;2yC@Br@i@I@DD FlAFF6FDHHIH)HiH)LILNL LPPPiPPiPVmA)T TIT VC)V{AXXX1YXYE1FByEHbD]=VD]K8ym<%m?=ٔmOQ-u>9qIq=uFyuE};E}>Q 54ܶ?Q 94 6)LnBYy(I?Q I?CI@;i<;>S4ysCɮBJR?9??ADD=?*$0@2d@ z@`E?hPmj?#?=s—B@{_Ē@Tϑz@+79?R?ОB>BBHBWFBB =BBB;BBEYԉ cI,|f?A0Ma>M^?M@ٱM AHRS rotation from veh to nav: [[0.818765,-0.565461,-0.099383],[0.574008,0.809786,0.121500],[0.011776,-0.156526,0.987604]]MHS3?B.qE^??? ?  Ŀr?iMa>IM`;MzC 1)5~nA5#1119i=I99I9i9 AA)AA EnAEԼAIIIIMԼ)IiQ)QIQUԼQ QYYYiYYiaa)a aIaYaYuFByuHԁyEK? rh?I +E^?EC=E9A A9ERQ?ʡE?y&1YE"?yE=E`AEpA E=B)EBAYEBbDurVDu|8y@%6=ٔ]NQ->9I=FyEX<;E>Q 54O?Q 946):nBYs%?Q E:yH?Q I?CIH:i:[4yɮBZR!b!j!"!!ړ!)ڒ)’))- G? Mp=Mp=M~?"M?aɢe)a e7ia)m*9iiimE򻩧u]ɧuFlu=iu?u;yI}? }?IyԱbEjErE0E EqEE"E:*E$ :VEZEBEa52EG;a5JEU;a5:EU;a5AIIO> /,ǀ?A6>6?6Xٱ6ӄ& BAHRS rotation from veh to nav: [[0.818019,-0.565756,-0.103755],[0.575040,0.808525,0.124964],[0.013190,-0.161886,0.986721]]6H 6-?@ @f?@p??`=?Ŀ8?i6>I6L`;4\Y5#FBy=HbDMVDM8y]o<%]=ٔ]Q-e?9aIa=eFyeEm7;Em?qQ 5}4u|?Q 9}4u*~6)u/nBYyy}I?Q I?uCIu;iu:u1`4y\CɮBEZRbj"ړ11ڒ1’19= ? qqq"u?颉ɢ ) ti)b顩i6R𻩧ɧ|駵Ui/?ծ;I/? /?IA>A>AIIOD>E%  E% rE! E! "E% s:*E% ?:VE! ZE! a5 @a5 @a5 @a5 @A A AAA B B B HB lFBB B B B ;B BEBJCBICB˓CBˇ =Bˇ =C`I5CW,t?A2v{>24?2~mٱ2w' :AHRS rotation from veh to nav: [[0.817501,-0.566176,-0.105533],[0.575745,0.808016,0.125009],[0.014495,-0.162955,0.986527]]2H(?/l?D?I?? Ŀ@?i2v{>I2``;2xCY}FBy}HbDVD8y %F=ٔOQ->9I=FyE@ ;E>Q 54O ?Q 948y6)nBYyJI?Q I?CI;i:cg4yɮBZRbj"ړڒ’r? "/?颱ɢkE ) i)6项iA4ɧlxia?=;Ia? a?I!Qq^AM ;A .AI I ԡ O >R,Ps?A22H>2z?2-ށٱ2_G& :AHRS rotation from veh to nav: [[0.816583,-0.567398,-0.106072],[0.577010,0.807422,0.123005],[0.015852,-0.161649,0.986721]]2Hs!?`(@'@v?e?B}? ;?@Ŀ8?i22H>I2`;2vCYBFByFHbDN˻VDNͬ8yV*%V[=ٔVnQ-V>9Z ?IZ ?=ZFyZE^S;E^>`Q 5f4b?Q 9f4bt6)bnBYdyfI?Q If?b!CIb:ib:bm4ynDCɮnBDzD@AE% E!E%+E!"E%:*E!VE% [4ZE!BE%޽;a52E%߽;a5JE%Y;a5:E%Y;a5ynEZRbj"ړڒ’,K? "_?ɢE) i)i!!i%H컩-ɧ-c-gOi-N?-dn;)I-N? -N?I1^A0;ԩAAIIIaOm5> )i,MN?A2>2?2ΐٱ2;' :AHRS rotation from veh to nav: [[0.815939,-0.567923,-0.108202],[0.577868,0.806869,0.122603],[0.017676,-0.162563,0.986540]]2H+? l,}??b??Ŀ ?i2>I2H`;2{CYFFByFHbDNVDN8yVڼ%VJ=ٔVړQ-Z>9XIX=ZFyZE^-;E^>`Q 5f4b'?Q 9f4bo6)bnBYdyfI?Q If?bCCIb:ib:bt4ynCɮn}BnEZ|Rbj"  ړ  ڒ ’ @)@ 111"5)s?ɢI) Gi)׭ica껩J_ɧ7žŝi?W̯;I? ?IE5 E5~E5)E1"E5:*E5(:VE5FA4ZE1a=@a=@a=@a=@B}>ByB}HB}aFBByByByB}(;B}CE^A}<A%iAzA%gA1AiIyIO>Y ,ms?A7>i?Wٱ{( -AHRS rotation from veh to nav: [[0.815474,-0.568108,-0.110703],[0.578465,0.806409,0.122815],[0.019500,-0.164190,0.986236]]H]?`- W`Ȃ??p??@-ſ>?i7>IH/a;xCY=EByEHyףp= ?~jtI +?D 9V-?/$?{GzY?y,=ףQB7A B)BYBbD-TVD-L8yEu%E1=ٔMȁQ-M>9IIQ=UFyUE]q:E]>aQ 5u4e9?Q 9u4eDk6)emBY}?Q E}:y})?Q I}?egCIe%c;ieZ;e }4yCɮ?BEZRbj"ړ%=4=ڒ’/@ ==[?":@!ɢ-})) -hi))-))i5 軩5'ɧ=ʾ=Ai=r`?=D;9I=r`? =r`?IA@Q@Q@Q@Q9DD<E EpE+E"E:*E :VE [4ZEBE#;a-2E$;a-JE:R;a-:E;R;a-qA ؟AI) I9 OE >ԡ e> C6{,?An ?nٱn.( vAHRS rotation from veh to nav: [[0.815220,-0.568354,-0.111309],[0.578781,0.806382,0.121492],[0.020707,-0.163466,0.986332]]nHH?@/~_? ??.4?tĿ`?inl>In`;lYEByHbDVD{8y%i;%%a=ٔ-ZQ-->9-"?I-"?=-Fy-E5В:E5>9Q 5E4=H?Q 9E4=g6)=mBYAyM)?Q IM?=CI=:i=N:=\4yUCɮUBQZqRqbyjy"yyړyڒ’@ "t{@颹ɢ)) 0i)iR滩kɧ3Ͼo¥i0@?ĕ;I0@? 0@?IԑAe.AIqIO>ԹEM  EM mEM ,EI "EM :*EM :VEM g4ZEI aU @aU @aU @aU @B] <A] <Be >Be KCBe HBe MFBBe =Be 9DBe DBe ;Be CE Ƈ,?A2&>2?2VDٱ2}"( :AHRS rotation from veh to nav: [[0.815509,-0.567771,-0.112164],[0.578330,0.806803,0.120845],[0.021881,-0.163418,0.986314]]2H?`.+ ¶?S??h?Ŀ?i2&>I2*`;2yCYNEByR{HbDZVDZ8y%K=ٔ%>Q-%>9% ?I- ?=-Fy-¢E-ƭE->1Q 5=459Y?Q 9E45c6)5mBYAyE)?Q IE?5CI5;i5;5g4yMwCɮUBUEZqRqbqjq"qqړyyڒy’y @ "@a@颱ɢl) -i)#项i*廩^ɧ ԾQi?;I? ?IA>A> A؟AIIO >9i ḋ,ú5?A 2%>2d?2Fٱ2( >AHRS rotation from veh to nav: [[0.815489,-0.567505,-0.113649],[0.578306,0.806848,0.120655],[0.023225,-0.164117,0.986167]]2H`|?( |?@? E?`Eȗ?@ſ?i2%>I2+`;2wCYFEByFtHbDRVDRۭ8yZY%ZR=ٔZaQ-Z>9^"?I^"?=^Fy^ĢEb,Eb>dQ 5j4f,i?Q 9j4f_6)fmBYhyj)?Q Ij?fCIf:if:f84ypɮrBpD|zD~?AE EoE%E"EO:*E:VE 4ZEBE;a2E;aJEN;a:EN;aZ!R!b!j!"))ړ))ڒ)’115@ "M@ɢm) i)h?i㻩ɧؾbi?g;I? ?IqA)I1IAOU>ԙ Ӈ,O?A2|>28?26˼ٱ2~* :AHRS rotation from veh to nav: [[0.815795,-0.566642,-0.115738],[0.577810,0.807135,0.121116],[0.024787,-0.165680,0.985868]]2H@? !j}? ?m?`a?5ſ:?i2|>I2e`;0YBEByF`HLbDNVDN8yV&%VJ=ٔZ}Q-Z>9XIX=ZFy^ƢE^ E^>`Q 5f4by?Q 9f4b[6)bmmBYhyjz)?Q Ij?bCIb:ib:bG4yn_CɮnBrEZRbj"ړ  ڒ ’  `Y)@ )))"--@AɢE()A EiA)MZIIiMứU’ɧU|ݾU0iU)?]m˱;YI])? ])?IYAiIqIO=E  E nE *E "E a:*E :VE (N4ZE a@a@a@a@B >B B HB CFBB  =B :DB B %;B CE! ه,si?A6@p>6?6Rռٱ6Z* BAHRS rotation from veh to nav: [[0.816233,-0.565779,-0.116867],[0.577136,0.807663,0.120809],[0.026038,-0.166057,0.985772]]6H ? 꽿@w?@_?@^?`?YAſr?i6@p>I6`;4YJEByJqH|a%@a9% a%@a% a%@a% a%@a% i%Mb@Mb@Mb@%©%%% !9%|?5^?DlY%?y%O%L%B%A !)%B!Y%B 9=<bDEVDE8yMF=%M@=ٔUAQ-U>9YYY=]Fy]ɢE]Ee>aQ 5m4e?Q 9u4eX6)ecmBY}?Q E}:y}>Q I}?eCIeU=;ie{<;e4yɮBZRbj"ړڒ’@颁ɢ) Gi)5x顱i|y໩\~ɧ˾駽Qi??#7;I?? ??I1A9IIIYOe4>D=DE EpE+E"E*E :VE [4ZEBEh;a-2Ei;a-JE:R;a-:E;R;a-Qԁ ,J?Ai0I2A6 >66?66ݼٱ6K+ BAHRS rotation from veh to nav: [[0.816985,-0.564482,-0.117875],[0.576023,0.808448,0.120868],[0.027068,-0.166646,0.985645]]6H$? = -n?@?7?਷?@Tſg?i6 >I6W`;6yCYJEByJtHbDV*VDV8y^<%^U=ٔ~/Q-~>9Y=FyˢE Q`E >Q 54?Q 94U6)ZmBYy>Q I%?CI;i;4y-HCɮ-B)YZRbj"ړڒ’`K@Yɢm%)i mii)uw^qqiun߻}9ɧ}1駅i?e;I? ?IԉAIIO$>ԱE-  E- oE- -E) "E- :*E- :VE- t4ZE) a5 @a5 @a5 @a= @ A @AA B >B B HB /FBB =B 9DB B =;B !CEs,'?A2J>2?2ٱ2H* :AHRS rotation from veh to nav: [[0.817463,-0.563691,-0.118351],[0.575263,0.809281,0.118902],[0.028755,-0.165281,0.985827]]2H@(?@ @I22a;2wCY^EBybnHbDjVDj8yr.>%rH=ٔrQ-v>9tYt=vFyv͢EzEz>|Q 5 4~p?Q 94~ S6)~QmBYyc>Q I?~ ?v;I> ? > ?IAAIIIYOmV>9 ,q?A:&>:?:vٱ:|{( BAHRS rotation from veh to nav: [[0.818035,-0.562766,-0.118800],[0.574356,0.810242,0.116722],[0.030569,-0.163716,0.986034]]:H W-?@.ia??w?M?Ŀ?i:&>I:.a;:uCYbEBybwH ddbEm [4jEmT4rEmNU0Erz EpEpEp"Erl:*EpVEpZEpBEr;az2Er;azJErN;a~:ErN;a~imMb@Mb@Mb@iiii i9mGz?~jt{GztYm?ymĽmףmBmA mvB)m-BiYmBbD-VD8yބ<%@=ٔQ->9YQ=UFyUϢEUE]>aQ 5m4ev÷?Q 9m4eP6)e_mBY?Q E:y>Q I?e`CIeA5>qAIIO>ԙ ,M?A2>2^?2ٱ2;w) :AHRS rotation from veh to nav: [[0.818754,-0.561325,-0.120649],[0.573230,0.811051,0.116633],[0.032384,-0.164653,0.985820]]2H`<3?^⾿W?!?۽?@?@Zſ֋?i2>I2wa;2wCYBEByFrHbDN&VDN 8yr/9%rV=ٔvQ-v>9tYt=zFyzѢEzZEz ?|Q 54~ѷ?Q 94~M6)~hmBY y >Q I ?~xCI~k:i~A:~4yCɮ2BEZ1R1b9j9"99ړ9AڒA’AAE D@qɢu&P)q uiq)}Gmyyi}=ۻɧ駅Lin?U;In? n?IqE EkE)E"E:*E:VEFA4ZEa@a@a@a@A II!O5 >B>BBBBBBBj;BPCEBuKCBuKCBqBuą =BuĆ =Cu4ԡ /,?A2H>2 ?2: ٱ2{+ :AHRS rotation from veh to nav: [[0.819866,-0.559226,-0.122826],[0.571553,0.812066,0.117795],[0.033868,-0.166778,0.985413]]2H`WI2a;2vCYRFByRHiMb@Mb@Mb@ 9B`"?RQ9Y=FyӢE֗E>Q 54/䷈?Q 94K6Q =tI)mBY2?Q E:y>Q I?CI6;i$;HÏ4y ɮ &B Z)R)b)j)"11ړ11ڒ1’99=u@aɢe )i mii)mPuiiiu5ۻ}ɧ}!T})i}?};yI}? ?IAAIIIYOm5>E~ ElE-E"E:*E:VEt4ZEBEw;a 2Ex;a JEC;a :EC;a ) , ?A6 >6[?6ٱ6+ BAHRS rotation from veh to nav: [[0.820928,-0.557567,-0.123273],[0.569948,0.813341,0.116773],[0.035154,-0.166122,0.985478]]6H E?׎=??? ?xCſ ?i6 >I6b;4YJ FByJHIR<)R=bD^sVD^T8yj;%j[=ٔn?bQ-r>9tYt=vFyvբEvEz>|Q 5 4~?Q 9 4~H6)~mBYy>Q I?~CI~[0;i~0;~ɏ4y%}Cɮ%B%EZYRYbj"ړڒ’”@ɢ') 5giQ)U ̻YYi]ڻeu(ɧe.e ie?e;aIe? m?IiAyzA}hAQA.AIIO$>y<ԩ E  E kE +E "E *E :VE [4ZE a @a @a @a @B A <B >B LCB HB 9FBB B B B ;B |CEA,Pp ?A6-P>6?6}ٱ6*@ BAHRS rotation from veh to nav: [[0.821707,-0.556273,-0.123925],[0.568756,0.814254,0.116225],[0.036253,-0.165986,0.985461]]6HmK?@>3?]??ŏ?` ?ſ`?i6-P>I6wb;6uCYN FByNHbDVVDVm8y^2X=%^L=ٔb3Q-b>9b ?Yb ?=fFyfעEfiEf>lQ 5z4n1?Q 9~4nF6)nmBYy>Q I?nCIns;in;nЏ4y ɮ B Z)R)b1j1"11ړ11ڒ9’99E@@9ɢ=")A MiI)uػyyiEڻ`ɧbC׻i0?(;I0? 0?I!ԱAIIOA> k ,J8 ?A2>2Z?2ٱ2QZ+ :AHRS rotation from veh to nav: [[0.822492,-0.554896,-0.124890],[0.567551,0.815100,0.116183],[0.037328,-0.166441,0.985345]]2HQ?@`)?K?`'?@?Mſ`?i2>I2Dc;2wCD`zDbAAEf EfnEdEd"EfO:*Ef:VEdZEdBEf;aj2Ef;ajJEfJ;aj:EfJ;anlY0FByHiMb@Mb@Mb@ 9> ףp=?x&Q?Y?y7\=BA )-BYBbDVD8y =%9=ٔ Q->9Y=Fy٢EUE>Q 54?Q 94B6)mBY?Q E:y?Q I?CI ;i:{؏4y eCɮ B EZ1R1bj"ړڒ’`@ɢV) i)J!!i%oQڻ-aɧ-qѽ-Ӎi-0?M;QIU0? 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"E% 1:*E% 0:VE% (N4ZE! a5 @a5 @a5 @a5 @ s,)?AJ`>J?JpݻٱJ$ RAHRS rotation from veh to nav: [[0.827676,-0.553052,-0.095321],[0.561165,0.817636,0.128705],[0.006758,-0.160017,0.987091]]JHR|?`f ?*?`fy?`{?@o{Ŀ @?iJ`>IJ)^;J`CYnHBynHieMb@Mb@Mb@aaaa a9en?{Gzt?Zd;OYeV?yeף;ejeBeA e-B)aaYeBbD}VD}L8yI%B=ٔ[ƹQ->9"?Y"?=FyEbE>Q 54?Q 94*4)6pBYv?Q E:y?Q I?mCI]:i:v4y]Cɮ]BYZyRybyjy"yړڒ’[-G@颹ɢR]|;) >i)K7ibɧмi/|?;I/|? /|?IA>A>AAIIIYOu6>) B- >B- ICB- HB- HBB- =B) B) B- ;B- CEBICBICBBɇ =Bɇ =C 5 z,{)?A2,>2.?2ٱ2л& :AHRS rotation from veh to nav: [[0.828430,-0.551708,-0.096552],[0.560048,0.818133,0.130403],[0.007048,-0.162103,0.986749]]2H?`?$.? ?@T|?̿Ŀq?i2,>I2-^;2_CYZHByZHbDfVDfZ8yr==%rV=ٔrGQ-r>9tYt=vFyvEz+gEz>|Q 54~_*?Q 9 4~4)~/pBY y ?Q I ?~CI~;i~;~}4yɮ%B!ZIRIbQjQ"QQړYYڒY’aae J\G@E ErE,E"Ea:*E?:VEg4ZEBEh;a2Ei;aJEY;a:EY;aɢ;) %>i ) ;  i 7cuݾɧuumμi}`?}:;yI}`? }`?I)AIIO$>Yԁ ,_*?A0e>eS?eٱea( AHRS rotation from veh to nav: [[0.829260,-0.550338,-0.097238],[0.558818,0.818739,0.131865],[0.007042,-0.163689,0.986487]]eHL?^ 丿?3??@Q|?ĿM?ie>Ie ^;e`CYHByH i]Mb@Mb@Mb@YYYY Y9]S?~jtMb`Y]?y]]YY Y)]-BYY]BbDVDd8ysC<%.=ٔ~L7Q->9Y=FyExNE>Q 54,=?Q 9 4Z4)1pBY 0?Q E :y ?Q I ?CIK ;i ;ۅ4ykCɮBFEZ9R9b9j9"9AړAAڒA’IIM`G@ԁɢ ;) +>i)2ic%Ŀɧ/XǼiֺ?v;Iֺ? ֺ?IE EpE)E"Eҝ:*E :VEFA4ZEa@a@a@a@ԱAIIOi> 1,-*?A2>2W?2rٱ2) :AHRS rotation from veh to nav: [[0.830259,-0.548708,-0.097924],[0.557331,0.819560,0.133055],[0.007246,-0.165047,0.986259]]2H{? ?@9?@?J}?@ ſ`o?i2>I2=^;2bCYFHByFHbDNVDN8yVU%Vw=ٔZ!Q-Z?9XYX=ZFyZE^`Eb?dQ 5j4fhJ?Q 9j4f4)f3pBYhyj?Q Ij?fCIf):if:f4ypɮrBpZRbj"  ړ  ڒ ’XG@颹ɢZY;) M'>i)idkɧ:¼i?:;I? ?IBA<B>BHCBHBHBB =BBDB;BCEAIIO>E EtE(E"E:*Ev:VEc44ZEBE;a2E;aJE`;a :E`;a A }],8*?A2@>2?2 ݻٱ2D* :AHRS rotation from veh to nav: [[0.831086,-0.547495,-0.097699],[0.556103,0.820233,0.134044],[0.006747,-0.165733,0.986148]]2H`B?`?@Y?? \(?{?6ſ`?i2@>I2?];0Y^HBy^HbDfVDfz8yn %nG=ٔr>:Q-r>9pYp=vFyvEvIlEv>xQ 5~4zZ?Q 9~4z4)z5pBYy<?Q I?zCIz;iz;z̒4y Cɮ mB=EZ1R1b1j9"99ړ99ڒA’AAE@G@qɢuz;)q }#>iy)}Xyyi}De(ɧ駅i ?»;I ?  ?IAAe.AIiIO>)Q<9Y-Ayԙ E  E uE -E "E C:*E :VE t4ZE a @a @a @a @C,Q*?A2h>2?26ջٱ2$#+ :AHRS rotation from veh to nav: [[0.832004,-0.546111,-0.097634],[0.554732,0.821031,0.134837],[0.006525,-0.166346,0.986046]]2H`Ɵ?y\?E?@XB?`zz?Jſ ?i2h>I2W];2_CYRHByRHIV<)V=only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 295.39, 322.94, 322.94 a@a a@a a@a a@a bD%VD%@8y5&=%5E=ٔ5 :Q-5>9= ?Y= ?==Fy=EEmEE>IQ 5M4Mnk?Q 9U4Md4)M7pBQ AU+:YQQ EU:yU ?Q IU?MCIIiMF>M4yaɮeYBayZRbj"ړڒ’+H@ɢD <) $K>i)yi fɧOK i<?;I<? <?IA%؟AI1IAOU>ԡB >B ICB HB HBB B B B ь;B CE n,׾k*?A2%v>2?2ӻٱ2:* BAHRS rotation from veh to nav: [[0.833028,-0.544688,-0.096845],[0.553192,0.822152,0.134327],[0.006455,-0.165472,0.986193]]2H`+?nʸ`?`O?@1?pz?`2.ſ@?i2%v>I2i];0YNHByVHbDbVDb,8yn1F<%nP=ٔ539Q-=>9="?YE"?=EFyEEE•EM>QQ 5]4U{?Q 9e4UD4)U9pBQ Ae :YaQ Eey:yeV ?Q Im?UCIUD;iUR?UO4yuCɮu%B}>EZRbj"ړڒ’_H@E EvE*E"Eҝ:*E:VE(N4ZEBE;a2E;aJEh;a:Eh;aɢ88<) P>i)s~if ¼ɧ پ JDi l? 2; I l? l?IAe.AIqIO>1Y X,㦅*?AU>U?UfһٱUG+ AHRS rotation from veh to nav: [[0.833659,-0.543612,-0.097457],[0.552242,0.822570,0.135674],[0.006411,-0.166926,0.985949]]UHV?Ee?~R?]?Bz?]ſ ?iU>IUO];UaCYHByH1aa aa aa aa iMb@Mb@Mb@ 9"~?Zd;OZd;O?Y?yjj<=ABOA )YbDVD8yƟ<%0=ٔ,8Q->9 ?Y ?=FyE$E>Q 5M4a?Q 9U44)QpBQ AUT:YU?Q EU:yU!?Q IU?;CI;i;94yaɮe!BaZRbj"ړڒ’TH@9ɢ=^<)9 =MY>ia)e՚aaiegmnüɧmѾmCFiu?u ;qIu? u?IyE EwE,E"E:*E:VEg4ZEa@a@a@a@aIyIO]>ԉԱ 4,*?A2>22?2лٱ2. :AHRS rotation from veh to nav: [[0.834905,-0.541460,-0.098771],[0.550358,0.823375,0.138418],[0.006378,-0.169925,0.985436]]2H?`S I?Y? ?`oz?ſై?i2>I2%n];2`CYFHByFH HHbDNVDN8yVQ=%Vr=ٔZ8Q-Z?9XY\=^Fy^E^ڻE^?`Q 5f4b[?Q 9j4b4)bdpBYlyn?Q In?bTCIb`F;ib Q;b!4yvCɮvBz?EZ)R)b)j)"11ړ19ڒ9’9AE@H@颁ɢ]<) j>i)ihyüɧTʾsݡi ?$;I% ? % ?I!ԉAA@AB>BJCBHBHBB =BBDBŒ;BCEIIIaOm>ԹE EqE+E"Ea:*E$ :VE [4ZEBEh;a2Ei;aJEU;a:EU;a D,P*?A6嗹>6n?6l[ƻٱ6/ BAHRS rotation from veh to nav: [[0.836116,-0.539625,-0.098562],[0.548519,0.824442,0.139366],[0.006053,-0.170589,0.985324]]6H@w?D@[;v?a??cx?ſŇ?i6嗹>I6S];6_CY^HBy^"HbDjfVDj8yr,<%rG=ٔrLO:Q-v>9tYt=vFyvEz'Ez>|Q 54~P?Q 94~4)~zpBYy ?Q I ?~rCI~;i~:~J4yɮBZ1R1b1j9"99ړ9AڒA’AAM}H@qɢuC<)q ulo>iq)}yyi}^iļɧ駅i? ;I? ?IAhAzAhAIIO=!I E  E sE E "E *E Z:VE ZE a @a @a @a @ ,|+*?A 2?>2Z?21ٱ2J&- >AHRS rotation from veh to nav: [[0.836720,-0.539028,-0.096691],[0.547604,0.825306,0.137843],[0.005499,-0.168284,0.985723]]2Hh?? ?h?`Ӥ? 7v?@Vſ` ?i2?>I2\];0YFHByF3HiMMb@Mb@Mb@IIII I9MQ?Mbp rh?YM?yMMC=IMA I)MBIYM=BbDeYVDe8yu=%uB=ٔu:Q-u>9yYy=}Fy}E*E>Q 54?Q 944)pBY?Q E:y?Q I?CI\ ;i ;4yCɮB@EZRbj"ړڒ’ /I@ɢ bO<) #}>i)7  i j2żɧɽԗi ?s;I ?  ?IIIO=iԙBu >Bu ICBu 7HBu IBBu =Bq Bq Bu ˌ;Bu CE ,$ *?AB >B?BٱBw#+ JAHRS rotation from veh to nav: [[0.837244,-0.538477,-0.095209],[0.546805,0.826057,0.136505],[0.005143,-0.166348,0.986054]]PBH?4;@_m?o?x?.u?Jſ`?iB >IB4];B]CY~IBy~AHbD TVD 8y]1<%]L=ٔe?h:Q-e>9aYa=eFyeEmEm>qQ 5}4uξ?Q 9}4u4)upBYyyU?Q I?uCIua;iu<;u4yɮBE EtE'E"Eҝ:*Ev:VE'4ZEBE;a2E;aJE`;a:E`;aZRbj"ړڒ’YcI@ɢe<)  R>i ) &A  i kżɧÕi ?;I ?  ?I!IIO5=! ,S+?AJ#>J?JψٱJ"( jAHRS rotation from veh to nav: [[0.837681,-0.538162,-0.093122],[0.546143,0.826694,0.135291],[0.004175,-0.164188,0.986420]]JHI?8ַz?Ht? 4Q?q?ſ ?iJ#>IJ6];J^CY%IBy->HbDmaVDm8yEû%M<=ٔU;Q-]>9aYa=eFyeEmEm>Q 54ᾈ?Q 94dz4)pBYy?Q I?CI:ip:eȒ4y|CɮuBZ R bj"ړڒ’ bI@QɢUTX<)Q U>iQ)UӈuYYi]$lerƼɧe)e퐼ie8?e;aIu8? u8?IyA>A>!DD<bE5 [4jE5ęT4rE5Ļ0E EuE,E"E:*E:VEg4ZEa@a@a@a@A؟AIIO@>Qԁ ,NJ, +?ANY>N)?NsٱN;( ^AHRS rotation from veh to nav: [[0.837748,-0.538185,-0.092381],[0.546044,0.826806,0.135014],[0.003719,-0.163552,0.986528]]NH?8M 1y?0u? H?@zwn?BĿ?iNY>INb];NaCYj!IByj`HYi}Mb@Mb@Mb@yyyy y9}Zd;O?~jt?x&?Y}j?y}<}7=yy y)yyYybDdVD8yT=%U=ٔ:Q->9"?Y"?=FyE{E>Q 54?Q 9404)pBYy?Q E:y`"?Q I?CI:i:Β4yucCɮu5BuAEZRbj"ړڒ’eI@ɢ <) >i)Egi6m;ǼɧMkבi,?л;I,? ,?IBAp<B>BHCBiHB)IBB =BBDB;BCEBBBBÈ =BÈ =Cï5ԉI)I9OM0>ԱE EzE+E"E:*E :VE [4ZEBE;a2E;aJEv;a:Ev;a U͊,9:+?A2y>2?2Jٱ21d( :AHRS rotation from veh to nav: [[0.837845,-0.538113,-0.091923],[0.545899,0.826823,0.135494],[0.003093,-0.163704,0.986505]]2H@?78Kx? Uu?W?Wi?>Ŀ`r?i2y>I26j];2\CYFIByFYHbDffVDf8yrs%rX=ٔr}:Q-r>9tYt=vFyvEvEz>xQ 54zh?Q 94z4)zqBYyU"?Q I?z CIz;iz;zՒ4y CɮUB8EZ1R1b1j1"11ړ99ڒ9’AAEI@iɢm_<)q u >iq)uZqqiuTn}Ǽɧj駅Ồi!?;I!? !?IԹIIO>D AAzD @AE  E rE /E "E :*E ?:VE J4ZE a @a @a @a @9 Ԋ,2rT+?A2>2?2g0#ٱ29& :AHRS rotation from veh to nav: [[0.837894,-0.538257,-0.090620],[0.545827,0.827015,0.134609],[0.002490,-0.162251,0.986746]]2H?g92jw?v?:? fd? Ŀm?i2>I22];2]CYF.IByFoHiEMb@Mb@Mb@AAAA A9EX9v?kt?I +?YE?yE 0=E94=E{BEA EB)AAYEBbD]qVD]8ym,=%mB=ٔu:Q-u>9qYq=uFyuE}WE}>Q 54?Q 94b4)qBY?Q E:yU(?Q I?.CI]:if:ܒ4y CɮBZRbj"ړڒ’1J@ɢ<)  >i) Iio 8,ȼɧ ӻ ,Ci D? q;ID? D?IA-iAzA)II OU=AqB >B B HB =IBB B B DB ;B rCEԙ ۊ,/Pn+?A6J)>6!?67ٱ61' FAHRS rotation from veh to nav: [[0.837661,-0.538666,-0.090351],[0.546187,0.826726,0.134923],[0.002017,-0.162368,0.986728]]6H?<A!\z? t?%E?@`?zĿG?i6J)>I6];6\CYR5IByRyHbDZvVDZ8ybD<%bV=ٔb:Q-f>9dYd=fFyfEj :Ej>lQ 5r4n!?Q 9r4n4)n&qBYpyvr(?Q Iv?nLCIn2 ;in\:n4yxɮzBxZRbj"ړڒ!’!!% bJ@IɢU<)Q U>iQE EvE*E"E:*E:VE(N4ZEBE;a2E;aJEh;a:Eh;a)U:i pȼɧпsi?ڣ;I? ?IIYIiqO}=ԡ11 q u %C G  - 39) Y- y%A 8,)+?AJE>Jo?JǺٱJ& AHRS rotation from veh to nav: [[0.837543,-0.538926,-0.089894],[0.546370,0.826583,0.135057],[0.001519,-0.162232,0.986752]]JH&?>E {?]s?`I?X?`Ŀx?iJE>IJ,];J_CYU;IBy]HIu<)u<bDVD8yB<%;=ٔE:Q-M>9qYy=FyEU9E>Q 544?Q 944)8qBYy(?Q I?qCIy:i-:4y CɮB9EZ1R1b1j1"99ړ99ڒ9’AAEJ@颹ɢ,<) >i)c'iBqɼɧľkhiT?4;IT? T?IIiIO>E ErE)E"Eҝ:*E?:VEFA4ZEa@a@a@a@) ,u+?A FHs>F ?FJqٱF& NAHRS rotation from veh to nav: [[0.837354,-0.539309,-0.089355],[0.546660,0.826395,0.135032],[0.001018,-0.161916,0.986804]]FH ?@B߶=~?q? H?)P?`Ŀ?iFHs>IF^;F^CYiymHAAB>BGCBHB\IBB =BBB;BUCEiMb@Mb@Mb@ 9Gz?x&?{Gz?Yp?y7=#<B )YBbD-VD-8y=:%=5=ٔ=N:Q-E>9AYA=EFyEEM+T:EM>QQ 5]4UE?Q 9]4U4)QY]d?Q Ee:ye%0?Q Ie?UCIUL:iU:U+4yiqɮuBqZRbj"ړڒ’@J@Yɢ]Dȗ<)a e>ia)e\顉isI9ʼɧ<;駕0io? ;Io? o?IA>A>ԡAI)I9OEs>E EqE+E"E~:*E$ :VE [4ZEBE;a2E;aJEU;a:EU;a WF,j߻+?A2w>28_?2q ٱ2`% :AHRS rotation from veh to nav: [[0.836694,-0.540444,-0.088678],[0.547671,0.825824,0.134431],[0.000580,-0.161044,0.986947]]2H1?`QK? &m?` 5?C? Ŀ?i2w>I2Va^;2]C@B^r@i@I@@D FlAFxFN6FDHHIH)HiH)HIHLL LPPPPiPPiTT)T TIT X)XXXXYXYb/IBybpHbDjVDj8yr%rz=ٔv9:Q-v?9tYt=zFyz£Ezaq;Ez?YQ 5e4]S?Q 9e4]4)YYayet0?Q Im?]CI][:i]$:]4yu CɮuBu:EGSB*** querying acoustic contact ***:BZRbj"ړڒ’4K@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.)ɢ52<)Y ]>iY)] aaiessmRʼɧu%Ծ};iO?;IO? O?IAAIIIaOm5> *DAT read: user:121>  BDAT read: Tx time:20:46:38.3495  $Ping request sent. 2?2_ٱ2$ :AHRS rotation from veh to nav: [[0.836119,-0.541434,-0.088055],[0.548548,0.825301,0.134066],[0.000085,-0.160397,0.987053]]2H }?mS@͊?h?)?@+? Ŀ ?i2ᚹ>I2M^;2^C|Y>IByH  iMb@Mb@Mb@ 9\(\?y&1?:vY?y`e=Լ -B)fBYbDVD8yt =%;=ٔY:Q->9Y=FyģE;E>Q 5 4d?Q 9 4ܓ4)(qBY?Q E:y6*?Q I?CIu ;i ;4yɮ%B!ZARAbAjA"AAړIIڒI’IIU6K@yɢ}2<)y >i)p顁iu:˼ɧپ駍3i'?1;I'? '?I)A.A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251435II)O5.>QB>BBHBfIBB =BBB;BNCEԁ Y,+?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503092>>>?>9ٱ>% FAHRS rotation from veh to nav: [[0.835718,-0.542037,-0.088150],[0.549158,0.824799,0.134652],[-0.000280,-0.160939,0.986964]]>H@4?^X`?d?D>I>%^;>\CY=IBy=OHbDMVDM18Yye}ٽ%eS=ٔekw:Q-m>9m ?Ym ?=mFymƣEu:Eu>E EoE-E"E:*E:VEt4ZEBEE;a2EF;aJEN;a:EN;aQ 54_t?Q 944)qBYyd*?Q I?CIW:i:\4y CɮB;EZRbj"qqړqyڒy’yy}"kK@ɢϊ<) >i)#-Ӻi}u>̼ɧr޾i#?i;I#? #?IAzAjAԁIIOA>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965 @,s ,?A2艺>2r?29ٱ2|$ >AHRS rotation from veh to nav: [[0.835117,-0.543025,-0.087768],[0.550072,0.824335,0.133763],[-0.000286,-0.159986,0.987119]]2H H?u`w/?``?`$?2@ozĿz?i2艺>I21$^;2]CYj$IByjdHbDrVDr)8y*=%P=ٔ%*7Q-%>91Y1==Fy=ȣEM3;EM>aQ 5}4e\?Q 94e4)e qBYy*?Q I?e CIe;ie;eO4Թy CɮB1EZRbj"ړڒ’ K@iqIuAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007318yɢ}A<) z>i)顁iv-ͼɧ--wi-?-ĵ;1I5? 5?I1E EwE%E"E:*E:VE 4ZEa@a@a@a@IAIQOeU>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259794A z,#,?A6>6?6':ٱ6pS% BAHRS rotation from veh to nav: [[0.835079,-0.543061,-0.087907],[0.550129,0.824163,0.134587],[-0.000639,-0.160751,0.986995]]6H@?`?_?":?DyĿ@v?i6>I6|];4YJ*IByJkHIR=)RJ?i%Mb@Mb@Mb@!!!! !9%v?L7A`?)\(Y%?y%+=%Ga!! !)!!Y!bD5VD58yE]<%ME=ٔM_:Q-M>9QYQ=UFyUʣEU09E]>aQ 5e4e?Q 9m4e\4)epBYm?Q Em:ymK?Q Im?e+CIe:ie:el4y CɮvB2EB9A=<B=>B=ECB9B9B9B9B=DB=;B=KCEZYRYbYja"aaړaaڒa’iimK@ɢO[<) [>i)ߕiwͼɧXർi? ƻ;)I5? 5?I1IIO=!}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514000E} E}tE}&Ey"E}:*E}v:VE}4ZEyBE}#;a2E}$;aJE}`;a:E}`;aQy ,$(=,?A6>6?6*t:ٱ6B-& BAHRS rotation from veh to nav: [[0.835155,-0.542914,-0.088099],[0.550014,0.824099,0.135442],[-0.000931,-0.161571,0.986861]]6H`?_?_?*V?`\N`XĿ]?i6>I6];6ZCY^0IBybrHbDjVDj8yrm<%rS=ٔrE:Q-v>9tYt=vFyṿEzEz>|Q 54~֤?Q 94~ф4)~pBYy=?Q I ?~HCI~:i~-:~.4yɮsBZ1R1b1j1"99ړ99ڒA’AAE L@iɢm<)q u;>iq)ujsqyi}xw\μɧ駅,i?Ի;I? ?IA>A>??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764029IaqIO=ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015015bE)jE-ʞ]4rE-L1E  E E 5E "E s:*E *:VE 4ZE a @a @a @a @ r|,W,?A2(>2?2c:ٱ2( :AHRS rotation from veh to nav: [[0.835527,-0.542221,-0.088831],[0.549448,0.824193,0.137160],[-0.001157,-0.163409,0.986558]]2H?Y?_?x? ,RĿ?i2(>I2r];2\CYv,IByvnHiuMb@Mb@Mb@qqqq q9uʡE?~jthMbYu-?yuDuquA uB)qqYufBbDvVD8ys%?=ٔ :Q->9Y=FyΣEϺE>Q 54J?Q 94k4)pBY?Q E:y?Q I?hCI ;i; ;#4y CɮDB3EZRbj"ړڒ’@7L@!ɢ-i<)) -v>i))-2)1i5y=ϼɧ=ھ=Vi= ?=[;9IE ? E ?IAIQIiOu=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267003B]>B]DCB]HB]\IBB] =BYB]DB];B]iCEBGCBFCBȔCBȉ =BȊ =C5) ,p,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974$:+>:?:z:ٱ::( BAHRS rotation from veh to nav: [[0.836075,-0.541368,-0.088878],[0.548613,0.824587,0.138134],[-0.001494,-0.164250,0.986418]]:H ?@R`I:a];:]CYNIByNLHbDVfVDV8y^%bY=ٔbj:Q-b>9dYd=fFyfУEf-.Ej>hQ 5n4jſ?Q 9r4jo~4)jpBYpyr?Q Ir?jCIj;ij;j8*4ytɮzQBxZRbj"ړEe EenEe'Ea"Eea:*Ee:VEe'4ZEaBEeg;am2Eeh;auJEeJ;au:EeJ;auڒ’kL@AɢU$<)Y ]>iY)](YYi]ze@ϼɧeQӾeIim,?m;iIm,? m,?IqII O=iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771990 ",s,?A2lN>2}?2c:ٱ2 ( :AHRS rotation from veh to nav: [[0.836438,-0.540854,-0.088590],[0.548059,0.824990,0.137921],[-0.001509,-0.163915,0.986473]]2H?Nխ? Rf? a?+X&Ŀ0?i2lN>I20];2[CPYRIByR?HbD^^VD^8yjټ%nI=ٔr)8Q-v>9xYx=zFyzңE~ӺE~>Q 5 4cֿ?Q 9 4/{4)pBY y v?Q I ?CI:ip:a14y Cɮ&BZARAbAjI"QQړYaڒi’iqu L@1ɢ=w<)A Eo>iA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023283)mr}iqiu{}мɧ}˾}C{i}[?};yI}[? }[?IAgAzAhADm=Dm<Eu EurEu(Eq"Eu:*Eu?:VEuc44ZEqa}@a}@a}@a}@A؟AI)IIOUT>!  %= = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275537?(,,?A6>6~5?6V:ٱ6++ BAHRS rotation from veh to nav: [[0.837042,-0.539714,-0.089833],[0.547137,0.825258,0.139966],[-0.001406,-0.166308,0.986073]]6H` ?VEE`&?h?e? WIſ?i6>I6\;4YJ IByJCH|i%Mb@Mb@Mb@!!!! !9%i|?5?I +A`"Y%?y%9%Y!%A %-B)!!Y%BbD=eVD=8yEU;%MC=ٔMՀQ-M>9U"?YU"?=UFyUԣE]D-E]>aQ 5m4e翈?Q 9m4e x4)expBYmg?Q Em:ym~?Q Im?eCIe:ie:e84yyɮ}$ByZRbj"ړڒ’L@ɢN<) >i)0dViy| ѼɧӘi?;I? ?A1A1B9B9B=HB=QIBB9B9B9B=ƌ;B=CEI)AI IO5.>echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527033QE} E}pEyEy"E}1:*E} :VEyZEyBE};a2E};aJE}:R;a:E}:R;ay .,*o,?A2>2?2q:ٱ2N. :AHRS rotation from veh to nav: [[0.837938,-0.538080,-0.091263],[0.545763,0.825649,0.142995],[-0.001592,-0.169629,0.985507]]2Hd?`7 ]`v?k?M?`Z fſ`E?i2>I2z];2^CYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779881=(GQiٖ9Y AY=HBy= H Up9iYq=uFyuףEuTEu>yQ 54ԉ}?Q 94}Dt4)}^pBYy?Q I?}CI} +;i}+;}}A4y CɮB4EZRbj"ړڒ’@~M@ɢޢo<) m>i)@9iW} Ѽɧ ) 팼i ,? л; I ,? ,?IAԹII%PExceeded connect timeout, disconnecting.O >u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030998E  E uE *E "E ҝ:*E :VE (N4ZE a @a @a @a @ 15,H,?A2g>21N?25;ٱ2z/ :AHRS rotation from veh to nav: [[0.838966,-0.536469,-0.091303],[0.544179,0.826432,0.144499],[-0.002063,-0.170915,0.985284]]2H@?*_i? r? ~?``ſq?i2g>I2\;2YC B@C)@@@@DFnAiFIDDIHiJnA JYH)HL NbnANLLPRnAIRP)PiP)TITVļT TVCZlAZiZ/FXYXYbHBybHԹiMb@Mb@Mb@ 9(\?M@9ɢ=n<)A Ek>iA)E S9AAiM ~U9ҼɧUӤUm܃iU C?U;QIU C? ] C?IYAm>Am>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283824AII OK>B=>B9B=vHB=3IBB= =B9B=DB=;B=XCE9 ;,%,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5350346>6?6D*;ٱ60 >AHRS rotation from veh to nav: [[0.839955,-0.534973,-0.090992],[0.542650,0.827250,0.145561],[-0.002598,-0.171641,0.985156]]6H ?:K@c]?x? ? HeTſ f?i6>I6 ];6ZCYHByHbD-oVD-8EE EEEE)EA"EE:*EEF:VEEFA4ZEABEEE;aM2EEF;aMJEE;aU:EE;aUy]q%]W=ٔ]@:Q-e>9aYa=eFyeڣEmEm>qQ 54u?Q 94uDo4)uQpBY!y%?Q I%?uCIuBi)o:i~Ҽɧri?;:I? ?IA!I)I9AOM1>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787036iԙ B,~ -?A6u>6f?6kL;ٱ6)/ BAHRS rotation from veh to nav: [[0.840528,-0.534302,-0.089633],[0.541759,0.827977,0.144745],[-0.003123,-0.170221,0.985401]]6H?`1@V?~??iſ`g?i6u>I6];4Y%HBy% H AAbDMVDM8y]y<%]J=ٔeG:Q-e>9aYa=mFymܣEm+Em>qQ 5}4ug*?Q 9}4ull4)uJpBYym?Q I?u3CIuf;iu;uT4yɮBnManaging dock network, ignoring radio surface power offyMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.041326ZaRabj"ړڒ’̨M@EU EUpEU(EQ"EU:*EU :VEUc44ZEQa]@a]@a]@a]@iɢms<)q uH]>iq)u7:qqi}qe}3Ӽɧ駅1\i[?pe;I[? [?IԡA1I9IQO]v> BDAT read: Rx Time:20:46:43.1532  TRx dataTimestamp_ set to:1761511604.544555 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292025 I,%-?AY~HBy~HiMb@Mb@Mb@ 9Cl?I +{Gz?Y?y9#<BIA A)cBYbDVD8y%E=ٔQ->9Y=FyߣEE>Q 54F;?Q 94Ji4)OpBY?Q E:yy ?Q I?QCI:i:B<ABu>BBCB]HBIBB =BBDB;BGCE+\4y CɮͳB,EZR!b!j!"!!ړ!)ڒ)’))-[M@ɢ7<) T>i)]:i}Ӽɧ `~Ki>)?;;I>)? >)?IA.AIIOA> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543003E] E]vEYEY"E]:*E]:VEYZEYBEYam2EYamJE]h;am:E]h;am) S3O,f?-?AJaɳ>J-?Jp;ٱJ¼, ZAHRS rotation from veh to nav: [[0.842288,-0.532063,-0.086366],[0.539004,0.829893,0.144056],[-0.004972,-0.167888,0.985794]]JH?`@??{?ip?]t@Y}ſ?iJaɳ>IJ ];J[CYjHByjHbDVD8ym%T=ٔ%;Q-->9- ?Y- ?=-Fy-E5a E5>9Q 5E4=K?Q 9E4=`f4)=SpBYAyM?Q IM?=mCI=:i=|:=b4yQɮUѳBQZqRybyjy"yyړyڒ’`dN@DAT read: 20:46:43.1532 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 456,-0.38, 1.698, 0.005, 1.748, 1.593, PHS= 0.207,-1.542, 0.111, RAW= 147.2, 14.3, CAL= 147.1, 15.7, ROT= 2.9, -15.7  Ygot valid direction response: 20:46:43.1532 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 456,-0.38, 1.698, 0.005, 1.748, 1.593, PHS= 0.207,-1.542, 0.111, RAW= 147.2, 14.3, CAL= 147.1, 15.7, ROT= 2.9, -15.7 PDAT read: Bearing 195.8, 0.1 (Local) ~Local bearing/azimuth received: Bearing 195.8, 0.1 (Local) %DAT read: Range 11 to 50 : 1799.7 m (Round-trip 2399.6 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.5\direction in FSK: [0.961459,0.048705,0.270600]5Fpublishing direction and range infoylE?\O?RlyQ?YD )VIS>iB`ſS=l$@r>O$@ K>)4QO=IK{?.T Z?? >)~I4QO=iK颩ɢzOs<) i)l:iD?Ӽɧ jL;i g?T;I g?  g?I)Y^Au9<ԉ A ؟AI I O >Ee  Ee sEe )Ea "Ee ҝ:*Ee Z:VEe FA4ZEa am @am @am @am @V,Y-?A06o`>6?65~;ٱ61"+ >AHRS rotation from veh to nav: [[0.842715,-0.531676,-0.084567],[0.538327,0.830452,0.143368],[-0.005996,-0.166343,0.986050]]6H@?`~@.9??`Y?x Jſ ?i6o`>I6IZ];4YFHByJHINC=)NC=iUMb@Mb@Mb@QQQQ Q9UʡE?9"?Y"?=FyEE>Q 54[?Q 94b4)`pBY{?Q E:y/?Q I?CIv:i:1j4y CɮB-EJ R C-?A D D .*? @֑^U@$O~@ lE?\O?RlyQ? 4QO= K— 2sR@5X뗶@ U|@ ]?<)?z/x0?j Dr DZ 3?b al&z C 3? al& Cڗ D ?(*?ZRbj"ړڒ’@@.?)ɢ-P<)1 5O>i1)5:99i=ۂEJIԼɧEbE"d5iE{?E;AIE{? M{?II^AUyb];ԑAaIiIyO9>ԹBp>BACBDHB IBB =BBDB;B`CE B\,ms-?A6$ >6[?6;ٱ6( >AHRS rotation from veh to nav: [[0.843063,-0.531487,-0.082252],[0.537768,0.831071,0.141870],[-0.007045,-0.163838,0.986462]]6H@`?@w e5?!?(?`%|Ŀ ?i6$ >I6F];6\CYHyHbDRgVDR8ٔZ6;Q-^>`9\Y`=bFybEfEf>hQ 5n4jj?Q 9n4j_4)jlpBYlyn?Q Ir?jCIjq ;ij ;jp4ytɮttZ R b j "ړڒ’E% E%nE%%E!"E%:*E%:VE% 4ZE!BE%D;a52E!a5JE%J;a5:E%J;a59=o5?ɢ|~<) i ) 1:  i 5Լɧ5[53/i=&?="|;9I=&? =&?IA^A"A.AII O >A *c,4H-?A6>6H?6XP<ٱ6& BAHRS rotation from veh to nav: [[0.843210,-0.531539,-0.080398],[0.537524,0.831386,0.140944],[-0.008076,-0.162061,0.986748]]6H@?`]𔴿@e3?? t ?@jĿo?i6>I6.];6ZCYJHByJHbDRVDR8yZ;%Z<ٔ^';Q-^>9^ ?Yb ?=bFybEb8Eb>dQ 5j4fz?Q 9j4fO\4)fxpBYlyn?Q In?fCIfQ;ifn;fw4yr CɮrlBv.EZ R b j "  ړ ڒ’^?IɢM<)Q US>iQ)U:QQiUxuԼɧunT})iF? 9;IF? F?I@@@@bEc44jEA84rE/E5 E5pE5+E1"E5O:*E5 :VE5 [4ZE1a=@a=@a=@aE@IAU؟AIYIqyO{>ԡ Ti,h#-?A2>2RV?2 <ٱ2& :AHRS rotation from veh to nav: [[0.843096,-0.531783,-0.079967],[0.537694,0.831254,0.141072],[-0.008547,-0.161935,0.986764]]2H?^x4?`??``IĿ?i2>I2Z_];2XCYZHByZH \\i=Mb@Mb@Mb@9999 99=-?&1?kt?Y=??y=P== 0==AB=A =B)=fB9Y==BbDUyVDU8ym%m?=ٔm:Q-m>9u"?Yu"?=uFyuEyAABBB+HBHBBBBB;BbCEBEBCBEBCBABE =BE =CE:5r9E>Q 54?Q 940X4)pBY8?Q E:yf*?Q I?CI& ;im ;k4yɮ{BZRbj"ړڒ’>?颩ɢ\<) ;7>i)t:项i]ռɧ_l2i#?;I#? #?IԩAaIiIyO9>E= E=oE=*E9"E=:*E=:VE=(N4ZE9BE=;aM2E=;aMJE=N;aM:E=N;aM r>p,-?AF4E>Fy?F<ٱF& RAHRS rotation from veh to nav: [[0.842806,-0.532362,-0.079179],[0.538138,0.830985,0.140965],[-0.009247,-0.161416,0.986843]]FH@D?  Em8? n?# ?PCĿ@8?iF4E>IF,v];DYZHByZHbDfVDf&8y\<%T=ٔ:Q->9Y=%Fy%E%:E%>)Q 554-?Q 954-T4)-pBY9y=*?Q I=?-CI-;i-;-24yE CɮEGBIZiRibiji"iiړqqڒq’yy}@颡ɢ.x<) <>i)a:顱id:ռɧh$:i]?;I]? ]?IAhAzAjAAAIIIaOm>1EE  EE uEE +EA "EE a:*EE :VEE [4ZEA aU @aU @aU @aU @Y fv,-?A2i>2?2\!<ٱ2$ :AHRS rotation from veh to nav: [[0.842073,-0.533648,-0.078318],[0.539274,0.830358,0.140319],[-0.009849,-0.160394,0.987004]]2HB?  A?J??+LJĿ`?i2i>I2];2[CYFHByFHiMb@Mb@Mb@ 9zG?MbX9??Y ?yʡ=<BA )BYfBbD-VD-18y5ʡ%=E=ٔ=!:Q-=>9AYA=EFyEEM"Y;EM>IQ 5U4MK?Q 94MWP4)MpBY?Q E:y)5?Q I?M!CIMi)v:iV-w)ּɧ-E}-Ji5?5r;9I=? =?IAaAIIOE>B}s>ByB}HB}HBByByByB};B}?CEԉԹ |,-?A:>:bU?:c.<ٱ:& FAHRS rotation from veh to nav: [[0.840980,-0.535339,-0.078512],[0.540960,0.829055,0.141525],[-0.010673,-0.161491,0.986816]]:HO?! W`O??z? ۅĿ ?i:>I:];:YCYNHByRHbDZVDZT8yb#<%bR=ٔb ;Q-f>9dYd=fFyfEjX;Ej>lQ 5r4n?Q 9r4n^L4)npBYpyv5?Q Iv?n?CIn;in;n4yzM Cɮz=Bz&EE EqE)E"EO:*E$ :VEFA4ZEBE;a2E;aJEU;a:EU;aZ1R1b1j1"11ړ99ڒ9’9AE w@iɢmz<)q u8>iq)u ;qqiur}lּɧ駅ZiL?J;IL? 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Á4ÿ ?i22>I2 ];0ԙYeFByeHE ErE(E"EC:*E?:VEc44ZEBE6;a2E7;aJEa:EabDVDˮ8y%2=ٔްQ->9"?I"?=FyʤE :E>Q 54Lj?Q 942)loBYy#?Q I?CI:i,:$4yCɮ B EZ)R)b)j)"11ړ11ڒ1’99=G@ YYY"]$?iɢmҔ)q uBiq)uqqiu/@}[Լɧ}%>}> ;8,8?A2ǥ>2`?22<ٱ2 :AHRS rotation from veh to nav: [[0.825172,-0.559415,-0.078394],[0.564822,0.815105,0.128759],[-0.008130,-0.150527,0.988572]]2Hg?`?W?*{?OxDÿb?i2ǥ>I2F/];2@CBCBvlAiB`eI@@IDiD DD)DH Jr@HHHLLIL)LiL)PIR^lARARKF PRfCTTiTTiTT)X XIXYXY^GBybH df4<bDjOVDj8yr=%rq=ٔrhѺQ-v?9tIt=vFyv̤Ez:Ez?|Q 54~ɬLj?Q 94~=2)~aoBYy #?Q I ?~CI~:i~|:~4yɮBZ1R1b1j1"99ړ99ڒA’AAE(CG@ "m?ɢ )! %8li!)%))i->5 Լɧ5>57n!D?AzDbE5řT4jE5(N4rE5T/E EzE*E"Eҝ:*E :VE(N4ZEa@a@a@a@QB >B B HB GBB =B B DB ;B CEBuGCBuGCBqBuɊ =BuɊ =CuF5y f>,g8?AFxv>F?F[<ٱFL RAHRS rotation from veh to nav: [[0.825377,-0.559053,-0.078818],[0.564525,0.815252,0.129130],[-0.007934,-0.151075,0.988490]]FH~i? c-? ?S?@?oVÿ?iFxv>IF|];DY=FBy=HyMb?X9vMbp? ?}; 9+?~jth?{GztY?yD;ףwBjA cB)9BYBYbDmVDmO8y}`%3=ٔnQ->9I=FyΤEOE>Q 54Lj?Q 942)\oBY?Q E:yy?Q I?8CI;i;4yVCɮ0B߻EZRbj"ړڒ’}G@ ==&?"@ɢU) i!)%J!!i%l=-VӼɧ->-PE EqE.E"Ea:*E$ :VEـ4ZEBEg;a2Eh;aJEU;a:EU;a |ME,=9?A2c>2^?2;ٱ2ު :AHRS rotation from veh to nav: [[0.825462,-0.558913,-0.078924],[0.564410,0.815461,0.128315],[-0.007358,-0.150465,0.988588]]2H.j?@U4?@A?l?@#~mBÿ@?i2c>I2uv];0YFByHbD-VD-|8y=;%Ea=ٔE(кQ-E>9AII=MFyMФEM[ιEM>QQ 5]4UFLj?Q 9e4U2)UXoBYayep?Q Ie?UTCIU;iU;Uf4ymACɮmBqZRbj"ړڒ’G@ "z@ɢU ) ցi)QҺin<.Ҽɧ%> E  E E ,E "E O:*E ,:VE g4ZE a @a @a @a @9 wK,09?A2>2?2;ٱ2" :AHRS rotation from veh to nav: [[0.825081,-0.559468,-0.078972],[0.564970,0.815175,0.127667],[-0.007050,-0.149952,0.988668]]2Hg?){7`<? ?fW?`|`1ÿ@+?i2>I2Ty];2>CYFFByFH HHbDNVDNw8yV%VT=ٔZQQ-Z>9Z ?IZ ?=ZFy^ҤE^S:E^>`Q 5f4bLj?Q 9f4b2)bToBYhyj?Q Ij?bsCIb:ibd:b#4ylɮn BpZyRybyjy"ړڒ’uG@ "#@ɢ4) ·i);iP: Ҽɧ>=B]JCBYBYB] =BYB]DB];B]CEA؟AIIO >9i E GY q 49 Y @&A_R,4I9?A 2>2J?2?L;ٱ2 >AHRS rotation from veh to nav: [[0.825249,-0.559145,-0.079498],[0.564726,0.815242,0.128314],[-0.006937,-0.150786,0.988542]]2Hqh?Y;?`w?l?yi|Lÿ #?i2>I2];2@CYFFByFHbDRVDR8yVL%ZJ=ٔZUQ-Z>9^"?I^"?=^Fy^ԤEbN@Eb>dQ 5f4fwLj?Q 9j4f?2)fPoBYhyj?Q Ij?fCIfW:if-:f44yr,CɮrBrEZRbj" ړ  ڒ ’ *H@ 111"5@AɢE)A EqiI)MmFIIiM59UjѼɧUn>UZ%6o?6\;ٱ6QP >AHRS rotation from veh to nav: [[0.825677,-0.558501,-0.079590],[0.564101,0.815628,0.128612],[-0.006914,-0.151089,0.988496]]6H@k?<` ? ?@]v?Q| Vÿ`¡?i6X2>I6*];4YFFByJHPbDRVDR8yZ=%ZJ=ٔ^jQ-^>9`I`=bFyb֤Eb*Ef>dQ 5j4fȈ?Q 9j4f{2)fLoBYlynW?Q In?fCIf;if;fG4ypɮvޞBtZ R b j "  ړڒ’`DH@ 111"5_@IɢMT)I MiI)U=QQiU7]мɧ]=>]dE EyEE"Eҝ:*E:VEZEa@a@a@a@BU >BU KCBU HBU GBBU =BU 9DBU DBU ;BU CE! 3^,2}9?A=%=6dP>6~?61;ٱ67 >AHRS rotation from veh to nav: [[0.825547,-0.558701,-0.079526],[0.564290,0.815508,0.128545],[-0.006964,-0.150996,0.988510]]6H`j?`[?@? )t?|@Sÿߡ?i6dP>I6l];6?CY^FBybHIfC=)f=|ymNbX9?V-{GzmE?mm#i i9mCl?{Gz?9 ?I ?=FyؤE :E>Q 54sȈ?Q 94_2)QoBYQ?Q E:y?Q I?CI;iu;պ4yCɮBEZRbj!"!!ړ!)ڒ)’))-D}H@ F!>F!>J8@"]@ɢ=) qi)$  i '6Hϼɧ>.QE EvE*E"Ea:*E:VE(N4ZEBEh;a2Ei;aJEh;a:Eh;aԁ e,…9?A2T>2Ȁ?2E;ٱ2= :AHRS rotation from veh to nav: [[0.825527,-0.558810,-0.078977],[0.564314,0.815492,0.128540],[-0.007424,-0.150681,0.988555]]2Hj?7?@?s?h~Iÿ@=?i2T>I2B];2>CYFFByFHbDN"VDN8yVO%VZ=ٔZ<:Q-Z>9Z"?IZ"?=ZFyZڤE^!8E^>`Q 5f4bm&Ȉ?Q 9f4bж2)bVoBYdyj?Q Ij?bCIb:ibp:b_4ylɮnŞBlYZaRabaja"aaړiiڒi’iiu ۭH@ )))"-]@AɢMZż)I M-iQ)}2yyi}4Cϼɧ>駅fԱ i I E  E uE )E "E ҝ:*E :VE FA4ZE a @a @a @a @k,a9?AY~FBy~HbD .VD 8y<%%C=ٔ%Q-%>9% ?I- ?=-Fy-ܤE-E->1Q 5=45I8Ȉ?Q 9E45ղ2)5[oBYAyAQ IE?5CI5 ;i5H;5Ȗ4yMCɮMBUEԹZRbj"ړ ڒ ’   &H@ 999"9IɢM)Q UmiQ)UwBYYi]2e0μɧe">eBEICBEHBEFBBE =BE:DBEDBE;BECEAIIO">9 r,<9?A6>6?6k<ٱ6` BAHRS rotation from veh to nav: [[0.824832,-0.560020,-0.077648],[0.565320,0.814986,0.127323],[-0.008021,-0.148916,0.988817]]6He?೿?]? L?@mmÿ@d?i6>I6\;6@CYJFByJHbDRAVDR8yZ4#%ZQ=ٔ^:Q-^>9\I`=bFybޤEb M;Eb>dQ 5j4fHȈ?Q 9j4f2)f_oBYlyn?Q In?f5CIf;if;fϖ4yrCɮrBvػEZ R b j "  ړ ڒ’I@ 111"5]@IɢM_ͼ)I MdiI)UPQQiUL1]ͼɧ]>eI)E] E]E]+EY"E]:*E]*:VE] [4ZEYBE];am2E];amJE]i;am:E]j;amAIIO=AqM %=I ԙ |x,9?A2>2?2<ٱ2" :AHRS rotation from veh to nav: [[0.824763,-0.560143,-0.077499],[0.565418,0.814889,0.127510],[-0.008271,-0.148985,0.988805]]2Hud?`ֳ`??>R?kÿ J?i2>I2I\;2>CYfFByfsHbDrTVDr8yzLμ%zF=ٔz:Q-z>9|I|=~Fy~Eg9E> Q 54 ZȈ?Q 94 12) doBYy?Q I? UCI :i ; ֖4y%Cɮ%B%ٻEZQRYbaji"qqړqqڒq’yy} 0II@ "5]@颩ɢs˼) i)a顱i~/5ͼɧ>Dm@AzDmAAE EvEE"E:*E:VEԡZEa@a@a@a@B5 >B5 GCB5 HB5 FBB5 =B1 B5 DB5 ;B5 CE ,9?A2B]>2?2v<ٱ2+ :AHRS rotation from veh to nav: [[0.824380,-0.560721,-0.077395],[0.565976,0.814537,0.127283],[-0.008329,-0.148734,0.988842]]2H@Qa?m-гz?@?`J? ÿ`?i2B]>I2\;2=CYZFBy^bHyHzG?S㥛?/$=*?/< 9+?9I=FyE:E>Q 54lȈ?Q 94!2)coBY{?Q E:y?Q I?xCI:i:?ޖ4yɮȝBZRbj"ړڒ’!!%@I@ E`=E`=E`@"Esm@aɢeYtҼ)i -Vi))-s))i--5Ck̼ɧ5&>5Em EmwEm*Ei"Em:*Em:VEm(N4ZEiBEia}2Eia}JEmk;a}:Emk;a}! 6酎,:?A2>23?2<ٱ2Sh >AHRS rotation from veh to nav: [[0.823976,-0.561161,-0.078498],[0.566566,0.813963,0.128327],[-0.008117,-0.150213,0.988620]]2H`^?`uO!? ?@m?柀,:ÿ Ǣ?i2>I2\;2>CYFFByFOHbDNOVDN 8yV(%V^=ٔZQ-Z>9XIX=^Fy^E^:Eb>dQ 5n4f|Ȉ?Q 9r4f2)faoBYpyv?Q Iv?fCIfk;if[f;f4y~{CɮBڻEZRbj"ړڒ’ղI@ AAA"El@频ɢƙ) i)顙ir+˼ɧ>駭1Fv?F<ٱFN NAHRS rotation from veh to nav: [[0.823398,-0.561828,-0.079781],[0.567409,0.813161,0.129680],[-0.007983,-0.152047,0.988341]]FHFY?`l6(?j?X?JYBvÿ`}?iF@>IF\;F=CYVFByZIHbDbIVDb8yrL%vE=ٔzpQ-~>9I=FyE[ ;E > Q 54 ?Ȉ?Q 94 2) `oBYyT?Q I? CI ;i +; 4y!ɮ-B)ZIRIbIjI"IIړQQڒQ’QQ]@FI@ "l@!ɢ-f)) -i))-11i5j)BA<BBB{HBFBB =BBB/;BCEBICBICB”CBˆ =Bˆ =C`.6uCʼɧu>u7߯Թ ,L:?A6W>6(?6;ٱ6z >AHRS rotation from veh to nav: [[0.822835,-0.562497,-0.080865],[0.568229,0.812486,0.130315],[-0.007600,-0.153178,0.988169]]6H T?@@`.??(? Tÿ?i6W>I6J];69I=FyE,";E>!Q 5-4%WȈ?Q 9-4%2)%_oBY)y-?Q I-?%CI%:i%:%4y=fCɮ=B9ZYRYbYja"aaړaaڒi’iimJ@ "vo@颡ɢ ) ~i)ݔ顩i'%`ʼɧ>駽l2!?2e5;ٱ2Љ :AHRS rotation from veh to nav: [[0.822240,-0.563123,-0.082553],[0.569097,0.811675,0.131574],[-0.007086,-0.155166,0.987863]]2HO?)"` 6?@>?j?}xÿ?i2HM>I2 ];0YBFByF,HHJAAbDNwVDN.8yV%VP=ٔZQ-Z>9XI=FyE%8*;E%>)Q 554-Ȉ?Q 954-2)-]oBY1y5?Q I5?-C9I-y:i-1;-4y]QCɮ]_BeۻEZRbj"ړڒ’`LJ@ "n@!ɢ%s)! %=i!)%))i-%5?ɼɧ5>5ӰA?IIO%=iEe EesEaEa"Ee:*EeZ:VEaZEaa}@a@a@a@ԑB>BBbHBFBB =BBBT;B"DE r,<:?A2>2v?2τ;ٱ2ښ :AHRS rotation from veh to nav: [[0.821995,-0.563357,-0.083387],[0.569454,0.811315,0.132251],[-0.006852,-0.156195,0.987702]]2H@M?`X8?K?`?| 1ÿ@B?i2>I2(];2>CYR}FByV HyDl?Zd;~jtO-?yļ 9Cl?y&1I +Y;?y`弙94BA )YԙbDVDn8y%;=ٔ~ Q->9I=FyE^:E>Q 54Ȉ?Q 94r2)KoBY?Q E:y ?Q I?CI ;i7 ;4yɮdBZR b j "  ړ  ڒ’J@ 5=5=5y&@"5oP@IɢM%)I MSiI)Uaiiim #uȼɧu>}]C}G5591Y5&AA؟AIIO!>EU EUEQEQ"EU:*EUa9:VEQZEQBEU';ae2EU(;aeJEU';ae:EU';ae 8,n:?Abqt>b?b%;ٱb! nAHRS rotation from veh to nav: [[0.820962,-0.564694,-0.084513],[0.570951,0.810306,0.131980],[-0.006047,-0.156603,0.987643]]bH`QE?;E?@??x ĿŚ?ibqt>IbW];b=CY~~FBy~!HbDVD8y%{;%%T=ٔ-Q-->9-"?I-"?=-Fy5E5;E5>9Q 5E4=Ȉ?Q 9E4="2)=:oBYIyM[ ?Q IM?=6CI=:i=:==4yU<CɮU9BUܻEZqRqbj"ړڒ’ wJ@ AAA"EP@颙ɢ) i)顡i!ȼɧ>駭QEe  Ee tEe +Ea "Ee a:*Ee v:VEe [4ZEa am @am @am @am @y b,Z:?AV>V?V;ٱV2 jAHRS rotation from veh to nav: [[0.820457,-0.565395,-0.084726],[0.571680,0.809893,0.131357],[-0.005649,-0.156209,0.987708]]VH /A? @4K?`?K?#wÿM?iV>IV];V9 ?I ?=FyE;E>!Q 5-4%Ȉ?Q 9-4%2)%(oBY1y5 ?Q I5?%VCI%:i%:%>4y=Bɮ=BEӻEZaRabaja"aaړiiڒi’iiuJ@ "P@颡ɢ )R^9 c̾i)顩iVǼɧ->駵HWB}FCB}IHB}FBB} =ByB}DB}h;B}.DEAE؟AIQIaOu>ԁԩ I,>:?ABz>B?B;ٱBt NAHRS rotation from veh to nav: [[0.819822,-0.566515,-0.083381],[0.572594,0.809693,0.128582],[-0.005330,-0.153158,0.988187]]BH ;? @}X`R?? bu?Yuÿ;?iBz>IB];B>CYnrFBynHbDv VDvʰ8y~<%~K=ٔOQ->9"?I"?= Fy E y5;E >Q 54Ȉ?Q 9492)oBY!y% ?Q I%?vCI{;i;C4y-Bɮ-bB)GSMB*** querying acoustic contact ***:IBIZQRQbQjQ"Qe2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.iړqqڒq’qy}K@ "P@颩ɢn) ƾi)bǻ顱iƼɧ? *DAT read: user:122>  BDAT read: Tx time:20:47:38.6493  $Ping request sent. B6Z?B-;ٱBn JAHRS rotation from veh to nav: [[0.819207,-0.567573,-0.082218],[0.573476,0.809486,0.125927],[-0.004919,-0.150311,0.988627]]BH`6?)< Y?N?c?%t`a=ÿ Ԣ?iBs>IBv];B;CYVeFByVHbD^VD^8yf %fM=ٔjQ-j>9hIh=nFynEn1;Er>pQ 5v4rX Ɉ?Q 9v4rȆ2)roBYxyz??Q Iz?rCIr:ir:r94yyɮ}iByZRbj"ړڒ’"OK@ "P@ɢ ) ~;i)@0һiżɧ{?E= E=zE9E9"E=:*E= :VE9ZE9a]@a]@ae@ae@9Bu>BqBu=HBuFBBqBqBqBu-;BuCEi  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855V\,I;?A ,,YRFByH iyCl?T㥛 Mb`d;? 9-?9I=FyEE>Q 54: Ɉ?Q 9492)nBY?Q E:y>Q I?CI\ ;i ;%4yrBɮHBԻEZRbj"ړ  ڒ ’`K@ 5>5>5JL@"5Sv@AɢE] )I M־iI)Mn߻IIiM|=UļɧU@?UXƎ,n;?ALR>R]4?RqO;ٱR ZAHRS rotation from veh to nav: [[0.819539,-0.567166,-0.081727],[0.573003,0.809929,0.125227],[-0.004831,-0.149459,0.988756]]RH@9?8&촿@ V??`s? s@w!ÿ?iR>IRsG];RQ IM?ECIE ;iE ;E+4yYɮ]@BYZyRybyjy"ړڒ’@K@ "v@颹ɢ') ξi)si`hchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871eüɧeD?e  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258916E=  E= yE= 'E9 "E= :*E= :VE= '4ZE9 aE @aE @aE @aE @^̎,A5;?A2LT>2?2xܤ;ٱ2 :AHRS rotation from veh to nav: [[0.819990,-0.566635,-0.080881],[0.572356,0.810489,0.124568],[-0.005031,-0.148437,0.988909]]2H[=?! P???@t¿$?i2LT>I2W];0|Y-MFBy-HbD=VD=8yM,T%MH=ٔU8:Q-U>9U ?IU ?=]Fy]E]{E]>aQ 5m4eV@Ɉ?Q 9m4e~2)enBYqyuF>Q Iu?eCIe8;ie/;e24y}HBɮ}"B}ջEZRbj"ړڒ’TK@ "pu@ɢ) pپi)Oi*ݯ¼ɧ/ ?%=i!?o;I!? !?IB%<A%<B->B)B-0HB-FBB- =B)B)B-;B-CE!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5114899ԁAm؟AIqIO>y Rӎ,O;?A2>2_?2ė;ٱ2 :AHRS rotation from veh to nav: [[0.820384,-0.566095,-0.080664],[0.571789,0.810854,0.124790],[-0.005237,-0.148499,0.988899]]2H`@?`rbL? ?D? ru ÿ?i2>I2E(];29CYhFByHbD-VD-Ȱ8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763007yy=%E=ٔ:Q->9"?I"?=FyEٺE>Q 54RɈ?Q 94{2)nBYy>Q I?CI:i:94yBɮBֻEE EnE/E"E:*E:VEJ4ZEBEE;a 2EF;a JEJ;a :EJ;a ZRbj"ړ!!ڒ!’!!-L@ III"MFu@颹ɢ]) ˾i)?i"҄ɧI)?n=iy^"?X;iImy^"? my^"?IqyyyyԡA!zA!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015018Aa Iq I O > ^َ,h;?A2q>2?2;ٱ20 :AHRS rotation from veh to nav: [[0.820565,-0.565860,-0.080471],[0.571530,0.811096,0.124406],[-0.005127,-0.148075,0.988963]]2H`B?I?~?ٿ?:u¿`?i2q>I2|Q];2:CYFeFByFHbDNPVDN8yVϽ%V[=ٔZ䙹Q-Z>9\I\=^Fy^E^]Eb>`Q 5f4bbɈ?Q 9f4bhx2)bnBYhyj>Q Ij?b.CIb;ib;bv@4ynBɮppZRbj"ړ  ڒ ’  `3OL@ )))"-u@AɢE)A E ;iI)MIIiMgUTɧU1?UT=i]"?]R;YI]"? ]"?IaAIIO>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269223DzD?AbEjEļP4rE60E  E tE ,E "E a:*E v:VE g4ZE a@a@a@a@!B%>B!B!B!B% =B!B!B%;B%tCEBFCBFCIBǓCBNj =BNj =Cq5q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520595,.˂;?A2>2]?2;ٱ2 :AHRS rotation from veh to nav: [[0.820857,-0.565330,-0.081207],[0.571114,0.811329,0.124798],[-0.004666,-0.148819,0.988853]]2HvD?/ɴF?g??s@ ÿ?i2>I2W];2;CYvoFByvHyux&1?MbBuA ucB)u9BqYuBbDhVD 8yo<%<=ٔVQ->9I=FyEᙺE>Q 54tɈ?Q 947u2)nBY+?Q E:y?Q I?MCI!;ih; H4yBɮBZRbj"ړڒ’L@ ӏ=ӏ=L@"t@)ɢ51a) gȾi) i,ɧ7?L=ic(#?+;Ic(#? c(#?IAaIqԁIO:>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943E EsE)E"E:*EZ:VEFA4ZEBE";a%2E$;a%JE%];a%:E&];a-ԩ >,;?A2>2B?2h;ٱ2 :AHRS rotation from veh to nav: [[0.820730,-0.565347,-0.082373],[0.571302,0.811117,0.125309],[-0.004029,-0.149905,0.988692]]2H`kC?@Rd`H?? ? p0ÿ^?i2>I2];29xIx=zFyzEze:Ez>QQ 5]4UɈ?Q 9]4UTr2)UnBYaye?Q Ie?UiCIU" ;iUP ;UN4ymBɮmBiZRbj"ړڒ’@ܸL@ "8#t@ɢ~) ži)I|iE : ɧ=?JF=iw#?;7;Iw#? w#?IA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022947ԹAaIqIO> m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906D =D E%  E% qE% ,E! "E% :*E% $ :VE% g4ZE! a5 @a5 @a5 @a5 @A ,;?A2Њ>2?2Om;ٱ2U :AHRS rotation from veh to nav: [[0.820874,-0.564993,-0.083363],[0.571098,0.811140,0.126090],[-0.003621,-0.151112,0.988510]]2H@D?kCWoF? ?`#?mWÿߡ?i2Њ>I2];2;CY^FBy^+HbDjVDjN8yr/=%rK=ٔrQ-r>9tIt=vFyvEzF"Ez>|Q 54~Ɉ?Q 94~oo2)~nBYy?Q I?~CI~H;i~:~U4yBɮBλEZ1R1b1j1"19ړ99ڒ9’AAE L@AA?AB>BGCBBBBBB|;BECE " t@AɢE )I M缾iI)Mz}IQiUL SɧB?߰=iB#?›;IB#? B#?IAAIIIYOm5>=4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5272109}GlAa9lAYAi ;,Z;?A4:>:?:P;ٱ:~ BAHRS rotation from veh to nav: [[0.820586,-0.565336,-0.083867],[0.571514,0.810873,0.125926],[-0.003185,-0.151265,0.988488]]:H@>B?:PxI?`?Y?oj \ÿ?i:>I:^;8YNFByN5HbDVVDV]8y^<%^M=ٔb,Q-b>9`I`=fFyfEf:Ef>hQ 5n4jɈ?Q 9n4j}l2)j oBYpyr?Q Ir?jCIj3;ij@;j\4ytɮvBtZ R bj"ړ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779100ڒ’))-`dM@ III"M(t@Yɢ]7)a eia)eaaiemƋɧm4H?u) =iu$?u`;qIu$? u$?IyE EyE-E"Eҝ:*E:VEt4ZEBE;a2E;aJEr;a5:Er;a5ԉAAIQIaO}>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030988 >,5;?A2%>2Y?2b ;ٱ2> :AHRS rotation from veh to nav: [[0.820202,-0.565606,-0.085785],[0.572070,0.810367,0.126653],[-0.002119,-0.152956,0.988231]]2H??`q`fN?`?-6?`[a@ÿ?i2%>I28^;28C\YzFByz9H 4<<bD VD u8y;%%D=ٔ%'Q-%>9)I)=-Fy- E5:E5>AQ 5M4EɈ?Q 9M4Egi2)EoBYQyU?Q IU?ECIE;iE;Ed4yeBɮeBaZRbj"ړڒ’ 2TM@ "4t@ ɢ ) &i)Qi-#ɧ-N?-~$=i-o$?-;1I5o$? 5o$?I9AMiAzAMjAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.285639AIIE EvEE"Es:*E:VEZEa@a@a@a@O'>B>BHCBVHBFBBBBDBd;B4CEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535128?,82*?2硠:ٱ2 :AHRS rotation from veh to nav: [[0.819632,-0.566257,-0.086929],[0.572889,0.809815,0.126483],[-0.001226,-0.153470,0.988153]]2Hl:?@U??@0?<Tÿ ?i2>I2RT_;29CYEFByE-Hy&1?/$?kt?0?,= 0= 9> ףp=?~jt?% /=ٔ Q->9I=Fy E< ;E>!Q 5-4%Ɉ?Q 9-4%d2)%;oBY5f?Q E5:y51?Q I5?%CI%l0;i%/;%'l4y9ɮEBAZaRabaja"aaړiiڒi’qqu`M@ ==G-K@"o@颡ɢ ) ̻i)u"顩iˇΫɧ:I?駽 =i>$?p;I>$? >$?IIA].AIaIqOZ>=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786884qE EtE*E"E:*Ev:VE(N4ZEBE';a2E(;aJE`;a :E`;a ԡ #,2?29ٱ2K; :AHRS rotation from veh to nav: [[0.818615,-0.567624,-0.087590],[0.574342,0.808957,0.125379],[-0.000312,-0.152944,0.988235]]2H2?)@Fla??n ?s4ÿ?i2>I2_;2:CDFzlAiDIF9=FDIHiH HH)HH Jr@LLLLPIP)PiP)PIRmAVVKF TTTTiTXiXX)Z XIXY\YbFBybGHbDjVDjA8yrs=%rt=ٔv3Q-v?9v ?Iv ?=zFyz Ez;Ez?|Q 54~QɈ?Q 94~a2)~QoBY y a2?Q I ?~CI~d:i~9:~q4yBɮ_BϻEZ9R9b9j9"99ړAAڒA’AAM M@ aaa"eCo@yyɢ}) i)>&顁ieɧE?駕U(=iX$?;1I5X$? 5X$?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039339AIԡIO>M BDAT read: Rx Time:20:47:43.4055 M TRx dataTimestamp_ set to:1761511664.804603U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292015E  E ~E )E "E :*E (:VE FA4ZE a @a @a @a @ K ,7:J9?:'5ٱ: BAHRS rotation from veh to nav: [[0.817260,-0.569509,-0.088006],[0.576268,0.807857,0.123622],[0.000693,-0.151747,0.988419]]:H&? k9 `p? ??dF?nlÿ@!?i:>I:_;:9CY=FByE(HQU@ABaAe<Bm>BiBmbHBmFBBm =BiBmDBmu;BmHCEbDVD`8yg%?=ٔQ->9I=FyE;E>Q 541Ɉ?Q 94]2)noBYy2?Q I?CI=7;iI8;y4yɮlBZRbj"ړڒ’M@ "!p@1ɢ5|6)9 =i9)=+99i=E2ɧEA?Ei=iM#?M$;IIM#? U#?IQAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543353IIOB>1Y 3,Q2?2/ٱ2g% >AHRS rotation from veh to nav: [[0.815749,-0.571560,-0.088730],[0.578403,0.806560,0.122107],[0.001774,-0.150931,0.988543]]2H ?@7J@G?W?oB?d]?Qÿ$?i2m>I2iI`;27CiAIA5DAT read: 20:47:43.4055 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 466,-0.03, 2.255, 0.606, 2.336, 2.103, PHS= 0.255,-1.451, 0.189, RAW= 148.1, 12.0, CAL= 147.9, 13.2, ROT= 2.1, -13.2 =Ygot valid direction response: 20:47:43.4055 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 466,-0.03, 2.255, 0.606, 2.336, 2.103, PHS= 0.255,-1.451, 0.189, RAW= 148.1, 12.0, CAL= 147.9, 13.2, ROT= 2.1, -13.2 EPDAT read: Bearing 196.1, 0.4 (Local) E~Local bearing/azimuth received: Bearing 196.1, 0.4 (Local) MDAT read: Range 11 to 50 : 1764.0 m (Round-trip 2352.1 ms) speed 0.5 m/s UR#Rx 1: Read range and direction messages.]\direction in FSK: [0.972925,0.035676,0.228351]]Fpublishing direction and range infoyo3"?%D? :?YD )TI\>i^7A>m%@PwV>4%@ k>)Q =Ik/?U!`9n?à? ՘>)SVIQ =ikY}FBy}=HE E{E(E"Es:*E5":VEc44ZEBE;a2E;aJEDz;a:EDz;abDVDj8y'=%G=ٔe,Q->9I=FyE;E>Q 54DɈ?Q 94Y2)oBYy3?Q I?7CI6:i :4yBɮ9BлEJ9RSԉԹ ~^,}k2*?2cq>ٱ2 :AHRS rotation from veh to nav: [[0.814381,-0.573444,-0.089133],[0.580323,0.805477,0.120132],[0.002906,-0.149559,0.988748]]2Hi?`YpѶ?x?? *g?$ÿӣ?i2\Q>I2*`;29CY^FByb0HbDjVDjb8yvZ%v[=ٔzFQ-z>9|I|= Fy EM;EM>ԙQ 54ʈ?Q 94pU2)oBYy)4?Q I?VCI'Be>BeICBaBaBaBaBaBec;Be:CE RF!,X6[6?6ʆٱ6P BAHRS rotation from veh to nav: [[0.812753,-0.575671,-0.089646],[0.582594,0.804140,0.118079],[0.004113,-0.148196,0.988949]]6H?k ??m:?Np?¿@y?i6>I6K_;68CYJFByJ;HIR4=)Rp;y% ףp= ?:v?Q-M>9QIQ=UFyUE];E]>aQ 5m4e_ʈ?Q 9m4eAQ2)eoBYme?Q Em:ymrG?Q Iu?esCIe:ie:es4yyɮ}:ByZRbj"ړڒ’!? M=M=M1@"MiRV@yɢ}u)y Di)9顁iVDɧ.?駍[ =i#?;I#? #?IIIIaOu=E EsE+E"Ea:*EZ:VE [4ZEBEg;a2Ei;aJE%];a:E&];aI bp',3: ?:ٱ: VAHRS rotation from veh to nav: [[0.810879,-0.577983,-0.091708],[0.585189,0.802248,0.118117],[0.005303,-0.149445,0.988756]]:H@?`~ (z ߹??I:_;8YbFByb'HbDn VDn8yv"%vQ=ٔv GQ-v>9xIx=zFyzEz<E~>Q 5 4ʈ?Q 9 4L2)oBY y EH?Q I ?CI:i:J4yBɮhBǻEZ9R9b9j9"AAړAAڒA’IIMȊ? iii"mVV@yɢ}) :i)R>顁idɧ$?駍=i"?ט;2w:I"? "?IIIO=ԉԹ D D <bEm|a4jEmʞ]4rEm).0E  E vE -E "E :*E :VE t4ZE a @a @a @a @-,J ?JػٱJ VAHRS rotation from veh to nav: [[0.809338,-0.579999,-0.092590],[0.587305,0.800942,0.116468],[0.006608,-0.148640,0.988869]]JH?@Y 4?P? н? {?`ÿ Ѥ?iJU>IJj_;J6C`YjFByj?HAA@AB >B B oHB FBB  =B B DB ?;B CEBHCBHCBCB =B =C5bDe$VDe8yus8=%uB=ٔHQ->9I=FyE&;E>Q 54-ʈ?Q 94G2)oBYyH?Q I?CI;i*;4yɮ^BZ)R)b)j)"))ړ)1ڒ1’QQ]? "V@颡ɢ) i)+oC顩i𻩧ңɧ!?e2j^!?2ٱ2 :AHRS rotation from veh to nav: [[0.807797,-0.581989,-0.093552],[0.589406,0.799636,0.114816],[0.007986,-0.147888,0.988972]]2Hy? j? ?d?Z?¿?i2>I2V^;0YFFByF3HbDN VDN8yVͼ%VX=ٔVqQ-Z>9XIX=ZFyZE^m;E^>`Q 5f4bQ;ʈ?Q 9f4bC2)boBYdyjI?Q Ij?bCIby:ibN:bF4ynBɮr9BrȻEZ R b j "  ړڒ’`.@E ExE)E"E:*E:VEFA4ZEBE#;a2E$;aJEXo;a:EYo;a "V@ɢ@~) \i)Gij¯ɧ?C?AYI)IYO}=Iqߕ%=ߕ%=ԡ O:,"J9"?JI]ٱJp@ ZAHRS rotation from veh to nav: [[0.806286,-0.583942,-0.094416],[0.591454,0.798344,0.113262],[0.009238,-0.147164,0.989069]]JH?@+1? ???D¿t?iJw]>IJʔ^;J7CYrFByv2HbDVD8yVL%D=ٔDQ->9!I!=%Fy%E%;E->AQ 5U4EJʈ?Q 9]4E>2)EoBYaym@J?Q Iu?ECԁIEX;iE:BBBB =BBDB&;BBE^AUΒA ؟AI I O > A,Ӣ=?A2LX>2"?2$-ٱ2k; :AHRS rotation from veh to nav: [[0.805142,-0.585313,-0.095680],[0.592988,0.797344,0.112286],[0.010568,-0.147143,0.989059]]2H?`~@?׃??`?¿^?i2LX>I2)_;29C DFCYFBGy6H5kAI}S<9}kAY}-Aysh|??p= ףMbp)? 9Mb?X9v?v/Y ?y}=xiBA B)9BYGBbDLVDޱ8y%;%%:=ٔ-DFQ-->9-"?I-"?=5Fy5 E;E>Q 54\ʈ?Q 9492)oBY!?Q E:y 8?Q I?CI;ih;u4yVBɮBɻEZRbj"ړڒ’V @ > > OY?" 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GRÿ`???`?ǿ/e?i:>I:];8YNHByNH PPbDVVDV 8ybc=%bt=ٔbV:Q-b?9dYd=fFyfEfiͻEj?hQ 5r4jΈ?Q 9r4j$1)j\qBYpyr-'?Q Ir?jDIjr;ijn;j4yvmBɮz!BzEZRbj"ړڒ’!!%?@IɢMiB)Q U_>iQ)UüQQi] Je6ﱼɧe ewmieX?e;aIeX? mX?IiԹIYIiO}=E E~E%E"Eҝ:*E(:VE 4ZEa@a@a@a@PExceeded connect timeout, disconnecting.9  ,v2D?Ae&>e ?eRٱeiA AHRS rotation from veh to nav: [[0.807852,-0.569695,-0.151073],[0.587138,0.800251,0.121935],[0.051431,-0.187206,0.980973]]eH?:]Vÿ@?@? 7?U? ^ǿ`"d?ie&>Ie"s];e(CYHByHiMb@Mb@Mb@ 91Zd?~jt?Q?Y"?y=MBA HB)AYBbDVD8y-=%-)=ٔ->9Q-->91Y1=5Fy5E=tE=>AQ 5U4EΈ?Q 9]4E 1)ExqBY]?Q E]:y]w3?Q I]?EDIEw;iEbt;E 4yiɮmBiZRbj"ړڒ’?@AɢE(fY)A EL'>iI)MպIIiM[&UdɧUUiUW?]x;YI]W? ]W?Ia9B<A<Bd>B@CBHBHBBBBDBƋ;BbBEBACBACBǓCBǎ =Bǎ =C5i^AA>A>II IY Oe >bEjEșT4rE1E  E {E 'E "E :*E 5":VE '4ZE BE ;a 2E ;a JE Dz;a :E Dz;a ԑ #,ALD?A2>2؝ ?2 Sٱ2Y;A :AHRS rotation from veh to nav: [[0.808477,-0.568807,-0.151074],[0.586270,0.800852,0.122163],[0.051500,-0.187336,0.980945]]2H ?3`Vÿ?@?@F?<^? ǿc?i2>I2y];2)CY^HBybHbDjrVDj8yr%ry=ٔr^Q-v?9tYt=vFyvEzUEz?|Q 5U4~ȳΈ?Q 9U4~1)~qBYYy]13?Q I]?~DI~gPi)iaJ4⳼ɧmi4?U;I4? 4?Iq^ANw =IqIO=ԡ [,qfD?AE2 E2|E2+E0"E2:*E2P$:VE2 [4ZE0a:@a:@a:@a:@>^>> ?>CSٱ>H?1@Xÿ 9?q?@5D?dr?ǿ`c?i>^>I>}t];<RnManaging dock network, ignoring radio surface power offYVHByVH XZ<bDbEVDbò8yji=%jK=ٔjȹQ-j>9lYl=nFynEr5rEr>tQ 5z4vyΈ?Q 9z4v1)vqBYxyz3?Q Iz?vDIv:iv:vд4yɮBZ!R!b!j!"))ړ))ڒ)’115`)@@ɢ%J@) )>i)⿼iV䴼ɧi?N;I? ?I^Ad<AzAjAA.AII O >) A,D?A:(>:j ?:Sٱ:pA BAHRS rotation from veh to nav: [[0.808928,-0.568136,-0.151189],[0.585638,0.801282,0.122375],[0.051619,-0.187534,0.980901]]:H? +.`'Zÿ? ?S?`m?ȿ c?i:(>I:];:(CYNHByNHi%Mb@Mb@Mb@!!!! !9%Q?)\(? rh?Y%(?y%Ga=%C<%#B! %B)!!Y%=BbDECVDE8yM5=%UB=ٔU̬8Q-U>9] ?Y] ?=]Fy]E]|Ee>aQ 5m4eΈ?Q 9u4e1)eqBYu?Q Eu:yug8?Q Iu?B_>B?CBDHB IBB =BBDB;BABEeDIe»;ieH;e(4y$BɮƌBEZARQbQjQ"QYړYYڒY’Yaevb@@颉ɢ4) <>i)顱iɧ]!wi92?;I92? 92?I@@@@)DizDm@AEq Eu~Eu)Eq"Eq*Eu(:VEuFA4ZEqBEu;a2Eu;aJEu;a:Eu;a qu4CG =A99Y=b2AYA؟AIIO>ԁ L(&,xәD?A02>2d ?2FSٱ2FyA >AHRS rotation from veh to nav: [[0.808988,-0.568043,-0.151210],[0.585552,0.801340,0.122406],[0.051639,-0.187566,0.980894]]2H;?@i-Zÿ׼??V?ep?-ȿzc?i2>I2T];2'CY^HBy^HbDf\VDfز8ynl=%nR=ٔrPQ-r>9r"?Yr"?=rFyvEv Ev>xQ 5~4zΈ?Q 9~4z1)zqBYy`8?Q I?zDIzn;iz;z™4y Bɮ  B EZ)R)b1j1"11ړ11ڒ9’99Ee@@iɢm@)i mS>ii)uPqqiu}ɧ}*'}߻i}2?h;I2? 2?Iԉ[RӻE E|E(E"Es:*EP$:VEc44ZEa@a@a@a@ԹAIIO> V,,俳D?A\"> a ?>TٱcA AHRS rotation from veh to nav: [[0.809002,-0.567972,-0.151406],[0.585506,0.801410,0.122165],[0.051952,-0.187480,0.980894]]HW?,`Daÿv?'?/F?v?@\ǿzc?i">I ];YHByH iMb@Mb@Mb@ 9$C?Dl?~jtY?yO=DB )AYBbDpVD8yۼ%=ٔQ->9Y=FyE貸E>Q 54Έ?Q 94C 1)qBY&?Q E:yiQ)UMQQiU ]zɧ]90] ie>`?e;aIe>`? e>`?Ia5AE>AE>AqAu@AB}W>B}>CB}]HB}IBB} =ByB}DB};B}BEI1IAOM>E  E ~E )E "E %:*E (:VE FA4ZE BE ;a 2E ;a JE a :E a 9 P:3,ΉD?A `)````ddiftIddIhijr@ hh)hl lntllpr~nAIrT)pip)pIvnAvtt ttv$vAtixxYxY%HBy% HbD5UVD5Ҳ8y=%=ٔQ-?9Y=FyEE?Q 54ψ?Q 941)qBYyQ I?"DIU;ir;љ4y ɮ B Z)R)b)j)"11ړ11ڒ9’99=`@@aɢepϷ)i me\>ii)miiiu }:_ɧ}}5}1i}?}%;yI}? ?I==IqII O>ԡ c9,bD?AE& E&E$E$"E&:*E&,:VE$ZE$a.@a.@a.@a.@Fj>F1V ?FUٱF@ NAHRS rotation from veh to nav: [[0.809097,-0.568034,-0.150667],[0.585370,0.801673,0.121086],[0.052005,-0.186166,0.981141]]FH`?T-Iÿ Z?N?v?n?Iǿe?iFj>IF#\;F(CYHByHbD-VD-8y==%ER=ٔEQ-E>9IYI=MFyMEM9EU>QQ 5]4U8ψ?Q 9e4U1)UqBYayei)z顡iX ɧ <駽mi?;I? ?IIIO=ԩ OL@,@E?A:M>:< ?:Tٱ:/? FAHRS rotation from veh to nav: [[0.809329,-0.567740,-0.150526],[0.585058,0.801887,0.121181],[0.051905,-0.186141,0.981151]]:H? *lDÿ˸???S?|ǿe?i:M>I:p\;8B%T>B!B%HB%=IBB% =B%;DB!B%{;B% BEY=HBy=HIE<)Ep<iMb@Mb@Mb@ 9333333?X9v?+Y?y}=#BIA )AY 4<4<bDVD8yE;%==ٔSs9Q->9Y=%Fy%E%lE%>)Q 554-!ψ?Q 954-^0)-qBY=?Q E=:y=6?Q I=?-BDI- ;i-* ;-ߙ4yAɮE̋BIZRbj"  ړ  ڒ1’115yhA@EU EU~EU+EQ"EU:*EU(:VEU [4ZEQBEU&;ae2EU';aeJEQae:EQaeɢ%9)! %k>i!)%MIIiMUm ɧm Bm:im_?u;qIu_? u_?IqI)I9OM0>1Y wF,E?A2fa>21 ?2Qٱ2S@ :AHRS rotation from veh to nav: [[0.809836,-0.567073,-0.150311],[0.584419,0.802172,0.122372],[0.051181,-0.186946,0.981036]]2H`-?v%e=ÿ?c?@S?r4?ǿd?i2fa>I2O\;2&CYFHByF-HbDNoVDN8yV6=%Vd=ٔZ;Q-Z>9XYX=^Fy^åE^2E^>`Q 5f4b/ψ?Q 9f4b0)bqBYhyj6?Q Ij?bODIb:ib:b'4ylɮnƋBpZRbj"ړ  ڒ ’  0A@颹ɢ\) x>i)i4 ɧF+i?;I? ?I1IIO=aEa EezEe'Ea"Ea*Ee :VEe'4ZEaam@am@am@am@ԉԹ /L,4E?Az=z%== >=?=zNٱ=A AHRS rotation from veh to nav: [[0.810557,-0.566097,-0.150107],[0.583489,0.802628,0.123815],[0.050389,-0.187944,0.980886]]=H@?w6ÿ??Q? ̩?ȿkc?i= >I=4];=$CYIBy8HbDzVD8y<%2=ԑٔ&:Q->9Y=FyƥE%E>Q 54Aψ?Q 940)qBYys6?Q I?aDIf;i@;K4yBɮBZRbj"ړڒ’ A@!ɢ%,Ȱ)! %ǀ>i!)%&))i-K5ɧ5NM5>$i5?5`y;9I=? =?I9IIO>ԹB!A%<B%S>B%=CB%HB%\IBB!B!B!B%\;B%AEEm  Em Ei Ei "Em U:*Em .:VEi ZEi BEm ;a} 2Em ;a} JEm ;a} :Em ;a}  ̈S,NE?A2_>2.Y?29Kٱ2A :AHRS rotation from veh to nav: [[0.811450,-0.565052,-0.149215],[0.582314,0.803393,0.124383],[0.049595,-0.187820,0.980950]]2Hf?@yÿ@P?d?`׿?d? ~ ȿ@c?i2_>I2\;2)CYRIByRKHiMb@Mb@Mb@ 9 +?I +?~jtY?y94=DMB B)YpBAAAAbD\VDز8y1=%V=ٔ ;Q->9Y=FyȥE>E>Q 54Pψ?Q 94!0)qBY?Q E:y#.?Q I?pDI;i ;4yBɮrBEZRbj"ړ ڒ ’    A@9ɢ=0%)9 =M>iA)EAAiEMVǿɧMrPM&iMf?UZ;;QIUf? Uf?IYAIIO$>I iߙ Iߙ  TDAT read: user:123>Rx Time:20:48:20.3258  TRx dataTimestamp_ set to:1761511701.612927Y,ҬhE?AE E{EE"E:*E5":VEZEa@a@a@a@0rS>r|?r2FٱrJ@ zAHRS rotation from veh to nav: [[0.812279,-0.564331,-0.147422],[0.581245,0.804216,0.124061],[0.048548,-0.186461,0.981262]]rH1? ¿?#?v¿?Eۨ? ǿf?irS>Ir*\;r'CY=IBy=RHbDUUVDUҲ8ye<%L=ٔ+;Q->9Y=FyʥE[]E>Q 54_ψ?Q 9460)qBYy-?Q I?DI;i;4ybBɮ׊BEZRbj"ړڒ’ a2B@AɢEx-)I M->iI)MIIiU ]'ɧeSed)ie3T?e ;aIm3T? m3T?IiԉA.AI IO-,> X`,]E?A:>:?:Dٱ:Fr@ BAHRS rotation from veh to nav: [[0.813166,-0.563224,-0.146765],[0.580062,0.804955,0.124802],[0.047847,-0.186618,0.981267]]:H`t? 0¿ ޏ?1? ?t?ǿf?i:>I:*];:%CYJIByNWHBbR>B`BbHBbzIBBb =B`B`Bb;BbAEB>CB>CBB =B =Ca5p}DAT read: 20:48:20.3258 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 164, 0.29,-2.435, 2.184,-2.348,-2.767, PHS= 0.434,-1.288, 0.375, RAW= 148.3, 5.7, CAL= 147.6, 6.1, ROT= 2.4, -6.1 Ygot valid direction response: 20:48:20.3258 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 164, 0.29,-2.435, 2.184,-2.348,-2.767, PHS= 0.434,-1.288, 0.375, RAW= 148.3, 5.7, CAL= 147.6, 6.1, ROT= 2.4, -6.1 6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:20:48:21.9287 $Ping request sent.i]/ݤ]>]%@]%=]$@ ]^ =)]+=I]^ ڽY]FD ?)?Yz? ]\>)]&̽I]+=i]^ ڽ:publishing transmit ping time:publishing range request flagYyYyY]x?gNQ?O4?YYYY Y)YIYiYYYYY Y)YIYY]FD ?)?Yz? 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B?IAIIO >E% E%E%*E!"E%:*E%R:VE%(N4ZE!a-@a-@a-@a-@9i <,…7F?A$V>VQ?V݌(ٱVuC bAHRS rotation from veh to nav: [[0.824114,-0.548700,-0.140585],[0.564928,0.814245,0.133648],[0.041138,-0.189561,0.981007]]VH$_?`?J?@]??Cȿhd?iV>IV];V%CYnIBynHbDUVDҲ8yE<%MC=ٔUm:Q-U>9Y=FyڥErE>9Q 5}4=ψ?Q 94=f0)=qBYy?Q I?=DI=i1)511i5.=6̼ɧ=vME^$iE&L?Ei;AIE&L? E&L?IiA}hAzAyBe<AaBmL>BiBm%HBmIBBiBiBmDBm;BmAEԙAIIOf>D- =D- <E5  E5 E5 )E1 "E5 %:*E5 |;:VE5 FA4ZE1 BE5 ;a= 2E5 ;aE JE5 ;aE :E5 ;aE $,`QF?AF`>F/9?Fn%ٱFCP RAHRS rotation from veh to nav: [[0.825492,-0.546826,-0.139803],[0.562968,0.815439,0.134636],[0.040378,-0.189845,0.980983]]FHmj?` ??;?m?Lȿ`7d?iF`>IF^;DYZIByZHiEMb@Mb@Mb@AAAA A9E"~?{Gzt?~jt?YE?yEף;E9qYq=uFyuܥE}ʻE}>Q 54ψ?Q 940)qBY?Q E:ym?Q I?DI:i:I;4yBBɮwByEZRbj"ړqyڒy’yD@ɢң!<) r>i)iP}0 gͼɧ L ]#i I?- ;)I5I? 5I?I1 >4=Ae.AIiIyO:>! 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FQ?>?~?iǿu?iJĒ>IJ`$`;HYJByvHiMb@Mb@Mb@ 9~jt?l?)\(Y?y=GaBA 9B)AYBbDPVDͲ8y<%;=ٔ*:Q->9Y=FyEE>Q 54*Ј?Q 940)'rBYm?Q E:ym0?Q I?DI :i\ ;e4yBɮBvEZRbj"ړ!!ڒ!’!!- G@ɢ֤<) ?i)I^i1a 8,,G?AE EEE"EƱ:*E,:VEZEa@a@a@a@ >R>>?>ٱ>9 JAHRS rotation from veh to nav: [[0.832809,-0.539419,-0.124328],[0.552722,0.822661,0.133141],[0.030461,-0.179600,0.983268]]>H@^?B@ӿ?=S?@ ?`C1?ƿv?i>R>I>`;>"CYuJBy}sHbD?VD8y逻%:=ٔv;Q->9Y=FyEE>Q 54Ј?Q 94?0)rBYyQ0?Q I?DI;i;4y5Bɮ5B5nEqZRbj"ړڒ’EG@ɢã<) o?i)ViJA\ɧJBZiB& ?;IB& ? B& ?Iԡ@p AA II IY Om >Be A>Ba Ba Ba Ba Ba Ba Ba Ba B%;CB%;CB!B%˔ =B%˔ =C%ˁ,4 ,H?A: >:?:̹ٱ:58 FAHRS rotation from veh to nav: [[0.833040,-0.539285,-0.123356],[0.552419,0.822842,0.133282],[0.029625,-0.179173,0.983371]]:H C? 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[ƿx?i6m>I6n`;6 C|YIByfHbDYVDֲ8y%2%%Z=ٔ-$;Q-->9)Y1=5Fy5E5UE5>9Q 5E4=wш?Q 9E4=\0)=qBYIyM3?Q IM?=DI=N:i=F:=44yQɮUBYZyRybyjy"yyړڒ’G@颱ɢ/ <) V>i)J项iUaJɧ*Yi ?;I ?  ?I)ewּEM EMEM)EI"EM%:*EM0:VEMFA4ZEIaU@aU@aU@aU@YAYIqIO>ԁ \u,6Lg?6ٱ66 >AHRS rotation from veh to nav: [[0.834158,-0.538164,-0.120666],[0.550825,0.823942,0.133082],[0.027802,-0.177478,0.983732]]6H`k?8`㾿[?`]??)x?ƿz?i6!>I6I`;4YJByuHbD-QVD-β8y=<%EI=ٔE ;Q-E>9IYI=MFyMEMEM>YQQ 5e4U% ш?Q 9e4U0)UqBYaym?Q Im?U.DIU`+;iUK,;UP4yuBɮu†BqZRbj"ړڒ’G@ɢǹ<) ?i)-DiGd̔ɧ+Yi  ? G!; I  ?  ?I ԉB<A4=B @>B B B B B B B !;B @EA>A>сGEC9AYE:4AԱAII O%>EU  EU EU (EQ "EU Ʊ:*EU .:VEU c44ZEQ BEU H;a] 2EU I;a] JEU ;a] :EU ;ae A],VH?A2P>2?28ؼٱ25 :AHRS rotation from veh to nav: [[0.835066,-0.537143,-0.118922],[0.549514,0.824775,0.133345],[0.026459,-0.176701,0.983909]]2H۸?F0@q`?d?o?? ƿ.|?i2P>I2ݥ`;0Y\ybtHiMb@Mb@Mb@ 9㥛 ?:vX9vY?yT}wB B)Y=BbDcVD߲8y[%D=ٔS;Q->9Y=FyEԹyE>Q 541ш?Q 94P~0)qBYa?Q E:y ?Q I?>DI ;i ;Ț4yBɮBoEZRbj"ړ  ڒ ’   'H@9ɢ=<)9 E?iA)E`a=AAiEZfMkXɧMqMUiM8 ?U;QIU8 ? U8 ?IYAIIO >i! I! A ,XpH?AE EzEE"Eg:*E :VEZEa@a@a@a@>h>>?>yk˼ٱ>G5 FAHRS rotation from veh to nav: [[0.836072,-0.535930,-0.117312],[0.548058,0.825575,0.134385],[0.024829,-0.176649,0.983961]]>H@?W&(?k?3?l?oƿ |?i>h>I>a;>CYN JByRHbDZVDZ8yb<%bZ=ٔb;Q-f>9dYd=fFyfEj/Ej>lQ 5r4nAш?Q 9r4n[{0)nqBYpyv( ?Q Iv?nLDIn;in;n'Ϛ4yxɮzBxZRbj"ړڒ!’!!%>H@IɢU<)Q U?iQ)U77QYi]E:ieɧeeQie9i ?ek;aIe9i ? m9i ?Ii!AIIO>AԁB B B HB EJBB B B B ;B @Eԙ %o",5H?AB+`>B?B㾼ٱB6 NAHRS rotation from veh to nav: [[0.837206,-0.534413,-0.116140],[0.546390,0.826415,0.136000],[0.023300,-0.177317,0.983878]]BH@e?`Y|?q? oh?@ۗ?Vƿ`{?iB+`>IB~a;B CYTyVHi5Mb@Mb@Mb@1111 195@5^I ?:v{GzY5b?y5T5#11 5cB)11Y5BbDMVDM8y]%]A=ٔ]l;Q-e>9aYa=eFye EmEm>qQ 5}4uSш?Q 9}4uvx0)uqBY[?Q E:yd>Q I?u[DIue ;iuX ;u֚4y:Bɮ5BpEZRbj"ړڒ’?tH@q颉ɢ D<) ?i)L/顑i&kKɧ|駝_Ji ? ;I ?  ?IAzAhAE= E=E=)E9"E=:*E=*:VE=FA4ZE9BE=a  %= %= ](,0H?A2>2X?27԰ٱ297 :AHRS rotation from veh to nav: [[0.838685,-0.532403,-0.114693],[0.544189,0.827578,0.137741],[0.021584,-0.177936,0.983805]]2H?r \i?{??`?@ƿ U{?i2>I2b;2CYFJByFHIJ%=)Jp;bDLVDLyVӁ<%VV=ٔZT;Q-Z>9XYX=^Fy^ E^}E^>`Q 5f4bcш?Q 9f4bu0)bqBYhyj>Q Ij?biDIb:ib:b;ݚ4ylɮr1BpZRbj"ړ  ڒ ’  H@9ɢ=Qk<)9 Ej?iA)E)AAiEFnMɧMtMCiU50 ?U;QIU50 ? U50 ?IQA II1OE>EE EEEE*EA"EEI:*EE.:VEE(N4ZEAaM@aM@aM@aM@) ., H?A :,>:l?:pơٱ:7 FAHRS rotation from veh to nav: [[0.840671,-0.529651,-0.112885],[0.541187,0.829258,0.139458],[0.019747,-0.178330,0.983773]]:H@? `漿fQ?G?@?w8? ƿ{?i:,>I:^c;:CYRJByRHbDZrVDZ8yb{<%fI=ٔf;Q-f>9hYh=jFyj EjEj>lQ 5r4nPuш?Q 9v4ns0)nqBYtyv(>Q Iv?nxDInd:in9:nX4yzBɮz B~qEZRbj"ړ!!ڒ!’!)-3H@QɢU5<)Q Uh?iY)]*"YYi]Ľpecɧefke'RAA@AB?>BBHBOJBBBBB$;B@Eԙi1I1EU  EU EU -EQ "EU :*EU *:VEU t4ZEQ BEU ;a] 2EU ;a] JEQ ae :EQ ae =5,H?A2">2?2ٱ2S 7 :AHRS rotation from veh to nav: [[0.842439,-0.527308,-0.110645],[0.538492,0.830869,0.140295],[0.017953,-0.177771,0.983908]]2HC?7S`S;? {?/?5b?5ƿ,|?i2">I2`c;2 CLYR%JByRHieMb@Mb@Mb@aaaa a9e(\?Dl~jthYe?yeOeDeBeA eB)eBaYeBbD}fVD}8y<%?=ٔ;Q->9Y=FyETE>Q 54ш?Q 94fp0)qBY-?Q E:y[>Q I?DI:i:4yɮBZRbj"ړڒ’&I@ɢ}L<) H ?i)%v!!i%+Bs-:3ɧ-}`-3i- ?-n;1I5 ? 5 ?I1AE>AE>AIIO >! E]  E] E] ,EY "E] :*E] .:VE] g4ZEY am @am @am @am @;, H?A2i>2?2=ٱ27 :AHRS rotation from veh to nav: [[0.844324,-0.524617,-0.109057],[0.535589,0.832408,0.142271],[0.016142,-0.178533,0.983802]]2H?@)뻿#??5??`)ƿ`M{?i2i>I2d;2CpY-JByH@AbDVDy<%5=ٔW;Q->9Y=FyEE%>)Q 554-ш?Q 9m4-m0)-qBYiyu>Q Iu?-DI-Aq B >>B B HB ZJBB B B B B;B @EIB,g} I?A6 >6?61"jٱ6~8 >AHRS rotation from veh to nav: [[0.846124,-0.522056,-0.107381],[0.532794,0.833878,0.144147],[0.014290,-0.179179,0.983713]]6Hs?@V} ? ?js?D?Sƿ@z?i6 >I6\d;6 CDFvlAiDIDDIHiH HH)HNsC NMr@LLLPPIP)PiP)TIVCmATT TXZ~lAXiXXiX\)\ \I\Y\Yf:JByfHiMMb@Mb@Mb@IIII I9Mn?T㥛 Q?YMV?YyMM\=M>BI M)B)MAIYMQBbDmVDm8y}=%}g=ٔ-;Q->9 ?Y ?=FyEE>Q 54ш?Q 94=k0)qBY?Q E:y>Q I?DI;i;4yɮLBZRbj"ړqqڒq’yy}yI@ɢ=) ?i)[ ixnɧL #i?;%Ա lH,X%I?A2dZ>2?27Kٱ2k8 :AHRS rotation from veh to nav: [[0.847906,-0.519529,-0.105569],[0.530001,0.835356,0.145871],[0.012403,-0.179637,0.983655]]2H "? ?`=? ?f?Wƿz?i2dZ>I2ye;2CYHJByHbD-VD-8y= =%EN=ٔE;Q-E>9E"?YM"?=MFyMEMEM>QQ 5]4Ueш?Q 9e4Uh0)UqBYaye>Q Ie?UDIU;iU ;U4ymHBɮm$BuiEZRbj"ړڒ’@ I@Թɢ J=) "?i)i\Pz@$ɧ3C)i p?;I p?  p?IAjAzAAE.AIQIiO}>E% E%E!E!"E%U:*E%0:VE!ZE!a-@a-@a-@a-@9 O,3?I?A6Ϭ>6l>?6?+ٱ6$9 >AHRS rotation from veh to nav: [[0.849516,-0.517289,-0.103606],[0.527458,0.836709,0.147332],[0.010475,-0.179808,0.983646]]6H=/? @셺?Q?? s?ǿz?i6Ϭ>I6{e;6 CY%[JBy%HbD=VD= 8ym5=%mH=ٔm\;Q-m>9u ?Yu ?=uFyuEuE}>Q 54ш?Q 94f0)qBYyV>Q I?DI:i:4yɮBZRbj"ړڒ’kI@ɢ=) ?i)Xin|]ZɧZ9 Hi k? R; I k? k?IBU<AU<BqBqBuHBunJBBu =BqBqBuD;Bu@EBBBBBCĎ4A%؟AI)I9AOM1>iD1 D1 bEȷG4jEȔK4rEȖ/EU  EU EU )EQ "EU Ʊ:*EU a9:VEU FA4ZEQ BEU H;ae 2EU I;ae JEU &;ae :EU ';ae ԙ U,MYI?A2T>2 ?2m ٱ2@9 :AHRS rotation from veh to nav: [[0.851053,-0.515138,-0.101693],[0.525009,0.838011,0.148675],[0.008632,-0.179920,0.983643]]2H;?| ??`?ਭ? ǿz?i2T>I2e;2CYNoJByRHi%Mb@Mb@Mb@!!!! !9%Cl?y&1x&?Y%?y%`弙%7=%B! !)%B!Y%BbDE|VDE8yMF=%ML=ٔU;Q-U>9U"?Y"?=FyE0E>Q 54ш?Q 94b0)rBY?Q E:yq?Q I?DI:i:B4y(BɮBjEZRbj"ړڒ’!%J@IɢM =)I U?iQ)UQQi]]ɧ]j3eie&?e;aIe&? e&?Iiqԩ^A=`=<AE>AE>Am.AIqIO> E=  E= E9 E9 "E= :*E= 3:VE9 ZE9 aE @aM @aM @aM @#\,SrI?A^i#>^3 ?^ܻٱ^ 8 nAHRS rotation from veh to nav: [[0.852287,-0.513591,-0.099153],[0.523032,0.839206,0.148899],[0.006737,-0.178765,0.983869]]^HE?`Wob ??!? {?`ƿ {?i^i#>I^,e;\Y~JBy~HbDVD8y5#=%5L=ٔ=;Q-E>9E ?YE ?=MFyMEUŻEU>aQ 5e4eш?Q 9m4e`0)e#rBYiym?Q Im?eDIe:ie9:e 4yyɮ}ByZRbj"ړڒ’TEJ@Qɢ]/=)Y ]?iY)]r9ٻYaieuZɧ}-}r i}f?}z;yI}f? }f?I^Ax/<A؟AI IO-N>) Be =>Ba Be HBe JBBa Ba Ba Be ;Be @E - Gg>5 %C G 79 Y i)A c,ÌI?A2+>2Y ?2=ٱ27 >AHRS rotation from veh to nav: [[0.853432,-0.512073,-0.097139],[0.521181,0.840226,0.149637],[0.004994,-0.178332,0.983958]]2HOO?b޸? ?`O'?btt? ƿ|?i2+>I27f;0YfJByfH hhiUMb@Mb@Mb@QQQQ Q9U㥛 ? rh?+?YU?yUC9"?Y"?=FyEIE>Q 54Nш?Q 94\0)CrBY?Q E:y?Q I?DI& ;i] ;84yBɮBZRbj"ړڒ’ yJ@iIɢ=) G#?i),Ȼ顙i+ˁɧ@,駥/ i|p?.Q;I|p? |p?IE EE*E"Eغ:*E0:VE(N4ZEBEԱ 5i,I?A2m§>2 ?2ZHٱ28 :AHRS rotation from veh to nav: [[0.854723,-0.510189,-0.095687],[0.519076,0.841148,0.151756],[0.003063,-0.179378,0.983775]]2HY?xS`~`D??l?i?ƿ{?i2m§>I2f;2C@YFJByF)HbDRVDR8yVޱ<%ZX=ٔZg;Q-Z>9^ ?Y^ ?=^Fy^EbջEb>dQ 5f4f ҈?Q 9j4f=Y0)farBYhyj,?Q Ij?fDIf:ifB:f#4yYɮ]BYZyRybj"ړڒ’CJ@颹ɢ#=) a%?i)i悼Rɧ*6iq{?";Iq{? q{?I@@@@ԩE E|E)E"E7:*EP$:VEFA4ZEa@a@a@a@A؟AIIO> op,t{I?A6>6c ?6 ٱ6z7 >AHRS rotation from veh to nav: [[0.855392,-0.509464,-0.093545],[0.517979,0.841796,0.151915],[0.001351,-0.178401,0.983957]]6H__?MH? ?@q?!V?ƿ@|?i6>I6oDf;6CYFJByF,HbDR|VDR8yZ;%ZJ=ٔ^;Q-^>9b"?Yb"?=bFyb"EbOEf>dQ 5j4f3҈?Q 9j4fU0)frBYllyn?Q Ir?f DIf+;if},;f*4yvBɮv„BvkEZ R bj"ړڒ’`+J@颡ɢ4$=)  &?i)顩i{ɧ).Ci0?8;Ȳ8I0? 0?IAAAAAIIqB5<>B1B5DHB5JBB1B1B1B5;B5k@EIO%,>1EE  EE EE +EA "EE g:*EE ,:VEE [4ZEA BEE ;aM 2EE ;aM JEE ;;aU :EE ;;aU a Gv,`VI?A6>6KO ?6W9ٱ6)6 >AHRS rotation from veh to nav: [[0.855553,-0.509576,-0.091440],[0.517716,0.842032,0.151500],[-0.000205,-0.176956,0.984219]]6H@`?@sNh@ ??`Zd?@*ƿ@~?i6>I6f;6CYFJByJ7HIN=)N9IYQ=UFyU$EU?EU>YQ 5e4].҈?Q 9m4]Q0)]rBYmX?Q Em:ym -?Q Im?]DI]':i]:]I24yqɮ}ByGSB*** querying acoustic contact ***:BZRbj"ړڒ’@4K@qɢu#=)y }A(?iy)} yyi} ɧq,駅x iS?;IS? S?IuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.iA!I)I9OM1>ԑ % DAT read: - BDAT read: Tx time:20:48:38.8991 - $Ping request sent.- Z= ?Z2:ٱZ4 bAHRS rotation from veh to nav: [[0.855688,-0.509706,-0.089425],[0.517489,0.842233,0.151159],[-0.001730,-0.175621,0.984456]]ZHa?O 䶿@D??*Y?`W\@zƿ?iZΦ>IZg;ZCYjJBEn EnEn'El"En:*EnE7:VEn'4ZElar@ar@ar@ar@yjNHbD~VD~(8y Q;=% N=ٔ {;Q->9Y=Fy&E.E>!Q 5-4%=҈?Q 9-4%M0)%rBY)y5,?Q I5?%+DI%:i%:%894y=bBɮ=B=cEZYRYbaja"aaړaaڒi’iimFK@ԑ颙ɢ=$6=) ,?i)̃顡i,Fɧ/駵w i"?y;I"? "?IA.AII!O- >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251660B ;>B B jHB JBB B B B ;B p@E Y, J?A2ަ>2E ?2.N;ٱ2$=3 :AHRS rotation from veh to nav: [[0.855623,-0.510154,-0.087481],[0.517590,0.842269,0.150610],[-0.003152,-0.174145,0.984715]]2H Ca?-S@%e??0G?i^Jƿ ɂ?i2ަ>I2h7i;2CY^JBy^AHi}Mb@Mb@Mb@yyyy y9}Zd;?B`"۹?Q?Y}?y}=}\=}>By y)}cByYybDVD88yȼ%A=ٔ^\;Q->9 ?Y ?=Fy(E9E>Q 54N҈?Q 94H0)rBYP!?Q E:y^6?Q I?<DI:i:@4yɮ Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503282ZRbj "  ړ  ڒ ’]}K@9ɢE *=)A E?*?iA)E(bIIiM?U3ɧU5U_=iU?UmR;YI]? ]?IYD?AzD@AE EE*E"E7:*ET:VE(N4ZEBE;a2E;aJEϨ;a:EШ;a!^A}h% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755179y ݃,'J?A2>2@W ?2m ;ٱ2h1 :AHRS rotation from veh to nav: [[0.855481,-0.510752,-0.085355],[0.517814,0.842269,0.149842],[-0.004640,-0.172385,0.985019]]2H`?Xٵ`? ?.? sƿ F?i2>I2ɖj;0YRJByReHbDZVDZH8yb=%bZ=ٔb;Q-f>9dYd=fFyf*Ej8:Ej>lQ 5r4n^҈?Q 9r4nD0)nrBYpyrl6?Q Ir?nKDIn:in:n*G4yzABɮzރBxZRbj"ړڒ’!%K@IɢMB=)I M1?iI)UX@QQiUJ]ɧ]:]g{i]?]+;aIe? e?IaQ^A ;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007275A%؟AI)I9OM0>ԁE EE)E"E%:*E,:VEFA4ZEa@a@a@a@ԩ m,SAJ?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120F}h>F ?F:;ٱFm/ ^AHRS rotation from veh to nav: [[0.855068,-0.511774,-0.083351],[0.518482,0.842036,0.148832],[-0.005984,-0.170477,0.985343]]FH\?s`xVg??` ?}x@1ſ?iF}h>IF Zl;DYfJByfJHbDpVDpyzMS%zG=ٔzV;Q-~>9~"?Y~"?=~Fy~,E:E> Q 54 n҈?Q 94 r@0) rBYy6?Q I? [DI ;i ; WN4y!ɮ%B!ZARAbAjA"IIړIIڒI’QQU`K@yɢe4=)  ,?i)q顁iPcɧ@駕-i*?;I*? *?IԩBAp<BBBHBJBBBBB;BY@E^AAiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511897II)O=>D=Da= E  E E ,E "E :*E :VE g4ZE BE ? 2 ?2;ٱ2". :AHRS rotation from veh to nav: [[0.854328,-0.513267,-0.081732],[0.519681,0.841379,0.148370],[-0.007386,-0.169231,0.985549]]2HV?l@^촿 :??? A~_ſ`?i2!>I2-ym;0Y^JByboHi}Mb@Mb@Mb@yyyy y9}X9v?"~j?y&1|Y}?y}S=}`}wB}A y)}ByY}BbDVDG8y=%@=ٔW;Q->9Y=Fy.EX;E>Q 54m҈?Q 94;0)rBY ?Q E:y]8?Q I?lDIj:i:U4y!BɮBdEZRbj"ړڒ’@=L@1ɢ5_g;=)1 53?i9)=y99i=cEɧE;GEciEn ?M;IIMn ? Mn ?II@Y@Y@Y@YUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7632819II1OAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015190,yuJ?AE EE-E"EƱ:*Ea9:VEt4ZEa@a@a@a@0Z>Z ?Z)<ٱZ+, bAHRS rotation from veh to nav: [[0.853874,-0.514376,-0.079475],[0.520401,0.841081,0.147535],[-0.009043,-0.167335,0.985859]]ZH R? u X?!?k?+ >kſ`'?iZ>IZm;ZCYjJByjnHbDvVDv?8y~ٓ%~V=ٔ~;Q->9Y=Fy0E ;E >Q 54҈?Q 9470)rBY!y%8?Q I%?|DIe;i;x\4y)ɮ-B)ZIRIbIjQ"QQړQQڒQ’YY]0IL@ɢUF=) m3?i)俢ipeɧM;$iv ?;Iv ? v ?IԉIiIO>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267220ԹB B B HB JBB B B B ;B 0@E BaBaBaBeɕ =Beɕ =Ceɜ{4t,SJ?A:YU>:, ?:/<ٱ:$* BAHRS rotation from veh to nav: [[0.853078,-0.516032,-0.077258],[0.521673,0.840452,0.146621],[-0.010729,-0.165383,0.986171]]:H@jL?U5dz?`? ~?`FG+ſ?i:YU>I:An;:CYJJByJWH`i%Mb@Mb@Mb@!!!! !9%Q?~jt? ףp= Y%(?y%=%Q8%B%A %B)!!Y%BbD=VD=I8yM53%ME=ٔUP;Q-U>9QYQ=]Fy]2E])m;Ee>aQ 5m4e'҈?Q 9m4ea30)erBYu?Q Eu:yu0?Q Iu?eDIe3:ie:ec4yBɮBeEZRbj"ړڒ’@~L@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519377D@AzD?AqɢI;=) .?i)$-i^qɧxQ:'ir3 ?;Ir3 ? r3 ?IbEjErE.0E5 E5E5(E1"E5U:*E5T:VE5c44ZE1BE5;aE2E5;aEJE5Ϩ;aE:E5Ш;aEIqIO=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771179A ѩ,/J?A2˩>2S ?2 H<ٱ2|r) :AHRS rotation from veh to nav: [[0.852592,-0.517057,-0.075755],[0.522434,0.839954,0.146767],[-0.012256,-0.164709,0.986266]]2HnH?dƷ??B?1ſ}?i2˩>I21m;2CYvJByvjHbD~VD~c8y =% O=ٔ|;Q->9Y=Fy4E%>;E%>)Q 554-҈?Q 954-I/0)-mrBY1y5)1?Q I=?-DI-;i-i ;-j4yEvBɮEBE[EZaRabiji"iiړiiڒq’qquL@颡ɢ~-M=) 2?i) 顱iNVɧU*i ?<;I ?  ?IIIO=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024184E EE)E"EƱ:*E,:VEFA4ZEa@a@a@a@qԡ , J?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2832236>6 ?6r`<ٱ6 ( BAHRS rotation from veh to nav: [[0.852395,-0.517651,-0.073887],[0.522718,0.839851,0.146339],[-0.013699,-0.163360,0.986471]]6HF?`:겿?@? I6pm;6CYbJBybJH ddbDjVDjf8yv%vM=ٔvl;Q-v>9xYx=zFyz6Ez;c:E~>Q 54҈?Q 9 4++0)RrBY y J1?Q I ?DI6:i :q4yVBɮBy\EZRbj"ړڒ’ L@!ɢ%I==)! % ,?i))-p9))i-55Lɧ5Y5$S.i= ?=;9I= ? = ?IAIIA9A9Bu:>Bu:CBuHBuJBBqBqBqBu;Bu @EO==(Gԩ-9)Y5cuA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535934D=D<E EE+E"Eg:*EE7:VE [4ZEBE;a2E;aJEU;a:EU;a <䶒,J?A2v>2 ?2X1z<ٱ2( :AHRS rotation from veh to nav: [[0.851876,-0.518617,-0.073096],[0.523520,0.839111,0.147711],[-0.015270,-0.164099,0.986326]]2H`B?@j?@?@4?`E2ſ?i2v>I2km;2CYRJByROHronly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 356.58, 296.89, 319.85, ar@ar ar@ar ar@ar ar@ar bDvVDv=8y~q<%I=ٔ|;Q->9 Y = Fy 8E ;E >Q 54҈?Q 9%4&0)5rBQ A%+:Y!Q E%:y%1?Q I%?DI ;io>^w4y1ɮ5B1ZQRQbQjQ"QYړYYڒY’aae`!M@ ɢ jE=)  -?i )P:i5=ɧ=N^=1i=m ?E;AIEm ? Em ?IAIIO=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7873621- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039588a E  E E )E "E %:*E ,:VE FA4ZE a @a @a @a @ ,"J?A:Dj>: ?:j<ٱ:2( vAHRS rotation from veh to nav: [[0.851903,-0.518802,-0.071455],[0.523431,0.839133,0.147906],[-0.016773,-0.163403,0.986417]]:H`B?@J?-?? -`dĿ?i:Dj>I:m;:CY-JBy-=HbD=VD=,8yM %ME=ٔU n;Q-U>9QYY=]Fy]:E]dEe>aQ 5m4e҈?Q 9m4e"0)erBQ Au :YqQ Eua:yqQ Iu?eDIe:ieR?e|4y6BɮB]EZRbj"ړڒ’` MM@ɢoD=) %y)?i!)%@:!!i%%㏼-t@ɧ-b-Fo5i5( ?5.;11IU( ? U( ?IYA.AIIO >achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.291175ԉB9 B9 B= jHB= JBB9 B9 B9 B= m;B= ?EԹ Ò,K?A2w0>2 ?2U <ٱ2 ( :AHRS rotation from veh to nav: [[0.852111,-0.518651,-0.070061],[0.523041,0.839239,0.148681],[-0.018316,-0.163338,0.986400]]2H}D?ɘﱿ ? ?`?e@Ŀ ?i2w0>I2k;2CYfJByf'HIh)j=aa aa aa aa iMb@Mb@Mb@ 9@5^I ?{Gz?ˡEYb?yף<什>BA A)Y=B bD{VD8y,%C=ٔp;Q->checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5440739 ?Y ?=FyQ 5 4҈?Q 94U0)qBQ AT:Y?Q E:y?Q I?DIdd;ic;4y-Bɮ-͂B-^EDzDAAE EEE"E:*EC:VEZEBE&;a2E';aJE@;a:E@;aԱZ!R!b!j)"))ړYYڒY’aae`M@ɢ7%4=) $?i) ;i۪]ɧ^Z2iL ?;IL ? L ?I A]؟AIaIqOY> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795255 ʒ,w*K?A2|>2 ?2Ȣ<ٱ2' :AHRS rotation from veh to nav: [[0.852588,-0.518090,-0.068385],[0.522206,0.839670,0.149183],[-0.019870,-0.162903,0.986442]]2H`fH?2??q?X`Ŀ?i2|>I2Wj;2CYvJByHbDsVD8y%;=ٔ~i;Q->9"?Y"?=Fy?ETE>Q 54ӈ?Q 940)qBYy?Q I?DI+;i,;4yɮۂBZR!b!j!"!!ړ!)ڒ)’))5ҺM@aɢm'<=)i m?ii)u?a);qqiuW}ɧ}Z}0/i}t ?};It ? t ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.047892E EE-E"E7:*EE7:VEt4ZEa@a@a@a@IIOE>I ђ,.SDK?A"="=&BDAT read: Rx Time:20:48:43.6080 &TRx dataTimestamp_ set to:1761511725.076837*checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300524,>y">>g ?>@<ٱ>9' JAHRS rotation from veh to nav: [[0.853133,-0.517416,-0.066675],[0.521252,0.840155,0.149786],[-0.021484,-0.162541,0.986468]]>HL?૎@??,,?`'Ŀ%?i>y">I>si;>C L)NnARyPPPRnAiRITTITiVnr@ TT)TX XZtXX\^nAI^D)\i\)`IbnA`bZF `df$vAdiddYdYntJBynHbDvhVDv8y~%~m=ٔ~N;Q-?9Y=Fy@E PE ?Q 54ӈ?Q 94:0)qBYy%R?Q I%?DI;i;4y)ɮ-܂B)ZIRIbIjI"QQړQQڒQ’YYe`M@!ɢ-kE=)) -?i))-ԔF;)1i5=b ɧ=W=,i= ?=;9IE ? E ?IAAuiAzAujABA<BBB8HBJBB =BBBo;B?EiIIIqO>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.552113E EE'E"EƱ:*E3:VE'4ZEBEH;a2EI;aJE;a:E;a 72ג,.^K?A2>2  ?22ƻ<ٱ2' :AHRS rotation from veh to nav: [[0.853723,-0.516633,-0.065179],[0.520223,0.840678,0.150424],[-0.022920,-0.162328,0.986471]]2H@Q?@A``??A??x@,Ŀ*?i2>I2g;2CPY]\JBy]HiMb@Mb@Mb@ 9K7?~jtMbY ?yļIA nA)BYBAAbDCVD8y xU% :=ٔAV;Q-e>9aYa=eFyeCEm-Em>qQ 5}4u!ӈ?Q 9}4uF0)uqBY} ?Q E}:y>Q I?uDIu:iu:u4yBɮȂB_EZRbj"ړڒ’] N@ɢ2=) 8?i)g;i ɧO%i ?r;I ?  ?I}DAT read: 20:48:43.6079 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 221, 0.09, 1.644,-0.056, 1.548, 1.509, PHS= 0.237,-1.521,-0.006, RAW= 142.7, 15.4, CAL= 142.1, 16.7, ROT= 7.9, -16.7 Ygot valid direction response: 20:48:43.6079 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 221, 0.09, 1.644,-0.056, 1.548, 1.509, PHS= 0.237,-1.521,-0.006, RAW= 142.7, 15.4, CAL= 142.1, 16.7, ROT= 7.9, -16.7 PDAT read: Bearing 194.8, 3.2 (Local) ~Local bearing/azimuth received: Bearing 194.8, 3.2 (Local) DAT read: Range 11 to 50 : 1728.5 m (Round-trip 2304.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.948732,0.131647,0.287361]Fpublishing direction and range infoyQUҸ\?e{?gd?YUDQQQQ Q)UVIU!r>iU!¿UĻUe@U>U,@ U;>)U0 >IU;QQUeu?*U?ޞ% ? U>)UIU0 >iU;QQII1O= >! i I E  E E %E "E :*E g:VE 4ZE a @a @a @a @}\ݒ, xK?A2Ô>2 ?2s<ٱ2F' :AHRS rotation from veh to nav: [[0.854652,-0.515275,-0.063731],[0.518625,0.841462,0.151557],[-0.024467,-0.162581,0.986392]]2HNY?"}P@? B?9f? rĿ?i2Ô>I2(f;09YYJByHbDPVDͲ8y%K=ٔ {;Q- >9Y=5Fy5EE5njE=>9Q 5E4=3ӈ?Q 9M4=t0)=aqBYIyM>Q IM?=DI=;i=H;=x4y]Bɮ]BYJReK?A#D#Dt:?{@n^Rl@Q~@Ҹ\?e{?gd?0 >;—ԫ}@7 a@J$s6y@4ny0?Ѻ?׵?jDrDZ[`m?b1]˽zCꗅ[`m?1]˽CڗD◅mm:?ZRbj"ړڒ’@@0?ɢ@2=) r?i).;is ɧF[iOX ?;IOX ? OX ?IIIO )>BB;CBHBJBB =BBB|;B?EA D,?K?A2k>2~ ?2)<ٱ2=' BAHRS rotation from veh to nav: [[0.855786,-0.513586,-0.062137],[0.516665,0.842408,0.152991],[-0.026229,-0.163031,0.986272]]2H`b? Ko iЯ??4?@ۚ6Ŀ?i2k>I2d;2CYRTJByRHimMb@Mb@Mb@iiii i9m#~j? ףp= L7A`堿Ym?ymQ8m+ii i)iiYibDCVD8yS%L=ٔ;Q->9Y=FyGE˻E> Q 54 Aӈ?Q 94 G0) RqBY?Q E:yo>Q I? !DI 4;i 3; ֦4y)ɮ-B)ZIRIbIjI"QQړQQڒQ’YY]]?E} E}E}*Ey"E}:*E}҆:VE}(N4ZEyBE}k;a2E}l;aJE};a:E};a颡ɢBA=) ?i)ꊒ;顩iV ɧ>駵 i ?ګ;I ?  ?IA>A>IqIO=Aiԙ n,K?A: s>: ?:pc<ٱ:' JAHRS rotation from veh to nav: [[0.856730,-0.512184,-0.060672],[0.515018,0.843219,0.154073],[-0.027754,-0.163246,0.986195]]:HUj?ch{?@?`?~k>Ŀ?i: s>I:jd;:CYV5JByZHbDfFVDfIJ8yrO%r^=ٔr;Q-v>9tYt=zFyzIEzwE~>Q 5 4_Pӈ?Q 940)CqBYys>Q I?.DI,;it.;O4y%0Bɮ%B%WEZQRQbQjQ"QYړYYڒa’aam c?颙ɢk8=) D ?i);顡i ɧ;5駵Ni%?W;I%? %?IIaqIyO=E EEE"Eg:*E3:VEZEa@a@a@a@ԡ U,=K?A6V>6 ?6H<ٱ6%( >AHRS rotation from veh to nav: [[0.857806,-0.510578,-0.058984],[0.513129,0.844163,0.155200],[-0.029449,-0.163398,0.986121]]6H%s?V/3`k?b?? (<ĿL?i6V>I6U8d;6CYJ(JByJHbDn"VDn8yvh%vI=ٔv#;Q-z>9xYx=zFyzKE~E~>Q 5 4`ӈ?Q 9 4 0)2qBY yS>Q I?;DI:iN:^4yɮBZ9R9bAjA"AAړAAڒI’IIM?qɢ}0=)y }+ ?iy)0;顁i{_Jl ɧ{+駍/ i?8D;I? ?IAqAqB};>ByB}HB}ZJBByByByB}l;B}?EBE:CBE:CBABABACE4A)I1IQO}>iIDD%=bEjE#E4rE(90E EEE"EI:*E*5:VEZEBE2e ?2R<ٱ2( >AHRS rotation from veh to nav: [[0.858991,-0.508736,-0.057646],[0.511057,0.845171,0.156544],[-0.030918,-0.163930,0.985987]]2H|?`G@ԃ`Z? ? ?@Ŀ`5?i2,>I2c;0YF&JByFHiMMb@Mb@Mb@IIII I9M#~j?9yY=FyMEzE>Q 54qӈ?Q 94 0)1qBY7?Q E:y4>Q I?IDI;i;4yBɮBZRbj"ړڒ’@?ɢ-=)  ?i ) ;  i  ɧ"+Di?;I? ?I!A5jAzA1iAIIO>ԙ}PExceeded connect timeout, disconnecting. 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DI L;i ; ȝ4yEoBɮM{zBM*EԱD9D9bEjE#E4rE/EU EU{EU)EQ"EU:*EU5":VEUFA4ZEQBEU? u A5 >Ay I I O >9 dݔ,xzS?Arp4>rp?r<ٱrL! zAHRS rotation from veh to nav: [[0.844597,-0.532273,-0.057806],[0.534498,0.831963,0.148826],[-0.031124,-0.156595,0.987172]]rH?b@?q? ? ޟO Ŀ`?irp4>Ir];pYmbFBymHy(\?MbpMbP?.?: 9 ףp= ?i|?5?X9vYQ?yq=MBA )BYBbD hVD 8y(%%H=ٔ%Q-%>9!I)=-Fy-E-;E->1Q 5=45Q؈?Q 9E45 /)5mBYEE?Q EE:yEk'?Q IE?5 DI5:i5H:5ϝ4yMRBɮUAzBU+EZqRqbqjq"qyړyyڒy’yp5@@ `=`== @"G@颱ɢu) ξi)r<项i] 6ɧ:>9EE EErEE(EA"EEC:*EE?:VEEc44ZEAaM@aM@aM@aM@Q }gg>yсG 5 =91 Y5 .Ai B c>B B HB lFBB B B DB ӊ;B qAE^,S?A B>B^?BY<ٱB JAHRS rotation from veh to nav: [[0.843819,-0.533388,-0.058872],[0.535787,0.831273,0.148046],[-0.030027,-0.156467,0.987227]]BH?@q$)%?ʙ?*? | Ŀ\?iB>IB ];BCYVOFByVHIX)ZbDboVDb8yfU%j`=ٔj"EQ-j>9lIl=nFynEnF;Er>tQ 5v4v6`؈?Q 9z4v/)vmBYxyz'?Q Iz?v DIv:iv:v֝4yɮTzBZ!R!b!j!"!)ړ))ڒ)’)15d@@ QQQ"UG@iɢmv)i mUؾii)uԁD) zD) E5  E5 vE5 )E1 "E5 :*E5 :VE5 FA4ZE1 BE5 ;aE 2E5 ;aE JE5 h;aE :E5 h;aE ԩ ,YOS?AP^>^W?^<ٱ^ jAHRS rotation from veh to nav: [[0.842769,-0.534905,-0.060146],[0.537512,0.830357,0.146926],[-0.028649,-0.156154,0.987317]]^H?@oˮ`M3?I? |?@/Vÿ ?i^>I^^;^ CYzWFByzHbDPVDͲ8y-<%-F=ٔ5[Q-5>9= ?I= ?=EFyEEM;EM>QQ 5m4Up؈?Q 9u4U"/)UmBYqyuS(?Q Iu?U DIU8;iU(;U[ݝ4y}4BɮzBZRbj"ړڒ’p@@ "SG@ɢ) ZԾi)F<io0ɧuQ+>駕 ! , 'S?AE EqE(E"E:*E$ :VEc44ZEa@a@a@a@Z_г>Z?Z͝<ٱZ|z | AHRS rotation from veh to nav: [[0.841956,-0.536038,-0.061427],[0.538855,0.829652,0.145991],[-0.027294,-0.156018,0.987377]]ZH@N?`8'asL>??`կ? iÿ?iZ_г>IZ9_;Z CYOFByHbD-VVD-Ӳ8y5%=I=ٔ=H[Q-=>9E"?IE"?=EFyEEM~;EM>QQ 5U4U؈?Q 9]4UD/)UmBYaye(?Q Ie?U DIU';iU~(;Uf4yiɮmzBiZRbj"ړڒ’@@ "G@ɢ3) Uؾi)<i;o.fɧ">VAABd>BBHBWFBBBBB;BAEQiIAԁ N,S?A6>6y?6C<ٱ6V| BAHRS rotation from veh to nav: [[0.841240,-0.536969,-0.063091],[0.540059,0.829047,0.144976],[-0.025542,-0.156033,0.987422]]6H`o?@.@&)H???@'ÿ ?i6>I6L``;6CYJUFByJH LLbDVfVDV8y^m<%^S=ٔ^Q-b>9b ?Ib ?=bFybEfl;Ef>hQ 5n4j؈?Q 9n4j.)jmBYlyr)?Q Ir?j DIjU;ij;j-4yvBɮvyBv,EZ Rbj"ړYڒ’ A@ "H@ɢۨ) vվi)3 <i+ sɧ e> c ;i *? u; I *? *?I1EM EMuEM*EI"EM:*EM:VEM(N4ZEIBEM;a2EM;aJEMmd;a:EMmd;aԉA؟AIIO)>Ա nManaging dock network, ignoring radio surface power off I,tS?A6/>6^?6\<ٱ6$ BAHRS rotation from veh to nav: [[0.840731,-0.537564,-0.064779],[0.540958,0.828810,0.142961],[-0.023161,-0.155235,0.987606]]6H@D?@3`[O??L? ÿx?i6/>I6ka;6 CYJDFByJHyOn?Zd;O~jt??jD= 9|?5^? rh?ˡEY?yC<'BA cB)HBYGBbD5MVD5ʲ8yE%EA=ٔMĸQ-M>9M"?IM"?=MFyUE];E]>aQ 5m4e؈?Q 9m4e.)emmBYma?Q Em:ym?Q Im?e DIe/:ie;e4yyɮ}yByZRbj"ړ!!ڒ!’!!-`6A@ e=e=e@"eo9@颙ɢ$[) ݾi)L<顡i|)Oɧ#>'xA>AI!I9OE0>E= E={E=)E9"E=ҝ:*E=5":VE=FA4ZE9aE@aE@aE@aM@)Q B} f>By B} HB} MFBBy By By B} ;B} AEO.,T?Abe>b?b <ٱbE nAHRS rotation from veh to nav: [[0.840266,-0.538104,-0.066310],[0.541758,0.828527,0.141567],[-0.021238,-0.154878,0.987705]]bHu?%8@V?J?? vÿH?ibe>IbQ$b;`Y8FByHbD-DVD-²8y=%=K=ٔEQ-E>9AII=MFyMEM;EM>QQ 5e4U+؈?Q 9e4U.)UVmBYayeE?Q Im?U DIU';iU);U4yuBɮuyBu-EZRbj"ړڒ’hA@ "69@ɢƼ) i)]';i~;'U.ɧ+>gaԉEU  EU uEQ EQ "EU a:*EU :VEQ ZEQ BEU g;a] 2EU h;a] JEQ a] :EQ ae Թ X ,/T?Azɵ>z?zҝ<ٱzk AHRS rotation from veh to nav: [[0.840032,-0.538246,-0.068096],[0.542194,0.828407,0.140597],[-0.019264,-0.155028,0.987722]]zH`?O9`nY?N?@?@ `ÿk?izɵ>IzTb;z CYCFByHI%4=)%; -p<-<bD5-VD58yE<%EJ=ٔEQ-E>9III=MFyMEU:EU>YQ 5e4]j؈?Q 9e4]6.)]@mBYiymd?Q Im?]" DI]|:i]:]4yqɮuyByZRbj"ړڒ’؛A@ "9@ɢ@6) O޾i)_;i$] ɧ3>7Թ ?, oIT?AE EE+E"E:*E=:VE [4ZEa@a@a@a@5x>5?5qp<ٱ5o AHRS rotation from veh to nav: [[0.839853,-0.538323,-0.069677],[0.542527,0.828297,0.139960],[-0.017631,-0.155348,0.987703]]5H?9@Uֱ b\?h?@7? mÿ`B?i5x>I5{c;5CYMFByHbDCVD8y<%?=ٔ[zQ->9I=FyE f:E >Q 5=4؈?Q 9=4.)(mBY9y={?Q IE?2 DI;i;!4yMgBɮMxBM$EZRbj"ړڒ’,A@ ",8@ɢi) qپi)ۖ;i"gɧ=;>B1B1B1B1B1B1B5;B5AEI)I99OMR>i k,QcT?A 6h>61?6<<ٱ63B BAHRS rotation from veh to nav: [[0.839918,-0.537972,-0.071576],[0.542487,0.828431,0.139318],[-0.015653,-0.155845,0.987657]]6H@?`7@R \??@/?hÿ?i6h>I6 e;4YJKFByJHbDR7VDR8yZi%Za=ٔ^Q-^>9`I`=bFybEbGEf>dQ 5j4f؈?Q 9j4f.)fmBYlynt?Q In?f? DIf#;if/;fy4ypɮvxBtZ R b j "  ړڒ’ B@ III"MЬ8@iɢm׼)q uھiq)u~;yyi} ɧVB>駅|xԙ ,9'}T?APb+>b?bv_<ٱbl jAHRS rotation from veh to nav: [[0.839874,-0.537805,-0.073339],[0.542610,0.828509,0.138373],[-0.013655,-0.156010,0.987661]]bH>? 5^Ʋ`]?@%?2?5$ÿ`?ib+>Ibf;`YMEFByMH QQykt?A`"X9v? 0?ٽ}= 9I +?~jtMb?Y9?yD<B B)BY(BbDVD8yl^%7=ٔQ->9I = Fy E ~9E >Q 54؈?Q 94.)mBY%E?Q E%:y%'?Q I%?O DI:i:B4y-;Bɮ-2xB5%EZQRQbYjY"YYړYYڒa’aae`:B@ k>k>V@"C@频ɢ) 3ݾi)P;顙iɧT>駭&*EE EEtEE)EA"EEs:*EEv:VEEFA4ZEAaM@aM@aM@aM@! B% k>B% ACB% HB% WFBB% =B! B! B% );B% AEB@CB@CBBʍ =Bʍ =C64|%,T?Az>zX?zQ@<ٱz |  AHRS rotation from veh to nav: [[0.839797,-0.537674,-0.075153],[0.542774,0.828528,0.137611],[-0.011724,-0.156357,0.987631]]zH@?4@9=h^?M?@? `Ŀ?iz>IzBwg;xY%]FBy%HbD5VD58yEv=%EW=ٔM~Q-M>9III=MFyUEU9EU>aQ 5e4e[و?Q 9m4e.)emBYiym3?Q Im?e^ DIe :iep:e4yqɮxBZRbj"ړ!!ڒ!’!!-`lB@ aaa"eC@频ɢE) zѾi)D;顙i\ɧHd>駭v6A>IQIaOm=)QbEjEȏB4rEȒ/EU  EU nEU *EQ "EU a:*EU :VEU (N4ZEQ BEU g;ae 2EU h;ae JEU J;ae :EU J;ae ԁ +,߰T?Av >vX?v% <ٱv 8! =AHRS rotation from veh to nav: [[0.839872,-0.537301,-0.076959],[0.542696,0.828690,0.136947],[-0.009807,-0.156783,0.987584]]vH;? 1@]?@?`z?xĿJ?iv >Ivmh;vCYMYFByMHYbDVDy%F=ٔ֗Q->9I=FyE@E>Q 54و?Q 94.)mBYy-?Q I?m DI;iq;"$4yBɮwB&EZ!R!b!j!"!!ړ))ڒ)’))5 B@ "C@ɢ) wӾi);i0%'ɧ%7u>%\,DԁԱ E]  E] rE] ,EY "E] :*E] ?:VE] g4ZEY ae @ae @ae @ae @42,T?A^ >^?^c&<ٱ^l ]AHRS rotation from veh to nav: [[0.839972,-0.536945,-0.078342],[0.542573,0.828987,0.135632],[-0.007883,-0.156433,0.987657]]^H` ?`.5\??@c\?`$`Ŀ?mGi^ >I^h;^Cԡ<9Y-AYoFByHI<)bD =VD 8y%S=%%@=ٔ-ꓻQ-5>91I1=5Fy=E=EE>IQ 5U4M=&و?Q 9]4M-.)MmBYaye"?Q Ie?M} DIM<;iMH;M+4yiɮuwBqZ!R!b!j!"!!ړ))ڒ)’))5 B@ iii"mfC@颁ɢ筼) /Ⱦi) ;顉iOɧn>駵JRBBCBHBaFBBBBDB;BAEAIIOK>) 8,T?Aj>j֞?j#;ٱjp! vAHRS rotation from veh to nav: [[0.840404,-0.536046,-0.079845],[0.541923,0.829441,0.135453],[-0.006382,-0.157105,0.987561]]jH`?`J'pnW?NJ?@V?l$z@Ŀ?ij>Ij{h;jCY~pFBy~HbD,VD8yM:%M[=ٔ]Q-m>9qI=FyE E=>IQ 54M6و?Q 94M.)MmBYy ?Q I?M DIMGU_qԙ >,oT?A^>^?^}Y;ٱ^n! jAHRS rotation from veh to nav: [[0.840370,-0.535856,-0.081469],[0.541994,0.829512,0.134734],[-0.004619,-0.157382,0.987527]]^H O?`%`"۴X?[?`>?@+r%Ŀ@ҙ?i^>I^h;^CYrFByr#HymMb?S㥛?Zd;O?m#?m/9I=FyER9E>Q 54OFو?Q 94p.)4mBY?Q E:y!?Q I? DI ;i* ;U94yɮwBZRbj"ړڒ’ :C@ c=c= K@"(v@)ɢ5W9¼q)1 8i)ښ;顱ib8ɧ>d^ԡE! E%rE%*E!"E!*E%?:VE%(N4ZE!a-@a-@a-@a-@B r>B B $HB FBB =B B B ;B AE E,0JU?AFĵ>F?FE;ٱF2! NAHRS rotation from veh to nav: [[0.840201,-0.535916,-0.082797],[0.542266,0.829488,0.133779],[-0.003015,-0.157299,0.987546]]FH?@:&*2>Z?*??h a"Ŀ?iFĵ>IFh;FCYZFByZ$H \\bDf4VDf8yjK_;%jW=ٔnQ-n>9pIp=rFyrEvV]:Ev>tQ 5z4vUو?Q 9~4v.)vJmBYaye!?Q Im?v DIv}=]D) zD) E5  E1 E5 )E1 "E5 1:*E1 VE5 FA4ZE1 BE5 ;a= 2E5 ;a= JE5 Y;aE :E5 Y;aE I Q K,.2U?A>u>>9?>D4:ٱ>! FAHRS rotation from veh to nav: [[0.840078,-0.535873,-0.084312],[0.542464,0.829486,0.132988],[-0.001329,-0.157457,0.987525]]>H?%{[?`&?? U'Ŀ͙?i>u>I>h;>CYR|FByRHbDZRVDZϲ8ybJ%bK=ٔfXQ-f>9dId=jFyj Ej:Ej>lQ 5r4neو?Q 9r4nE.)nbmBYtyv!?Q Iv?n DIn9:in1:nF4yxɮ~LwB|ZRbj"ړ!!ڒ!’!!-C@ AAA"E6v@ɢ) i)ڙ;ih=ɧ2>r[^?^عٱ^F! fAHRS rotation from veh to nav: [[0.839783,-0.536095,-0.085831],[0.542922,0.829342,0.132009],[0.000414,-0.157458,0.987526]]^H ?'_? ? ?b;?'Ŀ@ϙ?i^*>I^ukh;^CYrFByr)HbDz\VDzز8y?<%G=ٔЊQ- >9 I = Fy  E֭:E>Q 5%4#vو?Q 9%4.){mBY!y%"?Q I-? DI:i:+N4y5UBɮ=&vBEEZyRybyjy"yړڒ’ TC@ !!!"%Av@Yɢ]G)a eʽia)eu.z;aaiemsɧm3>mYBqBu=HBuFBBu =BqBqBu);BuAEԹi1I5A Y,:eU?A\>|U?4 ٱ>O! eAHRS rotation from veh to nav: [[0.838906,-0.537250,-0.087177],[0.544272,0.828705,0.130444],[0.002163,-0.156878,0.987616]]HP?&17Q j?`?`?%a? Ŀ ?i>I9[g;CYFBy&HI<)=bDLVDʲ8yw%3=ٔ9{Q->9I=FyE+g;E>Q 54و?Q 94C.)mBYyj"?Q I? DI:i:8V4yɮ(vBE EoE)E"E1:*E:VEFA4ZEBEa2EaJEN;a:EN;aZqRqbqjy"yyړyڒ’  D@ "Xv@ɢq֤) i)Nb;iؓɧ ܆> W9 ^0_,U?A>?}'nٱD!  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Ŀ?iZ>IZE^;ZCYFByHbD%^VD%ڲ8y5=%5Y=ٔ=Q-=>99IA=EFyEIEE:EE>IQ 54Mdۈ?Q 94Ma.)MmBYy?Q I?MDIM;iMP;M"4yɮoBZRbj"ړڒ’!!%I@BU<AU<B]s>BYB]{HB]FBBYBYBYB]f;B]BEB!B!B!B% =B%Œ =C%5 "X@颹ɢC޼)4 Ii)ʻilɧ><q ,mX?AX9>J?ٱ( AHRS rotation from veh to nav: [[0.830730,-0.544285,-0.116796],[0.555799,0.822728,0.119191],[0.031218,-0.163931,0.985978]]HW?`j]潿? S?M??Ŀ@!?i9>Ia^;CY-FBy5HI]=)]=yE?~jt)\(?Ga= 9 r?)\(?ʡE?Y#?yG==A B)BYBbDRVDϲ8y;% ==ٔ Q- >9I=FyLEKQ;E>Q 5%4tۈ?Q 9-4\.)mBY-('?Q E-:y-G?Q I-?DI ;i ;)4y=Bɮ=loB9bE(N4jEmF4rE..Eu EuuEu(Eq"Eua:*Eu:VEuc44ZEqBEug;a2Euh;aJEumd;a:Eumd;aZRbj"ړڒ’@kJ@ m/@>m/@>mN?"mE@yɢ}6ؼ)y }i)DAӻ顡iF>ɧŶ>駭7 ^!,,eX?AZA>Z{w?ZٱZI( bAHRS rotation from veh to nav: [[0.829589,-0.545895,-0.117389],[0.557461,0.821741,0.118229],[0.031923,-0.163521,0.986023]]ZH?w4 ?K?DD?*X?`EĿ`?iZA>IZ/^;ZC|YybDQVDβ8ٔQ->9I=FyNEu;E>Q 54σۈ?Q 94W.)nBYyG?Q I?DI:i:[04yɮZRbj"ړڒ’LJ@ "bf@ɢ) i)%4ڻ!!i%+n-ɧ->-iE EmE'E"E:*E:VE'4ZEa@a@a@a@QB]y>BYB]HB]FBB] =BYB]DB]z;B](BEԁ t',%@X?AF![>F?FٱFe' NAHRS rotation from veh to nav: [[0.828372,-0.547632,-0.117896],[0.559226,0.820710,0.117055],[0.032655,-0.162896,0.986103]]FH?@3q..?@C?@T?3? Ŀ`'?iF![>IF9^;FCYnFBynHbDvAVDv8y $<%<ٔ%Q-->9)I)=5Fy5PE5%;E5>9Q 5E4=ۈ?Q 9E4=0S.)=-nBYIyMH?Q IM?=DI=`:i=:=674yUBɮU!oBYUEZR b j "  ړ ڒ’@J@ 111"5A@IɢM.ռ)I MȍiI)UDQQiU]ɧ]>]FdԱE EpE*E"E:*E :VE(N4ZEBE";a2E$;aJE:R;a:E:R;a ., X?AB)>B?B@` ٱBq& JAHRS rotation from veh to nav: [[0.826779,-0.549900,-0.118520],[0.561527,0.819342,0.115613],[0.033533,-0.162139,0.986198]]BH`t?@ȘVW? 8? ՘?5+?Ŀ ?iB)>IB ];BCYbFBybHdfAj@AjAAbDn'VDn8yic<%J=ٔQ->9I=%Fy%RE%[;E%>)Q 554-ۈ?Q 954-[N.)-NnBY1y=H?Q I=?-DI-;i-;-;>4yEBɮEDnBEEZaRabiji"iiړiiڒq’qquJ@ "Ӷ@颡ɢ0ټ) 犾i)w顩i&$ԹPɧr>eBU>>P?>k ٱ>$& JAHRS rotation from veh to nav: [[0.825055,-0.552332,-0.119220],[0.564002,0.817842,0.114177],[0.034439,-0.161442,0.986281]]>Hf?`+M ?@+?:??!Ŀ?i>U>I>*^;>CYRFByRHbD^0i9I=AVD^8yMMN=%UF=ٔUgQ-U>9QIY=]Fy]TEe&;Ee>aQ 5m4ehۈ?Q 9u4ebI.)epnBYqyuI?Q Iu?eDIe:ieY;elE4y|BɮmBEZRbj"ړڒ’J@ "@ɢ7Xɼ) Ii){<iA@AAB}>BCCBHB-GBB =BBB;BlBE`nɧF>Giԙ *;,X?AFl>F5S?FٱFҪ$ NAHRS rotation from veh to nav: [[0.823219,-0.555003,-0.119508],[0.566624,0.816313,0.112120],[0.035329,-0.160016,0.986482]]FH@W? !? <?鳼??e{ĿB?iFl>IFu9^;FCYfGByfHyA`"?~jt?{Gz?=ף 9MbX? rh?tB )BY\BbDWVDԲ8ym<%D=ٔ Q->9I=FyVE;E>Q 543ۈ?Q 94D.)anBY.?Q E:yJ?Q I?DI.;i-;L4yɮmBGSB*** querying acoustic contact ***:BZ R b j "ړڒ’IK@ =====:7?"=e?IE] E]sE](EY"E]:*E]Z:VE]c44ZEYBE]E;ae2E]F;aeJE]%];am:E]&];amɢmƼq)q uaziq)}hyyi}GMɧ>駅X";i%?Ԋ; *DAT read: user:124>  BDAT read: Tx time:20:49:39.2489  $Ping request sent. ?pٱ$# -AHRS rotation from veh to nav: [[0.819605,-0.560064,-0.120734],[0.571733,0.813139,0.109211],[0.037009,-0.158538,0.986659]]H3:? t辿 K?@;?>?`?JĿ@?i;.>I9^;CY=GByeHIi)m= u9I=FyXEy<E>Q 54ۈ?Q 94>.)TnBYyL?Q I?DIMq;i~b;S4yaBɮmBZRbj"!ړ!!ڒ!’))-@QK@ YYY"]X5?y颁ɢQǼ)  yi)͝顑it8ɧ=駥;iO?N°;IO? O?IA .AE ExE+E"E:*E:VE [4ZEa@a@a@a@I)I9OE0>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016B|>BBHBAGBBBBB;BBE:H,M"Y?ARy>R?R9ٱRd" ^AHRS rotation from veh to nav: [[0.818124,-0.562010,-0.121724],[0.573775,0.811862,0.107990],[0.038132,-0.158191,0.986672]]RH`.? N)`^\? ?`6?@?`?Ŀђ?iRy>IR۝^;PYfFByfHbDrVDr 8yzZ%z\=ٔzEQ-z>9~ ?I~ ?=~Fy~ZE7;E> Q 54 |ۈ?Q 94 :.) HnBYy5M?Q I? DI :i : cZ4y!ɮ%mB!ZARAbAjA"IIړIIڒI’IQUPK@ qqq"uӄ?颁ɢbR߼) i)m顉i~e.ɧZ=駕2/;i P?,;I P?  P?IA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503013QA؟AIIO>yEu EurEu,Eq"Eu:*Eu?:VEug4ZEqBEqa2EqaJEuY;a:EuY;aԩ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754963PfN,eR#7?R>ٱR4" ZAHRS rotation from veh to nav: [[0.816657,-0.563997,-0.122385],[0.575803,0.810594,0.106716],[0.039018,-0.157620,0.986729]]RH"?@D T l? c?Q?`?,Ŀ H?iRH>IRa^;PY~FBy~HbDfVD8y%;%%G=ٔ% Q-%>9-"?I-"?=-Fy-\E-;E5>1Q 5E45ۈ?Q 9E454.)5;nBYAyEM?Q IE?50DI5M:i5_:5a4yMFBɮUmBU EZqRqbqjq"qyړyyڒy’yٴK@ "֥?颱ɢܸռ) 'i)项i0-ɧq;A9i? X;I? ?Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007382^Arg:AM.AIaIyO> E  E tE 'E "E *E v:VE '4ZE a @a @a @a @MU,?VY?AJ>JO?J"ٱJÖ" RAHRS rotation from veh to nav: [[0.815637,-0.565254,-0.123384],[0.577195,0.809647,0.106383],[0.039764,-0.157987,0.986640]]JH?@ bx??;?[?8Ŀ?iJ>IJ^;JCY^FBy^H ``bDdVDdlyr%rN=ٔvQ-v>9v ?Iv ?=vFyz^EzɎ;Ez>|Q 54~܈?Q 94~/.)~.nBY y JN?Q I ?~ADI~y:i~:~|h4yBɮlBE%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259046ZRB<A4=B{>BB*HBUGBBBBB;BBEbj"ړڒ’5K@ !!!"%?Yɢ]ڼ)Y ]"iY)euaaiem7ɧm 8m<im ?m±;m1??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514303a 9y[,pY?AJ.>J8?J$ٱJ< RAHRS rotation from veh to nav: [[0.814349,-0.567255,-0.122709],[0.578978,0.808686,0.103974],[0.040253,-0.155717,0.986981]]JH`%?&@i ???`?ÿY?iJ.>IJ.^;HYZFBy^H9yES?Cl绿~jtE?E;߽EA A9ENbX9?L7A`?bX9ȶYE%?yE+=EEEMBEA EHB)EcBAYEpBbD]MVD]ʲ8ym=%mB=ٔu=Q-u>9u"?Iu"?=}Fy}`E};E}>Q 54Y܈?Q 94*.)nBY (?Q E:ya2?Q I?SDIU>=l?" )?ɢTҼ) di)m$ ix Eɧ 5Ti+?`6;I+? +?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763055a^A53<ԑAa Ii I O >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014941hdb,Y?AZ>ZR?ZO&ٱZ bAHRS rotation from veh to nav: [[0.813495,-0.568517,-0.122533],[0.580143,0.808039,0.102502],[0.040738,-0.154472,0.987157]]ZH&? J1Z^?t?=?ۤ?ÿ ʖ?iZ>IZ?^;ZCYnFBynHbDvHVDvƲ8y~'%~Q=ٔ~Q->9I=FybE r;E >Q 54$܈?Q 94&.)mBYy%2?Q I%?cDI:iF:v4y)ɮ-lB)ZaRabiji"qqړyyڒy’`1PL@ԑ "O]?ɢg)i mii)mkiqiuV }Vɧ}}وi}?}ߩ;yI}? }?I@=@>^Ae l<ԹEE EAEE&EA"EE:*EAVEE4ZEAaM@aM@aM@aM@AIIO@>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965Bw>BBCBBBBBB;BBEBmCCBmCCBiBmNj =BmNj =Cm4 Uh,Y?A:>:Z?:F>(ٱ:! FAHRS rotation from veh to nav: [[0.812979,-0.569157,-0.122987],[0.580843,0.807555,0.102354],[0.041063,-0.154648,0.987116]]:H?6|D?@}?@3?@E?@ÿ@t?i:>I:3^;:CYNFByNHIR>)Rp;bDZLVDZʲ8y5%H=ٔQQ->9!I!=%Fy%dE% ;E->)Q 554-5܈?Q 9=4-%".)-mBY9y=3?Q I=?-tDI-;i-:-}4yEBɮMclBIZiRibiji"iqړqqڒq’qy}L@ "s?颩ɢ~)  i)顱i kɧvӽ駽+iJ?h ;IJ? J?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519206^A<AE.ADIzDM@AbEFA4jEǏB4rE30EU EUsEU(EQ"EU:*EUZ:VEUc44ZEQBEU;ae2EU;aeJEU%];am:EU&];amiIqIO>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771277q n,Y?A: >:?:7)ٱ: BAHRS rotation from veh to nav: [[0.812864,-0.569164,-0.123710],[0.580975,0.807422,0.102647],[0.041464,-0.155311,0.986995]]:H?6@{Y?g?G?:?8ÿv?i: >I:R9^;:CYNGByNHbDVMVDTy^f=%bQ=ٔbQ-b>9f ?If ?=fFyffEf9Ef>hQ 5n4jhF܈?Q 9r4j.)jmBYpyr3?Q Ir?jDIj;ij;j4ytɮvLlBxZRbj"ړڒ’`ڷL@ "=m?ɢؼ) i)Ji ɧtȻiv ? ; I v ? v ?I @9@9@=@=Qԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023035G1AAQIaIqٗ9YAO>ԩEe  Ee {Ee +Ea "Ee C:*Ee 5":VEe [4ZEa am @am @am @am @ ?u,܃Y?A>>>?>9*ٱ> FAHRS rotation from veh to nav: [[0.812996,-0.568800,-0.124511],[0.580772,0.807473,0.103402],[0.041724,-0.156378,0.986816]]>H ?3߿க??@x?\?@2Ŀ@?i>>I>ָ];>CYRFByRHbDZdVDZ8yb%bJ=ٔf(Q-f>9dId=jFyjhEj=Ej>lQ 5r4npW܈?Q 9r4nZ.Q =vtI)nmBYtyv2?Q Iv?nDInU:in:n4yzBɮz:lB~Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275110Z!R!b!j)"))ړ))ڒ)’115L@AAAABEo>BEACBEHBEKGBBE =BABEDBE;BEBE qqq"ufW?ɢd) Ri)i} ɧS it?(;It? %t?I!ԱA؟AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529803 9 {,aY?A>PC>>'x?> +ٱ># FAHRS rotation from veh to nav: [[0.813731,-0.567481,-0.125727],[0.579728,0.807997,0.105151],[0.041916,-0.158452,0.986477]]>H ? (!??'?v?&HĿ`7?i>PC>I>];>CYRFByRH TTy-\(\?HzGkt?-:?-= - 0=) )9-S?~jtA`"Y-/?y-ļ-Y-B-jA ))-B)Y-BbDEaVDEݲ8yU%UB=ٔUQ-U>9]"?I]"?=]FyejEe/FEe>iQ 5u4mi܈?Q 9u4m.)mmBYu?Q E}:y}!?Q I}?mDIm ;im ;m4yɮDlBZRbj"ړڒ’M@E E|E'E"E:*EP$:VE'4ZEBEa%2Ea-JE};a-:E};a- u?>u?>u4@"uTC@颁ɢ~) hi))顉i, &ɧ駝ϻi7?";I7? 7?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780017AI9IQO]3>Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031041,)< Z?A$:>:8?:@H-ٱ:$ FAHRS rotation from veh to nav: [[0.814277,-0.566459,-0.126797],[0.578934,0.808416,0.106295],[0.042293,-0.159961,0.986217]]:H`?n :??@)6?`?yĿ?i:>I:0];8Y FBy HbD-8VD-8y;%F=ٔloQ->9I=FylE>E>Q 54|܈?Q 94.)mBYy?Q I?DI;i;J4yqBɮ lBEZRbj"ړڒ’tTM@ "C@)ɢ-})1 5i1)!顑i ɧ'駽Ri'?Z&;I'? '?IqA!E- E-yE-)E)"E-ҝ:*E-:VE-FA4ZE)a5@a5@a=@a=@IAIQOaԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282989BEg>BE@CBEHBEAGBBE =BABEDBE,;BEBE ׈,%Z?A:>:U?:] /ٱ: ' BAHRS rotation from veh to nav: [[0.815185,-0.564756,-0.128545],[0.577623,0.809061,0.108504],[0.042722,-0.162701,0.985750]]:H@?@{ (t{??ƻ? ߥ?cĿC?i:>I:];:CYJFByJHPbDVVDV8y^<%^Y=ٔb̕Q-b>9`Id=fFyfnEfEf>hQ 5n4j܈?Q 9n4j.)jmBYpyrc?Q Ir?jDIj#;ij;jޠ4yvBɮv7kBzEZiRibijq"qqړqqڒ’M@ "C@ɢ!e) i) %  i o ɧiȽ%NTi%[T?%А;!I%[T? -[T?I9}=}=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535842AIIO>E= E=zE=(E9"E=:*E= :VE=c44ZE9BE=z;aE2E=|;aEJE=v;aE:E=v;aM- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7869671 ,>Z?A6kr>6?60ٱ61( BAHRS rotation from veh to nav: [[0.815738,-0.563728,-0.129543],[0.576807,0.809517,0.109435],[0.043175,-0.163992,0.985516]]6H? ܔ4u??@??ĿY?i6kr>I6];4YJFByJHbDRVDR8yZ<%ZK=ٔ^uQ-^>9`I`=bFybpEbE Ef>dQ 5j4fC܈?Q 9j4fW .)fvmBYlyn?Q In?fDIf;if;f꧟4yrBɮvjBvE|Z R bj"ړڒ’ UM@ 999"=EC@IɢU)Q UriQ)U%)iJɧ樽i?;I? ?III!)O5 >BDAT read: Rx Time:20:49:43.9102 TRx dataTimestamp_ set to:1761511785.164560checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040023Yԁ EE  EE wEE +EA "EE %:*EE :VEE [4ZEA aM @aM @aU @aU @镖, XZ?AN>NF?NJ1ٱN(* ZAHRS rotation from veh to nav: [[0.816379,-0.562651,-0.130188],[0.575893,0.810020,0.110521],[0.043270,-0.165201,0.985310]]NH?=m?`?K?|'?Q%ſ@?iN>IN];NCBr<Ar<Brc>BpBrHBr7GBBr =BpBpBrL;BrBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.294857Y=FBy=HYbDU/VDU8y<%;=ٔbQ->9I=FysEW'E>Q 54}܈?Q 94.)lmBYy?Q I?DI;i :4yBɮjBEZIRIbIjQ"qqړqqڒy’yy}M@ "‹C@ɢWw) ti)7-i  ɧ$#Vi`?pe;I`? `?IA>A>ԉIIO (>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.549425 ,]rZ?A]D>]?]2ٱ]ω+ mAHRS rotation from veh to nav: [[0.817048,-0.561463,-0.131117],[0.574918,0.810562,0.111615],[0.043611,-0.166577,0.985064]]]H`A%? ue? ?ђ?-T?dRſ?i]D>I]^;YԹYFByHE EzE-E"Eg:*E :VEt4ZEBE;a 2E;a JEa :Ea y|?5^?~jty&1|2?D` 9zG?y&1Mbp?Y ?y`e;1A ))BYBbD AVD 8y<%6=ٔGQ->9!I!=%Fy%uE%,E->1Q 5=45܈?Q 9=45.)5~mBY=?Q E=:y=S?Q I=?5DI5:i5:5f4yIɮMjBIZiRibiji"qqړqqڒq’yy})N@ ==2M@"s@颩ɢ) vi) 1顱i"ɧw߿i? Ƕ;I? ?I}DAT read: 20:49:43.9102 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 471,-0.12, 1.571, 0.056, 1.704, 1.532, PHS= 0.141,-1.431, 0.129, RAW= 149.6, 14.7, CAL= 149.8, 16.3, ROT= 0.2, -16.3 Ygot valid direction response: 20:49:43.9102 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 471,-0.12, 1.571, 0.056, 1.704, 1.532, PHS= 0.141,-1.431, 0.129, RAW= 149.6, 14.7, CAL= 149.8, 16.3, ROT= 0.2, -16.3 PDAT read: Bearing 198.0, -0.1 (Local) ~Local bearing/azimuth received: Bearing 198.0, -0.1 (Local) DAT read: Range 11 to 50 : 1692.9 m (Round-trip 2257.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.IIO)>\direction in FSK: [0.959799,0.003350,0.280667]Fpublishing direction and range infoy  tV?%/rk?rwkq?Y D     ) UI Nb>i + > '@ G\> T'@ >) d;I    G/?Y%?:? W?) ?I d;i   A .,Z?A=F>=?= 4ٱ=>, MAHRS rotation from veh to nav: [[0.817643,-0.560398,-0.131959],[0.574046,0.811049,0.112566],[0.043943,-0.167790,0.984843]]=H"*? ^? ?&Ѽ??!zſ`Ճ?i=F>I=ls^;=CYFByH bDVDy]<%b=ٔpQ->9I=FywE5?E>Q 54܈?Q 94K.)mBYy?Q I?DI;i;4yBɮjBEJ9R={Z?A=D=D=T*?=b+H@+ Ǜ@2_l}@=tV?%/rk?rwkq?=d;=—= @ "}_Վ@t@==?[3?ʾZ?j=vDr=,DZ='Qz?b=inz=wD='Qz?=in=wDڗ=D=M*?ZARIbIjI"IIړQQڒQ’QUs@]LR? qqq"us@颉ɢ) 솾i)84顑ipɧ}駝 Ki_?7;I_? _?IIqIO=E E~E*E"E:*E(:VE(N4ZEa@a@a@a@9B`>B?CBBBBBDBZ;BBEiԑ %,^Z?AF&>Fi?F5ٱFX`. NAHRS rotation from veh to nav: [[0.818276,-0.559233,-0.132979],[0.573116,0.811539,0.113762],[0.044299,-0.169301,0.984568]]FHP/? <x@V?!?~?`O?`ſ@?iF&>IFX^;FCYZGByZHbDbBVDb8yj`V=%j\=ٔn-{Q-n>9lIl=rFyryErzFEr>tQ 5z4v܈?Q 9z4vn-)vmBYxy~?Q I~?vDIv;iva;v7ğ4yɮljBZ!R)b)j)"))ړ))ڒ1’115v? QQQ"Us@aɢm)i myii)m&7iqiu+}ɧ};}r9i}«?}X;yI«? «?II9IIO]=yԡE EyE)E"Es:*E:VEFA4ZEBE;a%2E;a%JEr;a%:Er;a- , 9Z?A>&>>?>9Q6ٱ>I/ JAHRS rotation from veh to nav: [[0.818984,-0.558000,-0.133797],[0.572089,0.812092,0.114981],[0.044496,-0.170712,0.984316]]>H 5?#@E N??`do?:Ȧ?ſ?i>&>I>R^;>CYR GByRHbDZ\VDZز8y;%G=ٔ Q- >9 I = Fy{EGE>Q 5%4c܈?Q 9%4G-)mBY)y-x?Q I-?"DI:i:b˟4y5Bɮ54jB5EZQRQbQjY"YYړYaڒa’aae!? "s@颙ɢ) vi)d:顡iɧ =駭:iO?;IO? O?II9IIO=) E%  E% |E% *E! 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(@\貿??? ̑#*ſ?i2>I2~];2CYFNIByFHIJ4=)J=bDR|VDR8yZ0<%Z=ٔZB;Q-Z ?9\Y\=^Fy^fEbEb ?dQ 5j4fl~?Q 9j4f9,)fmBYhyj->Q Ij?fJDIf):if:f4ypɮrQBpZRbj"  ړ  ڒ ’@G@9ɢE=)A EE>iA)E;>ju?j<ٱj* rAHRS rotation from veh to nav: [[0.846892,-0.526847,-0.072151],[0.531420,0.833624,0.150544],[-0.019167,-0.165837,0.985967]]jH ?@}xc?@ ?` E?`':ſ` ?ij>>Ij];jCY9IYI=MFyMhEMEU>QQ 5]4UO?Q 9e4U6,)UmBYaye>Q Ie?UZDIU;iUV:Uh4ymdBɮuQBuEZRbj"ړڒ’G@颡ɢ]=) 3>i)j@<iTs'ɧо% i-B?u;qI}B? }B?IIA].AIaIqO[>qԙ D D %=E  E E +E "E :*E |;:VE [4ZE a @a @a @a @$,`f?Ar>r ?r葮<ٱrv) zAHRS rotation from veh to nav: [[0.848567,-0.524530,-0.069297],[0.528658,0.835300,0.150977],[-0.021308,-0.164748,0.986106]]rHw'? l?Ⱥ?3S?ѕ wſ -?ir>Ir];rCYERIByEHiMb@Mb@Mb@ 9Cl?B`"۹{GzY?yν#:BCA A)Y=BbD^VDڲ8ywM=%>=ٔU!;Q-U>9U ?YU ?=]Fy]jE]eE]>aQ 5m4e?Q 9m4ed4,)emBYu3?qQ Eu:y}>Q I}?ejDIe5;ie(4;e4yɮwQBZRbj"ړڒ’@7H@ɢ =) C>i)D<i1'ɧi?;I? ?IA iAzA jAAyIIԡO=>B 2>B :CB HB fIBB B B B ;B ?E N,  ?C<ٱ) 5AHRS rotation from veh to nav: [[0.850011,-0.522433,-0.067422],[0.526258,0.836595,0.152186],[-0.023101,-0.164841,0.986050]]HJ3?`ķB?c? z?秗`ſ෍?i(>Ik];YmKIByuH yybD+VD8y%Q=ٔy;Q->9Y=FylEE>Q 54@?Q 94A2,)lBYy>Q I?xDIB:i9: 4yNBɮRQBEZ9R9b9j9"AAړAAڒA’IIMiH@E EE)E"E:*E*:VEFA4ZEBE;a2E;aJEi;a:Ei;aQɢU =)Q U>iQ)]?OI1 7,7f?A^.>^' ?^T<ٱ^#* fAHRS rotation from veh to nav: [[0.851547,-0.520040,-0.066527],[0.523712,0.837857,0.154019],[-0.024356,-0.165995,0.985826]]^H`??+`@??`?U?ſ`?i^.>I^(];^CYpytiMb@Mb@Mb@ 9|?5^?~jt+?Y ?yĽ=>BA B)9BYBbDNVD˲8ٔ-7C;Q-5>95"?Y5"?==Fy=nE=E=>AQ 5M4E{?Q 9M4E/,)EmBYMH?Q EU:yU>Q IU?EDIET ;iE ;E4y]Bɮ]PBeEZyRbj"ړڒ’@H@颹ɢ=) i)mzM<iJ}?(ɧt C)im`?m ;iIm`? u`?IqE EE(E"Eغ:*E,:VEc44ZEa@a@a@a@AIIO5O>Yԁ =b,bq ?b<ٱbF+ jAHRS rotation from veh to nav: [[0.852958,-0.517894,-0.065180],[0.521327,0.838983,0.155964],[-0.026088,-0.167011,0.985610]]bHnK????ɶ`ſ?ib6>Ibf^;`Yr]IByrHbD~^VD~ڲ8y <% <ٔ ɚ;Q- >9Y=FypEE>!Q 5%4%?Q 9-4%-,)%mBY)y-J>Q I-?%DI%l:i%d:%4y=Bɮ=lPB=EZYRYbYjY"aaړaaڒa’aim@H@ɢx=) >i)Q<i%e(ɧ%C%i%?-;)I-? -?I)AAAE>ԩA)A-@AB=6>B9B=HB=\IBB= =B9B9B=.;B=?EAIIO>E EE)E"E:*E0:VEFA4ZEBEj;a2El;aJE߉;a:E߉;a e,f?ApnC>n ?n<ٱn- AHRS rotation from veh to nav: [[0.854447,-0.515623,-0.063668],[0.518782,0.840157,0.158120],[-0.028039,-0.168135,0.985365]]nHW?@Lۙ?? I=?`\sſ?inC>In_;lY%`IBy%HI-<)- 5p<5<bD=`VD=ܲ8yMn <%MF=ٔMA;Q-U>9QYQ=UFyUrE]E]>aQ 5m4e?Q 9m4e+,)e/mBYiym>Q Iu?eDIe:ie :e!4yyɮ}hPByZRbj"ړڒ’NI@ɢu=) W>i)9V<iΥF(ɧ& =i?bS;I? ?I^A=h%<9AqIIO>a D =D <E  E E *E "E :*E ,:VE (N4ZE a @a @a @a @rę,~g?AFz=>F< ?Fl <ٱF~, RAHRS rotation from veh to nav: [[0.855868,-0.513592,-0.060942],[0.516301,0.841511,0.159037],[-0.030396,-0.167579,0.985390]]FHDc?Wo3 ??O[?@3 9sſP?iFz=>IF3`;DYZgIByZH9iMb@Mb@Mb@ 9/$?Zd;㥛 ?Y&?yy= A)YfBbD1VD8y|<%B=ٔǷ;Q->9Y=FytE޻E>Q 54?Q 94(,)KmBY.?Q E:y>Q I?DIH:i:)4yBɮ6PBEZRb!j!"!!ړ!!ڒ)’))- !8I@Yɢ]g=)Y ]>iY)e[ԑB5 9>B5 ;CB5 HB5 QIBB5 =B1 B5 DB5 1;B5 ?E ,ʙ,,g?AV >V\ ?V=ٱV- fAHRS rotation from veh to nav: [[0.857011,-0.511893,-0.059136],[0.514276,0.842439,0.160677],[-0.032431,-0.168114,0.985234]]VHl?maG t? B? ?ſ` ?iV >IV`;TYruIByrHbD~VD~8y+=%W=ٔ";Q->9!Y!=%Fy%vE%ǻE->)Q 554-; ?Q 9=4ԙ-2&,)-dmBYy>Q I?-DI-oiY)e_! љ,'lFg?A^`c>^0 ?^=ٱ^9. nAHRS rotation from veh to nav: [[0.857604,-0.511092,-0.057445],[0.513127,0.842704,0.162945],[-0.034870,-0.169219,0.984961]]^H~q?`Z@wik?n? ^?ڡſ̈́?i^`c>I^a;^CY~hIBy~H  iMb@Mb@Mb@ 9(\?~jtxʡE?Yz?yĻ-=BA A)rBYpBbDCVD8y%<=ٔ;Q->9 ?Y ?= Fy xE CE >Q 54]?Q 94",)mBY%&?Q E%:y% ?Q I%?DI:is:S74y-Bɮ5 PB5EZQRQbQjQ"QQړYYڒY’YYeI@颉ɢ=) >i)d<顑iC(ɧR0駝g i?;I? ?IA؟A!I)I9OM0>E EE%E"E%:*E*:VE 4ZEa@a@a@a@Iq י,9`g?AF>F ?F5=ٱF- NAHRS rotation from veh to nav: [[0.857916,-0.510806,-0.055299],[0.512456,0.842966,0.163700],[-0.037004,-0.168779,0.984959]]FH t?X@!P f??? +@ſɄ?iF>IFхb;FCYZfIByZHbDf[VDfײ8ynfh%n_=ٔn(;Q-r>9r"?Yr"?=rFyrzEvEv>xQ 5~4z.?Q 9~4z,)zmBY|y ?Q I?zDIz ;iz ;z=4y ɮ  PB Z)R)b)j)"11ړ11ڒ1’99=XI@aɢmG#=)i mp>ii)m=hBBHB\IBBBBB;B?EB:CB:CBBÕ =BÕ =CÆ5A II1O= >ԁE E|E(E"E:*EP$:VEc44ZEBE;a2E;aJE};a:E};aԩ ݙ,&zg?A><>> ?>6=ٱ>t- FAHRS rotation from veh to nav: [[0.858157,-0.510612,-0.053316],[0.511901,0.843148,0.164494],[-0.039039,-0.168454,0.984936]]>H v?V2L~a??"?@ſ?i><>I> 7c;>CYrIByvHbD~?VD~8y y=% G=ٔ d;Q- >9Y=Fy|E[E>!Q 5-4%??Q 9-4%n,)%mBY)y- ?Q I5?%DI%Y;i%;%D4y=Bɮ=OB=EZYRYbYja"aaړaaڒa’iimJ@频ɢد%=) E>i)m<顡i^(ɧ-駭o( iE?$;IE? E?IA>A>ԩA!IIIiO> C  1 ] eC9Y Y] 4AbEFA4jEFA4rE˼ 0E  E E )E "E :*E ,:VE FA4ZE a @a @a @a @1 ,g?A61ʣ>6 ?6(=ٱ6, BAHRS rotation from veh to nav: [[0.858003,-0.511071,-0.051354],[0.512004,0.842996,0.164953],[-0.041012,-0.167823,0.984964]]6H t? Z`K@Wb?`?-?|<{ſ҄?i61ʣ>I6Ld;6CYJwIByJHIR<)Rp9Y=Fy~E9E>Q 54Q?Q 94q,)mBY?Q E:yW#?Q I?DI:ia:9L4yBɮOBZRbj"ړڒ’9J@ɢ^#=) >i)r<iV%(ɧ%e-7i-M:?-D;)I-M:? -M:?I1iI^Aq:AAM.AIYIiOu>q B =>B B HB fIBB =B B B ;B ?Ec,Эg?A(J:>J ?Jb0=ٱJ, VAHRS rotation from veh to nav: [[0.857490,-0.512121,-0.049422],[0.512696,0.842495,0.165365],[-0.043049,-0.167137,0.984993]]JHp?KcMh?`?*? dſ?iJ:>IJde;JCY^yIBy^HbDjMVDhyr̓;%rU=ٔrf;Q-r>9v ?Yv ?=vFyvEv;Ez>xQ 54z`?Q 94z,)zmBYy#?Q I?z DIz:iz:zR4yɮOBZ1R9b9j9"99ړ9AڒA’AAEjJ@qɢu)=)urȠ >i)w<iHL7(ɧg?bil/?ԙ ,̲g?ALV>V b ?V7=ٱV* ^AHRS rotation from veh to nav: [[0.856560,-0.513851,-0.047573],[0.514098,0.841681,0.165155],[-0.044824,-0.165922,0.985120]]VHh?wqm[ }s? ?#?+<ſ?iV>IVg;VCYhyhi]Mb@Mb@Mb@YYYY Y9]Mb?J +?Mb?Y] ?y]=]=YY Y)]BYY]pB}%=ybD}7VD}8ٔ;Q->9"?Y"?=FyEO;E>Q 54Cr?Q 942,)mBY"?Q E:y3?Q I?DI ;i ;]Z4ywBɮvOBEZRbj"ړڒ’+J@颱ɢ#=) i)|<项i((ɧ/2i?;I? ?IEe Ee|Ee)Ea"Ee%:*EeP$:VEeFA4ZEaam@am@am@am@^A50A1zA1A I I O > ,ԁg?A6ҥ>6 ?6y?=ٱ6) BAHRS rotation from veh to nav: [[0.855748,-0.515374,-0.045673],[0.515279,0.840950,0.165196],[-0.046729,-0.164901,0.985203]]6HHb?@}kb*}?? '%?짿@vſdž?i6ҥ>I6`i;6CYJxIByJHbDV-VDV8y^s%^<ٔ~;|Q->9Y=FyE t;E >Q 54?Q 94 ,)mBYy%4?Q I%?.DI;i;a4y-$Bɮ-NB-EZIRIbIjI"QQړQQڒQ’Yae}J@颉ɢg-=) >i)p<顑i (ɧj駝e;i?2\;I? ?I@@@@Bu>>BqBqBqBqBqBqBu(;Bu?E)QAqIyIO>Eu Eu}Eu(Eq"EuU:*Euk&:VEuc44ZEqBEqa2EqaJEuŀ;a:Euƀ;aԁ i9 I= Au',]g?A6Ϧ>6x> ?6.F=ٱ6( BAHRS rotation from veh to nav: [[0.854679,-0.517302,-0.043850],[0.516887,0.840008,0.164968],[-0.048504,-0.163660,0.985324]]6HY?@s@V?`X??ը Ŀ`Ň?i6Ϧ>I6&k;6CYJtIByJHbDV6VDV8y^ %^J=ٔ^;Q-b>9`Y`=bFybEfԟ;Ef>hQ 5n4j?Q 9n4j,)jmBYlyr~4?Q Ir?j>DIj;ij ;jh4yvBɮvNBvEGSB*** querying acoustic contact ***:BZRbj"ړYڒ’6K@ɢ'=) L>i)C#<iإ=(ɧ==}i=g?=;9I=g? Eg?IAԉ}Gg̼2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԱAII OM > E  E E &E "E :*E 3:VE 4ZE a @a @a @a @,6h?A>>>} ?>FHM=ٱ>' FAHRS rotation from veh to nav: [[0.853386,-0.519574,-0.042129],[0.518866,0.838891,0.164440],[-0.050097,-0.162190,0.985487]]>HN?@Y@?1?] ?H Ŀ ?i>>I>k;>ߑCYRnIByRHi-Mb@Mb@Mb@)))) )9-"~j?i|?5?y&1Y-S#?y-=-`e-B) ))-HB)Y-BbDE2VDE8yMY%UA=ٔU@w;Q-U>9QYY=]Fy]E]E;Ee>aQ 5m4eZ?Q 9u4e,)emBYu"&?Q Eu:yuY9?Q Iu?ePDIeQ:Թie:edo4yɮNBZ9RAbAjA"AAړAIڒI’IIM@=K@颹ɢO&=) l>i)磅<i픥+(ɧ"ֽOi ?Ok;I ?  ?I*DAT read: user:125>  BDAT read: Tx time:20:50:39.5487  $Ping request sent. A%>Am .AB} ?>By By By By By By B} I;B} ?EI I O >ߡ ߡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249790A p9 ,/h?A>Q>> ?>.S=ٱ>7& FAHRS rotation from veh to nav: [[0.852010,-0.521896,-0.041268],[0.520982,0.837474,0.164969],[-0.051535,-0.162055,0.985435]]>HC?@_!@?`? ?b 8Ŀ ?i>Q>I>k;>CYN\IByRHIV=)TbDZ0VDZ8yb[@%bS=ٔf=t;Q-f>9f ?Yf ?=fFyjEjX;Ej>lQ 5r4n?Q 9r4n+)nmBYtyv:?Q Iv?n`DIn$:in:n%v4yzBɮzNBxZRbj"ړ!ڒ!’!!%lK@IɢUM*=)Q U!>iQ)]iԙ !,WHh?A6>6?& ?6_W=ٱ6W& BAHRS rotation from veh to nav: [[0.850633,-0.524206,-0.040398],[0.523126,0.836189,0.164703],[-0.052557,-0.161235,0.985516]]6Hb8?J`s?@??調 XĿX?i6>I6Hk;4YJ2IByJuHbDn/VDn8yv@˽%vH=ٔz#;Q-z>9z"?Y~"?=~Fy~E~#;E>Q 5 4?Q 9 4+)mmBYy:?Q I?qDIK:iB:L}4yɮ%NB!ZARAbAjA"AAړIIڒI’IIUK@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753652颁ɢ$=) U>i)֬<顑i2𤼩2)ɧ4!駽i\?^;I\? \?IyA II1O= >EM EMEM&EI"EM:*EM3:VEM4ZEIaU@aU@aU@aU@ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005562 ~K,bh?A6>6T ?6Z\=ٱ6]% BAHRS rotation from veh to nav: [[0.849522,-0.526083,-0.039354],[0.524806,0.835140,0.164684],[-0.053772,-0.160556,0.985561]]6HH/?1& 5?v?`?Ŀ ?i6>I6j;6CYN4IByRwHa]a] a]a] a]a] a]a] y]ףp= ?9I=FyE;E>Q 54?Q 94v+)?mBY?%?Q E:y02?Q I?DI;i*};4yBɮNBEZ R b j "ړڒ’!!%CK@ ]=]=]⶷?"] @qɢuO=)y }p>iy)=ы<顁ixZ)ɧ4駕i/?1u;I/? /?IBA<B@>BBHBQIBBBBB[;B?EAQzAUeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261318AyIIO>>EU EU}EU%EQ"EUƱ:*EUk&:VEU 4ZEQBEQae2EQaeJEQae:EQam)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509531Y @x,|h?AR ʬ>R;?R4,`=ٱR$% ZAHRS rotation from veh to nav: [[0.848314,-0.528068,-0.038824],[0.526660,0.833929,0.164900],[-0.054702,-0.160334,0.985546]]RH`c%?ࣿf??`s?ӅĿ?iR ʬ>IRh;PYf"IByfaH hhbDn0VDn8yv@%vT=ٔz};Q-z>9|I|=~Fy~E~B;E>Q 5 4?Q 94P+)mBYy2?Q I?DI;i;n4yɮ%NB!ZARAbAjA"AAړIIڒI’IIUL@ iii"m@@ɢZ=) &>i)/<i ])ɧ WG5xi5?5H:;5f=I5? 5?I9)AaIiIyO>Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761535ԁ D] =D] =Ee  Ee Ee &Ea "Ee :*Ee *:VEe 4ZEa am @am @am @am @5]%,h?A0B>Bf?BYc=ٱB*$ NAHRS rotation from veh to nav: [[0.847087,-0.530065,-0.038394],[0.528550,0.832717,0.164977],[-0.055477,-0.160043,0.985550]]BH W?@Jf?? ?gM|Ŀ?iB>IBHg;@YvIByv[HbD~1VD~8y -% I=ٔ:Q->9I=FyE{;E%>!Q 5-4%?Q 9-4%+)%lBY1y5[3?Q I5?%DI%):i% :%4y=|BɮEMBEEZaRabaja"aaړiiڒi’iiui)k<顩i+a)ɧv[駵P/i? ;I? ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017374ԑAIIO>ԹB A>B 6,?6Bf=ٱ6jx# BAHRS rotation from veh to nav: [[0.846305,-0.531386,-0.037371],[0.529734,0.832129,0.164143],[-0.056126,-0.158711,0.985728]]6H?@@"?͠?? PĿ`?i6>I6Pf;4YJ IByJCH`bDr%VDr8yzF%zL=ٔz:Q-z>9|I|=~Fy~Eh;E> Q 54 ?Q 94 +) lBYy3?Q I? DI :i : 4y!ɮ%MB!ZARAbAjA"IIړIIڒI’QQUoL@ qqq"u@颁ɢ=) >i) <顉i)ɧo駝O?iV?;IV? V?IA>A>E% E%E%'E!"E%Ʊ:*E%=:VE%'4ZE!BE!a2E!aJE%ʔ;a:E%˔;aA!I1IAOM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517558A 1o2,5h?AJM>J}?Ji=ٱJj# RAHRS rotation from veh to nav: [[0.845605,-0.532552,-0.036606],[0.530751,0.831452,0.164290],[-0.057057,-0.158353,0.985733]]JH@2? ?@?s?`6DĿ ?iJM>IJe;JCYZHBy^,HIbY>)be>bDfVDf8ynF9%nL=ٔr!;Q-r>9pIt=vFyvEvI;Ez>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769738Q 544?Q 94 +)lBYy4?Q I?DI?i)<顱i<M#*ɧ駽'Pi ?r;I ?  ?IbE-4jE34rExE0E5 E5E5+E1"E57:*E53:VE5 [4ZE1aE@aE@aE@aE@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021840^A- ԩ AY Ia Iq O >B8,h?An">n?nHm=ٱnM# ~AHRS rotation from veh to nav: [[0.845101,-0.533374,-0.036271],[0.531461,0.830847,0.165052],[-0.057899,-0.158762,0.985618]]nH@ ?f&`?@L? l ?भSRĿ .?in">Ind;nCyYHByHBBBDHB IBB =BBB?;B?Ey5i|?5?v//$51?5x51 195rh|?L7A`?+Y5?y5+=55sB1 1)11Y5@NEbDUVDU8y}"%}'=ٔ}:Q-}>9I=FyE/:E>Q 54 +?Q 94+)TlBYg?Q E:yE?Q I?DI:ij:4yɮMBZRbj"ړڒ’L@ j7>j7>d@"-@ɢ% =)! %xc>i!)-<))i5͞=TU*ɧ=w|=jIi=&?E;AIE&? E&?]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274362IYԡ^ArgA1E= E=E=(E9"E=:*E=0:VE=c44ZE9BE=&;aE2E=';aMJE=߉;aM:E=߉;aMIQIiOu>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525602>,h?A~(>~?~jo=ٱ~! -AHRS rotation from veh to nav: [[0.844658,-0.534161,-0.034999],[0.532118,0.830707,0.163635],[-0.058333,-0.156840,0.985900]]~Hp?t롿?`&?@?ݭ`QĿ}?i~(>I~cd;~CY=HBy= HbDMHVDMƲ8y]0%]r=ٔeͨ:Q-e?9aIi=mFymEm;Em?qQ 5}4uB9?Q 9}4u+)u+lBYy?Q I?uDIuxiY)eĕE-  E- E) E) "E- U:*E- ,:VE) ZE) a5 @a5 @a5 @a5 @A >E,i?AVYz>V?V=q=ٱV7 bAHRS rotation from veh to nav: [[0.844294,-0.534794,-0.034106],[0.532629,0.830468,0.163186],[-0.058947,-0.155943,0.986006]]VH t? bvK ? 1?K?`L.ÿ[?iVYz>IV d;VޑCYjHByjH llbDvFVDvIJ8y~ȼ%~S=ٔ~:Q->9I=FyE :E >Q 54I?Q 94b+)kBYy?Q I%?DI;i;˵4y)ɮ-MB)ZIRIbIjI"QQړQQڒQ’QY] >M@ yyy"}-@颉ɢȌ=) S>i) <顑i/qJ*ɧo駥?iI?$a;II? I?I@@@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029627iA.AIIO>ԉBBBHBHBBBBBY;B?Em checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282170Թ tK,s1i?A>fD>>?>(v=ٱ>3;! FAHRS rotation from veh to nav: [[0.844457,-0.534580,-0.033426],[0.532246,0.830497,0.164282],[-0.060061,-0.156520,0.985847]]>H?G`9(?@o?-?\ Ŀ?i>fD>I>ۨc;>ߑCYRHByRHbDZ>VDZ8y~/ֽ%J=ٔ4;Q->9  ?I  ?= Fy E LE >Q 54Z?Q 9%4+)kBY!y%?Q I%?DI+;iH;޼4y-i)<顙i{*ɧh駥 :i]?dA;I]? ]?IE EE*E"E:*E0:VE(N4ZEBE;a2E;aJEa:EaԑIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533477 SR,}Ki?AZ<>Z?Z2_z=ٱZS! bAHRS rotation from veh to nav: [[0.844436,-0.534664,-0.032609],[0.532162,0.830428,0.164903],[-0.061088,-0.156603,0.985771]]ZH?"@y?ݒ??@F@ Ŀo?iZ<>IZb;ZݑCYHByH5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787587bDNVD˲8y5逼%=:=ٔM`;Q-M>9YIY=eFyeEuJ E>Q 54m?Q 94+)kBYy?Q I?DI1;i8;ģ4y1ɮ5MB1ZqRqbyjy"yyړyyڒ’ pM@ "-@ɢE<)  >i)\<i:-+ɧ-Z`-{3i-at?-;1I5at? 5at?I1AE>AE>E  E E E "E U:*E ,:VE ZE a@a@a@a@IAIQOY>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037606I fX,}Xei?A,Z >Zf?Z=ٱZ! fAHRS rotation from veh to nav: [[0.844583,-0.534484,-0.031731],[0.531798,0.830499,0.165717],[-0.062221,-0.156836,0.985663]]ZH?~?|? s?`96?kۯ6Ŀ?iZ >IZa;ZCYvHByvHI~<)~y|?5^?v/?9I=FyEE>Q 54'~?Q 94+)|kBY?Q E:yK?Q I?!DI ;i ;gˣ4yBɮ$MBEBYBYB]HB]HBBYBYBYB];B]@EZRbj"ړڒ’UM@ ==nz@"@)ɢ- <)M. M>iQ)U0ԙE EE&E"E%:*E3:VE4ZEBE;a%2E;a%JE;a%:E;a-  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541472]_,2i?A:`>:0?:=ٱ:n!P AHRS rotation from veh to nav: [[0.844917,-0.534025,-0.030550],[0.531123,0.830809,0.166327],[-0.063441,-0.156758,0.985597]]:H ?`H??`3J?=@Ŀ?i:`>I:ha;:ߑCY{HByHbD*VD8y%F=ٔ A;Q- >9 I = Fy E%E>Q 5%4+?Q 9%4+)bkBY)y-?Q I-?1DI:i:ң4y5Bɮ5MB1ZRbj"ړڒ’@N@ "@ɢ0<)  =i ) < i$֜p`+ɧ +i`?%;!I%`? %`?I)IIIQO]>echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.798006qԡ E!  E% E% *E! "E! *E% ?:VE% (N4ZE! a- @a- @a5 @a5 @pe,i?ARu`>R?R,=ٱR?! ZAHRS rotation from veh to nav: [[0.845147,-0.533704,-0.029779],[0.530629,0.830948,0.167206],[-0.064494,-0.157115,0.985472]]RHq ?Z~? ?g?\Ŀ?iRu`>IR`;PY~dHBy~wHbD 0VD 8yUq%]V=ٔ]4;Q-]>9aIa=eFyeEeEm>iQ 5u4ymΠ?Q 9}4m+)mJkBYy?Q I?m?DIm2;im3;mM٣4yɮMBZRbj"ړڒ’%CN@ "ߏ@ɢ2<) =i)Ǒ<i蛼{+ɧcil?; I l? l?I AzAhAIyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.045600O=ԡBYBYB]HB]rHBBYBYBYB];B]8@EM checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298039 #l,yi?AV+ >V[?Vf=ٱV48" bAHRS rotation from veh to nav: [[0.845436,-0.533293,-0.028930],[0.530035,0.831155,0.168058],[-0.065579,-0.157416,0.985352]]VH ?ǟ ?Ҙ?@?ɰ6&Ŀ?iV+ >IV`;TY~VHBy~fH bD?VD8y%o%%N=ٔ-V3;Q-->9)I)=-Fy-E52ٺE5>9Q 5E4=!?Q 9E4=+)=0kBYIyM?Q IM?=NDI=N:i=:=@4yUBɮUMBUEZqRqE EE,E"Eg:*E*:VEg4ZEBE;a2E;aJEi;a:Ei;ab1j1"19ړ99ڒ9’9AExN@ yyy"}ڏ@颱ɢ<) =i)'<项iŚ+ɧ໻i?%\;I? ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.549549q歼1IIO>Y r s,;i?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.8039959E->E.?EOˆ=ٱE" AHRS rotation from veh to nav: [[0.845739,-0.532853,-0.028156],[0.529408,0.831333,0.169154],[-0.066727,-0.157966,0.985187]]EHK?" Ԝ?@G?צ? <8Ŀ?iE->IEJS`;AYSHBybHy-Cl?~jt?A`"?-?-D<-Y=) )9-x?I +Q?Y-K?y-9-\=-B-(A -/A)- B)Y-BbDE_VDE۲8yUZл%U,=ٔ];Q-]>9YIY=]FyeEeGEe>iQ 5u4m?Q 9u4m+)m/kBY}?Q E}:y}/?Q I}?maDIm:imf:m4yɮMBZRbj"ړڒ’߲N@ TE=TE=e@"*@颉ɢ<) v=i)<顑i+ɧQ駝Vi?w;I? ?IE EE)E"EƱ:*Ea9:VEFA4ZEa@a@a@a@al;IyIO~>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.053563Թ 5y,'i?AUJ7>U%?U|=ٱU c" AHRS rotation from veh to nav: [[0.846174,-0.532219,-0.027064],[0.528603,0.831817,0.169291],[-0.067588,-0.157556,0.985194]]UH`?@Q?=?`V?`nM*Ŀ`?iUJ7>IU `;QYBHByNHbDXVDղ8y6B@>B;CBVHBIHBB =BBB;Bt@EB9!I!=%Fy%E-$E->1Q 5=45C?Q 9=45+)1Y9yE?Q IE?5nDI5 :i5:54yMBɮMLBMEZiRibiji"qqړqqڒy’yy}eN@ԑ "W@1ɢ5c<)9 ==i9)=r$<9AiEE}M+ɧmm `iuX?u;qIuX? uX?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305868ԹAe>Ae>IIE EEE"E%:*E,:VEZEBE;a2E;aJE;;a :E;;a O> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557522 ,|j?A:2>:?:o=ٱ:t" BAHRS rotation from veh to nav: [[0.846139,-0.532312,-0.026314],[0.528539,0.831746,0.169836],[-0.068519,-0.157613,0.985121]]:H?&??@0?@t,Ŀ`?i:2>I:_;:ݑCYN:HByNCHIR<)R;bDXVDXyb!%b`=ٔf);Q-f>9dId=fFyfEjuӸEj>lQ 5r4n?Q 9r4nB+)n.kBYtyv?Q Iv?n|DInp:in:n64yxɮzLBxZRbj"ړ!ڒ!’!!%O@ AAA"E@Qɢ]<)Y ]i=iY)ez~?~=ٱ~3"  AHRS rotation from veh to nav: [[0.845811,-0.532866,-0.025633],[0.528964,0.831439,0.170016],[-0.069283,-0.157360,0.985108]]~H?= @? F?&?`?@`$Ŀ ?i~x>I~3_;~CY%GHBy%SHbD1VD1yE*<%EB=ٔM:Q-M>9III=MFyMEU:EU>YQ 5e4]?Q 9e4]+)],kBYiym?Q Im?]DI]:i]:]4yuBɮuLBuEZRbj"ړڒ’HEO@ "+@ɢ,<) =i)4<i-H+ɧμ"di?A;I? ?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061563IIO=BBn8?n6=ٱnpB" vAHRS rotation from veh to nav: [[0.845471,-0.533422,-0.025268],[0.529430,0.831073,0.170356],[-0.069872,-0.157409,0.985059]]nH ?ߙ?@'?`6? 㱿`%Ŀ?inFĮ>InC^;nC|Y5HBy5HbDEJVDEȲ8yUս%UI=ٔ]W:Q-]>9YIa=eFyeEe:Ee>iQ 5u4mT ?Q 9u4m+)m+kBYyy}8?Q I}?mDIm;im;m4yɮLBZRbj"ړڒ’E EE+E"Eg:*E*:VE [4ZEBE;a2E;aJEi;a:Ei;ayO@ "@ɢҕ<)  hU?UP=ٱUE" eAHRS rotation from veh to nav: [[0.844811,-0.534465,-0.025309],[0.530455,0.830402,0.170441],[-0.070078,-0.157416,0.985043]]UH?Vꙿ|???7&Ŀ`x?iU{d>IU4^;UߑCY-HBy4H yx&1?zG?y&1|?A@? =`; 9bX9?kt?&1?YE?y 0=P=BA hA)T BYBbDaVDݲ8y=%'=ٔ9Q->9I=FyE#;E>Q 5 4?Q 9 4'+),kBY =?Q E :y r%?Q I ?DI ;i:4 4ytBɮLBEZ9RAbAjA"IIړIIڒI’QQUO@ u9>u9>u1`@"uk@E EE'E"E:*EVE'4ZEa@a@a@a@!ɢ%0<)! %|6=i))-<))i-V5d+ɧ5;5i5?=;9I=? =?IAA؟AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077518 ,gj?Ab>b?bm =ٱb-# jAHRS rotation from veh to nav: [[0.844088,-0.535548,-0.026533],[0.531638,0.829431,0.171481],[-0.069829,-0.158851,0.984830]]bH?4#g+ .?ొ? ?`S౿ :UĿ`?ib>Ib/^;bCYvHByvHbD~5VD~8y % =ٔSQ-?9"?I"?=FyE;E?!Q 5-4%)?Q 9-4%?+)%-kBY1y5%?Q I5?%DI%:i%:%4y=#BɮE1LBEEZaRabaja"aaړiiڒi’iiuO@ "@BB;CBHBHBB =BBBM;B@E9ɢE<)A E`E EE(E"E:*E*5:VEc44ZEBE;a2E;aJE;a:E;aQy  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581588m,Sˁj?Abʰ>b;?b=ٱb%q# jAHRS rotation from veh to nav: [[0.843348,-0.536727,-0.026247],[0.532757,0.828727,0.171410],[-0.070249,-0.158542,0.984850]]bH?@,`X ??? KĿ@?ibʰ>Ib ^;bܑCY- HBy- HbD=cVD=߲8yM6%MF=ٔM:Q-U>9QIQ=]Fy]E]U;E]>aQ 5m4el9?Q 9m4e`+)e.kBYiyu+&?Q Iu?eDIe:ieG:e4y}Bɮ}LB}EZRbj"ړڒ’; P@ "B@ ɢ A>AIIO$>y=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833557ԩE  E E *E "E Ʊ:*E .:VE (N4ZE a @a @a @a @ ,Rj?AV[\>V?V =ٱVF# bAHRS rotation from veh to nav: [[0.842752,-0.537649,-0.026514],[0.533690,0.828083,0.171623],[-0.070317,-0.158786,0.984806]]VH?@k4&? ?? D@SĿ?iV[\>IV];TYjHByjHI<)4<bD [VD ײ8y=%=K=ٔE29Q-E>9AIA=MFyMEM5;EM>QQ 5e4UTI?Q 9e4U+)U/kBYayeu&?Q Ie?UDIU;iU;U4yiɮuLBqZRbj"ړڒ’#P@ "@ɢ<) ;i)˹<i_+ɧpмi?;I? ?IiߑIߕABBBHBGBB =BBB^;B@E 9 ,yj?AF?>F?F܏=ٱF% NAHRS rotation from veh to nav: [[0.842149,-0.538541,-0.027552],[0.534658,0.827244,0.172652],[-0.070188,-0.160129,0.984598]]FH?;6`?x? s?Ŀҁ?iF?>IF];FۑCYZGByZHbDbVDb8yj}%jQ=ٔnQ-n>9lIp=rFyrEr?;Er>tQ 5z4vX?Q 9z4v+)v0kBY|y~&?Q I~?vDIv<;ivH;v&4yBɮ KB EZ)R)b)j)"))ړ11ڒ1’11E EEE"E:*EE7:VEZEBEz;a2E{;aJEU;a:EU;a=9i ,ej?A\~=~<=Ȳ>=:?=*=ٱ=$ MAHRS rotation from veh to nav: [[0.841264,-0.539927,-0.027448],[0.536029,0.826433,0.172283],[-0.070336,-0.159649,0.984665]]=H?Gd&'?@#r?_ ?@^oĿ@`?i=Ȳ>I=t];9Y]GByeHyPn?{Gz/$$?# 9333333?Dl?9I=FyE%p;E%>)Q 54-Vj?Q 94-q+)-kBY?Q E:yn/?Q I?-DI-;i-a:-s.4yɮLBZRbj"!)ړ))ڒ)’)15@ZP@ m=m=mN+@"mx$@yɢ Z<) ׼i)^<顉i5+ɧC駕5i?;I? ?IAzAhAE EE'E"E:*E3:VE'4ZEa@a@a@a@IAIQO9>9 ѹ,/j?A>ȳ>>?>=ٱ>j$ JAHRS rotation from veh to nav: [[0.840220,-0.541535,-0.027763],[0.537676,0.825413,0.172040],[-0.070250,-0.159479,0.984699]]>H?@@T@m4?i?`k?`iĿ?i>ȳ>I>3];>ޑCYRGByRHZ@AXbD^VD^&8yf8D%fc=ٔfzQ-j>9hIh=jFyj¨En;En>pQ 5v4rx?Q 9v4rϚ+)rkBYtyv/?Q Iz?rDIr:ir :r44BABABEHBEGBBABABABEG;BE@EQy~BɮKBEZRbj"ړڒ’%|rP@ iii"m$@颉ɢZ<) i)V<顑in+ɧ{駥3YIi6k?i>>w ?>׏=ٱ>kO$ JAHRS rotation from veh to nav: [[0.839563,-0.542542,-0.027977],[0.538711,0.824771,0.171882],[-0.070178,-0.159378,0.984720]]>H?\=?d?<?`6@|fĿӂ?i>i>I>o];>ݑCYRGByRHbD^VD^(8yf%fJ=ٔf9Q-f>9hIh=jFyjĨEnF;En>pQ 5v4ro?Q 9v4r+)rkBYxyz>0?Q Iz?rDIrWH;irI;r;4yɮ KB ZARAbAjI"IQړQQڒQ’QY]@֊P@   " $@9ɢ=<)9 =2i9)EUBmz?BC=ٱB_& JAHRS rotation from veh to nav: [[0.838695,-0.543775,-0.030002],[0.540161,0.823571,0.173081],[-0.069408,-0.161368,0.984451]]BH`?@f@@H?Z?'?ı Ŀ`?iBG>IB];@YnGBynHbDvVDv8y~Qi%H=ٔ+Q->9 I = Fy ƨE ;E>Q 54z?Q 9%4+)jBY!y%0?Q I%?&DI/;i ;B4y-Bɮ5KB1ZQRQbQjQ"QQړYYڒY’Yae P@ "$@频ɢl<) i)a<顙i,ɧ駥 iS?3;IS? S?IA>A>1IYIiO=aB=A>B=6?6q=ٱ6& BAHRS rotation from veh to nav: [[0.837973,-0.544836,-0.030905],[0.541331,0.822750,0.173329],[-0.069009,-0.161975,0.984379]]6H@?Lo}R?S?/?Ŀ ?i6{>I6t];6ܑCYNGByRHbDZyVDZ8y~CE%~J=ٔQ->9I= Fy ȨE _;E >Q 54I?Q 94+)jBY!y% 1?Q I%?5DIU;ia; J4y-Bɮ-XKB-EZIRIbQjQ"QQړQQڒY’YY]{P@E E|E)E"E%:*EP$:VEFA4ZEBE;a2E;aJE};a:E};a "%@颩ɢW<) ⰽi)<顱i*,,ɧ Cik?J&;Ik? k?II9IIԑO=Թ! (Ӛ,CPk?AjzGx-v>9)Y-/AUnManaging dock network, ignoring radio surface power offǶ>I:?J=ٱc' AHRS rotation from veh to nav: [[0.837156,-0.546056,-0.031515],[0.542643,0.821933,0.173100],[-0.068619,-0.162013,0.984400]]H?Jy"U]?`GM? (?ռĿ`4?iǶ>IO];YGByHy=/$?ly&1?=1(?==`e<9 99=rh|?9iIi=mFymʨEupa;Eu>yQ 5}4}?Q 94}I+)}jBYD?Q E:y ?Q I?}GDI}:i}:}Q4yjBɮ9KBEZRbj"ړڒ’LP@ }>}>}t?"} '@颱ɢP<) ɽi)>M<项ipH,ɧi?;I ? ?I bE:4jEďB4rEIJ0E EyE-E"E*E:VEt4ZEa@a@a@a@AqIyIO]>A !ښ,A~jk?A:?">:g?:=ٱ:' FAHRS rotation from veh to nav: [[0.836799,-0.546554,-0.032337],[0.543235,0.821452,0.173530],[-0.068281,-0.162776,0.984298]]:H?@^}j.b?UI?=6?z`Ŀ]?i:?">I:y];8YNGByNrHbDVVDV8y^%^i=ٔb}Q-b>9`Id=fFyf̨Ef;Ef>hBn<An<BrD>BpBruHBrGBBr =BpBpBr;Brh@EQ 54ja?Q 94j+)jjBY y  ?Q I ?jTDIj;ijM;j X4yɮDKBZIRIbIjI"QQړQQڒY’YYe;P@ "S'@!ɢ%R2<)% %޽i!)-s<))i-U\,ɧUUc iU?U;YI]? ]?IYAjAzAjAIAIIO%>yE EE&E"E:*E,:VE4ZEBE&;a2E';aJE;;a:E;;aԡ ,DRk?A@V䐷>V?V=ٱV3( fAHRS rotation from veh to nav: [[0.836369,-0.547166,-0.033102],[0.543960,0.820971,0.173536],[-0.067777,-0.163146,0.984271]]VH?bh?`dE?i6?Y`Ŀ &?iV䐷>IV@];TYvxGByvTH ||bD tVD 8y%wi%-D=ٔ-Q-->91I1=5Fy=ΨEEJ;EE>IQ 5U4M?Q 9U4M+)MjBYQyU*!?Q I]?MeDIM;iM;MZ_4yeTBɮe1KBeEZRbj"ړڒ’{ Q@ ""'@ɢ <) i)hҚ<is,ɧ:.i%?W;I%? %?IԱAIIO > D =D <E  E }E (E "E *E k&:VE c44ZE a @a @a @a @{2,/k?A6η>6?6=ٱ6E6( BAHRS rotation from veh to nav: [[0.836138,-0.547494,-0.033515],[0.544365,0.820749,0.173315],[-0.067381,-0.163160,0.984296]]6H?@(@ok?C? 1/?`?mĿ Z?i6η>I69];6ڑCYJlGByJFHbDVgVDV8y^%^R=lٔWQ->9I = Fy ШE :E >Q 54?Q 9%4U+)vjBY!y%H!?Q I%?tDI';i;Kf4y)ɮ-=KB1ZIRQbQjQ"QQړQYڒY’YYe%Q@ yyy"}''@频ɢ8=<) Ji)<顙il,ɧ駥4i?;I? ?IA .AI!I9OE>9B I>B =CB HB AGBB B :DB DB ;B D@Ea &\,$ k?A:>:?:o=ٱ:P( BAHRS rotation from veh to nav: [[0.836078,-0.547564,-0.033863],[0.544497,0.820682,0.173219],[-0.067058,-0.163263,0.984301]]:H&?V`l? C? ,?*Ŀd?i:>I:,];8Y^CGBybHbDjlVDj8yr-ɽ%rH=ٔrTQ-r>9v ?Iv ?=vFyvҨEv9Ez>xQ 54z?Q 94z{+)z[jBYyQ!?Q I?zDIz;iz;zHm4y ?Bɮ;KBEEe EaEe-Ea"Ee%:*EaVEet4ZEaBEe;am2Ee;amJEeŀ;au:Eeƀ;auqZRbj"ړڒ’@Q@ "('@)ɢ-w;)1 5oA>ԱA ؟AI I) O= > D,ek?A:{ >:?:=ٱ:( BAHRS rotation from veh to nav: [[0.835833,-0.547902,-0.034433],[0.544915,0.820385,0.173309],[-0.066708,-0.163621,0.984265]]:H%?j B@o?@?@.?`Ŀ@?i:{ >I:K];:ݑCYJEGByNHIR=)R9e"?Ie"?=eFyeԨEm:Em>qԹQ 54uM?Q 94ux+)u@jBY.?Q E:y' ?Q I?uDIu9 m, k?AN>NH?NN=ٱN( ^AHRS rotation from veh to nav: [[0.835876,-0.547821,-0.034688],[0.544899,0.820464,0.172986],[-0.066305,-0.163496,0.984313]]NH?@¡ o?>A?f$?Y`rĿ~?iN>IN];NܑCYj)GByjHbD~pVD~8y %O=ٔQ->9I!=%Fy%֨E%ǸE->1Q 5E45?Q 9E45t+)5'jBYIyM% ?Q IM?5DI58S;i54T;5{4y])Bɮ]*KBYZRbj"ړڒ’BN>BBHBGBB =BBBՉ;Ba@EsQ@ "X _@Yɢ]lS;)e eVia)eufiw@??;Iw@? w@?IANJκE} E}xE}(Ey"E}:*E}:VE}c44ZEyBE}&;a2E}';aJE}Xo;a:E}Yo;ayAIIO>ԙ W,l?AVF6>V?VO=ٱV& bAHRS rotation from veh to nav: [[0.835800,-0.547959,-0.034334],[0.545092,0.820695,0.171273],[-0.065673,-0.161865,0.984625]]VH ?` =@dq?`"C?H?`ϰĿ ?iVF6>IV@];VّCYjGByjHbDvfVDv8y~e%~K=ٔ~κQ-~>9I=FyبE [:E > Q 54 1?Q 94 q+)  jBYy6 ?Q I? 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Ef ?hQ 5j4j?Q 9n4jST*)juhBYlyn?Q In?j DIj;ijL;jyi4yvBɮv\BBvREZ R b j " ړڒ’ԄX@ 999"=E?IɢM;)I M=&iQ)UopQQiUoջ~8ɧRJ(i ?;I ?  ?I!EM EMEM+EI"EM:*EM*:VEM [4ZEIBEIaU2EIaUJEMi;a]:EMi;a]^A]3=AazAejAIIOf>Qy Ŝ,s?A>u>>+?> Iٱ>Hq ? ÿσ?L?*;?,?Cȿfa?i>u>I>W`;>͑CYRwEByRHIV<)Vp;bDZVDZ:8yb%=%bI=ٔfdQ-f>9dId=jFyjhEjEj>lQ 5r4n?Q 9v4n/Q*)nehBYtyv>Q Iv?n) DIna:in:np4yxɮzKBB|ZRbj"ړ!!ڒ!’!!-@̞X@ AAA"E*?Yɢ]^Sr)Y ] "iY)e|{xaaieԻm[}9ɧmJm5"im8 ?m;qIu8 ? u8 ?IqnManaging dock network, ignoring radio surface power offQԁ^A[=%=R=IaIqO\>ԩEU  EU EU )EQ "EU %:*EU .:VEU FA4ZEQ a] @a] @a] @a] @ ˜,`1s?A6>6 W?6gLLٱ6C NAHRS rotation from veh to nav: [[0.815983,-0.558363,-0.149675],[0.575922,0.807551,0.127181],[0.049857,-0.189979,0.980521]]6H?(ÿ`m?u?xG?׆?@9Qȿn`?i6>I6`;6ΑCYTyTbDbVDbM8ٔjQ-j>9hIl=nFynjEn-Er>pQ 5v4rl?Q 9z4rN*)rUhBYxyz4>Q Iz?r9 DIr[:irR:rw4y~BɮABJEZ!R!b!j!"!!ړ))ڒ)’))5ุX@Be9>BaBeOHBeEBBe =BaBeDBe;Ben@E qqq"us?颉ɢss) i)~顑iӻ :ɧB駝Dzi ?٣;I ?  ?IԱ^A4=I!I1OEQ> 9 E]  E] E] +EY "E] 7:*E] *:VE] [4ZEY BE] ;am 2E] ;am JEY am :EY am Ҝ,zKs?AF;Z>F?FԃOٱFPD RAHRS rotation from veh to nav: [[0.817804,-0.555584,-0.150078],[0.573264,0.809392,0.127489],[0.050641,-0.190295,0.980420]]FHs+? W 5ÿ@.X? ?`Q?`?[ȿ_?iF;Z>IF`;DYZEByZHbDVDI8y <%<ٔEQ-E>9QIy=}FylEE>Q 54?Q 94{J*)ChBYy>Q I?L DIW;i;4y ɮ AB Z)R)bQjQ"QQړQQڒY’YY]aX@ "'Ɔ?ɢٿa) Ji)>i43ӻd:ɧ8i ?;I ?  ?I^A53=A=>A=>IIO>I ؜, es?A$:u|>:?:GRٱ:BD BAHRS rotation from veh to nav: [[0.819860,-0.552467,-0.150367],[0.570260,0.811436,0.127967],[0.051315,-0.190663,0.980313]]:H@KI:C`;:͑CYNEByNHy%9I=FynE= E>Q 54j?Q 947H*)VhBY?Q E:y>Q I?Y DI:i:>4yuBɮFABZRbj"ړڒ’ 1X@ -=-=-PP@"-Bu;CBuuHBuEBBu =BqBqBuӉ;BuR@EA II)O=> Sߜ,~s?AJ>JF?J/TٱJ(FL VAHRS rotation from veh to nav: [[0.821870,-0.549254,-0.151162],[0.567306,0.813288,0.129332],[0.051902,-0.192049,0.980012]]JH`L? }CYÿ^'?`t??ג?ȿA\?iJ>IJh_;HY^EBy^GHbDjVDj?8yr=%rW=ٔrʺQ-r>9tIt=vFyvpEzEz>|Q 54~?Q 94~E*)~ihBYy!>Q I?~h DI~:i~:~ތ4yaBɮ@BKEZARAbAjA"IIړIQڒQ’aim Y@ 111"5u@IɢMޝb)I M iI)U OQQiUѻ];;ɧ]!]i]/( ?e$0;er! ,W͘s?Ave>v5?v Wٱv2F| ~AHRS rotation from veh to nav: [[0.823987,-0.545979,-0.151502],[0.564174,0.815336,0.130132],[0.052476,-0.192700,0.979854]]vH@^? xhdÿ ?<?(? ު? fȿZ?ive>IvN_;vϑCYMEByM`HbDVDH8y>=%@=ٔQ->9I=FyrEE>Q 54:%?Q 94EC*)hBYy2>Q I?x DIX;i;d4yɮ@BZARAbAjA"IIړIIڒI’QQ #Y@ )))"-9Hu@9ɢ=/Y)9 =iA)EnAAiEѻM[<ɧMM5'iU ?U<;QIU ? U ?IY)^A5G<AAzAAA].AIaIqOY>QE5  E5 E5 .E1 "E5 Ʊ:*E5 0:VE5 ـ4ZE1 a= @a= @a= @a= @ԁ ,Hs?AB9>BBHB/FBBBBB‰;B@@Ei!I!U/>U?UXٱU GY mAHRS rotation from veh to nav: [[0.826084,-0.542730,-0.151752],[0.561056,0.817344,0.131016],[0.052928,-0.193372,0.979697]]UHGo?@ ^lÿ+?'??X?eȿ`Y?iU/>IUc_;ȖCY}FBy}HbDVD$8y$=%I=ٔMQ->9 ?I ?=FytEE>Q 547?Q 94@*)hBYyG>Q I? DI6:id:i4yMBɮ@BLEZRbj"ړڒ’`;Y@ !!!"% u@1ɢ5~])9 =*i9)=C99i=ѻEH<ɧEEҰռiM$z ?Mo;IIM$z ? M$z ?IQԉ^A})<ԹA؟AIIO> ,s?AE EE)E"E*E*5:VEFA4ZEBEH;a2EI;aJE;a:E;aEk>E?E:ZٱEwH AHRS rotation from veh to nav: [[0.828007,-0.539709,-0.152047],[0.558183,0.819135,0.132096],[0.053254,-0.194246,0.979506]]EH? LE`Cvÿ? [6?@? D? ȿX?iEk>IEN_;EˑCYU-FBy]Hy-RQ?ˡE? rh?-"?-'=-C=) )9-d;O?&1/$?Y-?y-P-=-B) -T B)))Y)bDEVDE8yua=%u0=ٔ7Q->9"?I"?=FyvE@E>Q 543K?Q 947=*)hBY?Q E:y?Q I? DIf;iy;4yɮl@BZARAbAjA"IIړIIڒI’QQU\Y@ ==υ@"@ɢX>) &i)LiɷһI=ɧ5˼i ? ;I ?  ?I@ @ @@A >A >9 A  )DAT read: user:126>20:51:26.0579 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 418,-0.04, 0.261,-1.423, 0.383, 0.000, PHS= 0.363,-1.378, 0.339, RAW= 149.3, 7.9, CAL= 148.8, 8.5, ROT= 1.2, -8.5  BDAT read: Rx Time:20:51:26.0579  TRx dataTimestamp_ set to:1761511887.591904% @DAT read: $Low SNR acquisition % 2Received low SNR in chirpI) IA OM >!,Ls?AN\>N?NYٱNdH mAHRS rotation from veh to nav: [[0.830109,-0.536583,-0.151651],[0.555060,0.821115,0.132961],[0.053178,-0.194547,0.979451]]NH@?+`Kiÿ ?F?`?+:?ȿW?iN\>IN_;N͑CY}eFByHbDVD"8y >%m=ٔf9Q-?9I=FyxE5E?Q 54NY?Q 94:*)hBYy?Q I? DIW:i:4y9Bɮ @BMEZRbj!"YYړYaڒa’aae@/pY@ "Rs@颱ɢO) ;i)iyһڕ=ɧN>ļim ?Qu;Im ? m ?IE EEE"E7:*E3:VEZEa@a@a@a@I1IAQO]3>AA@AB :>B B HB vFBB B B B ;B 1@EBBBBƔ =Bƕ =C5ԑԡ a@,'s?ANF>N?NYٱN*`H ^AHRS rotation from veh to nav: [[0.832067,-0.533743,-0.150939],[0.552123,0.823056,0.133188],[0.053143,-0.194158,0.979530]]NHK?kQÿ?yV? N ?5? -ȿNX?iNF>INQ_;LYrnFByv H ||bDeiVDe8y<%N=ٔ8Q->9I=FyzEE>Q 54j?Q 947*)-iBYy?Q I? DI:i :y4yɮ@BZRbj"ړڒ’ވY@   "  W@!ɢ%@)! %Ⱦi!)%`l))i-ӻ5=ɧ55i5;?5s;=葙E% E%E!E!"E%:*E%0:VE!ZE!BE%k;a52E%l;a5JE%߉;a5:E%߉;a5) = g>= vC G fS9 Y BAyE E?E 76AQ *,t?A6؛>6m$?6Zٱ6KH BAHRS rotation from veh to nav: [[0.833859,-0.530980,-0.150796],[0.549406,0.824741,0.133998],[0.053217,-0.194584,0.979441]]6H?IMÿ༔?Fd?&?L??ȿ W?i6؛>I6_;4YJFByJ@HbDVpVDV8y^ =%^X=ٔ^NQ-b>9`I`=bFyb|Efo Ef>hQ 5n4jy?Q 9n4j4*)j\iBYlyn.?Q Ir?j DIj;ij;j4yv$Bɮv?BtZ R b j "ړڒ’ Y@ AAA"E;@QɢU6) Gi)Қ项i#bԻI>ɧ޾7*i}?*;I}? }?IA1zA5hAIIO=)YD- =D- <bE(N4jEȼP4rE/E5  E5 E5 (E1 "E5 7:*E5 3:VE5 c44ZE1 aM @aM @aM @aM @ԉ [R ,S3t?A4>7>>r?>Zٱ>bxI FAHRS rotation from veh to nav: [[0.835342,-0.528623,-0.150872],[0.547137,0.826108,0.134862],[0.053345,-0.195203,0.979311]]>H`?`z@Oÿ%? yo?@&C?P?iȿV?i>7>I> _;>ˑCB`B`BbHBbFBB`B`B`Bb;Bb4@EYnFBynOHbDvcVDv߲8y~<%~F=ٔQ->9I = Fy ~E ׻E >Q 5%48?Q 9%41*)iBY)y-?Q I-? DIB;i*C;E4y1ɮ5?B1ZQRQbYjY"YYړYaڒa’aae`xY@ "#@颙ɢ9/)D i)矼顡ijջџ>ɧ0Ҿ駭&i?t;I? ?IIYIiO}=ԉ=%= <,Mt?AE} E}EyEy"E}:*E}*5:VEyZEyBE}&;a2E}';aJE};a :E};a9=>=P?=#fYٱ=ٔH MAHRS rotation from veh to nav: [[0.836648,-0.526844,-0.149853],[0.545166,0.827443,0.134658],[0.053051,-0.194356,0.979495]]=H?@`a.ÿq?@iz?xI=/_;=̑CY]FByeHIe=)e49III=MFyUEU꡻EU>YQ 5e4]?Q 9e4],*)]iBYm#?Q Em:ymD?Q Im?] DI] ;i] ;]Ʀ4yuBɮu>BuEEZRbj"ړڒ’Y@ .=.=J@"4h@ɢڍ) Ni)0ifW׻?ɧc鹼iX3?@;IX3? X3?Iaԙ^Am<IIO>Թ d,^egt?AV>VtV?VB9YٱV`G bAHRS rotation from veh to nav: [[0.837720,-0.525368,-0.149041],[0.543521,0.828604,0.134168],[0.053008,-0.193402,0.979687]]VH?ÿd??`h,?@#?cȿY?iV>IV_;VˑCYj GByjHbDv7VDv8y~>%~y=ٔ~9Q-?9I=FyE 1ĻE ?Q 54?Q 94R(*)iBYyLD?Q I%? DIw;i;a̦4y)ɮ->B)ZIRIbIjQ"QQړQQڒQ’YY]`Y@Թ "Nh@ ɢ !)  fvi)iEػh?ɧj%żi% ?% ;!I% ? % ?I)DzD?AE EE+E"E:*E.:VE [4ZEa@a@a@a@^A5#2<AYIiIuJIO:>B8>B:CBHB7GBBBBB;B>@E9 @N ,4Ht?A]>]0?]jYٱ]F mAHRS rotation from veh to nav: [[0.838030,-0.525025,-0.148508],[0.543038,0.829036,0.133448],[0.053055,-0.192479,0.979866]]]H@$?Sÿ@`?v?@?*?@)ȿ@[?i]>I]X_;YYGByHbDVD8y <% :=ٔ 2Q-5>91I1=5Fy5E=E=>AQ 5M4E?Q 9M4E9#*)E"jBYiyuD?Q Iu?E!DIE;iE.;E"Ԧ4y}Bɮ}b>ByZRbj"ړڒ’@ Z@   " h@9ɢ=>)9 =miA)E;AAiEڻeR?ɧeּiE ?a;IE ? E ?I9E EEE"Eغ:*EVEZEBE=u',Gt?A8>>>'?>7Zٱ>tYG FAHRS rotation from veh to nav: [[0.838096,-0.524774,-0.149024],[0.542918,0.829033,0.133955],[0.053250,-0.193175,0.979718]]>H? ;ÿ_?@p?r%?C?@ȿY?i>>I>m_;9lIl=nFyrEvͨEv>|Q 5 4~d?Q 9 4~Q*)~SjBYyD?Q I?~!DI~e;i~[f;~ۦ4y)ɮ-N>B)ZaRabaja"iiړqyڒy’y`I'Z@ "h@ɢ) Zi)0i<ܻ^@ɧziM ?s;IM ? M ?Ie@m@m@i@iԩE EE)E"E:*EVEFA4ZEa-@a-@a-@a-@IIO > B B B PHB tGBB B B B ȉ;B D@E-,t?AlYr8GByrHbDz4VDz8y%t;=%-E=ٔ-Q-->91I1=5Fy5E5E5>AQ 5E4E&?Q 9M4E*)EjBYIyIQ IM?E%!DIE:iEp:E4yUBɮU>B]FEZyRybyjy"yړڒ’ AZ@ "颹ɢ) ) Gi)i޻@ɧiA ?;IA ? A ?I 1IYIiO}z>E=  E= E= +E9 "E= :*E= ?:VE= [4ZE9 BE= k;au 2E= l;au JE= ;a} ԁ :E= ;ae a4,t?A25v>2?2>[ٱ2HE :AHRS rotation from veh to nav: [[0.837201,-0.526290,-0.148704],[0.544259,0.828440,0.132174],[0.053631,-0.191590,0.980009]]2HZ?]`ÿ@j?`??u?ȿ`;\?i25v>I2_;2̑CY^MGByb HyE(\?I +?Zd;O?Ez4?E9=Ej<=A A9EV-?rh|?y&1?YE-?yE{>E`e9I=FyEix;E>Q 54?Q 94(*)jBY8?Q E:yk?Q I?8!DI$;i;74yɮ=BZ)R)b)j)"11ړ11ڒ9’99=u\Z@ ]`'>]`'>]?"]@iɢm)q }2iy)}4yyi}!ứuAɧ/駅9 i ?ы;I ?  ?IA>A>IqIO=A :,zt?AJ>J&?J[ٱJE VAHRS rotation from veh to nav: [[0.835965,-0.528134,-0.149125],[0.546151,0.827232,0.131930],[0.053684,-0.191733,0.979978]]JH8?x@ÿz?x??@z|?@ȿ@[?iJ>IJW_;JˑCYbOGByb#HEv EvEv*Et"Ev:*EvF:VEv(N4ZEtaz@az@az@az@bDVD8y ;%W=ٔQ->9I=FyE%y;E%>!Q 5-4%?Q 954%i *)%jBY1y5l?Q I5?%J!DI% :i%:%4yEPBɮEP=BE=EZaRabaja"aiړiiڒi’iqu@tZ@ "@颡ɢ)  0i)EE顩iU+㻩 Bɧ}D駵s1i ?U ;I ?  ?IԑIIO=B5>BBHBGBB =BBBĉ;B=@EԹ ǔA,¡u?A2>2G?2J[ٱ2ŠE :AHRS rotation from veh to nav: [[0.834768,-0.530026,-0.149116],[0.547996,0.826089,0.131448],[0.053512,-0.191443,0.980044]]2Hk? ;ÿ-?Qo?F?`e?@5ȿ\?i2>I2_;2͑CYNkGByREHbDZ,VDZ8y+=%I=ٔ%9Q-%>9!I)=-Fy-E-ر;E->1Q 5=45?Q 9E45C*)5jBYAyEm?Q IE?5]!DI5;i5 ;54yMNBɮM2=BQZiRqbqjq"qqړyyڒy’yyZ@ "@颱ɢ) i)6<项i&廩[BɧZJ.i?4;I? ?II9IIO]=E EE+E"Eg:*E=:VE [4ZEBE;a2E;aJEʔ;a:E˔;aI vG, { u?A0J >Jf?J+:ZٱJ@ZD VAHRS rotation from veh to nav: [[0.833302,-0.532460,-0.148638],[0.550246,0.824785,0.130228],[0.053253,-0.190307,0.980279]]JHj? ÿ ?d?@S?C?[ȿ`r^?iJ >IJ~_;JʑCYfnGByfHHbDv^VDvڲ8y;%L=ٔ *:Q- >9 I =FyE;E>!Q 5-4%#?Q 9-4%'*)%jBY1y5m?Q I5?%o!DI%$:i%:%4y;Bɮ=B>EZRbj"ړڒ’@bZ@   " I@!ɢ%6)! %i!)-5))i- 軩5Cɧ5p5I@i5p?=(c;=m$B B HB GBB =B B B Љ;B G@EB:CBBBBC]5iA IA M,W:u?A:n>: ?:WYٱ:IKC BAHRS rotation from veh to nav: [[0.831901,-0.534723,-0.148365],[0.552369,0.823552,0.129033],[0.053189,-0.189294,0.980479]]:H?s¿`?Z?$?@;?@:ȿ`?i:n>I:_;:ˑCYRkGByREH TTbDZx`VDZ8yf%fN=ٔjX(9Q-j>9hIh=jFyjEn;En>pQ 5v4r}$?Q 9v4r!))rjBYxyzun?Q Iz?r!DIrB:ir9:r4y|ɮ~ =B|ZR!b!j!"!!ړ!)ڒ)’))- Z@ III"M@"@YɢexL)a eia)eViiim`0껩u^DɧuuiRiuF?u$;qI}F? }F?IyAIIO >E  E E )E "E *E VL:VE FA4ZE BE ;aE 2E ;aM JE ;aU :E ;aU i IT,4Tu?A&сG08bE9`Yb26Ajyɽ>j<?j^Yٱjq0B rAHRS rotation from veh to nav: [[0.830440,-0.537088,-0.148008],[0.554577,0.822255,0.127831],[0.053044,-0.188238,0.980690]]jH? /¿`?O?\?(?@.ȿa?ijyɽ>Ij`_;jʑCY~\GBy~3HyHzG?I +?V-=*?94<m 9@5^I ?-?MbYb0?y5^> )BYBbDVD8y%==ٔn9Q->9I=FyEf;E>Q 545?Q 94))OjBY;?Q E:yZ?Q I?!DI ;iC ;r 4y'Bɮ$`>[7?"@@ɢq3) 8#i)Ii컩'dEɧc`iF?S$;IF? F?I IAyIIO=>qԡ vZ, nu?A>>>e?> Yٱ>cA JAHRS rotation from veh to nav: [[0.829000,-0.539350,-0.147854],[0.556735,0.820948,0.126848],[0.052965,-0.187473,0.980841]]>H*?[B@¿@?4E?>I>>{_;>ɑCYRkGByREHbDZdVDZ8bEMT4jEML4rEM/Eb EbEb(E`"Eb:*Eba9:VEbc44ZE`aj@aj@aj@aj@yr]=%rX=ٔrUZ9Q-r>9tIt=vFyvEz;Ez>xyQ 54zD?Q 94z))zjBYy<[?Q I?z!DIz|BQBUHBUGBBU =BQBQBU;BU_@Eԩ^AR5<A>A>AI I! 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Ma?ȿV?i2ţ>I2];2ǑCYNHByNHbDZ`VDZܲ8yr&>%vh=ٔv9Q-v>9tYx=zFyzEzHEz>|Q 54~?Q 9 4~P))~iBY y g>Q I ?~"DI~I:i~A:~4yɮ9BZ9R9b9j9"9AړAAڒA’AIM*\@qyɢ}lⱼ)y }`D=D<E EE)E"E*EVEFA4ZEa@a@a@a@B5 />B1 B5 =HB5 5HBB1 B1 B1 B5 ;B5 @E e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249411A!ϝ,u?w?Ab(С>b?bD\bٱb@H rAHRS rotation from veh to nav: [[0.859384,-0.490174,-0.145564],[0.508339,0.849756,0.139662],[0.055236,-0.194019,0.979441]]bH? _߿`ڡ¿PD? 41?`o?G?ȿW?ib(С>Ib,];`Y~0HBy7HbD%zVD%8y5,|=%=E=ٔ=9Q-E>9AYA=EFyEEMEEM>QQ 5]4U`?Q 9]4U޷))U:jBYYy]g>Q Ie?U"DIUj;iU3;UN4ymBɮmh9BiZRbj"ړڒ’\@ɢ/᤼) A=i)moiɃ d VɧzYi` ?#]<I` ? ` ?IA>A>II O%+>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5018031E  E E *E "E :*E ;J:VE (N4ZE BE i2?2caٱ2,F :AHRS rotation from veh to nav: [[0.860803,-0.488115,-0.144091],[0.505944,0.851392,0.138391],[0.055127,-0.192029,0.979840]]2H?D=߿q¿0?@>?˶? 9?`jȿZ?i2b>I2s];2ɑCYFJHByFWHIJ<)HiMMb@Mb@Mb@IIII I9MK?y&1(\?YM^?yM`eMz>M BMA M~B)IIYMBbDeRVDeϲ8yu}=%uG=ٔuz9Q-}>9yYy=FyE޻E>Q 54?Q 94z))jBY?Q E:y ?Q I?"DI" ;i ;4yɮN9BZRbj"ړڒ’\@ɢ)! ”=i )   i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753571҂Vɧ% %]߼i% ?%ZEaԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005793Թ P3ܝ,,sw?A2nb>2?2aٱ2OC :AHRS rotation from veh to nav: [[0.861795,-0.486785,-0.142650],[0.504263,0.852642,0.136825],[0.055025,-0.189848,0.980270]]2Hӓ?~'߿@ZB¿`"?H?w? >,?`Lȿ`^?i2nb>I2];2ǑCD@zDB@AEF EFEF/ED"EF:*EF*:VEFJ4ZEDaJ@aJ@aJ@aJ@Y^gHBy^{HbDjMVDjʲ8yrs=%rT=ٔr9Q-v>9tYt=vFyvEz:Ez>|Q 54~N?Q 94~Q))~jBYy | ?Q I ?~"DI~F:i~:~:4yBɮ 9B4EZ1R1b1j1"99ړ99ڒA’AAE\@iɢu3)q u*=iq)NiLy$Vɧeؼi ?)<I ?  ?I ԙBBBHBHBBBBB;B@E-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257431^Ae5%<IIO l> ,w?A: >:[?:`ٱ:uBFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509603 JAHRS rotation from veh to nav: [[0.862145,-0.486415,-0.141798],[0.503688,0.853111,0.136016],[0.054809,-0.188688,0.980506]]:H@?j!߿`q&¿6?L?h?? &ȿO`?i: >I:];:őCYRHByRHbDZVVDZӲ8yb=%bL=ٔfs :Q-f>9dYd=jFyj©EjܺEj>lQ 5r4nd?Q 9r4n ))nkBYtyv= ?Q Iv?n"DIn :in:n:4yzzBɮz]8B~+EZRbj"ړ!!ڒ!’!!- N]@QɢUQ)Q U>iY)].WYYi]e0YWɧeeѼim. ?m 21K?2y_ٱ2V@ :AHRS rotation from veh to nav: [[0.862280,-0.486512,-0.140639],[0.503478,0.853481,0.134461],[0.054616,-0.186751,0.980888]]2H ̗?`#߿@t¿~?O?6??wǿoc?i2b>I2];2ɑC@YvHByvH xxauau aua} a}a} a}a} yuK?~jt?I +?u^:?uD9I=FyĩEnE>Q 54?Q 94{))NkBY.#?Q E:y2?Q I? #DIn:i:ǯ4yfBɮ8BZRbj"ړڒ’/]@ %*>%*>%"@"%E?@1ɢ=>)9 =L>i9)=L9AiEV=MWɧMMټiƩ ?p;IƩ ? Ʃ ?Iߕs?ߕ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014715ԩE EE'E"EI:*E*5:VE'4ZEa@a@a@a@BBB+HBHBBBBB~;B?EB9CB9CBBȖ =BȖ =C3 ^A r;I! I1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265571OM >&/,w?AJ>JtR?Jv_ٱJ? VAHRS rotation from veh to nav: [[0.862228,-0.486739,-0.140169],[0.503576,0.853532,0.133766],[0.054529,-0.185922,0.981050]]JH_?&߿` K?@#P?=?C?Mǿ`d?iJ>IJ<];JƑCY^HBy^HbDj[VDjײ8lyr}=%rW=ٔv$o9Q-v>9tIx=zFyzƩEz9E~>|Q 54~?Q 9 4~x))~kBY y 2?Q I ?~#DI~:i~:~n4yɮ7BZRbj"ړڒ’UI]@ " ?@ɢٻ) j>i)pip CXɧ p gi i ? M; I i ? i ?It@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5179911A .AI I) Om > AGE  E E *E "E :*E F:VE (N4ZE BE 2e?2Q^ٱ2"> :AHRS rotation from veh to nav: [[0.862094,-0.487259,-0.139186],[0.503836,0.853578,0.132487],[0.054251,-0.184343,0.981364]]2HE?A/߿@m?P?S?@ƫ?@ǿTg?i2J>I2~^;2đCYIBy7HbDOVD̲8y%R=%%G=ٔ-1:Q-->9- ?I- ?=5Fy5ȩE5::E5>9AQ 5M4E?Q 9M4E ))EkBYIyM2?Q IU?E+#DIE:iE:E4y]RBɮ]7B],Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769492ZRbj "  ړ  ڒ’9E+d]@ "?@9ɢ=T)A E>iA)E8AAiM]Xɧ]?]di]$ ?eo;aIe$ ? e$ ?IaiU(ԑIy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021766i d,sw?AbEuG4jEuG4rEuo0E6 E6E4E4"E6غ:*E6=:VE4ZE4a:@a:@a:@a:@Z>Zά?ZY]ٱZD< fAHRS rotation from veh to nav: [[0.861552,-0.488457,-0.138342],[0.504775,0.853278,0.130836],[0.054137,-0.182553,0.981704]]ZHԑ? B߿3`'?N?9?ҷ?]ǿ`j?iZ>IZ^;ZƑC h)jnAnjn\FllrnAirIroFpIpirznA v9v[F)tt vnAvvdFxzCxIx)xix)|I~nA~q| |&CnAOii ُC AA)  I Y Y+IBykHI%>)%=bD-=VD-8y==%EI=ٔE9Q-E>9III=MFyMʩEM.;EU>QQ 5]4U?Q 9e4U֜))UkBYaye2?Q Ie?U<#DIU;iU:Uħ4yiɮuz7BqZRbj"ړڒ’@|]@ "!>?@ɢc) >i)涼i,6Yɧ:i ?+J;I ?  ?I  1B}.>ByB}HB}QIBByByByB}z;B}?E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273394iIQIiO>ԉԹ i,Nx?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525517:2>:?:[ٱ:h: BAHRS rotation from veh to nav: [[0.861057,-0.489654,-0.137186],[0.505670,0.852971,0.129381],[0.053664,-0.180775,0.982059]]:Hƍ?V߿@Rr.? K?@?y?#ǿm?i:2>I: ^;:ǑCY=3IBy=vHbDUeVDU8yeФ<%eH=ٔe:Q-e>9iIi=mFym̩EuK$;Eu>yQ 54}z?Q 94}))}'lBYy3?Q I?}L#DI}W:i}:}˧4y?BɮJ7B-EZRbj"ړڒ’;]@ !!!"%[?@Qɢ]º)a eǙ>ia)mشԙqiA E EE+E"E:*E?:VE [4ZEBEichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777462 d ,)(x?A2٠>2DC?2HXٱ27 :AHRS rotation from veh to nav: [[0.860453,-0.491239,-0.135294],[0.506789,0.852608,0.127379],[0.052779,-0.178169,0.982583]]2HԈ?vp߿ PQ 7?H?`M???ƿRq?i2٠>I2_;2őCYPIByHyn?)\(?:vV?G=T 9uV?&1?~jth?Yr(?yP>D;BdA  B)&BYBbDgVD8y-=%->=ٔ-";Q-5>91I9==Fy=ΩEEA;EE>IQ 5U4Md(?Q 9]4MŒ))M(lBY]\0?Q E]:y](T?Q Ie?M_#DIMB.;iMf=;Mfӧ4ymsBɮm7BqZRbj"ړڒ’]@ >>g>?"Lg?ɢ9)  (>i uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029475)顩i#VZɧT*駵SCi ?G;I ?  ?II1IAOu>E EEE"E:*EC:VEZEa@a@a@a@Bu,>BqBuHBuIBBu =BqBqBuj;Bu?EI - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282039{,Bx?A2>2?2d|Uٱ25 :AHRS rotation from veh to nav: [[0.859719,-0.492914,-0.133858],[0.508103,0.852074,0.125702],[0.052097,-0.176082,0.982996]]2H@҂? ߿D"`B?@1D?`?t?`ۉƿt?i2>I2`;0YnYIBynH ppbDznVDz8y<%_=ٔ:Q->9 I = Fy ЩE&;E>Q 5%46?Q 9%4))Y!y%T?Q I%?o#DI:i:٧4y5Bɮ56B5$EZQRQbQjQ"QYړYYڒY’aae]@ "9?频ɢ];) ͬ>i)Ў顙il&FZɧv7i ?F ;I ?  ?IIyIO=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533428ԁE  E E )E "E غ:*E a9:VE FA4ZE BE 2# ?2uRٱ2P3 :AHRS rotation from veh to nav: [[0.858880,-0.494762,-0.132420],[0.509592,0.851433,0.124006],[0.051393,-0.173986,0.983406]]2H@{?0߿`" N?@>?@ھ?6P?.Eƿx?i2G>I2;ea;2ÑC9!I!=%Fy-ҩE-;E->1Q 5=45F?Q 9=45n))5)lBYAyE U?Q IE?5#DI5;i5;54yIɮM6BIZiRibqjq"qqړqyڒy’yy}]@ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786406"Ӥ?ɢe;)  >i ) R  i)%y[ɧ%DF%fi%Q?%;!I%Q? -Q?I1II O=ԩߍ =ߍ < BDAT read: Rx Time:20:51:44.4105  TRx dataTimestamp_ set to:1761511905.748881 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038807 ,ux?AE& E&E$E$"E&:*E&A:VE$ZE$a*@a*@a*@a*@:g]>:3 ?:Lٱ:K2 FAHRS rotation from veh to nav: [[0.858077,-0.496516,-0.131055],[0.511083,0.850560,0.123863],[0.049970,-0.173264,0.983607]]:H^u?߿`gZ?7??? -ƿ y?i:g]>I:a;:CYNrIByRHlbDZ_VDZ۲8yv;%vM=ٔzj;Q-z>9xIx=~Fy~ԩE~;E~>Q 5 4#V?Q 9 4))Yy{U?Q I?#DI:i:4yBɮ6B%%EZRbj"ړڒ’@\]@   "  ?B<A<B!B!B%1HB%IBB!B!B!B%J;B%?E9ɢE,g;)A Ei>iA)EˣAAiMo,MY2\ɧUTuF*iu8?uS.;qI}8? }8?Iy A؟AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2903491i #,x?A:DAT read: 20:51:44.4105 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 461, 0.12, 2.657, 0.946, 2.542, 2.394, PHS= 0.365,-1.403, 0.104, RAW= 142.2, 11.3, CAL= 141.6, 12.3, ROT= 8.4, -12.3 >Ygot valid direction response: 20:51:44.4105 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 461, 0.12, 2.657, 0.946, 2.542, 2.394, PHS= 0.365,-1.403, 0.104, RAW= 142.2, 11.3, CAL= 141.6, 12.3, ROT= 8.4, -12.3 BPDAT read: Bearing 190.9, 8.7 (Local) B~Local bearing/azimuth received: Bearing 190.9, 8.7 (Local) JDAT read: Range 11 to 50 : 1618.4 m (Round-trip 2157.9 ms) speed 0.4 m/s JR#Rx 1: Read range and direction messages.N\direction in FSK: [0.966564,0.142730,0.213030]NFpublishing direction and range infoy "gX?QD?AzUmD?Y"LD )"XI"H>i""="@"I>"2+@ "[>)"Q >I"[ "S:?_)"!II"Q >i"[ n5>nM ?n_]Iٱn0 zAHRS rotation from veh to nav: [[0.857268,-0.498269,-0.129689],[0.512519,0.849881,0.122582],[0.049142,-0.171554,0.983948]]nH n?߿f?92?a?)?@yſ@|?in5>Inb;n‘CIYxIByH M49"?I"?=FyשEW;E>Q 5-4i?Q 9-4Y|))Y)y-U?Q I-?#DI;i\;4y9ɮ=6B9iJ R"ux?A"nD"nD"8?"f>V@l@t@ktu@"gX?QD?AzUmD?"Q >"[—"K`@0U/@rmw@"A+[?KБ?aM?j"zDr"DZ"Ks?b"iz"C"Ks?"i"Cڗ"D"8?ZRbj"ړڒ’I@ ? )))"-A?9ɢh;) >i)ܝ顡i/%&]ɧ[g駵9i?Pg;I? ?IA zA jAԙiIAIIYIqO}>Թ m),.qx?A2 >2F\ ?2FhDٱ2U/ :AHRS rotation from veh to nav: [[0.856481,-0.499966,-0.128351],[0.513948,0.849087,0.122104],[0.047933,-0.170546,0.984183]]2H Kh?r߿@m@Cr?+?;B?@?@pſm~?i2 >I2\b;2đCY^IBybHԙyK7A`?MbX9+?̽ʡ 9 rh?-?|?5^Y,?y?5>ҽIB B)YBbDNVD˲8y{<%d=ٔnj;Q-?9I=Fy٩E;E? Q 54  x?Q 94 x)) lBYU4?Q E:ykD?Q I%? #DI z@;i ?; 4y-Bɮ-d6B1ZYRYbaja"aaړaiڒi’iqu .r? 5c>5c>50J?"5@IɢMT <)i m>ii)uKqqiuU2}#]ɧ}o}?i}?};I? ?IIIOC>D]=D]%=Ee EeEe(Ea"Eey:*EeA:VEec44ZEaam@am@am@am@BBB>HBIBBBBBD;B?E! N0,ULx?A2ĥ>2 ?2=ٱ2s/ :AHRS rotation from veh to nav: [[0.855823,-0.501431,-0.127020],[0.515193,0.848267,0.122549],[0.046297,-0.170320,0.984301]]2H@b? @3Bv|?%?\_?@H? ſc?i2ĥ>I2b;2‘CYBIByBHbDNVVDNӲ8yV%Va=ٔVՓ;Q-V>9XIX=ZFyZکEZ~;E^>`Q 5b4bP?Q 9f4bjs))bkBYdyfD?Q If?b#DIb:ibN:b4yhɮne6BlZ|R|b|j|"|ړڒ’  u? III"M@ɢ <) `>i)zfi4}^ɧAygGim?.;њ!QEu  Eu Eu .Eq "Eu [:*Eu VL:VEu ـ4ZEq BEu 6 ?65_9ٱ6{X. BAHRS rotation from veh to nav: [[0.855468,-0.502373,-0.125680],[0.515875,0.847922,0.122072],[0.045241,-0.169265,0.984532]]6H@_?p@L ?,"?@#@?@)?uſH?i6(>I6qb;6őCYJnIByJHbDRRVDRϲ8yZH%ZI=ٔ^*;Q-^>9`I`=bFybܩEb:Ef>dQ 5j4fo?Q 9n4fi)ȡiE7d_ɧہOi?<I? ?IA5>A5>IIO=ԁԩ =,x?ADzDAAE EEE"E:*E*5:VEZEa@a@a@a@YcIByHbD5BVD58yE^ɼ%EB=ٔEQ-E>9III=MFyMߩEMEU>QQ 5e4U6?Q 9e4Uh))UkBYayaQ Ie?U#DIU;iU_:UT 4yiɮu5BqZRbj"ړڒ’A?B*>BBBBBBBR;B?EBBBB =B =C4 "ɢ;) >i)i3: 5`ɧ J wXih?:<Ih? h?IԱII)O5= 9 D,7y?A68>6 ?6!-ٱ6c- >AHRS rotation from veh to nav: [[0.855517,-0.502998,-0.122815],[0.516047,0.847687,0.122969],[0.042256,-0.168580,0.984782]]6H`e`? pu?A ?@z??`ſ U?i68>I6cc;6đCYFlIByJHau@a9u au@au au@au au@au iuMb@Mb@Mb@u©uuu q9uQ?Q?MbYu(?yu\=uuBuA u B)uBqYu BbDMVDʲ8 kCyt<%C=ٔ;Q->G9Y!=-Fy-E1E9E]>eA9aYe2AiQ 54m?Q 94md))m]kBYW,?Q E:y?Q I?m$DImi)q顑i<T-aɧ駝Ti~?Uj<I~? ~?I9^A<I9IIOU>i ~/J,*y?A 27>2 ?2R'ٱ2- >AHRS rotation from veh to nav: [[0.855574,-0.503185,-0.121644],[0.516067,0.847564,0.123735],[0.040839,-0.168641,0.984831]]2H`? $?>??`?`ſ?i27>I2c;2ÑCYF\IByFHIJ<)J< LNp;bDR4VDR8yj%%nZ=ٔnmz;Q-r>9pYp=vFyvEvEv>|Q 54~?Q 9 4~pa))~7kBY y ?Q I ?~$DI~Z;i~{;~<4yɮ5B!ZRbj"ړڒ’B@qɢuiy)}횼yyi}6?&aɧ 駅ŮQi?<I? ?I^AuuD9D=<bEjEOS4rEŮ10EE EEEE)EA"EE:*EE?:VEEFA4ZEAaU@aU@aU@aU@ԙB(>B8CB%HBIBB =BBBB;B?E Q,Dy?APY~JIBy~HbD EVD ò8yT/%E=ٔ%Q-%>9!Y)=-Fy-E-E->1Q 5=45|?Q 9=45]))5 kBYAyAQ IE?5 $DI5j;i5f;5o 4yM|BɮM5BMEZiRibqjq"qqړqyڒy’yy}@)ɢ-\;)1 5H>i1)5И99i=]AEbɧEۀEr,NiE?E EM  EM EI EI "EM :*EM ;J:VEI ZEI BEM f2 ?fٱf+ vAHRS rotation from veh to nav: [[0.857204,-0.501474,-0.117155],[0.513647,0.848909,0.124577],[0.036982,-0.166964,0.985269]]fH7n? o?C*?H? B?_ſ S?if>If;c;f‘CY KIBy HiMb@Mb@Mb@ 9y&1? ףp= :vY`%?yQ8ԽsBA B)YGBbDZVDֲ8yw;%@=ٔK9 ?Y ?=FyE6߻E>Q 5}4?Q 9}4pZ))jBY}'?Q E}:y}>Q I?2$DI(i)UiCcɧtCiz?8<Iz? z?I @@@@)A>A>YA؟AIIO>ԁ k],Gxy?AE EE'E"EI:*EF:VE'4ZEa@a@a@a@NT>N ?NٱN,, VAHRS rotation from veh to nav: [[0.858252,-0.499931,-0.116071],[0.511976,0.849764,0.125623],[0.035830,-0.167242,0.985265]]NHv?߿`Ҷb?D1?h? RX?@,hſI?iNT>INc;LY 0IBy rH bD%/VD%8y5Ì%5U=ٔ5D;Q-5>9="?Y="?==Fy=EEEE>IQ 5U4M ?Q 9U4MW))MjBYQyU>Q I]?qBe'>BaBe HBeIBBaBaBaBe;Be~?EMB$DIMa;iM";M.4yɮ5BZRbj"ړڒ’x @ɢpfb;) :>i)iEKdɧliC:i0?<I0? 0?IAIIQIaOu>ԉԱ Sd,[%y?AFB1>F ?F? ٱF0, NAHRS rotation from veh to nav: [[0.859810,-0.497551,-0.114762],[0.509451,0.851066,0.127069],[0.034447,-0.167720,0.985233]]FH?`߿ amM? ;? C? ?`wſ?iFB1>IFc;FÑCYnOIBynHiMb@Mb@Mb@ 9%C?Cl绿i|?5YZ$?y;߽q:B|A 6B)AY\BbDVD8Թy~=%A=ٔjV;Q->9Y=FyEE>Q 54!?Q 94U))jBYc'?Q E:yp>Q I?T$DIH:i:54yUBɮZ5B EZRbj"ړ!!ڒ!’!!-Uh@QɢU;)Y ]>iY)]~YYi]-GeeeɧeVeÝ+im?mf9 }j,y?AJ>JlR?JRٱJ8, ZAHRS rotation from veh to nav: [[0.861060,-0.495650,-0.113610],[0.507414,0.852115,0.128183],[0.033275,-0.168020,0.985222]]JH̍?߿ IJc;JCYf\IByfHbDrVDrr8yzK=%~Y=ٔ~>K;Q->9Y= Fy E λE >Q 5%45?Q 9%4R))jBY)y-3>Q I-?d$DI;i;<4y=ABɮ=&5BAZiRibiji"iiړiqڒq’qqx@!ɢ%X;)) -!>i))-F))i-WIUWeɧUsE]i]?]GAEU EUEU+EQ"EU:*EU?:VEU [4ZEQa]@a]@a]@a]@BYBYB]HB]IBBYBYBYB];B][?Eiԙ iq,Ry?ABZ>B?B,ٱB|, NAHRS rotation from veh to nav: [[0.862686,-0.493115,-0.112297],[0.504711,0.853597,0.128995],[0.032247,-0.167959,0.985266]]BH? 1߿z&? P? ?ੂ?ſ@M?iBZ>IBc;BőCYV]IByVHIZ<)Zp< \^<bDbVDb8yj*T;%jL=ٔnm(;Q-n>9lYl=rFyrEr`Er>tQ 5z4vI?Q 9z4vP))vjBY|y~>Q I~?vt$DIv ;ivI;vC4yɮ%5BZ!R!b)j)"))ړ))ڒ1’115 .@aɢeD;)a eˮ>ia)m&iiimKu/fɧu<3uciu?}~<}.t;I}? }?IyiAII O5 >ԙEI  EI EM &EI "EI *EI VEM 4ZEI BEM a Fή?F9ٱFy- ZAHRS rotation from veh to nav: [[0.864353,-0.490456,-0.111114],[0.501927,0.855017,0.130442],[0.031028,-0.168519,0.985210]]FH@Ȩ?@c߿q?L\?`U?ş? ſֆ?iF>IF_d;FCYb^IBy`iMMb@Mb@Mb@IIII I9M}?5^I?(\¿MbPYMM"?yMzMMBMA MB)MAIYMBbDm.VDm8y}:%}@=ٔ;;Q->9Y=FyEE>Q 54`?Q 94WN))jBY~&?Q E:y>Q I?$DIH:i/:K4yBɮ4BEZRbj"ړڒ’` :@ɢ6;) >i)‹iM%fɧ%%i% ?%<)I ?  ?IIIO'>! ^},!y?AE EE'E"E:*E=:VE'4ZEa@a@a@a@> >>?>]/ٱ>- JAHRS rotation from veh to nav: [[0.865992,-0.487832,-0.109897],[0.499162,0.856458,0.131596],[0.029925,-0.168818,0.985193]]>H4?`8߿9"C?@h?&??ӛſ ?i> >I>d;>ÑCYRaIByRHbDZEVDZò8ybY<%bX=ٔf>;Q-f>9dYd=fFyfEj Ej>lQ 5r4ns?Q 9r4nmL))njBYtyv>Q Iv?n$DIn;in:nQ4yz޾Bɮz\4BzEAAAEAABM(>BIBIBIBIBIBIBM؈;BMB?EZRbj"ړڒ’@!ɢ%L;)) -Ȱ>i))-x))i-OU*gɧU]ڼi] ?]<]I] ? ] ?IaA>A>QIIO>yԩ ǡ,mz?A6#D>6?6Mٱ6k\- >AHRS rotation from veh to nav: [[0.867755,-0.485106,-0.108046],[0.496173,0.858083,0.132310],[0.028528,-0.168422,0.985302]]@6H ? ߿娻K?ju??6?׎ſ@?i6#D>I6e;4YJIByJHiMb@Mb@Mb@ 9jt?l¿y&1?Y ?y`e=sB|A )Y)-AAbD5GVD5Ų8yE=%EB=ٔMY;Q-M>9IYI=UFyUEU,EU>Q 54H?Q 948J))kBY%?Q E:y>Q I?$DI;i;GY4yɮ.4BZ!R!b!j!"))ړ))ڒ)’11u@颙ɢ&<) >i) ʆ顡i Rnjgɧ駵ic ?<Ic ? c ?IE5 E5E5*E1"E5I:*E5VL:VE5(N4ZE1BE5iIA vϊ,W-z?AFϋ>Fg?FQ޼ٱFo- VAHRS rotation from veh to nav: [[0.869451,-0.482420,-0.106419],[0.493274,0.859580,0.133426],[0.027108,-0.168502,0.985328]]FH?`޿M>Α???@K›?wſχ?iFϋ>IFe;F‘CYbIBybHhbDn@VDn8yv <%vP=ٔvl;Q-z>9xYx=~Fy~E~ E~>Q 5 4?Q 9 4UH))-kBYyF>Q I?$DI;i@;_4y˾Bɮ3B%EZ9RAbAjA"AAړAIڒI’IIM @yɢ}R<)y }>iy)e顁iTgɧZ駍{i ? b<I ?  ?I^Am<IIO=D1D54=E= E=E=+E9"E=:*E=R:VE= [4ZE9aE@aE@aM@aM@B5'>B1B5HB5IBB1B1B1B5;B5?EB8CB8CBBƘ =BƘ =CƓ4Qy ,$Gz?A2H(>2j?2Ҽٱ2, :AHRS rotation from veh to nav: [[0.870817,-0.480341,-0.104640],[0.490932,0.860841,0.133938],[0.025743,-0.168006,0.985450]]2H?޿ɺ nk??$?S\?;ſ͈?i2H(>I2of;2CY^IBybHbDj,VDj8y~D=%~I=ٔ\;Q->9Y = Fy E YۻE >Q 54?Q 94TF))UkBY!y%>Q I%?$DI;i;f4y-Bɮ-3B-EZIRQbQjQ"QQړQYYڒa’aae@颉ɢke<) >i)ۊ顙iq Vhɧϒ駥ji ?<<I ?  ?Iԉ^A9AzAIIGO-p>MT@9IYMG1AԱEU  EU EU 'EQ "EU y:*EU V:VEU '4ZEQ BEU 2?2tǼٱ2, >AHRS rotation from veh to nav: [[0.872156,-0.478242,-0.103097],[0.488621,0.862006,0.134887],[0.024362,-0.168017,0.985483]]2H`?޿d E?`?C?L?ſ?i21ʕ>I2͵f;2ÑCYFIByFHiMMb@Mb@Mb@IIII I9M+?1Zd~jt?YM?yM"۽M=MBMA I)MBIYMBbDe2VDe8yu;%uC=ٔu#X;Q-}>9yYy=}FyEлE>Q 54Q?Q 94C))kBY#?Q E:yP>Q I?$DIO;iN;Gn4yɮ3BԹZRbj"ړڒ’@M@ ɢ Lc<) %>i)d)}iN@a>@a>@a>@B >B.?BٱBq, JAHRS rotation from veh to nav: [[0.873239,-0.476634,-0.101360],[0.486752,0.862984,0.135388],[0.022941,-0.167563,0.985594]]BH ?-޿ &?? dT?}?rſ ?iB >IBg;BCYbIBybNHBr&>BpBrWHBrIBBr =BpBpBr;Br?EbDnBVDn8y #=% Q=ٔ n;Q- >9Y=FyE{E>!Q 5-4%?Q 9-4%A))%kBY)y-/>Q I-?%$DI%:i% :%u4y=Bɮ=d3B9ZRbj"ړڒ’%@颩ɢ<) >i)IvitZdhɧ ij?;Ij? j?IA^A5A=>A=>qAa Iq I O >ԡ ,Ŕz?A6.>6?6nٱ6 * BAHRS rotation from veh to nav: [[0.873888,-0.475894,-0.099217],[0.485649,0.863703,0.134768],[0.021559,-0.165957,0.985897]]6H? u޿`If?t? @?}?>ſx?i6.>I6ug;6CYNIByNoHiMb@Mb@Mb@ 9K7A?{Gz)\(?Y "?y#G=:B B)YbD50VD58yE|=%EF=ٔM[;Q-M>9IYI=UFyUEU2KEU>YQ 5e4]?Q 9e4]j>))]kBYm$?Q Em:ym>Q Im?]$DI]:i]]:]P|4yqɮ}I3ByZRbj"ړڒ’@ @QɢUTN<)Q U>iQ)]uqpYYi]\e|hɧepe&ie?eq);iiIm? ?I@@@@Eq EuEu*Eq"Eq*Eu H:VEu(N4ZEqBEu ,z?A6>6S?6Kٱ6$( >AHRS rotation from veh to nav: [[0.873950,-0.476216,-0.097108],[0.485582,0.864007,0.133047],[0.020542,-0.163431,0.986341]]6He?Tz޿ܸ?? ? ? KĿ?i6>I65f;6CYJ!JByJH LLbDrGVDrŲ8yz=%zP=ٔz);Q-z>9|Y|=~FyE-kE> Q 54 ?Q 94 r;)) )lBYy8>Q I?  %DI ;i ; ,4y%Bɮ%2B%EZARAbIjI"IIړIIڒQ’QQU !@颁ɢ`<) f?i)}i顉i^Ōhɧ駕8i c?u;I c?  c?IAII!O- >E EE(E"E:*EF:VEc44ZEa@a@a@a@B%>BBHBJBBBBDB;B?E) e,mz?A2">2?2ٱ2͇$ >AHRS rotation from veh to nav: [[0.873824,-0.476971,-0.094498],[0.485854,0.864242,0.130509],[0.019420,-0.159954,0.986933]]2H@^?޿ 1;?ݧ? ?@?\yĿ?i2">I2e;2CYF:JByFHbDRRVDRϲ8yZ~=%ZO=ٔZ9;Q-Z>9\Y\=bFybEbE:Eb>dQ 5j4fr?Q 9j4ft8))f\lBYlyn >Q In?f%DIf;if<;f4yr|Bɮr2BvEZRbj"ړڒ’`!@ɢws<) ?i)Fai*:ahɧ.û i?;I? ?I 9AAIQIaOm>YE  E E E "E :*E =:VE ZE BE a 2v=?2ٱ2 >AHRS rotation from veh to nav: [[0.873206,-0.478572,-0.092090],[0.487004,0.863998,0.127807],[0.018401,-0.156450,0.987515]]2HM?޿/+?`ߥ?`[?ג?@Ŀ ?i2͔>I2e;2ÑC^nManaging dock network, ignoring radio surface power offYbOJByfHaUaU aUaU aUaU aUaU yUM?~jthMb`?Un2?UDU;U Q9UMbX9?9I=FyEA;E>Q 54&?Q 94_4))lBY$?Q E:y?Q I?+%DI ;i<:Α4y ɮ 2B Z)R1b1j1"11ړ99ڒ9’99E`"@ ]=]=]y&@"]n!>@qɢu<)q u?iy)}Yyyi}cchɧ駅wغi?;I? ?IԉAIIO%>Թ U,z?AE& E&E&'E$"E&:*E&F:VE&'4ZE$a*@a*@a*@a*@BF&>BDBFHBFdJBBF =BDBFDBDBD`-a>-?-`ٱ-o =AHRS rotation from veh to nav: [[0.872386,-0.480405,-0.090297],[0.488507,0.863406,0.126056],[0.017405,-0.154080,0.987905]]-H?޿ C??"?ґ?@ÿ?i-a>I-Wd;-CYMkJByMHI]<)]p; ep9yI=FyEz;E>Q 549?Q 94r0))lBYyW?Q I?<%DI3;i;54yhBɮe2BZRbj"ړڒ’@Ǐ#@ "S>@ ɢ 9<<) ?i)JQi:fhɧ2ļ%;i%?%.;!I%? %?I)AIIO=>A BŞ,#{?A6쾖>65?6ٱ6< JAHRS rotation from veh to nav: [[0.871381,-0.482518,-0.088721],[0.490327,0.862625,0.124325],[0.016543,-0.151837,0.988267]]6H@[? ޿ea?`?ӿ?@?eoÿ`?i6쾖>I65d;6‘CYRqJByRHbD\VD\yf8<%fi=ٔfC!;Q-f>9hIh=jFyj EnS;En>pQ 5v4r;I?Q 9v4r/-))rlBYtyv?Q Iv?rJ%DIr):ir;rV4y~.Bɮ~1B~EZ!R!b!j!"))ړ))ڒ)’115C$@ QQQ"Uf>@aɢe/1=)i mN?ii)mJiqiu|h}ϥhɧ}쉼}?\i}72?}7t;yI}72? }72?IA>A>EU EUEU*EQ"EUy:*EUP:VEU(N4ZEQBEUAiTDAT read: user:127>Rx Time:20:51:55.0948 TRx dataTimestamp_ set to:1761511916.592836ԙ g˞,/{?ARė>R?RHWٱR ZAHRS rotation from veh to nav: [[0.870413,-0.484465,-0.087609],[0.492076,0.861724,0.123663],[0.015584,-0.150748,0.988449]]RH l?x߿ m+~?>?g?`?Kÿ`?iRė>IRd;RCyYJBy$HbDGVDŲ8y=%9=ٔU ;Q-U>9YIY=]Fy] Ee;Ee>iQ 54m=]?Q 94m())mmBYy@?Q I?m\%DIm[@颉ɢ<) E$?i)"O@顙iQ^khɧ&ԩ駥=عi7N?ђ;I7N? 7N?IEa EeEe(Ea"Ea*Ee?:VEec44ZEaam@am@am@am@BBB+HBJBBBBB;B ?EAIIOm>iߡ Iߡ  E DAT read: 20:51:55.0948 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 317,-0.48,-1.789, 2.918,-1.912,-1.984, PHS= 0.296,-1.336, 0.028, RAW= 141.2, 13.3, CAL= 140.5, 14.3, ROT= 9.5, -14.3 M Ygot valid direction response: 20:51:55.0948 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 317,-0.48,-1.789, 2.918,-1.912,-1.984, PHS= 0.296,-1.336, 0.028, RAW= 141.2, 13.3, CAL= 140.5, 14.3, ROT= 9.5, -14.3 U 6DAT read: bearing request U Dreceived a bearing request messageU BDAT read: Tx time:20:51:56.6976 ] $Ping request sent.] O?Ux?⩝? ) SI P>i  B`< ϸ@ ,m> @ r>) )>I r uYس ?u8?s,|g? a>) ZmI )>i r :publishing transmit ping timeY  :publishing range request flag y y  H>O?Ux?⩝? ) I i ) I uYس ?u8?s,|g? ) I i 2PҞ,ٳI{?A2 Ř>29?24oٱ2 >AHRS rotation from veh to nav: [[0.869462,-0.486380,-0.086427],[0.493783,0.860861,0.122874],[0.014638,-0.149510,0.988652]]2H`? ߿ "?+? t?`?%#ÿ ?i2 Ř>I2vc;2CY~JBy~(H bD->VD-8y;%Q=ٔ#;Q->9I=FyEk;E>Q 54n?Q 94d%))6mBYy?Q I?l%DI:i:4yɮ1BZ9R9bAjA"AAړAIڒI’IIM%@ ">@颹ɢ=)ݼ  %?i)8imChɧ辺iud?);Iud? ud?I!AyIIO=>QE  E E )E "E :*E A:VE FA4ZE BE 6?6dٱ6 >AHRS rotation from veh to nav: [[0.868204,-0.488673,-0.086141],[0.496010,0.859567,0.122954],[0.013960,-0.149476,0.988667]]6HT? iF߿Z @?`?y?? "ÿ`(?i6h>I6Qc;4YjJByj;HyeDl?~jt?e`9I=FyE;E>Q 54V~?Q 94 ))=mBY&?Q E:y=?Q I?|%DI ;i* ;ﴨ4yBɮk1BZRbj"ړڒ’&@ =Q=?"@颡ɢJ%=) (?i)/顩i_pƮhɧDi˺i?_;I? ?IAAIQIiOu6>ԁԩ ޞ,f}{?AE EE*E"E*EF:VE(N4ZEa@a@a@a@B<A<B"%>B B"jHB"JBB B B B";B"!?EBqBqBqBqBqCu4]>]?]\ٱ] }AHRS rotation from veh to nav: [[0.866827,-0.491090,-0.086263],[0.498427,0.858115,0.123325],[0.013460,-0.149897,0.988610]]]H ?n߿P`;?`u????/ÿ@?i]>I]hc;YԱYJByIHbDIVDDz8y<%,=ٔ:Q->9I=FyE;E>Q 54?Q 94G))DmBYy=?Q I?%DI;i@;@4yBɮ81BEZyRybyjy"ړڒ’ O'@ "@@颹ɢ%=) +?i)|%iBsghɧXs[i?<;I? ?IA.AI!I1OMt> ) - aC (G jA ;9 jAY +A9 4,D{?A2e>2+?2iPٱ2\ :AHRS rotation from veh to nav: [[0.865702,-0.493188,-0.085586],[0.500397,0.857033,0.122871],[0.012752,-0.149196,0.988725]]2Hճ? f߿赿@?l? qt?~? ÿ`?i2e>I24c;2C @)BnABļ@@DFnAiFףIDDIHiJvnA JjH)HH HLLLLPIP)PiP)PIRnARCT TVCVnAVtiTXiXX)X XIXYXYbJBybOHIf<)fp=bDj,VDj8yr_<%v=ٔv;Q-v?9z ?Iz ?=zFyzEz};E~?Q 54?Q 9 4))ImBY y [>?Q I ?%DI :i:¨4yeBɮ2BZRbj"ړڒ’`V(@   " f@9ɢ=21=)9 =-?iA)E6AAiEuMhɧMnM$iM<?UK;QIu<? u<?IyEm EmEm'Ei"Em:*EmA:VEm'4ZEiBEm i ,%{?A2$>2?2TKٱ2 :AHRS rotation from veh to nav: [[0.864260,-0.495575,-0.086372],[0.502892,0.855402,0.124043],[0.012410,-0.150641,0.988511]]2H?`~߿@u?t_? J?`ej?5Hÿ?i2$>I2=c;2CYJByEHbD-:VD-8y=`%=E=ٔEW:Q-E>9E"?IE"?=MFyMEMh;EM>QQ 5]4UϮ?Q 9]4U))UOmBYaye??Q Ie?U%DIU;iUg:Uɨ4ymaBɮm2BiZRbj"ړڒ’^+)@ YYY"]N@iɢmJ=)q u!+?iq)}gtyyi}'Gxhɧ駕ʻi?g;I? ?IiAIIOI>D==D=a=B)B)B-HB-JBB)B)B)B-;B-#?EԙbE:4jEŲ>4rEϚ/EU EUEU+EQ"EU:*EU H:VEU [4ZEQBEUa <2EUb <JEU;:EU; \,{?A2k:>2s?2Cٱ2 :AHRS rotation from veh to nav: [[0.863195,-0.497366,-0.086722],[0.504729,0.854189,0.124942],[0.011935,-0.151620,0.988367]]2H L?߿@d3&?U? 0?Pq?Jhÿ`?i2k:>I23c;2CPYJByAHbD)VD)y=; %=J=ٔE9:Q-E>9AIA=MFyMEMN;EM>QQ 5]4U?Q 9]4U())UUmBYaye??Q Ie?U%DIUr;iU;UШ4ymBɮm1Bm EZRbj"ړڒ’ )@ "@ɢp=) ?*?i) iziɧi8c?Zo;I8c? 8c?I߼AIIO>9 E=  E= E9 E9 "E= :*E= A:VE9 ZE9 BE= ? <2E= ? <JE= n;:E= n;,7{?A2<>2?2i3ٱ2/ :AHRS rotation from veh to nav: [[0.862208,-0.499096,-0.086606],[0.506436,0.853021,0.126011],[0.010985,-0.152508,0.988241]]2H4?`1߿+`4?K?!!?o?cÿ?i2<>I2wc;2CYBJByFJH|yUL7A`?Zd;OZd;U+'?Uj9I=FyE;E>Q 54$?Q 94 ))5mBY&?Q E:y4?Q I?%DI:i:3ب4yBɮa1B EZRbj"ړڒ’0*@ .>.>?"j @ɢШ=) ,?i)"i}%_/iɧ%=6-i-?-;)I-? -?I19999)QA II!O5>y A A B! 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G⣿`#? ?5?vGNĿ w?i6>I64g;6CYJIByJKHPbDV=VDV8y^;%^L=ٔ^9Q-b>9`I`=b FybzEfysEf>hQ 5n4j`?Q 9n4j`()j0jBYlyr2>Q Ir?j(DIjQ;ijn;j#4yv Bɮv-BvEZ R b j "ړڒ’,@@ 999"=@IɢMeX<)Q U>iQ)U+ef[2 ?2nD[=ٱ2C% :AHRS rotation from veh to nav: [[0.849826,-0.525586,-0.039433],[0.524341,0.835471,0.164486],[-0.053506,-0.160461,0.985591]]2H1? 0f? -? ?4e@Ŀ?i2^>I27Ng;0YvHByv2H|bDTVDѲ8y9H%E=ٔ{:Q->9I= Fy%}E%C.E%>)Q 554-n?Q 954-]()--jBY1y5>Q I=?-(DI-;i-;-*4yEBɮE,BAZaRabaji"iiړiiڒq’qqu`a@@ "@颡ɢ<) >|>i)A>B}9>B};CB}+HB}HBByByB}DB};B}w?EIIO=)bE-c44jE-14rE-(/E EE&E"EƱ:*E|;:VE4ZEBEH;a2EI;aJE;a:E;aQԁ 5,i׀?A2ݪ>2E ?2\=ٱ2' :AHRS rotation from veh to nav: [[0.850328,-0.524704,-0.040353],[0.523489,0.835520,0.166931],[-0.053873,-0.163071,0.985142]]2H@5?`@3k?? ^?NĿ`I?i2ݪ>I2L!g;2CYRHByR3HbDZGVDZŲ8ybRX;%bO=ٔf}t:Q-f>9dId=f FyjEj$Ej>lQ 5r4n$?Q 9r4nZ()n*jBYtyv8>Q Iv?n(DIn:in:n14yxɮz,BxZRbjY"yړڒ’@@@ "@ɢ0<) }>i)\1<iW0 dɧ5>5|ԱE EE*E"E:*E*:VE(N4ZEa@a@a@a@ ;,¢?A6V>6 ?6)`=ٱ6@) >AHRS rotation from veh to nav: [[0.850825,-0.523895,-0.040374],[0.522593,0.835702,0.168813],[-0.054700,-0.164730,0.984821]]6H`9?``ޫ???@ ſ?i6V>I6Dg;6CYFHByJ6HyHzG?ˡEy&1?=*?什`e= 9?Q?Y ?y̼\=BA A)BYBbD-=VD-8y=;%=C=ٔEK;Q-E>9E ?IM ?=M FyMEM EM>QQ 5]4U7?Q 9]4U~W()U;jBYe !?Q Ee:ye?Q Ie?U(DIU ;iU] ;U94ymBɮm,BuEԹZRbj"11ړ99ڒ9’99Ej@@ }w=}w=}V @"}R-@频ɢ$<) >i)F5<项i =cɧ`>ByB}HB}HBB} =ByByB};B}?E9 E  E E +E "E :*E VE [4ZE BE ;a 2E ;a JE i;a :E i;a OB,} ?AB>BN ?Bd=ٱB̊* JAHRS rotation from veh to nav: [[0.851088,-0.523515,-0.039761],[0.522048,0.835785,0.170089],[-0.055812,-0.165518,0.984626]]BH IB0f;BCY~ IBy~CH p< <bD 4VD 8yf<%L=ٔ%6;Q-%>9%"?I-"?=- Fy-E-źE->1Q 5=45I?Q 9=45(T()5JjBYAyE?Q IE?5(DI5;i5;5@4yIɮM,BQZqRqbqjq"qqړqyڒy’yy@@ "-@颱ɢX=<) 3>i)y8<项i|fcɧ>Aqԙ aH,hX%?A2h>2 ?2Ah=ٱ2f+ :AHRS rotation from veh to nav: [[0.851107,-0.523507,-0.039457],[0.521924,0.835627,0.171238],[-0.056673,-0.166336,0.984439]]2HEI2d;0Yf IByfEHbDr(VDr8yzU;%zM=ٔz ;Q-z>9|I|=~ Fy~EE> Q 54 $\?Q 94 P() ZjBYy?Q I? )DI :i : F4y%кBɮ%,B%EZARAbAjA"IIړIIڒI’QQU/A@ qqq"u$-@颁ɢ+<) ݅>i);<顉i慼 cɧ>駝Eԡ O,3??A2>2Z ?2mj=ٱ2+p, :AHRS rotation from veh to nav: [[0.850922,-0.523801,-0.039545],[0.522161,0.835245,0.172376],[-0.057261,-0.167327,0.984237]]2H@:?1??S?g? RQjſ~?i2>I2dc;2CYFIByF7HbDNVDN8yV%VO=ٔV:Q-V>9XIX=Z FyZE^G:E^>`Q 5f4b/n?Q 9f4bM()bijBYdyf?Q Ij?b)DIb:ib:bM4ynBɮn<,BnEZ|R|b|j"ړڒ’   ~bA@ )))"-e-@yɢ}<)y >i) ?<顁i-Ѯbɧ>駍5B25 ?2M}n=ٱ2X, :AHRS rotation from veh to nav: [[0.850742,-0.524140,-0.038923],[0.522352,0.834990,0.173031],[-0.058192,-0.167536,0.984147]]2H@G9? ?`=?%?Y˭ qſ!~?i2jA>I2:`b;2CYNHByN/H PPbDVVDVg8ym%D=ٔ;Q->9 I =  Fy E!:E>Q 5%42?Q 9-4J()xjBY1y5?Q I=?/)DI;is;$U4yMBɮM,BMEZRbj")ړ)1ڒ1’115;A@ qqq"uv-@颁ɢ<)  z>i)駽%D=D=E EE)E"EU:*Ea9:VEFA4ZEa@a@a@a@ԁ 6'\,]r?A,2>2P5 ?2r=ٱ2p, FAHRS rotation from veh to nav: [[0.850204,-0.525057,-0.038329],[0.523132,0.834430,0.173377],[-0.059049,-0.167457,0.984109]]2H4?C꟣~?঳? 51?@;:oſ }?i2>I2"wa;0YPyR0Hy-?l?9YIY=] Fy]Ee;Ee>iQ 5u4mԒ?Q 9u4mE()m}jBYuE%?Q E}:y}+?Q I}?m@)DIm;im?;ma\4yvBɮ+BEZRbj"ړڒ’A@ ==L@"-Fm@ɢb<) z>i)E<iIaɧ>޼ԱB A BI>B=CBBB =BBDB:;B?E E  E wE &E "E :*E :VE 4ZE BE X;a 2E Y;a JE k;a :E k;a y c,XŌ?A2>2a ?25s=ٱ2K+ :AHRS rotation from veh to nav: [[0.849198,-0.526714,-0.037880],[0.524714,0.833542,0.172868],[-0.059477,-0.166675,0.984216]]2H,? du?`? ? sUſ~?i2>I2Q`;2CYBHByF1HbDNVDNc8yV(;%VV=ٔVV:Q-V>9XIX=Z FyZE^a;E^>``Q 5f4b?Q 9f4bA()bjBYhyju,?Q Ij?bP)DIbW:ib-:bc4yYɮYYZRbj"ړڒ’DB@ "!hm@ɢd<)! %{>i!)% I5i,?A2t>2;2?2!u=ٱ2 +8 >AHRS rotation from veh to nav: [[0.848140,-0.528436,-0.037605],[0.526385,0.832578,0.172433],[-0.059811,-0.166042,0.984303]]2H#?@@`%?z? K? @ſ i?i2t>I2_;2CYFHByFHIh)j<bDrVDrj8yv%z<=ٔzI:Q-z>9|I|=~ Fy~Ei;E> Q 5 4 {?Q 94 =() jBYy,?Q I? b)DI ;i ; j4y%bBɮ%+B!ZARAbAjA"AIړIIڒI’QY]T5B@ yyy"},m@颉ɢ4<) nk>i)%L<顑i恼'aɧ>駝 ~mp,>?A2׭>2t?2w=ٱ2\* :AHRS rotation from veh to nav: [[0.846956,-0.530360,-0.037202],[0.528235,0.831501,0.171970],[-0.060273,-0.165302,0.984399]]2HC?  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E?`?? *쬿ÿ c?i2>I2Iv^;2C|Y2HBy9H bDGVDŲ8y}%6=ٔQ->9I= FyE;E>Q 5 4N?Q 94}()iBYy:?Q I?)DII;iU;J4yɮ%2+B!ZARAbAjA"AAړIIڒI’QQU@D@ qqq"uZV@颁ɢ<) 0H=i)B]<顑irr^ɧ?>駝puQԁ V!,=}?A2Iú>2$8?2Xe=ٱ2mb :AHRS rotation from veh to nav: [[0.833568,-0.550988,-0.039710],[0.549575,0.819852,0.160656],[-0.055964,-0.155741,0.986211]]2H ?@T?`:I2H^;2C <)@@@@@@iFIDDIDiD FļH)HH HJ9HHNnManaging dock network, ignoring radio surface power offPPIP)PiT)TITTT TXXXiXXi\\)\ \I`Y`YfHByfHbDr&VDr8yz%zq=ٔz˺Q-~?9I= FyE ;E ?Q 5%4\?Q 9%4()iBY!y-{;?Q I-? *DI/>;i7;<4y5nBɮ=*B=۹EYZqRqbqDyzD}@AE EuEE"E:*E:VEZEa@a@a@a@jq"!ړ))ڒ)’))U`f>D@ "#V@ɢd<) ;i)T]<i7[p^ɧ'>k)Ա ,HRĂ?AB6b>B6@CB6$HB6!HBB6 =B4B6DB6;B6@ERGѻ>R$?Rg?d=ٱRV ZAHRS rotation from veh to nav: [[0.832447,-0.552661,-0.039978],[0.551299,0.818820,0.160009],[-0.055696,-0.155239,0.986306]]RH`g?fx=?3?/{?`%`ÿЏ?iRGѻ>IR];PY]GBy]HbDm7VDm8y}Io%}B=ٔ&Q->9I= FyE;E>Q 54~m?Q 94 ()UiBYy;i Q?;%2*?2Qb=ٱ20 :AHRS rotation from veh to nav: [[0.831566,-0.553946,-0.040528],[0.552668,0.817967,0.159652],[-0.055288,-0.155159,0.986341]]2H`/? u?`,?xo?NCÿ@?i2>I2x ^;2CYEGByEHIe<)e%=bD0VD8yf%F=ٔQ->9I= FyE};E->AQ 5]4E~?Q 9e4E()E#iBYiyuqAD=D%=E ExE)E"Eҝ:*E:VEFA4ZEa@a@a@a@qԡ \,?A2*>2k?2 `=ٱ22 :AHRS rotation from veh to nav: [[0.831031,-0.554694,-0.041247],[0.553518,0.817400,0.159610],[-0.054819,-0.155472,0.986318]]2H ϗ? Zj?@$(?n?Fÿ?i2*>I2_];2CYBGByFHy K7?{Gz?~jt I ? ף< D  9 X9v?9I= FyE$;E>Q 5%4I?Q 9-4>()hBY-?Q E-:y5 ?Q IU?>*DI3;i;ƪ4yYɮ]+BaqZRbj"ړڒ’`D@ h=h=ZSi>"+3?!ɢ-W\<)) -tiI)UZ[>Bed>BaBeHBeGBBe =BaBaBe ;Be@EB%?CB%?CB!B%Ǝ =B%Ǝ =C%̝5E  E zE *E "E *E  :VE (N4ZE BE ;a 2E ;a JE v;a :E v;a GĠ,?AYzGBy~HbD <VD 8y%L=ٔQ->9!I!=% Fy%E%E->)Q 5=4-?Q 9=4-')-hBY9y9Q I=?-M*DI-;i-;-ͪ4yEGBɮM*BMݹEZiRibiji"iqړqqڒq’yy} E@ ) )))")Gɢ;) ⰽi C9Yy4A)%?ZA>! I I O >mʠ,+?A>*>>?>W1[=ٱ>L! VAHRS rotation from veh to nav: [[0.830008,-0.556068,-0.043306],[0.555181,0.816242,0.159758],[-0.053488,-0.156643,0.986206]]>Hl?N4, ? ?r?b@ Ŀ`?i>*>I>^;>CYbGByfeH hhbDr9VDr8y~%~M=ٔuZQ->9 I =  Fy E;E>!Q 5-4%?Q 9-4%')%hBY1y5s!?Q I5?%]*DI%;i%;%Ԫ4yAɮE +BIEm EmuEm)Ei"Em:*Em:VEmFA4ZEia}@a@a@a@ZRbj"ړڒ’>E@ "G3?ɢ ;) i)X<iX:d<^ɧA=4;iWX?; I WX? 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Ę?IIIO>iB%g>B%ACB%HB%AGBB!B!B!B%a;B%AEԑE  E {E (E "E a:*E 5":VE c44ZE BE g;a 2E h;a JE Dz;a :E Dz;a ,+?A2`)>21k?2Q=ٱ2$ :AHRS rotation from veh to nav: [[0.829030,-0.557190,-0.047405],[0.556860,0.814833,0.161105],[-0.051139,-0.159959,0.985798]]2Hj?`gE ??? .`yĿ?i2`)>I2^;2CYbGBybHbDjHVDjƲ8yrP%ra=ٔvcQ-v>9tIt=v FyvEz;Ez>|Q 5 4~?Q 94~')~hBY)y-?Q I-?~*DI~n;i~;~4y=ݸBɮ=*B9ZYRYbYja"aaړaaڒa’iim@ F@ "[_Q@ԙ颡ɢZɕ) qi)1N<顩iY]ɧ >駵,;i.? T;I.? .?IA!I1IIOe> _, ?AbZ>b?b| O=ٱbS% AHRS rotation from veh to nav: [[0.828846,-0.557388,-0.048295],[0.557190,0.814582,0.161232],[-0.050528,-0.160546,0.985734]]bH`?%? ?@@?@ީƌĿ`"?ibZ>Ib <^;bCY- GBy-HEE EErEE)EA"EE:*EE?:VEEFA4ZEAaM@aM@aM@aM@bDUTVDUѲ8ye%eB=ٔmwQ-m>9iIq=u FyuEuj:E}>yQ 54}J?Q 94}(')}gBYy?Q I?}*DI}:i}:}4yɮ*BZRbj"ړڒ’EAF@ "\gQ@ɢ@~) Nsi)kK< i #VQ]ɧ%>AaIiIO>!Iy B ^>B B HB GBB =B B B ;B 4AE¤,ƃ?A2o>2w?2K=ٱ2& :AHRS rotation from veh to nav: [[0.828788,-0.557384,-0.049329],[0.557345,0.814451,0.161358],[-0.049762,-0.161225,0.985662]]2H@o?@A@??c?kz@Ŀ?i2o>I2fR^;0YFGByFH HHbDV.VDV8y^8%^V=ٔbQ-b>9`I`=f FyfEn9Er>|Q 54~_?Q 94~')~gBYy ?Q I ?~*DI~R:i~:~4yɸBɮ*BֹEZ1R1b1j1"ړڒ’tF@ "kQ@1ɢ5})I M@iI)MDHe ,?Au2>uK?u-H=ٱu0( AHRS rotation from veh to nav: [[0.829392,-0.556344,-0.050893],[0.556514,0.814768,0.162621],[-0.049007,-0.163200,0.985375]]uH`?@?`??rĿ1?iu2>Iu^;uCYFByHy]m?y&1Zd;O?].?]`]j9I= FԑyEE>Q 54,?Q 94')gBY?Q E:yT?Q I?*DI ;i" ;4yɮ*BZRbj"ړڒ’F@ H= H= @\@" DO@颡ɢzл) i)>C<iO_]ɧo^>1D==D=4=EE EEEE+EA"EEa:*EEA:VEE [4ZEAaM@aM@aM@aM@ ,?Ajξ>j=?ji{F=ٱj<( vAHRS rotation from veh to nav: [[0.829528,-0.556105,-0.051295],[0.556361,0.814942,0.162273],[-0.048439,-0.163148,0.985412]]jH`}?`GC??Y?̨Ŀ@~?ijξ>Ij@7^;jCY~FBy~HbD JVD Ȳ8y%%f=ٔ%OҺQ-%>9!I)=- Fy-E- E->1Q 5=45dlG?y;I>? >?I AmjAzAmjAAABk>BBHBFBB =BBB;BYAE9IyIO~>a Ee  Ee tEe ,Ea "Ee :*Ee v:VEe g4ZEa BEe ";au 2Ee $;au JEe `;au :Ee `;au ", s?A YvFByv|HIz<)z4<bDAVD8y%K=ٔQ->9I= FyE%E%>)Q 554-fN?Q 954-')-gBY1y1Q I=?-*DI- ;i-C ;-4yAɮE*BAZaRabaji"iiړiiڒq’qquG@ "颡ɢS) i) <<顩i5J\ɧ>駽w_ԙ K ,R.?ALN>N?N>=ٱN&) ZAHRS rotation from veh to nav: [[0.829907,-0.555345,-0.053346],[0.555954,0.815237,0.162187],[-0.046580,-0.164258,0.985317]]NH@?c'P_? k??e٧jſ`?iN>IN^;NCYbFBybHbDnDVDn²8yv;%vM=ٔvQ-v>9xIx=z FyzªE~ഺE~>Q 5 4!`?Q 9 4')gBYy%?Q I?*DI:i :4DzDE% E%vE%)E!"E%:*E%:VE%FA4ZE!a-@a-@a-@a-@y5Bɮ5x*B9ZRbj"ړڒ’GDG@ !!!"%^K@QɢU )Y ]֚iY)]8v8e$xB B oHB FBB =B B DB ݊;B AEBACBACB˓CBˌ =Bˊ =Cu6I,)H?Abn>b ?b9=ٱb) jAHRS rotation from veh to nav: [[0.830061,-0.554982,-0.054708],[0.555841,0.815402,0.161744],[-0.045156,-0.164667,0.985315]]bHݏ?i r?@? ?ſ?ibn>Ib^;bCYvFByvpH|bDNVD˲8y%H=ٔdQ->9I=% Fy%ĪE%wE%>)Q 554-Fr?Q 954-')-gBY9y=?Q I=?- +DI-;i-;-="4yEBɮE\*BMعEZaRibiji"iiړiqڒq’qqu(vG@ "J@颩ɢXA:) Ϡi)}4<顱i@D5.u\ɧ=>=ЌAU>IIO=)E5 E5E1E1"E5:*E5y:VE1ZE1BE5b ,+b?AEHG>E&?E3=ٱE%*Q ]AHRS rotation from veh to nav: [[0.830284,-0.554503,-0.056174],[0.555626,0.815612,0.161422],[-0.043693,-0.165238,0.985285]]EH஑?@}¬?@~?{?^&ſ`u?iEHG>IE_;AYuFByuxH yyyS?I +?l?:?9<= 9333333? rhZd;O?Y?yC j<=BA `B)Y\BbDuTVDuѲ8yj<%5=ٔ^TQ->9I= FyǪE/E>Q 54ۅ?Q 94')gBYK?Q E:y ?Q I?+DI7 ;i ;!*4yɮV*BZRbj"ړڒ’G@ L>L>Fc@"@ɢG) }i)3/-8<ԁE5 E5wE5+E1"E5:*E5:VE5 [4ZE1a=@a=@aE@aE@ԩ G,e{?AB%>BG?B*=ٱB""* JAHRS rotation from veh to nav: [[0.830498,-0.554017,-0.057776],[0.555460,0.815942,0.160322],[-0.041679,-0.165239,0.985372]]BHp?ÔS? 2?j?`V`&ſ+?iB%>IB a;BCYVFByV`HbD\VD\yf_%fk=ٔjQ-j?9hIh= FyȪE=E>!Q 5-4%F?Q 9-4%')%gBY1y5 ?Q I5?%(+DI%:i%:%X04y]LBɮe)BeϹEZRbj"ړڒ’G@Ա "a@ɢ%oX)! %9i!)%s+-[ɧ5#>5BaBeVHBeFBBe =BaBaBe;BeAE bEFA4jErE0EM  EM uEM 'EI "EM s:*EM :VEM '4ZEI BEM ;a] 2EM ;a] JEM md;a] :EM md;a] 9 2%,͕?A65>6f?6#=ٱ6* >AHRS rotation from veh to nav: [[0.830487,-0.553841,-0.059585],[0.555602,0.815920,0.159943],[-0.039967,-0.165936,0.985326]]6H@Z?ށ@}?`? y?vf=ſʇ?i65>I6a;4YJFByJ{HbDRXVDRղ8yZ!X=%ZL=ٔ^ދQ-^>9\I\=^ Fy^ʪEb<9Eb>dQ 5j4fQ?Q 9j4f')fgBYhyn ?Q In?f7+DIfD;if;f774ypɮr)BpZRbj"  ړ  ڒ ’`H@ "@ɢ$c9) bi)(<i;w[ɧ>9aԑ [+,줯?A2G>2R?2=ٱ2m+ :AHRS rotation from veh to nav: [[0.830460,-0.553715,-0.061127],[0.555747,0.815889,0.159592],[-0.038496,-0.166506,0.985289]]2H` ?@ L?@?m?@Pſ |?i2G>I25c;0YBFByBmHIF=)Fp<bDNUVDNҲ8yVۼ%VK=ٔVoQ-Z>9XIX=^ Fy^ͪE^9E^>`Q 5f4bɷ?Q 9f4bq')bgBYhyj ?Q Ij?bG+DIb:ib;bB>4yn8Bɮn)BnйEE~| E~E~*E|"E~ :*E~0:VE~(N4ZE|a@a@a@a @ZRbj"ړڒ!’!!%@CH@ AAA"E@Qɢ]fK)Y ]꡾iY)]Z#meB] BCBY BY B] =BY BY B] ;B] AE Y@2,aqɄ?AFr>F?F=ٱF/* NAHRS rotation from veh to nav: [[0.830340,-0.553731,-0.062587],[0.556061,0.815961,0.158129],[-0.036492,-0.166103,0.985433]]FH%?)@??Y?`=?!Bſ?iFr>IF#c;FCYnFByn|HbDzPVDzͲ8y<%E=ٔQ->9 I =  Fy ϪE`O:E>Q 5%4?Q 9%4')gBY!y% ?Q I%?W+DI@;i:}E4y1ɮ5)B1ZQRQbQjQ"QYړYYڒY’aaehxH@ "@频ɢ۴8) i)1<顙i6Zɧ">駭NE EqE,E"E:*E$ :VEg4ZEBE";a2E$;aJEU;a%:EU;a%) l8,LSㄢ?A n>n?n=ٱn+ vAHRS rotation from veh to nav: [[0.830326,-0.553518,-0.064632],[0.556198,0.815906,0.157926],[-0.034681,-0.167078,0.985334]]nH@?j `?`?6?@@bſ ڇ?in>In[e;nCY~FBywHyףp= ?y&1?Q?>?`e<< 9V-?Q?Q?Y?y<u= BIA B) BYGBbDmVD8y%@=ٔbQ->9 ?I ?= FyѪE9E>Q 54D?Q 94')hBY?Q E:y'?Q I?g+DIq ;i ;L4y$Bɮ)BѹEZRbj"ړ ڒ ’   H@ - >- >-WA@"-d@AɢE:)A EiI)MۑiA >yA]؟AIiIO;>ԑE% E!E%*E!"E%a:*E!VE%(N4ZE!a5@a5@a5@a5@ ! % %=A>,5&?APf>fG?f=ٱfX, rAHRS rotation from veh to nav: [[0.829968,-0.553844,-0.066409],[0.556841,0.815614,0.157168],[-0.032882,-0.167423,0.985337]]fH?1 ?`??ՠ@!nſ?if>Ifkf;fCYzFBy~lH bD cVD ߲8ye%eO=ٔeQ-m>9m"?Im"?=m FymӪEu6:Eu>yQ 54}{?Q 94}')}hBYy'?Q I?}w+DI}:i}:}S4yɮ)BZRbj"ړڒ’jH@ "d@ɢ4W) i)ty<i;1p%Zɧ V> B v>B B bHB FBB B B DB ;B AEE-  E- pE- (E) "E- :*E-  :VE- c44ZE) BE- E;a5 2E- F;a= JE- :R;a= :E- :R;a= Y |E,?A2*O>2~?2| <ٱ2x, :AHRS rotation from veh to nav: [[0.829560,-0.554232,-0.068242],[0.557563,0.815323,0.156113],[-0.030884,-0.167554,0.985379]]2H?EHx ?@!??`jrſ9?i2*O>I2sg;2CY^FBy^HbDjGVDjŲ8yr4;=%rS=ٔrQ-r>9tIt=v FyvժEz ;Ez>|Q 54~g?Q 94~')~!hBYy'?Q I?~+DI~r;i~:~Z4yBɮS)BҹEZ1R9b9j9"99ړAAڒA’AAM`I@ ":d@1ɢ]?)] ]iY)]nmDqi߉ I߉ ԡ K,0?A:B>:?:Φ<ٱ:t, BAHRS rotation from veh to nav: [[0.828980,-0.554887,-0.069943],[0.558525,0.814879,0.154989],[-0.029006,-0.167548,0.985437]]:H? 籿o?}??ȳ4rſ?i:B>I:N8h;:CYJFByJfHbDVJVDVȲ8y^mb%^M=ٔ^TQ-b>9`I`=b FybתEf\8;Ef>hQ 5n4j ?Q 9n4Er EruEpEp"Er:*Er:VEpZEpav@av@av@av@j+')j0hBYxyzE(?Q Iz?j+DIj;ijs;ja4yɮj)BZ!R!b!j!"))ړ))ڒ)’)15rFI@ QQQ"Ud@aɢeu5ԡB x>B CCB oHB FBB =B B B ;B AE R,VJ?A6W>62?6 <ٱ6(, >AHRS rotation from veh to nav: [[0.828111,-0.555978,-0.071552],[0.559908,0.814206,0.153530],[-0.027101,-0.167202,0.985550]]6H`? 4Q? ?ۦ?`w`fſ?i6W>I6h;6CYFFByJiHIN%=)N=bDn,VDn8yv;%vG=ٔz Q-z>9z ?Iz ?=z Fyz٪E~\;E~>Q 5 4?Q 9 4')?hBYy(?Q I?+DI:i:h4yBɮ?)B!Z9RAbAjA"AAړAIڒI’IIMzI@ iii"m e@颁ɢј_) vi). <顉i>+6,Yɧ>駕0<1a պX,d?A2>2y?2`<ٱ2+ :AHRS rotation from veh to nav: [[0.827282,-0.556998,-0.073196],[0.561222,0.813563,0.152137],[-0.025190,-0.166939,0.985645]]2H y???`6y?a˙`D^ſ h?i2>I2h;0YBFByFmHyES?{Gz?MbpEO?E#=EA A9Eףp= ?Zd;O?Mb?YE?yEj=E=EBEA EB)E BAYEBbD]<VD]8ymU;%mB=ٔmQ-u>9u"?Iu"?=u Fy}۪E}q;E}>Q 54,?Q 94]')@hBY ?Q E:y??Q I?+DI;i;p4yϷBɮ(BɹEZRbj"ړڒ’@I@ L>L>7@"N\@ɢԏZ) ꡾i) <  i r(Xɧ>oYD=D<E EqE-E"Eҝ:*E$ :VEt4ZEa@a@a@a@ԉԱ ^,Ho~?A2 J>2?2<ٱ2+ :AHRS rotation from veh to nav: [[0.826471,-0.557980,-0.074869],[0.562497,0.812921,0.150851],[-0.023309,-0.166787,0.985717]]2H`rr?* ?@s?O?nޗ@IYſ ?i2 J>I2Vwi;0YBFByFcHbDNPVDNͲ8yV(%VX=ٔVQ-V>9XIX=Z FyZݪE^܂;E^>`Q 5f4b;?Q 9f4b')`YdyfP@?Q If?b+DIb6:ibB:bv4ynBɮn(BnʹEZ|R|b|j|"ړڒ’   I@ )))"-Oi\@9ɢ=v{)A E奾iA)ElMjB<AB{>BBBB =BBB;BAEBuBCBuBCBqBuċ =Buċ =Cu3#5E  E rE ,E "E 1:*E ?:VE g4ZE BE a 2E a JE Y;a :E Y;a LC  ! 9 e,K?ABi>BV?BH<ٱB* JAHRS rotation from veh to nav: [[0.825272,-0.559530,-0.076496],[0.564335,0.811991,0.148982],[-0.021246,-0.166119,0.985877]]BH h?` 7 ?`??} gCſ`M?iBi>IBFi;R1:9PYR+A@YzFByz_H !!bD5IVD5Dz8ye+%m?=ٔmQ-m>9qIy=} Fy}ߪE7;E>Q 54#L?Q 94>')BhBYy@?Q I?+DIF;i\G;:~4yɮ(BZRbj"ړ!!ڒ!’!!-XJ@ AAA"EB\@yɢ}g)y }i)%;顁i$8YXɧ>駍rsnI k,&?A2k>2 ?24<ٱ2v* :AHRS rotation from veh to nav: [[0.824194,-0.560895,-0.078102],[0.565978,0.811141,0.147376],[-0.019311,-0.165671,0.985992]]2H _?||??`;? KƓ@4ſ??i2k>I20i;2CD\zD\Eb EbsEb+E`"Eb:*EbZ:VEb [4ZE`af@af@aj@aj@YjFByj3HbDv?VDv8y%䲽%-N=ٔ-UQ-->91I1=5 Fy5E5E;E5>AQ 5E4EQ[?Q 9M4EȞ')EDhBYIyM_A?Q IM?E+DIE4:iE:E4yUBɮ](BYZyRybyj"ړڒ’ ~JJ@ "ٲ\@颹ɢR() ]i) ;iL #%Xɧ>%Tyԡ B >B B bHB FBB B B DB ;B AEr,̅?A6 z>6?6<ٱ6*@ BAHRS rotation from veh to nav: [[0.823057,-0.562227,-0.080491],[0.567703,0.810129,0.146302],[-0.017047,-0.166110,0.985960]]6H{V? *?? ?@tCſ?i6 z>I6)i;6CYNFByN;HbDV1VDV8y^&~<%^R=ٔbQ-b>9`I`=f FyfEf;Ef>hQ 5n4jMj?Q 954j\')jFhBY9y=A?Q I=?j+DIj&`駽9 y,兢?A2Y>2[?2}s<ٱ2a+ :AHRS rotation from veh to nav: [[0.822115,-0.563261,-0.082844],[0.569127,0.809288,0.145424],[-0.014868,-0.166704,0.985895]]2HN?<=5`I6? ?@D? rVſ`s?i2Y>I2{h;0Y^}FByb HIb<)bp=lyMףp= ?kt9I= FyE;E>Q 54?{?Q 94P')+hBY#?Q E:yC?Q I? ,DI;is;4yӷBɮ))B˹EZRbj"!!ړ!!ڒ!’))-J@ MH>MH>Me?"M@Yɢ]^)a eia)eo;aaimSmWɧu@>u"dDDa=E EuE)E"E:*E:VEFA4ZEa@a@a@a@1ԉ 0,?A6o>6}?69.R<ٱ6'+ >AHRS rotation from veh to nav: [[0.820929,-0.564729,-0.084600],[0.570887,0.808336,0.143809],[-0.012828,-0.166354,0.985983]]6H E?CTD??`Th?E Kſ+?i6o>I6[/h;6CYJFByJ0HbDROVDR̲8yZa=%Z^=ٔ^GQ-^>9\I`=b FybEb;Eb>dQ 5j4fx?Q 9j4f')fhBYlynC?Q In?f,DIf;if;f4ypɮr)BtZ R b j "ړڒ’J@ 999"= @IɢUK)Q U꺾iQ)U^G;QYYi]jeWɧe>m(r;imw?m;iImw? mw?IqA.AIIO>BU>BUDCBUVHBUFBBU =BQBQBU%;BUAEԉԱE  E rE *E "E :*E ?:VE (N4ZE BE a 2E a JE a :E a ,?AFo>FQ?F-2<ٱF* fAHRS rotation from veh to nav: [[0.819832,-0.566078,-0.086203],[0.572500,0.807469,0.142260],[-0.010924,-0.165981,0.986068]]FH ſߍ?iFo>IFpMg;FCYvvFByvHbD~:VD~8y a;% E=ٔ$Q->9 ?I ?= FyEǙ;E>!Q 5-4%y?Q 9-4%A')%gBY1y5#D?Q I5?%),DI%:i%:%L4y=BɮE(BE¹EGS]B*** querying acoustic contact ***:YBYZaRabaja"iiړiiڒi’qquK@ "w< @颡ɢ3) ľi)b;顩i0 ԱWɧN=駽Z;i?^;ڡA>A%؟AI1IAOM>  DAT read:  BDAT read: Tx time:20:52:39.8483  $Ping request sent. 2ǟ?2f<ٱ2ޜ) :AHRS rotation from veh to nav: [[0.818575,-0.567699,-0.087479],[0.574330,0.806557,0.140039],[-0.008943,-0.164875,0.986274]]2H1?* e`? Q??Pſ?i2>I2Lf;0ER ERzEPEP"ER:*ER :VEPZEPaV@aV@aV@aV@YhFByH bDLVDʲ8y %0=ٔFQ->9"?I"?= FyE ;E>Q 5%4u?Q 9-4ӆ')gBY1y5D?Q I5?<,DIE;iF;y4yAɮE(BAZRbj"ړڒ’UK@ "a @ɢ\) ˾i)`;i@WɧK=z;iu?;Iu? u?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250210IIIO%M>iBM >BI BM =HBM FBBM =BI BI BM `;BM BEԙ *,HM?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021596n>682?6;ٱ6' BAHRS rotation from veh to nav: [[0.817303,-0.569379,-0.088454],[0.576166,0.805695,0.137432],[-0.006984,-0.163288,0.986554]]6HX'?Y8@ꤶ o?A?a?f|Ŀ ّ?i6n>I6Ue;6C D)DFDDHJnAiJtIHHILiL NףL)LP RnARtPPTTIT)TiT)XIXZCX XX\\i\\i\`)` `I`Y`Yf8FByfHbDrGVDrŲ8yz %zq=ٔzýQ-~?9|I|=~ FyE;E? Q 54 \?Q 94 ') gBYyQE?Q I? I,DI ;i ; Z4y%}Bɮ%(B%ùEZARAbIjI"IIړIIڒQ’QQU@K@ qqq"u @!ɢ%L)) -i))-B;))i-ԪUhxWɧU49=]*;i]c?];YI]c? ]c?IaqE EwE)E"E1:*E:VEFA4ZEBE;a2E;aJEk;a:Ek;aIiIO>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754210 T,h#g?A6>6 ?6;ٱ6' BAHRS rotation from veh to nav: [[0.816398,-0.570435,-0.089991],[0.577467,0.805001,0.136033],[-0.005155,-0.163024,0.986609]]6H?A `z? ?@i?`uĿ@L?i6>I6SVe;4Y3FByHytV?Pny&1?` 9Q?I +?~jtY(?y94=IA  B)YbD@VD8yD%==ٔϊQ->9I=E FyEEE-i;EE>IQ 5]4M\?Q 9]4M~')MgBY]?Q E]:y]*?Q I]?M[,DIM>;iMS;M"4yiɮm(BiZRbj"ړڒ’ K@ ;>;>?"G?ɢ μ) Fi)>;i pWɧ  =:i?;)IE? E?IA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006586E EuE+E"Ea:*E:VE [4ZEa@a@a@a@^A<AzAjAIaIqO>)  >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258449,<,a?A6 >6?6HDZ;ٱ6' >AHRS rotation from veh to nav: [[0.815729,-0.571120,-0.091694],[0.578424,0.804489,0.134993],[-0.003330,-0.163156,0.986595]]6Ht?F>y@s?_?rG?HkHĿ /?i6 >I65e;4YHyJHIN=)N=bDv4VDv8yz%~Y=ٔ~Q-~>9I= FyE R;E >Q 54?Q 94z')gBYy*?Q I%?i,DI] ;ii ;z4y-iBɮ-(B-ĹEZIRIbIjQ"QQړQQڒY’YY]@jK@ yyy"}?颉ɢb) i)8;顑iv-lWɧ<駥ß:i?;I? ?I^AmY<II O=QB>BBHBvFBB =BBB;BOBEechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510202yԩ E  E xE (E "E :*E :VE c44ZE BE ;a 2E ;a JE Xo;a :E Yo;a xh,?A:>:T?:w:ٱ:5(< FAHRS rotation from veh to nav: [[0.815302,-0.571442,-0.093469],[0.579033,0.804184,0.134194],[-0.001518,-0.163530,0.986537]]:H ? @I q?? B-?@XĿ?i:>I:g}e;8YM%FByMHbDe'VDe8ym%uC=ٔulQ-u>9yIy=} Fy}E@:E>Q 54?Q 94v')dgBYy+?Q I?y,DI/;in;ī4yɮ(Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762254ZRbj"ړڒ’@PL@ "? ɢ޼) "i)*9;i%BiWɧ%X<%o9-:i%y?%;)I-y? -y?I)ԩ^Aԅ<AA>II On>u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147289 ސ,?A2 >2K?2ijٱ2u' :AHRS rotation from veh to nav: [[0.814846,-0.571864,-0.094851],[0.579677,0.803963,0.132734],[0.000350,-0.163141,0.986603]]2H8?L`$H?@?q?x6? Ŀ??i2 >I2e;0EB EBuEB+E@"EBC:*EB:VEB [4ZE@aJ@aJ@aJ@aJ@Y^FBybHbDjVDj8lyr%rT=ٔvQ-v>9tIt=z FyzEz ;Ez>|Q 54~?Q 9 4~r')~CgBY y K+?Q I ?~,DI~:i~:~˫4yTBɮ(BZ9R9b9j9"99ړAAڒA’AAM`NL@ "?9ɢ=m)Y ]iY)eR;aaieYmhWɧm3;uG9iu)?}T;yI})? })?I@@@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2662241AIIO>B >B B HB WFBB =B B B Nj;B BEBDCBDCBBɊ =BɊ =CG5a x,Ά?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519074>>>v^?>K ٱ>E( ZAHRS rotation from veh to nav: [[0.814673,-0.571823,-0.096574],[0.579917,0.803901,0.132059],[0.002122,-0.163590,0.986526]]>H ?`L எ??P?(aa?Ŀ@?i>>I>Ee;>CYf FByfH hhbDnVDn8yv%vJ=ٔzHQ-z>9xIx=~ Fy~E~?:E>Q 5 4 ?Q 9 4n')"gBYyZ+?Q I?,DI:i[:ҫ4y*Bɮ%J(B%E9ZARAbIjI"IIړIIڒQ’QQU@iL@ qqq"u@?颁ɢL) i)Zp;顉iOjWɧ駝ٹia?;Ia? a?IE EpE-E"E:*E :VEt4ZEBE";a2E$;aJE:R;a:E:R;aAIIOE>qy9YtAԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770116 ߢ,j膢?A2 >2e?2ٱ2( :AHRS rotation from veh to nav: [[0.814610,-0.571600,-0.098410],[0.579996,0.803950,0.131416],[0.004000,-0.164130,0.986431]]2HH?J`g1R??9?ap?4ſא?i2 >I2ѫf;2CYfFByfHyUkt?q= ףpX9vU 0?UUQ Q9US?+J +YU?yUUHU BUA UB)U BQYUBbDmVDm8y}鯼%}A=ٔQ->9I= FyEbx9E>ԙQ 54e?Q 94[k')gBYs?Q E:y ?Q I?,DI2;i2;ګ4yBɮ+(BEZRbj"ړڒ’`L@ ==i@"AC@)ɢ-')1 5~i1)T;顱idRgWɧxS<3-):i?֒;I? ?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022550AAIIIYO}7>E EuE,E"Es:*E:VEg4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274146 m,H?A2>2_?2ٱ2Z) :AHRS rotation from veh to nav: [[0.814647,-0.571235,-0.100203],[0.579927,0.804107,0.130755],[0.005882,-0.164629,0.986338]]2H?G妹Î?>??x?ſ?i2>I22Wg;0YBEByF~HbDNVDN8yV%VY=ٔVQ-V>9XIX=Z FyZE^VE^>`Q 5f4b,?Q 9f4bAh')bgBYdyf ?Q If?b,DIb:ibW:b4ylɮn3(BlZyRybyjy"yyړڒ’L@ "oBBHB9FBB =BBB;BBEAIIQIaOu>!i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526425IbE5əT4jE5OS4rE5p/E  E rE +E "E :*E ?:VE [4ZE BE ;a 2E ;a JE Y;a :E Y;a y ơ,:!?A2>2?2kdٱ2,R* :AHRS rotation from veh to nav: [[0.815207,-0.570104,-0.102076],[0.579119,0.804719,0.130573],[0.007702,-0.165558,0.986170]]2H,?I>!#?A? ?x?1ſ@?i2>I2h;2CY^EBybvHIf=)fp;bDj VDj8yr%rG=ٔvQ-v>9tIt=v FyzEzEz>|Q 54~>?Q 94~d')~fBY y n ?Q I ?~,DI~:i~:~4yBɮ(BZ1R1b1j1"99ړ9AڒA’AAE MM@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778239 "*C@ɢ[&) Ii) ;iţ %UWɧ%%X=%,;i-P+?-1;)I-P+? -P+?I1QAIIO >ԁԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030101 ̡,&5?AD0zD0E4 E6qE6,E4"E4*E6$ :VE6g4ZE4a:@a:@a:@a:@B>Bj?BٱBH+ NAHRS rotation from veh to nav: [[0.815715,-0.569042,-0.103922],[0.578374,0.805324,0.130140],[0.009635,-0.166263,0.986034]]BHV?@5` ?7? q?`?@Hſ?iB>IBh;BCYVEByV}HbDbVDb8yjMe<%jL=ٔjƝQ-j>9lIl=n FynErEr>tQ 5z4vP?Q 9z4va')vfBYxyz0 ?Q Iz?v,DIv:iv:v4yBɮ'BEZ!R!b!j!"))ړ))ڒ)’115@PM@ QQQ"UC@iɢm )q uiq)}g;yyif FWɧX=駕p;io?7;Io? o?IԱA.AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282148 B B B HB $FBB B B B ;B BE9 ӡ,O?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5392346V>6?6:ٱ6+ BAHRS rotation from veh to nav: [[0.816568,-0.567526,-0.105501],[0.577136,0.806269,0.129781],[0.011408,-0.166864,0.985914]]6H`S!?,) w???@=]?@[ſ`?i6V>I6Pi;4YJEByJxHbD~VD~8y % G=ٔ >Q- >9 ?I ?= FyEoE>!Q 5-4%b?Q 9-4%:^')%fBY)y- ?Q I-?%,DI%:i%F:%4y9ɮ='B9ZYRYbYjY"aaړaaڒa’iimZM@ "B@颙ɢ ) i)e:顡i3 t2Wɧ=駵;i޷?;I޷? ޷?IEy E}sEyEy"Ey*E}Z:VEyZEyBEya2EyaJE}%];a:E}&];aA؟AIIO >9checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786149q `١,wi?A,J>JN?JzYٱJsB, VAHRS rotation from veh to nav: [[0.816998,-0.566584,-0.107222],[0.576488,0.806818,0.129257],[0.013273,-0.167415,0.985797]]JH $? u!r r?s?? /?`mſ`?iJ>IJGFi;JCY^FBy^H ``yV-?I + ףp= ?=ٔgQ->9"?I"?= FyEE>Q 54u?Q 94Z')fBYD?Q E:y~?Q I?,DI}0;i?;4yٶBɮ'BEZARAbAjA"AAړIIڒQ’QQ] M@ }F>}F>}a@"}@=DAT read: 20:52:44.3620 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 334, 0.07, 0.574,-1.054, 0.672, 0.379, PHS= 0.297,-1.388, 0.248, RAW= 148.6, 10.2, CAL= 148.2, 11.1, ROT= 1.8, -11.1 EYgot valid direction response: 20:52:44.3620 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 334, 0.07, 0.574,-1.054, 0.672, 0.379, PHS= 0.297,-1.388, 0.248, RAW= 148.6, 10.2, CAL= 148.2, 11.1, ROT= 1.8, -11.1 UBDAT read: Rx Time:20:52:44.3620 UTRx dataTimestamp_ set to:1761511965.760588]@DAT read: $Low SNR acquisition ]2Received low SNR in chirpi颉ɢ%) +i)k:顩i? EWɧ6=駽X+;i?I;I? ?IX#Rx 1: Read direction message, but no range.\direction in FSK: [0.980808,0.030823,0.192522]yQUib?E?M?QQQQ Q)UUIUb>iUU}>U%@UK6>U~%@ UaF>)U=IUaFQUYk(?X;E?:? U;>)U5IU=iUaFA1IAIQO]U>DyD}=E EE*E"E:*EVE(N4ZEa@a@a@a@ԑ ,񜃇?A2z>2?2sٱ28, :AHRS rotation from veh to nav: [[0.817498,-0.565585,-0.108677],[0.575739,0.807422,0.128821],[0.014889,-0.167881,0.985695]]2H(?D ?һ@sl?f?`6}?~? }ſЊ?i2z>I2h;2C\Y^EBy^HbDfOVDf̲8ynm%rZ=ٔrkQ-r>9tIt=v FyvEvEz>|Q 5~4~?Q 94~W')~fBYyD?Q I?~-DI~:i~:~ 4y ɮ'BZ1R1b1j1"19ړ99ڒ9’9AE 3M@ aaa"eY@qɢu)q }/iy)}OT:yyi}eVɧg>駅( ;i*b?(;I*b? *b?IB5>B1B1B1B5 =B1B1B5;B5BEAYIiIyO>E  E |E -E "E :*E P$:VE t4ZE BE k;a 2E m;a JE };a :E };a A ,h?A:i>:5?:Qٱ:B- BAHRS rotation from veh to nav: [[0.817986,-0.564559,-0.110328],[0.575005,0.807940,0.128849],[0.016396,-0.168835,0.985508]]:H`,?t>pf??~? ʐ?fſG?i:i>I:8 h;:CY^EBybzHbDjSVDjв8yr/%rK=ٔrtQ-r>9tIt=v FyvEv#Ez>xQ 54z?Q 94zT')zgBYy ?Q I?z-DIz;iz;z 4yŶBɮ'BEZ1R9b9j9"99ړAAڒA’AAMN@ aaa"e@颁ɢ) Ji)9顉ibVɧ/>駕2 Iq- %=- =ԡ --, D?AE& E&uE&+E$"E&1:*E&:VE& [4ZE$a*@a*@a*@a*@>>>ڦ?>풼ٱ>,. JAHRS rotation from veh to nav: [[0.818414,-0.563683,-0.111621],[0.574349,0.808497,0.128282],[0.017935,-0.169098,0.985436]]>Hs0? `2 a?5?`k? t]?ſ`?i>>I>rog;>CYRFByRHIZ<)Za=bD-_VD-۲8ye|<%eB=ٔeoQ-m>9iIq=u Fyu EyE>Q 54?Q 94*Q')gBYy?Q I?'-DI;i;|4yɮ'BZ R b j "ړڒ’WN@ yyy"}9@颡ɢ)  i)(顩i;IVɧ L>駵<#B5 >B5 ECB1 B1 B1 B1 B5 DB5 ً;B5 BE ,#ч?A2 >2?2ڞٱ2 - :AHRS rotation from veh to nav: [[0.818474,-0.563385,-0.112687],[0.574216,0.808739,0.127344],[0.019390,-0.168935,0.985436]]2H@0?? ټ _?0?L?` ۓ?ſ ?i2 >I2f;2CYFEByFHbDNeVDN8yVzq%VV=ٔZLzQ-Z>9Z ?IZ ?=^ Fy^ E^ĹEb>`Q 5f4b?Q 9f4b$N')b%gBYhyj?Q Ij?b5-DIb:ibl:b4ynBɮn'BrEZRbj"ړ ڒ ’  `lN@ "@ɢ) i)۹iu`{Vɧ)e>eT7A->EQ EUtEU(EQ"EQ*EUv:VEUc44ZEQBEU;a]2EU;aeJEU`;ae:EU`;aeA؟AIIO>iߡIߡIY ?,ꇢ?A2u>2A?2+Wٱ2ޜ- :AHRS rotation from veh to nav: [[0.818558,-0.563066,-0.113660],[0.574047,0.809011,0.126380],[0.020792,-0.168696,0.985449]]2H 1?^?j?@;-?J?՗ſˈ?i2u>I2Wf;0YRFByRHyM ףp= ?:vy&1?MQ8?MTM`e=I I9M"~j?Q?YMS#?yMMu=M BI MB)IIYMGBbDmUVDmҲ8y :=%7=ٔMQ->9"?I "?=  Fy E ۹E >Q 54?Q 9%4I')FgBY% $?Q E%:y% ?Q I%?H-DI3:i<: 4y-sBɮ5&B1=EZQRYbYjY"YYړYaڒa’aae`N@ ==r$@"&L@颙ɢ) i)Z顡iIVɧ]d>駭6aEa EewEe)Ea"Ea*Ee:VEeFA4ZEaam@am@am@am@ԑԹ ',?A6$>6?6ٱ64- BAHRS rotation from veh to nav: [[0.818362,-0.563135,-0.114730],[0.574269,0.809045,0.125144],[0.022349,-0.168299,0.985483]]6H0? 4^ i`???? ϊſ?i6$>I6He;6CYJ$FByJHbDVaVDVݲ8yZ\=%^b=ٔ^Q-b>9`I`=b FyfEfU:Ef>hQ 5n4j?Q 9n4j/F')jagBYpyr ?Q Ir?jV-DIj;ij;j<'4ytɮv&BtZ R b j"ړڒ’N@ 999"= L@IɢMڲ)Q UiQ)U|QQiU2 eVɧec>e6BBHB9FBB =BBB;BBEBBECBBBC­4AIIO> Wh>GC 9 Q y ?9 Y 0AE  E tE *E "E *E v:VE (N4ZE BE a 2E a JE a :E a  %Q,?A2Q>2?2süٱ2, :AHRS rotation from veh to nav: [[0.817876,-0.563615,-0.115829],[0.574899,0.808791,0.123887],[0.023857,-0.167914,0.985513]]2H@ ,?`" 򦽿e?? ?`m?`3~ſR?i2Q>I2d;0YB&FByBHbDN<VDN8yrP;%rG=ٔv3qQ-v>9tIt=v FyzEz:Ez>|Q 54~?Q 94~'B')~gBY y  ?Q I ?~g-DI~:i~ :~c.4y_Bɮ&BZ1R1b1j9"99ړ9AڒA’AAEl"O@ iii"mL@颁ɢ\ ) i)>˺顉iUɧb>駕E5I R} ,F8?ARP>R?R[ μٱR+ bAHRS rotation from veh to nav: [[0.817516,-0.564044,-0.116286],[0.575357,0.808730,0.122144],[0.025149,-0.166761,0.985677]]RH)? Ľ@Si??D?`?@jXſ?iRP>IRLc;RCYr2FByrHE5 E5oE1E1"E5:*E5:VE1ZE1aE@aE@aE@aE@bD5GVD5Ų8yU<%UC=ٔ]/JQ-]>9YIY=e FyeEe0:Ee>iQ 5u4m?Q 9u4m>')mgBYyy}!?Q I}?mx-DIm';imU;m54yɮ&BZRbj"ړڒ’ XO@ "L@ɢ~L) i)kiտUɧja>3U4qB>BBHBWFBB =BBB;BBEԡ c,whR?A2>2n8?27ؼٱ2+ :AHRS rotation from veh to nav: [[0.816983,-0.564566,-0.117486],[0.576057,0.808334,0.121469],[0.026391,-0.166917,0.985618]]2H`$?@o??@?1?]ſ .?i2>I2kc;2C@YN3FByPIV4=)V=bDZDVDZ²8yb:%bT=ٔfrSQ-f>9dId=f FyjEj;Ej>lQ 5r4n\?Q 9r4n<:')ngBYtyv@!?Q Iv?n-DInd:in|:np<4yzJBɮzb&BzEZRbj"!!ړ!!ڒ!’!)-hO@ III"M-L@Yɢ]o )a eia)ejaaiemUɧm8`>m`3 ,Cl?AB3@>Bv?BٱB+ RAHRS rotation from veh to nav: [[0.816408,-0.565144,-0.118707],[0.576811,0.807913,0.120684],[0.027701,-0.166999,0.985568]]BH ?c=u?m?`-?]?`<`ſ`ʼn?iB3@>IB9c;BCY^6FBy^Hlym?Mb?A`"?m@?m=mY=i i9mS㥛?Mb??Ym$?ym@=m=ٔrGQ->9I= FyET;E>Q 54]&?Q 945')gBYm%?Q E:y1?Q I?-DI ;i ;C4yɮ^&BZaRabiji"iiړiiڒq’`*O@ ==@@"sJj@ɢ) i)/i% t%LcUɧ-L>-#E EEE"E*EVEZEa@a@a@a@1a 'u!,?A2>2|?2+kٱ2c+ :AHRS rotation from veh to nav: [[0.815818,-0.565769,-0.119776],[0.577569,0.807575,0.119318],[0.029222,-0.166521,0.985605]]2H /?r{??@? N?Pſ?i2>I2:b;2CYBHFByBHbDN8VDN8yn$:=%nW=ٔrQ-r>9pIp=v FyvEvX%;Ev>xQ 5~4zA6?Q 9~4zo1')zgBYy1?Q I?z-DIz8;iz;zJ4y 6Bɮ $&B EZ)R)b1j1"11ړ119ڒ9’AAE;O@ aaa"e4Wj@yɢ}1)y }۾iy)C顁i0AUɧ!;>駍#iԙE  E uE .E "E a:*E :VE ـ4ZE BE g;a 2E i;a JE md;a :E nd;a C',/?A2#>2Y?2Oٱ2+ :AHRS rotation from veh to nav: [[0.815350,-0.566252,-0.120681],[0.578188,0.807188,0.118940],[0.030063,-0.166754,0.985540]]2HW?@便@?`{?@r?Ȟ?1Xſ?i2#>I2.a;2CY^`FBybH ``bDj)VDj8yrg=%rJ=ٔv2Q-v>9tIt=v FyzEzD:Ez>i9I9aQ 5m4eG?Q 9m4e,')egBYiym1?Q Iu?e-DIep:ie:eQ4y}Bɮ%BEԙZRbj"ړڒ’ fP@ "dj@ɢe) Ͼi) Yi"Uɧ'>`)?:ٱ&, %AHRS rotation from veh to nav: [[0.814968,-0.566449,-0.122325],[0.578670,0.806792,0.119283],[0.031123,-0.167998,0.985296]]H7?X @P`v?I4a;Y5gFBy=HbD0VD8y<%/=ٔQ->9I= FyEU:E>Q 5}4Z?Q 94'')gBYy#2?Q I?-DIf@;ix?;Ix? x?IAaIiIyO|>9Be>BaBe0HBeFBBaBaBaBe ;BeBEi n4,)ӈ?A6>68?6ٱ6i/ BAHRS rotation from veh to nav: [[0.814585,-0.566497,-0.124627],[0.579150,0.806259,0.120551],[0.032190,-0.170377,0.984853]]6H? @翿d?@?fܾ?>{?ſ?i6>I65a;6CYJjFByJHbDRVDR8yZ!;%Zs=ٔ^PQ-^?9`I`=b Fyb!Eb:Eb?dQ 5j4fh?Q 9j4fN$')f hBYlynO2?Q In?f-DIfw;if;f_4ypɮv%BtZ R b j "  ړڒ’EP@ 111"5Ոj@IɢMs)I MʾiI)UvQQiU[ ]Tɧ]>];ie G?e;aIe G? e G?IaQE EEE"E:*E3:VEZEBEE;a2EF;aJE;a:E;aAIIO>ԁԩ :,툢?A>>>c?>Iٱ>ɜ. JAHRS rotation from veh to nav: [[0.814173,-0.566956,-0.125231],[0.579661,0.806100,0.119150],[0.033397,-0.169600,0.984947]]>H ?@$@?@??X?uſ`?i>>I>7a;>CYfpFByjHIn<)ny]i|?5?㥛 ?:v]?]=]ԼY Y9]x&1? ףp= ?X9vY]!?y]Q8=]] B]IA ]~B)]BYY]BbDqVDqy f<%>=ٔ7Q->9I= Fy#E:E>Q 54}z?Q 94')hBY#"?Q E:y4.?Q I?-DI:iE::g4yBɮZ%BEZRbj"ړڒ’paP@ = = |@" @>ɢX) %Ǿi!)%1!!i%#I-Tԩɧ-=w;i?Y;I? ?IA.AI I!O=.>D=D<E% E%E!E!"E%:*E%.:VE!ZE!a-@a-@a-@a-@ 1 A,e?A2:>2s?2D ٱ2. :AHRS rotation from veh to nav: [[0.813999,-0.566995,-0.126181],[0.579838,0.806074,0.118460],[0.034545,-0.169590,0.984909]]2H@H ?@$`&? \?@]S?ᯡ?"ſ_?i2:>I2a;2CYFFByF3HbDN1VDN8yV=%VY=ٔZ9Z ?IZ ?=Z Fy^%E^*:E^>`Q 5f4b?Q 9f4b')bgBYhyjD.?Q Ij?b-DIb:ib:bm4ylɮn>%BpZYRYbaja"aaړaaڒi’iim=zP@ ":0A>ɢS) ]i)ەijTɧ=o#;i?7;I? ?B>BBVHBFBBBBB%;BBEI)A؟AIIO >9E5  E5 wE1 E1 "E5 a:*E5 :VE1 ZE1 BE5 g;a= 2E5 i;a= JE5 k;aE :E5 k;aE i |G,F@!?A 6Q>6e?6*ٱ6. >AHRS rotation from veh to nav: [[0.813866,-0.566976,-0.127123],[0.579960,0.806067,0.117908],[0.035619,-0.169688,0.984854]]6H0 ?$E?M?6/?`I6`;4YFFByF-HbDRXVDRղ8yV@%ZJ=ٔZ0.Q-Z>9^"?I^"?=^ Fy^'Eb9Eb>dQ 5f4fٚ?Q 9j4f')fgBYhyjO.?Q Ij?f .DIf6:if :ft4yrѵBɮr%BrEZRbj"ړ  ڒ ’ VP@ 111"5ZA>IɢM )I M̻iQ)U6QQiUGTɧ#=駽k;ic?;Ic? c?IqIIO>ԙ= EE  EE sEE *EA "EE :*EE Z:VEE (N4ZEA aM @aM @aM @aM @9N,;?ALV(>Vk?VyٱV./ ^AHRS rotation from veh to nav: [[0.814020,-0.566541,-0.128074],[0.579687,0.806280,0.117791],[0.036530,-0.170127,0.984745]]VH s ?!ď?@ ?'?`?ſ`?iV(>IVڛ`;VCY~FBy~&H bD'VD8y%l%%C=ٔ%Q-%>9)I)=- Fy-)E5BE5>9Q 5E4=6?Q 9E4=9')=gBYAyE8.?Q IE?=.DI=:i=:=.|4yQɮU %BQZqRqbyjy"yyړyyڒ’ (P@ "JA>1ɢ=))9 =徾i9)=lAAiE MTɧM =M;d;iM>?MZ;IIM>? U>?Iq5BDAT read: Response Not Received 5*response not received5BB{HBFBB =BBB/;BBEBECBBBBCǞ4IAIQOe>) T,T?A2>2b?2jٱ2a/ :AHRS rotation from veh to nav: [[0.814067,-0.566285,-0.128905],[0.579562,0.806421,0.117441],[0.037447,-0.170313,0.984678]]2H ? Ƌ?4?`?0,?ſ{?i2>I2r`;2CYZFBy^4HbDfDVDf²8yn <%nO=ٔr Q-r>9pIp=v Fyv+Ev﫹Ev>x|Q 54z?Q 94z')zgBYy/.?Q I ?z-.DIz`+;izK,;z4yBɮ$BEZ1R1b1j1"99ړAIڒa’2GnP@ u89 Y *A "@>颩ɢJ) %i)iׂTɧd=(.7;iRb?;IRb? Rb?IE EE+E"Ea:*EVE [4ZEBEa2EaJE%];a:E&];a z)IiIO>iAIAaԁ *[,gn?A2>2N?2zٱ2]. :AHRS rotation from veh to nav: [[0.814216,-0.566026,-0.129096],[0.579300,0.806758,0.116420],[0.038253,-0.169577,0.984774]]2H?``9 ?`? ͽ?֕?ſE?i2>I2:@`;2CYFFByF+HyE!rh?y&1:vEl'?E`eAA A9ES?:v?~jtYE/?yET9yIy=} Fy}-E}':E}>Q 54S?Q 94 ')gBY?Q E:y ?Q I?>.DI ;i& ;y4yBɮx$BZRbj"ړڒ’`~P@ -=-='@"T.@ɢo) i )   i 8~Tɧ`=3;i_?%z;!I%_? %_?I!))))ԉE EE*E"E*EVE(N4ZEa @a @a @a @I!I1OEQ>Ա mb,?A2۱>2n/?2Iq ٱ2Q. :AHRS rotation from veh to nav: [[0.814465,-0.565488,-0.129884],[0.578890,0.807095,0.116127],[0.039161,-0.169769,0.984705]]2H@?z `C??w? ?ſ?i2۱>I2:`;2CY^FByb?HIb<)b=bDjcVDj߲8yr)=%rT=ٔrEQ-v>9tIt=v Fyv/EzĢEz>|Q 54~?Q 94~e')~gBYy  ?Q I ?~M.DI~:i~=:~64ylBɮA$BEZ1R1b1j1"99ړ9AڒA’AAE3P@ԹB>BBHBFBBBBB;BBE !!!"%LI.@1ɢU$U)Q ]iY)]sƻYYi]UIesTɧeM]=en 1;im]?m ;iIm]? m]?IiA>A>II)O5=ߡߥ<bEȷG4jE(N4rEȃ/E  E wE E "E :*E :VE ZE BE E;a% 2E F;a% JE k;a% :E k;a% 9 ;h,7?A6Q>6Z?6.#ٱ6/ >AHRS rotation from veh to nav: [[0.814865,-0.564756,-0.130561],[0.578274,0.807554,0.115996],[0.039926,-0.170021,0.984631]]6H_?z9 9?{?걽?!q?Aſ?i6Q>I6_;6CYNFByREHbDZeVDZ8yv.<%vJ=ٔvQ-v>9xIx=z Fyz1EzE~> Q 54 ?Q 94 ') gBYy ?Q I? ].DI b:i ; O4y!ɮ%<$B!ZARAbAjI"IIړIIڒQ’QQU -Q@ qqq"uI:.@颁ɢ ) Ii)+ϻ顉ihTɧyZ=駝o.;i[?;I[? [?IIIO=Aiԙ D zD @AE!  E! E% +E! "E! *E! VE% [4ZE! a- @a- @a- @a- @?en, a?A2>2?2E&ٱ2d/ :AHRS rotation from veh to nav: [[0.815303,-0.563970,-0.131220],[0.577605,0.808044,0.115922],[0.040655,-0.170305,0.984552]]2H ?@ `{?@~??Ф?@ſ t?i2>I2_;2CYnFBynUHbDvPVDvͲ8y~f<%I=ٔ"Q->9 I =  Fy 3E E >Q 54?Q 9%4&)gBY!y%m ?Q I%?m.DI;i;e4y-WBɮ5$B1ZQRQbQjQ"QQړYYڒY’aae#/Q@ "g*.@频ɢ*=) ߫i)ػ顙i{JG]TɧX=駥X-;iC[?_;IC[? C[?IqA II)O= >ԡB>BBHBFBB =BBB;BBE Mu,=։?A2>2?22*ٱ2@R/ :AHRS rotation from veh to nav: [[0.815440,-0.563622,-0.131859],[0.577349,0.808302,0.115399],[0.041540,-0.170230,0.984528]]2H`?1 `y??Ί?`D?ſA?i2>I2{w_;2CE EqE,E"E:*E$ :VEg4ZEBE? 99I9== Fy=6E=EE>AQ 5U4E?Q 9U4E.&)EgBYYy]Z ?Q I]?E.DIEj!;iE";E4yeBBɮe#BeEZRbj"ړڒ’`MQ@ "j!.@ɢY) i)Di/PTɧV=O+;idZ?H;IdZ? dZ?IAhAzAiAII1OUT>) "w{,?A0 `)bnAb9`ddfnAidIfoFdIhih hh)hl lnllppIp)pip)pIvnAvt ttvnAzixxiz̏Cx)x xI|Y|YFBy\Hy="~?333333{Gz=3?==#9 99=V-?y&1|?y&1Y=?y=`;=`e=B=A = B)=B9Y=BbDURVDUϲ8ye=%eX=ٔmQ-m>9iIi=u Fyu8E}BDAT read: Rx Time:20:52:54.4730 TRx dataTimestamp_ set to:1761511975.832701E>Q 54$?Q 94&)gBY?Q E:y?Q I?.DI2 ;i ;Z4yɮ#BZRbj"qړڒ’ hQ@ U=U=Uc@"U@@颉ɢ) ƨi)d顙ioRDTɧW=駭ݕ,;i\?O;I\? \?ID<D<EE EAEAEA"EEs:*EAVEAZEAaM@aM@aM@aM@ԙIIOf> `, ?A24>2p?2-ٱ2- :AHRS rotation from veh to nav: [[0.816036,-0.562852,-0.131470],[0.576442,0.809202,0.113609],[0.042441,-0.168494,0.984789]]2H?@5r??x? ʺ? 2ſc?i24>I2N^;2CLYFBySHbD-yVD-8y='%=_=ٔE'!Q-E>9AIA=E FyE9EMQCEM>A]AAAYBe>BeDCBeHBeFBBe =BaBeDBe$;BeBEQQ 5}4U3?Q 9}4U-&)UgBYyyV?Q I?U.DIU;iU\;U4y-Bɮ#BEZRbj"ړڒ’`Q@ " @@颹ɢ) i)ci\G9Tɧ Z=o.;i^?;I^? ^?IIIIYOm>DAT read: 20:52:54.4730 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 79, 0.35, 3.016, 1.278, 3.036, 2.584, PHS= 0.534,-1.261, 0.408, RAW= 146.4, 3.7, CAL= 145.8, 4.0, ROT= 4.2, -4.0 Ygot valid direction response: 20:52:54.4730 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 79, 0.35, 3.016, 1.278, 3.036, 2.584, PHS= 0.534,-1.261, 0.408, RAW= 146.4, 3.7, CAL= 145.8, 4.0, ROT= 4.2, -4.0 6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:20:52:56.0758 $Ping request sent.Ƈ#@ A=4"@ 5=)Q =I5+2?`Kd?w!? C>)脽IQ =i5:publishing transmit ping time:publishing range request flagyy6?ycS ?&k۱? )Ii )I+2?`Kd?w!? )IiE ErE-E"Eҝ:*E?:VEt4ZEBE;a2E;aJEY;a :EY;a 9 􉈢,#?A2T>2̀?20ٱ2, :AHRS rotation from veh to nav: [[0.815871,-0.563082,-0.131504],[0.576623,0.809242,0.112397],[0.043130,-0.167530,0.984923]]2H@?s?P?@Ƽ??qſ}?i2T>I2^;2CY%FBy%lHI-=))bD5TVD5Ѳ8yED=%EJ=ٔM*ߺQ-M>9IIQ=U FyU;EU?:EU>YQ 5e4]D?Q 9e4]^&)]gBYiymg?Q Im?].DI][:i]:]̻4yqɮu#ByZRbj"ړڒ’`#Q@ "@@ɢO) i)i.0Tɧ[=?/;i`?<;I`? `?IAA>IIO=IqPExceeded connect timeout, disconnecting.ԡ D zD ?AE  E pE *E "E a:*E  :VE (N4ZE a @a @a @a @೎,֪=?A26>2q?2M3ٱ2L, :AHRS rotation from veh to nav: [[0.815981,-0.562847,-0.131826],[0.576424,0.809451,0.111915],[0.043716,-0.167308,0.984935]]2H?@r??@s?a?`[jſ`?i26>I2^;2CYRFByRHbDZIVDZDz8ybs$=%bS=ٔfƺQ-f>9dId=j Fyj=EjEj>QQ 5]4UU?Q 9]4U&)UgBYayeY?Q Ie?U.DIU;iU/;U¬4ymBɮm#BmEyZRbj"ړڒ’ Q@ "@@ɢQ) i)Ki$Tɧ>^=1;i?c?;I?c? ?c?IIIO=ԡBYB]ECB]HB]GBB] =BYB]DBYB]BE ǜ,HW?AJ>JGd?J 4ٱJ , VAHRS rotation from veh to nav: [[0.816092,-0.562677,-0.131861],[0.576247,0.809620,0.111601],[0.043962,-0.167062,0.984966]]JHn?s p?h?摼?5?Gbſ ׄ?iJ>IJ^;HYnFByrHbD~OVD~̲8y <% F=ٔ1Q->9I= Fy@EE>!Q 5-4%gf?Q 9-4%&)%gBY1y5K?Q I5?%.DI%>:i%:%ɬ4yɮ #BZRbj"ړڒ’iQ@   " @@ɢD)! %i!)%!!i%n -Tɧ-`=-3;i5e?56I;1I5e? 5e?I9E EtE.E"E:*Ev:VEـ4ZEBE";a2E$;aJE`;a:E`;aII!O5= )Y ɛ,~nq?A2>2`?2j4ٱ2[t, :AHRS rotation from veh to nav: [[0.816120,-0.562573,-0.132138],[0.576202,0.809612,0.111892],[0.044033,-0.167455,0.984896]]2H? ` @p?V? 祿?{?*oſ@D?i2>I2ϭ];2CY^FBy^Hy=?+Mbp=@?==9 99=}?5^I?~jt?y&1|?Y=M"?y=<=`;=IB9 9)=`B9Y= BUnManaging dock network, ignoring radio surface power offY]AAbDecVDe߲8yuӼ%uD=ٔ}1Q-}>9yIy=} FyBEE>Q 54x?Q 94&)gBYn"?Q E:yi'?Q I?.DI>F8)@""P@ɢ*) i))- ))i-L = Tɧ=0A==P;iEmM?E;AIEmM? EmM?IIYAD=DR=E EwE)E"E:*E:VEFA4ZEa@a@a@a@IIOL>ԉԱ ,;?A6 >6f?6dG6ٱ6D, BAHRS rotation from veh to nav: [[0.816054,-0.562605,-0.132411],[0.576262,0.809627,0.111475],[0.044487,-0.167273,0.984906]]6H?@@ p?w??Ʀ?2iſZ?i6 >I6v];6CYJFByJHbDVfVDV8yZ=%^W=ٔ^,Q-^>9`I`=b FybDEfpo9Ef>hQ 5j4j.?Q 9n4j&)jgBYlyno'?Q In?j.DIjw;ij;j׬4ytɮv"BtB<A4=B B DCB HB GBB  =B B B ;B BEBBBB =B =Cs4Z1R1b1j1"99ړ99ڒA’AAEQ@ aaa"eP$P@qɢu)y }Piy)}S yiU Tɧ3$=駍/\;i6?%N;I6? 6?IԑAIIO> C#G;9Y-AE EuE(E"E:*E:VEc44ZEBEa2EaJEmd;a:Emd;a ר,?A2 >2]?27ٱ2c, :AHRS rotation from veh to nav: [[0.816130,-0.562444,-0.132624],[0.576138,0.809715,0.111475],[0.044689,-0.167388,0.984878]]2H?@o?.? ??`lſ@?i2 >I2w#];0YFByHbD=aVD=ݲ8yM<%MA=ٔU-Q-U>9QIQ=U Fy]FE]&E]>aQ 5m4e?Q 9m4ey&)ehBYqyue'?Q Iu?e.DIe:ie-:e߬4y}ǴBɮ}"BZRbj"ړڒ’wR@ "!P@ɢ') i)M i Sɧ/={~:i?k;I? ?IAM.AIYIiO}>I E  E sE 'E "E O:*E Z:VE '4ZE a @a @a @a @,|򾊢?A6>6N?6D7ٱ6k, >AHRS rotation from veh to nav: [[0.816260,-0.562250,-0.132646],[0.575951,0.809844,0.111506],[0.044728,-0.167415,0.984871]]6H ?@/n?@>? ??mſ?i6>I6U];6CYFFByFHIJ=)J<bDRhVDR8yZ$t=%ZU=ٔZLԸQ-Z>9^ ?I^ ?=^ Fy^HEb Eb>dQ 5j4ff?Q 9j4f&)fhBYhyjV'?Q In?f /DIdif:f4ypɮr"BpZRbj "  ړ  ڒ ’1R@ "P@ɢfۼ) Gi)iJ >Sɧ<Y:i?b;I? ?I!A1A5>YAaIqIO>yBBBHB7GBB =BBB ;BBEԩ 쵢,Q؊?A<: ;>: t?:7ٱ:j, FAHRS rotation from veh to nav: [[0.815921,-0.562752,-0.132604],[0.576419,0.809577,0.111017],[0.044878,-0.167017,0.984932]]:H? @,@r??k?D?``ſ`?i: ;>I:\;8YR GByRHbDZUVDZҲ8yb =%bI=ٔf)Q-f>9dId=f FyjJEj:Ej>lQ 5r4n?Q 9r4ns&)nhBYtyv|'?Q Iv?n/DIn:in:n4yzBɮzX"B~EZRbj"ړ!ڒ!’!!%@KR@ AAA"E'P@Yɢ]ּ)Y ]1tiY)eфaaie mSɧm ,ʨ?A6>6?67ٱ6+ BAHRS rotation from veh to nav: [[0.815611,-0.563255,-0.132374],[0.576863,0.809312,0.110650],[0.044808,-0.166609,0.985004]]6H@|?.u??S??qSſ(?i6>I6\;6CYJGByJHpy%n?#~j{Gz%VN?%㥽%ף! !9%%C?9QIQ=U FyULE]:E]>aQ 5m4ey?Q 9m4e&)e*hBYm$?Q Eu:yu+?Q Iu?e//DIe:ie:eH4yyɮ}N"ByZRbj"ړڒ’fR@ O>O>$g!@"b;H@颡ɢRɼ) ji)i"{Sɧ;;b9i?;I? ?I AaIqIO:>E EsE+E"E:*EZ:VE [4ZEa@a@a@a@9a ¢,Ӄ ?A2>2T?28ٱ2l+ :AHRS rotation from veh to nav: [[0.815515,-0.563334,-0.132626],[0.576979,0.809245,0.110536],[0.045058,-0.166666,0.984983]]2H?v?U?L??QUſ?i2>I2a\;2CYBGByFH HHAR@AAR@ABV>BTBV*HBVUGBBV =BTBVDBV*;BVBEbDN\VDNز8y <% O=ٔ %Q->9I= FyNEY9E>9AQ 5M4Em?Q 9M4E&)E4hBYQyU+?Q IU?E@/DIE:iE:EF4y]vBɮ]!B]EZRbj"ړڒ’`R@ "=H@ɢм)! % bi!)%&!!i-t-Sɧ5r5(i5,?U;QIU,? ],?IYAmiAzAmjAAe؟AiIqIO>U%=U4=ԑE EqE*E"E:*E$ :VE(N4ZEBEE;a2EF;aJEU;a:EU;a %ɢ,^&?A2>2N?2d9ٱ2:+ :AHRS rotation from veh to nav: [[0.815072,-0.563946,-0.132750],[0.577579,0.808900,0.109921],[0.045392,-0.166267,0.985035]]2H@?` @{??#?=?;Hſ i?i2>I2ߐ\;0YB3GByBHbDNKVDNɲ8yZLX=%ZP=ٔZ`_Q-Z>9^"?I^"?=^ Fy^PEbI:Eb>dQ 5j4f?Q 9j4f&)f?hBYhyj,,?Q In?fP/DIf:if:f4ypɮr!BpZRbj "  ړ  ڒ ’`{R@ԙ "JH@ɢ¼) Li)2A iSɧכEXyiu?y;Iu? %u?I!AaIqIO>! D zD @AE  E nE .E "E :*E :VE ـ4ZE a @a @a @a @f Т,28@?A:1>:|?:n:ٱ:|+ FAHRS rotation from veh to nav: [[0.814809,-0.564300,-0.132863],[0.577938,0.808676,0.109686],[0.045547,-0.166159,0.985047]]:H?`w~??@Z?Q? Dſ@?i:1>I:\;:CYNGGByNHbDVVVDVӲ8y^I=%^J=ٔbȹQ-b>9dId=f FyfREj:Ej>hQ 5r4j ?Q 9r4jv&)jJhBYpyrI,?Q Ir?j`/DIj;ij ;j% 4yzaBɮz|!BzEZRbj"ړڒ’!!%uR@ AAA"EoQH@QɢUΌ)Q ]u8iY)]"YYi]>?e=TɧeYmeκim0L?mb8;iIm0L? m0L?Iqi߱IߵAAAIQIaOm>!B>BBPHBtGBB =BBB?;BBEQy 7֢,Z?A6W>6V?6>6;ٱ6+ BAHRS rotation from veh to nav: [[0.814637,-0.564516,-0.132996],[0.578168,0.808530,0.109547],[0.045690,-0.166136,0.985044]]6H? [?z?M ?d?Cſz?i6W>I6n\;6CYJ?GByJHINC=)NR>bDVXVDVղ8yZޝ%^J=ٔ^칹Q-^>9`I`=b FybTEf ;:Ef>hQ 5j4j?Q 9n4j6&)jUhBYlyn\,?Q In?jq/DIj;ij/;j14yvMBɮvZ!BvEZ R b j " ړڒ’AR@ 999"=!VH@IɢMuؽ)I Ul@iQ)Uh%QQiUp] Tɧ]4eiee"?e9;aIee"? ee"?IiQE ErE(E"Ea:*E?:VEc44ZEBEg;a2Ei;aJEY;a:EY;aAIIOE>ԁԩ bܢ,Vs?A2>21?2=;ٱ2#) :AHRS rotation from veh to nav: [[0.814218,-0.565284,-0.132295],[0.578758,0.808273,0.108324],[0.045697,-0.164766,0.985274]]2H?@.?_??e?ſ`\?i2>I2{\;2CYjWGByj,HyU/$?333333ÿMbpU=ٔ׈Q->9I= FyVE=:E>Q 54j#?Q 94&)\hBY#?Q E:y+?Q I?/DIJ0;i8;4yɮC!BZR!b!j)"))ړ))ڒ1Ա’R@ V>V>[@"+@!ɢ%)) -(i))-v'YYi]"eTɧehe6:im?m;iIu? u?IqE EoE+E"EO:*E:VE [4ZEa@a@a@a@IIO?> 9 J,ˍ?AB A"<B&>B$B&uHB&GBB& =B$B$B&O;B&CEB?>BL?Bk;ٱBߕ) JAHRS rotation from veh to nav: [[0.813976,-0.565610,-0.132397],[0.579088,0.808063,0.108126],[0.045827,-0.164682,0.985282]]BH ? y _`??@,?v? Iſ@m?iB?>IBғ\;@YRkGByREHbDZVVDZӲ8yfV=%fW=ٔfQ-f>9hIh=j FyjXEju:En>pQ 5r4rF3?Q 9v4r¶&)rbhBYtyv+?Q Iv?r/DIr:ir:rX4yz8Bɮ~!B~EZyRybyjy"yyړڒ’`S@ "?+@ɢ-) i)o=)i+ _%Tɧ ߊ 2^i 7? $; I7? 7?III!O= >9E EqEE"E1:*E$ :VEZEBE;a2E;aJEU;a:EU;ai s,+?A 2>2^?2;ٱ2) >AHRS rotation from veh to nav: [[0.813813,-0.565823,-0.132484],[0.579314,0.807903,0.108109],[0.045864,-0.164731,0.985272]]2H ?9@@༉?`X?`?{?ſX?i2>I2\;2CYJfGByJ?HR@APbDV8VDV8y^*0%^K=ٔ^Q-b>9`I`=b FybZEf5:Ef>hQ 5n4j9D?Q 9n4j&)jihBYlyn+?Q Ir?j/DIj;ij;j^%4ytɮv !BtZ R b j "ړڒ’ S@ 999"=+@IɢMD̬)Q U iQ)U!+QQiUK`5Tɧ駽yin?;In? n?IAzAhAIIO=qԡ D zD AAE  E pE *E "E *E  :VE (N4ZE a @a @a @a @(\,?AJb_>J2?J=A<ٱJ)L VAHRS rotation from veh to nav: [[0.813463,-0.566371,-0.132295],[0.579800,0.807632,0.107529],[0.045944,-0.164176,0.985361]]JH?@ ෍????ſ?iJb_>IJ\;JCYnkGBynEHbDzNVDz˲8yN+<%F=ٔ?LQ->9 I =  Fy \EH:E>Q 5%4U?Q 9%4>&)phBY!y%+?Q I%?/DIi-:,4y5Bɮ5 B5EZQRQbQjQ"QQړYYڒY’aae@D4S@ "+@频ɢq) i)k-顙iU+ITɧb駥i?s;I? ?IIIO=BE~>BECCBEHBEGBBABABEDBE\;BECEBDCBDCBBBCؾ4ԡ E =E =Y q G9 Y 8A,\ۋ?A2;>2?2<ٱ2) :AHRS rotation from veh to nav: [[0.813242,-0.566652,-0.132450],[0.580100,0.807429,0.107441],[0.046062,-0.164210,0.985349]]2H`?",?`t?@H?l?`ſ@?i2;>I25\;2CYbGByb_HbDhVDhyr0T=%rL=ٔvQ-v>9tIt=z Fyz^Ezs:Ez>|Q 5 4f?Q 9 4 &)whBY y ,?Q I?/DI:i:34yɮz BZ9R9b9jA"AAړAAڒA’IIMMS@ iii"m͟+@yɢ}I) i).顁i' _TɧԽ駕diY?,";m2?2V=ٱ2q7) >AHRS rotation from veh to nav: [[0.812695,-0.567370,-0.132734],[0.580855,0.806901,0.107328],[0.046209,-0.164324,0.985324]]2H@?'@n\?`!?y??ſ@Ň?i2 >I2\;2CYNGByPYygfffff?Mb`??3?;< 9T㥛 ?:v?MbY!?y<B )BY bDqVD8yL:%;=ٔcQ->9I= Fy`E ;E>Q 5 4x?Q 9 4&){hBY6!?Q E:y7(?Q I?/DI` ;i ;>;4y%Bɮ%P B%EZARAbAjA"AIړIIڒI’IQUiS@ uL=uL=u}!>"uj?ɢZ) i)Ē0  i yTɧT<i:?;I:? :?IԉDe<De<Em EmoEm,Ei"Ems:*Em:VEmg4ZEiau@au@au@au@AyIIOA>Ա A9 A= ?ABE z>BA BE HBE GBBE =BA BA BE ;BE 8CEn,?A21>2?2=ٱ2*( :AHRS rotation from veh to nav: [[0.812526,-0.567651,-0.132563],[0.581095,0.806758,0.107099],[0.046152,-0.164053,0.985371]]2H6?`3*@T?@?@j?@.?@Ŀ)?i21>I2\;2CY^GBy^jHbDjYVDjֲ8yr<%r]=ٔr!9Q-r>9tIt=v FyvbEz]P:Ez>|Q 54~m?Q 94~&)~~hBYyK(?Q I?~/DI~;i~:~A4yɮG BZ1R1b1j1"1Թ9ړڒ’܂S@ "&j?)ɢ5)Q U.iQ)]1YYi]3eTɧeeŻie?em;aIm? m?IiA.AIIO>bEjEǙT4rEǰ/Eu EuqEu*Eq"Eu:*Eu$ :VEu(N4ZEqBEu;a2Eu;aJEuU;a:EuU;a9 s ,(?AYGBy|HbD%1VD%8y=7=%=E=ٔ=Q-=>9E ?IE ?=E FyEdEEEM>IQ 5U4M?Q 9]4M&)MhBYYyYQ I]?M/DIM;iM;MH4yeԳBɮm BiZRbj"ړڒ’!!% SS@ "颡ɢL) Ͻi)7e3顱iE}  E} vE} +Ey "E} ҝ:*E} :VE} [4ZEy a @a @a @a @ԑ ,B?AJ>JZ?JKb<ٱJ( RAHRS rotation from veh to nav: [[0.812158,-0.568247,-0.132272],[0.581624,0.806416,0.106803],[0.045976,-0.163674,0.985443]]JH1?`/K?)? qW?`)? AĿ?iJ>IJ\;HY^GBy^H ``bDf+VDf8yn9B=%rQ=ٔrC9Q-r>9v"?Iv"?=v FyvfEv:Ev>xQ 5~4zW?Q 94z&)zhBYyv(?Q I?z0DIzj;iz;zO4y ɮ BZ1R1b1j1"11ړ19ڒ9’9AEDS@ aaa"e'ej?qɢu )q uЩiy)}Ab4yyi}y WTɧ 駅ci??;I?? ??Iq^A}#<AIIO >ԡBv>BBCBHBGBB =BBB;BdCE ),Q\?A2J>2!?2=ٱ2[) :AHRS rotation from veh to nav: [[0.812078,-0.568222,-0.132863],[0.581723,0.806273,0.107341],[0.046131,-0.164458,0.985305]]2H ?.x??z?o? ſ?i2J>I2\;2CYzGByzHbD?VD8ye,%G=ٔŹQ->9I!=% Fy%hE%9E%>)Q 554-?Q 954-&)-hBY9y=}(?Q I=?-0DI-;i-;-V4yUBɮUB]EZRbj"ړڒ’S@ "/Ej?ɢNj) i )w5i}!EU EUEU)EQ"EUa:*EU?:VEUFA4ZEQBEUg;a2EUh;aJEU;a:EU;aTɧ~50i5?=;AIE? E?IQ^A<A>A>1 Ai Iq I O >Q ,v?AYGByHyw/?~jt?9I= FykEE>Q 54?Q 94H&)hBY?Q E :y &?Q I ?&0DIi ;^4yɮBZ1R9b9j9"99ړ9AڒA’AAE1S@ ey=ey=ePh@"eR@yɢ}Ii)} }0=iy)j86顁i k#R Uɧ駍diP?;IP? P?I@@@@!EE EEvEE+EA"EE:*EE:VEE [4ZEAaM@aM@aM@aM@YIIIaOm>ԁ B A B s>B ACB HB HBB =B B DB ˌ;B uCE#,?A 6 >6_?6=ٱ6) JAHRS rotation from veh to nav: [[0.811521,-0.568902,-0.133359],[0.582483,0.805713,0.107422],[0.046337,-0.164855,0.985229]]6H?q4@?f?@?@k?ſ?i6 >I6];6CYVGByVHIZ%=)Z<bDbqVDb8yf%j\=ٔjZQ-j>9lIl=n FynmEry&;Er>tQ 5z4v?Q 9z4v&)vhBYxyz&?Q Iz?v50DIv<:ivv:ve4yBɮHBEZ!R!b)j)"))ړ))ڒ1’115 T@ QQQ"U@aɢm:{)i m4kii)m6iqiu$P)Uɧ"'?i-?+B;I-? -?IqIIO>%=ԙE= E={E=*E9"E=:*E=5":VE=(N4ZE9BE=z;aE2E=|;aEJE=Dz;aE:E=Dz;aM *,77?A\YGByHbD=`VD=ܲ8yM=%UD=ٔUQ-]>9aIa=e FyeoEmEm>qQ 5}4ue?Q 94uw&)uhBYyQ I?uF0DIu;;iuf=;uUl4yɮ:BZRbj"ړڒ’T@ "颱ɢKg) 2i)7项ix&OUɧ)i*? <I*? *?IAhAzAIQIyO=y Ee  Ee zEa Ea "Ee :*Ee  :VEa ZEa am @am @am @am @*0,Č?A2V>2,!?2r@ٱ2=. :AHRS rotation from veh to nav: [[0.812051,-0.567387,-0.136550],[0.581694,0.805779,0.111145],[0.046967,-0.169686,0.984378]]2HQ? ({zI2 ];2CYBGByFHbDN\VDNز8yV <%VV=ٔVxغQ-V>9XIX=Z FyZqE^#E^>Q 5 4?Q 9 4&)hBY y z&?Q I?U0DI:i:"s4yBɮ~BE9ZARAbAjA"IIړIIڒI’QQU@6T@ "@ɢ4Ba) ,i)7i+m(}qUɧ80 ih?g<Ih? h?IiaIeAiBp>BBCBHBHBB =BBB;B_CEg׻IIO]>ԑ W"7,9݌?A2`>2?2@Aٱ2w0 :AHRS rotation from veh to nav: [[0.812277,-0.566772,-0.137753],[0.581363,0.805810,0.112637],[0.047164,-0.171577,0.984041]]2H`+?"?2?ռ?%? >ſC}?i2`>I2+];0YbGBybHrAApbDr^VDrڲ8yz;%zF=ٔ~Q-~>9I= FysE~E> Q 54 z?Q 94 &) hBYy[&?Q I? e0DI A;i ]; 8z4yIɮM{BQԙE- E-E)E)"E-U:*E-*:VE)ZE)BE-;a]2E-;aeJE-i;ae:E-j;amZ)RQbQjY"YYړYaڒa’aaeTT@ "@ɢ)Z) i)y8i)* Uɧ 6 w ibQ?<IbQ? bQ?IIiIyO9> N=,?AF>F?F?kBٱF3 NAHRS rotation from veh to nav: [[0.812947,-0.565414,-0.139368],[0.580401,0.806198,0.114802],[0.047448,-0.174218,0.983563]]FH?``?_?c?K?LƿZy?iF>IF-\;DYnHBynHyejt?~jtx?y&1?e ?e;e`e9I= FyuE,5E>Q 54߹߽%=0!?Q 94[}&)hBY$ ?Q E:y)(?Q I?v0DIe\;iH[;4yBɮ/BEZRbj"ړڒ’ [mT@ <<b?"f@ɢ\b7) n:i)Cv8iL,KUɧc?i*3?1<I*3? *3?I!!D=D<E- E-~E-'E)"E-:*E-(:VE-'4ZE)a5@a5@a5@a5@1IA I I! O- >y B `>B @CB JHB ?HBB =B B DB ;B 2I?26Cٱ2.5 :AHRS rotation from veh to nav: [[0.813302,-0.564666,-0.140331],[0.579892,0.806376,0.116117],[0.047592,-0.175815,0.983272]]2H`?az? ? ڹ?@ ^?ƿv?i2u>I2\;2CYFHByFHbDN]VDNٲ8yv4=%vV=ٔvǹQ-v>9xIx=z FyzwE~&պE~>Q 5 4#1?Q 9 4y&)hBY y '?Q I ?0DIW:ip:O4yBɮ=B=EZyRybyjy"ړڒ’คT@ "g@ɢQ #) A5CG91Y57AIiIO>ԁE5 E5E5+E1"E5%:*E5E7:VE5 [4ZE1BE5;aE2E5;aEJE5U;aE:E5U;aEԹ b^J,J}+?AiIYHByHbD5;VD58yM<%UD=ٔUQ-U>9YIY=] FyeyEeEe>iQ 5}4mB?Q 9}4mTu&)mhBYyQ I?m0DIm3&;im&;m4yɮBZRbj"ړڒ’T@ "ɢ) p D= ?AzD= @AEI  EM EM )EI "EI *EM 0:VEM FA4ZEI aU @aU @aU @aU @A FQ,yYE?A2>2X6?2s@ٱ217 :AHRS rotation from veh to nav: [[0.814127,-0.563351,-0.140831],[0.578779,0.806872,0.118211],[0.047038,-0.177748,0.982951]]2H T ?¿Z?@? C?g?tƿUt?i2>I2\;2CYF8HByFAHbDNTVDNѲ8yV=%VU=ٔZĽ:Q-Z>9XIX=Z Fy^{E^mE^>`Q 5f4bR?Q 9f4bq&)bhBYhyj'?Q Ij?b0DIb:ib:bL4ynmBɮnBpZRbj"ړ  ڒ ’  `oT@ )))"-@AɢEF)A E`=iI)M/7IIiM'2U=VɧUVU'+iU%?+D<I%? %?IIYIiO}=B-T>B->CB-oHB-^HBB- =B)B-DB-;B-CE9i lpW,3_?A$ZK>Z?Z>ٱZ7 ~AHRS rotation from veh to nav: [[0.814661,-0.562612,-0.140698],[0.578068,0.807240,0.119169],[0.046531,-0.178415,0.982854]]ZH?@`¿??`܁?ҧ? Nƿ@s?iZK>IZ\;XY=4HByE9I= Fy}EWE>Q 54f?Q 94l&)hBY y e'?Q I ?0DI:i*;4y5JBɮ=`B=EiZyRybyj"ړڒ’ T@ "@ɢJ:) R=i)Z6i-a45#vVɧ5_5 3i5)?59<1I5)? 5)?I9IIO$>EBDAT read: Rx Time:20:53:08.3165 MTRx dataTimestamp_ set to:1761511989.692618Թ ],y?A2>2~?2K=ٱ297 :AHRS rotation from veh to nav: [[0.814925,-0.562308,-0.140379],[0.577722,0.807450,0.119421],[0.046198,-0.178420,0.982869]]2H`?`m@|? ?e?:?tƿ`s?i2>I2\;2C`YEHByQH y=kt?~jth?Mb= 0?=D;=9 99=p= ף?:v?Mbp?Y=%?y=<=;=B=(A 9)99Y9IM@AbDUWVDUԲ8ye.=%e3=ٔeL:Q-m>9iIi=u FyuEu Eu>yQ 54}x?Q 94}`h&)}hBYA%?Q E:yP(?Q I?}0DI}t.;i}y-;}4y5Bɮ%BEZRbj"ړڒ’am&T@ M=M=)@"FO@颹ɢi@Ի) =i)f5i6&VɧhP:i?<I? ?ID=D=E  E E (E "E :*E .:VE c44ZE a@a@a@a@IIOG>} DAT read: 20:53:08.3165 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 366,-0.26,-2.883, 1.654,-2.709, 3.058, PHS= 0.444,-1.359, 0.473, RAW= 150.8, 4.9, CAL= 150.0, 5.0, ROT= 0.0, -5.0  Ygot valid direction response: 20:53:08.3165 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 366,-0.26,-2.883, 1.654,-2.709, 3.058, PHS= 0.444,-1.359, 0.473, RAW= 150.8, 4.9, CAL= 150.0, 5.0, ROT= 0.0, -5.0  8DAT read: $Error in header  *Received a bad header X#Rx 3: Read direction message, but no range. \direction in FSK: [0.996195,0.000000,0.087156]yI M o~6?O?I I I I I )M [IM S>iM 󭿉M ->M q(@M %=M 6'@ M ¸=)M IM ¸I M Xah=Xc?4g8R?MR? M  ?)M IM iM ¸i B- L>B- =CB- HB- HBB- =B- ;DB- DB- Y;B- BE_d,钍?A2 >2?2,{:ٱ28 :AHRS rotation from veh to nav: [[0.815537,-0.561492,-0.140096],[0.576913,0.807866,0.120513],[0.045512,-0.179106,0.982777]]2H@? @v? ?`پ?UM? ƿr?i2 >I2`\;2C <)@B̼B \F@@@iBףIDDIDiFvnA FļD)HH JnAJHHLLIL)LiL)PIRnARףP PTTTiTTiXX)X XIXYX9YU[HByUlHbD=VD8yih=%W=ٔ:Q->9I= FyE,E>Q 54%?Q 94dd&)hBYy (?Q I?0DI\;i;4yɮB!ZaRabaja"aaړaiڒi’D U@ "3O@ɢ[) F=i)[K4i 8JVɧp@iZ?r<IZ? Z?I iA].AIaIyOZ>ԑ j,٬?AbP>b~?bK8ٱb9 nAHRS rotation from veh to nav: [[0.815824,-0.561074,-0.140097],[0.576554,0.807945,0.121699],[0.044909,-0.180059,0.982630]]bH:?Q`!s?@?'?`N?( ǿq?ibP>IbX\;bCԑYpHByHbDdVD8y[=%X=ٔU:Q->9 ?I ?= FyEӠE>Q 54F?Q 94`&)hBYy'?Q I?0DI6:i:<4y  Bɮ BZ1R1b1j1"11ړ19ڒ9’99=`i!U@ ")O@频ɢa:) =i)2顡i:IWɧx駭aFig?<Ig? g?IA؟AI I!O5.>߭=߭<E  E E *E "E %:*E *:VE (N4ZE ) kq,@ƍ?AB>B^a?BM4ٱBy9 JAHRS rotation from veh to nav: [[0.816112,-0.560903,-0.139102],[0.576206,0.808186,0.121746],[0.044132,-0.179510,0.982766]]BH?@Hp?`?*??`+ƿ@r?iB>IBw\;BCY=|HBy=HIE=)E<bDUfVDU8ye<%eS=ٔe;Q-e>9m"?Im"?=m FymEmʘEu>qQ 54u?Q 94u\&)uhBYy'?Q I?u0DIu :iu9:u4yɮBZRbj"ړڒ’*:U@ aaa"e"O@频ɢ`Y) =i) h1顡ib=+:Wɧ=駭/Mi\K?"<I\K? \K?IBH>Bqԙ w,l{?A2>25?2&2ٱ28 :AHRS rotation from veh to nav: [[0.816521,-0.560467,-0.138458],[0.575676,0.808502,0.122153],[0.043480,-0.179448,0.982806]]2H ?Xk?@??rE?@C?$ƿ%s?i2>I2\;0YBHByFHaE@a9E aE@aE aE@aE aE@aE iEMb@Mb@Mb@E©EEE A9ERQ?X9v?y&1|?YE"?yE9yYy=} Fy}E׺E>Q 54 ?Q 94WX&)hBY"?Q E:y*?Q I? 1DI ;i ;4y Bɮ~BEZRbj"ړڒ’&TU@E EE,E"E*E,:VEg4ZEBE;a2E;aJE;;a:E;;aqɢƉ) ]>i)ˁ/iTQ?mrWɧo~Ui&?<I&? &?IAAIIIYOu6>ԡ },V?A2l>2?2vf/ٱ28 :AHRS rotation from veh to nav: [[0.816797,-0.560244,-0.137728],[0.575334,0.808709,0.122397],[0.042809,-0.179213,0.982878]]2H@4#?@#i??kU??tƿs?i2l>I2~];2CYBHByFHbDNVDN8yV9=%VX=ٔVv:Q-V>9XYX=Z FyZE^4E^>`Q 5f4b?Q 9f4bqT&)biBYdyf)?Q Ij?b1DIb:ib[:bǭ4ylɮnoBlZRbj"ړڒ’@zmU@ɢf:) %>i)m-iAE E|EE"E:*EP$:VEZEa@a@a@a@1 B F>B B HB HBB B B B ;B BEф,5?A2W>2f?2+ٱ29 >AHRS rotation from veh to nav: [[0.817022,-0.559950,-0.137587],[0.575077,0.808685,0.123755],[0.041968,-0.180234,0.982728]]2H %?`v g??a? |?ǿ@r?i2W>I2Y];2CYFHByFH HHbDRpVDR8yZt<%ZJ=ٔZ ;Q-Z>9\Y\=^ Fy^Eb\Eb>dQ 5n4f?Q 9n4fEP&)fiBYpyr)?Q Ir?f*1DIft;ifdd;fέ4yzBɮ~?BEZ1R1b1j1"99ړ9AڒA’IIMɆU@)ɢU:)Q U),>iQ)]+YYi]#CeWɧeYe3[eim?8<I? ?I1IIO%>YE EE*E"EƱ:*E*:VE(N4ZEBEH;a2EI;aJEi;a:Ei;aԁ ,s.?A0F>Fj?F x(ٱFD: RAHRS rotation from veh to nav: [[0.817490,-0.559291,-0.137494],[0.574474,0.808871,0.125331],[0.041119,-0.181444,0.982541]]FH(?@ib?@E?@ ?| ?9ǿp?iF>IFpR];FCYZHByZHi=Mb@Mb@Mb@9999 99=MbX9?l?y&1|?Y=!?y==999 9)=&B9Y=BbDUXVDUղ8ye*=%e@=ٔe;Q-e>9iYi=m FymEuEu>yQ 54}?Q 94}K&)}iBY"?Q E:y,?Q I?};1DI}:i}s:}<֭4yӲBɮBEZRbj"ړڒ’ U@频ɢi)ʄ(顙iEF#Xɧݕ駥=oi^?<I^? ^?IIQIaOu=ԑԹ D @AzD E  E E E "E *E .:VE ZE a @a @a @a @④,G?A2>2n?2$ٱ2?: :AHRS rotation from veh to nav: [[0.817860,-0.559038,-0.136310],[0.574008,0.809204,0.125319],[0.040245,-0.180737,0.982708]]2H+? r`E^?? s ?`? `"ǿWr?i2>I2a];0YFHByFHbDNSVDNв8yV=%VW=ٔV;Q-Z>9XYX=Z FyZE^̺E^>``Q 5f4b?Q 9j4bG&)b$iBYhyj+?Q Ij?bJ1DIb:ib:bܭ4yBɮB%EZaRabaja"aaړaiڒi’iiu@ĺU@ɢD;) KY>i)Ŀ%iHaXɧ` yiv?fBqBu+HBuHBBqBqBqBu;BuBEB52;?2 !ٱ29 :AHRS rotation from veh to nav: [[0.818068,-0.559000,-0.135220],[0.573777,0.809346,0.125458],[0.039309,-0.180219,0.982841]]2H`-?S Na\?(?? 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D zD ?AE  E }E *E "E :*E k&:VE (N4ZE a @a @a @a @,\ˏ?AZe>Z2(?Z?ļٱZn6 bAHRS rotation from veh to nav: [[0.819419,-0.560274,-0.121020],[0.572693,0.809084,0.131932],[0.023998,-0.177415,0.983843]]ZH`8? 1 S??&?@͒?ƿ@{?iZe>IZ3_;ZCYn1IBynsHbDvJVDvȲ8y~Y[%~T=ٔA$;Q->9Y=!FyE (E >Q 54?Q 94&)'iBYy%4*?Q I%?@2DI;i:?4y-ӱBɮ-vB-vEZIRIbIjI"QQړQQڒY’YY]>W@颁ɢ~<) >i)|޻顉iOjS]ɧ 駝Rܼi6 ? <I6 ? 6 ?IIqIO=IBU@>BQBQBQBU =BQBQBUߊ;BU_AEqԡ ,h叢?A2r>2?2 ٱ268 >AHRS rotation from veh to nav: [[0.819648,-0.560054,-0.120488],[0.572398,0.809173,0.132664],[0.023196,-0.177705,0.983810]]2H:? JؾQ?`?#??ƿ`{?i2r>I26_;0YJ7IByJ{H LLiUMb@Mb@Mb@QQQQ Q9U%C?Zd;O?+YUZ$?yUj9Y=!FyEgE>Q 54 ?Q 94&)iBY$?Q E:yP"?Q I?Q2DI:i:EG4yɮpBZRbj"ړڒ’YW@ ɢ wh<) ě>i)ֻi+l)^ɧV %Vݼi%m& ?%^  `!,v?A.&>.?.ųٱ.6 :AHRS rotation from veh to nav: [[0.819996,-0.559778,-0.119393],[0.571939,0.809439,0.133022],[0.022179,-0.177363,0.983896]].Hh=? SM????ճƿ|?i.&>I.^;,Y\y\bDjDVDj²8lٔv@.;Q-v>9tYt=v!FyzEzIźEz>|Q 54~?Q 94~ &)~iBY y ,"?Q I ?~a2DI~ :i~:~M4yBɮEBwEZRbj"ړڒ’;sW@ ɢ Rt<)  i )λi n#^ɧ ;޼i  ?%p bEķG4jErO4rEDN0Em EmEm.Ei"Em:*Em,:VEmـ4ZEiau@au@au@au@1AI AM @ABU =>BQ BQ BQ BQ BQ BQ BU ;BU 4AEa  ,P?A6>6C?6]ٱ6u6 >AHRS rotation from veh to nav: [[0.820161,-0.559695,-0.118650],[0.571724,0.809603,0.132947],[0.021649,-0.176873,0.983996]]6H@>?`_K?D?k?`1+? ƣƿ@|?i6>I6\^;6CY^;IBybHbDjVVDjӲ8yr;%r<ٔr:Q-r>9tYt=v!FyvEz/Ez>|Q 54~b,?Q 94~%)~iBYy"?Q I?~q2DI~7;i~;~U4yBɮ BZ1R1b1j1"199ړAAڒA’AAM ۋW@qɢuۂ<)q u>iy)}bHƻyyi}Lp _ɧt 駅 ߼i ?]7 <I ?  ?IA.AI I1iO>ԑEu EuEu)Eq"Euy:*Eu0:VEuFA4ZEqBEu2 ?2qٱ25 :AHRS rotation from veh to nav: [[0.820139,-0.559901,-0.117827],[0.571779,0.809580,0.132852],[0.021006,-0.176328,0.984107]]2H>?)@L?? I?`?@ƿ}?i2 >I2^;2CYKIByHI<)9  ?Y  ?= !Fy E. 9E>Q 5%4U@?Q 9%4%)hBY%^$?Q E%:y-?Q I-?2DIj:i:\4y5Bɮ5B5xEZRbj"ړڒ’W@)ɢ5F|<)1 5>i1)519i=4rE_ɧEFE ڼiE* ?E] 1Y Dy zD} @AE  E E (E "E :*E 3:VE c44ZE a @a @a @a @ ,M?A2}>2?2Zٱ25 :AHRS rotation from veh to nav: [[0.820529,-0.559478,-0.117118],[0.571246,0.809877,0.133334],[0.020254,-0.176308,0.984127]]2H@A?=y G???@n?Cƿ }?i2}>I2=^;2CYBQIByBHbDNdVDN8yV<%Vc=ٔV ;Q-Z>9Z"?YZ"?=Z!FyZE^E^>`Q 5f4bP?Q 9f4b%)bhBYdyf?Q Ij?b2DIb:ibN:bc4ynyBɮnBlZ|R|b|j"ړڒ ’   W@颱ɢ<) >i)شi t_ɧռirF ?<IrF ? rF ?I1B;>BBBBBBBz;B@EA!I9IO>aԉ TE,vf?A2b>2?2y3ٱ25 :AHRS rotation from veh to nav: [[0.820894,-0.559051,-0.116597],[0.570741,0.810160,0.133772],[0.019677,-0.176359,0.984129]]2H@D?@FٽC?`?`q?&? ƿ}?i2b>I2^;2CY\y^HiEMb@Mb@Mb@AAAA A9ES㥛?l:vYE$?yEEԼEBA E6B)EBAYEBbD]jVD]8ymŃ:%m?=ٔm:Q-u>9qYq=u!FyEշE>Q 54Ke?Q 94%)hBY E%?Q E :y B ?Q I ?2DI:ia:j4yɮBE= E=E=)E9"E=غ:*E=ga:VE=FA4ZE9BE=i)C顙iJv']`ɧn駭IX̼i* ?g<I* ? * ?IA.AIIO (> - ,?A6>60?6)ٱ6S8 BAHRS rotation from veh to nav: [[0.821660,-0.557756,-0.117403],[0.569655,0.810518,0.136212],[0.019184,-0.178799,0.983699]]6H K?#:??`go??ƿ`uz?i6>I6D^;6CYNGIByNH PPV@ATbDZpVDZ8yb˼%bV=ٔb:Q-f>9f ?Yf ?=f!FyfEjZmEj>lQ 5r4n`v?Q 9r4nz%)nhBYpyr ?Q Iv?n2DIn+;in;n-q4yzEBɮzDBzpEZRbj"!ړ!!ڒ)’))-W@Qɢ]著<)Y ]>iY)eޣaaie`wm}`ɧmmhļim ?m2DADE<EM EMEM+EI"EM:*EM|;:VEM [4ZEIaU@aU@aU@aU@B:>B:CBHBIBB =BBDB[;B@EI V&,p?A2c>2?2於ٱ2-8 :AHRS rotation from veh to nav: [[0.822506,-0.556594,-0.116990],[0.568457,0.811158,0.137402],[0.018420,-0.179518,0.983582]]2H Q?0?? g?ܒ?qƿy?i2c>I2 ^;0YF\IByFHbDjgVDj8yrK=%rH=ٔv`:Q-v>9tYt=z!FyzEzukEz>|Q 54~l?Q 94~%)~hBY y  ?Q I ?~2DI~:i~:~Px4yFBɮ/BZ1R1b1j9"99ړ9AڒA’AAE@ X@qɢuښ<)q uY>iq)uȚyyi}Fyaɧ2駅[i> ?D<I> ? > ?IQAIIQO}>yE] E]E],EY"E]Ʊ:*E] n:VE]g4ZEYBE]H;ae2E]I;aeJE];ae:E];amԩ J,,.s?A@J!>Jyg?JٱJ49 VAHRS rotation from veh to nav: [[0.823426,-0.555326,-0.116546],[0.567141,0.811952,0.138146],[0.017914,-0.179851,0.983531]]JHY?;`ս&?? Ǯ?W?@^ǿ`y?iJ!>IJ2^;JCYflIByfHiMb@Mb@Mb@ 9'1Z? rhy&1|Y"?yC`A B)&BYpBԩbDZVDֲ8y<%$=ٔ/:Q->9Y=!FyE%SE>Q 54?Q 94%)hBY#?Q E:y#>Q I?2DI ;i ;4y1BɮBZRbj"ړ!ڒ!’!! -X@ɢo<) >i)5iQ|\aɧNվ%i% ?% Em  Em Em *Ei "Em y:*Em 0:VEm (N4ZEi au @a} @a} @a} @Mi3,Nΐ?A2i>2X ?2̎ٱ2=a9 :AHRS rotation from veh to nav: [[0.824229,-0.554236,-0.116055],[0.565988,0.812659,0.138717],[0.017431,-0.180020,0.983508]]2H`?`M õ? N?|?bّ? ǿx?i2i>I2^;2CYFIByFHIJ=)J;bDRTVDRѲ8yVv=%Z=ٔZ:Q-Z?9Z"?Y^"?=^!Fy^ëE^Eb?`Q 5f4bf?Q 9j4b~%)bhBYhyjk>Q Ij?b2DIb:ib:bP4lypɮrBpZR b j "  ړ  ڒ’n@X@AɢEY<)A Eӿ>iA)MgIIiMF}UaɧUzȾU9biUT ?U<IT ? T ?IB8>BBHBIBBBBB<;B@EB];CBYBYBYB]• =C]]4 AAIQIaOu>kG79Yi)A1i 9,j0萢?A6x>6ڒ?6黎ٱ69 >AHRS rotation from veh to nav: [[0.825277,-0.552781,-0.115544],[0.564478,0.813549,0.139654],[0.016802,-0.180475,0.983436]]6Hh?b`C3?? +?4?ǿOx?i6x>I6^;6CYJIByJHiMb@Mb@Mb@ 9x&1?y&1Mb?YA ?y`e<|A )YGBbD-KVD-ɲ89yE=%EA=ٔMf:Q-M>9IYQ=U!FyUūEU@E]>YQ 5e4]?Q 9e4] %)] iBYm ?Q Em:ymB?Q Im?]2DI]:i]/:]4yuBɮ}B}qEZRbj"ړڒ’`[X@E EEE"E:*EE7:VEZEBEiiy)}|yyyi}a bɧι駍3i, ?NR<I, ? , ?IAzAhAaAII!O-->iߡIߥAԑԹ {@,?A2%f>2 ?2ٱ2+9 :AHRS rotation from veh to nav: [[0.826465,-0.551227,-0.114478],[0.562753,0.814747,0.139632],[0.016302,-0.179824,0.983564]]2H fr?`nN?h?w?_?wǿZy?i2%f>I2^;0ԙYIByHAABAbDNVD˲8yV=%4=ٔ:Q->9Y=!FyǫEE>Q 54?Q 94\%)iBYy?Q I? 3DI:i;4yBɮeBrEZRbj"ړ!ڒ!’!!%~xX@QɢUy<)Q Uf>iY)]`+aYYi]hFe!ebɧe˩eՇie ?mAAAAB7>BB HBIBB =BBB1;B@E IF,?A2(]>2?2>Nٱ28 :AHRS rotation from veh to nav: [[0.827610,-0.549730,-0.113396],[0.561087,0.815841,0.139944],[0.015582,-0.179444,0.983645]]2H`{?bl?`_?? s?`ƿz?i2(]>I2^;0 @)@Bj@DDDiFtIDDIHiH J9H)HN@C LNףNdFLPRpAIP)PiP)TIVnAVT TTZnAZiXXiXZCA)\ \I\Y\Y`ybH ddbDn8VDn8yv%vn=ٔvl ;Q-z?9xYx=z!FyzɫE~,E}?Q 54K?Q 94t%)'iBYy2?Q I?3DI:i:蛮4yɮZRbj"ړ ڒ ’    X@yɢ}<)y }.>iy)ML顁iObɧ՜駍zi ?'<I ?  ?IA)I9IiO9>E= E=E=+E9"E=I:*E=?:VE= [4ZE9BE=F?F*PuٱFzO9 NAHRS rotation from veh to nav: [[0.828815,-0.548016,-0.112887],[0.559322,0.816880,0.140949],[0.014972,-0.179961,0.983560]]FH?Y@"漿@?#? ? ?ǿ`Ry?iFE>IF ^;FCY=IBy=HiMb@Mb@Mb@ 9ʡE?/$kt?Y?y, 0=B B)YBbD MVD ʲ8y=%8=ٔ}:Q->9!Y!=%!Fy%˫E- E->)Q 5=4-L?Q 9=4-%)-AiBY=q?Q E=:y= ?Q IE?-(3DI-;i-C:-]4yMBɮM,BMsEQZqRqbqjq"qqړyyڒy’yyتX@颩ɢ+<) >i)=5项irbɧ`Bhij#?v'<Ij#? j#?IAIIO (>yԩD9 zD9 bE(N4jEʔK4rE8/EE  EA EE *EA "EE :*EA VEE (N4ZEA aU @aU @aU @aU @ FS,O?A>>>֘?>\_qٱ>F'8 ^AHRS rotation from veh to nav: [[0.829638,-0.546980,-0.111865],[0.558107,0.817818,0.140323],[0.014732,-0.178850,0.983766]]>H@e?ۀ 5?@+? ?+?`ƿ{?i>>I>4r^;>CY]IBy]2H m9Y=!FyͫEszE>Q 54l ?Q 94%)XiBYy ?Q I?73DI;i:4yɮBB=4>B9B=1HB=IBB9B9B9B=;B=@EZRbj"ړڒ’X@Աɢp<)U3ݼ Q>i)P`i{ cɧ ц EWinc?e<Inc? nc?IAE.AIIIYOm5> 9 Y,qi?A2;Ѿ>2??2eٱ2d8 :AHRS rotation from veh to nav: [[0.830410,-0.545980,-0.111017],[0.556977,0.818513,0.140763],[0.014015,-0.178725,0.983799]]2H?x`k?@A1?@?߳?@tƿH{?i2;Ѿ>I2E^;0YZIBy^JHIb=)b=iEMb@Mb@Mb@AAAA A9E/$?Mbpy&1?YE?yEE`e=AEA EB)AAYEGBbD]<VD]8ymB=%mL=ٔm:Q-u>9u ?Yu ?=}!Fy}ϫE_E>Q 54?Q 94%)siBYT?Q E:y?Q I?G3DI:G;iF;4yBɮBjEZRbj"ړڒ’E EE(E"EI:*EC:VEc44ZEBEaU2EaUJE@;a]:E@;a]bX@ɢ<)  >i)ci\ͅ RNcɧ ȃMsRiMps?U9i F`,4L?A 2u4>2?2]ٱ2[7 >AHRS rotation from veh to nav: [[0.831081,-0.545150,-0.110069],[0.555987,0.819205,0.140648],[0.013495,-0.178087,0.983922]]2H 8?q|-?@6?? D? ƿ`J|?i2u4>I2n^;2CYFIByFeHbDR=VDR8yZh=%ZW=ٔZS:Q-Z>9\Y\=^!Fy^ѫEb\NEb>dQ 5j4f-?Q 9j4f%)fiBYhynx?Q In?fV3DIfl:ifG;f4ytɮvBtZRbj"ړڒ’X@ɢb =) >i)o.ٺi􆼩-cɧʀNi ? %< I ? ?IA%iAzA%jAqA-؟AI9IIOU>E  E E *E "E :*E 3:VE (N4ZE a@a@a@a@ԙB=<A=<BE1>BE9CBEcHBEIBBE =BABABE;BEs@EBDAT read: Rx Time:20:53:25.0610 TRx dataTimestamp_ set to:1761512006.333968 ef,R'?A2ѽ>2{?2Sٱ2օ6 :AHRS rotation from veh to nav: [[0.831506,-0.544714,-0.109016],[0.555367,0.819668,0.140401],[0.012879,-0.177288,0.984075]]2H ?`Ln@}軿`? :??`J`?`^ƿ`}?i2ѽ>I24_;2C`YbJBybzHbDj@VDj8yv{#=%vG=ٔvK:Q-v>9z"?Yz"?=z!FyzӫE~E~>Q 5 4(??Q 9 4%)iBY y A?Q I ?f3DI:i:뾮4yBɮNBkEZ9R9b9j9"AAړAAڒA’IIMY@ɢl =) ?i)i2%cɧ%z%ߴHi-?- <)I-? -?I)+w!E EE)E"E*EA:VEFA4ZEBEI m,g?AZ)e>Z?ZGٱZ@6 fAHRS rotation from veh to nav: [[0.831974,-0.544162,-0.108204],[0.554681,0.820090,0.140643],[0.012205,-0.177030,0.984130]]ZH?i@G`?`.>??`?`ƿ}?iZ)e>IZ(^;ZCYnJBynH ppa]@ae ae@ae ae@ae ae@ae bDm]VDmٲ8y}=%}A=ٔ}:Q->9Y=!FyիExE>Q 54/Q?Q 94%)iBQ A+:YQ E:y ?Q I?v3DI:i>Į4yBɮBZRbjQ"QQړYYڒY’YYe+Y@颩ɢf =) 0?i)%DAT read: 20:53:25.0610 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 421, 0.14,-2.776, 1.873,-2.687,-2.844, PHS= 0.170,-1.521, 0.113, RAW= 148.3, 14.7, CAL= 148.3, 16.3, ROT= 1.7, -16.3 -Ygot valid direction response: 20:53:25.0610 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 421, 0.14,-2.776, 1.873,-2.687,-2.844, PHS= 0.170,-1.521, 0.113, RAW= 148.3, 14.7, CAL= 148.3, 16.3, ROT= 1.7, -16.3 58DAT read: $Error in header =*Received a bad headeriX#Rx 4: Read direction message, but no range.\direction in FSK: [0.959383,0.028474,0.280667]yC?m&=(?rwkq? )I{.>i!¿l=%@G\>%@ >))fI2~]?2>ٱ2}`6 :AHRS rotation from veh to nav: [[0.832348,-0.543685,-0.107720],[0.554131,0.820381,0.141118],[0.011648,-0.177150,0.984115]]2H?@e`q?@? (?`ڇ?ܬƿ}?i2 >I2 N^;2CYv(JByvHbD~`VD~ܲ8y L=% R=ٔ:Q->9Y=!Fy׫E%ߺE%>)Q 5-4-a?Q 954-%)-iBQ A5 :Y1Q E5b:y5?Q I5?-3DI-:i-P?-aɮ4yAɮEBAZaRabaja"iiړiiڒi’iquCY@y颩ɢd=) * ?i)stӹ项idɧl=B0>BBHB'JBBBBB߉;BP@Ei2?n< I 2? 2?Iԡ]߼Am>Am>IIOj> L4z,ꑢ?A6>6H?6r:1ٱ6R5 BAHRS rotation from veh to nav: [[0.832533,-0.543596,-0.106739],[0.553870,0.820539,0.141220],[0.010817,-0.176690,0.984207]]6H@?"e=SN?@A?}?1'?Ýƿ~?i6>I6^;4YJ=JByJHaa aa aa aa iMb@Mb@Mb@ 9Cl?I +?kt?Y;?y9= 0=A 6B)`BYBbDyVD8yE=%>=E EE+E"E:*EC:VE [4ZEBEi9Y=!Fy٫E@E> Q 54 r?Q 94 %) iBQ AT:Y1!?Q E:y)MPExceeded connect timeout, disconnecting.Q ,?A2廼>2s4?2ٱ2b5 :AHRS rotation from veh to nav: [[0.832715,-0.543560,-0.105493],[0.553623,0.820573,0.141994],[0.009382,-0.176644,0.984230]]2H?d@G?`!B?@,? 6?Aƿ`~?i2廼>I2n^;2CYBLJByBHIF%=)F=bDN`VDNܲ8yV\=%V_=ٔVK;Q-Z>9XYX=Z!FyZ۫E^%_E^>`Q 5f4b?Q 9f4b%)biBYdyjBBHBOJBB =BBDB׉;BG@EB9CB9CBBǗ =BǗ =C45ԉ  C] 2Gq ?9 Y 0Ay5 H?5 9AԹ A,mo?AYWJByHbD-9VD-8y=-<%EA=ٔEQ-E>9IYI=M!FyMݫEMEM>QQ 5]4U?Q 9e4U%)UjBYayaQ Ie?U3DIU;iU;Uޮ4ymkBɮmBumEZRbj"ړڒ’Y@ɢ '=) ?i) :iؼdɧkiږ ?e<Iږ ? ږ ?IԑII O=E EE)E"E:*Ea9:VEFA4ZEBE62n1?2䬻ٱ246 :AHRS rotation from veh to nav: [[0.832765,-0.544090,-0.102313],[0.553601,0.820145,0.144526],[0.005276,-0.176997,0.984197]]2H?@0i+1?>?? zu?ҧƿ`~?i2ܵ>I2^;2CYvYJByvHiuMb@Mb@Mb@qqqq q9ujt?V-?Q?Yu ?yu=uu9Y=!Fy߫EE>Q 54?Q 94$%)jBY#?Q E:yFE?Q I?3DI ;i] ;4yOBɮDBcEZRbj"ړnManaging dock network, ignoring radio surface power offڒ’`aY@1ɢ5*=)9 =U?i9)=OT:99iEEeɧEEMёiMz ?MQ=%===I E  E E *E "E I:*E |;:VE (N4ZE a @a @a @a @S,F%R?A 2*>2P?2A^ٱ2_7 >AHRS rotation from veh to nav: [[0.832513,-0.544598,-0.101662],[0.553995,0.819487,0.146730],[0.003402,-0.178475,0.983939]]2H?Ym@T?=9? ?k?Bƿl|?i2*>I2~_;2CYFpJByFH HHbDRjVDR8yZu=%ZZ=ٔZ(;Q-Z>9\Y\=^!Fy^Eb£:Eb>dQ 5j4f?Q 9j4f©%)fjBYhyjdE?Q Ij?f3DIf6:if:fv4yr:BɮrBrdEB/>BBHBnJBBBBBЉ;B?@EZRbj"ړڒ’Y@ɢ%6=)! %?i!)%hD;!)i-I5meɧ5 Ⱦ5!i] ?]ԙ ယ, l?ALb=>bO?b2lٱb=-9 nAHRS rotation from veh to nav: [[0.832525,-0.544766,-0.100657],[0.553986,0.819074,0.149053],[0.001247,-0.179852,0.983693]]bH ? nĹ@?5?'?mT?hǿ@iz?ib=>Ib-^;bCYznJByzHE EE+E"E7:*EVE [4ZEBE;a2E;aJE;a:E;aiMb@Mb@Mb@ 9)\(?`"?I +YG!?y=9B B)BY BbDqVD8y%6=ٔ;Q->9Y=!FyEE%>!Q 5-4%?Q 954%%)%iBY5S$?Q E5:y5D?Q I5?%3DI%] ;i%;%Q4yAɮEBAZaRabaja"aaړiqڒq’qquY@颡ɢ~3=) ?i)";顩i}Geɧ%ݾ駵갼i ?Z<I ?  ?IA.AIIO%,>iߙIߝA! e,U݅?A2>2kQ?23H:ٱ2G9 :AHRS rotation from veh to nav: [[0.832506,-0.545026,-0.099399],[0.554015,0.818749,0.150724],[-0.000766,-0.180547,0.983566]]2H?p@/r ~?03?J?@I)ǿ_y?i2>I2ۻ^;2CYNpJByRH V49j ?Yj ?=j!FyjEnR8En>9iQ 5m4m9?Q 9u4m%)miBYqyuD?Q Iu?m3DIm-;im.;m4y%BɮBeEZRbj"ړڒ’ RY@ɢο?=) ?i)A;i)fɧi ?<I ?  ?I)AE؟AIQIaOm>DDbEUķG4jEUķG4rEUĻ0E EE&E"E:*Ega:VE4ZEa@a@a@a@YByA}<B1>BBHBJBB =BBDB;B @Eԁ ,?A2S*>2k?2m0;ٱ2+8 :AHRS rotation from veh to nav: [[0.832281,-0.545767,-0.097191],[0.554347,0.818527,0.150706],[-0.002697,-0.179308,0.983789]]2H ?@v@ḿ`5?`1?XJ? fƿ3{?i2S*>I2^;2CY^gJBybHbDj^VDjڲ8yr6%rI=ٔrs;Q-v>9v"?Yv"?=v!FyvEz:Ez>|Q 54~W?Q 94~%)~iBYyD?Q I ?~ 4DI~;i~8:~4yɮBZ1R1b1j1"19ړ99ڒ9’AAE8Z@ԙɢ4X8=) ?i)Uva;!i%\Д%fɧ--ͼi- ?-f<)I- ? - ?I1AIIO!>E EE+E"E*E.:VE [4ZEBEi6R?6S;ٱ6$C9 BAHRS rotation from veh to nav: [[0.832488,-0.545686,-0.095868],[0.554024,0.818444,0.152338],[-0.004666,-0.179933,0.983668]]6H?Bv@̊?0?@?s ǿ4z?i6>I6^;6CY^[JBybHiEMb@Mb@Mb@AAAA A9E~jt?RQ?MbYE$?yE=E@EBA A)AAYEBbD]NVD]˲8ym%mB=ٔu ;Q-u>9qYq=u!Fy}E}3nE}>Q 54?Q 94Ŗ%)iBY&?Q E:y7?Q I?4DI':i94; 4yBɮBfEZRbj"ړڒ’H-Z@1颙ɢ24=) ?i);顡i畼 gɧ!駵5ؼin ?<In ? n ?IAjAzAA.AIIO$>1QD zD E  E E (E "E 7:*E a9:VE c44ZE a @a @a @a @ԙ ,jӒ?ABҼ>B??B1;ٱBpe9 RAHRS rotation from veh to nav: [[0.832638,-0.545717,-0.094380],[0.553780,0.818396,0.153481],[-0.006517,-0.180060,0.983634]]BH? vL)`?`L0?A?9z@2 ǿ@y?iBҼ>IBF^;@Y^^JBy^HB-2>B)B)B)B)B)B)B-b;B-?EM@AM@AbDM>VDM8ye;%eK=ٔe;Q-e>9m ?Ym ?=m!FymEm|:Eu>qQ 5}4u9?Q 94uC%)uiBYy7?Q I?u+4DIu;iu;u%4yɮBZRbj"ړڒ’FZ@ɢ?=) ?i)Ϗ;iy閼xgɧ] @/ij ?<Ij ? j ?I ԙII!O5 > Ϻ,W풢?ArR>r?r <ٱr9 zAHRS rotation from veh to nav: [[0.833165,-0.545162,-0.092923],[0.552960,0.818666,0.154987],[-0.008420,-0.180513,0.983537]]rHI?q ɷٱ? 2?@?E> ǿ!y?irR>IrB^;rCY YJBy HIMAE EE*E"Eg:*E*:VE(N4ZEBE;a2E;aJEi;a:Ei;aiMb@Mb@Mb@ 9%C?V-?QYZ$?ym=uIBA B)BY BbDVVDӲ8y 86% ?=ٔ;Q->9Y=!FyEtE>!Q 5-4%?Q 9-4%׍%)%riBY5%?Q E5:y5j(?Q I5?%=4DI%X ;i%m ;%4y=߯Bɮ=fBE]EZYRabaja"aaړaiڒi’iiuObZ@颙ɢ]6=) U?i)B;顡iZ헼-gɧ-5i5D ?5R<9I=D ? =D ?IAIAIQOe4>A ,t#?A6ǻ>6j?61,%<ٱ6X: >AHRS rotation from veh to nav: [[0.833738,-0.544500,-0.091650],[0.552068,0.819005,0.156369],[-0.010081,-0.180968,0.983437]]6H?l^v?K5??@o)ǿQx?i6ǻ>I6)^;6CYFXJByFHbDR VDR8yZ%Zd=ٔZ;Q-Z>9\Y\=^!Fy^EbAEb>dQ 5j4f"?Q 9j4f$%)fViBYhyj"(?Q Ij?fK4DIf:ifp:f4ytɮvgBtZ R b j "ړڒ’PyZ@AɢE G=)I M?iI)M;IIiM՘UahɧU]"i]& ?]Au>IIO==IE EEE"EU:*EVEZEa@a@a@a@yAA@AB%7>B%:CB%HB%xJBB!B!B!B%#;B%?Eԩ Ǥ,m ?A6g>6w?6><ٱ6-K:@ BAHRS rotation from veh to nav: [[0.834128,-0.544135,-0.090261],[0.551448,0.819260,0.157217],[-0.011600,-0.180913,0.983431]]6H-?iT@w?@a7??+(ǿCx?i6g>I6j^;6CY^NJBybH dfbDj VDj8yr%rG=ٔvur;Q-v>9tYt=v!FyvEzEz>|Q 54~4?Q 94~%)~6iBY y '?Q I ?~\4DI~R:i~_:~ %4yʯBɮGB^EZ1R1b1j1"99ړ9AڒA’AAEZ@iɢug1;=)q u?iq)u;yyi}꿙hɧ駅QiS ?V<IS ? S ?IIyIO=ԩE EE'E"E*E3:VE'4ZEBE;a2E;aJE;a:E;a Τ,L:?A2o>2`?2W<ٱ2s: :AHRS rotation from veh to nav: [[0.835155,-0.542807,-0.088753],[0.549857,0.820108,0.158366],[-0.013175,-0.181061,0.983384]]2H@? ^``n?S>? UE?`-ǿw?i2o>I2^;2CYN0JByNHIRR=)Rp9Y=!FyE2E>Q 54hG?Q 94%)iBY ?Q E:y+?Q I?m4DI& ;i] ;,4yɮeBZRbj"ړڒ’ޮZ@!ɢ%u1=)! -( ?i))-K;))i-$5\iɧ5L=i=& ?=0<9I=& ? =& ?IAI1IAOU=1a D zD @AE  E E (E "E %:*E 0:VE c44ZE a @a @a @a @Ԥ,T?ABy>B?Bj<ٱB9 NAHRS rotation from veh to nav: [[0.835717,-0.542181,-0.087278],[0.548974,0.820670,0.158520],[-0.014320,-0.180391,0.983491]]BH`1?@YW1?B?@`J?`S ǿx?iBy>IBָ^;BCYV,JByVHBb<>Bb;CBbHBbnJBBb =B`BbDBb@;Bb?EBB:CBB =B =Cק5bDrVDr8yz%%zU=ٔ~C;Q-~>9|Y=!FyE2E> Q 549 ZX?Q 94 ~%) hBYy?Q I? }4DI LEP?Eҍ<ٱE!;E EE*E"E7:*E*:VE(N4ZEBE;a2E;aJEi;a:Ei;a AHRS rotation from veh to nav: [[0.836713,-0.540754,-0.086582],[0.547417,0.821320,0.160523],[-0.015692,-0.181708,0.983227]]EHY?M<*p?@AH??@6Bǿv?iE?>IE^;AY#JByHiMb@Mb@Mb@ 9ףp= ? rhktY?yC  0B B)6BYBbDVD8yՖ%.=ٔ?;Q->9Y=!FyEԀE>Q 54n?Q 94z%)hBYV?Q E:yJ?Q I?4DI:iQ:;4yɮHBZRbj"ړڒ’Z@aɢm"+=)i m?ii)m;iqiu3uVSjɧ}}Լi} ?}G<I ?  ?IA؟AII Om>)Q ,j?A6>6O?6<ٱ6; BAHRS rotation from veh to nav: [[0.837725,-0.539338,-0.085629],[0.545831,0.822111,0.161871],[-0.016907,-0.182343,0.983090]]6H ?@B뵿`rw?`N?3? P Wǿxu?i6>I6{]_;4YJJByJH LLbDV1VDV8y^ %^w=ٔb7p;Q-f?9f"?Yf"?=f!FyfEjlEj?lQ 5r4n|?Q 9r4nEx%)nhBYpyr?Q Iv?n4DInM;inY;n6A4yzBɮz'Bz_EZRbj"ړڒ!’!!%Z@IɢU>K=)Q U?iQ)Uv;QYi]oۜeġjɧeeʼie ?e=D=D<E EEE"EC:*EE7:VEZEa@a@a@a@aB?>BBHBOJBB =BBB;B @EԉԹ +,F?A2Զ>2@?2ܖ<ٱ2pR< :AHRS rotation from veh to nav: [[0.838937,-0.537662,-0.084294],[0.543918,0.823097,0.163294],[-0.018415,-0.182842,0.982970]]2H`?@4@Ig?`V??@Yے `gǿ}t?i2Զ>I2O_;2CYfJByfHbDr/VDr8yvƼ%zG=ٔz1q;Q-z>9|Y|=~!Fy~EE> Q 54 ?Q 94 u%) hBYy5?Q I? 4DI :i  : aH4y%Bɮ%#B!ZARAbAjA"IIړIIڒI’QQU[@yɢ2=) ?i)p)<顁iɈkɧ駕꾼iL ?#<IL ? L ?IԑA II!O5 >E EE(E"EƱ:*E0:VEc44ZEBEH;a2EJ;aJE߉;a:E߉;a V,!?A2>2x?2<ٱ2^= :AHRS rotation from veh to nav: [[0.840263,-0.535808,-0.082874],[0.541806,0.824148,0.165004],[-0.020110,-0.183548,0.982805]]2Hn?W%:7zV?k_??`—~ǿ`#s?i2>I2v`;2CY^JBybtHiMb@Mb@Mb@ 9~jt?Zd;Zd;OY?yyjIB &B)BYpBbD;VD8yQ%?=ٔԁ;Q->9Y=!FyEE>Q 54D?Q 94q%)hBY?Q E:yX>Q I?4DI:i:O4yBɮB`EZRbj"ړ ڒ ’   J0[@9ɢ=|-=)9 =?i9)E4 %=I bE-(N4jE-C4rE-8/E  E E *E "E *E 3:VE (N4ZE a @a @a @a @ >,HՓ?A B6A>B6J?JpY<ٱJP= RAHRS rotation from veh to nav: [[0.841716,-0.533799,-0.081077],[0.539477,0.825398,0.166378],[-0.021891,-0.183782,0.982723]]JH`U? yeC?i? K?j@-ǿwr?iJ&>IJ:a;JCYZIByZmHIb<)b=bDfJVDfȲ8yn`%nX=ٔr;Q-r>9r ?Yr ?=v!FyvEvSEv>xQ 5~4z?Q 9~4z2o%Q =tI)zhBYy>Q I?z4DIzP;iz ;zsV4y UBɮ B WEZ)R1b1j1"11ړ11ڒ9’99EuH[@ɢ2=)  o>i ) n<  i=EkɧEƾEiE? ?E[xԙ k,G?APE] E]E])EY"E]:*E],:VE]FA4ZEYBE];am2E];amJE];;am:E];;amM>McJ?Mu{<ٱM= }AHRS rotation from veh to nav: [[0.842995,-0.531975,-0.079762],[0.537414,0.826446,0.167848],[-0.023372,-0.184361,0.982581]]MH`?Ik~2??r? |?!ǿ@Mq?iM>IMa;MCYyiMb@Mb@Mb@ 9K?Dl~jthY^?yODBCA )Y(BbD3VD8ٔK;Q->9Y=!FyEE>!Q 5-4%?Q 954%k%)%hBY5`?Q E5:y5>Q I5?%4DI%X;i%:%^4y9ɮAAZaRabaja"ړڒ’g[@ɢ `)=)! !i!)%Q<))i-;G5 lɧ5ɭ5i5 ?5Ś<1I5 ? 5 ?I9AmiAzAmgAi9I9AIIOf> O,̲ ?A2>2G?2<ٱ2(> :AHRS rotation from veh to nav: [[0.844183,-0.530295,-0.078378],[0.535473,0.827391,0.169387],[-0.024976,-0.184963,0.982428]]2H?,@@"?@y? y?2`ެǿ p?i2>I2bb;2CYFJByF|HHHbDN@VDN8yvLc<%v<ٔv;Q-z?9xYx=z!FyzE|~߻E? Q 5 4 ?Q 94 i%) hBYy>Q I? 4DI :i : d4y%ABɮ%{B%XEZARAbAjA"AIړIIڒI’IQUP|[@yɢ}I=) ?i)<顁iʟ+=lɧ駍ÜyiyI ?<IyI ? yI ?I)Eq EuzEqEq"Eq*Eu :VEqZEqa}@a}@a}@a}@^AM<BeC>BaBeHBeJBBaBaBaBe;Be@EQA-؟AI9IIO]>ԁ z,#?A2>2?2<ٱ2> :AHRS rotation from veh to nav: [[0.845383,-0.528613,-0.076793],[0.533498,0.828396,0.170705],[-0.026621,-0.185280,0.982325]]2H_ ?e෨i?8?? B@?ǿ 5o?i2>I2b;2CYFIByFpHbDN+VDN8yVļ%VN=ٔZ5;Q-Z>9Z"?YZ"?=^!Fy^E^AE^>`Q 5f4b?Q 9f4bf%)bhBYhyjp>Q Ij?b4DIb :ibF:bk4ylɮrBpYZRbj"ړڒ’̖[@ɢin5=) Q>i)l#<iDԹE EE*E"E*E,:VE(N4ZEBEa2EaJEa:Ea .,i=?AY|y~oHiMb@Mb@Mb@ 9^I +?L7A`尿 rh?YX?y+C<|A )BYBbDVD8Թy%:=ٔQ->9 ?Y ?=!FyEE>Q 54?Q 94c%)hBYU?Q E:y>Q I? 5DIX:i:5s4y,Bɮ[BYEZRbj!"!!ړ!!ڒ!’))-б[@Yɢ]5=)Y ]>iY)eQ*A>A-؟AI9IIOU>D zD ?AA E  E E )E "E %:*E .:VE FA4ZE a @a @a @a @B] F>BY B] pHB] IBB] =BY BY B] ;B] ,@E,W?A>>>?><ٱ>= ^AHRS rotation from veh to nav: [[0.847896,-0.525141,-0.072795],[0.529336,0.830889,0.171543],[-0.029599,-0.183984,0.982484]]>H!? Q???>I>-d;>CYvIByzXH ~p<~<bDVD8y@%T=ٔQ;Q->9"?Y"?=%!Fy% E%NE%>)Q 554-?Q 954-`%)-hBY9y=4>Q I=?-5DI-K ;i-;-y4yEBɮEDBIZiRibiji"iiړqqڒq’qq}v[@颡ɢvg8=) >i)`0<顩i%Blɧ8駵i?<L !Qy ,.q?A߬>cF?#<ٱ= AHRS rotation from veh to nav: [[0.849090,-0.523396,-0.071432],[0.527336,0.831899,0.172799],[-0.031018,-0.184391,0.982363]]H +?ਿ`I??@F?)ßǿo?i߬>I}d;CYIBy[HE  E }E (E "E *E k&:VE c44ZE BE ;a2E ;aJE ŀ;a:E ƀ;aiiMb@Mb@Mb@ 9K?MbMb?Y^?y=B B)YGBbDVD]8y;%0=ٔ ZH;Q- >9 Y = !Fy EkE>Q 5%4L&?Q 9%4^]%)hBY-?Q E-:y-s?Q I-?-5DIu;i4y1ɮ5AB1ZQRYbYjY"YYړYaڒa’aam,[@频ɢa`.=) ">i)?7<顙ilɧ駭iw;?O<Iw;? w;?IԙAQIYIiOZ> ",3?A2Sͫ>2* ?2/k=ٱ2(= :AHRS rotation from veh to nav: [[0.850157,-0.521915,-0.069553],[0.525536,0.833008,0.172942],[-0.032323,-0.183581,0.982473]]2H}4?4α@0?`?@"?਌ǿ`kp?i2Sͫ>I2d;0YJIByJlHbDRVDRO8yZ "=%Zz=ٔ^;Q-^?9`Y`=b!FybEbcѻEb?dQ 5j4f4?Q 9j4fZ%)fhBYlyn?Q In?f95DIf;if;fȇ4yrBɮv BvZEZRbj"ړڒ’`&[@ɢnH=) >i)K=<iߡmɧϻiW?5<IW? W?IA)zA-jAA-.AIAIiO}>E% E%~E%+E!"E%:*E%(:VE% [4ZE!a-@a-@a-@a-@B <A <BH>BBWHBIBBBBBʼn;BI@EB9 ?Y ?=!FyEE>Q 54I?Q 94'W%)hBYyQ I?L5DI:i :4)yIɮUBQZqRqbqjq"qqړyyڒy’yy \@ɢ3=) >i)cD<im9mɧ0+i?<I? ?IaE EEE"EƱ:*E*:VEZEBEH;a 2EJ;a JEi;a:Ei;a^AUԅ<ԑ A I I O >.,$?A,:q>: ?:y=ٱ:K< FAHRS rotation from veh to nav: [[0.852246,-0.518942,-0.066142],[0.521943,0.834922,0.174587],[-0.035377,-0.183313,0.982418]]:H`E?@-??@X?`vǿo?i:q>I: e;8 H)JnAJ9HLLLiLIPPIPiRznA RףP)PT VnATTTXZpAIX)XiX)\I\^\ \`bnAb9i``ifُCfAA)d dIdYdYjIBynjH ppieMb@Mb@Mb@aaaa a9eCl?/$?Yed?yee,=eIBeA a)eoBaYeBbDVD[8yEN<%EB=ٔM;Q-M>9IYI=U!FyUEU!EU>YQ 5e4] \?Q 9e4]S%)]hBYm?Q Em:ym?Q Im?]\5DI]? ;i]e ;]_4yuBɮuB}[EԉZRbj"ړڒ’@R6\@ɢ .?=) >i)sK<i.mɧ;^i?<I? ?I^A 7<ԹAU؟AIYIqO}z> Da zDe @AE  E ~E ,E "E C:*E (:VE g4ZE a @a @a @a @B E>B B B B B B B ĉ;B F@EB5,&ؔ?A2I>2T ?2S=ٱ2E5< :AHRS rotation from veh to nav: [[0.852907,-0.518069,-0.064453],[0.520772,0.835611,0.174785],[-0.036693,-0.182641,0.982495]]2HK?@*?T?Z_?eɢ@`ǿp?i2I>I2~Pe;2C\Y]IBy]aHbDmVDmK8y}%}m=ٔy;Q-?9"?Y"?=!FyEE?Q 54k?Q 94P%)hBYy?Q I?j5DI;i;g4yɮBZRbj"ړڒ’TL\@ɢi)P<顙iТ;mɧ駥pUiLJ?!x<ILJ? LJ?I^A<A- .AI1 IA OU >A <,u?A!EE EEzEE*EA"EE:*EE :VEE(N4ZEABEEz;am2EE{;auJEEv;au:EEv;a}Q>( ?=ٱu< AHRS rotation from veh to nav: [[0.853963,-0.516545,-0.062683],[0.518925,0.836589,0.175601],[-0.038266,-0.182485,0.982464]]HS?@ ?U?@z?@[ǿWp?iQ>Ie;YIByUHiuMb@Mb@Mb@qqqq q9u/$?kt?ˡE?Yu?yu 0=u'=uBq uA)u BqYuBbDVD48y%,=ٔY;Q->9 ?Y ?=!FyE$E>Q 54~?Q 94"L%)hBYh?Q E:y ?Q I?|5DI]:i:4yBɮBREZRbj"ړڒ’A} k\@ɢ?1=) >i)X<iKmɧ)XiF?T<IF? F?I@@@@qԡ A I I O >B,A ?A6u2>6o ?6N"=ٱ6: BAHRS rotation from veh to nav: [[0.854628,-0.515671,-0.060791],[0.517734,0.837370,0.175395],[-0.039542,-0.181371,0.982619]]6HY?_@F??@[s?>,7ǿ@q?i6u2>I6Pd;4YJIByJaHIN<)N%=bDVVDV8y^<%^=ٔ^a;Q-^?9`Y`=b!FybEfEf?hQ 5n4j?Q 9n4j5I%)jhBYlyn* ?Q Ir?j5DIj@;ij;j4ytɮvBtZ R b j "ړڒ’o~\@yɢԮW=) >i)ʋ]<ia=VmɧkЫXiE?<<IE? E?IA؟AII O% >bEķG4jEĔK4rE@o/E1 E5|E5)E1"E1*E5P$:VE5FA4ZE1a=@a=@a=@aE@ԡAA?ABI>BBBBBBB;B7@EiI I,&?A6>6J ?6O&=ٱ6.8 BAHRS rotation from veh to nav: [[0.854877,-0.515502,-0.058685],[0.517228,0.837882,0.174440],[-0.040753,-0.179478,0.982917]]6H@&[?`~@ `"? ? T? ݤ"ƿ`t?i6>I6d;6CYJIByJgHbDVYVDV8y^@<%^J=ٔ^D;Q-b>9b"?Yb"?=b!FybEfDEf>hQ 5n4jڜ?Q 9n4jbE%)jhBYlyr?Q Ir?j5DIj ;ijH;j%4yvBɮv^BvSEGSB*** querying acoustic contact ***:BZRbj"ړڒ’%R\@IɢM 'H=)I M>iQ)UcaEU EUEQEQ"EU:*EU*:VEQZEQBEUW;a}2EUY;aJEUi;a:EUi;aԑ% DAT read: - BDAT read: Tx time:20:53:40.0981 - $Ping request sent.- 2C ?2o,=ٱ2/7 :AHRS rotation from veh to nav: [[0.854884,-0.515724,-0.056576],[0.517109,0.838140,0.173552],[-0.042086,-0.177623,0.983198]]2H6[?Ѐ@'? ?6?@ZZƿ \v?i2ڦ>I2Je;2CYfIByfkHi]Mb@Mb@Mb@YYYY Y9]ʡE? ףp= ?L7A`?Y]?y]Q=]+=]B]A ]B)YYY] Bim@AbDuVDu8y;%>=ٔ`K;Q->9Y=!FyEE>Q 542?Q 94@%)hBY?Q E:y22?Q I?5DI:i:4yɮ\BZRbj"ړڒ’ҳ\@ɢC=) T>i)j<iߚ%vmɧ%Ů%Kыi-?-<)I-? -?I)ԑA%.AI)I9OM0>Թy}<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251585EM  EM xEM &EI "EM :*EM :VEM 4ZEI aU @aU @aU @aU @B J>B =CB B B =B B B ‰;B H@E S(V,Y?A2Ŧ>2A9 ?2-G2=ٱ2=6 :AHRS rotation from veh to nav: [[0.854916,-0.515847,-0.054954],[0.516938,0.838225,0.173647],[-0.043511,-0.176862,0.983273]]2Hy[?с" ?@?`:?Ghƿv?i2Ŧ>I2Ve;2CYFIByF8H HHHHbDRVDR38yVܽ%ZY=ٔZ/x;Q-Z>9^ ?Y^ ?=^!Fy^EbNEb>dQ 5j4fe?Q 9j4f<%)fhBYhyj&2?Q In?f5DIf:if;f@4yrBɮr[BrTEZARAbAjI"IIړIIڒI’QQU@v\@颹ɢ92@=) >i)ep<i ۋmɧнi?R<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503257I? ?IAAIQIaOm>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755412S\,-s?A J>JaV ?Jڡ7=ٱJ4 RAHRS rotation from veh to nav: [[0.854637,-0.516505,-0.053080],[0.517288,0.838163,0.172905],[-0.044817,-0.175229,0.983507]]JH 0Y?@6D- ?;?!?`C@mƿx?iJ>IJ9tYt=v!Fyv!Ev:Ez>E E}E*E"E7:*Ek&:VE(N4ZEBE;a 2E;a JEŀ;a:Eƀ;axQ 54z?Q 94z8%)zhBY!y%A2?Q I%?z5DIz0;izw;ziǯ4y)ɮ-PB)ZIRIbQjQ"QQړQڒ’s\@!ɢ%?=)) -H>i))-v<))i-UrmɧU[]Żi],?](ԙ C:c,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072Be>Br ?Bu<=ٱB1 JAHRS rotation from veh to nav: [[0.854188,-0.517466,-0.050906],[0.517926,0.838092,0.171330],[-0.045994,-0.172714,0.983898]]BH`U?@O ْ??%?zƿ|?iBe>IBe;BCPYzIBy~)Haa aa aa aa y&1?&1?~jt?0?P=D< 9Cl?X9v?y&1?Y;?y=`e<(A )Y3B p;bDVDj8yU%>=ٔ{3;Q->9I=!Fy#EL:E>Q 54?Q 943%)hBY("?Q E:y@8=)q }>iy)}g}BQBUJHBUIBBQBQBUDBU;BUm@EA؟AI)I9OER>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511051! adi,d?A2ǧ>2 ?2̮A=ٱ2,]/ :AHRS rotation from veh to nav: [[0.853753,-0.518400,-0.048656],[0.518528,0.838024,0.169836],[-0.047268,-0.170228,0.984270]]2H`Q?i騿Ǘ? ?0?@3ſ$?i2ǧ>I2d;2CYfIByf9HbDnVDn`8yv=%vX=ٔz~\;Q-z>9z"?Iz"?=~!Fy~%E|:E> Q 54 ?Q 94 /%) hBYysi)H<顑i;ǣmɧH5駝i?<I? ?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764219A II!)O5 >E E~E'E"E:*E(:VE'4ZEBEz;a-2E{;a-JE;a-:E;a-Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015141`Lp,W@?A2[>2~ ?2?F=ٱ2. >AHRS rotation from veh to nav: [[0.853118,-0.519573,-0.047263],[0.519470,0.837548,0.169305],[-0.048381,-0.168989,0.984430]]2HL?`W2?1?ǫ?fŨ`lſr?i2[>I2Bd;2CYFIByF#HbDRVDRq8yV2%ZN=ٔZV8;Q-Z>9XI\=^!Fy^'E^P<;Eb>`Q 5f4b?Q 9j4b +%)bhBYhyji)D<inɧR7(iSr? <ISr? Sr?I!A5hAzA5gAI1IAOU>ԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267200ԱD! zD% ?AE-  E- }E- *E) "E- :*E- k&:VE- (N4ZE) a5 @a5 @a5 @a5 @ BA BA BE %HBE IBBA BA BA BE ;BE @EB=CB=CBBˑ =Bˑ =C`4fvv, ە?A6洨>60 ?6J=ٱ6[V- >AHRS rotation from veh to nav: [[0.852718,-0.520337,-0.046055],[0.520020,0.837220,0.169237],[-0.049502,-0.168261,0.984499]]>kGH\~9|Y~yA6H@xI? @ ?? ?SX@ſ?i6洨>I6d;6CYIBy HAEAAbDM VDM8y];%u@=ٔux+;Q-}>9yIy=}!Fy})EH:E>Q 54o?Q 94S&%)hBYyi)%Ku checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771482A |,f?A6 >6f ?6~oN=ٱ6K, BAHRS rotation from veh to nav: [[0.852253,-0.521197,-0.044928],[0.520699,0.836887,0.168799],[-0.050378,-0.167253,0.984626]]6H`E?`?? 1?#˩hſ?i6 >I6%d;4YJIByJHPRAbDVVDV8y^}%^U=ٔ^;Q-b>9`I`=b!Fyb+Ef ;Ef>hQ 5n4jj?Q 9n4Er Er|Er(Ep"Er:*ErP$:VErc44ZEpBEr;az2Er;azJEr};az:Er};azj"%)jhBY|y~$=?Q I~?j6DIj;ij;j4y٬Bɮ B Z)R)b)j)"))ړ11ڒ1’11=]g]@ QQQ"U:@iɢm8=)i m>ii)u6~ ?63R=ٱ6i+ BAHRS rotation from veh to nav: [[0.852023,-0.521672,-0.043767],[0.520986,0.836762,0.168532],[-0.051296,-0.166395,0.984724]]6H C? h?`?w?CoLſۂ?i6P>I65c;4YvkIByvHyx&1?l?Mb?A@?== 9ʡE?K7?MbY?yI >@ A)EBY\BbDVD8y~%:=ٔ7 ;Q->9I=!Fy-E!Y:E>Q 54_.?Q 94%)`hBY !?Q E :y A?Q I ?,6DI-/;iS.;W4yɮGB!qZRbj"ړڒ’]@ =>>=>>=AB @"= I@IɢM$=)]q ]ߵ>iY)]AA>E E}E+E"E:*Ek&:VE [4ZEa@a@a@a@II!O- >BK>BBHBIBBBBDB9;B@Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527079 ,(?A2tw>2: ?2U=ٱ2G* :AHRS rotation from veh to nav: [[0.851830,-0.522068,-0.042792],[0.521214,0.836626,0.168501],[-0.052168,-0.165838,0.984772]]2H0B?Ǵ西ɭ??o?ŵ,:ſA?i2tw>I2f b;0YBUIByBH J49XIX=Z!FyZ/E^T:E^>`Q 5f4bX<?Q 9f4b%)b:hBYdyfA?Q Ij?b;6DIb:ib :b4ynƬBɮn7BnMEZ9R9b9j9"AAړAAڒA’IIM;]@ "%I@颹ɢud-=) >i)(<i袼oɧfi\ ?i<I\ ? \ ?IIIO=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779067E EE)E"E%:*EE7:VEFA4ZEBE;a 2E;a JEU;a :EU;a )  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031099,4B?A6>6L ?6+rX=ٱ6/* >AHRS rotation from veh to nav: [[0.851530,-0.522598,-0.042290],[0.521639,0.836312,0.168746],[-0.052819,-0.165753,0.984752]]6H?? D??{?@ d7ſ@?i6>I6(a;6CYFHIByFHIJ=)J4<bDRUVDRҲ8yZ%ZJ=ٔZ:Q-^>9\I\=^!Fyb1Eb):Eb>dQ 5j4fK?Q 9j4fq%)fhBYhyj?A?Q In?fK6DIf:if:f4ypɮrDBpZRbj "  ړ  ڒ’]@ 111"5I@AɢE$=)I M,>iI)M94rE/E  E E *E "E Ʊ:*E *:VE (N4ZE a @a @a @a @B J>B B HB fIBB B B B i;B @EĖ,b\?A6/>6 ?6Z=ٱ6,@ BAHRS rotation from veh to nav: [[0.851336,-0.522857,-0.042978],[0.521902,0.835748,0.170717],[-0.053341,-0.167768,0.984382]]6H%>?>;j?r? ? O hyſ?i6/>I6`;4Y^(IBybhHbDj<VDj8yry%rG=ٔrF:Q-r>9tIt=v!Fyv3EzO:Ez>|Q 54~[?Q 94~%)~gBYyGA?Q I ?~[6DI~f;i~a;~4yBɮBDEZ1R1b1j1"19ړ99ڒ9’AAE ]@ aaa"e4I@qɢu4=)q }>iy)}*U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787088 ,=v?A2[>2- ?2e]=ٱ2Ʈ, :AHRS rotation from veh to nav: [[0.851133,-0.523237,-0.042369],[0.522163,0.835545,0.170912],[-0.054026,-0.167592,0.984375]]2H{I2)`;2CEb Eb|E`E`"Eb:*EbP$:VE`ZE`BEb 9AIA=E!FyM5EMO:EM>QQ 5]4Uk?Q 9]4U& %)UgBYaye_A?Q Ie?Ul6DIU8;iU3;U54yiɮm%BiZRbj"ړڒ’|]@ ";I@ɢ4|=) g>i)<i3Doɧ ۾Lisy ? {<Isy ? sy ?IBDAT read: Rx Time:20:53:44.5747 TRx dataTimestamp_ set to:1761512026.004716checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045934IIIaOm5>1a ] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290923ۣ,/?A2%>2 ?2"[^=ٱ2- >AHRS rotation from veh to nav: [[0.851044,-0.523345,-0.042828],[0.522284,0.835240,0.172030],[-0.054259,-0.168773,0.984160]]2H;???`H?`?ǫ[ſ=~?i2%>I2>`;2CYFHByFH HHAyl?p= ףV-7?m 9ףp= ?bX9ȶ?/$Y?yE=B )Y3BbD5GVD5Ų8y%4=ٔ3:Q->9I=!Fy7E-09E->iQ 5}4m~?Q 94m_%)mzgBY!?Q E:yn+?Q I?m~6DIm%<D4=D<E E~E(E"E:*E(:VEc44ZEa @a @a @a @im$BBiHB)IBB =BBB;BAEy ^@ C<>C<>F@"L-@1ɢ==)9 =h>i9)=?] A?YID )Iff>iZԿT%>4"@^ Z>i"@ |o>)l=I|o1(l+*?+h-?_"+? )>)[Il=i|oԱ I9 II Oe >1,j?A2m1>26 ?2ݓ_=ٱ2x. :AHRS rotation from veh to nav: [[0.850981,-0.523429,-0.043054],[0.522356,0.835012,0.172914],[-0.054557,-0.169636,0.983995]]2H;;?8 #?k? "?@ſ |?i2m1>I2$`;0YBHByFHbDNRVDNϲ8yrν%rn=ٔrcd:Q-r?9tIt=v!Fyv9Ev9Ez?xQ 5~4z?Q 94z%)zNgBYyk+?Q I?z6DIz;iz;z4y ɮLBJRl??AwDwD)+?jr@1=//^@Cjv@vO?J&V>?] A?l=|o—*kϹ@K$g@Ro@GHW?Δ)p*?KA?jlDrΕDZ ?byjzcC ?yjcCڗD#+?ZaRabaja"aaړiiڒi’qu@3I@u@u?ԙ "-@颹ɢ =) aE>i),Ԗ<iL>pɧnXiU% ?v<IU% ? U% ?IIIO=E E}E&E"E*Ek&:VE4ZEBE;a2E;aJEŀ;a:Eƀ;a 谥,Ö?A2٩>2@ ?2Lb=ٱ2. :AHRS rotation from veh to nav: [[0.851300,-0.522962,-0.042416],[0.521766,0.835293,0.173340],[-0.055220,-0.169696,0.983948]]2H=?`M??0?Eſ|?i2٩>I2e_;2CY^HBy^H fp9tIt=v!Fyv;EzٺEz>|Q 5]4~?Q 9]4~ $)~gBYYy]@+?Q Ie?~6DI~Xi)З<i9۟$qɧ޼i ?I<I ?  ?IIYIiO}=!QE  E ~E +E "E :*E (:VE [4ZE a @a @a @a @B I>B B HB HBB =B B B ;B AEy ,ݖ?A2U>2* ?2nb=ٱ2. :AHRS rotation from veh to nav: [[0.851619,-0.522457,-0.042231],[0.521227,0.835588,0.173535],[-0.055377,-0.169798,0.983922]]2H w@? `U?@#? g6?VZ@ſI|?i2U>I2V^;2CYBHByFHIJ=)J<bDNUVDNҲ8yV%VN=ٔZ9Q-Z>9XIX=Z!FyZ=E^ϺE^>`Q 5f4bƬ?Q 9f4b $)bfBYhyj+?Q Ij?b6DIb:ib:b *4ylɮnYBlZ|Rbj"ړڒ ’   p? )))"--@9ɢEd><)A E>iA)Eoj ?j b=ٱjD. %AHRS rotation from veh to nav: [[0.851791,-0.522187,-0.042108],[0.520950,0.835793,0.173381],[-0.055344,-0.169620,0.983954]]jHA?!@?`Ѿ?Y1? V`ſ|?ij~\>Ij6^;jCYUwHByUHԩa@a9 a@a a@a a@a iMb@Mb@Mb@© 9Q?~jth㥛 Y(?yDBA A)Y BbDHVDƲ8yCV%*=ٔQ->9Y=!Fy@E2E>Q 5 4?Q 94:$)fBYF?Q E:y?Q I?6DI;i;~24yaBɮ%LB%GEZARAbAjA"IIړIIڒI’QQU?ɢ:`<)  =i9)E 9 $ĥ,a?A:'٨>:C ?:;_b=ٱ:. JAHRS rotation from veh to nav: [[0.852318,-0.521331,-0.042056],[0.520099,0.836314,0.173423],[-0.055238,-0.169685,0.983949]]:H/F? b`??@2?7H9ſ|?i:'٨>I:];:CY~ZHBykHbDWVDԲ8y5w%5l=ٔ=Q-E?9AYI=M!FyMAEM<EU?QQ 5e4UO?Q 9e4Uv$)UfBYaye?Q Ie?U6DIU:iU1:U84yuQBɮuGBqZRbj"ړڒ’ "?ɢH<) ~=i)d"<i7rɧ׾slil ?<Il ? l ?ID=DE EzE,E"E:*E :VEg4ZEa@a@a@a@A II!A)A-@AB5J>B1B5HB5HBB1B1B1B5};B5AEBBB ]h>aBBCA4́GO$>-]91Y5KA9i Nʥ,!<+?A Y 7HBy@HbD-dVD-8yE%EJ=ٔEQ-M>9IYI=U!FyUCEUEU>aQ 5m4e:?Q 9m4e>$)e]fBYqyqQ Iu?e6DIe;ie;e?4yɮjBZRbj"ړڒ’1@ɢ,<) h]=i)~<i_rɧʾ3i` ?<I` ? ` ?I A>AqAIIiIyO>ԡE EE)E"E%:*E*:VEFA4ZEBE;a2E;aJEi;a :Ei;a 7ѥ,E?A2Ʀ>29 ?2.b=ٱ2Y0 :AHRS rotation from veh to nav: [[0.854411,-0.517874,-0.042292],[0.516637,0.838048,0.175393],[-0.055389,-0.171707,0.983590]]2H VW?k>@J?@I?Ds? [}ſ`y?i2Ʀ>I2;!];0YFHByFHLiMb@Mb@Mb@ 9Zd;?Q롿ktY?y\ 0sB )YBbD-jVD-8y=I%=J=ٔE9Q-E>9AYI=M!FyMFEM$EM>QQ 54U?Q 94U=$)U@fBY?Q E:y>Q I?U6DIUvD zD AAE  E E *E "E :*E VE (N4ZE a @a @a @a @B) B) B- JHB- ?HBB- =B) B) B- ;B- AEA aץ,^?A6>6̵ ?6)^c=ٱ651 >AHRS rotation from veh to nav: [[0.855443,-0.516168,-0.042274],[0.514916,0.838938,0.176196],[-0.055481,-0.172493,0.983447]]6H_?r 1z???h Cƿex?i6>I6\;4YRHByRH V49dYd=f!FyfHEjEj>lQ 5r4n?Q 9r4nZ$)n$fBYpyv>Q Iv?n6DIn-:in:nyM4yxɮz9Bx|ZRbj"!ړ!!ڒ!’!)-#@QɢU<)Q eXV ?|c=ٱ.3 -AHRS rotation from veh to nav: [[0.856677,-0.514079,-0.042752],[0.512858,0.839854,0.177824],[-0.055510,-0.174263,0.983133]]H i?Vs㥿Ui???k`CNƿu?i>I\;CY=GBy=HQiMb@Mb@Mb@ 9K7A?I +MbY "?y94B A)Y3BbDJVDȲ8yuS%8=ٔA8Q->9Y=!FyJE{E> Q 54 ?Q 94 $) fBYs"?Q E:y>Q I?  7DI ;i ; :U4y%Bɮ%*B!ZARAbIjI"ړڒ’  @ɢ%<)! %i!)%(К<))i- ͙M4^sɧUUdiUx* ?U ԩ t,:?AFV>F ?F|c=ٱF<4 RAHRS rotation from veh to nav: [[0.857851,-0.512106,-0.042878],[0.510891,0.840846,0.178797],[-0.055510,-0.175287,0.982951]]FHs? ,c@8Y?5? ?k oƿVt?iFV>IFX\;DYZGByZHbDfVVDfӲ8ynӼ%n^=ٔnQ-r>9pYp=r!FyrLEvp̻Ev>xQ 5~4z.?Q 9~4zA$)zfBY|y>Q I?z7DIz;iz<;z[4y Bɮ 2B ZRbj"Աړڒ’`@ɢH<) @0i)<iF蘼sɧ{x-Fiٟ ?y<Iٟ ? ٟ ?I DDR=bEÙT4jE(N4rEü 0E E}E+E"E:*Ek&:VE [4ZEa@a@a@a@BH>B 9 F,?A>yh>> ?>'b=ٱ>K3 JAHRS rotation from veh to nav: [[0.858795,-0.510593,-0.042029],[0.509339,0.842084,0.177395],[-0.055185,-0.173753,0.983242]]>H ?{?V ф@L? Y??@3A =ƿv?i>yh>I>\;9tYt=z!FyzNEzEz>Q 5 4A?Q 9 49$)eBYy>Q I?+7DI;i;b4y%Bɮ%B%@EZARAbAjI"IIړIIڒQ’QQU @!ɢ%C<)! %i!)- <))i-염5nsɧ5oN5%%i5#?=yW<9I=#? =#?I9II!O- >AE E{E)E"E:*E5":VEFA4ZEBE;a}2E;a}JECz;a}:EDz;a}iԙ Є,^Ɨ?A6[>6?6yc=ٱ6/\3 BAHRS rotation from veh to nav: [[0.859825,-0.508899,-0.041517],[0.507563,0.843059,0.177852],[-0.055508,-0.173993,0.983181]]6H?HA@=?V?? {kjEƿ`8v?i6[>I6\;6CYRGByRH TTi-Mb@Mb@Mb@)))) )9-+?~jtV-?Y-v?y-ļ-<-B) -A)))Y-BbDEqVDE8yM%UC=ٔUJ:Q-U>9YYY=]!Fy]PEeXEe>iQ 5u4m U?Q 9u4m$)meBYu?Q Eu:yu?Q Iu?m<7DIm ;im? ;mj4yBɮBAEZRbj"ړڒ’@ɢ<) )i)F<iؖsɧ].} qi}?}{0<}s0I}? }?IA>A>II)O5=ԡD zD ?AE  E E 'E "E :*E 0:VE '4ZE a @a @a @a @B B B HB GBB =B ;DB B ;B HAE x,)2 >?2d=ٱ2+1 :AHRS rotation from veh to nav: [[0.860352,-0.508110,-0.040221],[0.506637,0.843879,0.176598],[-0.055790,-0.172314,0.983461]]2H?pB@˗`_6?`?Ě?aƿx?i2Ϡ>I24];2CYNGByRHbDZfVDZ8y~E%P=ٔ_<:Q->9 Y = !Fy RE 1E >Q 54g?Q 9%4$)Y!y%?Q I%?L7DI;i;p4y)ɮ5 B1ZYRYbYjY"Yaړaaڒa’aim.@频ɢD~<)/  4=i)I<顙i Εsɧ駭&i?c<I? ?II9IIO=) ,?AE0 E2yE2+E0"E0*E2:VE2 [4ZE0BE2;a:2E2;a:JE2r;a::E2r;a:B~>B@?B̗e=ٱB1 JAHRS rotation from veh to nav: [[0.861073,-0.506911,-0.039936],[0.505386,0.844533,0.177056],[-0.056024,-0.172641,0.983390]]BH?`8r@,?j?? ƿw?iB~>IBD];BCYVGByVHbD^HVD^Ʋ8yf%fN=ٔf^:Q-j>9hYh=j!FyjTEnnEn>pQ 5v4rMy?Q 9v4r$)reBYtyv.?Q Iz?r[7DIr :ir9:rw4y~٫Bɮ~B~BEZRbj"ړڒ’@ɢx<) Wi)H<i-%tɧ%#-Ui-J?-N<)I-J? -J?I1II O=)Yԁ ,o?A06O>6(?6~g=ٱ61 >AHRS rotation from veh to nav: [[0.861437,-0.506351,-0.039188],[0.504714,0.844957,0.176951],[-0.056487,-0.172211,0.983439]]6H`?4 x&? ?X?묿  ƿ`Ux?i6O>I6e];6CY^GBybHIb%=)b49I=!FyVEE> Q 54 7?Q 954 $) eBY=y ?Q E=:y=C ?Q I=? m7DI ;i ; 4yAɮEBAZiRibiji"iiړiqڒq’qy}@ ==n@">颩ɢh g<) ֊i)$<顱iK#tɧ駽Fi?<I? ?IE} E}E}'Ey"E}:*E},:VE}'4ZEya@a@a@a@ԑBG>BBHBGBB =B:DBB;BsAEԹ^Ah%<AhAzAhAiyIyAm .AIq I O > ,-?AJiq>J5?JOi=ٱJ/ RAHRS rotation from veh to nav: [[0.861645,-0.506103,-0.037772],[0.504308,0.845484,0.175588],[-0.056930,-0.170344,0.983739]]JH`?`1`VI#?3?y?%ſz?iJiq>IJ ];JCY^GBy^H\bDj VDj8yrI<%rT=ٔr:Q-r>9v ?Iv ?=v!FyvXEzMEz>|Q 54~ܝ?Q 94~$)~eBYy ?Q I ?~|7DI~:i~:~4yūBɮBZ1R1b1j1"99ړ9AڒA’AAE:@ aaa"e>yɢ}e<)y }iy)cĘ<顁izyB1tɧ)駍:Bhii?j<Ii? i?I(E EE)E"EU:*E*:VEFA4ZEBE;a2E;aJEi;a:Ei;a^AΒ{A ؟AI I! O5 >A ,7G?A2>2S?2j=ٱ2t. :AHRS rotation from veh to nav: [[0.861552,-0.506321,-0.036978],[0.504431,0.845570,0.174816],[-0.057246,-0.169266,0.983907]]2H`Ց?3M$?`?^`?UO ſ)|?i2>I2^;2CYGByH@AbDVD8y%0=ٔ2:Q->9"?I"?=!FyZE\9E>Q 54β?Q 94$)fBYy! ?Q I?7DIF:i:"4yBɮB:EZ!R!b)j1"11ړ99ڒ9’99E @ YYY"]x>qɢuy_<)q uiy)}/9Q YU O/AIY Iq O} >Ա ,'a?A2 >2?2k=ٱ2. :AHRS rotation from veh to nav: [[0.861523,-0.506374,-0.036923],[0.504445,0.845456,0.175326],[-0.057564,-0.169673,0.983818]]2H@?@84碿j$? ?@q? y`۷ſ`o{?i2 >I23];0 @)@@@@DDiDIDDIHiH JH)HJLC JnANLLLPIP)PiP)PIPVT TTTTiTXiZ̏CX)X XIXYXYbGBybH ddbDn/VDn8yvG<%vm=ٔvAr:Q-v?9xIx=z!Fyz\Ezc8E~?yQ 54?Q 94$)fBYy% ?Q I?7DI:i:r4yɮBZRbj"ړڒ’QT@ )))"-e>9ɢ= \<)A EiA)EKŗ ,',\{?AE0 E2E2)E0"E0*E20:VE2FA4ZE0a:@a:@a:@a:@>K>>?>9um=ٱ>l. FAHRS rotation from veh to nav: [[0.861499,-0.506447,-0.036468],[0.504442,0.845466,0.175286],[-0.057941,-0.169405,0.983842]]>H`g?4`뫢 c$?`?@o?e ſ {?i>K>I>3];>CY=GBy=HbDM6VDM8y{<%>=ٔe:Q->9I=!Fy^E27E>Q 54?Q 94'$) fBYy$ ?Q I?7DIS*;iO+;4yBɮSBZ R bj"ړڒ’%@ aaa"e%>qɢuxLj<)q }wiy)}4]1a %, 8?A6>6?6 o=ٱ6. >AHRS rotation from veh to nav: [[0.861304,-0.506801,-0.036179],[0.504731,0.845263,0.175432],[-0.058328,-0.169361,0.983827]]6H̏?@7`&?@e ? t?@9ݭ࠭ſ{?i6>I6dM];6CYGByHy> ףp=?T㥛 ?Mb??=< 9Zd;?B`"۹?ˡE?Y?y='=dA B)~BYB p<bD8VD8y %I=ٔz:Q->9I=!Fy`E7a:E>Q 54G?Q 94$)fBYh!?Q E:y'3?Q I?7D1I}@B5<A5<B=J>B==CB=uHB=GBB= =B=:DB9B=;B=AEDm=Dm<Eu Eu~Eu(Eq"Eu:*Eu(:VEuc44ZEqBEu;a2Eu;aJEu;a:Eu;a ==g#?"6֛?ɢG\<) ♽i)ϖ<iY~Ltɧ--ĺi-L?-y<)I-L? -L?I1aA9IAIQOeU>ԉԹ b9+,?A2)>2?2޽o=ٱ24- :AHRS rotation from veh to nav: [[0.861110,-0.507158,-0.035781],[0.505042,0.845173,0.174972],[-0.058497,-0.168741,0.983923]]2H6?`:Q N)? ?@~e?ZRſK|?i2)>I2-];2CYBGByFHIF<)DbDN[VDNײ8yVA%V_=ٔZl9Q-Z>9XIX=Z!Fy^bE:E>)Q 554-?Q 9=4-$)-fBYAyE=3?Q IE?-7DI-(j;i-f;-m4yUwBɮ]CB];EZRbj"ړڒ’@ @ "nڛ?ɢF<)  i)Y<iUtɧ Ei?K<I? ?IԑAAIQIaOm>E EE*E"Es:*E.:VE(N4ZEa@a@a@a@ !2,Ș?A2Ř>2"?2o=ٱ22- :AHRS rotation from veh to nav: [[0.860429,-0.508327,-0.035578],[0.506202,0.844641,0.174187],[-0.058493,-0.167886,0.984070]]2H@?6DO72?@L?K?@F}ſ}?i2Ř>I2\;2CYFGByFHbDLVDLyVɼ%VJ=ٔVV%Q-Z>9XIX=Z!FyZdE^Z;E^>`Q 5f4b?Q 9f4b$)beBYdyj3?Q Ij?b7DIb :ib|:bA4ylɮnMBlZ|R|bj"ړڒ ’    V!@ "u?颹ɢA<) fi)<iSbtɧH[i?<I? ?IAQIaIqO>B1 B1 B5 hHB5 GBB1 B1 B1 B5 ;B5 AEI D zD AAbE-FA4jE-:4rE-Q/E  E E )E "E U:*E *:VE FA4ZE BE ;a 2E ;a JE i;a :E i;a PK8,☢?A 6}>6Y?6jn=ٱ6, >AHRS rotation from veh to nav: [[0.859560,-0.509767,-0.035988],[0.507714,0.843835,0.173693],[-0.058174,-0.167571,0.984142]]6H ?`Pm0???;? ɭ`rſ~?i6}>I6\;4YFGByFHLLbDRpVDR8yZ.%ZJ=ٔZNQ-Z>9\I\=^!Fy^fEbN;Eb>dQ 5j4f?Q 9j4f:$)feBYhyj4?Q Ij?f7DIf:if:fS4yrdBɮr*BrRx Time:20:53:54.1486 MTRx dataTimestamp_ set to:1761512035.584834QɢUx:<)Y ]@ŽiY)]"ԙ w>,?AE" E"E"+E "E":*E"0:VE" [4ZE a&@a&@a&@a&@LVD>V?Vm=ٱVԗ+ ^AHRS rotation from veh to nav: [[0.858798,-0.511060,-0.035828],[0.509018,0.843263,0.172648],[-0.058021,-0.166507,0.984332]]VHE{?Z X I??@V?@괭Pſ@?iVD>IV\;VCYfGByjwH llbDrIVDrDz8yzԳ%zF=ٔ~ùQ-~>9|I=!FyhEp;E> Q 54 &?Q 94 ʱ$) eBYyf4?Q I? 7DI f;i ; 4y!ɮ%3B)ZIRIbIjI"IIړIQڒQ’QQ]`"@ qqq"u\?颉ɢޜ1<) ׽i)l<顩iڈFtɧܽ駽0iI? <II? I?IA>A>IIO)mDAT read: 20:53:54.1486 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 199, 0.04, 0.973,-1.052, 0.754, 0.565, PHS= 0.510,-1.572, 0.145, RAW= 140.6, 9.6, CAL= 140.1, 10.4, ROT= 9.9, -10.4 uYgot valid direction response: 20:53:54.1486 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 199, 0.04, 0.973,-1.052, 0.754, 0.565, PHS= 0.510,-1.572, 0.145, RAW= 140.6, 9.6, CAL= 140.1, 10.4, ROT= 9.9, -10.4 }6DAT read: bearing request }Dreceived a bearing request messageBDAT read: Tx time:20:53:55.7514 $Ping request sent.M= @M+>MC~@ M9>)M;0>IM9IMz'?|:'?}Un@? MF>)M*IM;0>iM9:publishing transmit ping time:publishing range request flagIyIyIMjo?-7?lE@?IIII I)IIIiIIIII I)IIIIMz'?|:'?}Un@? I)IIIiIA %= ]E,?A2z>2c ?2Tl=ٱ2]|+ :AHRS rotation from veh to nav: [[0.857982,-0.512392,-0.036358],[0.510433,0.842474,0.172322],[-0.057666,-0.166408,0.984369]]2Ht?e@xU?? ?bLſ`?i2z>I2\;2CYRoGByRJHye!rh?Mb?Qel'?ee`eBeA e&B)e BaYepBbD}7VD}8yɭ%A=ٔ\Q->9I=!FykE};E>Q 546?Q 94$)eBY?"?Q E:yF?Q I?8DI/:i8:Ű4y=Bɮ B3EZRbj"ړڒ’ #@ > > ?" W@ɢ%xP <)! %i!)-{r<19i=}BBBPHBtGBBBBB;BAEtɧi?֜<I? ?IEU EUEU)EQ"EUC:*EU,:VEUFA4ZEQBEU5;ae2EU6;aeJEU;;ae:EU;;aeIIO=IqԱ ?K,lZ0?A6\ӣ>6. ?6Ӳj=ٱ6* JAHRS rotation from veh to nav: [[0.857281,-0.513555,-0.036480],[0.511655,0.841938,0.171320],[-0.057268,-0.165535,0.984540]]6Hn? oy_?@'?`?>R>0ſY?i6\ӣ>I6\;6CYVgGByV@H `bp;bDfVDf8yr;%vV=ٔv@Q-v>9xIx=z!FyzmE~p;E> Q 54 CE?yQ 9}4 h$) eBYy(G?Q I? 8DI Tz2 ?2)i=ٱ2') :AHRS rotation from veh to nav: [[0.856724,-0.514474,-0.036605],[0.512627,0.841520,0.170461],[-0.056894,-0.164803,0.984684]]2H`Ij?v꽢pg?@??,! Cſ?i2ef>I2\;0YBRGByF&HIJ=)Jp<bDNVDN8yV V%VN=ٔZxQ-Z>9XIX=^!Fy^oE^9;E^>`Q 5f4b1T?Q 9f4bϣ$)beBYhyjsG?Q Ij?b/8DIby:ibp:bӰ4yn*BɮnBr4EZRbj"ړ ڒ ’   >a%@ )))"-f@AɢE;)A Ef-iA)MlBB7HB_GBBBBB;BAEE  E E (E "E Ʊ:*E VE c44ZE BE H;a 2E J;a JE i;a :E i;a Y 7X,d?A6Q>6X ?6f=ٱ6;) BAHRS rotation from veh to nav: [[0.856137,-0.515419,-0.037056],[0.513677,0.841049,0.169622],[-0.056260,-0.164254,0.984812]]6H@ye?O~ p?@?)?ά`Jſ ?i6Q>I6R ];6CYJ:GByJ HbDV&VDV8yZk%^J=ٔ^PͺQ-^>9`I`=b!FybqEfB;Ef>hQ 5j4j}c?Q 9n4j$)jeBYlynG?Q In?j?8DIj@;ij;jڰ4ytɮvBtZ R b j " ړڒ’%`1&@ AAA"E@QɢUr5;)Q ]JEiY)]3$ԉԹ [^,}?AE EE*E"E:*EVE(N4ZEa@a@a@a@>ϧ>>i ?>\d=ٱ>-) FAHRS rotation from veh to nav: [[0.855521,-0.516394,-0.037694],[0.514760,0.840460,0.169258],[-0.055724,-0.164207,0.984851]]>H n`?`L@Lx? ???χſ?i>ϧ>I>;)];>CYz,GByzHAAbD% VD%8y-B %5C=ٔ5קQ-5>99I9==!Fy=sEEB;EE>IQ 5M4MMs?Q 9U4M/$)MgeBYQyUH?Q IU?MP8DIMW:iM;M4yeBɮeBm5EZRb j "ړ!ڒ)ԙ’ '@ "&@ɢ%;) Si)ނ<i䁼uɧ3yi ?#D<I ?  ?I ^A59Ae .AIi Iy O > e,ʗ?AY GBy H  wh>vCkG)UCA9YY]#2Ay]"~? rh?9e ?Ie ?=m!FymuEmEm>qQ 5}4uq?Q 9}4u$)u5eBY%?Q E:y8?Q I?uc8DIua:iu:uF4yɮ BZRbj"ړڒ’'@ >>@"J:@ɢ> ;) _i)R<iquɧ ̪ i Q ? '9< I Q ? Q ?I@!@!@!@!i9I9A>A>I A ؟AI I O >k,?AY=FBy=HbDMVDM~8yu %}o=ٔyQ-?9"?I"?=!FywEE?Q 54e?Q 94$)eBYyQ I?q8DI:it:U4yBɮBZRbj"ړڒ’ u(@ ")ɢ5x)?)1 5χi1)=Ȇ<99i=8~E vɧE͵EpiEh ?El1EE EEvEE+EA"EE:*EE:VEE [4ZEAaM@aM@aM@aM@yPExceeded connect timeout, disconnecting.ԡ ϼr,g{˙?A6i>6| ?6aq[=ٱ6r)@ BAHRS rotation from veh to nav: [[0.853850,-0.518952,-0.040364],[0.517757,0.838785,0.168428],[-0.053549,-0.164711,0.984887]]6HR?`@w?R? ?@j<ſ@2?i6i>I6z];6CYJFByNH R49b ?Ib ?=f!FyfyEf <Ef>hQ 5n4jq?Q 9n4j$)jdBYpyr9?Q Ir?j8DIj;ij3;j4yvBɮvBv,EZ R bj"ړڒ’sl)@ 999"=A:@IɢUH)Q U(iQ)UByB}HB}GBByByByB};B}AEEU  EU EU *EQ "EU U:*EU *5:VEU (N4ZEQ BEU ;a] 2EU ;a] JEU ;ae :EU ;ae ! x,)Z噢?A2>2| ?2X=ٱ2މ* :AHRS rotation from veh to nav: [[0.853722,-0.519081,-0.041402],[0.518036,0.838541,0.168782],[-0.052895,-0.165541,0.984783]]2HQ?`O`2࿓?T? ?`p0ſX?i2>I2];2CYfFByfHIj!>)ja=bDnVDn8yȐ%E=ٔκQ->9I!=%!Fy%{E%{@:E%>)Q 554- ?Q 954-N$)-dBY9y=9?Q I=?-8DI-a;i-];-%4yMުBɮUB]-EZRbj"ړڒ’`C*@ ":@ɢqO) 3i)<ilfxvɧϾ+iXW ?b2<IXW ? XW ?IAhAzAhA)AE؟AIQIiO}>Qԁ E]  E] yE] +EY "E] :*E] :VE] [4ZEY ae @ae @ae @ae @`,$a?AB>B ?B dU=ٱB+ JAHRS rotation from veh to nav: [[0.853644,-0.519098,-0.042776],[0.518248,0.838287,0.169395],[-0.052074,-0.166771,0.984619]]BH@ Q?s楿|?`>?@?jXſ?iB>IB];BCYVFByV{HbDj)VDj8Yy%<=ٔ%Q-->9E"?IM"?=U!FyU}EmnManaging dock network, ignoring radio surface power off:E>Q 54?Q 947$)dBYy9?Q I?8DI";i;%4yɮBZ!R!b!j!"!!ړ!)ڒ)’))-:.+@ iii"ml:@颁ɢj) bi)<顉iuLwɧ޾駕:iB ?7<IB ? 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N ?IIIO (>Bu<Au<B}U>ByB}0HB}+HBByByByB};B}$BEBABABABEǏ =BEǏ =CE߂5! ,`?A|YHByHbDVD|8y%l=%%L=ٔ-Q-->9)Y)=5"Fy5BE5E5>9Q 5E4=B ?Q 9E4=#)=cBYIyIQ IM@=>DI=:i=:=4yUBɮUbBUEZqE EE,E"E:*EVEg4ZEBEk;a2El;aJEv;a:Ev;aRqbj"ړڒ’@)J@ɢ<) ;i)ڂiN!Wԇɧc2iC ?7^<IC ? C ?IIIO=)Yԁ ,=ˣ?A2#>2a?2Kٱ22 :AHRS rotation from veh to nav: [[0.839894,-0.525663,-0.135119],[0.540473,0.832821,0.119572],[0.049675,-0.173456,0.983588]]2H`h?;K`K?x?@B?@o?3ƿy?i2#>I2^\;2CYRHByRHYiMb@Mb@Mb@ 9Cl?X9v?QY;?y<sB EB)YB  @AbD!VD8y%g.=%%;=ٔ%IQ-%>9)Y)=-"Fy-DE-E5>9Q 5E4=U ?Q 9E4= #)=cBYE?Q EE:yE?Q IE@=>DI=<:i=#:=4yUBɮU+BYZyRybyjy"yyړڒ’`J@1ɢ5j)1 5Ա ,壢?A2>2FU?2bLٱ223 :AHRS rotation from veh to nav: [[0.839979,-0.525414,-0.135555],[0.540315,0.832888,0.119821],[0.049946,-0.173889,0.983498]]2H?@0YBJ????Bƿ@x?i2>I2];2CYBHByFH HHbDNVDN8yV& %Ve=ٔZGQ-Z>9XYX=Z"FyZFE^{E^>`Q 5f4be ?Q 9f4b>#)bcBYhyj?Q Ij@b>DIb:ib9:bʸ4ylɮn.BlZ|Rbj"ړ ڒ ’   J@B%Q>B!B%VHB%IHBB% =B!B!B%;B%EBEQɢ]qk)Y ]ȭ9 i I ,|?A:`>:O?:Mٱ:v3 BAHRS rotation from veh to nav: [[0.840014,-0.525268,-0.135905],[0.540236,0.832928,0.119903],[0.050218,-0.174141,0.983439]]:He?`YeI? X?`?3?`BJƿUx?i:`>I: \;:CYNHByNHbDVVDV8yb <%bI=ٔf.Q-j>9pYt=v"FyvHEvYEv>xQ 5~4zv ?Q 94za#)zcBYy?Q I@z>DIz;iz;z4y Bɮ BEZ)R1b1j1"19ړAIڒQ’Qq}J@ɢj)! % qE  E E E "E %:*E ,:VE ZE a @a @a @a @ԙ ,S?A2>2|7?2ANٱ23 :AHRS rotation from veh to nav: [[0.840209,-0.524923,-0.136034],[0.539922,0.833115,0.120014],[0.050334,-0.174284,0.983408]]2H?+i G??8?`gũ? Nƿ x?i2>I2\;2CYf#HByf(HiUMb@Mb@Mb@QQQQ Q9Ux&1?~jt?QYUA ?yU9Y="FyJE"dE>Q 54M ?Q 94x#)cBY ?Q E:y?Q I@>DIG;i ;`dz4yɮBZRbj"ړڒ’J@ ɢ 4[)  =i)g'i))mɧ.%Xi%Uk ?%2A>AAAAB%O>B%=CB%oHB%^HBB!B!B!B%;B%BEIIO>  ,X2?A2>2+?2zNٱ22 :AHRS rotation from veh to nav: [[0.840298,-0.524883,-0.135638],[0.539768,0.833339,0.119147],[0.050494,-0.173332,0.983568]]2H`?`\ E?ඪ?l?^ک?/ƿcy?i2>I2\;2CYB*HByF0HbDN%VDN8yV1<%VY=ٔV޹Q-Z>9XYX=Z"FyZLE^E^>`Q 5f4b֙ ?Q 9f4b")`Ydyj?Q Ij@b?DIbl:ib:bͳ4yn}BɮnBnEGSzB*** querying acoustic contact ***:xBxbEFA4jE?4rE<0Ee EaEe+Ea"Ee7:*EaVEe [4ZEaBEe;au2Ee;auJEe;;au:Ee;;auZRbj"ړڒ’K+K@ɢ }S) +=i)%yၼ!!i%e+-ɧ-N->i- ?-e<)I5 ? 5 ?I999AA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IIOE>) Y ,^L?AFJ>F)?Fe8NٱF 62 VAHRS rotation from veh to nav: [[0.840323,-0.524934,-0.135283],[0.539745,0.833389,0.118906],[0.050325,-0.172938,0.983646]]FH?CPE?? p?Cĩ?@"ƿz?iFJ>IF\;DYf7HByf@HDAT read: BDAT read: Tx time:20:54:40.3480 $Ping request sent.9Y="FyNEE>!Q 5E4j ?Q 9E4")cBYE?Q EM:yM?Q IM@?DIr%Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251014y %,^f?A0:>:[?:bXLٱ:?2 BAHRS rotation from veh to nav: [[0.840493,-0.524763,-0.134890],[0.539523,0.833488,0.119217],[0.049868,-0.172977,0.983663]]:H@Q?DC? ??U?@$ƿ)z?i:>I:\;:CBbM>B`BbHBb|HBBb =Bb;DBbDBb ;BbBEYn3HByn;HttbDz+VDz8y:%p=ٔ6:Q-?9 Y = "Fy PEVE?Q 5%4 ?Q 9%4")cBY!y%r?Q I%@&?DI<;iV:Fܳ4y5jBɮ5B5EZQRQbQjQ"QYړYYڒY’aaeK@颉ɢB) xM=i)1顑i/Ոɧҥ駥7iʳ ?r<Iʳ ? ʳ ?IAzAjAIIIaOm=ԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503141ԹE} E}EyEy"E}:*E}?:VEyZEyBE}&;a2E}';aJE};a:E};a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755015 ,2:?A2O>2m?2{Jٱ2 &2 :AHRS rotation from veh to nav: [[0.840717,-0.524526,-0.134417],[0.539215,0.833657,0.119429],[0.049414,-0.172885,0.983702]]2H@'?4@A?P?ᒾ?`L?!ƿ{z?i2O>I28\;2C`Yn=HBynGHtvAbDz*VDz8y<%J=ٔ M:Q- >9Y=="Fy=REEsEE>IQ 5M4M ?Q 9U4M")McBYQyUZ?Q IU@M6?DIM:iM-:Mq4ykBɮBZRbj"ړڒ’@K@ɢcB) ht=i) iY1ɧʀi ?< I  ?  ?I IIO>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007052A E  E {E *E "E :*E 5":VE (N4ZE a @a @a @a @7&,+?A2">2?2Hٱ21 :AHRS rotation from veh to nav: [[0.841037,-0.524189,-0.133727],[0.538771,0.833915,0.119628],[0.048810,-0.172660,0.983771]]2H@?'`=? o??@?`ƿ {?i2">I2O];2CYFKHByFXHiMMb@Mb@Mb@IIII I9MV-?I +?9yYy=}"Fy}TEխE>Q 54U ?Q 94=")cBY?Q E:y?Q I@F?DIp;i;4yWBɮcBݸEZRbj"ړڒ’ ^K@)ɢ-')) 5=i1)5M11i5v3=Jɧ=ŝ=o|iE ?E& BBHBHBBBBB;BBEq checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522955 b,,=򳤢?A2->2?2HCٱ2}1 :AHRS rotation from veh to nav: [[0.841460,-0.523798,-0.132596],[0.538201,0.834242,0.119917],[0.047805,-0.172268,0.983889]]2HI2ei];0YNVHByRfH TVbDZNVDZ˲8yb<%bV=ٔf,;Q-f>9dYd=f"FyfVEjEj>lQ 5r4n ?Q 9r4n")ncBYpyvk?Q Iv@nU?DInB:in:nR4yzEBɮz3Bz޸EZRbj"ړ!ڒ!’!!%',L@D==D==EE EEEE(EA"EEg:*EE*:VEEc44ZEABEE;aU2EE;aUJEEi;aU:EEi;aUԙ ɢ`) =i)i05%9ɧ%%ˏwi%_ ?%S <)I-_ ? -_ ?I)IIIaOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775015 K3,ͤ?A>0>>n?>1`?ٱ>-\1 FAHRS rotation from veh to nav: [[0.842006,-0.523195,-0.131504],[0.537443,0.834644,0.120515],[0.046706,-0.172150,0.983963]]>H?2?g?ھ??` ƿ|?i>0>I>.];>CYR]HByRnHIV?>)V>i5Mb@Mb@Mb@1111 195Gz??:vY5p?y5<5T5B5|A 5B)11Y5BbDMIVDMDz8echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.027151yey<%e@=ٔm);Q-m>9iYi=u"FyuXEu Eu>yQ 54}?Q 94}")}cBY?Q E:y?Q I@}f?DI}:i}<:}4yɮ-BZRbj"ړڒ’8fL@ɢ) κ=i)3~i7% [ɧ%%/si% ?-F <)IM ? M ?IQEM EIEIEI"EMU:*EIVEIZEIaU@aU@aU@a]@!IIIYOe4>G[9YJAI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278994y t9,a礢?AB6G>B6B-*?BN8ٱB2 NAHRS rotation from veh to nav: [[0.842630,-0.522368,-0.130790],[0.536599,0.834876,0.122651],[0.045124,-0.173531,0.983794]]BH?= +?N?@ f?`?A6ƿ={?iBW>IB];BCYYM`HByMrHbDmXVDmղ8y}Ƴ;%}-=ٔ[;Q->9Y="Fy[EE>Q 54?Q 94")cBYyw?Q I@y?DI:i:4y3BɮB߸EZ1R1b1j1"99ړ99ڒ9’AAE`L@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.531131yɢ},) =i)|顁i{9\}ɧؔ駕&niy ?l <Iy ? y ?II IO-,>ԁEY E]|EYEY"EY*E]P$:VEYZEYBE];am2E];amJE]};am:E]};amԩ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783065\@,?A2_>2@?24ٱ2<1 >AHRS rotation from veh to nav: [[0.842968,-0.522277,-0.128960],[0.536165,0.835239,0.122080],[0.043953,-0.172054,0.984107]]2H?@ƁC(?F?`@??ƿ}?i2_>I2 ^;2C@Br@i@IDDD FmAF#DDJLCHIH)HiH)N@CINmALL LPPPiPPiTVmA)T TIT X)Z{AXXXYXYbzHBybHbDj_VDj۲8yr=%r=ٔrp;Q-v ?9tYt=v"Fyv\EzKEz ?|Q 54~$?Q 94~")~cBYyV?Q I@~?DI~ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.035874) Em  Em Em )Ei "Em %:*Em ,:VEm FA4ZEi au @au @au @au @9 F,^?A2>2~?2D0ٱ2.1 :AHRS rotation from veh to nav: [[0.843319,-0.521926,-0.128085],[0.535688,0.835468,0.122604],[0.043020,-0.172008,0.984156]]2Hy? e [$?@'?b??Wƿ`4~?i2>I2&^;2CYHByHiMb@Mb@Mb@ 9/$?+?9)Y)=-"Fy-^E-RE->9Q 5=4=-7?Q 9E4=d")=cBYE?Q EE:yEF ?Q IE@=?DI=:i=:=V4yM BɮUBQZqRqbqjq"yyړyyڒy’y`M@颩ɢ ) >i)y顱i=ɧђjih ?{ <Ih ? h ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.287086IQIaO=ԱAYAYBaBaBeHBeHBBe =BaBaBe;BeFBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539058L,P95?A6ֱ>6?6,ٱ6r0 >AHRS rotation from veh to nav: [[0.843594,-0.521718,-0.127124],[0.535328,0.835655,0.122897],[0.042114,-0.171729,0.984244]]6H?@ Eh!?? 4v??3ſ~?i6ֱ>I6I^;4pY~HBy~HE! E%}E!E!"E!*E%k&:VE!ZE!BE%;a-2E%;a-JE%ŀ;a5:E%ƀ;a5bDVDyU(=%eX=ٔm,;Q-m>9qYq=u"Fyu`E}?E}>Q 54G?Q 94")cBYy( ?Q I@?DI:i:4yɮBZRbj"ړڒ’l1M@qɢuv)q }>iy)}wyyi}e?lӉɧ풾駅Pki ?!<I ?  ?II1IIOU= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7909829a S,O?A2>2O?2 (ٱ20 :AHRS rotation from veh to nav: [[0.843809,-0.521710,-0.125721],[0.535074,0.835833,0.122798],[0.041017,-0.170888,0.984436]]2H {?ر T? $?@o?-?@ſ?i2>I2^;2CYBHByFHUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.045164Yi}Mb@Mb@Mb@yyyy y9}?Mb?~jtxY} ?y}@=}Ļy}|A y)}/AyY}BbD?VD8y^M%E=ٔ.;Q->9Y="FycEZRE>Q 54X?Q 94")dBYu ?Q E:y/#?Q I@?DI3:i<:-4yBɮBEZRbj"ړڒ’`fM@)ɢ5?)1 5>i1)=(u99i={AEɧEEmiE ?EX@!A>E5 E5E5*E1"E5g:*E5*:VE5(N4ZE1aE@aE@aE@aE@iA!I)I9OM0>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.295095 BY BY B] HB] HBB] =BY BY B] ;B] /BEY,,i?A2*t>2?2#ٱ2/ :AHRS rotation from veh to nav: [[0.844069,-0.521523,-0.124743],[0.534739,0.835982,0.123238],[0.040012,-0.170727,0.984506]]2H?P,￿@?]??i|?`^ſ ?i2*t>I2_;2CYbHBybHbDjBVDj8yr1K<%rU=ٔv+;Q-z>9yY="FyeEˉE>ԙQ 54i?Q 94")dBYy#?Q I@?DI|;i;6#4yɮ{B׸EZIRQbQjq"yyړyyڒ’fM@ɢ4}) !>i)nqsi>Cɧ 5 Tpi  ? Ch!< I  ?  ?I15checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547503AIIO=>bEjEFA4rE.E% E%E!E!"E%%:*E%,:VE!ZE!BE%;a52E!a5JE%;;a5:E%;;a5!  BDAT read: Rx Time:20:54:44.7592  TRx dataTimestamp_ set to:1761512086.032762 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.800271`,˂?AbO>bi~?b ٱbp0 jAHRS rotation from veh to nav: [[0.844258,-0.521390,-0.124023],[0.534530,0.835943,0.124406],[0.038812,-0.171324,0.984450]]bH(?9@?` ? ٿ?:ߣ?ſ?ibO>Ib_;`Y HByHbD-QVD-β8y5&q=%=G=ٔ=t?;Q-=>9AYA=E"FyEgEEg9EM>IQ 5U4MLz?Q 9]4M")M dBYYy]#?Q I]@M?DIMU;iMQ;M*4yeBɮm>BiZRbj"ړڒ ’   M@9ɢE`R)i uQ:>iq)}&qyisE3ɧriu ?!<Iu ? u ?IAA}.AIIO^>]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051082iEM  EM EM )EI "EM g:*EM .:VEM FA4ZEI aU @aU @aU @aU @ԙ /f,j?A6>6V?6Kٱ61 BAHRS rotation from veh to nav: [[0.844615,-0.520903,-0.123634],[0.534043,0.836013,0.126019],[0.037716,-0.172463,0.984294]]6H?<t@?`?`a!? }O?Eƿ`U?i6>I62S_;6CYJHByJHiEMb@Mb@Mb@AAAA A9E+?S㥫?~jtxYE?yE/]=AEBA EoB)EhAAYEBbD]5VD]8ym6(=%mG=ٔmh/;Q-m>9u ?Yu ?=u"FyuiE}E}>Q 54?Q 94") dBYY ?Q E:y%?Q I@?DI:i:914yɮ-BZRbj"ړڒY’YaeN@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.305056yɢP;`) K>i)Un顱irGSɧ駽vwip ?ҳ!<Ip ? p ?IAzAԡB<A<B F>B B HB HBB B B B ;B BEA؟AI!I9OEQ> DAT read: 20:54:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 278,-0.02, 0.157,-1.475, 0.039,-0.115, PHS= 0.375,-1.315, 0.110, RAW= 141.6, 10.6, CAL= 141.1, 11.5, ROT= 8.9, -11.5  Ygot valid direction response: 20:54:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 278,-0.02, 0.157,-1.475, 0.039,-0.115, PHS= 0.375,-1.315, 0.110, RAW= 141.6, 10.6, CAL= 141.1, 11.5, ROT= 8.9, -11.5  PDAT read: Bearing 192.7, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 192.7, 8.6 (Local)  DAT read: Range 11 to 50 : 1505.3 m (Round-trip 2007.1 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.968126,0.151605,0.199368] Fpublishing direction and range infoya e U?g?i?Ye )Da a a a a )a Ie >ie Qe G=e 2+@e q=>e 7@ e M>)e >Ie Ma a e `>?e-?vt? e ->)e ie Ma a !l,?AE EEE"E:*E0:VEZEBEk;a 2El;aJE߉;a:E߉;ae兰>et?eٱe1 uAHRS rotation from veh to nav: [[0.845180,-0.520418,-0.121802],[0.533292,0.836302,0.127274],[0.035627,-0.172525,0.984361]]eH ?Be.@??@J? =?Oƿ?ie兰>Ie_;aYHBy H bD-/VD-8y].=%]<=ٔ]V;Q-e>9e"?Ye"?=e"FyekEm! Em>Q 54?Q 94")dBYyp%?Q I@?DI:i:84yBɮBظEJRk?A]D]Dq@?@%gl@cڰ[r@U?g?i?>M—?@4O@i0G*s@bL9?hc?'u/?j}zDrDZIB{mo?b<7@ջzoCꗕIB{mo?<7@ջoCڗeD◕+k@?Z!R!b!j)"))ړ)1ڒ1’15@3@5I?aɢe0w::)a e^>ia)mknkiiimcIusɧuu7K|iu ?u!) s,XХ?AYrHByrHiMb@Mb@Mb@ 9x&1?V-?~jtxYA ?ym= B)/AY\BbD0VD8y<%V=ٔQ->9Y="FymEE>Q 54?Q 94¿")dBY ?Q E:y&?Q I@@DI:i:}?4yɮBZRbj"ړڒ ’   *?9ɢ=1&;)9 =j>i9)E;hAAiE7KMɧMMD̀iM ?M!yԩ B D>B B DHB IBB =B B B r;B AEVz,5ꥢ?ADZX>Z?Z"B ٱZJ1 vAHRS rotation from veh to nav: [[0.845418,-0.520414,-0.120157],[0.533038,0.836316,0.128246],[0.033748,-0.172470,0.984436]]ZH ?`:¾? ?_j? mG?}ƿ?iZX>IZL_;ZCY HBy /H AEp<bDUQVDUβ8y=%L=ٔ;Q->9Y="FyoE\E>Q 54?Q 94")dBYy&?Q I@@DI9;i;F4yإBɮBٸEZ)R1b1j1"19ړ99ڒ9’9AEL??iɢm9;)q uy>iq)uieqqi}P0M}Sɧ駅i ?"<I ?  ?IA>A>ԩAII!O-->E EE*E"E:*E,:VE(N4ZEBE&;a-2E';a-JE;;a-:E;;a- #,?AlYrIByr>HIv4<)v;bD~`VD~ܲ8y%<=%-Q=ٔ-Q-->91Y1=5"Fy5qE5E=>AQ 5E4EH?Q 9M4Eҷ")EdBYIyIQ IM@E'@DIE:iE:EQM4yQɮ]BYZyRybyjy"yړڒ’@5?颱ɢm;) 5>i)7b项iOՊɧ駾kTi{f ??"<I{f ? {f ?IAI)IQO>=%==C=AE-  E- }E- (E) "E- U:*E- k&:VE- c44ZE) a5 @a5 @a5 @a5 @a ! ! .%,#?A:GDPfB9dYj}3A1YIByLHi]Mb@Mb@Mb@YYYY Y9]-?T㥛 ?~jtxY]5?y]=Y]:BY ]6B)YYY]BbDMVDʲ8y<%3=ٔQ->9Y="FysEE>Q 54-?Q 94=")dBY ?Q E:y2)?Q I@9@DI ;i ;NU4yƥBɮ{BڸEZRbj"ړڒ!’!!% ?QɢU|f;)Q U>iQ)]6^YYi][Qeɧe4eie? ?mj"BBiHB)IBBBBBF;BAEBeԑԹ L,7?AB>B?BٱB2 NAHRS rotation from veh to nav: [[0.846233,-0.519808,-0.117000],[0.531974,0.836594,0.130818],[0.029882,-0.172944,0.984478]]BHW?@D?`a??G?#ƿ؀?iB>IB_;@YV/IByVpH\^AAbDbFVDbIJ8yjg=%jq=ٔjw:iA)EZAAiE.SMɧMMKiM0# ?UG" <,&Q?A>>>>u?>4ٱ>K1 JAHRS rotation from veh to nav: [[0.846704,-0.519338,-0.115671],[0.531302,0.836900,0.131594],[0.028464,-0.172878,0.984532]]>H3?j`l?`?? %? ƿI?i>>>I>`;>CYR3IByRuH TTi=Mb@Mb@Mb@9999 99=Cl?p= ף?y&1|Y=;?y===`99 9)=hA9Y==BbDUZVDUֲ8yeb<%eA=ٔe[;Q-e>9iYi=m"FymwEuEu>yQ 54}?Q 94}")yY ?Q E:y6)?Q I@}X@DI}i)łV顱ip,UFɧߵi ?"<I ?  ?IE EE*E"E:*E0:VE(N4ZEa @a @a @a @AII O+>9i B B>B B HB QIBB B B DB 0;B AEc,`k?An6->nm?neݼٱn2 ~AHRS rotation from veh to nav: [[0.846807,-0.519367,-0.114786],[0.531210,0.836770,0.132787],[0.027084,-0.173420,0.984475]]nH ?@b??&?`?@2ƿҀ?in6->In`;nCY?IByHbD5IVD5Dz8yE<%ML=ٔMb;Q-U>9QYY=]"Fy]yE]Ee>iQ 5u4m?Q 9}4m")iYyy},)?Q I}@mh@DImE9;im0:;mi4yBɮBҸEZRbj"ړڒ’ @I颉ɢ3<) >i)R顑iXV%lɧ駝5i ?I"<I ?  ?IAIIO-->qE E}E(E"E*Ek&:VEc44ZEBEk;a2El;aJEŀ;a:Eƀ;aԡ F,Y?A2>2R?2LԼٱ2 2 :AHRS rotation from veh to nav: [[0.847044,-0.519172,-0.113911],[0.530887,0.836849,0.133575],[0.025978,-0.173617,0.984471]]2H?=)`?x?@?`噚?9ƿ`Ȁ?i2>I2,`;2CYFYIByFHbDN'VDN8yVg=%VU=ٔZz=;Q-Z>9XYX=Z"FyZ{E^E~>Q 5 4"?Q 9 4")dBYy)?Q I@w@DIKf;iFg;zp4y)ɮ-B)ZIRIbIjI"IIړQQڒQ’QQ @ɢ44<) ͬ>i)3NicXjɧØit ?5"<It ? t ?IԱA I)IQO> E  E E 'E "E *E *:VE '4ZE a @a @a @a @9 o,1?A2ۮ>2D?24˼ٱ232 :AHRS rotation from veh to nav: [[0.847189,-0.519135,-0.113002],[0.530710,0.836848,0.134284],[0.024854,-0.173735,0.984479]]2H@,??u?80?:s? <ƿـ?i2ۮ>I2>`;0YZIByHIC=)<i5Mb@Mb@Mb@1111 195T㥛 ?x&?~jtxY5!?y57=5Ļ5B5CA 5B)11Y5BbDM VDM8y]E,;%]&=ٔe;Q-e>9aYa=e"Fym}EmEm>qQ 5}4u$7?Q 9}4u")udBY!?Q E:y)?Q I@u@DIu:iuH:ux4yBɮBӸEZRbj"ړڒ’ \@ɢ E<) v>i)eHie[ɧľi ?5%#<I ?  ?IBE<AE<BQBQBUHBUpIBBQBQBQBU/;BUAEAI)AIIOeU>i S,?A2Au>2#?2Yٱ22 :AHRS rotation from veh to nav: [[0.847629,-0.518697,-0.111708],[0.530070,0.837135,0.135024],[0.023478,-0.173664,0.984525]]2H? *瘼T??yH? ? :ƿ:?i2Au>I2`;2C @)BnAB@@@FnAiFļIDDIDiFnA HH)HH HLPPPPPIT)TiT)TITTT XXXXD^=D^R=bEAjEEC4rEE8/Eb EbEb)E`"EbƱ:*Eb:VEbFA4ZE`BEbH;aj2EbI;ajJEb;aj:Eb;ajillilp)p pIpYpYvjIByvHbD&VD8y;=%x=ٔ;Q-?9Y="FyE%-E%?)Q 554-E?Q 954-?")-dBY1y=d)?Q I=@-@DI-;i-;-~4yAɮEBAZaRabaji"iiړiiڒq’qqu@ɢo<)! %5>i!)%D!!i%\-f䋽ɧ5Ⱦ5 i5q ?5 E#<1I5q ? 5q ?I9AAIIIaOu>! ,tҦ?A6A>6?6xٱ6{k2 BAHRS rotation from veh to nav: [[0.847860,-0.518587,-0.110462],[0.529753,0.837275,0.135396],[0.022273,-0.173315,0.984615]]6H@!?`C CG`?@?T?Ζ?`./ƿ?i6A>I6 `;6C|YyHiMb@Mb@Mb@ 9Zd;?Zd;?{GztY?yy=ף:B B)AYBbDGVDŲ8ye:%A=ٔ:;Q->9Y="FyErE>Q 54V?Q 94")dBY?Q E:yK'?Q I@@DI ;iC ;4yBɮBZRbj"ړڒ’@^@ɢѯF<)  m>i ) ? )i-E^58ɧ5̾=ãi=YS ?=qm#<9I=YS ? =YS ?IAAQzAUhAE EEE"E/;*E.:VEZEa@a@a@a@)A.AIIOA>Qԁ BE A>BE ;CBE HBE IBBA BA BA BE ;BE AE ,]즢?AFc>Fj?FgٱFm1 VAHRS rotation from veh to nav: [[0.847741,-0.519054,-0.109172],[0.529983,0.837182,0.135071],[0.021288,-0.172365,0.984803]]FH ? ? 2?J?`̕? ƿ?iFc>IF~`;FCYYe|IByeH iibDuiVDu8y6=%M=ٔ!;Q->9 ?Y ?="FyE):E>Q 54Sg?Q 94 ")dBYy]'?Q I@@DI:iF:4yɮBZRbj"ړڒ’@ɢ~<) >i)d;i`%9ɧ%eо%緦i-6 ?-#<)I-6 ? -6 ?I1AE؟AIQIaOu>ԉD@AzDE EEE"E:*E*:VEZEBE;a2E;aJEi;a:Ei;aԱ w,s?A2K>2q?2 ٱ2A%1 :AHRS rotation from veh to nav: [[0.847856,-0.519080,-0.108153],[0.529839,0.837221,0.135392],[0.020268,-0.172097,0.984872]]2H!?L`䯻q??T?4? Dƿ@?i2K>I2hc`;2CYFIByFHbDNVDN8yV=<%VY=ٔZ1;Q-Z>9Z"?YZ"?=^"Fy^E^ME^>`Q 5f4b w?Q 9f4bI")bdBYhyjR'?Q Ij@b@DIb:ibw:b4ynpBɮrZBr˸EZRbj"ړ  ڒ ’  xf@Թɢ<) >i)S{6ifbdɧӾyi] ?̶#<I] ? ] ?IAIIO(>E  E E (E "E g:*E .:VE c44ZE a @a @a @a @9 ǩ,{ ?A2;>2?2<ٱ21 >AHRS rotation from veh to nav: [[0.848219,-0.518630,-0.107462],[0.529296,0.837403,0.136392],[0.019252,-0.172569,0.984809]]2H$?@??@Ku??@ƿ?i2;>I2`;2CYFIByFHiMb@Mb@Mb@ 9ףp= ?Mb?~jtxY?y=Ļ B)YBbD-VD-8y5~=%=B=ٔ=;Q-=>9AYA=E"FyEEM˺EM>QQ 5U4U?Q 9]4U"Q =]tI)UdBY]?Q E]:yeS(?Q Ie@U@DIU);iUp;U4yiɮmIBiZ)R)b)j1"1YړYYڒa’aae0@颱ɢx<) >i)0项iXidoɧBؾi"?0#<I"? "?IA>A>AA@AB@>BB HBIBB =BBB;BmAEA!I1AIQOm5>i 4=ԙ ͩ,&W:?A:qխ>::?:ٱ:#1 FAHRS rotation from veh to nav: [[0.848367,-0.518618,-0.106343],[0.529094,0.837507,0.136536],[0.018253,-0.172099,0.984911]]:H%?S9U?@?z??Sƿ@c?i:qխ>I:o\`;:CER EPER)EP"ER:*EPVERFA4ZEPBERk;aZ2ERl;aZJER ;aZ:ER ;aZY^IBy^HIb=)b=bDjVDj8yr%rP=ٔvq&;Q-v>9tYt=z"FyzEz&Ez>|Q 54~?Q 94~")~dBY y D(?Q I @~@DI~:i~:~ᡴ4y_Bɮ-BZ1R1b9jQ"YYړYYڒa’aae@颉ɢpړ<) >i)8,顙iB(fͽɧaܾ駥Mi?$<I? ?IqIIO>ԡ ԩ,w1T?A2❭>2s?2:܎ٱ21 :AHRS rotation from veh to nav: [[0.848604,-0.518295,-0.106030],[0.528742,0.837539,0.137695],[0.017438,-0.172911,0.984783]]2H'?ޕ $s???Kۑ?!ƿW?i2❭>I27`;2CYRIByRHieMb@Mb@Mb@aaaa a9eT㥛 ?x&?I +Ye!?ye7=e94eBe|A eB)aaYeBbD}]VD}ٲ8yU&%@=ٔ;:Q->9Y="FyEE>Q 54۪?Q 94ʂ") dBY!?Q E:y(?Q I@@DI:i:P4yɮ2BZRbj"ړڒ’\@ɢ:`<) >i!)%&!!i%h-cɧ- -qi-?5,$<1I5? 5?I9E EE+E"E%:*EE7:VE [4ZEa@a@a@a@II!O5 >GM 79IYM(A) B B B HB IBB =B B B ݊;B ]AEB;CB;CBBBC>`4ک,n?A >X>>ł?>Oٱ>4 JAHRS rotation from veh to nav: [[0.848895,-0.517757,-0.106325],[0.528300,0.837463,0.139842],[0.016639,-0.174883,0.984449]]>H%*?`w8?`~?Y? ?bƿ?i>X>I>`_;>CYRIByRHXXbD^LVD^ʲ8yf=%fW=ٔf ;Q-j>9hYh=j"FyjEn¶En>pQ 5v4rݺ?Q 9v4r~")rdBYtyzy(?Q Iz@r ADIr:ir:r4y~MBɮ~B~̸EZyRybyjy"ړڒ’@ɢ8<) >i)b!iiCɧ# jOi ? xS$< I ? ?I1AAzAEjAIIO=)YE E~E'E"EU:*E(:VE'4ZEBE;a2E;aJE;a:E;aԉ ,)臧?A06y5>6?q?6{ٱ6<5 >AHRS rotation from veh to nav: [[0.849047,-0.517530,-0.106211],[0.528080,0.837360,0.141281],[0.015820,-0.176043,0.984255]]6He+? 0`??? 3?ƿ`?i6y5>I6^_;6CYFIByFH HHbDRUVDRҲ8yZHB<%ZL=ٔZ;Q-Z>9\Y\=^"Fy^Eb.Eb>dQ 5j4f?Q 9j4fz")fdBYhyje(?Q In@fADIf`:if:f4ypɮrBtZ R b j "  ړڒ’ {@AɢE<)A M>iI)MsIIiM{kUJɧUlUaiU{t?]x$6}?6Whwٱ64 >AHRS rotation from veh to nav: [[0.848957,-0.517844,-0.105399],[0.528246,0.837260,0.141251],[0.015100,-0.175593,0.984347]]6H*?-i`c??`??@yƿ`?i6.N>I6_;6CYRIByRH\i5Mb@Mb@Mb@1111 195jt?V-?9aYa=e"FyeEmY9Em>qQ 5}4u?Q 9}4uv")ucBY}!?Q E}:y)?Q I@u+ADIu ;iu ;u`4y;BɮB͸EZRbj"ړڒ’@z/@ɢl<) >i)̽i{m}Ԁɧ駅GྼiL?$<IL? L?III)O5=BA<B?>BB1HBIBB =BBB;BhAEA 6,E?A2\l>2?2iٱ2 4 :AHRS rotation from veh to nav: [[0.848846,-0.518235,-0.104368],[0.528448,0.837162,0.141080],[0.014260,-0.174908,0.984481]]2H)?aٷ ?@? ?]4?dcƿ@߀?i2\l>I2_;2CD@DB<EF EFEDED"EFغ:*EF0:VEDZEDBEF9IYI=M"FyMEM:EU>QQ 5}4Up?Q 94Uir")UcBYy)?Q I@U;ADIU1:iUt:U`Ŵ4yɮBZRbj"ړڒ’`j @IɢMj:<)I M>iI)UAYYie>Ho}ɧ}}¼i}&?}$A>IA.AIIO (>yԩ S,wէ?A2#Z>2?2/`ٱ2u4 :AHRS rotation from veh to nav: [[0.848926,-0.518147,-0.104153],[0.528334,0.837111,0.141802],[0.013713,-0.175407,0.984400]]2Hg*?©??&? ?@sƿ@5?i2#Z>I2v{_;2CYBIByFHIJ<)Jp;iMb@Mb@Mb@ 9x&1?x&?V-YA ?y7=:B )AYbDmBVDm8yyH <%F=ٔݭ:Q->9 ?Y ?="FyEưE>Q 54?Q 94Bn")cBYW!?Q E:yO'?Q I@LADIQ:i:̴4y-BɮBĸEZRbj"ړڒ’8!@ɢg<) >i) iNq%䍽ɧ%W%9żi%)?-$<)I-)? -)?I)E EE)E"EƱ:*E|;:VEFA4ZEa@a@a@a@ԡA؟AIIO$>B >>B B >HB IBB B B B Ҋ;B QAEA H,;U梨?A6L.>6m?6AHRS rotation from veh to nav: [[0.849111,-0.517966,-0.103547],[0.528055,0.837213,0.142241],[0.013015,-0.175457,0.984401]]6H +?. ? s?@4? b?_uƿ6?i6L.>I6_;6CY^IBy^HbDj?VDj8yr@&<%rU=ٔr:Q-r>9v"?Yv"?=v"FyvEzdEz>|Q 54~?Q 94~gj")~cBYy9'?Q I @~[ADI~;i~:~IӴ4yɮBZ1R1b1j1"99ړ99ڒA’AAEL!@qɢu4<)q u>iy)}yyi}ir%ɧ駅ȼiz?"%<Iz? z?IAIIO >IbE!jE!rE%L/E EE*E"E*E*5:VE(N4ZEBEH;a2EI;aJE;a:E;aiԙ 0,/ ?A2Z>2?2{Rٱ2[2 :AHRS rotation from veh to nav: [[0.848933,-0.518464,-0.102510],[0.528345,0.837279,0.140767],[0.012846,-0.173662,0.984721]]2H`u*?`A>2???@O?:ƿւ?i2Z>I2_^;0YFIByFHbDN=VDN8yV<%VN=ٔZ9Q-Z>9Y=%"Fy%EEdW:EE>IQ 5U4Mi!?Q 94M;f")McBYyW'?Q I@MlADIMi )   i tAMɧ˼i?#Q%<I? ?I!A1zA5hAqIIIyO>ԡE  E E +E "E U:*E 0:VE [4ZE a @a @a @a @ '[,A #?A2f>24?2Fٱ22 :AHRS rotation from veh to nav: [[0.848713,-0.518937,-0.101934],[0.528715,0.836996,0.141059],[0.012118,-0.173613,0.984739]]2H(?"]`I2̻^;2CYNIByRHi]Mb@Mb@Mb@YYYY Y9]Mb?Q?+Y] ?y]u=]]B] A ]B)YYY]QBbDuVDu8y%==ٔf:Q->9Y="FyE<:E>Q 543?Q 94 b")cBY!?Q E:y#?Q I@|ADI~:i:4y BɮnBƸEZRbj"ړڒ’#@ɢÉ<) >i)c!!i%av-ɧ-e-8oͼi-?-&%<)I-? 5?I1A)A-AAB5=>B1B1B1B1B1B1B5;B5>AEIyIO>) j,B7?B#;ٱB3 JAHRS rotation from veh to nav: [[0.848978,-0.518590,-0.101494],[0.528305,0.837127,0.141815],[0.011419,-0.174018,0.984676]]BH@*?J`??&? c?4Fƿx?iBkS>IB^;BCYybDVD8ٔ :Q->9Y="FyEE>Q 54E?Q 94]")cBYy#?Q I@ADI6:i-:4yBɮBIZqRqbqjq"qqړyyڒy’yL$@颩ɢՊ<) i)i顱iAxɧ}駽?/ϼia?f%<Ia? 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Xz@4h? ??ÿ )?i2rt>I2g&];2tCYeFBye`Hԑy=/$?{GzT㥛 ?=&1?=#==9 99=`"?Mb{GztY=?y==ף9=dA =/A)=~B9Y=BIIbDU7VDU8ye%e&=ٔeMtQ-m>9iIq=u#FyuiEuQ7Eu>yQ 54}[?Q 94} )}]BY?Q E:y&>Q I@}GDI} ;i} ;}̅4yBɮAZRbj"ړڒ’ /I@ ==W@"8@ɢ2) :i)x<iY ntɧ > ̛Eu EuuEu&Eq"EuC:*Eu:VEu4ZEqBEu6;a2Eu7;aJEumd;a:Eumd;a a,[?A2\|>2 ?2a=ٱ2O! :AHRS rotation from veh to nav: [[0.856724,-0.514733,-0.032773],[0.512822,0.843307,0.160768],[-0.055115,-0.154541,0.986448]]2H`Hj?@x@Ǡ i?_??8ÿ ?i2\|>I2I];2qC@B~r@iBI@@D DF94DDHHIH)HiH)LILLL LLPPiPPiPP)T TIT T)TTXXYXYbFBybEHbDnVDn8yv%v|=ٔzQ-z ?9|I|=~#Fy~kEC9E ? Q 54 #?Q 94  ) ]BYy.>Q I@ GDI ;i ; v4y%+Bɮ%xA%EZARAbAjA"IIړIIڒI’QQU`XI@ qqq"u@颁ɢv<) Ji)A?<顉iGW#Pɧ>ͦA E}  E} vE} ,Ey "E} ҝ:*E} :VE} g4ZEy a @a @a @a @Ϝ,Mu?AB&m>B$B&0HB&FBB& =B$B&DB&;B&XAEBJ>B(% ?BY=ٱBU JAHRS rotation from veh to nav: [[0.856685,-0.514662,-0.034843],[0.513091,0.843207,0.160436],[-0.053191,-0.155321,0.986431]]BHi?`x֡`=k?@?,?`;ÿא?iBJ>IB3];BtCYFBy$H bDVD8y{%>=ٔےQ->9I=#FymEZ:E>Q 546?Q 94 )]BYyP>Q I@GDI:i:4yBɮuAEZ R bj"ړڒ’%@xI@ "z/@ɢ) ȿi)by<i,sS4ɧ>Vyԡ ⷣ,|?A2Xͤ>2/= ?2XR=ٱ2 :AHRS rotation from veh to nav: [[0.856583,-0.514686,-0.036944],[0.513456,0.843042,0.160133],[-0.051273,-0.156136,0.986404]]2Hi?Nx`IꢿI2'_];0@Y-qFBy-H =<=<bDEVDE8y=%N=ٔQ->9I=#FyoELr:E>Q 547H?Q 94 )]BYy>Q I@GDI :i:晷4yɮAZRbj"ړڒ’@I@ "AB@ɢ0T) Ǿi)t- i> ! M F9Q YU -7A ᩬ,zq?AlYroFByrHbDzVDz8y-{ػ%-P=ٔ-Q-->91I1=5#Fy5qE5E=>AQ 5E4EY?Q 9M4E )E]BYIyIQ IM@EHDIE:iE|:E4yU BɮUAEZ R b j "  ړڒ’% I@ III"IiɢmYI)q uiȾiq)}IoEM EM{EM(EI"EM1:*EM5":VEMc44ZEIaU@aU@aU@aU@B9A=<BEj>BABEHBEWFBBE =BABEDBE;BE`AEBACB@CBƕCBƍ =BƎ =CƌM69a ɰ,{Nò?A2@Х>2 ?2̸C=ٱ2o :AHRS rotation from veh to nav: [[0.855716,-0.515883,-0.040192],[0.515237,0.842318,0.158213],[-0.047765,-0.156094,0.986587]]2Hb?`|?`D?V@?`tÿ?i2@Х>I2fF];2oCYnaFBynHIr<)rC=9yn?333333?y&1|V.?>` 9K?y&1 rh?Y^?y`eC =A A)BY3BbDVDz8yf%@=ٔrQ->9I=#FysE;E>Q 54Nl?Q 94 )]BY?Q E:y"?Q I@HDIK;i=;44yɮoAZRbj"ړڒ’`-J@ %>>%>>%@"%mΙ@QɢUPV)Q ]}ϾiY)]#iԑEU EUuEU)EQ"EU:*EU:VEUFA4ZEQBEU";ae2EU#;aeJEQae:EQae ,'ݲ?A.Q>.t ?. >=ٱ. :AHRS rotation from veh to nav: [[0.855256,-0.516551,-0.041382],[0.516113,0.841911,0.157520],[-0.046527,-0.156077,0.986648]].H A^?/@??)?mҧ Xÿ?i.Q>I.|];.rCYbOFByfHhhbDnVDn_8yvc<%vZ=ٔzWXQ-z>9z ?Iz ?=z#FyzuEU!(;EU>YQ 5e4]9}?Q 9e4]i )]]BYaymc?Q Im@]%HDI]:i]p:]4yuBɮuZAqZRԙbj"ړڒ’n\J@ "ҙ@ɢ) Vؾi)d<iR[FUGɧ ?kH Ee  Ee Ea Ea "Ee :*Ee *:VEa ZEa am @am @am @am @B= m>B9 B= HB= 9FBB= =B9 B= DB= Ҋ;B= xAE,?AB$>Bh ?B<9=ٱBq NAHRS rotation from veh to nav: [[0.854471,-0.517789,-0.042124],[0.517515,0.841324,0.156050],[-0.045361,-0.155140,0.986851]]BHW?๑? |? ?v?9ÿG?iB$>IBk];BtCYV,FByVHbDbVDbb8yf%fL=ٔj&?Q-j>9j"?In"?=n#FynwEnM;Er>pQ 5v4rN?Q 9v4rH )r]BYxyz?Q Iz@r4HDIr:ir:r4y|ɮAZ!R!b!j!"!!ړ))ڒ)’))5J@ III"Mݙ@ɢQ) i)/_<i1C ɧ?UA>AE.AIQIaOm>)ԩԹ iĬ,?A6>6 ?6'5=ٱ6Y  BAHRS rotation from veh to nav: [[0.853520,-0.519285,-0.042965],[0.519169,0.840510,0.154937],[-0.044344,-0.154548,0.986990]]6H P?@@ ?u? ?<=ÿ@k?i6>I6ϩ];6rCYHyJH LLPRAbDVVDVj8y^ :%^L=ٔ^D&Q-b>9b ?Ib ?=b#FybyEf;Ef>hQ 5n4j?Q 9n4j )j]BYlynC?Q Ir@jDHDIj;ij<;j4yvBɮvgAvEZ R b j "ړڒ’`J@ 999"=@IɢM2)Q UiQ)UY2 ?2r0=ٱ2 :AHRS rotation from veh to nav: [[0.852123,-0.521503,-0.043837],[0.521567,0.839355,0.153134],[-0.043065,-0.153353,0.987233]]2HD?& q??@? ÿh?i2ኩ>I2];2pCYZ(FByZH b;bbDdVDdyn%nH=ٔrFMQ-r>9v"?Iv"?=v#Fyv{Ezz;Ez>|Q 5 4~ڱ?Q 9 4~ )~]BY y?Q I@~THDI~.+;i~\,;~÷4y%Bɮ%7A%EZIRQbQjQ"QQړYYڒa’aaemJ@ "@颩ɢ@) i)YR<顱ii<Éɧ ?-D!zD!E- E-yE)E)"E-O:*E-:VE)ZE)a5@a5@a5@a5@By>BBCBHBFBB =BBDB;BAE!I Ѭ,D?AY~FBy~HyMbX?~jt?9 ?I ?=#Fy}EE> Q 5 4 ;?Q 94  ) ]BY?Q E:y?Q I@ eHDI C*;i ;(; ˷4y!ɮ%SA)GSEB*** querying acoustic contact ***:ABAZIRIbIjI"QQړQQڒY’YY]@,.K@ }q=}q=}*B@"}E-\@颉ɢ) i)L<顑i8Bɧz ?駥a=i?A<I? ?IA=hAzA=jAYM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.A}؟AIIO=>ybEjEh=4rE+/EU EQEU)EQ"EU:*EQVEUFA4ZEQBEU2 ?2|&=ٱ2 >AHRS rotation from veh to nav: [[0.849648,-0.525332,-0.046088],[0.525791,0.837179,0.150585],[-0.040523,-0.152177,0.987522]]2H@Q0?`Ә G? +?`^F? {zÿ ș?i2 >I2Ȧ^;@0YJFByJHIN<)NR%=R=V*DAT read: user:130> VBDAT read: Tx time:20:55:40.5978 Z$Ping request sent.Z9n"?In"?=n#FyrErrZ<Er>tQ 5z4v?Q 9z4vj )v]BYxy~?Q I~@vsHDIv:iv;vѷ4yBɮuAzEZ!R!b)j)"))ړ))ڒ1’115]K@ QQQ"Ul\@aɢm+))i mii)m`F]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250574 EE  EE sEE ,EA "EE :*EE Z:VEE g4ZEA aM @aM @aU @aU @B {>B CCB HB FBB =B B B 5;B AEkݬ,VJx?AR \>R?R=ٱR ZAHRS rotation from veh to nav: [[0.848351,-0.527301,-0.047477],[0.527993,0.836019,0.149320],[-0.039045,-0.151744,0.987648]]RH%?NP?`?@?TlÿК?iR \>IR_;RtClYrFByrHxzAAbD~VD~8y S% G=ٔ  lQ- >9I=#FyE;E>!Q 5-4%?Q 9-4% )%]BY)y-?Q I-@%HDI%:i%:%'ٷ4y9ɮ=A9ZYRYbYjY"aaړaaڒa’iimK@ "+\@颙ɢ`) i)ɩ?<顡i|2ɧ"?駭 =i?<I? ?IIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506819O> 9a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758489S,&?A2Lͮ>2(=?2 =ٱ2L :AHRS rotation from veh to nav: [[0.846916,-0.529469,-0.048940],[0.530416,0.834787,0.147613],[-0.037302,-0.150974,0.987834]]2H?i*?`??> SÿU?i2Lͮ>I2b`;2qCYnFBynHbDz^VDz8y % J=ٔ kQ- >9I=#FyEr;9E>AQ 5M4E?Q 9M4E )AYQyUs?Q IU@EHDIE:iE:EL4y]ۡBɮ]kAe{EZRbj"ړڒ’sK@ "j]@E EvE&E"E1:*E:VE4ZEBE;a 2E;a JEh;a :Eh;a 9ɢUz)Q UiY)]ݴ86?6=ٱ6~ FAHRS rotation from veh to nav: [[0.845310,-0.531907,-0.050254],[0.533076,0.833375,0.146002],[-0.035779,-0.150206,0.988007]]6H` ?`a꺩? ? 3?Q`9ÿ?i6d>I6wa;6rCYREByRbH TTbD^GVD^ٱ8yj&%jN=ٔj{Q-n>9lIp=r#FyrEv<Ev>xQ 5u4z!?Q 9u4zE )xYqy}=?Q I}@zHDIzf s? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514711 gg,qų?AFD}>F$?F| =ٱF RAHRS rotation from veh to nav: [[0.844222,-0.533487,-0.051770],[0.534918,0.832473,0.144400],[-0.033938,-0.149598,0.988164]]FH?`T` ??{?T` &ÿ ?iFD}>IFhb;DY~EBy~_HyS? rh?{Gz/?C =ף 9d;O?9I=#FyE ;E>Q 54?Q 94X )]BY?Q E:y B ?Q I @HDI:i:4y͡BɮuA|EZ1R1b9j9"99ړ99ڒA’AAE d0L@ eD=eD=e0E@"epc@qɢ}:Ӽ)y }iy)}*6C?6!A=ٱ6@ BAHRS rotation from veh to nav: [[0.842839,-0.535528,-0.053219],[0.537197,0.831265,0.142891],[-0.032283,-0.149023,0.988307]]6H? # ~? 0? ? =J?g,ÿ@5?i6ڲ>I6Oc;^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0212844x !Y-EBy-JHM49QYU&AbDeVDeC8yu{,%uR=ٔ}*Q-}>9yI=#FyE;E>Q 54&?Q 94׼ )]BYy ?Q I@HDI;i;4yɮAZRbj"ړڒ’15cL@Q qqq"uc@颁ɢ>) # i)G#<顉i9m%ɧ"?駽?B=i "?B<I "?  "?IA.AԁIIO=>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270529ԩE%  E% zE% )E! "E% C:*E%  :VE% FA4ZE! a- @a- @a- @a5 @B B B OHB EBB =B B B ;B lBEBECCBEBCBE˓CBEˋ =BEˋ =CEn5 ׹,?A2g.>2?2<ٱ2 :AHRS rotation from veh to nav: [[0.841489,-0.537489,-0.054787],[0.539408,0.830069,0.141507],[-0.030582,-0.148629,0.988420]]2Hz? 3 B?`??P`Gÿ#?i2g.>I2d;0YfEByfCHIj>)j;bDrVDr!8yzu[%zS=ٔzQ-z>9~ ?I~ ?=~#Fy~E=;E> Q 54 J6?Q 94 X ) ]BYy!?Q I@ HDI :i ; f4y%Bɮ%jA%}EZARAbAjA"IIړIIڒI’QQU@̓L@ qqq"uc@颁ɢ) w i)<顉i-s"qɧu"?駝p=i%?*)<I%? %?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522502A ؟AII!O5 > e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7744499 ѡ,m?A2D>2x?2@<ٱ20 :AHRS rotation from veh to nav: [[0.840393,-0.539064,-0.056119],[0.541227,0.829275,0.139199],[-0.028499,-0.147355,0.988673]]2H?@@Q?k?C?.¿5?i2D>I2e;2pCYFEByF5HHHbDN&VDNϰ8yV%VO=ٔZQ-Z>9Z"?IZ"?=^#Fy^E^+;E^>`Q 5f4bE?Q 9f4bĵ )bz]BYhyj&"?Q Ij@bHDIb:ib:bO4ylɮrApZyRybj"ړڒ’ vL@ "*d@E EyEE"E:*E:VEZEBE;a2E;aJEr;a:Er;aɢ) si!)%Di ,'M-?A F1>F|?F?<ٱF RAHRS rotation from veh to nav: [[0.839458,-0.540233,-0.058804],[0.542776,0.828255,0.139239],[-0.026517,-0.148803,0.988511]]FH?@I l^?`?@?%' ÿ?iF1>IF,f;DY^EByb#HbDjɿVDjz8yr %rG=ٔrQ-r>9tIt=v#FyvEz@;Ez>|Q 54~ V?Q 94~ )~q]BYy"?Q I @~HDI~|:i~R:~} 4yBɮhAZ1R1b9j9"99ړ9AڒA’AAE L@ "d@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278597ɢ%n2)! %i!)%+ <))i-^0U莽ɧUN!?U =iUj'?UMB-ACB-6HB-EBB- =B)B-DB-;B-ABEAyIIOF>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530840 ,+G?A:>:R?:#<ٱ: BAHRS rotation from veh to nav: [[0.838678,-0.541142,-0.061524],[0.544075,0.827376,0.139392],[-0.024527,-0.150379,0.988324]]:Hr?Qi?@y??@?ÿZ?i:>I:f;8LYREByR)H TTy-/$?L7A`?)\(-&?-+=-Ga) )9-ʡE?Mb?QY--?y-<-u-sB) ))-B)Y-BbDEVDE_8yM3:<%UC=ٔU웻Q-U>9YIY=]#Fy]EeCm;Ee>iQ 5m4mf?Q 9u4m )md]BYuH?Q Eu:yuh?Q I}@mHDImz ;im~ ;m4yǡBɮAtEZRbj"ړڒ’@0M@ 2=2=0@",@ɢ) i)[<i 7ɧ"?駕-K=iD?5<ID? D?I@a=@=i!I%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782676^AE EE)E"EC:*E*:VEFA4ZEBE6;a2E7;aJEi;a:Ej;aA.AII O >! ,v`?A2ɖ>2?2뿺<ٱ2g :AHRS rotation from veh to nav: [[0.838055,-0.541849,-0.063747],[0.545110,0.826706,0.139328],[-0.022795,-0.151514,0.988192]]2HX?`VQ@q?@`t??xWdÿ`E?i2ɖ>I23g;2rCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034593YJEByJ H PRbDVaVDV8y^8%^U=ٔ%ꎻQ-%>9- ?I- ?=-#Fy-E-9G;E5>1Q 5=45~v?Q 9E45! )5W]BYAyE?Q IE@5 IDI5#;i5;54yMBɮUAUuEZqRqbqjq"qqړyyڒy’jcM@ ">@颱ɢe ) i)";项i=cɧE$?j=i]?O<I]? ]?I@@@@IqA؟AIIO>5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286402ԡ D =D <E  E qE ,E "E ,:*E $ :VE g4ZE a @a @a @a @B% r>B% BCB% HB% EBB! B! B! B% ;B% EBE,@z?AyWK>-?q<ٱ]. AHRS rotation from veh to nav: [[0.837331,-0.542772,-0.065389],[0.546282,0.826030,0.138744],[-0.021293,-0.151896,0.988167]]Hi?c^Y${?`n?`\?͕Oqÿ?iWK>I$h;oCYEByHbD$VD8y%bL<%%5=ٔ%0aQ-->9-"?I-"?=-#Fy-E5N;E5>9Q 5E4=ԇ?Q 9E4=j )=J]BYAyM?Q IM@=IDI=k:i=:=a 4yQɮUAQZqRqbyjy"yyړyyڒ’^M@ "q@9ɢ=j)9 =i9)E;AAiE(MɧM%?eD=iePz?e E BDAT read: Rx Time:20:55:44.9603 M TRx dataTimestamp_ set to:1761512146.288580M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791549$,g?Ab៸>br&?bg<ٱbm jAHRS rotation from veh to nav: [[0.837004,-0.543006,-0.067586],[0.546839,0.825589,0.139176],[-0.019775,-0.153450,0.987959]]bH@?N`PM ?9k??`?<ÿ@[?ib៸>Ibi;`YvEByv HIz4=)z<bD~VD~8y y% ^=ٔQ->9I=#FyEL:E>!Q 5-4%n?Q 9-4%G )%?]BY1y55?Q I5@%(IDI%K:i%:%&4y=Bɮ={AEvEZaRabaja"aaړaiڒi’iim M@bEAjEEFA4rEEA0E EyE)E"EC:*E:VEFA4ZEBEa2EaJEr;a:Er;a "@ɢ.)  i ) ;  i ]5R؍ɧ5&?5=i=?=V<9I=? =?IAAU>AU>AIIO!>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0436671Y n+,?A  > `? @Ŕ<ٱ 2 =AHRS rotation from veh to nav: [[0.836545,-0.543470,-0.069519],[0.547597,0.825122,0.138962],[-0.018159,-0.154316,0.987855]] H?ḏ?gg? ?eÿ ?i  >I nj; pCY]EBy]He@AabDmVDmu8y}C1%}C=ٔ|Q->9I=#FyE ;E>Q 54 ?Q 94 )3]BYyn?Q I@8IDI:i:%.4yɮA%DAT read: 20:55:44.9603 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 451,-0.49, 2.167, 0.606, 2.047, 2.033, PHS= 0.236,-1.382,-0.030, RAW= 141.2, 15.5, CAL= 140.4, 16.6, ROT= 9.6, -16.6 -Ygot valid direction response: 20:55:44.9603 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 451,-0.49, 2.167, 0.606, 2.047, 2.033, PHS= 0.236,-1.382,-0.030, RAW= 141.2, 15.5, CAL= 140.4, 16.6, ROT= 9.6, -16.6 5PDAT read: Bearing 200.4, 5.6 (Local) 5~Local bearing/azimuth received: Bearing 200.4, 5.6 (Local) EDAT read: Range 11 to 50 : 1468.7 m (Round-trip 1958.3 ms) speed 0.8 m/s ER#Rx 1: Read range and direction messages.U\direction in FSK: [0.944902,0.159818,0.285688]UFpublishing direction and range infoIyeri`尿ϸ@c> @ V>)+>IVUpoL?~I?A3r7? 0I>)3I+>iVZRbj"ړڒ’@@S? "ֶ@IɢMr)Q UiQ)Un;QQiUI ]Hɧ]F(?e!=ieH?eB5ACB5HB5EBB1B1B1B5Ƌ;B5oBEԁAIIOe>ԡ #2,rlȴ?A2i>2v?2&T<ٱ2 :AHRS rotation from veh to nav: [[0.836208,-0.543754,-0.071330],[0.548160,0.824776,0.138798],[-0.016641,-0.155164,0.987749]]2H7?nfB?d? ?@Q iÿ࢛?i2i>I27j;2rCYNzEByRHy%Dl?ʡE:v?%O-?%%9QI=#FyE:E>Q 54?Q 94M ).]BY\?Q E:y?Q I@GIDI:i:U54yBɮAJ)R-W?A-ҶD-ҶD-IJ?-xo@9f7m@OU}~z@-er-V—-*'5@e`P@b7Pv@-q(?"?RoQ?j-|Dr-yDZ-ya?b-z-iC-ya?--iCڗ-fD-CJ?Z)R)b1j1"11ړ19ڒ9’99Ek? ]=]=]@"]F@iɢu>")q uC!iq)}8;yyi}>~  Iɧz,?駅 =iW?<IW? W?IԹAIIO$>E EwE'E"E:*E:VE'4ZEBE&;a2E(;aJEk;a:Ek;a 9 ,8,Fⴢ?A:Ӿ>:?:,Ly<ٱ:E FAHRS rotation from veh to nav: [[0.835872,-0.544052,-0.072978],[0.548714,0.824448,0.138557],[-0.015215,-0.155860,0.987662]]:H`v?`h?a?I:Sh;:pCYRoEByRH TTbDZPVDZ8yb/%bS=ٔfqQ-f>9dId=j#FyjEj :Ej>lQ 5r4n_?Q 9r4n7 )n*]BYtyv?Q Iv@nVIDInN:in:n;4yxɮzA|ZRbj"ړ!!ڒ!’!!- =? AAA"EF@aɢes4*)i m$$ii)u@;qqi}eɧ=0?駍 =i"?2<I"? "?IAiAzAgAAaIqIO>Ai E  E E (E "E 1:*E VE c44ZE a @a @a @a @B B B HB EBB =B B B ;B BE1V>,!?A 2,>2?2^<ٱ2S7! >AHRS rotation from veh to nav: [[0.835432,-0.544458,-0.074966],[0.549427,0.824007,0.138354],[-0.013556,-0.156774,0.987541]]2H ۻ?2l0`?`D^?@?`(Ë`(Ŀ?i2,>I2ґg;0YEByH <bDVDۮ8y=%.=ٔgQ->9I=#FyE1:E>Q 54N?Q 94S )&]BYy!?Q I@gIDIR:i:D4yBɮJAwEZRbj"ړڒ’!!%? AAA"EF@Yɢ]L)Y ]( iY)e~;aaiemqɧm4?}=i}i?}2sԙ 4>E,?A2F>2&#?2C<ٱ2{ :AHRS rotation from veh to nav: [[0.834994,-0.545083,-0.075298],[0.550131,0.823984,0.135672],[-0.011908,-0.154709,0.987888]]2H`D?RqF૚?^?]?`xcÿǜ?i2F>I2g;2qC @)BznAB+@@DDiF`IDDIHiH HH)HH J~nALLLPPPIR̼)PiP)TITVjT TXXXiXXi\^&A)\ \I\Y\Y}gEBy}HbDVD8E EvE-E"Eҝ:*E:VEt4ZEBE;a2E;aJEh;a:Eh;ayF%\=ٔQ->9I=#FyE;E>Q 54 ?Q 94> )"]BYyX?Q I@vIDI;i;J4y ɮ zAZ1R1b1jQ"QQړYYڒY’YYek? "F@ɢu-) >&i)o9;ifɧ8?ߧ=ij?hc<Ij? j?I U'i>U4CAe.AII!O=O>U<9QYU-A! gK,/?A| ->m?ӵ$<ٱy AHRS rotation from veh to nav: [[0.834390,-0.545742,-0.077195],[0.551083,0.823474,0.134901],[-0.010053,-0.155101,0.987847]]H@R? vóx?Y?@pD?Zÿ@r?i ->IDVf;pCYUhEByUHI]<)]<bDmVDm8y};%}?=ٔ}Q->9 ?I ?=#FyE,;E>Q 549?Q 94 )]BYy?Q I@IDI:i:Q4yBɮAnEZRbj"ړڒ’` d@ yyy"}F@颉ɢ$) %i)i;iPɧAU>E EE,E"EƱ:*EVEg4ZEa@a@a@a@AA@ABq>BBHBxEBB =BBB;BBEBACBACBBČ =Bč =Cĩ*5A؟AIIOn>Qߍ =ߍ 4=ԁ OR,I?A6%ɻ>6?6K<ٱ6 >AHRS rotation from veh to nav: [[0.833746,-0.546528,-0.078580],[0.552085,0.823018,0.133579],[-0.008332,-0.154754,0.987918]]6H` ?'}?)V? ?`|ÿ ?i6%ɻ>I6e;6sCYZEByHYyZd;?/$?~jtY?<D 9x&1?Mbp?I +?Y!?y;9<IB B)BYpB AA bDBVD;8y%%%P=ٔ-rQ-->9-"?I-"?=-#Fy5E5sF;E5>9Q 5E4=?Q 9E4= )=%]BYM!?Q EM:yM?Q IM@=IDI=:i=:=X4yQɮ]AYZyRybyjy"yyړڒ’`c@ d>d>aM@"q@颹ɢ[6) V)i)I;igQʋɧ>?i=i?D<I? ?IԉA!I)I9OM1>E EE(E"Es:*EVEc44ZEBE;a2E;aJEa:Ea zX,Xc?A6e>6b ?6#;ٱ6h JAHRS rotation from veh to nav: [[0.833096,-0.547402,-0.079386],[0.553088,0.822667,0.131579],[-0.006718,-0.153525,0.988122]]6H?QR? JS?? g{ÿ?i6e>I6Md;6nCYZMEByZHbDnrVDn|8yv%z`=ٔzݐQ-~>9I=#FyE U;E >Q 5%4?Q 9%4 )+]BY)y-?Q I-@IDI,7;i'8;E_4y=Bɮ=AEoEZqRybyjy"ړڒ’@Թ "q@ɢ =) ,i)r(;i󻩧Àɧ@?=i?Z7<I? ?IA%.AI1IAOU>E  E E 'E "E *E VE '4ZE a @a @a @a @B r>B BCB HB nEBB =B B B ;B 9 N^,i}?A2.>2m?26͠;ٱ21 :AHRS rotation from veh to nav: [[0.832255,-0.548404,-0.081267],[0.554371,0.821936,0.130749],[-0.004907,-0.153868,0.988079]]2H@֡?ʹ`g?KM?`?tÿ@X?i2.>I2{d;0YFHEByFH HHbDNqVDN8yVD%VO=ٔZ@Q-Z>9Z ?IZ ?=^#Fy^E^;Eb>`Q 5f4b0?Q 9j4b )b3]BYhyjg?Q Ij@bIDIb;ib/;b$f4y=BɮEuAEpEZRbj"ړڒ’' @ "r@ɢ}'8) -i);i 1 n/ɧA?/=i=?/+<I%=? %=?I!A1zA5jAI1IIO]>Aiԙ e,ND?A2>2a?2j[;ٱ2 :AHRS rotation from veh to nav: [[0.831732,-0.548956,-0.082882],[0.555167,0.821494,0.130142],[-0.003355,-0.154257,0.988025]]2H`? 7 ?I??I|kಾÿ?i2>I2,c;2oCE ExE)E"E:*E:VEFA4ZEBEX;a2EY;aJEXo;a:EYo;aY]MEBy]H mp9I=#FyE;E>Q 54ME?Q 94 )<]BYy?Q I@IDI:i:@n4yɮjAZiRibiji"qqړqqڒq’yy} ?{ @ "r@颩ɢ.) ,i)A:顱i軩{ӊɧC?駽$y=i`?\<I`? `?IԡIIOE> Uk,,?A2~>2?2-:ٱ2 :AHRS rotation from veh to nav: [[0.830841,-0.550150,-0.083888],[0.556507,0.820881,0.128278],[-0.001710,-0.153263,0.988184]]2H@?՚y ?`D?`mk?`\!ÿ3?i2~>I2c;0@Bnr@i@I@@D DF#DDHHIH)HiH)LINmALL LPPPiPPiPRmA)T TIT T)V{ATXXYXY^\EBy^HbDjnVDjʨ8yrQ+=%ri=ٔr~Q-r>9tIt=v#FyvEv6;Ez>|Q 54~T?Q 94~A} )~C]BYy?Q I@~IDI~:i~N:~ct4ytBɮAqEZ1R1b1j1"99ړ99ڒ9’AAE@ aaa"e3r@qɢuK)y }(iy)}y:yyi}仩ɧD?駅o=iy?<Iy? y?IIIO=E EwE+E"Es:*E:VE [4ZEa@a@a@a@BA<Bh>B@CBHBcEBB =BBDB;BBE! ɝr,Hʵ?A4:s>:f?:8ٱ: BAHRS rotation from veh to nav: [[0.829800,-0.551557,-0.084954],[0.558061,0.820099,0.126516],[-0.000109,-0.152392,0.988320]]:H?Z??>?@1?ÿ`Q?i:s>I:5c;:qCYZEByHI%4<)%p;yCl?Zd;O?~jthd;?j<D 9sh|??Q?+?Y)?yu==BIA 6B)6BYbDLVDӦ8yZ%==ٔ9I=#FyEr;E>Q 54zg?Q 94jx )P]BY*?Q E:y0?Q I@IDI:i:{4yyɮ}AyZRbj"ړڒ’`@ `=`=s+)@"J@1ɢ5~-0)9 =V)i9)=999iE[߻E5ɧM@?M=iMmG?MeA>ԉIIO>iIAԹbE:4jE#E4rE\00E EtE(E"E:*Ev:VEc44ZEBE;a2E;aJE`;a:E`;a :x,䵢?AJޞ>J%?J!ҺٱJ ZAHRS rotation from veh to nav: [[0.828523,-0.553222,-0.086572],[0.559952,0.819001,0.125264],[0.001603,-0.152260,0.988339]]JH`C?@) ? A5??4DZ?E}ÿ@y?iJޞ>`IJib;JmCY}EEBy}HbD"VD8y1U%M=ٔՌQ->9I=#FyEŻ;E>Q 54x?Q 94s )\]BYy81?Q I@IDIp:i:낸4ygBɮArEZRbj"ړڒ’ .e@ "mK@)ɢ5ZJ)1 5.i1)=-99i=ڻEɧEx;?E=iE?EB B B B =B B B ;B BE~,_?A2[>21?2qCٱ2^h :AHRS rotation from veh to nav: [[0.827492,-0.554473,-0.088411],[0.561470,0.817995,0.125044],[0.002986,-0.153113,0.988204]]2H`z?>@?-?p? wh?5ÿ`^?i2[>I2{xb;0YN0EByRHbDZVDZ8yvqZ%vW=ٔvnQ-v>9xIx=z#FyzEz;E~>Q 5 4,?Q 9 4o )i]BY y 1?Q I @ JDI:ip:4yBɮA%hEZRbj"ړڒ’$@   " -K@ɢ%hK)! %3i!)%L\?!)i-ջ-ɧ56?5_=iUO?U69?6 ٱ6 BAHRS rotation from veh to nav: [[0.826151,-0.556254,-0.089750],[0.563430,0.816846,0.123728],[0.004487,-0.152785,0.988249]]6H o? ?#?? sar?@yÿ?i6>I6a;6pCYJ2EByJHbDV^VDV8yZ/;%^N=ٔ^wQ-^>9`I`=b#FybEf;Ef>hQ 5j4jO?Q 9n4j5k )jv]BYlynO2?Q In@jJDIj&;ij;j4yv{BɮvAviEZ R b j "ړڒ’`@ 999"=F\K@IɢM'T)Q Ug3iQ)U뤺QQiU} ѻEe Ee}Ee,Ea"Eea:*Eek&:VEeg4ZEaBEeg;am2Eeh;auJEeŀ;au:Eeƀ;auy^ɧ2?駅o{=i?# <I? ?IAjAzAA؟AIIO>ԩ T,g2?A2+M>2?2ٱ2B :AHRS rotation from veh to nav: [[0.824463,-0.558500,-0.091315],[0.565885,0.815278,0.122862],[0.005829,-0.152969,0.988214]]2Hb?`:i`??s?w?@{ÿr?i2+M>I2a;2nCYZ@EByZH bp;bbDfVDf)8yn =%nH=ٔn WQ-r>9r"?Ir"?=r#FyrEv;Ev>xQ 5~4z?Q 9~4zf )z]BY|y3?Q I@z,JDIz#;iz;z4y ɮ mA Z)R)b)j1"11ړ11ڒ9’99=$@ YYY"]K@iɢm``J)q u/iq)uxqyi}a̻iɧ,?駅K =iu?0<Iu? u?Ii߹I߽AAAAABg>BBBBBBB;BBEE E|E/E"EI:*EP$:VEJ4ZEBE<2E<JE};:E};^A91A.AIIO>Y 쒭,|CL?A2>2?2ٱ2AS :AHRS rotation from veh to nav: [[0.822933,-0.560489,-0.092908],[0.568090,0.813900,0.121820],[0.007339,-0.153030,0.988194]]2HxU?ȷ-? x ?/?~? }ÿI?i2>I2b;0Y^&EBy^zHyu{Gz?{Gzt? rhuC?uף;uC q q9u rh??MbP?YuC+?yu=u:uIBuA uoB)qqYu BbDVDJ8y0s%>=ٔfQ->9 ?I ?=#FyE;E>Q 54Ľ?Q 94aa )]BY*-?Q E:yE@?Q I@>JDI*:i:(4ynBɮoAjEZRbj"ړڒ’8@ %>%>%!@"%s<@19ɢ=%O)9 =d6iA)ERAAiEǻMgΈɧM#?M=iM?UJE} E}E}(Ey"E}C:*E}*:VE}c44ZEyBE}5;2E}7;JE}i;:E}j;ԉu PG 39 Y %AԹ ,>$f?ABR,>Bl?BٱBa JAHRS rotation from veh to nav: [[0.821259,-0.562596,-0.094970],[0.570489,0.812253,0.121605],[0.008726,-0.154049,0.988025]]BH`G? 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Ŀ ?i6>I6b;6nCYJEByJMHPPbDVVDV8y^ߢ%^K=ٔb [Q-b>9`I`=f#FyfEf;Ef>hQ 5n4j?Q 9r4jW )jy]BYpyrA?Q Ir@j`JDIj!;ijD";jì4yvaBɮzAxZRbj"ړڒ’!!% 0@ AAA"E <@QɢU6md)Q ]?iY)]w/jYYi]'efVɧe?mk2?2x6ٱ2" >AHRS rotation from veh to nav: [[0.818244,-0.566135,-0.099845],[0.574764,0.809025,0.122984],[0.011151,-0.158019,0.987373]]2H /?rvd??{?ֆ?`9Ŀ?i2>I2b;2mCYFEByFdHbDjVDjQ8yr9=%vG=ٔv-Q-v>9xIx=z#FyzEz;Ez>|Q 54~?Q 9 4~R )~v]BY y TB?Q I @~rJDI~[:i~:~쳸4yɮ^AZ9R9b9j9"9AړAAڒA’AIM@Ee EeEaEa"Ee1:*Ee3:VEaZEaam@am@am@am@ yyy"}<@频ɢ&N_) :i)Ɉ顙iyɧq?駥Oyԩ eR,}?A2>2d?2Dٱ2֡$ :AHRS rotation from veh to nav: [[0.816819,-0.567808,-0.101985],[0.576770,0.807448,0.123955],[0.011964,-0.160070,0.987033]]2Ha#?{+ t?`?`?`ր?0}Ŀ`ƕ?i2>I2Mc;2oC@YFEByFOHbDRnVDR8yV-%ZN=ٔZJQ-Z>9Z"?I^"?=^#Fy^îE^;Eb>`Q 5f4bc?Q 9j4bM )bs]BYhyjB?Q Ij@bJDIb:ib-:bۺ4yrmBɮrArbEZRbj"ړڒ’ " @ "=@!ɢ%d)! %!?i!)%oo))i-ࢴ5函ɧ50>5YBeACBeHBe;EBBaBaBaBeۋ;BeBEAIIO (>M %=M %= K:,Ͷ?A2@K>2#?2Tٱ2 & :AHRS rotation from veh to nav: [[0.815475,-0.569401,-0.103842],[0.578647,0.806055,0.124267],[0.012945,-0.161424,0.986800]]2H`_?8g@G?4?Ͽ? ?`Ŀݓ?i2@K>I2qc;2pCYBEByBKHly/$?i|?5Mb&1? 9MbX9?y&1?y&1Y!?y`e=`eBA  B)Y -4<)bD5qVD518yE6%EA=ٔE Q-E>9III=M#FyMŮEM;EU>QQ 54U?Q 94UI )U[]BY#?Q E:y0?Q I@UJDIU\:iU3:U=¸4yaBɮAcEZ1R1b1j9"99ړ9AڒA’AAE @ >>>>ǐ?"e!@颱ɢBg) ?i)8项iVϯҰɧ7> ,a 6h,t綢?A6IW>6(?6lhٱ62% >AHRS rotation from veh to nav: [[0.814276,-0.570898,-0.105022],[0.580304,0.805021,0.123243],[0.014186,-0.161298,0.986804]]6H?D⺿ّ? ?֌?] ?`kĿ?i6IW>I6b;6mCYFDByJ9\I\=^#Fy^ǮEb-;Eb>dQ 5j4f ?Q 9j4fdE )fE]BYlyn-1?Q In@fJDIf ;if ;fɸ4ypɮrApZRb j "  ړ  ڒ’t!@1 999"=!@IɢU ~)Q UCiQ)]+ĻYYi]%He:ɧe>emԉiߩIߩBE p>BA BE HBE 1EBBA BA BE DBE ;BE eBEE  E E E "E :*E A:VE ZE BE ;2E ;JE n;:E o;Թ :L,??A2>2c?2>zٱ2-h& >AHRS rotation from veh to nav: [[0.813570,-0.571661,-0.106338],[0.581266,0.804384,0.122869],[0.015297,-0.161774,0.986709]]2H? 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ZAHRS rotation from veh to nav: [[0.846300,-0.512068,-0.146839],[0.529530,0.838720,0.127072],[0.058087,-0.185297,0.980964]]FH`?b¿ ??C?@?ҷǿd?iF>IF@k];FbCYEWIByEH IIbDU5VDU8ye=%e?=ٔmpQ-m>9m"?Ym"?=m$FyuEu Eu>yQ 54} ?Q 94}G)}_BYy?Q I@}QDI}:i}:}S4yɮ%AZRbj"ړڒ’H@频ɢS) >i)O顙iF3ɧ駥_i5?a*<I5? 5?IBM>B=CBHBIBBBBDB;B|AEII1AO}7>iE EE*E"EU:*E.:VE(N4ZEBE;a2E;aJE ;a:E ;aԙ fF,j?A2i>27?2imٱ2eA? :AHRS rotation from veh to nav: [[0.847249,-0.510607,-0.146456],[0.528037,0.839592,0.127523],[0.057849,-0.185378,0.980963]]2H?V¿??`R?p?vǿ d?i2i>I2z];2`C @)BnAB/ݼBf]F@@FnAiF`IFaFDIFCiFxy@ Ju9Y=$FyEWE%>!Q 5-4% ?Q 954%)%_BqY5#?Q E}:y}J ?Q I@%QDI%"@i)项i>pɧ~cPiG? *<(bE%FA4jE%˲>4rE%/E  E E +E "E :*E 3:VE [4ZE a @a @a @a @ L,4?A2*֬>2A?2kٱ2> :AHRS rotation from veh to nav: [[0.848130,-0.509355,-0.145717],[0.526654,0.840469,0.127462],[0.057547,-0.184847,0.981081]]2H#?@L`ئ¿Y?@ ?P? v? ǿ e?i2*֬>I2&];2bCY-uIBy-HbD=VD=s8yX<%S=ٔM:Q->9Y=$FyEUE>Q 54g ?Q 94Q)_BYy?Q I@"QDI:i:4yΠBɮPAEZRbj"ړڒ’ I@ɢ) >i) !i%WG%Cɧ-)-i-?-u*<)I-? -?I1IIO=AA@AB F>B 2L ?2kٱ2> :AHRS rotation from veh to nav: [[0.849170,-0.507727,-0.145337],[0.524982,0.841484,0.127670],[0.057478,-0.184713,0.981110]]2Hg,?`L?j¿?n? |W?@m?`ǿAe?i2ӫ>I2^;2_CYIByHI%C=)%N>iMb@Mb@Mb@ 9Zd;?{Gz~jtxY?yףĻBA 6B)AYBbD٤VD8yg=%B=ٔ,9Q->9 Y = $Fy EE>Q 5%4~!?Q 9%4)`BY%?Q E-:y-.?Q I-@3QDI:i:ޠ4y5ǠBɮ5A5EEQ EUEU'EQ"EQ*EU.:VEU'4ZEQBEU;ae2EU;aeJEQae:EQaeZqRqbqjq"yyړyyڒy’PBI@颩ɢ) >i)p 顱ia_RɧiW ;i$?)<I$? $?I)IqIO=Qԁ Y,jh?A46>6G ?6kٱ6> BAHRS rotation from veh to nav: [[0.850139,-0.506184,-0.145056],[0.523425,0.842388,0.128093],[0.057355,-0.184823,0.981097]]6HV4?`21¿?@?@Xe?@]?Eǿ %e?i6>I6^;4Y^IBybHdfAAbDj VDjܗ8yr@7=%r_=ٔv9Q-v>9tYt=v$FyzEz9Ez>|Q 54~#!?Q 94~)~`BY y ?Q I @~AQDI~:i~:~E4yBɮAZ1R1b1j9"99ړ9AڒA’AAE`pI@qɢu )q u>iq)}!= yyi}y\ɧ!<駅z:is?)<Is? s?IԑEm EmEm)Ei"EmƱ:*Em,:VEmFA4ZEia}@a}@a}@a}@^A<AjAzAhAI!I1OEQ> w`,H?AlYrIByrHbDzVDzM8y%<%%F=ٔ-Q-->9)Y1=5$Fy5E5E5>9Q 5E4=#!?Q 9E4=)=#`BYIyIQ IM@=RQDI= :i=F:={4yQɮUAYZyRybyjy"yyړڒ’ I@颱ɢآ) >i) 项igɧ=}f:i5?)<I5? 5?IBD>BBWHBIBB =BBB;BzAE^AGgL<I1IAOU= iI1Eu Eu~Eu*Eq"Eu:*Eu(:VEu(N4ZEqBEui2d ?2iٱ2q> :AHRS rotation from veh to nav: [[0.851968,-0.503351,-0.144183],[0.520485,0.844131,0.128602],[0.056978,-0.184610,0.981159]]2HQC?s`t¿@Ч??v?',?Hǿe?i2Q>I2_;2`CY^IBy^ H ``9iMb@Mb@Mb@ 9Gz?:v9Y=$FyEE>Q 5 46!?Q 9 4);`BY?Q E:yr?Q I@cQDI>i;iBh;4y%Bɮ-dA-EZaRabaji"iiړiiڒq’yy}MI@1ɢM)Q U>iQ)UGQQi]s]ɧ]Jz=e;H;ie'?e) E  E E +E "E g:*E ,:VE [4ZE a @a @a @a @l,>?A:5>: ?:ghٱ:F> FAHRS rotation from veh to nav: [[0.852980,-0.501718,-0.143888],[0.518844,0.845054,0.129165],[0.056789,-0.184831,0.981128]]:HK?`j¿_?` ?}? k?ǿfe?i:5>I:^;:aCYNIByN-H Vp9dYd=f$FyfEf\Ej>hQ 5r4jmG!?Q 9r4j)jP`BYpyr?Q Ir@jqQDIj];ijz;jp4yxɮzNAxZRbj"ړڒ’!!%` J@IɢM)Uݼ US>iQ)UQQiUU~]6ɧe=eΆ;ievc?eҩ)Bu<Au<B}C>ByB}HB}JBByByByB};B}gAEBQBQBQBQBQCUkR5A 's,?A6V>6 ?6gٱ6U> BAHRS rotation from veh to nav: [[0.853781,-0.500503,-0.143369],[0.517546,0.845845,0.129200],[0.056603,-0.184508,0.981200]]6H,R? @Y¿ ?)??@ ? ǿe?i6V>I6b^;6bCYJIByJ9IYI=M$FyMEM$nEU>QQ 5]4UY!?Q 9e4U{)Ul`BYe#?Q Ee:ye?Q Ie@UQDIU:iU:Uû4yuBɮuAuEZRbj"ړڒ’@AJ@ɢ-) M>iE EE(E"E:*EVEc44ZEBE&;a%2E';a-JE;;a-:E;;a-))ubqqiul}ㄽɧ}@=}g;i}?)<I? ?IIaIyO>Aiԙ z,?A2>2kM ?2gٱ25: :AHRS rotation from veh to nav: [[0.854207,-0.500326,-0.141437],[0.516868,0.846645,0.126650],[0.056380,-0.181290,0.981812]]2H@U?¿-?@?6?@ݬ?4ǿk?i2>I2^;0YBIByFXHIF<)FbDNVDNb8yrf=%rP=ٔv:Q-v>9tYt=z$FyzEzEz>|Q 54~)k!?Q 94~")~`BY y d?Q I @~QDI~:i~I:~ʻ4yɮAZ9R9bAjA"AAړAIڒI’IQU tJ@颉ɢ@:) >i)T顙io6؄ɧ&=駭>;i?b)<F:I? ?IqIIO=E- E-E)E)"E-:*E-0:VE)ZE)a5@a5@a5@a5@ԡ 耰,¢?A2Ҧ>2? ?2dٱ2:7 :AHRS rotation from veh to nav: [[0.854338,-0.500745,-0.139143],[0.516706,0.847158,0.123847],[0.055860,-0.177703,0.982497]]2HV?lۈ??@u?@?ƿ`p?i2Ҧ>I25o^;0Y\y\f@Af@AbDjVDj8ٔr^:Q-r>9tYt=v$FyvEz-Ez>|Q 5U4~|!?Q 9U4~)~`BYYy]K?Q I]@~QDI~ATe;iN?;)<IN? N?IBBBHB;JBBBBBߊ;B`AE=[RӻIIOf>D=%=D=%=EE EEEE'EA"EE%:*EE*5:VEE'4ZEABEE;aU2EE;aUJEE;aU:EE;aU) O,.¢?A2Φ>2= ?23 cٱ2;4 >AHRS rotation from veh to nav: [[0.854379,-0.501216,-0.137185],[0.516689,0.847518,0.121429],[0.055404,-0.174628,0.983074]]2HW? D???]?@9Zƿ`Xu?i2Φ>I2^;2`CYFJByFwHiMb@Mb@Mb@ 9+?~jt?~jt?Y?y=<:B )AYQBbDVD8y<%<ٔ:Q->9Y=$FyE喝E>Q 5 4ŏ!?Q 9 4)`BY( ?Q E:yV?Q I@QDI ;iC ;Zٻ4yˠBɮ#A% EZ9RAbAjA"AAړAIڒI’IIMJ@yɢ}8;)y }5?i)Gr顁iE!ɧ~ >駍;i?)<I? ?I)UvII O >Yԁ EE  EE EE (EA "EE U:*EE *:VEE c44ZEA aM @aM @aM @aM @<,7¢?A@J>J^ ?JaٱJU1 RAHRS rotation from veh to nav: [[0.854134,-0.502060,-0.135615],[0.517133,0.847546,0.119325],[0.055032,-0.172050,0.983550]]JH`U?[@[?`??--?`ƿ@=y?iJ>IJ"r^;JaCYnJBynH ppbDzSVDz8y<%[=ٔ:Q- >9 Y = $Fy E:E>Q 5%4ڟ!?Q 9%4)`BY!y%s?Q I-@QDI :i:߻4y5ĠBɮ5A5EZQRQbQjQ"QYړYYڒa’aaeuK@颉ɢD>;) ?i)顙i%ìɧ>駥;i*?"(<I*? *?Iԑ(AAAABB>BBHBZJBBBBB;BfAE^A 9< I i I AI O >$,W`Q¢?A2n>2Q ?2j`ٱ20 :AHRS rotation from veh to nav: [[0.854246,-0.502028,-0.135023],[0.516968,0.847726,0.118760],[0.054842,-0.171253,0.983700]]2HU?nH? ?g?1?ſ`wz?i2n>I2 l^;2`CYBJByFH|i]Mb@Mb@Mb@YYYY Y9]x&1?Q?Mb?Y]A ?y]u=]<]d BY ]6B)YYY]B m49Y=$FyEE>Q 54!?Q 94)`BY!?Q E:y$?Q I@QDIH:is:=4yBɮAEGSB*** querying acoustic contact ***:BZRbj"ړڒ’bEK@E EEE"E%:*E,:VEZEBEa 2Ea JE;;a :E;;a 1ɢ5к;)9 =?i9)=99i='פEɧE_ >Mm;iM ?M(ԁ N,2g ?2/^ٱ2n. :AHRS rotation from veh to nav: [[0.853916,-0.502984,-0.133549],[0.517582,0.847558,0.117280],[0.054200,-0.169270,0.984078]]2HFS?@r!@? 2??@*?`ſ}?i2Q>I2^;2aCYF-JByFHbDRVDR{8yZD=%^X=ٔ^:Q-b>9`Yd=f$FyfEf :Ej>lQ 5r4n!?Q 9v4n')n`BYtyv0$?Q Iz@nQDInK(;in<;n4yɮAYZRbj"ړڒ’xK@!ɢ%<)! %b ?i))-|))i-cUɧUQ>U;i]?] ( BDAT read: Tx time:20:56:40.8977 $Ping request sent.ԱM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251206 6,¢?A2ؚ>2 ?2Zٱ2T- :AHRS rotation from veh to nav: [[0.853664,-0.503743,-0.132288],[0.518080,0.847356,0.116538],[0.053390,-0.168021,0.984337]]2H7Q? ??@vս?U?ಁſ?i2ؚ>I2[^;2_CYF(JByFHIJ<)J;bDN*VDN8yVR%VK=ٔZ:;Q-Z>9XYX=^$Fy^E^ֵ:E^>`Q 5f4b!?Q 9f4b.)b`BYhyjT$?Q Ij@bQDIb:ibk:b4ynBɮrArEZRbj"ړ  ڒ ’  @6K@9ɢ=<)9 E ?iA)ES.AAiEM"ɧM>Mx;iMK?U(R ?Rd'VٱR, ^AHRS rotation from veh to nav: [[0.853091,-0.504948,-0.131389],[0.519138,0.846670,0.116811],[0.052260,-0.167860,0.984425]]RHL?`(^ǜ?`?`Y?`?o|ſ h?iR8>IR|~_;R`CYn)JBynH checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755293iMb@Mb@Mb@ 9T㥛 ?l?Zd;OY!?y=j B B)IAY=BAAbDxVD8y;%;=ٔ);Q->9Y=$FyE4;E>Q 54M!?Q 94z)`BY="?Q E:y'?Q I@RDI ;i ;4yɮAZRbj"ړڒ’K@9ɢ=z;)9 = ?i9)E:AAiE°MwtɧM==MSd;iM?UZ(Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684E%  E% E! E! "E% %:*E% 3:VE! ZE! a- @a- @a- @a- @ԙ 􊭰,u͸¢?A2>26 ?2Pٱ2, :AHRS rotation from veh to nav: [[0.852610,-0.506067,-0.130203],[0.520057,0.846082,0.116984],[0.050961,-0.167455,0.984562]]2HH?1``O??@??&oſ?i2>I2^_;0YBFJByFHbDNVDNg8yV=%V\=ٔVe;Q-Z>9XYX=Z$FyZE^t7;E^>Q 5 4U!?Q 9 4v)`BYy.(?Q I@RDI:i:"4y=Bɮ=/A=EZyRbj"ړڒ’L@ɢLY<) ?i)iiɧY=ۭ;i??(<I? ?IqIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821ԡB<A<BBBHBJBBBBB;B.AE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512820 Ss,¢?A2>2 ?2,Jٱ2@Q- :AHRS rotation from veh to nav: [[0.851890,-0.507457,-0.129506],[0.521382,0.845093,0.118232],[0.049447,-0.168242,0.984505]]2H B?=(? ?lD? Q?@ſ?i2>I2č_;2_CY^SJBy^H ``i}Mb@Mb@Mb@yyyy y9}-?Zd;?&1Y}5?y}y=}P}+ By }B)}AyY}AbD:VD8yQ<%;=ٔc;Q->9Y=$FyEpb;E>Q 54o"?Q 94r)`BY?Q E:y!?Q I@$RDIs:i: 4E E|E)E"E:*EP$:VEFA4ZEBEk;a2El;aJE};a:E};ayɮAZRbj"ړ!ڒ!’!!%HL@QɢUk;<)Q U?iY)]YYi]nŻe]ɧe[=eJ|;ie?m"(AIIO>?T?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762976AG2H9Y8A9 ڜ,M¢?A0J4>J ?JtDٱJH, ZAHRS rotation from veh to nav: [[0.851257,-0.508841,-0.128230],[0.522555,0.844323,0.118551],[0.047944,-0.167924,0.984633]]JH~=?`mHi Ÿ??WY?? ~ſ?iJ4>IJ_;JaC}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014742Y_JByH <p<bDVD8y<%9=ٔ_;Q->9Y=$FyEE;E>Q 54"?Q 94yn)`BYy,"?Q I@5RDI:i;P4yʠBɮjAEZARAbAjA"AAړAIڒI’IQUL@yɢ}@<)y }?i)b顁iY̻MQɧMs=M;iU?U(5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267168a ,^â?A2%>2Di ?2=ٱ28- :AHRS rotation from veh to nav: [[0.850360,-0.510516,-0.127517],[0.524158,0.843144,0.119864],[0.046323,-0.168767,0.984567]]2H'6?%V}R?`?i? ?`'ſ`?i2%>I2B_;2_CBC@i@I@@I@iD DD)DFYC Fs@DHHJ CHIH)HiL)LINlmALL PRLCPPiPPiVLCVmA)T TITYTY^bJBy^HbDfکVDfK8yn;%no=ٔr;Q-r?9pYt=v$FyvEvj;Ev?xQ 5~4zy("?Q 9~4z)k)z`BYy"?Q I@zCRDIz;iz;zF4y ɮ dA Be?>Be;CBeDHBeJBBe =BaBeDBe;BeAEB!B%;CB!B% =B% =C%X4yZRbj"ړڒ’@L@AɢEL5<)I M?iI)M߼IIiMWһu}Gɧu=};i}?}'checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520907E EE+E"E:*E,:VE [4ZEBEa2EaJE;;a :E;;a  ǰ,1B â?Am)>m ?m7ٱm-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.793034 AHRS rotation from veh to nav: [[0.849873,-0.511666,-0.126149],[0.525090,0.842488,0.120394],[0.044678,-0.168559,0.984678]]mH@)2?@_%? ?$Ҿ?ߦ?`Zſ`|?im)>Im}_;m^CYUxJByUHI]0>)]iMb@Mb@Mb@ 9/$?~jt?Q뱿Y?y<\ B^A `B)YAbDVD8y3=%&=ٔZ;Q->9Y=$FyE ;E>Q 54="?Q 94f)`BY?Q E:y?Q I@VRDI:i]: 4yàBɮA EZRbj"ړڒ’ L@!ɢ% Z<)) -?i))-ۼ))i-:lٻ58ɧ5=5;i=?='<9I=? =?IAAUhAzAUhAAQIaIyOZ>)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022694E  E E (E "E :*E *:VE c44ZE a @a @a @a @Y Ͱ,:â?AFSN>F ?F{0ٱFD, RAHRS rotation from veh to nav: [[0.849294,-0.513078,-0.124302],[0.526158,0.841883,0.119959],[0.043099,-0.167283,0.984966]]FH`j-?"k;ҿI??@?@? iſ@؄?iFSN>IF&,_;F_CY=vJBy=HIMAAbDUuVDUڜ8yeջ%ev=ٔe;Q-e?9iYi=m$FymEuo;Eu?yQ 54}`L"?Q 94}c)}`BYy?Q I@}cRDI}:i}:}&4yɮ"AZRbj"ړڒ’#M@1ɢB<) ?i)׼iG7߻ 8,ɧ ->;i?*'<I? ?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275126aAIIOA>AYA]@ABeA>BaBe]HBeJBBe =BaBaBen;Be@Eԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529298 ԰,Sâ?AB$>B?BW)ٱBe+ fAHRS rotation from veh to nav: [[0.849105,-0.513802,-0.122588],[0.526604,0.841550,0.120342],[0.041332,-0.166738,0.985135]]BH`+?q@a?@?ξ?q)?Wſ8?iB$>IBX_;B`CYrpJByrHieMb@Mb@Mb@aaaa a9eK?Mbp= ףYe^?yeee+ Ba eB)aaYeQAbD}VD}B8yN%G=ٔ ;Q->9Y=$FyïEژ:E>E E|E)E"E7:*EP$:VEFA4ZEBE;a2E;aJE};a:E};aQ 54^"?Q 94`)`BYF?Q E:y0?Q I@sRDI;iD;-4yBɮA EZRbj"ړ ڒ ’  8KM@ԑɢ#„<) 2?i)GnӼis廩 ɧ > ;i to? Z'< Ito? to?IAI1IIOu6>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778698 |ڰ,mâ?AB>B&?BX!ٱB9j* JAHRS rotation from veh to nav: [[0.849088,-0.514338,-0.120444],[0.526772,0.841462,0.120221],[0.039515,-0.165524,0.985414]]BH`+?tujվ@P?@B? ƾ?Q;?/ſ?iB>IB9J_;B_CYRJByVH XXbDb%VDb|8yj^M=%jX=ٔjM;Q-j>9lYl=n$FynůErF9Er>tQ 5z4v@o"?Q 9z4v])v`BYxyzB?Q Iz@vRDIv:ivuBA>]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031200Ae.AIqIO>E EE'E"E%:*E.:VE'4ZEa@a@a@a@I i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283100,â?A 2u>2%?2ٱ2& >AHRS rotation from veh to nav: [[0.849147,-0.514935,-0.117432],[0.526786,0.841748,0.118142],[0.038012,-0.162181,0.986029]]2H`7,?Yzn?? >?_v?`YĿ?i2u>I2fV_;2`CYFJByF?H Np9^ ?Y^ ?=^$FybǯEbHEb>dQ 5j4f"?Q 9j4fqZ)fs`BYlynX?Q In@fRDIfP ;if;f{;4yrBɮrAtB@>BBjHBJBBBBB;B AEZ!R!b)j)"))ړ))ڒ1’115M@ɢ߄<) )?i)c˼iqj񻩧ɧP>f&}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536879ԡD=DE EE&E"E:*E|;:VE4ZEBE&;a2E';aJE;a:E;a -,â?A6.7>6 ?6Lqٱ6$& >AHRS rotation from veh to nav: [[0.849611,-0.514573,-0.115655],[0.526147,0.842113,0.118384],[0.036477,-0.161432,0.986210]]6H`0?`aw@2? ?pN??ͩĿ@?i6.7>I6mc_;6_CPYRJByR>HzDAT read: 20:56:45.2092 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 423, 0.41,-2.660, 2.000,-2.855,-3.006, PHS= 0.448,-1.232, 0.107, RAW= 138.9, 8.8, CAL= 138.6, 9.8, ROT= 11.4, -9.8 ~Ygot valid direction response: 20:56:45.2092 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 423, 0.41,-2.660, 2.000,-2.855,-3.006, PHS= 0.448,-1.232, 0.107, RAW= 138.9, 8.8, CAL= 138.6, 9.8, ROT= 11.4, -9.8 BDAT read: Rx Time:20:56:45.2092 TRx dataTimestamp_ set to:1761512206.556132 @DAT read: $Low SNR acquisition  2Received low SNR in chirp}X#Rx 1: Read direction message, but no range.\direction in FSK: [0.965967,0.194773,0.170209]yci3?1S?rl? )IB`>i-"='@nF>T@ %/>)%K>I%/?*s!?c? c*>)>I%K>i%/iMb@Mb@Mb@ 9x?Zd;O~jtYK?yj< B$A B)YAbDVD8yu%:=ٔd;Q->9Y=$FyɯEE>Q 54"?Q 94XW)o`BY?Q E:yi>Q I@RDIL:i:*C4yBɮrA EZRbj"ړڒ’@M@qɢ}R<)y })?iy)}MƼyi/׃ɧy>駍G<i`?^'<I`? `?IA=؟AIIIaOmW>! bEijEm64rEm8/E  E E (E "E غ:*E .:VE c44ZE a @a @a @a @k',]â?A2E>2^y ?2Љٱ2o& :AHRS rotation from veh to nav: [[0.850615,-0.513153,-0.114577],[0.524603,0.842924,0.119457],[0.035280,-0.161719,0.986206]]2H=8?kT ?`I2_;2aCY^JBy^NHbDj VDjP8|y%=%%V=ٔ%M;Q-->9-"?Y-"?=-$Fy-˯E5᝻E5>9Q 5E4="?Q 9E4=T)=k`BYAyMu>Q IM@=RDI=:i=:=I4yQɮUXAQZqRqbqjy"yyړyyڒ’N@ɢ,<) ,?i)e¼i}񽃽ɧT>Te'<IQ? Q?IAiAzA)AaIqIO>BA<BBBHBJBBBBB;BAEYԁ 2,Eâ?AZh>Z ?Z ٱZ% bAHRS rotation from veh to nav: [[0.851548,-0.512058,-0.112524],[0.523198,0.843751,0.119781],[0.033607,-0.160872,0.986403]]ZH ??`bcμ ???`4?uĿ?iZh>IZ _;Z`CYnJBynzHaDzD?AE E|E)E"E:*EP$:VEFA4ZEBEa2EaJE};a:E};aiMb@Mb@Mb@ 9n? rhMb`Y?yC A)IAY@A@AbD$VDf8y٤=%>=ٔw;Q->9Y=$FyͯEE>Q 54"?Q 9%4Q)x`BY5?Q E5:y5\>Q I5@RDI;iH;[Q4y=Bɮ=A= EZYRabaja"aaړaiڒi’iiu@TON@颙ɢ*<) 5?i)(`顡iBɧ>駭Jԩ {9,@â?A:>a>:" ?:\Fٱ:>& FAHRS rotation from veh to nav: [[0.852635,-0.510467,-0.111521],[0.521509,0.844585,0.121263],[0.032288,-0.161552,0.986336]]:HH?U2?? ? ?Ŀ ?i:>a>I:[`;:]CYNJByNHbDZVDZ8y^I =%b_=ٔbpl;Q-b>9dYd=f$FyfϯEfEj>hQ 5r4jv"?Q 9r4jwO)j`BYpyrW>Q Ir@jRDIj: ;ijG;jW4yz̠BɮzhAzEZRbj"ړڒ’!!% }N@IɢM.<)Q U8?iQ)UQQiU;]Cvɧe>eϖ2$ ?2ٱ2>z& :AHRS rotation from veh to nav: [[0.853666,-0.509026,-0.110209],[0.519905,0.845410,0.122396],[0.030870,-0.161783,0.986343]]2H;Q?I6`? ? PU?H?PĿ?i2Ag>I2a;2^CBV>>BTBVHBVKBBTBTBTBV;BV!AEYJByHbDܬVD8y%e6=%-D=ٔ-^;Q-->91Y1=5$Fy5ѯE5ҕE5>9Q 5E4=H"?Q 9M4=L)=`BYIyM^>Q IM@=RDI=):i=y:= _4yU٠BɮUyAYZyRybyjy"yړڒ’N@颱ɢ$<) =?i) 项iaHɧ>mA >IyIO=Ա]=]<E EE*E"EU:*EVE(N4ZEBE;a2E;aJE ;a:E ;a 9 M,c"Ģ?A2V>2Ё ?2~ٱ2P' :AHRS rotation from veh to nav: [[0.854784,-0.507385,-0.109104],[0.518151,0.846241,0.124081],[0.029371,-0.162595,0.986256]]2HeZ?<9? g?ÿ?@t?`Ŀh?i2V>I2̡a;2`C TTYbKByjH G!9m49iYm&AiUMb@Mb@Mb@QQQQ Q9Ud;O?~jt?YU?yULU=UT BQ UB)QQYQ m49Y=$FyԯEE>Q 54)"?Q 94I)`BY?Q E:y>Q I@RDI:i/:f4yӠBɮAEZ R  bj"ړڒ’EN@AɢM'9<)I MF?iI)U>QQiU ]Zɧ]a>]wa E  E E E "E :*E *:VE ZE a @a @a @a @Uu,<Ģ?A 67>6H ?65ٱ6і( >AHRS rotation from veh to nav: [[0.855950,-0.505581,-0.108338],[0.516298,0.847082,0.126054],[0.028041,-0.163831,0.986090]]6H@c?-@?J?"?϶?fĿ` ?i67>I6aa;6\CY"KByHbDVDŸ8y<%G=ٔ.T;Q->9Y=$Fy֯EE>Q 5 4#?Q 94F)`BYy>Q I@RDI';iD;,n4yɮ% A!ZARAbAjA"AAړIIڒI’IQU!O@iyɢ0 =) H?i)1顉iUI݂ɧa>駕CBBHB/KBBBBDB;B)AEBe;CBaBaBaBaCew4^A!I1IIOU> e,UVĢ?AXzu>zK ?zjټٱz( AHRS rotation from veh to nav: [[0.856747,-0.504521,-0.106972],[0.515051,0.847695,0.127027],[0.026592,-0.163926,0.986114]]zHxj? %bK{?@Q ?`kB?:?Ŀ ??izu>Iz@a;z[C )̼nAi̼IIُCi%Cs@ %!)!! %nA-ļ))))I5t)1i1)5fCI15j9 9999i99YAYM9KByMHIU=)U%=E EE(E"E:*E,:VEc44ZEBE&;a2E';aJE;;a:E;;aiMb@Mb@Mb@ 9l?Zd;OL7A`?Y?yj+= B^A A)YzAbDVD8y(d=%G=ٔ(g;Q->9!Y!=%$Fy%دE%kE->)Q 554-#?Q 9=4-C)-`BY=?Q E=:y]k?Q I}@-SDI-i&,\XpĢ?A6>6 ?6μٱ6) JAHRS rotation from veh to nav: [[0.857723,-0.503114,-0.105773],[0.513493,0.848458,0.128232],[0.025229,-0.164301,0.986088]]6H@wr?n? &?i?ՙ?ſ`?i6>I6a;6^CY%TKBy%H5AA5AAbD=^VD=s8y`=%i=ٔl~;Q->9Y=$FyگEE>Q 54##?Q 94@)aBYy?Q I@SDI:i:{4yɮAZRbj"ړڒ’ZO@颹ɢ9=)  U?i)Şiqɧ4 ?p!qԡ +o",5Ģ?AB&@>B$B&%HB&bKBB$B$B$B&;B&AEB>Bl ?B<ٱB#) JAHRS rotation from veh to nav: [[0.858518,-0.502068,-0.104279],[0.512238,0.849063,0.129249],[0.023648,-0.164379,0.986114]]BHx?` @@d?`+? =?7?[ ſ>?iB>IBPa;B`CYecKBye&HybDVDŠ8yS=%I=ٔ;Q->9Y=$FyܯEZpE>Q 544#?Q 94=))aBYy?Q I@+SDIr;i;4yǠBɮVAEZRbj"ړڒ’D=D<E EE*E"Eغ:*E,:VE(N4ZEBE2 ?2ٱ2ߛ( :AHRS rotation from veh to nav: [[0.858892,-0.501730,-0.102822],[0.511670,0.849360,0.129542],[0.022338,-0.163873,0.986229]]2H@ |?, R _?`-?Ҕ?ߖ?Ŀ /?i2h>I2a;2]CYRsKByR:HiMb@Mb@Mb@ 91Zd?S㥛?9 ?Y ?=$FyޯEֺE>Q 54E#?Q 94 :)KaBYa?Q E :y ?Q I @;SDI':i/:Љ4yɮ5AZ1R9b9j9"99ړ9AڒA’AAE`;O@iɢuT)=)q u\?iq)}"Kyyi}rɧC?駅A>A؟AIIO">1E  E ~E )E "E %:*E (:VE FA4ZE a @a @a @a @Y ,.,Ģ?AJm>J ?J鬼ٱJ' ^AHRS rotation from veh to nav: [[0.858898,-0.502014,-0.101371],[0.511712,0.849347,0.129464],[0.021106,-0.163069,0.986389]]JH|?n_?-?@H?՜?rĿ`?iJm>IJ)-b;J^CY%~KBy-GH Mp9"?Y"?=$FyEi8E>Q 54V#?Q 946)kaBYy?Q I@JSDIR:i;4yBɮAZ)R)b)j)"))ړ111ڒQ’QY]!P@颡ɢj0=) _?i)k顩i 뻁ɧ?駽`d>BYB]WHB]KBB] =BYB]DB];B]AE^A] ;ԉIIO> 55,Ģ?A=1>= ?=q,ٱ=p)EU EUEU(EQ"EUƱ:*EU0:VEUc44ZEQBEUH;ae2EUI;aeJEU߉;ae:EU߉;ae mAHRS rotation from veh to nav: [[0.858835,-0.502423,-0.099865],[0.511924,0.848793,0.132227],[0.018331,-0.164685,0.986176]]=H{?@a?`P)? ?@IŒ?cſ?i=1>I=)Lb;9YKByhHiMb@Mb@Mb@ 9MbX9?x&?v/?Y!?y7=xi= A)YAbDqVDp8y-nt=%5?=ٔ5;Q-5>99Y9==$Fy=E=:E=>AQ 5M4Eh#?Q 9U4E'2)EaBYUZ#?Q EU:yU(?Q IU@E[SDIE:iE<:E 4yYɮeAaZRbjԉ"ړڒ’*P@ɢ;=)A ef?ia)eDdaiim#u{ɧ}?} ;,Ģ?AY~KBy~zHI<)4<bDVD8y%6#=%%^=ٔ%Q-%>9)Y)=-$Fy-E-E5>9Q 5=4=8x#?Q 9E4=c.)=aBYAyAQ IE@=jSDI=:i=:=4yMޠBɮU*AUEZqRqbqjq"qyړyyڒy’y "BP@!ɢ-,J=)-uN޼ 5i?i1)5論11i5&U Fɧ]?] A B9 B9 B= HB= KBB9 B9 B9 B= ;B= +AEB,~ Ţ?AFݸ>F ?FnٱF * NAHRS rotation from veh to nav: [[0.858667,-0.502841,-0.099204],[0.512247,0.848431,0.133295],[0.017141,-0.165273,0.986099]]FH`3z?FpeSd?X&???'ſ ?iFݸ>IF1b;F\CYZKByZHppbDvVDv8y~=%~M=ٔC;Q->9Y= $Fy E (o:E >Q 54#?Q 9%4R*)aBY!y%-(?Q I%@{SDI ;iY!;4y)ɮ5A1ZQRQbQjQ"QQړYYڒY’Yae`[P@颉ɢU=) p?i)zw顑i*q*ɧ ?駝uԁDyDyE E~E(E"E*E(:VEc44ZEBE;a2E;aJE;a:E;aԩ lH,X%Ţ?A2q >2 ?2ܪٱ2( :AHRS rotation from veh to nav: [[0.858274,-0.503747,-0.098006],[0.512932,0.848123,0.132616],[0.016316,-0.164091,0.986310]]2Hv?`i?#??*?ſڏ?i2q >I2SYb;2^C@Y~KBy~HiMb@Mb@Mb@ 9p= ף?v/?Zd;O?Y%?yx=j< B A)AYAbD7VD&8y:%@=ٔ:Q->9Y=$FyE:E>Q 54#?Q 94}%)aBY'?Q E:y7?Q I@SDI ;i ;4yؠBɮAEZRbj"ړ  ڒ ’  `vP@9ɢ=QE=)A Ek?iA)ESjAAiE .MԀɧM?MZ- ?ZkٱZ% bAHRS rotation from veh to nav: [[0.856892,-0.506618,-0.095261],[0.515296,0.846962,0.130862],[0.014385,-0.161222,0.986813]]ZHk?76bM}?Q??u? Ŀ?iZS>IZic;XYnKBlynHbDzeVDzP8yg^;%V=ٔ;Q- >9 Y = $Fy E;E>yQ 54}J#?Q 94}!)}aBYy?8?Q I@}SDI}:i}:}峼4yɮAZRbj"ړڒ’ >P@ɢR=) Gl?i)H^is1ɧ?BBHBKBBBBBĊ;B?AE]u}Ae>Ae>9AIIO>a U,YŢ?AD9zD=AAEU EU|EU)EQ"EU:*EUP$:VEUFA4ZEQBEU;au2EU;a}JEU};a}:EU};a}Ա1>o ?`bٱ" AHRS rotation from veh to nav: [[0.855220,-0.509721,-0.093721],[0.518081,0.845649,0.128338],[0.013838,-0.158312,0.987292]]H]?`O??`am?PW? CĿ?i1>I c;_CYKByHiMb@Mb@Mb@ 9E?x&?t BA A)YQA bDVD8yU=%0=ٔߙ:Q->9Y=$FyE;E>Q 54#?Q 94)aBY6*?Q E:y=?Q I@SDI駍V 9 #\,BrŢ?AJ7>JD ?JaRٱJ4! VAHRS rotation from veh to nav: [[0.854192,-0.511689,-0.092361],[0.519798,0.844748,0.127321],[0.012872,-0.156766,0.987552]]JH`U?_`𤷿`0?,?L?`\?Ŀ?iJ7>IJ!3d;J]CY\y^HbDjVDj8yr'%rr=ٔrg;;Q-r?9tYt=v$FyvEv;Ez?xQ 54z#?Q 94z)zaBYy0>?Q I@zSDIz;iz;z4y ɮAZ1R1b1j1"11ړ99ڒ9’AAEP@iɢmv=)q u@r?iq)u Fqqiuhl8}0Aɧ}>駅 q BDAT read: Response Not Received  *response not received F~ ?F(AٱFl NAHRS rotation from veh to nav: [[0.853086,-0.513770,-0.091016],[0.521636,0.843734,0.126524],[0.011789,-0.155414,0.987779]]FH|L?pL>??1?$?ÿ?iFP>IFsd;F\CYfKByjHbDrYVDr18yzL%zI=ٔz.;Q-z>9|Y|=~$Fy~E;E> Q 54 #?Q 94 ) aBYy>?Q I@ SDI a;i ; ȼ4y%͠Bɮ%A%EZARAbAjI"IIړIIڒQ’QQUP@颁ɢ0X=) m?i)9顉i\;ɧS>駕uEm EmEm(Ei"EmƱ:*Em*:VEmc44ZEiBEmH;a2EmI;aJEmi;a:Emi;a 5i,bŢ?ABp>B ?BNX,ٱBPC JAHRS rotation from veh to nav: [[0.851950,-0.515927,-0.089450],[0.523518,0.842689,0.125714],[0.010519,-0.153931,0.988026]]BH+C? y +涿?O?`f??@ÿ?iBp>IBMe;B[CYbKByfHiMb@Mb@Mb@ 9?p= ף?Zd;Yf&?y>yT B )YABAbDVDe8y6%?=ٔB;Q->9Y=$FyEQ;E>Q 54a#?Q 94 )waBYi*?Q E:ya;?Q I@SDIG);i(;Jм4yBɮbAEZRbj "  ړ  ڒ’@JP@AɢE`S=)A Ek?iA)E,IIiM_?U5ɧU>U6v ?6ٱ6G< BAHRS rotation from veh to nav: [[0.850534,-0.518525,-0.087885],[0.525846,0.841266,0.125531],[0.008843,-0.152982,0.988189]]6H 7?`?`?e?? ÿ`??i6ի>I6f;6YCYNKByRHbDZVDZ8yb<%bZ=ٔbn;Q-b>9dYd=f$FyfEjH;Ej>lQ 5r4n#?Q 9r4n )nZaBYpyr{BBHBKBBBBB;B3AE Kv,hŢ?AlE- E-~E-'E)"E-:*E-(:VE-'4ZE)BE-&;a]2E-';a]JE-;ae:E-;am<>t? ٱd< MAHRS rotation from veh to nav: [[0.849106,-0.520979,-0.087175],[0.528175,0.839579,0.127034],[0.007008,-0.153909,0.988060]]H`+?@۫Q? ?B? r|?Lÿ@0?i<>If;`CYeKBymHiMb@Mb@Mb@ 9?Cl?bX9ȶY ?y;=E^A /A)YAbDұVD8y-%-)=ٔ-+y;Q-->91Y1=5$Fy5E=p;E=>9Q 5M4=x$?Q 9M4=M)=)aBYM$?Q EM:yM4?Q IU@=TDI=};i=`;=E߼4y]Bɮ]0AYZRbj"ړ  ڒ’?0Q@颁ɢދF=) l?i)^顉iPF9ɧD>駕&ЅA>IAIQO]3>)Y q|,2Ţ?A2_>2?20ٱ2UB :AHRS rotation from veh to nav: [[0.848306,-0.522547,-0.085562],[0.529478,0.838776,0.126917],[0.005447,-0.152968,0.988216]]2H`S%?`i絿 {?@?>?Ov?uÿ`w?i2_>I2Zg;2[CYFKByF{HbDfVDf8yr %ry=ٔrݛ;Q-r?9tYt=v$FyvEv;Ez?xQ 54z$?Q 94z)zaBYy5?Q I@zTDIz;iz;z4yɮEAZ1R1b1j1"119ړAAڒA’AAM -DQ@qɢutj=)q }j?iy)}ayyi}Iɧ|>駅ߓ}E- E-E-*E)"E-U:*E-*:VE-(N4ZE)a=@a=@a=@a=@iԑ B B B HB KBB B B B ;B AEY, Ƣ?A2>25?2kwٱ2d :AHRS rotation from veh to nav: [[0.847560,-0.524025,-0.083905],[0.530687,0.838005,0.126961],[0.003783,-0.152134,0.988353]]2H5?z`b?`??@?n?"yÿ?i2>I2og;2\CYFKByFzHbDNVDN8yVH%VN=ٔVd;Q-Z>9XYX=Z$FyZE^j;E^>`Q 5f4b.$?Q 9f4bt)b`BYdyfz5?Q Ij@b#TDIb`:ib6:b4ylɮnFAlZYRYbYjY"Yaړaaڒa’aimL^Q@ԙɢʕb=) i?i)@iQL~ɧ>'Rl ǃ,d'Ƣ?A2sd>2?2ٱ2?4 :AHRS rotation from veh to nav: [[0.846892,-0.525328,-0.082489],[0.531761,0.837222,0.127628],[0.002015,-0.151952,0.988386]]2H?|@0? ?V?`?`(sÿ@۠?i2sd>I2g;0YFKByFdHi`I`iMb@Mb@Mb@ 9 +?x&?&1Y?y7=н B A)YAbD5VD58yE9'%EA=ٔELj;Q-E>9IYI=M$FyMEUC;EU>YQ 5e4]?$?Q 9e4]|)]`BYe?Q Em:ym%?Q Im@]3TDI]#;i]Y;]X4yuBɮuTAuEZQRQbYjY"YYړqyڒy’yy qzQ@ɢY=) le?i)z߻i={O~ɧ>%g!ԁbEjEmF4rEɳ0EI  EI EM +EI "EI *EI VEM [4ZEI ae @ae @ae @ae @ԙ }m,:AƢ?A6b>6?6ٱ6 BAHRS rotation from veh to nav: [[0.846277,-0.526456,-0.081609],[0.532744,0.836413,0.128829],[0.000436,-0.152501,0.988303]]6H?`R䴿< ? ?t}? 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H?IAA>I1IAOM>D=D4=E EtE,E"E:*Ev:VEg4ZEBE޽;a2E߽;aJE`;a:E`;a! } Q,YDѢ?A20>2?2ͧ2=ٱ2v! :AHRS rotation from veh to nav: [[0.837523,-0.544137,-0.049694],[0.544659,0.824135,0.155398],[-0.043603,-0.157215,0.986601]]2H?`i`vqm?P_??)S@Ŀ=?i20>I2^;0 @)@BԼ@@DDiF/ݼIDDIDiFr@ HH)HH HJԼHLLLINף)LiP)PIR~nARԼRZF PTV$vATiTTYTYnFBynHbDvvVDvZ8|yy%i=ٔL2Q- >9 I = %Fy ްE};E>Q 5%4U+?Q 9%4G)aXBY!y%,K?Q I- @%[DIR:i:4y5%Bɮ5A1ZQRQbQjY"YYړYYڒa’aae`\@ " @ɢ;) Oi)e<iK%_iɧ%qڽ%i%A?-!<)I-A? -A?I)IIO=!QE EwE+E"EO:*E:VE [4ZEa@a@a@a@AI AI BU >BU LCBU HBU #GBBU =BU 9DBU DBU ;BU CEԁ 1W,-^Ѣ?A2>2?2:A.=ٱ2q! :AHRS rotation from veh to nav: [[0.837049,-0.544790,-0.050531],[0.545473,0.823770,0.154474],[-0.042530,-0.156866,0.986704]]2H?n8ߩ t? S\??xƥ@-Ŀ?i2>I21^;2QCYFByLH !!bD5tVD5@W8yE{%EF=ٔE +Q-E>9III=M%FyMEU;EU>YQQ 5e4U+?Q 9e4UB)UXBYiymkK?Q Im @U8[DIU:iU:U4yu$BɮuMA}EGSB*** querying acoustic contact ***:BZRbj"ړڒ’\@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. " @ɢD;) 1i)y<iDI~iɧ  i \? .< I \? \?Iԁ^A"IIO>m DAT read: u BDAT read: Tx time:20:57:40.8975 u $Ping request sent.u : ?:e+=ٱ: V! JAHRS rotation from veh to nav: [[0.837058,-0.544719,-0.051134],[0.545519,0.823836,0.153959],[-0.041738,-0.156767,0.986753]]:H.?@Vn<.t?\??^@Ŀ{?i: >I:}];8Y]FBy]AH m49I=%FyEK8E>Q 54ӫ+?Q 94=)WBYylK?Q I @K[DI9:i:5 4yɮ_AԹZRbj"ړڒ’ O\@ "c @ɢj;) ֳi)%9 Cd,Ѣ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5032166>6?6E'=ٱ6 BAHRS rotation from veh to nav: [[0.837188,-0.544491,-0.051434],[0.545377,0.824085,0.153129],[-0.040991,-0.156249,0.986867]]6H??`xl@Us?`^?@? ÿi?i6>I6];6RCYJQFByJHa@a9 a@a a@a a@a iMb@Mb@Mb@© 9uV?~jtx?K7AYr(?y; IBA )YbEG4jEL4rEַ/Ee EevEe)Ea"Ee:*Ee:VEeFA4ZEaam@au@au@au@bD5qVD5P8y)%D=ٔOQ->9Y=%FyEE>Q 54G+?Q 94@9)WBY+?Q E :y W?Q I  @\[DI:i:}4y#Bɮ5AUEZqRqbyjy"yyړyyڒ’ v\@B>BMCBHBFBB =BBB;Bɢ-8)1 5<׾i1)=!<99iEEuiɧu8?uiu]?}tAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755181II)ԁO>ԡ 6qj,B̫Ѣ?A6cԷ>6?6|;$=ٱ6_ BAHRS rotation from veh to nav: [[0.837343,-0.544247,-0.051504],[0.545207,0.824466,0.151675],[-0.040085,-0.155085,0.987088]]6H?xj ^ Vr? b?`j?ÿ8?i6cԷ>I6E];6QCYNFFByRHIVC=)V=bD^VnVD^K8yj%j]=ٔnh Q-n>9pYp=r%FyrEv Ev>xQ 54z+?Q 94z5)z[WBYy X?Q I  @zk[DIz>/;iz'!;z4y"BɮAEZIRIbIjQ"QQړYYڒY’aae\@ɢh`) ܾi)E1<iCC%biɧ%1.%Z i%&?-ď<)I-&? -&?IQ@Y@Y@a@ai5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007555Em EmrEm*Ei"Em:*Em?:VEm(N4ZEiBEm;au2Em;auJEiau:Eia}ԙIiIO\> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261709 SZq,Ѣ?AN]Y>N3?N!=ٱN# ZAHRS rotation from veh to nav: [[0.837874,-0.543384,-0.051971],[0.544434,0.824997,0.151565],[-0.039482,-0.155287,0.987080]]NH?fc𛪿l?_f?zf? 6`rÿ(?iN]Y>IN];NTCYb%FBybHiMMb@Mb@Mb@IIII I9Mjt? rhEԸYM ?yMCMƽMBMA MhA)MoBIYM(B]AAYbDejVDeC8yu%u@=ٔ}JQ-}>9yYy=}%FyE E>Q 54+?Q 942)+WBY#?Q E:y>Q I @|[DI;i;`4yɮ@AZRbj"ړڒ’]@ɢ@E) [i ) < i%A@jɧ駕Ȼi+?<I+? +?II)IAOM==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511092Eu EuuEqEq"Eu:*Eu:VEqZEqa}@a}@a}@a}@B>BBHBvFBB =BBºDBBCE! w,sѢ?A 2!Q>2?27 =ٱ2 >AHRS rotation from veh to nav: [[0.838982,-0.541628,-0.052421],[0.542752,0.825998,0.152143],[-0.039106,-0.156097,0.986967]]2H`? U֪9^?n?ky? ÿI2\^;2RCYbFBybHbDjfVDj`=8yr%rU=ٔrQ-v>9tYt=v%FyvEzEz>|Q 5]4~M+?Q 9]4~$0)~WBYYy]>Q Ie @~[DI~Z"jɧ~2i+O?I<I+O? +O?IIYIiO}=i܁G1e9aYezAԙU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015145 E  E pE E "E a:*E  :VE ZE BE h;a 2E i;a JE :R;a :E ;R;a z},ZѢ?AFp>F?F=ٱFU!L VAHRS rotation from veh to nav: [[0.839938,-0.540063,-0.053259],[0.541334,0.826892,0.152338],[-0.038233,-0.156785,0.986892]]FH?`1HD`R?u??IĿ`?iFp>IFb^;FQCYnEBynjH ppbDv$dVDvK88y~%~H=ٔ- Q->9Y= %Fy E WE >Q 54 ,?Q 94A-)VBY!y%>Q I% @[DIV:i$:8-4y-BBɮ-7A-EZIRIbQjQ"Qړڒ’ J]@!ɢ%3)- -i))-E\<)QiU@;<]*jɧ]]pѺi]f?]! U >U R=] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519319-,oIҢ?A2>2z?24m=ٱ2H" :AHRS rotation from veh to nav: [[0.841451,-0.537661,-0.053670],[0.539017,0.828321,0.152789],[-0.037693,-0.157493,0.986800]]2H+? 4z`????zL (Ŀޓ?i2>I2H^;2PCYpypxE5 E5mE5)E1"E5:*E5:VE5FA4ZE1a=@a=@a=@a=@iMb@Mb@Mb@ 9/$? rhS㥫Y?yC /]|A )BYB p<4<bDo`VDy18ٔQ->9"?Y"?=%FyE;ԻE>Q 54. ,?Q 94*)VBY!?Q E:y>Q I @[DIm ;i ;44yABɮ4AEZRbj"ړ ڒ ’   @d]@B>BBHB$FBBBBBӌ;BCEBMMCBMMCBIBM„ =BM„ =CM$5AɢE,_ )I IiI)UnIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771174q R,| -Ң?AB>B$?Be=ٱB" NAHRS rotation from veh to nav: [[0.842945,-0.535294,-0.053900],[0.536705,0.829735,0.153259],[-0.037316,-0.158118,0.986715]]BHf?!ؘ@,?/?@? 4=Ŀ +?iB>IB.^;BMCYZEBy^BHbDj\VDj?*8yvO%v<ٔvQ-v>9xYx=z%FyzEz'EM>IYQ 5]4M3,?Q 9]4M()MVBYaye>Q Ie @M[DIMC*;iM+;Mw;4ymCBɮm|AmEZRbj"ړڒ’`}]@ɢ"p)  i)]<i$7? jɧ=;i/?<I/? /?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022979EI EMxEIEI"EI*EM:VEIZEIBEM޽;a]2EM;a]JEMYo;a]:EMYo;a]ԁ}0ԹAII O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275869 Ԩ,FҢ?Av2>vo?v=ٱvE# ~AHRS rotation from veh to nav: [[0.844446,-0.532861,-0.054500],[0.534386,0.831137,0.153762],[-0.036636,-0.158967,0.986604]]vH?1 o竿??u?`¢ YĿ B?iv2>IvDf_;vRCYEBy9HI>)4<ԱiMb@Mb@Mb@ 9 ףp= ?QſMb`YQ?y(A )oBYGBbD(YVD$8y%9=ٔBʺQ->9Y= %Fy E ͻE >Q 54H,?Q 94&)VBY%?Q E%:y%>Q I% @[DI]:i:B4y1ɮ5A1ZQRQbQjQ"QYړYYڒY’Yae@=]@颉ɢH) i)i<顑iQc4iɧJ>駥'"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527144EU EUvEU-EQ"EU1:*EU:VEUt4ZEQa]@a]@a]@a]@ B>BNCB\HBEBBBBB;BDE1 ?Η,@`Ң?A6>6?6l=ٱ6"# BAHRS rotation from veh to nav: [[0.846159,-0.530103,-0.054826],[0.531721,0.832831,0.153835],[-0.035888,-0.159321,0.986574]]6H? !???_dĿ ?i6>I62`;6NCYJEByJ)HPRBAbDVSVDV8yZD %^b=ٔ^Q-^>9`Y`=b%FybEfEf>hQ 5j4jZ,?Q 9n4j %)jVBYlynI>Q Ir @j[DIj ;ij ;jKI4ytɮvAvEZ R b j "ړڒ’@[]@AɢE)I MiI)Mb]]q5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031122Em  Ei Em +Ei "Em :*Ei VEm [4ZEi BEm #;au 2Em $;au JEm h;a} :Em h;a} ԙ , zҢ?A2{>2?2Wg=ٱ2$ :AHRS rotation from veh to nav: [[0.847800,-0.527443,-0.055122],[0.529127,0.834361,0.154487],[-0.035491,-0.160140,0.986456]]2H-!?@8?@?6?+@xĿ@ ?i2{>I2X`;2PCYBEByF1HbDN6OVDN8yVك<%VK=ٔV(Q-Z>9XYX=Z%FyZE~$E~>Q 5 4do,?Q 9 4##)VBY y >Q I @[DI:i:yP4yɮAZYRYbYja"aaړaaڒi’iim]@ɢ&e) i)!<i+/\iɧ>ِ = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535114rऴ,\tҢ?A2T>2/(?2Y =ٱ2y$ >AHRS rotation from veh to nav: [[0.849236,-0.525084,-0.055544],[0.526885,0.835845,0.154126],[-0.034503,-0.160155,0.986489]]2H ,?|@Ep=?>?@e?WĿP?i2T>I2a;2OCYFEByF4H HHiMb@Mb@Mb@E EoEE"E1:*E:VEZEa@a@a@a@ 9 ףp= ?+ÿMb?Yy@=B )BYBbDJVDO 8y;%8=ٔTQ->9 ?Y ?= %Fy E»E>Q 5-4,?Q 9-4 )VBY-?Q E5:BE>BABEHBEEBBABABABE:;BE0DEye*>Q Ie @[DI駵IiߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.7874261 ,zTҢ?A>>>xa ?>=ٱ>F$ FAHRS rotation from veh to nav: [[0.850864,-0.522415,-0.055800],[0.524329,0.837613,0.153247],[-0.033320,-0.159650,0.986611]]>HF:?ƑL?? ?ThoĿQ?i>>I>a;>PCYREByR9H TTbDZEVDZ8yb-<%b_=ٔf9f"?Yj"?=j%FyjEjEj>lQ 5r4n,?Q 9r4n")nVBYtyv>Q Iv @n \DInW:inp:n^4yxɮzA|ZRbj"ړ!!ڒ!’!!- ]@QɢU3)Y ]iY)]ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291109/,)Ң?A0:ٚ>: ?:#u=ٱ:7% BAHRS rotation from veh to nav: [[0.852404,-0.519804,-0.056665],[0.521883,0.839061,0.153670],[-0.032333,-0.160562,0.986496]]:H`F?;>@C?@?@w?@獠 JĿ@`?i:ٚ>I:ib;:OCY^EByb3HbDjAVDj7yrP%rI=ٔr Q-r>9tYt=v%FyvEzEz>xQ 54z,?Q 94z#)zVBYy">Q I  @z\DIz ;iz ;ze4yɮAZ1R1b1j1"19ړ99ڒ9’AAE^@iɢmv)q uiq)u8checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543100ԹBM<AIB]>BYB]HB]EBBYBYBYB]a;B]YDEbEƙT4jEY4rE/E EmE,E"E1:*E:VEg4ZEBE;2E;JEOG;:EOG; Q,Ң?A2hp>2 ?2 *<ٱ2ڳ% :AHRS rotation from veh to nav: [[0.853623,-0.517702,-0.057564],[0.519960,0.840269,0.153586],[-0.031143,-0.161035,0.986457]]2H`P?x?|?ඨ? 㟿@ϜĿ?i2hp>I2c;2PClYzEByzNHechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795247aa aa aa aa y7A`?S㥛?)\(?6?/<G= 9S?Cl绿bX9ȶ?Y?y;߽E=(A A)Y(BbDg>VD7yQ=%>=ٔ5Q->9I=%FyEE>Q 54,?Q 94u)WBY?Q E:y>Q I @-\DI ;i& ;'m4yABɮaAEZR b j "  ړ  ڒ’ 3^@ 53>53>5-@"5@IɢM*_)I M@ iI)U+E  E uE +E "E :*E :VE [4ZE BE ;2E ;JE md;:E nd;tF,Ң?A2`>2ˆ ?2j<ٱ2& :AHRS rotation from veh to nav: [[0.854738,-0.515701,-0.058949],[0.518212,0.841339,0.153640],[-0.029637,-0.161870,0.986367]]2H`Z?.1? ??y? Y@&Ŀ`Q?i2`>I2^e;2NCYFEByF`HN@ANAAbDR:VDR7yZ^=%Z\=ٔZQ-Z>9\I\=^%Fy^EbEb>dQ 5j4fe,?Q 9j4f*)f/WBYhyj>Q In @f<\DIf :if[:fs4ypɮrCArEZRb j "  ړ  ڒ’nK^@9 "ϒ@ɢw) i)ϸ<i3"}gɧ2?'k=iJj?$<IJj? Jj?I^ASuchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299515yIIO (>ԑ % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551138.Ŵ,sӢ?A6gm>69 ?6Eb<ٱ6=& BAHRS rotation from veh to nav: [[0.855742,-0.513927,-0.059880],[0.516652,0.842522,0.152406],[-0.027875,-0.161357,0.986502]]6H@I6Zf;6PCYJEByJ_HbDV8VDV7y^ %^J=ٔbYQ-b>9`I`=f%FyfEfEf>hQ 5n4j,?Q 9n4j)jTWBYpyr>Q Ir @jL\DIj/;ij];jz4ytɮvDAxZRbj"!!ړ))ڒ)’11=`e^@B>BBHBEBBBBB;BDEE EtE(E"E:*Ev:VEc44ZEBE޽;2E;JE`;:E`; 111"5h@AɢMFf)I MiI)M&}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803126 Y]CG TJ9 Y :A9 jX˴,/Ӣ?A6٥>6e ?6&<ٱ6kz% BAHRS rotation from veh to nav: [[0.856355,-0.512820,-0.060596],[0.515707,0.843295,0.151329],[-0.026505,-0.160841,0.986624]]6HBg? ib?@E?^?$nĿ`m?i6٥>I6n;g;6OCYJEByJqHbDR|6VDR7yZd =%ZJ=ٔ^_Q-^>9`I`=b%FybEb$7Ef>dQ 5j4f,?Q 9j4f4)fyWBYlyrk>Q Ir @f\\DIf/#;if#;fā4ytɮv'AvEZ R b j "ړڒ’8^@ 999"=궒@IɢU+A)Q UHiQ)Uq checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307173ԙ N@Ҵ,2qIӢ?A2s>2@ ?2ɂ<ٱ2c># :AHRS rotation from veh to nav: [[0.856660,-0.512285,-0.060807],[0.515283,0.844026,0.148672],[-0.024840,-0.158694,0.987015]]2Hi? d"2}?`C??o`PĿ?i2s>I2g;0YeFByeHq }4<}bD5VD&7y =%/=ٔiQ->9I=%FyE0E>Q 5 4-?Q 94O)WBYy%>Q I% @n\DIG;i; 4yAɮMAQZRbIjI"QYړYڒ’`s^@ "3@ɢ) i)խ<iJENdɧE`?E3=iM?M!SAAAAB>BBCHBEBBBBBǍ;BDEBNCBNCBǓCBǃ =Bǃ =CǷ3E- E-nE-+E)"E-:*E-:VE- [4ZE)BE-#;2E-$;JE-J;:E-J; mjش,QLcӢ?A2p>2 ?2q<ٱ2cH" :AHRS rotation from veh to nav: [[0.856743,-0.512052,-0.061602],[0.515216,0.844340,0.147110],[-0.023315,-0.157774,0.987200]]2Hoj?@b;@|???`1Ŀ`$?i2p>I2%Zh;0<@i@I@@I@i@ DD)DD F-r@DDHHHIH)HiH)LINlmALL LPPPiPPiVYCT)T TITYTY^FBy\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.811218y1Zd?)\(?~jt?";?Ga== 9w/?y&1?rh|?Y&?y`e==sBdA &B)oBY BbDMk3VDMA7y]%]N=ٔ]:}Q-]>9aIa=e%Fye EmEm>qQ 5}4u-?Q 9}4u6 )uWBY}u*?Q E}:y}'?Q I @u~\DIu&:iu:uҐ4yaBɮbAEZRbj"ړڒ’ ^@ EE=EE=Ey@H@"Ed@qɢu}|)q uiy)}A>AI!I9OER>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063118) E  E pE E "E C:*E  :VE ZE BE 6;2E 8;JE :R;:E ;R;Y޴,*}Ӣ?A2ޥ>2 ?2c<ٱ2o >AHRS rotation from veh to nav: [[0.856435,-0.512472,-0.062378],[0.515800,0.844345,0.145024],[-0.021652,-0.156379,0.987460]]2Hg?+f `o?@?)?@, 8Ŀ@E?i2ޥ>I2wh;0YFByHI%=)%p=bD-1VD-ʷ7yE<%E^=ٔM䓻Q-M>9III=M%FyM EUG:EU>Q 540-?Q 94.)WBYy'?Q I @\DI:i:~4yɮPAEZRbj"ړڒ’   ^@ )))"-d@AɢETXe)A EiA)M:Yԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567105t|,Ӣ?A0bI>b* ?bT<ٱbA nAHRS rotation from veh to nav: [[0.855672,-0.513575,-0.063764],[0.517135,0.843775,0.143579],[-0.019936,-0.155831,0.987583]]bH a?5oR]?@5?`?`7j DÿF?ibI>Ib i;bPCB>BBuHBEBB =BBúDB;BDEE EsE*E"E:*EZ:VE(N4ZEBE;2E;JE&];:E&];Y%FByH%AA!bD-0VD-˳7y=<%=<=ٔEQ-E>9AIA=E%FyM EM:g;EM>QQ 5]4U+C-?Q 9]4U)UXBYaye1(?Q Ie @U\DIU :iU:U4yiɮm:AiZRbj"ړڒ’@^@ "=e@ɢt;) "i)<iRbɧZ?.=i?B<I? ?IԉԹ^AUzechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.819760AazAegAA I I O >,ݰӢ?A2n>2ߍ ?2uS<ٱ2 :AHRS rotation from veh to nav: [[0.854916,-0.514711,-0.064740],[0.518446,0.843324,0.141486],[-0.018227,-0.154523,0.987821]]2Hx[?xԒ`??7?*jÿ:?i2n>I2 i;2OCYZ$FByZH`bDf/VDfa7ynOm%rd=ٔr훻Q-r>9tIt=v%FyvEv;Ev>xQ 5~4zR-?Q 94z)zBXBYy(?Q I @z\DIzr;iz;z'4y ɮA ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323409,Ӣ?A2o>2 ?2Qi<ٱ2 :AHRS rotation from veh to nav: [[0.853925,-0.516266,-0.065427],[0.520133,0.842729,0.138817],[-0.016529,-0.152570,0.988154]]2H`[S?@ڿ? ?@?쐿`mÿ?i2o>I2h;2PCYF,FByFH HHbDR.VDR7yV<%ZM=ٔZ拻Q-Z>9Z ?I^ ?=^%Fy^E^;Eb>`Q 5f4b[d-?Q 9j4b)blXBYhyj(?Q Ij @b\DIbl:ib:b4y9ɮ=,AAZRbj"ړڒ’@_@ 999"=hle@ɢV7) i) <i EcaɧLV?p+=i ?g&<I? ?I)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.575113E] EYE],EY"E]:*EYVE]g4ZEYae@ae@ae@ae@^AmԅB}>ByB}HB}FBB} =ByByB} ;B}EEԑA ؟AI I O >ԡ ,[Ӣ?A2>2 ?2wr<ٱ2G :AHRS rotation from veh to nav: [[0.852438,-0.518545,-0.066786],[0.522618,0.841497,0.136942],[-0.014811,-0.151638,0.988325]]2H,G?@I?`?O?@Uhÿ \?i2>I2(h;2NCY^&FBybH%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827171yy/$?S㥛?I +?L?$>94< 9d;O?S?&1?Y4?y/]>P=A `B)BY\B 4<bD-VD+7y-`%9=ٔ~Q->9"?I"?=%FyE;E>Q 54xv-?Q 944)oXBYt=?Q E:yZ?Q I @\DIT ;i ;Գ4y ɮ 8A EZ)R)b)j)"11ړ11ڒ9’99=6_@ ]=]=]D&@"]8F@iɢmVV)q uiq)u+`ɧQC?駅@=iT?<IT? T?I@@@@ԩAM.AIYIiOu>2 ?2MT<ٱ2i :AHRS rotation from veh to nav: [[0.850743,-0.521159,-0.068036],[0.525422,0.840137,0.134541],[-0.012958,-0.150208,0.988569]]2HJ9?Vj A?g?`8? :ÿ\?i2/>I2Pg;2OCYF)FByFHbDN,VDNi7yV^<%V_=ٔVܥQ-Z>9Z ?IZ ?=^%Fy^E^<E^>`Q 5f4bo-?Q 9f4b)bsXBYdyjY[?Q Ij @b\DIb:ibp:b;4ynBɮnAnEZ|R|bj"ړڒ ’   M_@ 111"5F@AɢENs)I M%iI)M6Rj?R25<ٱRm? ZAHRS rotation from veh to nav: [[0.849155,-0.523630,-0.068905],[0.528027,0.838970,0.131589],[-0.011094,-0.148123,0.988907]]RHF,? ɣ??@? ¿?iR1(>IR`f;RNCYfFByfHIj%=)jp;bDr+VDro7yz%zF=ٔzQ-z>9|I|=~%Fy~E;E> Q 54 6-?Q 94 ) wXBYy\?Q I @B%>B!B%HB%/FBB% =B!B!B%;;B%6EEbEjEU4rEA/E5 E1E1E1"E51:*E1VE1ZE1BE5;2E5;JE1:E1 \DI u'yԱ ,&2Ԣ?A2q>2y?2g<ٱ2 :AHRS rotation from veh to nav: [[0.846803,-0.527155,-0.070934],[0.531827,0.836813,0.130015],[-0.009180,-0.147821,0.988971]]2H ?t(?@,?S?`̂`¿?i2q>I2Ye;2MCYFFByFHTV@AbDVT+VDVz7y}%>=ٔQ->9I=%FyE)<E>Q 54-?Q 94Y)|XBYyC]?Q I @]DI|:it:4yYɮ]AYIZYRYbYjY"aaړaiڒq’qqu_@ "GfG@颱ɢ,^) 2i)&B<项i._ɧ ?Yԉ ,LԢ?A06>6?6{;ٱ6L >AHRS rotation from veh to nav: [[0.844655,-0.530402,-0.072328],[0.535263,0.835036,0.127308],[-0.007128,-0.146246,0.989223]]6H`j?@ ` ?`?K? 1}1¿ ?i6>I6Rd;4YFFByJHbDR*VDRV7yZ%Z^=ٔZ]Q-Z>9\I\=^%Fy^Eb,4<Eb>dQ 5j4f-?Q 9j4f)fXBYhyjK^?Q In @f ]DIfy:if:fi4yxɮ~AEZ!R!b!j)"))ړ))ڒ1’115 ћ_@ QQQ"UgG@IɢMo)q }i)<顉i ^ɧ>B!B!B!B!B!B!B%f;B%`EEE= E=wE=,E9"E=:*E=:VE=g4ZE9BE=F;2E=G;JE=k;:E=k;^AA>A>IQIaOu> ,eԢ?A2y>2A?2;ٱ2p :AHRS rotation from veh to nav: [[0.842073,-0.534141,-0.074872],[0.539339,0.832555,0.126357],[-0.005157,-0.146783,0.989155]]2H@C?@*CB?J?w,?u¿(?i2y>I2\c;2QC`5GIa>9Y/AY-EBy5HyQ?/$Q(?u 95^I ?v?ˡEY8?yx>什A B)YBbD%)VD%%7y=հ%E=ٔEwQ-M>9IIQ=U%FyUEU<EU>YQ 5e4]-?Q 9m4])]AXBYmlC?Q Em:ym`?Q Im @]9]DI];i];]4yqɮ}AyZRbj"ړڒ’ _@ >>=?"?ɢf) i)W<i n^ɧ>hEM  EM EM *EI "EM :*EM a9:VEM (N4ZEI aU @aU @aU @aU @Y 1,Ԣ?A6a>6e?6&~Y;ٱ6 >AHRS rotation from veh to nav: [[0.839551,-0.537878,-0.076428],[0.543271,0.830327,0.124152],[-0.003319,-0.145753,0.989315]]6H ?@L6Đ`yb? ?nȿ?/k@¿x?i6a>I6c;6LC D)DDDDHHiHIHHILiNr@ LL)LP PR/ݼPPTVrnAIV)TiT)TIXXX XXZ(vA\i\^HY\YfEByfJHbD]'VD]7y %=ٔ-Q- ?9I=%FyEp<E ?Q 54-?Q 94)XBYya?Q I @H]DI:i:4yɮKAEZRbj"ړڒ’@A_@ !!!"%{}?9ɢ=׼)9 =# i9)E~Mǰԡ &,ޒԢ?A2{>2?2x:ٱ2 :AHRS rotation from veh to nav: [[0.837321,-0.541099,-0.078137],[0.546710,0.828413,0.121818],[-0.001186,-0.144719,0.989472]]2HU?P@ ~?@\?@{/?oS(¿@?i2{>I2c;2NCB`B`BbHBbFBBb =B`BbºDBb;BbEEBBBB =B =CE5E EqE.E"E1:*E$ :VEـ4ZEBE;a 2E;a JEU;a:EU;aYEBy9"?I"?=%Fy!E$<E>Q 54-?Q 94)WBYy b?Q I  @\]DI:i:F4yۢBɮ5A5EZqRqbyjy"yyړyyڒ’ $_@ "?ɢY8) i)Q<ij V^ɧw~>’K E,,yԢ?A2>2 ?2_ٱ2pQ :AHRS rotation from veh to nav: [[0.835072,-0.544254,-0.080267],[0.550140,0.826411,0.119963],[0.001043,-0.144336,0.989528]]2H?jY?`q?@쵾?+Q?y¿7?i2>I2b;2PCYEBy HbD-%VD-j7y=m%=S=ٔ=Q-=>9E ?IE ?=E%FyE#EE-<EM>IQ 5]4M`-?Q 9]4M)MWBYYy]c?Q I] @Mo]DIM;iM;M4yiɮm BmEZRbj"ړڒ’`@ "q?ɢ̼) i)Ҁ<i ]ɧ0>\ Q *3,(HԢ?AFK>F?F'RٱF RAHRS rotation from veh to nav: [[0.833223,-0.546705,-0.082786],[0.552928,0.824687,0.119005],[0.003212,-0.144932,0.989436]]FHé? ~t1?c?w?APj?@!¿v?iFK>IFc;FMCYZEByZHbD~#VD~d7y-X%5L=ٔ=YQ-E>9M"?IU"?=U%Fy]%Ee<Em>Q 54.?Q 94{)WBYyd?Q I @]DI;i;!4yɮB9ZRbj"ړڒ’@g`@ QQQ"U?iɢmѼ) i)"3y<顑i]ɧI=駝:;i??h<I?? ??I^AE EqE.E"EO:*E$ :VEـ4ZEBE;a-2E;a-JEa-:Ea-ԉԹ T9,K#Ԣ?A2Hb>2?27ٱ2 :AHRS rotation from veh to nav: [[0.832035,-0.548115,-0.085364],[0.554696,0.823586,0.118399],[0.005408,-0.145863,0.989290]]2H?( jڵ@?Z? hO? &v?¿C?i2Hb>I2c;2OCY^uEBybHy)\(?{Gz~jtG!?# 9|?5^?:v?+ÿY-?y=A )BY3BbD"VDC7y5%C=ٔQ->9I=%Fy'Eu;E>Q 54.?Q 94)FWBYT4?Q E:y4?Q I @]DI:i:P4yɮABEZRbj"ړڒ’  Y`@ -.>-.>-?"-: ?9ɢ=~$)A E"iA)EqA>A I I! 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H`Bl ?m? ?[g?~_Ŀ?iF>IF_;FCCYfiHByf}H hhbD EVD {8y%n<%%E=ٔ-s0;Q-->9)Y)=5%Fy5E5cE5>9Q 54=f5?Q 94=5)=YBYy?Q I @=#dDI=4yBɮBZQRQbQjQ"YYړyyڒ’sRe@ɢUn;) =i)YYaie^mq:ɧm ?m9B >B CCB HB HBB B B B ;B aCEa ڷ,lߢ?ABP>B?B;ٱBc.$ NAHRS rotation from veh to nav: [[0.824424,-0.557399,-0.098137],[0.565891,0.814753,0.126276],[0.009571,-0.159640,0.987129]]BH@a? 6?s?)?3?oĿ`?iBP>IB^;BECYbeHBybxHi-Mb@Mb@Mb@Q)))) )9-n?L7A`堿Q?Y-?y-+-<- B-A ))))Y)bDmEVDm8y %6=ٔ?;Q->9Y=&FyETʺE>Q 54y25?Q 94T1)YBYs?Q E:y ?Q I @4dDIn:i:,4yBɮBNEZ9R9b9jA"AAړyyڒy’X`e@bEjEL4rEn/E% E%oE%*E!"E%s:*E%:VE%(N4ZE!BE%;a52E%;a5JE%N;a=:E%N;a=颉ɢ TT;) =i)S顑i_:ɧ?駥<ԩ e,U݅ߢ?A2C>2W?2fٱ2*t$ :AHRS rotation from veh to nav: [[0.824487,-0.557395,-0.097632],[0.565813,0.814703,0.126942],[0.008784,-0.159904,0.987094]]2H2b?.i@$?@ ?`??]?wĿ E?i2C>I2^;2CCYNqHByRHbDZ;EVDZ7y~E =%~i=ٔ2;Q->9"?Y "?= &Fy E ŔE >Q 54A5?Q 94.)YBY!y% ?Q I% @AdDI;i;84y-Bɮ-B5EEZIRQbQjQ"QQړQYڒY’YYeke@颉ɢ ;) ~=i)[O顑i$`W9ɧt?駝 A>ԱA!I1IAOM>EU EUuEQEQ"EU1:*EU:VEQZEQa]@a]@a]@a]@ A ͓,ȟߢ?AYuHByuHI}=)}iMb@Mb@Mb@ 9On?9)Y)=-&Fy-E5E5>9Q 5E4=R5?Q 9E4=p*)=YBYE?Q EE:yE'!?Q IM @=RdDI=U:i=~ ;=4yUBɮUBUFEZqRqbqjy"yyړyyڒ’@,ye@BM~>BIBIBIBM =BIBMDBM;BMVCE颉ɢe;)  >i)^G顑i`9ɧ!?駝IM4=a E  E wE (E "E ҝ:*E :VE c44ZE BE ;a 2E ;a JE k;a :E k;a ӹ, ߢ?A 2>2?2ٱ2$ >AHRS rotation from veh to nav: [[0.824652,-0.557364,-0.096403],[0.565597,0.814630,0.128367],[0.006986,-0.160383,0.987030]]2Hc?ܭ`^?@s?Sn?|?@pĿ ?i2>I2‡^;2ECYFHByFHbDRREVDR&7yVB)=%Zf=ٔZ;Q-Z>9\Y\=^&Fy^EbHEb>dQ 5f4fia5?Q 9j4f)')fYBYhyj!?Q Ij @f`dDIfW:ifp:f+4ypɮrBpZRbj" ړ  ڒ ’ e@9ɢ="A<)A E>iA)E@AAiEaMԴ8ɧM?U2F?FtqͻٱF % ZAHRS rotation from veh to nav: [[0.824637,-0.557479,-0.095872],[0.565628,0.814535,0.128832],[0.006270,-0.160467,0.987021]]FH mc? ?`?}?#y?1Ŀ?iFq$>IFz^;E^ E\E^)E\"E^U:*E\VE^FA4ZE\ab@ab@ab@ab@dDYnHBynHbDv7EVDv7y~%~E=ٔv:Q->9Y= &Fy E 8E >Q 549r5?Q 94W#)YBY!y%!?Q I% @pdDI;i:h4y-Bɮ-B5GEZIRQbQjQ"QQړYYڒY’YYeϑe@颉ɢ;) >i)8顑ipb68ɧ?駝BM z>BM BCBM HBM HBBI BI BI BM ;BM \CEBCCBCCBBɍ =Bɍ =Cɾ4A ,Mߢ?ABz>B?B*9ٱBw$ NAHRS rotation from veh to nav: [[0.824270,-0.558117,-0.095307],[0.566169,0.814132,0.129007],[0.005592,-0.160296,0.987053]]BHl`? f ?] ?K?`v?Ŀ`?iBz>IB\^;@YZHBy^H ``iMb@Mb@Mb@ 9V-?i|?5?:v?Y?yq=T=+ B A )hAY=BbDEVDI7y=%@=ٔ:Q->9Y=&FyE:E>Q 545?Q 94)YBY6?Q E:y5?Q I @dDI. ;i ;4yɮBZRbj"ړ ڒ ’   re@AɢE <)A E(>iI)MDV/IIiMq:cU7ɧU?Uqԡ ,#?A2 >2?2kgٱ2?% :AHRS rotation from veh to nav: [[0.824248,-0.558218,-0.094910],[0.566208,0.813988,0.129737],[0.004834,-0.160674,0.986996]]2H=`?L`?0 ?6?`s?@Ŀx?i2 >I2\^;2DCYFHByFHbDNEVDN7yVQ<%V\=ٔZ;Q-Z>9Z ?YZ ?=Z&Fy^ E^;9E^>`Q 5f4b5?Q 9f4b)b ZBYhyj5?Q Ij @bdDIb:ib]:bW4ynBɮrBpZRbj"ړ  ڒ ’  @Se@9ɢ=L <)9 E{->iA)E& 'AAiEcM:Q7ɧM ?ME] E]{E](EY"E]:*E]5":VE]c44ZEYae@ae@ae@ae@ $, !?AYHByHieMb@Mb@Mb@aaaa a9eK7A?&1?ˡE?Ye "?ye=e'=ed Ba a)aaYeBbD}EVD}M7yQ=%/=ٔQ->9"?Y"?=&Fy EE>Q 545?Q 94p)ZBYy$?Q E:yE?Q I @dDI. ;i ;z 4yɮBZRbj"ړBu>BACBHBHBB =BBDB̌;BuCEڒ’   `\e@1ɢ5%<)9 =E>i9)=P:99i=idM@6ɧM>MAe>!AI1IIO[>IE  E zE )E "E C:*E  :VE FA4ZE BE 5;a 2E 7;a JE v;a :E v;a q ,:?A2L>2+?2(ٱ2Cs% :AHRS rotation from veh to nav: [[0.822913,-0.560239,-0.094585],[0.568154,0.812560,0.130184],[0.003922,-0.160869,0.986968]]2HMU?@z6P.?}??@bp?\Ŀ=?i2L>I2Q^;2BCYEHByEHIM<)M9yYy=}&Fy} E}};E}>Q 5455?Q 94)$ZBYyE?Q I @dDI<;i;v4yBɮBHEZRbj"ړڒ’e@ɢpe2<) >>i)bi e Mx6ɧ T>vԩ D D %=E%  E% ~E% *E! "E% :*E% (:VE% (N4ZE! a- @a- @a- @a- @\,T?A2]>2~?2GCtٱ2% :AHRS rotation from veh to nav: [[0.822182,-0.561289,-0.094718],[0.569212,0.811792,0.130350],[0.003727,-0.161086,0.986933]]2HPO?`@j? 6? 3?L?@dn?`tĿ`?i2]>I2^;0@@i@I@@IDiFxUA DD)DH Jq@HHHHNsAIL)LiL)LIRhmAPP PPPTiTTiTT)VD XIXYXY^HBy^HbDjAEVDj7yr_R=%rg=ٔrr:Q-r>9v ?Yv ?=v&FyvEzn;Ez>|Q 5}4~5?Q 94~ )~-ZBYyF?Q I @~dDI~>iI)UB[Qqiupf}"6ɧ}%>}4AA?ABp>BBHBHBB =BBB;BCE) Y 3,ӡn?A2$>2h?2Uٱ2^$ >AHRS rotation from veh to nav: [[0.821319,-0.562663,-0.094050],[0.570460,0.811007,0.129783],[0.003251,-0.160245,0.987072]]2H@?H? U`4A???@ܡj?Ŀ?i2$>I2Ob^;2CCYHByHiMb@Mb@Mb@ 9~jt?K7?t<+ B )AYfBbD%EVD%>8y=>-<%=6=ٔEՊ:Q-E>9IYI=M&FyUEUg\;E]>YQ 5u4]5?Q 9u4])],ZBYu](?Q Eu:yuQ?Q I} @]dDI]H[;i]LZ;] 4yФBɮB@EGSB*** querying acoustic contact ***:BZRbj"ړE EwE+E"E:*E:VE [4ZEBE;a2E;aJEk;a:Ek;aڒ’e@!颱ɢ|C<) 0V>i)t项iPVg5ɧڻ>Hԁ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.",Qk?A0:>:?:.ٱ:# BAHRS rotation from veh to nav: [[0.820597,-0.563864,-0.093158],[0.571502,0.810373,0.129154],[0.002668,-0.159224,0.987239]]:HSB?, 9ٷI?@? ?Ae?@qaĿ v?i:>I:В^;:DCY=HBy=H AAbDUEVDU58ye<%eZ=ٔe:Q-e>9m"?Ym"?=m&FymEm^;Eu>qQ 54u5?Q 94u&)u+ZBYyQ?Q I @udDIu:iu:u '4yɮBZRbj"ړڒ’e@iɢmvn<)i m"b>iq)n顑i&hu5ɧ>駝̂ BDAT read: Tx time:20:58:41.3974 $Ping request sent.Թ /(,GU?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252298|z>+?Eٱ# AHRS rotation from veh to nav: [[0.819622,-0.565280,-0.093164],[0.572901,0.809353,0.129351],[0.002283,-0.159393,0.987213]]HV:?ٷ@4U?9??Dzb?fĿ??iz>Id^;ACYHByHi5Mb@Mb@Mb@1111 195#~j?ʡE?y&1|Y5%?y5>5`5 B5^A 1)11Y5ABo>BBHBHBBBBB;BCEbDEVDG8y)<%4=ٔ^:Q->9 ?Y ?= &Fy E +t;E >Q 54:5?Q 941)ZBY%*?Q E%:y%V?Q I% @dDI:i; /4yMӤBɮMBUAEZRbj"ړڒ’e@ɢ Y<)  f>i ) qHƺ iiR5ɧW>Pchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501953bEȷG4jEmF4rE$Z/E ExE(E"E:*E:VEc44ZEBEa2EaJEXo;a :EYo;a Y &V.,!?A2[>2{?2ٱ2q$ :AHRS rotation from veh to nav: [[0.818846,-0.566379,-0.093306],[0.574010,0.808484,0.129865],[0.001884,-0.159898,0.987132]]2H3? ⷿ@K^??h?^?`wĿ@?i2[>I2^;2@CYRHByRHbDZEVDZT8ybٽ%bu=ٔbH:Q-f?9dYd=f&FyfEjs;Ej?lQ 5r4n5?Q 9r4n)nZBYpyrW?Q Iv @neDInQ;in:n44yxɮzBxZRbj"ړڒ’`kf@ɢ V<) FB>i);zivi .5ɧT>*A=?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754457aAiIqIO>qԩ % p=% a=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932E  E E E "E :*E ;J:VE ZE a @a @a @a @>5,.?A>>>?>Fٱ>n$ VAHRS rotation from veh to nav: [[0.818169,-0.567413,-0.092966],[0.574977,0.807761,0.130090],[0.001280,-0.159888,0.987134]]>Hp.?>(̷`5f?.?Ʀ?`T?`9wĿ?i>>I>_;>CCY^HBy^HIb=)bd?bDj9FVDj<8yr~<%rH=ٔr :Q-r>9tYt=v&FyvEzg=;Ez>|Q 54~ 6?Q 94~)~ZBYycW?Q I @~eDI~:i~-:~;4yɮBZ1R1b1j1"19ړ99ڒ9’AAE f@iɢmR<)q u K>iq)uMԙqiuj5ɧ>;i?V <I? ?IA!I1IAOM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259819BBB7HBIBBBBB;BCE G% SkA9 m 9m SkAYm YAA h;,?A6>6`)?6"njٱ6$ >AHRS rotation from veh to nav: [[0.817400,-0.568529,-0.092906],[0.576070,0.806949,0.130294],[0.000894,-0.160022,0.987113]]6H$(?d1@ȷ)o?@?@v?MM?{Ŀn?i6>I6^;6ACY^HBybHiuMb@Mb@Mb@qqqq q9uL7A`?{Gz?QYu+'?yu#>uuh BuA uB)uAqYufBbDVFVDq8y=%>=ٔ6j:Q->9Y=&FyEJ;E>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510111Q 54-6?Q 94)YBYH,?Q E:y X?Q I @*eDIii)mm5顉iKkp4ɧ=駕w;i?׎ <3q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761769ԙ OB, ?A2'>2j?2^ٱ2$ :AHRS rotation from veh to nav: [[0.816831,-0.569377,-0.092714],[0.576876,0.806316,0.130647],[0.000369,-0.160201,0.987084]]2H{#? W8u?`V? ?+8?@yĿ1?i2'>I2_;0YFHByFHbDNZFVDNy8yV<%V]=ٔV:Q-V>9XYX=Z&FyZE^/;E^>Q 5 4/+6?Q 9 4)YBY y `X?Q I  @:eDI:i:J4yɮ=B9ZyRybyjy"ړڒ’`-f@ɢ~<) a>i)?eil4ɧ<:i ? <I ?  ?IAYzA]gAyA؟AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013736ԩE EoE+E"E:*E:VE [4ZEa@a@a@a@ 1}H,#?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267915+>y?2ٸٱY$ AHRS rotation from veh to nav: [[0.815682,-0.571078,-0.092374],[0.578501,0.805245,0.130070],[0.000104,-0.159534,0.987192]]H?EFӥ ? ?@ ?@0?`kĿ?i+>Ie^;DCYHByH B=p>B9B=DHB= IBB9B9B9B=Ԍ;B=zCEBACBACBB =B =C5iMb@Mb@Mb@ 9L7A`?#~j?Zd;OYy%>j< BdA )nAYAbDFVD:8yM;%M&=ٔM :Q-M>9U"?YU"?=U&FyU E];E]>YQ 5m4]?=6?Q 9m4])]YBYm,?Q Em:ymX?Q Iu @]NeDI] ;i]m ;]R4y}Bɮ}B}9EZRbj"ړڒ’@Li)l.il4ɧ$i) ?M <I) ? ) ?IAI!I1O=Q> ?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517918E EtEE"EC:*Ev:VEZEBE5;a2E6;aJEa:Ea) Q `N,6r=?A2o4>2p?2f)9ٱ2d7$ :AHRS rotation from veh to nav: [[0.814513,-0.572723,-0.092508],[0.580146,0.804046,0.130155],[-0.000162,-0.159681,0.987169]]2H|?S@?`??L7%mpĿ?i2o4>I2Ѐ^;2CCYFHByFHbDNGVDN8yVݻ%V=ٔZZ:Q-Z ?9XYX=^&Fy^!E^;E^ ?`Q 5f4b%I6?Q 9f4bO)bYBYhyj3Y?Q Ij @b\eDIb:ib:bX4ylɮnBpZRbj"ړ  ڒ ’  @zFf@9ɢ=M<)A Eb>iA)EF AAiEmM1 5ɧMaM iU?U,C ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021556E  E E )E "E s:*E VE FA4ZE a @a @a @a @U,5DW?A4J>JH?J:ٱJ$ RAHRS rotation from veh to nav: [[0.813888,-0.573576,-0.092722],[0.581022,0.803294,0.130889],[-0.000592,-0.160403,0.987051]]JH] ?Z ???bbCĿ?iJ>IJL^;HY}HBy}HbDGVD8y9%/=ٔq:Q->9 ?Y ?=&Fy$E;E>Q 54Z6?Q 94 )|YBYyvY?Q I @peDI:i:9`4yBɮB:EZRbj"ړڒ’kUf@)ɢ--N<)) 5L>i1)5<11i5Qn=35ɧ=!=i=?E A5>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275612A؟AIIiO>B]r>BYB]7HB]IBBYBYBYB];B]`CE [, q?AB]>B ?BP:ٱBC% RAHRS rotation from veh to nav: [[0.813197,-0.574529,-0.092881],[0.581987,0.802556,0.131131],[-0.000796,-0.160691,0.987004]]BH?b@ Ƿࣟ???`SJ Ŀ`?iB]>IB9^;@ X)ZnA^/ݼ\`)19i=`I9AIAiEMr@ AA)AI MjnAMCIIQU^nAIUQ8)QiQ)YI]rnA],Y YaaaiaaYaYuHByuHI},>)}=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525752iMb@Mb@Mb@ 9(\?x&?V-Y'?y7 >md BA A)AY=BbDGVD88y-x#%-R=ٔ5 :Q-5>9="?Y="?==&Fy=&EE[G;EE>IQ 5M4Mi6?Q 9U4E EvEE"E:*E:VEZEBE;a2E;aJEh;a:Eh;aM1)M\YBY+?Q E:yN?Q I @MeDIM|i)N7顱in`5ɧDQ駽6j'i ?S <a b,2%b?2 :ٱ2kD% :AHRS rotation from veh to nav: [[0.812370,-0.575699,-0.092875],[0.583142,0.801715,0.131141],[-0.001039,-0.160694,0.987004]]2H?@!lƷ@??8?QĿ?i2?>I2^;2BC9YMHByMHbDe HVDe8yua:%uW=ٔu':Q-u>9yYy=}&Fy}(E7u;E>Q 54sx6?Q 94aQ =tI)=YBYyN?Q I@eDI ;i. ;m4y Bɮ\B1EZRbj"ړڒ’nf@ɢ'Y<)  77>i ) I  i Oo5ɧ>0Mif?I <If? f?I!iAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029776IO">E ErEE"E:*E?:VEZEa@a@a@a@ԑ h,*?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.284039e}>eq?ex:ԙBq>BB+HBHBB =BBB;BQCEٱe8& AHRS rotation from veh to nav: [[0.811913,-0.576208,-0.093709],[0.583778,0.801075,0.132219],[-0.001117,-0.162056,0.986781]]eH0?`LpX@N?h??NR@Ŀ?ie}>Ie^;eCCYHByHi-Mb@Mb@Mb@)))) )9-S㥛?RQ?Zd;Y-$?y-=-y)-A ))-A)Y-BbDEHVDE8yU %U/=ٔUr19Q-]>9YYY=]&Fy]*Ee1:Ee>iQ 5u4m6?Q 9u4m)mYBYu`'?Q Eu:y}@?Q I}@meDIm:im:mu4yɮcBZRbj"ړڒ’ }f@ɢx7<)  />i ) .K8i0p5ɧ cli%?% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533563E EtE*E"Es:*Ev:VE(N4ZEBE;a2E;aJE`;a:E`;a n,?A6u>6L?6@ߟ:ٱ6) BAHRS rotation from veh to nav: [[0.811950,-0.575952,-0.094956],[0.583726,0.800793,0.134143],[-0.001220,-0.164346,0.986402]]6H~?3n O??+?S`F ſ ?i6u>I6^;4YJHByJH LLbDVGVDVb8y^製%^=ٔ^/9Q-b ?9`Y`=b&Fyb,EfPEf ?hQ 5n4jɗ6?Q 9n4j8)jYBYlyn@?Q Ir@jeDIj;ij;jb{4yv BɮvBv2EZ R b j "ړڒ’)f@AɢERS@<)I M>iI)M&V9IIiMpU 6ɧ]]n?i]&?]Yԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037663D D a=E  E uE )E "E :*E :VE FA4ZE a @a @a @a @ u,?AMGf>M?Mǽ:ٱMB* ]AHRS rotation from veh to nav: [[0.812018,-0.575754,-0.095576],[0.583631,0.800647,0.135424],[-0.001448,-0.165748,0.986167]]MH@ ?`l`w ??`U?W87ſ@?iMGf>IMW^;IYuHByuHbDGVD~8y;%==ٔO :Q->9Y=&Fy.EE>Q 546?Q 94,)XBYy@?Q I@eDI;i;4yɮBZRbj"ړڒ’ f@!ɢ%o(<)! %>i!)-9))i-q5Y6ɧ5Գ5܏i5??=u<9I=?? =??I9}DAT read: 20:58:45.6097 LVL= 32752, 32753, 31874, 32755, AGC= 90, IDX= 430,-0.05, 2.340, 0.886, 2.312, 2.188, PHS= 0.254,-1.257, 0.080, RAW= 143.9, 12.8, CAL= 143.5, 14.0, ROT= 6.5, -14.0 Ygot valid direction response: 20:58:45.6097 LVL= 32752, 32753, 31874, 32755, AGC= 90, IDX= 430,-0.05, 2.340, 0.886, 2.312, 2.188, PHS= 0.254,-1.257, 0.080, RAW= 143.9, 12.8, CAL= 143.5, 14.0, ROT= 6.5, -14.0 PDAT read: Bearing 198.1, 3.8 (Local) ~Local bearing/azimuth received: Bearing 198.1, 3.8 (Local) DAT read: Range 11 to 50 : 1356.1 m (Round-trip 1808.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.B<A<Br>BBHBHBBBBB;B(CE^Am`<\direction in FSK: [0.964059,0.109841,0.241922]Fpublishing direction and range infoyIM^NC?NZY?79K?YMDIIIM| I)MZIMJ >iM`堿M ף=M @Md>MJ @ M5z>)MV=IM5z! IIM? ?L W?Kp? Mu>)MVqeIMV=iM5zIIA9 II Ia Om >Q }|,x?AJW>JG?Jn:ٱJP, VAHRS rotation from veh to nav: [[0.812083,-0.575492,-0.096589],[0.583540,0.800436,0.137053],[-0.001560,-0.167662,0.985843]]JH? oj`[?+? ?ՍY uſ ?iJW>IJ5^;JDCYzHByzHiMb@Mb@Mb@ 9Zd;??T㥛 Y?yL= B A)hAYAbDgGVDh8y%+%F=ٔ9Q->9Y=&Fy0EgE>Q 54ݹ6?Q 94)XBYM ?Q E:yt/?Q I@eDI;iM;,4yBɮB3EJyR}?A}ΨD}ΨD}F?}݆W@L 濊b@iPkt@}^NC?NZY?79K?}V=}5z—}ltb@CIٌ@ɶrr@}$#8H?`WTg?؇:W?j}fDr}kDZ}HCl?b}[~z}C}HCl?}[~}Cڗ}D}F?ZQRQbQjQ"QQړYYڒY’Y]`f0@eധ?bEFA4jEC4rEg/Eq EuvEu&Eq"Eq*Eu:VEu4ZEqBEu;a2Eu;aJEuh;a:Euh;a颩ɢ{<) >i)59顱iXq6ɧӻBi?-<I? ?I)^At<AIIOL>Qԁ q삸,1C ?A02L>2|?2*:ٱ2f- >AHRS rotation from veh to nav: [[0.812134,-0.575366,-0.096912],[0.583468,0.800345,0.137889],[-0.001774,-0.168529,0.985695]]2H?fi3ϸū?l?V?@][ſЊ?i2L>I2^;2CCYnHBynHIr=)rp=bDzFVDz8y<%Z=ٔ:Q- >9 Y = &Fy 2EvE>Q 5%46?Q 9%4)XBY!y-h/?Q I-@eDI:i:4y1ɮ5B1ZQRQbQjQ"aaړaaڒa’iim޶?频ɢg <) >i) :顙iq6ɧþ駭vib?yA<Ib? b?IԉE E|E,E"Eҝ:*EP$:VEg4ZEa@a@a@a@^A<A)I9IIOU> ,&?A`]F>]K?]x:ٱ]n/Bp>BBHBHBB =BBB_;BCE  AHRS rotation from veh to nav: [[0.812569,-0.574596,-0.097833],[0.582862,0.800484,0.139633],[-0.001919,-0.170484,0.985358]]]H ?c Φ? ?`|?o_@oſ?i]F> 11I]\_^;]BCGkA-Q9-kAY-bAAYU}HBy]HiMMb@Mb@Mb@IIII I9MS?~jt?:vYM/?yMD9yYy=}&Fy}5E"E>Q 546?Q 94)XBY?Q E:y ?Q I@eDI7:i :4yBɮB4EZRbj"ړڒ’`?ɢUX<) =i ) -:  i ]r[[7ɧfþORiw?+<Iw? w?I@)@)@)@)E EzE*E"EC:*E :VE(N4ZEBE6;a2E7;aJEv;a:Ev;aA A .AI I O >b@,+??AYrrHByrHbDzDVDz7y->%-=ٔ5Q-5?95 ?Y5 ?=5&Fy=6EmEm?qQ 5}4ue6?Q 9}4u?)uwXBYyQ I@ufDIu;iu;u 4y&BɮB*EZRbj"ړڒ’`t?ɢ<) b=i))?:ir7ɧþՀi9?<I9? 9?IAE؟AIIQIqO>qԡ = E  E wE +E "E :*E :VE [4ZE a @a @a @a @[8,Z?A6P >6+?6zi:ٱ6p@2 BAHRS rotation from veh to nav: [[0.813568,-0.572923,-0.099330],[0.581467,0.801101,0.141892],[-0.001720,-0.173196,0.984886]]6H ?bUm`??)?`.-\`H+ƿ`/?i6P >I6];6@CYJHByJH LLbDVEVDV/7y^&=%^P=ٔbJQ-b>9b"?Yf"?=f&Fyf8EfEf>hQ 5n4j6?Q 9n4j)jaXBYpyr ?Q Ir@jfDIj;ij3;jХ4yv)BɮvBz+EZ Rbj"ړڒ’%|?IɢM"<)I M>iI)UoY:QQiUPsYe7ɧeþe&ie?euԁBqBqBuHBuHBBu =BqBqBu ;BuBEB9B9B9B=Ǐ =B=Ǐ =C=ǰ5! S,`s?A6tO>6=~?6:ٱ6A3 BAHRS rotation from veh to nav: [[0.814392,-0.571702,-0.099613],[0.580313,0.801763,0.142875],[-0.001816,-0.174162,0.984715]]6H@?`bK@7? ?`I?}]`Jƿɂ?i6tO>I6|q];4Y^]HBy^oHiMMb@Mb@Mb@IIII I9M^I +?:vy&1YMX?yMԼM`MBM^A I)MAIYM=BbDeDVDe7ymr%uA=ٔun9Q-u>9 ?Y ?=&Fy:E3[E>Q 54 7?Q 94)VXBY?Q E:yz?Q I@"fDI* ;ia;94yɮBZRbj"ړڒ’K9@EY E]yE]'EY"EY*E]:VE]'4ZEYBE];ae2E];aeJE]r;am:E]r;am颡ɢ~Q;) =i)Cn:顩idsN;8ɧR駵\iǺ?<IǺ? Ǻ?IA>A>A؟AI IO5.>Aiԙ a:,?A2a>2g?2F;ٱ24 :AHRS rotation from veh to nav: [[0.815442,-0.570142,-0.099960],[0.578835,0.802582,0.144263],[-0.002025,-0.175499,0.984478]]2H?@>`Ѕ??8w?`vƿ@׀?i2a>I2ST];2BCYBbHByBtHbDN#DVDN7yVQ;<%VX=ٔV:Q-V>9Z"?YZ"?=Z&FyZQ 5%4L7?Q 9%4)MXBY)y-?Q I-@1fDI :i:4y5,Bɮ5B5,EZQRYbYjY"YYړaaڒa’aam U@频ɢx<) =i):顙i9s8ɧY駥i!?6<I!? !?IqA!I1IAOM>Em EmzEm*Ei"EmC:*Em :VEm(N4ZEiau@au@au@au@ԡ tg,q?AFn_>F:?FZ:ٱF4 fAHRS rotation from veh to nav: [[0.816582,-0.568541,-0.099774],[0.577226,0.803704,0.144462],[-0.001944,-0.175557,0.984467]]FH p!?}1x??}?i_xƿ?iFn_>IF-];FDCY pHBy HBm>BBHBHBB =BBB;BBEIp=)=!!bD]CVD]7y<%.=ٔ3Q->9Y=&Fy>EE>Q 5427?Q 94Ǡ)AXBYy~?Q I@CfDI94;iR2;4yU/Bɮ]Be-EZRbj"ړڒ’5 @ɢ<)A M=iI)M:IIiM,tU8ɧUìU]6iU?]Eu EuyEu'Eq"Eus:*Eu:VEu'4ZEqBEu;a}2Eu;a}JEqa}:Eqa! K,=?A6P>6?6ą;ٱ6-5 >AHRS rotation from veh to nav: [[0.817772,-0.566785,-0.100022],[0.575539,0.804717,0.145551],[-0.002007,-0.176594,0.984282]]6H/+?#j?@>?j?p`ࠚƿ<?i6P>I6"];6ACYJbHByJtHiMb@Mb@Mb@ 9x?+MbpYK?yB )YBbD5'CVD5+7yE%Ed=ٔEp79Q-E>9IYI=M&FyM@EU忻EU>QQ 5e4UA7?Q 9e4U)UBXBYe?Q Ee:ye ?Q Im@UQfDIU ;iU<:UE4yqɮuBqZ Rbj"ړڒ’% @iɢmX <)i m=ii)ut:顑iB\tm9ɧ駝;iE?<IE? E?IAzAYA.AIIO (>yԩ E  E wE )E "E :*E :VE FA4ZE a @a @a @a @v,?A@J>JU?Jn:ٱJ+5 RAHRS rotation from veh to nav: [[0.819254,-0.564733,-0.099495],[0.573428,0.806288,0.145192],[-0.001773,-0.176002,0.984388]]JHT7?J~x@Y?? ? ]@?ƿ?iJ>IJ\;HYnhHByn{HbDv(CVDv/7y~Ih<%N=ٔQ->9  ?Y  ?= &Fy BE ջE>Q 54R7?Q 9%4)CXBY!y%l ?Q I%@`fDIa;i;/4y-2Bɮ15.EZQRQbQjQ"QQړYYڒY’Yae@颉ɢ` <) =i)8v:顑itbL9ɧ暾駥wi?3<I? ?IԩA؟AII O>1Bui>Bu@CBuHBuHBBqBqBuDBu;BuBEa 렼,?A2 >2?23#;ٱ2!6 :AHRS rotation from veh to nav: [[0.820318,-0.563188,-0.099483],[0.571904,0.807180,0.146243],[-0.002062,-0.176860,0.984234]]2H @?wM?j?`?e`[ƿ~?i2 >I2\;2BCYfoHByfH hh9ieMb@Mb@Mb@aaaa a9e(\? ףp= y&1?Yez?yeQ8e`9"?Y"?=&FyDE^E>Q 54c7?Q 94i)RXBY?Q E:y ?Q I@ofDI:i:4yɮBZRbj"ړڒ’?3@ɢS<) =i)%^:!!i%u-Ɗ9ɧ-f- gi-?-<)I5? 5?E EE,E"EC:*E3:VEg4ZEBE5;a2E7;aJE;a:E;aIiA%.AI)I9OM1>ԑ qø,?A2q>2F?2x;ٱ26 :AHRS rotation from veh to nav: [[0.821618,-0.561315,-0.099342],[0.570033,0.808337,0.147151],[-0.002296,-0.177530,0.984113]]2HJ?`J{n@=???bNƿ}?i2q>I2\;0YFtHByFHbDNBVDN7yZN<%ZY=ٔZ #:Q-Z>9^ ?Y^ ?=^&Fy^FEbeƻEb>dQ 5j4fs7?Q 9j4fu)f_XBYhyj ?Q Ij@f}fDIf`:if:f"4yr5BɮrBpZRbj"ړԙڒ’@9ɢ=<)9 ==i9)E:AAiEouM9ɧMȆM-WiM?MAe>A؟AIIO!>E E{E'E"E:*E5":VE'4ZEa@a@a@a@ ɸ,(?AB>B?B? (;ٱBm7 JAHRS rotation from veh to nav: [[0.822642,-0.559834,-0.099226],[0.568554,0.809222,0.148008],[-0.002564,-0.178173,0.983996]]BHS?)f1?$??`fe@aƿ|?iB>IBO\;BACYRHByRHbD^BVD^17yr=%rG=ٔv*:Q-z>Bc>BBBBBBBՋ;BqBE9"?Y"?=&FyIEkE>Q 5u4N7?Q 9}4)nXBYy ?Q I@fDIoi) :  i u9ɧZvEi%??%N QbE(N4jEL4rEǨh0E E~E.E"E:*E(:VEـ4ZEBEk;a2El;aJE;a:E;ay )и,ʊB?A6(>6,?6 YA;ٱ68 BAHRS rotation from veh to nav: [[0.824068,-0.557749,-0.099138],[0.566483,0.810428,0.149340],[-0.002950,-0.179227,0.983803]]6H^? `a ?`?? +hƿ@Q{?i6(>I6\;4YJHByJHIR<)RiMb@Mb@Mb@ 97A`?~jt:v?Y?yT=B A)YfBbD5BVD5o7yE~<%MD=ٔMKs:Q-M>9IYQ=U&FyUKEUCһE]>YQ 5e4]7?Q 9m4])]XBYm1?Q Em:ym?Q Im@]fDI]:i]:]4y}@Bɮ}B}&EZRbj"ړڒ’@Q频ɢ!_W<) S>i)y7:顙iqv*):ɧm >iX?4A<IX? X?IIIO%>ԁԩD =D <E  E E *E "E :*E VE (N4ZE a @a @a @a @ ָ, c\?A2Ɠ>2e?2VL;ٱ2%>9 :AHRS rotation from veh to nav: [[0.825273,-0.555977,-0.099066],[0.564725,0.811493,0.150217],[-0.003126,-0.179915,0.983677]]2Hh?@`_\:?@?Q:?(ivǿHz?i2Ɠ>I2,\;0Y~HBy~HbDBVD7y%%%M=ٔ%59Q-%>9)Y)=-&Fy-ME5 E5>1Q 5E457?Q 9E45M)5XBYAyE?Q IE@5fDI5a;i5|:54yQɮUBQZqRqbqjq"qyړyyڒy’ @颩ɢYG<) >i)3:顱iwvT:ɧcB6iku?s<Iku? ku?IAzAIyԱIO=AA@ABa>B?CBHBHBB =BBDB;B,BE-89Y)A 9 ܸ,#Nv?A2ڗ>2o"?2 j;ٱ2q9 :AHRS rotation from veh to nav: [[0.826356,-0.554438,-0.098667],[0.563137,0.812446,0.151024],[-0.003571,-0.180363,0.983594]]2Hq?CB`8?`?T?@Amǿy?i2ڗ>I2\;2CCYEHByEHE EE&E"EU:*E*:VE4ZEBE;a2E;aJEi;a:Ei;a-only read 0 of 1 data item for BIT error. Device response is::TS,00050300471202,35.0, +11.3, 0.0,, 0.00, 353.48, 290.74, 321.35, 319.82 a@a a@a a@a a@a bDBVD7y,=%1=ٔ|:Q->9Y=&FyOEqE>Q 547?Q 94_)XBQ A+:YQ E:y?Q I@fDIs:i0>4 yCBɮB'EZRbj"ړڒ’=@ɢ%CJ<)! %'>i!)-.:))i-rw5;:ɧ5X5,i5ܗ?5<581a },?A$NGv>N?NG;ٱN: ^AHRS rotation from veh to nav: [[0.827597,-0.552609,-0.098523],[0.561309,0.813509,0.152102],[-0.003904,-0.181180,0.983442]]NH@{?@8@??C?x?o 0ǿ[x?iNGv>IN\;NACddidIhhIlil lp)prYC ppttxzsAIx)xix)|I~lmA   i  iLC) IYY-HBy) 11bDM}BVDM7y]X:%eg=ٔeu:Q-e>9iYi=m&FymQEmL̻Em>qQ 5}4uY7?Q 94u^)uXBQ A :YQ Ek:y?Q I@ufDIu" ;iu^Q?u'4yɮZRbj"ړڒ’@ɢDo<) +(>i)n;qi wW:ɧN駝&=%iճ?m<Iճ? ճ?IIQiIiO}=E E|E(E"EC:*EP$:VEc44ZEa@a@a@a@ԙ ,?A2>2'?2};ٱ2J; :AHRS rotation from veh to nav: [[0.828504,-0.551302,-0.098225],[0.559968,0.814300,0.152810],[-0.004260,-0.181607,0.983362]]2H?CM%@A??J? rq`>ǿw?i2>I2\;0B^^>B\B^HB^HBB\B\B\B^d;B^AEB@CB@CBBB =C 5|YHByHbD5BVD57y%c=%%?=ٔUX:Q-e>9iYi=&FySE*oE>Q 5547?Q 9=4)XBQ AE9YAQ EE?:yE"?Q IE@fDIyFi)W;顱i xh:ɧA駽2i?c<I? ?IaAqIyIO~>E EzE+E"E:*E :VE [4ZEBE;a2E;aJEv;a:Ev;aԁ ,?A2:3>2?2W;ٱ29 :AHRS rotation from veh to nav: [[0.828975,-0.550769,-0.097226],[0.559267,0.814916,0.152093],[-0.004538,-0.180457,0.983572]]2H?`㸿? ?w?&r 5ǿly?i2:3>I2#];0YHByHԉaa aa aa aa iMb@Mb@Mb@ 9{Gz?L7A`?&1?Y#?y+=P=B )AYBbDBVD,7y㰻%L=ٔ 6:Q- >9 Y=&FyUEbE%>AQ 5M4E7?Q 9M4ES{)EXBQ AMT:YU9%?Q EU:yUr5?Q IU@EfDIE;iE5;E 4yYɮ]BaZRbj"ړڒ’6@ɢ`<) K>>i)BK;iy;ɧ;W/,i?+<I? ?Iԡ^A7<I I O >e =e %= E  E }E *E "E :*E k&:VE (N4ZE a @a @a @a @,?A>\>>?>;ٱ>.:; VAHRS rotation from veh to nav: [[0.829583,-0.549816,-0.097443],[0.558361,0.815257,0.153585],[-0.005002,-0.181820,0.983319]]>H ? ? ??n}t@EǿYw?i>\>I>\;>?CY^HBy^HIb<)bp;bDjBVDj7yr-<%r_=ٔr):Q-r>9tYt=v&FyvWEz8CEz>|Q 54~7?Q 94~Ww)~XBYy05?Q I @~fDI~v;i~ ;~[4yNBɮBZ1R1b1j1"99ړ99ڒA’AAEY@iɢu<)q uFB>iq)}TB#;yyi}yq/;ɧj駅;iP?~P<IP? P?I^Au<IqIO>BBBHBHBBBBB\;BAEQy <,?A2|>2Ȕ?2Qc;ٱ2V: :AHRS rotation from veh to nav: [[0.829752,-0.549620,-0.097104],[0.558109,0.815501,0.153206],[-0.005017,-0.181318,0.983412]]2HT?|۸ ??A?dt`k5ǿx?i2|>I2]\;2BCYnHBynHiuMb@Mb@Mb@qqqq q9ush|??!rh?y&1?Yu)?yul=u`9Y=&FyYE2:E>Q 54P 8?Q 94r)XBY,?Q E:yC?Q I@ gDI ;i~ ;4yɮBE] E]yEYEY"E]:*E]:VEYZEYBE];ae2E];amJE]r;am:E]r;amiZRbj"ړڒ’ @ ɢ ĩ<)  -X>i1)5/;11i5Qz=p;ɧ=,=]i=c?EɃԩ ',j?AJ/L>J|?JΫ;ٱJ: VAHRS rotation from veh to nav: [[0.829957,-0.549352,-0.096872],[0.557803,0.815678,0.153379],[-0.005243,-0.181333,0.983408]]JH ?I̸?` ?? yu 5ǿ`x?iJ/L>IJ\;JACY^HBy^ HbDfBVDf7ys6<%S=ٔ:Q->9!Y!=%&Fy%[E-$yE->1Q 5=4588?Q 9=45Rm)5XBY9y=C?Q IE@5gDI5;i5;54yMcBɮMBM EZiRibiji"qqړqqڒy’yy}u!@颡ɢ <) D]>i)O:;顩iz;ɧ蜾駽 {iL?<IL? L?I@@@@ԩEe EezEe(Ea"Ee:*Ee :VEec44ZEaam@am@am@am@IIOI> 1 N ,<+?AB$B$B&HB&HBB$B$B$B&8;B&AEB@>Bv?B/;ٱB(: JAHRS rotation from veh to nav: [[0.830006,-0.549263,-0.096953],[0.557729,0.815686,0.153603],[-0.005285,-0.181564,0.983365]]BHh?Ѹ`? ?@??u=ǿw?iB@>IB\;B@CYVHByVH \\bDfBVDfM7yr<%vN=ٔz8Q-~>9 Y=&Fy]EeE>!Q 5-4%+8?Q 954%ch)%XBY1y5C?Q I=@%.gDI%%i)g9H;i{;ɧJi?<I? ?IIIO >9Eu EqEu)Eq"Eu:*EqVEuFA4ZEqBEqa2EqaJEuv;a:Euv;ai 8,E?A 2W>2 ?2";ٱ2< >AHRS rotation from veh to nav: [[0.829910,-0.549326,-0.097420],[0.557871,0.815400,0.154604],[-0.005492,-0.182655,0.983162]]2H?@???~v@>aǿv?i2W>I2\;0YFHByF#HiMb@Mb@Mb@ 9oʡ?L7A`?y&1|Y-?y+>`:B B)BYQBbD-BVD-!7y=U<%=D=ٔE:Q-E>9AYA=M&FyM_EM09EM>QQ 5]4U<8?Q 9]4U+c)UXBYeU0?Q Ee:yeG?Q Ie@U@gDIU ;iU:U$4ymgBɮmBu!EZRbj"ړ!!ڒ!’!)- #@颙ɢ<) Kp>i)XS;顡ip|]I<ɧƾ_ូi8?<I8? 8?IA>A>IqIԉO=Ա E  E {E 'E "E *E 5":VE '4ZE a @a @a @a @`,^?AFI>F?F;ٱFh; NAHRS rotation from veh to nav: [[0.829581,-0.549834,-0.097351],[0.558360,0.815144,0.154191],[-0.005424,-0.182270,0.983233]]FH?`> 븿`???7vTǿv?iFI>IF\;FCCYZHByZH`bDfBVDf7yn%nQ=ٔn 5Q-r>9pYp=r&FyraEvx:Ev>xQ 5~4zL8?Q 9~4z0^)zXBY|yG?Q I@zQgDIz/;izn;z+4y ɮ B Z)R)b)j)"11ړ11ڒ1’99=#@aɢm<)i mc>ii)u^;yi };<ɧ۾駝iR?P<IR? R?IAII O >BE_>BABEHBEHBBABABABE;BEAEA ,%x?A2 Ϳ>2 ?2;ٱ2; :AHRS rotation from veh to nav: [[0.829408,-0.550068,-0.097504],[0.558618,0.814995,0.154041],[-0.005268,-0.182230,0.983242]]2H?(`3?p??Pu`SSǿ`v?i2 Ϳ>I2C\;2@CYRHByRHIV=)V=iMb@Mb@Mb@ 9HzG?Q?:vY=*?y\>T )YbDBVD7y3<%==ٔ弹Q->9Y=&FycE><:E>Q 548^8?Q 94X)XBYz.?Q E:yH?Q I@dgDI:i:434yjBɮBZRbj"ړڒ’!% $@bEG4jEFA4rE/E= E=vE=+E9"E=:*E=:VE= [4ZE9BE=X;aM2E=Y;aMJE=h;aU:E=h;aUɢ c<)  h>i )-k;11i5<}=f=ɧ==¼i= ?=<9I= ? E ?IAIAIIO>>qԡ r$,?A2'e>2 ?2\;ٱ25: :AHRS rotation from veh to nav: [[0.828760,-0.551131,-0.097011],[0.559581,0.814586,0.152707],[-0.005138,-0.180843,0.983499]]2H3?ޢո?@? ? u`%ǿ x?i2'e>I2)\;2ACYFHByF#HbDNBVDN7yV<%V^=ٔZMQ-Z>9XYX=Z&Fy^eE^N;E^>`Q 5f4b m8?Q 9f4bT)bXBYhyjH?Q Ij@btgDIb6:ib:b94ylɮnBpZ|Rbj"ړ ڒ ’   x%@yɢ~<) o>i)Vv;i~q=ɧ -Ӽi B ? y< I B ? B ?IA%hAzA%hAAaIqIO>ԡEI EM{EM*EI"EI*EM5":VEM(N4ZEIaU@aU@aU@aU@ 7j> ݑC ! BE \>BA BE +HBE HBBA BA BA BE ;BE AE*,l?ABT@9@YBG1A>D?";ٱ'9 UAHRS rotation from veh to nav: [[0.828253,-0.551892,-0.097013],[0.560333,0.814220,0.151897],[-0.004841,-0.180169,0.983624]]H ?ո`?? ?^q? s@ǿ`y?i>It\;@CYeHByeHbDuBVDu@7y½%==ٔ3Q->9Y=&FygE' ;E>Q 54~8?Q 94N)zXBY)y5I?Q I5@gDIi1)58;11i5{e==ɧ=] mi]y ?e1)EM EMyEM)EI"EMC:*EM:VEMFA4ZEIBEM5;a]2EM6;a]JEMr;a]:EMr;a]Q >1,h\?A2>2ߖ?2;ٱ2?g8 :AHRS rotation from veh to nav: [[0.827549,-0.552996,-0.096733],[0.561374,0.813705,0.150812],[-0.004686,-0.179108,0.983818]]2HH{?`%ø? ? M?1sƿp{?i2>I2];0YZHBy^H ``ieMb@Mb@Mb@aaaa a9eQ?/$?ʡEYe(?ye1>eeBeA a)aaYeBbD}BVD}7y=%K=ٔȹQ->9Y=&FyiE"L;E>Q 548?Q 94I)PXBYz-?Q E:yE?Q I@gDI]:i:EH4yɮBZRbj"ړڒ’@$'@9iqIuA颱ɢs<) ?a>i)*f;项im>ɧ i X ?x<I X ?  X ?IAE.AIQaIqO:>ԑEe  Ee {Ee 2Ea "Ee %;*Ee 5":VEe 4ZEa am @am @am @am @ 7,9?A2>2?2x;ٱ2~7 :AHRS rotation from veh to nav: [[0.827318,-0.553380,-0.096514],[0.561715,0.813584,0.150193],[-0.004592,-0.178471,0.983935]]2Hcy?J??9?r ƿ@d|?i2>I2];0Y^HBybHbDjBVDjM7yE%EO=ٔMyQ-M>9M ?YM ?=M&FyUkEU:EU>YQ 5e4]8?Q 9e4]D)]&XBYiymE?Q Im@]gDI]:i]:],O4yuBɮu2BuEZRbj"ړڒ’'@ɢn)<) Q>i);iok>ɧ${Fi ?<B]>BBBBBBB;BAEB?CB?CBBő =Bő =C}4 =,?A2S>2.?2g;ٱ2s7 :AHRS rotation from veh to nav: [[0.827119,-0.553679,-0.096508],[0.562009,0.813441,0.149866],[-0.004474,-0.178195,0.983985]]2Hw???.?Sr`ƿ@|?i2S>I2#];2?CYFHByFHiuMb@Mb@Mb@qqqq q9ux&1?I +?(\µYu!?yu9=uqq uA)qqYuBbDBVDE7y^]<%E=ٔQ->9Y=&FymE4`:E>Q 548?Q 94T@)WBY$?Q E:y5?Q I@gDI:i:nV4yɮ,BZRbj"ړڒ’(@E E~E(E"Es:*E(:VEc44ZEBE;a-2E;a-JE;a-:E;a-AɢM)<<)I MW>iI)M{;IQiUmЀ]}?ɧ])]i]D~ ?]B#I nD,w?A2>2f?2ӂ;ٱ2U7 >AHRS rotation from veh to nav: [[0.827237,-0.553514,-0.096440],[0.561835,0.813578,0.149774],[-0.004441,-0.178082,0.984006]]2H x?cG ?`?`+?V0raƿ|?i2>I2e\;2CCYFHByFHIJa=)J<bDRBVDRM7yj܂%jX=ٔnȹQ-n>9r"?Yr"?=r&FyroErvEv>tQ 5z4v8?Q 9~4v5<)vWBY|y~5?Q I~@vgDIv;iv];v ]4yBɮ LB EZ)R)b)j)"))ړ11ڒ1’19= ۅ)@aɢejГ<)a m>>ii)m ;iiim &u @ɧu/u i}C3 ?}_vBPBRHBRHBBR =BPBPBR;BRUAEnp>nW?n;ٱn7 zAHRS rotation from veh to nav: [[0.828090,-0.552290,-0.096142],[0.560576,0.814345,0.150320],[-0.004727,-0.178374,0.983952]]nH?\Ŝ=? ? =?`]sƿ|?inp>In\;nACYHByHbD-BVD-7yM%MC=ٔU3:Q-U>9YYY=]&Fy]qEe_mEm>qQ 54u08?Q 94u7)uWBYy85?Q I@ugDIu;iuN;ufd4yBɮZBZRbqjy"ړڒ’l*@Ա)ɢ-|<)) -77>i1)5;11i5$=6@ɧ=4=?i=H ?EQ,nG?AlYrHByrHi}Mb@Mb@Mb@yyyy y9}Cl?&1?DlY}d?y}P=}O}:By y)}AyYybD@BVD7yK;%E=ٔQ->9Y=&FytEE>Q 548?Q 943)WBY?Q E:yN(?Q I@gDI:i:k4yɮXBZRbj"ړڒ’`0+@)ɢ5<)1 58>i1)=ޟ;99i=ҁE7:AɧE6E;iE\ ?E3/1 = F?F];ٱF7 RAHRS rotation from veh to nav: [[0.829454,-0.550309,-0.095739],[0.558555,0.815715,0.150417],[-0.004680,-0.178239,0.983976]]FH@?!R@? 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J.1H?'?`?@敿 $ÿ?iF>IF \;F8CYZHByZH \\ b49r ?Yr ?=r&Fyr-Ev9Ev>tQ 5z4v&??Q 9~4v)vTBY|y~?Q I~@vmDIvU;iva;v4y ɮ B Z)R)b)j1"11ړ11ڒ99’AAE`*I@iɢm<)q u2e?2@B<ٱ2 :AHRS rotation from veh to nav: [[0.860480,-0.505877,-0.060526],[0.509020,0.848533,0.144534],[-0.021758,-0.155178,0.987647]]2H ?$0@;I?@/'??Gÿ͚?i2ӡ>I2c\;25CYB HByF HbDNd VDNm6y%E=ٔi:Q->9"?Y"?=%&Fy%/E%)9E%>)Q 554- 8??Q 954-)-SBY1y=%?Q I=@-mDI-;i-;-4yEԦBɮEBE߶EyZRbj"ړڒ’@`I@ɢ<) \ ,ʌ?A Fj>JÑC1I->-H?-<ٱ-}29yY}$A AHRS rotation from veh to nav: [[0.860340,-0.506201,-0.059794],[0.509236,0.848475,0.144112],[-0.022215,-0.154435,0.987753]]-H?`2_ K?`&?@r?ÿ?i->I-z\;-7CYHByHi%Mb@Mb@Mb@!!!! !9%X9v?I +?{GzY%?y%9<%ף!! !)!!Y!bD=? VD=L6yMF =%U8=ٔ]Y:Q-e>9yYy=&Fy2E9:E>i߱I߱E EuE)E"E:*E:VEFA4ZEa@a@a@a@)Q 554-PK??Q 954-)-SBY5?Q E=:y=?Q I=@-mDI-;i-;- 4yAɮEBAZaRabiji"iiړiqڒq’qquI@颹ɢ͌<) BB HB HBBBBDB{;B3BE IIOI>)Y Մ,^?A2j >2;?2̎<ٱ2f :AHRS rotation from veh to nav: [[0.860244,-0.506441,-0.059141],[0.509374,0.848405,0.144037],[-0.022771,-0.154032,0.987803]]2H?4`G@L?#&? o?`UQPÿ?i2j >I2\;25CYF HByF HJ@AJ@AbDN VDNݪ6yV0%Vi=ٔZ:Q-Z?9XYX=Z&Fy^3E^9E^?`Q 5f4bX??Q 9f4b)bSBYhyj$?Q Ij@bmDIb`:ibW:b4ynئBɮnBrEZ|Rbj"ړ ڒ ’   I@9ɢ=.Z<)9 =\6?6r<ٱ6 BAHRS rotation from veh to nav: [[0.860210,-0.506512,-0.059029],[0.509421,0.848336,0.144277],[-0.023002,-0.154179,0.987775]]6H`׆?@X5 9,M?@%? w? ˍ`'ÿڛ?i6>I6<\;68CYJGByJH!%%=iMb@Mb@Mb@ 9M?~jt?Yn?y< B A)BYGAbD= VD=ɫ6yM"%MA=ٔM:Q-U>9QYQ=U&FyU6E]9E]>aQ 5m4ei??Q 9m4e)eSBYm?Q Eu:yuF?Q Iu@emDIe:ie:e$ 4yyɮ}ByZRbj"ړڒ’@I@Qɢ]w<)Y ]@`iY)]@s{A>II)O5=D <D <E  E tE )E "E ҝ:*E v:VE FA4ZE a @a @a @a @B >B ECB HB HBB B B B };B 6BEBDCBDCBBʋ =Bʋ =Cʛ4 ٽ,'?A2#>2i?2<ٱ2V :AHRS rotation from veh to nav: [[0.860136,-0.506690,-0.058573],[0.509526,0.848268,0.144309],[-0.023434,-0.153970,0.987798]]2H`I26\;25CYjGByjHbDr= VDrv6yzs%zP=ٔ~6:Q-~>9Y=&Fy8EЪ9E > Q 54 y??Q 94 ) SBYyO?Q I@ mDI /;i n; 4y%ܦBɮ-B-EZIRIbIjI"IIړQQڒQ’QQ]9.J@颁ɢ(\<) (ۼi){<顉i@Jbɧh=駕>-:;i?H<I? ?IIIO=I E%  E% sE% *E! "E% :*E% Z:VE% (N4ZE! BE% E;a- 2E% F;a- JE% %];a- :E% &];a5 Ļ,?A 2c>2s ?2M<ٱ26% >AHRS rotation from veh to nav: [[0.859876,-0.507242,-0.057605],[0.509940,0.848147,0.143557],[-0.023960,-0.152817,0.987964]]2H@?S;s~mQ?`$?``?ÿf?i2c>I2\;23CYFGByFHbDR VDR6yV<%VO=ٔZ:Q-Z>9XY\=^&Fy^:E^M:Eb>`Q 5f4b??Q 9f4bP)bSBYhyjo?Q Ij@bnDIbl:ib:b4ynBɮrBrضEZyRbj"ړڒ’bJ@yɢ}Pi<) @~i);z<顡i+aɧ=0 d;i?-<I? ?IqII!OU>ԙ Lʻ,S-?AF-t>F ?F<ٱFVP RAHRS rotation from veh to nav: [[0.859796,-0.507461,-0.056867],[0.510037,0.848049,0.143789],[-0.024741,-0.152633,0.987973]]FHs? =9R?@7#?g? U}ÿy?iF-t>IF\;F9CYZGByZHi=Mb@Mb@Mb@9999 99=ʡE?S㥛?y&1|?Y=-?y=/<=`;= B9 =/A)=&B9Y=BbDU VDU6yeg<%e?=ٔmk:Q-m>9iYi=u&FyuyQ 54}??Q 94})}SBYY?Q E:y?Q I@}nDI}:i}a:}a4yBɮBٶEZRbj"ړڒ’~J@颡ɢf p<)  i)z<顩iHDzDAAE EtE(E"E:*Ev:VEc44ZEa@a@a@a@Zaɧ=d;i ?<I? ?IB>BBHBGBB =BBB{;BA!I)I9OM1>! ѻ,+G?A2>2 4 ?2<ٱ2 :AHRS rotation from veh to nav: [[0.859512,-0.507983,-0.056503],[0.510497,0.847767,0.143818],[-0.025156,-0.152458,0.987990]]2H?fA@`U? ? h?`a™຃ÿ?i2>I2+];25CYBGByFHbDN VDNN6ynr%nT=ٔr:Q-r>9pYp=r&Fyv>Eve:Ev>xQ 5~4|z??Q 94z)zSBYy?Q I @z%nDIz 3;iz4;z &4yɮBZ1R1b1j1"19ړ99ڒ9’AAEJ@iɢmT@G<)q u /iq)u>zE EE)E"E:*E:VEFA4ZEBE";a2E$;aJE@;a:E@;aQ PExceeded connect timeout, disconnecting.ԉ '׻,a?A2>2je ?2k<ٱ2N :AHRS rotation from veh to nav: [[0.859115,-0.508697,-0.056111],[0.511137,0.847358,0.143955],[-0.025683,-0.152355,0.987992]]2H`}?>G<[??m?L`Zÿ?i2>I294];0YFGByFHIJ=)J=iUMb@Mb@Mb@QQQQ QY9UX9v?Mb?y&1|?YU?yU=QQUCA UhA)QQYUfBmAAmAAbDu VDu6y=%@=ٔǢ:Q->9 ?Y ?='Fy@EU:E>Q 54??Q 94)SBY?Q E:y?Q I@5nDI2;i ;-4yBɮBZRbj"ړڒ’    J@1ɢ=%[Y<)9 =`i9)=[y<99iE0 EaɧM =M;iM?M" ԱD=DE ExE(E"Ea:*E:VEc44ZEa @a @a @a @B >B B HB GBB =B B B ;B BBE (޻,Ac{?A2->2Um ?2<ٱ2 :AHRS rotation from veh to nav: [[0.859042,-0.508795,-0.056352],[0.511234,0.847063,0.145340],[-0.026215,-0.153662,0.987776]]2HD}? H@ڬ`\?@$??`ؚ2ÿۛ?i2->I20];0Y^GBy^HbDf VDfÚ6yn%rU=ٔr:Q-r>9v"?Yv"?=v'FyvBEv9Ev>xQ 5~4z 9  *DAT read: user:134>  BDAT read: Tx time:20:59:41.4472  $Ping request sent. Z2 ?Z_<ٱZ   AHRS rotation from veh to nav: [[0.858753,-0.509308,-0.056112],[0.511699,0.846751,0.145521],[-0.026602,-0.153679,0.987763]]ZHz?`@L@ĺ _??m?@y= «ÿ?iZXu>IZc];Z6CYGByHbDC VD6y<%==ٔj:Q->9Y='FyDE:E>Q 5%4 ??Q 9%4)SBY)y-?Q I-@SnDI:i:;4yUBɮUB]ڶEZRbj"!!ړ)9ڒ9’AmK@5nManaging dock network, ignoring radio surface power off颙ɢuY<) i)Lx<顡iBhaɧH=9ӵ;iF?}<IF? F?IA=<%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251198A5.AIAIQO]v>qԙ a9,?A2֣>2 ?21<<ٱ2v} >AHRS rotation from veh to nav: [[0.858366,-0.509950,-0.056203],[0.512333,0.846288,0.145984],[-0.026881,-0.154103,0.987689]]2Hw?Q@Ƭe??`?ࡹÿ &?i2֣>I2P\];0YFGByFH HHiuMb@Mb@Mb@qqqq q9ud;O?L7A`?Mb`?Yu?yu+=u;uh BuA u5A)uBqYuBbD2 VD6y 6%M=ٔ7:Q->9 ?Y ?='FyFEh:E>Q 54??Q 94)SBY?Q E:y@?Q I@anDIe ;i ;B4yɮBZRbj"ړڒ’K@)ɢ-K;<)) -LDi))5UxB1B5HB5GBB5 =B1B1B5o;B5-BEAyIIԡO>>- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933 !,?A2X=>20 ?2<ٱ2ce :AHRS rotation from veh to nav: [[0.857961,-0.510639,-0.056134],[0.513002,0.845889,0.145944],[-0.027042,-0.154011,0.987699]]2Hjt?&W@ j??L?ٰ`ÿ:?i2X=>I2)];25CYFGByFHbDR VDR6yV*=%Z[=ٔZ9Q-Z>9\Y\=^'Fy^HE^5 ;Eb>`Q 5f4b??Q 9j4bc)bSBYhyjs?Q Ij@bonDIbB:ib:bSI4yrBɮrBr۶EZRbj"ړڒ’ K@9ɢ=kR<)A EiA)Ewchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895bEMFA4jEMFA4rEMż.E EuEE"E*E:VEZEBEg;a 2Ei;a JEmd;a :Emd;a 1 K,?A2J>26 ?2N<ٱ2- >AHRS rotation from veh to nav: [[0.857445,-0.511516,-0.056038],[0.513857,0.845397,0.145789],[-0.027199,-0.153801,0.987727]]2H/p?V^򰬿@q?~ ?5?(ڛÿv?i2J>I2%q];0YFGByJHrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259046iEMb@Mb@Mb@AAAA A9Ex?S㥛?~jthYEK?yE/9 Y ='FyJE);E>Q 5%4@?Q 9%4)SBY-t?Q E-:y-?Q I-@nDI:iH:'Q4y1ɮ=B9ZYRYbYjY"YYړaaڒa’aamL@频ɢB<) Bi)Aw<顙i"&Iaɧ >駥H;i?<I? ?I1IIO">GjA$o9jAY?[AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911E ExE.E"E:*E:VEـ4ZEa@a@a@a@ԉ B- >B) B- HB- GBB) B) B) B- n;B- ,BEu,ƥ?A02>2' ?2}<ٱ2Z :AHRS rotation from veh to nav: [[0.857558,-0.511334,-0.055959],[0.513647,0.845406,0.146481],[-0.027592,-0.154359,0.987629]]2Hq?\@o? ??$A ÿ ?i2>I2J];27CYnGBynHIr>)r>bD VD6y-ּ%-X=ٔ-:Q-->91Y1=5'Fy5LE5&E=>AQ 5M4EM@?Q 9M4ER)ESBYIyM?Q IU@EnDIEN:iEg:EW4y]Bɮ]8B]ӶEZyRybyj"ړڒ’.4L@颱ɢϗ2<) -;iT?<IT? T?IԉIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900E  E qE )E "E C:*E $ :VE FA4ZE BE 6;a 2E 7;a JE U;a :E U;a 6],?A2֤>2A ?2<ٱ2 :AHRS rotation from veh to nav: [[0.857342,-0.511700,-0.055928],[0.513995,0.845153,0.146717],[-0.027808,-0.154533,0.987596]]2HXo?_`r?} ?@?yÿ@c?i2֤>I2p];25C\YbGBybHbDeY VDe6yub<%uF=ٔ}:Q-}>9yY='FyNEށ:E>Q 54y/@?Q 94Ǫ)SBYy?Q I@nDI;i;^4yɮ1BZRbj"ړڒ’iL@ɢ d<<) Pi) u<  i VH~ aɧo>;i?P<I? ?III9O]=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849A > ,hZ0?A2#>2Eh ?2j<ٱ2 :AHRS rotation from veh to nav: [[0.857034,-0.512232,-0.055770],[0.514493,0.844834,0.146809],[-0.028084,-0.154513,0.987592]]2H@l?5dՍv???`œÿY?i2#>I2G];22CYbGByfHiMb@Mb@Mb@ 9$C?I +?~jthY?y9<IA )YBbDw VD˨6y;%E=ٔ.:Q->9Y='FyPE*:E>Q 54A@?Q 943){SBY7?Q E:yt?Q I@nDI':i:1f4yBɮ6BZRbj"!!ړ!!ڒ!’))-`1L@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519003aɢe><)a eFii)m3uuBBHBGBBBBB;B?BEBECBECBBÊ =BÊ =Cg4Iq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770975ԡ p,;J?A2>2 ?2y<ٱ2 BAHRS rotation from veh to nav: [[0.856666,-0.512841,-0.055838],[0.515104,0.844463,0.146797],[-0.028131,-0.154518,0.987589]]2H@i?1i@ {??`;?@>Μ=ÿ@U?i2>I2Y];25CYZGBy^H jp9 Y ='FyREF:E>!Q 554%KQ@?Q 954%)%rSBY9y=?Q I=@%nDI%2d;i%e;%l4yMBɮUUBUԶEyZRbj"ړڒ’wL@9ɢ="<)9 EiA)ECtM6 ?6{<ٱ6 JAHRS rotation from veh to nav: [[0.856392,-0.513324,-0.055610],[0.515553,0.844241,0.146500],[-0.028254,-0.154131,0.987646]]6H@g?%mxi?@??ÿ̚?i6ƥ>I6;];64CYZGBy^Hb=`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275279iUMb@Mb@Mb@QQQQ Q9UZd;?{Gz?{GztYU?yUף9Y='FyTE:E>Q 54 c@?Q 94V)gSBY?Q E:y?Q I@nDI;i;#t4yɮWBZRbj"ړڒ’tM@颉ɢ} <) \i)Es<顑i5ۍ`ɧLB>駥}p1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526974DD%=E EtEE"E1:*Ev:VEZEa@a@a@a@A A B >B B HB GBB B B B ;B dBEY ^,}?AF]>F2 ?F,{<ٱFU RAHRS rotation from veh to nav: [[0.856123,-0.513873,-0.054672],[0.515973,0.844116,0.145739],[-0.028741,-0.152980,0.987811]]FH`[e?q`ق? ??[n הÿ&?iF]>IF(];F3CYZGByZHbD~ VD~6y j;% R=ٔ ;:Q- >9Y='FyVE:E>!Q 5-4%s@?Q 9-4%)%]SBY)y-?Q I-@%nDI%l:i%:%z4y= Bɮ=]BEնEZaRabaja"aaړaiڒi’iim`@6M@颙ɢ?<) Ғi)dr<顡iecq`ɧN>駭r3%aԉiy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031165Թ E  E vE -E "E :*E :VE t4ZE BE ;a 2E ;a JE h;a :E h;a `%,Ǘ?ABn>B ?B<ٱB NAHRS rotation from veh to nav: [[0.855711,-0.514609,-0.054182],[0.516639,0.843793,0.145250],[-0.029028,-0.152285,0.987910]]BHa?w`ɽ N?`Z?`?~ÿ?iBn>IB!];B5CYVGByVHIZ=)Z=bDb VDb6yj%jN=ٔj=:Q-n>9lYl=r'FyrXEr$;Er>tQ 5z4v@?Q 9z4v)vSSBYxy~&?Q I~@vnDIv;iv;v4yɮ^BZRbj"ړڒ’jM@ɢ<) i){iq<i ݌ B`ɧZ>?.B' ?Bg<ٱB  NAHRS rotation from veh to nav: [[0.855492,-0.514989,-0.054031],[0.516977,0.843507,0.145710],[-0.029464,-0.152586,0.987851]]BH@1`?`z詫???+ ÿ@y?iBǢ>IBw?];B4CYVGByVHi5Mb@Mb@Mb@1111 195Zd;O?~jt?~jtxY5j?y5<5Ļ15IA 55A)11Y1bDM VDMɫ6y]I%]A=ٔe*:Q-e>9aYa=e'FymZEmz:Em>yQ 5}4}@?Q 94}ە)}GSBY?Q E:y?Q I@}nDI}:i}/:}E4yBɮ {BֶE5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535015ZQRQbQjQ"QQړYYڒY’YYe@M@E EE)E"Ea:*E=:VEFA4ZEa@a@a@a@ɢS <)) -i))-.p<))i-A5`ɧ55f>=*8BqBuHBuGBBqBqBuDBu;Bu}BEI IO- >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7869252,~?A bS٦>b.C ?b<ٱbЁ jAHRS rotation from veh to nav: [[0.855272,-0.515336,-0.054211],[0.517330,0.843194,0.146266],[-0.029666,-0.153142,0.987759]]bH c^?} ? r?ظ?`*ÿ@?ibS٦>IbA];`YvGByvHbD~| VD~6y P<% P=ٔ :Q->9Y='Fy\E:E>!Q 5-4%@?Q 9-4%e)%;SBY)y-?Q I5@% oDI%:i%B:% 4y9ɮ=pB9ZYRYbaja"aaړaaڒi’iim\M@颙ɢ <) i)xo<顡i‹F_ɧp>駭@6n ?6"<ٱ6 >AHRS rotation from veh to nav: [[0.854925,-0.515908,-0.054246],[0.517895,0.842828,0.146377],[-0.029797,-0.153235,0.987740]]6H[?Pƫ?q?`|?04ÿ?i6N0>I6 ];65CNchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290773PYRGByRH TTiMb@Mb@Mb@ 9X9v?Mb?9Y='Fy^E:E>Q 54@?Q 94)-SBY.?Q E:y?Q I@oDI;i:4yBɮBͶEZRbj" ړ  ڒ ’ N@9ɢ=<)A E"iA)EYmeGMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542888E EzE,E"E*E :VEg4ZEa@a@a@a@Be >Be FCBe HBe GBBa Ba Ba Be ;Be BE ?,4?A2/>2 ?2<ٱ2D  :AHRS rotation from veh to nav: [[0.854564,-0.516543,-0.053882],[0.518478,0.842538,0.145981],[-0.030008,-0.152686,0.987819]]2H`X?o^?@?}?`I;ÿ6?i2/>I2c@];26CYFGByFnHbDN VDN-6yV%V]=ٔZ?:Q-Z>9Z"?YZ"?=^'Fy^`E^4:E^>`Q 5f4b@?Q 9f4b*)b!SBYhyj)?Q Ij@b*oDIbl:ib:b 4ylɮnBp|ZRbj "  ړ  ڒ ’ T7N@颙ɢV];) i)~l<顡iz_ɧ*>駵MQԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046877bEm(N4jEmOS4rEmˮ10E  E xE (E "E :*E :VE c44ZE BE ;a 2E ;a JE Xo;a :E Yo;a GE,A?ARE>R ?R <ٱRR ZAHRS rotation from veh to nav: [[0.854186,-0.517147,-0.054096],[0.519087,0.842057,0.146590],[-0.030256,-0.153296,0.987717]]RH}U?w\?@!?w?3ÿ`?iRE>IR,>];R3CYfGByf_HbDn| VDn6yv%vG=ٔv:Q-v>9xYx=z'FyzbE~:E~>Q 5 4@?Q 9 4k)SBY y W?Q I@;oDI(:i::4yBɮBζEZ9R9b9j9"AAړAAڒA’IIMkN@YɢL<;) i)j<iq&C_ɧ>=>S߹߽=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299135Ա   C ܁G kA o 9 kAY \A#L,2?A62>6 ?6r<ٱ6> BAHRS rotation from veh to nav: [[0.853888,-0.517625,-0.054224],[0.519573,0.841728,0.146757],[-0.030324,-0.153488,0.987685]]6H S?a@5ë`W?o? ?' zÿ ?i62>I6f];65CYJGByJ~HIN<)NiMb@Mb@Mb@ 9ʡE?Mb?{GzY?yף B 5A)cBYB11bD5E VD56yEv=%MD=ٔM`)9Q-M>9U ?YU ?=U'FyUdEU:EU>YQ 5e4]}@?Q 9m4])]SBYm?Q Em:ym?Q Im@]KoDI]U:i]j:]4y}Bɮ}ByZRbj"ړڒ’5N@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551009Yɢ];)Y ]v˽iY)]imYBBhHBGBB =BBB.;BBEA؟AIIO > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8028369 S,PL?A2>2* ?2 <ٱ2  :AHRS rotation from veh to nav: [[0.853421,-0.518395,-0.054219],[0.520338,0.841292,0.146544],[-0.030354,-0.153276,0.987717]]2H8O?@«? ?@? ÿa?i2>I2%>];26CYfGByfyHbDn VDn6yv=4%vP=ٔz8Q-z>9z"?Yz"?=z'Fy~fE~;E~>Q 5 4^@?Q 9 4)RBYy ?Q I@[oDI:iB:[4yBɮB%϶EZARAbAjA"AAړAIڒI’IIMnN@yɢ};)y }NԽiy) .h<顁i^ɧ>駍S `-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054892AE EtE,E"E*Ev:VEg4ZEBEa2EaJE`;a:E`;aiԙ 5Y,f?A2y>>2u ?2<ٱ2 :AHRS rotation from veh to nav: [[0.852829,-0.519342,-0.054473],[0.521316,0.840721,0.146348],[-0.030208,-0.153208,0.987732]]2H`_J?r㫿?@/??`Pÿ?i2y>>I2h];23CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.307031YJGByJcHimMb@Mb@Mb@iiii i9m-?y&1?~jtYm5?ym`9 ?Y ?='FyhE^0;E>Q 54A?Q 94F|)RBY}?Q E:yi?Q I@koDI;iK;Ⱥ4y#BɮBжEZRbj"ړڒ’ `/ O@IɢU ;)Y ]iY)]kwfmEgԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558872E ExE*E"Eҝ:*E:VE(N4ZEa@a@a@a@B5 >B1 B5 PHB5 tGBB5 =B1 B1 B5 5;B5 BEBFCBFCBBBCr4 `,{?A2!>2 ?2<ٱ2 :AHRS rotation from veh to nav: [[0.852546,-0.519785,-0.054666],[0.521775,0.840396,0.146575],[-0.030246,-0.153486,0.987688]]2HH?`9b???@lÿ#?i2!>I2 ,];25CYRGByRxH TT Z49j"?Yj"?=j'FyjjEnֺ:En>pQ 5v4r&!A?Q 9v4rx)rRBYtyv?Q Iz@rzoDIr):ir:re4y|ɮ~B|ZRbj!"!!ړ!!ڒ!’))-E:O@QɢU+;)Y ]ֽiY)]0em o) E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062942D D 4=E ~ E tE ,E "E :*E v:VE g4ZE BE v;a 2E x;a JE a :E a Hf,W\?AB>BY ?Bt<ٱB^K NAHRS rotation from veh to nav: [[0.852463,-0.519904,-0.054841],[0.521908,0.840247,0.146959],[-0.030324,-0.153899,0.987621]]BH_G? w?@N?? _ `ÿ?iB>IB$];B3CY~}GBy~[HbD 5 VD 6y=_%EC=ٔEC9Q-E>9AYI=M'FyMlEM9EM>qQ 5}4uv3A?Q 9}4u u)uRBYy?Q I@uoDIu|:iu:u4y'BɮBѶEZRbj"ړڒ’`pO@)ɢ-]:vYchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314852ԁ ql,@2?A02u>2 ?2<ٱ2  >AHRS rotation from veh to nav: [[0.852487,-0.519864,-0.054848],[0.521858,0.840214,0.147327],[-0.030506,-0.154217,0.987566]]2H@G? ???=`ÿ$?i2u>I2G];25CYfyGByfVHiUMb@Mb@Mb@QQQQ Q9UMb?y&1?~jtYU ?yQUU/ BQ Q)UcBQYQbDm' VDm26y}%}G=ٔ}9Q->9Y='FyoE E>Q 54WEA?Q 94Sq)RBY ?Q E:y?Q I@oDI ;ii ;4yɮBZRbj"ړڒ’O@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567027ɢ(|;) xi)a<i %O]ɧ%>-X~BGCBCHBjGBB =BBDB;BBEIQIiOu=ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818941 Ys, ?A2H>2 ?2,<ٱ2UM :AHRS rotation from veh to nav: [[0.852319,-0.520126,-0.054965],[0.522147,0.840108,0.146901],[-0.030230,-0.153906,0.987623]]2H3F?ޤd$n? +??` 5ÿ@?i2H>I2];0YRnGByRHHIV<)Vp;Z@AZ@AbDZ! `VDZ٣6yf%fV=ٔj=Q-j>9hYh=j'FynqEne:En>pQ 5v4rVA?Q 9v4rm)rRBYxyz?Q Iz@roDIr:irN:r4y}0Bɮ}B}ȶEZRbj"ړڒ’ O@ɢ@r;) i)_<i []ɧT>Ʃ6 ?6<ٱ6I BAHRS rotation from veh to nav: [[0.852359,-0.520066,-0.054916],[0.522081,0.840148,0.146913],[-0.030267,-0.153893,0.987624]]6HF?a@?@}? ?FDzÿ@?i6(>I6 \;63CYJrGByJMHi%Mb@Mb@Mb@!!!! !9%jt?/$?~jthY% ?y%<%D% B! !)!!Y%BbDEt VDE6y<%==ٔ8Q->9Y='FysE9E>Q 54miA?Q 94i)RBY ?Q E:y%?Q I%@oDI/;i/;84yQɮ]BYZRbj"ړڒ’P@QɢU@Y;)Y ] iY)]h]mO|Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574951Eu EuyEu)Eq"Eua:*Eu:VEuFA4ZEqa}@a@a@a@BA<B>BB7HB_GBB =BBB.;BBEԡ wm,!?A6">6 ?6^<ٱ6# >AHRS rotation from veh to nav: [[0.852381,-0.520042,-0.054804],[0.522049,0.840222,0.146602],[-0.030192,-0.153571,0.987676]]6HF?@/6 ?`??`ꞿ3ÿ ?i6">I6\;4YJ^GByJ5HbDR7 VDR6yZMP%Z[=ٔZRQ-^>9\Y\=^'FybuEb ڸEb>dQ 5j4fyA?Q 9j4ff)f~RBYhyn?Q In@foDIf ;ifm ;f4yr4Bɮr BrɶEZRb j "  ړ  ڒ’CP@AɢE:)E E!iA)M\U2ί ?2R<ٱ2- :AHRS rotation from veh to nav: [[0.852369,-0.520053,-0.054889],[0.522073,0.840208,0.146595],[-0.030119,-0.153609,0.987673]]2HF?`EXҴ? ??מsÿ?i2>I2\;25CYNgGByR@H TTbDZt VDZ6y <%E=ٔ7Q- >9 Y = 'Fy wE8E>Q 5%4A?Q 9%4b)tRBY!y%?Q I-@oDI:i:4y1ɮ5B1ZQRQbQjQ"YYړYYڒY’aae8P@颉ɢ(I;) +i)Z<顑i9(\ɧ'>駥 1Y ɿ,Oy5?A2>2| ?2[<ٱ2L :AHRS rotation from veh to nav: [[0.852469,-0.519910,-0.054681],[0.521896,0.840290,0.146755],[-0.030351,-0.153642,0.987660]]2HlG?+`_???rÿ?i2>I2\;23CYF]GByF4Hi Mb@Mb@Mb@     9 )\(? rh?{Gz?Y G!?y C = ף<   nA) B Y bDu( VDu@6y%B=ٔ:Q->9Y='FyyEME>Q 54[A?Q 94^)rRBY!?Q E:y?Q I@oDI':i<:;4y8BɮBʶEZRbj"ړڒ’SP@ɢ*;)! %X"i!)%^W-B]HCB]*HB]UGBB] =BYBYB]5;B]CEIqAiAzAhAIqIO>aԑ߉ ߍ <Թ ˧,UO?A2L>2( ?2<ٱ2: :AHRS rotation from veh to nav: [[0.852477,-0.519942,-0.054242],[0.521860,0.840309,0.146775],[-0.030735,-0.153429,0.987682]]2H~G?^ū ???xÿ`?i2L>I2\;24CYDyF3HbDN VDN֡6yVN%VY=ٔV:Q-V>9XYX=Z'FyZ{E^2ƸE^>`Q 5f4bŮA?Q 9f4b8[)bpRBYdyf?Q If@boDIb:ib:b4ylɮnBlZ|R|b|j|"ړڒ’    kP@1ɢ5X:)9 ="i9)=UMu љ,/i?A:>:ϣ ?:<ٱ:/ NAHRS rotation from veh to nav: [[0.852438,-0.520019,-0.054119],[0.521901,0.840196,0.147276],[-0.031116,-0.153788,0.987614]]:H,G?zi???`ܟSÿ@?i:>I:\;:0CYbWGByb,HiMb@Mb@Mb@ 9~jt?:v?Mb?Y$?yT==h BA )cBYQBAAAAbD VD46y_a%:=ٔb:Q->9Y='Fy}Eut8E>GQ 5-4qA?Q 9-4M:9IYM+AsV)qRBYmY%?Q Em:yu"?Q Iu@pDIam4.BYB]HB]KGBB] =BYB]DB]!;B]BEE} E}pE})Ey"E}a:*E} :VE}FA4ZEyBE}h;2E}i;JE}:R;:E};R;A>A>I IQ Ii Ou >E,E ?A 2=>2 ?2jD<ٱ2 >AHRS rotation from veh to nav: [[0.852319,-0.520235,-0.053923],[0.522093,0.840130,0.146968],[-0.031156,-0.153417,0.987670]]2H2F?`åқ? 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Z!?IE ExE)E"E:*E:VEFA4ZEa@a@a@a@A ؟AII!O5 >ԡ ⡿,?A2߯>2u.?2*ٱ2k* :AHRS rotation from veh to nav: [[0.832077,-0.540120,-0.126165],[0.553089,0.825076,0.115505],[0.041709,-0.165890,0.985262]]2H `?H@-&?g??Z?`;ſC?i2߯>I2^;0YFeGByF=HIH)J4=bDN VDN06yV%VO=ٔZ9Q-Z>9Z"?YZ"?=Z'FyZrE^E^>`Q 5f4bI?Q 9f4bv)bPBYhyj]>Q Ij@bwDIbl:ibB:bI4Br>BpBruHBrGBBr =BpBrDBr];Br4DEy~Bɮ~ B}wEGSB*** querying acoustic contact ***:BZRbj"ړڒ’\@ɢ.)! %i!)%!!i%-bD7ɧ-%>5Am>AII O%+>E EyE*E"Ea:*E:VE(N4ZEBEa2EaJEr;a:Er;ai߹I߹2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1Y  ,ġ?A2QD>2x?25*ٱ2* :AHRS rotation from veh to nav: [[0.833614,-0.537846,-0.125735],[0.550783,0.826550,0.115988],[0.041543,-0.165942,0.985260]]2H?` 6@?s?@\?%E?=ſ @?i2QD>I26^;0YNGByRpHi%Mb@Mb@Mb@!!!! !9%\(\?X9vZd;?Y%?y%%y=% B! %&B)%A!Y%AbD= VD=96yM=%M@=ٔU9Q-U>9QYQ=]'Fy]tE]ջE]>aQ 5u4e$ J?Q 9u4eAs)ePBY?Q E:y ?Q I@exDIe -BDAT read: Tx time:21:00:41.6971 5$Ping request sent.5mh checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249376Թ j7,Ϡ?A60>6?6C)ٱ6A* BAHRS rotation from veh to nav: [[0.834860,-0.536090,-0.124966],[0.548910,0.827807,0.115903],[0.041313,-0.165358,0.985368]]6H,?'ૐ?d}?ի? &?q*ſ"?i60>I6( ^;6+CYJGByJHbDR VDR،6yZb=%ZT=ٔ^.:Q-^>9b ?Yb ?=b'FybvEbڿEb>dQ 5j4fJ?Q 9j4fp)fQBYlyn/ ?Q In@fxDIfQ;if];f;W4yrBɮr BvxEZ R b j "  ړڒ’\@AɢE)A EDŽiI)MgIIiM,U6ɧUK>U* #%=%=5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502185ԹB>BBHBGBBBBBa;B7DEE  E pE 2E "E غ:*E  :VE 4ZE BE ~(?~(ٱ~)  AHRS rotation from veh to nav: [[0.835691,-0.534912,-0.124459],[0.547651,0.828661,0.115758],[0.041214,-0.164898,0.985449]]~H`?@ܿ[?@c?P??``ſ̈?i~DW>I~];~*CY%GBy%H ))iMb@Mb@Mb@ 9-?L7A`?~jt?Y5?y+== B+A )B)AYbD VD6y;%9=ٔk9Q->9"?Y"?='FyxEP`E>Q 54/J?Q 94k)?QBY?Q E:yA'?Q I@!xDIF;i;^4yBɮ BoEZRbj"ړڒ’\@ !ɢEټ)A EiA)M;IIiM U6ɧUC>U 5 PExceeded connect timeout, disconnecting.$I,U?A 2׸>2JB?22'ٱ2 * >AHRS rotation from veh to nav: [[0.836235,-0.534021,-0.124632],[0.546843,0.829040,0.116858],[0.040920,-0.165875,0.985297]]2Ho?`翿?`~? j??e;ſ?i2׸>I2];0YFGByFHbDR! VDR 6yZK=%Z_=ٔZ\R:Q-Z>9\Y\=b'FybzEU>GmjAj-E><9jAYj,AQ 54@J?Q 94g)fQBYy'?Q I@1xDI;i;e4y Bɮ  B pEZ)R)b)j)"11ړQQڒQ’YY]z]@颡ɢjԼ) 虽i)'顩DzDAAbE=·G4jE= [4rE=°0E EvE0E"Ea:*E:VE4ZEa@a@a@a@i y6ɧ<>  E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509461d1¿,2 ?AB@AB<BF>BFHCBFHBFGBBDBDBDBF?;BFDELV>V+?V&ٱVlr+ bAHRS rotation from veh to nav: [[0.836428,-0.533680,-0.124794],[0.546560,0.829132,0.117526],[0.040750,-0.166509,0.985198]]VH?@`k}??? )?@ݤ?+Pſ?iV>IV];TYjGByjHbDrf VDr6yz =%zF=ٔ~"9Q-~>9Y='Fy|E5[E> Q 54 %PJ?Q 94 d) QBYy&?Q I@ @xDI ;i ; l4y%Bɮ- B-qEZIRIbIjI"IIړIQڒQ’QQ]`;&]@颁ɢ) i)ƨ顉iP 6ɧN6>E EpE,E"E1:*E :VEg4ZEBE;a2E;aJEa :Ea checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761362! Zȿ, #?A6o>6?6(&ٱ6q+ >AHRS rotation from veh to nav: [[0.836679,-0.533279,-0.124823],[0.546182,0.829332,0.117875],[0.040659,-0.166799,0.985152]]6H?aRz??`-?LѤ?Yſ]?i6o>I6A];4YbHBybHIjV>)j>iMb@Mb@Mb@ 9}?5^I?EԸ?㥛 ?YM"?y==dA B)YAbD~ VDy6y=%==ٔ[9Q->9Y='Fy~E"E>Q 548aJ?Q 94"_)QBY@%?Q E:y^??Q I@ur?q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029668RxDI+駍/;iFf?\;IFf? Ff?I)IIOA>nManaging dock network, ignoring radio surface power offiD=D<E EqE(E"E:*E$ :VEc44ZEa@a@a@a@- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281410ԁ <ο,62?2^%ٱ2* :AHRS rotation from veh to nav: [[0.836750,-0.533337,-0.124101],[0.546095,0.829466,0.117327],[0.040363,-0.165945,0.985309]]2H?ſ@y? ?@, ?e?=ſ ?i2e`>I2];2)CYFHByFHbDN VDN6yV@=%V_=ٔZT:Q-Z>9XYX=Z'FyZE^SE >Q 54&pJ?Q 94Z)QBY!y%Q??Q I%@axDIX;i;z4y-Bɮ-B1ZIRQbQjQ"QQړQYaڒa’aaeZ]@颉ɢ) ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.534597B>BB$HB!HBBBBB%;BCEBABABABABACEc4Ա E  E pE *E "E ҝ:*E  :VE (N4ZE BE ;a5 2E ;a= JE aE :E aE pտ,V?Af>f-?f$ٱf)nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.785480 vAHRS rotation from veh to nav: [[0.836430,-0.533977,-0.123500],[0.546598,0.829246,0.116538],[0.040183,-0.164981,0.985478]]fH ?W`}?@/? wս?`蒤?`ſ?if>If'G];dY~:HByCHԱiMb@Mb@Mb@ 9uV?{Gz?Mb?Yr(?y#>@=+ B^A B)IAYAbD%+ VD%l6y59=%54=ٔ59Q-5>99Y9==(Fy=E=:EE>AQ 5M4ETJ?Q 9U4EU)EQBYU-?Q EU:yUgS?Q IU@EuxDIEL ;iE;Eq4yYɮeBaZRbj"ړڒ’ev]@ɢ) i=i!)% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0374089 ۿ,p?A2JD>2x?2Q%ٱ2L) :AHRS rotation from veh to nav: [[0.835800,-0.534926,-0.123663],[0.547549,0.828674,0.116141],[0.040350,-0.164782,0.985504]]2H߾? a@??j?`?ſ@@?i2JD>I2R];2(CYFAHByFLH HHbDRk VDR6yV<%Zg=ٔZpQ-Z>9XY\=^(Fy^E^VS;Eb>`Q 5f4bJ?Q 9j4b\P)bQBYhyjS?Q Ij@bxDIb):ib:b4ypɮrBpZRbj" ړ  ڒ ’  ]@9ɢ=2)A E=iA)EৼAAiEaM:6ɧM;Uz9iUE?U>4;QIUE? UE?IYIIO%=DzDE EE-E"Es:*E3:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289503Aq checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541291ԡ ~,%v?AAABBBoHB^HBBBBB);BCE>޹>>?>($ٱ>) JAHRS rotation from veh to nav: [[0.835163,-0.535914,-0.123689],[0.548542,0.827990,0.116336],[0.040067,-0.165008,0.985478]]>H@?5& ?~?`5Ƚ?@?ſ ?i>޹>I>v];>'CYYHByiHbD5 VD5Ҭ6y]J`=%]@=ٔe-:Q-e>9aYa=m(FymEm5;Em>qQ 5}4utJ?Q 9}4uJ)uRBYyT?Q I@uxDIuI;iuw;u4yBɮBiEZRbj"ړڒ’Q]@ɢm) Բ=i)Di!F6ɧ/T)i?z@;I? ?IqIIO=E EvE)E"E:*E:VEFA4ZEBE޽;a2E߽;aJEh;a:Eh;a%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.797595 9 b,\?AJ)>J?J?$ٱJ %* VAHRS rotation from veh to nav: [[0.834432,-0.536979,-0.123999],[0.549650,0.827250,0.116372],[0.040089,-0.165260,0.985435]]JH`?.f?`x?ʽ??A'ſ?iJ)>IJ4];J*CYnbHByntHiMb@Mb@Mb@ 9 rh?V-?t< B `B)AYQAbD VD6y<%C=ٔ+XQ->9Y=(FyEO;E>Q 54J?Q 94D) RBY3?Q E:yY?Q I@xDI ;ie ;e4yɮBZR!b!j!"!!ړ!)ڒ)’))5$]@Yɢ]0a)Y ]=iY)eaaieAm_6ɧm uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.049436mi} ?}\;yI} ? } ?I I IO%,>9E ErEE"E1:*E?:VEZEa@a@a@a@a % checking for new query: numPingsReceived=0, elapsed TxPingTime=4.301320,-?A 2=>2Ou?2C%ٱ2'* >AHRS rotation from veh to nav: [[0.833683,-0.538068,-0.124317],[0.550768,0.826558,0.116004],[0.040337,-0.165180,0.985438]]2H?76ӿ?)s?s??$ſ?i2=>I2C];2'CYFmHByFHIJ%=)J9\Y`=b(FybEbo;Eb>dQ 5j4fJ?Q 9j4f?)f RBYlynSZ?Q In@fxDIf;if ;fҝ4yrBɮvBvjEZ R b j "  ړڒ’`]@AɢEFK)A E=iI)MIIiMU6ɧU4UiUUK?;IUK? UK?IiIIO>BDAT read: Rx Time:21:00:45.8079 TRx dataTimestamp_ set to:1761512447.152625checking for new query: numPingsReceived=0, elapsed TxPingTime=4.554485B9B9B=HB=HBB9B9B9B==;B=DEԙ E  E E +E "E :*E *:VE [4ZE BE E;a 2E F;a JE i;a :E j;a ʽ,?APzchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.807727u>u?u%ٱul) AHRS rotation from veh to nav: [[0.832983,-0.539100,-0.124541],[0.551814,0.825907,0.115666],[0.040504,-0.165071,0.985450]]uH˧? O@῿`v?m?E?D? !ſ͈?iu>Iu9J];u*CYHByHiUMb@Mb@Mb@QQQQ Q9Un?/$?Q롿YUV.?yU&1>U\U BUdA UB)UOAQYQbDm VDm!6y}V=%}0=ٔ}Q->9Y=(FyE2;E>Q 54J?Q 949)QBY4?Q E:yhR?Q I@xDI<:i:4yBɮBkEZRbj"ړڒ’I]@ ɢ 4)  >i )礼ic 6ɧWucFDiv?s;!I%v? %v?I!IIO>ߍ=ߍ<DAT read: 21:00:45.8079 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 401,-0.36, 1.143,-0.449, 1.095, 1.032, PHS= 0.213,-1.436, 0.018, RAW= 143.8, 15.3, CAL= 143.3, 16.6, ROT= 6.7, -16.6 Ygot valid direction response: 21:00:45.8079 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 401,-0.36, 1.143,-0.449, 1.095, 1.032, PHS= 0.213,-1.436, 0.018, RAW= 143.8, 15.3, CAL= 143.3, 16.6, ROT= 6.7, -16.6 PDAT read: Bearing 198.0, 5.7 (Local) ~Local bearing/azimuth received: Bearing 198.0, 5.7 (Local) DAT read: Range 11 to 50 : 1279.9 m (Round-trip 1706.6 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.951778,0.111808,0.285688]Fpublishing direction and range infoy<]t?LTSIv?WԷH?YD )YIZ>iηt<K @ܸ>Q @ V>)|=IV {6q??lH?iV.? c>)*qI|=iV! Y,?A21\>2?2W&ٱ2* :AHRS rotation from veh to nav: [[0.832465,-0.539820,-0.124883],[0.552581,0.825405,0.115586],[0.040683,-0.165230,0.985416]]2H`?4FU`?i? ?rԤ? >&ſ`?i21\>I2<];0YvHB|yHbD- VD-_6ye*-%e^=ٔmQ-m>9iYi=u(FyuEu$;Eu>yQ 54}uJ?Q 94}4)}QBYyR?Q I@}xDI}:i}:}V4yɮBJR?AWDWD@?G{g@aja@Zv@<]t?LTSIv?WԷH?|=V—8G=@qNV@)y9l x@G?D?|/P?jODr]DZ- o?b!yzfC- o?!yfCڗD}@?ZRbj"ړڒ’@@8?ɢ̶4)  =i)s&i%6ɧ%%mi%?-;)I-? -?I)Ey E}wEyEy"Ey*E}:VEyZEya@a@a@a@II O=)Qԁ B <A B% >B! B% HB% HBB! B! B! B% #;B% CE , ?A2 ʼ>2;?2 &ٱ2) :AHRS rotation from veh to nav: [[0.832001,-0.540561,-0.124771],[0.553279,0.825002,0.115127],[0.040703,-0.164819,0.985484]]2H ?FL@u?kf?x?פ? ſ?i2 ʼ>I2Z];2(CY^HBybH f49tYt=v(FyvEz ;Ez>Y|Q 54~J?Q 94~b/)~QBYyR?Q I@~xDI~R:i~:~4yBɮwBaEZRbj"ړڒ’@Զ?ɢ!) >i)6i)s<7ɧ9i?WT;I? ?I IyIOԉE EsE-E"E:*EZ:VEt4ZEBE޽;a2E߽;aJE%];a:E&];aiIԱ ,ǜ%?A:7>:r?:%Y'ٱ:9) FAHRS rotation from veh to nav: [[0.831536,-0.541223,-0.125005],[0.553967,0.824560,0.114979],[0.040845,-0.164858,0.985471]]:H? 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MA?IIiAIIOE>ԙBz>BBBBBBBÌ;BoCE ,?AFǨ>Fa: ?F <ٱFc&P RAHRS rotation from veh to nav: [[0.853660,-0.515084,-0.077159],[0.520763,0.841736,0.142433],[-0.008418,-0.161771,0.986793]]FH.Q?{`??=;?I=`Ŀ͓?iFǨ>IFor];F#CY^TJBy^HbDf} VDf$6ynj%rV=ٔrV:Q-r>9tYt=v(Fyv Ev;Ev>xQ 54zhO?Q 94z&)zQBYy,?Q I @zP}DIzn ;iz{!;z?4yިBɮiB8EZ1R1b1j1"99ړ99ڒ9’AAE7<@iɢm@=)q u?iq)ur;qqi}Mɧ0駅 i?;I? ?IE EsE,E"E:*EZ:VEg4ZEBE;a2E;aJE%];a:E&];aA II!O5 >) ?,7?ABn>B= ?B<ٱBL% NAHRS rotation from veh to nav: [[0.852448,-0.517138,-0.076814],[0.522738,0.840615,0.141812],[-0.008765,-0.161041,0.986909]]BHAG? dD?`R?@&?bĿ?iBn>IB];B$CYV]JByVH|i}Mb@Mb@Mb@yyyy y9}#~j?S㥻?{GzY}%?y}/=}ף} B}A y)yyYybDo VDV6y<%>=ٔT:Q->9Y=(Fy"EͰ;E>Q 54qO?Q 94!)QBYA(?Q E:yV5?Q I@b}DI:i:¨4yBɮhB9EZRbj"ړڒ’G=@)ɢ5 4=)1 5S?i1)5;19i=EMɧEHE iE?E{;AIE? E?II!uAzAhAE EtEE"E:*Ev:VEZEa@a@a@a@aiIAAIIO>y i),tQ?A>>>^ ?>m<ٱ>p.$ FAHRS rotation from veh to nav: [[0.851325,-0.519093,-0.076083],[0.524559,0.839677,0.140640],[-0.009120,-0.159641,0.987133]]>H >? h .z0??@? oĿ?i>>I>y];<BNy>BLBLBLBLBLBLBNތ;BNCEY^PJBybH ``bDj& VDj#6yr %rW=ٔrt:Q-v>9tYt=v(Fyv$Ez^;Ez>|Q 54~_O?Q 94~)~QBYy 5?Q I @~r}DI~B:i~:~g4yɮuBqZRbj"ړڒ’`=@ ɢ 9=) ?i);i:~Mɧ^;1i% O?%;!I% O? % O?I)%F˼ԙAu.AIIO<>E  E xE E "E :*E :VE ZE BE a 2E a JE Xo;a :E Yo;a {Y,hk?A2>2 ?2<ٱ2|# :AHRS rotation from veh to nav: [[0.850277,-0.520887,-0.075532],[0.526251,0.838769,0.139736],[-0.009433,-0.158563,0.987304]]2Hx5?V ?2??oQKĿ?i2>I2];2#CYFLJByJHbDV. VDV6y^M%bL=ٔbCL:Q-f>9f ?Yj ?=j(Fyj&EjA;En>pQ 5v4r2O?Q 9z4r.)rwQBYxyzn6?Q Iz@r}DIrf=;ir>;rn4y Bɮ B :EZ9R9b9j9"AAړAIڒI’IQU >@ɢ :e;=)  <?i ) ;ikNɧuDi?;AIE? E?IAM7A]>A]>A؟AIIO>I 6,?A6hb>6?63!<ٱ6!! BAHRS rotation from veh to nav: [[0.848931,-0.523223,-0.074522],[0.528411,0.837665,0.138198],[-0.009884,-0.156699,0.987597]]6Hq*?>?'?z?=Ŀd?i6hb>I6];6%CYJ0JByJHER ERmER(EP"ER~:*ER:VERc44ZEPaV@aZ@aZ@aZ@i-Mb@Mb@Mb@)))) )9-Mb?A`"?J +Y-#?y-=-H)) ))))Y)bDE VDE6yU%UB=ٔ]:Q-]>9]"?Ye"?=e(Fye(Ee;Ee>iQ 5u4mvO?Q 9u4m)mYQBY}%?Q E}:y}B5?Q I}@m}DIm ;im ;m4yɮBZRbj"ړڒ’`z>@ɢGU1=) ' ?i);i1LNɧV駵 Vi/?p;I/? /?IaBv>BBHBZJBBBBBΌ;BwCEAiIyIԑO>Թ `,E?A2{>2C"?20Q1<ٱ28! :AHRS rotation from veh to nav: [[0.847674,-0.525315,-0.074108],[0.530406,0.836339,0.138587],[-0.010822,-0.156785,0.987574]]2H & ?a?I?;? *Ŀ3?i2{>I2 ^;2&CYF*JByFHIJ=)J<bDNc VDN6yV%VV=ٔZ ;Q-Z>9XYX=Z(Fy^*E^4;E>)Q 554-O?Q 954-4)-@AɢEP0=)I M ?iI)Mzy;IIiU i]Nɧ]~]hi]g?]l;YI]g? eg?IaԙE EoE,E"E:*E:VEg4ZEBEݽ;a2E߽;aJEN;a:EN;aAIIO$>iߡIߥA C A Y @9 Y 1A ,͸?A2:z>2?2$8<ٱ2 :AHRS rotation from veh to nav: [[0.846751,-0.526856,-0.073719],[0.531869,0.835458,0.138292],[-0.011271,-0.156308,0.987644]]2H@?C߲???$Ŀǚ?i2:z>I2X[^;2#CY^%JBybHonly read 3 of 4 data items for beam range. Device response is::RA, 41.27, 286.18, 310.67, 312.20 a@a a@a a @a  a @a  bD VD6y%J%%C=ٔ%E:Q-%>9)Y)=-(Fy--E5E;E5>9Q 5E4=`P?Q 9E4= )=QBQ AE+:YAQ EE:yER6?Q IM@=}DI=U:i=>=h4yUިBɮUBU1EZRbj"ړڒ’!%@M?@iɢm2=)i mG ?ii);顑iFNɧ,駥zz{i?]s;BD=D<bEE [4jEE-W4rEEƓ/E ErE)E"E:*E?:VEFA4ZEa@a@a@a@I r,?AB$B$B&HB&EJBB& =B$B$B&;B&TCER>RN?R[K<ٱRW! ^AHRS rotation from veh to nav: [[0.846117,-0.527940,-0.073244],[0.532852,0.834663,0.139307],[-0.012412,-0.156899,0.987537]]RH`d? @# ???MkAĿ?iR>IR^;R$CYvJByvHbD~ VD~]6y  #% L=ٔD:;Q->9 ?Y ?=(Fy/E>;E%>!Q 5-4%P?Q 9-4%D)%QBQ A5 :Y1Q E5W:y56?Q I5@%}DI%:i%!O?%4yEBɮEBE2EZaRabaja"aiړiiڒi’iqu?@颙ɢ$5=) 0?i)0;顡iOɧ⨾駭fi?;I? ?IQA II)O5 >yԩ E  E E (E "E *E VE c44ZE BE ;a 2E ;a JE Y;a :E Y;a u,ׅ?A@F>FZ'?FT`<ٱF" VAHRS rotation from veh to nav: [[0.845525,-0.528904,-0.073133],[0.533760,0.833768,0.141174],[-0.013692,-0.158401,0.987280]]FH ?Ӹ?;??`^ @FĿ˗?iF>IF^;DYJBytH bD% VD%W6y55%5H=ٔ5JM;Q-5>99Y9==(Fy=1EE-;EE>IQ 5U4M%P?Q 9U4M)MPBQ AU9YQQ E].:y]6?Q I]@M}DIM" ;iM?M4yaɮeBaZRbj"ړڒ’ @@ɢ32,=) ?i)';iQӕYOɧ鴾niOx?4;IOx? Ox?IԩA!IIIqO> DŽ,^?A2 >2[?2ƿk<ٱ2" :AHRS rotation from veh to nav: [[0.845088,-0.529669,-0.072641],[0.534433,0.833291,0.141446],[-0.014388,-0.158356,0.987277]]2H ? @?R?`? wEĿ`Ɨ?i2 >I2};_;2"CD@zDB@AEF EFvEF*ED"EF1:*EF:VEF(N4ZEDaJ@aJ@aJ@aJ@YRIByRfHlaa aa aa aa iMb@Mb@Mb@ 9V-?y&1?333333Y|?y`<A OA)YAbD VD6yҼ%B=ٔ:Q->9Y=(Fy3E:E>Q 547P?Q 94)PBQ AT:Y ?Q E:y?Q I@}DI;i`;+4yBɮB3EZ R b j"ړڒ’A@@IɢMh(=)I M>iI)M;QQiUѐ]ҥOɧ]%]ꌼi] ?];aIe ? e ?Ia BEx>BABEHBEJBBABABABE;BE:CEB BCB BCB B ƍ =B ƍ =C ,4^Aه:A ؟AI I O > ,9 ?AR:>RK?Rks<ٱR# bAHRS rotation from veh to nav: [[0.845205,-0.529582,-0.071915],[0.534213,0.833209,0.142754],[-0.015679,-0.159074,0.987142]]RH` ?V@ iE??E?@B\Ŀ?iR:>IRծ_;R#CYrIByrRHbD~ VD~،6y/%U=ٔ%\;Q-%>9-"?Y-"?=-(Fy-5E5 )E5>9Q 5E4=HP?Q 9E4=i)=PBYIyM?Q IM@=}DI=W:i= :=4yQɮUBQZqRqbyjy"yyړyڒ’ r@@颱ɢu+=) %>i)Y<项iT:|Oɧëii۩?y;I۩? ۩?IQ^Au8<E EpE)E"E:*E :VEFA4ZEBE;a2E;aJE:R;a:E:R;aIԡIO>>  ,:?A2E>2)'?2E<ٱ2D($ :AHRS rotation from veh to nav: [[0.845485,-0.529247,-0.071085],[0.533732,0.833322,0.143895],[-0.016919,-0.159601,0.987037]]2H5?2`T??@$k?2S`mĿ͕?i2E>I2.`;2%CYfIByfDHIj<)jp9Y=(Fy7EE>Q 54<[P?Q 94$)|PBY?Q E:y?Q I@~DI;iA;-4yBɮB4EZRbj"ړڒ’ 0@@ɢ$=) e>i) / ) BA BA BE cHBE IBBE =BA BA BE };BE 'CE,S?A6>6?6}<ٱ6g$ >AHRS rotation from veh to nav: [[0.846027,-0.528518,-0.070053],[0.532823,0.833659,0.145303],[-0.018395,-0.160256,0.986904]]6H?@@ ?U?`M?*֒HĿ?i6>I6`;6#CYFIByF*HbDR VDRɌ6yZ\%ZY=ٔZ;Q-Z>9\Y\=^(Fy^9Eb08Eb>dQ 5j4fkP?Q 9j4f1)fcPBYhyj?Q Ij@f~DIf>:if:f4ypɮrBpZRbj"ړڒ’ g@@ɢG#=) >i)<il hPɧ  ugi jO?;IjO? jO?I1IIO=IyE  E |E )E "E :*E P$:VE FA4ZE BE ݽ;a 2E ߽;a JE };a :E };a ,*m?A@l>?1~<ٱ& AHRS rotation from veh to nav: [[0.846691,-0.527566,-0.069197],[0.531710,0.834033,0.147221],[-0.019956,-0.161443,0.986680]]H?㶱?@e?#?@mo-Ŀ`?il>I`;!CYIByHbD] VD]6Աy ⹼%=ٔF;Q->91Y1==(Fy=;E=^EE>Q 54ӄP?Q 94Q =tI)i)<顩iMpPɧvz駵^HiL?;IL? L?IIqIO}> !,j?AE0 E2sE0E0"E0*E2Z:VE0ZE0a:@a:@a:@a:@BZ>B4?BBή<ٱBs' JAHRS rotation from veh to nav: [[0.847382,-0.526567,-0.068347],[0.530555,0.834482,0.148834],[-0.021337,-0.162381,0.986497]]BH?0N??  ?[ٕĿc?iBZ>IBi/a;B&CYVIByVH XXli5Mb@Mb@Mb@1111 195K?S㥫X9vY5^?y5/]55 B5A 1)11Y5AbDM VDMԅ6y]%e=ٔeQ;Q-e ?9iYi=m(Fym=EmEm?qQ 5}4u1P?Q 94u)u3PBY0?Q E:y>Q I@u5~DIuz ;iuE:uB4yBɮB,EZRbj"11ړ19ڒ9’99=DA@颉ɢ86:=) >i)-<顡ibePɧk_駽]2i?t;I? ?IIQIiOu= Bz>BB>HBIBBBBBf;BCEAa ',DŽ?AJ>J?J<ٱJ' RAHRS rotation from veh to nav: [[0.848188,-0.525404,-0.067285],[0.529203,0.835059,0.150400],[-0.022834,-0.163175,0.986333]]JH@[$? 9:?θ? M@?a`Ŀ ?iJ>IJՂa;J#CYZIBy^HbDf VDf6ynZ;%nS=ٔr;};Q-r>9pYp=v(Fyv?EvEv>xQ 5~4zP?Q 9~4z()z%PBYy,>Q I@zD~DIz;iz;z4y ɮ B Z)R1b1j1"11ړ199ڒA’AAE`QtA@iɢm'=)q uC>iq)ud 27s?2|<ٱ2F( :AHRS rotation from veh to nav: [[0.848886,-0.524438,-0.066007],[0.528015,0.835595,0.151598],[-0.024349,-0.163542,0.986236]]2H *?2尿 ?1?@g?@Ŀ`>?i2d9>I2a;2%CYNIByRHieMb@Mb@Mb@aaaa a9eK?Zd;Mb`YayeyeeBe~A eA)aaYeAbD}^ VD}6ye*%@=ٔKi;Q->9Y=(FyAEԙSE>Q 54rP?Q 94))"PBY(?Q E:y>Q I@U~DI]:i ;| 4yBɮ2B-EZRbj"ړڒ’ѪA@ɢ=) 1>i!)%c&E EoE,E"E:*E:VEg4ZEa@a@a@a@iqIuA B |>B B HB IBB B B B g;B CE5, 8?A2fR>2 ?2_<ٱ2) :AHRS rotation from veh to nav: [[0.849779,-0.523153,-0.064703],[0.526495,0.836259,0.153209],[-0.026044,-0.164260,0.986073]]2Hc1?૽\ ??]?1wſ`?i2fR>I2b;2#CYRIByRHIV=)V9j ?Yj ?=j(FyjCEjEn>pQ 5v4rP?Q 9v4r)rPBYtyv>Q Iv@rc~DIr:ir:r4yxɮ~.B|ZRbj"!ړ!!ڒ!’!)- HA@ɢ!=) g>i)7+<i $QɧjȽPUiԠ?Ge;IԠ? Ԡ?I Am؟AIqIO>!QE  E sE *E "E ~:*E Z:VE (N4ZE BE ;a 2E ;a JE %];a :E &];a ԉ <;,!?A2>2 ?2<ٱ2s' :AHRS rotation from veh to nav: [[0.850447,-0.522386,-0.062079],[0.525317,0.837037,0.153005],[-0.027965,-0.162734,0.986274]]2H6?bȯf???ޢ@tĿ?i2>I2Hb;0YFIByFHbDRVDRӀ6yV#%VK=ٔZԜ;Q-Z>9^"?Y^"?=^(Fy^EE^\Eb>`Q 5f4bCP?Q 9j4b)bPBYhyj>Q Ij@bs~DIb ;ib ;b4yrBɮrFBr.EZRbj"  ړ  ڒ ’ B@9ɢ=Ft=)A E8>iA)E0BSM ?B<ٱB>' JAHRS rotation from veh to nav: [[0.851127,-0.521434,-0.060739],[0.524130,0.837572,0.154149],[-0.029505,-0.163035,0.986179]]BHoIBmb;B"CY=IBy=HiMb@Mb@Mb@ 91Zd?Zd;OZd;O?Y"?yj<j< B A)AYpAbDVDJz6y?;%8=ٔc;Q->9Y=(FyGEcJE>Q 54_P?Q 9 4i)!PBY ?Q E :y >Q I @~DI:i: 4yɮEBԱZRbj"ړڒ’IB@1ɢ54=)1 5>i1)=H6<99i= E3QɧEEpiEN?E;MyIMN? 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[?*?fN@Ŀ`B?i2>I2^;2"CYFHByFHIJ<)JbDjVDjI6yr%rj=ٔv>:Q-v>9tYt=z(FyzEz\Ez>Q 5 4R?Q 949p)NBYy?Q I@)DId;iu;4y-Bɮ5 B5 E9ZiRibqjq"qqړyyڒ’`(G@ɢF<) >i)/ȕ<i$mQɧg&`i?&&;I? ?IAE.AIQIaiOu>ԑE EsEE"EO:*EZ:VEZEBE;a2E;aJE%];a:E&];a G, ?A2r>2Q?2s=ٱ2# :AHRS rotation from veh to nav: [[0.845841,-0.532319,-0.034492],[0.530112,0.831608,0.165559],[-0.059446,-0.158321,0.985597]]2H !?`ᨡ ?? 1?@o CĿ?i2r>I26^;2!CY^`HBy^rHbDjVDjM6yr`%rJ=ٔr%:Q-r>9v ?Yv ?=v(FyvEzm9Ez>|Q 5U4~LR?Q 9U4~l)~MBYQyU?Q I]@~2DI~RN E  E rE *E "E :*E ?:VE (N4ZE a @a @a @a @,R ?ABͮ>B_=?B&v=ٱB;# JAHRS rotation from veh to nav: [[0.845975,-0.532138,-0.033998],[0.529830,0.831699,0.166002],[-0.060060,-0.158447,0.985539]]BH`9?F:h^?G???!GĿ?iBͮ>IB:Z^;B#CYnLHBynYH)pi}Mb@Mb@Mb@yyyy y9}Mb?MbpY}#?y}}̼yy y)yyYybDVDH6y=%?=ٔ:Q->9"?Y"?=(FyE>E>Q 54R?Q 94h)MBY3#?Q E:y ?Q I@;DI<:iE:4yBɮ5 B5EZqRqbqjy"yyړyyڒ’WH@ɢ0<) F=i)P<ir,RɧѺik?;Ik? k?I BU<AQB]>BYB]oHB]^HBB] =BYBYB];B]CEA!!I1IAOM1>Qy  ,6w* ?AYAHByLH   <bD%VD%A6y5ټ%=R=ٔ=Q-E>9AYA=M(FyMEMEU>YQ 5e4]S?Q 9m4]ge)]MBYiyiQ Im@]BDI];i];]W4y} Bɮ BZRbj"ړڒ’[H@ɢ$ <)  =i ) {U< i^B%Rɧ%>O%%i%?%ɨ;!I%? %?I)QE ElE,E"E:*E:VEg4ZEBE0ԁԱ ~ ,aD ?Au>ub2?u&x=ٱuВ" AHRS rotation from veh to nav: [[0.846032,-0.532102,-0.033120],[0.529669,0.831844,0.165789],[-0.060666,-0.157806,0.985605]]uH? ` ?x?8?2Ŀ@?iu>IuD2^;u!CY(HBy.Hi]Mb@Mb@Mb@YYYY Y9]+?{GzI +Y]v?y]#]94] BY Y)YYY]AbDuVDuF6yG]%6=ٔ:Q->9Y=(FyEE> Q 54 O&S?Q 94 a) MBY?Q E:ya ?Q I@ LDI :i : c4y!ɮ- B)ZIRIbIjI"IQړQQڒQ’QY]H@颁ɢ<) "=i)h<顉i:Rɧ8<駕:i?p;I? ?ID=D<E EjE*E"Ea:*E9VE(N4ZEa@a@a@a@u1 BI BI BM 0HBM +HBBM =BI BI BM +;BM CEI I O >Q "7,pC^ ?AB>B$?B,z=ٱBk" RAHRS rotation from veh to nav: [[0.846116,-0.532010,-0.032442],[0.529478,0.831987,0.165682],[-0.061153,-0.157364,0.985646]]BHb?9 K|? ?`5?`dO}$Ŀh?iB>IBF^;B CY^.HByb5HbDrVDr B6yzJ<%~g=ٔ:Q-?9 Y = (Fy EE?!Q 5-4%5S?Q 954%^)%MBY9y=T ?Q I=@%RDI%_;i%e`;%[ 4yEBɮM BMEZiRibiji"qqړqqڒq’qy}H@!ɢ%d<)! %;=i!)MlYE EyE,E"E:*E:VEg4ZEBE޽;a2E߽;aJEr;a:Er;aԙ \, x ?A4:Qz>:?:|=ٱ:Y! BAHRS rotation from veh to nav: [[0.846228,-0.531885,-0.031564],[0.529239,0.832207,0.165338],[-0.061673,-0.156619,0.985732]]:HM?3#)`? q? )? Ŀ@?i:Qz>I:i^;:$CYJ"HByJ&HIR%=)R4=bDVVDVI6y^%^O=ٔb!:Q-b>9`Y`=f(FyfEf.Ef>hQ 5n4jGS?Q 9n4jl[)jtMBYpyrC ?Q Ir@jZDIj;ija;j74ytɮv BtZ R bj"ړڒ’% I@IɢM`<)I M0 =iI)U D zD E  E sE -E "E ~:*E Z:VE t4ZE a @a @a @a @bD$, ?A2$X>2?2u/=ٱ20 :AHRS rotation from veh to nav: [[0.846335,-0.531781,-0.030427],[0.528999,0.832484,0.164712],[-0.062261,-0.155497,0.985872]]2H-?`Y3( ??@G?௿ UÿD?i2$X>I2.^;2!CYNHByRH|iMb@Mb@Mb@ 9^I +?Mbp9Y=(FyEDE>Q 54YS?Q 94W)hMBY]?Q E:y ?Q I@bDIj:i J;4yBɮ BEZR b j "  ړ ڒ’XI@AɢEޤ<)A EBBHBHBB =BBBY;B%DE)IIO-p>Qԁ n*,8 ?A2 >2?2=ٱ2 BAHRS rotation from veh to nav: [[0.846615,-0.531376,-0.029705],[0.528474,0.832770,0.164954],[-0.062915,-0.155351,0.985854]]2Hx?`@jA? ?7?:ÿ`?i2 >I2#^;2CYNHByNHbDZfVDZh<6yb%fZ=ٔfk:Q-f>9hYh=j(FyjEn кEn>tQ 5z4viS?Q 9z4vT)v]MBYxy~ ?Q I~@vjDIv\(;ivG);v`4y ɮ  B YZRbj"ړڒ’II@!ɢ-O<)) -pC1YiԉTB9Y3AԱ 8Z1,& ?A2=24=MЭ>M?M1=ٱM_p! AHRS rotation from veh to nav: [[0.846855,-0.530951,-0.030452],[0.528103,0.832790,0.166039],[-0.062799,-0.156693,0.985649]]MH`p?@.7?`6?@?`Ŀo?iMЭ>IM];M!CYEGByEH IIiMb@Mb@Mb@ 95^I ?~jt?:v?Y?y<<Y BA )cBYAbDVDC6y&%+=ٔ̀Q->9Y=(FyE tsE >Q 54}S?Q 94P)VMBYI?Q E:y?Q I%@sDI:if:&4y.Bɮ` BEZRbj"ړڒ’I@ɢnM<) |i) X)B>BBHBGBBBBBc;B0DEQ 07, z ?AN6>N ?N1=ٱN VAHRS rotation from veh to nav: [[0.846918,-0.530879,-0.029961],[0.527990,0.832969,0.165495],[-0.062901,-0.155980,0.985755]]NH ?`$L??.?M`(ÿN?iN6>IN5l];LYbHBybHbDj)VDjd56yr=%rt=ٔv?9Q-v?9v ?Yv ?=v(FyvEzɹEz?|Q 54~tS?Q 94~M)~QMBY y ?Q I @~yDI~:i~ :~,4yBɮ6 BEZ1R1b9j9"99ړ99ڒA’AAE`@I@iɢu4l<)q uaE~ EEE"E:*EVEZEBEw;a2Ex;aJE@;a:E@;aԩԹ !=,7P ?A.d>.?.$=ٱ.h :AHRS rotation from veh to nav: [[0.846955,-0.530830,-0.029773],[0.527917,0.833028,0.165435],[-0.063016,-0.155834,0.985771]].HA?@|@?*?,?@!\ÿp?i.d>I.)];,YvHByvHbD~VD~C6y  -% H=ٔœ9Q->9"?Y"?=(FyESE%>!Q 5-4%lS?Q 9-4%J)%KMBY1y5?Q I5@%DI%:i%:%34y=#BɮEC BEEZaRabaja"aaړiiڒi’iiu$J@颙ɢc<) d;i)gh<顡iF[OQɧu=駭J;i1?F;I1? 1?IԙAAIQIaOu>E  E E ,E "E a:*E *:VE g4ZE a @a @a @a @ D,+ ?A2a>2?2G=ٱ2 :AHRS rotation from veh to nav: [[0.847097,-0.530608,-0.029701],[0.527682,0.833159,0.165524],[-0.063083,-0.155888,0.985758]]2Hj?@i?=?@/?0& ÿ U?i2a>I2\;0YBGByFHIH)J=i Mb@Mb@Mb@     9 x?Q?X9v?Y K?y \= <  dA A)  Y bD}gVD}<6y%C=ٔ&9Q->9Y=(FyE+E>Q 54qS?Q 94.F)EMBY?Q E:y?Q I@DIT;i;;4yɮR BZRbj"ړڒ’ZJ@!ɢ%ӑ<)! %>i!)-S<))i-5~Qɧ5=5>;i5 4?5=f;9I= 4? = 4?I9BBBHBGBBBBBp;B=DEB]GCB]GCBYB]ˆ =B]ˆ =C]4AIIO>!I ׾J,- ?AV>V?V=ٱV8 nAHRS rotation from veh to nav: [[0.847112,-0.530570,-0.029940],[0.527680,0.833157,0.165540],[-0.062886,-0.156030,0.985748]]VH@?m?8?k0?J ÿ@@?iV>IV\;TYvGByvHbDQVD96y`%R=ٔQ->9Y=(FyE%`ѷE%>)Q 5-4-9S?Q 954-B)-@MBY1y1Q I=@-DI-;i-@;-A4yE!BɮEY BAZaRabaja"iiړiiڒi’iqu`1J@ɢ <) Pi!)%-ԑ Q,F ?ALj >j?jj=ٱjG =AHRS rotation from veh to nav: [[0.846636,-0.531308,-0.030332],[0.528512,0.832770,0.164832],[-0.062317,-0.155583,0.985855]]jH`?yC? ?5? 诿%ÿ@ ?ij >Ij\;hY}GByHbDVVD:6y;%==ٔQ->9Y=(FyE ;E>Q 54S?Q 94>);MBYy?Q I@DI:iA:I4yɮV BZRbj"ړڒ’J@ɢ<) i)<i?%OQɧ%=%i;i%7?%;!I-7? -7?I)A9IIIYEe} EeqEaEa"Ee݉:*Ee$ :VEaZEaau@au@au@au@O}7>B>BBHBGBB =BBBf;B3DE! 7W,` ?A2$h>2 ?2[}=ٱ2@' :AHRS rotation from veh to nav: [[0.846298,-0.531816,-0.030857],[0.529120,0.832468,0.164409],[-0.061748,-0.155466,0.985910]]2H? ??W ?dLÿ@?i2$h>I2\;2 CYFGByFH HH|iUMb@Mb@Mb@QQQQ Q9US?&1?y&1?YU?yUP=U`9Y=(FyE:E>Q 54S?Q 94:)4MBYV?Q E:y-&?Q I@DI; ;i;,P4y%Bɮc BEZRbj"ړڒ’AJ@ ɢ x{<)  żi ) i<i݂nQEu EulEu+Eq"Eu:*Eu:VEu [4ZEqBEu#;a2Eu$;aJEuC;a:EuC;aԁ V],=z ?A2>2)?2{=ٱ2 ! :AHRS rotation from veh to nav: [[0.846064,-0.532168,-0.031189],[0.529530,0.832246,0.164207],[-0.061428,-0.155445,0.985933]]2H@?#?@á?`? s ÿŒ?i2>I2z];0YFGByFHbDN0VDN266yV|%VX=ٔZ ^Q-Z>9XYX=Z(Fy^E^:E^>`Q 5f4bS?Q 9f4bQ7)b.MBYhyjK&?Q Ij@bDIb:ib:bV4ylɮn{ BpZRbj"ړ ڒ ’   %K@Y颹ɢ/w<) Bi)͕<i T(Qɧ=A;i?*R;I? ?I II)O5 >ԁԹ E  E kE ,E "E ~:*E :VE g4ZE a @a @a @a @d, ?A:>:N?:!x=ٱ:r BAHRS rotation from veh to nav: [[0.845809,-0.532497,-0.032472],[0.530040,0.831879,0.164424],[-0.060542,-0.156283,0.985855]]:H ?7 :?@? ?_Ŀ ?i:>I:];:CYNGByNHiMb@Mb@Mb@ 9^I +?Mb?9IYI=U(FyUEUq:EU>YQ 5e4]S?Q 9e4]3)]!MBYmI?Q Em:ymq+?Q Im@]DI]:i]\:]?^4yu)BԡAAAAB%>B!B%HB%GBB% =B!B!B%6;B%DEɮ B=EGSMB*** querying acoustic contact ***:QBQZYRYbYjY"aaړaaڒa’iim_K@ɢ<|<) <=i)?<iQɧ:= b;i'?;I'? '?II I!O5.>M 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode. k,DQ ?A:7>:r?:t=ٱ:?`" BAHRS rotation from veh to nav: [[0.845569,-0.532782,-0.034017],[0.530522,0.831443,0.165071],[-0.059664,-0.157625,0.985695]]:H`? j` ? /? !?9-Ŀ Њ?i:7>I:k9];:!CYNGByNHIn=)n=bDrVDr26yz%zR=ٔ~Q-~>9Y=(FyET:E> Q 54 pT?Q 94 G/) MBYy+?Q I@ DI ;i &; e4y%Bɮ-l B- EZIRIbIjI"IIړQQڒQ’QY]DK@颁ɢ-l<) ^i)B<顉is}IQɧ9=駝Ïk;i?;I? ?II!Ey E}qE}*Ey"Ey*E}$ :VE}(N4ZEyBE};a2E};aJE}U;a:E}U;aIO=*DAT read: user:136> BDAT read: Tx time:21:01:41.9970 $Ping request sent.FO?Fr=ٱF=" RAHRS rotation from veh to nav: [[0.845344,-0.533117,-0.034356],[0.530925,0.831252,0.164737],[-0.059266,-0.157500,0.985739]]FH  ?`K W??? X(Ŀ,?iFs>IF ];F CYjGByjHbD]VD]o36ye%%m5=yٔeQ->9Y=(FyE:E>Q 54 T?Q 94*) MBYy+?Q I@DI;id;m4yBɮ B EZARAbAjA"AAړAIڒI’iiuK@颹ɢe<) i)d<i {Pɧgr=.A;i?;I? ?IIqIO>DD<E EsE,E"E:*EZ:VEg4ZEa@a@a@a@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.510808B9B9B=HB=GBB9B9B9B=;B=CE fx,  ?A2Oݯ>2,?2Bp=ٱ2! :AHRS rotation from veh to nav: [[0.844949,-0.533710,-0.034863],[0.531628,0.830938,0.164055],[-0.058589,-0.157152,0.985835]]2H` ? &١`? ?@?aĿ?i2Oݯ>I2%];2"CYFGByFHi Mb@Mb@Mb@     9 ʡE?T㥛 ?Mb?Y ?y = < / B  A)  Y AbD%VD%&6y5h%5`=ٔ=Q-=>9AYA=E(FyEEE;EM>IQ 5U4MR/T?Q 9U4M/')MLBY]?Q E]:y]*?Q Ie@MǀDIM;iM=;MRs4yiɮm BiZ R b j "  ړ ڒ’19=SK@颁ɢ@<) 8i)ݕ<顙ixPɧN=駥Na%;i#?n;I#? #?IIQIauchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.762905O}=E ErE+E"E:*E?:VE [4ZEBE;a2E;aJEY;a:EY;a % jA) 9 e 49m jAYm %A% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014882Q H~,u ?AFW>F\?Fl=ٱFP! RAHRS rotation from veh to nav: [[0.844493,-0.534394,-0.035416],[0.532443,0.830598,0.163132],[-0.057760,-0.156621,0.985968]]FH@?"@ ?A??@( Ŀ ?iFW>IFJ];FCYnGBynH ppbDvVDv-6y~<%N=ٔQ- >9Y=(FyE,;E%>)Q 5M4-?T?Q 9M4-)#)-LBYQyUX*?Q IU@-πDI-;i-;-Qz4ye"BɮamEZRbj"ړڒ’*L@qɢufL<)q ujiq)}KZ2#?2i=ٱ2*! :AHRS rotation from veh to nav: [[0.844259,-0.534721,-0.036058],[0.532895,0.830413,0.162592],[-0.056999,-0.156485,0.986034]]2H+?n@$vz ??? .Ŀ?i2T>I2{K];2C@YFGByFHiMb@Mb@Mb@ 9K7A?i|?5?{GztY "?yq=ף B )YGAbDVDt-6yM %@=ٔ&Q->9Y=(FyEe:E>Q 54QT?Q 94)LBY"?Q E:yd'?Q I@׀DI:i:4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518966B>BHCBhHBGBBBBB;BCEy&Bɮ BEZ!R!b)j)"))ړ))ڒ1’115`L@ɢ@<) ½i)f<is5Pɧ=:iP?;IP? P?IԩAaIiIyO:> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770859 pX,/?A2Z>2&?2f=ٱ29" :AHRS rotation from veh to nav: [[0.844276,-0.534607,-0.037331],[0.532960,0.830292,0.163000],[-0.056145,-0.157513,0.985919]]2H`N? ? ?2?f)Ŀ?i2Z>I2Lg];2 CY^GBybgHbDjVDj"6lyrw%rX=ٔvQ-v>9tYt=z(FyzEz8Ez>|Q 54~aT?Q 9 4~ )~LBY y e'?Q I @~߀DI~-:i~|:~R4yɮ BZRbj"ړڒ’L@ɢ*<) i)<isq ,Pɧ < :i :?;I:? :?IEe EesEe(Ea"Ee~:*EeZ:VEec44ZEaBEe;am2Ee;auJEe%];au:Ee&];au AaIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024042Qa L@,*qI?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2749096l>6K?6b=ٱ6,X" JAHRS rotation from veh to nav: [[0.844015,-0.534957,-0.038205],[0.533463,0.830044,0.162620],[-0.055283,-0.157635,0.985949]]6H+? ^@` ???@N_-Ŀ?i6l>I6X];6!CAY=~GByE\HIM=)M;iiMb@Mb@Mb@ 9}?5^I?v/?{GzYM"?yxi=#/ B )YAbD-VD-!6y5%==ٔ=ϺQ-=>9AYA=E(FyEEM:EM>QQ 5]4UxT?Q 9]4U)ULBY]"?Q E]:y]f&?Q I]@DaDe<Em EmmEm+Ei"Em:*Em:VEm [4ZEiau@au@au@au@UDIU";iU֥;Uڑ4y*Bɮ BZRbj"ړڒ’L@ɢ'<) i)ْ<inwPɧ[<^]:i?;I? ?IԑB>BBPHBtGBBBBB;BCEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526929BBBBBC[4AII)O=> Uj,Kc?A6>6FZ?6ӌ_=ٱ6}" >AHRS rotation from veh to nav: [[0.843931,-0.535038,-0.038928],[0.533672,0.829964,0.162342],[-0.054551,-0.157780,0.985966]]6Hz? U`??@?` `"2Ŀ` ?i6>I6{V];6#C D)FnAFԼDDHJnAiJ9IHHILiL NԼL)LP PRjPPTTIT)TiT)TIZ~nAZ 0X XXZnAZTi\\i\`)` `I`Y`YfzGByfXHbDrVDr6yzV%z=ٔz 6Q-z)?9|Y|=~(Fy~Ep\:E)? Q 54 &T?Q 94 ) LBYyt&?Q I@ DI 6;i ; w4y!ɮ% B!ZARIbIjI"IIړIIڒQ’QQU@'L@颁ɢD;) %i)K<顉ilPɧtN<駕a*%:i?ԙ;I? ?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779379AII O>Eu EurEu)Eq"Eu:*Eu?:VEuFA4ZEqBEuE;a2EuF;aJEuY;a:EuY;a checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030911! ,p'}?A:*h>:?:\=ٱ: " JAHRS rotation from veh to nav: [[0.843576,-0.535549,-0.039577],[0.534319,0.829699,0.161563],[-0.053688,-0.157438,0.986068]]:H?7# bC#?@??}&Ŀ`ߍ?i:*h>I:r];: CrPExceeded connect timeout, disconnecting.YmGByGHbDzVDC!6y-?%-8=ٔ-Q-->9iYi=u(Fy}E}:E}>Q 54eT?Q 94J)}LBYy&?Q I@DI;i;_4yBɮ BEZRbj"ړڒ’2M@ɢR<) ji)0<<i/j Pɧ ;F9i<?Ȅ;I<? <?I!A.AIIOE>echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282853QE  E iE +E "E O:*E 9VE [4ZE a @a @a @a @ԑ \|,O?A2?>2$?2XY=ٱ2l! :AHRS rotation from veh to nav: [[0.843449,-0.535706,-0.040151],[0.534591,0.829621,0.161064],[-0.052973,-0.157313,0.986127]]2H`?$]?A??J "Ŀ@Z?i2?>I2Y];2CY[GBy1H !!B>BB*HBUGBBBBB;BCEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534875iMb@Mb@Mb@ 9x&1?A`"?y&1YA ?yY=`e BA OA)YbDVD6y z9%L=ٔYQ->9 ?Y ?=(FyE%MG:E%>)Q 554-T?Q 954-h )-gLBY5 ?Q E5:y=$%?Q I=@-DI-X ;i- ;-94yAɮE BAQZiRibiji"iiړqqڒq’qy}`_dM@IɢMZ;)q u%iq)} %A>ԁIIOF>ԩu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786826 ),ܰ?A2챱>2z?2aV=ٱ2q! :AHRS rotation from veh to nav: [[0.843340,-0.535830,-0.040789],[0.534834,0.829545,0.160648],[-0.052244,-0.157297,0.986169]]2H?`%S⤿ ]? ??@L"Ŀ`?i2챱>I27];0Y^GGBybHbDj VDj~6yr9tYt=v(FyvEz=:Ez>|Q 54~NT?Q 94~)~SLBYy 5%?Q I @~DI~3;i~:~4y#Bɮ BEZ1R1b1j1"99ړ99ڒA’AAEM@ɢى;) 8i)<iee_Pɧ T Zpi q? NL; I q? q?IEM EMkEM)EI"EM:*EM:VEMFA4ZEIBEM#;a]2EM$;a]JEM@;ae:EM@;aeԱII!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038821nManaging dock network, ignoring radio surface power off 9 ,,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.290876N>Nб?NŐS=ٱN " VAHRS rotation from veh to nav: [[0.843348,-0.535774,-0.041353],[0.534882,0.829564,0.160392],[-0.051629,-0.157385,0.986187]]NH`?%>,?`ɋ?? o@4%Ŀ׎?iN>IN];N CY^7GBy^HbDz VDza6y %H=ٔźQ->9 Y = (Fy E A8E>Q 5%4T?Q 9%4)EU~ EUpEU+EQ"EU:*EU :VEU [4ZEQam@au@au@au@9B}>ByB}HB}7GBByByByB} ;B}CEDAT read: 21:01:46.0600 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 471, 0.00, 2.935, 1.107, 2.864, 2.568, PHS= 0.470,-1.416, 0.253, RAW= 144.0, 7.8, CAL= 143.5, 8.5, ROT= 6.5, -8.5  Ygot valid direction response: 21:01:46.0600 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 471, 0.00, 2.935, 1.107, 2.864, 2.568, PHS= 0.470,-1.416, 0.253, RAW= 144.0, 7.8, CAL= 143.5, 8.5, ROT= 6.5, -8.5 BDAT read: Rx Time:21:01:46.0600 TRx dataTimestamp_ set to:1761512507.431964@DAT read: $Low SNR acquisition 2Received low SNR in chirpX#Rx 1: Read direction message, but no range.\direction in FSK: [0.982658,0.111960,0.147809]y9q?U*oIe?%)k? )ZIף>i}?7>| @'g >J @ >)V=Iu?OM?,6 b? &>)_ IV=ii ڸ,B?A 6˱>6m?6wO=ٱ6A" >AHRS rotation from veh to nav: [[0.843301,-0.535780,-0.042238],[0.535043,0.829521,0.160072],[-0.050727,-0.157588,0.986201]]6HQ?%*`?p??}?+Ŀ?i6˱>I6ַ];4Y^6GBy^HIb<)b%=iMb@Mb@Mb@ 9{Gz?i|?5?~jtY#?yq= B )YGAbDVD(6yfH%@=ٔ- Q->9Y=(FyE9E>Q 54T?Q 94h)"LBY$?Q E:y&?Q I@DI;iA;+4y'Bɮ B EZRbj"ړڒ’   M@1ɢ=@;)9 =Ii9)=st<9AiE6L`MPɧM1MkaiM?MF;IIM? M?IQII O=iԙEU EUwEU)EQ"EUO:*EU:VEUFA4ZEQBEU;ae2EU;aeJEUk;ae:EUk;ae ,p?APN'>NP?NL=ٱNN! ZAHRS rotation from veh to nav: [[0.842958,-0.536273,-0.042815],[0.535654,0.829259,0.159389],[-0.049972,-0.157292,0.986287]]NH?`&)륿 $? J?`f?㕩@$"Ŀ੏?iN'>IN];NCYbGBybHbDnVDnz 6yvә%vW=ٔvyQ-v>9xYx=z(FyzE~:E~>Q 5 4T?Q 9 4) LBY y  '?Q I @!DI:i :4yɮ6 BZRbj"ړڒ’ /N@ɢ :) fi)<!i%]%Pɧ-ļ-Yi-"?-T;)I-"? -"?IQIIO=9==! D] @AzD] @AEe  Ee qEe ,Ea "Ee a:*Ee $ :VEe g4ZEa am @am @am @au @,Y?A:>:\"?:I=ٱ:މ! FAHRS rotation from veh to nav: [[0.842537,-0.536881,-0.043482],[0.536398,0.828938,0.158552],[-0.049079,-0.156910,0.986393]]:H? .PC`,*? ?nK? Ŀ?i:>I: ];:CYNGByNHlBA<B B B HB GBB B B B !;B CEiEMb@Mb@Mb@AAAA A9E}?5^I?v/?~jtYEM"?yExi=EļE/ BA A)AAYEAbD]VD] 6ymX%m@=ٔu Q-u>9qYq=(FyµE:E>Q 5 4T?Q 9 4)KBY #?Q E:y_&?Q I@)DI:i;4y=+Bɮ=U B= EZRbj"ړڒ’2hN@Iɢm99)i u}iq)uP)Qԁ ,'2?A2IIJ>28?2F=ٱ2! :AHRS rotation from veh to nav: [[0.842378,-0.537108,-0.043750],[0.536700,0.828887,0.157797],[-0.048490,-0.156405,0.986502]]2H? /@]f ,?@=?2?Ө`Ŀl?i2IIJ>I2m];2 CYnFBynHbDvVDv6  Cy ʽ%%S=ٔEĺQ-M>i9e"?kAԁYu"?=(FyĵE9kAYsA(d:E>Q 54|U?Q 94)KBYyw&?Q I@1DI;i;`4yɮ| BE EE*E"E:*EVE(N4ZEBE;a-2E;a-JEU;a-:EU;a-ZRbj"ړڒ’!N@ɢ o)%zso %i!)%NAm>ԱAIIOC> ,L?A2>2S?2SD=ٱ2ڄ >AHRS rotation from veh to nav: [[0.842179,-0.537402,-0.043976],[0.537059,0.828784,0.157114],[-0.047987,-0.155936,0.986601]]2H@!?e2/?`f?P?ÿI2];0YFFByFHbDRVDR6yV%ZP=ٔZKQ-Z>9|Y|=~(Fy~ƵE:E> Q 54 U?Q 94 G) KBY)y-&?Q I-@ 9DI ;i ; 4yEBɮEp BEEZaRabaja"aiړiiڒi’iqu(N@ɢ) hi)< i  U%lPɧ-2-$i5rU?=;9I=rU? ErU?ID=DbEęT4jER4rEd/E) E-rE--E)"E)*E-?:VE-t4ZE)a5@a5@a5@a5@A.AIIOD>B%>B!B%HB%FBB!B!B!B%L;B%DE)Q ,e?A6>6L?6/:A=ٱ6= >AHRS rotation from veh to nav: [[0.841500,-0.538402,-0.044729],[0.538194,0.828184,0.156390],[-0.047157,-0.155675,0.986682]]6H@?`:榿8?{??$'ÿ@?i6>I6^;6CYFFByF}HiMb@Mb@Mb@ 9K7A?J +?I +Y "?yH=9A A)YbDmgVDm6yg%?=ٔgQ->9 ?Y ?=)FyȵE^L;E>Q 540U?Q 94)KBY"?Q E:y#?Q I@BDI;i;n4y$Bɮ BEZ)R)b)j)")1ړ11QڒQ’YY] O@颡ɢ@폻) i)f<顩iRQɧnCXiVG?;IVG? VG?IA%؟AI)I9OM0>aE= E=pE9E9"E=:*E= :VE9ZE9BE=#;aE2E=$;aEJE=:R;aE:E=:R;aMԉԹ 1,=?A62>6?6_<=ٱ6# >AHRS rotation from veh to nav: [[0.840972,-0.539122,-0.045970],[0.539110,0.827644,0.156097],[-0.046108,-0.156056,0.986671]]6H>?|@ad@?|?`? ÿϒ?i62>I6];6!CYJFByJLHbDRTVDR5yZ$ҽ%ZX=ٔZ7Q-^>9^"?Y^"?=b)FybʵEb8;Eb>dQ 5j4f@U?Q 9j4fS)fKBYhyn%$?Q In@fIDIfD;ifr;f4ypɮr BpZ R b j " ړڒ’0O@AɢE)I MjiI)MbD9 zD= AAEE  EE jEE ,EA "EE :*EE 9VEE g4ZEA aM @aM @aM @aM @ ,d?ANo>N?N ;=ٱN/ VAHRS rotation from veh to nav: [[0.840739,-0.539467,-0.046189],[0.539513,0.827498,0.155474],[-0.045652,-0.155632,0.986760]]NHU?PCC? z?`?_ÿ?iNo>IN];NCBb>B`BboHBbFBB`B`B`Bb;BbQDEBHCBHCBBBC`4YFBy;HiMb@Mb@Mb@ 9K7A?&1?V-YyP= BA )YbDEVDp5y%.=ٔ~Q->9Y=)Fy͵E*:E>Q 5 4UU?Q 9 4)kKBY "?Q E-:y-$?Q I5@SDI`;i%;M4y=(BɮE BMEZRbj"ړڒ’`nO@ɢh) ~i)%`|I B,m?A2δ>2=?2c9=ٱ2I >AHRS rotation from veh to nav: [[0.840360,-0.540059,-0.046166],[0.540137,0.827274,0.154497],[-0.045246,-0.154769,0.986914]]2H@:?*H`H?y? ?l* vÿ̔?i2δ>I2];2CYDyDbDNQVDN35yr:%rm=ٔv욺Q-v?9tYt=v)FyzεEz ;Ez?|Q 54~~cU?Q 94~4)~UKBY y $?Q I @~ZDI~:i~:~54yɮ BZ1R1b1j9"99ړ9AڒA’AAE@)O@qɢuO)q uFiq)}QEy2I2];0@YFiFByFHbDRUVDR5yVrѽ%ZN=ٔZQ-Z>9XY\=^)Fy^еEbk:Eb>dQ 5j4fntU?Q 9j4f;)f:KBYhyj%?Q In@fbDIf:ifB:f'4yr,Bɮr BrEZRbj"ړڒ’O@颁ɢKB) ˾i)s<i[G53Qɧ==XiE?E2;iIu? u?IԱA>A>E  E iE *E "E ҝ:*E 9VE (N4ZE a@a@a@a@A9IAIQOeU>BBB0HBFBBBBB;BUDE T,#?A2C>2(?2R3=ٱ2" :AHRS rotation from veh to nav: [[0.839531,-0.541272,-0.047038],[0.541547,0.826686,0.152700],[-0.043766,-0.153670,0.987153]]2Ho?Re`YT?6t?? hqÿ?i2C>I2];2CY^dFBy^HpiMMb@Mb@Mb@IIII I9M?Q?X9vYM ?yM\=MM BI I)IIYMGAbDe>VDe5yuvV%u>=ٔQ->9Y=)FyӵE;E>Q 54YU?Q 94)KBYr ?Q E:y?Q I@kDI:i:4yɮ BZ1R1b1j1"99ړ99ڒ9’AAEP@iɢm>Z)q u;iq)u*Fn1E~ EoE)E"E:*E:VEFA4ZEBEw;a%2Ex;a%JEN;a%:EN;a-a <,?A:>:?:\-=ٱ:O BAHRS rotation from veh to nav: [[0.839112,-0.541798,-0.048432],[0.542307,0.826308,0.152045],[-0.042358,-0.153848,0.987186]]:H?@iV!̨ Z?@q?`4v? ⯥Iÿ?i:>I:^E^;:"CY^LFBybHbDjTVDj5yr&x%rT=ٔrxQ-r>9v ?Yv ?=v)FyvԵEv;Ez>xQ 54z4U?Q 94zw)zKBY y ?Q I @zrDIz";iz #;z_4y0Bɮ BEZ1R1b19j9"AAړAAڒA’IIMP@qɢum)y }پiy)}<ida>>8?>4(=ٱ>FE JAHRS rotation from veh to nav: [[0.838849,-0.542101,-0.049578],[0.542813,0.826115,0.151285],[-0.041054,-0.153817,0.987246]]>H`?XSb`^?`o?J]? Cÿ`?i>da>I>^;>CY@FBy%HԹiMb@Mb@Mb@ 9Cl?Q?Q롿Y;?yu<\ B )BYbD%MVD%G5yuռ%u7=ٔ};Q-}>9}"?Y}"?=})Fy}׵E:E>Q 54U?Q 94U)JBY?Q E:y?Q I@{DI ;i; ;V4y Bɮ BEZRbj"ړڒ’7P@!ɢ%\q)) -߾i))-b<11i5==jZQɧ=_=l2i=+?=.;9I=+? =+?IAA]iAzAYA.AIIOE>9 , 4?A.Ŷ>.c9?.G!=ٱ.k :AHRS rotation from veh to nav: [[0.838486,-0.542525,-0.051061],[0.543490,0.825809,0.150530],[-0.039500,-0.153969,0.987286]].H?`^\`$@Dd? m?D?P9>ÿؗ?i.Ŷ>I.qo_;,YBFByBHbDN[VDN@6yV\ܽ%Vg=ٔVÓQ-V?9Z ?YZ ?=Z)FyZصEZn;E^?`Q 5b4bU?Q 9f4b3)bJBYdyf?Q If@bDIbB:ib|:b^4yj$Bɮn/ BnEZ|R|byjy"yyړyڒ’ MP@ɢyư) UE EpE+E"Ea:*E :VE [4ZEBEh;a2Ei;aJE:R;a:E:R;ai)\<ik:%cQɧ%@-B)i-^C?-;)I-^C? -^C?I1IAIYuAqԙ x,KN?A2[>23J?2 <=ٱ2( :AHRS rotation from veh to nav: [[0.838407,-0.542459,-0.053029],[0.543744,0.825716,0.150118],[-0.037646,-0.154694,0.987245]]2H@:?[`&Xf?El?@ 7?VFÿ?i2[>I2Y`;2CY^FBy^HbDjGVDj5yr d%rG=ٔrʓQ-r>9tYt=v)FyvڵEv#:Ez>xQ 5~4zU?Q 94zw)zJBYy+?Q I@zDIz;iz;z4y Bɮ BZ1R1b1j1"11ړ99ڒ9’9AE@/gP@iɢmҘ)i uiq)u7VBaBeHBe$FBBe =BaBeDBe[;Be0DE^Aurg:IIO> , kh?AYFByH !!iMb@Mb@Mb@ 9Gz?{Gzty&1Yp?yף`/ B A))BYAbDNVD5y<%<=ٔQ->9YI=M)FyMݵEUEU>yQ 54}U?Q 94})}JBY?Q E:yk?Q I@}DI}{r;i}qF;}z$4yBɮ BEZRbj"ړڒ’P@1ɢ5m)9 =3i9)=b)O<99i=c4EIpQɧEEiM?M ;IIM? M?IQ^AMH<IIO >-MGAY<9Y-AE EqE*E"E:*E$ :VE(N4ZEBEE;a2EF;aJEU;a :EU;a )  ,=G?A022>2o?2a =ٱ2 >AHRS rotation from veh to nav: [[0.838196,-0.542502,-0.055847],[0.544291,0.825709,0.148165],[-0.034266,-0.154588,0.987385]]2H ? ,\@j?@4l?@?@T@ÿ?i22>I2`b;2!CYfEByfHbDrFVDr5yvA%zY=ٔzfQ-z>9|Y|=~)Fy~ߵEg:E> Q 5 4 RU?Q 94 ) JBYy?Q I@ DI ):i y: *4y!ɮ% B!ZARAbAjA"AIړIIڒI’IQUP@yɢ}Iм) i)UoI<顁iԪ1sqQɧл駕 i?R;I? ?I@@@@ԉIIO=>Թ bEjEY4rEַ/E  E sE )E "E ҝ:*E Z:VE FA4ZE a @a @a @a @i&,%?AAA?AB>BICBHBFBB =BBBb;B9DENB>Nw?N߬=ٱN ^AHRS rotation from veh to nav: [[0.838189,-0.542287,-0.058008],[0.544433,0.825717,0.147598],[-0.032142,-0.155296,0.987345]]NHp?iZJk?`El?{? t@ÿ`T?`iNB>IN*c;NCYnEBynxHiMb@Mb@Mb@ 9ʡE?~jtQY?yļu BA )YAbD NVD 5y%9=ٔ%Q-%>91Y9=E)FyEEU9EU>YQ 5e4]NV?Q 9e4]Լ)]JBYm?Q Em:ym?Q Im@]DI]<:i]:]24yuBɮu B}EZRbj"ړڒ’oP@iɢu.)q uiq)uJAA v,,\?A2D>2(H?2;P<ٱ2/! :AHRS rotation from veh to nav: [[0.838633,-0.541362,-0.060180],[0.543853,0.826060,0.147811],[-0.030307,-0.156688,0.987183]]2H? RϮ>g? o?`u?@XĿ?i2D>I2cd;2CYBEByFsHIJa=)J=bDNOVDN5yV`2%Ve=ٔZMQ-Z>9XYX=Z)FyZE^^E^>`Q 5f4b V?Q 9f4b)bxJBYhyjs?Q Ij@bDIb:ib:b84ynBɮn BnEZ|Rbj"ړ ڒ ’   3P@9ɢE)A EiA)E+<F?Fu<ٱF" NAHRS rotation from veh to nav: [[0.839021,-0.540551,-0.062033],[0.543352,0.826436,0.147556],[-0.028495,-0.157508,0.987106]]FH`C?0L¯ #c?)r? ?@-;)Ŀ@`?iFb>IFke;FCYEBykHbD1VD1ye%e?=ٔe!Q-m>9iYi=m)FymEu4ºEu>yQ 54.&V?Q 94i)lJBYyH?Q I@DI:id:'@4yɮ BZRbj"ړڒ’P@9ɢEiü)A EiA)E4D=DE EE*E"E:*EVE(N4ZEa@a@a@a@B%>B!B%hHB%EBB!B!B!B%Y;B%2DEBBBBBCŠ4 s9,c?A2=2>2?2?<ٱ2ɔ" :AHRS rotation from veh to nav: [[0.839449,-0.539709,-0.063555],[0.542773,0.826883,0.147181],[-0.026883,-0.158047,0.987066]]2H@?LE`&Ee^?u??@@:Ŀ ?i2=2>I2f;2CYNEByR`Hi]Mb@Mb@Mb@YYYY Y9]Q? rhY](?y]C ]YY ]A)]BYYYbD}MVD}G5y%G=ٔĀQ->9"?Y"?=)FyE E>Q 548V?Q 94$)gJBYg?Q E:y?Q I@DIl;i" <TG4yBɮ+ BEZ1R1b1j1"99ړ99ڒA’AAEvQ@1ɢ5^μ)9 =i9)=_ -<99i=%E`CQɧE=M[;iM@?M;IIU@? 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YſX?i6c>I6F`;6CYHyN%HAieMb@Mb@Mb@aaaa a9eʡE?A`"?I +?Ye?yeY=e94=aa e5A)eAaYeA p<bDVDt-6yl%9=ٔ%Gm;Q-%>9-"?Y-"?=-)Fy5ĶE=o{E=>AQ 5E4Es]?Q 9M4E)E7KBYM?Q EM:yM/?Q IM@E0DIEH:iE:E<4yYɮYYZyRybyjy"ړڒ’[@颱ɢlW;) r>i)z=B项ih8ΥHɧֽik? ;Ik? k?IiAIIO )>ԑB5 j>B5 @CB5 +HB5 HBB5 =B1 B5 DB5 ;B1 H,T?A6<>6?6佼ٱ67!/ RAHRS rotation from veh to nav: [[0.831672,-0.543555,-0.113446],[0.554784,0.821948,0.128908],[0.023178,-0.170147,0.985146]]6H@?d ? eM? ? ?_ſ Q?i6<>I6F`;6CY^ IBy^CH ``bDfVDf.6ynv=%ra=ٔrŋ;Q-r>9tYt=v)FyvƶEvwEz>xQ 5~4z ]?Q 94za)zIKBYy`/?Q I@z7DIz;iz;zB4y PBɮ BEZ1R1b1j1"11ړ99ڒ9’9AE\@iɢmH;)i u>iq)u(?qqiu9}FHɧ}}»i?;I? ?IԙA>A>bE%™T4jE%Y4rE%ַ/E EE+E"E*E*:VE [4ZEBE;a2E;aJEi;a:Ei;aAIIO>! 0,/ ?AJx5>JBq?JkٱJ0 ^AHRS rotation from veh to nav: [[0.832060,-0.543238,-0.112111],[0.554302,0.821841,0.131632],[0.020630,-0.171669,0.984939]]JH@IJk_;HYfIByfUHiUMb@Mb@Mb@QQQQ Q9UV-?"~j?9Y=)FyȶEE>Q 54D]?Q 94u)UKBYB"?Q E:ykE?Q I@@DI2;i;NJ4yɮ BZRbj"ړڒ’@#\@ ɢ;) ~>i)V;iqi;%eHɧ%g!%pi%Ka?%bL;!I-Ka? -Ka?I)A.AI!I)O5.>E E~E'E"EC:*E(:VE'4ZEa@a@a@a@Qy Z,( #?ABC_>B(?BٱB=1 NAHRS rotation from veh to nav: [[0.831900,-0.543586,-0.111605],[0.554578,0.821501,0.132585],[0.019612,-0.172191,0.984868]]BH@?e`(`?I??K? \ ƿ ?iBC_>IB_;@YVIByVYH^AA^AAbDbVDb./6yf<%jV=ٔj.;Q-j>9n ?Yn ?=n)FynʶErZ:Er>tQ 5z4v]?Q 9z4v)vaKBYxyzE?Q Iz@vGDIv:iv:vP4y]UBɮe BeEZRbj"ړڒ’<\@ ɢ <)   >i)7i<9IɧEi%?%;!I%? %?I)aB<A<Bi>BBPHBIBBBBB ;BCEBACBACB”CBŽ =B =CŁ5Ae؟AIqIO>ԁE EzE+E"E:*E :VE [4ZEBEX;a2EY;aJEv;a:Ev;a ,<?AB>B ?BٱBM_0 NAHRS rotation from veh to nav: [[0.831246,-0.544790,-0.110611],[0.555588,0.820878,0.132216],[0.018768,-0.171358,0.985030]]BH?nP@a?D?s?7? ſ]?iB>IB_;BCYV-IByVoHIZ<)Z<bDb0VDb266yj/=%jJ=ٔj;Q-n>9n"?Yn"?=r)Fyr̶ErC;Er>tQ 5z4vV]?Q 9z4vR)vlKBYxy~E?Q I~@vPDIv;iv";v X4yɮ} BZ!R)b)j)"))ړ))ڒ1’115jU\@ɢ$<) >i)3i\S>]8Iɧ;lYE=E%= E  E }E )E "E :*E k&:VE FA4ZE a @a @a @a @9 l,V?Avv&?v蒼ٱva0 AHRS rotation from veh to nav: [[0.830740,-0.545673,-0.110055],[0.556372,0.820289,0.132578],[0.017932,-0.171369,0.985044]]vHk?`'v,@???R?\?mſ@z?ivIv~M_;vCY%EIBy%HiMb@Mb@Mb@ 9{Gz?ʡE?y&1?Y#?y>`e<B )YAbD-#VD-46y=HT=%=5=ٔ=g:Q-E>9E ?YE ?=E)FyEζEM;EM>QQ 5]4U?]?Q 9]4U)QY](?Q Ee:yeS?Q Ie@UYDIUz:iU:U_4ymEBɮmD BmEZRbj"ړڒ’:r\@ɢ(<) ע>i)I/i?ezIɧݘmi?S;I? ?IAE؟AIIIYOm5>9Be>BBHB=IBBBBB;BCEi L,p?A:'>:0?:(ٱ:Q51 BAHRS rotation from veh to nav: [[0.830496,-0.546110,-0.109727],[0.556768,0.819830,0.133746],[0.016917,-0.172168,0.984922]]:H`l? y ` ? I:>_;:CYbSIBybH j49z"?Yz"?=~)Fy~жE~:E~>Q 5 4]?Q 9 4)kKBY yS?Q I@aDI;iL ;>f4yɮ6 B!Z9RAbAjA"AAړAIڒI’IIMf\@yɢ}iy))[+顁ietAIɧ駍gi?;I? ?IDm=Dm%=Eu EuwEu*Eq"Eus:*Eu:VEu(N4ZEqBEu;a}2Eu;aJEuk;a:Euk;aiA.AII)O= >ԑ ",x?A2 >2b?2Cٱ21 :AHRS rotation from veh to nav: [[0.830089,-0.546885,-0.108942],[0.557404,0.819334,0.134139],[0.015901,-0.172072,0.984956]]2H?@㻿??7? y+? IH?sƿ„?i2 >I2yR_;2CYF]IByFH HHPiUMb@Mb@Mb@QQQQ Q9U#~j?(\?~jtYU%?yU.>UQUEA Q)QQYU=AbDmDVDm86y}<%}B=ٔ;Q->9 ?Y ?=)FyҶE:E>Q 54]?Q 94u)[KBY+?Q E:yV?Q I@jDI ;i ;m4yIBɮEZRbj"ړڒ’c\@ ɢ ,V<)  >i)&igC%Jɧ%˾%0i%:?%[3;)I-:? -:?I)A=>A=>A؟AIIO>E EyE)E"EC:*E:VEFA4ZEa@a@a@a@! (,R?A2K>2,?2wtٱ2j2 :AHRS rotation from veh to nav: [[0.829386,-0.547937,-0.109013],[0.558477,0.818365,0.135584],[0.014921,-0.173333,0.984750]]2H@T? F軿 ? 0?Z?? /ƿ?i2K>I2 _;2CYF\IByFHbDNiVDN<6yV&%VY=ٔV^*;Q-Z>9Z"?YZ"?=Z)FyZԶE^_;E^>`Q 5f4b^?Q 9f4b)bLKBYdyj(W?Q Ij@brDIb:ib|:b2t4ylɮn7 BlGSzB*** querying acoustic contact ***:xBx|ZR b j "  ړ  ڒ’`\@AɢEn<)A E>iA)Mn"IIiM}DUlJɧUkU"iU ?Up;I ?  ?2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IAAAABc>B?CBHB\IBBBBB ;BCE)AIIO>QE EwEE"Es:*E:VEZEBEa2EaJEa:Ea DAT read:  BDAT read: Tx time:21:02:41.9969  $Ping request sent. 6?6Ҍiٱ6 g2 >AHRS rotation from veh to nav: [[0.828936,-0.548704,-0.108574],[0.559162,0.817852,0.135853],[0.014254,-0.173324,0.984762]]6H@?}˻?+? c?Y1?w/ƿ +?i6*>I6q_;6CYYM`IByUH@AbDVDlC6yH;% =ٔ:Q->9)Y)=5)Fy5׶EE:EM>YQ 5m4]^?Q 9m4])]7KBYiyu^W?Q Iu@]}DI]n;i]Y;]R}4y}NBɮ}< B}EԉZRbj"ړڒ’\@ɢ<<) >i)Li5HFjJɧ׼i ?t;I ?  ?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249904ԱA.AII O> E  E xE *E "E C:*E :VE (N4ZE a @a @a @a @(5, ?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838~>~.?~^ٱ~1  AHRS rotation from veh to nav: [[0.828372,-0.549680,-0.107944],[0.560014,0.817280,0.135783],[0.013583,-0.172929,0.984841]]~H?@> ?`)'?@Ya?`ы?"ƿ@Ѓ?i~>I~z_;| )nA`弩!!i%jI!!I)i-jnA -/ݼ-ZF))) 5nA11119I9)=?Fi9)9IEnAEԼA AAAEԼiMXFIiII)I IIQYQY]RIBy]HԱiMb@Mb@Mb@ 9NbX9?kt?J +Y%?y 0>H B A)AYAbDAVD&86y %p=ٔ;Q-?9 ?Y ?=)FyٶE%G;E%?)Q 54- $^?Q 94-T)- KBY+?Q E:yV?Q I@-DI-Փi)n顁iGiKɧ駭Wi ?;V 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754036BqBu@CBuHBupIBBqBqBqBu;BuCE9 ;,*?A2>2aO?2Pٱ21 :AHRS rotation from veh to nav: [[0.828103,-0.550225,-0.107228],[0.560431,0.816948,0.136060],[0.012736,-0.172765,0.984881]]2H?qCs` ?p$?@kj?@(?-ƿ`$?i2>I2z_;2CY%cIBy-HbD=VD=E6y3=%T=ٔ;Q->9Y=)Fy۶E:E>Q 542^?Q 94J)KBYyV?Q I@DI:iN:މ4ySBɮB BZRbj"ړڒ’ ]@ɢRn<) >i!)%]!!i%I-pKɧ- -i-* ?5t;1I5* ? 5* ?I9DYD]<E EzE+E"E:*E :VE [4ZEBEX;a2EY;aG%jAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006462>9jAY.AJEv;a:Ev;aA!I)I9AOM1>qE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257938ԡ B,~ ?A6OK>6.|?6Dٱ61 BAHRS rotation from veh to nav: [[0.827727,-0.550911,-0.106605],[0.561002,0.816534,0.136195],[0.012015,-0.172538,0.984930]]6H|?pJ? !?n?I6֞_;4Y=fIBy=HiMb@Mb@Mb@ 9!rh?@5^I ?i|?5Yl'?yb>q A)Y=AbD VD ye;%A=ٔ%:Q-%>9!Y!=%)Fy%ݶE-:E->1Q 5=45UC^?Q 9=45)5JBY=+?Q EE:yE(J?Q IE@5DI5:i5:5D4yM=BɮM BMEqZiRqbqjq"yyړyyڒy’']@颩ɢ!v<) 5>i)顱iIJ=tLɧ,J; iƈ ?`;Iƈ ? ƈ ?IA؟AIIO(>Ee Ee|Ee%Ea"Ee1:*EeP$:VEe 4ZEaam@am@am@au@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510080 H, %?A2[>2J?277ٱ281 :AHRS rotation from veh to nav: [[0.827666,-0.551117,-0.106016],[0.561110,0.816373,0.136713],[0.011204,-0.172640,0.984921]]2H`<|?#??@?`?ƿy?i2[>I2_;2CYnvIBynHbDzaVDz;6yf-=%^=ٔ;Q->9 "?Y "?= )Fy ߶E9E>Q 5%4Q^?Q 9%4o)JBY!y%1J?Q I%@DI;i:4y5BBɮ5 B5EZQRQbQjQ"YYړYYڒa’aae>]@颉ɢ;<) ,>i)S 顙iuKLɧ7駥yiE ?;IE ? E ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761937B}<AyBb>B?CBHBIBBBBB;BDCE^A'<A.AII)O=>DzDAA) bEǷG4jEǏB4rE0E  E E *E "E :*E VE (N4ZE BE a 2E a JE };a :E };a i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017471Q s#O,~??A2d>2Ј?2)ٱ21 :AHRS rotation from veh to nav: [[0.827635,-0.551269,-0.105467],[0.561172,0.816209,0.137437],[0.010318,-0.172933,0.984879]]2H{??a??`!?"ƿ"?i2d>I2_;2CYFuIByFHbDNmVDN6=6yV%VP=ٔVv;Q-Z>9Z ?YZ ?=Z)FyZE^79E^>`Q 5f4bua^?Q 9f4b)bJBYdyf4J?Q Ij@bDIb>:ib6:b4yɮ19ZYRqbqjq"yyړyyڒy’ X]@颩ɢ<) >i)oieMrMɧ$BjPid ?;Id ? d ?I^A}<1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266049A=؟AIAIYOe4>Yԁ Z V,ZY?AE EE+E"E:*EE7:VE [4ZEa"@a"@a"@a&@2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5180594Fj>F׋?FٱF51 NAHRS rotation from veh to nav: [[0.827616,-0.551447,-0.104679],[0.561215,0.816117,0.137804],[0.009439,-0.172797,0.984912]]FH{?tD̺ z???T?5ƿf?iFj>IF}f_;DYVfIByZHiMb@Mb@Mb@ 9J +?|?5^?Zd;Y(?y=yY B A )YA@AbDpVD=6y%9=ٔM;Q->9"?Y"?=)FyE8E>Q 54s^?Q 94X)JBYv+?Q E:y;?Q I@DI~ ;i ;J4yGBɮ ( B EZ)R)b)j)")1ړ11ڒ1’19=t]@aɢe<)i mn>ii)m6iiiuvNuCQNɧuFJ}!i}?}ٴ;yI}? }?Iԉ^A<ԹAzAhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769890B}`>ByB}HB}IBByByB}DB}X;B}BEB?CB?CBǓCBǐ =Bǐ =C4Aa Iq I O > 4\,{1s?A2;>2`t?2QO ٱ2.2 :AHRS rotation from veh to nav: [[0.827823,-0.551237,-0.104149],[0.560923,0.816190,0.138561],[0.008625,-0.173124,0.984862]]2H`}?z@?@:?a?۩?`(ƿ?i2;>I2x_;2C\YbcIBybHbDjZVDj;6yr%r[=ٔv;Q-v>9tYt=v)FyzEz{Ez>|Q 54~w^?Q 94~)~mJBY y ;?Q I @~DI~F:i~_:~ά4yɮ+ BZ9R9b9j9"99ړAAڒA’AAM@݋]@qɢu亏<)q }>iy)}~yyi}PNɧQ駅J'i?};<I? ?I@!@!@)@)EM EMvEM*EI"EMC:*EM:VEM(N4ZEIBEM5;aU2EM6;aUJEMh;a]:EMh;a]uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022456A I1IAOU>I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276597c,?A2>2EQ?2Iٱ2U2 :AHRS rotation from veh to nav: [[0.828129,-0.550909,-0.103449],[0.560484,0.816381,0.139214],[0.007760,-0.173268,0.984844]]2H?@ {{???$?@-ƿ׃?i2>I2f_;0YZ_IByZHiEMb@Mb@Mb@AAAA A9ERQ?l?J +YE"?yE=EHE BA A)AAYEAbDeVDecB6ym (%uB=ٔuw;Q-u>9yYy=})Fy}EE>Q 54ߔ^?Q 94p)UJBY#$?Q E:y+2?Q I@DI ;i ;+4yLBɮ9 BEZRbj"ړڒ’Ӧ]@ɢab<) >i)  i ogQOɧV5+iE?K<IE? E?IIAII O%,>E EtE)E"EU:*Ev:VEFA4ZEa%@a%@a%@a%@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525966qԡ Ei,?A2>2?2ٱ2!2 :AHRS rotation from veh to nav: [[0.828583,-0.550400,-0.102521],[0.559824,0.816765,0.139616],[0.006891,-0.173077,0.984884]]2H`?ߜ>?"?`?9|?b'ƿ+?i2>I2V_;2CY^\IBybHbDjVDj4@6y%P=ٔ%;Q-%>9!Y!=%)Fy%E-E->1Q 5=45^?Q 9=455)5>JBY9y=1?Q IE@5ȅDI5:i5U:5 4yM6BɮM BMEZiRibiji"iqړqqڒqy’qy`]@颩ɢ<) >i)vT顱iR{YPɧZ駽.i?<I? ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778050A>A>A@AAAAB!B!B!B!B!B!B!B%%;B%BEAAIQIaOm>ԡE  E E *E "E :*E *:VE (N4ZE BE X;a 2E Y;a JE i;a :E i;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029843 ,p,b?A2?>2?2 λٱ2ӻ4 :AHRS rotation from veh to nav: [[0.829253,-0.549248,-0.103276],[0.558838,0.817006,0.142133],[0.006311,-0.175579,0.984445]]2H=?pTp?`$?m1?y?byƿ?i2?>I2_;0YFLIByFHbDR{VDR>6yVY#%ZR=ٔZ:Q-Z>9XY\=^)Fy^E^GHEb>`Q 5f4bC^?Q 9j4b)b'JBYhyj1?Q Ij@bЅDIb:ib:b4yr;Bɮr* BpZR b j "  ړ ڒ’]@颹ɢsS<) (>i)iS3Qɧ^X2i?}<I? ?IAII9O]>%= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2858021i E  E E E "E s:*E VE ZE a @a @a @a @iv,&?A.DAT read: 21:02:46.0073 LVL= 32752, 32753, 31090, 32755, AGC= 87, IDX= 412, 0.17,-1.060,-2.741,-1.050,-1.458, PHS= 0.500,-1.239, 0.364, RAW= 146.0, 4.5, CAL= 145.4, 4.9, ROT= 4.6, -4.9 2Ygot valid direction response: 21:02:46.0073 LVL= 32752, 32753, 31090, 32755, AGC= 87, IDX= 412, 0.17,-1.060,-2.741,-1.050,-1.458, PHS= 0.500,-1.239, 0.364, RAW= 146.0, 4.5, CAL= 145.4, 4.9, ROT= 4.6, -4.9 6BDAT read: Rx Time:21:02:46.0073 :TRx dataTimestamp_ set to:1761512567.433858:@DAT read: $Low SNR acquisition :2Received low SNR in chirpnX#Rx 1: Read direction message, but no range.r\direction in FSK: [0.993136,0.079906,0.085417]y46vT ?(h[=t?b$ݵ?4446ry 4)6WI6?i665^>6e#@6|٠=6i"@ 6%=)6l=I6%46F?*^?og2? 6 >)6mI6l=i6%YUWIByUHiMb@Mb@Mb@ 9+?+?X9vY?y= OA)YAbD5VD5C6y=<%E&=ٔEQ-E>9Y=)FyEE>Q 54V^?Q 94)JBY@ ?Q E:yN%?Q I@څDIu;i;4yɮ BZRbj"ړڒ’%]@iɢm@Ui<)i u>iq)uԻqqiuv)U}Qɧ}`}r3i?<I? ?IAAIIOe>B_>BBHBIBBBBB;BBEiԑ |,t?A2@>2 ?29ٱ2"5 :AHRS rotation from veh to nav: [[0.830741,-0.547188,-0.102246],[0.556639,0.818136,0.144247],[0.004720,-0.176746,0.984245]]2H`n?@,?*.?v?`Us?`ƿ~?i2@>I2^;2CYf[IByjHbDr`VDr;6y%U<%-w=ٔ-;Q--?91Y1=5)Fy5E5E5 ?IQ 5]4M^?Q 9]4Mޢ)M JBYaye$?Q Ie@MDIMd;iMNi;MF4y}@Bɮ}$ B}EZ)R)b)j)E EzEE"E:*E :VEZEBEz;a2E{;aJEv;a:Ev;aԡ"ړڒ’m^@!ɢ-&<)) ->iI)M̻iQIQQQi]DV]7Rɧeaes4ie?e] -i,]N?A2Ƚ>2ֺ?2)рٱ2/)6 :AHRS rotation from veh to nav: [[0.831608,-0.546011,-0.101490],[0.555350,0.818877,0.145009],[0.003931,-0.176953,0.984211]]2H?xA`l?=4?@?`"p?@hƿ~?i2Ƚ>I2^;2CYF\IByFH5PExceeded connect timeout, disconnecting.iMMb@Mb@Mb@IIII I9M+?I +?{GzYMv?yM99Y=)FyEuE>Q 54^?Q 94)JBY?Q E:y7?Q I@DI ;iG ;{4yɮ# BZRbj"ړڒ’-(^@ɢš<)  W>i ) AĻ  i ]WESɧ a4i}?<I}? }?I!AIIO>E- E-yE-+E)"E-:*E-:VE- [4ZE)a=@a=@a=@a=@I E,_)(?A 6>6xO?6wBٱ66 >AHRS rotation from veh to nav: [[0.832519,-0.544769,-0.100691],[0.553988,0.819615,0.146044],[0.002967,-0.177366,0.984141]]6H@?@nƹE?H:??Nh?ƿ@~?i6>I6^;6CYFeIByFHbDRVDRC6yV<%ZX=ٔZ&;Q-Z>9\Y\=^)Fy^EbύEb>dQ 5f4f^?Q 9j4fi)fIBYhyj?Q Ij@fDIf:if:f4yrEBɮr% BrEZRbj" ړ  ڒ ’ `c@^@9ɢ=Ԥ<)A E>iA)EAAiEIyXMSɧM`U3iU^y?Uԙ IMqCGkAE5 E1E5)E1"E5U:*E1VE5FA4ZE1BE5;aE2E5;aEJE5r;aE:E5r;aEe79ekAYe*)A M|,[ B?A2=>2H?2 ٱ2K%7 :AHRS rotation from veh to nav: [[0.833283,-0.543705,-0.100124],[0.552843,0.820205,0.147066],[0.002162,-0.177901,0.984046]]2H @?f ? ???a?sƿ@N}?i2=>I25^;2CLYfoIByfHbDnVDn!K6yv<%vF=ٔz;Q-z>9z ?Yz ?=~)Fy~E~ZE~>Q 5 4< _?Q 9 4)IBYyo?Q I@DI:i:L4yDBɮ B!ZARAbAjA"AAړAIڒI’IIMZ^@yɢ}(<)y }>i)F顁iY!Tɧ_駍.3iu?u<Iu? u?IA؟AII9Oe>nManaging dock network, ignoring radio surface power off! EE  EE EE (EA "EE :*EE ,:VEE c44ZEA aM @aM @aM @aM @L,[?Ai0I060>6n?6a$ٱ69 >AHRS rotation from veh to nav: [[0.834416,-0.541893,-0.100514],[0.551134,0.820889,0.149643],[0.001420,-0.180261,0.983618]]6H`?@/W A?D? ~'?DW?ǿ y?i60>I6|];6CY^uIBybHiMb@Mb@Mb@ 9A`"?/$?~jtxY?y<ĻBA A)YAbDVDI6yg<%?=ٔ=:Q->9"?Y"?=)FyEE>Q 54_?Q 94)IBY0?Q E:y?Q I@DI:i:4yIBɮ BEZRbj"ړ ڒ ’  @-v^@9ɢ=<)9 E>iA)E% AAiEHZM-uUɧMq_M2iM]p?U1QB\>BBHBzIBBBBB;BBBEԁ cϜ,u?A2Q>2P?2˰`ٱ2\9 :AHRS rotation from veh to nav: [[0.835353,-0.540602,-0.099670],[0.549713,0.821789,0.149926],[0.000857,-0.180031,0.983661]]2H6?L@񃹿??`L?0? L?@> ǿ%z?i2Q>I2];2CYbqIBybHbDnVDnC6yz:%zW=ٔ~:Q-~>9Y= )Fy E E >Q 5%4,_?Q 9%4+)IBY)y-_?Q I5@DI(;i);v4yyɮ" BbE(N4jEKJ4rE/E EzE)E"E:*E :VEFA4ZEBE;a2E;aJEv;a:Ev;aZ!R!b!j!"!)ړ))ڒ)’)15N^@颙ɢ<) >i)L顡i [#3Vɧ^駭oF2i&l?4<I&l? &l?IԡA%.AI)I9OM0> I,?AYtIByHiMb@Mb@Mb@ 9x??YK?y< )YbDVDF6y;% :=ٔ Q- >9  ?Y ?=)FyEE>!Q 5-4%M>_?Q 9-4%2)%IBY-n?Q E-:y-?Q I-@%DI%:i%:%4y=8Bɮ=B=EZYRYbYjY"YYړaaڒa’aam^@频ɢn<) >i)顙i=]Vɧ^駥72ia?<Ia? a?IE  E E *E "E :*E VE (N4ZE a@a@a@a@A}؟AIIO=>1Y ,s?A2>2Q?29ٱ2k9 :AHRS rotation from veh to nav: [[0.836813,-0.538588,-0.098327],[0.547489,0.823099,0.150876],[-0.000327,-0.180088,0.983651]]2H +?<@+`?V?O?`@r5@ ǿz?i2>I2 ];0YZIByZHbDfVDfC6yj=%n`=ٔnXT;Q-n>9r"?Yr"?=r)FyrEvEv>tQ 5z4vM_?Q 9~4v)vIBY|y~?Q I@vDIv ;ivq ;v|4y ɮ B Z)R)b)j)"11ړ11ڒ1’19=^@AYAYBe^>BaBeHBeIBBaBaBaBe;Be1BEB!B!B!B!B!C%d4颙ɢ4<<) >i)"顡iD^Wɧ^駵 2iY?<IY? Y?I9AIIO>aDzD?AE ExE+E"EC:*E:VE [4ZEBE5;a%2E6;a-JEXo;a-:EYo;a-ԑi߉ I߉ Թ dɰ,L?A2%>2R?2t:ٱ29 :AHRS rotation from veh to nav: [[0.837677,-0.537337,-0.097801],[0.546165,0.823830,0.151684],[-0.000934,-0.180478,0.983579]]2H@?@1@~ .z? \?cj? N`ǿyy?i2%>I2|];2CY^IBy^HbDjVDjJ6y^%F=ٔ%:Q-%>9!Y!=%)Fy%E-r{E->1Q 5=45]_?Q 9=45+)5IBY9yE?Q IE@5DI5';i5;54yM=BɮMBMEZiRibiji"qqړqqڒy’yy}g^@颡ɢ<) >i)v顩iw_;MXɧ8^駽"1iyR?e1<IyR? yR?IԑAIIiIO>E%  E% yE% *E! "E% :*E% :VE% (N4ZE! a- @a- @a- @a5 @ ,'?A6>6^?6kj:ٱ6;9 >AHRS rotation from veh to nav: [[0.838309,-0.536454,-0.097234],[0.545193,0.824376,0.152214],[-0.001499,-0.180614,0.983553]]6Hm?*V丿8r?@Ia?{?LX\ǿCy?i6>I6];6CYFIByFHNANAiMb@Mb@Mb@ 9Q?V-?9Y=)FyE3E>Q 54n_?Q 94X)IBY?Q E:y ?Q I@&DI:i:4yɮBZRbj"ړڒ ’   n^@9ɢ=o<)9 =Q>i9)=jAAiEB`M YɧMq^Mu1iMC?MBm_>BiBmHBmIBBiBiBiBm;Bm3BEI k!,?AJ,?J];ٱJ$: ZAHRS rotation from veh to nav: [[0.839243,-0.535133,-0.096454],[0.543751,0.825198,0.152916],[-0.002236,-0.180780,0.983521]]JH?7`if?h??*Rb`#ǿy?iJ>IJ];HYfIByfHbDrVDrJ6yz\%zV=ٔ~F:Q-~>9|Y|=~)FyE|E> Q 54 }_?Q 94 }) IBYy[ ?Q I@ .DI ;i ; 4y%BBɮ%B%EZARAbAjI"IIړIIڒQ’QQU@_@yɢ <) >i)>V顉iwaE ExE(E"E*E:VEc44ZEBE;a2E;aJEa:Ea Yɧ^$2i7?<I7? 7?IAAyIIO>qԡ ,?A:h>:?:hF;ٱ:G;@ FAHRS rotation from veh to nav: [[0.840427,-0.533345,-0.096054],[0.541917,0.826115,0.154467],[-0.003033,-0.181872,0.983318]]:H@?@) bW?o?`?*h Gǿ`Vw?i:h>I:];:CYNIByRHi%Mb@Mb@Mb@!!!! !9%-?{Gz?9QYQ=U)Fy]E]E]>aQ 5m4eH_?Q 9m4ez)eIBYu?Q Eu:yuJ%?Q Iu@e5DIe:ie:e4yyɮ}BZRbj"ړڒ’a*_@ɢO<) {>i)`?icyZɧ_3i#?<I#? #?IqԹAIIE EvE)E"E:*E:VEFA4ZEa@a@a@a@O'> .,t*?A2o>2??2y;ٱ2; :AHRS rotation from veh to nav: [[0.841493,-0.531806,-0.095246],[0.540254,0.827016,0.155470],[-0.003910,-0.182284,0.983238]]2H?b@I?v?p?lpUǿv?i2o>I2Q];2CY@yFHbDNVDN#H6yVx%VU=ٔV;Q-Z>9XYX=Z)FyZE^E^>pBAAQ 5M4E_?Q 9U4Eav)EIBYQyU$?Q IU@E=DIEO+;iE,;E$4ymGBɮmBiZRbj"ړڒ’D_@B`>BBHBIBBBBDB;BQBEiɢuV<)  >i)@(顙i|Ydx>[ɧ`駥d3ia?m<Ia? a?IA!I)I9OM1>9DzDAAE EsE+E"Ea:*EZ:VE [4ZEBEg;a 2Eh;a JE%];a :E&];a m 2p?2';ٱ2: :AHRS rotation from veh to nav: [[0.842544,-0.530390,-0.093840],[0.538611,0.828259,0.154548],[-0.004247,-0.180757,0.983519]]2H?LI2`];2CYBIByF,HbDNVDNyK6yVV=%VJ=ٔVZ:Q-Z>9XYX=Z)FyZ E^ E^>`Q 5f4bR_?Q 9f4br)bIBYdyjG$?Q Ij@bDDIb:ib:b+4ylɮnBlZ|R|bj"ړڒ ’   \_@9颱ɢ<) >i)#ieR[ɧa4i?7<I? ?IAIiIIO&>ԑ E  E }E 'E "E ҝ:*E k&:VE '4ZE a @a @a @a @+A,m^?A>Ѳ>>i??>s5;ٱ>: FAHRS rotation from veh to nav: [[0.843305,-0.529318,-0.093053],[0.537413,0.828969,0.154910],[-0.004859,-0.180644,0.983536]]>H`[?+ Qҷ|2??@?@sZǿ!y?i>Ѳ>I>];>CYNIByR-Hi%Mb@Mb@Mb@!!!! !9%A`"?Zd;?:v?Y%?y%y=%<% B! !)%A!Y%AbD=VD=JI6yM:%M@=ٔU:Q-U>9QYQ=U*FyU E][E]>aQ 5m4e_?Q 9m4en)eIBYu?Q Eu:yu,?Q Iu@eLDIe:ie:e(34ԙy6BɮBEZRbj"!!ړ!!ڒ!’))-@x_@频ɢ<) >i)顙iff\ɧ;e駭b7i?W<I? ?IA!I)I9OM1>Bb>BB1HBIBBBBB̋;BfBE! m,YPx?AG0@^S89\Y^)Ar>r_?rN;ٱr: zAHRS rotation from veh to nav: [[0.844171,-0.527998,-0.092704],[0.536046,0.829623,0.156141],[-0.005533,-0.181503,0.983375]]rH`r?[lI'?@F?l?`v};ǿw?ir>Irl ^;rCY IBy )H bD%VD%H6y-Ի%5L=ٔ5:Q-5>99Y9==*Fy=EE9EE>IQ 5M4M_?Q 9U4Mj)MIBYQyUl,?Q I]@MTDIMQ;iM;M*:4yaɮeBaZRbj"ړڒ’_@E EuE(E"E:*E:VEc44ZEBE;a2E;aJEmd;a:Emd;aqɢ}\<)y }>iy)}sźyi,hv]ɧ=h駍k9i?%><I? ?IA>A?i1I1IIO$>!Iԁ S,:#?A6>6Y?6;ٱ60; >AHRS rotation from veh to nav: [[0.845176,-0.526510,-0.092008],[0.534452,0.830507,0.156902],[-0.006198,-0.181784,0.983319]]6H` ?*Ѝ;? ? a?byDǿ`Yw?i6>I6];4YFIByJ?HiMMb@Mb@Mb@IIII I9MCl?ʡE?y&1?YMd?yM-=M`9yYy=}*FyEڕE>Q 54$_?Q 94Of)IBY$?Q E:yK6?Q I@\DIP ;i ;]A4y;BɮBEZRbj"ړڒ’ _@ɢ <)  >i) i%}i-q4^ɧ-m-P>i-k+?5T<1YI5k+? k+?IIIE EsE)E"Eҝ:*EZ:VEFA4ZEa@a@a@a@O#>ԁԩ },?A6:>6?6 ;ٱ6; FAHRS rotation from veh to nav: [[0.845689,-0.525785,-0.091430],[0.533635,0.831005,0.157050],[-0.006596,-0.181606,0.983349]]6H?;@g?`?9?@{>ǿw?i6:>I6^;6CAPAR@AYZIByZ'HbDfVDfG6yrI%rT=ٔr=:Q-v>9tYt=z*FyzEz#Ez>B]d>B]@CB]JHB]IBB] =BYBYB];B]NBEߝ%=ߝ4=qQ 54u_?Q 94ub)uIBYy 6?Q I@udDIuF:iu:uaH4yɮBZRbj"!!ړ!!ڒ!’))-@_@颁ɢM<) >i)DjG顉i߽jԱ_ɧTs駽کBi?I<I? ?II1IIOU=bEeǷG4jEemF4rEe١/E EvE+E"E*E:VE [4ZEBE;a2E;aJEh;a:Eh;a! 9 h,?A2>2?2;;ٱ2: >AHRS rotation from veh to nav: [[0.846143,-0.525150,-0.090882],[0.532909,0.831425,0.157292],[-0.007040,-0.181523,0.983361]]2H?D@ ?`?!"?7| %<ǿw?i2>I2];2CYFIByFHHNAANAAbDRVDRH6yV<=%ZM=ٔZW:Q-Z>9\Y\=^*Fy^Eb Eb>dQ 5f4f_?Q 9j4f ^)fJBYhyj5?Q Ij@fkDIf;if;fO4yr@BɮrBrEZRbj"  ړ  ڒ ’  "_@9ɢ=t =)A E*>iA)E0ܹAAiElM_ɧMyxMFiUl?%<Il? l?IIqIO= BDAT read: Response Not Received *response not received:*?:o;ٱ:1; FAHRS rotation from veh to nav: [[0.846736,-0.524270,-0.090434],[0.531960,0.831922,0.157874],[-0.007535,-0.181785,0.983309]]:Hv?&?? 75?~Dǿ`Ew?i:B>I:];:CYjIByjQHi]Mb@Mb@Mb@YYYY Y9]ףp= ?)\(?:v?Y]?y]G=]T9Y=*FyE)E>Q 54 `?Q 94?Y)IBY;!?Q E:yi) 7ilm`ɧ$Mi?Q<I? ?IIIO=ԱBmf>BiBmWHBmIBBiBiBiBm;Bm2l?2R<ٱ2; :AHRS rotation from veh to nav: [[0.847098,-0.523794,-0.089803],[0.531375,0.832257,0.158079],[-0.008062,-0.181628,0.983334]]2Hn?U ?`١?;? ?ǿyw?i2#+>I2r];0YFIByF/HbDNVDNC6lyrv%rV=ٔv:Q-v>9tYt=v*FyvEzEz>|Q 54~`?Q 94~T)~IBYy iq)ub'9yyi}nmaɧ駅Rie?z<Ie? e?IE EE+E"E:*EVE [4ZEBE;a2E;aJEXo;a:EYo;aII)O= 1i ġ,vm ?A2C,>2l?2 <ٱ2c: :AHRS rotation from veh to nav: [[0.847090,-0.523907,-0.089219],[0.531380,0.832250,0.158098],[-0.008576,-0.181332,0.983384]]2H\?׶?@ˡ?I2}];2CYBIByF#H9iEMb@Mb@Mb@AAAA A9E?Pn?~jtYE ?yE>EDE BEA A)AAYAbDqVDqy%@=ٔ:Q->9Y=*FyE7E>Q 54-`?Q 94P)IBYf#?Q E:yA?Q I@DI'[;i\;d4yɮBZRbj"ړ!ڒ!’))- `@aɢe<)i mW>ii)m5;:iiim_ou`bɧ}.}_Yi}m/?}ԑ ,L- ?AB"<A F>Fa?F<ٱFF< VAHRS rotation from veh to nav: [[0.847176,-0.523618,-0.090093],[0.531239,0.831973,0.160018],[-0.008833,-0.183424,0.982994]]FH? {Z??v{?@rzǿ t?iF>IF];DYbIByb!HbDjsVDj=6yr*%vU=ٔvY0:Q-v>9z ?Yz ?=z*FyzEzEz>B|B|B~JHB~IBB~ =B|B|B~;B~?BEQ 54<`?Q 9%4K)IBY!y%A?Q I%@DIU;i;vk4y-4Bɮ-B5EZQRQbQjQԙ"Qړڒ’@#`@AɢMj=)I Mt>iI)Ma:qqiu@ q}?Icɧ}Q}`i}?}- DzDE EtE*E"E1:*Ev:VE(N4ZEBE;a2E;aJE`;a:E`;ai) I)  ,p#G ?A6 >6|]?6<ٱ6< BAHRS rotation from veh to nav: [[0.847210,-0.523613,-0.089806],[0.531182,0.832029,0.159915],[-0.009012,-0.183185,0.983037]]6H X?@op?@?`x? urǿ` u?i6 >I6a];6CYJIByJ HbDVVDV?6yZ%U%^N=ٔ^S9Q-^>9b"?Yb"?=b*FybEfu/Ef>hQ 5j4jK`?Q 9n4jG)jIBYlynA?Q Ir@jDIj;ij;j]r4ytɮvBtZ R b j "ړڒ’`/`@AɢM?=)I M>iI)M:IQiU6rUT"dɧ]]Jgi]<?]v 2o?26<ٱ29< :AHRS rotation from veh to nav: [[0.847059,-0.523947,-0.089279],[0.531415,0.831910,0.159762],[-0.009435,-0.182772,0.983110]]2H?-ڶ[?@?s?tR`eǿ`u?i2g2>I2U];0QYIBy HiMb@Mb@Mb@ 9?y&1?MbYy`=@ BA A)AYA))bD5UVD5s:6yE%E(=ٔE7c:Q-E>9M ?YM ?=M*FyM!EU:EU>YQ 5e4]k_`?Q 9e4]A)]IBYe"?Q Ee:ye8?Q Im@]DI]:i] ;]z4yu9BɮuBuEZRbj"ړڒ’O?`@iɢuTO<)q u>iq)u;:yyi}msVeɧ_駅 emi? 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E  E rE (E "E ҝ:*E ?:VE c44ZE a @a @a @a @+8,kF ?A2wM>2B}?2;3<ٱ2: :AHRS rotation from veh to nav: [[0.846936,-0.524473,-0.087333],[0.531582,0.831877,0.159378],[-0.010939,-0.181408,0.983347]]2H?@| w[??f?@Fg`_8ǿ`w?i2wM>I2G(];2CYviIByvH|iuMb@Mb@Mb@qqqq q9u^I +?{Gz?ktYuX?yu#=u uY BuA q)qqYu=AbDVDA6y3%==ٔ9Q->9Y=*Fy*Ee8E>Q 54`?Q 94-)HBYA?Q E:y?Q I@ņDI. ;iT ;:4y,BɮBEZRbj"ړڒ’9~`@)ɢ-޺<)) -´>i))5$Y;11i5rx="jɧ=Q=xiEt?E B9B9B=HB=IBB= =B9B9B=Nj;B=cBEYԁ V>,\! ?A2>2XK?28a3<ٱ28; :AHRS rotation from veh to nav: [[0.847341,-0.523806,-0.087416],[0.530937,0.832210,0.159787],[-0.010948,-0.181806,0.983273]]2Hj?`o?w?`s? lmEǿv?i2>I2\;0YDyFHbDNXVDN:6yV̘:%V[=ٔVR7Q-Z>9XYX=Z*FyZ,E^E^>`Q 5f4b6`?Q 9f4b*)bHBYdyjo?Q Ij@b̆DIb6:ib :b4yn1BɮnBnEZ|Rbj"ړڒ ’    )`@bE(N4jEK4rE 0Ee EexEe+Ea"Ee:*Ee:VEe [4ZEaBEe;au2Ee;auJEeXo;au:EeYo;auyɢ<) >i) Zk;i&[y,kɧ Xwi O?  < I O? 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BxZ!R!b!j!"!)ړ))ڒ)’)15vVe@YɢeFM<)a eGia)eƈ>>?>7<ٱ>o|& FAHRS rotation from veh to nav: [[0.865532,-0.497707,-0.056046],[0.500003,0.852120,0.154560],[-0.029168,-0.161800,0.986392]]>Hp?p߿ ?D??@1ޝ۵Ŀ?i>ƈ>I>Q];>CYRGByRHbDZVDZ6yb%bJ=ٔf+Q-f>9dYh=j*FyjEj:Ej>lQ 5r4nvg?Q 9v4nx)nBEBYtyvT%?Q Iv@nۉDInd:in:nI4yzkBɮz% B~SEZRbj"ړ!!ڒ!’!!-]ce@QɢU0BqiBuHBuGBBqBqBqBu;u49YV&ABqԱ ,**?A2ɜ>2e;?2e<ٱ2& :AHRS rotation from veh to nav: [[0.865277,-0.498148,-0.056078],[0.500428,0.851785,0.155033],[-0.029463,-0.162209,0.986316]]2H Y?@߿<?A? ?+FĿ`?i2ɜ>I2];2CY^GBybHiUMb@Mb@Mb@QQQQ Q9UL7A`? rh?Q롿YU+'?yUC=U\U BUA Q)QQYUAbDmVDmo6y}2%}?=ٔ.5:Q->9Y=*FyE:E>Q 54g?Q 946)&EBYO(?Q E:yL?Q I@DI ;ie ;P4yɮ8 BԹZRbj"ړڒ’qe@ ɢ/<) i)΂<i%4uɧ%Q% i%e ?%lA>AAIQIiE EnE-E"Eҝ:*E:VEt4ZEBE;a2E;aJEJ;a:EJ;aO<>iIA9 F,*?A2>2sT?2ˈ<ٱ2J' :AHRS rotation from veh to nav: [[0.865085,-0.498434,-0.056493],[0.500758,0.851477,0.155652],[-0.029480,-0.162942,0.986195]]2HƮ?W߿`쬿 6?@M??h?/ EĿ@?i2>I27];2CY^GBybH ``bDjVDj6yr<%rU=ٔvi78Q-v>9tYt=v*FyvEzd:Ez>QQ 5]4Ug?Q 9]4UC)U EBYayeb?Q Ie@UDIUD;iU;UW4ymqBɮm< BuTEZRbj"ړڒ’}e@ɢP <) αi)><i~syɧiDj ?#><IDj ? Dj ?IAIIO>AqE EpE)E"E:*E :VEFA4ZEa@a@a@a@BY BY B] HB] GBBY BY BY B] ;B] 8BEԡ H,p*?AnD>nx?ni<ٱn' zAHRS rotation from veh to nav: [[0.864809,-0.498896,-0.056643],[0.501242,0.851218,0.155516],[-0.029371,-0.162883,0.986208]]nH?߿P+ ?@-=?@?Q`ZĿ`?inD>In"];lYGBykHiMb@Mb@Mb@ 9?Q?{GzYf&?yu=# BA A)5AYAbDVD6y%;=ٔ3Q->9Y=*FyE:E>Q 54g?Q 94)DBYk'?Q E:y:?Q I @DI:i:V_4yɮX BZ1R1b9j9"99ړ99ڒA’AAE`Se@qqɢu<)y }niy)}rԙbEu(N4jEuR4rEuA0EE  EE sEA EA "EE :*EE Z:VEA ZEA BEE ݽ;aU 2EE ߽;aU JEE %];aU :EE &];aU U., +?A>>>ϫ?>H<ٱ>' ^AHRS rotation from veh to nav: [[0.864416,-0.499582,-0.056593],[0.501910,0.850834,0.155459],[-0.029513,-0.162786,0.986220]]>HK?'߿?@:?@?`8@)Ŀ@?i>>I>];>CYjGByj_HbDvVDv 6y~~ټ%~Z=ٔH9Q->9Y = *Fy E ;E >Q 54g?Q 94u)DBY!y%n?Q I%@DI;iQ;e4y-wBɮ-m B1ZIRQbQjQ"QQړQYڒY’YYeLe@颉ɢd;) i)N<顑iKjɧI駝Vni ?;<I ?  ?IAzAhAAaIqIO>) W,/+?A2?ٝ>2(?2"<ٱ2<<' >AHRS rotation from veh to nav: [[0.864239,-0.499889,-0.056584],[0.502220,0.850705,0.155169],[-0.029431,-0.162520,0.986266]]2Hا?.߿@.?8?? >#vĿ ~?i2?ٝ>I2C];0E EEE"E:*EVEZEa @a @a @a @Y dGBy 99Y9==*Fy=EE=D:EE>AQQ 5U4E#g?Q 9U4Eи)EDBYYy]?Q I]@EDIEi);iE*;E0n4ye|Bɮe BeUEZRbj"ړڒ’e@Yɢ];)a ei)R~<顑inɧu^iB ?Bx>BB\HB~GBBBBB;BgBEBBBBBCٙ4Q<IB ? B ?IyAIIO>ԩ X@,\qI+?A2"+>2?2<ٱ2C& :AHRS rotation from veh to nav: [[0.863924,-0.500444,-0.056495],[0.502759,0.850432,0.154915],[-0.029481,-0.162238,0.986311]]2HC? @쬿@?6?A?X0`6Ŀ`܏?i2"+>I2<];2C@ @)DFԼF[FDDFnAiJjIHHIHiH HH)LL LLPPPPIP)PiT)TITTT TXZnAZ̼iXXi\^AA)\ \I\Y\YfbGByf9HiMb@Mb@Mb@ 9jt?S㥛?~jtY ?y/< B )nAYfAbD VD h 6y %^=ٔg9Q->9!Y!=%*Fy%E%V:E->)Q 5=4-g?Q 9=4-)-DBY=5!?Q E=:y=I?Q IE@-DI-;i-;-t4yIɮM BIZiRibiji"qqړqqڒq’yy}`Qe@颡ɢP};) i)A#}<顩i ;󄼩 ɧ®ǹie ?<Ie ? e ?I!ԱDzDE  E E *E "E *E i:VE (N4ZE BE ;a2E ;aJE ;a:E ;aAyIIO=> k,Qc+?A2k>2?2^<ٱ2[' :AHRS rotation from veh to nav: [[0.864000,-0.500296,-0.056642],[0.502620,0.850410,0.155486],[-0.029620,-0.162809,0.986213]]2H ?@l*v? 6??TĿ ?i2k>I29];2CpY~;GBy~ HbD VD " 6yE'̽%EY=ٔMT9Q-M>9IYI=M*FyUEU۹EU>YQ 5e4]g?Q 9e4]I)]DBYiym<?Q Im@]DI] :i]:]8{4yuBɮ BVEZRbj"ړڒ’`e@颩ɢ ;) kDi)bbz<项i+Bɧ;'9i ?Q<I ?  ?IA>A> A.AI!I1OUS>1E EpE,E"E:*E :VEg4ZEa=@aE@aE@aE@a B B B HB KGBB B B B ;B BE,5}+?A => h? N<ٱ ' AHRS rotation from veh to nav: [[0.863850,-0.500528,-0.056877],[0.502880,0.850217,0.155701],[-0.029574,-0.163105,0.986165]] H?R ?`4? ?HĿ?i =>I dS]; 1Y0GByH iMb@Mb@Mb@ 9Cl?Mb`?:vYd?y;Լ A)AYA <<bDVDh 6y%5=ٔUոQ->9 ?Y ?=*FyE-:E>Q 54 h?Q 94)oDBY?Q E:y?Q I@DI:i: 4yjBɮ BMEZ Rbj"ړڒ’@e@IɢMpV:)M& M OiI)UNwԉԹ D D E%  E% ~E% 'E! "E% :*E% (:VE% '4ZE! BE% ݽ;a- 2E% ߽;a- JE% ;a- :E% ;a5 `|,`+?A2o>2e?2 <<ٱ2' >AHRS rotation from veh to nav: [[0.863655,-0.500867,-0.056844],[0.503208,0.850016,0.155741],[-0.029687,-0.163111,0.986161]]2H? F?@T3? S?\fĿ`?i2o>I2u ];2CYFGByFHbDRVDR 6yVW%Zs=ٔZ9Q-Z?9Z"?Y^"?=^*Fy^E:E? Q 54 h?Q 94 ) `DBYy?Q I@ &DI L;i ; '4y%pBɮ% B-NEZiRibiji"iiړiqڒq’qqԙue@ɢ) -ai)l6u<iPyɧg=a9;i?<I? ?I!AIIO>! ,ݰ+?ARt>R!?R9<ٱR & bAHRS rotation from veh to nav: [[0.863501,-0.501204,-0.056227],[0.503459,0.849989,0.155072],[-0.029930,-0.162212,0.986302]]RHˡ? ɬ@V?3?b?`Ŀɏ?iRt>IR \;RCYrGByrHbDVD 6yU%UD=ٔU:Q-]>9YYY=]*FyeEe::Ee>iQ 5u4m,,h?Q 9u4m)mMDBYqy}.?Q I}@m.DImr;im;ml4yɮ BGSB*** querying acoustic contact ***:BZRbj"ړڒ’;e@E EoE+E"EU:*E:VE [4ZEa@a@a@a@ɢpE) )ei)T;r<  i =ぼpɧŧ=7;i?<I? ?IA)zA-jA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.BBBHB#GBB =BBB&;BBEAI!IaO>>Q DAT read:  BDAT read: Tx time:21:03:42.2469  $Ping request sent. b?bN<ٱb!' jAHRS rotation from veh to nav: [[0.863570,-0.501095,-0.056126],[0.503327,0.850015,0.155363],[-0.030144,-0.162416,0.986262]]bH`^?`|@@?Q3??@ޞĿt?ibт>Ib\;bCY GBy HI<)iMb@Mb@Mb@ 9Zd;? rhY?yC A)5AYbD-VD-$ 6y=\%=9=ٔE6:Q-E>9AYI=M*FyMEMEM>QYQ 5e4]8?h?Q 9e4]/)]>DBYe?Q Em:ym?Q Im@]6DI]<:i]:]4yuvBɮu BuOEZRbj"ړڒ’` e@ɢ@) sni)~n<iRdɧ =4;i{J?Շ<I{J? {J?IE ErE(E"E:*E?:VEc44ZEBE;a2E;aJEY;a:EY;aԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251175vԱA% .AI) I9 OM > ,ɓ+?A:Wi>:2 ?:J<ٱ:=U& BAHRS rotation from veh to nav: [[0.863662,-0.501006,-0.055505],[0.503155,0.850214,0.154828],[-0.030378,-0.161647,0.986381]]:H?=3k?4?d?o`հĿo?i:Wi>I:-\;:CYJFByJHbDVVDV 6y^%^f=ٔb,:Q-b>9b ?Yf ?=f*Fyf EfEf>hQ 5n4jNh?Q 9n4je)j1DBYpyr?Q Ir@j=DIj;ijD;j44ytɮv BxZ Rbj"ړڒ’%ue@IɢMͻ)I M;iI)U`k];i]?ebVE EnEE"E:*E:VEZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755102B z>B B HB FBB B B B 3;B BE G SkA - 69- SkAY- 'A9 %,+?A=B>=?=<ٱ=% UAHRS rotation from veh to nav: [[0.863807,-0.500792,-0.055171],[0.502897,0.850405,0.154613],[-0.030512,-0.161301,0.986433]]=HO?}@S?@?6?_?>`Ŀܐ?i=B>I=\;=CYeFByeHiMb@Mb@Mb@ 9v?~jth?MbpY?yD;Y B A)YAbDVDy;%6=ٔ=9Q->9Y=%*Fy% E%,E%>)Q 554-5bh?Q 954-Ӟ)-&DBY=?Q E=:y=?Q I=@-EDI-:i-<:-4yE{BɮE BEPEZR b j "  ړڒ’@} f@yɢ}$kf)y }viy)tg<顁i1~Dɧ>駍';i'?<I'? '?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0072181uA>A>a A I I O >E  E oE *E "E :*E :VE (N4ZE BE ;a 2E ;a JE N;a :E N;a ,G,?A 6K>6f?6۟<ٱ6% >AHRS rotation from veh to nav: [[0.863770,-0.500868,-0.055068],[0.502957,0.850378,0.154567],[-0.030589,-0.161208,0.986446]]6H ?@@18?L6?? RrĿ?i6K>I6\;4YFFByFH HHVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246bDVVDVM6y^%bd=ٔba9Q-b>9`Yd=f*FyfEfL9Ef>hQ 5n4jqh?Q 9r4j)jDBYpyr?Q Ir@jLDIj;ij<;jS4yvBɮv6 BzQEZRbj"ړڒ’ f@ɢU ) i)d<iFe|4ɧ>3>?e l ,02,?A>T>>?> <ٱ>ҳ% JAHRS rotation from veh to nav: [[0.863747,-0.500875,-0.055365],[0.503023,0.850406,0.154200],[-0.030152,-0.161040,0.986487]]>HУ?+X?`6?׼?0`ĿM?i>T>I>\;9j"?Yn"?=n*FynEn19En>pQ 5v4rdh?Q 9v4r)rDBYxyz?Q Iz@rTDIr:irT:ro4y|ɮ~7 BZ!R!b!j!"))ړ))ڒ)’)15@W%f@Yɢ]6)a e.ia)ec(`u!<E EE.E"E:*EVEـ4ZEa@a@a@a@iuw?<Iw? w?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763532B%<A!B-|>B-CCB-HB-FBB)B)B)B-%;B-BEAAIIIYOm>9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081,:L,?A28{>2$?2H5<ٱ2y% :AHRS rotation from veh to nav: [[0.863605,-0.501082,-0.055706],[0.503280,0.850245,0.154250],[-0.029928,-0.161247,0.986460]]2H@? ?45?@x?}Ŀ?i28{>I26\;2CYvFByvHi}Mb@Mb@Mb@yyyy y9}Cl?Mb?~jth?Y}d?y}<}D;} By }A)yyY}AbDVD 6yJ;%>=ٔoQ->9Y=*FyE2:E>Q 54@h?Q 943)DBYh?Q E:y ?Q I@\DI':i:4yBɮ? BREZRbj"ړڒ’3f@)ɢ-ۻ)) 5i1) [<顱i+exɧ`>C3checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267210yԡ ,e,?A2>2?2<ٱ2' :AHRS rotation from veh to nav: [[0.863575,-0.500984,-0.057035],[0.503358,0.849951,0.155608],[-0.029480,-0.163088,0.986171]]2Hh?``3 ?2??0 Ŀ?i2>I2?\;2CYBFByFnHIF>)FC=bDNVDN 6yrn:%rW=ٔrQ-v>9v ?Yv ?=v*FyvEzd9Ez>|Q 5e4~h?Q 9e4~)~DBYaye ?Q Im@~dDI~iBzCԡE EsE,E"E:*EZ:VEg4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771209B) B) B- bHB- FBB) B) B) B- 4;B- BEBBBBɌ =BɌ =C?4 4,,?A=c>=:-?=<ٱ=' AHRS rotation from veh to nav: [[0.863432,-0.501202,-0.057280],[0.503622,0.849855,0.155281],[-0.029147,-0.162922,0.986208]]=HI=];=CYFByXHi-Mb@Mb@Mb@)))) )9-~jt?~jt?:v?Y-?y-<-T<)-A -A)))Y-fAbDEVDE 6yUU %]4=ٔ]@Q-]>9]"?Ye"?=e*FyeEe-:Ee>iQ 5u4mmh?Q 9}4m*)mDBY}?Q E}:y}?Q I}@mlDImv:im:m4y}BɮP BIEZRbj"ړڒ’`Mf@ɢu)a mii)mSuO)E  E nE E "E :*E :VE ZE BE ";a 2E $;a JE J;a :E J;a Q &,,?A>R՞>>0A?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275212><ٱ>W' fAHRS rotation from veh to nav: [[0.863285,-0.501445,-0.057375],[0.503888,0.849768,0.154891],[-0.028914,-0.162625,0.986264]]>H`?@ @B`@?`L1?v? Ŀy?i>R՞>I> ];>CY FBy CHbD%VD%V 6y-,8%5`=ٔ5'Q-5>91Y9==*Fy=EE|Z:EE>AQ 5M4E/h?Q 9U4E)EDBYQyU?Q IU@EtDIE:iE:E4yaɮea BaZRbj"ړڒ’`kYf@ɢwT) i)N< i .r Oɧ>ՂYAM>AAIQIaOm>a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527143ԉԹ B,,Lm,?A2>2a?23 <ٱ2^r' :AHRS rotation from veh to nav: [[0.863050,-0.501777,-0.057999],[0.504323,0.849552,0.154660],[-0.028332,-0.162729,0.986264]]2H? i#?@/??NĿ`y?i2>I2#];0YnFByn8HbDzVDz$ 6yϱ%M=ٔQ->9 Y = *Fy E :E>Q 5%4Xh?Q 9%4)CBY!y%<?Q I%@{DIv;i;4y5Bɮ5u B5JEZQRQbQjQ"QQړYYڒY’aae(ff@颉ɢ%Q) ai)#?J<顑E ErE)E"E1:*E?:VEFA4ZEa@a@a@a@i pɧ>駽)dBBIHBFBB =BBBA;BBEA)I1IAOM>E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031196 *3,wH,?A2D>2x?2F<ٱ2' :AHRS rotation from veh to nav: [[0.862882,-0.501995,-0.058608],[0.504636,0.849365,0.154666],[-0.027862,-0.163034,0.986227]]2H?W`%?-? ?@퇜MĿ+?i2D>I2E];2CY^FBybFHi}Mb@Mb@Mb@yyyy y9}ʡE?Q?y&1?Y}?y}<}`e9Y=*FyE(Y:E>Q 54h?Q 94)CBY?Q E:y?Q I@DIQ;i5P;[4yɮj BZARAbIjI"IIړQYڒY’YYetf@9ɢ=.)A EٱiA)EEumchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286631I T9,O#,?A 2>2?2<ٱ2(' >AHRS rotation from veh to nav: [[0.862531,-0.502538,-0.059118],[0.505264,0.849061,0.154282],[-0.027338,-0.162943,0.986257]]2H`ۙ?D` +? +?`?UĿi?i2>I2r];2CYFzFByFHbDRVDRV 6yV%V]=ٔZ๺Q-Z>9XY\=^*Fy^E^;Eb>`Q 5f4bh?Q 9j4bu)bCBYhyj?Q Ij@bDIb6:ib :b4ynBɮr BrKEZRbj"ړ  ڒ ’  f@9ɢ=)9 E¾iA)EM@MuԡE EoE+E"E:*E:VE [4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787224B >B B 0HB FBB =B B B ;B BE @@,f-?APʟ>?<ٱ{( AHRS rotation from veh to nav: [[0.862395,-0.502680,-0.059889],[0.505531,0.848908,0.154251],[-0.026699,-0.163301,0.986215]]H?`@ũ O-?`A*? ?V Ŀ?iʟ>I];CYFBy-HI 4=) =iMb@Mb@Mb@ 9x&1?/$?Q?YA ?y,=u< B OA)5AYA@A@AbDVD 6y.<%-=ٔαQ->9Y=*Fy!E/&:E>Q 54i?Q 94|)CBY ?Q E:y?Q I@DI:ij:4yBɮ BLEZ R b j "  ړڒ’Ďf@AɢE%H)I MiI)M#!;U={ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040747 D =D <E  E nE ,E "E *E :VE g4ZE BE E;a 2E F;a JE J;a :E J;a AfF,V-?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2911426a(>6?6X<ٱ6( BAHRS rotation from veh to nav: [[0.862046,-0.503201,-0.060547],[0.506159,0.848591,0.153937],[-0.026082,-0.163347,0.986224]]6H?9u2?'?@4?$@Ŀ`%?i6a(>I6];6 CYJFByJ#H|bD~VD~6y %j=ٔQ-?9Y=*Fy"E% ;E%>)Q 5-4-!i?Q 954-x)-CBY1y5?Q I5@-DI-:i-:-4yAɮE BAZaRabaja"iiړiiڒi’iqu@f@颙ɢ,芼) i)86<顡i^gɧ>駵2f%?2<ٱ2=( :AHRS rotation from veh to nav: [[0.861605,-0.503845,-0.061457],[0.506938,0.848101,0.154071],[-0.025506,-0.163904,0.986147]]2H`D?@Sw8?#??B@Ŀ`?i2>I21];2CY^|FBybHbDjVDj 6yr=%rM=ٔrQ-r>9tYt=v*Fyv$Ev|;Ez>xQ 5U4z"3i?Q 9U4Yzu)zCBYaye?Q Ie@zDIzbOA >IyI %>G5kAIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795223B>BBHBvFBBBBDB׋;BBE:9kAY+AO>ԉԱ % %=% %=- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047423eyS,dN-?A2>2MZ?2'<ٱ2RY( :AHRS rotation from veh to nav: [[0.861212,-0.504439,-0.062089],[0.507644,0.847804,0.153382],[-0.024732,-0.163614,0.986214]]2H ? ]$0ʯ>? 6!??[S JĿ?i2>I2'^;2 CYNoFByRH PRAiUMb@Mb@Mb@QԹQQQ Q9Uףp= ?&1?y&1|?YU?yUP=U`;UY BQ Q)QQYUGAbDVD 6y0%:=ٔQ->9Y=*Fy'E:E>Q 5 4Ei?Q 94p)CBYD?Q E:y?Q I@DI;i;4y!ɮ% B!ZARAbAjA"AIړIIڒI’IQUf@yɢ}&) 1Ⱦi)I,<顁ibՎɧ/>駕Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.2992889 Y,jh-?A6>6?6F<ٱ6& BAHRS rotation from veh to nav: [[0.860675,-0.505360,-0.062047],[0.508588,0.847561,0.151586],[-0.024017,-0.162022,0.986495]]6H@?+į`ZF?8?*g?험%Ŀ]?i6>I6];6CYJbFByJHbDVVDV 6yZ %Z`=ٔ^Q-^>9`Y`=b*Fyb)EbC;Ef>dQ 5j4fzUi?Q 9n4fm)fCBYlyn?Q In@fDIf. ;if ;f4yvBɮv BvEEZ R b j " ړڒ’`\f@AɢEߞ)I MξiI)Mz']AE EnEE"Ea:*E:VEZEa@a@a@a@qBu >Bu DCBu HBu lFBBu =Bq Bq Bu ;Bu kBE checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803229ԙ t`,H-?AM>M?My<ٱM& AHRS rotation from veh to nav: [[0.860157,-0.506192,-0.062450],[0.509494,0.847177,0.150689],[-0.023371,-0.161434,0.986607]]MHg?@2@zM??`I?@ Ŀ H?iM>IMZ];MCYlFBy HqiMb@Mb@Mb@ 9?I +?MbP?Y ?y94=: B )nAYbDVDs 6y<%,=ܱٔQ->9Y=*Fy+E;E>Q 54%ji?Q 9 4 i)CBY e ?Q E:y?Q I@DI);i(;g4yɮ BZ9RAbAjA"AAړAIڒI’IIU@f@yɢ}F|)y }ɾiy)T!<顁ig^썎ɧ<>駍ҖbE-ʙT4jE-ʼP4rE-./E  E lE *E "E :*E :VE (N4ZE BE ";a 2E $;a JE C;a :E C;a  f,B!-?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3072366C{>6( ?60θ<ٱ65:' BAHRS rotation from veh to nav: [[0.859813,-0.506605,-0.063814],[0.510110,0.846718,0.151183],[-0.022557,-0.162542,0.986444]]6H ?@6$VR?@P?@Y?E*Ŀ?i6C{>I6];6CYJkFByJ HIN<)N<bDVVDV 6yZ㪻%^v=ٔ^ Q-^?9`Y`=b*Fyb-Ef/ ;Ef?hQ 5j4jxi?Q 9n4je)jCBYlyn?Q Ir@jĊDIj;ij+;j54yvBɮv BtZ R b j "ړڒ’`f@ɢR) hʾi)<i4r\1Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.559670) Q `l,1-?A2QѢ>21? ?2 <ٱ2H' :AHRS rotation from veh to nav: [[0.859494,-0.507042,-0.064642],[0.510684,0.846446,0.150769],[-0.021730,-0.162597,0.986453]]2H ?9dW??fL?n@Ŀ?i2QѢ>I2];2CYBPFByBHbDNVDN6yV%VK=ٔVQ-V>9XYX=Z*FyZ/E^:E^>`Q 5f4b i?Q 9f4b)b)bCBYdyf?Q If@b̊DIb:ib:b>4ylɮn BlZ|R|b|j"ړڒ ’   f@1ɢ=Β)9 =׾i9)=|}MF:BBHBWFBBBBB;BiBEBCCBCCBBBC 51echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.813077AAIIIYOm>aԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063142Xs,U-?A@J5>Jyq ?J<ٱJH' VAHRS rotation from veh to nav: [[0.859115,-0.507588,-0.065385],[0.511351,0.846118,0.150349],[-0.020992,-0.162602,0.986468]]JH`}?@)>\?`e?>? ~`!Ŀ@&?iJ5>IJ"];JCYnOFByrHiMb@Mb@Mb@ 9Mb?~jt?MbY ?y= )5AYAbDVDV 6y,%8=ٔںQ->9Y=*Fy1E9:E>Q 54li?Q 94^)CBY ?Q E:y6?Q I@ՊDI:i:$4y Bɮ  B FEZ)R)b1j1"11ړ19ڒ9’99=Ef@ɢ2) Xؾi)u#<iW#ɧ>A1ԩEu EupEu*Eq"Eu:*Eu :VEu(N4ZEqBEuE;a2EuF;aJEu:R;a:Eu:R;aAYIiIO>>iiImAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.3170585nManaging dock network, ignoring radio surface power off y,-?A2-9>2s ?2#<ٱ2w) :AHRS rotation from veh to nav: [[0.859115,-0.507368,-0.067074],[0.511380,0.845843,0.151790],[-0.020279,-0.164705,0.986134]]2H}?\<+:]?$?m?Ĕ ſi?i2-9>I23];0Y^FFBybH `bAbDjVDj9 6lyvnǼ%v[=ٔv{Q-v>9xYx=z*Fyz3Ez8E~>Q 5 4íi?Q 9 4Z)CBY y 5?Q I @܊DIy:i:~+4yɮ Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.567582ZRbj"ړڒ’Q]@Lg@颩ɢ) ܾi)= <顱iкU&ɧ>駽1E} EyE},Ey"E}a:*EyVE}g4ZEya@a@a@a@B B CCB HB CFBB =B B B ;B qBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819134a z,.?ANÓ>Nj ?N<ٱNN) nAHRS rotation from veh to nav: [[0.858776,-0.507839,-0.067846],[0.511983,0.845589,0.151170],[-0.019400,-0.164557,0.986177]]NH{?6@V^@*b?? Y?@ݓ`4ſŽ?iNÓ>IN ^;LY9YYY=]*Fye5ER:E>Q 54i?Q 94eV)CBYyb?Q I@DI:i:y34yBɮ BGEZR b j "  ړ ڒ’g@aɢmb%)i mii)mO}ԁEy  E} rE} )Ey "Ey *E} ?:VE} FA4ZEy BE} g;a 2E} h;a JE} Y;a :E} Y;a Ա ,h.?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327295N~>Nǧ ?N<ٱNl( VAHRS rotation from veh to nav: [[0.858733,-0.507831,-0.068447],[0.512088,0.845657,0.150435],[-0.018512,-0.164234,0.986248]]NHz?&@@c??pA?`ſ@W?iN~>IN^;LYb;FBybHiMMb@Mb@Mb@IIII I9MV-?S㥛?:vYM?yM/9yYy=}*Fy}7E9E>Q 54i?Q 94&S)CBY?Q E:ԙy?Q I@DI4;i3;94yBɮ BHEZRbj"ړڒ’@g@颉ɢdƼ) Mi);顱iRQɧz>駽a2 ?2F<ٱ2o( :AHRS rotation from veh to nav: [[0.858752,-0.507746,-0.068841],[0.512085,0.845806,0.149601],[-0.017733,-0.163723,0.986347]]2Hz?u?`c??&?@( Ŀ'?i2>I2N^;0Yv$FByvHIx)zR=bDVD6 6y k%Q=ٔQ->9Y=*Fy9E%TE%>)Q 5-4-i?Q 954-O)-CBY1y1Q I5@-DI-:i--:EE EEpEAEA"EE:*EE :VEAZEAaM@aM@aM@aM@-@4yUBɮ] B]?EZyRybyjy"ړڒ’`=(g@颱ɢ,\ռ) i)W;iR)OɧD>OBDCBHB9FBB =BBBԋ;BBEIIO=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.8312201Q B ?B_Z<ٱBZ( JAHRS rotation from veh to nav: [[0.858726,-0.507693,-0.069551],[0.512152,0.845806,0.149374],[-0.017010,-0.163892,0.986332]]BHz??@αc??@?k@kĿ`?iB+>IB^;@YVFByVHieMb@Mb@Mb@aaaa a9e+?/$?~jtYev?ye9Y=*Fy;E/9E>Q 54$i?Q 94L)CBY?Q E:ym?Q I@DI ;i ;H4yBɮ B@EZRbj"ړڒ’@5g@ɢډμ)! %i!)%v;!!i%!L-`ɧ->- 2Q ?2'<ٱ2R' :AHRS rotation from veh to nav: [[0.858400,-0.508156,-0.070192],[0.512734,0.845661,0.148193],[-0.015946,-0.163199,0.986464]]2Hx?`B @Ph???7TĿ?i2>I2];2CYFFByFHbDNVDN 6yV<%VZ=ٔZ9Q-Z>9XYX=^*Fy^=Eb:Eb>dQ 5j4fj?Q 9j4fH)fwCBYlyn?Q Ir@fDIf';if';fN4ytɮv BxZR!b!j!"!!ړ))ڒ)’)15 Ag@qɢu )q uUi);iJ5ɧw>_A=>ԱIIO=E] E]qE])EY"E]1:*E]$ :VE]FA4ZEYae@ae@ae@ae@1e09aYe##AB>BBHB$FBBBBB;BBE 9 ',ׄ.?AB_>B ?Bw<ٱBy~' JAHRS rotation from veh to nav: [[0.858045,-0.508671,-0.070802],[0.513353,0.845425,0.147399],[-0.015120,-0.162821,0.986540]]BHu?` G  `bm? ??pTĿ?iB_>IB];BCYEByH  U49Y=*Fy?E :E->1Q 5=45j?Q 9E45{D)5kCBYAyE?Q IE@5DI5 :i5[:5W4yUBɮU BUAEZRbj"ړڒ’cQg@ɢ",м) 1i)r;!!i%HMpɧM>MT#i Dm =Di Eu  Eu xEu +Eq "Eu O:*Eu :VEu [4ZEq BEu ;a} 2Eu ;a} JEu Xo;a :Eu Yo;a 5Q,Ͱ.?A$6>6* ?6l<ٱ6$' BAHRS rotation from veh to nav: [[0.857771,-0.509066,-0.071276],[0.513829,0.845252,0.146728],[-0.014448,-0.162483,0.986606]]6H@r?EJ'?@Iq?M ??@=ĿE?i6>I6];6CYHyLi%Mb@Mb@Mb@!!!! !9%}?5^I?Zd;O?I +Y%M"?y%j<%94!! %A)%5A!Y%AbDVDq 6ٔFQ->9Y=*FyAE:E>Q 54*j?Q 94BA)bCBYo"?Q E:y?Q I@DI ;i* ;Z]4yɮZRbj" ړ  ڒ ’ \g@9ɢ=)A AiA)E0;AAiMEM،ɧM>Uԙ |,.?A2>2`6 ?2$b<ٱ2' :AHRS rotation from veh to nav: [[0.857682,-0.509145,-0.071782],[0.513995,0.845230,0.146273],[-0.013802,-0.162351,0.986637]]2H`"r?J`F`r? ??UDĿ?i2>I2];0YDyDLbDRVDR 6ٔZQ-Z>9^ ?Y^ ?=^*Fy^CEbB:Eb>dQ 5j4f;j?Q 9j4f=)fYCBYhyj?Q Ij@fDIfY;ifa;fc4yrBɮr) BrBEZRbj"  ړ  ڒ ’@ghg@E! 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BAHRS rotation from veh to nav: [[0.837707,-0.529944,-0.131932],[0.544014,0.830956,0.116452],[0.047917,-0.169325,0.984395]]6H~?N(h?0?@Ͻ?? uſ )?i67>I6$\;6 CY^HBybHbDjDVDj 6yr#a=%rP=ٔr2Q-r>9tYt=v+Fyv+Ezv);Ez>|Q 54~ۑq?Q 94~- )~DBYy>?Q I  @~DI~ ;i~ ;~4yBɮ] BEZ1R1b1j1"99ړ99ڒA’AAETm@iɢmA|m)q u*>iq)u(ݼqyi}۫kɧH駅& i ?><2?2BDٱ2,R. :AHRS rotation from veh to nav: [[0.837493,-0.530289,-0.131905],[0.544345,0.830757,0.116321],[0.047897,-0.169220,0.984414]]2H?!A`Fk?`?8ǽ?@?ſ@Q?i2j>I2\;2 CY\ybHliMb@Mb@Mb@ 9NbX9?+?V-Y%?y=hBA dA)YbD[VD6yj%>=ٔaC8Q->9Y=+Fy-Ep:E>Q 54Wq?Q 94} )DBY'?Q E:y,?Q I @DIf:i;4yBɮo BZRbj"ړ ڒ ’  `+m@9ɢ=)9 =`*>iA)EۼAAiE}M2ɧMWMi,iM ?Ux2?2uDٱ2. :AHRS rotation from veh to nav: [[0.837531,-0.530154,-0.132206],[0.544273,0.830775,0.116531],[0.048054,-0.169555,0.984349]]2H` ?j?ൕ? ս?`? ſ?i2'`>I2A\;2 CYBHByBHIF=)F4<bDNbVDN6yV<%V\=ٔVݹQ-Z>9XYX=Z+FyZ/E^eE^>`Q 5f4bIq?Q 9f4by )bDBYdyj,?Q Ij @bDIb:ib9:b4ynBɮnq BnEZRb j "  ړ  ڒ’@6m@9AɢE͝c)I M4>iI)M9ڼIIiM~( UɧU'd駽߅6i ?5<I ?  ?IIYIiO}=iԑ jX,o:?A60>6n?6sEٱ6ݰ. BAHRS rotation from veh to nav: [[0.837723,-0.529832,-0.132285],[0.543966,0.830977,0.116524],[0.048187,-0.169573,0.984339]]6H?a +h?]? Խ??ſ ?i60>I6l\;4YJHByJHbDRVDR%6yZ.=%ZJ=ٔ^ Q-^>9\Y`=b+Fyb1EbWjEb>dQ 5j4fq?Q 9j4f5u )fDBYlyn,?Q Ir @fDIfW;ifw;f4yɮ` B Z)R)b)j)"))ړ)1ڒ1’115Dm@颉ɢmWԡ) F>iQ)]sټaaie 9ɧq駥nAi}W ?DzDE E{E(E"E:*E5":VEc44ZEa@a@a@a@b!<I}W ? }W ?I)^A &<A I I O > F@,q:?A2H>2V?2Fٱ2<. :AHRS rotation from veh to nav: [[0.837911,-0.529541,-0.132253],[0.543649,0.831252,0.116042],[0.048487,-0.169132,0.984400]]2H +?@e??`괽? >Ө?ſ4?i2H>I2G\;0YFHByFHB K>B B 7HB IBB B B B ;B AEB=CB=CBB =B =C4iMb@Mb@Mb@ 9Mb?l?Zd;Y ?y=yBA )&AYA <bD%VD%'6y-<%55=ٔ5-Q-5>99Y9==+Fy=3EEUEE>IQ 5M4MKq?Q 9U4Mp )MDBY!?Q E:y?Q I @MŽDIM]%iA)MؼIIiM0 u΄ɧuou?iuh[ ?uQSQy j,N:?A28ɶ>2$;?2Gٱ2z- :AHRS rotation from veh to nav: [[0.838128,-0.529250,-0.132047],[0.543289,0.831586,0.115333],[0.048769,-0.168403,0.984511]]2H? b? Z?o?:?=ſ`?i28ɶ>I2\;2CY^HBy^H ``bDjVDji"6yrw~%rb=ٔrLQ-v>9tYt=v+Fyv5EzcEz>|Q 54~q?Q 94~im )~vDBYy?Q I  @~ʎDI~:i~:~4yBɮ; BEZRbj"ړڒ’{^m@ ɢ \?) % J>i )5ּ11i5T=)儽ɧ=m=>i=^ ?EH| ,':?A2>2W?2Fٱ2*. :AHRS rotation from veh to nav: [[0.838954,-0.527936,-0.132058],[0.542030,0.832286,0.116201],[0.048564,-0.169067,0.984407]]2H?``J@PX??X?Zݨ?ſD?i2>I2K\;2 CY^HBy^HiEMb@Mb@Mb@AAAA A9EʡE?~jthV-YE?yEDEAA E7A)EAAYEAbD]VD] '6ym>%mB=ٔmh9Q-u>9qYq=u+Fyu7EmbE>Q 54(q?Q 94i )wDBY?Q E:y?Q I @ҎDI:i:4yBɮK BEGS-B*** querying acoustic contact ***:)B)Z9RAbAjA"AAړAIڒI’IIM`km@yɢ}CuP)y }G>i)bռ顁iw~ɧ \駍C0i ?Ϧ<I ?  ?I@@@@Ա2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AAAAB I>B  E  E {E +E "E :*E 5":VE [4ZE BE W;a 2E Y;a JE Cz;a :E Dz;a 9 $},:?ANo>N|?N٠GٱNuK. 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G{ ;?׳??>ܨ?` ſ}?iFL׳>IFq];DYzHByz*HiMb@Mb@Mb@ 9V-?Y?yB )AYAbD_VD(6y~?=%<=ٔn8Q->9Y=+Fy=EdE>Q 5 4d1r?Q 94*_ )DBY?Q E:y?Q I @DI ;iq ;4y%Bɮ%6 B%EZARAbAjA"IIړIIڒI’QQUΒm@yɢ}2)  v>i) Ѽ顁i+-6ɧ-,- i5$ ?5 <1I5$ ? 5$ ?I9%vE E|EE"Eg:*EP$:VEZEBE;a2E;aJE};a:E};aIIO%M>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007092A ,-$;?A2>2T?2Fٱ2. :AHRS rotation from veh to nav: [[0.842145,-0.522939,-0.131629],[0.537063,0.835323,0.117468],[0.048524,-0.169618,0.984315]]2H`? 4`/??`d?ب? ſ@?i2>I2];2 CY^HByb(HbDjiVDjN6yri%r]=ٔr48Q-r>9tYt=v+Fyv?EzEz>|Q 54~pAr?Q 94~[ )~DBYyT?Q I @~DI~;i~;~04yɮ8 BZ1R9b9j9"99ړAAڒA’AAM@m@qɢul)q uDt>iq)ϼi zFɧbiL ?'<I L ? 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V ?Iԡmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871BF>BBHB=IBBBBB;B#AEII1O=r> E  E E E "E :*E .:VE ZE BE i2?2>Eٱ2Ga. :AHRS rotation from veh to nav: [[0.843725,-0.520612,-0.130737],[0.534618,0.836845,0.117788],[0.048085,-0.169275,0.984395]]2H?٨@? o?@Y'?`?ͪſ@*?i2~>I2^;2 CYBIByBOHbDNVDN"6yV =%VZ=ٔV(:Q-V>9XYX=Z+FyZCE^hE^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972dQ 5j4f/cr?Q 9j4fT )fDBYly= ?Q I= @fDIffi)̼i~Ifɧ_i6` ?'T<I6` ? 6` ?I!IIO=1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788Y ,N%r;?A2چ>2?2Aٱ2@/ :AHRS rotation from veh to nav: [[0.844765,-0.519045,-0.130243],[0.533040,0.837678,0.119011],[0.047330,-0.169961,0.984314]]2H`Q? Ϋ`?C?xw?@;?Eſ ?i2چ>I2%^;2CYF'IByFgHbDNVDN'6yV@=%VJ=ٔVG:Q-V>9XYX=Z+FyZEE^E^>`Q 5f4b"tr?Q 9f4bP )bDBYdyf?Q If @b DIb:ib:b>4ynBɮn BnEZ|R|b|j|"ړڒ’   (m@1ɢ5悻) ˓>i)Bʼ项iUuɧMil ?e<Il ? l ?I9IaDzD?AE EE(E"E:*E|;:VEc44ZEa@a@a@a@I Oe=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521167aԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771655Թ Y,0K;?ABE>BBHBQIBBBBB;BAEV>V[?Ve?ٱV/ ^AHRS rotation from veh to nav: [[0.845445,-0.518102,-0.129588],[0.532016,0.838258,0.119508],[0.046711,-0.169980,0.984340]]VH ?JRF?@?@ ?u?`ſ`?iV>IV^;V CYj!IByj_HIn!>)np9Y=+FyGE3E>Q 54φr?Q 94L )DBYs?Q E:y&?Q I @DI:iQ:4yBɮ BEZ1R1b1j9"99ړ99ڒA’AAEm@qqɢu좼)y }>iy)})/ȼyyi}c"|ɧ駅iS ?w<IS ? S ?IAzAA؟AIIO(>bEķG4jEL4rEIJ0Ee EeEaEa"Ee7:*Ee0:VEaZEaBEe;au2Ee;auJEe߉;a}:Ee߉;a}ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869 ,ۥ;?A6_'>68j?6:ٱ6=/ >AHRS rotation from veh to nav: [[0.846263,-0.516968,-0.128777],[0.530817,0.838823,0.120873],[0.045534,-0.170647,0.984280]]6H ?@@{s?`??`3P?ſ7?i6_'>I6^;4YR4IByRwHbDZVDZ"6ybpV=%ba=ٔfT;Q-f>9f"?Yf"?=f+FyfIEjEj>lQ 5r4nr?Q 9r4nH )nDBYpyv%?Q Iv @nDIns:in:nj4yzBɮz BzEZRbj"ړ!ڒ!’!!%m@QɢU0)Q Un>iQ)U2dƼYYi]#$eQɧee7ie(A ?eE E~E*E"E:*E(:VE(N4ZEa@a@a@a@Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528996*1,V;?A2>2K4?25ٱ2o 0 >AHRS rotation from veh to nav: [[0.846743,-0.516413,-0.127843],[0.530148,0.839111,0.121804],[0.044373,-0.170912,0.984287]]2H`? t$]??.?@?qſF?i2>I2^;2CYNHIByRHieMb@Mb@Mb@aaaa a9e~jt?K?Zd;O?Ye$?ye^=ej=ٔT1;Q->9Y=+FyLEE>Q 54ڧr?Q 940D ) EBYZ&?Q E:yB4?Q I @"DI:iE:4yɮ BZRbj"ړڒ’@m@ɢP) *>i)%"ļ!!i%ł&-gɧ-6-wi-, ?-<1I5, ? 5, ?I1QAAIQIaOu>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779509BABABEHBEpIBBABABABEq;BE@EB .I?.0ٱ.d1 :AHRS rotation from veh to nav: [[0.846999,-0.516068,-0.127544],[0.529840,0.839025,0.123722],[0.043164,-0.172370,0.984086]].H?`S s?J? 8?`?9ƿ }?i.>I.ܚ^;,@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030776YVSIByVHbD^~VD^!6yfA<%fW=ٔjP;Q-j>9hYl=n+FynMEn爺Er>pQ 5v4rr?Q 9z4r? )rEBYxyz)4?Q Iz @r*DIr:ir:r4y~Bɮ BEZ!R!b!j!"!!ړ))ڒ)’)15m@ɢ@) >i)i9( #ɧ J h"i  ?e<I ?  ?I1AE>AE>ԩAIIO>]BDAT read: Rx Time:21:04:46.4078 eTRx dataTimestamp_ set to:1761512687.673268mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.285086 CD,6s;?A2m>2a ?2"+ٱ2K|2 :AHRS rotation from veh to nav: [[0.847148,-0.515972,-0.126937],[0.529702,0.838899,0.125161],[0.041908,-0.173269,0.983983]]2H?ׂw?P?B?`G?`t?-ƿ|?i2m>I2o^;2CY^dIBy^HbDfVDf%6lyr)%=%rI=ٔvpJ;Q-v>9tYt=v+FyvPEzEz>|Q 54~r?Q 94~; )~)EBY y 4?Q I  @~2DI~:i~:~4yɮ BZ9R9b9j9"99ړ9AڒA’AAMn@qɢu:)q }S>iy)}Kyyi}*Pԅɧ_駅3im ? <Im ? m ?IEm Em~Em(Ei"Em%:*Em(:VEmc44ZEia@a@a@a@}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.561254IIO>1a } checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789251,,~Q fA#?fJ&ٱf4 rAHRS rotation from veh to nav: [[0.847017,-0.516179,-0.126965],[0.530013,0.838338,0.127576],[0.040588,-0.175352,0.983669]]fH`?c@@??fT?Ǥ?@qƿ7z?ifp>If<<^;fCY~wIBy~H9iMb@Mb@Mb@ 9Pn?y&1?Y$?y`=cB )YpAAAAAbDVD'6y,=%>=ٔH;Q->9Y=+FyREK:E>Q 54Er?Q 946 ),EBY&?Q E:y:?Q I @;DI ;iG ;44yBɮ BZR b j "  ړ ڒ’[n@ɢ:) >i) iii-ɧ}Ji ?)<I ?  ?IyIIO%,>Ea EeEe*Ea"Ea*Ee*5:VEe(N4ZEaBEe;au2Ee;auJEe;au:Ee;auDAT read: 21:04:46.4078 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.28,-0.821,-2.601,-0.944,-1.292, PHS= 0.573,-1.264, 0.304, RAW= 142.2, 4.6, CAL= 141.9, 5.1, ROT= 8.1, -5.1 Ygot valid direction response: 21:04:46.4078 LVL= 32752, 32753, 32754, 32755, AGC= 89, IDX= 418, 0.28,-0.821,-2.601,-0.944,-1.292, PHS= 0.573,-1.264, 0.304, RAW= 142.2, 4.6, CAL= 141.9, 5.1, ROT= 8.1, -5.1 PDAT read: Bearing 186.1, 9.5 (Local) ~Local bearing/azimuth received: Bearing 186.1, 9.5 (Local) DAT read: Range 11 to 50 : 1130.1 m (Round-trip 1506.8 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages.\direction in FSK: [0.986104,0.140343,0.088894]Fpublishing direction and range infoyyn*?jB??YCD )YI!?iʡ㥛>@l=@ K=)>IKg2 Z?6B6?Q? t>)I>iKԑԹ :U ,$%'2#?2 ٱ223 :AHRS rotation from veh to nav: [[0.847064,-0.516468,-0.125476],[0.530038,0.838318,0.127606],[0.039284,-0.174597,0.983856]]2H%? ??`U?`?/Yƿ{?i2>I2A^;0YNzIByRHIV<)V;bDZVDZ&6yv<%vX=ٔvb;Q-v>9xYx=z+FyzTEz!E~>Q 5 4r?Q 9 4G2 ).EBY y :?Q I  @CDIl:id:4yɮ BԙJR`K— ėn@@^\@>ِ ?Sgiw?+J~??jT7DruSDZdIV?bz$CdIV?$CڗD6?Z R b j "ړ11ڒA’Iu`f@u`?ɢL;) c>i)iE/ɧz `i ?<I ?  ?I A%iAzA!IIO>Eu Eu}EqEq"EuƱ:*Euk&:VEqZEqa}@a}@a}@a@ 3C! ] Gu kA 3X9 kAY HGA=,@26?2iٱ2^5 :AHRS rotation from veh to nav: [[0.846943,-0.516717,-0.125261],[0.530319,0.837857,0.129452],[0.038061,-0.176067,0.983642]]2H@)?@@_???|?``ƿy?i2>I2^;2 CYryIByrHimMb@Mb@Mb@iiii i9mL7A`?1Zd?MbYm+'?ym"=mmBmA m A)mAiYm3AbDVD/6y^%@=ٔ<;Q->9Y=+FyVE9:E>Q 54r?Q 94q- )#EBY)?Q E:y5?Q I @LDI ;i ;>4yBɮ BEZRbj"ړڒ’;?颡ɢbV;) >i)4顩i1-ɧfsi^ ?<I^ ? ^ ?IIqIO=1B<A<BBB HBIBBBBBO;B@EIE  E {E (E "E :*E 5":VE c44ZE BE &;a 2E ';a JE Cz;a :E Dz;a ԑ f,Z2e?2yٱ2M4 :AHRS rotation from veh to nav: [[0.846595,-0.517532,-0.124248],[0.530946,0.837461,0.129442],[0.037062,-0.175554,0.983772]]2HN?ο`?@{??@?xƿ {?i2>I2&0^;2CQYmIByuHbDVD06y=%:=ٔR;Q->9Y=+FyXE:E>Q 54<s?Q 94v( )EBYy6?Q I @UDI:i:4yɮ BZRbj"ړڒ’o?)ɢ-0;)1 5>i1)5y11i54= Qɧ=D=6iE ?E2Wi?2 ٱ25 :AHRS rotation from veh to nav: [[0.846595,-0.517680,-0.123631],[0.531010,0.837309,0.130162],[0.036135,-0.175843,0.983755]]2H`N? ՐC?I2+^;2 C>̏CBr@i@I@@@ DDDDDDID)HiH)HIJmAHH LLLLiLPiPRmA)P PIP T)TTTTYTY^IBy^H ``bDjVDj16yr<%rl=ٔr5/;Q-v?9tYt=v+FyvZEz"9Ez?|Q 54~s?Q 94~$ )~EBYy 6?Q I  @~]DI~:i~:~#4yBɮ BEZ1R1b1j1"9ړڒ’O?D9zD=AAEE EE~EE*EA"EE7:*EE(:VEE(N4ZEAaM@aU@aU@aU@ԹɢT;) >i)벼 1iU3L6euɧmiu}Tiue ?}7 B D>B B 1HB IBB B B B A;B @E9 x#,T:g?:ٱ:4 RAHRS rotation from veh to nav: [[0.846635,-0.517819,-0.122770],[0.530994,0.837326,0.130119],[0.035420,-0.175353,0.983868]]:H@?m?_?ວ?"?@qƿ@{?i:!>I: ^;8Y=IBy=HiMb@Mb@Mb@ 9Zd;O?sh|??~jtY~*?y=DfBA  A)YfAbD-5VD-66y==%=6=ٔ==:Q-E>9AYA=E+FyE\EM8EM>QQ 5]4U0s?Q 9]4U )UDBY]@,?Q Ee:yec+?Q Ie @UfDIU:iUj:U+4ymBɮm BmEZRbj"ړڒ’)?ɢ[;) `>i)id8ݙɧJGՑiّ ?V<Iّ ? ّ ?IAAEM EM}EM)EI"EM%:*EMk&:VEMFA4ZEIBEM;a]2EM;a]JEMŀ;a]:EMƀ;a]IiIyO8>9iߙIߙi Ԣ),j2Q?2x ٱ2{+5 >AHRS rotation from veh to nav: [[0.846837,-0.517627,-0.122185],[0.530736,0.837331,0.131135],[0.034430,-0.175898,0.983806]]2HJ?f@|G?i??ʠ?`уƿW{?i2^>I2t'^;2CY}IBy}HbDVD26yn<%T=ٔ$(;Q->9Y=+Fy^EZE>Q 54Bs?Q 94S )DBYyJ+?Q I  @oDI;i;24yɮ BZRbj"ړڒ’ ]@ ɢ  <) @>i)0.ii:%ɧ%>%Ei%f ?%wԙDU=DU4=E] E]E]+EY"E]:*E]3:VE] [4ZEYae@ae@ae@ae@ 0,ZI2@?2P ٱ2O4 :AHRS rotation from veh to nav: [[0.846987,-0.517575,-0.121362],[0.530524,0.837536,0.130684],[0.034006,-0.175073,0.983968]]2H? ??@?Ai? hƿ`|?i2QԮ>I2C^;2 CLYRIByR HieMb@Mb@Mb@aaaa a9e#~j?T㥛 ?Ye%?ye=eLeBeA a)e&AaYe3AbD}VVD}:6yl<%L=ٔ3:Q->9Y=+Fy`ER*E>Q 54Ss?Q 949 )DBY)'?Q E:y2$?Q I @wDI ;i~ ;94yBɮ BEZRbj" ړ  ڒ ’ @f@9ɢ=,<)A E>iA)E{AAiE$=Mm憽ɧMyMWaiUS ?U<BBBWHBIBBBBB8;B@E! bEjE#E4rEʮ1/Ee  Ee ~Ee (Ea "Ee %:*Ee (:VEe c44ZEa BEa au 2Ea au JEe ;au :Ee ;au 6,!6$?6} ٱ6q3 >AHRS rotation from veh to nav: [[0.847231,-0.517350,-0.120614],[0.530162,0.837806,0.130422],[0.033577,-0.174443,0.984095]]6H?`"྿@?M??0?"Tƿ }?i6>I6,_;6 CY^IBy^>HbDjfVDjh<6yru~=%rV=ٔr-:Q-v>9tYt=v+FyvbEzEz>||Q 54~Wds?Q 9 4~Z )~DBY y $?Q I  @~DI~:i~ :~3@4yɮo BZRbj"ړڒ’@f@ɢPA<)1 5.>i1)=|99i=?EɧEE9iEA ?Eoԁԡ b<,2?2GXٱ2 n3 :AHRS rotation from veh to nav: [[0.847877,-0.516506,-0.119694],[0.529178,0.838370,0.130792],[0.032793,-0.174235,0.984158]]2H!?6J??ͽ?Cʠ?XMƿ8~?i2>I2_;2 CYFIByF?HbDNVDNQ@6yV;%VN=ٔVg;Q-Z>9XYX=Z+FyZdE^BE^>`Q 5f4bus?Q 9f4bI )bDBYhyj#?Q Ij @bDIb:ib:b&G4ynBɮnN BrEZRbj"ړ ڒ ’  X @9ɢ=tV<)9 E>iA)EAAiELAM83ɧM¾M/iUf0 ?Uԩ B B>B B pHB IBB =B B B P;B @EBABABABABACE˪P5 C,=?A.Za>.6?.=ٱ. 2 :AHRS rotation from veh to nav: [[0.848543,-0.515671,-0.118566],[0.528161,0.838986,0.130953],[0.031947,-0.173741,0.984273]].H@D'? `XZ@???@Q[?@&=ƿ *?i.Za>I.`;.CYzIByzOH ||iMb@Mb@Mb@ 9y&1?l?QY`%?y=BA A)YAbDVDB6y8<%:=ٔ0:Q->9Y=+FyfE4E>Q 54s?Q 94 )DBY%?Q E:y?Q I @DI7 ;i& ;N4yɮA BZRbj"ړڒ’ hA@ɢnA9<)  >i)\i^D i`ɧ  YNi ?= ?-4<)I5?= ? 5?= ?I1AE>AE>E- E-E--E)"E-U:*E-,:VE-t4ZE)BE-;a52E-;a5JE-;;a=:E-;;a=AaIiIO9>1Y aI,{)=?AF>F-?F>.ٱF2 RAHRS rotation from veh to nav: [[0.849284,-0.514662,-0.117641],[0.527017,0.839634,0.131408],[0.031145,-0.173601,0.984323]]FH`U-?`xR?H? ?u? 8ƿ?iF>IFX`;F C1YEIByEiHbDUVDUOC6ye5=%e3=mPExceeded connect timeout, disconnecting.ٔuG:Q-u>9qYy=}+Fy}iE}CE}>Q 543s?Q 94 )DBYy?Q I @DI;iF:V4yBɮ9 BEZRbj"ړڒ’`se@ɢ^<) o>i)7顡iFɧn駭pi8L ?U<I8L ? 8L ?IYAII Om>E5 E5E5*E1"E5Ʊ:*E5.:VE5(N4ZE1a=@a=@a=@a=@ԉԹ P,C=?A2*>2 ?2yYٱ22 :AHRS rotation from veh to nav: [[0.850120,-0.513482,-0.116759],[0.525709,0.840388,0.131825],[0.030433,-0.173449,0.984373]]2H.4? qn㽿?u??)? 3ƿ?i2*>I2`;2C @)@@BsF@DDiFIDDIHiH JļH)HH LNLLPPIR`)PiP)TIVvnAV`T TTTXiXXiXX)X \I\Y\Yb JByb~Hi Mb@Mb@Mb@     9 MbX9?9QYQ=U+Fy]jE]銻E]>aQ 5m4e;s?Q 9m4e )eDBYm"?Q Eu:yu?Q Iu @eDIe ;ie ;e?]4y}Bɮ}T ByԑZRbj"ړڒ’@@)ɢUp <)Q U?iY)]bdYYi]XIm'ɧm駍4i:T ?$<I:T ? :T ?IB-C>B)B-HB-JBB- =B)B)B-_;B-@EAI!I9OEQ>EE  EE EE 'EA "EE :*EE *:VEE '4ZEA BEE k;aU 2EE l;aU JEE i;aU :EE i;aU  W,]=?A6g4>6p ?6ٱ6e1 >AHRS rotation from veh to nav: [[0.850846,-0.512645,-0.115136],[0.524591,0.841135,0.131518],[0.029423,-0.172301,0.984605]]6H !:?gyr?@??!?` ƿ ?i6g4>I6Ya;4Y-#JBy-HI5%=)5bD=VD=I6yM=%UX=ٔU8/;Q-U>9YYY=]+Fy]lE]9gEe>Q 54Fs?Q 94i )DBYyp?Q I @DI;i; d4yBɮW BEZRbj"ړڒ’  j@1ɢ5<)1 5?i9)=E99i=KE]҇ɧELE!piM] ?M7 = nManaging dock network, ignoring radio surface power off-],Cw=?A0:;1>:& ?:ٱ: 0 BAHRS rotation from veh to nav: [[0.851903,-0.511166,-0.113889],[0.522921,0.842134,0.131773],[0.028552,-0.171813,0.984716]]:H B?`x['@Ļ? ? ?`I:a;: CY=*JBy=HbDMVDMK6ye<%eL=ٔe;Q-e>9m ?Ym ?=m+FymnEmEu>qQ 5}4uSs?Q 94u )uDBYy?Q I @uDIu:iuF:uj4yéBɮ\ BZRbj"ړڒ’@ɢ<)  ?i)$DqzDqE} EyEyEy"E}:*EyVEyZEya@a@a@a@iLNɧѵtih ?H<Ih ? h ?Iԡ/G!A9Y2AA=؟AIAIQOeU>Թ B% @>B% ;CB% HB% ;JBB% =B! B% DB% g;B% @Ed,=?A>̄>> ?> ٱ>/ NAHRS rotation from veh to nav: [[0.852617,-0.510342,-0.112225],[0.521816,0.842844,0.131614],[0.027420,-0.170777,0.984928]]>HH?Tκ?? ??ſ?i>̄>I>`b;>CYZ1JBdy^Honly read 0 of 1 data item for BIT error. Device response is::TS,00050300531230,35.0, 0.0,1494.8, 0 a@a a@a a@a a @a  p< <bDVDH6y%z<%%N=ٔ%N;;Q-->9-"?Y-"?=-+Fy-pE5YE5>9Q 5E4=s?Q 9E4= )=DBQ AE+:YAQ EE:yM?Q IM!@=DI=:i=>=rp4yQɮUV BQZqRqbqjq"yyړyyڒ’b@颩ɢJ<) C ?i)11i5P=dɧ=#=GOiEu ?EDVE EE,E"E:*E.:VEg4ZEBE;a2E;aJE ;a:E ;aA P@j,*=?A6>6# ?6ּٱ6/ ZAHRS rotation from veh to nav: [[0.853576,-0.509036,-0.110862],[0.520310,0.843670,0.132286],[0.026192,-0.170598,0.984993]]6H ~P?J@la`?@W?`?+Қ?`(ſ?i6>I6b;6CYjLJByjH ppbDzVDzH6y=% L=ٔ H;Q- >9Y=+FyrE%LE%>)Q 5=4-ps?Q 9=4-/ )-DBQ AE :YAQ EE\:yE%?Q IE!@-DI-LC;i-NM?-u4yUͩBɮUO B]EZRbj"ړڒ’@/@ɢP<) ?i)4iOoS?ɧ-i9 ?`<I9 ? 9 ?IAII!O- >AԁE EE+E"E%:*E3:VE [4ZEa@a@a@a@ԡ p'q,(=?A2>2 ?2ͼٱ29/ FAHRS rotation from veh to nav: [[0.854512,-0.507769,-0.109455],[0.518829,0.844507,0.132758],[0.025026,-0.170231,0.985086]]2H(X??B??@3? 3?J?%ſӅ?i2>I2Lb;0YZXJByZHamau auau auau auau iuMb@Mb@Mb@yqqqq q9uZd;O?V-?X9v?Yuj?yuh=u9Y=+FyuE4E>Q 54t?Q 94 )DBQ AT:Y?Q E:y+?Q I!@ɏDI;i;m|4yBɮ BڴEZRbj"ړڒ’@IɢM_<)Q ]?iY)]!2YYi]Vmgɧmmkiu3Z ?i<I3Z ? 3Z ?IԩAA@ABBBHBZJBBBBB`;B@EAYIiIyO9> E  E E *E "E *E A:VE (N4ZE BE ;a 2E ;a JE n;a :E n;a @Qw,=?ANI>NP ?NĹٱN6. VAHRS rotation from veh to nav: [[0.855995,-0.505873,-0.106604],[0.516486,0.845837,0.133422],[0.022675,-0.169268,0.985309]]NH`Pd?0`J ???8?ſ ?iNI>INF-b;NCY^fJBybHdfAAbDjVDjI6yr=%rW=ٔv;Q-v>9tYt=v+FyvwEzREz>|Q 54~ t?Q 94~+ )~DBYy ^*?Q I !@~яDI~:i~R:~4yBɮ B۴EZ1R1b1j1"ړڒ’ k@ɢ<) ?i)Ui1X%Ҍɧ%ֺ%%xi%d6 ?-n<-ZF1Y ~},==?AF[>Fy ?FٱF/ NAHRS rotation from veh to nav: [[0.856955,-0.504373,-0.105998],[0.514948,0.846442,0.135518],[0.021370,-0.170717,0.985088]]FH@-l?#"sz? ?X??` ſ ؅?iF[>IFa;F CYVgJByVHI^<)^;bDbVDb?K6yjlR;%nK=ٔn8T;Q-n>9pYp=r+FyryEraEr>tQ 5z4v$t?Q 9~4v& )vDBY|y~)?Q I~!@vُDIvj;iv;v4yɮ B Z)R)b)j)"))ړ)1ڒ1’19=@@aɢe<)a e?ii)miiim[u[ɧuʿuni} ?}q?AJŤ>Jg9 ?J{NٱJ0 VAHRS rotation from veh to nav: [[0.857561,-0.503417,-0.105639],[0.513976,0.846774,0.137125],[0.020422,-0.171889,0.984905]]JH$q?/ }r??@N? p? vƿV?iJŤ>IJja;JCY^nJBy^HiEMb@Mb@Mb@AAAA A9EK?K?Q?YE^?yE^=E9qYq=u+Fyu{E}1E}>Q 54+5t?Q 94 )DBYN?Q E:y,2?Q I!@DI]:i:|4yĩBɮ BܴEZRbj"ړڒ’U@qɢu<)y }?iy)}Gxyyi}ǥ]߈ɧ+ɾ駍miS ?t<IS ? S ?ԑIII)O5=bE(N4jEL4rE30Em EiEm(Ei"Em%:*EiVEmc44ZEiBEia}2Eia}JEm;;a}:Em;;a} Y,FB,>?AR>R ?RٱRs2 ^AHRS rotation from veh to nav: [[0.858260,-0.502315,-0.105211],[0.512855,0.847129,0.139116],[0.019247,-0.173356,0.984671]]RH v?ﺿMi????0ƿm?iR>IRa;RCY%JBy%H 4<p<bDVDH6y=%8=ٔ|-;Q->9Y=+Fy}E1CE>Q 54Ft?Q 94> )DBYy1?Q I!@DI:i:@4yɮ BZRbj"ړ ڒ ’  + @9ɢ=<)9 =?i9)EBoAAiEU`M ɧMҾM)iU{ ?UwA>II O>Eu EuEu*Eq"Euy:*Eu~:VEu(N4ZEqa}@a}@a@a@Q uy,+/F>?A:v>:ı ?:]ٱ:' 3 BAHRS rotation from veh to nav: [[0.858658,-0.501754,-0.104638],[0.512221,0.847345,0.140129],[0.018354,-0.173921,0.984589]]:H z?`_ɺ@d?s?`?m˒? Cƿ࿁?i:v>I:+a;:CYJJByJH LLimMb@Mb@Mb@iiii i9mGz?V-?:v?Ymp?ym=mT9Y=+FyEFE>Q 54Ut?Q 94" )DBY@ ?Q E:y9?Q I!@DI;iʉ;ӟ4y ʩBɮ  BݴEZIRIbIjQ"QQړQQڒY’YY]@}!@颉ɢ<)  ?i)g顑ib9ɧ޾駝Xi9 ?y<I9 ? 9 ?Ia^A &<BiAmp<BmA>BiBm8HBmJBBiBiBiBmb;Bm@EB5;CB5;CB1B5Ĕ =B5Ĕ =C5Ĺ5IIO>ԑԹ E}  E} E} )Ey "E} :*E} 0:VE} FA4ZEy BE} &;a 2E} ';a JE} ߉;a :E} ߉;a ,_>?AJd>J ?J򹏼PٱJh5 VAHRS rotation from veh to nav: [[0.858989,-0.501106,-0.105027],[0.511693,0.847257,0.142567],[0.017544,-0.176206,0.984197]]JH|?@ `㺿_?????ƿ~?iJd>IJa;JCYbJByb/HbDjVDjQ6yr~=%rY=ٔv1 ;Q-v>9tYt=z+FyzEzٺEz>Q 5 4`dt?Q 9 4 )DBY y r9?Q I !@DI6:i:_4yɮBZ9R9b9j9"AAړAAڒA’IIM#:"@qɢuϚ =) {&?i)_ifEe(gɧ^滼i?}<I? ?I^AH<AII O>! {ɝ,y>?A6/J>6{ ?6䈼ٱ6j^5 >AHRS rotation from veh to nav: [[0.859106,-0.501064,-0.104273],[0.511526,0.847290,0.142975],[0.016710,-0.176169,0.984218]]6H}? @k^?? M?`?ƿ ~?i6/J>I6*xa;6 CYJJByJ4HbDRxVDR[6yZ <%ZM=ٔ^Z ;Q-^>9`Y`=b+FybEbEf>dQ 5j4ftt?Q 9j4f )fEBYlyne9?Q In!@fDIf+;if;fQ4yrЩBɮv Bv޴E|Z Rbj"ړڒ’!!%`|#@IɢMU=)Q Uy'?iQ)UKWQQiU,ge5ɧeeƼie?eBm C>Bm ?A2>2U ?2bٱ25 :AHRS rotation from veh to nav: [[0.859416,-0.500696,-0.103477],[0.511039,0.847410,0.144000],[0.015587,-0.176636,0.984153]]2H`V?`@p}@nZ?? n??ƿ.~?i2>I2ca;2CYBJByF/HIF%=)FC=iMMb@Mb@Mb@IIII I9MS?i|?5?QYM/?yM=MuMBMA MAY)MMAIYMfAbDmaVDmGY6y}%}?=ٔ}+;Q-}>9Y=+FyEE>Q 54t?Q 94 )DBY ?Q E:y8?Q I!@ DI ;iG ;ϴ4yBɮBմEZRbj"ړڒ’a#@ɢ=)  &?i ) -N  i _~j2щɧ:]мi6?<I6? 6?I!ԉAIIO (>EM EMEM+EI"EM7:*EMrN:VEM [4ZEIBEM;aU2EM;aUJEMZ;a]:EMZ;a]Ա "ܪ,>?A>t֢>>A ?>qٱ>C4 JAHRS rotation from veh to nav: [[0.859583,-0.500655,-0.102278],[0.510783,0.847616,0.143692],[0.014752,-0.175757,0.984323]]>H?^.TX??@~d?w6?@3ƿ?i>t֢>I> ?a;9lYl=n+FynEr`QEr>tQ 5v4v !=GQEu EuEu*Eq"EuƱ:*Eu.:VEu(N4ZEqa}@a}@a}@a}@y?9Y0AA |DZ,qv>?AF?>FU ?Fz^hٱF3 RAHRS rotation from veh to nav: [[0.859435,-0.501107,-0.101307],[0.511048,0.847566,0.143048],[0.014182,-0.174713,0.984517]]FH`~? `Aﹿ Z?A?`bO?` ?\ƿ`*?iF?>IFa;F CYbJByb9HiMb@Mb@Mb@ 9Gz?S㥻?9Y=+FyE3:E> Q 54t?Q 94B )DBY ?Q E:y2?Q I%!@DI:i:=4y)ɮ-B)ZIRIbQjQ"QQړQQڒY’YY]`%@颁ɢJ =) (?i)_5<顑iNofFɧ 駝i?z<I? ?IA>A>A A BD>BB]HBJBB =BBBH;B@EA.AIIO$>9aE]  E] |EY EY "E] %:*E] P$:VEY ZEY BE] ;ae 2E] ;am JE] };am :E] };am ԙ ",O>?A:>:PQ ?:Uٱ:Su3 ZAHRS rotation from veh to nav: [[0.859482,-0.501258,-0.100153],[0.510999,0.847553,0.143300],[0.013054,-0.174342,0.984599]]:H?@N @Z?&?W?G?Pƿ Ձ?i:>I:`;: CYbJByfAH hhbDn*VDnR6yv߅<%v]=ٔzG;Q-z>9z ?Y~ ?=~+Fy~E~;E~>Q 5 4t?Q 9 4^ )DBYy2?Q I!@!DI;i;4yƩBɮB%״EZ9RAbAjA"AAړAIڒI’IIM$E&@yɢ}H=)}{8߼ }!*?iy)*4顁i.r`}ɧi駍Gi^?B<I^? ^?IiA؟AIIO >ԙiߩIߩ ,>?A2(>2W ?2Hٱ2@$3 :AHRS rotation from veh to nav: [[0.859446,-0.501484,-0.099334],[0.511080,0.847481,0.143431],[0.012255,-0.174039,0.984662]]2H?@' m`Z?`?[? ?@FƿZ?i2(>I2`;2 CYFJByF4HbDNVDN{b6yrʼ%rK=ٔru;Q-r>9v"?Yv"?=v+FyvEz g9Ez>|Q 54~"t?Q 94~# )~DBYy2?Q I !@~)DI~;i~;~4yɮBZ1R1b1j1"99ړ99ڒA’AAE'@iɢud=)q u'?iq)u+yyi},t#ɧ駅(iq?<Iq? q?IE! E%E%(E!"E!*E%*:VE%c44ZE!a5@a5@a5@a5@IIO=) B B B jHB JBB B B B B;B @EQ ,??A2>2W ?2&<ٱ2T2 :AHRS rotation from veh to nav: [[0.859447,-0.501687,-0.098286],[0.511095,0.847520,0.143148],[0.011484,-0.173262,0.984809]]2H? C)Z?`?R?@?q-ƿ?i2>I2q|`;2 CYFJByDiEMb@Mb@Mb@AAAA A9EV-?/$?)\(YE?yE=EGaAA EA)AAYEAY]BAbDeVDec6ym%uA=ٔu;:Q-u>9yYy=}+Fy}E}7E>Q 54t?Q 94 )DBY?Q E:y'?Q I!@2DI;ip;4y̩BɮBZRbj"ړڒ’ '@ɢt =) y'?i ) w"  i >wɧci?j<I? ?I!A1zA5hA)I)IAOM>E% E!E%-E!"E%g:*E!VE%t4ZE!BE%;a52E%;a5JE%i;a5:E%i;a5Yԁ *,.??A,64>6] ?6}-ٱ6X]1 >AHRS rotation from veh to nav: [[0.859411,-0.501986,-0.097067],[0.511175,0.847532,0.142790],[0.010589,-0.172333,0.984982]]6HK?E`ٸ`[?? F?@?ƿ?i64>I6%a;6CYDyF2HIJ<)J;bDRVDR`6yZ%ZW=ٔZe;Q-^>9\Y\=b+FybEbq9Eb>dQ 5j4fHt?Q 9j4f/ )f~DBYhyn'?Q In!@f9DIf;if;f4ypɮrBpZR b j "  ړ  ڒ’(@AɢE=)A EA'?iA)MQ\IIiMyU8ɧUUTiU?<I? ?IԉIIO]>ԱE= E=~E=)E9"E=:*E=(:VE=FA4ZE9aE@aE@aE@aE@ N,ؼH??A\z(آ>zB ?zwٱz0 AHRS rotation from veh to nav: [[0.859631,-0.501864,-0.095746],[0.510826,0.847757,0.142706],[0.009550,-0.171584,0.985123]]zH?Eɂ`X? ? 3D?⎃? xſ!?iz(آ>Izbxa;zCYJBy7HiMb@Mb@Mb@ 9Gz?:v?S㥫Yp?yT=/]LBA A)MAYGAbDVDf6y<%:=ٔ=;Q-=>9AYA=E+FyEEEnEE>IQ 5U4Mt?Q 9]4M )MdDBY]?Q E]:y]?Q I]!@MBDIMH:iM:M4yeөBɮm BmشEZRbj"ړڒ’O)@ɢ7| =) #(?i),i ?|ɧ{Oi?<I? ?IBA<BBBBB =BBB,;B@E%ܢӼIIO>9 bEʷG4jEʔK4rEϚ/E=  E= E9 E9 "E= :*E= 0:VE9 ZE9 BE= k;aM 2E= l;aM JE= ߉;aU :E= ߉;aU >,b??A2>24 ?2zٱ2^. :AHRS rotation from veh to nav: [[0.859751,-0.502003,-0.093920],[0.510639,0.848103,0.141316],[0.008713,-0.169455,0.985499]]2H?`h 'W?#?@?؁?ſ5?i2>I2qta;2 CYFJByFAHbDfqVDf[6yrv<%r[=ٔrg;Q-r>9tYt=v,FyvEv("Ez>|Q 5~4~ u?Q 94~ )~ODBYyQ I!@~IDI~ :i~[:~4y BɮBϴEZ9R9b9j9"99ړ9AڒA’AAEN*@qɢu&=)y }!*?iy)}qyyi}~ɧS駅i?#<I? ?IA7A>A>IYIiO}Y>qԙ e,b|??A2>2 ?2nٱ2l, :AHRS rotation from veh to nav: [[0.859968,-0.501928,-0.092319],[0.510289,0.848425,0.140641],[0.007734,-0.168057,0.985747]]2Hۄ?@<JT? 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IJ<_;JCYZNGBy^!H``bDfVDf%6yn$<%nS=ٔrSQ-r>9pYp=v,FyvTEv@;Ev>xQ 5~4z0){?Q 9~4z[ )z=BYy&ByByByB} =ByB}DB}J;B}AEԉԹ 18,]H?A>->>um?>*=ٱ>+# FAHRS rotation from veh to nav: [[0.870326,-0.490663,-0.042222],[0.490704,0.856737,0.158780],[-0.041735,-0.158909,0.986411]]>H ?g߿@g?cj?R?@^ WĿ@?i>->I>_;>CYf3GByfHIj=)j4<bDrVDr '6yz%~H=ٔ~Q->9Y = ,Fy VE<E>!Q 554%:{?Q 954%V )%=BY9y=ԱEE ~ EE oEE 'EA "EE :*EE :VEE '4ZEA BEE v;aU 2EE x;aU JEE N;aU :EE N;aU [>,.8H?A2C>2,d?2!=ٱ2[$ >AHRS rotation from veh to nav: [[0.868551,-0.493543,-0.045107],[0.494022,0.854935,0.158202],[-0.039516,-0.159691,0.986376]]2H+?3߿L` ?[???g;pĿ d?i2C>I2_;0YF'GByFHiUMb@Mb@Mb@QQQQ Q9UMbX?ˡE?lYQyU'>UUEBUxA U(A)U/AQYUAbDeVDe%6y}%}B=ٔ}&Q-}>9Y=,FyXEE<E>Q 54WL{?Q 94Q )=BY0?Q E:yt??Q I#@2DI:i:O4yɮv BZRbj"ړڒ’pI@ɢ  )  Xi )UQS<ix3lɧGϯid' ?;5lI%d' ? %d' ?I!A5iAzA5jAII)OE>A p=E,fI?ADzDE EpE)E"E:*E :VEFA4ZEa@a@a@a@B>Bd*?B=ٱB# JAHRS rotation from veh to nav: [[0.867119,-0.495876,-0.047018],[0.496684,0.853681,0.156631],[-0.037532,-0.159171,0.986537]]BHq?p߿?ZQ? ?Z7@_Ŀ?iB>IB~_;BCYRGByVH Zp9hYh=j,FyjZEnE<En>pQ 5v4rS\{?Q 9v4r M )rt=BYxyz:@?Q Iz#@r:DIr:ir:r4y~?BɮEZ!R)b)j)"))ړ)1ڒ1’1158I@ɢ) Mwi)XMP<i0ɧhGd:i ?6^;I ?  ?IBy>BBHBGBBBBBi;BBEIIO=Qyԩ hK,/I?A6%>6t?6=ٱ6Y"@ >AHRS rotation from veh to nav: [[0.865729,-0.498148,-0.048604],[0.499246,0.852548,0.154649],[-0.035600,-0.158149,0.986773]]6H ?@߿⨿?H??@6:=>Ŀ`?i6%>I6%;`;4Y^GBybH ddiEMb@Mb@Mb@AAAA A9E/$?EEBA EdA)EAAYEAbD]VD]'6ymI7%m@=ٔu Q-u>9qYy=},Fy}\E;E>Q 54n{?Q 94H )<=BYG1?Q E:y6?Q I#@CDIC ;i ;a4yɮ{ BZRbj"ړڒ’`0J@yɢ}Š)y }+|i)L<顁iz.ɧ駍iOib ?-;Ib ? b ?IE5 E1E5-E1"E5~:*E1VE5t4ZE1BE5;aE2E5;aEJE5:R;aE:E5:R;aEIYIiOu=ԩ OR,II?A2>2?2`P =ٱ2@" :AHRS rotation from veh to nav: [[0.864416,-0.500196,-0.050872],[0.501658,0.851322,0.153593],[-0.033518,-0.158288,0.986824]]2H`L? ?>??`9)BĿ?i2>I2v`;0tYvFByvHbDVD)6yؽ%P=ٔ-Q->9Y=,Fy^E%;E%>)Q 554-{?Q 954-wC )-=BY1y5X7?Q I5#@-LDI-:i-;-:4yEFBɮE BEEZaRabaji"iiړiiڒq’qqubJ@颡ɢ,) Ri).I<顩io,ɧ駵Zci ?;I ?  ?I ^AEE EElEE*EA"EEa:*EE:VEE(N4ZEAaM@aM@aM@aM@IaIqOY>IBA<B{>BCCBHBFBB =BBB;B;BEa zX,ҍcI?A>>>6?><ٱ>$ JAHRS rotation from veh to nav: [[0.863310,-0.501738,-0.054356],[0.503721,0.850054,0.153860],[-0.030991,-0.160209,0.986596]]>H`>I>>`;9Y=,Fy `E ;E>YQ 54{?Q 94> )ԱbEjEOS4rE7/EQ  EU qEQ EQ "EQ *EU $ :VEQ ZEQ BEU g;ae 2EU h;ae JEU U;ae :EU U;ae J^,wi}I?A2,՟>2 ?2<ٱ2n$ >AHRS rotation from veh to nav: [[0.862302,-0.503237,-0.056452],[0.505574,0.849203,0.152476],[-0.028793,-0.160022,0.986694]]2H@?H笿@-?,?X?@{{Ŀ@?i2,՟>I28a;2CYFFByFiHIJ<)Jp9M ?YM ?=M,FyMbEM;EU>QQ 5e4U+{?Q 9e4U`: )U9 e,AI?ADzDE EtE+E"E:*Ev:VE [4ZEa@a@a@a@VS>V?V\<ٱV،$ ^AHRS rotation from veh to nav: [[0.861859,-0.503813,-0.058065],[0.506428,0.848876,0.151462],[-0.027018,-0.159944,0.986756]]VH`Y?@<4?)?c?@ yĿ?iVS>IVa;VCYjFByj'HbDvVDv06y~D%O=ٔQ->9 "?Y "?= ,Fy dE 8;E >Q 54{?Q 9%446 )^BBHBFBBBBB;BbBEBBCBBCBB =B =C` 5@@@Q@QAA1I9IQO]>qԡ .k,GI?A2ܠ>2D?2L<ٱ2%$ :AHRS rotation from veh to nav: [[0.861370,-0.504438,-0.059866],[0.507358,0.848500,0.150452],[-0.025098,-0.159969,0.986803]]2HX? [$EI2G7c;2CYFxFByFHiEMb@Mb@Mb@AAAA A9EMbX9?{Gz?"~jYE!?yE#=ESE~BA E(A)EAAYEAbD]VD]16ym˼%mC=ٔuQ-u>9qYy=},Fy}fE}]$;E>Q 54K{?Q 94|2 )&ԡ r,HI?A2&>2i?2.<ٱ2t$ :AHRS rotation from veh to nav: [[0.861126,-0.504630,-0.061738],[0.507868,0.848357,0.149532],[-0.023082,-0.160121,0.986828]]2H W?`%`&t@?@%?#? ܢ~Ŀ`?i2&>I2Yc;2CYEfFByEH IIbDU VDU26ye*%e;=ٔmQ-m>9m ?Yu ?=u,FyuiEu:E}>yQ 54}{?Q 94}. )};BYy=?Q I#@}wDI}:i}:}I4yDBɮ"BEGS B*** querying acoustic contact ***: B ZRbj"ړ!ڒ!’!!%]lK@QɢUfj)Q U̾iY)]0D==D==EE EEpEE'EA"EE:*EE :VEE'4ZEAaM@aM@aU@aU@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.B>BBIHBFBBBBB;BlBE) x,I?A,J8>J`?JIJ6d;HTZ^r@iXIXX\ \\\\`bmAIbף)`i`)`Iddd dddhihhihh)l lIl l)lpppYpYv]FByvHbD'VD)56yͼ%b=ٔkQ->9"?Y"?=,FyjE%)̹E%>)Q 554-{?Q 954-e+ )-;BY1y56?Q I=#@-~DI-L ;i-z ;-4yAɮE,BAZRbj"ړڒ’@K@U*DAT read: user:140> ]BDAT read: Tx time:21:05:42.7467 ]$Ping request sent.]YEM | EI EM .EI "EM :*EI VEM ـ4ZEI BEM 1;aU 2EM 3;a] JEM :R;a] :EM :R;a] ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250826~,I?A06m>6F?6C<ٱ6z$ JAHRS rotation from veh to nav: [[0.861462,-0.503704,-0.064536],[0.507445,0.848948,0.147605],[-0.019562,-0.159905,0.986939]]6H ?X iI6d;6CY=6FBUGyEHmjAW9jAYEAieMb@Mb@Mb@aaaa a9e+?{Gzsh|?Yev?yeףeeEBeA edA)eIAaYeAy}@AbD#VD46y%4=ٔbvQ->9 ?Y ?=,FymE"cE>Q 54 |?Q 94' );BY?Q E:y2>Q I#@DIJ;ikO;4yKBɮ_BEZ!R)b)j)"11ړ11ڒ9’99E:K@颁ɢe) i)|t%<ԉ顉iɧp駝@i ?N;I ?  ?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502764AIIԹO]v> م,ΊJ?AD0zD2AAE6 E6nE6)E4"E6:*E6:VE6FA4ZE4a:@a:@a:@a:@>>>$?><ٱ>$ FAHRS rotation from veh to nav: [[0.861757,-0.503005,-0.066037],[0.507004,0.849287,0.147168],[-0.017942,-0.160304,0.986905]]>H?`簿_9?\-?b?Q_ӄĿ ?i>>I>c;>Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748dY=8FBy=HbDM VDM16Be>BeDCBe HBelFBBaBaBeDBeɋ;BeBEy\;%T=ٔQ->9Y!=%,Fy%oE%E%>)Q 554-|?Q 9=4-% )-n;BY9y=>Q I=#@-DI-<;i-7;-H4yERBɮEkBMEZaRibiji"iiړiqڒq’qq}L@颡ɢ,c) i)<顩iɧL駵:#i ?F;I ?  ?IA؟AI IO-,>9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006813i },g2J?A6<>6?6<ٱ6j$ >AHRS rotation from veh to nav: [[0.862144,-0.502217,-0.066982],[0.506397,0.849839,0.146070],[-0.016435,-0.159853,0.987004]]6H?`(%@g4?1?n?pԐvĿ?i6<>I6Oc;6CYF FByJHiMb@Mb@Mb@ 9\(\?J +MbY?yHcBA A)AYAbD-VD-@169yEx%EY=ٔMۂQ-M>9M"?YM"?=M,FyUqEUEU>YQ 5e4]B#|?Q 9e4]" )]a;BYm?Q Em:ym>Q Im#@]DI]U:i]:]4yqɮuByZRbj"ړڒ’ 4L@ɢǼ) i)0<iwgɧ$"ivu ?L;Ivu ? vu ?IEu EuqEu*Eq"Eua:*Eu$ :VEu(N4ZEqBEug;a2Euh;aJEuU;a:EuU;achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051iIIO >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510718;,NBLJ?A2>2z?2x<ٱ2$ :AHRS rotation from veh to nav: [[0.862474,-0.501503,-0.068075],[0.505875,0.850228,0.145608],[-0.015143,-0.160021,0.986997]]2H b?O em!0?5?K?u{Ŀ{?i2>I2ŗc;0YB%FByFH HJ4<bDNVDN36yV68<%VU=ٔVQ\Q-Z>9XYX=Z,FyZsE^IҺE^>!Q 5-4%5|?Q 9-4% )%S;BY)y-j>Q I-#@%DI%:i%M:%4y=XBɮ=B=EZYRYbYjY"aaړaaڒa’iimgL@频ԙɢ ) \i)!,<顡i}SǛɧ駭ѻi2 ?f;I2 ? 2 ?IIIO=E EsE'E"E:*EZ:VE'4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896B]>BYB]HB]9FBBYBYBYB];B]rBE Q,GfJ?A2 >2?2|#b<ٱ2g$ :AHRS rotation from veh to nav: [[0.862833,-0.500773,-0.068890],[0.505301,0.850743,0.144595],[-0.013802,-0.159572,0.987090]]2HS?T¢@l+?I9?`?4DlĿ`=?i2 >I2Gc;2CY^FBybH ``bDjVDj06yr%rG=ٔvUQ-v>9tYt=v,FyvuEzغEz>|Q 54~H|?Q 94~ )~F;BY y >Q I #@~DI~:i~:~4yɮBZRbj"ړڒ’`L@ɢļ) i) <im ϛɧ r gi ?0;I ?  ?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014824IIO=)QE  E nE -E "E ~:*E :VE t4ZE BE ;a 2E ;a JE J;a :E J;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793y J@,J?A2>2a?2O<ٱ2^# >AHRS rotation from veh to nav: [[0.863331,-0.499852,-0.069330],[0.504478,0.851418,0.143488],[-0.012694,-0.158853,0.987221]]2Hi? ߿$?>?]?`pIUĿO?i2>I2b;2CYF FByFHiMb@Mb@Mb@ 9On?:v9IYI=M,FyMwEMEU>QQ 5e4UZ|?Q 9e4UA )UN;BYe9?Q Ee:ym8>Q Im#@UDIU;iUe ;U 4yu_BɮuBuEZ!R!b)j)"))ړ1YYڒY’aae`0L@ɢ9Xɼ) i)<iNқɧڼ;i" ?;I" ? " ?IIqIO=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518814ԁԩ Q(,әJ?AD zD"@AE$ E&pE&)E$"E$*E& :VE&FA4ZE$a*@a*@a*@a*@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770857Vݞ>V]E?V&Y><ٱVr" bAHRS rotation from veh to nav: [[0.863555,-0.499397,-0.069819],[0.504120,0.851821,0.142353],[-0.011618,-0.158126,0.987351]]VH??߿߱`!?B?8?ˇ|=Ŀ `?iVݞ>IVpgb;VCB>BBHBFBB =BBB;BRBEY=FBy=HIMAAbDUVDU+6y<%F=ٔ#+Q->9Y=,FyyE,E>Q 54m|?Q 94s )V;BYy>Q I#@DIW:i :@4yɮBZRbj"ړڒ’!!%`M@iɢmt ּ)q uiy)}s>>&?>Y.<ٱ># FAHRS rotation from veh to nav: [[0.863805,-0.498834,-0.070752],[0.503713,0.852081,0.142235],[-0.010665,-0.158502,0.987301]]>HJ?߿ k?`?D?4?ׅIĿ@?i>>I>cb;>CYRFByRHIV{>)V9Y=,Fy{E㙺E>Q 54|?Q 94_ )m;BY?Q E:yM>Q I#@DIe ;i ;Y4yfBɮBEZRbj"ړڒ’8M@ɢaN߼) /i!)%;!!i%Ol-p˛ɧ-"C=-p;i5l ?5][;1I5l ? 5l ?I9AMhAzAMhA I1IAbE·G4jEKJ4rE0EI EMqEM&EI"EI*EM$ :VEM4ZEIBEIa]2EIaeJEMU;ae:EMU;aeOm=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2750911a ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526624e:,&J?A02>2?2TU<ٱ2f! >AHRS rotation from veh to nav: [[0.863912,-0.498603,-0.071068],[0.503554,0.852480,0.140399],[-0.009420,-0.157079,0.987541]]2H+?`߿~1 ?G?@?J)Ŀ?i2>I2@a;2CYF!FByFHbDRVDRE+6yVA=%ZZ=ٔZYQ-Z>9\Y\=^,Fy^}EbEb>dQ 5f4fz|?Q 9j4f )f;BYhyj!>Q Ij#@fēDIf:if[:f 4yrmBɮrBrEZRbj" ړ  ڒ ’ `hM@颹ɢ:ּ) "i);iɞ Ûɧ֛=}Vy;it ? ;It ? t ?IԑAaIqIO>Ee EewEe,Ea"Eeҝ:*Ee:VEeg4ZEaam@am@am@am@߽%=߽%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779029AAAAB>BECBHBFBBBBDB;BrBEBDCBDCBBƋ =BƋ =C3&59a qd,dJ?A2>2I2?2E<ٱ2 :AHRS rotation from veh to nav: [[0.863731,-0.498823,-0.071721],[0.503885,0.852493,0.139124],[-0.008256,-0.156305,0.987674]]2H@?߿U\`?G??耿`Ŀ ?i2>I2-a;2CY^1FBybHbDjVDjY*6yr=%rG=ٔr9Q-r>9tYt=v,FyvEzmq:Ez>|Q 54~|?Q 94~o )~;BYyG>Q I #@~̓DI~;i~o:~4yWBɮ}BEZ1R1b1j1"199ړAAڒA’AIM\M@qɢu`A̼)q ci)@;il ɧy=;i ?4; I  ?  ?I checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030909I1IAOM>iԑEu ~ Eu oEu +Eq "Eu :*Eu :VEu [4ZEq BEu v;a 2Eu x;a JEu N;a :Eu N;a  BDAT read: Rx Time:21:05:46.6087  TRx dataTimestamp_ set to:1761512747.936583 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283876 SO,LK?A2>2+?2l;ٱ2y :AHRS rotation from veh to nav: [[0.863793,-0.498619,-0.072396],[0.503794,0.852656,0.138453],[-0.007307,-0.156067,0.987719]]2H0?`_߿`?H?Ӹ?`}ÿe?i2>I2a;2CYn0FBynHԑiMb@Mb@Mb@ 9\(\?~jt?ʡE?Y?yD<=?A )YAbDVD'6y.%;=ٔQ->9Y=,FyE׃E>Q 5 4|?Q 9 4 );BY(?Q E:yA?Q I#@ՓDIXAe>II%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534864O--> v,K?AE EpE,E"E:*E :VEg4ZEa@a@a@a@>>BR>BPBRHBRFBBR =BPBPBR;BRBEfDAT read: 21:05:46.6087 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 445,-0.29, 0.118,-1.670,-0.072,-0.249, PHS= 0.469,-1.376, 0.133, RAW= 140.2, 9.1, CAL= 139.7, 10.0, ROT= 10.3, -10.0 jYgot valid direction response: 21:05:46.6087 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 445,-0.29, 0.118,-1.670,-0.072,-0.249, PHS= 0.469,-1.376, 0.133, RAW= 140.2, 9.1, CAL= 139.7, 10.0, ROT= 10.3, -10.0 PDAT read: Bearing 190.3, 8.1 (Local) ~Local bearing/azimuth received: Bearing 190.3, 8.1 (Local)  DAT read: Range 11 to 50 : 1093.4 m (Round-trip 1457.9 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.968938,0.176086,0.173648]Fpublishing direction and range infoy@Bs?D?ٖNs:?YBD@@@@ @)BWIB >iB B'1>Bۚ@B">B @ B¸2>)BX8>IB¸2@@BDȨ? G?;3߃Q? Bf>)B<#IBX8>iB¸2@@>RM?>U;ٱ>GV EAHRS rotation from veh to nav: [[0.863535,-0.498959,-0.073133],[0.504248,0.852481,0.137875],[-0.006449,-0.155937,0.987746]]>H@?߿ָ"?G??jz ÿ`?i>>I>(?a;>CYe8FByeHbDVD%6y+<%M=ٔp Q->9Y=,FyE:E>Q 54|?Q 94? );BYyb?Q I#@ܓDI;i; 4yɮ%B!J@RB'K?ABDBDB;?Bd ;`|@gg@MPעg@Bs?D?ٖNs:?BX8>B¸2—B;Vj @l1Zv@fH%b@B' 5 ?s8&R4?OeDڣ?jBc4DrBgHDZBۤ?bBj^zBGCBۤ?Bj^BGCڗBІDB`;?ZRbj"ړڒ’@;2?Yɢ]˼)Y ]iY)eG;aaieK]m9ɧe >駭O ;ij>?;Ij>? j>?II9IQO]>!Qԁ z,,5K?AR=$>Rh?RE;ٱR! ^AHRS rotation from veh to nav: [[0.863329,-0.499131,-0.074370],[0.504611,0.852245,0.138005],[-0.005501,-0.156671,0.987635]]RH`d?`߿ %?E?$?v@ Ŀ?iR=$>IR&(a;RCYf:FByfHiUMb@Mb@Mb@QQQQ Q9U?)\(?㥛 ?YU ?yUGa=U=QUVA Q)QQYUAbDmVDm(6y}V;%}L=ٔQ->9Y=,FyEH:E>Q 54\|?Q 94; );BY !?Q E :y :"?Q I #@DI:i:'4ydBɮBEZ19R9b9jA"AAړAAڒI’IIM?yɢ}jּ)y }iy)O;顁i񍛽ɧ >駍G;i8?,;I8? 8?IE= E=rE=(E9"E=O:*E=?:VE=c44ZE9BE=;aE2E=;aMJE=Y;aM:E=Y;aMIYIiO=a y}CkA=9UkAYUzAԑ ,NK?A6>6?6א;ٱ6T$! BAHRS rotation from veh to nav: [[0.862842,-0.499812,-0.075447],[0.505455,0.851838,0.137429],[-0.004420,-0.156715,0.987634]]6Hf?߿ P,?`BB?I?r<Ŀ?i6>I6`;6CY^]FBy^HbDjVDj"6yrg=%rV=ٔr@Q-r>9tYt=v,FyvEz-;Ez>|Q 54~|?Q 94~ )~駅;i2?K;I2? 2?IIyIO=ԱEe EemEe+Ea"Ee:*Ee:VEe [4ZEaam@am@am@am@BBBHB/FBB =BBB2;BBE 9 ,ͮhK?A2q>2|?2)zV;ٱ2i :AHRS rotation from veh to nav: [[0.862050,-0.501009,-0.076550],[0.506812,0.851167,0.136584],[-0.003273,-0.156539,0.987666]]2H ? C ̘7?I2|`;2CYRIFByRHbDZVDZL"6ybO%bL=ٔf;Q-f>9dYd=f,FyfEj;Ej>lQ 5r4n|?Q 9r4n )ne;ie*?e;aIm*? m*?IiIyIO=IEq  Eu |Eq Eq "Eq *Eu P$:VEq ZEq BEu E;a 2Eu F;a JEu };a :Eu };a Ա x,䇂K?A$F>F^?FF;ٱFu! 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VAHRS rotation from veh to nav: [[0.857015,-0.508435,-0.083782],[0.515278,0.846771,0.132167],[0.003746,-0.156440,0.987680]]FHl?Er(}???n? 6Ŀ?iF|>IF_;FCYbFByb5Hi}Mb@Mb@Mb@yyyy y9}"~j?MbX?I +Y}S#?y}=}9}B}?A }IA)}AyY}GAbDVD$6y <%<ٔzSQ->9Y=,FyE;E>Q 54_}?Q 94- )*Aiԙ BA BA BE $HBE FBBA BA ,mL?ADzDE EsEE"EO:*EZ:VEZEBE;a2E;aJE%];a:E&];aBqBu@;BuCEB5ECB5ECB1B5 =B5 =C5_4F>F ?F&ٱFI RAHRS rotation from veh to nav: [[0.855931,-0.510064,-0.084960],[0.517065,0.845892,0.130807],[0.005147,-0.155891,0.987761]]FHc?pR迵@̋? ?D?u?<ÿ?iF>IF `;FCYXyXbDfVDf#6ٔn.sQ-n>9pYt=v,FyvEvԴ;Ev>xQ 5~4zo}?Q 9~4z )zԡ @ ,-7L?A-Н>-q ?-һٱ- =AHRS rotation from veh to nav: [[0.854854,-0.511677,-0.086093],[0.518829,0.844994,0.129619],[0.006425,-0.155473,0.987819]]-HZ?_. `??1 ?Y? 5Qz?ÿ@7?i-Н>I- `;-CYU~FByU!H YYiMb@Mb@Mb@ 9jt?(\µ?~jtY ?y=D A)AYbD-VD-%6y=ٙ%=<ٔ=9Q-=>9E ?YE ?=E,FyEEM;EM>QQ 5]4Ul}?Q 9]4Ut )U! 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PQ?@n?f?64?@Pſ $?i6Ů>I6|^;6CYHByHbD- VD-16bEFA4jEmF4rE/EE EEvEE)EA"EEa:*EE:VEEFA4ZEAaU@aU@aU@aU@y]+;%]K=ٔ]m;Q-e>9aYa=e-FyezEmSKEm>qQ 5}4u(ք?Q 9}4uY#)uԱi) n2项iGɧS۾i ?/<I ?  ?IIqIO= BE <AE <BM n>BI BI BI BI BI BI BM ;BM EBEB ACB ACB B B C cl49 .,OmW?A>C>>K?>Mٱ>g/ JAHRS rotation from veh to nav: [[0.847726,-0.518058,-0.113917],[0.529683,0.838202,0.129818],[0.028232,-0.170390,0.984972]]>H` ?@)`*?`???`Wſ?i>C>I>5^;>CYUHByUHI]=)]=iMb@Mb@Mb@ 9v??+Y?yL=BA )AY=A p<<bDVD$6y@W% ?=ٔ 6B;Q- >9Y=-Fy}EE>!Q 5-4%焉?Q 9-4%b)%i!)-0))i-0H5 ˗ɧ525{[i5?=f<9I=? =?I9EM EMEM(EI"EMC:*EMA:VEMc44ZEIBEM6;aU2EM7;aUJEMn;a]:EMo;a]AIIO>>1a 9,dW?A 6>6?6ܼٱ6>. BAHRS rotation from veh to nav: [[0.848296,-0.517490,-0.112242],[0.528838,0.838722,0.129905],[0.026915,-0.169556,0.985153]]6H =%?G黼`>??`??ſ`_?i6>I6^;6CY^HBy^HbDjVDj."6yr<%r_=ٔrk;Q-v>9tYt=v-Fyv~Ez6Ez>|Q 5U4~?Q 9U4~)~si).iGIɧi2?<I2? 2?IiAE.AIQIaOm>ԙEe EewEe*Ea"Ee1:*Ee:VEe(N4ZEaam@am@am@am@ q,@W?APvf>v`?vgbмٱvu- -AHRS rotation from veh to nav: [[0.849012,-0.516734,-0.110293],[0.527761,0.839395,0.129940],[0.025435,-0.168528,0.985369]]vH +?@#< k?R?ݡ? ?Wſ#?ivf>Iv^;vCYHByHiMb@Mb@Mb@ 95^I ?I +?S㥛Y?y94=/ݼBA A)YAbDVD&6y-<%-+=ٔ5RJ;Q-=>9= ?Y= ?==-Fy=EE0EE>IQ 5U4M! ?Q 9U4M)Mji)%`,ifK0ɧ"Ni6?1<I6? 6?IBi>B@CBHBHBB =BBDBx;BBEA9IIIaOuW>) Em  Ei Em (Ei "Em :*Ei VEm c44ZEi BEm &;au 2Em (;au JEm k;a} :Em k;a} ,CW?A6~>6?6Ƽٱ6Gv- >AHRS rotation from veh to nav: [[0.849641,-0.515939,-0.109164],[0.526802,0.839882,0.130679],[0.024263,-0.168538,0.985397]]6H C0?/?P?`?bؘ?@ſ@^?i6~>I6-_;6CYJHByJH LLR@AR@AbDV~VDV!6y^<%^|=ٔ^m;Q-^ ?9`Y`=b-FybEfhEf ?hQ 5n4jT?Q 9n4j)jdiQ)]*Yaieu{Lm7Xɧuuᄐiu9?u1CI1MGIIYqO>89Y%*AQԁ p,ZW?A2^>2 ?2ٱ2z- :AHRS rotation from veh to nav: [[0.850535,-0.514711,-0.107997],[0.525420,0.840559,0.131885],[0.022895,-0.168916,0.985364]]2H7? x@>???`q? ſ?i2^>I2_;2CYZHByZHbDbVDb]16yjH<%jH=ٔn\;Q-n>9r"?Yr"?=r-FyrErEEr>tQ 5z4v(?Q 9z4v)v[:) K#>i)Ǣ(顉iMɧ駕Ti?< <I? ?IA II!O5 >ԉԹA AAA B f>B B HB HBB =B B B ;B 4BE +,W?A2!>2Z ?27.ٱ2"- :AHRS rotation from veh to nav: [[0.851196,-0.513947,-0.106412],[0.524401,0.841164,0.132083],[0.021627,-0.168231,0.985510]]2H`=?@r=?@? ?U%? ſL?i2!>I2 j_;2CYNHByNHiUMb@Mb@Mb@QQQQ Q9U\(\?L7A`?MbYU?yU+=UQQ UA)QQYUAbDmVDm,6y}G;%}@=ٔHC;Q->9Y=-FyE;E>Q 549?Q 94 )Y?Q E:y?Q I&@DI:i:4yBɮc B?EԱZRbj"ړڒ’i)kh&iN%ɧ%"%i%B?%bL9 *,AX?A2B>2 ?2gLٱ2'- :AHRS rotation from veh to nav: [[0.852006,-0.512767,-0.105625],[0.523134,0.841719,0.133562],[0.020421,-0.169052,0.985396]]2H C? hD `?]??-?}ſ`\?i2B>I2_;0YZHBy^HIb%=)bp; `b<bDfVDf-6yno%nU=ٔrM;Q-r>9pYp=v-FyvEv4Ev>xQ 5~4zJ?Q 9~4z )zZi)t`$iP옽ɧmi?s<I? ?I!AYIiIyO>9E1 E5{E5'E1"E1*E55":VE5'4ZE1a=@aE@aE@aE@iԑ ;,"X?AV>VH ?VìٱVoB. zAHRS rotation from veh to nav: [[0.852747,-0.511765,-0.104491],[0.521973,0.842274,0.134604],[0.019124,-0.169324,0.985375]]VHI?a`俺??:? J?jſ0?iV>IVHp_;VCY-HBy-HbDuVDu36yZ=%?=ٔE;Q->9Y=-FyUEeIHEm>yQ 54M]?Q 94)Yy?Q I&@DIN:ig:p4y BɮU B@EZRbj"ړ!ڒ!’!!-J@Bg>BBBB =BBB;BUBEɢ%;) @>i)!iJeQ#ɧ<:i?y<I? ?IԡAYIaIqOY>DE ?AzDA EM  EM uEM ,EI "EM :*EM :VEM g4ZEI BEM ;a] 2EM ;a] JEM md;a] :EM md;a] e,b2N ?2ٱ2ۺ. :AHRS rotation from veh to nav: [[0.853391,-0.510880,-0.103566],[0.520963,0.842720,0.135725],[0.017938,-0.169781,0.985319]]2H N? YO?? o_?[^?@^ſ?i2{>I25_;2CYBHByFHiMb@Mb@Mb@ 9rh|?/$?{Gzt?Y?y<ף;9BA jA)AYbDVD/6y;%H=ٔ>;Q->9Y=-FyE KE>Q 54m?Q 94-)^i)/i3~R,NɧGi /? < I /? /?I1AyIIO=>) L,y;VX?A2v>2 ?2顉ٱ2_/ >AHRS rotation from veh to nav: [[0.854249,-0.509617,-0.102709],[0.519592,0.843358,0.137006],[0.016800,-0.170404,0.985231]]2HV?`N'K?? l? 4?@ſ ?i2v>I2*`;2CYFHByFH HHNAALbDRVDRo36yZ=%Z^=ٔZJ;Q-^>9\Y\=^-FybEb䏻Eb>dQ 5j4fj}?Q 9j4f)fci ) \ i+S=xɧ=+۾=Vi= J?=-<9I= J? E J?IAQAIIO!>ԁB e>B B HB HBB =B B B ;B RBEԩ w,pX?A2}>2V ?26]~ٱ2c/ :AHRS rotation from veh to nav: [[0.854896,-0.508766,-0.101541],[0.518567,0.843843,0.137903],[0.015525,-0.170549,0.985227]]2HN[?G@ ??Φ?Sˏ?`ſ?i2}>I2T>`;2C@YFHByF HiMb@Mb@Mb@ 9Q??/$?Y(?y<<B A)YbD-#VD-46y=j<%=B=ٔE:F;Q-E>9AYA=E-FyMEMs<EM>QQ 54Uh?Q 94U))Uni)顡iTɧ־駭ګi`?[<I`? `?IԩEU EU}EU)EQ"EU:*EUk&:VEUFA4ZEQBEUX;ae2EUY;amJEUŀ;au:EUƀ;auAI IO-,> {c",X?A6u>6B ?6g=kٱ6,0 BAHRS rotation from veh to nav: [[0.855883,-0.507296,-0.100570],[0.516970,0.844619,0.139142],[0.014357,-0.171081,0.985152]]6H@ec?`; ??d?jg?ſ@^?i6u>I6(I`;6CYJHByJ HbDR*VDR56yZ;%ZS=ٔ^OE;Q-^>9\Y\=b-FybEbEb>dQ 5j4hf?Q 9n4f)fxiI)MIIiUU]͙ɧ]Ҿ]:pi]v?] )bEc44jEh=4rEƐ'0EQ EQEU'EQ"EQ*EQVEU'4ZEQa}@a}@a}@a}@Y (,-ϣX?AB>B ?BaYٱB / JAHRS rotation from veh to nav: [[0.856740,-0.506174,-0.098911],[0.515577,0.845492,0.139006],[0.013268,-0.170089,0.985339]]BHjj?@2BR?@F?? ,?vſ?iB>IB8<`;BCYrHByr"HI~<)~R= %4<%p;AbD5)VD5d56yuE=%}?=ٔ&;Q->9Y=-FyEwE>Q 54?Q 94)B9B=HB=HBB9B9B9B=;B=\BEB@CB@CBB =B =C^5 ڒQ’QY]OK@颡ɢ};) fo>i)giVɧ;oi.?$<I.? .?IiA9IAIQOeU>ԑDe @AzDa Em  Em xEi Ei "Em %:*Em :VEi ZEi BEm ;a} 2Em ;a} JEm Xo;a} :Em Yo;a} D.,X?AFŢ>F' ?F=HٱF/ VAHRS rotation from veh to nav: [[0.857813,-0.504514,-0.098090],[0.513816,0.846346,0.140327],[0.012221,-0.170775,0.985234]]FH5s?$ t@.q?D?IF `;DYf IByfFHiMb@Mb@Mb@ԑ 9S?9Y=-FyEqE>Q 54Å?Q 94#)iQ)UNQQi]X]%ɧed˾eɶieR?e3 5,X?A2ŵ>2m ?26ٱ2m/ :AHRS rotation from veh to nav: [[0.858752,-0.503130,-0.096987],[0.512270,0.847153,0.141107],[0.011167,-0.170859,0.985232]]2Hz? Ըd??? ކ? ſ?i2ŵ>I2m `;0YN IByRBHbDZVDZ/6yv%vY=ٔvv7;Q-v>9xYx=z-FyzEzQE~>Q 5 4fӅ?Q 9 4)iy)} yyi}2YOɧ1ɾ駅0i%?fA<I%? %?IIIO!Q5 *DAT read: user:141> 5 BDAT read: Tx time:21:06:42.7966 = $Ping request sent.= BM ?CBM 7HBM IBBI BI BM DBM Nj;BM `BEy ;,`X?A6>6\I ?6 *ٱ6a/ BAHRS rotation from veh to nav: [[0.859571,-0.501942,-0.095874],[0.510910,0.847944,0.141285],[0.010379,-0.170427,0.985316]]6H? *`Y?["??wA?ſ?i6>I63_;6CYJ+IByJkH LLiMb@Mb@Mb@ 9Cl?J +?Zd;O?Yd?yH=j<=6B ) AY\AbD5VD536yE=%EE=ٔM:Q-M>9IYI=M-FyMEUczEU>YQ 5e4]䅉?Q 9e4])]i)+ ipEZ_wɧɾOWi?K<I? ?IQE5 E5zE1E1"E5s:*E5 :VE1ZE1BE5;a=2E5;a=JE5v;aE:E5v;aEIIIYOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820ԁԱG liA! M 69M liAYM &A = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857KB,> Y?A2 >2R?2`ٱ2h/ :AHRS rotation from veh to nav: [[0.860435,-0.500634,-0.094962],[0.509471,0.848712,0.141871],[0.009570,-0.170451,0.985320]]2H?1pO`M?`(?(?`x?Xſ ?i2 >I2A_;2CYN,IByRmHbDZVDZ.6yh ;%%M=ٔ%;Q-%>9)Y)=--Fy-E-E5>1Q 5=45@?Q 9E45)5i)U顱ik[ɧɾ駽 iR?^T<0!2v?2 ٱ2 d/ :AHRS rotation from veh to nav: [[0.861224,-0.499487,-0.093841],[0.508155,0.849390,0.142532],[0.008515,-0.170438,0.985332]]2H %? ߿`B?@4.?z>? bp?`ſ`և?i2w@>I2E[_;0YR6IByVyHbDjVDjo36y*<% L=ٔ {,;Q- >9Y=-FyEzE>1Q 5M45 ?Q 9U45E)5B)B-iHB-)IBB)B)B)B-;B-<) >i)@i'\ CҚɧɾTi?[<I? ?IIIO (>9i EM  EM }EM &EI "EM :*EM k&:VEM 4ZEI BEM ;aU 2EM ;aU JEM ŀ;a] :EM ƀ;a] ߥ >ߥ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259147O,@>Y?A6)>61?6[eٱ6Ng/ BAHRS rotation from veh to nav: [[0.861769,-0.498693,-0.093058],[0.507242,0.849854,0.143018],[0.007763,-0.170451,0.985336]]6H?߿ҷS;?`2?`gN??@Vſ`އ?i6)>I6c_;4LYfCIByfHIn=)n49Y=-FyE%E>Q 54R?Q 94)i) i]%ɧ%Ѿ%?i%V?%S`<)I-V? -V?I)I1IAOU=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510942i! U,XY?A2 >2?2~ٱ23/ :AHRS rotation from veh to nav: [[0.862347,-0.497859,-0.092157],[0.506268,0.850382,0.143329],[0.007010,-0.170256,0.985375]]2HY?߿ Y3?S6?X?`|?ſ 1?i2 >I2=8_;0Y^YIBybHbDjVDjt-6yrf=%rU=ٔv;Q-v>9tYt=v-FyvEzAEz>9EE EEwEE(EA"EEU:*EE:VEEc44ZEAaU@aU@aU@aU@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762969yQ 54}'?Q 94})}i)>项ic_ &ɧؾi"?e<I"? "?I)^Am<ԉB<Ap< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905B Y>B >CB HB QIBB =B B B ;B BEA) I9 II OU >ԡ \,rY?A2֟>2?2xͻٱ2A. :AHRS rotation from veh to nav: [[0.862638,-0.497515,-0.091295],[0.505783,0.850643,0.143491],[0.006270,-0.169956,0.985432]]2H?I߿_``/?w8?]?@y?`!ſৈ?i2֟>I2_;2CYBSIByFHi Mb@Mb@Mb@     9 Mb?rh|?Q?Y #?y = < B  zA) 7A Y AbD%VD%/6y5-^%5E=ٔ=:Q-=>99YA=E-FyEEEEE>IQ 5U4M#8?Q 9U4M4y)MEZ!R!b!j!"))ړ))ڒ)’115@2L@YɢeT<)a e>ia)e|"aiim,.`ueTɧuBuX5iu?uk  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827b,†Y?AJ>J?JٱJ. RAHRS rotation from veh to nav: [[0.862898,-0.497185,-0.090628],[0.505347,0.850817,0.143993],[0.005516,-0.170050,0.985420]]JH@ݜ?߿@]3+?@9?@^n?,v?1ſ?iJ>IJ^;JCY^bIBy^H ``bDjVDj,6yrw=%rP=ٔrI:Q-r>9tYt=v-FyvEvZEz>xQ 54ziq)}߻yyi}Waɧl駅K¼ivm?Is<Ivm? vm?I@@@@AU.AEY E]zE]-EY"EY*E] :VE]t4ZEYam@am@am@am@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770974IIO>Qy %i,_Y?A2Q>2?2H䜻ٱ2&. >AHRS rotation from veh to nav: [[0.863156,-0.496885,-0.089815],[0.504915,0.851040,0.144194],[0.004788,-0.169811,0.985465]]2H?߿B(?;?t? s?[ſ ?i2Q>I2^;0Yf_IByjHbDrVDrN,6y~%I=ٔ :Q- >9 ?Y ?=-FyE%ؠE%>)Q 554- Y?Q 954-)-BBHBfIBBBBBd;BAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025660qɢ}.<)y >i)ֻ顁ibɧ駕 ͼi^?l~<I^? ^?IԁA؟AI!IIOmV>ԩDa zDe AAEm  Em {Em )Ei "Em s:*Em 5":VEm FA4ZEi BEm ;a} 2Em ;a} JEi a} :Ei a}  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274953 p,u:Y?A2႟>2?23ٱ2=-. >AHRS rotation from veh to nav: [[0.862970,-0.497348,-0.089034],[0.505238,0.850877,0.144026],[0.004126,-0.169274,0.985560]]2Hs?߿`ʶ*?`a:?to?vp? Ūſ൉?i2႟>I2pj^;2CYF`IByFHiMMb@Mb@Mb@IIII I9M~jt?On?y&1|?YM$?yM>M`;MBI I)IIYM=AbDeVDe)6yuJ;%uC=ٔu:Q-}>9}"?Y}"?=}-FyEj:E>Q 54i?Q 94%)i ) D ͻ  i cɧ `ܼiT?/<IT? T?I!ԱAAIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526813 9 8v,Y?A6>6?65lٱ6w&. >AHRS rotation from veh to nav: [[0.862740,-0.497817,-0.088644],[0.505635,0.850608,0.144224],[0.003604,-0.169249,0.985567]]6H@?`;߿^(.?@-8?u?m?`ſ`É?i6>I6K^;4YFUIByJHIN>)Np;bDRVDR$6yZ%ZW=ٔ^:Q-^>9\Y`=b-FybEbD:Eb>dQ 5j4f?y?Q 9j4f)f4rE0E% E%zE%(E!"E%C:*E% :VE%c44ZE!a5@a5@a5@a5@cM@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779075ɢ=v<)9 =ͪ>i9)E-ĻAAiEdU0ɧU(]Gi]?]9A}@AA}@ABV>BBHBzIBBBBDB>;BAEB}>CB}>CByB}ȑ =B}Ȑ = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032932C}ȝw5i ~c|,4Y?A6QF>6?6XjHٱ6, >AHRS rotation from veh to nav: [[0.862219,-0.498889,-0.087683],[0.506526,0.850233,0.143304],[0.003058,-0.167973,0.985787]]6HL?߿]r@v5?5? W?H i? ſ ?i6QF>I6L^;6CY^dIBy^Hi]Mb@Mb@Mb@YYYY Y9])\(?+?S㥛Y]G!?y]>]/ݼ]6B]A Y)]MAYY]zAbDuVDu'6y=%>=ٔE:Q->9Y=-FyEI;E>Q 54׊?Q 9%4])i)顑iesɧh駥@iW?<IW? W?IiE1 E5E5&E1"E1*E5.:VE54ZE1U=UR=]BDAT read: Rx Time:21:06:46.6069 eTRx dataTimestamp_ set to:1761512807.954524mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286510BE55;au2E56;auJE5 ;a}:E5 ;a}AII O%+>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534865J, Z?A2 >2I?2P%ٱ2+ :AHRS rotation from veh to nav: [[0.861606,-0.500077,-0.086932],[0.507571,0.849718,0.142658],[0.002527,-0.167039,0.985947]]2HG? &A>?0?`B?Hd?aſ?i2 >I2G^;2CPYv[IByzHbDVD"6y%R=ٔ:Q->9Y=-FyE%K;E%>)Q 554-?Q 954-)-i)F顩ig7ɧ%駵+ i?I<I? ?IAIIO>DAT read: 21:06:46.6069 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 427,-0.08, 0.774,-0.977, 0.711, 0.650, PHS= 0.226,-1.581, 0.017, RAW= 143.9, 15.4, CAL= 143.5, 16.8, ROT= 6.5, -16.8 Ygot valid direction response: 21:06:46.6069 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX= 427,-0.08, 0.774,-0.977, 0.711, 0.650, PHS= 0.226,-1.581, 0.017, RAW= 143.9, 15.4, CAL= 143.5, 16.8, ROT= 6.5, -16.8 PDAT read: Bearing 195.8, 3.3 (Local) ~Local bearing/azimuth received: Bearing 195.8, 3.3 (Local) DAT read: Range 11 to 50 : 1054.5 m (Round-trip 1406.1 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.951166,0.108372,0.289032]Fpublishing direction and range infoyY]љo?s>?\.?Y]ЃDYYYY Y)]XI]lg>i]5^ʿ]C<] @]>]J @ ]Q >)]V=I]Q YY]+"Q1?B?FSn ? ]>)]I]V=i]Q YYEm EmEm-Ei"Em:*Em*:VEmt4ZEiau@au@au@au@! xt,/'Z?A2(x>2?2tٱ2 + :AHRS rotation from veh to nav: [[0.861038,-0.501196,-0.086123],[0.508538,0.849208,0.142247],[0.001843,-0.166277,0.986077]]2H? + E?,?(5?`M1^?Hſ ?i2(x>I26^;2C|B5T>B1B1B1B1B1B1B5 ;iIB5AE)Y=CIBy=H IIiMb@Mb@Mb@ 9~jt?@5^I ?y&1Y$?yb>`eA dA)7AYAbDVD!6y3%=ٔ:Q->9Y=-FyEu ;E> Q 54 c?Q 94 Ա) ?\.?V=Q —!jF@b=@9!Sq@-a/J?a^8?䬜 3?j!Dr4BDZ%?c?by&zACꗍ%?c?y&ACڗ|D◍i1?ZaRibiji"iiړiqڒq’quz@uz?9ɢEf<)A E>iA)EZ.AIiM%hMɧU.U iUO?UAm>QAIIO>ԁ E]  E] yE] +EY "E] :*E] :VE] [4ZEY BE] z;ae 2E] {;am JE] r;am :E] r;am \,AZ?A2>2U?2 ٱ2+ >AHRS rotation from veh to nav: [[0.860489,-0.502209,-0.085701],[0.509467,0.848615,0.142459],[0.001182,-0.166246,0.986084]]2H ?yM?'?I2rg^;0@@i@IDDIDiD DD)DH Jr@HHHLLIL)LiL)R@CIPPP PV@CVlATiTTiXZmA)X XIXYXYb)IBybjHbDjVVDj6yvB%v=ٔv^;Q-z$?9xYx=z-FyzE~M;E$?  Y\GkA9kAY6A)Q 54-ú?Q 94-)-i)DihKɧ3iM?i<IM? M?IԉA].AIiIyO:>Ա o,j[Z?A29e>2% ?2`<9ٱ2m* :AHRS rotation from veh to nav: [[0.860118,-0.502946,-0.085105],[0.510095,0.848292,0.142137],[0.000707,-0.165667,0.986182]]2H`?"`tɵR?5%?1?'G?4ſ̎?i29e>I2^;2CԱE EE'E"EC:*EVE'4ZEa@a@a@a@Y%/IBy%pHbDEVDEB.6yU/<%U)=ٔU:Q-U>9] ?Y] ?=]-Fy]E]:Ee>iQ 5u4m`Ά?Q 9u4m)m_i)i&iɧ<i?@<I? ?II9IIOeV>B<ABI BM HBM QIBBI BI BI BM ۊ;BM iAEQ +,7uZ?A6>6e ?65 ٱ6on) BAHRS rotation from veh to nav: [[0.859398,-0.504283,-0.084461],[0.511308,0.847685,0.141402],[0.000290,-0.164706,0.986343]]6H/? # D\?< ?`v?F3?@ſ`?i6>I6Hk^;6C p)rznArTr]FpptitIttItivs@ xx)xx zznAzx|||I~9)|i)@CI/ݼkZF   (vA i  Y Y%IBy%THI-<)-p9Y=-FyE~;E>Q 54*݆?Q 94V)=i!)%*!!i%Μj-DꝽɧ-?5i5?5j<=ԉԹ i I ,Z?A2g>2= ?2^ٱ2 ( :AHRS rotation from veh to nav: [[0.858932,-0.505148,-0.084033],[0.512090,0.847323,0.140740],[0.000109,-0.163918,0.986474]]2H@^|?,*/ c?D?@?q?GĿ1?i2g>I2K^;2CYIBy@HbDeVDei"6yu%}P=ٔ9Q->9Y=-FyE;E>Q 54톉?Q 94 )i!)%g!!i%Rk-4ɧ-C-i5b?5<1I5b? 5b?I9ԑIIO=E ExE(E"E:*E:VEc44ZEa@a@a@a@ 1©,-Z?A2>2 ?29ٱ2'( :AHRS rotation from veh to nav: [[0.858961,-0.505153,-0.083709],[0.512041,0.847262,0.141284],[-0.000446,-0.164220,0.986424]]2H@|?5*m@b??@?@:=(ſ@Ȑ?i2>I2^;2CYMHByM0HbDetVDe 6ym%uK=ٔu::Q-u>9yYy=}-Fy}EaE>Q 54i?Q 94ݜ);BYyP/?Q I'@DI;i;SX4y BɮF B1EZ R bj"!)ړ19ڒA’IQ]@BBBiHB)IBBBBB;BqAE)ɢ5HB<)1 5z>i1)5-19i=lEJɧEGEGiE1$?EI E  E E 'E "E :*E 0:VE '4ZE BE X;a 2E Y;a JE ߉;a :E ߉;a ?,Z?A 2U>2 ?2:ٱ2( :AHRS rotation from veh to nav: [[0.858920,-0.505310,-0.083175],[0.512109,0.847193,0.141452],[-0.001012,-0.164091,0.986445]]2H@E|?+J2c?3?@?_Pſ`?i2U>I2];2CYFIByF7H HHHHiMb@Mb@Mb@ 9X9v?I +?MbX9Y?y94=ʡ6BA MA)7AYA))bD5zVD5C!6yELg<%EM=ٔE]:Q-E>9IYI=M-FyMEM*Q9EU>QQ 5]4U?Q 9e4UJ)U;BYe?Q Ee:yeA?Q Ie'@UŘDIU. ;iUj:UD_4yqɮuA BqZ Rbj"11ړ99ڒ9’9AEH@颉ɢoq<) S>i)\|顱ilܞɧaE駽ni9?<I9? 9?Iqԙ^A9<IIO> Sֶ,dZ?ALV[>VU ?V:ٱVB* jAHRS rotation from veh to nav: [[0.859157,-0.504855,-0.083497],[0.511711,0.847190,0.142905],[-0.001409,-0.165504,0.986208]]VH5~?' `@_?@-?J?W=/ſ@?iV[>IVJ];VCYHBy HbDoVD6y%橽%%L=ٔ-:Q-->9)Y)=5-Fy5»E5sE5>9Q 5E4=!?Q 9E4=)=;BYIyM?Q IM'@=͘DI=:i=:=Gf4EU EU}EU*EQ"EU:*EUk&:VEU(N4ZEQa]@ae@ae@ae@ye'Bɮep Be2EZRbj"ړڒ’X@ɢC<) ^>i)qi.mm'ɧuBuiuO?u'AAi߹I߽ABT>BB7HBIBBBBB;BAE! h,Z?A2ɢ>2}; ?2:ٱ2S* :AHRS rotation from veh to nav: [[0.859724,-0.503917,-0.083321],[0.510755,0.847613,0.143808],[-0.001843,-0.166192,0.986092]]2H܂? T`X?@?Jh?`p1^`Eſ@?i2ɢ>I2ߌ];2CYfHByfH|iUMb@Mb@Mb@QQQQ Q9U +?I +i|?5YU?yU94UqUBUA U7A)U AQYUAbDmrVDmW 6y}?ļ%}E=ٔ+:Q->9Y=-FyĻE/E>Q 543?Q 94);BY?Q E:yB?Q I'@ԘDI ;iC ;m4y-Bɮ B3EZRbj"ړڒ’@! @ ɢ 0<)  hT>i)xfimvɧ9;%i%d?%~Tԁ %,Z[?A2>2?2!;ٱ2+ :AHRS rotation from veh to nav: [[0.860400,-0.502789,-0.083151],[0.509613,0.848129,0.144814],[-0.002289,-0.166973,0.985959]]2Hf?ZIN?#?D?cb`\_ſ?i2>I2k];2CYBHByFH HJ4<bDNtVDN 6yVN%VY=ٔV:Q-Z>9Z"?YZ"?=Z-FyZƻE^fE^>`Q 5f4bC?Q 9f4bˏ)b|;BYdyj>Q Ij'@bܘDIb:ib :bt4ynBɮnp Bn*EYZRbj"ړڒ’@ɢg!<) @>i)\in翟ɧ4i7?z<I7? 7?I@@@@ԉbEFA4jEFA4rES0E% E%zE%'E!"E%C:*E% :VE%'4ZE!a5@a5@a5@a5@ԱAII O> M,5*[?A2w*>2k?2 >;ٱ2, :AHRS rotation from veh to nav: [[0.861337,-0.501235,-0.082844],[0.508026,0.848863,0.146086],[-0.002900,-0.167916,0.985797]]2H? D5A?@)?`??gH~ſ?i2w*>I2"];0YBHByBHbDN[VDN6yVv%VJ=ٔV}:Q-Z>9XYX=Z-FyZȻE^xE^>`Q 5f4b'U?Q 9f4bΌ)bd;BYdyf>Q Ij'@bDIb:ib:b,{4ynBɮn Bn+EZ|R|b|j"ړڒ ’   @AɢM$<)I M>>iI)UqsSQQiU lnԹ:ɧd, i9T?<I9T? 9T?I!BYBYB]HB]HBBYBYBYB] ;B]AEBaBaBaBaBe‘ =CeΆ4AIIiIyO>D zD ?AE  E E *E "E *E VE (N4ZE BE 5;a 2E 6;a JE v;a :E v;a A {,4D[?A2>2T?2X;ٱ2- :AHRS rotation from veh to nav: [[0.862407,-0.499416,-0.082691],[0.506205,0.849741,0.147298],[-0.003297,-0.168889,0.985629]]2H@֘?@p߿:+ 2?1??k*ſF?i2>I2E\;2CY^HBy^Hi]Mb@Mb@Mb@YYYY Y9]l?:vQY]?y]T]]B]tA Y)]7AYY]AbDu_VDu(6y%==ٔp:Q->9Y=-FyʻE7E>Q 54h?Q 94)Z;BYT?Q E:y1>Q I'@DI/:i:4yɮ BZRbj"ړڒ’G@Qɢ]1b<)Y ]R6>iY)]dIaaienmWLɧm m im?mA>AI IO-,>ԉԩ #,][?A:>:L?:My;ٱ:S/ BAHRS rotation from veh to nav: [[0.863916,-0.496841,-0.082456],[0.503622,0.850994,0.148906],[-0.003813,-0.170169,0.985407]]:H@2?=߿@?X;?[?I:k];:CYNHByNH PRAE` E`Eb)E`"E`*E`VEbFA4ZE`af@af@af@af@bDZ5VDZS6yE.%EN=ٔM:Q-M>9IYQ=U-FyU̻EUZE]>YQ 5e4]z?Q 9m4]Z)]Q;BYiym>Q Im'@]DI]:i]:]4y}&Bɮ} B},EZRbj"ړڒ’ C@ɢ<) 93>i)M@ioSɧ׮i^u?<I^u? ^u?IԱA%.AI1IAOM>BIBIBMHBMHBBIBIBIBM;BMAE 1 L,w[?A2$>2h?2 b;ٱ2/ :AHRS rotation from veh to nav: [[0.865298,-0.494469,-0.082218],[0.501242,0.852229,0.149874],[-0.004040,-0.170897,0.985281]]2H@?a߿`7 + ? vE?/? >pſ@k?i2$>I23];2CY^HBy^Hi}Mb@Mb@Mb@yyyy y9}x?MbX9I +?Y}K?y}ʡ}94<}6By } A)} AyYybDCVD6yü%D=ٔ:Q->9 ?Y ?=-FyλEػE>Q 54?Q 94Մ)Z;BY?Q E:yb>Q I'@DI:i:4yɮ BZRbj"ړڒ’    @IɢM|m <)Q U )>iY)]B7YYieDFomɧm:mjּim%?m=G9Qi>9Y/Ai 5,[?A 2!>2?2`;ٱ21 >AHRS rotation from veh to nav: [[0.866794,-0.491895,-0.081906],[0.498647,0.853495,0.151322],[-0.004528,-0.172007,0.985085]]2Hż?4{߿`?O?`^?`r Wƿх?i2!>I2lk];2CYFHByFHbDN;VDN6yV=%V\=ٔZ:Q-Z>9Z"?YZ"?=Z-Fy^лEbEb>dQ 5j4f\?Q 9j4f)fb;BYhyj>Q In'@fDIfX ;if ;fo4yr,Bɮr Br-EZRb j "  ړ  ڒ’j@AɢE L@<)A EJ>iA)E>-IIiMoUɧUuUFiU*?]6 ?6(;ٱ6)2 BAHRS rotation from veh to nav: [[0.868328,-0.489246,-0.081511],[0.495964,0.854793,0.152802],[-0.005083,-0.173109,0.984890]]6H@X? O߿ݴ߽?wZ?? t o(ƿ7?i6>I6h];6CYRHByRHIV<)VR=`bDbVDbU6yn%nH=ٔrH:Q-r>9tYt=v-FyvһEz"Ez>Q 5 4l?Q 9 4!)k;BYyQ>Q I'@ DI;i;4y%3Bɮ% B%.EZaRabaji"iiړiqڒq’qy}@颱ɢu<) %,>BR>BBBBBBBъ;B`AEi)bl$ioɧwվ!ƪiy?<Iy? y?IiYI]AIIO>D zD @AE  E E *E "E :*E *:VE (N4ZE BE ;a 2E ;a JE i;a :E i;a A GF,X[?A2]>2?2GI;ٱ2H2 :AHRS rotation from veh to nav: [[0.869929,-0.486530,-0.080698],[0.493144,0.856250,0.153770],[-0.005715,-0.173565,0.984806]]2H`u?`N#߿?@ff?? iw]7ƿ?i2]>I2];2CYBHByBHiEMb@Mb@Mb@AAAA A9EZd;?V-kt?YE?yEmE 0=EBA A)E7AAYAbD]VD]6ym]=%mA=ٔul:Q-u>9qYq=}-Fy}ԻE}E}>Q 54Ň?Q 94S});BY?Q E:y>Q I'@DIs;iS;4yɮ BZRbj"ړڒ’@ɢI0<) C>i)ip Dɧ iM?<IM? M?II^A]m<IIOf>qԡ ]p,{3[?A2^.>2m?2پ;ٱ23 :AHRS rotation from veh to nav: [[0.871067,-0.484581,-0.080148],[0.491126,0.857278,0.154496],[-0.006157,-0.173939,0.984737]]2H ?a߿n?n?@?7yCƿ?i2^.>I2R^;2CYBHByFHbDNER ERER+EP"ER%:*ER?:VER [4ZEPaZ@aZ@aZ@aZ@VDN6yb+%fV=ٔf:Q-f>9hYh=j-FyjֻEjpƻEj>pQ 5r4rׇ?Q 9v4rz)r;BYtyv>Q Iv'@rDIr:ir:r4yz9Bɮ~ B~/EyZRbj"ړڒ’Z@ɢ|3<) aA>i))5^11i5^p=ggɧ==DŽiE?EɔB=CBBBBBB;BFAE ,b[?A2>2۵?2W+;ٱ2 3 :AHRS rotation from veh to nav: [[0.872439,-0.482189,-0.079651],[0.488679,0.858507,0.155431],[-0.006566,-0.174528,0.984630]]2H?`/޿d`F?x?-?@^zVƿ`?i2>I2^;2CYRHByZ H hjAiUMb@Mb@Mb@QQQQ Q9U~jt?~jtT㥛 ?YU?yUDU=UBUA Q)QQYQm@AibDuVDu6y-Dl=%-6=ٔUn:Q-U>9YYa=e-FyeٻEmɻEm>Q 54$쇉?Q 942w);BY?Q E:y]?Q I'@"DI;i;4yɮ BZRbj"ړ!!ڒ!’!!-&@频ɢ2F<) [>i)V顙ipډɧiE E{EE"E*E5":VEZEBE;a2E;aJECz;a:EDz;a駭ooiJ?m<uIJ? 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C /G SkA E 59E SkAYM &A_,f?A2:N>2} ?2<;ٱ2%& :AHRS rotation from veh to nav: [[0.857192,-0.508913,-0.078929],[0.514969,0.845411,0.141731],[-0.005401,-0.162136,0.986754]]2Hn?I4`z? ?:$?vĿ@|?i2:N>I2\;2CY^FBybHbDj+VDju5y W%O=ٔ%˹Q-%>9!Y)=-.Fy-E-:E->1Q 5=45S4?Q 9=45)5H8BYAyE!?Q IE)@5DI5j;i5;54yMBɮMfBUEZiRqbqjq"qqړqyڒy’yy_I@颩ɢVǼ) i)顱iJ{ɧ>駽O2_2^ ?2*;ٱ2%' :AHRS rotation from veh to nav: [[0.856984,-0.509144,-0.079694],[0.515319,0.845127,0.142152],[-0.005024,-0.162889,0.986632]]2Hil?J f@~}? G ? 2??t`Ŀ@|?i2>I2C\;2CYNFByRHi%Mb@Mb@Mb@!!!! !9%S?L7A`?~jtY%?y%+=%D%LB%A %zA)!!Y%AybDVDy<%A=ٔiQ->9Y=.FyE!|:E>Q 54E?Q 94)=8BY?Q E:yF%?Q I)@DI ;iX ;L4yɮ]BZ R b j " ړڒ’`I@AɢEţ)I MiI)MWIIiM ]l]ɧ]>]7ZB B B B B B B ";B AE ,lf?A2>2 ?2Е;ٱ2L ( :AHRS rotation from veh to nav: [[0.856768,-0.509400,-0.080381],[0.515682,0.844881,0.142294],[-0.004572,-0.163365,0.986555]]2Hj?M``x?D ?@6?r !Ŀ ܑ?i2>I2];2CYBFByFHbDN4VDN5yVO,%V]=ٔVHQ-Z>9XYX=Z.FyZE^Õ:E^>`Q 5f4bT?Q 9f4bM)b38BYdyj`%?Q Ij)@bDIb:ib-:bõ4ynBɮnyBnEZ|R|bj"ړڒ ’   QI@9ɢ=yԼ)9 =iA)EaAAiEMCɧMO>M}VV ?V#;ٱV' fAHRS rotation from veh to nav: [[0.856486,-0.509809,-0.080792],[0.516155,0.844656,0.141920],[-0.004110,-0.163254,0.986576]]VH`Th?ZPήV?@k?o*?@pĿ?iV)>IV%\;VCE~ E~}E~-E|"E~:*E~k&:VE~t4ZE|BE~;a2E~;a JE~ŀ;a :E~ƀ;a 9YFByHI)9IYQ=U.FyUEU:EU>ԡYQ 54]k?Q 94])]#8BY?Q E:yG$?Q I)@]DI] ;i]":]s4yQɮ]qBYZyRybyjy"ړڒ’ J@颱ɢb3) i)/项iɧb>r6R ,`1g?A2O>2R ?2cs;ٱ2$' :AHRS rotation from veh to nav: [[0.856186,-0.510255,-0.081154],[0.516655,0.844407,0.141579],[-0.003714,-0.163146,0.986595]]2He?@Tƴ o?`b?>?@tlnĿ/?i2O>I2\;0@BvlAi@I@@IDiD DD)DD J^r@HHHHJsAIL)LiL)LILPP PPPPiTTiTT)T TIXYXY^FBybHbDjAVDj5yr%r=ٔrǺQ-v+?9v ?Yv ?=v.FyvEz;Ez+?|Q 5}4~gv?Q 94~t)~8BYym$?Q I)@~DI~j]0O) = == <,?Kg?A,2cF>2 ?2ͼ_;ٱ2E(( :AHRS rotation from veh to nav: [[0.856223,-0.510126,-0.081569],[0.516595,0.844421,0.141715],[-0.003414,-0.163478,0.986541]]2H-f?Rᴿ`?~?#? kĿ?i2cF>I2\;0YFByHbD@VDJ5yR<%.=ٔ]'Q->9"?Y"?= .Fy EE>Q 5%4?Q 9%4)8BY!y%g$?Q I-)@DI:)i:G4y9ɮ=~B9ZYRYbYjY"Yaړaaڒa’aim OjJ@频ɢż) i)Z顙idɧ~>駭KE EzE,E"E:*E :VEg4ZEBEz;a2E{;aJEv;a:Ev;aԉ ,eg?A0:OJ>: ?:T;ٱ:^( BAHRS rotation from veh to nav: [[0.856208,-0.510111,-0.081819],[0.516621,0.844390,0.141805],[-0.003249,-0.163684,0.986508]]:H`f?R(?=?&?@@j Ŀ@x?i:OJ>I:\;:C p)prppptivIttItivr@ xx)xx xzx|||I~ļ)|i)I   $vA i  Y Y=FBy=Hi=Mb@Mb@Mb@9999 99=V-? rh?~jtY=?y=C==D=yB9 =A)=dA9Y=3AbD;VD#5y %M=ٔeعQ->9 ?Y ?=.FyE8E>Q 54?Q 94)8BY ?Q E :y &?Q I )@DI ;i;C4y5Bɮ5hB=EZyRybyjy"yyړyڒ’@J@ԑɢ:ռ)! %Ni!)%p))i-85өɧ5x>5F E  E wE &E "E :*E :VE 4ZE a @a @a @a @BE <AA BI BI BI BI BI BI BI BM ;BM AEiߡ Iߥ A,~g?A28>2 ?2F@;ٱ2J( :AHRS rotation from veh to nav: [[0.856278,-0.509961,-0.082019],[0.516506,0.844495,0.141595],[-0.002943,-0.163608,0.986521]]2Hf?Q.7???hĿ?i28>I2W\;2C\YFByHbD5/VD5a5y=^<%Ef=ٔEaQ-E>9M"?YM"?=M.FyM¼EMƹEU>QQ 5e4U?Q 9e4U)U7BYaym &?Q Im)@UDIU!;iU:Ua4yqɮuaBqZRbj"ړڒ’NJ@ɢ) ēi)ûiZ ɧcs>BA 2,1Әg?AE EzE+E"E:*E :VE [4ZEBE;a2E;aJEa:EaFj>F ?F4;ٱF1( NAHRS rotation from veh to nav: [[0.856082,-0.510263,-0.082190],[0.516832,0.844331,0.141383],[-0.002747,-0.163514,0.986537]]FHe?Tj ???vf@Ŀ?iFj>IF\;FCYeFByeHbDu-VDu5y%B=ٔQ->9Y=.FyļEm:E>Q 54q?Q 94j)7BYy$&?Q I)@ĜDI:iN:4yBɮwBEZ)R)b1j9"AIړQYڒa’iK@)ɢ->ϼ)1 5i1)5 ͻ11i= =ࡩɧEl>E=qԡ ,Pg?A2f>2> ?2(;ٱ2O( :AHRS rotation from veh to nav: [[0.855985,-0.510390,-0.082419],[0.516995,0.844233,0.141377],[-0.002577,-0.163627,0.986519]]2H9d?Ui 9???eĿ ?i2f>I2c\;0YBFByFHi Mb@Mb@Mb@     9 S?9Y=.FyƼE*9E>Q 54ʏ?Q 94p)7BYC?Q E:yO(?Q I)@̜DIv:i:4yɮcBZRbj"ړڒ’ 3K@qɢu9/߼)y }tiy)sӻ顁i޼ |ɧd>駕6 ,g?A2>2 ?2=;ٱ2z( :AHRS rotation from veh to nav: [[0.855956,-0.510396,-0.082673],[0.517042,0.844198,0.141413],[-0.002384,-0.163789,0.986493]]2Hc?)U*@???`c` ĿX?i2>I2\;2CYBFByBHbDN#VDN5yV%VS=ٔVeQ-Z>9XYX=Z.FyZȼE^9E^>`Q 5f4bLڏ?Q 9f4b)b7BYdyfR(?Q Ij)@bԜDIb:iby:b>4ynBɮnvBnEZ|R|b|j"ړڒ’   cK@1ɢ=qE)9 =i9)=D?ڻ9AiEO MxɧM\>M206B ?6;ٱ6:( BAHRS rotation from veh to nav: [[0.855650,-0.510894,-0.082768],[0.517550,0.843943,0.141073],[-0.002222,-0.163545,0.986533]]6H{a?>YD0ŏ? ?? 3b`Ŀ`?i6eئ>I6|\;6CYJFByJHiMb@Mb@Mb@ 9Gz?~jt?Mb`Yp?y=B )YAbD5.VD5&5yE~%EA=ٔEɹQ-E>9M ?YM ?=M.FyMʼEMG:EU>QQ 5e4U돉?Q 9e4U)U7BYe?Q Ee:ym/*?Q Im)@UܜDIU&:iU:U4yqɮu}BqGSB*** querying acoustic contact ***:BZRbj"ړڒ’1K@ɢ-ۼ) Pi1)uUqqiu}"aɧ}5R>}z*(aԑEU  EQ EU (EQ "EU :*EQ VEU c44ZEQ a] @a] @a] @a] @A A B V>B B B B B B B ;B AE *DAT read: user:142>  BDAT read: Tx time:21:07:43.0465  $Ping request sent. 6s ?6;ٱ6' NAHRS rotation from veh to nav: [[0.855263,-0.511531,-0.082833],[0.518191,0.843650,0.140477],[-0.001976,-0.163068,0.986613]]6HP^? w^4?`-?@%?@0`@hĿ U?i6{:>I6Ʃ\;6CYZFByZHprAbDv VDv5y~䲼%~O=ٔ"Q->9"?Y "?= .Fy ̼E :E >Q 54?Q 94)7BY!y%a*?Q I%)@DI];i;4y-Bɮ-B1ZQRQbQjQ"QQړYYڒY’YaeK@颉ɢ) i)顑ia"MɧG>駝/Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250719 7,h?AD"=D"<E& E&{E$E$"E&:*E&5":VE$ZE$BE&;a*2E&;a.JE&Dz;a.:E&Dz;a.>w>>X ?>:ٱ>' JAHRS rotation from veh to nav: [[0.855021,-0.511905,-0.083018],[0.518590,0.843459,0.140150],[-0.001721,-0.162883,0.986644]]>HU\?a@I? ?n? 2\]Ŀ?i>w>I>V\;>CYRFByRCHbD^VD^z5yf/%fN=ٔf(Q-f>9j ?Yj ?=j.FyjμEj:En>pQ 5v4r0 ?Q 9v4r)r7BYtyv*?Q Iv)@rDIr:ir:ry4yxɮ~B|Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903ZRbj"ړڒ’ L@Qɢ}w)Ż8 i)A顱i,Jr8ɧ=>o%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755250Q a ,3h?A2ݧ>2} ?2Y:ٱ2& >AHRS rotation from veh to nav: [[0.854617,-0.512545,-0.083230],[0.519257,0.843172,0.139400],[-0.001271,-0.162351,0.986732]]2HY?fN?D??jT Ŀ@O?i2ݧ>I2\;2CYFFByFnHiMMb@Mb@Mb@IIII I9M~jt?kt?~jthYM?yM =MDMBI MzA)IIYMAbDu VDuT5y=%==ٔQ->9"?Y"?=.FyмEl:E>Q 54?Q 94)7BY3?Q E:y/?Q I)@DILC;i>; 4yBɮBEZ1R1b1j9"99ړ9AڒA’AIM6L@yɢ}Z) {i)f顁i8&ɧq->駍 yԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258787J,Mh?A24->2$ ?2m:ٱ2.' :AHRS rotation from veh to nav: [[0.854303,-0.513002,-0.083639],[0.519774,0.842888,0.139190],[-0.000906,-0.162383,0.986727]]2H@sV?j`Yi ?? ?|MĿ E?i24->I2-\;2C@YFFByFkHbDRVDR5yVw%Z[=ٔZҀQ-Z>9Z ?Y^ ?=^.Fy^ҼE^:Eb>`Q 5f4bt,?Q 9j4bN)b7BYhyj:/?Q Ij)@bDIb:ib:b4ypɮrBpZRbj"  ړ  ڒ ’ @eL@9ɢ=*)A EϢiA)E`AAiEMɧM>UK;iUU ?U(A>ԩA ؟AII!O5 >DYzD]@AEa EaEe)Ea"Ea*EaVEeFA4ZEaBEe5;au2Ee6;auJEek;au:Eek;au]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510729 s,gh?A6H>6. ?6p:ٱ6G' >AHRS rotation from veh to nav: [[0.853978,-0.513463,-0.084130],[0.520309,0.842559,0.139184],[-0.000582,-0.162634,0.986686]]6HS?`Jn`?>??C-Ŀ@?i6H>I6\;6CYJFByJoHliMb@Mb@Mb@ 91Zd?Zd;O?QY"?yj=uA A)YAbD5VD55yE<%MA=ٔ]kHQ-e>9u"?Yu"?=u.FyuԼE}:E}>Q 54v=?Q 94)7BY?Q E:y$1?Q I)@DIH:i:4yBɮBEZRbj"ړڒ’bL@yɢ})y  i)e顁ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763479ɧ >#;i ?v<I ?  ?I $AAm .AEq  Eu xEu (Eq "Eq *Eu :VEu c44ZEq a} @a} @a} @a} @B A B X>B B HB FBB B B B ;B AEI I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014753i [ ,h?A2>2L ?2I:ٱ2% >AHRS rotation from veh to nav: [[0.853542,-0.514265,-0.083652],[0.521024,0.842317,0.137973],[-0.000493,-0.161351,0.986897]]2H7P?@t9j9?B?`?!)@#Ŀ?i2>I2\;2CYFFByFxHbDNVDN5yVA<%VU=ٔZqQ-Z>9Z ?Y^ ?=^.Fy^ּE~j ;E~>Q 5 4L?Q 9 4)7BYy_1?Q I)@ DI:ip:4Ayyɮ}ByZRbj"ړڒ’L@ɢ) i)t iɧ=0;iNd ?<INd ? Nd ?I NJNiAE؟AIIIYOm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266741ԑ &,p\h?AE EE+E"E:*E*:VE [4ZEBE;a2E;aJEi;a:Ei;aBB>Bw ?B9ٱB & JAHRS rotation from veh to nav: [[0.853201,-0.514784,-0.083939],[0.521582,0.841988,0.137870],[-0.000297,-0.161412,0.986887]]BH lM?y`} Ͱ? ?@?u3#Ŀ@?iBB>IB\;BCYRFByRfH TTbD^VD^z5yf%fI=ٔfzQ-f>9j"?Yj"?=j.FyjؼEn:En>pQ 5v4r\?Q 9v4rΝ)r7BYtyv1?Q Iv)@rDIr:ir:r&4y~Bɮ~B~EiYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527102ZRbj"ړڒ’M@ԙɢ) i)iUMnɧ={;i. ?<I. ? . ?I!-C=-==9AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779314 g,,_Eh?A2>2g ?2۾_8ٱ2+& :AHRS rotation from veh to nav: [[0.852862,-0.515283,-0.084314],[0.522136,0.841653,0.137821],[-0.000053,-0.161566,0.986862]]2H@J?3}U?@??` `0Ŀ_?i2>I20\;0YFFByF`HiuMb@Mb@Mb@qqqq q9uOn?(\µ?:vYu?yu=uԼucBq q)qqYuAbDVDf5y%.%7=ٔQ->9Y=.Fy%ۼE% :E%>)Q 554-Jn?Q 954-Y)-7BY=C?Q E=:y=.?Q I=)@-DI-T ;i-:-.4yAɮEBAZaRabiji"iiړiqڒq’qquc:M@颡ɢdz) ti)N顩i,P樽ɧ=駵C;i} ?N<I} ? } ?IBUZ>BU?CBUoHBUFBBU =BQBUDBU;BUAEEu Eu}Eu)Eq"Eu:*Euk&:VEuFA4ZEqBEu;2Eu;JEuŀ;:Euƀ;mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030802IAIIO>q    checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282943 3,h?AJ >J ?JiٱJJ & RAHRS rotation from veh to nav: [[0.852399,-0.515985,-0.084708],[0.522892,0.841246,0.137435],[0.000345,-0.161443,0.986882]]JHF?`e`?@}?|? ͟6? (Ŀ?iJ >IJ\;JCYrFByvAHbD &VD O5y%%\=ٔ%zQ-%>9)Y)=-.Fy-ܼE-b;E5>1Q 5=45|?Q 9E45)5{7BYAyE.?Q IE)@5#DI5;i5<;554yMBɮUBUEZqRqbqjq"qqړyyڒy’y iM@颩ɢ) i)_顱ip񻩧ިɧN=駽{;i ? <I ?  ?IYA II1OE>ԁE EE+E"Es:*E*:VE [4ZEa@a@a@a@}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534789ԩ 99,Nh?A2>>2 ?2pqٱ2' :AHRS rotation from veh to nav: [[0.852196,-0.516151,-0.085729],[0.523221,0.840967,0.137894],[0.000921,-0.162368,0.986730]]2H`1E? OQ`:?2?`?.N?`vĿJ?i2>>I2\;2CYFFByFJHimMb@Mb@Mb@iiii i9m5^I ?㥛 ?ˡEYm?ym=m'imA mzA)iiYmfA }p<}4<bDVD5y1<%C=ٔQ->9Y=.Fy߼Eq:E>Q 54?Q 94)e7BY?Q E:y)?Q I)@+DI>;iM;h<4yɮBZRbj" ړ  ڒ ’` M@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787132ɢ) i)ai֨ɧ,=^;i ?)< I  ?  ?I)AIIO=> AI AM ?ABQ BQ BU bHBU FBBQ BQ BQ BU ;BU ~AEBBBBBC4bEFA4jEC4rE8/E  E yE )E "E *E :VE FA4ZE BE ;a 2E ;a JE r;a :E r;a i߁ I߅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0389129 @,i?Ar >rK ?rGٱr2q' zAHRS rotation from veh to nav: [[0.851514,-0.517032,-0.087192],[0.524328,0.840344,0.137487],[0.002186,-0.162790,0.986658]]rH??Ir ];rCYFBy .HbDU"VDUc5ye[g%eM=ٔmPQ-m>9iYi=m.FymEuOV;Eu>yQ 54}b?Q 94})}P7BYyW)?Q I)@}3DI}:i}:}[C4yBɮBEZRbj"ړڒ’ M@ɢo) i),!in껩#ѨɧNr=;A;is ?3<I s ? s ?I AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2907439i F,i?AE" E"E"(E "E"C:*E"*:VE"c44ZE a&@a*@a*@a*@(YFBy:HbD-/VD-a5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.542824yMS<%ML=ٔMQ-M>9QYQ=U.FyUE]E]>aQ 5m4eP?Q 9m4eQ =mtI)e;7BYiyiQ Im*@e;DIe:ie:e\J4yɮBZ9R9b9j9"99ړAAڒA’AAMcN@ɢ+ ) i)# &iE滩q˨ɧSN=%;i` ?@<I` ? ` ?IqAyIIO=>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.795021 L,6i?ALn>nNd ?nKٱn( zAHRS rotation from veh to nav: [[0.851307,-0.516975,-0.089519],[0.524652,0.840141,0.137491],[0.004129,-0.164013,0.986449]]nH`=?궿`?n?O?pp?`dĿ?in>InZ];lYFBy $H iMb@Mb@Mb@ 9㥛 ?i|?5?/$Y?yq=,yBA A)dAY3AbD5VD5y3)%C=ٔ"Q->9Y=.FyEXq:E>Q 5U4㽐?Q 9U4)&7BY]?Q E]:y]#?Q I]*@BDIN@B\>BBIHBFBBBBBъ;BiAE!ɢ%)! %i!)%]:+))EU EUwEU&EQ"EUҝ:*EU:VEU4ZEQBEU;a]2EU;aeJEUk;ae:EUk;aei-R㻩5ƨɧ4?=駍;is ?7N<Is ? s ?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.046872AII!O5O> /G1Ir9Y#A!  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298666FS,[Pi?AB3>B&e ?BٱB) JAHRS rotation from veh to nav: [[0.851297,-0.516851,-0.090325],[0.524661,0.840150,0.137400],[0.004872,-0.164359,0.986389]]BH`=? @??S?2s? ſ?iB3>IBp ^;BCYzFByz(H|bD=VD5y%<%%U=ٔ%VQ-%>9)Y)=-.Fy-E- 8E5>1Q 5E45͐?Q 9E45~)57BYAyE#?Q IE*@5JDI5;i5;5aX4yIɮUBQZqRqbqjq"qqړyyڒy’ylN@颩ɢv) i)֎/顱i5໩M¨ɧ@1= ;iCi ?iY<ICi ? Ci ?IA))I1IIOU>Ee EesEe*Ea"Ee:*EeZ:VEe(N4ZEaam@am@am@am@]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550779aԉ UZ,5ji?AB]>Bj ?BƻٱB') JAHRS rotation from veh to nav: [[0.851033,-0.517093,-0.091418],[0.525077,0.839985,0.136817],[0.006043,-0.164437,0.986369]]BH ;?'gn?(?6? x?F ſU?iB]>IB8~^;@YVuFByVHYiMb@Mb@Mb@ 9I +?ˡE?lY9?y'=BA )YAbD@VDJ5yM%@=ٔ4Q->9Y=.FyE}:E>Q 542ސ?Q 94~)7BY?Q E:y?Q I*@QDIC;iB;_4y Bɮ B EZ9R9b9j9"9AړAAڒA’AIMN@qɢu)y }žiy)},4yyi}ܻɧ)>=駍O!;i>t ?g<I>t ? >t ?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802884I)ԉA}.AIIO=>ԱB<A<B]>BBBBBBBˊ;BdAEEu  Eu yEu +Eq "Eu C:*Eu :VEu [4ZEq BEu 5;a} 2Eu 7;a} JEu r;a} :Eu r;a m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054847 `,i?AF>FT ?FPٱF5)) NAHRS rotation from veh to nav: [[0.850811,-0.517287,-0.092381],[0.525423,0.839865,0.136226],[0.007120,-0.164442,0.986361]]FH9?NC?,?o? *}?`m ſ@E?iF>IFA^;FCYrFByr-HIvp=)v<bDzMVDzG5yC=%W=ٔ :Q- >9  ?Y  ?=.FyE#:E>Q 5%4U퐉?Q 9%4o{)6BY)y-?Q I-*@YDI:i:rf4y1ɮ5B1ԹZQRbj"ړڒ’N@ɢ%I)! %ϻi!)%<9!)i-sٻ5ɧ5'I=5 ;i5} ?5u<1I=} ? =} ?I9AIIO%>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.3067699 (g,!i?ADDE EvEE"E*E:VEZEa@a@a@a@Jrc>JE ?J ٱJ(o* RAHRS rotation from veh to nav: [[0.850997,-0.516708,-0.093900],[0.525106,0.839981,0.136733],[0.008223,-0.165667,0.986148]]JH@^;?ވ ?`?@x?׀?4ſ@?iJrc>IJG_;JCY^FBy^&HbDfHVDf!5yne%nL=ٔr4Q-r>9pYp=r.FyvEvpEv>|Q 5~4~]?Q 94~w)~6BYy?Q I*@~`DI~:i~:~qm4checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558929yBɮB%EZARAbAjA"AAړAIڒI’IIUO@yɢ}u)y }i)d>顁iֻٖIJɧQU=駍q*;i ?O<I ?  ?I AII O5 >9achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.810761ԑ Om,cշi?A:>:V ?:|ٱ:H+ NAHRS rotation from veh to nav: [[0.851386,-0.515869,-0.094981],[0.524460,0.840335,0.137036],[0.009124,-0.166484,0.986002]]:H>? P@a??`b??@[OſS?i:>I:2_;8YZyFByZHi=Mb@Mb@Mb@9999 99=d;O?9iYq=u.FyuEurE}>yQ 54}K?Q 94}=t)}6BY?Q E:y?Q I*@}hDI}:i} ;}t4yɮBZRbj"ړڒ’ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314820 4t,ϣi?A21Ȫ>2: ?2$ٱ2* :AHRS rotation from veh to nav: [[0.851604,-0.515406,-0.095537],[0.524089,0.840687,0.136295],[0.010069,-0.166139,0.986051]]2H@W@?4~uV?@?`r?` ? Dſ?i21Ȫ>I2_;0Y^FBy^(H ``ddbDj@VDjJ5yMy<%ML=ٔUQ-U>9QYQ=].Fy]E]9E]>aQ 5m4ed?Q 9m4ep)e6BYqyu?Q Iu*@eoDIe:ie9:e{4y}Bɮ}BEZRbj"ړڒ’`oO@ɢn) i)*~HivлYɧt=mC;i ?ʘ<I ?  ?IA%؟AI1IAOM>D9zD9EE EEzEE*EA"EE:*EE :VEE(N4ZEAaM@aM@aM@aM@=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566678) ;^z,|i?A 6Ѥ>6( ?6B3ٱ6J+ >AHRS rotation from veh to nav: [[0.851738,-0.515021,-0.096415],[0.523854,0.840854,0.136169],[0.010941,-0.166488,0.985983]]6HoA? {i?E?m?`#h? wOſ+?i6Ѥ>I6t`;6CYb{FBybHiMb@Mb@Mb@ 9X9v?{Gz?~jth?Y?y#=D;yBA A)YAbD$VD5y%A=ٔ Q->9"?Y"?=.FyEI'E>Q 54,/?Q 94l)6BY ?Q E :y ?Q I *@wDI:i<:-4yBɮB۳EZ9R9b9j9"99ړAAڒA’AAM O@qɢu"#)y }9¾iy)}Myyi}=kͻɧy=駅DG;i ?@<I ?  ?checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818846IiAIIO*>ԙAAAABBBBBBBB;BAEEU  EU vEU (EQ "EU :*EU :VEU c44ZEQ BEU X;a] 2EU Y;a] JEU h;a] :EU h;ae M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0708370H,`j?A2;ͪ>2(= ?2Gٱ2* :AHRS rotation from veh to nav: [[0.851564,-0.515164,-0.097186],[0.524109,0.840893,0.134942],[0.012206,-0.165848,0.986076]]2H@?9|5ḿ@??@E??:ſ?i2;ͪ>I2`;2CLYRxFByRHbDZ6VDZ5yb%b^=ٔfaQ-f>9dYd=f.FyfEj[:Ej>lQ 5r4n=?Q 9r4ni)n6BYpyv?Q Iv*@n~DIn :in9:n4yzBɮzBzܳEZRbj"ړ!ڒ!’!!%@O@QɢU&)Q UþiY)]ZRYYi]߫ʻeɧe|=e*J;ie ?mRjB ?RlWٱR%* ZAHRS rotation from veh to nav: [[0.851511,-0.515145,-0.097746],[0.524171,0.840996,0.134051],[0.013148,-0.165382,0.986142]]RH??`|`?`q?(?j?9+ſy?iRת>IRa`;RCYfFByf3HIj<)j<bDr1VDr5yzF=%zH=ٔzQ-z>9|Y|checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574885 = .Fy ErL9E>Q 5%4 N?Q 9%4f)6BY!y%?Q I-*@DI;i:ɐ4y1ɮ5B1ZQRQbQjQ"YYړYYڒY’aaeP@颉ɢ0) `i)A>A 1IAIaO>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.826772ԁ ,E9j?A2/)>2"k ?2_iٱ2K* :AHRS rotation from veh to nav: [[0.851173,-0.515497,-0.098834],[0.524692,0.840753,0.133539],[0.014256,-0.165522,0.986103]]2HI2a`;2CYvFByv'HYi}Mb@Mb@Mb@yyyy y9} +?V-?Q?Y}?y}m=}u<}LBy y)}MAyY}AbDVD5y%?=ٔ*Q->9Y=.FyE:E>Q 54^?Q 94b)6BY?Q E:yF'?Q I*@DI:i::4yBɮBݳEZRbj"ړڒ ’    P@B=^>B9B9B9B9B9B9B=;B=AEB?CB?CBB =B =C74ɢIy) vi)m\i@Żnɧb=5;i ?<I ?  ?IbE·G4jEB4rEn/EM EMuEM(EI"EM:*EM:VEMc44ZEIBEM;ae2EM;aeJEMmd;ae:EMmd;aechecking for new query: numPingsReceived=0, elapsed TxPingTime=9.078843ԉA].AIiIyO:>Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330801,Rj?A2J>2{ ?2vٱ2) :AHRS rotation from veh to nav: [[0.851028,-0.515651,-0.099277],[0.524905,0.840760,0.132656],[0.015064,-0.165005,0.986178]]2H@;?6@1j??? َ?ſĎ?i2J>I2g`;2CԹYy(HbD"VDc5y^;%9=ٔDQ->9 ?Y ?=.FyEk:E>Q 54cp?Q 94])6BYyW'?Q I*@DIY;iw;4y۫Bɮ4B޳EZ!R!b!j!"!!ړ))ڒ)’)15_checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582731A i,Vlj?AFǗ>Fo ?FDٱFpp) RAHRS rotation from veh to nav: [[0.850705,-0.516024,-0.100100],[0.525395,0.840593,0.131773],[0.016145,-0.164692,0.986213]]FH 8?@D ,@ ?@"??i?ſ ?iFǗ>IF`;FCX^zlAi\I\\I`i` ``)`d fMr@ddhhnsAIl)lil)pIppp ptttittixzmA)| |I|Y|YFBy /HA i5Mb@Mb@Mb@1111 195`"?㥛 ?9}"?Y}"?=}.FyE:E>Q 54?Q 94Z)6BY?Q E:y-?Q I*@DI;i;Ц4y֫Bɮ#BZRbj"ړڒ’UP@ɢI#) E%iI)MfIIiM$UtɧU=U7:iUEV ?]B-<A-<B1B1B5IHB5FBB5 =B1B1B5;B5AEaEM  EM |EM )EI "EM :*EM P$:VEM FA4ZEI BEI aU 2EI aU JEM };a] :EM };a] i! I! % GRkA\v29vkAYv$A5>5p ?5ٱ5) MAHRS rotation from veh to nav: [[0.850264,-0.516578,-0.100987],[0.526073,0.840321,0.130798],[0.017294,-0.164340,0.986252]]5H@\5?@χOڹ??@?`? ſ`?i5>I53G`;5CqYFBy:HbDVD5y4<%7=ٔ(Q->9Y=.FyE:E>Q 54D?Q 94U)6BYy .?Q I*@DI};i;4yܫBɮ%B߳EZRbj"ړ!ڒ!’!!-rP@QɢU)Q UiY)]kYYi]eɧe# E]  E] vE] *EY "E] 1:*E] :VE] (N4ZEY ae @ae @am @am @8ɧ,*j?A.x>.?.vٱ.' :AHRS rotation from veh to nav: [[0.849769,-0.517307,-0.101417],[0.526835,0.840091,0.129195],[0.018366,-0.163216,0.986419]].HO1?`ȍw ?@? v?Β?BĿ`?i.x>I.Y`;, )    ~nAiIIi~r@ ) !%!!)1I59)1i1)5@CI1=`9 99=(vA9iAAYAYmFBym%HbD} VD}5y-qB%5f=ٔ5EQ-5>9= ?Y= ?==.Fy=E=';EE>AQ 5M4E'?Q 9U4ER)E6BYQyUF.?Q IU*@EDIE:iE:Eϴ4yɮ6BԹZRbj"ړڒ’@\P@1ɢ=+)9 =Yi9)E8pAAiEXdMIɧM  ,?Tj?A2#>2R?2ٱ2#N' >AHRS rotation from veh to nav: [[0.849245,-0.518039,-0.102070],[0.527643,0.839755,0.128079],[0.019364,-0.162628,0.986497]]2H@-?ƓJ!t?`E?d?@1ԓ?Ŀ c?i2#>I2_;0YFBy%+HBBBVHBFBB =BBB;BAEiMb@Mb@Mb@ 9rh|?Mb?{Gzt?Y?y=ף; A)7AYbDVD5y%|T<%%L=ٔ-#Q-->9-"?Y-"?=-.Fy-E5;E5>9Q 5E4=뮑?Q 9E4=M)=6BYM?Q EM:yMV5?Q IM*@=DI=<:i=:=˻4y]ǫBɮ]B]ֳEZyRybyjy"ړڒ’ iP@颱ɢ() i)t项i-ɧnE7i ?<I ?  ?E ExE,E"E:*E:VEg4ZEBEz;a%2E{;a%JEXo;a%:EYo;a-QIAIIIYOayԩ д,1j?A6?s>6,?6Kٱ61' >AHRS rotation from veh to nav: [[0.848727,-0.518699,-0.103020],[0.528436,0.839369,0.127340],[0.020421,-0.162517,0.986495]]@6H`(?._ ??L??@XĿ]?i6?s>I6_;4YFBy;HbD%VD%A5y5=%=[=ٔE8Q-E>9AYI=M.FyMEUa%;EU>aQ 5m4e?Q 9m4eI)aYqyu5?Q Iu*@eDIehL;ieN;e]4y̫BɮB׳EZ9R9b9j9"99ړ9AڒA’AAEP@qɢu(%)y }iy)}fyyyivȄɧp駍Ϻi{ ?8<I{ ? { ?IԩAI IO-,>E% E%~E%-E!"E%1:*E%(:VE%t4ZE!a-@a-@a-@a-@iI ,j?AZY>Z?ZٱZ' bAHRS rotation from veh to nav: [[0.848176,-0.519288,-0.104581],[0.529271,0.838861,0.127218],[0.021666,-0.163255,0.986346]]ZH`B$?@ź? ?H?@/? Ŀ%?iZY>IZ(_;XhYpyr9Y=.FyE;E>Q 54Α?Q 94rE)6BYe?Q E:y.8?Q I*@ĝDI;i;4yͫBɮZRbj"ړڒ’P@颙ɢ*$) i) O~i!슨ɧZe{7i* ?pX<I* ? * ?IA9IIIYOe5>)AA@ABa>B@CBoHBFBB =BBB%;BAEE-  E- {E- (E) "E- C:*E- 5":VE- c44ZE) BE- 5;a5 2E- 7;a5 JE- Dz;a= :E- Dz;a= Y ,k?A26>2?2tٱ2G( :AHRS rotation from veh to nav: [[0.847581,-0.520001,-0.105860],[0.530175,0.838361,0.126749],[0.022840,-0.163555,0.986270]]2Ha?@أ@1??O9?@Ic?ZĿ?i26>I2*K_;2CY^FByb\HdfAbDj VDj5y%3=%%R=ٔ%EQ-%>9)Y)=-.Fy- E56;E5>99Q 5E4=eݑ?Q 9M4=?A)=6BYIyMt8?Q IM*@=̝DI=:i=:=d4yUҫBɮUB]سEZyRybyjy"yyړڒ’@P@颱ɢe") i)+项i{}ɧ━iF ?w<IF ? F ?IAiAzAjAAAIQIaiOu>mBDAT read: Response Not Received m*response not receivedm2U?28ļٱ2(( :AHRS rotation from veh to nav: [[0.847065,-0.520639,-0.106845],[0.530949,0.837988,0.125969],[0.023951,-0.163433,0.986264]]2H (? 0Z? ??{?`Ŀx?i2(>I29_;0YBFByFPHbDNVDN5yV0ȼ%VR=ٔV3;Q-Z>9XYX=Z.FyZ E^;Eb>dQ 5j4f쑉?Q 9j4f=)f6BYlyr8?Q Ir*@fԝDIfn;;if{<;f74ytɮvBtZ Rbj"ړڒ’% Q@ԙɢ!) ߭i)sijϱɧҽ{i ?p<I ?  ?IAqIIO&> 6,;k?A6P>6?6>ͼٱ6}( BAHRS rotation from veh to nav: [[0.846707,-0.520944,-0.108190],[0.531470,0.837672,0.125880],[0.025052,-0.164083,0.986128]]6H8?\ ?5?? &? ſ]?i6P>I6_;6CYJFByJGHiMb@Mb@Mb@ 9ףp= ?RQ?Zd;OY?y=jLBA A)7AYAbD5VD55yEԅ%EA=ٔE*Q-E>9IYI=M.FyMEU:EU>YQ 5e4]?Q 9e4]8)]6BYe ?Q Ee:yeT4?Q Im*@]ܝDI]:i]a:]4yuثBɮuBuٳEBb>BB{HBFBBBBB ;BAEZRbj"1QړQYڒY’YY]@V#Q@颉ɢ*K#) ii)݅顱i(kɧ2駽#ʻi3I ?!<!Qԁ ,}Uk?AR>Rߦ?RUռٱR( bAHRS rotation from veh to nav: [[0.846361,-0.521306,-0.109147],[0.531971,0.837440,0.125302],[0.026084,-0.164114,0.986097]]RHc? @@?P? ? ?ſ@?iR>IR _;RCYnFByniHbD~VD~5y  =% N=ٔ9*Q->9Y=.FyEt:E>!Q 5-4% ?Q 9-4%D4)%6BY1y5{4?Q I5*@%DI%:i%:%4y9ɮ=B9ZYRabaja"aaړaiڒi’iim@>;Q@颙ɢ`") i)҇顡iҮTɧ 駭Fi ?A<I ?  ?IA>A>QAII!O- >yE EtE(E"Eҝ:*Ev:VEc44ZEa @a @a @a @ԩ L,,eok?AroE>rC?r־޼ٱry( zAHRS rotation from veh to nav: [[0.845667,-0.522248,-0.110022],[0.533019,0.836930,0.124258],[0.027187,-0.163724,0.986131]]rH`?Af*}? ?\Ͽ?֛?@Ŀ`c?iroE>Irf^;pY FBy pHiMb@Mb@Mb@ 9V-?bX9ȶ?Q롿Y|?yE=\BA ) AYAbDVDA5yUh<%@=ٔ)Q->9Y=.FyEQ 54,?Q 94/)6BY[!?Q E:yq1?Q I*@DI:i':4yȫBɮBгEZ R b j " ړڒ’ VQ@IɢM)Q UiQ)UMQQiU癭]}˨ɧ]%eie?e$BqAu<BqBqBuHBuFBBqBqBqBu;BuAEB=@CB9B9B=ǎ =B=ǎ =C=ˊ4bEjEȔK4rEȒ0E  E zE *E "E *E  :VE (N4ZE BE ;a 2E ;a JE v;a :E v;a ! "0,^-k?A2>2,?2ٱ2{W( >AHRS rotation from veh to nav: [[0.845231,-0.522779,-0.110843],[0.533659,0.836624,0.123563],[0.028137,-0.163592,0.986127]]2H" ? 0`??١? М?`ĿY?i2>I2Ȼ^;2CYFFByFfHbDNVDN5yVM%V^=ٔZ(Q-Z>9XYX=^.Fy^E^ ;E^>`Q 5f4b8.?Q 9f4b+)b6BYhyj1?Q Ij*@bDIb:ib:bo4ylɮrBpZRbj"ړ  ڒ ’  @(nQ@9ɢn;&) ͤi)顡if5ݨɧ<6駭Gi?T<I? ?IQ^Aԩ E%  E! E% +E! "E% :*E! VE% [4ZE! a- @a- @a- @a- @j,UNk?A0:g>:?b?:9iٱ::(i@I@ FAHRS rotation from veh to nav: [[0.844766,-0.523350,-0.111689],[0.534344,0.836289,0.122872],[0.029099,-0.163479,0.986118]]:H S?`I@X??t?`̝?ĿF?i:g>I:{^;:CYRFByReH TTbDZVDZ5yb %fG=ٔf)Q-f>9hYh=j.FyjEj;Ej>pQ 5r4r>?Q 9v4r|')r6BYtyv1?Q Iv*@rDIr :ir:r4yzΫBɮ~B~ѳEZRbj"!ړ!!ڒ!’!)-Q@QɢUL")Q ]>iY)]"YYi]FDeɧeHe imR?mԹ `,k?A6->6"?6Kٱ6]' BAHRS rotation from veh to nav: [[0.844096,-0.524275,-0.112414],[0.535344,0.835815,0.121738],[0.030133,-0.162939,0.986176]]6H?@ )Ǽ!? ?7*?@7۞?,Ŀ?i6->I6^;6CYJFByJpHpB!B!B%HB%FBB!B!B!B%ӊ;B%pAEi=Mb@Mb@Mb@9999 99=ʡE?~jt?9iYi=u.FyuEu;;Eu>yQ 54} P?Q 94}1#)}6BY(?Q E:y=-?Q I*@}DI}:i}s:}4yԫBɮBҳEZRbj"ړڒ’aQ@ɢH) i)K顙iSI ɧV駥+i#?p<I#? #?IE EE,E"E:*EVL:VEg4ZEBE;a2E;aJE;a:E;a  wk>C]GuSkA89SkAY)A^A}<9A.AIIO>a e 4=a o,k?A:=>:?:ٱ:_b' BAHRS rotation from veh to nav: [[0.843769,-0.524673,-0.113014],[0.535814,0.835620,0.121007],[0.030948,-0.162656,0.986197]]:H`'? z c%?@f?O? ?Ŀ?i:=>I:g^;:CYNFByN|HbDVVDV5yz<%zR=ٔzQ-~>9~ ?Y~ ?=~.Fy~Ed:E> Q 54 `?Q 94 3) 6BYyd-?Q I*@  DI ;i 3; 4y!ɮ%B!1ZIRIbIjI"IIړQQڒQ’QY] dQ@颁ɢf|!) i)>顉i)kɧc駝)6i(?J<I(? (?I@@@@aE E|E)E"EC:*EP$:VEFA4ZEa@a@a@a@}PExceeded connect timeout, disconnecting.A؟AIIԱO> $,k?A > t? ٱ g' 5AHRS rotation from veh to nav: [[0.843663,-0.524717,-0.113601],[0.535942,0.835589,0.120652],[0.031615,-0.162673,0.986173]] H`I?zn&?&?`?`/?|Ŀ`?i >I x^; CYEFByEHԱiMb@Mb@Mb@ 9\(\?p= ף?L7A`堿Y?y=+6B A) AYA ;bDVDQ5yz=%:=ٔǺQ->9"?Y"?=.FyE 9E >Q 5%4q?Q 9-4)6BY5?Q E5:y5)?Q I=*@DI;i~;s4yM٫BɮMBUӳEZRbj"ړڒ’Q@iɢm)i mii)u>mqqiuǨ};ɧ}n}y>i}Z?}A<IZ? Z?IAIIOM>AAAABBBHBFBBBBDB;B~AE E EzE(E"E:*E :VEc44ZEBE;a2E;aJEv;a:Ev;ai I A9 ~,w l?A2g>2??2?ٱ2*( :AHRS rotation from veh to nav: [[0.843810,-0.524283,-0.114509],[0.535670,0.835720,0.120956],[0.032282,-0.163403,0.986031]]2H ~?`rP5$?7?@?B?cĿ ?i2g>I2^;2CYBFByBtHbDNVDN5yV%Vc=ٔVQ-V>9XYX=Z.FyZE^`E^>`Q 5f4bQ?Q 9f4bW)b6BYdyf)?Q If*@bDIb6:ib:b4ylɮnBlZ|R|b|j|"ړڒ’   hQ@1ɢ5a,)9 = i9)=!99iE맻EPɧMyvM.EiM?MrZ?ZٱZU) bAHRS rotation from veh to nav: [[0.843929,-0.523861,-0.115555],[0.535447,0.835764,0.121634],[0.032857,-0.164524,0.985826]]ZHx?@x@@b"?@?b#?`Ҡ?ſ`?iZ]̱>IZ^;XYjFByjHbDvVDv5yzko=%~E=ٔ~9Q-~>9 ?Y ?=.Fy E E > Q 54 ?Q 94 C) ~6BYyr)?Q I*@ $DI Q;i ; 4y-߫Bɮ-B-ԳEZIRIbIjI"IQړQQڒQ’QY]@ R@颁ɢo) i)顉iSUkɧ駝8Li?<I? ?IqA؟AII O >ԡ !,->l?A2'd>2?2N ٱ27b+ :AHRS rotation from veh to nav: [[0.844329,-0.522837,-0.117257],[0.534760,0.836015,0.122923],[0.033760,-0.166492,0.985465]]2H? ?`?w?I?Oſ`?i2'd>I2^;2CYFFByFH HHBdBdBfHBfFBBf =BdBfDBf;BfAEiMb@Mb@Mb@ 9l?:v?/$Y?yT= )YbDVD|5yT%?=ٔ Q->9"?Y"?=.Fy"EE>Q 541?Q 94>)z6BY;?Q E:y %?Q I*@,DI ;i ;m%4yʫBɮB˳EZRbj"  ړ  ڒ ’ F%R@颙ɢ/) i)顡iLԦgɧE EzE+E"EC:*E :VE [4ZEBE5;a2E7;aJEa:Ea駭QiK~?#<IK~? K~?IAI IO-,>) m,Xl?A2 >2g?2 ٱ2g4, >AHRS rotation from veh to nav: [[0.844587,-0.522231,-0.118103],[0.534316,0.836237,0.123343],[0.034349,-0.167278,0.985311]]2H?@<?t?f?2?`iſ`?i2 >I2j_;2CYFFByFHbDR VDR5yVX<%Z\=ٔZϺQ-Z>9\Y\=^.Fy^$Eb'Eb>dQ 5j4f?Q 9j4f )fv6BYhyj$?Q Ij*@f3DIf:if:f+4yrϫBɮrBr̳EZaRabaja"aaړaiڒi’iiu@=R@ɢ3h) i)xܛi]/ɧ䄾Til?)<Il? l?IYAm.AIqIO>E E|E*E"E*EP$:VE(N4ZEa@a@a@a@yԩ , ql?A@=>=`#?=Zٱ=- }AHRS rotation from veh to nav: [[0.845119,-0.521121,-0.119195],[0.533432,0.836671,0.124223],[0.034992,-0.168565,0.985069]]=H@6 ???@Ϳ?j?ſ?i=>I=rL_;=CYFByHimMb@Mb@Mb@iiii i9m^I +?+? rhYmX?ym=mCimA i)iiYmzAbDVD5yt%/=ٔfQ->9 ?Y ?=.Fy&EE>Q 54CĒ?Q 94u)u6BY?Q E:yP?Q I*@B<Ap<Ba>BBHBGBB =BBB+;BAEE EE+E"Es:*E*:VE [4ZEBE;a2E;aJEi;a:Ej;a ",l?A6>6p?6ٱ6. >AHRS rotation from veh to nav: [[0.845607,-0.520112,-0.120139],[0.532623,0.837062,0.125058],[0.035520,-0.169739,0.984849]]6H5?v`@ ?@6?@?/?ſ?i6>I6/_;4YFFByJHIL)NC=bDRVDRA5yZߘ=%Zo=ٔZ ˺Q-^?9^"?Y^"?=b.Fyb(Eb45Eb?dQ 5j4fRҒ?Q 9j4fQ)ft6BYhyn?Q In*@fCDlIfK(;if*;f :4yvիBɮvBvͳEZ R b j "ړڒ’pR@AɢE[R")I MGiI)MjIIiM@UةɧU(]ksSi]j?][ 1a D <D %=E  E zE *E "E :*E  :VE (N4ZE a @a @a @a @(,Ԙl?A6ܯ>6?6]ٱ6e/ >AHRS rotation from veh to nav: [[0.845849,-0.519523,-0.120975],[0.532191,0.837306,0.125267],[0.036214,-0.170339,0.984720]]6H2?@`2?`5???ſ@ӂ?i6ܯ>I6k_;6CYGByHbD-VD-5y5 =%=B=9ٔE׺Q-E>9AYI=M.FyM*EM&EM>QQ 5]4U㒉?Q 9]4Ur)QYaye?Q Ie*@UKDIU;iUf;UhA4yiɮmBiZRbj"ړڒ’`‹R@ɢ) yi)iW ɧRij?<Ij? j?IAAIQiIqO}>ԑ B6?CB6HB6#GBB4B4B4B6&;B6AEB)B-@CB)B)B)C-4B0>Bn?BٱB0 NAHRS rotation from veh to nav: [[0.846534,-0.518170,-0.121984],[0.531065,0.837860,0.126332],[0.036744,-0.171725,0.984459]]BH ?ٔR:|??+?Т?`ſ?iB0>IBx_;BCYlynHԙiMb@Mb@Mb@ 9zG?L7A`?~jtxY ?y+=ĻBA )AY=AbDVD5y1:%?=ٔQ->9Y=.Fy,EJE> Q 54 ?Q 94 ) x6BYH?Q E:y?Q I*@ SDI  ;i  ; H4y%ګBɮ%B%γEZARIbIjI"IIړIQڒQ’QQ] R@颁ɢ) yi)΢顉iYbE [4jE-W4rE/E EwE+E"E:*E:VE [4ZEBEk;a2El;aJEk;a:Ek;aɧ1OPiOp? <IOp? 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BAHRS rotation from veh to nav: [[0.858650,-0.500622,-0.109988],[0.511589,0.850273,0.123744],[0.031571,-0.162522,0.986200]]6Hz?@.(^?o5?@?@ *?`Ŀ?i6o>I6];6CYJIByJH LLiMb@Mb@Mb@ 9v/?S㥫?:vYx)?y/]=Խ}B MA)AYAEE EE}EE(EA"EE:*EEk&:VEEc44ZEABEE;aM2EE;aUJEEŀ;aU:EEƀ;aUbD5VD55ye;%eB=ٔe$;Q-m>9iYi=m/FymEu:Eu>yQ 54}?Q 94} )} 7BY,?Q E:y?Q I+@}DI}:i}s:}4yɮBZRbj"ړڒ’4X@ɢd<1) >i)vr项i*i߲ɧ"oļiv?<Iv? v?I ^A-u2 ?2Pٱ26>' :AHRS rotation from veh to nav: [[0.858444,-0.501131,-0.109281],[0.511990,0.849973,0.124144],[0.030673,-0.162522,0.986228]]2H^x?C @8b?2?`ǿ?@h?@Ŀ@.?i2ણ>I2];2CYBIByFHbDNVDN5yVע%VW=ٔV;Q-Z>9XYX=Z/FyZE^9:E^>Q 5%4?Q 9%4)6BY!y%?Q I-+@DI1:i:4y5ޫBɮ52B1ZQRQbQjQ"YYړYYڒa’aae`MX@颉ɢrkQ<) Y>i)Hm顑i, ɧ駥#i$?<I$? $?I@@@@ԑEM EIEM&EI"EMs:*EIVEM4ZEIa]@a]@a]@a]@AIIO> VL,-@r?A2>2 ?2yٱ2D' >AHRS rotation from veh to nav: [[0.858602,-0.501018,-0.108553],[0.511774,0.850034,0.124616],[0.029839,-0.162550,0.986249]]2H@y?Wʻ@t`?z3?? ?@pĿ Z?i2>I2];2CYFIByFHbDNVDN5yV,/%VJ=ٔZ`;Q-Z>9XYX=Z/FyZE^,Eb>dQ 5j4f˖?Q 9j4f)f6BYlyn?Q In+@f&DIf;if'!;f4ytɮv6BtZ R b j " ړڒ’[gX@ɢD<) ">i)Whi:2/=ɧjO"i?XE<I? ?IBYA]<BaBaBe>HBeIBBaBaBaBe;Be9AEAIIyIO>E] E]E])EY"E]:*E]E7:VE]FA4ZEYBE];am2E];amJE]U;am:E]U;amI u,r?A 2>2U ?2ٱ2e]' >AHRS rotation from veh to nav: [[0.859149,-0.500176,-0.108111],[0.510880,0.850512,0.125023],[0.029416,-0.162645,0.986246]]2H%~?q`!`!Y?e7?@?`"?ĿT?i2>I2N];0YFIByFHIJa=)J=iMb@Mb@Mb@ 9)\(?y&1|ktYG!?y`廙 B1A  A)YAbD5VD55yEhj<%EA=ٔE/:Q-E>9IYI=M/FyMEMx"EU>QQ 5e4Uޖ?Q 9e4U|)U6BYe"?Q Ee:ye?Q Ie+@U/DIU7 ;iUa:U4yuBɮu;BuEZ Rbj"1ړ19ڒ9’99EX@ɢ3H<) ;>i)bip1nɧ۾鯼i?j<I? ?Iq%==AIIO=>ԙ De %=De =Em  Em Em 'Ei "Em :*Em .:VEm '4ZEi au @au @au @au @,r?A6C>6u?60ٱ6 ( >AHRS rotation from veh to nav: [[0.859888,-0.498960,-0.107851],[0.509663,0.851099,0.125992],[0.028927,-0.163307,0.986151]]6H 3?߿'(O? 4I6b];6CYFIByJHPbDVVDVo5yZӤ%^S=ٔ^:Q-^>9`Y`=b/FybEfQqEf>hQ 5j4j?Q 9n4jd)j6BYlyn|?Q In,@j7DIj;ij;j4yvBɮvNBtZ R b j "ړڒ’X@IɢM.n<)I M@>iI)Um^QQiU3]𓳽ɧ]̾]ieBd?eBqBqBu%HBuIBBqBqBqBu;Bu?AE) g,r?A2x>2G?2#5ٱ2E) :AHRS rotation from veh to nav: [[0.861282,-0.496670,-0.107296],[0.507357,0.852210,0.127776],[0.027976,-0.164489,0.985982]]2H? q߿@w DI2j];2CYNIByNH|E% E%E%%E!"E%:*E%*:VE% 4ZE!BE!a-2E!a-JE%i;a-:E%i;a5iMMb@Mb@Mb@IIII I9MX9v?~jtZd;OYM?yMDMj9yYy=}/Fy}EiλE>Q 54?Q 94d)6BY?Q E:y+>Q I,@?DIKi!)-sXIIiMS5U1ɧU U7 iU?]Qy ,ur?A62>6$?6Rݼٱ64Y* BAHRS rotation from veh to nav: [[0.862600,-0.494513,-0.106669],[0.505165,0.853262,0.129427],[0.027014,-0.165529,0.985835]]6Hj?@߿@NP*?M??|?0ſ?i62>I6R];4YJIByJH LLPRAbDVVDVX5y^C:<%^W=ٔ^%;Q-b>9`Y`=b/FybEfyܻEf>hQ 5n4j ?Q 9n4j )jz6BYlyr>Q Ir,@jGDIj;ij;j4yv٫Bɮv'BvEZ R b j "ړڒ’X@AɢM<)I MY>iI)MJTQQiUd7aeڳɧem |im?mE5 E5zE5.E1"E5:*E5 :VE5ـ4ZE1a=@a=@a=@a=@ԉԱ ,Ps?A2SK>25?2'ռٱ2*+ :AHRS rotation from veh to nav: [[0.863882,-0.492428,-0.105934],[0.503019,0.854314,0.130842],[0.026071,-0.166319,0.985727]]2H`?`߿}?V? o?>?Iſ?i2SK>I2];2CYRIByRHbD^VD^5y~p<%~F=ٔ;Q->9Y= /Fy E ƻE >Q 54*?Q 94 )q6BY!y%>Q I%,@ODI#;iQ;4y)ɮ-!B)ZIRIbQjQ"QQړQYڒY’YYe,X@颉ɢ&j<) r>i)N顑iZ:ɧ駥OUi?<I? ?IԹB!B!B%HB%IBB!B!B!B%Ԋ;B%eAEBBBBBC;4AII9Oe>bE:4jE<4rEi0E9 E9E=*E9"E9*E9VE=(N4ZE9BE=X;aM2E=Y;aMJE=v;aM:E=v;aU9 ,ds?A2'>2Y?2o˼ٱ2*+ :AHRS rotation from veh to nav: [[0.865158,-0.490405,-0.104902],[0.500883,0.855349,0.132266],[0.024864,-0.166975,0.985648]]2H_?b߿ ں@;? _??v?@n_ſl?i2'>I2~C^;0Y^IBy^HiEMb@Mb@Mb@AAAA A9E`"?A`"Mb`YE?yEYEAA A)AAYAbD]VD]75ym=%mC=ٔm/=;Q-u>9qYq=u/FyEǹE>!Q 5-4%>?Q 9-4%)%{6BY5i?Q E5:y5a>Q I5,@%WDI% ;i% ;%4y=ޫBɮEBAZaRabaja"iiړiiڒi’qqu`LY@颙ɢt<) >i)!I顡ii<NɧbY駵-i5?߭<I5? 5?IAIIO$>AqE]  E] {EY EY "E] C:*E] 5":VEY ZEY ae @ae @ae @ae @ii Ii ԙ ,S>6s?AN>N?NOٱN+ VAHRS rotation from veh to nav: [[0.866653,-0.488063,-0.103475],[0.498354,0.856668,0.133279],[0.023596,-0.167074,0.985662]]NH? n<߿@[}@?i?@G?@l)?bſ ?iN>IN[^;NCYbIBybHIfR=)f;bDnVDn5yvꑺ%vS=ٔvV;Q-v>9xYx=z/FyzEzpE~>Q 5 41O?Q 9 4)6BY y >Q I ,@^DII:i: 4yɮZ9R9b9j9"AAړAAڒA’IIM@Y@qɢ}<)y }i>iy)}L@D顁i_f>ɧ.駍Z i;@?<6?;I;@? ;@?IqAIIO>ԡBBBBBBBB;BuAE ֐CU G} kA - S<9- kAY5 -Ay >@? 0A ,Ps?A2+>2`?2ٱ2T+ :AHRS rotation from veh to nav: [[0.867985,-0.485998,-0.102022],[0.496090,0.857840,0.134181],[0.022307,-0.167079,0.985691]]2H? ߿?ms?,? ז?`bſȊ?i2+>I2h^;0YbIBybH=Monly read 0 of 1 data item for BIT error. Device response is::TS,00050300564748,35.0, +11.3, 0.0,1494.6RA, 0.00, 319.65, 265.24, 293.80, 284.28 aE@aE aE@aE aE@aE aE@aE bDUVDU5ym9;%uB=ٔuqH;Q-u>9yYy=/FyE˻E>Q 54ub?Q 94)6BQ A+:YQ E:y>Q I,@fDI4yBɮ%BZ R b j "  ړE EwE+E"E*E:VE [4ZEBE5;a%2E6;a%JEk;a%:Ek;a%ڒ’8Y@ɢy<) K>i)U*> i ֢@5@.ɧ5g5RȻi5R?5<1I5R? =R?I9A>A>AIIOE>) %=,is?A2˜>28?2ٱ2L, >AHRS rotation from veh to nav: [[0.869371,-0.483790,-0.100706],[0.493713,0.859019,0.135399],[0.021004,-0.167431,0.985660]]2H@?`h޿ǹ?@}?T?@?cnſ?i2˜>I2%N_;2CYFIByFHbDLVDLyVr=%ZW=ٔZla;Q-Z>9XY\=^/Fy^EbqEb>dQ 5f4fs?Q 9j4f\)f6BQ Aj :YhQ Eji:yj!>Q Ij,@fnDIf:ifmM?ff4yrBɮrBpZRbj"ړڒ’sPY@IɢMJ<)I U>iQ)u`8qqi}өB}*6ɧy駅`i8l?s<I8l? 8l?IQIIE EvE)E"E:*E:VEFA4ZEa@a@a@a@O$>yԩ ,σs?A2ϗ>2`?2ɢٱ2Z, :AHRS rotation from veh to nav: [[0.870306,-0.482387,-0.099347],[0.492110,0.859861,0.135895],[0.019870,-0.167160,0.985730]]2H`?n޿n`~?`?@e?X?|eſ?i2ϗ>I2_;2C@YJIByJ2HbDVVDV5y^;=%^I=ٔb6;Q-b>9`Y`=f/FyfEf앻Ef>hQ 5n4j6?Q 9n4j)j6BQ Ar9YpQ Er=:yr.>Q Ir,@juDIj;ij?j*4ytɮvBxZRbj"ړڒ’!%hY@IɢMϱ<)I MO>iQ)UO3QQiU۰DBBB%HBIBBBBBߊ;BqAE9ɧX7ɺi ?S<I ?  ?IԱ^A=oM<AAzAEjAE E~E*E"E:*E(:VE(N4ZEBE;a2E;aJE;a:E;aI9IIOe> ,Ps?A6ݸ>62?6a1ٱ6, BAHRS rotation from veh to nav: [[0.871375,-0.480757,-0.097873],[0.490271,0.860760,0.136847],[0.018455,-0.167230,0.985745]]6HL?޿8@`?W?4??gſ9?i6ݸ>I6_;6CYJIByJ,Hla%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%v?MbV-?Y%?y%%m=%A! !)%A!Y!bD=VD=5yMD8%UA=ٔewZ;Q-m>9yYy=}/FyEE>Q 54☗?Q 94o)6BQ AT:Y?Q E:y?Q I,@}DI;i_;!4yBɮBEZIRIbIjI"IIړQQڒQ’YY]\Y@ɢ<) >i),iFx9ɧBgEib ?t%<Ib ? b ?I^Avт; IQIaOm>=PExceeded connect timeout, disconnecting.AD- =D- 4=a E  E zE E "E *E  :VE ZE a @a @a @a @<,s?A2ʕ>2?2Rٱ2, :AHRS rotation from veh to nav: [[0.872281,-0.479356,-0.096666],[0.488697,0.861551,0.137497],[0.017373,-0.167176,0.985774]]2H ?ĭ޿`F? ӑ?? ʑ?@fſu?i2ʕ>I2)`;2CYnIBynNHbDzVDz5yd=%O=ٔ5;Q->9 Y = /Fy E E>Q 5%4橗?Q 9%4p)6BY!y%?Q I%,@DI ;iB;o(4Ay1ɮU BaZRbj"ړڒ’ɝY@ɢp<) >i)&iHC7ɧe<:if ?)<If ? f ?Ii^A}"IIOk>BBBJHBIBBBBBŊ;BVAEԱ $,`s?AF >Fx\?F%MٱFy+ VAHRS rotation from veh to nav: [[0.873006,-0.478258,-0.095549],[0.487434,0.862190,0.137976],[0.016393,-0.167028,0.985816]]FH@? ț޿u2??1?`sɐ?*aſ͋?iF >IF~_;FCYjIByjXHEE EEEAEA"EE:*EEE7:VEAZEABEEz;aM2EE{;aMJEEU;aU:EEU;aUԙi%Mb@Mb@Mb@!!!! !9%~jt?A`"?Q?Y%?y%Y=%u=!! % A)!!Y%pAbD=VD=d5yE<%M7=ٔM;Q-M>9IYQ=U/FyUE]VE]>aQ 5e4e?Q 9m4eS)e6BYm?Q Em:ym?Q Im,@eDIe:ie:e:04yBɮ BZRbj"ړڒ’   Y@qɢ}Ӳ<)y }>iy)}<顁i1K4ɧ<駍:i ?<I ?  ?I@@@@A}>A}>IIO> N, 9yY=/FyEE>Q 54̗?Q 94)7BYyQ I,@DId*;i+;64yޫBɮ BvEZRbj"ړڒ’Y@ɢZ<) %?i!)%!!i%IM-U1ɧ- <-=:i- ?5<1I5 ? 5 ?I9IIOu=D)zD-AAE5 E5zE5(E1"E5:*E5 :VE5c44ZE1a=@a=@a=@a=@)Qy 9,$t?A2<>2?2lٱ2$* :AHRS rotation from veh to nav: [[0.873801,-0.477278,-0.093155],[0.486069,0.862930,0.138161],[0.014445,-0.166005,0.986019]]2H`-?`޿@ط@?`?A?`@??ſx?i2<>I2(`;2CA9A=@AB9B9B=pHB=IBB9B9B9B=;B=RAEIYJByHbDVDR5y&)=%6=ٔ;Q->9Y=/FyEfE>Q 54ߗ?Q 94)#7BYy?Q I,@DI:i:>4yBɮ BwEZ!R!b!j!"ړڒ’Y@YɢeD<)i mh?iq)}y顁ijO-ɧ =駭 :i" ?=Y<I" ? =" ?IIԁAhAzAgAE= E=}E=)E9"E=I:*E=k&:VE=FA4ZE9BE=ԡ `,t?A:'>:?:FXٱ:l( BAHRS rotation from veh to nav: [[0.873529,-0.478179,-0.091056],[0.486593,0.862867,0.136705],[0.013200,-0.163723,0.986418]]:H`?~޿@xO@V$??@??`Ŀ?i:'>I:U?`;:CHHiHIHHIHiL LL)LR@C Rr@PPPPTIT)TiT)TITTX XXXXiX\i\^mA)\ \I`Y`Yz%JByzHi}Mb@Mb@Mb@yyyy y9}Cl?A`"?kt?Y};?y}=} 0=yy }A)yyY}AbDVD5y.=%`=ٔ_;Q->9Y=/Fy½E:E>Q 54?Q 94)/7BY!?Q E:y/?Q I,@DI:i: E4yɮ BZqRqbqjq"yyړyyڒy’`Z@Աɢ;=) c ?i)}p i+QH+ɧp<:i ?-< I  ?  ?I1ߕ=ߕ<AyIIO=> DE =DE =EM  EM |EI EI "EM s:*EM P$:VEI ZEI aU @aU @aU @aU @9 ,l8t?A2^!>2;g?2'Kٱ2~& :AHRS rotation from veh to nav: [[0.872976,-0.479459,-0.089620],[0.487605,0.862507,0.135359],[0.012399,-0.161864,0.986735]]2Hk?@t޿@]4? ? pS?@d?@ĿU?i2^!>I2`;2CYybD5VD5U5ye:%eN=ٔml;Q-m>9iYi=u/FyuĽEu>;Eu>yQ 54}?Q 94})}=7BYy/?Q I,@}DI}:i}:}K4yBɮ BZRbj"ړڒ’`PZ@ɢT<)  ?i)isS*ɧ;sL9i +{ ? < I +{ ? +{ ?IA!I1IAOU>9B=W>B9B=HB='JBB9B9B9B=Ȋ;B=XAEBBBBBC3i t,įRt?A Z>Z?Z״*ٱZ?$ fAHRS rotation from veh to nav: [[0.872229,-0.481305,-0.086956],[0.488986,0.861926,0.134075],[0.010419,-0.159465,0.987149]]ZHM? ޿`BK? ?`)?V? WiĿ?iZ>IZga;ZCbEG4jE#E4rET/E EE'E"E:*E,:VE'4ZEBEX;a2EY;aJE;;a:E;;aY7JByHi-Mb@Mb@Mb@)))) )9-NbX9?~jt?:v?Y-%?y->-T<-gB-GA - A)-A)Y-AbDEVDE5yU=%U<=ٔ]-;Q-]>9YYY=e/FyeƽEevl;Ee>iQ 5u4m?Q 9u4m)m:7BY},*?Q E}:y}=?Q I},@mDImu;im<;mS4yBɮ BZRbj"))ړ))ڒ1’115,<)a e ?iai)eG顉i=Vw.ɧ駕úi ? <I ?  ?IA>A>IIOF>ԑ ,lt?ALZܖ>ZD?ZٱZ_" fAHRS rotation from veh to nav: [[0.871350,-0.483102,-0.085800],[0.490566,0.861209,0.132905],[0.009685,-0.157897,0.987408]]ZH?"޿`ne??`?Ճ?5Ŀؘ?iZܖ>IZxa;ZCYKJByHIp<)p;bDVD5y=%<=%===ٔ=5:Q-E>9AYA=E/FyMȽEUy;EU>YQ 5e4]"?Q 9e4]n)]87BYiymc>?Q Im,@]DI] ;i] ;]([4yqɮ} ByZRbj"ړڒ’`VZ@ɢg=) ?i)i`Xp5ɧX'Ri? <I? ?IE- E-E)E)"E-:*E-*:VE)ZE)a5@a5@a5@a5@IaIyOZ>! ф!,^t?AJ>Je?J ٱJu! VAHRS rotation from veh to nav: [[0.870701,-0.484469,-0.084676],[0.491737,0.860594,0.132559],[0.008651,-0.157058,0.987552]]JH`?߿W`x??`? ? wĿ?iJ>IJea;JC X)XZ^]F\\b~nAibI``I`i` `d)dd fvnAfdhhhIjj)jqFih)lBpBpBrHBrEJBBpBpBpBrNJ;BrWAEI~nnA~`|| $vAi  Y YAJByHbD-VD-5y5%=r=ٔMbG;Q-U?9iYq=/FyʽE};GE?SkA ;9SkAY,AQ 5 4W1?Q 947)67BYy>?Q I,@ǠDIɧb駍Ui<? <I<? <?I1IIQO9>E EE,E"E:*ET:VEg4ZEBEz;a-2E{;a-JEϨ;a-:EШ;a-Qԁ ',9t?AB^>B ?B!1ٱB JAHRS rotation from veh to nav: [[0.869913,-0.486037,-0.083782],[0.493144,0.859836,0.132256],[0.007757,-0.156368,0.987668]]BHT?`:߿@r૏?ƃ??@? Ŀ?iB^>IB9a;@YYmZJBymHiMb@Mb@Mb@ 9w/?S?/$Y&?y/>A A)AYpAbD VD 5yh=%==ٔ;Q-%>9!Y!=%/Fy%̽E-y;E->1Q 5=45IB?Q 9=45&)5$7BY=,?Q EE:yEC?Q IE,@5РDI5u ;i5<:5h4yMޫBɮMb BMnEZiRibiji"qqړqyڒy’yy}`5Z@颩ɢ2=) ?i)|̻顱i\Kɧ]駽ֻiH? { <IH? H?IAyzA}hAIIO>ԉԱE-  E- |E- 'E) "E- :*E- P$:VE- '4ZE) a5 @a5 @a5 @a5 @ i! 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EAHRS rotation from veh to nav: [[0.870077,-0.487443,-0.073256],[0.492891,0.858850,0.139408],[-0.005038,-0.157403,0.987522]]-H?B2߿@?{?? @t%ĿǙ?i-7>I-];)YU>JByUHI]<)]9"?Y"?=/FyEƺE>Q 54i?Q 94y)5BY??Q E:y?Q I,@DI3:i:#4yЫBɮa B^EZRbj"ړڒ’\@ɢ #=)  ?i ) g;i|Rɧ%id ?i <Id ? d ?I!A9IIIYOe5>) #,1v?A2:+>2)?2zV;ٱ2i! :AHRS rotation from veh to nav: [[0.870121,-0.487445,-0.072711],[0.492808,0.858927,0.139226],[-0.005412,-0.156976,0.987588]]2H`?J2߿,*?@U|?`,? *v`Ŀ Q?i2:+>I22D];2CYBRJByFHbDNVDNv5ync=%ri=ٔr:Q-r>9tYt=v/FyvEvEv>x|Q 54zș?Q 9 4z`v)z5BY y ?Q I ,@zDIzE;izF;zB 4yɮM BGS5B*** querying acoustic contact ***:1B1Z9R9b9jA"AAړAAڒI’IIMc\@qɢ}A=)}yڼ }?iy)}];顁iIƼɧ#駍/ih?Q <Ih? h?IE} E}E}'Ey"E}U:*E}*:VE}'4ZEya@a@a@a@A II!)O5 >2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Qԁ - \G9 Q Aa Ae AABe Q>Be =CBe HBe ;JBBa Be ;DBa Be _;Be @E d59 Y &A= *DAT read: user:143> E BDAT read: Tx time:21:08:43.2964 E $Ping request sent.E 2n?2);ٱ2;! :AHRS rotation from veh to nav: [[0.869968,-0.487701,-0.072820],[0.493077,0.858730,0.139489],[-0.005496,-0.157256,0.987543]]2H?~6߿L?`z??]v Ŀ?i2S>I29dYd=f/FyfEjJ:Ej>lQ 5r4nؙ?Q 9r4nr)n5BYpyr?Q Iv,@nDIn;in];nA4yzիBɮzS BxYZ!R)b)j)"))ړ11ڒY’YYe\@颹ɢ:1=) ?i)ot;i*d?϶ɧ!ui}? <I}? }?IԁA].AIiIyO9>E E|E(E"E:*EP$:VEc44ZEBE;a2E;aJE};a:E};achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252937Թ 5,&w?A2j>2 ?2;ٱ2X# :AHRS rotation from veh to nav: [[0.869880,-0.487788,-0.073295],[0.493229,0.858390,0.141038],[-0.005881,-0.158837,0.987287]]2H@?7߿wò?w?` ?@mx`TĿۗ?i2j>I2I];2CYRVJByP TTi-Mb@Mb@Mb@)))) )9-`"?I +?Q?Y-?y-9=-<-A) -A)-A)Y-AbDEVDE5yMⅺ%UB=ٔUn:Q-U>Թ9 ?Y ?=/FyE9E>Q 54ꙉ?Q 94n)5BY?Q E:yK+?Q I,@DI;i* ;4yBɮ) BTEZ!R!b!j!"!!ړ!)ڒ)’))- ]@Yɢ]:==)Y ]?ia)eEt;aaiemmලɧm-m! im"?mt A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503338AIIO%>E  E E E "E :*E *:VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885A b,>{@w?A6>6 ?6U;ٱ6" BAHRS rotation from veh to nav: [[0.869723,-0.488144,-0.072790],[0.493501,0.858268,0.140829],[-0.006272,-0.158404,0.987354]]6H`?@=߿@V?@v? ?yFĿ`h?i6>I61];6CYJTJByJHbDVVDV5y^ܻ%^T=ٔb:Q-b>9`Yd=f/FyfEfe_:Ef>hQ 5n4j?Q 9n4jj)j5BYpyr_+?Q Ir,@jDIj;ijU;j]4yvBɮv BtZ Rbj"ړڒ’%`%]@IɢMƫC=)I M?iI)Uq;QQiUn]ɧ]8]8i]?ef BBHBOJBB =BBB;B AEAX checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078IIO5>qԡ L,iZw?ADD<E* E*E*,E("E*Ʊ:*E*,:VE*g4ZE(BE*I;aB2E*J;aBJE*;;aF:E*;;aF]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258951 Ř>9?p;ٱ@a" AHRS rotation from veh to nav: [[0.869535,-0.488579,-0.072113],[0.493825,0.858112,0.140645],[-0.006835,-0.157907,0.987430]]H`:?`D߿v`Қ?u?@?{ I6Ŀ?i Ř>I ];CYVJByHiimMb@Mb@Mb@iiii i9ml?1Zd?I +?Ym?ym"=m949Y=/FyEhM:E> Q 54 H ?Q 94 f) 5BY?Q E:y+2?Q I,@ DI :i : '4y!ɮ% B!ZARAbIjI"IIړIIڒQ’QQU'D]@yɢb1=) ?i)4;顉iP$ ɧL駕S#im? <Im? m?I]&ּԡIIOe> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511294 *q,/tw?A2>2hT?2`;ٱ2U! :AHRS rotation from veh to nav: [[0.869326,-0.489026,-0.071598],[0.494186,0.857935,0.140456],[-0.007261,-0.157485,0.987495]]2H?2L߿ 8T@? 4t?w?:}t(Ŀ?i2>I2S\;2CYbeJBybHIf4>)f?bDjVDj>5yr.=%rt=ٔvk:Q-v?9tYt=z/FyzEz:Ez?|Q 54~S?Q 94~b)~5BY y F2?Q I ,@~DI~N:i~:~-4yBɮ BUEZ1R1b9j9"99ړ9AڒA’AAEY]@ɢ-Q=) Q?i);i"ɧ%[%*/i%P?% ) B K>B B HB dJBB =B B B ;B AE% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848Y, w?A(VGE>V/y?V;ٱV! bAHRS rotation from veh to nav: [[0.869045,-0.489579,-0.071224],[0.494671,0.857612,0.140718],[-0.007810,-0.157523,0.987484]]VH`7?DU߿;`? q? ?`^)Ŀy?iVGE>IV#];VCYjYJByjHbDvVDvP5y%I=ٔ :Q- >9Y=/FyE%:E%>)Q 5=4-H(?Q 9E4-|^)-5BYAyEk2?Q IE,@-DI-B;i-_3;-44yQɮ] BYZRbj"ړڒ’ Bt]@AɢEMpA=)A Ep?iA)ME;IIiMU#8ɧUm]hc>i]-?], 2?2s <ٱ2! :AHRS rotation from veh to nav: [[0.868691,-0.490294,-0.070630],[0.495283,0.857268,0.140661],[-0.008416,-0.157173,0.987535]]2H`P?`߿`?n?@-?<;Ŀ?i2>I2J];2CYN[JByRH i]Mb@Mb@Mb@YYYY Y9]Q?zG?{GzY]?y] =]#]gBY Y)YYY]AbDuVDu5yG;%B=ٔ:Q->9Y=/Fy E :E>Q 54g8?Q 94RZ)5BY,?Q E:y0?Q I-@DI:i : <4yBɮ BZRbj"ړڒ’]@ɢE\G=) ?i) ;i%"Rɧ%~%Ki-?-\ <)I-? -?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967IIO =9Eu  Eu Eu -Eq "Eu %:*Eu E7:VEu t4ZEq a} @a} @a} @a} @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770730ԉ m,yw?A2 >2?2r<ٱ2.# :AHRS rotation from veh to nav: [[0.868593,-0.490522,-0.070250],[0.495430,0.856861,0.142613],[-0.009761,-0.158677,0.987282]]2H@?d߿`!? gk?&A?yOĿ@ї?i2 >I2/];2CYNcJByNH PPbDZVDZ5yrw<%rU=ٔvwe;Q-v>9tYt=v/Fyz Ezk9Ez>|Q 54~3G?Q 94~V)~5BY y 0?Q I -@~ơDI~`:i~:~B4yɮ BqZRbj"ړڒ’?]@ ɢ %J=)) -?i))5 ;11i5=Qnɧ=(=AXi=?= IIO=ԡBJ>B>?Wi6<ٱB$ AHRS rotation from veh to nav: [[0.868526,-0.490732,-0.069605],[0.495518,0.856548,0.144179],[-0.011133,-0.159714,0.987101]]H`?%h߿ ѱ?h?vt? ͆qĿS?idǙ>IU];CYWJByHiMb@Mb@Mb@ 9Cl?MbX?QYd?y=A1A )YAbDVD>5y˼%.=ٔ?;Q->9Y=/FyEt9E>Q 540Z?Q 94Q)5BY?Q E:y+?Q I-@ϡDIQ:i:J4y Bɮ BZRbj"ړڒ’`D]@ɢ==) ?i)M<iGӎ%ɧ鍾ci u? z} < I u? -u?I1A}؟AIIO_>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530644A ,yw?A6">6?6VL<ٱ6% BAHRS rotation from veh to nav: [[0.868237,-0.491303,-0.069179],[0.495992,0.855980,0.145912],[-0.012472,-0.160999,0.986876]]6H?q߿W?`/d?A?@`Ŀ|?i6">I6R];6CYJYJByJHbDVVDV;5yZ;%^v=ٔ^;Q-^?9b"?Yb"?=b/FybEfy:Ef?hQ 5j4jg?Q 9n4jvN)j5BYlyn+?Q In-@j֡DIja;ij;jP4yvBɮv BvLEZ R b j "ړڒ’]@AɢEZ`=)I MT?iI)MgUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778872aԉB H>B B HB ZJBB =B B B };B AEBm=CBm=CBiBmʒ =Bmʒ =Cm(5Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030842,Tx?ARM>R?R1Z<ٱR% ^AHRS rotation from veh to nav: [[0.867993,-0.491806,-0.068658],[0.496397,0.855632,0.146574],[-0.013340,-0.161307,0.986814]]RH ?`y߿?Va??QĿ@?iRM>IRp];RCYEJJByEHIM=)M<bD]VD]5ym %m?=ٔmJ;Q-m>9qYq=u/FyuE}:E}>Q 54x?Q 94-J)5BYy+?Q I-@ޡDI`:i:;X4yBɮ BZRbj"ړڒ’]@ɢ֒D=) ?i)sg<i ɷɧ  ti v'? y < I v'? v'?IA!zA%hAԑA!I1IAOM>bEc44jEŏB4rE30EU EUEU)EQ"EU:*EU.:VEUFA4ZEQBEU&;a2EU';aJEU ;a:EU ;aiaIa}BDAT read: Rx Time:21:08:47.0087 TRx dataTimestamp_ set to:1761512928.485000checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289614 ,/)x?A.H>.?.Nk<ٱ.o& :AHRS rotation from veh to nav: [[0.868000,-0.491866,-0.068142],[0.496356,0.855460,0.147712],[-0.014362,-0.162036,0.986680]].H?z߿q K? _?`7?@i`Ŀ?i.H>I.];.CYRAJByRHi]Mb@Mb@Mb@YYYY Y9]\(\?ʡE?MbY]?y]=]@]gB]GA Y)]AYY]AbDuVDu5y%I=ٔr$;Q->9Y=/FyEǸE>Q 54Ή?Q 94RF)i5BY?Q E:y!?Q I-@DI@;ivA;\_4yBɮ BZRbj"ړڒ’ `8^@AɢEyF=)I Mw?iI)M EQ  EQ EU -EQ "EQ *EQ VEU t4ZEQ a] @a] @a] @a] @a  DAT read: 21:08:47.0087 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 432, 0.10,-2.571, 1.876,-2.733,-3.051, PHS= 0.582,-1.311, 0.274, RAW= 141.3, 5.2, CAL= 141.0, 5.9, ROT= 9.0, -5.9  Ygot valid direction response: 21:08:47.0087 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 432, 0.10,-2.571, 1.876,-2.733,-3.051, PHS= 0.582,-1.311, 0.274, RAW= 141.3, 5.2, CAL= 141.0, 5.9, ROT= 9.0, -5.9  PDAT read: Bearing 184.4, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 184.4, 7.2 (Local)  DAT read: Range 11 to 50 : 981.1 m (Round-trip 1308.2 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.982456,0.155606,0.102793] Fpublishing direction and range infoya e GX`YHp??zBP?Ye FuDa a a a a )e UIe ?ie Χe I>e h@e ޹=e @ e B=)e | >Ie Bҽa a e \Z-±?d!?ntO? e 0(>)e ݽIe | >ie Bҽa a ,Cx?A2 >2g?2y<ٱ26&' :AHRS rotation from veh to nav: [[0.868221,-0.491560,-0.067543],[0.495944,0.855550,0.148570],[-0.015244,-0.162489,0.986593]]2Hv?`u߿@J@?@`? U? n8oĿ*?i2 >I2];2C@YN-JByNHbDVVDV'5yV%S=ٔY;Q->9  ?Y  ?= /Fy E E>Q 5=4ə?Q 9E4B)N5BYAyE!?Q IE-@DI:i$:f4yMBɮU BQJRE>x?ABҽ—ۧ&L~@Vg@VBQBUHBUEJBBQBQBQBUw;BU@EA؟AIIO =< ,N\x?AE* E*~E*)E("E*g:*E*(:VE*FA4ZE(BE*;a>2E*;aBJE*;aF:E*;aJp ԙ> ? _8<ٱ C' AHRS rotation from veh to nav: [[0.868416,-0.491297,-0.066943],[0.495574,0.855615,0.149434],[-0.016139,-0.162946,0.986503]] H@?gq߿%#z?1a?` ?܆iĿn?i ԙ>I ^; CY5!JBy5H 9999iMb@Mb@Mb@ 9X9v?&1?)\(Y?yP=Ga1A A)YpAbDVD5y%[ɼ%%,=ٔM:Q-M>9U"?YU"?=U/FyUEU eEU>YQ 5e4]?Q 9}4]`>)]*5BY}?Q E}:y?Q I-@]DI]c;i]1;]{n4yɮ BZRbj"ړڒ’?IɢMǐ7=)Q UH?iQ)Ug-1a F,vx?A2JÙ>20?2<ٱ2' :AHRS rotation from veh to nav: [[0.868467,-0.491326,-0.066059],[0.495448,0.855577,0.150064],[-0.017212,-0.163055,0.986467]]2H{?`q߿8鰿@m?``?`O5? Ŀ#?i2JÙ>I2*3_;2CYF*JByFHbDNVDN"5yVD<%V}=ٔZ\;Q-Z ?9XYX=Z/FyZE^ܹE^ ?`Q 5f4b[?Q 9f4b;)b5BYhyj?Q Ij-@bDIb:ib :b t4ynBɮllZ|Rbj"ړ ڒ ’   `?99ɢE]=)A E ?iA)EN2BI BM HBM 1JBBI BI BI BM {;BM @EԹ #,Dx?AJ>J?Jͷ<ٱJk' VAHRS rotation from veh to nav: [[0.868536,-0.491326,-0.065149],[0.495289,0.855567,0.150643],[-0.018275,-0.163106,0.986439]]JH ?q߿Ѳ?`?@AH?``Ŀ ?iJ>IJ_;JCY^ JBy^HbDfVDf5yn(%nG=ٔr);Q-r>9r ?Yr ?=r/FyvEvܹEv>xQ 5~4z"Κ?Q 9~4z7)z4BYy?Q I-@zDIz;iz;z7{4y ɮ  B Z)R)b)j1"11ړ19ڒ9’99= s?aɢm?=)i mj?ii)m9E] E]E]+EY"E]:*E].:VE] [4ZEYBE];am2E];amJE] ;am:E] ;am : *,xx?A2vy>2G?2wQ<ٱ2M' :AHRS rotation from veh to nav: [[0.868710,-0.491157,-0.064087],[0.494939,0.855664,0.151243],[-0.019447,-0.163106,0.986417]]2H y? o߿ h@?a?`[?铿Ŀ@?i2vy>I2X`;2CY^JBy^|HIb=)b=i]Mb@Mb@Mb@YYYY Y9]-?9"?Y"?=/FyEIWE%>qQ 5}4u㚉?Q 9}4u3)u4BY}?Q E:y?Q I-@uDIu:iu:u4y Bɮ BMEZR!b!j!"!!ړڒ’ b?!Yɢ].=)Y ]?i)MB<iɧYPi?b <I? ?IA iAzA jAQAiIqIO>Eu  Eu Eu &Eq "Eu :*Eu E7:VEu 4ZEq a} @a} @a} @a} @y 1,~Rx?A2>2qd?2ϩ<ٱ2.' :AHRS rotation from veh to nav: [[0.869041,-0.490717,-0.062960],[0.494305,0.855887,0.152050],[-0.020727,-0.163259,0.986365]]2H/?@g߿?mc?bv?9Ŀ@N?i2>I2J`;2CYFJByFzHbDNVDN5yVO,%Vy=ٔZL;Q-Z?9XYX=Z/FyZ E^E^ ?`Q 5f4bl?Q 9f4b0)b4BYhyj?Q Ij-@bDIbK:ib:b84ynBɮn BlZ|Rbj"ړ ڒ ’    M@1ɢ=rOc=)9 =?i9)EGBBHBJBBBBBm;B@EO >ԁԩ 17,-x?AD%=D%=E" E"E")E "E"Ʊ:*E"0:VE"FA4ZE BE"H;a62E"I;a6JE"߉;a>:E"߉;a>E>EU?E]<ٱE;' eAHRS rotation from veh to nav: [[0.869134,-0.490718,-0.061662],[0.494087,0.855948,0.152419],[-0.022016,-0.162939,0.986391]]EH@?g߿@"?@c?x? B .Ŀ?iE>IE a;ECY}IBy}ZHԱiMb@Mb@Mb@ 9V-?I +?{GzY?y9<# A) AYbDVD5y-V%-(=ٔ5-;Q-5>91Y1==/Fy="E=E=>AQ 5M4E?Q 9M4E,)E4BYU\?Q EU:yU ?Q IU-@EDIE ;iEX ;E4y]Bɮ] BeCEZRbj"ړڒ’1@1ɢ=9/=)9 =>i9)=O 9 (\=,- x?A2s>2F+?2<ٱ2Z' :AHRS rotation from veh to nav: [[0.869425,-0.490329,-0.060646],[0.493520,0.856137,0.153193],[-0.023194,-0.163119,0.986334]]2H`T?a߿ Օ?xe?@ћ?& Ŀ ?i2s>I2.Wb;2CYFIByFAH HHHJAbDRVDR5yZQ|%Z}=ٔZo;Q-Z ?9\Y\=^/Fy^$EbgEb ?dQ 5f4f)?Q 9j4f2*)f4BYhyj ?Q Ij-@f%DIfW:if:fY4y]Bɮ]' BeDEZRbj"ړڒ’֐@ɢVG=) >i)S<izøɧMip$iI?\C <II? I?IA>A>IIO=E5 E5E5(E1"E5:*E5*:VE5c44ZE1a=@aE@aE@aE@9i B F>B B WHB IBB B B B U;B @ECD,y?A02!>2O?2!<ٱ2% :AHRS rotation from veh to nav: [[0.869904,-0.489766,-0.058273],[0.492600,0.856801,0.152435],[-0.024729,-0.161309,0.986594]]2HA?`SX߿@խ†?j??R`ɥĿ-?i2!>I2c;2CY^IByb=HbDjVDj5yr %rG=ٔr8u;Q-v>9tYt=v/Fyv&Ez%Ez>|Q 54~L'?Q 94~&)~u4BYyI ?Q I -@~-DI~a;i~:~4yɮ* BZ1R1b1j1"19ړڒ’f @ ɢ 58=)  >i )SZ<i5 =O׸ɧ=7= i=?=c1 <9IE? E?IAIIO=ԉD9zD=?AEE EEEE+EA"EE%:*EE0:VEE [4ZEABEE;aU2EE;aUJEAaU:EAaUԹ ZoJ,v+y?A6>6?6<ٱ6Gq$ BAHRS rotation from veh to nav: [[0.870252,-0.489396,-0.056143],[0.491907,0.857287,0.151941],[-0.026228,-0.159844,0.986794]]6H?DR߿@Ӿi{?`n?@r?ۚuĿГ?i6>I6 c;6C\YbIByb9AYA=E/FyE(EMOEM>YQ 5e4]:?Q 9m4]#)]c4BYm?Q Em:ym ?Q Iu-@]6DI]T;i]N;]^4yBɮ5 BZRbj"ړڒ’V@ɢ85=) K>i)t`<i ⓘY鸽ɧ,#Bik? <Ik? k?II)I9OM>EM  EM xEM (EI "EM g:*EM :VEM c44ZEI aU @a] @a] @a] @I UQ,Ey?A6J>60?6c<ٱ6<# BAHRS rotation from veh to nav: [[0.870284,-0.489533,-0.054424],[0.491779,0.857426,0.151573],[-0.027536,-0.158676,0.986947]]6H^? T߿lݫ Oy?p?f?b2OĿ?i6J>I6_3c;6CYJIByJDHIL)N=bDVVDV[5yZ<%^g=ٔ^q;Q-^>9`Y`=b/Fyb*EfEf>hQ 5j4j(J?Q 9n4j )jU4BYlyn ?Q In-@jiI)UeBB1HBIBBBBBK;B@EBU-W|?->'<ٱ-u#y AHRS rotation from veh to nav: [[0.870612,-0.489074,-0.053311],[0.491126,0.857650,0.152422],[-0.028823,-0.158883,0.986877]]-H ?`L߿Kn?q??ۃJVĿ ~?i-K>I-*Zc;-CYUIByU1Hi=Mb@Mb@Mb@9999 99=~jt?Q?~jth?Y=?y=\==D;=A9 9)= A9Y=AbDUVDUo5ye%e&=ٔmN+;Q-m>9iYq=u/Fyu-EuXºEu>yQ 54}g_?Q 94})}K4BY?Q E:y:?Q I-@}FDI} ;i}] ;}%4y BɮH BZRbj"ړڒ’<@ɢ^/=) >i)<.m<iЃɧ лi L1?  < I L1? L1?IԡAQIaIyO[> /],rPyy?A2>2T?2<ٱ2,# :AHRS rotation from veh to nav: [[0.870880,-0.488713,-0.052235],[0.490579,0.857844,0.153087],[-0.030006,-0.158946,0.986831]]2H@??G߿e?@us?Y? Թ VXĿ ?i2>I2%c;2CY^IByb=HbDjVDj5yr<%r=ٔrq;Q-r ?9tYt=v/Fyv.EvEz ?xQ 54z=m?Q 94z)zD4BYy?Q I-@zLDIz ;izj;z4yɮ? 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4Ŵ`i?m?2`?@pſ؏?i2>I2.Ed;0YFDByF*HbDNVDN6yV%Va=ٔV9|Q-V>9XYX=Z0FyZE^E^>`Q 5f4bɼ?Q 9f4b%)b-BYdyf?Q Ij/@bMSZyE` ?E1;ٱE) eAHRS rotation from veh to nav: [[0.858677,-0.505856,-0.082357],[0.512509,0.846656,0.143202],[-0.002711,-0.165173,0.986261]]EHHz?/[@zf?@?@qT?@Q6f d$ſr?iEգ>IEߵd;AY}DBy}5H iuMb@Mb@Mb@qqqq q9u> ףp=?:v?L7A`?Yu?yuT9Y=0FyE2yE>Q 54ϡ?Q 94[)-BY3?Q E:y?Q I/@EDI:i:mi4yɮ0BZRbj"ړڒ’ F@!ɢ->D)) -qDi))-l:)1i5d.="ɧ=J>=롂E} E}E}&Ey"E}:*E}.:VE}4ZEya@a@a@a@BY>BB0HBDBB =BBB;;B@EB?CBBBBCƼ4ԉԹ ;,ۈb?A2ޣ>2 ?2SQ:ٱ2* :AHRS rotation from veh to nav: [[0.858643,-0.505699,-0.083663],[0.512572,0.846732,0.142533],[-0.001238,-0.165268,0.986248]]2Hz?.j f?l?>?*JT'ſW?i2ޣ>I2d;2CYvDByv:HbDVD6y H<%h=ٔ؈Q->9Y=0FyE%R9E%>!Q 5-4%ݡ?Q 954%)%.BY1y5?Q I5/@%KDI%|:i%:%o4yEBɮE5BEEZaRabaja"aiړiiڒi’iqu"MF@ԙ颡ɢ3c) VCi)X:顩i>赽ɧ>駵$D =D <bEjErEE  E xE )E "E s:*E :VE FA4ZE BE ;a 2E ;a JE Xo;a :E Yo;a  e,b|?A2-ߣ>2$ ?2Tٱ2`) :AHRS rotation from veh to nav: [[0.858643,-0.505523,-0.084727],[0.512574,0.846897,0.141541],[0.000203,-0.164962,0.986300]]2H@z?>- g???!*?yſď?i2-ߣ>I26Me;2CYFEByFRHRnManaging dock network, ignoring radio surface power offbDNVDN6yZ B=%ZP=ٔZpQ-^>9\Y`=b0FybEbғ6Eb>dQ 5j4f?Q 9j4fR)f.BYlyn?Q In/@fSDIf#;ifa;frv4ypɮr"BtZ R b j "  ړ ڒ’[F@ɢP) >i)8$:iЫõɧ->2$)Q]GukA;9kAY,Ay M,K>?AE& E&yE&(E$"E&C:*E&:VE&c44ZE$a*@a*@a*@a*@>(>> ?>Nۺٱ>7) FAHRS rotation from veh to nav: [[0.858354,-0.505830,-0.085813],[0.513055,0.846803,0.140354],[0.001671,-0.164500,0.986376]]>Hw?/@j? ? ?a[?Uſc?i>(>I>"e;<BR<AR<BVX>BV>CBTBTBTBTBTBV;BV@EYbDByb?HIf<)fXQ->9Y=0FyES:E> Q 54 ?Q 94 L) .BY=?Q E:y ?Q I/@ [DI ;i '; 7~4y=Bɮ=B=߲EQZyRybyjy"yړڒ’`$F@ɢO) tBi)P $iLɧѮ>ۋԩ w,?A6酤>6 ?6Fٱ6֡( BAHRS rotation from veh to nav: [[0.857987,-0.506290,-0.086774],[0.513663,0.846638,0.139120],[0.003031,-0.163936,0.986466]]6H@t?36o?@??h?Ŀ!?i6酤>I6e;6CYJEByJRHbDVVDVj6y^#=%^W=ٔ^uQ-^>9`Y`=b0FybEf;Ef>hQ 5n4j0?Q 9n4j)j%.BYlyn ?Q Ir/@jbDIjU;ij;j4ytɮvBtZ R b j "ړڒ’F@AɢEe)I M>iI)MIIiM 񻩧U%}ɧUu>] 9 c,ʃ?Ae>e2 ?eJƐٱe҉( }AHRS rotation from veh to nav: [[0.857783,-0.506431,-0.087955],[0.513993,0.846571,0.138306],[0.004418,-0.163845,0.986476]]eHr?4<r?@? ?`r?Ŀ6?ie>Ied;eCYEBybHiMb@Mb@Mb@ 9$C?/$?{Gz?Y?y=#=6B )MAYAbD)VD)yf<%/=ٔ)CQ->9 ?Y ?=0FyEbZ:E>Q 54 ?Q 94F)3.BY?Q E:y/?Q I/@kDIs:iE:4yBɮBEZRbj"ړڒ’`u"G@ !ɢ%c|G)) -_;i))-~))i5f뻩5Uɧ=_>=L1E] E]}E]+EY"E]:*E]k&:VE] [4ZEYae@ae@ae@ae@BB?CBIHBDBB =BBB;B@Ea ,ャ?A06NѤ>63? ?6ٱ6 ( >AHRS rotation from veh to nav: [[0.857680,-0.506395,-0.089152],[0.514150,0.846600,0.137540],[0.005827,-0.163803,0.986476]]6Hr?@d4Ҷ@s?Y?@?w?`}Ŀ5?i6NѤ>I6d;6CY^EBybnH ddbDjVDj6yr<%rk=ٔvQ-v?9v"?Yv"?=v0FyvEzI :Ez?|Q 5]4~k.?Q 9]4~)~=.BYaye0?Q Ie/@~rDI~;i~;~Ȓ4yiɮmBiZRbj"ړڒ’rPG@ɢa) 8i)^i绩8ɧ>}ԹDm %=Dm %=Eu  Eu |Eq Eq "Eu C:*Eu P$:VEq ZEq BEu 5;a} 2Eu 7;a} JEu };a :Eu };a l,!?A6>6W_ ?6ٱ6 Z( >AHRS rotation from veh to nav: [[0.857420,-0.506621,-0.090366],[0.514566,0.846493,0.136646],[0.007267,-0.163662,0.986490]]6Ho?=69" Sw?w? }? }?`ĿR?i6>I6E_d;4YF)EByF~HbDRVDR 6yZ =%ZM=ٔZ7mQ-Z>\9`Y`=b0FybEb@:Ef>dQ 5j4f5>?Q 9n4f)fI.BYlyn!0?Q In/@fyDIf;if;f4yvBɮvBtZ R b j "  ړڒ’G@AɢEAX)I M5iI)MIIiMp⻩UɧU>/qA ,?AE EwE'E"E:*E:VE'4ZEa@a@a@a@A A B$B&>CB&nHB&EBB& =B$B$B& ;B&@Ev>vP ?v~ٱvk( AHRS rotation from veh to nav: [[0.856883,-0.507239,-0.091978],[0.515436,0.846055,0.136077],[0.008795,-0.164011,0.986419]]vH@k?L;`勷r~??@j? ?@SĿ ?iv>Iv'd;vCY0EByHiMb@Mb@Mb@ 9)\(?Cl?L7A`?YG!?y;=+=A A)dAYAbDVD6y<%:=ٔ dQ->9 ?Y ?=0FyE5;E5>9Q 5E4=~P?Q 9E4=)=S.BYM#?Q EM:yM 8?Q IM/@=DI=:i=:=4yuBɮuByZRbj"ړڒ’@G@!ɢ-cG)) -3i))-NB11i5ݻ=ɧ=݈>=Zqԡ ,`1?A24>2% ?2r&'ٱ2( :AHRS rotation from veh to nav: [[0.856440,-0.507763,-0.093206],[0.516145,0.845770,0.135159],[0.010202,-0.163863,0.986430]]2H@g??QܷC?@?@L?? vĿ֐?i24>I2c;0YB9EByFHIJ<)H J;HbDnVDnd6yv<%vY=ٔvYuQ-v>9z"?Yz"?=z0FyzE~;E~>Q 5 4>_?Q 9 4)[.BY y E8?Q I/@DIW:i:4yɮBZ9R9b9jA"AAړAAڒA’IIM6G@qyɢ} Nb) 1i)=b顁isٻ㴽ɧ {>駍Hԡ ",oJK?A]{>]T ?]J>ٱ]( AHRS rotation from veh to nav: [[0.855960,-0.508323,-0.094549],[0.516911,0.845432,0.134342],[0.011646,-0.163865,0.986414]]]Hd?@/Dd4? ?2?ه?Ŀ ?i]{>I]c;]CY@EByHiMMb@Mb@Mb@IIII I9MK7A?Q?{Gz?YM "?yM\>Mף9yYy=0Fy E;E> Q 54 q?Q 94 ) ].BY &?Q E:yUC?Q I/@ DI 3:i : 84y%Bɮ%B%ײEZARIbIjI"IIړIQڒQ’QQU&H@yɢ:MF) /i)^顉iԻʴɧO>駕W&B=Y>B=?CB=HB=;EBB9B9B9B=;B=@EE] E]~E]&EY"E]C:*E](:VE]4ZEYBE]5;2E]7;JE];:E];)Q ,7e?A2+>2!X ?2Tٱ2( :AHRS rotation from veh to nav: [[0.855411,-0.509010,-0.095814],[0.517788,0.845009,0.133628],[0.012946,-0.163919,0.986389]]2H_?@IH ?O ??G?@IĿ?i2+>I2pOc;2CYBCEByBHbDJfVDJ6yR$<%Vn=ٔVwQ-V?9XYX=Z0FyZ EZE;EZ?\Q 5b4^~?Q 9f4^;)^^.BYdyfC?Q If/@^DI^:i^|:^4yhɮnBlZ|R|b|j|"|ړڒ’  PH@1ɢ5Hk)1 5/i9)=99i=8ѻEɧE1>E&aԉEU  EU EQ EQ "EU :*EU .:VEQ ZEQ a] @a] @a] @a] @ 4= <Թ ,~?A6>6 ?6jٱ6( BAHRS rotation from veh to nav: [[0.854646,-0.510040,-0.097162],[0.519014,0.844391,0.132772],[0.014324,-0.163902,0.986373]]6HAY?>R`߸Û???@?@U? Ŀ]?i6>I6zc;6CYJZEByJH LLbDVoVDV6y^.^=%^I=ٔ^$^Q-b>9`Y`=b0Fyb Efi;Ef>hQ 5n4jҎ?Q 9n4jn)ja.BYlyrC?Q Ir/@jDIj;ijQ;j 4ytɮvBtZ R b j "ړڒ’ H@AɢM"Q)I Mt)iI)M>IIiUN+ͻUɧ] >]K;ie ?e;aIe ? e ?IiԑA.AIIO> BE X>BA BE HBE YEBBE =BA BA BE ;BE @EBB?CB)%,Θ?AE EyE(E"E:*E:VEc44ZEBE&;a2E';aJEr;a:Er;aB1B1C5;%4F>F ?F"ٱFֆ( RAHRS rotation from veh to nav: [[0.853836,-0.511152,-0.098431],[0.520308,0.843735,0.131876],[0.015641,-0.163815,0.986367]]FH R?Z[2`\?@?P?0?ĿQ?iF>IFc;FCYZMEByZHiMb@Mb@Mb@ 9E?@5^I ?MbpY&?yb>LB A)dAYAbDhVD6yd%8=ٔBQ->9 ?Y ?=0FyE{a;E>Q 5 4렢?Q 94)Y.BY*?Q E:yA?Q I/@DIe ;i ;4y%Bɮ%B!ZARAbAjA"AIړIIڒI’IQUeH@ɢN|L) ,i)ٺi[ɻMɧ= ;i  ? ; I  ?  ?IAe؟AIiIyO9>I ,,??A2,>2l ?2ٱ2( >AHRS rotation from veh to nav: [[0.853169,-0.512059,-0.099489],[0.521366,0.843191,0.131175],[0.016718,-0.163785,0.986354]]2H)M?b x?k? [?@?Ŀ 7?i2,>I2qb;0YFFEByFHbDRbVDR6yZ#%Za=ٔZbBQ-Z>9^"?Y^"?=^0Fy^Eba;Eb>dQ 5j4f?Q 9j4f|)fS.BYhyj B?Q Ij/@fDIf:if=:f&4ypɮrBpZRbj"  ړ  ڒ ’ H@颹ɢ i) R.i)ʻi+\Ż ɧ8=V;i7 ?q!;I7 ? 7 ?IQbEc44jE<4rE®10E] E]{E])EY"E]:*E]5":VE]FA4ZEYam@am@am@am@AAIQIaO>yԩ R3,'̄?A 04rG~SkA!]39eSkAYee%A=>= ?=;ٱ=q' MAHRS rotation from veh to nav: [[0.852385,-0.513175,-0.100451],[0.522605,0.842618,0.129917],[0.017972,-0.163235,0.986423]]=HF?k!.???@!g?ĿȐ?i=>I=a;=CY]aEByeHImR=)mp=only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32:WD, +150.20, +5309.42, -4.24, 20.00 a@a a@a a@a a@a bDoVD6y^=%+=ٔ:,Q->9Y=0FyEI;E>Q 54"â?Q 94v)L.BQ A+:YQ E:yjB?Q I/@DI ;i=>4y Bɮ BZRbj"ړڒ’Թ+I@)ɢ-C)) -'i))5 11i5p] ɧ] <]o:i] ?e7S;aIe ? e ?IaBB>CBHBnEBB =BBB;B@EE5 E5yE5&E1"E5C:*E5:VE54ZE1BE55;aE2E57;aEJE1aE:E1aEA.AIIOm>1 %9,^愣?A6>6F ?6&ٱ6a;' >AHRS rotation from veh to nav: [[0.851395,-0.514659,-0.101255],[0.524179,0.841844,0.128591],[0.019060,-0.162558,0.986515]]6H`>?x@빿? b?u?@?Ŀ?i6>I6 `;6CYJ\EByJHbDRhVDR6yZU%Zw=ٔ^9WQ-^?9^ ?Yb ?=b0FybEb·;Eb?dQ 5j4fТ?Q 9j4fr)fG.BQ An :YlQ EnQ:ynB?Q In/@fťDIf2 ;ifO?f4yrBɮvBvزEZ R b j "ړڒ’!%SI@IɢM\u)I M(iQ)UZQQiU%]ɧ]]:2iebI ?e~{;aIebI ? ebI ?IiA؟AIIO>IqDM =DM R=EU  EU xEQ EQ "EU :*EU :VEQ ZEQ a] @a] @a] @a] @ԡ @,9?A24>2& ?25ٱ2`' :AHRS rotation from veh to nav: [[0.850539,-0.515842,-0.102421],[0.525520,0.841146,0.127681],[0.020288,-0.162422,0.986513]]2H7?ǁ`H8 ? ?W?[Ɣ?@Ŀ@?i24>I2`;2CYBIEByFHbDNtVDN 6yV=%VK=ٔVGQ-V>9Z"?YZ"?=Z0FyZEZ;E^>Q 5%4kᢉ?Q 9-4m)A.BQ A-9Y)Q E-):y-NC?Q I-/@ΥDI:iȜ?4y5xBɮ=B=βEZYRYbYjY"Yaړaaڒa’aimdI@y颙ɢm_) -i)顡ipɧ8駭ki ?ɽ;I ?  ?IA II!O5 >ԡ A A B B ?CB HB xEBB =B B B ;B @Ey7F,?AE E|E+E"E:*EP$:VE [4ZEBE;a2E;aJE};a:E};a>Z>>?>h^ٱ>0' JAHRS rotation from veh to nav: [[0.849839,-0.516765,-0.103572],[0.526607,0.840562,0.127046],[0.021406,-0.162510,0.986475]]>H@1?V?@? C?@_?"Ŀ@3?i>Z>I>`;>CYRTEByRH TTaa aa aa aa iMb@Mb@Mb@ 9y&1?X9v?&1Y`%?y=PB )MAYAbD|VD 6y<%6=ٔ#Q->9 Y = 0Fy E %=;E >1Q 5=45?Q 9E45h)5'.BQ AET:YE(?Q EE:yE:?Q IE/@5إDI5 ;i5A;5<4yM|BɮUBQZRbj"ړڒ’I@ ɢ V)  *i) i"ƶ5ɧM"U%viUOh?UH;QIUOh? UOh?IYA.AIIO J>1Y )bL,3?A2!>2^g?2ѹٱ2|C' :AHRS rotation from veh to nav: [[0.849015,-0.517857,-0.104870],[0.527882,0.839877,0.126284],[0.022681,-0.162576,0.986435]]2H@!+? Iغh?@E? *?9?KĿ?i2!>I2}`;2CYF@EByFHbDNxVDN6yV\%Vc=ٔZgQ-Z>9Z ?YZ ?=Z0FyZE^;E^>`Q 5f4bL?Q 9f4bd)b.BYdyj ;?Q Ij/@bߥDIb:ib:bw4ylɮnBlZ|Rbj"ړ ڒ ’   `QI@1ɢ=x)9 =/i9)E~AAiETWMɧM̽M8ꣻiM?MW;Un?nüٱn-' %AHRS rotation from veh to nav: [[0.848482,-0.518464,-0.106178],[0.528689,0.839416,0.125975],[0.023814,-0.163022,0.986335]]nH&?@B@v.? ~??`b?Ŀ`?in^>In`;nCYePEByeHbD{VD6y =%8=ٔ&Q->9"?Y"?=0FyEg ;E%>ԑQ 54}?Q 94d_)-BYyF;?Q I/@DI;i;4yBɮBϲEZRbj"ړڒ’ )J@ɢBnY) +i!)%!!i%:į-ɧ--Rٻi5#?5;1I5#? 5#?I9BB>CBBB =BBB;;B@EԹAIIO%M>EE EE|EE*EA"EEC:*EEP$:VEE(N4ZEABEE5;aM2EE7;aUJEAaU:EAaU tY,g?A2>2Q?2t"˼ٱ2( :AHRS rotation from veh to nav: [[0.847989,-0.519048,-0.107261],[0.529434,0.839000,0.125610],[0.024794,-0.163303,0.986264]]2H"? ou ? ? ?c?Ŀ z?i2>I2l`;2CY^EEBybHIb=)b;iMb@Mb@Mb@ 9%C?Zd;O?Zd;YZ$?yj=yLBA )7AYAbDVDm6y Ƽ% H=ٔ`Q->9Y=0Fy% E%);E->i9I91Q 5E45%?Q 9M454[)5-BYM&?Q EM:yM.?Q IM/@5DI5 ;i5;5f4yaɮeBaZ)R1b1j1"19ړ99ڒA’AAE@_J@颱ɢ5h) .i)%项iBдɧkiv?);Iv? v?IIIO%N>I DM =DI EQ  EQ EU (EQ "EQ *EQ VEU c44ZEQ ae @ae @ae @ae @[`,b?A6>6M?6vԼٱ6m&( >AHRS rotation from veh to nav: [[0.847520,-0.519581,-0.108381],[0.530130,0.838648,0.125025],[0.025933,-0.163417,0.986216]]6H`?hվ?4???@Ŀ@?i6>I60`;6CYJ3EByJHbDRVDR6yZbN%Zc=ٔ^YOQ-^>9\Y\=b0Fyb"Eb>;Eb>dQ 5j4f.5?Q 9j4fVW)f-BYlyn/?Q In/@fDIf^;if;f4yrBɮrBpZR b j "  ړ ڒ’`J@AɢE&o)A E03iA)Mm,IIiMUݴɧU$U"iUSH?Uo|;YISH? SH?II^A<ԁII O->ԩ B} <A} <B W>B B HB nEBB B B B a;B @EE]  E] {E] ,EY "E] :*E] 5":VE] g4ZEY BE] ;am 2E] ;am JE] Dz;am :E] Dz;am Γf,d?A0bn>bCM?bݼٱbl' nAHRS rotation from veh to nav: [[0.847065,-0.520166,-0.109124],[0.530799,0.838401,0.123842],[0.027071,-0.162825,0.986283]]bH(?`2 N?-???uĿ@?ibn>IbX`;bCYv@EByvHiuMb@Mb@Mb@qqqq q9uT㥛 ??X9vYu!?yuL=u}qq q)qqYqbDVD 6y.<%;=ٔ*Q->9Y=0Fy$E:E>Q 54H?Q 9=4S)-BY=O"?Q E=:y=5?Q I=/@DI3Թ $l,7?A2J>2{?2vBٱ2' :AHRS rotation from veh to nav: [[0.846666,-0.520591,-0.110191],[0.531382,0.838095,0.123410],[0.028104,-0.163041,0.986219]]2H ? x5 ? ?@ї?`Vǜ? Ŀ ?i2J>I2_;2CYB?EByFH HHbDNVDN&6lyv!%vX=ٔv63Q-v>9xYx=z0Fyz&E~:E~>Q 5 4oX?Q 9 4rO)-BY y a?Q I /@ DI9:i: 4ytBɮBŲEZ9R9bAjA"AAړAAڒI’IIMJ@qɢ}))y }0iy)>顁iQ8ɧ#駍igH?Y*<IgH? gH?I@@@@E EwE+E"E:*E:VE [4ZEa%@a%@a%@a%@ IIOA>9a s,υ?AB[J>B{?BٱB2r( VAHRS rotation from veh to nav: [[0.846645,-0.520407,-0.111215],[0.531372,0.838083,0.123537],[0.028918,-0.163689,0.986088]]BH ?,x?? ?`?Ŀ?iB[J>IB_;BCYr5EByvHAbDVD6yױ%=;=ٔEQ-E>9QYY=]0Fye(Em6E>Q 549l?Q 94K)-BYy\?Q I/@DI;i`;4yɮBZRbj"!!ړ!!ڒ!’))-u-K@颉ɢ k) 2i)I顑iɧ"駝KUiG?i<IG? G?IA>A>I1IAqO>B9B9B9B9B9B9B9B=|;B=AEB>CB>CBBBC#C4E% E%xE%)E!"E%:*E%:VE%FA4ZE!BE%;a52E%;a5JE%Xo;a5:E%Yo;a5ԑ Iy,腣?A.q2>.o?.ٱ.( :AHRS rotation from veh to nav: [[0.846717,-0.520080,-0.112187],[0.531202,0.838221,0.123327],[0.029897,-0.164017,0.986004]].H@O?C?`?T?s?~Ŀ Y?i.q2>I._;.CY^EEBy^HԙiMb@Mb@Mb@ 9-? rh?I +Y5?yC<94BA ) AYAbDVD6y=%J=ٔq"Q->9Y=0Fy*E EE >!Q 5-4%0}?Q 9-4%G)%}-BY=?Q EE:yEb?Q IE/@%DI%F;i%;%4yuyBɮ}B}ƲEZRbj"ړڒ’hK@ɢql) .i)4Sivh %ɧ  Wi nl? <Inl? nl?IIIOE>bEȷG4jE#E4rEȿJ0E5  E5 yE5 ,E1 "E5 :*E5 :VE5 g4ZE1 a= @a= @a= @aE @ %= R=! ,O?A6.>65?6ٱ6* BAHRS rotation from veh to nav: [[0.847167,-0.519014,-0.113720],[0.530438,0.838525,0.124548],[0.030715,-0.165834,0.985675]]6H?›`X?1?@Z?`s?:ſ?i6.>I6?_;6CYHyJHIN<)N<bDVVDV6y^H%^a=ٔbgQ-b>9`Y`=b0Fyf,Ef Ef>hQ 5n4j?Q 9n4jaD)js-BYpyr?Q Ir/@j!DIj;ij;j4ytɮvBtGSB*** querying acoustic contact ***:BZRbj"ړڒ’!%[K@IɢMdc)I M.iQ)Uj2ZQQiU|]&/ɧ]\ ]޻ie?e%2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.9kA-99-kAY-!+AQB% V>B! B% HB% cEBB! B! B! B% };B% AEy E=  E= xE= *E9 "E= :*E= :VE= (N4ZE9 BE9 aM 2E9 aM JE9 aM :E9 aM }Ԇ,?A2d>2?2@ٱ2O+ :AHRS rotation from veh to nav: [[0.847511,-0.518210,-0.114823],[0.529842,0.838826,0.125051],[0.031514,-0.166820,0.985484]]2H?, e@w???"?`[Zſ?i2d>I2_;0B*DAT read: user:144> FBDAT read: Tx time:21:09:43.5963 F$Ping request sent.F9qYq=}0Fy}.E}0ĺE}>Q 54?Q 94@)t-BYw?Q E:y ?Q I/@*DI;i;(4y}BɮBZ!R!b!j!"))ړ)IڒI’QQU DK@颙ɢx)l) .i)d顡iP28=ɧ駵,:i?<I? ?IԁA.AIIO%M>=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109 ,6?A2 ح>2?2ٱ2q, :AHRS rotation from veh to nav: [[0.848051,-0.517101,-0.115827],[0.528921,0.839371,0.125294],[0.032432,-0.167520,0.985335]]2H<#?`@ަ?`!? ??Gqſ݇?i2 ح>I2_;2CYRUEByRHbDZVDZ6yv\>=%va=ٔv &Q-v>9z ?Yz ?=z0Fyz0EzEE~>Q 5 4?Q 9 4=)u-BY y 9 ?Q I 0@1DIW:ip:2.4yBɮBZRbj"ړڒ’{K@ɢ܃) *i)-liEEɧZ7Hiw? &< I w? w?I E EE)E"EC:*E*:VEFA4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506866A؟AIIO!>) E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754786,\P?A>>>I?>-@ٱ>y@. RAHRS rotation from veh to nav: [[0.849007,-0.515266,-0.116993],[0.527348,0.840151,0.126688],[0.033014,-0.169255,0.985019]]>H+?} I ?`?@P7?@>I>E_;<]ZBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.]^Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]^Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.]bBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.]fBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]jBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]jBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.]nBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]zBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.]Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1.VH)VnATTɶV&A-UFailed to receive data from all sticks prior to timeout. Will not retry this scan cycle.YmWEByuH IIbDVD6yq;%.=ٔԠQ->9"?Y"?=0Fy2ES~E>!QQ 5m4%Qţ?Q 9m4%9)%v-BYqyu?Q Iu0@%:DI%&%ԡ F,9j?A@Rݫ>R ?R ٱRk/ bAHRS rotation from veh to nav: [[0.850052,-0.513317,-0.117972],[0.525620,0.841086,0.127663],[0.033693,-0.170529,0.984776]]RH 3?mm3@?@-? CW?;@?ſJ?iRݫ>IR_;RCYjdEByjHimMb@Mb@Mb@iiii i9m`"?I +~jt?Ym?ym94m9 ?Y ?=0Fy4EVE>Q 54ԣ?Q 947)-BY?Q E:y| ?Q I0@ADIA;il0;<4y~BɮBDzEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259501ZRbj"ړڒ’aL@ɢ<)  &i )-~)1i5[=Rɧ=I=6!i=*?=s<9I=*? =*?IAԩIIOE>D D <E  E |E +E "E :*E P$:VE [4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510755! ),?A2 >2- ?2 ٱ2f/ :AHRS rotation from veh to nav: [[0.851255,-0.511299,-0.118063],[0.523640,0.842316,0.127694],[0.034157,-0.170522,0.984762]]2Hz=? \`a9 ? @?@CX?}?`ſ*?i2 >I2[_;0YRwEByRHbDZVDZm6yb/K=%bZ=ٔbrQ-f>9dYd=f0Fyf6Ejg˻Ej>lQ 5=4n䣉?Q 9=4n4)n-BYAyE ?Q IE0@nHDIn ]I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806yԡ B B B HB EBB B B B ;B OAEE%  E% }E% )E! "E% C:*E% k&:VE% FA4ZE! BE% 5;a- 2E% 7;a- JE! a5 :E! a5 !,>Ꝇ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014782Fk>F° ?FF+ٱF0 rAHRS rotation from veh to nav: [[0.852234,-0.509507,-0.118741],[0.522008,0.843220,0.128404],[0.034702,-0.171414,0.984588]]FH@E?M`eI??`o?~ġ? ſ ?iFk>IFl_;FCYvvEByvHyiMb@Mb@Mb@ 9A`"?kt?Y?y 0= )YbDVDX6y{%;=ٔ£Q->9Y=0Fy8E܎E>Q 54A?Q 94n0)-BY{?Q E:y?Q I0@PDI:i:J4yBɮBZRbj"ړ!ڒ!’!!%L@QɢU s)Q UC"iY)]YYi]䆻eMWɧebeD5ie ?mҥ6dG ?6hٱ6u0 BAHRS rotation from veh to nav: [[0.853055,-0.508031,-0.119170],[0.520626,0.844056,0.128523],[0.035292,-0.171680,0.984520]]6H:L?Aꁾ ?`?ps??@ſ0?i6>I6j_;4YFEByJHbDRVDR6yZ/=%Z]=ٔZѺQ-^>9\Y\=b0Fyb:EbEb>dQ 5j4f?Q 9j4f[-)f-BYhyns?Q In0@fWDIfl:if;f`Q4yrjBɮr<BrEZR b j "  ړ ڒ’@L@AɢEpx)A EiA)M:-IIiMzmUEWɧUj9UU7iUI ?U߅4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5230241% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770837Y X4,ц?A2K9>21 ?2ٱ20 :AHRS rotation from veh to nav: [[0.853705,-0.506944,-0.119149],[0.519518,0.844857,0.127741],[0.035906,-0.170953,0.984625]]2H@Q?8? ?Y?:b?ſ ?i2K9>I2Iq_;0YNEByR HbD^qVD^6y ;<% E=ٔ Q->9Y=0Fy!Q 554%?Q 9]4%))%-BYiym?Q Im0@%_DI%#BE9ZRbj"ړڒ’  2M@ɢfc) i)珼i&Uɧ<7pY:iv ?<Iv ? v ?I)BqBqBuHBuEBBqBqBqBuЊ;BueAEIIO >aE EE)E"E*E*:VEFA4ZEBE;a2E;aJEi;a:Ei;achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022962ԉԹ _,놣?A2>2 ?2Kٱ2HC0 :AHRS rotation from veh to nav: [[0.854362,-0.505789,-0.119343],[0.518416,0.845504,0.127934],[0.036197,-0.171171,0.984576]]2HV?`m/;ݖ? _? `?q?`ſु?i2>I2_;0YFEByF)HiMb@Mb@Mb@ 9zG?L7A`?y&1?Y ?y+=`e=6B A) AYAbDXVD5yiX=%@=ٔ3Q->9Y=0Fy>EEE>Q 54)?Q 94iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275185&).BY?Q E:y?Q I0@gDI*};ia|;`4yɮ(BZRbj"ړڒ’!!%aM@IɢMjIw)Q UiQ)U(GQYi]dU]lSɧe AyԑIaIqO}=ԹDC=DR=E E|E*E"E:*EP$:VE(N4ZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526883 I,Mg?A2(>2j ?2R]ٱ2|. :AHRS rotation from veh to nav: [[0.854751,-0.505155,-0.119244],[0.517722,0.846131,0.126595],[0.036946,-0.169942,0.984761]]2HZ?:*†-??C4??ſ*?i2(>I2_;2CY^EByr9HbDzfVDz6y(=%V=ٔqQ- >9 Y = 0Fy @EE>Q 5%4b9?Q 9%4").BY!y-?Q I-0@nDI:iN:f4y5rBɮ5#B1ZQRYbYjY"YYړYaڒa’aaeఒM@ɢ.hp) i)Ɩ!!i%zMGQɧUWchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778844A AY A] AABa Ba Be CHBe EBBa Ba Ba Be ;Be AEB!B!B!B!B!C%;4E  E }E +E "E :*E k&:VE [4ZE BE ;a 2E ;a JE ŀ;a :E ƀ;a vp,3?A&BDAT read: Rx Time:21:09:47.2598 &TRx dataTimestamp_ set to:1761512988.496588*checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031933(jD*>jk ?jٱj. %AHRS rotation from veh to nav: [[0.854725,-0.505109,-0.119626],[0.517721,0.846213,0.126051],[0.037560,-0.169672,0.984785]]jH Y?)ԟ*?`-?r"?` ;?зſ[?ijD*>Ij_;jCY5EBy5CHiMb@Mb@Mb@ 9$C?l??Y?y=L=A )AYbD-^VD-6y=Ο<%=8=ٔ=ҵQ-=>9AYA=E0FyEBEM37EM>QQ 5]4UJ?Q 9]4U;)U:.BY]?Q E]:y]-?Q Ie0@UwDIUe ;iU:U{n4yiɮmBiZRbj"ړڒ’`_M@ɢHc) x i) ɚiKvPɧ#;ⵙ9i\ ?7<I\ ? \ ?IiII1Om5>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282862 z,9?A2>2[Y ?2XFٱ2v. :AHRS rotation from veh to nav: [[0.854851,-0.504791,-0.120066],[0.517470,0.846410,0.125757],[0.038144,-0.169634,0.984769]]2HZ?@' ?`??`?ſ9?i2>I2v_;2CPYREByRJHIV4=)V=bD^AVD^5ydi<%`=ٔPҺQ- >9 Y = 0Fy DE?IE>Q 5%4lY?Q 9%4)P.BY!y--?Q I-0@~DI:i:t4y5vBɮ5B1ZQRQbQjQ"YYړYYڒa’aae M@颉ɢs) $ i)6 顙i$r5QɧeȻ駥HQi5 ?<I5 ? 5 ?IAzAII)O==bE9jE=mF4rE=S}/E ExE*E"Es:*E:VE(N4ZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535020 k> C1 U G} SkA -9 SkAY Ai I 5 DAT read: 21:09:47.2598 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 480, 0.14,-0.649,-2.346,-0.737,-0.952, PHS= 0.406,-1.348, 0.172, RAW= 142.9, 9.4, CAL= 142.5, 10.2, ROT= 7.5, -10.2 = Ygot valid direction response: 21:09:47.2598 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 480, 0.14,-0.649,-2.346,-0.737,-0.952, PHS= 0.406,-1.348, 0.172, RAW= 142.9, 9.4, CAL= 142.5, 10.2, ROT= 7.5, -10.2 E PDAT read: Bearing 190.8, 7.9 (Local) E ~Local bearing/azimuth received: Bearing 190.8, 7.9 (Local) M DAT read: Range 11 to 50 : 944.4 m (Round-trip 1259.3 ms) speed 0.4 m/s U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.975776,0.128463,0.177085]] Fpublishing direction and range infoy  Q]9?W|q?ki?Y lD     ) WI ;>i D 0> @ '> ,@  K6>) >I K6   B?b???  i>) ?~'I >i K6  5,R?AF,>Fl ?FBٱF6. NAHRS rotation from veh to nav: [[0.854676,-0.504994,-0.120455],[0.517707,0.846379,0.124987],[0.038833,-0.169184,0.984819]]FHY?(־`??@$??Χſ?|iF,>IF_;FCY=EBy]LHbDuBVDu5yqB;%;=ٔnκQ-]>9aYi=u0FyFE2':EU>qQ 54ul?Q 94u)un.BYy-?Q I0@uDIuA5K6—5~Іl@&H@bלnff@5Ӳʷ?'(WZ?1rd?j5Dr5/DZ52拊?b5Nfz5dC52拊?5Nf5dCڗ5fD5k4?ZRbj"ړڒ’@3@ +?颁ɢ@|Y)  i)>ʢ顉inITɧ<駝0i ?#<I ?E E|E(E"E:*EP$:VEc44ZEBE&;a2E';aJE};a:E};a  ?IIiIO[>Qԁ ,il?AB>B ?Bh!ٱB- NAHRS rotation from veh to nav: [[0.854198,-0.505731,-0.120752],[0.518451,0.846060,0.124060],[0.039423,-0.168576,0.984900]]BHU?.龿&??`¿? 6/?ſ M?iB>IB[_;BCYjEBynpHYimMb@Mb@Mb@iiii i9m-?:v?~jt?Ym5?ym=m9Y=0FyHE;E>Q 54Pz?Q 94 )w.BY ?Q E:y7?Q I0@DIL;iL;L4yyBɮBZRbj"ړڒ’j?)ɢ-6s~)) -i1)^R项i8kWɧ7*P,i?7#<I? ?IIIO=ԁԱE EwE,E"Eҝ:*E:VEg4ZEa@a@a@a@m =m < ^, ?A2x>2 ?2J#ٱ2+R. :AHRS rotation from veh to nav: [[0.853843,-0.506147,-0.121519],[0.519006,0.845671,0.124392],[0.039805,-0.169280,0.984764]]2HR?[2@? ?@ؿ?@Ha?ſ/?i2x>I2h_;0Y^EBybrH dddfAhhbDj?VDj5yr`;%vV=ٔvcQ-v>9xYx=z0FyzJEz:Ez>Q 54+?Q 94 ).BYy:7?Q I0@DIoR;iS;@4ycBɮBEԹZ!R!b!j!"))ړ)1ڒQ’QY] ?ɢAd) i)樼i%g^ɧ~dRiu?u9<Iu? u?IIqIO=B A <B B B HB FBB B B B Š;B WAE9 E  E {E )E "E :*E 5":VE FA4ZE BE ;a 2E ;a JE Dz;a :E Dz;a ,{?A63L>6 ?6(%ٱ6F0 >AHRS rotation from veh to nav: [[0.853479,-0.506387,-0.123069],[0.519550,0.845187,0.125403],[0.040514,-0.170970,0.984443]]6HO?R4n '? ?7 ?0? Tſ?i63L>I6$s_;4YFEByFHiMb@Mb@Mb@ 9ףp= ?y&1?:vY?y`=TLBA A) AYbD-:VD-5y=|<%=E=ٔ=@Q-E>9AYA=E0FyELEM:EM>QQ 54U?Q 94Uc )U.BYR!?Q E:y!8?Q I0@UDIUYԙ ,\?AYFByHbD-3VD-L5y=g<%=J=ٔEQ-E>9E"?YE"?=E0FyENEMEM>QQ 5]4U9?Q 9]4U)U|.BYYyaQ Ie0@UDIU;iU;UF4yiɮmBiZRbj"ړڒ’e?AɢE*e)I UiY)e{diyii}ahsɧ4駅>]i?nm<I? ?IE EE*E"E:*E*:VE(N4ZEa@a@a@a@ԙAIIO> #,&4ԇ?A2ߞ>2 ?2h,ٱ2/ :AHRS rotation from veh to nav: [[0.852079,-0.508363,-0.124614],[0.521720,0.844039,0.124123],[0.042080,-0.170776,0.984411]]2H@:D?D濿?`^?`ƿ?`y? ſ`K?i2ߞ>I2 _;2CYZ FByZHI^<)^=bDb;VDb#5yj<<%jQ=ٔnvQ-n>9pYp=r0FyrPEr;Ev>tQ 5z4vй?Q 9z4v)vy.BY|y~8?Q I~0@vDIv;iv7;v4yjBɮ B Z)R)b)j)"))ړ11ڒ1’11= @颁ɢ,h) Oi)j顉i,^ɧ 駝޻i?ˌ<I? ?IBBBHB/FBBBBB;B@AEA II!O- >E E}E)E"EU:*Ek&:VEFA4ZEBE;a2E;aJEŀ;a:Eƀ;a) ,J ?A0>>> ?>G0ٱ>K0 FAHRS rotation from veh to nav: [[0.851660,-0.508787,-0.125746],[0.522322,0.843707,0.123848],[0.043081,-0.171156,0.984302]]>H@?Gqܶ? ??`?qſf?i>>I>^;=ٔQ->9Y=0FySE:E>Q 54ˤ?Q 94,)h.BY#?Q E:yH-?Q I0@DI:is:4yɮBZRbj"ړڒ ’    LF@Yɢec)a eia)e쵼iiimEX[uɧuuiuU?uԹD=D<E EE(E"E%:*E*:VEc44ZEa@a@a@a@ ,%?A2n>2 ?2 4ٱ2/ :AHRS rotation from veh to nav: [[0.851181,-0.509446,-0.126318],[0.523030,0.843412,0.122866],[0.043945,-0.170650,0.984351]]2HI2^;2C`YfFByfHbDrUVDr5y~s=%~V=ٔQ->9 Y = 0Fy TE;E>!Q 5-4%ۤ?Q 954%!)%X.BY1y5-?Q I50@%DI%%;i%5;%V4yMnBɮMBMEZ R)b)j)"11ړ11ڒ9’99=w@aɢm8e)i mii)miqiuX}ɧ}&}Mi}!)?}<I!)? !)?IAIIO%>A A B U>B B HB CFBB B B B ;B AEA E  E E 'E "E :*E VE '4ZE BE ;a 2E ;a JE i;a :E i;a ,H!?AR2y>R& ?R>7ٱRs1 ZAHRS rotation from veh to nav: [[0.851111,-0.509190,-0.127814],[0.523078,0.843240,0.123835],[0.044722,-0.172254,0.984037]]RH@LIR^;RCYb FBybH ddiMMb@Mb@Mb@IIII I9MMbX9?Zd;O?Q뱿YM!?yMj<=M\MLBMA I)MAIYIbDe\VDe]6yu=%uC=ٔ}Q-}>9Y=0FyWEC9E>Q 54V?Q 94*)C.BY4#?Q E:yw?Q I0@ǦDI ;i ;4yɮBZRbj"ړڒ’QQ] @颡ɢb) i)G项i+zVɧ.! it9?w<It9? t9?IA>A>IA!I1IYOm5>qԡ 7,ˡ;?A2>2Z ?2gC;ٱ21 :AHRS rotation from veh to nav: [[0.851015,-0.509111,-0.128761],[0.523148,0.843246,0.123499],[0.045703,-0.172460,0.983956]]2H@;?J<{ࡽ???Vf?`-ƿ|?i2>I2K^;2CYB&FByBHbDJDVDJ55yno<%nU=ٔrl'Q-r>9pYp=r0FyrYEv9Ev>xQ 5~4zH?Q 9~4z)z0.BY|y|?Q I0@zϦDIz;iz;z[4y rBɮ B Z)R)b)j)"11ړ11ڒ9’99=z @aɢm`j)i mii)mK iqiuwETy}µɧ}駅XiH?$<IH? H?IDqzDu@AE} E}|E}(Ey"E}U:*E}P$:VE}c44ZEya@a@a@a@AII!O- >ԡ ,%yU?A2">2 ?2l`>ٱ2ɏ1 :AHRS rotation from veh to nav: [[0.851388,-0.508363,-0.129247],[0.522474,0.843720,0.123114],[0.046462,-0.172346,0.983940]]2H>?D@,`??e?ɧ?oƿp|?i2">I2X?^;2CYB0FByBHbDJXVDJ5yR"<%RN=ٔV/Q-V>9TYT=V0FyV[EZEZ>\Q 5b4^?Q 9b4^)^.BY`yfK?Q If0@^צDI^;i^b:^I4yj_BɮjBjEZxRxbxjx"||ړyyڒy’`ć@ɢ_) i)(¼iCzR-ҵɧ-&->iUX?]KBqBuHBuWFBBqBqBqBuz;Bu AEB9B9B9B9B9C=<4A!I)I9OU2>E EE*E"Eg:*E*:VE(N4ZEBE;a2E;aJEa:Ea1a H,Uo?A2>2 ?27Aٱ2}1 :AHRS rotation from veh to nav: [[0.851841,-0.507453,-0.129837],[0.521656,0.844283,0.122723],[0.047343,-0.172271,0.983911]]2HHB?=@`h?]?j?T=? ƿ`3|?i2>I2+%^;0Y^/FBy^HiEMb@Mb@Mb@AAAA A9EX9v?MbpMbYE?yEEAEA EA)AAYE=AbD]eVD]f6ym%m>=ٔmQ-u>9qYq=u0Fyu]En E>Q 5 4$?Q 9 4).BY ?Q E :y y?Q I 0@DI:i:41y9ɮ=BAZRbj"ړڒ’H@ɢ\s_) Fi)MdżixPMൽɧ{Jûi  ?n<I ?  ?IA%hAzA%iAA%.AI)I9OQaDDbEFA4jEȷG4rE20E E}E.E"EU:*Ek&:VEـ4ZEa@a@a@a@ԩԹ 1",]1?ARĨ>R9 ?RئDٱR2 bAHRS rotation from veh to nav: [[0.852717,-0.505745,-0.130750],[0.520164,0.845078,0.123583],[0.047992,-0.173392,0.983683]]RHuI?/ g.?` ? ? p? 1ƿ`Tz?iRĨ>IR ^;RCYjAFByjHbDvgVDv6yza:=%~R=ٔ~ںQ-~>9 ?Y ?=0Fy_EE > Q 54 5?Q 94 ) .BYy?Q I0@ DI ;i ; 4y-cBɮ-B)ZIRIbIjI"IQړQQڒQ’QY]`@颩ɢf) 5߾i)1ȼ顱i=O{鵽ɧ4Ľ駽i?<I? ?IԙG=599Y='AA؟AIIO!>ԹBU <AQ Bm Q>Bi Bm HBm lFBBi Bi Bi Bm ;Bm 6AEE  E E (E "E :*E ,:VE c44ZE BE &;a 2E ';a JE ;;a :E ;;a  Z(, ?A6ɧ>6S ?6GGٱ6Re3 BAHRS rotation from veh to nav: [[0.853684,-0.503925,-0.131464],[0.518509,0.846022,0.124079],[0.048695,-0.174090,0.983525]]6HaQ?@' ࠗ??@ÿ??Hƿ y?i6ɧ>I6X];6CYnNFBynHiMb@Mb@Mb@ 9V-?S㥛Q롿Y|?y/ݼ\6BtA A)AYAbDrVD6y<%==ٔ`պQ->9"?Y"?=0FyaE{E>Q 54I?Q 94).BY?Q E:y>Q I0@DI" ;i ;%4yɮwBZ!R!b)j)"))ړ))ڒ1’@@AɢE\W)I MؾiI)u(˼qqiu{QN}ɧw駅+Fizo?<Izo? zo?IAIIOI>I ބ.,弈?A62¦>67 ?6Kٱ6 3 >AHRS rotation from veh to nav: [[0.854683,-0.502124,-0.131862],[0.516768,0.847163,0.123553],[0.049670,-0.173741,0.983538]]6HY?f]??,?Rn?$=ƿ$y?i62¦>I6];4YFIFByFHbDNhVDN6yV A%V_=ٔZ.Q-Z>9XYX=^0Fy^cE^ȳE^>`Q 5f4bZ?Q 9f4b)`Yhyj>Q Ij0@bDIb:ib:b4ynfBɮrBpZRbj"ړ  ڒ ’  y@ɢ-i) ۾i)ͼiLɧM źi?֮<I? ?IA!A%>Ea Ee{Ee)Ea"Ea*Ee5":VEeFA4ZEaau@au@au@au@YAaIqIO>yԩ l5,ۿֈ?A.qb>.ć ?.CNٱ.L3 :AHRS rotation from veh to nav: [[0.856034,-0.499731,-0.132194],[0.514453,0.848573,0.123537],[0.050441,-0.173759,0.983496]].H`d?@߿ev?'?!?Yө?=ƿx?i.qb>I.];,PYRUFByRHbD^pVD^6yv&<%vG=ٔvQ-v>9xYx=z0FyzeE~ջE~>Q 5 4m?Q 9 4).BY y B>Q I 0@DI:i:4y)ɮ5wB9ZaRabaja"aaړiiڒi’iiuÙ@IɢM@\)Q Uվiq)}м顁i=L ɧ;5{9iE ?BO>B=CB$HBFBB =BBDBˊ;B[AE]! q;,?A2>2 ?2Pٱ2a2 :AHRS rotation from veh to nav: [[0.857318,-0.497530,-0.132170],[0.512261,0.849916,0.123415],[0.050931,-0.173511,0.983514]]2H&o? ߿@ qd?`2? ??`5ƿ`x?i2>I2R ^;2CYBpFByBHi5Mb@Mb@Mb@1111 195Gz?Mb~jtx?Y5p?y55;5B5A 5A)5A1Y5\AbDMmVDMR6y]#y=%]C=ٔelQ-e>9aYa=e0FymgEmƻEm>qQ 5}4u?Q 9}4u)u.BY?Q E:yZ>Q I0@uDIue ;iu:u4yjBɮdBZIRIbIjI"IQړQQڒQ’YY] V@颡ɢ^sW) Ǿi)p/ӼiKɧa"=w;iϷ ?<;IϷ ? 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OĿU?i6>I6a];6CYn!GByrHiMb@Mb@Mb@ 9X9v?-?L7A`堿Y?y5^>+B )YAbDVDr5y;%;=ٔQ->9Y=0FyEW;E>Q 5 4lC?Q 9 4)/BY'?Q E:y]?Q I0@jDI+;i*;B4y!ɮ%B!ZARAbAjA"IIړIIڒI’QQQ]5&@颁ɢh1) ^i)顉iZx\쵽ɧt駝Ci&?w<I&? &?IA؟AI I!O-->ԁԩ a-,U@?A2Qv>2 ?2gٱ2* :AHRS rotation from veh to nav: [[0.854669,-0.501789,-0.133224],[0.516084,0.849088,0.112726],[0.056554,-0.165098,0.984654]]2HrY?@z ƒ?@+?@ۼ??@!ſI?i2Qv>I2];2CYR7GByRHIV<)VbDZVDZ5yv2n=%v\=ٔzxQ-z>9z"?Yz"?=~0Fy~E~;E~>Q 5 4P?Q 9 4ߟ)/BYy'^?Q I0@rDI6:i:H4yBɮB!ZARAbAjA"AAړIIڒI’IIU@'@yɢ}/)y }Hi).顁i_ ɧ[駍 sivc?;<Ȑ i I A1 AW,lZ?A.7>. ?.yiٱ.P<) :AHRS rotation from veh to nav: [[0.853478,-0.503750,-0.133461],[0.517998,0.848091,0.111447],[0.057046,-0.164250,0.984768]].HO?Ao?#?Ƈ?`5?$ſ7?i.7>I.];.CYBGByBHbDHVDHyR%RO=ٔVQ-V>9V ?YV ?=Z0FyZEZ;EZ>\Q 5b4^^?Q 9b4^)^.BYdyf^?Q If0@^zDI^:i^:^zO4yhɮjBhZqRqbqjq"yyړڒ’n(@ɢ$6) gi)ia0ɧpBJ>BB7HB_GBBBBBr;B@EKiD?$<ID? 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E=  E= ~E= (E9 "E= g:*E= (:VE= c44ZE9 BE= ;aM 2E= ;aM JE= ;aM :E= ;aM ,P?Arک>tr ?ro-mٱrx+ ~AHRS rotation from veh to nav: [[0.851167,-0.507089,-0.135555],[0.521695,0.845754,0.111960],[0.057872,-0.166015,0.984424]]rH`Ir];pY ?GBy HiMb@Mb@Mb@ 9Cl?zG?y&1Yd?y =`BA )AYQAbD!VD(5y =%:=ٔ^Q->9"?Y"?=0FyE2:E>Q 54܎?Q 94K).BYH ?Q E:y/?Q I0@DIQ:if:Qe4ym|BɮmBmEZRbj"ړڒ’`)*@aɢe))i m@ii)miiiumkuhĶɧ}t駝]iF?<IF? F?I^Ae<AIIOh>AiߡIߡq |,-Š?A2u>2F ?2oٱ2* :AHRS rotation from veh to nav: [[0.850997,-0.507273,-0.135933],[0.521920,0.845661,0.111613],[0.058335,-0.165928,0.984411]]2H^;?;=f??@?ޭ?$=ſ@K?i2u>I20];0YB0GByBHbDJ2VDJ5yR$%V_=ٔVpQ-V>9TYX=Z0FyZEZI:EZ>Q 54?Q 94d)j.BY!y% 0?Q I%0@DIU;i;k4y-Bɮ-B)ZIRIbQjQ"QQړQYYڒY’aaeQ+@频ɢu7) Oi)顙imﶽɧ駥wdƼi?}<I? ?I@@@@DzD?AE EE)E"E%:*EF:VEFA4ZEa@a@a@a@ԁAIIԱO> ॶ,.ۊ?A2>2L ?23pٱ25O+ :AHRS rotation from veh to nav: [[0.851064,-0.507030,-0.136423],[0.521765,0.845748,0.111680],[0.058755,-0.166227,0.984336]]2H;?9PvL?]? ?`?Fſ@?i2>I2 ];2CYB:GByBHbDHVDHyR<%RJ=ٔVQ-V>9TYX=Z0FyZEZoٹEZ>\Q 5b4^𭦉?Q 9b4^T)^E.BYdyf/?Q If0@^DI^-:i^$:^r4yhɮjBlZxR|b|j|"||ړڒ’ `"o,@BJ>BB\HB~GBBBBB|;BAEBABABABE =BE =CEw4ԹɢT/) Ei)D  i Qq&ɧ̼iȩ?<Iȩ? ȩ?I1AEhAzAEhAAIIE  E E ,E "E :*E [:VE g4ZE BE &;a52E ';a=JE E;am:E E;auO;>A ϼ,b?A2;>2* ?2qٱ2+ :AHRS rotation from veh to nav: [[0.851450,-0.506301,-0.136720],[0.521106,0.846120,0.111933],[0.059010,-0.166551,0.984266]]2H??`3?@k?ࣧ?6?@Qſ`?i2;>I2];2CYB9GByBHi Mb@Mb@Mb@     9  ףp= ? rh?1ZdY Q?y C< "۽ B tA )  Y AbD%DVD%55y5%5B=ٔ52Q-5>99Y9==0Fy=EEEE>IQ 5U4M'?Q 9U4M܀)M%.BYU?Q EU:yU" ?Q IU0@MDIMi ;iM ;M&z4yeBɮeBaZRbj"ړ  ڒ ’  @CO-@yɢ}0)y Fi)顁iKtb[ɧ駍ļiU?F<IU? U?IAI IO-,>QuPExceeded connect timeout, disconnecting.D=D<bEyjE}KJ4rE}Ǻv0E EE(E"E%:*E0:VEc44ZEa@a @a @a @iԙ E G,,?ASkA,J;9JSkAYJb,AVqĨ>V8 ?VzssٱV, ^AHRS rotation from veh to nav: [[0.852196,-0.504850,-0.137437],[0.519841,0.846775,0.112859],[0.059401,-0.167624,0.984060]]VH/E?'??@[?@i?tſ k}?iVqĨ>IVP];VCYfFGByfHbDnGVDn5yvN=%vO=ٔv偺Q-z>9xYx=z0FyzE~sE~>Q 5 4?Ѧ?Q 9 4}).BY y  ?Q I1@DI:iB:4yBɮBEZ9R9b9jA"AAړAAڒI’IIMd.@qɢ}r0)y }]9iy)}g顁iwBɧ5駍i?~<I? ?IqAIIO >ԙAqAu@AB}I>B}: ?:?uٱ:- BAHRS rotation from veh to nav: [[0.853112,-0.503121,-0.138091],[0.518290,0.847601,0.113791],[0.059795,-0.168648,0.983861]]:H@L?@Օ?`?g!?`z?=ſ@{?i:ק>I::];:CYNiGByNBHMonly read 2 of 4 data items for bottom velocity. Device response is::BS, -44, +589, :BE, -44, +589, -71,A aM@aU aU@aU aU@aU aU@aU bD]ZVD]"6ymA=%mB=ٔuuQ-u>9yYy=}0Fy}EVE>Q 54㦉?Q 94.z)-BQ A+:YQ E:y2 ?Q I1@DIf=;iQ>4yɮBZRbj"ړڒ’e.@)ɢ-$)5F 5ii9)=99i=Uk|EĹɧMM iMX?M< I X? X?IA%>A%>A].AIiIyO:>) ,JC?A2x>2 ?2/vٱ2. >AHRS rotation from veh to nav: [[0.854487,-0.500707,-0.138368],[0.515989,0.848892,0.114621],[0.060067,-0.169339,0.983726]]2H W?@?*?W?@$?ſ`z?i2x>I2v9];2CYBWGByF-HbDNSVDN5yV:%VX=ٔV9Z ?YZ ?=Z0FyZE^E^>`Q 5f4b?Q 9f4bw)b-BQ Af :YdQ Ejf:yjy ?Q Ij1@b§DIb:ib"M?b[4ynBɮnBlZ|Rbj"ړڒ ’   /@]nManaging dock network, ignoring radio surface power off颱ɢ+DzDE ExE,E"E%:*E:VEg4ZEa@a@a@a@) (i)i]巽ɧ׾XĬi?<I ? ?IYA؟AIIO$>yԩ |,']?A2>2jb ?2gwٱ2 . :AHRS rotation from veh to nav: [[0.855855,-0.498451,-0.138055],[0.513681,0.850319,0.114408],[0.060364,-0.168833,0.983794]]2H)c?߿ ̫p?5?I?`?@Rſ>{?i2>I2=];2C@YBnGByFHHbDN_VDN6yV[=%VJ=ٔV'AQ-V>9Z"?YZ"?=Z0FyZEZڻE^>`Q 5f4bo?Q 9f4bs)b-BQ Af9YdQ Ef::yf ?Q Ij1@bʧDIb;ibF?b4ylɮnBlZ|R|bj"ړڒ ’   <0@B%H>B!B%uHB%GBB% =B!B!B%h;B%@EQɢUG%)Y ]iY)]MYaiee ɧmC;m5imX?mE E~E)E"E:*E(:VEFA4ZEBE&;a 2E';aJEa:Ea ,w?A6n>6 ?6.xٱ6t. >AHRS rotation from veh to nav: [[0.857506,-0.495576,-0.138162],[0.510899,0.851873,0.115304],[0.060555,-0.169461,0.983675]]6H`p?@߿@L@HY?B??`?`ſCz?i6n>I6w];4Y^GByb]HlaMaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9MbX9?{GzMbYME?yMףMM BMGA MA)MlAIYMAbDeZVDe"6yuu =%u>=ٔ}.Q-}>9Y=0FyEE>Q 54(?Q 949q)-BQ AT:Y?Q E:yl>Q I1@ҧDI;i;4yBɮBZRbj"ړڒ’a0@ɢu) i)))i5i57ɧ=e=[i=׃?=A9<9I=׃? =׃?IA9U"AazAaE  E E (E "E U:*E VE c44ZE a @a @a @a @IQ Ia Ou >a a,ݐ?A2>2?2&yٱ2_^. :AHRS rotation from veh to nav: [[0.859018,-0.493034,-0.137860],[0.508323,0.853409,0.115328],[0.060790,-0.169147,0.983714]]2H}?ݍ߿`h.D? O?(?`?ſz?i2>I2 ];2CYNGByRHbDZPVDZ5y~=%~R=ٔQ->9Y=0Fy E E >Q 54*?Q 94n)-BY!y%>Q I%1@٧DI ;iL ;h4y-wBɮ-SB-E9ZQRQbQjQ"QYړYYڒY’aae1@颉ɢh) ɽi)5顑i䆻Rɧ駥piR)?*N<IR)? R)?I&tIQIiOu=iB<Ap<B%F>B!B%HB%GBB!B!B!B%];B%@Eԑ E  E |E *E "E :*E P$:VE (N4ZE BE z;a 2E {;a JE };a :E };a /,?A6U>6?66zٱ6 / >AHRS rotation from veh to nav: [[0.860555,-0.490294,-0.138049],[0.505686,0.854859,0.116180],[0.061050,-0.169789,0.983588]]6H?``߿.?[??@A?ſy?i6U>I6C^;6CYFGByFHiuMb@Mb@Mb@qqqq q9ubX9?Q뱿Zd;O?Yqyu\uj<=u}Bq q)uVAqYu AԙbDAVD5y=%?=ٔQ->9Y=0FyEE>Q 54G>?Q 94%l)-BY?Q E:yr>Q I1@DI$;i5;4yzBɮ4BZ!R!b!j!"!!ړ))ڒ)’))5|1@Yɢ]')Y epyia)eaaieމm#nɧmVymxGiu?u]! ,pċ?A2p>2E7?2 zٱ2]// :AHRS rotation from veh to nav: [[0.862102,-0.487610,-0.137900],[0.503023,0.856365,0.116644],[0.061216,-0.169927,0.983554]]2HW?4߿?Xg?hܽ?W?'ſ@Ey?i2p>I2l^;2CYBGByBH DDHHbDN)VDN5yV}=%V]=ٔVQ-V>9XYX=Z0FyZE^ E^>`Q 5f4bN?Q 9f4bi)b.BYdyf>Q If1@bDIb:ib:bX4ylɮnBlZRbj" ړ  ڒ ’ 1@9ɢ=T)A EiA)EAAiE1UnɧU,MUf#$i]S?]6cQy A,oދ?A6[>6v?6zٱ6p./ BAHRS rotation from veh to nav: [[0.863474,-0.485278,-0.137544],[0.500670,0.857689,0.117038],[0.061174,-0.169923,0.983557]]6H?߿ }?@1r?5?`0R? ſKy?i6[>I6^;6CYFGByFHbDR$VDR5yZ;=%ZJ=ٔZy8Q-Z>9\BfE>BdBfHBfGBBf =BdBdBfG;Bf@EY\=n0FynEr}ڻEr>tQ 5z4vBa?Q 9z4v>g)vD.BYxyzy>Q Iz1@vDIvW:ivp:v~4y~BɮBZ!R!b!j!"))ړ))ڒ)’)15%C2@Yɢ])a eia)eaaimmɧmuOiu?ui`.?.Pzٱ.O,. :AHRS rotation from veh to nav: [[0.864879,-0.483022,-0.136654],[0.498251,0.859153,0.116627],[0.061074,-0.168956,0.983730]].H?@޿}Y?`.~?=۽?E? Yſ`z?i.t>I._;.CYBHByBHi=Mb@Mb@Mb@9999 99=A`"?I +K?Y=?y=9=^==gB9 9)99Y=zAbDUVDU?5ye)=%e@=ٔeMw9Q-m>9iYi=m0FymEubٻEu>yQ 54}s?Q 94}d)}|.BY?Q E:y?Q I1@}DI}e:i}L:}4yBɮBEZRbj"ړڒ’ί2@ɢ) Ei EmEm,Ei"Ei*Em3:VEmg4ZEiau@au@au@a}@ M =M 4=9 S,%?A2#>2Qh?2Њzٱ2+. :AHRS rotation from veh to nav: [[0.865639,-0.481717,-0.136449],[0.496923,0.859915,0.116677],[0.061129,-0.168805,0.983752]]2HP?`s޿*w?`l?޽?`ZL?dſz?i2#>I2)_;2CYB7HByB@HIF=)Fp=bDJVDJ-5yR=%VW=ٔVQ-V>9XYX=Z0FyZEZ(EZ>\Q 5b4^#?Q 9f4^"a)^.BYdyf?Q If1@^DI^p:i^g:^4yhɮjBlZ|R|bYjY"YYړYaڒa’aae3@颱ɢ&Tۼ) T]=i)i{ǩɧɽwΠi?G<I? ?I^A=]i EE  EE ~EE )EA "EE %:*EE (:VEE FA4ZEA BEE ;am 2EE ;am JEE ;au :EE ;au ,,?A>_>>?>Eyٱ>B. JAHRS rotation from veh to nav: [[0.866387,-0.480422,-0.136262],[0.495635,0.860593,0.117156],[0.060982,-0.169039,0.983721]]>Hq?>޿` q@}? ? ?@9? ſz?i>_>I>b^;>CYVNHByV\HiMb@Mb@Mb@ 9~jt?A`"?:v?Y?yY==B^A A)?AY AbDVD25yP=%9=ٔO9Q->9Y=0FyE]E>Q 54;?Q 94\).BY}?Q E:y"?Q I1@DI:i:94yBɮ BZRbj"ړڒ’!%3@IɢMnϼ)Q U=iQ)UQQi]&]״ɧ]νe3jieP?e6ԑ }e,jE?A6#>6?6Ӌyٱ6S. >AHRS rotation from veh to nav: [[0.866788,-0.479739,-0.136119],[0.494945,0.860961,0.117370],[0.060887,-0.169106,0.983715]]6H?@ ޿\l/?? ?,?Fſz?i6#>I6^;6CTYZrHBy^HbDnVDnr5yz=%zY=ٔ~ 9Q-~>9Y=0Fy E q E>Q 5-4ϥ?Q 9-4dY)/BY1y5o"?Q I51@DIn?;iz@;4yAɮM BIZRbj"ړڒ’3@ɢbEjEmF4rE0E EE'E"EU:*E*:VE'4ZEa@a@a@a@) >=i)IiubɧuZӽui}?}$A>IIOj>! ,_?AB6F>B4B6|HB6hHBB4B4B4B6;B6@EBا>Bz?ByxٱBe/ JAHRS rotation from veh to nav: [[0.867095,-0.479142,-0.136270],[0.494425,0.861155,0.118137],[0.060745,-0.169811,0.983603]]BH=?B޿Gq@?? 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V?IA!I1IIO]>) EU  EU EU )EQ "EU Ʊ:*EU E7:VEU FA4ZEQ BEU H;a] 2EU J;a] JEU U;ae :EU U;ae ,g=?A2 >2H?2M;ٱ2M >AHRS rotation from veh to nav: [[0.877035,-0.475622,-0.067767],[0.480380,0.866240,0.137344],[-0.006621,-0.153009,0.988203]]2H?@p޿`0Y@? =?`{?{ϕÿZ?i2 >I2Gb;2CYBJByFtHIJ=)J=bDNVDNt5yV)%VR=ٔZ;Q-Z>9XYX=Z1FyZ8E^;E^>`Q 5f4b!?Q 9f4bT)b.BYhyjH?Q Ij2@b/DIbd:ib9:b4yn8Bɮn BlZyRybyjy"ړڒ’G@AɢMH:=)Q ]4?iY)e>/aiim\kvO½ɧ^駍a2i?<I? ?I9A.AIIO%M>Yԉ EY  E] E] (EY "EY *E] ,:VE] c44ZEY ae @ae @ae @ae @,MW?A$2w>2ɨ?2N <ٱ23 >AHRS rotation from veh to nav: [[0.876317,-0.477126,-0.066478],[0.481669,0.865522,0.137357],[-0.007998,-0.152388,0.988288]]2H ? <޿?@[? ?@^auÿ?i2w>I2ۮb;2CYVJByVjHi-Mb@Mb@Mb@)))) )9-Gz?ʡE?&1Y-p?y--2>-P)) -A)))Y-3AbDVD5y%6=ٔH;Q->9  ?Y  ?= 1Fy :EV;E>Q 5%4-?Q 9%4aO).BY%#$?Q E%:y%C?Q I-2@8DI ;i] ;4y5 Bɮ5w B5@EZQRQbQjQ"YYړYYڒa’aae H@颉ɢ:=) 2?i)Ii 顑ie|x ½ɧ駥RiJ?<IJ? J?IA>A>yA؟AIIO%>ԡBC>BBBBBBB;B@E Y,q?A6O>6?6{<ٱ6 >AHRS rotation from veh to nav: [[0.875488,-0.478791,-0.065412],[0.483145,0.864586,0.138067],[-0.009551,-0.152479,0.988261]]6H`?޿پ`??,?_`rÿԟ?i6O>I6 b;6CYFJByFLHbDRVDR5yVY%Vc=ٔZ;Q-Z>9Z"?Y^"?=^1Fy^dQ 5j4fh;?Q 9j4f:K)fp.BYhyjC?Q In2@f?DIf:if:f4yr#Bɮr BpZRbj "  ړ  ڒ’@}GH@AɢEE=)A Es,?iA)EӺIIiMMzU-ýɧUUliUc?USI R,}?A2C>2zx?2D.<ٱ2d :AHRS rotation from veh to nav: [[0.874765,-0.480163,-0.065046],[0.484432,0.863691,0.139154],[-0.010636,-0.153237,0.988132]]2H ?޿ ⦰ ?[??yȅ@Fÿ`Ǟ?i2C>I2b;2CYnJByn;H ppimMb@Mb@Mb@iiii i9mʡE?x&?+Ym?ym7 >mmAi mA)iiYiAAAAbDVD5y %<=ٔ#;Q->9Y=1Fy>Ez_;E>Q 54 M?Q 94F)B.BY"?Q E:y2?Q I2@HDIr;i4T;4yɮ BZRbj"ړڒ’ H@ɢ ,=) )?i)>iP2|8ýɧ%a%sh}i%?%>DD<E% E%E%,E!"E%%:*E%3:VE%g4ZE!a-@a-@a5@a5@qԡ @,B`?A> >>?>|G<ٱ>a FAHRS rotation from veh to nav: [[0.874401,-0.480999,-0.063740],[0.485051,0.863253,0.139708],[-0.012175,-0.153078,0.988139]]>H`?`޿IQ` ?ş??s@ÿ՞?i> >I>xb;>CYNJByN.HbDZVDZ 5yb%bY=ٔbÅ;Q-b>9dYd=f1Fyf@Ef:Ej>hQ 554j!\?Q 954jB)j.BY1y=23?Q I=2@jODIjY;ij;j 4yE'BɮE BABYA]4=BeA>Be;CBejHBeJBBe =BaBaBe;Be@EB%=) ^&?i)Q i}NXýɧb腼i tY? u< I tY? tY?IA!I1IIO]>ԡE-  E- E- &E) "E- :*E- ,:VE- 4ZE) BE) a= 2E) a= JE- ;;a= :E- ;;a= ,3?A2l>2?2dX<ٱ2 :AHRS rotation from veh to nav: [[0.873936,-0.481861,-0.063608],[0.485861,0.862534,0.141329],[-0.013237,-0.154417,0.987917]]2H H?޿H Y?@??@ÿ`?i2l>I2jb;2CYBJByB#HbDJVDJ5yR%RL=ٔR.;Q-V>9TYT=V1FyVBEZ;EZ>\Q 5b4^Al?Q 9b4^c>)^-BYdyfd3?Q If2@^WDI^ ;i^ ;^4yhɮj BhZxRxbxjx"||ړ||ڒ’ aH@)ɢ5L<=)1 5($?i1)53!19i-|ýɧޭi?Jm<I? ?II)IQOm>iߙIߝA1 Y]CG 59 Y &AY bEjEL4rE˨h0E=  E= E= +E9 "E= U:*E= T:VE= [4ZE9 aM @aM @aM @aM @ ,vPٓ?A>E>>Y?>Mj<ٱ> FAHRS rotation from veh to nav: [[0.873770,-0.482258,-0.062867],[0.486129,0.862264,0.142058],[-0.014300,-0.154688,0.987860]]>H?@R޿`??@.?}Iÿ?i>E>I>'b;9Y=1FyDE97:E>Q 54?Q 9 4L:)-BY ?Q E :y '?Q I 2@`DI]:i:4y*Bɮ BAEZ9RAbAjA"AAړAIڒI’IIMI@yɢ}Ž%=)y }?i)q:顁icýɧ 駍 i ?!e<I ?  ?IIqIO>AB=B>B=9qYq=u1FyuFE}E}>Q 54?Q 946)-BYyQ I2@gDI:i:4yɮ BZRbj"ړڒ’MI@qɢuE~2=)y }?iy)}Wr|:yyi}BkýɧK駅âi%?s]<I%? %?ԑIE EE(E"E:*E3:VEc44ZEBE;a2E;aJE;a:E;a II)O5=4=%= t ,C ?A6b>6?61 <ٱ6\ >AHRS rotation from veh to nav: [[0.873635,-0.482710,-0.061264],[0.486308,0.861958,0.143292],[-0.016362,-0.154978,0.987782]]6H?`޿^?)?@hW? Uÿ?i6b>I6\a;6CYv@JByvHiMb@Mb@Mb@ 9Zd;?:v?9Y=1FyHEx :E>Q 54?Q 94z3)o-BY?Q E:y;?Q I2@oDI:i]:4y-Bɮ BZRbj"ړ!ڒ!’!!% >I@Qɢ$=) ?i):i灼ýɧ}w1im?S<Im? m?IIqIO=E EEE"E%:*E0:VEZEa @a @a @a @I 5 ,#&?A 2>2?2ܲ<ٱ2U` >AHRS rotation from veh to nav: [[0.874092,-0.481954,-0.060689],[0.485448,0.862206,0.144713],[-0.017418,-0.155954,0.987611]]2H?`V޿ ?0? ?` ֑Oÿ?i2>I21a;2CYF3JByFHbDNVDN+5yV%V^=ٔV=<;Q-Z>9XYX=Z1FyZJE^h-E^>`Q 5f4b'?Q 9f4b0)bO-BYdyf?Q Ij2@bvDIb:ib:bG4yn1Bɮn. BlBBBHBxJBBBBBZ;B?EZRbj"ړڒ’ I@ɢ'=)  ?i):i%%Ľɧ%ꖾ%wqi-?-'H<)I-? -?I1IIO=ԁԙE  E E )E "E :*E E7:VE FA4ZE BE &;a 2E ';a JE U;a% :E U;a% ,@?A2{>2w?2Yf<ٱ2z :AHRS rotation from veh to nav: [[0.874458,-0.481413,-0.059707],[0.484750,0.862490,0.145357],[-0.018480,-0.156051,0.987576]]2H?`z޿@#???쒿@}ÿ 9?i2{>I2}a;2CYBJByBHPbDJVDJx5yVUM%ZJ=ٔZ+;Q-Z>9\Y\=^1Fy^LEbEb>dQ 5f4f¬?Q 9j4fN-)f+-BYhyj?Q Ij2@f~DIf:if:f[4yrBɮv Bz8EZ)R)b)j)"))ړ11ڒ1’19=@I@aɢeI$=)i m?ii)m;iiimF u[!Ľɧu-}ݯ^i}?}I92Y?2/<ٱ2R :AHRS rotation from veh to nav: [[0.874869,-0.480831,-0.058366],[0.483955,0.862843,0.145908],[-0.019797,-0.155897,0.987575]]2H?޿⭿? i?`?@E@kÿ6?i2>I2$a;2CYyiMb@Mb@Mb@ 9333333?y&1|~jtY?y`廙D ?A)AY(AbD&VDO5y%:=ٔiD;Q->9Y=1FyOEE>Q 54֬?Q 94*)-BY?Q E:ye>Q I2@DI ;iT ; 4yBɮ BZ!R!b!j!"!!ړ))ڒ)’)15 J@ɢ<=) ?i)94;i=Ľɧo?i l?"<Il? l?I)AiIIOG>B C>B B HB EJBB B B B G;B ?EQԁ q,w1t?A2^q>2<?2<ٱ24 :AHRS rotation from veh to nav: [[0.875391,-0.480090,-0.056598],[0.482943,0.863353,0.146244],[-0.021346,-0.155354,0.987628]]2H4?@̹޿r???ەÿ@?i2^q>I2'1b;2CYNJByRHIT)V<bDnVDnQ5yv%vZ=ٔv&;Q-v>9xYx=z1FyzPE~FE~>YaQ 5m4e笉?Q 9m4eH')e,BYiym>Q Im2@eDIe:ie:e 4y}0Bɮ}O ByZRbj"ړڒ’OJ@ɢ&=) ?i)@aM;i\ PĽɧM&j$i? <I? ?IE E{E'E"E:*E5":VE'4ZEBEk;a2El;aJECz;a:EDz;aAaIqԉIO>Ա Y#,$ ?A6 >6?6<ٱ6 >AHRS rotation from veh to nav: [[0.875894,-0.479404,-0.054601],[0.481964,0.863945,0.145980],[-0.022811,-0.154179,0.987780]]6HR?޿`?@o?@z?["ÿ?i6 >I63mb;6CYFIByFgHi=Mb@Mb@Mb@9999 99=\(\?y&19iYi=m1FyuSEu+Eu>ԹQ 54E?Q 94T$),BY?Q E:y>Q I 2@DI3:i<:64y4Bɮp BZQRQbQjY"YYړYYڒY’aae`хJ@颩ɢQ=) >i)Q1i;iq~bĽɧ wie?<Ie? e?IA>A>AAIIIYE EE)E"EƱ:*EE7:VEFA4ZEa@a@a@a@OI>9 ),秔?A6>6c?6 <ٱ6BVF>BTBVHBVJBBTBTBTBVd;BV?E bAHRS rotation from veh to nav: [[0.876598,-0.478328,-0.052712],[0.480610,0.864682,0.146079],[-0.024295,-0.153386,0.987868]]6H ?@޿N?`z?`?&ÿ?i6>I6Tb;6CYfIByjcHbDr1VDr5yz%zR=ٔzy;Q-z>9|Y|=~1Fy~UErE> Q 54 g ?Q 94 !) ,BYy>Q I2@ DI ;i  ; 4y!ɮ%t B!ZARAbAjI"IIړIIڒQ’QQUJ@yɢ"=) >i)1H;顉i,ЄmĽɧ7駕Bi?<I? ?IAIIO>AqE EEE"E:*E0:VEZEBEz;a2E{;a JE߉;a :E߉;a ԙ m0,K?AFmp>F>F<ٱFb RAHRS rotation from veh to nav: [[0.878079,-0.476036,-0.048653],[0.477728,0.866259,0.146185],[-0.027443,-0.151605,0.988060]]FH8?`w޿騿?e?2?` gÿ 0?iFmp>IFc;FCYVIByZZH ||bD'VD5ym|%mC=ٔuz;Q-}>9yY=1FyWEE>Q 54?Q 94),BYya>Q I3@DIG;i6H; 4y7Bɮ B9EZRbj"ړڒ’`J@!ɢ%=)! %>i!)-.;))i-5uĽɧ5/5bni5Tv?=<9I=Tv? =Tv?I9yAI IO-,>ԙE  E {E +E "E :*E 5":VE [4ZE a @a @a @a @ 6,R۔?ABq>Be>B<ٱBÕ NAHRS rotation from veh to nav: [[0.878708,-0.475095,-0.046435],[0.476474,0.866999,0.145897],[-0.029056,-0.150326,0.988210]]BH a? g޿PƧ~?@t?`?@=ÿi?iBq>IB,Cc;BCYRIByV^Hi-Mb@Mb@Mb@)))) )9-A`"?l񢿸Q?Y-?y--u<-GA) ))-A)Y-\AbDVD5y;%D=ٔ~;Q->9Y=1FyYE]E>Q 542?Q 94 ),BYm?Q E:y>Q I3@DI ;i ;Z'4y;Bɮ BZ!R!b!j)"))ړ))ڒ1’1154 K@aɢeUF=)a e>ia)m_ǚ;iiimTSuxĽɧuf޼u뱺iu ?ue9BJ>BBWHBIBBBBB;B@EBqBqBqBqBqCu!4ii Im Aq ,<, ?A$Fc4>F~>F<ٱF NAHRS rotation from veh to nav: [[0.879150,-0.474455,-0.044596],[0.475567,0.867500,0.145872],[-0.030523,-0.149452,0.988298]]FH@!? w]޿Fզo?@??UA;!ÿ"?iFc4>IF29c;FCYVIByV\HbD^ VD^5yf|d%f\=ٔf;Q-j>9hYh=j1Fyj[En2En>pQ 5v4rC?Q 9v4r)r,BYtyz>Q Iz3@rDIr:ir:r-4y|ɮ~ B|ZRb!j!"!!ړ!!ڒ)’))-OK@Yɢ]$=)Y ]X>iY)e0;aaiemTwĽɧmeFa>F2=ٱFIH RAHRS rotation from veh to nav: [[0.879573,-0.473772,-0.043495],[0.474691,0.867774,0.147093],[-0.031945,-0.150026,0.988166]]FHu%?HR޿D`Ua??@?[ 4ÿ ?iFܴ>IF$c;FCYZIByfZH!9Q}u29yY $Ai5Mb@Mb@Mb@1111 195/$?{GztL7A`?Y5?y5ף5+=51A5A 5(A)5A1Y1 Mp9m ?Ym ?=m1Fym]Eu Eu>yQ 54}vX?Q 94})},BY?Q E:yd>Q I3@}DI} ;i}~ ;}54y?Bɮ BGSB*** querying acoustic contact ***:BZRbj"ړڒ’`0K@ɢn=)Ԏ u>i);iNqĽɧM=$;i A ? < I A ? A ?IA]؟AIyIO<>bE=FA4jE=mF4rE=/E EE,E"EU:*E*5:VEg4ZEa@a@a@a@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. I,C)?AAAAAB"L>B"=CB"1HB"IBB" =B B"DB"lj;B"N@EBA_>B[ >B` =ٱB NAHRS rotation from veh to nav: [[0.879837,-0.473429,-0.041862],[0.474091,0.868019,0.147581],[-0.033533,-0.149694,0.988164]]BH'?L޿nW???/+*)ÿ@ ?iBA_>IB؁c;BCYRIByRPHxbDVD5y%M%%a=ٔ%J;Q-->9-"?Y-"?=-1Fy-_E5E5>9Q 5E4=h?Q 9E4=J)=,BYIyM >Q IM3@=ŪDI=:i=:=+<4yQɮU BYZqRybyjy"yyړyڒ’ࡸK@ɢtB&=) z>i)A;iᅼiĽɧM=pׁ;i8j?3<I8j? 8j?IA A >M*DAT read: user:145> UBDAT read: Tx time:21:10:43.8462 ]$Ping request sent.]IE E}E)E"E:*Ek&:VEFA4ZEBEJ>J@0=ٱJ/ ZAHRS rotation from veh to nav: [[0.880065,-0.473111,-0.040650],[0.473566,0.868155,0.148468],[-0.034951,-0.149912,0.988081]]JH })?sG޿ Ф N? ?? 塿Q0ÿ\?iJm>IJIOc;JCY~IBy~:HbDMVDM5Yyeh0%eG=ٔmb;Q-m>9m ?Ym ?=m1FyuaEuEu>yQ 54}{?Q 94}')},BYy>Q I3@}ͪDI}l:i}:}ZC4yCBɮ B:EZRbj"ړڒ’i){;i"]Ľɧ=ҷ;i?Di< I ? ?I IIԉIO>iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502322Ա E  E E (E "E Ʊ:*E *:VE c44ZE a @a @a @a @V,:\?A2׌>2>2=ٱ2 :AHRS rotation from veh to nav: [[0.880240,-0.472853,-0.039834],[0.473137,0.868141,0.149910],[-0.036304,-0.150803,0.987897]]2H*?:C޿` eG??@<0?@eMÿ ڜ?i2׌>I2:c;2CYvIByv9Y=1FycEE>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754271Q 54͍?Q 94 ),BY?Q E:yB ?Q I3@ժDIB;i ;J4y+Bɮ B0EZRbj"ړ  ڒ ’  @%"L@ɢj4=) J>i){;iNĽɧ>;i ?2<*I ?  ?I!BEJ>BABE%HBEIBBABABEDBEω;BEU@EUHüAazAedAIQ Ia u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006141O} >9 ], v?A2ɂ>2/>24=ٱ2DK :AHRS rotation from veh to nav: [[0.880501,-0.472433,-0.039045],[0.472540,0.868173,0.151596],[-0.037721,-0.151931,0.987671]]2H@-?W<޿>??g? :P`wrÿ?i2ɂ>I2b;2CYBIByBKHbDJVDJ5yR=%V[=ٔVy;Q-V>9TYX=Z1FyZeEZEZ>\Q 5b4^??Q 9f4^ )^,BYdyf ?Q If3@^ܪDI^d:i^|:^ Q4yj.Bɮj{ BlZ1R1b9j9"99ړAAڒA’AAMRL@频ɢ*=) |>i)F;项i.%@Ľɧ>=m;iZ ?<IZ ? Z ?I7ƙE EE*E"E:*EVE(N4ZEBEk;a2El;aJEi;a:Ei;aI1IIOU=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061Aiԡ c,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511106:Ō>:.r>:|-=ٱ:5 BAHRS rotation from veh to nav: [[0.880224,-0.473063,-0.037636],[0.472965,0.868013,0.151187],[-0.038852,-0.150879,0.987788]]:H*?@F޿@E E?`?Z?@g䣿Oÿ?i:Ō>I:9Y=1FygEM:E>Q 54?Q 94y),BY?Q E:y?Q I3@DI:i:X4y1Bɮ} BZ1R1b9j9"99ړ99ڒA’AAEnL@q颱ɢ] =) #>i);;项i.Ľɧ>8;i] ?<I] ? ] ?Ia==E EE'E"E:*E,:VE'4ZEa@a@a@a@Ա IyIO~>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762100 B= F>B= F|>F#=ٱF NAHRS rotation from veh to nav: [[0.880078,-0.473330,-0.037702],[0.473157,0.867554,0.153205],[-0.039808,-0.152671,0.987475]]FH`)? K޿M6H??4?`a@ÿ e?iF^>IF^cb;FCYVIByVTHIZ>)Z>bDbVDb5yf;%jW=ٔj$;Q-j>9lYl=n1FyniErE$:Er>tQ 5v4v?Q 9z4v)v,BYxyz?Q Iz3@vDIv":iv:vA_4yɮ z B Z9R9b9j9"AAړAIڒI’IQU$L@频ɢ2-=) ?>i)D;顡i&B Ľɧ>駭+;i_ ?F<I_ ? _ ?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014112E EE*E"EU:*E.:VE(N4ZEBE;a2E;aJE ;a:E ;a) ^A rg:I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266125q,Wĕ?AFj>F>FP (=ٱFI ^AHRS rotation from veh to nav: [[0.879883,-0.473788,-0.036487],[0.473416,0.867377,0.153407],[-0.041035,-0.152254,0.987489]]FH`'?R޿`sL??٢?@ }ÿ?iFj>IFa;FCYbJByfzHbDnVDnD5yv=%vH=ٔvXE;Q-z>9xYx=z1FyzkE~@N:E~>Q 5 4ѭ?Q 9 4),BY y ?Q I3@DI:i :af4y4Bɮb B1EZ9R9b9jA"AAړAAڒI’IIM L@qɢ}r2=)y }?iy)}Œ<顁i7iĽɧ>駍מ;i` ?;I` ? ` ?I^AII O5=IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518066yԡ D zD AAE  E ~E (E "E 7:*E (:VE c44ZE a @a @a @a @1w,-ޕ?A2k>2>2+=ٱ2nM :AHRS rotation from veh to nav: [[0.879512,-0.474539,-0.035655],[0.474026,0.867027,0.153508],[-0.041931,-0.151913,0.987504]]2H$?@^޿ mA oV?? #?@wqÿ࡙?i2k>I2da;0@Y^ JBybHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770155iMb@Mb@Mb@ 9Cl?X9v?I +?Y;?y=9<1A ?A) AYAbDVD5y3<%==ٔ;Q->9Y=1FymE:E>Q 54㭉?Q 94k),BY7"?Q E:y/?Q I3@DIX ;i ;m4yɮ] BZ!R)b)j)"))ړ)1ڒ1’11=Z%M@颁ɢ/=) ?i)-` <11i5>=BĽɧ=m >E;iE|+ ?E\;IIM|+ ? M|+ ?IqԩBD>BBBBBBB;B6@E^AAgAzAiA] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849A ؟A I I! O5 > \},?A2>2Υ>2-=ٱ2 >AHRS rotation from veh to nav: [[0.878991,-0.475491,-0.035830],[0.474964,0.866404,0.154117],[-0.042238,-0.152486,0.987403]]2H` ?pn޿[Xe??@?3`ÿ`͘?i2>I2#`;2CYBJByFwHbDNVDN 5yVY%V_=ٔV[:Q-Z>9Z"?YZ"?=Z1FyZoE^@;E^>`Q 5f4b?Q 9f4b)b,BYdyf0?Q Ij3@bDIb:ib:bYt4yn8Blɮnk BpZRbj"  ړ  ڒ ’ ?TM@9ɢ=N<=)A E?iA)Ei iY I] Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527039/P,H?AJS>J>J/=ٱJ VAHRS rotation from veh to nav: [[0.878638,-0.476169,-0.035477],[0.475560,0.865999,0.154555],[-0.042872,-0.152670,0.987347]]JH? y޿*o?@D?@x?FÿX?iJS>IJ_;JCYZIByZmH!iEMb@Mb@Mb@AAAA A9E{Gz?p= ף?~jth?YE#?yE>ED;EAEGA A)E7AAYEQAbD]VD]5yma%m==ٔm:Q-u>9qYq=u1FyuqE}R:E}>Q 54)?Q 94),BY0'?Q E:y1?Q I3@DI:is:{4yɮs BZ9R9b9j9"AAړAAڒA’IIM{M@频ɢ,=) l>i)?<项i&Pýɧs=;i?Y;I? ?IIIIO'>Dm=Dm%=Eu EuEu)Eq"Euغ:*Eua9:VEuFA4ZEqa}@a}@a}@a}@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778158ԩ A A B B>B B 1HB IBB =B B DB ;B +@EBBBB˒ =B˒ =C*N5n,8+?A>>>4>>R0=ٱ>n JAHRS rotation from veh to nav: [[0.878061,-0.477185,-0.036092],[0.476597,0.865188,0.155903],[-0.043168,-0.154094,0.987113]]>H`?2޿z@? ??( Vÿm?i>>I> _;>CY=JBy=sHbDUVDU5ym0<%mL=ٔu B:Q-u>9yY=1FysETA;E>Q 54?ԙQ 94c),BYyJ2?Q I3@DI}0;ig1;4y#BɮE B(EZRbj"ړڒ’@M@ɢ $;=)  Q?i ) z <i`ýɧ=Є;i-?;!I%-? %-?I!Au>Au>BDAT read: Rx Time:21:10:47.4865 TRx dataTimestamp_ set to:1761513048.784669%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031276IQIaOu>E E~E-E"E:*E(:VEt4ZEBE&;a2E';aJE;a:E;a checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282244) V,E?A2->2>22=ٱ2 :AHRS rotation from veh to nav: [[0.877816,-0.477590,-0.036693],[0.477008,0.864627,0.157746],[-0.043612,-0.155975,0.986798]]2H?Ԑ޿|ɢK?@?@1?AT ÿٓ?i2->I2B^;2CYBIByBiHbDJVDJ/5yR}%VX=ٔV:Q-V>9TYX=Z1FyZuEZ-:EZ>`Q 5f4b&?Q 9f4b;)b,BYdyfg2?Q Ij3@bDIb:ib :b4ylɮnM BlZYRYbYjY"Yaړaaڒa’aimM@颱ɢ&N8=) n>i)&<iiýɧ=x`O;iG?s;IG? G?IIyIO=) l>CDAT read: 21:10:47.4865 LVL= 15008, 15441, 15826, 20931, AGC= 80, IDX= 203, 0.06, 2.597, 0.724, 2.356, 2.100, PHS= 0.599,-1.330, 0.213, RAW= 139.1, 5.9, CAL= 138.9, 6.7, ROT= 11.1, -6.7 Ygot valid direction response: 21:10:47.4865 LVL= 15008, 15441, 15826, 20931, AGC= 80, IDX= 203, 0.06, 2.597, 0.724, 2.356, 2.100, PHS= 0.599,-1.330, 0.213, RAW= 139.1, 5.9, CAL= 138.9, 6.7, ROT= 11.1, -6.7 8DAT read: $Error in header *Received a bad headerG %X#Rx 1: Read direction message, but no range.-\direction in FSK: [0.974591,0.191207,0.116671]y)-2/?yy?mu"޽?)-:-Q<-= -Q)-PI-X?i-q=-Z>-O`@-B=-'@ -|=)-aF>I-|ゥ)-|X?0?rKK/`? ->)-XgӽI-aF>i-|U9YY]kAQy D zD bE)jE-C4rE-./E  E E (E "E 7:*E 0:VE c44ZE a @a @a @a @,du_?A2q>2I>24=ٱ2G+ :AHRS rotation from veh to nav: [[0.877394,-0.478403,-0.036211],[0.477738,0.864240,0.157657],[-0.044128,-0.155626,0.986830]]2H?@'޿@@?ۧ?.?@ ÿ@?i2q>I2u^;0YRIByR]Honly read 0 of 1 data item for altitude. Device response is::BD, +244.91, +5965. 29.07, 0.00 a@a a@a a@a a@a bDVD5y%9=ٔ:Q->9Y=1FywEN:E>Q 548?Q 9 4X),BQ A +:Y Q E:y2?Q I3@'DI^;i>Ϗ4y%&Bɮ%] B)yZRbj"ړڒ’7+N@IɢM\-=)Q ]>iY)]|.ԡB?>B;CBBBBBB;B;@E 3,Py?A2>2>2#6=ٱ2{ :AHRS rotation from veh to nav: [[0.876948,-0.479237,-0.035969],[0.478524,0.863817,0.157590],[-0.044452,-0.155410,0.986849]]2H ?ϫ޿j $?c?+?t¦|ÿ E?i2>I2X^;2CY^IBybpHbDjVDj-5yr"&=%r[=ٔrbd:Q-r>9tYt=v1FyvyEv;Ez>xQ 5~4zFH?Q 94zB)z,BQ A :YQ EU:y2?Q I3@z/DIzu ;izQ?z4yɮN BZRbj"ړڒ’'ZN@ɢ (C=)  O>i )  4< inýɧ<:i&?;I%&? %&?I!A5iAzA5gAE] EYE]+EY"E]%:*EYVE] [4ZEYBE];am2E];amJE]߉;am:E]߉;amIIO=) Ɣ,6?A$Rr>R?Rl7=ٱR ZAHRS rotation from veh to nav: [[0.876587,-0.479916,-0.035716],[0.479157,0.863476,0.157540],[-0.044766,-0.155211,0.986867]]RH ?޿ RI@??C*?릿@ÿ@i?iRr>IR^;RCYbIBybJHaEaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9ML7A`?/$?{GzYM+'?yM1>MףMAI MVA)IIYMAaabDeVDeV5yŠ%:=ٔ4;:Q->9Y=1Fy|E:E> Q 54 )[?Q 94 W) `,BQ AT:Y*?Q E:y1?Q I3@ 8DI ;i m ; 4y%)Bɮ%s B)ZARIbIjI"IIړQQڒQ’QQ]`N@颁ɢ1=)  >i):<顉id<ýɧo;駕XO9iI?2;II? I?IIQIaiOu=DYD]=Ee EeEe-Ea"EeƱ:*Ee3:VEet4ZEaam@am@am@am@ԑ B} <A} <B >>B B %HB IBB =B B B ;B P,t ?AP^ >^f?^N7=ٱ^Y, jAHRS rotation from veh to nav: [[0.875949,-0.481091,-0.035583],[0.480315,0.862921,0.157053],[-0.044852,-0.154662,0.986949]]^H@?/޿7 {? ? S?`ÿ?i^ >I^^];^CYvIByvGHbD~ VD~5y Q% [=ٔ 0p9Q->9Y=1Fy}Eh;E>!Q 5-4%1k?Q 9-4%))%F,BY1y5@2?Q I53@%@DI%4:i%:%I4y9ɮ=u B9ZYRabaja"aaړaiڒi’iimſN@颙ɢ:=) >i)6@<顡ihýɧa駭_4i L?M;I L?  L?IAIIO>Eu EuEu)Eq"Euغ:*Eu*:VEuFA4ZEqBEu26?2 8=ٱ2Q :AHRS rotation from veh to nav: [[0.875494,-0.481905,-0.035743],[0.481137,0.862440,0.157174],[-0.044917,-0.154803,0.986924]]2H ?޿ L@??@K?W ÿ@?i2N>I2];2CYvIByv4H|bDVD5y C%J=ٔ(9Q->9Y=1FyE%c;E%>)Q 5-4-|?Q 954-)-),BY1y5}2?Q I53@-IDI-:i-:-Y4yE,BɮE BE)EZaRabaja"iiړiiڒi’iquN@颙ɢxN2=) 1>i)t2F<顡is_ýɧ駵sYٺi ?;I ?  ?IA>A>A-.A9IYIO>Qԉ E  E E E "E Ʊ:*E *5:VE ZE a @a @a @a @η,Ͼ?A2E>2{?27=ٱ2- :AHRS rotation from veh to nav: [[0.874869,-0.483049,-0.035617],[0.482276,0.861932,0.156467],[-0.044882,-0.154066,0.987041]]2H?F޿ n<?@? ? nÿ`֕?i2E>I2];0YRIByRHIV=)Vp;ԙiMb@Mb@Mb@ 9w/?!rh?y&1Y&?yl=`1A )MAYbD VD5yO%<=ٔQ->9 ?Y ?= 1Fy E `D;E >Q 54m?Q 94),BY%)?Q E%:y%*?Q I%3@RDI3:i':4y-Bɮ-q B-EZIRIbQjQ"QQړYYڒY’YYe"+O@颉ɢ@)=) >i)OL<顑ieEEýɧ:駝iG?T5;IG? G?IAIIO (>B-=>B)B-HB-IBB)B)B)B-ȉ;B-D@E ,5?A26>2)?29=ٱ2q8 :AHRS rotation from veh to nav: [[0.874595,-0.483568,-0.035297],[0.482746,0.861699,0.156303],[-0.045168,-0.153741,0.987078]]2H?`޿qP? ??@8 @ɭÿ %?i26>I2i];0YfIByfHbDnVDnA5y%%-Y=ٔ-AG:Q-->9)Y1=51Fy5E5:E5>9Q 5E4=ҟ?Q 9M4=)=+BYIyM+?Q IM3@=ZDI=-:i=g:=4yUBɮ]~ BYZyRybyjy"yyړڒ’`S[O@颱ɢA1=) >i)Q<项i9ýɧf8iU?;IU? U?I E EE*E"E:*E?:VE(N4ZEBE;a2E;aJE;a:E;aA؟AIIO% >!Qԁ 7,?Af8>fQ?f{9=ٱf nAHRS rotation from veh to nav: [[0.874204,-0.484285,-0.035157],[0.483445,0.861361,0.156006],[-0.045269,-0.153378,0.987130]]fHy?޿`?E??u-@ÿ ?if8>Ifk];dYvIByvHiMb@Mb@Mb@ 9S㥛?MbX?y&1Y$&?y=AGA )YbDVDyZ%@=ٔy9Q->9"?Y"?=1FyE:E>Q 54}?Q 94)+BY7(?Q E:y&?Q I3@cDI ;i~ ;4yBɮ B EZ!R!b!j!"!)ړ))ڒ)’115O@Qaɢe(=)a ec>ia)mWWE EE'E"EU:*E0:VE'4ZEa@a@a@a@ԩA A B! B! B% HB% IBB! B! B! B% ߉;B% [@E i ,S.?A:i6>:q?:Ւ:=ٱ: BAHRS rotation from veh to nav: [[0.873956,-0.484749,-0.034909],[0.483867,0.861135,0.155948],[-0.045534,-0.153183,0.987148]]:Hs?"߿ߡ ?j?? JPÿූ?i:i6>I:];:CYJIByJH LLbDVVDV5yZ Ž%^^=ٔ^B=:Q-^>9`Y`=b1FybEfU:Ef>dQ 5j4f®?Q 9n4f)f+BYlyn;&?Q In3@fjDIf:if*:fe4ypɮv BtZ R b j "  ړ ڒ’ O@AɢE(=)A E@>iA)E[E E~E+E"E*E(:VE [4ZEBE;a2E;aJE;a:E;a 1 L,*H?A6z>6L?6<=ٱ6[k BAHRS rotation from veh to nav: [[0.873494,-0.485601,-0.034632],[0.484666,0.860694,0.155901],[-0.045898,-0.152964,0.987165]]6H`?߿@K?͊??@Pÿۖ?i6z>I6];6CYJ|IByJHbDRVDRj5yZ;%ZK=ٔ^l:Q-^>9\Y\=b1FybEb;Eb>dQ 5j4fLԮ?Q 9j4f)f+BYhyny&?Q In3@fsDIf:if;fq4yrBɮr BpZRb j "  ړ  ڒ’@O@AɢEZd"=)A E}>iA)M`nb?nj==ٱn3[ AHRS rotation from veh to nav: [[0.873219,-0.486118,-0.034338],[0.485124,0.860413,0.156022],[-0.046300,-0.152900,0.987157]]nHh?߿͔G ?? ?:ÿ@ɖ?in>Inľ];nCY-qIBy-HiMb@Mb@Mb@ 9 r?+?QY#?y=A )dAYpAbD VD5yϼ%9=ٔUn:Q->9Y=1FyE:E>Q 54箉?Q 94+)r+BY$?Q E:y?Q I3@|DI@:i:,4y ɮ BZRbj"ړڒ’P@ɢ4=) >i!)%%PfAE>qB?>BBHBIBB =BBBމ;B]@EB;CB;CBBĔ =BĔ =Co5AqIIO=>ԙ F,{?A2>2$?2>f>=ٱ23 :AHRS rotation from veh to nav: [[0.872593,-0.487296,-0.033519],[0.486232,0.860060,0.154517],[-0.046467,-0.151129,0.987421]]2HH?/߿`)@m?? 9? ʧ`/Xÿ?i2>I2p];2CPYR[IByRHIV<)V=bD^ VD^5yfJp%f^=ٔf9Q-f>9hYh=j1FyjEnb;En>AQ 5M4Em?Q 9M4En)EW+BYIyM5?Q IU3@EDIE[:iER:E4y]!Bɮ] BYZyRybyj"ړڒ’.P@颹ɢU!=) >i)Kj<iglĽɧ$qi?R;I? ?IE E~EE"EU:*E(:VEZEBEa2EaJEa:Ea^A}ΒA.AIIO>! G  d79 Y (A0,ŕ?A|>ub??=ٱ %AHRS rotation from veh to nav: [[0.872124,-0.488162,-0.033123],[0.487046,0.859675,0.154095],[-0.046748,-0.150522,0.987501]]H q? >߿+?t?@a?V刺RDÿ?i>I^];CY5:IBy5HiMb@Mb@Mb@ 9T㥛 ?T㥛 ?V-Y!?y=A )MAYbDVDh5y%7=ٔ$:Q->9 ?Y ?=1FyE ;E%>!Q 554%e ?Q 954%^)%9+BY5!?Q E5:y5?Q I53@%DI%] ;i%;%h4yAɮE BAZaRabaja"aiړiiڒi’qquJP@颙ɢP7=) N>i)Ҫn<顡iĽɧ駵HU\ih?q;Ih? h?I^A9)bE5ŷG4jE5I4rE5/E EE*E"E*E*:VE(N4ZEa@a@a@a@A9IIIaOuX>Qy B <A p<B @>B B HB QIBB =B B B ʼn;B D@Eg,ׯ?A2I>24?2@=ٱ2t[ :AHRS rotation from veh to nav: [[0.871698,-0.488914,-0.033237],[0.487781,0.859169,0.154589],[-0.047024,-0.150968,0.987420]]2H?_J߿7?@P~??@Rÿ?i2I>I2];2CYf,IByfmHbDn VDn5yv%v]=ٔvD:Q-z>9xYx=z1FyzE~;E~>Q 5 4?Q 9 4)+BY y1?Q I3@DI :i:4y Bɮ BE9ZARAbAjA"IIړIIڒI’QQU@ubP@ɢ=) 9>i)L:r<iτJĽɧ}.Kiǥ?>;Iǥ? ǥ?I@!@!@!@!E EE+E"EƱ:*E3:VE [4ZEBEH;a2EI;aJE;a:E;a M@,.qɗ?A6֕>6?6-A=ٱ6|[ >AHRS rotation from veh to nav: [[0.871390,-0.489476,-0.033070],[0.488303,0.858850,0.154715],[-0.047328,-0.150965,0.987405]]6Hl?S߿\@?{?? 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M?IQԡAIIO$>E EyEE"E:*E:VEZEa@a@a@a@ PExceeded connect timeout, disconnecting. 㨘,LRd?A6`:>6s ?6ٱ6O' BAHRS rotation from veh to nav: [[0.859251,-0.503410,-0.090914],[0.511473,0.848599,0.135185],[0.009096,-0.162657,0.986641]]6H~?``F]?'?`M?@⠂?Ŀ?i6`:>I6$`;4YDyHIN%=)Np=bDR-VDR5yZ :%Z<ٔ^UWQ-^>9\Y`=b2FybkEba;Eb>dQ 5j4f=ߵ?Q 9j4fe&)f%BYlyn5?Q In5@fDIf;if;f4yr\BɮrU BtZ R b j "  ړ ڒ’`s[@AɢE:)A EξiA)M»IIiM;/»Ump½ɧUUOiUQ?U@;YI]Q? ]Q?IYA.AIIO=AiB B B $HB FBB B B B ;B KAEE  E xE E "E a:*E :VE ZE BE g;a 2E h;a JE Xo;a :E Yo;a |؞,cD~?A l> B ? 'ٱ Z>) AHRS rotation from veh to nav: [[0.858762,-0.503878,-0.092926],[0.512274,0.847963,0.136142],[0.010199,-0.164517,0.986322]] Hz?ʷd?`"?m?`Y?ſ ?i l>I `; CY-nFBy-HiMb@Mb@Mb@ 99 ?Y ?=2FymE ;E>Q 54?Q 94")%BY?Q E:y)0?Q I5@ɮDI:is:4y_BɮO BZ1R1b1j1"99ړ99ڒ9’9AE 2[@ԉɢe) Ⱦi)ȓλi򑿻|½ɧнIzi5W?,;I5W? %5W?I)A=hAzA=hAAu؟AIIO=>ԱiiIi 庥,?A2>2c ?2^6ٱ2q* :AHRS rotation from veh to nav: [[0.858557,-0.503993,-0.094187],[0.512598,0.847735,0.136340],[0.011131,-0.165336,0.986175]]2H Ly? @3g? ?@s?ˆ? )ſཎ?i2>I2D`;2CYBpFByBHbDJ.VDJ&5yR;%Rb=ٔVl(Q-V>9V"?YV"?=Z2FyZoEZȊ:EZ>\Q 5b4^?Q 9b4^)^%BYdyf<0?Q If5@^ЮDI^9:i^|:^4yhɮjM BhZxRxbxj|"||ړ|ڒ’J[@E EE*E"E:*EVE(N4ZEa@a@a@a@ɢR) Ǿi)%ػiḂ½ɧ/i)?X;I)? )?I!=nManaging dock network, ignoring radio surface power offA!I1IAOm>I ,m汢?A2E>2 ?2~Fٱ2) >AHRS rotation from veh to nav: [[0.858182,-0.504475,-0.095022],[0.513203,0.847486,0.135609],[0.012119,-0.165143,0.986195]]2H 9v?@$`^S`)l? ?[?ш?d#ſ`?i2E>I2{`;0YBnFByFHbDN0VDN5yV"%VJ=ٔV Q-V>9XYX=Z2FyZqE^:E^>`Q 5f4b, ?Q 9f4b)b%BYdyfk0?Q Ij5@bخDIb3:ibL:b"4ylɮnP BlZ|R|b|j"ړڒ’   c[@1ɢ57)9 =Ⱦi9)= AAiEdMה½ɧMXMZջiMo?Mъ;IIMo? Uo?IQBBBBBBBB;BQAEByByByByByC}3IAiIqIO=DD<E E}EE"Eҝ:*Ek&:VEZEBE;a2E;aJEŀ;a:Eƀ;ayԩ ̲,Hˢ?A2q>2 ?2Uٱ2Y* :AHRS rotation from veh to nav: [[0.857999,-0.504556,-0.096237],[0.513486,0.847295,0.135735],[0.013055,-0.165877,0.986060]]2Ht?Q% yn? ?_?@?`u;ſ͍?i2q>I2`;2C@YZiFBy^HiMMb@Mb@Mb@IIII I9MI +?Dl?&1YM9?yMO=MPMBI MdA)MAIYMQAbDe>VDe5ymE%u>=ٔuQ-u>9yYy=}2Fy}sE}&M:E>Q 54?Q 94)p%BY?Q E:yF$?Q I5@DI ;i ;4ybBɮ[ BEZRbj"ړڒ’`h[@ɢ ) K˾i)+i G ½ɧ  Pܻi?M;I? ?IA>A>Ա aq009Y!AIIO (>E EE+E"E*EVE [4ZEa@a@a@a@ ,9墣?A2e>2 ?2eٱ2&+ :AHRS rotation from veh to nav: [[0.858035,-0.504300,-0.097246],[0.513400,0.847355,0.135680],[0.013979,-0.166344,0.985969]]2Hu?9#帿m??`]?ݠ?@Jſ@?i2e>I2q`;2CYR]FByRHbDZUVDZ5yb%bV=ٔf]Q-f>9dYd=j2FyjuEj#|Ej>1Q 5=45-?Q 9=45 )5[%BYAyE=$?Q IE5@5DI5;i5;54yIɮMf BQZiRqbqjq"qqړqyڒy’yy [@颩ɢo)  Ѿi)顱iL>½ɧ 駽 i?V;I? ?IIIO>9BBBBBBBB܊;BxAEa bEMʙT4jEMR4rEMʟ.E  E E )E "E :*E :VE FA4ZE BE z;a 2E {;a JE ;a :E ;a %,Y?A1}|>} ?}8tٱ}KI+ AHRS rotation from veh to nav: [[0.857931,-0.504305,-0.098143],[0.513549,0.847327,0.135294],[0.014930,-0.166474,0.985933]]}H*t?@C#n?M?@RQ?|?OſŒ?i}|>I}e`;yYaFByHI=)49YYY=]2Fy]wEe59Ee>iQ 5u4m??Q 9u4m')mH%BYu"?Q Eu:y}>?Q I}5@mDIm: ;im:mE4yIBɮ1 BEZRbj"ړڒ’ [@Yɢ] )Y eϾia)e顁i½ɧ駍7ڻi?;;I? ?II)I9OE>iԑԹ ; ,]?A28W>2) ?2Jٱ2?+ :AHRS rotation from veh to nav: [[0.858066,-0.503944,-0.098807],[0.513296,0.847549,0.134860],[0.015782,-0.166436,0.985926]]2HGu?`N bKl?? C? )?Mſ?i28W>I2 `;2CYBeFByBHbDN[VDN@6yR6<%Vj=ٔVQ-V>9XYX=Z2FyZyEZ2WE^>\Q 5b4^M?Q 9f4^ )^9%BYdyf+?Q If5@^DI^K:i^:^a4ylɮn- BlZ|R|bj"ړڒ ’   i[@9ɢ=Q)9 =;i9)=<<AAiE𱻩M½ɧMM+ԻiM?Mf;IIM? U?IQAeiAzAejAE} E}EyEy"E}ҝ:*E}3:VEyZEya@a@a@a@I!I9OM=9iԑ 53,+3?A6>6 ?6򋇼ٱ6R+ BAHRS rotation from veh to nav: [[0.858504,-0.503086,-0.099372],[0.512540,0.848045,0.134622],[0.016545,-0.166505,0.985902]]6Hx? H@pp@f? /#?J;?K? Pſ?i6>I6_;6CY^]FBybHbDjbVDj6yrg%rG=ٔrQ-r>9tYt=v2Fyv{Ev Ez>xQ 54zU^?Q 94z)z(%BY y ?Q I 5@zDIz!;iz@#;z 4yLBɮ< BEZ1R1b1j1"99ړ99ڒA’AAE [@iɢu)q u}Ѿiq)u yyi}¯,½ɧ駅̻i?;I? ?IBYBYBYBYBYBYBYB]ߊ;B]{AEqIIO=E E}E'E"E:*Ek&:VE'4ZEBE;a2E;aJEŀ;a:Eƀ;aԡ Z,M?A2qȣ>2ƺ ?2/ٱ2* :AHRS rotation from veh to nav: [[0.858601,-0.502827,-0.099845],[0.512347,0.848303,0.133727],[0.017458,-0.165973,0.985976]]2H y?(v %e?`L%?`?`j?>ſ?i2qȣ>I2 }_;2CYNgFByRH TTiuMb@Mb@Mb@qqqq q9uA`"?:v?~jtYu?yu9Y=2Fy}EE>Q 54tp?Q 94Q =tI)!%BY[?Q E:y?Q I6@DI;i;4yOBɮ7 BZRbj"ړڒ’ \@!ɢ-)) -.̾i))-PS)1i5w=½ɧ==Mi='?=;9I='? E'?IAA!I)I9OM0>E EvE)E"E*E:VEFA4ZEa@a@a@a@) E,zf?A2M>2c} ?2ٱ2V* :AHRS rotation from veh to nav: [[0.859069,-0.501969,-0.100133],[0.511536,0.848893,0.133085],[0.018197,-0.165550,0.986033]]2H }?"K^?@"*?@?Y? 0ſ?i2M>I2??_;2CYBdFByBHbDN^VDN6yV%V[=ٔVQ-V>9XYX=Z2FyZE^e$E^>`Q 5f4bL?Q 9f4b)b%BYdyf?Q If6@b DIb:ib:b4ylɮn: BlZ|R|b|j|"ړڒ’    \@ɢ) ;i)-i޲-½ɧνѤiK?s;IK? K?IA5>A5>1AaIqIO>YBQBQBQBQBQBQBQBU;BUAEԁ D zD AAE  E xE *E "E :*E :VE (N4ZE BE ;a% 2E ;a% JE Xo;a- :E Yo;a5 .,Ā?AH2>'L ?WٱѶ* AHRS rotation from veh to nav: [[0.859442,-0.501191,-0.100831],[0.510883,0.849282,0.133109],[0.018921,-0.165912,0.985959]]H@?@ `й'Y? R-? ? `?<ſ?i2>I,_;CYjFByHi]Mb@Mb@Mb@YYYY Y9]X9v?l?Mb`Y]?y]=]YY ]dA)YYY]AbDuPVDu5yAU<%0=ٔ,̺Q->9Y=2FyEӺE>Q 54Y?Q 94j)%BY<?Q E:yG?Q I6@DI:i:#4yRBɮZRbj"ړڒ’6\@ɢ) ʾi){IiԹ%½ɧ%c%i%f?%n;ԩ)If? f?IAIIOF> 0W,$?A6`>6 ?6{ܡٱ6W]+ >AHRS rotation from veh to nav: [[0.859967,-0.500111,-0.101717],[0.509967,0.849797,0.133334],[0.019757,-0.166536,0.985837]]6H@ل?& Q?1?`? 9;? Qſ?i6`>I6*_;4YFbFByFHIJ%=)HbDROVDR5yZ﮼%Zn=ٔZQQ-Z?9\Y\=^2Fy^Eb7IEb?dQ 5j4f2?Q 9j4fI)f%BYhyj?Q Ij6@fDIf:ifp:f)4lypɮrA BtZ R b j "  ړ ڒ’L\@iɢmw$)q uξiq)u qqiuߧýɧ׮駍ߋij{?<;Ij{? j{?IEu EuyEqEq"EuC:*Eu:VEqZEqa}@a}@a}@a}@AIIO> 1a H,&s?A2>2d?25ٱ2-* :AHRS rotation from veh to nav: [[0.860308,-0.499491,-0.101872],[0.509362,0.850309,0.132384],[0.020498,-0.165780,0.985950]]2H?@߿DL? 5??@f?@K8ſ@?i2>I2^;2CYBfFByBHbDJ@VDJJ5yR"<%VK=ٔVQ-V>9TYX=Z2FyZEZrEZ>Q 54 ?Q 94)%BYy?Q I6@%DI;iv;04y-UBɮ-C B-E9ZQRQbQjQ"QQړQYڒY’Yae0g\@颉ɢ) ̾i)@&顑io ýɧZ駥]}iÔ?Z;IÔ? Ô?IAhAzAhAB<A<BBB0HBFBBBBBΊ;BjAEAIIYqIyO>E% E!E%(E!"E%ҝ:*E!VE%c44ZE!BE%;a-2E%;a5JE%r;a5:E%r;a5ԙ *i,QNΣ?A2=>2,?2eٱ2) :AHRS rotation from veh to nav: [[0.860397,-0.499305,-0.102036],[0.509180,0.850603,0.131192],[0.021287,-0.164831,0.986092]]2H@_? ߿ 3K? #8??@I̕?`1ſ?i2=>I2˻^;2CYBbFByBHiMb@Mb@Mb@ 9'1Z?&1?y&1?Y"?yP=`e< )YbDm6VDm5y}#%==ٔQ->9Y=2FyEE>ԙQ 54Ƕ?Q 94r)'%BY`#?Q E:y?Q I6@.DI:i:B84yɮH BZRbj"ړڒ’.\@ɢ) ξi)m+!!i%)-Býɧ--?kvi-?-?y;)I-? 5?I1AIIO>E- E-~E-)E)"E-:*E-(:VE-FA4ZE)a=@a=@a=@a=@ g,)裣?A2&>2?2&ٱ2) :AHRS rotation from veh to nav: [[0.860147,-0.499602,-0.102688],[0.509559,0.850524,0.130226],[0.022277,-0.164339,0.986152]]2HS?z߿ION?@}7?>? ϖ? ſ@?i2&>I2^;2CYBlFByB HbDJ+VDJu5yR<%RY=ٔV,Q-V>9TYT=V2FyZEZ\:EZ>\Q 5b4^׶?Q 9b4^)^/%BYdyf ?Q If6@^5DI^:i^|:^>4yj]` ?];`ٱ]( AHRS rotation from veh to nav: [[0.859793,-0.500093,-0.103265],[0.510120,0.850319,0.129363],[0.023115,-0.163903,0.986206]]]H@l?@`oR? 5??@}?Ŀ?i]}>I]Cl^;]CYoFByHIiMb@Mb@Mb@ 9E?V-?Q?Y&?yh=u<}BA )YAbDVDQ5y;%-=ٔQ->9Y=2FyE :E>Q 54춉?Q 94)8%BY'?Q E:y|%?Q I6@?DI ;i2 ;G4yɮ BZRbj"ړ ڒ ’   \\@9ɢ={)9 =3Ⱦi9)E6AAiE۠Mb&ýɧMM?iMs?Uμ;QIUs? Us?IQAm>Am>IAIQO]3>qԱ  E d59A YM &A R,?A2ʢ>2; ?2üٱ2f8( BAHRS rotation from veh to nav: [[0.859478,-0.500526,-0.103790],[0.510615,0.850143,0.128562],[0.023888,-0.163493,0.986255]]2H ׀?NV? `4?t?u?`WĿ g?i2ʢ>I2X2^;2CYNlFByN HbD^VD^x5y%x%-h=ٔ-ZQ-5>91YI=M2FyMEU:EU>YQ 5m4]}?Q 9u4]1)]>%BYqyu%?Q Iu6@]GDI]"&;i]?;]QM4y?Bɮ BEE E|E)E"EC:*EP$:VEFA4ZEa@a@a@a@GSB*** querying acoustic contact ***:BZRbj"ړڒ’p\@ɢ%) ɾi)_;i%Js.ýɧîϋiQv?; I Qv? Qv?I }2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.ԱIIO= - DAT read: - BDAT read: Tx time:21:11:43.8961 5 $Ping request sent.5 2*_ ?2ȼٱ2( :AHRS rotation from veh to nav: [[0.859190,-0.500835,-0.104678],[0.511071,0.849844,0.128735],[0.024485,-0.164105,0.986139]]2H{~?` *̺Z? 1?_z??eſ s?i28>I2];2CYNoFByRHIV<)V4=bDZVDZz5yvO;%vN=ٔvźQ-v>9xYx=z2FyzEz:E~>Q 5 4 ?Q 9 4)F%BY y %?Q I 6@ODIk:i:*T4yAAAABBBBB =BBB;B|AEɮ BZRbj"ړڒ’\@Qɢmo )i m3Ⱦii)u @qqiu}{8ýɧ}º}vhi}a?;Ia? a?III O=bEFA4jEIJ>4rEL/Ea EevEe'Ea"Ea*Ee:VEe'4ZEaBEe5;au2Ee7;auJEeh;a}:Eeh;a}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510439i L,O?A02>2W ?2ͼٱ2( >AHRS rotation from veh to nav: [[0.858519,-0.501913,-0.105013],[0.512166,0.849346,0.127662],[0.025117,-0.163384,0.986243]]2H@x?⺿c?-?9W? B?ĿL?i2>I2x];2CYB>FByFHrchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503140iMb@Mb@Mb@ 9J +?|?5^?~jthY(?y=D MA)AYfAbD5VD5D5yE%EE=ٔEmǺQ-M>9IYI=M2FyMEUJ;EU>YQ 5e4]?Q 9e4]z)]E%BYm*?Q Em:ym0?Q Im6@]XDI]:i]:]m[4yuBBɮuF BqZR1b1j1"99ړ99ڒ9’AAE`,]@颉ɢC-) i)ɣF项is᛻NDýɧ߽i>%?6;I>%? >%?IAiAzAjAIQIiOu=ԉԹE] E]uE]+EY"E]:*E]:VE] [4ZEYae@ae@ae@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755098 ],pi?A6{>6h ?63Ӽٱ6=' >AHRS rotation from veh to nav: [[0.857743,-0.503156,-0.105406],[0.513427,0.848772,0.126405],[0.025865,-0.162541,0.986363]]6H@r?`m?$)?@.?D|?@%ĿH?i6{>I6l];6CYFUFByFHbDNVDN5yVs=%VT=ٔZQ-Z>9XYX=Z2Fy^E^F|;`Eb>dQ 5j4fo0?Q 9j4f+)fD%BYhyj 1?Q In6@f`DIf:if :f)b4yrEBɮr4 BpZRbj "  ړ  ڒ’]@AɢE0)A E@վiA)MDKIIiM?U"PýɧUsUϻiU}?Ugg;QI]}? ]}?IYIIyO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986BBB=HBFBBBBB;BAEA Em  Em |Em ,Ei "Em :*Em P$:VEm g4ZEi BEm X;au 2Em Y;a} JEm };a} :Em };a}  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259596 ,iV?A!e_>e ?etYڼٱe=p& AHRS rotation from veh to nav: [[0.856830,-0.504607,-0.105896],[0.514909,0.848059,0.125157],[0.026651,-0.161765,0.986469]]eH@'k? %`#z?L#?'?ZJ?Ŀ (?ie_>Ie(];aYlFBy HiMb@Mb@Mb@ 9!rh?"~j?y&1Yl'?yS=` BtA )AY(AbDVD?5y@=%+=ٔغQ->9Y=2FyE o;E>Q 54D?Q 94)6%BY)?Q E :y 83?Q I 6@jDI ;i? ;|j4yɮ BZ1R9b9j9"99ړ9AڒA’AAE :]@qɢu)q uɾiq)}Qyyi}Ҙbýɧ駅i1?3;I1? 1?IAAI!I1OEQ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127qԙ &,(?AB L>B ?BٱB7% RAHRS rotation from veh to nav: [[0.855883,-0.506084,-0.106504],[0.516441,0.847284,0.124089],[0.027439,-0.161209,0.986539]]BHdc?@1C??`LĿ??{Ŀ?iB L>IBV];BCY^sFBy^HbDjVDj5yŗ<%rr=ٔr"Q-r?9tYt=v2FyvEv;Ez?xQ 54z4S?Q 94z)z,%BYy3?Q I 6@zqDIz ;iz;zap4yHBɮ BEE% E%yE%*E!"E%:*E%:VE%(N4ZE!a-@a-@a-@a-@yZARAbAjA"AAړAIڒI’IIMQ]@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763084ɢ!() 5ƾi)|Vil{sýɧu+* i`?;I`? `?IA]>A]>ԡA.AI!I9OA :? = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328 -,?A2M>2} ?2ٱ2% :AHRS rotation from veh to nav: [[0.854846,-0.507624,-0.107503],[0.518112,0.846341,0.123556],[0.028264,-0.161320,0.986497]]2H@Z?t>Q_?:?b?F?#Ŀb?i2M>I2l];2CYBwFByBHbDJ VDJ5yR <%RN=ٔRAQ-V>9V ?YV ?=V2FyVEZ};EZ>\Q 5b4^ d?Q 9b4^)^!%BY`yf04?Q If6@^zDI^:i^1:^Qw4yj,Bɮj BjEZxR|b|j|"||ړ|ڒ’i]@1ɢ5H*B9A=<BABE?CBEIHBEFBBE =BABABE;BEAE)Q U7ľiQ)]ZYYi]38e<ýɧe@e5ieA?eD;iImA? mA?IiA؟AIIO=E- E)E)E)"E-:*E)VE)ZE)BE-;a52E-;a5JE-r;a=:E-r;a=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2672801Q ]4,vФ?A6U>6 ?6lٱ6D& >AHRS rotation from veh to nav: [[0.854091,-0.508671,-0.108550],[0.519316,0.845613,0.123484],[0.028979,-0.161838,0.986392]]6HT?Gɻ`=?D??`?`Ŀ?i6U>I6];6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518986YfoFByfHiUMb@Mb@Mb@QQQQ Q9U{Gz?:v?)\(YU#?yU=UGaU}BQ UzA)UAQYUA e;ebDm$VDm5y}ܓ%}>=ٔbٺQ->9"?Y"?=2FyE>X;E>Q 54Bv?Q 94) %BY&?Q E:y0?Q I6@DIm ;i;~4y/Bɮ BZRbj"ړڒ’]@1颁ɢv@") 3Ⱦi)`顉ittýɧS駽Dk)id?p;qGaE= E=}E=-E9"E=:*E=k&:VE=t4ZE9aE@aE@aM@aM@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770948ԑԹ /:,øꤣ?A2>25 ?2Qٱ2fY& :AHRS rotation from veh to nav: [[0.853358,-0.509765,-0.109183],[0.520483,0.844988,0.122853],[0.029632,-0.161666,0.986401]]2HN?Om̧?# ?`Ps?W? wĿ?i2>I2ľ];2CYR|FByRHbDZ'VDZ5y =%Q=ٔۺQ->9 ?Y ?=%2Fy%E%f;E->1Q 5=45?Q 9E45)5$BYAyEU1?Q IE6@5DI549;i5Q:;54yQɮU BQZRbj"ړڒ’ ]@ɢ(d() i)oeiӓýɧse7i ? ;I ?  ?IAhAzAhAԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023154II)O5 >B]`>B]@CBYBYB] =BYBYB];B]AEDI zDM @AEU  EU yEU *EQ "EU :*EU :VEU (N4ZEQ BEQ a] 2EQ ae JEQ ae :EQ ae  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275191 A,4?AJ<>Jt ?JٱJ& jAHRS rotation from veh to nav: [[0.852832,-0.510459,-0.110047],[0.521301,0.844528,0.122544],[0.030384,-0.161877,0.986343]]JHeJ?`U@, ?_?_?? dĿ@?iJ<>IJ^;HYoFBy HbD6VD5y%%:=ٔ-ߺQ-=>9QYY=e2FyeEe;Em>Q 54$?Q 94)$BYy1?Q I6@DI:i:4y 2Bɮ- B-EZaRibiji"iiړiqڒq’qqu]@颡ɢ") 3Ⱦi)`k顩ih[ýɧz駵TpHiW?;IW? W?IIaIqO8>!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527069I kBG,r?A$:ҩ>: ?:+ٱ:,4& BAHRS rotation from veh to nav: [[0.852209,-0.511343,-0.110763],[0.522265,0.844062,0.121649],[0.031286,-0.161518,0.986374]]:HKE?\ Ze?@?@]$?@?Ŀ_?i:ҩ>I:=^;:CYJ{FByJH LLE EE'E"E:*EVE'4ZEa @a @a @a @i5Mb@Mb@Mb@1111 195+?Dl?p= ףY5v?y5O=55 B1 5MA)5A1Y5(AbDM<VDM^5ye<%eW=ٔe{Q-e>9iYi=m2FymEm6J;Eu>yQ 5}4}?Q 94} )}$BYO ?Q E:yk$?Q I6@}DI}]:i}:}4yɮ BZRbj"ړڒ’]@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779197颉ɢn-) :¾i)o顱iýɧ~駽KiH?;IH? H?IiԱ^A5h%<IIO>  BDAT read: Rx Time:21:11:47.4600  TRx dataTimestamp_ set to:1761513108.800603 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032170kM,2 ?2ٱ2c' :AHRS rotation from veh to nav: [[0.851719,-0.511876,-0.112057],[0.523021,0.843520,0.122162],[0.031991,-0.162656,0.986164]]2H IA?Ja˯??E? a? Ŀ?i2H>I20^;2C\YjFByj%HApAr?ABtBv?CBvbHBvFBBtBtBtBv;BvAEBBBBBC 4bD VVD Z5yz<%%O=ٔ%Q-%>9!Y)=-2Fy-E-?;E->1Q 5=45?Q 9E45))5$BYAyE$?Q IE6@5DI5 ;i5Y;5ߚ4yM5BɮIQZiRqbqjq"qqړqyڒy’yyI]@颩ɢ+) !i)t顱i<3Ľɧ駽KOiI6?PV;II6? I6?I^Ay<I9IIOU=D =D %=E EwE*E"E:*E:VE(N4ZEBEz;a2E{;aJEk;a%:Ek;a%Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283090 1 ST,&R?A2 r>2 ?2ٱ2' :AHRS rotation from veh to nav: [[0.851537,-0.512006,-0.112847],[0.523277,0.843366,0.122129],[0.032640,-0.163047,0.986078]]2H`??`Yb@㼿ா??C?:?Ŀ?i2 r>I2!}^;2CfDAT read: 21:11:47.4600 LVL= 30896, 32753, 32754, 32755, AGC= 87, IDX= 176, 0.49, 0.113,-1.531, 0.072,-0.114, PHS= 0.329,-1.372, 0.142, RAW= 144.3, 11.1, CAL= 143.8, 12.1, ROT= 6.2, -12.1 jYgot valid direction response: 21:11:47.4600 LVL= 30896, 32753, 32754, 32755, AGC= 87, IDX= 176, 0.49, 0.113,-1.531, 0.072,-0.114, PHS= 0.329,-1.372, 0.142, RAW= 144.3, 11.1, CAL= 143.8, 12.1, ROT= 6.2, -12.1 nPDAT read: Bearing 193.0, 5.4 (Local) r~Local bearing/azimuth received: Bearing 193.0, 5.4 (Local) vDAT read: Range 11 to 50 : 869.7 m (Round-trip 1159.7 ms) speed 0.6 m/s zR#Rx 1: Read range and direction messages.~\direction in FSK: [0.972064,0.105600,0.209619]  ېCiuFpublishing direction and range infoyPR$E&?%9?9h?YRlYDPRxR9Y~AR R)RWIRr>iRRsh>RE/!@RaF>RK @ R@X>)Rk=YyFByHIR@XPPR/E)RWGIRk=iR@XPPi Mb@Mb@Mb@     9 v?9Y=2FyE%:E>)Q 554~η?Q 954Ʊ)$BY=?Q E=:y=C?Q I=6@DI:i:4yAɮe BiJPRRoS?ARXDRXDRj1?RѹN@~}R#V@B,Pf@R$E&?%9?9h?Rk=R@X—R~n9L@vmŞހ@g@R[?ޓ7?Jy9?%?P?jRDrRd"DZRyݟ?bR<zR3qCRyݟ?R<R3qCڗR%SDR1?ZRbjA"IIړIIڒQ’QU-@U?IɢM)I MþiI)U>z{QQiUDޏ}%Ľɧ}y}lGi} O?;I O?  O?IE% E%zE%)E!"E%7:*E% :VE%FA4ZE!a5@a5@a5@a5@Yԁ ^A 0B<IA IQ Oe >}Z,k?AF>Fx ?FEٱF' RAHRS rotation from veh to nav: [[0.851850,-0.511429,-0.113101],[0.522733,0.843769,0.121676],[0.033202,-0.162771,0.986105]]FHZB?`](:?&?&&??Ŀ ,?iF>IFO^;FCY^FByb3HbDngVDn6yz~=%z=ٔ~Q-~?9Y=2FyE E ?Q 5%4]۷?Q 9%4)$BY)y-?Q I-6@DI;;iD=;4y=Bɮ= B=EYZiRibijq"qqړqqڒy’yy}ͪ?颩ɢaB) `i)w~顱i7펻5ĽɧD! zD% AAbE(N4jEɼP4rEɖ/E-  E- {E- *E) "E- :*E- 5":VE- (N4ZE) BE- ;a= 2E- ;a= JE- Dz;aE :E- Dz;aE ! ea,ۅ?A>q>>E ?>; ٱ>1K( JAHRS rotation from veh to nav: [[0.852265,-0.510617,-0.113639],[0.522036,0.844116,0.122257],[0.033498,-0.163519,0.985971]]>H@E?Vl??7L?`&?-Ŀ?i>q>I>1^;>CYNFByROHbD}mVD}R6yL=%==ٔ/Q->9-"?Y-"?=52FyUEeEm>Q 54j?Q 94 ){$BYy?Q I6@DI;i};4yɮ BZRbj"ړڒ ’   e?9ɢ==e)9 =Pi9)=ŁAAiEO^MPĽɧMrkM[Qԁ g,?A2q>2EW ?2 ٱ2) :AHRS rotation from veh to nav: [[0.852969,-0.509211,-0.114663],[0.520857,0.844655,0.123556],[0.033934,-0.165113,0.985691]]2HK?uKZݪ?`i?`?_?`i"ſ`NJ?i2q>I2ue^;2CYBFByB\HEp EryEr%Ep"Ep*Er:VEr 4ZEpav@av@av@az@i%Mb@Mb@Mb@!!!! !9%d;O?~jtx?y&1Y%?y%;%`%}B%^A !)!!Y%GAbDjVD6y\<%J=ٔ:Q->9Y=2FyEhE>Q 54@?Q 94)x$BY?Q E:y ?Q I6@ïDI:i/:4y Bɮ BZ!R!b!j)"))ړ))ڒ1’115`8?Qaɢe f#)i mii)mσiiimǍufĽɧ}Z}.i}B?};yI}B? }B?IAIIO%>ԁԩ ǹm,ڑ?A:f˧>:@ ?:Q ٱ:$,BB<A@BDBDBFHBFFBBF =BDBDBF!;BFAE VAHRS rotation from veh to nav: [[0.854185,-0.506900,-0.115847],[0.518830,0.845630,0.125399],[0.034399,-0.167219,0.985319]]:H|U?8,`A?@g? ?`Ɯ?pgſ?i:f˧>I:R^;:CYZFByZcHbDf_VDf6ynDŽ<%n[=ٔr&Q-r>9pYp=r2FyrEvϻEv>xQ 5~4z ?Q 9~4z )zu$BY|yF ?Q I6@zʯDIzw;iz;z4y ɮ  B Z)R1b1j1"19ړ9AڒA’AIM4?频ɢd") 襾i)Tυ顡iAyĽɧI駵oF!ir?j;Ir? r?IԱE EE(E"E:*EVEc44ZEBEX;a2EY;aJEr;a :Er;a AIIO> 9 ͡t,mӥ?A2?>2P ?2aٱ2y. :AHRS rotation from veh to nav: [[0.855738,-0.503983,-0.117107],[0.516241,0.846851,0.127819],[0.034754,-0.169835,0.984859]]2H4b? ` ?g?a\?7ˡ?)ſ?i2?>I2y^;2CYFFByFHiMMb@Mb@Mb@IIII I9M"~?~jthy&1|?YM?yMDM`;MBMGA I)MAIYMzAbDeVVDeZ5yu=%uA=ٔ}N[Q-}>9yY=2FyEE>Q 54?Q 94)$BY?Q E:y- ?Q I6@ѯDI ;ie ;m4y#Bɮv BZRbj"ړڒ’z@ɢ ) i ) ;ه  i ֌ĽɧW4WFi !?L;I !?  !?I!A-.AI9IYOm>AE EsE*E"E:*EZ:VE(N4ZEa @a @a @a @i z,fM?A@u>ulP ?uAٱu/ AHRS rotation from veh to nav: [[0.857025,-0.501662,-0.117654],[0.514064,0.848066,0.128538],[0.035296,-0.170642,0.984701]]uHl?  6s?[#?`s? R?ſ ?iu>IuX^;uCYFByHbDBVD5yO=%4=ٔ*Q->9 ?Y ?=2FyE@E>Q 5 4{2?Q 948)$BYy ?Q I6@گDI;i;V4y&Bɮ%d B%EZARAbAjA"AAړIIڒI’IQU@yɢ}) ?i):ቼ顁iĽɧ駝3ii?,;Ii? i?IԩAzAgAA؟AIAIYOeV>Bc>BBHBFBB =BBB@;BAEE  E zE E "E s:*E  :VE ZE BE ;a 2E ;a JE v;a :E v;a  ,o)?A2ţ>2P ?2ٱ20 BAHRS rotation from veh to nav: [[0.858201,-0.499551,-0.118069],[0.512082,0.849114,0.129529],[0.035548,-0.171623,0.984521]]2H`av?߿9`b?+?i?Y3?ſ`2?i2ţ>I2e^;2CYRFByRHIV=)Vp;bD^?VD^5yf#%fu=ٔf?FQ-f?9j"?Yj"?=j2FyjEjlEn?pQ 5z4ry@?Q 9z4r)r$BYy?Q I 6@rDIrם;ir;r-4y)ɮ-n B1ZRb!j!"))ړ19ڒA’II}`@1ɢ5)9 =Ui9)=99iE댻EĽɧM5 M޻iM?U 8;QIU? U?Ii AI9IQOi1a ݇, ?A6>6X ?6-ٱ60 BAHRS rotation from veh to nav: [[0.858938,-0.498209,-0.118375],[0.510808,0.849877,0.129553],[0.036059,-0.171745,0.984481]]6Hk|?߿@M`X?`12?@3?@_v?ſހ?i6>I63n^;6CYFFByFHEb EbyE`E`"Eb:*Eb:VE`ZE`af@af@aj@aj@i5Mb@Mb@Mb@1111 1995n?:v?Q?Y5?y5T<5\=11 5dA)11Y5AbDM"VDMc5y]=%eA=ٔeQ-e>9aYi=m2FymEm6dEm>qQ 5}4uQ?Q 94u")u$BYQ?Q E:y?Q I6@uDIu. ;iu:u4yBɮ< BZRbj"ړڒ’@& @ɢ2) Mi)F3isĽɧ駽GȻi`?d;I`? `?IiA%.AI1IAOU1>ԑ% %=% < ,@:?AAAB`>BBHBGBB =BBBK;BAEFg>FB?FٱF1 ZAHRS rotation from veh to nav: [[0.859990,-0.496260,-0.118921],[0.509011,0.850801,0.130560],[0.036387,-0.172812,0.984282]]FH ?߿q@I? 9?-?`L?`ƿ=?iFg>IF^;FCY5GBy=HbD]&VD]O5ym=%mI=ٔukSQ-}>9} ?Y} ?=2FyEE>Q 54b?ԙQ 94Ɣ)$BYy?Q I6@DI.;i0;4yɮ, BZRbj"ړڒ’i @ɢ C )  qi ) Ŏ i4=WĽɧݽmiY?;IY? %Y?I!A5>A5>E EwE,E"EC:*E:VEg4ZEBE5;a2E7;aJEk;a:Ek;aA؟AIIO> 7,T?A2t>2ݐ?2fٱ292 :AHRS rotation from veh to nav: [[0.860461,-0.495272,-0.119633],[0.508167,0.851269,0.130797],[0.037060,-0.173339,0.984165]]2H?߿LB?`=???`/ƿG~?i2t>I2.^;2CYBGByBHiMb@Mb@Mb@ 9^I +?)\(?I +?YX?yGa=94=}B )Y Aim@AbDuVDuV5y%I=ٔUٺQ->9"?Y"?=2FyEHE>Q 54ps?Q 94)$BYf?Q E:y"?Q I6@DI:i<:4y Bɮ9 BZRbj"ړڒ’S@ɢ ) wi)ai%ʄ%*Ľɧ--&i-m?-;)I-m? -m?I1AIIO!E EE+E"Es:*E,:VE [4ZEa@a@a@a@Ii߱I߱y ,n?A6>6aS?6ٱ6":3 >AHRS rotation from veh to nav: [[0.860921,-0.494315,-0.120280],[0.507350,0.851688,0.131240],[0.037568,-0.174011,0.984027]]6H`?`ܢ߿ʾ 5I6^;6CYF$GByFHbDRVDR5yV<=%ZY=ٔZ~Q-Z>9XY\=^2Fy^E^"Eb>`Q 5f4bʂ?Q 9j4bm)b$BYhyj"?Q Ij6@bDIb:ib:bY4yrBɮr BrEZRbj"ړ  ڒ ’ @9ɢ=2)A Eo[iA)E׳AAiE񍻩M`ĽɧMM.iU?U;QIU? U?IYQAiIqIO=yB!B!B%HB%7GBB!B!B!B%N;B%AEB?CB?CBBŏ =Bŏ =CO`5ԩD zD E  E yE E "E :*E :VE ZE BE ;a 2E ;a JE r;a :E r;a ,3k?A6o>6?6tٱ63 BAHRS rotation from veh to nav: [[0.861440,-0.493300,-0.120729],[0.506436,0.852182,0.131560],[0.037985,-0.174472,0.983929]]6H ?;߿辿@4?@E?@?r?`UƿX|?i6o>I6n^;6CYJDGByJHbDRVDRm5yZ֟=%ZJ=ٔZeQ-Z>9\Y\=^2FybEbl*Eb>hQ 5v4jO?Q 9z4j)j %BYxyzw"?Q I~6@jDIjd;ij;jn4yBɮ BZ!R!b!j)"))ړ))ڒ1’115w@颩ɢ<) #;i)LiU6ÎmĽɧ駕ik?r;Ik? k?ԹIAmiAzAiAII)AY59Y&AOa> 9 ,,F?A6d>6?6Hٱ6x3 >AHRS rotation from veh to nav: [[0.861471,-0.493194,-0.120946],[0.506354,0.852291,0.131167],[0.038390,-0.174238,0.983955]]6H*?߿I4?@E??`ӧ?oMƿ|?i6d>I6^;6CER ER}ER'EP"ER:*ERk&:VER'4ZEPaV@aZ@aZ@aZ@YZGBy/HiMb@Mb@Mb@ 91Zd?bX9ȶ?Mb?Y"?yE== B )AYAbDVDX5yB=%;=ٔZsQ->9Y=2FyENE>Q 54?Q 943)%BY?Q E:y,/?Q I6@DI ;i ; 4yɮ BZRb j "  ړ  ڒ’` 3@AɢE)A E%iA)MIIiM͏UĽɧ cػiȤ?;IȤ? 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D޿@ae |??@ ?{ÿ?i6ߓ>I6~^;6CYFjJByFHIJ4=)J|iMb@Mb@Mb@ 9ףp= ?Q?~jtxY?y\=ĻA )AYAbD5VD55yEW9<%EB=ٔMV;Q-M>9IYI=M3FyUEUHc8EU>YQ 5e4]?Q 9e4])]#BYm?Q Em:ym7?Q Im8@]WDI];i]^;]v4yuOBɮu5ByZRbj"ړڒ’uuH@ɢ[=)1 =?iA)EiKe؊YD?AzD@AE EzE+E"E%:*E :VE [4ZEBE;a2E;aJEv;a:Ev;aԁ h,?A2|>2S>2db<ٱ2)3 :AHRS rotation from veh to nav: [[0.879014,-0.473270,-0.057878],[0.476484,0.867548,0.142560],[-0.017258,-0.152890,0.988092]]2H ?`J޿`$`~?`? l??ÿt?i2|>I2ټ^;2CY^aJBy^HbDfVDf5ynϫ%rQ=ٔrѰ;Q-r>9tYt=v3FyvEvA9Ev>xQ 5~4zsѿ?Q 94zN)z#BYy@?Q I8@z^DIz;iz4:zL4y SBɮDB+EZ1R1b1j1"11ړ99ڒA’AAE`H@Yqɢu,a=)y }n?iy)}S駅_6>6c<ٱ6< FAHRS rotation from veh to nav: [[0.878732,-0.473955,-0.056546],[0.476933,0.867101,0.143770],[-0.019110,-0.153304,0.987994]]6H@?`EU޿ ?K?g?@~vÿ ?i6>I6ݽ^;6CY^[JBybHiEMb@Mb@Mb@AAAA A9EX9v?sh|??I +YE?yE=E9E1AA E?A)AAYAbDeVDeo5ym3Z%mB=ٔu֏;Q-u>9qYy=}3Fy}E}e:E>Q 54b㿉?Q 94F)"BYy?Q E:y?Q I8@gDI:i$;4yɮJBԹZRbj"ړڒ’H@颁ɢhX=) ?i);[<顉iWDƽɧ>駵SpA>IYIiOu=BAp<BBBHBOJBBBBBt;B AEBU@CBU@CBQBQBQCU49 % GA u,Jر?A@VT@9TYV0ARN>R>R(<ٱR vAHRS rotation from veh to nav: [[0.878349,-0.474818,-0.055237],[0.477583,0.866722,0.143901],[-0.020452,-0.152775,0.988049]]RHn?lc޿Hැ?0?Uk?@E`"ÿ?iRN>IRe_;RCY~^JBy~H  AA bDVD5y%;%%O=ٔ%_;Q-->9)Y)=-3Fy-E5:E5>9Q 5E4=?Q 9E4=)="BYAyE?Q IM9@=oDI=6:i=N:= 4yUVBɮUNBQEe Ee}Ee(Ea"Ee:*Eek&:VEec44ZEaBEez;am2Ee{;amJEeŀ;au:Eeƀ;auZRbj"ړڒ’@I@ɢf=) ?i)b<iY=Uƽɧ>lg2>2$'<ٱ2X  :AHRS rotation from veh to nav: [[0.877743,-0.476085,-0.053948],[0.478643,0.866191,0.143573],[-0.021623,-0.151842,0.988168]]2Hx?+x޿@@?׷?`?`s$oÿ ?i2>I2_;2CY^EJBy^HbDjVDj5yruz%rO=ٔrB;Q-r>9tYt=v3FyvEz8J;Ez>xQ 54z?Q 94z)z"BYyS ?Q I9@zwDIz/;iz[:zz4y:Bɮ.B!EZRbj"ړڒ’@DI@ɢ[=)  v?i)j<i%Qƽɧ%R>%9B2 ?2kB<ٱ2-_ :AHRS rotation from veh to nav: [[0.877278,-0.477074,-0.052765],[0.479444,0.865775,0.143411],[-0.022735,-0.151110,0.988256]]2H@?_޿@5? n?M[?GWÿ ʟ?i2+h>I2i'a;2CYNOJByRHi%Mb@Mb@Mb@!!!! !9%Gz?+η?lY%p?y%v=%!! !)!!Y!bD=VD=o5yM<%MD=ٔM.;Q-U>9QYQ=U3FyUE]N;E]>aQ 5m4ed?Q 9m4e)e"BYm?Q Em:yu#?Q Iu9@eDIe:ie:e4y=Bɮ+B"EZRbj"!!ړ!!ڒ!’))--zI@频ɢ]=) ?i){r<顙i"7ƽɧR>駭CbE(N4jEǷG4rEQ/E} E}{E}*Ey"E}Ʊ:*E}5":VE}(N4ZEyBE}I;a2E}J;aJE}Dz;a:E}Dz;a) iߩ Iߩ 1,%?A:u>:7?:/~<ٱ:` BAHRS rotation from veh to nav: [[0.876922,-0.477858,-0.051572],[0.480034,0.865419,0.143589],[-0.023984,-0.150672,0.988293]]:H?:޿g ??a?+@I:5b;:CYJGJByJHINC=)N4<bDVVDV5yZf%^T=ٔ^T;Q-b>9`Y`=b3FybEfm:Ef>hQ 5n4j&?Q 9n4j)j"BYlyn$?Q Ir9@jDIj;ij;j4ytɮv3BtZ R b j "ړڒ’mI@AɢEJei=)I M?iI)MQy]92']?2G<ٱ2Hc :AHRS rotation from veh to nav: [[0.876620,-0.478552,-0.050263],[0.480519,0.865126,0.143732],[-0.025300,-0.150151,0.988339]]2H`D ?޿ ??e?+虿#8ÿy?i26 >I2wc;2CtYv6JByvHi}Mb@Mb@Mb@yyyy y9}\(\?+η?9Y=3FyE`:E>Q 54X8?Q 94)w"BY?Q E:y$?Q I9@DI]:i:&4y@BɮJBZRbj"ړڒ’I@)ɢ-X=)1 5 ?i1)5Ɨ<19i=EŽɧE>E2|?2%<ٱ2 :AHRS rotation from veh to nav: [[0.876145,-0.479557,-0.048939],[0.481308,0.864657,0.143915],[-0.026700,-0.149645,0.988379]]2Ha ?޿?D?k?OW'ÿ͠?i2ޅ>I2Td;2CYB5JByBHbDJVDJX5yRd%R\=ٔR!w;Q-V>9TYT=V3FyVEZc";EZ>\Q 5b4^G?Q 9b4^&)^^"BY`yf%?Q If9@^DI^;i^;^,4yhɮjLBhZxRxbxjx"||ړ||ڒ’`|J@IEE EExEE(EA"EEƱ:*EE:VEEc44ZEABEAaU2EAaUJEEXo;a]:EEYo;a]ɢ b=) ^ ?i)["<i-IIO=iԑ B,ms?A2>2?2X<ٱ2t :AHRS rotation from veh to nav: [[0.875561,-0.480766,-0.047500],[0.482276,0.864055,0.144286],[-0.028325,-0.149239,0.988395]]2H?`޿@Q? W?w?,Dÿ`?i2>I2d;2CYB%JByBH DDbDJVDJD5yR*%RJ=ٔV;Q-V>9TYX=Z3FyZEZ(7;EZ>\Q 5b4^.X?Q 9b4^>)^C"BYdyf`%?Q If9@^DI^:i^g:^34yjDBɮjbBlZxR|b|j|"||ړڒ’ @ADJ@1ɢ5`=)1 5 ?i1)=h<99i=𕼩E/cŽɧE>E2?2ؿ<ٱ2u\ :AHRS rotation from veh to nav: [[0.875307,-0.481378,-0.045967],[0.482629,0.863732,0.145040],[-0.030116,-0.149140,0.988357]]2H ?`޿``c??@?`֞ÿ?i2R>I2re;0Yf)JByfHiUMb@Mb@Mb@QQQQ Q9U5^I ?kt?MbYU?yU =UU1AQ Q)UAQYUAbDmVDm5y}<%}==ٔ}/;Q->9Y=3FyE*:E>Q 54i?Q 944)'"BY?Q E:yy#?Q I9@DI ;i ;-;4yɮ^BZRbj"ړڒ’u{J@ɢ7Z=) ~ ?i)Z<i%0Žɧ%>-DU@AzDQE] E]E]*EY"E]:*E]*5:VE](N4ZEYBE];am2E];amJE];am:E];amIy T,-#?A2)b>2?2=ٱ2v3 :AHRS rotation from veh to nav: [[0.875205,-0.481701,-0.044493],[0.482708,0.863580,0.145681],[-0.031751,-0.148978,0.988331]]2H?@0޿ Ǧ?q??`Aÿg?i2)b>I2Qe;0YBJByBHbDJVDJV5yR%RY=ٔV`;Q-V>9V ?YV ?=V3FyVEZ9EZ>\Q 5b4^x?Q 9b4^)^"BY`yf#?Q If9@^DI^ ;i^;^A4yjGBɮjsBj#EZxRxbxjx"||ړyyڒy’J@ɢK_=) ?i)<ip0Žɧ]>JԁԱE  E xE E "E :*E :VE ZE a @a @a @a @ &=,z?A6Ē>68?6Fx=ٱ6 BAHRS rotation from veh to nav: [[0.874800,-0.482519,-0.043589],[0.483337,0.863004,0.146998],[-0.033312,-0.149662,0.988176]]6H\?@޿`RQ@?@??9 (ÿ #?i6Ē>I6 e;6CY^JBy^HIb<)bp=ٔun;Q-u>9u"?Yu"?=3FyE:E>Q 54b?Q 9 4)!BY =?Q E :y "?Q I 9@DI:i:I4yɮqBZ9R9b9j9"AAړAAڒA’IIMJ@qɢ}\=)y }I?iy)}q駍) 1 f,0ڲ?A6[ْ>6:C?6_=ٱ6m BAHRS rotation from veh to nav: [[0.874675,-0.482816,-0.042805],[0.483454,0.862646,0.148706],[-0.034872,-0.150764,0.987955]]6HV? u޿꥿?̚??ڡ`:LÿR?i6[ْ>I6d;6CYFJByJtHbDRVDR5yZ%ZW=ٔZ;Q-^>9\Y\=^3FybEby9Eb>dQ 5j4f?Q 9j4fU)f!BYhyj"?Q In9@fDIfK:if;fO4yr.BɮrZBrEZRb j "  ړ  ڒ’NK@DD%=E% E%{E%+E!"E%:*E%5":VE% [4ZE!BE%;a52E%;a5JE%Dz;a5:E%Dz;a5Yɢe|`=)a e?ia)eyuS72"<?2$5=ٱ2  >AHRS rotation from veh to nav: [[0.874679,-0.482987,-0.040746],[0.483332,0.862803,0.148192],[-0.036420,-0.149314,0.988119]]2H^?B޿ܤ???@ ÿ?i2*˒>I21d;2CYBIByFmHbDNVDN5y~M%~F=ٔPu;Q->9 Y =3FyEE>!Q 5-4%?Q 9-4%)%!BY1y1Q I59@%ijDI%vA;i%;C;%+W4yIɮM`BIZRbj"ړڒ’7IK@ɢ|W=) k>i)Z<i֯xĽɧs>C)AyA EU EUuEU*EQ"EUC:*EU:VEU(N4ZEQau@au@au@au@IIO!>ԙB B B WHB IBB =B B B ;B )AEBBBBɎ =BC$4 x,?A2$>2h?2=ٱ2/ :AHRS rotation from veh to nav: [[0.874302,-0.483778,-0.039426],[0.483904,0.862426,0.148522],[-0.037850,-0.148932,0.988123]]2H I?6޿@/F?@?? a1ÿ?i2$>I2c;2CYBIByBgH DD\iMMb@Mb@Mb@IIII I9MʡE?9yYy=}3Fy}E :E>Q 54g?Q 94)!BY\?Q E:y ?Q I9@̳DI ;i ;t^4y1BɮkBEZRbj"ړڒ’}K@ ɢ JY=)  >i )1<im}JĽɧ.>5091Y5T"AD1zD5AAEE EEzEE)EA"EE:*EE :VEEFA4ZEABEEX;aM2EEY;aMJEEv;aM:EEv;aMA ,k(?AY~IBy~QHbDVDm5y%7%%O=ٔ-Q-->9)Y)=53Fy5E5E5>9Q 5E4=?Q 9E4=b)=!BYIyIQ IM9@=ӳDI=:i=:=Xe4yQɮU~BQGS-B*** querying acoustic contact ***:)B)Z9R9b9j9"99ړAAڒA’AAMK@I2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ɢ k7L=)  >i )*<ixĽɧ>˽E]  E] yE] .EY "E] s:*E] :VE] ـ4ZEY a} @a} @a} @a} @ԩ k,HB?Ai I "*DAT read: user:147> &BDAT read: Tx time:21:12:44.1461 *$Ping request sent.*B;?B&=ٱB JAHRS rotation from veh to nav: [[0.873936,-0.484607,-0.037313],[0.484334,0.861868,0.150347],[-0.040701,-0.149465,0.987929]]BH H?߿@U?k?@>? ֤!ÿ?iBYm>IB#b;BCYbIByf9 ?Y ?=3FyEH:E>Q 549?Q 94x)!BY?Q E:y ?Q I9@۳DI& ;im ;8m4y5BɮBZRbj"ړڒ’ K@ɢ%Z=)! %>i!)%<))i-ƙ5 ýɧ5>5/checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250800 ܴ,!\?A2(O>2"~?22-=ٱ2< :AHRS rotation from veh to nav: [[0.873990,-0.484614,-0.035918],[0.484101,0.861866,0.151107],[-0.042272,-0.149454,0.987865]]2H`?߿c ?g?yW?`N!ÿ`?i2(O>I27b;2CYNIByRH Vp;TbDZVDZ5yb%bm=ٔf;Q-f?9dYd=f3FyfEjJ/Ej?D|D~<bET4jE-W4rE/E EwE+E"E*E:VE [4ZEBE;a2E;aJEk;a:Ek;alQ 5}4n?Q 94n{)n!BYy ?Q I9@nDIn:in:n=s4yɮBZRbj"ړڒ’L@IɢM\J=)I M>iQ)U'}1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754718Y &,u?AJ>JZ?J&2=ٱJ VAHRS rotation from veh to nav: [[0.874205,-0.484246,-0.035650],[0.483606,0.861769,0.153232],[-0.043480,-0.151197,0.987547]]JH}?@޿@@e? ?@?CkZÿ ?iJ>IJMVb;JCYbIByb&HbDrVDr5y~8=%G=ٔf@;Q- >9 Y=3FyEE>Q 5%4l?Q 9-4){!BY)y-?Q I-9@DI:i:tz4y58Bɮ5BZRbj"ړڒ’ML@ɢتR=) 8>i)<iV(%ýɧ%>%AE>E% E%E%'E!"E%:*E%E7:VE%'4ZE!aE@aE@aE@aE@A؟AIIO=/>aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871ԉBq Bq Bu HBu IBBu =Bq Bq Bu ;Bu ,AEԹ ,䏳?A2>2d?2`H7=ٱ2} :AHRS rotation from veh to nav: [[0.874085,-0.484542,-0.034553],[0.483708,0.861617,0.153760],[-0.044732,-0.151112,0.987504]]2H ?߿డ?`^?`d?禿Wÿ?i2>I2%b;2CYBIByBHiMb@Mb@Mb@ 9/$?Mb?MbY&?y=A )YAbDVD5y-y%-G=ٔ5G;Q-5>9="?Y="?==3Fy=E=V9EE>AQ 5M4Ey?Q 9M4E])Ei!BYU?Q EU:yU]?Q I]9@EDIE9;iE;E4yaɮeBaZRbj"ړڒ’checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845L@Yɢ]FJ=)Y ]c>ia)eӪ駕^ԹE E|E-E"E:*EP$:VEt4ZEBE;a%2E;a%JE};a%:E};a-m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510732 b,?A2T>2π?2`<=ٱ2) :AHRS rotation from veh to nav: [[0.873827,-0.485088,-0.033389],[0.484058,0.861366,0.154065],[-0.045974,-0.150788,0.987496]]2He? ߿l`?`P? d?`Mÿ ?i2T>I2|a;2CYNIByRH TTbDZVDZ5y%%%K=ٔ%J;Q-%>9)Y)=-3Fy-E5:E5>9Q 5E4=6?Q 9E4=)=W!BYAyM{?Q IM9@=DI=:i=w:=4yU;BɮUB]EZRbj"ړڒ’AL@ɢTM=) >i)c<ibO8ýɧ1>Kchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762770!Q E=  E= xE= *E9 "E= :*E= :VE= (N4ZE9 a] @ae @ae @ae @,ó?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015609 :n\>:ń?:A=ٱ:M BAHRS rotation from veh to nav: [[0.873744,-0.485304,-0.032442],[0.484080,0.861176,0.155055],[-0.047310,-0.151183,0.987373]]:H@?6߿ J@,???9Yÿ ?i:n\>I:{a;:CY^IBybHiMb@Mb@Mb@ 9&1?v/?:vY?yxi=T1AA )AYzAbDVD5y"Y<%A=ٔN;Q->9Y=3FyE9E>Q 54'?Q 94Q)B!BY?Q E:y?Q I9@DIq ;i: 4yBɮBEZ R bj"ړڒ’L@IɢM35K=)I Me>iI)U5]k˴BBHBIBBBBBz;BAEqAIIO >ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266716 ,oݳ?A2p>2?2F=ٱ2 :AHRS rotation from veh to nav: [[0.873625,-0.485576,-0.031555],[0.484193,0.861032,0.155504],[-0.048339,-0.151132,0.987331]]2H@?߿ (? ?? ῨGXÿ@7?i2p>I21Ca;2C\YbIBybHbDjVDj5Er Er}Er.Ep"Er:*Erk&:VErـ4ZEpBEpav2EpavJErŀ;az:Erƀ;azy~M%W=ٔ}1;Q->9 Y = 3Fy E f9E>Q 546?Q 9%4)/!BY!y%&?Q I%9@DI:i:4y-"Bɮ5B1ZQRQbQjQ"QYړYYڒY’YaeM@颉ɢDN=) 4>i)Ա<iL½ɧ{>ɶA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691.,J?AFؓ>F?FaJ=ٱF NAHRS rotation from veh to nav: [[0.873196,-0.486412,-0.030525],[0.484860,0.860649,0.155548],[-0.049389,-0.150624,0.987357]]FH`9?^!߿A?n?`?`I`Gÿl?iFؓ>IFEa;FCYV~IByVHIZJ>)Z4=bD^VD^5yf%fN=ٔj[-;Q-j>9hYh=n3FynEra;Er>pQ 5v4rF?Q 9z4r)r!BYxyz\?Q Iz9@rDIrK:ir;r4y&BɮBZ!R)b)j)"))ړ)1ڒ1’11=LM@aɢeE=)a e_>ia)m"u͸Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022658qB B B HB fIBB B B B T;B @Eԡ _, ?A2ޓ>2?2ҒN=ٱ2 :AHRS rotation from veh to nav: [[0.873129,-0.486595,-0.029524],[0.484876,0.860591,0.155817],[-0.050412,-0.150364,0.987345]]2H?^$߿@;5?`??ϩ?ÿS?i2ޓ>I20`;2CYNvIByRHi]Mb@Mb@Mb@YYYY Y9]tV?:v?Zd;OY]?y]T=]jY]A Y)YYY]AybDuVDuD5yJ%?=ٔ;Q->9Y=3FyEiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275097 8E>Q 54W?Q 94$)!BYh?Q E:y:?Q I9@DI ;i ;!4y*BɮBEZRbj"ړڒ’M@!ɢ%A=)-+ -+>i))-<))i-[a5x½ɧ5G>=9Am>AIIԡO>DzDE EzEE"EC:*E :VEZEBE5;a 2E7;a JEv;a :Ev;aU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526763 "? ,7*?A2>2?2R=ٱ2QH :AHRS rotation from veh to nav: [[0.872929,-0.486990,-0.028900],[0.485123,0.860280,0.156762],[-0.051479,-0.150862,0.987213]]2H ? *߿B ? i??[ tOÿ@?i2>I27`;2CYBeIByBHbDJVDJh5yR.%VZ=ٔV:;Q-V>9TYX=Z3FyZE^ \:E^>`Q 5j4bf?Q 9j4b)b BYlynM?Q In9@bDIb8;ib7@;b4ytɮvBtZRbj"!!ړ!!ڒ)’))5M@ɢfHA=) >i ) <  i pDG½ɧ5>502?2rW=ٱ2 :AHRS rotation from veh to nav: [[0.873098,-0.486729,-0.028190],[0.484702,0.860319,0.157844],[-0.052576,-0.151477,0.987062]]2Hj?`&߿ݜ[?@?@>4?`-몿cÿ ?i2̓>I28`;2CYRvIByRHi-Mb@Mb@Mb@)))) )9-&1? ףp= ?~jtY-?y-Q8=--GA) ))))Y- AbDEVDE5yU=%U>=ٔU';Q-U>9YYY=]3Fy]EeEe>iQ 5u4mw?Q 9u4m)m BYuo?Q Eu:yu?Q I}9@m$DImn:im:m(4y%Bɮ%B!ZaRybyjy"yyړyڒ’M@AAAABBBHBGIBBBBBP;B@EBaBaBaBaBaCe4!ɢ%A=)! %d>i!)-<))i-K5D½ɧU{>UIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282733q - gGA Y ?9 Y [Aԡ ,Q,^?A2Ko>25?2[=ٱ2 :AHRS rotation from veh to nav: [[0.873394,-0.486241,-0.027435],[0.484051,0.860498,0.158861],[-0.053637,-0.152028,0.986920]]2H?߿? 4?U? Pvuÿؔ?i2Ko>I2##a;0D^%=D^<Eb EbsEb'E`"Ebҝ:*EbZ:VEb'4ZE`BEb;aj2Eb;ajJEb%];aj:Eb&];ajYnJIBynHbDzVDz5y%Q=ٔz2;Q->9 Y = 3Fy E E>Q 5%4Q?Q 9%4T) BY!y%f?Q I%9@+DIa;i;4y1ɮ5B1ZQRQbQjQ"QQړYYڒY’aaeAN@颉ɢZB=) D>i)<顑iɧ>駥1;I ?  ?IԑEDAT read: 21:12:47.6679 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 16, 0.39,-2.188, 2.273,-2.350,-2.465, PHS= 0.379,-1.500, 0.070, RAW= 141.2, 12.0, CAL= 140.6, 13.0, ROT= 9.4, -13.0 MYgot valid direction response: 21:12:47.6679 LVL= 32752, 32753, 32754, 32755, AGC= 90, IDX= 16, 0.39,-2.188, 2.273,-2.350,-2.465, PHS= 0.379,-1.500, 0.070, RAW= 141.2, 12.0, CAL= 140.6, 13.0, ROT= 9.4, -13.0 UPDAT read: Bearing 192.1, 4.1 (Local) U~Local bearing/azimuth received: Bearing 192.1, 4.1 (Local) eDAT read: Range 11 to 50 : 838.2 m (Round-trip 1117.6 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.u\direction in FSK: [0.961286,0.159140,0.224951]uFpublishing direction and range infoys?<{^?:/2?YQD )ZIJ >i)\=ϸ@PwV>= @ Vh>)'>IVhWjo-/?b9Y? s)? B>)VI'>iVh8ƼAhAzAjAIaIqO}Y>i I A Z{,x?A2:>2s?2Kt`=ٱ2^ :AHRS rotation from veh to nav: [[0.873535,-0.486032,-0.026657],[0.483671,0.860522,0.159887],[-0.054771,-0.152560,0.986775]]2H?$߿ Lv?e?.w?@ ÿ?i2:>I2TEa;2CYNCIByRHbDZVDZx5yb%bN=ٔb;;Q-f>9dYd=f3FyfEj̄Ej>lQ 5r4n?Q 9r4n)n BYpyvK?Q Iv9@n2DIn ;in: ;n4yzBɮzBzEJAREe?AEPDEPDEQZ3?Em+@i`@K xg@Es?<{^?:/2?E'>EVh—E厼@y,U@D^@E"v54?<Qi?j+Y?jEDrEDZE "h?bEFzEb+CE "h?EFEb+CڗEvNDEW3?ZRbj"ړڒ’1@`9?ɢ 8=) >i)<i) ɧ > BBiHB)IBBBBBo;B AEI pc$, h?A2y>2MX?2 e=ٱ2{ :AHRS rotation from veh to nav: [[0.873683,-0.485808,-0.025851],[0.483272,0.860563,0.160867],[-0.055904,-0.153040,0.986637]]2H6?y߿@x?@?M?nӖÿ?i2y>I2ta;2CPYR9Y=3FyE xE >Q 5%4 ?Q 9%4d) BY-?Q E-:y-?Q I-9@:DIS;i ;4yYɮ]BaZRbj"ړڒ’`?!ɢ%5=)) -0>i))MAE>IIO>! 7*,A?AF >F_]?F[Wi=ٱF0 bAHRS rotation from veh to nav: [[0.873595,-0.486022,-0.024785],[0.483312,0.860511,0.161032],[-0.056937,-0.152656,0.986638]]FH }?߿Ia?`M??&9ÿ?iF >IFfGa;FCY-IBynHbD+VDu5yH%1=ٔ;Q->9!Y!=%3Fy%E%689E->1Q 5545?Q 9=45)5t BY9y= ?Q I=9@5BDI5:i5N:5Y4yEBɮMBM EZiRibij"ړڒ’?ɢ"3=) >i) 0<  i ^7ɧl?QE  E E E "E s:*E H:VE ZE a @a @a% @a% @ԑ Lu1,ƴ?A2 >2[?2m=ٱ2( :AHRS rotation from veh to nav: [[0.873550,-0.486158,-0.023678],[0.483261,0.860489,0.161301],[-0.058043,-0.152347,0.986621]]2H?5߿ ?? ?? ɷ`ÿf?i2 >I2ma;2CY^)IBybjHYi]Mb@Mb@Mb@YYYY Y9]I +?Q?~jthY]9?y]u=]DY]A ]A)] AYY]AbDu/VDua5y %h=ٔM;Q->9Y=3FyEE>Q 54?Q 94)c BY?Q E:y\?Q I9@IDI:i:4yɮBZRbj"ړڒ’ =?ɢ==) >i)<i%/ ɧ%\?%`Թ Ş7,ߴ?A2֒>2A?2Zr=ٱ2 >AHRS rotation from veh to nav: [[0.873681,-0.485970,-0.022687],[0.482881,0.860563,0.162040],[-0.059223,-0.152527,0.986523]]2H1?!߿@;???R`ÿ`?i2֒>I2`;2CYFIByF\H HHER ERyER*EP"ERa:*ER:VER(N4ZEPBERg;aZ2ERh;aZJERr;aZ:ERr;aZbDN(VDN5yf[%fW=ٔfL;Q-f>9hYh=j3FyjEjEn>pQ 5r4r'?Q 9v4rZ)rQ BYtyvB?Q Iv9@rPDIry:irN:r$4yz Bɮ~B~ EZRbj"ړڒ’b?Թɢj4=) %>i)-Hp<)1iUW]ɧ]e?] 2B?2u=ٱ2^ >AHRS rotation from veh to nav: [[0.873632,-0.486080,-0.022226],[0.482873,0.860424,0.162803],[-0.060012,-0.152962,0.986408]]2H`? ߿P–d? ?`? ޹@Bÿ?i2ؒ>I2f`;2CYBIByFUHbDNVDNx5yVRT%VL=ٔVU;Q-Z>9XYX=Z3FyZE^08E^>`Q 5f4b BYdyjC?Q Ij9@bXDIb:ib:b#4ylɮnBlZ|R|bj"ړڒ ’   C@1ɢ=5=)9 =}>i9)E%6L?6[y=ٱ6? BAHRS rotation from veh to nav: [[0.873520,-0.486311,-0.021573],[0.482980,0.860299,0.163143],[-0.060779,-0.152928,0.986367]]6H@?@߿S@$?`??a%ÿP?i6G>I6l_;6CYJ IByJEHiEMb@Mb@Mb@AAAA A9Egfffff?V-?Mb?YE3?yEh=E9Y=3FyE9E>Q 54f?Q 94)- BYU?Q E:y ?Q I9@`DIR;i;4qy} Bɮ}ByZRbj"ړڒ’@1ɢ5M+=)1 5څ>i9)=$<99i=i_E\ɧE9?E5[ԡE EE-E"Es:*EVL:VEt4ZEBE;a2E;aJE;a:E;a J,&-?AB>BJ?Bo|=ٱB7 RAHRS rotation from veh to nav: [[0.873490,-0.486401,-0.020727],[0.482931,0.860300,0.163285],[-0.061591,-0.152638,0.986361]]BH?1!߿h9V?`??Ոÿ@E?iB>IBC_;BCYZHByZ1HI^<)^4<bD VD5y'%R=ٔ;Q->9Y=3Fy%E%隸E%>)Q 554-‰?Q 954-})- BY1y5 ?Q I=9@-gDI-;i-;-~4yAɮE BAZaRabiji"iiړiiڒq’qqun @颡ɢ Z1=) U{>i)ʒ<顩i񖼩+ɧ?駵}6j?6s~=ٱ6%: >AHRS rotation from veh to nav: [[0.873229,-0.486883,-0.020387],[0.483339,0.860026,0.163520],[-0.062082,-0.152645,0.986329]]6H~?@)߿= ?`U?I6G^;6CY^HBy^HiuMb@Mb@Mb@qqqq q9u +?kt?y&1|?Yu?yu =u`;u^Aq q)u AqYqbDVD5yB%?=ٔ:Q->9Y=3FyEh:E>Q 54‰?Q 94{y) BYd?Q E:y&?Q I9@oDI<:iQ:AABBBHBHBBBBBҊ;BmAE4yBɮ;BZ1R1b9j9"99ړ99ڒA’AAE`y @qɢuq%=)q uf>iq)}\*Ա vW,-@a?A2k>2?2H=ٱ2 :AHRS rotation from veh to nav: [[0.872950,-0.487421,-0.019455],[0.483776,0.859926,0.162750],[-0.062598,-0.151484,0.986476]]2H5?`1߿듿0? ??ncÿ@5?i2k>I2^;0DB=DBR=EF EFyEF+ED"EF%:*EF:VEF [4ZEDBEF;aJ2EF;aJJEFr;aN:EFr;aNYPyPbDZ VDZT5`ٔfö:Q-f>9dYd=j3FyjEj:Ej>pQ 5v4r`(‰?Q 9v4ru)rBYtyv&?Q Iv9@rvDIr-:ir:rr4y|ɮ||ZRbj"!!ړ!!ڒ!’))-@QɢU+=)Y YiY)]ĄA )^,{?A6Tړ>6?6a=ٱ65 >AHRS rotation from veh to nav: [[0.872513,-0.488216,-0.019121],[0.484495,0.859479,0.162974],[-0.063133,-0.151461,0.986445]]6H?>߿`?ڀ?T?@v)cÿ`?i6Tړ>I6;^;4YFHByFH HHbDRVDR5yZ%Z<ٔZҮ:Q-Z>9\Y\=^3Fy^EbR ;Eb>dQ 5j4fS8‰?Q 9j4f)r)fBYhyj'?Q Ij9@f}DIf>:if;ft4yrBɮrPBr EZ R b j "  ړڒ’C@IɢMvX%=)I MaX>iI)UBBHBHBBBBBъ;BBBBBBǎ =CǾ!4ԡ d,?AFQ>F{?F=ٱF fAHRS rotation from veh to nav: [[0.872057,-0.489036,-0.018993],[0.485282,0.859031,0.162992],[-0.063393,-0.151355,0.986445]]FH@?@_L߿@r ?/}??:_ÿ@?iFQ>IF^;DYrHByrHyi߁I߁G-;9)Y-,AiMb@Mb@Mb@ 97A`?!rh?MbPY?yl=1A A)7AYAbD VD5y"C%-=ٔ/:Q->9Y=3FyE|:E>Q 54J‰?Q 94lm)BYH?Q E:y-2?Q I9@DI:i:4yBɮ/BEZRbj"ړ!ڒ!’!!% f@QɢU1=)Q U_A>iY)]4^eXԡDzDE EwE$E"EC:*E:VE4ZEBE5;a2E7;aJEk;a:Ek;a *k,֮?A23>24?2߂=ٱ2ȭ :AHRS rotation from veh to nav: [[0.871637,-0.489781,-0.019094],[0.485975,0.858476,0.163853],[-0.063860,-0.152099,0.986300]]2Hr?X߿@n6?@x??@ Y wÿ ŏ?i23>I2];0Y^HBy^HbDfVDf5ynh%no=ٔr :Q-r?9pYp=v3FyvEvt;Ev?xQ 5]4zW‰?Q 9]4zi)zBYayea2?Q Ie9@zDIz}giA)EmdU6}?6:=ٱ6Q BAHRS rotation from veh to nav: [[0.871084,-0.490730,-0.019914],[0.486942,0.857652,0.165289],[-0.064033,-0.153677,0.986044]]6H@? h߿ad*?q?-(?`rd@ÿ?i6N>I6b^;4YDyFHIN<)Ni=Mb@Mb@Mb@9999 99= ףp= ?1Zd?MbY=Q?y="===A9 9)=MA9Y=AB<A<BBBHB|HBBBBB؊;BtAEbDVDQ5yA%;=ٔc9Q->9Y=3FyE %;E>Q 54 i‰?Q 9%4e)BY%?Q E%:y%.?Q I%9@DI:i/:d4)y1ɮ5JB1ZqRybyjy"yyړyyڒ’/@ɢ=) ->i)<iqc쾽ɧ>A=>IIO=YԁԱ ;x,ʇⵣ?AD2=D2<bEu [4jEu-W4rEu0E6 E6yE6+E4"E6:*E6:VE6 [4ZE4BE6k;a>2E6l;a>JE6r;a>:E6r;a>F>Fc?F=ٱF: RAHRS rotation from veh to nav: [[0.870845,-0.491145,-0.020133],[0.487325,0.857257,0.166206],[-0.064373,-0.154551,0.985886]]FH@?n߿`S0? n? ?F?zSÿ_?iF>IF<^;FCYZHByZHbDb(VDb5yj}ɼ%j^=ٔnr:Q-n>9lYl=r3FyrEr:Er>tQ 5~4v\w‰?Q 9 4va)vBYy.?Q I%9@vDIv";iv;v#4y-Bɮ-ZB-EZIRIbIjI"QQړQQڒQ’YY]`@颉ɢ=) #>i)ς<顑iw¾ɧ>駝:v e~,b?A2 >2?2=ٱ2T :AHRS rotation from veh to nav: [[0.870335,-0.492045,-0.020233],[0.488185,0.856647,0.166830],[-0.064755,-0.155075,0.985778]]2H?}߿ k>? i?Z?Ɠÿ~?i2 >I2}9^;2CYfHByfHbD "VD c5yI%F=ٔGs:Q->9% ?Y% ?=%3Fy%E-%;E->)Q 554-‰?Q 9=4-])-cBY9y=/?Q I=9@-DI- ;i-H;-*4yIɮMyBIZiRibiji"iqړqqڒq’qy}ഥ@颩ɢ,`=) P>i)_<顱i䬑ɧ>駽Wv!BBBoHB^HBBBBBފ;BzAEI N,B?A0B޲>B/?B߄=ٱBzu NAHRS rotation from veh to nav: [[0.869712,-0.493126,-0.020705],[0.489283,0.855906,0.167410],[-0.064833,-0.155729,0.985670]]BH?^߿@3@kP?c?m?昰`ÿ?iB޲>IB`^;BCYRHByRHiMb@Mb@Mb@ 9K?y&1?Y^?y`=̼ )zAYQAbD,VD5yw7%A=ٔA9Q->9"?Y"?=3FyE]C;E>Q 54Z‰?Q 94Y)?BY#?Q E:yS0?Q I9@DI ;i] ;e24yBɮBZ R b j "  ړڒ’vX@AɢE=)A M=iI)MN=]E E{E)E"E:*E5":VEFA4ZEBE&;a2E(;aJEDz;a:EDz;aԹ = < Rw,0?A2DJ>2{?2;=ٱ2 :AHRS rotation from veh to nav: [[0.869136,-0.494136,-0.020785],[0.490282,0.855310,0.167537],[-0.065009,-0.155803,0.985647]]2H@?߿H`?^?q?n@Zÿj?i2DJ>I2^^;2CYBoHByBHbDHVDHdy^J0%f\=ٔjM9Q-j>9hYl=n3FynEnfJ;Er>pQ 5v4r%‰?Q 9z4rU)r BYxyz0?Q Iz9@rDIr:ir1:r84y|ɮBZ!R!b!j!"!!ړ))ڒ)’))5@0@ɢ =) (=i)<iB J=ɧ > ?E  E wE 'E "E :*E :VE '4ZE a @a @a @a @I h,J?Afa>f?fp=ٱfej! nAHRS rotation from veh to nav: [[0.869010,-0.494363,-0.020676],[0.490418,0.855026,0.168585],[-0.065664,-0.156642,0.985470]]fH?ࢣ߿ ,c?_\?/?Tϰ@ Ŀ?ifa>If r^;fCYvXHByvhH A)A)B1B1B5JHB5?HBB5 =B1B1B5;B5AEiMb@Mb@Mb@ 9V-?RQ?S㥛Y?y=/ݼA )dAYbD 9VD 5yG%5=ٔ:Q->9!Y!=%3Fy%E-9E->1Q 5545‰?Q 9=45?Q)5BY=?Q E=:y=(?Q I=9@5DI5H:i5;5@4yMBɮMBIZiRibiji"qqړqqڒq’qy}@@颡ɢ=)w =i)|<顩iQɧ>駽 iԉ ,c?AE& E&xE&4E$"E&:*E&:VE&4ZE$BE&;a*2E&;a*JE&Xo;a.:E&Yo;a.^>^Z?^=ٱ^!#" fAHRS rotation from veh to nav: [[0.868794,-0.494733,-0.020870],[0.490765,0.854684,0.169305],[-0.065923,-0.157333,0.985343]]^H)?߿^h? 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E  E xE -E "E :*E :VE t4ZE a @a @a @a @1 .`,h£?A6cٴ>6?C?6ٱ6K6 NAHRS rotation from veh to nav: [[0.840561,-0.526508,-0.127465],[0.540362,0.831551,0.128577],[0.038296,-0.176954,0.983474]]6H?&PJ??9u??pƿx?i6cٴ>I6@|^;6CYjEByjWHi]Mb@Mb@Mb@YYYY Y9]ʡE?RQ/$?Y]?y]½]=ٔ6Q->9Y=4FyERE>Q 55,Iʉ?Q 95~)<BY?Q E:y>Q I<@MDIQ:if:5yɮHBZRbj"ړڒ’ @K@ԉɢ`) | i)iiՃɧ >XB B B hHB EBB B B B O;B AEBBBBBCK4A XG,g£?A2:90Y2+AE} E}nE})Ey"E}:*E}:VE}FA4ZEyBE};a2E};aJE}J;a:E}J;aYEByHbDqVD6y]=%H=ٔQ->9"?Y"?=4FyEE>Q 55[ʉ?Q 95 )UBYyQ I<@TDI;io;5yBɮ)BEZRbj"  ړ  ڒ ’`@uK@9ɢ=_\)A EiA)E.{AAiE*UɧU>UA ,$F5£?A E>E?EٱE`6 AHRS rotation from veh to nav: [[0.844049,-0.521084,-0.126702],[0.534895,0.834944,0.129449],[0.038336,-0.177033,0.983458]]EH`r? 7@?۷?Ƒ?`?@ƿ|x?iE>IEx^;ECYFByHAiUMb@Mb@Mb@QQQQ Q9UI +?&1v/?YU9?yUPUxi=UBQ UMA)UVAQYUpAiibDufVDu6y}=%>=ٔQ->9Y=4FyEvE>Q 55mʉ?Q 95){BY?Q E:y>Q I<@\DI:i]:]5yBɮBGSB*** querying acoustic contact ***:BZRbj"ړڒ’@hK@a颱ɢM) i)项ixɧ>9,8O£?AJ >J?J`PٱJ6 ^AHRS rotation from veh to nav: [[0.845596,-0.518591,-0.126614],[0.532445,0.836380,0.130273],[0.038339,-0.177573,0.983360]]JH? K@4 ??`ɬ?0?ƿ@w?iJ >IJ|@^;HYj:FByjHbDzaVDz6y Η=% f=ٔi#Q->9% ?Y% ?=%4Fy%E%E->1Q 5E55|ʉ?Q 9E55_)5BYIyM+>Q IM<@5cDI5;i5:5}5yUBɮUBQZqRqbyjy"yyړyڒ’BK@颩ɢZ) ⾝*DAT read: user:148> BDAT read: Tx time:21:13:44.3960 $Ping request sent.eaE EtE*E"EC:*Ev:VE(N4ZEBE6;a2E7;aJE`;a:E`;a checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250808! :™,Rh£?A2}>2?29ٱ2v6 :AHRS rotation from veh to nav: [[0.847195,-0.516073,-0.126214],[0.529877,0.838033,0.130120],[0.038620,-0.177115,0.983432]]2H 8?` '?*?ħ?ţ?ƿFx?i2}>I2I^;2CYfAFByfHbDnMVDnG5yv<%vL=ٔz>8Q-z>9z"?Yz"?=z4Fy~E|tE> Q 55 ʉ?Q 95 ) BYy>Q I<@ jDI W:i : 5y%Bɮ%B%EZARAbAjA"IIړIIڒI’QQU# L@yɢ[~O) 5߾i)<顁i{U|-ɧa>駕ԁ bE-(N4jE-U4rE-z:0E  E rE 'E "E :*E ?:VE '4ZE a @a @a @a @%,ɂ£?Ai I"A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755154:A;>:/t?:~ٱ:' 6 BAHRS rotation from veh to nav: [[0.848483,-0.513998,-0.126024],[0.527781,0.839391,0.129881],[0.039025,-0.176715,0.983488]]:H &?`r!? K?? #?ƿx?i:A;>I:C^;:CYJkFByJ HIL)Np;Yi}Mb@Mb@Mb@yyyy y9}\(\?{Gzt~jt?Y}?y}ף}=yy y)}?AyY}AbD?VD5y=%?=ٔxQ->9Y=4FyEE>Q 55-ʉ?Q 95)BY?Q E:y?Q I<@sDI:iQ:5yBɮBZRbj"ړڒ’`CL@1ɢ5\A)9 =1ʾi9)=@99i=zEFɧE>E[ͪB B B HB WFBB B B B J;B AE 0Ԧ,n£?A25>>2 ?2!ٱ2ř6 :AHRS rotation from veh to nav: [[0.849491,-0.512265,-0.126294],[0.526136,0.840340,0.130422],[0.039319,-0.177240,0.983382]]2H /?@ydf*???!?ίƿ@w?i25>>I2.^;2CY^FByb9HbDj0VDj5yr=%rX=ٔrBKQ-v>9v ?Yv ?=v4FyvEzܦEz>|Q 55~\ʉ?Q 95~)~BYy?Q I <@~zDI~;i~_:~5yBɮ`BZ1R1b1j1"99ړ99ڒ9’AAEOtL@E EvE)E"E:*E:VEFA4ZEBE;a2E;aJEh;a:Eh;aԹ ɢ \H;)  i )Ui5.y=ѫɧ=>= )? M? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5110389 *,£?AQ~> ?#!ٱ5 AHRS rotation from veh to nav: [[0.850260,-0.511226,-0.125323],[0.524892,0.841290,0.129302],[0.039331,-0.175722,0.983654]]HS5?[` ???!#? ~ƿz?iQ~>IA4^;Y%FBy%[HiMb@Mb@Mb@ 9"~j?Q?ˡE?YS#?y\==}B1A )VAYAbD/VDa5yf=%.=ٔS̷Q->9"?Y"?=4FyELE>Q 55ʉ?Q 95)>BY%?Q E:y.?Q I<@DI:i:5yɮEBZ!R!b!j!"))ړ))ڒ1’115`AL@Yɢe/)a esia)!īi[x-ɧ>;Ϩiԑ ,]£?AF3>Ffp ?Fd'!ٱFD=3 ZAHRS rotation from veh to nav: [[0.850558,-0.510964,-0.124364],[0.524408,0.841805,0.127908],[0.039334,-0.174011,0.983958]]FH 7?YXֿ??@M_?#?Eƿ|?iF3>IF%^;DYbFBybHbDj)VDj5yr>%rp=ٔv-Q-v?9tYt=z4FyzEzJۺEz?|Q 55~3ʉ?Q 95~ )~^BY y .?Q I <@~DI~:i~:~5yBɮBEZ1R1b9j9"99ړ9AڒA’AAEL@qɢu.)q uiq)}nUyyi}Iw9~ɧ>駅ԡBIAM<BQBQBUVHBUFBBQBQBQBU@;BUAEԡE EvEE"Ea:*E:VEZEBEg;a2Eh;aJEa:Eaii Ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267030 F,5£?A2P>2~ ?2!ٱ20 :AHRS rotation from veh to nav: [[0.850438,-0.511449,-0.123190],[0.524594,0.842029,0.125655],[0.039463,-0.171486,0.984396]]2H6?]\x??t?`4? Aſ+?i2P>I2];2CYNFByRHbDZVDZ5yb:=%bM=ٔbQ-f>9dYd=f4FyfEj:Ej>lQ 5r5nʉ?Q 9r5nz)nBYpyv.?Q Iv<@nDIn;in=:n5yxɮzBxZRbj"ړڒ’@GM@)ɢ5 )Q UiY)]-YYi]cweRɧe>e) E  E uE E "E :*E :VE ZE a @a @a @a @Y w,ã?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7722996>6 ?6"ٱ6o- >AHRS rotation from veh to nav: [[0.849660,-0.513009,-0.122063],[0.525837,0.841654,0.122937],[0.039667,-0.168640,0.984879]]6H j0?j@??@?@x?`:O?ſ!?i6>I6w];4Y^GBy^HiEMb@Mb@Mb@AAAA A9EMbX?Pn? rh?YE*?yE>EC=EBA EdA)AAYAbDVD5y|=%9=ٔNQ->9Y=4FyEZ;E>Q 557ʉ?Q 95bu)BY.?Q E:yB?Q I<@DI:if:l5yBɮBZ1R1b9j9"99ړ99ڒA’AAErGM@qɢum)q uqiq)}oưyyi}Bx-ɧJ>駅AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022706ԁ BA BA BE HBE FBBA BA BA BE 8;BE AE!,ã?A0:bǬ>:@:?:f$ٱ:s, BAHRS rotation from veh to nav: [[0.848915,-0.514320,-0.121728],[0.527010,0.841168,0.121231],[0.040042,-0.167066,0.985132]]:H`P*?Ou) D? ??e?nbſ4?i:bǬ>I:];:CYb*GBybHbDjVDj 5yrR=%r\=ٔrQ-v>9tYt=v4FyvEzu;Ez>|Q 55~ˉ?Q 95~p)~BYyB?Q I <@~DI~;i~;~5yɮBZ1R1b1j1"99ړ99ڒA’AAEvM@iɢu1)q uUiq)u qE EE*E"E:*EVE(N4ZEBE;a2E;aJEmd;a:Emd;ayi.xQɧ˞>駥~^?^o$ٱ^g( AHRS rotation from veh to nav: [[0.848012,-0.516108,-0.120449],[0.528455,0.840661,0.118429],[0.040135,-0.164081,0.985630]]^H"?@վ?@?ZQ?`?ſ H?i^צ>I^];^CYAyAbDVD]5ٔEaQ->9Y=4FyE*;E> Q 5-5 ˉ?Q 955 ek) BYy:C?Q I<@ DI -s\i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779019A V4,{Qã?A2|>2?2 &ٱ2( :AHRS rotation from veh to nav: [[0.847064,-0.517636,-0.120564],[0.529944,0.839877,0.117327],[0.040527,-0.163276,0.985748]]2H@%?z Pݾ`M? F?@" ? 꿤?`8Ŀ>?i2|>I2ʛ];0Y^QGByb%H)i}Mb@Mb@Mb@yyyy y9}S?Mb?Mb?Y}/?y}@>}=}gB}GA y)}lAyY}=ABDAT read: Rx Time:21:13:47.8655 TRx dataTimestamp_ set to:1761513229.328754checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032024bDVD5y_:=%<ٔ~Q->9Y=4FyEސ;E>Q 55&ˉ?Q 95e)BY5?Q E:yT?Q I<@DI;i ;5yɮmBZ R b j "ړڒ’ M@AɢMu )I M.iI)MIQiU,1{]Qڪɧ]X>]M-2d?2 r(ٱ2R?' :AHRS rotation from veh to nav: [[0.846067,-0.519199,-0.120845],[0.531489,0.839070,0.116110],[0.041113,-0.162465,0.985857]]2H?F﾿@??i? ?Ŀ%?i2>I24];2CYRPGByR$HbDbVDb5y ѓ%V=ٔɺQ->9Y=%4Fy% E%N;E->1Q 5=55&6ˉ?Q 9E55`)5BYAyE@U?Q IE<@5DI5B;i5\C;5P5yUBɮUpBԙQZ)R1b1jI"IIړڒ’@N@ɢL ) 1/i)Fصik|,ɪɧ>U;iE ?;IE ? E ?IA=>A=>IIO=߭=߭=DAT read: 21:13:47.8655 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 425,-0.14,-1.600, 3.003,-1.612,-1.738, PHS= 0.239,-1.498, 0.081, RAW= 145.3, 14.1, CAL= 145.0, 15.3, ROT= 5.0, -15.3 Ygot valid direction response: 21:13:47.8655 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 425,-0.14,-1.600, 3.003,-1.612,-1.738, PHS= 0.239,-1.498, 0.081, RAW= 145.3, 14.1, CAL= 145.0, 15.3, ROT= 5.0, -15.3 PDAT read: Bearing 196.5, 4.3 (Local) ~Local bearing/azimuth received: Bearing 196.5, 4.3 (Local) DAT read: Range 11 to 50 : 798.9 m (Round-trip 1065.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.960887,0.084067,0.263873] Fpublishing direction and range infoy=?Qte?&K?YGD )WIjt>iwT=:M"@d{>p!@ ܸ>)¸=Iܸ ,*???6? q>)61{I¸=iܸE  E vE .E "E :*E :VE ـ4ZE a @a @a @a @ xJ,jã?A2>2R6?2L)ٱ2& :AHRS rotation from veh to nav: [[0.844760,-0.521267,-0.121082],[0.533548,0.837867,0.115352],[0.041321,-0.162047,0.985917]]2H@F?87@?`??`(?Ŀ?i2>I2s];2CYbbGByb:HiMMb@Mb@Mb@IIII I9MS?uV?~jtYIyMrh>MMAI I)IIYMAbDeVDe5yu-=%uC=ٔ}Q-}>9yYy=4Fy Eƿ;E>Q 55ZFˉ?Q 95Z)BY8?Q E:y_?Q I<@ɸDI ;iP ;5yɮ^BJR@uã?AFDFD@1?ѣ@O@jP@=j@=?Qte?&K?¸=ܸ—[L@-k~@"G5wl@S? ;?."Q?jCr`DZ-i?b'4zɊC-i?'4ɊCڗ>DD1?ZRbj"ړڒ’@3@L?!ɢ-M)  i)϶顩iGj~ɧץ=駽g;i ?x;I ?  ?II)IAOM=IB o>B B PHB tGBB B B B ;B 2BEq ap,3ã?A2 6>2?2>)ٱ2TO( :AHRS rotation from veh to nav: [[0.843234,-0.523489,-0.122128],[0.535960,0.836200,0.116256],[0.041264,-0.163487,0.985682]]2H?lC&?@'? ½? ?!Ŀ`?i2 6>I2G];2CYNuGByRQHbDZVDZ5yb>=%bW=ٔb#9Q-b>9dYd=f4Fyf Ejn;Ej>hQ 5r5jUˉ?Q 9r5j U)jBYtyv`?Q Iv<@jҸDIj";ij#;jE5yzBɮzOBxEe EetEe'Ea"Ee1:*Eev:VEe'4ZEaBEaam2EaamJEe`;au:Ee`;auZRbj"ړڒ’ "?)ɢ-)) - i1)5Q1Yi]s3ehɧegLB?B-*ٱB}( JAHRS rotation from veh to nav: [[0.841869,-0.525500,-0.122907],[0.538081,0.834843,0.116218],[0.041536,-0.163974,0.985590]]BH ?@v7?? t?`,D?Ŀ?iB΀>IB];BCYeGBy5=HbDVD5Աy5%5)=ٔ=Q-=>9AYA=E4FyEEM;EM>YQ 5e5]gˉ?Q 9e5]M)]BYayeVa?Q Im<@]ݸDI];i] :]5yæBɮ"BwEZRbj"ړڒ’ @?1ɢ=a)9 =i9)=o߸9AiE>WMȪɧMMsyiM ?Mbļ;M 9 ,hã?A2>2"?2+ٱ2:( :AHRS rotation from veh to nav: [[0.840710,-0.527221,-0.123468],[0.539856,0.833775,0.115647],[0.041973,-0.163880,0.985587]]2H@?F?I??y}? Ŀ?i2>I2];2CYB[GByB1HiMMb@Mb@Mb@IIII I9Moʡ?}?5^I?㥛 YM-?yMMb>MMBI MMA)MVAIYIbDeVDe5yu%ul=ٔuڥQ-u?}%=}a=9Y=4FyE_;E?Q 55Ruˉ?Q 95I)BY7?Q E:ys]?Q I<@DI ;i ;5yŦBɮ/BZRbj"ړڒ’c? ɢ Lg)  $i )i򁻩oԪɧ Xܻi?%W);!I%? %?I!BA<BBBHBGBBBBB;B&BEA%.AI)I9OM0>9E} E}E}(Ey"E}:*E}X:VE}c44ZEyBE};a2E};aJE}s;a:E}t;ai ,ã?A Fw>FL?FS,ٱF( RAHRS rotation from veh to nav: [[0.839652,-0.528828,-0.123797],[0.541482,0.832791,0.115138],[0.042209,-0.163710,0.985605]]FHm? (.`S?8? y?e?uĿ?iFw>IF=];FCY^`GBy^8HbDjVDj5yv[<%vS=ٔzQ-z>9E ?YE ?=E4FyEEM;EM>yQ 55}݄ˉ?Q 95}NC)}BYy]?Q I<@}DI}DA;i};} 5yɮ)BZ R bj"11ړ19ڒ9’99= ?颁ɢ) Ci)Ѻ顱i낻몽ɧO駽2&i?Q;I? ?IiA؟AI)I9OAԩ E  E }E +E "E s:*E k&:VE [4ZE a @a @a @a @i9 I9 ,{ģ?A2k>2 ?2}-ٱ27Z) :AHRS rotation from veh to nav: [[0.838764,-0.530068,-0.124512],[0.542846,0.831850,0.115517],[0.042343,-0.164483,0.985471]]2H'?P࿿^? ??@ ? ſ?i2k>I2|];2CYBhGByBAH DDPi Mb@Mb@Mb@     9 {Gz?/$?1ZdY #?y &1> "۽  1A 7A)  Y pAbD-VD-A5y5<%=F=ٔ=ЪQ-=>9E"?YE"?=E4FyEEMS;EM>IQ 5U5M?ˉ?Q 95MJ>)MlBY+?Q E:yN?Q I<@MDIMȤA>A.AII O >B B B HB GBB B B B ];B BE! ,S{ ģ?A6>6d`?6.ٱ62( >AHRS rotation from veh to nav: [[0.838060,-0.531198,-0.124438],[0.543922,0.831253,0.114752],[0.042484,-0.163854,0.985569]]6Hb? .ۿg?@?e`?g? )Ŀȉ?i6>I6}@];6CYFMGByF HbDRVDR=5yVꍽ%ZS=ٔZQQ-Z>9^ ?Y^ ?=^4Fy^Eb$Z;Eb>dQ 5f5f)ˉ?Q 9j5fj9)fABYhyjO?Q Ij<@fDIf:if:f5ypɮr@Bp|Z R b j "  ړڒ’`¯@EA EEvEE*EA"EA*EE:VEE(N4ZEABEE;aM2EE;aUJEEh;aU:EEh;aUaɢe<)a e2ia)m$ּiiim΂u!ɧujuWsiu ?u;qI} ? } ?Iy^AUu<)A؟AIIO>Yԁ ߡ ߥ 4= ,W:ģ?A2y>2L?2.ٱ2g( NAHRS rotation from veh to nav: [[0.837405,-0.532192,-0.124600],[0.544913,0.830673,0.114248],[0.042700,-0.163568,0.985608]]2H@?忿o?ߔ? Y??ܥ?Ŀ?i2y>I2_];2CY>GBy  HbDMaVDM5yg %==ٔKQ->9"?Y"?=4FyEb2;E>Q 55ˉ?Q 953)BY y YO?Q I<@DI;i;5yȦBɮRBxEZ!R)b)j)")QړQQڒY’YY]t @颱ɢo) Ai)eU项iXs(Nɧ泾돼i ?Ŀ;I ?  ?IEM EMxEM'EI"EM1:*EM:VEM'4ZEIa]@a]@a]@a]@ԉԱ^A9g<A) I9 II Oe > ,{1Tģ?A2 >2?2U}0ٱ24t( :AHRS rotation from veh to nav: [[0.836986,-0.532752,-0.125021],[0.545527,0.830305,0.113993],[0.043075,-0.163613,0.985584]]2H?N @t? ۑ?.?@ ?CĿ?i2 >I20\];2CYB3GByBHi=Mb@Mb@Mb@9999 99=-?MbX?V-Y=5?y====A=A = A)=?A9Y=AbDU3VDUL5ymܼ%mL=ٔuHvQ-u>9qYq=}4Fy}E}:E}>Q 55ˉ?Q 95/)BY"?Q E:y4?Q I<@DI:i:,5yBɮ BnEԹZRbj"ړڒ’@W @ɢ) Li)z  i Iⅻoɧʽԗi?ae;3{B1B5HB5GBB1B1B1B5l;B5BEEe EevEe*Ea"Eeҝ:*Ee:VEe(N4ZEaBEe;am2Ee;amJEaam:EaauAIIO>i I A ,nģ?AFeη>F½?F@2ٱFI( VAHRS rotation from veh to nav: [[0.837247,-0.532292,-0.125231],[0.545091,0.830632,0.113690],[0.043505,-0.163449,0.985592]]FH?@ cq?`??JF? Ŀ@?iFeη>IF];DYb%GBybHbDrEVDrp5y~ %~R=ٔQ->9 Y = 4Fy EE>!Q 5-5%ˉ?Q 9-5%|+)%BY1y53?Q I=<@%DI%GH;i%R;% 5yMBɮM1BMoEZRbj"ړڒ’P@)ɢ-)) -Zi1)5e11i5q=晫ɧ=Ǿ=#iE?E$;AIE? E?IIAIIO >AqEm  Em wEm (Ei "Em :*Em :VEm c44ZEi au @au @au @au @ԙ !,Gģ?A6>6f?6s&3ٱ6`( BAHRS rotation from veh to nav: [[0.837550,-0.531719,-0.125639],[0.544609,0.830893,0.114100],[0.043724,-0.163989,0.985493]]6H@5? om?@?5?b?Ŀ (?i6>I6ei];6CYFGByFHiMb@Mb@Mb@ 9^I +?I +?B`"۹YX?y9<νA )(AYAbD-GVD-5y= 0%=F=ٔEx Q-E>9AYA=E4FyMEMѵEM>QQ 5]5Uˉ?Q 9]5U')UBYe?Q Ee:ye?Q Ie<@U DIU;iU;U-5yiɮmCBiZRbj"ړڒ’q`@AɢM|")I MliI)MDt¼IIiU݆qDëɧ¾駝;i?;I? ?IA>A>AE.AIIIYOm5>ԡB= m>B9 B= \HB= ~GBB9 B9 B9 B= };B= "BEBBBBBCB~4 G  S69 Y 'A (,¡ģ?AY~GBy~H bDVVDZ5E% E%vE%*E!"E%:*E%:VE%(N4ZE!BE%;a52E%;a5JE!a5:E!a5y=;%EJ=ٔEQ-E>9M ?YM ?=M4FyM!EMEU>QQ 5]5UAˉ?Q 9e5U[$)U~BYayaQ Ie<@U'DIUL;iU;U5ymBɮqqZRbj"ړڒ’`W@ɢz$)  ji)]üiL;.諽ɧűi+?;I+? +?IA!I1IAOM>) q7.,젻ģ?A2>2?2u3ٱ2J, >AHRS rotation from veh to nav: [[0.839608,-0.528055,-0.127342],[0.541423,0.832456,0.117804],[0.043800,-0.167855,0.984838]]2H?@L WS?z?b(?l?C|ſ˃?i2>I2yo];2CYFGByFHbDNIVDN\5yV-3%VT=ٔV NQ-Z>9XYX=Z4FyZ#E^{!Eb>lQ 5e5n̉?Q 9m5n )n_BYqy}?Q I}<@n/DIn;in;n5yɮUBZR!b!j!"))ړ19ڒA’IQ]@"@1颁ɢw$) K{i).ż顩i]ɧT駵vi?+R;I? ?IE- E-E)E)"E-C:*E-.:VE)ZE)a=@a=@a=@a=@Y^A m<AiAzAԉ Ae ؟AIq I O >5,5yģ?A06 >6?63ٱ61. >AHRS rotation from veh to nav: [[0.841169,-0.525409,-0.127983],[0.538992,0.833767,0.119667],[0.043834,-0.169642,0.984530]]6H? &al??7??fq?`նſE?i6 >I6Y];4YFGByFHi Mb@Mb@Mb@     9 `"? ףp= QY ?y Q8 u  A 7A) A Y 3AbD%NVD%5y5I%5B=ٔ=vQ->9"?Y"?=4Fy%E"ٻE>Q 55̉?Q 95)TBY?Q E:y>Q I<@7DI<:is:5yBɮYBZRbj"ړڒ’   G@1ɢ=p .)9 =|i9)=8Ǽ9AiEM͇E/2ɧMMiMmM?M;IIMmM? 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BAHRS rotation from veh to nav: [[0.877432,-0.475666,-0.062080],[0.479453,0.865450,0.145333],[-0.015403,-0.157284,0.987433]]:H?Qq޿`ȯ@\?ñ?C?|@!Ŀ ?i:{_>I:f^;:CYJJByJHbDVVDV 5yj%nM=ٔn:Q-n>9pYp=r5FyrEvEv>xQ 5z5z`Ӊ?Q 9~5z)z6BY|y~~?Q I~?@zDIz;iz;z5y ɮ B Z9RAbAjA"IQړQYڒa’iqucH@Buh>BqBuHBudJBBqBqBqBu;BuAEQQɢ]'-=)Y ]?ia)eҝ;aaie0uɧuV8uExi}>}5;yI}> }>IAIIOI>yԩ E  E E -E "E C:*E .:VE t4ZE BE a 2E a JE ;a :E ;a d,ϣ?A2>2I>2<ٱ2s" :AHRS rotation from veh to nav: [[0.878137,-0.474413,-0.061714],[0.478144,0.866014,0.146278],[-0.015951,-0.157960,0.987317]]2H?\޿혯?c?@=?U 8Ŀ?i2>I2b^;2C@YBJByFHiMMb@Mb@Mb@IIII I9M ףp= ? rh~jtYMQ?yMC MII MA)M(AIYI ep9yY=5FyEeE>Q 55Ӊ?Q 95)BY?Q E:y>Q I?@DI ;i] ;J5yfBɮBEZRbj"ړڒ’H@ ɢ 8=)  K?i )g;i)Z份ɧR+ i|>2;!I%|> %|>I!ԩAIIO> :,ϣ?A2G>2h>2ʅ<ٱ2! :AHRS rotation from veh to nav: [[0.878730,-0.473427,-0.060831],[0.477040,0.866694,0.145857],[-0.016331,-0.157187,0.987434]]2H?L޿2%@ч??@o?@ Ŀ?i2G>I2֨^;2CYBIByBYHbDJVDJ5yVٽ%VX=ٔVŃ:Q-V>9XYX=Z5FyZEZYE^>`Q 5f5b(Ӊ?Q 9f5b})bBYdyfw>Q If?@bDIb:ib:b5ylɮnBllZRbj"ړ  ڒ ’  oH@9ɢ=-=)9 E>iA)EJ;AAiE'Mg"ɧMMCpiMs?U$;QIUs? Us?IQE EuE(E"E*E:VEc44ZEa@a@a@a@ l>CgG!]S:9YY]G+A A)I9IIOU>1BYA]<Bui>BqBuHBu'JBBqBqBqBuފ;BuzAEBBBBBCME4a d,/ϣ?A2*>2K>2 ȉ<ٱ2! :AHRS rotation from veh to nav: [[0.879574,-0.471952,-0.060094],[0.475466,0.867518,0.146097],[-0.016818,-0.157076,0.987443]]2Hw%?w4޿ Įn??P?@8`Ŀ"?i2*>I2~^;2CYnIByniH9imMb@Mb@Mb@iiii i9mv?x&ˡEYm?ym7m'mAi i)mAiYmAbDVD5y<%<=ٔ9:Q->9Y=5FyEφE>Q 55<Ӊ?Q 95{)BY&?Q E:y>Q I?@DI;ip;b5yhBɮBZRbj"ړڒ’I@颙ɢq&=) n>i)i<顡iKdɧiF??;IF?? F??IA>A>iE EyE)E"E*E:VEFA4ZEBEa2EaJEr;a:Er;aAaIiIyO9>9=%=ԑ Ž,o У?A6+>6N>6R<ٱ6i" >AHRS rotation from veh to nav: [[0.880469,-0.470312,-0.059843],[0.473790,0.868256,0.147156],[-0.017250,-0.157919,0.987301]]6H,?޿@R??@?6Ŀ?i6+>I6^;6CYNIByRDHTVBAbDZVDZ5yf%fX=ٔf:Q-f>9hYh=j5FyjEnE=>AQ 5M5ENӉ?Q 9M5Ex)EBYIyM>Q IM?@EDIE:iE:E̞5yYɮ]BYZyRybyjy"ړڒ’2I@ԙ颹ɢtw,=) >i)@ <iPɧ̼i(?V;΍8I(? (?IAAIQIaOm>E EE*E"E:*E0:VE(N4ZEa@a@a@a@ _,`X%У?A2`>2>2p<ٱ2$# :AHRS rotation from veh to nav: [[0.881504,-0.468411,-0.059509],[0.471846,0.869156,0.148088],[-0.017643,-0.158619,0.987182]]2HH5?pݿw`2?@??MĿ?i2`>I2z^;0YBIByB6HDDbDJVDJ5yRd%VM=ٔV:Q-V>9XYX=Z5FyZ EZEZ>`Q 5b5b@aӉ?Q 9f5bv)bBYdyf>Q If?@bDIby:ib:b.5yjjBɮnBlZ|R|bj"  ړڒ!’!)-dI@BBBcHBIBBBBB;BAEiɢ.q$=) >i);< 1i5덼uɼɧu;}i}?;I? ?IԁAI!I9OUT>ԩE  E yE 'E "E :*E :VE '4ZE BE X;a 2E Y;a JE a :E a ,3?У?A6>6B>6 <ٱ6 # BAHRS rotation from veh to nav: [[0.882353,-0.466847,-0.059222],[0.470247,0.869916,0.148705],[-0.017905,-0.159059,0.987107]]6H`<I6r^;6CYFIByJ;Hi%Mb@Mb@Mb@!!!! !9%9v?)\(Mb`Y%?y%Ga%%A%fA %A)%(A!Y%=AbD5VD5[5yM&<%M@=ٔM\!:Q-U>9QYQ=U5FyU E]nE]>aQ 5m5etӉ?Q 9m5et)eBYu?Q Eu:yu>Q Iu?@eDIev:ie:e5y}lBɮEZRbj"ړڒ’ I@Yɢ]L5)=)Y ]>iY)e7 9 , YУ?A2y>2>2<ٱ2" :AHRS rotation from veh to nav: [[0.883382,-0.465007,-0.058349],[0.468301,0.871020,0.148384],[-0.018176,-0.158405,0.987207]]2HD?`ݿ߭ ?f?C?@М@FĿ2?i2y>I28S^;2CYBIByB8H HJ4<bDNVDN5yVݻ%VU=ٔV9:Q-V>9XYX=Z5FyZEZE^>Q 5%5Ӊ?Q 9%5q)BY!y->Q I-?@DI:i:V5y1ɮ5B1ZQRQbYbE(N4jEL4rE0Ee EaEe,Ea"EeƱ:*EaVEeg4ZEaau@au@au@au@jY"qqړyyڒy’ I@颩ɢ3*=) >i)j%<顱i$+ɧdkPi?;I? ?I^A<9AAAAAAB B B 1HB IBB B B DB ܊;B yAEA1IQIyO>q #,rУ?A Y~IBy~IHiMb@Mb@Mb@ 9Q?{Gz/$?Y?yף,=A|A A)YAbDVD[5yg<%:=ٔQ->9Y=5FyEE>Q 55kӉ?Q 95n)BY;?Q E:y">Q I?@żDI@:is:5yOBɮBEZRbj"ړڒ’!!%8J@IɢM`+=)Q U>iQ)U$ԙ u #,HŌУ?A23?>2T>2Ӟ<ٱ28# >AHRS rotation from veh to nav: [[0.884870,-0.462324,-0.057115],[0.465435,0.872330,0.149700],[-0.019387,-0.159048,0.987081]]2H@P?ݿ$>?`!?`\)?'ړ[Ŀ)?i23?>I2e^;0YFIByFOHPbDRVDR5yZR<%Z]=ٔ^V;Q-^>9\Y\=b5FybEbEb>dQ 5j5fӉ?Q 9j5fDl)fBYlyn>Q In?@f̼DIfI;ifr;fP5ypɮrBpZ R b j "  ړ ڒ’@3J@AɢE7=)A E>iI)Mb*Du=Du=E} E}zE}*Ey"E}:*E} :VE}(N4ZEya@a@a@a@) 5),,У?A6M>6>6o<ٱ6 $ BAHRS rotation from veh to nav: [[0.885716,-0.460773,-0.056530],[0.463798,0.873070,0.150467],[-0.019976,-0.159490,0.986997]]6H`W?O}ݿޮ?@0?`B?t(jĿ{?i6M>I6W^;6CYFIByJUHLNAAbDRVDR5yZ@<%ZJ=ٔ^T:Q-^>9\Y\=b5FybEb}Eb>dQ 5j5fӉ?Q 9j5fi)fBYhyn>Q In?@fӼDIf:ifG;f׳5yrQBɮpvE|Z R b j"ړڒ’^gJ@IɢUC4=)a ew>ii)u#0QE  E E E "E s:*E VE ZE BE ;a 2E ;a JE v;a :E v;a ԙ `0,5{У?A2>2>2jC<ٱ2+# :AHRS rotation from veh to nav: [[0.886069,-0.460190,-0.055745],[0.463099,0.873446,0.150436],[-0.020539,-0.159112,0.987047]]2HZ?sݿ@i?E?yA?`  ]Ŀ`?i2>I2W^;2CYBIByBlHr%=r4=iMMb@Mb@Mb@IIII I9MQ?:v?=ٔv:Q->9Y=5FyEE>Q 55`Ӊ?Q 95e)BYy?Q E:y?Q I?@ۼDI[;i;5yɮBZRbj"ړڒ’CJ@ ɢ E7=)  >i)7<ityɧV+i%I?%;!I%I? %I?I!ԉA%.AI1IAOU2>Ա ~G6,PVУ?A2>2J>2խ<ٱ2# :AHRS rotation from veh to nav: [[0.886317,-0.459828,-0.054773],[0.462592,0.873752,0.150222],[-0.021218,-0.158482,0.987134]]2H`\?mݿ1 ? ?{:?@G $IĿ?i2>I2^;2CYBIByBqHbDJVDJg5yR)<%VY=ٔV:Q-V>9Z ?YZ ?=Z5FyZEZĺEZ>`Q 5f5bӉ?Q 9f5bb)bBYdyfr?Q Ij?@bDIb :ib:b5ynSBɮllD9zD=AAEE EE}EE'EA"EE:*EEk&:VEE'4ZEAaM@aM@aM@aM@ZyRybyjy"yyړڒ’J@Թɢ2[?=) >i)3><iwf ˎɧ ON  %i ? an; I ? ?I1A؟AIIO>B<A<BBBBB =BBDB;BAE9 q<,1У?A2g>2>2f<ٱ2O" :AHRS rotation from veh to nav: [[0.886489,-0.459624,-0.053697],[0.462225,0.873981,0.150014],[-0.022020,-0.157806,0.987225]]2H ^?@yjݿ7~@?? 3? K`2ĿX?i2g>I2׹^;0YRJByRHi-Mb@Mb@Mb@)))) )9-$C?Pn?㥛 ?Y-?y->-=)-A -A)-?A)Y-AbDEVDE5yUk*=%U@=ٔU:Q-U>9"?Y"?=5FyEpE>Q 55gӉ?Q 95])$BY?Q E:y5?Q I?@DIv:i:5yɮBZRbj"ړ!!ڒ!’!!-K@QɢUq5B=)Q ]?iY)]REԙ YC, ѣ?APExceeded connect timeout, disconnecting.Jk>J*>J6<ٱJ! VAHRS rotation from veh to nav: [[0.886467,-0.459748,-0.052999],[0.462240,0.873989,0.149925],[-0.022607,-0.157402,0.987276]]JH]?lݿ"X?`?@0?`?&@%Ŀ`×?iJk>IJW3^;JCYZJBy^HIb%=)bp;bDfVDf5yn&Z<%rR=ٔr:Q-r>9pYt=v5FyvEv8Ev>xQ 55zCӉ?Q 95zY)z3BYy4?Q I?@zDIz;iz ;z5yVBɮEZ1R1b1j1"19ړ99ڒ9’AAE 6K@iɢmM=)q u?iq)uܽKԡDYD]<Ee EeEe'Ea"Ee:*Ee:VEe'4ZEaam@am@am@am@Ge1>9aYe.A I, 'ѣ?A2>2l>2<ٱ2yp! :AHRS rotation from veh to nav: [[0.886154,-0.460431,-0.052284],[0.462804,0.873709,0.149820],[-0.023300,-0.156961,0.987330]]2H``[?wݿŪ?k?@J-?`ܗIĿ4?i2>I2! ^;2CYnJByrHbD~VD~5y %G=ٔ%:Q-->9)Y)=-5Fy-E5g:BIBIBMJHBMIBBIBIBIBM;BMAEB B B B B C [4E}>Q 55 ԉ?Q 95|U)CBYy&5?Q I?@DI";iV;5yɮBZRbj"ړڒ’ymK@ɢ ʟA=)1 5?i9)E[SY oP,Aѣ?A2i[>2>2X<ٱ2: :AHRS rotation from veh to nav: [[0.885589,-0.461623,-0.051335],[0.463850,0.873288,0.149031],[-0.023966,-0.155792,0.987499]]2H`V?@=ݿ@H?`?r?zÿ?i2i[>I2P];2CYBJByBHiMMb@Mb@Mb@IIII I9M333333?E?&1?YM?yMF>MP=MAMA I)IIYIY]@AbDeVDe5yu<%uD=ٔ}:Q-}>9yYy=5Fy!E;;E>Q 55ԉ?Q 95P)FBY!?Q E:yM?Q I?@DIC ;i ;>5yXBɮBGSB*** querying acoustic contact ***:BZRbj"ړڒ’ޠK@ɢaQ=)  H?i ) PY<  i")ɧ̞~i;?=k;I;? ;?I!@1@1@1@1)nManaging dock network, ignoring radio surface power offQAIIO>m2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.ԁ V, [ѣ?A06.<>6M>6<ٱ6% >AHRS rotation from veh to nav: [[0.884781,-0.463251,-0.050614],[0.465362,0.872613,0.148273],[-0.024521,-0.154743,0.987650]]6HP?ݿ@ꩿ ~?q?? @ÿԚ?i6.<>I6];6CYF$JByFH HHbDRVDR5yV}<%ZX=ٔZ:Q-Z>9XY\=^5Fy^#E^;Eb>`Q 5f5b*ԉ?Q 9j5bL)bHBYhyjN?Q Ij?@b DIb>:ib:b5yn9BɮrMBrEZRbj"ړ  ڒ ’  #K@E% E%E%+E!"E%s:*E%3:VE% [4ZE!a-@a-@a-@a-@QɢUU=)Q U* ?iQ)`<iٕo!ɧ"i?&;I? ?Iԉ*DAT read: user:149> BDAT read: Tx time:21:14:44.6960 $Ping request sent.ԹA=@AA9BIBIBMcHBMIBBM =BIBMDBM;BMAE  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250448Կ\,}yuѣ?AFRE>Fr>Fw<ٱF_% NAHRS rotation from veh to nav: [[0.883829,-0.465115,-0.050134],[0.467147,0.871791,0.147493],[-0.024895,-0.153779,0.987792]]FH`TH?@sݿ-??` ?@~ÿ@?iFRE>IF];FC`Yb JBybHiMMb@Mb@Mb@IIII I9Mrh|?m?Mbp?YM?yMn>M;IMA I)MVAIYMfAbDe{VDe5yu&g%u?=ٔu~d:Q-u>9} ?Y} ?=}5Fy}%E;E>Q 55:ԉ?Q 95F)3BY&?Q E:y]Y?Q I?@DIz ;i ;J5y;BɮjBEZRbj"ړڒ’"L@颡ɢD=) ?i)Hh<顩iMPɧԾi?$;I? ?IAzAjAE5 E5xE5,E1"E5:*E5:VE5g4ZE1BE1aE2E1aEJE5Xo;aM:E5Yo;aMIIO >=<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502686A c,Vѣ?A2Ԩ>2U>2]E<ٱ2 :AHRS rotation from veh to nav: [[0.882550,-0.467537,-0.050145],[0.469537,0.870509,0.147475],[-0.025299,-0.153699,0.987794]]2H=? ݿ ?`5?z?癿jÿ?i2Ԩ>I2x];2CYRIByRgH V49tYt=v5Fyv'Ez;Ez>|Q 55~mHԉ?Q 95~A)~ BYyZ?Q I ?@~DI~:i~:~5yɮ~BZ1R9b9j9"99ړAAڒA’AAM{9L@qɢub(O=)q u>iy)}nF>Fu<ٱFN VAHRS rotation from veh to nav: [[0.881254,-0.469939,-0.050484],[0.471938,0.869072,0.148285],[-0.025810,-0.154502,0.987655]]FH ;3?}޿٩ <4?p??m ÿ@ߚ?iF>IF];FCYbIByb^HBBBpHBIBBBBDBފ;B{AEbD5qVD55yE%ED=ٔE:Q-E>9IYI=M5FyM)EM;EU>YQ 5e5]kWԉ?Q 9e5]@<)] BYayeZ?Q Ie?@]$DI]:i]:]M5yu=BɮuBqyZRbj"ړڒ’nL@ ɢ D=) >i)lt<i%ٸɧ-}-bڼi-I?-dB;-I-I? 5I?I9IIYO=ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258472EI  EM yEM ,EI "EI *EM :VEM g4ZEI BEM 5;aU 2EM 7;aU JEM r;aU :EM r;a] p, ѣ?A2|>2)>2v<ٱ2u :AHRS rotation from veh to nav: [[0.879927,-0.472420,-0.050483],[0.474395,0.867802,0.147885],[-0.026054,-0.154077,0.987715]]2H[(?!<޿@ة{\? ?`?ȸÿ@]?i2|>I2];2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643YVIByVeHi5Mb@Mb@Mb@1111 195Cl?y&1?I +Y5;?y5`e>59415A 1)11Y5AbDVDE5yDl<%C=ٔ:Q->9Y=5Fy+E';E>Q 55gԉ?Q 956)BY)?Q E:yS?Q I?@-DI_3;i:5yɮBZRbj"ړ!!ڒ!’!!-L@QɢUH=)Q ]>iY)]=_{A>I!I1O}=1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762417Y v, ѣ?A2>2@:>2z<ٱ2V :AHRS rotation from veh to nav: [[0.878935,-0.474301,-0.050127],[0.476221,0.866967,0.146906],[-0.026219,-0.152992,0.987880]]2H; ?Z޿/fz?`2??Eٚ=ÿ?i2>I2];2CY^IBy^SH``bDfVDf@5ynF%nY=ٔrS9Q-r>9pYp=r5Fyv-Ev%;Ev>D|zD~@AE E{E.E"E:*E5":VEـ4ZEa @a @a @a @xQ 55zuԉ?Q 95z#2)zBYyuT?Q I?@z5DIz;izU;z@5y%@Bɮ%B!ZARAbIjI"IIړIIڒQ’QQUL@颁ɢdL=) >i)<顉i| 7ɧ#i>};I> >I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014563a^AIIOa>B<A4<BBBBBBBBي;BwAEԉ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266510Ա },ѣ?AF֏>F<>Fo<ٱFE RAHRS rotation from veh to nav: [[0.877984,-0.476098,-0.049752],[0.477950,0.866102,0.146393],[-0.026607,-0.152309,0.987975]]FHq?ax޿@y`?? ? >~ÿ}?iF֏>IF2];FCYnIBynXH ppieMb@Mb@Mb@aaaa a9eCl?J +?#~jYayeH>e㥽eAeA a)elAaYeAbD}VD}d5y<%@=ٔn:Q->9Y=5Fy/Eϗ;E>Q 55ԉ?Q 95 -)BY;(?Q E:yH?Q I?@>DI:i ;5y BɮUBEZRbj"ړڒ’ M@ԑɢD=) >i),'<i'ɧ. i>#;I> >I^A 9E E~E)E"EU:*E(:VEFA4ZEBE;a%2E;a%JE;a%:E;a%A]؟AIaIyO`>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520665 ,ң?A2Qq>29?2e<ٱ2_ :AHRS rotation from veh to nav: [[0.877152,-0.477645,-0.049583],[0.479455,0.865294,0.146252],[-0.026953,-0.152058,0.988004]]2H?`޿bd?@|?c?vÿ?i2Qq>I2gZ^;2CYBIByBAHbDNVDNy5yVgF%VZ=ٔV,r:Q-V>9Z"?YZ"?=Z5FyZ1EZ;E^>Q 55Tԉ?Q 95j()VBY!y%I?Q I%?@FDIQ;i];V5y-#Bɮ-mB)ZIRIbQjQ"QQړQQڒY’YY]gi)<顑i#˿ɧ8駝ix>$3;Ix> x>I@@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774491!D%=DR=E% E%yE!E!"E%:*E%:VE!ZE!a-@a-@a-@a-@AQIYIqO}z>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026497D#,U*ң?A6=,>6l?6<ٱ6a  >AHRS rotation from veh to nav: [[0.876456,-0.478959,-0.049224],[0.480699,0.864623,0.146137],[-0.027434,-0.151745,0.988039]]6H ?@B޿3???@^lÿ?i6=,>I6ݾ^;4@BPBPBRJHBRIBBPBPBRDBR֊;BRtAEYZIBy^3H bp9pYp=r5Fyr3Ev0c;Ev>xQ 5~5zԉ?Q 95z#)z"BYyqI?Q I ?@zNDIz;iz9;z5yɮxBZRbj"ړڒ’`rM@颁ɢ@=) >i)<项i=$ɧCQiiQ>)T;mV,% uQ>IyԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278484AQIYIqOm> E%  E% }E% (E! "E% :*E% k&:VE% c44ZE! BE% ;a5 2E% ;a5 JE% ŀ;a5 :E% ƀ;a5 ,SDң?A2Ҋ>2?2H<ٱ2y :AHRS rotation from veh to nav: [[0.876102,-0.479603,-0.049262],[0.481328,0.864194,0.146606],[-0.027741,-0.152153,0.987968]]2H ?б޿ 8?@y??*hyÿ n?i2Ҋ>I2^;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530323YVIByVHIZ>)Z;li=Mb@Mb@Mb@9999 99=Gz?Pn?MbXY=p?y=>=ʽ9=A 9)=VA9Y=fAbDUVDU5yQ% 9=ٔH6:Q->9Y=%5Fy%5E%&:E->9Q 5E5=õԉ?Q 9M5=)=BYM"?Q EU:yU(/?Q IU?@=WDI=l;i=Vk;=5ye%BɮeBeEZRbj"ړڒ’@}M@qɢu;=)y }>iy)}iy;I> >I AIIOI>1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.784693a  l> C4,9^ң?A":G,J>J?J<ٱJjPj.9hYjADlzDnAAEr ErzEr)Ep"ErU:*Er :VErFA4ZEpav@av@av@av@ zAHRS rotation from veh to nav: [[0.875649,-0.480438,-0.049181],[0.482138,0.863740,0.146616],[-0.027960,-0.152096,0.987970]]JHP?~޿@7.`[??L?@wÿs?iJ>IJk^;JCY~IByHbDVD5y% %%Y=ٔ-6:Q-->9)Y)=55Fy57E1=";E=>AQ 5M5Eԉ?Q 9M5E%)EBYIyMf/?Q IU?@E^DIE:iE:E5yYɮ]BYZyRybyj"ړڒ’@_M@1ɢ5 7=)9 =_>i9)=,<99i=*EɧENKET"iM`>M;IIM`> m`>IqBDAT read: Rx Time:21:14:48.1210 TRx dataTimestamp_ set to:1761513289.596491checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039762aAIIO)>AA@ABBB%HBIBB =BBDBҊ;BoAEBaBaBaBaBaCel{4ԑԹ u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288907_,nxң?Aԙ> ? <ٱ AHRS rotation from veh to nav: [[0.875129,-0.481424,-0.048785],[0.483092,0.863451,0.145174],[-0.027767,-0.150613,0.988203]]H@?޿ J? c? ?n KGÿ`[?i>IC^^;CYIByHiMb@Mb@Mb@ 9~jt?Q?ktY?yu= A )YAbDVD5y<%4=ٔV߹Q->9Y=5Fy:E;E>Q 55Hԉ?Q 95,)~BY?Q E:y?Q I?@gDI$;i;5y'BɮBZRbj"  ړ  ڒ’N@9ɢ="0=)A E=>iA)E3UT;QIU> ]>IYE E|E'E"EC:*EP$:VE'4ZEBE6;a2E7;aJE};a:E};aDAT read: 21:14:48.1210 LVL= 30864, 32753, 32754, 32755, AGC= 85, IDX= 499,-0.32, 2.088, 0.204, 1.952, 1.748, PHS= 0.443,-1.499, 0.160, RAW= 142.2, 9.9, CAL= 141.8, 10.8, ROT= 8.2, -10.8 Ygot valid direction response: 21:14:48.1210 LVL= 30864, 32753, 32754, 32755, AGC= 85, IDX= 499,-0.32, 2.088, 0.204, 1.952, 1.748, PHS= 0.443,-1.499, 0.160, RAW= 142.2, 9.9, CAL= 141.8, 10.8, ROT= 8.2, -10.8 PDAT read: Bearing 188.9, 4.3 (Local) ~Local bearing/azimuth received: Bearing 188.9, 4.3 (Local) DAT read: Range 11 to 50 : 765.6 m (Round-trip 1020.8 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.972245,0.140103,0.187381]Fpublishing direction and range infoym?ȯ ?0i?Yf?Dx )UI>i;߿ #>@;0>bd@ A>)C>IA7j_ds-?I5?|? >)0IC>iA^A-"9I! I9 OE > D,Kң?A29>2!?2V <ٱ2% :AHRS rotation from veh to nav: [[0.875113,-0.481476,-0.048570],[0.483111,0.863442,0.145162],[-0.027955,-0.150498,0.988215]]2H`?~޿ިJ?P??`6`Cÿ u?i29>I2Y^;2CYNZIByRH TTTVAbDZVDZ5yb%bp=ٔfx:Q-f?9dYh=j5Fyj;Ej28Ej?lQ 5r5nԉ?Q 9r5n/)nWBYtyv?Q Iv?@nnDIn:in:n5yxɮzB|JR-!ң?A>D>DBl,?iG)@x^2Z@*wa@m?ȯ ?0i?C>A—2wr@=X)q}@ܜ]Z@_iq)v<ifjɧEJPi> ; I > >I ^A;IIO$>!D=D4=E EE,E"Eҝ:*EVEg4ZEa @a @a @a @Qy n,Hң?AB$B$B&HB&IBB& =B$B&DB&؊;B&vAEb*u>b&?bf<ٱb  rAHRS rotation from veh to nav: [[0.875229,-0.481275,-0.048465],[0.482887,0.863507,0.145521],[-0.028186,-0.150767,0.988167]]bH?@5޿hШ?ء?m?@ܜVLÿ@?ib*u>IbI];bCYzPIByzHbDVD5y%ü%-D=ٔ-B:Q-->91Y1=55Fy=>E=YEE>IQ 5U5Mԉ?Q 9U5M)M(BYYy]?Q Ie?@MvDIM3A;iM(4;M5ym*BɮmBqZRbj"ړڒ’e?ɢqa'=) $>i),<i ɧCiY> ;IY> Y>IYԁ^A]S,<IIOg>ԩE  E xE (E "E :*E :VE c44ZE BE z;a 2E |;a JE Xo;a :E Yo;a U, ң?A2>2?2<ٱ2 :AHRS rotation from veh to nav: [[0.875568,-0.480651,-0.048536],[0.482261,0.863731,0.146260],[-0.028378,-0.151467,0.988055]]2H`?޿@٨^? ? ?@@ Icÿ %?i2>I2<];2CYFOIByDiEMb@Mb@Mb@AAAA A9E`"?Mbp?&1YE?yE;EPEAA EA)E?AAYEA ]4<]bDmVDm5yψ%D=ٔ9Q->9Y=5Fy@EߺE>Q 55 Չ?Q 95n ) BY_?Q E:y>Q I?@~DIL;iN;:5y BɮBEZRbj"!!ړ!!ڒ)’)1=L?Աɢ %=)  >i )t<i5A½ɧ5:5i5>=QC;9I=> =>I9@i@i@i@iIIO> 9 2,uң?A2U>2?2\<ٱ2 :AHRS rotation from veh to nav: [[0.876017,-0.479821,-0.048639],[0.481434,0.864051,0.147097],[-0.028554,-0.152276,0.987925]]2HU?a޿*稿?@N??G=`}ÿ?i2U>I29d];2CYB7IByB{HbDJVDJ5yR~%RZ=ٔV9Q-V>9TYX=Z5FyZBEZ%EZ>bEMFA4jEMK4rEM?0Eb EbyEb*E`"Eb:*Eb:VEb(N4ZE`aj@aj@aj@aj@hQ 5r5j~Չ?Q 9r5j )jBYpyr>Q Ir?@jDIjI;ijD;j5yz BɮzBxZRbj"ړڒ’?-?ɢU(=) >i)d<ieS½ɧ3̻i[>[;!I%[> %[>I!IIO=BAAE6$?6P<ٱ6, >AHRS rotation from veh to nav: [[0.876946,-0.478121,-0.048643],[0.479715,0.864756,0.148560],[-0.028965,-0.153614,0.987706]]6H ? ޿稿? ?@?ÿ`J?i6;>I6|L];4YF5IByFxHi Mb@Mb@Mb@     9 X9v?Zd;O~jtxY ?y j Ļ A  A) VA Y (AbD%VD%5y5ɻ%=A=ٔ=~:Q-=>9AYA=E5FyEDEE^EE>IQ 5U5M-Չ?Q 9]5M)MBY]?Q E]:y]M>Q I]?@MDIM ;iM* ;M,5yeBɮmBiZRbj"ړڒ’ ?aɢez"=)a e>ia)mzxh;IN> N>IA>A>I1IAO]=iE E}E(E"E:*Ek&:VEc44ZEBEa2EaJEŀ;a:Eƀ;a _,,ӣ?A2|>2)>20<ٱ2 :AHRS rotation from veh to nav: [[0.877987,-0.476185,-0.048855],[0.477786,0.865512,0.150363],[-0.029316,-0.155359,0.987423]]2H`x?`y޿ ?G???`ÿ?i2|>I2 1];2CYf(IByfhHhhlbDrVDr5yzb%zO=ٔzi:Q-~>9|Y|=~5FyFE浻E> Q 55 ?Չ?Q 95 -) BYy,>Q I?@ DI ;i f; 5y%Bɮ%B!ZARAbAjI"IIړIIڒQ’QQU`@yɢT$=) >i)><顉i[d½ɧ駕Ki7>.h;I7> 7>IA  II)O5 >D%=D%=E EzE)E"EƱ:*E :VEFA4ZEa@a@a@a@1a [, -ӣ?AB+>B>>B<ٱBMZ" NAHRS rotation from veh to nav: [[0.879200,-0.473909,-0.049159],[0.475515,0.866317,0.152909],[-0.029877,-0.157814,0.987017]]BHh"?T޿m+ n?ݸ??,@=3Ŀ@?iB+>IBQ];@YZIByZVH`bAbDjVDj45yr %rK=ٔv:Q-v>9tYt=v5FyzHEzѻEz>B|B~ACB~DHB~ IBB~ =B|B|B~;B~OAE9YQ 5e5]!QՉ?Q 9e5]i)]BYaye>Q Im?@]DI]:i]:]? 5yuBɮuBuEZRbj"ړڒ’@ [@)ɢ-B=)Q U>iQ)UN+ԑE  E E +E "E :*E h:VE [4ZE BE +6>6t<ٱ6c# >AHRS rotation from veh to nav: [[0.880150,-0.472161,-0.048987],[0.473716,0.867022,0.154487],[-0.030470,-0.159178,0.986780]]6H0*?7޿ ^Q?@?:?r3_Ŀ?i6m >I6 ];4YFIByF]HiMMb@Mb@Mb@IIII I9MtV? rhS㥛?YM?yMC M/9Y=5FyJE E >Q 55cՉ?Q 95)BY%?Q E%:y%>Q I%?@DIe ;i:5y)ɮ-B)ZIRIbIjQ"QQړQYڒY’YY] @颉ɢp =) Ώ>i)<顑imiUýɧ 駝#ܼi?9;I? ?IAzAgAIiIO>9 (,`ӣ?A6>6>6!<ٱ6$ BAHRS rotation from veh to nav: [[0.881089,-0.470441,-0.048669],[0.471929,0.867752,0.155855],[-0.031088,-0.160290,0.986580]]6H1?޿먿4?? ?՟`aĿ?i6>I6\;4YF(IByFhH N<DPzDR?AEV EVwEV*ET"EVs:*EV:VEV(N4ZETaZ@aZ@aZ@aZ@LbD^VD^5yf<%f`=ٔfD:Q-j>9hYh=j5FyjLEneEn>pQ 5v5rsՉ?Q 9v5rK)rBYtyv>Q Iz?@rDIr:ir:r+5y~Bɮ~B|ZRbj!"!!ړ!!ڒ)’))-J @QɢU6(=)Y ];>iY)]ϣ2 >2=ٱ2& :AHRS rotation from veh to nav: [[0.881967,-0.468816,-0.048422],[0.470247,0.868427,0.157170],[-0.031633,-0.161389,0.986384]]2H9?޿ʨ?&?@)?@@2hĿt?i2>I2\;2CYNIByRXHiUMb@Mb@Mb@QQQQ Q9Ui|?5?/$A`"?YU?yUUY=QQ UA)UlAQYUAbDmVDm5y}B%?=ٔU:Q->9Y=5FyNEE>Q 55Չ?Q 95f)BYd?Q E:y>Q I?@DIU:i<:5yɮBZRbj"ړڒ’` @ ɢ =) Ѝ>i)_<i%.ýɧ%%Ai%?%;%I%? %?I)qIIO=E EtE(E"E:*Ev:VEc44ZEBEX;a2EY;aJE`;a:E`;aԡ z,~tӣ?A2B>2>2\=ٱ2& :AHRS rotation from veh to nav: [[0.882742,-0.467392,-0.048083],[0.468758,0.869046,0.158193],[-0.032152,-0.162182,0.986237]]2H k??ݿS? :???1v`eĿ@?i2B>I2\\;2CYNIByRSHbDZVDZ'5yv7%vT=ٔv:Q-v>9xYx=z5FyzPEzE~>Q 5 5Չ?Q 9 5)BY y >Q I ?@DI:i:C5yBɮBEZ9R9b9j9"AAړAAڒA’AIM@iIɢ!=) >i)<i Dýɧ K۾ [oi|?;1I5|? 5|?I9AM>AM?IIO=G5<99Y=,AD=D4=E EvE,E"E:*E:VEg4ZEa@a@a@a@) ,Pӣ?ABe>B3>BD=ٱBY' JAHRS rotation from veh to nav: [[0.883519,-0.465955,-0.047752],[0.467256,0.869670,0.159203],[-0.032653,-0.162971,0.986090]]BH E?6ݿr@?`V?`?巠:Ŀ ?iBe>IBm\;BCYRIByVWHZ@AXbD^VD^`5yfy <%fL=ٔf?:Q-j>9hYh=j5FyjREnuEn>pQ 5v5r٧Չ?Q 9v5r)rBYtyv<>Q Iz?@rDIr:irp:r5y~Bɮ~B|ZR!b!j!"!!ړ!)ڒ)’))-@Yɢ]%=)Y ]_>ia)eGԩ E  E wE )E "E ҝ:*E :VE FA4ZE t,.ӣ?AV$>V=ٱVפ( zAHRS rotation from veh to nav: [[0.884351,-0.464400,-0.047488],[0.465647,0.870335,0.160282],[-0.033104,-0.163858,0.985928]]VH L?ݿ@VP'???@LĿ?iViw>IV\;VCY?IByHiMb@Mb@Mb@ 9tV?{Gz?Zd;?Y?y#<y=A A)YbDVDy|=%==ٔ:Q->9Y=5FyTEE>Q 55Չ?Q 95)$BY?Q E:y?Q I@@ȽDIV;i;!5yBɮBZRbj"  ړ  ڒ ’Hf@9ɢE+=)A E>iA)E <,\ӣ?A2>23>2=ٱ2( :AHRS rotation from veh to nav: [[0.884749,-0.463656,-0.047356],[0.464888,0.870711,0.160440],[-0.033156,-0.163964,0.985909]]2H`O?@ݿ>?@?I?@Ŀ?i2>I2\;2CD@zDBAAEF EFsEDED"EF:*EFZ:VEDZEDYLyLbDVVDV;5y^%^[=ٔb{9Q-b>9`Y`=f5FyfVEfEf>hlQ 5r5jՉ?Q 9r5j)j3BYpyr?Q Iv@@jϽDIj0;ij1;j$5yzBɮzBzޯEZRbj"ړڒ’`@ ɢ q0=)  >i )<i5ş=L[Ľɧ==i=H?Eя;AIEH? EH?IA@Q@Q@Y@Y BA<A zA hABYBYB]7HB]IBB] =BYBYB];B]8AEB9B9B9B9B9C=949A II)O5>i i I AGH,ӣ?A9>$L>) =ٱ( AHRS rotation from veh to nav: [[0.885105,-0.463022,-0.046899],[0.464179,0.871035,0.160738],[-0.033575,-0.164039,0.985882]]HR? (ݿ ?@? ?`0=ĿX?i>Ia\;CY7IBy{Hi]Mb@Mb@Mb@YYYY Y9]l?Mb?&1?Y]?y]@=]P=Y]A Y)]AYY]GAbDuVDu5y䁼%0=ٔLm:Q->9Y=5FyYEE>Q 55EՉ?Q 95)>BY?Q E:y4?Q I@@ؽDI ;i ;(5yBɮB߯EZRbj"ړڒ’_@E EzE%E"E:*E :VE 4ZEBEa2EaJEv;a:Ev;aɢ(=) >i)ԯ<iĽɧj憼i /,? ; I /,? /,?IaA.AI)IaOuX>ԑԹ Q.,ԣ?A6uu>6">6+ =ٱ6j( >AHRS rotation from veh to nav: [[0.885245,-0.462801,-0.046443],[0.463894,0.871228,0.160509],[-0.033821,-0.163635,0.985941]]6HS?ݿ_ǧ q?`?? QĿ`Ԍ?i6uu>I6\;6CYF>IByFHbDRVDR5yV<%Zn=ٔZ<:Q-Z?9Z ?Y^ ?=^5Fy^ZE^DrEb?`Q 5f5bՉ?Q 9j5b1)bFBYhyj?Q Ij@@b޽DIb{:ibQ:b+5ypɮrBpZRbj"  ړ  ڒ ’ `@9ɢ=0<=)A EK>iA)EHt2*G>21L =ٱ2_& :AHRS rotation from veh to nav: [[0.885110,-0.463143,-0.045600],[0.464138,0.871338,0.159206],[-0.034002,-0.162080,0.986192]]2HR?@!ݿ@Xq?@?`? h`Ŀ?i2 >I2];2CYBSIByBHbDJVDJ)5yG=%D=ٔ9Q->9"?Y"?=%5Fy%\E%r/:E%>)Q 555-KՉ?Q 955-)-OBY9y=)?Q I=@@-DI-;i-;-}/5yEBɮEBIZaRibiji"iiړiqڒq’qqu@颡ɢ6=) >i)췳<顩i|Ľɧ駵:{in?c;In? n?IA>A>A-.AIQIqO>)QE  E {E )E "E s:*E 5":VE FA4ZE BE ;a 2E ;a JE Dz;a :E Dz;a y ?,oIԣ?A>>>>> =ٱ> & FAHRS rotation from veh to nav: [[0.884818,-0.463717,-0.045415],[0.464699,0.871168,0.158499],[-0.033935,-0.161347,0.986314]]>HnP?ݿ@@`? ?I?_ Ŀ?i>>I>];5y}R;%D=ٔ*(Q->9 ?Y ?=5Fy^E:E>Q 55n։?Q 95)PBY?Q E:y#?Q I@@DI ;iT ;"35yɮBZRbj"ړڒ’xs@ ɢ 8=)  >i)+<i?۠Ľɧ y~i%]?% ;!I%]? %]?I)YA؟AIIO>ԁԩ rj,fLcԣ?AE6 E6xE6,E4"E6:*E6:VE6g4ZE4a:@a:@a:@a:@>w>> %>> =ٱ>% FAHRS rotation from veh to nav: [[0.884325,-0.464685,-0.045131],[0.465637,0.870831,0.157592],[-0.033929,-0.160377,0.986472]]>H dL? gݿ u ? ?`+?_>Ŀ.?i>w>I>Y ];>CYRTIByP TTbDZVDZR5ybr%fW=ٔffQ-f>9f"?Yj"?=j5Fyj`Ej6;Ej>lQ 5r5n։?Q 9v5n)nRBYtyv6$?Q Iv@@nDIny:in:nv65yzBɮzB~EZRbj"ړ!!ڒ!’!!-@QɢU==)Q UZ>iQ)<i~*ŽɧҀiL?";IL? L?IԱAm.AIIO>A)A)BBBiHB)IBBBBBc;BAE A ٗ,H5}ԣ?AV>V>V[0 =ٱV# bAHRS rotation from veh to nav: [[0.883844,-0.465654,-0.044556],[0.466527,0.870501,0.156781],[-0.034219,-0.159356,0.986628]]VH@tH? 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NAHRS rotation from veh to nav: [[0.876251,-0.480231,-0.039524],[0.480061,0.862975,0.157527],[-0.041541,-0.157007,0.986723]]BH@? ?޿@<R?~?)?D Ŀ=?iB>IB׎];BCYRGByRH Z9j"?Yj"?=n5FynE=;E=>AQ 5M5E؉?Q 9M5ES)E1BYQyUp6?Q IU@@E'DIE9:iER:E5y]Bɮ]zBaZyRbj"ړڒ’6@颹ɢ<) i)<iΪȽɧ<=w;i6?g;I6? 6?IA!I1IAIOU>yE5  E5 yE1 E1 "E5 :*E5 :VE1 ZE1 BE1 a= 2E1 a= JE5 r;aE :E5 r;aE ԡ ,Sأ?A>3>>?>)=ٱ>g FAHRS rotation from veh to nav: [[0.875063,-0.482387,-0.039583],[0.482229,0.861918,0.156694],[-0.041470,-0.156205,0.986854]]>H?@n޿5D ?Ԕ??;ÿN?i>3>I>];>CYNGByNHi-Mb@Mb@Mb@)))) )q9- rh?MbX9?Mb`Y-C+?y-!>-)) ))))Y)bDVD5y%>=ٔ,Q->9Y=5FyE;E>Q 55؉?Q 95N)BY/?Q E:y;?Q I@@0DIT ;i:\5yBɮDBEZRbj"ړڒ’F7@ɢ%n<)! %Pii!)%<))i-U65`Ƚɧ5gu<5SD:i5#?=^;9I=#? =#?I9AM>AIAԡIIO >= ,Tmأ?AE EuE+E"E:*E:VE [4ZEa@a@a"@a"@b>b?br*=ٱb jAHRS rotation from veh to nav: [[0.873784,-0.484681,-0.039818],[0.484527,0.860639,0.156637],[-0.041650,-0.156160,0.986853]]bH ?߿c@|?Y? ?S ÿ`M?ib>Ib&];bCYrGByrHbD~VD~5y|% S=ٔ A9Q- >9Y=5FyE;E>!Q 5%5%1؉?Q 9-5%bI)%BY)y-OB1B5HB5GBB1B1B1B5Ê;B5eAEAIIO >!I !,bأ?AN>N?Nt*=ٱNӢ VAHRS rotation from veh to nav: [[0.872871,-0.486300,-0.040105],[0.486173,0.859737,0.156490],[-0.041621,-0.156093,0.986865]]NH`?߿`s??@?[O@ÿ f?iN>IN}<^;NCY^GBy^Hae@AbD}VD}5y%%@=ٔ3Q->9Y=5FyE%;E->AQ 55J؉?Q 95C)BE EE*E"EC:*EVE(N4ZEBE6;a2E7;aJEmd;a :Emd;a Yy ԑ G Թ :9 Y +Aw',1@أ?A2>2?2*=ٱ2Z :AHRS rotation from veh to nav: [[0.871907,-0.488018,-0.040214],[0.487893,0.858812,0.156210],[-0.041697,-0.155821,0.986905]]2H?`;߿@9?c{?@?HYÿ?i2>I2u^;2CYbGBybHhjAiMb@Mb@Mb@ 9oʡ?M?{GzY-?yn>#tA ?A)YfAbDVD5y=%L=ٔF9Q->9 ?Y ?=5FyE;E>Q 55 ؉?Q 95~?)BY.1?Q E:yL5?Q IA@JDI;iS;5yBɮsBZ R b j "  ړڒ’~8@Yɢ]<)a e$Fia)mDD%=E  E vE -E "E :*E :VE t4ZE a@a@a@a@B9B9B=HB=GBB9B9B9B=k;B= AE .,أ?A2(>2%/?2*=ٱ2 >AHRS rotation from veh to nav: [[0.870796,-0.489994,-0.040254],[0.489878,0.857819,0.155454],[-0.041641,-0.155088,0.987023]]2H?\߿`#*Z?@s? ?Rÿ`?i2(>I2^;0YFGByFHbDRVDR5ybe%b[=ٔb}Q-b>9f"?Yf"?=f5FyfEj6;Ej>lQ 5r5n^ ى?Q 9r5n;)nBYpyr5?Q IrA@nSDIn;inL;n;5yxɮzBxZRbj"ړڒ’!!%@W8@IɢMK:<)Q UTiQ)URx Time:21:15:13.7117 TRx dataTimestamp_ set to:1761513315.049290Ae.AIqIO>E  E E *E "E ҝ:*E *:VE (N4ZE BE ;a 2E ;a JE i;a% :E j;a% I b4,أ?A:՗>:o?:pS*=ٱ:1 FAHRS rotation from veh to nav: [[0.869703,-0.491914,-0.040468],[0.491822,0.856789,0.154994],[-0.041571,-0.154701,0.987086]]:H?{߿,z?@j? ?H Bÿ6?i:՗>I:^;:CYJGByJHRPExceeded connect timeout, disconnecting.i%Mb@Mb@Mb@!!!! !9%?y&1?MbY%,?y%`=%%A%A !)% A!Y%3A 54<5p;bD=VD=5yMҧ%MB=ٔU-Q-U>9U ?YU ?=U5Fy]E]S;E]>aQ 5m5ea ى?Q 9m5ew6)ewBYu/?Q Eu:yu)?Q IuA@e\DIe:ie:e5y}BɮBEZRbj"ړڒ’aI9@ɢ՟<) i)<i0Ƚɧ<Խɩi?;I? ?IQA؟AI IIOm5>yDAT read: 21:15:13.7117 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 314,-0.29, 2.967, 1.250, 2.749, 2.819, PHS= 0.250,-1.524,-0.114, RAW= 138.8, 16.8, CAL= 137.8, 18.0, ROT= 12.2, -18.0  Ygot valid direction response: 21:15:13.7117 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 314,-0.29, 2.967, 1.250, 2.749, 2.819, PHS= 0.250,-1.524,-0.114, RAW= 138.8, 16.8, CAL= 137.8, 18.0, ROT= 12.2, -18.0  6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:21:15:15.3145 $Ping request sent.ioÿx齩 @Q >@ |٠>)^ Z>I|٠Ǯ}?ݦ?u['? >)WI^ Z>i|٠E:publishing transmit ping timeE:publishing range request flagyyx?Ź?;[@? )Ii )IǮ}?ݦ?u['? )Iiԩ E%  E% {E% +E! 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R,jHݣ?A6#>6"P ?6▙<ٱ6l) >AHRS rotation from veh to nav: [[0.857411,-0.510004,-0.068861],[0.514290,0.844263,0.150753],[-0.018748,-0.164672,0.986170]]6Ho?Q ⠱u?2?@K?2ſഎ?i6#>I6Z}b;4YF=EByFHbDRVDRj5yV%VT=ٔZQ-Z>9XY\=^5Fy^E^.;Eb>`Q 5f5bۉ?Q 9j5b)bBYhyjD?Q IjA@bDIb:ib :bKm5ynɤBɮrUBp|ZR b j "  ړ ڒ’E@AɢEFl))A E0iA)M2v ?2~&<ٱ2) :AHRS rotation from veh to nav: [[0.857134,-0.510251,-0.070461],[0.514809,0.844065,0.150086],[-0.017107,-0.164918,0.986159]]2Hm?S Py??6? ſ@?i2"@>I2b;0Yr6EByrHYiMb@Mb@Mb@ 9Q? ףp= ?Q?Y(?yQ8=u<B )AYAA@AbDVDD5y%8=ٔrQ->9Y=5FyE:E>Q 55& ܉?Q 95Q =tI)BY?Q E:y?Q IB@DI;i;*q5yBɮBEZ1Rbj"ړڒ’E@ ɢ %)  -j2i1)5r <11i5d9=gȽɧ=V=+i=1?E;AIE1? E1?IAԉAiIIO%M>ԱA A B B B B B B B B ;B AEEm  Em pEm *Ei "Em :*Em  :VEm (N4ZEi BEm E;au 2Em F;au JEm :R;a} :Em :R;a} V^,>!|ݣ?A6ԥ>6 ?6}<ٱ6v) >AHRS rotation from veh to nav: [[0.856573,-0.510993,-0.071892],[0.515793,0.843655,0.149008],[-0.015490,-0.164718,0.986219]]6H i? Zg_?9? ?Pyſ`?i6ԥ>I6b;6CYFCEByFHbDRVDR5yVz=%V`=ٔZ7Q-Z>9XY\=^5Fy^EbK;Eb>dQ 5f5f|܉?Q 9j5f0)dYhyj`?Q IjB@fDIfB:if[:f[t5yrBɮrBpZARAbAjA"AAړIIڒI’IIU`uE@Թɢ.) /i)>r<i*71ȽɧLQp'i5?I;I5? 5?IAIIQIiO}>9 ->e,~ݣ?A2R>2 ?2+e<ٱ2Q * :AHRS rotation from veh to nav: [[0.856098,-0.511547,-0.073592],[0.516625,0.843210,0.148648],[-0.013987,-0.165277,0.986148]]2H@'e?^ֲ 0? ?? @'ſ`?i2R>I2b;0Yf8EByfHbDrVDr5yz޼%zF=ٔznQ-z>9|Y|=~5Fy~E/;E> Q 55 -܉?Q 95 U) BYy?Q IB@ DE% E%vE%,E!"E%:*E%:VE%g4ZE!a-@a-@a-@a-@I ;i ؛; w5y9ɮ=B9ZYRYbYjY"aaړaaڒa’iim%F@频ɢ') 1i);顙iB4eȽɧK駭e#iZ9?#;IZ9? Z9?IA)IIIqO>5GIai 99Y-*Ai% =% %=ԙ gk, ֯ݣ?A2Y>2=$ ?2GK<ٱ2{* :AHRS rotation from veh to nav: [[0.855827,-0.511750,-0.075312],[0.517114,0.842971,0.148300],[-0.012407,-0.165864,0.986071]]2Hb?B``G1??`~?h;ſ?i2Y>I2c;0Y 9Y=5FyE:E>Q 5 50@܉?Q 9 5N)BY?Q E:y?Q IB@DI ;i ;{5y!ɮ%B!ZARAbAjA"AAړIIڒI’IIU]F@q颁ɢ7") 0i)A;顉i_N1Ƚɧ+>駕r"iC?yͺ;IC? C?IBo>BBBBBBDB ;BAED-=D-=E5 E5rE5*E1"E5:*E5?:VE5(N4ZE1BE5;a=2E5;aEJE5Y;aE:E5Y;aEAIIO >!I JQr,oݣ?A2>2X ?2 1<ٱ2* >AHRS rotation from veh to nav: [[0.855427,-0.512241,-0.076506],[0.517810,0.842777,0.146967],[-0.010805,-0.165335,0.986178]]2H_?Gd ޕ??? $!@)ſŎ?i2>I2b;2CYBDEByFHbDNVDN|5yV=<%Va=ٔVQ-Z>9XYX=Z5FyZE^;E^>`Q 5f5b~O܉?Q 9f5b)bBYdyj?Q IjB@bDIb`:iby:b~5ylɮnBlZ|R|bj"ړڒ ’   F@9ɢ=Af3)9 =.i9)E&;AAiEZ.MȽɧM\3Mg}iMK?Ms ;IIUK? UK?IQIAiIqIO=yE= E=vE=)E9"E=s:*E=:VE=FA4ZE9aE@aE@aE@aE@iߑ Iߑ {x,>ݣ?AV ?V7Z<ٱVD* fAHRS rotation from veh to nav: [[0.855110,-0.512560,-0.077906],[0.518363,0.842550,0.146322],[-0.009360,-0.165505,0.986165]]VH]?fm?*??4+ D/ſ਎?iVX>IVF%c;TYrNEByrHiuMb@Mb@Mb@qqqq q9u333333? rh?MbPYu?yuC =uuAuA uA)uAqYuAbDVD5y<%<=ٔYQ->9Y=5Fy!E:E>Q 55a܉?Q 95}) BY?Q E:y?Q IB@DIG:i:5yBɮBEZRbj"ړڒ’`8F@颡ɢ&) T,i)1;i4+NȽɧp}i_? V;I_? _?IԩI I!O5.>B B B HB ;EBB B B B ;B AE DA zDA EM  EM qEI EI "EM a:*EM $ :VEI ZEI BEM g;aU 2EM h;aU JEM U;a] :EM U;a] -~,hݣ?A6\>6? ?6;ٱ6W) >AHRS rotation from veh to nav: [[0.854936,-0.512685,-0.078988],[0.518679,0.842648,0.144628],[-0.007590,-0.164617,0.986328]]6H[?g@8@?@? *?L)ſ?i6\>I6ߔc;4Y^BEBybHdfAAbDjVDj5y%Q%%S=ٔ%vQ-->9)Y)=-5Fy-#E5s:E5>9Q 5E5=q܉?Q 9E5=y)=BYAyM?Q IMB@=DI=:i=:="5yQɮU BQZqRqbqjq"yyړyyڒ’@F@颩ɢ%6) Q/i);项iU)aȽɧѺiq?6;Iq? q?I)I1IIOU>Qԁ _,xEޣ?A6I>6 ?6֨;ٱ6DA) >AHRS rotation from veh to nav: [[0.854830,-0.512667,-0.080237],[0.518873,0.842675,0.143772],[-0.006093,-0.164533,0.986353]]6HZ?g p? 1?g?x nſ3?i6I>I6_c;6CY^AEBy^HbDhVDhyr%rO=ٔrwQ-r>9tYt=v5Fyv%Ez-:Ez>E EvE*E"Eҝ:*E:VE(N4ZEa @a @a @a @|Q 55~a܉?Q 95~v)~BYy?Q IB@~DI~;i~;~5y)ɮ-!B)YZRbj"ړڒ’*G@Yɢ]+)Y ]/iY)e;aaieJ&mOȽɧm$׼m;im?mۻ;iIu? u?IqA>A>II)O5=ԉԱ r,,1ޣ?A2<>2/ ?2sɚ;ٱ2H) :AHRS rotation from veh to nav: [[0.854801,-0.512487,-0.081689],[0.518935,0.842676,0.143538],[-0.004724,-0.165088,0.986268]]2HZ?Jf@鴿?`4?s_?)Ys!ſ ?i2<>I2q:d;0YBMEByFHi Mb@Mb@Mb@     9  ףp= ?J +?~jtx?Y Q?y H= ; gB GA A)  Y AbD%VD%Q5y5<%=E=ٔ=WQ-=>99YA=E5FyE'EES,9EE>IQ 5U5ML܉?Q 9]5M9r)MBY]?Q E]:y] ?Q I]B@MDIM ;iM ;M85yeBɮmBmEZRbj"Թړ)ڒ1’115@L_G@yɢ-) ,i)"Ն;顁iX$AȽɧn޼駵i?";I? ?IIIIaBun>BqBuHBuEEBBqBqBqBu;BuAEBBBBBCt54O=D<D<bE÷G4jEÔK4rEÖ/E  E xE -E "E :*E :VE t4ZE BE ;a2E ;aJE Xo;a:E Yo;a% 9 ,+Jޣ?A6ǧ>6 ?6U;ٱ6) BAHRS rotation from veh to nav: [[0.854700,-0.512463,-0.082882],[0.519112,0.842716,0.142664],[-0.003264,-0.164960,0.986295]]6H@Y?f 7 ?@?`B?jjſ@?i6ǧ>I6=d;6CYFGEByJH R49`Y`=b5Fyb)Eb :Ef>dQ 5j5f ܉?Q 9n5fn)fBYlyn ?Q InB@fDIf;if<;f5yrBɮvBvEZ R b j "  ړڒ’: ?:;ٱ:V) FAHRS rotation from veh to nav: [[0.854579,-0.512488,-0.083966],[0.519317,0.842717,0.141906],[-0.001966,-0.164875,0.986313]]:HX?Mf@~>? ?@)?O`ſ@ߏ?i:>I:1c;:CYNDEByNHi]Mb@Mb@Mb@YYYY Y9]On?Q?~jt?Y]?y]u=]D<]A]1A ]A)]AYY]AbDuVDu5ylŻ%>=ٔEQ->9Y=5Fy+E.:E>Q 55_܉?Q 95j)BY`?Q E:y%?Q IB@DIj:i:\5yɮBZRbj"ړڒ’ZG@ ɢo60) .i)F;i69%Ƚɧ%~ %0ߺi%/i?%;!I-/i? -/i?I)A=iAzA9ԑIIO=ԹAi Ai Bi Bi Bm HBm OEBBi Bi Bi Bm ̊;Bm rAEE-  E- uE- +E) "E- s:*E- :VE- [4ZE) BE- ;a5 2E- ;a5 JE- md;a5 :E- md;a=  N,~ޣ?A6 >6 ?6":ٱ6ټ) >AHRS rotation from veh to nav: [[0.854391,-0.512596,-0.085217],[0.519630,0.842627,0.141294],[-0.000621,-0.165001,0.986293]]6H+W?/g`еР?? ?`sWDſ?i6 >I6zc;6CYF8EByFHbDRVDR5yVU%ZY=ٔZjQ-Z>9XY\=^5Fy^-Ebd~:Eb>dQ 5f5f܉?Q 9j5ff)dYhyj&?Q IjB@fDIf:if:f5ypɮrBpZRb j "  ړ  ڒ’G@颙ɢf@) 1i)ѻ#;顡iȽɧ!駵Y@iW?>;IW? 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Device response is::WD, +150.20, , -4.24, 20.00,916.51 a@a a@a a@a a@a bD VD [5y%J%%C=ٔ%hQ-%>9-"?Y-"?=-5Fy-1E-';E5>1Q 5=55܉?Q 9E55!_)5BQ AE+:YAQ EE:yEu&?Q IEB@5DI5";i5d>5$5yIɮUBQZqRqbqjq"qqړyyڒy’y@^H@颩ɢo@) /4i)x:顱iȽɧS駽})i-?;I-? -?IA>A>Bo>BBHBEEBB =BBB;BgAEԱE EuE(E"Ea:*E:VEc44ZEBEg;a2Eh;aJEa :Ea AIIO$> ,kDޣ?A2N>2} ?2cٱ2ճ' :AHRS rotation from veh to nav: [[0.853151,-0.514193,-0.087976],[0.521653,0.842035,0.137311],[0.003475,-0.163040,0.986613]]2HM?`Dta?`?e?wl?`}Ŀ V?i2N>I2.b;2CYf'EByf{HlbDrVDr5yz%zM=ٔzIQ-z>9|Y|=~5Fy~3E;E> Q 55 ܉?Q 95 T[) BQ A :YQ Eh:y&?Q IB@ 'DI ;i Q? l5y%Bɮ%B!ZIRIbIjI"IIړQQڒQ’QQ]H@颁ɢaI) -6i)R:顉i$Ƚɧm駕>i ?+;I ?  ?IA  II)O5 >E EpE)E"EC:*E :VEFA4ZEa @a @a @a @1 y y G! i ԁ 09 Y T"Ad,ޣ?A2{̩>2μ ?2Y(ٱ2^' :AHRS rotation from veh to nav: [[0.852642,-0.514850,-0.089053],[0.522473,0.841696,0.136272],[0.004796,-0.162719,0.986661]]2H`H? y/̶? ,?@[q?@s? Ŀ?i2{̩>I2K|b;2CYB(EByB}HbDlVDlyvR;%vK=ٔzVQ-z>9xYx=z5Fy~5E9E;EE>IQ 5M5M݉?Q 9U5McW)MBQ AU9YQQ EU<:yU&?Q IUB@M.DIM;iM?MV5yɮBZRbj"ړڒ’@H@1ɢ5\$E)9 =5i9)=Q999i=:EaȽɧEETiMD?MLA;IIMD? MD?IQiAIIO!>ԑB <A <B B B HB ;EBB B B B ;B ^AEE  E zE E "E :*E  :VE ZE BE ;a 2E ;a JE v;a :E v;a ,[ߣ?A2>2 6 ?2Ļٱ2|& :AHRS rotation from veh to nav: [[0.851669,-0.516304,-0.089948],[0.524046,0.840943,0.134870],[0.006007,-0.162002,0.986772]]2H@? ? ?kC?&x? wĿ`?i2>I2a;2CYBEByBrHbDJVDJ]5yR޲%RO=ٔVHQ-V>9TYT=V5FyV7EZ;EZ>\Q 5b5^݉?Q 9b5^S)^BQ Af9YdQ Ef:yfc'?Q IfB@^6DI^;i^?^ˣ5ylɮn BnEZ|R|b|j|"ړڒ’    !H@1ɢ5&V)9 =8i9)= ?99iEE[ȽɧMUM!jiMR?MT;IIMR? MR?ԑIAAIIIaOm>Թ W(,ߣ?A6_>6 ?6ٱ6' BAHRS rotation from veh to nav: [[0.850470,-0.517997,-0.091540],[0.525973,0.839817,0.134384],[0.007267,-0.162437,0.986692]]6H` 7? n`-o@?? 3?`}?Ŀ`?i6_>I6Bsa;6CYFEByJOHbDRVDR%5yZ鋽%ZJ=ٔZKQ-Z>9\Eb EbwE`E`"Eb1:*Eb:VE`ZE`af@aj@aj@aj@Yh=j5Fyj9EnR;En>pQ 5v5r$݉?Q 9v5rO)rBQ Av9YtQ Ev9yv'?Q IzB@r>DIrL:ir@r 5y~tBɮ~B~xEZRb!j!"!!ړ!!ڒ)’))-@C,I@QɢU= X)Y ]"?iY)]Dxaaielmɽɧmm>im%?m;mې2.@?2Rٱ2v0' :AHRS rotation from veh to nav: [[0.849519,-0.519346,-0.092719],[0.527492,0.838964,0.133760],[0.008320,-0.162541,0.986667]]2H`C/?z u@6? ?`?F ?"Ŀ ƒ?i29Ӭ>I2a;2CYVEByVLHa5a5 a5a5 a5a5 a=a= i=Mb@Mb@Mb@9999 99=S?Zd;?/$Y=?y====B=GA =A)=A9Y=AbDUVDU"5ye ǻ%e@=ٔe!Q-e>9iYi=m5FymyQ 55} 5݉?Q 95}K)}BQ AT:Y?Q E:y1??Q IB@}FDI}<;i}s;}5yuBɮBZRbj"ړڒ’bI@ɢW) ?i)Ϻix  ɽɧђi f? ; I f? f?IQBBB{HB&EBB =BBB;BHAED=DR=E EtE+E"Eҝ:*Ev:VE [4ZEBE;a2E;aJE`;a:E`;aA.AI IO-,>ԁԩ >:,Mߣ?A2*>2&?29(ٱ2& :AHRS rotation from veh to nav: [[0.848173,-0.521356,-0.093763],[0.529636,0.837792,0.132625],[0.009409,-0.162149,0.986721]]2H ;$?? 2?`?D?KĿ8?i2*>I2Na;0YBDByB:HbDJVDJ75yR%RW=ٔV;Q-V>9V ?YV ?=Z5FyZ>EZc;EZ>\Q 5b5^yC݉?Q 9b5^F)^BYdyf??Q IfB@^NDI^:i^:^ 5yhɮjBhZqRqbqjq"ړڒ’ E ErE*E"E:*E?:VE(N4ZEa@a@a@a@ i) I) 9 d,egߣ?A2M>2W}?2(ٱ2' :AHRS rotation from veh to nav: [[0.846941,-0.523088,-0.095236],[0.531587,0.836555,0.132630],[0.010293,-0.162956,0.986580]]2H`$?"\a?`? ?_?Ŀ?i2M>I2a;0Y^DBy^>Hi}Mb@Mb@Mb@yyyy y9}V-?:v?S㥫Y}?y}=}/]}gB}1A y)}AyY}AbDVD5y,;%;=ٔQ->9Y=6Fy@E?;E>Q 55T݉?Q 95AB)BY?Q E:yR6?Q IB@VDI:i:ݯ5yvBɮByEZRbj"ړڒ’  I@1ɢ5\a)9 =Bi9)=N999i=h4E/ɽɧEy'EiM?M@;IIM? M?IQ 9^A<AA@ABBBbHBEBBBBB;B6AEByByByByByC}4AIIO>i D zD @AbEqjEqrEuL/E  E E +E "E ҝ:*E VE [4ZE BE a 2E a JE Y;a :E Y;a KN,bHߣ?A 6w>6T?6p>ٱ6& >AHRS rotation from veh to nav: [[0.845718,-0.524872,-0.096281],[0.533503,0.835571,0.131130],[0.011623,-0.162265,0.986679]]6H?`ޥ`u??@?͇?Ŀ`ߒ?i6w>I6ka;6CYFDByF%H LNbDRVDR5yVY%Z[=ٔZiQ-Z>9\Y`=b6FybBEf;Ef>lQ 5v5nc݉?Q 9v5n;>)nBYxyz6?Q I~B@n^DIn;in;n'5y ɮ  B ZARAbAjA"IIړQQڒQ’QY]I@Yɢ]r)Y ]GiY)e<`aaiemjCɽɧmԑ kv,"ߣ?A6>6?6MRTٱ6)J& BAHRS rotation from veh to nav: [[0.844403,-0.526781,-0.097394],[0.535552,0.834485,0.129685],[0.012959,-0.161666,0.986760]]6HX?`d`>#????wĿ?i6>I6ea;4YFDByFHER ERwER%EP"ERs:*ER:VER 4ZEPaZ@aZ@aZ@aZ@XbD^VD^5yfs%fI=ٔf WQ-j>9j"?Yj"?=j6FyjDEn;En>pQ 5v5rs݉?Q 9v5r9)rBYtyz7?Q IzB@rfDIrK:ird:r5y|ɮ~%B|ZRb!j!"!!ړ!!ڒ)’))-.J@Yɢ]Gx)a eMia)e0aaimUmWɽɧuTu*iuu ?u4;qIuu ? uu ?Iy@@@@IYIiO}z>! ,Eߣ?A2]>2?.?2]iٱ24z& :AHRS rotation from veh to nav: [[0.843370,-0.528165,-0.098837],[0.537144,0.833575,0.128952],[0.014280,-0.161844,0.986713]]2H? ZMG0??`?>?@LĿ@'?i2]>I2a;2CYBDByBH|iEMb@Mb@Mb@AAAA A9Ev?)\(?ʡEYE?yEGa=EEAA E A)AAYAbD]VD]5ym%%mA=ٔmLQ-m>9qYq=u6FyuFE}g;E}>Q 55τ݉?Q 955)|BY?Q E:y #?Q IB@nDI:i]:d5yɮ5BZRbj"ړڒ’)eJ@ɢw) Qi)|i  oɽɧ W ,i w? F;Iw? w?IBp>BB0HBDBBBBB;BCAED=D<E EuE)E"E:*E:VEFA4ZEBEE;a2EF;aJEmd;a:Emd;aII!)O5 >Yԁ W,ߣ?A2z>2?2n~ٱ2& :AHRS rotation from veh to nav: [[0.842523,-0.529268,-0.100157],[0.538437,0.832847,0.128265],[0.015529,-0.161994,0.986670]]2H? ݣ:? ?j?@}͏?8Ŀ̒?i2z>I2a;0YRDByRHTTbDZVDZ5ybu]%bV=ٔfUQ-f>9dYd=f6FyfHEj;Ej>lQ 5r5nS݉?Q 9r5nQ2)n^BYpyvo#?Q IvB@nuDIn+;in:n5yzwBɮz8BzzEZRbjY"ړڒ’`,J@ɢx) ERi)¤i9ԅɽɧZ%)/i%`?%3;%v2?2f눼ٱ2S4) :AHRS rotation from veh to nav: [[0.842248,-0.529251,-0.102530],[0.538832,0.832373,0.129675],[0.016713,-0.164465,0.986241]]2H ?`m? >?̢?.?8?. ſ J?i2>I2ea;2CYBDByBHDDi Mb@Mb@Mb@     9 9v?MbPktY ?y   B A A)  Y bD% VD%5y5#\%5C=ٔ59Q-=>99Y9==6FyEJEE:EE>IQ 5U5M݉?Q 9U5M.)M>BYU?Q E]:y] ?Q I]B@M}DIM2 ;iM ;Md5yeWBɮeBepEԹZ R b j "ړ1QڒY’YYeJ@颹ɢ~) Si)vȻiTwɽɧFiD?; I D? D?I1IIO >BAp<BBBHBDBB =BBB;B=AEE  E uE +E "E ҝ:*E :VE [4ZE BE ;a 2E ;a JE a :E a 9 ,T?AZvx>Z̒?Z aٱZj, jAHRS rotation from veh to nav: [[0.842498,-0.528328,-0.105198],[0.538407,0.832262,0.132127],[0.017746,-0.167956,0.985635]]ZH?<@:?@??+?ſQ?iZvx>IZa;XYvDByvHbD VD 5y%L=ٔ(Q-%>9!Y!=%6Fy%LE-%E->1Q 5=55ն݉?Q 9=55+)5BY9y= ?Q IEB@5DI5;i5';55yIɮM BIZiRibiji"qqړqqڒq’yy}@J@颡ɢmT) Vi)?Cݻ顩ip𻩧eɽɧ2駽h i ?^;I ?  ?IIIO=Aiԙ ,$d?A2o>2V?2Vٱ2- :AHRS rotation from veh to nav: [[0.842517,-0.528021,-0.106579],[0.538338,0.832290,0.132228],[0.018886,-0.168780,0.985473]]2H?@H:??@?`V?ſ@?i2o>I2a;2CEB EBtEB-E@"EB:*EBv:VEBt4ZE@aJ@aJ@aJ@aJ@YzDByzH <bD&VDO5yE8P;%EH=ٔM6Q-M>9IYQ=U6FyUNEUX.EU>YQ 5e5]݉?Q 9e5]()]BYiym ?Q ImB@]DI]W:i] :]y5yqɮ} ByZRbj"ړڒ’ p3K@ɢD) yVi)~ i-qgGiIA=lɽɧMUu<9QYU=-AM[im?uZ=;qIu? u?Iyԡ^A'<I I O > ,=6?A2Ͳ>2x=?2ٱ2/ :AHRS rotation from veh to nav: [[0.843162,-0.526630,-0.108345],[0.537287,0.832796,0.133321],[0.020018,-0.170624,0.985133]]2H@/?&s1? C?? ? ſ`5?i2Ͳ>I2Pb;0YBDByBHi=Mb@Mb@Mb@9999 99=/$?Q뱿X9vY=&?y=\=}=gB=A = A)=A9Y=AbDU/VDUa5yeҊ%mH=ٔm5Q-m>9qYq=u6FyuPEu%FE}>Q 55 ݉?Q 95&)BY?Q E:y7>Q IB@DI:i<: 5yXBɮBqEZRbj"ړڒ’gK@ɢt) >Xi)+i滩ɽɧ ߽ XӲi T? ; I T? T?I^A<B%o>B!B%HB%DBB% =B!B!B%;B!E EE)E"Eҝ:*EE7:VEFA4ZEBEa2EaJEU;a:EU;aIIO$>) $,P?A2 ر>2?27ٱ20 :AHRS rotation from veh to nav: [[0.844149,-0.524810,-0.109487],[0.535692,0.833764,0.133685],[0.021127,-0.171502,0.984957]]2H`D? > Sd$?1??`=? ſ ń?i2 ر>I2ǀb;2CYBDByBHbDN>VDN5yVi:<%VW=ٔV>?Q-V>9XYX=Z6FyZRE^E^>`Q 5f5b݉?Q 9f5b#)bBYdyf9>Q IfB@bDIb:ib$:b[5ylɮn BlGSzB*** querying acoustic contact ***:xBxZRbj"ړ ڒ ’   UK@9==ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.QɢU) #Wi)miứɽɧ}Xi?Ng;I? ?I1Y^A<E EsEE"E*EZ:VEZEa@a@a@a@II)O=r>DAT read:  BDAT read: Tx time:21:15:44.6460  $Ping request sent. 6f4?6n"ٱ6 2 JAHRS rotation from veh to nav: [[0.845291,-0.522694,-0.110789],[0.533848,0.834792,0.134641],[0.022109,-0.172955,0.984682]]6H ?`\ I??;?ԣ?e#ƿ?i6>I6`b;6CYnDBynHiuMb@Mb@Mb@qqqq q9u(\?zGếy&1Yu?yu ׽u`euBq uA)uVAqYuAAAbDEVDp5yB<%;=ٔQ->9Y=6FyTEE>Q 557݉?Q 95C!)BY?Q E:y>Q IB@DIM7;i6;25yYBɮ BZRbj"ړڒ’ K@IɢU*)Q UUiQ)UxwQYi]ƻܻ]Pɽɧe,eGxie0?e;ԉaI0? 0?I@@@@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249315ԱIIO>AAAABBB HBDBB =BBB;BDAEE  E uE *E "E *E :VE (N4ZE BE a 2E a JE md;a :E md;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021776 ,(҃?A>,3>>'p?>ٱ>2 FAHRS rotation from veh to nav: [[0.846866,-0.519940,-0.111716],[0.531302,0.836331,0.135164],[0.023154,-0.173820,0.984505]]>H?`Y@c`m?@8? M??@?ƿ?i>,3>I>R?b;>CYNDByNHbDV6VDV5\ybD%b[=ٔb7Q-f>9dYd=f6FyfVEjEj>lQ 5%5nމ?Q 955nB)nBYAyE[>Q IEB@nDIn;in;nq5yQɮUByZRbj"ړڒ’L@ɢ5rb)1 5wXi9)=&99i= ػEɽɧEC=Ey;iEV?MXV;M\E>>?>?żBPExceeded connect timeout, disconnecting.ٱ>4 JAHRS rotation from veh to nav: [[0.848419,-0.517137,-0.112937],[0.528778,0.837729,0.136395],[0.024076,-0.175439,0.984196]]>H ?&? c@s鼿??@bu?_? tƿ~?i>>I>O$b;>CY^DBybHbDj2VDj5yr^=%rH=ٔvQ-v>9tYt=v6FyvXEzEz>|Q 55~ މ?Q 95~)~BYy ׼>Q I B@~DI~d:i~:~5yZBɮBZRbj"ړڒ’x6L@ɢԥ) hLi)1ȋӻ%ɽɧ%I=%ԭ;i%T?-;)I-T? -T?I)AhAzAhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005658IIO-=Iqm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257308ԡ @>-,?A2g>2ħ ?2Yͼٱ2p4 :AHRS rotation from veh to nav: [[0.850506,-0.513642,-0.113186],[0.525368,0.839891,0.136281],[0.025065,-0.175372,0.984183]]2HX7?o?`b?@q?? rƿm~?i2g>I2:b;2CY^DBy^&HiEMb@Mb@Mb@AAAA A9Egfffff?EԸI +?YE3?yEƽE94=AEA E A)AAYA Upy9qYy=}6Fy}ZEE>Q 553މ?Q 95)BY?Q E:y>Q IB@DI@M'b4rEu0E ErE)E"Ea:*E?:VEFA4ZEBEg;a2Eh;aJEY;a:EY;aԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510717AI I!O=P> $4,`?A2Ny>28 ?2 ռٱ2!5 :AHRS rotation from veh to nav: [[0.852695,-0.509891,-0.113678],[0.521761,0.842062,0.136735],[0.026004,-0.175906,0.984064]]2HGI?Q E?,?@?@?ƿr}?i2Ny>I2>$b;2CYBEByBVHbDJ-VDJ5yR=%VX=ٔV"Q-V>9TYX=Z6FyZ\EZ7EZ>\Q 5b5^Dމ?Q 9f5^S)^5BYdyfb>Q IfB@^DI^ :i^:^5yj[BɮjBl%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761322ZaRabaja"iiړiiڒi’qquL@ɢk) =i)FEiqI˻  ɽɧ V> f+a %R:,I?AR>R ?RzۼٱRH6 ^AHRS rotation from veh to nav: [[0.854669,-0.506406,-0.114431],[0.518479,0.843932,0.137687],[0.026847,-0.177007,0.983843]]RH`rY?y4`[K`a?`~?@?}?'ƿ@{?iR>IRY5b;RCYf$EByjxHiMb@Mb@Mb@ 9"~?J +EԸ?Y?yH=A )?AYbDVD5yy=%6=ٔQ->9Y=6Fy_E E>19Q 5E5=;Xމ?Q 9E5=)=mBYE?Q EE:yE>Q IMB@=DI= :i=:=5yU\BɮUBQZqRqbqjy"yyړyyڒ’L@颱ɢw) 6i)QO项ioǻ~ɽɧez>5QHB<A4=Bp>BBbHBEBBBBBΊ;BvAEԩE  E }E +E "E :*E k&:VE [4ZE BE X;a 2E Y;a JE ŀ;a :E ƀ;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518069 `IA,e?A2>2 ?2fٱ2g8 :AHRS rotation from veh to nav: [[0.856658,-0.502797,-0.115467],[0.515153,0.845659,0.139566],[0.027473,-0.179044,0.983457]]2Hi?@E"|??M?!? ƿ{x?i2>I2Pa;2CYN1EByNHTTbDVVDV5yr =%r[=ٔrܺQ-v>9v ?Yv ?=v6Fyv`Ez8+Ez>|Q 55~gމ?Q 95~{)~BYy>Q I B@~DI~:i~:~+5yɮBZ1R1b9j9"99ړ99ڒA’AAEM@iɢue) 3i)UWi&ûcɽɧ>_ `G,?AE& E&vE&)E$"E&:*E&:VE&FA4ZE$a*@a*@a*@a*@V}ţ>VP ?VٱV$ 8 bAHRS rotation from veh to nav: [[0.858408,-0.499863,-0.115205],[0.512206,0.847470,0.139427],[0.027938,-0.178694,0.983508]]VHx?`߿@~ c?`y??ߛ? sƿx?iV}ţ>IV]a;VCYf@EByfHbDrVDr5yz=%zL=ٔzTQ-z>9~"?Y~"?=~6Fy~bE E> Q 55 /yމ?Q 95 ) BYy>Q IB@ DI l:i : 5y%駭7nzi M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273240M,8?A0Y~TEBy~HiMb@Mb@Mb@ 9V-? rh?`"?Y?yC ==  A)lAYAbDVD5yvB=%?=ٔQ->9 ?Y ?=6FyeEE>Q 55=މ?Q 95 )BY1 ?Q E:y ?Q IB@DI;i;s5yɮ#BZ!R!b!j)"))ړ))ڒ)’1B9B9B=HB=OEBB= =B9B9B=;B=AEQqM@ɢȯm) *i)%j!!i%@-ɽɧ->-yrT,/R?A2>2?2ٱ2?8 :AHRS rotation from veh to nav: [[0.860544,-0.496092,-0.115569],[0.508548,0.849670,0.139424],[0.029029,-0.178753,0.983466]]2H?߿`F? 0? ?`?_ƿ x?i2>I2a;0\YbqEBybH j9z"?Yz"?=z6FyzgEz9Ez>BDAT read: Rx Time:21:15:48.0247  TRx dataTimestamp_ set to:1761513349.324740 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778570Q 55މ?Q 95)7BYy?Q IB@DIO:yA nZ,Ol?Ary>rc?rٱr̦7 ~AHRS rotation from veh to nav: [[0.860654,-0.495837,-0.115842],[0.508326,0.849912,0.138759],[0.029654,-0.178309,0.983528]]rHz? ͻ߿ϧ3D?{2?`?]?ƿy?iry>Ir;a;rCY EBy HiMb@Mb@Mb@ 9p= ף?S㥛?A`"?Y%?y$>=A 7A)YpAbDVD5y%=%%7=ٔ%췺Q-->9)Y)=56Fy5iE5E5>9Q 5E5=׬މ?Q 9E5=)=eBYE*?Q EM:yMzB?Q IMB@=DI=C ;i=C ;=5yQɮUBYZyRybj"ړڒ’M@颙ɢg) i){iWAeDAT read: 21:15:48.0247 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 279, 0.23,-0.804,-2.557,-0.842,-1.329, PHS= 0.627,-1.183, 0.443, RAW= 144.7, 1.3, CAL= 144.2, 1.5, ROT= 5.8, -1.5 uYgot valid direction response: 21:15:48.0247 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 279, 0.23,-0.804,-2.557,-0.842,-1.329, PHS= 0.627,-1.183, 0.443, RAW= 144.7, 1.3, CAL= 144.2, 1.5, ROT= 5.8, -1.5 uPDAT read: Bearing 182.3, 7.4 (Local) }~Local bearing/azimuth received: Bearing 182.3, 7.4 (Local) DAT read: Range 11 to 50 : 730.8 m (Round-trip 974.5 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.994540,0.101022,0.026177]Fpublishing direction and range infoyE?Ekܹ?P!Κ?Y6D )TI ?Ƚɧ>駥}Y ?D;Il> ? l> ?IA>A?il>!@޹<!@ Pw<)4Q=IPwּE5Xt?:?"Ǐd? >){I4Q=iPwּAII Om>iA)A-?AB1B1B5HB5EBB5 =B1B1B5;B5AEEm  Ei Em )Ei "Em ҝ:*Ei VEm FA4ZEi BEm ;au 2Em ;au JEm k;a} :Em k;a} ԙ a,_?A2d>2C?2lٱ26 :AHRS rotation from veh to nav: [[0.860383,-0.496282,-0.115951],[0.508748,0.849852,0.137575],[0.030265,-0.177357,0.983681]]2HB? ߿@G?@1??@?ƿPz?i2d>I2h a;2CYNEByRHbDZVDZ5yv*=%va=ٔvܺQ-v>9xYx=z6FyzkE~H:E~>Q 5 5sމ?Q 9 5f)BY y B?Q I B@DI:i:5yɮBjEԁJAREIu?AE5DE5DEyi#?EE@U+&駅AR? ˲g,J?AE ExEE"E:*E:VEZEa@a@a@a@>n>>H$ ?>rٱ>4 FAHRS rotation from veh to nav: [[0.859501,-0.497897,-0.115573],[0.510211,0.849313,0.135470],[0.030707,-0.175403,0.984018]]>H ?߿)S?-?W?@q?@sƿ}?i>n>I>+&`;>CYNEByN$HPPbDVVDVi5y^Z1<%bM=ٔbQ-f>9dYh=j6FyjmEn;En>tQ 5~5vމ?Q 9~5v)vBYyB?Q IB@vDIvNi;iv2d;vL5yɮBZiRqbqjq"qyړyyڒy’` 3?QɢUg)Q UiQ)]YYi]Z0eȽɧe%J>e!)Q m,Q?ABr>BJ ?B@ٱB 3 JAHRS rotation from veh to nav: [[0.858379,-0.499775,-0.115804],[0.512046,0.848523,0.133484],[0.031551,-0.173876,0.984262]]BHw?Q߿W@b?'??h'?Aƿ?iBr>IB%_;@YnEByn7HvAvAiMb@Mb@Mb@ 9K7A`?S?i|?5?Y+?y/]>q=gB1A MA)YAbD}VDn5y=%<=ٔQ->9Y=6FyoE ;E>Q 55Gމ?Q 95)BBo>BBCHBEBB =BBB;BAEY\4?1Q Eu:yuG\?Q IuB@ DI.駍];ii}?;Ii}? i}?IAzAjAIqIO>aԉԹ t,R?A2D>23X ?2ٱ2ZW1 :AHRS rotation from veh to nav: [[0.857047,-0.501995,-0.116064],[0.514215,0.847548,0.131320],[0.032448,-0.172230,0.984522]]2H@l?X^st? ? ?? ƿ4?i2D>I2^;2CYBEByB:HbDJVDJ15yR;%R]=ٔVQ-V>9TYX=Z6FyZqEZ;EZ>=4=Q 5U5މ?Q 9U5,)BYQy]\?Q I]B@DI;i9;g5yeBɮebBmaEZRbj"ړڒ’ ?ɢ-q) Yi)~Aip Ƚɧj=O;iy?j;Iy? y?IIyIԑO=EE EEzEAEA"EE:*EE :VEAZEAaM@aM@aM@aM@! 2z,{?AU!>Ul ?U ٱUn. eAHRS rotation from veh to nav: [[0.853870,-0.507272,-0.116540],[0.519409,0.844867,0.128114],[0.033472,-0.169925,0.984888]]UH R?;ս?' ? f? K#?`ſ4?iU!>IU];UCYuEByuQHi-Mb@Mb@Mb@)))) )9-V-?T㥛 ?MbY--?y->--B) ))))Y-A E;EbDEVDE5yU=%U&=ٔ][Q-]>9YYY=e6FyesEeJ<Em>iQ 5u5mXމ?Q 9u5m )mBY}69?Q E}:y}d?Q I}B@mDIm:imj:m5yBɮQBZRbj"ړڒ’ @ɢFV)  i)wiĩVȽɧV߽i?}Y;I? ?IIIO >B<ABn>BBuHBEBBBBB;BAEBBBBnj =Bnj =CW_4bEjEFA4rEȲ/EM  EM yEM *EI "EM :*EM :VEM (N4ZEI BEM ;a] 2EM ;a] JEM r;a] :EM r;a] a ҁ,?A,Y~EByJHbDVD5y%ߊ%%w=ٔ-Q--?9)Y)=-6Fy-uE5E5?9Q 5E5= ߉?Q 9E5=&)=BYAyIQ IMB@=$DI= :i=:= 5yQɮUWBQZqRqbqjq"ړڒ’`-@1ɢ5<r)9 =$ i9)=ɖ99i=mEŮȽɧEcE邗iM?Mk;IIM? M?IQAaAe>IIO=iԙ E]  E] tE] +EY "E] :*E] v:VE] [4ZEY am @am @am @am @,!?A@> ?dLٱg, AHRS rotation from veh to nav: [[0.849835,-0.513677,-0.117971],[0.525871,0.841379,0.124662],[0.035222,-0.167980,0.985161]]H1? p R3?`???\ſ`p?i>Ij];CY%EBy%>HbD5VD55yEǼ%EF=ٔM Q-M>9IYI=M6FyUwEU^<EU>YQ 5e5]߉?Q 9e5])]BYiymf?Q ImB@].DI]:i]:]5yuBɮucByZRbj"ړڒ’@ɢ.'l)Y ]iY)]3aaieCmȽɧm1meim?m);m. 4= %= (,_`;?A|YEBy7HBBBHBEBB =BBB;BAEiMb@Mb@Mb@ 9V-?X9v?(\µYys>}B 7A)VAYAbDVD5yK%D=ٔQ->9Y=6FyyEE>Q 55)߉?Q 95)BY;9?Q E:y]?Q IB@7DI ;iP ;5yɮhBZ!R!b!j!"!!ړ))ڒ)’)15T\ @DDAɢE2f)A EiI)uOqqiuΥ}Ƚɧ}X{}gIi?;I? ?I)EM EMvEM'EI"EMC:*EM:VEM'4ZEIBEM6;a]2EM7;a]JEMh;a]:EMh;a]AYIaIqOY>Qԁ ,7U?A2Э>2?2<ٱ2], :AHRS rotation from veh to nav: [[0.847969,-0.516550,-0.118848],[0.528804,0.839781,0.123016],[0.036262,-0.167162,0.985262]]2H`"?@l?`}?@~??eſE?i2Э>I2`];0YNEByR*HbD^VD^R5yf%f]=ٔf*8Q-f>9hYh=j6Fyj{En<En>tQ 5z5v_8߉?Q 9z5v)vZBYxyz^?Q IzB@v@DIv:iv:v5yBɮuBbEYZRbj"ړڒ’ Wu @ɢ x|)  i ) Z iE5 E1E5)E1"E5:*E1VE5FA4ZE1a=@a=@a=@a=@ԱiߑIߕA ;,o?AM;ð>M/8?MٱM* ]AHRS rotation from veh to nav: [[0.844855,-0.521266,-0.120427],[0.533641,0.837098,0.120393],[0.038053,-0.165979,0.985395]]MH ?@5@SԾ ??Ҿ?{? >ſZ?iM;ð>IM0{];MCYmEBymHԱi-Mb@Mb@Mb@)))) )9-w/?kt? rhY-&?y- 0>-C )-A ))))Y-pAbDEVDE%5yU6%U3=ٔ]Q-]>9] ?Y] ?=]6Fye}Ee5O<Ee>iQ 5u5mJ߉?Q 9u5m)mBY}0?Q E}:y}H?Q I}C@mJDIm ;im:m5yBɮBBXEZRbj"ړڒ’@ɢGlr) ni)J墼iԝ\#ɽɧΒi8?;I8? 8?I^AUX<Bo>BBuHBEBBBBB;BAE D) zD- ?AA ؟AI I O >E  E }E *E "E s:*E k&:VE (N4ZE BE ;a 2E ;a JE ŀ;a :E ƀ;a 9 ,?AJn>J?JٱJ5+ ZAHRS rotation from veh to nav: [[0.843439,-0.523231,-0.121821],[0.535823,0.835699,0.120419],[0.038799,-0.166841,0.985220]]JHr?O/ v%? ? 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U`?IQ@i@i@i@iԙBe>BBHBIBB =BBB;BAEIi Iy O > ,)?AEr Er}Er)Ep"Er:*Erk&:VErFA4ZEpBErX;a~2ErY;a~JErŀ;a:Erƀ;aY|IByHiMb@Mb@Mb@ 9zG?Mb?I +Y ?y=94A )GAYbDqVD5y\5=%o=ٔQ-?Ա9Y=6Fyi )S i'»νɧJiL?u;I%L? %L?I!IIO#> .,?AJ%>J>J6UCٱJ! VAHRS rotation from veh to nav: [[0.876750,-0.466556,-0.116771],[0.478578,0.870393,0.115669],[0.047671,-0.157297,0.986400]]JHU?` ݿ使?A?y?@Hh?L"Ŀ?iJ%>IJ1^;JCYZIByZH``bDfwVDf 5yn=%np=ٔr:Q-r?9pYp=v6Fyv>Ev+Ev?xQ 5~5z?Q 9~5zi)xYy'?Q ID@z8DIz ;iz ;z\e5y ɮ A Z)R1b1j1"11ړ11ڒ9’99ED@iɢmPQ()i m3>ii)u qqiuŻ}νɧ}e}i}7?I;I7? 7?III O=IE EvE*E"Es:*E:VE(N4ZEa@a@a@a@yԩ ,/?AB0A0B6d>B4B6HB6IBB4B4B4B6;B6AEB-@CB-@CB)B- =B- =C-ak5F>F>FqAٱF! NAHRS rotation from veh to nav: [[0.876850,-0.466520,-0.116159],[0.478449,0.870458,0.115714],[0.047129,-0.157040,0.986467]]PFH'?xݿ@?? s? D!?Ŀ`#?iF>IF];FCYZIByZHbDbkVDbJ5yj8 ;%jK=ٔj:Q-n>9Y=6Fy@E%PιE%>)Q 555-?Q 9=5-e)-BY9y= '?Q IED@-@DI-/;i-51;-h5yM¢BɮMAMEZiRibiji"qqړqqڒq’ +E@ɢlʻ) >i)4 ioʻ=νɧ=_UiUs?U ;YI]s? ]s?IYAmhAzAmjAAIIO >bEFA4jEƲ>4rE?0E E|E)E"E:*EP$:VEFA4ZEBEa2EaJE};a:E};a! ,k!?A2>2>2N7>ٱ2B! :AHRS rotation from veh to nav: [[0.876977,-0.466451,-0.115475],[0.478285,0.870513,0.115981],[0.046423,-0.156942,0.986516]]2H 2?Vݿ7?`=?창?ħ? Ŀ@?i2>I2c];0YRIByRH|i5Mb@Mb@Mb@1111 195Q?|?5^?MbY5?y5=55A1 1)5tA1Y1bDMsVDM!5yUh=%]B=ٔ!:Q->9Y=6FyBEqE>Q 55ګ?Q 95a)BY?Q E:y*?Q IE@HDI:i;l5yɮAZ9R9b9j9"9AړAAڒA’AIMibE@qɢu")y }>iy)}yyi} ϻνɧX(駍i?z;I? ?I)AIIO)>QE  E zE *E "E :*E  :VE (N4ZE a @a @a @a @ԁ (,Nc;?A6>6E>6r;ٱ6p?" BAHRS rotation from veh to nav: [[0.877340,-0.465834,-0.115213],[0.477674,0.870722,0.116925],[0.045851,-0.157617,0.986435]]6H*?`7ݿ~6?`??y?,Ŀ?i6>I6@];6CYJIByJH R49`Y`=f6FyfDEfEf>hQ 5r5jr?Q 9r5j^)jBYtyv*?Q IvE@jODIj\;ijl;jo5yĢBɮAZ9R9bAjA"AAړAAڒI’IQU`"E@Y颙ɢ ) >i)|u顩iYӻ5 Ͻɧ515%i=?=L;9I=? =?IAAԉIIO>Beb>Be?CBe>HBeIBBaBaBaBeފ;BevAEԱ ,FDU?AEj EjEj)Eh"Ej:*Ejg:VEjFA4ZEhBEj;a 2Ej;a JEj1;a:Ej1;a}\>} >}3:ٱ}X" AHRS rotation from veh to nav: [[0.877574,-0.465482,-0.114850],[0.477283,0.870892,0.117251],[0.045444,-0.157712,0.986439]]}H? uݿf`͋?`Y?(?oD?/Ŀ ?i}\>I} ];yYIByHԹiMb@Mb@Mb@ 9㥛 ?MbX?{GzY?y=ףA VA)^AYbDVDZ5y3;%,=ٔ b:Q->9Y=6FyFE|E>Q 55!?Q 95Y)BY?Q E:y(?Q IE@XDI:is: t5yɮAZ!R)b)j)"))ړ)1ڒ1’115@E@aɢeq)a e\>ii)mfiiimLػu(ϽɧuU;uiub?}a;yI}b? }b?IyA>A>A.AIIOI> = %== R=A f9,o?A2>2>28ٱ2# :AHRS rotation from veh to nav: [[0.878042,-0.464650,-0.114646],[0.476471,0.871200,0.118266],[0.044927,-0.158468,0.986341]]2H?Ҽݿ oY~??F??`HĿ?i2>I2 ];2CYBIByB+HbDJvVDJ5yVrZ=%Vv=ٔV:Q-V?9Z ?YZ ?=Z6FyZHEZ 9E^?`Q 5f5bB?Q 9f5bhV)bBYdyfO(?Q IfE@b^DIb:ib:bv5yjŢBɮnAnEZqRbj"ړڒ’@E@ɢp:)l m>i)Mi}ܻ0ϽɧA(i?L/;I? ?IE EEE"E:*Ea9:VEZEa@a@a@a@A-؟AI1IIOU>Aiԙ ",?AAAAAB^>BBcHBIBBBBDB͊;BbAEB؎>B>B6ٱBf" JAHRS rotation from veh to nav: [[0.878088,-0.464661,-0.114244],[0.476418,0.871228,0.118267],[0.044579,-0.158277,0.986388]]BH L?`ݿ ?}?@?@F?Ӧ?kBĿ`}?iB؎>IB\;@YRIByR5HXZAAbDZrVDZ5yb<%fH=ٔfh`:Q-f>9j"?Yj"?=j6FyjJEj0Ej>pQ 5r5ra?Q 9v5rR)rBYtyvK(?Q IvE@rfDIr :ir:rz5yxɮ~xA|ZRbj"!ړ!!ڒ!’!)-,F@ɢ]) >i)i3<ứEϽɧJ G!i ? ; I ? ?IqAIIO'>ԡE E|E(E"EU:*EP$:VEc44ZEBE;a2E;aJE};a%:E};a- [(,?A&G0Z>4ٱM" %AHRS rotation from veh to nav: [[0.878269,-0.464495,-0.113523],[0.476141,0.871371,0.118332],[0.043956,-0.157980,0.986463]]H`?Hݿ y?D?J?@c?8Ŀ?i>I\;CY5IBy5MHi Mb@Mb@Mb@     9  ףp= ?Cl?~jtY Q?y ;=  A  ) GA Y 3AbD%{VD%5y5F'=%54=ٔ5:Q-=>99Y9==6Fy=LEE>EE>IQ 5U5M?Q 9U5MN)MBYU?Q E]:y]+?Q I]E@MoDIM ;iM] ;M}~5yeBɮeAeEZRbj"ړڒ’ fF@ԱɢH8) %>i)^iQ滩]ϽɧV+iSX?6;ISX? SX?IAiAzAAIIIO]V> E  E E *E "E *E *:VE (N4ZE a @a @a @a @u.,?A^N|>^l)>^)2ٱ^)" nAHRS rotation from veh to nav: [[0.878466,-0.464282,-0.112865],[0.475821,0.871561,0.118216],[0.043483,-0.157552,0.986553]]^He?`Ͷݿ伿s??@hC?pC?*Ŀ ב?i^N|>I^ ;];^CYvIByz91Y1==6Fy=NE=jEE>QQ 5u5UB ?Q 9u5UcJ)UBYyy}+?Q I}E@UvDIUz;iUv;U5yɮAZRbj"ړڒ’GF@ɢp);) I>i)4i껩sϽɧBa44i4?;I4? 4?IQB-W>B->CB-|HB-JBB- =B)B)B-Ê;B-SAE=<Ȼy=%=A.AIIO>ԩ i`5,?A<EZ EZ}EZ(EX"EZ7:*EZk&:VEZc44ZEXBEZ;a2EZ;aJEZŀ;a :EZƀ;a >*>-ٱ$ AHRS rotation from veh to nav: [[0.879009,-0.463305,-0.112657],[0.474917,0.871747,0.120465],[0.042396,-0.159392,0.986305]]H` ?ʦݿ׼e?Y?@־?`?fĿΏ?i >Is];CY%IBy%CH-9 ?Y ?=6FyQE] E>Q 55?Q 95E)BQ A+:YQ E:yF+?Q IE@DIdd;i>)5yBɮAEZRbj"ړڒ’    F@1ɢ5)1 =*>i9)=99i=7𻩧EpϽɧEnEw>iM?M?B;IIM? 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B% LAETB,y ?A6}͍>6z>6Tb,ٱ6# BAHRS rotation from veh to nav: [[0.879153,-0.463156,-0.112140],[0.474678,0.871904,0.120266],[0.042074,-0.158963,0.986388]]6H`"?Zݿ8`a??ɾ??@XĿ|?i6}͍>I6ٙ];6CYFIByJ.HbDR^VDRL5yZ%Z=ٔZ :Q-Z ?9\Y\=^6Fy^TEbcEb ?dQ 5n5f2;?Q 9r5f>)fBQ Az9YxQ E~::y~6+?Q I~E@fDIf;if?f5y Bɮ A Z)R1b1j1"11ړ19ڒ9’99E 0G@iɢm;)i m>ii)uqqiu4Ͻɧ 5vNi?:;I? ?III!O- >IE EE*E"EU:*E*:VE(N4ZEBE;a2E;aJEi;a:Ei;aqԡ H,$?A6;>6X8>6~E*ٱ6bS# BAHRS rotation from veh to nav: [[0.879412,-0.462820,-0.111500],[0.474244,0.872134,0.120316],[0.041558,-0.158685,0.986454]]6H@%$?՞ݿ@?Z?? ;?G?OĿ?i6;>I6];6CYFIByFNHLN@AbDRmVDR5yZ=%ZL=ٔZ:Q-Z>9\Y\=^6Fy^VEbEb>dQ 5j5f5K?Q 9n5f:)fBQ Av9YtQ Ez:y~+?Q IE@fDIf;ifU?fc5y ɮ A Z)R)b)j)"11ړ11ڒ1’99='cG@aɢepi;)i m>ii)m$iiimb[uϽɧ}j}Wi}+?}ڲ;yI}+? }+?IԙIY&udClearing failed state for component RDI_PathfinderquIqO=E  E E $E "E :*E 3:VE 4ZE a @a @a @a @ N,=?AF&>F>FB'ٱF# NAHRS rotation from veh to nav: [[0.879803,-0.462275,-0.110678],[0.473583,0.872457,0.120573],[0.040824,-0.158495,0.986515]]FHW'?`ݿ`U/O? +?ݾ?? IĿ?iF&>IF>^;FCYVIByVHH ||~:Expecting PD13 message formatbDUgVDU^5ye26%e?=ٔmh:Q-m>9iYq=u6FyuXEuME}>yQ 55}S\?Q 95}f6)}BQ A9YQ E9y*?Q IE@}DI}:i}@}5yBɮAEZRbj"ړڒ’0G@ɢ01;) `>i)BiV Ͻɧ  $`it?z;It? t?IA)zA-hAIIO=!BF>BCB>CBŔCBŐ =Bő =Cx6Iy \U,qW?A2>2>2"ٱ2 # :AHRS rotation from veh to nav: [[0.880006,-0.462128,-0.109672],[0.473296,0.872549,0.121035],[0.039760,-0.158419,0.986571]]2H)?ݿ`szJ??*? u[?@GĿ?i2>I2^;0DB=DB<bEjErE).0EF EFEF(ED"EF:*EF*:VEFc44ZEDBEFi9 Y = 6Fy ZE jE>Q 55k?Q 952)BQ Ao9YQ E9y*?Q IE@DIiI)MjIQiUnQ}нɧ4駝ShirO?5D;IrO? rO?IIYiqIuAIyO=ԁԩ [,q?A2DŽ>21>2ٱ2T%# :AHRS rotation from veh to nav: [[0.880473,-0.461540,-0.108386],[0.472542,0.872839,0.121883],[0.038350,-0.158532,0.986609]]2H,?ݿ6">?@L?3?@?JĿL?i2DŽ>I2%^;2CYFIByJDH XXbD^[VD^5yf%fN=ٔf i;Q-f>9hYh=j6Fyj\Ej/En>pQ 5v5r{?Q 9v5r.)rBQ AvB9YtQ Ev9yv*?Q IvE@rDIr]:ir4@rr5y~Bɮ~pA~EZRbj!"!!ړ!!ڒ)’))-G@QɢU;)Y ]b>iY)]qYaieeP4нɧmRmpim'+?m ;iIm'+? m'+?IqIYIiO}=ԱE EE*E"E:*E*5:VE(N4ZEa@a@a@a@ A AAA B @>B ;CB B B =B B DB ;B 'AE9 rb,~?AVђ>V?>VٱV" nAHRS rotation from veh to nav: [[0.880491,-0.461950,-0.106475],[0.472674,0.872661,0.122650],[0.036258,-0.158320,0.986722]]VH ,?@ݿAI@??f?j?CĿ9?iVђ>IV_;VCYrIByv7HbD~cVD~s5y {ż% F=ٔ S;Q->9Y=6Fy^E9E>!Q 5-5%h?Q 9-5%*)%BQ A-9Y)Q E59y5*?Q I5E@%DI%:i%|N@%5y9ɮ=A9ZYRabaja"aaړaiڒi’iim2H@颙ɢU;) K>i)顡i-Uнɧ駭jyi?h;I? ?IA>A>A ؟AII!O5 >9E EE+E"E7:*E0:VE [4ZEBE;a2E;aJE߉;a:E߉;ai fh,}X?A F֌>F>FeٱF" ZAHRS rotation from veh to nav: [[0.880275,-0.462551,-0.105654],[0.473143,0.872390,0.122763],[0.035388,-0.158055,0.986796]]FH5+? qݿ* G?@?em?T?`#;Ŀ@Փ?iF֌>IF#_;FCYbIBybOHbDjrVDj5yrnG=%vM=ٔv;Q-v>9v"?Yz"?=z6Fyz`Ezu:Ez>|Q 55~g?Q 9 5~&)~{BQ A 8Y Q E R9y *?Q I E@~DI~:i~ h@~5yBɮdAEZ9R9b9j9"AAړAAڒA’AIMeH@qɢut;)q }@>iy)}lyyi}3 vнɧޠ駅ీin?;In? n?IqIIO>ԙE  E E (E "E :*E =:VE c44ZE a @a @a @a @ o,3?ABM>Bl>B ٱB # NAHRS rotation from veh to nav: [[0.880273,-0.462744,-0.104817],[0.473236,0.872200,0.123753],[0.034156,-0.158540,0.986762]]BH3+?ݿNպ`I??I?`|?` KĿ ?iBM>PIB_;BCYZIByZHH``bDfnVDf5yjv%nK=ٔnH;Q-n>9pYp=r6FyrcEvV9Ev>xQ 5z5z?Q 9~5z")ztBQ Am8YiQ Em*9ym*?Q IuE@zDIzi);߼i нɧ 愼iZ? ;IZ? Z?IIIO>Bm:>Bm:CBm|HBmJBBm =BiBiBm;BmAE! hu,?AE6 E6E6*E4"E6g:*E6C:VE6(N4ZE4BE6;a:2E6;a:JE6@;a::E6@;a>R<ڌ>RZ>RٱRD" ZAHRS rotation from veh to nav: [[0.880336,-0.462958,-0.103338],[0.473208,0.872236,0.123609],[0.032910,-0.157718,0.986936]]RH+?ݿ`t I?Z?`Ϥ?@٠?0Ŀ@?iR<ڌ>IRD`;PYbIByb=HbDjgVDj^5yrv%rI=ٔv^I;Q-v>9tYt=v6FyzeEz Ez>|Q 5 5Ƽ?Q 9 5)nBQ A 8Y Q E  9y Q I E@DI:i@j5yBɮAZ9R9b9jA"AAړAAڒA’IIM[H@ɢ `A;)  >i ) :)ܼi5 =нɧ=qE'iEÒ?ES;AIEÒ? MÒ?IQAzAjAII)O==) 5GIY*9YAQԁ (|,?A> >>>>@ٱ>! FAHRS rotation from veh to nav: [[0.880179,-0.463469,-0.102381],[0.473560,0.872058,0.123511],[0.032039,-0.157196,0.987048]]>H`l*?zݿ5N??r?]g? Ŀ?i> >I>v`;>CYNIByNMHbDVuVDV5y^=%^L=ٔb;Q-b>9`Y`=b6FybgEf{:Ef>hQ 5n5j?Q 9n5j)jgBQ An8YpQ Er8yr*?Q IrE@jDIjv:ij@j5ytɮvoAtZ R bj"ړڒ’~I@AɢMԢ;)I M^>iIQ)U5ټQQi]]нɧeebiel?e@-;aIel? el?IiI1IAOU=Em EmEm(Ei"Em7:*Em3:VEmc44ZEia}@a}@a}@a}@yԩ BU <AQ B] 6>BY B] pHB] IBB] =BY B] DB] ~;B] @E , ?A2>2>2Hٱ2Ej! :AHRS rotation from veh to nav: [[0.880197,-0.463674,-0.101290],[0.473599,0.872002,0.123761],[0.030940,-0.156905,0.987129]]2H *?@լݿ&`qO?p?ʮ?ݮ?uĿ?i2>I2դ`;2CYbIByb;H j49)Y)=-6Fy5iE58E5>9Q 5E5=r?Q 9E5=)=_BQ AE[8YIQ EM8yM*?Q IME@=DI=:i=@=5yUBɮUA]EZyRybyjy"yyړyڒ’5I@颩ɢHN;Ա) >i)ּ项iѽɧ=ʑiD?;ID? D?IIIO=E} E}EyEy"E}غ:*E}a9:VEyZEyBE}2>2ٱ2 :AHRS rotation from veh to nav: [[0.880216,-0.463900,-0.100085],[0.473634,0.871980,0.123778],[0.029852,-0.156355,0.987250]]2H*?ݿ.P?@C?쯿?h?rĿ?i2>I2+a;2CY^IBy^@HbDjVDj5yrh!<%rO=ٔr4;Q-r>9tYt=v6FyvkEvm8Ez>xQ 5U5z??Q 9U5z)zXBQ AU18YYQ E]8y]*?Q I]E@zDIzTi)Ӽi-ѽɧwti;?K;I;? ;?IA>A>IYIiO}=AiE  E E 'E "E :*E ?:VE '4ZE a @a @a @a @ԙ ,|@?A2?Č>2\q>2ٱ2> :AHRS rotation from veh to nav: [[0.880531,-0.463547,-0.098940],[0.473123,0.872169,0.124402],[0.028626,-0.156351,0.987287]]2HO-? ݿT`G?? ؿ?*P? LĿ`ڗ?i2?Č>I2 Xa;0YRIByR=HbDZVDZ5yv%vJ=ٔv\F;Q-v>9xYx=z6FyzmEz,ºE~>Q 55{?Q 9 5)PBQ A 8Y Q E m8y *?Q I E@DI:i@B5ynBɮ AEZ9R9b9j9"AAړAAڒA’IIM@5I@ɢ%j;)! %>i!)- ϼ))i-P5Vѽɧ556i5,?=ٻ;9I=,? =,?I9qA.AIIO >B 2>B 9CB B B B B B b;B @Eԡ5%=5< G,VZ?AD"=D"<E& E&E&+E$"E&غ:*E&E7:VE& [4ZE$BE$a*2E$a*JE&T;a.:E&U;a.J턌>J 2>JٱJ^ RAHRS rotation from veh to nav: [[0.880787,-0.463294,-0.097841],[0.472712,0.872334,0.124807],[0.027527,-0.156179,0.987345]]JHg/?ݿ `@?(?[?`0?ÿT?iJ턌>IJya;HYZIByZNH`bAAbDbVDb5yj=%jL=ٔn3;Q-n>9n ?Yr ?=r6FyroErEr>xQ 5~5z ?Q 95z )zHBQ A7Y Q E @8y *?Q I E@zDIz*y;iz@za5y!ɮ%A!ZQRQbQjY"Yaړaaڒi’iiuI@颱ɢ <)1 5>i9)=A̼99i=EѽɧEžE\iE?M;IIM? M?IIA؟AIIO&>) kr,4t?A2@>2>2|ڼٱ2@" :AHRS rotation from veh to nav: [[0.881051,-0.462800,-0.097802],[0.472265,0.872317,0.126602],[0.026723,-0.157732,0.987120]]2H`1?ݿ 9?? 4?:]?0Ŀ}?i2@>I2`;0YVIByZWHbDbVDbC5yj<%jJ=ٔj;Q-j>9n"?Yn"?=n6FynqErbEr>tQ 5z5v?Q 9z5v)v@BQ Az7YxQ Ez8yzy*?Q IzE@vDIv;iv^@vz5yoBɮAEZ!R!b!j)"))ړ))ڒ)’115`CJ@Yɢ]7<)a eY>ia)eɼaaimpm8ѽɧu˾uyiu ?uIv;qIu ? } ?IyAzA1EU EUEU)EQ"EU7:*EU0:VEUFA4ZEQa]@a]@a]@a]@AIIO>YiߙIߝAԁ A @AA @AB />B B B B =B B DB N;B @EB:CB:CBBʗ =Bʗ =C|5Y, ?A02>2J>2QѼٱ23/# >AHRS rotation from veh to nav: [[0.881668,-0.461778,-0.097072],[0.471177,0.872695,0.128048],[0.025584,-0.158634,0.987006]]2H6?@ƍݿ@ٸ'?`?c?2?NĿ`?i2>I2a;0Y^IBybjHbDjVDj~5y=%F=ٔ%4;Q-%>9!Y!=%6Fy-sE-tFE->1Q 5=55Q.?Q 9=55)57BQ A=7YAQ EE7yE$*?Q IEE@5DI5 ;i5@55yIɮMAIZiRqbqjq"qqړqyڒy’yy38J@颩ɢ) <) >i)tƼ顱iZGѽɧ0о駽|i?ZO;I? ?IԑAAIQIaOu>bE:4jE?4rEַ/Ee Ee|Ee'Ea"Eeg:*EeP$:VEe'4ZEaBEe;au2Ee;auJEe};au:Ee};auԹ ,?A2>2>2ȼٱ2P" :AHRS rotation from veh to nav: [[0.882278,-0.460922,-0.095584],[0.470090,0.873298,0.127928],[0.024508,-0.157801,0.987167]]2H`;?ݿ@.x??`_?`?2Ŀޖ?i2>I2ũ`;0YNIByRkH TV;bDZVDZ>5\yb;%fP=ٔft3;Q-f>9hYh=j6FyjuEjOEj>pQ 5r5r>?Q 9v5r)r/BQ Avw7YtQ Ev7yv)?Q IvE@r DIr/:ir,@r5yzqBɮ~A|ZRbj"!!ړ!!ڒ!’!)-@jJ@ɢ*<) P>i)($üiE:SҽɧԾ@Pi3a?%;I 3a? 3a?I AIIQIaO}>Eu  Eu Eu )Eq "Eu غ:*Eu *5:VEu FA4ZEq a} @a} @a} @a} @A n,?A6>68>6zٱ6# >AHRS rotation from veh to nav: [[0.883093,-0.459516,-0.094828],[0.468610,0.873904,0.129215],[0.023494,-0.158546,0.987072]]6H`KB?hݿ@F?@? ??I6ZL`;4YFJByFHbDNVDN5yVΊ=%VK=ٔZ%;Q-Z>9\Y\=^6Fy^wE^ljE^>`Q 5f5bCN?Q 9f5b )b%BQ AjH7YhQ Ej7yje)?Q IjE@bDIbT ;ibAb5ylɮrApZRbj"ړ  ڒ ’ J@AɢE9a<)A E?iA)MտIIiMpU*ҽɧU{پUiU}>?];YI]}>? ]}>?IYAm>Am>AIIO=AB.>BBHBJBBBBB';B@Eiԙ ,b?AE EE*E"Eg:*E,:VE(N4ZEBEa2EaJE;;a:E;;a"v<=>v]>v ٱv.K# %AHRS rotation from veh to nav: [[0.883910,-0.458162,-0.093756],[0.467120,0.874577,0.130054],[0.022411,-0.158752,0.987064]]vHH?`RݿeI? ???QĿ?iv<=>Ivn'`;vCY]#JBy]HbDmVDmR5yy<%<=ٔ#;Q->9Y=6FyyEE>Q 55_?Q 95)BQ A"7YQ E7y(?Q IE@DI;iA5ysBɮAEZRbj"ړQڒQ’YY]@J@颙ɢK<) ?i) 뻼顡i(!]ҽɧ3޾駭ñi?;I? ?IiqIqԡA!I1IAOU1> ֿ,y?A.W>.>.Uٱ.# :AHRS rotation from veh to nav: [[0.884748,-0.456745,-0.092762],[0.465584,0.875230,0.131166],[0.021279,-0.159237,0.987011]].H O?`O;ݿ@F?@?? 6ʕ?aĿ?i.W>I._;,YB9JByBHF@AF@AbDJVDJ,5y$f=%U=ٔ@;Q- >9 Y = 6Fy {E'E>Q 5%55o?Q 9%5)BQ A%7Y!Q E%Y7y-(?Q I-E@"DI:iA5y1ɮ5\A1ZQRQbQjQ"YYړYYڒa’aae@K@颉ɢ'<) ]?i)顑i]#ҽɧ1駥i >z;I >  >IE- E)E-)E)"E-7:*E)VE-FA4ZE)a5@a5@a5@a5@AAIQIaOm>1B <A <B ->B B HB 'JBB =B B B ;B Y@EY ,GT?A2w>2$>2 ٱ29# :AHRS rotation from veh to nav: [[0.885563,-0.455457,-0.091301],[0.464081,0.875999,0.131354],[0.020154,-0.158694,0.987122]]2H V?6&ݿ_?/?7?%?PĿ ?i2w>I2`;2CYBJJByBHbDJVDJ5yR-0=%RQ=ٔRY<;Q-V>9TYT=V6FyV}EZEZ>\Q 5b5^?Q 9b5^F)^ BQ Af6YdQ Ef07yf(?Q IfE@^)DI^;i^_A^ǐ5yjRBɮjAnEZxR|b|j|"||ړڒ’ 8K@颩ɢN<) ?i)i%4=%=Aҽɧ  i>w\;I> >IAhAzA9AIIQIaOqaD9zD9EU EUEU*EQ"EU:*EUE7:VEU(N4ZEQBEUj;ae2EUk;aeJEUT;ae:EUU;aeԉ G ! U 049Q YU %AԹ ,/)?A6t}>6*>6/ٱ6# BAHRS rotation from veh to nav: [[0.886469,-0.453903,-0.090248],[0.462400,0.876704,0.132579],[0.018942,-0.159258,0.987055]]6H`]? ݿz ? ?Z?e?bĿ?i6t}>I6Q_;6CYRVJByRHbDXVDXybE<%bH=ٔbB;Q-f>9dYd=f6FyfEjZEj>lQ 5r5n?Q 9r5nS)nBQ Ar6YpQ Ev7yv'?Q IvE@n1DIn* ;inAn͐5yxɮzAxZRbj"ړڒ!’!!%lK@IɢM͡<)Q U?iQ)UQQiU'eҽɧeeY ie|>e`!;aIe|> e|>IiԑAIIO>E  E E E "E غ:*E 3:VE ZE a @a @a @a @ , C?Ai I 6ׅ>6>6Ȑٱ6w$ >AHRS rotation from veh to nav: [[0.887073,-0.452908,-0.089305],[0.461290,0.877084,0.133923],[0.017673,-0.159995,0.986960]]6H@b? sܿܶȅ?? g$??`zĿ@,?i6ׅ>I6_;6CYznJByzH ~<~p;bDVD5yj=%E=ٔH;Q->9Y=%6Fy%E%GE%>)Q 555-J?Q 955-P)-BQ A56Y9Q E=6y=@'?Q I=E@-9DI- ;i-!A-Ґ5yETBɮEtAMEZiRibiji"iiړiqڒq’qq}K@颡ɢ<) ?i)լ顩i')ӽɧx駵i`A>C;I`A> `A>IA!I1IABQBQBUHBUOJBBU =BQBQBU;BU@EOm>I =,\?A J h>J+>JgٱJ$ RAHRS rotation from veh to nav: [[0.887481,-0.452296,-0.088350],[0.460541,0.877401,0.134421],[0.016721,-0.159985,0.986978]]JH>f?`kܿ`#y??4?8?ezĿR?iJ h>IJ`;HEZ EXEZ(EX"EZ7:*EXVEZc44ZEXBEZ;a^2EZ;abJEZ;ab:EZ;abYfJByfHbDnsVDn!5yv&T=%vL=ٔz;Q-z>9|Y|=~7Fy~E~ E~>Q 5 5?Q 9 5s)BQ Ab6YQ E6y'?Q IE@ADIhU;QIUa> Ua>IYAm>Am>M2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.aAIIO>ԑԹ =  *DAT read: user:151>  BDAT read: Tx time:21:16:44.9460  $Ping request sent. f>fX{~ٱf$ AHRS rotation from veh to nav: [[0.887839,-0.451816,-0.087199],[0.459891,0.877652,0.135008],[0.015532,-0.159968,0.987000]]fH`.i?ܿRn??`G? Ϗ?yĿ ?if>IfS`;fCYEJByE6HbDmiVDm5y=%>=ٔ25;Q->9Y=7FyE1E>Q 55?Q 95C)BQ A76YQ E 6y &?Q I E@IDI:i.Aِ5y1ɮ5A1ZyRybyj"ړڒ’@L@1ɢ5V<)9 =(?i9)E:գAAiE-Em EmEm)Ei"Em:*Em*5:VEmFA4ZEia}@a}@a}@a}@}ӽɧ駅Ġüi5>Q;I5> 5>IAIIO%M>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250807! BI BI BM HBM xJBBI BI BI BM D;BM ?E,훐?A2f>2n>2jٱ2B$ :AHRS rotation from veh to nav: [[0.888099,-0.451544,-0.085956],[0.459429,0.877839,0.135365],[0.014332,-0.159708,0.987060]]2HMk?ܿ@4Jg?@A?`S?Z? RqĿ@?i2f>I2`;2CYfxJByfHhhbDn@VDnf5yv>ѽ%vY=ٔzP;Q-z>9xYx=~7Fy~E|᷺E> Q 55 5?Q 95 ) BQ A6YQ Ev6y&?Q IE@ QDI  ;i 4A ې5y%XBɮ%rA%EZARAbIjI"IIړIIڒQ’QQU ;I;> ;>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505028A .AII!)O5 >E} E}EyEy"E}7:*E}3:VEyZEyBEya2EyaJEya:EyaQu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754622ԉ ,)x?A.>.d>.Vٱ.A'$ :AHRS rotation from veh to nav: [[0.888148,-0.451664,-0.084816],[0.459372,0.877796,0.135839],[0.013098,-0.159607,0.987094]].Hk?ܿ{Xf?`?@(c?Ҋ? mĿE?i.>I.ٳ`;.CYBJByBGHbDJMVDJc5yf>%fM=ٔfJ;Q-f>9j ?Yj ?=j7FyjEnAEn>pQ 5v5r^?Q 9v5r)rBQ Av5YtQ EvG6yv&?Q IzE@rXDIr]:ir;;Arݐ5YyɮAZRbj"ړڒ’sL@IɢM<)Q et+?ii)m iiim71}ӽɧ}}ȼi}b>},;Ib> b>IAzAfAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006659AIIO (>ԱE=  E= E= &E9 "E= g:*E= =:VE= 4ZE9 aE @aE @aE @aE @ ,S?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2625746 >6.>6 Fٱ6:# BAHRS rotation from veh to nav: [[0.887814,-0.452499,-0.083854],[0.460043,0.877455,0.135770],[0.012142,-0.159115,0.987185]]6Hh?ܿ@xw@Yq??``? ވ?`]Ŀ?i6 >I68`;6CYFJByFAHbDR>VDR5yVS%ZL=ٔZ?;Q-Z>9\Y\=^7Fy^Eb4:Eb>dQ 5f5f?Q 9j5f)fBQ Aj5YhQ Ej!6yj&?Q IjE@f`DIf3:ifAAfߐ5yrZBɮrApZRbj"  ړ  ڒ ’@L@9ɢ=M<)A E *?iA)EÄAAiE/3M;ԽɧM7M_˼iUu+>UϘ;QIUu+> Uu+>ԹIBBBDHBJBBBBB5;B?EB9CB9CBÓCBØ =BØ =C~4Ae؟AIqIO>?m?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514882A D= <D= <bEuFA4jEȕB4rEu̧/EE  EA EE +EA "EE :*EA VEE [4ZEA BEE a 2Bm>2I7ٱ23S" :AHRS rotation from veh to nav: [[0.887240,-0.453852,-0.082606],[0.461173,0.876985,0.134972],[0.011187,-0.157848,0.987400]]2HDd? ݿ%ۃ?@B?`F?@?@Y4Ŀ Ș?i2>I2a;0Y^JBy^IH f49v"?Yv"?=v7FyvEzuJ;Ez>|Q 55~.?Q 95~)~BQ A5YQ E6y?'?Q I E@~hDI~2 ;i~5HA~5y7BɮAڮEZ1R1b1j1"99ړ99ڒ9’AAEyL@ɢ7"<) +?i)Ԓi 5%QԽɧ%%Bμi%>%\;!I%> ->I)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767448IQIaOm>Aq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018592ԙ \,?AF>F1>F(ٱF;" NAHRS rotation from veh to nav: [[0.886558,-0.455292,-0.082001],[0.462502,0.876254,0.135169],[0.010312,-0.157761,0.987423]]FH^?#ݿࣙ?`E ?8M??1Ŀ ?iF>IFVx`;DYVJByV^HbDb;VDb?5yfo'=%jK=ٔj;Q-j>9lYl=n7FynErs;Er>pQ 5v5rj?Q 9z5r)rBQ Az5YxQ Ez5yz'?Q IzE@rpDIr:irNAr5y9BɮfAۮEZ!R!b!j!"!)ړ))ڒ)’)15@ M@Yɢ]Z=)a e0?ia)ec{aaie7m%Խɧmm>Ѽiu>u-;qIu> u>IyA>A>yE EE'E"EI:*EC:VE'4ZEa @a @a @a @IqIO=ԡiYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270871B B B ]HB JBB B B B 1;B ?E C,?A2JR>2m>25ٱ2nE# :AHRS rotation from veh to nav: [[0.885834,-0.456671,-0.082156],[0.463900,0.875355,0.136200],[0.009717,-0.158762,0.987269]]2HX?`:ݿ+??`n?`?RRĿ@?i2JR>I2n`;2CYJBybHbD-=VD-5y=c<%EC=ٔEl:Q-E>9AYI=M7FyMEMv;EM>QQ 5]5UH#?Q 9]5U )UBQ AeO5YaQ Ee5ye(?Q IeE@UxDIU? ;iUSUAU5yyɮ_AZRbjchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522774"ړڒ’`&AM@ɢe<) 0?i)i6: ϽԽɧ  Լi o> +; I o> o>IIQIiOu=DzD@AE EE+E"Eg:*E0:VE [4ZEBE;a2E;aJE߉;a:E߉;a) u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774588m ,Ӽ+?A6(>6>6ٱ68Q$ BAHRS rotation from veh to nav: [[0.885077,-0.458084,-0.082444],[0.465352,0.874432,0.137170],[0.009256,-0.159771,0.987111]]6HR??Qݿ  S?Y?Ȏ?? dsĿi?i6(>I64`;6CYJJByNpHVAAVAAbDZ9VDZɽ5yb<%fR=ٔfR:Q-f>9hYh=j7FynEU;EU>ae3?e)eBQ Am(5YiQ Eu5yum(?Q IuE@eDIe;ie[Aay;BɮPAZRbj"ړڒ’ gtM@ɢ0=) 3?i)(iym<Խɧ=׼i,>&;I,> ,>IPExceeded connect timeout, disconnecting.IIO=Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026552yE  E E )E "E :*E a9:VE FA4ZE a @a @a @a @ԩ IV,E?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2797836g>6>62$ٱ6e% BAHRS rotation from veh to nav: [[0.883948,-0.460203,-0.082756],[0.467505,0.873127,0.138159],[0.008676,-0.160814,0.986947]]6HMI?@sݿ /?? 2?wā?Ŀ?i6g>I6i`;6CLYRJByROHbD^JVD^5yv0%vH=ٔv:Q-v>9xYx=z7FyzEz;E~>Q 55cC?Q 9 5I)|BQ A 5Y Q E a5y  )?Q I E@DIs:ibA5yɮAZRbj"ړڒ’M@ɢ<) -?i!)%C!!i%ΐ>=2/սɧ= =Jۼi=>==;9I=> E>IAAqzAujAIIO=BBBvHBJBBBBB&;B?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530619! D =D <E9  E= E= (E9 ,_?A"Ea*Ee*5:VEec44ZEaBEeM >MٱM<$ ]AHRS rotation from veh to nav: [[0.882995,-0.462142,-0.082121],[0.469314,0.872232,0.137681],[0.008000,-0.160112,0.987066]]MHA?ݿ; ? S??@Ub?~Ŀ@ ?iMs>IM_;IYmJBymYHbD>VD5yu<%>=ٔ-:Q->9Y=7FyE;E>Q 55T?Q 95)nBQ A4Y m>Q EU65]IGyU)?Q ImE@DqI;I> >I!A.AII1OER>I nManaging dock network, ignoring radio surface power offy  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0346537,Py?A2]>2 >2ٱ2$ :AHRS rotation from veh to nav: [[0.882161,-0.463851,-0.081452],[0.470892,0.871442,0.137295],[0.007296,-0.159471,0.987176]]2H`:?ݿڴ #?`?`ޒ?}?iĿ`?i2]>I2u_;2CYfJByfNH lnbDrOVDr5yv%zW=ٔz(:Q-z>9~ ?Y~ ?=7FyE ͙;E >c?Y)aBQ A-4Y)Q E-5y5 *?Q I5E@DIl;ioAyAɮEAAYZRbj"ړڒ’ 0N@ɢ=) ,?i)2oiB=սɧ iN>ת;IN> N>IE EE+E"E:*E]t:VE [4ZEa@a@a@a@I)IIOm>ԉmDAT read: 21:16:48.2693 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 383, 0.45, 1.631,-0.147, 1.459, 1.210, PHS= 0.523,-1.312, 0.206, RAW= 140.7, 6.9, CAL= 140.3, 7.7, ROT= 9.7, -7.7 uYgot valid direction response: 21:16:48.2693 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 383, 0.45, 1.631,-0.147, 1.459, 1.210, PHS= 0.523,-1.312, 0.206, RAW= 140.7, 6.9, CAL= 140.3, 7.7, ROT= 9.7, -7.7 }PDAT read: Bearing 186.0, 8.4 (Local) ~Local bearing/azimuth received: Bearing 186.0, 8.4 (Local) DAT read: Range 11 to 50 : 689.3 m (Round-trip 919.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.976816,0.166970,0.133986]Fpublishing direction and range infoy9=/+B?^/G_?L`u&?Y=S,D9999 9)=SI=T?i=刺=R>=)@=Ϣ==t@ = >)=-\->I= 99=Ak̺Z?W&;u?|վ? =>)=HGI=-\->i= 99ԱA A B ,>B B B B B B B ;B ?E X$,,?A2(>2'>21ܻٱ2}% :AHRS rotation from veh to nav: [[0.881436,-0.465160,-0.081838],[0.472256,0.870480,0.138703],[0.006720,-0.160906,0.986947]]2H4?,ݿZq9? ?@?${?`Ŀ?i2(>I2V`;2CYRJByR;HbDZqVDZ5yv%vK=ٔve:Q-v>9xYx=z7FyzEz{;E~>QUjt?UO)UTBQ A]4YYQ Ee4yej*?UDIU:iUuAQym?BɮmAiJiRmb?Am+Dm+Dm5.?m۲g@G?D\@mV@m/+B?^/G_?L`u&?m-\->m —mw֐@FPz@4S@mp;?i?뿧?jmCrmDZm6B?bmdLzmBm6B?mdLmBڗm*DmE3.?ZRԹbj"ړڒ’`f@'?ɢ=) (?i)afi DQսɧ{,i > ͩ; I  >  >I A!A%>IIO% >E EE'E"E*EV:VE'4ZEBEj;a2Ek;aJE;a:E;a9 Z*, ?A>ό>>(|>>5vŻٱ>% JAHRS rotation from veh to nav: [[0.880837,-0.466398,-0.081234],[0.473381,0.869887,0.138590],[0.006026,-0.160530,0.987013]]>H/?uݿ˴ K? ?Q?༮x? =Ŀ`?i>ό>I><`;>CYVJByV HbAbAbDfbVDf85yrV%rK=ٔvS:Q-v>9tYt=v7FyvEzN;Ez>|~%?~q)~GBQ Aj4YQ E4y *?~DI~A:i~{A|yɮAZ1R1b1j9"99ړ99ڒA’AAE? ɢ <)  }#?i )]11i5F=Aֽɧ==Ji=«>EI;AIE«> E«>IAIIO=AiE EE+E"E:*E0:VE [4ZEa@a@a@a@ԙ ا1,?A6_3>6>6Zٱ6$ BAHRS rotation from veh to nav: [[0.880478,-0.467194,-0.080553],[0.474057,0.869548,0.138406],[0.005382,-0.160050,0.987094]]6H,?@ݿV?V?@I? X v?|ĿF?i6_3>I6_;6CYFuJByFHLLbDR{VDR5yZx%ZM=ٔ^:Q-^>9\Y\=^7FybEb:Eb>dQ 5j5f?Q 9j5f)f9BQ An>4YlQ En4yn*?Q InE@fDIf(;if(Af5yrBɮvAvӮEZ R b j "  ړڒ’?AɢEs<)A EL?iI)M8VIIiMHUUֽɧUUMi]Y>];YI]Y> ]Y>IaIQIaiOu=B1B1B5]HB5JBB1B1B1B5;B5S?EԙE  E E (E "E g:*E a9:VE c44ZE BE ;a 2E ;a JE &;a :E ';a $7,ϼ?A2T>2>2vٱ261% :AHRS rotation from veh to nav: [[0.880360,-0.467468,-0.080250],[0.474283,0.869296,0.139214],[0.004683,-0.160620,0.987005]]2H+?@ݿ`K Z?E??@.s?2Ŀ?i2T>I2{_;0Y~~JBy Haa aa aa aa a@a a@a a@a a@a iMb@Mb@Mb@ )Mb@Mb@Mb@Ii‰ )IbDVD5yO<%;=ٔ:Q->9Y=7FyE0:E>?;)*BQ A4YQ E~4y+?DI:iAyɮAZRb j "  ړ  ڒ’C?颹ɢW<) ?i)MiGJHֽɧ1iR>;IR> R>IA zA gAIqIO=) =,?A B '>B/>BeZٱBLo% RAHRS rotation from veh to nav: [[0.880528,-0.467232,-0.079779],[0.473977,0.869379,0.139735],[0.004070,-0.160854,0.986970]]BHH-?"ݿilU? ? ?Ip?ޖĿA?iB '>IB1_;BCYZdJByZHf=f=bDnVDn5yz%zW=ٔ~:Q-m>9iYi=m7FymEu?hEu>y}??}[)}BQ A3YQ EM4y*?}DI}M:i}ɇAyy!BɮAZRbj"ړڒ’?ɢ0_<) 4?i)ÙEi\TLZֽɧ;_ij>;Ij> j>I IyIE EEE"Eغ:*EE7:VEZEa@a@a@a@O=)YB) A- <B1 B1 B5 +HB5 JBB1 B1 B1 B5 ӈ;B5 @?EBBBBBCn,4ԉ 'D,!s?A02f>2>2=dٱ2\% :AHRS rotation from veh to nav: [[0.880619,-0.467157,-0.079215],[0.473812,0.869432,0.139961],[0.003488,-0.160785,0.986983]]2H.? ݿlG@R?d?;?࣓l?Ŀ]?i2f>I2=_;0Y^cJBybH f9tYt=v7FyvEzpEz>|~?~)~BQ A3YQ E&4y *?~DI~:i~A|yɮAZ1R1b1j1"99ړ99ڒ9’AAE@@ɢ(<) ?i)]=i=N'׽ɧtiY>;!I%Y> %Y>I!ԑA؟AIIO>bEMc44jEMŲ>4rEMŖ/E EEE"E*EF:VEZEBE{>>(>>>ٱ>-R% jAHRS rotation from veh to nav: [[0.881150,-0.466269,-0.078533],[0.472828,0.869916,0.140285],[0.002907,-0.160745,0.986992]]>Ha2?`Zݿ`B?`Z??g?@LĿo?i>{>I>^;9"?I"?=7FyEE>o?)BQ A3YQ E4y*?DI:iAy#BɮAԮEZ!R!b!j!"!!ړ!)ڒ)’)15@Yɢ]<)Y ]?iY)eR/5aaieOc׽ɧ i=>;I=> =>IA->A->AyIIOc>E EE)E"E:*EA:VEFA4ZEa@a@a@a@A Q,+H?A2>2>2Tٱ2?$ :AHRS rotation from veh to nav: [[0.881610,-0.465539,-0.077705],[0.471973,0.870395,0.140190],[0.002370,-0.160267,0.987071]]2H%6? bݿ@x䳿4?G??@jc? Ŀ?i2>I2a^;2CYBAJByBHDFAbDNVDNy5yr%rp=ٔrd:Q-v?9tIt=v7FyvEz:Ez?|~?~)~BQ A3YQ E3yZ*?Q I E@~DI~:i~ZA|yɮ AZ9R9b9j9"99ړAAڒA’AAMQ@qɢuD=)q uZ?iy)} .yyi}^hQϜ׽ɧ"駅Xi,>;I,> ,>IBBBHBnJBBBBBˈ;B7?EIIO>Iqԡ D =D <E  E E E "E 7:*E 0:VE ZE BE ;a 2E ;a JE ߉;a :E ߉;a X,:b?A2+>2>2ٱ2 $ :AHRS rotation from veh to nav: [[0.882362,-0.464281,-0.076688],[0.470568,0.871206,0.139876],[0.001870,-0.159508,0.987195]]2HNI2:r^;2CYN1JByRHTTbDZVDZd5yv!%vJ=ٔv :Q-v>9xIx=z7FyzEzE~>y?w)BQ AV3YQ E3y)?DI;iAy%Bɮ2AZRbj"ړڒ’ @ɢ<)  C ?i ) G'  i\S׽ɧ~%dia>% ;!I%a> %a>I!IIO >ԡ G^,O{?AF)>F>F@ٱF+$ RAHRS rotation from veh to nav: [[0.883286,-0.462635,-0.075989],[0.468833,0.871951,0.141056],[0.001001,-0.160219,0.987081]]FHC? ϛݿ t[?`?`?`hP? Ŀ+?iF)>IFL^;FCYV&JByZHbDbVDb95yjʼ%jL=ٔj ;Q-j>9lIl=n7FynErkEr>tvq?v)vBQ Az-3YxQ Ez3yzq)?vDIv:iv͗AtyɮGAZ!R!b!j!"))ړ))ڒ)’115@ɢ(<)  ?i)> iT)ؽɧ']'iQ>;IQ> Q>IA-iAzA)E EE*E"Ey:*Ec:VE(N4ZEa@a@a@a@IIO=)AAAAB+>BBHBEJBBBBB;B?EY @.e,?A6Y>6~>6몹ٱ6% BAHRS rotation from veh to nav: [[0.884256,-0.460905,-0.075217],[0.467002,0.872824,0.141733],[0.000326,-0.160455,0.987043]]6HK?vݿpA [?+? O$?c]5?ɉĿ`ە?i6Y>I6q ^;4YDyHN=N=bDRVDR5ٔZ:Q-Z>9\I\=^7Fy^EbEb>df?fՌ)fBQ Aj 3YhQ Ejh3yj(?fDIf:ifAdyrBɮrArˮEZRbj"  ړ  ڒ ’@9ɢE<)A AiA)ED~AAiMVMkؽɧU)UiUF>U;QIUF> UF>Ia1IAIYOe=aE EE(E"E*E3:VEc44ZEBE2>2o9ٱ2$ :AHRS rotation from veh to nav: [[0.885007,-0.459600,-0.074373],[0.465578,0.873552,0.141931],[-0.000263,-0.160236,0.987079]]2HQ?@jݿ @?"?@*?71Ŀ&?i2oG>I22];2CYf-JByfHa]a] a]a] a]a] a]a] a]@a] a]@a] a]@ae ae@ae y]ʡE?Q?/$?]?]<],=Y Y)]Mb@Mb@Mb@IYiYYYY Y)YYIY qu<bD}VD}5y];%<ٔIJ:Q->9I=7FyE\tE>&?)BQ A2YQ E<3y(?DII:isAyɮAZRbj"ړڒ’`@ɢ<) ` ?i)i@W%ؽɧ%,% i-$>- ;)I-$> -$>I1ԑIQIaOu=E EE0E"Eg:*E*:VE4ZEa@a@a@a@! 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K?&¿@A?i2I>I2];2CYBFByBGHJ@AHbDNwPVDNx6yV%VX=ٔZZQ-Z>9XYX=^7Fy^E^ӺE^>`Q 5f>5b.?Q 9f>5bU)b, BYhyj>Q Ij@bqDIb):ibB:b>5ylɮnOApZRbj"ړ  ڒ ’  tH@颱ɢp) i)7<iYDҽɧ>E EvE)E"E:*E:VEFA4ZEBE;a2E;aJEh;a:Eh;a1 ͏@,%[?A6R>6?6i=ٱ6ո >AHRS rotation from veh to nav: [[0.868339,-0.495400,-0.023808],[0.492684,0.856071,0.156223],[-0.057012,-0.147384,0.987435]]6H`n?߿a "? d? ?0}¿?i6R>I6];6CYZ}FByZ HxiEMb@Mb@Mb@AAAA A9EGz?ʡEI +YE?yEE9EAA A)EAAYE\AbD]|VD] 6ymR%m>=ٔmQ-u>9qYq=u7FyuE}WE}>Q 5>5S?Q 9>5) BY ?Q E :y >Q I @yDIД5yBɮArEZYRYbYjY"YYړaaڒa’aI@ɢث) i)ie<i02 ҽɧ>:Iy E  E {E &E "E :*E 5":VE 4ZE a @a @a @a @Bu <Au <B} r>By B} HB} vFBBy By By B} C;B} @EF,!?A2>2?22g=ٱ2@ :AHRS rotation from veh to nav: [[0.868976,-0.494254,-0.024385],[0.491629,0.856643,0.156406],[-0.056415,-0.147902,0.987392]]2H?@ۡ߿hv?i?@ ?`r⬿ r¿?i2>I2^;0YvaFByvHbD~tVD~ 6y ᐽ% Q=ٔsȺQ->9 ?Y ?=7FyENE>!Q 5->5%?Q 9->5%)% BY1y5>Q I5@%DI%d:i%9:%>5y=Bɮ=BAEhEYZaRabaja"iiړiiڒi’qqu@1I@颙ɢh)rA>A؟AIIO> %L,6?AF75>F-q?Ftc=ٱFK VAHRS rotation from veh to nav: [[0.869719,-0.492936,-0.024567],[0.490427,0.857560,0.155153],[-0.055413,-0.146988,0.987585]]FH?A߿(@'c?!q?@ ?_|¿K?iF75>IFn];DYb^FBybH <<bDvVD[6y-%-H=ٔ5!Q-5>95"?Y5"?==7Fy=E=bE=>AQ 5M>5E?Q 9M>5E)EBYQyU8>Q IU@EDIE:iE:Eg>5y]ĠBɮ]UAaZRbj"ړڒ’eI@DzD?AE EE-E"ET;*EVL:VEt4ZEBEGIy 9S,O?A2̢>2'?2La=ٱ2:3 :AHRS rotation from veh to nav: [[0.870287,-0.491899,-0.025203],[0.489467,0.858005,0.155726],[-0.054977,-0.147862,0.987479]]2Hd?G{߿ΙlS?t??%&¿ m?i2̢>I2E];0YNRFByRHiUMb@Mb@Mb@QQQQ Q9UB`"?#~jZd;O?YU?yU㥽Uj9Y=7FyE@0E>Q 5>5a?Q 9>5U)BYw?Q E:y>Q I@DI':i:>5yǠBɮyAiEZRbj"ړڒ’I@ɢ ) ־i)f<i%|%Tѽɧ-%?-e=i-1?-;)I-1? -1?I1YA.AE EE)E"E:*E?:VEFA4ZEa@a@a@a@IIO#>B)B)B-HB-9FBB)B)B)B-X;B-AEԁԩ Y,i?A2>2b?2$^=ٱ2% :AHRS rotation from veh to nav: [[0.870827,-0.490902,-0.025983],[0.488572,0.858425,0.156218],[-0.054383,-0.148733,0.987381]]2H ? j߿@?@D?8x??ث@ ÿ?i2>I2^;2CYREFByRHbDZuVDZ=6yb' %bX=ٔfͺQ-f>9f ?Yf ?=f7FyfEj5Ej>lQ 5r>5n!"?Q 9r>5nG)nBYpyv>Q Iv@nDIn:in :nW>5yxɮzAxZRbj"ړڒ!’!!%_I@IɢU6)Q U8ݾiQ)U A /`,?A6l>6?6̶[=ٱ6U BAHRS rotation from veh to nav: [[0.871507,-0.489689,-0.026074],[0.487443,0.859244,0.155240],[-0.053615,-0.148003,0.987533]]6Hc?@W߿0@B2?@~?@?zs ¿ޙ?i6l>I6q^;6CYF@FByFHiMb@Mb@Mb@ 9-?I +y&1?Y??y94`e= )AYA-AA-BAbD-iVD-6y=OJ%EC=ٔEQ-E>9M"?YM"?=M7FyMEMMEM>QQ 5]>5U4?Q 9e>5Uv)U BYe[?Q Ee:yeW>Q Ie@UDIU ;iU];U>5yuˠBɮuAqZRbj"ړڒ’$J@ɢZ) ߾i)0?]?X=i]b?eR;aIeb? eb?IaMeAIIOA>Ai E  E E )E "E :*E 3:VE FA4ZE a @a @a @a @A! A% @AB- s>B) B- HB- FBB) B) B) B- ~;B- 'AEBBCBBCBBBʋ =C0F4g,h?A 2+>2l?2.>X=ٱ2) >AHRS rotation from veh to nav: [[0.871791,-0.489179,-0.026167],[0.487028,0.859727,0.153861],[-0.052769,-0.146879,0.987746]]2H@? N߿˚y+???`¿@?i2+>I2 ^;2CYBFFByFHbDNcVDN+6yr|<%rP=ٔr Q-v>9tYt=v7FyvEzLEz>|Q 5>5~FF?Q 9>5~)~ BYy>Q I @~DI~;i~:~o>5yɮAZ1R1b1j1"99ړ99ڒ9’AAEK3J@iɢm!)q uܾiq)u A.m,H?A:">:"d?:U=ٱ:f FAHRS rotation from veh to nav: [[0.871880,-0.488969,-0.027105],[0.486939,0.859710,0.154237],[-0.052115,-0.147675,0.987662]]:Hp?EK߿l*??@ ? Ʈ ¿?i:">I:.^;:CYJ=FByJHLV=V=bDZVVDZZ5ybƹ%bL=ٔbֺQ-b>9dYd=f7FyfEjEj>hQ 5r>5jX?Q 9r>5j')j! BYpyr>Q Ir@jDIj;ij:j>5yzΠBɮzAzjEbE(N4jER4rEA0E} E}zE},Ey"E}7:*E} :VE}g4ZEyBE};a2E};aJE}v;a:E}v;aZRbj"ړڒ’iJ@)ɢ-[)) -li))-ڥAE>A.AIIO>! t,?A2>>2u?2R=ٱ2Q :AHRS rotation from veh to nav: [[0.871777,-0.489110,-0.027861],[0.487191,0.859574,0.154203],[-0.051473,-0.148004,0.987646]]2H`?`M߿@`".?`??Z`¿̚?i2>>I2p^;0YB5FByBH|i Mb@Mb@Mb@     9 V-?I +?+?Y ?y 94< = A A A) A Y  %9E ?YE ?=E7FyEEM ):EM>QQ 5>5Uj?Q 9>5U)U4 BY7?Q E:y ?Q I@UDIU5yɮAZQRYbYjY"Yaړaaڒi’iim`J@ɢT+) gi)<!i%Qk-Ͻɧ-hX?- -=i-?UU;YI]? ]?IY)Bt>BBHBEBBBBB;BRAEE EE+E"E:*E*:VE [4ZEBE;2E;JEi;:Ej;A؟AII OL>Qԁ ?z,?A6p>6?6kJN=ٱ6a >AHRS rotation from veh to nav: [[0.871641,-0.489286,-0.028998],[0.487552,0.859436,0.153826],[-0.050343,-0.148219,0.987672]]6H|?tP߿@ 4??@?Ʃ¿ ?i6p>I6^;4YFFFByFHIJ<)J4<bDR=VDR5yZ-=%ZS=ٔZ?Q-^>9^"?Yb"?=b7FybEb<:Ef>hQ 5n>5j{?Q 9r>5j[)jE BYpyr ?Q Ir@jDIj#9;ijs:;j>5yzѠBɮzAxZ!R!b)j)"))ړ)1ڒ1’19E_J@YyɢK) ܾi).<顉ih`Ͻɧ1]?駝y0=i?mr;@I? ?IAIIO>ԁE EzE(E"E:*E :VEc44ZEBEk;2Em;JEv;:Ev; '',?A26>2?2zH=ٱ2 :AHRS rotation from veh to nav: [[0.870966,-0.490421,-0.030073],[0.488898,0.858911,0.152484],[-0.048951,-0.147511,0.987848]]2H?c߿~˞J? 2|??¿ t?i26>I2S_;2CYB5FByBHDDiEMb@Mb@Mb@AAAA A9EZd;?(\µ?Q?YE?yE=E\=EAEA A)EAAYEAbD],VD]5ymR%m?=ٔmUQ-m>9qYq=u7FyuE}>g;E}>Q 5>5ƍ?Q 9>5)Q BYt!?Q E:yq)?Q I@DI:i:>5yɮAԹZRbj"ړڒ’@yK@ɢ;) gi)<i *e >Ͻɧ Z?.=i(?1;I(? (?IAE.AIQIaOm>B A <B B B uHB EBB B B B ;B ZAEE  E }E +E "E ҝ:*E k&:VE [4ZE BE ;2E ;JE ŀ;:E ƀ;9 :Q,?A2;>20O?2HA=ٱ2vy :AHRS rotation from veh to nav: [[0.870342,-0.491428,-0.031674],[0.490183,0.858385,0.151314],[-0.047171,-0.147221,0.987978]]2H@? s߿@7`*_? w?C^?&&¿@?i2;>I2`;2CYN?FByRHTV@AbDZ/VDZa5yb<%bU=ٔfQ-f>9f ?Yf ?=j7FyjEjt;Ej>lQ 5r>5nʝ?Q 9r>5n)n[ BYtyv)?Q Iv@nDIn:in:n >5yzՠBɮzAzkEZRbj"ړڒ’7K@ɢh4A) i)9<ibνɧDX?-=i?;I? ?IIG1IAe؟AIqI99Y*AO>Aiߍ %=ߍ R=ԙ Z{,8?A2[;>2@?2[7=ٱ2 :AHRS rotation from veh to nav: [[0.869197,-0.493356,-0.033107],[0.492427,0.857597,0.148471],[-0.044857,-0.145353,0.988363]]2Hv?@$߿^?@oq?@? r¿?i2[;>I2~T`;2CYB2FByBH DDbDN2VDN5yV %VL=ٔVQ-V>9Z"?YZ"?=Z7FyZEZ!;E^>`Q 5f>5b?Q 9f>5b)bg BYdyfh*?Q If@bDIb:ib:b>5ynBɮn_AnaEZ|R|b|j|"ړڒ’   hK@1ɢ5Bb)9 =i9)=f<9AiE_EUνɧMU?M*=iMq?M];IIMq? Mq?IQE EzE'E"E:*E :VE'4ZEa@a@a@a@qԡ^AA-.AI9IIOU> c,fR?A6T>6<?60=ٱ6l BAHRS rotation from veh to nav: [[0.867914,-0.495504,-0.034650],[0.494836,0.856466,0.146982],[-0.043153,-0.144714,0.988532]]6H`?@U߿`c? +h?Q?@6¿ ?i6T>I6`;6CYF>FByJHN=N=iMb@Mb@Mb@ 9}?5^I?K7?Mb?YM"?yI >@=A A)AYAbD-,VD-5yE<%MA=ٔMQ-M>9U ?YU ?=U7FyUEU;EU>YQ 5m?5]?Q 9m?5])YYu|&?Q Eu:yu&=?Q Iu@]DI]j;i]t;]A?5yBɮTAZIRIbIjQ"Qqړqqڒy’yy} kK@ɢ./) i)b <iX\AͽɧM?x$=i|?쪏;I|? |?I^A mBqE EE.E"Eҝ:*Ea9:VEـ4ZEBqBuHBuEBBqBqBqBu;BufAEA9IAIQOeU>iI) 荚,Dl?AJ/ >J)]?J)=ٱJ  ZAHRS rotation from veh to nav: [[0.866602,-0.497686,-0.036186],[0.497280,0.855328,0.145348],[-0.041387,-0.143953,0.988719]]JH4?߿p?@^?Ú?0m¿@?iJ/ >IJ\a;JCYb)FBybH n49 Y = 7Fy E;E>Q 5-?5?Q 9-?5)Y)y5=?Q I5@DI;i>/;?5yAɮE~AAGS]B*** querying acoustic contact ***:YBYZaRibiji"iiړiqڒq’qq}K@颡ɢʁ) (i)k^<顩iʘYثͽɧE?駵S=i}#?+;I}#? }#?I@@@@)M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.YE EwE(E"Es:*E:VEc44ZEBE;a2E;aJEk;a:Ek;aA؟AIIO>ԁ  *DAT read: user:152> - BDAT read: Tx time:21:17:45.1960 = $Ping request sent.= 6H,?6 =ٱ6e BAHRS rotation from veh to nav: [[0.865102,-0.500141,-0.038180],[0.500060,0.853999,0.143618],[-0.039224,-0.143336,0.988896]]6H?'G~?S?b?$@X¿@ ?i6n>I6`b;6CYJ!FByJHi-Mb@Mb@Mb@)))) )9-y&1? ףp= ?~jt?Y-`%?y-Q8>-D<-A) -A)-A)Y-QAbDAVDAyU%U6=ٔ] Q-]>9]"?Ye"?=e7FyeEe;Ee>Q 5?5?Q 9?5ݾ)U BY+?Q E:yK?Q I@DI:i: ?5yBɮAbEZRb j "  ړ ڒ’s L@aɢeGW)aԉ e\i)ԍ<顉imVSͽɧ8?駝=i? ;I? ?IA5.AI9IQO]U>Ա]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245616 Aa Aa Bm u>Bi Bi Bi Bi Bi Bi Bm ;Bm AEE  E |E )E "E U:*E P$:VE FA4ZE BE ;2E ;JE };:E };f,?A2ae>2B ?2=ٱ2!K :AHRS rotation from veh to nav: [[0.863499,-0.502648,-0.041409],[0.503026,0.852377,0.142891],[-0.036527,-0.144216,0.988872]]2Hɡ?`3? F?@=J? u¿֤?i2ae>I2(c;2C\YbEBybmHbDjVDj5yrH%ve=ٔv9Q-v>9v ?Yz ?=z7FyzEz<Ez>|Q 5?5~`?Q 9 ?5~j)~G BY y L?Q I @~DI~):i~:~ ?5yɮAZ1Rbj"ړڒ’:L@ ɢPi) i!)-Ê<))i-S5ͽɧ59.?5Ka =i5[?=b>;=HI=[? =[?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497582AIIO>A m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749194˭,ڹ?A2/=>2)?2ַ =ٱ2  :AHRS rotation from veh to nav: [[0.861764,-0.505348,-0.044567],[0.506178,0.850654,0.142024],[-0.033860,-0.144950,0.988860]]2H?@+}Ѧ 2?`8?@-?!V്¿?i2/=>I2b;2CYBFByBHHJAAbDN+VDNu5yVu=%VN=ٔVkܻQ-Z>9XYX=Z7FyZE^<E^>`Q 5f?5b?Q 9f?5bc)b9 BYdyjM?Q Ij@bDIb>:i`b4?5ynBɮnAlZ|R|bj"ړڒ ’    HkL@9ɢ=^T)A EiA)ĖIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002810qԙ P,?A6]>6@?6 =ٱ6+ BAHRS rotation from veh to nav: [[0.860010,-0.508140,-0.046647],[0.509289,0.849064,0.140411],[-0.031742,-0.144511,0.988994]]6H4?B@⧿L?+??@@X¿֥?i6]>I6c;6CYFEByJvH-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253498imMb@Mb@Mb@iiii i9m r??V-Ym#?yymL>mmAi mA)iiYibD-VD5y%;=ٔQ->9Y=7FyE<E>Q 5?5?Q 9?5) BY+?Q E:yvT?Q I@ DIi ;i ;?5yBɮvAYEZRbj"ړڒ’@lL@ɢ%{)! %Ki!)%YA>Bv>BBuHBEBBBBB;BAEBBBBBC04Em EmzEm(Ei"Emҝ:*Em :VEmc44ZEiBEm;a}2Em;a}JEmv;a}:Emv;a}ԱAIIOE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504697 ޺,?AB>B ?B<ٱBӚ RAHRS rotation from veh to nav: [[0.858138,-0.511067,-0.049088],[0.512570,0.847299,0.139126],[-0.029511,-0.144550,0.989057]]BHu?Z" f???@8¿[?iB>IB;c;BCYZEByZHbD~,VD~5yS<% V=ٔ eQ- >9Y=7FyE!<E>!Q 5%?5%?Q 9-?5%Ǫ)%BY)y-hU?Q I-@%DI%:i%:%^?5y=Bɮ=mA9ZYRYbYjY"Yaړaaڒa’aim AL@频ɢ[) i)<顙iK_̽ɧv?駥-a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014267 ,t?AJܥ>J ?J<ٱJ# RAHRS rotation from veh to nav: [[0.856322,-0.513871,-0.051463],[0.515714,0.845571,0.138015],[-0.027406,-0.144726,0.989092]]JHf?`q@aY ?@?|?j`¿?iJܥ>IJc;JCYZEBy^tHiMb@Mb@Mb@ 9)\(? ףp= ?V-YG!?yQ8>mA A)YA p<4<bDDVD55y%?=ٔ^Q->9"?Y"?=7FyE@ <E>Q 5?5".?Q 9?5)BYc(?Q E:ycN?Q I@DI':i:?5yɮAZRbj"ړڒ’!% M@)QɢUp)Q UiQ)]z>e=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260896ԁB A <B B B B B B B B ;B AEE  E zE (E "E s:*E  :VE c44ZE BE ;a 2E ;a JE a :E a Ա ,A!?A2o>2l ?2q<ٱ21 :AHRS rotation from veh to nav: [[0.854774,-0.516227,-0.053579],[0.518370,0.844086,0.137157],[-0.025579,-0.145012,0.989099]]2HNZ?n |??@`?r1`Ï¿@?i2o>I2tzd;2CYNEByRMHbDZGVDZ5yvꦽ%vY=ٔzQ-z>9xYx=z7FyzE~<E~>Q 5 ?5^ U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765537 ,;?A6i >6\ ?6<ٱ6z BAHRS rotation from veh to nav: [[0.853177,-0.518625,-0.055822],[0.521083,0.842545,0.136346],[-0.023680,-0.145415,0.989087]]6H:M?``?@!?s?`?¿?i6i >I6Be;6CYJEByJ!HbDR?VDR5yZ涽%ZN=ٔ^ꜻQ-^>9\Y`=b7FybEb<Eb>dQ 5j?5fSK?Q 9j?5f)f~BYlynO?Q In@f*DIf;ifa;f"?5ypɮrAtZ R b j "ړڒ’ nM@EE EEtEE*EA"EEC:*EEv:VEE(N4ZEAaM@aM@aM@aM@Yɢ]|ּ)a eia)eklmOI ,DT?A J~>J ?J<ٱJ fAHRS rotation from veh to nav: [[0.851740,-0.520733,-0.058111],[0.523514,0.841155,0.135613],[-0.021738,-0.145929,0.989056]]JHsA?ש? ?[?`aB Э¿ Y?iJ~>IJ&f;JCYrEByrHchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269190iMb@Mb@Mb@ 9V-?n?~jtY|?yV>A )AYQA@AbDNVD5y&c%;=ٔQ->9Y=8FyE5;E>Q 5?5U\?Q 9?5)MBY$?Q E:y@?Q I@3DI ;i ;&?5yBɮ6AZEZRbj"ړ  ڒ ’  `եM@ɢʼ) i)|c<iMA˽ɧ>Zԑ yychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521170XG  E hi9A YE VA ),n?A2P>2; ?2磢<ٱ2j :AHRS rotation from veh to nav: [[0.850522,-0.522479,-0.060232],[0.525565,0.840001,0.134833],[-0.019852,-0.146334,0.989036]]2Hy7?& ֮m?I?@3B?`%T¿.?i2P>I2)f;2CLYREByR H TTbD^RVD^n5yvB %vX=ٔv1Q-v>9z ?Yz ?=z8FyzEz;E~>YQ 5e?5]k?Q 9e?5])]"BYiymA?Q Im@];DI]1:i]I:]*?5yqɮuQAyZRbj"ړڒ’@M@ɢ2) ki)eq\<i>I˽ɧZ>~A>5BDAT read: Rx Time:21:17:48.4695 =TRx dataTimestamp_ set to:1761513469.869139=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778352A؟AIIO$>E] E]vEYEY"E]:*E]:VEYZEYae@ae@ae@ae@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027122<,Z?Av>v\6?vГ<ٱv=| AHRS rotation from veh to nav: [[0.849490,-0.523836,-0.062958],[0.527297,0.838846,0.135262],[-0.018043,-0.148102,0.988808]]vH/?B@? ?EP?y¿O?iv>Ivde;vCYoEByHiMb@Mb@Mb@ 9Cl?EԸ?~jtYd?y=A )lAYAbDhVD6y'%:=ٔֆQ->9"?Y"?=8FyE 8;E >Q 5?5u|?Q 9?5)BY?Q E%:y%1?Q I%@CDI:i:-?5y-Bɮ-"A-QEZIRQbQjQ"QQړQYڒY’YY]N@颁ɢ)  $i)vS<顑i'<Xp˽ɧ>駵 pEDAT read: 21:17:48.4695 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 450, 0.20,-2.064, 2.507,-2.040,-2.198, PHS= 0.236,-1.532, 0.114, RAW= 146.4, 13.7, CAL= 146.2, 15.1, ROT= 3.8, -15.1 MYgot valid direction response: 21:17:48.4695 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 450, 0.20,-2.064, 2.507,-2.040,-2.198, PHS= 0.236,-1.532, 0.114, RAW= 146.4, 13.7, CAL= 146.2, 15.1, ROT= 3.8, -15.1 QUPDAT read: Bearing 196.0, 0.4 (Local) ]~Local bearing/azimuth received: Bearing 196.0, 0.4 (Local) eDAT read: Range 11 to 50 : 651.9 m (Round-trip 869.3 ms) speed 0.4 m/s mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.963350,0.063986,0.260505]uFpublishing direction and range infoy{b?M=\a?QfJ0?Y"D )OIq>iĿx=Ƈ#@Gt>N#@ V>)ԇ=IVS`'^?5]-?aga? n>)XguIԇ=iVB B B HB EBB B B B ;B AEEe  Ee xEe *Ea "Ee 1:*Ee :VEe (N4ZEa BEe ;au 2Ee ;au JEe Xo;au :Ee Yo;au y ;,숢?A6>6 f?6…<ٱ6 >AHRS rotation from veh to nav: [[0.849131,-0.524063,-0.065839],[0.527930,0.838252,0.136467],[-0.016328,-0.150637,0.988454]]6H`,? @ڰ??w?)Hÿ k?i6>I6d;6CYR_EByRH Z;XbDZdVDZI6yb3%fa=ٔfpQ-f>9hYh=j8FyjEj;Ej>pQ 5r?5r܊?Q 9v?5rY)rBYtyv1?Q Iv@rKDIr:ir:r1?5yxɮ~CA|JIRM ?AML"DML"DMm)?MrO:@dD@(#e@M{b?M=\a?QfJ0?Mԇ=MV—MAU"@ֵ>Ax@B9Rb@M6?h1< ?T|h?jMCrMCZMM?bM}zM HCMM?M}M HCڗMDMj)?Z1R9b9j9"99ړAAڒA’AE@3_@M@N?Yyɢ}K) !(i)K<顁i 9U˽ɧ >駍HcԑԱ #e,`?AE% E%E%&E!"E%ҝ:*E%3:VE%4ZE!a-@a-@a-@a-@Uz>U?Up<ٱU \ mAHRS rotation from veh to nav: [[0.848781,-0.524410,-0.067560],[0.528540,0.837948,0.135974],[-0.014695,-0.151121,0.988406]]UH7)?@K`?x?@g?/Wÿ?iUz>IUTd;UCYuOEBy}HI=)=bDoVD6y%==ٔwQ->9Y=8FyE8:E>ԹQ 5?5?Q 9?5)BYy2?Q I@SDIy:i:4?5PExceeded connect timeout, disconnecting.yBɮpAZRbj"ړ  ڒ ’  @:?9ɢ=- )A E,iA)EBUBT9 LO,NE?A>/>>?>S<ٱ>M FAHRS rotation from veh to nav: [[0.848338,-0.524936,-0.069030],[0.529299,0.837675,0.134696],[-0.012882,-0.150805,0.988480]]>H %? G@?`/>I>J7d;>CYN4EByNHPRAi-Mb@Mb@Mb@)))) )9-rh|?~jt?i|?5Y-?y-=-q)-A -(A)-VA)Y-QAbDtVD 6y%J=ٔQ->9Y=8FyEq;E>Q 5?5?Q 9?56)BY?Q E:y?Q I@[DI:i:O8?5yɮAZRbj"ړڒ’_?1ɢ=l/)9 =2i9)=o8<99iEHG4E˽ɧM>MXBaBeHBenEBBaBaBaBe;BeAEE- E-E-*E)"E-1:*E-*:VE-(N4ZE)BE)a=2E)a=JE-i;a=:E-j;a=AAYIaIyO8>iԙ z,&?A2*>2?2R7<ٱ2x :AHRS rotation from veh to nav: [[0.848110,-0.525080,-0.070706],[0.529701,0.837507,0.134159],[-0.011227,-0.151235,0.988434]]2H@#?`uN? ?,?j[ÿ@?i2*>I2Gc;2CYB$EByBwHHJAAbDNlVDN46yR/%V[=ٔVQ-V>9XYX=Z8FyZEZ9:E^>\Q 5b?5^?Q 9f?5^~)^lBYdyf?Q If@^bDI^:i^:^;?5ynBɮnAnREZ|R|b|j|"ړڒ’   a?1ɢ=()9 =6i9)=Z$0<9AiE 1E˽ɧMA>M[ b, ?A,>?<ٱ5 %AHRS rotation from veh to nav: [[0.848119,-0.524849,-0.072298],[0.529719,0.837583,0.133613],[-0.009571,-0.151617,0.988393]]H@#?`t?@{?8?/hÿ`?i,>I8{c;CY5EBy5mHiMb@Mb@Mb@ 9rh|?Mb`X9vYyA )YAbDVD6yr%8=ٔwtQ->9Y=8FyEW7E>Q 5?51?Q 9?5{)\BY?Q E :y  ?Q I @kDI:i8:q??5yBɮAZRbj"ړڒ’ !?AɢE^)I M 9iI)M9$elA5>! BI BI BM HBM ;EBBI BI BI BM ;BM AEB B B B B C Ɍ>4Aa Iq I O >EE  EE vEE )EA "EE ҝ:*EE :VEE FA4ZEA BEE ;aU 2EE ;aU JEE h;aU :EE h;aU ),:#?A2?>2!?2*x;ٱ2@~ >AHRS rotation from veh to nav: [[0.848055,-0.524693,-0.074153],[0.529851,0.837570,0.133171],[-0.007766,-0.152227,0.988315]]2H@E#?J ?`? ?@)|ÿG?i2?>I2c;0YBEByFfHbDLVDLyVi%Va=ٔVQ-Z>9XYX=Z8FyZE^49E^>`Q 5f?5b?Q 9f?5bx)bOBYhyj% ?Q Ij@brDIbW:ib:bB?5ylɮ=A9ZyRybj"ړڒ’@ɢ6) a:i)y<ip,ʽɧ>zyԩ ˳,~=?A2m֭>2?2i;ٱ2 :AHRS rotation from veh to nav: [[0.848490,-0.523573,-0.077046],[0.529180,0.837825,0.134231],[-0.005729,-0.154665,0.987950]]2H&?I` ?v? y.?vw` ÿ J?i2m֭>I2Ec;0@YBEByF\H Jp9XYX=^8Fy^E^wE^>`Q 5f?5b?Q 9f?5bt)bABYhyj ?Q Ij@bzDIb :ib:b&F?5ynBɮn ApD|zD|bEG4jEG4rE/E EyE,E"E:*E:VEg4ZEa@a@a@a@ZRb!j!"!!ړ!!ڒ)’))-@@ɢl-) {D ,W?A27>2-?2;ٱ2 :AHRS rotation from veh to nav: [[0.848777,-0.522831,-0.078902],[0.528737,0.838124,0.134112],[-0.003988,-0.155550,0.987820]]2H-)?`2i? ?*? Up@ÿ8?i27>I2wd;2CYbEBybPHliMMb@Mb@Mb@IIII I9MS?Zd;O~jth?YM?yMjMD;II I)M(AIYMAbDevVDe[6yu%}>=ٔ}Q-}>9Y=8FyEנE>Q 5?5?Q 9%?5Tq)BBY%?Q E%:y%1?Q I%@DIўi)gD<顙ifN'/xʽɧu>駥]Qԁ , bq?A2ݬ>2E?2J!;ٱ2"! :AHRS rotation from veh to nav: [[0.849503,-0.521323,-0.081035],[0.527577,0.838695,0.135106],[-0.002470,-0.157525,0.987512]]2H!/?ମ`??'K?gI2e;0YnEBynOHbDzoVDz6yZ%R=ٔ Q->9 Y = 8Fy E fE>Q 5%?5?Q 9%?5Dn)DBY!y%?Q I%@DI;i;MM?5y-pBɮ5A5IEZQRQbQjQ"QYQړYaڒa’aae@$ @颩ɢ=) ??i)4;;项i1$Sʽɧ&>|DD<E ExEE"E:*E:VEZEa-@a-@a-@a-@! t",K?AE>E ?E:ٱEB" UAHRS rotation from veh to nav: [[0.850403,-0.519691,-0.082073],[0.526130,0.839656,0.134777],[-0.001130,-0.157796,0.987471]]EH6?N `?u? `@?^R2Ŀ]?iE>IE4 e;ECYeDByeCHiMb@Mb@Mb@ 9^I +?Q?YX?y̼\=A ?A)?AYQA@AbDmVDR6y%9=ٔ^GQ->9!Y!=%8Fy%E%j}E->1Q 5=?55O)?Q 9=?55j)5VBY=?Q E=:y=?Q I=@5DI5;i5;5'Q?5yIɮMAIZ R b j "  ړڒ’$G@aɢ,) Ai)OX;顉iJ"!ʽɧ>駕WIAAAABv>BBUHBEBBBBB?;BAEE%  E% E% (E! "E% 1:*E% .:VE% c44ZE! BE% ;a5 2E% ;a5 JE% ;a5 :E% ;a5 q (,?A2Q>29 ?2ٱ2^# :AHRS rotation from veh to nav: [[0.850866,-0.518665,-0.083751],[0.525383,0.840089,0.134995],[0.000341,-0.158864,0.987300]]2H K:?p??G?@^6?UĿ?i2Q>I24e;2CY^EByb]HbDjXVDj5yzc=%`=ٔ˂Q-%>G99Y=8FyE8E>1>9Y.AQ 5?5:?Q 9?5g)eBYyp?Q I@DI:iy:T?5y sBɮAJEZ1R1b1j9"9AړAAڒA’AIM%@Qyɢ}%?)y }_駍fA>AIIO (>ԁԩi I /,&?A2 >2[ ?2ٱ2$ :AHRS rotation from veh to nav: [[0.851380,-0.517528,-0.085535],[0.524545,0.840553,0.135362],[0.001843,-0.160111,0.987097]]2H >?嵿?@?`S?2^?~ĿM?i2 >I2d;0YBEByBQHJ=HbDNNVDN5yV%VN=ٔVzQ-V>9XYX=Z8FyZE^ .E^>`Q 5f?5bJ?Q 9f?5bd)btBYdyf5?Q Ij@bDIb:ib:bW?5Er ErxEr)Ep"Er:*Er:VErFA4ZEpav@av@av@av@yxɮzAxZRbj"!!ړ!!ڒ!’))-`@Yɢ]\F)Y ]>ia)ei;aaieRmɽɧmC>m67 ?6.Qٱ6O% BAHRS rotation from veh to nav: [[0.851667,-0.516784,-0.087171],[0.524074,0.840800,0.135650],[0.003192,-0.161212,0.986915]]6H`@?}P`7? ?@\?%j?Ŀ͔?i6;ª>I6d;6CYJEByJVHiMb@Mb@Mb@ 9\(\?{Gzt ףp= ?Y?yףQ8=A VA)(AYA 15<bD=KVD=5yE<%MA=ٔMPQ-M>9U ?YU ?=U8FyUEUE]>aQ 5e?5e\?Q 9m?5eGa)eBYmP?Q Em:ym3?Q Im@eDIe:ie]:e[?5y}wBɮ}AyZRbj"ړڒ’K@ɢi9) =i) ;it1ɽɧX>zF9i <,?A 6a>6h ?6,ٱ6& >AHRS rotation from veh to nav: [[0.852048,-0.515892,-0.088715],[0.523444,0.841173,0.135772],[0.004581,-0.162122,0.986760]]6HC?@/@ ? ? `?@Ar? gĿ?i6a>I6d;6CYFEByFjHbDNIVDN\5yV3/=%VU=ٔV#mQ-Z>9Z"?YZ"?=Z8FyZE=E=>AQ 5U?5EWn?Q 9U?5E])EBYYy]?Q I]@EDIEI;iE(O;E_?5yiɮuAqZRbj"ړڒ’@IɢMW8)I U9iQ)U6<;QQiU#@]cɽɧe>eU9ԙE E{E*E"E:*E5":VE(N4ZEa @a @a @a @ ,B, ?APm>m ?m7dٱm& AHRS rotation from veh to nav: [[0.852328,-0.515239,-0.089806],[0.522974,0.841544,0.135285],[0.005871,-0.162274,0.986728]]mHFF?|``4? ?Q?} x?cĿ@G?im>Im%d;mCYEByqHi-Mb@Mb@Mb@)))) )9-S?Q?Mb?Y-?y-<-@=)) -lA)))Y-QAbDU@VDUJ5yuF<%u0=ٔ}~6Q-}>9yYy=8FyEE>Q 5?5?Q 9?5Y)BYH?Q E:y?Q I@DI:i:b?5y{BɮAKEZyRybyjy"yyړڒ’`@ɢ0) +8i)aŅ;i0)ɽɧ>7B<Ap<BBBBBBBB;;BAEE  E ~E $E "E :*E (:VE 4ZE BE a 2E a JE ;a :E ;a  %I,^&?A2>2t ?2ٱ2=m' :AHRS rotation from veh to nav: [[0.852425,-0.514842,-0.091152],[0.522799,0.841691,0.135046],[0.007195,-0.162771,0.986638]]2HG?yUź?!? 0I? x}?`Ŀ@?i2>I2d;2CYB%EByByHHJAAbDLVDLyV<%Vn=ٔV{Q-V?9XYX=Z8FyZEZBE^?`Q 5f?5bV?Q 9f?5bV)bBYdyf?Q If@bDIb6:ibN:be?5yhɮnAlZ||Rbj"ړ  ڒ ’  @v@9ɢ=U)9 E6iA)Em;AAiE#MHɽɧM1>Mw6s ?6̼ ٱ6{& >AHRS rotation from veh to nav: [[0.852130,-0.515178,-0.092012],[0.523262,0.841572,0.133989],[0.008407,-0.162322,0.986702]]6H`D?U|?`(?&?@7?Ŀ?i6G>I6od;6CYF-EByFHbDR7VDR85yV<%ZJ=ٔZ:DQ-Z>9^ ?Y^ ?=^8Fy^EEf EfEf+Ed"Efs:*Ef*:VEf [4ZEdan@an@an@an@n:Er>pQ 5v?5rd?Q 9z?5rR)rBYxyz?Q Iz@rDIr:ir:r|i?5y~BɮAZ!R!b!j!"!)ړ))ڒ)’)15@Yaɢe3;)a e4ia)mG;iiimA#u(Ƚɧu>uA>A؟AIIO>ԉ%=%=Ա 7V,Z?A2=>2J ?2bٱ2& :AHRS rotation from veh to nav: [[0.851480,-0.516120,-0.092749],[0.524300,0.841155,0.132548],[0.009606,-0.161490,0.986828]]2H@R??@j??R?K?Ŀ`?i2=>I2Gd;2CYV9EByVHZ=Z=i-Mb@Mb@Mb@)))) )9-~jt?i|?5?L7A`?Y-?y-q=-+=-1A) ))))Y-AbDM+VDMu5yU<%U@=Թٔk2Q->9"?Y"?=8FyE7;E>Q 5?53?Q 9?5N)BY?Q E:y '?Q I @DI=;im;Lm?5y%^Bɮ%A%BEB9B9B=nHB=EBB= =B9B9B=?;B=AEBBBBBC~4ZiRibiji"qqړqyڒy’yy}{@颩ɢ52) 1i)A;顱i&'-Ƚɧ}>駽9 b\,s?AR->Rm ?Ri%3ٱRj & bAHRS rotation from veh to nav: [[0.851192,-0.516384,-0.093910],[0.524740,0.841002,0.131771],[0.010934,-0.161441,0.986822]]RHIREc;RCYjDEByjH xz<bD~&VD~O5y<%O=ٔdQ->9Y=8FyE%2:E%>)Q 5-?5-?Q 95?5-J)-BY1y5(?Q I5@-DI-;i-U;-p?5yAɮEAAZaRabaja"iiړiiڒi’iqu @颙ɢC) .i)?:顡i:]cȽɧ>駵ԙbEeFA4jEeƊ94rEez:0E EsE)E"E:*EZ:VEFA4ZEa@a@a@a@ SNc,ݍ?A88m>m ?m Dٱm% AHRS rotation from veh to nav: [[0.850751,-0.516959,-0.094746],[0.525432,0.840712,0.130861],[0.012005,-0.161112,0.986863]]mHY9?DAW?? ?ڕ?`SĿa?im>Imc;iYOEByHimMb@Mb@Mb@iiii i9m/$?ʡE?Mb?Ym?ym-=m9Y=8FyE:E>Q 5?5"?Q 9?5'F)YB?Q E:y1?Q I@DI_;in;t?5y aBɮ A ZARAbIjI"IIړIIڒQ’QY]a@颙ɢ0,) 8,i)Q:顩i *Ƚɧ>駽kiA)A-@AB1B1B5HB5;EBB5 =B1B1B5,;B5AE! E  E xE 'E "E *E :VE '4ZE BE ;a 2E ;a JE a :E a }si,?A2=>2c ?2 Xٱ21% >AHRS rotation from veh to nav: [[0.850076,-0.517902,-0.095642],[0.526494,0.840228,0.129697],[0.013191,-0.160607,0.986930]]2H`3?|@ ? %?? ?@ȎĿ?i2=>I2[ob;2CYF`EByFHbDNBVDN5yVrS=%Vt=ٔZ=hQ-Z?9XYX=Z8FyZE^v;E^?`Q 5f?5b~?Q 9f?5bB)bBYdyj+2?Q Ij@bDIbR:ibk:bw?5ylɮnAlZ|Rbj"ړڒ ’   @ @1ɢ=M)y }'iy)}c:顁i Ƚɧ>駍beԁԩ P]p,b?A6C>64?6iٱ6%< BAHRS rotation from veh to nav: [[0.849728,-0.518219,-0.097016],[0.527029,0.839894,0.129691],[0.014275,-0.161332,0.986797]]6H 0? @ ָ@k?h??;?`Ŀ`ד?i6C>I6ZHb;6CYJTEByJHDLzDLEP ERER(EP"EP*ER3:VERc44ZEPaV@aV@aZ@aZ@\\bDbCVDb5yf%fH=ٔj-Q-j>9hYl=n8FynEnZ:Er>pQ 5v?5r?Q 9z?5rg>)rBYxyzU2?Q Iz@rDIr:ir:r"{?5y~eBɮACEZ!R!b!j!"!!ړ))ڒ)’))5c!@Yɢ];)Y e*ia)e9aaie> m:ǽɧm>m v,\?A6Z7>6?r?6 |ٱ6% BAHRS rotation from veh to nav: [[0.849045,-0.519154,-0.097995],[0.528096,0.839373,0.128714],[0.015432,-0.161035,0.986828]]6H`_+?5`)?`%?y??ǜĿ?i6Z7>I6Ib;4YJjEByJHli%Mb@Mb@Mb@!!!! !9%ףp= ?B`"۹?MbY%?y%=%!%A %A)%(A!Y%AbD=6VD=5yMN=%MC=ٔM4Q-M>9QYQ=U8FyUEU:F;E]>aQ 5}?5e?Q 9?5e9)eBY ?Q E:y6?Q I@eDIe;ie;e~?5yɮAZRbj"ړڒ’<"@Bw>BBHBOEBBBBB&;BAE颱ɢv0) ]%i)i[˧ǽɧ>bA>E EuE+E"E*E:VE [4ZEBEa2EaJEmd;a:Emd;a I IOe4> C gG!9e39aYee%A1a |,;?A>ŭ>>Y?>>҆ٱ>7' FAHRS rotation from veh to nav: [[0.848457,-0.519771,-0.099792],[0.529008,0.838699,0.129362],[0.016457,-0.162549,0.986563]]>H&?`???ڐ?`jĿ?i>ŭ>I> a;>CYNuEByNHbDV?VDV5yz<%zP=ٔ~*Q-~>9Y=8FyE|4;E> Q 5?5 W?Q 9?5 5) BYy6?Q I@ DI ;i 7; I ? -ٱ Y&'ԡ AHRS rotation from veh to nav: [[0.847941,-0.520383,-0.100986],[0.529793,0.838332,0.128524],[0.017778,-0.162483,0.986551]] HT"?7ڹ?`?{s?f4? ;Ŀӑ?i @>I {za; CYEByHi]Mb@Mb@Mb@YYYY Y9])\(?A`"?/$Y]G!?y]=]Y]A Y)]AYY]@ u49Y=8FyE;:E>Q 5?5!&?Q 9?580)BY#?Q E:y7?Q I@ DIe ;i ;?5yɮAZRbj"ړڒ’#@/KAltitude envelope ACTIVE. Altitude:2.000000m. At depth:49.380405m.Zz ?bjG Altitude envelope ACTIVE. Altitude:2.000000m. At depth:49.380405m.‹  ʋ ҋ i)ɢ- ?I-N>- I5)5(T)555i5)=Uǽɧ=>=tBA<Bx>BCCBHBnEBB =BBDB9;BAE ?‰,g(?A2՜>2$?2NIٱ2R' :AHRS rotation from veh to nav: [[0.847548,-0.520807,-0.102093],[0.530376,0.838095,0.127661],[0.019077,-0.162347,0.986549]]2H? s"`? ?5W? ܈?ĿБ?i2՜>I2a;2CYNEByRHbDZYVDZ6yb<%b=ٔbQ-f?9dYd=f8FyfEj:;Ej?lQ 5r?5n2?Q 9r?5n,)nBYpyr7?Q Iv@nDIn;in;n5 )Q)YYYi]@e7ǽɧe>m`҈6@?6ٱ6<@'E@ EBuE@E@"E@*EB:VE@ZE@ JAHRS rotation from veh to nav: [[0.847302,-0.520981,-0.103232],[0.530725,0.837943,0.127209],[0.020229,-0.162572,0.986489]]6H ?pm?m?aH??,ĿQ?i6Ԯ>I6I`;6CYREByRHXZAbD^RVD^n5yfa<%fI=ٔfB:Q-f>9hYh=j8FyjEn:En>pQ 5v?5rAC?Q 9v?5rE()rBY|y7?Q I@rDIr;irk;rȌ?5y!ɮ%A!ZARAbAjA"EIړIIڒMƷ<’IQU@dp%@Z]zYbYj]‹aaʋaҋiiɢI>k8 ))顉i] ǽɧ>駝}6x?6kٱ6& >AHRS rotation from veh to nav: [[0.846834,-0.521615,-0.103874],[0.531436,0.837641,0.126225],[0.021168,-0.162094,0.986548]]6HC?`v?@?$(? ?~Ŀ͑?i6CD>I6"1`;6CYfEByfHBw>BBCBHBEBB =BBBI;BAEiMb@Mb@Mb@ 9x&1?~jt?Zd;OY!?y=j A)YpAbDTVD5yc<%<=ٔp Q->9Y=8FyEV;E>Q 5?5U?Q 9?5#)BY#?Q E:y4?Q I@!DI:i:?5yLBɮAZRbj"ړڒƷ<’!!%zL&@Աɢ!IƷ<)] 3i)i[ ƽɧf>k9 A I I O= >,s,ix?AB*>B?B,ٱBn% NAHRS rotation from veh to nav: [[0.845862,-0.522915,-0.105253],[0.532902,0.836995,0.124314],[0.023091,-0.161242,0.986645]]BH`L?@ ?@?` ӿ??Ŀ?iB*>IB^;BCYREByRHbD^RVD^n5yfLӼ%fK=ٔfŜQ-j>9hYh=j8FyjEnQ;En>rNew estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 22.43 mm (2 active estimators).tQ 5z?5ve?Q 9z?5v()vBYxy~4?Q I~@v*DIv;iv:v?5yɮAZ!R!b!j!"))ړ))ڒ1’115'@YɢeN2)a eia)eZIaiimSZuSƽɧu͈>umZE EvE(E"EU:*E:VEc44ZEa@a@a@a@ԁԩ V,3?A8>-$?|üٱ & AHRS rotation from veh to nav: [[0.845389,-0.523510,-0.106087],[0.533618,0.836593,0.123953],[0.023861,-0.161398,0.986601]]Hm ? ( e?^?c?@o?Ŀ;?i8>I^;CYEByH==i}Mb@Mb@Mb@yyyy y9}S㥛?kt?QY}$&?y} =}uyy y)}AyY}AԉbDJVD5y* =%0=ٔٺQ->9Y=8Fy EC:E>Q 5?5My?Q 9?5)BY'?Q E:yw0?Q I@3DIu ;i ;%?5yPBɮA;EZRbj"ړڒ’ (@1ɢ5g !)1 5i9)=ń99i=YEKƽɧE}>E#J,嚮?A63>65?6ȼٱ6ڸ& >AHRS rotation from veh to nav: [[0.845233,-0.523573,-0.107016],[0.533835,0.836428,0.124130],[0.024520,-0.162047,0.986478]]6H& ?``e`,?`?`ƿ?`?`Ŀ;?i63>I6{^;6CYFEByF$H N9\Y\=^8Fy^ E^A8:Eb>`Q 5f?5bv?Q 9j?5b)bBYhyj0?Q Ij@b;DIb:ib;bv?5ylɮrApZRbj"ړ  ڒ ’   '(@Ա颹ɢ 0) i)6i! 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V"?F?@5?'2?`ĿI?ij廱>IjY];hYzEBy~2HiMb@Mb@Mb@ 9"~j? rh?MbpYS#?yC=A )YAbD=VD5y <%:=ٔZQ->9Y=8FyE.:E>Q 5?5?Q 9?5)BYA$?Q E:yE+?Q I@^DI3:i:?5y ɮ TA Z)R)b1j1"11ړ11ڒ9’99=`R,@aɢm*)i mii)uP\qqiuxU}Uƽɧ}+>}2?2)ݼٱ2CM% :AHRS rotation from veh to nav: [[0.843822,-0.525506,-0.108662],[0.535944,0.835481,0.121390],[0.026994,-0.160669,0.986639]]2H@?@Lѻ s&? C?p?S?`ːĿ@?i2 >I2\];2CHYNEByN&HbDV/VDVa5yn1Ѽ%r\=ٔrhQ-r>9tYt=v8FyvEv:Ev>xQ 5~?5zJ?Q 9?5z-)zBYym+?Q I@zeDIz:iz:z,?5y 7BɮwAZ1R1b1j1"19ړ99ڒ9’9AE,@iɢmں:)q uqiq)uhxqqi}ǐT}Eƽɧ >駅! E}  E} vE} /Ey "E} ҝ:*E} :VE} J4ZEy a @a @a @a @O,I?A68>6?6yݼٱ6W$ >AHRS rotation from veh to nav: [[0.843634,-0.525895,-0.108244],[0.536238,0.835414,0.120551],[0.027032,-0.159745,0.986788]]6H@ ?!@赻(??`gܾ?E? rĿē?i68>I6];6CYFEByF9\Y\=^8Fy^Ebf:Eb>dQ 5j?5f?Q 9j?5f)fBYhyj+?Q Ij@fnDIf:if1:f?5yr:BɮrdAr3E|Z R b j "  ړڒ’f-@AɢEF2)A MiI)MIIiMSU6ƽɧUT>UT;iU ?];YI] ? ] ?IaAII1O5 >Qԁ B B B OHB EBB B B DB ;B AE z,֍c?A2Λ>2x$?2ݼٱ2" :AHRS rotation from veh to nav: [[0.843227,-0.526668,-0.107649],[0.536876,0.835178,0.119338],[0.027055,-0.158423,0.987001]]2H?@w㎻`.?ǹ?茾?D?3GĿ`?i2Λ>I2\;0YNEByR/HEE EEzEE&EA"EE:*EE :VEE4ZEABEE;aM2EE;aUJEEv;aU:EEv;aUYi}Mb@Mb@Mb@yyyy y9}RQ?J +?~jtxY}"?y}H=}Ļ}GAy y)yyY}AbD<VD^5y!%<=ٔ\Q->9Y=8FyE:E>Q 5?5?Q 9?5)BY #?Q E:y9$?Q I@vDI3:i:p?5yɮxAZRbj"ړڒ’݁.@1ɢ5EZ;iEV?M: ;IIMV? MV?IIԉA!I1IAOU2>Ա -,h}?A20Ҳ>2??2޼ٱ25" :AHRS rotation from veh to nav: [[0.843001,-0.527041,-0.107595],[0.537224,0.835023,0.118861],[0.027200,-0.158002,0.987064]]2H?@^0??m?\ڛ?@l9Ŀ`?i20Ҳ>I2o\;2CYBEByB6HbDJ(VDJ5yRd<%R\=ٔV%͹Q-V>9TYT=Z8FyZEZe:EZ>\Q 5b?5^?Q 9b?5^)^BYdyfU$?Q If@^~DI^:i^|:^?5yj>Bɮj}AhZxRxb|j|"||ړ|ڒ’?/@Թ颡ɢ9) <i)i3iQƽɧp >k;i?,u;I? ?IAA>A)I1IAEU EUyEU(EQ"EU7:*EU:VEUc44ZEQa]@a]@a]@a]@Oe>9 M,%Z?A>L?ٱ " %AHRS rotation from veh to nav: [[0.842886,-0.527204,-0.107698],[0.537384,0.835007,0.118248],[0.027588,-0.157544,0.987126]]H??2?`?yE?@?k*Ŀ@?i>IW];CY5EBy5>HiMb@Mb@Mb@ 9'1Z?J +?9Y=%8Fy%E%$9E%>)Q 55?5-F&?Q 95?5-c)-BY=P#?Q E=:y=*$?Q I=@-DI-:i-Q:-?5yEBɮEAM*EZiRibiji"iiړqqڒq’qq}@0@颡ɢ-/) i)]4顱iQ ƽɧ>駽M;i?U;I? ?IAABBBBBBBDB ;BAEA.AIIO%+>9EU EQEQEQ"EU:*EQVEQZEQBEUX;a]2EUY;aeJEUr;ae:EUr;aeaԑ 9,u?A6 >6]?6ٱ6X! 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[E??ÿ?iZ>IZ2];ZClYnHBynHbDzVDz?5yaL%E=ٔa :Q->9 Y = 8Fy E <;E>Q 5%A5e?Q 9%A5\q)BY!y%/2?Q I%@DI:i9: A5y1ɮ5]A1ZQRQbQjQ"YYړYYڒY’aae5K@颉ɢiO)  @>i)5Ѽ顑i(E8ӽɧ 駥߼if>;If> f>I1111iߑIߕAE E|E(E"E:*EP$:VEc44ZEBE&;a 2E(;a JE};a:E};a@1@1@9@91I) I9 OM >Y E@R, qI ?A21>2V?>26$ٱ2 :AHRS rotation from veh to nav: [[0.880359,-0.461827,-0.108091],[0.472598,0.873436,0.117310],[0.040233,-0.154358,0.987195]]2H+?ݿҫ ??`/?@?@z?ÿ?i21>I2&6];2CYVHByZHi5Mb@Mb@Mb@19111 195x&1?A`"?sh|?Y5!?y5=5159A 1)5GA1Y5AIM@AbDU(VDU5ye$n<%eD=ٔmy:Q-m>9iYi=u8FyuEu/;Eu>yQ 5A5}w?Q 9A5}0m)}BY+%?Q E:y"?Q I@}DI}:i}:}HA5yџBɮAͭEZRbj"ړڒ’6kK@ɢ)F) i)ϼi F>ӽɧ G@i> ; I > >I IAIYO >iԑDzDE E~E*E"Eغ:*E(:VE(N4ZEa@a@a@a@ kX,Nc ?A2 >2D1>2Դ ٱ2 :AHRS rotation from veh to nav: [[0.880445,-0.461854,-0.107271],[0.472522,0.873394,0.117926],[0.039225,-0.154515,0.987211]]2H,?ݿ@v=? ?d0?H? &ÿI2r&];0Y^HBy^HbDj6VDj5yr%rS=ٔr*;Q-r>9tYt=v8FyvEzTEz>xQ 5 A5z?Q 9 A5zPi)zBY y "?Q I @zDIzD;iz:zA5yɮAZ9R9b9j9"AAړAAڒA’IIMK@ԙɢN) g9>i))-μ))i-H=Խɧ= =Hqi=>=;9I=> E>IAAQzAUgAIIO=Bk>BB+HBHBB =BBB$;BAE! E  E {E )E "E s:*E 5":VE FA4ZE BE ;a 2E ;a JE Dz;a% :E Dz;a% 0^,6} ?Afg=>f>fEٱf nAHRS rotation from veh to nav: [[0.880721,-0.461464,-0.106688],[0.472058,0.873600,0.118257],[0.038631,-0.154515,0.987235]]fH .? ݿO26?@?`F?mǣ?@"ÿm?ifg=>If2];fCYvHByvHiuMb@Mb@Mb@qqqq q9uX9v?S㥫? ףp= Yu?yu/]=uQqu"A uA)qqYuAbD;VD#5yj-=%?=ٔ:Q->9Y=8FyEE>Q 5A5қ?Q 9A5e)yBY8 ?Q E:y5?Q I@DI/:i:iA5yҟBɮAIGSeB*** querying acoustic contact ***:aBaZRbj"ړڒ’ IK@ ɢ ?)  K>i)KDͼihI>Խɧڼi)>%ػ;!I%)> %)>I)IIO= 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Iq  *DAT read: user:153>  BDAT read: Tx time:21:18:45.4460  $Ping request sent. 2>2 ٱ2 :AHRS rotation from veh to nav: [[0.881002,-0.461060,-0.106113],[0.471615,0.873672,0.119485],[0.037618,-0.155311,0.987149]]2H`*1?ݿ<*.?`??B?`<ÿ?i2>I2h];0YHByH p<<bDKVD5yX%L=ٔ%;Q->9Y=8FyEJE>Q 5A5ӭ?Q 9A5"b)ZBYy ?Q I@DI:i|:A5yɮAZ9R9b9j9"99ړAAڒA’AAMrL@QD=DR=E E|E&E"E:*EP$:VE4ZEa@a@a@a@颱ɢ,I) N6>i)̼项i JsԽɧNCӼi>̻;I> >IA%.AI)I9OU2>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250950ԩA A B i>B @CB B B B B DB S;B AE ˦k,ް ?A2K>2>>2ٱ2 :AHRS rotation from veh to nav: [[0.881662,-0.460078,-0.104886],[0.470466,0.874233,0.119908],[0.036528,-0.155063,0.987229]]2H`6?qݿ ٺ??`E?³?ÿ`a?i2K>I2a];2CYBHByBHbDJ5VDJ5yRlϽ%VZ=ٔV>;Q-V>9V ?YZ ?=Z8FyZEZfgEZ>\Q 5bA5^\?Q 9fA5^^)^>BYdyf ?Q If@^DI^:i^:^0A5yjӟBɮj/AnέEZ1R1b9j9"99ړ9AڒA’AAE7L@频ɢo) _>i)E˼项iLTԽɧ̼i >;I >  >IA>A>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988ԹIIO>E EE*E"E*E.:VE(N4ZEBE;a2E;aJE ;a :E ;a % >% 2z>2/ٱ2W :AHRS rotation from veh to nav: [[0.882645,-0.458427,-0.103838],[0.468712,0.875000,0.121179],[0.035306,-0.155628,0.987185]]2H>? Vݿ @_???? ÿ?i2WC>I2a];0Y^HBy^HdfAiMb@Mb@Mb@ 9~jt?~jtx?p= ףY?y;zA )1AYzAbDVVDZ5y=%;=ٔA7;Q->9Y=8FyEϖE>Q 5A5F?Q 9A5[)*BY?Q E:yj>Q I@DI:i/: A5yԟBɮAZ!R)b)j)"))ړ19ڒ9’99EoL@颁ɢ8\) >+>i)ʼ顑iAMԽɧ駥 Zi>ۗ;I> >I IqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069219E EvE,E"E:*E:VEg4ZEa@a@a@a@i x, ?A 2]|>2)>2 ٱ2΄ >AHRS rotation from veh to nav: [[0.883399,-0.457351,-0.102157],[0.467394,0.875663,0.121479],[0.033897,-0.155062,0.987323]]2HD?>Eݿ&@?@n?8?Z?ÿ&?i2]|>I2E*^;0YBHByFHHHbDNEVDNp5yV =%V\=ٔZx;Q-Z>9XYX=Z8FyZE^E^>`Q 5fA5b;?Q 9fA5bX)bBYdyj>Q Ij@bDIb:ib-:bA#A5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968ypɮvAtZ R b j " ړڒ’`L@AɢE9)I M8>iI)MzɼIIiMBUNUzսɧ]۾]i]4>]Iq;YI]4> ]4>IaII O=Bg>BBHBHBB =BBB:;BAEBQBQBQBUÎ =BUÎ =CU/5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909! E  E E +E "E :*E T:VE [4ZE BE X;a 2E Y;a JE Ϩ;a :E Ш;a% ~, ?Af>f8Y>f4ٱfS rAHRS rotation from veh to nav: [[0.884188,-0.456253,-0.100222],[0.466015,0.876357,0.121773],[0.032271,-0.154375,0.987485]]fH EK?`?3ݿ)/? ?,? ܅?ÿz?if>If^;dxY5HBy5HiMb@Mb@Mb@ 9K?V-QY^?y7A A)Y\AbDMVDG5y %6=ٔkm;Q- >9IYI=M8FyMEUcEU>YQ 5eA5]b?Q 9eA5]U)]BYe?Q Em:ym#>Q Iu@]DI]@;i]i@;]?'A5y֟Bɮ AϭEZRbj"ړڒ’L@AɢE`)A E(>iI)M5ǼIIiMwOU/սɧUUiU}?].;YI]}? ]}?IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000AzAdA!IaIyO>Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019197ʅ,K?A2ć>2q>2Jٱ2] :AHRS rotation from veh to nav: [[0.885048,-0.454905,-0.098752],[0.464473,0.877082,0.122442],[0.030915,-0.154235,0.987550]]2HOR?)ݿG??]X?@ ?ÿ`?i2ć>I2p^;2CYNHByRHV=V=bDZ^VDZ6yb/<%bb=ٔfu;Q-f>9dYd=f8FyjEjEj>lQ 5rA5n?Q 9rA5nS)nBYtyv<>Q Iv@nDIn:inX:nW*A5yxɮzAxZRbYjY"aaړaaڒa’aim@cM@颱ɢq@) ,>i)Ƽi|\POսɧ(}툼ir?;Ir? r?IE} E}zE}(Ey"E}%:*E} :VE}c44ZEya@a@a@a@IIO=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270889ԱB e>B B HB HBB =B B B ;B AE ,$2?A2X>2|@>2d|ٱ2x :AHRS rotation from veh to nav: [[0.886166,-0.453074,-0.097129],[0.462430,0.878057,0.123182],[0.029474,-0.154074,0.987620]]2H x[?+ܿ@jݸt? ? Ԉ?n.?@ÿ@?i2X>I2?^;2CY^HBybH f49tYt=v8FyvEzEz>|Q 5A5~?Q 9A5~P)~BY y  >Q I @~DI~:i~:~-A5y؟BɮAZ1R1b1j9"99ړ9AڒA’AAE:M@qɢu/)q uB>iqԹ)żi4UQmսɧ6#iiJ?{;IJ? J?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523151IIO=bE)jE-mF4rE-/E EE)E"E:*EVEFA4ZEBE;a2E;aJEv;a:Ev;a- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7748889 ܒ,.L?A2>2B>2ٱ2 ; :AHRS rotation from veh to nav: [[0.887105,-0.451735,-0.094763],[0.460738,0.878955,0.123124],[0.027673,-0.152884,0.987857]]2H)c?;ܿ@_B`|?e ??`GV?ÿ?i2>I2P_;2CYfHByfHiuMb@Mb@Mb@qqqq q9u/$?S㥛y&1?Yu?yu/ݼu`e=ٔA;Q->9Y=8FyEE>Q 5A5/?Q 9A5M)!BY?Q E:y>Q I@DIb;ig;1A5yBɮ A ƭEZRbj"ړڒ’tM@ɢn=) @>i) !ļ  i 2KRňսɧHrAiW;?,;IW;? W;?IA5>A5>AA}؟Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027364IIO>>iE E{E&E"E%:*E5":VE4ZEa@a@a@a@ԙ ,e?A2>2R>2q9׼ٱ2 :AHRS rotation from veh to nav: [[0.887981,-0.450329,-0.093242],[0.459130,0.879699,0.123810],[0.026269,-0.152751,0.987916]]2HVj?0ܿ޷ab?&??@c?Vÿ?i2>I2'_;2CYBHByBHDDbDJGVDJ5yV%V\=ٔV;x;Q-Z>9Z"?YZ"?=Z8FyZE^⢻E^>`Q 5fA5bA?Q 9fA5boK)b-BYhyj>Q Ij@bDIb:ibj:b4A5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279052yvBɮv&AtZRbj"ړڒ’`ѣM@ CEIGYqy>9YA颩ɢQs)) E>>i)¼iS սɧEGjit?;It? t?IBmc>BiBiBiBm =BiBiBm;Bm7AEAE.AIIIYOm5>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530887E  E yE )E "E C:*E :VE FA4ZE BE 5;a 2E 7;a JE r;a :E r;a  4,?A>>+ȼٱ2 -AHRS rotation from veh to nav: [[0.888670,-0.449527,-0.090507],[0.457897,0.880467,0.122920],[0.024432,-0.150678,0.988281]]H@o?`ܿ`o+-N? ,?@w?? hIÿ`?i>I7_;CY}HBy}HiMb@Mb@Mb@ 9ʡE?{Gz/$?Y?y#,=A A)GAY\AAEBAbDM1VDM5y]6v<%]2=ٔ];Q-]>9e ?Ye ?=e8FyeEe1IEm>qQ 5}A5uVV?Q 9}A5uH)uIBY}?Q E}:y}>Q I}@uDIu:iu:u8A5yBɮAZRbj"ړڒ’M@ɢ.) YE>i)HiS6սɧiiEO?=;IEO? EO?I BDAT read: Rx Time:21:18:48.6702 TRx dataTimestamp_ set to:1761513530.124454checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783858A}؟AIIO<>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035325/,⏙?A6B]>6g >6}ٱ6 >AHRS rotation from veh to nav: [[0.889201,-0.448791,-0.088928],[0.456941,0.880894,0.123415],[0.022948,-0.150375,0.988363]]6H@Ut?ܿö>?G0??`??ÿ?i6B]>I6A!`;6CYFHByFHbD^0VD^5yeWH=%e\=ٔm;Q-u>9"?Y"?=8FyE<E>Q 5%A5,h?Q 9-A5?E)_BEe Ee}EaEa"Ee:*Eek&:VEaZEaam@am@am@am@Y1yu>Q I@DIia)eG4aaieќTսɧ.ij?;Ij? j?IA)zA-gAAYIaIyyOZ>-DAT read: 21:18:48.6702 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 442,-0.31,-1.219,-2.892,-1.375,-1.371, PHS= 0.254,-1.476,-0.049, RAW= 140.6, 15.7, CAL= 139.7, 16.8, ROT= 10.3, -16.8 5Ygot valid direction response: 21:18:48.6702 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 442,-0.31,-1.219,-2.892,-1.375,-1.371, PHS= 0.254,-1.476,-0.049, RAW= 140.6, 15.7, CAL= 139.7, 16.8, ROT= 10.3, -16.8 =PDAT read: Bearing 194.1, 8.6 (Local) E~Local bearing/azimuth received: Bearing 194.1, 8.6 (Local) MDAT read: Range 11 to 50 : 615.0 m (Round-trip 820.1 ms) speed 0.6 m/s UR#Rx 1: Read range and direction messages.\direction in FSK: [0.941892,0.171171,0.289032]Fpublishing direction and range infoy!c#?ܖ1?\.?YD )QIJ >i9H= @K> @ Q >)X8>IQ 4y?[&?񲯰M? >),IX8>iQ ԩ BE a>BA BE +HBE HBBE =BA BA BE ;BE 5AEC,]n?A2O>2t[>2)%ٱ2ʟ :AHRS rotation from veh to nav: [[0.889839,-0.447722,-0.087932],[0.455769,0.881269,0.125057],[0.021500,-0.151357,0.988245]]2Hy?|ܿூ@P+?[3??5?_ÿ?i2O>I2&`;2C\YbHBybHf=f=bDj(VDj5y <% P=ٔ q;Q->9Y=8FyE(cE>!Q 5-A5%y?Q 9-A5%|B)%uBY)y5k>Q I5@%DI% :i%:%?A5y=Bɮ=A=ǭEJ)R-f-?A-D-D-Oq2?-0at@Hk5Z@ @W f@-!c#?ܖ1?\.?-X8>-Q —-uuG,|@@L̖w@k5ne@-?/4?ٔv&?j-Cr-eCZ-I6ݐ?b-{{z-]C-I6ݐ?-{{-]Cڗ-D-o2?ZRbj"ړ!!ڒ!’!%8@-?iYIY颙ɢ8) b>i)Hо顡iQUpսɧ>駵~i<?';I<? <?IԩIIO (>Em EiEm*Ei"EmU:*EiVEm(N4ZEiBEm;au2Em;auJEmŀ;au:Emƀ;a} +,I?A2L_>2q >2Fҧٱ2| >AHRS rotation from veh to nav: [[0.890132,-0.447340,-0.086903],[0.455242,0.881486,0.125450],[0.020485,-0.151229,0.988287]]2H`{?`6ܿ@??"?!5???w[ÿ ?i2L_>I2P`;2CpY~HBy~)HiMb@Mb@Mb@ 9MbX9?Zd;O?:v?Y!?yj<T= AA )Y p<bDVD=5yL0=%==ٔ?;Q->9Y=8FyEE>Q 5A5?Q 9A5>)BYr"?Q E :y n?Q I @DI<:i:^CA5yɮA1VAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalq'VEntering Terminal tracking update period 2.000000 s sec at 615.000000 m (mode 0.000000 count ).qZRbj"ړ)q5#N5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange5GN5rTransitioning to terminal guidance at range 615.000000 m 5=9ڒ9’99E?ɢT) "u>i)iV -5սɧ-J-W]"i-{?-};)I5{? 5{?I11DyzD}?AE EE+E"E%:*E*:VE [4ZEa@a@a@a@^Aጹa I I O >T,#?A20>2U>2lٱ2U :AHRS rotation from veh to nav: [[0.890469,-0.446882,-0.085797],[0.454642,0.881639,0.126540],[0.019093,-0.151687,0.988244]]2H~?ܿ@?c6?z2?@4?}jÿ ?i20>I2`;0YB IByBBHbDJVDJ5yR`=%Va=ٔVz;Q-V>9TYX=Z8FyZEZEZ>`Q 5fA5bm?Q 9fA5b;)bBYhyjC?Q Ij@bDIb:ibg:bFA59yEBɮEAA}@}}GSB*** querying acoustic contact ***:BZRbj"ړʓ@'NCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq#NAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeڒ’? ɢ Oe) >i)5n11i=V=սɧEѼE[ڧiE?Ev;AIE? E?II^AU3IB^>B?CBDHB IBB =BBDB;BHAEI1OE>iԑuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. E  E }E E "E :*E k&:VE ZE BE k;a 2E l;a JE a :E a A,f?Aeρ>e}>eigٱe uAHRS rotation from veh to nav: [[0.890676,-0.446706,-0.084554],[0.454292,0.881730,0.127165],[0.017749,-0.151675,0.988271]]eH@k?`֖ܿW? "7?F?,?jÿ?ieρ>IeC$a;eCYIByAHԑAiMb@Mb@Mb@ 9%C?S㥫?kt?YZ$?y/]= 0=A A);AYAbD-VD-5y=p%=3=ٔ=@;Q-=>9AYA=E8FyEEM(iEM>QQ 5]A5UT?Q 9]A5U7)UBY]L%?Q E]:y]?Q Ie@UDIU]:iU:UJA5ymBɮmAmȭE@11T~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1CPAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancecPAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1QAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlq'QInitialize.CQAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlcQInitialize.1q1q:h712h7CQAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1qҔڔfBP$Terminal guidance.1QInitialize.QdInitializing internal variables to default values.QZTransitioning guidance mode to: UNINITIALIZEDrQDRollout timeout set to 300.00 sec.QVIIR filter is initialized with decay: 0.00.QbTransitioning guidance mode to: TERMINAL_GUIDANCErE?EMEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceEMEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1MNMUninitialize.qMMNM>Uninitialize WaypointComponent.IڒI’IQU4?额IBig) `*DAT read: user:154> BDAT read: Tx time:21:18:51.2459 $Ping request sent. } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797 g,?A2ʁ>2w>2Fٱ2 :AHRS rotation from veh to nav: [[0.890717,-0.446804,-0.083606],[0.454269,0.881534,0.128596],[0.016245,-0.152522,0.988167]]2H ?@pܿ`;g?5?u?x?مÿ`?i2ʁ>I2a;2CYBIByB?HHJ@AbDJVDJ5yR"%Vi=ٔV>;Q-V>9XYX=Z8FyZEZHEZ>`Q 5fA5br?Q 9fA5b4)bBYdyf?Q If@b DIbB:ib:bMA5yhɮnAlt1zVzrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1zVzAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalQ  addTargetRange:: Added new target pos. range: 615.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 Q- Added new target pos. range: 612.426270 m, bearing: 39.937532 deg, lat: 36.779008 deg, lon: -121.859152 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 -Q5FNOT Ignoring new targets: 612.43 m.99QM ProNav pure pursuit: ac range: 612.426270 m, nav range: 586.916260 m, bearing: 39.950813 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 27.023976 deg, new cmd heading: 39.950813 deg. QMHeadingCmd: 0.697273 target range: 612.426270 and range: 615.00 m.RU2?JUbU;ZUL?BQ:Q2QҔYڔYaڒa’aaee?ɢͼ)7 i)hiD}Vi%J ?!)%L? -(kpHeading = 0.800000I-; -(kiHeading = 0.004000-BDI-2?I5AD5=D5%=E= E=E='E9"E=:*E=a9:VE='4ZE9aE@aM@aM@aM@^Ayb]AzAAA!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812A5IAIQO]v>IBA<B [>B B ]HB IBB =B B B ;B -AEB@CB?CBBɏ =Bɏ =C'5y ,4?A2΁>2{>2Bzٱ2  :AHRS rotation from veh to nav: [[0.890717,-0.447123,-0.081880],[0.454302,0.881700,0.127335],[0.015259,-0.150618,0.988474]]2H?ܿJ? 6?`L?X@? rGÿ?i2΁>I2a;2CYB IByBFHbDJVDJ5yRu<%RJ=ٔV ;Q-V>9VYV=Z8FyXZʛ8EZ>\Q 5bA5^?Q 9bA5^0)^BYdyf?Q If@^)DI^:i^:^!QA5yjBɮjAh9Q]FNOT Ignoring new targets: 612.43 m.e9aQm ProNav pure pursuit: ac range: 612.426270 m, nav range: 586.658813 m, bearing: 39.954168 deg, approach rate: -0.626927 m/s, LOS rate: nan deg/s, cmd heading: 39.950815 deg, new cmd heading: 39.954168 deg. QuHeadingCmd: 0.697332 target range: 612.426270 and range: 615.00 m.RuV2?JybyZyBy:2Ҕڔڒ’ @=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944Q L%?L%?t۫="? IBɢ󅹼) t;i)iXVi?IV2?I!EM EM|EIEI"EMU:*EMP$:VEIZEIBEM;aU2EM;aUJEM};a]:EM};a]ԉ^A9IIO%>ԩ > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007082 }y,ɒN?ARד>R@>RxٱR8 bAHRS rotation from veh to nav: [[0.890034,-0.449135,-0.078214],[0.455642,0.882060,0.119834],[0.015168,-0.142294,0.989708]]RH`({?ܿ <)?@9?v?%?`6¿?iRד>IR;b;RߐCYf0IByjsHn=np=~PExceeded connect timeout, disconnecting.ieMb@Mb@Mb@aaaa a9eˡE?bX9ȶ?9Y=8Fy%Z;E%>)Q 55A5-?Q 95A5-m,)-BY5)?Q E5:y5J?Q I=@-2DI- ;i-i ;-UA5yEBɮEAEEiQmFNOT Ignoring new targets: 612.43 m.m48qQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 586.361389 m, bearing: 39.956698 deg, approach rate: -0.671417 m/s, LOS rate: nan deg/s, cmd heading: 39.954168 deg, new cmd heading: 39.956698 deg. QHeadingCmd: 0.697376 target range: 612.426270 and range: 615.00 m.R;2?JbZB:2Ҕڔڒ’z@Ա )?)?j >"OJ?ɢ) p=i)UiUi'$?W I;2?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588095 =4Initializing EZServoServo.EU EUEU*EQ"EU:*EU0:VEU(N4ZEQa]@a]@ae@ae@ 8Initializing DockingStepper.^A WgI I O >1 ,]kh?A>>>G>> oٱ>/ FAHRS rotation from veh to nav: [[0.889126,-0.451605,-0.074220],[0.457429,0.882089,0.112590],[0.014622,-0.134057,0.990866]]>Hs?ܿ F?:? Ҽ?`;?(,?i>>I>ya;>CYN=IByNHRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893 Z;Zp;bD^VD^?5yf=%fb=ٔf:Q-j>9hYh=j9Fyhn;En>pQ 5vA5r?Q 9vA5r()rBYtyv?Q Iz@r:DIr:ir$:r;XA5y~Bɮ~A|GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 612.43 m.-8)Q= ProNav pure pursuit: ac range: 612.426270 m, nav range: 586.122498 m, bearing: 39.958687 deg, approach rate: -0.658955 m/s, LOS rate: nan deg/s, cmd heading: 39.956699 deg, new cmd heading: 39.958687 deg. QEHeadingCmd: 0.697411 target range: 612.426270 and range: 615.00 m.RE2?JAbAZABI:I2IҔIڔQQڒQ’QQ]Ga@ qqq"u??颍 IBɢ) K=i)_ 顑isUi.?)=*I2?I"5BUW>BU>CBUHBU=IBBU =BQBUDBU;BU2AE^AAIIO=9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762756i bEFA4jE?4rEʝ/E}  E} E} )Ey "E} C:*E} g:VE} FA4ZEy BE} 5;a 2E} 6;a JE} 1;a :E} 1;a ,y\?A,Ä́>ez> ]ٱ AHRS rotation from veh to nav: [[0.888067,-0.454422,-0.069547],[0.459515,0.881909,0.105271],[0.013496,-0.125445,0.992009]]H` k?Aݿͱ h?8? ?@䣋??iÄ́>I`;Y@IByHi5Mb@Mb@Mb@1111 195Gz?EԸ?y&1|Y5p?y5=5`5 A59A 5A)5^A1Y5AbDMVDM5y];%]3=ٔe|!;Q-e>9iYi=m9Fyim;Eu>qQ 5}A5up?Q 9}A5ub$)uBYe?Q E:y!?Q I@uCDIu;iuL ;u9\A5yɮA1Q5FNOT Ignoring new targets: 612.43 m.=89Q} ProNav pure pursuit: ac range: 612.426270 m, nav range: 585.838623 m, bearing: 39.960528 deg, approach rate: -0.600612 m/s, LOS rate: nan deg/s, cmd heading: 39.958686 deg, new cmd heading: 39.960528 deg. Q}HeadingCmd: 0.697443 target range: 612.426270 and range: 615.00 m.ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015023R}2?JbZB:2Ҕڔڒ’I @ %e?%e?%z0 >"%!?5 IBɢ5퟼)1 5S=i9)=9yi}3Ui]4?Y7I2?IԱnManaging dock network, ignoring radio surface power off ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816^AM =%IY Ii Ou >,c~?AHNڅ>N2>NÍFٱN VAHRS rotation from veh to nav: [[0.886533,-0.458248,-0.063776],[0.462506,0.881380,0.096219],[0.012118,-0.114798,0.993315]]NH@{^?@Sݿ@S@? C4?͡?ш? ec`IN`;NCY^CIBy^HddbDj(VDj5yr <%rc=ٔr{;Q-r>9tYt=v9Fytz$<Ez>|Q 5A5~?Q 9A5~ )~BYy"?Q I@~JDI~:i~ :~^_A5yBɮE9Q=FNOT Ignoring new targets: 612.43 m.Eޑ8AQU ProNav pure pursuit: ac range: 612.426270 m, nav range: 585.615173 m, bearing: 39.961896 deg, approach rate: -0.650333 m/s, LOS rate: nan deg/s, cmd heading: 39.960527 deg, new cmd heading: 39.961896 deg. Q]HeadingCmd: 0.697467 target range: 612.426270 and range: 615.00 m.R]-2?JYbYZYBY:Y2aҔaڔaaڒi’iiu@ ""?额 IBɢ) \=i)tV顩iTiU4?$;[ 3I-2?IEu EuEqEq"Eu:*Eu,:VEqZEqa@a@a@a@^A?IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519240G!9m9iYmABT>BBHBGIBB =B;DBB;B*AE ,-??A2%>2K>23ٱ2Dɽ :AHRS rotation from veh to nav: [[0.883472,-0.465171,-0.055613],[0.468355,0.879767,0.081570],[0.010983,-0.098111,0.995115]]2HgE?`[ݿPy`? '??~?@ ?i2%>I2F`;2CYNVIByRHV@AVAAbDZ2VDZ5yv<=%vK=ٔv8;Q-v>9xYx=z9Fyxz.<E~>|aQ 5mA5e/?Q 9mA5e)eBYiym[$?Q Im@eSDIe:ieR:ebA5yyɮ}AyQFNOT Ignoring new targets: 612.43 m.w8Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 585.356812 m, bearing: 39.963301 deg, approach rate: -0.621732 m/s, LOS rate: nan deg/s, cmd heading: 39.961897 deg, new cmd heading: 39.963301 deg. QHeadingCmd: 0.697491 target range: 612.426270 and range: 615.00 m.RȎ2?JbZB:2Ҕڔڒ’@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981"[$? IBɢԑ) =i)ٹiTi%Ȏ2?!%U$I%Ȏ2?I)A^AIIO@>E E|EE"E:*EP$:VEZEBEz;a2E{;aJE};a:E};aY checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022779ԁ ,??A2I>2o>2 ٱ2 :AHRS rotation from veh to nav: [[0.879593,-0.473431,-0.046671],[0.475625,0.877189,0.065732],[0.009820,-0.080015,0.996745]]2H%? L޿ ;姿@p?@?`Ӱ?F?@{`V?i2I>I2`;2CY^LIBy^HYi]Mb@Mb@Mb@YYYY Y9](\?RQ?V-Y]z?y]=]]^A]A ] A)]/AYY]AbDu@VDuJ5y%A=ٔ3;Q->9Y=9Fy$<E>Q 5A5H??Q 9A5)BY?Q E:yO'?Q I@ZDIe;i;fA5yBɮAQFNOT Ignoring new targets: 612.43 m.-98Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 585.114990 m, bearing: 39.964343 deg, approach rate: -0.586778 m/s, LOS rate: nan deg/s, cmd heading: 39.963300 deg, new cmd heading: 39.964343 deg. QHeadingCmd: 0.697509 target range: 612.426270 and range: 615.00 m.R2?JbZB:2Ҕ ڔ  ڒ ’ @ 5?5?5z?&>"53O'?IBɢ,) Tu=i)ni+Ti2?U;AI2?I@=@=^Ax&IQIaOm>ԁiIA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275102ԱE E{E&E"E:*E5":VE4ZEa@a@a@a@ ,0?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5269946>6?6ٱ6 BAHRS rotation from veh to nav: [[0.874459,-0.483588,-0.038261],[0.485019,0.873026,0.050813],[0.008830,-0.062991,0.997975]]6H ? ޿` ? ?"?`?. @i?i6>I6Ha;6CY^UIBybHf=f=bDj.VDj&5yr<%rU=ٔv7);Q-v>9tYt=v9Fytz<Ez>|Q 5A5~2N?Q 9A5~K)~BYy P*?Q I @~bDI~y:i~ :~iA5yɮAGSMB*** querying acoustic contact ***:IBI9QEFNOT Ignoring new targets: 612.43 m.M7IB}S>B}=CB}HB}QIBByByByB};B}AEQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 584.890137 m, bearing: 39.965054 deg, approach rate: -0.541445 m/s, LOS rate: nan deg/s, cmd heading: 39.964342 deg, new cmd heading: 39.965054 deg. QHeadingCmd: 0.697522 target range: 612.426270 and range: 615.00 m.Rɐ2?JbZB:2Ҕڔڒ’ -@܅@ "P*?颥IBɢړ) =i)Li!Siɐ2?#`;fIɐ2?IBDAT read: Rx Time:21:18:54.4712 TRx dataTimestamp_ set to:1761513535.920506%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779805)^A 7I I O >9 E  E E )E "E :*E 0:VE FA4ZE BE ;a 2E ;a JE ߉;a :E ߉;a ,?A YmRIBymHiMb@Mb@Mb@ 9|?5^?B`"۹?Q롿Y ?y=\AA "A);AY3A 4< <bDFVD5y%%+=ٔ%Q-%>9)Y)=-9Fy)5E5>1Q 5=A55_?Q 9EA55)5BYEp?Q EU:yU.?Q IU@5jDI5x;i5w;5nA5y]Bɮ]Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=4.038937IQMFNOT Ignoring new targets: 612.43 m.Uw7QQe ProNav pure pursuit: ac range: 612.426270 m, nav range: 584.620789 m, bearing: 39.965453 deg, approach rate: -0.569449 m/s, LOS rate: nan deg/s, cmd heading: 39.965052 deg, new cmd heading: 39.965453 deg. QmHeadingCmd: 0.697529 target range: 612.426270 and range: 615.00 m.Rm>2?JibiZiBi:q2qҔqڔqyڒy’yyQ@ p?p?j8>"c.?颽IBɢ@)  ~=i)iuRi>2?A][;e.Ie>2?Iq^AMe *IIO>i DAT read: 21:18:54.4712 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 453,-0.13,-2.006, 2.571,-2.094,-2.402, PHS= 0.498,-1.265, 0.264, RAW= 143.0, 6.1, CAL= 142.6, 6.8, ROT= 7.4, -6.8  Ygot valid direction response: 21:18:54.4712 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 453,-0.13,-2.006, 2.571,-2.094,-2.402, PHS= 0.498,-1.265, 0.264, RAW= 143.0, 6.1, CAL= 142.6, 6.8, ROT= 7.4, -6.8  8DAT read: $Error in header  *Received a bad headerԙ  X#Rx 1: Read direction message, but no range. \direction in FSK: [0.984695,0.127890,0.118404]yY ] ?#^?EO?Y Y Y Y Y )Y I] >i] 롿] +>] @] ^ =] &I@ ] =)] A>I] Y ] J? nW?K? ] \>)] ڽI] A>i]  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse",?AF>F?F'UٱF,K NAHRS rotation from veh to nav: [[0.860427,-0.509134,-0.021157],[0.509524,0.860183,0.021698],[0.007151,-0.029450,0.999541]]FH ?@J@`N??8?J}?@(IF`;FCYfMIByfHbD^VD6yW%b=ٔ;Q->9Y=9Fy=E>Q 5A5l?Q 9A5R )BYy6?Q I@qDIN:ip:HqA5y gBɮ A EQE} E}~E}+Ey"E}U:*E}(:VE} [4ZEya@a@a@a@QFNOT Ignoring new targets: 612.43 m.܃Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 584.417175 m, bearing: 39.965145 deg, approach rate: -0.594634 m/s, LOS rate: nan deg/s, cmd heading: 39.965452 deg, new cmd heading: 39.965145 deg. QHeadingCmd: 0.697523 target range: 612.426270 and range: 615.00 m.R2?JbZB:2Ҕڔڒ’7@ iii"mK6?}IBɢ}薼) c=i)G,顁ipsRi2?ל;I2?I@jA@jA^AE}2AM4<AM<ԁIIOE>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBIBIBMHBMGIBBIBIBIBMi;BM@Eԩ = ,7?A2>2) ?2ɻٱ2~; :AHRS rotation from veh to nav: [[0.851765,-0.523804,-0.011237],[0.523888,0.851762,0.006524],[0.006154,-0.011443,0.999916]]2HA?J?@A?fz?@4y?oN?i2>I2x`;2CYNFIByRHbDZWVDZ5yv%v[=ٔvU/;Q-v>9xYx=z9FyxzX8=E~>Q 5 A5y?Q 9 A5 )BY y !;?Q I @wDI:i:tA5yhBɮAQFNOT Ignoring new targets: 612.43 m.;Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 584.207214 m, bearing: 39.964457 deg, approach rate: -0.550982 m/s, LOS rate: nan deg/s, cmd heading: 39.965144 deg, new cmd heading: 39.964457 deg. QHeadingCmd: 0.697511 target range: 612.426270 and range: 615.00 m.R2?JbZB:2Ҕڔڒ’L6@ iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse"!;?5IBɢ5k)1 5D@=i9)=巼99i=QiE2?Eh{;EIE2?IIE EE*E"E:*EVE(N4ZEBE&;a2E';aJE;a:E;a^AMIIO>)  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ ',jQ?A2KV>2?2ٱ2Br; >AHRS rotation from veh to nav: [[0.842758,-0.538286,-0.002616],[0.538264,0.842754,-0.006053],[0.005463,0.003693,0.999978]]2H?9meu9?@?x_v?@@n??i2KV>I29AYA=E9FyAM}'=EM>IQ 5]A5M|?Q 9]A5M)MBY]?Q E]:y]%>?Q Ie@M~DIMT ;iMz ;M)xA5yiɮm>Ai Q5FNOT Ignoring new targets: 612.43 m.5*1QE ProNav pure pursuit: ac range: 612.426270 m, nav range: 583.989746 m, bearing: 39.963492 deg, approach rate: -0.524755 m/s, LOS rate: nan deg/s, cmd heading: 39.964458 deg, new cmd heading: 39.963492 deg. QMHeadingCmd: 0.697495 target range: 612.426270 and range: 615.00 m.RM2?JIbIZiBi:q2qҔqڔqyڒy’yy/@ ??i2>"%>?)mIBɢu֩)q uHDzD@AE EE-E"E%:*E.:VEt4ZEa@a@a@a@ԁ N,;k?A02ڨ>2?2.ٱ2 Z< >AHRS rotation from veh to nav: [[0.833902,-0.551902,0.003523],[0.551894,0.833803,-0.013627],[0.004583,0.013308,0.999901]]2HR?-@8l?@??\苿@r?A?@0?i2ڨ>I2Q`;2CBT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseYb@IBybHbDnHVDn!5yz=%zO=ٔ~;Q-~>9Y=9Fy  5(=E >BR>BBvHB3IBBBBBq;B@EB=CB>CBB =B =CF4IQ 5UA5Mt?Q 9UA5M)MBYqyuoB?Q I}@MDIM;iM;M{A5yjBɮ(AEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 612.43 m.WnQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 583.761658 m, bearing: 39.962102 deg, approach rate: -0.534353 m/s, LOS rate: nan deg/s, cmd heading: 39.963491 deg, new cmd heading: 39.962102 deg. QHeadingCmd: 0.697470 target range: 612.426270 and range: 615.00 m.Ri2?JbZB:2 Ҕ ڔ 1ڒ1’19=@ yyy"}oB?ԉ额IBɢ ) =i)w顡iB#Pii2?~_`;&Ii2?Ia@a @a@m05@i^A= AEhAzAEgAԹ5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseA?AIIO> E  E E (E "E U:*E a9:VE c44ZE BE ;a 2E ;a JE &;a :E ';a :!,'?A\{>?vٱi< AHRS rotation from veh to nav: [[0.825374,-0.564555,0.006033],[0.564574,0.825237,-0.015492],[0.003768,0.016193,0.999862]]Hvi?x?@?Wh?Ln?Ք? ?i{>Ia;CYm3IByuvHiMb@Mb@Mb@ 9ʡE?MbX9?{GzY->yʡ=ףSA/A ;A);AYAbD dVD I6yOм%,=ٔ%:Q-%>9%`>Y-`>=-9Fy-E-=E->1Q 5=A55"?Q 9=A55)5}BYE>Q EE:yED?Q IE@5DI5 ',K?A,2>2?2@ٱ2F< >AHRS rotation from veh to nav: [[0.817566,-0.575817,0.004581],[0.575827,0.817489,-0.011612],[0.002942,0.012131,0.999922]]2H@)?mr?`-m?`(?LJ`\h?'؈?\?i2>I2,a;2CYF IByF^H j;jp;bDnYVDn6yvuZ%ve=ٔz;Q-z>9z>Y~>=~9Fy~ E~e=E~>Q 5 A5a?Q 9 A5)wBYyG?Q I@DI;i;A5yɮgA!AQEFNOT Ignoring new targets: 612.43 m.MIQ] ProNav pure pursuit: ac range: 612.426270 m, nav range: 583.382874 m, bearing: 39.959322 deg, approach rate: -0.489246 m/s, LOS rate: nan deg/s, cmd heading: 39.960698 deg, new cmd heading: 39.959322 deg. QeHeadingCmd: 0.697422 target range: 612.426270 and range: 615.00 m.Re;2?JabaZaBa:a2iҔiڔiqڒq’qq}@颥IBɢ ﶼ) :i)JN顩D4=D4=E EE-E"E:*E3:VEt4ZEa@a@a@a@itPNi;2?!M;}I;2?Ii@i @q@uP5@qԉ^A%o=ڽT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAutZAIIԱAA@ABP>BB]HBIBBBBB;B&AEO%o> -,W?A28>2) ?2xٱ2; :AHRS rotation from veh to nav: [[0.810589,-0.585615,0.000994],[0.585611,0.810576,-0.005141],[0.002204,0.004749,0.999986]]2H X? [JP?@T?@I2,a;2CYBIByB\H`bDJVVDJZ5yf%jM=ٔj-:Q-j>9j>Yn>=n9Fyn En<Er>pQ 5vA5r?Q 9zA5r)roBYxyzJ?Q Iz@rDIr:irj:r^A5ykBɮrA!Q-FNOT Ignoring new targets: 612.43 m.-)ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 583.192322 m, bearing: 39.957560 deg, approach rate: -0.477437 m/s, LOS rate: nan deg/s, cmd heading: 39.959322 deg, new cmd heading: 39.957560 deg. QHeadingCmd: 0.697391 target range: 612.426270 and range: 615.00 m.R72?JbZB:2 Ҕ ڔ  ڒ’1=B @颅"IBɢL߹) `i)V顉i'MiM72?UE;UXIU72?IQbEQjEUKJ4rEU(90E EE)E"EƱ:*E.:VEFA4ZEBEH;a2EJ;aJE ;a:E ;a@ @@0@^AA=A>!A eAII)O=>=%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA u4,M1?A2">2"?2y_кٱ2$ :AHRS rotation from veh to nav: [[0.804271,-0.594256,-0.002773],[0.594260,0.804272,0.001077],[0.001590,-0.002514,0.999996]]2H?`$@yf-?@?Q?` Z?@3d?i2">I2a;2CYvIByvIHxzAiuMb@Mb@Mb@qqqq q9uˡE?x&?yu7=utqq uGA)uGAqYuAbDXVD5y %>=ٔ:Q->9^>Y^>=9Fy E<E>Q 5A5|?Q 9A5j)kBY>Q E:y{H?Q I@DI:i:!A5yɮAQFNOT Ignoring new targets: 612.43 m.Q  ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.996033 m, bearing: 39.955902 deg, approach rate: -0.456129 m/s, LOS rate: nan deg/s, cmd heading: 39.957559 deg, new cmd heading: 39.955902 deg. QHeadingCmd: 0.697362 target range: 612.426270 and range: 615.00 m.RR2?JbZB:2Ҕ!ڔ!!ڒ!’!)- 2!@%IBɢ@ļ) i){iKiR2??;6IR2?IUT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseY9@ @@k0@qE EE(E"E*EA:VEc44ZEa@a@a@a@^A" ԡ A oAI I % IG9 OM >Q Ee9 Y RA T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:,?ABFM>BDBF7HBFIBBF =BDBFDBF͊;BFVAE-!>-6%?-gٱ-"y7 ]AHRS rotation from veh to nav: [[0.798880,-0.601444,-0.007440],[0.601490,0.798836,0.008416],[0.000882,-0.011198,0.999937]]-Hl?`?%y~g???AI-`;-CyY IByEHAAbDZVD"6y%E=ٔ:Q->99>Y9>=9FyE <E> Q 5 A5 ?Q 9A5 ) gBYyJ?Q I@ DI  ;i 2 ; A5y%DBɮ%A%EGS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 612.43 m.UvQQe ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.806824 m, bearing: 39.954138 deg, approach rate: -0.455439 m/s, LOS rate: nan deg/s, cmd heading: 39.955903 deg, new cmd heading: 39.954138 deg. QmHeadingCmd: 0.697331 target range: 612.426270 and range: 615.00 m.RmM2?JibiZiBi:q2qҔqڔqyڒy’yy@X"@)IBɢǼ) xi)­iJiM2?9;6IM2?I9@ @@5@Ա^Ae{]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseAuAIIO>E  E E )E "E 7:*E 0:VE FA4ZE BE ;a 2E ;a JE ߉;a :E ߉;a A, ?A])>]M'?]ٱ] AHRS rotation from veh to nav: [[0.793943,-0.607856,-0.012866],[0.607992,0.793768,0.016678],[0.000075,-0.021064,0.999778]]]Hg?sYt?f???Α.?i])>I]L`;]CYIBySHieMb@Mb@Mb@aaaa a9eK7A`?Q?~jtxYe>yeu=eĻe;AeSA e;A)aaYabD}HVD}!5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey'<%:=ٔ:Q->9>Y>=9FyE%<E%>1Q 5=A55?Q 9EA55)5dBYU>Q EU:yUH?Q IU@5DI5;i5;5A5ymEBɮuAqQFNOT Ignoring new targets: 612.43 m.5Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.602539 m, bearing: 39.952410 deg, approach rate: -0.455758 m/s, LOS rate: nan deg/s, cmd heading: 39.954138 deg, new cmd heading: 39.952410 deg. QHeadingCmd: 0.697301 target range: 612.426270 and range: 615.00 m.RS2?JbZABA:A2AҔIڔIIڒI’QQUF#@颽-IBɢKü) hi)׷i8@IiS2?@4;y]IS2?I9@ @@1@)e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse^A B4A zA hAY A AI I! O5 >~H,#?A>6n>> )?>- :ٱ> JAHRS rotation from veh to nav: [[0.789768,-0.613134,-0.018237],[0.613405,0.789394,0.024333],[-0.000523,-0.030405,0.999538]]>H@E?`˞Ȭ?@B??%Aa" 6?i>6n>I>1`;>CYNHByR&HV>V=E^ E^E^*E\"E^:*E^*5:VE^(N4ZE\ab@ab@ab@ab@bDfSVDf5ynȽ%nb=ٔr;:Q-r>9r@?Yr@?=r9FyrEv<Ev>xQ 5~A5z?Q 9~A5z)zaBY|y6J?Q I@zDIz:iz:zA5y ɮ 1A 1Q5FNOT Ignoring new targets: 612.43 m.=9QM ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.437317 m, bearing: 39.950901 deg, approach rate: -0.468435 m/s, LOS rate: nan deg/s, cmd heading: 39.952409 deg, new cmd heading: 39.950901 deg. QQUHeadingCmd: 0.697275 target range: 612.426270 and range: 615.00 m.RU2?JQbYZYBY:Y2YҔaڔaaڒa’aim#@颕0IBɢݼ) ui)D+顙i Hi2?1;ӼI2?I)@ @@1@ԁ^Al"T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBA<BL>BB+HBHBB =BBB;BBAEA AII)O5q>ԩ )N,h=?A&T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse6k9>6Hs*?6;:ٱ6p BAHRS rotation from veh to nav: [[0.786409,-0.617270,-0.023217],[0.617705,0.785789,0.031250],[-0.001046,-0.038916,0.999242]]6HC*?"Ɨ`=?`.%?@? G#Q죿@?i6k9>I6L`;6CYFHByF2H LLbDRKVDR5yZ<%ZN=ٔZ_:Q-^>9^?Y^?=^9FybEb`<Eb>dQ 5jA5f?Q 9jA5f)f^BYhyjK?Q In@fDIf>:ifW:f;A5ypɮrApiQmFNOT Ignoring new targets: 612.43 m.u$qQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.254150 m, bearing: 39.949131 deg, approach rate: -0.447105 m/s, LOS rate: nan deg/s, cmd heading: 39.950900 deg, new cmd heading: 39.949131 deg. QHeadingCmd: 0.697244 target range: 612.426270 and range: 615.00 m.R~2?JbZB:2ҔڔԹڒ’$@E4IBɢEּ)A E_iA)EIIiM,FiM~2?U-;umI~2?IE EE+E"E:*E3:VE [4ZEBEa A>A 4AI I O >9 U, DW?A2>2_+?2v:ٱ2< :AHRS rotation from veh to nav: [[0.783563,-0.620705,-0.027485],[0.621311,0.782691,0.036979],[-0.001441,-0.046052,0.998938]]2H? $? ??@.W,L?i2>I2`;2CYBHByBHi=Mb@Mb@Mb@9999 99=oʡ?Zd;O?~jtxY=>y=j<=9=A=xA 9)99Y9bDUYVDU6ye%%e@=ٔer:Q-e>9m?Ym?=m9FymEu0<Eu>yQ 5A5}?Q 9A5})}ZBY>>Q E:yD?Q I@}DI}:i}:}A5yGBɮIAQFNOT Ignoring new targets: 612.43 m.dvQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 582.056335 m, bearing: 39.947737 deg, approach rate: -0.477390 m/s, LOS rate: nan deg/s, cmd heading: 39.949131 deg, new cmd heading: 39.947737 deg. QHeadingCmd: 0.697220 target range: 612.426270 and range: 615.00 m.R|2?JbZB:2Ҕڔڒ’%@8IBɢP) `i)iDi-|2?5j*;5啼I5|2?I1mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse9@ @@4@I^A$ӿE EE(E"EU:*EVEc44ZEa @a @a @a @AއAII O>i T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB N>B B HB HBB =B B B x;B AEԹ e[,. q?ART>R,?R:ٱRP_ ZAHRS rotation from veh to nav: [[0.781429,-0.623137,-0.032701],[0.623992,0.780203,0.043783],[-0.001769,-0.054619,0.998506]]RH w?`.?l?j?\@?iRT>IR^`;PYHByH)-AbD5RVD5n5yE`%EL=ٔEW:Q-M>9Md ?YMd ?=M9FyMEUR <EU>Q 5A5$?Q 9A5d)VBYyE?Q I@DI;i:A5yɮQAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 612.43 m.9zQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 581.867249 m, bearing: 39.946343 deg, approach rate: -0.463463 m/s, LOS rate: nan deg/s, cmd heading: 39.947738 deg, new cmd heading: 39.946343 deg. QEHeadingCmd: 0.697195 target range: 612.426270 and range: 615.00 m.REc{2?JIbIZIBI:I2IҔQڔQQڒY’YY]n&@q颍 b,B ?A=>='-?=:ٱ=x! UAHRS rotation from veh to nav: [[0.779836,-0.624754,-0.039206],[0.625981,0.778114,0.051828],[-0.001873,-0.064959,0.997886]]=H`k?`?@P?@/??^@-?i=>I=`;=CYmHByu#Hy}#=}`}A}A }GA)yyY}GA@AbDSVD5y<%&=ٔ:\9Q->9 ?Y ?=9FyE%ۧ;E%>)Q 55A5-?Q 95A5-G)-QBY=>Q E=:y=C?Q I=@-DI-:i-Q:-ˣA5yeIBɮeDAeEQFNOT Ignoring new targets: 612.43 m.TQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 581.641174 m, bearing: 39.944904 deg, approach rate: -0.454731 m/s, LOS rate: nan deg/s, cmd heading: 39.946344 deg, new cmd heading: 39.944904 deg. QHeadingCmd: 0.697170 target range: 612.426270 and range: 615.00 m.Ry2?JbZB:2Ҕڔڒ’!-Gm'@颽AIBɢ6) Pi)Ri@Aiy2?:%;bIy2?I9@ @@p0@! m DAT read: m 2Acoustic response timeoutQ ^A mA zA jAE  E E E "E %:*E |;:VE ZE a @a @a @a @A2AIIO >&j,ٔ?A2G>26-?2]Q;ٱ28 >AHRS rotation from veh to nav: [[0.778628,-0.625860,-0.045136],[0.627483,0.776379,0.059168],[-0.001988,-0.074392,0.997227]]2H`? `@V?@?@RK?*J`^ H?i2G>I2F`;2CYFHByFHbDNPVDN5yV%ZT=ٔZۜ9Q-Z>9^?Y^?=^9Fy^E^;Eb>`Q 5fA5b?Q 9jA5b)bLBYhyjuC?Q Ij@bDIb;iba;b A5ylɮrWApQFNOT Ignoring new targets: 612.43 m.%`)Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 581.465027 m, bearing: 39.943751 deg, approach rate: -0.468749 m/s, LOS rate: nan deg/s, cmd heading: 39.944903 deg, new cmd heading: 39.943751 deg. QHeadingCmd: 0.697150 target range: 612.426270 and range: 615.00 m.Rlx2?JbZB:2Acoustic response timeout2Ҕڔ!!AAAABBBBBBBDB%;B@EBQBU=CBQBU“ =BU“ =CU”5ڒ’@6@(@EIBɢU7)! %i!)%⺼!!i%d?i-lx2?-a#;5II5lx2?I1ԡ59@1 @9@=_0@9^A] zli I  2Acoustic response timeout A ܏AI I O >q,R?A:`>:.?::ٱ: FAHRS rotation from veh to nav: [[0.777702,-0.626551,-0.051124],[0.628631,0.774872,0.066314],[-0.001935,-0.083710,0.996488]]:H? `,???_`n`;?i:`>I:`;:CYJHByNHV=V=bDZOVDZ5yb%bJ=ٔbU Q-b>9f?Yf?=f9FyfEjn;Ej>llQ 5rA5n+?Q 9rA5n)nHBYtyvC?Q Iv@nDInC*;in>+;nA5yxɮzfA|E EE'E"E:*E.:VE'4ZEBE&;a2E';aJE ;a:E ;a1Q=FNOT Ignoring new targets: 612.43 m.Ek`AQM ProNav pure pursuit: ac range: 612.426270 m, nav range: 581.278320 m, bearing: 39.942506 deg, approach rate: -0.459317 m/s, LOS rate: nan deg/s, cmd heading: 39.943752 deg, new cmd heading: 39.942506 deg. QUHeadingCmd: 0.697128 target range: 612.426270 and range: 615.00 m.RUv2?JQbYZYBY:Y2YҔaڔaaڒa’iim(@颕JIBɢ!) .սi)q~顡i?3>iv2?!;[7Iv2?I=9@9 @A@A@I-2Acoustic response timeout9^AUNJNA I I O >a 2w,U.?A2i>2G_.?2:ٱ2ϛ :AHRS rotation from veh to nav: [[0.776853,-0.627178,-0.056093],[0.629679,0.773485,0.072288],[-0.001950,-0.091478,0.995805]]2H?>`T&?c?p?@_`k?i2i>I2$t`;2CB2Acoustic response timeoutYFHByFHiMb@Mb@Mb@ 9i|?5?~jt?MbY>yD=AA )SAYA -p;)bD-_VD-69yE9%EB=ٔM8Q-M>9IYI=M9FyUEUR;EU>YQ 5eA5] 7?Q 9eA5])]BBYm>Q Em:ymG?Q Im@]DI]:i]v:]WA5yu%BɮuAEiQmFNOT Ignoring new targets: 612.43 m.lQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 581.079285 m, bearing: 39.940866 deg, approach rate: -0.448956 m/s, LOS rate: nan deg/s, cmd heading: 39.942506 deg, new cmd heading: 39.940866 deg. QHeadingCmd: 0.697100 target range: 612.426270 and range: 615.00 m.Ru2?JbZB:2Ҕڔڒ’`)@-OIBɢ-)) 5i1)5X11i5uCBBHBHBBBBB;B@E^Am : A AI I O >}},J?AB>Br.?B[;ٱBɽ JAHRS rotation from veh to nav: [[0.776140,-0.627677,-0.060238],[0.630558,0.772278,0.077358],[-0.002035,-0.098024,0.995182]]BH@#? ׮-??ͳ?@v``?iB>IB_3`;BCYbHBybHbDjOVDj5yX<%J=ٔ -\9Q- >9 ??Y ??= 9Fy  Et7;E>QyQ 5A5}B?Q 9A5}N)}<BYyH?Q I@}DI}1:i}:}A5yɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 612.43 m.ɗQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 580.882568 m, bearing: 39.939225 deg, approach rate: -0.497034 m/s, LOS rate: nan deg/s, cmd heading: 39.940866 deg, new cmd heading: 39.939225 deg. QHeadingCmd: 0.697071 target range: 612.426270 and range: 615.00 m.R>s2?Jb Z B : 2 Ҕڔڒ’ m*@ETIBɢE)I MBiI)U8 QQiU:i]>s2?]b;].I]>s2?Ia]2Acoustic response timeout9@ @@@ԁbE]:4jE]?4rE]Ƨ/E EE)E"E:*E,:VEFA4ZEBEa2EaJE;;a:E;;a^A-Ay I I O >  2Acoustic response timeout+c,f?A>>>.?>:ٱ>EԽ JAHRS rotation from veh to nav: [[0.775596,-0.627980,-0.063969],[0.631227,0.771304,0.081506],[-0.001845,-0.103595,0.994618]]>H?`i`F`3??ݴ?P9^1?i>>I>@ `;>ߐCYNHByRHTVAi-Mb@Mb@Mb@)))) )9-bX9?y&1?MbY-E>y-`e=)-A-A -;A)-;A)Y-AbDAVDAyU%UF=ٔU.Q-U>9YYY=]9Fye"Ee;Ee>iQ 5uA5mLN?Q 9uA5m)m6BYu>Q E}:y}K?Q I}@mDIm ;im ;m|A5yɮAiQFNOT Ignoring new targets: 612.43 m.Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 580.689209 m, bearing: 39.937319 deg, approach rate: -0.459621 m/s, LOS rate: nan deg/s, cmd heading: 39.939224 deg, new cmd heading: 39.937319 deg. QHeadingCmd: 0.697038 target range: 612.426270 and range: 615.00 m.Rq2?JbZB:2Ҕڔ  ڒ1’1!1+@-ZIBɢ-y)) -Ki))5)11i5P8i=q2?=s;=X I=q2?IAuBDAT read: Response Not Received u*response not received}TDAT read: user:156>Tx time:21:19:03.6959 ͋,Á1?Ajz>jO/?j~:ٱj+[߽ vAHRS rotation from veh to nav: [[0.773847,-0.629737,-0.067771],[0.633371,0.769145,0.085185],[-0.001518,-0.108844,0.994058]]jH`Z?@&wY@D?֜?ε? X@:ݻR?ijz>Ijk`;jCYzHBy~ HAAbD XVD 5y@<%*=ٔ%2Q-%>9!Y!=%9Fy-$E-C;E->1Q 5=A55[?Q 9=A55G)5/BYAyEL?Q IE@5DI5y:i5:5A5yM'BɮMAQqQuFNOT Ignoring new targets: 612.43 m.}yQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 580.458496 m, bearing: 39.934982 deg, approach rate: -0.508388 m/s, LOS rate: nan deg/s, cmd heading: 39.937318 deg, new cmd heading: 39.934982 deg. QHeadingCmd: 0.696997 target range: 612.426270 and range: 615.00 m.Rdn2?JbZB:2Ҕڔڒ’ 0f,@_IBɢ) i)\⾼i6idn2?s;er˻Iedn2?Ii9@ @@_0@)2Acoustic response timeout^A%pa AU 0AIY Ii E}  E} {E} +Ey "E} :*E} 5":VE} [4ZEy BE} ;a 2E} ;a JE} Cz;a :E} Dz;a O >,%B/?B;e:ٱB2< NAHRS rotation from veh to nav: [[0.772961,-0.630677,-0.069126],[0.634453,0.768175,0.085883],[-0.001064,-0.110242,0.993904]]BH ?@.BpM??r? lQ@8@?iB8>IBɐ`;BCYVHByVHbDrSVDr5y%C=ٔ|Q->9?Y?=9Fy&E%[S;E->e=e;?u2Acoustic response timeoutQ 5A5h?Q 9A54)(BYyL?Q I@DIA;i]$;A5yɮAQFNOT Ignoring new targets: 612.43 m.% !QU ProNav pure pursuit: ac range: 612.426270 m, nav range: 580.243652 m, bearing: 39.932775 deg, approach rate: -0.471060 m/s, LOS rate: nan deg/s, cmd heading: 39.934982 deg, new cmd heading: 39.932775 deg. Q]HeadingCmd: 0.696958 target range: 612.426270 and range: 615.00 m.R]k2?JYbYZYBY:Y2aҔaڔaaڒi’ii`S-@eIBɢ) i) i.4iEk2?MA;MIMk2?IQ9@ @@A5@ԩ  2Acoustic response timeout^A `ԻAU ڗAIa Iq O} >Q,me?A2>2Z0?2*5:ٱ2&_H NAHRS rotation from veh to nav: [[0.771954,-0.631822,-0.069917],[0.635678,0.767084,0.086578],[-0.001070,-0.111279,0.993789]]2H`س?7汿xW? ?`)?Q|?i2>I2v`;2CYRHByVHZ=Z=E EE(E"E:*E*:VEc44ZEa%@a%@a%@a%@iEMb@Mb@Mb@AAAA A9E+?333333?Mb`YEv>yE=EEAEA E/A)E/AAYE3AbD]@VD]J5ym-=%uK=ٔu7Q-u>9}?Y}?=}9Fy}(E};E}>Q 5A5=s?Q 9A5)$BY?Q E:yZV?Q I@DIL ;i ;A5y)BɮAEQFNOT Ignoring new targets: 612.43 m.Q ProNav pure pursuit: ac range: 612.426270 m, nav range: 580.056824 m, bearing: 39.930169 deg, approach rate: -0.511056 m/s, LOS rate: nan deg/s, cmd heading: 39.932776 deg, new cmd heading: 39.930169 deg. QHeadingCmd: 0.696913 target range: 612.426270 and range: 615.00 m.Rh2?JbZB:2Ҕڔڒ’@ .@颥jIBɢ[) ni)i 3ih2?z;}Ih2?Iԩ@ @@@E2Acoustic response timeoutBeN>BaBaBaBe =BaBaBeى;Beb@E^A A I! I1 O= >{,r3?A:>:0?:Q:ٱ: FAHRS rotation from veh to nav: [[0.771214,-0.632649,-0.070595],[0.636575,0.766237,0.087484],[-0.001254,-0.112408,0.993661]]:H ɭ?>^??Se?2T`Ƽ?i:>I:O`;8YJHByJHR2Acoustic response timeout Z9dYh=j9Fyj*EjG;Ej>lpQ 5vA5r~?Q 9vA5rø)r BYtyzV?Q Iz@rDIr:ir:r/A5y|ɮ~A|GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 612.43 m.-)QE ProNav pure pursuit: ac range: 612.426270 m, nav range: 579.866821 m, bearing: 39.927494 deg, approach rate: -0.497006 m/s, LOS rate: nan deg/s, cmd heading: 39.930170 deg, new cmd heading: 39.927494 deg. QEHeadingCmd: 0.696866 target range: 612.426270 and range: 615.00 m.RMe2?JIbIZIBI:I2IҔQڔQQڒQ’YY].@颅pIBɢZ ) Gi)顑iS1ie2?;Q'BIe2?IU9@Q @Q@UO5@QE5 E5~E5%E1"E5Ʊ:*E5(:VE5 4ZE1BE5H;aE2E5J;aEJE5;aE:E5;aE9^A3m2Acoustic response timeoutA I I! O- >a _,?A2;>2d0?2:ٱ2x :AHRS rotation from veh to nav: [[0.770462,-0.633493,-0.071233],[0.637484,0.765408,0.088120],[-0.001301,-0.113303,0.993560]]2H?@EX< Ef? 8~? ? PUr=?i2;>I2`;2CYBHByBHi Mb@Mb@Mb@     9  r?MbX?Mb`?Y ?y = ;   )  Y YbDTVD5y%>=ٔ'8Q->9Y=9Fy,Ee3;E>Q 5A5!?Q 9A52)BY?Q E:yxa?Q I@ DI ;iG ;A5yɮAQFNOT Ignoring new targets: 612.43 m.9-Q  ProNav pure pursuit: ac range: 612.426270 m, nav range: 579.645447 m, bearing: 39.923427 deg, approach rate: -0.514921 m/s, LOS rate: nan deg/s, cmd heading: 39.927493 deg, new cmd heading: 39.923427 deg. Q HeadingCmd: 0.696795 target range: 612.426270 and range: 615.00 m.R ,a2?JbZB:2Ҕڔڒ!’!!% /@MvIBɢUS )Q U"iQ)]¼YYi]O/ie,a2?ee4;eIe,a2?Ia2Acoustic response timeout-9@) @)@-0@)ԉE= E=E=+E9"E=U:*E=*:VE= [4ZE9aE@aM@aM@aM@Ա^Am_A AI I O >e *?e %=e 2Acoustic response timeoutBq Bq Bu HBu HBBu =Bq Bq Bu ʉ;Bu R@E#,)?AN>NN1?Nyi:ٱN VAHRS rotation from veh to nav: [[0.769585,-0.634616,-0.070722],[0.638543,0.764580,0.087639],[-0.001544,-0.112605,0.993639]]NHp? Nn?pw? o?.MYӼ ?iN>IN7o`;NCY^HBy^H``bDjRVDjn5yrA=%rW=ٔr':Q-r>9vc?Yvc?=v9Fyv.Evl;Ez>xQ 5A5z˔?Q 9A5z')zBYya?Q I@zDIz;iz";zDA5y+BɮA1Q=FNOT Ignoring new targets: 612.43 m.=.AQM ProNav pure pursuit: ac range: 612.426270 m, nav range: 579.449829 m, bearing: 39.919800 deg, approach rate: -0.514404 m/s, LOS rate: nan deg/s, cmd heading: 39.923426 deg, new cmd heading: 39.919800 deg. QUHeadingCmd: 0.696732 target range: 612.426270 and range: 615.00 m.RU]2?JQbQZYBY:Y2YҔaڔaaڒa’iim60@颕|IBɢ ) i)\ü顙i-i]2?;nPI]2?I5>i5>9@ @@`0@!2Acoustic response timeout^ANJκYA! I) I9 EM  EI EM *EI "EM :*EI VEM (N4ZEI BEM k;aU 2EM l;a] JEM i;a] :EM i;a] Oe >ԡ ,?Af>fڵ1?f:ٱf  AHRS rotation from veh to nav: [[0.768576,-0.635830,-0.070786],[0.639755,0.763519,0.088046],[-0.001936,-0.112955,0.993598]]fH-?X x?n?(?[_꼿?if>Ifo`;fCY=HByE'HqqbDJVD5yÂ<%==ٔZl:Q->9Y=9Fy0EVk;E >-2Acoustic response timeoutyAQ 5A5EM?Q 9A5Ed)EBYy:b?Q I@EDIEbBYBYBYBYBYB]DB]ĉ;B]L@EB!B!B!B!B!C%4}2Acoustic response timeoutO?}һ,?A2Ґ>22?2I ;ٱ2: >AHRS rotation from veh to nav: [[0.767549,-0.636980,-0.071588],[0.640987,0.762398,0.088798],[-0.001984,-0.114044,0.993474]]2HÏ?@$b S?e?x?`HA`1?i2Ґ>I2|E`;2CYFIByF@HJ=J=`iMb@Mb@Mb@ 9Q?Pn?y&1|?Y?y>`;vAA "A);AYAbDVDy =%=ٔ~8Q->9Y=9Fy3E+9;E>Q 5A5Ű?Q 9A5)BY ?Q E:yn?Q I@"DI ;i ;A5yBɮA QFNOT Ignoring new targets: 612.43 m.sQ% ProNav pure pursuit: ac range: 612.426270 m, nav range: 578.920349 m, bearing: 39.908382 deg, approach rate: -0.559843 m/s, LOS rate: nan deg/s, cmd heading: 39.915499 deg, new cmd heading: 39.908382 deg. Q-HeadingCmd: 0.696533 target range: 612.426270 and range: 615.00 m.R-O2?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE81@mIBɢu>n)q uiq)unżqi(iO2?<];u:IO2?INJκ!2Acoustic response timeout9@ @@4@I E=  E= E= 'E9 "E= U:*E= *:VE= '4ZE9 BE= ;aM 2E= ;aM JE9 aM :E9 aM ^A 9A >A ?ԉ A].ABDAT read: Rx Time:21:19:06.9072 TRx dataTimestamp_ set to:1761513548.2837262Acoustic response timeoutIIO?,N+?A2U>2|2?2e;ٱ2w :AHRS rotation from veh to nav: [[0.766585,-0.637999,-0.072834],[0.642140,0.761282,0.090035],[-0.001995,-0.115789,0.993272]]2H܇?@}j@B@i?k\? ?W`[?i2U>I2(V`;2CYFHByF%HPiMb@Mb@Mb@ 9Q?MbX9?~jtx?Y\?y!>;jA /A)/AYAbDFVD5y%%=ٔ7Q->9  ?Y  ?= 9Fy 5E 8;E>Q 5%A5?Q 9%A5$)BY%?Q E%:y%x?Q I%@,DI:iv:A5y1ɮ52A1GSMB*** querying acoustic contact ***:IBIYQeFNOT Ignoring new targets: 612.43 m.eaQ ProNav pure pursuit: ac range: 612.426270 m, nav range: 578.621338 m, bearing: 39.900025 deg, approach rate: -0.559313 m/s, LOS rate: nan deg/s, cmd heading: 39.908382 deg, new cmd heading: 39.900025 deg. QHeadingCmd: 0.696387 target range: 612.426270 and range: 615.00 m.RhF2?JbZB:2Ҕڔڒ’@j1@]IBɢ]߬ )a e!$ia)eTǼaaie'b&ihF2?};P;IhF2?I2Acoustic response timeout9@ @@0@! D D <E  E E )E "E :*E .:VE FA4ZE a @a @a @a @^A ] ;Q BuL>BqBu+HBuHBBu =BqBqBu;Bu<@EDAT read: 21:19:06.9072 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 309,-0.19, 2.885, 1.248, 3.084, 2.526, PHS= 0.461,-1.233, 0.514, RAW= 151.5, 3.0, CAL= 150.5, 2.8, ROT= 359.5, -2.8 Ygot valid direction response: 21:19:06.9072 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 309,-0.19, 2.885, 1.248, 3.084, 2.526, PHS= 0.461,-1.233, 0.514, RAW= 151.5, 3.0, CAL= 150.5, 2.8, ROT= 359.5, -2.8 PDAT read: Bearing 192.3, -0.8 (Local) ~Local bearing/azimuth received: Bearing 192.3, -0.8 (Local) DAT read: Range 11 to 50 : 605.3 m (Round-trip 807.1 ms) speed 0.4 m/s  TDAT read: user:157>Tx time:21:19:07.9959  R#Rx 1: Read range and direction messages.^direction in FSK: [0.998768,-0.008716,0.048850]Fpublishing direction and range infoy#e?bفs!D?YSD )TI1>iҝ?%:)@PwV=0(@ +H=)^@I+Hb5zy3?5ѿ:ٱ5K EAHRS rotation from veh to nav: [[0.764150,-0.640530,-0.076126],[0.645037,0.758580,0.092106],[-0.001249,-0.119487,0.992835]]5H`s?9|$?IF?D?wTM?i5E>I5`;5CYeIBym?HbDDVD55y5>#=%5=ٔ5˻Q-=>99Y9==9Fy=8EEB;Ee>iQ 5uA5m?Q 9uA5m~)mBYyy}y?Q I}@m5DImF:im:mPA5yɮAJR1?ADD2?F ς@8Ͱx{Gq=@#e?bفs!D?D+H—R/t4|@)v0x@+=@wuz{? 1FKT?9y깨?jCrCZ2>?bd zBꗅ%?CڗD◅~2?Q5 addTargetRange:: Added new target pos. range: 605.299988 m, deltaT: 18.152476 s, deltaX: -9.700012 m, approachRate: -0.534363 m/s, rangeRepo size: 2 Qe Added new target pos. range: 602.737000 m, bearing: 40.006922 deg, lat: 36.779086 deg, lon: -121.859061 deg, deltaT: 18.152476 s, deltaX: -9.689270 m, approachRate: -0.533771 m/s, posRepo size: 2 aQmFNOT Ignoring new targets: 602.74 m.miQuProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 40.006922 deg.Q}HeadingCmd: 0.698252 target range: 602.737000 and range: 605.30 m.R}2?JybZB:2Ҕڔڒ’`f@ң?IBɢj/ ) %i)%iȼ!!i%#i-2?-;-;;I-2?I19@ @@_0@DAT read: 2Acoustic response timeout)^A ~;bEɷG4jEmF4rE@o0EE  EE EE *EA "EE :*EE F:VEE (N4ZEA BEE &;Q aU 2EE ';a] JEE ;a] :EE ;a] A AI I O >,Q.O?ABpN>B3?B=1:ٱBH NAHRS rotation from veh to nav: [[0.762847,-0.641913,-0.077540],[0.646579,0.757215,0.092524],[-0.000678,-0.120718,0.992687]]BH=i? ٳ ư?;? ?8F`X羿?iBpN>IB`;BCYZHBy^1HbD~*VD~:5y5W%=Q=ٔEݾQ-M>9Uc?Y]c?=]9Fye:E2Acoustic response timeout ;E>)Q 5EA5-V?Q 9mA5-:)-BYqy}5z?Q I}@-=DI-1,Ci?AE E~EE"EU:*E(:VEZEa&@a&@a&@a&@>1T>>4?>8ٱ>v FAHRS rotation from veh to nav: [[0.761554,-0.643232,-0.079298],[0.648101,0.755813,0.093340],[-0.000104,-0.122476,0.992471]]>H ^?`ZL>?/??@7Z Z`S?i>1T>I>Ε`;>C ``p%IG=jAQ۸9jAYAY IByBHiMb@Mb@Mb@ 9/$?/$?~jthY&?y,>D "A)Y(AbD-;VD-#5y=<%=,=ٔ=&Q-=>9E ?YE ?=E9FyEQQ 5]A5U?Q 9]A5Up)UBY]d?Q E]:y]}?Q Ie@UFDIUa:iU ;UA5ymߞBɮmkAmEQFNOT Ignoring new targets: 602.74 m.Q ProNav: ac range: 602.737000 m, nav range: 589.693054 m, bearing: 39.935537 deg, approach rate: -0.598140 m/s, LOS rate: -0.017561 deg/s, cmd heading: 39.987462 deg, new cmd heading: 39.965266 deg. z@QHeadingCmd: 0.697526 target range: 602.737000 and range: 605.30 m.R2?JbZB:2Ҕڔڒ’O?IBɢ) $i)'ʼiB-P>B)B)B)B)B)B-DB-;B-+@Ee>e?@e2Acoustic response timeoutim2?mK;uN ,搃?A2]3>2A4?2ٱ2( :AHRS rotation from veh to nav: [[0.760450,-0.644328,-0.080977],[0.649397,0.754585,0.094261],[0.000369,-0.124267,0.992249]]2HU?`V?%?y!?58?Ͽ?i2]3>I21`;2CYBHByB)H DDF=F=bDN+VDNu5yVx%Vz=ٔVؽQ-V?9XYX=Z9FyZ>E^;E^?`Q 5fA5bi?Q 9fA5b.)bBYdyf}?Q Ij@bLDIb:ib:bA5ylɮnAl|Q FNOT Ignoring new targets: 602.74 m.  Q% ProNav: ac range: 602.737000 m, nav range: 589.508118 m, bearing: 39.930073 deg, approach rate: -0.564402 m/s, LOS rate: -0.016681 deg/s, cmd heading: 39.965267 deg, new cmd heading: 39.948870 deg. z%*7Q%HeadingCmd: 0.697239 target range: 602.737000 and range: 605.30 m.R-G~2?J)b)Z)B):)2)Ҕ1ڔ11ڒ9’99= ?eIBɢm|!)m mE?ii)m˼qqiuRiG~2?;(ԁ ,sh?A2Z>2݃5?29ٱ2 :AHRS rotation from veh to nav: [[0.758985,-0.645827,-0.082762],[0.651107,0.753059,0.094661],[0.001190,-0.125733,0.992063]]2HI? /`??`;?~S? ?i2Z>I2(_;2ߐCYBHByB%Hi=Mb@Mb@Mb@9999 99="~?MbX9?QY=?y=!>=u=^A=A =A)99Y=fAbDU1YVDU5ymuƻ%m?=ٔmQ-m>9qYq=u9Fyu@E}Q;E}>Q 5A5?Q 9A5)BYq?Q E:yx?Q I@TDI3:i':oA5yBɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 602.74 m.Q ProNav: ac range: 602.737000 m, nav range: 589.261414 m, bearing: 39.923336 deg, approach rate: -0.576315 m/s, LOS rate: -0.015746 deg/s, cmd heading: 39.948871 deg, new cmd heading: 39.928651 deg. z,QHeadingCmd: 0.696886 target range: 602.737000 and range: 605.30 m.R&g2?JbZB:2Ҕڔڒ’?%IBɢ%L)) - Ji))-$?ͼ))i5;2Acoustic response timeouti&g2?;'KA >B X>B >CB B B =B :DB DB ;B "@EI I M 2Acoustic response timeoutOU > -,C?A2+>2(5?2cٱ2 :AHRS rotation from veh to nav: [[0.758016,-0.646814,-0.083923],[0.652233,0.752079,0.094708],[0.001859,-0.126528,0.991961]]2HA? |??>?@s^?2%?i2+>I2K_;2CYNHByRHbDZ8VDZs5yb^%bV=ٔb/Q-b>9dYd=f9FyfBEjM~;Ej>lQ 5rA5nw?Q 9rA5n})nBYpyrx?Q Iv@n[DIn;in;nA5yxɮzAxQFNOT Ignoring new targets: 602.74 m.""Q ProNav: ac range: 602.737000 m, nav range: 589.041260 m, bearing: 39.917285 deg, approach rate: -0.553003 m/s, LOS rate: -0.015205 deg/s, cmd heading: 39.928651 deg, new cmd heading: 39.910491 deg. z&ԹQHeadingCmd: 0.696570 target range: 602.737000 and range: 605.30 m.RaR2?JbZB:2Ҕڔڒ’#@IBɢy#) Wi)6μik>i aR2? ;bE5  E5 |E5 (E1 "E5 :*E5 P$:VE5 c44ZE1 BE5 X;a= 2E5 Y;a= JE5 };aE :E5 };aE 9 ,.?AB>BA6?BG'ٱB0 JAHRS rotation from veh to nav: [[0.757095,-0.647700,-0.085392],[0.653300,0.751106,0.095071],[0.002561,-0.127765,0.991801]]BH:? Aܵ`? ? V?`d?Zռ?iB>IB_;@YZHByZHIjC>)j< > <2Acoustic response timeoutbD-CVD-5y5=ļ%]5=ٔenɺQ-m>9yYy=9FyDEH;E>Q 5A5?Q 9A5w)BYy;y?Q I@dDI:i=:A5yBɮAE)Q5FNOT Ignoring new targets: 602.74 m.55QE ProNav: ac range: 602.737000 m, nav range: 588.771545 m, bearing: 39.909826 deg, approach rate: -0.596531 m/s, LOS rate: -0.016504 deg/s, cmd heading: 39.910493 deg, new cmd heading: 39.888107 deg. zE85QmHeadingCmd: 0.696179 target range: 602.737000 and range: 605.30 m.Ru82?JqbqZqBq:q2qҔyڔyyڒy’@IBɢb%) Ski)]мii82?;;ryԍ,v?A2'Y>2&6?2\ٱ27" :AHRS rotation from veh to nav: [[0.756439,-0.648210,-0.087316],[0.654056,0.750344,0.095893],[0.003359,-0.129647,0.991555]]2H 4?"@[Z??l?`zk?Bк?i2'Y>I2^_;2CY@y@B~[>B~?CB~HB~HBB~ =B|B|B~;B~@Eu2Acoustic response timeoutiMb@Mb@Mb@ 9d;O?n?S㥛Y?yV>/ݼ "A)Y(AbDBVD5yUm%,=ٔB޺Q->9Y=9FyGE ;E>Q 5A5[ ?Q 9A5q)BY?Q E:yp?Q I@mDI ;i ;A5yɮAQ%FNOT Ignoring new targets: 602.74 m.--Q= ProNav: ac range: 602.737000 m, nav range: 588.505981 m, bearing: 39.903404 deg, approach rate: -0.578537 m/s, LOS rate: -0.013998 deg/s, cmd heading: 39.888107 deg, new cmd heading: 39.868830 deg. z=Q=HeadingCmd: 0.695842 target range: 602.737000 and range: 605.30 m.RE"2?JAbAZABA:A2IҔIڔIQڒQ’QQUl@颅IBɢ)) ti)Ҽ顉i2i"2? ;mUF6?FٱF0 NAHRS rotation from veh to nav: [[0.756221,-0.648286,-0.088627],[0.654303,0.750100,0.096111],[0.004171,-0.130670,0.991417]]FH2?¾; ??š?`q?̹`?iFR>IF~w_;FCYVHByVHbDrTVDr5yp %%(=ٔ-ںQ-5>9AYA=E9FyMIEe2Acoustic response timeout(:E>Q 5A5/?Q 9A56k)BYy p?Q I @wDI(iM lM F>M +@M |٠=M {*@ M Q =)M 8q@IM Q I M F7?ǕF Z?? M R?)M tGIM QQOiM Q  2Acoustic response timeoutE 9@A  @A @E P0@A E  E E )E "E :*E ,:VE FA4ZE a @a @a @a @ ^Ae<Am>Am>II11O=?* ,%3?ABA<B]>BBHBHBBBBBm;B@EB%>CB%>CB%CB% =B% =C%6:2Acoustic response timeoutN`>N@6?NٱN fAHRS rotation from veh to nav: [[0.756130,-0.647900,-0.092158],[0.654396,0.749825,0.097614],[0.005858,-0.134116,0.990948]]NH62?@?`?8?@w? *@ٵ?iN`>INR_;NCYnHBynHiMb@Mb@Mb@ 9"~?EԸ?9)Y)=59Fy5LE5{9E5>9Q 5EB5=@?Q 9EB5=d)=wBYMQ?Q EM:yM^?Q IM@=DI= ;i= ;=B5yUBɮUAAUEGSuB*** querying acoustic contact ***:qBqyQFNOT Ignoring new targets: 602.74 m./@/@Q ProNav: ac range: 602.737000 m, nav range: 587.898254 m, bearing: 39.890889 deg, approach rate: -0.614005 m/s, LOS rate: -0.010501 deg/s, cmd heading: 39.847163 deg, new cmd heading: 39.831270 deg. zQHeadingCmd: 0.695187 target range: 602.737000 and range: 605.30 m.R1?JbZB:2Ҕڔڒ’k@!IBɢ]&h2)a eIia)e;ּaaim2im1?u%;uiE  E E -E "E :*E 3:VE t4ZE BE a 2E a JE ;a :E ;a ,L?A,jL>j|6?jٱjg rAHRS rotation from veh to nav: [[0.756487,-0.647308,-0.093380],[0.653971,0.750224,0.097396],[0.007011,-0.134747,0.990855]]jH$5?``緿@U? ? ?o|?b? ?ijL>Ij|_;jCYzHByzHbDRVDn5y!@%^=ٔ$MQ->9Y=%9Fy%NE%nźE%>)Q 55B5-lL?Q 95B5-`)-fBY9y=^?Q I=@-DI-;i-;-IB5yAɮEdAAiQmFNOT Ignoring new targets: 602.74 m.u>4u>4Q ProNav: ac range: 602.737000 m, nav range: 587.685852 m, bearing: 39.887269 deg, approach rate: -0.577620 m/s, LOS rate: -0.009849 deg/s, cmd heading: 39.831269 deg, new cmd heading: 39.820404 deg. zKعQHeadingCmd: 0.694997 target range: 602.737000 and range: 605.30 m.RV1?JbZB:2Ҕڔڒ’@h@IBɢC) "i)SؼiiV1?{';~ ] 2Acoustic response timeout5,f?A2>296?2Lٱ2*+ :AHRS rotation from veh to nav: [[0.757150,-0.646279,-0.095122],[0.653193,0.750803,0.098157],[0.007981,-0.136452,0.990615]]2H:?P`Y??` ? ^X?`Bw@?i2>I2׋_;2CYBHByBHli Mb@Mb@Mb@     9 i|?5?L7A`?ˡEY ?y += ' -A A ) ;A Y fAbD}WVD}5y(%C=ٔQ->9Y=9FyPE( E>Q 5B5?Z?Q 9B5[)SBY?Q E:yQ?Q I@DI:i:B5yBɮAQFNOT Ignoring new targets: 602.74 m.++Q ProNav: ac range: 602.737000 m, nav range: 587.448059 m, bearing: 39.884466 deg, approach rate: -0.568199 m/s, LOS rate: -0.006698 deg/s, cmd heading: 39.820406 deg, new cmd heading: 39.811996 deg. zQHeadingCmd: 0.694850 target range: 602.737000 and range: 605.30 m.R1?JbZB : 2 Ҕ ڔڒ’8@EIBɢE֯D)I MiI)MڼIIiM` iU1?]X);]im>E E~E'E"EƱ:*E(:VE'4ZEa@a@a@a@9@ @@5@@@>B%_>B!B!B!B!B!B!B%j;B%?E2Acoustic response timeout9^AIIIYOm>a v ,{?A2%>2z5?2:ٱ22 :AHRS rotation from veh to nav: [[0.757945,-0.645068,-0.096989],[0.652258,0.751484,0.099154],[0.008925,-0.138415,0.990334]]2HA?f EԸ L?( ?@ b?0G?@Ѱ?i2%>I2_;2CYBHByBHbDJgVDJ6yr%rV=ٔr!Q-v>9tYt=v9FyvREz\REz>|Q 5B5~f?Q 9B5~W)~ABYyP?Q I @~DI~;i~:~G B5yɮA19QEFNOT Ignoring new targets: 602.74 m.EEQU ProNav: ac range: 602.737000 m, nav range: 587.230713 m, bearing: 39.881934 deg, approach rate: -0.568805 m/s, LOS rate: -0.006630 deg/s, cmd heading: 39.811998 deg, new cmd heading: 39.804398 deg. zUQ]HeadingCmd: 0.694718 target range: 602.737000 and range: 605.30 m.R]1?JabaZaBa:a2aҔiڔiiڒi’qqu@额JBɢ(DN) i)ܼ顡i'M i1?*;qzx = = 2Acoustic response timeout G&,V?AY~HBy~HiMb@Mb@Mb@ 9B`"?{Gz?MbY?y#=9A A)GAY(AbDVDԹy}=%==ٔQ->9Y=9FyTEE>Q 5B5}u?Q 9B5TS)3BYr?Q E:yF?Q I@DI:iv:B5yBɮ^AQFNOT Ignoring new targets: 602.74 m.%%Q5 ProNav: ac range: 602.737000 m, nav range: 586.989380 m, bearing: 39.880107 deg, approach rate: -0.557530 m/s, LOS rate: -0.004223 deg/s, cmd heading: 39.804399 deg, new cmd heading: 39.798915 deg. z59Q=HeadingCmd: 0.694622 target range: 602.737000 and range: 605.30 m.R=1?J9b9Z9B9:A2AҔAڔAIڒI’IIM]@}JBɢ}D)y }i)޼顁iJi1?ž,;Y|9 A A @AB% a>B% @CB% HB% HBB% =B! B% DB% |;B% @Eq,,+2?AB2Acoustic response timeoutR2{>R*5?Rp0ٱRI ZAHRS rotation from veh to nav: [[0.760050,-0.641970,-0.100990],[0.649776,0.753289,0.101721],[0.010773,-0.142934,0.989674]]RHSR?ڹ`??c ?2? K¿g?iR2{>IR,_;PYbHBybHf=f=bDjsVDj6yrp%vY=ٔvQ-v>9v"?Yz"?=z9FyzVEz Ez>|Q 5B5~8?Q 9 B5~zO)~'BY y E?Q I @~DI~:i~:~XB5yBɮAE9QEFNOT Ignoring new targets: 602.74 m.EEQU ProNav: ac range: 602.737000 m, nav range: 586.779541 m, bearing: 39.878590 deg, approach rate: -0.558180 m/s, LOS rate: -0.004035 deg/s, cmd heading: 39.798915 deg, new cmd heading: 39.794364 deg. zU91Q]HeadingCmd: 0.694543 target range: 602.737000 and range: 605.30 m.R]1?JabaZaBa:a2aҔiڔiiڒi’qquFT@额JBɢ*Q) i)B顡ii1?.;NLA}>=2Acoustic response timeoutiAa Iq I O >ԩ EU  EU |EU +EQ "EU :*EU P$:VEU [4ZEQ BEU k;ae 2EU l;ae JEU };ae :EU };ae c3,77?A2~v>2ϑ4?2y@ٱ2n :AHRS rotation from veh to nav: [[0.761332,-0.640241,-0.102296],[0.648255,0.754536,0.102180],[0.011766,-0.144107,0.989492]]2H \?| 0? (%?@~(??r¿?i2~v>I2o_;2CY@y@bDNiVDN6ٔVB#Q-V>9XYX=Z9FyZXEZE^>\Q 5bB5^?Q 9fB5^hK)^BYdyfD?Q If@^DI^;i^;^B5yhɮllGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 602.74 m. y yQ ProNav: ac range: 602.737000 m, nav range: 586.557312 m, bearing: 39.877028 deg, approach rate: -0.557348 m/s, LOS rate: -0.003920 deg/s, cmd heading: 39.794362 deg, new cmd heading: 39.789674 deg. z*,Q%HeadingCmd: 0.694461 target range: 602.737000 and range: 605.30 m.R%/1?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’115 @"JBɢQ) i)]7 i i /1?3/;6- 2Acoustic response timeout 9,:?A27>2,4?2Mٱ29 :AHRS rotation from veh to nav: [[0.762536,-0.638580,-0.103701],[0.646823,0.755647,0.103040],[0.012562,-0.145649,0.989257]]2Hf??o@*Ʋ?B.?`??@¿?i27>I2l_;2CYBHByBHi Mb@Mb@Mb@     9 |?5^?~jt?:vY  ?y < T -A A "A)  Y AbD%sVD%6y-܊:%5<ٔ5-Q-5>9= ?Y ?=9FyZEE>Q 5B5?Q 9B5-G)BY ?Q E:y;?Q I@DIg;i/;B5yBɮA1Q=FNOT Ignoring new targets: 602.74 m.EEDYzDYQ} ProNav: ac range: 602.737000 m, nav range: 586.317444 m, bearing: 39.876138 deg, approach rate: -0.544401 m/s, LOS rate: -0.002020 deg/s, cmd heading: 39.789673 deg, new cmd heading: 39.787003 deg. z}xQHeadingCmd: 0.694414 target range: 602.737000 and range: 605.30 m.R!1?JbZB:2Ҕڔڒ’º@E EE&E"E:*EVE4ZEa@a%@a%@a%@m-JBɢuP)q uiq)uqqi}7i}!1?uD0;mkB?CBBB =BBDB;BO@E2Acoustic response timeout) ^A x/<Ia Iq O >l@,u?A>:>>3?>]ٱ>o FAHRS rotation from veh to nav: [[0.763666,-0.636832,-0.106111],[0.645470,0.756558,0.104823],[0.013524,-0.148541,0.988814]]>Ho?``*? 5?պ?e?@fÿ\?i>:>I>_;9dYd=f9Fyf\EfEf>hQ 5rB5jͫ?Q 9rB5jC)jBYpyrl;?Q Ir@jDIj;ijK;jB5yxɮzAxQFNOT Ignoring new targets: 602.74 m.]]Q- ProNav: ac range: 602.737000 m, nav range: 586.109253 m, bearing: 39.875403 deg, approach rate: -0.565973 m/s, LOS rate: -0.001999 deg/s, cmd heading: 39.787003 deg, new cmd heading: 39.784796 deg. z-Q5HeadingCmd: 0.694376 target range: 602.737000 and range: 605.30 m.R=1?J9b9Z9B9:929ҔAڔAAڒA’IIM(@u6JBɢ}0ac)y }iy)}yiti1?0;Eԡ = 2Acoustic response timeoutÕF,?A2Ϭ>2,3?2Dmٱ2! :AHRS rotation from veh to nav: [[0.764823,-0.635515,-0.105669],[0.644078,0.757958,0.103266],[0.014466,-0.147039,0.989025]]2Hny?`#V % H? 1A? o?d?.¿?i2Ϭ>I2_;2C@Y^HBy^HiMb@Mb@Mb@ 9Cl?I +?{Gzt?Y?y9<ף;  A)YfAbDjVD6y%;%%6=ٔ% Q-%>9)Y)=-9Fy-^E-;E5>9Q 5EB5=?Q 9EB5= ?)=BYE?Q EE:yEk=?Q IE@=DI=:i=:=B5yUBɮUAUEyQ}FNOT Ignoring new targets: 602.74 m.00Q ProNav: ac range: 602.737000 m, nav range: 585.856934 m, bearing: 39.874319 deg, approach rate: -0.561592 m/s, LOS rate: -0.002415 deg/s, cmd heading: 39.784797 deg, new cmd heading: 39.781542 deg. zԸQHeadingCmd: 0.694319 target range: 602.737000 and range: 605.30 m.R1?JbZB:2Ҕڔڒ’-%@ԩ颽BJBɢU) i) iiM1?M1;Mn;IM1?IQ2Acoustic response timeout9@ @@?5@Du=DuR=E EEE"EU:*E0:VEZEa @a @a @a @^A 8<I I  O >B b>B @CB B B =B B DB ;B @EL,y5?A>>>2?>xٱ> NAHRS rotation from veh to nav: [[0.765738,-0.634258,-0.106596],[0.642974,0.758849,0.103602],[0.015180,-0.147870,0.988890]]>H`?KI=?}H?`??j¿ ?i>>I>ڗ_;>CYVHByVHbDb`VDb6yfm<%jc=ٔjQ-j>9hYl=n9Fr2Acoustic response timeouttyn`EvxEv>xQ 5~B5z:?Q 9B5zm;)zBYy =?Q I@zDIz;iz;z"B5y ɮ A1Q5FNOT Ignoring new targets: 602.74 m.=U+=U+QM ProNav: ac range: 602.737000 m, nav range: 585.653198 m, bearing: 39.873471 deg, approach rate: -0.562381 m/s, LOS rate: -0.002340 deg/s, cmd heading: 39.781542 deg, new cmd heading: 39.778998 deg. zM͸QUHeadingCmd: 0.694274 target range: 602.737000 and range: 605.30 m.RU1?JQbQZYBY:Y2YҔaڔaaڒa’iim@3 @颕JJBɢh) 캾i)顙i;i1?1;%;I1?I9@ @@#5@ 9^A0;IAIQO]>2Acoustic response timeouta E  E {E (E "E :*E 5":VE c44ZE BE &;a 2E (;a JE a :E a S,TO?A2L>2|2?2nٱ2 :AHRS rotation from veh to nav: [[0.766531,-0.633019,-0.108248],[0.642005,0.759557,0.104415],[0.016124,-0.149533,0.988625]]2Hl?@A'M? KN??ނ?@#ÿѢ?i2L>I2&_;2CYBHByBHbDJVVDJZ59yE%EC=ٔEQ-M>9IYI=M9FyMbEUDEU>YQ 5eB5]?Q 9eB5]H7)] BYayeA}>ԑIIO>  2Acoustic response timeoutY,/i?A:>: 2?:-ٱ:h FAHRS rotation from veh to nav: [[0.767427,-0.631785,-0.109102],[0.640917,0.760431,0.104741],[0.016790,-0.150306,0.988497]]:HŽ? 7c?@sU?Sк?p1?<=ÿ@ġ?i:>I:_;:CYJHByNHi=Mb@Mb@Mb@9999 99=V-?l?:v?Y=h?y===<= A=A 9)99Y=A ae<bDmYVDm6yp=%F=ٔӺQ->9Y=9FydE^E>Q 5B52?Q 9B52)-BY?Q E:y[D?Q I@DIC{;i\;A*B5yɮAEE EE~EE&EA"EEƱ:*EE(:VEE4ZEAaM@aM@aM@aM@QFNOT Ignoring new targets: 602.74 m.--Q ProNav: ac range: 602.737000 m, nav range: 585.183105 m, bearing: 39.870881 deg, approach rate: -0.529657 m/s, LOS rate: -0.003693 deg/s, cmd heading: 39.776156 deg, new cmd heading: 39.771223 deg. z6"QHeadingCmd: 0.694139 target range: 602.737000 and range: 605.30 m.R1?J!b!Z!B!:!2!Ҕ)ڔ)IڒQ’QQU !@额aJBɢi[) i)\顡ii1?22;;I1?I Bme>BiBm+HBmHBBiBiBiBm;Bm@EB-@CB-@CB-œCB-Ŏ =B-Ŏ =C-4@ @@0@2Acoustic response timeout1^A ;a A5 ؟AIA IQ O] >T`,K?A2>2[1?2+1ٱ2 :AHRS rotation from veh to nav: [[0.768174,-0.630711,-0.110057],[0.640006,0.761121,0.105294],[0.017357,-0.151321,0.988332]]2H?.`,`z?`[??ő?|^ÿ k?i2>I2ş_;2CYBHByB%HbDNMVDNG5yR@<%RY=ٔV;źQ-V>9V"?YZ"?=Z9FyZfE GE>Q 5B5?Q 9%B5.)9BY!y%D?Q I%@DI:iB:-B5y-xBɮ5A5}EQQ]FNOT Ignoring new targets: 602.74 m.]ɚeɚQu ProNav: ac range: 602.737000 m, nav range: 584.964417 m, bearing: 39.869379 deg, approach rate: -0.615800 m/s, LOS rate: -0.004229 deg/s, cmd heading: 39.771222 deg, new cmd heading: 39.766716 deg. zu9Q}HeadingCmd: 0.694060 target range: 602.737000 and range: 605.30 m.R}1?JybyZyBy:y2Ҕڔڒ’3"@颵jJBɢl) i)iii1?U2;DG;I1?I)u2Acoustic response timeoutm9@i @i@m0@iEE EAEE-EA"EEC:*EAVEEt4ZEABEE5;aM2EE7;aMJEE;aM:EE;aUY^Avт;ԁA I 5 2Acoustic response timeoutII O] >Թ f,?A2>21?2Hٱ2zP :AHRS rotation from veh to nav: [[0.768267,-0.630431,-0.111011],[0.639876,0.761211,0.105433],[0.018035,-0.152034,0.988211]]2H?@},@I2/_;0YNIByR9Hi%Mb@Mb@Mb@!!!! !9%`"?y&1?l?Y%?y%`e=%=!%A %A)!!Y!bDNVD5y3=%;=̺ٔQ->9Y=9FyhEXĹE>Q 5B5f?Q 9B57*)JBY?Q E:y L?Q I@DIQ:if:T1B5yɮAQFNOT Ignoring new targets: 602.74 m. ׸ ׸Q ProNav: ac range: 602.737000 m, nav range: 584.712952 m, bearing: 39.866879 deg, approach rate: -0.592461 m/s, LOS rate: -0.005894 deg/s, cmd heading: 39.766717 deg, new cmd heading: 39.759213 deg. znQ%HeadingCmd: 0.693929 target range: 602.737000 and range: 605.30 m.R%X1?J!b!Z!B!:!2)Ҕ)ڔ)1ڒ1’11=|#@evJBɢeo`)a m"ii)miiim%iuX1?uР2;uN;I}X1?Iyԙ 9@  @ @ Y0@ @@2Acoustic response timeout^AU2;Ee EezEe(Ea"Ee:*Ee :VEec44ZEaam@am@au@au@AqzAuhAA .AI I O% >Be f>Ba Be DHBe IBBe =Ba Ba Be ;Be @E m,?AJ`>J1?JۡٱJT  RAHRS rotation from veh to nav: [[0.768691,-0.629892,-0.111132],[0.639352,0.761710,0.105004],[0.018509,-0.151768,0.988243]]JH ?(`su?_???#mÿ`?iJ`>IJ~^;JCYZ IByZFHbDfHVDf!5yjh<%jY=r%=r<r2Acoustic response timeoutٔnQ-v>9v ?Yv ?=v9FyzjEz[Ez>|Q 5B5~?Q 9B5~%)~YBY y K?Q I @~DI~:i~:~4B5yyBɮA9Q=FNOT Ignoring new targets: 602.74 m.EָEָQU ProNav: ac range: 602.737000 m, nav range: 584.488464 m, bearing: 39.864660 deg, approach rate: -0.593011 m/s, LOS rate: -0.005864 deg/s, cmd heading: 39.759214 deg, new cmd heading: 39.752555 deg. zUǀQ]HeadingCmd: 0.693813 target range: 602.737000 and range: 605.30 m.R]1?JYbYZYBa:a2aҔaڔiiڒi’iius>$@额JBɢ]g) i)<顡ii1?o2;-;I1?I@ @@O0@^AqZ;2Acoustic response timeoutI A I I O >bEFA4jEʏB4rEW0Ee  Ee Ee )Ea "Ee :*Ee ,:VEe FA4ZEa BEe z;au 2Ee |;au JEe ;;au :Ee ;;a} s,?A2 >2\1?2ުٱ2w* >AHRS rotation from veh to nav: [[0.769311,-0.629106,-0.111295],[0.638599,0.762336,0.105049],[0.018757,-0.151889,0.988220]]2H 2?`!@}`go? e??5?`qÿ~?i2 >I2^;2CYvIByvPHbD<VD^5y ؚ<%G=ٔXQ->9Y=9FylE% E%>)Q 5-B5-?Q 95B5-d!)-iBY1y5K?Q I5@-DI-:i-N:-88B5yEBɮEAE~EGS]B*** querying acoustic contact ***:YBYiQmFNOT Ignoring new targets: 602.74 m.u9Ըu9ԸQ ProNav: ac range: 602.737000 m, nav range: 584.245789 m, bearing: 39.862282 deg, approach rate: -0.591586 m/s, LOS rate: -0.005798 deg/s, cmd heading: 39.752555 deg, new cmd heading: 39.745419 deg. z~QHeadingCmd: 0.693688 target range: 602.737000 and range: 605.30 m.R1?JbZB:2Ҕڔڒ’ %@JBɢTe) Ȼi)=Ui ߻i1?2;:I1?IQ@ @@@2Acoustic response timeoutԁ^A2;ԩ A ؟AI I! O- > 2Acoustic response timeoutz,w?A 8:CP~GAz9YeA>@1?ٱ AHRS rotation from veh to nav: [[0.769575,-0.628623,-0.112190],[0.638266,0.762552,0.105503],[0.019229,-0.152800,0.988070]]H\?@`l?f?@??@Ѱ?ÿ E?i>I=^;CYIByOH E% E%E%,E!"E%C:*E%g:VE%g4ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9$C?#~j?{Gz?Y?y=#=A )YAbD?VD5y%2=ٔ Q->9"?Y"?=9FynELsE>Q 5B5,?Q 9B5){BY?Q E:yU?Q I@DIT ;i:8B B iHB )IBB  =B B B ;B @E=9@9 @A@E?5@A@I@I2Acoustic response timeout ^Ae ?B:A .AI I O >1=,f2?A2c>2B@1?2#ٱ2Su8 >AHRS rotation from veh to nav: [[0.769580,-0.628563,-0.112495],[0.638257,0.762535,0.105685],[0.019351,-0.153134,0.988016]]2H g?@/@u̼l? f?2?@Г?ÿӝ?i2c>I2̷];2CYF%IByFdHbDN5VDN5yVI=%Vi=ٔZQ-Z>9Z ?YZ ?=^9Fy^pE^E^>`Q 5fB5b8?Q 9fB5b)bBYhyhQ Ij@bDIbj;ib;bI?B5ynBɮnAlQFNOT Ignoring new targets: 602.74 m.  Q ProNav: ac range: 602.737000 m, nav range: 583.759216 m, bearing: 39.855604 deg, approach rate: -0.630439 m/s, LOS rate: -0.008661 deg/s, cmd heading: 39.734076 deg, new cmd heading: 39.725377 deg. z6Q%HeadingCmd: 0.693339 target range: 602.737000 and range: 605.30 m.R%~1?J!b!Z!B!:)2)Ҕ1ڔ11ڒ1’19=@_&@eJBɢeTw)a eii2Acoustic response timeout)1+ i ֻi ~1? O2;;I~1?I9@ @@"5@E E~E)E"E:*E(:VEFA4ZEBE;a2E;aJE;a:E;a^A] ; 2Acoustic response timeout A% ؟AI I OE >`,?A2{>2O1?2Bǣٱ2 :AHRS rotation from veh to nav: [[0.769419,-0.628840,-0.112046],[0.638431,0.762608,0.104091],[0.019991,-0.151623,0.988236]]2H@?t n?Hg?@?x?dhÿ?i2{>I2=];0YBIByBYH|iEMb@Mb@Mb@AAAA A9Ex&1?)\(?:v?YEA ?yEG=E9u"?Yu"?=}9Fy}rE}:E}>Q 5B5G?Q 9B5Z)BY"?Q E:y^?Q I@DI:i<:CB5yɮAQFNOT Ignoring new targets: 602.74 m.GGQ ProNav: ac range: 602.737000 m, nav range: 583.491821 m, bearing: 39.850959 deg, approach rate: -0.625673 m/s, LOS rate: -0.010875 deg/s, cmd heading: 39.725377 deg, new cmd heading: 39.711435 deg. zQHeadingCmd: 0.693095 target range: 602.737000 and range: 605.30 m.Rn1?JbZB:2Ҕڔڒ’<'@%JBɢ-+n)) -ɾi))-11i5һi=n1?='B2;=\S;I=n1?IA9@ @@@5@) 2Acoustic response timeoutaE EE.E"EU:*E,:VEـ4ZEa@a@a@a@^AAE .AIi Iy ԁ O >B A <B i>B ACB HB GIBB =B B DB A;B @E|,}8?A22Acoustic response timeout:H>: {1?:ymٱ:_ FAHRS rotation from veh to nav: [[0.768993,-0.629362,-0.112041],[0.638934,0.762277,0.103425],[0.020314,-0.151120,0.988307]]:H? #&r?`d?z?`Q͔? Wÿ@5?i:H>I:\;:CYJ,IByJmHIN<)N=bDV1VDV5y^+=%^W=ٔb^Q-b>9f ?Yf ?=f9FyftEf:Ej>hQ 5rB5jT?Q 9vB5jx )jBYtyv_?Q Iv@jDIj4T;ijbU;jYFB5y~_Bɮ~$A~uE!Q%FNOT Ignoring new targets: 602.74 m.-jG-jGQ= ProNav: ac range: 602.737000 m, nav range: 583.252991 m, bearing: 39.846790 deg, approach rate: -0.623978 m/s, LOS rate: -0.010896 deg/s, cmd heading: 39.711434 deg, new cmd heading: 39.698922 deg. z=LQEHeadingCmd: 0.692877 target range: 602.737000 and range: 605.30 m.REa`1?JAbAZABA:I2IҔIڔIQڒQ’QQU@ M(@YJBɢFr) Ǿi)iλi%a`1?%M2;%O;I-a`1?I)=>i=>@ @@2@ԉԱ^AiI=BDAT read: Response Not Received E*response not receivedUBDAT read: Tx time:21:19:20.4459 U$Ping request sent.]E  E ~E *E "E :*E (:VE (N4ZE BE ;a 2E ;a JE a :E a r,*R?A2>2[1?2۩ٱ2) :AHRS rotation from veh to nav: [[0.768642,-0.629747,-0.112285],[0.639343,0.761999,0.102943],[0.020733,-0.150915,0.988329]]2H?&u?Lb?zZ?`;?0Qÿd?i2>I2];0YN+IByRkHTVBAbDZ+VDZu5ybP%bJ=ٔfQ-f>9f"?Yf"?=j9FyjvEjy:Ej>Q 5%B5c?Q 9%B5/)BY!y-:_?Q I-@DI_:i:IB5y1ɮ5'A1GSUB*** querying acoustic contact ***:QBQyQFNOT Ignoring new targets: 602.74 m.ZGZGQ ProNav: ac range: 602.737000 m, nav range: 582.994629 m, bearing: 39.842261 deg, approach rate: -0.621201 m/s, LOS rate: -0.010893 deg/s, cmd heading: 39.698921 deg, new cmd heading: 39.685329 deg. z9ԹQHeadingCmd: 0.692640 target range: 602.737000 and range: 605.30 m.RP1?JbZB:2Ҕڔڒ’()@eJBɢeMu)a evξia)m2iiimYʻiP1?m2;0v;IP1?I}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseI@I @I@M0@I^A5Β{;II Ia O} >% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse9 +,6l?ADzDAAE EEE"E:*E.:VEZEa@a@a@a@Y,IBymHiMb@Mb@Mb@ 9BIBIBMHBMQIBBM =BIBIBM;BM%AE9{Gz?X9v?~jtx?Y#?y=; A)YAbD VD5y-;%- =ٔ-Q-->91Y1=59Fy5yE=E=>AQ 5MB5Ev?Q 9MB5E)EBYM&?Q EM:yMgb?Q IU@E+DIEz:iE ;ENB5y]aBɮ],AY}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseQFNOT Ignoring new targets: 602.74 m.]]Q ProNav: ac range: 602.737000 m, nav range: 582.627258 m, bearing: 39.835352 deg, approach rate: -0.643649 m/s, LOS rate: -0.012113 deg/s, cmd heading: 39.685329 deg, new cmd heading: 39.664588 deg. zQHeadingCmd: 0.692278 target range: 602.737000 and range: 605.30 m.R91?JbZB:2Ҕڔڒ’YF*@JBɢl) H־i)iĻi91?n2;C;I91?Ii@ @@Z4@ԑ ^A vт;-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseIIO>Ţ,?Az b>z2?zHٱz AHRS rotation from veh to nav: [[0.767597,-0.630880,-0.113070],[0.640563,0.761113,0.101918],[0.021761,-0.150660,0.988346]]zH(?*0*@}?[?`E?@H?Hÿ?iz b>Iz];zCYM0IByUrH YYbDeVDe5yu@<%uw=ٔ}KQ-}?9yYy=}9Fy}{E;E?Q 5B5{?Q 9B5.)Yyb?Q I@2DI3:i:QB5yɮ$AQFNOT Ignoring new targets: 602.74 m.}_}_Q ProNav: ac range: 602.737000 m, nav range: 582.415405 m, bearing: 39.831330 deg, approach rate: -0.642969 m/s, LOS rate: -0.012212 deg/s, cmd heading: 39.664589 deg, new cmd heading: 39.652518 deg. zQHeadingCmd: 0.692067 target range: 602.737000 and range: 605.30 m.RM+1?JbZB:2Ҕڔڒ’*@Em EmEm.Ei"Em:*Em*:VEmـ4ZEiBEm';au2Em(;auJEmi;a}:Emj;a}颅JBɢP) cپi)/>顑i1iM+1?Q2;<;IM+1?I!q@y @y@}@0@y@@@@I T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseII O5 >y b,mX?A06W>6=A2?6ٱ6k >AHRS rotation from veh to nav: [[0.767027,-0.631555,-0.113175],[0.641232,0.760645,0.101200],[0.022173,-0.150195,0.988408]]6H{? 5` ?3W?@?@e?9ÿ` ?i6W>I6\;6CYF IByF_Hi Mb@Mb@Mb@     9 NbX9?X9v?{GzY %?y  ף  A A) ;A Y A %p<%bD-VD-V5y=%=O=ٔ=Q-E>9AYA=E9FyE}EM;EM>QQ 5B5Uq?Q 9B5U)UBY(?Q E:y`?Q I@U:DIU Bg>B@CBHB\IBB =BBDB;BOAEBBBBǍ =BǍ =Cd5 - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse,3?A2X>22?2Skٱ2/ :AHRS rotation from veh to nav: [[0.766371,-0.632284,-0.113543],[0.641991,0.760121,0.100319],[0.022876,-0.149775,0.988455]]2H@?;!`0? R?@y?l?+ÿ`m?i2X>I2\;2CYB&IByBfHbDJ0VDJ5yRn<%RT=ٔVQ-V>9TYT=Z9FyZEZ*;EZ>``Q 5fB5b?Q 9fB5b)bBYdyfAa?Q Ij@bBDIbp:ib:bXB5ylɮn?AlQFNOT Ignoring new targets: 602.74 m.  f  fQ ProNav: ac range: 602.737000 m, nav range: 581.910339 m, bearing: 39.822066 deg, approach rate: -0.682947 m/s, LOS rate: -0.012574 deg/s, cmd heading: 39.638508 deg, new cmd heading: 39.624712 deg. z Q%HeadingCmd: 0.691582 target range: 602.737000 and range: 605.30 m.R% 1?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’115I~,@eJBɢm$)i mii)m*( iiiu6Wiu 1?3;;I 1?I9@ @@5@I1IAOM>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE%E"EU:*E0:VE 4ZEBE;a2E;aJE߉;a:E߉;aA j,?A2>2 2?2Qٱ2~ :AHRS rotation from veh to nav: [[0.766030,-0.632646,-0.113826],[0.642383,0.759840,0.099939],[0.023263,-0.149676,0.988461]]2H`R?># g?P?@?@]җ?(ÿy?i2>I2];2CYfIByfRHrT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapsebDv&VDvO5yz%~E=ٔ~tQ->9Y=9FyE ":E >Q 5B5?Q 9%B5=)BY!y%da?Q I%@KDI},;i-;K\B5y-;Bɮ-A5lEGSMB*** querying acoustic contact ***:IBIQQ]FNOT Ignoring new targets: 602.74 m.emZemZQu ProNav: ac range: 602.737000 m, nav range: 581.642334 m, bearing: 39.817116 deg, approach rate: -0.645847 m/s, LOS rate: -0.011935 deg/s, cmd heading: 39.624711 deg, new cmd heading: 39.609852 deg. zuQ}HeadingCmd: 0.691322 target range: 602.737000 and range: 605.30 m.R}0?JybyZyBy:y2Ҕڔڒ’R-@颽 KBɢ) ni) iDi0?4;qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡ E  E zE (E "E :*E  :VE c44ZE a @a @a @a @#,?AY~IBy~\HyBf>BBBB =BBB;B[AEiMb@Mb@Mb@ 9#~j?v/?~jtY%?yx=D7A"A A)1AYAAAbD7VD85y<%<=ٔQ->9Y=9FyEE>Q 5B5o?Q 9B5)rBY(?Q E:y[?Q I @TDI:i:`B5y=BɮAmE9Q=FNOT Ignoring new targets: 602.74 m.EBEBQU ProNav: ac range: 602.737000 m, nav range: 581.360657 m, bearing: 39.812523 deg, approach rate: -0.650100 m/s, LOS rate: -0.010604 deg/s, cmd heading: 39.609852 deg, new cmd heading: 39.596068 deg. zUQ]HeadingCmd: 0.691082 target range: 602.737000 and range: 605.30 m.R]0?JYbYZaBa:a2aҔiڔiiڒi’iqu@0.@额KBɢ) Li)s 顡ixi0?n5;E T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseC , ?A2>263?2Wɼٱ2)v >AHRS rotation from veh to nav: [[0.764584,-0.634223,-0.114775],[0.644056,0.758606,0.098535],[0.024576,-0.149259,0.988493]]2Hww? Ka`?F? 9?`X*?@ÿ`?i2>I2U];0YRIByVOHbD^#VD^5yf%f^=ٔfiQ-j>9hYh=j9FyjEn;E~>Q 5 B5?Q 9 B5)`BY y v\?Q I@\DI:it:WcB5y9ɮ=A9QFNOT Ignoring new targets: 602.74 m.@@Q ProNav: ac range: 602.737000 m, nav range: 581.119019 m, bearing: 39.808525 deg, approach rate: -0.635579 m/s, LOS rate: -0.010521 deg/s, cmd heading: 39.596068 deg, new cmd heading: 39.584068 deg. zQHeadingCmd: 0.690872 target range: 602.737000 and range: 605.30 m.R0?JbZB:2Ҕڔڒ’.@bE(N4jEL4rE0E] E]}E]'EY"E]U:*E]k&:VE]'4ZEYBEYam2EYamJE]ŀ;am:E]ƀ;au额$KBɢ9) $i)TE顩i&i0?g6;%+i%>9@ @@p0@PExceeded connect timeout, disconnecting.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI^Ai5,&?A>|>>N^3?>Zϼٱ>i FAHRS rotation from veh to nav: [[0.764173,-0.634585,-0.115502],[0.644514,0.758269,0.098130],[0.025309,-0.149431,0.988448]]>Ht?Nܟ?C???` ÿ ^?i>|>I>\V];>CYNIByNQHR!>R=i%Mb@Mb@Mb@!!!! !9%?~jt?MbY%f&?y%=%%A%A %A)%SA!Y!bD=EVD=p5yMI;%MC=ٔMQ-M>9QYQ=U9FyUE]ӿ:E]>aQ 5mB5e?Q 9mB5e)eGBYmU(?Q Em:ym M?Q Iu@eeDIes:ieZ:efB5y}?Bɮ}AyQFNOT Ignoring new targets: 602.74 m.||Q ProNav: ac range: 602.737000 m, nav range: 580.848083 m, bearing: 39.805679 deg, approach rate: -0.664099 m/s, LOS rate: -0.006980 deg/s, cmd heading: 39.584068 deg, new cmd heading: 39.575525 deg. zJQHeadingCmd: 0.690723 target range: 602.737000 and range: 605.30 m.R<0?JbZB:2Ҕڔڒ’?/@9eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse؀G1m09iYuA颵3KBɢY) si)'i[i<0?97;1ByB}HB}QIBByByByB};B}AEԑ^A *:< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԹ A I I O% >Y,{@?A2b>23?2ּٱ2 :AHRS rotation from veh to nav: [[0.763747,-0.634952,-0.116307],[0.644987,0.757923,0.097693],[0.026121,-0.149629,0.988397]]2Hp?@QHƽ`? @? h?? 'ÿ?i2b>I2K];2ސCYBIByBPH HJ<bDNFVDN5yV+%VU=ٔZ Q-Z>9XYX=Z9Fy^E^{:E^>`Q 5fB5b?Q 9fB5b)b0BYhyj2M?Q Ij@bmDIb:ib):bTjB5ylɮnApQFNOT Ignoring new targets: 602.74 m. P PQ ProNav: ac range: 602.737000 m, nav range: 580.598083 m, bearing: 39.803034 deg, approach rate: -0.651327 m/s, LOS rate: -0.006893 deg/s, cmd heading: 39.575523 deg, new cmd heading: 39.567585 deg. zcQ%HeadingCmd: 0.690585 target range: 602.737000 and range: 605.30 m.R%(0?J!b!Z)B):)2)Ҕ1ڔ11ڒ1’19qH0@?KBɢ)  i)   i i(0?8;52< nManaging dock network, ignoring radio surface power off G,VZ?A2>2 3?2ɖڼٱ2r :AHRS rotation from veh to nav: [[0.763174,-0.635580,-0.116638],[0.645643,0.757451,0.097026],[0.026680,-0.149354,0.988424]]2Hk?V@ܽ?@ =?ָ?R? ÿ*?i2>I28?];2CY^IBbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseyf?HbDnSVDn5yv{ %vF=ٔvᱺQ-v>9xYx=z9FyzE~ ;E~>Q 5 B5h?Q 9 B5)BY y mM?Q I @uDIB:i9:mB5yABɮAnEGS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 602.74 m.MQMQQ] ProNav: ac range: 602.737000 m, nav range: 580.329834 m, bearing: 39.800171 deg, approach rate: -0.650665 m/s, LOS rate: -0.006948 deg/s, cmd heading: 39.567586 deg, new cmd heading: 39.558993 deg. z]QeHeadingCmd: 0.690435 target range: 602.737000 and range: 605.30 m.ReT0?JabiZiBi:i2iҔqڔqqڒq’qy}0@颥LKBɢ) qi)`顩idiT0?9;E  E E )E "E s:*E :VE FA4ZE a @a @a @a @q,<2t?AY~HBy~1HI<)<  AB!B!B%HB%=IBB!B!B!B%$;B%AEiMb@Mb@Mb@ 9S㥛?kt?X9vY$&?y 0=}-A A A)Y(AbDhVD6y&Ѽ%:=ٔ Q- >9  ?Y  ?= 9FyEE>Q 5%B5 ?Q 9%B5)BY-C'?Q E-:y-@?Q I-@~DI:i:qB5y5Bɮ5qA=dEYQeFNOT Ignoring new targets: 602.74 m.eeQu ProNav: ac range: 602.737000 m, nav range: 580.043579 m, bearing: 39.798513 deg, approach rate: -0.650752 m/s, LOS rate: -0.003770 deg/s, cmd heading: 39.558994 deg, new cmd heading: 39.554019 deg. zu%Q}HeadingCmd: 0.690348 target range: 602.737000 and range: 605.30 m.R}0?JybZB:2Ҕڔڒ’1@颽[KBɢD) #i)¯iߔi0?;;ZI T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY, ?A2uT>24?2~ٱ23 :AHRS rotation from veh to nav: [[0.762513,-0.636330,-0.116869],[0.646356,0.757142,0.094654],[0.028255,-0.147714,0.988626]]2Hf?\뽿`?:?E;??K¿Ԣ?i2uT>I271];2C@YFHByF/HHJ@AbDNkVDN6yV᜻%Vc=ٔZWQ-Z>9Z"?YZ"?=^9Fy^E^0;E^>`Q 5fB5bq?Q 9fB5bH)bBYhyjA?Q Ij@bDIb:ibp:btB5ynBɮn|ApQFNOT Ignoring new targets: 602.74 m.Q ProNav: ac range: 602.737000 m, nav range: 579.809387 m, bearing: 39.797130 deg, approach rate: -0.622793 m/s, LOS rate: -0.003681 deg/s, cmd heading: 39.554018 deg, new cmd heading: 39.549866 deg. z!QHeadingCmd: 0.690275 target range: 602.737000 and range: 605.30 m.R0?JbZB:2Ҕڔڒ’1@%iKBɢ%k)! %i))-x))i-&E= E=zE=+E9"E=C:*E= :VE= [4ZE9BE=5;aM2E=7;aMJE=v;aM:E=v;aMiU0?U0d<;U ZA]> Ia I O >,?A2;1>2.3?2ٱ2z :AHRS rotation from veh to nav: [[0.762669,-0.635969,-0.117809],[0.646136,0.757333,0.094629],[0.029040,-0.148291,0.988517]]2Hg?@Y(%?I239];0YNHByRHliMb@Mb@Mb@ 9%C?I +? ףp= YZ$?y9<Q8 A)lAYAbDyVD6yT%9=ٔQ->9Y=9FyE E>Q 5B5w*?Q 9B5I)BY$?Q E:y%9?Q I%@DI q;i0;xB5y1ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseɮEAIQFNOT Ignoring new targets: 602.74 m.OOQ% ProNav: ac range: 602.737000 m, nav range: 579.523438 m, bearing: 39.796234 deg, approach rate: -0.655095 m/s, LOS rate: -0.002053 deg/s, cmd heading: 39.549865 deg, new cmd heading: 39.547177 deg. z%_QMHeadingCmd: 0.690228 target range: 602.737000 and range: 605.30 m.RUв0?JQbQZQBQ:Y2YҔYڔYaڒa’aae@G1@yKBɢƣ) N$i)ihiв0?=;TB!B%vHB%3IBB!B!B!B% ;B%AE9^A hW< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea I I O >zm,.?A:>:Z3?:ˈٱ:Y BAHRS rotation from veh to nav: [[0.763082,-0.635376,-0.118337],[0.645629,0.757752,0.094732],[0.029480,-0.148690,0.988444]]:H@*k? UTK???T@?/?@DÿV?i:>I:c>];:CYJHByJ%H LLbDVmVDVR6y^<%^^=ٔ^Q-b>9`Y`=b9FybEfyEf>hQ 5nB5jF9?Q 9nB5j/)jBYlyn9?Q Ir@jDIj;ij;j{B5yvBɮvAveE QFNOT Ignoring new targets: 602.74 m.Q- ProNav: ac range: 602.737000 m, nav range: 579.288635 m, bearing: 39.795514 deg, approach rate: -0.657122 m/s, LOS rate: -0.002017 deg/s, cmd heading: 39.547178 deg, new cmd heading: 39.545016 deg. z-(Q5HeadingCmd: 0.690191 target range: 602.737000 and range: 605.30 m.R5W0?J1b1Z19B1:929ҔAڔAAڒA’IIM'J2@uKBɢ}J೽)}+< }$iy)}顁i9riW0?>;HKEQ EU}EQEQ"EQ*EUk&:VEQZEQBEQa]2EQaeJEUŀ;ae:EUƀ;aeԹ ,?A2K>23?2ٱ2]M :AHRS rotation from veh to nav: [[0.763298,-0.634972,-0.119107],[0.645340,0.758013,0.094613],[0.030208,-0.149082,0.988363]]2Hl?Q}@?A?8??"ÿ?i2K>I2{]];2CRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseYVHByVH ^<^<bDbiVDb6yj%jI=ٔjQ-j>9lYl=9FyE\E>ԙQ 5B5J?Q 9B5a)BYy9?Q I@DI:;i;;B5yɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 602.74 m.FFQ ProNav: ac range: 602.737000 m, nav range: 579.013245 m, bearing: 39.794679 deg, approach rate: -0.640704 m/s, LOS rate: -0.001944 deg/s, cmd heading: 39.545016 deg, new cmd heading: 39.542510 deg. zQHeadingCmd: 0.690147 target range: 602.737000 and range: 605.30 m.Ry0?JbZB:2Ҕ ڔ  ڒ ’ `2@=KBɢ=)A E*iA)EAAiEf|iMy0?MB@;U?H Ee  Ee zEa Ea "Ee :*Ee  :VEa ZEa am @am @am @am @&,z?A2_>2c3?2)ٱ2  :AHRS rotation from veh to nav: [[0.763662,-0.634437,-0.119623],[0.644882,0.758418,0.094490],[0.030777,-0.149301,0.988313]]2H o?OM`?D?y0??LÿA?i2_>I2s];0YNHByR6HBbj>BbACBbiHBb)IBB`B`BbDBb;BbAEBBBB =B =C3iMb@Mb@Mb@ 9RQ?Mb`9Y=9FyEնE> Q 5B5 [?Q 9B5 ) BY"?Q E:y1?Q I@ DI  ;i X ; fB5y% Bɮ%A!IQMFNOT Ignoring new targets: 602.74 m.UE5UE5Qe ProNav: ac range: 602.737000 m, nav range: 578.746948 m, bearing: 39.794696 deg, approach rate: -0.637309 m/s, LOS rate: 0.000042 deg/s, cmd heading: 39.542509 deg, new cmd heading: 39.542562 deg. ze5QmHeadingCmd: 0.690148 target range: 602.737000 and range: 605.30 m.Rm0?JibiZiBi:i2qҔqڔyyڒy’yy#3@颭KBɢR) ()i )\Z!iqi0?A;iAim>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@0@!Y^A- /C<I I O >e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapsey ,\T?A>S>>:#3?>yٱ> fAHRS rotation from veh to nav: [[0.764623,-0.633224,-0.119914],[0.643714,0.759435,0.094289],[0.031361,-0.149286,0.988297]]>Hw?^CO?`JM?@N#??`ÿ` ?i>S>I>];9IYI=M9FyMEUEU>YQ 5eB5]k?Q 9eB5]Բ)]BYayeA1?Q Im@]DI]:i][:]B5yqɮulAqQFNOT Ignoring new targets: 602.74 m. 6 6Q ProNav: ac range: 602.737000 m, nav range: 578.504578 m, bearing: 39.794749 deg, approach rate: -0.635851 m/s, LOS rate: 0.000137 deg/s, cmd heading: 39.542561 deg, new cmd heading: 39.542718 deg. z6QHeadingCmd: 0.690151 target range: 602.737000 and range: 605.30 m.R0?JbZB:2Ҕڔڒ’   3@E E}E+E"E:*Ek&:VE [4ZEBEX;a-2EY;a-JEa-:Ea-Q额KBɢo) N*i)ބ#顡i{ei0?~B;dE+22?2oٱ2 NAHRS rotation from veh to nav: [[0.765511,-0.632058,-0.120397],[0.642634,0.760328,0.094457],[0.031839,-0.149679,0.988222]]2H ?9TҾ v?T?U.?.M?(ÿ?i2>I2];2CYVIByV?HiuMb@Mb@Mb@qqqq q9ux&1?MbP? rh?Yu!?yu:uC9Y=9FyE/E>Q 5B5?Q 9B5=)BY!?Q E:y74?Q I@DIQ:i:IB5yBɮA\ED%=D<E EE*E"E:*EVE(N4ZEa@a@a@a@QFNOT Ignoring new targets: 602.74 m.O*O*Q- ProNav: ac range: 602.737000 m, nav range: 578.176147 m, bearing: 39.794444 deg, approach rate: -0.625735 m/s, LOS rate: -0.000582 deg/s, cmd heading: 39.542718 deg, new cmd heading: 39.541802 deg. z-^̷Q5HeadingCmd: 0.690135 target range: 602.737000 and range: 605.30 m.R50?J1b1Z1B1:129Ҕ9ڔ9AڒA’AAE 4@uKBɢu)y }/iy)}Ya&yyi}Wi0?xC;RO,-I?A~>~1?~-ٱ~ %AHRS rotation from veh to nav: [[0.767893,-0.628861,-0.121965],[0.639741,0.762594,0.095820],[0.032752,-0.151606,0.987898]]~H`? 9x?`,g?@?@Ġ?gÿܜ?i~>I~(^;~CY5IBy=\HbDM[VDM@6y]n=%]O=ٔe Q-e>9aYa=e9FyeEmEm>qQ 5}B5u?Q 9}B5u)uBYyD3?Q I@uDIu;iu;uB5yBɮA]EQFNOT Ignoring new targets: 602.74 m.ѶѶQ ProNav: ac range: 602.737000 m, nav range: 577.928040 m, bearing: 39.794304 deg, approach rate: -0.635622 m/s, LOS rate: -0.000358 deg/s, cmd heading: 39.541802 deg, new cmd heading: 39.541383 deg. z{QHeadingCmd: 0.690127 target range: 602.737000 and range: 605.30 m.R/0?JbZT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBQ:Q2YҔYڔYYڒa’aae r4@KBɢ,Z) -i)٫(iKi/0?[D;-;I/0?IQbEFA4jEC4rEϚ/E  E zE )E "E :*E  :VE FA4ZE BE a2E aJE v;a%:E v;a%y0<q@q @q@um4@q߭ =߭ = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԱ ^A < A!I1IAOM?,i?AR>RK1?R ٱR\ jAHRS rotation from veh to nav: [[0.769180,-0.627085,-0.122990],[0.638149,0.763872,0.096260],[0.033586,-0.152528,0.987728]]RH ?L|k?q?? !2?ÿx?iR>IR_;RCYv=IByvH  ېC )):GT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseu=u=z9YfAy=|?gAiMb@Mb@Mb@ 9x&1?X9v?/$?Yy<,=  A)YA %p<%4<bD-IVD-\5y=P=%= =ٔ]9Q-e>9aYa=e9FyeEm_Em>qQ 5}B5u?Q 9B5u>)uBY"?Q E:yX@?Q I@uDIu;iuO;uB5yɮxAGSB*** querying acoustic contact ***:BDzD@AE% E%yE%*E!"E%C:*E%:VE%(N4ZE!a-@a-@a-@a-@Q-FNOT Ignoring new targets: 602.74 m.5!5!Q ProNav: ac range: 602.737000 m, nav range: 577.550537 m, bearing: 39.792176 deg, approach rate: -0.620566 m/s, LOS rate: -0.003501 deg/s, cmd heading: 39.541382 deg, new cmd heading: 39.534994 deg. zQHeadingCmd: 0.690016 target range: 602.737000 and range: 605.30 m.R0?JbZB:2Ҕڔڒ’5@KBɢ5)1 5,i9)= ,99i=B@CBHBQIBBBBDB;BAE  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ 9@  @ @ ?0@ @ =@ =i ^A;ԙiqIquT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseAIIO?F#,窏?A6>6x0?6cٱ6,f bAHRS rotation from veh to nav: [[0.770374,-0.625122,-0.125485],[0.636581,0.765190,0.096174],[0.035899,-0.153971,0.987423]]6H?``^?o|?؞?ia?Sÿ ?i6>I6_;4YfMIByjHbD<VD^5yu<%}#=ٔ}Q-}>9Y=9FyÉE>Q 5B5X?Q 9B5)1BYy??Q I@DIp:ig:PB5yBɮaAԱQFNOT Ignoring new targets: 602.74 m.{{QM ProNav: ac range: 602.737000 m, nav range: 577.237305 m, bearing: 39.790466 deg, approach rate: -0.629457 m/s, LOS rate: -0.003437 deg/s, cmd heading: 39.534993 deg, new cmd heading: 39.529862 deg. zMQUHeadingCmd: 0.689926 target range: 602.737000 and range: 605.30 m.RU0?JQbQZQBY:Y2YҔYڔaaڒa’aEu Eu|Eu)Eq"EuU:*EuP$:VEuFA4ZEqBEu;a}2Eu;a}JEu};a:Eu};a5@mLBɢm])i m,ii)u.qqiua@0i0?D;Z;I0?I@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A% ;9 Ai Iq I O >*,1A?Ab#>b!J0?bٱbb rAHRS rotation from veh to nav: [[0.771557,-0.623368,-0.126934],[0.635020,0.766625,0.095055],[0.038057,-0.153946,0.987346]]bH?\?`R?0?U?@$|?`}ÿV?ib#>Ibj_;bCYzbIByzHiMb@Mb@Mb@ 9x&1?Dl?A`"?YyO=Y=Ա9A A)YbD/VDa5y6J=%?=ٔؤQ->T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9Y=9FyE}E>Q 5B5?Q 9B52)OBY#?Q E:y6O?Q I@DI;i;?B5yɮ6A!Q%FNOT Ignoring new targets: 602.74 m.m!m!Q} ProNav: ac range: 602.737000 m, nav range: 576.954041 m, bearing: 39.787220 deg, approach rate: -0.629659 m/s, LOS rate: -0.007220 deg/s, cmd heading: 39.529863 deg, new cmd heading: 39.520119 deg. z}QHeadingCmd: 0.689756 target range: 602.737000 and range: 605.30 m.Rݓ0?JbZB:2Ҕڔڒ’`O6@LBɢR)! %+i!)-,91))i-A$i5ݓ0?5oD;5[:I5ݓ0?I9E- E-E-*E)"E-:*E-*:VE-(N4ZE)a=@a=@a=@a=@9@ @@05@AyA}?ABh>BBHBzIBBBBB ;BAE  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A yb];A >A >9 A I I) O= >0,q?A2H>2/?2~2&ٱ2F :AHRS rotation from veh to nav: [[0.772248,-0.621903,-0.129883],[0.634025,0.767449,0.095054],[0.040564,-0.155754,0.986963]]2HA?` I??mU?@Ĥ? ÿ2?i2H>I2KT_;0YBeIByBHIFa=)F=bDLVDLyVe;%Vc=ٔVQ-V>9XYX=Z9FyZE^riE^?`Q 5fB5bn?Q 9fB5b)bgBYdyfN?Q If@bDIb:ibB:b5B5ynBɮn:An^E|QFNOT Ignoring new targets: 602.74 m.``Q ProNav: ac range: 602.737000 m, nav range: 576.740479 m, bearing: 39.784793 deg, approach rate: -0.645958 m/s, LOS rate: -0.007343 deg/s, cmd heading: 39.520120 deg, new cmd heading: 39.512837 deg. z@QHeadingCmd: 0.689629 target range: 602.737000 and range: 605.30 m.R0?JbZ!B!:!2!Ҕ)ڔ))ڒ))’)(]6@颽!LBɢF) /i);3i{ri0?o;D;K:I0?I@ @@@@%iA@%iAE7,Ƨ?ARDAT read: V2Acoustic response timeoutYIByHbD5VD55yEq=%EB=ٔEQ-M>9IYI=M9FyMEUEU>YQ 5eB5]?Q 9eB5])]BYayaQ Im@]DI]:i]:]B5yuԝBɮuMAuTEQFNOT Ignoring new targets: 602.74 m.Q ProNav: ac range: 602.737000 m, nav range: 576.474976 m, bearing: 39.781773 deg, approach rate: -0.628863 m/s, LOS rate: -0.007157 deg/s, cmd heading: 39.512839 deg, new cmd heading: 39.503774 deg. z-QUHeadingCmd: 0.689471 target range: 602.737000 and range: 605.30 m.RU+0?JQbYZYBY:Y2YҔaڔaaڒa’aim 6@ԑ1LBɢ) +i)q5iri+0?D;{:I+0?I9@ @@85@^AΒ{:iI2Acoustic response timeoutA9 II IY Ee  Ee yEe (Ea "Ee U:*Ee :VEe c44ZEa am @am @au @au @O} > U<=,?AB&g>B$B& HB&IBB& =B$B$B&;B&AEJT>J/?J8ٱJ#" VAHRS rotation from veh to nav: [[0.773280,-0.619593,-0.134695],[0.632459,0.768827,0.094345],[0.045102,-0.158144,0.986385]]JH@?= =?;?@&??>Ŀx?iJT>IJ%_;HYZIBy^HiEMb@Mb@Mb@AAAA A9EMbX9?&1?Zd;O?YE!?yE=Ej<=E AE A EA)EAAYEAbD]VD]5ymc<%mH=ٔm5Q-m>9qYq=u9FyuEE>Q 5B5?Q 9 B5)BY N$?Q E :y Z?Q I @DI:i:B5y=֝Bɮ=BA9GSuB*** querying acoustic contact ***:qBqQFNOT Ignoring new targets: 602.74 m.66Q ProNav: ac range: 602.737000 m, nav range: 576.206543 m, bearing: 39.777440 deg, approach rate: -0.618417 m/s, LOS rate: -0.009986 deg/s, cmd heading: 39.503775 deg, new cmd heading: 39.490772 deg. zN۹QHeadingCmd: 0.689244 target range: 602.737000 and range: 605.30 m.RKr0?JbZB:2Ҕڔ1ڒ1’11=317@颅CLBɢⷹ) -i)$7顉iiKr0?C;%F0IKr0?Ip>iU2Acoustic response timeoute9@a @a@e+1@iI ^A ?B:A .A 2Acoustic response timeoutI I O- >$D,c`?AYIByH 4<bDVD5y%=%-O=ٔ-Q-->9- ?Y5 ?=59Fy5E5E5>9Q 5EB5=m?Q 9EB5=σ)=BYIyIQ IM@=DI=l:i=:=B5yQɮUAYyQFNOT Ignoring new targets: 602.74 m. ? ?Q ProNav: ac range: 602.737000 m, nav range: 575.967102 m, bearing: 39.773572 deg, approach rate: -0.645788 m/s, LOS rate: -0.010439 deg/s, cmd heading: 39.490771 deg, new cmd heading: 39.479159 deg. z@QHeadingCmd: 0.689041 target range: 602.737000 and range: 605.30 m.Re0?JbZB:2Ҕڔڒ’݋7@QLBɢ5ý) *i)Y9i ie0?.HC;(g9Ie0?IE- E-|E-%E)"E-:*E-P$:VE- 4ZE)BE-&;au2E-(;a}JE-};a}:E-};a}Qq@q @q@u4@qye2Acoustic response timeout^A"ԩ A% ؟AII Iq O >OJ,S?+?A<>R>>/?>Kٱ>$ JAHRS rotation from veh to nav: [[0.773114,-0.618729,-0.139530],[0.632311,0.769113,0.092997],[0.049774,-0.160123,0.985841]]>H Z? ;??η?|?~Ŀ ?i>R>I>,^;>CYVIByVH2Acoustic response timeoutԩiMb@Mb@Mb@ 9S㥛?(\??Y$&?yz><A A)YfAbDVDA5yI=%%=ٔQ->9"?Y"?=9FyEQE> Q 5B5 ?Q 9B5 |) BY\*?Q E:yh?Q I@  DI ":i n: CB5y%ٝBɮ%A-UEIQUFNOT Ignoring new targets: 602.74 m.U߀U߀Qe ProNav: ac range: 602.737000 m, nav range: 575.645020 m, bearing: 39.766586 deg, approach rate: -0.648978 m/s, LOS rate: -0.014084 deg/s, cmd heading: 39.479159 deg, new cmd heading: 39.458191 deg. zmQmHeadingCmd: 0.688675 target range: 602.737000 and range: 605.30 m.RmM0?JqbqZqBq:q2qҔyڔyyڒy’8@D%=D%=E- E-xE-'E)"E-:*E-:VE-'4ZE)a5@a5@a5@a5@egLBɢez)i m+ii)m>QQ,G?AY IBy*HbD=VD=|5yU+$=%Uf=ٔ]Q-e>9aYa=9FyEE>Q 5 B5_"?Q 9 B5w)BY y Q I @DI+;i,;B5y؝BɮA9QEFNOT Ignoring new targets: 602.74 m.EЀMЀQU ProNav: ac range: 602.737000 m, nav range: 575.402283 m, bearing: 39.761316 deg, approach rate: -0.648155 m/s, LOS rate: -0.014077 deg/s, cmd heading: 39.458191 deg, new cmd heading: 39.442374 deg. z]Q]HeadingCmd: 0.688399 target range: 602.737000 and range: 605.30 m.R]:0?JabaZaBa:a2iҔiڔiiڒq’qqu`j8@额vLBɢjŽ) +i)>顩iҺi:0?B;43>:I:0?I=9@9 @9@9@92Acoustic response timeout E  E vE E "E U:*E :VE ZE BE ;a2E ;aJE h;a:E h;a^A}9A A .AI I O >W,=a?A2Acoustic response timeoutFmJ>F/?FtYٱF$ RAHRS rotation from veh to nav: [[0.771784,-0.619804,-0.142102],[0.633661,0.768311,0.090404],[0.053146,-0.159817,0.985715]]FHs?of0¿F?`?@$?5?tĿ@?iFmJ>IFv_;DYVIByV>HbDfVDf5yzb#=%~R=ٔ~ Q-~>9 ?Y ?=9FyE7;E > Q 5B5 $/?Q 9B5 r) BYy#i?Q I@ DI ;i 3; ǴB5y)ɮ-A)IQUFNOT Ignoring new targets: 602.74 m.UUQm ProNav: ac range: 602.737000 m, nav range: 575.160950 m, bearing: 39.756023 deg, approach rate: -0.650313 m/s, LOS rate: -0.014268 deg/s, cmd heading: 39.442375 deg, new cmd heading: 39.426491 deg. zmQuHeadingCmd: 0.688122 target range: 602.737000 and range: 605.30 m.Ru(0?JybZB:2Ҕڔڒ’`8@LBɢJý) +i))@ie6ºi(0?kB;1;I(0?IY9@ @@@ yBDAT read: Response Not Received *response not receivedTDAT read: user:159>Tx time:21:19:32.8959 B) B) B- HB- JBB) B) B) B- ";B- AE^, {?A2P>2E0?2bXbٱ2p$ >AHRS rotation from veh to nav: [[0.770981,-0.620487,-0.143472],[0.634459,0.767869,0.088537],[0.055232,-0.159287,0.985686]]2H߫?@J]¿|M?b?T?\G?cĿ?i2P>I2d`;2ߐC@YvIByvDHiMb@Mb@Mb@ 9K7?S㥛?MbpYI,?y$>A A)YbDVD5y5<%>=ٔ#Q->9Y=9FyE+;E>Q 5B5Z>?Q 9B5ul)BY'1?Q E:y\k?Q I@%DI:i:B5yBɮALEGSB*** querying acoustic contact ***:BQ%FNOT Ignoring new targets: 602.74 m.%%Q5 ProNav: ac range: 602.737000 m, nav range: 574.870789 m, bearing: 39.749391 deg, approach rate: -0.673626 m/s, LOS rate: -0.015405 deg/s, cmd heading: 39.426492 deg, new cmd heading: 39.406584 deg. z=))Q=HeadingCmd: 0.687775 target range: 602.737000 and range: 605.30 m.RE0?JAbAZABA:A2AҔIڔIIڒI’Q9<9@15<=DAT read: =2Acoustic response timeoutmLBɢu)q u/iq)u%Cyyi}ii}0?B;w;I0?IԩI)a@a @a@a@a^A 0:D;  2Acoustic response timeoutA ؟AI I O > e,I*?A2>20?2@jٱ2" >AHRS rotation from veh to nav: [[0.769938,-0.621557,-0.144441],[0.635540,0.767254,0.086086],[0.057316,-0.158079,0.985762]]2H T?}¿WV?W? ?X?;Ŀ\?i2>I2 .a;2CYFIByFOHbDNVDN5yV><%V\=ٔV9Z"?YZ"?=Z9FyZE^b;E^>bE]G4jE]>4rE]0Ef EfEf+Ed"Efs:*Ef?:VEf [4ZEdBEf;an2Ef;anJEf;ar:Ef;arp`Q 5vB5bqK?Q 9zB5bg)bBYxyzk?Q Iz@b-DIbe;ib;bǻB5y|ɮ~AIQUFNOT Ignoring new targets: 602.74 m.UЊUЊQe ProNav: ac range: 602.737000 m, nav range: 574.620667 m, bearing: 39.743627 deg, approach rate: -0.658005 m/s, LOS rate: -0.015170 deg/s, cmd heading: 39.406585 deg, new cmd heading: 39.389286 deg. ze&QmHeadingCmd: 0.687473 target range: 602.737000 and range: 605.30 m.Rm6/?JibqZqBq:q2qҔyڔyyڒy’9@MLBɢMUɽ)I MM1iI)UDEQQiUZi}6/?}B;}oQ;I}6/?I9@ @@@-2Acoustic response timeout9^A5r;Am .Ay I I O >] G} jA 9 jAY lA)k,Ϯ?A2J>26.1?2Ctٱ2C5! >AHRS rotation from veh to nav: [[0.768534,-0.623085,-0.145325],[0.637032,0.766337,0.083178],[0.059541,-0.156502,0.985881]]2H՗?P@¿b?@ԅ?)K?*|?BĿW?i2J>I2Ta;2CYRIByRfH TTZ=Z=Y2Acoustic response timeoutiMb@Mb@Mb@ 9uV?sh|??y&1Yr(?y)>`A )AY p<4<bDVDy)=%;=ٔ঻Q->9 ?Y ?=9FyE7;E>Q 5B5pZ?Q 9B5`)BY-?Q E:ym?Q I@7DI:iU:B5yBɮA!Q%FNOT Ignoring new targets: 602.74 m.--Q= ProNav: ac range: 602.737000 m, nav range: 574.331543 m, bearing: 39.736702 deg, approach rate: -0.674977 m/s, LOS rate: -0.016174 deg/s, cmd heading: 39.389284 deg, new cmd heading: 39.368500 deg. z=1QEHeadingCmd: 0.687110 target range: 602.737000 and range: 605.30 m.REp/?JAbAZABI:I2IҔQڔQQڒQ’YY] :@颅LBɢŽ) !1i)"G顉izip/?gC;;Ip/?IE EyE)E"E:*E:VEFA4ZEa @a @a @a @-9@1 @1@580@1ԉBe>BBHB;JBBBBB:;BAEԹ^AUϩ;U 2Acoustic response timeoutAE ؟AII IY Om > _r,X?A:>:1?:{ٱ:mv NAHRS rotation from veh to nav: [[0.767380,-0.624240,-0.146466],[0.638240,0.765547,0.081167],[0.061459,-0.155766,0.985880]]:Ha? c¿ul?\?@\Ǵ?`w?%ÿT?i:>I:b;:CYvIByzkHbD-VD-5yEl<%ES=ٔMyQ-U>9U"?Y]"?=]9Fy]Ee;Ee>iQ 5uB5mg?Q 9uB5m?[)mBYqyuWn?Q I}@m?DIm3;im;mB5yɮAQFNOT Ignoring new targets: 602.74 m.ԹQ ProNav: ac range: 602.737000 m, nav range: 574.075012 m, bearing: 39.730506 deg, approach rate: -0.660010 m/s, LOS rate: -0.015949 deg/s, cmd heading: 39.368500 deg, new cmd heading: 39.349902 deg. z"/QHeadingCmd: 0.686785 target range: 602.737000 and range: 605.30 m.R*/?JbZB:2Ҕڔڒ’@j:@ LBɢk˽) 4i)Ii} i%*/?%D;%A>A I I O >9 ] 2Acoustic response timeoutG@x,?A2x>22?2Xٱ2λ :AHRS rotation from veh to nav: [[0.766113,-0.625482,-0.147793],[0.639551,0.764679,0.078999],[0.063601,-0.155043,0.985858]]2H@?¿ 3w? @x?L9?`/H?vÿ`&?i2x>I2;d;0YZJByZvHbDbVDb5yv<%vP=ٔ~.Q->9 Y = 9Fy EI;Em>qQ 5}B5uu?Q 9}B5ukU)uBYyy}n?Q I}@uHDIu:iuR:uB5yBɮAMEQFNOT Ignoring new targets: 602.74 m.@@Q ProNav: ac range: 602.737000 m, nav range: 573.807129 m, bearing: 39.723977 deg, approach rate: -0.660000 m/s, LOS rate: -0.016092 deg/s, cmd heading: 39.349901 deg, new cmd heading: 39.330307 deg. z0QHeadingCmd: 0.686443 target range: 602.737000 and range: 605.30 m.R/?JbZB:2Ҕڔڒ’u:@ LBɢk˽) 6i)3Lici%/?%E;--B c>B B HB ZJBB =B B B C;B AEԑ 9i~,q?A2L>2 }2?2冽ٱ2! :AHRS rotation from veh to nav: [[0.764967,-0.626542,-0.149233],[0.640697,0.763933,0.076904],[0.065820,-0.154442,0.985807]]2Hz? ÿ?@#r??ٰ?`ÿ?i2L>I2Ee;0Y^ JBy^HIf)>)fR=prAimMb@Mb@Mb@iiii i9my&1?On? ףp= Ym`%?ym>mQ8ii mA)mAiYi@AbDVD5y |<% 9=ٔ䥻Q->9Y=9FyEr;E>!Q 5-B5%3?Q 9-B5%O)%BY5*?Q E5:y5h?Q I5@%QDI% ;i%u ;%FB5y=Bɮ='A=CEGS]B*** querying acoustic contact ***:YBYaQmFNOT Ignoring new targets: 602.74 m.iu^u^Q ProNav: ac range: 602.737000 m, nav range: 573.530518 m, bearing: 39.717895 deg, approach rate: -0.647618 m/s, LOS rate: -0.014247 deg/s, cmd heading: 39.330306 deg, new cmd heading: 39.312050 deg. zqQHeadingCmd: 0.686125 target range: 602.737000 and range: 605.30 m.Rޥ/?JbZB:2Ҕڔڒ’%@;@LBɢb˽) 9i)Ni\Eiޥ/?VF;F M,=?AEn En{En)El"En:*En5":VEnFA4ZElBEnz;ar2En{;avJEnDz;av:EnDz;avY%JBy%HbD5VD5f5yE<%EX=ٔMQ-M>9IYI=M9FyMEUEU>YQ 5eB5]+?Q 9eB5]UJ)]BYayiQ Im@]YDI]:i]$:]B5yuBɮuAqQFNOT Ignoring new targets: 602.74 m.߂߂Q ProNav: ac range: 602.737000 m, nav range: 573.285706 m, bearing: 39.712506 deg, approach rate: -0.649457 m/s, LOS rate: -0.014302 deg/s, cmd heading: 39.312049 deg, new cmd heading: 39.295875 deg. z QHeadingCmd: 0.685842 target range: 602.737000 and range: 605.30 m.R^/?JbZB:2Ҕڔڒ’H;@uMBɢ}>Խ)y };iy)}P顁i"`'i^/?G;GQ y,"0?A2K>24+3?2ٱ21 :AHRS rotation from veh to nav: [[0.763016,-0.628152,-0.152418],[0.642520,0.762801,0.072814],[0.070526,-0.153490,0.985630]]2Hj? mÿ?h?? ?ÿ`H?i2K>I2+h;2CYBJByBHieMb@Mb@Mb@aaaa a9eS㥛?i|?5?)\(Ye$&?ye=eGae A}2Acoustic response timeoute$A a)eAaYepAbDVD5yn<%E=ٔ9Q->9Y=9FyE;E>Q 5B52?Q 9B5D)BYt)?Q E:y5]?Q I@bDIP ;i.:3B5yɮ AQFNOT Ignoring new targets: 602.74 m.MMQ  ProNav: ac range: 602.737000 m, nav range: 573.015076 m, bearing: 39.707835 deg, approach rate: -0.651475 m/s, LOS rate: -0.011250 deg/s, cmd heading: 39.295875 deg, new cmd heading: 39.281854 deg. z QHeadingCmd: 0.685598 target range: 602.737000 and range: 605.30 m.RU/?JbZB:2Ҕڔڒ!’!!% <@UMBɢUѽ)Q U=iQ)]SYYi] ieU/?eI;e*sBu?CBuHBunJBBqBqBqBu ;BuAEY^A 0:D<M 2Acoustic response timeoutԁ I I O >b,I?A0f>f3?fٱf_ rAHRS rotation from veh to nav: [[0.761677,-0.628863,-0.156139],[0.643558,0.762243,0.069408],[0.075367,-0.153351,0.985294]]fH _?Yÿ?`Ld?ı?@DK?ÿ@?if>Ifϝj;fCYv'JByzH ||bDVD-5y<%S=ٔWMQ->9Y!=%9Fy%E%;E%>)Q 55B5-0?Q 95B5-?)-BY9y=]?Q I=@-jDI-;i-;-B5yAɮEAIiQuFNOT Ignoring new targets: 602.74 m.}O}OQ ProNav: ac range: 602.737000 m, nav range: 572.762634 m, bearing: 39.703431 deg, approach rate: -0.651158 m/s, LOS rate: -0.011364 deg/s, cmd heading: 39.281856 deg, new cmd heading: 39.268639 deg. zQHeadingCmd: 0.685367 target range: 602.737000 and range: 605.30 m.R7t/?JbZB:2Ҕڔڒ’ m<@(MBɢ @ؽ) !@i)Uii7t/?HJ;P = 2Acoustic response timeout,c?AB>Bв3?BGٱB< NAHRS rotation from veh to nav: [[0.761278,-0.628880,-0.158004],[0.643754,0.762209,0.067957],[0.077695,-0.153450,0.985097]]BHc\?v9Ŀ?@d?@e??=ÿ?iB>IBk;BCYVJByVH\bDbVDbz5yj%jO=ٔjQ-j>9lYl=n9FynEr}:Er>tQ 5zB5vs?Q 9zB5vx:)vBYxyz]?Q Iz@vsDIv:iv ;v B5yBɮADE)Q-FNOT Ignoring new targets: 602.74 m.5P5PQ ProNav: ac range: 602.737000 m, nav range: 572.505249 m, bearing: 39.698927 deg, approach rate: -0.652236 m/s, LOS rate: -0.011419 deg/s, cmd heading: 39.268639 deg, new cmd heading: 39.255121 deg. zQHeadingCmd: 0.685131 target range: 602.737000 and range: 605.30 m.Rd/?JbZB:2Ҕڔڒ’`<@E;MBɢMٽ)I M;HiI)MXIQi гid/?%L;%lA >E  E E *E "E :*E VE (N4ZE a @a @a% @a% @I Bu `>Bq Bu HBu JBBq Bq Bq Bu ;Bu AEBIBIBIBMʏ =BMʎ =CMʢ4I I O >,֭}?ABڕ>B|3?B㣽ٱB NAHRS rotation from veh to nav: [[0.761313,-0.628333,-0.160000],[0.643438,0.762564,0.066958],[0.079939,-0.153926,0.984843]]BH\?NzĿ ?f? $?v?ֳÿ`փ?iBڕ>IBl;BCYR&JByVHi5Mb@Mb@Mb@1111 195K7A? rh?Zd;OY5 "?y5C=5j<5-A1 5A)5A1Y5AbDMVDM5y]1<%]B=ٔeڮQ-e>9aYa=e9FyeEmo$Em>qQ 5B5uP?Q 9B5uj5)uBYg#?Q E:yK?Q I@u{DIu[/?JbZB:2Ҕڔڒ’>E=@%DAT read: 21:19:36.0904 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 265,-0.33, 2.186, 0.580, 2.327, 1.857, PHS= 0.432,-1.232, 0.426, RAW= 149.8, 4.6, CAL= 149.0, 4.7, ROT= 1.0, -4.7 -Ygot valid direction response: 21:19:36.0904 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 265,-0.33, 2.186, 0.580, 2.327, 1.857, PHS= 0.432,-1.232, 0.426, RAW= 149.8, 4.6, CAL= 149.0, 4.7, ROT= 1.0, -4.7 5PDAT read: Bearing 192.0, 4.5 (Local) =~Local bearing/azimuth received: Bearing 192.0, 4.5 (Local) EDAT read: Range 11 to 50 : 592.7 m (Round-trip 790.3 ms) speed 0.6 m/s MBDAT read: Tx time:21:19:37.1491 M$Ping request sent.Mi->T'@l=Bo&@ =)5[/?vN;k[/?II9 Aج?/?j ϶P? )IiI9@ @@?0@q^A ]<I I! O- >ԩ ,{?AF4T>F3?FyĨٱFv NAHRS rotation from veh to nav: [[0.761487,-0.627401,-0.162802],[0.642932,0.763005,0.066792],[0.082313,-0.155532,0.984395]]FH^?@`Ŀ ?@j?O?r?xÿ*?iF4T>ER EPER+EP"ER:*EPVER [4ZEPBER&;aZ2ER(;aZJEPaZ:EPaZIFnl;DYb)JBybHj@AhbDnVDn5yM <%MK=ٔUB»Q-U>9QYQ=U9FyUE]NE]>aQ 5mB5et?Q 9mB5e0)eBYqyuK?Q Iu@eDIe:ie:e;B5yyBɮAJ!R%Ճ?A%D%D%F;?%9ut+a@PO;et }ʫ,ut?AF>FxH3?F(ٱF! NAHRS rotation from veh to nav: [[0.761902,-0.626315,-0.165032],[0.642164,0.763687,0.066394],[0.084449,-0.156563,0.984051]]FHa?` ſ?`p?5?v?E Ŀ@X}?iF>IFql;FCYV.JByVHi5Mb@Mb@Mb@1111 195x&1?ˡE?V-Y5!?y5'=559A1 1)5A1Y5zAbDMVDMA5ye-<%eH=ٔe7Q-e>9iYi=m9FymEu Eu>yQ 5B5}C?Q 9B5}+)}BY "?Q E:yA?Q I@}DI}f:i}:}B5yoBɮaA;EQFNOT Ignoring new targets: 590.22 m.XXQ ProNav: ac range: 590.220520 m, nav range: 571.912903 m, bearing: 40.732967 deg, approach rate: -0.638929 m/s, LOS rate: -0.002958 deg/s, cmd heading: 39.239567 deg, new cmd heading: 39.235986 deg. zQHeadingCmd: 0.684797 target range: 590.220520 and range: 592.70 m.RN/?JbZB:2Ҕڔڒ’7?]wMBɢeE EE&E"EU:*E0:VE4ZEa@a@a@a@) 6Ri)`项iAAAAB _>B B 8HB JBB B B B ;B AEi%N/?%Q;%la~i5!>9@ @@;0@)^A <A hAzA bAQ A I I O >,L?A6^>63?6oٱ6^" >AHRS rotation from veh to nav: [[0.762418,-0.625157,-0.167029],[0.641274,0.764482,0.065839],[0.086531,-0.157308,0.983751]]6He?H 2aſP?v?ڰ?&?"Ŀ z?i6^>I6\m;4YF@JByFHbDNVDNV5yV>=%VW=ٔVQ-Z>9XYX=^9Fy^E^/E^>`Q 5fB5b?Q 9fB5b')bBYdyjA?Q Ij@bDIb6:ib;bB5ynqBɮnFAlQFNOT Ignoring new targets: 590.22 m.IIQ ProNav: ac range: 590.220520 m, nav range: 571.672424 m, bearing: 40.731879 deg, approach rate: -0.606503 m/s, LOS rate: -0.002746 deg/s, cmd heading: 39.235984 deg, new cmd heading: 39.232718 deg. z6QHeadingCmd: 0.684740 target range: 590.220520 and range: 592.70 m.R!K/?JbZB:2Ҕڔڒ’?MBɢNG) Ri)Cc!!i%S7i%!K/?--S;)5qԱ V׸,?A2>22?2ٱ2Sa# :AHRS rotation from veh to nav: [[0.763077,-0.623797,-0.169087],[0.640214,0.765398,0.065523],[0.088546,-0.158251,0.983421]]2H k? & ſ |?#~?ư?? AĿ.x?i2>I2{mn;2CYBOJByBH DDJ=J=bDN VDN5yV_=%VK=ٔZQ-Z>9XYX=Z9FyZE^IE^>`Q 5fB5b ?Q 9fB5b")bBYdyj:A?Q Ij@bDIb$:ib_:bB5ylɮn'AlQFNOT Ignoring new targets: 590.22 m. T TQ ProNav: ac range: 590.220520 m, nav range: 571.417786 m, bearing: 40.730758 deg, approach rate: -0.658345 m/s, LOS rate: -0.002898 deg/s, cmd heading: 39.232719 deg, new cmd heading: 39.229357 deg. zQ%HeadingCmd: 0.684681 target range: 590.220520 and range: 592.70 m.R%HG/?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’11=P?eMBɢe-)a eRii)mbeiiim8iuHG/?u&T;u-bB B ]HB JBB B B DB ;B FAEA .A1 IA IY Oe >w ,?A2 ,>2l2?2?乽ٱ2d?$ :AHRS rotation from veh to nav: [[0.763634,-0.622557,-0.171130],[0.639255,0.766241,0.065029],[0.090643,-0.159054,0.983100]]2Ho?ſ`t? ?@?]4?`[Ŀ`u?i2 ,>I2o;2CYBjJByBH^only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 292.78, 243.99, 252.32 ab@ab ab@ab ab@ab ab@ab bDfVDf5ynҀ=%nF=ٔn^Q-r>9r ?Yr ?=r9FyrEvz.Ev>xQ 5~B5z?Q 9~B5zM)zBQ A~+:Y|Q E:y@?Q I@zDIz:iz>zB5y tBɮ A A%>A AU ؟AIY Ii O >_,?A2I[>232?2 ٱ2$ >AHRS rotation from veh to nav: [[0.764523,-0.621149,-0.172276],[0.637930,0.767433,0.063977],[0.092471,-0.158812,0.982969]]2H@v?s& ƿ@i?Ύ?@`?6?@SĿ {t?i2I[>EB EBEB+E@"EB:*EB,:VEB [4ZE@BEBi9f"?Yj"?=j9FyjEjEj>lQ 5rB5n<)?Q 9rB5n)nBQ Av :YtQ Ev\:yv@?Q Iv@nDIns:inCP?nB5yxɮzA|GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 590.22 m.77Q ProNav: ac range: 590.220520 m, nav range: 570.904785 m, bearing: 40.728597 deg, approach rate: -0.607108 m/s, LOS rate: -0.002511 deg/s, cmd heading: 39.226002 deg, new cmd heading: 39.222869 deg. zܸQHeadingCmd: 0.684568 target range: 590.220520 and range: 592.70 m.R?/?JbZB:2Ҕڔڒ’`5+@eMBɢeQ)a eYSii)m}kiiimzz9i?/?W;F@,2?A2W>21?2 ٱ2& :AHRS rotation from veh to nav: [[0.765669,-0.619073,-0.174640],[0.636311,0.768704,0.064822],[0.094117,-0.160758,0.982496]]2H ]?qZƿ\? 9?,??`Ŀp?i2W>I25o;2C@YFJByFHHHE*DAT read: user:160> Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761331a]a] a]ae aeae aeae ieMb@Mb@Mb@aaaa a9eZd;O?Mbp?Q?Yej?ye;eu9Y=9FyEE>Q 5B59?Q 9B5T)BQ AT:Yw?Q E:y14?Q I@DI;iA;B5yvBɮAQFNOT Ignoring new targets: 590.22 m.77Q ProNav: ac range: 590.220520 m, nav range: 570.644470 m, bearing: 40.728780 deg, approach rate: -0.630917 m/s, LOS rate: 0.000444 deg/s, cmd heading: 39.222870 deg, new cmd heading: 39.223420 deg. z7QHeadingCmd: 0.684578 target range: 590.220520 and range: 592.70 m.R~@/?JbZB : 2 Ҕ ڔڒ’@f@EMBɢE%)I MRiI)Mx0nIIiM=d9iU~@/?UgW;]%B=CBHBJBB =B;DBDB;BAEBEk;2El;JE;:E;@ @@4@^Am <<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013124! A I I O >,؃L?A2^>2>1?2UĽٱ2.& :AHRS rotation from veh to nav: [[0.766576,-0.617582,-0.175936],[0.634956,0.769886,0.064079],[0.095877,-0.160833,0.982314]]2Hʇ?;ƿQ??xg?`?+Ŀo?i2^>I2o;2CYBJByBHbDJVDJm5yR<%RZ=ٔVrQ-V>9TYX=Z9FyZEZEZ>\Q 5bB5^H?Q 9bB5^w)^BYdyf3?Q If@^DI^:i^:^B5yhɮjAl|QFNOT Ignoring new targets: 590.22 m. c7 c7Q ProNav: ac range: 590.220520 m, nav range: 570.416931 m, bearing: 40.728978 deg, approach rate: -0.607696 m/s, LOS rate: 0.000527 deg/s, cmd heading: 39.223420 deg, new cmd heading: 39.224012 deg. zD7Q%HeadingCmd: 0.684588 target range: 590.220520 and range: 592.70 m.R%+A/?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’115!f @颽MBɢQ) Xi)pi9i+A/? X;G BDAT read: Rx Time:21:19:40.3345  TRx dataTimestamp_ set to:1761513581.588586 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517706&,g_f?AN>N\0?NVȽٱN+& ~AHRS rotation from veh to nav: [[0.767264,-0.616284,-0.177485],[0.633851,0.770842,0.063521],[0.097666,-0.161236,0.982071]]NHl?@ҷƿH??B?`?cĿ!m?iN>INm;LY JBy JHbDVD25y==%EA=ٔMQ-M>9QYQ=U9FyUEeGGEe>iyQ 5B5mAY?Q 9B5m )m&BYys3?Q I@mDIm;imÜ;mB5yQBɮA3EIQuFNOT Ignoring new targets: 590.22 m.}(7}(7Q ProNav: ac range: 590.220520 m, nav range: 570.158264 m, bearing: 40.729236 deg, approach rate: -0.577925 m/s, LOS rate: 0.000576 deg/s, cmd heading: 39.224011 deg, new cmd heading: 39.224785 deg. z7QHeadingCmd: 0.684602 target range: 590.220520 and range: 592.70 m.RB/?JbZB:2Ҕڔڒ’@ @ENBɢEp)A MTi)s顑i9iB/?pY;aB ,+P?A2gN>2}0?2˽ٱ2J' :AHRS rotation from veh to nav: [[0.767794,-0.615182,-0.179008],[0.632938,0.771639,0.062948],[0.099405,-0.161632,0.981832]]2Hđ?@ƿA?D?\?r?[Ŀ*k?i2gN>I2k;0YBJByBlH DDF=F=i]Mb@Mb@Mb@YYYY Y9]rh|?I +?y&1?Y]?y]94<]`<]EA]=A Y)]AYY] A m9Y=9FyE&E>Q 5B5 i?Q 9B5)KBY?Q E:y7?Q I@DIi ;iK ;0B5yɮAQFNOT Ignoring new targets: 590.22 m.ؖؖQ ProNav: ac range: 590.220520 m, nav range: 569.910095 m, bearing: 40.729135 deg, approach rate: -0.634547 m/s, LOS rate: -0.000258 deg/s, cmd heading: 39.224786 deg, new cmd heading: 39.224484 deg. z5QHeadingCmd: 0.684596 target range: 590.220520 and range: 592.70 m.RA/?JbZB:2 Ҕ ڔ ڒ’K @ENBɢErz)Q ]RiY)]yvYYi]+:ieA/?eY;m::;ImA/?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.023204@ @@35@^A%P;)I! I1 O= > DAT read: 21:19:40.3345 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 92, 0.07,-2.361, 2.355,-2.176,-2.696, PHS= 0.436,-1.187, 0.476, RAW= 151.2, 3.4, CAL= 150.2, 3.2, ROT= 359.8, -3.2  Ygot valid direction response: 21:19:40.3345 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 92, 0.07,-2.361, 2.355,-2.176,-2.696, PHS= 0.436,-1.187, 0.476, RAW= 151.2, 3.4, CAL= 150.2, 3.2, ROT= 359.8, -3.2  PDAT read: Bearing 190.0, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 190.0, 4.9 (Local)  DAT read: Range 11 to 50 : 585.9 m (Round-trip 781.3 ms) speed 0.6 m/s  BDAT read: Tx time:21:19:41.3991  $Ping request sent. i] ] F>] [(@] s=] g'@ ] d=y )] B@I] dY Y ] ңUR?d4:?F#=? ] p ?)] ) rI] di] dY Y  :publishing transmit ping time  Fpublishing direction and range infoyY ] I-?mv14lᢔ?YY Y Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY Y Y ] ңUR?d4:?F#=? Y )Y IY iY Y Y 8,?AE@ EBEB)E@"E@*EB3:VEBFA4ZE@aJ@aJ@aJ@aJ@bk>bCV0?bQϽٱb[6' jAHRS rotation from veh to nav: [[0.768047,-0.614485,-0.180311],[0.632370,0.772172,0.062123],[0.101057,-0.161736,0.981646]]bHד?ݩkǿ_IbZwi;bCYJByxHbD=VD=I5yM<%MO=ٔMQ-U>9QYQ=U9FyUEPźE>Q 5C5ox?Q 9C5)nBYy6?Q I@DIO;i;C5ySBɮAJRP?ADD51?Ռ3@0rVDzH@@I-?mv14lᢔ?dd—I|9{@LW w@NF!|V@+I?=$#:?@Q?jgCraCZ?7?bJ z Cꗕ*1d?"LjCڗ;D◕;3?QM addTargetRange:: Added new target pos. range: 585.900024 m, deltaT: 4.283913 s, deltaX: -6.799988 m, approachRate: -1.587331 m/s, rangeRepo size: 4 QQ Added new target pos. range: 583.412598 m, bearing: 39.793192 deg, lat: 36.779077 deg, lon: -121.858987 deg, deltaT: 4.283913 s, deltaX: -6.807922 m, approachRate: -1.589183 m/s, posRepo size: 4 QFNOT Ignoring new targets: 583.41 m.Q ProNav: ac range: 583.412598 m, nav range: 572.934998 m, bearing: 40.257447 deg, approach rate: 0.000000 m/s, LOS rate: -0.000258 deg/s, cmd heading: 39.224485 deg, new cmd heading: 39.224164 deg. zQHeadingCmd: 0.684591 target range: 583.412598 and range: 585.90 m.RXA/?JbZB:2Ҕڔڒ’@3O@ c?E-NBɢEq)A MUiI)Suy顉iC:iXA/?CdZ;r;IXA/?IA@A @A@E0@AԁԹ^AM r;AU >AU >I I! OU > b, ?AY~JBy~yHiMb@Mb@Mb@ 9X9v?{Gz?:v?Y?y#=<9A A)AYAbDVD5y{;%D=ٔQ->9Y=9FyEE>Q 5C5?Q 9C5 )BYl?Q E:yB?Q I@DI ;iC ;IC5yɮAGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 583.41 m.++Q% ProNav: ac range: 583.412598 m, nav range: 572.682495 m, bearing: 40.255995 deg, approach rate: -0.637068 m/s, LOS rate: -0.003666 deg/s, cmd heading: 39.224164 deg, new cmd heading: 39.219806 deg. z%!Q-HeadingCmd: 0.684515 target range: 583.412598 and range: 585.90 m.R-\B]:CB]HB]XKBB] =BYB]DB]l;B]@EB%=CB%=CB%ÕCB%Ð =B%Ò =C%L6)q uZiq)}fC|yyi}1":i\9 J,%?A2>20?2^սٱ2J' :AHRS rotation from veh to nav: [[0.768345,-0.613294,-0.183073],[0.631481,0.773013,0.060687],[0.104299,-0.162236,0.981224]]2H`H?@nǿ5?@?[?W?`#Ŀ0f?i2>I2Bf;0Y^KBy^HIb=)bt>dfAbDjVDj>5yM=% V=ٔ  Q- >9Y=9FyEE>!Q 5%C5%7?Q 9-C5%)%BY)y-_B?Q I-@%DI%6:i%N:%C5y5VBɮ=QA=4EYQeFNOT Ignoring new targets: 583.41 m.e~e~Q} ProNav: ac range: 583.412598 m, nav range: 572.448364 m, bearing: 40.254666 deg, approach rate: -0.612922 m/s, LOS rate: -0.003479 deg/s, cmd heading: 39.219807 deg, new cmd heading: 39.215819 deg. z}Q}HeadingCmd: 0.684445 target range: 583.412598 and range: 585.90 m.R7/?JbZB:2Ҕڔڒ’?颽TNBɢ) #Ti)Ȱ~iRy0:i7/?)[;;I7/?I9@ @@0@5*DAT read: user:161> =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9983179E EE-E"E:*ErN:VEt4ZEa@a@a@a@^A0;I1IIOU>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2488673t, ?A 6Ɖ>6r0?6`ٽٱ6' JAHRS rotation from veh to nav: [[0.768221,-0.613066,-0.184354],[0.631357,0.773191,0.059697],[0.105942,-0.162254,0.981045]]6HD?@<`ǿ4??? ?Ŀd?i6Ɖ>I6rEe;6CYZKByZHbDjVDj5y]a=%]*=ٔeaQ-e>i9iYA=E9FyEEM# E]>aQ 5uC5eW?Q 9}C5e$)eBYyQ I@eDIe+;ieS;e C5yɮA1Q=FNOT Ignoring new targets: 583.41 m.UuUuQ ProNav: ac range: 583.412598 m, nav range: 572.135925 m, bearing: 40.252892 deg, approach rate: -0.590487 m/s, LOS rate: -0.003355 deg/s, cmd heading: 39.215818 deg, new cmd heading: 39.210493 deg. zZQMHeadingCmd: 0.684352 target range: 583.412598 and range: 585.90 m.RM1/?JYbaZaBi:i2qҔڔڒԙ’`?sNBɢ)   Ui ) O  i #7:i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501349i1/?ͳ[;;I1/?IBU 3>BU 9CBU dHBU KBBU =BQ BU DBU {;BU @Ei @i  @i @m $3@i D zD @AE  E E ,E "E y:*E a9:VE g4ZE BE :,'?A2~>2!0?2ܽٱ2' :AHRS rotation from veh to nav: [[0.768022,-0.612938,-0.185605],[0.631319,0.773306,0.058608],[0.107606,-0.162189,0.980875]]2H࢓?0@ǿ3??@??`ĿTc?i2~>I2Kge;2CYZBKBy^Hnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753023iMMb@Mb@Mb@IIII I9MGz?V-?Mb?YMp?yMh=M9yYy=}9Fy}E9E>Q 5C5?Q 9C5)BY?Q E:yoN?Q I@DI;iʇ;MC5yXBɮA)QFNOT Ignoring new targets: 583.41 m.  Q ProNav: ac range: 583.412598 m, nav range: 571.910767 m, bearing: 40.250542 deg, approach rate: -0.630808 m/s, LOS rate: -0.006585 deg/s, cmd heading: 39.210494 deg, new cmd heading: 39.203442 deg. zQHeadingCmd: 0.684229 target range: 583.412598 and range: 585.90 m.R)/?JbZB:2Ҕڔڒ’W?eNBɢe)i mPii)mpiiiuC:iu)/?u \;}3N;I})/?Iy9@9 @9@=/0@9achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004832ԑ^A #2;bEʙT4jEwX4rE.0E  E E *E "E غ:*E |;:VE (N4ZE a @a @a @a @Թ A I I O >`,?A2>2\'0?20ٱ2u' :AHRS rotation from veh to nav: [[0.767830,-0.612772,-0.186943],[0.631270,0.773417,0.057665],[0.109250,-0.162288,0.980677]]2H@?ӛǿ\3?@Կ?4??@Ŀ`a?i2>I219e;2CYBqKByB8HbDJVDJ5yR=%RY=ٔVڏQ-V>9TYT=V9FyZEZl9EZ>\Q 5bC5^ ?Q 9bC5^r)^BYdyfvN?Q If@^DI^d:i^p:^C5yj1BɮjAj+E|Q~FNOT Ignoring new targets: 583.41 m.--Q ProNav: ac range: 583.412598 m, nav range: 571.680359 m, bearing: 40.248134 deg, approach rate: -0.624814 m/s, LOS rate: -0.006534 deg/s, cmd heading: 39.203442 deg, new cmd heading: 39.196213 deg. zQ}HeadingCmd: 0.684103 target range: 583.412598 and range: 585.90 m.R}_!/?JybyZyBy:2Ҕڔڒ’ޅ@NBɢ4=) Ii)%!!i%M:i-_!/?-k\;-;I-_!/?I1ԑ@ @@00@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258426Թ؀G I/9YTA^A`; A I I1 OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508953 ,K8?AYbKBybOHB=<A=<BE->BABEHBEKBBABABEDBE`;BE@EimMb@Mb@Mb@iiii i9mV-?Zd;O?MbPYm?ymj=mimIA mA)m AiYmAbDVD5y*=%<=ٔQ->9Y=9FyEE>D=D<E EEE"Ey:*E*5:VEZEBEa2EaJE;a:E;aQ 5C5@?Q 9C53)*BY?Q E:yU?Q I@DI;i&;eC5y4BɮAGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 583.41 m.Q ProNav: ac range: 583.412598 m, nav range: 571.413940 m, bearing: 40.244565 deg, approach rate: -0.606020 m/s, LOS rate: -0.008122 deg/s, cmd heading: 39.196212 deg, new cmd heading: 39.185501 deg. z\QHeadingCmd: 0.683916 target range: 583.412598 and range: 585.90 m.R/?JbZB:2Ҕڔڒ’@UNBɢUN)Q UKiQ)] YYi]P4U:ie/?e%\;e;Ie/?IiI)%9@! @!@%/0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760961I ^Am [R;Am >Am >A I I O >r,ʧR?A2>2h70?2iٱ2N( >AHRS rotation from veh to nav: [[0.767401,-0.612491,-0.189606],[0.631232,0.773576,0.055905],[0.112433,-0.162586,0.980268]]2H?`Dȿ 3?#?@? pȼ?ĿZ^?i2>I2f;2CYBKByFHbDNVDN5yV]=%V[=ٔV Q-V>9XYX=Z9FyZEZ+:E^>`Q 5fC5bL?Q 9fC5b)b>BYdyfU?Q Ij@b DIb:ibB:bC5ylɮniAlyQFNOT Ignoring new targets: 583.41 m.Q ProNav: ac range: 583.412598 m, nav range: 571.185120 m, bearing: 40.241492 deg, approach rate: -0.593826 m/s, LOS rate: -0.007978 deg/s, cmd heading: 39.185502 deg, new cmd heading: 39.176280 deg. z5QHeadingCmd: 0.683755 target range: 583.412598 and range: 585.90 m.R /?JbZB:2Ҕڔڒ’C@%NBɢ%l)) -ODi))-4))i-_[:echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013457ie /?eX];m;Im /?IiQ-9@) @)@-00@)E EE-E"E*E?:VEt4ZEa@a@a@a@y^A5j;ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265457Ae .AIy I O >G,Hl?ANn>0?N߬ٱNk* ^AHRS rotation from veh to nav: [[0.767209,-0.612000,-0.191954],[0.631212,0.773543,0.056590],[0.113852,-0.164580,0.979771]]NH?@ȿ 2??O?e%?ſHZ?iN>IN3f;NCYfKByjHIn>)n;ppbDzVDz5y S!=% D=ٔB`Q->9 ?Y ?=9FyE%`9E%>)Q 55C5-?Q 95C5-)-UBY9y=U?Q I=@-DI-;i-";-OC5yE/BɮE5AAiQmFNOT Ignoring new targets: 583.41 m.uuQ ProNav: ac range: 583.412598 m, nav range: 570.929443 m, bearing: 40.238053 deg, approach rate: -0.636294 m/s, LOS rate: -0.008563 deg/s, cmd heading: 39.176278 deg, new cmd heading: 39.165956 deg. zQHeadingCmd: 0.683575 target range: 583.412598 and range: 585.90 m.R.?JbZB:2Ҕڔڒ’\= @NBɢs ) Ei)MrQQi]Sa:Աi.?];;I.?ImBDAT read: Rx Time:21:19:44.5868 uTRx dataTimestamp_ set to:1761513585.873271}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518976@ @@/5@B=(>B=8CB=HB=#LBB= =B9B9B=;B=|@EDzDAAE EEE"E:*E&p:VEZEBE!,px?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768939hYKByHi%Mb@Mb@Mb@!!!! !9%-?Cl?/$Y%5?y%;=%%QA! !)%A!Y%QAbD=VD=5yMj=%M7=ٔMQ-U>9QYQ=U9FyUE]E]>aQ 5mC5eN?Q 9mC5e!)edBYm ?Q Em:yuZ?Q Iu@eDIe* ;ieu ;e2!C5y}2Bɮ} A},EQFNOT Ignoring new targets: 583.41 m.j/j/Q ProNav: ac range: 583.412598 m, nav range: 570.653687 m, bearing: 40.233790 deg, approach rate: -0.619774 m/s, LOS rate: -0.009585 deg/s, cmd heading: 39.165954 deg, new cmd heading: 39.153160 deg. zҹQHeadingCmd: 0.683352 target range: 583.412598 and range: 585.90 m.R!.?JbZB:2Ҕڔڒ’@NBɢ) (Ei ) 4ڈ  i d:i!.?q^;;I!.?I@ @@)5@)% DAT read: 21:19:44.5868 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 468, 0.07,-1.847, 2.895,-1.710,-2.183, PHS= 0.438,-1.159, 0.430, RAW= 149.7, 3.7, CAL= 148.9, 3.7, ROT= 1.1, -3.7 = Ygot valid direction response: 21:19:44.5868 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 468, 0.07,-1.847, 2.895,-1.710,-2.183, PHS= 0.438,-1.159, 0.430, RAW= 149.7, 3.7, CAL= 148.9, 3.7, ROT= 1.1, -3.7 E PDAT read: Bearing 190.1, 7.1 (Local) E ~Local bearing/azimuth received: Bearing 190.1, 7.1 (Local) U DAT read: Range 11 to 50 : 587.6 m (Round-trip 783.5 ms) speed 0.5 m/s ] BDAT read: Tx time:21:19:45.6506 ] $Ping request sent.] iuZu(>um7'@u A=uR&@ u A=)unF',<?A2>2(0?2apٱ2'* :AHRS rotation from veh to nav: [[0.767166,-0.611369,-0.194126],[0.630753,0.774033,0.054979],[0.116647,-0.164623,0.979435]]2H?Tȿ!/??4&?ܽ?aſW?i2>I2f;2CYrKByrHbDzVDz5y%h=%%`=ٔ-Q-->9)Y)=59Fy5E5MlE5>9yQ 5C5}B ?Q 9C5}{)}qBYyZ?Q I@}%DI}:i}-:}u$C5yɮAJR)?ADDDD57?Ėzz=@L>j&@wB@Okk?BvA?P0?nF< A—vI 8U{@<0w@c}Y@g|̷?Y *? Ae?jyCrCZ2ɒ?bBz6Cꗭ2ɒ?d Cڗ}D◭N4?QE addTargetRange:: Added new target pos. range: 587.599976 m, deltaT: 4.033721 s, deltaX: 1.699951 m, approachRate: 0.421435 m/s, rangeRepo size: 4 Qu Added new target pos. range: 585.070007 m, bearing: 41.149174 deg, lat: 36.779060 deg, lon: -121.858971 deg, deltaT: 4.033721 s, deltaX: 1.657410 m, approachRate: 0.410889 m/s, posRepo size: 4 yQ}FNOT Ignoring new targets: 585.07 m.}Q ProNav: ac range: 585.070007 m, nav range: 569.963135 m, bearing: 40.461214 deg, approach rate: 0.000000 m/s, LOS rate: -0.009585 deg/s, cmd heading: 39.153161 deg, new cmd heading: 39.141961 deg. zQHeadingCmd: 0.683156 target range: 585.070007 and range: 587.60 m.RQ.?JbZB:2Ҕڔڒ’\@ ? OBɢi)Å: Ei)%B"!!i%sh:i-Q.?-^;M;IMQ.?IQi9@ @@/5@ԑ^AX;II Iq O > i߁ I߁ -,?ABr>Br6CBrwHBrtLBBr =BpBrDBr։;Br5@EY~LBy~H  %> =iMb@Mb@Mb@ 9S?Cl?V-Y?y9AVA A)$AYAԙE EE+E"E>:*EL_:VE [4ZEBE9Y=9FyEE>Q 5C5g?Q 9C5e){BYL?Q E:y-[?Q I@-DI ;iX ;(C5y BɮA#EGSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 585.07 m.5n/5n/QE ProNav: ac range: 585.070007 m, nav range: 569.709839 m, bearing: 40.457366 deg, approach rate: -0.630707 m/s, LOS rate: -0.009586 deg/s, cmd heading: 39.141960 deg, new cmd heading: 39.130411 deg. zEҹQMHeadingCmd: 0.682954 target range: 585.070007 and range: 587.60 m.RM.?JIbIZIBI:I2QҔڔڒ’@?% OBɢ-)) -ADi))MKhQQiU 4,?A2#^>20?27ٱ2.* :AHRS rotation from veh to nav: [[0.767274,-0.610597,-0.196117],[0.630151,0.774618,0.053633],[0.119168,-0.164735,0.979113]]2H? _ɿ1*?`?u?`́?ſT?i2#^>I2nNe;2CYB.LByB!HbDNVDN5yV=%V_=ٔVQ-V>9XYX=Z9FyZE^hE^>`Q 5fC5b%?Q 9fC5b)bBYdyf [?Q If@b4DIb:ib$:bN+C5ylɮnAlQFNOT Ignoring new targets: 585.07 m. ( (Q ProNav: ac range: 585.070007 m, nav range: 569.487366 m, bearing: 40.453995 deg, approach rate: -0.607750 m/s, LOS rate: -0.009213 deg/s, cmd heading: 39.130410 deg, new cmd heading: 39.120293 deg. zRʹQHeadingCmd: 0.682778 target range: 585.070007 and range: 587.60 m.R.?JbZB:2Ҕڔڒ’`?=*DAT read: user:162> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.977526颕6OBɢX) Ai)顡ih7o:i.?Z`;ad;I.?II@I @I@M05@IE EE-E"E:*EX:VEt4ZEa@a@a@a@)^A58<A=>A=>YIIO> > < checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229733y ^:,?AJR>J/?JٱJJ* VAHRS rotation from veh to nav: [[0.767235,-0.610398,-0.196889],[0.630005,0.774779,0.053018],[0.120184,-0.164718,0.978991]]JH/?@a@3ɿ@)??$%?`\ľ?~ſ`S?iJR>IJWd;JCY^>LBy^4HbDfVDf5yn =%nG=ٔr,#Q-r>9pYp=r9FyvEv`Ev>xQ 5~C5z3?Q 9~C5z)zBYy[?Q I@z) JCi)EÍ顙imr:i.?{`;;I.?IQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.483641m &<ԁB>B3CBHBLBB =BBDB;B@EB8CB7CBBƙ =Bƚ =C9659@1 @1@5O0@1DzDE EE(E"E:*E n:VEc44ZEBE/$B,ܻ ?A$$B>B/?BoٱBj* JAHRS rotation from veh to nav: [[0.767598,-0.609803,-0.197317],[0.629405,0.775306,0.052432],[0.121008,-0.164439,0.978937]]BH)?`Aɿ@$?O?Rت?@f? U ſrS?iB>IBPc;BCYR_LByR\HXZAi-Mb@Mb@Mb@)))) )9-X9v??y&1Y-?9y-=-`-EA-bA -A)-1A)Y-AbDMVDM5y]=%]/=ٔ]Q-e>9e"?Ye"?=e9FyeEmúEm>qQ 5C5uBD?Q 9C5u4)uBY , ?Q E :y wV?Q I @uEDIueH,W$?AYrLBysHbD5VD5v5yE9=%EL=ٔEQ-E>9IYI=M9FyMEMEU>QQ 5]C5U^R?Q 9eC5UP)UBYayaQ Ie@UMDIUa;iU;U{6C5ymBɮuvAu$EԙQFNOT Ignoring new targets: 585.07 m.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.237356Q ProNav: ac range: 585.070007 m, nav range: 568.700073 m, bearing: 40.443036 deg, approach rate: -0.648638 m/s, LOS rate: -0.008667 deg/s, cmd heading: 39.097342 deg, new cmd heading: 39.087399 deg. zUQHeadingCmd: 0.682204 target range: 585.070007 and range: 587.60 m.R.?JbZB:2Ҕڔڒ’F@OBɢR) Ci) io:i].?];a;%;I%.?I1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489286 @  @ @ 5@  Be <Ae <Bm >Bm 2CBm 2HBm MBBm =Bm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742002YeLByeH iiiMb@Mb@Mb@ 9+?~jt?I +Y?y=9^AnA A)=AYfAbD-VD-R5y==%= =ٔAQ-E>9AYA=E9FyMEIEM>QQ 5]C5Ug?Q 9]C5U)UBY!?Q E:yT?Q I@UYDIUbEjEY4rE5/E  E E *E "E O:*E i:VE (N4ZE a @a @a @a @,X,Fb?A`Y~LBy~HbDVD>5y%f<%%`=ٔ!Q-%>9)Y)=-9Fy-E)E5>1Q 5=C55t?Q 9EC55)5BYAyAQ IE@5aDI5;i5;5>C5yMBɮU_AUEQFNOT Ignoring new targets: 585.07 m.  Q ProNav: ac range: 585.070007 m, nav range: 568.099548 m, bearing: 40.435379 deg, approach rate: -0.623292 m/s, LOS rate: -0.007956 deg/s, cmd heading: 39.073163 deg, new cmd heading: 39.064417 deg. zQ%HeadingCmd: 0.681803 target range: 585.070007 and range: 587.60 m.R%.?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’11=` @eOBɢed)a e@ia)m wiiimm:iu.?u(b;ua;Iu.?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.245807 9@  @ @4@@=@= Gʮ9YA^A-8<IIO>I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4991836V^,!|?AB&>B&1CB&}HB&JMBB& =B$B&DB&E;B&?EN>NF/?NpٱN' nAHRS rotation from veh to nav: [[0.768774,-0.608431,-0.196976],[0.627639,0.776908,0.049841],[0.122707,-0.161946,0.979141]]NH˙?`Cx6ɿ`?m?Ą?`i?ĿU?iN>IN`;NCYvLByvHE EE+E"E :*EM:VE [4ZEBEQ"%5:=ٔ=UQ-=>99Y9==9FyEEEEE>IQ 5UC5M?Q 9UC5M?)MBY]"?Q E]:y]N?Q I]@MjDIMp;iM;MBC5yaɮeAiQFNOT Ignoring new targets: 585.07 m.mmQ ProNav: ac range: 585.070007 m, nav range: 567.822449 m, bearing: 40.432506 deg, approach rate: -0.654143 m/s, LOS rate: -0.006787 deg/s, cmd heading: 39.064417 deg, new cmd heading: 39.055791 deg. zQHeadingCmd: 0.681652 target range: 585.070007 and range: 587.60 m.R.?JbZB:2Ҕڔڒ’#8 @OBɢ) 96i)LiSk:i.?c;Q;I.?II@ @@05@BDAT read: Rx Time:21:19:48.8291 TRx dataTimestamp_ set to:1761513590.156691checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749922q^AIIIO>ԡ >e,~?A2Ѥ>2(/?2ٱ2( :AHRS rotation from veh to nav: [[0.768977,-0.607924,-0.197745],[0.627226,0.777256,0.049609],[0.123540,-0.162179,0.978997]]2H@u?t`Oɿ@<?G?@Uf?V?HĿ S?i2Ѥ>I21C`;2CYBMByB,HIF=)F=bDNVDN,5yV1>=%Vg=ٔVQ-V>9XYX=Z9FyZ EZzE^>`Q 5fC5b?Q 9fC5b)bBYdyfN?Q If@bqDIb:ib:bEC5ynBɮnAnEyQFNOT Ignoring new targets: 585.07 m.Q ProNav: ac range: 585.070007 m, nav range: 567.599365 m, bearing: 40.430201 deg, approach rate: -0.602526 m/s, LOS rate: -0.006228 deg/s, cmd heading: 39.055790 deg, new cmd heading: 39.048873 deg. zĈQHeadingCmd: 0.681531 target range: 585.070007 and range: 587.60 m.Rx.?JbZB:2Ҕڔڒ’-@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000823EOBɢE)I M7iI)MѕIIiMk:iUx.?U\c;]';I]x.?IYEm EmEm,Ei"Em2:*Em n:VEmg4ZEiau@au@au@au@ԡ<;1@9 @9@EO0@A DAT read: 21:19:48.8291 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 86, 0.07,-2.218, 2.546,-1.955,-2.455, PHS= 0.339,-1.237, 0.456, RAW= 153.6, 5.4, CAL= 152.8, 5.4, ROT= 357.2, -5.4  Ygot valid direction response: 21:19:48.8291 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 86, 0.07,-2.218, 2.546,-1.955,-2.455, PHS= 0.339,-1.237, 0.456, RAW= 153.6, 5.4, CAL= 152.8, 5.4, ROT= 357.2, -5.4  PDAT read: Bearing 191.4, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 191.4, 3.5 (Local)  DAT read: Range 11 to 50 : 580.8 m (Round-trip 774.4 ms) speed 1.3 m/s  TDAT read: user:163>Tx time:21:19:49.8959  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.994373,-0.048633,0.094108] Fpublishing direction and range infoy  1?c樿|ӄ{?Y 3D ) I h>i V x> +@ = *@ =) @I  \??}?GtQ? ?) ½I *Hi  - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode. ^Au S;)A.AIIO>l, ?AZ>Z.?ZpٱZ1~' bAHRS rotation from veh to nav: [[0.770096,-0.606559,-0.197580],[0.625776,0.778445,0.049271],[0.123919,-0.161584,0.979048]]ZH@?@hJJɿ [??@:?.?`ǮĿ \T?iZ>IZ^;XYj MByj2HbD~VD~5y- <%5#=ٔ=FQ-E>9U ?Y] ?=]9Fy] EmnEu>Q 5C5?Q 9C5՟) BYyQN?Q I@{DI;i;DJC5yɮADAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.509877JYR]q:?A]D]D]&?]x@B/CBHBMBB =BBDB;B(?EB:Y2aҔaڔaaڒi’im`f&@m`?颵 PBɢD<D<E EE%E"E:*Ez:VE 4ZEBEJ-6k.?86uٱ6( RAHRS rotation from veh to nav: [[0.770742,-0.605616,-0.197955],[0.624966,0.779056,0.049900],[0.123998,-0.162175,0.978940]]6H@?5aVɿ??m?`V?#Ŀ@zS?i6*>I6+n^;6ߐCYMByIHiMb@Mb@Mb@ 9#~j?~jt?Y%?y=A A)IAYAbD`VD5y<%=ٔQ->9"?Y"?=9FyEaE>Q 5C5\?Q 9C58)A BY'?Q E:yS?Q I@DI /B**CB*,HB*MBB* =B(B*DB*;B*>E0~>~['.?~ٱ~a( AHRS rotation from veh to nav: [[0.771391,-0.604751,-0.198073],[0.624161,0.779675,0.050302],[0.124012,-0.162432,0.978896]]~H;?Z tZɿ@!??@&?F?`Ŀ S?i~>I~/^;~CYiMBy%HDzD@AE EE/E"E:*Ez:VEJ4ZEBEI-%=ٔ-۷Q->9Y=9FyE%E>Q 5C5+?Q 9C5)h BY*?Q E:yT?Q I@DI:i#:]TC5yBɮAEQFNOT Ignoring new targets: 578.23 m.D(D(Q  ProNav: ac range: 578.230957 m, nav range: 572.158508 m, bearing: 39.938564 deg, approach rate: -0.683470 m/s, LOS rate: -0.009194 deg/s, cmd heading: 39.023381 deg, new cmd heading: 39.008734 deg. z ɹQHeadingCmd: 0.680831 target range: 578.230957 and range: 580.80 m.RJ.?JbZB:2Ҕ!ڔ!!ڒ!’))- *??UKPBɢ]T)Y ]t8iY)]ΚaaieȻZ:ieJ.?mzc;metB;ImJ.?Ii 9@  @ @0@?~?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.768951 ^Ayb];1 I I O >M,:>?A2Z>2<-?2ɦٱ2) >AHRS rotation from veh to nav: [[0.772086,-0.603634,-0.198772],[0.623300,0.780286,0.051484],[0.124021,-0.163645,0.978693]]2H?@P@\qɿ?`?)\?ݿ?PĿsQ?i2Z>I2:^;2CYFMByFHbDNVDN5yV*=%Vs=ٔVPQ-V?9XYX=Z9FyZE^6YE^?`Q 5fC5b?Q 9fC5bnj)b BYdyfZT?Q If@bDIb:ib:bNWC5ynҜBɮn/AnEQFNOT Ignoring new targets: 578.23 m.    Q ProNav: ac range: 578.230957 m, nav range: 571.937134 m, bearing: 39.935610 deg, approach rate: -0.657251 m/s, LOS rate: -0.008773 deg/s, cmd heading: 39.008733 deg, new cmd heading: 38.999869 deg. zQ-HeadingCmd: 0.680676 target range: 578.230957 and range: 580.80 m.R-@.?J1b1ZB:2Ҕڔڒ’\?aPBɢ5Z)1 =4i9)=؛99i=]:iE@.?ENVc;E8 ;IE@.?II}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.020925I)M9@I @I@M0@IiE EE)E"ED:*Ex:VEFA4ZEa@a@a@a@q^Am*:;II O% >- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272691ԡ _x,0?A2΁>2u-?2Dٱ2, ) >AHRS rotation from veh to nav: [[0.772759,-0.602908,-0.198358],[0.622466,0.780967,0.051246],[0.124015,-0.163072,0.978789]]2H q?K@cɿ=?`?@I2.^;2CYVMByVHXZA^AA\bDbtVDb\5yjq=%jH=ٔj7Q-n>9lYl=r9FyrEr,Er>tQ 5zC5vX?Q 9zC5v)v BYxy~T?Q I~@vDIv;iv;vZC5yɮAQQUFNOT Ignoring new targets: 578.23 m.]q]qQm ProNav: ac range: 578.230957 m, nav range: 571.667969 m, bearing: 39.932046 deg, approach rate: -0.649263 m/s, LOS rate: -0.008603 deg/s, cmd heading: 38.999868 deg, new cmd heading: 38.989168 deg. zmYQuHeadingCmd: 0.680489 target range: 578.230957 and range: 580.80 m.Ru4.?JqbqyZqBy:y2Ҕڔڒ’Z#@颽yPBɢP) Q0i)Ni~^:i4.?c;׶:I4.?I1@1 @1@=0@9ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.527570B]<A]<Be>Be%CBeHBeNBBe =Be=DBeDBeT;BeP>EB%/CB%-CB%ƘCB%ƥ =B%ƨ =C%_6^AU] ;IIE EE*E"E:*Ei:VE(N4ZEBEa2EaJE;a:E;aO> _,I?A2_>2=D-?2ٱ2G' >AHRS rotation from veh to nav: [[0.773590,-0.602249,-0.197116],[0.621517,0.781761,0.050653],[0.123592,-0.161695,0.979071]]2H??E;ɿ x?0?/?? oĿ`T?i2_>I2-^;2CYFMByFHrchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.776851iMb@Mb@Mb@ 9 rh?J +?YC+?y=A A)YAbDoVD55yc;%<=ٔҀ:Q->9Y=9FyE?E>Q 5C5?Q 9C5) BY-?Q E:y.R?Q I@DI:i:^C5y՜BɮAEQFNOT Ignoring new targets: 578.23 m.%E%EQ5 ProNav: ac range: 578.230957 m, nav range: 571.378540 m, bearing: 39.928427 deg, approach rate: -0.673899 m/s, LOS rate: -0.008430 deg/s, cmd heading: 38.989168 deg, new cmd heading: 38.978307 deg. z5 Q=HeadingCmd: 0.680300 target range: 578.230957 and range: 580.80 m.R=!(.?J9b9Z9B9:A2AҔAڔAIڒI’IIU`@}PBɢ}ڋ)y 6i)\5顁i_:i!(.?Ƴb;:I!(.?IM9@I @I@MS0@I1^Amq:checking for new query: numPingsReceived=0, elapsed TxPingTime=7.028747IIO>E  E E E "E D:*E |:VE ZE a @a @a @a @Y ʼn,c?A:E>:,?:bٱ:0' BAHRS rotation from veh to nav: [[0.774746,-0.600884,-0.196742],[0.620182,0.782766,0.051500],[0.123057,-0.161915,0.979102]]:H?p:.ɿ?j ?1^??ĿT?i:E>I:t^;:CY^MBy^HbDj{VDj5y=%W=ٔ :Q- >9 Y =9FyE'E>Q 5%C5 ?Q 9%C5|) BY)y-Q?Q I-@DI:iN:aC5y1ɮ5A1GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 578.23 m.emQ} ProNav: ac range: 578.230957 m, nav range: 571.124207 m, bearing: 39.925291 deg, approach rate: -0.668975 m/s, LOS rate: -0.008252 deg/s, cmd heading: 38.978308 deg, new cmd heading: 38.968897 deg. z}7QHeadingCmd: 0.680136 target range: 578.230957 and range: 580.80 m.R].?JbZB:2Ҕڔڒ’`@PBɢt9) uE9iq)}Uyyie:i].?)b; [I].?I{>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.281719i@i @i@m?0@qa^Ayb]:ԑAgAzAgAII O > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.535325 B} ~>B} !CB} HB} fNBB} =By B} DB} ;B} =E,~?A~>~+?~ٱ~Z'  AHRS rotation from veh to nav: [[0.777046,-0.598300,-0.195544],[0.617488,0.784831,0.052433],[0.122098,-0.161489,0.979292]]~H`?E%@ɿv?@U?@zت?A?ਫĿ\V?i~>I~^;~CYNByaHE- E-E-'E)"E-:*E-]t:VE-'4ZE)BE-.%m0=ٔu;Q-u>9Y=9FyEE>Q 5C5(?Q 9C5w) BYA+?Q E:y\M?Q I@DId;i:;fC5y؜BɮYA!Q-FNOT Ignoring new targets: 578.23 m.-A-AQ] ProNav: ac range: 578.230957 m, nav range: 570.813171 m, bearing: 39.921991 deg, approach rate: -0.651717 m/s, LOS rate: -0.006919 deg/s, cmd heading: 38.968896 deg, new cmd heading: 38.958990 deg. z]QeHeadingCmd: 0.679963 target range: 578.230957 and range: 580.80 m.Re.?JabaZiBi:i2iҔڔڒ’~ @PBɢj)  /2i ) 011i5d:iE.?E,a;EysI.?II9@ @@/0@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.785790q^A qԩ A I I O- >C,$G?A2ۛ>2{+?2:"ٱ2% :AHRS rotation from veh to nav: [[0.777688,-0.597995,-0.193918],[0.616732,0.785519,0.050994],[0.121832,-0.159253,0.979692]]2H`?"LȿE?"??d0?@cbĿ Y?i2ۛ>I29_;0YBNByBtHbDN[VDN5yV%=%V[=ٔV;:Q-V>9XYX=Z9FyZEZ&1E^>\Q 5fC5^,?Q 9fC5^jr)^ BYdyfM?Q If@^DI^;i^7;^TiC5ylɮn;Al|QFNOT Ignoring new targets: 578.23 m. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.036841Q% ProNav: ac range: 578.230957 m, nav range: 570.568481 m, bearing: 39.919415 deg, approach rate: -0.677472 m/s, LOS rate: -0.007136 deg/s, cmd heading: 38.958989 deg, new cmd heading: 38.951257 deg. z%Q-HeadingCmd: 0.679828 target range: 578.230957 and range: 580.80 m.R-0 .?J)b)Z)B1:121Ҕ1ڔ99ڒ9’99E@ZU@mPBɢm)q u3iq)uqqiul:i}0 .?ԡD`;I0 .?I)bE(N4jE”K4rEA0Ee EeEe*Ea"Ee:*Ee:VEe(N4ZEaau@au@au@au@9@ @@00@^Adchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.289713u G 9 Y vAI I! Om >! a,?A2I>22=+?2ٱ2hB$ :AHRS rotation from veh to nav: [[0.778711,-0.596966,-0.192980],[0.615547,0.786445,0.051052],[0.121292,-0.158543,0.979874]]2H2?`X@ȿ`?*?#? ?%KĿ[?i2I>I2'_;2CYB/NByBHbDJcVDJs5yRב=%RL=ٔV<:Q-V>9TYT=Z9FyZ EZEZ>\Q 5bC5^A<?Q 9bC5^bm)^" BYdyfL?Q If@^DI^:i^:^lC5yjBɮjoAj E|Q~FNOT Ignoring new targets: 578.23 m.Q ProNav: ac range: 578.230957 m, nav range: 570.303101 m, bearing: 39.916661 deg, approach rate: -0.662760 m/s, LOS rate: -0.006881 deg/s, cmd heading: 38.951257 deg, new cmd heading: 38.942992 deg. zQHeadingCmd: 0.679683 target range: 578.230957 and range: 580.80 m.R-?JbZB:2Ҕڔڒ’`@颵PBɢ ) 3i)P项ip:i-?4_;I-?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.544116a@i @i@q@qAABv>B CB&HBNBB =BBDBz;BX=EIE EE,E"E:*Ez:VEg4ZEBE5AI I OE >ԡ = = checking for new query: numPingsReceived=0, elapsed TxPingTime=8.793021I,y?AJB=>J/*?JOٱJ" bAHRS rotation from veh to nav: [[0.779419,-0.596456,-0.191691],[0.614717,0.787149,0.050196],[0.120949,-0.156959,0.980171]]JH?+Qȿ«? S0?W? ?@?Ŀ`]?iJB=>IJlQ_;JCYj.NByjHIra=)r9Y=9Fy#E&E>Q 5C5M?Q 9C50h)8 BY")?Q E:yC?Q I@DI:i:pC5yɮsAQFNOT Ignoring new targets: 578.23 m.qQ} ProNav: ac range: 578.230957 m, nav range: 570.018127 m, bearing: 39.914736 deg, approach rate: -0.657199 m/s, LOS rate: -0.004441 deg/s, cmd heading: 38.942993 deg, new cmd heading: 38.937216 deg. z} CQHeadingCmd: 0.679583 target range: 578.230957 and range: 580.80 m.R!-?JbZB:2Ҕڔڒ’1@UQBɢU*')Y ]:iY)]OBYYieFx:ie!-?e];mOɻIm!-?IA@A @A@E/0@AԹ=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.044729PExceeded connect timeout, disconnecting.^A- SE  E E )E "E :*E x:VE FA4ZE a @a @a @a @I I O > v,!?AJiw>JB*?Je(ٱJ" ZAHRS rotation from veh to nav: [[0.780400,-0.595445,-0.190844],[0.613582,0.788022,0.050381],[0.120390,-0.156416,0.980327]]JH ? mȿu?z7?˩?Ѿ?oĿ^?iJiw>IJ4<_;JߐCYfKNByjHbDrbVDr85yz֙=%zT=ٔ~:Q-~>9|Y|=9Fy%EYE> Q 5C5 ]?Q 9C5 c) L BYy(C?Q I@ DI ;i ; sC5y%Bɮ%BA!GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 578.23 m.UUQ ProNav: ac range: 578.230957 m, nav range: 569.764832 m, bearing: 39.913062 deg, approach rate: -0.629300 m/s, LOS rate: -0.004162 deg/s, cmd heading: 38.937218 deg, new cmd heading: 38.932192 deg. z6QHeadingCmd: 0.679495 target range: 578.230957 and range: 580.80 m.Ra-?JbZB:2Ҕڔڒ’ @52QBɢ5_S)1 =9i9)=_99i= :iEa-?Eyo\;E_IEa-?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.2971109@ @@@9^A`ԻIQIaOu>a iI II e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.551472B] o>B] CB] eHB] NBB] =BY B] DB] ;B] 9 Y =9Fy'EE>Q 5%C5co?Q 9%C5^)b BY-&?Q E-:y-#5?Q I-@DI;i;wC5y1ɮ=A9YQeFNOT Ignoring new targets: 578.23 m.eYeYQu ProNav: ac range: 578.230957 m, nav range: 569.479370 m, bearing: 39.912748 deg, approach rate: -0.676524 m/s, LOS rate: -0.000743 deg/s, cmd heading: 38.932191 deg, new cmd heading: 38.931250 deg. z}Q}HeadingCmd: 0.679479 target range: 578.230957 and range: 580.80 m.R}N-?JbZB:2Ҕڔڒ’ @MQBɢC) 7i)i$=:iN-?AZ;IN-?II)iAi@ @@ 4@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.801269ԑ^AII IY Om > y,GZ?A2>2)?2qٱ2 :AHRS rotation from veh to nav: [[0.782380,-0.594102,-0.186879],[0.611270,0.789983,0.047701],[0.119292,-0.151554,0.981224]]2H B ? ǿ?`G?Gl?䉾?fÿ`0f?i2>I2b_;2CYBNByF H Jp9\Y\=^9Fy^)Eb Eb>dQ 5jC5fg~?Q 9jC5fZ)ft BYhyjh4?Q Ij@fDIf:if:fzC5! ,75?A2ը>2*)?2!ٱ2ޟ >AHRS rotation from veh to nav: [[0.783949,-0.592903,-0.184089],[0.609447,0.791479,0.046201],[0.118310,-0.148412,0.981823]]2H?<ǿ? S?? I?*¿`k?i2ը>I2c_;2ߐCYBNByF'HbDN~VDN5yV d=%VK=ٔV ;Q-Z>9XYX=Z9FyZ+E^ĻE^>`Q 5fC5bG?Q 9fC5bAV)b BYdyj3?Q Ij@bDIb[:ibt:b|~C5ylɮnAl|Q FNOT Ignoring new targets: 578.23 m. x xQ ProNav: ac range: 578.230957 m, nav range: 568.983093 m, bearing: 39.912405 deg, approach rate: -0.683402 m/s, LOS rate: -0.000399 deg/s, cmd heading: 38.930681 deg, new cmd heading: 38.930222 deg. zQHeadingCmd: 0.679461 target range: 578.230957 and range: 580.80 m.R!-?JbZB:2Ҕڔڒ’@EQBɢMs)I M7iI)Mu悔QQiUp:i]!-?][W;]}CI]!-?Ia9@ @@4@52Acoustic response timeout)B}<A}<Bh>BBH^AK'BOBB =BBB~;BSQԁ  2Acoustic response timeout,O?A2">2(?2ٱ2 :AHRS rotation from veh to nav: [[0.785330,-0.591473,-0.182804],[0.607836,0.792703,0.046439],[0.117442,-0.147585,0.982052]]2H`k!?@X"fǿes?@]?Ƨ? ?¿l?i2">I2!_;2CYBNByB.HiMMb@Mb@Mb@IIII I9MT㥛 ?=ٔ}W;Q-}>9} ?Y} ?=9Fy-EE>Q 5C5 ?Q 9C5Q) BY%!?Q E:y*?Q I@DIG ;i ;=C5yBɮAQFNOT Ignoring new targets: 578.23 m.~8~8Q ProNav: ac range: 578.230957 m, nav range: 568.713623 m, bearing: 39.913199 deg, approach rate: -0.627982 m/s, LOS rate: 0.001851 deg/s, cmd heading: 38.930224 deg, new cmd heading: 38.932607 deg. z8QHeadingCmd: 0.679502 target range: 578.230957 and range: 580.80 m.R-?JbZB:2Ҕڔڒ’v@-QBɢ-| )1 5i>ԉ@ @@!5@2Acoustic response timeoutԱ^Aܪ&A>A>Eu  Eu Eu ,Eq "Eu :*Eu x:VEu g4ZEq a} @a} @a} @a} @A ؟A I I) O5 >x,h?A63>6{'?6Yٱ6 BAHRS rotation from veh to nav: [[0.787025,-0.589575,-0.181640],[0.605802,0.794231,0.046917],[0.116603,-0.146963,0.982245]]6HN/??ǿ b?Wj??ٽ?¿`n?i63>I6z_;6ߐCYFNByJ`HbDR}VDRn5yZ=%ZW=ٔZ;Q-^>9^"?Y^"?=b:Fyb/EbEb>dQ 5jC5f?Q 9jC5fM)f BYhyn.*?Q In@f DIf;ifH;fC5yrBɮrArE Q FNOT Ignoring new targets: 578.23 m.88Q% ProNav: ac range: 578.230957 m, nav range: 568.475403 m, bearing: 39.913965 deg, approach rate: -0.627308 m/s, LOS rate: 0.002017 deg/s, cmd heading: 38.932608 deg, new cmd heading: 38.934906 deg. z%78Q-HeadingCmd: 0.679542 target range: 578.230957 and range: 580.80 m.R-|-?J)b)Z)B1:121ԹҔڔڒ’T'@mQB}2Acoustic response timeoutɢm) 9i)Y^项iҞ:i|-?{R;ʂI|-?I9@ @@/5@^Am- 2Acoustic response timeoutB b>B CB HB FOBB =B B DB ;B ;EBCBCBʔCBʾ =Bʾ =C5A .AA I IY Oe >,?ADzD?AE  EE *E"E :*EVE (N4ZEBE <b5J'?bٱb zAHRS rotation from veh to nav: [[0.788632,-0.587499,-0.181398],[0.603858,0.795614,0.048511],[0.115823,-0.147796,0.982212]]bHxIbݕ_;bCYNBywHiMb@Mb@Mb@ 9ʡE?Mb rhY?yCA  A)zAYAbD%yVD%5y="=%E3=ٔM:Q-M>9M ?YM ?=U:FyU1E]hE>Q 5C5?Q 9C5wI) BY?Q E:y"?Q I@DI;i;C5y ɮ A GSEB*** querying acoustic contact ***:ABAQQuFNOT Ignoring new targets: 578.23 m.}څ8}څ8Q ProNav: ac range: 578.230957 m, nav range: 568.186035 m, bearing: 39.915724 deg, approach rate: -0.601403 m/s, LOS rate: 0.003657 deg/s, cmd heading: 38.934906 deg, new cmd heading: 38.940185 deg. z 9QHeadingCmd: 0.679634 target range: 578.230957 and range: 580.80 m.R-?JbZB:2Ҕڔڒ’B @额QBɢ`) M,f?AB>BX&?BEٱBH JAHRS rotation from veh to nav: [[0.790113,-0.585582,-0.181150],[0.602055,0.796891,0.049942],[0.115111,-0.148522,0.982187]]BH@H?@/ǿ D?`!?@?w?ÿn?iB>IB_;BߐCYROByRHbDZoVDZ55yb=%bU=ٔf:Q-f>9f"?Yj"?=j:Fyj3Ej(ɻEj>lQ 5rC5n?Q 9rC5nE)n BYtyvT"?Q Iv@nDIn;in;nC5yzBɮzaAzEQFNOT Ignoring new targets: 578.23 m.%d8%d8Q5 ProNav: ac range: 578.230957 m, nav range: 567.960327 m, bearing: 39.917151 deg, approach rate: -0.627912 m/s, LOS rate: 0.003972 deg/s, cmd heading: 38.940186 deg, new cmd heading: 38.944469 deg. z5x.9Q=HeadingCmd: 0.679709 target range: 578.230957 and range: 580.80 m.R=l.?J9b9Z9BA:I2IҔIڔIQڒQ’QQ] r@ԁ颅QBɢ]f) :i)ͭ顑i:il.?L;MIl.?IEE EAEE,EA"EE:*EAVEEg4ZEAaU@aU@aU@aU@@ @@/5@Ա^A=mAMiAzAMjA2Acoustic response timeoutA I I O > yk,kI?A2%>24&?2ٱ2B >AHRS rotation from veh to nav: [[0.791331,-0.584069,-0.180720],[0.600616,0.797894,0.051244],[0.114265,-0.149094,0.982199]]2HR?@!ǿ`>8? Y?I2_;2CY^OBybHbDjiVDj5yrQ=%rJ=ٔr ;Q-v>9tYt=v:Fyv5EzEz>|Q 5C5~?Q 9C5~B)~ BYy!?Q I @~"DI~;i~;~oC5yɮ+A1QFNOT Ignoring new targets: 578.23 m.I8I8Q ProNav: ac range: 578.230957 m, nav range: 567.712524 m, bearing: 39.918767 deg, approach rate: -0.612400 m/s, LOS rate: 0.003997 deg/s, cmd heading: 38.944468 deg, new cmd heading: 38.949320 deg. z/9QHeadingCmd: 0.679794 target range: 578.230957 and range: 580.80 m.R.?JbZB:2Ҕ!ڔ!!ڒ!’!)- @-2Acoustic response timeoutA9A9B]W>B]CB]9HB]OBB] =BYB]DB]S;B];E RBɢ" ) ;i)i%^Ÿ:i=.?=H;E&IE.?Ii!Em EmEiEi"Ems:*Emxv:VEiZEiBEmk0_,W?A2>2%?2'ٱ2;G >AHRS rotation from veh to nav: [[0.792271,-0.583151,-0.179559],[0.599501,0.798739,0.051140],[0.113598,-0.148162,0.982417]]2HIZ?@+ƿ`/?`D?.??¿o?i2>I2M_;2CYF9OByFHiMb@Mb@Mb@ 9~jt?I +y&1|Y?y9`AA A)AYAbD-oVD-55y5y=%=C=ٔ=q:Q-=>9AYA=E:FyE7EMeEM>IQ 5UC5MI?Q 9]C5ME>)M BY]?Q E]:y]-?Q I]@M*DIM];iM;MC5ymBɮmAi QFNOT Ignoring new targets: 578.23 m.p8p89QM ProNav: ac range: 578.230957 m, nav range: 567.460449 m, bearing: 39.920979 deg, approach rate: -0.580272 m/s, LOS rate: 0.005094 deg/s, cmd heading: 38.949321 deg, new cmd heading: 38.955959 deg. zM_9QUHeadingCmd: 0.679910 target range: 578.230957 and range: 580.80 m.RU.?JQbQZQBQ:Y2yҔyڔڒ’ k!@*RBɢJ ) 7 },"?A:%M>:}%?:ٱ: FAHRS rotation from veh to nav: [[0.793113,-0.582378,-0.178346],[0.598485,0.799529,0.050676],[0.113081,-0.146929,0.982662]]:H.a?ע ƿ&?ྕ?&??¿q?i:%M>I:gQ_;8 XXYTOByHuIG2Acoustic response timeoutXv9YsbAbD`VD5y]z=%A=ٔ:Q->9Y=:Fy9ELE>Q 5 C5?Q 9 C5i:)1 BYy?Q I@3DIj;i;̗C5yBɮA!AQEFNOT Ignoring new targets: 578.23 m.M8M8Q] ProNav: ac range: 578.230957 m, nav range: 567.204834 m, bearing: 39.923258 deg, approach rate: -0.626470 m/s, LOS rate: 0.005587 deg/s, cmd heading: 38.955960 deg, new cmd heading: 38.962799 deg. z]hu9QeHeadingCmd: 0.680029 target range: 578.230957 and range: 580.80 m.Red.?JabaZiBi:i2iҔqڔqqڒq’yy}7"@颥ERBɢZ ) oB= CB= HB= OBB= =B9 B= DB= ;B= p:Eԉ ^AE E  E E E "E V:*E VE ZE BE 9, ?A>d%?5ٱk %AHRS rotation from veh to nav: [[0.793375,-0.582999,-0.175121],[0.598218,0.799951,0.047056],[0.112655,-0.142093,0.983422]]HTc?@@Zjƿ$?`2?@?`ּ?@0¿ 1x?i>IV_;YUfOByUHY]AiMb@Mb@Mb@ 9/$?I +y&1|?Y?y`;AA /A)YAAAbDnVD5y )=% ;=ٔ Z:Q- >9 ?Y ?=:Fy!Q 5-C5%]?Q 9-C5%e6)%T BY-?Q E-:y-?Q I5@%;DI%:i%]:%C5y=Bɮ=A=EGSUB*** querying acoustic contact ***:QBQԁQFNOT Ignoring new targets: 578.23 m. "8 "8Q ProNav: ac range: 578.230957 m, nav range: 566.939941 m, bearing: 39.925538 deg, approach rate: -0.577720 m/s, LOS rate: 0.004976 deg/s, cmd heading: 38.962800 deg, new cmd heading: 38.969645 deg. zZ9QEHeadingCmd: 0.680149 target range: 578.230957 and range: 580.80 m.RE8.?JAbAZABA:A2IҔIڔIIڒQ’QQU`H$#@2Acoustic response timeoutfRBɢA ) ?i)[ip:i8.?E?>; ȼI8.?I@ @@/0@Ա^A ̼] 2Acoustic response timeout AE ؟AIQ Ii Ou >,! ?A2[>2:R%?2Bٱ2  :AHRS rotation from veh to nav: [[0.793606,-0.583516,-0.172333],[0.598043,0.800229,0.044473],[0.111956,-0.138356,0.984034]]2H8e?)ƿ*#?z?!Ŧ? ?`5}?i2[>I2^;0YBOByBEHbDNhVDN5yR=%Va=ٔV:Q-V>9Z"?YZ"?=Z:FyZ=E^JE^>\Q 5bC5^)?Q 9fC5^3)^q BYdyf?Q If@^BDI^@;i^L;^˞C5ylɮnaAl|QFNOT Ignoring new targets: 578.23 m.L8E5 E5E5,E1"E5:*E5:VE5g4ZE1a=@a=@a=@a=@L8Q ProNav: ac range: 578.230957 m, nav range: 566.720276 m, bearing: 39.927438 deg, approach rate: -0.641918 m/s, LOS rate: 0.005554 deg/s, cmd heading: 38.969644 deg, new cmd heading: 38.975346 deg. zs9QHeadingCmd: 0.680248 target range: 578.230957 and range: 580.80 m.R$.?JbZB:2Ҕ ڔ  ڒ ’#@eRBɢm)i mv=ii)mh3qqiuX:iu$.?1:;ʼI$.?I59@1 @1@1@12Acoustic response timeout^A 8Ƽ AI IQ Ia O} >b6,|; ?A6H>607%?6ٱ6Ԍ >AHRS rotation from veh to nav: [[0.793890,-0.583481,-0.171139],[0.597743,0.800500,0.043628],[0.111540,-0.136933,0.984281]]6Hg? ſ ?@?nV?@䍼?@:?i6H>I6b^;6CYFOByFHbDNgVDN^5yV =%VK=ٔZS:Q-Z>9XYX=Z:FyZ?E^E^>Q 5%C5:?Q 9%C5F/) BY)y-o?Q I-@JDI:i$:gC5y5wBɮ5dA5EYQ]FNOT Ignoring new targets: 578.23 m.e8e8Qu ProNav: ac range: 578.230957 m, nav range: 566.470093 m, bearing: 39.929616 deg, approach rate: -0.605448 m/s, LOS rate: 0.005272 deg/s, cmd heading: 38.975348 deg, new cmd heading: 38.981883 deg. zug9Q}HeadingCmd: 0.680362 target range: 578.230957 and range: 580.80 m.R}8,.?JybyZyB:2Ҕڔڒ’$@颽RBɢY)< j7i)7iT#:i8,.?|7;<μI8,.?IB<ABC>BCBHBPBB =B>DBDB;B9E2Acoustic response timeout->i)Y@ @@00@Em EiEm)Ei"Em:*EiVEmFA4ZEiBEm6,}yU ?A62_>6$%?6ٱ6X@ BAHRS rotation from veh to nav: [[0.794354,-0.582811,-0.171267],[0.597162,0.800896,0.044299],[0.111349,-0.137463,0.984228]]6H Zk? c ſ`??j?Y?f@~?i62_>I68^;6CYJOByJH LLiMb@Mb@Mb@ 9/$?S㥛Mb?Yy/ݼ<A ;A)AYAbD5pVD5p5yEyz=%MA=ٔM:9Q-M>9IYQ=U:FyUBEUkEU>YQ 5eC5]BL?Q 9mC5]+Q =mtI)] BYm?Q Em:ym?Q Im@]RDI];i];]C5yyɮ}/AyQFNOT Ignoring new targets: 578.23 m.88Q ProNav: ac range: 578.230957 m, nav range: 566.220947 m, bearing: 39.931961 deg, approach rate: -0.603639 m/s, LOS rate: 0.005685 deg/s, cmd heading: 38.981884 deg, new cmd heading: 38.988923 deg. zy9QHeadingCmd: 0.680485 target range: 578.230957 and range: 580.80 m.RE4.?JbZB:2Ҕڔڒ’ %@ԩ颽RBɢ?! ) !9i)i=:iE4.?3;uռIE4.?I-2Acoustic response timeout]9@a @a@a@a@m=@m=E] E]E]+EY"E]:*E]:VE] [4ZEYae@ae@ae@am@^A Ѽ A .AI I O- >H,"To ?A2L'>21$?2:`ٱ2n5 :AHRS rotation from veh to nav: [[0.794659,-0.582845,-0.169734],[0.596860,0.801180,0.043223],[0.110795,-0.135655,0.984542]]2Hm?@عſz?D?H!?]?"]]?i2L'>I2Z^;2CB2Acoustic response timeoutYJOByJHlbDzYVDz&5y=% N=ٔ H:Q- >9 ?Y ?=:FyDE+E>!Q 5%C5%\?Q 9-C5%')% BY)y-?Q I-@%ZDI%:i%:%xC5y5zBɮ=A=EYQeFNOT Ignoring new targets: 578.23 m.el8el8Qu ProNav: ac range: 578.230957 m, nav range: 565.981812 m, bearing: 39.934226 deg, approach rate: -0.603834 m/s, LOS rate: 0.005722 deg/s, cmd heading: 38.988923 deg, new cmd heading: 38.995720 deg. zuO{9Q}HeadingCmd: 0.680604 target range: 578.230957 and range: 580.80 m.R <.?JbZB:2Ҕڔڒ’ C&@颽RBɢL) V5i)iIS;i <.?/;0ټI <.?IQ@Q @Q@U/0@Q 9^AucռB@>BCBIBNPBB =BBDB;B59E=2Acoustic response timeoutAm ؟AI I O= >ԉ D zD @AE  E E -E "E &:*E :VE t4ZE BE c;2$?2ٱ2 :AHRS rotation from veh to nav: [[0.795047,-0.583022,-0.167287],[0.596460,0.801592,0.041055],[0.110160,-0.132421,0.985053]]2Hq?` iſ3?`?5? l3? +?i2M>I2]^;0Y^PBybHYiMb@Mb@Mb@ 9Zd;?~jtxI +?Y?yĻ9<"A )AYfAbDNVD5yXL=%A=ٔ:Q->9"?Y"?=:FyFEE>Q 5C5n?Q 9C5#) BY?Q E:y#?Q I@bDI<:i:-C5yɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 578.23 m. 8 8Q ProNav: ac range: 578.230957 m, nav range: 565.721375 m, bearing: 39.935765 deg, approach rate: -0.612959 m/s, LOS rate: 0.003624 deg/s, cmd heading: 38.995722 deg, new cmd heading: 39.000342 deg. z/9Q%HeadingCmd: 0.680684 target range: 578.230957 and range: 580.80 m.R%UA.?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’19='@eRBɢe C)i m7ii)mk׸iiim ;iuUA.?u+;}0ݼI}UA.?Iy2Acoustic response timeoutԉ?B:Թ59@1 @1@55@1 E 2Acoustic response timeout^Ae qڼAm >Am >E  E E (E "E :*E :VE c44ZE a @a @a @a @AIIO>%),B ?A:>:$?:=ٱ:' BAHRS rotation from veh to nav: [[0.795081,-0.583663,-0.164873],[0.596488,0.801702,0.038411],[0.109760,-0.128885,0.985567]]:H`Nq?@^`ſn? ??7? JÉ?i:>I: +^;:CYJDPByJIbDVVVDVu5y=%0=ٔ c:Q->9 Y = :Fy HEK6E>Q 5%C5?Q 9%C5b)- BY!y%{#?Q I%@kDIy:i:;C5y5}Bɮ5mA1YQ]FNOT Ignoring new targets: 578.23 m.]g8eg8Qu ProNav: ac range: 578.230957 m, nav range: 565.436401 m, bearing: 39.937455 deg, approach rate: -0.614468 m/s, LOS rate: 0.003645 deg/s, cmd heading: 39.000343 deg, new cmd heading: 39.005414 deg. zu 9Q}HeadingCmd: 0.680773 target range: 578.230957 and range: 580.80 m.R}"G.?JybyZyBy:y2Ҕڔڒ’& (@颽SBɢ ) 4i)\-im,;i"G.?2';_޼I"G.?Iih%<%2Acoustic response timeout-9@) @)@-e4@)ԑ^Ae~E߼A I I O >AQ AQ B] 9>BY B] KIB] PBB] =BY BY B] ;B] 8EB5CB5CB1B5 =B5 =C5$G6 BDAT read: Response Not Received  *response not received *DAT read: user:164>  9Y=:FyKEE>Q 5C50?Q 9C5)` BY?Q E:y-?Q I@vDI ;i;ӵC5yBɮ/AE!Q%FNOT Ignoring new targets: 578.23 m.-7-7Q= ProNav: ac range: 578.230957 m, nav range: 565.111755 m, bearing: 39.938069 deg, approach rate: -0.611479 m/s, LOS rate: 0.001158 deg/s, cmd heading: 39.005414 deg, new cmd heading: 39.007258 deg. z=qK8QEHeadingCmd: 0.680805 target range: 578.230957 and range: 580.80 m.RE>I.?JAbAZIBI:I2IҔQڔQQڒQ’QY] )@颅;SBɢ ) 4i)L顉i;i>I.?";O߼I>I.?IBDAT read: Tx time:21:20:02.3459 %$Ping request sent.%ZJ{$?Z)ٱZn nAHRS rotation from veh to nav: [[0.795777,-0.582726,-0.164831],[0.595597,0.802340,0.038933],[0.109563,-0.129155,0.985553]]ZHw?-ſ ?`Ĭ??S ? $?iZzI>IZ];ZCYzPByzDIbD&VDj5yr=%5=ٔ\9Q->9 ?Y ?E% E%E%(E!"E%:*E%ą:VE%c44ZE!a-@a-@a-@a-@A=:FyME+E>Q 5C52?Q 9C5A) BYyb-?Q I@DI;i';C5yɮAQFNOT Ignoring new targets: 578.23 m. 7 7Q% ProNav: ac range: 578.230957 m, nav range: 564.822388 m, bearing: 39.938651 deg, approach rate: -0.624861 m/s, LOS rate: 0.001256 deg/s, cmd heading: 39.007258 deg, new cmd heading: 39.009003 deg. z%\8Q-HeadingCmd: 0.680836 target range: 578.230957 and range: 580.80 m.R-=K.?J)b)Z)B1:121Ҕ1ڔ99ڒ9’9AEh*@m]SBɢm} )q u2iq)u qqiup;i}=K.?}W;zI=K.?I@ @@N0@q5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503410ԡ^A57Aa Iq I O > M @,7!?AB>>BBIBPBBBBB;BI8EVchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755395V}C>VLx$?VSٱV] bAHRS rotation from veh to nav: [[0.795783,-0.583316,-0.162702],[0.595544,0.802533,0.035612],[0.109801,-0.125236,0.986032]]VH w?oĿ ?X?;???iV}C>IVl];VCYjPByjWIr=p tv<bDvDVDvQ5y~<=%~N=ٔQ->9Y= :Fy OE -E >Q 5C5?Q 9C5d) BY!y%U-?Q I%@DI;i;>F,@2!?A2c>2>$?2Rٱ2g :AHRS rotation from veh to nav: [[0.795283,-0.584196,-0.161984],[0.596098,0.802216,0.033430],[0.110416,-0.123144,0.986227]]2H r?Ŀ;? ?@?@AD? d+?i2c>I2q];2CYBPByBoIi Mb@Mb@Mb@     9 jt?A`"?X9v?Y  ?y Y= <  A )  Y AbD%1VD%5y=%@=ٔ^Q->9Y=:FyQEe:E>Q 5C5D?Q 9C5 ) BY!?Q E:y;?Q I@DI:i;C5y\BɮAEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 578.23 m.))Q- ProNav: ac range: 578.230957 m, nav range: 564.321716 m, bearing: 39.938136 deg, approach rate: -0.622895 m/s, LOS rate: -0.002319 deg/s, cmd heading: 39.010434 deg, new cmd heading: 39.007461 deg. z-˸Q5HeadingCmd: 0.680809 target range: 578.230957 and range: 580.80 m.R5yI.?J1b1Z1B9:929Ҕ9ڔAAڒA’AIM`+@uSBɢui)q }/iy)}rSyyi}*;iyI.?&K;IyI.?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2601479@9 @A@E=0@A1bEřT4jErO4rEI"0E EE'E"E:*E:VE'4ZEa@a@a@a@^Ae?q ɀG  = 99 YE ~AAu ؟AIy I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511329ԉ aL,3!?ANp>ND$?N^lٱN; VAHRS rotation from veh to nav: [[0.795229,-0.584195,-0.162255],[0.596095,0.802230,0.033118],[0.110818,-0.123056,0.986193]]NHr?Ŀ6?ޫ?@? ^?`?iNp>INo];NߐCY^QBy^IbDf6VDf5yn=%rX=ٔreQ-r>9v"?Yv"?=v:FyvSEv8Ev>xQ 5~C5z?Q 9C5z)z BYy;?Q I@zDIz;iz;zBC5y _Bɮ zA1Q5FNOT Ignoring new targets: 578.23 m.=*=*QM ProNav: ac range: 578.230957 m, nav range: 564.086426 m, bearing: 39.937259 deg, approach rate: -0.624482 m/s, LOS rate: -0.002330 deg/s, cmd heading: 39.007460 deg, new cmd heading: 39.004826 deg. zM̸QUHeadingCmd: 0.680763 target range: 578.230957 and range: 580.80 m.RUvF.?JQbQZYBY:Y2YҔaڔaaڒa’iim*e,@颕SBɢF) ,i)[顙iG1;ivF.?;1IvF.?IyQ@Q @Q@U@0@QԡB%<A%<B-4>B-CB-IB-VQBB- =B)B-DB-(;B-7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764751^A߼A I I E  E E +E "E :*E :VE [4ZE BE > IS,M!?A2a>2<$?2`nٱ2A :AHRS rotation from veh to nav: [[0.794967,-0.584460,-0.162584],[0.596353,0.802057,0.032669],[0.111308,-0.122928,0.986154]]2H_p?@ĿS?`s??@~?@7x?i2a>I2];2CY^#QBybIIfR>)f>dfAiMb@Mb@Mb@ 9~jt?L7A`?Q?Y$?y+=< )YbD0VD5y2=%>=ٔȕQ->9Y=:FyUEx^:E>Q 5C5?Q 9C5)' BY%?Q E:y{@?Q I@DI ;iG ;C5yɮ6AQ FNOT Ignoring new targets: 578.23 m.  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015529QE ProNav: ac range: 578.230957 m, nav range: 563.810913 m, bearing: 39.935723 deg, approach rate: -0.639101 m/s, LOS rate: -0.003565 deg/s, cmd heading: 39.004827 deg, new cmd heading: 39.000216 deg. zEQEHeadingCmd: 0.680682 target range: 578.230957 and range: 580.80 m.RM0A.?JIbIZIBI:I2IҔQڔQYڒY’YY]`D-@颍SBɢ) ,i) iن7;i0A.?; ;I0A.?I9@ @@/0@^A7)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267462A I) I9 OM >Q zY,g!?AEJ EJEJ*EH"EJ:*EJ|:VEJ(N4ZEHaN@aN@aN@aN@YMCQByUIbDe<VDez5yuV=%uM=ٔuQ-}>9yYy=}:Fy}WEE>Q 5C5?Q 9C5)M BYyQ I@DI/;i];C5ybBɮAEQmFNOT Ignoring new targets: 578.23 m.uuQ ProNav: ac range: 578.230957 m, nav range: 563.556702 m, bearing: 39.934304 deg, approach rate: -0.639796 m/s, LOS rate: -0.003571 deg/s, cmd heading: 39.000216 deg, new cmd heading: 38.995959 deg. zQHeadingCmd: 0.680608 target range: 578.230957 and range: 580.80 m.RQ<.?JbZB:2Ҕڔڒ’`w.@SBɢ}) b,i)ѷ½  i >;iQ<.?iM ;.EIQ<.?I!1@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519395Q^A |޼y A1 I9 II Oe >B (>B CB IB QBB =B B DB ؁;B |7E\`,4!?A06Yw>69%?6Uٱ6[Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771501 FAHRS rotation from veh to nav: [[0.794137,-0.584439,-0.166665],[0.597228,0.801266,0.035941],[0.112538,-0.128078,0.985358]]6Hi? CUſ}??@f?Bϼ? d`?i6Yw>I60];6CY ]QBy IbD4VD5y-=%-P=ٔ-PNQ-->91Y1=5:Fy5YE=H;E=>AQ 5MC5E$ ?Q 9MC5E})Es BYIyM@?Q IU@EDIEN:iE:EC5yYɮ]AYQFNOT Ignoring new targets: 578.23 m.  Q ProNav: ac range: 578.230957 m, nav range: 563.305176 m, bearing: 39.932864 deg, approach rate: -0.639091 m/s, LOS rate: -0.003662 deg/s, cmd heading: 38.995958 deg, new cmd heading: 38.991634 deg. z QHeadingCmd: 0.680532 target range: 578.230957 and range: 580.80 m.R_7.?JbZB:2Ҕڔڒ’`.@TBɢ  )  -i ) vý iq>D;i%_7.?%';- ؼI-_7.?I)Eu EuEu+Eq"EuV:ԑ*Eu~:VEu [4ZEqBEu9f,\!?A21Z>2%?2/ٱ2? :AHRS rotation from veh to nav: [[0.793063,-0.585306,-0.168724],[0.598572,0.800184,0.037650],[0.112973,-0.130853,0.984944]]2H`?Ӻ྘ſ'??F??ƿ@?i21Z>I2];2CYRQByRIV=Vp=\imMb@Mb@Mb@iiii i9mJ +?MbX?/$?Ym(?ym=m9Y=:Fy[Ė;E>Q 5C5\?Q 9C5H) BY*?Q E:yL?Q I@DI ;i ;C5ydBɮzAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 578.23 m.HHQ ProNav: ac range: 578.230957 m, nav range: 563.030518 m, bearing: 39.929985 deg, approach rate: -0.657266 m/s, LOS rate: -0.006893 deg/s, cmd heading: 38.991634 deg, new cmd heading: 38.982993 deg. z _Q HeadingCmd: 0.680382 target range: 578.230957 and range: 580.80 m.R }-.?JbZB:!2!Ҕ)ڔ))ڒ)’115ԭ/@]1TBɢe3)a e6)ia)e6ĽaiimiJ;im}-.?uw&;u/˼I}}-.?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276045)@) @)@)@)E} E}E},Ey"E}:*E}:VE}g4ZEya@a@a@a@^AM.ۼA A I I O >E BDAT read: Rx Time:21:20:05.5132 M TRx dataTimestamp_ set to:1761513606.796574M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528408l,i9!?A2#)>2%?26ٱ2< :AHRS rotation from veh to nav: [[0.792069,-0.586257,-0.170087],[0.599786,0.799244,0.038272],[0.113504,-0.132330,0.984686]]2HX? iſ`s1?h?g?? 1@?i2#)>I2];2CYbQBybIbDj"VDj5y~=%~T=ٔεQ->9Y= :Fy ]E s;E >Q 5%C5I(?Q 9%C5y) BY!y%M?Q I-@DI*;i+;C5y1ɮ5^A1QQ]FNOT Ignoring new targets: 578.23 m.ececQm ProNav: ac range: 578.230957 m, nav range: 562.777344 m, bearing: 39.927287 deg, approach rate: -0.657998 m/s, LOS rate: -0.007015 deg/s, cmd heading: 38.982994 deg, new cmd heading: 38.974896 deg. zuQ}HeadingCmd: 0.680240 target range: 578.230957 and range: 580.80 m.R}:$.?JybyZyBy:y2Ҕڔڒ’80@颽NTBɢN~) -i)aŽiǮP;i:$.?J:4I:$.?IQ@Q @Q@Q@Q@Y@]jAIAAAAB'>BCB IBQBBBBB;B27Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779336q^A}JͼA}>A}>E-  E- E- )E) "E- ;*E- v:VE- FA4ZE) BE- Oԡ s,!?A2>2wR&?2~ٱ2 :AHRS rotation from veh to nav: [[0.791076,-0.587828,-0.169287],[0.600999,0.798439,0.035982],[0.114014,-0.130205,0.984910]]2H}P?`|/ſ@c;?@Ќ?.l? 0?a?i2>I2];2CYbQBybIyDAT read: 21:20:05.5132 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 291,-0.13,-1.545,-3.024,-1.357,-1.627, PHS= 0.184,-1.352, 0.227, RAW= 151.4, 12.1, CAL= 151.3, 13.3, ROT= 358.7, -13.3 Ygot valid direction response: 21:20:05.5132 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 291,-0.13,-1.545,-3.024,-1.357,-1.627, PHS= 0.184,-1.352, 0.227, RAW= 151.4, 12.1, CAL= 151.3, 13.3, ROT= 358.7, -13.3 PDAT read: Bearing 196.4, 3.4 (Local) ~Local bearing/azimuth received: Bearing 196.4, 3.4 (Local) %DAT read: Range 11 to 50 : 572.3 m (Round-trip 763.1 ms) speed 0.5 m/s -*DAT read: user:165> -R#Rx 1: Read range and direction messages.^direction in FSK: [0.972928,-0.022079,0.230050]Fpublishing direction and range infoy  5:"?Λgz}"Er?Y D     ) TI j<>i V rh> )@ @X> )@ ,m>) U@I ,m   4Q?`J?_3? 5) ?iMb@Mb@Mb@ 9/$?v/?y&1|?Y,?yx=`;GA )YAbD]VD]5) oWI ޹i ,m  mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ԡy  =% =ٔzQ->9Y=:Fy`E{@;E>aQ 5mC5e=?Q 9mC5e_)e BYu.?Q Eu:yuQ?Q Iu@eDIe:ie:eC5y}ABɮ}AEJ R N!?A aD aD Q(? MP@^%)x줌``@ 5:"?Λgz}"Er? ޹ ,m— xz@R{t@G;h@ ILW?}l(i?TM?j أCr CZ w?b b>z JvC 2ɒ? J  6Cڗ  D 3?QM addTargetRange:: Added new target pos. range: 572.299988 m, deltaT: 16.641853 s, deltaX: -8.500000 m, approachRate: -0.510760 m/s, rangeRepo size: 4 Q} Added new target pos. range: 569.516663 m, bearing: 37.728275 deg, lat: 36.779060 deg, lon: -121.859003 deg, deltaT: 16.641853 s, deltaX: -8.714294 m, approachRate: -0.523637 m/s, posRepo size: 4 yQFNOT Ignoring new targets: 569.52 m.Q ProNav: ac range: 569.516663 m, nav range: 554.892151 m, bearing: 40.181125 deg, approach rate: 0.000000 m/s, LOS rate: -0.007015 deg/s, cmd heading: 38.974897 deg, new cmd heading: 38.963003 deg. zQHeadingCmd: 0.680033 target range: 569.516663 and range: 572.30 m.R.?JbZB:2Ҕڔڒ’`f@!?={TBɢ=W )9 =z.i9)EǽAAiEAW;iM.?M:M.IM.?IQ 9@  @ @ /5@  BDAT read: Tx time:21:20:06.6459  $Ping request sent. 5{,!?A2s>2'?2ٱ2 :AHRS rotation from veh to nav: [[0.789246,-0.590297,-0.169235],[0.603227,0.796854,0.033766],[0.114924,-0.128737,0.984997]]2HA?ſM?`?I?k?vz?i2s>I2z];2ߐCYBQByBIIFC=)Fp;HJAbDN#VDN5yV<%Vf=ٔZ(Q-Z>9Z ?YZ ?=Z:Fy^bE^<E^>`Q 5fC5bK?Q 9fC5b)b BYhyjIR?Q Ij@bDIb:ib:bC5ylɮnmAlQFNOT Ignoring new targets: 569.52 m. Z# Z#Q ProNav: ac range: 569.516663 m, nav range: 554.658142 m, bearing: 40.178208 deg, approach rate: -0.715739 m/s, LOS rate: -0.008926 deg/s, cmd heading: 38.963002 deg, new cmd heading: 38.954247 deg. zĹQ%HeadingCmd: 0.679880 target range: 569.516663 and range: 572.30 m.R% .?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’115;?TBɢb) 1i)2pȽiz];i .?:GI .?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.25185619@ @@p4@I^A qB%>BBLIB@RBBBBBP;B6EBCBCBB =B =C6 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502576A ؟AI I O >Ա s,ް"?AE EE)E"E:*E]t:VEFA4ZEBE@8'?ٱ" AHRS rotation from veh to nav: [[0.787382,-0.592846,-0.169005],[0.605465,0.795262,0.031147],[0.115938,-0.126851,0.985123]]H;2?ſ`_?r???<` ?i>Ij];CY%QBy-IԑiMb@Mb@Mb@ 9uV?J +?MbpYr(?y= `A)AYQAbD'VD5y豻%+=ٔ Q- >9 "?Y "?=:FydE;E>Q 5%C5]?Q 9%C5)BY%O*?Q E-:y-NM?Q I-@DIB;iS;C5y5DBɮ5~A9YQ]FNOT Ignoring new targets: 569.52 m.eeQu ProNav: ac range: 569.516663 m, nav range: 554.343140 m, bearing: 40.174919 deg, approach rate: -0.658574 m/s, LOS rate: -0.006881 deg/s, cmd heading: 38.954246 deg, new cmd heading: 38.944372 deg. zuQ}HeadingCmd: 0.679708 target range: 569.516663 and range: 572.30 m.R}P.?JybZB:2Ҕڔڒ’n?颽TBɢ) ;i)ɽAAiE2'e;iMP.?M(:U4IUP.?IQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755681@ @@$5@^A } A5 .AI9 IQ O] >k@, ""?A2A>2zw(?2Uٱ2 :AHRS rotation from veh to nav: [[0.785764,-0.595031,-0.168861],[0.607412,0.793853,0.029111],[0.116729,-0.125442,0.985210]]2H$?~ 8ſ@o?>g?(ϝ??{ ׆?i2A>I2t];2CYBQByBI J4<Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006655HbDV VDV45y^n=%^x=ٔ^Q-b?9b ?Yb ?=b:FybfEf;Ef?hQ 5nC5jmj?Q 9nC5j)j'BYlynM?Q Ir@jDIjB:ij:jC5ytɮv7AtGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 569.52 m.88Q- ProNav: ac range: 569.516663 m, nav range: 554.125793 m, bearing: 40.172588 deg, approach rate: -0.658168 m/s, LOS rate: -0.007061 deg/s, cmd heading: 38.944373 deg, new cmd heading: 38.937377 deg. z-Q5HeadingCmd: 0.679585 target range: 569.516663 and range: 572.30 m.R5P-?J1b1Z9B9:929ҔAڔAAڒA’AIM}?颍TBɢ `) :i)<ʽ顩ivk;iP-?O:&vIP-?IE- E-E--E)"E-&:*E-:VE-t4ZE)a5@a5@a=@a=@e9@a @a@e5@aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946^AeY A ؟AI I O >e,=c<"?A(b}>bJ(?bٱb jAHRS rotation from veh to nav: [[0.784736,-0.596398,-0.168816],[0.608645,0.792952,0.027898],[0.117224,-0.124642,0.985253]]bH@?@ſ@z?_?]?j?迿0?ib}>Ibŕ];bCYQByI  bDVD"5yE5;%EB=ٔMQ-M>9M"?YM"?=U:FyUhEU{;EU>iQ 5uC5mz?Q 9uC5md)mABYyy}dN?Q I}@mDIm;im;m~C5yGBɮ>AEQFNOT Ignoring new targets: 569.52 m.Q ProNav: ac range: 569.516663 m, nav range: 553.847290 m, bearing: 40.169551 deg, approach rate: -0.659684 m/s, LOS rate: -0.007197 deg/s, cmd heading: 38.937378 deg, new cmd heading: 38.928263 deg. zQHeadingCmd: 0.679426 target range: 569.516663 and range: 572.30 m.R-?JbZB:2ҔQڔQYڒY’YYeુ?BAB>BCBkIBsRBB =BBDB;B6ETBɢ) Ai)5@̽11i5`s;i=-?=:=ocI=-?IAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510723I@I @I@M05@QEU EQEU+EQ"EU:*EQVEU [4ZEQBEU<M,>V"?A>>>T)?>ٱ> JAHRS rotation from veh to nav: [[0.783612,-0.597359,-0.170627],[0.609973,0.791893,0.028940],[0.117831,-0.126755,0.984911]]>H Z?ſ ?@0W?_?&*?9`c?i>>I>R];>CPYRQByRIi-Mb@Mb@Mb@)))) )9-K7A`??~jtY-+?y-=-ļ-SA) ))))Y-AbDVDm5y<%D=ٔQ->9Y=:FyjE;E>Q 5C5?Q 9C5)TBY-?Q E:yM?Q I@DI:iQ:C5yɮ1AQFNOT Ignoring new targets: 569.52 m. Q ProNav: ac range: 569.516663 m, nav range: 553.569031 m, bearing: 40.166565 deg, approach rate: -0.670828 m/s, LOS rate: -0.007201 deg/s, cmd heading: 38.928264 deg, new cmd heading: 38.919303 deg. z%Q%HeadingCmd: 0.679270 target range: 569.516663 and range: 572.30 m.R%-?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115`@eUBɢe)a eGia)m*}ͽiiim {;iu-?u8:u1JIu-?Iy 9@  @ @  5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014702^Am cAu>Au>bE [4jEwX4rE8/EU  EU EU ,EQ "EU :*EU ~:VEU g4ZEQ a] @a] @a] @a] @! A I I O > e m>e ːC :G ! U 9Q YU Aw, p"?AFK>F1)?FyٱFH RAHRS rotation from veh to nav: [[0.782634,-0.598381,-0.171534],[0.611078,0.791055,0.028557],[0.118605,-0.127170,0.984764]]FHW ?`%@ſ@?SP?=? \?G`0?iFK>IFΜ];FCYVRByZ6I\\bDb$VDb5yj=%jY=ٔjQ-n>9lYl=r:FyrlEr;Er>tQ 5zC5v?Q 9zC5vD)vdBY|y~NN?Q I~@|vDIvc2;iv_3;viC5y #Bɮ VA E1Q5FNOT Ignoring new targets: 569.52 m.5=QM ProNav: ac range: 569.516663 m, nav range: 553.316284 m, bearing: 40.163813 deg, approach rate: -0.669765 m/s, LOS rate: -0.007298 deg/s, cmd heading: 38.919302 deg, new cmd heading: 38.911041 deg. zMCQUHeadingCmd: 0.679126 target range: 569.516663 and range: 572.30 m.RU0-?JQbQZQBQ:Q2YҔYڔYaڒa’aae@颕3UBɢO ) Ei)ν顙i0?;i0-?:5I0-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266605@ @@5@)^A5*:YB>BBIBRBB =BBBـ;Br6EIQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518514ԙ _,"?AE" E"E"*E "E":*E":VE"(N4ZE BE"6aYRBy)II=)p9yYy=:FyoEE>Q 5C52?Q 9C5)tBY$?Q E:y`B?Q I@ DI;i;C5yɮ~AQFNOT Ignoring new targets: 569.52 m.Q ProNav: ac range: 569.516663 m, nav range: 553.001831 m, bearing: 40.161913 deg, approach rate: -0.642171 m/s, LOS rate: -0.003882 deg/s, cmd heading: 38.911041 deg, new cmd heading: 38.905338 deg. z*QHeadingCmd: 0.679026 target range: 569.516663 and range: 572.30 m.R-?JbZB:2Ҕڔڒ’ @-ZUBɢ5\)1 5Ti1)5Xн99i=6Ʌ;i=-?E:En8IE-?IAԉ->-<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7716349@ @@0@Թ^A% 0 I I O% >,Σ"?A>҉>Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693>w*?>ٱ>ʷ NAHRS rotation from veh to nav: [[0.781582,-0.599306,-0.173096],[0.612222,0.790169,0.028587],[0.119643,-0.128316,0.984490]]>H?-`(ƿQ?I?E?? l?i>҉>I>];>CYV*RByV>IbD^VD^5yf&=%f=ٔj7XQ-j ?9hYh=n:FynpEr;Ev ?xQ 5 C5z?Q 9 C5z)zBYyB?Q I@zDIz;iz;z{C5y-&Bɮ-GA)GS]B*** querying acoustic contact ***:YBYqQ}FNOT Ignoring new targets: 569.52 m.++Q ProNav: ac range: 569.516663 m, nav range: 552.796997 m, bearing: 40.160642 deg, approach rate: -0.626204 m/s, LOS rate: -0.003884 deg/s, cmd heading: 38.905338 deg, new cmd heading: 38.901526 deg. z*QHeadingCmd: 0.678960 target range: 569.516663 and range: 572.30 m.RN-?JbԹZB:2Ҕڔڒ’P @颭vUBɢ ') 9Si)ѽilى;iN-?:IN-?IE= E=E=&E9"E=V:*E=Ar:VE=4ZE9aE@aE@aE@aE@9@ @@p2@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277491^A*:AzAIQ Ia Ou >9 ڳ,"?A2>2d@*?2ʸٱ2j :AHRS rotation from veh to nav: [[0.781186,-0.599514,-0.174158],[0.612622,0.789844,0.028989],[0.120178,-0.129339,0.984291]]2Hy?8/@Jƿ?`gF?_?ľ?0O?i2>I2];2ߐCYB'RByB<IbDJ%VDJ/5yRԻ%VM=ٔV Q-V>9XYX=Z:FyZrEZ:EZ>\Q 5bC5^H?Q 9fC5^7)^BYdyfB?Q If@^DI^:i^:^C5yhɮjLAl|QFNOT Ignoring new targets: 569.52 m.Q ProNav: ac range: 569.516663 m, nav range: 552.542358 m, bearing: 40.159049 deg, approach rate: -0.654969 m/s, LOS rate: -0.004101 deg/s, cmd heading: 38.901527 deg, new cmd heading: 38.896743 deg. z"4QHeadingCmd: 0.678876 target range: 569.516663 and range: 572.30 m.R-?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115 @]UBɢ]))a e3[ia)eҽaaim);im-?uY:uIu-?IqA9A=@ABE>BECBEIBERBBABABEDBE;BE'6EBDAT read: Rx Time:21:20:09.8137 TRx dataTimestamp_ set to:1761513611.080878checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527925@ @@/5@AE] E]E]'EY"E]:*E]xv:VE]'4ZEYBE].qE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778578ԙ <,"?AY~)RBy~>I iMb@Mb@Mb@ 9)\(?X9v?I +YG!?y<94`AA )Y(AbD#VD5y;%;=ٔQ->9Y=:FyuEE>Q 5C5?Q 9C5)BY!?Q E:yc4?Q I@!DI:i;C5y)BɮSAEQFNOT Ignoring new targets: 569.52 m.  Q ProNav: ac range: 569.516663 m, nav range: 552.265991 m, bearing: 40.158943 deg, approach rate: -0.631545 m/s, LOS rate: -0.000242 deg/s, cmd heading: 38.896742 deg, new cmd heading: 38.896425 deg. z)Q%HeadingCmd: 0.678871 target range: 569.516663 and range: 572.30 m.R%x-?J!b!Z)B):)2)Ҕ1ڔ1qڒ’ N@UBɢ;%) ci) f{Խ  i R&;i5x-?5:5tI5x-?I99@ @@0@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034271^AEU  EU EU -EQ "EU :*EU :VEU t4ZEQ a] @a] @a] @a] @Iq I O > _ƻ,0c"?A2 >2G*?2ٱ2 :AHRS rotation from veh to nav: [[0.781086,-0.598388,-0.178431],[0.612672,0.789608,0.033951],[0.120575,-0.135839,0.983366]]2H ?%ƿ? wD?b?ݾ?`*cw?i2 >I2j];0Y^BRBy^MIbDj&VDjj5yr =%rX=ٔrPQ-r>9tYt=v:FyvvEv9Ez>xQ 5D5zY?Q 9D5zq)zBYyI4?Q I@z(DIzQ;izL;zD5y ɮ!A1Q=FNOT Ignoring new targets: 569.52 m.=}E}QM ProNav: ac range: 569.516663 m, nav range: 552.027405 m, bearing: 40.158861 deg, approach rate: -0.631729 m/s, LOS rate: -0.000216 deg/s, cmd heading: 38.896425 deg, new cmd heading: 38.896180 deg. zMQUHeadingCmd: 0.678866 target range: 569.516663 and range: 572.30 m.RU0-?JbZB:2Ҕڔڒ’` @-DAT read: 21:20:09.8137 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 440,-0.01, 1.363,-0.232, 1.463, 1.007, PHS= 0.458,-1.194, 0.413, RAW= 148.6, 4.0, CAL= 147.9, 4.1, ROT= 2.1, -4.1 5Ygot valid direction response: 21:20:09.8137 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 440,-0.01, 1.363,-0.232, 1.463, 1.007, PHS= 0.458,-1.194, 0.413, RAW= 148.6, 4.0, CAL= 147.9, 4.1, ROT= 2.1, -4.1 =PDAT read: Bearing 187.6, 8.4 (Local) =~Local bearing/azimuth received: Bearing 187.6, 8.4 (Local) MDAT read: Range 11 to 50 : 572.7 m (Round-trip 763.6 ms) speed 0.6 m/s M*DAT read: user:166> UBDAT read: Tx time:21:20:10.9459 ]$Ping request sent.]iԘt>%@5=4%@ C=)Q =IC%?_7?Z rQ? >)q@IQ =iC:publishing transmit ping timeYFpublishing direction and range infoy?d? M?Y )Ii )I%?_7?Z rQ? )IieUBɢe*)a efii)mսiiim ;iu0-?uN:u6I}0-?Iy%9@! @!@-}0@)@1@1Be>BeCBeIBeRBBe =BaBeDBea;Be5E^AA>A>) IQ Ia Om >L,F #?AE EE(E"El;*E:VEc44ZEBE[F~L*?~#ٱ~ EAHRS rotation from veh to nav: [[0.780981,-0.598023,-0.180103],[0.612696,0.789533,0.035229],[0.121130,-0.137861,0.983017]]~H ?# ǿ 4?`C?@y ?Y?mt?i~>I~X];~CYERByNIiMb@Mb@Mb@ 9ʡE?I9AYI=U:FyUyEU59EU>YQ 5eD5]s?Q 9eD5]¯)]BYm?Q Em:ym;$?Q Im@]2DI] ;i] ;]KD5yuBɮuA}۬EJ!R%"?A%xD%xD%AR6?%d,H@&/34@C*:P_D@%?d? M?%Q =%C—%dI}z@v@QX+Z@%snͰ?h΅?:I?j%Cr%CZ%(?b%z%C%(?!%Cڗ%Y D%2?Q addTargetRange:: Added new target pos. range: 572.700012 m, deltaT: 4.534255 s, deltaX: 0.400024 m, approachRate: 0.088223 m/s, rangeRepo size: 4 Q Added new target pos. range: 569.875427 m, bearing: 40.805629 deg, lat: 36.779080 deg, lon: -121.859003 deg, deltaT: 4.534255 s, deltaX: 0.358765 m, approachRate: 0.079123 m/s, posRepo size: 4 QFNOT Ignoring new targets: 569.88 m.Q ProNav: ac range: 569.875427 m, nav range: 553.401306 m, bearing: 40.014837 deg, approach rate: 0.000000 m/s, LOS rate: -0.000216 deg/s, cmd heading: 38.896179 deg, new cmd heading: 38.895863 deg. zQHeadingCmd: 0.678861 target range: 569.875427 and range: 572.70 m.R-?JbZB:2Ҕڔڒ ’  @ @1@?=UBɢ=&N+)9 =ni9)= ׽AAiEC_;iM-?MC:M%IM-?IQ9@ @@?0@yԡ ^A AQ IY Ii O} >>,ǁ%#?A,5k>5C>*?5Wٱ5 EAHRS rotation from veh to nav: [[0.781076,-0.597771,-0.180527],[0.612495,0.789692,0.035176],[0.121533,-0.138047,0.982941]]5H ? ǿ? 'E???`@t?i5k>I5];5CYuMRByuTII}<)};AbD/VD|5y<%c=ٔQ->9Y=:Fy{EE>Q 5D5i ?Q 9D5E)BYy,$?Q I@9DI:, @#?A:>:X*?:xٱ:T FAHRS rotation from veh to nav: [[0.780791,-0.598008,-0.180977],[0.612767,0.789492,0.034923],[0.121996,-0.138164,0.982867]]:HI:];8YN\RByN]IbDVVDVF5Xyb=%bU=ٔbQ-b>9f ?Yf ?=f:Fyf}Ef:Ej>lQ 5rD5n\?Q 9rD5n)nBYtyvE$?Q Iv@nADInd:in:n D5yz BɮzmA|QFNOT Ignoring new targets: 569.88 m.%+8%+8Q5 ProNav: ac range: 569.875427 m, nav range: 552.944153 m, bearing: 40.017537 deg, approach rate: -0.650103 m/s, LOS rate: 0.003830 deg/s, cmd heading: 38.899799 deg, new cmd heading: 38.903968 deg. z54(9Q=HeadingCmd: 0.679002 target range: 569.875427 and range: 572.70 m.R=-?J9b9ZABA:A2AҔIڔIIڒIBU<AU<B] >B]CB]IB]RBBYBYBYB]Z;B]5EBCBCBB =B =C5’qy}g?颥9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500144Q(,Y#?AY~jRBy~fIiMb@Mb@Mb@ 91Zd?V-Y"?yLGAA )YAbD,VD̺5y=%==ٔQ->9"?Y"?=:FyEE>Q 5D5/?Q 9D5ɤ)BY?Q E:y?Q IM@IDI\R,Xs#?A2;>2b)?2Eٱ2 :AHRS rotation from veh to nav: [[0.781648,-0.597082,-0.180331],[0.611522,0.790532,0.033174],[0.122750,-0.136207,0.983046]]2HB?K@ǿ? L?$?l?`9ou?i2;>I2 ];2CYBRByBzI DDJ=J=bDN.VDNB5yv==%vX=ٔvQ-v>9xYx=z:FyzE~E~>Q 5 D5!@?Q 9 D5)BY y V?Q I @PDIW:i:D5yBɮ AܬEAQEFNOT Ignoring new targets: 569.88 m.M9M9QU ProNav: ac range: 569.875427 m, nav range: 552.455750 m, bearing: 40.023756 deg, approach rate: -0.626638 m/s, LOS rate: 0.008038 deg/s, cmd heading: 38.913862 deg, new cmd heading: 38.922632 deg. echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004275ze9QmHeadingCmd: 0.679328 target range: 569.875427 and range: 572.70 m.Rmr-?JibiZqBq:q2qyҔyڔyڒ’+@颵VBɢ 9) }i) ݽ项i_;ir-?s:[}6Ir-?I9@9 @9@=0@9ԡ^AQB>BCBIB SBB =BBBP;B5E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256952AI Ia Iq O} > D zD E  E E (E "E ;*E ~:VE c44ZE BE @)?uRٱ;S ]AHRS rotation from veh to nav: [[0.782681,-0.596177,-0.178838],[0.610170,0.791650,0.031341],[0.122893,-0.133652,0.983379]]H ?`@-ƿ ?2U? ?@u?w?i[>I@];YeRByeIi5Mb@Mb@Mb@1111 195n?333333~jthY5?y55D5lA5 A 5A)5A1Y5=AbDM(VDM5y]+=%])=ٔ]SQ-e>9aYa=e:FyeEmhEm>qQ 5}D5uT?Q 9}D5u)u#BY=?Q E:y?Q I@uYDIu#;iu;uD5y BɮAQFNOT Ignoring new targets: 569.88 m.5959Q ProNav: ac range: 569.875427 m, nav range: 552.176147 m, bearing: 40.028568 deg, approach rate: -0.577366 m/s, LOS rate: 0.009942 deg/s, cmd heading: 38.922632 deg, new cmd heading: 38.937076 deg. zV9QHeadingCmd: 0.679580 target range: 569.875427 and range: 572.70 m.R-?JbZB:2Ҕڔڒ’@VBɢ1) i)߽i;i%-?% :-[PI--?I)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5082141m#< @  @ @ 3@ ԉ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761060^A A A >ԩbEu:4jEuηG4rEu0E EE+E"E:*E:VE [4ZEa @a @a @a @AI!I1=cGIa9YAO ?%,*s#?AFK>Fo(?FٱFI RAHRS rotation from veh to nav: [[0.783924,-0.594819,-0.177912],[0.608535,0.792949,0.030264],[0.123074,-0.131991,0.983581]]FH?ƿ`y?`_??@Á? ~y?iFK>IF$];DYVRBynIbDv/VDv|5y~qn=%~/=ٔ~̹Q-~>9Y=:FyE  E >Q 5D5h?Q 9D5 )IBYy8?Q I%@bDI:i:0D5y)ɮ-A1)GSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 569.88 m.e(89e(89Qu ProNav: ac range: 569.875427 m, nav range: 551.906128 m, bearing: 40.033281 deg, approach rate: -0.576222 m/s, LOS rate: 0.010063 deg/s, cmd heading: 38.937075 deg, new cmd heading: 38.951221 deg. zu9Q}HeadingCmd: 0.679827 target range: 569.875427 and range: 572.70 m.R}% .?JybyZyBy:2Ҕڔڒ’s@VBɢ4) i)Kit@;i% .?%:3pI% .?Im<-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012327E9@A @A@E 0@Aiԉ^AeNJNA A AAB >B CB IB 4SBB =B B DB :;B 5EA I Թ I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265271O >1o,5#?A6Y<>6t(?6@5ٱ6 BAHRS rotation from veh to nav: [[0.785158,-0.593114,-0.178162],[0.606892,0.794193,0.030640],[0.123322,-0.132183,0.983524]]6H ?ƿk?`j?4`??]@y?i6Y<>I6];6ߐCYFRByFIIJJ>)J=LLbDR0VDR5yZ=%ZP=ٔ^&Q-^>9\Y`=b:FybEb6Eb>dQ 5jD5fSy?Q 9jD5f)fiBYlyn?Q In@fjDIfw;if;fD5yrBɮr`AvݬE QFNOT Ignoring new targets: 569.88 m._;9_;9Q% ProNav: ac range: 569.875427 m, nav range: 551.678955 m, bearing: 40.037300 deg, approach rate: -0.578540 m/s, LOS rate: 0.010238 deg/s, cmd heading: 38.951220 deg, new cmd heading: 38.963281 deg. z-9Q-HeadingCmd: 0.680038 target range: 569.875427 and range: 572.70 m.R-.?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE @Eu EuEqEq"Eu:*Eu]t:ԙVEqZEqBEu6f+'?fٱf L vAHRS rotation from veh to nav: [[0.788057,-0.588167,-0.181731],[0.602825,0.797142,0.034161],[0.124773,-0.136473,0.982755]]fH@7?CBǿWJ?`/?@}??wr?if>Ifc];fCYSByIQiMb@Mb@Mb@ 9 ףp= ?ˡEMb?YQ?y什<xA A)AYGAbDVD5ymt=%m =ٔu#Q-u>9qYy=}:Fy}E} E}>Q 5D5?Q 9D5v)BY?Q E:y?Q I@uDIG ;i:#D5yBɮ*AQFNOT Ignoring new targets: 569.88 m.iI9iI9Q ProNav: ac range: 569.875427 m, nav range: 551.337769 m, bearing: 40.043738 deg, approach rate: -0.582856 m/s, LOS rate: 0.011005 deg/s, cmd heading: 38.963282 deg, new cmd heading: 38.982609 deg. z9QHeadingCmd: 0.680375 target range: 569.875427 and range: 572.70 m.R -.?JbZB:2Ҕڔڒ’@U$WBɢUj0)Q UiQ)]QYYi]Xc;ie -.?W:ƬI -.?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.022567ԩ @  @ @ /0@ B= >B= CB= IB= SBB= =B= ?DB= DB= ;B= x5E^A u DAT read: 21:20:14.1105 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 407,-0.19,-3.094, 1.622,-2.966, 2.795, PHS= 0.497,-1.128, 0.479, RAW= 149.4, 1.9, CAL= 148.5, 1.7, ROT= 1.5, -1.7 } Ygot valid direction response: 21:20:14.1105 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 407,-0.19,-3.094, 1.622,-2.966, 2.795, PHS= 0.497,-1.128, 0.479, RAW= 149.4, 1.9, CAL= 148.5, 1.7, ROT= 1.5, -1.7  PDAT read: Bearing 185.2, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 185.2, 8.3 (Local)  DAT read: Range 11 to 50 : 570.3 m (Round-trip 760.4 ms) speed 0.4 m/s  *DAT read: user:167>  BDAT read: Tx time:21:20:15.2459  $Ping request sent. i- Nb- }?>- &@- =- H%@ - <)- Pw ,v $?AE^ E^E^*E\"E^T;*E^|:VE^(N4ZE\BE^Gn&?nFٱn vAHRS rotation from veh to nav: [[0.789487,-0.585397,-0.184448],[0.600714,0.798629,0.036547],[0.125911,-0.139654,0.982163]]nH zC?ǿ 9?]?K?@?@- m?inX>In^;nCY~?SBy~IbD5VD55yE=%E1=ٔE"Q-E>9IYI=u:FyuE}E}>Q 5D5?Q 9D5ގ)BYyH?Q I5@~DIq  ,%$?Af>fY%?fGٱf;: nAHRS rotation from veh to nav: [[0.790792,-0.583353,-0.185327],[0.598672,0.800195,0.035771],[0.127431,-0.139237,0.982026]]fH,N?Ԫ˸ǿ S(? 2?P?O?@l?if>If];dYiSByI  ==iMb@Mb@Mb@ 9S?MbX9I +?Y?yʡ94=A A)Y AbDVD5yO=%D=ٔXpQ->9Y=:FyEqE>Q 5D5޸?Q 9D5)BYX?Q E:y?Q I@DI ;i;l+D5yBɮAԬEQQFNOT Ignoring new targets: 567.45 m. a9 a9Q ProNav: ac range: 567.450867 m, nav range: 549.849976 m, bearing: 39.932519 deg, approach rate: -0.687297 m/s, LOS rate: 0.012297 deg/s, cmd heading: 39.000657 deg, new cmd heading: 39.013669 deg. z:QHeadingCmd: 0.680917 target range: 567.450867 and range: 570.30 m.RP.?JbZB:2Ҕڔڒ’7?E EEE"E:*E:VEZEa@a@a@a@rWBɢ}B) iA)MIIiM;iUP.?U:UмI]P.?IYԁ]9@Y @Y@]"0@YԱ^A} q歼I I O > 0 ,?$?AF r>F%?F ٱF RAHRS rotation from veh to nav: [[0.791371,-0.582340,-0.186044],[0.597520,0.801132,0.034020],[0.129234,-0.138087,0.981952]]FHR?Gǿ@?ޢ? k?? ׬@'l?iF r>IF];FCYVSByZ5I`b@AbDfVDfӱ5ynX>%nZ=ٔnQ-r>9pYp=r:FyrEv^Ev>xQ 5~D5z3?Q 9~D5z)zABYy?Q I@zDIz";iz*$;z.D5y ɮ OAGS-B*** querying acoustic contact ***:)B)1Q=FNOT Ignoring new targets: 567.45 m.EL9EL9QU ProNav: ac range: 567.450867 m, nav range: 549.629272 m, bearing: 39.936504 deg, approach rate: -0.619008 m/s, LOS rate: 0.011181 deg/s, cmd heading: 39.013668 deg, new cmd heading: 39.025628 deg. zU9QUHeadingCmd: 0.681126 target range: 567.450867 and range: 570.30 m.R]A^.?JYbYZYBY:a2aҔaڔaiڒi’iim~?额WBɢq?) Yui)顡i0;iA^.?N: ڼIA^.?IBAB>B CBLIBSBB =BBDB;B75EԹ1@1 @1@5P0@1^A F˼T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IqIO>E EE,E"E:*Ez:VEg4ZEBE+:,4%?:emٱ:| BAHRS rotation from veh to nav: [[0.792029,-0.581142,-0.186988],[0.596285,0.802101,0.032838],[0.130900,-0.137507,0.981813]]:HLX?9ǿ?Ϫ?@Р?`T?Йk?i:<>I: ^;8YRSByRKIiMb@Mb@Mb@ 9~jt?v/x&?Y?yxi7=AA A) AYbDVD75y=%>=ٔQ->9Y=:FyE1TE>Q 5D5m?Q 9D5 )BYD?Q E:y?Q I@DI:i:x2D5yBɮAQFNOT Ignoring new targets: 567.45 m. 9 9Q ProNav: ac range: 567.450867 m, nav range: 549.375183 m, bearing: 39.939998 deg, approach rate: -0.590996 m/s, LOS rate: 0.008129 deg/s, cmd heading: 39.025628 deg, new cmd heading: 39.036113 deg. z9Q%HeadingCmd: 0.681309 target range: 567.450867 and range: 570.30 m.R%?j.?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’11= ?WBɢv7) ui)i;i?j.?:I?j.?I9@ @@/0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497181^A̼AzAhAI) IA OU >i E  E E +E "E s:*E VE [4ZE a @a @a @a @B ,+ms$?A :mK>:D$?:iٱ: BAHRS rotation from veh to nav: [[0.792333,-0.580783,-0.186813],[0.595455,0.802845,0.029547],[0.132822,-0.134650,0.981951]]:H`Z? Ǖǿ@ ??A?N? 6<$l?i:mK>I: ];:CYJ TByJfIPRAbDVVDV95yb=%b[=ٔbQ-b>9dYd=f:FyfEjtEj>lQ 5rD5nB?Q 9rD5n)nBYpyr?Q Iv@nDIna;in ;n5D5yxɮzAxQFNOT Ignoring new targets: 567.45 m.%9%9Q5 ProNav: ac range: 567.450867 m, nav range: 549.154663 m, bearing: 39.943061 deg, approach rate: -0.589690 m/s, LOS rate: 0.008195 deg/s, cmd heading: 39.036112 deg, new cmd heading: 39.045306 deg. z59Q5HeadingCmd: 0.681469 target range: 567.450867 and range: 570.30 m.R=t.?J9b9Z9B9:A2AҔAڔAIڒI’IIM4?WBɢ6>) ri)&i;it.? : tI t.?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749362q@ @@90@@=@=ԙ^AB>B CBIBZTBB =BBDBO;B5EBCBCBǖCB =B =Cڼ6I)I9OE> - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001265*# ,|H$?A>>>$?>&h ٱ>/H FAHRS rotation from veh to nav: [[0.792499,-0.580666,-0.186474],[0.594800,0.803455,0.025956],[0.134752,-0.131485,0.982117]]>H '\?Д@cǿ@?@?:???m?i>>I>!^;%vH=ٔvQ-v>9xYx=z:FyzEzɺEz>Q 5D5?Q 9 D5~)BY y L?Q I @DI:i:P9D5yBɮAլE9QEFNOT Ignoring new targets: 567.45 m.E79M79QU ProNav: ac range: 567.450867 m, nav range: 548.913635 m, bearing: 39.946440 deg, approach rate: -0.589139 m/s, LOS rate: 0.008263 deg/s, cmd heading: 39.045306 deg, new cmd heading: 39.055447 deg. zUv9QeHeadingCmd: 0.681646 target range: 567.450867 and range: 570.30 m.Re].?JabaZaBa:a2iҔiڔiiڒq’qqu@额WBɢfK7) 1ei)顩i;i].?Пs:I].?I@ @@30@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253278^AuA .AI I O >! T) ,h#$?A:8>:$?:* ٱ:  FAHRS rotation from veh to nav: [[0.791946,-0.580889,-0.188122],[0.594989,0.803374,0.024068],[0.137152,-0.130991,0.981851]]:HW?`@eȿ% ?I: ^;:CYJTByJIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505277|iMb@Mb@Mb@ 9)\(?QMbX9?YG!?yuʡ= A A)AYAbDVD5yc=%==ٔQ->9 ?Y ?=:FyE4:E>Q 5D5y ?Q 9D5]z)JBY"?Q E:y#?Q I@DI ;i. ;=D5yɮAQFNOT Ignoring new targets: 567.45 m.ь8ь8Q- ProNav: ac range: 567.450867 m, nav range: 548.650024 m, bearing: 39.948097 deg, approach rate: -0.611728 m/s, LOS rate: 0.003847 deg/s, cmd heading: 39.055449 deg, new cmd heading: 39.060422 deg. z-(9Q5HeadingCmd: 0.681733 target range: 567.450867 and range: 570.30 m.R5 .?J1b1Z1B9:929Ҕ9ڔAAڒA’AAM@u!XBɢuK7)y }giy)}?yyi}(;i .?b:I .?IE EE'E"E:*E]t:VE'4ZEa@a@a@a@)M9@I @I@M/0@IQ^Am8Au>Au>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758557ԁ A I I O ><0 ,C$?A:>:%?:9ٱ: NAHRS rotation from veh to nav: [[0.791302,-0.581032,-0.190374],[0.595319,0.803154,0.023213],[0.139412,-0.131702,0.981437]]:HXR?@ї@.^ȿ@ ?o?ŗ? D?g?i:>I: ^;:CYVTByVIbDbVDb5yj:=%j[=ٔjȻQ-j>9lYl=n:FynErM:Er>tQ 5zD5v ?Q 9zD5vv)vBYxyzK#?Q Iz@vDIv):ivB:vX@D5yBɮAGSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 567.45 m.5858QE ProNav: ac range: 567.450867 m, nav range: 548.421143 m, bearing: 39.949519 deg, approach rate: -0.611215 m/s, LOS rate: 0.003798 deg/s, cmd heading: 39.060421 deg, new cmd heading: 39.064688 deg. zE&9QMHeadingCmd: 0.681807 target range: 567.450867 and range: 570.30 m.RM.?JIbIZQBQ:Q2QYҔYڔYaڒa’aam@颕CXBɢC@;)AA@AB>BCBIBTBB =BBDB~;B4E di)M项ib;i.?&T:I.?Iu9@q @q@q@q@}hA@}iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009771ԉE EEE"E:*Ec:VEZEBE, ߙ ߝ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2614436 ,N$?A2%>2i%?2xٱ2j :AHRS rotation from veh to nav: [[0.790336,-0.581917,-0.191681],[0.596019,0.802706,0.020596],[0.141878,-0.130524,0.981241]]2H oJ?ȿ`?į?)?)?Sf?i2%>I2^;2CYFTByFIiMb@Mb@Mb@ 9S㥛?Q?ʡE?Y$?y<=A xA)Y!!bD-VD->5y=E=%=@=ٔ=:Q-=>9E"?YE"?=E:FyEEM1;EM>QQ 5]D5U / ?Q 9]D5U3r)UBY]7&?ԡQ E:y5?Q I@UDIU! < ,$?A>>>%?> ;ٱ> FAHRS rotation from veh to nav: [[0.788943,-0.582866,-0.194514],[0.597294,0.801771,0.020081],[0.144251,-0.132025,0.980694]]>H@?? צȿ???v?1a?i>>I>^;>CYNUByNIbDVVDVR5yb=%bV=ٔbͻQ-f>9f ?Yf ?=f:FyfEj:;Ej>lQ 5rD5nU> ?Q 9rD5nn)nBYpyr56?Q Iv@nDIn;in;ncGD5yzכBɮzBAz̬EQFNOT Ignoring new targets: 567.45 m.%%Q5 ProNav: ac range: 567.450867 m, nav range: 547.914856 m, bearing: 39.948812 deg, approach rate: -0.663723 m/s, LOS rate: -0.001005 deg/s, cmd heading: 39.063652 deg, new cmd heading: 39.062564 deg. z5|0Q=HeadingCmd: 0.681770 target range: 567.450867 and range: 570.30 m.R=.?J9b9Z9B9:A2AҔAڔAIڒI’IIM @}XBɢ}<)y }A_iy)J顁i1I;i.?6:"rռI.?I1]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7655081@1 @1@=/0@9AAzAAaA؟AIIO>>B>BCB9IBcUBB =B@DBDB#~;BF4Eԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017180 xC ,͏%?A6:>6s&?60ٱ6EF EFEF'ED"EF:*EFz:VEF'4ZEDBEF>I6^;6CYb>UByb#IbDjVDjU5yr=%rH=ٔv0Q-v>9v"?Yz"?=z:FyzEzc;Ez>|Q 5D5~N ?Q 9D5~i)~VBY y 6?Q I @~DI~:i~:~JD5yɮAQFNOT Ignoring new targets: 567.45 m.kkQ ProNav: ac range: 567.450867 m, nav range: 547.658325 m, bearing: 39.948367 deg, approach rate: -0.603811 m/s, LOS rate: -0.001048 deg/s, cmd heading: 39.062566 deg, new cmd heading: 39.061230 deg. z8QHeadingCmd: 0.681747 target range: 567.450867 and range: 570.30 m.R .?J bZ1B1:929Ҕ9ڔ9AڒA’AAE`ѹ@颅XBɢ6ԙ)  ]i)io BDAT read: Tx time:21:20:19.4959 $Ping request sent.ieDe)\>eBo&@es=e~%@ e5z=)e=Ie5zaaemޣ?p?.ʹ? e?)e,uIe=ie5zaa:publishing transmit ping timeFpublishing direction and range infoyaebMG?=d ?.xA?Yaaaaa a)aIaiaaaaa a)aIaaaemޣ?p?.ʹ? a)aIaiaaaAm.AIyIO> 1I ,x(%?A:7>:7'?:>Yٱ:g RAHRS rotation from veh to nav: [[0.785259,-0.586577,-0.198230],[0.600923,0.799152,0.015720],[0.149195,-0.131465,0.980029]]:H` ?>@_ɿ:???? f\?i:7>I:^;:CYZaUByZ9IiMMb@Mb@Mb@IIII I9Mv/?~jt?X9v?YMx)?yM=M}=IMA MlA)M$AIYM A ]<]<bDeVDe5y&=%<=ٔyĻQ->9 ?Y ?=:FyE;E>Q 5D5_ ?Q 9D5ld)BYR+?Q E:yH?Q I@DIi@;i@;ND5yڛBɮAͬEJR%?A D D;x1?RT@iZBZ1@g8׸:A@bMG?=d ?.xA?=5z—5z@C>-2v@f[\@%?8ћE?^N.?jCr}CZ[OC?bC"z(Cꗍ[OC?(Cڗ D◍/0?Q} addTargetRange:: Added new target pos. range: 567.400024 m, deltaT: 4.283748 s, deltaX: -2.899963 m, approachRate: -0.676969 m/s, rangeRepo size: 4 Q Added new target pos. range: 564.448669 m, bearing: 39.719774 deg, lat: 36.779128 deg, lon: -121.859020 deg, deltaT: 4.283748 s, deltaX: -3.002197 m, approachRate: -0.700834 m/s, posRepo size: 4 QFNOT Ignoring new targets: 564.45 m.Q ProNav: ac range: 564.448669 m, nav range: 551.482666 m, bearing: 39.589466 deg, approach rate: 0.000000 m/s, LOS rate: -0.001048 deg/s, cmd heading: 39.061230 deg, new cmd heading: 39.059885 deg. zQHeadingCmd: 0.681724 target range: 564.448669 and range: 567.40 m.Rp.?JbZB:2Ҕڔڒ’@3@?E EE(E"EV:*Exv:VEc44ZEa@a@a@a@XBɢq6) s^i)eaaie%vP ,HB%?A:l`>:(?:ٱ:"/ BAHRS rotation from veh to nav: [[0.783073,-0.588532,-0.201065],[0.603184,0.797462,0.014945],[0.151546,-0.132982,0.979464]]:H?@ɿ HM?τ?r? e?W?i:l`>I: ^;:ݐCYJtUByJDIbDVVDV15y^N=%^^=ٔbӻQ-b>9b"?Yf"?=f:FyfEfU <Ef>hBAAABU>BUCBUIBUUBBU =BQBUDBU};BU3EQ 5D5jm ?Q 9D5j_)jBYyH?Q I@jDIj)Y ]MbiY)eaaieA} >ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985962A .AI I O >(V ,F"\%?A6W_>6:)?6Cٱ6( @ BAHRS rotation from veh to nav: [[0.780423,-0.591116,-0.203767],[0.606005,0.795342,0.013744],[0.153940,-0.134210,0.978923]]6H:?lʿ dd?qs?%?N?`-@VS?i6W_>I6&^;6CYJUByJWI LLi%Mb@Mb@Mb@!!!! !9%Fx?zG? rh?Y%+?y% =%C =!%A !)!!Y%AbD=VD=Z5yMC=%MA=ٔMQ-U>9U ?YU ?=U:FyUE<E>Q 5D5~ ?Q 9D5LZ) BY.?Q E:yR?Q I@DI:iZ:UD5yݛBɮRAAQEFNOT Ignoring new targets: 564.45 m.M5M5Q} ProNav: ac range: 564.448669 m, nav range: 550.952637 m, bearing: 39.583095 deg, approach rate: -0.715828 m/s, LOS rate: -0.009921 deg/s, cmd heading: 39.052843 deg, new cmd heading: 39.040763 deg. z}ٹQHeadingCmd: 0.681390 target range: 564.448669 and range: 567.40 m.Ro.?JbZB:2Ҕڔڒ’?颅$YBɢ1Q<) |diԱ)顱i>lE  E E %E "E *E g:VE 4ZE a @a @a @a @ \ ,+u%?ApYUByhI)-AAbD5VD5 5yE͎=%EK=ٔEQ-M>9M"?YM"?=M:FyMEUEU>YQ 5eD5] ?Q 9eD5]NU)]9BYayaQ Ie@]DI]:i]:].YD5yqɮuAqQFNOT Ignoring new targets: 564.45 m.N*N*Q ProNav: ac range: 564.448669 m, nav range: 550.696289 m, bearing: 39.579540 deg, approach rate: -0.670695 m/s, LOS rate: -0.009306 deg/s, cmd heading: 39.040764 deg, new cmd heading: 39.030093 deg. z]̹QHeadingCmd: 0.681204 target range: 564.448669 and range: 567.40 m.R]c.?JbZB:2Ҕڔڒ’h?EYBɢJB) lei)iB]CB]IB]LVBB] =BYB]DB]};B]3Ey^A7ƙ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742111A! I1 IA Oe >ԡ c ,R׏%?AD0zD2?AE6 E6E6(E4"E6:*E6k:VE6c44ZE4BE6'F>FX&+?Fa"ٱF RAHRS rotation from veh to nav: [[0.774873,-0.597164,-0.207283],[0.612075,0.790736,0.010037],[0.157912,-0.134650,0.978230]]FH?@?ʿ? M??v6?9<M?iF>IF=^;DYZUByZzIbDfVDf5yj=%nQ=ٔn(Q-n>9pYp=r:FyrEr)<Ev>tQ 5zD5v[ ?Q 9~D5v) gi)koi˖ j ,k%?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246089V$>Vh,?V-w$ٱV ^AHRS rotation from veh to nav: [[0.771598,-0.600425,-0.210063],[0.615680,0.787941,0.009321],[0.159921,-0.136523,0.977643]]VH ?@6Zʿ?`6??Lx?yH?iV$>IV]%^;TYfUByfIiuMb@Mb@Mb@qqqqԁ q9um?B`"۹?Yu.?yu=uuAq uSA)u=AqYuAbDVD5y=%8=ٔ9Q->9Y=:FyEo5<E>Q 5D5ӭ ?Q 9D5bJ)BY0?Q E:y R?Q I@DIOJ;iG);{`D5y}BɮAĬEQFNOT Ignoring new targets: 564.45 m.''Q ProNav: ac range: 564.448669 m, nav range: 550.136475 m, bearing: 39.571627 deg, approach rate: -0.675176 m/s, LOS rate: -0.009179 deg/s, cmd heading: 39.018641 deg, new cmd heading: 39.006346 deg. zɹQHeadingCmd: 0.680789 target range: 564.448669 and range: 567.40 m.R3H.?JbZB:2Ҕ ڔ  ڒ ’E EE+E"EO:*EL_:VE [4ZEa%@a-@a-@a-@5@颽YBɢ=) ji)i- i]>Ա9@ @@0@^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497892A! IA IQ Oe > Lp ,o%?ABVp>BVCBVIBVVBBV =BTBVDBVi|;BVS3EB}CB}CByB} =B} =C}D65>5ݰ-?5v&ٱ5Z eAHRS rotation from veh to nav: [[0.768246,-0.603725,-0.212869],[0.619322,0.785091,0.008514],[0.161982,-0.138376,0.977044]]5Hy? QN?˿`|?w?o?`ѻ?KC?i5>I5F^;1YuUByI p<bDVD5yE8[<%MC=ٔMQ-M>9QYQ=u:FyuE}A<E}>yQ 5D5}J ?Q 9D5}D)}BYySS?Q I@} DI}:i}:}+dD5yBɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 564.45 m.4 4Q= ProNav: ac range: 564.448669 m, nav range: 549.851013 m, bearing: 39.567592 deg, approach rate: -0.697709 m/s, LOS rate: -0.009867 deg/s, cmd heading: 39.006346 deg, new cmd heading: 38.994236 deg. z=عQEHeadingCmd: 0.680578 target range: 564.448669 and range: 567.40 m.REY:.?JAbAZABA:A2AiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758277ҔIڔڒ’O@]YBɢ]f>C)a esia)eIai; w ,%?A2 >2.?2X(ٱ2 >AHRS rotation from veh to nav: [[0.765076,-0.606805,-0.215512],[0.622755,0.782377,0.007907],[0.163814,-0.140260,0.976469]]2H {?@j˿? < ?K1?? @I2p/^;0YBVByFIi Mb@Mb@Mb@     9 @5^I ?Zd;O?{GzY b0?y j= #  $A lA) IA Y ׿AbD%VD%p5y5.=%5O=ٔ=Q-=>99Y9=E:FyEEEE<EE>IQ 5UD5M ?Q 9UD5M?)MBY]>2?Q E]:y]~N?Q I]@MDIM:iMZ:MgD5yaɮmAiԡ)Q-FNOT Ignoring new targets: 564.45 m.55Q} ProNav: ac range: 564.448669 m, nav range: 549.581421 m, bearing: 39.564318 deg, approach rate: -0.668808 m/s, LOS rate: -0.008128 deg/s, cmd heading: 38.994236 deg, new cmd heading: 38.984408 deg. z~QHeadingCmd: 0.680406 target range: 564.448669 and range: 567.40 m.R/.?JbZB:2Ҕڔڒ ’ Ѕ @颅YBɢ2NG) "xi)顉i5,) n} ,zQ%?A6>650?6\*ٱ6 BAHRS rotation from veh to nav: [[0.761621,-0.610374,-0.217661],[0.626448,0.779438,0.006281],[0.165820,-0.141137,0.976004]]6H3_?@/P˿ ?`(?¹y?9?¿@m;?i6>I6^;6CYJVByJI LLbDRVDR5yZJ<%ZT=ٔ^Q-^>9`Y`=b:FybEbkY<Ef>dQ 5jD5f ?Q 9jD5f:)fBYlynO?Q In@fDIf;if;fjD5yrBɮvAvŬE QFNOT Ignoring new targets: 564.45 m.((Q% ProNav: ac range: 564.448669 m, nav range: 549.316223 m, bearing: 39.560951 deg, approach rate: -0.726269 m/s, LOS rate: -0.009224 deg/s, cmd heading: 38.984408 deg, new cmd heading: 38.974304 deg. z-ʹQ-HeadingCmd: 0.680230 target range: 564.448669 and range: 567.40 m.R-#.?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAEC @]%=]%=eBDAT read: Rx Time:21:20:22.6461 mTRx dataTimestamp_ set to:1761513623.940973mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515415颅ZBɢеO) ~i)_顉iBCBIBVBB =BBDB{;B2E^A1q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766164A .AI I O >E  E E )E "E :*E c:VE FA4ZE BE #9- ?Y- ?=-:Fy-E5E5>qQ 5}D5uh ?Q 9}D5u 5)u BYyQ I@u$DIuo;iu{;unD5yɮAQFNOT Ignoring new targets: 564.45 m.Q ProNav: ac range: 564.448669 m, nav range: 549.028748 m, bearing: 39.557299 deg, approach rate: -0.669685 m/s, LOS rate: -0.008513 deg/s, cmd heading: 38.974302 deg, new cmd heading: 38.963340 deg. zQHeadingCmd: 0.680039 target range: 564.448669 and range: 567.40 m.R.?JbZB:2Ҕڔڒ’   .@ԁ颥,ZBɢH) i)HEiu 5BDAT read: Tx time:21:20:23.7459 5$Ping request sent.5ڽ , -&?A5GAYYe#VBya챿9YAi=Mb@Mb@Mb@9999 99= rh??lY=,?y=L===A==A =xA)=VA9Y=AbEc44jE14rE./E] E]E](EY"E]a:*E]x:VE]c44ZEYae@ae@ae@ae@bDmVDm5y}%}6=ٔQ->9Y=:FyEE>Q 5D5J ?Q 9D5/)BY .?Q E:y>?Q I@.DI@:i:rD5yBɮ5AEJR&?A" D" Dh*?D߷b@&x@) @y"@?7:4?޹d—Enz@h: +u@gY@0Ҵ?eO`y?Eʪ_?j\CrCZN)v?bn`bz'CꗩCڗ. D◭a0?Q addTargetRange:: Added new target pos. range: 559.500000 m, deltaT: 4.042038 s, deltaX: -7.900024 m, approachRate: -1.954466 m/s, rangeRepo size: 4 Q Added new target pos. range: 556.537292 m, bearing: 38.245917 deg, lat: 36.779128 deg, lon: -121.859020 deg, deltaT: 4.042038 s, deltaX: -7.911377 m, approachRate: -1.957274 m/s, posRepo size: 4 QFNOT Ignoring new targets: 556.54 m.Q ProNav: ac range: 556.537292 m, nav range: 548.724243 m, bearing: 39.555543 deg, approach rate: 0.000000 m/s, LOS rate: -0.008513 deg/s, cmd heading: 38.963340 deg, new cmd heading: 38.951642 deg. zQHeadingCmd: 0.679834 target range: 556.537292 and range: 559.50 m.R .?Jb Z B : 2 Ҕڔڒ’|@?颥YZBɢI) i)I顩iWB B 3IB VBB =B B B z;B [2EQ A ؟AI I OE > ,YH&?A2e>2@3?20ٱ25 :AHRS rotation from veh to nav: [[0.752286,-0.619271,-0.224874],[0.636001,0.771684,0.002549],[0.171953,-0.144938,0.974384]]2H`?@ ̿@Z?@?dd?@?S¿`(.?i2e>I2#^;2CYB VByBIIF=)Fp<bDNVDN5yV%VZ=ٔVQ-V>9Z"?YZ"?=Z:FyZEZ=E^>\Q 5bD5^ ?Q 9fD5^+)^)BYdyf8B?Q If@^6DI^8;i^U;^uD5yjBɮntAlGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 556.54 m. F FQ ProNav: ac range: 556.537292 m, nav range: 548.470703 m, bearing: 39.553733 deg, approach rate: -0.716280 m/s, LOS rate: -0.005116 deg/s, cmd heading: 38.951643 deg, new cmd heading: 38.946210 deg. z`Q%HeadingCmd: 0.679740 target range: 556.537292 and range: 559.50 m.R%j.?J!b!Z!B):)2)Ҕ)ڔ11ڒ1’11= ]l?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.xZBɢ{=\) ֍i) q   i |.ߝ :? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.951110Am .AIy I O > ; ,b&?A2i>24?2@2ٱ2d :AHRS rotation from veh to nav: [[0.749869,-0.621343,-0.227219],[0.638363,0.769733,0.001851],[0.173748,-0.146436,0.973842]]2H@? Ϳxm?`?T^?`]=? m¿)?i2i>I2G^;2CYB@VByBIiMb@Mb@Mb@ 9 r?Mbsh|?Y#?yVA A)nAYpA bDVD5y=%9=ٔyQ->9 ?Y ?=:FyE;E>Q 5D5# ?Q 9D5X&)7BY$?Q E:y|,?Q I@?DI:i:yD5y ɮ A1Q=FNOT Ignoring new targets: 556.54 m.=7=7QM ProNav: ac range: 556.537292 m, nav range: 548.187195 m, bearing: 39.554225 deg, approach rate: -0.643897 m/s, LOS rate: 0.001118 deg/s, cmd heading: 38.946210 deg, new cmd heading: 38.947687 deg. zMD8QUHeadingCmd: 0.679765 target range: 556.537292 and range: 559.50 m.R].?JYbYZYBY:Y2YҔaڔaaڒi’y?ԱZBɢlP) Ti) i 9 e ,kc|&?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453889N>N75?N#4ٱN VAHRS rotation from veh to nav: [[0.747941,-0.622510,-0.230360],[0.640131,0.768262,0.002297],[0.175546,-0.149179,0.973103]]NH!? l|Ϳ{??0b? Nx?Jÿ#?iN>IN7^;LYn6VBynIbDzVDz5yؼ%Z=ٔSQ->9 "?Y "?= :Fy E ;E>Q 5%D5f3 ?Q 9%D5^")DBY!y%-?Q I%@GDIw;iQ;|D5y-Bɮ5'A5EQQ]FNOT Ignoring new targets: 556.54 m.]i7ei7Qm ProNav: ac range: 556.537292 m, nav range: 547.945374 m, bearing: 39.554587 deg, approach rate: -0.643885 m/s, LOS rate: 0.000966 deg/s, cmd heading: 38.947689 deg, new cmd heading: 38.948777 deg. zu)8QuHeadingCmd: 0.679784 target range: 556.537292 and range: 559.50 m.RuZ.?JybyZyBy:y2Ҕڔڒ’?颽ZBɢ[)  i),iqBCBFIBWBB =BBDBjy;B1E9^AU`=<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705814i A I I O >E  E E 'E "E :*E i:VE '4ZE BE +:5?:2n6ٱ:D BAHRS rotation from veh to nav: [[0.746251,-0.623732,-0.232527],[0.641643,0.767001,0.001820],[0.177214,-0.150558,0.972588]]:HH?`@uͿV?F?x]?@?wEÿ@q?i:'>I:E^;:ߐCY^SVBybI ddbDjVDj5yr{=%rL=ٔvQ-v>9tYt=v:FyvEz;Ez>|Q 5D5~MD ?Q 9D5~)~RBYy -?Q I @~ODI~|:i~:~lD5yɮ%A)YQ]FNOT Ignoring new targets: 556.54 m.e,o7e,o7Qu ProNav: ac range: 556.537292 m, nav range: 547.687805 m, bearing: 39.554917 deg, approach rate: -0.637055 m/s, LOS rate: 0.000817 deg/s, cmd heading: 38.948778 deg, new cmd heading: 38.949769 deg. zu8Q}HeadingCmd: 0.679802 target range: 556.537292 and range: 559.50 m.R}|.?JybyZB:2Ҕڔڒ’:L?-ZBɢUV)Y ]ߓia)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.960620ԙiiێi>e9@a @a@e5@aԹm PExceeded connect timeout, disconnecting.^A ]< - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210052A1 IA IQ O] >| ,.&?AXY|VByIE] E]EYEY"E]:*E]X:VEYZEYae@ae@ae@ae@iMb@Mb@Mb@ 9333333?l9Y=:FyEE>Q 5D5+W ?Q 9D5U)gBY?Q E:y3?Q I%@XDI̱;i;AD5y=Bɮ=A9aQeFNOT Ignoring new targets: 556.54 m.m# 9m# 9Q} ProNav: ac range: 556.537292 m, nav range: 547.423645 m, bearing: 39.558233 deg, approach rate: -0.601181 m/s, LOS rate: 0.007548 deg/s, cmd heading: 38.949768 deg, new cmd heading: 38.959718 deg. z}ĥ9QHeadingCmd: 0.679975 target range: 556.537292 and range: 559.50 m.R.?Jb!Z!B!:!2)Ҕ)ڔ)1ڒ1’115 K@颅ɢ;jY) i)顩itB CB _IB @WBB =B ADB }DB gx;B 11EA I I O >g_ ,&?AY%VBy%IbD5VD55yE̦<%EV=ٔIQ-M>9IYI=M:FyUEQEU>YQ 5eD5]g ?Q 9eD5] )]yBYayiQ Im@]_DI]:i]:]D5yqɮuAqGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 556.54 m.D 9D 9Q ProNav: ac range: 556.537292 m, nav range: 547.193298 m, bearing: 39.561125 deg, approach rate: -0.610154 m/s, LOS rate: 0.007665 deg/s, cmd heading: 38.959720 deg, new cmd heading: 38.968401 deg. zR9QHeadingCmd: 0.680127 target range: 556.537292 and range: 559.50 m.R.?JbZB:2Ҕڔڒ’&@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713989颍?[BɢWa) fi) 顑i ,I&?ARA>Ri5?Rs9ٱRS^# bAHRS rotation from veh to nav: [[0.745414,-0.622451,-0.238564],[0.641751,0.766901,0.004241],[0.180315,-0.156260,0.971118]]RHn?  @ο 9?u?^q??PĿ e?iRA>IR\^;RCYnVByrIIv>)v45yU=%@=ٔQ->9 Y = :Fy E:E>Q 5%D5y ?Q 9%D5)BY%:?Q E-:y->Q I-@gDIH:i:WD5y5Bɮ5ZA5EYQ]FNOT Ignoring new targets: 556.54 m.e7b9e7b9Qu ProNav: ac range: 556.537292 m, nav range: 546.955994 m, bearing: 39.566422 deg, approach rate: -0.553522 m/s, LOS rate: 0.012361 deg/s, cmd heading: 38.968401 deg, new cmd heading: 38.984299 deg. zu:Q}HeadingCmd: 0.680404 target range: 556.537292 and range: 559.50 m.R}..?JybyZB:2Ҕڔڒ’@d @颽g[BɢŦ^) i)] iw < nManaging dock network, ignoring radio surface power offim..?m~T:m5Ru5?RH:ٱRW% ZAHRS rotation from veh to nav: [[0.746299,-0.620758,-0.240205],[0.640553,0.767893,0.005696],[0.180916,-0.158115,0.970705]]RH? ?ο`h?`?LTw? B(?=Ŀ?iR{>IRY/_;RߐCY~VBy~&I 4< bDVD5y%>%%Y=ٔ%պQ-->9)Y)=-:Fy-E5E5>9Q 5ED5= ?Q 9ED5=)=BYAyE:>Q IM@=mDI=):i= :=D5yQɮUAQqQ}FNOT Ignoring new targets: 556.54 m.d9d9Q ProNav: ac range: 556.537292 m, nav range: 546.748840 m, bearing: 39.571085 deg, approach rate: -0.553377 m/s, LOS rate: 0.012462 deg/s, cmd heading: 38.984298 deg, new cmd heading: 38.998294 deg. z:QHeadingCmd: 0.680649 target range: 556.537292 and range: 559.50 m.R>.?JbZB:2Ҕڔڒ’ @q[Bɢ[) וi)l i\".?a:.?I!BU>BUCBUIBU}WBBU =BQBUyDBUw;BU0EBCBCBėCB =B =C6ԡ@ @@#5@BDAT read: Rx Time:21:20:26.8929 TRx dataTimestamp_ set to:1761513628.224564checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722887^A E  E E *E "E :*E VE (N4ZE BE  ,U'?A2>2d 5?2:ٱ2k' :AHRS rotation from veh to nav: [[0.747370,-0.618854,-0.241780],[0.639177,0.769024,0.007400],[0.181355,-0.160071,0.970303]]2H@u?ο@$t?כ?dO~?6?5}Ŀ` ?i2>I2U)`;2ސCYRWByREIbDZVDZ5yb>%bR=ٔfoQ-f>9dYd=j:FyjEjEn>lQ 5rD5n ?Q 9rD5n)nBYtyvD>Q Iv@nuDInl:ind:nD5yUBɮUAUEQFNOT Ignoring new targets: 556.54 m.[9[9Q ProNav: ac range: 556.537292 m, nav range: 546.533569 m, bearing: 39.575981 deg, approach rate: -0.527419 m/s, LOS rate: 0.011998 deg/s, cmd heading: 38.998294 deg, new cmd heading: 39.012985 deg. z:QHeadingCmd: 0.680905 target range: 556.537292 and range: 559.50 m.RO.?Jb Z B :2ҔIڔQYڒachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.975988’'@][Bɢ]a^) i) iD$  BDAT read: Tx time:21:20:27.9959  $Ping request sent. i '1 u> !,@ V> >+@  nF>) @I nF   /Aܤ5?*e?s0k?  Z}?) @I )Ai nF   :publishing transmit ping time  Fpublishing direction and range infoy  H ,3'?AE EE'E"E>:*EX:VE'4ZEa"@a"@a"@a"@g%>A3?<ٱ+ -AHRS rotation from veh to nav: [[0.750216,-0.614052,-0.245184],[0.635470,0.772050,0.010853],[0.182630,-0.163949,0.969416]]H?P3bϿ@U?? :?@m`?`IĿ t?ig%>I7b;CYUWBylI ==)iMb@Mb@Mb@ 9E?QMb?Y?y\<1AA A)IAYAbD-VD-g5y@=%=ٔ|Q->9Y=:FyE:E>Q 5 D5 ?Q 9 D5 )!BY [ ?Q E:y>Q I@~DI3:i:ÖD5y=Bɮ=A9J)R-.'?A- D- D-)?-WR+*@FۊAB0U@-BM CBM IBM WBBM  =BI BM xDBM v;BM 90E^A |<Թ A I I O >R ,WP'?A2>273?2=ٱ2d, :AHRS rotation from veh to nav: [[0.751801,-0.611516,-0.246663],[0.633327,0.773792,0.011960],[0.183552,-0.165210,0.969028]]2H?`Ͽ@7D??T~? ~?%ſF?i2>I2b;2CYBWByBIbDNVDN5yR]>%Vh=ٔV;.Q-V>9TYX=Z:FyZEZ E^>\Q 5bD5^ ?Q 9fD5^ )^NBYdyf>Q If@^DI^:i^:^ЙD5ylɮnAlxGS~B*** querying acoustic contact ***:|B|Q FNOT Ignoring new targets: 554.06 m.}9}9Q% ProNav: ac range: 554.059021 m, nav range: 546.075928 m, bearing: 39.588253 deg, approach rate: -0.535749 m/s, LOS rate: 0.014479 deg/s, cmd heading: 39.032468 deg, new cmd heading: 39.046963 deg. z%:Q-HeadingCmd: 0.681498 target range: 554.059021 and range: 557.10 m.R-v.?J)b)Z)B):121Ҕ1ڔ19ڒ9’99= 2W?D4=D4=E EE%E"E:*ER:VE 4ZEBE*i))-))i5'Iy ,Bzj'?A20b>22?2ő=ٱ2. >AHRS rotation from veh to nav: [[0.753428,-0.608910,-0.248143],[0.631240,0.775466,0.013722],[0.184071,-0.166976,0.968626]]2H? 0|@$Ͽ3??f?`?z_ſ?i20b>I2c;2CYnWBynIYiMb@Mb@Mb@ 9Pn?T㥛 V-?Y?ym=A EA)xAYbDVDl5y>%9=ٔQ->9Y=:FyEǻE>Q 5D5 ?Q 9D5)BY?Q E :y V>Q I @DI$1;i"&; -l>-ƐCEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994929GjAD59jAYcAyɮ=^AyM?MA9QFNOT Ignoring new targets: 554.06 m.B9B9Q ProNav: ac range: 554.059021 m, nav range: 545.857544 m, bearing: 39.593416 deg, approach rate: -0.449434 m/s, LOS rate: 0.010631 deg/s, cmd heading: 39.046962 deg, new cmd heading: 39.062459 deg. zx9QHeadingCmd: 0.681769 target range: 554.059021 and range: 557.10 m.Rb.?JbZB:2Ҕڔڒ’?U=\BɢUvV)Q U}iQ)]PYYi](P)d:`W9 ,`'?AZ>Z1?ZEX>ٱZ30 bAHRS rotation from veh to nav: [[0.755260,-0.606083,-0.249490],[0.628828,0.777398,0.015078],[0.184815,-0.168274,0.968260]]ZH+?eLϿ\?q??`?ſ ?iZ>IZpd;ZCYj/XByjIIn=)nV?bDvVDvҚ5y~$9>%~X=ٔ~Q->9Y=:FyE E >Q 5D52 ?Q 9D5)BYy%>Q I%@DI ;i:D5y-Bɮ-߽A-EQB] >BYB]IB]qXBB] =BYB]wDB]v;B]/EQuFNOT Ignoring new targets: 554.06 m.}u9}u9Q ProNav: ac range: 554.059021 m, nav range: 545.672485 m, bearing: 39.597856 deg, approach rate: -0.559221 m/s, LOS rate: 0.013419 deg/s, cmd heading: 39.062460 deg, new cmd heading: 39.075782 deg. zY:QHeadingCmd: 0.682001 target range: 554.059021 and range: 557.10 m.R.?JbZB:2Ҕڔڒ’ @M?Ա^\Bɢ c) υi)ti *i>9@ @@-5@^A(a<IIO'>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498155DzD@AE EE&E"Em:*E&p:VE4ZEBET1?I?ٱ1 AHRS rotation from veh to nav: [[0.756787,-0.603517,-0.251079],[0.626723,0.779070,0.016385],[0.185720,-0.169757,0.967828]]H`7?Pп ?$?1ǐ??`ſ@r?it>IҨe;CY}XBy"I)iMb@Mb@Mb@ 9L7A`?Q뱿~jt?Y+?y\=A )AY=AbD%VD%n5y=">%=+=ٔE7Q-M>9QYQ=U:FyUE]TE]>iQ 5}D5m# ?Q 9}D5m")mCBY ?Q E:yM?Q I@mDImVo;imn;m*D5yɮCAQFNOT Ignoring new targets: 554.06 m.88Q ProNav: ac range: 554.059021 m, nav range: 545.432251 m, bearing: 39.600490 deg, approach rate: -0.497352 m/s, LOS rate: 0.005457 deg/s, cmd heading: 39.075782 deg, new cmd heading: 39.083689 deg. zo9QHeadingCmd: 0.682139 target range: 554.059021 and range: 557.10 m.R.?JbZB:2Ҕڔڒ’`0?\Bɢ)T) %i!)%!!i%f%,E  E E 'E "E :*E X:VE '4ZE a @a @a @a @Ա \ , '?A6%X>60?6TA@ٱ6X3 BAHRS rotation from veh to nav: [[0.758010,-0.601320,-0.252656],[0.624967,0.780454,0.017526],[0.186648,-0.171186,0.967397]]6H`A?@>+п?{?5??nſ`?i6%X>I6 Sf;4YJXByJYIbDRVDR:5yZ>%Z=ٔZAQ-^ ?9\Y\=b:FybEba߻Eb ?dQ 5jD5fM ?Q 9jD5f)fBYhyn?Q In@fDIfy:ifD;fD5yrBɮrAp Q FNOT Ignoring new targets: 554.06 m.4848Q- ProNav: ac range: 554.059021 m, nav range: 545.274231 m, bearing: 39.602257 deg, approach rate: -0.501371 m/s, LOS rate: 0.005606 deg/s, cmd heading: 39.083688 deg, new cmd heading: 39.088989 deg. z-?v9Q5HeadingCmd: 0.682232 target range: 554.059021 and range: 557.10 m.R5.?J1b1Z1B1:929ҔAڔAAڒA’AIM`@u\Bɢu_)y }viy)}+yyij-AYAYBe>BeCBeIBeYBBaBaBaBe-u;Bem/Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506089 C ,'?A.w>.s0?.+iAٱ.3 :AHRS rotation from veh to nav: [[0.758915,-0.599744,-0.253683],[0.623535,0.781599,0.017544],[0.187757,-0.171494,0.967128]].H I?1W<п???i?ſ ?i.w>I.5f;.CYBYByB~I DDbDJnVDJ5y>% E=ٔ L2Q- >9Y=:FyELE>!Q 5%D5% ?Q 9-D5%)%BY)y-b?Q I-@%DI%d:i%:%D5y1ɮ=$A9GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 554.06 m.m)8m)8Q} ProNav: ac range: 554.059021 m, nav range: 545.067505 m, bearing: 39.604606 deg, approach rate: -0.497872 m/s, LOS rate: 0.005660 deg/s, cmd heading: 39.088988 deg, new cmd heading: 39.096038 deg. z}x9QHeadingCmd: 0.682355 target range: 554.059021 and range: 557.10 m.Rʮ.?JbZB:2ҔڔڒE EEE"E*ET:VEZEBEw<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761919^A<IYIqO>I n ,'?A6>6/?6FBٱ6X54 BAHRS rotation from veh to nav: [[0.759389,-0.598655,-0.254835],[0.622608,0.782339,0.017466],[0.188911,-0.171925,0.966827]]6HL?-(5Oпg???<.?@ƿ??i6>I6f;6ސCYNXYByRIiMb@Mb@Mb@ 9V-?~jth?"~j?Y ?yD;S=A A)פAYzAbDBVD5y ">%?=ٔ3Q->9Y=:FyE8E>Q 5D5 ?Q 9D5)8BYd?Q E:y:?Q I@DI:i:MD5yBɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010279)Q5FNOT Ignoring new targets: 554.06 m.5=QE ProNav: ac range: 554.059021 m, nav range: 544.843445 m, bearing: 39.603703 deg, approach rate: -0.521100 m/s, LOS rate: -0.002100 deg/s, cmd heading: 39.096037 deg, new cmd heading: 39.093328 deg. zMQMHeadingCmd: 0.682307 target range: 554.059021 and range: 557.10 m.RM.?JQbQZQBQ:Q2YҔYڔYYڒa’aaetD@颍]BɢS) ji)顙id/(V ,(?A2>2/?2Cٱ28A4 :AHRS rotation from veh to nav: [[0.759451,-0.598171,-0.255786],[0.622161,0.782708,0.016839],[0.190133,-0.171928,0.966587]]2HkM?@7$^п? ?>?IV? ƿG?i2>I2đf;2C@YFYByFIbDNDVDNm5yV{>%V^=ٔV^Q-V>9XYX=Z:FyZE^E^>`Q 5fD5b" ?Q 9fD5b)bBYdyf:?Q If@bDIbl:ibB:bD5ylB>BBIBYBBBBvDB9t;B.EɮnA9QFNOT Ignoring new targets: 554.06 m.Q ProNav: ac range: 554.059021 m, nav range: 544.651611 m, bearing: 39.602937 deg, approach rate: -0.497856 m/s, LOS rate: -0.001989 deg/s, cmd heading: 39.093329 deg, new cmd heading: 39.091029 deg. zQHeadingCmd: 0.682267 target range: 554.059021 and range: 557.10 m.R.?JbZB:2Ҕڔڒ’ Ga @颅-]BɢAx)F߸ 1^i)顉iA(W ,(?ANBDAT read: Rx Time:21:20:31.1468 VTRx dataTimestamp_ set to:1761513632.512561^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772643|i>e/?UDٱ 4 AHRS rotation from veh to nav: [[0.759714,-0.597439,-0.256712],[0.621573,0.783176,0.016820],[0.191001,-0.172344,0.966342]]HO?8`mп@? ?]9? r?[ƿ`E?ii>Ie;CYYByII8>)=imMb@Mb@Mb@iiii i9mK?K?EԸ?Ym^?ym^=m=mAi mA)iiYmAbDBVD5y=%#=ٔGQ->9Y=:FyEE>Q 5D52 ?Q 9D5)BY?Q E:yW^?Q I@DI:i ;D5ysBɮAEQFNOT Ignoring new targets: 554.06 m.jOjOQ  ProNav: ac range: 554.059021 m, nav range: 544.362366 m, bearing: 39.597483 deg, approach rate: -0.600728 m/s, LOS rate: -0.011334 deg/s, cmd heading: 39.091030 deg, new cmd heading: 39.074659 deg. z QHeadingCmd: 0.681981 target range: 554.059021 and range: 557.10 m.RV.?JbZB:2aҔڔڒ’T@_]Bɢ._) L[i)i6 ,Z;(?A@-X>-:/?- Fٱ-~4 EAHRS rotation from veh to nav: [[0.759238,-0.597646,-0.257638],[0.621761,0.783047,0.015832],[0.192280,-0.172209,0.966112]]-H K?"}пv? ?\6? ? ƿc?i-X>I-Rd;)YU@ZByU7IbDe&VDe }5yu>T>%u^=ٔ}VgQ-}>9Y=:FyE:E>Q 5D5= ?Q 9D5E)4BYyz^?Q I@DI;i;D5yɮMAQFNOT Ignoring new targets: 554.06 m.GGQ ProNav: ac range: 554.059021 m, nav range: 544.149475 m, bearing: 39.593453 deg, approach rate: -0.576977 m/s, LOS rate: -0.010926 deg/s, cmd heading: 39.074658 deg, new cmd heading: 39.062564 deg. zQHeadingCmd: 0.681770 target range: 554.059021 and range: 557.10 m.R.?JbZB:2Ҕڔڒ’@-]Bɢ5_z)1 5Pi1)999i= BDAT read: Tx time:21:20:32.2459 $Ping request sent.BCBfIBZBB =BBBs;BS.EBCBCBœCB =B =C4^Avт;I I  O >U ,9U(?A6C4>6/?6\Gٱ6Q74 >AHRS rotation from veh to nav: [[0.758380,-0.598444,-0.258310],[0.622441,0.782532,0.014498],[0.193460,-0.171777,0.965953]]EB EBEB)E@"EB:*EBL_:VEBFA4ZE@BEBI6 c;6CYnZByn_IbDv0VDvӀ5|y(>%T=ٔ kLQ- >9 Y = :FyEm9;E>Q 5%D5J ?Q 9%D5)BY)y-^?Q I-@DI:i:{D5y1ɮ5˸A1JR5^B(?A9 D9 Dr,?ݥn_@ڞ?| ~d@%]?Qzl`8.ydk=—A_z@i(fJu@7%SN;S@C4?@}_?yi>Ym9@q @q@u 0@qԁ ^A ;I I O > , p(?A:>:~T0?: _Hٱ:'3 FAHRS rotation from veh to nav: [[0.757284,-0.599644,-0.258745],[0.623474,0.781735,0.013077],[0.194429,-0.171224,0.965857]]:H;? H0Hп~?`?"Ȋ?` ?ſM?i:>I:[a;8LYNZByRjI TTi|I~Ai5Mb@Mb@Mb@1111 195MbX9?Q?y&1?Y5!?y5\>5`e=15IA 1)11Y5zAbDM.VDM]5y]=%]:=ٔeQ-e>9aYa=e:FymEmb;Em>qQ 5}D5u7X ?Q 9}D5u)uBYU&?Q E:yl?Q I@uDIu:iuH:uTD5yvBɮAEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 556.91 m.QM ProNav: ac range: 556.906067 m, nav range: 547.196533 m, bearing: 38.929924 deg, approach rate: -0.617410 m/s, LOS rate: -0.016182 deg/s, cmd heading: 39.049797 deg, new cmd heading: 39.028594 deg. zU1QUHeadingCmd: 0.681177 target range: 556.906067 and range: 560.00 m.RUa.?JYbYZYBY:Y2YҔaڔaaڒa’i?E EE&E"E:*E[:VE4ZEa@a@a@a@ ]Bɢ%[)) -\Ri))))1i5  B= >B9 B= IB= C[BB=  =B= BDB9 B= q;B= -E~" ,Ww(?A2#>20?2Iٱ2_2 :AHRS rotation from veh to nav: [[0.755778,-0.601564,-0.258691],[0.625104,0.780459,0.011378],[0.195053,-0.170308,0.965893]]2HT/?`@cп??eM?|?ſ?i2#>I2S`;0YNZByRIbDZ-VDZ"5|y+(>% P=ٔ ԺQ- >9 Y=:FyE׼;E>Q 5%D5d ?Q 9-D5)BY)y-Pm?Q I-@DIt:i:D5y1ɮ=1A9YQeFNOT Ignoring new targets: 556.91 m.eeQu ProNav: ac range: 556.906067 m, nav range: 546.956543 m, bearing: 38.923572 deg, approach rate: -0.612933 m/s, LOS rate: -0.016230 deg/s, cmd heading: 39.028592 deg, new cmd heading: 39.009528 deg. zu72Q}HeadingCmd: 0.680845 target range: 556.906067 and range: 560.00 m.RK.?JbZB:2Ҕڔڒ’?颽^BɢKn) iKi)iIeԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471653( ,(?Af>f1?flHٱf0 rAHRS rotation from veh to nav: [[0.753757,-0.604779,-0.257084],[0.627716,0.778387,0.009310],[0.194480,-0.168393,0.966344]]fH?YZ`tп???5? ?ſJ?if>IfA`;fCYz[ByzI1iMb@Mb@Mb@ 9uV?sh|??~jthYr(?y)>DA A)AY=AbD VDJz5y~>%<=ٔ:Q->9Y=:FyE4;E>Q 5D5Ds ?Q 9D5z)/BY-?Q E:yp?Q I@DIe:i:D5yzBɮA )Q5FNOT Ignoring new targets: 556.91 m.5ĥ5ĥQE ProNav: ac range: 556.906067 m, nav range: 546.674133 m, bearing: 38.915691 deg, approach rate: -0.648886 m/s, LOS rate: -0.018116 deg/s, cmd heading: 39.009529 deg, new cmd heading: 38.985876 deg. zEFQMHeadingCmd: 0.680432 target range: 556.906067 and range: 560.00 m.RM0.?JIbQZQBQ:Q2QҔYڔYYڒY’Yae?颍0^Bɢ5T) Ei)顑i)\;i0.?:?Qʮ0 ,(?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972830->-2?-:IFٱ-R. =AHRS rotation from veh to nav: [[0.751816,-0.608413,-0.254177],[0.630668,0.776012,0.007912],[0.192431,-0.166250,0.967125]]-H?xoDпo.? ?3? ?Gſ?i->I-`;-CYM%[ByUII]4>)]>bDe1VDe5yu<%u2=ٔ}˔;Q-}>9yY=:FyE;E>Q 5D5 ?Q 9D5)\BYyvq?Q I@DI;iH;D5yUBɮ AEQFNOT Ignoring new targets: 556.91 m.%%Q ProNav: ac range: 556.906067 m, nav range: 546.375854 m, bearing: 38.907237 deg, approach rate: -0.647929 m/s, LOS rate: -0.018375 deg/s, cmd heading: 38.985876 deg, new cmd heading: 38.960498 deg. zIQ-HeadingCmd: 0.679989 target range: 556.906067 and range: 560.00 m.R-.?J1b1Z1B1:121Ҕ9ڔ99ڒ9’AAE @ԩB>BCB4IB[BBBBuDBp;B5-Eb^BɢU) KOi)i;i.?ˆ:037M8 ,(?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.478895_>;3?CٱE+ AHRS rotation from veh to nav: [[0.749910,-0.612450,-0.250079],[0.633855,0.773424,0.006601],[0.189374,-0.163464,0.968203]]HC?0Lп H??" {? j=?gĿ?i_>Ix`;Yp[ByIiEMb@Mb@Mb@AAAA A9EK7?n?&1YE)?yEV>EPE1AEA EA)E5AAYEfAbD]VD]^y5ym >%m=ٔmk;Q-m>9qYq=u:FyuE};E}>Q 5D5 ?Q 9D5)zBY-?Q E:yd?Q I@DIT;ip;5D5yXBɮAIQmFNOT Ignoring new targets: 556.91 m.mmQ} ProNav: ac range: 556.906067 m, nav range: 546.024719 m, bearing: 38.899244 deg, approach rate: -0.656043 m/s, LOS rate: -0.014943 deg/s, cmd heading: 38.960499 deg, new cmd heading: 38.936504 deg. z}$QHeadingCmd: 0.679570 target range: 556.906067 and range: 560.00 m.RP-?JbZB:2Ҕڔڒ’@@-^Bɢ-XB)) -Ki))111i5GP;i=P-?={٠:=gqR> ,u;(?A2XY>274?2;?ٱ2A) >AHRS rotation from veh to nav: [[0.748288,-0.615939,-0.246341],[0.636862,0.770947,0.006901],[0.185665,-0.162049,0.969159]]2H?@ŵ@Ͽ+a??&D|??ĿY?i2XY>I2`;2CYF[ByFIbDN9VDN5yV=%Vf=ٔV-9Y=:FyE l<E >Q 5D5 ?Q 9D5r)BYy%qe?Q I%@DI:i1:hD5y)ɮ-EA)GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 556.91 m.m{m{Q} ProNav: ac range: 556.906067 m, nav range: 545.782654 m, bearing: 38.893633 deg, approach rate: -0.666799 m/s, LOS rate: -0.015462 deg/s, cmd heading: 38.936504 deg, new cmd heading: 38.919665 deg. z})QHeadingCmd: 0.679276 target range: 556.906067 and range: 560.00 m.R -?JbZB:2Ҕڔڒ’V@^Bɢx) Li)i;i -?Vc:[BByIBK\BB =BBB7p;B,EԑAIIOd>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231848p|E ,)?AE6 E6E6,E4"E6>:*E6c:VE6g4ZE4BE6P^>^t?5?^:ٱ^L( fAHRS rotation from veh to nav: [[0.747038,-0.618984,-0.242472],[0.639506,0.768746,0.007811],[0.181565,-0.160897,0.970127]]^H@?@Q Ͽ@v?@?4?=?HĿG ?i^>I^k`;\Yn[BynI ppv=tbDzEVDz5y-=%-C=ٔ-!#91Y1=5:Fy5E=O;EM>IQ 5UD5M- ?Q 9]D5M)MBYYy]3f?Q I]@M DIM;iM;MD5ye[BɮmAmEQFNOT Ignoring new targets: 556.91 m.--Q ProNav: ac range: 556.906067 m, nav range: 545.511292 m, bearing: 38.887250 deg, approach rate: -0.664833 m/s, LOS rate: -0.015647 deg/s, cmd heading: 38.919664 deg, new cmd heading: 38.900505 deg. z+QHeadingCmd: 0.678942 target range: 556.906067 and range: 560.00 m.R#-?JbZB:2Ҕڔڒ’m @^Bɢ e) &Oi)i;i#-?:_K ,0)?A2t>25?2M6ٱ2@& :AHRS rotation from veh to nav: [[0.746393,-0.621532,-0.237899],[0.641511,0.767065,0.008674],[0.177093,-0.159089,0.971251]]2H@s?@vsο`A? ̋?Á? ?]Ŀ}?i2t>I2w`;2CYB[ByBI|iMb@Mb@Mb@ 9L7A`?(\µ?I +Y+'?y=9A5A `A)AYµAbD-SVD-5y=g;BDAT read: Rx Time:21:20:35.3790 TRx dataTimestamp_ set to:1761513636.819251checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739614%I=ٔ-9Y=:FyE;E>Q 5D5R ?Q 9D5 )BY*?Q E:yP?Q I@DI:is:D5yɮ AQFNOT Ignoring new targets: 556.91 m.,,Q5 ProNav: ac range: 556.906067 m, nav range: 545.217468 m, bearing: 38.883015 deg, approach rate: -0.651803 m/s, LOS rate: -0.009400 deg/s, cmd heading: 38.900506 deg, new cmd heading: 38.887794 deg. z5nιQ=HeadingCmd: 0.678720 target range: 556.906067 and range: 560.00 m.R=-?J9b9Z9BA:A2AҔAڔIIڒI’QQUྮ@Eu EuEu(Eq"Eu:*Eu]t:VEuc44ZEqa}@a}@a@a@_Bɢ c) [i))ied;im-?m~:uB CB IB \BB =B B tDB o;B ,EA9 Ia I O >R ,`K)?Ar a>r6?rT1ٱro>%x ~AHRS rotation from veh to nav: [[0.746347,-0.623170,-0.233719],[0.642864,0.765905,0.010744],[0.172311,-0.158268,0.972245]]rH`?ͿX?`J??M?"BĿ?ir a>Iria;rCY [By )IbD NVD 5y8J=%7=ٔ<9!Y!=%:Fy%E-';E->1Q 5=D55 ?Q 9=D55)5BY9y=P?Q IE@5DI5:i5y:5lD5ym^BɮmAiQFNOT Ignoring new targets: 556.91 m.--Q ProNav: ac range: 556.906067 m, nav range: 544.951660 m, bearing: 38.879146 deg, approach rate: -0.651991 m/s, LOS rate: -0.009495 deg/s, cmd heading: 38.887795 deg, new cmd heading: 38.876182 deg. zйQHeadingCmd: 0.678517 target range: 556.906067 and range: 560.00 m.RQ-?JbZB:2Ҕڔڒ’%M@颭J_Bɢx) t`i)顱i m;iQ-?@: BDAT read: Tx time:21:20:36.4959 E$Ping request sent.Eie= e}>et*@eQ>et*@ eVh>)e@IeVhaae5 c??`t?fn4? er?)e)QIe9ieVhaa:publishing transmit ping time9Fpublishing direction and range infoyaeOƺ%?Fk:/2?YaE EE+E"E*Ei:VE [4ZEBE*A >y I1 IY O >Y ,e)?A7>5?n'ٱ,& AHRS rotation from veh to nav: [[0.748455,-0.623169,-0.226881],[0.642983,0.765667,0.018092],[0.162441,-0.159422,0.973754]]HX?q ͿQ? W?Ć?? gĿ(?i7>I a;CY[By7II a=) ;iMb@Mb@Mb@ 9V-? rh?RQY|?yC<½zAA A) AY³AbDhVD5y9U=%==ٔ9Y=:FyEEE>Q 5D5* ?Q 9D5:)BYc!?Q E:yF6?Q I@$DI:i:1D5y9Bɮ'AEJYR]ZT)?A]D]D]A3?]@}k|8w=^@]Oƺ%?Fk:/2?]9]Vh—]]ww@I@t@j@] ؘ?["?Q4gݖ?j]Cr]CZ]6?b]xbz]C][OC?]n`b](Cڗ]D]ݫ,?QE addTargetRange:: Added new target pos. range: 546.599976 m, deltaT: 4.286935 s, deltaX: -13.400024 m, approachRate: -3.125782 m/s, rangeRepo size: 4 Qe Added new target pos. range: 543.556091 m, bearing: 40.213755 deg, lat: 36.779128 deg, lon: -121.859141 deg, deltaT: 4.286935 s, deltaX: -13.349976 m, approachRate: -3.114107 m/s, posRepo size: 4 QFNOT Ignoring new targets: 543.56 m.Q5 ProNav: ac range: 543.556091 m, nav range: 534.366699 m, bearing: 38.645855 deg, approach rate: 0.000000 m/s, LOS rate: -0.009495 deg/s, cmd heading: 38.876183 deg, new cmd heading: 38.863978 deg. z1Q=HeadingCmd: 0.678304 target range: 543.556091 and range: 546.60 m.R=[-?AJabaZaBa:a2iҔiڔiqڒq’qu@u`|?z_Bɢt) fi)i R;i[-?":JP` ,S)?A\ri>r 5?r!ٱrwB&  AHRS rotation from veh to nav: [[0.750713,-0.621826,-0.223077],[0.641613,0.766713,0.021989],[0.157362,-0.159636,0.974553]]rH?@Ǎ̿@? ?Q?t$?nĿ`/?iri>IrDa;pY%[By%BIbDEzVDEّ5yeHA=%eT=ٔe#[9qYq=}:Fy}E}׻E>Q 5D5 ?Q 9D5 )BYy5?Q I@,DIM;iyg;D5yBCBIB\BB =BBsDB2o;BW,EBCBCBÔCB =B =C)6@ @@4@@%jA@%jA ^AE <I  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I O >9 E=  E= E= (E9 "E= >:*E= [:VE= c44ZE9 BE= b#4?bGzٱb' jAHRS rotation from veh to nav: [[0.753587,-0.619433,-0.220019],[0.639481,0.768326,0.027170],[0.152216,-0.161173,0.975117]]bH`c?e@)̿@v?`!?қ?{?SĿ(4?ibo>Ib a;bCYr\ByrOIbDzvVDz5yT=% Q=ٔ ;Z9 Y=:FyEmE>!Q 5-D5% ?Q 9-D5%ܣ)!Y)y54?Q I5@%4DI%6:i%N:%D5y9ɮ=A9aQeFNOT Ignoring new targets: 543.56 m.m "m "Q ProNav: ac range: 543.556091 m, nav range: 533.877563 m, bearing: 38.644120 deg, approach rate: -0.661069 m/s, LOS rate: -0.002214 deg/s, cmd heading: 38.861232 deg, new cmd heading: 38.858770 deg. zv¸QHeadingCmd: 0.678213 target range: 543.556091 and range: 546.60 m.Rf-?JbZB:2Ҕڔڒ’\?}_BɢЋ) qi)顉ii};if-?o:;ԡ l ,o)?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491730zg>z 3?zH2ٱzN( AHRS rotation from veh to nav: [[0.756915,-0.616646,-0.216395],[0.636739,0.770424,0.031783],[0.147117,-0.161844,0.975788]]zH@8? Ѳ˿)`? Q?E?`?KĿ9?izg>Iz&a;zCY\ByPIyiMb@Mb@Mb@ 9"~?X9v=ٔD9Y=:FyE#E>Q 5D5@ ?Q 9D5F)BY?Q E:y ?Q I@B B IB \BB =B B rDB n;B ,EI I O > -s ,\)?AJ>J1?JٱJy* RAHRS rotation from veh to nav: [[0.760669,-0.612966,-0.213673],[0.633412,0.772895,0.037712],[0.142031,-0.164029,0.976177]]JHeW?`jY˿D? ?N?.?ĿIJ.a;JސCYZ4\ByZkIbDfVDf:5yny=%nZ=ٔn a9pYp=r:FyrEr[Ev>tQ 5MD5v# ?Q 9MD5v,)vBYIyU?Q IU@vCDIvP!M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249647a sy ,)?Ab=>b*I0?b1 ٱb,X* jAHRS rotation from veh to nav: [[0.764844,-0.609179,-0.209558],[0.629476,0.775885,0.041986],[0.137016,-0.164024,0.976894]]bH y?`e~@ʿ$? ?'? ? Ŀ B?ib=>Iba;bCYr3\ByrjIiMb@Mb@Mb@ 9n?"~jV-YV?yS㽙fA A ĿA) AY=AbDVD&5y%==ٔ{?9Y=:FyEXE>Q 5D56 ?Q 9D5+)BYU?Q E:y>Q I@KDIK;iJ;D5yCBɮ A )QQ]FNOT Ignoring new targets: 543.56 m.eqS9eqS9Q} ProNav: ac range: 543.556091 m, nav range: 533.169434 m, bearing: 38.654263 deg, approach rate: -0.558774 m/s, LOS rate: 0.011554 deg/s, cmd heading: 38.874268 deg, new cmd heading: 38.889211 deg. z}9QHeadingCmd: 0.678745 target range: 543.556091 and range: 546.60 m.R8-?JbZB:2Ҕڔڒ’3@ 15CGSkAT`Bɢb9SkAYA)  i)!!i%IN;i-8-?-:-[ ,)>*?A>>>p.?>ޘٱ>c+ FAHRS rotation from veh to nav: [[0.769137,-0.604822,-0.206442],[0.625297,0.778936,0.047572],[0.132032,-0.165677,0.977302]]>HĜ?Zlʿ@n? ?[[?@p?@4ſ F?i>>I>Fa;)R=TVAbDZVDZה5ybe >%bN=ٔb{O9dYd=f:FyfEj7xEj>lQ 5rD5nF ?Q 9rD5nv)nBYpyv >Q Iv@nRDInn;in;n?D5yxɮz5AxGS B*** querying acoustic contact ***:BQFNOT Ignoring new targets: 543.56 m.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7519585[95[9QE ProNav: ac range: 543.556091 m, nav range: 532.950439 m, bearing: 38.658939 deg, approach rate: -0.562445 m/s, LOS rate: 0.012016 deg/s, cmd heading: 38.889212 deg, new cmd heading: 38.903248 deg. z:QHeadingCmd: 0.678990 target range: 543.556091 and range: 546.60 m.RF-?JbZB:2Ҕڔڒ’`t@B>BCBIB\BB =BCDBlDBn;B+EE`BɢM)I MiI)IQQiUMCA;i]F-?]Uj:]u;I]F-?Ia9@ @@5@^A$<AIIO%>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003672DI zDM AAEU  EU EU &EQ "EU :*EU ga:VEU 4ZEQ BEU v2+-?2mٱ2- :AHRS rotation from veh to nav: [[0.773444,-0.600198,-0.203833],[0.620910,0.782077,0.053172],[0.127499,-0.167687,0.977561]]2H ?41ʿ@~??O9?Q? vſ`-H?i2>I2a;0YB\ByBIbDNtVDNx5yV=%VM=ٔV<9XYX=Z:FyZEZ~E^>`Q 5fD5bW ?Q 9fD5bƔ)bBYdyf>Q If@bYDIb6:ibp:bD5ynFBɮnAl9QEFNOT Ignoring new targets: 543.56 m.E[9E[9QU ProNav: ac range: 543.556091 m, nav range: 532.730286 m, bearing: 38.663794 deg, approach rate: -0.542670 m/s, LOS rate: 0.011972 deg/s, cmd heading: 38.903248 deg, new cmd heading: 38.917818 deg. zUt:QeHeadingCmd: 0.679244 target range: 543.556091 and range: 546.60 m.Re-?JabaZaBa:a2iҔiڔiiڒq’qqu@φ @`Bɢޕ) i)iB6;i-?:9I-?IImchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258592i7ƙU9@Q @Y@]0@Yԉ= BDAT read: Rx Time:21:20:39.6255 E TRx dataTimestamp_ set to:1761513640.868474E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516675a ^A <A5 hAzA5 hAE}  E} E} (Ey "E} :*E} P:VE} c44ZEy a @a @a @a @AAIIIYOm?؎ ,B>*?A 6S>6+?6wuٱ6$. BAHRS rotation from veh to nav: [[0.777464,-0.596239,-0.200124],[0.616791,0.785041,0.057269],[0.122959,-0.167959,0.978095]]6H? c@ɿ? ?iR?=z?ſL?i6S>I6o`;6CYZ\ByZIiMb@Mb@Mb@ 9Zd;O?i|?5{Gz?Y~ ?yף<A~A QA)Y AbDsVD=5yb=%=ٔ" 9Y=:Fy E,E >Q 5%E5)n ?Q 9-E5F)QBY5 ?Q E5:y=M>Q I=@cDI;i;E5yIɮMAQ)Q-FNOT Ignoring new targets: 543.56 m.5[95[9AQe ProNav: ac range: 543.556091 m, nav range: 532.438599 m, bearing: 38.670594 deg, approach rate: -0.513271 m/s, LOS rate: 0.011972 deg/s, cmd heading: 38.917817 deg, new cmd heading: 38.938227 deg. zeu:QmHeadingCmd: 0.679600 target range: 543.556091 and range: 546.60 m.RmI-?JibiZiBq:q2qҔqڔyyڒy’yy $@`Bɢ؟x) 儿i)ir#;iI-?4:3vǻI I-?I p==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768590BA<B>BCBIB*]BB =BBkDB/n;B+EqElXԙ @  @ @ 0@ ^A i1 I5 AE checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021143 A I9 E}  Ey Ey Ey "E} [:*Ey VEy ZEy BE} } ,C[*?AZ>Z'*?ZٱZD. vAHRS rotation from veh to nav: [[0.781591,-0.592147,-0.196159],[0.612468,0.788117,0.061267],[0.118317,-0.168027,0.978656]]ZH`?ɿV? B8?@h^?`J?ſ&Q?iZ>IZxa;ZߐCY\ByIbD-hVD-5ym=%u7=ٔue+9yYy=}:Fy} E\E>Q 5E5} ?Q 9E5y)BYyT>Q I@kDIL;i;hE5y$BɮAEQFNOT Ignoring new targets: 543.56 m.x9x9Q ProNav: ac range: 543.556091 m, nav range: 532.202148 m, bearing: 38.676265 deg, approach rate: -0.566312 m/s, LOS rate: 0.013588 deg/s, cmd heading: 38.938229 deg, new cmd heading: 38.955248 deg. z3:QHeadingCmd: 0.679897 target range: 543.556091 and range: 546.60 m.R .?JbZB:2Ҕڔڒ’@aBɢ) Ƅi)顱io;i  .?Ғ:9I .?I!!EE}DAT read: 21:20:39.6255 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401,-0.41,-2.407, 2.382,-2.173,-2.555, PHS= 0.250,-1.301, 0.338, RAW= 152.7, 9.0, CAL= 152.4, 9.6, ROT= 357.6, -9.6 Ygot valid direction response: 21:20:39.6255 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401,-0.41,-2.407, 2.382,-2.173,-2.555, PHS= 0.250,-1.301, 0.338, RAW= 152.7, 9.0, CAL= 152.4, 9.6, ROT= 357.6, -9.6 PDAT read: Bearing 194.2, 3.1 (Local) ~Local bearing/azimuth received: Bearing 194.2, 3.1 (Local) DAT read: Range 11 to 50 : 544.0 m (Round-trip 725.4 ms) speed 0.7 m/s *DAT read: user:173> BDAT read: Tx time:21:20:40.7459 $Ping request sent.i+V>J*@| >;*@ +>)@I+vY?Z1S?? C?)T IQ+i+:publishing transmit ping timeFpublishing direction and range infoydDK1?72$#8_X?Y )Ii )IvY?Z1S?? )Iii @i  @i @m 0@i Y ^A ?BɺA >A >ԁE EEDE"E*ErN:VEJ5ZEa@a@a@a@A.AIIO? ,N}*?A2>2(?2ٱ2%. :AHRS rotation from veh to nav: [[0.785014,-0.588736,-0.192725],[0.608846,0.790645,0.064712],[0.114278,-0.168139,0.979117]]2H?2ȿ`{? L??`ZA?ſT?i2>I2fa;2CYB)]ByBIiEMb@Mb@Mb@AAAA A9Eoʡ? ףp= X9v?YE ?yEQE}=EAEA EߺA)EAAYEAbDeVVDe5yu=%u=ٔ};Q-}>9} ?Y} ?=}:Fy}EE>Q 5E5s ?Q 9E5Ċ)BY?Q E:y?Q I@tDIa;i:E5y'BɮLAEԩJIRMh*?AM7DM7DM%?M ࠦ@ǷT6:ҌV@MdDK1?72$#8_X?MQ+M+—My@ҧS!ts@z?bc@M+?du>|~?\8?jMKCrMCZM,ߔ?bM>mzM@PCM,ߔ?MxbM@PCڗM=DM9})?Q addTargetRange:: Added new target pos. range: 544.000000 m, deltaT: 4.301613 s, deltaX: -2.599976 m, approachRate: -0.604419 m/s, rangeRepo size: 4 Q Added new target pos. range: 540.870667 m, bearing: 37.051865 deg, lat: 36.779117 deg, lon: -121.859250 deg, deltaT: 4.301613 s, deltaX: -2.685425 m, approachRate: -0.624283 m/s, posRepo size: 4  QFNOT Ignoring new targets: 540.87 m.Q% ProNav: ac range: 540.870667 m, nav range: 524.959656 m, bearing: 37.933646 deg, approach rate: 0.000000 m/s, LOS rate: 0.013588 deg/s, cmd heading: 38.955250 deg, new cmd heading: 38.976857 deg. z!Q-HeadingCmd: 0.680274 target range: 540.870667 and range: 544.00 m.R-x&.?J1b1Z1B1:121Ҕ9ڔ99ڒA’IU@eg?}YaBɢ}M)y i)顡i ;ix&.?\:}Ix&.?IY@Y @Y@] 0@Y@e=@e=B%>B%ߍCB%4IB%|]BB% =B!B%jDB%m;B%\+E^A5 I)IAOM>1 i ,E*?A28>2'?2:ٱ2?- :AHRS rotation from veh to nav: [[0.787839,-0.586231,-0.188790],[0.605934,0.792669,0.067225],[0.110239,-0.167357,0.979714]]2H5?`hH*ȿ`c?]? 5?8?@kſY?i28>I2a;2CYfm]Byf+IbDrFVDr5yvw/>%zT=ٔz,9|Y|=~:Fy~E+,E> Q 5 E5  ?Q 9E5 ) BYy?Q I@ zDI :i : _ E5y!ɮ%ıA!GS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 540.87 m.UZ%9UZ%9Qe ProNav: ac range: 540.870667 m, nav range: 524.751648 m, bearing: 37.937093 deg, approach rate: -0.545002 m/s, LOS rate: 0.009035 deg/s, cmd heading: 38.976857 deg, new cmd heading: 38.987202 deg. zel9QmHeadingCmd: 0.680455 target range: 540.870667 and range: 544.00 m.RmM2.?JibiZiBi:q2qҔqڔyyڒy’y@f.?颭aBɢ) iiE EE$E"E:*E?:VE4ZEBEԙ ,!*?A2.>2"&?2ٽٱ2]- :AHRS rotation from veh to nav: [[0.790442,-0.583834,-0.185307],[0.603256,0.794451,0.070217],[0.106222,-0.167290,0.980169]]2HMK?ĮǿM?#l?`?@V1?iſ ]?i2.>I24ta;0Y^]By^>IiEMb@Mb@Mb@AAAA A9EʡE?{Gz+?YE-?yE#E=AA E=A)E AAYEpAbDUVDV5y=%==ٔ9Y=:FyE. E>Q 5E5 ?Q 9E5o)@BY?Q E:y?Q I@DI ;i ;'E5y+BɮAIQUFNOT Ignoring new targets: 540.87 m.]}8]}8Qm ProNav: ac range: 540.870667 m, nav range: 524.509766 m, bearing: 37.938608 deg, approach rate: -0.552951 m/s, LOS rate: 0.003467 deg/s, cmd heading: 38.987201 deg, new cmd heading: 38.991751 deg. zmB9qQuHeadingCmd: 0.680534 target range: 540.870667 and range: 544.00 m.R}7.?JybyZyBy:y2yҔڔڒ’ʙ?颵aBɢo=) ݄i)i46:i7.?:CXI7.?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.1906999@ @@0@E EE!E"E:*EP:VEc3ZEa@a@a@a@^Ae7ƙAmfAzAmdAԡIIOE>E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442245 A A @AB% i>B% ۍCB% mIB% ]BB% " =B! B% fDB% 2U&?2}ҽٱ2^+ :AHRS rotation from veh to nav: [[0.792037,-0.582922,-0.181326],[0.601790,0.795454,0.071430],[0.102598,-0.165695,0.980826]]2H ^X?L5ǿA?[t?`8I?@C? ~5ſ`b?i2>I2xa;2CYR]ByRgIbDZTVDZ5y=F,>%ET=ٔE9IYI=M:FyMEM~EU>QQ 5eE5U ?Q 9eE5U8)UxBYaye=?Q Ie@UDIU:iU:UE5yqɮuAqQFNOT Ignoring new targets: 540.87 m.b8b8Q ProNav: ac range: 540.870667 m, nav range: 524.294556 m, bearing: 37.940014 deg, approach rate: -0.566007 m/s, LOS rate: 0.003699 deg/s, cmd heading: 38.991750 deg, new cmd heading: 38.995969 deg. zu"9QHeadingCmd: 0.680608 target range: 540.870667 and range: 544.00 m.RT<.?JbZB:2Ҕڔڒ’ ?aBɢ%a)! %i!))))i-S:i5T<.?5:5GI5T<.?I9IA)EgA@ @@@@iA@gA9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694313E EE$E"E7:*E*5:VE4ZEBE;a2E;aJE;a:E;a^A}IIO>i Ǹ ,A*?A 6I>6v%?6ʽٱ6I) >AHRS rotation from veh to nav: [[0.793164,-0.582683,-0.177119],[0.600927,0.796029,0.072276],[0.098878,-0.163762,0.981532]]6Ha?V֫ƿ:?y?`?P?'Ŀh?i6I>I6`;6CYZ]ByZzIbDf6VDf45yj.=%nQ=ٔn9pYp=r:FyrEvfEv>xQ 5zE5z ?Q 9~E5z})zBY|y~?Q I~@zDIzQ;iz;zE5y .Bɮ ްA E)Q5FNOT Ignoring new targets: 540.87 m.5858QM ProNav: ac range: 540.870667 m, nav range: 524.075928 m, bearing: 37.941482 deg, approach rate: -0.559680 m/s, LOS rate: 0.003759 deg/s, cmd heading: 38.995968 deg, new cmd heading: 39.000373 deg. zM%9QMHeadingCmd: 0.680685 target range: 540.870667 and range: 544.00 m.RU^A.?JQbQZQBQ:Q2QҔYڔYaڒa’aae`a?颵 bBɢ5p) i)项iV:i^A.?u:]ʼI^A.?I ? =%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950423q9@ @@ 0@ԙ^AM * checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198227 I I O >E  E E 'E "E :*E E7:VE '4ZE a @a @a @a @L ,*?A2 C>2%?2Yzýٱ2% :AHRS rotation from veh to nav: [[0.793473,-0.583733,-0.172208],[0.601097,0.795966,0.071553],[0.095303,-0.160289,0.982459]]2H"d? ƿ/I2z`;0PYf.^ByfIiUMb@Mb@Mb@QQQQ Q9UzG?:v?%@=ٔ> 9Y=:FyEsE>Q 5E5 ?Q 9E5y)BY2?Q E:y0?Q I@DI;i;E5yɮ\AQFNOT Ignoring new targets: 540.87 m.Q ProNav: ac range: 540.870667 m, nav range: 523.828796 m, bearing: 37.940722 deg, approach rate: -0.545591 m/s, LOS rate: -0.001679 deg/s, cmd heading: 39.000373 deg, new cmd heading: 38.998092 deg. zwQHeadingCmd: 0.680645 target range: 540.870667 and range: 544.00 m.R>.?J bZB:2Ҕڔڒ’!%7@颕?bBɢس) i)顙i98:i>.?9;:?.ɼI>.?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.450861"TFailed to parse device response: 56.00,54 9@ @@0@^A ̼A >A >) AQ Ia Iq O >" ,+?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.702223:>:&?:/mٱ:.! BAHRS rotation from veh to nav: [[0.793420,-0.585194,-0.167433],[0.601701,0.795592,0.070631],[0.091875,-0.156785,0.983350]]:Hc?pnſ"A? ~u?`? %?Ŀw?i:>I:^a;:CYZY^ByZIbDb;VDb[5hyn=%nR=ٔn89pYp=r:FyrEv!:Ev>xQ 5~E5z ?Q 9~E5z v)zBY|y~0?Q I@zDIzW:iz :z E5y 1Bɮ A GS%B*** querying acoustic contact ***:!B!1Q5FNOT Ignoring new targets: 540.87 m.=2 =2 QM ProNav: ac range: 540.870667 m, nav range: 523.602783 m, bearing: 37.940025 deg, approach rate: -0.625190 m/s, LOS rate: -0.001929 deg/s, cmd heading: 38.998092 deg, new cmd heading: 38.996000 deg. zMoQUHeadingCmd: 0.680609 target range: 540.870667 and range: 544.00 m.RU]<.?JQbYZYBY:Y2YҔaڔaaڒa’aiE EE%E"E%:*EVE 4ZEm`y@5jbBɢ5)1 =i9)999i=KF:iE]<.?E':eVżIm]<.?Iiu%>iu>9@ @!@!@!)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954383^AAY A ؟AI I O >= GQ i Q9 Y sA ,2+?A27>2Vr&?2㴽ٱ2H :AHRS rotation from veh to nav: [[0.792871,-0.587536,-0.161731],[0.602972,0.794803,0.068650],[0.088210,-0.151950,0.984444]]2H2_? Ŀ`K?@o? ?딶?`sÿ?i27>I2b;2CY^^BybI9iMb@Mb@Mb@ 9ʡE?9"?Y"?=:FyEK;E>Q 5E5 ?Q 9E5q)@BY>?Q E:y.G?Q I@DIq ;i ;!E5yɮA)Q-FNOT Ignoring new targets: 540.87 m.55QE ProNav: ac range: 540.870667 m, nav range: 523.337463 m, bearing: 37.936645 deg, approach rate: -0.611605 m/s, LOS rate: -0.007795 deg/s, cmd heading: 38.995999 deg, new cmd heading: 38.985854 deg. zE0QMHeadingCmd: 0.680431 target range: 540.870667 and range: 544.00 m.RM0.?JIbIZIBI:Q2QҔYڔYYڒY’Yae @ bBɢ 0) Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.206458 iY)YYYieD:ie0.?e /:m꺼Im0.?IibEĞ4jE:4rEr2E EE&E"E7:*E3:VE4ZE}uԙ- 9@)  @) @- 4@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458236B <A B V>B ٍCB IB ^BB % =B B eDB zk;B (*E^AU ¼ AIIO? ,נS+?A69>6*'?6Хٱ6  >AHRS rotation from veh to nav: [[0.790162,-0.593848,-0.151620],[0.607539,0.791551,0.065908],[0.080876,-0.144193,0.986239]]6HI?Hhÿp?bT?T߰?@E?t¿@E?i69>I6cb;6CYF^ByJIbDR-VDR"5yZ=%Z+=ٔZE|9\Y\=^:Fy^ E^k5<Eb>dQ 5jE5fG ?Q 9jE5fk)fjBYhyjbH?Q Ij@fDIf :if:f&E5yrBɮrծArEQ FNOT Ignoring new targets: 540.87 m. Q ProNav: ac range: 540.870667 m, nav range: 523.045044 m, bearing: 37.932764 deg, approach rate: -0.611729 m/s, LOS rate: -0.008124 deg/s, cmd heading: 38.985852 deg, new cmd heading: 38.974202 deg. z%iQ-HeadingCmd: 0.680228 target range: 540.870667 and range: 544.00 m.R-o#.?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99=% @ambBɢm:)q uiq)qqqiu:i}o#.?[O:Io#.?ISchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.712501Q@Q @Q@U0@QE EE%E"E:*E|;:VE 4ZEԉBE;a2E;aJE;a:E;a^A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.966709I I O > ,m+?A >> +(? Mٱ } AHRS rotation from veh to nav: [[0.788273,-0.597288,-0.147896],[0.610461,0.789279,0.066151],[0.077220,-0.142430,0.986788]] H9?@B¿`?`A?@C?ij?#;¿ē?i >>I ub; CY-^By- IԩiMb@Mb@Mb@ 9T㥛 ?&1?y&1?Y!?y=`e<ߺA~A XA)dAY«A@AbD3VD5y=%8=ٔ9Y=:Fy#E;E>Q 5E5$ ?Q 9E51f)BY*#?Q E:yXR?Q I @DIY;i ;)E5yɮxAQFNOT Ignoring new targets: 540.87 m.CCQ ProNav: ac range: 540.870667 m, nav range: 522.765747 m, bearing: 37.927837 deg, approach rate: -0.605478 m/s, LOS rate: -0.010687 deg/s, cmd heading: 38.974203 deg, new cmd heading: 38.959415 deg. zQHeadingCmd: 0.679970 target range: 540.870667 and range: 544.00 m.R.?JbZB:2Ҕڔ ڒ ’   k@]cBɢ]+ )Y ]iY)aaicf:i.?*:B-׍CB-5 IB-_BB)B)B-cDB-j;B-)EaAqIIO?m ,9a+?A2_>2)?2zzٱ2"G >AHRS rotation from veh to nav: [[0.785775,-0.601255,-0.145085],[0.614023,0.786517,0.066075],[0.074384,-0.141006,0.987210]]2H%?{=`#¿?&+?O? ?z ¿`:?i2_>I2a;2CYB _ByB) IbDN>VDN 5yV)=%V-=ٔV;Q-V>9XYX=Z:FyZ%E^P<E^>`Q 5fE5b5 ?Q 9fE5bd`)bBYdyfsS?Q If@bDIb:ib:b.E5ynBɮn8AnE|QFNOT Ignoring new targets: 540.87 m.W WQ ProNav: ac range: 540.870667 m, nav range: 522.469849 m, bearing: 37.922468 deg, approach rate: -0.649446 m/s, LOS rate: -0.011790 deg/s, cmd heading: 38.959416 deg, new cmd heading: 38.943300 deg. zwQ%HeadingCmd: 0.679689 target range: 540.870667 and range: 544.00 m.R%.?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115`@>cBɢ_ ) i)ir:i .? ':E1 E5wE1E1"E1*E5:VE1ZE1BE5l;aE2E5m;aEJE5k;aE:E5k;aEAq N ,)+?A2 >2*?2zٱ2B :AHRS rotation from veh to nav: [[0.783310,-0.605235,-0.141829],[0.617508,0.783826,0.065579],[0.071479,-0.138949,0.987716]]2H ?^u'¿@?@?ɰ?oL? _?i2 >I2Za;2ސCY^ _Byb* IIb=)bdfAbDj9VDj5yrO;%rG=ٔvn;Q-v>9tYt=z:Fyz'Ez*<Ez>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.974134yQ 5E5}E ?Q 9E5} [)}BYyT?Q I@}DI}:i}:}1E5yɮ3AGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 540.87 m. S SYQe ProNav: ac range: 540.870667 m, nav range: 522.202454 m, bearing: 37.917483 deg, approach rate: -0.618240 m/s, LOS rate: -0.011532 deg/s, cmd heading: 38.943300 deg, new cmd heading: 38.928337 deg. zm@QHeadingCmd: 0.679428 target range: 540.870667 and range: 544.00 m.R-?JbZB:2Ҕ!ڔ!aڒi’`@ExcBɢE.)I MiI)IIIiMҜ:iU-?U:UI]-?IYԁ59@9 @9@=O0@9ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.226221EM  EM EM %EI "EM :*EM ,:VEM 4ZEI aU @aU @aU @aU @^A= zl A I I O >+ ,K+?A:>:k+?:ٱ:a FAHRS rotation from veh to nav: [[0.781113,-0.608841,-0.138474],[0.620613,0.781409,0.065108],[0.068564,-0.136796,0.988224]]:H@?`{?@M?? o? ?i:>I:?a;:CYN_ByN5 IiMb@Mb@Mb@ 9Mb?"~j?Q9QYY=]:Fy]*E]<E]>aQ 5mE5eWU ?Q 9uE5ezU)eBYu%?Q E}:y}V?Q I}@eDIe);ie(;e5E5yBɮAQFNOT Ignoring new targets: 540.87 m.ggQ ProNav: ac range: 540.870667 m, nav range: 521.918152 m, bearing: 37.911915 deg, approach rate: -0.644360 m/s, LOS rate: -0.012626 deg/s, cmd heading: 38.928339 deg, new cmd heading: 38.911626 deg. z QHeadingCmd: 0.679136 target range: 540.870667 and range: 544.00 m.R-?JbiZiBi:i2iҔqڔqqڒq’yy} @checking for new query: numPingsReceived=0, elapsed TxPingTime=5.478335cBɢ,) i)iZ:i-?A-AAA-AAB5B>B5֍CB5` IB5c_BB5' =B1B1B5i;B5:)Eq:eQIe-?Iiԁ 9@  @@0@^ApԩA!I1IAOM>iߙ Iߝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=5.730469 E  E E &E "E :*E X:VE 4ZE BE bB,?BٱBT JAHRS rotation from veh to nav: [[0.778675,-0.612416,-0.136421],[0.623921,0.778753,0.065316],[0.066238,-0.135976,0.988495]]BH? ?v(?? ??g?iB/>IBa;@YR/_ByR@ IbDZYVDZB5ybi7=%bT=ٔf;Q-f>9dYd=j:Fyj,Ej/<Ej>lQ 5rE5nRc ?Q 9rE5nP)nBYtyvW?Q Iv@nDIn:in4:n9E5yxɮzAxQFNOT Ignoring new targets: 540.87 m.%Kj%KjQ5 ProNav: ac range: 540.870667 m, nav range: 521.672974 m, bearing: 37.906994 deg, approach rate: -0.637568 m/s, LOS rate: -0.012802 deg/s, cmd heading: 38.911625 deg, new cmd heading: 38.896856 deg. z5 Q=HeadingCmd: 0.678878 target range: 540.870667 and range: 544.00 m.R=-?J9b9ZABA:A2AҔIڔIIڒI’IQU @ԹEcBɢE)A MyiI)Iqqiu :i}-?}RÉ:}5I-?I checking for new query: numPingsReceived=0, elapsed TxPingTime=5.983518*]9@Y @Y@e0@a9 ^AU A] >A] > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.235344iAIIO> ,|+?AE. E.E.%E,"E.:*E.F:VE. 4ZE,a2@a2@a6@a6@>U>>6-?>^*ٱ>+* FAHRS rotation from veh to nav: [[0.776833,-0.615195,-0.134410],[0.626446,0.776694,0.065660],[0.064002,-0.135207,0.988748]]>H?୯X4 ??`ϰ?`mb? yNӣ?i>U>I>W^a;>CYN5_ByND IR=PiMb@Mb@Mb@ 9V-?|?5^?/$Y|?y=,=AA CA)5AYQAbDIVD5yA<% =ٔ;Q->9Y=:Fy.E;E>Q 5E5u ?Q 9E5MJ)BY"?Q E:yT?Q I@DI~ ;i;|=E5yBɮhAE!Q-FNOT Ignoring new targets: 540.87 m.5U=UQU ProNav: ac range: 540.870667 m, nav range: 521.354248 m, bearing: 37.900985 deg, approach rate: -0.618957 m/s, LOS rate: -0.011677 deg/s, cmd heading: 38.896855 deg, new cmd heading: 38.878816 deg. z]8QeHeadingCmd: 0.678563 target range: 540.870667 and range: 544.00 m.ReT-?JabaZiBi:y2Ҕ)ڔ))ڒ)’)15 @]dBɢ]J)Y ewia)顁i:iT-?{ȉ::IT-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.486297B?>BBy IB_BB& =BBbDBh;B(E9A e 9@a  @a @a @a i ^A 9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.738330ԙA.AE EE&E"Em:*E|;:VE4ZEBES6O$/?6cxٱ6o >AHRS rotation from veh to nav: [[0.773537,-0.619794,-0.132273],[0.630854,0.772978,0.067295],[0.060535,-0.135499,0.988926]]6H ?ZN /?`I61Ya;6CYF*_ByF= IbDROVDR5yVS%Z#=ٔZ;Q-Z>9^ ?Y^ ?=^:Fy^1Eb3<Eb>dQ 5fE5f ?Q 9jE5fD)fBYhyjHV?Q Ij@fDIfl:if:fAE5ypɮr~ApQFNOT Ignoring new targets: 540.87 m.SSQ% ProNav: ac range: 540.870667 m, nav range: 521.041443 m, bearing: 37.894886 deg, approach rate: -0.592814 m/s, LOS rate: -0.011566 deg/s, cmd heading: 38.878816 deg, new cmd heading: 38.860507 deg. z%Q-HeadingCmd: 0.678244 target range: 540.870667 and range: 544.00 m.R-c-?J)b)Z)B):121ҔQڔQYڒY’YYe@ @q颭NdBɢ¬) i)项i:ic-?\:;Ic-?Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.990233@ @@5@ ^A5 ] ;A5 hAzA5 jA} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.242636E EE(E"E:*E0:VEc44ZEa@a@a@a@)A؟AIIO?E2 ,@,?AVw>Vǟ/?Vj&sٱV fAHRS rotation from veh to nav: [[0.772403,-0.621367,-0.131519],[0.632356,0.771700,0.067859],[0.059328,-0.135581,0.988988]]VH`?@<`BIV8a;VCYv(_Byv< IiMb@Mb@Mb@ 9~jt?MbX9?Y?yʡ=LA rA)dAYAbDQVDj5yJ%=ٔ ;Q->9"?Y"?=:Fy4E\;E >Q 5E5 ?Q 9E5=)BYz?Q E:yuM?Q I@DI:i:FE5y-Bɮ-A-EGSEB*** querying acoustic contact ***:ABAQQUFNOT Ignoring new targets: 540.87 m.]7]7Qm ProNav: ac range: 540.870667 m, nav range: 520.701050 m, bearing: 37.889563 deg, approach rate: -0.641109 m/s, LOS rate: -0.010031 deg/s, cmd heading: 38.860508 deg, new cmd heading: 38.844530 deg. zmMܹQuHeadingCmd: 0.677965 target range: 540.870667 and range: 544.00 m.Ru-?JqbyZyBy:y2yҔڔԉڒ’@7@颽dBɢƟ) ~i)i:i-?݌: B;I-?I9@ @@4@echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.494466BaAaBm>>BiBm IBm_BBiBiBiBm]h;Bm(EB%֍CB%׍CB%ŔCB%& =B%& =C%Ŕ@5^A[R;ԹA.AIIO> 0W ,$Z,?A2/>2/?2;oٱ2| :AHRS rotation from veh to nav: [[0.771690,-0.622351,-0.131045],[0.633314,0.770856,0.068521],[0.058373,-0.135870,0.989005]]2H@?L`D?`٪???@2d?i2/>I2J a;2CYB-_ByB? IbDJ`bchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.746342VDJދ5y ><% \=ٔ n(;Q->9 ?Y ?=:Fy5EFR;E>!Q 5-E5% ?Q 9-E5%B9)%BY)y5M?Q I5@%DI%:i%:%JE5y9ɮ=A9aQeFNOT Ignoring new targets: 540.87 m.m0m0Q} ProNav: ac range: 540.870667 m, nav range: 520.474487 m, bearing: 37.885987 deg, approach rate: -0.609481 m/s, LOS rate: -0.009623 deg/s, cmd heading: 38.844529 deg, new cmd heading: 38.833797 deg. z}WӹQHeadingCmd: 0.677778 target range: 540.870667 and range: 544.00 m.RՂ-?JbZB:2Ҕڔڒ’2^@dBɢWrν) M< i)i3:iՂ-?c:] C5 IGQ O > ,9 Y kAS ,Tst,?A2M>24.0?2>kٱ2dB >AHRS rotation from veh to nav: [[0.771107,-0.623006,-0.131368],[0.634099,0.770076,0.070007],[0.057548,-0.137284,0.988859]]2H ? `J?v??@v??i2M>I2`;2CYB_ByF5 Ijonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- aj@an an@an an@an an@an bDrPVDr05yz%zL=ٔz;Q-~>9|Y|=~:Fy7E;E> Q 5E5  ?Q 9E5 4) BQ A+:YQ E:yM?Q I@  DI  ;i K> LE5y%Bɮ%A!IQMFNOT Ignoring new targets: 540.87 m.U0U0Qe ProNav: ac range: 540.870667 m, nav range: 520.230652 m, bearing: 37.882112 deg, approach rate: -0.608155 m/s, LOS rate: -0.009669 deg/s, cmd heading: 38.833795 deg, new cmd heading: 38.822165 deg. zeYԹQmHeadingCmd: 0.677575 target range: 540.870667 and range: 544.00 m.Rmu-?JibiZiBq:q2qҔqڔڒ’ @EdBɢMʽ)I MܹiI)IQQiU:i}u-?}:}Au>ԩ A ؟AI I O >Be =>Ba Be IBe _BBa Ba Ba Be g;Be Y(E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.502390Ni# ,N,?A2߭>2|-0?2Hhٱ2N :AHRS rotation from veh to nav: [[0.771149,-0.622789,-0.132152],[0.634119,0.769857,0.072200],[0.056772,-0.139477,0.988596]]2H??XJ?ૢ?{?@H?a ?i2߭>I2"`;2C@YB_ByF/ IbDNoVDNQ5yV2μ%VO=ٔV;Q-Z>9Z"?YZ"?=Z:FyZ9E^0E^>`Q 5fE5b ?Q 9fE5b/)buBQ Af :YdQ Ejb:yjM?Q Ij@bDIb:ib)L?bOE5ynךBɮn5An}EQFNOT Ignoring new targets: 540.87 m. 0 0Q ProNav: ac range: 540.870667 m, nav range: 519.990540 m, bearing: 37.878298 deg, approach rate: -0.608186 m/s, LOS rate: -0.009666 deg/s, cmd heading: 38.822163 deg, new cmd heading: 38.810715 deg. zFԹQHeadingCmd: 0.677375 target range: 540.870667 and range: 544.00 m.Roh-?JbZB:2Ҕڔڒ’@N!@eBɢ%Ϭؽ)! %+i!)!!)i-;i-oh-?5:5 9) ,,),?A6>6;0?6Qfٱ6* BAHRS rotation from veh to nav: [[0.771031,-0.622727,-0.133127],[0.634300,0.769534,0.074032],[0.056344,-0.141524,0.988330]]6HH? a@O 0L?`?@?` ٬?q¿f?i6>I6`;6CYF_ByJ1 IbDR[VDR5yZg<%ZJ=ٔZ:Q-^>9\Y\=^:Fyb;EbT :Eb>dQ 5jE5f@ ?Q 9jE5fG+)fjBQ Aj9YhQ En7:ylQ In@fDlIf':if?fPE5yvښBɮv:Av~E QFNOT Ignoring new targets: 540.87 m.00Q- ProNav: ac range: 540.870667 m, nav range: 519.744141 m, bearing: 37.874381 deg, approach rate: -0.607437 m/s, LOS rate: -0.009661 deg/s, cmd heading: 38.810716 deg, new cmd heading: 38.798959 deg. z--ԹQ5HeadingCmd: 0.677170 target range: 540.870667 and range: 544.00 m.R5Z-?J1b1Z1B1:129Ҕ9ڔ9AڒA’AAE`0"@uJeBɢu)q uwƿiq)yyyi}u;iZ-?>:&&1 ,$,?A2rQ>2F/?2-{cٱ2 :AHRS rotation from veh to nav: [[0.771650,-0.621732,-0.134183],[0.633620,0.769817,0.076861],[0.055509,-0.144331,0.987971]]2H@\?:,F?V?@/?k?oy¿ v?i2rQ>I2`;0YB_ByB0 Ia a  a a  a a  a a  i Mb@Mb@Mb@     9 zG?MbPQ롿Y  ?y  \ ƶA 7A A) `A Y AbD%qVD%Ǐ5y5s%50=ٔ5:Q-=>99Y9=E:FyE>EEEE>IQ 5UE5MF ?Q 9UE5M&)MiBQ AUT:Y]N?Q E]:y]`-?Q I]@M%DIM;iM);M UE5yaɮe>AiGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 540.87 m.5h5hQE ProNav: ac range: 540.870667 m, nav range: 519.469666 m, bearing: 37.873891 deg, approach rate: -0.571401 m/s, LOS rate: -0.001020 deg/s, cmd heading: 38.798958 deg, new cmd heading: 38.797487 deg. zEJ3QMHeadingCmd: 0.677144 target range: 540.870667 and range: 544.00 m.RMMY-?JIbIZQBQ:q2qҔyڔyyڒy’@A#@eBɢTϽ) Cοi)i[;i%MY-?%:% ">BBs IB_BB' =BBBg;BD(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.510955M/C<@ @@@Ai ^A '< checking for new query: numPingsReceived=0, elapsed TxPingTime=9.762331A .AI! I1 O= >fF7 ,w,?A,2>2/?2yd`ٱ2xE^ E^E\E\"E^غ:*E^|;:VE\ZE\BE^I2`;2CYU^By] II<)<AbDoVDQ5y )% 1=ٔ:Q->9 ?Y ?=:Fy@ELE>!Q 5-E5%6 ?Q 9-E5%D")%hBY)y5,?Q I5@%.DI% ;i%:%YE5y=ݚBɮ=A9aQeFNOT Ignoring new targets: 540.87 m.mmQ} ProNav: ac range: 540.870667 m, nav range: 519.196960 m, bearing: 37.873454 deg, approach rate: -0.613118 m/s, LOS rate: -0.000983 deg/s, cmd heading: 38.797486 deg, new cmd heading: 38.796174 deg. z},ԁQHeadingCmd: 0.677121 target range: 540.870667 and range: 544.00 m.RW-?JbZB:2Ҕڔڒ’@!#@eBɢ W)  ٿi )  i,;i]W-?]_$:]A>2Acoustic response timeoutE% E%E%'E!"E%U:*E%0:VE%'4ZE!a-@a5@a5@a5@9A؟AII O%?@ ,w-?AnU >n.?n3Zbٱn3 vAHRS rotation from veh to nav: [[0.774464,-0.616848,-0.140372],[0.630202,0.771647,0.086057],[0.055234,-0.155111,0.986352]]nHh?7*?`U?@?G?ÿ1?inU >In`;nCY~ _By~) IiMb@Mb@Mb@ 9tV?X9vQY?yuAfA )AYAbDuVD5y"=%=ٔ7pQ->9"?Y"?=:FyCEE>Q 5E5 ?Q 9E5)tBY?Q E:y% ?Q I@7DI. ;i ;]E5y ɮ bA )Q5FNOT Ignoring new targets: 540.87 m.5$85$89QM ProNav: ac range: 540.870667 m, nav range: 518.897461 m, bearing: 37.874628 deg, approach rate: -0.573087 m/s, LOS rate: 0.002247 deg/s, cmd heading: 38.796175 deg, new cmd heading: 38.799698 deg. zMg8QUHeadingCmd: 0.677182 target range: 540.870667 and range: 544.00 m.RU[-?JQbQZYBY:Y2YҔaڔaaڒa’iim$@颕eBɢn޽) N޿i)顙i:;i[-?1:;I[-?I@ @@/0@B=>BBm IBx_BB% =BBBg;BA(EU2Acoustic response timeoutiԙ^A5 y<Ae .AIi Iy O > F ,!-?AFɏ>Fo.?FBfٱFSZ! NAHRS rotation from veh to nav: [[0.775021,-0.615774,-0.142001],[0.629433,0.772189,0.086826],[0.056186,-0.156672,0.986051]]FH ?@l-¿O$?ŵ?9:?wĬ? Ŀ@?iFɏ>IF`;FCYV _ByV* Ib2Acoustic response timeoutbD^eVD^5yj@f;%j^=ٔn)Q-n>95 ?Y5 ?=5:Fy5EE5$E=>AQ 5EE5E?Q 9ME5EO)E|BYIyM?Q IM@E>DIE:iE|:E`E5yUBɮ]mA]EyQFNOT Ignoring new targets: 540.87 m.F)8F)8Q ProNav: ac range: 540.870667 m, nav range: 518.680420 m, bearing: 37.875503 deg, approach rate: -0.573285 m/s, LOS rate: 0.002312 deg/s, cmd heading: 38.799699 deg, new cmd heading: 38.802325 deg. z!8QHeadingCmd: 0.677228 target range: 540.870667 and range: 544.00 m.R^-?JbZB:2Ҕڔڒ’)%@*fBɢ9\) i)iI;i^-?V:;I^-?IDzD@AE) E-E-%E)"E)*E-;J:VE- 4ZE)BE-;a=2E-;a=JE-;a=:E-;a=Ա@ @@0@^A;}2Acoustic response timeout A I I! OM >9 L ,, 6-?AN>NZ.?NZlٱN=$ VAHRS rotation from veh to nav: [[0.775603,-0.614347,-0.144973],[0.628580,0.772697,0.088466],[0.057672,-0.159742,0.985473]]NH ?ຨ }¿T???`*? krĿ ?iN>INGa;NߐCYv_Byv$ IimMb@Mb@Mb@iiii i9mʡE?V-~jth?Ym-?ymmmD;ii m̭A)iiYmAbDgVDz5yr%>=ٔbQ->9Y=:FyGE!E>Q 5E5g,?Q 9E5)BY?Q E:y?Q I@FDI" ;i:dE5yɮAQFNOT Ignoring new targets: 540.87 m.88Q ProNav: ac range: 540.870667 m, nav range: 518.441528 m, bearing: 37.877603 deg, approach rate: -0.570359 m/s, LOS rate: 0.005017 deg/s, cmd heading: 38.802325 deg, new cmd heading: 38.808630 deg. z`\9Q HeadingCmd: 0.677338 target range: 540.870667 and range: 544.00 m.R  f-?JbZB:2Ҕڔڒ’!!%&@^fBɢr) i)iX;i f-?q:;I f-?I2Acoustic response timeoutI@I @I@UO0@QE% E%E%&E!"E%:*E%.:VE%4ZE!a-@a5@a5@a5@A^Ae;AizAmgAi A ؟AI I O >B <A B :>B B ` IB c_BB & =B B B g;B C(E} 2Acoustic response timeout3S ,O-?A4Va>Vv.?V5ypٱV& ^AHRS rotation from veh to nav: [[0.776358,-0.613018,-0.146554],[0.627555,0.773446,0.089192],[0.058676,-0.161216,0.985173]]VH@?ם L¿@??Lն? ?ຢĿ@?iVa>IVa;VCYf_Byf/ IbDlVDlyvK=%vV=ٔzC,Q-z>9~"?Y~"?=~:Fy~IE~ ZE~>Q 5 E5;?Q 9 E5)BYy?Q I@MDIf;i;gE5yBɮ%gA!GS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 540.87 m.U8U8Qe ProNav: ac range: 540.870667 m, nav range: 518.223206 m, bearing: 37.879555 deg, approach rate: -0.569818 m/s, LOS rate: 0.005096 deg/s, cmd heading: 38.808629 deg, new cmd heading: 38.814486 deg. ze_9QmHeadingCmd: 0.677441 target range: 540.870667 and range: 544.00 m.Rml-?JibiZiBi:q2qҔqڔqyڒy’yy}`W'@颭fBɢ)ld< Y ,i-?A2>2-?2'wٱ2zT( >AHRS rotation from veh to nav: [[0.776865,-0.611771,-0.149056],[0.626773,0.773986,0.090007],[0.060304,-0.163348,0.984724]]2H`?`@Fÿ?}? ?%?Ŀۂ?i2>I2b;2CYF^ByF" ILbDNcVDN5yVV%ZO=ٔZCQ-Z>9\Y\=^:Fy^KEbEb>dQ 5fE5fK?Q 9jE5fo)fBYhyj\?Q Ij@fTDIf:if:fikE5ypɮrApQ FNOT Ignoring new targets: 540.87 m. 8 8Q% ProNav: ac range: 540.870667 m, nav range: 517.997925 m, bearing: 37.881593 deg, approach rate: -0.570759 m/s, LOS rate: 0.005167 deg/s, cmd heading: 38.814486 deg, new cmd heading: 38.820604 deg. z%b9Q-HeadingCmd: 0.677547 target range: 540.870667 and range: 544.00 m.R-s-?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99= "(@fBɢ ) Mi)i w;i s-? `/:  ;Is-?=2Acoustic response timeoutIAm9@i @q@u0@y^A2; BDAT read: Response Not Received  *response not received *DAT read: user:174>  BDAT read: Tx time:21:20:53.1959  $Ping request sent. E%  E% ~E% 'E! "E% :*E% (:VE% '4ZE! a= @a= @a= @a= @N` ,q-?A2>2W-?2+ٱ2' >AHRS rotation from veh to nav: [[0.777041,-0.611253,-0.150255],[0.626363,0.774488,0.088529],[0.062257,-0.162905,0.984675]]2H?a;ÿ`* ??ک?0?Ŀ v?i2>I2.c;0Yb_Byb- I|iUMb@Mb@Mb@QQQQ Q9UQ?X9v rh?YU\?yU}UC9Y=:FyMEltE>Q 5E5^?Q 9E5 )BYM?Q E:y?Q I@\DI;i3;toE5yÚBɮAvEQFNOT Ignoring new targets: 540.87 m.88Q ProNav: ac range: 540.870667 m, nav range: 517.739685 m, bearing: 37.884090 deg, approach rate: -0.557787 m/s, LOS rate: 0.005397 deg/s, cmd heading: 38.820603 deg, new cmd heading: 38.828098 deg. zm9QHeadingCmd: 0.677678 target range: 540.870667 and range: 544.00 m.RQ|-?JbZB:2Ҕڔڒ’  )@5fBɢ5w8)9 =i9)999i=;iEQ|-?E\:M\:IMQ|-?II)B;>BBBBBBBg;BD(EByB}֍CB}ēCByByC}*59@ @@Z0@@@iAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248497Q^A] ;A>A?ԁ A .AI I O L g ,b-?A2M>2~}-?2Ήٱ2 ) >AHRS rotation from veh to nav: [[0.777437,-0.610320,-0.151989],[0.625727,0.774991,0.088631],[0.063696,-0.164009,0.984400]]2H`?]tÿ?@??eN?<Ŀ5?i2M>I2d;2CYB!_ByF7 INchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500504bDVWVDV̉5y^;=%^k=ٔ^Q-b?9b ?Yb ?=b:FybOEf: Ef?hQ 5nE5jk?Q 9nE5j )jBYlyn?Q Ir@jcDIjy:ij-:jrE5ytɮvʬAtQFNOT Ignoring new targets: 540.87 m.88Q- ProNav: ac range: 540.870667 m, nav range: 517.545288 m, bearing: 37.885987 deg, approach rate: -0.558434 m/s, LOS rate: 0.005451 deg/s, cmd heading: 38.828099 deg, new cmd heading: 38.833792 deg. z-lo9Q5HeadingCmd: 0.677778 target range: 540.870667 and range: 544.00 m.R5Ԃ-?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAE#)@Iu%gBɢ}')y }>iy)yyiw;iԂ-?DzDAAMY:M:IUԂ-?IYE EEE"Eg:*EP:VEZEBE;a2E;aJE(;a:E(;ay9<ԡ!@! @!@-0@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754229M Ge jA A 9 jAY lA ^A 0:: AIIO>n ,-?AYv'_Byv; I~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004413 ||iMb@Mb@Mb@ 9ʡE?)\(~jt?Y?yGa<A A)YAbDKVD 5yF<%=ٔQ->9Y=%:Fy%QE)5E5>AQ 5eE5E?Q 9E5E)EBY o?Q E :y v?Q I @ElDIE9QHeadingCmd: 0.677906 target range: 540.870667 and range: 544.00 m.RB-?JbZB:2Ҕڔڒ’@*@MngBɢMo)Q UniQ)QQQiU;i}B-?H:IB-?IYAAAA@AB9>BՍCBm IBx_BBBBBg;B5(Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256728Ubh-?bٱb( ~AHRS rotation from veh to nav: [[0.777409,-0.609575,-0.155093],[0.625300,0.775669,0.085662],[0.068084,-0.163574,0.984179]]bH?ࢁÿt?G??m?Ŀd~?ib$>Iby g;bCY G_BE  E |E &E "E :*E P$:VE 4ZE BE ;a2E ;aJE };a:E };ay O IbD1VD1yEf=%E=ٔEQ-M>9M"?YM"?=U:FyUTEU EU>YQ 5eE5]??Q 9eE5]&)]5BYaym]?Q Im@]vDI];i]n;]{E5yuɚBɮuAqGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 540.87 m.̰8̰8Q ProNav: ac range: 540.870667 m, nav range: 516.943604 m, bearing: 37.890912 deg, approach rate: -0.587932 m/s, LOS rate: 0.004830 deg/s, cmd heading: 38.841162 deg, new cmd heading: 38.848576 deg. z(T9QHeadingCmd: 0.678036 target range: 540.870667 and range: 544.00 m.R-?JbZB:2Ҕڔڒ’@F+@gBɢ) ^i)   i \;i-?<:U):I-?I!!!!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761002 Y@Y @Y@]5@Y9 ^Ai a A I I O >_~ ,T-?A2d>2-?2/ٱ2[' :AHRS rotation from veh to nav: [[0.776953,-0.609802,-0.156477],[0.625561,0.775758,0.082906],[0.070832,-0.162301,0.984196]]2H?@tĿ??[9? "?DĿ@~?i2d>I2g;2ߐCYBe_ByBb IJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012487iMb@Mb@Mb@ 9Q? ףp= ?Y\?yQ8<hAėA ̭A)AYGAbD5[VD55y]4=%]4=ٔeƻQ-e>9)Y1=5:Fy5WE5:E5>EE EE~EE"EA"EE:*EE(:VEE(3ZEAam@am@am@am@9Q 5E5=ڨ?Q 9E5=!)=XBY?Q E:y?Q I@=DI=v%BiBm IBm_BBiBmDDBmaDBmqg;Bm(EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264286 ^AU rg:Ai Iq I O >D ,.?A6I>6-?6p(ٱ6M& >AHRS rotation from veh to nav: [[0.776219,-0.610207,-0.158528],[0.626078,0.775659,0.079868],[0.074228,-0.161246,0.984119]]6H?І JĿ@?3?@@r??`Ŀ}?i6I>I6,h;6CYFt_ByFk IIJ,>)J=bDNVVDN5yz=%~R=ٔ~Q-~>9Y=:FyYE T;E > Q 5E5 ܶ?Q 9E5 ) tBYy4?Q I@ DI ;i ; JE5y-͚Bɮ-KA-xEIQUFNOT Ignoring new targets: 540.87 m.Uւ8Uւ8Qm ProNav: ac range: 540.870667 m, nav range: 516.473511 m, bearing: 37.893811 deg, approach rate: -0.584025 m/s, LOS rate: 0.003575 deg/s, cmd heading: 38.853565 deg, new cmd heading: 38.857275 deg. zm9QmHeadingCmd: 0.678187 target range: 540.870667 and range: 544.00 m.Ru-?JqbqZqBq:q2qҔyڔyڒ’8-@颭hBɢ-t() @ i)项i;i-?V$::I-?IQu9@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516550D zD E E}E&E"EU:*Ek&:VE4ZEBE;a2E;aJE€;a:E€;ay^A}yb]:A ԩ I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768388> ,1.?A2$g>2 .?2hٱ2j% :AHRS rotation from veh to nav: [[0.775300,-0.610723,-0.161017],[0.626753,0.775439,0.076654],[0.078044,-0.160348,0.983970]]2H@B? @7Ŀ[?e?? ?@JĿ@|?i2$g>I2`g;2C@YF_ByFy IbDRKVDR 5yVpv=%ZO=ٔZQ-Z>9XY\=^:Fy^[E^f7;Eb>`Q 5fE5b?Q 9jE5b)bBYhyjw?Q Ij@bDIb-:ibg:bE5ypɮrApQ FNOT Ignoring new targets: 540.87 m. u8 u8Q% ProNav: ac range: 540.870667 m, nav range: 516.253723 m, bearing: 37.895132 deg, approach rate: -0.556537 m/s, LOS rate: 0.003347 deg/s, cmd heading: 38.857274 deg, new cmd heading: 38.861239 deg. z%9Q%HeadingCmd: 0.678257 target range: 540.870667 and range: 544.00 m.R-9-?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99=vc.@MhBɢ~)  i)iLj;i9-?%{:-z+;I-9-?IaԱ)@) @)@-93@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020282E EE%E"E%:*E?:VE 4ZEa-@a-@a-@a-@^AmoM; A I I O >̒ ,K.?A2:>2;.?2ٱ2$ :AHRS rotation from veh to nav: [[0.774580,-0.610899,-0.163793],[0.627139,0.775413,0.073697],[0.081986,-0.159805,0.983738]]2H`\?{`*Ŀ?.?`ݲ?`?|tĿ`z?i2:>I2g;2CYB_ByB ItB<Ap<B%3>B!B% IB%_BB%' =B!B!B%=g;B%'EieMb@Mb@Mb@aaaa a9eGz?Q~jt?Ye?yee9Y=:Fy]Eg:E>Q 5E5?Q 9E5)BY?Q E:yz"?Q I@DI:i:E5yњBɮӫAQFNOT Ignoring new targets: 540.87 m.77Q ProNav: ac range: 540.870667 m, nav range: 516.011353 m, bearing: 37.895852 deg, approach rate: -0.561022 m/s, LOS rate: 0.001667 deg/s, cmd heading: 38.861239 deg, new cmd heading: 38.863400 deg. zu8QHeadingCmd: 0.678294 target range: 540.870667 and range: 544.00 m.R-?J b -,>-%==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275867ZB9:92AҔAڔAAڒI’IIM D/@UhBɢU)Y ] iY)YYYi]߻;ie-?e2:e@N;Im-? I @ @@4@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524459^A qZ;a E!  E% E% $E! "E! *E% *:VE% 4ZE! BE% ;a5 2E% ;a5 JE% f;a5 :E% f;a5 Aq I ԑ IOm? ,l.?AQ>.?mEٱL% AHRS rotation from veh to nav: [[0.772715,-0.611403,-0.170580],[0.628292,0.774961,0.068452],[0.090341,-0.160068,0.982963]]H`?ſ?@z??` ?}Ŀ@ot?i>I?h;CY_By I==AAbDDVDm5ym<%=ٔQ->9Y=:Fy_E;E>BDAT read: Rx Time:21:20:56.3125 TRx dataTimestamp_ set to:1761513657.756668checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777504Q 5E56?Q 9%E5z)BY!y%#?Q I%@DI;ih; E5y-Bɮ58A5oEGSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 540.87 m.e07e07Qu ProNav: ac range: 540.870667 m, nav range: 515.721191 m, bearing: 37.896648 deg, approach rate: -0.557291 m/s, LOS rate: 0.001531 deg/s, cmd heading: 38.863401 deg, new cmd heading: 38.865793 deg. zu8Q}HeadingCmd: 0.678336 target range: 540.870667 and range: 544.00 m.R}n-?JybyZyBy:2Ҕڔڒ’ %0@颽hBɢ) qi)PExceeded connect timeout, disconnecting.i;in-?":z;In-?Iԁ@ @@ 5@ԩ^Ayb];AzA checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032376A I I O >E5  E5 E1 E1 "E5 :*E5 .:VE1 ZE1 aE @aE @aE @aE @ i ,K.?A N> .? ½ٱ $ %AHRS rotation from veh to nav: [[0.771848,-0.611683,-0.173477],[0.628724,0.774903,0.065050],[0.094637,-0.159278,0.982687]] H?{4ƿ`??@"?(:?8cĿ,r?i N>I h; ސCY5_By5 IԱiMb@Mb@Mb@ 9i|?5?I +~jt?Y?y94 nA)zAYbD[VD5y=%I=ٔ -Q- >9Y=:FyaE;E>Q 5%E5^?Q 9%E5)BY-?Q E-:y-+?Q I-@DI" ;i ;E5y=Bɮ=A9QFNOT Ignoring new targets: 540.87 m.++Q ProNav: ac range: 540.870667 m, nav range: 515.491577 m, bearing: 37.896402 deg, approach rate: -0.546459 m/s, LOS rate: -0.000587 deg/s, cmd heading: 38.865791 deg, new cmd heading: 38.865051 deg. zQηQHeadingCmd: 0.678323 target range: 540.870667 and range: 544.00 m.R-?JbZB:2Ҕ)ڔ))ڒ)’115=0@}hBɢ}aM) [i)顡i-;i-?BuԍCBu IBu`BBu& =BqBqBuf;Bu'EUDAT read: 21:20:56.3125 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 283,-0.07, 3.027, 1.469,-2.948, 2.833, PHS= 0.296,-1.320, 0.458, RAW= 154.7, 6.7, CAL= 154.1, 6.8, ROT= 355.9, -6.8 eYgot valid direction response: 21:20:56.3125 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 283,-0.07, 3.027, 1.469,-2.948, 2.833, PHS= 0.296,-1.320, 0.458, RAW= 154.7, 6.7, CAL= 154.1, 6.8, ROT= 355.9, -6.8 mPDAT read: Bearing 191.5, 0.1 (Local) m~Local bearing/azimuth received: Bearing 191.5, 0.1 (Local) uDAT read: Range 11 to 50 : 534.3 m (Round-trip 712.4 ms) speed 0.4 m/s }*DAT read: user:175> BDAT read: Tx time:21:20:57.4459 $Ping request sent.i%%~>%3,@%|=%!,@ %=)%@I%!!%[;?? ? %V(?)%ҔI%ii%!!:publishing transmit ping timeFpublishing direction and range infoy!%??C=,EO?Y!!!!! !)!I!i!!!!! !)!I!!!%[;?? ? !)!I!i!!!9@ @@p3@^A ;9 A- .AI9 II OU >u ,ʟ.?AV}>VKT/?VʽٱV#$ fAHRS rotation from veh to nav: [[0.770701,-0.612249,-0.176554],[0.629481,0.774549,0.061875],[0.098867,-0.158824,0.982344]]VH ? Tƿ$?? ?YO?[TĿ ]o?iV}>IV&h;TYr_Byv IbD HVD X5y%;T=%%Z=ٔ-I9Q-->95 ?Y5 ?==:Fy=cEEd;EE>IQ 5eE5Mg?Q 9eE5M;)MBYaye#,?Q Ie@MDIM3;iM";ME5yqɮuƪAqJQRU⫐.?AUDUDUr!?Un3p@r8ZaBO³\qO@U??C=,EO?UiU—Ug @z@9s@P]@UP:%?( l?>~?jUCrUCZU l?bU|zU/CQUQڗUCU&?Q addTargetRange:: Added new target pos. range: 534.299988 m, deltaT: 16.634943 s, deltaX: -9.700012 m, approachRate: -0.583111 m/s, rangeRepo size: 4 E E{E)E"E%:*E5":VEFA4ZEBE;a2EaJE=z;a:E=z;a Qm Added new target pos. range: 531.110901 m, bearing: 36.229023 deg, lat: 36.779117 deg, lon: -121.859326 deg, deltaT: 16.634943 s, deltaX: -9.759766 m, approachRate: -0.586703 m/s, posRepo size: 4 iQuFNOT Ignoring new targets: 531.11 m.uqQ ProNav: ac range: 531.110901 m, nav range: 511.145111 m, bearing: 37.296878 deg, approach rate: 0.000000 m/s, LOS rate: -0.000587 deg/s, cmd heading: 38.865050 deg, new cmd heading: 38.864404 deg. zQHeadingCmd: 0.678312 target range: 531.110901 and range: 534.30 m.Rإ-?JbZB:2Ҕڔڒ’`f@?/iBɢV&) Gi)i;i%إ-?%:=I;I=إ-?IA9@ @@5@9inManaging dock network, ignoring radio surface power off^A= X;AU ؟AIY Ii O} >ԑ ,.?A->-/?-Gӽٱ-% mAHRS rotation from veh to nav: [[0.769345,-0.612802,-0.180504],[0.630437,0.773955,0.059512],[0.103233,-0.159582,0.981772]]-H`y?ǿ,? >?ax?um?,mĿj?i->I-1g;-CY}`By} IiMb@Mb@Mb@ 9X9v?Mb`?Zd;O?Y?y;j< A)AYGAbDBVD5y-ס=%-;=ٔ5S$Q-5>9="?Y="?==:Fy=fE=q;EE>AQ 5UE5E}?Q 9UE5E)EBBYU?Q EU:yUF2?Q IU@EDIEi ;iE ;EE5yeBɮeAepEiQFNOT Ignoring new targets: 531.11 m.tWtWQ ProNav: ac range: 531.110901 m, nav range: 510.896484 m, bearing: 37.295611 deg, approach rate: -0.577336 m/s, LOS rate: -0.002943 deg/s, cmd heading: 38.864405 deg, new cmd heading: 38.860602 deg. zEQHeadingCmd: 0.678245 target range: 531.110901 and range: 534.30 m.R-?JbZB:2Ҕڔڒ’_Z?giBɢҳ )1 5i1)199i=;;i-?f:zBI BM  IBM l`BBI BI BI BM f;BM 'EBՍCBՍCBBBC4^Am [R;Au >Au > Am .AIy I O >]ƴ ,.?A2q>2*0?2'ܽٱ2U$ :AHRS rotation from veh to nav: [[0.767941,-0.613634,-0.183628],[0.631428,0.773396,0.056186],[0.107540,-0.159095,0.981389]]2H`? @"ǿ4?`?bĬ? ?=]Ŀ@g?i2q>I2e;2ߐCYB@`ByB IbDNMVDN5yR"=%Va=ٔVCQ-V>9Z ?YZ ?=Z:FyZgE^;E^>`Q 5bE5b$?Q 9fE5b)bbBYdyf2?Q If@bDIb:ib;bݜE5ylɮnHAl|QFNOT Ignoring new targets: 531.11 m.X] X]Q ProNav: ac range: 531.110901 m, nav range: 510.689545 m, bearing: 37.294517 deg, approach rate: -0.571747 m/s, LOS rate: -0.003024 deg/s, cmd heading: 38.860604 deg, new cmd heading: 38.857321 deg. zQ%HeadingCmd: 0.678188 target range: 531.110901 and range: 534.30 m.R%-?J!b!Z!B!:!2)Ҕ)ڔ)1ڒ1’115w?iBɢ;*3) ;i)i;i-?N:vl e ,.?AF2>F_0?FeٱFT$ NAHRS rotation from veh to nav: [[0.767071,-0.613779,-0.186757],[0.631750,0.773344,0.053199],[0.111775,-0.158791,0.980965]]FH ؋?ǿL7?@IFAe;FCYVS`ByV IbD^?VD^F5yf:=%fH=ٔjH+Q-j>9j"?Yj"?=j:FyjiE:E>!Q 5-E5%,4?Q 9-E5%)%BY)y-2?Q I5@%DI%6:i%:%E5 Egl>MCyBGɮ/AMAڧ9YxAGSEB*** querying acoustic contact ***:ABAqQ}FNOT Ignoring new targets: 531.11 m.}4O4OQ ProNav: ac range: 531.110901 m, nav range: 510.452545 m, bearing: 37.293241 deg, approach rate: -0.525774 m/s, LOS rate: -0.002831 deg/s, cmd heading: 38.857322 deg, new cmd heading: 38.853494 deg. zQHeadingCmd: 0.678121 target range: 531.110901 and range: 534.30 m.R]-?JbZB:2Ҕڔڒ’ Ѷ?-iBɢ-ʩ!)1 5i1)111i=0;i=]-?E֩:E$ ,֩/?A>>>0?>nٱ>m$ FAHRS rotation from veh to nav: [[0.766149,-0.613987,-0.189830],[0.632167,0.773175,0.050650],[0.115673,-0.158810,0.980510]]>HJ?ȥ`XLȿ:?ؽ?@??SĿU`?i>>I>f;%MB=ٔMQ-U>9QYQ=]:Fy]lE]G;E]>aQ 5mE5e4C?Q 9mE5eT)eBYu8?Q Eu:yu:?Q Iu@eDIe:ie:eE5yyɮ}AQFNOT Ignoring new targets: 531.11 m.ʸʸQ ProNav: ac range: 531.110901 m, nav range: 510.214142 m, bearing: 37.291152 deg, approach rate: -0.632209 m/s, LOS rate: -0.005544 deg/s, cmd heading: 38.853494 deg, new cmd heading: 38.847222 deg. zsQHeadingCmd: 0.678012 target range: 531.110901 and range: 534.30 m.R1-?JbZB:2Ҕڔڒ’Ŷ?颥jBɢ 5+) i)i o;i1-?E:= 3BB5 IB`BBBB`DBf;B'Ei@i @i@m5@q@}=@}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003513y^A<AzAhAԡ A I I O >_ ,L!/?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255742N0?N5ٱN#% ZAHRS rotation from veh to nav: [[0.765435,-0.613726,-0.193520],[0.632331,0.773137,0.049161],[0.119446,-0.159999,0.979864]]NHp~?BȿINP^f;NߐCYb`Byb IbDj&VDj }5yr%rQ=ٔvQ-v>9tYt=v:FyznEzI:Ez>|Q 5E5~sQ?Q 9E5~Z)~BY y :?Q I @~DI~p:i~g:~E5yBɮȩA9Q=FNOT Ignoring new targets: 531.11 m.EMEMQU ProNav: ac range: 531.110901 m, nav range: 509.988068 m, bearing: 37.289152 deg, approach rate: -0.578094 m/s, LOS rate: -0.005117 deg/s, cmd heading: 38.847223 deg, new cmd heading: 38.841220 deg. zU`Q]HeadingCmd: 0.677907 target range: 531.110901 and range: 534.30 m.R]S-?JYbYZaBa:a2aҔiڔiiڒi’iqu{@DzD@AE E{E&E"E:*E5":VE4ZEBE;a2E;aJE=z;a:E=z;a=4jBɢ=/)9 =ji9)AAAiEY;iMS-?MϮ:M;n+ ,n;/?Almo>m 1?mHٱm& }AHRS rotation from veh to nav: [[0.764331,-0.613952,-0.197135],[0.632915,0.772781,0.047207],[0.123359,-0.160852,0.979239]]mHeu?~ ;ɿ@??+?q?`ȖĿU?imo>ImNg;mCY`By' IiMb@Mb@Mb@ 9v?ˡE?I +?Y?y'=9<ƶA A)YpAbD%)VD%n~5y52a=%=6=ٔ=1Q-=>9AYA=E:FyEpEE*;EM>QQ 5eE5Ua?Q 9eE5U)UBYmK?Q Eu:yuD?Q Iu@UDIU;iUW;UnE5yBɮAgE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760686iQuFNOT Ignoring new targets: 531.11 m.uuQ ProNav: ac range: 531.110901 m, nav range: 509.724304 m, bearing: 37.285722 deg, approach rate: -0.553699 m/s, LOS rate: -0.007203 deg/s, cmd heading: 38.841220 deg, new cmd heading: 38.830925 deg. z2QHeadingCmd: 0.677728 target range: 531.110901 and range: 534.30 m.R-?JbZB:2Ҕڔڒ’@{\@5sjBɢ5If!)1 5i1)999i=^;iE-?E::E&NB ӍCB m IB aBB B B B f;B 'E^A Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011747I I) O5 >4 ,W U/?A2->2 m1?2ٱ2Kd( :AHRS rotation from veh to nav: [[0.763033,-0.614255,-0.201175],[0.633707,0.772221,0.045722],[0.127267,-0.162374,0.978487]]2Hj?ɿ`SG??@h? GJ?ĿO?i2->I2g;2ߐCYR`ByR; IIV=)Vp;bDZ/VDZ5yb=%bh=ٔf6Q-f>9dYd=j;FyjrEj;Ej>lQ 5rE5n9n?Q 9rE5n)nBYtyv~D?Q Iv@nDIn:in:nE5yxɮzĨA|Q%FNOT Ignoring new targets: 531.11 m.%?%?Q5 ProNav: ac range: 531.110901 m, nav range: 509.517181 m, bearing: 37.282990 deg, approach rate: -0.638728 m/s, LOS rate: -0.008428 deg/s, cmd heading: 38.830927 deg, new cmd heading: 38.822727 deg. z5Q=HeadingCmd: 0.677584 target range: 531.110901 and range: 534.30 m.R=,v-?J9bAZABA:A2AҔIڔIIڒIQ’QQ] =@颅jBɢ9dG) Ii)顉ini;i,v-?ô:@Oei>M9@I @I@M0@Iy]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264033^Am=<ԩIID=D<E E{E%E"EƱ:*E5":VE 4ZEBE:;a2E<;aJEa:EaO > * ,n/?A2!>21?2 ٱ2T) :AHRS rotation from veh to nav: [[0.761983,-0.614389,-0.204715],[0.634183,0.771943,0.043782],[0.131129,-0.163188,0.977842]]2H )b?4ʿ9K??@j?@?@XĿ{J?i2!>I2f;2ސCYB`ByBG IbDN1VDN5yVB=%VL=ٔVQ-Z>9XYX=Z;FyZtE^+;E^>`Q 5fE5b|?Q 9fE5ba)b@BYdyjD?Q Ij@bDIb:ib:bE5ynBɮnAlQFNOT Ignoring new targets: 531.11 m. W WQ ProNav: ac range: 531.110901 m, nav range: 509.282440 m, bearing: 37.279861 deg, approach rate: -0.587382 m/s, LOS rate: -0.007833 deg/s, cmd heading: 38.822727 deg, new cmd heading: 38.813336 deg. zQ%HeadingCmd: 0.677420 target range: 531.110901 and range: 534.30 m.R%nk-?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’11checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517403B @MjBɢM,) i)im;ink-?@:;]tE  E yE E "E C:*E :VE ZE a @a @a @a @Y { ,ͬ/?A6O>6g1?6q ٱ6u* BAHRS rotation from veh to nav: [[0.760849,-0.614587,-0.208306],[0.634750,0.771575,0.042005],[0.134908,-0.164182,0.977161]]6HX?ĩʿO???D?ſD?i6O>I6f;6CYJ`ByJQ IiMb@Mb@Mb@ 9X9v?S㥫?Mb?Y?y/]=<A )fAY AbD52VD5I5yEq=%EA=ٔEQ-E>9IYI=M;FyMvEM5;EU>QQ 5eE5U?Q 9eE5U)UgBYe?Q Ee:ye_I?Q Ie@UDIUl;iU:UE5yqɮuAqGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 531.11 m.**Q ProNav: ac range: 531.110901 m, nav range: 509.025787 m, bearing: 37.275910 deg, approach rate: -0.606111 m/s, LOS rate: -0.009335 deg/s, cmd heading: 38.813335 deg, new cmd heading: 38.801477 deg. z̹QHeadingCmd: 0.677214 target range: 531.110901 and range: 534.30 m.R]-?JbZB:2Ҕڔڒ’`y@1} kBɢ}6)y }!i)顁i ;i]-?Ub:Թ > ,p/?A&DAT read: 21:21:00.5591 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.11, 1.917, 0.391, 2.189, 1.753, PHS= 0.266,-1.317, 0.392, RAW= 153.8, 8.0, CAL= 153.3, 8.5, ROT= 356.7, -8.5 .Ygot valid direction response: 21:21:00.5591 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.11, 1.917, 0.391, 2.189, 1.753, PHS= 0.266,-1.317, 0.392, RAW= 153.8, 8.0, CAL= 153.3, 8.5, ROT= 356.7, -8.5 2PDAT read: Bearing 192.9, 3.1 (Local) 2~Local bearing/azimuth received: Bearing 192.9, 3.1 (Local) 6DAT read: Range 11 to 50 : 531.7 m (Round-trip 709.0 ms) speed 0.4 m/s :*DAT read: user:176> >BDAT read: Tx time:21:21:01.6459 >$Ping request sent.>iu9>+@5><+@ >)8@I r}U?O?iD? ?)IQki R:publishing transmit ping time<VFpublishing direction and range infoy z^? @&%)k?Y ) I i ) I r}U?O?iD? ) I i &> U2? ٱ tn+ %AHRS rotation from veh to nav: [[0.759643,-0.614979,-0.211527],[0.635460,0.771081,0.040300],[0.138321,-0.165031,0.976541]] HN?S˿U??7?`?ſ??i &>I g; CY- aBy-e I9=AAbDE,VDE5yUŠ=%UI=ٔ] Q-]>9YYY=];Fy]xEeV;Ee>iQ 5uE5mʚ?Q 9uE5m)mBYyy}I?Q I}@mDIm;im;m@E5yBɮWAhEDzDE EEE"Eҝ:*E.:VEZEBE;a2E;aJE ;a:E ;aJ R΢/?A!D!D)?cN@N>g󺪇S@z^? @&%)k?Qk—n{PTx@ۊxs@-c@0zp?Q&?zy?jǛCr2CZƾ?b|zQC |ԉ ڗnC`'?Q  addTargetRange:: Added new target pos. range: 531.700012 m, deltaT: 4.283393 s, deltaX: -2.599976 m, approachRate: -0.606990 m/s, rangeRepo size: 4 Q Added new target pos. range: 528.517090 m, bearing: 38.026592 deg, lat: 36.779117 deg, lon: -121.859288 deg, deltaT: 4.283393 s, deltaX: -2.593811 m, approachRate: -0.605551 m/s, posRepo size: 4 QFNOT Ignoring new targets: 528.52 m.%!Qm ProNav: ac range: 528.517090 m, nav range: 510.861572 m, bearing: 37.577952 deg, approach rate: 0.000000 m/s, LOS rate: -0.009335 deg/s, cmd heading: 38.801478 deg, new cmd heading: 38.788895 deg. ziQuHeadingCmd: 0.676994 target range: 528.517090 and range: 531.70 m.RuyO-?JqbqZyBy:y2yҔڔڒ’@ eĽ?HkBɢ K))  #i ) i ii ,r/?A]h>]=2?] ٱ]L* AHRS rotation from veh to nav: [[0.757883,-0.616346,-0.213848],[0.636757,0.770182,0.036886],[0.141967,-0.164125,0.976170]]]H@? b_˿O`?`T??`+? ſ@I]/g;]CYaByl IiMb@Mb@Mb@ 9X9v?i|?5?Mb`?Yyq=;hAA A)AYpAbDVDw5y5<%5/=ٔ=Q-=>99Y9==;FyEzEE;EE>QQ 5UE5U?Q 9]E5U)UBY]?Q E]:y]JK?Q I]@UDIU]:iUf:USE5yiɮm@AiQFNOT Ignoring new targets: 528.52 m.??Q ProNav: ac range: 528.517090 m, nav range: 510.577728 m, bearing: 37.573521 deg, approach rate: -0.670076 m/s, LOS rate: -0.010465 deg/s, cmd heading: 38.788894 deg, new cmd heading: 38.775594 deg. zQHeadingCmd: 0.676762 target range: 528.517090 and range: 531.70 m.RC@-?JbZB:2Ҕڔڒ’ z?kBɢ9) &i)  i Bi Bm IBm aBBm % =Bi Bi Bm f;Bm 'E^A ]< > >@A I I O >|M ,=/?A2W>2e3?2ٱ2ڂ+ >AHRS rotation from veh to nav: [[0.755930,-0.617578,-0.217181],[0.638274,0.769022,0.034810],[0.145519,-0.164935,0.975510]]2H0?@2 ˿l?@ӛ?ҡ?@`?@ſa7?i2W>I2o g;2ސCYr?aByr IbDVDcs5y=%u=ٔK0Q-?9!Y!=%;Fy%|E%;E-?)Q 55E5-ȷ?Q 9=E5-)-BY9y=K?Q I=@-DI-f;i-;-=E5yMBɮMAIiQuFNOT Ignoring new targets: 528.52 m.u61u61Q ProNav: ac range: 528.517090 m, nav range: 510.375000 m, bearing: 37.570296 deg, approach rate: -0.608490 m/s, LOS rate: -0.009683 deg/s, cmd heading: 38.775595 deg, new cmd heading: 38.765917 deg. zԹQHeadingCmd: 0.676593 target range: 528.517090 and range: 531.70 m.R15-?JbZB:2Ҕڔڒ’l?kBɢ .M) &i)iw ,?/?A2l>2 4?2ٱ2SO, :AHRS rotation from veh to nav: [[0.754214,-0.618621,-0.220160],[0.639561,0.768036,0.032895],[0.148741,-0.165615,0.974909]]2H`"?3.̿Hw?@?נ? ?@2ſ@t2?i2l>I2g;2C@YFDaByF IHJA N;LbDPVDPyV4<%ZQ=ٔZQ-Z>9\Y\=^;Fy^~EbA;Eb>dQ 5fE5f?Q 9jE5f')fBYhyjyL?Q Ij@fDIf:if:fE5yrzBɮrcAr_EQFNOT Ignoring new targets: 528.52 m.,,Q ProNav: ac range: 528.517090 m, nav range: 510.137451 m, bearing: 37.566456 deg, approach rate: -0.583915 m/s, LOS rate: -0.009445 deg/s, cmd heading: 38.765917 deg, new cmd heading: 38.754390 deg. zjϹQHeadingCmd: 0.676392 target range: 528.517090 and range: 531.70 m.R(-?JbZB:2Ҕڔڒ’tZ?EkBɢE:)I M*iI)IIIiME  E rE &E "E :*E ?:VE 4ZE a @a @a @a @_ ,( 0?A6>6ǖ4?6'ٱ6, BAHRS rotation from veh to nav: [[0.752516,-0.619714,-0.222877],[0.640847,0.767044,0.030959],[0.151771,-0.166127,0.974355]]6H?9̿ҁ???9m?Cſ`-?i6>I6g;6ސCYF`aByJ IliMb@Mb@Mb@ 9ʡE?~jt?y&1Y?yD=`eA"A )AYAbD5VD5r5yEЅ=%EA=ٔM9IYI=U;FyUEU;EU>YQ 5eE5]z?Q 9mE5]Z)] BYm6?Q Em:ym[G?Q Im@]DI].:i]:]ZE5yu~Bɮ}7AyGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 528.52 m.  Q ProNav: ac range: 528.517090 m, nav range: 509.879578 m, bearing: 37.562872 deg, approach rate: -0.632291 m/s, LOS rate: -0.008791 deg/s, cmd heading: 38.754391 deg, new cmd heading: 38.743635 deg. zQHeadingCmd: 0.676204 target range: 528.517090 and range: 531.70 m.R-?JbZB:2Ҕڔڒ’QU` ?颥lBɢg<) +i)顩iȔB-ҍCB- IB-aBB)B)B-_DB-f;B-'EBӍCBӍCBBBCs5@ @@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9^A]2#5?2ٱ2- :AHRS rotation from veh to nav: [[0.750977,-0.620593,-0.225606],[0.641939,0.766200,0.029178],[0.154751,-0.166737,0.973782]]2H@?̿ Ċ? ??@?Wſ 8)?i20s>I2#g;2CYBwaByB IbDrVDr:u5y~h=%~O=ٔ~Q-~>9Y=;FyEg;E >Q 5E5?Q 9E5ݥ). BYyG?Q I@DI:i :E5y!ɮ- A)1QQUFNOT Ignoring new targets: 528.52 m.]i]iQm ProNav: ac range: 528.517090 m, nav range: 509.638855 m, bearing: 37.559473 deg, approach rate: -0.608773 m/s, LOS rate: -0.008601 deg/s, cmd heading: 38.743637 deg, new cmd heading: 38.733433 deg. zm弹QuHeadingCmd: 0.676026 target range: 528.517090 and range: 531.70 m.Ru -?JqbyZyBy:y2yҔڔڒ’@@@E EuE%E"E:*E:VE 4ZEBE;a2E;aJEfd;a:Efd;aOlBɢ1G) -i)i Ա г ,=0?A6 >&\5?%4!ٱ-ԡ AHRS rotation from veh to nav: [[0.749989,-0.621168,-0.227303],[0.642602,0.765696,0.027801],[0.156776,-0.166916,0.973427]]H`? GͿ@2??w?<?]ſP&?i6 >IPh;CY{aBy IiMb@Mb@Mb@ 9K?I +?QY^?y9<AA  A)AYץAbDVDu5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508393y%<%%-=ٔ%Q-%>9)Y)=-;Fy-E5 ;E5>9Q 5EE5=?Q 9EE5=נ)=L BYE?Q EE:yEpB- эCB- " IB- ?bBB) B) B) B- f;B- 'E^A <A zA Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7602329  ,ƅW0?A6>6Y5?6#ٱ6`. >AHRS rotation from veh to nav: [[0.749039,-0.621582,-0.229295],[0.643161,0.765273,0.026487],[0.159009,-0.167314,0.972997]]6H`!?YͿƔ?}??gZ?jſ"?i6>I6/Bj;6ސCY^aByb IbDjVDjs5yrf=%rw=ٔr(Q-v?9tYt=v;FyvEzQ;Ez?|Q 5E5~&?Q 9E5~U)~a BYyD=DE ErE#E"Ea:*E?:VE3ZEBEY;a2EZ;aJEzY;a:E{Y;aԑԡ  ,`q0?A2>25?2!&ٱ2/ :AHRS rotation from veh to nav: [[0.748129,-0.621710,-0.231904],[0.643593,0.764942,0.025518],[0.161528,-0.168343,0.972404]]2H?@ Ϳ@P?hz?!? ?`@ſ?i2>I2 l;2CY^aByb IbDjVDjx5y[=%G=ٔ%L˻Q-%>9!Y!=%;Fy%E-;E->1Q 5EE55?Q 9EE55)5| BYAyE5 BDAT read: Rx Time:21:21:04.7643 5 TRx dataTimestamp_ set to:1761513666.072509= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5172399 E  E jE $E "E :*E 9VE 4ZE a @a @a @a @Q P" ,F0?A2d>26?2c(ٱ20 :AHRS rotation from veh to nav: [[0.747393,-0.621581,-0.234606],[0.643796,0.764800,0.024651],[0.164104,-0.169463,0.971778]]2H ?ο ?=y?%>?]?ſ?i2d>I23o;0YnaByn Ii]Mb@Mb@Mb@YYYY Y9]bX9? rhX9vY]E?y]C]]A]MA ]A)]MAYY]AbDu1VDu5yU>=%C=̻ٔQ->9Y=;FyE@:E>Q 5E5!?Q 9E5) BY?Q E:yZ,?Q I@>DI;i;E5yɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 528.52 m.Q ProNav: ac range: 528.517090 m, nav range: 508.666962 m, bearing: 37.552297 deg, approach rate: -0.583930 m/s, LOS rate: -0.001172 deg/s, cmd heading: 38.713365 deg, new cmd heading: 38.711894 deg. zMQHeadingCmd: 0.675650 target range: 528.517090 and range: 531.70 m.Rf,?JbZB: 2 B>BBH IB|bBB$ =BB^DBf;B'EҔڔڒ’ @)E3mBɢE9?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768191) 6i)顡i3_AIIO>ԁ ( ,0?ADAT read: 21:21:04.7643 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 496, 0.33,-0.450,-1.699,-0.315,-0.664, PHS= 0.316,-0.990, 0.305, RAW= 149.6, 5.7, CAL= 148.9, 6.0, ROT= 1.1, -6.0 "Ygot valid direction response: 21:21:04.7643 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 496, 0.33,-0.450,-1.699,-0.315,-0.664, PHS= 0.316,-0.990, 0.305, RAW= 149.6, 5.7, CAL= 148.9, 6.0, ROT= 1.1, -6.0 *PDAT read: Bearing 192.0, 9.5 (Local) .~Local bearing/azimuth received: Bearing 192.0, 9.5 (Local) 0DAT read: Range 11 to 50 : 535.6 m (Round-trip 714.2 ms) speed 0.3 m/s  *DAT read: user:177> BDAT read: Tx time:21:21:05.8959 $Ping request sent.imp}m(>m'@m%=mR&@DyzD}AAE EuE&E"E:*E:VE4ZEBE;a2E;aJEfd;a:Efd;a mPw=)mnF~-6?~n+ٱ~1 AHRS rotation from veh to nav: [[0.746709,-0.621521,-0.236935],[0.643941,0.764716,0.023421],[0.166631,-0.170061,0.971243]]~H ?Sο*?x??)T?ſl?i~">I~‹q;|YaBy Im'5?uo?.NP? i)iIiiiiibD VDJz5y=%:=ٔQ->9Y=;FyE}:E>Q 5E52?Q 9E5) BYy},?Q I@FDIN:ig:E5ԑyBɮyAaEJiRmbۤ0?AmDmDm??mq8ފ@zIjT$@p)7K@my7?N$팓?4ޮ`º?mnF<mPwֽ—mٽL< E8:iA)AAAiE!`,/ ,0?A\f>f/6?f-ٱf2 AHRS rotation from veh to nav: [[0.746370,-0.620986,-0.239391],[0.643693,0.764950,0.022596],[0.169091,-0.170959,0.970660]]fH@C? _ο@!?`yz?d#?ä?ſ?if>Ifs;dY5aBy= IiMb@Mb@Mb@ 9Q?&1:vY\?yPԼA )AY3AbD-.VD-]5y=m=%=@=ٔ=iQ-E>9AYA=E;FyMEM8EM>QQ 5]E5UB?Q 9]E5U%)U BY]?Q Ee:ye?Q Ie@UNDIU;iU;UE5ymdBɮmAmWEQFNOT Ignoring new targets: 532.37 m.88Q ProNav: ac range: 532.372498 m, nav range: 503.060730 m, bearing: 38.001937 deg, approach rate: -0.633509 m/s, LOS rate: 0.003608 deg/s, cmd heading: 38.710145 deg, new cmd heading: 38.714111 deg. z}9QHeadingCmd: 0.675689 target range: 532.372498 and range: 535.60 m.R,?JbZB:2Ҕڔڒ’` ?mBɢc) < :i)i˲BЍCBg IBbBB% =BB]DBf;B'E^A} 7<9 I I O >5 ,0?A2>26?20ٱ22 :AHRS rotation from veh to nav: [[0.746209,-0.620455,-0.241265],[0.643216,0.765395,0.021058],[0.171597,-0.170899,0.970231]]2H?ο :?~?Q??ſ! ?i2>I2;u;0YBbByB IF=F=bDN1VDN5yVX=%V=ٔVQ-V ?9XYX=Z;FyZEZUE^ ?!Q 5-E5%O?Q 9-E5%Z)% BY1y5?Q I5@%TDI%:i%:%E5y9ɮ=^A9aQeFNOT Ignoring new targets: 532.37 m.mi8mi8Q} ProNav: ac range: 532.372498 m, nav range: 502.876312 m, bearing: 38.002994 deg, approach rate: -0.556738 m/s, LOS rate: 0.003192 deg/s, cmd heading: 38.714110 deg, new cmd heading: 38.717282 deg. z}8 9QHeadingCmd: 0.675744 target range: 532.372498 and range: 535.60 m.R,?JbZB:2Ҕڔڒ’?mBɢ7@h) ;i)iqDDE EtE%E"E:*Ev:VE 4ZEBE6;a2E7;aJE`;a:E`;aԡ < ,]0?A6W>6R6?6*3ٱ6 3 >AHRS rotation from veh to nav: [[0.746158,-0.619677,-0.243408],[0.642608,0.765936,0.019944],[0.174076,-0.171297,0.969719]]6H?e (Ͽ>?`?l?"H?ſ?i6W>I6xu;6CYF2bByF IbDR$VDR!|5yZ y=%ZJ=ٔZ˻Q-Z>9\Y\=^;Fy^EbEb>dQ 5jE5f^?Q 9jE5f )f!BYhyj?Q Ij@f[DIf:if:fE5yrgBɮv9AvXE QFNOT Ignoring new targets: 532.37 m.k8k8Q% ProNav: ac range: 532.372498 m, nav range: 502.658020 m, bearing: 38.004259 deg, approach rate: -0.555400 m/s, LOS rate: 0.003219 deg/s, cmd heading: 38.717282 deg, new cmd heading: 38.721077 deg. z-] 9Q-HeadingCmd: 0.675810 target range: 532.372498 and range: 535.60 m.R--?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE?unByɢ}U) T=i)顁iAC ,J 1?AYz`bByz6 Ii}Mb@Mb@Mb@yyyy y9}Fx?l{GzY} ?y}}#}A}ےA y)}ےAyY}fAbD+VDZ5y#=%;=ٔQ->9Y=;FyEE>Q 5E5go?Q 9E5)C!BY ?Q E:y?Q I@bDI':i{:E5yɮޤAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 532.37 m.=8 =8BU>BUύCBU IBUbBBU& =BQBQBUf;BU'EQ ProNav: ac range: 532.372498 m, nav range: 502.422668 m, bearing: 38.006691 deg, approach rate: -0.539644 m/s, LOS rate: 0.005580 deg/s, cmd heading: 38.721077 deg, new cmd heading: 38.728377 deg. zu9QHeadingCmd: 0.675938 target range: 532.372498 and range: 535.60 m.RA -?JbZB:2Ҕڔڒ’Kh?=FnBɢ=)!F)A Eg>iA)a顁iI ,ǽ(1?AE"} E"oE E "E"݉:*E":VE ZE BE"E;a&2E"G;a&JE"N;a&:E"N;a*BK>Bb5?BL7ٱBu3 JAHRS rotation from veh to nav: [[0.747100,-0.617079,-0.247094],[0.640256,0.767951,0.018001],[0.178648,-0.171652,0.968824]]BH`=?ǠϿ |?@?n?`?ſ?iBK>IBv;BCY-bBy-W IIM>)M>bDe/VDe5y})=%}<=ٔ}.Q-}>9Y=;FyEE>Q 5E5?Q 9E5T)o!BYy?Q I@jDI6:i:E5ykBɮAQFNOT Ignoring new targets: 532.37 m.O8O8Q ProNav: ac range: 532.372498 m, nav range: 502.188110 m, bearing: 38.009186 deg, approach rate: -0.539862 m/s, LOS rate: 0.005746 deg/s, cmd heading: 38.728378 deg, new cmd heading: 38.735867 deg. z^|9QHeadingCmd: 0.676068 target range: 532.372498 and range: 535.60 m.R-?J b Z B :2Ҕڔڒ’!!% @mnBɢmzjL)i m>ii)qqqiu i>A=9@9 @9@9@9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229791i^A <Ii I O >ԙ P ,B1?AUk>U 5?Ut:ٱUWf4q AHRS rotation from veh to nav: [[0.747652,-0.615589,-0.249132],[0.639025,0.768984,0.017621],[0.180731,-0.172376,0.968309]]UH ?`Ͽr?@? ?@5"?gƿc?iUk>IU v;UސCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.481814YbBy{ IiMb@Mb@Mb@ 9uV?ʡEQ?Yr?yu<~A )9AY\AbD VDJz5y>%7=ٔܗQ->9Y=;FyE%<E%>)Q 55E5-$?Q 95E5-|)-!BY5 ?Q E5:y52?Q I=@-rDI-:i-#:-E5EI EMkEM'EI"EI*EM:VEM'4ZEIaU@aU@aU@aU@y]nBɮ]A]YEQ%FNOT Ignoring new targets: 532.37 m.%8%8Q5 ProNav: ac range: 532.372498 m, nav range: 501.949615 m, bearing: 38.011814 deg, approach rate: -0.497314 m/s, LOS rate: 0.005483 deg/s, cmd heading: 38.735867 deg, new cmd heading: 38.743756 deg. z5p9Q}HeadingCmd: 0.676206 target range: 532.372498 and range: 535.60 m.R}-?JbZB:2Ҕڔڒ’` @ԙ}nBɢ}yE)}[8F< ?i)顁i2B9B= IB=QcBB9B9B9B=f;B='EBЍCBЍCBƔCB% =B% =C>65@]=@]=e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733740 ^Am <A I I O>W ,`1?A RV>R4?R]<ٱRIb4 ^AHRS rotation from veh to nav: [[0.748693,-0.613675,-0.250722],[0.637181,0.770532,0.016742],[0.182915,-0.172290,0.967914]]RHL? 9` п@c?2?$?@i? ƿ'?iRV>IRu;RCYfbByf IbDnVDnr5yv=%vL=ٔYQ->9Y=;FyE!E>Q 5 E5?Q 9 E5y)!BYy?Q I@yDI ;i!;=E5yɮ£AaQeFNOT Ignoring new targets: 532.37 m.88 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985839Q ProNav: ac range: 532.372498 m, nav range: 501.729553 m, bearing: 38.014297 deg, approach rate: -0.546159 m/s, LOS rate: 0.006164 deg/s, cmd heading: 38.743756 deg, new cmd heading: 38.751208 deg. z`9QHeadingCmd: 0.676336 target range: 532.372498 and range: 535.60 m.R^$-?JbZB:A2AҔIڔIIڒI’QQU D@额nBɢCS) ?i)iCuG9Y۠A^A} q<ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238501A I I O >] ,Ry1?A2>23?2r>ٱ226 :AHRS rotation from veh to nav: [[0.749924,-0.611158,-0.253182],[0.635154,0.772191,0.017327],[0.184915,-0.173803,0.967264]]2H_?@ 4п/S?ɵ?9?J? 1?ƿ?i2>I2Ju;2C@YF#cByF I HHLN@AbDRVDR?o5yV=%ZO=ٔZQ-Z>9\Y\=^;Fy^Ebt׻Eb>dQ 5fE5fg?Q 9jE5f+w)f"BYhyj?Q Ij@fDIf:if:fgE5ypɮrrApQ FNOT Ignoring new targets: 532.37 m. 08 08Q% ProNav: ac range: 532.372498 m, nav range: 501.540802 m, bearing: 38.016480 deg, approach rate: -0.527036 m/s, LOS rate: 0.006098 deg/s, cmd heading: 38.751208 deg, new cmd heading: 38.757759 deg. z%9Q-HeadingCmd: 0.676450 target range: 532.372498 and range: 535.60 m.R-+-?J)b)Z1B1:121Ҕ9ڔ99ڒ9’AAE` @&oBɢg) &@i)iB >B ΍CB  IB cBB % =B B \DB g;B 'EFd ,1?AlYr_cByr IBDAT read: Rx Time:21:21:09.0193 TRx dataTimestamp_ set to:1761513670.356596checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742827ieMb@Mb@Mb@aaaa a9esh|??lMb?Ye ?yee=eOAe A e¶A)ehAaYabDVDk5yY>%0=ٔQ->9Y=;FyEE>Q 5E5?Q 9E5s)S"BY ?Q E:y?Q I@DI*;i);wE5yqBɮAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 532.37 m. 8 8Q ProNav: ac range: 532.372498 m, nav range: 501.297180 m, bearing: 38.018963 deg, approach rate: -0.522632 m/s, LOS rate: 0.005329 deg/s, cmd heading: 38.757758 deg, new cmd heading: 38.765210 deg. zj9Q HeadingCmd: 0.676581 target range: 532.372498 and range: 535.60 m.Rmb4-?JibiZqBq:q2qҔyڔyyڒy’y@@ doBɢG) C@i)i1S rBDAT read: Tx time:21:21:10.1459 r$Ping request sent.rbBdEOY2D0000 0)2OI2~*?i2m2333?2+(@2 Ľ2q(@ 2)2y@I2=002sJ|J?fm?Єk 2 ?)2F=I2Ddi2=00 :publishing transmit ping timep Fpublishing direction and range infoy02*Q?>bBdEOY00000 0)0I0i00000 0)0I0002sJ|J?fm?Єk 0)0I0i000>1?Dٱk: -AHRS rotation from veh to nav: [[0.754400,-0.602814,-0.259801],[0.628074,0.777927,0.018759],[0.190798,-0.177326,0.965480]]H $?@Jп`/??5?`l?ƿ 6?i>Izu;CYcBy IbDUVDUDi5y]>%e=ԉٔe,Q->9Y=;FyEqE>Q 5F5?Q 9F5oo)"BYy?Q I@DI;iB;xF5yQBɮAPEJ0R21?A2D2D23(?21>h@,YN(ǽWO2*Q?>bBdEO2Dd2=—2M&hz@;Kȟut@D@2dPpn8? ?Hۗ9ܳ?j2Cr2ECZ2D뛊?b2.z2B2,ߔ?02DCڗ2C2'?Q addTargetRange:: Added new target pos. range: 539.400024 m, deltaT: 4.284386 s, deltaX: 3.800049 m, approachRate: 0.886953 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 536.124084 m, bearing: 37.765767 deg, lat: 36.779117 deg, lon: -121.859288 deg, deltaT: 4.284386 s, deltaX: 3.751587 m, approachRate: 0.875642 m/s, posRepo size: 4 9Q]FNOT Ignoring new targets: 536.12 m.eaQu ProNav: ac range: 536.124084 m, nav range: 506.109650 m, bearing: 37.571189 deg, approach rate: 0.000000 m/s, LOS rate: 0.005329 deg/s, cmd heading: 38.765210 deg, new cmd heading: 38.774901 deg. zqQHeadingCmd: 0.676750 target range: 536.124084 and range: 539.40 m.Rx?-?JbZB:2Ҕڔڒ’@3ۀ@`B?EoBɢM,)MMY; M@iI)IIQiUqBY B] [ IB] ;dBB] & =BY B] [DB] A>A.AIIO ?6w ,A1?A,2р>21?2Fٱ2f: JAHRS rotation from veh to nav: [[0.755697,-0.600349,-0.261731],[0.625939,0.779642,0.018964],[0.192672,-0.178158,0.964954]]2H.?64п??5k? w?ƿ@?i2р>I2u;2ߐCYZcByZ5 IiMb@Mb@Mb@ 9 rh?+kt?Y ?y 0=~A9A )AY̢AbDVDa5yD>% =ٔPXQ->9 ?Y ?=;FyE쏻E >Q 5F5?Q 9F5j)#BYS ?Q E:yT"?Q I%@DI8;i;{F5y)ɮ-GA)QQUFNOT Ignoring new targets: 536.12 m.]7]7Qm ProNav: ac range: 536.124084 m, nav range: 505.805664 m, bearing: 37.571935 deg, approach rate: -0.563814 m/s, LOS rate: 0.001385 deg/s, cmd heading: 38.774902 deg, new cmd heading: 38.777143 deg. zmds8QuHeadingCmd: 0.676789 target range: 536.124084 and range: 539.40 m.RuB-?JqbqZqBy:y2yҔyڔڒ’ %?uoBɢui:)q u?iy)yyyi}<ԁiB-?%;pi \} , 1?A2a\>20?21Hٱ2&+; :AHRS rotation from veh to nav: [[0.756850,-0.598331,-0.263017],[0.624052,0.781158,0.018718],[0.194259,-0.178303,0.964610]]2H 8?@%@Fп`I20u;2ݐCYB\dByBo IbDJVDJY5lyre>%r_=ٔrPQ-v>9tYt=v;FyvEzǻEz>|Q 5F5~?Q 9F5~g)~>#BY y !?Q I @~DI~:i~:~ F5yTBɮA9Q=FNOT Ignoring new targets: 536.12 m.Eh7Eh7QU ProNav: ac range: 536.124084 m, nav range: 505.611237 m, bearing: 37.572462 deg, approach rate: -0.529821 m/s, LOS rate: 0.001437 deg/s, cmd heading: 38.777142 deg, new cmd heading: 38.778724 deg. zU}|8Q]HeadingCmd: 0.676816 target range: 536.124084 and range: 539.40 m.R]C-?JYbYZaBa:a2aҔiڔiiڒi’iiu?额)pBɢd)<< B ͍CB IB dBB ' =B B B Wg;B 'EI9 II OU >ń ,2?A Y5dBy5 IiMb@Mb@Mb@ 9Gz?~jtx/$?Y?yĻ,= AhA A)ƎAYAbD5VD5[5yE=%E)=ٔEQ-E>9IYI=M;FyMEUEU>YQ 5eF5]?Q 9eF5]@c)]#BYe ?Q Ee:yeT1?Q Im@]DI][0;i].;]F5yyɮ}KAyQFNOT Ignoring new targets: 536.12 m.''Q ProNav: ac range: 536.124084 m, nav range: 505.348053 m, bearing: 37.571361 deg, approach rate: -0.545072 m/s, LOS rate: -0.002283 deg/s, cmd heading: 38.778723 deg, new cmd heading: 38.775417 deg. zȸQHeadingCmd: 0.676759 target range: 536.124084 and range: 539.40 m.R@-?JbZB:2Ҕڔڒ’ ?ipBɢ-B) ]>i )   i {qԙ D zD AAE ~ E hE (E "E :*E ]9VE c44ZE BE h;a- 2E i;a- JE 5;a- :E 5;a- e ,-2?AF[/?FIٱFN> NAHRS rotation from veh to nav: [[0.759417,-0.593662,-0.266178],[0.620413,0.783979,0.021541],[0.195890,-0.181499,0.963683]]FH`%M?G` ѿm?`[?? ?];ǿ ~?iF >IFu;FߐCY^dBy^ IbDjVDj_5yr\>%rd=ٔrGQ-r>9tYt=v;FyvEv{OEz>xQ 5~F5z?Q 9F5z_)z#BYy=0?Q I@zDIz/;iz:zF5y WBɮAQEGS-B*** querying acoustic contact ***:)B)QFNOT Ignoring new targets: 536.12 m.? ? Q ProNav: ac range: 536.124084 m, nav range: 505.153015 m, bearing: 37.570638 deg, approach rate: -0.520552 m/s, LOS rate: -0.001930 deg/s, cmd heading: 38.775418 deg, new cmd heading: 38.773249 deg. zQHeadingCmd: 0.676721 target range: 536.124084 and range: 539.40 m.R=-?JbZB:2 Ҕ ڔ  ڒ’115 ?颍pBɢV) AM >I I O > ֑ ,=G2?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253492|](>].?])Iٱ]E? mAHRS rotation from veh to nav: [[0.760695,-0.591872,-0.266516],[0.618842,0.785191,0.022578],[0.195903,-0.182106,0.963566]]]HW?ѿ?H ??[? AOǿ@?i](>I]Uu;]ސCY} eBy} IEx EnEE"Eˀ:*E:VEZEa@a@a@a@i5Mb@Mb@Mb@1111 195-?9Y=;FyELE>Q 5F5%?Q 9F5[[)$BY?Q E:yU9?Q I@DI:i/: F5y ɮ LA )Q5FNOT Ignoring new targets: 536.12 m.5ئ=ئQM ProNav: ac range: 536.124084 m, nav range: 504.887543 m, bearing: 37.568581 deg, approach rate: -0.587873 m/s, LOS rate: -0.004558 deg/s, cmd heading: 38.773249 deg, new cmd heading: 38.767074 deg. zM7HQUHeadingCmd: 0.676613 target range: 536.124084 and range: 539.40 m.RU6-?JQbQZQBQ:Q2YҔYڔYYڒa’aae@8@颕pBɢI) BQBU IBUleBBQBQBQBUTg;BU'EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503104^AU <I I O >y & ,a2?A6 >6W].?62Iٱ6,? >AHRS rotation from veh to nav: [[0.761844,-0.590489,-0.266302],[0.617476,0.786251,0.023084],[0.195750,-0.182021,0.963613]]6Ha? I@ ѿ@\?`(?4?`V?@yLǿ ?i6 >I6u;6CYFWeByF IbDRVDRU5yVFj>%Zv=ٔZ}9Q-Z?9XY\=^;Fy^E^PEb?`Q 5fF5bn1?Q 9jF5bX)b3$BYhyj8?Q Ij@bDIb:ibN:bF5yn[BɮrApQ FNOT Ignoring new targets: 536.12 m. t tQ ProNav: ac range: 536.124084 m, nav range: 504.699463 m, bearing: 37.567161 deg, approach rate: -0.566050 m/s, LOS rate: -0.004274 deg/s, cmd heading: 38.767075 deg, new cmd heading: 38.762814 deg. z%;Q%HeadingCmd: 0.676539 target range: 536.124084 and range: 539.40 m.R-1-?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99=`@YmqBɢm e)i u:iq)qqqiuE < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007283^A 0;A؟AI9IQOm>3 ,2?Ab,S>b!.?bIٱb> nAHRS rotation from veh to nav: [[0.762759,-0.589680,-0.265475],[0.616422,0.787086,0.022797],[0.195509,-0.181033,0.963848]]bHh?@п ?@/?X?m? ,ǿ@?ib,S>Ib/t;bCYr{eByr IbD~VD~CR5y =% (=ٔ :Q->9"?Y"?=;FyE*@E%>!Q 5-F5%B?Q 95F5%NS)%x$BY1y5}8?Q I5@%DI%;i%H;%DF5y9ɮEwAAaQmFNOT Ignoring new targets: 536.12 m.mmQ} ProNav: ac range: 536.124084 m, nav range: 504.424988 m, bearing: 37.565133 deg, approach rate: -0.565839 m/s, LOS rate: -0.004183 deg/s, cmd heading: 38.762813 deg, new cmd heading: 38.756726 deg. z7QHeadingCmd: 0.676432 target range: 536.124084 and range: 539.40 m.R*-?JbZB:2Ҕڔڒ’ @颍BqBɢMO ;)U; ]sB- ̍CB- t IB- fBB) B) B) B- g;B- 'EB͍CB͍CBɓCB' =B' =Cɵ=5M ]6f-?6AHٱ6< >AHRS rotation from veh to nav: [[0.763942,-0.588830,-0.263956],[0.615189,0.788059,0.022490],[0.194770,-0.179563,0.964273]]6H5r?п`?7?~?9?ƿ R?i6o>I6t;6CYFeByFH IN>N=iMb@Mb@Mb@ 9x?l? rh?YK?y=C<~A A)$AYA15AAbD5VD5`5yE=%E =ٔM:Q-M>9QYQ=U;FyUEUoAE]>YQ 5eF5]W?Q 9mF5]9M)]$Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763040Ym?Q E:y??Q I@]DI]i-?bEE3jEEm4rEEۋ0E EEE"E*EC:VEZEa@a@a@a@&Hٱt: AHRS rotation from veh to nav: [[0.764282,-0.588832,-0.262964],[0.614757,0.788430,0.021277],[0.194800,-0.177921,0.964571]]H@u?@eп?`:?ɕ?`1?`ƿ@?i&>It;ސCY-fBy-q IiMb@Mb@Mb@ 91Zd?ˡE?Y"?y'=AŽA A)QAYQAbDVDY5y2=%=ٔrMQ->9Y=;FyEoE>Q 5F5n?Q 9F5F) %BY }?Q E :y >?Q I @DI]:i:'F5yɮAGS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 536.12 m.MMQ] ProNav: ac range: 536.124084 m, nav range: 503.720215 m, bearing: 37.557908 deg, approach rate: -0.623981 m/s, LOS rate: -0.006363 deg/s, cmd heading: 38.746225 deg, new cmd heading: 38.735039 deg. z]QeHeadingCmd: 0.676054 target range: 536.124084 and range: 539.40 m.Re-?JabiZiBi:i2iҔڔ ڒ)’115թ@}qBɢ}.) =i)顁i@BB IBfBBBBZDBg;B(EA=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519316- ?B;i @  @ @ 0@ @ @ ԙ ^Ay;A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771184E-r E-jE-&E)"E-k:*E-9VE-4ZE)BE-ˎ;aE2E-̎;aEJE-\<;aE:E-\<;aEAIIYIiO? ,ޫ2?An>nQ-?nHٱn6 zAHRS rotation from veh to nav: [[0.764514,-0.589586,-0.260588],[0.614489,0.788713,0.018310],[0.194734,-0.174127,0.965276]]nHv?`@zп@?@#=?˿? ?Iƿ`?in>In%t;nCYSfBy IbDVDZ5y%>%%=ٔ%99Q-->9)Y)=5;Fy5E56E5>9Q 5EF5=ˁ?Q 9EF5=,A)=D%BYAyM>?Q IM@=DI=Y;i=e;=K,F5yU>BɮURAUIEiyQFNOT Ignoring new targets: 536.12 m.ݸݸQ ProNav: ac range: 536.124084 m, nav range: 503.412567 m, bearing: 37.554780 deg, approach rate: -0.595328 m/s, LOS rate: -0.006057 deg/s, cmd heading: 38.735038 deg, new cmd heading: 38.725648 deg. zQHeadingCmd: 0.675890 target range: 536.124084 and range: 539.40 m.R!-?JbZB:2Ҕڔڒ’@@rBɢ>)a e ,) 3?AE>q E>qE>#E<"E>2h:*E>$ :VE>3ZE%- =ٔ-Q-->91Y1=5;Fy5E5E=>9Q 5EF5=?Q 9MF5=;)=x%BYM?Q EM:yM8?Q IM@=DI=P ;i= ;=0F5y]ABɮ]֛AYyQFNOT Ignoring new targets: 536.12 m.Q ProNav: ac range: 536.124084 m, nav range: 503.109619 m, bearing: 37.552516 deg, approach rate: -0.595926 m/s, LOS rate: -0.004456 deg/s, cmd heading: 38.725646 deg, new cmd heading: 38.718850 deg. zCQHeadingCmd: 0.675771 target range: 536.124084 and range: 539.40 m.R[,?JbZB:2Ҕڔڒ’@~@\rBɢJ:) Ki >B۾>BˍCBIBgBBBBB h;B4(E@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527048^Ajb; A .AI I) O5 > ,%3?A2>2T-?2`BHٱ2:3 >AHRS rotation from veh to nav: [[0.764554,-0.590566,-0.258241],[0.614570,0.788703,0.015840],[0.194321,-0.170818,0.965951]]2H:w? п?=??8??Yſ ?i2>I2¿t;0YFfByF IbDNVDN\5yV=%Vh=ٔV1:Q-Z>9Z ?YZ ?=Z;FyZE^8E^>`Q 5fF5bZ?Q 9fF5b>8)b%BYdyf8?Q Ij@bDIbW:ib:b3F5ylɮnAlQFNOT Ignoring new targets: 536.12 m. q qQ ProNav: ac range: 536.124084 m, nav range: 502.899323 m, bearing: 37.550940 deg, approach rate: -0.595358 m/s, LOS rate: -0.004465 deg/s, cmd heading: 38.718850 deg, new cmd heading: 38.714118 deg. z!DQHeadingCmd: 0.675689 target range: 536.124084 and range: 539.40 m.R,?JbZB:2Ҕڔڒ’^%@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779196rBɢT) <=i)i#(A ,j?3?A0B>BZ@-?BeGٱB1 NAHRS rotation from veh to nav: [[0.764831,-0.590947,-0.256545],[0.614405,0.788856,0.014594],[0.193753,-0.168785,0.966422]]BH`~y? ???@ſ?iB>IByt;BߐCYRfByVI XXbD^VD^T5yf*=%fF=ٔj(:Q-j>9j"?Yj"?=j;FyjErCEr>tQ 5zF5v?Q 9zF5v3)v%BYxyz8?Q Iz@vDIv):iv :vp7F5yEBɮ@AJE)Q-FNOT Ignoring new targets: 536.12 m.5⢸5⢸QE ProNav: ac range: 536.124084 m, nav range: 502.653320 m, bearing: 37.549101 deg, approach rate: -0.595053 m/s, LOS rate: -0.004450 deg/s, cmd heading: 38.714117 deg, new cmd heading: 38.708597 deg. zEvCQMHeadingCmd: 0.675592 target range: 536.124084 and range: 539.40 m.RM,?JIbIZIBI:Q2QҔQڔYYڒY’Yae@rBɢ sX)  ]=i ) iBq Bu hIBu gBBq Bq Bu YDBu Nh;Bu H(E Aa Ii Iy O > ,Y3?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5350266b>6;'-?6@Gٱ6P/ BAHRS rotation from veh to nav: [[0.765127,-0.591132,-0.255233],[0.614161,0.789064,0.013596],[0.193358,-0.167156,0.966784]]6H`{?Uп4?@? ؋?`?aeſ?i6b>I6t;6ސCYJgByJI|iuMb@Mb@Mb@qqqq q9u~jt?MbP?~jtYu?yu:uDudAuhA uA)uAqYuAbDVDCR5y(h=%?=ٔv:Q->9Y=;FyEkE>Q 5F5?Q 9F5/)%BY?Q E:y,?Q I@DI:i:);F5y!BɮA@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 536.12 m.Q ProNav: ac range: 536.124084 m, nav range: 502.398254 m, bearing: 37.548542 deg, approach rate: -0.597918 m/s, LOS rate: -0.001311 deg/s, cmd heading: 38.708598 deg, new cmd heading: 38.706920 deg. zcfQHeadingCmd: 0.675563 target range: 536.124084 and range: 539.40 m.R,?JbZB!:!2!Ҕ!ڔ))ڒ)’))54q@erBɢm;S)q u ?i1)999i=B ,ls3?A2PG>22,?2_Fٱ22/ :AHRS rotation from veh to nav: [[0.765607,-0.590669,-0.254867],[0.613681,0.789431,0.013913],[0.192982,-0.167059,0.966876]]2H`?OпF?C?g~??`-bſ@?i2PG>I2t;2ߐCY^;gBy^3IbDfVDf%_5ynx>%rW=ٔr:Q-r>9pYt=v;FyvEvuEv>xQ 5~F5z?Q 9~F5z ,)z&BYy,?Q I@zDIz;iz;zy>F5y $Bɮ AAE1Q5FNOT Ignoring new targets: 536.12 m.==QM ProNav: ac range: 536.124084 m, nav range: 502.171143 m, bearing: 37.548061 deg, approach rate: -0.600004 m/s, LOS rate: -0.001270 deg/s, cmd heading: 38.706921 deg, new cmd heading: 38.705479 deg. zM._QUHeadingCmd: 0.675538 target range: 536.124084 and range: 539.40 m.RU,?JQbQYZYBa:a2aҔiڔiiڒi’iiu @额#sBɢ [) v>i)顡i ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297412[. ,W3?AE2v E2gE2"E0"E2Vz:*E2&9VE2(3ZE0a6@a6@a6@a6@N>NP,?NbFٱN,- VAHRS rotation from veh to nav: [[0.766171,-0.590483,-0.253596],[0.613119,0.789880,0.013183],[0.192526,-0.165584,0.967220]]NHy?`=:п?`F?~??1ſ`x?iN>INt;NCY^_gBy^IIIb4=)b=iMb@Mb@Mb@ 9^I +?Q{GzYX?yu#QA A dA)AY(AԱ p<bDVDY5y=%<=ٔ݋:Q->9Y=;FyEE>Q 5F5?Q 9F5')N&BYi?Q E:y%?Q I@DI ;i" ;GBF5yɮԙA!Q%FNOT Ignoring new targets: 536.12 m.-@&7-@&7Q= ProNav: ac range: 536.124084 m, nav range: 501.914520 m, bearing: 37.548308 deg, approach rate: -0.589222 m/s, LOS rate: 0.000568 deg/s, cmd heading: 38.705480 deg, new cmd heading: 38.706222 deg. z=7QEHeadingCmd: 0.675551 target range: 536.124084 and range: 539.40 m.RE,?JAbAZABA:I2IҔQڔQQڒQ’QY] @颅YsBɢUM) ?i)顉iB-ɍCB-IB-hBB-) =B)B-XDB-h;B-d(E@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553359)^A2;I I O >1 \ ,A3?AY gBy bIbD%VD%Z5y5=%5T=ٔ5Q-5>99Y9==;Fy=EEEE>IQ 5UF5M9?Q 9UF5M`$Q =UtI)Mx&BYQyQQ I]@MDIM ;iM ;MEF5ye(BɮeAaQFNOT Ignoring new targets: 536.12 m.n&7n&7Q ProNav: ac range: 536.124084 m, nav range: 501.687500 m, bearing: 37.548527 deg, approach rate: -0.589349 m/s, LOS rate: 0.000568 deg/s, cmd heading: 38.706221 deg, new cmd heading: 38.706878 deg. z7 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803821QHeadingCmd: 0.675562 target range: 536.124084 and range: 539.40 m.R,?JbZ!B!:!2!Ҕ)ڔ))ڒ)’115qL@]sBɢ]cW)a eH@ia)aaaime checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055057ԑ < ,3?A2>2^4,?25fEٱ2fH, >AHRS rotation from veh to nav: [[0.767670,-0.589190,-0.252067],[0.611538,0.791103,0.013289],[0.191581,-0.164351,0.967619]]2H ?!пฑ?P?7??p ſ ?i2>I2/~t;0Y^gBy^sIbDfVDfX5yn=%nQ=ٔrZ!;Q-r>9pYp=r;FyrEvEEv>xQ 5~F5z?Q 9~F5z )z&BY|y%?Q I@z%DIz;iz;zIF5y ɮ YA 1Q5FNOT Ignoring new targets: 536.12 m.=Q7=Q7QM ProNav: ac range: 536.124084 m, nav range: 501.456909 m, bearing: 37.548807 deg, approach rate: -0.589786 m/s, LOS rate: 0.000717 deg/s, cmd heading: 38.706877 deg, new cmd heading: 38.707718 deg. zM7QUHeadingCmd: 0.675577 target range: 536.124084 and range: 539.40 m.RU,?JQbQZQBQ:Y2YҔYڔaaڒa’aamf @颕sBɢa_) < oAi)顙iA) A) B5 Ǿ>B1 B5 IB5 \hBB1 B1 B1 B5 h;B5 x(EBˍCBʍCBȔCBB( =C,i5 f ,3?A2s>2+?2bDٱ2um+ :AHRS rotation from veh to nav: [[0.768659,-0.588269,-0.251203],[0.610438,0.791953,0.013287],[0.191125,-0.163557,0.967843]]2Hژ?п@?W?.6?`v?qĿ ?i2s>I2;2t;2ߐCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.559188YJgByJIiMb@Mb@Mb@ 9S?Mby&1|Y?y`^A  A)SAYAbDVD)Y5yŒ=%?=ٔ:Q->9Y=;FyEdE>Q 5F5m?Q 9F5)&BY?Q E:y?Q I@.DIU;iK;LF5y+Bɮ(ABEGS5B*** querying acoustic contact ***:1B1IQUFNOT Ignoring new targets: 536.12 m.]"@8]"@8Q} ProNav: ac range: 536.124084 m, nav range: 501.200165 m, bearing: 37.549962 deg, approach rate: -0.583350 m/s, LOS rate: 0.002625 deg/s, cmd heading: 38.707717 deg, new cmd heading: 38.711182 deg. z}8QHeadingCmd: 0.675638 target range: 536.124084 and range: 539.40 m.R,?JbZB:2Ҕڔڒ’`J!@颵sBɢI) Ci)项iFh 7l> C5 EGA Y q9 Y oAY ,3?A2->2fm+?2Dٱ2[* :AHRS rotation from veh to nav: [[0.769651,-0.587366,-0.250278],[0.609306,0.792828,0.013075],[0.190748,-0.162559,0.968086]]2H@?п`n?@^?NJ?kj? Ŀ?i2->I2j't;0YZgBy^IbDfVDfY5yz6>%zU=ٔz:Q-~>9|Y|=~;Fy~EȃE> Q 5F5 "?Q 9F5 h) 'BYyR?Q I@ 5DI ;i +; 'PF5y!ɮ%ĘA!IQMFNOT Ignoring new targets: 536.12 m.UtO8]tO8Qe ProNav: ac range: 536.124084 m, nav range: 500.974884 m, bearing: 37.551016 deg, approach rate: -0.605716 m/s, LOS rate: 0.002834 deg/s, cmd heading: 38.711183 deg, new cmd heading: 38.714345 deg. zm8QmHeadingCmd: 0.675693 target range: 536.124084 and range: 539.40 m.Ru4,?JqbqZqBq:q2yҔyڔyyڒ’ "@m tBɢmf)q uBiq)qqqiuoiM>߉ߍR=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063631@ @@ 0@Q^A?BɺII IY Oe >ԁ U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317401| ,k4?AbEIjEM4rEM '0E*g E(E*#E("E*C:*E(VE*3ZE(a>@a>@a>@a>@@YhByIiMb@Mb@Mb@ 9On?ktMb`Y?y 0GAA A)AY(AbDeVDev[5yu!f=%}4=ٔ}Q-}>9Y=;FyEE>Q 5F5y5?Q 9F5z)9'BY?Q E:y?Q I@=DI:iH:TF5y/BɮAB>BǍCBIBhBBBBWDBi;B(EQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 500.709625 m, bearing: 37.552803 deg, approach rate: -0.579562 m/s, LOS rate: 0.003907 deg/s, cmd heading: 38.714345 deg, new cmd heading: 38.719711 deg. z+9Q HeadingCmd: 0.675786 target range: 536.124084 and range: 539.40 m.R W-?JbZB:2Ҕڔڒ’!!%"@MWtBɢUQ)Q UDiQ)QQYi] 2͚*?2Cٱ2* :AHRS rotation from veh to nav: [[0.771751,-0.584799,-0.249821],[0.606945,0.794604,0.014918],[0.189785,-0.163140,0.968177]]2H/?#Ͽl?em?B?`J? ĿN?i2>I2t;2CYB*hByBIDFAbDNVDN)Y5yVs=%V3=ٔV ;Q-V>9XYX=Z;F1yEEMݻEM>QQ 5]F5UH?Q 9]F5Ub)Us'BYYy]?Q I]@UFDIUw:iUF:UEXF5yiɮmfAiQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 500.431824 m, bearing: 37.554779 deg, approach rate: -0.589649 m/s, LOS rate: 0.004197 deg/s, cmd heading: 38.719711 deg, new cmd heading: 38.725642 deg. zT89QHeadingCmd: 0.675890 target range: 536.124084 and range: 539.40 m.R -?JbZB:2Ҕڔڒ’d#@tBɢvL) dFi)iy=! E ,I4?A2>23*?2I2t;2ސCYBLhByBIbDNVDN O5yV=%VJ=ٔV07:Q-V>9XYX=Z;FyZE^OE^>`Q 5fF5bX?Q 9fF5b)b'BYdyf?Q If@bMDIb:ib:b[F5ynBɮnAn9EQFNOT Ignoring new targets: 536.12 m. N8 N8Q ProNav: ac range: 536.124084 m, nav range: 500.206116 m, bearing: 37.556427 deg, approach rate: -0.584507 m/s, LOS rate: 0.004270 deg/s, cmd heading: 38.725643 deg, new cmd heading: 38.730590 deg. z;9Q%HeadingCmd: 0.675976 target range: 536.124084 and range: 539.40 m.R% -?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’19=$@颅tBɢa) >Gi)2Acoustic response timeoutԱ顉)i53"BeƍCBeIIBehBBe+ =BeEDBeUDBaBe(Eq 9@  @ @ 4@ @ =@ E 2Acoustic response timeout1 ^A- &tiIIO%>  ,tAi4?A2>2a)?2SCٱ2) :AHRS rotation from veh to nav: [[0.773513,-0.582999,-0.248575],[0.604758,0.796281,0.014312],[0.189592,-0.161398,0.968507]]2H?`RϿ`-Z?!{?O?D?Ŀ?i2>I2,)t;2ߐCY^hBy^I ``b=b=iMb@Mb@Mb@2Acoustic response timeout 9On?S㥫~jthYy/]DASA )IAYGAbDVD`5ye=%=ٔv&Q->9Y!=%;Fy%E-4E->1Q 5EF55Uo?Q 9EF55 )5'BYM3?Q EM:yM`?Q IM@5XDI5K;i5K;5d`F5yYɮ])AaiGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 499.888367 m, bearing: 37.559484 deg, approach rate: -0.578462 m/s, LOS rate: 0.005569 deg/s, cmd heading: 38.730591 deg, new cmd heading: 38.739767 deg. zt9E-k E-`E-$E)"E-mR:*E-9VE-4ZE)BE-q;a=2E-q;a=JE-;a=:E-;a=QEHeadingCmd: 0.676136 target range: 536.124084 and range: 539.40 m.RMH-?JIbIZIBI:I2IҔQڔQQڒQ’YY]%@uBɢ1.<) Gi)iA" , 4?A2yt>2ɐ)?2|aCٱ2&)( :AHRS rotation from veh to nav: [[0.774230,-0.582262,-0.248070],[0.603823,0.796998,0.013852],[0.189646,-0.160516,0.968643]]2H`}?ϿR?`?^?QF? ƋĿ?i2yt>I2s;0YJhByJIbDRVDR.S5yZl=%Zd=ٔ^ Q-^>9)Y)=-;Fy-E5SE5>9Q 5EF5=~?Q 9EF5=q)=(BYAyE?Q IM@=_DI=:i=:=cF5yUBɮUAU:EqQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 499.671783 m, bearing: 37.561600 deg, approach rate: -0.594141 m/s, LOS rate: 0.005806 deg/s, cmd heading: 38.739767 deg, new cmd heading: 38.746117 deg. z9QHeadingCmd: 0.676247 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’ !|&@/uBɢNr) Hi)i!P$B>BčCBIBZiBB. =BBTDBh;Bt(E) 9& ,~4?A&2Acoustic response timeout$:O>:M)?:yCٱ:A' bAHRS rotation from veh to nav: [[0.774828,-0.581649,-0.247642],[0.603015,0.797618,0.013325],[0.189773,-0.159656,0.968760]]:H d?`ݜາϿ K??J?}J? oĿ?i:O>I:s;:CYzhByz5IiMb@Mb@Mb@ 9zG?y&1Y ?y`e3AA A)AYAbDVDWQ5y%k=%%5=ٔ%ԖQ-->9)Y)=-;Fy-E5E5>9Q 5EF5=Đ?Q 9EF5=)=G(BYE?Q EE:yM?Q IM@=gDI=:i=<:=rgF5yUBɮUAQyQ}FNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 499.419434 m, bearing: 37.564202 deg, approach rate: -0.577160 m/s, LOS rate: 0.005955 deg/s, cmd heading: 38.746116 deg, new cmd heading: 38.753927 deg. zł9QHeadingCmd: 0.676384 target range: 536.124084 and range: 539.40 m.Rz'-?JbZB:2Ҕڔڒ’5`c'@]fuBɢ]S)Y ]yHia)aaaie6% - ,4?A22j>2 )?2(Cٱ2E' :AHRS rotation from veh to nav: [[0.775393,-0.580710,-0.248078],[0.602201,0.798227,0.013724],[0.190053,-0.160034,0.968643]]2H`? ,@Ͽ ;E?`??S?{Ŀ`?i22j>I2ns;2ސCtYiByKII%=)%4=bD5VD5.S5yEr=%EZ=ٔMFQ-M>9IYI=U;FyUEU/EU>YQ 5eF5]I?Q 9eF5])]u(BYiym?Q Im@]nDI]:i]:]jF5yqɮuPAqQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 499.202332 m, bearing: 37.566469 deg, approach rate: -0.577115 m/s, LOS rate: 0.006027 deg/s, cmd heading: 38.753926 deg, new cmd heading: 38.760729 deg. z]9QHeadingCmd: 0.676502 target range: 536.124084 and range: 539.40 m.RB/-?JbZB:2Ҕڔڒ’@@(@uBɢ(m) Hi)   i 'i  BDAT read: Rx Time:21:21:21.9672  TRx dataTimestamp_ set to:1761513683.216626 2Acoustic response timeoutEu g Eu _Eu #Eq "Eu C:*Eu r9VEu 3ZEq a @a @a @a @4 ,y@4?A >~(?Dٱ& AHRS rotation from veh to nav: [[0.776141,-0.579656,-0.248202],[0.601015,0.799130,0.013102],[0.190751,-0.159342,0.968620]]H %?Ͽ;?@y?'Պ?j?`TeĿ?i>Is;CY iBy]IAAB>BCBIBiBB3 =BBRDBi;B(Ei}Mb@Mb@Mb@yyyy y9}x?S㥫{Gzt?Y}K?y}/]}ף;y}A }A)yyY}AbDVDL5yNy=%.=ٔǺQ->9Y=;FyEFE>Q 5 F5?Q 9F5)(BY?Q E:y|?Q I@vDI:i:nF5y%Bɮ%#A%;EAQMFNOT Ignoring new targets: 536.12 m.M 8M 8Qe ProNav: ac range: 536.124084 m, nav range: 498.931641 m, bearing: 37.569192 deg, approach rate: -0.578289 m/s, LOS rate: 0.005821 deg/s, cmd heading: 38.760729 deg, new cmd heading: 38.768903 deg. ze9QmHeadingCmd: 0.676645 target range: 536.124084 and range: 539.40 m.Rm8-?JibiZiBi:i2qҔqڔqqڒy’yy} )@颭uBɢRQ) Ji)顱i' 5_F: ,4?A2Acoustic response timeoutԙEf E]E!E"EI@:*E9VEc3ZEBEYR;a2E\R;aJE ;a:E ;a->-(?-Dٱ-& }AHRS rotation from veh to nav: [[0.776307,-0.579360,-0.248374],[0.600681,0.799386,0.012803],[0.191130,-0.159133,0.968579]]-H?Ͽ@8??U8?`v?u^Ŀ`?i->I-!@s;)YYiByIbDVD{U5y>%==ٔiQ->9Y=;FyE_E> Q 5 F5 ?Q 9F5 ^) (BYyc?Q I@ ~DI :i : rF5y9ɮEAAGS]B*** querying acoustic contact ***:aBaiQmFNOT Ignoring new targets: 536.12 m.u8u8Q ProNav: ac range: 536.124084 m, nav range: 498.679413 m, bearing: 37.571743 deg, approach rate: -0.571523 m/s, LOS rate: 0.005785 deg/s, cmd heading: 38.768902 deg, new cmd heading: 38.776561 deg. z~9QHeadingCmd: 0.676779 target range: 536.124084 and range: 539.40 m.R^A-?JbZB:2Ҕڔڒ’)@ԹuBɢW) OJi)顙i(% T@ % q=)% x@I% q! % ͩqW{(i?[A? % 6@)% eI% =i% q 2Acoustic response timeout ^A- 2DA) zA- jA9Ae.AIiIyO>OHB ,Œ 5?A2 U>2(?2YEٱ2% :AHRS rotation from veh to nav: [[0.776437,-0.579268,-0.248184],[0.600384,0.799623,0.011946],[0.191533,-0.158281,0.968639]]2H? \`}ϿX6??9w?*?BĿ?i2 U>I2|s;0YBiByBI DDbDLVDLyRX>%V[=ٔVQ-V>9Z ?YZ ?=Z;FyZE^cE^>`Q 5bF5b?Q 9fF5bY)b)BYdyfL?Q If@bDIb@;ibn;buF5ynBɮn_Al|QFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 498.466461 m, bearing: 37.573908 deg, approach rate: -0.585072 m/s, LOS rate: 0.005950 deg/s, cmd heading: 38.776562 deg, new cmd heading: 38.783058 deg. z9QHeadingCmd: 0.676892 target range: 536.124084 and range: 539.40 m.R%H-?J!b!Z!B!:!2!Ҕ)ڔ)1ڒ1’115 0*@])vBɢe_jm)a eJia)ai*BBIBjBB4 =BBB_i;B(EB}čCB}čCB}ŕCB}. =B}/ =C}d6 ^ANJNA  = = 2Acoustic response timeoutA5 ؟AIA I O >fjH ,4L#5?A2%>2i(?2Eٱ2 y& >AHRS rotation from veh to nav: [[0.776619,-0.578796,-0.248711],[0.600072,0.799850,0.012371],[0.191771,-0.158852,0.968499]]2H? @Ͽ3?_? V?? BUĿ@?i2%>I2r;2CYFiByFIiEMb@Mb@Mb@AAAA A9E5^I ?p= ף{Gzt?YE?yEAEףAEIA E=A)E5AAYE\AbD]VD]CR5ym =%m?=ٔuuQ-u>9u"?Yu"?=};Fy}E}H`E}>Q 5F5?Q 9F5)S)BY?Q E:y ?Q I@DI:i:yF5yBɮ#AQFNOT Ignoring new targets: 536.12 m.99Q ProNav: ac range: 536.124084 m, nav range: 498.218597 m, bearing: 37.576962 deg, approach rate: -0.579964 m/s, LOS rate: 0.007149 deg/s, cmd heading: 38.783057 deg, new cmd heading: 38.792224 deg. z9QHeadingCmd: 0.677052 target range: 536.124084 and range: 539.40 m.RHS-?JbZB:2Ҕڔڒ’+@-\vBɢ-2])) -;Li))111i5x,N ,@=5?ARr(?^2Acoustic response timeoutRcEٱRSt& nAHRS rotation from veh to nav: [[0.776476,-0.578877,-0.248969],[0.600148,0.799797,0.012113],[0.192113,-0.158824,0.968436]]RH?* :Ͽi4??Έ?*?TTĿl?iR8>IRdr;RߐCYziBy~IbDVDT5y-R>%-N=ٔ-UfQ-5>95 ?Y5 ?=5;Fy5E=9E=>AQ 5MF5ER?Q 9MF5E)E)BYIyU ?Q IU@EDIE;iEa;E}F5y]Bɮ]A]2EQFNOT Ignoring new targets: 536.12 m.99Q ProNav: ac range: 536.124084 m, nav range: 497.988403 m, bearing: 37.579797 deg, approach rate: -0.580277 m/s, LOS rate: 0.007150 deg/s, cmd heading: 38.792223 deg, new cmd heading: 38.800733 deg. z9QHeadingCmd: 0.677201 target range: 536.124084 and range: 539.40 m.R]-?JbZB:2Ҕڔڒ’AAE7h,@ԡvBɢS) fJi)i,A >B A 4=B >B CB =IB jBB B B B i;B (EA ؟AI I O >&U ,xX5?A2on>2č(?2;Fٱ2& ^AHRS rotation from veh to nav: [[0.776190,-0.579277,-0.248934],[0.600433,0.799592,0.011510],[0.192378,-0.158402,0.968452]]2H?`o@Ͽ@6?A??`ן?FĿ`?i2on>I2Yr;2CYbjByfIiMb@Mb@Mb@ 9^I +?Q9"?Y"?=;FyEzq:E>Q 5F5 ?Q 9F5))BY ?Q E:yS?Q I@DIT ;i ;F5yɮAQFNOT Ignoring new targets: 536.12 m. J8 J8Q ProNav: ac range: 536.124084 m, nav range: 497.729004 m, bearing: 37.582674 deg, approach rate: -0.584197 m/s, LOS rate: 0.006483 deg/s, cmd heading: 38.800734 deg, new cmd heading: 38.809370 deg. z_9QHeadingCmd: 0.677351 target range: 536.124084 and range: 539.40 m.Rf-?JbZB:2Ҕڔ2Acoustic response timeoutڒ!’!)5A-@avBɢ~\) MJi)i. \ , }r5?AHZ:>Z*(?ZjFٱZ& fAHRS rotation from veh to nav: [[0.775764,-0.579740,-0.249183],[0.600888,0.799255,0.011181],[0.192679,-0.158404,0.968392]]ZH ?;6Ͽx:????FĿ ?iZ:>IZr;ZCYnkjByn)IbDvVDv.S5y~G>%~V=ٔRQ->9Y=;Fy E :E >Q 5F5?Q 9F5))BY!y%|?Q I%@DIy:ip:GF5y-Bɮ- A)GSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 536.12 m.e8e8Q ProNav: ac range: 536.124084 m, nav range: 497.505676 m, bearing: 37.585137 deg, approach rate: -0.583685 m/s, LOS rate: 0.006440 deg/s, cmd heading: 38.809371 deg, new cmd heading: 38.816763 deg. zo9QHeadingCmd: 0.677480 target range: 536.124084 and range: 539.40 m.RZo-?JbZB:2Ҕڔڒ’  `-@UvBɢ]k)Y ]3HiY)YYaie%/2b ,)B5?A2>2(?2AFٱ2m% :AHRS rotation from veh to nav: [[0.775364,-0.580363,-0.248976],[0.601350,0.798917,0.010457],[0.192843,-0.157830,0.968453]]2H?UvϿB>?ຐ?|j?? 3Ŀ@?i2>I2/r;2ސCYBjByBHIbDJVDJQ5yR>%VQ=ٔV߹Q-V>9TYX=Z;FyZEZ:EZ>\Q 5bF5^X*?Q 9fF5^)^.*BYdyf?Q If@^DI^W:i^N:^F5yjBɮjAl|QFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 497.276794 m, bearing: 37.587648 deg, approach rate: -0.585296 m/s, LOS rate: 0.006424 deg/s, cmd heading: 38.816764 deg, new cmd heading: 38.824300 deg. z9Y2Acoustic response timeoutQHeadingCmd: 0.677612 target range: 536.124084 and range: 539.40 m.Rw-?JbZB:2Ҕڔڒ’.@5wBEt EUE"E"Es:*EP9VE(3ZEa @a @a@a@ɢm``)! -Gi))顑i*1BBIBkBBBBBi;B(E59@9 @9@=<3@9@E=@E=ԹU DAT read: 21:21:24.5875 LVL= 19360, 26897, 21538, 25811, AGC= 78, IDX= 123, 0.45, 0.079,-1.495, 0.282,-0.228, PHS= 0.409,-1.222, 0.465, RAW= 151.7, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 ] Ygot valid direction response: 21:21:24.5875 LVL= 19360, 26897, 21538, 25811, AGC= 78, IDX= 123, 0.45, 0.079,-1.495, 0.282,-0.228, PHS= 0.409,-1.222, 0.465, RAW= 151.7, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 e DAT read: e DDAT read: $Packet for address 10 m i- j- {>- Us)@- Q =- q(@ - Q =)- y@I- Q ) - %(?U0?ß? - Յ ?)- BI- Ddi- Q  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ^A ONA! zA% hAAI IY Ii Ou >i ,5?A>>>)?>Fٱ>$ FAHRS rotation from veh to nav: [[0.774785,-0.581257,-0.248693],[0.602019,0.798426,0.009427],[0.193084,-0.157022,0.968536]]>H ?-Ͽ`C??}N?@?JĿ @?i>>I>q;>CHYNjByRgIi%Mb@Mb@Mb@!!!! !9%7A`?QZd;O?Y%?y!%j<%pA! %A)!!Y%דAbD=VD=RW5yM=%M1=ٔU Q-U>9QYY=];Fy]E]:E]>aQ 5mF5e<=?Q 9mF5e)es*BYul?Q Eu:yuD?Q Iu@eDIe ;ie ;eF5y}Bɮ}XA3EQFNOT Ignoring new targets: 536.12 m.-8-8QE ProNav: ac range: 536.124084 m, nav range: 497.012726 m, bearing: 37.590472 deg, approach rate: -0.570682 m/s, LOS rate: 0.006107 deg/s, cmd heading: 38.824301 deg, new cmd heading: 38.832779 deg. zE9QuHeadingCmd: 0.677760 target range: 536.124084 and range: 539.40 m.Ru-?JbZB:2Ҕڔڒ’ڷ/@%TwBɢ-XO)) -6Hi)))11i5z1op ,H5?A2 >2[)?2{=Gٱ2Uh$ :AHRS rotation from veh to nav: [[0.774151,-0.582053,-0.248807],[0.602751,0.797880,0.008888],[0.193345,-0.156849,0.968512]]2H?-ϿI?I2Yq;2ߐCYBkByFIbDNVDN3M5yV.>%VV=ٔV6Q-V>9XYX=Z;FyZE^7);E^>|!Q 5-F5%\M?Q 95F5%)%*BY1y5?Q I5@%DI%9:i%:%1F5yAɮEґAAaQmFNOT Ignoring new targets: 536.12 m.m8m8Q ProNav: ac range: 536.124084 m, nav range: 496.787170 m, bearing: 37.592862 deg, approach rate: -0.571211 m/s, LOS rate: 0.006054 deg/s, cmd heading: 38.832778 deg, new cmd heading: 38.839949 deg. z9QHeadingCmd: 0.677885 target range: 536.124084 and range: 539.40 m.R߉-?JbZB:2Ҕڔڒ’ ^:0@~wBɢi) Fi)iC3B B IB kBB B B B i;B (EAA II IY Oe >ԁ |v ,#5?A2>2ְ)?2~Gٱ2.E# :AHRS rotation from veh to nav: [[0.773327,-0.583337,-0.248361],[0.603728,0.797155,0.007530],[0.193590,-0.155765,0.968638]]2H?@KϿQ?J?L~??ÿ?i2>I2|q;0Yb]kBybIYiMb@Mb@Mb@ 9S?)\(V-?2Acoustic response timeoutY?yGa<lAA /A)&AY̒AbDVDWQ5y%>%7=ٔ(Q->9Y= ;Fy E >;E >Q 5F5`_?Q 9F5+)*BY%p?Q E%:y%?Q I%@DIj:i:F5y-Bɮ-MA1QQ]FNOT Ignoring new targets: 536.12 m.]f8]f8Qm ProNav: ac range: 536.124084 m, nav range: 496.532684 m, bearing: 37.595157 deg, approach rate: -0.585540 m/s, LOS rate: 0.005284 deg/s, cmd heading: 38.839949 deg, new cmd heading: 38.846839 deg. zmh9QuHeadingCmd: 0.678005 target range: 536.124084 and range: 539.40 m.R}-?JybyZyBy:y2yҔڔڒ’@0@UwBɢUS)Y ]2EiY)YYYi]\3A] > 2Acoustic response timeoutE k E E %E "E mR:*E VE 4ZE BE q;a 2E q;a JE ;a :E ;a ! Ay I I O >| ,r5?A:8>:)?:vGٱ:4" FAHRS rotation from veh to nav: [[0.772657,-0.584271,-0.248250],[0.604459,0.796610,0.006459],[0.193985,-0.155047,0.968674]]:H@?Y`ϿW? }?Ftz?@? ÿa?i:8>I:}q;8YNkByNIbDVVDVI5y^ >%^a=ٔbnQ-b>9`Y`=f;FyfEf5;Ef>hQ 5nF5jgn?Q 9nF5j)j++BYpyr@?Q Ir@jDIj;ij#;j(F5ytɮvAtGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 536.12 m.8%8Q- ProNav: ac range: 536.124084 m, nav range: 496.320221 m, bearing: 37.597051 deg, approach rate: -0.585242 m/s, LOS rate: 0.005220 deg/s, cmd heading: 38.846838 deg, new cmd heading: 38.852523 deg. z5Ge9Q5HeadingCmd: 0.678104 target range: 536.124084 and range: 539.40 m.R5A-?J9b9Z9B9:92AҔAڔAAڒI’IIM1@uwBɢ}7g)y }Diy)顁ih5 ǃ ,6?Ai I &2Acoustic response timeout>l>>J*?>Y+Hٱ>s FAHRS rotation from veh to nav: [[0.771807,-0.585809,-0.247268],[0.605464,0.795861,0.004363],[0.194235,-0.153079,0.968937]]>H@?@{Ͽ`_?w?xq??ÿ?i>l>I>p;>CYNkByNIbDZVDZM5yb!>%bJ=ٔbj%Q-b>9dYd=f;FyfEjYY;Ej>hQ 5rF5j$?Q 9rF5j)jk+BYpyr?Q Ir@jDIj;ij;jF5yzBɮztAz4E1Q=FNOT Ignoring new targets: 536.12 m.E8E8QU ProNav: ac range: 536.124084 m, nav range: 496.083405 m, bearing: 37.599131 deg, approach rate: -0.580181 m/s, LOS rate: 0.005099 deg/s, cmd heading: 38.852524 deg, new cmd heading: 38.858767 deg. zU_9Q]HeadingCmd: 0.678213 target range: 536.124084 and range: 539.40 m.R]e-?JYbYZYBY:a2aҔaڔaiڒi’iim o1@Ej ErE!E"EN:*E?:VEc3ZEaU@aU@a]@a]@ԹB]>BYB]7IB]!lBB]3 =BYBYB]i;B](E  xBɢP) Ci)顙i$59 ( ,))6?A2>2*?2cHٱ2R :AHRS rotation from veh to nav: [[0.770884,-0.587337,-0.246522],[0.606571,0.795025,0.002629],[0.194447,-0.151559,0.969134]]2H?wϿi? p?e??`Jfÿ$?i2>I2]p;2CYBlByB1Ii Mb@Mb@Mb@     9 Zd;?L7A`堿L7A`?Y ?y + += A 1A $A) xA Y AbD%VD%I5y-~,>%5C=ٔ5=Q-5>99Y=;FyEe];E>Q 5F5?Q 9F5)+BYQ?Q E:y?Q I@DI;ig;~F5yBɮcA=+EQFNOT Ignoring new targets: 536.12 m.0808Q ProNav: ac range: 536.124084 m, nav range: 495.829956 m, bearing: 37.600210 deg, approach rate: -0.567069 m/s, LOS rate: 0.002414 deg/s, cmd heading: 38.858766 deg, new cmd heading: 38.862003 deg. z 8QHeadingCmd: 0.678270 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’@1@U2Acoustic response timeout>xBɢ$P) _Bi)iP\6ِ ,C6?A 6̎>6+?6Hٱ6T >AHRS rotation from veh to nav: [[0.769761,-0.589051,-0.245942],[0.607876,0.794032,0.000787],[0.194822,-0.150108,0.969284]]6H?`{Ͽ@s?h?I??`6ÿ`?i6̎>I6#p;6CYF?lByFIIbDNVDNG5yV=%VS=ٔZmQ-Z>9XYX=Z;FyZE^;E^>`Q 5fF5bV?Q 9fF5b)b+BYdyj?Q Ij@bDIby:ib:bF5ylɮnAlQFNOT Ignoring new targets: 536.12 m. Q58 Q58Q ProNav: ac range: 536.124084 m, nav range: 495.614227 m, bearing: 37.601087 deg, approach rate: -0.608803 m/s, LOS rate: 0.002477 deg/s, cmd heading: 38.862004 deg, new cmd heading: 38.864637 deg. z8Q%HeadingCmd: 0.678316 target range: 536.124084 and range: 539.40 m.R%-?J!b!Z!B):)2)Ҕ)ڔ11ڒ1’11=+<2@edxBɢekn)a mPBii)iiiimb7BU >BQ BU IBU lBBU 4 =BQ BQ BU Bi;BU (EB%CB%CB%ɓCB%4 =B%4 = C%ɢ4 ,p]6?ALZ@>Zv+?Z!IٱZ  fAHRS rotation from veh to nav: [[0.768885,-0.590395,-0.245457],[0.608875,0.793266,-0.000753],[0.195157,-0.148874,0.969407]]ZH?`#kϿ@{?`nb?H`? Kÿ b?iZ@>IZao;ZސCYnlBynxIieMb@Mb@Mb@aaaa a9eV-?y&1V-?Ye?ye`ee%==ٔEOQ->9Y=;FyEL;E>Q 5F5?Q 9F5a),,BY$?Q E:yg'?Q I@DI:iQ:2Acoustic response timeoutF5yBɮAQFNOT Ignoring new targets: 536.12 m.>6>6Q ProNav: ac range: 536.124084 m, nav range: 495.356750 m, bearing: 37.601158 deg, approach rate: -0.593441 m/s, LOS rate: 0.000163 deg/s, cmd heading: 38.864637 deg, new cmd heading: 38.864849 deg. z6Q HeadingCmd: 0.678320 target range: 536.124084 and range: 539.40 m.R Z-?J b Z B :2Ҕڔڒ’a2@xBɢ hI)i m@ii)iiqiu 8E i E bE #E "E ,K:*E 9VE 3ZE BE (e;a 2E *e;a JE <;a :E =;a /9 SkAY Ay= ?E vA, ,>Bw6?A2>2+?2jgIٱ2bw :AHRS rotation from veh to nav: [[0.767818,-0.592076,-0.244748],[0.610137,0.792292,-0.002543],[0.195418,-0.147377,0.969583]]2H ?H@SϿ@>?@tZ?d@t?B¿?i2>I2o;2CYBlByBIbDJVDJ\K5yR>%VZ=ٔV9Q-V>9XYX=Z;FyZEZ\;EZ>\Q 5bF5^u?Q 9fF5^)^e,BYdyf'?Q If@^DI^ :i^:^ǧF5yhɮj%AlGSzB*** querying acoustic contact ***:xBx|Q FNOT Ignoring new targets: 536.12 m. `x5 `x5Q% ProNav: ac range: 536.124084 m, nav range: 495.133698 m, bearing: 37.601177 deg, approach rate: -0.595690 m/s, LOS rate: 0.000053 deg/s, cmd heading: 38.864849 deg, new cmd heading: 38.864908 deg. z%6Q%HeadingCmd: 0.678321 target range: 536.124084 and range: 539.40 m.R-k-?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99= 3@nManaging dock network, ignoring radio surface power offxBɢ`) 2@i)i9A>IIIYOe>ԁ  ,!6?A2Acoustic response timeout6I>62V,?6Iٱ65U >AHRS rotation from veh to nav: [[0.766694,-0.593424,-0.245005],[0.611408,0.791308,-0.003340],[0.195857,-0.147238,0.969516]]6Hˆ?`T V\Ͽ?eR?[k?¿@F?i6I>I6o;4YFlByFIIH)J;bDrVDrE5yv>%zF=ٔz̍Q-z>9|Y|=~;Fy~EɈ;E> Q 5 F5 ?Q 9F5 ) ,BYyA(?Q I@ DI 6:i : eF5y!ɮ%A!AQMFNOT Ignoring new targets: 536.12 m.MʙUʙabE3jE3rEA0El EfE$E"EV:*E9VE4ZEa@a@a@a@Q ProNav: ac range: 536.124084 m, nav range: 494.887512 m, bearing: 37.601150 deg, approach rate: -0.596709 m/s, LOS rate: -0.000066 deg/s, cmd heading: 38.864907 deg, new cmd heading: 38.864826 deg. z8QHeadingCmd: 0.678319 target range: 536.124084 and range: 539.40 m.RS-?JbZB:2Ҕڔڒ’v3@颽xBɢ;S)B>BBIBHmBBBBBh;Bh(E A?iQ)YYYi]9 ? ,6?A2>2,?2!*Jٱ2 :AHRS rotation from veh to nav: [[0.765613,-0.594924,-0.244747],[0.612669,0.790327,-0.004565],[0.196146,-0.146454,0.969576]]2H? SϿ ?[J?rR?¿?i2>I2o;2ސCYB1mByBIi-Mb@Mb@Mb@)))) )9-/$?~jtx?:v?Y-?y-;-<-XA-A -$A)-|A)Y-AbDUԹVDU#H5y =%:=ٔ0Q->9Y = ;Fy E |;E >Q 5F5?Q 9%F5x),BY%?Q E%:y%0?Q I%@DI:iU::F5y-Bɮ5NA5,EQQ]FNOT Ignoring new targets: 536.12 m.] 1e 1Qm ProNav: ac range: 536.124084 m, nav range: 494.626556 m, bearing: 37.600090 deg, approach rate: -0.594778 m/s, LOS rate: -0.002419 deg/s, cmd heading: 38.864825 deg, new cmd heading: 38.861641 deg. zuuԸQ}HeadingCmd: 0.678264 target range: 536.124084 and range: 539.40 m.R}-?JybyZyBy:y2Ҕڔڒ’3@颽 yBɢjO) >i)i9%%Z=ٔ%Q-%>9!Y)=-;Fy- E-E->1Q 5=F55R?Q 9=F55)5-BYAyAQ IE@5DI5;i5 ;5F5yIɮMAQqQuFNOT Ignoring new targets: 536.12 m.}[1}[1Q ProNav: ac range: 536.124084 m, nav range: 494.403473 m, bearing: 37.599182 deg, approach rate: -0.595297 m/s, LOS rate: -0.002423 deg/s, cmd heading: 38.861642 deg, new cmd heading: 38.858918 deg. zԸQHeadingCmd: 0.678216 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’D4@JyBɢ\) 1>i)i:B B JIB mBB B B B h;B S(EII Iy O ԙ Q ,6?A2>2ۭ-?2jKٱ2 :AHRS rotation from veh to nav: [[0.763299,-0.597814,-0.244933],[0.615276,0.788284,-0.006562],[0.197000,-0.145693,0.969518]]2Hl?K!@YϿX?9?z M7?@¿J?i2>I2>o;2CY^mBy^(I ``iEMb@Mb@Mb@AAAA A9EV-? rh?Q?YE?yEC%mE=ٔu Q-u>9q2Acoustic response timeoutYq=;Fy E <E >Q 5F5?Q 9F5J)X-BY ?Q E:y5?Q I%@DI ;im ;GF5y-Bɮ-mA)IQUFNOT Ignoring new targets: 536.12 m.]]Qm ProNav: ac range: 536.124084 m, nav range: 494.145081 m, bearing: 37.597564 deg, approach rate: -0.597772 m/s, LOS rate: -0.003746 deg/s, cmd heading: 38.858917 deg, new cmd heading: 38.854059 deg. zm$qQuHeadingCmd: 0.678131 target range: 536.124084 and range: 539.40 m.R}-?JybyZyBy:y2yҔڔڒ’˳4@颽zyBɢ%K) =i)iv:M 2Acoustic response timeoutD =D <E m E [E &E "E Y:*E 9VE 4ZE BE ;~;a 2E >~;a JE ;a :E ;a a{ ,"6?A6>6.?6jKٱ6 BAHRS rotation from veh to nav: [[0.762247,-0.598995,-0.245326],[0.616469,0.787348,-0.006994],[0.197346,-0.145905,0.969415]]6HSd?*fϿ@?1?8|B?¿s?i6>I6$dn;4YJmByJ8IbDRVDR=A5yZP=%ZW=ٔ^3sQ-^>9\Y\=b;Fyb Eb;Eb>dQ 5jF5f ?Q 9jF5f)f-BYhyn<6?Q In@fDIf:if;fqF5ypɮr8ApGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 536.12 m.FFQ- ProNav: ac range: 536.124084 m, nav range: 493.928375 m, bearing: 37.596164 deg, approach rate: -0.597330 m/s, LOS rate: -0.003860 deg/s, cmd heading: 38.854060 deg, new cmd heading: 38.849860 deg. z-)Q5HeadingCmd: 0.678058 target range: 536.124084 and range: 539.40 m.R55-?J1b1Z1B1:129ҔAڔAAڒA’IIM 5@uyBɢ}^_)y }=iy)y顁i;) b ,d7?A2Acoustic response timeout:h4>:p.?:PKٱ: BAHRS rotation from veh to nav: [[0.761378,-0.599810,-0.246031],[0.617472,0.786564,-0.006745],[0.197564,-0.146782,0.969239]]:H`5]?`1@}ϿT?+?L{I? ¿?i:h4>I:n;:ߐCYJmByJSIbDvVDv>5yz=%~F=ٔ~ Q-~>9Y=;FyEV;E > Q 5F5 q?Q 9F5 O) -BYy6?Q I@ DI a;i ;  F5y-ЙBɮ-^A-#EIQUFNOT Ignoring new targets: 536.12 m.U+U+Eeh EeZEe$Ea"EeG:*Eea9VEe4ZEaam@am@am@am@Q} ProNav: ac range: 536.124084 m, nav range: 493.681793 m, bearing: 37.594531 deg, approach rate: -0.598369 m/s, LOS rate: -0.003966 deg/s, cmd heading: 38.849860 deg, new cmd heading: 38.844957 deg. z4.QHeadingCmd: 0.677972 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’z5@yBɢP) >i)iy;BCBIBonBBBBBh;BY(EYm9@q @q@u5@yy^AA>A>2Acoustic response timeoutII)O5>ԩ G ,A,7?A@F>F.?FLٱFq RAHRS rotation from veh to nav: [[0.760511,-0.600433,-0.247189],[0.618429,0.785817,-0.006103],[0.197910,-0.148227,0.968948]]FHV? 6 Ͽ+?i%?XxU?¿`?iF>IF3m;FCY^nBy^mIId)fp9Y=;FyEG;E>Q 5F5.?Q 9F5ɧ)-BY?Q E:yN7?Q I@'DI ;i ;F5yɮ A!Q-FNOT Ignoring new targets: 536.12 m.-h5hQE ProNav: ac range: 536.124084 m, nav range: 493.420166 m, bearing: 37.592710 deg, approach rate: -0.605871 m/s, LOS rate: -0.004219 deg/s, cmd heading: 38.844956 deg, new cmd heading: 38.839491 deg. zEI9QMHeadingCmd: 0.677877 target range: 536.124084 and range: 539.40 m.RMY-?JIbIZIBI:I2QҔQڔQYڒY’YY]@5@颍zBɢN) k>i)顑i<  2Acoustic response timeout>u ,~F7?A2v>2/?2B>Lٱ2f :AHRS rotation from veh to nav: [[0.759768,-0.601046,-0.247983],[0.619269,0.785158,-0.005707],[0.198136,-0.149232,0.968748]]2HP?`; Ͽ ? ?`w\? ÿ?i2v>I2 m;0YBInByBIbDJVDJ:5lyr>%r[=ٔrH"Q-v>9tYt=v;FyvEzH;Ez>|Q 5F5~<?Q 9F5~ݣ)~'.BYy7?Q I @~.DI~;i~:~F5yәBɮA$E1Q=FNOT Ignoring new targets: 536.12 m.EEQU ProNav: ac range: 536.124084 m, nav range: 493.193817 m, bearing: 37.591103 deg, approach rate: -0.606274 m/s, LOS rate: -0.004306 deg/s, cmd heading: 38.839492 deg, new cmd heading: 38.834669 deg. zU=Q]HeadingCmd: 0.677793 target range: 536.124084 and range: 539.40 m.R]Ճ-?JYbYZYBY:a2aҔaڔaiڒi’iimH6@额)zBɢC\) =i)顡i<i K ,Q_7?A2z>2Je/?2eLٱ2 :AHRS rotation from veh to nav: [[0.758900,-0.601742,-0.248951],[0.620171,0.784447,-0.005572],[0.198642,-0.150164,0.968500]]2H H?`yAϿp?`0?vm?8ÿ?i2z>I2Vm;2CY^lnBybIii}Mb@Mb@Mb@yyyy y9}jt? rh?y&1|Y} ?y}C<}`}CA}9~A y)}pwAyY}AbD2Acoustic response timeoutVD?5y=%>=ٔ8Q->9Y=;FyEA;E>Q 5F5yM?Q 9F5O)Z.BY ?Q E:y5?Q I@7DI:ie;F5yɮtAQ FNOT Ignoring new targets: 536.12 m.  Q ProNav: ac range: 536.124084 m, nav range: 492.928619 m, bearing: 37.589422 deg, approach rate: -0.616351 m/s, LOS rate: -0.003909 deg/s, cmd heading: 38.834670 deg, new cmd heading: 38.829623 deg. z%+Q%HeadingCmd: 0.677705 target range: 536.124084 and range: 539.40 m.R%~-?J)b)Z)B):)2)Ҕ1ڔ11ڒ9’99=K6@eXzBɢmM)i m>ii)iiqiu3< x ,y7?A6u>6ȡ/?6Mٱ6 >AHRS rotation from veh to nav: [[0.758277,-0.602059,-0.250080],[0.620830,0.783930,-0.004841],[0.198960,-0.151587,0.968213]]6H C?`D`Pп??sw?1gÿ?i6u>I6Vm;6CYFnByFI HHbDRVDRC5yZ=%Z\=ٔZdQ-Z>9\Y\=^;Fy^Eb";Eb>dQ 5jF5f"\?Q 9jF5f])f.BYhyj%6?Q In@f>DIfl:if:fF5yvיBɮvDAtGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 536.12 m.EEQ5 ProNav: ac range: 536.124084 m, nav range: 492.699249 m, bearing: 37.587943 deg, approach rate: -0.615059 m/s, LOS rate: -0.003969 deg/s, cmd heading: 38.829622 deg, new cmd heading: 38.825182 deg. z=S.QMHeadingCmd: 0.677627 target range: 536.124084 and range: 539.40 m.RMx-?JIbQZQBQ:Y2YҔiڔiiڒq’qqu47@ԹzBɢ!{[) _?i)i=9 iY IY e BDAT read: Rx Time:21:21:32.9202 e TRx dataTimestamp_ set to:1761513694.308783e 2Acoustic response timeouta ,ؓ7?A2>2h/?2 OMٱ2, :AHRS rotation from veh to nav: [[0.757985,-0.602149,-0.250751],[0.621125,0.783700,-0.004389],[0.199157,-0.152421,0.968042]]2H`iA?DN п@?@?lq@}?ÿ2?i2>I2@m;2ߐCYBnByBIbDNVDN?5yR=%VJ=ٔVQ-V>9XYX=Z;FyZE^W:E^>`Q 5fF5bl?Q 9fF5b)b.BYdyf@6?Q If@bFDIbf;ib;bF5ylɮnAl|QFNOT Ignoring new targets: 536.12 m. B BQ ProNav: ac range: 536.124084 m, nav range: 492.449432 m, bearing: 37.586318 deg, approach rate: -0.618186 m/s, LOS rate: -0.004023 deg/s, cmd heading: 38.825182 deg, new cmd heading: 38.820305 deg. z0QHeadingCmd: 0.677542 target range: 536.124084 and range: 539.40 m.R%gs-?J!b!Z!B!Eg ETE$E"EC:*E9VE4ZEa@a@a@a@B B B +IB NoBB 4 =B B B h;B T(EBCBCBBBC3):121Ҕ1ڔ19ڒ9’99e7@颥zBɢ{I) <@i)ik=- ,߮7?A2n>2D/?2uMٱ2J! :AHRS rotation from veh to nav: [[0.757907,-0.601692,-0.252080],[0.621174,0.783667,-0.002914],[0.199300,-0.154377,0.967702]]2H@? A "п??g?@ÿ j?i2n>I2Zm;2CYBnByBIi Mb@Mb@Mb@     9 T㥛 ?y&1:vY !?y `e T A |A A) vA Y ׋AbD5VD5#H5yE=%E9=ٔE#Q-E>9IYI=M;FyMEU.T9TGE>1ezx9aYejdADAT read: 21:21:32.9202 LVL= 32752, 22801, 26386, 32755, AGC= 59, IDX= 298,-0.38, 1.412,-2.959, 2.850, 2.751, PHS=-1.237, 0.618, 0.055, RAW= 287.2, 6.9, CAL= 285.3, 4.7, ROT= 224.7, -4.7 Ygot valid direction response: 21:21:32.9202 LVL= 32752, 22801, 26386, 32755, AGC= 59, IDX= 298,-0.38, 1.412,-2.959, 2.850, 2.751, PHS=-1.237, 0.618, 0.055, RAW= 287.2, 6.9, CAL= 285.3, 4.7, ROT= 224.7, -4.7 DAT read: DDAT read: $Packet for address 50 i>!9@9 @9@= 5@9@I@II% 2Acoustic response timeout^A] &E ,f7?A>}>>̷/?>ѴMٱ>9$ FAHRS rotation from veh to nav: [[0.757978,-0.601002,-0.253507],[0.621011,0.783801,-0.001394],[0.199537,-0.156373,0.967333]]>H`[A?h;s9пQ??pVk? Ŀc?i>}>I>_m;9hYh=j;FynEnEn>pQ 5vF5r͎?Q 9vF5r)r/BYtyv#)?Q Iz@rWDIr#;irr;rF5y~Bɮ~A~E!Q%FNOT Ignoring new targets: 536.12 m.-Ѷ-ѶQ= ProNav: ac range: 536.124084 m, nav range: 491.927765 m, bearing: 37.586027 deg, approach rate: -0.659580 m/s, LOS rate: -0.000359 deg/s, cmd heading: 38.819810 deg, new cmd heading: 38.819435 deg. z={QEHeadingCmd: 0.677527 target range: 536.124084 and range: 539.40 m.REhr-?JAbAZABA:I2IҔQڔQQڒQ’QY]@ U8@颅{Bɢk) @i)顉i>BBcIBoBB3 =BBBh;BU(E^Am<A I I) OE > ij ,@L7?A2>2/?2- Nٱ2% :AHRS rotation from veh to nav: [[0.758060,-0.600438,-0.254596],[0.620809,0.783962,-0.000430],[0.199852,-0.157730,0.967047]]2H`B?@6NKп ?6?/< ?|0Ŀ@ ?i2>I2Jl;2ސCB2Acoustic response timeoutYF oByFIiMb@Mb@Mb@ 9)\(?L7A`堿I +YG!?y+94A$zA A)\sAYzAbD-VD-LF5y^=%==ٔeCQ->9Y=;Fy EE>Q 5F5?Q 9F5)N/BY!?Q E:yv!?Q I@`DIz;i ;F5yBɮAEQ FNOT Ignoring new targets: 536.12 m. 8 8Q ProNav: ac range: 536.124084 m, nav range: 491.660461 m, bearing: 37.586816 deg, approach rate: -0.618946 m/s, LOS rate: 0.001828 deg/s, cmd heading: 38.819435 deg, new cmd heading: 38.821803 deg. z%8Q%HeadingCmd: 0.677568 target range: 536.124084 and range: 539.40 m.R%u-?J)b)Z)B):)2)Ҕ1ڔ11ڒ9’99= 8@e6{BɢmlP)i mdAii)iiqiu> EBDAT read: Tx time:21:21:35.0459 E$Ping request sent.E9 s ,j/7?AY=IoBy='IbDMVDMD5y]=%]O=ٔ]Q-]>9aYa=e;Fye"EmEm>qQ 5}F5u?Q 9}F5u)u/BYyyyQ I}@ugDIur;iu;u5F5yBɮfAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 491.416809 m, bearing: 37.587536 deg, approach rate: -0.618520 m/s, LOS rate: 0.001829 deg/s, cmd heading: 38.821801 deg, new cmd heading: 38.823962 deg. z8QHeadingCmd: 0.677606 target range: 536.124084 and range: 539.40 m.Rw-?JbZB:2Ҕڔڒ’`p(9@ Uc{BɢUS)Q UAiY)YYYi]~?v|,8?A 2>2d/?2TNٱ2q( >AHRS rotation from veh to nav: [[0.758669,-0.598857,-0.256498],[0.619974,0.784620,0.001870],[0.200134,-0.160440,0.966543]]2HG? )tjп?@?^??NĿ?i2>I2l;2CYFPoByF,I HHLLbDRVDR:5yVW<%ZV=ٔZVEQ-Z>9^ ?Y^ ?=^;Fy^$EEbk EbaEb#E`"EbmR:*Eb9VEb3ZE`aj@aj@aj@aj@BBBIBpBBBBBh;BN(EU/E>!Q 5-F5%5?Q 9-F5%)%/BY1y5/!?Q I5@%oDI%:i%:%F5y9ɮ=XAAQFNOT Ignoring new targets: 536.12 m. 8 8Q= ProNav: ac range: 536.124084 m, nav range: 491.172882 m, bearing: 37.588288 deg, approach rate: -0.610365 m/s, LOS rate: 0.001883 deg/s, cmd heading: 38.823963 deg, new cmd heading: 38.826221 deg. zEl8QHeadingCmd: 0.677645 target range: 536.124084 and range: 539.40 m.R+z-?JbZB:2Ҕ ڔ 9ڒ9q’I@E9@}{Bɢ}l_N)y }9Di)顁i ?7 ,y?38?A>H>>0G/?>*Oٱ>#>) FAHRS rotation from veh to nav: [[0.758837,-0.598210,-0.257509],[0.619538,0.784964,0.002155],[0.200846,-0.161172,0.966273]]>H@dH?${пA?l?a?@S?IĿ@?i>H>I>gl;>CYNoByNIInT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapsei-Mb@Mb@Mb@)))) )9-+?Zd;~jthY-v?y-y-D-A-pwA ))))Y-AbDEVDEC5yUm=%]1=ٔ]ͺQ-]>9e"?Ye"?=e;Fye&EeEm>qQ 5uF5uv?Q 9}F5u~)u/BY};?Q E}:y}?Q I}@uxDIu:iua:uF5y™BɮAEQFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 490.899536 m, bearing: 37.590568 deg, approach rate: -0.614658 m/s, LOS rate: 0.005129 deg/s, cmd heading: 38.826221 deg, new cmd heading: 38.833063 deg. zFa9QHeadingCmd: 0.677765 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’:@Em E[E$E"EY:*E9VE4ZEBE;~;a2E>~;aJE;a:E;a{Bɢoa) Ci)i? ,M8?A6>6^!/?6|Oٱ6i) >AHRS rotation from veh to nav: [[0.759100,-0.597553,-0.258260],[0.619023,0.785370,0.002323],[0.201441,-0.161632,0.966073]]6H J?'Tп ?`!?c?@?\Ŀ@?i6>I6$k;6CYFoByFcIbDNVDN=5yV=%VW=ٔVLѺQ-Z>9XYX=Z;FyZ(E^ƺE^>`Q 5fF5b?Q 9fF5b{)b0BYdyf?Q Ij@bDIb:ib:bF5ylɮnAlQFNOT Ignoring new targets: 536.12 m.P8P8Q ProNav: ac range: 536.124084 m, nav range: 490.668732 m, bearing: 37.592511 deg, approach rate: -0.581732 m/s, LOS rate: 0.004899 deg/s, cmd heading: 38.833064 deg, new cmd heading: 38.838896 deg. z-W9QHeadingCmd: 0.677867 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’ -f:@{Bɢ&`) Ci)i @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse(E,f8?A@J*>J.?JQٱJS* VAHRS rotation from veh to nav: [[0.759394,-0.596596,-0.259604],[0.618230,0.785994,0.002154],[0.202763,-0.162131,0.965713]]JHL?P[п?&?a?`?Ŀ`?iJ*>IJi;JCYZoByZyIIb%>)b>`bAiEMb@Mb@Mb@AAAA A9EK?#~jMb?YE^?yE㥽E9Y=;Fy*EE>Q 5F5y?Q 9F5x)`0BY?Q E:y ?Q I@DI ;i ;F5yřBɮzA!Q-FNOT Ignoring new targets: 536.12 m.- 9- 9Q= ProNav: ac range: 536.124084 m, nav range: 490.409271 m, bearing: 37.595738 deg, approach rate: -0.610409 m/s, LOS rate: 0.007598 deg/s, cmd heading: 38.838894 deg, new cmd heading: 38.848582 deg. zEڦ9QEHeadingCmd: 0.678036 target range: 536.124084 and range: 539.40 m.RE-?JIbIZIBI:I2IҔQڔQQڒY’YY] :@颥|Bɢ U) 2Di)项iA, ,8?A6>6.?6Qٱ6ލ+ BAHRS rotation from veh to nav: [[0.760004,-0.595234,-0.260940],[0.617211,0.786793,0.002900],[0.203580,-0.163259,0.965351]]6H@Q? ) `=п0?g-?8g? ?Ŀ '?i6>I6f;6ߐCY^ pBybIbDjVDj;5lyr!>%vZ=ٔvQ-v>9xYx=z;Fyz,EzTREz>Q 5F5e?Q 9 F5t)0BY y  ?Q I @DI:iB: F5yɮAGS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 536.12 m.Mt9Mt9Q] ProNav: ac range: 536.124084 m, nav range: 490.189087 m, bearing: 37.598512 deg, approach rate: -0.587403 m/s, LOS rate: 0.007401 deg/s, cmd heading: 38.848583 deg, new cmd heading: 38.856906 deg. z]9QeHeadingCmd: 0.678181 target range: 536.124084 and range: 539.40 m.ReD-?JabaZaBa:i2iҔiڔiqڒq’qq}2;@颥8|Bɢa) Bi)顩iA1 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea E n E E %E "E O]:*E VE 4ZE a @a @a @a @B B B IB pBB B B B h;B %(ETg&,ۚ8?AB&>BF.?B_RٱB`+ bAHRS rotation from veh to nav: [[0.760750,-0.594186,-0.261157],[0.616152,0.787622,0.002846],[0.204002,-0.163078,0.965292]]BH`X?``̶п`? 34?Qg?`?Ŀ@?iB&>IB&d;BCY)pB!yIbDVD=5y=%<=ٔQ->9Y=%;Fy%.E5@E]>Q 5F5?Q 9F5@q)0BYy* ?Q I@DIiMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse=9@9 @9@9@AAMgAzAMhAqI9IQO]>ԡ ,,8?A2v3>2G-?2Rٱ2l+ :AHRS rotation from veh to nav: [[0.761516,-0.593100,-0.261392],[0.615113,0.788433,0.003057],[0.204277,-0.163113,0.965228]]2HW^?п?:?` i?`%?Ŀ%?i2v3>I2 b;0YBqpByBI DDiPIPRT****** received valid address query ******VR****** received valid ping request ******Vreceived new query, but waiting for acoustic response period to elapseyiMb@Mb@Mb@ 9S?ʡE%G=ٔ5Q->9Y=;Fy0EYE>Q 5F52,?Q 9F5n)1BY ?Q E :y 0?Q I @DI;i ^;kF5E}j E}UE}!Ey"E}N:*E}P9VE}c3ZEyBE}mk;a2E}ok;aJE}:a:E}:ayBɮAEQFNOT Ignoring new targets: 536.12 m.88Q5 ProNav: ac range: 536.124084 m, nav range: 489.693176 m, bearing: 37.604634 deg, approach rate: -0.574340 m/s, LOS rate: 0.006805 deg/s, cmd heading: 38.867267 deg, new cmd heading: 38.875281 deg. z5r9Q=HeadingCmd: 0.678502 target range: 536.124084 and range: 539.40 m.R=I-?J9b9Z9B9:A2AҔqڔyyڒ’`%<@颕|BɢqV) OBi)顙iuCA<ԩiI-?;Q>4;II-?I=9@9 @9@E0@AIIOf>UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse x3,8?AY~pBy~IbDVD65y%U0>%%X=ٔ%Q-%>9)Y)=-;Fy-2E-E5>1Q 5mF55,<?Q 9uF55k)5S1BYqyqQ Iu@5DI5<e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapsei 9,m8?AR>R-?RSٱRG+ ZAHRS rotation from veh to nav: [[0.762150,-0.591940,-0.262173],[0.613950,0.789341,0.002591],[0.205410,-0.162936,0.965017]]RHc?`,rпz?`GB?H:e?`J? Ŀl?iR>IR _;RߐCYpByIiMb@Mb@Mb@ 9Cl?~jt{Gz?Yd?yף<~ApA A)+kAY=AbDVD85y q?=%<=ٔn.Q->9Y!=%;Fy%4E-4HE->19Q 5EF5=N?Q 9MF5=ig)=1BYM?Q EM:yU?Q IU@=DI=L;i=L;=F5yaɮeAaQFNOT Ignoring new targets: 536.12 m.=8=8Q ProNav: ac range: 536.124084 m, nav range: 489.213501 m, bearing: 37.610281 deg, approach rate: -0.590854 m/s, LOS rate: 0.006919 deg/s, cmd heading: 38.883181 deg, new cmd heading: 38.892231 deg. z9QHeadingCmd: 0.678797 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’)<@-|Bɢ-P) Ai)顱iBCam G9YA@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉEk E~E"E"EmR:*E(:VE(3ZEa@a@a@a@^A "5;A A >I I O >Թ ؊@,ZF9?A2{)>2Jk-?2CtTٱ2+ :AHRS rotation from veh to nav: [[0.762483,-0.591256,-0.262747],[0.613342,0.789813,0.002591],[0.205989,-0.163130,0.964861]]2HBf?@п~?&F?9e?]?nĿ$?i2{)>I2tN_;2CY^qByb?IIb=)bp=bDjVDj65yrB>%r`=ٔrԺQ-v>9tYt=v;Fyv6EzEz>|Q 5G5~ ^?Q 9G5~od)~1BYy\?Q I @~DI~B:i~:~G5yɮAEGS-B*** querying acoustic contact ***:)B)9QEFNOT Ignoring new targets: 536.12 m.E9E9QU ProNav: ac range: 536.124084 m, nav range: 489.000092 m, bearing: 37.612799 deg, approach rate: -0.595371 m/s, LOS rate: 0.007028 deg/s, cmd heading: 38.892231 deg, new cmd heading: 38.899788 deg. zUV9QHeadingCmd: 0.678929 target range: 536.124084 and range: 539.40 m.RQ-?JbZB:2T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseҔ!ڔ!!ڒ!’!)->=@ԑ颵 }Bɢ7\) ?i)项i|BBe >Ba Be IBe qBBa Ba Ba Be h;Be /(EbE!jE%c3rE%/E p E pE %E "E d:*E  :VE 4ZE BE ;a 2E ;a JE 2R;a :E 3R;a  ~F,'9?Ar>r+-?rUٱr+ zAHRS rotation from veh to nav: [[0.762975,-0.590315,-0.263436],[0.612522,0.790449,0.002754],[0.206607,-0.163462,0.964673]]rHIj?"п@ș?ZK?xf?r?RĿ?ir>Irv&_;rߐCY53qByUUIbDVD85y=%:=ٔ PQ- >9AYA=M;FyM9E}{ E>Q 5G5q?Q 9-G5`)2BY1y5?Q I5@DIv'M,w-79?AYEqByEIEr E[EE"Ek:*E9VEZEa@a@a@a@iMb@Mb@Mb@ 9Zd;?p= ףZd;O?Y?yj<"A A)iAYAbDVD:5yP3>%6=ٔQ->9 ?Y ?=;Fy;EE>Q 5G5n?Q 9G5])c2BY ?Q E :y ?Q I @DI:i/:G5yɮAaQeFNOT Ignoring new targets: 536.12 m.mi8mi8Q ProNav: ac range: 536.124084 m, nav range: 488.477509 m, bearing: 37.618499 deg, approach rate: -0.599837 m/s, LOS rate: 0.005885 deg/s, cmd heading: 38.909522 deg, new cmd heading: 38.916900 deg. z?9QHeadingCmd: 0.679228 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’` >@%g}Bɢ%U)! %9>i))-଻))i-AHT,fQ9?AV>Vl,?V]WٱV[, ^AHRS rotation from veh to nav: [[0.763832,-0.588449,-0.265120],[0.610829,0.791759,0.002491],[0.208445,-0.163846,0.964212]]VHOq?`п@? V?hd?W?Ŀ`?iV>IVE_;TYfqByfI hhbDrVDr85yv0>%ze=ٔzpQ-z>9~"?Y~"?=~;Fy~=EծE> Q 5 G5 ?Q 9G5 Z) 2BYy;?Q I@ DI ;i ;  G5y!ɮ%A%EAQMFNOT Ignoring new targets: 536.12 m.U8U8Qe ProNav: ac range: 536.124084 m, nav range: 488.271240 m, bearing: 37.620571 deg, approach rate: -0.589719 m/s, LOS rate: 0.005924 deg/s, cmd heading: 38.916902 deg, new cmd heading: 38.923118 deg. ze9QmHeadingCmd: 0.679337 target range: 536.124084 and range: 539.40 m.Rm-?JibiZiBi:q2qҔqڔqyڒy’yy} x>@颭}Bɢ;m) iB CB IB  rBB 5 =B B B h;B 6(EEa EeYEe#Ea"Ea*Ee*9VEe3ZEaBEeɎ;a}2Eeˎ;aJEe:a:Ee:a^A] A I I O >= T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse) +nZ,k9?ABu8>Br,?BWWٱBέ, RAHRS rotation from veh to nav: [[0.764346,-0.587593,-0.265535],[0.610081,0.792334,0.002798],[0.208748,-0.164136,0.964097]]BH`u? пȅ?Z?f?@B?@jſ?iBu8>IB_;@Y^qBy^IiMb@Mb@Mb@ 9333333?9Y=;Fy?E E%>!Q 5-G5%?Q 95G5%6V)%2BY5?Q E5:y5>?Q I5@%DI% ;i%e ;%tG5yAɮEσAAaQmFNOT Ignoring new targets: 536.12 m.m@8m@8Q ProNav: ac range: 536.124084 m, nav range: 488.015411 m, bearing: 37.621727 deg, approach rate: -0.581909 m/s, LOS rate: 0.002632 deg/s, cmd heading: 38.923117 deg, new cmd heading: 38.926589 deg. z:8QHeadingCmd: 0.679397 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’ >@}BɢS) Ua,|9?A$R>R|:,?RWٱR, ZAHRS rotation from veh to nav: [[0.764816,-0.586836,-0.265856],[0.609382,0.792872,0.002931],[0.209069,-0.164249,0.964008]]RH `y?\ѿ ?`4_?h??@ſ(?iR>IRB_;RCYb-rBybIbDjVDj85yrPA>%r_=ٔv(kQ-v>9tYx=z;FyzAEzEz>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse Q 5G5 e?Q 9G5 R) 3BYy?Q I@ DI :i : G5y%Bɮ%@A!GS=B*** querying acoustic contact ***:ABAIQMFNOT Ignoring new targets: 536.12 m.UE8UE8Qe ProNav: ac range: 536.124084 m, nav range: 487.801575 m, bearing: 37.622717 deg, approach rate: -0.581481 m/s, LOS rate: 0.002691 deg/s, cmd heading: 38.926590 deg, new cmd heading: 38.929560 deg. zen8QmHeadingCmd: 0.679449 target range: 536.124084 and range: 539.40 m.Rm^-?JibqZqBq:q2qҔyڔyyڒy’@F?@颭}Bɢf) :i)PD顱QiUgCB B 8IB rBB 4 =B B SDB h;B A! I) IA O] >E]  E] aE] #EY "E] a:*E] 9VE] 3ZEY BE] W;am 2E] X;am JE] ;am :E] ;am 'g,{9?AL W> L,? Wٱ r, MAHRS rotation from veh to nav: [[0.765292,-0.586153,-0.265993],[0.608689,0.793404,0.002888],[0.209347,-0.164117,0.963971]] HE}?ѿ`z?c?Pg??ſ?i W>I ^; CY[rBy I 4<<bDVD 85y =%9=ٔR"Q->9Y=;FyCEE>Q 5G5?Q 9G5N)^3BYy?Q I@DIL;i;G5yBɮGA EQ%FNOT Ignoring new targets: 536.12 m.EtF8MtF8QU ProNav: ac range: 536.124084 m, nav range: 487.535461 m, bearing: 37.623976 deg, approach rate: -0.572460 m/s, LOS rate: 0.002711 deg/s, cmd heading: 38.929558 deg, new cmd heading: 38.933339 deg. z]%8Q]HeadingCmd: 0.679515 target range: 536.124084 and range: 539.40 m.Re-?JabaZaB:2Ҕڔڒ’@ο?@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse额 ~BɢJ) ";i)tiB n,9?A,D<zD<EUq EUeEQEQ"EU2h:*EU9VEQZEQa]@a]@a]@a]@}S>}6+?}Xٱ}9, AHRS rotation from veh to nav: [[0.765512,-0.585803,-0.266130],[0.608233,0.793755,0.002352],[0.209864,-0.163670,0.963934]]}H?@Fѿv?pf?8Ec??"Ŀ?i}S>I}^;}ߐCYrBy,Ii}Mb@Mb@Mb@yyyy y9}1Zd?I +I +?Y}"?y}9}99 ?Y ?=;FyEEuE>Q 5G5?Q 9G5J)3BYW?Q E:y$?Q I@DI ;i ;mG5yɮځAQFNOT Ignoring new targets: 536.12 m._7_7Q ProNav: ac range: 536.124084 m, nav range: 487.282166 m, bearing: 37.624451 deg, approach rate: -0.598398 m/s, LOS rate: 0.001123 deg/s, cmd heading: 38.933338 deg, new cmd heading: 38.934764 deg. z?E8QHeadingCmd: 0.679540 target range: 536.124084 and range: 539.40 m.RR-?JbZB:!2!Ҕ!ڔ))ڒ)’))5@@@]4~Bɢeleԁ)! %5:i!)%`Ռ!!i-/Ct,>9?A2ɜ>2+?2Xٱ2, :AHRS rotation from veh to nav: [[0.766032,-0.585086,-0.266212],[0.607498,0.794318,0.002322],[0.210099,-0.163502,0.963912]]2HU?` ѿp? k?c?`?`Ŀ@]?i2ɜ>I2^;2CYBrByB\IbDJVDJ75yR|f>%Rr=ٔV':Q-V?9TYT=Z;FyZGEZ2EZ?`\Q 5fG5^9?Q 9fG5^G)^3BYdyf#?Q Ij@^DI^$:i^1:^`G5ylɮn?AlQFNOT Ignoring new targets: 536.12 m.77Q ProNav: ac range: 536.124084 m, nav range: 487.083923 m, bearing: 37.624845 deg, approach rate: -0.556787 m/s, LOS rate: 0.001107 deg/s, cmd heading: 38.934763 deg, new cmd heading: 38.935944 deg. zgB8QHeadingCmd: 0.679560 target range: 536.124084 and range: 539.40 m.R-?JbZB:2T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseҔڔڒ’`B@@W~Bɢ[m) 7i)i DBBIB(E9@ @@l0@E v E ^E $E "E Vz:*E ;9VE 4ZE BE S;a2E T;aJE ;a:E ;a!^AAzAu T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseI I O >A N{,9?A:P>:~+?:Xٱ:* BAHRS rotation from veh to nav: [[0.766385,-0.584936,-0.265525],[0.607053,0.794660,0.001547],[0.210097,-0.162373,0.964103]]:H9?̷[пl?`m?`YY?t?Ŀ?i:P>I:^;:ߐCYJ sByJxI PPR=R=i%Mb@Mb@Mb@!!!! !9%-?Mbp?Q?Y%5?y%;%u<%A%+kA %-A)%bdA!Y% AbD=oVD=(5yM=%M@=ٔUЅ6Q-U>9YYY=];Fy]IE]~Ee>aQ 5mG5e?Q 9uG5eC)e4BYuB?Q Eu:yu<.?Q Iu@eDIe ;ieX ;e!G5yBɮAEQFNOT Ignoring new targets: 536.12 m.qqQ ProNav: ac range: 536.124084 m, nav range: 486.827637 m, bearing: 37.624124 deg, approach rate: -0.628341 m/s, LOS rate: -0.001768 deg/s, cmd heading: 38.935944 deg, new cmd heading: 38.933780 deg. zUQHeadingCmd: 0.679523 target range: 536.124084 and range: 539.40 m.R2-?JbZB:2ҔQڔQQڒQ’YY]`x@@颥~BɢP]) Z7i)i\Dԡ ,Uk:?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6N>6}+?6 Xٱ6Ƕ* BAHRS rotation from veh to nav: [[0.766382,-0.584952,-0.265500],[0.607032,0.794676,0.001394],[0.210171,-0.162235,0.964110]]6H2?`пl?`m?V? ?` Ŀ?i6N>I6^;6CYJRsByJIbDRuVDR+5yZ6>%ZU=ٔZPQ-^>9\Y\=b;FybKEbr%Eb>dQ 5jG5f ?Q 9jG5f?)fM4BYhyn;.?Q In@fDIf:ifw;ft$G5ypɮrVApGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 536.12 m.Q% ProNav: ac range: 536.124084 m, nav range: 486.596954 m, bearing: 37.623475 deg, approach rate: -0.600646 m/s, LOS rate: -0.001691 deg/s, cmd heading: 38.933779 deg, new cmd heading: 38.931831 deg. z-Q-HeadingCmd: 0.679489 target range: 536.124084 and range: 539.40 m.R5-?J1b1Z1B1:121yҔڔڒ’@@-~Bɢ-&f)) 5`5i1)UüQQiU| EB B IB sBB 7 =B B B h;B [(EBCBCBB5 =B5 =CQ5I O >E% o E% eE% $E! "E% `:*E% 9VE% 4ZE! BE% b;a5 2E% c;a5 JE% (*;a5 :E% (*;a5  4,0h":?A5},>5l+?5%Yٱ56+ uAHRS rotation from veh to nav: [[0.766513,-0.584594,-0.265910],[0.606810,0.794845,0.001753],[0.210332,-0.162701,0.963996]]5H F? ѿj?^o? \?@)?`Ŀ?i5},>I51^;5ݐCY sBy IiMb@Mb@Mb@ 9?~jth?{Gz?Y ?yD;#<`AiA "A)YAbDoVD(5y|=%,=ٔ+Q->9Y=;FyMEE>Q 5G5'?Q 9G5:)4BY ?Q E:y^-?Q I@ DI/:i:(G5yɮA eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseQFNOT Ignoring new targets: 536.12 m.ҷҷQ ProNav: ac range: 536.124084 m, nav range: 486.307251 m, bearing: 37.622774 deg, approach rate: -0.594263 m/s, LOS rate: -0.001438 deg/s, cmd heading: 38.931832 deg, new cmd heading: 38.929729 deg. z|QHeadingCmd: 0.679452 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕ9ڔ9AڒA’AAE@@颕~Bɢ:VS)Q U4iQ)]ڼYYi]DI I O >nW,'<:?AE6q E6nE6%E4"E62h:*E6:VE6 4ZE4a:@a:@a:@a:@f)>fvk+?fbYٱf+ rAHRS rotation from veh to nav: [[0.766463,-0.584362,-0.266562],[0.606745,0.794894,0.002033],[0.210700,-0.163294,0.963816]]fH`݆?`@Zѿuj?o?ا`? ;?Ŀ?if)>If^;fCYzsByzII~p<)~4<bD|VD.5y+>%m=ٔ玺Q-?9!Y!=%;Fy%OE-"vE-?)Q 5=G5-#?Q 9EG5-7)-4BYAyE]-?Q IE@-DI-51;i-c2;-+G5yIɮM~AQqQ}FNOT Ignoring new targets: 536.12 m.}K߷}K߷Q ProNav: ac range: 536.124084 m, nav range: 486.096985 m, bearing: 37.622265 deg, approach rate: -0.629873 m/s, LOS rate: -0.001525 deg/s, cmd heading: 38.929729 deg, new cmd heading: 38.928201 deg. zQHeadingCmd: 0.679425 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’ A@~Bɢ) 3i)jib>FԉԹ =,@U:?A2Yc>29+?2ةYٱ2* :AHRS rotation from veh to nav: [[0.766152,-0.585019,-0.266015],[0.607046,0.794666,0.000732],[0.210965,-0.162045,0.963969]]2H Q?ydѿl?m?G?? Ŀ?i2Yc>I2];2CY^sBybIbDjwVDj,5yr=%rN=ٔr2Q-v>9tYt=v;FyvQEz :Ez>|Q 5G5~3?Q 9G5~3)~4BYyy-?Q I @~DI~;i~:~/G5yɮ~AE9QFNOT Ignoring new targets: 536.12 m.ܷܷQ ProNav: ac range: 536.124084 m, nav range: 485.855499 m, bearing: 37.621668 deg, approach rate: -0.609709 m/s, LOS rate: -0.001508 deg/s, cmd heading: 38.928202 deg, new cmd heading: 38.926410 deg. zvT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQHeadingCmd: 0.679394 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’ FA@%Bɢ%yc)) -~2i))-wU))i-F9 k,Ko:?A2>2d+?2XYٱ2V>( :AHRS rotation from veh to nav: [[0.765808,-0.586046,-0.264743],[0.607462,0.794348,-0.001230],[0.211019,-0.159879,0.964318]]2H ?`п@Sp?Lk?(T`?@vĿ?i2>I2A];2CYB/tByB+Ii Mb@Mb@Mb@     9 x&1?Q?{Gzt?Y !?y u< ף; ЌA fA nA) aA Y GAbD%tVD%'+5y5}>%5E=ٔ5 Q-=>9="?Y="?==;Fy=SEE<:EE>IQ 5UG5M_D?Q 9UG5M5/)M65BYU!?Q E]:y](2?Q I]@M"DIM ;iM ;M2G5yeBɮe{AeEQFNOT Ignoring new targets: 536.12 m. 1Q1QQ% ProNav: ac range: 536.124084 m, nav range: 485.599792 m, bearing: 37.620483 deg, approach rate: -0.615961 m/s, LOS rate: -0.002858 deg/s, cmd heading: 38.926409 deg, new cmd heading: 38.922850 deg. z%Q%HeadingCmd: 0.679332 target range: 536.124084 and range: 539.40 m.R--?J)b)Z)B):I2QҔQڔQQڒY’YY]@{A@颥GBɢ[c) 1i)o=iPGO,}:?A"2Acoustic response timeout$:>:+?:Zٱ:$' BAHRS rotation from veh to nav: [[0.765475,-0.586643,-0.264381],[0.607759,0.794118,-0.002416],[0.211367,-0.158831,0.964415]]:H@~?@пr? ii?c?@TĿ`}?i:>I: ];8YJYtByJDI LLbDR{VDR`.5yZ=%ZS=ٔ^pQ-^>9`Y`=b;FybUEb9:Ef>dQ 5jG5fS?Q 9jG5f-+)fl5BYlynF2?Q In@f*DIf: ;if;f6G5yvBɮvR{AvEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 536.12 m.zSzSQ- ProNav: ac range: 536.124084 m, nav range: 485.361145 m, bearing: 37.619363 deg, approach rate: -0.615179 m/s, LOS rate: -0.002889 deg/s, cmd heading: 38.922851 deg, new cmd heading: 38.919489 deg. z-Q5HeadingCmd: 0.679273 target range: 536.124084 and range: 539.40 m.R5-?J1b1Z1B1:2Ҕڔڒ’A@lBɢ^n)1 5:1i9)=99i=RH},:?AB>Bh+?PBlZٱBy%& =AHRS rotation from veh to nav: [[0.765221,-0.587120,-0.264059],[0.607967,0.793955,-0.003475],[0.211691,-0.157880,0.964500]]BH`|?@Wпwt?`h?vl?k5Ŀ/?iB>IB:w];BސCYutBy}cIbDhVD%5y=%8=ٔBQ->9Y=;FyWE%?:E->AQ 5G5Ee?Q 9G5Ex&)E5BYy[2?Q I@E3DIE<,q>>d,?>Zٱ>@# FAHRS rotation from veh to nav: [[0.764698,-0.588389,-0.262745],[0.608466,0.793556,-0.006193],[0.212146,-0.155136,0.964845]]>H@hx?п@x?d?V]y'?~ÿ?i>q>I>Պ];%M=ٔ#Q->9Y=;FyYEB:E>Q 5G5u?Q 9G5")5BY?Q E:yn1?Q I@:DI;i;w=G5yɮyA!Q%FNOT Ignoring new targets: 536.12 m.-C-CQ= ProNav: ac range: 536.124084 m, nav range: 484.847626 m, bearing: 37.617029 deg, approach rate: -0.619696 m/s, LOS rate: -0.002675 deg/s, cmd heading: 38.915525 deg, new cmd heading: 38.912485 deg. z=QEHeadingCmd: 0.679151 target range: 536.124084 and range: 539.40 m.RE-?JAbAZABA:I2IҔIڔIQڒQ’QY]`~B@颅Bɢr) /i)b"顉iIA>ԉ A I I O >,C:?A6q>6,?6ca[ٱ6" BAHRS rotation from veh to nav: [[0.764552,-0.588562,-0.262782],[0.608490,0.793531,-0.006928],[0.212604,-0.154603,0.964830]]6H5w?lпx?d?`| 6? ÿ?i6q>I6l];6CYFtByJIIJ=)J%Z]=ٔ^Q-^>9`Y`=b;Fyb[Ef9Ef>hQ 5nG5j?Q 9nG5j)j6BYlyrv1?Q Ir@jADIj);ijh;j@G5ytɮvxAtQFNOT Ignoring new targets: 536.12 m.????Q- ProNav: ac range: 536.124084 m, nav range: 484.625122 m, bearing: 37.616065 deg, approach rate: -0.602757 m/s, LOS rate: -0.002613 deg/s, cmd heading: 38.912486 deg, new cmd heading: 38.909593 deg. z-Q5HeadingCmd: 0.679101 target range: 536.124084 and range: 539.40 m.R5-?J1b1Z1B1:929Ҕ9ڔAAڒA’AAMEB@YuBɢ}]u)y }E.iy)*顁iP2KBABEIBEkuBBE7 =BABETDBEg;BE'EE]z E]gE]%EY"E]l:*E]&9VE] 4ZEYBE]ܧ;am2E]ާ;auJE]o1;au:E]p1;au9@ @@0@ԉԹ^A5qZ 2Acoustic response timeoutA I I O > i,,:?AYUuByUIԱiMb@Mb@Mb@ 9Cl?I +Y;?y94AZdA A)]AY}AbDkVD'5y=% 6=ٔ Q- >9Y=;Fy^EE>!Q 5%G5%?Q 9-G5%l)%P6BY-A?Q E-:y-'?Q I5@%JDI%` ;i% ;%DG5y9ɮ=DxA=EYQeFNOT Ignoring new targets: 536.12 m.m:6m:6Q ProNav: ac range: 536.124084 m, nav range: 484.353027 m, bearing: 37.616136 deg, approach rate: -0.607670 m/s, LOS rate: 0.000159 deg/s, cmd heading: 38.909593 deg, new cmd heading: 38.909807 deg. z6QHeadingCmd: 0.679104 target range: 536.124084 and range: 539.40 m.R-?JbZB:2ҔIڔIIڒI’QQU B@Bɢ[`)  /i) 5  i K, ;?ABDAT read: Response Not Received *response not received*DAT read: user:182> R(,?R[ٱR ^AHRS rotation from veh to nav: [[0.764342,-0.589493,-0.261301],[0.608653,0.793380,-0.009466],[0.212891,-0.151807,0.965211]]RH ~u?@!(п z? _c?b@?enÿ?iR>IR];RCYbPuByfIbDnpVDnP)5yv>%v^=ٔvBQQ-z>9xYx=z;Fyz_E~;:E~>Q 5 G5?Q 9 G5)6BY y'?Q I@QDI;iG ;GG5yɮrwAGS5B*** querying acoustic contact ***:9B9AQMFNOT Ignoring new targets: 536.12 m.M(%6M(%6Q] ProNav: ac range: 536.124084 m, nav range: 484.129089 m, bearing: 37.616188 deg, approach rate: -0.606814 m/s, LOS rate: 0.000141 deg/s, cmd heading: 38.909808 deg, new cmd heading: 38.909965 deg. z]06QeHeadingCmd: 0.679107 target range: 536.124084 and range: 539.40 m.Re-?JibiZiBi:i2iҔqڔqqڒq’yy}DB@ Bɢrz) -i)̷=iLIBMuBBIBIBIBM~g;BM'Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.018836y^A= 3AA zAA E} v E} bE} !Ey "E} Vz:*E} 9VE} c3ZEy BE} S;a 2E} T;a JE} <;a :E} =;a I1 IA O] >ԩ ,E$;?AB>BF,?B*\ٱBٻ JAHRS rotation from veh to nav: [[0.763978,-0.590067,-0.261073],[0.608948,0.793139,-0.010657],[0.213355,-0.150838,0.965260]]BH@r?@jп|?da?Ӆ`7O?Nÿi?iB>IB<];BߐCY5suBy=I qqbDdVD#5yz=%<=ٔSQ-%>9)Y1=U;Fy]bEm':Em>ԙQ 5G5F?Q 9G5`)6BYy'?Q I@ZDI :i:KG5yɮvAQFNOT Ignoring new targets: 536.12 m.%5%5=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250727QU ProNav: ac range: 536.124084 m, nav range: 483.850647 m, bearing: 37.616238 deg, approach rate: -0.602636 m/s, LOS rate: 0.000107 deg/s, cmd heading: 38.909966 deg, new cmd heading: 38.910114 deg. zUq6Q]HeadingCmd: 0.679110 target range: 536.124084 and range: 539.40 m.R] -?JYbYZaBa:a2aҔaڔiiڒ’}B@,BɢX)j)! %c.i!)%G11i5M,4B;?A2n>2DQ,?2N\ٱ2x :AHRS rotation from veh to nav: [[0.763858,-0.590228,-0.261060],[0.609052,0.793055,-0.010932],[0.213488,-0.150648,0.965261]]2Hq?%6пZ}?`?cS?sHÿ@j?i2n>I2];2CYBuByBIi Mb@Mb@Mb@     9 Cl?/$~jtxY y  Ļ bA `A rA) ZA Y yAbD%nVD%d(5y5S>%5<=ٔ5ɥQ-5>99Y9==;Fy=dEE9AEM>IQ 5UG5MC?Q 9]G5Mr)M6BY]T?Q E]:y]2#?Q I]@MbDIM:iM:MoOG5yoBɮtAE)Q-FNOT Ignoring new targets: 536.12 m.5757Qe ProNav: ac range: 536.124084 m, nav range: 483.599792 m, bearing: 37.616804 deg, approach rate: -0.585754 m/s, LOS rate: 0.001324 deg/s, cmd heading: 38.910112 deg, new cmd heading: 38.911813 deg. zeh8QmHeadingCmd: 0.679139 target range: 536.124084 and range: 539.40 m.Rm-?JibiZiBq:q2qҔqڔyڒ’H!C@ @Bɢ @p)  c-i){/QiN ,[;?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010950B A"<B&>B$B&IB&_vBB&9 =B$B$B&f;B&`'EBBBB7 =B7 =C5V>V^*,?V*\ٱV[x bAHRS rotation from veh to nav: [[0.764251,-0.589541,-0.261462],[0.608624,0.793397,-0.009941],[0.213303,-0.151534,0.965163]]VHt?ɻп y?c?[ M?yeÿ?iV>IVw];VCYfuByj/IbDrmVDr'5yz=%zP=ٔz9Q-z>9|Y|=~;Fy~fEźE> Q 5G5 r?Q 9G5  ) -7BYy #?Q I@ jDI ;i  ; RG5y!ɮ% tA!Ex EsE%E"Eˀ:*EZ:VE 4ZEBE;a2E;aJE];a:E];aԹQFNOT Ignoring new targets: 536.12 m.77Q ProNav: ac range: 536.124084 m, nav range: 483.360992 m, bearing: 37.617361 deg, approach rate: -0.608819 m/s, LOS rate: 0.001421 deg/s, cmd heading: 38.911813 deg, new cmd heading: 38.913485 deg. zy8Q%HeadingCmd: 0.679168 target range: 536.124084 and range: 539.40 m.R%-?J!b)Z)B):)2)Ҕ1ڔQQڒQ’YY]zSC@颥RBɢU{) ,i)HY顩ihPA>IY Iq O} > CA m G -9 Y vA,u;?A2]>2P,?2H<\ٱ2;" :AHRS rotation from veh to nav: [[0.764575,-0.588371,-0.263145],[0.608176,0.793765,-0.007723],[0.213419,-0.154133,0.964725]]2Hew?^п,v?f?RTQ?ÿ?i2]>I2h];2CYBvByBNIIF=)F>i Mb@Mb@Mb@     9 /$?X9v{GztY ?y  ף  aA \A) OWA Y zxAbD%cVD%U#5y5z=%5E=ٔ=Q-=>99Y9=E;FyEhEE:EE>IQ 5UG5M?Q 9UG5M)Me7BY]?Q E]:y]?Q I]@MrDIM3;iM7 ;MVG5yaɮeXsAi9QEFNOT Ignoring new targets: 536.12 m.MA8MA8Q ProNav: ac range: 536.124084 m, nav range: 483.112213 m, bearing: 37.618456 deg, approach rate: -0.601151 m/s, LOS rate: 0.002647 deg/s, cmd heading: 38.913483 deg, new cmd heading: 38.916770 deg. z8QHeadingCmd: 0.679226 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’`NC@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514721颥fBɢ s) N,i)D?ci0Qԁ V,1;?A2a>2y,?2:\ٱ2&% :AHRS rotation from veh to nav: [[0.764485,-0.587593,-0.265137],[0.608145,0.793805,-0.005722],[0.213829,-0.156867,0.964194]]2Hv?@пu?f?ow^?;Ŀ?i2a>I2];2CYBSvByB|IbDNmVDN'5yr?>%rR=ٔrQ-r>9tYt=v;FyvjEve8Ez>xQ 5G5z?Q 9G5zY)z7BYy?Q I@zyDIz<;izz;zYG5yɮ,rAEGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 536.12 m.EJ8EJ8QU ProNav: ac range: 536.124084 m, nav range: 482.879089 m, bearing: 37.619482 deg, approach rate: -0.626574 m/s, LOS rate: 0.002760 deg/s, cmd heading: 38.916768 deg, new cmd heading: 38.919849 deg. zUi8Q]HeadingCmd: 0.679280 target range: 536.124084 and range: 539.40 m.R]C-?JYbYZYBa:a2aҔaڔiiڒi’iiuC@额vBɢ#) )i)j顡iS ,;?A->-+?-]ٱ-& }AHRS rotation from veh to nav: [[0.764871,-0.586732,-0.265930],[0.607540,0.794273,-0.005022],[0.214167,-0.157722,0.963979]]-Hy?@ѿp?j?ti?;0Ŀ ?i->I-i];-Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271315Y~vByIi]Mb@Mb@Mb@YYYY Y9] ףp= ?I +Mb`Y]Q?y]94]]A]]A ]/A)]9VAYY]puAbDcVDU#5y7=%1=ٔDQ->9Y=;FylEϺE>Q 5G5= ?Q 9G5c)7BY?Q E:y?Q I@DI:i:]G5yɮqAQFNOT Ignoring new targets: 536.12 m.B8B8Q ProNav: ac range: 536.124084 m, nav range: 482.611328 m, bearing: 37.621412 deg, approach rate: -0.546598 m/s, LOS rate: 0.003941 deg/s, cmd heading: 38.919849 deg, new cmd heading: 38.925641 deg. z-9QHeadingCmd: 0.679381 target range: 536.124084 and range: 539.40 m.R-?JbZB:2Ҕڔڒ’  C@5Bɢ=g i)9 =)i9)EauAAiELTJ,Dl;?A2>2+?2 ]ٱ2' :AHRS rotation from veh to nav: [[0.765208,-0.586023,-0.266521],[0.607110,0.794607,-0.004101],[0.214182,-0.158670,0.963820]]2H|?@ѿrm? lm?pTj?IOĿ?i2>I2m];2CYBvByBI DDbDrgVDr,%5yvW+>%zV=ٔzV'Q-z>9|Y|=~;Fy~nE迺E> Q 5 G5 ?Q 9G5 )  8BYyn?Q I@ DI ;i <; EaG5y!ɮ%{pA!AQMFNOT Ignoring new targets: 536.12 m.U8U8Qe ProNav: ac range: 536.124084 m, nav range: 482.389374 m, bearing: 37.623028 deg, approach rate: -0.628525 m/s, LOS rate: 0.004577 deg/s, cmd heading: 38.925641 deg, new cmd heading: 38.930490 deg. ze I9QmHeadingCmd: 0.679465 target range: 536.124084 and range: 539.40 m.Rmo-?JibiZiBi:q2qҔqڔqyڒy’yy}"D@颭Bɢ) 'i)|顱i4VB= >B= CB= IB= SwBB= 9 =B9 B9 B= f;B= 4'E] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026642 :p,2;?AEF EFfEF#ED"EF,:*EF9VEF3ZEDBEF R%+?R]ٱR' ^AHRS rotation from veh to nav: [[0.765573,-0.585517,-0.266585],[0.606624,0.794979,-0.003971],[0.214255,-0.158677,0.963803]]RH ?@@ѿvi?wp?`Dpl?@OĿy?iR/g>IRH];RސCYfvByfIbDnXVDnE5yv=%vK=ٔvAQ-z>9xYx=z;FyzpE~ʺE~>Q 5 G5,?Q 9 G5)B8BY yE?Q I@DId:i9:dG5yɮoAAQEFNOT Ignoring new targets: 536.12 m.M8M8Q] ProNav: ac range: 536.124084 m, nav range: 482.155884 m, bearing: 37.624746 deg, approach rate: -0.580585 m/s, LOS rate: 0.004276 deg/s, cmd heading: 38.930490 deg, new cmd heading: 38.935649 deg. z];9QeHeadingCmd: 0.679555 target range: 536.124084 and range: 539.40 m.ReV-?JabaZaBi:i2iҔiڔqqڒq’qqWD@Bɢ0y) 1'i) 炽  i 4W9 ,(;?A2.)>2$k+?2Z]ٱ27E( ZAHRS rotation from veh to nav: [[0.765820,-0.584803,-0.267442],[0.606230,0.795283,-0.003070],[0.214488,-0.159781,0.963569]]2H?ѿI2^2];2CYf wByfIiMb@Mb@Mb@ 9-?&1Y??yP5AZA A)"UAYsAbDgVD,%5y=%>=ٔQ->9Y=;FyrEE>Q 5G5\=?Q 9G5)}8BY?Q E:y?Q I@DI;i;hG5yɮGoAEBDAT read: Rx Time:21:21:50.5893 %TRx dataTimestamp_ set to:1761513711.960757%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531841 Ex ExEE"Eˀ:*E:VEZEa@a@a@a@QFNOT Ignoring new targets: 536.12 m.88Q ProNav: ac range: 536.124084 m, nav range: 481.911255 m, bearing: 37.626947 deg, approach rate: -0.568054 m/s, LOS rate: 0.005112 deg/s, cmd heading: 38.935650 deg, new cmd heading: 38.942254 deg. z`9QHeadingCmd: 0.679671 target range: 536.124084 and range: 539.40 m.R-?JbZ)B):)21Ҕ1ڔ11ڒ9’99=D@ƀBɢ|Hm)  'i ) %9  idXA >ԙ A1 I9 II O] >*,- ^k0+?^]ٱ^) AHRS rotation from veh to nav: [[0.766331,-0.583847,-0.268065],[0.605519,0.795828,-0.002290],[0.214670,-0.160563,0.963398]]^H@Ʌ?'ѿh`?kw?bQz?TĿ(?i^>I^J];\Y=BwByEIIe=)e<bDhVD%5y=%9=qٔݹQ->9Y=;FyuEE>Q 5G5 P?Q 9G5J)8BYy?Q I@DI;iÚ;lG5yɮqnAGSEB*** querying acoustic contact ***:aBaqQuFNOT Ignoring new targets: 536.12 m.}8}8Q ProNav: ac range: 536.124084 m, nav range: 481.646759 m, bearing: 37.629356 deg, approach rate: -0.548773 m/s, LOS rate: 0.005002 deg/s, cmd heading: 38.942255 deg, new cmd heading: 38.949488 deg. z[9QHeadingCmd: 0.679797 target range: 536.124084 and range: 539.40 m.R*.?JbZB:2ҔڔBBCBdIBwBBBBB_f;B'Ei!I%AUDAT read: 21:21:50.5893 LVL= 25648, 29745, 27794, 24179, AGC= 76, IDX= 56,-0.40, 2.413, 1.066, 2.519, 1.898, PHS= 0.617,-0.787, 0.578, RAW= 148.6, -6.0, CAL= 148.5, -7.2, ROT= 1.5, 7.2 eYgot valid direction response: 21:21:50.5893 LVL= 25648, 29745, 27794, 24179, AGC= 76, IDX= 56,-0.40, 2.413, 1.066, 2.519, 1.898, PHS= 0.617,-0.787, 0.578, RAW= 148.6, -6.0, CAL= 148.5, -7.2, ROT= 1.5, 7.2 mPDAT read: Bearing 174.6, 15.0 (Local) m~Local bearing/azimuth received: Bearing 174.6, 15.0 (Local) uDAT read: Range 11 to 50 : 516.9 m (Round-trip 689.2 ms) speed 0.4 m/s }*DAT read: user:183> BDAT read: Tx time:21:21:51.6959 $Ping request sent.!!%d$?/FcRy?jR` %C>)%=I%Pw!! :publishing transmit ping time Fpublishing direction and range infoy!%{[?w&+?cK Y!!!!! !)!I!i!-ڀBɢ-w)) -*'i))5 11i570Z ,112 *?2]ٱ2@u) zAHRS rotation from veh to nav: [[0.766813,-0.583061,-0.268400],[0.604847,0.796339,-0.001898],[0.214844,-0.160885,0.963306]]2H?ov-ѿZ?`{?_@?Ŀf?i2D>I2A];0YwByBIԱi5Mb@Mb@Mb@1111 195%/=ٔ5ȹQ->9Y=;FywEE>Q 5G5a?Q 9G5)8BY ?Q E:yh?Q I@DI:i:{pG5yEBɮkAEJ9R=—=*1vsvy@n}a(s@::٤F@=?@?Hy?j=qCr=CZ=9?b=̥*z=^B= l?=.=/Cڗ=C=d[,?Q addTargetRange:: Added new target pos. range: 516.900024 m, deltaT: 41.603939 s, deltaX: -22.500000 m, approachRate: -0.540814 m/s, rangeRepo size: 4 Q Added new target pos. range: 513.674805 m, bearing: 38.551544 deg, lat: 36.779214 deg, lon: -121.859077 deg, deltaT: 41.603939 s, deltaX: -22.449280 m, approachRate: -0.539595 m/s, posRepo size: 4 QFNOT Ignoring new targets: 513.67 m.Q ProNav: ac range: 513.674805 m, nav range: 501.442413 m, bearing: 38.575500 deg, approach rate: 0.000000 m/s, LOS rate: 0.005002 deg/s, cmd heading: 38.949488 deg, new cmd heading: 38.956125 deg. zQHeadingCmd: 0.679913 target range: 513.674805 and range: 516.90 m.R.?Jb!Z!B!:!2)Ҕaڔaiڒi’qqu`?-Bɢ-hy)) 5`$i1)5Q11i5|[ b,{0N2*?2]ٱ2z *D NAHRS rotation from veh to nav: [[0.767013,-0.582553,-0.268928],[0.604505,0.796600,-0.001481],[0.215091,-0.161432,0.963159]]2H_?F@6ѿX?@}?EX@?ͩĿ@3?i2<>I2X];0YRwByVeIbD^UVD^5yf>%fQ=ٔfb)Q-j>9hYh=j;FyjyEn憺En>pQ 5vG5rNq?Q 9vG5r)r/9BYtyzN?Q Iz@rDIrP;ir] ;rsG5y|ɮ~jA|!Q%FNOT Ignoring new targets: 513.67 m.-8-8Q= ProNav: ac range: 513.674805 m, nav range: 501.223541 m, bearing: 38.578056 deg, approach rate: -0.583713 m/s, LOS rate: 0.006820 deg/s, cmd heading: 38.956124 deg, new cmd heading: 38.963795 deg. z=ĕ9QEHeadingCmd: 0.680046 target range: 513.674805 and range: 516.90 m.RE.?JAbIZIBI:I2IҔQڔQQڒQ’YY]@J?颅BɢHL)< "i)#顉i`]E%  E% fE% %E! "E% V:*E% 9VE% 4ZE! BE% 92*?2M^ٱ2) :AHRS rotation from veh to nav: [[0.766994,-0.582598,-0.268887],[0.604422,0.796661,-0.002025],[0.215392,-0.160968,0.963170]]2H 7?p5ѿmW?@~?X``?Ŀ@I?i2# >I2qD];2ߐCYBxByBI DDbDN\VDN 5yb=%fK=ٔfHQ-f>9hYh=j;Fyj{Ej} En>xQ 5~G5|zj?Q 9G5za)zg9BYyI?Q I@zDIz-;iz!.;zmwG5y ɮ*jA1QFNOT Ignoring new targets: 513.67 m.U8U8Q ProNav: ac range: 513.674805 m, nav range: 500.997437 m, bearing: 38.580700 deg, approach rate: -0.558855 m/s, LOS rate: 0.006539 deg/s, cmd heading: 38.963794 deg, new cmd heading: 38.971731 deg. z9QHeadingCmd: 0.680185 target range: 513.674805 and range: 516.90 m.R .?JbZB: 2 Ҕ9ڔAIڒq’c?)5Bɢ5Bs)1 5J"i1)=99i=4_D= =D= <EE w EE cEE #EA "EE }:*EE L9VEE 3ZEA aM @aM @aM @aM @m ,́%}?=ٔ}Q-}>9Y=;Fy}EE>Q 5G5G?Q 9G5)9BY?Q E:y?Q I@DI;(;i&;"{G5yCBɮhAEQFNOT Ignoring new targets: 513.67 m.88Q ProNav: ac range: 513.674805 m, nav range: 500.760223 m, bearing: 38.583394 deg, approach rate: -0.559100 m/s, LOS rate: 0.006352 deg/s, cmd heading: 38.971731 deg, new cmd heading: 38.979816 deg. z9QHeadingCmd: 0.680326 target range: 513.674805 and range: 516.90 m.R).?JbZB:2Ҕڔڒ’ ?"Bɢq) Ai)םi8a &,k:*?:^ٱ:e& FAHRS rotation from veh to nav: [[0.766789,-0.583596,-0.267301],[0.604581,0.796530,-0.004734],[0.215676,-0.157975,0.963601]]:H?Ь`wѿX?@,}?csF?`8Ŀ?i:*>I:>];:ސCYNxByNIbDVFVDV5y^>%^W=ٔbCIQ-b>9`Y`=b;FyfEf~1:Ef>hQ 5nG5jZ?Q 9nG5j)j9BYpyr?Q Ir@jDIj8;ij;js~G5ytɮvgAtBBB IBxBBBBB`e;B&EBBBB9 =B9 =C4GS-B*** querying acoustic contact ***:)B)9QEFNOT Ignoring new targets: 513.67 m.E8E8QU ProNav: ac range: 513.674805 m, nav range: 500.548096 m, bearing: 38.585800 deg, approach rate: -0.551474 m/s, LOS rate: 0.006259 deg/s, cmd heading: 38.979814 deg, new cmd heading: 38.987037 deg. zUt9Q]HeadingCmd: 0.680452 target range: 513.674805 and range: 516.90 m.R]2.?JabaZaBa:a2aҔiڔiiڒi’iqu`V@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ3Bɢ) i)ۘi3cI M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258364Ii O >9 G ) ,,~2+?2^ٱ2& >AHRS rotation from veh to nav: [[0.766483,-0.583824,-0.267681],[0.604883,0.796301,-0.004735],[0.215919,-0.158286,0.963496]]2H@?`!ѿ2[?@K{?ds9?BĿ?i2 d>I2 ];2ݐCYFxByFIIJ>)J?>iMb@Mb@Mb@ 9"~?Zd;Oy&1|?Y?yj<fA"UA ׆A)MAYlAbD}WVD}5yo>%==ٔQ->9Y=;FyE҄:E>Q 5G5^?Q 9G5`):BYr?Q E:y?Q I@DI ;i2 ;8G5yɮ gAQFNOT Ignoring new targets: 513.67 m.88Q  ProNav: ac range: 513.674805 m, nav range: 500.306061 m, bearing: 38.588136 deg, approach rate: -0.567434 m/s, LOS rate: 0.005479 deg/s, cmd heading: 38.987037 deg, new cmd heading: 38.994049 deg. z%p9Q5HeadingCmd: 0.680575 target range: 513.674805 and range: 516.90 m.R=":.?JAbAZIBI:Y2YҔaڔaaڒa’iqu@5FBɢ5Cz)9 =i9)=99i=diԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7598983,U%eM=ٔeQ-e>9e ?Ym ?=m;FymEmEm>qQ 5}G5u ?Q 9}G5u)uP:BYyQ I@uDIu;iu;uG5yɮeAQFNOT Ignoring new targets: 513.67 m.88Q ProNav: ac range: 513.674805 m, nav range: 500.083160 m, bearing: 38.590289 deg, approach rate: -0.561844 m/s, LOS rate: 0.005430 deg/s, cmd heading: 38.994049 deg, new cmd heading: 39.000511 deg. z{n9QHeadingCmd: 0.680687 target range: 513.674805 and range: 516.90 m.RA.?JbZB:2Ҕڔڒ’ @q颵XBɢH0~) i)7项i1nf9,Q/2\+?2T_ٱ2# :AHRS rotation from veh to nav: [[0.765626,-0.585629,-0.266186],[0.605806,0.795574,-0.007853],[0.216369,-0.155245,0.963890]]2H?`y0 ѿb?Wu?`?ÿ@/?i2 >I2];2ސCYB9V"?YV"?=Z;FyZEZ];EZ>\Q 5%G5^?Q 9%G5^)^:BY!y-2?Q I-@^DI^:i^:^G5y1ɮ5*eA5EYQ]FNOT Ignoring new targets: 513.67 m.e8e8Qu ProNav: ac range: 513.674805 m, nav range: 499.869873 m, bearing: 38.592322 deg, approach rate: -0.543238 m/s, LOS rate: 0.005179 deg/s, cmd heading: 39.000510 deg, new cmd heading: 39.006610 deg. zu{c9Q}HeadingCmd: 0.680794 target range: 513.674805 and range: 516.90 m.R}H.?JybyZB:2Ҕڔڒ’3 @hBɢ) Di)%d!)i-phE%  E% jE% $E! "E% :*E% 9VE% 4ZE! a- @a- @a5 @a5 @ֹ@,t =?AFd>F+?F_ٱF> NAHRS rotation from veh to nav: [[0.764776,-0.587407,-0.264707],[0.606688,0.794863,-0.011057],[0.216901,-0.152139,0.964265]]FH y? пi?o?h?HyÿC?iFd>IF\;FߐCYV|yByVnI XXi5Mb@Mb@Mb@1111 195㥛 ?~jtMb?Y5?y55<5OA5RA 5A)5nLA1Y5jAbDM]VDM 5y]>%]?=ٔeQ-e>9aYa=e;FymEm?;Em>qQ 5G5u?Q 9G5uT)u:BY?Q E:yR?Q I@uDIuA?F,;=?A6>6+?6r`B<B<B>IB>zBB<B<B<B>d;B>5&EHٱ6 fAHRS rotation from veh to nav: [[0.764220,-0.588244,-0.264458],[0.607198,0.794452,-0.012474],[0.217437,-0.151045,0.964316]]6H|t?@п*n?'l?0?`rUÿ@?i6>I6#];6ސCYnyBynIbDzXVDzE5y94>%M=ٔQ->9 Y = ;Fy E:E>Q 5%G5z?Q 9%G5):BY!y%?Q I-@DI:id:9G5=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019940y=Bɮ=aAEEGS]B*** querying acoustic contact ***:YBYiQmFNOT Ignoring new targets: 513.67 m.ul8ul8Q ProNav: ac range: 513.674805 m, nav range: 499.401886 m, bearing: 38.595898 deg, approach rate: -0.594256 m/s, LOS rate: 0.004520 deg/s, cmd heading: 39.012196 deg, new cmd heading: 39.017344 deg. zF9QHeadingCmd: 0.680981 target range: 513.674805 and range: 516.90 m.RT.?JbZB:2Ҕڔڒ’@y3@颍BɢX) ;i)顙ikI .zi  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseM,C7=?AB$P>B+?BaٱB JAHRS rotation from veh to nav: [[0.763842,-0.588562,-0.264840],[0.607465,0.794239,-0.013033],[0.218018,-0.150926,0.964204]]BHdq?$пZp?hj?C?@Qÿ?iB$P>IB?];BCYbzBybIlimMb@Mb@Mb@iiii i9mn?Mb{Gzt?Ym?ymmף;m\}AmQA mA)m+IAiYm(hAbD>VDO5y >%1=ٔQ->9Y=;FyE:E>Q 5G5?Q 9G5)=;BY>?Q E:y&?Q I@DI;i;BG5yɮ`A!Q-FNOT Ignoring new targets: 513.67 m.5858QE ProNav: ac range: 513.674805 m, nav range: 499.138763 m, bearing: 38.597588 deg, approach rate: -0.571948 m/s, LOS rate: 0.003675 deg/s, cmd heading: 39.017343 deg, new cmd heading: 39.022415 deg. zEg!9QEHeadingCmd: 0.681070 target range: 513.674805 and range: 516.90 m.RMZ.?JIbIZIBI:Q2QҔQڔQYڒY’YY] @颍Bɢz) i)͹顑i-mR8,?R[bٱRP ^AHRS rotation from veh to nav: [[0.763084,-0.588921,-0.266224],[0.607971,0.793845,-0.013443],[0.219258,-0.151598,0.963817]]RH/k?p` ѿt? .g?6?gÿ?iR>IR];RCYAzByII <) 4<bDCVD5y-$->%-f=ٔ-jQ-5>91Y1=5;Fy=E=O$;E=>QQ 5uG5U?Q 9G5U)Up;BYy`?Q I@UDIU+;ԙ y/Z,j=?A2>2Y,?2xcٱ2 ! :AHRS rotation from veh to nav: [[0.762599,-0.588846,-0.267774],[0.608196,0.793677,-0.013232],[0.220317,-0.152769,0.963391]]2H7g?5#ѿ`Wv?e?C\3? ÿ ?i2>I2֡];2ߐCYBzzByB IbDN?VDN5yr`>%rR=ٔr6Q-v>9tYx=z;FyzEzp:E~>Q 5G5 ?Q 9G5m);BYy?Q I@DID;iJ0;ǚG5y)ɮ-_A)QFNOT Ignoring new targets: 513.67 m.A8A8ԙQ ProNav: ac range: 513.674805 m, nav range: 498.713928 m, bearing: 38.600264 deg, approach rate: -0.571373 m/s, LOS rate: 0.003586 deg/s, cmd heading: 39.026277 deg, new cmd heading: 39.030445 deg. z9QHeadingCmd: 0.681210 target range: 513.674805 and range: 516.90 m.Rc.?JbZB:2Ҕڔڒ’@5BT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɢ5\) Ki)"!!i-3pEa,V=?AY~zBy8IԙiMb@Mb@Mb@ 9Cl?V-y&1|?Yd?y`;zAPA xA)&IAY=fAbD@VD:5y)>%8=ٔQ->9Y=;FyEE>Q 5G52?Q 9G5c);BY?Q E:ye ?Q I@ DI:ij:G5yBɮ]AQ%FNOT Ignoring new targets: 513.67 m.%o8%o8Q5 ProNav: ac range: 513.674805 m, nav range: 498.452362 m, bearing: 38.601684 deg, approach rate: -0.601232 m/s, LOS rate: 0.003266 deg/s, cmd heading: 39.030447 deg, new cmd heading: 39.034709 deg. z=o9Q=HeadingCmd: 0.681284 target range: 513.674805 and range: 516.90 m.R=h.?JAbAZABA:A2AҔIڔIIڒI’QQU`@}сBɢNM|)  i)Ľ顁iq! B% >B! B% IB% A{BB! B! B% UDB% 2,?2Sfٱ2" :AHRS rotation from veh to nav: [[0.761478,-0.588776,-0.271096],[0.608548,0.793397,-0.013785],[0.223203,-0.154478,0.962454]]2H^?AYѿ:y?c?;?ÿk?i2>I2Y^;2CYB{ByB_I DDJ=J=rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapsebDNFVDN5yeX!>%mP=ٔmIQ-m>9iYq=u;FyuEu';E>Q 5G5B?Q 9G5ǽ)%m,1=?Aj>j,?jhٱj# zAHRS rotation from veh to nav: [[0.760427,-0.589075,-0.273390],[0.609011,0.793024,-0.014787],[0.225516,-0.155253,0.961790]]jHjU?9ѿ}?`t`?H?Tÿ?ij>IjJ_;jCY ={ByIiMb@Mb@Mb@ 9rh|?X9vMb?Y?y<wAMA )EAYdAbD>VDO5y>%A=ٔQ->9Y=;FyE!;E> Q 5G5 S?Q 9G5 ) et8U>t8Qm ProNav: ac range: 513.674805 m, nav range: 497.971100 m, bearing: 38.604299 deg, approach rate: -0.601618 m/s, LOS rate: 0.003336 deg/s, cmd heading: 39.038435 deg, new cmd heading: 39.042557 deg. zm9QuHeadingCmd: 0.681421 target range: 513.674805 and range: 516.90 m.Ruq.?JqbqZqBq:q2yҔyڔyyڒ’@ @颵Bɢu)  i) ̽项iotA>ԩIY Ii O} >u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse tt,!=?AY~{By~IbD ?VD 5yV>%%Z=ٔ%Q-%>9)Y)=-;Fy-E-E->1Q 5=G55b?Q 9EG55)5uEUv EUfEU)EQ"EUVz:*EU9VEUFA4ZEQBEQae2EQaeJEU-;ae:EU-;ae 9 z,3=?AZE>Z,?Z kٱZE5& jAHRS rotation from veh to nav: [[0.759658,-0.588403,-0.276950],[0.608892,0.793114,-0.014880],[0.228408,-0.157329,0.960769]]ZH`O?3 ѿ |?0a?hy@|IZ,_;ZCYr{ByrIbDDVD5y=%K=ٔQ->9Y=;FyEg:E%>!Q 5-G5%r?Q 95G5%߲)%M֐CɢrzEG!)A MiIYs9Y_A)Uӽiv1@ @@5@@jA@iAa  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse] PExceeded connect timeout, disconnecting.^A yb]DQ DQ E]  EY E] "EY "E] ~:*EY VE] (3ZEY ae @ae @ae @ae @Iq I O >p,U>?A$Nu>NF.-?NmٱN"% VAHRS rotation from veh to nav: [[0.758888,-0.589149,-0.277475],[0.609287,0.792770,-0.016865],[0.229910,-0.156263,0.960585]]NH@H?@O&ѿ@G? `^?Em?oĿ@?iNu>IN,&`;NCY^|By^Ia-@a- a-@a5 a5@a5 a5@a5 bD=7VD=5yMl>%MG=ٔMvQ-M>9QYQ=U;FyUE];E]>aQ 5mG5e|?Q 9mG5e#)e=BQ Am+:YiQ Em:yuw ?Q Iu@e.DIea:ie>e|G5y}Bɮ}WA}EQFNOT Ignoring new targets: 513.67 m.)j8)j8Q ProNav: ac range: 513.674805 m, nav range: 497.269836 m, bearing: 38.608150 deg, approach rate: -0.589568 m/s, LOS rate: 0.003199 deg/s, cmd heading: 39.050179 deg, new cmd heading: 39.054116 deg. z 9QHeadingCmd: 0.681623 target range: 513.674805 and range: 516.90 m.R~.?JbZB:2Ҕڔڒ’0@}%Bɢs-) i)wbֽ顉i)w B B CB RIB |BB 9 =B B B d;B %E,x{ >?AFi>F?M-?FCnٱFV'% NAHRS rotation from veh to nav: [[0.758352,-0.589350,-0.278512],[0.609446,0.792627,-0.017810],[0.231253,-0.156232,0.960268]]FH kD? $ѿ ? 4]?<`?fÿ ?RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseTiFi>IF(`;FސCY^H|By^&IbDf3VDf? 5yn/:>%nR=ٔrgQ-r>9pYp=r;FyvEv:Ev>xQ 5~G5z-?Q 9~G5z)zZ=BQ A~ :YQ Ed:y ?Q I@z6DIzz ;izJM?zG5y Bɮ VA GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.\8\8Q  ProNav: ac range: 513.674805 m, nav range: 497.040070 m, bearing: 38.609385 deg, approach rate: -0.560150 m/s, LOS rate: 0.003012 deg/s, cmd heading: 39.054117 deg, new cmd heading: 39.057824 deg. z P9QHeadingCmd: 0.681688 target range: 513.674805 and range: 516.90 m.bE 4jE4rEl0Eu EuE%E"Ev:*E:VE 4ZEBE0;a-2E1;a-JEed;a5:Eed;a5R.?JQbQZQBQ:Y2YҔYڔYaڒa’aae :> @6BɢH|) Ai)eٽi:x) ,l:>?AhY |ByHI=a=aa aa aa aa iMb@Mb@Mb@ 9-?V-~jt?Y5?yD<tA&IA KA)AAY`A@A@AbD<VDc5y=%8=ٔQ->9Y=;FyEE>Q 5G50?Q 9G5w)=BQ AT:Yi?Q E:y!?Q I @>DI|;i ;G5yɮUA9Q=FNOT Ignoring new targets: 513.67 m.E"\8E"\8QU ProNav: ac range: 513.674805 m, nav range: 496.775330 m, bearing: 38.610655 deg, approach rate: -0.626205 m/s, LOS rate: 0.003007 deg/s, cmd heading: 39.057822 deg, new cmd heading: 39.061636 deg. zU9Q]HeadingCmd: 0.681754 target range: 513.674805 and range: 516.90 m.R]q.?JYbYZYBY:Y2aҔiڔiiڒi’iqu !@额FBɢ[~) i)))ݽ顡i&y5 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapsexՔ,RFT>?AY~|By~pIQbD:VDx5ye*>%eU=ٔaQ-e>9iYi=m;FymEqEu>yQ 5G5}Ǵ?Q 9G5})}=BYyQ I@}FDI}{:i}:}G5yɮTAEQFNOT Ignoring new targets: 513.67 m.fR8fR8Q ProNav: ac range: 513.674805 m, nav range: 496.546204 m, bearing: 38.611756 deg, approach rate: -0.597987 m/s, LOS rate: 0.002874 deg/s, cmd heading: 39.061637 deg, new cmd heading: 39.064941 deg. z{8QHeadingCmd: 0.681812 target range: 513.674805 and range: 516.90 m.R8.?JbZB:2Ҕڔڒ’@!@VBɢ) ei)%D!!i%zy ~,An>?AFZ>F-?FrٱF& NAHRS rotation from veh to nav: [[0.757148,-0.589062,-0.282371],[0.609518,0.792545,-0.018994],[0.234980,-0.157729,0.959117]]FH:? ]ҿ+?\? s@?w0Ŀ?iFZ>IF`;FܐCYV|ByVIbD^+VD^ 5yf>%fU=ٔf#Q-j>9hYh=j;FyjEnv;En>pQ 5vG5rZ?Q 9vG5rU)r >BYxyz"?Q Iz@rMDIrj:ir:rKG5y|ɮ~SA|!Q%FNOT Ignoring new targets: 513.67 m.-M8-M8Q= ProNav: ac range: 513.674805 m, nav range: 496.317139 m, bearing: 38.612836 deg, approach rate: -0.596795 m/s, LOS rate: 0.002814 deg/s, cmd heading: 39.064939 deg, new cmd heading: 39.068179 deg. z=)8QEHeadingCmd: 0.681868 target range: 513.674805 and range: 516.90 m.RE.?JAbAZABI:I2IҔIڔQQڒQ’QY]`A"@颅eBɢr) i)X顉inz T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseEE u EE cEE +EA "EE v:*EE L9VEE [4ZEA aM @aM @aM @aM @Q ,>>?A2J>2-?27^tٱ2& :AHRS rotation from veh to nav: [[0.756550,-0.589307,-0.283461],[0.609718,0.792366,-0.019985],[0.236382,-0.157711,0.958776]]2H5? 8$ҿς?[?v A?/Ŀ@J?i2J>I2`;2ސCYN%}ByRIiUMb@Mb@Mb@QQQQ Q9UCl? rh{Gz?YU;?yUCU#AQYU^A mp9Y=;FyE:E>Q 5G5?Q 9G5:)f>BYO?Q E:y4'?Q I@UDI:i:G5yɮ8SAQFNOT Ignoring new targets: 513.67 m.77Q ProNav: ac range: 513.674805 m, nav range: 496.060303 m, bearing: 38.613453 deg, approach rate: -0.601465 m/s, LOS rate: 0.001446 deg/s, cmd heading: 39.068180 deg, new cmd heading: 39.070033 deg. z ~8QHeadingCmd: 0.681901 target range: 513.674805 and range: 516.90 m.R .?JbZB:2Ҕڔڒ ’   s#@=vBɢ=Cz)Ec߇< EiA)EAAiMzBe >Ba Be IBe }BBe : =Ba Ba Be c;Be %Eԡ ,á>?ABN-?NFuٱN*' fAHRS rotation from veh to nav: [[0.756173,-0.589292,-0.284494],[0.609724,0.792345,-0.020619],[0.237568,-0.157872,0.958456]]NH2?`{'5ҿ܂?Z? @h?%5Ŀ૫?iN>IN`;NݐCYrW}ByrIbDzVDz45y>%S=ٔ NQ- >9 Y =;FyE':E>Q 5G5?Q 9G5`)>BYyD'?Q I@]DIg:i=:G5yɮoRAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.77Ev E`E"E"EVz:*E9VE(3ZEBER;a 2ET;a JE;a :E;a Q= ProNav: ac range: 513.674805 m, nav range: 495.819336 m, bearing: 38.614026 deg, approach rate: -0.593936 m/s, LOS rate: 0.001413 deg/s, cmd heading: 39.070034 deg, new cmd heading: 39.071754 deg. z=6x8QEHeadingCmd: 0.681931 target range: 513.674805 and range: 516.90 m.RE.?JAbIZIBI:I2IqҔQڔqyڒy’yy`%J$@Bɢ {) i)i'D{ 7,>?A6>6-?6Evٱ6' BAHRS rotation from veh to nav: [[0.755588,-0.589640,-0.285326],[0.609995,0.792112,-0.021575],[0.238732,-0.157745,0.958188]]6H`-?@UBҿ?X?? 0Ŀ@y?i6>I6`;6ߐCYN}ByNIi%Mb@Mb@Mb@!!!! !9%Q?~jtQ-U>9QYQ=U;FyUE]:E]>aQ 5mG5e?Q 9mG5e)e>BYm@?Q Eu:yu]&?Q Iu@edDIe:ie:eG5y}Bɮ}QA}EQFNOT Ignoring new targets: 513.67 m.77Q= ProNav: ac range: 513.674805 m, nav range: 495.583191 m, bearing: 38.614684 deg, approach rate: -0.596903 m/s, LOS rate: 0.001665 deg/s, cmd heading: 39.071756 deg, new cmd heading: 39.073731 deg. z==8QEHeadingCmd: 0.681965 target range: 513.674805 and range: 516.90 m.REG.?JAbAZABA:A2IҔIڔIIڒq’qquu%@Bɢ~) %i2Acoustic response timeout)I顑i5{E 2Acoustic response timeout5,hw>?A2;Q>2*-?21wٱ2$!' >AHRS rotation from veh to nav: [[0.755109,-0.589898,-0.286059],[0.610222,0.791918,-0.022257],[0.239665,-0.157753,0.957953]]2H@)?@rNҿ?`dW?ʖT?@1Ŀ?i2;Q>I2l&`;2ސCYF}ByFIJ=J=NAALbDRVDR45yV>%ZU=ٔZ$$Q-Z>9XY\=^;Fy^E :E>!Q 5-G5%&?Q 9-G5%)%(?BY)y-}&?Q I-@%lDI%:i%:%{G5y9ɮ=PA9aQeFNOT Ignoring new targets: 513.67 m.m7m7Q} ProNav: ac range: 513.674805 m, nav range: 495.350189 m, bearing: 38.615321 deg, approach rate: -0.589537 m/s, LOS rate: 0.001613 deg/s, cmd heading: 39.073733 deg, new cmd heading: 39.075645 deg. z}8QHeadingCmd: 0.681999 target range: 513.674805 and range: 516.90 m.Rw.?JbZB:2Ҕڔڒ’ 7%@Bɢ)  Pi ) ,i?|g,>>?AR>RM.?RhxٱR!' ZAHRS rotation from veh to nav: [[0.754195,-0.590714,-0.286787],[0.610966,0.791317,-0.023205],[0.240647,-0.157716,0.957713]]RH]"?"Zҿ?wR?×? 0Ŀ`?iR>IR_;RCYr~Byr6IbD-!VD-5ye=%e#=yٔQ->9 ?Y ?=;FyE;E>Q 5G5?Q 9G53)y?BYy&?Q I@uDI2A{.?2yٱ2& BAHRS rotation from veh to nav: [[0.753592,-0.591218,-0.287332],[0.611358,0.790987,-0.024123],[0.241538,-0.157483,0.957527]]2H m?Ccҿ`>?O?ʳ`?@k(Ŀ ?i2jI>I2 _;2CYV=~ByVZII^%=)\iMb@Mb@Mb@ 9+?~jthYv?y̼DkABA +{A);AYYAbDVDy=% =ٔ ҺQ- >9 "?Y"?=;FyE}:E>Q 5%G5/?Q 9%G5ކ)?BY-?Q E-:y-#?Q I-@DI ;iz ;G5y1ɮ=MA9YQeFNOT Ignoring new targets: 513.67 m.e8<8e8<8Qu ProNav: ac range: 513.674805 m, nav range: 494.715881 m, bearing: 38.617438 deg, approach rate: -0.646208 m/s, LOS rate: 0.002571 deg/s, cmd heading: 39.077947 deg, new cmd heading: 39.081999 deg. zu8Q}HeadingCmd: 0.682110 target range: 513.674805 and range: 516.90 m.R}.?JybZB:2Ҕڔڒ’%'@=ЂBɢEeo)I M~iI)MWIIiMjz  UJ.?UJ{ٱUP% eAHRS rotation from veh to nav: [[0.752180,-0.592774,-0.287827],[0.612538,0.790005,-0.026252],[0.242946,-0.156559,0.957323]]UH ?@kҿ@?G?ᚿ ? Ŀc?iU{=>IU^;UސCYu~By}IbD)VD5y$ >%=ٔ4Q->9Y=;FyE;h;E>Q 5G5/E?Q 9G5)"@BYy<$?Q I@DI:i:aG5yɮLAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.%8%8Q  ProNav: ac range: 513.674805 m, nav range: 494.400391 m, bearing: 38.618626 deg, approach rate: -0.599782 m/s, LOS rate: 0.002261 deg/s, cmd heading: 39.082001 deg, new cmd heading: 39.085569 deg. z 8QHeadingCmd: 0.682172 target range: 513.674805 and range: 516.90 m.RѢ.?JbZB:2Ҕ!ڔ!!ڒ!’))-S)@UBɢ][q)Y ]hiY)]a"Yaie{ z,S??Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506520z>z+/?z{ٱz{Y% AHRS rotation from veh to nav: [[0.751559,-0.593542,-0.287867],[0.613074,0.789552,-0.027344],[0.243516,-0.155934,0.957280]]zH ?KklҿM?D?@+?ÿ` ?iz>Iz^;xY~ByIbD!VD!y5y6>%5Q=ٔ=/źQ-=>9= ?YE ?=EIQ 5UG5MU?Q 9UG5M3~)M_@BYYy]r$?Q I]@MDIM;iM;MG5ye֘Bɮe}KAmEQFNOT Ignoring new targets: 513.67 m.!8!8Q ProNav: ac range: 513.674805 m, nav range: 494.165894 m, bearing: 38.619488 deg, approach rate: -0.601325 m/s, LOS rate: 0.002211 deg/s, cmd heading: 39.085570 deg, new cmd heading: 39.088157 deg. zA8QHeadingCmd: 0.682217 target range: 513.674805 and range: 516.90 m.Rǥ.?JbZB:2Ҕڔڒ’)@BɢI,) Bi)iiCz,Om??A\v>vU/?v?|ٱvU$ AHRS rotation from veh to nav: [[0.751108,-0.594197,-0.287692],[0.613492,0.789194,-0.028286],[0.243853,-0.155251,0.957305]]vH@ ?`iҿ?A?6?`Eÿ@>?iv>Iv];vߐCY~ByI bD%"VD%m5y5 /=%=J=ٔ=`Q-=>9AYA=EIQ 5UG5Mee?Q 9]G5M_z)M@BYYy]$?Q I]@MDIM;iM;MSG5yaɮm6KAiQFNOT Ignoring new targets: 513.67 m.88Q ProNav: ac range: 513.674805 m, nav range: 493.923096 m, bearing: 38.620364 deg, approach rate: -0.600294 m/s, LOS rate: 0.002166 deg/s, cmd heading: 39.088158 deg, new cmd heading: 39.090787 deg. zE8QHeadingCmd: 0.682263 target range: 513.674805 and range: 516.90 m.Rɨ.?JbZB:2Ҕڔڒ’1*@Bɢ9) i)i{zm;Iɨ.?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755473 9@  @ @ 4@ ^AqZ;A! I) I9 A OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006633C,ϼ??ADDEt EwE!E"Es:*E:VEc3ZEa&@a&@a&@a&@Y-By-Ii]Mb@Mb@Mb@YYYY Y9] ףp= ?Q롿MbY]Q?y]\]]mA]AA ]zA)]8AYY]QXAbDu'VDu5y=%*=ٔQ->9Y=Q 5G5kx?Q 9G5v)@BY?Q E:yx?Q I@DI1;i;G5yɮWJAQFNOT Ignoring new targets: 513.67 m.o{8o{8Q ProNav: ac range: 513.674805 m, nav range: 493.645569 m, bearing: 38.622013 deg, approach rate: -0.577712 m/s, LOS rate: 0.003435 deg/s, cmd heading: 39.090788 deg, new cmd heading: 39.095738 deg. z9QHeadingCmd: 0.682349 target range: 513.674805 and range: 516.90 m.Rr.?J9bZyBy:y2Ҕڔڒ’U+@Bɢ=:s)9 =i9)=AAiEyAU >B >B B _IB BB ; =B B B 9b;B %EAE ؟AII Ia Om >,??A(2>2PV/?2g|ٱ2TF&>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510723 ^AHRS rotation from veh to nav: [[0.751068,-0.593732,-0.288755],[0.613484,0.789241,-0.027118],[0.243998,-0.156779,0.957019]]2H?@zҿਡ?`wA?ě`V;? TĿ ?i2>I2S];0YzVByzIbDVD]5yA,>%%b=ٔ%ٹQ-%>9-"?Y-"?=-9Q 5=G5=Ć?Q 9EG5=r)=ABYAyEy?Q IE@=DI=:i=:=G5yQɮU]IAQqQ}FNOT Ignoring new targets: 513.67 m.}{8}{8Q ProNav: ac range: 513.674805 m, nav range: 493.436157 m, bearing: 38.623258 deg, approach rate: -0.578287 m/s, LOS rate: 0.003440 deg/s, cmd heading: 39.095736 deg, new cmd heading: 39.099474 deg. z9QHeadingCmd: 0.682415 target range: 513.674805 and range: 516.90 m.R.?JbZB:2Ҕڔڒ’M,@"Bɢ9) ݿi)2i5z<E~ ElE%E"E:*E:VE 4ZEBEa2EaJEC;a:EC;ai.?:bhb;I.?Iԁ!@! @!@%b4@)ԩ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763149^AEyb]; A I I O >Ƴ,i??A2">28/?2[i|ٱ2|a& >AHRS rotation from veh to nav: [[0.751344,-0.593344,-0.288835],[0.613142,0.789514,-0.026911],[0.244007,-0.156878,0.957000]]2H ?@F|ҿ@ܞ? C?`;?Ŀ?i2">I2XH];2ސCYB{ByFIIJ{>)Jt>HJA\iUMb@Mb@Mb@QQQQ Q9Ud;O?MbX9y&1YU?yUʡU`eUVdAU9Y=Q 5G5ɗ?Q 9G5o)TABY%?Q E:y ?Q I@DI:is:OG5yBɮGA٫EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 493.202271 m, bearing: 38.626839 deg, approach rate: -0.563502 m/s, LOS rate: 0.008632 deg/s, cmd heading: 39.099473 deg, new cmd heading: 39.110221 deg. z9QHeadingCmd: 0.682602 target range: 513.674805 and range: 516.90 m.R.?JbZB:2'Q DReached init depth of 63.870285 m.Ҕ ڔ ڒ’"-@E2BɢE+~)A E@ݿiI)M4xIIiMzE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683,??A!Y]By]EIbDu$VDuX5y >%J=ٔQ->9Y=Q 5G5h?Q 9G5l)ABYyQ I@DI:i:G5yɮFA1Q=FNOT Ignoring new targets: 513.67 m.=29=29QM ProNav: ac range: 513.674805 m, nav range: 492.973877 m, bearing: 38.630339 deg, approach rate: -0.549492 m/s, LOS rate: 0.008426 deg/s, cmd heading: 39.110220 deg, new cmd heading: 39.120726 deg. zM 9QUHeadingCmd: 0.682785 target range: 513.674805 and range: 516.90 m.R].?JYbYZYBY:Y2YҔaڔaaڒa’iim-@颕BBɢC~) ٿi)顙i#z,`??A2>2|.?2|ٱ2s& >AHRS rotation from veh to nav: [[0.752260,-0.592386,-0.288416],[0.612168,0.790284,-0.026502],[0.243630,-0.156623,0.957138]]2H?iuҿ@?J?j#F/?5 Ŀ`?i2>I21];0YFByFiIbDN*VDN 5yr>%vU=ٔv:Q-v>9tYx=z|Q 5G5~2?Q 9 G5~i)~ABY y  ?Q I @~DI~:i~:~3G5yBɮEAګE9QEFNOT Ignoring new targets: 513.67 m.EA%9EA%9QU ProNav: ac range: 513.674805 m, nav range: 492.757080 m, bearing: 38.633700 deg, approach rate: -0.582326 m/s, LOS rate: 0.009030 deg/s, cmd heading: 39.120725 deg, new cmd heading: 39.130810 deg. zUN9Q]HeadingCmd: 0.682961 target range: 513.674805 and range: 516.90 m.R].?JabaZaBa:a2aҔiڔiiڒi’iquX.@y颥OBɢ) Hտi)t.顩im/{2Õ.?2{ٱ2' :AHRS rotation from veh to nav: [[0.752945,-0.591251,-0.288956],[0.611338,0.790960,-0.025445],[0.243597,-0.157491,0.957004]]2H ?@@@~ҿ?O?H/.?`(Ŀ`ǟ?i2m~>I2"+];2CY^BybI ``iMb@Mb@Mb@ 9@5^I ?|?5^:vYb?yҽT aA8A nA)71AY=NAbDVD 5y=%==ٔ8Q->9Y= AQ 5eG5E?Q 9mG5Ef)EBBYu?Q E}:y} >Q I@EDIE @  >) Mv@I   *L݋_8?Ⱥ+I? 5?@)  I i  T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE9@A @A@M0@Iq^Ae q:B >B B IB mBB < =B B B a;B $Eԙ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >G< ,&@?A2>2P.?2{ٱ2T' :AHRS rotation from veh to nav: [[0.753618,-0.590345,-0.289055],[0.610564,0.791578,-0.024813],[0.243457,-0.157788,0.956991]]2H? @ҿ?T?sh)?a2Ŀ`?i2>I2];2ސCYB6ByBIbDN+VDN 5yRZ,>%VP=ٔV9Q-V>9XYX=Z`Q 5bG5b@?Q 9fG5bc)b=BBYdyf>E EzEE"EC:*E :VEZEBE%;a%2E&;a%JEv;a%:Ev;a%Q Im@bDIb1 ,Fy@@?A>H{>>0.?>H{ٱ>' FAHRS rotation from veh to nav: [[0.754217,-0.589510,-0.289197],[0.609900,0.792112,-0.024071],[0.243267,-0.158226,0.956967]]>H "?D3ҿM?@X?3^#?@Ŀ@y?i>H{>I>];>CYNLByNIi%Mb@Mb@Mb@!!!! !9%> ףp=?"~jMb`?Y%?y%S㽙%;%\A%5A %jA)% /A!Y% KAbD=VD= 5yMC=%MA=ٔUs9Q-U>9QYQ=UaQ 5mG5e?Q 9mG5e`)eBBYu?Q Eu:yuu>Q Iu@eDIe:ieQ:eG5yyɮ*CAGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.im9im9Q] ProNav: ac range: 513.674805 m, nav range: 492.073364 m, bearing: 38.648526 deg, approach rate: -0.575425 m/s, LOS rate: 0.012973 deg/s, cmd heading: 39.159602 deg, new cmd heading: 39.175309 deg. z]r:QeHeadingCmd: 0.683738 target range: 513.674805 and range: 516.90 m.Rev /?JabiZiBi:i2iҔqڔuBڒ’Ӡ0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse%Bɢ%b{)) -̿i))-Ht )i{TH,YZ@?AB*>B!-?Bg{ٱBE( JAHRS rotation from veh to nav: [[0.754947,-0.588344,-0.289665],[0.609081,0.792780,-0.022797],[0.243053,-0.159219,0.956856]]BH(?@ҿ}?t^?X_?KaĿ?iB*>IB];BܐCYRsByRIIV<)V4<bDZ)VDZ5ybG>%fS=ٔf:Q-f>9hYh=jlQ 5rG5n ?Q 9vG5nV^)nBBYtyv>Q Iv@nDIn:in:n~G5yzBɮzAA=۫EQFNOT Ignoring new targets: 513.67 m.[9[9Q ProNav: ac range: 513.674805 m, nav range: 491.861023 m, bearing: 38.653343 deg, approach rate: -0.529621 m/s, LOS rate: 0.012020 deg/s, cmd heading: 39.175308 deg, new cmd heading: 39.189765 deg. z:QHeadingCmd: 0.683990 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕڔڒ’`R1@MBɢMn.q)Q uƿiy)} yyi}U{": u9I/?II)iAB}>ByB}FIB}BB}= =ByByB}a;B}$EB9B9B9B=; =B=; =C=(5e9@i @i@i@iԡiIAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE= E=E=#E9"E=:*E=R:VE=3ZE9BE=B- A E ѐCu,?t@?A2GA~$(>~j-?~b{ٱ~'(  AHRS rotation from veh to nav: [[0.755838,-0.587252,-0.289559],[0.607984,0.793630,-0.022529],[0.243033,-0.159019,0.956895]]~H/?@#ҿt?je??ZĿ?i~$(>I~O];~CT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY-By-(IbD=&VD=D5yM#>%MB=ٔ%J8Q->9Y=Q 5H5-?Q 9H5b[)CBYy'>Q I@DI X#, @?A6>6-?6N|{ٱ6( >AHRS rotation from veh to nav: [[0.756575,-0.586279,-0.289605],[0.607028,0.794368,-0.022305],[0.243130,-0.158923,0.956886]]6H5?ҿ@l?uk?ז@?`WĿϞ?i6>I6Q0];6ސCYFɀByFgIiUMb@Mb@Mb@QQQQ Q9U/$?"~j:v?YU&?yQUT%}H=ٔ}Q-}>9Y=Q 5H5?Q 9H5X)KCBY?Q E:y%>Q I@DI7 ;i ;H5yɮS?AQFNOT Ignoring new targets: 513.67 m.t9t9Q ProNav: ac range: 513.674805 m, nav range: 491.408051 m, bearing: 38.663713 deg, approach rate: -0.583590 m/s, LOS rate: 0.013373 deg/s, cmd heading: 39.206112 deg, new cmd heading: 39.220892 deg. z:QHeadingCmd: 0.684534 target range: 513.674805 and range: 516.90 m.R=/?JbZB:2ҔڔIBڒ’01@5Bɢ5)1 5i9)=99i={Bu >Bq Bu IBu BBu > =Bq Bq Bu |a;Bu $Eԩ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ),@?A:*>:,?:{ٱ:S''@ FAHRS rotation from veh to nav: [[0.756929,-0.586081,-0.289080],[0.606456,0.794773,-0.023373],[0.243451,-0.157623,0.957020]]:H8?,Gҿ`h?n?h)?,Ŀ?i:*>I:!];8YJByNI PPV=TbDZVDZ4yb2>%bV=ٔfcQ-f>9dYd=flQ 5rH5nL.?Q 9rH5n)V)nCBYpyv>Q Iv@nDInd:in|:n H5yxɮzC>AxbE3jE3rE5/E EEE"E:*E=:VEZEBEi)>ԱM9@I @I@M0@I=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse^Am&tII O > rm0, @?A6y>6{,?6 {ٱ6<& BAHRS rotation from veh to nav: [[0.757735,-0.585074,-0.289010],[0.605423,0.795565,-0.023230],[0.243518,-0.157371,0.957044]]6H]??``$ҿ_? Du?ɗ +?$Ŀ ?i6y>I6b];6CYFByJIli%Mb@Mb@Mb@!!!! !9%On? ףp= ?Y%?y%Q%<%(\A%2A %3iA)%)A!Y%QHAbD=VD=45yMi0>%MB=ٔMB*Q-M>9QYQ=UaQ 5mH5e??Q 9mH5eR)eCBYmp?Q Em:ym?Q Im@eDIe:ie:e H5y}Bɮ} =A}ܫEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.3=93=9Q ProNav: ac range: 513.674805 m, nav range: 490.961731 m, bearing: 38.672664 deg, approach rate: -0.590702 m/s, LOS rate: 0.010338 deg/s, cmd heading: 39.235182 deg, new cmd heading: 39.247758 deg. z 9QHeadingCmd: 0.685003 target range: 513.674805 and range: 516.90 m.RU\/?JbZB:2QҔQڔUBQڒY’YY]@ 2@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsẽBɢ+r) i)isivGzA>M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseԡ A! I1 IQ Om >k6,@?A2">2g,?2|ٱ2 & :AHRS rotation from veh to nav: [[0.758100,-0.584538,-0.289137],[0.604890,0.795971,-0.023200],[0.243706,-0.157308,0.957007]]2H`ZB? 7ҿC[?x? 1? "Ŀ`̟?i2">I2\];2ݐCYB6ByBIbDJVDJ5yRG>%VU=ٔVQ-V>9TYX=Z\Q 5bH5^P?Q 9fH5^P)^$DBYdyf?Q If@^DI^):i^:^H5yjBɮj;AlQFNOT Ignoring new targets: 513.67 m. 69 69Q ProNav: ac range: 513.674805 m, nav range: 490.743896 m, bearing: 38.676496 deg, approach rate: -0.568244 m/s, LOS rate: 0.009999 deg/s, cmd heading: 39.247759 deg, new cmd heading: 39.259259 deg. z9Q%HeadingCmd: 0.685203 target range: 513.674805 and range: 516.90 m.R%|i/?J!b!Z!B):)2)Ҕ)ڔ)1ڒ1’19=3@YeڃBɢmv)i mii)mmqqiu zBBIBQBBBBVDBa;B$E59@1 @1@50@1ԁT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE% E%E%$E!"E%,:*E%T:VE%4ZE!BE%  ÿ<,5y@?A~4=~%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY dBy &II=)<bD5 VD54y]V>%]@=ٔeQ-e>9iYi=mQ 5H5a?Q 9H5L)tDBYyQ I@DId;iKf;H5yBɮ]9AӫEԹQFNOT Ignoring new targets: 513.67 m. B49 B49Q% ProNav: ac range: 513.674805 m, nav range: 490.500244 m, bearing: 38.680785 deg, approach rate: -0.559146 m/s, LOS rate: 0.009850 deg/s, cmd heading: 39.259258 deg, new cmd heading: 39.272134 deg. z-P9Q-HeadingCmd: 0.685428 target range: 513.674805 and range: 516.90 m.R-6x/?J1b1Z1B1:129Ҕ9ڔ99ڒA’AAEq3@ Bɢ ri)1 5i1)=%99iEPxIe6x/?Iaq9@ @@B0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AM zD% =D% <E-  E- E- #E) "E- >:*E- R:VE- 3ZE) a5 @a5 @a5 @a= @A9 IA IY Oe >i 1C,:xA?A2 >2%,?2|ٱ2C' :AHRS rotation from veh to nav: [[0.758590,-0.583520,-0.289905],[0.604016,0.796642,-0.022960],[0.244348,-0.157690,0.956780]]2H^F?2΍ҿT?~?ꂗ@F?-/Ŀ?i2 >I2];2ܐCYBByBQIi Mb@Mb@Mb@     9 S?S㥫%=K=ٔ=pغQ-=>9AYA=EQQ 5]H5U_r?Q 9]H5U]I)UDBY]?Q E]:y]k?Q Ie@UDIU:iU:UYH5ymBɮmI8Ai QFNOT Ignoring new targets: 513.67 m.^8^8!QE ProNav: ac range: 513.674805 m, nav range: 490.266602 m, bearing: 38.683075 deg, approach rate: -0.572310 m/s, LOS rate: 0.005611 deg/s, cmd heading: 39.272133 deg, new cmd heading: 39.279005 deg. zMqv9QMHeadingCmd: 0.685548 target range: 513.674805 and range: 516.90 m.RU/?JQbQZQBQ:Q2QҔYڔ]}BYڒY’ 3@Bɢܦm) ꜿi)Gi-xB B IB BB ? =B B B a;B $E^AQ AY zA] gA T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I) O= >#I,)A?A2m>2B,?207}4ٱ2' >AHRS rotation from veh to nav: [[0.758625,-0.583236,-0.290386],[0.603801,0.796804,-0.022955],[0.244768,-0.157921,0.956634]]2HF?ݩ@ҿ WR?k?j@T? 6Ŀ?i2m>I2y];2CYFByFIbDNVDNI4yVh>%VV=ٔVrQ-Z>9XYX=Z`Q 5fH5b ?Q 9fH5bF)bEBYdyj_?Q Ij@bDIb];ib;bH5ylɮn6AlEv EvEv$Et"Ev:*Ev n:VEv4ZEtBEvv9QHeadingCmd: 0.685663 target range: 513.674805 and range: 516.90 m.R/?Jb1Z1B9:92Ҕڔڒ’E4@ Bɢwi)ԑ i),顙i%wP,BA?A2>2}),?2}ٱ2l' :AHRS rotation from veh to nav: [[0.758364,-0.583409,-0.290718],[0.603919,0.796701,-0.023430],[0.245285,-0.157802,0.956522]]2HD?I ҿNS?~?"`e?2Ŀӛ?i2>I2j];2CYBׁByBI DD|iUMb@Mb@Mb@QQQQ Q9U'1Z?Mb%?=ٔQ->9Y=Q 5H5s?Q 9H5A)dEBY #?Q E:y'?Q I@DI:i:oH5yɮ5AԫEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.77Q ProNav: ac range: 513.674805 m, nav range: 489.782745 m, bearing: 38.685851 deg, approach rate: -0.644991 m/s, LOS rate: 0.001439 deg/s, cmd heading: 39.285592 deg, new cmd heading: 39.287336 deg. z|8QHeadingCmd: 0.685693 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕ ڔ B ڒ’4@=BɢEI#k)A EiA)EuIIiM@v:*E[:VE(3ZEa-@a-@a-@a-@9@ @@5@9^AU T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapsei I I O% >V,\A?A2>2R,?2[~ٱ2PK' :AHRS rotation from veh to nav: [[0.757871,-0.583878,-0.291064],[0.604309,0.796387,-0.024064],[0.245850,-0.157655,0.956401]]2H {@?@ ʠҿV?{?w? .Ŀ@֚?i2>I2u];2ސCYBByBIbDNVDN]4yRUL>%VY=ٔVʺQ-V>9XYX=Z`Q 5bH5b?Q 9fH5b:>)bEBYdyf"(?Q If@b'DIb:ib|:b"H5yhɮn4Al|QFNOT Ignoring new targets: 513.67 m.M7M7Q ProNav: ac range: 513.674805 m, nav range: 489.554260 m, bearing: 38.686345 deg, approach rate: -0.607959 m/s, LOS rate: 0.001313 deg/s, cmd heading: 39.287337 deg, new cmd heading: 39.288818 deg. zf8QHeadingCmd: 0.685719 target range: 513.674805 and range: 516.90 m.R%L/?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115@5@9e'Bɢe5h)i mtii)mDKiiimo/uԹ <\,=vA?AT****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԙYBy IbDVD44yq>%8=ٔQ->9Y=Q 5%H5ݴ?Q 9%H59)FBY)y)Q I-@/DI-:i:&H5y5Bɮ=3A9YQeFNOT Ignoring new targets: 513.67 m.e77e77Qu ProNav: ac range: 513.674805 m, nav range: 489.282104 m, bearing: 38.686933 deg, approach rate: -0.607031 m/s, LOS rate: 0.001313 deg/s, cmd heading: 39.288819 deg, new cmd heading: 39.290585 deg. zuf8Q}HeadingCmd: 0.685750 target range: 513.674805 and range: 516.90 m.R}Q/?JybZB:2Ҕڔڒ’@x5@8Bɢ_)x; i)FiisE-  E) E- #E) "E- :*E) VE- 3ZE) a5 @a5 @a5 @a5 @ Gc,gA?A2>2-?2ٱ2t & :AHRS rotation from veh to nav: [[0.755702,-0.586469,-0.291493],[0.606375,0.794724,-0.026903],[0.247434,-0.156423,0.956195]]2H.?Z ҧҿlg?`n?z?`Ŀ`%?i2>I2G`];0YBGByB< IID)Fi Mb@Mb@Mb@     9 #~j?I +?V-?Y %?y 94< < PA ,A ^A) #A Y @AbD%VD%z4y5tY>%=V=ٔ=Q-=>99YA=EIQ 5UH5M?Q 9]H5M5)MOFBY]&?Q E]:y]3?Q I]@M7DIM~ ;iM;M)H5yaɮm^2AiQFNOT Ignoring new targets: 513.67 m.c c Q% ProNav: ac range: 513.674805 m, nav range: 489.047241 m, bearing: 38.686218 deg, approach rate: -0.621144 m/s, LOS rate: -0.001890 deg/s, cmd heading: 39.290585 deg, new cmd heading: 39.288440 deg. z%Q-HeadingCmd: 0.685713 target range: 513.674805 and range: 516.90 m.R-݊/?J)bIZIBQ:Q2QҔQڔ]BYڒY’YYe5@颅GBɢEOb)  i)顙iqiE>!9@ @@5@QB>BB IB}BBBBBa;B$EBBBB? =B? =C5^A IA IQ Oe >q  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseXj,5A?AEr ErEpEp"Er:*Eri:VEpZEpBEr'%]<=ٔ]Q-]>9aYa=eqQ 5H5u?Q 9H5u:1)uFBYyQ I@u@DIu;iu:u-H5yBɮU1AիEQFNOT Ignoring new targets: 513.67 m.Q% ProNav: ac range: 513.674805 m, nav range: 488.773651 m, bearing: 38.685385 deg, approach rate: -0.610281 m/s, LOS rate: -0.001859 deg/s, cmd heading: 39.288440 deg, new cmd heading: 39.285939 deg. z%UQ-HeadingCmd: 0.685669 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕڔڒ’`S6@额XBɢg[) wi)H顡iboyq,/1A?A>>>jS.?>,ٱ>/# JAHRS rotation from veh to nav: [[0.752591,-0.590921,-0.290551],[0.609787,0.791951,-0.031182],[0.248529,-0.153707,0.956351]]>H@9?@cҿ`?`W?B?ÿm?i>>I>^\];>CYRByR Ii%Mb@Mb@Mb@!!!! !9%ˡE?X9v?{Gz?Y%'?y%<%ףAbDEVDE4yU >%UH=ٔU7Q-U>9YYY=]auB B IB ؂BB B B B a;B $EaA.AIIO?Qiy,hyA?A~2Acoustic response timeoutY~By~ I bDVD4y%s=%%=ٔ%Q-%>9- ?Y- ?=-9Q 5EH5=?Q 9EH5=&)=JGBYAyAQ IE@=RDI=:i=N:=5H5yUpBɮU.AU̫EyQ}FNOT Ignoring new targets: 513.67 m.}bbQ ProNav: ac range: 513.674805 m, nav range: 488.194183 m, bearing: 38.681358 deg, approach rate: -0.637513 m/s, LOS rate: -0.004437 deg/s, cmd heading: 39.280630 deg, new cmd heading: 39.273851 deg. zBQHeadingCmd: 0.685458 target range: 513.674805 and range: 516.90 m.R-z/?JbZB:2Ҕڔڒ’Ա657@yBɢƜY) pi)ik 2Acoustic response timeout1 MP,PB?AMA>M./?M逾ٱMH! AHRS rotation from veh to nav: [[0.748915,-0.595977,-0.289720],[0.614051,0.788502,-0.034710],[0.249131,-0.151908,0.956482]]MH?`=Êҿ@O?@i;?@š@?qÿ?iMA>IM=];IYBy I iMb@Mb@Mb@ 9Zd;O?%4=ٔNQ->9"?Y"?=Q 5H5- ?Q 9H5!)GBY*?Q E:y>?Q I@\DI ;i:9H5yɮ-AQFNOT Ignoring new targets: 513.67 m.ررQ ProNav: ac range: 513.674805 m, nav range: 487.900909 m, bearing: 38.679043 deg, approach rate: -0.615396 m/s, LOS rate: -0.004859 deg/s, cmd heading: 39.273851 deg, new cmd heading: 39.266904 deg. zjUQHeadingCmd: 0.685337 target range: 513.674805 and range: 516.90 m.R;r/?JbZB:2ҔڔB 2Acoustic response timeout!ڒ!’))-`E7@uBɢuVY)y }jiy)6顡i"iߝ: D;I;r/?I9E EE#E"E:*Ei:VE3ZEa@a@a@a@iP;} 9@y  @y @} 0@ @ =@ ԑ  2Acoustic response timeout^ANJκA>A>BE>BABET!IBE*BBEA =BABABE*a;BEy$EAII)O]?,%B?A65>6vq1?6Ȁٱ6s >AHRS rotation from veh to nav: [[0.745039,-0.601687,-0.287905],[0.618848,0.784580,-0.038230],[0.248887,-0.149687,0.956896]]6H[?A mҿ? H?ؒ?(ÿ`?i65>I6A];6ސCHYĴByJ IINp<)Na=bDRVDRg4y^S=%^"=ٔ^:Q-^>9`Y`=bhQ 5nH5jY ?Q 9nH5j)jGBYlyn??Q In@jfDIjp:ij:j0>H5yvxBɮvZ-AtQFNOT Ignoring new targets: 513.67 m. ʸ ʸQ ProNav: ac range: 513.674805 m, nav range: 487.575073 m, bearing: 38.676224 deg, approach rate: -0.637730 m/s, LOS rate: -0.005522 deg/s, cmd heading: 39.266904 deg, new cmd heading: 39.258440 deg.  2Acoustic response timeoutzrQ-HeadingCmd: 0.685189 target range: 513.674805 and range: 516.90 m.R-h/?J)b)Z)B):121Ҕ1ڔ19ڒ9’99E28@Bɢ.HX) hi)`ipfG,^EB?AR>RzJ2?ReٱRO5 ZAHRS rotation from veh to nav: [[0.743129,-0.604562,-0.286817],[0.621432,0.782485,-0.039246],[0.248157,-0.149073,0.957181]]RH?`X7[ҿ`? ?@?ÿ :?iR>IR,W];RCYfByf !IYiMb@Mb@Mb@ 9Zd;O?%=ٔ:Q->9Y=Q 5H5+6?Q 9H5)>HBY*?Q E:ya5?Q I@qDI. ;i ;BH5yɮP,AͫE QFNOT Ignoring new targets: 513.67 m.DDQ- ProNav: ac range: 513.674805 m, nav range: 487.234222 m, bearing: 38.674882 deg, approach rate: -0.683127 m/s, LOS rate: -0.002691 deg/s, cmd heading: 39.258438 deg, new cmd heading: 39.254411 deg. z-]Q5HeadingCmd: 0.685119 target range: 513.674805 and range: 516.90 m.R5c/?J1b1Z1B1:929Ҕ9ڔ=tBAڒA’AAE`8@iQIQ]2Acoustic response timeout}Bɢ}qPX) `i)Jm顁icԹ BDAT read: Response Not Received  *response not received *DAT read: user:185>  BDAT read: Tx time:21:22:16.5958  $Ping request sent. 6~ 3?6ٱ6^ >AHRS rotation from veh to nav: [[0.741482,-0.606861,-0.286224],[0.623755,0.780634,-0.039246],[0.247253,-0.149434,0.957359]]6H8?`gk ~Qҿ?`?@`?` ÿ?i6g>I6[>];6ߐCY^Byb!IbDjVDj44yr~=%rY=ٔr";Q-v>9tYt=v|Q 5H5~E?Q 9H5~)~zHBYy!6?Q I @~yDI~;i~ :~FH5yɮ+AGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 513.67 m.EJEJQU ProNav: ac range: 513.674805 m, nav range: 486.990906 m, bearing: 38.673840 deg, approach rate: -0.646004 m/s, LOS rate: -0.002770 deg/s, cmd heading: 39.254412 deg, new cmd heading: 39.251282 deg. zUMQ]HeadingCmd: 0.685064 target range: 513.674805 and range: 516.90 m.R]]`/?JYbYZaBa:a2aҔiڔiiڒi’iiu9@额Bɢ&Va) vai)D 顡iqbBB!IBgBBBBB`;BE$E@ @@0@!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250088E EEE"E:*Ei:VEZEBE'ԁ C,yB?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236YnByn*!I ppbDzVDz]4yev|=%eB=ٔeQ-m>9iYi=myQ 5H5}W?Q 9H5}9 )}HBYyQ I@}DI}:i}:}IH5yUBɮj*AīEQFNOT Ignoring new targets: 513.67 m.KKQ ProNav: ac range: 513.674805 m, nav range: 486.718597 m, bearing: 38.672672 deg, approach rate: -0.648149 m/s, LOS rate: -0.002782 deg/s, cmd heading: 39.251284 deg, new cmd heading: 39.247778 deg. z[QHeadingCmd: 0.685003 target range: 513.674805 and range: 516.90 m.RZ\/?JbZB:2Ҕڔڒ’}9@̈́Bɢ^) mbi)% !!i%`ԁuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754018ԩD D <E  E E #E "E *E c:VE 3ZE a @a @a @a @ ,%B?A6>6(4?6}ٱ6 >AHRS rotation from veh to nav: [[0.739166,-0.610454,-0.284569],[0.627336,0.777773,-0.038969],[0.245119,-0.149716,0.957863]]6H>?@׈b6ҿ #? ?@`?)ÿЦ?i6>I6NI];6ܐCY^BybF!IiEMb@Mb@Mb@AAAA A9E{Gz?{GzYE#?yE#E̼EFAEA"A EOA)EAAYE4AbD]VD]4ym=%mJ=ٔu;Q-u>9qYq=}Q 5H5Uh?Q 9H5D )HBYH$?Q E:yk"?Q I@DI:i:LMH5yɮ)AQFNOT Ignoring new targets: 513.67 m.[8[8Q ProNav: ac range: 513.674805 m, nav range: 486.464935 m, bearing: 38.673884 deg, approach rate: -0.625682 m/s, LOS rate: 0.002992 deg/s, cmd heading: 39.247776 deg, new cmd heading: 39.251415 deg. zg9QHeadingCmd: 0.685066 target range: 513.674805 and range: 516.90 m.R`/?JbZB:2ҔڔBqڒy’y9@Ա5܄Bɢ5n])9 =^i9)=!99i=^BCB!IBBBBGDBUDBr`;B$E ^Ai Au >Au >I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2579999 ,ˬB?AB,G>B$z4?B {ٱBEV EVEV$ET"EVO:*EVk:VEV4ZETBEV IB3];BCYr4Byr`!IbD]VD]4ym=%mJ=ٔu;Q-u>9qYy=}Q 5H5y?Q 9H5O)1IBYy"?Q I@DI;iw;PH5yVBɮ)AQFNOT Ignoring new targets: 513.67 m.T8T8Q ProNav: ac range: 513.674805 m, nav range: 486.211700 m, bearing: 38.675057 deg, approach rate: -0.626420 m/s, LOS rate: 0.002904 deg/s, cmd heading: 39.251414 deg, new cmd heading: 39.254936 deg. z#8QHeadingCmd: 0.685128 target range: 513.674805 and range: 516.90 m.Rd/?JbZB:2Ҕڔڒ’L:@%Bɢ%8a)) -Zi))-K"))i-]9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510194a 旱,ڮB?A N>Nު4?NzٱND VAHRS rotation from veh to nav: [[0.738476,-0.612205,-0.282592],[0.629281,0.776283,-0.037284],[0.242197,-0.150297,0.958515]]NH?/ҿ#?O?@M?<ÿ(?iN>INH];NߐCY^FBy^w!IIb%>)b>dfAiEMb@Mb@Mb@AAAA A9ES?KYE/?yE^AE?AAEA ExMA)EzAAYE1AbD]VD]r4ym=%mJ=ٔ7V;Q->9Y=Q 5H5ʋ?Q 9 H5)lIBY ?Q E :y  ?Q I @DIz ;i ;TH5yɮ(A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762094IQUFNOT Ignoring new targets: 513.67 m.U"9U"9Qe ProNav: ac range: 513.674805 m, nav range: 485.959259 m, bearing: 38.678790 deg, approach rate: -0.598638 m/s, LOS rate: 0.008857 deg/s, cmd heading: 39.254934 deg, new cmd heading: 39.266139 deg. ze9QmHeadingCmd: 0.685323 target range: 513.674805 and range: 516.90 m.Rm[q/?JibiZqBq:q2qҔyڔ}Byڒy’yƸ:@颭BɢzF^) AYi)b#顱i\,_{B?A2>24?2/yٱ2| :AHRS rotation from veh to nav: [[0.738778,-0.612062,-0.282112],[0.629405,0.776249,-0.035882],[0.240951,-0.151054,0.958710]]2H?ҿ@$??_|?Uÿ ?i2>I2'];0PYnTByn!IbDzVDz4y%=%R=ٔa;Q->9 Y = Q 5%H5 ?Q 9%H5)IBY!y% ?Q I%@DI;i1:WH5y5WBɮ5(A5ūEGSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 513.67 m.em#9em#9Qu ProNav: ac range: 513.674805 m, nav range: 485.734802 m, bearing: 38.682115 deg, approach rate: -0.602538 m/s, LOS rate: 0.008930 deg/s, cmd heading: 39.266139 deg, new cmd heading: 39.276119 deg. zu9Q}HeadingCmd: 0.685498 target range: 513.674805 and range: 516.90 m.R}|/?JybyZB:2Ҕڔڒ’`;@B>BB"IBƒBBC =BBB`;B#EBBBBA =BA =CB5Bɢfb) Xi)#i[ ːC TG ! ) A) II IY O >e 9 Y lA,VB?A2 >2d4?2^wٱ2,! :AHRS rotation from veh to nav: [[0.739686,-0.610954,-0.282135],[0.628934,0.776752,-0.033126],[0.239387,-0.152942,0.958803]]2H?ҿ: ?'???@ÿ?i2 >I2];2ސCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517926YViByV!IbD^VD^ 4yf=%fN=ٔj҄;Q-j>9hYl=npQ 5vH5r\?Q 9vH5rd)rIBYxyz ?Q Iz@rDIr:ir:r=[H5|yɮq'A)Q-FNOT Ignoring new targets: 513.67 m.5y$95y$9Q ProNav: ac range: 513.674805 m, nav range: 485.495728 m, bearing: 38.685687 deg, approach rate: -0.601222 m/s, LOS rate: 0.008987 deg/s, cmd heading: 39.276118 deg, new cmd heading: 39.286840 deg. z^9QHeadingCmd: 0.685685 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕڔڒ’;@EBɢM)^)I MUiI)Me$QQiY*,0C?A2a>2q4?25uٱ2H# :AHRS rotation from veh to nav: [[0.740868,-0.609514,-0.282148],[0.628137,0.777514,-0.030263],[0.237820,-0.154807,0.958893]]2H0? #ҿ@?d?Sp?@ÿ@A?i2a>I2$];0YB~ByB!I HHaiMb@Mb@Mb@ 9M?V-¿9Y=Q 5H5?Q 9EH5 ) JBYM?Q EM:yM>Q IM@DI]BBA"IBBBBBB_;B#EA I I! O5 > e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273999,M.C?AbE 4jE #4rE ?/EB EBEB$E@"EB:*EBx:VEB4ZE@BEB.>>3?>tٱ>$ fAHRS rotation from veh to nav: [[0.742085,-0.608136,-0.281921],[0.627150,0.778386,-0.028254],[0.236625,-0.155840,0.959022]]>H*? u ҿ??@I?ÿM?i>>I>];>CYnByn!IbDtVDtym*n>%mv=ٔmQr;Q-u?9qYq=}Q I@DI):i:zbH5yYBɮ%AƫEԱQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 485.033295 m, bearing: 38.698195 deg, approach rate: -0.585354 m/s, LOS rate: 0.015913 deg/s, cmd heading: 39.309313 deg, new cmd heading: 39.324381 deg. z.:QHeadingCmd: 0.686340 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕڔڒ’R<@-1Bɢ-Vc)) -CEi))5%11i5LWchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526071 A ,iHC?A^p>^3?^Էrٱ^& jAHRS rotation from veh to nav: [[0.743804,-0.606170,-0.281626],[0.625793,0.779582,-0.025184],[0.234816,-0.157508,0.959194]]^H >?`e@(ҿ@?V?ə@t?@7)Ŀ ?i^p>I^'];\YnByn "IiMb@Mb@Mb@ 9?+ÿMbP?Y ?y:;AKA SEA)AY3+AbDVD4y=%D=ٔ ;Q->9Y=Q 5H5?Q 9H5)JBYZ?Q E:y!>Q I@DI ;ir;fH5yɮ$Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778158 )Q-FNOT Ignoring new targets: 513.67 m.5959QE ProNav: ac range: 513.674805 m, nav range: 484.811249 m, bearing: 38.705153 deg, approach rate: -0.529688 m/s, LOS rate: 0.016605 deg/s, cmd heading: 39.324380 deg, new cmd heading: 39.345263 deg. zEV6:QMHeadingCmd: 0.686704 target range: 513.674805 and range: 516.90 m.RM/?JIbIZIBI:I2QҔQڔUBQڒY’YYe b<@颍?BɢZ) ?i)m]&顑ivVi>E EEE"E:*Exv:VEZEa@a@a@a@U9@Q @Q@U 3@Q)A.AIIOc>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029970ԁ ,aC?A2>2Y2?2=yqٱ2( :AHRS rotation from veh to nav: [[0.745143,-0.604543,-0.281583],[0.624641,0.780576,-0.022889],[0.233635,-0.158833,0.959264]]2H6?kXtҿ@?{?@p?TĿ J?i2>I2u!];0YBByB<"IIF=)Fp;bDJVDJ4yR,T>%V`=ٔVFZ;Q-V>9Z ?YZ ?=ZQ 5%H5 ?Q 9%H5R)JBY!y%H>Q I-@DI:iR:iiH5y1ɮ5#A1GSMB*** querying acoustic contact ***:IBIBe>BeCBey"IBeBBeD =BaBaBev_;Be#EyQ}FNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 484.610992 m, bearing: 38.711476 deg, approach rate: -0.529389 m/s, LOS rate: 0.016721 deg/s, cmd heading: 39.345264 deg, new cmd heading: 39.364239 deg. z7:QHeadingCmd: 0.687036 target range: 513.674805 and range: 516.90 m.R/?JbZB:2Ҕڔڒ’/=@LBɢeZ) 2i)&iT 6,{C?A2>2\02?28pٱ2٪( :AHRS rotation from veh to nav: [[0.746362,-0.603265,-0.281096],[0.623629,0.781433,-0.021197],[0.232445,-0.159479,0.959446]]2H1?@Mzѿ`?@??iĿ dz?i2>I22];2ߐCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534121Y^By^c"IbDjVDjR4yr>%rF=ٔvB;Q-v>9v"?Yv"?=v|Q 5H5~ ?Q 9H5~)~ KBYy >Q I @~DI~N:i~:~lH5y5Bɮt!AE9Q=FNOT Ignoring new targets: 513.67 m.Eh9Eh9QU ProNav: ac range: 513.674805 m, nav range: 484.398224 m, bearing: 38.718239 deg, approach rate: -0.537459 m/s, LOS rate: 0.017093 deg/s, cmd heading: 39.364238 deg, new cmd heading: 39.384538 deg. zU;:Q]HeadingCmd: 0.687390 target range: 513.674805 and range: 516.90 m.R]/?JYbYZYBY:a2aҔaڔaiڒi’iim=@5ZBɢ=V)9 =)i9)=x'99iEÂS5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785970) D =D <E  E E )E "E :*E :VE FA4ZE a @a @a @a @k,KxC?A02>21?2ynٱ2) >AHRS rotation from veh to nav: [[0.747838,-0.601606,-0.280729],[0.622314,0.782532,-0.019184],[0.231220,-0.160355,0.959596]]2HJ?Z@tѿ?@ ?ۤ?Ŀ?i2>I2Z];0Y7By"IiMb@Mb@Mb@ 9K7?MbX9Ŀ~jt?YI ?y!<p7AA  BA)AYQ(AbDVD4yZ>%:=ٔ;;Q->9Y= Q 5H5 ?Q 9H5 }) YKBY?Q E:y>Q I@ DI >;i ; pH5y-6Bɮ-A)IQUFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 484.167358 m, bearing: 38.725680 deg, approach rate: -0.525268 m/s, LOS rate: 0.016938 deg/s, cmd heading: 39.384537 deg, new cmd heading: 39.406871 deg. z9:QHeadingCmd: 0.687780 target range: 513.674805 and range: 516.90 m.RT0?Jb)Z1B1:121Ҕ9ڔ=B9ڒ9’9AE;=@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038174ԙ颽jBɢ&`P) i)](iQBYB]"IB][BB]E =BYB]TDB]?_;B]{#E^Am <Am >Am > M checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290474A} .AI I O >H,TC?AE6 E6E6#E4"E6D:*E6?:VE63ZE4BE61`r>rb1?remٱrp* ~AHRS rotation from veh to nav: [[0.749510,-0.599776,-0.280185],[0.620842,0.783753,-0.016950],[0.229762,-0.161246,0.959796]]rH?]1`ѿ ??r[h?Ŀ?ir>Ir];pY dBy "IbDVD4y-Kr>%-X=ٔ5;Q-5>95 ?Y5 ?=5AQ 5MH5E|&?Q 9MH5EV)EKBYQyU>Q IU@EDIE:iE :E tH5y]5Bɮ]AYQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 483.968658 m, bearing: 38.732144 deg, approach rate: -0.525642 m/s, LOS rate: 0.017106 deg/s, cmd heading: 39.406872 deg, new cmd heading: 39.426271 deg. z;:QHeadingCmd: 0.688118 target range: 513.674805 and range: 516.90 m.R(0?JbZB:2Ҕڔڒ’T>@EvBɢEQ)A EiA)Mj(IIiMTqPZ3,:C?A  > 0? kٱ * %AHRS rotation from veh to nav: [[0.750971,-0.598299,-0.279429],[0.619596,0.784775,-0.015142],[0.228348,-0.161762,0.960047]] H?`D%@)ѿ??@:?Ŀ?i  >I e>^; ݐCY5By5#IiMb@Mb@Mb@ 9(\?Pn%u7=ٔ}U;Q-}>9yYy=Q 5H58?Q 9H5~)KBY(?Q E:y>Q I@DI@:i:wH5y7BɮAEQFNOT Ignoring new targets: 513.67 m.w9w9Q ProNav: ac range: 513.674805 m, nav range: 483.732300 m, bearing: 38.738174 deg, approach rate: -0.528778 m/s, LOS rate: 0.013497 deg/s, cmd heading: 39.426270 deg, new cmd heading: 39.444370 deg. z6:QHeadingCmd: 0.688434 target range: 513.674805 and range: 516.90 m.R8=0?JbZB:2ҔڔBڒ’7>@-Bɢ5FI)1 5i1)5h(19i=΃NZ, C?A2h>2 0?2ijٱ2 u+ :AHRS rotation from veh to nav: [[0.752574,-0.596632,-0.278682],[0.618173,0.785930,-0.013240],[0.226924,-0.162310,0.960292]]2H ?  ѿ? W&? ?Ŀ`?i2h>I2^^;2ߐCYBByBF#IbDJVDJ4yR>%Rn=ٔVI;Q-V?9TYT=ZBCB.#IBBBG =BBB_;Be#E9Q 5EH5=gG?Q 9EH5=6)=1LBYYy]y>Q I]@=DI=;i=d;={H5yaɮeAiGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.ԙw9w9Q ProNav: ac range: 513.674805 m, nav range: 483.541992 m, bearing: 38.743082 deg, approach rate: -0.524820 m/s, LOS rate: 0.013538 deg/s, cmd heading: 39.444370 deg, new cmd heading: 39.459097 deg. z:QHeadingCmd: 0.688691 target range: 513.674805 and range: 516.90 m.RN0?JbZB:2Ҕڔڒ’)&?@MBɢUG)  Ҿi)')顙iXL,C?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=6.54997766=>6*u/?6iٱ6'x+ BAHRS rotation from veh to nav: [[0.754222,-0.595007,-0.277697],[0.616653,0.787148,-0.011760],[0.225586,-0.162373,0.960597]]6H"?L @ѿ ?@P0?@?Ŀ 5?i66=>I6^;4YJByJx#IbDRVDRo4yZJ>%ZI=ٔZ];Q-^>9^"?Y^"?=bdQ 5jH5fZW?Q 9jH5f)fyLBYlyn[>Q In@fDIf;:iff;f~H5yr8BɮrAp Q FNOT Ignoring new targets: 513.67 m.s~9s~9Q ProNav: ac range: 513.674805 m, nav range: 483.335724 m, bearing: 38.748460 deg, approach rate: -0.532950 m/s, LOS rate: 0.013904 deg/s, cmd heading: 39.459099 deg, new cmd heading: 39.475243 deg. z:QHeadingCmd: 0.688973 target range: 513.674805 and range: 516.90 m.R`0?JbZB:2Ҕڔڒ’R?@-Bɢ-B)) -i))5rq)11i5Jԁ 6o,)D?A^}>^_/?^ gٱ^>+ nAHRS rotation from veh to nav: [[0.755331,-0.594068,-0.276692],[0.615719,0.787891,-0.010803],[0.224421,-0.162205,0.960898]]^H+?Sѿ@?h6?չ?!Ŀି?i^}>I^_;^CYvByv#IiuMb@Mb@Mb@qqqq q9u5^I ?ˡEI +?Yu?yu什u94=u\3AuA u;A)u AqYu#AbDVD 4yq}>%<=ٔI4;Q->9Y=Q 5H5i?Q 9H5O)LBY?Q E:y?Q I@DIX:iL:MH5yɮAQQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 483.089508 m, bearing: 38.752028 deg, approach rate: -0.541444 m/s, LOS rate: 0.007850 deg/s, cmd heading: 39.475242 deg, new cmd heading: 39.485951 deg. ze9QHeadingCmd: 0.689160 target range: 513.674805 and range: 516.90 m.Rl0?JbZB:2ҔڔBڒ’ ?@UBɢU<)Q UniY)])YYi]pyHBB#IBBBJ =BBB^;BA#EBƿCBƿCBƔCBE =BF =CO+6ԩ^A ei! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306996AQ Ii I O > , ,90D?A>>>r.?>fٱ>* JAHRS rotation from veh to nav: [[0.755996,-0.593630,-0.275815],[0.615227,0.788283,-0.010296],[0.223533,-0.161905,0.961155]]>H1?@@ѿ?`9?6?@MĿ ?i>>I>R_;<ER EREPEP"ER ;*ER':VEPZEPBERpT%rX=ٔr;Q-r>9pYt=vxQ 5~H5zx?Q 9H5zQ)zMBYy ?Q I@zDIz#;iz/;zH5y 9Bɮ AE1Q5FNOT Ignoring new targets: 513.67 m.= 9= 9QM ProNav: ac range: 513.674805 m, nav range: 482.874878 m, bearing: 38.755163 deg, approach rate: -0.598586 m/s, LOS rate: 0.008746 deg/s, cmd heading: 39.485952 deg, new cmd heading: 39.495360 deg. zM9QUHeadingCmd: 0.689324 target range: 513.674805 and range: 516.90 m.RUw0?JQbQZYBY:Y2YҔaڔaaڒa’iim+@@erGyԱ5n9YZA Bɢ-Z:)1 5tji1)5)99i=6Fi>E9@A @A@E0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558168 ^Am *:A .AI I O- >A Yy,t`JD?A]&>]".?]eٱ]* mAHRS rotation from veh to nav: [[0.756684,-0.593140,-0.274981],[0.614726,0.788682,-0.009618],[0.222577,-0.161760,0.961402]]]H 6?Gѿ@֫?I]lA_;]ސCY}~By}1$I==checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810032ieMb@Mb@Mb@aaaa a9eףp= ?X9vI +?Ye?yeae0AeA ep7A)aaYe!AbD}VD}4yS|>%3=ٔi ;Q->9 ?Y ?=Q 5H5?Q 9H5)mMBYQ?Q E:y$?Q I@DI;i+;H5yɮAQFNOT Ignoring new targets: 513.67 m.@,8@,8Q ProNav: ac range: 513.674805 m, nav range: 482.602966 m, bearing: 38.756240 deg, approach rate: -0.593529 m/s, LOS rate: 0.002353 deg/s, cmd heading: 39.495361 deg, new cmd heading: 39.498594 deg. z8QHeadingCmd: 0.689381 target range: 513.674805 and range: 516.90 m.R >{0?J b Z B : 2 ҔڔBڒ’!%lf@@MDžBɢMC 4)U UiQ)Ue)QQiUsC{0?eW:e!ދIe>{0?IaDzDE EE'E"E~ ;*E:VE'4ZEa@a@a@a@9@ @@/0@I^A5 rq  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062997A ؟AI I O >L,dD?A02>2.?2eٱ2) >AHRS rotation from veh to nav: [[0.756941,-0.593370,-0.273774],[0.614681,0.788713,-0.009942],[0.221828,-0.160758,0.961743]]2H8? ѿw?`#=?\@d?Ŀ?i2>I2h;_;2ߐCYFByFW$IbDRVDR24yV$6>%Vp=ٔZ;Q-Z?9Z"?Y^"?=^[,}D?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5659846>6b.?6_dٱ65o( BAHRS rotation from veh to nav: [[0.756770,-0.594130,-0.272597],[0.615126,0.788358,-0.010559],[0.221178,-0.159691,0.962070]]6Ht7? ;rѿ?::?0@O?pĿG?i6>I61_;4YF…ByJ$IdbD VD 4y4>%D=ٔT:Q-%>9!Y!=%1Q 5=H55T?Q 9=H55)5MBY9yE$?Q IE@5DI5 ;i5: ;5;H5yIɮMAIqQuFNOT Ignoring new targets: 513.67 m.}`,8}`,8Q ProNav: ac range: 513.674805 m, nav range: 482.152954 m, bearing: 38.758030 deg, approach rate: -0.594650 m/s, LOS rate: 0.002355 deg/s, cmd heading: 39.501047 deg, new cmd heading: 39.503967 deg. z8QHeadingCmd: 0.689474 target range: 513.674805 and range: 516.90 m.Rc0?JbZB:2Ҕڔڒ’J@@߅Bɢ@/.) ei) *i8z>a %,ȗD?ABv>BJ.?BcٱBv& JAHRS rotation from veh to nav: [[0.756505,-0.595152,-0.271097],[0.615734,0.787871,-0.011424],[0.220388,-0.158282,0.962484]]BHJ5?| Yѿ`?`=6?Te5? BĿ?iBv>IB$`;@YRByR$IIV<)VC=XX9iuMb@Mb@Mb@qqqq q9u#~j?I +?Mb?Yu%?yu9%B=ٔ:Q->9Y=Q 5H5?Q 9H5R)ENBY/&?Q E:y9?Q I@DIG:i:H5yBɮAEQFNOT Ignoring new targets: 513.67 m.YYQ  ProNav: ac range: 513.674805 m, nav range: 481.889587 m, bearing: 38.756474 deg, approach rate: -0.625732 m/s, LOS rate: -0.003698 deg/s, cmd heading: 39.503967 deg, new cmd heading: 39.499297 deg. z k"QHeadingCmd: 0.689393 target range: 513.674805 and range: 516.90 m.R |0?JbZB:2Ҕ!ڔ%=B!ڒ!’))-+@@UBɢ] +)Y ]@TiY)]!*YYie o;,,6WD?AZ>Z1/?ZgcٱZk% jAHRS rotation from veh to nav: [[0.755867,-0.596498,-0.269918],[0.616703,0.787097,-0.012436],[0.219870,-0.157059,0.962803]]ZH0?`VFѿ?/?,x`$?`Ŀ@H?iZ>IZu`;ZݐCYv Byz$IbDVDP4y-!0>%57=ٔ=k:Q-=>99YA=EQ 5H5#?Q 9H5D)NBYy,:?Q I@(DI:i:H5yɮYAQFNOT Ignoring new targets: 513.67 m.Q  ProNav: ac range: 513.674805 m, nav range: 481.600952 m, bearing: 38.754729 deg, approach rate: -0.625632 m/s, LOS rate: -0.003785 deg/s, cmd heading: 39.499298 deg, new cmd heading: 39.494060 deg. z ?&QHeadingCmd: 0.689301 target range: 513.674805 and range: 516.90 m.Rv0?JbZB:2Ҕڔڒ!’!!%@:8A@UBɢU')Q UP=iQ)]T*YYi]$7!3,MD?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830176R3/?RDxbٱR.$ ZAHRS rotation from veh to nav: [[0.755057,-0.598074,-0.268695],[0.617874,0.786159,-0.013587],[0.219363,-0.155761,0.963129]]RH m)? k#M2ѿ?7(?Ӌ`?ÿ?iRHu>IRX`;RߐCYb*Byb%IiEMb@Mb@Mb@AAAA A9E/$?Q?/$?YE1(?yE\=E%mG=ٔu>:Q-u>9u ?Yu ?=}Q 5H5"?Q 9H5v)NBY:)?Q E:yyL?Q I@0DI:iQ:gH5yBɮAEQFNOT Ignoring new targets: 513.67 m.**E EE&E"E1;*E˭:VE4ZEa@a @a @a @Q} ProNav: ac range: 513.674805 m, nav range: 481.347748 m, bearing: 38.751025 deg, approach rate: -0.638323 m/s, LOS rate: -0.009343 deg/s, cmd heading: 39.494059 deg, new cmd heading: 39.482941 deg. z}/͹QHeadingCmd: 0.689107 target range: 513.674805 and range: 516.90 m.RVi0?JbZB:2ҔڔXBڒ’nA@Bɢ\%) |=i )  *  i b4B B H%IB aBB B B B ];B "E^A  A%؟AI1IAOM??;,.D?A.2Acoustic response timeoutNT>N0?N`ٱNg" VAHRS rotation from veh to nav: [[0.753085,-0.601617,-0.266308],[0.620873,0.783770,-0.014867],[0.217669,-0.154148,0.963773]]NH E?r@1 ѿ1??r@?`ÿ;?iNT>INzAa;LY^@By^%Ib=` bD%VD%4y5=%5%=ٔ5Qf;Q-=>9="?Y="?==IQ 5UH5M?Q 9UH5Mt)M!OBYQyUdM?Q IU@M:DIM':iM@:MH5yaɮeAaGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 513.67 m.=0=0Q ProNav: ac range: 513.674805 m, nav range: 481.032623 m, bearing: 38.746272 deg, approach rate: -0.638064 m/s, LOS rate: -0.009630 deg/s, cmd heading: 39.482940 deg, new cmd heading: 39.468672 deg. z}ӹQHeadingCmd: 0.688858 target range: 513.674805 and range: 516.90 m.RY0?JbZB:2Ҕڔڒ’,A@Bɢ>$) =i)A)i 1ԑ $B,E?AYXBy=%IbD-VD-n4y==%=J=ٔEQ-M>q9Y=Q 5H5R?Q 9H5l)bOBYyQ I@CDI:i:UH5yBɮAYQeFNOT Ignoring new targets: 513.67 m.u)})Q ProNav: ac range: 513.674805 m, nav range: 480.768646 m, bearing: 38.742286 deg, approach rate: -0.614213 m/s, LOS rate: -0.009279 deg/s, cmd heading: 39.468672 deg, new cmd heading: 39.456708 deg. z˹QHeadingCmd: 0.688649 target range: 513.674805 and range: 516.90 m.RUK0?JbZB}2Acoustic response timeout:2Ҕڔڒ’A@u&Bɢu#)q uP=iq)}U)yyi}R;-<ԡiUK0?k: ;IUK0?ID<D=E% E%E%%E!"E%;*E%*:VE% 4ZE!a-@a-@a-@a5@9@ @@ 0@  2Acoustic response timeout^A qZ;Aa Iq I O >2H,l%E?A2>21?2]ٱ2 B<B<B>%IB>BB>M =B<B<B>];B>b"E JAHRS rotation from veh to nav: [[0.750809,-0.605900,-0.263006],[0.624668,0.780739,-0.015374],[0.214654,-0.152748,0.964672]]H2H?cпG??w|`y? Cÿ?i2>I2]b;2ސCYRpByR[%IiMb@Mb@Mb@ 9V-?Dl?y&1Yh1?yO=`ef*A9 A z.A)XAY AbDVD4y=%2=ٔM;Q->9Y=Q 5H5?Q 9H5)OBYR2?Q E:yTJ?Q I@MDI:i8:EH5yɮV A Q FNOT Ignoring new targets: 513.67 m.00Q% ProNav: ac range: 513.674805 m, nav range: 480.461884 m, bearing: 38.738093 deg, approach rate: -0.706215 m/s, LOS rate: -0.009660 deg/s, cmd heading: 39.456709 deg, new cmd heading: 39.444120 deg. z%&ԹQ-HeadingCmd: 0.688430 target range: 513.674805 and range: 516.90 m.R-<0?J)b)Z1B1:121Ҕ9ڔ=8B9ڒ9’9AEB@m1Bɢm )q u@=iq)u)qqiu\J*O,3?E?A6>6<2?6h[ٱ6s! BAHRS rotation from veh to nav: [[0.749717,-0.607763,-0.261819],[0.626668,0.779157,-0.014203],[0.212630,-0.153426,0.965012]]6H?r@п ??y7?sÿa?i6>I6b;6CRBDAT read: Rx Time:21:22:27.6936 VTRx dataTimestamp_ set to:1761513749.008431V2Acoustic response timeoutYZ|ByZj%IbDbVDbծ4yj=%j[=ٔn;Q-n>9n ?Yn ?=rtQ 5zH5v?Q 9zH5vج)vOBY|y~J?Q I~@vUDIvH;ivI;vH5y Bɮ  AE1Q5FNOT Ignoring new targets: 513.67 m.E-E-QU ProNav: ac range: 513.674805 m, nav range: 480.207031 m, bearing: 38.734537 deg, approach rate: -0.679195 m/s, LOS rate: -0.009482 deg/s, cmd heading: 39.444120 deg, new cmd heading: 39.433446 deg. zU>йQUHeadingCmd: 0.688243 target range: 513.674805 and range: 516.90 m.R]00?JYbYZYBY:Y2aҔaڔaaڒi’iimHB@额=Bɢ ) 0=i))顡iu'YiYIYm2Acoustic response timeoutD zD @AE  E E "E "E U,;*E a:VE (3ZE a @a @a @a @ԁ U,YE?A6>62?6eDYٱ6 >AHRS rotation from veh to nav: [[0.748590,-0.610237,-0.259276],[0.628702,0.777506,-0.014745],[0.210587,-0.151969,0.965691]]6Hr?п T?U?2`? sÿ@?i6>I6ib;6ސCY^~By^l%IiMMb@Mb@Mb@IIII I9M(\??I +YM'?yML=M9M%AM A I)MAYIYMAbDeVDed4yu<%u@=ٔ}@;Q-}>9"?Y"?=Q 5H5/?Q 9H5)OBYC(?Q E:yE?Q I@^DI Q)Iˡi;?j<Y3@B=@ k]=)s@Ik] er?34? 3gB@)ѽIik]m2Acoustic response timeoutɢ%~3#)q u<=iq)u)qqiu$BB%IBBBBBB\;B"EBEƽCBEƽCBEƓCBEL =BEL =CE5Ա^Ae u ;Am >Am > m BDAT read: Response Not Received u *response not receivedu *DAT read: user:186> } BDAT read: Tx time:21:22:29.0458  $Ping request sent. F9\, EsE?AEN ENEN#EL"EN1;*EN:VEN3ZELBENXrCM؀Gaqԑ|9YuhAy5X?5A>lV3?2Wٱ AHRS rotation from veh to nav: [[0.747676,-0.611934,-0.257909],[0.630446,0.776110,-0.013800],[0.208611,-0.152279,0.966071]]H ?@@п ,??kC@ó?}ÿ ?i>Ib;Y By{%IbDEVDEE4yUhV=%U.=ٔUʌ;Q-U>9YYY=]Q 5H57B?Q 9H5)/PBYyE?Q I@gDIy:i:nH5yBɮ AEGSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 513.67 m.--Q] ProNav: ac range: 513.674805 m, nav range: 479.624115 m, bearing: 38.727937 deg, approach rate: -0.690905 m/s, LOS rate: -0.007908 deg/s, cmd heading: 39.424129 deg, new cmd heading: 39.413635 deg. zeQeHeadingCmd: 0.687898 target range: 513.674805 and range: 516.90 m.Rm0?JibiZiBi:i2iҔqڔqqڒq’hB@ԹYBɢ<") |=i)_~)i+!nc,fE?A-k>-é3?-hUٱ-{mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseԱ mAHRS rotation from veh to nav: [[0.747151,-0.613217,-0.256379],[0.631631,0.775155,-0.013321],[0.206902,-0.151984,0.966485]]-H?zhпQ6??G{?6tÿ q?i-k>I-b;)Y}By}u%I ==E  E E &E "E *E V:VE 4ZE a@a@a@a@iMb@Mb@Mb@ 9x&1?MbP?Q롿Y!?y:\#AA (A)CAYpAbDVD4yɼ%:=ٔ;Q->9Y=Q 5H5S?Q 9 H5)ZPBY!?Q E:y1?Q I@pDI\;iz[;9H5ymBɮu AqQFNOT Ignoring new targets: 513.67 m.ɷɷQ= ProNav: ac range: 513.674805 m, nav range: 479.352997 m, bearing: 38.727331 deg, approach rate: -0.615499 m/s, LOS rate: -0.001378 deg/s, cmd heading: 39.413634 deg, new cmd heading: 39.411813 deg. zErQEHeadingCmd: 0.687866 target range: 513.674805 and range: 516.90 m.RE0?JIbIZIBI:I2IҔQڔUBڒ’`B@egBɢe,%)a mr=ii)mo)iiUF0@a T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse1 B >B B #&IB BB N =B B B [;B !E^A- ><I I O >i,QE?A2a>>23?2CRٱ2 >AHRS rotation from veh to nav: [[0.746795,-0.614402,-0.254572],[0.632816,0.774207,-0.012137],[0.204548,-0.152034,0.966978]]2H?.Jп@?M?4ۈ.?uÿ {?i2a>>I20b;2CYFByF%IbDNVDN14yV=%V=ٔZ?;Q-Z ?9XY\=^Źp,- E?A2>294?2gPٱ2w*! :AHRS rotation from veh to nav: [[0.746530,-0.615119,-0.253616],[0.633909,0.773346,-0.009732],[0.202119,-0.153505,0.967256]]2H??;пH?@?B ? ÿ?i2>I2zb;2ސCY^Byb%IbDjVDj'4y<%E=ٔ;Q->9!Y!=%)Q 55H5-Oq?Q 9=H5-ؕ)-PBY9y=a2?Q I=@-DI-;i-;-H5yMBɮM( AMEiQuFNOT Ignoring new targets: 513.67 m.uZuZQ ProNav: ac range: 513.674805 m, nav range: 478.896149 m, bearing: 38.726214 deg, approach rate: -0.624762 m/s, LOS rate: -0.001560 deg/s, cmd heading: 39.410407 deg, new cmd heading: 39.408462 deg. zQHeadingCmd: 0.687807 target range: 513.674805 and range: 516.90 m.R&0?JbZB:2Ҕڔڒ’`QC@{Bɢu7%) p=i)xY)igQE EE(E"E);*E:VEc44ZEa@a@a@a@y v,*E?AY~By~%II>)>  iMb@Mb@Mb@ 9333333?S㥫Q롿Y?y/]ACA Q&A)AYfAbDVD4y.<%A=ٔQ->9Y=Q 5H5ʂ?Q 9H5)PBY{?Q E:y?UG?U?]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseaQ Ie@DIBB6&IB"BBBBBT[;B!Eԁ^Azl<ԩI I) O5 > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E #E "E /;*E d:VE 3ZE BE J3?JFLٱJ\# VAHRS rotation from veh to nav: [[0.747910,-0.614193,-0.251789],[0.633529,0.773699,-0.005469],[0.198168,-0.155425,0.967767]]JH?@w`OпE?$?fv]?ÿ?iJ&>IJc;JݐCY^By^%IbDjVDj4yr(%rX=ٔr.9tYt=v|Q 5H5~l?Q 9H5~)~PBYy?Q I @~DI~d:i~[:~H5yܗBɮ AEqQ}FNOT Ignoring new targets: 513.67 m.}88Q ProNav: ac range: 513.674805 m, nav range: 478.419769 m, bearing: 38.730294 deg, approach rate: -0.625585 m/s, LOS rate: 0.005413 deg/s, cmd heading: 39.414877 deg, new cmd heading: 39.420711 deg. zm9QHeadingCmd: 0.688021 target range: 513.674805 and range: 516.90 m.R("0?JbZB:2Ҕڔڒ’@C@UBɢU"()Y ]A5>  nManaging dock network, ignoring radio surface power offA] .AIi Iy O >1 +,PF?AnT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapseYBy%I iMb@Mb@Mb@ 9n?i|?5{GzYV?yף(AA  A)@YAbDVD'4E EEE"E*E:VEZEa@a@a@a@y-<%- =ٔ-Q-->95 ?Y5 ?=59Q 5MH5=?Q 9MH5=0)='QBYM?Q EM:yM0>Q IM@=DI=L:i=:=H5yYɮ] AYGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 513.67 m.e9e9Q ProNav: ac range: 513.674805 m, nav range: 478.139221 m, bearing: 38.736735 deg, approach rate: -0.546656 m/s, LOS rate: 0.012558 deg/s, cmd heading: 39.420710 deg, new cmd heading: 39.440044 deg. z :QHeadingCmd: 0.688359 target range: 513.674805 and range: 516.90 m.RE80?JbZB:2ҔڔBڒ’`C@BɢKz)) 2i)M)iB CB B&IB ,BB P =B B SDB Z;B *!Eԑ AM ؟AIY Iq O >z,-F?AV+>VI3?VHٱV % bAHRS rotation from veh to nav: [[0.750080,-0.612289,-0.249966],[0.632222,0.774787,-0.000704],[0.194101,-0.157506,0.968254]]VH?ߗ`Ͽ*;?@ ?GP?$)Ŀ?iV+>IV d;VCYnByn%I ttv=v=bDzVDzQ4y5>% p=ٔ GQ I-@%DI%B:i%[:%H5y5ޗBɮ=A=EYQeFNOT Ignoring new targets: 513.67 m.emj9emj9Qu ProNav: ac range: 513.674805 m, nav range: 477.952423 m, bearing: 38.741082 deg, approach rate: -0.550288 m/s, LOS rate: 0.012809 deg/s, cmd heading: 39.440043 deg, new cmd heading: 39.453088 deg. zu :Q}HeadingCmd: 0.688586 target range: 513.674805 and range: 516.90 m.R1G0?JbZB:2Ҕڔڒ’)%D@1EBɢE@&)A E=iA)MF)IIiM~m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseԹ ǔ,¡FF?A:t >:H2?:Eٱ:% BAHRS rotation from veh to nav: [[0.751445,-0.611056,-0.248880],[0.631231,0.775593,0.001626],[0.192036,-0.158322,0.968533]]:H ?ōJϿ 3? ? Z? ?CĿ8?i:t >I:Yd;:ސCYJdžByJ%IbDVVDV4y^{,=%^R=ٔ^;Q-^>9`Y`=bhQ 5jH5j(?Q 9nH5j2)jwQBYlyn2>Q Ir@jDIj;ij<;jxH5ytɮvAt QFNOT Ignoring new targets: 513.67 m.k9k9Q- ProNav: ac range: 513.674805 m, nav range: 477.738525 m, bearing: 38.746105 deg, approach rate: -0.548281 m/s, LOS rate: 0.012883 deg/s, cmd heading: 39.453089 deg, new cmd heading: 39.468166 deg. z-u :Q5HeadingCmd: 0.688849 target range: 513.674805 and range: 516.90 m.R5pX0?J1b1Z1B1:129Ҕڔڒ’`.YD@Bɢ*&) =i)?)iLDyzD}AAEM EMEM%EI"EM=-;*EM:VEM 4ZEIaU@a]@a]@a]@ 1 ,[y`F?A:]>:e2?:2Cٱ:k& BAHRS rotation from veh to nav: [[0.752897,-0.609695,-0.247825],[0.630132,0.776477,0.004077],[0.189945,-0.159232,0.968796]]:H ?@Ͽ@ *?`?Pp? P?aĿa?i:]>I:7Id;:ߐCYJByJ%IiMb@Mb@Mb@ 9Q?%EB=ٔEɥ;Q-E>9IYI=MeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseYQ 5mH5]P?Q 9mH5])]QBYu ?Q Eu:yug>Q Iu@]DI]:f;i]:]&H5y}Bɮ}AQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 477.506958 m, bearing: 38.752788 deg, approach rate: -0.547663 m/s, LOS rate: 0.015812 deg/s, cmd heading: 39.468166 deg, new cmd heading: 39.488224 deg. z-:QHeadingCmd: 0.689200 target range: 513.674805 and range: 516.90 m.Rao0?JbZB:2ҔڔBڒ’CD@颅†Bɢw$) Ċ=i)0)顉iQB}CB}O&IB}6BB}R =ByB}RDB} Z;B} Ei@i @i@m0@qAAIIOn> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsei E=  E= E= #E9 "E= 9;*E= I:VE= 3ZE9 BE= f6e1?6;sAٱ6' >AHRS rotation from veh to nav: [[0.754639,-0.607985,-0.246726],[0.628691,0.777626,0.006688],[0.187794,-0.160161,0.969062]]6H&?t@Ͽ<?P?d{? ?+Ŀ?i6>I6d;4Y^Byb &IbDjVDj4y>%M=ٔ%;Q-%>9!Y!=%1Q 5=H55?Q 9=H55)5QBYAyEO>Q IE@5DI5#;i5a;5H5yIɮMAIqQuFNOT Ignoring new targets: 513.67 m.}l9}l9Q ProNav: ac range: 513.674805 m, nav range: 477.287384 m, bearing: 38.759191 deg, approach rate: -0.552243 m/s, LOS rate: 0.016111 deg/s, cmd heading: 39.488223 deg, new cmd heading: 39.507440 deg. z0:QHeadingCmd: 0.689535 target range: 513.674805 and range: 516.90 m.R\0?JbZB:2Ҕڔڒ’#D@̆Bɢ!) (=i))ie ԙ - T****** received valid address query ******- R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseoӤ,=F?ATD==D=R=E EE&E"E/;*E:VE4ZEa@a@a@a@<>)1?;8?ٱC( -AHRS rotation from veh to nav: [[0.756559,-0.606007,-0.245711],[0.627017,0.778948,0.009474],[0.185655,-0.161232,0.969297]]H5?idqsϿ?#?f? ?`BĿz?i<>Ic;ސCYBy2&IiMb@Mb@Mb@ 9S㥛?MbX9Ŀ{Gz?Y$?y!ף<1A@ A)@Y AbDVDZ4y%=%E"=ٔE;Q-E>9IYI=MYQ 5]H5]h?Q 9H5]B~)]&RBY3 ?Q E:y~>Q I@]DI];i]q;]H5yBɮAEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.~9~9Q ProNav: ac range: 513.674805 m, nav range: 477.029053 m, bearing: 38.768015 deg, approach rate: -0.500362 m/s, LOS rate: 0.017102 deg/s, cmd heading: 39.507440 deg, new cmd heading: 39.533929 deg. z;:QHeadingCmd: 0.689997 target range: 513.674805 and range: 516.90 m.R0?JbZB:2ҔڔBڒ’KE@}܆Bɢ}L )y }>iy)(顁iG Bq Bu n&IBu PBBu S =Bq Bq Bu Y;Bu EB5ɼCB5ɼCB5ɔCB5P =B5P =C5'6 I ^Ai Am >Am >-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseAUEGqԡ9YAIE EE$E"E2;*E:VE4ZEBE!?>>v0?>!=ٱ>B) FAHRS rotation from veh to nav: [[0.758565,-0.603867,-0.244792],[0.625181,0.780384,0.012223],[0.183651,-0.162311,0.969499]]>H*F?@RWUϿ@{?@?]?݁?Ŀ!?i>?>I> b;>ߐCYN?ByNZ&IR=R=bDVVDVߢ4y^ >%b2=ٔbJ;Q-b>9dYd=fhQ 5nH5j?Q 9rH5j{)jgRBYpyr5>Q Ir@jDIj:ijN:j H5yvBɮvAzEQFNOT Ignoring new targets: 513.67 m.ɣ9ɣ9Q- ProNav: ac range: 513.674805 m, nav range: 476.798248 m, bearing: 38.775983 deg, approach rate: -0.518254 m/s, LOS rate: 0.017899 deg/s, cmd heading: 39.533927 deg, new cmd heading: 39.557841 deg. z5D:Q5HeadingCmd: 0.690415 target range: 513.674805 and range: 516.90 m.R=0?J9b9Z9B9:929ҔAڔAAڒA’IIM`6;E@5Bɢ5)1 5Z/>i9)=q(99i= ԡ Qf,tF?AzT****** received valid address query ******zR****** received valid ping request ******zreceived new query, but waiting for acoustic response period to elapseDQzDU@AԩE EEE"E<;*E:VEZEa@a@a@a@YxBy&Ii}Mb@Mb@Mb@yyyy y9}V-?K7Q?Y} ?y}I }<}A}@ }GA)}@yY}p ABAbDVDyb>%$=ٔQ->9Y=Q 5H5%?Q 9H5x)RBY ?Q E:y>Q I@DI ;i7 ;dH5yɮYAQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 476.531494 m, bearing: 38.783378 deg, approach rate: -0.535509 m/s, LOS rate: 0.014853 deg/s, cmd heading: 39.557843 deg, new cmd heading: 39.580039 deg. z#:QHeadingCmd: 0.690802 target range: 513.674805 and range: 516.90 m.Rf0?JbZB:2Ҕڔ Bڒ’@ }E@Bɢ9) v>i)%(!!i%Ba Be &IBe BBe R =Ba Ba Be X;Be I E^A qZ;A zA hA1 A) I9 IQ Oe >F,*F?AYzByz&IbD VD ԗ4y->%-d=ٔ)Q-->91Y1=5AQ 5MH5E4?Q 9MH5Env)ERBYIyIQ IM@EDIE:iE :EH5y]Bɮ]AYQFNOT Ignoring new targets: 513.67 m.99Q ProNav: ac range: 513.674805 m, nav range: 476.339691 m, bearing: 38.788699 deg, approach rate: -0.535724 m/s, LOS rate: 0.014870 deg/s, cmd heading: 39.580038 deg, new cmd heading: 39.596009 deg. zH#:QHeadingCmd: 0.691081 target range: 513.674805 and range: 516.90 m.R0?JbZB:2Ҕڔڒ’˨E@BɢZ) n>i)R(i| T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey ),o)G?A2>2θ.?27ٱ2* :AHRS rotation from veh to nav: [[0.763561,-0.598987,-0.241225],[0.620635,0.783892,0.018039],[0.178289,-0.163486,0.970302]]2Ho? *rο >??x?,? Ŀ ?i2>I2`b;0Yj҇Byj'IIr%=)rC=bDvVDv4y~P>%~O=ٔvb9 ?Y ?= Q 5%H5IE?Q 9%H5sQ =%tI)*SBY!y%A>Q I%@DI&;i';H5y1ɮ5A1QQ]FNOT Ignoring new targets: 513.67 m.e9e9Qu ProNav: ac range: 513.674805 m, nav range: 476.128601 m, bearing: 38.794732 deg, approach rate: -0.534807 m/s, LOS rate: 0.015291 deg/s, cmd heading: 39.596010 deg, new cmd heading: 39.614116 deg. zu':QuHeadingCmd: 0.691397 target range: 513.674805 and range: 516.90 m.R}a0?JybyZyBy:y2Ҕڔڒ’YE@颽 Bɢ ) >i)](iFE H,"G?AY~By~;'IeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9n?EԸMb?Y?yƽ@=A@ A)X@YAbDVDO4yI)>%==ٔQ->9Y=Q 5H5=W?Q 9H5p)sSBY?Q E:yD?Q I@DI ;iu ;H5yBɮ@EGSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 513.67 m.5:95:9QE ProNav: ac range: 513.674805 m, nav range: 475.884613 m, bearing: 38.799133 deg, approach rate: -0.565928 m/s, LOS rate: 0.010214 deg/s, cmd heading: 39.614117 deg, new cmd heading: 39.627328 deg. zEQ9QMHeadingCmd: 0.691627 target range: 513.674805 and range: 516.90 m.RM}1?JIbIZIBI:Q2QҔYڔ]RBYڒY’YYeF@颍Bɢ-$ ) >i)'顑iBB'IBއBBBBBX;B E @  @@ 0@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse) ^A5 [RӻA >A >E  E E #E "E y>;*E :VE 3ZE BE QQ H,;G?AJ >J-?J2ٱJw) RAHRS rotation from veh to nav: [[0.766346,-0.597227,-0.236714],[0.618450,0.785564,0.020223],[0.173876,-0.161894,0.971369]]JH?@|LοX? V#?S?A?`Ŀ t?iJ >IJob;JސCYZ'ByZx'IbDbVDb:4yjʃ>%n[=ٔnD9r"?Yr"?=rtQ 5zH5vf?Q 9eH5vm)vSBYaym`?Q Im@vDIv5 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse1,XUG?ADEU EUEU&EQ"EU=;*EU:VEU4ZEQa]@a]@a]@a]@h8>-?1ٱ;U' %AHRS rotation from veh to nav: [[0.766187,-0.598146,-0.234903],[0.618934,0.785204,0.019377],[0.172856,-0.160236,0.971826]]H?$`KοN?d ?ד?& ?Ŀ@2?ih8>I;b;ߐCY]UBy]'I aeAiMb@Mb@Mb@ 9E?{Gzl?Y&?y#=5Af@ xA)+@YAbDVD4y @>% +=ٔc;Q->9 ?Y ?=!Q 5mH5%v{?Q 9mH5%:i)%SBYu='?Q Eu:yus ?Q Iu@%DI%H%B CB 'IB >BB S =B HDB B X;B  E ^A ) Am ؟AIq I O >k,K9rG?A2w>2.?2V0ٱ2KV& >AHRS rotation from veh to nav: [[0.765978,-0.598928,-0.233586],[0.619462,0.784795,0.019088],[0.171884,-0.159318,0.972149]]2H ?`k*@!Ϳ? ?Ƌ?N?dĿ?i2w>I2b;2ސCYByByF'IbDNVDN4yVoB>%V_=ٔZ~0;Q-Z>9Z"?YZ"?=^`Q 5fH5bW?Q 9fH5be)b7TBYdyj ?Q Ij@bDIb3;ib;b[H5ylɮn@lQFNOT Ignoring new targets: 513.67 m. 8 8T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ ProNav: ac range: 513.674805 m, nav range: 475.138977 m, bearing: 38.806281 deg, approach rate: -0.664891 m/s, LOS rate: 0.004019 deg/s, cmd heading: 39.644566 deg, new cmd heading: 39.648780 deg. z09QHeadingCmd: 0.692002 target range: 513.674805 and range: 516.90 m.R'1?JbZ B:2Ҕڔڒ!’!)5"F@颅5Bɢ ) !?i)i"&i ;i'1?%:<I'1?IE  E E %E "E [I;*E :VE  4ZE BE ,G?AB2)>B(k.?BJ 0ٱB% JAHRS rotation from veh to nav: [[0.765290,-0.600321,-0.232263],[0.620536,0.783963,0.018345],[0.171072,-0.158167,0.972480]]BHA}?@5ǺͿo?9?ɒ??>Ŀ?iB2)>IBm)c;@YRByR(IbD^VD^4yfsI>%fI=ٔf;Q-f>9hYh=jpQ 5vH5r?Q 9vH5ra)rwTBYtyv ?Q Iv@rDIrW:irp:rH5y~ȗBɮ~Y@~E!Q%FNOT Ignoring new targets: 513.67 m.-8-8Q5 ProNav: ac range: 513.674805 m, nav range: 474.881226 m, bearing: 38.807801 deg, approach rate: -0.634287 m/s, LOS rate: 0.003744 deg/s, cmd heading: 39.648780 deg, new cmd heading: 39.653344 deg. z=q$9QEHeadingCmd: 0.692081 target range: 513.674805 and range: 516.90 m.RE?,1?JAbAZABA:A2IҔIڔIIڒQ’QQUF@颅?Bɢ") 1?i)%顉i;i?,1?D:l߻I?,1?IIiA)hAQU9@Q @Y@]-0@Y@e=@e=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE= E=E=&E9"E=O6;*E=#:VE=4ZE9a]@ae@ae@ae@ԁ^Aԩ A .AI I O >] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseQ ,VG?A2>2.?2/ٱ2m#8 >AHRS rotation from veh to nav: [[0.764594,-0.601763,-0.230818],[0.621664,0.783083,0.017719],[0.170087,-0.157039,0.972836]]2H w?AoͿ@? ?$?g?Ŀ@x!?i2>I2/c;2ܐCYFȈByF>(IIH)JpBuCBu(IBuBBuU =BqBuQDBuX;Bu EbDVD4y.>%9=ٔ;Q->9 ?Y ?=Q 5H5?Q 9H5\)TBY%/?Q E%:y%h4?Q I%@ DIQ:iE:H5ymɗBɮm@iGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.Q ProNav: ac range: 513.674805 m, nav range: 474.582733 m, bearing: 38.806815 deg, approach rate: -0.652614 m/s, LOS rate: -0.002158 deg/s, cmd heading: 39.653343 deg, new cmd heading: 39.650382 deg. zQHeadingCmd: 0.692030 target range: 513.674805 and range: 516.90 m.R(1?JbZB:2ҔڔB ڒ ’   ?G@颕KBɢqz) >?i)?$ԡ顙i;i (1?Y:TtI(1?I!9@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE!  E% E% $E! "E! *E% ]:VE% 4ZE! BE% C,]NG?A>>>cO/?>;.ٱ>W" FAHRS rotation from veh to nav: [[0.763357,-0.603779,-0.229644],[0.623388,0.781731,0.016875],[0.169331,-0.156039,0.973128]]>Hlm?(RdͿ`??G? ?ÿ`#?i>>I>8c;%fY=ٔf~;Q-j>9lYl=ntQ 5vI5v(?Q 9zI5vGX)vTBYxyz4?Q Iz@vDIv;iv+;vI5yɮ@!Q-FNOT Ignoring new targets: 513.67 m.-!55!5QE ProNav: ac range: 513.674805 m, nav range: 474.332214 m, bearing: 38.805922 deg, approach rate: -0.694268 m/s, LOS rate: -0.002474 deg/s, cmd heading: 39.650382 deg, new cmd heading: 39.647703 deg. zE[ٸQEHeadingCmd: 0.691983 target range: 513.674805 and range: 516.90 m.RM%1?JIbIZIBI:I2QҔQڔQQڒY’YY]@JG@颅TBɢOν) + K?i)S$顑i~;i%1?'y:CE{I%1?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse @  @ @ 0@^A-#2AY Ii Iy O >9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E %E "E :;*E :VE 4ZE a% @a% @a- @a- @=,,G?AxYBy(Ionly read 3 of 4 data items for beam range. Device response is::RA, 0.65, 73.71, 91.03, 73.37 a@a a@a a@a a@a bDVD4y>%9=ٔQ->9Y=Q 5I5?Q 9I5;S)2UBQ A +:Y Q E z:y Q I @DIi ;iL>+I5y˗BɮH@E9QEFNOT Ignoring new targets: 513.67 m.M9/M9/Q] ProNav: ac range: 513.674805 m, nav range: 474.037018 m, bearing: 38.804870 deg, approach rate: -0.670729 m/s, LOS rate: -0.002394 deg/s, cmd heading: 39.647705 deg, new cmd heading: 39.644544 deg. z]DҸQ]HeadingCmd: 0.691928 target range: 513.674805 and range: 516.90 m.Re/"1?JabaZaBa:a2iҔiڔiiڒq’qqu0G@}_Bɢ}Y}ٽ)y }S?i)#顡i;i/"1?:I/"1?Ie>i>!Q@Y @Y@]/0@Y@eiA@aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB5n>B1B5(IB5 BB5V =B1B1B5_X;B5EBƺCBƺCBIBS =BT =Ce5^A jZXԁ A ؟AI I O >a,G?A:g>:`0?:,ٱ: RAHRS rotation from veh to nav: [[0.760514,-0.608284,-0.227177],[0.627183,0.778738,0.014473],[0.168108,-0.153488,0.973746]]:H`!V?w Ϳ?k?ϣ?@? ~ÿ(?i:g>I:{od;:C jl>nCY!By5(IiIIIU;Q->9"?E EE&E"E3;*E :VE4ZEBEQ 5I5?Q 9I5CN)qUBQ A :YQ EJ:y%6?Q I@&DI:ie_?I5yBɮ|@EQFNOT Ignoring new targets: 513.67 m.%yK%yKQ5 ProNav: ac range: 513.674805 m, nav range: 473.747864 m, bearing: 38.803673 deg, approach rate: -0.671309 m/s, LOS rate: -0.002780 deg/s, cmd heading: 39.644546 deg, new cmd heading: 39.640954 deg. z5+Q=HeadingCmd: 0.691865 target range: 513.674805 and range: 516.90 m.R=1?J9b9ZABA:A2AҔIڔIIڒ’`޻G@jBɢͽ) [?i)"i;i%1?%F7:59I51?IAԉ@ @@?0@ԱBDAT read: Rx Time:21:22:38.6501 TRx dataTimestamp_ set to:1761513760.1046222Acoustic response timeout^A 7 A I I O% >@J, H?A2>2h71?2,ٱ2  :AHRS rotation from veh to nav: [[0.758966,-0.610771,-0.225675],[0.629281,0.777065,0.013267],[0.167261,-0.152082,0.974112]]2HsI?o̿#?`?y+?h? iwÿ+?i2>I26e;2ސCYB:ByB(IbDJVDJ4yR>%Vq=ٔV&;Q-V?9XYX=Z俫? U !R Q o) QI 롿i jB9 B= (IB= eBB9 B9 B9 B= X;B= E^AU 9qAIIO?% ,.H?AF>Fn1?F"+ٱFV NAHRS rotation from veh to nav: [[0.757546,-0.613050,-0.224263],[0.631231,0.775497,0.012343],[0.166349,-0.150912,0.974450]]FH=?̿ 3??IFDe;FݐCYVSByV(Ia5a5 a5a5 a5a5 a5a5 i5Mb@Mb@Mb@1111 195"~?x&?y&1|?Y53?y57=5`;59 A5@ 5bA)5@1Y5AbDUVDU4y]q=%e=ٔe7:Q-e>9iYi=mqQ 5}I5u ?Q 9I5u^C)uUBQ AT:Y4?Q E:yJ?Q I@u9DIuS;iu;u I5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.//Q ProNav: ac range: 513.674805 m, nav range: 473.150238 m, bearing: 38.797498 deg, approach rate: -0.692244 m/s, LOS rate: -0.009614 deg/s, cmd heading: 39.637948 deg, new cmd heading: 39.622416 deg. z ӹQHeadingCmd: 0.691542 target range: 513.674805 and range: 516.90 m.R]1?JYbYZYBY:a2aҔaڔe؈Biڒi’iim <,H@颽Bɢͽ) i?i).!i;i1?f$::u;I1?I &2Acoustic response timeoutIbE-4jEO4rE(/Eu EuEu%Eq"Eu9;*Euu:VEu 4ZEqBEu,jHH?A2K>2|2?2H*ٱ2 :AHRS rotation from veh to nav: [[0.756059,-0.615245,-0.223266],[0.633226,0.773877,0.011790],[0.165527,-0.150292,0.974686]]2H1?̿bC?@?%?/? <ÿ0?i2K>I2Ke;2ߐCYBaByB(IbDNVDNX4yV=%VX=ٔV;Q-V>9XYX=Z`Q 5bI5b?Q 9fI5bn>)b VBYdyf;K?Q If@bADIb:ib:b2I5yjBɮn@lyQFNOT Ignoring new targets: 513.67 m.--Q ProNav: ac range: 513.674805 m, nav range: 472.888824 m, bearing: 38.793785 deg, approach rate: -0.665432 m/s, LOS rate: -0.009457 deg/s, cmd heading: 39.622416 deg, new cmd heading: 39.611270 deg. zϹQHeadingCmd: 0.691347 target range: 513.674805 and range: 516.90 m.R0?JbZB:2Ҕڔڒ’\H@Bɢg) pl?i)yv i;i 0? L: v^;I 0?I ԑ-2Acoustic response timeoutU9@Q @Y@]0@YE EE&E"E<;*E:VE4ZEa@a@a@a@^A} ;A >A > A I I O >,oeH?A2M>2%3?2b;)ٱ2 ! :AHRS rotation from veh to nav: [[0.754552,-0.617691,-0.221606],[0.635285,0.772204,0.010702],[0.164514,-0.148858,0.975078]]2HI%?` @]̿@T???? ÿ3?i2M>I2_"f;2ސCYBmByB)I~2Acoustic response timeoutiMb@Mb@Mb@ 9gfffff?&1?9AYA=EiQ 5I5.?Q 9I5D8)>VBY3?Q E:yBCBV)IBBBW =BBBW;BE1Q5FNOT Ignoring new targets: 513.67 m.=(=(Qm ProNav: ac range: 513.674805 m, nav range: 472.553650 m, bearing: 38.789981 deg, approach rate: -0.703181 m/s, LOS rate: -0.007986 deg/s, cmd heading: 39.611269 deg, new cmd heading: 39.599849 deg. zmdQuHeadingCmd: 0.691148 target range: 513.674805 and range: 516.90 m.Ru0?JqbqZqBq:y2yҔyڔ}Bڒ’H@=Bɢ=xǽ)9 =Fl?i9)EAAiim ʭ;iu0?u:}/,5H?A2Ѡ>23?2&ٱ2 :AHRS rotation from veh to nav: [[0.753585,-0.619289,-0.220435],[0.637015,0.770753,0.012368],[0.162242,-0.149741,0.975323]]2H]?`697̿lb?@?/T?W?`*ÿ5?i2Ѡ>I2f;2ܐCYB}ByB)I DDJ=J=bDnVDn4yv[=%vP=ٔv[;Q-z>9xYx=zQ 5 I5=?Q 9 I5i3)dVBY yE?Q I@UDI:i:I5y=BɮE@EEQFNOT Ignoring new targets: 513.67 m.Q ProNav: ac range: 513.674805 m, nav range: 472.290405 m, bearing: 38.786928 deg, approach rate: -0.691408 m/s, LOS rate: -0.008024 deg/s, cmd heading: 39.599849 deg, new cmd heading: 39.590683 deg. z8QHeadingCmd: 0.690988 target range: 513.674805 and range: 516.90 m.R0?JbZB:2Ҕڔڒ’%@H@mBɢmz)i mo?ii)m顱iIR;i0?:,Y  BDAT read: Response Not Received  *response not received *DAT read: user:187>  BDAT read: Tx time:21:22:41.4958  $Ping request sent. U~4?U $ٱU0O AHRS rotation from veh to nav: [[0.752798,-0.621132,-0.217921],[0.638451,0.769569,0.012024],[0.160237,-0.148183,0.975892]]UH?Q˿/n?N?՟?ू?¿:?iUu>IUg;1UݐCYyiEMb@Mb@Mb@AAAA A9E/$?Q?:vYE&1?yE9Y=Q 5I5AT?Q 9I5-)VBYY1?Q E:yg>?Q I@`DI:i:SI5yBɮ(@E)Q5FNOT Ignoring new targets: 513.67 m.5/˸=/˸YQm ProNav: ac range: 513.674805 m, nav range: 471.931854 m, bearing: 38.784017 deg, approach rate: -0.683213 m/s, LOS rate: -0.005551 deg/s, cmd heading: 39.590683 deg, new cmd heading: 39.581943 deg. zmsQuHeadingCmd: 0.690835 target range: 513.674805 and range: 516.90 m.Ru0?JqbqZB:2ҔڔwBڒ’I@Bɢbɽ) zi?i)j!!i%^;i-0?-:5BBB)IBډBBBBPDBW;BEM9@I @I@M0@IԉԹ ^Am 0<Aq zAu iAAIIO>d-,,H?A2g>2B?4?2!ٱ2 VAHRS rotation from veh to nav: [[0.752690,-0.621944,-0.215971],[0.639263,0.768865,0.013780],[0.157482,-0.148435,0.976302]]2H ?˿t??8?_(?¿=?i2g>I2WEg;0Ydyf)IbDnVDnӀ4yz;%z^=ٔz;Q-~>9|Y|=~ Q 5I5 c?Q 9I5 () VBYy>?Q I@ hDI :i :  I5y!ɮ%!@!GS=B*** querying acoustic contact ***:9B9IQUFNOT Ignoring new targets: 513.67 m.UqӸUqӸQe ProNav: ac range: 513.674805 m, nav range: 471.680115 m, bearing: 38.781949 deg, approach rate: -0.703126 m/s, LOS rate: -0.005777 deg/s, cmd heading: 39.581943 deg, new cmd heading: 39.575739 deg. Eu EuEu#Eq"Euy>;*Eu:VEu3ZEqBEuQC4,H?A2:>2O4?24ٱ2In :AHRS rotation from veh to nav: [[0.752847,-0.622244,-0.214554],[0.639721,0.768438,0.016108],[0.154848,-0.149382,0.976579]]2HR?l v˿x? ?~??@ÿ@#@?i2:>I2(Rg;2ސC@YFByF+)IbDNVDN04y^v=%^O=ٔb0;Q-b>9`Yd=fhQ 5nI5jt?Q 9rI5j#)jVBYpyr>?Q Ir@jqDIj;ij;j#I5yvBɮv}@xQFNOT Ignoring new targets: 513.67 m.%θ%θQ5 ProNav: ac range: 513.674805 m, nav range: 471.409515 m, bearing: 38.779718 deg, approach rate: -0.685077 m/s, LOS rate: -0.005654 deg/s, cmd heading: 39.575738 deg, new cmd heading: 39.569039 deg. z5QxQ=HeadingCmd: 0.690610 target range: 513.674805 and range: 516.90 m.R=0?J9b9Z9BA:A2AҔAڔIIڒI’IQU@mI@EBɢEW)I Mf?iQ)}n顁i+;i0?:P a= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI O >B e>B CB )IB BB Y =B B B W;B Em:,'H?At=y>=~4?=!4ٱ=w UAHRS rotation from veh to nav: [[0.753777,-0.621449,-0.213592],[0.639320,0.768688,0.019687],[0.151952,-0.151394,0.976725]]=H@?V˿@Pu?`?(?@'s?``ÿSA?i=y>I= g;=ߐCYmBym<)Ii-Mb@Mb@Mb@)))) )9-(\?:vMbY-'?y-T--A-@ -=A)-@)Y-@bDmVDm4y}ty=%}1=ٔ};Q-}>9Y=Q 5I5=?Q 9I5) WBY'?Q E:y.?Q I@zDI ;i':(I5yɮ@QFNOT Ignoring new targets: 513.67 m.kkQ ProNav: ac range: 513.674805 m, nav range: 471.110870 m, bearing: 38.779541 deg, approach rate: -0.649110 m/s, LOS rate: -0.000383 deg/s, cmd heading: 39.569038 deg, new cmd heading: 39.568509 deg. zQHeadingCmd: 0.690601 target range: 513.674805 and range: 516.90 m.R60?JbZB:2ҔڔPBڒ’`I@颭ƇBɢ ) h?i),项i;i60?:BZA,:I?A25>2(3?28ٱ2 :AHRS rotation from veh to nav: [[0.754710,-0.620729,-0.212388],[0.638898,0.768949,0.022945],[0.149073,-0.153011,0.976916]]2H&?`@/˿ q?`;?~??ޕÿ`B?i25>I2f;2CYBByBK)IbDRVDR4yZ=%Zk=ٔ^[ |G,I?AYuByuM)I yyԱi=Mb@Mb@Mb@9999 99=jt?I +Y= ?y=94==A=`@ =A)=@9Y=G@bDUVDU4ye:<%e2=ٔeQ-e>9iYi=myQ 5I5}`?Q 9I5})}YWBY)!?Q E:y!?Q I@}DI}:i} ;} /I5yɮ@QFNOT Ignoring new targets: 513.67 m.Kv8Kv8Q ProNav: ac range: 513.674805 m, nav range: 470.600677 m, bearing: 38.780974 deg, approach rate: -0.621908 m/s, LOS rate: 0.003364 deg/s, cmd heading: 39.568187 deg, new cmd heading: 39.572811 deg. z9QHeadingCmd: 0.690676 target range: 513.674805 and range: 516.90 m.R"0?JbZB:2Ҕڔ Bڒ’`J@؇Bɢm) f?i!)%!!i%w;i-"0?-Tw:-7BIBM)IBMBBIBIBIBMlW;BMwEB ŸCB ŸCB œCB W =B X =C H5 ^A% 05 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapsetM,Q9I?A2>2Y2?2|ٱ2 :AHRS rotation from veh to nav: [[0.757699,-0.618184,-0.209142],[0.636624,0.770646,0.028538],[0.143533,-0.154769,0.977469]]2H??`*-ʿ :_?`!? 9? H_?`tÿ`lG?i2>I2i^f;2ݐCYBByBO)IEe EeEe'Ea"Ee0;*Ee:VEe'4ZEaBEe9Y=9Q 5=I5=?Q 9EI5=)=WBYAyE ?Q IE@=DI=:i=$:=2I5yMBɮU@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 513.67 m.88QM ProNav: ac range: 513.674805 m, nav range: 470.355347 m, bearing: 38.782411 deg, approach rate: -0.596609 m/s, LOS rate: 0.003495 deg/s, cmd heading: 39.572811 deg, new cmd heading: 39.577123 deg. zU9QUHeadingCmd: 0.690751 target range: 513.674805 and range: 516.90 m.R]0?JYbYZYBY:Y2YҔaڔaaڒa’ii FJ@Bɢ) b?i)R!i%ڰk;iE0?EL:E);IE0?IyI@ @!@%5@!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq^AE *:<ԙ Aq Iy I O >.T,SI?A > w;2? dٱ 2" }AHRS rotation from veh to nav: [[0.759656,-0.616224,-0.207824],[0.634956,0.771875,0.032246],[0.140543,-0.156455,0.977635]] HO?`ʿ@Q?2?@?R?@Ŀ`H?i >I C\f; ߐCYByf)IbDVDsx4y=%D=ٔ;Q->9Y= Q 5I5 q?Q 9I5 ) WBYyX ?Q I@ DI :i : 6I5y%tBɮ%@)-EQQUFNOT Ignoring new targets: 513.67 m.]8]8Qm ProNav: ac range: 513.674805 m, nav range: 470.101837 m, bearing: 38.783974 deg, approach rate: -0.646568 m/s, LOS rate: 0.003990 deg/s, cmd heading: 39.577121 deg, new cmd heading: 39.581815 deg. zmE/9QuHeadingCmd: 0.690833 target range: 513.674805 and range: 516.90 m.Run0?JqbqZqBy:y2yҔyڔڒ’vJ@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse颽Bɢ) g?i)]i8y`;in0?W:;In0?IEE EEEE$EA"EEO6;*EE:VEE4ZEAae@am@am@am@ 9@ @@3@!Yԁ^A r;e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseB `>B B )IB BB Z =B B ODB ;W;B ^EԱ A) I9 IQ Om > Z,lmI?A^z>^1?^{Q ٱ^_# jAHRS rotation from veh to nav: [[0.761597,-0.614345,-0.206277],[0.633281,0.773100,0.035655],[0.137568,-0.157786,0.977844]]^H_?IgʿC?I^ f;^CYr̉Byr})IIv8>)v=iMb@Mb@Mb@ 95^I ?9Y= Q 5I5 k?Q 9I5 m ) WBY.?Q E:y?Q I@ DI ;i ?; 9I5y%vBɮ%@!IQMFNOT Ignoring new targets: 513.67 m.U49U49Qe ProNav: ac range: 513.674805 m, nav range: 469.863129 m, bearing: 38.786972 deg, approach rate: -0.588008 m/s, LOS rate: 0.007388 deg/s, cmd heading: 39.581814 deg, new cmd heading: 39.590811 deg. ze?9yQHeadingCmd: 0.690990 target range: 513.674805 and range: 516.90 m.R0?JbZB:2ҔڔBڒ’8J@UBɢU)Y ]l?iY)eaaimT;i0?:l;I0?IIhA)iAe9@a @a@e0@aiߡIߡBDAT read: Rx Time:21:22:44.5505 TRx dataTimestamp_ set to:1761513765.900912T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱbEJ4jEƻ 4rEƲ/E EEE"E(;*E:VEZEBEa,ߥI?AB;>B~0?B9p ٱB$ JAHRS rotation from veh to nav: [[0.763432,-0.612662,-0.204492],[0.631669,0.774284,0.038443],[0.134782,-0.158519,0.978113]]BHn? ,ʿ6?@?î?@?\JĿL?iB;>IBu2f;BݐCYVӉByV)IbD^VD^4yf=%f_=ٔj;Q-j>9hYh=jaQ 5mI5eg?Q 9mI5e7)eWBYiymk?Q Im@eDIe:ie:e  BDAT read: Tx time:21:22:45.6458  $Ping request sent. Cg]YC )HIy?ik?)@) +aU(@ s)ū@Is=ǿߺH?B㺒?7``I ` ?)\,=ID+His== :publishing transmit ping time = Fpublishing direction and range infoy(j?> Cg]Y )Ii^AM yb]; )IǿߺH?B㺒?7``I )IiD1 D5 <EE  EE EA EA "EE =-;*EE r:VEA ZEA aM @aU @aU @aU @A I! IA Y O >?h,JI?AE >E/?EٱEl' }AHRS rotation from veh to nav: [[0.767269,-0.608660,-0.202068],[0.628090,0.776841,0.044944],[0.129619,-0.161401,0.978340]]EHw?$zZɿP??@?@Z?ȨĿ N?iE >IE8f;EސCYމBy)IԩiMb@Mb@Mb@ 9v?(\µQ?Y?yu<XA@ (@)I@Y@bDVDX4yE%=%&=ٔD-9Y=-1Q 5=I55 ?Q 9=I55L)5*XBYEk?Q EE:yEf ?Q IE@5DI5f Cg]]D+H]s=—]홏 w@Rr@&T?vA@]ARwu ?m?iŲ?j]Cr]PCZ]t˛L?B ^>B B )IB BB Y =B B B W;B KEb]fz]B]9?]f]^Bڗ]C]=,?Q= addTargetRange:: Added new target pos. range: 487.799988 m, deltaT: 53.939522 s, deltaX: -29.100037 m, approachRate: -0.539494 m/s, rangeRepo size: 4 Qm Added new target pos. range: 484.710083 m, bearing: 38.057939 deg, lat: 36.779287 deg, lon: -121.859033 deg, deltaT: 53.939522 s, deltaX: -28.964722 m, approachRate: -0.536985 m/s, posRepo size: 4 qQuFNOT Ignoring new targets: 484.71 m.uqQ ProNav: ac range: 484.710083 m, nav range: 478.160461 m, bearing: 38.549630 deg, approach rate: 0.000000 m/s, LOS rate: 0.007398 deg/s, cmd heading: 39.599473 deg, new cmd heading: 39.610504 deg. zQHeadingCmd: 0.691334 target range: 484.710083 and range: 487.80 m.R?0?JbZB:2ҔڔBڒ’|~@ ?颅Bɢc=) k?i)&顡i6?;i?0?:GI?0?I9@ @@c4@@iA@jA ^A rg:1 E  E E &E "E *E :VE 4ZE BE mp,NI?AYvByv)I xx1bD~VD~v4yEn=%EH=ٔEQ-M>9IYI=MYQ 5eI5], ?Q 9eI5])]VXBYayaQ Im@]DI]u:i]:]DI5yuzBɮu@qGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 484.71 m. ,9 ,9Q ProNav: ac range: 484.710083 m, nav range: 477.922577 m, bearing: 38.553196 deg, approach rate: -0.626731 m/s, LOS rate: 0.009401 deg/s, cmd heading: 39.610504 deg, new cmd heading: 39.621208 deg. zs9QHeadingCmd: 0.691521 target range: 484.710083 and range: 487.80 m.R}1?JbZB:2Ҕڔڒ’"?Bɢ9) n?i)hyi 9R5;i }1?:>Z/I}1?I9@ @@0@a^A}"5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AIIOe>ԙԹ ;v,d"I?Ai I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996812::>:s.?:hpٱ:9' BAHRS rotation from veh to nav: [[0.770626,-0.605757,-0.197976],[0.625028,0.779048,0.049244],[0.124403,-0.161690,0.978969]]:H?[b@KWɿ@:?@?@6?ؿ?@ĿS?i::>I:ke;:ݐCYJByJ)IbDRVDR4yZ >%^T=ٔ^j_9`Y`=bdQ 5jI5f# ?Q 9nI5f)fXBYlynF ?Q In@fDIf{;if;f HI5ypɮrO@t Q FNOT Ignoring new targets: 484.71 m.'9'9Q% ProNav: ac range: 484.710083 m, nav range: 477.695435 m, bearing: 38.556727 deg, approach rate: -0.589951 m/s, LOS rate: 0.009175 deg/s, cmd heading: 39.621207 deg, new cmd heading: 39.631804 deg. z-|9Q-HeadingCmd: 0.691705 target range: 484.710083 and range: 487.80 m.R-1?J1b1Z1B1:121Ҕ9ڔ99ڒ9’AAEպ?颍BɢS㜽E EE E"E/;*Eu:VE3ZEa@a@a@a@)1 =}w?i9)E.AIim+;i1?B:I1?I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248485)B=Y>B=CB=)IB=5BB=[ =B9B9B=V;B=7E^A% 7AQ Y Ia Iq O >b|,I?AJڈ>J.?J/ٱJ&' ZAHRS rotation from veh to nav: [[0.771721,-0.605120,-0.195647],[0.624187,0.779623,0.050769],[0.121809,-0.161299,0.979360]]JH@?$]@ ɿX??`? .?@vĿV?iJڈ>IJ>e;HYj#Byj)IiMb@Mb@Mb@ 9I +? ףp= ?Y9?yQ<?@ @)$@YQ@bDVDD4y >%:=ٔ;Q->9Y=Q 5I56 ?Q 9I5)XBY#?Q E:yQ?Q I@DI ;i ;KI5y|Bɮ @ E)Q5FNOT Ignoring new targets: 484.71 m.1=;19=;19QM ProNav: ac range: 484.710083 m, nav range: 477.444366 m, bearing: 38.560987 deg, approach rate: -0.570363 m/s, LOS rate: 0.009684 deg/s, cmd heading: 39.631804 deg, new cmd heading: 39.644593 deg. zM9QUHeadingCmd: 0.691929 target range: 484.710083 and range: 487.80 m.RU="1?JQbYZYBY:Y2YҔaڔeBaڒa’aim@?颕Bɢ>=) ?i)2顙i!;i="1?i:\lI="1?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500362E EE'E"E1;*E:VE'4ZEBEXԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752537Թ I, J?A6.>6&-?6`ٱ6_;& FAHRS rotation from veh to nav: [[0.772506,-0.604870,-0.193305],[0.623657,0.779989,0.051662],[0.119527,-0.160465,0.979778]]6H^?@[7ȿ? ?ps?Q?ĿVZ?i6.>I6De;6ސCYJ,ByJ)IbDVVDV4y^)2=%^^=ٔ^);Q-b>9`Y`=bhQ 5nI5j}E ?Q 9nI5j)jXBYlyn?Q Ir@jDIj;ij;jOI5ytɮv@tQFNOT Ignoring new targets: 484.71 m.2929Q- ProNav: ac range: 484.710083 m, nav range: 477.234589 m, bearing: 38.564574 deg, approach rate: -0.570638 m/s, LOS rate: 0.009760 deg/s, cmd heading: 39.644593 deg, new cmd heading: 39.655358 deg. z-Y9Q5HeadingCmd: 0.692117 target range: 484.710083 and range: 487.80 m.R5.1?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAM?u'BɢuM쎽)q u@?iq) i;i.1?!:I.1?I ԑ9@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004623E  E E "E "E L;*E L:VE (3ZE a@a@a@a@^ArA I I O > s,3'J?A2>2 -?2ٱ2$ :AHRS rotation from veh to nav: [[0.772961,-0.605163,-0.190551],[0.623535,0.780067,0.051955],[0.117201,-0.158974,0.980301]]2H?~]cȿ@?O?ߙ?`?EYĿ@^?i2>I2gIf;0YZGByZ*Ii=Mb@Mb@Mb@9999 99=Mb?+Mb?Y= ?y==<9=@ =|@)=@9Y=p@bDUVDU4ye>%e@=ٔe\;Q-e>9iYi=mqQ 5I5upX ?Q 9I5u)uYBY!?Q E:y'?Q I@uDIu:iu]:uRI5y~Bɮk@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256560QFNOT Ignoring new targets: 484.71 m.[9[9BU>BCB**IBYBB\ =BBNDBV;BEQ ProNav: ac range: 484.710083 m, nav range: 476.971069 m, bearing: 38.568195 deg, approach rate: -0.617346 m/s, LOS rate: 0.008489 deg/s, cmd heading: 39.655358 deg, new cmd heading: 39.666228 deg. zm9QHeadingCmd: 0.692306 target range: 484.710083 and range: 487.80 m.R:1?JbZ B : 2 ҔڔBڒ’g@0BɢX) ؅?i!)%f!!i-@$ ;iu:1?uv:u3I}:1?Iy%9@! @)@)@)!U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448Q ^Am E  E E !E "E 0;*E :VE c3ZE BE @Q,TAJ?A6B>60-?6ٱ6T.# BAHRS rotation from veh to nav: [[0.773448,-0.605352,-0.187958],[0.623346,0.780194,0.052321],[0.114971,-0.157631,0.980782]]6H ? _ȿs?X?ɪ?@n?<-Ŀb?i6B>I6j$g;6ݐCYJbByJ6*IbDRVDRr4yZQ>%ZW=ٔ^;Q-^>9^ ?Y^ ?=bdQ 5zI5fZi ?Q 9zI5f)f,YBY|y~?Q I~@fDIf~;if&;f#VI5yɮ@GS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 484.71 m.B9B9Q ProNav: ac range: 484.710083 m, nav range: 476.735870 m, bearing: 38.571445 deg, approach rate: -0.594024 m/s, LOS rate: 0.008210 deg/s, cmd heading: 39.666228 deg, new cmd heading: 39.675980 deg. zO9QHeadingCmd: 0.692477 target range: 484.710083 and range: 487.80 m.R$F1?JbZB:2Ҕڔڒ’@z@]8Bɢen)a e?ia)eO9顉i;i$F1?,:I$F1?II)hAi%9@! @!@% 0@!@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761231ԑ^Ae A ؟AI I O >u,~[J?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012361PRݸ>R-?RrٱRc! ZAHRS rotation from veh to nav: [[0.773541,-0.606077,-0.185215],[0.623632,0.779967,0.052288],[0.112771,-0.155953,0.981306]]RH@?d#ǿ?@~?Ū?޼?Fÿf?iRݸ>IR%h;RCYbmByfC*I hhbDnVDn?o4yvW=%vG=ٔz(;Q-z>9z"?Yz"?=zQ 5 I5{ ?Q 9 I5)UYBY y?Q I@DI:i:YI5y_Bɮ!@EAQEFNOT Ignoring new targets: 484.71 m.M>$9M>$9Q] ProNav: ac range: 484.710083 m, nav range: 476.481689 m, bearing: 38.574956 deg, approach rate: -0.649406 m/s, LOS rate: 0.008975 deg/s, cmd heading: 39.675981 deg, new cmd heading: 39.686520 deg. z]9QeHeadingCmd: 0.692660 target range: 484.710083 and range: 487.80 m.Re2R1?JabaZaBi:i2iҔiڔiqڒq’qq}@E EE%E"E;;*E:VE 4ZEa@a@a@a@=?Bɢ=)A M?iI)UaYYi]:iu2R1?9:aVI2R1?Iu9@q @q@u.0@q>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264705BBB\*IBBB] =BBB[V;BEBǶCBǶCBB[ =B[ =C25^A) A9 II IY Oe >',tJ?A HJC 1]09YY]Am^>m=-?m4ٱm4 AHRS rotation from veh to nav: [[0.773519,-0.606845,-0.182776],[0.624028,0.779644,0.052383],[0.110712,-0.154577,0.981758]]mH ?Fk@3eǿ ? ?Ѫ?W?+ÿj?im^>Imi;mCYByj*IiMb@Mb@Mb@ 9T㥛 ?V-Mb?Y!?ym@p@ 9@)@Y=@bD-VD-4y=M >%=6=ٔE;Q-E>9AYA=MQ 5I5 ?Q 9I5)YBY!?Q E:yL?Q I@DI ;i ;]I5y]Bɮ@Q%FNOT Ignoring new targets: 484.71 m.%68%685checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516680QE ProNav: ac range: 484.710083 m, nav range: 476.192047 m, bearing: 38.577830 deg, approach rate: -0.622445 m/s, LOS rate: 0.006180 deg/s, cmd heading: 39.686520 deg, new cmd heading: 39.695148 deg. zE9QMHeadingCmd: 0.692811 target range: 484.710083 and range: 487.80 m.RM\1?JIbIZQBQ:Q2QҔYڔ]BYڒY’YYe F @颍HBɢsP) ?i)K顑i}:i\1?t:PI\1?I)E EE$E"EsH;*E:VE4ZEBEc,FюJ?A6)>6Q-?6yg߽ٱ6 >AHRS rotation from veh to nav: [[0.773343,-0.607685,-0.180718],[0.624570,0.779197,0.052572],[0.108868,-0.153527,0.982129]]6H:?'r!ǿ z?`/??޻?`Ʀÿm?i6)>I6nj;6ߐCYFByF*IbDRVDRq4yV=%Zh=ٔZi;Q-Z>9XY\=^dQ 5fI5f ?Q 9jI5f)fYBYhyjn?Q Ij@fDIf:if:f`I5yraBɮr @rEQ FNOT Ignoring new targets: 484.71 m. 1818Q% ProNav: ac range: 484.710083 m, nav range: 475.983185 m, bearing: 38.579891 deg, approach rate: -0.622997 m/s, LOS rate: 0.006152 deg/s, cmd heading: 39.695147 deg, new cmd heading: 39.701335 deg. z%9Q-HeadingCmd: 0.692919 target range: 484.710083 and range: 487.80 m.R-$c1?J)b)Z)B):)21Ҕ1ڔ11ڒ9ԙ’#@ePBɢeސ_)a e?ii)m?niiims/:i$c1?`:]$I$c1?I9@ @@[1@@=@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.020425E EE%E"Eg5;*Er:VE 4ZEa@a@a@a@^A;! A9 IA IY Oe >격,J?A2 J>2-?2۽ٱ2 :AHRS rotation from veh to nav: [[0.773347,-0.608239,-0.178828],[0.624890,0.778904,0.053106],[0.106989,-0.152817,0.982446]]2H`B?vƿ? ?@0?c?ÿ2p?i2 J>I2vQk;2CYfByf*IIj=)j=ٔ;Q->9Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272675BBB*IBBBBBBV;BEQ 5I5 ?Q 9I5)YBYH%?Q E:y?Q I@DI90;i0;dI5ycBɮY@!Q-FNOT Ignoring new targets: 484.71 m.588Q ProNav: ac range: 484.710083 m, nav range: 475.705322 m, bearing: 38.582461 deg, approach rate: -0.630506 m/s, LOS rate: 0.005833 deg/s, cmd heading: 39.701335 deg, new cmd heading: 39.709047 deg. z9QHeadingCmd: 0.693054 target range: 484.710083 and range: 487.80 m.Rk1?JbZB:2ҔڔBڒ’   'S@UXBɢ]t)Y ]K?iY)]d aaieҎ:iek1?mO:mIuk1?I!-9@) @)@-52@)QU BDAT read: Rx Time:21:22:49.6058 U TRx dataTimestamp_ set to:1761513770.940672] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525678^Am bEIjEM4rEMS0E  E E &E "E sH;*E :VE 4ZE BE a 2E a JE =,J?A25>2).?2c׽ٱ2 :AHRS rotation from veh to nav: [[0.773239,-0.608952,-0.176860],[0.625341,0.778518,0.053476],[0.105124,-0.151947,0.982782]]2H_?|Xƿ@??3a?k?sÿr?i25>I2k;2ސCYbҊByb*IbDjVDj4yrA>%rU=ٔv ;Q-v>9tYt=v|Q 5I5~ ?Q 9I5~)~YBY y ?Q I @~ DI~F:i~:~gI5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 484.71 m.k8k8Q ProNav: ac range: 484.710083 m, nav range: 475.463867 m, bearing: 38.584683 deg, approach rate: -0.618258 m/s, LOS rate: 0.005694 deg/s, cmd heading: 39.709046 deg, new cmd heading: 39.715718 deg. zz9QHeadingCmd: 0.693170 target range: 484.710083 and range: 487.80 m.Rs1?JbZB:2Ҕڔڒ’@_BɢThA)! %ל?i!)%z !!i%h:i-s1?- :-I5s1?I1Y9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776535ԁ^A+A>A>ԱA .AI1 IY O5 > } DAT read: 21:22:49.6058 LVL= 32752, 23905, 27826, 32755, AGC= 71, IDX= 488, 0.18,-3.056,-1.105,-1.814,-1.852, PHS=-1.102, 0.792,-0.006, RAW= 294.8, 3.9, CAL= 292.8, -0.6, ROT= 217.2, 0.6  Ygot valid direction response: 21:22:49.6058 LVL= 32752, 23905, 27826, 32755, AGC= 71, IDX= 488, 0.18,-3.056,-1.105,-1.814,-1.852, PHS=-1.102, 0.792,-0.006, RAW= 294.8, 3.9, CAL= 292.8, -0.6, ROT= 217.2, 0.6  DAT read:  DDAT read: $Packet for address 50  .?ӽٱj AHRS rotation from veh to nav: [[0.773377,-0.609311,-0.175010],[0.625486,0.778354,0.054150],[0.103226,-0.151345,0.983076]]EE EEEE'EA"EEy>;*EE4:VEE'4ZEAaM@aM@aM@aM@H ? z`fƿ? F?@? l?F_ÿ\u?i>Ii;ߐCYߊBy*IybD%VD%Jz4y=PN=%E'=ٔu|;Q-u>9 ?Y ?=Q 5=I5 ?Q 9EI5?)ZBYaye?Q Im@DIY,jJ?AYzByz*I ||iIAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!iMb@Mb@Mb@ 9Q?J +~jt?Y(?yHD<9@-@ @)@Yp@bDxVD\4y>%G=ٔQ->9"?Y"?=Q 5I5M ?Q 9I5j)AZBYs)?Q E:y?Q I@DI :i:oI5yhBɮ@ QFNOT Ignoring new targets: 484.71 m.N8N8Q% ProNav: ac range: 484.710083 m, nav range: 474.883911 m, bearing: 38.589667 deg, approach rate: -0.680482 m/s, LOS rate: 0.005309 deg/s, cmd heading: 39.724732 deg, new cmd heading: 39.730680 deg. z%+i9E E*E&E"E77;*E;VE4ZEBE ,&:K?AN>N%.?N+ͽٱN ^AHRS rotation from veh to nav: [[0.773516,-0.610093,-0.171640],[0.625836,0.778017,0.054951],[0.100014,-0.149924,0.983626]]NH ?Kſ??@"?@|?0ÿ y?iN>IN/}g;NCYnByn*IbDvyVDv^4y~Q=%W=ٔ8 9 Y = iQ 5uI5qm ?Q 9}I5m)mbZBYyy}?Q I}@m$DImt.;im /;msI5yjBɮY@QFNOT Ignoring new targets: 484.71 m.m8m8Q ProNav: ac range: 484.710083 m, nav range: 474.634979 m, bearing: 38.591605 deg, approach rate: -0.636459 m/s, LOS rate: 0.004957 deg/s, cmd heading: 39.730681 deg, new cmd heading: 39.736497 deg. zY9QHeadingCmd: 0.693533 target range: 484.710083 and range: 487.80 m.R\1?JbZB:2Ҕڔڒ’@F@wBɢ&) Z?i)83 isf*:i%\1?%:%FI%\1?I)9@ @@f4@-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseԡD=D<E EE$E"E;;*E:VE4ZEa@a@a@a@^AA9 II IY Oe >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse#,.K?AB@B@BBJ+IBBCBB@B@B@BBU;BBEYBy+IiEMb@Mb@Mb@AAAA A9EuV?/$y&1?YEr(?yE,E`e9qYq=uQ 5I5!?Q 9I5))ZBY(?Q E:y?Q I@.DI* ;i ;vI5yLBɮt@{EQFNOT Ignoring new targets: 484.71 m.מ8מ8Q ProNav: ac range: 484.710083 m, nav range: 474.340881 m, bearing: 38.593512 deg, approach rate: -0.668716 m/s, LOS rate: 0.004340 deg/s, cmd heading: 39.736497 deg, new cmd heading: 39.742223 deg. z>9QHeadingCmd: 0.693633 target range: 484.710083 and range: 487.80 m.R1?JbZB:2Ҕڔ)Bڒ’@[@BɢJ) J?i!)%!)i-29iM1?M:M-,HK?A2M>260.?2 ǽٱ2z :AHRS rotation from veh to nav: [[0.773638,-0.610641,-0.169120],[0.626153,0.777653,0.056464],[0.097037,-0.149578,0.983977]]2H?^@ſ r ???q׸?a%ÿ|?i2M>I2Vf;0YB3ByB6+IIF=)Fp=bDNVDND4yV&>%Ve=ٔV 9XYX=Z`Q 5fI5b !?Q 9fI5b)bZBYdyf?Q Ij@b5DIb+;ib:bzI5ylɮn@lGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 484.71 m. 8 8Q ProNav: ac range: 484.710083 m, nav range: 474.107452 m, bearing: 38.595022 deg, approach rate: -0.653828 m/s, LOS rate: 0.004233 deg/s, cmd heading: 39.742224 deg, new cmd heading: 39.746757 deg. z99Q%HeadingCmd: 0.693712 target range: 484.710083 and range: 487.80 m.R%1?J!b!Z)B):)2)Ҕ1ڔ11ڒ1’11=`@eBɢe&)i mG?ii)miiimn:9iu1?u2Y:uI}1?IyET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse9@ @@/@ ^Aܪ&Qi AI  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA) I1 IA OU >a Em  Em Em "Ei "Em M;*Em &:VEm (3ZEi a} @a} @a} @a} @+,EbK?AB:>B4.?BýٱBp JAHRS rotation from veh to nav: [[0.773709,-0.610864,-0.167987],[0.626298,0.777466,0.057425],[0.095526,-0.149640,0.984115]]BH:?1@ſ` ??`f?at?h'ÿ }?iB:>IB/f;BߐCYZ7ByZ<+IbD}VD}v4y˩<%;=ٔb`;Q->9Y1==YQ 5I5w5!?Q 9I5)ZBYy?Q I@?DI;iu;~I5yNBɮp@|E!Q%FNOT Ignoring new targets: 484.71 m.-858QE ProNav: ac range: 484.710083 m, nav range: 473.806091 m, bearing: 38.596972 deg, approach rate: -0.640525 m/s, LOS rate: 0.004146 deg/s, cmd heading: 39.746756 deg, new cmd heading: 39.752608 deg. zE69QMHeadingCmd: 0.693814 target range: 484.710083 and range: 487.80 m.RMɝ1?JIbIZB:2Ҕڔڒ’/ @颥BɢxB) 0?i)顩iڲ8iɝ1?ͻ:H0Iɝ1?ImT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseԉB=T>B9B=+IB=pBB9B9B9B=RU;B=dE}9@y @y@}4@yԱ^AE  Aq I I O >Az,(|K?A2b>2R.?2̉ٱ2 :AHRS rotation from veh to nav: [[0.773508,-0.611282,-0.167392],[0.626723,0.777049,0.058421],[0.094361,-0.150097,0.984158]]>T****** received valid address query ******>R****** received valid ping request ******>received new query, but waiting for acoustic response period to elapse2H ?@mſ?? S?(?d6ÿ8~?i2b>I2Ug;2ېCYFCByFJ+IiMb@Mb@Mb@ 9n?Mb9AYA=EE EE$E"Eg5;*Eu:VE4ZEBEzR,SK?A>">>g.?>ٱ>8  FAHRS rotation from veh to nav: [[0.773398,-0.611832,-0.165884],[0.627046,0.776787,0.058432],[0.093105,-0.149208,0.984413]]>H? @;ſ`?@q??շ?@ÿO?i>">I>Jf;>ߐCYNWByNb+I PPbDVVDVr4y^J=%bU=ٔbW;Q-b>9dYd=flQ 5nI5nX!?Q 9rI5n)n[BYpyrs#?Q Ir@nODIn:in:nI5yvPBɮz@xQFNOT Ignoring new targets: 484.71 m.X8X8Q- ProNav: ac range: 484.710083 m, nav range: 473.295105 m, bearing: 38.599159 deg, approach rate: -0.693975 m/s, LOS rate: 0.002961 deg/s, cmd heading: 39.756089 deg, new cmd heading: 39.759174 deg. z59Q5HeadingCmd: 0.693928 target range: 484.710083 and range: 487.80 m.R=L1?J9b9Z9B9:929ҔAڔAAڒA’IIM@uBɢ}˼)y }?iy)}顁i8˕iL1? :rIL1?I)@) @)@-0@)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE% E%E%%E!"E%L;*E%:VE% 4ZE!a-@a-@a-@a-@^AI A .AI I O >] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseB B B +IB BB ^ =B B B U;B ;EB˵CB˵CBB] =B] =Ci4x,K?ARV@>Rv.?RvٱR۴ ZAHRS rotation from veh to nav: [[0.773343,-0.612202,-0.164770],[0.627293,0.776553,0.058899],[0.091894,-0.148908,0.984572]]RH :?(@+ſ? ?(?\?lÿ?iRV@>IRf;PYbhBybx+Ii}Mb@Mb@Mb@yyyy y9}Q?X9v rh?Y}(?y}}C<}@}@ }+@)}-@yY}@bDkVDD4y=%==ٔ8;Q->9 ?Y ?=Q 5I5=k!?Q 9I5)7[BY3)?Q E:y|#?Q I@XDI;i;yI5yɮ@9Q=FNOT Ignoring new targets: 484.71 m.E]H8M]H8Qe ProNav: ac range: 484.710083 m, nav range: 473.011902 m, bearing: 38.600364 deg, approach rate: -0.643309 m/s, LOS rate: 0.002737 deg/s, cmd heading: 39.759173 deg, new cmd heading: 39.762788 deg. zmo8QuHeadingCmd: 0.693992 target range: 484.710083 and range: 487.80 m.Run1?JqbyZyBy:2Ҕڔ:Bڒ’ @Qe؀Gyr9YC_ABɢ  ) !?i)Yisi n1? ޳: In1?I9@ @@0@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE1 E5 E5"E1"E1*E5:VE5(3ZE1BE5ڡf,K?A2X>2.?2lٱ2f8 >AHRS rotation from veh to nav: [[0.773322,-0.612480,-0.163832],[0.627515,0.776303,0.059821],[0.090544,-0.149068,0.984673]]2H?orĿ`?@z?Ӡ? -?ÿp?i2X>I2I>f;0YFnByF+IbDNVDN4yV =%VZ=ٔZ(m;Q-Z>9Z"?YZ"?=^`Q 5fI5b{!?Q 9fI5b)bV[BYhyj#?Q Ij@b`DIb;ib;bI5ynSBɮnD@n}EGS~B*** querying acoustic contact ***:|B|Q FNOT Ignoring new targets: 484.71 m. O8O8Q ProNav: ac range: 484.710083 m, nav range: 472.766907 m, bearing: 38.601401 deg, approach rate: -0.669387 m/s, LOS rate: 0.002835 deg/s, cmd heading: 39.762786 deg, new cmd heading: 39.765899 deg. z 8Q%HeadingCmd: 0.694046 target range: 484.710083 and range: 487.80 m.R%1?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’99= >!@eBɢeQ)i mg?i)%niyk1i1?뮱: I1?I T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡ9@ @@0@@=@=^A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA .A! I) I9 OE >E=  E= E= %E9 "E= B;*E= :VE= 4ZE9 aE @aE @aE @aE @,,FK?ABz}>BL.?BٱBX! JAHRS rotation from veh to nav: [[0.773248,-0.612821,-0.162905],[0.627813,0.775979,0.060886],[0.089099,-0.149354,0.984761]]BHq?;Ŀ ??@e,?2϶?ÿ*?iBz}>IBe;BCYRByR+IIV<)V<bD^|VD^4d4y=%<=ٔY;Q->9 ?Y ?=IQ 5I5M!?Q 9I5M)M{[BYy#?Q I@MjDIMMpBABE+IBEBBABABABET;BE E@ @@0@Yԁ ^A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAE ؟AIQ Ia O >,=L?AbEM4jEMm4rEM/Eb  EbEb#E`"EbD;*Eb:VEb3ZE`BEb͚9 "?Y "?= Q 5%I5!?Q 9%I58)[BY%/?Q E%:y%'?Q I-@sDIL:i:I5y55Bɮ5˺@5tEYQ]FNOT Ignoring new targets: 484.71 m.e7e7Qu ProNav: ac range: 484.710083 m, nav range: 472.171204 m, bearing: 38.603290 deg, approach rate: -0.714432 m/s, LOS rate: 0.001535 deg/s, cmd heading: 39.769640 deg, new cmd heading: 39.771567 deg. zuֆ8Q}HeadingCmd: 0.694145 target range: 484.710083 and range: 487.80 m.R}y1?JybyZyB:2Ҕڔ7Bڒ’@^#@=Bɢ=pݼ)9 =!?i9)ESAAiEꎺiMy1?Im@:m4 Imy1?Iq 9@ @@0@!yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A zԡ AY Ii Iy O >7,L?A:>:.?:*ٱ:!@ FAHRS rotation from veh to nav: [[0.772884,-0.613859,-0.160711],[0.628638,0.775206,0.062206],[0.086398,-0.149107,0.985039]]:H`v?*Ŀ`?|?@rٯ?@1?`ÿ`q?i:>I:0e;:ݐCYNByR+IbDZtVDZ{U4ybX=%ba=ٔb;Q-f>9dYd=flQ 5rI5ng!?Q 9rI5n=)n[BYpyr.(?Q Iv@n{DIn+;inY;nI5yz8Bɮz@xQFNOT Ignoring new targets: 484.71 m.%7%7Q5 ProNav: ac range: 484.710083 m, nav range: 471.923492 m, bearing: 38.603796 deg, approach rate: -0.683343 m/s, LOS rate: 0.001397 deg/s, cmd heading: 39.771567 deg, new cmd heading: 39.773086 deg. z5ou8Q=HeadingCmd: 0.694171 target range: 484.710083 and range: 487.80 m.R=61?J9b9Z9B9:A2AҔAڔAAڒI’IIM$@}Bɢ} s)y }˷?iy)顁ii61?4:CI61?II)]B Q>B B +IB ыBB _ =B B B ZT;B E 2Acoustic response timeout! [d ,3L?AN>NQ#/?NxٱN#h ^AHRS rotation from veh to nav: [[0.772125,-0.615024,-0.159902],[0.629683,0.774359,0.062187],[0.085575,-0.148704,0.985172]]NH>? G@wĿ`\&? ?ׯ?@=? ÿ?iN>INkd;NސClYjByn+I ppiMb@Mb@Mb@ 9M?I +y&1?Yn2?y94|@K@ @)@Y@bDVDyi<%:=ٔ:Q->9Y=Q 5I5w!?Q 9I5C)[BY}2?Q E:y+?Q I@DIe ;i ;I5yɮg@!Q%FNOT Ignoring new targets: 484.71 m.-g6-g6Q= ProNav: ac range: 484.710083 m, nav range: 471.619446 m, bearing: 38.603882 deg, approach rate: -0.692974 m/s, LOS rate: 0.000197 deg/s, cmd heading: 39.773086 deg, new cmd heading: 39.773346 deg. z= 7QEHeadingCmd: 0.694176 target range: 484.710083 and range: 487.80 m.RE1?JAbAZABA:I2IҔQڔU0BQڒQ’QY]E$@颅ňBɢ9ռ) ?i) 顉ieĺi1?:ػI1?I A@A @I@M@0@I2Acoustic response timeoutE EEE"E<;*Ej:VEZEBEI,ML?A6>6N/?6gGٱ6V_ >AHRS rotation from veh to nav: [[0.771777,-0.615667,-0.159106],[0.630253,0.773852,0.062723],[0.084508,-0.148685,0.985267]]6H@f?`]Ŀ+? f??O?ÿO?i6>I6Ϭc;6ߐCYFByF+IbDRnVDRpJ4yZOb=%Z^=ٔZ?;Q-Z>9\Y\=^dQ 5jI5fC!?Q 9jI5f)f[BYhyj,?Q Ij@fDIf:if-:fI5r2Acoustic response timeoutyv:Bɮv@vuEGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 484.71 m.1%61%6Q- ProNav: ac range: 484.710083 m, nav range: 471.364716 m, bearing: 38.603934 deg, approach rate: -0.690417 m/s, LOS rate: 0.000141 deg/s, cmd heading: 39.773346 deg, new cmd heading: 39.773502 deg. z-;6Q5HeadingCmd: 0.694179 target range: 484.710083 and range: 487.80 m.R51?J1b99Z9BA:A2AҔAڔIIڒI’IIU h%@}ˈBɢ}π)y -?i)a顁iߺi1?kҥ:ɻI1?IU9@Q @Y@]4@Yi^Au`Իԙ2Acoustic response timeoutA .AI I O >E  E E "E "E US;*E :VE (3ZE a @a @a @a @ Zw,FgL?A5Jy>52/?5@8ٱ5ԙ AHRS rotation from veh to nav: [[0.771185,-0.616689,-0.158018],[0.631111,0.773154,0.062700],[0.083506,-0.148080,0.985444]]5H ?9Ŀ2?? ?`?`G¿ ?i5Jy>I51b;1YBy+IiMb@Mb@Mb@ 9V-?~jth{Gz?Y-?yD#< @@ @)@Y@bDyVD^4y=%,=ٔa ;Q->9 ?Y ?=BBCB,IBBBBBBUT;BEQ 5I54!?Q 9I5)\BY-?Q E:y/?Q I@DI ;i;I5yɮ\@2Acoustic response timeoutQFNOT Ignoring new targets: 484.71 m.#j#jQM ProNav: ac range: 484.710083 m, nav range: 471.028900 m, bearing: 38.603532 deg, approach rate: -0.667225 m/s, LOS rate: -0.000800 deg/s, cmd heading: 39.773503 deg, new cmd heading: 39.772296 deg. zM{ QUHeadingCmd: 0.694157 target range: 484.710083 and range: 487.80 m.RUN1?JQbYZYBY:Y2YҔڔBڒ’`&@ ӈBɢ V)  F?i)ii=N1?=:EGIEN1?IAUG>iU>9@ @@ 0@@=@^A #2 iߝ AIߝ A 2Acoustic response timeoutE  E E %E "E E;*E >:VE 4ZE BE O ,L?A2>2/?2Fٱ2Y :AHRS rotation from veh to nav: [[0.770563,-0.617691,-0.157133],[0.631994,0.772422,0.062835],[0.082560,-0.147725,0.985577]]2Hs?`ĿK9??`?"?¿׉?i2>I2b;2ܐCYBByB+IIF=)F=bDJfVDJ;4yRw<%V\=ٔV<);Q-V>9V"?YZ"?=Z\`Q 5fI5b!?Q 9fI5b)b2\BYdyjI/?Q Ij@bDIb:ib:b#I5ynA M"',L?A2+m>2" 0?2ٱ2r :AHRS rotation from veh to nav: [[0.770142,-0.618409,-0.156368],[0.632655,0.771826,0.063502],[0.081418,-0.147833,0.985655]]2H?Ŀ>?̲? A? ״?@-¿@}?i2+m>I2Va;2CYBByB+IbDJkVDJD4yRaQ%VJ=ٔV :;Q-V>9XYX=Z\Q 5bI5^]"?Q 9fI5^)^M\BYdyf}/?Q If@^DI^:i^W:^I5yj?Bɮj@nvE%2Acoustic response timeout!yQ}FNOT Ignoring new targets: 484.71 m.Q ProNav: ac range: 484.710083 m, nav range: 470.520721 m, bearing: 38.602830 deg, approach rate: -0.649123 m/s, LOS rate: -0.000927 deg/s, cmd heading: 39.771351 deg, new cmd heading: 39.770187 deg. z"QHeadingCmd: 0.694121 target range: 484.710083 and range: 487.80 m.R1?JbZB:2Ҕڔڒ’>(@=߈Bɢ= @)9 E?iA)EdAAiEiM1?Mݠ:MPyIU1?Du=Du%=E} E}E}$Ey"E}C;*E}:VE}4ZEya@a@a@a@II 9@ @@2@yBP>BB1,IBBBBBB_T;BEBDAT read: Response Not Received *response not received*DAT read: user:189> ^L-,ƷL?A2U>28Z0?2Xٱ2*1 :AHRS rotation from veh to nav: [[0.769446,-0.619444,-0.155700],[0.633600,0.771042,0.063611],[0.080648,-0.147596,0.985754]]2H`M?`{ÿsF?@_?H? S? n¿@L?i2U>I2!a;2ݐCYnƋByn+IieMb@Mb@Mb@aaaa a9e rh?{Gzt~jth?YeC+?yeףeD;e"@e5@ e`@)e@aYaybDuVDRW4y=%<=ٔ:Q->9 ?Y ?=Q 5I5F#"?Q 9I5C)g\BYE+?Q E:y.?Q I@DI ;i& ;rI5yBɮ@lEQFNOT Ignoring new targets: 484.71 m.MMQ ProNav: ac range: 484.710083 m, nav range: 470.231628 m, bearing: 38.602536 deg, approach rate: -0.691450 m/s, LOS rate: -0.000703 deg/s, cmd heading: 39.770187 deg, new cmd heading: 39.769305 deg. z#Q HeadingCmd: 0.694105 target range: 484.710083 and range: 487.80 m.R 1?J b Z B :2Ҕڔ,Bڒ’`")@MBɢU͛)Q U?iQ)U+YYi]&ie1?e:eN9Ie1?Iaq=BDAT read: Tx time:21:22:58.0958 =$Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.25012764,L?AJŜ>J0?JOٱJΔ VAHRS rotation from veh to nav: [[0.768785,-0.620528,-0.154646],[0.634527,0.770279,0.063597],[0.079657,-0.147020,0.985921]]JH@?]@sÿ@ N? !?G?@gd?@¿ੌ?iJŜ>IJ۪a;JސCY^ËBy^+I ``bDfeVDf94yv]%vU=ٔz);Q-~>9Y=!Q 5-I5%'4"?Q 95I5%)%}\BY9y=.?Q I=@%DI% ^;i%G_;%կI5yMOBɮU@UmEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 484.71 m.]]Q ProNav: ac range: 484.710083 m, nav range: 469.973358 m, bearing: 38.602237 deg, approach rate: -0.654147 m/s, LOS rate: -0.000757 deg/s, cmd heading: 39.769306 deg, new cmd heading: 39.768409 deg. zQQHeadingCmd: 0.694090 target range: 484.710083 and range: 487.80 m.Rܯ1?JbZB:2Ҕڔڒ’)@uBɢ}()y }۵?iy)}e顁i\4iܯ1?ɞ:Iܯ1?Iyi9I=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969 E  E'E'E"ED;*E";VE'4ZEԩa@a@a@a@% 9@)  @) @- /0@) ^A 7BO>BB=,IB BBBBB:T;BEB%δCB%δCB!B%_ =B%_ =C%B4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754301AYIiIyO?A;,r1r1?rFٱr[  AHRS rotation from veh to nav: [[0.766884,-0.623257,-0.153103],[0.637007,0.768256,0.063286],[0.078179,-0.146061,0.986182]]rH`O? @ÿ \b?`?3?@?"¿̎?irH7>Ir a;rߐCYeBye+IiMb@Mb@Mb@  7m>9w/?Mbp?Y&?y̼;@@ @)x@Y@ԡGjA)]v9]jAY]aAbDe}VDe f4yuX%u =ٔ}Z$;Q-}>9yYy=Q 5I5M"?Q 9I5̀)\BY '?Q E:y'?Q I@DIH:i:I5yɮ&@)Q-FNOT Ignoring new targets: 484.71 m.5f75f7Qe ProNav: ac range: 484.710083 m, nav range: 469.588623 m, bearing: 38.603072 deg, approach rate: -0.649140 m/s, LOS rate: 0.001410 deg/s, cmd heading: 39.768408 deg, new cmd heading: 39.770914 deg. zew8QmHeadingCmd: 0.694133 target range: 484.710083 and range: 487.80 m.Rm1?JibiZqBq:q2qҔyڔ}Bڒ’+@BɢW) '?i)M9yyi}ZBi1?}:2:I1?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006243Em EmEm&Ei"EmO6;*Em:VEm4ZEiBEmCA>A%؟AI1IAOM?E,ӟM?A(>>>P1?>ٱ>Y JAHRS rotation from veh to nav: [[0.766433,-0.623854,-0.152930],[0.637683,0.767586,0.064601],[0.077085,-0.147033,0.986123]]>H?3ÿg??౉?@׻?¿R?i>>I>`;>ސCYNˋByR+IbDZfVDZ;4yb+k=%b =ٔf ;Q-f>9f"?Yf"?=flQ 5rI5nc"?Q 9rI5n{)n\BYpyv$(?Q Iv@nDIn:in:npI5yzQBɮz]@xQFNOT Ignoring new targets: 484.71 m.%7%7Q5 ProNav: ac range: 484.710083 m, nav range: 469.258820 m, bearing: 38.603756 deg, approach rate: -0.660503 m/s, LOS rate: 0.001370 deg/s, cmd heading: 39.770914 deg, new cmd heading: 39.772966 deg. z5p8Q=HeadingCmd: 0.694169 target range: 484.710083 and range: 487.80 m.R=1?J9b9Z9BA:A2AҔAڔIIڒI’IQU - ,@}Bɢ})y (?i)j顁i=`Pi1?yp:c:I1?Iԁ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510249E} E} E}%Ey"E}:;*E}:VE} 4ZEya@a@a@a@@ @@0@ B M>B B J,IB BB B B ^A oM;B S;B E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762183) A5 .AIA IY O >*L,;5M?A6>6~1?6o`ٱ6? BAHRS rotation from veh to nav: [[0.766215,-0.624252,-0.152396],[0.638099,0.767133,0.065860],[0.075795,-0.147707,0.986123]]6HԄ?ÿ@Nk?Y?@:ܰ? Ig?¿P?i6>I6̇`;6ߐCYJӋByJ+IiUMb@Mb@Mb@QQQQ Q9Uy&1?L7A`堿YU`%?yU+UU@Uĸ@ U@)Ub@QYU@bDm}VDm f4y}y=%}.=ٔ}L4;Q-}>9 ?Y ?=Q 5I5Ix"?Q 9I5v)\BY%?Q E:y$?Q I@DI* ;i;I5yTBɮ@nEQFNOT Ignoring new targets: 484.71 m..-8.-8Q ProNav: ac range: 484.710083 m, nav range: 468.955963 m, bearing: 38.604867 deg, approach rate: -0.644192 m/s, LOS rate: 0.002366 deg/s, cmd heading: 39.772967 deg, new cmd heading: 39.776303 deg. z8QHeadingCmd: 0.694227 target range: 484.710083 and range: 487.80 m.R1?JbZB:2ҔڔBڒ’,@5Bɢ5X )1 5z?i1)=99i=?Z^iE1?E|:EA:IE1?IIԱ9@ @@0@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014581bE-4jEO4rE/EE EEEE#EA"EEa?;*EEu:VEE3ZEABEE1 *S,sOM?A6>61?6ٱ6} BAHRS rotation from veh to nav: [[0.766126,-0.624567,-0.151548],[0.638363,0.766828,0.066847],[0.074461,-0.147956,0.986187]]6H`?teÿ`wm? ډ?@??8¿׎?i6>I6 a;6ݐCYFByJ ,IbDRkVDRD4yZ=%ZX=ٔZg;Q-Z>9^"?Y^"?=^dQ 5jI5f"?Q 9jI5fr)f\BYhyj$?Q Ij@fDIfK:if:fI5ypɮr5@p Q FNOT Ignoring new targets: 484.71 m.+8+8Q% ProNav: ac range: 484.710083 m, nav range: 468.712097 m, bearing: 38.605755 deg, approach rate: -0.644488 m/s, LOS rate: 0.002348 deg/s, cmd heading: 39.776303 deg, new cmd heading: 39.778969 deg. z%A8Q-HeadingCmd: 0.694274 target range: 484.710083 and range: 487.80 m.R-1?J)b)Z)B):121Ҕ1ڔ1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2663739ڒI’IIU@-@颅Bɢ ) i?i)z߽顉iki1?f::I1?Ii>i>M9@Q @Q@U 0@Q9^A}0::checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518546i A I I O >DA zDE AAEM  EM (EM %EI "EM 8;*EM ;VEM 4ZEI aU @aU @aU @aU @ Y,hM?A 2>21?2dٱ23 :AHRS rotation from veh to nav: [[0.766143,-0.624809,-0.150462],[0.638525,0.766595,0.067959],[0.072881,-0.148140,0.986277]]2H=?@pSBÿ`n??`e? \?A¿`?i2>I2b;2ߐCY`y`j=j=bDnvVDn)Y4yv%vG=ٔz6|;Q-z>9xYx=zQ 5 I5"?Q 9 I5n)]BYy$?Q I@DI:i:sI5y-6Bɮ-b@5eEGSB*** querying acoustic contact ***:BBK>BBV,IBBBBBBS;BE9Q=FNOT Ignoring new targets: 484.71 m.E@8E@8QU ProNav: ac range: 484.710083 m, nav range: 468.446930 m, bearing: 38.606718 deg, approach rate: -0.557546 m/s, LOS rate: 0.002025 deg/s, cmd heading: 39.778967 deg, new cmd heading: 39.781857 deg. zU8Q]HeadingCmd: 0.694324 target range: 484.710083 and range: 487.80 m.R]>1?JYbYZYBa:a2aҔaڔaiiڒi’ `.@ Bɢ<) ?i)Ϭܽiyi>1?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770437%ﯞ:U):IU>1?IY@ @@0@ԙ ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022275A1 IA IQ O] >`,݂M?AHN>N1?NٱNR VAHRS rotation from veh to nav: [[0.766428,-0.624908,-0.148588],[0.638427,0.766573,0.069116],[0.070713,-0.147835,0.986481]]NH ??ÿm?ć?? ;? B¿`@?iN>INCc;LY^Byb,IE~ E~E~&E|"E~I@;*E~:VE~4ZE|BE~OO9Y=Q 5I5Ь"?Q 9I5j)]BY?Q E:y?Q I@DI ;i ;+I5yɮ@QFNOT Ignoring new targets: 484.71 m.mF8mF8Q} ProNav: ac range: 484.710083 m, nav range: 468.183105 m, bearing: 38.608677 deg, approach rate: -0.729041 m/s, LOS rate: 0.005417 deg/s, cmd heading: 39.781856 deg, new cmd heading: 39.787737 deg. z}m9QHeadingCmd: 0.694427 target range: 484.710083 and range: 487.80 m.R1?JbZB:2ҔڔBڒ’`u/@Bɢg)! -g?i))-}ڽ))i-i51?5s:5Y:I51?I99@9 @9@=0@9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274142mPExceeded connect timeout, disconnecting.^A% ] ; Aq Iy I O >f,ƣM?A>>>1?>H+ٱ>7 FAHRS rotation from veh to nav: [[0.766718,-0.624845,-0.147349],[0.638331,0.766454,0.071293],[0.068389,-0.148719,0.986512]]>H ?Q¿ 4m? ʆ?@J@?聱?: ÿ`?i>>I>ud;>ސCY^Byb,IbDjvVDj)Y4yr%rW=ٔr;Q-r>9tYt=v||Q 5I5~"?Q 9I5~g)~3]BY y ?Q I @~DI~*;i~+;~~I5y9Bɮ+@9QEFNOT Ignoring new targets: 484.71 m.E8E8QU ProNav: ac range: 484.710083 m, nav range: 467.947510 m, bearing: 38.610435 deg, approach rate: -0.618193 m/s, LOS rate: 0.004616 deg/s, cmd heading: 39.787737 deg, new cmd heading: 39.793014 deg. zUJ9Q]HeadingCmd: 0.694519 target range: 484.710083 and range: 487.80 m.R]1?JYbaZaBa:a2aҔiڔiiڒi’iqu40@颥Bɢ5պ) ?i)epؽ顩ii1?ᩞ:r}:I1?IBDAT read: Rx Time:21:23:01.1370 TRx dataTimestamp_ set to:1761513782.537461checking for new query: numPingsReceived=0, elapsed TxPingTime=3.52834259@1 @1@52@1@9@==E EEE"Ey>;*E:VEZEa@a@a@a@)^Aq:YBJ>BBc,IB'BBBBMDBZS;BeEIa I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778205ԁ Ql,M?A2>21?2xٱ2.h :AHRS rotation from veh to nav: [[0.766866,-0.624960,-0.146089],[0.638344,0.766321,0.072588],[0.066586,-0.148920,0.986605]]2H*? ¿Pm?`?@'? ?ÿ D?i2>I2Ge;2ߐCY^Byb',IIb=)bp;ddaiuMb@Mb@Mb@qqqq q9uGz?{Gz rh?Yup?yuףuC9YYY=eQ 5I5z"?Q 9I5b)V]BY?Q E:y?Q I@DIj:i:I5y;BɮM@fE9Q=FNOT Ignoring new targets: 484.71 m.EB 9EB 9ԉQ ProNav: ac range: 484.710083 m, nav range: 467.647644 m, bearing: 38.614278 deg, approach rate: -0.597594 m/s, LOS rate: 0.007664 deg/s, cmd heading: 39.793013 deg, new cmd heading: 39.804550 deg. zO9QHeadingCmd: 0.694720 target range: 484.710083 and range: 487.80 m.R31?JbZB:2Ҕڔ݇Bڒ ’   ݜ0@UBɢUT2)Y ]?iY)]_սYii31?:DF:I31?I DAT read: 21:23:01.1370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 230, 0.01,-0.402,-1.936,-0.193,-0.831, PHS= 0.531,-1.060, 0.594, RAW= 151.9, -0.8, CAL= 150.9, -1.7, ROT= 359.1, 1.7 Ygot valid direction response: 21:23:01.1370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 230, 0.01,-0.402,-1.936,-0.193,-0.831, PHS= 0.531,-1.060, 0.594, RAW= 151.9, -0.8, CAL= 150.9, -1.7, ROT= 359.1, 1.7 PDAT read: Bearing 183.6, 3.2 (Local) %~Local bearing/azimuth received: Bearing 183.6, 3.2 (Local) -DAT read: Range 11 to 50 : 477.7 m (Round-trip 637.0 ms) speed 0.4 m/s 5*DAT read: user:190> BDAT read: Tx time:21:23:02.2458 $Ping request sent.t,FDM?A(}>e1?=ٱl. %AHRS rotation from veh to nav: [[0.767298,-0.624712,-0.144874],[0.638048,0.766373,0.074615],[0.064415,-0.149688,0.986633]]H?8¿j?!??z}?@(ÿ~?i}>I/qf;CY5By5;,IbDEkVDED4yUD=%]U=ٔ]|;Q-]>9YYa=eQ 5I5F"?Q 9I5y_)q]BYy?Q I@ DI:i:I5yɮG@JRM?ASCSCxw,?T=0}@dze_+),:[b? `<—`1K+w@k S~r@a?>1@?Q]a=?7x-?jCrXCZ蜊?b]zBꗥD뛊?̥*BڗcC◥n,?Q addTargetRange:: Added new target pos. range: 477.700012 m, deltaT: 16.638415 s, deltaX: -10.099976 m, approachRate: -0.607028 m/s, rangeRepo size: 4 Q Added new target pos. range: 474.654175 m, bearing: 38.600048 deg, lat: 36.779310 deg, lon: -121.859008 deg, deltaT: 16.638415 s, deltaX: -10.055908 m, approachRate: -0.604379 m/s, posRepo size: 4 QFNOT Ignoring new targets: 474.65 m.Q ProNav: ac range: 474.654175 m, nav range: 470.777924 m, bearing: 38.644604 deg, approach rate: 0.000000 m/s, LOS rate: 0.007664 deg/s, cmd heading: 39.804550 deg, new cmd heading: 39.813613 deg. zQHeadingCmd: 0.694879 target range: 474.654175 and range: 477.70 m.R1?JbZB : 2 Ҕ ڔڒ’@3}@ ?ԁ颅#Bɢv) ?i)~ӽ顑ii1?F:.9I1?I=9@9 @9@=o0@9ԱE EE%E"EI@;*E:VE 4ZEa@a@a@a@^A} q:I I O >pz,M?ApB=H>B=CB=v,IB=6BB=` =B9B9B=$S;B=IEep>e71?eP-wٱe uAHRS rotation from veh to nav: [[0.768406,-0.624007,-0.142015],[0.637115,0.766825,0.077869],[0.060309,-0.150315,0.986797]]eH Ȗ?-¿@>c?Չ?@?@?=ÿ ד?iep>Ieg;eߐCYyi=Mb@Mb@Mb@9999 99=ףp= ?MbX9/$?Y=?y=ʡ=<=I@=@ =@)=K@9Y= @bDejVDeC4ٔ 9Y= )Q 55I5-"?Q 95I5-([)-]BY5 ?Q E5:y5E?Q I=@-DI-:i-:-bI5yE>BɮEp@AGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 474.65 m.P9P9Q ProNav: ac range: 474.654175 m, nav range: 470.476257 m, bearing: 38.648406 deg, approach rate: -0.638245 m/s, LOS rate: 0.008049 deg/s, cmd heading: 39.813613 deg, new cmd heading: 39.825027 deg. zư9Q HeadingCmd: 0.695078 target range: 474.654175 and range: 477.70 m.R 1?J b Z B:2ҔڔއBڒ’E ֩?)Bɢ"() i?i)*Dнi bi1?}W:}I1?II)iA99@ @@0@a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E  E E &E "E ,K;*E :VE 4ZE BE I,UN?AXY ByZ,IbD-tVD-{U4y=v=%=<ٔ=Q-=?9AYA=EI5ye=Bɮmб@iQFNOT Ignoring new targets: 474.65 m.99Q ProNav: ac range: 474.654175 m, nav range: 470.273895 m, bearing: 38.650960 deg, approach rate: -0.634969 m/s, LOS rate: 0.008016 deg/s, cmd heading: 39.825026 deg, new cmd heading: 39.832690 deg. z 9QHeadingCmd: 0.695212 target range: 474.654175 and range: 477.70 m.Rc1?JbZB:2Ҕ ڔ  ڒ ’`?=-Bɢ=><)A E?iA)E:νAIiMiMc1?Uy :UUIUc1?IQ9@ @@5@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.232852^AE eI I O >9 ,!N?A2>2X.1?2Dnٱ2 :AHRS rotation from veh to nav: [[0.768589,-0.624150,-0.140381],[0.637080,0.766735,0.079032],[0.058307,-0.150178,0.986938]]2H`H? b?`?@w;?@rڭ?9ÿ`?i2>I2)g;2CYB'ByFb,Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.483359bDNkVDND4y g=% N=ٔ ;Q- >9Y=!Q 5-I5%#?Q 9-I5%T)%]BY1y5=?Q I5@%$DI%:i%_:%I5y=@Bɮ=@EgEaQmFNOT Ignoring new targets: 474.65 m.m9m9Q ProNav: ac range: 474.654175 m, nav range: 470.028046 m, bearing: 38.654068 deg, approach rate: -0.618040 m/s, LOS rate: 0.007819 deg/s, cmd heading: 39.832690 deg, new cmd heading: 39.842021 deg. z9QHeadingCmd: 0.695374 target range: 474.654175 and range: 477.70 m.R2?JbZB:2Ҕڔڒ’Ů?2BɢV<) )?i) ̽i$i2?n:پI2?IE EE$E"EI@;*EA:VE4ZEa%@a%@a-@a-@9@ @@4@IBE>BB,IBKBBa =BBB3S;BNEByByByByB}` =C}ơ85y^A?Bɺ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736273IIO>m TG SkA ԩ 9 SkAY ԨAN7,Z;N?A2>21?2fٱ2X* :AHRS rotation from veh to nav: [[0.768849,-0.624109,-0.139134],[0.636949,0.766664,0.080755],[0.056269,-0.150710,0.986975]]2Hi?(a?`?b?QϬ?zJÿ@M?i2>I2Eh;2ސCYN/ByRm,Ii-Mb@Mb@Mb@)))) )9-x&?lMb?Y-7)?y--<)) -Q@)-5@)Y-@bDAVDAyM&=%UF=ٔU;Q-U>9YYY=]Q 5I5,#?Q 9I5P)]BYR*?Q E :y ?Q I @-DI:i:}I5yɮ@YQ]FNOT Ignoring new targets: 474.65 m.ev9ev9Q ProNav: ac range: 474.654175 m, nav range: 469.743408 m, bearing: 38.657196 deg, approach rate: -0.653363 m/s, LOS rate: 0.007183 deg/s, cmd heading: 39.842020 deg, new cmd heading: 39.851408 deg. z9QHeadingCmd: 0.695538 target range: 474.654175 and range: 477.70 m.R2?JbZB:2ҔڔBڒ’@?7Bɢ%9)! %?i!)%Zɽ))i-i52?5>:5-I52?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988440ԡ9@ @@4@E5 E5E5&E1"E5M;*E5g:VE54ZE1BE5A? A I) IA Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2403964,sUN?A2@K>2.0?21y]ٱ2oW :AHRS rotation from veh to nav: [[0.769261,-0.623962,-0.137507],[0.636644,0.766747,0.082359],[0.054044,-0.150899,0.987071]]2H ʝ?``ՙ d_?0?y?@?Pÿ?i2@K>I2 i;2ܐCYB6ByBu,IbDNjVDNC4yRK=%VS=ٔV";Q-V>9XYX=Z`Q 5fI5b=#?Q 9fI5b M)b]BYdyf?Q Ij@b5DIb3;ib;bI5yn#BɮnӮ@n^E|QFNOT Ignoring new targets: 474.65 m.9 9QE ProNav: ac range: 474.654175 m, nav range: 469.499817 m, bearing: 38.659890 deg, approach rate: -0.667136 m/s, LOS rate: 0.007382 deg/s, cmd heading: 39.851408 deg, new cmd heading: 39.859494 deg. zE9QMHeadingCmd: 0.695679 target range: 474.654175 and range: 477.70 m.RM 2?JIbQZQBQ:Q2QҔYڔYYڒY’Yae6@ԩM`[,joN?ABC>BB,IBdBBBBBRS;B\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.74403819;>*0?MXLٱN; AHRS rotation from veh to nav: [[0.769507,-0.624369,-0.134249],[0.636689,0.766430,0.084925],[0.049868,-0.150826,0.987302]]H`̟?/@_?`?@?@S?@Nÿ?i9;>I'j;ސCYEBy,IiuMb@Mb@Mb@qqqq q9uw/?i|?5:v?Yu&?yuqu9Y=Q 5I5T#?Q 9I5)H)^BY'?Q E:y?Q I@?DIr%?,ÝN?A:aR>:0?:Cٱ:X FAHRS rotation from veh to nav: [[0.769474,-0.624865,-0.132111],[0.636891,0.766190,0.085575],[0.047749,-0.149988,0.987534]]:H?ha??A?`r?2ÿ ?i:aR>I:j;8HYNSByN,IbDVaVDV24y^'=%bZ=ٔb;Q-b>9dYd=fhQ 5nI5jje#?Q 9rI5j~D)j7^BYpyr?Q Ir@jGDIjd:ij[:jZI5ytɮv)@xQFNOT Ignoring new targets: 474.65 m.88Q- ProNav: ac range: 474.654175 m, nav range: 468.931152 m, bearing: 38.664555 deg, approach rate: -0.673090 m/s, LOS rate: 0.005522 deg/s, cmd heading: 39.867503 deg, new cmd heading: 39.873500 deg. z-r9Q5HeadingCmd: 0.695924 target range: 474.654175 and range: 477.70 m.R=(2?J9b9Z9B9:929ҔAڔAAڒA’IIM`A @uFBɢ}د<)y }N?iy)}yiûi(2?:2@ I(2?I-9@) @)@-0@1@=hA@9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.252656^Am?BɺAqzAqA I I O >  BDAT read: Rx Time:21:23:05.2708  TRx dataTimestamp_ set to:1761513786.572645 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504497E5  E5 E5 #E1 "E5 G;*E5 :VE5 3ZE1 a= @a= @a= @a= @d,8fN?An>n21?nݺ;ٱn zAHRS rotation from veh to nav: [[0.769045,-0.625774,-0.130291],[0.637550,0.765573,0.086183],[0.045816,-0.149346,0.987723]]nH?Xaf?@??@Au?ÿ@m?in>Inak;l|Y%^By%,I ))-=-=bD]qVD]O4ymX=%m@=ٔmS;Q-m>9qYq=uQ 5I5x#?Q 9I5T@)S^BYy?Q I@PDI:i:I5y(Bɮ@_EQFNOT Ignoring new targets: 474.65 m.8 8Q= ProNav: ac range: 474.654175 m, nav range: 468.654907 m, bearing: 38.666797 deg, approach rate: -0.638375 m/s, LOS rate: 0.005183 deg/s, cmd heading: 39.873500 deg, new cmd heading: 39.880229 deg. z=c9QEHeadingCmd: 0.696041 target range: 474.654175 and range: 477.70 m.RE/2?JAbAZABA:A2IҔIڔIIڒI’qq}R; @KBɢv <) ?i)&i ɻiU/2?Uŗ:UIIU/2?IYBIBIBM,IBMxBBIBIBIBMuS;BMmEi9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759104ԑ^A- "5 AY Ia Iq O >nO,'MN?Aԙ>cB1?DAT read: 21:23:05.2708 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 273, 0.23, 0.148,-1.373, 0.464, 0.138, PHS= 0.112,-1.467, 0.282, RAW= 155.0, 12.8, CAL= 155.3, 14.4, ROT= 354.7, -14.4 UYgot valid direction response: 21:23:05.2708 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 273, 0.23, 0.148,-1.373, 0.464, 0.138, PHS= 0.112,-1.467, 0.282, RAW= 155.0, 12.8, CAL= 155.3, 14.4, ROT= 354.7, -14.4 ]PDAT read: Bearing 199.2, -4.8 (Local) ]~Local bearing/azimuth received: Bearing 199.2, -4.8 (Local) eDAT read: Range 11 to 50 : 465.6 m (Round-trip 620.8 ms) speed 0.4 m/s m*DAT read: user:191> uBDAT read: Tx time:21:23:06.3958 u$Ping request sent.u3ٱO AHRS rotation from veh to nav: [[0.768967,-0.626111,-0.129130],[0.637790,0.765173,0.087940],[0.043746,-0.149981,0.987721]]H`? `Sh?M|???e?@2ÿ@h?i>Imk;ߐC )RIB`=iƻNb>"-@d>x-@ >)@Ifaa?Ez?;6X? ?)ԪdIqi:publishing transmit ping timeqFpublishing direction and range infoy8ڵ?rti綿l?Y )Ii )Ifaa?Ez?;6X? )IiY`By,IE EE$E"EL;*E:VE4ZEBEڡ9Y=Q 5I5#?Q 9I5;)q^BY%?Q E:y?Q I@[DI:i:I5y+Bɮ@`EJRPN?AOCOCH#?DŽ{@q6D0\@8ڵ?rti綿l?q—+5=l"v@ڊ_1pp@zka@ 4?.= V1?孇7G?jCrCZ>$?bv5zQCꗹfڗqC◽{+?Q addTargetRange:: Added new target pos. range: 465.600006 m, deltaT: 4.034100 s, deltaX: -12.100006 m, approachRate: -2.999431 m/s, rangeRepo size: 4 Q Added new target pos. range: 462.623840 m, bearing: 36.599569 deg, lat: 36.779310 deg, lon: -121.859033 deg, deltaT: 4.034100 s, deltaX: -12.030334 m, approachRate: -2.982161 m/s, posRepo size: 4 QFNOT Ignoring new targets: 462.62 m.Q ProNav: ac range: 462.623840 m, nav range: 466.888031 m, bearing: 38.451436 deg, approach rate: 0.000000 m/s, LOS rate: 0.005183 deg/s, cmd heading: 39.880228 deg, new cmd heading: 39.888867 deg. zQHeadingCmd: 0.696192 target range: 462.623840 and range: 465.60 m.R92?JbZB:2Ҕ!ڔ% B!ڒ!’!-}@-4?颵QBɢ5) ?i)z项i?лi92?:I92?II)hAe 9@a  @i @m 5@i  ^AM هAA}.AIIO?&!,N?A2>2^1?2+ٱ2g :AHRS rotation from veh to nav: [[0.768750,-0.626514,-0.128467],[0.638173,0.764633,0.089840],[0.041945,-0.151049,0.987636]]2H?`g q@k?w?@?@y?Uÿක?i2>I2 zk;2ݐCYZeByZ,IbDrnVDrpJ4yz<%za=ٔz;Q-z>9~ ?Y~ ?=~ Q 5 I5 #?Q 9I5 7) ^BYy?Q I@ bDI ;i ; I5y!ɮ%W@!AQMFNOT Ignoring new targets: 462.62 m.U8U8Qe ProNav: ac range: 462.623840 m, nav range: 466.658112 m, bearing: 38.453096 deg, approach rate: -0.680183 m/s, LOS rate: 0.004915 deg/s, cmd heading: 39.888868 deg, new cmd heading: 39.893853 deg. zeW9QmHeadingCmd: 0.696279 target range: 462.623840 and range: 465.60 m.RmY?2?JibiZiBi:q2qҔqڔqyڒy’yy}(?颵TBɢ<) ??i)r项iS?ֻiY?2?:#˺IY?2?IE  EEE"EF;*E:VEZEa@a@a@a@M9@I @I@M0@IBBB,IBBBBIDBB_S;BbE^ANJκ1A I I O >Q G,N?A2U>2\1?2L$ٱ2 :AHRS rotation from veh to nav: [[0.768471,-0.627191,-0.126817],[0.638626,0.764168,0.090575],[0.040101,-0.150593,0.987782]]2H`Q?@;o?@t?`/? (?Fÿ`?i2U>I2"k;2ސCYBvByB,IiUMb@Mb@Mb@QQQQ Q9Ux&?{GzQ?YU7)?yU#Uu9Y=Q 5I5W#?Q 9I5:3)^BY)?Q E:y #?Q I@kDI;ij;I5y-Bɮx@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 462.62 m. K8 K8Q ProNav: ac range: 462.623840 m, nav range: 466.380219 m, bearing: 38.454266 deg, approach rate: -0.658898 m/s, LOS rate: 0.002775 deg/s, cmd heading: 39.893854 deg, new cmd heading: 39.897365 deg. z8QHeadingCmd: 0.696340 target range: 462.623840 and range: 465.60 m.R]C2?JbZB:2Ҕڔ$B ڒ ’  0?1EYBɢEZ<)A EI?iA)MöIIiMܻiU]C2?U}q:UڴIU]C2?IY@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aE EE%E"E1A;*E:VE 4ZEBEԹ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2395813,O?A6>6Z1?6hٱ6" VAHRS rotation from veh to nav: [[0.767859,-0.628275,-0.125152],[0.639466,0.763425,0.090922],[0.038420,-0.149846,0.987963]]6HM?`v?`m?F?ӫ?#.ÿc?i6>I6)k;4YfwByf,IbDnfVDn;4yvg<%zS=ٔzh;Q-z>9|Y|=~Q 5I5#?Q 9I58/)^BYyP#?Q I@sDI; ;i ;I5y%Bɮ%j@%VEAQMFNOT Ignoring new targets: 462.62 m.M,F8U,F8Q] ProNav: ac range: 462.623840 m, nav range: 466.124603 m, bearing: 38.455311 deg, approach rate: -0.661766 m/s, LOS rate: 0.002707 deg/s, cmd heading: 39.897365 deg, new cmd heading: 39.900502 deg. ze8QeHeadingCmd: 0.696395 target range: 462.623840 and range: 465.60 m.ReF2?JibiZiBi:i2qҔqڔqqڒy’yy}?颥]Bɢظ<) ?i)N顱idiF2? :$IF2?Iml>im>ԉ9@ @@0@@iA@eAԱiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491937^A%qD=DR=E EME$E"E;;*E%;VE4ZEa@a@a@a@I I O- > zX,B/O?ABFB>BDBF,IBFBBDBDBDBF%S;BFEEYtBy,IbDkVDD4y5%5G=ٔEQ-M>9IYI=UYQ 5eJ5])#?Q 9eJ5]*)]^BYiyiQ Im@]|DI]:i]:]J5yuBɮuɩ@}WEQFNOT Ignoring new targets: 462.62 m.A8 A8QM ProNav: ac range: 462.623840 m, nav range: 465.851379 m, bearing: 38.456429 deg, approach rate: -0.646414 m/s, LOS rate: 0.002647 deg/s, cmd heading: 39.900503 deg, new cmd heading: 39.903860 deg. z85checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746210QuHeadingCmd: 0.696454 target range: 462.623840 and range: 465.60 m.RuJ2?JqbyZyB:2Ҕڔڒ’Ȟ?aBɢ><) ?iI)MIIIiMiUJ2?Uƅ:UIUJ2?IY9@9 @A@E0@AI ^Ae q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995631I I O >E  E E &E "E P;*E :VE 4ZE BE 2J2?2ٱ2lB >AHRS rotation from veh to nav: [[0.766647,-0.630308,-0.122327],[0.641105,0.761909,0.092080],[0.035163,-0.149017,0.988209]]2H_?|+P?@a?? ?ÿi?i2>I2j;2ܐCYFByF,I HHi%Mb@Mb@Mb@!!!! !9%K7A`?I +Mbp?Y%+?y%94%;%@%&@ %@)%5@!Y%@bDpVDN4y7t=%B=ٔ;Q->9Y=Q 5J5%#?Q 9J5&)^BYa+?Q E:y!?Q I@DI;iN;CJ5yɮ@ Q FNOT Ignoring new targets: 462.62 m.o8o8Q% ProNav: ac range: 462.623840 m, nav range: 465.572327 m, bearing: 38.457769 deg, approach rate: -0.682411 m/s, LOS rate: 0.003278 deg/s, cmd heading: 39.903861 deg, new cmd heading: 39.907882 deg. z%9Q-HeadingCmd: 0.696524 target range: 462.623840 and range: 465.60 m.R-eO2?J)b)Z)B):121Ҕ1ڔ=B9ڒ9’99E(@meBɢm,x<)i m?iq)u3 qqiu'i}eO2?}:}Dѫ:IeO2?IQ-9@) @)@-0@)%>!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248455y^AMIIO>ԩ lj,MLcO?A6>6^2?62 ٱ6a >AHRS rotation from veh to nav: [[0.766498,-0.630714,-0.121161],[0.641373,0.761548,0.093196],[0.033490,-0.149144,0.988248]]@6H'? .a@ ?^? ۷?%?#ÿ?i6>I6j;6ސCYJByJ,IbDVtVDV{U4y^v<%^[=ٔ^K;Q-b>9`Y`=b=FybEfS:Ef>hQ 5nJ5j#?Q 9nJ5j")j^BYtyv!?Q Iv@jDIj8r;ij4s;j J5yzBɮ~@~XEQ%FNOT Ignoring new targets: 462.62 m.%^h8%^h8Q5 ProNav: ac range: 462.623840 m, nav range: 465.323547 m, bearing: 38.458955 deg, approach rate: -0.665287 m/s, LOS rate: 0.003174 deg/s, cmd heading: 39.907883 deg, new cmd heading: 39.911444 deg. z5l 9Q=HeadingCmd: 0.696586 target range: 462.623840 and range: 465.60 m.RExS2?JAbAZABA:A2AҔIڔIIڒI’QQU g%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499791颍iBɢ@<)  ?i)媬顑i'$ixS2?:IxS2?IDzD@AE EEE"E8;*E:VEZEa@a@a@a@9@ @@0@ԱBBB,IBBBBBBS;B4EB]ƳCB]ƳCBYB]a =B]a =C]4^A}rg:IIAOu>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753463 C ؀G   = d9A YE ӥA,R'}O?A2sX>2Ƃ2?2Rٱ2t :AHRS rotation from veh to nav: [[0.766180,-0.631290,-0.120172],[0.641826,0.761055,0.094095],[0.032056,-0.149223,0.988284]]2H`?3@þ`׉?`Z?@?i?ÿ`?i2sX>I2=i;2ߐCYBByB,Iti%Mb@Mb@Mb@!!!! !9%MbX?Zd;OMbp?Y%*?y%j9Y==FyE:E>Q 5J5$?Q 9J5:)^BY)+?Q E:yJ!?Q I@DI;i;Q J5yɮ@GSB*** querying acoustic contact ***:BQ FNOT Ignoring new targets: 462.62 m. y8 y8Q% ProNav: ac range: 462.623840 m, nav range: 465.033356 m, bearing: 38.460430 deg, approach rate: -0.669172 m/s, LOS rate: 0.003403 deg/s, cmd heading: 39.911445 deg, new cmd heading: 39.915873 deg. z%x9Q%HeadingCmd: 0.696663 target range: 462.623840 and range: 465.60 m.R-X2?J)b)Z)B):)2)Ҕ1ڔ= B9ڒ9’9AE#@mmBɢm<)i uI?iq)u婽qqi}/Ai}X2?}:o:IX2?I 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004624E  EE#E"EF;*E:VE3ZEBE^a = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255687|,O?A2 |>22?2;ٱ2: :AHRS rotation from veh to nav: [[0.766042,-0.631651,-0.119149],[0.642065,0.760717,0.095194],[0.030510,-0.149424,0.988302]]2Hk?@{6@̋?W?^?=?Q ÿ,?i2 |>I28h;0YjByj,IIn,>)n<bDznVDzpJ4y%U=ٔ D;Q- >9 Y==FyE9:E>Q 5%J5A $?Q 9%J5B)^BY)y-\!?Q I-@DI:i:J5y5Bɮ5ߨ@99aQeFNOT Ignoring new targets: 462.62 m.mw8mw8Q} ProNav: ac range: 462.623840 m, nav range: 464.777740 m, bearing: 38.461722 deg, approach rate: -0.667406 m/s, LOS rate: 0.003374 deg/s, cmd heading: 39.915871 deg, new cmd heading: 39.919749 deg. z}69QHeadingCmd: 0.696731 target range: 462.623840 and range: 465.60 m.R\2?JbZB:2Ҕڔڒ’ @pBɢ<) ?i)yii\2?ܔ:XQ:I\2?I9@ @@O0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508032ԡ^ANJ:E EE"E"E*Eg:VE(3ZEa@a@a@a@A% ؟AI1 IA OU > ,ݰO?ABBB-IBBBBBBBB>BZ2?B{XٱBk JAHRS rotation from veh to nav: [[0.765675,-0.632313,-0.117988],[0.642569,0.760209,0.095846],[0.029091,-0.149202,0.988379]]BH@i?;n4@?S?@U?ɝ? ÿ̠?iB>IBf;BސCYRByR,IbD^fVD^;4yf%fN=ٔfj;Q-f>9j"?Yj"?=j=FynE}:E>ԙQ 5J5k3$?Q 9J5)_BYy!?Q I@DI;i8;YJ5yBɮ%@%YEBDAT read: Rx Time:21:23:09.4170 TRx dataTimestamp_ set to:1761513790.8644105checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766169iQFNOT Ignoring new targets: 462.62 m.\Z8\Z8Q ProNav: ac range: 462.623840 m, nav range: 464.496368 m, bearing: 38.463124 deg, approach rate: -0.598305 m/s, LOS rate: 0.002983 deg/s, cmd heading: 39.919748 deg, new cmd heading: 39.923956 deg. z9QHeadingCmd: 0.696804 target range: 462.623840 and range: 465.60 m.Ra2?JbZB!:!2!Ҕiڔiiڒi’iquڨ@uBɢq<) ?i)$@ivia2?>:1P;Ia2?I=9@9 @9@=0@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011629! ^A} #2:bEE4jEEm4rEE8/E  E E %E "E <;*E :VE 4ZE BE ,дO?A> >>2?>'ٱ> JAHRS rotation from veh to nav: [[0.765416,-0.632780,-0.117167],[0.642933,0.759796,0.096677],[0.027847,-0.149328,0.988395]]>HI~?@??@P?Կ?@?2ÿ?i> >I>#f;>ݐCYRByR,Ii-Mb@Mb@Mb@)))) )9-E?MbI +?Y-&?y-@-94<-@-@ -@)-@)Y-G@bDElVDEF4yc%$=ٔ#;Q->9 ?Y ?==FyEt:E>Q 5J5mH$?Q 9J5)_BY'?Q E:y;!?Q I @DIg;i;{J5y!ɮ%T@!aQmFNOT Ignoring new targets: 462.62 m.uɅ8uɅ8Q ProNav: ac range: 462.623840 m, nav range: 464.188110 m, bearing: 38.464705 deg, approach rate: -0.712236 m/s, LOS rate: 0.003655 deg/s, cmd heading: 39.923955 deg, new cmd heading: 39.928701 deg. z 9QHeadingCmd: 0.696887 target range: 462.623840 and range: 465.60 m.R5g2?JbZB:2ҔڔBڒ’'@9MDAT read: 21:23:09.4170 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411,-0.31, 3.052, 1.597,-3.033, 2.811, PHS= 0.343,-1.169, 0.396, RAW= 151.7, 5.7, CAL= 150.9, 5.8, ROT= 359.1, -5.8 ]Ygot valid direction response: 21:23:09.4170 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411,-0.31, 3.052, 1.597,-3.033, 2.811, PHS= 0.343,-1.169, 0.396, RAW= 151.7, 5.7, CAL= 150.9, 5.8, ROT= 359.1, -5.8 ePDAT read: Bearing 192.1, -0.4 (Local) e~Local bearing/azimuth received: Bearing 192.1, -0.4 (Local) mDAT read: Range 11 to 50 : 462.7 m (Round-trip 617.0 ms) speed 0.4 m/s u*DAT read: user:192> }BDAT read: Tx time:21:23:10.5458 }$Ping request sent.}iˡ>Us)@%=(@ 4Q=)-@I4QϽ|wn??Q?Pu)? . ?)lɽIi4QϽ:publishing transmit ping timeyFpublishing direction and range infoyC?oκt+hg޹?Y )IyBɢP<) ?i)iui%5g2?%ʩ:-);I-5g2?I)i )I|wn??Q?Pu)? )Iiq9@ @@ 0@ԑ ^A ] ;i I A ؟AE  E E E "E :;*E :VE ZE a @a @a @a @I I O- >|,KO?AJ >J2?JxrټٱJƴ VAHRS rotation from veh to nav: [[0.765344,-0.633028,-0.116291],[0.643074,0.759558,0.097609],[0.026541,-0.149488,0.988407]]JH}?A>Ž?MN??}-?k"ÿ@?iJ >IJK e;HY^By^,I ``b=ba=bDfkVDfD4yn_i=%nK=ٔrXU;Q-r>9r"?Yv"?=v=FyvEv9Ev>xQ 5~J5z;Z$?Q 9~J5z )z!_BYyF!?Q I@zDIzW:izN:zJ5yBɮئ@OEJyR}nLO?A}C}C}82?} TP|@K<FL:G@}C?oκt+hg޹?}}4QϽ—}vsu@Rr@:E M@} HM?o h?ȝ̲v?j}Cr}CZ}QYI?b}C'z}iC}9?}̥*}^Bڗ}C}6-?Q  addTargetRange:: Added new target pos. range: 462.700012 m, deltaT: 4.287788 s, deltaX: -2.899994 m, approachRate: -0.676338 m/s, rangeRepo size: 4 Q% Added new target pos. range: 459.742096 m, bearing: 40.018761 deg, lat: 36.779287 deg, lon: -121.859008 deg, deltaT: 4.287788 s, deltaX: -2.881744 m, approachRate: -0.672082 m/s, posRepo size: 4 !QMFNOT Ignoring new targets: 459.74 m.UQQe ProNav: ac range: 459.742096 m, nav range: 463.405304 m, bearing: 38.877840 deg, approach rate: 0.000000 m/s, LOS rate: 0.003655 deg/s, cmd heading: 39.928702 deg, new cmd heading: 39.933112 deg. zaQHeadingCmd: 0.696964 target range: 459.742096 and range: 462.70 m.R@l2?JbZB:2Ҕڔڒ’@3|@`6s? |Bɢ <) ?i)il i@l2?:%+;I%@l2?I!BiBiBiBiBiBiBiBmS;Bm@E9@ @@0@^A"5;! A .AI I O >,MP?A: :>:2?:ͼٱ:  FAHRS rotation from veh to nav: [[0.765225,-0.633345,-0.115345],[0.643272,0.759263,0.098594],[0.025133,-0.149645,0.988420]]:H|? \D`E?`K?y=??@'ÿ#?i: :>I:qd;:ߐCYJByJ,IiMb@Mb@Mb@ 9S㥛?/$I +?Y$?y,@ @)@Y@bD5gVD5=4yEy%ED=ٔM];Q-M>9M ?YU ?=U=FyU EU:EU>YQ 5eJ5]el$?Q 9mJ5])]/_BYm<%?Q Em:ym#?Q Im@]DI]:i]:]J5yqɮ}@yGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 459.74 m.Ew8Ew8T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q ProNav: ac range: 459.742096 m, nav range: 463.137390 m, bearing: 38.879215 deg, approach rate: -0.657832 m/s, LOS rate: 0.003378 deg/s, cmd heading: 39.933111 deg, new cmd heading: 39.937238 deg. z]9QHeadingCmd: 0.697036 target range: 459.742096 and range: 462.70 m.Rp2?JbZB:2ҔڔBڒ’qu ?颽BɢĮ<) ?i)iW ip2?E EE#E"E3;*E :VE3ZEBEA>u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995907ԩ A= ؟AII IY Oe >D",P?A2Fy>223?2üٱ2 :AHRS rotation from veh to nav: [[0.764938,-0.633871,-0.114355],[0.643660,0.758858,0.099179],[0.023912,-0.149471,0.988477]]2H _z?HVFܘ?@H?c?`e|?`!ÿ@?i2Fy>I2c;0@YBByF,IbDN`VDN04yV%=%VU=ٔVtP;Q-Z>9Z"?YZ"?=Z=FyZ E^:E^>Q 5%J5}$?Q 9%J5)<_BY!y%9#?Q I%@DI;iw;#J5y5Bɮ5@5PEQQ]FNOT Ignoring new targets: 459.74 m.]-p8e-p8Qm ProNav: ac range: 459.742096 m, nav range: 462.883057 m, bearing: 38.880507 deg, approach rate: -0.645741 m/s, LOS rate: 0.003281 deg/s, cmd heading: 39.937236 deg, new cmd heading: 39.941113 deg. zu9QuHeadingCmd: 0.697104 target range: 459.742096 and range: 462.70 m.R}gu2?JybyZyBy:y2Ҕڔڒ’u?颽Bɢ4=) ?i)@iQGigu2?:2M;Igu2?Im9@q @q@u5@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247924E E"E&E"EL;*E;VE4ZEa@a@a@a@^A"5;B} A>B} CB} -IB} BBy By By B} S;B} =E A! I1 IQ O >O ,7P?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501995lcq>?3?`ٱf AHRS rotation from veh to nav: [[0.765001,-0.633961,-0.113433],[0.643634,0.758743,0.100216],[0.022533,-0.149675,0.988478]]Hz?hI `?G? ŧ??`(ÿ?icq>Iɍc;ސCYBy-II=)=AimMb@Mb@Mb@iiii i9m!rh?ˡEI +?Yml'?ym'im@m@ m@)iiYm@bDiVD=A4y8=%/=ٔA;Q->9Y==Fy EEE>Q 5J5ϑ$?Q 9J50)K_BY'?Q E:y#?Q I@DI ;iP:'J5yBɮ@QEaQmFNOT Ignoring new targets: 459.74 m.}|]8}|]8Q ProNav: ac range: 459.742096 m, nav range: 462.584747 m, bearing: 38.881934 deg, approach rate: -0.631785 m/s, LOS rate: 0.003026 deg/s, cmd heading: 39.941112 deg, new cmd heading: 39.945398 deg. z9QHeadingCmd: 0.697179 target range: 459.742096 and range: 462.70 m.RNz2?JbZB:2ҔڔBڒ’0?]Bɢ]0c<)Y ]z?i)i_YiNz2?~:]A;INz2?I9@ @@o0@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751803E EEE"E;;*E>:VEZEBER,SP?A JG?>J22?JԫٱJ RAHRS rotation from veh to nav: [[0.765273,-0.633827,-0.112341],[0.643364,0.758815,0.101403],[0.020974,-0.149878,0.988482]]JH }?@OH`b¼o?6H? ? -z?//ÿ ?iJG?>IJ[c;JݐCYZByZ-IbDfmVDfH4yj7<%nX=ٔr;Q-r>9tYt=v=FyvEzۃEz>|Q 5J5~$?Q 9J5~I)~W_BYy#?Q I@~DI~Y;i~U;~`*J5yɮP@1Q=FNOT Ignoring new targets: 459.74 m.=r8Er8QM ProNav: ac range: 459.742096 m, nav range: 462.336182 m, bearing: 38.883137 deg, approach rate: -0.683177 m/s, LOS rate: 0.003307 deg/s, cmd heading: 39.945398 deg, new cmd heading: 39.949008 deg. zU=9QUHeadingCmd: 0.697242 target range: 459.742096 and range: 462.70 m.RUo~2?JYbYZYBY:Y2aҔaڔaaڒi’iim?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004038BɢUo0=)Y ]?iY)e ɔaiim`io~2?ח:&';Io~2?Iq 9@  @ @ 5@ԙ^A5yb];A1zA1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255718 AE .AII IY Om >D zD E  E E E "E L;*E g:VE ZE a @a @a @a @,ZImP?AB)>Bz2?BٱB  RAHRS rotation from veh to nav: [[0.765401,-0.633880,-0.111166],[0.643257,0.758790,0.102263],[0.019529,-0.149781,0.988526]]BH)~?H_u?H?-?b?,ÿ?iB)>IB b;BߐCY^By^-IbDjgVDj=4lyr=%vK=ٔvKl;Q-v>9z ?Yz ?=z=FyzEzչEz>YQ 5eJ5]$?Q 9eJ5] )]d_BYaye#?Q Ie@]DI]-:i]:]-J5yuBɮu@qQFNOT Ignoring new targets: 459.74 m.%i8%i8Q ProNav: ac range: 459.742096 m, nav range: 462.066345 m, bearing: 38.884449 deg, approach rate: -0.654458 m/s, LOS rate: 0.003185 deg/s, cmd heading: 39.949008 deg, new cmd heading: 39.952947 deg. z 9QHeadingCmd: 0.697311 target range: 459.742096 and range: 462.70 m.R2?JbZB:2Ҕڔڒ’J7@Bɢ%=) ?i)T4i}i 2? (: ;I 2?I BAAE<BM@>BIBM-IBMBBIBIBMLDBM%S;BMDE9@ @@4@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5101391^A] ;A% ؟AI) IA OM >a !,#P?A6@<>62?6I"ٱ6) >AHRS rotation from veh to nav: [[0.765328,-0.634105,-0.110381],[0.643380,0.758567,0.103146],[0.018326,-0.149957,0.988523]]6H}?JA?-F?`g?@Ē?1ÿ@?i6@<>I6b;6ސCYFByF-Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759961i%Mb@Mb@Mb@!!!! !9%uV? rhI +?Y%r(?y%C!%@! %x@)%5@!Y%@9bDEnVDEpJ4yUɇ<%UD=ٔU<;Q-U>9]"?Y]"?=]=Fy]EeA9Ee>iQ 5uJ5mr$?Q 9uJ5m)mn_BYu(?Q Eu:yu-?Q I}@mDIm ;imX ;m1J5yɮn@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 459.74 m.66Q ProNav: ac range: 459.742096 m, nav range: 461.799225 m, bearing: 38.884538 deg, approach rate: -0.656606 m/s, LOS rate: 0.000220 deg/s, cmd heading: 39.952949 deg, new cmd heading: 39.953217 deg. zU7QHeadingCmd: 0.697315 target range: 459.742096 and range: 462.70 m.R?2?JbZB:Eu  EuEu#Eq"EuC;*Eu:VEu3ZEqBEu',P?A2J_>233?2eٱ2f :AHRS rotation from veh to nav: [[0.765172,-0.634383,-0.109866],[0.643598,0.758224,0.104299],[0.017138,-0.150517,0.988459]]2HI|?L1 Z?^C?[?@?` Dÿt?i2J_>I2b;0YBByB!-IbDLVDLyr<%vQ=ٔvG;Q-v>9tYx=z=FyzEz3:Ez>Q 5J5T$?Q 9 J5l)x_BY y  -?Q I @DI_:i4:4J5yBɮz@HEAQEFNOT Ignoring new targets: 459.74 m.Mpg6Mpg6QU ProNav: ac range: 459.742096 m, nav range: 461.542358 m, bearing: 38.884615 deg, approach rate: -0.658419 m/s, LOS rate: 0.000198 deg/s, cmd heading: 39.953215 deg, new cmd heading: 39.953447 deg. z] 7QeHeadingCmd: 0.697319 target range: 459.742096 and range: 462.70 m.Re2?JabaZiBi:i2iҔqڔqqڒq’qy}` @ԙ颭BɢD4E=) ?i)顱ii2?:97;I2?Iu9@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263899De4=DaEm EmEm$Ei"Em9;*Em>:VEm4ZEiau@au@au@au@^A] ;B9B9B=7-IB=ԌBB9B9B9B=QS;B=YEBȲCBȲCBBBC4IQ Ia Ou > G! 1 A  BDAT read: Rx Time:21:23:13.5640  TRx dataTimestamp_ set to:1761513794.896349 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522427 9 Y A .,P?A 5>2?ٱ AHRS rotation from veh to nav: [[0.765397,-0.634330,-0.108593],[0.643366,0.758313,0.105077],[0.015694,-0.150291,0.988517]]H"~?mL̻ u?`D?`W?@ ?<ÿ?i 5>ISb;YȌBy)-IiuMb@Mb@Mb@qqqq q9uHzG?{Gzt?9Y==FyEL7E>Q 5J5$?Q 9J5.)_BYB*?Q E:y]5?Q I@DIj;i;8J5y)ɮ- @)iQuFNOT Ignoring new targets: 459.74 m.u-}-Q ProNav: ac range: 459.742096 m, nav range: 461.236237 m, bearing: 38.883483 deg, approach rate: -0.642002 m/s, LOS rate: -0.002376 deg/s, cmd heading: 39.953448 deg, new cmd heading: 39.950049 deg. zиQHeadingCmd: 0.697260 target range: 459.742096 and range: 462.70 m.R2?JbZB:2Ҕڔ$Bڒ’ % @Bɢ^=) ?i)欉im!i2?d:+%;I2?I9@ @@d4@@@jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767889AEm Em Em'Ei"Em1A;*Em:VEm'4ZEiBEmjz5,'P?ANp>>N2?NsٱN VAHRS rotation from veh to nav: [[0.765361,-0.634330,-0.108843],[0.643430,0.758035,0.106680],[0.014836,-0.151682,0.988318]]NH }?`oL#ݻ? A?eO?`b?OjÿM?iNp>>IN8b;NCY^ҌBy^6-IbDjxVDj\4YeDAT read: 21:23:13.5640 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 408, 0.26,-2.807, 2.225,-2.565,-3.091, PHS= 0.385,-0.923, 0.481, RAW= 153.5, 0.8, CAL= 152.2, -0.0, ROT= 357.8, 0.0 mYgot valid direction response: 21:23:13.5640 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 408, 0.26,-2.807, 2.225,-2.565,-3.091, PHS= 0.385,-0.923, 0.481, RAW= 153.5, 0.8, CAL= 152.2, -0.0, ROT= 357.8, 0.0 uPDAT read: Bearing 186.4, -1.3 (Local) u~Local bearing/azimuth received: Bearing 186.4, -1.3 (Local) DAT read: Range 11 to 50 : 460.5 m (Round-trip 614.0 ms) speed 0.4 m/s *DAT read: user:193> BDAT read: Tx time:21:23:14.6958 $Ping request sent.i-Il-E>-v+@-d<-P*@ -)-M@I-))-N29ŭ?EW`?la`? -?)-VsI-Fi-)):publishing transmit ping timeFpublishing direction and range infoy)-р1?`Y))))) )))I)i))))) )))I)))-N29ŭ?EW`?la`? )))I)i)))ys9=%:=ٔ;Q->9Y==FyE+9E>1Q 5=J55$?Q 9=J550)5_BY9y=c5?Q IE@5 DI5:i5:5v@}ܛq@G'7"@-U@??jv7q$?j-oCr-CZ-ek؛?b- z-B-ek؛?-f-Bڗ-C-+?Q% addTargetRange:: Added new target pos. range: 460.500000 m, deltaT: 4.033245 s, deltaX: -2.200012 m, approachRate: -0.545470 m/s, rangeRepo size: 4 QU Added new target pos. range: 457.554047 m, bearing: 37.878333 deg, lat: 36.779308 deg, lon: -121.859033 deg, deltaT: 4.033245 s, deltaX: -2.188049 m, approachRate: -0.542503 m/s, posRepo size: 4 QQUFNOT Ignoring new targets: 457.55 m.]YԉQ ProNav: ac range: 457.554047 m, nav range: 461.291656 m, bearing: 38.485618 deg, approach rate: 0.000000 m/s, LOS rate: -0.002376 deg/s, cmd heading: 39.950050 deg, new cmd heading: 39.946772 deg. zQHeadingCmd: 0.697203 target range: 457.554047 and range: 460.50 m.R{2?JbZB:2Ҕڔڒ’e|@m@?Bɢ=) g?i),i}3%i{2?|ڙ:a/;I{2?I9@ @@5@Eu  Eu Eu "Eq "Eu 77;*Eu :VEu (3ZEq a @a @a @a @ ^A ] ;I! I1 OE >$;,ޭP?A2>2l3?2ofٱ2, :AHRS rotation from veh to nav: [[0.765020,-0.634760,-0.108743],[0.643853,0.757548,0.107583],[0.014089,-0.152318,0.988231]]2H` {?Oֻ`q?=??@ڌ? $ÿ?i2>I2a;2ܐCYBԌByB7-IbDNkVDND4yV;%Vr=ٔV;Q-V?9XYX=^=Fy^E^:Eb?BBBP-IBBBBBMDB^S;B`EdQ 5}J5f %?Q 9}J5fS)f_BYyy5?Q I@fDIf:S;IGx2?I9@ @@0@I^A2;I) I9 OE >q ~B,w Q?A2>293?2 -Wٱ2 :AHRS rotation from veh to nav: [[0.764710,-0.635198,-0.108360],[0.644240,0.757091,0.108478],[0.013133,-0.152764,0.988175]]2Hx?@St?:? <Ż?n?`ƍÿ"?i2>I2a;2ߐCYRیByR@-IbEJ4jE4rE/EE  EE EE$EA"EEG;*EE:VEE4ZEABEE&9Y==FyEΓ:E>Q 5J59%?Q 9J5,)_BY[*?Q E:y H,R$Q?A2z0>2n3?2Lٱ2e :AHRS rotation from veh to nav: [[0.764196,-0.635846,-0.108185],[0.644863,0.756481,0.109039],[0.012508,-0.153091,0.988133]]2HKt?X?5?@?@?ÿȞ?i2z0>I2Sa;2ސCYBByBI-I DDbDNmVDNH4yj=%j\=ٔj=:Q-j>9lYl=n=Fyn Er";Er>tQ 5zJ5v-%?Q 9zJ5v)v_BYxyzBB]-IBBBBBLDBaS;BaE^Ai;IyIO> m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4983659 N,9>Q?Aj>j04?jUc9ٱj vAHRS rotation from veh to nav: [[0.762295,-0.638053,-0.108606],[0.647131,0.754305,0.110661],[0.011315,-0.154639,0.987906]]jHd?jͻL?C#?AT?@J,?2ÿ?ij>Ijl`;jߐCY~ڌBy~?-IiMb@Mb@Mb@ 9Dl?L7A`?MbpYO-?y+=@@ )5@Y@bDkVDD4yd%==ٔ4;Q->9Y==Fy"E;E>Q 5J5?%?Q 9J5)_BY-?Q E:yF@?Q I@*DIe ;i ;JJ5yBɮs@JEQ FNOT Ignoring new targets: 457.55 m.ccQ ProNav: ac range: 457.554047 m, nav range: 460.235504 m, bearing: 38.477314 deg, approach rate: -0.676155 m/s, LOS rate: -0.006704 deg/s, cmd heading: 39.930549 deg, new cmd heading: 39.921846 deg. z%;Q%HeadingCmd: 0.696768 target range: 457.554047 and range: 460.50 m.R-]_2?J)b)Z)B):)21Ҕ1ڔ5;B1ڒ9’99=]?BɢqB= ) ?i)9yi4W2i]_2?L:H;I]_2?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7503511EY E]E]%EY"EY*E]#:VE] 4ZEYBE]A5 >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002717AYIiIO?[YW,^Q?AY By H-II;>);bD%gVD%=4y5<%5%=ٔ5Q-5>99Y9===Fy=$EEEE>AQ 5UJ5EVT%?Q 9UJ5E)E_BYQyQQ IU@E5DIEl:iEB:ENJ5y]֖BɮeB@eAEQFNOT Ignoring new targets: 457.55 m.Q  ProNav: ac range: 457.554047 m, nav range: 459.902344 m, bearing: 38.474008 deg, approach rate: -0.657129 m/s, LOS rate: -0.006526 deg/s, cmd heading: 39.921844 deg, new cmd heading: 39.911919 deg. z OQHeadingCmd: 0.696594 target range: 457.554047 and range: 460.50 m.RT2?JbZB:2Ҕڔ!!ڒ!’))-5=@UBɢUz`0=)Y ]+?iY)]rYYi]5ieT2?mP':m=;ImT2?Iiae+O9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254746ԉE5 E5 E1E1"E5C;*E5:VE1ZE1aE@aE@aE@aE@^A8<B >>B B i-IB BB B B B `S;B _E Ai Iq I O >%{],&xQ?A>Ӿ>>4?>&!ٱ>?T ZAHRS rotation from veh to nav: [[0.760990,-0.639793,-0.107511],[0.648689,0.752894,0.111143],[0.009836,-0.154320,0.987972]]>HZ?/yх? ?s?$?ÿw?i>Ӿ>I>-!`;>ܐCYbߌBybE-IbDj^VDj,4yviF%vP=ٔvw;Q-v>9xYx=z=Fyz&Ez;E~>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5088161Q 5UJ55d%?Q 9]J55)5_BYiyu@?Q I}@5>DI52K5?2 ٱ2Q :AHRS rotation from veh to nav: [[0.760123,-0.640902,-0.107041],[0.649720,0.751884,0.111954],[0.008731,-0.154646,0.987931]]2HR?D`g?o???lÿ`"?i2{o>I2iy`;2ߐCY@y@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0104181i}Mb@Mb@Mb@yyyy y9}/$?kt?MbP?Y}1(?y} 0=}:yy y)}@yY} @bDlVDF4y6Y%=ٔ ;Q->9Y==Fy)E(;E>Q 5J5y%?Q 9J5e)_BY(?Q E:yE?Q I@IDI;i~ ;VJ5yٖBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 457.55 m.( (Q ProNav: ac range: 457.554047 m, nav range: 459.292786 m, bearing: 38.466982 deg, approach rate: -0.729047 m/s, LOS rate: -0.009184 deg/s, cmd heading: 39.903662 deg, new cmd heading: 39.890827 deg. zɹQ%HeadingCmd: 0.696226 target range: 457.554047 and range: 460.50 m.R%;2?J!b!Z!B!:!2)Ҕ)ڔ-6B1ڒ1’115y@eBɢeAF=)i mM?ii)mfiqiu:l,oQ?AB6=>B4B6c-IB6BB6b =B4B4B6 S;B66Ej >jS5?jCWٱjv vAHRS rotation from veh to nav: [[0.759445,-0.641707,-0.107031],[0.650531,0.750889,0.113907],[0.007274,-0.156133,0.987709]]jH^M?݈]f'?H?`(? }? 'ÿP?ij >Ij¢`;hY~ՌBy~9-I ==bDmVDH4y%M%%S=ٔ%v;Q-%>9)Y)=-=Fy-+E-_3;E5>9Q 5=J5=%?Q 9EJ5=)=_BYAyEE?Q IE@=QDI=-:i=F:=TZJ5yIɮU7@Qԑ!Q%FNOT Ignoring new targets: 457.55 m.--Q= ProNav: ac range: 457.554047 m, nav range: 459.039673 m, bearing: 38.463759 deg, approach rate: -0.624105 m/s, LOS rate: -0.007953 deg/s, cmd heading: 39.890829 deg, new cmd heading: 39.881153 deg. zEQEHeadingCmd: 0.696057 target range: 457.554047 and range: 460.50 m.RE02?JIbIZIBI:I2QҔYڔYYڒY’Yae @颍Bɢ1_=) M?i)oNa顑i@i02?:7  BDAT read: Rx Time:21:23:17.7100  TRx dataTimestamp_ set to:1761513799.176572 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767373:r,JBQ?AYvȌByv)-IE% E%E%$E!"E%;;*E%:VE%4ZE!BE%9Y==Fy-EE>Q 5J5N%?Q 9J5)Y5'?Q E:y:?Q I@ZDI ;i;^J5yۖBɮ4@BEQFNOT Ignoring new targets: 457.55 m.Q ProNav: ac range: 457.554047 m, nav range: 458.763916 m, bearing: 38.461771 deg, approach rate: -0.655738 m/s, LOS rate: -0.004729 deg/s, cmd heading: 39.881154 deg, new cmd heading: 39.875187 deg. zOQ]HeadingCmd: 0.695953 target range: 457.554047 and range: 460.50 m.Re)2?JabaZaBa:i2yҔyڔ})Byڒ’ X@BɢE=) ?i!)% [!!i%yTCim)2?mY:mM7A- >I I O >y y,Q?A2"P>25?24Zٱ2 :AHRS rotation from veh to nav: [[0.757755,-0.644036,-0.105000],[0.652520,0.749081,0.114433],[0.004955,-0.155227,0.987866]]2H@??@Kếr?`x?}K?AKt?{ÿ?i2"P>I2a;2ސCYBČByB$-IbDJ_VDJ.4yRy%R^=ٔV;Q-V>9TYX=Z=FyZ/EZ;EZ>\Q 5bJ5^l%?Q 9bJ5^)\YdyfK;?Q If@^aDI^9:i^:^@aJ5yhɮjw@lyQ}FNOT Ignoring new targets: 457.55 m.Q ProNav: ac range: 457.554047 m, nav range: 458.523254 m, bearing: 38.459956 deg, approach rate: -0.654004 m/s, LOS rate: -0.004936 deg/s, cmd heading: 39.875187 deg, new cmd heading: 39.869738 deg. zXQHeadingCmd: 0.695858 target range: 457.554047 and range: 460.50 m.R#2?JbZB:2Ҕڔڒ’@N@Bɢ"=) ?i)\Wi*gFi#2?6-:O` uBDAT read: Tx time:21:23:18.8458 u$Ping request sent.uU-@ UX>)Uz@IUXQQUPl$?q̭B?Xb? U?)U1IU)ĽiUXQQ:publishing transmit ping timeqFpublishing direction and range infoyQԁUʼn?N\]㒄?YQQQQQ Q)QIQiQQQQQ Q)QIQQQUPl$?q̭B?Xb? Q)QIQiQQQBm<>BiBmP-IBmBBma =BiBiBmR;Bm EB)B)B)B)B)C-Ə4 YeCԱ^A9<EG = A99 Y= XAIQ Ia Om > f,AR?ART>R6?RHٱRk ZAHRS rotation from veh to nav: [[0.757738,-0.644202,-0.104105],[0.652552,0.748773,0.116250],[0.003063,-0.156021,0.987749]]RHc??L??½?@i? }ÿ?iRT>IR4b;RݐCYzBy-IiMb@Mb@Mb@ 9q= ףp?Mb`MbY+?y@̬@ C@)Y @bD5cVD5264yEL%E2=ٔEg;Q-E>9IYQ=U=FyU1EU`8EU>YQ 5eJ5]%?Q 9eJ5]g)]_BY+?Q E:y4?Q I@]kDI];i];]AeJ5yBɮ@9EԩJyR}Q?A}HC}HC},?} 3xz@<6dDd[c@}ʼn?N\]㒄?})Ľ}X—}wѯt@Up@nVhd@}\#E?A񳚝?8 R?j}8Cr}GCZ}EV?b}t7z}kC}>$?} }iCڗ}C}Z-?Q addTargetRange:: Added new target pos. range: 457.500000 m, deltaT: 4.307129 s, deltaX: -3.000000 m, approachRate: -0.696520 m/s, rangeRepo size: 4 Q Added new target pos. range: 454.570190 m, bearing: 38.659185 deg, lat: 36.779207 deg, lon: -121.859103 deg, deltaT: 4.307129 s, deltaX: -2.983856 m, approachRate: -0.692771 m/s, posRepo size: 4 QFNOT Ignoring new targets: 454.57 m.Q ProNav: ac range: 454.570190 m, nav range: 445.544281 m, bearing: 38.733709 deg, approach rate: 0.000000 m/s, LOS rate: -0.004936 deg/s, cmd heading: 39.869737 deg, new cmd heading: 39.862738 deg. zQHeadingCmd: 0.695736 target range: 454.570190 and range: 457.50 m.R2?Jb Z B : 2 ҔڔBڒ’|@m?颅Bɢ=7=) ?i)GPQ顉i2vIi2?:][,R?A2|g>2J 6?2ٱ2Y! :AHRS rotation from veh to nav: [[0.757647,-0.644422,-0.103395],[0.652663,0.748397,0.118040],[0.001313,-0.156915,0.987611]]2H>?@x@?? 7? U?Ŀ?i2|g>I2 c;2ސCYBByB,IbDNhVDNf?4yV #%Va=ٔV;Q-V>9XYX=Z=FyZ3E^99E^>`Q 5fJ5b%?Q 9fJ5b@)b_BYdyf4?Q If@bsDIb:ib:bmhJ5ylɮn]@l|QFNOT Ignoring new targets: 454.57 m."P "PQ ProNav: ac range: 454.570190 m, nav range: 445.301117 m, bearing: 38.732763 deg, approach rate: -0.730929 m/s, LOS rate: -0.002843 deg/s, cmd heading: 39.862739 deg, new cmd heading: 39.859902 deg. zQ%HeadingCmd: 0.695687 target range: 454.570190 and range: 457.50 m.R%2?J!b!Z!B!:!2)Ҕ)ڔ))ڒ’@p?Bɢw=) ع?i )-JM))i-2Li52?5ղ:=`B :>B B 1-IB όBB b =B B B R;B E) y,s4R?AJX>J6?J:ٱJ:" RAHRS rotation from veh to nav: [[0.757721,-0.644471,-0.102544],[0.652578,0.748176,0.119896],[-0.000548,-0.157766,0.987476]]JH`@??@[@? ? }?@A1Ŀh?iJX>IJgc;JߐCYZByZ,IbDfjVDfC4yj=%nH=ٔn;Q-n>9pYp=r=Fyr5Ev鏹Ev>xQ 5zJ5zE%?Q 9~J5z)z_BY|y~4?Q I~@z|DIz;iz;zlJ5y ÖBɮ @ GS%B*** querying acoustic contact ***:!B!1Q5FNOT Ignoring new targets: 454.57 m.====QM ProNav: ac range: 454.570190 m, nav range: 445.027313 m, bearing: 38.731702 deg, approach rate: -0.668999 m/s, LOS rate: -0.002595 deg/s, cmd heading: 39.859901 deg, new cmd heading: 39.856715 deg. zMQUHeadingCmd: 0.695631 target range: 454.570190 and range: 457.50 m.RU2?JQbQZQBQ:Y2YҔYڔaaڒa’aam?颕Bɢ*a=) H?i)cH顙iNi2?r:_y = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478666zi,ONR?A0FW->F:5?Fy;ٱF" NAHRS rotation from veh to nav: [[0.757936,-0.644365,-0.101626],[0.652326,0.748153,0.121403],[-0.002196,-0.158308,0.987387]]bE- 4jE-( 4rE-8/ER  ERER#EP"ERG;*ERg:VER3ZEPBER&IFc;FސCYfByf,I hhiUMb@Mb@Mb@QQQQ Q9URQ?lMbPYU"?yUUQU@ Q)UZ@QYU@bDmfVDm;4y}%@=ٔ~;Q->9 ?Y ?==Fy7E=LE>Q 5J5_%?Q 9J5A)_BY"?Q E:y&'?Q I@DI ;i:oJ5yƖBɮ@:EQFNOT Ignoring new targets: 454.57 m.88Q ProNav: ac range: 454.570190 m, nav range: 444.756989 m, bearing: 38.732506 deg, approach rate: -0.589911 m/s, LOS rate: 0.001756 deg/s, cmd heading: 39.856715 deg, new cmd heading: 39.859130 deg. zK8QHeadingCmd: 0.695673 target range: 454.570190 and range: 457.50 m.R2?JbZB:!2!Ҕ!ڔ%B)ڒ)’)15@3?i额Bɢ:=) ڸ?i)^C顡iQi2?䧹:Zߕh?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730990^A f< I I O >!,(hR?A2o>2h5?2J;ٱ2g$ :AHRS rotation from veh to nav: [[0.758873,-0.643405,-0.100708],[0.651223,0.748648,0.124234],[-0.004538,-0.159862,0.987129]]2H H?Ɩȹ@??Ϳ? %r@XvĿ?i2o>I2d;2ߐCYBByB,IbDNbPVDN[44yV %VY=ٔZp;Q-Z>9XYX=^=Fy^9E^f{Eb>`Q 5fJ5bu&?Q 9fJ5bm)b_BYhyj&?Q Ij@bDIb:ib:bsJ5ylɮr&@pQFNOT Ignoring new targets: 454.57 m.88Q ProNav: ac range: 454.570190 m, nav range: 444.516968 m, bearing: 38.733266 deg, approach rate: -0.666910 m/s, LOS rate: 0.002111 deg/s, cmd heading: 39.859130 deg, new cmd heading: 39.861409 deg. zt8QHeadingCmd: 0.695713 target range: 454.570190 and range: 457.50 m.R<2?JbZB:2Ҕڔڒ’`_?-Bɢ-xs=)1 5?i1)=i>99i=|4TiE<2?MY(:MEBCB-IBBBBBBR;BE^A5hW<I I ! OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236749{~,R?AxY]By],IiMb@Mb@Mb@ 9V-? rhMb?Y?yC<@ @)C@Yf@bDiVD=A4y D% 6=ٔQ->9Y==Fy!Q 5-J5%&?Q 9-J5%L)%_BY5?Q E5:y5*?Q I5@%DI% ;i% ;%vJ5y=ȖBɮ=@AaQeFNOT Ignoring new targets: 454.57 m.88Q ProNav: ac range: 454.570190 m, nav range: 444.240479 m, bearing: 38.735903 deg, approach rate: -0.637504 m/s, LOS rate: 0.006086 deg/s, cmd heading: 39.861407 deg, new cmd heading: 39.869326 deg. z9QHeadingCmd: 0.695851 target range: 454.570190 and range: 457.50 m.RK#2?JbZB:2ҔڔՇBڒ’S@BɢIK=) г?i)9iViK#2?O:zFy B,ߛR?A6Zc>6;5?6 <ٱ6f% BAHRS rotation from veh to nav: [[0.760184,-0.642260,-0.098088],[0.649651,0.749427,0.127721],[-0.008520,-0.160815,0.986948]]6H`nS?eN?M?+Y?"sĿ?i6Zc>I60d;6ݐCY^Byb,IIf=)f9tYt=z=Fyz=EzEz>|Q 5J5~c#&?Q 9J5~)~_BY y ?Q I @~DI~ :i~:~"zJ5yɮp@9Q=FNOT Ignoring new targets: 454.57 m.E8E8QU ProNav: ac range: 454.570190 m, nav range: 444.015717 m, bearing: 38.738109 deg, approach rate: -0.615141 m/s, LOS rate: 0.006039 deg/s, cmd heading: 39.869327 deg, new cmd heading: 39.875946 deg. zU9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738900iQmHeadingCmd: 0.695967 target range: 454.570190 and range: 457.50 m.Rm*2?JibqZqBq:q2qҔyڔyyڒy’`>@颭Bɢk=) б?i)45项iGYi*2?#O:% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991064D =D R=E  E E E "E O6;*E :VE ZE a @a @a @a @ B :>B B ,IB BB B B B yR;B EiϬ,غR?A2=>2-4?2[*<ٱ24& :AHRS rotation from veh to nav: [[0.761103,-0.641338,-0.097000],[0.648548,0.750050,0.129655],[-0.010398,-0.161590,0.986803]]2HZ?`օո@?h??WK Ŀ@?i2=>I29d;2ߐCY^{Byb,IbDjeVDj94yr%rK=ٔrr;Q-r>9tYt=v=Fyv?EziEz>|Q 5J5~4&?Q 9J5~B)~_BYyJ?Q I @~DI~j;i~T;~}J5y˖Bɮ @;EGS-B*** querying acoustic contact ***:)B)ԹQFNOT Ignoring new targets: 454.57 m.88Q ProNav: ac range: 454.570190 m, nav range: 443.767761 m, bearing: 38.740590 deg, approach rate: -0.589648 m/s, LOS rate: 0.005903 deg/s, cmd heading: 39.875946 deg, new cmd heading: 39.883393 deg. z9QHeadingCmd: 0.696097 target range: 454.570190 and range: 457.50 m.Rb32?JbZB:2Ҕ ڔ  ڒ ’  @颍Bɢ]I=) ȯ?i)0顩iG[ib32?5:p9 M DAT read: 21:23:21.8570 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 403,-0.04, 2.161, 0.535, 2.362, 1.737, PHS= 0.526,-1.156, 0.582, RAW= 151.6, 0.6, CAL= 150.3, -0.1, ROT= 359.7, 0.1 U Ygot valid direction response: 21:23:21.8570 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 403,-0.04, 2.161, 0.535, 2.362, 1.737, PHS= 0.526,-1.156, 0.582, RAW= 151.6, 0.6, CAL= 150.3, -0.1, ROT= 359.7, 0.1 ,R?ABDAT read: Rx Time:21:23:21.8570 TRx dataTimestamp_ set to:1761513803.247993@DAT read: $Low SNR acquisition 2Received low SNR in chirp:>:?4?:FI<ٱ:&ED EFEDED"ED*EF&:VEDZEDBEFCI:.bd;:ސCY%zBy!iMMb@Mb@Mb@IIII I9M#~j?bX9ȶy&1|?YM%?yMEM`;M@I M@)M-@IYM@bDuoVDuHL4yd%'=ٔ[|;Q->9Y==FyBEUE>Q 5J5'L&?Q 9J5)_BY%t'?Q E%:y%7?Q I%@DI*:i@:J5yMBɮM7@M1EQFNOT Ignoring new targets: 454.57 m./%9/%9Q ProNav: ac range: 454.570190 m, nav range: 443.438721 m, bearing: 38.745071 deg, approach rate: -0.662216 m/s, LOS rate: 0.009026 deg/s, cmd heading: 39.883394 deg, new cmd heading: 39.896848 deg. z89QHeadingCmd: 0.696331 target range: 454.570190 and range: 457.50 m.RB2?JbZB:2Ҕ!ڔ%̇B)ڒ)’))-@ @A额Bɢ2=) e?i)M+顡i4Y]iB2?֏:S;IB2?I}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse9@ @@4@q^A H<ԡ I I O >,&TR?AZ>Z3?Zf<ٱZ' vAHRS rotation from veh to nav: [[0.763208,-0.639192,-0.094593],[0.645999,0.751613,0.133278],[-0.014093,-0.162826,0.986554]]ZH2l? Bt@B7 ?6 ?`C?܌}Ŀّ?iZ>IZ0d;ZܐCY {B)yiqIq}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseE5 E5E1E1"E5C;*E54:VE1ZE1a=@a=@a=@a=@ QQ]=]=bDmwVDm[4yy:%6=ٔ;Q->9Y==FyDExE>Q 5J5`&?Q 9J5B=>BCB,IBBBa =BBBxR;BEw)_BYy?Q I@DI;i7;J5y Bɮ _@ 2E1Q5FNOT Ignoring new targets: 454.57 m.=&9=&9AQU ProNav: ac range: 454.570190 m, nav range: 443.151917 m, bearing: 38.749045 deg, approach rate: -0.656647 m/s, LOS rate: 0.009104 deg/s, cmd heading: 39.896849 deg, new cmd heading: 39.908778 deg. zU9Q]HeadingCmd: 0.696540 target range: 454.570190 and range: 457.50 m.R]kP2?JYbYZYBY:a2aҔaڔaiڒi’iim@颕BɢZ=) 1?i)Ȣ&顡i{_ikP2?:Y;IkP2?II)iAU9@Y @Y@]3@Yi= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseԡ ^A ;I I O >,T5S?A2>2y83?2y<ٱ2w( :AHRS rotation from veh to nav: [[0.764693,-0.637571,-0.093534],[0.644197,0.752758,0.135519],[-0.015995,-0.163884,0.986350]]2H\x?f`B??@X?`` 'Ŀ-?i2>I2c;2ߐCYBtByB,IxieMb@Mb@Mb@aaaa a9e-?ʡE{Gz?Ye5?ye-eף9Y==FyFEBػE>Q 5J5 p&?Q 9J5e)_BY?Q E:y@?Q I@DIi ;i& ;J5yBɮ@QFNOT Ignoring new targets: 454.57 m.h"9h"9Q ProNav: ac range: 454.570190 m, nav range: 442.936096 m, bearing: 38.752098 deg, approach rate: -0.627018 m/s, LOS rate: 0.008874 deg/s, cmd heading: 39.908778 deg, new cmd heading: 39.917942 deg. z9QHeadingCmd: 0.696700 target range: 454.570190 and range: 457.50 m.RZ2?JbZB: 2 ҔڔчBڒ’@BɢbUv=) q?i)"iaiZ2?M{:A};IZ2?I T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!E  E E$E"EG;*E:VE4ZEBE&y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,A!S?A^n>^2?^P<ٱ^S) fAHRS rotation from veh to nav: [[0.766342,-0.635779,-0.092220],[0.642184,0.754122,0.137477],[-0.017860,-0.164577,0.986203]]^H?MXŌ? !?ژ?@I@ſ?i^n>I^b;^ސCYn{Byn,IbDveVDv94yj<%R=ٔ;Q->9 Y = =Fy HE .ۻE>Q 5%J5U&?Q 9%J5)_BY!y%?Q I%@DI@;i:^J5y)ɮ5@19YQeFNOT Ignoring new targets: 454.57 m.e$9m$9Q ProNav: ac range: 454.570190 m, nav range: 442.694824 m, bearing: 38.755596 deg, approach rate: -0.618224 m/s, LOS rate: 0.008967 deg/s, cmd heading: 39.917941 deg, new cmd heading: 39.928440 deg. z9QHeadingCmd: 0.696883 target range: 454.570190 and range: 457.50 m.Rf2?JbZB:2Ҕڔڒ’@9ɢ=p=)A Eʮ?iA)EmSAAiEYciMf2?M:U~ :IUf2?Iy-9@) @)@-/@)iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙ^AmΒ{;II O >E-  E- E- !E) "E- a?;*E- ]:VE- c3ZE) a5 @a5 @a5 @a5 @BU @>BQ BU ,IBU BBU ` =BU HDBQ BU R;BU EBBBBb =Bb =CɱI5 - +G9 Q R9 Y >A;,:S?A2>22?2J"<ٱ2p* :AHRS rotation from veh to nav: [[0.767448,-0.634600,-0.091140],[0.640813,0.754966,0.139228],[-0.019546,-0.165254,0.986057]]2H?NT ?(? :? 'ſȍ?i2>I2eb;0YN~ByR,IIV4=)V=bDZiVDZ=A4ynn<%nO=ٔrʋ;Q-r>9pYp=v=FyvJEv푻Ev>xQ 5~J5z&?Q 9~J5z)z_BYy)?Q I@zDIzT ;izq ;zӏJ5y Bɮ @ 3EGSB*** querying acoustic contact ***:BԹQFNOT Ignoring new targets: 454.57 m.!9!9Q ProNav: ac range: 454.570190 m, nav range: 442.449646 m, bearing: 38.759209 deg, approach rate: -0.596962 m/s, LOS rate: 0.008802 deg/s, cmd heading: 39.928439 deg, new cmd heading: 39.939284 deg. zL9QHeadingCmd: 0.697072 target range: 454.570190 and range: 457.50 m.RPs2?JbZB:2Ҕڔ!!ڒ!’!!-S$@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse颭Bɢf=) m?iQ)UơQQiUbei]Ps2?]J:]:I9IePs2?IauJ>iu>9@ @@@^AM q:I I O >i) I) - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseA E  E E 'E "E 1A;*E #:VE '4ZE BE Bd1?B-<ٱB* JAHRS rotation from veh to nav: [[0.768634,-0.633336,-0.089930],[0.639337,0.755926,0.140795],[-0.021191,-0.165716,0.985946]]BH? IDsu?0?? `+6ſ`ތ?iB>IBRb;@YRByR,IimMb@Mb@Mb@iiii i9mRQ?kt?Ym"?ym m9Y==FyLEE>Q 5J5f&?Q 9J5{)_BY+$?Q E:yN?Q I@DI ;i;J5yɮâ@QFNOT Ignoring new targets: 454.57 m.+9+9Q  ProNav: ac range: 454.570190 m, nav range: 442.177063 m, bearing: 38.763070 deg, approach rate: -0.661439 m/s, LOS rate: 0.009377 deg/s, cmd heading: 39.939285 deg, new cmd heading: 39.950878 deg. z 9QHeadingCmd: 0.697274 target range: 454.570190 and range: 457.50 m.R2?JbZB:!2!Ҕ!ڔ%B)ڒ)’))-@BɢD4s=) >?i)i źgi2?:֮úI2?IA@A @A@E0@AIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq^A I I O- >ԙ ,nS?A6>6F1?6.<ٱ6d=) >AHRS rotation from veh to nav: [[0.769475,-0.632587,-0.087995],[0.638283,0.756822,0.140765],[-0.022450,-0.164480,0.986125]]6H ?`&> ц l?7??  ſU?i6>I6.=b;6ݐCYFByF,IbDRoVDRHL4yV)<%ZZ=ٔZ \;Q-Z>9\Y\=^=FyfNEjjEj>rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapselQ 5vJ5n&?Q 9vJ5n;x)n_BYxyz?Q Iz@nDIn:in[:nۖJ5y~BɮϢ@!Q-FNOT Ignoring new targets: 454.57 m.-#'9-#'9Q% ProNav: ac range: 454.570190 m, nav range: 441.937103 m, bearing: 38.766519 deg, approach rate: -0.635140 m/s, LOS rate: 0.009133 deg/s, cmd heading: 39.950880 deg, new cmd heading: 39.961231 deg. z-9qQ}HeadingCmd: 0.697455 target range: 454.570190 and range: 457.50 m.R}j2?JbZB:2ҔڔE EEE"E77;*E:VEZEa@a@a@a@ڒ’ t@BA>BCBBB_ =BBMDBR;B E)ɢ-|=)1 5?i1)5nB11i=ii=j2?E;:E /IEj2?IA@ @@0@ԡߥ=ߥ<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A- NJκIA Ii O} > ,jS?A24K>2(0?2G<ٱ2T) :AHRS rotation from veh to nav: [[0.770166,-0.631917,-0.086747],[0.637393,0.757364,0.141880],[-0.023958,-0.164563,0.986076]]2H4?`85e?SI2b;0YfByj,I lliMb@Mb@Mb@ 9jt? ףp= :v?Y ?yQ8<@@ @)@Y@bD\VDP)4yHr=%:=ٔa;Q->9Y==FyPE)E>Q 5J5I&?Q 9J5s)_BYQ!?Q E:y ?Q I@DI,;i+;J5yɮ@9QEFNOT Ignoring new targets: 454.57 m.E.8E.8Q] ProNav: ac range: 454.570190 m, nav range: 441.663025 m, bearing: 38.768263 deg, approach rate: -0.623089 m/s, LOS rate: 0.003966 deg/s, cmd heading: 39.961231 deg, new cmd heading: 39.966465 deg. z]7.9QeHeadingCmd: 0.697546 target range: 454.570190 and range: 457.50 m.Reg2?JabaZaBa:a2aҔiڔm Biڒq’q@}‰BɢZ=) ɵ?i)c 顉iIkig2?%:(lIg2?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-9@) @)@)@)bE1jE5J4rE50Ee Ee4Ee"Ea"EeO6;*Ee ;VEe(3ZEaBEeCI! I9 OE > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey ON,b֢S?ANI>N0?N{<ٱN( VAHRS rotation from veh to nav: [[0.770660,-0.631517,-0.085266],[0.636743,0.757804,0.142450],[-0.025344,-0.164073,0.986123]]NH>?@b5Ե 2`???;?@@WſQ?iNI>INlb;NސCY^By^,IbDjmVDjH4yr%=%rT=ٔrl;Q-r>9tYt=v=FyvREz Ez>|Q 5J5~&?Q 9J5~?p)~_BYyu ?Q I @~DI~:i~[:~J5yBɮ@4E9Q=FNOT Ignoring new targets: 454.57 m.E8E8QU ProNav: ac range: 454.570190 m, nav range: 441.420563 m, bearing: 38.769833 deg, approach rate: -0.639074 m/s, LOS rate: 0.004142 deg/s, cmd heading: 39.966466 deg, new cmd heading: 39.971181 deg. z59QHeadingCmd: 0.697629 target range: 454.570190 and range: 457.50 m.R̗2?JbZB:2Ҕڔڒ’  @@频ɢV=) ?i)顙iy3ni̗2?|: /I̗2?Ia@a @a@eO0@ai߹I߹T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE-  E- E-$E)"E-F;*E-:VE-4ZE)a5@a5@a5@a5@^AoMBBB,IBBB` =BBBR;BEII O >A 2u,S?A2v>20?2u[<ٱ2& >AHRS rotation from veh to nav: [[0.771140,-0.631292,-0.082539],[0.636097,0.758473,0.141772],[-0.026896,-0.161829,0.986452]]2H.?`3 M!Z?`iE?`%?ӶĿ ?i2v>I23c;2ݐCYvByv-IbDWVD 4y =%H=ٔx;Q->9Y==FyTE%E%>)Q 55J5-s&?Q 95J5-Gl)-_BY1y59 ?Q I5@-DI-:i-:-J5yEBɮE\@E*EGS]B*** querying acoustic contact ***:YBYiQmFNOT Ignoring new targets: 454.57 m.u8u8Q ProNav: ac range: 454.570190 m, nav range: 441.163239 m, bearing: 38.771533 deg, approach rate: -0.628535 m/s, LOS rate: 0.004154 deg/s, cmd heading: 39.971182 deg, new cmd heading: 39.976285 deg. zw69QHeadingCmd: 0.697718 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’4@ÉBɢ=) {?i)Xitpi2? ": aǤI 2?I T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ9@ @@ 4@y^AIqIO>ԩ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE=  E= E9 E9 "E= ;;*E= O:VE9 ZE9 BE= 280?2<ٱ28$ :AHRS rotation from veh to nav: [[0.770934,-0.631823,-0.080376],[0.636287,0.758411,0.141252],[-0.028288,-0.160038,0.986705]]2H }?7`v\?D?@? |Ŀ@?i2V>I2c;0XYvByv -IxzAiMb@Mb@Mb@ 9V-?V-:v?Y-?yT< )@YG@bDZVD%4yK!=%?=ٔWU;Q->9Y==FyVE*:E>Q 5J5&?Q 9J5g)_BY-?Q E:y&?Q I@DI:i:VJ5yBɮ@+E!Q-FNOT Ignoring new targets: 454.57 m.-&8-&8Q= ProNav: ac range: 454.570190 m, nav range: 440.873077 m, bearing: 38.772508 deg, approach rate: -0.678225 m/s, LOS rate: 0.002279 deg/s, cmd heading: 39.976284 deg, new cmd heading: 39.979210 deg. z=98QEHeadingCmd: 0.697769 target range: 454.570190 and range: 457.50 m.RE2?JAbIZIBI:I2IҔQڔU,Bڒ’@AɢER=)A E?iA)MIIiri2? I:͚I2?I9@  @ @ 1@ 5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse^AM SAI zAM gAI I O >! e, [S?A2z>20?2tr<ٱ2M" :AHRS rotation from veh to nav: [[0.770610,-0.632487,-0.078231],[0.636625,0.758288,0.140384],[-0.029469,-0.157985,0.987002]]2H@ר?T=@:_?C? ? 0-8Ŀ?i2z>I2c;2ސCT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE  EE"E"ED;*E:VE(3ZEa@a@a@a@ByByB},IB}BB}_ =ByByB}R;B}EYBy-IbDXVD!4y5%55=ٔ=+;Q-=>99Y9===FyEXEEƇ:EE>IQ 5J5Me'?Q 9J5Mb)M_BYy&?Q I@M DIM:iM:MFJ5yBɮ@Q FNOT Ignoring new targets: 454.57 m. h 8h 8Q ProNav: ac range: 454.570190 m, nav range: 440.567535 m, bearing: 38.773519 deg, approach rate: -0.661755 m/s, LOS rate: 0.002191 deg/s, cmd heading: 39.979211 deg, new cmd heading: 39.982246 deg. z%}8Q%HeadingCmd: 0.697822 target range: 454.570190 and range: 457.50 m.RMt2?JIbIZIBI:I2IҔQڔQQڒQ’YY] c @ɢ=) Q?i))Oiptit2?:ŏIt2?I9@ @@1@@=@=- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse^Ae 3! A ؟AI I OU >,V T?Af>f@1?f=ٱf rAHRS rotation from veh to nav: [[0.769326,-0.634584,-0.073761],[0.638058,0.757459,0.138335],[-0.031914,-0.153489,0.987635]]fHR?N ⲿj?`=?? Wÿ`?if>IfMb;fCxYzBy~-IiMb@Mb@Mb@ 9q= ףp?9"?Y"?==FyZE ;E>Q 5J5$'?Q 9J5Z^)_BY+?Q E:y4?Q I@DI ;i" ;J5yɮݞ@QFNOT Ignoring new targets: 454.57 m. E EQ ProNav: ac range: 454.570190 m, nav range: 440.308594 m, bearing: 38.772505 deg, approach rate: -0.690717 m/s, LOS rate: -0.002704 deg/s, cmd heading: 39.982247 deg, new cmd heading: 39.979206 deg. zQ%HeadingCmd: 0.697769 target range: 454.570190 and range: 457.50 m.R%2?J!b!Z!B!:!2)Ҕڔ@Bڒ’@'!@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaɢM7=) ?i)c顑i %wi2?r:Q*I2?IE  EE&E"EX;*EA:VE4ZEBE  ,K &T?AV>>Vu1?V=ٱV ^AHRS rotation from veh to nav: [[0.768776,-0.635439,-0.072113],[0.638654,0.756985,0.138182],[-0.033218,-0.152286,0.987778]]VHЙ?U`u`o?89?`?`~ÿ?iV>>IVPb;VސCYfByf-I hhn=np=bDr`VDr04yzR<%zW=ٔz&a;Q-z>9|Y|=~=Fy~\E ;E> Q 5J5 G5'?Q 9J5 Z) _BYy&5?Q I@ DI ;i ; J5y%Bɮ%@%,EYQFNOT Ignoring new targets: 454.57 m.????Q ProNav: ac range: 454.570190 m, nav range: 440.054413 m, bearing: 38.771483 deg, approach rate: -0.649154 m/s, LOS rate: -0.002612 deg/s, cmd heading: 39.979204 deg, new cmd heading: 39.976136 deg. z~QHeadingCmd: 0.697715 target range: 454.570190 and range: 457.50 m.Rv2?JbZB:2Ҕڔڒ’!@AɢM=)I M+?iI)M$ܼQqiu*xyi}v2?}˕:}2I}v2?Ix>i>-9@) @)@-v4@)ԁEe EeEaEa"Eey>;*Ee:VEaZEaau@au@au@au@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB}C>ByB} -IB}BByByByB}R;B}EԱ^AvI I O > p@,f?T?AFڷ>F|1?F2=ٱFF NAHRS rotation from veh to nav: [[0.768148,-0.636406,-0.070260],[0.639331,0.756437,0.138051],[-0.034709,-0.150963,0.987930]]FH@?p]fu? 4? ?qšRÿ@?iFڷ>IFb;DYVByV-IbDznVDzpJ4yu% I=ٔ p;Q- >9 Y==Fy^E;E>Q 5%J5F'?Q 9-J5XU)_BY)y-b5?Q I-@$DI6:i :J5y1ɮ5@9GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 454.57 m.mUQmUQQ} ProNav: ac range: 454.570190 m, nav range: 439.782318 m, bearing: 38.770355 deg, approach rate: -0.689198 m/s, LOS rate: -0.002860 deg/s, cmd heading: 39.976134 deg, new cmd heading: 39.972747 deg. z}3QHeadingCmd: 0.697656 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’ڱ"@Թɢ<.=) ?i)cӼi7{i2?3: I2?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@/@^AeEu  Eu Eq Eq "Eu I@;*Eu :VEq ZEq BEu 9 ,,YT?A6g>6r 2?6=ٱ6\ BAHRS rotation from veh to nav: [[0.767258,-0.637632,-0.068851],[0.640336,0.755630,0.137815],[-0.035849,-0.149827,0.988062]]6H`?{g ;}?`.??`Z`-ÿ@4?i6g>I6b;4YZByZ-Ii=Mb@Mb@Mb@9999 99=S?/$?Y=/?y=<=99 =C@)=@9Y=@bDUeVDU94ye <%eD=ٔe63;Q-m>9iYi==FyaE^K;E>Q 5J5VY'?Q 9J5/P)_BY//?Q E:y9?Q I@.DI:i:LJ5 yBɮ@9Q=FNOT Ignoring new targets: 454.57 m.E<E<QU ProNav: ac range: 454.570190 m, nav range: 439.486938 m, bearing: 38.768461 deg, approach rate: -0.682383 m/s, LOS rate: -0.004378 deg/s, cmd heading: 39.972746 deg, new cmd heading: 39.967061 deg. zUH@Q]HeadingCmd: 0.697557 target range: 454.570190 and range: 457.50 m.R]2?JYbYZYBY:a2aҔaڔeTBiڒi’iiu=#@颙ɢ͛=)  ?i)ȼ顡i ~i2?Zg:I2?IE9@A @A@E0@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9^AeNJκiIIO>ԑ R,įsT?AE EE#E"EB;*E:VE3ZEa@a@a@a@i0I02~h52?~=ٱ~׼  AHRS rotation from veh to nav: [[0.766797,-0.638321,-0.067597],[0.640804,0.755120,0.138434],[-0.037322,-0.149467,0.988062]]~H ? m@Nw?@)?2?!ÿ`4?i~>I~Ac;|B!B!B%-IB%BB!B!B!B%R;B%EBCBCBB_ =B_ =Cp4YBy-II<)=bDkVDD4y%A=ٔid;Q->9Y = =Fy cE :E > !!Q 5UJ5j'?Q 9eJ5PKy)_BYycGy9?Q I@6DI M:#,‰T?A2 }>22?2=ٱ2 >AHRS rotation from veh to nav: [[0.765826,-0.639622,-0.066291],[0.641894,0.754205,0.138372],[-0.038509,-0.148521,0.988159]]2H@?`w`z@e?r"?-?c ÿ?i2 }>I2c;0YFByF-IiMMb@Mb@Mb@IIII I9Moʡ?Q?Mb`YM-?yM9yYy=}=Fy}eEw;E>Q 5J5{'?Q 9J5F)_BY:-?Q E:y=?Q I@?DI ;i ;:J5yBɮZ@QFNOT Ignoring new targets: 454.57 m.Q ProNav: ac range: 454.570190 m, nav range: 438.948578 m, bearing: 38.764461 deg, approach rate: -0.735697 m/s, LOS rate: -0.006198 deg/s, cmd heading: 39.961623 deg, new cmd heading: 39.955051 deg. zQ%HeadingCmd: 0.697347 target range: 454.570190 and range: 457.50 m.R%Y2?J!b!Z)B):)2)Ҕ1ڔ5XBڒ’1%@E5 E5E5"E1"E5I@;*E5:VE5(3ZE1BE1aE2E1aEJE5+=) ؽ?i)_崼顑i@@iY2?6!::IY2?Ie9@a @a@e/@a^A) 1 I I O >% 2Acoustic response timeoutQ f),nT?A:6>: 2?:#=ٱ: BAHRS rotation from veh to nav: [[0.764876,-0.640900,-0.064899],[0.642947,0.753305,0.138386],[-0.039803,-0.147575,0.988250]]:Hy?A0? ?ࢶ?a¿ཟ?i:6>I:b;:ߐCY^By^-IbDfbVDf[44yn.=%nT=ٔr'\;Q-r>9pYp=v=FyvgEv&q;Ev>xQ 5~J5zD'?Q 9~J5zB)z_BYy>?Q I@zGDIz ;iz:zJ5y ɮ @1Q=FNOT Ignoring new targets: 454.57 m.=ո=ոQM ProNav: ac range: 454.570190 m, nav range: 438.688629 m, bearing: 38.762221 deg, approach rate: -0.676557 m/s, LOS rate: -0.005833 deg/s, cmd heading: 39.955053 deg, new cmd heading: 39.948329 deg. zMQUHeadingCmd: 0.697230 target range: 454.570190 and range: 457.50 m.RU}2?JQbYZYBY:Y2YҔaڔaaڒa’aim<%@频ɢ =) ?i)*顙ili}2?Cr:ƃG;I}2?I9@ @@0@AE= E=E9E9"E=2;*E=:VE9ZE9aM@aM@aM@aM@Y2Acoustic response timeoutBB>BBBBBBBR;BE^AU;IIO>ԁ ~L0,@T?A0:>:l,3?:$y(=ٱ:` BAHRS rotation from veh to nav: [[0.764262,-0.641746,-0.063767],[0.643594,0.752665,0.138862],[-0.041120,-0.147167,0.988257]]:H@t?`.SR??@>?` ^¿@̟?i:>I:b;:ݐCY^Byb,I ddf=f=bDjpVDjN4yr %vJ=ٔvcU;Q-v>9tYx=z=FyziEzQ;Ez>YQ 5eJ5]'?Q 9eJ5] =)]_BYiymN>?Q Im@]PDI]:i]:]=J5yuBɮu@}$EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 454.57 m.׸׸Q ProNav: ac range: 454.570190 m, nav range: 438.407410 m, bearing: 38.759761 deg, approach rate: -0.673636 m/s, LOS rate: -0.005895 deg/s, cmd heading: 39.948328 deg, new cmd heading: 39.940945 deg. zwQHeadingCmd: 0.697101 target range: 454.570190 and range: 457.50 m.R6u2?JbZB:2Ҕڔڒ’2Acoustic response timeout &@ Bɢ )=)  3?i)=iwi6u2?e:%Rx;I%6u2?I!I))-hAԑ@ @@@Թ^A_;bE3jEȋ3rE./E]  E] E] #EY "E] y>;*E] :VE] 3ZEY BE] Pu6,7T?A`f>fb3?f?3-=ٱfW nAHRS rotation from veh to nav: [[0.763698,-0.642509,-0.062836],[0.644188,0.752067,0.139344],[-0.042273,-0.146895,0.988248]]fH`6p?@n 1??? u¿ ?if>IfLb;fܐCY By -IiMMb@Mb@Mb@IIII I9MʡE?/$?9yYy==FykE:E>Q 5J5L'?Q 9J57)_BY/?Q E:ygB?Q I@ZDI;iG;J5yɮ@QFNOT Ignoring new targets: 454.57 m.Q ProNav: ac range: 454.570190 m, nav range: 438.104980 m, bearing: 38.756477 deg, approach rate: -0.684062 m/s, LOS rate: -0.007435 deg/s, cmd heading: 39.940945 deg, new cmd heading: 39.931084 deg. zGQHeadingCmd: 0.696929 target range: 454.570190 and range: 457.50 m.Ri2?JbZB:2ҔڔBBڒ’ '@1ɢ5:=)1 5ݹ?i9)=099i=iEi2?E:EՕ;IEi2?II2Acoustic response timeout@ @!@%0@!^A y;I A I! I1 OE >ɕ<,%T?AE EE$E"E1A;*Eg:VE4ZEa@a@a@a@.2Acoustic response timeoutB>B3?B1=ٱBBnA>BlBn,IBnBBlBlBlBnR;BnE zAHRS rotation from veh to nav: [[0.763126,-0.643210,-0.062602],[0.644791,0.751320,0.140578],[-0.043387,-0.147644,0.988088]]BHk?-`!? ?@v? 6¿k?iB>IBb;BݐCYBy,I1bDUyVDU^4yӭ%\=ٔD;Q->9Y==FymEX;E>Q 5J5޾'?Q 9J52)w_BYyB?Q I@bDI;i ;ZJ5yBɮ͟@QFNOT Ignoring new targets: 454.57 m.  Q ProNav: ac range: 454.570190 m, nav range: 437.850891 m, bearing: 38.753686 deg, approach rate: -0.683686 m/s, LOS rate: -0.007514 deg/s, cmd heading: 39.931086 deg, new cmd heading: 39.922708 deg. zQHeadingCmd: 0.696783 target range: 454.570190 and range: 457.50 m.RZ`2?JbZ B : 2 Ҕڔڒ’``(@颵Bɢ2ݫ=) ?i)iMiZ`2?:[;IZ`2?Ia}9@ @@/0@ԑBDAT read: Response Not Received *response not received*DAT read: user:196> %BDAT read: Tx time:21:23:31.2958 -$Ping request sent.- yC,U?AB>B3?B6=ٱBe JAHRS rotation from veh to nav: [[0.762823,-0.643648,-0.061792],[0.645064,0.750919,0.141471],[-0.044657,-0.147777,0.988012]]BH` i?@Ę6\?? ?=ݦ \¿`˝?iB>IB2b;BސCYbByb,IIfR=)f=ԙiMb@Mb@Mb@ 9 rh?V-?~jtxY,?y<ĻX@ p@)$@Y@bDnVDpJ4yX%D=ٔG;Q->9 ?Y  ?= =Fy oE}:E>!Q 55J5%`'?Q 9J5%-)%e_BY,?Q E:yD>?Q I@%kDI%Vmuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248772im>9@ @@f0@^AK;% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500571A- ؟A) I1 II OU >΢I,j(U?AB >Bu3?B@;=ٱB JAHRS rotation from veh to nav: [[0.762383,-0.644205,-0.061415],[0.645499,0.750309,0.142715],[-0.045858,-0.148446,0.987857]]BHpe?Tq`??zD? zIÿ?iB >IBa;@YRpByR,IbD^fVD^;4yf%f`=ٔfX;Q-f>9j"?Yj"?=j=FyjqEn:En>pQ 5vJ5r'?Q 9vJ5r))rV_BYtyvl>?Q Iv@rsDIr:ir:r/J5y|ɮ~{@yQFNOT Ignoring new targets: 454.57 m.5׸5׸Q ProNav: ac range: 454.570190 m, nav range: 437.325623 m, bearing: 38.749061 deg, approach rate: -0.663780 m/s, LOS rate: -0.005880 deg/s, cmd heading: 39.915301 deg, new cmd heading: 39.908825 deg. z QHeadingCmd: 0.696540 target range: 454.570190 and range: 457.50 m.RyP2?JbZB:2Ҕڔڒ’)@Bɢũ=) B?i!)%z!!i%bi-yP2?5_9:5;I5yP2?I99@ @@5@@=@=)EE  EE EE%EA"EEG;*EE:VEE 4ZEAaM@aM@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752638BC>BB,IBBBBBBR;BE^A5[R;YAe .AIi Iy O >ԁ P, EBU?Ar@>r3?rcw@=ٱr%? zAHRS rotation from veh to nav: [[0.762074,-0.644615,-0.060956],[0.645784,0.749861,0.143776],[-0.046972,-0.148932,0.987731]]rHb?5C??@g?@ @7ÿ`~?ir@>Ir-b;rݐCY%kBy%,IbD5aVD524ye|%eA=ٔm\,;Q-m>9m ?Ym ?=u=FyusEu:Eu>Q 5J5Z'?Q 9J5l$)D_BYy>?Q I@|DIB:i:J5yzBɮ@EGSB*** querying acoustic contact ***:Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012771QQFNOT Ignoring new targets: 454.57 m.׸׸Q ProNav: ac range: 454.570190 m, nav range: 437.038666 m, bearing: 38.746502 deg, approach rate: -0.659929 m/s, LOS rate: -0.005889 deg/s, cmd heading: 39.908826 deg, new cmd heading: 39.901144 deg. zVQHeadingCmd: 0.696406 target range: 454.570190 and range: 457.50 m.RG2?JbZB:2Ҕڔڒ’ -*@=Bɢe=)q u?iqԉ)}Td顡i$iG2?L:Q;IG2?Iu9@y @y@}O0@yԩEU  EU EU &EQ "EU C;*EU :VEU 4ZEQ BEQ a] 2EQ a] JEU QeW,[_U?A2=F>23?27D=ٱ23 :AHRS rotation from veh to nav: [[0.762013,-0.644643,-0.061416],[0.645789,0.749487,0.145688],[-0.047887,-0.150678,0.987422]]2H@hb? q@N?? ? iIÿ?i2=F>I27a;2ܐCYBaByB,I DDQiMMb@Mb@Mb@IIII I9MFx?9"?Y"?==FyuE8E>Q 5J5B(?Q 9J5')3_BY+?Q E:y:?Q I@DI3:i:J5yɮ@QFNOT Ignoring new targets: 454.57 m.곸곸Q ProNav: ac range: 454.570190 m, nav range: 436.738281 m, bearing: 38.744418 deg, approach rate: -0.707893 m/s, LOS rate: -0.004915 deg/s, cmd heading: 39.901142 deg, new cmd heading: 39.894885 deg. zWQHeadingCmd: 0.696297 target range: 454.570190 and range: 457.50 m.R@2?JbZB:2ҔڔBڒ’  l+@5Bɢ5Z=)9 = ?i9)=T99iEiE@2?EG4:M];IM@2?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5169259@ @@5@ԁԩ^A%[R;AQ Ia Iq O} >E  E E #E "E ,K;*E j:VE 3ZE a @a @a @a @ } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768671B A <B G>B CB ,IB iBB ^ =B B B R;B 0E],pxU?AV\>V4?V:G=ٱV' ^AHRS rotation from veh to nav: [[0.761867,-0.644813,-0.061433],[0.645892,0.749130,0.147063],[-0.048807,-0.151721,0.987218]]VH@7a?Ot@%? ??`<@kÿ@I?iV\>IV;b;TYfMByf,IbDrlVDrF4yz<ʽ%zT=ٔz;Q-z>9|Y|=~=Fy~wE9E> Q 5 J5 y(?Q 9J5 ) $_BYy:?Q I@ DI 6:i : 3J5y%{Bɮ%Ѣ@!AQMFNOT Ignoring new targets: 454.57 m.M䪸M䪸Qe ProNav: ac range: 454.570190 m, nav range: 436.480591 m, bearing: 38.742622 deg, approach rate: -0.669491 m/s, LOS rate: -0.004669 deg/s, cmd heading: 39.894886 deg, new cmd heading: 39.889494 deg. zeMQmHeadingCmd: 0.696203 target range: 454.570190 and range: 457.50 m.Rm\:2?JibiZiBi:i2iҔqڔqqڒy’yy} v,@颥BɢFE=) ?i)uD顱i*ɉԹi\:2?:W{;I\:2?Im9@q @q@u3@q@y@}hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020531^A0;A) IA IQ Oe >9 sd,U?A:qx>:4?:hbL=ٱ: FAHRS rotation from veh to nav: [[0.761691,-0.645053,-0.061108],[0.646018,0.748786,0.148259],[-0.049878,-0.152405,0.987059]]:H`_?EI .? ? '?@ÿ`?i:qx>I:a;8Y^EBy^,IiuMb@Mb@Mb@qqqq q9utV?MbMbYu2?yuuuX@u5@ uZ@)qqYq@A@AbDgVD=4y%@=ٔ$;Q->9Y==FyyE:E>E E1E(E"EQ;*Ef;VEc44ZEBEť+j,ӈU?ABt|>B4?BgO=ٱBGq RAHRS rotation from veh to nav: [[0.761640,-0.645016,-0.062123],[0.646015,0.748310,0.150656],[-0.050688,-0.154878,0.986632]]BHZ_?@ί'? '?H?@ ÿ ~?iBt|>IBa;BސCYZ-By^k,II8>)bD-kVD-D4y=@%=Q=ٔ=;Q-=>9E ?YE ?=E=FyE{EM8EM>QQ 5]J5U|9(?Q 9]J5U)U_BYYyYQ I]@UDIU;iU<;UWJ5ym}Bɮm@mEQFNOT Ignoring new targets: 454.57 m.iiQ ProNav: ac range: 454.570190 m, nav range: 435.910980 m, bearing: 38.741566 deg, approach rate: -0.697095 m/s, LOS rate: -0.001294 deg/s, cmd heading: 39.887827 deg, new cmd heading: 39.886323 deg. zKcQHeadingCmd: 0.696148 target range: 454.570190 and range: 457.50 m.R62?JbZB:2Ҕڔڒ’.@Bɢ =)  ?i)h"iI+i62?:%;I62?I q9@ @@0@E EE"E"E>T;*E:VE(3ZEa@a@a@a@B-H>B)B-,IB-ABB-] =B)B)B-.S;B-OEBBĝMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776764BBB^ =Cݗ5ԙ%rG9Qc9YA^AP;A ؟AI I O- > q,J_U?AR{>R4=Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028932Y~By~X,IbDtVD{U4y%%%L=ٔ%Q-%>9-"?Y-"?=-=Fy-}E-E5>1Q 5=J55K(?Q 9EJ55k )5^BYAyAQ IE@5DI5a;i5;5J5yMaBɮU'@UEGSmB*** querying acoustic contact ***:iBi!Q%FNOT Ignoring new targets: 454.57 m.5h=hQ] ProNav: ac range: 454.570190 m, nav range: 435.631989 m, bearing: 38.741048 deg, approach rate: -0.696146 m/s, LOS rate: -0.001294 deg/s, cmd heading: 39.886324 deg, new cmd heading: 39.884769 deg. z]JcQeHeadingCmd: 0.696121 target range: 454.570190 and range: 457.50 m.Re42?JabaZiBi:i2iҔiڔqqڒq’yy} .@颭Bɢr=) Ǚ?i)%i<Nji42? f: \!;I42?I@ @@@ E  EE%E"EF;*E:VE 4ZEBE^w,2WU?A6>6 04?6 W=ٱ6 JAHRS rotation from veh to nav: [[0.761292,-0.645472,-0.061649],[0.646264,0.747609,0.153044],[-0.052697,-0.156353,0.986294]]6H\?m2?`j?? ^Ŀ`?i6>I6BBa;6ݐCYRByRJ,Ii-Mb@Mb@Mb@)))) )9-Fx?~jtMbp?Y-+?y-D-;-@-x@ -C@)-;@)Y-@bDEiVDE=A4yUc%UF=ٔU;Q-U>9YYY=]=Fy]E]Y:Ee>aQ 5uJ5ej^(?Q 9uJ5e)e^BYu7,?Q Eu:yu\"?Q Iu@eDIe ;ie. ;epJ5ydBɮ@EQFNOT Ignoring new targets: 454.57 m.88Q ProNav: ac range: 454.570190 m, nav range: 435.355255 m, bearing: 38.742577 deg, approach rate: -0.672151 m/s, LOS rate: 0.003717 deg/s, cmd heading: 39.884770 deg, new cmd heading: 39.889361 deg. zD#9QEHeadingCmd: 0.696201 target range: 454.570190 and range: 457.50 m.RE5:2?JIbIZIBI:I2IҔQڔUBQڒQ’YY]`Y/@Bɢ/ԗ=) 5?i)boi Yi5:2?:c;I5:2?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533283y@y @y@y@yQ^AP;A>A>y E  E ,E "E "E G;*E ;VE (3ZE a @a @a @a @A I I A A B I>B B P,IB BB B B NDB bS;B iEO= >U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784595},U?A0^po>^D4?^\=ٱ^?! fAHRS rotation from veh to nav: [[0.761584,-0.645178,-0.061126],[0.645837,0.747762,0.154098],[-0.053714,-0.156836,0.986163]]^H`^?KK`???W3Ŀ?i^po>I^--a;\YnByn:,IbDzkVDzD4yl%P=ٔ9*;Q- >9 Y = =Fy EKE>Q 5%J5Pp(?Q 9%J5)^BY!y%:"?Q I-@DI@;i<;J5y5gBɮ5@1QQFNOT Ignoring new targets: 454.57 m.ԉ8ԉ8Q ProNav: ac range: 454.570190 m, nav range: 435.091949 m, bearing: 38.744052 deg, approach rate: -0.671834 m/s, LOS rate: 0.003766 deg/s, cmd heading: 39.889360 deg, new cmd heading: 39.893788 deg. ze%9QHeadingCmd: 0.696278 target range: 454.570190 and range: 457.50 m.RE?2?JbZB:2Ҕڔڒ’C0@Bɢ&=) A?i)li'匼iE?2?:;IE?2?Iԑ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036624^A1 A} .AI I O >,V?A\YBy,IbE%4jE%m4rE% 0E  EE#E"EF;*E:VE3ZEBEa2EaJE3checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2886269 ?Y ?==FyEE>Q 5J5(?Q 9J5[)^BY-?Q E:y5?Q I@DI;i;J5yɮb@QFNOT Ignoring new targets: 454.57 m.88Q  ProNav: ac range: 454.570190 m, nav range: 434.783264 m, bearing: 38.746903 deg, approach rate: -0.675954 m/s, LOS rate: 0.006246 deg/s, cmd heading: 39.893786 deg, new cmd heading: 39.902343 deg. z ,9QHeadingCmd: 0.696427 target range: 454.570190 and range: 457.50 m.RI2?JbZB:2ҔڔB!ڒ!’!!-µ0@UBɢUA=)Uޫ ]c?iY)]ǻYYi][SieI2?e*:ee;IeI2?Ii9@ @ @ @ @@iA^AM r; checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541074A A} ؟AI I O >,-V?AYBy%,IbD5lVD5F4yEW4%EV=ٔAQ-E>9M"?YM"?=M=FyMEQEU>YQ 5eJ5](?Q 9eJ5])]^BYayaQ Ie@]DI]:i][:]J5y}iBɮ}@EQFNOT Ignoring new targets: 454.57 m.i8i8Q ProNav: ac range: 454.570190 m, nav range: 434.539581 m, bearing: 38.749156 deg, approach rate: -0.665735 m/s, LOS rate: 0.006158 deg/s, cmd heading: 39.902344 deg, new cmd heading: 39.909107 deg. z?9Q HeadingCmd: 0.696545 target range: 454.570190 and range: 457.50 m.R P2?J b Z B : 2Ҕڔڒ!’!!-@1@mBɢm0=)q u?iq)uqqi}׍i}P2?|:V;IP2?IIE E E%E"EUS;*E:VE 4ZEa@a@a@a@BK>BB$,IBBB\ =BBBS;BE-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7934339@ @@0@@@@@qA iAzA jAԱ I I O >ґ,LGV?A25D>23?2xg=ٱ2" :AHRS rotation from veh to nav: [[0.761678,-0.645181,-0.059896],[0.645486,0.747464,0.156991],[-0.056517,-0.158239,0.985782]]2H@_?Rѧ?8? J?﬿@-AĿ?i25D>I2`;2ߐCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.044670YFދByJ ,ILNAbDRqVDRO4yZN%ZT=ٔ^;Q-^>9\Y`=b=FybEb `Eb>dQ 5jJ5fè(?Q 9jJ5f)f^BYlyn!?Q In@fDIf;if;f_J5ypɮr@tGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 454.57 m.88Q% ProNav: ac range: 454.570190 m, nav range: 434.278809 m, bearing: 38.751580 deg, approach rate: -0.686011 m/s, LOS rate: 0.006382 deg/s, cmd heading: 39.909106 deg, new cmd heading: 39.916384 deg. z-)9Q-HeadingCmd: 0.696672 target range: 454.570190 and range: 457.50 m.R-Y2?J1b1Z1B1:121yҔڔڒ’y1@ Bɢ =) ?i)UwQQiUAi]Y2?]<:e#,;IeY2?Ia 9@  @@/0@ԩIIOf>E E#EE"Ey>;*E;VEZEBEQ6Z3?6l=ٱ6!" >AHRS rotation from veh to nav: [[0.762274,-0.644592,-0.058647],[0.644667,0.748008,0.157763],[-0.057824,-0.158067,0.985734]]6H d? ?@?1?` ;Ŀ!?i6>I6ў`;6ݐCYF֋ByF+IiMb@Mb@Mb@ 9#~j?+η~jt?Y%?yvD<@@ @)@Y@bD-|VD-4d4y=%=B=ٔE|K;Q-E>9AYA=M=FyMEMaEM>QQ 5]J5Ug(?Q 9]J5U)U^BYe'?Q Ee:yeo?Q Ie@UDIU ;iU ;U J5ymlBɮm]@iQFNOT Ignoring new targets: 454.57 m.I19I19Q ProNav: ac range: 454.570190 m, nav range: 434.004761 m, bearing: 38.755656 deg, approach rate: -0.651007 m/s, LOS rate: 0.009687 deg/s, cmd heading: 39.916384 deg, new cmd heading: 39.928617 deg. z9QHeadingCmd: 0.696886 target range: 454.570190 and range: 457.50 m.Rg2?JbZB:2ҔڔۇBڒ’1@颵Bɢ﵏=) *?i)Qd项iig2?}:i;Ig2?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.549818!߼I)hAQ9@ @@/@I I! O5 >B J>B B +IB ыBB ] =B B B S;B zED zD E  E E "E "E P;*E j:VE (3ZE BE <2E <JE L<:E L<E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800629y (,c{V?A2m>2j3?2kYq=ٱ2p" :AHRS rotation from veh to nav: [[0.762629,-0.644251,-0.057776],[0.644150,0.748294,0.158513],[-0.058889,-0.158103,0.985665]]2Htg?͔??@+J?&<Ŀ@?i2m>I2`;2CYBNjByB+IbDJeVDJ94yRݠ%RT=ٔV5;Q-V>9TYT=Z=FyZEZԺEZ>\Q 5bK5^^(?Q 9bK5^\)^^BYdyfF?Q If@^DI^:i^9:^kK5yhɮjT@hyQ}FNOT Ignoring new targets: 454.57 m.4+94+9Q ProNav: ac range: 454.570190 m, nav range: 433.754120 m, bearing: 38.759408 deg, approach rate: -0.624505 m/s, LOS rate: 0.009355 deg/s, cmd heading: 39.928617 deg, new cmd heading: 39.939880 deg. zr9QHeadingCmd: 0.697082 target range: 454.570190 and range: 457.50 m.Rs2?JbZB:2Ҕڔڒ’@@G2@Bɢ &=) ?i)F/iis2?ɫ:_y;Is2?IQe9@a @i@m1@iIIO(>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.052617Ա ,7V?A2>2qR3?2eu=ٱ2:# :AHRS rotation from veh to nav: [[0.763162,-0.643664,-0.057281],[0.643425,0.748666,0.159699],[-0.059908,-0.158732,0.985502]]2H`k?@S? ?q?@8TQĿI2`;2ݐCYBByB+I DDJ=J=i Mb@Mb@Mb@     9 y&1?Zd;Oy&1?Y `%?y j `e< @ @ @)  Y (@bD%rVD%Q4y5?%5B=ٔ=;Q-=>99YA=E=FyEEE EE>IQ 5UK5M(?Q 9UK5M|E  EEE"EE;*E:VEZEa@a@a@a@)M^BY'?Q E:yt?Q I@MDIMjWl,V?A2Ph>2 3?2jz=ٱ2# FAHRS rotation from veh to nav: [[0.763810,-0.642981,-0.056295],[0.642542,0.749226,0.160622],[-0.061099,-0.158857,0.985409]]2H"q?LҬഏ?@?E?aHmUĿy?i2Ph>I2x`;2CYTyTbDffVDf;4ٔvB@;Q-v>9|Y|=~=Fy~E~/E> Q 5K5 (?Q 9K5 ) ^BY!y%-?Q I%@ DI C`;i :; K5y=UBɮ=Q@= EQFNOT Ignoring new targets: 454.57 m.3939Q ProNav: ac range: 454.570190 m, nav range: 433.215332 m, bearing: 38.767478 deg, approach rate: -0.649371 m/s, LOS rate: 0.009786 deg/s, cmd heading: 39.952112 deg, new cmd heading: 39.964102 deg. z9QHeadingCmd: 0.697505 target range: 454.570190 and range: 457.50 m.R2?J b Z B):)21Ҕ1ڔ11ڒ1’99=3@颅Bԩɢ=) :?i)up顱iwi2?}:TA;I2?IBL>E-# E-E-$E)"E-[;*E-:VE-4ZE)BB+IBBB\ =BBBS;B~Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.8091909@ @@5@^Ar;AIIO> ) U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060629U,V?A2$>22?2Z~=ٱ2{$ :AHRS rotation from veh to nav: [[0.764405,-0.642330,-0.055645],[0.641737,0.749697,0.161640],[-0.062109,-0.159268,0.985280]]2H v?@}}???̯bĿ`i?i2$>I28`;2ݐCYBByB+IbDJcVDJ264yR.%R<ٔVb';Q-V>9TYT==FyE E%>!Q 55K5%)?Q 95K5%)%^BY1y5?Q I=@%DI%m ;i%;%= K5yAɮEi@AGS]B*** querying acoustic contact ***:YBYiQmFNOT Ignoring new targets: 454.57 m.uo=9uo=9Q ProNav: ac range: 454.570190 m, nav range: 432.951019 m, bearing: 38.771498 deg, approach rate: -0.680132 m/s, LOS rate: 0.010351 deg/s, cmd heading: 39.964103 deg, new cmd heading: 39.976171 deg. zR9QHeadingCmd: 0.697716 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’a3@Bɢn=) _?i)ii2? :~;I2?I9@ @@1@@R=@=1E= E=E9E9"E=1A;*E=&:VE9ZE9BE=z,V?A 29]>2)2?2+=ٱ2U" >AHRS rotation from veh to nav: [[0.765050,-0.641667,-0.054427],[0.640927,0.750500,0.161128],[-0.062543,-0.158154,0.985432]]2H`I{?ݫ`y??ӟ? e>Ŀ ?i29]>I2`;2ސCYFByF+IIJ<)Jp9Y==FyE!E>Q 5K5)?Q 9K5e)Y$?Q E:yV?Q I@DI:is:K5yXBɮu@QFNOT Ignoring new targets: 454.57 m. |_9 |_9Q ProNav: ac range: 454.570190 m, nav range: 432.683350 m, bearing: 38.776643 deg, approach rate: -0.634880 m/s, LOS rate: 0.012212 deg/s, cmd heading: 39.976172 deg, new cmd heading: 39.991617 deg. z:Q%HeadingCmd: 0.697985 target range: 454.570190 and range: 457.50 m.R%,2?J!b!Z!B!:!2)Ҕ)ڔ-ڇB)ڒ1’11=[3@eBɢe ߐ=)a ew?ia)m<=:iiimiu,2?u:uv:Iu,2?Iy%==checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565097q@ @@0@ԡ^A0::  Wm> CDI zDM @AEU  EU EU #EQ "EU [I;*EU :VEU 3ZEQ a] @a] @a] @a] @  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817490 A .A w9 Y cABq Bq Bu +IBu BBq Bq Bq Bu S;Bu |EBɴCBɴCBB\ =B] =C/4I! I1 OE >+,hV?A2P9>24s2?2AЁ=ٱ2 B# :AHRS rotation from veh to nav: [[0.765186,-0.641543,-0.053967],[0.640685,0.750547,0.161872],[-0.063343,-0.158438,0.985335]]2H`h|? }?`z?9? @7`GĿ ݇?i2P9>I2_;0LYRByR+IbDZpVDZN4yb.<%fR=ٔf ;Q-f>9j ?Yj ?=j=FyjEj?En>1Q 5=K55-)?Q 9EK55)5^BYAyEE?Q IE@5DI5;i5 ;5LK5yIɮM@@QqQuFNOT Ignoring new targets: 454.57 m.}_9}_9Q ProNav: ac range: 454.570190 m, nav range: 432.438568 m, bearing: 38.781362 deg, approach rate: -0.634123 m/s, LOS rate: 0.012231 deg/s, cmd heading: 39.991618 deg, new cmd heading: 40.005782 deg. zN:QHeadingCmd: 0.698233 target range: 454.570190 and range: 457.50 m.R`2?JbZB:2Ҕڔڒ’$O4@BɢC=) ۄ?i):i"Ei`2?:g:I`2?I@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068598^Aq:A- ؟A9 I I O >,CW?A20>22?2ă=ٱ2)$ :AHRS rotation from veh to nav: [[0.766005,-0.640571,-0.053907],[0.639611,0.751092,0.163579],[-0.064295,-0.159782,0.985056]]2H?@w??+?u sĿ?i20>I2Xl_;2CYBByB+IE EE%E"EO;*E]:VE 4ZEBE49"?Y"?==FyEWHE> Q 5 K5 @)?Q 9K5 ?) ^BY5D!?Q E5:y5?Q I=@ DI ;i ; K5yE[BɮE@EEQFNOT Ignoring new targets: 454.57 m.!9!9Q ProNav: ac range: 454.570190 m, nav range: 432.168549 m, bearing: 38.785245 deg, approach rate: -0.614698 m/s, LOS rate: 0.008847 deg/s, cmd heading: 40.005784 deg, new cmd heading: 40.017442 deg. zG9QHeadingCmd: 0.698436 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕ ڔ B ڒ1’1154@颽BɢAv=) ?i)";i2ji2?]:8CI2?I)A@A @A@E0@A@MiA@MiAY5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573289^AM 9ԑ A I I O >,%1W?Ab>b1?be=ٱb<$ jAHRS rotation from veh to nav: [[0.766617,-0.639902,-0.053144],[0.638771,0.751597,0.164541],[-0.065348,-0.160087,0.984937]]bH?z5@p? ??@}Ŀ?ib>Ib^;bߐCYrByr+I ttbDzqVDzO4y,=% X=ٔ v6;Q- >9 Y==FyE5E>!Q 5%K5%Q)?Q 9-K5%)%^BY)y-[?Q I-@% DI%9:i%R:%WK5y=^Bɮ=@=EYaQeFNOT Ignoring new targets: 454.57 m.m*9m*9Q} ProNav: ac range: 454.570190 m, nav range: 431.933899 m, bearing: 38.788657 deg, approach rate: -0.639082 m/s, LOS rate: 0.009295 deg/s, cmd heading: 40.017443 deg, new cmd heading: 40.027682 deg. z}"9QHeadingCmd: 0.698615 target range: 454.570190 and range: 457.50 m.Rl2?JbZB:2Ҕڔڒ’5@Bɢ}=) ?i)mQ;i3͐iUl2?Uz):UIUl2?IYIa)aBP>BCB+IBBBBBBS;BE@ @@@E  E *E $E "E P;*E ;VE 4ZE BE <2E <JE ]<:E ]<checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825217ԑԱ^AΒ{AA IY Ii O} > = checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076617Y,JW?A2.>2#1?20=ٱ2% :AHRS rotation from veh to nav: [[0.767028,-0.639452,-0.052620],[0.638214,0.751962,0.165033],[-0.065963,-0.160168,0.984883]]2H}?ev @l???@ⰿbĿ *?i2.>I2ng^;2ސCYBByB+IbDJfVDJ;4yR<%VQ=ٔV`:Q-V>9XYX=Z=FyZEZEZ>\Q 5bK5^!c)?Q 9fK5^l)^^BYdyf.?Q If@^(DI^N:i^:^K5yhɮjD@lGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 454.57 m. (9 (9Q ProNav: ac range: 454.570190 m, nav range: 431.688934 m, bearing: 38.792244 deg, approach rate: -0.626490 m/s, LOS rate: 0.009180 deg/s, cmd heading: 40.027682 deg, new cmd heading: 40.038450 deg. Թz9QHeadingCmd: 0.698803 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’ 5@EBɢE*=)I M?iI)M;IIiUi2?:nI2?I9@ @@@bEjE3rET/E EE#E"EO;*E:VE3ZEa-@a-@a-@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328762^A [RӺA9 A II IY Om >,AdW?A24H>2z1?2؇=ٱ2W# :AHRS rotation from veh to nav: [[0.767464,-0.639046,-0.051173],[0.637656,0.752662,0.163993],[-0.066283,-0.158490,0.985133]]2H?`s i3@g?? ?cIĿ@6?i24H>I2^;2ېCYBByB+Ii=Mb@Mb@Mb@9999 99=Cl? rhy&1?Y=d?y=C=`<=1@=@ =@)="@9Y=@bDUjVDUC4ye%e?=ٔmMD:Q-m>9iYi=u=FyuEuٺEu>yQ 5K5}uu)?Q 9K5})}^BY?Q E:y/?Q I@}0DI}:i}Q:}!K5yDBɮ/@EQFNOT Ignoring new targets: 454.57 m.99Q ProNav: ac range: 454.570190 m, nav range: 431.428040 m, bearing: 38.795249 deg, approach rate: -0.609573 m/s, LOS rate: 0.007025 deg/s, cmd heading: 40.038449 deg, new cmd heading: 40.047469 deg. zG9QHeadingCmd: 0.698960 target range: 454.570190 and range: 457.50 m.R2?JbZB:2ҔڔBڒ’ :5@%Bɢ%J=)! -Ɔ?i))-;))i-ki52?5:=r1II=2?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5810509@ @@0@@=@=A^A5 7qB A <B R>B B B B [ =B B B nS;B vEE-  E- E- %E) "E- ,K;*E- :VE- 4ZE) BE- Iԙ Y,ް~W?AY~By~+IbDdVD 84y% <%%O=ٔ%Q-%>9)Y)=-=Fy-E-E5>1Q 5EK55])?Q 9EK55 )5^BYAyAQ IE@58DI5m ;i5X;5$K5yQɮUڨ@QqQ}FNOT Ignoring new targets: 454.57 m.99Q ProNav: ac range: 454.570190 m, nav range: 431.187439 m, bearing: 38.798023 deg, approach rate: -0.609297 m/s, LOS rate: 0.007030 deg/s, cmd heading: 40.047469 deg, new cmd heading: 40.055797 deg. zc9QHeadingCmd: 0.699106 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’@xT6@q}Bɢ}=) Ȉ?i)3;顁i͑i2?: KI2?Ix>i>@ @@0@ԡ ,W?A2G>20O1?2X=ٱ2! :AHRS rotation from veh to nav: [[0.767842,-0.638764,-0.048989],[0.637110,0.753359,0.162914],[-0.067157,-0.156303,0.985423]]2H(?p`@4c??]?`:1@Ŀ?i2G>I2];2ݐCYfByf+IEr ErEpEp"Er[I;*Er:VEpZEpav@av@av@az@e2Acoustic response timeoutiuMb@Mb@Mb@qqqq q9uMb?Q{Gz?Yu ?yuuף9 ?Y ?==FyEκE>Q 5K5 )?Q 9K5)^BY ?Q E:y&?Q I@ADI ;i ;(K5yGBɮ@EQFNOT Ignoring new targets: 454.57 m.#8#8Q  ProNav: ac range: 454.570190 m, nav range: 430.923889 m, bearing: 38.798962 deg, approach rate: -0.627517 m/s, LOS rate: 0.002237 deg/s, cmd heading: 40.055798 deg, new cmd heading: 40.058616 deg. z ~8QHeadingCmd: 0.699155 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕ!ڔ%B!ڒ!’!)-ݿ6@BɢF=) ?i)39;i'i2? Q ,W?A2>2:1?2=ٱ2!! :AHRS rotation from veh to nav: [[0.768006,-0.638603,-0.048501],[0.636846,0.753486,0.163357],[-0.067775,-0.156347,0.985374]]2H?oo/ը a?@??`Y/Ŀ@/?i2>I22u];2ސCYBByF+IbDNqVDNO4yVa;%VY=ٔVV:Q-V>9XYX=Z=FyZEZVE^>`Q 5fK5b)?Q 9fK5b)b^BYdyfl&?Q If@bHDIb):ib:b+K5yhɮn@lQFNOT Ignoring new targets: 454.57 m. %8 %8Q ProNav: ac range: 454.570190 m, nav range: 430.687225 m, bearing: 38.799816 deg, approach rate: -0.627461 m/s, LOS rate: 0.002265 deg/s, cmd heading: 40.058616 deg, new cmd heading: 40.061178 deg. z8Q%HeadingCmd: 0.699199 target range: 454.570190 and range: 457.50 m.R%2?J!b!Z!B!:)2)Ҕ)ڔ))ڒ1’115` 7@eBɢer]=)a e?ia)my;iiim]iu2?u:uIu2?IB=U>B=CB9B9B=Z =B9B=ODB=fS;B=sEe9@a @a@ek2@a@i@iE  EE#E"EF;*E :VE3ZEBE^ 2Acoustic response timeout,W?A 2>2 :1?2=ٱ2H! >AHRS rotation from veh to nav: [[0.767988,-0.638660,-0.048032],[0.636813,0.753464,0.163590],[-0.068289,-0.156223,0.985358]]2H[? o``?_?`?_{ÿ@?i2>I2D];2ܐCYFByF+IJ=J=bDNcVDN264yV%VJ=ٔZӦ:Q-Z>9XYX=^=Fy^E. E>!Q 5-K5%w)?Q 9-K5%)%^BY1y5j&?Q I5@%PDI%:i%p:%/K5y=JBɮ=@EEGS]B*** querying acoustic contact ***:YBYaQmFNOT Ignoring new targets: 454.57 m.m &8m &8Q} ProNav: ac range: 454.570190 m, nav range: 430.425812 m, bearing: 38.800761 deg, approach rate: -0.627126 m/s, LOS rate: 0.002268 deg/s, cmd heading: 40.061177 deg, new cmd heading: 40.064013 deg. z?8QHeadingCmd: 0.699249 target range: 454.570190 and range: 457.50 m.R3?JbZB:2Ҕڔڒ’@&7@Bɢ==) }?i) <i i3?ep:CI3?Iq9@ @@5@ԙE EE$E"EO;*E:VE4ZEa@a@a@a@]2Acoustic response timeout^AoMAzAgA A ؟AI I O %,^W?A2p>2DZ1?25=ٱ2 :AHRS rotation from veh to nav: [[0.767657,-0.639088,-0.047639],[0.637175,0.753169,0.163536],[-0.068634,-0.155894,0.985386]]2H? isdc???`Rÿ@I?i2p>I2];2ݐCYBByB+IPiMb@Mb@Mb@ 9 rh?{Gzt?Mb`?YC+?yף;;|@C@ $@)A@Y=@bD-oVD-HL4y5@Z<%=B=ٔIP:Q->9"?Y"?==FyEL:E>Q 5K5)?Q 9K5!)s^BYE+?Q E:y]3?Q I@YDI:iv:@3K5yɮ@QFNOT Ignoring new targets: 454.57 m.Q ProNav: ac range: 454.570190 m, nav range: 430.143341 m, bearing: 38.799880 deg, approach rate: -0.667787 m/s, LOS rate: -0.002085 deg/s, cmd heading: 40.064015 deg, new cmd heading: 40.061370 deg. zQHeadingCmd: 0.699203 target range: 454.570190 and range: 457.50 m.R2?JbZB!:!2!Ҕ!ڔ-FB)ڒ)’))5 c7@]Bɢ]Bì=)a e?ia)e<3B1 B5 +IB5 BB5 Y =B1 B1 B5 S;B5 ED zD E  E E #E "E C;*E 4:VE 3ZE BE < ,9X?A6p>6Ў1?6=ٱ6J >AHRS rotation from veh to nav: [[0.767137,-0.639728,-0.047415],[0.637784,0.752701,0.163317],[-0.068789,-0.155527,0.985434]]6Hc? xFh? ??)@Rÿ?i6p>I6 ];4YbByb+IbDjmVDjH4yr{%rP=ٔv9Q-v>9tYt=z=FyzEzd ;Ez>|Q 5 K5)?Q 9 K5Ҷ)a^BY y3?Q I@bDI:i-:6K5yMBɮD@AQEFNOT Ignoring new targets: 454.57 m.MMQ] ProNav: ac range: 454.570190 m, nav range: 429.889465 m, bearing: 38.799060 deg, approach rate: -0.667509 m/s, LOS rate: -0.002158 deg/s, cmd heading: 40.061368 deg, new cmd heading: 40.058906 deg. z]QeHeadingCmd: 0.699160 target range: 454.570190 and range: 457.50 m.Re#2?JabaZaBa:i2iҔiڔiqڒq’qquX8@颥Bɢ%ж=) ?i)&<顩iJi#2?p:p9I#2?Iq@q @q@u3@q@y@}=12Acoustic response timeoutY^AA I I ԉ O >7,X?A2">21?2B=ٱ2 :AHRS rotation from veh to nav: [[0.766263,-0.640799,-0.047089],[0.638820,0.751932,0.162809],[-0.068920,-0.154836,0.985533]]2H :?@m 6q??? ÿ@}?i2">I2\;2ܐCYBByB+IER  EPER'EP"ERE;*EPVER'4ZEPaZ@aZ@aZ@aZ@5BDAT read: Response Not Received 5*response not received5*DAT read: user:197> =BDAT read: Tx time:21:23:43.7458 E$Ping request sent.E9Y==FyEZ>;E>IQ 5UK5MR)?Q 9UK5Mq)MK^BY](?Q E]:y]:?Q I]@MkDIMX:iM:M:K5yaɮeK@iQFNOT Ignoring new targets: 454.57 m.ʟʟQ ProNav: ac range: 454.570190 m, nav range: 429.582794 m, bearing: 38.796952 deg, approach rate: -0.634612 m/s, LOS rate: -0.004366 deg/s, cmd heading: 40.058906 deg, new cmd heading: 40.052577 deg. z?QHeadingCmd: 0.699049 target range: 454.570190 and range: 457.50 m.R2?JbZB:2ҔڔWBڒ’@g8@mBɢm=)i m?iq)u8A > I I O >B ,74X?A2%>2<2?2N=ٱ2mQ :AHRS rotation from veh to nav: [[0.765435,-0.641786,-0.047121],[0.639809,0.751141,0.162574],[-0.068943,-0.154588,0.985570]]2Hq~?@@ Qy?Y ?:?Bÿ ˉ?i2%>I2T\;2ߐCYBByB+IbDLVDLyRݝ%Vo=ٔV|8Q-V?9XYX=Z=FyZE^w;E^?`Q 5bK5bs)?Q 9fK5b)b;^BYdyf:?Q If@bsDIbA;ib;b=K5yn4Bɮn@nE|QFNOT Ignoring new targets: 454.57 m.@@Q ProNav: ac range: 454.570190 m, nav range: 429.358093 m, bearing: 38.795366 deg, approach rate: -0.689889 m/s, LOS rate: -0.004870 deg/s, cmd heading: 40.052578 deg, new cmd heading: 40.047819 deg. zUQHeadingCmd: 0.698966 target range: 454.570190 and range: 457.50 m.R%u2?J!b!Z!B!:!2!Ҕ)ڔ))ڒ1’115'9@]~BɢeP=)a e-?ia)etDBB+IBBBBBBS;BEB]¶CB]µCBYB]Z =B]Z =C]w5؀G%n9!Y%[AEm Em*Em&Ei"EmO;*Em;VEm4ZEiBEm41  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752158i,#NNX?AF\>Fބ2?FBi=ٱF/ RAHRS rotation from veh to nav: [[0.764727,-0.642671,-0.046552],[0.640651,0.750608,0.161725],[-0.068994,-0.153499,0.985737]]FHx? Ð է5?`?f? ڥÿ(?iF\>IFt\;FݐCYZByZ+IbDbeVDb94yj>%jH=ٔj9Q-j>9lYl=n=FynEr1;Er>tQ 5zK5vH*?Q 9zK5vȨ)v(^BY|y);?Q I@v{DIvd;ivf;v5AK5yɮ@!GSUB*** querying acoustic contact ***:QBQaQmFNOT Ignoring new targets: 454.57 m.}A}AQ ProNav: ac range: 454.570190 m, nav range: 429.090179 m, bearing: 38.793434 deg, approach rate: -0.644585 m/s, LOS rate: -0.004651 deg/s, cmd heading: 40.047820 deg, new cmd heading: 40.042020 deg. zNLQHeadingCmd: 0.698865 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’9@zBɢH.=) ?i)T<i_pi2?L:W9I2?Iq@y @y@0@QE EE#E"EsH;*E:VE3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004136^Am9qIIO>ԙ G,g)hX?A2r>2F2?2r=ٱ2 :AHRS rotation from veh to nav: [[0.763900,-0.643669,-0.046332],[0.641634,0.749881,0.161194],[-0.069012,-0.152864,0.985835]]2Hq?ٸ`D?@?`?Īÿ?i2r>I2\;0YRByR+Ii%Mb@Mb@Mb@!!!! !9%L7A`?L7A`?{GztY%+'?y%+=%ף%@%h@ %`@)%|@!Y%@bDuVDRW4yP%==ٔ38Q->9Y==FyE\C;E>Q 5K5*?Q 9K5)^BYb'?Q E:y]??Q I@DI;iL ;DK5y6Bɮ@EQ FNOT Ignoring new targets: 454.57 m. bbQ- ProNav: ac range: 454.570190 m, nav range: 428.809387 m, bearing: 38.790788 deg, approach rate: -0.661614 m/s, LOS rate: -0.006240 deg/s, cmd heading: 40.042022 deg, new cmd heading: 40.034077 deg. z-Q5HeadingCmd: 0.698726 target range: 454.570190 and range: 457.50 m.R52?J9b9Z9B9:92AҔAڔEPBIڒI’Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256596aeT:@q颵wBɢ=) ?i);b<ii2?:mr:Im2?IqY>i>@ @@ @ ԡBA<BY>BB+IBBBBBBS;BE^A) A1 zA5 dAE  E E 'E "E V;*E :VE '4ZE BE y- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512149 { ,X?A2>2UD3?2=ٱ2 :AHRS rotation from veh to nav: [[0.762863,-0.644854,-0.046953],[0.642891,0.748804,0.161193],[-0.068787,-0.153154,0.985805]]2H^i?= ?4?? ÿ?i2>I2"\;2ސCYNByR+IbDZiVDZ=A4yvq%vX=ٔvQ-v>9xYx=z=FyzEz^;E~>Q 5K5.*?Q 9 K5T)]BY y ??Q I @DI:i:KHK5yɮR@9QEFNOT Ignoring new targets: 454.57 m.EEQU ProNav: ac range: 454.570190 m, nav range: 428.563171 m, bearing: 38.788411 deg, approach rate: -0.650054 m/s, LOS rate: -0.006280 deg/s, cmd heading: 40.034078 deg, new cmd heading: 40.026943 deg. z艹QHeadingCmd: 0.698602 target range: 454.570190 and range: 457.50 m.R2?JbZB:2Ҕڔڒ’c:@]sBɢ]y=)Y eg?ia)emoQ A&,X?AbEM 4jEM( 4rEM/E"  E"E"%E "E"E;*E"A:VE" 4ZE a*@a*@a*@a*@Z$>Z3?Z=ٱZN2 fAHRS rotation from veh to nav: [[0.762045,-0.645822,-0.046912],[0.643881,0.748093,0.160547],[-0.068590,-0.152550,0.985913]]ZH b??_?ʌ?ÿ?iZ$>IZ\;ZCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016109YrByr+IimMb@Mb@Mb@iiii i9m rh?~jt?:vYm,?ym9Y==FyEE;E>Q 5K5@*?Q 9K5I)]BY,?Q E:y;?Q I@DI; ;i;LK5y9Bɮ@QFNOT Ignoring new targets: 454.57 m.ȺȺQ ProNav: ac range: 454.570190 m, nav range: 428.277405 m, bearing: 38.786233 deg, approach rate: -0.669379 m/s, LOS rate: -0.005103 deg/s, cmd heading: 40.026944 deg, new cmd heading: 40.020408 deg. z#`QHeadingCmd: 0.698488 target range: 454.570190 and range: 457.50 m.R2?JbZB:2ҔڔVBڒ’R:@)oBɢK:=) ?i)֗~<idi2?:;I2?I!@ @@0@@=@=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268779ԁ ^A yb];A .AԱ I I O >2-,߶X?A6>6{3?6lh=ٱ6V >AHRS rotation from veh to nav: [[0.761452,-0.646525,-0.046867],[0.644592,0.747565,0.160150],[-0.068505,-0.152156,0.985980]]6H]?U? ??yÿ%?i6>I6\;6ސCYrvByv+IIz?>)zp>bD~zVD~`4y "<%J=ٔ\Q->9 ?Y ?==FyE;E>!Q 5-K5%Q*?Q 95K5%)%]BY1y5 > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7724033,ƣX?A@rr>r4?rI=ٱrD zAHRS rotation from veh to nav: [[0.760828,-0.647195,-0.047745],[0.645386,0.746889,0.160105],[-0.067959,-0.152626,0.985945]]rH X?ӵr ?@?`Q~?e@@ÿی?irr>IrH\;rܐCYcByr+IbDoVDHL4y%%-I=ٔ-Q-->9-"?Y5"?=5=Fy5E5j#;E=>9Q 5EK5=b*?Q 9MK5=)=]BYIyM`h:,_X?AV`>V=54?VJɊ=ٱV;d fAHRS rotation from veh to nav: [[0.760550,-0.647497,-0.048078],[0.645739,0.746603,0.160017],[-0.067715,-0.152747,0.985943]]VH mV? K@?`,?m{?@U4ÿ׌?iV`>IV)\;TYnRByn]+I~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276616iMb@Mb@Mb@ 9B`"?Mbp?~jtxY.?y;Ļ @)Y\@bDaVD24y%5=ٔ5Q->9Y==FyE:E>Q 5K5}v*?Q 9K5m)]BY.?Q E:yY5?Q I@DI};i1; WK5y#Bɮ@EQFNOT Ignoring new targets: 454.57 m.JJ!QM ProNav: ac range: 454.570190 m, nav range: 427.427124 m, bearing: 38.780685 deg, approach rate: -0.655417 m/s, LOS rate: -0.002769 deg/s, cmd heading: 40.007642 deg, new cmd heading: 40.003750 deg. zMGQUHeadingCmd: 0.698197 target range: 454.570190 and range: 457.50 m.RU 2?JQbQZQBQ:Q2YҔYڔ].Bڒ’ <@cBɢ==) %w?i!)%BBc+IBWBBBBBS;BEE  E "E &E "E US;*E ;VE 4ZE BE V=A,Y?A2,>2F4?2y=ٱ2:g NAHRS rotation from veh to nav: [[0.760386,-0.647677,-0.048243],[0.645947,0.746444,0.159915],[-0.067563,-0.152760,0.985951]]2HU?Ĺ>`??x?Kÿ?i2,>I2\;2ސCYR;ByR@+I XXbD^}VD^ f4yf%fS=ٔj*ιQ-j>9hYl=n=FynEn3:En>pQ 5vK5rV*?Q 9vK5r)r~]BYxyzj5?Q Iz@rDIr;ir;rjZK5y|ɮ~|@|!Q%FNOT Ignoring new targets: 454.57 m.-h-hQ= ProNav: ac range: 454.570190 m, nav range: 427.163910 m, bearing: 38.779563 deg, approach rate: -0.745911 m/s, LOS rate: -0.003182 deg/s, cmd heading: 40.003749 deg, new cmd heading: 40.000380 deg. z= QEHeadingCmd: 0.698138 target range: 454.570190 and range: 457.50 m.RE22?JAbAZABI:I2IҔQڔQQڒQ’QY]r<@颅_Bɢ>=) m?i)-<顉iΘi22?}:;I22?II)!E9@A @A@E0@ABDAT read: Rx Time:21:23:46.7488 TRx dataTimestamp_ set to:1761513828.228894checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781731I^Aiԉ A I I O >E  E #E (E "E [I;*E ;VE c44ZE a @a @a @a @U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032124G,l Y?A0D>x4?I=ٱG- AHRS rotation from veh to nav: [[0.759921,-0.648192,-0.048657],[0.646555,0.746040,0.159343],[-0.066985,-0.152548,0.986023]]H EQ?`騿?? Ze?%@ÿ?iD>I\;Y3By7+IiMb@Mb@Mb@ 9> ףp=?S㥛9Y==FyE :E>Q 5K5*?Q 9K5)e]BY2?Q E:y*?Q I@DIH:i:{^K5y%Bɮ!@ԁQFNOT Ignoring new targets: 454.57 m.C7C7Q ProNav: ac range: 454.570190 m, nav range: 426.841125 m, bearing: 38.780098 deg, approach rate: -0.659697 m/s, LOS rate: 0.001095 deg/s, cmd heading: 40.000381 deg, new cmd heading: 40.001988 deg. zQ@8QHeadingCmd: 0.698166 target range: 454.570190 and range: 457.50 m.R2?JbZ B : 2 Ҕڔ$Bڒ’<@ZBɢBk=) vl?i)Š<i^%i2?N:*;I2?I!DAT read: 21:23:46.7488 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 320,-0.26, 1.893, 0.391, 2.102, 1.646, PHS= 0.350,-1.210, 0.413, RAW= 152.0, 5.7, CAL= 151.2, 5.8, ROT= 358.8, -5.8 Ygot valid direction response: 21:23:46.7488 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 320,-0.26, 1.893, 0.391, 2.102, 1.646, PHS= 0.350,-1.210, 0.413, RAW= 152.0, 5.7, CAL= 151.2, 5.8, ROT= 358.8, -5.8 PDAT read: Bearing 192.1, -6.0 (Local) ~Local bearing/azimuth received: Bearing 192.1, -6.0 (Local) DAT read: Range 11 to 50 : 449.1 m (Round-trip 598.8 ms) speed 0.6 m/s  *DAT read: user:198> BDAT read: Tx time:21:23:47.8458 $Ping request sent.iHᚿt>)@%=[(@ 4Q=U9@Q @Y@]0@Yy)Hd@I4QϽ\ ?8v?Gj_5H? c?)5ʽIi4QϽ:publishing transmit ping timeFpublishing direction and range infoyh{F?3-U+hg޹?Y )Ii )I\ ?8v?Gj_5H?@@@%@% )Iiy Bu [>Bq Bu 1+IBu .BBu X =Bq Bq Bu T;Bu Eԩ E  E E #E "E I@;*E x:VE 3ZE BE N,σ>Y?A6s>6p4?6G=ٱ6^: BAHRS rotation from veh to nav: [[0.759728,-0.648368,-0.049329],[0.646862,0.745876,0.158867],[-0.066211,-0.152605,0.986067]]6H O?mA`?`7?`U?;`ÿ܍?i6s>I6ʶ\;6CYFByF+IbDR~VDRg4yZE%ZM=ٔZQ-^>9^ ?Y^ ?=^=Fy^EbFl:Eb>dQ 5jK5f*?Q 9jK5f3})fQ]BYhyn5*?Q In@fDIfe ;if ;faK5ypɮr@pJ R g.Y?A C C ?3? %C:{@"3y"QldF@ h{F?3-U+hg޹?  4QϽ— -bjPu@kH q@'x0@ !Lt?<??j Cr CZ 9p?b y^z B   ڗ HC E-?Q addTargetRange:: Added new target pos. range: 449.100006 m, deltaT: 29.027361 s, deltaX: -8.399994 m, approachRate: -0.289382 m/s, rangeRepo size: 4 Q Added new target pos. range: 446.254364 m, bearing: 40.117984 deg, lat: 36.779207 deg, lon: -121.859103 deg, deltaT: 29.027361 s, deltaX: -8.315826 m, approachRate: -0.286482 m/s, posRepo size: 4 QFNOT Ignoring new targets: 446.25 m.Q- ProNav: ac range: 446.254364 m, nav range: 426.564667 m, bearing: 38.780544 deg, approach rate: 0.000000 m/s, LOS rate: 0.001095 deg/s, cmd heading: 40.001986 deg, new cmd heading: 40.003304 deg. zIQUHeadingCmd: 0.698189 target range: 446.254364 and range: 449.10 m.RU2?JQbQZQBQ:Q2YҔYڔYYڒa’ae|@eh?ԩVBɢ<ԧ=) hb?i)<ii2?:*;I2?IA@ @@?0@A-؟AI1IAOUu> ) CU,YXY?A^^R>^4?^B=ٱ^ ~AHRS rotation from veh to nav: [[0.759908,-0.648152,-0.049393],[0.646681,0.746101,0.158545],[-0.065909,-0.152421,0.986116]]^H)Q?J??2K? f߰ÿ B?i^^R>I^\;^ސCY- By5+II]<)]=bD^VD,4y{%;=ٔ(5Q->9"?Y"?==FyEE>Q 5K5T*?Q 9K5x)9]BYy$*?Q I@DI:i :eK5y(Bɮӱ@EE EE$E"EUS;*E:VE4ZEa@a@a@a@GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 446.25 m. 7 7iIIMAMT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Q ProNav: ac range: 446.254364 m, nav range: 426.244446 m, bearing: 38.781071 deg, approach rate: -0.720691 m/s, LOS rate: 0.001189 deg/s, cmd heading: 40.003305 deg, new cmd heading: 40.004889 deg. zP8QHeadingCmd: 0.698217 target range: 446.254364 and range: 449.10 m.RZ2?JbZB:2Ҕڔڒ’??QBɢ=) \?i)<i'뙼ieZ2?e!o:eБ;ImZ2?Iiux>iu>9@ @@K0@1AIIO>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996203\,GvrY?AYBy*IiMb@Mb@Mb@ 9q= ףp?)\(MbP?Y+?yGa:@ @)@Y@bD}VD f4y%E=ٔQ->9Y==FyEE>Q 5 K5?*?Q 9 K5s)+]BY,?Q E:y?Q I@DI ;iX ;hiK5y+Bɮ-@!AQEFNOT Ignoring new targets: 446.25 m.M8M8Q] ProNav: ac range: 446.254364 m, nav range: 425.982727 m, bearing: 38.782926 deg, approach rate: -0.686326 m/s, LOS rate: 0.004867 deg/s, cmd heading: 40.004889 deg, new cmd heading: 40.010457 deg. z]U9QeHeadingCmd: 0.698314 target range: 446.254364 and range: 449.10 m.Re2?JabaZiBi:i2iҔqڔuBqڒq’yy}2?颥MBɢpE=) iU?i)R<顩i=Si2?e:5;I2?I 5m>=CqGjAB1B1B5*IB5BB1B1B1B5 T;B5EBBĶCBBY =BY =C04U9UjAYUA]9@a @a@e5@aDzDE E!E(E"E,K;*E:VEc44ZEBEI b,Y?AlYrByr*IbDz|VDz4d4y=%=Y=ٔAQ-E>9AYA=M=FyMEIEM>QQ 5]K5U*?Q 9]K5Up)U]BYayaQ Ie@UDIU;iU;UlK5yiɮm@iQFNOT Ignoring new targets: 446.25 m.I8I8Q ProNav: ac range: 446.254364 m, nav range: 425.730286 m, bearing: 38.784717 deg, approach rate: -0.670761 m/s, LOS rate: 0.004762 deg/s, cmd heading: 40.010456 deg, new cmd heading: 40.015832 deg. z$Q9QHeadingCmd: 0.698408 target range: 446.254364 and range: 449.10 m.R2?Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500264bZB:2Ҕڔڒ’K>?IBɢ%8==)! -O?i))-b<11i"i2?;:;I2?I9@ @@4@9^AX;AgAzAgAE EE%E"EM;*E:VE 4ZEa@a@a@a@u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752229a A I I O >i,ۥY?A2u>2^4?2=ٱ27& :AHRS rotation from veh to nav: [[0.761044,-0.646775,-0.049934],[0.645442,0.747270,0.158088],[-0.064933,-0.152542,0.986162]]2HyZ?a u??<I2I\;0Y^Byb*I ``f=f=9iuMb@Mb@Mb@qqqq q9uK7?/${Gz?YuI,?yuu#9Y==FyEՁE>Q 5K5*?Q 9K5k)]BY-?Q E:y 9?Q I @DI:i:ipK5yBɮ@E9Q=FNOT Ignoring new targets: 446.25 m.E9E9QU ProNav: ac range: 446.254364 m, nav range: 425.443237 m, bearing: 38.788363 deg, approach rate: -0.674646 m/s, LOS rate: 0.008575 deg/s, cmd heading: 40.015831 deg, new cmd heading: 40.026777 deg. zUS9Q]HeadingCmd: 0.698599 target range: 446.254364 and range: 449.10 m.R]c2?JYbYZYBY:a2aҔaڔe Biڒi’iiu?额DBɢjK=) DQ?i)<顡iic2?:';Ic2?IM9@Q @Q@U3@Qqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004861ԑ^A[R;BM \>BI BM *IBM ݊BBI BI BI BM S;BM EA I I O D %=D a=E  E "E E "E W;*E ;VE ZE BE B63?6=ٱ6 BAHRS rotation from veh to nav: [[0.761290,-0.646481,-0.049987],[0.645177,0.747549,0.157854],[-0.064682,-0.152423,0.986197]]6H}\?㗩 J? ?4? ÿ?i65F>I6y\;6ݐCYJ؊ByJ*IbDRVDR}4yZG%Z`=ٔZ4Q-^>9Y==FyE _}E >Q 5K5 +?Q 9=K5>h) ]BY9y=!?Q IE@DI;i;sK5yIɮM@IQFNOT Ignoring new targets: 446.25 m.ԙ99Q ProNav: ac range: 446.254364 m, nav range: 425.190643 m, bearing: 38.791588 deg, approach rate: -0.660878 m/s, LOS rate: 0.008442 deg/s, cmd heading: 40.026777 deg, new cmd heading: 40.036457 deg. zh9QHeadingCmd: 0.698768 target range: 446.254364 and range: 449.10 m.Rv2?JbZB:2Ҕڔڒ’@M@BɢU\=)q  L?i)<顙iviv2?:[g;Iv2?Im9@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509334^AU;A I I O > v,Y?AFF>F03?FB=ٱF@' RAHRS rotation from veh to nav: [[0.761873,-0.645839,-0.049409],[0.644504,0.748273,0.157168],[-0.064534,-0.151587,0.986335]]FH`Ca?@@L Ɵ? ??R/gÿ?iFF>IF.];FܐCYVˊByV*IbDzVDzi4y-倽%-C=ٔ=7Q-E>9IYI=U=FyUEe Ee>Q 5K5!+?Q 9K5%d)]BYy?Q I5@DIHA- > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013388y I! I1 O= >c7|,6=Y?A:j>:3?:=ٱ:  ^AHRS rotation from veh to nav: [[0.762383,-0.645240,-0.049366],[0.643914,0.748797,0.157094],[-0.064398,-0.151553,0.986349]]:Hqe?Υ@xF?%??`k|fÿ+?i:j>I:/1];:ݐCYrȊByr*IimMb@Mb@Mb@iiii i9m(\?I +~jt?Ym.?ym9mD9Y==FyEKE>Q 5K5M5+?Q 9K5'`)\BY/?Q E:y?Q I@ DI ;i ;zK5yBɮ@aiQmFNOT Ignoring new targets: 446.25 m.8989Q ProNav: ac range: 446.254364 m, nav range: 424.631378 m, bearing: 38.798994 deg, approach rate: -0.742892 m/s, LOS rate: 0.010096 deg/s, cmd heading: 40.047394 deg, new cmd heading: 40.058691 deg. z9QHeadingCmd: 0.699156 target range: 446.254364 and range: 449.10 m.R2?JbZB:2ҔڔBڒ’` D @M6BɢM=)I MH?iQ)Us.:]U;I]2?IaIi)iA AAA B]>BCB*IBĊBBBBBS;BE9@ @@0@ԙE E E'E"EV;*E:VE'4ZEBEy ,d Z?AYBy*IbD-VD-t4y=O%EP=ٔEQ-E>9IYI=M=FyMEMEU>QQ 5eK5UMH+?Q 9eK5UK\)U\BYiyiQ Im@UDIUh;iUi;UP~K5yɮ@EBDAT read: Rx Time:21:23:50.8476 MTRx dataTimestamp_ set to:1761513832.278110Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534776QFNOT Ignoring new targets: 446.25 m.i"9i"9Q ProNav: ac range: 446.254364 m, nav range: 424.363739 m, bearing: 38.802634 deg, approach rate: -0.652172 m/s, LOS rate: 0.008874 deg/s, cmd heading: 40.058691 deg, new cmd heading: 40.069616 deg. z9QHeadingCmd: 0.699347 target range: 446.254364 and range: 449.10 m.Rc3?JbZB:2Ҕڔڒ’ @e1Bɢe =)i m_F?ii)<顑iaic3?:݉R;Ic3?I@ @@@E# EE%E"E[;*E4:VE 4ZEa@a@a@a@1  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784109^A qZ;Ii Iy O >Y TO,g 'Z?A>h2?e=ٱ$~ AHRS rotation from veh to nav: [[0.764124,-0.643194,-0.049159],[0.641845,0.750482,0.157517],[-0.064421,-0.151915,0.986292]]Hs? ^+@??@)?}qÿ@?i>Il];ސCYy*IiMb@Mb@Mb@ 9HzG?ˡEMb?Y=*?y什<M@3@ )1@Yp@bDVD?o4y#:%4=ٔyM8Q->9Y==FyEûE>Q 5K5]+?Q 9K5W)\BY+?Q E:y?Q I@DI>J;i;;KK5yBɮŵ@E9QEFNOT Ignoring new targets: 446.25 m.M)9M)9Qe ProNav: ac range: 446.254364 m, nav range: 424.059845 m, bearing: 38.806596 deg, approach rate: -0.711619 m/s, LOS rate: 0.009285 deg/s, cmd heading: 40.069616 deg, new cmd heading: 40.081511 deg. zm9QuHeadingCmd: 0.699554 target range: 446.254364 and range: 449.10 m.Ru3?JqbqZyBy:y2yҔڔBڒ’f@e,BɢmD=)i FI?i)A<顙ii3?g::I3?IuDAT read: 21:23:50.8476 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 436,-0.06,-1.943, 2.819,-1.756,-2.186, PHS= 0.344,-1.234, 0.386, RAW= 151.3, 6.4, CAL= 150.6, 6.7, ROT= 359.4, -6.7 }Ygot valid direction response: 21:23:50.8476 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 436,-0.06,-1.943, 2.819,-1.756,-2.186, PHS= 0.344,-1.234, 0.386, RAW= 151.3, 6.4, CAL= 150.6, 6.7, ROT= 359.4, -6.7 PDAT read: Bearing 192.7, -5.3 (Local) ~Local bearing/azimuth received: Bearing 192.7, -5.3 (Local) DAT read: Range 11 to 50 : 448.2 m (Round-trip 597.6 ms) speed 0.6 m/s *DAT read: user:199> BDAT read: Tx time:21:23:51.9458 $Ping request sent.i=󝿉=ˡ>=)@===8(@ =|=)=@I=|ゥ99=Pt,?Cw?6LzX? = ?)=;I=D+i=|ゥ99U:publishing transmit ping timeUFpublishing direction and range infoy9=xܛ? Lmu"޽?Y99999 9)9I9i99999 9)9I999=Pt,?Cw?6LzX? 9)9I9i999q B) B) B- *IB- BB) B) B) B- T;B- E^A A hAzA iAI I! O- >E  E E "E "E L;*E :VE (3ZE BE 9)Y)=-=Fy-E5E5>9Q 5}K5=Bn+?Q 9}K5=T)=\BYyyyQ I}@=$DI=;i=;=VK5yɮ@JyR}1Z?A}C}C}i4?}`{@.cXJEI@}xܛ? Lmu"޽?}D+}|—}2 J&u@ON/} r@Sau7@}eЁmP?mg??j}KCr}2CZ}xњ?b}isz}B}xњ?}C'}Bڗ}xC}W/?Q addTargetRange:: Added new target pos. range: 448.200012 m, deltaT: 4.049043 s, deltaX: -0.899994 m, approachRate: -0.222273 m/s, rangeRepo size: 4 Q Added new target pos. range: 445.360779 m, bearing: 40.458685 deg, lat: 36.779280 deg, lon: -121.858982 deg, deltaT: 4.049043 s, deltaX: -0.893585 m, approachRate: -0.220690 m/s, posRepo size: 4 QFNOT Ignoring new targets: 445.36 m.Q ProNav: ac range: 445.360779 m, nav range: 436.941589 m, bearing: 39.243122 deg, approach rate: 0.000000 m/s, LOS rate: 0.009285 deg/s, cmd heading: 40.081510 deg, new cmd heading: 40.091376 deg. zQ HeadingCmd: 0.699727 target range: 445.360779 and range: 448.20 m.R G!3?J b Z B : 2Ҕڔڒ’@3|@%H1?M'BɢM^P=)I MC?iI)UY~im>ԉ @  @ @ 0@ ^A9IIIYOe4>ԹU=Q uW,FZZ?ANB>NV2?NM=ٱN VAHRS rotation from veh to nav: [[0.765406,-0.641602,-0.050004],[0.640302,0.751448,0.159183],[-0.064556,-0.153857,0.985982]]NH 4~?.Z}? ?`? Ć`ÿ*?iNB>IN=\;NߐC`YjByj*IbDz|VDz4d4yd%L=ٔ 9Q- >9 Y ==FyEE>Q 5%K51+?Q 9%K5P)\BY)y-B?Q I-@-DIl:i:ֈK5y5Bɮ=@AQFNOT Ignoring new targets: 445.36 m.(9(9E EE'E"EQ;*Ex:VE'4ZEa@a@a@a@Q ProNav: ac range: 445.360779 m, nav range: 436.674652 m, bearing: 39.246842 deg, approach rate: -0.661278 m/s, LOS rate: 0.009222 deg/s, cmd heading: 40.091377 deg, new cmd heading: 40.102544 deg. z9Q%HeadingCmd: 0.699921 target range: 445.360779 and range: 448.20 m.R% .3?J)bIZIBI:Q2QҔQڔQYڒY’YY]`s?"BɢZ=) R@?i)<i,ڝi .3?o:⧺I .3?I9@ @@0@^A "9Y A5 .AIA IQ O] >,ntZ?AF>F+2?FT=ٱF NAHRS rotation from veh to nav: [[0.765815,-0.641120,-0.049934],[0.639794,0.751806,0.159537],[-0.064742,-0.154123,0.985928]]FH? `␩@1y??k?@򒰿Nÿ`?iF>IF[\;FݐCYVByV*IIiuMb@Mb@Mb@qqqq q9uDl?DlQ?YuO-?yuOuu9 ?Y ?==FyEɺE>Q 5K5L+?Q 9K5]LQ =tI)\BY@.?Q E:yZ?Q I@6DIY;i;K5yBɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 445.36 m.99Q ProNav: ac range: 445.360779 m, nav range: 436.386841 m, bearing: 39.250099 deg, approach rate: -0.700233 m/s, LOS rate: 0.007929 deg/s, cmd heading: 40.102544 deg, new cmd heading: 40.112321 deg. z 9QHeadingCmd: 0.700092 target range: 445.360779 and range: 448.20 m.R<93?JbZB:!2!Ҕ!ڔ%B)ڒ)’))5L?]Bɢ] P=)Y ]F?iY)eOBB{*IBBBW =BBPDBT;BE9@ @@i1@@@aE EE&E"EsH;*E:VE4ZEBEԱ !i,+NZ?AB->Bx1?B=ٱBvY NAHRS rotation from veh to nav: [[0.766415,-0.640396,-0.050005],[0.639058,0.752311,0.160102],[-0.064909,-0.154661,0.985833]]BHx? ~B@)s??7~? 坰ÿ?iB->IBB\;BܐCY~By*IbDqVDO4y=d5%=R=ٔ=9Q-E>9M"?YM"?=U=FyUEUSEU>aQ 5uK5e+?Q 9uK5eiH)e\BYqy}?Q I}@e>DIeud;ieT;eK5yɮ1@ԙQFNOT Ignoring new targets: 445.36 m.Z 9Z 9Q ProNav: ac range: 445.360779 m, nav range: 436.120819 m, bearing: 39.253146 deg, approach rate: -0.669197 m/s, LOS rate: 0.007669 deg/s, cmd heading: 40.112321 deg, new cmd heading: 40.121467 deg. zl9QHeadingCmd: 0.700252 target range: 445.360779 and range: 448.20 m.RC3?JbZB:2Ҕڔڒ’@E#?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496383uBɢ} =)y }D?iy)} ,:'1?:=ٱ: BAHRS rotation from veh to nav: [[0.766621,-0.640180,-0.049607],[0.638807,0.752599,0.159751],[-0.064935,-0.154158,0.985910]]:H)?[| f q?I?r? oÿ`?i:1>I:!\;:ߐCYJByJ*IiMMb@Mb@Mb@IIII I9M> ףp=?J +9yYy==FyEDOE>Q 5K5]+?Q 9K5C)\BYk2?Q E:y!?Q I@HDI ;i:K5yBɮ;@EQFNOT Ignoring new targets: 445.36 m.@8@8Q ProNav: ac range: 445.360779 m, nav range: 435.835480 m, bearing: 39.255247 deg, approach rate: -0.705252 m/s, LOS rate: 0.005198 deg/s, cmd heading: 40.121467 deg, new cmd heading: 40.127776 deg. zMd9QHeadingCmd: 0.700362 target range: 445.360779 and range: 448.20 m.RJ3?JbZB:2Ҕڔ$Bڒ’ ?EBɢM~=)Q UH?iQ)Uq E  E .E E "E mR;*E ;VE ZE BE 21?2 =ٱ2B :AHRS rotation from veh to nav: [[0.766491,-0.640346,-0.049484],[0.638990,0.752569,0.159160],[-0.064677,-0.153614,0.986012]]2H@?}U`r? ?Y_?ÿh?i2 >I2J9];2ݐCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252352Y~By~z*IbD lVD F4yE?%EN=ٔM*Q-M>9IYI=M=FyMEUL:EU>yQ 5K5}e+?Q 9K5}?)}\BYy!?Q I@}QDI}:i}:}K5yɮӶ@QFNOT Ignoring new targets: 445.36 m.88Q ProNav: ac range: 445.360779 m, nav range: 435.556519 m, bearing: 39.257297 deg, approach rate: -0.681965 m/s, LOS rate: 0.005014 deg/s, cmd heading: 40.127775 deg, new cmd heading: 40.133928 deg. z=;\9QEHeadingCmd: 0.700469 target range: 445.360779 and range: 448.20 m.REQ3?JAbAZIBI:I2IQҔQڔڒ’@E BɢE<=)A EF?iA)M&i Ԥ,Z?A2K>2R1?2=ٱ2V >AHRS rotation from veh to nav: [[0.766292,-0.640563,-0.049748],[0.639250,0.752368,0.159066],[-0.064463,-0.153693,0.986014]]2Hw?@~`x`t?e?@J\? @5ÿl?i2K>I21];2ސCYFByFx*IbDNVDN?o4yV%%VU=ٔZ/Q-Z>9XYX=Z=Fy^E^f_:E^>`Q 5fK5bo+?Q 9fK5b;)b\BYhyj3!?Q Ij@bYDIbW:ib:bcK5yn Bɮn!@pQFNOT Ignoring new targets: 445.36 m.88Q ProNav: ac range: 445.360779 m, nav range: 435.292084 m, bearing: 39.259231 deg, approach rate: -0.681354 m/s, LOS rate: 0.004986 deg/s, cmd heading: 40.133929 deg, new cmd heading: 40.139734 deg. z[9Q-HeadingCmd: 0.700571 target range: 445.360779 and range: 448.20 m.R-X3?J)b1ZYBY:a2aE EE%E"EQ;*E:VE 4ZEԹa@a@a@a@Ҕڔڒ’ 1=@iߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757935BɢpL=) H?i)<i~TiX3?::'-IX3?II ) 9@ @@4@ ^A "5Iq I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0082539 ϼ,Z?A2R>21?2}=ٱ2l >AHRS rotation from veh to nav: [[0.766266,-0.640608,-0.049580],[0.639292,0.752409,0.158703],[-0.064362,-0.153304,0.986081]]2H`??b@u?`?]P?z@zÿ`?i2R>I27];2ݐCYfByfe*IiUMb@Mb@Mb@QQQQ Q9UK7?X9vI +?YUI,?yUU94=ٔ}rwQ->9Y==FyE8E>Q 5K5+?Q 9K56)\BY~,?Q E:y&?Q I@bDI ;i ;%K5y BɮD@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 445.36 m.]8]8Q ProNav: ac range: 445.360779 m, nav range: 435.002502 m, bearing: 39.260488 deg, approach rate: -0.698013 m/s, LOS rate: 0.003031 deg/s, cmd heading: 40.139734 deg, new cmd heading: 40.143506 deg. z9QHeadingCmd: 0.700636 target range: 445.360779 and range: 448.20 m.R\3?JbZB:2ҔڔBڒ’   `s @颵Bɢ{=) C?i);<项i࠼i\3?:0I\3?IBu`>BqBu\*IBuBBqBqBqBu!T;BuE9@ @@0@E EE&E"EmR;*E:VE4ZEBEa2EaJE'Pi Ÿ,4[?A Vm>V 2?V˃=ٱV jAHRS rotation from veh to nav: [[0.766136,-0.640778,-0.049385],[0.639453,0.752348,0.158345],[-0.064309,-0.152893,0.986148]]VH0?@@Iev?;? D?vÿ`?iVm>IV];VܐCYtyt  @AbDyVD^4y%%%P=ٔ%; Q-->9)Y)=-=Fy-E5 :E5>9Q 5EK5=,?Q 9EK5=2)=\BYAyE '?Q IM@=kDI=:i=:=K5yQɮUH@QyQ}FNOT Ignoring new targets: 445.36 m.)U8)U8Q ProNav: ac range: 445.360779 m, nav range: 434.737915 m, bearing: 39.261630 deg, approach rate: -0.673873 m/s, LOS rate: 0.002912 deg/s, cmd heading: 40.143508 deg, new cmd heading: 40.146938 deg. z8BDAT read: Rx Time:21:23:54.9416 TRx dataTimestamp_ set to:1761513836.308677checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513401Q5HeadingCmd: 0.700696 target range: 445.360779 and range: 448.20 m.R5`3?J9b9Z9B9:929ҔAڔAAڒA’AIM`$M @5Bɢ5=)9 =F?i9)=]=99i=oiE`3?E:Mf"(iI`3?I]9@a @a@a@a@i@iԙbEMȞ4jEMw4rEM١/E E5EE"E1A;*E ;VEZEa@a@a@a@^A 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764936 I) IA OM >l,*q)[?A2g>252?2;=ٱ24 :AHRS rotation from veh to nav: [[0.765753,-0.641227,-0.049502],[0.639939,0.752024,0.157916],[-0.064034,-0.152603,0.986211]]2H ?`GX`az?@? 6?d@~ÿ@ ?i2g>I2\;2ސCLYRxByRP*IieMb@Mb@Mb@aaaa a9ep= ף?I +=ٔ D'Q->9Y!=%=Fy-E=:EE>Q 5K5,?Q 9K5-)\BY-(%?Q EM:yUp.?Q I]@tDI eBDAT read: Tx time:21:23:56.0458 m$Ping request sent.mi!>  ) I    ysߤ?#?Θw| ) I i   }9@y @y@}/@Bq Bq Bu P*IBu wBBq Bq Bq Bu S;Bu E! ^A 0:ĺE , E 2E #E "E c;*E ;VE 3ZE BE qv,m7G[?A>>>[a2?>=ٱ>Ŝ FAHRS rotation from veh to nav: [[0.765333,-0.641743,-0.049321],[0.640453,0.751699,0.157379],[-0.063922,-0.152035,0.986306]]>H}?'@~? ?@$?8] uÿя?i>>I>\;>ܐCYNpByNG*IbDVuVDVRW4y^H %b@=ٔbQ-b>9f ?Yf ?=f=FyfEf:Ef>lQ 5nK5n),?Q 9rK5n))n\BYpyr.?Q Ir@n|DIn:in:nK5ytɮz@@xJYR]w3[?A]rC]rC]{!-?] i{@*d}O {w"]vN?eޑ_2q]]<—]0$ku@W#y+{0q@2I B]%ۗw?R+1?`j]Cr]YCZ]?b]z]qB]9p?]]Bڗ]OC]we/?Q= addTargetRange:: Added new target pos. range: 443.700012 m, deltaT: 4.031100 s, deltaX: -4.500000 m, approachRate: -1.116321 m/s, rangeRepo size: 4 QM Added new target pos. range: 440.892700 m, bearing: 38.748683 deg, lat: 36.779283 deg, lon: -121.858979 deg, deltaT: 4.031100 s, deltaX: -4.468079 m, approachRate: -1.108402 m/s, posRepo size: 4 QQUFNOT Ignoring new targets: 440.89 m.]YQm ProNav: ac range: 440.892700 m, nav range: 434.618530 m, bearing: 39.255745 deg, approach rate: 0.000000 m/s, LOS rate: 0.000308 deg/s, cmd heading: 40.147387 deg, new cmd heading: 40.147730 deg. ziQuHeadingCmd: 0.700710 target range: 440.892700 and range: 443.70 m.Rua3?JqbqZqBq:y2yҔyڔyڒ’@3{@ k?颵Bɢ&=) ^@?i)t=项i}ia3?:źIa3?II!@! @)@-0@)y^AΒ{ԡA ؟AI! I1 OE > ,a[?AEZ EZEXEX"EZC;*EZA:VEXZEXaj@aj@aj@av@e>2?K]=ٱZ -AHRS rotation from veh to nav: [[0.764415,-0.642889,-0.048622],[0.641579,0.751078,0.155750],[-0.063612,-0.150252,0.986599]]Hv?䨿Ї??`?`Hx;ÿ@8?ie>I\;ސCYU_By]1*IԱiMb@Mb@Mb@ 9q= ףp?~jth?Mb`Y+?yD;@@ @)@Y@bDVD}4yUB%U(=ٔU'Q-U>9]"?Y]"?=]=Fy]E]C;Ee>aQ 5uK5e>,?Q 9uK5e$)er\BYu+?Q Eu:yu3?Q Iu@eDIe;ie<;eQK5yBɮ@QFNOT Ignoring new targets: 440.89 m.޷޷Q ProNav: ac range: 440.892700 m, nav range: 434.292999 m, bearing: 39.255012 deg, approach rate: -0.673134 m/s, LOS rate: -0.001517 deg/s, cmd heading: 40.147729 deg, new cmd heading: 40.145529 deg. z<QHeadingCmd: 0.700672 target range: 440.892700 and range: 443.70 m.R8_3?JbZB:2Ҕڔڒ’ S? Bɢ Ǥ=)  ;?i)T =ii8_3? N:(yI8_3?I!@ @@@@=@ ^A ?BɺA .AI I) 1 O= >H,_z[?A2>23?2蝁=ٱ29 >AHRS rotation from veh to nav: [[0.763588,-0.643811,-0.049395],[0.642598,0.750197,0.155796],[-0.063247,-0.150705,0.986553]]2HPo?@PJ*?@? ?@0`OJÿؑ?i2>I2\;0YBUByF&*IbDNVDN4yVq%V=ٔ~~Q-~ ?9 ?Y ?==FyEĄ;E  ?Q 5K5L,?Q 9K5V )c\BYy4?Q I@DIp:ig:'K5y!ɮ-!@)GSEB*** querying acoustic contact ***:ABABUb>BQBU0*IBU^BBUV =BQBQBUS;BUEqQuFNOT Ignoring new targets: 440.89 m.}}Q ProNav: ac range: 440.892700 m, nav range: 434.075958 m, bearing: 39.254485 deg, approach rate: -0.660846 m/s, LOS rate: -0.001605 deg/s, cmd heading: 40.145530 deg, new cmd heading: 40.143948 deg. zQHeadingCmd: 0.700644 target range: 440.892700 and range: 443.70 m.Ri]3?JbZB:2Ҕڔڒ’@?BɢU=) 8?i)vE =i ii]3?:Dh:Ii]3?I!@ @@0@E EE'E"ECJ;*EZ:VE'4ZEBE#,s[?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4999150:>:zK3?:I:q\;:ݐCYJDByJ*IbDVVDVJz4yZ%^J=ٔ^[ԹQ-^>9b"?Yb"?=b=FybEfW;Ef>dQ 5jK5fy],?Q 9nK5f)fQ\BYlynP4?Q In@fDIfr;if;fK5yvBɮv]@vE QFNOT Ignoring new targets: 440.89 m.  Q- ProNav: ac range: 440.892700 m, nav range: 433.812622 m, bearing: 39.253817 deg, approach rate: -0.675690 m/s, LOS rate: -0.001715 deg/s, cmd heading: 40.143948 deg, new cmd heading: 40.141944 deg. z-Q-HeadingCmd: 0.700609 target range: 440.892700 and range: 443.70 m.R5[3?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE ?mވBɢuFެ=)q u*3?iq)uց=iC1i[3?::I[3?Iԉ9@ @@0@E EE%E"E[I;*EA:VE 4ZEa=@a=@a=@a=@^A}9A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754758A I I O >ԡ ,CT[?A:m=>:Bu3?:y=ٱ: BAHRS rotation from veh to nav: [[0.762679,-0.644867,-0.049674],[0.643711,0.749351,0.155273],[-0.062908,-0.150399,0.986622]]:Hg?@`n`G??? H@ÿg?i:m=>I: \;:ߐCYN6ByR*IԙiMb@Mb@Mb@ 9L7A`?~jthY+'?yD@ @)@Yf@bDtVD{U4yz%8=ٔչQ->9Y==FyE:E> Q 5K5 #p,?Q 9K5 ) =\BY+'?Q E:yG3?Q I@ DI P;i ; {K5y%Bɮ%l@%EIQMFNOT Ignoring new targets: 440.89 m.UeUeQe ProNav: ac range: 440.892700 m, nav range: 433.522980 m, bearing: 39.253236 deg, approach rate: -0.651426 m/s, LOS rate: -0.001307 deg/s, cmd heading: 40.141944 deg, new cmd heading: 40.140200 deg. zeeQmHeadingCmd: 0.700579 target range: 440.892700 and range: 443.70 m.RmY3?JibiZiBq:q2qҔqڔ}Byڒy’yy@J?颭׈Bɢ=) x/?i)=顱i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255981 :,)[?A2ĸ>23?2G=ٱ2% :AHRS rotation from veh to nav: [[0.762088,-0.645555,-0.049806],[0.644441,0.748834,0.154737],[-0.062595,-0.150020,0.986699]]2Hc?`c9B?r?k?13ÿ ?i2ĸ>I2\;2ܐCY^(Byb)IbDjyVDj^4y~%~[=ٔ\Q->9Y = =Fy E %;E >Q 5K5,?Q 9K5),\BY!y%3?Q I%@DI';iD;K5y)ɮ-P@)QQUFNOT Ignoring new targets: 440.89 m.]˷]˷Qm ProNav: ac range: 440.892700 m, nav range: 433.280518 m, bearing: 39.252719 deg, approach rate: -0.651545 m/s, LOS rate: -0.001390 deg/s, cmd heading: 40.140199 deg, new cmd heading: 40.138647 deg. zmFtQuHeadingCmd: 0.700552 target range: 440.892700 and range: 443.70 m.RuXW3?JqbqZyBy:y2yҔڔڒ’@颵҈Bɢ=) *+?i) =项iD?iXW3?qp:7;IXW3?II)u9@q @q@u4@q!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507985^AQA I I O >y .%,)[?AE^ E^E^%E\"E^[I;*E^:VE^ 4ZE\an@ar@ar@ar@z>z 3?zQ=ٱz]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762035 AHRS rotation from veh to nav: [[0.761722,-0.645928,-0.050562],[0.644871,0.748302,0.155513],[-0.062615,-0.151064,0.986539]]zH``?q@C㩿ɢ?? ?@ Vÿ ?iz>Iz\;zސCIYeBye)Ii=Mb@Mb@Mb@9999 99=%C?Mb~jthY=Z$?y=9=/@=@ 9)= @9Y=\@bDUVDU4yei%e(=ٔe-8Q-m>9iYi=m=FymEu:Eu>yQ 5K5},?Q 9K5} )}\BY]$?Q E:y0?Q I@}DI}:i}s:}K5yBɮ@٪EQFNOT Ignoring new targets: 440.89 m.׶׶Q ProNav: ac range: 440.892700 m, nav range: 432.969757 m, bearing: 39.252540 deg, approach rate: -0.640566 m/s, LOS rate: -0.000368 deg/s, cmd heading: 40.138645 deg, new cmd heading: 40.138109 deg. ziQHeadingCmd: 0.700542 target range: 440.892700 and range: 443.70 m.RV3?JbZB:2ҔڔBڒ’@ˈBɢ#=)! %'?i!)%_=!!i%i-V3?-:-P;I5V3?I1qM9@I @I@MO0@IԡE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012703^Au "5; 9 9 rG 5 멿91 Y5 3AA I I O >-z,Ը[?A2:Q>2)3?2~T=ٱ2 :AHRS rotation from veh to nav: [[0.761336,-0.646364,-0.050792],[0.645326,0.747882,0.155650],[-0.062620,-0.151280,0.986506]]2H@\?`o?@?@X?!]ÿ t?i2:Q>I2\;0YBByB)IBNc>BLBN)IBNBBLBLBLBNRT;BNEBaBaBaBeV =BeV =Ce4bD^wVD^[4yf|%fx=ٔf7Q-j?9QYY=e=FyeEe:Ee?iQ 5}K5mm,?Q 9}K5m )m \BYyy}0?Q I}@mDIm(:im4:mK5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 440.89 m.Q ProNav: ac range: 440.892700 m, nav range: 432.747101 m, bearing: 39.252395 deg, approach rate: -0.639104 m/s, LOS rate: -0.000418 deg/s, cmd heading: 40.138109 deg, new cmd heading: 40.137671 deg. zQHeadingCmd: 0.700535 target range: 440.892700 and range: 443.70 m.R;V3?JbZB:2Ҕڔڒ’`9 @ňBɢڪ=) ?i)i=i7i%;V3?%Ti:%r;I%;V3?I)QEU EUEU#EQ"EU&U;*EU:VEU3ZEQBEU  BDAT read: Rx Time:21:23:59.0384  TRx dataTimestamp_ set to:1761513840.340662 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517126 n,\?A>l~>>4?>6#=ٱ>NS ZAHRS rotation from veh to nav: [[0.761118,-0.646586,-0.051239],[0.645592,0.747591,0.155945],[-0.062526,-0.151772,0.986436]]>H[? հ;?`C?? Amÿ?i>l~>I> \;9AYA=E=FyEEE`:EM>IQ 5]K5M6,?Q 9]K5M)M[BYYy]0?Q I]@MDIM;iM;MK5ymBɮm\@mڪEQFNOT Ignoring new targets: 440.89 m.99Q ProNav: ac range: 440.892700 m, nav range: 432.488708 m, bearing: 39.252214 deg, approach rate: -0.629654 m/s, LOS rate: -0.000441 deg/s, cmd heading: 40.137672 deg, new cmd heading: 40.137128 deg. zQ HeadingCmd: 0.700525 target range: 440.892700 and range: 443.70 m.R U3?J bZB1:121Ҕ9ڔ99ڒ9’AAE @颍Bԑɢ=) Y?i)+=i iU3?w:P;IU3?IUt>iU>9@ @@@EU EU&EU$EQ"EUO;*EU;VEU4ZEQam@au@au@au@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770485^Azl;A .AI I! O5 > E ,s0\?AJ>J44?J=ٱJ VAHRS rotation from veh to nav: [[0.760814,-0.646918,-0.051563],[0.645954,0.747234,0.156154],[-0.062490,-0.152112,0.986386]]JHX? of ?W??dxÿ y?iJ>IJ ];HYZBy^)I߽%=߽=DAT read: 21:23:59.0384 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 405, 0.39,-0.866,-2.409,-0.674,-1.248, PHS= 0.485,-1.115, 0.531, RAW= 151.4, 1.2, CAL= 150.2, 0.7, ROT= 359.8, -0.7 Ygot valid direction response: 21:23:59.0384 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 405, 0.39,-0.866,-2.409,-0.674,-1.248, PHS= 0.485,-1.115, 0.531, RAW= 151.4, 1.2, CAL= 150.2, 0.7, ROT= 359.8, -0.7 %8DAT read: $Error in header %*Received a bad headeri5Mb@Mb@Mb@1111 195(\?I +9e ?Ye ?=e=FyeEm:Em>qQ 5uK5u,?Q 9}K5u)u[BY}'?Q E}:y}'+?Q I}@X#Rx 1: Read direction message, but no range.^direction in FSK: [0.999919,-0.003490,0.012217]yiV?rPvlI:? )RIQ>iR?)@<g'@ +H<)B@I+H RM?6N?JW۫?Ioh? R ?)ƖIdi+HT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseuDIu;iuk;uK5yɮ@QFNOT Ignoring new targets: 440.89 m.G7G7Q ProNav: ac range: 440.892700 m, nav range: 432.180908 m, bearing: 39.252889 deg, approach rate: -0.657395 m/s, LOS rate: 0.001443 deg/s, cmd heading: 40.137129 deg, new cmd heading: 40.139156 deg. z}8QHeadingCmd: 0.700560 target range: 440.892700 and range: 443.70 m.RW3?JbYZYBY:Y2YҔaڔe܇Baڒa’iim-}@Bɢaޚ=) +?i)=iiW3?:g;IW3?IABd>BB)IBBBU =BBB}T;B E9@ @@x3@Y Da zDa Em  Em Em %Ei "Em M;*Em x:VEm 4ZEi BEm 6,zM\?A2>2b>4?2j#=ٱ2Q :AHRS rotation from veh to nav: [[0.760718,-0.646980,-0.052196],[0.646064,0.746982,0.156908],[-0.062527,-0.153085,0.986233]]2H@W?`x ?E??Iÿ`8?i2>I2y];0YBډByB)IbDNVDN4yV*%V`=ٔVB8Q-V>9Z"?YZ"?=Z=FyZEZ9E^>\Q 5bK5^\,?Q 9fK5^)^[BYdyf0+?Q If@^DI^{;i^;^K5yhɮn=@n۪EQ%FNOT Ignoring new targets: 440.89 m.-757QM ProNav: ac range: 440.892700 m, nav range: 431.942108 m, bearing: 39.253409 deg, approach rate: -0.656945 m/s, LOS rate: 0.001432 deg/s, cmd heading: 40.139157 deg, new cmd heading: 40.140718 deg. zM{8QUHeadingCmd: 0.700588 target range: 440.892700 and range: 443.70 m.RUY3?JQbYZYBY:a2aҔiڔiqڒq’qy}@eBɢe=)i m?ii)m=iiimˋiuY3?u:ub;IuY3?I=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseM9@I @i@up4@q 9^A;A I bEJ4jEm4rEg/E  E #E E "E B;*E ;VE ZE a @a @a @a @I O >i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsevW,.g\?A>d;4?=ٱx AHRS rotation from veh to nav: [[0.760749,-0.646904,-0.052699],[0.646030,0.746894,0.157465],[-0.062504,-0.153837,0.986117]]H X?`o^@G?@?'?E@ÿ F?i>Il];ݐCYΉBy)IQiMb@Mb@Mb@ 9Gz?Q롿y&1|?Yp?y\`;9A @)@Y@bD~VDg4y\Z%.=ٔIQ->9Y==FyE˸E>Q 5K5,?Q 9K5 )[BY?Q E:yJ&?Q I@DIH;iE;K5yɮ  @ QFNOT Ignoring new targets: 440.89 m.C8C8Q ProNav: ac range: 440.892700 m, nav range: 431.651764 m, bearing: 39.254780 deg, approach rate: -0.563964 m/s, LOS rate: 0.002665 deg/s, cmd heading: 40.140718 deg, new cmd heading: 40.144833 deg. z8Q HeadingCmd: 0.700660 target range: 440.892700 and range: 443.70 m.R l^3?J b Z B :2Ҕڔ·Bڒ’YY]@F@yBɢk=) {?i)\ =iV識i=l^3?=~:=ퟋ;I=l^3?IAI]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse9@ @@5@ԩB! B! B% {)IB% ˉBB! B! B! B% T;B% E ^A e;E   E E "E "E D;*E :VE (3ZE BE ͚K!,l\?A6>6H4?6O=ٱ6 BAHRS rotation from veh to nav: [[0.760614,-0.647047,-0.052877],[0.646178,0.746698,0.157783],[-0.062610,-0.154180,0.986057]]6H`V?` }??<2?2,ÿ`Ǎ?i6>I6`];6ސCYFByJi)INT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapsePbDb|VDb4d4yz=%zF=ٔ~?9Q-~>9|Y|=~=FyE9E> Q 5UK5 ,?Q 9UK5 ) [BYQy]W&?Q I]@ DI $cp',3\?A2>2B4?2=ٱ2\ :AHRS rotation from veh to nav: [[0.760664,-0.646971,-0.053098],[0.646106,0.746659,0.158263],[-0.062746,-0.154692,0.985968]]2H[W?@@/??@A?ÿ` ?i2>I2l];0YBByBd)IbDJVDJJz4yn%nL=ٔrֲ9Q-r>9pYp=v=FyvEvcEv>x|Q 5K5za -?Q 9K5z)z[BYyR&?Q I @zDIzy);iz*;z K5yɮ@QQUFNOT Ignoring new targets: 440.89 m.]QY8]QY8Qm ProNav: ac range: 440.892700 m, nav range: 431.152466 m, bearing: 39.257131 deg, approach rate: -0.629067 m/s, LOS rate: 0.002969 deg/s, cmd heading: 40.148409 deg, new cmd heading: 40.151891 deg. zmd9QuHeadingCmd: 0.700783 target range: 440.892700 and range: 443.70 m.Ruf3?JqbqZqBq:q2yҔyڔyڒ’@颵BɢcӢ=)  ?i)Y#=项imif3?:v;If3?IE EE&E"E:;*E:VE4ZEa@a@a@a@u9@y @y@0@@=@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1Y^A;AA IQ Ia Om >ԁ e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse-,\?A2>2P>4?2=ٱ2W :AHRS rotation from veh to nav: [[0.760699,-0.646909,-0.053350],[0.646046,0.746584,0.158861],[-0.062938,-0.155312,0.985859]]2H`W?yP`i??`U?``?ÿ@'?i2>I2s];2ېCYBByBL)Ii Mb@Mb@Mb@     9 x&1?/$~jth?Y !?y , D; A  ) d@Y Y @bD~VDg4yܸ%>=ٔ9Q->9Y==Fy E%E>Q 5K5-?Q 9K5)[BY!?Q E:y#?Q I@DI ;i ;K5yBɮ@ҪE)Q-FNOT Ignoring new targets: 440.89 m.5858QE ProNav: ac range: 440.892700 m, nav range: 430.877777 m, bearing: 39.258816 deg, approach rate: -0.636266 m/s, LOS rate: 0.003906 deg/s, cmd heading: 40.151892 deg, new cmd heading: 40.156951 deg. zE+9QMHeadingCmd: 0.700871 target range: 440.892700 and range: 443.70 m.RMHl3?JIbIZIBI:I2QҔQڔUBYڒY’YYe`@颍Bɢ}=) c?i)1%=顑iiHl3?A:";IHl3?II)BBBO)IBBBBBBT;B Eԉ9@ @@@E EE%E"EN;*Eg:VE 4ZEBElg4,\?A6>614?6&=ٱ6: >AHRS rotation from veh to nav: [[0.760819,-0.646741,-0.053674],[0.645899,0.746602,0.159370],[-0.062998,-0.155920,0.985759]]6H`X?@ {`5?`*?@>f?` @-ÿU?i6>I6Lm];6ߐCYFByFA)IbDRVDR4yZ9%Z\=ٔZ)9Q-Z>9\Y\=^=Fy^ EbwEb>dQ 5jK5f.-?Q 9jK5f")f[BYhyj#?Q Ij@fDIfl:if:fK5ypɮr(@p Q FNOT Ignoring new targets: 440.89 m.88Q% ProNav: ac range: 440.892700 m, nav range: 430.646027 m, bearing: 39.260245 deg, approach rate: -0.631330 m/s, LOS rate: 0.003895 deg/s, cmd heading: 40.156950 deg, new cmd heading: 40.161239 deg. z%+9Q-HeadingCmd: 0.700946 target range: 440.892700 and range: 443.70 m.R-0q3?J)b)Z)B):121Ҕ1ڔ19ڒ9’99E@颅Bɢ=) ?i)G&=顉ivi0q3?s:O-;I0q3?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1@1 @1@5/@1^AUy;E EE#E"E=;*E:VE3ZEa@a@a@a@A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI I) OM >I :,\?AFִ>F04?F=ٱFp! RAHRS rotation from veh to nav: [[0.760828,-0.646704,-0.053983],[0.645889,0.746537,0.159716],[-0.062988,-0.156383,0.985686]]FH`X?ͱ?`?q? \Ŀ`?iFִ>IF$5];FސCY^By^<)Ii Mb@Mb@Mb@     9 +?MbI +?Y ?y @ 94< A "@ ) z@ Y @bD=VD=!|4yM;%M3=ٔM϶Q-U>9QYQ=U=Fy]E]E]>aQ 5mK5eB-?Q 9mK5e)e[BYu8 ?Q Eu:yu!?Q Iu@eDIe ;ie ;eK5y}Bɮ}x@}ӪEQFNOT Ignoring new targets: 440.89 m.+8+8Q ProNav: ac range: 440.892700 m, nav range: 430.360748 m, bearing: 39.262256 deg, approach rate: -0.624255 m/s, LOS rate: 0.004403 deg/s, cmd heading: 40.161239 deg, new cmd heading: 40.167276 deg. zgA9QHeadingCmd: 0.701051 target range: 440.892700 and range: 443.70 m.Rx3?JbZB:2IҔIڔUʇBQڒQ’QQ]@Bɢ=) V?i)(=iKөix3?:,{;Ix3?I-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseA9@ @@0@@ jA@ jAiBf>BB0)IBBBBBBT;B2E^A% oM;ԙ E  E E &E "E I@;*E :VE 4ZE BE ԨA,]?A.T****** received valid address query ******.R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapseB!>B(4?B=ٱB! JAHRS rotation from veh to nav: [[0.760917,-0.646561,-0.054448],[0.645788,0.746515,0.160230],[-0.062952,-0.157084,0.985577]]BHnY?૿K?r?n? TĿ`؉?iB!>IBx];@YRByR/)IbDjVDjsx4yrd%ra=ٔvjиQ-v>9tYx=U=FyUEUEU>YQ 5eK5]R-?Q 9eK5] )][BYiym!?Q Im@] DI]l:i]K;]VK5yɮ,@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 440.89 m.3838Q ProNav: ac range: 440.892700 m, nav range: 430.126190 m, bearing: 39.263915 deg, approach rate: -0.610851 m/s, LOS rate: 0.004322 deg/s, cmd heading: 40.167277 deg, new cmd heading: 40.172256 deg. z=9Q5HeadingCmd: 0.701138 target range: 440.892700 and range: 443.70 m.R5}3?J1b1Z1B1:929Ҕ9ڔ99ڒA’AAE{@I颕BɢP=) ?i)Y*=顙i[5i}3?T:wo;I}3?Ii>i>9@ @@0@y%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseԡ^Ay;A I I O > G, ]?AY|y~0)IbDVDm4y%5O;%%G=ٔ%Q-%>9)Y)=-=Fy-E-E5>1Q 5MK55b-?Q 9UK55,)5z[BYQyQQ IU@5DI5;i5;5K5yaɮe"@aQFNOT Ignoring new targets: 440.89 m.88Q ProNav: ac range: 440.892700 m, nav range: 429.877747 m, bearing: 39.265674 deg, approach rate: -0.634956 m/s, LOS rate: 0.004499 deg/s, cmd heading: 40.172256 deg, new cmd heading: 40.177537 deg. zE9QHeadingCmd: 0.701230 target range: 440.892700 and range: 443.70 m.Rԃ3?JbZB:2Ҕڔڒ’@PExceeded connect timeout, disconnecting.Bɢ=) ?i)n+=iiԃ3? @: l;I ԃ3?I E  E E$E"EF;*E:VE4ZEa@a@a@a@Աi߁I߁T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@0@^Ar; AA II IY Om >% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseA M,ܝ:]?A ,8Nt9LYR`AY}By3)IiMb@Mb@Mb@ 9S?9iYi=u=FyuEqEu>yQ 5K5}au-?Q 9K5})}p[BY}?Q E:y3&?Q I@}DI}H:i}#:}K5yBɮ @ԪEQFNOT Ignoring new targets: 440.89 m.Z8Z8Q ProNav: ac range: 440.892700 m, nav range: 429.603699 m, bearing: 39.266995 deg, approach rate: -0.617454 m/s, LOS rate: 0.002978 deg/s, cmd heading: 40.177536 deg, new cmd heading: 40.181502 deg. z9QHeadingCmd: 0.701299 target range: 440.892700 and range: 443.70 m.R]3?JbZB:2ҔڔׇBڒ’f @ %{Bɢ% =)! %> ?i))-;-=))i-`i5]3?57f:5h;I=]3?I99@ @@0@@ =@ =E EEE"EP;*EA:VEZEBET,rT]?A 2>2V3?2=ٱ2%4$ >AHRS rotation from veh to nav: [[0.761548,-0.645766,-0.055051],[0.644950,0.746724,0.162612],[-0.063901,-0.159342,0.985153]]2H^?@/n?)?z?[UeĿ_?i2>I2];0YFByF+)IbDN~VDNg4yV%Vk=ٔZ`3;Q-Z?9XYX=Z=FyZE^(FE^?`Q 5fK5b-?Q 9fK5bl)bi[BYhyj%?Q Ij@b$DIb:ib:bK5ylɮnt@lQFNOT Ignoring new targets: 440.89 m.JU8JU8Q ProNav: ac range: 440.892700 m, nav range: 429.390289 m, bearing: 39.268053 deg, approach rate: -0.587497 m/s, LOS rate: 0.002914 deg/s, cmd heading: 40.181501 deg, new cmd heading: 40.184676 deg. z8QHeadingCmd: 0.701355 target range: 440.892700 and range: 443.70 m.R3?JbZB:2ҔڔC=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseڒq’qq}-!@vBɢ|=)  ?i)z/=i,i3?:W%;I3?Ii@ @@0@ԙnManaging dock network, ignoring radio surface power off^Ai;E! EEE"EY;*E:VEZEa@a@a@a@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse Ii I O > [,zTn]?ABpC>BD3?BV=ٱB.S$P ZAHRS rotation from veh to nav: [[0.761333,-0.646020,-0.055041],[0.645186,0.746479,0.162801],[-0.064086,-0.159457,0.985123]]BH\?2L.\?(??g`iĿ?iBpC>IBeH];BܐCYfByj-)IiMb@Mb@Mb@ 9+?y&1Q?Y?y`eu<A @)@YQ@bDVDm4y<%6=ٔ 59Q- >9 Y==FyEu::E>Q 5%K5-?Q 9-K5)_[BY-?Q E-:y-H/?Q I-@-DI:i:K5y=|Bɮ=@=˪EYQeFNOT Ignoring new targets: 440.89 m.e5e5Q} ProNav: ac range: 440.892700 m, nav range: 429.110291 m, bearing: 39.268079 deg, approach rate: -0.646856 m/s, LOS rate: 0.000060 deg/s, cmd heading: 40.184677 deg, new cmd heading: 40.184755 deg. z}(6QHeadingCmd: 0.701356 target range: 440.892700 and range: 443.70 m.R3?JbZB:2ҔڔBڒ’!!@pBɢ)=)  ?i)1=isi3?:B;I3?I9@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB5h>B1B5)IB5tBB1B1B1B5U;B5NE^A ;I) IA OU >! E  E E %E "E L;*E :VE 4ZE BE 9Y==FyEE>Q 5K5-?Q 9K5)U[BYyQ I@5DIa;i;K5yɮ;@GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 440.89 m.*5*5Q% ProNav: ac range: 440.892700 m, nav range: 428.865143 m, bearing: 39.268101 deg, approach rate: -0.623465 m/s, LOS rate: 0.000058 deg/s, cmd heading: 40.184755 deg, new cmd heading: 40.184824 deg. z%3"6Q-HeadingCmd: 0.701357 target range: 440.892700 and range: 443.70 m.R-*3?J)b1Z1B1:121Ҕ9ڔ99ڒ9’AAET"@jBɢI=)  ?i)<[3=iXwi*3?&`:Ԩ@;I*3?I19@ @@5@@iA@QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ayb];IQ Ia Om >ԁ Bh,u]?AYnByr,)IbDz~VDzg4y-<%-S=ٔ)Q-->91Y1=5=Fy5E1E=>IQ 5UK5M̵-?Q 9UK5MY)ML[BYYyaQ Ie@M3?JbZB:2Ҕڔڒ’Ď#@eBɢ=) x?i)) 5=i Zi >3? :I>3?bE4jE#4rE?/E] E]E]"EY"E][I;*E]O:VE](3ZEYam@am@am@am@II)iAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ@ @@4@Ա^A ;I I! O5 > E =E <E 7?>>(3?>=ٱ>& JAHRS rotation from veh to nav: [[0.761313,-0.646002,-0.055531],[0.645126,0.746127,0.164640],[-0.064924,-0.161167,0.984789]]>H\?@ nߤ?`F? ?`㞰`!Ŀd?i>7?>I>,];>CYBy+)IԹBl>BCB )IBoBBT =BBQDBT;BEEi5Mb@Mb@Mb@1111 195Mb?9aYa=e=FyeEmEEm>qQ 5}K5uc-?Q 9}K5u)u=[BY})#?Q E:y;?Q I@uEDIu:iu]:uWK5yɮ=@QFNOT Ignoring new targets: 440.89 m.Q ProNav: ac range: 440.892700 m, nav range: 428.342438 m, bearing: 39.266309 deg, approach rate: -0.637909 m/s, LOS rate: -0.004126 deg/s, cmd heading: 40.184892 deg, new cmd heading: 40.179445 deg. z;5QHeadingCmd: 0.701264 target range: 440.892700 and range: 443.70 m.R3?JbZB:2ҔڔBڒ’ p$@颵_BɢЩ=)  ?i)M7=项ii3?m:ѵD;I3?IEm Em-Em%Ei"EmL;*EmK;VEm 4ZEiBEiau2EiauJEm`&.u,E]?A2>2 4?2P=ٱ2% :AHRS rotation from veh to nav: [[0.760887,-0.646510,-0.055466],[0.645616,0.745714,0.164594],[-0.065050,-0.161047,0.984801]]2H.Y?5@ f??f?@.Ŀ|?i2>I2<];2ݐCYB}ByB)IbDHVDHyR`%Rk=ٔV9Q-V?9TYT=Z=FyZ!EZ:EZ?\Q 5bL5^;-?Q 9bL5^о)^1[BYdyf;?Q If@^LDI^9:i^F:^aL5yj~Bɮj@n̪E|QFNOT Ignoring new targets: 440.89 m.Q ProNav: ac range: 440.892700 m, nav range: 428.121368 m, bearing: 39.264859 deg, approach rate: -0.635286 m/s, LOS rate: -0.004169 deg/s, cmd heading: 40.179445 deg, new cmd heading: 40.175093 deg. z7QHeadingCmd: 0.701188 target range: 440.892700 and range: 443.70 m.R 3?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115`!%@2Acoustic response timeout [Bɢ h=)  Y?i ) V8=i i 3?%:%rmq;I% 3?I!9@ @@/@A^AoM;E}  E}E}$Ey"E}F;*E}A:VE}4ZEya@a@a@a@ԑ 2Acoustic response timeoutII Iq O >ԡ Y{,N]?AZ\>Z:54?Z{ޅ=ٱZ(& fAHRS rotation from veh to nav: [[0.760672,-0.646766,-0.055423],[0.645842,0.745456,0.164873],[-0.065319,-0.161209,0.984756]]ZHlW? Oc`?@??¸@Ŀ?iZ\>IZ&];XYnByn)IieMb@Mb@Mb@aaaa a9eGz?y&1?I +?Yep?ye`9Y==Fy#E;:E>Q 5L5-?Q 9L5)"[BY?Q E:yu@?Q I@UDI+;i+;/L5yɮ@QFNOT Ignoring new targets: 440.89 m. ȸ ȸQ  ProNav: ac range: 440.892700 m, nav range: 427.854401 m, bearing: 39.262480 deg, approach rate: -0.612872 m/s, LOS rate: -0.005465 deg/s, cmd heading: 40.175094 deg, new cmd heading: 40.167952 deg. z pQHeadingCmd: 0.701063 target range: 440.892700 and range: 443.70 m.qRx3?JbZB:2ҔڔBڒ’ 5 &@EUBɢM47=)  ?i);=iix3?@:;Ix3?I 2Acoustic response timeout9@ @@@ԩBo>BB)IBjBBS =BBBT;B0E^A r;A A >E  E E -E "E W;*E :VE t4ZE BE B @@,p ^?A22Acoustic response timeoutFm:>Fs4?FM=ٱFN% RAHRS rotation from veh to nav: [[0.760055,-0.647525,-0.055032],[0.646567,0.744974,0.164209],[-0.065332,-0.160389,0.984889]]FH@^R?-???`Ŀ6?iFm:>IFX.];DYZvByZ)IbDbVDbv4yjH%jX=ٔn8Q-n>9lYl=r=Fyr%Er$;Er>tQ 5zL5v -?Q 9zL5vе)v[BY|y~@?Q I~@v\DIvw;iv;v~ L5yBɮ@ )Q-FNOT Ignoring new targets: 440.89 m.5˸5˸QE ProNav: ac range: 440.892700 m, nav range: 427.621887 m, bearing: 39.260376 deg, approach rate: -0.614228 m/s, LOS rate: -0.005562 deg/s, cmd heading: 40.167953 deg, new cmd heading: 40.161636 deg. zEPtQMHeadingCmd: 0.700953 target range: 440.892700 and range: 443.70 m.RMq3?JIbIZQBQ:Q2QҔQڔYYڒY’aae&@ PBɢ =)  ?i )<=iq$iq3?:v;Iq3?I!@ @@0@^Ay;2Acoustic response timeoutIIIYOe>I Rj,K#^?A6>6c4?6J=ٱ6# >AHRS rotation from veh to nav: [[0.759236,-0.648551,-0.054235],[0.647522,0.744396,0.163062],[-0.065382,-0.158921,0.985124]]6H K?` ī??3?@ڼWĿ"?i6>I6h];4YFwByF)IbDNVDNk4yv ;%vI=ٔv8Q-v>9xYx=z=Fyz'E~LK;E~>Q 5 L5e.?Q 9 L5P)[BY y A?Q I @dDI :ig: L5yɮ%@!GS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 440.89 m.UθUθQe ProNav: ac range: 440.892700 m, nav range: 427.372437 m, bearing: 39.258074 deg, approach rate: -0.611636 m/s, LOS rate: -0.005647 deg/s, cmd heading: 40.161635 deg, new cmd heading: 40.154725 deg. ze xQmHeadingCmd: 0.700832 target range: 440.892700 and range: 443.70 m.Rmi3?JibiZiBi:q2qҔqڔqyڒy’yyࠓ'@颭KBɢ"=) ?i)>=顱iii3?4:i;Ii3?IE EE"E"EQ;*E:VE(3ZEa@a@a@a@QU9@Q @Y@]0@Y@a@eiA2Acoustic response timeouty^Au};IIO>ԩ % 2Acoustic response timeout,N'=^?A:>:h,5?:=ٱ:K#@ FAHRS rotation from veh to nav: [[0.758233,-0.649721,-0.054269],[0.648709,0.743475,0.162550],[-0.065264,-0.158455,0.985207]]:HrC? ɫ`8??m?+BHĿІ?i:>I:q\;:ސCYRnByR )IIT)V=i-Mb@Mb@Mb@)))) )9-)\(?Mb?~jtx?Y-G!?y-@=-;)-@ ))-@)Y-@bDEVDEX4yM:%UD=ٔUQ-U>9QYY=]=Fy])Eext;Ee>aQ 5mL5e.?Q 9uL5eo)eZBYu!?Q Eu:yulH?Q Iu@emDBr>BCB(IBeBBR =BBRDBT;B$EIe:ie׺;eL5y\Bɮ@êEQFNOT Ignoring new targets: 440.89 m.  Q ProNav: ac range: 440.892700 m, nav range: 427.110809 m, bearing: 39.254634 deg, approach rate: -0.589345 m/s, LOS rate: -0.007753 deg/s, cmd heading: 40.154727 deg, new cmd heading: 40.144402 deg. zBQHeadingCmd: 0.700652 target range: 440.892700 and range: 443.70 m.R]3?JbZB:2Ҕڔ Bڒ’y(@颍FBɢ ǭ=) ?i)q@=顙iNi]3?:F/;I]3?Iԩ@ @@/@E E!E&E"EM;*E:VE4ZEBE W|,:W^?AlYrcByr(IbDzxVDz\4y%BY%-M=ٔ-Q-->91Y1=5=Fy5+E5E=>AQ 5EL5E".?Q 9ML5Eŧ)EZBYIyIQ IM@EuDIE:iE|:E-L5yQɮ]@YyQFNOT Ignoring new targets: 440.89 m.""Q ProNav: ac range: 440.892700 m, nav range: 426.860535 m, bearing: 39.251340 deg, approach rate: -0.674769 m/s, LOS rate: -0.008887 deg/s, cmd heading: 40.144403 deg, new cmd heading: 40.134514 deg. z,ùQHeadingCmd: 0.700479 target range: 440.892700 and range: 443.70 m.RR3?JbZB:2Ҕڔڒ’4)@BDAT read: Tx time:21:24:08.4958 $Ping request sent.,p^?A2y>2J5?2τ=ٱ2,$ >AHRS rotation from veh to nav: [[0.756860,-0.651215,-0.055522],[0.650357,0.741985,0.162773],[-0.064804,-0.159305,0.985100]]2H 28? [m?V??dĿ?i2y>I2XJ];2ېCYBUByF(Ii Mb@Mb@Mb@     9 y&1?p= ף?MbY `%?y =  GA @ @) E@ Y @bD%yVD%^41y=%=H=ٔ=5Q-E>9AYA=E=FyE-EM;EM>QQ 5]L5U1.?Q 9]L5U¢)UZBY]9&?Q Ee:yeN?Q Ie@U}DIUj:iU:UL5ym]Bɮm@mĪEQFNOT Ignoring new targets: 440.89 m.22Q ProNav: ac range: 440.892700 m, nav range: 426.598602 m, bearing: 39.247020 deg, approach rate: -0.589493 m/s, LOS rate: -0.009727 deg/s, cmd heading: 40.134513 deg, new cmd heading: 40.121546 deg. zչQHeadingCmd: 0.700253 target range: 440.892700 and range: 443.70 m.RC3?JbZB:2ҔڔBڒ’ @*@UBqBu(IBuVBBqBqBqBuT;BuEB5ǹCB5ǹCԉB1B5S =B5S =C55^A r; E / E E "E "E af;*E :VE (3ZE BE ˷OO㝢,^?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755377Zg>ZB6?Z=ٱZ,`# bAHRS rotation from veh to nav: [[0.755916,-0.652307,-0.055551],[0.651493,0.741188,0.161856],[-0.064407,-0.158541,0.985250]]ZH@w0?q?`з??|KĿ*?iZg>IZY];ZߐCYjOByj(I ppbDvVDvt4y~%~M=ٔ삺Q->9Y= =Fy /E ds;E >Q 5L5y@.?Q 9L5ܝ)ZBY!y% O?Q I%@DI;i;9L5y)ɮ-@)QQUFNOT Ignoring new targets: 440.89 m.] X] XQm ProNav: ac range: 440.892700 m, nav range: 426.343170 m, bearing: 39.242750 deg, approach rate: -0.705709 m/s, LOS rate: -0.011805 deg/s, cmd heading: 40.121545 deg, new cmd heading: 40.108727 deg. zmQuHeadingCmd: 0.700029 target range: 440.892700 and range: 443.70 m.Ru 53?JqbqZqԹBq:2Ҕڔ  ڒ’%*@8Bɢ"Ͳ=)  ?i)du,^?AYCBy(IbD5VD54y=_e%EH=ٔEQ-E>9IYI=M=FyM1EMEU>QQ 5eL5UO.?Q 9eL5U՘)UZBYayaQ Ie@UDIU ;iU ;UL5yiɮu@qGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 440.89 m.QDQDQ ProNav: ac range: 440.892700 m, nav range: 426.081055 m, bearing: 39.238363 deg, approach rate: -0.640496 m/s, LOS rate: -0.010727 deg/s, cmd heading: 40.108729 deg, new cmd heading: 40.095559 deg. zQUHeadingCmd: 0.699800 target range: 440.892700 and range: 443.70 m.RU&3?JQbQZYBY:Y2YҔYڔaaڒa’aam +@E}  E}E})Ey"E}G;*E}4:VE}FA4ZEya@a@a@a@3Bɢ =) ?i)G=ii&3? :I&3?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2620019@ @@5@Iy^AM :< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511918A I I O > ,]l^?AJ)>J6?JqU=ٱJВ$ RAHRS rotation from veh to nav: [[0.754206,-0.654161,-0.056985],[0.653504,0.739304,0.162365],[-0.064084,-0.159696,0.985084]]JHt"?-?a?a?g`pĿ΅?iJ)>IJ_];JݐCYn0Byr(IB%w>B!B%(IB%ԑ9Y==Fy4E;E>Q 5L5`.?Q 9L5u)~ZBY$?Q E:yJ?Q I@DIe ;i ;"L5y_Bɮ@QFNOT Ignoring new targets: 440.89 m.((Q  ProNav: ac range: 440.892700 m, nav range: 425.795532 m, bearing: 39.234238 deg, approach rate: -0.637901 m/s, LOS rate: -0.009222 deg/s, cmd heading: 40.095560 deg, new cmd heading: 40.083177 deg. z ʹQHeadingCmd: 0.699583 target range: 440.892700 and range: 443.70 m.R3?JbZB:2Ҕڔ B!ڒ!’!!-\,@.BɢP=) ?i)I=i(i3?T:^aϵ,^^?A2T>2 7?26=ٱ2# :AHRS rotation from veh to nav: [[0.753322,-0.655185,-0.056908],[0.654532,0.738518,0.161799],[-0.063981,-0.159135,0.985182]]2H@6? G # ?? ӵ? a@^Ŀ`?i2T>I2[];0YB!ByB(IIF?>)F>bDnVDnӀ4yv%vW=ٔz[Q-z>9|Y|=~=Fy~6E~s};E>Q 5 L5+n.?Q 9 L5;)iZBYyK?Q I@DI;i ;%L5y:Bɮ%@%EAQMFNOT Ignoring new targets: 440.89 m.Mi+Mi+Q] ProNav: ac range: 440.892700 m, nav range: 425.571442 m, bearing: 39.230954 deg, approach rate: -0.638862 m/s, LOS rate: -0.009366 deg/s, cmd heading: 40.083177 deg, new cmd heading: 40.073321 deg. ze͹QeHeadingCmd: 0.699411 target range: 440.892700 and range: 443.70 m.Re 3?JibiZiBi:i2iҔqڔqqڒq’yy};-@颥+BɢV =) >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015461i)K=项iyi 3?":lqi>M9@I @I@M0@I^A%jZX<AQIYIiO}X>bE -4jE T4rE G0E EE$E"EO;*E1:VE4ZEa@a@a@a@A e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267422,n5^?AF>Fa7?FD"=ٱF# RAHRS rotation from veh to nav: [[0.752670,-0.655926,-0.056991],[0.655281,0.737884,0.161663],[-0.063986,-0.159024,0.985199]]FH`? Y-??`_?jaZĿ ?iF>IFS.];FސCYZ ByZ(IimMb@Mb@Mb@iiii i9mS㥛?{Gz?~jtYm$?ym#=mDm Ai i)m\@iYm@bDVD4yý%@=ٔe7Q->9Y==Fy8EG;E>Q 5L5~.?Q 9L55)OZBY5%?Q E:y\F?Q I@DI` ;iU:|)L5yi)L=顉iiA3?: BCB(IBBBBBBsT;BE^Aea< A I I O >E  E 2E (E "E sH;*E ;VE c44ZE BE a 2E a JE efғ7?f=ٱf$ nAHRS rotation from veh to nav: [[0.752183,-0.656447,-0.057424],[0.655865,0.737381,0.161589],[-0.063731,-0.159207,0.985186]]fH ?f?? ?P `Ŀआ?ifz>Ifb];dYvByvw(IbDVD!|4y Rս%T=ٔ-Q->9Y==Fy:E%h;E%>)Q 55L5-.?Q 95L5-)-8ZBY1y5F?Q I5@-DI-Q:i-;-,L5yAɮEI@AQFNOT Ignoring new targets: 440.89 m.!!Q ProNav: ac range: 440.892700 m, nav range: 425.052338 m, bearing: 39.224607 deg, approach rate: -0.640428 m/s, LOS rate: -0.007876 deg/s, cmd heading: 40.063380 deg, new cmd heading: 40.054266 deg. zQHeadingCmd: 0.699079 target range: 440.892700 and range: 443.70 m.R2?JbZB:2Ҕڔڒ’-.@ !Bɢ .p=)  >iI)Uw!N=QQiU|i]2?] :],%_?A2>2a7?27=ٱ2& >AHRS rotation from veh to nav: [[0.752046,-0.656476,-0.058867],[0.656040,0.736942,0.162872],[-0.063540,-0.161107,0.984889]]2H?#H??@? ,D &Ŀ6?i2>I2s];2CYFByF](I HHbDRwVDR[4yV۽%ZQ=ٔZQ-Z>9\Y\=^=Fy^dQ 5fL5f.?Q 9jL5f)f ZBYhyjF?Q Ij@fDIfB:if:fH0L5yr=Bɮr@rE|GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 440.89 m.Q- ProNav: ac range: 440.892700 m, nav range: 424.801605 m, bearing: 39.221517 deg, approach rate: -0.646369 m/s, LOS rate: -0.007971 deg/s, cmd heading: 40.054265 deg, new cmd heading: 40.044989 deg. z-Q5HeadingCmd: 0.698917 target range: 440.892700 and range: 443.70 m.R582?J1b1Z1B1:129Ҕ9ڔ9AڒA’AAEM/@BɢE=) >i)HO=i7ٴi82?%܌:%@ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5273242,?_?A2c>2>7?2=ٱ2& :AHRS rotation from veh to nav: [[0.751989,-0.656473,-0.059626],[0.656129,0.736758,0.163349],[-0.063304,-0.161959,0.984765]]2HK?@Q?`?`?`4Ŀ1?i2c>I2}];2ސCYBψByBF(IBbz>B`Bbn(IBbBBbP =BbGDB`BbT;Bb.EYiMb@Mb@Mb@ 9!rh?~jt?{GzYl'?yD<#t A @)9AY@bDVDt4y\%9=ٔ| Q->9Y==Fy>Ex9E>Q 5L5.?Q 9L5{)ZBYx'?Q E:y;?Q I@DI ;i ;#4L5yɮ@)Q-FNOT Ignoring new targets: 440.89 m.55QE ProNav: ac range: 440.892700 m, nav range: 424.514191 m, bearing: 39.219633 deg, approach rate: -0.652573 m/s, LOS rate: -0.004280 deg/s, cmd heading: 40.044989 deg, new cmd heading: 40.039334 deg. zE;QMHeadingCmd: 0.698818 target range: 440.892700 and range: 443.70 m.RM2?JIbIZIBI:Q2QҔQڔ]ŇBYڒY’YYe@B0@eBɢec9=)  >i)$P=顉i,i2?":2-,eY_?A6g>67?6妁=ٱ6:( >AHRS rotation from veh to nav: [[0.752299,-0.656046,-0.060420],[0.655778,0.736860,0.164296],[-0.063264,-0.163222,0.984559]]6H`? T j﮿!?Z??`2@tĿ?i6g>I6k];6ݐCYFÈByF7(IbDN}VDN f4yVڅ%Va=ٔZQ-Z>9\Y\=^>Fy^@E^E^>`Q 5fL5b.?Q 9fL5bw)bYBYhyj;?Q Ij@bDIbf;ib;bP7L5yn?Bɮr@pQ FNOT Ignoring new targets: 440.89 m.  Q ProNav: ac range: 440.892700 m, nav range: 424.277374 m, bearing: 39.218095 deg, approach rate: -0.651427 m/s, LOS rate: -0.004234 deg/s, cmd heading: 40.039334 deg, new cmd heading: 40.034717 deg. DAT read: 21:24:11.4774 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 325, 0.41,-2.049, 2.649,-1.857,-2.445, PHS= 0.498,-1.144, 0.544, RAW= 151.4, 1.2, CAL= 150.1, 0.7, ROT= 359.9, -0.7 Ygot valid direction response: 21:24:11.4774 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 325, 0.41,-2.049, 2.649,-1.857,-2.445, PHS= 0.498,-1.144, 0.544, RAW= 151.4, 1.2, CAL= 150.1, 0.7, ROT= 359.9, -0.7 PDAT read: Bearing 186.8, -3.7 (Local) ~Local bearing/azimuth received: Bearing 186.8, -3.7 (Local)  DAT read: Range 11 to 50 : 433.1 m (Round-trip 577.5 ms) speed 0.2 m/s  *DAT read: user:203> BDAT read: Tx time:21:24:12.5958 $Ping request sent.inC ?ϩ'@ )@I^:aP?!9?*? M* ?)dZI"i}:publishing transmit ping time}Fpublishing direction and range infoy}aQK`?o\I:?Y )Ii )I^:aP?!9?*? )Ii%Bɢ-X1=)) ->i))-Q=)1i5zi5x2?=:=4,3s_?A~)W>~!7?~g =ٱ~( AHRS rotation from veh to nav: [[0.752395,-0.655881,-0.061010],[0.655692,0.736866,0.164610],[-0.063008,-0.163855,0.984470]]~H?<@n?g?@? P!@7Ŀ`ǀ?i~)W>I~G];~ސCY%By% (IiMb@Mb@Mb@ 9+? rhMb`?Yv?yC; A@ M@)AY3@bDVD4y%립%%5=ٔ%9Q-%>9- ?Y- ?=->Fy-BE5E5>9Q 5EL5=.?Q 9EL5=s)=YBYE?Q EE:yE0?Q IE@=DI=:i=f:=@;L5QyUDBɮ]B@YJR\_?A1C1CƔ7?pdVz@Vb @E]1@}aQK`?o\I:?"+H—9s?t@y֧q@^5Vk?s?->j>CrCZ󡹖s?b.mz:Bxњ?y^ڗC3?Q addTargetRange:: Added new target pos. range: 433.100006 m, deltaT: 16.640033 s, deltaX: -10.600006 m, approachRate: -0.637018 m/s, rangeRepo size: 4 Q Added new target pos. range: 430.383942 m, bearing: 41.087597 deg, lat: 36.779280 deg, lon: -121.858877 deg, deltaT: 16.640033 s, deltaX: -10.508759 m, approachRate: -0.631535 m/s, posRepo size: 4 QFNOT Ignoring new targets: 430.38 m.!Q5 ProNav: ac range: 430.383942 m, nav range: 429.559906 m, bearing: 40.193442 deg, approach rate: 0.000000 m/s, LOS rate: -0.004234 deg/s, cmd heading: 40.034717 deg, new cmd heading: 40.028779 deg. z1Q=HeadingCmd: 0.698634 target range: 430.383942 and range: 433.10 m.R=2?J9b9Z9B9:92AҔAڔEʇBAڒ’.6?Bɢ@=) 3>i)\R=i%piE2?M:M7BCB6(IBˆBBO =BBSDBU;B\Eԩ^A= }U<AA zAE gAE  E E &E "E L;*E :VE 4ZE BE ۡN,_?A>>>Z7?>~=ٱ>) RAHRS rotation from veh to nav: [[0.752807,-0.655347,-0.061665],[0.655241,0.737146,0.165152],[-0.062776,-0.164733,0.984338]]>H?}@??#?ſ`?i>>I>|];9Y=>FyDENɺE>Q 5L5.?Q 9L5n)YBYy0?Q I@DIH;iv;>L5y!Bɮ+@EQFNOT Ignoring new targets: 430.38 m.T7T7Q ProNav: ac range: 430.383942 m, nav range: 429.313660 m, bearing: 40.193834 deg, approach rate: -0.645623 m/s, LOS rate: 0.001027 deg/s, cmd heading: 40.028778 deg, new cmd heading: 40.029953 deg. ze48Q HeadingCmd: 0.698654 target range: 430.383942 and range: 433.10 m.R 2?J b Z B :2Ҕڔڒ’ ?I Bɢ A=)  z>i )2S=ii2?.;" t,e_?AB7q>B'7?B!==ٱBa* JAHRS rotation from veh to nav: [[0.753564,-0.654414,-0.062315],[0.654389,0.737741,0.165871],[-0.062576,-0.165773,0.984177]]BH3?篿@? ?A;? 8ſ`~?iB7q>IBup];BCYrByv'IbDVD4y%S=ٔ0Q->9!Y!=%>Fy%FE%dAE->)Q 55L5-?.?Q 95L5-j)-YBY9y=A0?Q I=@-DI-w;i-;-BL5yAɮMN@IGSeB*** querying acoustic contact ***:aBaqQuFNOT Ignoring new targets: 430.38 m.}7}7Q ProNav: ac range: 430.383942 m, nav range: 429.074341 m, bearing: 40.194251 deg, approach rate: -0.617621 m/s, LOS rate: 0.001077 deg/s, cmd heading: 40.029953 deg, new cmd heading: 40.031205 deg. z4=8QHeadingCmd: 0.698676 target range: 430.383942 and range: 433.10 m.Rt2?JbZB:2Ҕڔڒ’ "? Bɢ S=E+ E"E#E"Eb;*E;VE3ZEa @a @a @a @ԱT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) >i)]oT=i(i%t2?%Bg;%/TuR,W_?AB">B B"'IB"BB"M =B B B"YU;B"EBCBCBBP =BP =C5JL>J6?JM=ٱJ+ RAHRS rotation from veh to nav: [[0.754351,-0.653444,-0.062980],[0.653510,0.738380,0.166491],[-0.062290,-0.166751,0.984030]]JH@#?`q ? Р? O?@i䯿Xſ+}?iJL>IJ+O];JސCYZzByZ'I \\iMb@Mb@Mb@ 9T㥛 ?{Gz{Gzt?Y!?y#ף;- A  @)AY@bDVD4y}%>=ٔ.Q->9"?Y"?=>FyHE 3E >Q 5L5h/?Q 9L5f)YBYZ!?Q E:y% '?Q I%@DI:iQ:EL5y-"Bɮ-@-EQFNOT Ignoring new targets: 430.38 m.k8k8Q ProNav: ac range: 430.383942 m, nav range: 428.803497 m, bearing: 40.196026 deg, approach rate: -0.614205 m/s, LOS rate: 0.004028 deg/s, cmd heading: 40.031206 deg, new cmd heading: 40.036534 deg. z09QHeadingCmd: 0.698769 target range: 430.383942 and range: 433.10 m.R2?JbZB:2ҔڔBڒ’h?!Bɢ=) g>i)HU=iKi2?J;ei >E% E%E!E!"E%P;*E%]:VE!ZE!BE%Zv,_?A8>5C>>'x6?>}=ٱ>, FAHRS rotation from veh to nav: [[0.755104,-0.652506,-0.063675],[0.652680,0.739015,0.166931],[-0.061866,-0.167610,0.983910]]>H)? TM?`?]?`񬯿`5C>I>Ij];9xYx=~>Fy~JE~GE~>Q 5 L5/?Q 9 L5b)YBYy&?Q I@DI:id:IL5y$Bɮ&@!AQMFNOT Ignoring new targets: 430.38 m.M)8M)8echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003655Qm ProNav: ac range: 430.383942 m, nav range: 428.571930 m, bearing: 40.197579 deg, approach rate: -0.647886 m/s, LOS rate: 0.004348 deg/s, cmd heading: 40.036534 deg, new cmd heading: 40.041196 deg. zm>9QuHeadingCmd: 0.698851 target range: 430.383942 and range: 433.10 m.Ru2?JqbqZqBq:y2yҔyڔyڒ’f+@颵Bɢd=) ^>i)U=项iuri2?N;TVU,}_?A` > _5? |=ٱ - AHRS rotation from veh to nav: [[0.756982,-0.650308,-0.063848],[0.650524,0.740789,0.167481],[-0.061617,-0.168315,0.983806]] H 39?S`WX ??p?3XſV{?i >I 6g]; ܐCY-]By-'IiMb@Mb@Mb@ 9x&1?㥛 ~jt?YA ?yD< A1@ z@)OAY@bDVD4y*%<=ٔQ->9Y=>FyLE׻E>Q 5L5$/?Q 9L5^)YBY_!?Q E:yD?Q I@DI:i:LL5y ɮ s@ 1Q5FNOT Ignoring new targets: 430.38 m.=9=9QM ProNav: ac range: 430.383942 m, nav range: 428.299164 m, bearing: 40.201347 deg, approach rate: -0.626598 m/s, LOS rate: 0.008662 deg/s, cmd heading: 40.041195 deg, new cmd heading: 40.052507 deg. zM:9Q-HeadingCmd: 0.699048 target range: 430.383942 and range: 433.10 m.R52?J1b1Z1B1:121Ҕ9ڔ=B9ڒ9’AAE @颭Bɢ=) p>>i)V=顱iZi2?@;mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5076516{*,`?AF>FH5?F<"{=ٱFP. ^AHRS rotation from veh to nav: [[0.758147,-0.648904,-0.064318],[0.649198,0.741844,0.167956],[-0.061274,-0.169090,0.983694]]FHB?!w;? /? ?>_ſlz?iF>IFN];DYfOByf'IbD~{VD~]b4y r% I=ٔ]Q->9Y=>FyNE%E%>)Q 5-L5-5/?Q 95L5-[)-YBY9y=?Q I=@-DI-;i-;-qPL5yE&BɮEr@EEiQmFNOT Ignoring new targets: 430.38 m.U!9U!9Q ProNav: ac range: 430.383942 m, nav range: 428.044556 m, bearing: 40.204928 deg, approach rate: -0.626402 m/s, LOS rate: 0.008816 deg/s, cmd heading: 40.052506 deg, new cmd heading: 40.063255 deg. z9QHeadingCmd: 0.699236 target range: 430.383942 and range: 433.10 m.R3?JbZB:2Ҕڔڒ’@Bɢ:=) )>i)W=iDi3?;Թ  ,w*`?A2>2c4?2*pz=ٱ2H. :AHRS rotation from veh to nav: [[0.759275,-0.647612,-0.064033],[0.647895,0.743013,0.167818],[-0.061104,-0.168907,0.983736]]2H@K?=td??@{?@Iſ@z?i2>I2#];2ސCYBEByF'IPbDNVDN4yV+>%ZQ=ٔZQ-Z>9XY\=^>Fy^PE^ԐEb>`Q 5fL5b G/?Q 9jL5bxW)bYBYhyja?Q Ij@b DIb:ib:bSL5ylɮr@pGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 430.38 m.bE 4jE4rEn/E-  E-E-%E)"E-X;*E-:VE- 4ZE)a=@a=@a=@aE@M#9M#9Qe ProNav: ac range: 430.383942 m, nav range: 427.799774 m, bearing: 40.208433 deg, approach rate: -0.624787 m/s, LOS rate: 0.008951 deg/s, cmd heading: 40.063257 deg, new cmd heading: 40.073777 deg. ze9QmHeadingCmd: 0.699419 target range: 430.383942 and range: 433.10 m.Rm% 3?JqbqZqBqiIA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265682:q2QҔYڔYaڒi’iimS @Bɢ]=) >i),RD`?A:9'>:*j4?:h=z=ٱ:O- BAHRS rotation from veh to nav: [[0.760356,-0.646417,-0.063277],[0.646631,0.744230,0.167304],[-0.061056,-0.168128,0.983873]]:H@T?`s2`3??@:j?B`5ſ`{?i:9'>I:?];:CYJ@ByJ'I|i%Mb@Mb@Mb@!!!! !9%T㥛 ?{Gzy&1?Y%!?y%ף%`e9QYQ=U>FyUREUEU>aQ 5eL5eY/?Q 9mL5eS)eYBYm\"?Q Em:ymt?Q Im@eDIe:ie:eWL5y}(Bɮ}z@}EQFNOT Ignoring new targets: 430.38 m.7979Q ProNav: ac range: 430.383942 m, nav range: 427.533081 m, bearing: 40.212670 deg, approach rate: -0.631735 m/s, LOS rate: 0.010042 deg/s, cmd heading: 40.073775 deg, new cmd heading: 40.086494 deg. z9QHeadingCmd: 0.699641 target range: 430.383942 and range: 433.10 m.R3?JbZB:2ҔڔBڒ’*n @Bɢ!=) h>i)!-X=i^i3?d ;k[;I3?IE5 E5'E5&E1"E5CJ;*E5";VE54ZE1BE1aE2E1aMJE5[2,-^`?AJDAT read: 21:24:15.5748 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 411,-0.39,-1.388,-2.951,-1.170,-1.732, PHS= 0.447,-1.174, 0.518, RAW= 152.1, 2.6, CAL= 151.0, 2.2, ROT= 359.0, -2.2 NYgot valid direction response: 21:24:15.5748 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 411,-0.39,-1.388,-2.951,-1.170,-1.732, PHS= 0.447,-1.174, 0.518, RAW= 152.1, 2.6, CAL= 151.0, 2.2, ROT= 359.0, -2.2 RPDAT read: Bearing 187.2, -4.7 (Local) V~Local bearing/azimuth received: Bearing 187.2, -4.7 (Local) ZDAT read: Range 11 to 50 : 431.1 m (Round-trip 574.9 ms) speed 0.5 m/s ^*DAT read: user:204> bBDAT read: Tx time:21:24:16.6958 b$Ping request sent.bi2E2?2)@29=2+(@ 2nF=)2@I2nF0026O?x@?Aͦ? 2?)2tw6I2i2nF00v:publishing transmit ping time`vFpublishing direction and range infoy02vz ?t:tۑ.?Y00000 0)0I0i00000 0)0I00026O?x@?Aͦ? 0)0I0i000 }> 4? Oz=ٱ - %AHRS rotation from veh to nav: [[0.761157,-0.645479,-0.063219],[0.645686,0.744987,0.167583],[-0.061073,-0.168377,0.983829]] H f[?ç%/t??Xs?E\ſ{?i }>I q2]; ސCY-8By5'IbDEVDEv4yU%%UJ=ٔU78Q-U>9] ?Y] ?=]>FyeTEeHEe>iQ 5uL5ml/?Q 9uL5mO)mYBYqy$?Q I@mDIm.=im.=m[L5yBɮ@EJ0R2^`?A23C23C2yZ1?2;Wz@ȷI%Hr0@2vz ?t:tۑ.?22nF—2>\30t@A4'q@ldh!2MC0?_Mo?$͔j2LjCr2ɤCZ2%蛊?b2e34z2mB29p?02mBڗ2C23?Q addTargetRange:: Added new target pos. range: 431.100006 m, deltaT: 4.031783 s, deltaX: -2.000000 m, approachRate: -0.496058 m/s, rangeRepo size: 4 Q Added new target pos. range: 428.402222 m, bearing: 39.693756 deg, lat: 36.779283 deg, lon: -121.858877 deg, deltaT: 4.031783 s, deltaX: -1.981720 m, approachRate: -0.491524 m/s, posRepo size: 4 QFNOT Ignoring new targets: 428.40 m.Q ProNav: ac range: 428.402222 m, nav range: 427.556000 m, bearing: 40.185254 deg, approach rate: 0.000000 m/s, LOS rate: 0.010042 deg/s, cmd heading: 40.086493 deg, new cmd heading: 40.100297 deg. zQHeadingCmd: 0.699882 target range: 428.402222 and range: 431.10 m.R{+3?JbZB: 2 Ҕ ڔڒ’z@-!?eBɢeM=) &>i)"X=顉i ƶi{+3?J ;1;I{+3?II)9@ @@0@EE EEEE#EA"EE[I;*EE:VEE3ZEAaU@aU@aU@aU@!^A ;A I I O >,by`?A2̯>2p3?2ZEy=ٱ2J, >AHRS rotation from veh to nav: [[0.762216,-0.644315,-0.062335],[0.644460,0.746270,0.166593],[-0.060820,-0.167152,0.984054]]2H`d?:R꯿i?q?R?#9eſ]}?i2̯>I2Z];2ܐCYB3ByF'IqiMb@Mb@Mb@ 9X9v? ףp= ~jt?Y?yQ<C A^@ @)fAY @bDVDӀ4y屮%:=ٔeQ->9Y=>FyWEqE>Q 5L5/?Q 9L5K)YBY?Q E:y?Q I@#DI;i;^L5yBɮ2@E!Q-FNOT Ignoring new targets: 428.40 m.%k9%k9Q ProNav: ac range: 428.402222 m, nav range: 427.283875 m, bearing: 40.190236 deg, approach rate: -0.701399 m/s, LOS rate: 0.012849 deg/s, cmd heading: 40.100297 deg, new cmd heading: 40.115252 deg. z :QHeadingCmd: 0.700143 target range: 428.402222 and range: 431.10 m.R<3?JbZB : 2 Ҕ ڔBڒ’@q?Bɢn=) >i)3Y=iնi<3?y ;VW;I<3?IBiBiBm'IBm4BBiBiBiBmU;BmEԡ9@ @@/@^A ;E  E E "E "E L;*E :VE (3ZE BE ($,+`?AY~0By~'IbD VD sx4y-]%-U=ٔ5Q-5>91Y1=5>Fy=YE=E=>AQ 5ML5E/?Q 9ML5EH)AYQyQQ IU@E+DIE:iE:EJbL5y]Bɮ]}@aQFNOT Ignoring new targets: 428.40 m.0I90I9Q ProNav: ac range: 428.402222 m, nav range: 427.047119 m, bearing: 40.194576 deg, approach rate: -0.599370 m/s, LOS rate: 0.010993 deg/s, cmd heading: 40.115251 deg, new cmd heading: 40.128279 deg. zm9Q HeadingCmd: 0.700371 target range: 428.402222 and range: 431.10 m.R }K3?J b Z B : 2Ҕڔڒ’!!%iQ)U\Y=QYi]趼i]}K3?e ;aIe}K3?Ia @  @ @ 0@@@iA^A5[RS;1IIO>Y \*,t`?AE6 E6E4E4"E6mR;*E6:VE4ZE4a>@a>@a>@a>@n{>n3?nx=ٱng+ ~AHRS rotation from veh to nav: [[0.763739,-0.642588,-0.061510],[0.642669,0.747947,0.165986],[-0.060655,-0.166301,0.984208]]nHp? :~?.?` ?? XIſ~?in{>In~(];nݐCY1By'IbDeVDeӀ4y}&:%E=ٔйQ->9Y=>Fy[EE>Q 5L5/?Q 9L5D)Yy4?Q I@3DIB;i>;eL5yɮy@1GS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 428.40 m.}O9}O9Q ProNav: ac range: 428.402222 m, nav range: 426.789337 m, bearing: 40.199391 deg, approach rate: -0.606597 m/s, LOS rate: 0.011338 deg/s, cmd heading: 40.128280 deg, new cmd heading: 40.142734 deg. z9QHeadingCmd: 0.700623 target range: 428.402222 and range: 431.10 m.R\3?JbZB:2Ҕڔڒ’?]Bɢ]얂=)Y ]>iY)eZ1Z=aaie@i}\3?&} ;lr:I\3?IJ>iq9@ @@@ԉ?a=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A qZ;I) I9 OM >B B B t'IB %BB B B B U;B EԹ 1,`?A2H>22?2ɬx=ٱ2( :AHRS rotation from veh to nav: [[0.763988,-0.642454,-0.059788],[0.642371,0.748617,0.164110],[-0.060674,-0.163784,0.984629]]2Hr?M???@Ŀ?i2H>I22;];0YB9ByB'IiMb@Mb@Mb@ 9ʡE?~jt:v?Y?y<At@ )AYAbD5~VD5g4y6$=%H=ٔ}J8Q->9Y=>Fy]E.zE>Q 5L5ܴ/?Q 9L5JA)YBY?Q E:y?Q I@;DI':i:}iL5y Bɮ@EQFNOT Ignoring new targets: 428.40 m. *;9 *;9Q% ProNav: ac range: 428.402222 m, nav range: 426.538330 m, bearing: 40.203339 deg, approach rate: -0.649840 m/s, LOS rate: 0.010227 deg/s, cmd heading: 40.142733 deg, new cmd heading: 40.154584 deg. z%9Q%HeadingCmd: 0.700830 target range: 428.402222 and range: 431.10 m.R-i3?J)b)Z)B):)2)Ҕ1ڔ5B1ڒ9’99=%?e݇BɢmY߇=)i m7>ii)mZ=qqiu"i}i3?}R ;} R2:I}i3?IԙEy E}#E}#Ey"Ey*E};VE}3ZEyBE} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004048 +7,`?A2>22?2-ex=ٱ2v( :AHRS rotation from veh to nav: [[0.764404,-0.641984,-0.059531],[0.641883,0.749089,0.163868],[-0.060606,-0.163473,0.984684]]2Hu?@!`z N?? ?`Ŀ?i2>I20];2ܐCYB91Y1=5>Fy5_E5LٺE=>AQ 5ML5E/?Q 9ML5E=)AYIyM?Q IM@ECDIE:iE:ElL5yQɮ]@YQFNOT Ignoring new targets: 428.40 m.2929Q ProNav: ac range: 428.402222 m, nav range: 426.299255 m, bearing: 40.207125 deg, approach rate: -0.616821 m/s, LOS rate: 0.009774 deg/s, cmd heading: 40.154583 deg, new cmd heading: 40.165948 deg. z9QHeadingCmd: 0.701028 target range: 428.402222 and range: 431.10 m.Rv3?JbZB:2Ҕڔڒ’`U@هBɢlj=) dE>i)\[=iMiv3?# ;|Iv3?I9@ @@{2@@=@=!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257600E EE%E"EsH;*E]:VE 4ZEa@a@a@a@^A[RS:I9IIOU>I = ,`?A6EG@HLb9dYfA-t>-ƣ2?-w=ٱ-)( mAHRS rotation from veh to nav: [[0.764846,-0.641457,-0.059522],[0.641365,0.749530,0.163879],[-0.060508,-0.163517,0.984683]]-Hy?@цy?%?@?`!Ŀ ?i-t>I-J];)Y}1By}'IiMb@Mb@Mb@ 9ʡE?y&1/$?Yy`e<@ @)AYGAbDVD04y-E%5:=ٔ5kQ-5>99Y9==>Fy=aE=#̺EE>AQ 5ML5Er/?Q 9UL5E9)EYBYUp?Q EU:yU/?Q IU@EKDIEG ;iE ;EpL5ye Bɮe@aQFNOT Ignoring new targets: 428.40 m.99Q ProNav: ac range: 428.402222 m, nav range: 426.029266 m, bearing: 40.210320 deg, approach rate: -0.616591 m/s, LOS rate: 0.007302 deg/s, cmd heading: 40.165949 deg, new cmd heading: 40.175540 deg. z[9QHeadingCmd: 0.701195 target range: 428.402222 and range: 431.10 m.R3?JbZBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508237:2ҔڔBڒ’2/@颕ՇBɢ?*=) 8>i)\=顙isi3? ;98I3?ԩIBBBBBBBBU;BEBüCBüCBBN =BN =Cß-4@ @@0@^A ጹ u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761506E  E E 'E "E O;*E :VE '4ZE BE 4!D,sa?A2ـ>22?2jw=ٱ2' :AHRS rotation from veh to nav: [[0.764978,-0.641373,-0.058726],[0.641221,0.749891,0.162785],[-0.060368,-0.162184,0.984912]]2H@z?!\??$?访 nĿf?i2ـ>I29=];2ݐClYz7Byz'IbD VD t4yR<%-^=ٔ5ƹQ-5>91Y1=5>Fy=cE=@ E=>AQ 5ML5E>/?Q 9ML5E76)EYBYQyU?Q IU@ESDIE6:iE :EsL5yYɮ]Y@YQFNOT Ignoring new targets: 428.40 m.-9-9Q ProNav: ac range: 428.402222 m, nav range: 425.800873 m, bearing: 40.213035 deg, approach rate: -0.616565 m/s, LOS rate: 0.007332 deg/s, cmd heading: 40.175542 deg, new cmd heading: 40.183689 deg. z9QHeadingCmd: 0.701338 target range: 428.402222 and range: 431.10 m.Rފ3?JbZB:2Ҕڔڒ’`"@҇BɢT=) xI>i)J\=iiފ3?Q ;usIފ3?I9@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0120691^AΒ{AzAI I O >a 5 K,\V.a?AZ#d>Z2?Z%v=ٱZ^& jAHRS rotation from veh to nav: [[0.765129,-0.641225,-0.058387],[0.641062,0.750173,0.162110],[-0.060148,-0.161464,0.985044]]ZH{?@䭿@?k? ?ˮݪĿz?iZ#d>IZJC];XYv9Byz'IE~ E~ E~%E|"E~Q;*E~:VE~ 4ZE|a@a@a @a @%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2642569bD{VD]b4y4<%>=ٔQ->9Y=>FyeEE>Q 5L5/?Q 9L542)YBY y  ?Q I @[DI:i':wL5yBɮU@EGS5B*** querying acoustic contact ***:9B9AQEFNOT Ignoring new targets: 428.40 m.M`9M`9Q] ProNav: ac range: 428.402222 m, nav range: 425.536957 m, bearing: 40.216184 deg, approach rate: -0.614961 m/s, LOS rate: 0.007343 deg/s, cmd heading: 40.183690 deg, new cmd heading: 40.193143 deg. z]@9QeHeadingCmd: 0.701503 target range: 428.402222 and range: 431.10 m.Re3?JabaZiBi:i2iҔqڔqqڒq’yy} @颥·Bɢ=) U>i)-:U]=))i-Sݷi53?5;5sI=3?IAi9@ @@4@@hA@ԑBDAT read: Rx Time:21:24:19.6708 TRx dataTimestamp_ set to:1761513861.012534checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517099^A B1 B1 B1 B1 B1 B1 B1 B5 U;B5 EI I Թ O >'Q,g)Ha?A25>2&2?2bu=ٱ2L$ :AHRS rotation from veh to nav: [[0.764931,-0.641554,-0.057352],[0.641324,0.750317,0.160399],[-0.059873,-0.159475,0.985385]]2HOz?`0]? ?@?@iĿE?i25>I2^];2ސCYBCByB'Ii Mb@Mb@Mb@     9 {Gz?L7A`堿 rh?Y #?y + C<  @ @) A Y AbD%~VD%g4y5|L=%5W=ٔ= >Q-=>99Y9=E>FyEgEE.b:EE>IQ 5UL5M 0?Q 9UL5MP.)MYBԙY]$?Q E:y&?Q I@McDIMVi)^=顡iy%ij3?r;(Ij3?II)iAE  E E &E "E US;*E :VE 4ZE BE W!  DAT read: 21:24:19.6708 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402,-0.01, 2.871, 1.243, 3.108, 2.490, PHS= 0.483,-1.202, 0.574, RAW= 152.6, 1.7, CAL= 151.4, 1.1, ROT= 358.6, -1.1  Ygot valid direction response: 21:24:19.6708 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 402,-0.01, 2.871, 1.243, 3.108, 2.490, PHS= 0.483,-1.202, 0.574, RAW= 152.6, 1.7, CAL= 151.4, 1.1, ROT= 358.6, -1.1  PDAT read: Bearing 185.7, -4.7 (Local) % ~Local bearing/azimuth received: Bearing 185.7, -4.7 (Local) - DAT read: Range 11 to 50 : 428.1 m (Round-trip 570.9 ms) speed 0.4 m/s 5 *DAT read: user:205> = BDAT read: Tx time:21:24:20.7958 = $Ping request sent.= i #ۙ ?X,ba?A t*@ < )@ nF<) G@I nF k?R "2? t=ٱ _Z# -AHRS rotation from veh to nav: [[0.764830,-0.641713,-0.056906],[0.641458,0.750374,0.159594],[-0.059713,-0.158565,0.985541]] H}y?"ӆ?@?m?KĿ?i +>I R]; ېCYu9IYI=M>FyMiEUr9Eu>yQ 5L5}0?Q 9L5}))}YBYy&?Q I@}lDI}:i}N:}~L5yBɮ@EJ R aa?A C C dC-?  qz@w"$NuU @ Q ?k]~? *ȼ nF— hat@o 7p@] qac/ ,,? ;?*WOY㢿j !Cr CZ iT6?b :gz QB %蛊? e34 QBڗ C |1?Q addTargetRange:: Added new target pos. range: 428.100006 m, deltaT: 4.032077 s, deltaX: -3.000000 m, approachRate: -0.744033 m/s, rangeRepo size: 4 Q Added new target pos. range: 425.420685 m, bearing: 38.778330 deg, lat: 36.779309 deg, lon: -121.858903 deg, deltaT: 4.032077 s, deltaX: -2.981537 m, approachRate: -0.739454 m/s, posRepo size: 4 QFNOT Ignoring new targets: 425.42 m.Q ProNav: ac range: 425.420685 m, nav range: 425.762085 m, bearing: 39.723820 deg, approach rate: 0.000000 m/s, LOS rate: 0.004155 deg/s, cmd heading: 40.198156 deg, new cmd heading: 40.203797 deg. z)Q5HeadingCmd: 0.701689 target range: 425.420685 and range: 428.10 m.R5ޡ3?J1b1Z1B1:929Ҕ9ڔ9AڒA’AEz@e g?颵LJBɢv=) j>i)3^=项iypiޡ3?;yIޡ3?I)9@ @@>4@bEjEJ4rE#0E EEE"EM;*Ej:VEZEa-@a-@a-@a-@Q^A qI9 Ia ԁ O >J^,{a?A>w>>H2?>٦s=ٱ>y" FAHRS rotation from veh to nav: [[0.764606,-0.642003,-0.056654],[0.641750,0.750290,0.158811],[-0.059450,-0.157786,0.985682]]>H@w?I7? a?S?@Bp`U2Ŀ@?i>w>I>Ny];>ܐCYN=ByN'Ii]Mb@Mb@Mb@YYYY Y9]S㥛?Mb`?~jt?Y]$?y];]D<]A]@ ]@)]AYY]=AbD}VD}4yA;%V=ٔG4Q->9Y=>FykE~|:E>Q 5L5-0?Q 9L5%)xYBY$?Q E:yK4?Q I@tDI ;i ;.L5yɮ@QFNOT Ignoring new targets: 425.42 m.Q ProNav: ac range: 425.420685 m, nav range: 425.518738 m, bearing: 39.723462 deg, approach rate: -0.702877 m/s, LOS rate: -0.001035 deg/s, cmd heading: 40.203798 deg, new cmd heading: 40.202723 deg. z5Q HeadingCmd: 0.701670 target range: 425.420685 and range: 428.10 m.R 3?JbZB:2ҔڔBڒ!’!!%d?IUćBɢUT=)Y ]Zr>iY)]_=YYi]/ie3?e;mpIm3?IiBBB{'IB*BBBBBU;BE9@ @@0@y^AΒ{IIIaOm>ԡE  E E )E "E P;*E 4:VE FA4ZE BE 6 3?6 r=ٱ6 BAHRS rotation from veh to nav: [[0.763912,-0.642927,-0.055532],[0.642612,0.750008,0.156642],[-0.059060,-0.155346,0.986093]]6H@q?@ےnG?? ?=aÿ ?i6f>I6h];6ݐCYF9\Y\=^>Fy^mEbB;Eb>dQ 5jL5f<0?Q 9jL5f!)fmYBYhyj4?Q In@f|DIf:if:fsL5yrBɮr>@p Q FNOT Ignoring new targets: 425.42 m.~~Q% ProNav: ac range: 425.420685 m, nav range: 425.277740 m, bearing: 39.723072 deg, approach rate: -0.643633 m/s, LOS rate: -0.001042 deg/s, cmd heading: 40.202722 deg, new cmd heading: 40.201552 deg. z%6Q-HeadingCmd: 0.701649 target range: 425.420685 and range: 428.10 m.R-L3?J)b)Z)B1:121Ҕ1ڔ19ڒ9’9AE`?mBɢmkғ=)i uv>iq)u\`=qqiu= iL3?Cv;9IL3?Il>i>Ա9@ @@/@^A5q Aa Iq I O >9 Yk,a?AF{>Fx3?F~q=ٱF8EN ENEN$EL"ENL;*EN:VEN4ZELaR@aR@aR@aR@ VAHRS rotation from veh to nav: [[0.763813,-0.643037,-0.055615],[0.642739,0.749918,0.156557],[-0.058965,-0.155326,0.986102]]FH'q?“yP?S? ?`0ÿ%?iF{>IF'];FߐCY^9By^'IbDf~VDfg4yn %rG=ٔrqQ-r>9tYt=v>FyvoEvm9Ev>i|I~AxQ 5 L5zM0?Q 9 L5z )zbYBY y 4?Q I @zDIzV;iz:zL5yɮv@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 425.42 m.  Q ProNav: ac range: 425.420685 m, nav range: 425.013947 m, bearing: 39.722639 deg, approach rate: -0.605215 m/s, LOS rate: -0.000994 deg/s, cmd heading: 40.201551 deg, new cmd heading: 40.200251 deg. z.Q%HeadingCmd: 0.701627 target range: 425.420685 and range: 428.10 m.R%ϝ3?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’99=S?eBɢe=)i mu>ii)m8a=qqiudi}ϝ3?}9;yI}ϝ3?Iy59@1 @9@=0@99^Amv:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a B B B 'IB /BB B B B U;B EA ؟AI I O >7@r,pa?A 2u>2Z3?2p=ٱ2/ >AHRS rotation from veh to nav: [[0.763135,-0.643887,-0.055083],[0.643568,0.749474,0.155268],[-0.058692,-0.153940,0.986335]]2H`k? @3@??? Qÿ@?i2u>I2B];2ސCYF.ByF'IiEMb@Mb@Mb@AAAA A9E)\(?{Gz?9u"?Yu"?=u>FyuqEg$;E>Q 5L5^0?Q 9L5J)UYBY`!?Q E:y;?Q I@DI/;i;ŌL5yBɮN@EQFNOT Ignoring new targets: 425.42 m.[[Q  ProNav: ac range: 425.420685 m, nav range: 424.744873 m, bearing: 39.721155 deg, approach rate: -0.669877 m/s, LOS rate: -0.003698 deg/s, cmd heading: 40.200250 deg, new cmd heading: 40.195793 deg. z m"QHeadingCmd: 0.701549 target range: 425.420685 and range: 428.10 m.R3?JbZ!B!:!2!Ҕ)ڔ-B)ڒ)’)15??EE EE0EE&EA"EEQ;*EE;VEE4ZEABEEƥiy)}b=顁iui3?I; :I3?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752480a@a @a@a@aԙ^A 9 I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004352jjx,DLa?A2>2Ӛ3?20'p=ٱ2 :AHRS rotation from veh to nav: [[0.762510,-0.644529,-0.056220],[0.644317,0.748633,0.156215],[-0.058598,-0.155339,0.986122]]2H{f?@Ȭ ?? ? ?&ÿ@O?i2>I2,];2ڐCYB/ByB'IbDJPVDJt4yV<%ZW=ٔZ낹Q-Z>9XY\=^>Fy^sE^K+;Eb>`Q 5fL5bsm0?Q 9jL5b#)bIYBYhyj5i)b=!!i%i%%3?-;-ɝ;I-%3?I19@ @@0@EE EEEE$EA"EEUS;*EE:VEE4ZEAaM@aM@aM@aM@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256646^A- 0::! I9 IY O >~,4a?Af>f3?fcp=ٱf nAHRS rotation from veh to nav: [[0.762003,-0.645130,-0.056197],[0.644911,0.748148,0.156091],[-0.058655,-0.155184,0.986143]]fHTb?@Ŭ ?`?@?`ÿ {?if>If$];fݐCYv'Byvv'I|i=Mb@Mb@Mb@9999 99=x&1?Mb?Mb`Y=A ?y====A9 =E@)=A9Y=Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508382bD}tVD}{U4y%/=ٔ?9Q->9Y=>FyuE5:E>Q 5L5\0?Q 9L5)4YBYw ?Q E:y@?Q I@DI ;i* ;L5yӕBɮ@EQFNOT Ignoring new targets: 425.42 m.øøQ ProNav: ac range: 425.420685 m, nav range: 424.219055 m, bearing: 39.717499 deg, approach rate: -0.668658 m/s, LOS rate: -0.005353 deg/s, cmd heading: 40.191801 deg, new cmd heading: 40.184821 deg. z!kQHeadingCmd: 0.701357 target range: 425.420685 and range: 428.10 m.R)3?JbZB: 2 Ҕ ڔBڒ’ U@EBɢEH=BQBQBU{'IBU*BBQBQBQBUU;BUE!)a Ec>iA)Ec=AAiM~diM)3?U=;UQeB;IU)3?IQ@ @@@QEU  EU EQ EQ "EU >T;*EU j:VEQ ZEQ BEU [|,Kb?A2o>2Y4?2TLp=ٱ2c :AHRS rotation from veh to nav: [[0.761372,-0.645916,-0.055733],[0.645659,0.747670,0.155288],[-0.058633,-0.154216,0.986296]]2H(]?W@ =?@?x?!\ÿ@?i2o>I2];2ܐCYBByBc'IbDJyVDJ^4yRT%Rp=ٔVQ-V?9TYT=Z>FyZwEZy<;EZ?\Q 5bL5^v0?Q 9bL5^ )^%YBYdyf@?Q If@^DI^ :i^$:^L5yhɮj@hY|QFNOT Ignoring new targets: 425.42 m.CCQ ProNav: ac range: 425.420685 m, nav range: 424.006256 m, bearing: 39.715766 deg, approach rate: -0.624568 m/s, LOS rate: -0.005089 deg/s, cmd heading: 40.184820 deg, new cmd heading: 40.179619 deg. z_QHeadingCmd: 0.701267 target range: 425.420685 and range: 428.10 m.R63?JbZB:2Ҕڔڒ’ ?@BɢC=) tH>i)Sd=ini63?o;~;I63?I9@ @@4@ԑ@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401Ա^A_;I1 II OU > E]  E] EY EY "E] [I;*E] O:VEY ZEY ae @am @am @am @Y, 1b?AF">Fg4?Frn=ٱF- NAHRS rotation from veh to nav: [[0.760512,-0.646930,-0.055713],[0.646712,0.746971,0.154264],[-0.058182,-0.153350,0.986458]]FHV?v@ޱ?/? ?`ʭÿ`?iF">IF\;FސCYVByVY'IbDbwjchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264521VDb[4yn%nE=ٔrQ-r>9tYt=v>FyvyEvuW;Ez>xQ 5~L5z]0?Q 9~L5zf)zYBYy:A?Q I@zDIz;iz@;zL5y ՕBɮj@1Q=FNOT Ignoring new targets: 425.42 m.==QM ProNav: ac range: 425.420685 m, nav range: 423.747681 m, bearing: 39.713610 deg, approach rate: -0.624101 m/s, LOS rate: -0.005208 deg/s, cmd heading: 40.179619 deg, new cmd heading: 40.173146 deg. zMdQUHeadingCmd: 0.701154 target range: 425.420685 and range: 428.10 m.RU~3?JQbYZYBY:Y2YҔaڔayڒ’f @ԡ颵BɢE=) =>i)ʵd=项iie~3?m;m ;Im~3?IiIy)}hA9@ @@5@rG1m 9iYmAߍ%=ߍ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521499BQ BQ BU b'IBU BBQ BQ BQ BU 8V;BU EBBBBBCg4^A I1 IA O] >) ^,Jb?A2>2\4?2m=ٱ2 :AHRS rotation from veh to nav: [[0.759433,-0.648127,-0.056507],[0.647990,0.745793,0.154605],[-0.058061,-0.154028,0.986359]]2HFM?urT???@6.ÿA?i2>I2\;2ېCYBByBH'I~only read 2 of 4 data items for bottom velocity. Device response is::BS, +639, -8,A a~@a~ a~@a~ a~@a~ a~@a~ bDVDhm4y%H=ٔCQ->9Y!=%>Fy%{E%h;E%>)Q 55L5-0?Q 95L5-)-YBQ A=+:!Y1Q E=:y=A?Q I=@-DI-=i->-L5yIɮMI@IGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 425.42 m.Q ProNav: ac range: 425.420685 m, nav range: 423.492889 m, bearing: 39.711425 deg, approach rate: -0.562723 m/s, LOS rate: -0.004829 deg/s, cmd heading: 40.173148 deg, new cmd heading: 40.166589 deg. zTQHeadingCmd: 0.701039 target range: 425.420685 and range: 428.10 m.R Nw3?J b Z B E E E%E"EM;*E:VE 4ZEBEi)3Te=顱i13iNw3?k;`;INw3?IDAT read: 21:24:23.7678 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.39, 0.080,-1.427, 0.309,-0.194, PHS= 0.376,-1.188, 0.459, RAW= 152.6, 4.4, CAL= 151.7, 4.3, ROT= 358.3, -4.3 -Ygot valid direction response: 21:24:23.7678 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.39, 0.080,-1.427, 0.309,-0.194, PHS= 0.376,-1.188, 0.459, RAW= 152.6, 4.4, CAL= 151.7, 4.3, ROT= 358.3, -4.3 -BDAT read: Rx Time:21:24:23.7678 5TRx dataTimestamp_ set to:1761513865.304313=@DAT read: $Low SNR acquisition =2Received low SNR in chirpX#Rx 1: Read direction message, but no range.^direction in FSK: [0.996746,-0.029583,0.074979]y15TX?" K]1?1111 1)5PI5>i5b5 >15nF=5Us)@ 5`=)5@I5`15Xt?;+?q0ҳ? 5~?)5tI5i5`T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI9@ @@5@q^A ; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ A I I O >k,qdb?A>^s>>=5?>ڷm=ٱ> ZAHRS rotation from veh to nav: [[0.758853,-0.648796,-0.056620],[0.648674,0.745232,0.154438],[-0.058004,-0.153924,0.986379]]>HH?@E? ??@Ƴÿ j?i>^s>I>\;>CYBy6'IbD-VD-4y]%eF=ٔe\Q-e>9aYi=m>Fym}Em;Em>qQ 5L5uջ0?Q 9L5u)uXBQ A :YQ E^:yA?Q I@uDIuax;iuCS?uL5yؕBɮX@EQFNOT Ignoring new targets: 425.42 m. &ٸ &ٸQ= ProNav: ac range: 425.420685 m, nav range: 423.235077 m, bearing: 39.709179 deg, approach rate: -0.680799 m/s, LOS rate: -0.005933 deg/s, cmd heading: 40.166587 deg, new cmd heading: 40.159847 deg. z=JQEHeadingCmd: 0.700922 target range: 425.420685 and range: 428.10 m.REo3?JAbAZABA:I2IҔIڔIQڒa’aamI@qBɢK=) >i)e=igio3? ;B;Io3?I-9@) @)@-64@)ԡE% E%E%$E!"E%sH;*E%:VE%4ZE!a-@a-@a-@a-@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A ;A I  I O >,Yb?Ab>bbd5?bul=ٱb|m jAHRS rotation from veh to nav: [[0.758028,-0.649790,-0.056271],[0.649655,0.744581,0.153451],[-0.057812,-0.152877,0.986553]]bHA?`Ϭ ? ?@G?`xÿ ב?ib>Ib\;bߐCYrۇByr'Ia}a} a}a} a}a aa iMb@Mb@Mb@ 9V-?y&1?MbY|?y`<$AM@ )^AYAbDVDq4yԽ%?=ٔQ->9Y=>FyETD;E>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaQ 5mL5e0?Q 9uL5e)eXBQ AuT:Yu?Q Eu:yu??Q Iu@eDIeM;ie;eL5B>BB<'IBBBBBB_V;B Eԙyɮ@Q FNOT Ignoring new targets: 425.42 m. ѫѫQE ProNav: ac range: 425.420685 m, nav range: 422.956390 m, bearing: 39.707060 deg, approach rate: -0.616882 m/s, LOS rate: -0.004694 deg/s, cmd heading: 40.159846 deg, new cmd heading: 40.153484 deg. zE.NQMHeadingCmd: 0.700810 target range: 425.420685 and range: 428.10 m.RMQh3?JIbIZIBI:I2QҔQڔUևBQڒY’YYeV@颭Bɢɀ=) p=i)"f=i􌻼iQh3? ;w iu9@q @q@u/@qԩE E E&E"EL;*E:VE4ZEBEۡ ^,b?A2>25?25m=ٱ2  :AHRS rotation from veh to nav: [[0.757517,-0.650406,-0.056039],[0.650245,0.744137,0.153106],[-0.057880,-0.152420,0.986620]]2H=? %? ??@`|ÿ c?i2>I2\;2ݐCYḂByB'IbDNwVDN[4yV|%V^=ٔVQB9Q-V>9XYX=Z>FyZEZ- ;E^>`Q 5bL5b_0?Q 9fL5b@)bXBYdyf??Q If@bDIb:ib:bL5yjڕBɮn@lQFNOT Ignoring new targets: 425.42 m.ssQ ProNav: ac range: 425.420685 m, nav range: 422.740753 m, bearing: 39.705395 deg, approach rate: -0.595752 m/s, LOS rate: -0.004602 deg/s, cmd heading: 40.153483 deg, new cmd heading: 40.148486 deg. z#JQHeadingCmd: 0.700723 target range: 425.420685 and range: 428.10 m.Rb3?JbZB:2Ҕڔڒ’L@5Bɢ5ׅ}=)1 5=i9)=B[f=99i=iEb3?Ea ;EbEe4jEe˻ 4rEe/E  E E $E "E mR;*E ]:VE 4ZE a @a @a @a @T$,Fb?A2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapse:/>:5?:#m=ٱ:O BAHRS rotation from veh to nav: [[0.756991,-0.650931,-0.057039],[0.650858,0.743409,0.154036],[-0.057863,-0.153728,0.986418]]:HE9?l74`??q?A[ÿ?i:/>I:\;:ܐCYJByJ&IbDR|VDR4d4yZʽ%ZI=ٔ^j1Q-^>9`Y`=b>FybEb;Ef>dQ 5jL5f0?Q 9jL5f)fXBYlyn/@?Q In@fDIf;if;fxL5yrBɮv @vE QFNOT Ignoring new targets: 425.42 m.Q ProNav: ac range: 425.420685 m, nav range: 422.488892 m, bearing: 39.703422 deg, approach rate: -0.664215 m/s, LOS rate: -0.005207 deg/s, cmd heading: 40.148487 deg, new cmd heading: 40.142564 deg. zdQ HeadingCmd: 0.700620 target range: 425.420685 and range: 428.10 m.R [3?J b Z B : 2Ҕ1ڔ19ڒ9’99=hi@颅Bɢq=) h%=i)m~f=顱ii[3? ;6! ,Xb?A6->6S5?6xl=ٱ68] >AHRS rotation from veh to nav: [[0.756673,-0.651281,-0.057265],[0.651241,0.743092,0.153946],[-0.057709,-0.153780,0.986418]]6H6?@J@Q ?`h? ~?`ÿ?i6->I6\;4PYVByV&I ``i=Mb@Mb@Mb@9999 99=333333?Mb?QY=?y=<=u=A=d@ =OA)99Y=GAbDu}VDu f4yf̽%0=ٔeQ->9E! EE%E"EY;*EO:VE 4ZEBEӬFyE:E>Q 5L50?Q 9L5)XBY?Q E:yR8?Q I@DI:i;L5yBɮ@GS5B*** querying acoustic contact ***:1B19QEFNOT Ignoring new targets: 425.42 m.EMiqIquT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseQ ProNav: ac range: 425.420685 m, nav range: 422.209473 m, bearing: 39.702397 deg, approach rate: -0.587189 m/s, LOS rate: -0.002155 deg/s, cmd heading: 40.142565 deg, new cmd heading: 40.139489 deg. zGQMHeadingCmd: 0.700566 target range: 425.420685 and range: 428.10 m.RMOX3?JIbIZIBI:Q2QҔQڔUBYڒY’YY]@aN@ Bɢ WHf=)  Pi )}f=iliOX3? ;$p(z5,b?A:M>:s5?:-l=ٱ:r FAHRS rotation from veh to nav: [[0.756513,-0.651447,-0.057491],[0.651427,0.742885,0.154159],[-0.057717,-0.154074,0.986372]]:HZ5? }o}?@?x?ÿ \?i:M>I:<\;:ݐCYNByN&IbDTVDTy^$%^m=ٔb7Q-b?9`Y`=f>FyfEf =:Ef?hQ 5nL5j1?Q 9nL5jV)jXBYpyra8?Q Ir@jDIj;ij;jL5ytɮvv@t|Q%FNOT Ignoring new targets: 425.42 m.- &- &Q= ProNav: ac range: 425.420685 m, nav range: 422.005524 m, bearing: 39.701642 deg, approach rate: -0.612094 m/s, LOS rate: -0.002268 deg/s, cmd heading: 40.139488 deg, new cmd heading: 40.137221 deg. zAǸQHeadingCmd: 0.700527 target range: 425.420685 and range: 428.10 m.RU3?JbZB:2Ҕڔڒ’@Bɢ.!V=)  @Wi )UWf=YYi]ieU3?e;m",ԁ I ,jc?Az>z6?zl=ٱz AHRS rotation from veh to nav: [[0.756206,-0.651711,-0.058524],[0.651794,0.742382,0.155028],[-0.057586,-0.155379,0.986175]]zH@2? ???{qÿ ?iz>IzJ];zܐCY{BQy&IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA5@AA1B9B9B=&IB=BB9B9B9B=DV;B=EiMb@Mb@Mb@ 9333333?Zd;OMbYyj AM@ A)p AYpAbDVDX4y %+=ٔQ->9 Y = >Fy E:E>Q 5%L5}1?Q 9%L5)lXBY-?Q E-:y-+?Q I-@DIJ0;i90;L5y5Bɮ=@=EQFNOT Ignoring new targets: 425.42 m.77Q ProNav: ac range: 425.420685 m, nav range: 421.718506 m, bearing: 39.702484 deg, approach rate: -0.588663 m/s, LOS rate: 0.001727 deg/s, cmd heading: 40.137221 deg, new cmd heading: 40.139747 deg. z8QHeadingCmd: 0.700571 target range: 425.420685 and range: 428.10 m.RX3?JbZB:2Ҕ ڔ B ڒ ’ U@=Bɢ=mT=ԁ)A 4i)f=顉iUiX3?G;42,i5c?Ahr>>r5?rml=ٱrC! ~AHRS rotation from veh to nav: [[0.756592,-0.651207,-0.059142],[0.651337,0.742573,0.156029],[-0.057690,-0.156571,0.985980]]rH 6?G? )?@? Ŀ&?ir>>Ir,];rސCYMkByM&IbD]VD]4ymJ%mW=ٔu 9Q-u>9u ?Y} ?=}>Fy}E}ZκE}>Q 5L5*1?Q 9L5)]XBYy+?Q I@DI;i; L5yɮ@QFNOT Ignoring new targets: 425.42 m.88Q ProNav: ac range: 425.420685 m, nav range: 421.490387 m, bearing: 39.703172 deg, approach rate: -0.613693 m/s, LOS rate: 0.001854 deg/s, cmd heading: 40.139748 deg, new cmd heading: 40.141815 deg. zآ8QHeadingCmd: 0.700607 target range: 425.420685 and range: 428.10 m.RZ3?JbZB:2Ҕڔڒ’ =@%Bɢ%_I=)) -i))5 e=11i5!i=Z3?=1:;=(E  E E E "E sH;*E A:VE ZE a @a @a @a @i߱ I߱  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsej,5c?A%C>%5?%=l=ٱ%O"9 =AHRS rotation from veh to nav: [[0.757182,-0.650482,-0.059577],[0.650641,0.742995,0.156920],[-0.057808,-0.157580,0.985813]]%H@:?܀` ?@?? +ĿNj?i%C>I%N];%ܐCYSBys&IbDVD4y޽%D=ٔd9Q->9"?Y"?=>FyEE>Q 5L5;1?Q 9L5)LXBYyz+?Q I%@DIX;i:L5y-Bɮ-j@-EQQ]FNOT Ignoring new targets: 425.42 m.]8]8Qm ProNav: ac range: 425.420685 m, nav range: 421.240662 m, bearing: 39.703958 deg, approach rate: -0.592308 m/s, LOS rate: 0.001865 deg/s, cmd heading: 40.141814 deg, new cmd heading: 40.144174 deg. zmߣ8QuHeadingCmd: 0.700648 target range: 425.420685 and range: 428.10 m.Ru]3?JybyZyBy:y2yҔڔڒ’@eBɢe2y?=)i m ii)I[e=顉iWӺi]3?O;zBBYB]&IB]nBBYBYBYB]V;B]EԱ^AM &< Ay I I O >,Pc?AZCq>Z/5?ZVl=ٱZ" bAHRS rotation from veh to nav: [[0.757610,-0.649954,-0.059895],[0.650155,0.743356,0.157228],[-0.057668,-0.158059,0.985744]]ZHV>? l `?? ?``C;Ŀ7?iZCq>IZ.];ZݐCYjHByjd&Ii]Mb@Mb@Mb@YYYY Y9]zG?MbMbP?Y] ?y]@]:]MA]d@ ]KA)] AYY]=AbDuVDu}4ԡD@AzDAAE  EE#E"EF;*E1:VE3ZEBE^9qYq=u>FyuE}ǺE}>Q 5L5+L1?Q 9L5)AXBY?Q E:y!?Q I@DI:i:gL5yɮ&@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 425.42 m.88Q ProNav: ac range: 425.420685 m, nav range: 420.989624 m, bearing: 39.706081 deg, approach rate: -0.596198 m/s, LOS rate: 0.005045 deg/s, cmd heading: 40.144174 deg, new cmd heading: 40.150547 deg. z]9QHeadingCmd: 0.700759 target range: 425.420685 and range: 428.10 m.Rd3?JbZB:2ҔڔvBڒ’mT@颥Bɢ݀:=) i)d=顱iyid3?:;,dic?Ab/>bnn5?bWl=ٱb" jAHRS rotation from veh to nav: [[0.757937,-0.649579,-0.059823],[0.649779,0.743695,0.157181],[-0.057611,-0.158005,0.985756]]bH@A?Y@?X?`?;9ĿP?ib/>Ibc\;`Yr5ByrN&IbDzVDzX4y =ν% f=ٔ &Q->9 ?Y ?=>FyEE}>Q 5L5[1?Q 9L5)7XBYyc!?Q I@ DI ;i;L5yBɮr@yQ}FNOT Ignoring new targets: 425.42 m.88Q ProNav: ac range: 425.420685 m, nav range: 420.771973 m, bearing: 39.707940 deg, approach rate: -0.556598 m/s, LOS rate: 0.004754 deg/s, cmd heading: 40.150546 deg, new cmd heading: 40.156124 deg. zP9QHeadingCmd: 0.700857 target range: 425.420685 and range: 428.10 m.RVk3?JbZB:2Ҕڔڒ!’!!%y @颵Bɢ].=) >i)3d=项iXiVk3? ;ln i>E  EE&E"ED;*E:VE4ZEa@a@a@a@Aa@a @a@e5@aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse YeCԁ- t9) Y5 `Ay ? qA^A H<ԡ A ؟AI! IA Ou > ,c?A*T****** received valid address query *******R****** received valid ping request *******received new query, but waiting for acoustic response period to elapseB>>B<B>[&IB>@BB<B<B<B>#V;B>EB9B9B9B=O =B=O =C= 4N>N5?N/m=ٱṆ# VAHRS rotation from veh to nav: [[0.758708,-0.648667,-0.059940],[0.648848,0.744308,0.158118],[-0.057952,-0.158858,0.985599]]NH VG?\?_?@8=?㫭sUĿ`?iN>IN];LY^6By\iMb@Mb@Mb@ 9v?㥛 Mb?Y?y<QAz@ A) AYAbDVDD4y w9;% 3=ٔXD:Q->9"?Y"?=>FyE.E>aQ 5mL5en1?Q 9mL5e)e0XBYu?Q Eu:yu?Q Iu@eDIe:ie:eL5y}BɮZ@EQFNOT Ignoring new targets: 425.42 m.; 9; 9Q ProNav: ac range: 425.420685 m, nav range: 420.502350 m, bearing: 39.711758 deg, approach rate: -0.617865 m/s, LOS rate: 0.008755 deg/s, cmd heading: 40.156123 deg, new cmd heading: 40.167585 deg. zG9Q%HeadingCmd: 0.701057 target range: 425.420685 and range: 428.10 m.R%rx3?J!b!Z)B):)2)Ҕ1ڔ5sB1ڒ1’11] S!@颅BɢR1=) 9i)c=顉iirx3?;;Irx3?I9@ @@5@EM  EMEM%EI"EME;*EMj:VEM 4ZEIBEM,Gc?AF;>F4?F`m=ٱF$ NAHRS rotation from veh to nav: [[0.759640,-0.647546,-0.060263],[0.647752,0.745093,0.158913],[-0.058002,-0.159753,0.985452]]FHN?ڮb??@DW? g rĿш?iF;>IF\;DYV)ByV>&IbD^VD^4yf̕%fk=ٔj9Q-j?9hYh=n>FynE=E=?AQ 5ML5E|1?Q 9ML5E})E+XBYIyU?Q IU@EDIE:iE[:EL5y]Bɮ][@]EQFNOT Ignoring new targets: 425.42 m.*!9*!9Q ProNav: ac range: 425.420685 m, nav range: 420.291504 m, bearing: 39.714789 deg, approach rate: -0.612348 m/s, LOS rate: 0.008806 deg/s, cmd heading: 40.167584 deg, new cmd heading: 40.176681 deg. ze9QHeadingCmd: 0.701215 target range: 425.420685 and range: 428.10 m.Rڂ3?JbZB:2Ҕڔڒ’`"@Bɢ(#=) xOi)c=iGiڂ3?u.;;Iڂ3?IԱu9@q @q@u0@qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ar; I I O >E  E E ,E "E C;*E :VE g4ZE a @a @a @a @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse9 `=,c?AN>Nnb4?Nm=ٱN6$ bAHRS rotation from veh to nav: [[0.760568,-0.646461,-0.060204],[0.646657,0.745964,0.159287],[-0.058063,-0.160080,0.985395]]NHV? ϯӮi?@?c?j`}ĿZ?iN>IN_\;NܐCYj"Byj6&IbDvVDv4yz%~G=ٔ~9Q-~>9Y=>FyE eE >Q 5L51?Q 9L5)%XBYy/?Q I@#DIa;i;L5y)ɮ-@)QFNOT Ignoring new targets: 425.42 m.99Q ProNav: ac range: 425.420685 m, nav range: 420.053772 m, bearing: 39.718256 deg, approach rate: -0.580311 m/s, LOS rate: 0.008468 deg/s, cmd heading: 40.176682 deg, new cmd heading: 40.187089 deg. z9QHeadingCmd: 0.701397 target range: 425.420685 and range: 428.10 m.R3?JbZB:2Ҕڔڒ’!!%@"@mBɢmzh'=)q }Wiy)}Ib=yyi}͸i3?;f~;I3?I@ @@@!9==T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB>BB6&IB"BBN =BBBgV;BE^A ;i I I O >$,`c?A B)>B"4?B#wm=ٱB$% JAHRS rotation from veh to nav: [[0.761257,-0.645643,-0.060273],[0.645857,0.746624,0.159443],[-0.057942,-0.160305,0.985365]]BH6\?@ܮ۪?@W?h?ࢪ݄Ŀ ?iB)>IB\;BސCYR ByR3&IieMb@Mb@Mb@aaaa a9el?9Y=>FyE"E>Q 5L5t1?Q 9L5I)$XBY?Q E:y?Q I@+DI:i:L5yBɮ@EQFNOT Ignoring new targets: 425.42 m. C9 C9Q ProNav: ac range: 425.420685 m, nav range: 419.800781 m, bearing: 39.721838 deg, approach rate: -0.610430 m/s, LOS rate: 0.008648 deg/s, cmd heading: 40.187088 deg, new cmd heading: 40.197840 deg. z9Q%HeadingCmd: 0.701585 target range: 425.420685 and range: 428.10 m.R% 3?J!b!Z!B!:!2)Ҕ)ڔ-XB)ڒ1=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse’1AE#@mBɢm[%=)q Xi)fa=ifVi 3?;&7s;I 3?Iq@ @@@ԙ^Avт;I1 IA O] >  F3?Fm=ٱF5%P ZAHRS rotation from veh to nav: [[0.762152,-0.644607,-0.060056],[0.644796,0.747505,0.159606],[-0.057991,-0.160368,0.985352]]FH`c?*?`?m?Ŀ?iF>IF\;FߐCYb!Byf5&IbDrVDrӀ4yz<%V=ٔ9Q- >9 Y =>FyEmE>)Q 5=L5-1?Q 9EL5-)-#XBYIyM?Q IM@-3DI-;i-B;-5L5yaɮm@iGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 425.42 m.99Q} ProNav: ac range: 425.420685 m, nav range: 419.572174 m, bearing: 39.725121 deg, approach rate: -0.580249 m/s, LOS rate: 0.008339 deg/s, cmd heading: 40.197839 deg, new cmd heading: 40.207695 deg. z}$9QHeadingCmd: 0.701757 target range: 425.420685 and range: 428.10 m.RS3?JbZB:2Ҕڔڒ’ $@BɢG(=) Oi) P`=  i 0޷i5S3?5;5ʱ;I5S3?I9bEJ4jErE"0E EE%E"E<;*E:VE 4ZEa@a@a@a@@ @@@M2Acoustic response timeout^Ay;I1 IA OM >! :,x'd?AB@B@BB&IBB BB@B@B@BBV;BB,EN2Acoustic response timeout|S>b3?|Cn=ٱǵ% %AHRS rotation from veh to nav: [[0.763082,-0.643508,-0.060028],[0.643681,0.748348,0.160152],[-0.058137,-0.160848,0.985265]]H+k? ?x?@?"ĭĿ@K?iS>I];ސCY5By5/&IiMb@Mb@Mb@ 9~jt?Q뱿Mb?Y?y\=A@ A)( AYAbDVD4yѪ%<=ٔ9Q->9Y=>FyE[E>Q 5L51?Q 9L5)&XBY?Q E:y ?Q I @;DI:iQ:L5yBɮ@QFNOT Ignoring new targets: 425.42 m.99Q  ProNav: ac range: 425.420685 m, nav range: 419.309052 m, bearing: 39.728625 deg, approach rate: -0.594633 m/s, LOS rate: 0.007924 deg/s, cmd heading: 40.207695 deg, new cmd heading: 40.218213 deg. z9QHeadingCmd: 0.701940 target range: 425.420685 and range: 428.10 m.R[3?JbZB:2Ҕ!ڔ%BAڒI’IIM`PX%@Bɢ^J'=) Ti)$`=)ieW_im[3?mv;u3:Iu[3?IyI)hA9@ @@/@IE EE$E"Ea?;*Eg:VE4ZEBEb,d?A6`>6>73?6m=ٱ6% BAHRS rotation from veh to nav: [[0.763513,-0.642998,-0.060016],[0.643178,0.748777,0.160172],[-0.058051,-0.160895,0.985263]]6H n?p`{???踭2ĿF?i6`>I6 ];6ܐCYJ"ByJ6&IbDRVDRq4yZ(<%Z`=ٔ^vQ-^>9\Y`=b>FybEbjEb>dQ 5jL5f1?Q 9jL5f)f)XBYlynv?Q In@fBDIf;ifQ;f*L5yrBɮra@vE QFNOT Ignoring new targets: 425.42 m.h9h9Q- ProNav: ac range: 425.420685 m, nav range: 419.086639 m, bearing: 39.731611 deg, approach rate: -0.644505 m/s, LOS rate: 0.008656 deg/s, cmd heading: 40.218213 deg, new cmd heading: 40.227174 deg. z-9Q5HeadingCmd: 0.702097 target range: 425.420685 and range: 428.10 m.R53?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAE&@YuBɢ}e!=)y }@Fiy)}^_=yi i3?[;:I3?I9@ @@0@߱ߵ4=2Acoustic response timeout^Aerg:ԁIIO&>ԱE  E E %E "E B;*E :VE 4ZE a @a @a @a @ ] 2Acoustic response timeout ,8d?A6rX>63?6!n=ٱ6% JAHRS rotation from veh to nav: [[0.764017,-0.642431,-0.059665],[0.642558,0.749280,0.160305],[-0.058279,-0.160814,0.985263]]6H@r?ˎ\֏???`֭Ŀ`E?i6rX>I6];6ސCYRByR0&IbD^VD^i4yf%fI=ٔfq:Q-f>9hYh=j>FyjEj<En>pQ 5vL5r1?Q 9vL5r)r,XBYtyvA?Q Iv@rJDIr:ir:rL5yxɮ~@!Q%FNOT Ignoring new targets: 425.42 m.-P9-P9QE ProNav: ac range: 425.420685 m, nav range: 418.838928 m, bearing: 39.734968 deg, approach rate: -0.609776 m/s, LOS rate: 0.008268 deg/s, cmd heading: 40.227174 deg, new cmd heading: 40.237251 deg. zE9QMHeadingCmd: 0.702273 target range: 425.420685 and range: 428.10 m.RM"3?JIbIZIBI:I2IҔQڔQQڒQ’YY]` &@颅Bɢ/j&=) Ki)^=顑ii"3?S-;üI"3?IQ@Q @Q@U0@QBBBBBBBBV;BGE2Acoustic response timeout^AA I I O >9 r,Rd?A6>62?6fo=ٱ6Oe% BAHRS rotation from veh to nav: [[0.764424,-0.641978,-0.059337],[0.642069,0.749727,0.160180],[-0.058345,-0.160544,0.985303]]6H(v?naӋ??ǀ?@t߭ Ŀ?i6>I6I];6ݐCYJByJ/&IiMb@Mb@Mb@ 9V-?~jtV-?Y|?y<dA@ A)Y(AbD5VD5m4yE%EC=ٔM$9Q-M>9IYI=U>FyUEUƺEU>E EE&E"EI@;*Eu:VE4ZEBE^=QQiUi]63?]U;]UXIe63?IaY>i>A@I @I@U00@Qԁԑ^Am " 2Acoustic response timeoutAy I I O >Թ L,]ld?Anb>n2?n&n=ٱn5$  AHRS rotation from veh to nav: [[0.764695,-0.641679,-0.059072],[0.641755,0.750072,0.159820],[-0.058245,-0.160124,0.985377]]nHax?`>@??t?Rҭ`~Ŀ5?inb>In];lY%By%0&IbDEVDEv4yeO;%eH=ٔm뀹Q-m>9qYy=}>Fy}E}E>Q 5L52?Q 9L5ۮ)YyE%?Q I@[DI;i;L5yBɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 425.42 m.88Q} ProNav: ac range: 425.420685 m, nav range: 418.321167 m, bearing: 39.738353 deg, approach rate: -0.639798 m/s, LOS rate: 0.004209 deg/s, cmd heading: 40.242566 deg, new cmd heading: 40.247415 deg. z89QHeadingCmd: 0.702450 target range: 425.420685 and range: 428.10 m.R3?JbZB:ԑ2Ҕڔڒ’ (@E~BɢE'=)I 4Bi)՛]=ixi3?@;OCI3?IE EE"E"EB;*EZ:VE(3ZEa@a@a@a@52Acoustic response timeout@ @@0@^A qA ) II B <A <B B B B B B B B V;B JE BDAT read: Response Not Received  *response not received *DAT read: user:207>  BDAT read: Tx time:21:24:33.2458  $Ping request sent. 4",B@d?A%>%b2?%n=ٱ%7c$ ]AHRS rotation from veh to nav: [[0.764875,-0.641503,-0.058664],[0.641540,0.750340,0.159424],[-0.058253,-0.159575,0.985466]]%H y?`0@* ~??h? bӭlĿ ?i%>I%ף];!YeBym)&IԑieMb@Mb@Mb@aaaa a9eS?I +Zd;O?Ye/?ye9ej9Y=>FyE$E>Q 5L52?Q 9L5)&XBYe?Q E:ye'+?Q Ie@dDInv(,d?A2D>202?2yo=ٱ2S" :AHRS rotation from veh to nav: [[0.764868,-0.641619,-0.057456],[0.641531,0.750589,0.158284],[-0.058432,-0.157927,0.985720]]2H`y?$jk??B? ꭿ6Ŀ?i2D>I2o];0YBByB"&IbDJ|VDJ4d4yV%Vl=ٔV:Q-V?9Z ?YZ ?=Z>FyZEZYE^?\Q 5fL5^'2?Q 9fL5^)^"XBYdyf"+?Q If@^kDI^+;i^I;^>L5yhɮn@l|QFNOT Ignoring new targets: 425.42 m.~#8 ~#8Q ProNav: ac range: 425.420685 m, nav range: 417.809082 m, bearing: 39.740113 deg, approach rate: -0.648084 m/s, LOS rate: 0.002233 deg/s, cmd heading: 40.250520 deg, new cmd heading: 40.252698 deg. z18QHeadingCmd: 0.702542 target range: 425.420685 and range: 428.10 m.R3?Jb!Z!B!:!2!Ҕ)ڔ))ڒ)’115@'*@]zBɢe=)a ePia)eVN\=iiimԓim3?ukQ;qIu3?IqEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5033109@ @@4@^AEE  EA EE #EA "EE CJ;*EA VEE 3ZEA aU @aU @aU @aU @i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755511A ؟AI I! O >A ؀G jA 5 o95 jAY5 [A.,(d?A2>2 2?2&n=ٱ2! :AHRS rotation from veh to nav: [[0.764406,-0.642203,-0.057081],[0.642095,0.750282,0.157451],[-0.058288,-0.157008,0.985876]]2Hv?9 ?@P?V'?׭Ŀ@K?i2>I2];2ސCYB$ByB9&IbDJVDJhm4yV?=%VL=ٔVҼQ-V>9Z"?YZ"?=Z>FyZEZ:E^>`Q 5fL5b82?Q 9fL5b{)bXBYdyfP+?Q If@bsDIb:ib[:bL5yjBɮn@nE|QFNOT Ignoring new targets: 425.42 m.8 8Q ProNav: ac range: 425.420685 m, nav range: 417.562592 m, bearing: 39.740939 deg, approach rate: -0.614484 m/s, LOS rate: 0.002062 deg/s, cmd heading: 40.252699 deg, new cmd heading: 40.255180 deg. z8QHeadingCmd: 0.702585 target range: 425.420685 and range: 428.10 m.R3?JbZB:2Ҕڔڒ’O*@yBɢ-=)! %`(i!)%"[=!!i%#i-3?-F;-@ZI53?9I99@ @@e4@BBBBBBBBV;B>EBqBqBqBuN =BuN =Cud4mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007356i^Am?BɺԑIi Iy O Թ E]  E] E] %EY "E] 8;*E] :VE] 4ZEY BE] ՏJ2?Jpo=ٱJ8!Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259296 ZAHRS rotation from veh to nav: [[0.764267,-0.642402,-0.056698],[0.642248,0.750213,0.157158],[-0.058423,-0.156525,0.985945]]JHt?``K??`?魿@ Ŀی?iJ$>IJ`];JݐCYbByb%&IiMMb@Mb@Mb@IIII I9MK7A?Mb`?y&1?YM "?yM;M`e9yYy=}>Fy}E9E>Q 5L5I2?Q 9L5͝)XBY"?Q E:y4?Q I@|DIj ;,d?A2ם>2z%3?2EZo=ٱ2 :AHRS rotation from veh to nav: [[0.763671,-0.643158,-0.056158],[0.642958,0.749789,0.156275],[-0.058402,-0.155450,0.986116]]2Ho?@?D??歿ÿB?i2ם>I2h];2ېCY@y@bDJVDJ4ٔVliQ-V>9TYT=V>FyZEZ";EZ>\Q 5bL5^X2?Q 9bL5^ę)^ XBYdyf4?Q If@^DI^:i^:^L5yjBɮj@hGSzB*** querying acoustic contact ***:xBx|QFNOT Ignoring new targets: 425.42 m. Q ProNav: ac range: 425.420685 m, nav range: 417.051849 m, bearing: 39.740081 deg, approach rate: -0.660007 m/s, LOS rate: -0.001154 deg/s, cmd heading: 40.253846 deg, new cmd heading: 40.252606 deg. zJQ%HeadingCmd: 0.702541 target range: 425.420685 and range: 428.10 m.R%3?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115`ϒ,@uBɢ@o=) Ai)Z=i0i3?3/;9I3?II!)%gAE EE'E"Ea?;*E#:VE'4ZEa=@a=@aE@aE@@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764703^AqI9IIOU>I B B B &IB BB B B B V;B @E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017351yB, e?A 2t>2I<3?2֭o=ٱ2V :AHRS rotation from veh to nav: [[0.763444,-0.643454,-0.055855],[0.643221,0.749629,0.155959],[-0.058482,-0.154993,0.986183]]2H"n?-D? ?s?Zÿώ?i2t>I2Ox];2ސCYBByF&IiUMb@Mb@Mb@QQQQ Q9Uw/?y&1?~jth?YU&?yU`e9Y=>FyE\P:E>Q 5L5j2?Q 9L5Δ)WBY&?Q E:y8?Q I@DIwo;in;L5yɮr@9QEFNOT Ignoring new targets: 425.42 m.E7M7Q] ProNav: ac range: 425.420685 m, nav range: 416.766632 m, bearing: 39.738964 deg, approach rate: -0.641129 m/s, LOS rate: -0.002512 deg/s, cmd heading: 40.252607 deg, new cmd heading: 40.249254 deg. z]ܸQeHeadingCmd: 0.702482 target range: 425.420685 and range: 428.10 m.Re3?JabaZaBa:a2iҔiڔmևBiڒq’ ~-@MtBɢM1%=i)q uKiq)}cY=yyi}5i3?;<9I3?I%9@! @!@%/@)E% E%E!E!"E%9;*E%:VE!ZE!BE%f H,ٓ$e?A6d>63?6!o=ٱ6@ >AHRS rotation from veh to nav: [[0.762695,-0.644316,-0.056142],[0.644110,0.748860,0.155981],[-0.058458,-0.155128,0.986163]]6H@h?=ା??0? E:ÿ@?i6d>I6x];4YFByF &IPbDRwVDR[4yZ %Z[=ٔ^4Q-^>9\Y\=b>FybEbL;Eb>dQ 5jL5fz2?Q 9jL5f)fWBYlyn'9?Q In@fDIfu ;if;fL5yrBɮr~@vE Q FNOT Ignoring new targets: 425.42 m.SFSFQ% ProNav: ac range: 425.420685 m, nav range: 416.524567 m, bearing: 39.737977 deg, approach rate: -0.663662 m/s, LOS rate: -0.002709 deg/s, cmd heading: 40.249253 deg, new cmd heading: 40.246288 deg. z%Q-HeadingCmd: 0.702430 target range: 425.420685 and range: 428.10 m.R-x3?J)b1Z1B1:121Ҕ9ڔ99ڒ9’AAEs1.@mrBɢmJ=)q uciq)uY=qqiu i}x3?};j:Ix3?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519868@! @!@!@!@-=@-=nManaging dock network, ignoring radio surface power off^AIaIyO{>bEjEJ4rE#0E5  E5 E5 $E1 "E5 3;*E5 :VE5 4ZE1 a= @a= @aE @aE @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771146! N,o>e?A28>2+3?2Eo=ٱ2Ƙ :AHRS rotation from veh to nav: [[0.762349,-0.644723,-0.056174],[0.644527,0.748545,0.155775],[-0.058383,-0.154961,0.986194]]2H *e?@¬ ??r?]䭿ÿ?i28>I2\;2ܐCYBByB&IbDJVDJJz4yR%VK=ٔV8EQ-V>9XYX=Z>FyZEZް:EZ>`Q 5bM5b2?Q 9fM5b)bWBYdyfK9?Q If@bDIb:ib:bdM5yjyBɮn@nE|Q FNOT Ignoring new targets: 425.42 m. F FQ ProNav: ac range: 425.420685 m, nav range: 416.262695 m, bearing: 39.736887 deg, approach rate: -0.649802 m/s, LOS rate: -0.002705 deg/s, cmd heading: 40.246289 deg, new cmd heading: 40.243018 deg. zQ%HeadingCmd: 0.702373 target range: 425.420685 and range: 428.10 m.R%3?J!b!Z)B):)2)Ҕ1ڔ11ڒ1’19=.@qBɢj2=) ni)FSX=iՉi3?  ; !:I 3?I i>@ @@0@1BBB &IBBBBBBV;BIEechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025646Y^A;IqIO>ԁ E=  E= E= (E9 "E= <;*E= L:VE= c44ZE9 BE= 23?2_n=ٱ2 :AHRS rotation from veh to nav: [[0.761783,-0.645401,-0.056079],[0.645213,0.748077,0.155183],[-0.058204,-0.154399,0.986293]]2H@`?o?>? ?̭Wÿ?i2>I2;\;2ސCYBByB%IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275317iMb@Mb@Mb@ 9S㥛?9Y!=%>Fy%E%a;E%>)Q 55M5-2?Q 9=M5-)-WBY=$?Q E=:y=27?Q I=@-DI- ;i-T ;-UM5yE|BɮM5@MEiQuFNOT Ignoring new targets: 425.42 m.u}Q ProNav: ac range: 425.420685 m, nav range: 415.972961 m, bearing: 39.736008 deg, approach rate: -0.643418 m/s, LOS rate: -0.001955 deg/s, cmd heading: 40.243017 deg, new cmd heading: 40.240376 deg. zQHeadingCmd: 0.702327 target range: 425.420685 and range: 428.10 m.R3?JbZB:2ҔڔBڒ’]/@EpBɢEAV=)A MmiI)M[W=IIiUqܰi3?;-;I3?IԩA@A @A@A@AUBDAT read: Rx Time:21:24:36.2080 ]TRx dataTimestamp_ set to:1761513877.652546]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528259^A- ?B: Ay I I O >[,%re?AJ]>J4?J [n=ٱJ VAHRS rotation from veh to nav: [[0.761280,-0.645974,-0.056302],[0.645809,0.747560,0.155190],[-0.058160,-0.154503,0.986279]]JHh\?@ѫӬ x?? C? ǭÿ?iJ]>IJ\;HY^By^%IbDfVDfӀ4yṇ%r^=ٔr$Q-r>9tYt=v>FyvEv ;Ez>xQ 5M5z2?Q 9M5z)zWBYye7?Q I@zDIz;izK;z M5yɮq@GS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 425.42 m.EEQU ProNav: ac range: 425.420685 m, nav range: 415.739075 m, bearing: 39.735271 deg, approach rate: -0.641694 m/s, LOS rate: -0.002021 deg/s, cmd heading: 40.240377 deg, new cmd heading: 40.238167 deg. zUQ]HeadingCmd: 0.702289 target range: 425.420685 and range: 428.10 m.R].3?JYbYZYBY:a2aҔaڔaiڒi’iiuvP0@额oBɢh=) (i)V=顡iDi.3?;X;I.3?IqE EE&E"EC;*EVE4ZEa @a @a @a @9@ @@o0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780071ԡ^A ;Aa Iq I O >Bu <Au <B B B %IB BB B B B W;B ^E - DAT read: 21:24:36.2080 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 335,-0.35, 0.902,-0.649, 1.123, 0.660, PHS= 0.344,-1.264, 0.418, RAW= 152.2, 6.1, CAL= 151.5, 6.4, ROT= 358.5, -6.4 b,qe?AbYgot valid direction response: 21:24:36.2080 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 335,-0.35, 0.902,-0.649, 1.123, 0.660, PHS= 0.344,-1.264, 0.418, RAW= 152.2, 6.1, CAL= 151.5, 6.4, ROT= 358.5, -6.4 jPDAT read: Bearing 191.3, -5.8 (Local) n~Local bearing/azimuth received: Bearing 191.3, -5.8 (Local) I>4-4?rn=ٱMDAT read: Range 11 to 50 : 418.5 m (Round-trip 558.1 ms) speed 0.6 m/s U*DAT read: user:208> }AHRS rotation from veh to nav: [[0.761084,-0.646220,-0.056135],[0.646031,0.747390,0.155084],[-0.058264,-0.154297,0.986305]]HZ? խI?@?`?ԭ ÿϏ?iI>I\;ېCYˆBy%IBDAT read: Tx time:21:24:37.2958 $Ping request sent.iʡ>P*@^ =%:)@ =)c9@I佩hY?t?wMp? n?)۽Iwּi佩:publishing transmit ping timeFpublishing direction and range infoyB5(?g -V:?Y )Ii )IhY?t?wMp? )Iii-Mb@Mb@Mb@)))) )9-}?5^I?:vMbY-M"?y-T--A) -CA)-A)Y- AbDM~VDMg4yȽ%=ٔL9Q->9Y=>FyE:E> Q 5M5 :2?Q 9M5 Y}) WBYY"?Q E:yz.?Q I@ DI H:i /: 6M5yBɮW@JRe?ACC 2?Y:Sy@'%>-G@B5(?g -V:?wּ—#Efqy4?f n=ٱf zAHRS rotation from veh to nav: [[0.760334,-0.647183,-0.055197],[0.646918,0.746918,0.153654],[-0.058215,-0.152537,0.986582]]fH T? B??@? PέRÿ?ifE>Ifǹ\;fݐCYEByE%IbD]VD]04yeڽ%mJ=ٔmmQ-m>9iYq=u>FyuE}<;E}>Q 5M52?Q 9M5%y)WBYy.?Q I@DI:i:M5yBɮ@EQFNOT Ignoring new targets: 415.88 m.i7i7Q ProNav: ac range: 415.878845 m, nav range: 415.145660 m, bearing: 39.736212 deg, approach rate: -0.688031 m/s, LOS rate: 0.001027 deg/s, cmd heading: 40.234715 deg, new cmd heading: 40.235849 deg. z~48QHeadingCmd: 0.702248 target range: 415.878845 and range: 418.50 m.R3?JbZB:2Ҕڔڒ’ r?%lBɢ%^<)! %i!)-+ T=))i-1i53?5e;5;I53?I9@ @@0@E EE#E"E=;*Eu:VE3ZEa@a@a@a@^AI A .AI I O- >q,e?AB\B\B^%IB^ƆBB\B\B\B^V;B^QEUR>U4?U5On=ٱUG AHRS rotation from veh to nav: [[0.760273,-0.647184,-0.056022],[0.646997,0.746680,0.154482],[-0.058148,-0.153694,0.986406]]UH'T?߮ 2? ??`ŭ Bÿ@?iUR>IU\;UܐCYMByM%Ii%Mb@Mb@Mb@!!!! !9%y&1?Q롿9 ?Y ?=>FyEA\9E>Q 5M5f2?Q 9M5Bt)|WBY%?Q E:y;&?Q I@DIU;i~;M5yɮ@QFNOT Ignoring new targets: 415.88 m.88Q- ProNav: ac range: 415.878845 m, nav range: 414.838745 m, bearing: 39.738087 deg, approach rate: -0.638896 m/s, LOS rate: 0.003907 deg/s, cmd heading: 40.235849 deg, new cmd heading: 40.241479 deg. z-+9Q5HeadingCmd: 0.702346 target range: 415.878845 and range: 418.50 m.R53?J1b1Z1B9:929Ҕ9ڔ=BAڒA’AIMs?ukBɢuW<)q }iy)}٠R=yyi}i3?ν;b|;I3?I9@9 @9@=0@9yE EE"E"E[I;*E:VE(3ZEBE-x,e?A6r>64?6cm=ٱ6 NAHRS rotation from veh to nav: [[0.760120,-0.647391,-0.055709],[0.647187,0.746639,0.153883],[-0.058028,-0.153024,0.986517]]6HR?`lԅ?v?@r?浭`Fÿ?i6r>I6E\;4YVByV%I XXbDbVDb4yjĽ%jv=ٔjkQ-j?9n"?Yn"?=n>FynEnRA:Er?pQ 5zM5r2?Q 9zM5rp)rnWBYxyzK&?Q Iz@rDIr;ir<;rM5yBɮG@E!Q-FNOT Ignoring new targets: 415.88 m.-858Q= ProNav: ac range: 415.878845 m, nav range: 414.625702 m, bearing: 39.739383 deg, approach rate: -0.654127 m/s, LOS rate: 0.003982 deg/s, cmd heading: 40.241480 deg, new cmd heading: 40.245371 deg. zE.9QEHeadingCmd: 0.702414 target range: 415.878845 and range: 418.50 m.REk3?JIbIZIBI:I2QҔQڔQQڒY’YY]2?颅jBɢ.ī<)DB UǾi)Q=顑ifլik3?i;;Ik3?II)cA @  @ @ L2@ )Q^AE}U;A} .Ay I I O >E5  E5 E5 &E1 "E5 E;*E5 :VE5 4ZE1 a= @aE @aE @aE @U6~,Ee?A 8JEGVSkA`z9zSkAYzJAYBy%IbDVD4ya%:=ٔQ->9 ?Y ?=>FyE E >Q 5M53?Q 9M5Xl)\WBYy!Q I%@DIj;iv;M5y-iBɮ-@-yEGSEB*** querying acoustic contact ***:IBIQQ]FNOT Ignoring new targets: 415.88 m.]Ϗ8]Ϗ8Qm ProNav: ac range: 415.878845 m, nav range: 414.341675 m, bearing: 39.741113 deg, approach rate: -0.644641 m/s, LOS rate: 0.003929 deg/s, cmd heading: 40.245370 deg, new cmd heading: 40.250563 deg. zm,9QuHeadingCmd: 0.702505 target range: 415.878845 and range: 418.50 m.Ru\3?JqbyZyBy:y2yҔڔڒ’@?ԑ颵iBɢ<) Ҿi)P=项i2̫i\3?V;;I\3?I9@ @@O0@A-AAA)B=>B9B=%IB=BB9B9B9B=V;B=5EB B B B B C n4T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A ; I I O >,Oyf?A\YrByr~%Ii}Mb@Mb@Mb@yyyy y9}?A`"~jth?Y}f&?y}Y}D;}A}S@ y)}lAyY}z AbD{VD]b4yS%P=ٔQ->9Y=>FyEE>Q 5M5H3?Q 9M5fh)QWBY&?Q E:y% ?Q I@DIX:ij:!M5ylBɮ@zEE EE#E"E*Eu:VE3ZEBEI,uU/f?A2>24?2Pn=ٱ2 :AHRS rotation from veh to nav: [[0.761238,-0.646043,-0.056087],[0.645860,0.747574,0.154910],[-0.058150,-0.154148,0.986335]]2H\?a m`? ??ŭÿ?i2>I2o\;2ݐCYBByB%IbDNVDN!|4yV'><%V\=ٔV9Q-V>9XYX=Z>FyZE^E^>Q 5 M5=+3?Q 9 M5d)FWBY y?Q I@DI:i:[$M5y9ɮ=@9QFNOT Ignoring new targets: 415.88 m.88Q ProNav: ac range: 415.878845 m, nav range: 413.838837 m, bearing: 39.745918 deg, approach rate: -0.642836 m/s, LOS rate: 0.006229 deg/s, cmd heading: 40.257801 deg, new cmd heading: 40.264990 deg. zʈ9QHeadingCmd: 0.702757 target range: 415.878845 and range: 418.50 m.R3?JbZB:2Ҕڔڒ’@*@hBɢ#:<)! %پi!)%&WM=!!i%ީi-3?-X;5̺-;I53?I1IE   E E $E "E C;*E Z:VE 4ZE a@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684134]&el>ie>q9@ @@0@ԡ B! B! B% n%IB% BB! B! B! B% V;B% $E^A= +;I I O >c,Jf?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.938687`0>3?Vo=ٱ %AHRS rotation from veh to nav: [[0.761691,-0.645523,-0.055924],[0.645304,0.747980,0.155269],[-0.058399,-0.154355,0.986288]]H_?`"T?t??}歿 ÿ૏?i0>I#\;ܐCYUxByUe%IiMb@Mb@Mb@ 9K7A?V-{Gz?Y "?ymף<`A5A ZA)AY AbDVD4y%O%% =ٔ%:Q-%>9)Y)=->Fy-E5E5>9Q 5EM5=A3?Q 9EM5=_)=BWBYE"?Q EE:yE?Q IE@=DI=f:i={:=(M5yUpBɮU@QyQ}FNOT Ignoring new targets: 415.88 m.88Q ProNav: ac range: 415.878845 m, nav range: 413.521454 m, bearing: 39.749276 deg, approach rate: -0.644376 m/s, LOS rate: 0.006823 deg/s, cmd heading: 40.264990 deg, new cmd heading: 40.275072 deg. zؕ9QHeadingCmd: 0.702933 target range: 415.878845 and range: 418.50 m.Rd3?JbZB:2Ҕڔ}Bڒ’ @频ɢ3<) i)bK=顙i)iEd3?E;Eu ;IMd3?IIDQzDQE]  EYE]%EY"E]F;*EYVE] 4ZEYBE]^6|3?6Z}o=ٱ6q FAHRS rotation from veh to nav: [[0.762334,-0.644748,-0.056100],[0.644540,0.748535,0.155764],[-0.058436,-0.154903,0.986200]]6H e?`ơ@#@?`? ?M뭿 ÿ ?i6ޭ>I6\;4YRrByR^%IbDjVDj}4|yϼ%8=ٔ 8Q- >9Y=>FyE E>Q 5M5U3?Q 9M56[)>WBYy?Q I@DI$;ie&;,M5ytBɮ!@{EYQ]FNOT Ignoring new targets: 415.88 m.eK8eK8Q ProNav: ac range: 415.878845 m, nav range: 413.224426 m, bearing: 39.752464 deg, approach rate: -0.624035 m/s, LOS rate: 0.006702 deg/s, cmd heading: 40.275071 deg, new cmd heading: 40.284641 deg. z-9QHeadingCmd: 0.703100 target range: 415.878845 and range: 418.50 m.RV3?JbZB:2Ҕڔ!ڒ’g @gBɢ<) i);XI=iUIi%V3?%;%z:I%V3?I)1111bEƻ 4jE( 4rE.0E EEE"E;;*E:VEZEa%@a%@a%@a%@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.692152} 9@y  @y @} 0@y ԁ @ @ @ @ ԡ BBBN%IBfBBBBByV;BEIIO>܃,f?AN;R>N3?NIN\;NېCY]dBy]L%I==i=Mb@Mb@Mb@9999 99=(\?V-{Gz?Y='?y=h9=A=A =A)=A9Y= AbD}VD}4yM%=ٔ9Q->9Y=>FyEE>Q 5M5yn3?Q 9M5U):WBY(?Q E:yi?Q I@ DI:iZ:1M5yɮ @GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 415.88 m.N 9N 9Q] ProNav: ac range: 415.878845 m, nav range: 412.868469 m, bearing: 39.757150 deg, approach rate: -0.664821 m/s, LOS rate: 0.008759 deg/s, cmd heading: 40.284640 deg, new cmd heading: 40.298710 deg. ze^9QeHeadingCmd: 0.703345 target range: 415.878845 and range: 418.50 m.Rmn4?JibiZiBi:i2iҔqڔqqڒq’y@ɢd<)  i ) NG=  i[良in4?9=Q;;=9IEn4?IAI9@ @@0@E EE$E"EC;*Eu:VE4ZEBE<ԑ ,Rf?A6 >6]3?6Qo=ٱ6s BAHRS rotation from veh to nav: [[0.763127,-0.643828,-0.055886],[0.643605,0.749344,0.155744],[-0.058394,-0.154821,0.986215]]6Hk?=@% j??`k?孿@.ÿ ?i6 >I6\;6ܐCY^bBybJ%IbDjVDjӀ4yrk%r=ٔr:Q-v ?9v"?Yv"?=v>FyvEzۺEz ?|Q 5M5~|3?Q 9M5~R)~7WBYy G?Q I @~DI~ ;i~:~P4M5yxBɮ\@9QFNOT Ignoring new targets: 415.88 m.u9u9Q ProNav: ac range: 415.878845 m, nav range: 412.661743 m, bearing: 39.759890 deg, approach rate: -0.657141 m/s, LOS rate: 0.008713 deg/s, cmd heading: 40.298710 deg, new cmd heading: 40.306933 deg. zY9QHeadingCmd: 0.703489 target range: 415.878845 and range: 418.50 m.R4?JbZB:2Ҕڔڒ’@q9ɢ=;)A M+i)/ F=顩i줼i4?;%I4?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.4488619@ @@~2@ԩA.AIIO>E  E E 'E "E ;;*E :VE '4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.700109 Ӯ,0f?A23>2P3?2 n=ٱ2T :AHRS rotation from veh to nav: [[0.763253,-0.643680,-0.055865],[0.643466,0.749495,0.155592],[-0.058281,-0.154703,0.986240]]2H`l?OE??`s? ׭`Rÿ H?i23>I2?\;0Y@y@bDJVDJJz4yRM%RN=ٔVQ-V>9V ?YV ?=Z>FyZEZ,EZ>\Q 5bM5^3?Q 9bM5^N)^4WBYdyf:?Q If@^DI^:i^|:^7M5yjSBɮj@jrEQ FNOT Ignoring new targets: 415.88 m. 9 9Q% ProNav: ac range: 415.878845 m, nav range: 412.401581 m, bearing: 39.763349 deg, approach rate: -0.604137 m/s, LOS rate: 0.008039 deg/s, cmd heading: 40.306934 deg, new cmd heading: 40.317319 deg. z%9Q%HeadingCmd: 0.703670 target range: 415.878845 and range: 418.50 m.R-#4?J)b)Z)B):)2)Ҕ1ڔ19ڒ9’99=̌@iɢmlV<)i m8ii)usMD=iiimiu#4?uZ;u3ҹI}#4?Iy!@! @!@%5@!BYBYB]<%IB]WBBYBYBYB]CV;B]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.955361A؟AIIIO]>) , f?A2>2=3?2m=ٱ2[ >AHRS rotation from veh to nav: [[0.763449,-0.643433,-0.056035],[0.643257,0.749701,0.155466],[-0.058022,-0.154735,0.986251]]2H,n???L?`[ÿ]?i2>I2\;2ېCYB]ByFD%IIJa=)J49}"?Y}"?=}>Fy}E?"E>Q 5M53?Q 9M5NJ)2WBY-+?Q E:y?Q I@"DIH%Si5p04?5.;5L QI5p04?I9IA)EhAY9@ @@5@ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.457167^A ;Ա I I O >G,f?A2է>2x*3?2~ k=ٱ2T :AHRS rotation from veh to nav: [[0.763669,-0.643111,-0.056731],[0.643056,0.749902,0.155328],[-0.057351,-0.155101,0.986233]]2Ho?\` `?1??@]`Uÿ7?i2է>I27];2ڐCYB\ByBB%IbDNvVDN)Y4yR%V]=ٔVQQ-V>9XYX=Z>FyZEUFEU>YQ 5eM5]3?Q 9eM5]cF)]0WBYiym?Q Im@]+DI]d:i]:]! B >B B /%IB LBB B B B V;B E-, R g?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=5.966791(t>3?ff=ٱK AHRS rotation from veh to nav: [[0.763911,-0.642733,-0.057737],[0.642867,0.750160,0.154858],[-0.056221,-0.155415,0.986248]]H@q?D@^?O?f?Ȭ`ÿ X?it>IЖ];ܐCYYBy>%IiUMb@Mb@Mb@QQQQ Q9UHzG?S㥫~jt?YQyU/]UQ->9Y=>FyE3%E>Q 5M5X3?Q 9M5}A)-WBY*?Q E:y ?Q I@5DI ;iG ;fCM5yɮ @GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 415.88 m.e8e8Q ProNav: ac range: 415.878845 m, nav range: 411.515564 m, bearing: 39.773245 deg, approach rate: -0.671153 m/s, LOS rate: 0.006459 deg/s, cmd heading: 40.337861 deg, new cmd heading: 40.347029 deg. z֍9QHeadingCmd: 0.704189 target range: 415.878845 and range: 418.50 m.RE4?JbZB:2Ҕ ڔ B ڒ ’ L@9ɢ=ĭD<)A EiA)E>=AIiMԟiME4?U@;UʺIUE4?IQY@Y @Y@]3@Y@eiA@ejAԙE EE"E"E3;*E:VE(3ZEBET,6#'g?APYLBy/%I  bDVDr4y%C%-{=ٔ-Q--?9)Y1=5>Fy5E5E5 ?9Q 5EM5=:3?Q 9MM5=">)=+WBYIyIQ IM@=i!>=%==4=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.470069 @  @ @ /@^A5?BɺIIO>E  E E E "E 1A;*E :VE ZE a @a @a @a @) u rG z9 Y fA checking for new query: numPingsReceived=0, elapsed TxPingTime=6.720108<,@g?A6Oh>6 3?6AKc=ٱ6! BAHRS rotation from veh to nav: [[0.764062,-0.642403,-0.059390],[0.642754,0.750087,0.155683],[-0.055463,-0.157125,0.986020]]6H2s?jhp??j?eĿz?i6Oh>I6w];6ݐC YRBy6%IbD%VD%v4y5<%5I=ٔ=Q-=>9AYA=E>FyEEEEM>IQ 5UM5M3?Q 9UM5M9)M)WBYYy] ?Q I]@MEDIMU;iM;MIM5ye_Bɮm@iQFNOT Ignoring new targets: 415.88 m.q8q8Q ProNav: ac range: 415.878845 m, nav range: 411.027893 m, bearing: 39.777948 deg, approach rate: -0.665901 m/s, LOS rate: 0.006432 deg/s, cmd heading: 40.353311 deg, new cmd heading: 40.361146 deg. zD9QHeadingCmd: 0.704435 target range: 415.878845 and range: 418.50 m.RU4?JbZB:2Ҕڔڒ’@@iɢuH<)  i)f;=顙ihiU4?vH;TIU4?I)B5>B1B5#%IB5BBB1B1B5RDB5U;B5EBBBBBC@14U9@Q @Y@]0@Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.975482Y^A1IIOԁ f,Zg?A2q>2\3?2(_=ٱ2K" :AHRS rotation from veh to nav: [[0.764052,-0.642327,-0.060335],[0.642838,0.750053,0.155498],[-0.054626,-0.157594,0.985992]]2Hs?@5䮿 !?o?Y? @ ,Ŀ ??i2q>I2 ^;2ېCYBOByB2%IER ERER$EP"ERU,;*ER:VER4ZEPBER9!Y!=%>Fy%E-,9E->1Q 5=M554?Q 9=M55Y5)5$WBY=/?Q E=:y=m"?Q IE@5NDI5 ;i5 ;5MM5yMcBɮM>@MtEiQFNOT Ignoring new targets: 415.88 m.88Q ProNav: ac range: 415.878845 m, nav range: 410.732391 m, bearing: 39.780416 deg, approach rate: -0.683157 m/s, LOS rate: 0.005710 deg/s, cmd heading: 40.361145 deg, new cmd heading: 40.368555 deg. zz9Q HeadingCmd: 0.704564 target range: 415.878845 and range: 418.50 m.R R^4?JbZB:2ҔڔBڒ’!!%`\u@颍hBɢ\6 <)  i)Mp9=顑iiR^4?;EhIR^4?Iԉe9@a @a@a@a@m=@m=Ա] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.477188^A A .AI I O% >Ԑ,[tg?A:>:_3?:ʙ\=ٱ:." FAHRS rotation from veh to nav: [[0.764016,-0.642318,-0.060881],[0.642948,0.750082,0.154903],[-0.053832,-0.157491,0.986052]]:Hr?`ߍ+??@?Ϗ@(Ŀ?i:>I:^;:ߐCYJFByN'%IbDVVDV4y^8@%^d=ٔnQ-n>9n ?Yr ?=r>FyrEr9Er>tQ 5zM5v4?Q 9zM5v{1)v!WBY|y~t"?Q I@vVDIv(;iv);vPM5y fBɮ @ 1Q5FNOT Ignoring new targets: 415.88 m.=v8=v8QM ProNav: ac range: 415.878845 m, nav range: 410.484802 m, bearing: 39.782483 deg, approach rate: -0.681782 m/s, LOS rate: 0.005695 deg/s, cmd heading: 40.368556 deg, new cmd heading: 40.374761 deg. zM'z9QUHeadingCmd: 0.704673 target range: 415.878845 and range: 418.50 m.RUke4?JQbQZQBQ:Q2YҔYڔYaڒa’aam@@频ɢ_;) i)7=顙i욼ike4?=;Ike4?Iu9@q @q@u'0@qE EEE"E9;*EVEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.728244^AA ؟AI I O >B) A- p<B- >B) B- %IB- =BB- O =B) B) B- V;B- E9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=7.980871,(Ԏg?A=n>=DZ3?=U=ٱ=! MAHRS rotation from veh to nav: [[0.763416,-0.642922,-0.062034],[0.643794,0.749638,0.153531],[-0.052206,-0.157145,0.986195]]=Hm?В@¯??? @UĿ ?i=n>I=K];=ܐCY]?By]%IiMb@Mb@Mb@ 9m?QI +?Yyu94<A ( A)AYAbDVDӀ4y ]% )=ٔ]Q->9"?Y"?=>FyEK ;E>!Q 5-M5%I)4?Q 9M5%{,)%WBYI/?Q E:y?Q I@%`DI%Sqq,:ͫg?AVr>V3?VR=ٱV= fAHRS rotation from veh to nav: [[0.762921,-0.643532,-0.061794],[0.644446,0.749428,0.151809],[-0.051384,-0.155642,0.986476]]VH@i?ϗ @N?P?@~n? N ÿ6?iVr>IV];lVݐCYz;Byz%IbDVD4y-z%5Q=ٔ=J Q-E>9E ?YM ?=M>FyMEU';E]>aQ 5mM5}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.484660e;4?Q 9M5e[()eWBYy?Q I@eiDIex;ie;egXM5yMBɮ&@QFNOT Ignoring new targets: 415.88 m.7 97 9Q ProNav: ac range: 415.878845 m, nav range: 409.886902 m, bearing: 39.788977 deg, approach rate: -0.713340 m/s, LOS rate: 0.007716 deg/s, cmd heading: 40.385498 deg, new cmd heading: 40.394259 deg. zv9QHeadingCmd: 0.705013 target range: 415.878845 and range: 418.50 m.R{4?JbZB:2Ҕڔڒ’.!@颹ɢ:) 9i)$3=i0i{4?M ;u'I{4?I @ @@0@1bE4jE 4rEǐ'0E5 E5E5%E1"E5B;*E5:VE5 4ZE1a=@a=@a=@aE@^A?Bɺ- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.736376a A ؟AI I O >V,g?AY~4By~%I bDtVD{U4y%%%K=ٔ%Q-%>9-"?Y-"?=->Fy-E5E5>99Q 5EM5=N4?Q 9EM5=7$)= WBYIyIQ IM@=rDI=:i=:=[M5yQɮU@YQFNOT Ignoring new targets: 415.88 m.99Q ProNav: ac range: 415.878845 m, nav range: 409.615540 m, bearing: 39.791914 deg, approach rate: -0.665040 m/s, LOS rate: 0.007204 deg/s, cmd heading: 40.394258 deg, new cmd heading: 40.403076 deg. z29QHeadingCmd: 0.705167 target range: 415.878845 and range: 418.50 m.R΅4?Jb Z B : 2 Ҕڔڒ’l!@B=~>B9B=%IB=3BB=N =B9B9B=$V;B=EejBɢe :)a mii)m1=iiimO▼iu΅4?uH ;} YdI}΅4?IyI)iA9@9 @9@=0@9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.990765ԙ^A9AE .AII IY Om > EE  EE EA EA "EE C;*EE 4:VEA ZEA BEE b 3?bi#L=ٱb# nAHRS rotation from veh to nav: [[0.761927,-0.644637,-0.062529],[0.645744,0.748695,0.149902],[-0.049818,-0.154592,0.986722]]bHa?ޠ?N?0?กÿ9?ibH>Ib1];bܐCYv(Byv%IimMb@Mb@Mb@iiii i9m(\?&1~jt?Ym'?ymPmD9 ?Y ?=>FyE>;E>Q 5M5ba4?Q 9M5)WBY7(?Q E%:y% !?Q I%@{DI g, Pg?A2|>24?2I=ٱ2  :AHRS rotation from veh to nav: [[0.761701,-0.644865,-0.062936],[0.646069,0.748569,0.149125],[-0.049053,-0.154250,0.986813]]2H_??H?? tÿ?i2|>I2];2ݐCYB#ByB$IbDJVDJq4yRм%V[=ٔVQ-V>9Z"?YZ"?=Z>FyZEZ:EZ>`Q 5fM5br4?Q 9fM5b&)bWBYdyf&!?Q Ij@bDIb:ib|:bbM5ynUBɮn@nmEQ FNOT Ignoring new targets: 415.88 m. 8 8Q ProNav: ac range: 415.878845 m, nav range: 409.095734 m, bearing: 39.796670 deg, approach rate: -0.684323 m/s, LOS rate: 0.006249 deg/s, cmd heading: 40.410650 deg, new cmd heading: 40.417352 deg. z%=9Q%HeadingCmd: 0.705416 target range: 415.878845 and range: 418.50 m.R%"4?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’9#@E EE&E"EN;*E:VE4ZEa @a @a @a @ ElBɢEHk)A Ea$iA)Mkf-=IIiM.iU"4?x ;^:I"4?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.744257-9@) @)@-5@1!A5@AA1BE>BABE$IBE$BBEO =BABABE5V;BEE^A]yb]:YA  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.996494I I O >ԩ ,:<h?AYBy$II<)9Y=>FyEE>Q 5M524?Q 9M5)VBY&?Q E:yG?Q I@DIa:i:fM5yɮf@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 415.88 m.99Q  ProNav: ac range: 415.878845 m, nav range: 408.791962 m, bearing: 39.800429 deg, approach rate: -0.648512 m/s, LOS rate: 0.008030 deg/s, cmd heading: 40.417351 deg, new cmd heading: 40.428635 deg. z Y9QHeadingCmd: 0.705613 target range: 415.878845 and range: 418.50 m.R 4?JbZB:2Ҕ!ڔ%B!ڒ!’))-`H~$@UmBɢ]@t)Y ]='iY)] +=Yaievim 4?m{8 ;me9Im 4?Ii}i>i}>E EE$E"Ea?;*E:VE4ZEBE k ,-h?AYEByM$Ie2Acoustic response timeoutbDm|VDm4d4y}%}_=ٔyQ->9Y=>FyEE>Q 5M54?Q 9M5)VBYyQ I@DI8;i;jM5yYBɮ@QFNOT Ignoring new targets: 415.88 m.`9`9Q ProNav: ac range: 415.878845 m, nav range: 408.554443 m, bearing: 39.803371 deg, approach rate: -0.649662 m/s, LOS rate: 0.008053 deg/s, cmd heading: 40.428634 deg, new cmd heading: 40.437467 deg. zڰ9QHeadingCmd: 0.705767 target range: 415.878845 and range: 418.50 m.R$4?JbZB:2Ҕڔڒ’ f9%@-nBɢ55)1 5*i1)=| )=99i=[iE$4?E ;E>9IE$4?II9@ @@/@^Ayb]E EEE"EL;*E:VEZEa%@a%@a%@a%@ 2Acoustic response timeoutQ A! I) IA OM >,Fh?A:>>:,4?:A=ٱ:6 FAHRS rotation from veh to nav: [[0.761530,-0.644999,-0.063627],[0.646399,0.748660,0.147228],[-0.047327,-0.153247,0.987054]]:H`t^?ԣIM??@\??;ÿ`?i:>>I:j];:ېCYJByJ$IbDVsVDVS4yZ~%^X=ٔ^vQ-^>9`Y`=b>FybEfz:Ef>hQ 5jM5j̨4?Q 9nM5jL)jVBYlyn]?Q In@jDIj;ij];jhmM5ytɮv@t QFNOT Ignoring new targets: 415.88 m.99Q- ProNav: ac range: 415.878845 m, nav range: 408.308502 m, bearing: 39.806410 deg, approach rate: -0.648430 m/s, LOS rate: 0.008017 deg/s, cmd heading: 40.437466 deg, new cmd heading: 40.446588 deg. z-9Q5HeadingCmd: 0.705926 target range: 415.878845 and range: 418.50 m.R54?J1b9Z9B9:929ҔAڔAAڒA’IIM%@uoBɢu>)y }3iy)}m&=yii4?w ;a9I4?IBBB$IBBBBBBrV;BE=9@9 @9@9@9Q}2Acoustic response timeoutԁ^A9ԩ A I I O >E%  E% E! E! "E% C;*E% x:VE! ZE! BE% <9Y=>FyEE>Q 5M5ȼ4?Q 9M5 )VBY"*?Q E:y?Q I@DI ;i;0qM5yABɮ@dEQFNOT Ignoring new targets: 415.88 m.99Q  ProNav: ac range: 415.878845 m, nav range: 408.022186 m, bearing: 39.810192 deg, approach rate: -0.661328 m/s, LOS rate: 0.008742 deg/s, cmd heading: 40.446587 deg, new cmd heading: 40.457942 deg. z 9QHeadingCmd: 0.706124 target range: 415.878845 and range: 418.50 m.R4?JbZB:2Ҕڔ%B!ڒ!’!!- I&@UpBɢU)Q ]6iY)]T$=YYi]l^ie4?e; ;e 9Ie4?IiqԱ 9@  @ @ 0@}2Acoustic response timeout^AI A I I O >>,ٗzh?A6#'>63?6K==ٱ6  >AHRS rotation from veh to nav: [[0.762222,-0.644095,-0.064494],[0.645656,0.749357,0.146942],[-0.046316,-0.153643,0.987040]]6Hd?@l@@7???@@ÿՕ?i6#'>I6];6ݐCYFByF$IbDRVDRt4yZ %ZZ=ٔZN1Q-Z>9\Y\=^>Fy^Eb1Eb>dQ 5jM5f4?Q 9jM5fT)fVBYhyj?Q In@fDIf-:ifg:p vWm>vyCfvtM5y!ɮ-\@AIayo9YR\AQFNOT Ignoring new targets: 415.88 m.99E  E&E'E"EE;*E;VE'4ZEa-@a-@a-@a-@Q} ProNav: ac range: 415.878845 m, nav range: 407.774597 m, bearing: 39.813503 deg, approach rate: -0.620509 m/s, LOS rate: 0.008301 deg/s, cmd heading: 40.457943 deg, new cmd heading: 40.467879 deg. zN9QHeadingCmd: 0.706298 target range: 415.878845 and range: 418.50 m.R4?JbZB:22Acoustic response timeoutҔڔڒ’ '@%rBɢ%!)! -R;i))-Կ!=))iU=Ȍi]4?] ;][I]4?IY 9@ @@@9BA<B>BB$IBBBBBBV;BEBBBBO =BO =C4^A A >A >q  2Acoustic response timeoutA IA Ia O >%,h?A5Z>53?5Wz<=ٱ5 MAHRS rotation from veh to nav: [[0.762572,-0.643737,-0.063924],[0.645266,0.749893,0.145921],[-0.045999,-0.152523,0.987229]]5Hf?~ M]@?@? ?*ÿ`?i5Z>I5];5ِCYUBy]$IiMb@Mb@Mb@ 9x&1?+:v?YA ?yT< AA )AYAbD%VD%4y5ּ%51=ٔ5U4Q-5>99Y9==>Fy=E=EE>AQ 5UM5E4?Q 9UM5E)EVBYU!?Q EU:yU<?Q IU@EDIE;iE;E}xM5yeEBɮe@eeEGS}B*** querying acoustic contact ***:yByQ-FNOT Ignoring new targets: 415.88 m.-?95?9Q= ProNav: ac range: 415.878845 m, nav range: 407.485382 m, bearing: 39.818074 deg, approach rate: -0.661726 m/s, LOS rate: 0.010468 deg/s, cmd heading: 40.467880 deg, new cmd heading: 40.481605 deg. zE9QEHeadingCmd: 0.706537 target range: 415.878845 and range: 418.50 m.RE4?JibqZqBq:y2ҔڔBڒ’a(@sBɢ3)Q5A M1?iI)M =IIiM"iU4?UJ ;UUIU4?IYE EE#E"E4;*E:VE3ZEBE BDAT read: Tx time:21:24:49.7457 $Ping request sent.l+,%h?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248282B>Bw3?B`!:=ٱB< NAHRS rotation from veh to nav: [[0.762703,-0.643620,-0.063542],[0.645152,0.750238,0.144647],[-0.045426,-0.151317,0.987441]]BH@h?ED?? ̃?@BZ^ÿ?iB>IB];BݐCYVByV$IIZ=)Z<bD^VD^!|4yfL%fZ=ٔnǺQ-n>9lYl=n>FyrErEr>txQ 5~M5vA4?Q 9~M5v)vVBY|y~.?Q I~@vDIvi);ivd*;v{M5y IBɮ @ )Q5FNOT Ignoring new targets: 415.88 m.5 69= 69QE ProNav: ac range: 415.878845 m, nav range: 407.249542 m, bearing: 39.821814 deg, approach rate: -0.626913 m/s, LOS rate: 0.009947 deg/s, cmd heading: 40.481606 deg, new cmd heading: 40.492832 deg. zMt9QMHeadingCmd: 0.706733 target range: 415.878845 and range: 418.50 m.RUx4?JQbQZQBQ:Q2QҔYڔYYڒY’aae@E)@颍uBɢ) Fi)=顑iix4?8 ;غIx4?II)A@A @I@M0@I!I^Am?BɺE} E}E}$Ey"E}:;*E} :VE}4ZEya@a@a@a@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500479A .AI I O >y O2,ݲh?A2>23?27=ٱ2[ :AHRS rotation from veh to nav: [[0.762720,-0.643582,-0.063721],[0.645168,0.750338,0.144052],[-0.044897,-0.150983,0.987516]]2H 4h?8 P8?`? Mp? eSÿ໙?i2>I2];2ސCYBޅByB$IbDNVDN4yVL%VM=ٔVQ-V>9Z ?YZ ?=Z>FyZEZ 6E^>B`B`Bb$IBbBB`B`B`BbV;Bb ElQ 5rM5n5?Q 9vM5n)nVBYtyv-?Q Iv@nDIn:in9:nHM5yxɮz@|!Q%FNOT Ignoring new targets: 415.88 m.-_69-_69ԁQ ProNav: ac range: 415.878845 m, nav range: 406.997986 m, bearing: 39.825809 deg, approach rate: -0.627143 m/s, LOS rate: 0.009965 deg/s, cmd heading: 40.492831 deg, new cmd heading: 40.504823 deg. z9QHeadingCmd: 0.706942 target range: 415.878845 and range: 418.50 m.R/4?JbZB:2Ҕڔڒ’y*@mvBɢm)i u Li)=顑i i/4?Z ;I/4?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752243ԡy@y @y@/@^AE [RӺAI zAI E  E E &E "E V;*E :VE 4ZE BE OO8,gh?A2>2R3?26=ٱ2% :AHRS rotation from veh to nav: [[0.762794,-0.643492,-0.063749],[0.645106,0.750484,0.143572],[-0.044545,-0.150641,0.987584]]2Hh?|Q?`?`?`Φ1HÿJ?i2>I2;];0YBхByB$IbDNVDNӀ4yR~%VD=ٔV|]Q-V>9V"?YZ"?=Z>Fy^E^oE^>`Q 5fM5bp5?Q 9fM5b=)bVBYdyf&?Q Ij@bDIb3;ib;bM5ynMBɮn@nfEQFNOT Ignoring new targets: 415.88 m. 69 69Q ProNav: ac range: 415.878845 m, nav range: 406.738556 m, bearing: 39.829937 deg, approach rate: -0.627643 m/s, LOS rate: 0.009994 deg/s, cmd heading: 40.504822 deg, new cmd heading: 40.517214 deg. z{9Q%HeadingCmd: 0.707159 target range: 415.878845 and range: 418.50 m.R%\5?J!b!Z!B!:)2)Ҕ)qڔ)ڒ’`)*@xBɢ) Si)X= i-7i5\5?5 ;5<I5\5?I9ԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256891}jZXY>i>@  @ @ @  ^A- NJκbEjE4rE7/E-  E- E- !E) "E- sH;*E- :VE- c3ZE) a= @a= @a= @a= @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508418!AyIIO>@, i?AY5ƅBy5$I 99bDMVDM4y]J%%]"=ٔ]Q-e>9aYa=e>FyeEmEm>qQ 5}M5u-5?Q 9}M5u)uVBYyyyQ I@uDIu`:iu:uJM5yɮc@QFNOT Ignoring new targets: 415.88 m.7979Q ProNav: ac range: 415.878845 m, nav range: 406.423462 m, bearing: 39.834959 deg, approach rate: -0.627111 m/s, LOS rate: 0.010002 deg/s, cmd heading: 40.517215 deg, new cmd heading: 40.532292 deg. z9QHeadingCmd: 0.707422 target range: 415.878845 and range: 418.50 m.R5?JbZB:2Ҕڔڒ’`+@zBɢP) Yi)=i) F,i?A2 j>23?23=ٱ2< :AHRS rotation from veh to nav: [[0.763243,-0.642911,-0.064238],[0.644632,0.750995,0.143029],[-0.043713,-0.150575,0.987632]]2H{l?qҠ?%?@N?`~a Fÿ?i2 j>I2R];2ݐCY^˅Byb$Ia%@a% a%@a% a%@a% a-@a- bD5VD5!|4yE<%EM=ٔEQ-M>9IYI=M>FyMEUֺEU>YQ 5eM5]~?5?Q 9eM5])]VBQ Ae+:YaQ Ee:ye?Q Im@]DI]Q:i]>]M5yuQBɮu\@qGSB*** querying acoustic contact ***:BE EE"E"EB;*E:VE(3ZEBEsA >ԙ A II!O5>M,K:i?A22>2o3?2H0=ٱ2 >AHRS rotation from veh to nav: [[0.763532,-0.642530,-0.064612],[0.644325,0.751310,0.142755],[-0.043181,-0.150630,0.987647]]2H n?qO? ?@E?`Gÿ͚?i22>I2];0YBByB$IbDNVDNX4yVB%V7=ٔVQ-V>9XYX=Z>FyZE^wE^>`Q 5fM5bKS5?Q 9fM5b)bVBQ Af :YdQ Ef\:yf?Q If@bDIb:ibX?bM5yn:Bɮn@n]EQFNOT Ignoring new targets: 415.88 m. :9 :9ԑQ ProNav: ac range: 415.878845 m, nav range: 405.893677 m, bearing: 39.843487 deg, approach rate: -0.632703 m/s, LOS rate: 0.010216 deg/s, cmd heading: 40.544361 deg, new cmd heading: 40.557893 deg. zY9QHeadingCmd: 0.707869 target range: 415.878845 and range: 418.50 m.R65?JbZB:2Ҕڔڒ’ -@%~Bɢ%VӲ)! %_i)) =顩ixi65?;UiI65?IE EE%E"ECJ;*EA:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516862e9@a @a@e/0@aB5~>B5CB5$IB5BB1B1B1B5V;B5:E^Amyb]A .AI I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768405AT,sTi?ALx>3?-,=ٱ UAHRS rotation from veh to nav: [[0.763224,-0.642812,-0.065438],[0.644758,0.751075,0.142032],[-0.042151,-0.150594,0.987697]]H Tl?ۡ??.?”Fÿ 6?iLx>ID^;ېCYBy~$II>)=AbD{VD]b4y}ĉ%}1=ٔQ->9 ?Y ?=>Fy E4:E>Q 5M5g5?Q 9M5)VBQ A9YQ E2:y?Q I@DI?;i?юM5yɮ@QFNOT Ignoring new targets: 415.88 m.8989Q ProNav: ac range: 415.878845 m, nav range: 405.603577 m, bearing: 39.848152 deg, approach rate: -0.626654 m/s, LOS rate: 0.010085 deg/s, cmd heading: 40.557892 deg, new cmd heading: 40.571898 deg. zz9QHeadingCmd: 0.708113 target range: 415.878845 and range: 418.50 m.RF5?JbZB:2Ҕڔڒ’   .@5Bɢ5μ)9 =bi9)= =99iEd}iEF5?EU*;MTIMF5?IQ9@  @@0@)E E E$E"E1A;*E:VE4ZEBE [,Tni?A:>:3?:=(=ٱ:4" FAHRS rotation from veh to nav: [[0.763089,-0.642871,-0.066421],[0.644988,0.750985,0.141465],[-0.041063,-0.150792,0.987712]]:H9k?f` ?? ?/#MÿW?i:>I:•^;:ߐCYJByJl$Iaa% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%)\(?V-{Gz?Y%G!?y%m%ף<% A%A %lA)%A!Y%AbDVDq4y%W=ٔy;Q->9"?Y"?=>Fy E4:E>Q 5M5kx5?Q 9M5)VBQ AT:Y "?Q E:y?Q I@DIs;i;$M5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272447y>Bɮ@^E!Q-FNOT Ignoring new targets: 415.88 m.-959QE ProNav: ac range: 415.878845 m, nav range: 405.363434 m, bearing: 39.850863 deg, approach rate: -0.628835 m/s, LOS rate: 0.007104 deg/s, cmd heading: 40.571897 deg, new cmd heading: 40.580036 deg. zE9QMHeadingCmd: 0.708255 target range: 415.878845 and range: 418.50 m.RM7P5?JIbIZIBIQ:Q2QҔYڔ]kBYڒa’aaeJ/@颕Bɢ2) 5ji)y=顙icdyi7P5?I;PI7P5?I-9@) @)@-5@)ԁ^A ԩE EE'E"E9;*E:VE'4ZEa@a@a@a@ BDAT read: Rx Time:21:24:52.6937  TRx dataTimestamp_ set to:1761513894.041158 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526030A! I) I9 OM > #a,V)i?A2>23?2F"=ٱ2 :AHRS rotation from veh to nav: [[0.762691,-0.643221,-0.067596],[0.645549,0.750690,0.140467],[-0.039607,-0.150769,0.987775]]2Hg?@C`MU???`fGhLÿڛ?i2>I2S_;2ېCY^Bybq$IbDrVDr!|4yz׻<%zY=ٔz>}Q-~>9|Y|=>FyED:E> Q 5M5 ӈ5?Q 9M5 n) VBYy?Q I@ DI ;i ; pM5y!ɮ%@!IQMFNOT Ignoring new targets: 415.88 m.U9U9Qe ProNav: ac range: 415.878845 m, nav range: 405.125549 m, bearing: 39.853529 deg, approach rate: -0.633796 m/s, LOS rate: 0.007107 deg/s, cmd heading: 40.580036 deg, new cmd heading: 40.588038 deg. ze9QmHeadingCmd: 0.708395 target range: 415.878845 and range: 418.50 m.Rm^Y5?JibiZiBi:q2qҔqڔqyڒy’y0@颭Bɢ) hi)*=顱iui^Y5?;c[0I^Y5?IBAB>BCBm$IBBBBBBV;BDEԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776421𕭻I)hA]9@a @a@m0@i ^A yE  E E %E "E <;*E :VE 4ZE BE  BDAT read: Tx time:21:24:53.7957  $Ping request sent. IJ9}"?Y}"?=}>Fy} EY:E>Q 5M516?Q 9M5)VBY2?Q E:yT"?Q I@RDI ;i ;M5y7Bɮ@XEQFNOT Ignoring new targets: 405.34 m.m8m8Q} ProNav: ac range: 405.338989 m, nav range: 402.651154 m, bearing: 39.876280 deg, approach rate: -0.697312 m/s, LOS rate: 0.006150 deg/s, cmd heading: 40.649902 deg, new cmd heading: 40.658166 deg. z}9QHeadingCmd: 0.709619 target range: 405.338989 and range: 407.90 m.R5?JbZB:2ҔڔeBڒ’ @Bɢ57checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264533)) -i))-I<)1i5]cUi55?=Hx;=LA;I=5?I9!@ @!@%5@!Q^Ae 7;E  E E %E "E 3;*E :VE 4ZE a @a @a @a @y  BDAT read: Rx Time:21:24:56.7405  TRx dataTimestamp_ set to:1761513898.073196 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518047IY Iq O} >,Oj?A:!>:6?:E<ٱ:p FAHRS rotation from veh to nav: [[0.757393,-0.647398,-0.085042],[0.652692,0.746901,0.127012],[-0.018709,-0.151704,0.988249]]:HI:h;8YJoByJ$IbDVVDV04y^M%^W=ٔ^ƻQ-^>9`Y`=b>Fyb"Ef˼:Ef>hQ 5jM5jC6?Q 9nM5jѶ)jVBYlynx"?Q In@jZDIjw;ij;jHM5ytɮvv@t QFNOT Ignoring new targets: 405.34 m.W8W8Q% ProNav: ac range: 405.338989 m, nav range: 402.386444 m, bearing: 39.878595 deg, approach rate: -0.697180 m/s, LOS rate: 0.006102 deg/s, cmd heading: 40.658166 deg, new cmd heading: 40.665116 deg. z-9Q-HeadingCmd: 0.709740 target range: 405.338989 and range: 407.90 m.R55?J1b1Z1B1:121YҔڔڒ’   , @B{>BB/$IB|BBBBBV;B0EBɢߧO) i)<i?Qi5?;-y4W;I55?I1I9)9ԉ9@ @@4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768456Ա^A2; I I O >,Сj?AEj EjEj"Eh"Ej=;*Ej&:VEj(3ZEhBEjMA6?M<ٱMZ9 ]AHRS rotation from veh to nav: [[0.757001,-0.647589,-0.087053],[0.653210,0.746686,0.125610],[-0.016342,-0.151951,0.988253]]MHY9? !I? ?? @"sÿğ?iM>IM i;IYmkBym$IDAT read: 21:24:56.7405 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 413,-0.35,-1.653, 3.127,-1.428,-2.004, PHS= 0.454,-1.107, 0.532, RAW= 152.4, 1.5, CAL= 151.2, 0.9, ROT= 358.8, -0.9 ԱYgot valid direction response: 21:24:56.7405 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 413,-0.35,-1.653, 3.127,-1.428,-2.004, PHS= 0.454,-1.107, 0.532, RAW= 152.4, 1.5, CAL= 151.2, 0.9, ROT= 358.8, -0.9 PDAT read: Bearing 186.6, -2.3 (Local) ~Local bearing/azimuth received: Bearing 186.6, -2.3 (Local) DAT read: Range 11 to 50 : 405.5 m (Round-trip 540.7 ms) speed 0.6 m/s *DAT read: user:211> BDAT read: Tx time:21:24:57.8457 $Ping request sent.iu-u'1?u;*@uPw9qYq=u>Fyu%E}:E}>Q 5M5?\6?Q 9M59)VBYX0?Q E:y ?Q I@fDI:i<:M5y;Bɮ@JqRu<ܤj?AuyCuyCu1?u3-y@hXH# f0Q@u˅e1?VF!@qy&?uu—uŏQ~]s@gcp@xrw?uF?Vu?,yec?ju΀CruCZuZ?bu@S9zuTBuZ?u@S9uTBڗuyCu1?QM addTargetRange:: Added new target pos. range: 405.500000 m, deltaT: 4.032124 s, deltaX: -2.399994 m, approachRate: -0.595218 m/s, rangeRepo size: 4 Q Added new target pos. range: 402.951599 m, bearing: 39.741511 deg, lat: 36.779322 deg, lon: -121.858905 deg, deltaT: 4.032124 s, deltaX: -2.387390 m, approachRate: -0.592092 m/s, posRepo size: 4 QFNOT Ignoring new targets: 402.95 m.Q ProNav: ac range: 402.951599 m, nav range: 402.947479 m, bearing: 39.740132 deg, approach rate: 0.000000 m/s, LOS rate: 0.006102 deg/s, cmd heading: 40.665116 deg, new cmd heading: 40.675646 deg. zQHeadingCmd: 0.709924 target range: 402.951599 and range: 405.50 m.R5?JbZB:2ҔڔfB1ڒ1’15Xy@=?颅Bɢ]') i)!<顉iMi5?;h!o;I5?I  9@  @ @ _0@ 9 ^A qZ;I)I9OM>"5,ȿj?A 2`>2a6?2f<ٱ2` NAHRS rotation from veh to nav: [[0.756701,-0.647689,-0.088895],[0.653609,0.746568,0.124225],[-0.014093,-0.152104,0.988264]]2H6?޹@]? ?:Ϳ?܌@'xÿ۟?i2`>I2ui;2ېCYVnByV$IbDbVDb}4yf<%fj=ٔjһQ-j>9lYl=n>Fyn'En:Er>pQ 5vM5rl6?Q 9zM5r)rVBYxy~ ?Q I~@rmDIr";ir;$;rM5y"Bɮ8@OE)Q-FNOT Ignoring new targets: 402.95 m.5959QE ProNav: ac range: 402.951599 m, nav range: 402.707123 m, bearing: 39.742383 deg, approach rate: -0.797898 m/s, LOS rate: 0.007479 deg/s, cmd heading: 40.675645 deg, new cmd heading: 40.682403 deg. zE=9QMHeadingCmd: 0.710042 target range: 402.951599 and range: 405.50 m.RMN5?JIbIZIBI:Q2QҔQڔYYڒY’YYe?颍Bɢ7=) bi)U<顑iݤJiN5?|;;IN5?IE  EE)E"EC;*E:VEFA4ZEa@a@a@a@ 9@  @ @/@IBz>BB"$IBrBBBBBV;BEԱ^Ayb];IqIO}> ~,Ýj?AF(U>F 6?F)?<ٱF|\ =AHRS rotation from veh to nav: [[0.756412,-0.647758,-0.090837],[0.653992,0.746486,0.122694],[-0.011667,-0.152214,0.988279]]FH4?n A? 6?h?` 凿{ÿ?iF(U>IFb'j;FސCYmkByu$IbDVDӀ4y`%:=ٔ㳻Q->9Y=>Fy)E-ӌ:E5>IQ 5eM5M6?Q 9M5M)MVBYy ?Q I@MwDIMi>E EE&E"E:;*E:VE4ZEBE.9 B,lj?A6#>66?6<ٱ6* >AHRS rotation from veh to nav: [[0.756082,-0.647841,-0.092962],[0.654413,0.746355,0.121236],[-0.009159,-0.152500,0.988261]]6H@1?@]̷?@$?L ?ÿ՟?i6#>I6Yj;6ېCYFjByF$I HHN=L==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247740i-Mb@Mb@Mb@)))) )9-n?Mb:v?Y-V.?y--T<-"A-A ))))Y)bDEVDE4yU㓻%UU=ٔU.׻Q-]>9YYa=e>Fye+Ee:Ee>iQ 5uM5mL6?Q 9uM5mǤ)mVBY}"/?Q E}:y}?Q I}@mDIm;im$;m#M5y*Bɮ@PEQFNOT Ignoring new targets: 402.95 m.959QE ProNav: ac range: 402.951599 m, nav range: 402.142700 m, bearing: 39.747811 deg, approach rate: -0.719934 m/s, LOS rate: 0.007194 deg/s, cmd heading: 40.691030 deg, new cmd heading: 40.698697 deg. zE9QMHeadingCmd: 0.710326 target range: 402.951599 and range: 405.50 m.RM5?JIbIZIBQ:q2qҔyڔ}eByڒy’y@?ɢb~g)  Êi ) o*< iCi55?5x;5K;I55?I9I 9@ ؀G @@/@%jA9mu9ujAYuAqE EGE'E"E3;*E;VE'4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499396^A ;ԩ A I I O >,,Q k?AB{>BBBBBBBuV;BEB}CB}CByByByC}t4N>Np6?N&;ٱN VAHRS rotation from veh to nav: [[0.755814,-0.647784,-0.095504],[0.654752,0.746176,0.120508],[-0.006800,-0.153613,0.988108]]NH/?r? ?پ?v{@ÿ ?iN>IN:nj;NݐCY^dBy^$IbDfVDft4ynB%rR=ٔrWƻQ-r>9pYt=v>Fyv-Evy:Ev>xQ 5~M5z6?Q 9M5z)zVBYy?Q I@zDIz:iz :zM5y ɮ m@1qQFNOT Ignoring new targets: 402.95 m.p8p8Q ProNav: ac range: 402.951599 m, nav range: 401.877106 m, bearing: 39.750449 deg, approach rate: -0.682920 m/s, LOS rate: 0.006788 deg/s, cmd heading: 40.698696 deg, new cmd heading: 40.706616 deg. z9QHeadingCmd: 0.710464 target range: 402.951599 and range: 405.50 m.R5?JbZB:2Ҕڔڒ’@?UBɢUr)Q UiQ)]_ E  E E $E "E );*E :VE 4ZE BE KR)6?R;ٱR c ZAHRS rotation from veh to nav: [[0.755616,-0.647721,-0.097477],[0.654999,0.746139,0.119386],[-0.004597,-0.154057,0.988051]]RH.?!@D?`_?` ?;r@$ÿ?iR8>IRUNj;RސCYbiByb$IiMMb@Mb@Mb@IIII I9MQ?J +/$?YM\/?yMHM9Y=>Fy/ED<:E>Q 5 M56?Q 9M5ߛ)VBY/?Q E:y%?Q I%@DI8;i;eM5y5/Bɮ5b@9QFNOT Ignoring new targets: 402.95 m.88Q ProNav: ac range: 402.951599 m, nav range: 401.574127 m, bearing: 39.752416 deg, approach rate: -0.669155 m/s, LOS rate: 0.004347 deg/s, cmd heading: 40.706616 deg, new cmd heading: 40.712520 deg. z>9QHeadingCmd: 0.710568 target range: 402.951599 and range: 405.50 m.R5?JbZB:2ҔڔnBڒ’@颩ɢ8W) pi)=<igA FL,?Ak?AY~_By~ $I  AbDVDhm4y%<%%P=ٔ%Q-%>9)Y)=->Fy-1E5E5>9Q 5EM5=R6?Q 9EM5=)=VBYAyAQ IM@=DI=:i=:=M5yQɮU@QyQ}FNOT Ignoring new targets: 402.95 m.#8#8Q ProNav: ac range: 402.951599 m, nav range: 401.314667 m, bearing: 39.754103 deg, approach rate: -0.706207 m/s, LOS rate: 0.004594 deg/s, cmd heading: 40.712521 deg, new cmd heading: 40.717584 deg. zI9E E EE"E3;*E:VEZEa@a@a@a@QHeadingCmd: 0.710656 target range: 402.951599 and range: 405.50 m.R5?JbZB:2Ҕڔڒ’R@Bɢ6) ۍi)#<i9i5? ;ģ;I5?I 9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508693-9@) @)@-0@)AMgAzAIABz>BBBBBBBV;B*EAyIIO^>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759368ԙ kv,"?AB>BZ6?B':ٱB! JAHRS rotation from veh to nav: [[0.755612,-0.647201,-0.100905],[0.655019,0.746442,0.117365],[-0.000639,-0.154777,0.987949]]BH -?`޵Թ?? ?`D ÿG?iB>IB Yj;BܐCYViByZ$IbDzVDzt4y%@=%%J=ٔ5Q-=>9Y=>Fy3E38E>Q 5=M56?Q 9EM5)WBYIyyU%?Q I@DI ,'tk?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263327YnBy $IiMb@Mb@Mb@ 9?MbI +?Y,?y94<#A MA)|AYAbDVD!|4yX<%A=ٔQ->9Y=>Fy5EE>Q 5M56?Q 9M5)WBY-?Q E:y+?Q I@DIC ;i ;M5y Bɮ@HE1Q=FNOT Ignoring new targets: 402.95 m.=Y48=Y48QM ProNav: ac range: 402.951599 m, nav range: 400.751526 m, bearing: 39.756939 deg, approach rate: -0.718039 m/s, LOS rate: 0.002464 deg/s, cmd heading: 40.723333 deg, new cmd heading: 40.726099 deg. zMk8QUHeadingCmd: 0.710805 target range: 402.951599 and range: 405.50 m.RUI5?JYbYZYBY:Y2YҔaڔeiBaڒa’iim @QɢUx)Q ]QiY)]ӄB B B B B N =B B B V;B Q ,ێk?A:#>:6?:N[ٱ: VAHRS rotation from veh to nav: [[0.755430,-0.646764,-0.104983],[0.655220,0.746480,0.115995],[0.003346,-0.156413,0.987686]]:H|,?J`%຿?)?@ѱ?ik?SĿ?i:#>I:Ei;8Y^lBy^$I ``f=f=bDjVDjD4yr N%rX=ٔv,Q-v>9tYt=z>Fyz7Ez;:Ez>|Q 5M5~7?Q 9M5~)~WBY y +?Q I @~DI~ :i~:~;M5yɮ=@9QEFNOT Ignoring new targets: 402.95 m.E)8E)8QU ProNav: ac range: 402.951599 m, nav range: 400.496277 m, bearing: 39.757804 deg, approach rate: -0.684160 m/s, LOS rate: 0.002321 deg/s, cmd heading: 40.726099 deg, new cmd heading: 40.728697 deg. zU8Q]HeadingCmd: 0.710850 target range: 402.951599 and range: 405.50 m.R]B5?JYbaZaBa:a2aҔiڔiiڒi’iqu۟ @额Bɢ%) i)a}<顡iw0iB5?t;";IB5?I1)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7675739@ @@5@Y^A;ԑ A9 Ia I E  E E #E "E 4;*E :VE 3ZE BE  DAT read: 21:25:00.7866 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 407,-0.19, 2.500, 1.313, 2.751, 2.390, PHS= 0.213,-1.031, 0.317, RAW= 154.0, 7.8, CAL= 153.5, 8.2, ROT= 356.5, -8.2  Ygot valid direction response: 21:25:00.7866 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 407,-0.19, 2.500, 1.313, 2.751, 2.390, PHS= 0.213,-1.031, 0.317, RAW= 154.0, 7.8, CAL= 153.5, 8.2, ROT= 356.5, -8.2  PDAT read: Bearing 194.1, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 194.1, -4.3 (Local)  DAT read: Range 11 to 50 : 402.6 m (Round-trip 536.8 ms) speed 0.4 m/s  *DAT read: user:212> ,k?A02BDAT read: Tx time:21:25:01.8957 6$Ping request sent.6iM>,@'g >v+@ C>)o@ICFwC)K??FWJ? ?)* I5ziCJ:publishing transmit ping time4JFpublishing direction and range infoy?&﮿x0A?Y )IEV?>E96?E:LٱE8!i )IFwC)K??FWJ? )Ii ]AHRS rotation from veh to nav: [[0.755283,-0.646669,-0.106614],[0.655378,0.746482,0.115080],[0.005167,-0.156791,0.987618]]EHH+? K@?@/?u? )u?Ŀ?iEV?>IE i;EݐCYeBy$IԉiMb@Mb@Mb@ 9(\?V- rh?Y'?yC<"AA A)MAYGAbDVDv4y̼%=ٔ^Q->9Y=>Fy:E#9E>Q 5-M57?Q 9-M5)#WBY-'?Q E-:y-,?Q I5@DI:i:M5y=$Bɮ=@9JRk?ACC&J-?_׳x@],8K) i1)=#h<99i=-iE5?E;E͸;IE5?II9@ @@0@ ^A ፨; A hAzA E  E E "E "E [";*E r:VE (3ZE a @a @a @a @AaIiIyO?{5,Ck?AB,>B 7?B|ٱBO2# JAHRS rotation from veh to nav: [[0.754840,-0.646515,-0.110613],[0.655850,0.746214,0.114125],[0.008758,-0.158692,0.987289]]BH'?@? $Q??@J7?`?PĿߗ?iB,>IBi;@YRbByR$IXbD^VD^4yfTP%f[=ٔfjQ-f>9hYh=j>FyjpQ 5vM5r(7?Q 9vM5r)r-WBYtyv,?Q Iz@rDIr<;ir>;r,M5y ɮ @ QQ]FNOT Ignoring new targets: 400.07 m.e)7e)7Q ProNav: ac range: 400.069000 m, nav range: 399.554474 m, bearing: 39.671837 deg, approach rate: -0.691479 m/s, LOS rate: 0.001654 deg/s, cmd heading: 40.732608 deg, new cmd heading: 40.734367 deg. zK8QHeadingCmd: 0.710949 target range: 400.069000 and range: 402.60 m.R6?JbZB:2Ҕڔڒ’Y] ?BqBqBu)$IBuwBBqBqBqBuV;Bu#EɢN) Pi)Z<iC*i6?;S;I6?I@ @@_0@^A= ;Y A1 IY Iy O >Z, k?A2>2?7?2,ٱ2Ѿ# :AHRS rotation from veh to nav: [[0.754522,-0.646589,-0.112332],[0.656190,0.746038,0.113326],[0.010528,-0.159218,0.987187]]2H %?۰@? ?@?@׏?BaĿ ?i2>I2j;2ېCYB_ByB $IIF<)Fp9Y= >Fy >E Љ:E >iIAQ 5%M5;7?Q 9-M5{)7WBY-C(?Q E-:y-2?Q I-@DI:i<:M5y=)Bɮ=@=IEGSeB*** querying acoustic contact ***:aBaiQuFNOT Ignoring new targets: 400.07 m.}}Q ProNav: ac range: 400.069000 m, nav range: 399.264130 m, bearing: 39.671609 deg, approach rate: -0.661952 m/s, LOS rate: -0.000521 deg/s, cmd heading: 40.734367 deg, new cmd heading: 40.733681 deg. zQHeadingCmd: 0.710937 target range: 400.069000 and range: 402.60 m.R5?JbZB:2ҔڔiBڒ’l?9ɢ=N)9 =-i9)EyKЮ,k?A29>2ds7?2RKٱ2D$ :AHRS rotation from veh to nav: [[0.753982,-0.646900,-0.114154],[0.656778,0.745661,0.112398],[0.012410,-0.159720,0.987084]]2H ?g@.9@R?s?"Ƽ?@,j?qĿ2?i29>I2.zj;0YB`ByB $IbDNVDN4yV<%V\=ٔVQ-V>9XYX=Z>FyZ@EZ ;E^>\Q 5fM5^dK7?Q 9fM5^w)^@WBYdyf2?Q If@^DI^;i^;^FM5yhɮn@l|QFNOT Ignoring new targets: 400.07 m./ /Q ProNav: ac range: 400.069000 m, nav range: 399.020294 m, bearing: 39.671388 deg, approach rate: -0.663516 m/s, LOS rate: -0.000600 deg/s, cmd heading: 40.733681 deg, new cmd heading: 40.733019 deg. zҷQHeadingCmd: 0.710925 target range: 400.069000 and range: 402.60 m.R35?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115 zK?Yɢea)i mii)m>A>A1A5@ABE{>BABE/$IBE|BBABABABElV;BEEA .AI I O > ,Dl?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7237206?>67?6$hٱ6$ BAHRS rotation from veh to nav: [[0.753500,-0.647143,-0.115947],[0.657294,0.745325,0.111601],[0.014197,-0.160303,0.986966]]6H?@d??呼?$?ЄĿ 9?i6?>I6K&j;4YFbByJ$IbDrVDr4y<%D=ٔ%ÌQ-%>9% ?Y% ?=%>Fy-BE-:E->1Q 5=M55]7?Q 9=M55 s)5JWBYAyE3?Q IE@5DI5 ;i5 ;5M5yM-BɮM@MJEqQuFNOT Ignoring new targets: 400.07 m.}A}AQ ProNav: ac range: 400.069000 m, nav range: 398.747040 m, bearing: 39.671113 deg, approach rate: -0.656536 m/s, LOS rate: -0.000662 deg/s, cmd heading: 40.733018 deg, new cmd heading: 40.732191 deg. zQHeadingCmd: 0.710911 target range: 400.069000 and range: 402.60 m.RA5?JbZB:2Ҕڔڒ’H?Bɢ) 1i)t/<i!iA5?;(;IA5?IU9@Y @Y@]/@Y EE EEEE#EA"EE ;*EE:VEE3ZEABEEvY  ,1l?A2>27?2сٱ2(% :AHRS rotation from veh to nav: [[0.752952,-0.647512,-0.117441],[0.657885,0.744947,0.110640],[0.015846,-0.160569,0.986897]]2H-?j e ??R?@9?Ŀ?i2>I2"j;2ސCY@y@ DDi Mb@Mb@Mb@     9 Q?y&1|{Gzt?Y (?y `廙 ף; l%A  A) |A Y AbD%tVD%{U4y5 %5I=ٔ5҄Q->9"?Y"?=>FyDE+:E>Q 5M5n7?Q 9M5Fn)QWBY(?Q E:yx5?Q I@DI]:i/:M5yBɮ<@@EQFNOT Ignoring new targets: 400.07 m.  Q- ProNav: ac range: 400.069000 m, nav range: 398.468414 m, bearing: 39.670454 deg, approach rate: -0.659743 m/s, LOS rate: -0.001561 deg/s, cmd heading: 40.732192 deg, new cmd heading: 40.730214 deg. z-Q5HeadingCmd: 0.710876 target range: 400.069000 and range: 402.60 m.R55?J11b1Z9B9:929ҔAڔEBAڒA’IIM@yɢ}T)y 7i)V <顁i i5? ; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479729Թ ,Kl?ARH?R<8?RTgٱR_:% bAHRS rotation from veh to nav: [[0.752202,-0.648145,-0.118748],[0.658704,0.744383,0.109561],[0.017382,-0.160632,0.986861]]RH ?Df`?@?6 ?̑?Ŀ ^?iRH?IR i;PYnTByr#IbDVD}4y!%K=ٔzQ->9Y=>FyFE%+<;E%>)Q 55M5-$7?Q 95M5-i)-XWBY1y55?Q I5@-DI-:i-:-M5yEBɮEj@EAEaQmFNOT Ignoring new targets: 400.07 m.uwuwQ ProNav: ac range: 400.069000 m, nav range: 398.213318 m, bearing: 39.669810 deg, approach rate: -0.660312 m/s, LOS rate: -0.001670 deg/s, cmd heading: 40.730214 deg, new cmd heading: 40.728279 deg. zBBBBBM =BBBcV;BEBBBBN =BN =C5QMHeadingCmd: 0.710843 target range: 400.069000 and range: 402.60 m.RM5?JIbIZIBI:Q2QҔQڔQYڒY’YY]$@ԁBɢ) i) <iRi}5?i ;],Rdl?A24?2`8?2lٱ2i% :AHRS rotation from veh to nav: [[0.751521,-0.648671,-0.120178],[0.659436,0.743887,0.108522],[0.019004,-0.160806,0.986803]]2H u ?`þ??Ȼ?u?`IĿ?i24?I2 h;2ܐCYBYByB$IE EEE"E&;*E1:VEZEBE9 ?Y ?=>FyHE;E>Q 5M5_7?Q 9M5+e)aWBY&?Q E:y8?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983745Q I@DIi;iNi;M5yBɮ^@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 400.07 m.JJQ  ProNav: ac range: 400.069000 m, nav range: 397.941010 m, bearing: 39.668650 deg, approach rate: -0.648134 m/s, LOS rate: -0.002761 deg/s, cmd heading: 40.728278 deg, new cmd heading: 40.724798 deg. z Q%HeadingCmd: 0.710782 target range: 400.069000 and range: 402.60 m.R%5?J!b!Z)B):)2)Ҕ1ڔ5sB1ڒ1’99=@R@aɢmxT) =i){<顙i\i5?sx ; m %=u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236284^A <A5 ؟AIA IQ O] >,~l?A2?2\8?2pٱ2@-% >AHRS rotation from veh to nav: [[0.750494,-0.649641,-0.121346],[0.660557,0.743090,0.107152],[0.020560,-0.160573,0.986810]]2H ?`H#? e?@Un? ?Ŀ@?i2?I2Y g;2ݐCYFPByF#IIJ>)J=bDNvVDN)Y4yV7<%VY=ٔZQ-Z>9^"?Y^"?=^>Fy^JE^W;E^>`Q 5fM5bݟ7?Q 9fM5b`)bhWBYhyj59?Q Ij@bDIb;ib ;bM5ylɮn@pQ FNOT Ignoring new targets: 400.07 m. V VQ ProNav: ac range: 400.069000 m, nav range: 397.695862 m, bearing: 39.667552 deg, approach rate: -0.654761 m/s, LOS rate: -0.002936 deg/s, cmd heading: 40.724798 deg, new cmd heading: 40.721501 deg. zQ%HeadingCmd: 0.710724 target range: 400.069000 and range: 402.60 m.R%5?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’99=M @%Bɢ%ۛ)) Ri);顑ii5?֊ ; 7(%,l?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7396796<?6R9?6]ٱ6%@ BAHRS rotation from veh to nav: [[0.749675,-0.650379,-0.122452],[0.661440,0.742478,0.105942],[0.022016,-0.160416,0.986804]]6H V? Y`*?`?`?D?Ŀ?i6<?I6e;6ܐCYJCByJ#IbD~VD~r4y % E=ٔeQ->9Y=>FyLEA>;E>!Q 5-N5%7?Q 9-N5%.\)%qWBY1y59?Q I5@% DI%:i%:%N5y=#Bɮ= @EBEaQmFNOT Ignoring new targets: 400.07 m.mZ^mZ^Q} ProNav: ac range: 400.069000 m, nav range: 397.425507 m, bearing: 39.666292 deg, approach rate: -0.651331 m/s, LOS rate: -0.003037 deg/s, cmd heading: 40.721499 deg, new cmd heading: 40.717717 deg. z}iQHeadingCmd: 0.710658 target range: 400.069000 and range: 402.60 m.R5?JbZB:2Ҕڔڒ’`@ɢ) zi);i;,i5?y ;GA>UDAT read: 21:25:04.8341 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 408,-0.25,-0.021,-1.436, 0.258,-0.311, PHS= 0.392,-1.081, 0.524, RAW= 154.3, 2.2, CAL= 153.1, 1.4, ROT= 356.9, -1.4 ]Ygot valid direction response: 21:25:04.8341 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 408,-0.25,-0.021,-1.436, 0.258,-0.311, PHS= 0.392,-1.081, 0.524, RAW= 154.3, 2.2, CAL= 153.1, 1.4, ROT= 356.9, -1.4 ePDAT read: Bearing 187.7, -2.0 (Local) e~Local bearing/azimuth received: Bearing 187.7, -2.0 (Local) DAT read: Range 11 to 50 : 400.7 m (Round-trip 534.3 ms) speed 0.4 m/s *DAT read: user:213> BDAT read: Tx time:21:25:05.9472 $Ping request sent.i5^$?Z,@nF=+@ +<)T@I+ȼ,ݾn?H?3&i$W? ?)IQ]i+ȼ- :publishing transmit ping timem Fpublishing direction and range infoy\I?]{J?Y )Ii )I,ݾn?H?3&i$W? )Ii A% .AI1 II OQ ),,jl?A2{?2R9?2ˊٱ2n% :AHRS rotation from veh to nav: [[0.749020,-0.650891,-0.123733],[0.662139,0.741944,0.105310],[0.023257,-0.160807,0.986712]]2H?񬿿`>0?@??З?WĿ$?i2{?I2d;2ېCYNFByN#IlPExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 9 r?Mbp{Gzt?Y#?yף;#A )AYzAbDxVD\4y Y<%A=ٔ?Q->9 ?Y ?=>FyNEz;E>Q 5N5I7?Q 9N5pW)zWBY#?Q E:y8?Q I@DIB;iaB;JN5yɮ@JR!l?ACCO,?aW߲x@}Wuچ5) t#@\I?]{J?Q]+ȼ—-|whs@nMno@gt%N6@yb\?.,?S^X?j=xCrCCZ?buNzBBڗC91?Qu addTargetRange:: Added new target pos. range: 400.700012 m, deltaT: 4.034686 s, deltaX: -1.899994 m, approachRate: -0.470915 m/s, rangeRepo size: 4 Q Added new target pos. range: 398.182526 m, bearing: 38.639251 deg, lat: 36.779323 deg, lon: -121.858913 deg, deltaT: 4.034686 s, deltaX: -1.886475 m, approachRate: -0.467564 m/s, posRepo size: 4 QFNOT Ignoring new targets: 398.18 m.Q ProNav: ac range: 398.182526 m, nav range: 397.151917 m, bearing: 39.665240 deg, approach rate: 0.000000 m/s, LOS rate: -0.003037 deg/s, cmd heading: 40.717715 deg, new cmd heading: 40.713541 deg. zQHeadingCmd: 0.710585 target range: 398.182526 and range: 400.70 m. R5?J b Z B :2Ҕڔ;Bڒ’@3 y@ )?颭Bɢ抽) i) ;顱iNi5?X;uTb^3,!l?A,2?29?2{ʼٱ2T% >AHRS rotation from veh to nav: [[0.748251,-0.651559,-0.124864],[0.662955,0.741380,0.104145],[0.024715,-0.160706,0.986693]]2H ?6?`b?A?N?@Ŀ?i2?I2O.d;2ܐCYF8ByF#I HHBLBLBN$IBNhBBNN =BLBLBNV;BNNE\\bD\VD\yf%fJ=ٔj lQ-j>9lYl=n>FynPEnY7;Er>pQ 5vN5r~7?Q 9vN5rS)rWBYxyzX8?Q Iz@rDIr;ir;rN5y~(Bɮ@!Q-FNOT Ignoring new targets: 398.18 m.-J-JQ ProNav: ac range: 398.182526 m, nav range: 396.896149 m, bearing: 39.664214 deg, approach rate: -0.689249 m/s, LOS rate: -0.002767 deg/s, cmd heading: 40.713542 deg, new cmd heading: 40.710461 deg. zQ%HeadingCmd: 0.710532 target range: 398.182526 and range: 400.70 m.R%f5?J!b!Z!B!:!2IҔIڔIQڒQ’QQUf?颽Bɢ) –i)Ӈ;iif5?|;d 9,Gl?AE EE$E"E;*E:VE4ZEBEsD?>9?>Mռdٱ>% jAHRS rotation from veh to nav: [[0.747839,-0.651787,-0.126136],[0.663370,0.741103,0.103477],[0.026035,-0.161059,0.986601]]>HK?@q=% S:??t}??ĿD?I>Wc;>ݐCYv2Byv#IiMb@Mb@Mb@ 9!rh?9Y=>FyRE1:E> Q 5N5 7?Q 9N5 "N) WBY|'?Q E:y2?Q I@ &DI su@,m?A2?29?2סٱ29& :AHRS rotation from veh to nav: [[0.747459,-0.651949,-0.127545],[0.663742,0.740852,0.102883],[0.027417,-0.161558,0.986482]]2H/?cS@_=??V?@T?ĿC?i2?I2c;2ސCY@yB#IbDJVDJ4yRV%R_=ٔVLwQ-V>9XYX=Z>FyZTEZu:E^>\Q 5bN5^m7?Q 9fN5^J)^WBYdyf2?Q If@^-DI^;i^;^N5yjBɮnE@l|QFNOT Ignoring new targets: 398.18 m.a(F(FQ ProNav: ac range: 398.182526 m, nav range: 396.370209 m, bearing: 39.663728 deg, approach rate: -0.700455 m/s, LOS rate: -0.000677 deg/s, cmd heading: 40.709693 deg, new cmd heading: 40.709003 deg. zQHeadingCmd: 0.710506 target range: 398.182526 and range: 400.70 m.R5?JbZB:2Ҕڔڒ’P8?Bɢ:) ԗi)R;ii 5?  2; ;sm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738545F,(m?A>2?>9?>8ٱ>& ZAHRS rotation from veh to nav: [[0.747266,-0.651892,-0.128954],[0.663900,0.740781,0.102371],[0.028792,-0.162111,0.986352]]>H@?`M@>?@z?4?{? Ŀ2?i>2?I>c;>ܐCYb*Byb#IIf=)f>hjAbDnVDni4yv%vG=ٔz[Q-z>9z"?Yz"?=z>Fy~VE~:E~>Q 5 N58?Q 9 N5E)WBYy3?Q I@6DI:i :gN5yɮ@!YQeFNOT Ignoring new targets: 398.18 m.e{>e{>Qu ProNav: ac range: 398.182526 m, nav range: 396.101898 m, bearing: 39.663459 deg, approach rate: -0.648339 m/s, LOS rate: -0.000651 deg/s, cmd heading: 40.709003 deg, new cmd heading: 40.708196 deg. zuQ}HeadingCmd: 0.710492 target range: 398.182526 and range: 400.70 m.R5?JbZB:2Ҕڔڒ’`q?=Bɢ=)A EiA)EK:AAiE!iM5?M-;MsZvEu EuEu!Eq"Eu;*Eu:VEuc3ZEqBEqa}2Eqa}JEue/?r??@? Ŀ@Q?i2%?I2Pc;0YN(ByR#IiMb@Mb@Mb@ 9~jt?ktMbp?Y$?y 0;rA A)AYzAbDVDk4y0%>=ٔL0Q->9Y=>FyYEE>Q 5N5#8?Q 9N5A)WBY$?Q E:yP)?Q I@?DI.;i.;(N5yBɮ*@:EQFNOT Ignoring new targets: 398.18 m.RT8RT8Q- ProNav: ac range: 398.182526 m, nav range: 395.825256 m, bearing: 39.664697 deg, approach rate: -0.647800 m/s, LOS rate: 0.002900 deg/s, cmd heading: 40.708197 deg, new cmd heading: 40.711913 deg. z-8=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242653AQEHeadingCmd: 0.710557 target range: 398.182526 and range: 400.70 m.RE5?JAbAZABI:I2IҔIڔUBQڒQ’QY](@颅Bɢv) i)9顉iDi5?ӊ;N_tԉEm  Em Em #Ei "Em O6;*Em :VEm 3ZEi a} @a} @a} @a} @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494570Թ S,$aOm?AB B B"#IB"NBB B B B"W;B"eE>^!?>9?>ٱ>(' JAHRS rotation from veh to nav: [[0.747175,-0.651494,-0.131468],[0.663884,0.740941,0.101311],[0.031407,-0.162977,0.986130]]>H? @>?ɵ??@?`kĿ``?i>^!?I>b;9dYd=f>FyfZEjК9Ej>lQ 5rN5n (8?Q 9rN5n4=)nWBYpyrX)?Q Iv@nFDIn :in:nlN5yxɮzt@xQFNOT Ignoring new targets: 398.18 m.%R8%R8Q5 ProNav: ac range: 398.182526 m, nav range: 395.584961 m, bearing: 39.665770 deg, approach rate: -0.644426 m/s, LOS rate: 0.002878 deg/s, cmd heading: 40.711913 deg, new cmd heading: 40.715133 deg. z58QEHeadingCmd: 0.710613 target range: 398.182526 and range: 400.70 m.RM5?JIbIZIBI:I2IҔQڔQYڒY’YY]*#@颅Bɢ) i) izi5?K;ru Y,/im?AE EE'E"E/;*E:VE'4ZEBELj?>9?>ٱ>:( FAHRS rotation from veh to nav: [[0.747255,-0.651150,-0.132717],[0.663734,0.741137,0.100865],[0.032683,-0.163461,0.986008]]>H?8 N=?e?Jҹ?@ݻ?@GĿ`a?i>?I>b;9 ?Y ?=>Fy]EE>Q 5%N5<8?Q 9-N58)WBY-"?Q E-:y-?Q Im@PDIP& tC= rGQ q ^A a< 9 Y Aq A I I O >a,m?A2?289?2$ ٱ2(t( zAHRS rotation from veh to nav: [[0.747293,-0.650892,-0.133764],[0.663628,0.741318,0.100229],[0.033923,-0.163670,0.985932]]2H? 0p91Y9==>Fy=_E=E=>AQ 5MN5EM8?Q 9MN5E5)EWBYQyU?Q IU@EWDIEr;iE;E N5yYɮ]@YQFNOT Ignoring new targets: 398.18 m.99Q ProNav: ac range: 398.182526 m, nav range: 395.050201 m, bearing: 39.671720 deg, approach rate: -0.647074 m/s, LOS rate: 0.007216 deg/s, cmd heading: 40.725201 deg, new cmd heading: 40.732995 deg. zw9QHeadingCmd: 0.710925 target range: 398.182526 and range: 400.70 m.R,5?JbZB:2Ҕڔڒ’g @Bɢe) Vi)s,iXi,5?m;[nBB#IBIBBN =BBB)W;BpEBABABABEM =BEM =CEN4Ա^Amk<A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754537) NBg,Krm?A20?29?2ٱ2( :AHRS rotation from veh to nav: [[0.747389,-0.650556,-0.134855],[0.663459,0.741532,0.099765],[0.035097,-0.164034,0.985830]]2H? [`B ;??7?/?@Ŀ?i20?I2a;2ܐCYj)Byj#IbDrVDr4yz=%zN=ٔ~dBQ-~>9"?Y"?=>FyaE/E> Q 5N5 G^8?Q 9N5 ?1) WBYy%?Q I%@ _DI (;i ); E$N5y-$Bɮ-@-;EQQUFNOT Ignoring new targets: 398.18 m.E9E9Q ProNav: ac range: 398.182526 m, nav range: 394.800079 m, bearing: 39.674517 deg, approach rate: -0.631124 m/s, LOS rate: 0.007064 deg/s, cmd heading: 40.732994 deg, new cmd heading: 40.741392 deg. z9QHeadingCmd: 0.711071 target range: 398.182526 and range: 400.70 m.R6?JbZB:2Ҕڔڒ’!!%(9@颍Bɢ䬽) +i):n项in=i6?o;>j BDAT read: Tx time:21:25:09.9957 $Ping request sent.i ף ? ,@ + {*@ ) 8q@I <   Li??|(NDŽ m?) 0;&'lm,DLm?A2=?2ˊ9?2iٱ2v* :AHRS rotation from veh to nav: [[0.748163,-0.649388,-0.136190],[0.662535,0.742304,0.100161],[0.036051,-0.165167,0.985606]]2H?n`}3??#?Gu?2$ſ?i2=?I2a;2ېCY}-By}#II=);AiMb@Mb@Mb@ 9K7A?kt9Y=>FycE%'E>!Q 5-N5%Ns8?Q 9=N5%,)%WBY=#?Q E=:y=?Q I=@%iDI%e;i%d;%f(N5yMBɮMb@IU2EJ9R=em?A=C=C=K+?=#nvѫx@{m#3Se&=JQ?3䩿|p}=QQO=<—=+]s@Фn@@=qM"?D?V:?j=uCr=CZ=uo?b=z={B=C?=uN={Bڗ=C=#~.?Q addTargetRange:: Added new target pos. range: 397.899994 m, deltaT: 4.031205 s, deltaX: -2.800018 m, approachRate: -0.694586 m/s, rangeRepo size: 4 Q Added new target pos. range: 395.398956 m, bearing: 38.402312 deg, lat: 36.779326 deg, lon: -121.858972 deg, deltaT: 4.031205 s, deltaX: -2.783569 m, approachRate: -0.690506 m/s, posRepo size: 4 QFNOT Ignoring new targets: 395.40 m.Q ProNav: ac range: 395.398956 m, nav range: 391.418213 m, bearing: 39.053503 deg, approach rate: 0.000000 m/s, LOS rate: 0.007064 deg/s, cmd heading: 40.741392 deg, new cmd heading: 40.751532 deg. zQHeadingCmd: 0.711248 target range: 395.398956 and range: 397.90 m.R`6?JbZB:2Ҕڔ Bڒ’`fx@e4b?颵Bɢ) i)ۛ项i˹i`6?;V/t,m?A2PZ?209?2`ٱ2h* >AHRS rotation from veh to nav: [[0.749053,-0.648236,-0.136781],[0.661492,0.743228,0.100202],[0.036705,-0.165537,0.985520]]2H@>?Z` *?`?ئ?ˢ?@M0ſb?i2PZ?I2a;0YB'ByF#IbDNVDNsx4yVk %Vf=ٔV`Q-Z>9Z ?YZ ?=^>Fy^eE^E^>`Q 5fN5b8?Q 9fN5b))bXBYdyj?Q Ij@bpDIbf;ib;bw+N5ylɮn@laQeFNOT Ignoring new targets: 395.40 m.m<9m<9Q ProNav: ac range: 395.398956 m, nav range: 391.195343 m, bearing: 39.056428 deg, approach rate: -0.625057 m/s, LOS rate: 0.008209 deg/s, cmd heading: 40.751531 deg, new cmd heading: 40.760313 deg. zI9QHeadingCmd: 0.711402 target range: 395.398956 and range: 397.90 m.Rk6?JbZB:2Ҕڔڒ’E  E E !E "E =-;*E 1:VE c3ZE BE m9"?Y"?=>FygEWE%>!Q 5-N5%8?Q 95N5%%Q =5tI)%+XBY5{"?Q E5:y5?Q I=@%yDI%;i%;%b/N5yE BɮE@AGS]B*** querying acoustic contact ***:YBYiQmFNOT Ignoring new targets: 395.40 m.uH9uH9Q ProNav: ac range: 395.398956 m, nav range: 390.913879 m, bearing: 39.061214 deg, approach rate: -0.644114 m/s, LOS rate: 0.010960 deg/s, cmd heading: 40.760312 deg, new cmd heading: 40.774679 deg. z9QHeadingCmd: 0.711652 target range: 395.398956 and range: 397.90 m.R.6?JbZB:2ҔڔBڒ’?Bɢ,) +i)CֻiTi.6?";?6,cn?APR?Rb8?RٱR* ^AHRS rotation from veh to nav: [[0.750217,-0.646580,-0.138235],[0.660069,0.744568,0.099635],[0.038504,-0.165993,0.985375]]RH?ǰ`J??????ſ@1?iR?IR"a;PYbLByf#I hhj=j=bDr~VDrg4yvT=%v_=ٔz])Q-z>9xY|=~>Fy~iE~;E>Q 5 N58?Q 9 N5E")BXBYy?Q I@DIl:i :2N5yɮ@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458805QmFNOT Ignoring new targets: 395.40 m.m}89m}89Q ProNav: ac range: 395.398956 m, nav range: 390.683655 m, bearing: 39.065169 deg, approach rate: -0.586515 m/s, LOS rate: 0.010081 deg/s, cmd heading: 40.774679 deg, new cmd heading: 40.786550 deg. zc9QHeadingCmd: 0.711860 target range: 395.398956 and range: 397.90 m.Rn<6?JbZB:2bE%3jE!rE%80E EE#E"Eg5;*E:VE3ZEa@a@a@a@Ҕڔڒ’?uBɢu#)y }liy)}yyioۻin<6?)#;<%,2>!n?A|Ъ?\8?cm ٱF* AHRS rotation from veh to nav: [[0.750752,-0.645869,-0.138653],[0.659423,0.745179,0.099346],[0.039157,-0.166016,0.985345]]H )?@c`?@?n?`\ ??ſ ?iЪ?I`;ݐCYEWByE$IbD]|VD]4d4ykH=%A=ٔ8ʺQ->9Y=>FykEE>Q 5N5ֺ8?Q 9N5x)\XBYyw?Q I@DI9:i:S6N5y Bɮf@3EyQFNOT Ignoring new targets: 395.40 m.K9K9Q ProNav: ac range: 395.398956 m, nav range: 390.415314 m, bearing: 39.069818 deg, approach rate: -0.642385 m/s, LOS rate: 0.011137 deg/s, cmd heading: 40.786550 deg, new cmd heading: 40.800507 deg. z9QHeadingCmd: 0.712103 target range: 395.398956 and range: 397.90 m.ReL6?JbZB:2Ҕڔڒ’@0?5Bɢ=-)A EIiI)UQYi]׽ֻiueL6?}j$;}ʎ, >n?A2T?2+8?2"ٱ2* ZAHRS rotation from veh to nav: [[0.751604,-0.644843,-0.138814],[0.658420,0.746101,0.099077],[0.039680,-0.165864,0.985350]]2H@$ ?`??]?P?@;ſ?i2T?I2k`;2ېCYbdByb$IiMMb@Mb@Mb@IIII I9MX9v?bX9ȶy&1?YM?yMEM`9yYy=}>FymE@E>Q 5N5*8?Q 9N5y){XBY?Q E:y?Q I@DI:iQ:3:N5yɮ@QFNOT Ignoring new targets: 395.40 m.g'9g'9Q ProNav: ac range: 395.398956 m, nav range: 390.141479 m, bearing: 39.073726 deg, approach rate: -0.640413 m/s, LOS rate: 0.009147 deg/s, cmd heading: 40.800507 deg, new cmd heading: 40.812241 deg. z9QHeadingCmd: 0.712308 target range: 395.398956 and range: 397.90 m.RY6?JbZB:2Ҕڔ6Bڒ’@~Bɢ4) i)9i)һiY6?$;wB B $IB hBB N =B B B W;B dEy A I I! O- >d,Wn?A02>27?2/@%ٱ2+ >AHRS rotation from veh to nav: [[0.752568,-0.643514,-0.139755],[0.657278,0.747043,0.099561],[0.040333,-0.166784,0.985168]]2H ?ગ {l??@|??1Yſ@?i2>I2`;2ݐCYFzByF,$IIJ8>)J9XY\=^>Fy^oE^߁Eb>`Q 5fN5b8?Q 9jN5b)bXBYhyjf?Q Ij@bDIb:ib:b~=N5yrBɮr{@r4E Q FNOT Ignoring new targets: 395.40 m. $9$9Q% ProNav: ac range: 395.398956 m, nav range: 389.908783 m, bearing: 39.077102 deg, approach rate: -0.617770 m/s, LOS rate: 0.008967 deg/s, cmd heading: 40.812242 deg, new cmd heading: 40.822374 deg. z%9Q-HeadingCmd: 0.712485 target range: 395.398956 and range: 397.90 m.R-he6?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99=@m|Bɢmz)i mii)uP#qqiu λihe6?,a%; ;Ihe6?I]>]%=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722604ԉ@ @@4@Թ^A<Dq zDu @AI E  E E &E "E F;*E >:VE 4ZE BE ^f՛,8qn?A2>2UV7?2'ٱ2+ :AHRS rotation from veh to nav: [[0.753700,-0.642136,-0.139994],[0.655944,0.748235,0.099406],[0.040916,-0.166751,0.985150]]2H O? `Q ~? ?@r?`?XſY?i2>I2_;2ܐC`YjByj@$Ii]Mb@Mb@Mb@YYYY Y9]+?~jtL7A`?Y]?y]]+=]"AY ]A)] AYY] AbDuVDu4y=%>=ٔNQ->9Y=>FyrE1E>Q 5N5K8?Q 9N5 )XBY%!?Q E:y?Q I@DI3:i:BAN5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 395.40 m.99Q ProNav: ac range: 395.398956 m, nav range: 389.639984 m, bearing: 39.080156 deg, approach rate: -0.623289 m/s, LOS rate: 0.007087 deg/s, cmd heading: 40.822374 deg, new cmd heading: 40.831543 deg. z9QHeadingCmd: 0.712645 target range: 395.398956 and range: 397.90 m.Ro6?JbZB:2Ҕ ڔ RB ڒ ’Z @zBɢMŘ) wi)1i ʻio6?%;է;Io6?I9@ @@4@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.226542^A[R;A I I O >#,+n?AE> E>E>%E<"E>%.;*E>:VE> 4ZE9Y=>FytEE>Q 5N59?Q 9N5H)XBYyQ I@DI;i ;DN5yBɮ7@+EQFNOT Ignoring new targets: 395.40 m. 9 9Q ProNav: ac range: 395.398956 m, nav range: 389.388580 m, bearing: 39.083016 deg, approach rate: -0.624607 m/s, LOS rate: 0.007110 deg/s, cmd heading: 40.831544 deg, new cmd heading: 40.840129 deg. z&9QHeadingCmd: 0.712795 target range: 395.398956 and range: 397.90 m.Ry6?Bz>BBB$IBBBBBBV;BNEJbZB:2Ҕڔڒ’ @MwBɢmP)i mkii)uB>qqiu[ƻi}y6?}0+&;}";I}y6?II!@! @!@%3@!@)@-jAquchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.730261^AE ;I I O >ԙ e,yXn?A2>2g6?2},ٱ2++ :AHRS rotation from veh to nav: [[0.755208,-0.640212,-0.140673],[0.654125,0.749897,0.098862],[0.042198,-0.166679,0.985108]]2H *?|¿`?)?N? 뚥?Uſ?i2>I2`;2ېCYvByvv$I xx~=~=bDuVDRW4y=%Q=ٔ"WQ->9!Y!=%>Fy%vE%ƻE->)Q 55N5-9?Q 95N5- )-XBY9y=@?Q I=@-DI-;i-+;-2HN5yEBɮM@IiQuFNOT Ignoring new targets: 395.40 m.u 9u 9yQ ProNav: ac range: 395.398956 m, nav range: 389.144775 m, bearing: 39.085880 deg, approach rate: -0.623238 m/s, LOS rate: 0.007325 deg/s, cmd heading: 40.840129 deg, new cmd heading: 40.848725 deg. zݠ9QHeadingCmd: 0.712945 target range: 395.398956 and range: 397.90 m.R6?JbZB:2Ҕڔڒ’@uBɢ$) _i))Hiûi6? ?&; v=;I 6?I E] E]9@ @@/@E]$EY"E]);*E]:VE]4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987062ZEYBE]K  ؀G 1 5 DAT read: 21:25:12.9268 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400, 0.20,-1.055,-2.443,-0.821,-1.367, PHS= 0.414,-1.030, 0.502, RAW= 152.9, 1.6, CAL= 151.7, 0.9, ROT= 358.3, -0.9 ] 9Y Ye Ak,Pn?A.Ygot valid direction response: 21:25:12.9268 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400, 0.20,-1.055,-2.443,-0.821,-1.367, PHS= 0.414,-1.030, 0.502, RAW= 152.9, 1.6, CAL= 151.7, 0.9, ROT= 358.3, -0.9 2PDAT read: Bearing 187.9, 0.6 (Local) 2~Local bearing/azimuth received: Bearing 187.9, 0.6 (Local) 6DAT read: Range 11 to 50 : 395.2 m (Round-trip 527.0 ms) speed 0.4 m/s :*DAT read: user:215> >BDAT read: Tx time:21:25:14.0457 >$Ping request sent.>i ׃?{*@9Y=>FyxEE>Q 5N5I(9?Q 9]N5)YBY]R ?Q E]:y]a)?Q I]@DI9iBCBz$IBBBBBBV;B3EByByByB}N =B}N =C}Ȩ4i ^A 7;I I O- >k,n?A2r>2V6?2|2ٱ2+ :AHRS rotation from veh to nav: [[0.756167,-0.638864,-0.141648],[0.652927,0.751012,0.098326],[0.043562,-0.166836,0.985022]]2H2?q!¿?I?+?M?ZſL?i2r>I2x_;0YBхByB$IbDjgVDj=4yrϻ%ro=ٔr냻Q-r?9tYt=v>FyvzEzEz?|Q 5N5~$69?Q 9N5~I)~(YBYy(?Q I @~DI~:i~ :~tON5y Bɮ@,E9Q=FNOT Ignoring new targets: 392.72 m.E8E8Q] ProNav: ac range: 392.716125 m, nav range: 389.558319 m, bearing: 38.976412 deg, approach rate: -0.671148 m/s, LOS rate: 0.001992 deg/s, cmd heading: 40.860162 deg, new cmd heading: 40.862015 deg. z]8QeHeadingCmd: 0.713177 target range: 392.716125 and range: 395.20 m.Re6?JabaZaBa:i2iqҔqڔqyڒy’yy}JM?颥pBɢq) dOi)^顱ii6?G&;:I6?II@I @I@M0@Iԙ^A"5;I1IQE EE(E"E77;*E:VEc44ZEBE , n?A2қ>2w$6?2r4ٱ2 + :AHRS rotation from veh to nav: [[0.756648,-0.638317,-0.141544],[0.652329,0.751641,0.097482],[0.044166,-0.166092,0.985121]]2H@v6? m¿?q ??윦?Bſ?i2қ>I2_;0Y^By^$IIbC=)bx>dfAaa iMb@Mb@Mb@ 9y&1?Mb`?L7A`?Y`%?y;+=X!AA )YAbDhVDf?4y,>%>=ٔ Q->9Y=>Fy|EE>Q 5N5G9?Q 9N5x)CYBY%?Q E:y9?Q I@DI2;ig1;6SN5yɮ@GS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 392.72 m.  Q- ProNav: ac range: 392.716125 m, nav range: 389.281738 m, bearing: 38.974669 deg, approach rate: -0.641496 m/s, LOS rate: -0.004044 deg/s, cmd heading: 40.862013 deg, new cmd heading: 40.856782 deg. z51Q=HeadingCmd: 0.713085 target range: 392.716125 and range: 395.20 m.R=Ì6?J9b9Z9B9:92AҔAڔEBAڒI’IIM` ?}nBɢ})y }q>iy)i顁iHiÌ6?&;:IÌ6?II@I @I@M/@Q}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 1^Au#2:Ii I O >Y E  E E &E "E 2;*E :VE 4ZE a @a @a @a @= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219333y,o?A2>26?2 7ٱ2* :AHRS rotation from veh to nav: [[0.756700,-0.638165,-0.141952],[0.652222,0.751803,0.096946],[0.044853,-0.165944,0.985115]]2H6?`k~+¿? ?@zѸ??=ſ@?i2>I2~a_;2ؐCY^By^$IbDjiVDj=A4y5=%5S=ٔ=DQ-=>9AYA=E>FyE~EE꛹EM>IQ 5UN5MjW9?Q 9]N5M)M[YBYYy]9?Q I]@MDIMz;iM;MVN5ymBɮm@iB}>BB$IBBBM =BBBV;B&EQFNOT Ignoring new targets: 392.72 m.;;Q ProNav: ac range: 392.716125 m, nav range: 389.032227 m, bearing: 38.973100 deg, approach rate: -0.639015 m/s, LOS rate: -0.004023 deg/s, cmd heading: 40.856781 deg, new cmd heading: 40.852069 deg. z0QHeadingCmd: 0.713003 target range: 392.716125 and range: 395.20 m.R_6?JbZB:2Ҕڔڒ’D? kBɢ ) F6i)\!ri!3i_6?%l%;%C:I%_6?I!19@ @@0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471829^Aq:ԑI I O >Թ ,'k(o?A6>6 -6?6w:ٱ6* BAHRS rotation from veh to nav: [[0.756517,-0.638284,-0.142393],[0.652389,0.751728,0.096404],[0.045508,-0.165827,0.985104]]6Hc5?l9¿]?(?쭸?L?9ſ`?i6>I6-^;6ېCYFByF$IbDR{VDR]b4yZ=%ZS=ٔ^޺Q-b>9dYd=f>FyfEj%:En>tQ 5~N5vRg9?Q 9~N5v)vtYBYy#9?Q I@vDIvQ;iv[;vZN5yɮ@iQuFNOT Ignoring new targets: 392.72 m.ccQ ProNav: ac range: 392.716125 m, nav range: 388.780640 m, bearing: 38.971506 deg, approach rate: -0.635296 m/s, LOS rate: -0.004027 deg/s, cmd heading: 40.852068 deg, new cmd heading: 40.847284 deg. z0EU EUEU%EQ"EU9;*EU:VEU 4ZEQBEUf checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975368 ,FBo?A2a>286?24O<ٱ2S* :AHRS rotation from veh to nav: [[0.756385,-0.638424,-0.142467],[0.652510,0.751705,0.095759],[0.045958,-0.165392,0.985157]]2HN4?`mW<¿\?@ ?? LJ?+ſ g?i2a>I2si^;2ܐCYBByB$I DDJ=J=i Mb@Mb@Mb@     9 E?9Y=>FyE9E>Q 5N5Fx9?Q 9N5)YBY'?Q E:yE?Q I@DI:iE:]N5yBɮ@-EQFNOT Ignoring new targets: 392.72 m. % %Q ProNav: ac range: 392.716125 m, nav range: 388.500885 m, bearing: 38.967676 deg, approach rate: -0.661260 m/s, LOS rate: -0.009059 deg/s, cmd heading: 40.847284 deg, new cmd heading: 40.835787 deg. zƹQ%HeadingCmd: 0.712719 target range: 392.716125 and range: 395.20 m.R%t6?J!b!Z)B):)2)Ҕ1ڔ5χB9ڒA’IQ] 8@颍gBɢC) %i)}顑iUݵit6?%;:It6?IM9@Q @Q@U0@Q@]@]@e@ebEĻ 4jEĔ4rEĮ10EM EMEM&EI"EM /;*EM:VEM4ZEIaU@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227347B}|>ByB}$IB}BByByByB}V;B}<EIqIO>I ,l!\o?A:I>:{6?:=ٱ:( BAHRS rotation from veh to nav: [[0.755707,-0.639346,-0.141928],[0.653270,0.751228,0.094313],[0.046321,-0.163990,0.985374]]:H.?u*¿? ?$?l?@Ŀ.?i:I>I:#^;:ڐCYJByJ$IbDV_VDV.4yZ(%^S=ٔ^uQ-^>9`Y`=b?FybEf3;Ef>hQ 5jN5j9?Q 9nN5j)jYBYlynF?Q In@jDIj;ij;j aN5yvBɮv@v#E QFNOT Ignoring new targets: 392.72 m.f$f$Q- ProNav: ac range: 392.716125 m, nav range: 388.259369 m, bearing: 38.964331 deg, approach rate: -0.648047 m/s, LOS rate: -0.008983 deg/s, cmd heading: 40.835785 deg, new cmd heading: 40.825742 deg. z-GŹQ-HeadingCmd: 0.712544 target range: 392.716125 and range: 395.20 m.R5Bi6?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE+@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479506}eBɢ}mރ) (i)顁iiBi6?˷%;{>;IBi6?I1@1 @1@5 5@1QIIO=yEu EuEu"Eq"Eu2;*Eu:VEu(3ZEqBEu!26?23Aٱ28( :AHRS rotation from veh to nav: [[0.754709,-0.640399,-0.142493],[0.654364,0.750397,0.093341],[0.047151,-0.163688,0.985385]]2H&?`%~@9=¿?@? 7?,$?@ĿE?i28 >I2&];2ܐC@YNByR$Ii-Mb@Mb@Mb@)))) )9-&1?)\(?I +?Y-0?y-Ga=-94<)-A -A)))Y-AbD^VD,4yb=%<=ٔ2Q->9Y=?FyE;_;E>Q 5N59?Q 9N5w)YBYz1?Q E:yK?Q I@DI:ij:dN5yBɮ@$EGSB*** querying acoustic contact ***:B)Q5FNOT Ignoring new targets: 392.72 m.=T=TQE ProNav: ac range: 392.716125 m, nav range: 387.960083 m, bearing: 38.959213 deg, approach rate: -0.678944 m/s, LOS rate: -0.011619 deg/s, cmd heading: 40.825741 deg, new cmd heading: 40.810376 deg. zM,QMHeadingCmd: 0.712275 target range: 392.716125 and range: 395.20 m.RUW6?JQbQZQBQ:Q2YҔYڔ]BYڒa’aae @颍cBɢd/t) #i)-顙iݮiW6?%;;IW6?IԱ)@) @)@-5@)m8>m4=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.983781I IO%,> Ee  Ee Ee &Ea "Ee 1;*Ee :VEe 4ZEa am @am @am @am @% BDAT read: Rx Time:21:25:16.9743 % TRx dataTimestamp_ set to:1761513918.240610% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236444 ,؏o?ABG>B97?BCٱBɪ' JAHRS rotation from veh to nav: [[0.753756,-0.641508,-0.142550],[0.655414,0.749638,0.092060],[0.047804,-0.162820,0.985497]]BH ?:@?¿`&? ?B?@y?LĿ1?iBG>IB*];@lB!B%CB%%IB%=BB!B!B!B%V;B%EEY]By]$IIe4>)ep;aabDukVDuD4y԰%M=ֺٔQ->9Y=?FyE}i;E>Q 5N59?Q 9N58)YBYyK?Q I@DI:i9:]hN5yɮ@)Q-FNOT Ignoring new targets: 392.72 m.5YUYQe ProNav: ac range: 392.716125 m, nav range: 387.683167 m, bearing: 38.954412 deg, approach rate: -0.686249 m/s, LOS rate: -0.011906 deg/s, cmd heading: 40.810377 deg, new cmd heading: 40.795964 deg. zeQmHeadingCmd: 0.712024 target range: 392.716125 and range: 395.20 m.Rm3G6?JibiZiBi:2Ҕڔڒ’  @aBɢrz)  E#i)im8i3G6?[&;;I3G6?I! 9@ @@4@A19IAIQOew>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487361a &,ȩo?ARS?R7?R81GٱRn' bAHRS rotation from veh to nav: [[0.752102,-0.643269,-0.143345],[0.657251,0.748140,0.091145],[0.048612,-0.162764,0.985467]]RH 8?"Y¿@4??@U??@rĿ?iRS?IR];RېCYnByr$IbD~ZVD~%4y ?% Q=ٔQ->9Y=?FyE;E>!Q 5-N5%ϸ9?Q 9-N51%-)%YBY1y=L?Q I=@%DI%,;i%y-;%kN5yE BɮE@AE5 E5+E5$E1"E5m+;*E5=;VE54ZE1BE5܄  BDAT read: Tx time:21:25:18.0957  $Ping request sent. _K,mo?ARv?RJM8?RJٱR\X'x =AHRS rotation from veh to nav: [[0.750929,-0.644488,-0.144017],[0.658522,0.747148,0.090099],[0.049535,-0.162497,0.985465]]RH?@)o¿??@?\?Ŀ?iRv?IR];RܐCYBy$Ii-Mb@Mb@Mb@)))) )9-|?5^?Dl?%u =ٔ}0Q-}>9yYy=}?FyEG\;E>Q 5N59?Q 9N5o)YBY.?Q E:yTQ?Q I@DIe:iX:=pN5yɮp@!JR˻o?AjCjC]0^7Q?UlD ۷pQ +=—7 s@%ҙn@s= @6?O_D ? ˸?jtCrNCEE EEEE%EA"EE3;*EE :VEE 4ZEAaU@aU@aU@aU@Z[?b&z!B?ڗC,?Qu addTargetRange:: Added new target pos. range: 393.299988 m, deltaT: 4.036090 s, deltaX: -1.900024 m, approachRate: -0.470759 m/s, rangeRepo size: 4 Q Added new target pos. range: 390.830994 m, bearing: 38.787812 deg, lat: 36.779366 deg, lon: -121.858972 deg, deltaT: 4.036090 s, deltaX: -1.885132 m, approachRate: -0.467069 m/s, posRepo size: 4 QFNOT Ignoring new targets: 390.83 m.Q ProNav: ac range: 390.830994 m, nav range: 389.622345 m, bearing: 38.639803 deg, approach rate: 0.000000 m/s, LOS rate: -0.011204 deg/s, cmd heading: 40.781827 deg, new cmd heading: 40.765335 deg. zQHeadingCmd: 0.711489 target range: 390.830994 and range: 393.30 m.R*$6?JbZB:2ҔڔLJBڒ’̔x@%k?m]Bɢmy)i m%ii)uӗqqiui*$6?W%(; ,Ro?A,6hz?6P9?68Rٱ6% BAHRS rotation from veh to nav: [[0.748244,-0.647411,-0.144880],[0.661430,0.744906,0.087323],[0.051388,-0.161167,0.985588]]6H?`n¿p*?D?@Z? O?@Ŀ?i6hz?I6i];6ېCYJByJ$In=n=bDrsVDrS4yz۽%zg=ٔ~Q-~>9|Y=?FyE9<E> Q 5N5 9?Q 9N5 ) YBYy[R?Q I@ DI ;i +; KsN5y%Bɮ%@-%EIQMFNOT Ignoring new targets: 390.83 m.UUQe ProNav: ac range: 390.830994 m, nav range: 389.386292 m, bearing: 38.634651 deg, approach rate: -0.708431 m/s, LOS rate: -0.015474 deg/s, cmd heading: 40.765335 deg, new cmd heading: 40.749868 deg. ze)QmHeadingCmd: 0.711219 target range: 390.830994 and range: 393.30 m.Rmy6?JqbqZqBq:q2qҔyڔyyڒy’ ]?颭\Bɢ2) .i)顱iɬiy6?,);bZ , o?A2`?29?2xUٱ2% :AHRS rotation from veh to nav: [[0.747166,-0.648530,-0.145439],[0.662592,0.743972,0.086481],[0.052117,-0.160982,0.985580]]2H? ¿ 3?`?#?`? Ŀ߉?i2`?I2];0YBByB$I\iMb@Mb@Mb@  mWm>myC9/$?{Gz?I +Y&1?y#=9S!A/A A)S AYGAEGjAbDiVD=A49jAY%:Ay-ٷ%-9=ٔ5 غQ-5>99Y9==?Fy=EEj;EE>IQ 5UN5M89?Q 9UN5M*)MYBYU1?Q E]:y]F?Q I]@M$DIM|;iM;M+wN5yeBɮe@eEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 390.83 m.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.??Q= ProNav: ac range: 390.830994 m, nav range: 389.080566 m, bearing: 38.629998 deg, approach rate: -0.688606 m/s, LOS rate: -0.010489 deg/s, cmd heading: 40.749868 deg, new cmd heading: 40.735898 deg. zEXQEHeadingCmd: 0.710976 target range: 390.830994 and range: 393.30 m.RM~6?JIbIZIBI:2ҔڔBڒ’ ?ZBɢ )  /i )4piKVi~6?*;/lAA AA BM }>BM CBM )%IBM GBBI BI BI BM V;BM ,EB ˼CB ˼CB B M =B M =C Yf4B,8p?A>XQ?>':?>Xٱ>aC% FAHRS rotation from veh to nav: [[0.746013,-0.649774,-0.145804],[0.663829,0.742997,0.085356],[0.052870,-0.160465,0.985624]]>HV?@¿>?`?ٵ??`!Ŀ`XQ?I>g];>ސCYRByR$IbDZlVDZF4ybܾ%bb=ٔbQ-b>9dYd=f?FyfEj;Ej>lQ 5rN5n;9?Q 9rN5n)nYBYpyrnG?Q Iv@n,DIn;in;nRzN5yzBɮzo@zE|Q%FNOT Ignoring new targets: 390.83 m.%C%CQ5 ProNav: ac range: 390.830994 m, nav range: 388.831604 m, bearing: 38.626140 deg, approach rate: -0.689398 m/s, LOS rate: -0.010690 deg/s, cmd heading: 40.735897 deg, new cmd heading: 40.724316 deg. z5Q=HeadingCmd: 0.710773 target range: 390.830994 and range: 393.30 m.R=?5?JAbAZABA:A2AҔIڔIIڒI’QQU`?YBɢܚ) 7i)Oi`i ?5? v,; /ԁ 8 ,/p?AE EE#E"E3;*Er:VE3ZEBE)>i-Mb@Mb@Mb@)))) )9-{Gz?Mb`Zd;OY-#?y--j-A-3A -MA)- A)Y-AbDEfVDE;4yU&h%U'=ٔUºQ-]>9YYY=]?Fy]Ee^;Ee>iQ 5uN5m:?Q 9uN5m)mYBYu#?Q E}:y}M8?Q I}@m6DIm` ;im ;m~N5yBɮ@EQFNOT Ignoring new targets: 390.83 m.__Q ProNav: ac range: 390.830994 m, nav range: 388.519562 m, bearing: 38.624033 deg, approach rate: -0.640324 m/s, LOS rate: -0.004327 deg/s, cmd heading: 40.724316 deg, new cmd heading: 40.717991 deg. z >QMHeadingCmd: 0.710663 target range: 390.830994 and range: 393.30 m.RM5?JIbIZIBI:Q2QҔQڔULBYڒY’YY]@?ԉWBɢ) 8i)Qihħi5?.;eA > I I O% > ,Hp?AV?V:?Vߦ^ٱVz& fAHRS rotation from veh to nav: [[0.744238,-0.651304,-0.148029],[0.665701,0.741353,0.085075],[0.054332,-0.161859,0.985317]]VH?`{¿kM?*?`ǵ?Yѫ?@̷Ŀ?iV?IV`];VސCYvЅByv$IbD dVD  84y%:%%v=ٔ-Q--?91Y1==?Fy=EE4;EE?IQ 5UN5M:?Q 9UN5Mg)MYBYQyU8?Q I]@M=DIM;iM;MN5yaɮeJ@aQFNOT Ignoring new targets: 390.83 m.Q ProNav: ac range: 390.830994 m, nav range: 388.305450 m, bearing: 38.622556 deg, approach rate: -0.640163 m/s, LOS rate: -0.004417 deg/s, cmd heading: 40.717992 deg, new cmd heading: 40.713560 deg. zAQHeadingCmd: 0.710586 target range: 390.830994 and range: 393.30 m.R5?JbZB:2Ҕڔڒ’`@%VBɢ-f쟽)) -Bi)E= E=E9E9"E=O6;*E=:VE9ZE9aE@aE@aE@aE@)miqiuiu5?}0;}BB %IB.BBM =BBBV;B/EAa@a @a@a@a@m=@m=q^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509483ԩ A I I O >K,bp?A2?2D:?2aٱ2B( :AHRS rotation from veh to nav: [[0.743909,-0.651313,-0.149638],[0.666003,0.741023,0.085589],[0.055140,-0.163329,0.985030]]2H?T'ÿO? v?@$? P;?Ŀ\?i2?I2[y];2ېCYBByB{$IbDJiVDJ=A4yR%VS=ٔVQ-V>9XYX=Z?FyZEZC:EZ>\Q 5bN5^<-:?Q 9fN5^)^YBYdyf8?Q If@^EDI^:i^R:^N5yhɮj@lQFNOT Ignoring new targets: 390.83 m.Q ProNav: ac range: 390.830994 m, nav range: 388.058502 m, bearing: 38.620837 deg, approach rate: -0.611553 m/s, LOS rate: -0.004260 deg/s, cmd heading: 40.713559 deg, new cmd heading: 40.708398 deg. z!;QHeadingCmd: 0.710496 target range: 390.830994 and range: 393.30 m.R 5?JbZB:2Ҕڔڒ’@@UBɢ᥽) Mi){ii 5?Yv2;Pu,n|p?A2?2.:?2dٱ2) :AHRS rotation from veh to nav: [[0.744071,-0.650937,-0.150462],[0.665778,0.741197,0.085828],[0.055653,-0.164037,0.984883]]2Hn?yVBÿ N???~?@&Ŀ)?i2?I2];2ݐCYBByBs$I DDJ=J=PiMb@Mb@Mb@ 9? rhY ?yLCAKA A) AYAbD-mVD-H4y=%=A=ٔE4Q-E>9AYA=M?FyMEM*EM>QQ 5N5U?:?Q 9N5U)UYBY ?Q E:y%?Q I@UNDIU7 ]%,~p?A:w?::?:1gٱ:) BAHRS rotation from veh to nav: [[0.744336,-0.650384,-0.151541],[0.665419,0.741496,0.086031],[0.056414,-0.164874,0.984700]]:H?eÿK?V??L?@ſ?i:w?I:2^;:ܐCY^Bybh$IbDjVDjq4yre4%rP=ٔrQ-v>9tYt=v?FyvEzEz>||Q 5N5~O:?Q 9 N5~)~ZBY y m%?Q I @~UDI~>+;i~:,;~N5yɮ@9QEFNOT Ignoring new targets: 390.83 m.EYG8EYG8QU ProNav: ac range: 390.830994 m, nav range: 387.547760 m, bearing: 38.622925 deg, approach rate: -0.659662 m/s, LOS rate: 0.002723 deg/s, cmd heading: 40.711623 deg, new cmd heading: 40.714667 deg. zU88Q]HeadingCmd: 0.710605 target range: 390.830994 and range: 393.30 m.R]55?JabaZaBa:a2aҔiڔiiڒi’qqu8 @额RBɢY) Si)b9顡i[i55?\x6;nԁ E]  E] E] %EY "E] 3;*E] I:VE] 4ZEY BEY am 2EY am JE] (9Y=?FyE1E>Q 5N5ee:?Q 9N5ά)ZBY<?Q E:y ?Q I@_DI ;i ;_N5yBɮ@EYYQeFNOT Ignoring new targets: 390.83 m.e~@9m~@9Q ProNav: ac range: 390.830994 m, nav range: 387.245850 m, bearing: 38.628312 deg, approach rate: -0.589023 m/s, LOS rate: 0.010518 deg/s, cmd heading: 40.714665 deg, new cmd heading: 40.730839 deg. z9QHeadingCmd: 0.710887 target range: 390.830994 and range: 393.30 m.R5?JbZB:2ҔڔֆBڒ’@l@}PBɢ}) Xi)Ƽ顁imi5?8;ņ BDAT read: Tx time:21:25:22.1457 $Ping request sent.iEE?E!,@E+x2,p?A^J?^!:?^Llٱ^2, nAHRS rotation from veh to nav: [[0.745882,-0.648089,-0.153754],[0.663574,0.743008,0.087229],[0.057708,-0.167089,0.984251]]^HC?&@4ÿ;??@T? ?-cſ~?i^J?I^)^;\YvByzP$II~=)~;||bD kVD D4yx5%~=ٔ Q- ?9Y!=%?Fy%EMTEM?QQ 5]N5Us:?Q 9]N5U)U(ZBYYy] ?Q Ie@UeDIU;iUL;U9N5ymBɮm@mEԁJiRmt p?Am,Cm,Cmay-?m>x@E)e\2 tmn)E?@0a|m*Hm;—m&9Sr@an@rP6@mz8?zá?7R+?jm sCrmCZm"Dޝ?bmbzm\BimbiڗmCmU-?Q addTargetRange:: Added new target pos. range: 390.799988 m, deltaT: 4.036173 s, deltaX: -2.500000 m, approachRate: -0.619399 m/s, rangeRepo size: 4 Q- Added new target pos. range: 388.348267 m, bearing: 38.825529 deg, lat: 36.779366 deg, lon: -121.858956 deg, deltaT: 4.036173 s, deltaX: -2.482727 m, approachRate: -0.615119 m/s, posRepo size: 4 )Q5FNOT Ignoring new targets: 388.35 m.51Qe ProNav: ac range: 388.348267 m, nav range: 387.926514 m, bearing: 38.793816 deg, approach rate: 0.000000 m/s, LOS rate: 0.010518 deg/s, cmd heading: 40.730839 deg, new cmd heading: 40.741100 deg. zaQmHeadingCmd: 0.711066 target range: 388.348267 and range: 390.80 m.Rmr6?JibiZqBq:q2qҔqڔyyڒ’lx@8+?E EEE"E*E:VEZEa@a@a@a@NBɢ)! %[i!)%8˼!!i%"i-r6?-aD:;-.}BABE$IBEBBABABABEV;BEAEԱ9@ @@4@^A<IY Ii O} > 8,HRp?A2?29?2ymٱ2k[- :AHRS rotation from veh to nav: [[0.747020,-0.646578,-0.154586],[0.662262,0.744073,0.088118],[0.058048,-0.168202,0.984042]]2H`?Ű@|ÿ@1?q?⎶?? ſ@E}?i2?I2^;2ݐCYBzByB-$IbDNyVDN^4yV@%VS=ٔVfQ-V>9XYX=Z?FyZEZ E^>`Q 5fN5bZ:?Q 9fN5bڦ)b;ZBYdyf$ ?Q If@bmDIb:ib1:bN5ylɮn\@l|QFNOT Ignoring new targets: 388.35 m.TU9 TU9Q ProNav: ac range: 388.348267 m, nav range: 387.695587 m, bearing: 38.798131 deg, approach rate: -0.623485 m/s, LOS rate: 0.011657 deg/s, cmd heading: 40.741102 deg, new cmd heading: 40.754054 deg. z9QHeadingCmd: 0.711292 target range: 388.348267 and range: 390.80 m.RC6?JbZB:2Ҕڔڒ’>?uMBɢ Hֹ) 1ii)мiGi%C6?;;]b>,-p?A2^O?2%9?2Boٱ2P- :AHRS rotation from veh to nav: [[0.748390,-0.644984,-0.154620],[0.660684,0.745465,0.088195],[0.058379,-0.168160,0.984030]]2H?ÿS$????Aſ+}?i2^O?I2X^;2ܐCYBByBB$IiMMb@Mb@Mb@IIII I9Mv?X9vI +?YM?yMM94=ٔuXJQ-u>9yYy=}?Fy}EE>Q 5N5=:?Q 9N5c)XZBY?Q E:y?Q I@uDI;i;RN5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 388.35 m.m9m9Q ProNav: ac range: 388.348267 m, nav range: 387.438354 m, bearing: 38.803719 deg, approach rate: -0.597128 m/s, LOS rate: 0.012980 deg/s, cmd heading: 40.754055 deg, new cmd heading: 40.770830 deg. z:QHeadingCmd: 0.711585 target range: 388.348267 and range: 390.80 m.Rs*6?JbZB:2ҔڔBڒ’ @ ?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q KBɢ aN)  _i1)5׼11i=@i=s*6?==;E QCBi Bm $IBm ͅBBi Bi Bi Bm W;Bm iEA9 IA IY Oe > E,q?A2?2v8?2mpٱ2K. :AHRS rotation from veh to nav: [[0.749611,-0.643406,-0.155281],[0.659274,0.746616,0.089012],[0.058665,-0.169097,0.983852]]2H?ȖBÿ?`F?@ɶ?`F ?ſ{?i2?I26^;2ېCYBByBJ$IbDNzVDN`4yV=%VX=ٔVEQ-V>9XYX=Z?FyZEZ衻E^>`Q 5fN5b:?Q 9fN5bX)bqZBYdyf?Q If@b}DIb:ib|:bN5yhɮn+@l|QFNOT Ignoring new targets: 388.35 m.Hr9 Hr9Q ProNav: ac range: 388.348267 m, nav range: 387.211792 m, bearing: 38.808709 deg, approach rate: -0.600705 m/s, LOS rate: 0.013239 deg/s, cmd heading: 40.770830 deg, new cmd heading: 40.785809 deg. z^:Q%HeadingCmd: 0.711847 target range: 388.348267 and range: 390.80 m.R%;6?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115@?]IBɢey)a e[ia)exۼiiimHim;6?uB=;u' E  E E %E "E 9;*E :VE 4ZE BE 9Y=%?Fy%E-E]>Q 5N5:?Q 9N5)ZBYyQ I@DI:i:N5y Bɮ@EqQuFNOT Ignoring new targets: 388.35 m.}>e9}>e9Q ProNav: ac range: 388.348267 m, nav range: 386.936859 m, bearing: 38.814772 deg, approach rate: -0.567544 m/s, LOS rate: 0.012526 deg/s, cmd heading: 40.785809 deg, new cmd heading: 40.804013 deg. z :QHeadingCmd: 0.712164 target range: 388.348267 and range: 390.80 m.RgP6?JbZB:2Ҕڔڒ’@? GBɢ 飽)  PTi)iigP6? ?;IgP6?I!-l>i->9@ @@@@hA@hA9]؀GmSkAR9SkAYפA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004112i ^A *A<A I I O >HR,Kq?A6>67?6sٱ6rS0 >AHRS rotation from veh to nav: [[0.751972,-0.640262,-0.156853],[0.656504,0.748872,0.090516],[0.059509,-0.171040,0.983465]]6H@'?}Ŀ? ?` ,?@w?`ſ@x?i6>I6NT^;4YFByFy$IiMb@Mb@Mb@ 9%=Q=ٔ=>Q-=>9AYA=E?FyEEEEM>QQ 5UN5U:?Q 9]N5U)UZBY]?Q E]:y]>Q I]@UDIU:iUf:UݤN5yiɮm @i QFNOT Ignoring new targets: 388.35 m. 9 9QE ProNav: ac range: 388.348267 m, nav range: 386.724152 m, bearing: 38.820436 deg, approach rate: -0.590867 m/s, LOS rate: 0.015742 deg/s, cmd heading: 40.804011 deg, new cmd heading: 40.821012 deg. zE,:QMHeadingCmd: 0.712461 target range: 388.348267 and range: 390.80 m.RMc6?JIbQZQBQ:Q2QҔYڔ]BYڒY’Ya.@颭EBɢ) 3Fi)-顱iic6???;E EE&E"E=-;*E:VE4ZEa@a@a@a@ m;Ic6?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256247B}>BB$IBȅBBBBB\W;BEBBBBBCA3}9@y @y@}0@yԉ^A+< A I I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508062X,Beq?A6>6zX7?6tٱ6;0 >AHRS rotation from veh to nav: [[0.752961,-0.639098,-0.156852],[0.655344,0.749887,0.090514],[0.059774,-0.170946,0.983466]]6H B?~sĿ?@?+?`?ſx?i6>I6{'^;6ܐCYFByF{$IIJ>)J9`Y`=b?FybEbEf>dQ 5jN5f:?Q 9nN5f)fZBYlyn>Q In@fDIf/;ifn;f;N5yv Bɮv9@t QFNOT Ignoring new targets: 388.35 m.99Q% ProNav: ac range: 388.348267 m, nav range: 386.502014 m, bearing: 38.826411 deg, approach rate: -0.601293 m/s, LOS rate: 0.016181 deg/s, cmd heading: 40.821011 deg, new cmd heading: 40.838945 deg. z-1:Q-HeadingCmd: 0.712774 target range: 388.348267 and range: 390.80 m.R5\x6?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE@mCBɢu)q uDiq)uqi9i\x6??;>;I \x6?I9@ @@H0@^A[R;E EE%E"E8;*E-:VE 4ZEBEՏ) "!_,uq?A29>26?2tٱ2p0 :AHRS rotation from veh to nav: [[0.753971,-0.637902,-0.156869],[0.654184,0.750844,0.090975],[0.059751,-0.171214,0.983420]]2H ?i`HĿ@?@?#J??`Uſ.x?i29>I2 J^;2ސCY^҅Byb$I|iMMb@Mb@Mb@IIII I9MA`"?!rhl?YM?yMl罙M=MvAM=@ MA)M-AIYM AbDpVDN4y=%:=ٔh\8Q->9Y=?FyEgfE>Q 5N5:?Q 9N5)ZBY?Q E:y# ?Q I@DI]:i:N5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012175yɮ@GSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 388.35 m.5a`95a`9QE ProNav: ac range: 388.348267 m, nav range: 386.240173 m, bearing: 38.831807 deg, approach rate: -0.594496 m/s, LOS rate: 0.012261 deg/s, cmd heading: 40.838944 deg, new cmd heading: 40.855144 deg. zE:QMHeadingCmd: 0.713057 target range: 388.348267 and range: 390.80 m.RM6?JIbIZIBQ:Q2QҔYڔ]͆BYڒY’YaeL@颍@BɢX) #7i)顑ii6?u@;%;I6?I @  @@0@1Q^AQE EE$E"E9;*E4:VE4ZEa@a@a@a@ BDAT read: Rx Time:21:25:25.0670  TRx dataTimestamp_ set to:1761513926.309408 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266333B5 |>B5 CB5 $IB5 ؅BB5 N =B1 B1 B5 W;B5 Eԁ A I I O >f, Pq?A2>>26?2uٱ2-0 :AHRS rotation from veh to nav: [[0.754696,-0.637093,-0.156674],[0.653325,0.751630,0.090659],[0.060003,-0.170779,0.983481]]2Hx&?c Ŀ` ?`Z ?k5??`ſx?i2>>I2K^;2ߐCYvByv$IbD~nVD~pJ4y =% W=ٔ-Q->9Y=?FyEAE>!Q 5-N5%;?Q 9-N5%m)%![BY)y5 ?Q I5@%DI%):i%:%cN5y=Bɮ=@=EYaQmFNOT Ignoring new targets: 388.35 m.mXd9uXd9Q ProNav: ac range: 388.348267 m, nav range: 386.013092 m, bearing: 38.836534 deg, approach rate: -0.599047 m/s, LOS rate: 0.012477 deg/s, cmd heading: 40.855145 deg, new cmd heading: 40.869334 deg. z :QHeadingCmd: 0.713304 target range: 388.348267 and range: 390.80 m.R6?JbZB:2Ҕڔڒ’KT @>Bɢ) -i)=iՃi6?@;?;I6?I9@ @@5@^Amr;ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516235AIIOb>Թ E  E E #E "E *E :VE 3ZE BE f6>|6?6vٱ6/ ^AHRS rotation from veh to nav: [[0.755138,-0.636578,-0.156634],[0.652792,0.752120,0.090432],[0.060241,-0.170539,0.983508]]6H`*?^ Ŀ@?]?&?׮?5ſx?i6aK>I6+u^;6ݐCYzByz$I QbDm\VDmP)4y=%2=ٔ"Q->9Y=?FyE%CE%>!Q 5UN5%;?Q 9UN5%)%M[BYQyU ?Q IU@%DI%X;i%;%~N5y]Bɮe@eEQFNOT Ignoring new targets: 388.35 m.ia9ia9Q ProNav: ac range: 388.348267 m, nav range: 385.732574 m, bearing: 38.842412 deg, approach rate: -0.587404 m/s, LOS rate: 0.012317 deg/s, cmd heading: 40.869335 deg, new cmd heading: 40.886981 deg. z?:QHeadingCmd: 0.713612 target range: 388.348267 and range: 390.80 m.RN6?Jb Z B :2Ҕڔڒ’@v7@颭;Bɢ) !i)96顱iᆂiN6? ?;%G;IN6?Ia]9@Y @Y@e<2@aEDAT read: 21:25:25.0670 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397, 0.16,-0.119,-1.532, 0.121,-0.511, PHS= 0.494,-0.976, 0.588, RAW= 153.1, -1.4, CAL= 152.1, -2.4, ROT= 357.9, 2.4 MYgot valid direction response: 21:25:25.0670 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397, 0.16,-0.119,-1.532, 0.121,-0.511, PHS= 0.494,-0.976, 0.588, RAW= 153.1, -1.4, CAL= 152.1, -2.4, ROT= 357.9, 2.4 UPDAT read: Bearing 183.6, 2.1 (Local) U~Local bearing/azimuth received: Bearing 183.6, 2.1 (Local) eDAT read: Range 11 to 50 : 387.9 m (Round-trip 517.2 ms) speed 0.4 m/s e*DAT read: user:218> mBDAT read: Tx time:21:25:26.1957 u$Ping request sent.ui#y+?+@ԉ+ȼ)@ +)@I+=ήe?Ft?{@  ?) Os,q?ABB>BN6?BkxٱBy. jAHRS rotation from veh to nav: [[0.755575,-0.636171,-0.156186],[0.652252,0.752698,0.089517],[0.060613,-0.169509,0.983663]]BH-?@[ÿ @?@??`?@zſ*z?iBB>IB 3^;BېCYr Byr$IiMb@Mb@Mb@ 9-?/$/$?Y??y,=A@ )AYz AbDe)VD94y=g=%=L=ٔ=uQ-=>9AYA=E?FyEEbE 4jE4rE..EU EUEU%EQ"EUg5;*EU:VEU 4ZEQa]@a]@a]@a]@mGEm>qQ 5}N5u4%;?Q 9}N5uI)ur[BY},?Q E}:y}?Q I@uDIu:iu:uN5yɮu@JRq?ACCM>+?ch x@jߐ9,*<$0^7Q?UlD ۷pQ +=—$zr@nOdm@4U*#@5)w?'1)?_%?jnCr%CZҠ?bK)zB[?BڗCq-?Q addTargetRange:: Added new target pos. range: 387.899994 m, deltaT: 4.031753 s, deltaX: -2.899994 m, approachRate: -0.719289 m/s, rangeRepo size: 4 QM Added new target pos. range: 385.463806 m, bearing: 38.326257 deg, lat: 36.779368 deg, lon: -121.858956 deg, deltaT: 4.031753 s, deltaX: -2.884460 m, approachRate: -0.715436 m/s, posRepo size: 4 QQUFNOT Ignoring new targets: 385.46 m.]YBm}>BiBm$IBmBBmO =BiBiBmW;BmEQ ProNav: ac range: 385.463806 m, nav range: 385.726135 m, bearing: 38.819070 deg, approach rate: 0.000000 m/s, LOS rate: 0.012317 deg/s, cmd heading: 40.886981 deg, new cmd heading: 40.901725 deg. zQHeadingCmd: 0.713870 target range: 385.463806 and range: 387.90 m.R+6?JbZB:2ҔڔBڒ’`f>x@Z{?8Bɢ") i)=99iEZXiE+6?MB?;ME:IM+6?IIY9@ @@4@@iA@jAԁ^A ] ;Ա A I I! O5 >ty,Pq?A2y>246?2xٱ2. :AHRS rotation from veh to nav: [[0.755826,-0.635953,-0.155852],[0.651949,0.753018,0.089032],[0.060739,-0.168900,0.983760]]2H/?Yÿ?`?ʶ?7?ſz?i2y>I2];2ܐCYz"Byz$IbDsVDS4y-0=%5^=ٔ=RQ-=>9AYA=E?FyEEMyEM>YQ 5mN5]I4;?Q 9uN5]1)][BYqyu?Q Iu@]DI]X;i]h;]%N5yBɮR@EQFNOT Ignoring new targets: 385.46 m.B9B9Q ProNav: ac range: 385.463806 m, nav range: 385.512939 m, bearing: 38.822118 deg, approach rate: -0.596996 m/s, LOS rate: 0.008538 deg/s, cmd heading: 40.901724 deg, new cmd heading: 40.910871 deg. z9QHeadingCmd: 0.714029 target range: 385.463806 and range: 387.90 m.R6?JbZB:2Ҕڔڒ’s?ԑ6Bɢ) 8 i)顡iMi6?{?;_:I6?I@ @@/@Em EmEm$Ei"Em9;*Em:VEm4ZEiBEm \,Vr?A2>2nO6?2 yٱ2}+ :AHRS rotation from veh to nav: [[0.755550,-0.636555,-0.154730],[0.652246,0.752972,0.087221],[0.060986,-0.166822,0.984099]]2H@w-?^.ÿ3?Y?#T?9?@kZſ}?i2>I2^;2ڐCYB=ByF%IIJ%=)Jp>HJAiMb@Mb@Mb@ 9n?/$Q?Y?y,\=A&@ A)AYbD-{VD-]b4y=)>%=J=ٔ=Q-E>9AYA=E?FyEEM:EM>QQ 5]N5UD;?Q 9]N5Ur)U[BY]?Q E]:y]&?Q Ie@UDIUL ;iU;UN5yiɮm@iGSB*** querying acoustic contact ***:BQ5FNOT Ignoring new targets: 385.46 m.="8="8QM ProNav: ac range: 385.463806 m, nav range: 385.278168 m, bearing: 38.823041 deg, approach rate: -0.564435 m/s, LOS rate: 0.002221 deg/s, cmd heading: 40.910873 deg, new cmd heading: 40.913644 deg. zM8QUHeadingCmd: 0.714078 target range: 385.463806 and range: 387.90 m.RU6?JQbQZQBY:Y2YҔYڔe3Baڒa’aam ?U4BɢU$)Q UiY)];YYi].ie6?e=`?;eB B %IB 3BB N =B B B W;B E^AM Β{:Aq y I I O >ܲ,r?A2=>2u6?23{ٱ2wx+ :AHRS rotation from veh to nav: [[0.755161,-0.637022,-0.154708],[0.652667,0.752681,0.086583],[0.061290,-0.166357,0.984159]]2H@H*?{b@vÿ?@?@P*?la?/Kſ;~?i2=>I2];2ېCYBPByB4%IbDJhVDJf?4yR=%VN=ٔVyIQ-V>9XYX=Z?FyZEZ:EZ>\Q 5bN5^S;?Q 9fN5^~)^[BYdyf&?Q If@^DI^a;i^;^ N5yj Bɮn@l|QFNOT Ignoring new targets: 385.46 m.+8+8Q ProNav: ac range: 385.463806 m, nav range: 385.046844 m, bearing: 38.823933 deg, approach rate: -0.608598 m/s, LOS rate: 0.002349 deg/s, cmd heading: 40.913643 deg, new cmd heading: 40.916321 deg. zP8QHeadingCmd: 0.714125 target range: 385.463806 and range: 387.90 m.R6?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’)15?]1Bɢ])a eGia)e<aaim8Jim6?m5??;u6:Iu6?Iqq@q @y@y@y5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500946)^A]0::I A I I O >E-  E- E- %E) "E- g5;*E- :VE- 4ZE) BE- {Bp6?B_{ٱB + NAHRS rotation from veh to nav: [[0.755202,-0.637031,-0.154472],[0.652616,0.752763,0.086257],[0.061332,-0.165952,0.984225]]BH`*?b ÿ ;?@??f?`=ſ~?iB[4>IB];BܐCY^By E%IbDiVD=A4y|=%9=ٔŸQ->9!Y)=5?FyuEE>Q 5N5e;?Q 9N5jz)[BYy&?Q I@DIG;i;3N5yɮ@IQmFNOT Ignoring new targets: 385.46 m.iuT"8uT"8Q ProNav: ac range: 385.463806 m, nav range: 384.774750 m, bearing: 38.824988 deg, approach rate: -0.571689 m/s, LOS rate: 0.002218 deg/s, cmd heading: 40.916320 deg, new cmd heading: 40.919486 deg. z8QHeadingCmd: 0.714180 target range: 385.463806 and range: 387.90 m.R|6?JbZB:2Ҕڔڒ’@3O?/Bɢo) оi)%ii|6?$?;:I|6?I]9@Y @Y@Y@Yԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004586 ^A ;A I I O >r ,+Pr?A2>26?2q{ٱ2-s) JAHRS rotation from veh to nav: [[0.754784,-0.637728,-0.153637],[0.653087,0.752510,0.084891],[0.061476,-0.164413,0.984474]]2H0'?@Eh^ÿ@??o?y?`y ſπ?i2>I2)];2ېCYRvByRb%I XXZ=Z=i5Mb@Mb@Mb@1111 195\(\?y&1Zd;O?Y5?y5`e5j<5A5@ 5A)11Y5 AEU EUEU#EQ"EUa?;*EU#:VEU3ZEQa]@a]@a]@a]@bDMkVDMD4ym=%uG=ٔuUQ-u>9yYy=}?Fy}E}:E>Q 5N5t;?Q 9N5~v)\BY?Q E:yW2?Q I@DI" ;iX ;N5yBɮ@EQFNOT Ignoring new targets: 385.46 m.Q ProNav: ac range: 385.463806 m, nav range: 384.542572 m, bearing: 38.824330 deg, approach rate: -0.617266 m/s, LOS rate: -0.001749 deg/s, cmd heading: 40.919486 deg, new cmd heading: 40.917512 deg. zQHeadingCmd: 0.714145 target range: 385.463806 and range: 387.90 m.R:6?JbZB:2ҔڔRBڒ’!@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266130B5{>B1B5U%IB5kBB1B1B1B5rW;B5E,Bɢcm) ni) Ki^i:6?V>;;I:6?!I!9@ @@0@I^A0::y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516543A) I9 IQ Om >*0,ojr?A02?>2.6?2AHRS rotation from veh to nav: [[0.754429,-0.638215,-0.153360],[0.653486,0.752234,0.084260],[0.061587,-0.163787,0.984571]]2HG$?AlMÿ[?M??J? Ŀ?i2?>I2\;2ސCYFByFz%IbDN^VDN,4yV`=%VY=ٔZȚQ-Z>9XYX=Z?FyZE^:E^>`Q 5fN5bx;?Q 9fN5br)b)\BYhyjy2?Q Ij@bDIb:ib:bN5yaɮe_@aQFNOT Ignoring new targets: 385.46 m.Q ProNav: ac range: 385.463806 m, nav range: 384.315186 m, bearing: 38.823668 deg, approach rate: -0.566790 m/s, LOS rate: -0.001651 deg/s, cmd heading: 40.917512 deg, new cmd heading: 40.915525 deg. zQHeadingCmd: 0.714111 target range: 385.463806 and range: 387.90 m.R 6?J b Z B : 2 ҔQڔQQڒY’YY]`ur@颥*Bɢa) ͠i)Q))i-b i56?5u>;=4;I=6?I9AԉDizDiEu EuEqEq"EuO6;*Eu:VEqZEqBEuC} oC EG ) u 9q Yu OAy Ǥ? 7AA= .AIA IQ Oe >E,Wr?A:$>:6?:ZE}ٱ:V( FAHRS rotation from veh to nav: [[0.753983,-0.638722,-0.153438],[0.653981,0.751848,0.083867],[0.061794,-0.163580,0.984593]]:H ?@ip@ܣÿh?#?Rx?`?0Ŀȁ?i:$>I:|\;8YNByN%Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020610di-Mb@Mb@Mb@)))) )9-MbX9?{Gz?9e ?Ye ?=e?FyeEe':Em>iQ 5uN5mH;?Q 9}N5mm)m=\BY}!?Q E}:y};?Q I}@mDImC ;im ;mN5yBɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 385.46 m.ǸǸQ ProNav: ac range: 385.463806 m, nav range: 384.047272 m, bearing: 38.821474 deg, approach rate: -0.665682 m/s, LOS rate: -0.005457 deg/s, cmd heading: 40.915524 deg, new cmd heading: 40.908936 deg. zoQHeadingCmd: 0.713996 target range: 385.463806 and range: 387.90 m.Rk6?JbZB:2ҔڔfBڒ’ː@ (Bɢ Y)  ;i )5M11i52i=k6?=>;=_;I=k6?IA@ @@0@E} E}E}%Ey"E}:;*E}j:VE} 4ZEya@a@a@a@Bey>BaBe%IuBDAT read: Rx Time:21:25:29.1144 }TRx dataTimestamp_ set to:1761513930.348617}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273650BeBBeO =BaBaBeHW;Be|EB=ȻCB=ȻCB9B=N =B=O =C=|'5^A ;I A= ؟AIA IY Oa ~A,nr?A2>27?24}ٱ2M' :AHRS rotation from veh to nav: [[0.753513,-0.639421,-0.152835],[0.654524,0.751472,0.083001],[0.061779,-0.162577,0.984760]]2H?#vÿ? ???s?TĿ '?i2>I2]\;2ؐCYBByB%IbDJgVDJ=4yR=%VV=ٔV,8Q-V>9V"?YZ"?=Z?FyZEZj:EZ>\Q 5bN5^W;?Q 9fN5^i)^O\BYdyf;?Q If@^DI^:i^N:^N5yhɮj@l9yQ}FNOT Ignoring new targets: 385.46 m.!!Q ProNav: ac range: 385.463806 m, nav range: 383.807129 m, bearing: 38.819479 deg, approach rate: -0.605164 m/s, LOS rate: -0.005031 deg/s, cmd heading: 40.908937 deg, new cmd heading: 40.902948 deg. z\QHeadingCmd: 0.713891 target range: 385.463806 and range: 387.90 m.R6?JbZB:2Ҕڔڒ’@ @&BɢtUR) vi)^ i i6??;;I6?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525145i@ @@0@ԡ^A] ;E  E !E &E "E 9;*E :VE 4ZE BE iy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776811n,Wr?Aԙz">g7?}ٱ]"' AHRS rotation from veh to nav: [[0.752709,-0.640378,-0.152791],[0.655434,0.750742,0.082418],[0.061928,-0.162181,0.984816]]H@1?}@ÿ@Q??V??`\Ŀ`?iz">I\;ސCYBy%Ii=Mb@Mb@Mb@9999 99=w/? rh?Mb`?Y=&?y=C<=;=A=@ =lA)99Y= AbDUTVDU4ye=%%=ٔQ->9 ?Y ?=?FyEM;E>Q 5N5ӷ;?Q 9N5c)c\BY&?Q E:y!>?Q I@DI ;i] ;YN5yBɮ@Q%FNOT Ignoring new targets: 385.46 m.-0-0Q5 ProNav: ac range: 385.463806 m, nav range: 383.477844 m, bearing: 38.816270 deg, approach rate: -0.669965 m/s, LOS rate: -0.006535 deg/s, cmd heading: 40.902946 deg, new cmd heading: 40.893311 deg. z=Q=HeadingCmd: 0.713723 target range: 385.463806 and range: 387.90 m.RE6?JAbAZABA:A2IҔIڔMqBIڒQ’QQU1@颅$Bɢ"A) Wi) 顉i䄻i6?0s?;(;I6?II)gA9@ @@h0@ DAT read: 21:25:29.1144 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.15,-1.497,-2.977,-1.207,-2.002, PHS= 0.607,-0.930, 0.750, RAW= 154.4, -5.3, CAL= 154.3, -6.8, ROT= 355.7, 6.8 Ygot valid direction response: 21:25:29.1144 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.15,-1.497,-2.977,-1.207,-2.002, PHS= 0.607,-0.930, 0.750, RAW= 154.4, -5.3, CAL= 154.3, -6.8, ROT= 355.7, 6.8 PDAT read: Bearing 179.4, 0.6 (Local) %~Local bearing/azimuth received: Bearing 179.4, 0.6 (Local) -DAT read: Range 11 to 50 : 386.0 m (Round-trip 514.7 ms) speed 0.6 m/s 5*DAT read: user:219> =BDAT read: Tx time:21:25:30.2456 =$Ping request sent.=>g,wr?A2+>2$7?2~ٱ2% :AHRS rotation from veh to nav: [[0.751915,-0.641478,-0.152084],[0.656325,0.750120,0.080976],[0.062137,-0.160703,0.985045]]2H`? zwÿ`??ֺ?cЯ? Ŀ|?i2+>I2\;2ܐCYPyR%IbDjlVDjF4yr@%r{=ٔvq.Q-v?9v"?Yv"?=v?FyvEzvy;Ez?|Q 5N5~;?Q 9N5~0`)~p\BY y o>?Q I @~DI~:i~[:~N5E EE'E"E=;*E:VE'4ZEa%@a%@a%@a%@y1ɮ5@9JRr?AɿCɿC?fݼw@_>ൎKBڗCwl-?BBB%IBцBBBBB2W;BqEQ addTargetRange:: Added new target pos. range: 386.000000 m, deltaT: 4.040675 s, deltaX: -1.899994 m, approachRate: -0.470217 m/s, rangeRepo size: 4 Q Added new target pos. range: 383.574524 m, bearing: 35.801816 deg, lat: 36.779368 deg, lon: -121.858956 deg, deltaT: 4.040675 s, deltaX: -1.889282 m, approachRate: -0.467566 m/s, posRepo size: 4  Q FNOT Ignoring new targets: 383.57 m.-1QE ProNav: ac range: 383.574524 m, nav range: 383.273804 m, bearing: 38.814241 deg, approach rate: 0.000000 m/s, LOS rate: -0.006535 deg/s, cmd heading: 40.893312 deg, new cmd heading: 40.886799 deg. zAQEHeadingCmd: 0.713609 target range: 383.574524 and range: 386.00 m.RM6?JIbiZiBi:i2qҔqڔqqڒy’y} x@}`L?"BɢJ#J) *Ui)m ii6??;;I6?I9@ @@4@)^A;A>A> = <A I I O >Y W,>Br?A>Z?>7?>ٱ>$ VAHRS rotation from veh to nav: [[0.751426,-0.642135,-0.151728],[0.656864,0.749748,0.080049],[0.062355,-0.159816,0.985175]]>H@ ?@^@kÿ? ?~?`?tĿ?i>Z?I>\;>ېCYbɆByb%IbDrnVDrpJ4y~T=%~J=ٔV Q->9 Y = ?Fy E :E>Q 5-N5;?Q 9-N5w[)\BY)y5>?Q I5@ DI;ib;N5yE BɮE@EEiQmFNOT Ignoring new targets: 383.57 m.uuQ ProNav: ac range: 383.574524 m, nav range: 383.009369 m, bearing: 38.811581 deg, approach rate: -0.677796 m/s, LOS rate: -0.006824 deg/s, cmd heading: 40.886800 deg, new cmd heading: 40.878813 deg. zܕQHeadingCmd: 0.713470 target range: 383.574524 and range: 386.00 m.R6?JbZB:2Ҕڔڒ’y?!Bɢ >) `/i)| i{i6?J@;;I6?I1U9@Q @Q@U/@QE5 E5E5!E1"E5I@;*E5:VE5c3ZE1BE5Թ 3u,Ps?AY~ΆBy~%IiMb@Mb@Mb@ 9Zd;O?y&1?~jth?Y~*?y`<D;A@ A)AYG AbDbVD[44y-V<%-8=ٔ-Q-5>91Y9==?Fy=E=E=>AQ 5MN5E;?Q 9MN5E"V)E\BYU*?Q EU:yUB?Q IU@EDIE ;iE ;EN5yYɮe@aGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 383.57 m.ԑQ ProNav: ac range: 383.574524 m, nav range: 382.716370 m, bearing: 38.807923 deg, approach rate: -0.664780 m/s, LOS rate: -0.008306 deg/s, cmd heading: 40.878812 deg, new cmd heading: 40.867829 deg. zkQHeadingCmd: 0.713278 target range: 383.574524 and range: 386.00 m.Rf6?JbZB:2Ҕڔ]Bڒ’L?BɢmL6)q u!iq)u qqiuױi}f6?}@;}O$;If6?I@ @ @ @ bEJ4jEƶ4rEa0E= E=E=&E9"E=B;*E=4:VE=4ZE9aM@aM@aM@aM@Bx>BB%IBBBBBBW;B`E5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^A- ;AY Ia Iy O > =,s?A2O?2G&8?2 ٱ2D!# :AHRS rotation from veh to nav: [[0.750775,-0.643085,-0.150925],[0.657597,0.749250,0.078687],[0.062478,-0.158324,0.985409]]2H`Y?`'Qÿ  ?`?$?%?`CĿw?i2O?I2j\;2ܐCYBԆByB%IbDJ^VDJ,4yR<%Rg=ٔV|Q-V>9TYT=Z?FyZEZ 6;EZ>\Q 5N5^9;?Q 9N5^Q)^\BY!y%B?Q I%@^DI^;i^<;^N5y-Bɮ-@)QQUFNOT Ignoring new targets: 383.57 m.]]Qm ProNav: ac range: 383.574524 m, nav range: 382.481934 m, bearing: 38.804957 deg, approach rate: -0.643692 m/s, LOS rate: -0.008148 deg/s, cmd heading: 40.867829 deg, new cmd heading: 40.858926 deg. zmQuHeadingCmd: 0.713123 target range: 383.574524 and range: 386.00 m.Ru76?JqbqZqBq:y2yҔyڔyڒ’@?颵Bɢ97) i) 项ici76?wA;kE]  E] E] $EY "E] I@;*E] :VE] 4ZEY BEY am 2EY am JE] =bDmVDH4y=%9=ٔQ->9Y=?FyE E>1Q 5MN55f,Ss?A2?2e8?2iٱ2," :AHRS rotation from veh to nav: [[0.750140,-0.643954,-0.150378],[0.658324,0.748697,0.077861],[0.062448,-0.157404,0.985558]]2H%?E?ÿ?S??8?%Ŀ?i2?I2\;2ېCYBنByB%IPE  E)E%E"EC;*E0;VE 4ZEa @a @a @a @i%Mb@Mb@Mb@!!!! !9%oʡ?X9v?~jtxY%-?y%<%Ļ%A%@ % A)!!Y%AbD=WVD= 4yM3%MS=ٔU8Q-U>9QBaBaBe&IBeBBaBaBaBeV;Be6EYqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255381=?FyE 5;E >Q 5=N5-?Q E=:y=C?Q IE@.DI>;i; N5yMBɮM@IQFNOT Ignoring new targets: 383.57 m.''Q ProNav: ac range: 383.574524 m, nav range: 381.912994 m, bearing: 38.797639 deg, approach rate: -0.701172 m/s, LOS rate: -0.009177 deg/s, cmd heading: 40.847533 deg, new cmd heading: 40.836955 deg. zɹQHeadingCmd: 0.712739 target range: 383.574524 and range: 386.00 m.Rv6?JbZB:2Ҕڔ^Bڒ’@i@uBɢu1)q uiq)} yyi}iv6? C;]8|9 ?Y ?=?FyEܮ:E > Q 5N5 B'ԁ B,ds?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011458:q?:8?:ٱ:3]! NAHRS rotation from veh to nav: [[0.749413,-0.644900,-0.149947],[0.659152,0.748046,0.077110],[0.062439,-0.156625,0.985683]]:H1? s1ÿ ??t?@?E Ŀ@?i:q?I:\;8Y^݆Byb%I hhaiMb@Mb@Mb@ 9q= ףp?Zd;O?Y+?yj<dA@ )AY(AbDWVD 4y-<%-8=ٔ-OQ-5>95"?Y5"?=5?Fy=E=:E=>AQ 5MN5Ew99Y=?FyE%j:E%>1Q 5=N55N*Z,s?A6'?68?6*ٱ6 >AHRS rotation from veh to nav: [[0.748808,-0.645626,-0.149846],[0.659830,0.747498,0.076624],[0.062539,-0.156249,0.985736]]6H;?'.ÿS??? ?`ÿ%?i6'?I69\;4YF؆ByF%IaE@aE aM@aM aM@aU aU@aU bDeLchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.020812VDe 4y6<%0=ٔQ->9Y=?FyE<:E>Q 5%N5%aN5y Bɮ@EQFNOT Ignoring new targets: 383.57 m.**Q ProNav: ac range: 383.574524 m, nav range: 380.722168 m, bearing: 38.783180 deg, approach rate: -0.649207 m/s, LOS rate: -0.007768 deg/s, cmd heading: 40.804404 deg, new cmd heading: 40.793541 deg. zQHeadingCmd: 0.711982 target range: 383.574524 and range: 386.00 m.RmD6?JbZB:2 Ҕ ڔ  ڒ’V@=Bɢ=G.)A EiA)E5AIiMCiMmD6?UgG;U~:BQBQBQBQBQBQBU|V;BUEBBBBO =BP =C4au@au@9@ @@@- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271615Թ ^A *:< A zA fAIIO >,?s?AVMG?V9?VQ~ٱV|$" ^AHRS rotation from veh to nav: [[0.748300,-0.646094,-0.150365],[0.660441,0.746857,0.077601],[0.062164,-0.157376,0.985580]]VH ?ͬ@+?ÿU"?@?ݳ?`ӯ?$Ŀ߉?iVMG?IV\;VېCYvȆByv%IbD~rVD~Q4 y%%%/=ٔ%8S:Q-->9)Y)=-?Fy-E5[:E5>9Q 5EN5=;tz,s?AEV?E"-9?E+}ٱE# ]AHRS rotation from veh to nav: [[0.748159,-0.646165,-0.150760],[0.660627,0.746606,0.078425],[0.061883,-0.158271,0.985455]]EH?bLÿ#?@3???8BĿ ؈?iEV?IEʶ\;EސCYmÆBym%Iqaa aa aa aa iMb@Mb@Mb@ 9(\?{Gzt?MbPY.?yף;Az@ ( A)AY AbD`VD04y%%%<=ٔ-]):Q-->9Y=?FyE?:E>Q 5O5{ B B B &IB BB B B B V;B ,EE  E E $E "E G;*E :VE 4ZE BE '<2E '<JE S<:E S<,t?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2794696rg?6>9?6E|ٱ6L$ BAHRS rotation from veh to nav: [[0.748002,-0.646157,-0.151575],[0.660831,0.746290,0.079713],[0.061611,-0.159791,0.985226]]6H`?Pfÿ%??h?? tĿ`?i6rg?I6\;4YJByJ%IbDRaVDR24yZS%Zf=ٔZ8H:Q-^>9\Y\=b?FybEbF:Eb?dQ 5jO5fA>1IIO>Y  ,2t?A2?23X9?2|ٱ2У$ :AHRS rotation from veh to nav: [[0.747736,-0.646452,-0.151625],[0.661129,0.746035,0.079629],[0.061641,-0.159785,0.985225]]2Ht?qhÿ'?? b?p?sĿ`?i2?I2\;2ݐCYBByB%I DDbDHVDHyR8%VK=ٔV\Q-V>9TYX=Z?FyZEZA:EZ>\Q 5bO5^ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036585Թ ,Lt?AYrByr%IimMb@Mb@Mb@iiii i9mV-?+MbYmh1?ymmm7AmM@ m A)m5AiYmAbDVDy7%<=ٔQ->9Y=?FyEE>Q 5O59 &,B_ft?A2ۤ?2j{9?29zٱ2& :AHRS rotation from veh to nav: [[0.747404,-0.646595,-0.152648],[0.661551,0.745465,0.081440],[0.061136,-0.161853,0.984919]]2H ?ÿl+??@:ٴ? 'M?Ŀu?i2ۤ?I2\;2ېCYBByB%IbDJSVDJ4yRYK%RZ=ٔVz:Q-V>9V ?YZ ?=Z?FyZEZX:EZ>\Q 5bO5^): ,AHt?A0}?}c9?}iyٱ}<*' AHRS rotation from veh to nav: [[0.747652,-0.646285,-0.152748],[0.661284,0.745654,0.081870],[0.060986,-0.162220,0.984868]]}H@?]Cÿ=)?f?@n?9?Ŀ ?i}?I}\;}ܐCYBy%II<)=i]Mb@Mb@Mb@YYYY Y9]K7A`?+MbY]+?y]Y]AY ]p A)]=@YYYbDuZVDu%4y}%0=ٔ}9Q->9"?Y"?=?FyEQ 5O59QHeadingCmd: 0.711656 target range: 383.574524 and range: 386.00 m.R/6?JbZB:2ҔڔB ڒ ’  @= Bɢ=N)9 =]i9)EKAAiE[iM/6?MP;MMW9Y=?FyEE > Q 5O5 )b,,t?A2!?2:8?2Awٱ2@( :AHRS rotation from veh to nav: [[0.748765,-0.644986,-0.152786],[0.660087,0.746549,0.083366],[0.060292,-0.163274,0.984737]]2H?`|ÿ`o??yW?`ޮ?&Ŀ?i2!?I2\;2ݐCYBByB{%IbDJqVDJO4yR<%VO=ٔV:Q-V>9XYX=Z?FyZEZE^>Q 5%O5=?Q 9%O5)]BY)y- ?Q I-@DIq';i:O5y1ɮ5@9YQeFNOT Ignoring new targets: 383.57 m.eV9eV9Qu ProNav: ac range: 383.574524 m, nav range: 378.223541 m, bearing: 38.782408 deg, approach rate: -0.668855 m/s, LOS rate: 0.007231 deg/s, cmd heading: 40.782424 deg, new cmd heading: 40.791223 deg. zuΞ9Q}HeadingCmd: 0.711941 target range: 383.574524 and range: 386.00 m.R}A6?JybZB:2Ҕڔڒ’4@颽 Bɢ!^) i)JWi\iA6?R;+M=A>A I I) OE >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051346 J3,t?AYrByr%I ttyiMb@Mb@Mb@ 9}?5^I?PnMbP?YM"?y: A @ A)&@YAbDeVD94y=%;=ٔQ->9Y=?FyEE>Q 5O5 =?Q 9O5)]BY%?Q E:y ?Q I@DI:i;lO5yBɮ@EQ FNOT Ignoring new targets: 383.57 m. }9 }9Q ProNav: ac range: 383.574524 m, nav range: 377.952209 m, bearing: 38.788751 deg, approach rate: -0.637690 m/s, LOS rate: 0.014916 deg/s, cmd heading: 40.791222 deg, new cmd heading: 40.810262 deg. z#:Q%HeadingCmd: 0.712273 target range: 383.574524 and range: 386.00 m.R%W6?J!b)Z)B):)2)Ҕ1ڔ5yB1ڒ1’99= ^ @eBɢewU)i mdkii)m$iiimIi}W6?}jT;}: )t9,t?Av!o?vE8?vrٱvq) 5AHRS rotation from veh to nav: [[0.750608,-0.642901,-0.152534],[0.658086,0.748092,0.085326],[0.059253,-0.164427,0.984608]]vH?:ÿ@ ?_?׵?@iV? ſ?iv!o?Iv.\;vېCYEByE%IbDQVDQy<%L=ٔ*;Q->checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5554309Y=?FyEa޻E>Q 5O5+=?Q 9O5)]BYyq?Q I@DIY;iw; O5yɮ@qQ}FNOT Ignoring new targets: 383.57 m.99Q ProNav: ac range: 383.574524 m, nav range: 377.696686 m, bearing: 38.794837 deg, approach rate: -0.635609 m/s, LOS rate: 0.015150 deg/s, cmd heading: 40.810261 deg, new cmd heading: 40.828532 deg. z[&:QHeadingCmd: 0.712592 target range: 383.574524 and range: 386.00 m.Rsl6?JbZB:2Ҕڔڒ’7:!@额BɢbR) ci)顡i!5isl6?|T;^ = Gu99 YE xaA_@,u?A>7?wpٱ ( AHRS rotation from veh to nav: [[0.751850,-0.641635,-0.151744],[0.656707,0.749277,0.085556],[0.058802,-0.163977,0.984710]]H(?EXlÿ??`?\?0Ŀ?i>I<\;Yy%I)iMb@Mb@Mb@ 9A`"?Onÿy&1?Y?y`e<A@ )@Y3AbDaVD24y2;%9=ٔ:Q->9Y=?FyEE>Q 5O5@=?Q 9O5[)]BY?Q E:yi>Q I@DI ;i] ;$O5yBɮ@QFNOT Ignoring new targets: 383.57 m. c9 c9Q5 ProNav: ac range: 383.574524 m, nav range: 377.432709 m, bearing: 38.802869 deg, approach rate: -0.600807 m/s, LOS rate: 0.018293 deg/s, cmd heading: 40.828532 deg, new cmd heading: 40.852643 deg. z5H:QEHeadingCmd: 0.713013 target range: 383.574524 and range: 386.00 m.RE6?JAbIZIBI:Q2QҔYڔ]bBYڒY’a "@]Bɢ]5S)Y ]8_iy)顁iTi6?U;Z;I6?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.059388YQ@Q @Y@]/@Y@e=@e=ԉ^A <A zA jAA A ?AB v>B B %IB ƆBB Q =B B QDB V;B &EBBBBP =BQ =CP4E] % EY EY EY "E] O];*EY VEY ZEY BE] G,u?A2~>2NC7?2\oٱ2) :AHRS rotation from veh to nav: [[0.753234,-0.640018,-0.151706],[0.655154,0.750510,0.086642],[0.058405,-0.164653,0.984621]]2H`~?{kÿ`?`.?0.?5?Yſ?i2~>I2 ];2ސCYBByB%IbDJeVDJ94yR/=%R[=ٔV1:Q-V>9TYT=Z?FyZEZ+EZ>\Q 5bO5^&Q=?Q 9bO5^)^^BYdyf^>Q If@^DI^d:i^|:^(O5yjBɮj@jEGSzB*** querying acoustic contact ***:xBx|QFNOT Ignoring new targets: 383.57 m.99Q ProNav: ac range: 383.574524 m, nav range: 377.209045 m, bearing: 38.809754 deg, approach rate: -0.599322 m/s, LOS rate: 0.018461 deg/s, cmd heading: 40.852642 deg, new cmd heading: 40.873311 deg. zJ:QHeadingCmd: 0.713374 target range: 383.574524 and range: 386.00 m.R%6?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115`"@yBɢS) Ki)Liɩi6?ɾU; ;I 6?I @ @@0@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.563273^A0;I I O > 2d6?2[lٱ2&E* :AHRS rotation from veh to nav: [[0.755159,-0.637837,-0.151322],[0.652995,0.752237,0.087963],[0.057724,-0.165238,0.984563]]2H@D*?)i^ÿ`U? S?༄? ?&ſ`?i2]>I2`V];0YBByB%IbDJiVDJ=A4yR߷%VJ=ٔV1:Q-V>9TYX=Z?FyZEZEZ>E E"E#E"EV;*E;VE3ZEa @a @a @a @9Q 5EO5=nd=?Q 9EO5=)=1^BYIyM>Q IM@=DI=:i=:=+O5yQɮU@QQFNOT Ignoring new targets: 383.57 m.99checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815457Q% ProNav: ac range: 383.574524 m, nav range: 376.957062 m, bearing: 38.817635 deg, approach rate: -0.586437 m/s, LOS rate: 0.018354 deg/s, cmd heading: 40.873310 deg, new cmd heading: 40.896970 deg. z%I:Q-HeadingCmd: 0.713787 target range: 383.574524 and range: 386.00 m.R-6?J)b)Z)B):)21ҔQڔQQڒY’YY])#@颥BɢDmP) Pi)ipi6?5U;Z;I6?I@ @@0@ 9^A ; $T,`Qu?A2>25?2Sjٱ2 * :AHRS rotation from veh to nav: [[0.756810,-0.635926,-0.151118],[0.651129,0.753707,0.089194],[0.057178,-0.165901,0.984483]]2H7?YWÿ@ ?_?@rն?dF? ;<ſ?i2>I2u];2ܐCYNByR%Ii%Mb@Mb@Mb@!!!! !9%(\?oʡſS㥛?Y%z?y%-%/<%A%@ %A)%@!Y%AbDhVDf?4yϳ=%;=ٔ:Q->9Y=?FyEE>Q 5O5w=?Q 9O5)W^BY?Q E:y=>Q I@DIe ;i ;c/O5y Bɮ@E Q FNOT Ignoring new targets: 383.57 m.99Q% ProNav: ac range: 383.574524 m, nav range: 376.711945 m, bearing: 38.826818 deg, approach rate: -0.594582 m/s, LOS rate: 0.022289 deg/s, cmd heading: 40.896970 deg, new cmd heading: 40.924536 deg. z%t:Q-HeadingCmd: 0.714268 target range: 383.574524 and range: 386.00 m.R-C6?J)b)Z)B):)211Ҕ9ڔ=KB9ڒA’AAEX{$@mBɢuG)q u%iq)}uyyi}TiC6?CU;ަIC6?IB}w>ByByByByByB}RDB}V;B};EE" E3E"E"EZ;*Et ;VE(3ZEBEԹ NZ,6V65?6[gٱ6j) >AHRS rotation from veh to nav: [[0.758537,-0.634205,-0.149686],[0.649167,0.755416,0.089042],[0.056604,-0.164713,0.984716]]6HE?hK(ÿ@?`^,?`v˶?3?`Nſ@˂?i6>I6S];4Y^By^%IbDjqVDjO4yvW=%zX=ٔzl:Q-z>9|Y|=?FyEE >Q 5%O5%=?Q 9%O5/)y^BY)y->Q I-@DIu`;ia;2O5y=BɮEt@AqQ}FNOT Ignoring new targets: 383.57 m.i9i9Q ProNav: ac range: 383.574524 m, nav range: 376.490814 m, bearing: 38.835210 deg, approach rate: -0.573923 m/s, LOS rate: 0.021793 deg/s, cmd heading: 40.924537 deg, new cmd heading: 40.949726 deg. zKo:QHeadingCmd: 0.714708 target range: 383.574524 and range: 386.00 m.R6?JbZB:2Ҕڔڒ’A%@Bɢ6<) 0i)iki6?ET;,I6?I ԑ-9@) @)@-1@)E& E"E%E"E8^;*E;VE 4ZEa%@a-@a-@a-@2Acoustic response timeout^AM"IIO> );a,)u?Ai>4?Ieٱk[' -AHRS rotation from veh to nav: [[0.760259,-0.632652,-0.147506],[0.647207,0.757205,0.088110],[0.055949,-0.162453,0.985129]]H T? >@y¿?;?``?b? DĿ,?ii>Ik];Y=цByE%IiMb@Mb@Mb@ 9`"?{GzĿ rh?Y?y#C =A@ A)YAbDEdVDE 84y]=%]5=ٔ]z:Q-]>9aYa=e?FyeEm&Em>qQ 5}O5u=?Q 9}O5u )u^BY}z?Q E}:y}s>Q I@uDIu:iu]:u6O5y Bɮ@)Q5FNOT Ignoring new targets: 383.57 m.5959m2Acoustic response timeoutQm ProNav: ac range: 383.574524 m, nav range: 376.224152 m, bearing: 38.844537 deg, approach rate: -0.577880 m/s, LOS rate: 0.020227 deg/s, cmd heading: 40.949726 deg, new cmd heading: 40.977728 deg. zu^:Q}HeadingCmd: 0.715196 target range: 383.574524 and range: 386.00 m.R}7?JybyZyB:2ҔڔBڒ’`3&@=Bɢ=ۜ.)a e(ia)e9@aaieim7?mMS;mPIu7?Iq@ @@0@A Bi Bi Bm %IBm ֆBBi Bi Bi Bm V;Bm MEbEɻ 4jE4rEɳ0E-  E- 4E- 'E) "E- [I;*E- ;VE- '4ZE) BE-  2Acoustic response timeout`g,^u?A2D@>23?2cٱ2& >AHRS rotation from veh to nav: [[0.761745,-0.631187,-0.146106],[0.645503,0.758688,0.087849],[0.055400,-0.161230,0.985361]]2H8`?2¿?,G?A}?c]?2Ŀ?i2D@>I2];2ڐCYnByn%IbDzgVDz=4y-=%d=ٔ:Q->9 Y = ?Fy E λE>Q 5%O5n=?Q 9%O5)^BY!y%>>Q I%@DI;i;9O5y5Bɮ5t@5EGSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 383.57 m.e9e9Qu ProNav: ac range: 383.574524 m, nav range: 376.011780 m, bearing: 38.852056 deg, approach rate: -0.618859 m/s, LOS rate: 0.021923 deg/s, cmd heading: 40.977727 deg, new cmd heading: 41.000296 deg. zup:Q}HeadingCmd: 0.715590 target range: 383.574524 and range: 386.00 m.R}07?JybyZB:2Ҕڔڒ’&@颽Bɢ&) +i)j\iVi07?AR;cI07?IQ9@ @@3@2Acoustic response timeoutԉ^A[AzAgAI9IIOU>ԩ m,>͸u?A@Er" Er.Er&Ep"ErZ;*Er;VEr4ZEpav@av@av@av@YzByz &II~<)~%=bD LVD  4y>%I=ٔeQ-m>9iYi=m?FymEuEu>yQ 5O5}=?Q 9O5})}^BYyQ I@}DI}:i}:}k=O5yBɮ@QFNOT Ignoring new targets: 383.57 m.99Q ProNav: ac range: 383.574524 m, nav range: 375.764893 m, bearing: 38.860808 deg, approach rate: -0.593770 m/s, LOS rate: 0.021063 deg/s, cmd heading: 41.000297 deg, new cmd heading: 41.026570 deg. zHg:2Acoustic response timeoutQHeadingCmd: 0.716049 target range: 383.574524 and range: 386.00 m.RN7?JbZB:2Ҕڔڒ’Ʊ'@%Bɢ%&)! %Prt,iu?AlY~By*&IiMb@Mb@Mb@ 97A`?&1{Gz?Y?yн#=lA@ A)@YAbDcVD264y&=%;=ٔQ->9Y=?FyE!E%>)Q 55O5-=?Q 95O5-9)-_BY5?Q E=:y= ?Q I=@-DI- ;i- ;-%AO5yEBɮE@EEiQmFNOT Ignoring new targets: 383.57 m.u^9u^9Q ProNav: ac range: 383.574524 m, nav range: 375.514984 m, bearing: 38.865996 deg, approach rate: -0.585791 m/s, LOS rate: 0.012169 deg/s, cmd heading: 41.026569 deg, new cmd heading: 41.042143 deg. z:QHeadingCmd: 0.716321 target range: 383.574524 and range: 386.00 m.R`7?JbZB:2ҔڔBڒ’(@BɢjP) \=i) ii`7??WO;I`7?IB)B)B- &IB-BB-R =B)B)B-V;B-GEE% E;E$E"EO];*E ;VE4ZE BE BDAT read: Tx time:21:25:42.6956 $Ping request sent.Jz,Uu?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249751R>R2?RXٱRu ^AHRS rotation from veh to nav: [[0.764717,-0.628883,-0.140409],[0.642188,0.761722,0.085876],[0.052947,-0.155839,0.986362]]RH`x?̌?`??`?ÿG?iR>IR֛];RېCYj8ByjQ&IbDvOVDvc4y)>% ]=ٔ ~;Q->9 ?9Y ?=?Fy E=E>Q 5O5`=?Q 9O5%)6_BYy ?Q I@DIN:ig:DO5yɮ@QFNOT Ignoring new targets: 383.57 m.Hg9Hg9Q ProNav: ac range: 383.574524 m, nav range: 375.289001 m, bearing: 38.870864 deg, approach rate: -0.586205 m/s, LOS rate: 0.012638 deg/s, cmd heading: 41.042142 deg, new cmd heading: 41.056758 deg. z :QHeadingCmd: 0.716576 target range: 383.574524 and range: 386.00 m.Rq7?JbZB:2Ҕڔڒ’    P)@5Bɢ=6)9 =: >i9)=99iEDiEq7?MM;M7CIMq7?IIY@ @@/@iE- E/E%E"Ed;*EY;VE 4ZEa@a@a@a@ԑ^AΒchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505894AA II IY Om >Թ ,nnv?AMP>M2?M WٱMU mAHRS rotation from veh to nav: [[0.764970,-0.628950,-0.138719],[0.641925,0.762082,0.084643],[0.052479,-0.153797,0.986708]]ԩMHz?\ ?b?0?ު?ÿ`?iMP>IMP];IYEBya&I A=iEMb@Mb@Mb@AAAA A9Ejt?J +9yYy=}?Fy} E}[E}>Q 5O5=?Q 9O5)X_BY!?Q E:y1!?Q I@ DIX;i ;QHO5yBɮ@QFNOT Ignoring new targets: 383.57 m.88Q ProNav: ac range: 383.574524 m, nav range: 375.016815 m, bearing: 38.872895 deg, approach rate: -0.625379 m/s, LOS rate: 0.004669 deg/s, cmd heading: 41.056759 deg, new cmd heading: 41.062855 deg. zM9QHeadingCmd: 0.716682 target range: 383.574524 and range: 386.00 m.Ryx7?JbZB:2ҔڔʆBڒ’ /*@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753178BɢԼ) ,>i)*iiyx7?yNK;@Iyx7?I@ @@@B B B H&IB 1BB B B B V;B >E^A 4|EE- / E- 0E) E) "E- af;*E- ;VE) ZE) BE- ˷EÇ,6 v?A2>22?2bCTٱ2/ :AHRS rotation from veh to nav: [[0.765272,-0.628803,-0.137713],[0.641619,0.762345,0.084583],[0.051799,-0.153088,0.986854]]2H@}?'@%?@"e? 9?b? eÿN?i2>I2]_];0YB_ByB&IbDNOVDNc4yVN>%Vi=ٔV:Q-V>9XYX=Z?FyZE^pE^>`Q 5fO5b>?Q 9fO5b)bs_BYdyf!?Q If@bDIbl:ib:b`KO5yQɮ]U@YGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 383.57 m.ԣ8ԣ8Q ProNav: ac range: 383.574524 m, nav range: 374.797577 m, bearing: 38.874549 deg, approach rate: -0.593082 m/s, LOS rate: 0.004476 deg/s, cmd heading: 41.062855 deg, new cmd heading: 41.067819 deg. zD9QHeadingCmd: 0.716769 target range: 383.574524 and range: 386.00 m.R&~7?JbZB:2Ҕڔڒ’`W*@Bɢۦ) :d>i)Wii &~7? lI;YSHI&~7?I9@ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257805^A)A ؟AI! I1 OE >Q ,V:v?A2>22?2$Sٱ25 :AHRS rotation from veh to nav: [[0.765035,-0.629255,-0.136963],[0.641924,0.762153,0.084005],[0.051526,-0.152187,0.987008]]2H*{?`"@ ?c?@b?a?`zÿ ?i2>I2tl];2ސCYB{ByB&IbDJYVDJ#4ER- ER/ER$EP"ERd;*ERY;VER4ZEPaZ@aZ@aZ@aZ@y^ >%^J=ٔb0:Q-b>9b"?Yf"?=f?FyfEfy:Ef>hQ 5nO5j/>?Q 9nO5j)j_BYpyr'!?Q Ir@jDIj;ij;jNO5yvBɮv@zEQFNOT Ignoring new targets: 383.57 m.u8u8Q- ProNav: ac range: 383.574524 m, nav range: 374.544006 m, bearing: 38.876451 deg, approach rate: -0.656789 m/s, LOS rate: 0.004930 deg/s, cmd heading: 41.067817 deg, new cmd heading: 41.073527 deg. z-X9Q5HeadingCmd: 0.716868 target range: 383.574524 and range: 386.00 m.R57?J1b1Z9B9:929ҔAڔAAڒA’IIM`+@uBɢuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513369) >i)sii+i 7? =G; GCI 7?I I)hA9cGjA5p95jAY=[A9@ @@0@@@=a^A2Dԉ} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766063A! I) I9 OM >Թ Д,1Tv?A6 >6b2?6bRٱ6R BAHRS rotation from veh to nav: [[0.764698,-0.629788,-0.136395],[0.642347,0.761840,0.083610],[0.051254,-0.151549,0.987120]]6Hhx?@9'au?`?|g?`=?@eÿ|?i6 >I6C];6ېCYFByJ&IIN>)N>iMb@Mb@Mb@ 9ˡE?:v?S㥛?Y'?y</< A@ A)@YAbD5\VD5P)4yE=%EB=ٔEr):Q-E>9IYI=M?FyMEU:EU>YQ 5eO5]C(>?Q 9eO5])]_BYe5(?Q Ee:ye>?Q Im@]%DI]:i]:]RO5yqɮua@qQFNOT Ignoring new targets: 383.57 m.Q ProNav: ac range: 383.574524 m, nav range: 374.269135 m, bearing: 38.873685 deg, approach rate: -0.653397 m/s, LOS rate: -0.006579 deg/s, cmd heading: 41.073527 deg, new cmd heading: 41.065224 deg. z~QHeadingCmd: 0.716723 target range: 383.574524 and range: 386.00 m.R/{7?JbZB:2ҔڔBڒ’,@uBɢ}d)y }>iy)}Pyyi\Jûi/{7?E;:I/{7?IԑBBB&IBsBBBBBV;B2EBuºCBuºCBqBuR =BqCu4E7 E^E%E"Em;*E ;VE 4ZEBE ,wnv?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269931bc>b+3?bPٱbN jAHRS rotation from veh to nav: [[0.763921,-0.630797,-0.136087],[0.643293,0.761067,0.083369],[0.050982,-0.151231,0.987183]]bH r? ~/Kk ە?Z?W?P?`[ÿ`?ibc>Ibv/];bܐCYrByr&IbD~LVD~ 4y  =% N=ٔ 3:Q- >9Y=?FyEKJ;E>!Q 5-O5%^8>?Q 9-O5% )%_BY)y->?Q I-@%-DI%:i%$:%VO5y=Bɮ=@=EaQeFNOT Ignoring new targets: 383.57 m.emQ} ProNav: ac range: 383.574524 m, nav range: 374.009613 m, bearing: 38.871021 deg, approach rate: -0.653262 m/s, LOS rate: -0.006710 deg/s, cmd heading: 41.065225 deg, new cmd heading: 41.057227 deg. z}^QHeadingCmd: 0.716584 target range: 383.574524 and range: 386.00 m.R r7?JbZB:2Ҕڔڒ’ U-@Bɢ) >i)diǻi r7?C;U` 'IU r7?IQ@ @@2@E' E/E#E"E _;*EY;VE3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521750^A 0I A! I) I9 OM >!,+v?Aȟ>r3?OٱW AHRS rotation from veh to nav: [[0.762726,-0.632296,-0.135834],[0.644731,0.759884,0.083056],[0.050702,-0.150926,0.987244]]H @h?;`c?P?-C?`?Qÿ?iȟ>I5;];YBy&Ii%Mb@Mb@Mb@!!!! !9% rh?ˡE?:v?Y%C+?y%=%T<%; A%z@ %A)%@!Y%AbDESVDE4yU'<%U7=ٔUn$:Q-U>9YYY=]?Fy]E]b;Ee>aQ 5O5eI>?Q 9O5e=)e_BY,?Q E:yLS?Q I@e7DIeyi)顙i̻iZ7?)B; IZ7?I]9@Y @Y@]Y2@Y@a@aԙBv>BB&IBBBBBB{V;BE^A ܪ&A >A >E L E KE &E "E W;*E ;VE 4ZE BE U ,v?A2?>2ov4?2Pٱ2) :AHRS rotation from veh to nav: [[0.760673,-0.634719,-0.136043],[0.647146,0.757895,0.082443],[0.050778,-0.150752,0.987267]]2HnW?@Oi l?@?@? ?Kÿ ?i2?>I2,\;0YBȇByB'I DFAbDJXVDJ!4PyV >%Vj=ٔZdQ-Z?9XYX=Z?FyZE^<E^?`Q 5fO5bV>?Q 9fO5b)b_BYhyjT?Q Ij@b>DIbl:ib:b]O5ynBɮnX@rEGS~B*** querying acoustic contact ***:|B|Q FNOT Ignoring new targets: 383.57 m.  Q% ProNav: ac range: 383.574524 m, nav range: 373.479736 m, bearing: 38.858875 deg, approach rate: -0.695765 m/s, LOS rate: -0.016166 deg/s, cmd heading: 41.036968 deg, new cmd heading: 41.020761 deg. z%1Q%HeadingCmd: 0.715947 target range: 383.574524 and range: 386.00 m.R-SH7?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’9X.@Bɢ ۺ) g>i) DiѻiSH7?5(A;=I=SH7?I99@ @@4@E>E4=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277955^AA% .A) I1 II OU >6,v?A2>2(5?2Pٱ2 :AHRS rotation from veh to nav: [[0.758908,-0.636818,-0.136096],[0.649198,0.756236,0.081541],[0.050994,-0.150236,0.987334]]2HH?`k;? 3?ߴ??:ÿ=?i2>I2];2ݐCEBB EBWEB E@"EBw;*EBj;VEB3ZE@aJ@aJ@aJ@aJ@YṄByN'IbDV\VDVP)4y^<%bI=ٔb Q-b>9f ?Yf ?=f?FyfEff;Ef>hQ 5nO5jzf>?Q 9rO5j^)j_BYpyrT?Q Ir@jGDIjI;ijU;j`O5ytɮz@x9QFNOT Ignoring new targets: 383.57 m.BDAT read: Rx Time:21:25:45.6018 TRx dataTimestamp_ set to:1761513946.985406checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531204Q ProNav: ac range: 383.574524 m, nav range: 373.209442 m, bearing: 38.852474 deg, approach rate: -0.640705 m/s, LOS rate: -0.015183 deg/s, cmd heading: 41.020760 deg, new cmd heading: 41.001545 deg. z&QHeadingCmd: 0.715612 target range: 383.574524 and range: 386.00 m.RUX27?JQbQZQBY:Y2YҔYڔaaڒa’aam /@߆Bɢ)) >i)2iqֻiX27? >@; X,-|v?AYӇBy'IԙBUt>BQBU#'IBUBBUS =BUHDBUQDBUU;BUEiMb@Mb@Mb@ 9 ףp= ?Mb?y&1|YQ8?y=` A@ xA)@YAbD=VD3yE<%E(=ٔEQ-M>9IYI=U?FyUEUEU>YQ 5eO5]zz>?Q 9eO5]z)]_BYe9?Q Em:ymU?Q Im@]RDI]" ;i]m ;]dO5yuBɮu@qbEjEJ4rEû0E E;E'E"E*E ;VE'4ZEBEi!)%_ ))i-iܻi-J7?5^?;5hGI5J7?I1DAT read: 21:25:45.6018 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 274, 0.06,-0.984,-2.393,-0.701,-1.430, PHS= 0.547,-0.918, 0.685, RAW= 154.4, -4.1, CAL= 154.1, -5.5, ROT= 355.9, 5.5 Ygot valid direction response: 21:25:45.6018 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 274, 0.06,-0.984,-2.393,-0.701,-1.430, PHS= 0.547,-0.918, 0.685, RAW= 154.4, -4.1, CAL= 154.1, -5.5, ROT= 355.9, 5.5 PDAT read: Bearing 179.7, -0.3 (Local) ~Local bearing/azimuth received: Bearing 179.7, -0.3 (Local) %DAT read: Range 11 to 50 : 376.5 m (Round-trip 502.1 ms) speed 0.4 m/s 5*DAT read: user:221> =BDAT read: Tx time:21:25:46.6956 =$Ping request sent.=qR,|v?A2>2R7?2Sٱ2  >AHRS rotation from veh to nav: [[0.753355,-0.643054,-0.137613],[0.655576,0.750855,0.080233],[0.051734,-0.150660,0.987231]]2H`|?Qz??%?@|? Hÿe?i2>I2b\;2ܐCYFЇByV 'IIZR=)Z<bD^ZVD^%4yvҠ%zx=ٔz&Q-z?9|Y|=~?Fy~E~U<E~?Q 5-O5>?Q 95O5dz)_BY1y5W?Q I5@ZDI$:i1:gO5y9ɮ=@AJRi9v?ACC!?7\yH7w@7"rW:+A vj?7O8aVXi =—P Or@Zk@vzRoX(|wO?Q?ҏj\CrCZ硊?bi`z^BҠ?K)!BڗC>+?Q addTargetRange:: Added new target pos. range: 376.500000 m, deltaT: 16.383441 s, deltaX: -9.500000 m, approachRate: -0.579854 m/s, rangeRepo size: 4 Q Added new target pos. range: 374.130615 m, bearing: 36.162169 deg, lat: 36.779384 deg, lon: -121.858988 deg, deltaT: 16.383441 s, deltaX: -9.443909 m, approachRate: -0.576430 m/s, posRepo size: 4 !Q%FNOT Ignoring new targets: 374.13 m.-)Q= ProNav: ac range: 374.130615 m, nav range: 372.232971 m, bearing: 38.326484 deg, approach rate: 0.000000 m/s, LOS rate: -0.017817 deg/s, cmd heading: 40.976142 deg, new cmd heading: 40.957901 deg. z9QeHeadingCmd: 0.714850 target range: 374.130615 and range: 376.50 m.Rem7?JabaZaBa:i2iҔiڔiqڒq’quw@uYf?ۆBɢk:) >i) r iim7?}?;?;Im7?IE. EOE$E"Eye;*E3;VE4ZEa@a@a@a@eA9@ @@4@i ^A ԙAU؟AIaIqO}?,w?A2)?2x8?2Tٱ2yr :AHRS rotation from veh to nav: [[0.750402,-0.646478,-0.137705],[0.658940,0.748031,0.079043],[0.051908,-0.150054,0.987314]]2HK?R ?`?*9="?Y="?==?Fy=!EE2<EE>Q 5O5>?Q 9O5K)_BY8?Q E:yU?Q I@fDIv:i:[lO5yBɮ@۩EAIQMFNOT Ignoring new targets: 374.13 m.UƩUƩQe ProNav: ac range: 374.130615 m, nav range: 371.854065 m, bearing: 38.316745 deg, approach rate: -0.721136 m/s, LOS rate: -0.018554 deg/s, cmd heading: 40.957902 deg, new cmd heading: 40.928656 deg. zeKQmHeadingCmd: 0.714340 target range: 374.130615 and range: 376.50 m.Rm6?JibiZqBq:q2qҔyڔ})Byڒy’y?颭نBɢ𨞻) 6>i) 顱iRi6?P@; BCBH'IBBBT =BBB|U;BEq)@) @1@54@1EuB Eu>Eu(Eq"Euw;*Eu?;VEuc44ZEqBEqa}2Eqa}JEup @,)w?A6?6|9?6[Tٱ6  BAHRS rotation from veh to nav: [[0.747784,-0.649691,-0.136825],[0.661912,0.745600,0.077162],[0.051886,-0.148267,0.987585]]6H? D@}`a.?? ?@?f¿L?i6?I6\;4YJByJ&IbDRYVDR#4yZN%ZT=ٔZv8Q-^>9^ ?Y^ ?=^?Fyb"Eb(<Eb>dQ 5jO5f>?Q 9jO5f)f`BYhyjV?Q In@foDIf:if+;foO5ypɮr\@pGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 374.13 m.Q% ProNav: ac range: 374.130615 m, nav range: 371.591522 m, bearing: 38.309818 deg, approach rate: -0.727038 m/s, LOS rate: -0.019198 deg/s, cmd heading: 40.928655 deg, new cmd heading: 40.907857 deg. z%RQ-HeadingCmd: 0.713977 target range: 374.130615 and range: 376.50 m.R-/6?J)b1Z1B1:121Ҕ9ڔ99ڒ9’AAE ?F?}؆Bɢ}k) >i)0 顉i3i/6?HQA;hDDA >9 A5 ؟AIA IQ O] >^,Ew?A2ѱ?2^:?2Sٱ2,n :AHRS rotation from veh to nav: [[0.745080,-0.652905,-0.136277],[0.664967,0.743010,0.075866],[0.051722,-0.147146,0.987762]]2H?q`hG?`?k?J{?¿@?i2ѱ?I28!];2ܐCYBÇByB&I DDbDNRVDN4yR<%V;=ٔV9Q-V>9Z"?YZ"?=Z?FyZ%E^H<E^>`Q 5fO5bQ>?Q 9fO5b)b`BYdyjW?Q Ij@byDIb);ib,;bfsO5yrBɮv,@zܩE1Q=FNOT Ignoring new targets: 374.13 m.EEQ] ProNav: ac range: 374.130615 m, nav range: 371.281372 m, bearing: 38.301417 deg, approach rate: -0.699581 m/s, LOS rate: -0.018964 deg/s, cmd heading: 40.907857 deg, new cmd heading: 40.882635 deg. ze=PQHeadingCmd: 0.713537 target range: 374.130615 and range: 376.50 m.RU6?JbZB:2Ҕڔ !ڒ)’))-?ֆBɢ_) %>i!)-_)1i5CiMU6?MEC;U]8B k>B B O'IB BB U =B B PDB 3U;B jEԉ E L E IE &E "E W;*E ;VE 4ZE BE 9 ?Y ?=?Fy'E5;E=>9Q 5EO5=>?Q 9MO5=)= `BYMV6?Q EM:yM F?Q IM@=DI=:i=:=VwO5y]Bɮ]r@YqQFNOT Ignoring new targets: 374.13 m._V_VQ ProNav: ac range: 374.130615 m, nav range: 370.962067 m, bearing: 38.296214 deg, approach rate: -0.718200 m/s, LOS rate: -0.011714 deg/s, cmd heading: 40.882633 deg, new cmd heading: 40.867010 deg. zQHeadingCmd: 0.713264 target range: 374.130615 and range: 376.50 m.Rv6?JbZB:2ҔڔBڒ’E@eԆBɢm`)i >i)g顑iÕiv6?@E;+,gdyw?A>V?>;?>Lٱ>s FAHRS rotation from veh to nav: [[0.741424,-0.657412,-0.134533],[0.669170,0.739293,0.075214],[0.050012,-0.145791,0.988050]]>H? a8 i? I?AA?:?K¿?i>V?I>>\;>ܐCYNByN&IbDVeVDV94y^E%^_=ٔbE;Q-b>9b"?Yb"?=f?Fyf)EfV;Ef>hQ 5nO5j >?Q 9nO5jJ)j `BYpyrF?Q Ir@jDIj :ij:jyzO5ytɮv@tQFNOT Ignoring new targets: 374.13 m.YYQ- ProNav: ac range: 374.130615 m, nav range: 370.707825 m, bearing: 38.291957 deg, approach rate: -0.709721 m/s, LOS rate: -0.011891 deg/s, cmd heading: 40.867009 deg, new cmd heading: 40.854230 deg. z-Q5HeadingCmd: 0.713041 target range: 374.130615 and range: 376.50 m.R5؉6?J1b9Z9B9:929ҔAڔAAڒA’AIM`͚@额ӆBɢ`n) >i)\顡ii؉6?&G;dCU9@Q @Q@U 0@QrGSkAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501836ʷ9SkAYA^Ae<AQIYIiO}Y>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753577,$+w?A2?2[9Y=?Fy+ESi;E>Q 5O5 >?Q 9O5=)`BY.?Q E:y4?Q I@DI ;i2 ;C~O5yBɮ@ݩEQ FNOT Ignoring new targets: 374.13 m. ``Q% ProNav: ac range: 374.130615 m, nav range: 370.411804 m, bearing: 38.290259 deg, approach rate: -0.682353 m/s, LOS rate: -0.003917 deg/s, cmd heading: 40.854230 deg, new cmd heading: 40.849132 deg. z% ,Q-HeadingCmd: 0.712952 target range: 374.130615 and range: 376.50 m.R-6?J)b)Z)B):)21Ҕ1ڔ5B9ڒ9’99=@@m҆Bɢm)i m>ii)u`Kqqiuxi}6?}I;}(DBCB<'IBBBW =BBBU;BYEBuùCBuùCBuÔCBuT =BuT =Cu5@ @@0@EmS EmEm&Ei"Em;*Em*5;VEm4ZEiBEm_,w?AJ?Jv9Y=?Fy -E :E >Q 5O5??Q 9O5ˌ)`BY!y%4?Q I%@DIj;iC*;O5yMBɮU@UөEGSmB*** querying acoustic contact ***:qBqyQFNOT Ignoring new targets: 374.13 m.Q ProNav: ac range: 374.130615 m, nav range: 370.151550 m, bearing: 38.288749 deg, approach rate: -0.673493 m/s, LOS rate: -0.003910 deg/s, cmd heading: 40.849131 deg, new cmd heading: 40.844599 deg. z+QHeadingCmd: 0.712873 target range: 374.130615 and range: 376.50 m.R~6?JbZB:2Ҕڔڒ’* @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257883ІBɢ0n) >i) i~i~6?L;2ò EuEEqEq"Eus;*Eu;VEqZEqa}@a@a@a@ BDAT read: Rx Time:21:25:49.5984  TRx dataTimestamp_ set to:1761513951.016578 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510676A I I O >ԁ ,w?AFd?Fb9Y!=-?Fy-/E=:E=>AQ 5MO5E??Q 9MO5E)E`BYIyU4?Q IU@EDIE:iE :E-O5YyeBɮe@eԩEQFNOT Ignoring new targets: 374.13 m. V VQu ProNav: ac range: 374.130615 m, nav range: 369.871429 m, bearing: 38.287135 deg, approach rate: -0.665076 m/s, LOS rate: -0.003834 deg/s, cmd heading: 40.844600 deg, new cmd heading: 40.839755 deg. zug(Q}HeadingCmd: 0.712788 target range: 374.130615 and range: 376.50 m.R}Iy6?JybyZyBy:2Ҕڔڒ’ @ΆBɢ) >i )rigiIy6?N;%B CB 'IB އBB X =B B ODB U;B QE^A E 2 E ?E %E "E i;*E ;VE 4ZE BE %  BDAT read: Tx time:21:25:50.6956  $Ping request sent. b,,w?A)IIP?i`p= 7?+@lv+@ Pwֽ)o@IPw=[y??DAc ;?)-y=I5ziPw=B:publishing transmit ping timeBFpublishing direction and range infoynjdg?e4ޮ`ºY )IiH )I[y??DAc )Iir?r {;?ren.ٱr AHRS rotation from veh to nav: [[0.742934,-0.655925,-0.133462],[0.668010,0.739224,0.085505],[0.042573,-0.152678,0.987359]]rH?VDV`?@??̥? ÿp?ir?Ir)];rڐCY%By%&IM=M=i-Mb@Mb@Mb@)))) )9- rh?ˡEy&1|Y-,?y-什-`-A-@ -S@)-M@)Y-@bDeXVDe!4yu%u=ٔu;Q-u>9Y=?Fy2E޻E>Q 5O5/??Q 9O5)1`BY-?Q E:Թyh?Q I@DI;i;O5yɮd@JR Kw?AйCйC}'?rlrw@ a$6~ن@lCnjdg?e4ޮ`º5zPw=—4 `r@p>Ml@Z43BBꗥIUy?0?^BڗC◥'?Qu addTargetRange:: Added new target pos. range: 374.000000 m, deltaT: 4.032326 s, deltaX: -2.500000 m, approachRate: -0.619990 m/s, rangeRepo size: 4 Q Added new target pos. range: 371.628143 m, bearing: 37.597283 deg, lat: 36.779421 deg, lon: -121.859017 deg, deltaT: 4.032326 s, deltaX: -2.502472 m, approachRate: -0.620603 m/s, posRepo size: 4 !Q%FNOT Ignoring new targets: 371.63 m.-)Qe ProNav: ac range: 371.628143 m, nav range: 371.129211 m, bearing: 37.596046 deg, approach rate: 0.000000 m/s, LOS rate: -0.003834 deg/s, cmd heading: 40.839754 deg, new cmd heading: 40.833764 deg. zaQHeadingCmd: 0.712684 target range: 371.628143 and range: 374.00 m.Ror6?JbZB:2ҔڔBڒ’`w@p?̆Bɢ<) >i)i%`i%or6?%2Q;%\A,x?AF?Fe:?F 'ٱF7 fAHRS rotation from veh to nav: [[0.744772,-0.653723,-0.134014],[0.666062,0.740543,0.089200],[0.040931,-0.155695,0.986957]]FH,?M@\'`aP?@? ն??ÿ`&?iF?IFtW];FݐCYntByn&IbDvbVDv[44y~Wɽ%~S=ٔ>;Q->9 ?Y ?= ?Fy 4E E >Q 5O5A??Q 9O5~)>`BY!y%?Q I%@DI:i :O5y-Bɮ-@1QQ]FNOT Ignoring new targets: 371.63 m.]8]8Qm ProNav: ac range: 371.628143 m, nav range: 370.870056 m, bearing: 37.597964 deg, approach rate: -0.707987 m/s, LOS rate: 0.005244 deg/s, cmd heading: 40.833763 deg, new cmd heading: 40.839522 deg. zmQf9QuHeadingCmd: 0.712784 target range: 371.628143 and range: 374.00 m.Ruy6?JqbyZyBy:y2yҔڔڒ’.|?颵ˆBɢp) >i)U项ifiy6?!S;ԁԱ f,x?AB$B$B&&IB&ćBB&Y =B$B$B&U;B&LEB\'?B9?B ٱB:# JAHRS rotation from veh to nav: [[0.746909,-0.651206,-0.134378],[0.663770,0.742141,0.092933],[0.039209,-0.158608,0.986563]]BH@?@K3=??tʷ?,?GMĿ ?iB\'?IBI[];BܐCYRByR&Ii}Mb@Mb@Mb@yyyy y9})\(?Mb?Y}G!?y}}<}A}@ }&@)} @yY}\@bD[VDy'4y~=%A=ٔT;Q->9"?Y"?=?Fy6EE>Q 5O5T??Q 9O5'{)U`BYo$?Q E:y?Q I@DI*:i:ŐO5yBɮ@թEQFNOT Ignoring new targets: 371.63 m.[9[9Q ProNav: ac range: 371.628143 m, nav range: 370.600922 m, bearing: 37.603052 deg, approach rate: -0.634980 m/s, LOS rate: 0.012013 deg/s, cmd heading: 40.839521 deg, new cmd heading: 40.854797 deg. z:QHeadingCmd: 0.713051 target range: 371.628143 and range: 374.00 m.R~6?JbZB:!2!Ҕ!ڔ%^B)ڒ)’))-`0 ?bE4jE24rE 0E=; E=PE=)E9"E=Dq;*E=;VE=FA4ZE9BE=2i)顁i# i~6?T;r=_AU>A .AI I O > ,ȴ4x?A6vF?69?6tٱ6*P% BAHRS rotation from veh to nav: [[0.749233,-0.648593,-0.134080],[0.661247,0.743994,0.096052],[0.037456,-0.160625,0.986304]]6H?`F)`(?? ᖸ?j-?@`Ŀ`Ώ?i6vF?I6i];4YF}ByJ&IIN=)N?bDVTVDV4yZ4%^Z=ٔ^;Q-^>9b ?Yb ?=b?Fyb8EfEf>hQ 5nO5j"f??Q 9nO5jw)ji`BYlyn?Q Ir@jDIj;ij@;j O5ytɮvO@tGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 371.63 m.4b94b9Q- ProNav: ac range: 371.628143 m, nav range: 370.363098 m, bearing: 37.607678 deg, approach rate: -0.635022 m/s, LOS rate: 0.012360 deg/s, cmd heading: 40.854797 deg, new cmd heading: 40.868684 deg. z-:Q5HeadingCmd: 0.713293 target range: 371.628143 and range: 374.00 m.R5`6?J1b1Z1B1:929ҔAڔAAڒA’AIM@?udžBɢu)q }o>iy)}yyi} b i`6?ByU;- EU-EU$EQ"EUs;*EUK;VEU4ZEQae@ae@ae@ae@A؟AIIO-N>eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.I {,Nx?A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754349YBy&IiMb@Mb@Mb@ 9Q?x&I +?Y(?y7 9<A@ @)Y @bD-SVD-4y=<%=(=ٔEQ-E>9E"?YM"?=M?FyM:EMEM>QQ 5]O5UZ|??Q 9]O5U t)U`BYe?Q Ee:ye?Q Ie@UDiIU:iU[0;ULO5yuBɮu0@u֩EQFNOT Ignoring new targets: 371.63 m.2y92y9Q ProNav: ac range: 371.628143 m, nav range: 370.063293 m, bearing: 37.614312 deg, approach rate: -0.614912 m/s, LOS rate: 0.013617 deg/s, cmd heading: 40.868683 deg, new cmd heading: 40.888599 deg. z:QHeadingCmd: 0.713641 target range: 371.628143 and range: 374.00 m.R(6?JbZB:2ҔڔXBڒ’CR?uĆBɢ}d߻)y }>iy)igi(6?uV;1BABE&IBEBBABABABEU;BAu9@q @y@}5@y@hA@hAԙEU2 EULEU&EQ"EUi;*EU;VEU4ZEQBEU%C,ix?A2yU>2J7?2U ٱ2K( >AHRS rotation from veh to nav: [[0.753461,-0.643869,-0.133152],[0.656605,0.747372,0.101513],[0.034153,-0.163914,0.985883]]2HZ? ?y??|?"Ŀ[?i2yU>I2i];0YBByF&IbDNYVDN#4yV=%Vp=ٔV Q 5O5 _??Q 9O5 @q) `BYy*?Q I@ DI :i : [O5y!ɮ%m@!QQ]FNOT Ignoring new targets: 371.63 m.]9e9Q} ProNav: ac range: 371.628143 m, nav range: 369.847992 m, bearing: 37.619286 deg, approach rate: -0.614378 m/s, LOS rate: 0.014203 deg/s, cmd heading: 40.888600 deg, new cmd heading: 40.903531 deg. z}:QHeadingCmd: 0.713901 target range: 371.628143 and range: 374.00 m.R<6?JbZB:2Ҕڔڒ’}@†Bɢu:) >i) aii<6?V; ;;I<6?I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2567519@ @@0@I^Aex/<ԁ A I I E / E E %E "E af;*E VE 4ZE a @a @a @a @O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508098 ,x?A0>C>>/6?>"$ٱ>d[+ FAHRS rotation from veh to nav: [[0.755704,-0.641217,-0.133236],[0.654107,0.749084,0.104965],[0.032499,-0.166473,0.985510]]>H.?ڄ@ p? ?޺?@ģ?NſL?i>C>I>y];>ېCYNByN&I PPbDZUVDZn4yb`=%bJ=ٔb;Q-f>9dYd=f?Fyf>Ej Ej>lQ 5rO5n??Q 9rO5nn)n`BYpyr\?Q Iv@nDIna;in;nОO5yzBɮz!@zͩEQFNOT Ignoring new targets: 371.63 m.%@9%@9Q5 ProNav: ac range: 371.628143 m, nav range: 369.604919 m, bearing: 37.625030 deg, approach rate: -0.615791 m/s, LOS rate: 0.014562 deg/s, cmd heading: 40.903530 deg, new cmd heading: 40.920775 deg. z5:Q=HeadingCmd: 0.714202 target range: 371.628143 and range: 374.00 m.R=6?J9b9Z9B9:A2AҔAڔAIڒI’IIM@]Bɢ]`k)a e>ii)miiimri}6?}V;c;I6?Iԑi@i @i@m/@i^AMvт;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760404AIIO> B ]>B B B B Z =B B B T;B EE ',hx?A2a >25?2zٱ2* :AHRS rotation from veh to nav: [[0.757748,-0.639188,-0.131364],[0.651813,0.750949,0.105903],[0.030955,-0.165872,0.985661]]2Hx??:t@`??x?`ò?N;ſ`?i2a >I2l];2ݐCYBByB&I\iMb@Mb@Mb@ 9+?ʡE~jt?Yv?yy<A@ )Y@bDmdVDm 84E< E-E#E"E,r;*EK;VE3ZEBE9Y=?Fy@EaE>Q 5O5*??Q 9O5j)`BYc!?Q E:y(?Q I@DI] ;i;O5yBɮ@QFNOT Ignoring new targets: 371.63 m.]9]9Q  ProNav: ac range: 371.628143 m, nav range: 369.336304 m, bearing: 37.630259 deg, approach rate: -0.622526 m/s, LOS rate: 0.012127 deg/s, cmd heading: 40.920773 deg, new cmd heading: 40.936472 deg. z *:QHeadingCmd: 0.714476 target range: 371.628143 and range: 374.00 m.R6?JbZqBq:q2qҔyڔ}_Byڒy’+@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012134=BɢM9)Q U>iQ)UrQQiUwi]6?]sV;e˹Ie6?Ia9@ @@@^A ;A >A >U BDAT read: Rx Time:21:25:53.5786 ] TRx dataTimestamp_ set to:1761513954.797430] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266211a AY Ii Iy O >3--,9Dx?A6>6OV5?6ٱ6C* >AHRS rotation from veh to nav: [[0.759107,-0.637808,-0.130221],[0.650297,0.752068,0.107275],[0.029514,-0.166116,0.985664]]6HJ?h@;??av?@8?FCſ@?i6>I6];6ېCYRByR&IbDZXVDZ!4yb =%fY=ٔfz;Q-f>9dYh=j?FyjBEjEj>lQ 5rO5n`??Q 9vO5n]g)n`BYtyv?Q Iv@nDIn6:in:nO5yzBɮzy@|GSB*** querying acoustic contact ***:B!Q%FNOT Ignoring new targets: 371.63 m.-a9-a9Q= ProNav: ac range: 371.628143 m, nav range: 369.101532 m, bearing: 37.634910 deg, approach rate: -0.621788 m/s, LOS rate: 0.012325 deg/s, cmd heading: 40.936472 deg, new cmd heading: 40.950433 deg. 9zEU:QMHeadingCmd: 0.714720 target range: 371.628143 and range: 374.00 m.RM6?JIbIZIBI:I2QҔQڔQQڒQ’YY] @颅Bɢh;) P>i).顑iR+i6?U;>1 I6?IU9@Q @Q@U0@Q^A=qEB EQE$E"Ew;*EA;VE4ZEa@a@a@a@؀G-9)Y5+Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516822AyIIO]>ԡ "4,Wx?A~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770349eB>e04?eٱeX)ԉ AHRS rotation from veh to nav: [[0.760454,-0.636750,-0.127512],[0.648797,0.753366,0.107246],[0.027774,-0.164285,0.986022]]eHU? A`NR?? }t?p? Lſ}?ieB>Ie3p];eݐCYLJBy'II}=)}=AԱiMb@Mb@Mb@ 9ʡE?~jtV-?Y?yĽ<-A@ @)7@Yp@B5\>B5CB5&IB5BB1B1B1B5U;B5KEBķCBķCBēCBY =BY =Cı#5bDU[VDUy'4ye=%e=ٔJ;Q->9Y=?FyEEjE>Q 5O5J??Q 9O5zb)aBY?Q E:y?Q I@DIV;iU;ʪO5yBɮY@ΩEQFNOT Ignoring new targets: 371.63 m.(9(9Q ProNav: ac range: 371.628143 m, nav range: 368.753967 m, bearing: 37.640102 deg, approach rate: -0.617389 m/s, LOS rate: 0.009232 deg/s, cmd heading: 40.950433 deg, new cmd heading: 40.966025 deg. z9QHeadingCmd: 0.714992 target range: 371.628143 and range: 374.00 m.R 7?JbZB: 2 Ҕ ڔ Bڒ’'@Bɢ0W;) ^?i)Picui 7?T;_~I 7?IEP E:E%E"E(;*E$ ;VE 4ZEBE BDAT read: Tx time:21:25:54.6956 $Ping request sent.2 y4?22׼ٱ2Z( ^AHRS rotation from veh to nav: [[0.761366,-0.636001,-0.125795],[0.647790,0.754144,0.107864],[0.026266,-0.163612,0.986175]]2H]?Z ?`!?`?x?`>Ŀྎ?i2#E>I2-];2ܐCYfևByf'IbDZVD%4y%{=%%\=ٔ-;Q-->9- ?Y5 ?=5?Fy5GE5rE5>9Q 5EO5=??Q 9EO5=K_)=(aBYIyMD?Q IM@=DI=>:i=6:=O5yQɮUd@YJRVx?AhChC:%?dc4v@%"0/Z=Н<P/?ع} zꇴQAl=—gq@rOzj@>%0h?~ :?N+jkVCr_CZYԧ?bWzOBꗉi`OBڗC◍#?Q addTargetRange:: Added new target pos. range: 359.100006 m, deltaT: 4.031921 s, deltaX: -14.899994 m, approachRate: -3.695507 m/s, rangeRepo size: 4 Q Added new target pos. range: 356.818542 m, bearing: 36.980364 deg, lat: 36.779421 deg, lon: -121.859102 deg, deltaT: 4.031921 s, deltaX: -14.809601 m, approachRate: -3.673088 m/s, posRepo size: 4 QFNOT Ignoring new targets: 356.82 m.Q ProNav: ac range: 356.818542 m, nav range: 363.905518 m, bearing: 36.689909 deg, approach rate: 0.000000 m/s, LOS rate: 0.009232 deg/s, cmd heading: 40.966023 deg, new cmd heading: 40.976271 deg. zQHeadingCmd: 0.715171 target range: 356.818542 and range: 359.10 m.Rp7?JbZB:2Ҕڔڒ’qv@g?Bɢ7Y<)! %5?i!)%(]!!i%ei-p7?-S;5gI5p7?I1@ @@@^AvтAIIOi>EU< EUoEQEQ"EU,r;*EU );VEQZEQa]@a]@a]@a]@!i :B,D y?A2N>26K4?2KIȼٱ2^% :AHRS rotation from veh to nav: [[0.761855,-0.636101,-0.122281],[0.647286,0.754748,0.106658],[0.024447,-0.160409,0.986748]]2Ha? ZM?&?M??EĿ`p?i2N>I2 ];0YfڇByf'IbDraVDr24yv<%zN=ٔz;Q-z>9xY|=~?FyIEE> Q 5O5 -??Q 9O5 [) @aBYy ?Q I@  DI <;i ; vO5y%Bɮ%>@!IQMFNOT Ignoring new targets: 356.82 m.U9U9Qe ProNav: ac range: 356.818542 m, nav range: 363.660095 m, bearing: 36.693073 deg, approach rate: -0.625396 m/s, LOS rate: 0.008068 deg/s, cmd heading: 40.976272 deg, new cmd heading: 40.985770 deg. ze09QmHeadingCmd: 0.715337 target range: 356.818542 and range: 359.10 m.RmM 7?JibiZiBq:q2qҔyڔyyڒy’y ?颽Bɢc<) ?i)ݼiYiM 7?vR;+dIM 7?I9@ @@ 0@a^AyB]>BCB'IBهBBY =BBB9U;BdEԑAE ؟AII Em = Em aEm )Ei "Em s;*Em !;VEm FA4ZEi BEm iy Iy Թ H,N%y?A2>2PU4?2ٱ2q# :AHRS rotation from veh to nav: [[0.761780,-0.636571,-0.120286],[0.647425,0.754673,0.106351],[0.023077,-0.158892,0.987026]]2H``?^˾?@G&?9?n?VĿ?i2>I2%^;0YbByb;'I hhiMb@Mb@Mb@ 9RQ?kt:v?Y"?y 0<A@ @) @Y@bDZVD%4y=%9=ٔBK;Q->9"?Y%"?=%?Fy%KE%?9E%>)Q 55O5- @?Q 9=O5-oW)-UaBY=#?Q E=:y=$?Q I=@-DI- ;i-* ;-PO5yEBɮE@MϩEiQuFNOT Ignoring new targets: 356.82 m.uԶuԶQ ProNav: ac range: 356.818542 m, nav range: 363.379974 m, bearing: 36.692913 deg, approach rate: -0.635182 m/s, LOS rate: -0.000363 deg/s, cmd heading: 40.985769 deg, new cmd heading: 40.985289 deg. zCQHeadingCmd: 0.715328 target range: 356.818542 and range: 359.10 m.R7?JbԑZB:2ҔڔBڒ’ ?uBɢu*y<)y }#?iy)}+ؼ顁i{i7?'Q;XI7?I5{>i5>9@ @@0@^A #2A  I! I9 OE >O,"R?y?A2>2na4?2HVٱ2 :AHRS rotation from veh to nav: [[0.761689,-0.637229,-0.117342],[0.647590,0.754667,0.105382],[0.021402,-0.156258,0.987484]]2H_?.d ?`;&? L?`[? ?Ŀx?i2>I2>z^;2ڐCYBByBM'IbDNcVDN264yVۡ=%Vf=ٔV;Q-~>9Y=?FyME :E >Q 5%O5 @?Q 9%O5S)faBY!y%$?Q I%@DI:E=- E=_E=!E9"E=d;*E= ;VE=c3ZE9aE@aE@aE@aE@i:O5yIɮM@QGSmB*** querying acoustic contact ***:iBiqQ}FNOT Ignoring new targets: 356.82 m.}ֶ}ֶQ ProNav: ac range: 356.818542 m, nav range: 363.147034 m, bearing: 36.692778 deg, approach rate: -0.628757 m/s, LOS rate: -0.000366 deg/s, cmd heading: 40.985288 deg, new cmd heading: 40.984881 deg. zvQHeadingCmd: 0.715321 target range: 356.818542 and range: 359.10 m.RI7?JbZB:2Ҕڔڒ’`?Bɢ:<) h+?i) ռiuiI7?4-P;ʯII7?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9@ @@<1@)^A&ti A E M?E q?] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763545Ii I O >fU,Yy?A :D>:y4?:ٱ: BAHRS rotation from veh to nav: [[0.761473,-0.637715,-0.116096],[0.647879,0.754396,0.105544],[0.020276,-0.155585,0.987614]]:H]?`)h }m?`$? ?3Ô? 5ÿ?i:D>I:^;:ېCYJByJa'Ii%Mb@Mb@Mb@!!!! !9%Pn?Mb`9QYQ=U?FyUOEUaQ 5mO5e1@?Q 9mO5eBO)esaBYm)$?Q Em:ym4?Q Im@e&DIe/:ie:eO5y}Bɮ}@}ƩEQFNOT Ignoring new targets: 356.82 m.B[>BCBB'IBBBBBBjU;B{EQu ProNav: ac range: 356.818542 m, nav range: 362.884216 m, bearing: 36.690043 deg, approach rate: -0.645090 m/s, LOS rate: -0.006719 deg/s, cmd heading: 40.984881 deg, new cmd heading: 40.976670 deg. zuQ}HeadingCmd: 0.715178 target range: 356.818542 and range: 359.10 m.R}7?JybZB:2ҔڔΆBڒ’?BɢMa<)! %%5?i!)%ϼ!!i%."i-7?MPN;UIU7?IQqbEû 4jE 4rEÐ'0EUV EU`EU%EQ"EU;*EU'!;VEU 4ZEQBEU['$\,ry?A2 >24?2Uٱ2W :AHRS rotation from veh to nav: [[0.761041,-0.638737,-0.113279],[0.648444,0.753992,0.104959],[0.018370,-0.153333,0.988004]]2H@rZ?@p@ ?@ ?@޺?@ϒ?hÿ ?i2 >I2s_;0YB&ByBv'IbDJQLVDJ4yVe=%VU=ٔV;Q-Z>9XYX=Z?FyZQE^X:E^>`Q 5fO5beA@?Q 9fO5bK)baBYdyj4?Q Ij@b.DIb6:ib:bwO5ylɮn@lchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264096 QFNOT Ignoring new targets: 356.82 m.uuQ- ProNav: ac range: 356.818542 m, nav range: 362.638763 m, bearing: 36.687459 deg, approach rate: -0.636730 m/s, LOS rate: -0.006706 deg/s, cmd heading: 40.976668 deg, new cmd heading: 40.968913 deg. z-FQ5HeadingCmd: 0.715042 target range: 356.818542 and range: 359.10 m.R5 7?J1b1Z1B9:929ҔAڔAAڒA’AIMFH@BɢQ<)q u>?iq)}m˼yyi}|$i 7?E N;|I 7?I9@ @@5@E]2 E]hE]$EY"E]i;*E]^%;VE]4ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516043^A! A I I! O- > c,njy?A:+>:4?:Wٱ:L FAHRS rotation from veh to nav: [[0.760375,-0.639823,-0.111607],[0.649258,0.753336,0.104633],[0.017131,-0.152022,0.988229]]:H T?`ny@E@?T?;ɺ? Š?uuÿ?i:+>I:T`;8YN'ByLbDV`VDV04y^C:%^I=ٔbG;Q-b>9`Yd=f?FyfSEf);Ef>hQ 5nO5j R@?Q 9nO5jF)jaBYpyr:5?Q Ir@j6DIjj;ij;jO5yvBɮv@vǩE|Q%FNOT Ignoring new targets: 356.82 m.%%Q5 ProNav: ac range: 356.818542 m, nav range: 362.379181 m, bearing: 36.684682 deg, approach rate: -0.640680 m/s, LOS rate: -0.006860 deg/s, cmd heading: 40.968912 deg, new cmd heading: 40.960574 deg. z5Q=HeadingCmd: 0.714897 target range: 356.818542 and range: 359.10 m.R={7?JAbAZABA:A2AҔIڔIIڒI’QQU @}BɢY;<) ??i)Ƽ顁i&i{7?@M;TI{7?I@  @ @0@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773312^AUYBZ>BBt'IB%BBBBBJU;BkEA I I O >Em 6 Em WEm )Ei "Em l;*Em j;VEm FA4ZEi BEm GN;5?NOށٱND ^AHRS rotation from veh to nav: [[0.759605,-0.640994,-0.110128],[0.650192,0.752541,0.104562],[0.015852,-0.151030,0.988402]]NH`N?@W1`_??ĺ?`;?Tÿ?iN>INaa;LY55By5'IYiMb@Mb@Mb@ 9E?~jt?~jtx?Y&?y<;A@ )7@Yp@bDVVDE4y=%7=ٔ<;Q- >9 Y = ?Fy UE2;E>Q 5%O5d@?Q 9%O5mA)aBY%&?Q E-:y->?Q I-@@DIj:i]:O5y1ɮ5@1QFNOT Ignoring new targets: 356.82 m.AAQ ProNav: ac range: 356.818542 m, nav range: 362.090485 m, bearing: 36.679845 deg, approach rate: -0.631371 m/s, LOS rate: -0.010585 deg/s, cmd heading: 40.960573 deg, new cmd heading: 40.946053 deg. zvQHeadingCmd: 0.714643 target range: 356.818542 and range: 359.10 m.R6?JbZB: 2)Ҕ1ڔ5B9ڒ9’9AE B @ԉBɢ<) hH?i)łiJ)i6?Q[L;{RI6?I}9@y @y@}4@y%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272642^Ae cUAm >Am > A I I O >=Qp,Ty?A6K>6|5?6CKnٱ6wi >AHRS rotation from veh to nav: [[0.758978,-0.641977,-0.108712],[0.650954,0.751867,0.104666],[0.014544,-0.150206,0.988548]]6H@I? Ի ?K?k˺?#ɍ?@9ÿ.?i6K>I6*Kb;6ސCE^> E^XE^$E\"E^s;*E^;VE^4ZE\ab@af@af@af@Yf7Byf'I llbDrFVDr4yz8<%zV=ٔ~`;Q-~>9|Y|=?FyWE(;E> Q 5O5 ns@?Q 9O5 <) aBYy+??Q I@ HDI L;i Y; @O5y%Bɮ%@!GSEB*** querying acoustic contact ***:ABAQIQFNOT Ignoring new targets: 356.82 m./O/OQ ProNav: ac range: 356.818542 m, nav range: 361.842773 m, bearing: 36.675650 deg, approach rate: -0.668063 m/s, LOS rate: -0.011321 deg/s, cmd heading: 40.946052 deg, new cmd heading: 40.933459 deg. zQHeadingCmd: 0.714424 target range: 356.818542 and range: 359.10 m.Rx6?JbZB:2Ҕڔڒ’E @BDAT read: Rx Time:21:25:57.5916 TRx dataTimestamp_ set to:1761513959.088742checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525221uBɢu2 =)q u|J?iy)}éyyi}+ix6?aK;Ix6?Iԁ9@ @@/@ԩ^ANJκ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781114A I I! O5 >vv,y?A2B>225?2Wٱ2 :AHRS rotation from veh to nav: [[0.758151,-0.643169,-0.107430],[0.651947,0.750956,0.105026],[0.013126,-0.149664,0.988650]]2HB?֔???`?`1(ÿ?i2B>I2c;2ېCYbBABE'IBECBBABABABEU;BETEimMb@Mb@Mb@iiii i9mK7?Mb?~jtx?Ym)?ym=imAi m@)mM@iYm@bDNVD4yh<%A=ٔ[;Q->9Y=?FyYE$H;E>Q 5O5@?Q 9O57)aBY)?Q E:y_B?Q I@QDI ;i ;O5yɮ@QFNOT Ignoring new targets: 356.82 m.ddQ  ProNav: ac range: 356.818542 m, nav range: 361.563904 m, bearing: 36.670361 deg, approach rate: -0.658533 m/s, LOS rate: -0.012501 deg/s, cmd heading: 40.933460 deg, new cmd heading: 40.917579 deg. z D QHeadingCmd: 0.714146 target range: 356.818542 and range: 359.10 m.RN6?JbZB:2ҔڔBڒ’@Bɢ-=)1 5N?i1)57%11i=k.i=N6?= mK;EH9IEN6?IAE@ EE&E"Eu;*EVE4ZEBE =BDAT read: Tx time:21:25:58.6956 E$Ping request sent.E|,@y?A>G>>4 6?>>ٱ> JAHRS rotation from veh to nav: [[0.757378,-0.644217,-0.106593],[0.652872,0.750012,0.106018],[0.011647,-0.149888,0.988634]]>HqG>I>8c;9j ?Yj ?=j?Fyj[Ej$Q;En>pQ 5rO5r@?Q 9vO5rW3)raBYtyvB?Q Iv@rYDIr:ird:r@O5yzBɮ~3@~ȩEQ% addTargetRange:: Added new target pos. range: 368.899994 m, deltaT: 4.039802 s, deltaX: 9.799988 m, approachRate: 2.425858 m/s, rangeRepo size: 4 )Q-FNOT Ignoring new targets: 356.82 m.5h5hQE ProNav: ac range: 356.818542 m, nav range: 361.314789 m, bearing: 36.665581 deg, approach rate: -0.660304 m/s, LOS rate: -0.012678 deg/s, cmd heading: 40.917580 deg, new cmd heading: 40.903231 deg. zE6 QMHeadingCmd: 0.713896 target range: 356.818542 and range: 368.90 m.RM6?JIbIZIBI:Q2QҔQڔQYڒY’Y]`fw@e`?颍Bɢ]!=) YS?i)K顑i0i6? 3K;IL:I6?I1Q@Q @Q@Q@Q@]iA@]iA QUoCiEG촿9YPAEO EJE"E"E;*E;VE(3ZEa@a@a@a@^Auyb9AyzA}gAԙA ؟AI I O >Թ o,xz?AY~>By~'II<)%=bDXVD!4y%%%E=ٔ%Q-%>9-"?Y-"?=-?Fy-]E5E5>9Q 5EO5=@?Q 9EO5=X.)=aBYAyAQ IE@=aDI=:i=N:=O5yUBɮU@UEqQ}FNOT Ignoring new targets: 356.82 m.ggQ ProNav: ac range: 356.818542 m, nav range: 361.041199 m, bearing: 36.660323 deg, approach rate: -0.658853 m/s, LOS rate: -0.012672 deg/s, cmd heading: 40.903230 deg, new cmd heading: 40.887444 deg. z$ QHeadingCmd: 0.713621 target range: 356.818542 and range: 368.90 m.R֯6?JbZB:2Ҕڔڒ’5?Bɢ`=) P?i)zëi[3i֯6?)J;y:I֯6?Iԙq@y @y@}0@ߝ >ߝ:?BU_>BUCBU'IBUXBBQBQBQBUT;BU<EBǶCBBBBC|4^A ;E N E E $E "E @;*E Ni;VE 4ZE BE  β,(z?AY~?By~'IiMb@Mb@Mb@ 9sh|??Mb?Mb`?Y)?y;-A@ @)Y@bDVVDE4y$;%A=ٔQ->9 ?Y ?=?Fy_EE>Q 5O5@?Q 9O5:))aBY.*?Q E:ynB?Q I@kDI8<;iJ;O5yBɮ@E9QEFNOT Ignoring new targets: 356.82 m.MhdMhdQe ProNav: ac range: 356.818542 m, nav range: 360.760620 m, bearing: 36.654967 deg, approach rate: -0.653333 m/s, LOS rate: -0.012481 deg/s, cmd heading: 40.887445 deg, new cmd heading: 40.871366 deg. ze QmHeadingCmd: 0.713340 target range: 356.818542 and range: 368.90 m.Rmr6?JqbqZqBq:y2yҔڔBڒ’ 0?eBɢed> =)a ehR?ia)miiiT6ir6?J; :Ir6?IA@A @A@E0@I!I ^Am ;A ؟AI I O >*,2Bz?AERH ER{ER&EP"ER};*ER_/;VER4ZEPaV@aV@aV@aV@Yb8Byb'IbDnUVDnn4yr%rY=ٔtQ-v>9v"?Yz"?=z?FyzaExE~>|Q 5O5~L@?Q 9O5~$)~aBY y Q I @~sDI~):i~:~O5yɮ3@GS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 356.82 m.EiMiQ] ProNav: ac range: 356.818542 m, nav range: 360.512299 m, bearing: 36.650220 deg, approach rate: -0.667097 m/s, LOS rate: -0.012762 deg/s, cmd heading: 40.871367 deg, new cmd heading: 40.857115 deg. z]# QeHeadingCmd: 0.713091 target range: 356.818542 and range: 368.90 m.Re%6?JabaZaBa:a2iҔiڔiiڒq’qqu`?颥Bɢ()=) O?i)顩i;y8i%6?J;\:I%6?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.M9@I @I@M1@I@U=@U=aq^Am0::Au>Au> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763180A I I O% >Ė,b\z?A2>2O7?2ݻٱ2M :AHRS rotation from veh to nav: [[0.753633,-0.648963,-0.104330],[0.657261,0.745669,0.109481],[0.006747,-0.151080,0.988498]]2H?`M[G?@??E{?Vÿǡ?i2>I2c;2ڐCYB.ByB'I DDF=F=PBra>BpBr'IBr]BBrX =BpBpBrT;Br0EiMb@Mb@Mb@ 9MbX?~jt?MbpY*?y<CA@ @)7@Y@bDDVDJ3y[=%>=ٔ:9Y=?FydE[<E>Q 5O5@?Q 9O5)aBY*?Q E:y>?Q I@|DI ;i ;O5yBɮ@ QFNOT Ignoring new targets: 356.82 m.\K\KQ- ProNav: ac range: 356.818542 m, nav range: 360.226898 m, bearing: 36.645447 deg, approach rate: -0.663975 m/s, LOS rate: -0.011112 deg/s, cmd heading: 40.857116 deg, new cmd heading: 40.842787 deg. z-Q5HeadingCmd: 0.712841 target range: 356.818542 and range: 368.90 m.R5|6?J1b1Z1B1:929Ҕ9ڔ=BAڒA’AAE?uBɢuL=)q uvK?iy)}myyi}:i|6?K;;I|6?IE< EoE'E"E,r;*E );VE'4ZEBE? V?@Sx?wyÿ|?i6J ?I6c;4YJ*ByJ{'IbDR5VDR3y^%^[=ٔ^ ;Q-^>9`Y`=b?FybeEbx:;Ef>hQ 5nO5j@?Q 9nO5j$)jaBYlyn>?Q In@jDIj:ij:jO5ypɮv(@ttQFNOT Ignoring new targets: 356.82 m.IMIMQ- ProNav: ac range: 356.818542 m, nav range: 359.979279 m, bearing: 36.641259 deg, approach rate: -0.662659 m/s, LOS rate: -0.011217 deg/s, cmd heading: 40.842786 deg, new cmd heading: 40.830211 deg. z-XQ5HeadingCmd: 0.712622 target range: 356.818542 and range: 368.90 m.R5_n6?J1b1Z9B9:929ҔAڔAAڒA’AIM@d@uBɢu}=)y }+J?iy)}~yyi}=i_n6? K;:;IE_n6?II9@ @@4@^Ar;EO EuE$E"E;*E6,;VE4ZEa@a@a@a@IIOg>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517996q }֣,z?A6)?6:8?6Zٱ6 >AHRS rotation from veh to nav: [[0.752618,-0.650147,-0.104287],[0.658439,0.744306,0.111658],[0.005027,-0.152702,0.988259]]6H`q?? Z?@?t?@ÿ@ҟ?i6)?I6Xc;6ܐCYb"Bybq'IbDjQVDj4yr/%rH=ٔv;Q-v>9tYt=v?FyzgEz͞:Ez>|Q 5O5~V@?Q 9O5~I)~aBY y >?Q I @~DI~:i~N:~vO5yBɮ@E9Q=FNOT Ignoring new targets: 356.82 m.E:OE:OQU ProNav: ac range: 356.818542 m, nav range: 359.708771 m, bearing: 36.636655 deg, approach rate: -0.664870 m/s, LOS rate: -0.011323 deg/s, cmd heading: 40.830212 deg, new cmd heading: 40.816391 deg. zUYQeHeadingCmd: 0.712380 target range: 356.818542 and range: 368.90 m.Re^6?JabaZaBa:i2iҔiڔiqڒq’qqu @颥Bɢ(=) F?i)g顩i2?i^6?zNL;#BB'IBSBBW =BBBT;B'EԱ^A`;AzAhAbEUJ4jEU4rEU}0E \ E lE %E "E ;*E y';VE 4ZE BE  m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029260,Ez?AYBy_'II 4>) =iMb@Mb@Mb@Թ 9 rh?MbY,?yA@ )d@Y(@bD[VDy'4y+%:=ٔQ->9Y=?FyjE E >Q 5%O56 A?Q 9-O5&)aBY-,?Q E-:y-7?Q I-@DII;iK;OO5y9ɮE@AqQuFNOT Ignoring new targets: 356.82 m.}B}BQ ProNav: ac range: 356.818542 m, nav range: 359.412537 m, bearing: 36.632989 deg, approach rate: -0.667254 m/s, LOS rate: -0.008265 deg/s, cmd heading: 40.816391 deg, new cmd heading: 40.805383 deg. zQHeadingCmd: 0.712188 target range: 356.818542 and range: 368.90 m.RQ6?J!b!Z!B!:)2)ҔIڔUBqڒq’qq} +j @BɢQ<) ,@?i)]isAiQ6?"!M; I ,Fz?AEJP EJEJ&EH"EJ(;*EJ3;VEJ4ZEHaN@aN@aN@aN@Yf ByfW'IbDnXVDn!4yv%v]=ٔxQ-z>9xYx=~?Fy~lE|E~>Q 5 O5A?Q 9 O5 )aBYyQ I@DI :i$:O5yBɮ:@%EGS=B*** querying acoustic contact ***:9B9AQMFNOT Ignoring new targets: 356.82 m.MMQu ProNav: ac range: 356.818542 m, nav range: 359.164948 m, bearing: 36.629919 deg, approach rate: -0.676684 m/s, LOS rate: -0.008395 deg/s, cmd heading: 40.805384 deg, new cmd heading: 40.796170 deg. zuZQHeadingCmd: 0.712027 target range: 356.818542 and range: 368.90 m.RoG6?JbZB:2Ҕڔڒ’`, @Bɢdh!=) =?i)e  i tCioG6?%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534203AM;  DAT read: 21:26:01.5887 LVL= 32752, 32753, 32242, 32755, AGC= 77, IDX= 412,-0.13, 0.761,-0.866, 1.074, 0.176, PHS= 0.688,-0.997, 0.855, RAW= 154.7, -6.2, CAL= 154.7, -7.7, ROT= 355.3, 7.7  Ygot valid direction response: 21:26:01.5887 LVL= 32752, 32753, 32242, 32755, AGC= 77, IDX= 412,-0.13, 0.761,-0.866, 1.074, 0.176, PHS= 0.688,-0.997, 0.855, RAW= 154.7, -6.2, CAL= 154.7, -7.7, ROT= 355.3, 7.7 Թ  PDAT read: Bearing 177.9, -3.3 (Local)  ~Local bearing/azimuth received: Bearing 177.9, -3.3 (Local)  DAT read: Range 11 to 50 : 366.7 m (Round-trip 489.0 ms) speed 0.4 m/s  *DAT read: user:225>  BDAT read: Tx time:21:26:02.6956  $Ping request sent. ZM9)?,lH?Z񯻿 $?) =I i > 5 :publishing transmit ping time 5 Fpublishing direction and range infoy  9l ֚?50ɴL`u&9,Ҭz?A2 ?2,7?2Nٱ2X! :AHRS rotation from veh to nav: [[0.752915,-0.649588,-0.105612],[0.658110,0.743918,0.116093],[0.003154,-0.156913,0.987607]]2H?mf <?,?D?i?@Ŀ{?i2 ?I2a;0BBe>BBCBB'IBB>BBBV =B@BBPDBB]T;BBEY ) I i YZByrO'I ) I ZM9)?,lH?Z񯻿 ) I i ieMb@Mb@Mb@aaaa a9e?Zd;O{GztYe,?yejeףeAa e\@ԑ)e/@aYe3@bDRVD4yL߼%,=ٔ%;Q-%>9!Y!=%?Fy%nE-|tEM>QQ 5]O5U(/A?Q 9]O5Uz)QYe,?Q Ee:ye.?Q Ie@UDIU;iU;UO5E] EbE#E"E ;*E5";VE3ZEBE— /\ur@u.%j@VK!28E ,?^c^?1LLнj )QCr CZ 'lf?b c(z A 硊? W >KBڗ C [x?Q addTargetRange:: Added new target pos. range: 366.700012 m, deltaT: 3.790390 s, deltaX: -2.199982 m, approachRate: -0.580410 m/s, rangeRepo size: 4 Q Added new target pos. range: 364.379700 m, bearing: 35.306867 deg, lat: 36.779473 deg, lon: -121.859136 deg, deltaT: 7.830192 s, deltaX: 7.561157 m, approachRate: 0.965641 m/s, posRepo size: 4 QFNOT Ignoring new targets: 364.38 m.51Q] ProNav: ac range: 364.379700 m, nav range: 361.790649 m, bearing: 35.691273 deg, approach rate: 0.000000 m/s, LOS rate: -0.008395 deg/s, cmd heading: 40.796170 deg, new cmd heading: 40.783208 deg. zYQHeadingCmd: 0.711801 target range: 364.379700 and range: 366.70 m.R86?JbZB:2ҔڔBڒ’@3v@?MBɢ]{<)Y ]/;?ia)e؀aaie)Eim86?mUN;mi}>@ @@J2@@@= ^A <I I O >o,[z?A6>67?6@ ٱ6! BAHRS rotation from veh to nav: [[0.753219,-0.649322,-0.105079],[0.657766,0.744053,0.117172],[0.002102,-0.157373,0.987537]]6H`_?? u溿k ?G?? g8a?$Ŀ?i6>I6v`;6ڐCYFByF@'I LLbDRTVDR4yZ%Zr=ٔ^K;Q-^?9\Y\=b?FybpEbⱺEb?dQ 5jO5f=A?Q 9jO5f)dYlyn.?Q In@fDIf];ifj;fO5yrBɮru@pQFNOT Ignoring new targets: 364.38 m.Q ProNav: ac range: 364.379700 m, nav range: 361.565552 m, bearing: 35.689127 deg, approach rate: -0.715495 m/s, LOS rate: -0.006826 deg/s, cmd heading: 40.783206 deg, new cmd heading: 40.776764 deg. z镹QHeadingCmd: 0.711689 target range: 364.379700 and range: 366.70 m.R<16?JbZB:2Ҕڔڒ’`2?)ԉɢ-h3=) {5?i)&{顱icGi<16?$O; S,%{?A2K>27?2}oٱ2H# >AHRS rotation from veh to nav: [[0.753374,-0.649042,-0.105699],[0.657590,0.743998,0.118501],[0.001728,-0.158782,0.987312]]2H ?  ??V?M\?RĿ?i2K>I2_;2ېCYFByF,'IbDV?VDV3yZz%^K=ٔ~ps:Q->9 ?Y ?=?FyrE DE >Q 5O5PA?Q 9O5)Yy%.?Q I%@DI;i;=O5y-Bɮ-@-EQQUFNOT Ignoring new targets: 364.38 m.]d]dQm ProNav: ac range: 364.379700 m, nav range: 361.287750 m, bearing: 35.686485 deg, approach rate: -0.701641 m/s, LOS rate: -0.006677 deg/s, cmd heading: 40.776762 deg, new cmd heading: 40.768831 deg. zmQuHeadingCmd: 0.711550 target range: 364.379700 and range: 366.70 m.Ru*(6?JqbqZqBq:y2yҔyڔڒ’@Pn?颵BɢL=) -?i)r项i,Ii*(6?O;HB)B-t'IB-%BB)B)B)B-S;B-E^A},7,{?AB>B_7?BϺٱB% NAHRS rotation from veh to nav: [[0.754238,-0.647900,-0.106540],[0.656599,0.744632,0.119999],[0.001586,-0.160461,0.987041]]BH@"? 1F?`? 9?Y?Ŀ֕?iB>IBG_;@YZByZ%'IiMb@Mb@Mb@ 9E?+{Gzt?Y&?yף;At@ r@)Y@bDMVD 4yXּ%7=ٔ9Q->9Y= ?Fy tE $EE >9Q 5EO5=JcA?Q 9EO5=z)=aBYM&?Q EM:yM(?Q IM@=DI=*:i=j:=O5yYɮ]@YyQFNOT Ignoring new targets: 364.38 m.Q ProNav: ac range: 364.379700 m, nav range: 360.999847 m, bearing: 35.684858 deg, approach rate: -0.650538 m/s, LOS rate: -0.003680 deg/s, cmd heading: 40.768832 deg, new cmd heading: 40.763947 deg. z!QHeadingCmd: 0.711465 target range: 364.379700 and range: 366.70 m.R"6?JbZB:2ҔڔBڒ’@L?BɢdT<) J+?i)#hiTKQi"6?KP;NW;I"6?Ie9@a @a@a@a@miA@mgAy^A 8<A zA fA 5 rGM jAa 9 jAY -AIa Iq O >E] j E] E] %EY "E] ;*E] 3;VE] 4ZEY ae @am @am @am @]p, F{?AD~b>~@.7?~ٱ~"$ AHRS rotation from veh to nav: [[0.754732,-0.647434,-0.105870],[0.656032,0.745133,0.119996],[0.001198,-0.160019,0.987113]]~H&?@Ƿ`I@6?`!?@?`:S?{Ŀn?i~b>I~_;~ڐCY=By="'IIE=)E;bDUVVDUE4ye37%eS=ٔmt:Q-m>9iYi=m?FymvEuEu>yQ 5O5}sA?Q 9O5}x)}aBYy_(?Q I@}DI}qF;i})G;}pO5yɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 364.38 m.胸胸Q] ProNav: ac range: 364.379700 m, nav range: 360.750763 m, bearing: 35.683478 deg, approach rate: -0.650141 m/s, LOS rate: -0.003604 deg/s, cmd heading: 40.763949 deg, new cmd heading: 40.759807 deg. z]IQeHeadingCmd: 0.711393 target range: 364.379700 and range: 366.70 m.Re6?JibiZiBi:i2iҔqڔqqڒq’yy?BɢL|=) *?i)^`iLi6?P;tp;I6?IԹ9@ @@_0@^Au ;= T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.! II I O >B l>B CB ['IB BB U =B B B S;B EB˸CB˸CBBV =BV =CU5,_{?A2C~>27?2!ٱ2B% >AHRS rotation from veh to nav: [[0.754978,-0.647050,-0.106464],[0.655749,0.745248,0.120828],[0.001161,-0.161036,0.986948]]2H(?I2-^;2ېCYFڇByF'I|i}Mb@Mb@Mb@yyyy y9}T㥛 ?J +Q?Y}!?y}H}u<}-A}@ }z@)}d@yY}(@bD`VD04y%G=ٔG8Q->9Y=?FyxEoE>Q 5P5XA?Q 9P5f)aBY!?Q E:yj$?Q I@DI@:iH:P5yɮ@!Q%FNOT Ignoring new targets: 364.38 m.- - Q ProNav: ac range: 364.379700 m, nav range: 360.492462 m, bearing: 35.682680 deg, approach rate: -0.625329 m/s, LOS rate: -0.001933 deg/s, cmd heading: 40.759806 deg, new cmd heading: 40.757410 deg. zשQHeadingCmd: 0.711351 target range: 364.379700 and range: 366.70 m.R6?JbZB:2Ҕڔڒ’@ES EE#E"E;*E3;VE3ZEBE] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446816,y{?AQYU҇ByU'IbDeGVDe4yuq%}L=ٔ}Q-}>9Y=?FyzEE>Q 5P5YA?Q 9P5n)aBYyQ I@DI :i:P5yBɮB@EQQUFNOT Ignoring new targets: 364.38 m.] ] Qm ProNav: ac range: 364.379700 m, nav range: 360.240509 m, bearing: 35.681901 deg, approach rate: -0.612305 m/s, LOS rate: -0.001896 deg/s, cmd heading: 40.757409 deg, new cmd heading: 40.755068 deg. zmQuHeadingCmd: 0.711310 target range: 364.379700 and range: 366.70 m.Rul6?JqbqZqBy:y2yҔyڔyڒ’(@颵Bɢ-=) #?i)N项idYPil6?Q;A;Il6?IE9@A @A@E4@A@M=@M=ԁEMc EMXEM'EI"EMƊ;*EM;VEM'4ZEIaU@aU@aU@aU@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698835Ա^AE;AM>AM>IIO> ,l{?A6eb>66?6#=ٱ65' >AHRS rotation from veh to nav: [[0.756397,-0.645322,-0.106877],[0.654112,0.746412,0.122498],[0.000723,-0.162567,0.986697]]6H`g4? {F\@}?? \?@G?`Ŀ@?i6eb>I6];6ڐCYfʇByf'I hhbDrOVDrc4yvh%%zT=ٔz۔:Q-z>9|Y|=~?Fy~|EE>Q 5 P5ŦA?Q 9P5)aBYy#?Q I@DIK:iB: P5y!ɮ%@!AQMFNOT Ignoring new targets: 364.38 m.MwMwQ] ProNav: ac range: 364.379700 m, nav range: 359.997559 m, bearing: 35.681229 deg, approach rate: -0.659543 m/s, LOS rate: -0.001823 deg/s, cmd heading: 40.755069 deg, new cmd heading: 40.753055 deg. ze)QeHeadingCmd: 0.711275 target range: 364.379700 and range: 366.70 m.Rm6?JibiZiBi:i2iҔqڔqqڒq’yy}`@BɢV =) u ?i)T`Gi*Ri6?Q;bB;I6?I%>%%==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955212Q@Y @Y@e/@aBBB<'IBBBBBQDBS;BE^AUX;IIO>EE W EE fEE "EA "EE T;*EE P$;VEE (3ZEA BEE #J|f6?JO/ٱJ( VAHRS rotation from veh to nav: [[0.756729,-0.644861,-0.107312],[0.653728,0.746631,0.123211],[0.000669,-0.163390,0.986561]]JH7? xW? g??@E?`Ŀ?iJ>IJD];JېCYbćByb&IiMb@Mb@Mb@ 9NbX9?X9vMb?Y%?y<@ )7@Y@bDWVD 4yV̼%==ٔ9Q->9Y=?Fy~EE>Q 5P5UA?Q 9P5 )aBY%?Q E:y*?Q I@DI ;ie ; P5yɮ#@)Q5FNOT Ignoring new targets: 364.38 m.5˧5˧QE ProNav: ac range: 364.379700 m, nav range: 359.717407 m, bearing: 35.679242 deg, approach rate: -0.645854 m/s, LOS rate: -0.004584 deg/s, cmd heading: 40.753055 deg, new cmd heading: 40.747089 deg. zEZIQMHeadingCmd: 0.711171 target range: 364.379700 and range: 366.70 m.RMK6?JIbQZQBQ:Q2QҔYڔ]hBYڒY’aae9 @颍Bɢls<) W?i)>顙iSiK6?LQ;]I;IK6?I9@ @@@A%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454904i^A];I9 II OU >ԙ Y,6{?AZż>Z46?Z>ٱZ.( bAHRS rotation from veh to nav: [[0.757223,-0.644299,-0.107205],[0.653156,0.747092,0.123454],[0.000550,-0.163504,0.986543]]ZH+;? @q ?,??B?Ŀ?iZż>IZ'];XYjȇByj'IbDr;VDr)3Ezl Ez^Ez&Ex"Ezڎ;*Ez ;VEz4ZExa~@a~@a~@a~@y۞<%X=ٔ9Q- >9 Y = ?Fy EE>Q 5%P5A?Q 9%P5)aBY!y%*?Q I-@DI:i:P5y1ɮ5@1GSMB*** querying acoustic contact ***:QBQichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.709690Q-FNOT Ignoring new targets: 364.38 m.5)5)QE ProNav: ac range: 364.379700 m, nav range: 359.472412 m, bearing: 35.677532 deg, approach rate: -0.645761 m/s, LOS rate: -0.004512 deg/s, cmd heading: 40.747088 deg, new cmd heading: 40.741952 deg. zE2FQMHeadingCmd: 0.711081 target range: 364.379700 and range: 366.70 m.iRmk 6?JqbqZqBq:q2qҔyڔyyڒy’y`;@Bɢ=)  ?i)6i%Uik 6?Q;n;Ik 6?I!9@ @@@@@@@ԑAizAmhA- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.958905A ؟AI B n>B B )'IB BB T =B B B S;B E I O >,]{?AJu>Jb6?JٱJ0( VAHRS rotation from veh to nav: [[0.757577,-0.643878,-0.107225],[0.652745,0.747369,0.123950],[0.000328,-0.163893,0.986478]]JH>?চ@s@J?q?`2?5?`oĿ:?iJu>IJ\;HY^ŇBy^&IIb=)bR=iEMb@Mb@Mb@AAAA A9EK7?I +{Gz?YE)?yE9E#9"?Y"?=?FyE⨺E>Q 5P5A?Q 9P5o)aBY)?Q E:yR.?Q I@DIT ;i ;P5yBɮ@EQFNOT Ignoring new targets: 364.38 m.;;Q ProNav: ac range: 364.379700 m, nav range: 359.193573 m, bearing: 35.674938 deg, approach rate: -0.664111 m/s, LOS rate: -0.006181 deg/s, cmd heading: 40.741952 deg, new cmd heading: 40.734167 deg. zQHeadingCmd: 0.710945 target range: 364.379700 and range: 366.70 m.R6?JbZB:2ҔڔnBڒ’@颅Bɢ=bEyjE}J4rE}/Eu EzE$E"E;*E.;VE4ZEBE) = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.462906,{?A2GD>25?2ٱ2( :AHRS rotation from veh to nav: [[0.757823,-0.643544,-0.107494],[0.652460,0.747612,0.123984],[0.000575,-0.164094,0.986445]]2H@?`„?`p?k? B?ſ ?i2GD>I2\;2ڐCPYRByR&IbD^gVD^=4yf캼%fX=ٔj*Q-j>9j ?Yj ?=j?FyjEnlE]>aQ 5mP5eA?Q 9mP5e)eaBYiyu:.?Q Iu@eDIe :ieg:eP5yɮ]@QFNOT Ignoring new targets: 364.38 m.ܸܸQ- ProNav: ac range: 364.379700 m, nav range: 358.932007 m, bearing: 35.672518 deg, approach rate: -0.649104 m/s, LOS rate: -0.006011 deg/s, cmd heading: 40.734166 deg, new cmd heading: 40.726899 deg. z-QUHeadingCmd: 0.710818 target range: 364.379700 and range: 366.70 m.RU35?JQbYZYBY:Y2YҔaڔaaڒa’aimv@UBɢU =)Y ]?iY)]ik%YYi]Yie35?eQ;m]-P;Im35?Ii@ @@@ Eg EE'E"E;*E:;VE'4ZEa@a@a@a@A؟Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.715390IIO>! ,ȴ|?A6:>65?6x ٱ6) BAHRS rotation from veh to nav: [[0.757874,-0.643462,-0.107633],[0.652401,0.747624,0.124220],[0.000538,-0.164363,0.986400]]6H@?= ΍x??̿?oA?` ſ?i6:>I6\;4YJÇByJ&IbDRHVDR4yZ4 <%ZL=ٔ^o8Q-^>9^"?Yb"?=b?FybEbzJEb>dQ 5jP5fA?Q 9jP5f)faBYlyn5.?Q In@f DIf@;if ;fuP5ytɮvH@t|)Q=FNOT Ignoring new targets: 364.38 m.EIEIQU ProNav: ac range: 364.379700 m, nav range: 358.677246 m, bearing: 35.670160 deg, approach rate: -0.670416 m/s, LOS rate: -0.006210 deg/s, cmd heading: 40.726898 deg, new cmd heading: 40.719819 deg. zU_Q]HeadingCmd: 0.710695 target range: 364.379700 and range: 366.70 m.R]5?JYbaZaBa:a2aҔiڔiiڒi’iqu@@额Bɢ=) q ?i)顡iZi5?Q;RU;I5?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.970076@ @@0@A->A->1AaIyIO;>AA@ABBB'IBއBBBBBT;BEQE h E fE $E "E ;*E P$;VE 4ZE BE v6y5?6^ٱ6( BAHRS rotation from veh to nav: [[0.757756,-0.643597,-0.107652],[0.652538,0.747525,0.124097],[0.000604,-0.164282,0.986413]]6H??Y??Ŀ?C?1ſ?i6Q>I6\;6ܐCYNćByR&I TTYiMb@Mb@Mb@ 9S㥛?I +9Y=?FyE9E>Q 5P5B?Q 9P5)aBY/&?Q E:yM2?Q I@DI;i;FP5yBɮ@@E QFNOT Ignoring new targets: 364.38 m.\ \ Q- ProNav: ac range: 364.379700 m, nav range: 358.394348 m, bearing: 35.666812 deg, approach rate: -0.652130 m/s, LOS rate: -0.007724 deg/s, cmd heading: 40.719819 deg, new cmd heading: 40.709766 deg. z-Q-HeadingCmd: 0.710519 target range: 364.379700 and range: 366.70 m.R55?J1b1Z1B1:129Ҕ9ڔ=|B9ڒA’AAEg@mBɢ =) !?i)-i޿\i5?R;N(j;I5?Iԉ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.470894Ա^Aϩ; PExceeded connect timeout, disconnecting.A% .A! I1 IA OU > ,H|?AE _ E uE %E"E ;*E 6,;VE 4ZEa@a@a@a@JS>JQ6?J|ٱJN' RAHRS rotation from veh to nav: [[0.757747,-0.643678,-0.107230],[0.652548,0.747688,0.123058],[0.000965,-0.163219,0.986589]]JHv?? ks?`?เ?@ٝO?_Ŀ#?iJS>IJ׽\;HYZƇByZ&IbDjLVDj 4y$<%T=ٔ>uQ->9 ?Y% ?=%?Fy%E% 8E%>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.722920YQ 5eP5]| B?Q 9eP5])]aBYayeL2?Q Im@]DI];i];]"P5yuBɮu2@uEGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 364.38 m.eeQu ProNav: ac range: 364.379700 m, nav range: 358.141174 m, bearing: 35.663811 deg, approach rate: -0.615326 m/s, LOS rate: -0.007299 deg/s, cmd heading: 40.709765 deg, new cmd heading: 40.700755 deg. zuLQ}HeadingCmd: 0.710362 target range: 364.379700 and range: 366.70 m.R}L5?JybyZyBy:2Ҕڔڒ’[@Bɢ=) ]#?i!)%tR !!i%м^i-L5?-R;-q;I-L5?I19@ @@}0@A^Ayb]; %= 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.975759AU ؟AB B B 'IB هBB U =B B B HT;B E I I! O5 >,,Fb|?A2>2'6?2Ftٱ2u& :AHRS rotation from veh to nav: [[0.757353,-0.644193,-0.106920],[0.653004,0.747489,0.121844],[0.001430,-0.162098,0.986774]]2H <I2d\;2ِCYFɇByF'IiMb@Mb@Mb@ 9/$?{Gzt?Q?Y1(?yף;u<CA@ r@)E@Yz@bD_VD.4y̅<%A=ٔQ->9"?Y"?=?FyE:E>Q 5P51B?Q 9P5)aBY=(?Q E:y9?Q I@&DIY;iG_;W&P5yɮ @ EԱQFNOT Ignoring new targets: 364.38 m.tAtAQ ProNav: ac range: 364.379700 m, nav range: 357.868134 m, bearing: 35.659413 deg, approach rate: -0.655768 m/s, LOS rate: -0.010571 deg/s, cmd heading: 40.700756 deg, new cmd heading: 40.687552 deg. z$Q%HeadingCmd: 0.710132 target range: 364.379700 and range: 366.70 m.R%25?J!b!Z)B):)2)Ҕ1ڔ5wB9ڒ9’99Er @EMP EMtEM&EI"EM(;*EM+;VEM4ZEIBEM],A||?A2>226?2Txٱ25Q& >AHRS rotation from veh to nav: [[0.757246,-0.644355,-0.106701],[0.653128,0.747434,0.121515],[0.001453,-0.161706,0.986838]]2H`\;? Pl??? W?ƲĿ -?i2>I2_\;2ېCYFˇByF'IbD`VD`yj<%jZ=ٔjlQ-n>9lYl=n?FynEr9Er>tQ 5zP5vmAB?Q 9zP5v)vaBYxyz9?Q I~@v.DIv;iv;v)P5yɮ@QFNOT Ignoring new targets: 364.38 m.&C&CQ ProNav: ac range: 364.379700 m, nav range: 357.622559 m, bearing: 35.655445 deg, approach rate: -0.659456 m/s, LOS rate: -0.010663 deg/s, cmd heading: 40.687553 deg, new cmd heading: 40.675640 deg. z. dCQmHeadingCmd: 0.709924 target range: 364.379700 and range: 366.70 m.}GSkARu5?JbZO9SkAY҂AB:2 Ҕ ڔ  ڒ’ @nManaging dock network, ignoring radio surface power off%|Bɢ%=)) -J'?i))-))i-bi55?U`oR;];I]5?IYE_ EvE%E"E;*E,;VE 4ZEa@a@a@a@9@ @@5@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.730896ԁ ^A1 A I I ԡ O > %,|?AF{>F6?Fq2 ٱF8% NAHRS rotation from veh to nav: [[0.756272,-0.645495,-0.106715],[0.654253,0.746678,0.120104],[0.002154,-0.160650,0.987009]]FH@b3?Q??*?@Ma?.Ŀ ?iF{>IF'\;FِCYV·ByV 'IbDbNVDb4yja}<%jC=ٔj]ۺQ-n>9lYl=n?FynErh;Er>tQ 5zP5vRB?Q 9~P5v)vaBY|y~p9?Q I~@v7DIv&;iv';vI-P5yBɮ @ E)Q5FNOT Ignoring new targets: 364.38 m.5L5LQE ProNav: ac range: 364.379700 m, nav range: 357.348633 m, bearing: 35.650947 deg, approach rate: -0.678649 m/s, LOS rate: -0.011151 deg/s, cmd heading: 40.675641 deg, new cmd heading: 40.662138 deg. zEQMHeadingCmd: 0.709688 target range: 364.379700 and range: 366.70 m.RM 5?JIbIZQBQ:Q2YҔYڔYYڒa’aae@ {Bɢ O+=) q)?i)_iei 5?R;%;G;I% 5?I!]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.984031 9@ @@0@BBB'IBއBBBBBBBĹCBĹCBBU =BU =C41^AMvт;DqzDu?AE}h E}yEyEy"E} ;*E}Q.;VEyZEyBE}v+,s|?A0N>Nѷ6?N#ٱN*$ VAHRS rotation from veh to nav: [[0.755915,-0.645895,-0.106828],[0.654665,0.746400,0.119583],[0.002498,-0.160331,0.987060]]NH`t0?`,Y??? wd? Ŀ@?iN>INf\;NېCY\y^ 'IiEMb@Mb@Mb@AAAA A9Ev/?9qYq=}?Fy}E}:E>Q 5P5@dB?Q 9P5)bBY~)?Q E:y:?Q I@?DI:i;0P5yɮ@QFNOT Ignoring new targets: 364.38 m.NNQ} ProNav: ac range: 364.379700 m, nav range: 357.072723 m, bearing: 35.646221 deg, approach rate: -0.658934 m/s, LOS rate: -0.011297 deg/s, cmd heading: 40.662138 deg, new cmd heading: 40.647947 deg. z}QHeadingCmd: 0.709441 target range: 364.379700 and range: 366.70 m.R5?JbZB:2ҔڔBڒ’@\@zBɢ|=)  )?i ) nһԉ iwNgi5?JES;m;I5?Il>i>@ @@X3@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.488077Թ^AM T;AM >AM > E T E sE !E "E ;*E )+;VE c3ZE a @a @a @a @A I I O >f2,|?A:>:6?:a+ٱ:$ BAHRS rotation from veh to nav: [[0.755787,-0.646035,-0.106891],[0.654813,0.746296,0.119426],[0.002619,-0.160254,0.987072]]:Hg/?Q 2]9?`??te?`2Ŀ?i:>I:\;:ܐCYJЇByJ 'I LLbDRDVDRJ3Xy^]<%^V=ٔb2Q-b>9`Y`=f?FyfEf:Ef>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.747013QQ 5]P5UtB?Q 9eP5Us)UbBYaye:?Q Ie@UHDIUN:iU:Uo4P5yiɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 364.38 m.JJQ ProNav: ac range: 364.379700 m, nav range: 356.809998 m, bearing: 35.641705 deg, approach rate: -0.644522 m/s, LOS rate: -0.011087 deg/s, cmd heading: 40.647948 deg, new cmd heading: 40.634391 deg. zyQ5HeadingCmd: 0.709204 target range: 364.379700 and range: 366.70 m.R5c5?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAE"m@颵yBɢz,*=) p+?i)项iiic5?S;;Ic5?I}9@ @@0@ ^A[R;checking for new query: numPingsReceived=0, elapsed TxPingTime=8.000180I B B B B B B B B PT;B EA IA Ii O >K8,T|?A:{>:N6?:˲%ٱ:$ BAHRS rotation from veh to nav: [[0.755700,-0.646152,-0.106794],[0.654913,0.746209,0.119419],[0.002528,-0.160186,0.987084]]:H.?FV ? ?6?Wd?Ŀ0?i:{>I:\;:ڐCYJ͇ByJ'Ii]Mb@Mb@Mb@YYYY Y9]Gz?I +?Mbp?Y]0?y]94<];]A]@ ]@)]M@YY](@bD[VDy'4yh%6=ٔ%]T9Q-%>9!Y!=%?Fy%E-!9E->1Q 5=P55B?Q 9=P55:)5bBYE0?Q EE:yE;?Q IE@5QDI53:i5:548P5yMyBɮM@MEE]U EYE]&EY"E]l;*EYVE]4ZEYBE]W?,G|?AJ5>JX6?J_5ٱJے$ VAHRS rotation from veh to nav: [[0.755339,-0.646550,-0.106940],[0.655328,0.745899,0.119078],[0.002776,-0.160025,0.987109]]JH`+?d``r?h? {?*f?{Ŀe?iJ5>IJ\;JېCYZׇBy^'IbDfeVDf94ynUV=%nW=ٔn+Q-n>9r ?Yr ?=r?FyrErɽ:Ev>xtQ 5~P5vB?Q 9~P5v)vbBYy5;?Q I@vZDIvS*;iv:v;P5y ɮ '@ AQEFNOT Ignoring new targets: 364.38 m.M`M`Q] ProNav: ac range: 364.379700 m, nav range: 356.253784 m, bearing: 35.631925 deg, approach rate: -0.694845 m/s, LOS rate: -0.012269 deg/s, cmd heading: 40.618821 deg, new cmd heading: 40.605027 deg. z]QeHeadingCmd: 0.708691 target range: 364.379700 and range: 366.70 m.Rel5?JabaZaBi:i2iҔqڔqqڒq’qy} O!@颥xBɢ<:=) r/?i)-y顩i!y E,| }?A2q>2H#7?2\Aٱ2`$ :AHRS rotation from veh to nav: [[0.754839,-0.647117,-0.107041],[0.655903,0.745449,0.118734],[0.002959,-0.159834,0.987140]]2H'?-g`(??Ze? I2N\;2ݐCY@y@bDJ]VDJ'+4ٔRQ-V>9V"?YV"?=V?FyVEZW:EZ>\Q 5bP5^B?Q 9bP5^ӥ)^bBY`yfg;?Q If@^cDI^;i^;^>P5yhɮhh|Q~FNOT Ignoring new targets: 364.38 m.aaQ ProNav: ac range: 364.379700 m, nav range: 355.982330 m, bearing: 35.627094 deg, approach rate: -0.690603 m/s, LOS rate: -0.012300 deg/s, cmd heading: 40.605027 deg, new cmd heading: 40.590523 deg. zQHeadingCmd: 0.708438 target range: 364.379700 and range: 366.70 m.R6\5?JbZB!:!2!Ҕ!ڔ))ڒ)’))5Q"@ԙwBɢ4=) /?i)Œijpi6\5?U;! #L,2}?A2d>2 7?21ٱ2Q$ :AHRS rotation from veh to nav: [[0.755102,-0.646799,-0.107104],[0.655601,0.745627,0.119280],[0.002709,-0.160286,0.987067]]2H@)?@`*k?@,?`)?@Z1f?DĿ ?i2d>I2\;2ؐCYvևByv'IiuMb@Mb@Mb@qqqq q9uoʡ?9Y=?FyE}pE>Q 5P5B?Q 9P5)Y-?Q E:yf:?Q I@lDI ;i':BP5yɮ0@EQFNOT Ignoring new targets: 364.38 m.SSQ ProNav: ac range: 364.379700 m, nav range: 355.689087 m, bearing: 35.622054 deg, approach rate: -0.672083 m/s, LOS rate: -0.011560 deg/s, cmd heading: 40.590523 deg, new cmd heading: 40.575392 deg. zQHeadingCmd: 0.708174 target range: 364.379700 and range: 366.70 m.RJ5?JbZB!:!2!Ҕ!ڔ%B)ڒ)’))5"@vBɢS-=) /?i)=ri=siJ5?tdV;5y @S,M}?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=9.762899R>R-7?R6ٱR $ ^AHRS rotation from veh to nav: [[0.754737,-0.647216,-0.107160],[0.656021,0.745288,0.119089],[0.002788,-0.160180,0.987084]]RH&?`n` ?e?|?`nf?ƀĿ1?iR>IR\;RېCYb؇Byf'IbDnVVDnE4yv?J<%vT=ٔvWQ-z>9xYx=z?FyzE~n:E~>Q 5 P5B?Q 9 P5)Y y :?Q I@tDIy:i:'FP5yɮ @GS5B*** querying acoustic contact ***:1B1AQMFNOT Ignoring new targets: 364.38 m.MTMTQe ProNav: ac range: 364.379700 m, nav range: 355.430084 m, bearing: 35.617572 deg, approach rate: -0.671606 m/s, LOS rate: -0.011629 deg/s, cmd heading: 40.575391 deg, new cmd heading: 40.561937 deg. zecQmHeadingCmd: 0.707939 target range: 364.379700 and range: 366.70 m.Rm;5?JibiZiBi:i2qҔqڔqڒ’#@!ɢ-K9=)) -A1?i))-M)1i5u1i];5?]+W;]A5>ԑB B B 0'IB BB T =B B B T;B $EA I I O= > FY,f}?AYEByE'IES EwEE"E;*ED-;VEZEBE9Y=?FyE%E%>)Q 55P5-B?Q 95P5- )- bBY5#%?Q E=:y=9?Q I=@-}DI- ;i-;-JP5yAɮE@AiQmFNOT Ignoring new targets: 364.38 m.uEuEQ ProNav: ac range: 364.379700 m, nav range: 355.146484 m, bearing: 35.612820 deg, approach rate: -0.642098 m/s, LOS rate: -0.010769 deg/s, cmd heading: 40.561936 deg, new cmd heading: 40.547666 deg. zQHeadingCmd: 0.707690 target range: 364.379700 and range: 366.70 m.R1+5?JbZԑB:2ҔڔBڒ’$@euBɢe%+6=)au2Acoustic response timeout 5?i)$顑ixi1+5?X;tX :`,}?A2B>2x7?2.5ٱ2{" >AHRS rotation from veh to nav: [[0.753991,-0.648299,-0.105859],[0.656879,0.744810,0.117340],[0.002774,-0.158010,0.987434]]2H ? ݾ &? {?` ?øf? 9Ŀ`?i2B>I2P\;0YFByF&'IbDNJVDN04yV=%Zb=ٔZ)8Q-Z>9Z ?Y^ ?=^?Fy^E^N;E^>`Q 5fP5bB?Q 9jP5b )bbBYhyj9?Q Ij@bDIb:ib:b-MP5ylɮn6@pQ FNOT Ignoring new targets: 364.38 m. QG QGQ ProNav: ac range: 364.379700 m, nav range: 354.914459 m, bearing: 35.608883 deg, approach rate: -0.641526 m/s, LOS rate: -0.010891 deg/s, cmd heading: 40.547667 deg, new cmd heading: 40.535850 deg. z.Q%HeadingCmd: 0.707484 target range: 364.379700 and range: 366.70 m.R%5?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’19=`LX%@aɢeÛV=)m_w m+8?ii)mYiiiuziu5?uX;}1 Wf,ᗚ}?A2Z>2 7?2T1ٱ2b" >AHRS rotation from veh to nav: [[0.753871,-0.648453,-0.105775],[0.657017,0.744696,0.117286],[0.002716,-0.157915,0.987449]]2H@?@ I??|??f? 6Ŀ.?i2Z>I2\;2ܐCYFއByF'IbDN@VDN3yV%VL=ٔVq9Q-V>9XYX=Z?FyZE^9E^>`Q 5fP5bB?Q 9fP5b)bbBYdyf9?Q Ij@bDIbW:ib:bPP5yniBɮ]@]EyQFNOT Ignoring new targets: 364.38 m.3@3@Q ProNav: ac range: 364.379700 m, nav range: 354.657837 m, bearing: 35.604517 deg, approach rate: -0.616740 m/s, LOS rate: -0.010502 deg/s, cmd heading: 40.535851 deg, new cmd heading: 40.522741 deg. z湍2Acoustic response timeoutQHeadingCmd: 0.707255 target range: 364.379700 and range: 366.70 m.R5?JbZB:2Ҕڔڒ’`.2&@!ɢ-]>=)) -4?i))-11i5v}i=5?=Y;=.5Ul,\s}?A2>27?2zW'ٱ2," :AHRS rotation from veh to nav: [[0.753635,-0.648769,-0.105512],[0.657288,0.744480,0.117142],[0.002553,-0.157635,0.987494]]2H ? ?? ?d?^-Ŀ?i2>I2\;2ڐC@YBByF)'IIJ4=)Ja=iMb@Mb@Mb@ 9%C?~jtx?y&1|?YZ$?y;`;A @)r@Yf@bD)VD)y5+=%=B=ٔ=9Q-E>9AYA=E?FyEEML^:EM>QQ 5]P5U C?Q 9]P5Ủ)UbBY]^$?Q E]:yeh:?Q Ie@UDIU; ;iU ;U\TP5yiɮm@i QFNOT Ignoring new targets: 364.38 m.%~J%~JQ5 ProNav: ac range: 364.379700 m, nav range: 354.388367 m, bearing: 35.599849 deg, approach rate: -0.638283 m/s, LOS rate: -0.011065 deg/s, cmd heading: 40.522741 deg, new cmd heading: 40.508727 deg. z5Q=HeadingCmd: 0.707011 target range: 364.379700 and range: 366.70 m.R=4?J9b9Z9B9:A2AҔAڔEBIڒI’IIMG'@颹ɢG=) K9?i)2UiFi4?*[; = E ] E E 'E "E ;*E 8;VE '4ZE a @a @a @a @&is,@N}?A"2Acoustic response timeoutBa>B7?BB ٱBr" JAHRS rotation from veh to nav: [[0.753841,-0.648534,-0.105488],[0.657053,0.744570,0.117880],[0.002094,-0.158174,0.987409]]BH@w?J?@?c-? B(a?@?Ŀژ?iBa>IB\;BאClYrByr''IbDzUVDzn4y%N=ٔ o:Q- >9 Y=?FyEME>Q 5%P5 C?Q 9%P5U)bBY)y-T:?Q I-@DI:i-:WP5y1ɮ5'@=EGSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 364.38 m.mRmRQ} ProNav: ac range: 364.379700 m, nav range: 354.134552 m, bearing: 35.595460 deg, approach rate: -0.664697 m/s, LOS rate: -0.011503 deg/s, cmd heading: 40.508728 deg, new cmd heading: 40.495551 deg. z}QHeadingCmd: 0.706781 target range: 364.379700 and range: 366.70 m.R4?JbZB:2Ҕڔڒ’@'@ɢLT=) 8?i)Bi i4?\;6;y,G}?A2-&>2i7?2ٱ2" :AHRS rotation from veh to nav: [[0.754137,-0.648186,-0.105511],[0.656715,0.744803,0.118296],[0.001907,-0.158503,0.987357]]2H@!??`m?`H?>_?`IĿm?i2-&>I2\;2ڐCYBByB,'IAE[ EE#E"E%;*E4;VE3ZEBEF9Y=?FyEE>Q 5P5D/C?Q 9P5)bBY ?Q E:y 5?Q I@DI]:i:[P5yɮ@!Q-FNOT Ignoring new targets: 364.38 m.55QM ProNav: ac range: 364.379700 m, nav range: 353.866760 m, bearing: 35.591724 deg, approach rate: -0.625295 m/s, LOS rate: -0.008728 deg/s, cmd heading: 40.495550 deg, new cmd heading: 40.484335 deg. zMQHeadingCmd: 0.706585 target range: 364.379700 and range: 366.70 m.R4?JbZB:2ҔڔBڒ’(@]2Acoustic response timeoutQɢuE=)q u:?iy)}[9yyi}i4?F];t/8A= >I I O > BDAT read: Response Not Received  *response not received *DAT read: user:226>  BDAT read: Tx time:21:26:15.1456  $Ping request sent. 9r7?ͺٱY! AHRS rotation from veh to nav: [[0.754051,-0.648428,-0.104633],[0.656814,0.744801,0.117762],[0.001571,-0.157523,0.987514]]H/!? 5ɺ`?g? %?=Y?)Ŀ@?iX7>IK\;ܐCYyyybDEVD3Թy%L=ٔq\:Q->9Y=?FyE9E>Q 5P5]?C?Q 9P5q|)!bBYy5?Q I@DIp:i:_P5yhBɮ%EQFNOT Ignoring new targets: 364.38 m.WWQ ProNav: ac range: 364.379700 m, nav range: 353.616394 m, bearing: 35.588222 deg, approach rate: -0.598523 m/s, LOS rate: -0.008379 deg/s, cmd heading: 40.484334 deg, new cmd heading: 40.473820 deg. zQHeadingCmd: 0.706401 target range: 364.379700 and range: 366.70 m.R4?J!b!Z!B!:!2!Ҕ)ڔ)IڒI’QQU)@颙ɢBR=) :?i):顡ii4?^^;=BBB'IBBBBBPDBT;B-EAIIO ?vp,e#~?Aԑ>A7?.Dٱ" AHRS rotation from veh to nav: [[0.754545,-0.647960,-0.103968],[0.656248,0.745196,0.118415],[0.000748,-0.157578,0.987506]]H`;%?@??jP?݅H?`+Ŀ?i>I\;Y5By56'IiMb@Mb@Mb@ 9V-?~jth?MbP?Y?yD;:CA \@)/@Y(@bD?VD3yE{<%E=ٔMq:Q-M>9IYI=M?FyUEU>EU>YQ 5eP5]UC?Q 9eP5]Tv)YYm?Q Em:ym8?Q Im@]DI];i];]dP5yqɮuV@qQFNOT Ignoring new targets: 364.38 m.;;Q ProNav: ac range: 364.379700 m, nav range: 353.265900 m, bearing: 35.582532 deg, approach rate: -0.630516 m/s, LOS rate: -0.010246 deg/s, cmd heading: 40.473819 deg, new cmd heading: 40.456732 deg. zQHeadingCmd: 0.706103 target range: 364.379700 and range: 366.70 m.R.4?JbZB:2ҔڔBڒ’4*@EU EqEE"El;*E*;VEZEBE?i)%:!!i%3i-.4?-]_;-862 7?29ٱ2y! :AHRS rotation from veh to nav: [[0.755057,-0.647515,-0.103021],[0.655659,0.745615,0.119031],[-0.000261,-0.157421,0.987531]]2H`l)?`r_)??x?1 c&Ŀۙ?i2n>I2$F];0YBByB.'IbDJLVDJ 4yVS%V8=ٔZ;Q-^>9`Y`=b?FybEjtEj>pQ 5zP5rfC?Q 9zP5rq)r"bBY|y~[8?Q I~@rDIr+u;irw;rgP5yɮ@YQeFNOT Ignoring new targets: 364.38 m.ԩ&1&1Q ProNav: ac range: 364.379700 m, nav range: 353.000275 m, bearing: 35.578246 deg, approach rate: -0.599464 m/s, LOS rate: -0.009680 deg/s, cmd heading: 40.456734 deg, new cmd heading: 40.443866 deg. zԹQHeadingCmd: 0.705879 target range: 364.379700 and range: 366.70 m.Rv4?JbZB:)2)Ҕ)ڔ)1ڒ1’11=Ʉ+@颡ɢ'K=)  ;?i)a";顱i2iv4?I`;l/) 1,-^~?A2z!>2L6?2r:ٱ2@! :AHRS rotation from veh to nav: [[0.755441,-0.647334,-0.101326],[0.655214,0.745899,0.119706],[-0.001911,-0.156820,0.987625]]2H@,?@`z`?@h?? QN_`Ŀ@?i2z!>I2i];2ېCY@yB-'IIF=)FbDJZVDJ%4yVǍ%VK=ٔVچ;Q-V>9XYX=Z?FyZEZE^>`Q 5fP5bvC?Q 9fP5bxm)b!bBYdyf48?Q If@bDIbN:ib$:b^kP5ynWBɮn@rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510186nEGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 364.38 m.#6#6Q% ProNav: ac range: 364.379700 m, nav range: 352.757599 m, bearing: 35.574348 deg, approach rate: -0.619208 m/s, LOS rate: -0.009952 deg/s, cmd heading: 40.443866 deg, new cmd heading: 40.432164 deg. z-ڹQ-HeadingCmd: 0.705674 target range: 364.379700 and range: 366.70 m.R-4?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAEB,@vBɢb=) :?i)ZF;BBBBBBBBT;B$E1qiui}4?}a;}*iq@q @y@@QbEEƞ4jEE4rEE/Ee EzE$E"E;*E.;VE4ZEBEԙ [,hx~?A2>2{6?2\Z;ٱ2;[! :AHRS rotation from veh to nav: [[0.755816,-0.647062,-0.100260],[0.654775,0.746114,0.120763],[-0.003336,-0.156922,0.987605]]2H/?໴`? *?V? hTkĿv?i2>I28];2ܐCYBByB5'Ii Mb@Mb@Mb@     9 +?y&1|?{Gzt?Y v?y `; ף; A  @) \@ Y z@bD};VD})3y<%==ٔW;Q->9Y=?FyEE>Q 5P5C?Q 9P5h)"bBYz?Q E:y9?Q I@DI:i:'oP5yɮZ@QFNOT Ignoring new targets: 364.38 m.BBQ ProNav: ac range: 364.379700 m, nav range: 352.490936 m, bearing: 35.569762 deg, approach rate: -0.618031 m/s, LOS rate: -0.010637 deg/s, cmd heading: 40.432165 deg, new cmd heading: 40.418397 deg. zQHeadingCmd: 0.705434 target range: 364.379700 and range: 366.70 m.RT4?Jb Z B : 2 ҔڔBڒ’-@AɢM`_=)I M=?iI)MTo;QQiUsi]T4?]b;]&E R E {E &E "E ;*E _/;VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266092 C,~?AF>F6?Ff;ٱF7! RAHRS rotation from veh to nav: [[0.756171,-0.646869,-0.098824],[0.654356,0.746347,0.121589],[-0.004895,-0.156609,0.987649]]FH2?&L|??`z ? t Ŀ њ?iF>IF^;FِCYVByZ3'IbDbFVDb4yj%jW=ٔj>;Q-j>9lYl=n?FynEr,Er>tQ 5zP5vC?Q 9zP5vd)tYxyz9?Q Iz@vDIv:ivd:vyrP5yVBɮl@E)Q-FNOT Ignoring new targets: 364.38 m.59A59AQE ProNav: ac range: 364.379700 m, nav range: 352.256927 m, bearing: 35.565753 deg, approach rate: -0.615915 m/s, LOS rate: -0.010558 deg/s, cmd heading: 40.418396 deg, new cmd heading: 40.406362 deg. zEQMHeadingCmd: 0.705224 target range: 364.379700 and range: 366.70 m.RM4?JIbIZIBI:I2QҔQڔQQڒY’YYe`.-@颍wBɢj=) BBBH'IBBBBBBT;B)EQ 'n,n~?A EFC EF^EF)ED"EFx;*EF ;VEFFA4ZEDBEFw9Y= ?Fy E E >Q 5P5C?Q 9P5_)Y%?Q E%:y%?i)Z;i6iw4?d;',z~?AV >V36?V<ٱVȨ# ^AHRS rotation from veh to nav: [[0.757203,-0.645950,-0.096911],[0.653112,0.746608,0.126575],[-0.009407,-0.159137,0.987212]]VH ;?,ϸ`J?6?3?C^Ŀ=?iV >IVQ^;TYfByf6'IbDrGVDr4yz8%zU=ٔz@9|Y|=~?Fy~E'E>Q 5P5C?Q 9P5[) bBYy5ɮ,K9~?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5261406U>66?6S?<ٱ67$ BAHRS rotation from veh to nav: [[0.757688,-0.645597,-0.095468],[0.652513,0.746800,0.128521],[-0.011677,-0.159672,0.987101]]6H`>?p`b? ?]s? Uꇿ$pĿT?i6U>I6^;6ؐCYFByJ/'IPbDR8VDR3yZa׼%ZO=ٔ^;Q-^>9b"?Yb"?=b?FybEbEf>dQ 5jP5fC?Q 9jP5fhW)fbBYlBaBaBaBaBaBaBaBeT;Be9Eyn,~?A2>2x5?2b<ٱ24k% :AHRS rotation from veh to nav: [[0.758111,-0.645238,-0.094528],[0.651979,0.746863,0.130844],[-0.013826,-0.160825,0.986886]]2HrB?ɥ 2@?@L?`? P`Ŀ@?i2>I2{];2ڐCYBByB*'IXi Mb@Mb@Mb@     9 +?y&1|?Mbp?Y v?y `;   @ M@) d@ Y z@bDeDVDeJ3yu%u;=ٔ}נ;Q-}>9yYy=?FyE̺E>Q 5P5C?Q 9P5R)bBYz?Q E:y8?Q I@DIf;i;P5yUBɮ@EQFNOT Ignoring new targets: 364.38 m.DDQ  ProNav: ac range: 364.379700 m, nav range: 351.240479 m, bearing: 35.547222 deg, approach rate: -0.643793 m/s, LOS rate: -0.010752 deg/s, cmd heading: 40.364226 deg, new cmd heading: 40.350726 deg. z!QHeadingCmd: 0.704253 target range: 364.379700 and range: 366.70 m.RI4?JbZB:2Ҕ!ڔ%B!ڒ!’))-0@UzBɢ]l=)Y ]h7?iY)]!;YaieʐieI4?mÊf;m BDAT read: Tx time:21:26:19.1455 $Ping request sent.i==9>=v+@=Pw==*@ =^ =)=@I=^ ڽ99=9~Q?~+,ǔ?NZ? =?)=׽I=*Hi=^ ڽ99:publishing transmit ping timeFpublishing direction and range infoy9=BL?cŒިO4?Y99999 9)9I9i99999 9)9I999=9~Q?~+,ǔ?NZ? 9)9I9i999 ^Ae<E- l E- oE- %E) "E- ڎ;*E- );VE- 4ZE) a5 @a5 @a5 @a5 @9 A .AI I O >u,it?A2>2r5?2<ٱ2{7% :AHRS rotation from veh to nav: [[0.758708,-0.644768,-0.092930],[0.651244,0.747311,0.131942],[-0.015625,-0.160626,0.986892]]2HUG?Aʷ?? }? `bĿ?i2>I2c];2ܐCYNByR('IbDZWVDZ 4yػ%%Q=ٔ%s;Q-%>9- ?Y- ?=-?Fy-E-QE->1Q 5=P553C?Q 9EP55|N)5bBYAyE8?Q IE@5DI5;i5;5bP5yMEBɮM@UEJqRui?Au9Cu9CuS-?uJXDSv@;iq713!B@uBL?cŒިO4?u*Hu^ ڽ—u*q@e~Wk@$1p7A@uxKm?+?|W"-߸?juZ]CruWCZu5P?bue$zzuBuIUy?ui`uOBڗuCu#?Q addTargetRange:: Added new target pos. range: 356.700012 m, deltaT: 16.639757 s, deltaX: -10.000000 m, approachRate: -0.600970 m/s, rangeRepo size: 4 Q Added new target pos. range: 354.447998 m, bearing: 38.863950 deg, lat: 36.779421 deg, lon: -121.859102 deg, deltaT: 16.639757 s, deltaX: -9.931702 m, approachRate: -0.596866 m/s, posRepo size: 4 QFNOT Ignoring new targets: 354.45 m.Q ProNav: ac range: 354.447998 m, nav range: 348.036041 m, bearing: 36.507384 deg, approach rate: 0.000000 m/s, LOS rate: -0.010752 deg/s, cmd heading: 40.350726 deg, new cmd heading: 40.337995 deg. zQHeadingCmd: 0.704031 target range: 354.447998 and range: 356.70 m.R];4?JbZB:2Ҕڔڒ ’  @3Kv@ P?={Bɢ=j=)9 =G6?i9)Ebk;AAiEߑiM];4?Mg;MU;IM];4?IQQ9@ @@4@Bk>BBB'IBBBBBBU;BQEBBBBBCށ4q^Au<A}>A}>ԩ A ؟AI I O% >EE X EE YEE 'EA "EE Ʌ;*EE w;VEE '4ZEA BEE rg5?rt<ٱr/% zAHRS rotation from veh to nav: [[0.759156,-0.644446,-0.091493],[0.650676,0.747596,0.133120],[-0.017389,-0.160591,0.986868]]rH K?@MlV?`N?` ?XΑ`AĿk?ir !>Ir^;rڐCY݇By'IyiߑIߑiMb@Mb@Mb@ 9{Gz?~jtx?~jth?Y#?y;D; 7@)@Y@bD%>VD%43y5J8%59=ٔ=;Q-=>9="?Y="?=E?FyEEEֺEE>IQ 5UP5MC?Q 9UP5MI)MbBY]#?Q E]:y]7?Q I]@M DIMv:iM:M=P5yeDBɮmj@mEQFNOT Ignoring new targets: 354.45 m.iiQ ProNav: ac range: 354.447998 m, nav range: 347.754578 m, bearing: 36.503600 deg, approach rate: -0.647407 m/s, LOS rate: -0.008710 deg/s, cmd heading: 40.337994 deg, new cmd heading: 40.326633 deg. zJQHeadingCmd: 0.703833 target range: 354.447998 and range: 356.70 m.R^.4?JbZB:2ҔڔBڒ’p?|Bɢң^=) 0?i);i ꒼i ^.4?g;;I^.4?Iԙ9@ @@4@^A;A .A I I O5 >5,)H?A2>2\@5?2E<ٱ2% :AHRS rotation from veh to nav: [[0.759521,-0.644140,-0.090621],[0.650210,0.747766,0.134433],[-0.018831,-0.161027,0.986770]]2H@M?@˜2@??5?pHĿ@?i2>I2l^;2ېCY@y@F=F=bDJHVDJ4ٔv[;Q-v>9z ?Yz ?=z?FyzEz׺E~>Q 5 P5D?Q 9 P5E)bBY y 7?Q I @DI:i :bP5yɮAQEFNOT Ignoring new targets: 354.45 m.MMQu ProNav: ac range: 354.447998 m, nav range: 347.524963 m, bearing: 36.500531 deg, approach rate: -0.640922 m/s, LOS rate: -0.008570 deg/s, cmd heading: 40.326632 deg, new cmd heading: 40.317421 deg. zu7QHeadingCmd: 0.703672 target range: 354.447998 and range: 356.70 m.R#4?JbZB:2Ҕڔڒ’=?}Bɢ.q=) "0?i)<iޓi#4? h;J;I#4?IE[ EiE&E"E%;*E%;VE4ZEa @a @a @a @i@q @q@u0@q^Ar;1A ؟AI I O >Y ] ?] ? ,&b?A2Z>2.5?2b<ٱ2u$ :AHRS rotation from veh to nav: [[0.759677,-0.644160,-0.089155],[0.649990,0.747907,0.134714],[-0.020098,-0.160289,0.986865]]2HEO?Ҷ ??P>?` ZĿf?i2Z>I2i^;2ܐCYBByB#'IbDNUVDNn4yR<%V<ٔVNQ;Q-V>9V"?YZ"?=Z@FB^j>B\B^<'IB^BB\B\B\B^U;B^WEyZEj/Ej>lQ 5rP5nD?Q 9rP5n,A)n bBYtyv7?Q Iv@nDInW:inN:nP5yzCBɮz@~EGSB*** querying acoustic contact ***:B!Q%FNOT Ignoring new targets: 354.45 m.%-Q ProNav: ac range: 354.447998 m, nav range: 347.269470 m, bearing: 36.497123 deg, approach rate: -0.637146 m/s, LOS rate: -0.008506 deg/s, cmd heading: 40.317422 deg, new cmd heading: 40.307189 deg. z˺QHeadingCmd: 0.703493 target range: 354.447998 and range: 356.70 m.R!4?JbZB:2Ҕڔ 1ڒ1’99=V?~Bɢʨa=) 2?i)%zZԱ YF,r{?A>>>5?>Dz<ٱ>% FAHRS rotation from veh to nav: [[0.759857,-0.644059,-0.088347],[0.649724,0.747821,0.136462],[-0.021822,-0.161093,0.986698]]>H`P?@"杶 ?&?`w?XĿ?i>>I>_;>ݐCYNއByN'Ii=Mb@Mb@Mb@9999 99="~j?y&1|{Gzt?Y=S#?y=`廙=ף;=VA=@ =\@)=@9Y=@bDe<VDe3ym{%m?=ٔu;Q-u>9qYy=}@Fy}E}EE>Q 5P5~'D?Q 9P5<) bBYW#?Q E:y2?Q I@$DI<;i;P5yɮB@QFNOT Ignoring new targets: 354.45 m.Q ProNav: ac range: 354.447998 m, nav range: 346.999115 m, bearing: 36.494404 deg, approach rate: -0.637531 m/s, LOS rate: -0.006417 deg/s, cmd heading: 40.307190 deg, new cmd heading: 40.299026 deg. zQHeadingCmd: 0.703351 target range: 354.447998 and range: 356.70 m.R4?JbZB:2ҔڔBqڒq’yy}@>?BɢCk=) /?i ) ]<  i ԕchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.957250i54?5h;5;I54?I99@ @@0@^A c;E  E IE E "E *E ;VE ZE a% @a% @a% @a% @1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209414I! I9 OE >Q 0,ĕ?AY-҇By5'II=R>)9bDEGVDE4yU%]L=ٔ]Q-]>9YYa=e@FyeEeEe>iQ 5uP5m8D?Q 9uP5mE8)mbBYyyyQ I}@m,DIm ;imY;mP5yBBɮ@QFNOT Ignoring new targets: 354.45 m.Q ProNav: ac range: 354.447998 m, nav range: 346.743591 m, bearing: 36.491830 deg, approach rate: -0.637097 m/s, LOS rate: -0.006422 deg/s, cmd heading: 40.299025 deg, new cmd heading: 40.291297 deg. z QHeadingCmd: 0.703216 target range: 354.447998 and range: 356.70 m.R4?JbZB:2Ҕڔڒ’@ Bɢ f_l=)  (?i)Pi#<ibi4?bi;`;I%4?I!))9@ @@/@@@=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461268YBk>BB0'IBBBBBBT;BAE^A0;ԉ I I Ou >bE˻ 4jEw4rEp/E G E E $E "E &|;*E a9;VE 4ZE BE 24?2<ٱ2%C' >AHRS rotation from veh to nav: [[0.760455,-0.643576,-0.086709],[0.648905,0.747919,0.139784],[-0.025110,-0.162565,0.986378]]2H U?, 2 ?@?o? kĿi?i2>I2K~_;2ڐCYFчByF 'Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.713204iMb@Mb@Mb@ 9ˡE?~jth~jtxY'?yDĻA@ E@)Y@bDBVD3y%C=ٔc9Y=@FyEE>Q 5P5ID?Q 9P53)aBY'?Q E:yN3?Q I@5DI ;i ;ęP5yɮ@ )Q-FNOT Ignoring new targets: 354.45 m.55QE ProNav: ac range: 354.447998 m, nav range: 346.468933 m, bearing: 36.488943 deg, approach rate: -0.654099 m/s, LOS rate: -0.006881 deg/s, cmd heading: 40.291296 deg, new cmd heading: 40.282628 deg. zEQMHeadingCmd: 0.703065 target range: 354.447998 and range: 356.70 m.RM 3?JIbIZQBQ:Q2QҔYڔ]BYڒY’aae d@颍Bɢb=)) MZ'?iQ)Uh,Aq I I O >F@,q?A6D^>64?6B<ٱ68) >AHRS rotation from veh to nav: [[0.761229,-0.642697,-0.086432],[0.647925,0.748264,0.142459],[-0.026884,-0.164446,0.986020]]6H[? h ͻ?`?I6_;6ِCYFŇByF&IbDN<VDN3yV/{%V_=ٔZ֞;Q-Z>9XY\=^@Fy^E`b_Eb>lQ 5zP5nVYD?Q 9~P5n/)naBY|y~2?Q I@n=DIno;inU;nP5y 0Bɮ @ E)Q5FNOT Ignoring new targets: 354.45 m.5(=(QM ProNav: ac range: 354.447998 m, nav range: 346.227783 m, bearing: 36.486455 deg, approach rate: -0.648723 m/s, LOS rate: -0.006698 deg/s, cmd heading: 40.282629 deg, new cmd heading: 40.275159 deg. zMQUHeadingCmd: 0.702934 target range: 354.447998 and range: 356.70 m.RU~3?JQbQZQBQ:Q2YҔYڔYaڒa’aae`] @颍Bɢg=)  ?i)4<顙iBi~3?i;Y;I~3?IET EzE&E"E;*E.;VE4ZEa@a@a@a@@ @@^0@BDAT read: Rx Time:21:26:22.0219 TRx dataTimestamp_ set to:1761513983.296856checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218519!^A#2;II)O5>A = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469138j,M?AB6l>B4B6'IB6އBB4B4B4B6T;B68EB>BSY4?B&<ٱBo) JAHRS rotation from veh to nav: [[0.761640,-0.642338,-0.085474],[0.647386,0.748527,0.143520],[-0.028209,-0.164646,0.985949]]BH[_?` @ᵿc?? ^?✿ſ?iB>IB@_;BܐCYRByR&I XXbDnVVDnE4yv@%vF=ٔzR;Q-z>9xYx=~@Fy~EX׺E>!Q 5-P5jD?Q 95P5*)aBY9yE2?Q IE@FDI;i;P5yIɮU!@QGSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 354.45 m.-5Qe ProNav: ac range: 354.447998 m, nav range: 345.958252 m, bearing: 36.483700 deg, approach rate: -0.618426 m/s, LOS rate: -0.006326 deg/s, cmd heading: 40.275160 deg, new cmd heading: 40.266889 deg. ze승QeHeadingCmd: 0.702790 target range: 354.447998 and range: 356.70 m.Rm3?JibiZiBi:i2iҔڔڒ’` @BɢT=)  ?i)u==ԡ ,N'?A2>224?2!m<ٱ2O) :AHRS rotation from veh to nav: [[0.761998,-0.642048,-0.084457],[0.646914,0.748804,0.144205],[-0.029345,-0.164521,0.985937]]2HIb?` ?@3?Ru?` ſˌ?i2>I2_;2ِCYBByB&Ii-Mb@Mb@Mb@)))) )9-Pn?I +~jth?Y-$?yy-9-D;-l A-@ ))-@)Y-\@bD<VD3y6%?=ٔ.;Q->9Y=@FyEwE>Q 5P5|D?Q 9P5{&)aBY1$?Q E:y+?Q I@NDI:i:NP5y.Bɮ5@EQFNOT Ignoring new targets: 354.45 m. ~ ~Q ProNav: ac range: 354.447998 m, nav range: 345.685242 m, bearing: 36.482159 deg, approach rate: -0.684488 m/s, LOS rate: -0.003866 deg/s, cmd heading: 40.266888 deg, new cmd heading: 40.262263 deg. z)Q%HeadingCmd: 0.702709 target range: 354.447998 and range: 356.70 m.R%3?J!b!Z!B!:!2)Ҕ)ڔ-B)ڒ1’99=@@eBɢe`=)i m?ii)mD uBDAT read: Tx time:21:26:23.1455 }$Ping request sent.}  ,f?AYzBy~&IbD bVD [44yZI%S=ٔQ->9!Y!=%@Fy%E-E->)Q 5=P5-&D?Q 9=P5-n")-aBY9y9Q I=@-VDI-;i- ;-P5yM/BɮM@IJR+Q?ACC"(?o u@ވu-c$(?^4WmXޡQ+5=—dq@j@Q 4+¡vFM?Hf? 5jVCr%CZj/(?b^zc?B0?>BBڗC~'?Q5 addTargetRange:: Added new target pos. range: 354.200012 m, deltaT: 4.029754 s, deltaX: -2.500000 m, approachRate: -0.620385 m/s, rangeRepo size: 4 QE Added new target pos. range: 351.963287 m, bearing: 37.630691 deg, lat: 36.779421 deg, lon: -121.859017 deg, deltaT: 4.029754 s, deltaX: -2.484711 m, approachRate: -0.616591 m/s, posRepo size: 4 AQMFNOT Ignoring new targets: 351.96 m.mQ ProNav: ac range: 351.963287 m, nav range: 350.039612 m, bearing: 37.487496 deg, approach rate: 0.000000 m/s, LOS rate: -0.003866 deg/s, cmd heading: 40.262264 deg, new cmd heading: 40.257739 deg. zQHeadingCmd: 0.702630 target range: 351.963287 and range: 354.20 m.R3?JbZB:2Ҕڔڒ’@3#v@@^?UBɢUR=)Q U[?iQ)UL ,H2?AFb>F3?F<=ٱF( RAHRS rotation from veh to nav: [[0.762954,-0.641343,-0.081116],[0.645609,0.749529,0.146270],[-0.033011,-0.163967,0.985913]]FHj?ôԨ?$??栿Ŀ@?iFb>IFb;DY^By^&IimMb@Mb@Mb@iiii i9mL7A`? rhYm+'?ymC mmCAi m/@)m@iYm@bDXVD!4ys%9=ٔJ9Y=@FyEoE>ԩQ 5P5D?Q 9P5)aBYd'?Q E:y&?Q I@_DI]:is:P5y.Bɮ@QFNOT Ignoring new targets: 351.96 m.O6O6Q  ProNav: ac range: 351.963287 m, nav range: 349.750824 m, bearing: 37.487655 deg, approach rate: -0.659336 m/s, LOS rate: 0.000363 deg/s, cmd heading: 40.257739 deg, new cmd heading: 40.258216 deg. z ~7QHeadingCmd: 0.702638 target range: 351.963287 and range: 354.20 m.R3?JbZB:2ҔڔuB!ڒ!’!!-@?UBɢUS=)Q U ?iY)]Siu>9@ @@q3@@@@@cGjA%۳9%jAY%rAI I O >9  ,L?A2e>2@3?2 =ٱ2' :AHRS rotation from veh to nav: [[0.763282,-0.641250,-0.078737],[0.645138,0.749975,0.146066],[-0.034614,-0.162286,0.986136]]2H@l?(? ?@J?측`Ŀn?i2e>I2dgc;2ݐCYnByn&IbDzZVDz%4y=%U=ٔ.;Q->9 Y = @Fy EúE>Q 5%P5DD?Q 9%P5)aBY!y%~&?Q I-@gDI ;ia:P5y5-Bɮ5%@5EQQ]FNOT Ignoring new targets: 351.96 m.e6e6Qu ProNav: ac range: 351.963287 m, nav range: 349.500946 m, bearing: 37.487816 deg, approach rate: -0.653785 m/s, LOS rate: 0.000423 deg/s, cmd heading: 40.258214 deg, new cmd heading: 40.258699 deg. zu7QuHeadingCmd: 0.702647 target range: 351.963287 and range: 354.20 m.R}3?JybyZyBy:y2Ҕڔڒ’$?颽Bɢ$U[=) ?i)[<i/i3?Tj;;4;I3?IqEL EgE(E"EW;*E$;VEc44ZEa@a@a@a@9@ @@/@iIII!O5 >ԡB B B &IB BB B B B vT;B EBBBBBCh4  ,Me?Af/>fYn3?f=ٱfէ& nAHRS rotation from veh to nav: [[0.763764,-0.640847,-0.077327],[0.644489,0.750397,0.146760],[-0.036025,-0.161927,0.986145]]fHp?Ё˳?@?@ ?q`Ŀ?if/>Ifc;fڐCYBy%&IbD5@VD53yM/%MF=ٔM_;Q-M>9QYQ=U@FyUEUE]>aQ 5mP5efD?Q 9mP5e)eaBYiymH&?Q Im@epDIe:ieN:e~P5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 351.96 m. 27 27Q= ProNav: ac range: 351.963287 m, nav range: 349.230743 m, bearing: 37.488027 deg, approach rate: -0.634500 m/s, LOS rate: 0.000496 deg/s, cmd heading: 40.258699 deg, new cmd heading: 40.259333 deg. z=<7QEHeadingCmd: 0.702658 target range: 351.963287 and range: 354.20 m.REc3?JAbAZABA:I2IҔIڔIQڒ)’19E@V?EZ E`E)E"E;*E'!;VEFA4ZEBE}) T0 ,մ?A6H>6373?6{=ٱ6I% BAHRS rotation from veh to nav: [[0.764259,-0.640544,-0.074912],[0.643806,0.750995,0.146696],[-0.037707,-0.160342,0.986341]]6H@t?Uk-`?`'??HN Ŀ ?i6H>I6c;6ِCYJByJ&IN=N=iMb@Mb@Mb@ 9E?~jtMb`?Y&?y;VA@ E@)@Y\@bD5CVD53yEǝ%MJ=ٔM;Q-M>9IYQ=U@FyUEUEU>YQ 5eP5]%D?Q 9mP5]f)]aBYm&?Q Em:ym$?Q Im@]yDI]]:i]:]P5yu,Bɮ}@}EQFNOT Ignoring new targets: 351.96 m.F7F7Q ProNav: ac range: 351.963287 m, nav range: 348.967651 m, bearing: 37.488517 deg, approach rate: -0.672515 m/s, LOS rate: 0.001252 deg/s, cmd heading: 40.259331 deg, new cmd heading: 40.260800 deg. =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999263zE[8QEHeadingCmd: 0.702684 target range: 351.963287 and range: 354.20 m.RM3?JIbIZIBI:I2IҔqڔuzBqڒy’yy}2@Bɢ\e=) ?i )  i<  i 6qi3?i; :I3?IE9@A @I@M/@IIIOE>ԙER EWEE"E;*Ej;VEZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251353& ,?A2f>2 3?2X =ٱ2v$ :AHRS rotation from veh to nav: [[0.764659,-0.640237,-0.073430],[0.643243,0.751347,0.147363],[-0.039176,-0.159916,0.986353]]2Hx?@|S̲q? ??@"xĿ4?i2f>I2BQc;2ېCYBByB&IbDNXPVDN!4yV%VU=ٔZz;Q-Z>9XYX=^@Fy^E^E^>`Q 5fP5bD?Q 9fP5bs )baBYhyjm$?Q Ij@bDIb:ib-:baP5ynBɮr@r|EQFNOT Ignoring new targets: 351.96 m.S7S7Q ProNav: ac range: 351.963287 m, nav range: 348.716980 m, bearing: 37.489012 deg, approach rate: -0.625996 m/s, LOS rate: 0.001238 deg/s, cmd heading: 40.260799 deg, new cmd heading: 40.262287 deg. zY8QHeadingCmd: 0.702709 target range: 351.963287 and range: 354.20 m.R3?JbZB:2Ҕڔڒ’G@BɢEU=) A?i)Op<!i%DBi%3?-|i;-Q:I-3?I)@ @@@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503194Bmj>BiBm&IBmBBiBiBiBmxT;Bi^A;II O>) E p E _E 'E "E ;*E ;VE '4ZE BE 22?2 %=ٱ2De$ :AHRS rotation from veh to nav: [[0.765120,-0.639824,-0.072220],[0.642614,0.751740,0.148098],[-0.040466,-0.159723,0.986332]]2H{?py }L?B??qĿ?i2>I2IEc;2ڐCYBByB&IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755398|iMb@Mb@Mb@ 9Mb?~jt9IYI=M@FyUEUEU>Q 5P5&D?Q 9P5)aBY`#?Q E:y\$?Q I@DI@:i3:@P5yBɮ.@}E9Q=FNOT Ignoring new targets: 351.96 m.E7E7QU ProNav: ac range: 351.963287 m, nav range: 348.434113 m, bearing: 37.489584 deg, approach rate: -0.661735 m/s, LOS rate: 0.001339 deg/s, cmd heading: 40.262288 deg, new cmd heading: 40.264006 deg. zUUk8Q]HeadingCmd: 0.702739 target range: 351.963287 and range: 354.20 m.R]3?JYbYZYBY:Y2aҔaڔe}Baڒi’iim@额BɢL=) ?i)P[w<顡iAi3?di;>9I3?II))M9@I @I@M0@IQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007852^Am"5:ԁ A I I O >*3 ,RH̀?A6>6b2?6;+=ٱ6# >AHRS rotation from veh to nav: [[0.765533,-0.639493,-0.070763],[0.642033,0.752118,0.148702],[-0.041871,-0.159268,0.986347]]6H ??v?`Z??,p@bĿ'?i6>I6O%c;4YFByF&IIJ0>)Jp9`Y`=b@FybEbEb>dQ 5jP5fE?Q 9jP5fS)faBYlyn,$?Q In@fDIf;if&;frP5ypɮv@t QFNOT Ignoring new targets: 351.96 m.77QE ProNav: ac range: 351.963287 m, nav range: 348.200806 m, bearing: 37.490085 deg, approach rate: -0.638240 m/s, LOS rate: 0.001370 deg/s, cmd heading: 40.264006 deg, new cmd heading: 40.265508 deg. zEp8QMHeadingCmd: 0.702766 target range: 351.963287 and range: 354.20 m.RMt3?JIbIZIBI:Q2QҔQڔQYYڒa’aae @颉ɢ´X=) ?i)G}<顙iɜit3?h;#It3?IE}Y E}OEyEy"E}=;*E}3;VEyZEya@a@a@a@U9@Q @Q@U0@QBDAT read: Rx Time:21:26:26.0198 TRx dataTimestamp_ set to:1761513987.328845checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260990ԉ^AuqԱA I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514556B k>B B &IB BB V =B B B TT;B E(W9 ,<-瀤?A2->2]2?2HT1=ٱ2[# >AHRS rotation from veh to nav: [[0.766219,-0.638846,-0.069169],[0.641121,0.752787,0.149252],[-0.043280,-0.158705,0.986377]]2H`݄?mq `???@( tPĿf?i2->I2 c;2ېCYFByF&IbDN;VDN)3yVs%VJ=ٔZd;Q-Z>9XY\=^@Fy^E^)9Eb>`Q 5fP5bPE?Q 9fP5bG)baBYhyj#?Q Ij@bDIbK:ib :bP5ynBɮrW@pQ FNOT Ignoring new targets: 351.96 m. 7 7Q} ProNav: ac range: 351.963287 m, nav range: 347.943268 m, bearing: 37.490687 deg, approach rate: -0.638054 m/s, LOS rate: 0.001493 deg/s, cmd heading: 40.265509 deg, new cmd heading: 40.267316 deg. z}!8QHeadingCmd: 0.702797 target range: 351.963287 and range: 354.20 m.R3?JbZB:2ҔڔԱڒ’@ @%Bɢ-,L=)) ->i))UC R#Rx 1: Read range and direction messages.%^direction in FSK: [0.997527,-0.027863,0.064532]-Fpublishing direction and range infoyZɼ??P0?YLC )HI7>i%>X*@'g=V)@  A=)+@I A)?6'*?ߤV? {T?) ъIi AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^AAA>A I I O >A <@ ,a?A2>2|J2?25=ٱ2" :AHRS rotation from veh to nav: [[0.766368,-0.638819,-0.067750],[0.640865,0.752979,0.149380],[-0.044412,-0.157899,0.986456]]2H@?5q@X?`h?@?&6Ŀ` ?i2>I2Vc;2ِCYRByR&Ii]Mb@Mb@Mb@YYYY Y9]?Q~jt?Y] ?y]]D=ٔ,;Q->9Y=@FyE12E>Q 5P5U,E?Q 9P5)aBY6 ?Q E:y&?Q I@DI:i:P5yɮ>@JR@?A/C/Cr-?[ Du@^Mq#> =6@Zɼ??P0? A—l"q@5dk@{ @w?#%&?!rvS?j\CrFCZ㞊?b^Fbz9B㞊?^OBڗCF)?Q  addTargetRange:: Added new target pos. range: 352.600006 m, deltaT: 3.780258 s, deltaX: -1.600006 m, approachRate: -0.423253 m/s, rangeRepo size: 4 -BDAT read: Tx time:21:26:27.1455 5$Ping request sent.5i>a@ @@1@E? EZE#E"Et;*E;VE3ZEa@a@a@a@ԡ^A 0:ĺ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251017I Թ I O >fF ,?A2*>2#62?2;=ٱ2! :AHRS rotation from veh to nav: [[0.766524,-0.638782,-0.066317],[0.640591,0.753160,0.149645],[-0.045643,-0.157188,0.986513]]2H ^?p ( ?@?'?`^Ŀ`?i2*>I2fb;2ڐCYBByB&I DDbDNdVDN 84yV;<%VY=ٔVdV;Q-Z>9XYX=Z@FyZE^XE^>`Q 5fP5b"BIBM&IBMBBMU =BIBIBMT;BME^AI IY O >D zD AAE Y E OE $E "E =;*E 3;VE 4ZE BE 99YA=E@FyEEEEE>IQ 5UP5MNE?Q 9UP5M`Q =]tI)MaBY]"?Q E]:y]0?Q I]@MDIM;iMu;MP5yaɮm@iQFNOT Ignoring new targets: 350.37 m.[[Q ProNav: ac range: 350.372070 m, nav range: 345.463196 m, bearing: 38.022012 deg, approach rate: -0.659353 m/s, LOS rate: -0.003004 deg/s, cmd heading: 40.270648 deg, new cmd heading: 40.266701 deg. zQHeadingCmd: 0.702787 target range: 350.372070 and range: 352.60 m.R3?JbZB:2ҔڔBڒ’#N?BɢR=) ?i)q<iQwi3?xS ,N?A6>6V(2?6E=ٱ6 >AHRS rotation from veh to nav: [[0.766565,-0.639131,-0.062370],[0.640351,0.753483,0.149044],[-0.048264,-0.154190,0.986862]]6H?s }?? ?`ÿ^?i6>I6b;4YFByF&IbDNAVDN?3yVJC=%Vg=ٔVQ;Q-Z>9XYX=Z@FyZE^=E^>`Q 5fP5b]E?Q 9fP5b)baBYdyj0?Q Ij@bDIb:ib:bP5ynBɮnY@lQFNOT Ignoring new targets: 350.37 m. AR ARQ ProNav: ac range: 350.372070 m, nav range: 345.238373 m, bearing: 38.020997 deg, approach rate: -0.635902 m/s, LOS rate: -0.002872 deg/s, cmd heading: 40.266701 deg, new cmd heading: 40.263654 deg. zNQHeadingCmd: 0.702733 target range: 350.372070 and range: 352.60 m.RU3?JbZB:2Ҕڔڒ’P? ɢpa=) ?i)<iߡi%U3?%$e;%$I%U3?I!E]O E]<E]%EY"E];*E]1;VE] 4ZEYae@ae@ae@ae@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257749=tۼAy@ @@4@ԩ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510593B- h>B- CB- &IB- BB) B) B) B- #T;B- E^A5 ?BɺI I O >Y ,i?A2>292?2vPK=ٱ2 :AHRS rotation from veh to nav: [[0.766343,-0.639557,-0.060706],[0.640513,0.753337,0.149085],[-0.049617,-0.153133,0.986959]]2H? @w`?V?;?bg`ߙÿ`+?i2>I2/jb;2ِCYBByB&IIF8>)Fe>bDNCVDN3yVN%VB=ٔVR;Q-Z>9XYX=Z@FyZE^%:E^>`Q 5fP5bnE?Q 9fP5b)baBYdyj0?Q Ij@bDIbr;ib;bP5ynBɮnr@nuEQFNOT Ignoring new targets: 350.37 m.KKQ ProNav: ac range: 350.372070 m, nav range: 344.970428 m, bearing: 38.019775 deg, approach rate: -0.609918 m/s, LOS rate: -0.002785 deg/s, cmd heading: 40.263654 deg, new cmd heading: 40.259984 deg. zQHeadingCmd: 0.702669 target range: 350.372070 and range: 352.60 m.R"3?JbZB: 2 Ҕڔڒ’%`l/?额BɢaU=) ?i)Q<ii"3?,cd; ٺI"3?I)E; EVE&E"EDq;*E;VE4ZEBE2a ,z?A2>2R^2?2ՀQ=ٱ2m> :AHRS rotation from veh to nav: [[0.765928,-0.640118,-0.060033],[0.640891,0.752741,0.150465],[-0.051126,-0.153719,0.986791]]2H{?@{ -? u?@lB?`.-ÿʓ?i2>I2c;2ؐCYBByB&IiMb@Mb@Mb@ 9V-?I +?y&1?Y|?y94<`e< A @ E@)1AY3@bD=\VD=P)4yM\Y<%M'=ԉٔD;Q->9Y=@FyE&:E>Q 5P5͂E?Q 9P5)aBY?Q E:y7?Q I@DIs:i:)P5yBɮ#@QFNOT Ignoring new targets: 350.37 m.rԸrԸQ5 ProNav: ac range: 350.372070 m, nav range: 344.657501 m, bearing: 38.016960 deg, approach rate: -0.644627 m/s, LOS rate: -0.005804 deg/s, cmd heading: 40.259983 deg, new cmd heading: 40.251530 deg. z5~Q=HeadingCmd: 0.702522 target range: 350.372070 and range: 352.60 m.R=w3?J9b9Z9B9:92AҔAڔEBAڒI’IIM@}Bɢ})U=)y } ?iy)}<<顁i󺝼iw3?c; GIw3?IԹE6 ECE$E"El;*E;VE4ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2659509@ @@4@ ^A ?BɺA >A >AAYIqIB<A<Bi>BB&IBBBBBBDT;BEBBθCBBBCοR4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428O> Ei ,Cᦁ?A6^Q>6<2?64W=ٱ6Gu >AHRS rotation from veh to nav: [[0.765550,-0.640705,-0.058564],[0.641229,0.752398,0.150739],[-0.052516,-0.152951,0.986837]]6Hc? `??kK?e㪿ÿ,?i6^Q>I6c;4YFByF&IbDBVD3y]%]&=ٔe>;Q-e>9aYa=m@FymEm:Em>qQ 5}P5uE?Q 9}P5u)uxaBYy7?Q I@uDIu];iu;uVP5yBɮ@vEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 350.37 m.θθQ ProNav: ac range: 350.372070 m, nav range: 344.360260 m, bearing: 38.014257 deg, approach rate: -0.621051 m/s, LOS rate: -0.005653 deg/s, cmd heading: 40.251531 deg, new cmd heading: 40.243415 deg. zExQHeadingCmd: 0.702380 target range: 350.372070 and range: 352.60 m.R.3?JbZB:2Ҕڔڒ’@BɢDO=) >i)% p ,{?AY~By~&I iMb@Mb@Mb@ 9%C?Mb?9Y=@FyEE>Q 5P5E?Q 9P5)laBY$?Q E:y??Q I@DI :ia:P5yɮJ@!Q-FNOT Ignoring new targets: 350.37 m.=&=&Qe ProNav: ac range: 350.372070 m, nav range: 344.095306 m, bearing: 38.010490 deg, approach rate: -0.640020 m/s, LOS rate: -0.009105 deg/s, cmd heading: 40.243413 deg, new cmd heading: 40.232105 deg. zeǹQmHeadingCmd: 0.702183 target range: 350.372070 and range: 352.60 m.Rm?3?JqbqZqBq:y2yҔڔĆBڒ’+ @ɢl[=) I?i)B<iOi ?3? Sb;%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022657 7I?3?I%9@! @!@)@)^AM I E 7 E JE E "E m;*E ;VE ZE a @a @a @a @ BDAT read: Rx Time:21:26:30.0157  TRx dataTimestamp_ set to:1761513991.361315 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275634A I I O >Gv ,Vځ?A24>22?2_=ٱ2q$ >AHRS rotation from veh to nav: [[0.764353,-0.642320,-0.056469],[0.642487,0.751280,0.150959],[-0.054540,-0.151666,0.986926]]2Hu?y鬿A?| ?`R?쫿iÿ?i24>I2c;2ڐCYBy&IbDNVD4y%d%%E=ٔ-;Q-->91Y1I=E@FyMEMj;EM>YQ 5eP5]KE?Q 9eP5]2)]\aBYiym@?Q Im@]DI] 7;i]8;]1P5yBɮ@wEQFNOT Ignoring new targets: 350.37 m.''Q ProNav: ac range: 350.372070 m, nav range: 343.785187 m, bearing: 38.005984 deg, approach rate: -0.630386 m/s, LOS rate: -0.009168 deg/s, cmd heading: 40.232106 deg, new cmd heading: 40.218576 deg. zUɹQHeadingCmd: 0.701947 target range: 350.372070 and range: 352.60 m.RŲ3?JbZB:2Ҕڔڒ ’ z @BBCBBBBBBJT;BE-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526355eBɢeM=)a e>ii)mƢ -BDAT read: Tx time:21:26:31.1455 -$Ping request sent.-i G `> )@ ¸= +(@ ¸=) @I ¸ @?R?"~t? ͆N? ;?) 9I i ¸ U:publishing transmit ping time)]Fpublishing direction and range infoy  } ,?AxYUByU&IiuMb@Mb@Mb@qqqq q9uy&1?I +?~jth?Yu`%?yu94=uD;u Aud@ q)u^AqYu@bDKVD 4yP%=ٔQ->9Y=@FyE!E]>aQ 5mP5eE?Q 9mP5e\)eHaBYm%?Q Eu:yu\D?Q Iu@eDIe:ie:eP5yɮ@JAREG?AECECE;1?E.u@j@b&D>@Ei)É<顙iS_i3?Ͻa;I3?IQa@a @i@m4@iy ^A 0::E ? E cE E "E t;*E ";VE ZE a @a @a @a @ԩ IIO> ,?ABǝ>Bp3?B^g=ٱBw_ JAHRS rotation from veh to nav: [[0.762494,-0.644613,-0.055474],[0.644515,0.749272,0.152287],[-0.056601,-0.151871,0.986778]]BH@Yf? gޟ? ?!~?@@pÿ ?iBǝ>IBia;@YRwByR&IIVa=)V9hYl=n@FynEn;En>pQ 5vP5r'E?Q 9vP5r)r9aBYxyzE?Q Iz@rDIrf;ir;rP5y~Bɮ~/@~nE!Q%FNOT Ignoring new targets: 347.29 m.-!B!BQ ProNav: ac range: 347.291138 m, nav range: 346.410431 m, bearing: 38.664690 deg, approach rate: -0.673510 m/s, LOS rate: -0.010608 deg/s, cmd heading: 40.204730 deg, new cmd heading: 40.193491 deg. zQHeadingCmd: 0.701509 target range: 347.291138 and range: 349.50 m.R3?JbZB :2 Ҕڔڒ’@?颥BɢW=) [>i)<顩iGi3?ea;>;I3?I@ @@/@1BBCB&IBBBBBBT;BEa^AI I O% >ԉ  ,2?AbE 4jE4rE5/EUN EUaEQEQ"EU@;*EU!;VEQZEQBEU3?xi=ٱ ]AHRS rotation from veh to nav: [[0.761938,-0.645209,-0.056184],[0.645133,0.748472,0.153601],[-0.057053,-0.153280,0.986534]]Ha?@Ĭ`?|?/?5ÿ?i >I`;ؐCYmpBym&IyiMb@Mb@Mb@ 9V-?Q?~jtxY-?y<Ļ$ Az@ @)tAY\@bDYVD#4y-%-*=ٔ-v:Q-5>91Y1=5@Fy5E=C:E=>AQ 5MP5EFE?Q 9MP5E1)E!aBYM-?Q EU:yU>?Q IU@EDIE ;iE2 ;EP5yYɮ]@YGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 347.29 m.    Q ProNav: ac range: 347.291138 m, nav range: 346.086365 m, bearing: 38.660919 deg, approach rate: -0.652724 m/s, LOS rate: -0.007602 deg/s, cmd heading: 40.193491 deg, new cmd heading: 40.182168 deg. zQ%HeadingCmd: 0.701311 target range: 347.291138 and range: 349.50 m.R% 3?J!b!ZABI:I2IҔIڔŬBQڒQ’QQ]`N?Bɢ@pB=) >i)8<ii 3?a;ɞ;I 3?Iԡ9@ @@0@@iA@hA- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.^A vт;A >A >Ia Iq O > ,ÃL?A6Ï>6o4?6l=ٱ6v BAHRS rotation from veh to nav: [[0.761259,-0.646053,-0.055687],[0.645885,0.747819,0.153624],[-0.057605,-0.152915,0.986559]]6H ;\?v?!?`? s~ ÿ@?i6Ï>I6<`;6ېCY^`Byb&IbDj>VDj43yrǽ%rx=ٔr:Q-r?9tYt=v@FyvEv%J;Ez?xQ 5P5z E?Q 9P5z8)zaBYy>?Q I@z DIz ;iz&;zP5yBɮ@1Q=FNOT Ignoring new targets: 347.29 m.=EQM ProNav: ac range: 347.291138 m, nav range: 345.864380 m, bearing: 38.658295 deg, approach rate: -0.711046 m/s, LOS rate: -0.008412 deg/s, cmd heading: 40.182167 deg, new cmd heading: 40.174288 deg. zUQUHeadingCmd: 0.701174 target range: 347.291138 and range: 349.50 m.RU3?JYbYZYBY:Y2aҔaڔaaڒa’iim ?颕Bɢ-S=) >i)T<顡iܜi3?b;2;I3?IU9@Q @Q@U/@QEUK EU_EU#EQ"EU;*EU ;VEU3ZEQa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500463^AU;IIO>) l* ,qf?AB B B"&IB"sBB B B B" T;B"E,N>Nn`4?N'n=ٱN| VAHRS rotation from veh to nav: [[0.760580,-0.646900,-0.055121],[0.646627,0.747164,0.153688],[-0.058237,-0.152534,0.986581]]NHV?h 8`+?? ?2ѭ?ÿ?iN>IN_;NؐCY^ZBy^{&I ``b=b=n?nO?nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752687bDj=VDj3yv%zI=ٔz:Q-z>9|Y|=~@Fy~E~";E>Q 5 P5F?Q 9P5K)`BYy???Q I@DI_i1)=\<99i=iMt3?MUb;M3;IMt3?IQ9@ @@@QEeD EeLEe'Ea"Eeny;*Ee;VEe'4ZEaBEe@ ,G:?A02Ճ>2y4?2Jp=ٱ2T >AHRS rotation from veh to nav: [[0.760009,-0.647571,-0.055116],[0.647262,0.746533,0.154080],[-0.058632,-0.152776,0.986520]]2HQ?,8`_??? .ÿ`?i2Ճ>I2u_;0YFDByF`&IiMb@Mb@Mb@ 9ˡE?Mb`?{GztY'?y;ף A@ @)YQAbD-ZVD-%4yɽ%@=ٔs:Q->9Y=@FyE;E>Q 5P5F?Q 9P5)`BY'?Q E:y5?Q I@DIU:i:P5yBɮ#@oEQFNOT Ignoring new targets: 347.29 m.Q  ProNav: ac range: 347.291138 m, nav range: 345.311066 m, bearing: 38.653486 deg, approach rate: -0.693326 m/s, LOS rate: -0.003757 deg/s, cmd heading: 40.164374 deg, new cmd heading: 40.159848 deg. z%QHeadingCmd: 0.700922 target range: 347.291138 and range: 349.50 m.Ro3?JbZB:2!Ҕ!ڔ%B)ڒ)’19=#@颍Bɢ5=) |>i)в<顙is io3?b; ;Io3?Iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257263m9@i @i@m0@iԹ^A0; Em E Em WEm %Ei "Em Vz;*Em j;VEm 4ZEi au @au @au @au @A I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509808 8 ,{?AF>F4?Fq=ٱF NAHRS rotation from veh to nav: [[0.759427,-0.648105,-0.056842],[0.647928,0.745524,0.156152],[-0.058826,-0.155416,0.986096]]FH 9M?Fm@ӻ?U?@?g`ÿ@?iF>IF^;DYV5ByVM&I\bDbEVDb3yj%jX=ٔj:Q-n>9lYl=n@Fyn Er;Er>tQ 5zP5v/F?Q 9zP5vN)v`BYxyzJ5?Q I~@v&DIv:iv;vbP5yɮ@)Q-FNOT Ignoring new targets: 347.29 m.5f5fQE ProNav: ac range: 347.291138 m, nav range: 345.064026 m, bearing: 38.652111 deg, approach rate: -0.654289 m/s, LOS rate: -0.003645 deg/s, cmd heading: 40.159849 deg, new cmd heading: 40.155721 deg. zE QMHeadingCmd: 0.700850 target range: 347.291138 and range: 349.50 m.RMj3?JIbIZIBI:Q2QҔQڔQYڒY’Yae@;@颍Bɢ|m/=) >i)=<顑ikij3?c;A e ,?AF>F4?FSs=ٱF^3 jAHRS rotation from veh to nav: [[0.759355,-0.648221,-0.056476],[0.647956,0.745399,0.156632],[-0.059434,-0.155533,0.986041]]E5G E5VE5$E1"E5&|;*E5;VE54ZE1BE5IFA^;FڐCY&By;&II>)p=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014676quAi]Mb@Mb@Mb@YYYY Y9]%C?y&1~jtxY]Z$?y]`弙]ĻY]@ Y)]AYY]zAbDudVDu 84yl%&=ٔ:Q->9Y=@Fy Es9E>Q 5Q5DF?Q 9Q52)`BY$?Q E:yl)?Q I@0DI ;iC ;Q5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 347.29 m.77Q ProNav: ac range: 347.291138 m, nav range: 344.747925 m, bearing: 38.652784 deg, approach rate: -0.640697 m/s, LOS rate: 0.001366 deg/s, cmd heading: 40.155720 deg, new cmd heading: 40.157742 deg. zp8QHeadingCmd: 0.700885 target range: 347.291138 and range: 349.50 m.R0m3?JbZB:2Ҕ ڔ B ڒ ’ @额Bԡɢ;=) E>i)<ii0m3?wCd;} ,enЂ?A6#>6M4?6cu=ٱ6< JAHRS rotation from veh to nav: [[0.759159,-0.648481,-0.056128],[0.648135,0.745166,0.156996],[-0.059984,-0.155563,0.986003]]H6HK?ZҼ`? g?`n?`3~ÿ@V?i6#>I6^;6ؐCYR ByR&IbD^SVD^4yf%ff=ٔf<:Q-f>9hYh=j@FyjEnB:En>pQ 5vQ5rSF?Q 9vQ5r)r`BYtyv})?Q Iv@r7DIr):ir;rQ5y~ѓBɮ~5@~fE!Q%FNOT Ignoring new targets: 347.29 m.-7-7Q= ProNav: ac range: 347.291138 m, nav range: 344.520142 m, bearing: 38.653260 deg, approach rate: -0.642309 m/s, LOS rate: 0.001344 deg/s, cmd heading: 40.157742 deg, new cmd heading: 40.159171 deg. z= l8QEHeadingCmd: 0.700910 target range: 347.291138 and range: 349.50 m.REn3?JAbAZABA:A2IҔIڔIQڒQ’QQ]} @颅Bɢ=) O>i)4η<顉iׇin3?Yd;<! B B CB O&IB 6BB B B B _T;B EBʸCBBBBCʟ4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768371R ,5ꂤ?A2c>2?4?2x=ٱ2! :AHRS rotation from veh to nav: [[0.759372,-0.648225,-0.056206],[0.647835,0.745215,0.158000],[-0.060534,-0.156393,0.985838]]2HL?@BƬ??X9?`ZĿ?i2c>I2#c^;2ڐCYBByB &IbDJZVDJ%4yR%RM=ٔV:Q-V>9V ?YV ?=Z@FyZEZqEZ>|Q 5 Q5@eF?Q 9 Q5L)`BY y e)?Q I @?DI:i$:Y Q5yɮ-@!qQFNOT Ignoring new targets: 347.29 m.(7(7Q ProNav: ac range: 347.291138 m, nav range: 344.259277 m, bearing: 38.653823 deg, approach rate: -0.630788 m/s, LOS rate: 0.001360 deg/s, cmd heading: 40.159173 deg, new cmd heading: 40.160861 deg. zn8QHeadingCmd: 0.700939 target range: 347.291138 and range: 349.50 m.Rp3?JbZB:2Ҕڔ!ڒ!’!)-`@BɢL =) 6.>i)e<iƙi p3? he; Ԯ;I p3?IyYE%; E%UE%"E!"E%Dq;*E%\;VE%(3ZE!BE%2 mBDAT read: Tx time:21:26:35.1455 m$Ping request sent.xI ,e?Af>fS4?f0gz=ٱfB1"l AHRS rotation from veh to nav: [[0.759760,-0.647756,-0.056371],[0.647327,0.745404,0.159188],[-0.061095,-0.157435,0.985638]]fHO?jܬ@?@Y?C`?G&ĿX?if>If@^;fؐCY By %I 99iMb@Mb@Mb@ 9T㥛 ?V-Mb`?Y!?yh;QA@ @)YGAbD]VD'+4yv%/=ٔ:Q->9Y=@FyEhE> Q 5Q5 }yF?Q 9Q5 ) `BY "?Q E:y%W?Q I%@ IDI T;i VT; ZQ5y-ϓBɮ-@-gEJR>?ACCl#?b ku@ޟ4)0 PtDYW?Uɪ򧿯EOQA=—?/q@ hi@1 Z[Mr2L?:ٚ?DſjFKCrCZ"b?bu/z AڗC^,?Q addTargetRange:: Added new target pos. range: 347.700012 m, deltaT: 4.039268 s, deltaX: -1.799988 m, approachRate: -0.445622 m/s, rangeRepo size: 4 Q- Added new target pos. range: 345.501251 m, bearing: 36.657393 deg, lat: 36.779391 deg, lon: -121.858942 deg, deltaT: 4.039268 s, deltaX: -1.789886 m, approachRate: -0.443121 m/s, posRepo size: 4 )Q5FNOT Ignoring new targets: 345.50 m.51QE ProNav: ac range: 345.501251 m, nav range: 343.970184 m, bearing: 38.657662 deg, approach rate: 0.000000 m/s, LOS rate: 0.001360 deg/s, cmd heading: 40.160860 deg, new cmd heading: 40.162794 deg. ziQmHeadingCmd: 0.700973 target range: 345.501251 and range: 347.70 m.Rmr3?JqbqZqBq:q2qҔyڔ}Byڒy’@3u@  ?颍Bɢ=) U7 >i)'$<顑iwјir3?ge;;Ir3?IU9@Y @Y@]5@Y1EuO EuCEu&Eq"Eu;*Eu;VEu4ZEqa}@a}@a}@a}@a ^A} 0;A I I O >J ,T ?A2% >2 \4?2q}=ٱ2K# :AHRS rotation from veh to nav: [[0.760462,-0.646928,-0.056402],[0.646441,0.745898,0.160469],[-0.061742,-0.158491,0.985428]]2H@U?`ି`?e?@?oIĿ`?i2% >I2^;0YBцByB%IbDNdVDN 84yR% %VX=ٔVS:Q-V>X9XYX=^@Fy^E^CE^>`Q 5fQ5b?F?Q 9fQ5b})b`BYhyj?Q Ij@bPDIb;ib+;bQ5ylɮn@pQFNOT Ignoring new targets: 345.50 m. X%9 X%9Q ProNav: ac range: 345.501251 m, nav range: 343.731018 m, bearing: 38.660889 deg, approach rate: -0.669296 m/s, LOS rate: 0.009035 deg/s, cmd heading: 40.162793 deg, new cmd heading: 40.172478 deg. zj9Q%HeadingCmd: 0.701142 target range: 345.501251 and range: 347.70 m.R% ~3?J!b!Z!B):)2)Ҕ1ڔ11ڒ1’19=`?eBɢes<)a m̠=ii)<iw"i ~3?PJf;-B;I ~3?IAABBB&IBBBBBBZT;BE9@ @@0@ ^AmP;A ؟AI I O >9 E ? E JE %E "E t;*E ;VE 4ZE BE UF4?FH~=ٱF" RAHRS rotation from veh to nav: [[0.761316,-0.645999,-0.055522],[0.645405,0.746846,0.160228],[-0.062041,-0.157818,0.985517]]FH \? Qm`)?@)?`Y?ïa3Ŀ[?iFZ>IF@G^;FڐCYZʆByZ%Iti=Mb@Mb@Mb@9999 99=-?&1{Gz?Y=5?y=н=#<99 =@)=A9Y=AbDU[VDUy'4ye%e==ٔm5:Q-m>9m"?Ym"?=u@FyuEuLEu>yQ 5Q5}F?Q 9Q5}Μ)}`BY^ ?Q E:y R ?Q I @}YDI}UA >q A! I1 IA OM >\ ,ET?A2>23?2{A=ٱ2?# :AHRS rotation from veh to nav: [[0.762205,-0.644954,-0.055474],[0.644303,0.747559,0.161336],[-0.062584,-0.158714,0.985339]]2H`c?v@#g`!??ਦ?`PĿ ?i2>I2];0YBByB%IIF=)FH?bDNXVDN!4yV⵽%VW=ٔV:Q-V>9XYX=Z@FyZE^uE^>`Q 5fQ5bF?Q 9fQ5b)b`BYdyf ?Q If@baDIb:ib;bQ5ylɮnD@lQFNOT Ignoring new targets: 345.50 m. D9 D9QEI EOEEQ ProNav: ac range: 345.501251 m, nav range: 343.227264 m, bearing: 38.671985 deg, approach rate: -0.656554 m/s, LOS rate: 0.014564 deg/s, cmd heading: 40.190114 deg, new cmd heading: 40.205790 deg. "E};*E3;VEZEa@a@a@a@z:QHeadingCmd: 0.701723 target range: 345.501251 and range: 347.70 m.R%3?JbZB:2Ҕڔڒ’T?Bɢ@<)! %+ , s?A2>2 &3?2=ٱ2O" :AHRS rotation from veh to nav: [[0.763463,-0.643540,-0.054591],[0.642794,0.748916,0.161060],[-0.062764,-0.158054,0.985434]]2H`Jn? gő???K;Ŀ@?i2>I2 ];0YBÆByB%IbDzdVDz 84y!=%&=ٔ9Q- >9Y=@FyEׂE>!Q 5%Q5%1F?Q 9-Q5%e)%}`BY)y-u ?Q I-@%jDI%r;i%;%Q5y=Bɮ=@9aQeFNOT Ignoring new targets: 345.50 m.99Q ProNav: ac range: 345.501251 m, nav range: 342.921356 m, bearing: 38.678882 deg, approach rate: -0.620352 m/s, LOS rate: 0.013999 deg/s, cmd heading: 40.205789 deg, new cmd heading: 40.226498 deg. z:QHeadingCmd: 0.702085 target range: 345.501251 and range: 347.70 m.Rջ3?JbZBbEjE 4rE/EU? EUmEU'EQ"EUt;*EU(;VEU'4ZEQBEQae2EQamJEUb9Y=@FyE E >Q 5Q5F?Q 9Q5)Y "?Q E:y%?Q I%@vDI:i]:"Q5y-Bɮ-@-iEQQUFNOT Ignoring new targets: 345.50 m.]9]9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.485346Qu ProNav: ac range: 345.501251 m, nav range: 342.562500 m, bearing: 38.688573 deg, approach rate: -0.625110 m/s, LOS rate: 0.016899 deg/s, cmd heading: 40.226498 deg, new cmd heading: 40.255602 deg. z}9:Q}HeadingCmd: 0.702593 target range: 345.501251 and range: 347.70 m.R}3?JbZB:2Ҕ ڔ ]B ڒ ’ M@]Bɢ]P<)a e@kBCB%IBBBBBB;T;BE @  @ @ O0@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737165Q ^A rg:ԁA9IAIQOe? ,R?AB>B1?Bq=ٱB % NAHRS rotation from veh to nav: [[0.766849,-0.639548,-0.054049],[0.638615,0.751885,0.163828],[-0.064138,-0.160148,0.985007]]BH ?,w@C@o?q?@T?Tk Ŀ-?iB>IB "];@YVByV%IbDjVVDjE4yvE%v.=ٔz1@;Q-z>9xY|=~@Fy~!E~<E~>Q 5 Q5F?Q 9 Q5ߌ)EN EVE%E"E@;*E;VE 4ZEBEi>yy@ @@4@ԡ^A q:- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242163 A I I O5 > ,σ?A>>>U1?>=ٱ>F% FAHRS rotation from veh to nav: [[0.767951,-0.638213,-0.054184],[0.637325,0.752970,0.163868],[-0.063784,-0.160375,0.984993]]>H ?=ld?T?@?T.Ŀ ?i>>I>6\;9QYQ=U@FyU#E]3E]>aQ 5mQ5e G?Q 9mQ5eH)e`BYm%?Q Eu:yu$ ?Q Iu@eDIe:ie:e)Q5yyɮ}@yGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 345.50 m.99Q ProNav: ac range: 345.501251 m, nav range: 342.004578 m, bearing: 38.703006 deg, approach rate: -0.670816 m/s, LOS rate: 0.015813 deg/s, cmd heading: 40.280204 deg, new cmd heading: 40.298936 deg. z-:QHeadingCmd: 0.703349 target range: 345.501251 and range: 347.70 m.R4?JbZB:2ҔڔhBڒQ’QY]P^ @颥Bɢ <) ǻi)<顩iԱi4?>c;)8I4?IE5U E5QE5&E1"E5l;*E5A;VE54ZE1a=@a=@a=@aE@I@I @I@M4@I@Q@UjA^A%vтA->A->BDAT read: Rx Time:21:26:38.0094 TRx dataTimestamp_ set to:1761513999.429495checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495138AqIyIO~> B B B %IB BB T =B B B &T;B E9 1 ,N郤?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=3.745085YBy%II%=)%<bD5PVD5:4yE"%EK=ٔEQ-E>9IYI=M@FyM%EUEU>YQ 5eQ5]G?Q 9mQ5]˅)]`BYiyiQ Im@]DI] ;i]!;]T-Q5y}Bɮ.@9Q=FNOT Ignoring new targets: 345.50 m.E9E9Q} ProNav: ac range: 345.501251 m, nav range: 341.747192 m, bearing: 38.709079 deg, approach rate: -0.609124 m/s, LOS rate: 0.014383 deg/s, cmd heading: 40.298936 deg, new cmd heading: 40.317168 deg. z}:QHeadingCmd: 0.703667 target range: 345.501251 and range: 347.70 m.R#4?JbZB:2Ҕڔڒ’@ɢ;<) i ) Ā<  iiE#4?EGjb;N?I#4?I9@ @@4@9E=[ E=iE=!E9"E=%;*E=%;VE=c3ZE9BE=F  BDAT read: Tx time:21:26:39.0955 % $Ping request sent.% iS>X*@ _CQ >)@ >)@I! A Y $4?S}; ?>r? X? B9 Y uAI I O >D!,)z?A)]CsI]Q i]YY>:publishing transmit ping time>Fpublishing direction and range infoyY]b?͍"j?YYYYYY Y)YIYiYYYYY Y)YIYYY]$4?S}; ?>r? Y)YIYiYYYU>Uh0?Ux=ٱU$ AHRS rotation from veh to nav: [[0.769244,-0.636677,-0.053906],[0.635824,0.754404,0.163102],[-0.063177,-0.159740,0.985135]]UH?_X?$??V,YrĿ:?iU>IUp\;QYBy%Ii-Mb@Mb@Mb@)))) )9-'1Z?ʡEQ?Y-"?y--\=- A-@ -5@)-VA9)Y-AbDM]VDM'+4yUk9=%(=ٔQ->9Y=@Fy'E`E>PExceeded connect timeout, disconnecting.Q 5Q5F2G?Q 9Q57)`BY?$?Q E:y?Q I@DI;it;1Q5yBɮ\@aEJYR]˾?A]OC]OC].?]G$u@ǵ( sJ@]b?͍"j?]Q ]—]Cp@a bj@5j@@]3?; {?b1/?j]]VCr]CZ]3X?b]_Qzz]WBY]_QzYڗ]C]t-?Q addTargetRange:: Added new target pos. range: 344.799988 m, deltaT: 4.030490 s, deltaX: -2.900024 m, approachRate: -0.719522 m/s, rangeRepo size: 4 Q Added new target pos. range: 342.620056 m, bearing: 38.944054 deg, lat: 36.779391 deg, lon: -121.858933 deg, deltaT: 4.030490 s, deltaX: -2.881195 m, approachRate: -0.714850 m/s, posRepo size: 4 QFNOT Ignoring new targets: 342.62 m.Q ProNav: ac range: 342.620056 m, nav range: 341.942932 m, bearing: 38.820928 deg, approach rate: 0.000000 m/s, LOS rate: 0.014383 deg/s, cmd heading: 40.317169 deg, new cmd heading: 40.338579 deg. zQHeadingCmd: 0.704041 target range: 342.620056 and range: 344.80 m.R<4?JbZB:2ҔڔBڒ!’!%̌u@%?Bɢ9<) Һi)^}<iǗi<4?`;.I<4?Ii9@ @@4@ԑ E G E TE &E "E &|;*E ;VE 4ZE a @a @a @a @^A 𕭻 Ia Iq O >f!, ?A2U>20?2E=ٱ2X% :AHRS rotation from veh to nav: [[0.769806,-0.635971,-0.054215],[0.635169,0.754914,0.163297],[-0.062924,-0.160142,0.985086]]2H`@? Y`«MS?`A(?@?ĿӅ?i2U>I2T\;2ܐCYBByB%IbDjGVDj4yrּ%ra=ٔv;Q-v>9tYt=z@Fyz)EzE~>|Q 5Q5~MBG?Q 9Q5~})~`BY y v?Q I @~DI~:i~:~4Q5yɮ@9QEFNOT Ignoring new targets: 342.62 m.ExL9ExL9QU ProNav: ac range: 342.620056 m, nav range: 341.716614 m, bearing: 38.824645 deg, approach rate: -0.679829 m/s, LOS rate: 0.011173 deg/s, cmd heading: 40.338578 deg, new cmd heading: 40.349736 deg. zU]9Q]HeadingCmd: 0.704236 target range: 342.620056 and range: 344.80 m.R]H4?JYbaZaBa:a2aҔiڔiiڒi’qqu ?颙ɢ<) ;i)n<顡iiH4?L_;CIH4?Ii9@ @@0@@=@=BBBz%IBBBBGDBB9T;BEBùCBùCBBBC4ԙ^APAzAfAI1IAOM>E P E gE $E "E (;*E $;VE 4ZE BE ؓ0?=ٱ4$ AHRS rotation from veh to nav: [[0.769897,-0.635874,-0.054069],[0.635108,0.755162,0.162382],[-0.062424,-0.159357,0.985245]]H?Y쮫R? J*??eĿ!?iz>I\;ؐCY%By%%IiMb@Mb@Mb@ 9Zd;O?+ rh?Y~*?yC =3A@ K@)CAYzAbD_VD.4y=%/=ٔnjQ->9Y=@Fy,EjkE>Q 5Q5aWG?Q 9Q5 y)`BY+?Q E:y#?Q I@DI:if:8Q5yBɮ@ bEQFNOT Ignoring new targets: 342.62 m.p8p8Q ProNav: ac range: 342.620056 m, nav range: 341.404907 m, bearing: 38.826603 deg, approach rate: -0.636316 m/s, LOS rate: 0.004001 deg/s, cmd heading: 40.349735 deg, new cmd heading: 40.355615 deg. z/9QHeadingCmd: 0.704338 target range: 342.620056 and range: 344.80 m.RO4?Jb!Z!B!:!2)Ҕ)ڔ-B)ڒ1’115?Yɢe,<)a eZ;ia)mdu!,qT?A:>:]0?:X9}=ٱ:Y$ BAHRS rotation from veh to nav: [[0.769671,-0.636105,-0.054562],[0.635445,0.754985,0.161886],[-0.061783,-0.159271,0.985300]]:H@$?Z 﫿 U?(??bĿ?i:>I:|\;:ڐCYJByJ%IbDVFVDV4y^ <%^u=ٔ^Q-b?9`Y`=b@Fyb-Ef:Ef?hQ 5nQ5jufG?Q 9nQ5ju)hYlyn$?Q Ir@jDIj@;ijL;j;Q5ytɮv@tGSB*** querying acoustic contact ***: B QFNOT Ignoring new targets: 342.62 m.!8!8Q- ProNav: ac range: 342.620056 m, nav range: 341.181915 m, bearing: 38.827991 deg, approach rate: -0.715566 m/s, LOS rate: 0.004457 deg/s, cmd heading: 40.355616 deg, new cmd heading: 40.359783 deg. z-C9Q5HeadingCmd: 0.704411 target range: 342.620056 and range: 344.80 m.R5IT4?J1b1Z1B9:929ҔAڔAAڒA’AIM?qɢu<)q }ԩ B B B %IB BB U =B HDB B B E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681142]!,Rn?A,B>Bv0?BJwz=ٱB# NAHRS rotation from veh to nav: [[0.769236,-0.636636,-0.054509],[0.636036,0.754759,0.160613],[-0.061111,-0.158219,0.985511]]BH?Q_諿gZ?`&?@?I@ĿN?iB>IB ];BאCYRByV%IbD^XVD^!4yf<%fG=ٔfֺQ-f>9hYh=j@Fyj/En:En>pQ 5vQ5ryG?Q 9vQ5r5q)r`BYtyv,$?Q Iv@rDIr:ir:rV?Q5y~Bɮ~@|!Q%FNOT Ignoring new targets: 342.62 m.-ܕ8-ܕ8Q= ProNav: ac range: 342.620056 m, nav range: 340.907440 m, bearing: 38.829671 deg, approach rate: -0.668393 m/s, LOS rate: 0.004094 deg/s, cmd heading: 40.359782 deg, new cmd heading: 40.364826 deg. z=39QEHeadingCmd: 0.704499 target range: 342.620056 and range: 344.80 m.REZ4?JAbAZABA:A2IҔIڔIIڒQ’QQU@i?ɢʔ<)! %ЄIIO> /!!,)?A2 >2-1?2ٓv=ٱ2(x! :AHRS rotation from veh to nav: [[0.768512,-0.637513,-0.054466],[0.637001,0.754326,0.158817],[-0.060163,-0.156748,0.985804]]2H`?f⫿@Ob?o#? !T?@ͮ PĿോ?i2 >I2K];2ِCYVByV%I|i=Mb@Mb@Mb@9999 99=V-?Mb?/$?Y=h1?y=<=<=A=\@ =A)=A9Y=AbDUPVDU:4ye.%eC=ٔeQ-e>9iYi=m@Fym1Eu=;Eu>yQ 5Q5}G?Q 9Q5}?l)}}`BY1?Q E:yP5?Q I@}DI}H:i}:}BQ5yBɮ@YEQFNOT Ignoring new targets: 342.62 m.bbQ ProNav: ac range: 342.620056 m, nav range: 340.617584 m, bearing: 38.828182 deg, approach rate: -0.692844 m/s, LOS rate: -0.003562 deg/s, cmd heading: 40.364827 deg, new cmd heading: 40.360356 deg. zvQHeadingCmd: 0.704421 target range: 342.620056 and range: 344.80 m.RT4?JbZB:2ҔڔІBڒ’` @=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184619颱ɢ<) i;i)$<项iiT4?]Y; ѻIT4?I)9@ @@ 0@QEM EOE$E"Eˀ;*E3;VE4ZEa@a@a@a@^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437275ԁ I I O >(!,?A2>21?2@r=ٱ2}e :AHRS rotation from veh to nav: [[0.767174,-0.639141,-0.054244],[0.638700,0.753358,0.156568],[-0.059204,-0.154761,0.986176]]2H? sū;p? ?m ?O3ÿ?i2>I2ZE];2ڐCYBByB%IbDJWVDJ 4yR>=%VW=ٔV%Q-V>9XYX=Z@FyZ3EZ;E^>`Q 5bQ5bhG?Q 9fQ5bg)bt`BYdyf5?Q If@bDIbl:ib :bQFQ5yjBɮn@l|QFNOT Ignoring new targets: 342.62 m.Q% ProNav: ac range: 342.620056 m, nav range: 340.354065 m, bearing: 38.826732 deg, approach rate: -0.692546 m/s, LOS rate: -0.003812 deg/s, cmd heading: 40.360356 deg, new cmd heading: 40.356004 deg. z%r'Q5HeadingCmd: 0.704345 target range: 342.620056 and range: 344.80 m.R5O4?J9b9ZABA:A2IҔQڔQQYڒa’aam@&@AɢE <)I MЫim>B}k>ByB}%IB}BByByByB}T;B}E9@ @@N1@ԉMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.689049Ա^A-XһI I O- > bE%J4jE%#4rE%˲0E 4 E lE #E "E j;*E y';VE 3ZE BE n .2?nn=ٱn  AHRS rotation from veh to nav: [[0.766100,-0.640320,-0.055507],[0.640078,0.752275,0.156150],[-0.058229,-0.155155,0.986172]]nH?`}jk`{??`?@Э"ÿ?in&>In4l];lY-ByU%IiMb@Mb@Mb@ 9(\?l?{Gz?Yz4?y=#<E@ ^A)YAbDDVDJ3y%6%%(=ٔ-Q-->9)Y1=5@Fy56E5k;E5>9Q 5EQ5=G?Q 9EQ5=a)=b`BYM4?Q EM:yM@?Q IM@=DI=" ;i= ;=JQ5yUBɮUY@]ZEyQFNOT Ignoring new targets: 342.62 m.ggQ ProNav: ac range: 342.620056 m, nav range: 340.012573 m, bearing: 38.822558 deg, approach rate: -0.702957 m/s, LOS rate: -0.008601 deg/s, cmd heading: 40.356005 deg, new cmd heading: 40.343471 deg. z⼹QHeadingCmd: 0.704126 target range: 342.620056 and range: 344.80 m.RA4?JbZB:2Ҕڔ܆Bڒ’@Bɢa<) ;i)ջ<iɸiA4?bW;4CDIA4?I9@ @@0@@@=UBDAT read: Rx Time:21:26:41.9562 ]TRx dataTimestamp_ set to:1761514003.208524]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193594^A mA gAzA gAII IY Oe >I L.5!,Մ?A24>22?2Qk=ٱ2 :AHRS rotation from veh to nav: [[0.764608,-0.642073,-0.055836],[0.641938,0.750997,0.154657],[-0.057369,-0.154095,0.986389]]2H@w?`܋?+??h_ bÿ?i24>I2P];2ؐCYnByn%IbDzVVDzE4y%u=ٔU)Q-?9 Y = @Fy 8E;E?Q 5%Q5G?Q 9%Q5[])U`BY!y%@?Q I%@DIQ;in;yMQ5y1ɮ5@1GSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 342.62 m.e"e"Qu ProNav: ac range: 342.620056 m, nav range: 339.778107 m, bearing: 38.819593 deg, approach rate: -0.702073 m/s, LOS rate: -0.008885 deg/s, cmd heading: 40.343472 deg, new cmd heading: 40.334570 deg. zu!ùQ}HeadingCmd: 0.703971 target range: 342.620056 and range: 344.80 m.R}r74?JybyZyB:2Ҕڔڒ’V @颹ɢ1<) i)O<iir74?W;hOIr74?IEeA EeYEaEa"Eev;*Eew;VEaZEaam@am@am@am@9@ @@p4@i߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.446787^A*:I9IIOU>) Bu j>Bq Bu %IBu BBq Bq Bq Bu T;Bu E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703466[;!,?A  > F3? k4g=ٱ  %AHRS rotation from veh to nav: [[0.763434,-0.643441,-0.056145],[0.643417,0.750044,0.153127],[-0.056417,-0.153027,0.986610]] H n? ?\?@?⬿ dÿO?i  >I CV]; Y-By-%IbDuFVDu4y<%B=ٔ[Q->9Y=@Fy:E;E>Q 5Q5 ^A9II Om >u BDAT read: Tx time:21:26:43.0455 u $Ping request sent.u .@ |>)@I|žpp?Q9Y=@Fy!Q 5-Q5%G?Q 95Q5====%R)%1`BYU#8?Q EU:yUGB?Q IU@%DI%W;i%;%TQ5yaɮe\@aJ R ?A C C )? Ps@sDR?Bm&`@ ;:D?S;*? )QϽ |ž— Ato@h@j8^\@ śc?3V+X@?q>X?j ECr |CZ ?b -z 4C 3X?  ^Bڗ #C -?Q addTargetRange:: Added new target pos. range: 342.399994 m, deltaT: 4.034287 s, deltaX: -2.399994 m, approachRate: -0.594899 m/s, rangeRepo size: 4 Q% Added new target pos. range: 340.235199 m, bearing: 38.004820 deg, lat: 36.779380 deg, lon: -121.858933 deg, deltaT: 4.034287 s, deltaX: -2.384857 m, approachRate: -0.591147 m/s, posRepo size: 4 !Q%FNOT Ignoring new targets: 340.24 m.MIQ] ProNav: ac range: 340.235199 m, nav range: 338.278748 m, bearing: 38.934531 deg, approach rate: 0.000000 m/s, LOS rate: -0.009147 deg/s, cmd heading: 40.323012 deg, new cmd heading: 40.311102 deg. zYQeHeadingCmd: 0.703561 target range: 340.235199 and range: 342.40 m.Re4?JabaZaBi:2ҔڔBڒ’`ffu@?BɢV<) pi)or<i%V턼i4?NV;/2:I4?Iy@y @@p4@@iA@jAEuL Eu`Eu'Eq"EuW;*Eu'!;VEu'4ZEqa}@a}@a@a@) ^A yb]:A .AI I1 OE >Q H!,c%?AF\>F4?F6]=ٱF NAHRS rotation from veh to nav: [[0.760394,-0.646919,-0.057423],[0.647200,0.747403,0.150073],[-0.054167,-0.151279,0.987006]]FH%U?@fܵ??5?̻@]ÿ`?iF\>IFk];FِCYVByV~%I^AA^@AbDb[VDby'4yjl˽%jN=ٔjQ-n>9n ?Yn ?=n@Fyn>Er I<Er>tQ 5zQ5vG?Q 9zQ5v]M)v`BY|y~C?Q I~@vDIv;iv5;vKXQ5yqBɮI@RE)Q-FNOT Ignoring new targets: 340.24 m.5A5AQE ProNav: ac range: 340.235199 m, nav range: 337.995728 m, bearing: 38.930481 deg, approach rate: -0.738441 m/s, LOS rate: -0.010576 deg/s, cmd heading: 40.311104 deg, new cmd heading: 40.298943 deg. zEEQMHeadingCmd: 0.703349 target range: 340.235199 and range: 342.40 m.RM4?JIbIZIBI:Q2QҔڔڒ’(?BBB%IBBBT =BGDBBT;BEaɢe z<)i mԑii)<ii4?~V;*;I4?I19@ @@/@Y^A#2?:ԁ E G E gE !E "E &|;*E $;VE c3ZE BE O!,>?A@V>5?ٔY=ٱ+G-jA MAHRS rotation from veh to nav: [[0.759202,-0.648272,-0.057926],[0.648686,0.746408,0.148598],[-0.053095,-0.150392,0.987200]]QHaK?ॾ ? ?E?U/ @ÿ#?iV>I];09jAY֣AؐCYByx%Ia@a iMb@Mb@Mb@ 9bX9?91Y1==@Fy=@E= u;E=>AQ 5MQ5EG H?Q 9MQ5EF)E`BYU6?Q EU:yU-A?Q IU@EDIE:iE:E\Q5yYɮ]@aQFNOT Ignoring new targets: 340.24 m.%%Q ProNav: ac range: 340.235199 m, nav range: 337.634033 m, bearing: 38.925862 deg, approach rate: -0.708467 m/s, LOS rate: -0.009056 deg/s, cmd heading: 40.298943 deg, new cmd heading: 40.285072 deg. zƹQHeadingCmd: 0.703107 target range: 340.235199 and range: 342.40 m.R3?JbZB:2Ҕڔڒ’Ͼ?Bɢ6a<) i)NX<ivi3?V; ;I3?II ) iA9@ @@0@ ^A X;A ؟AI I! ) O5 >c^V!,VZ?A2@G>2-z5?2T=ٱ2,E> E>9E>&E<"E>;*E> ;VE>4ZEI2 ];2ېCYniByrR%IbDz_VDz.4y5%n=ٔNkQ-?9 "?Y "?= @Fy BE;E?Q 5%Q5H?Q 9%Q5B)_BY!y%A?Q I%@DI>:iW:_Q5y5pBɮ5o@1GSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 340.24 m.eA*eA*Qu ProNav: ac range: 340.235199 m, nav range: 337.400757 m, bearing: 38.922804 deg, approach rate: -0.709172 m/s, LOS rate: -0.009303 deg/s, cmd heading: 40.285070 deg, new cmd heading: 40.275890 deg. zuN̹Q}HeadingCmd: 0.702947 target range: 340.235199 and range: 342.40 m.R}T3?JybyZyB:2Ҕڔڒ’?颽Bɢ(<<) i)<iZiT3? ~W;Թ G\!,!st?A2]'>2<5?2P=ٱ2 :AHRS rotation from veh to nav: [[0.756984,-0.650730,-0.059368],[0.651447,0.744484,0.146152],[-0.050907,-0.149310,0.987479]]2H@79?`e`?@??qÿm?i2]'>I2~];2ِCLYRdByRL%I TTbD^ZVD^%4yfּ%fO=ٔf'Q-f>9hYh=j@FyjDEn;En>pQ 5vQ5r+H?Q 9vQ5r=)r_BYtyvB?Q Iz@rDIr:ir[:rcQ5y|ɮ~@|!Q%FNOT Ignoring new targets: 340.24 m.-_.-_.Q= ProNav: ac range: 340.235199 m, nav range: 337.120728 m, bearing: 38.919046 deg, approach rate: -0.709337 m/s, LOS rate: -0.009528 deg/s, cmd heading: 40.275891 deg, new cmd heading: 40.264606 deg. z=?ѹQEHeadingCmd: 0.702750 target range: 340.235199 and range: 342.40 m.REl3?JAbAZABA:I2IҔIڔIQڒQ’QQU $R?Bɢ%?<)! %* i!)%Oic!,N?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182479:>:26?:/]L=ٱ: ZAHRS rotation from veh to nav: [[0.756309,-0.651313,-0.061549],[0.652311,0.743591,0.146843],[-0.049873,-0.151208,0.987243]]:H3? e??@?`Zÿ~?i:>I:];8YbIByf+%I|aUaU iUMb@Mb@Mb@QQQQ Q9Un?~jthQYU6?yUDUuU`AU@ UA)U AQYUAbDmgVDm=4y}%}?=ٔQ->9Y=@FyFEJ(;E>Q 5Q5@?H?Q 9Q5^8)_BY6?Q E:yN4?Q I@"DI ;i:fQ5ynBɮR@SEQFNOT Ignoring new targets: 340.24 m.G]G]Q ProNav: ac range: 340.235199 m, nav range: 336.818024 m, bearing: 38.917757 deg, approach rate: -0.709143 m/s, LOS rate: -0.003023 deg/s, cmd heading: 40.264607 deg, new cmd heading: 40.260736 deg. zQHeadingCmd: 0.702682 target range: 340.235199 and range: 342.40 m.R3?JbZB:2ҔڔBڒ’  Ó@ɢD<) Vi) <ii3?[Y;.i!,G?A2'>2j6?28jH=ٱ2 >AHRS rotation from veh to nav: [[0.755787,-0.651815,-0.062632],[0.652988,0.743077,0.146438],[-0.048910,-0.151574,0.987235]]2H i/?F?H?x? fÿ@n?i2'>I2Ö];2ېCYB9Z ?YZ ?=Z@FyZHE^;E^>`Q 5bQ5b}PH?Q 9fQ5b3)b_BYdyf4?Q Ij@b+DIb;ib&;bjQ5ynmBɮn@lBxBxBza%IBzuBBxBxBxBz"T;BzEQ%FNOT Ignoring new targets: 340.24 m.%b%bQ5 ProNav: ac range: 340.235199 m, nav range: 336.549438 m, bearing: 38.916572 deg, approach rate: -0.702207 m/s, LOS rate: -0.003099 deg/s, cmd heading: 40.260738 deg, new cmd heading: 40.257182 deg. z= Q=HeadingCmd: 0.702620 target range: 340.235199 and range: 342.40 m.R=3?JAbAZABA:A2AIҔIڔQQڒQ’QY]g@颅Bɢ9;) ri) .<  i 'q}i3?bXZ;Z:A >E # E 2E $E "E [;*E ;VE 4ZE BE d % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939558|p!, …?A>c6?.eE=ٱ[ AHRS rotation from veh to nav: [[0.755880,-0.651571,-0.064033],[0.652935,0.743021,0.146955],[-0.048174,-0.152889,0.987068]]H+0?vd??h?3ÿ?i>I2];ܐCԹY&By%II,>)iMb@Mb@Mb@ 9gfffff?I +Y33?y̼94A A) AY(AbD\VDP)4yṽ%-=ٔͺQ->9Y=@FyJE_E>Q 5Q54fH?Q 9Q5].)_BYV3?Q E:y,?Q I@5DIo;i;=nQ5yYBɮ6@JEQFNOT Ignoring new targets: 340.24 m. 7 7Q ProNav: ac range: 340.235199 m, nav range: 336.219452 m, bearing: 38.916827 deg, approach rate: -0.675741 m/s, LOS rate: 0.000523 deg/s, cmd heading: 40.257183 deg, new cmd heading: 40.257948 deg. z7QHeadingCmd: 0.702634 target range: 340.235199 and range: 342.40 m.R3?JbZB:2Ҕ)ڔ-B)ڒ1’115ড় @}Bɢ};) ㏾i)qQ<顩iJzi3?[;jq7'w!,݅?AJ>Jn>6?JSQA=ٱJ VAHRS rotation from veh to nav: [[0.756285,-0.650963,-0.065418],[0.652539,0.743325,0.147176],[-0.047179,-0.153995,0.986945]]JH`}3?9?`R?@?'ÿ ?iJ>IJ ];JאCY^By^$IbDf@nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.442561VDf3yv_%vY=ٔvS-Q-v>9z"?Yz"?=z@FyzLE~FźE~>Q 5 Q5wH?Q 9 Q5 *)_BY y ,?Q I @>DIy);i*;qQ5yXBɮ%<@!GS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 340.24 m.-m<7-m<7Q= ProNav: ac range: 340.235199 m, nav range: 335.956573 m, bearing: 38.917056 deg, approach rate: -0.737370 m/s, LOS rate: 0.000643 deg/s, cmd heading: 40.257948 deg, new cmd heading: 40.258636 deg. z=7QEHeadingCmd: 0.702646 target range: 340.235199 and range: 342.40 m.RE3?JAbAZABI:2Ҕڔڒ’ / @aɢ`4) Fi)=<ixi%3?%\;%/ BDAT read: Tx time:21:26:46.9955 $Ping request sent.? 0P瞿 e?)E? 0P瞿 )Ii^A= :<ԙ Ai Iq I O >q}!,`?ABjc>BB6?B<=ٱBm5 ZAHRS rotation from veh to nav: [[0.756863,-0.650111,-0.067189],[0.651946,0.743726,0.147778],[-0.046102,-0.155651,0.986736]]BH78?@F3?@?_?@\ÿV?iBjc>IB/d^;BؐCYbByb$I1bD[VDy'4y%:=ٔ Q->9Y=@FyOEE>bEjEr 4rEW0E5 E5@E5$E1"E5V;*E5M;VE54ZE1BE5K/!,?A2>25?2&9=ٱ2qq! :AHRS rotation from veh to nav: [[0.757535,-0.649187,-0.068537],[0.651231,0.744282,0.148130],[-0.045153,-0.156847,0.986590]]2H=?`#? (?`?AĿ%?i2>I2^;0YBByB$I DDJ=J=i Mb@Mb@Mb@     9 Fx?333333Y +?y   vA  -A)  A Y AbD%\VD%P)4y5ƽ%59=ٔ=1 Q-=>9= ?YE ?=E@FyEQEEEE>IQ 5UQ5MuH?Q 9]Q5M )Mr_BY],?Q E]:y]?Q I]@MQDIM" ;iM ;M8yQ5yeVBɮm@mKE)Q-FNOT Ignoring new targets: 337.95 m.U"9U"9Qe ProNav: ac range: 337.948792 m, nav range: 334.648376 m, bearing: 38.771856 deg, approach rate: -0.676277 m/s, LOS rate: 0.008887 deg/s, cmd heading: 40.259556 deg, new cmd heading: 40.270858 deg. ze,9QmHeadingCmd: 0.702859 target range: 337.948792 and range: 340.10 m.Rm3?JibiZiBi:2ҔڔfBڒ’? ɢۻ) ~˾i)<ivri%3?%SV^;%*T;*EY;VE4ZEa@a@a@a@@ @@5@9^A) i B h>B B $IB BB B B B T;B EAy I I O >X!,d/?A BoW>BE5?BP4=ٱB" JAHRS rotation from veh to nav: [[0.758262,-0.648229,-0.069557],[0.650455,0.744985,0.148003],[-0.044121,-0.157469,0.986538]]BH@C?Jyα??`?@ 'Ŀ?iBoW>IBq^;BڐCYnByn$IbDzTVDz4yռ%N=ٔy*Q->9 Y = @Fy SE/E>Q 5%Q5H?Q 9%Q5)k_BY!y%\?Q I%@ZDIa;i:|Q5y5UBɮ5@5LEQQ]FNOT Ignoring new targets: 337.95 m.]'-9e'-9Qm ProNav: ac range: 337.948792 m, nav range: 334.381256 m, bearing: 38.775417 deg, approach rate: -0.709131 m/s, LOS rate: 0.009461 deg/s, cmd heading: 40.270857 deg, new cmd heading: 40.281549 deg. zu9QuHeadingCmd: 0.703046 target range: 337.948792 and range: 340.10 m.Ru3?JybyZyBy:y2Ҕڔڒ’@e?9ɢ=&e)A EѾiA)Eh@!,qI?A2ī>2o,5?2m 2=ٱ2@Z# :AHRS rotation from veh to nav: [[0.759135,-0.647086,-0.070666],[0.649481,0.745718,0.148593],[-0.043455,-0.158698,0.986370]]2H J? ,??@?`?8PĿX?i2ī>I2^;2ِCYBυByB$IPiEMb@Mb@Mb@AAAA A9EuV?I +I +?YEr(?yE9E949qYq=}@Fy}UE}aME}>Q 5Q5H?Q 9Q5)i_BY)?Q E:yA?Q I@bDI;i3;VQ5yɮ\@QFNOT Ignoring new targets: 337.95 m.H9H9Q ProNav: ac range: 337.948792 m, nav range: 334.105103 m, bearing: 38.780056 deg, approach rate: -0.652640 m/s, LOS rate: 0.010974 deg/s, cmd heading: 40.281549 deg, new cmd heading: 40.295480 deg. z9Q HeadingCmd: 0.703289 target range: 337.948792 and range: 340.10 m.R  4?J b ZB:2ҔڔJB!ڒ!’!!%?QɢU,)Q U`iY)]XfAm >E ) E GE %E "E `;*E ;VE 4ZE a @a @a @a @! Ia Iq O >j!,Lc?AF>F4?F/=ٱF! VAHRS rotation from veh to nav: [[0.760329,-0.645764,-0.069923],[0.648117,0.747140,0.147398],[-0.042942,-0.157389,0.986602]]FH T?{汿`???@V%Ŀ`??iF>IF-^;FؐCYb…Byf$IIn>)n>|bDzSVDz4y%P=ٔ%Q-%>9)Y)=-@Fy5WE5E5>Q 5Q5H?Q 9Q5)h_BYy?Q I@kDI!;i;Q5ySBɮ@GSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 337.95 m.5M95M9QM ProNav: ac range: 337.948792 m, nav range: 333.835175 m, bearing: 38.784686 deg, approach rate: -0.655259 m/s, LOS rate: 0.011247 deg/s, cmd heading: 40.295480 deg, new cmd heading: 40.309379 deg. zM9QHeadingCmd: 0.703531 target range: 337.948792 and range: 340.10 m.R4?JbZB:2Ҕڔڒ’Ol?Bg>BCB$IBBBBBBT;BE颉ɢC) Bi) <iطii4?^_;j;I4?I)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aON 9@  @ @ 5@ ԁ E - E [E #E "E d;*E ;VE 3ZE BE :P`!,?A @BUC~cGSkAA9SkAYAq}>&4?$_+=ٱ6# %AHRS rotation from veh to nav: [[0.761775,-0.643924,-0.071139],[0.646490,0.748499,0.147647],[-0.041827,-0.158464,0.986478]]H@v`?`"6 ???KjHĿ ;?i}>Iw^;ِCYMByMz$Ionly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 78.08, 83.52, 86.91 a@a a@a a@a a@a bDRVD4yl%=ٔQ->9Y=@FyZE7~E>Q 5Q5H?Q 9Q5)f_BQ A+:YQ E:y;?Q I@wDI:i ?ȇQ5y ?Bɮ X@ CE)Q5FNOT Ignoring new targets: 337.95 m.5W95W9QM ProNav: ac range: 337.948792 m, nav range: 333.473419 m, bearing: 38.791036 deg, approach rate: -0.670839 m/s, LOS rate: 0.011788 deg/s, cmd heading: 40.309379 deg, new cmd heading: 40.328449 deg. zMp:QMHeadingCmd: 0.703864 target range: 337.948792 and range: 340.10 m.RUr04?JQbQZQBQ:Q2QҔYڔYYڒa’aae]@颉ɢx <) i)/̞<顑i-fir04?|_;I;Ir04?I}ԅ#ԡ@ @@4@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509207^A ;IY Ii O > !,\?A6Y >63?6)=ٱ6# >AHRS rotation from veh to nav: [[0.762517,-0.643033,-0.071248],[0.645639,0.749267,0.147477],[-0.041449,-0.158454,0.986496]]6Hf?`J=? ?`?87HĿ`?i6Y >I6OD^;6אCY^Bybl$IbDjlVDjF4yrf%r=ٔrQ-r?9tYt=v@Fyv[Ev`rEz?xQ 5~Q5zI?Q 9Q5z )ze_BQ A :YQ EQ:y?Q I@z}DIz ;izZ?zQ5yɮ@1Q=FNOT Ignoring new targets: 337.95 m.=W9EW9QM ProNav: ac range: 337.948792 m, nav range: 333.271637 m, bearing: 38.794624 deg, approach rate: -0.660360 m/s, LOS rate: 0.011750 deg/s, cmd heading: 40.328449 deg, new cmd heading: 40.339220 deg. zU:QUHeadingCmd: 0.704052 target range: 337.948792 and range: 340.10 m.EmP Em'Em$Ei"Em(;*Em";VEm4ZEiau@au@au@au@RU<4?JbZB:2Ҕڔڒ’@QɢUr)] ]iY)]BB$IBȅBBBBODB)T;BEBYB]ǸCBYB]T =B]T =C][4@ @@%4@@=@=)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012185^A "5;A zA fAY Ia Iq O >SƬ!,?ABZ>B3?B'=ٱB" JAHRS rotation from veh to nav: [[0.763416,-0.641999,-0.070948],[0.644619,0.750349,0.146434],[-0.040774,-0.157525,0.986673]]BHm?@)`?`?W? ]ि`)Ŀ Ӓ?iBZ>IB^;BڐCYRByRk$I TTbD^]VD^'+4yfኻ%fI=ٔjٺQ-j>9hYh=j@Fyj]En[En>pQ 5vQ5r I?Q 9vQ5r)rd_BQ Av9YxQ Ez):yz?Q Iz@rDIrC ;ir?rmQ5y~=Bɮ~ @~DE!Q%FNOT Ignoring new targets: 337.95 m.-EZ9-EZ9Q= ProNav: ac range: 337.948792 m, nav range: 333.002838 m, bearing: 38.799475 deg, approach rate: -0.660263 m/s, LOS rate: 0.011927 deg/s, cmd heading: 40.339220 deg, new cmd heading: 40.353786 deg. z=:QEHeadingCmd: 0.704306 target range: 337.948792 and range: 340.10 m.REmM4?JAbAZABA:I2IҔQڔQQڒQ’QY] @颁ɢ B) i)Q<顉i~`imM4?9_;uB:ImM4?I %9@! @!@-0@)EE EE:EE#EA"EEW;*EE$ ;VEE3ZEABEEBY k!,mSφ?A 6,>6X3?6{"=ٱ6 BAHRS rotation from veh to nav: [[0.763873,-0.641455,-0.070949],[0.644147,0.751052,0.144896],[-0.039658,-0.156383,0.986900]]6Hq?`͆)ڜ???`N@_Ŀ ?i6,>I6{^;6֐CY^BybY$I%BDAT read: Rx Time:21:26:49.8491 -TRx dataTimestamp_ set to:1761514011.276685-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517396aa aa aa  a a  i Mb@Mb@Mb@     9 ? rhI +?Y  ?y C 9< A @ CA)  A Y  AbD%VVD%E4y5|%56=ٔ58#Q-=>99Y9==@Fy=`EEEE>IQ 5UQ5M(I?Q 9UQ5M)Mh_BQ AUT:Y] !?Q E]:y]^?Q I]@MDIM;iMK;MWQ5yaɮe@aQFNOT Ignoring new targets: 337.95 m.99Q ProNav: ac range: 337.948792 m, nav range: 332.721741 m, bearing: 38.803263 deg, approach rate: -0.626876 m/s, LOS rate: 0.008455 deg/s, cmd heading: 40.353786 deg, new cmd heading: 40.365160 deg. z9QHeadingCmd: 0.704505 target range: 337.948792 and range: 340.10 m.RpZ4?JbZB:2ҔڔHBڒ’ @iIɢM)Q U iQ)UA > A ؟AI I O% >M:!,ꆤ?AB(B(B*m$IB*BB(B(B(B*'T;B*EBI>B3X3?ByS=ٱB) JAHRS rotation from veh to nav: [[0.763907,-0.641343,-0.071585],[0.644168,0.751188,0.144101],[-0.038644,-0.156192,0.986970]]BHq?@cS? ?q? ,ɣÿC?iBI>IB}_;BِCYRByRW$IbDZJVDZ04yb%MU=ٔU%Q-U>9U"?Y]"?=]@Fy]bEeE>Q 5Q5z:I?Q 9Q5)k_BYy]?Q I@DI;i5;Q5y-Bɮ@GS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 337.95 m.E9E9QU ProNav: ac range: 337.948792 m, nav range: 332.466492 m, bearing: 38.806710 deg, approach rate: -0.606947 m/s, LOS rate: 0.008201 deg/s, cmd heading: 40.365161 deg, new cmd heading: 40.375508 deg. zU9Q]HeadingCmd: 0.704686 target range: 337.948792 and range: 340.10 m.R]Ff4?JbZB:2Ҕڔڒ’s@DAT read: 21:26:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 407,-0.03,-2.766, 1.946,-2.495, 2.993, PHS= 0.626,-1.002, 0.751, RAW= 153.7, -4.5, CAL= 153.3, -5.8, ROT= 356.7, 5.8 Ygot valid direction response: 21:26:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 407,-0.03,-2.766, 1.946,-2.495, 2.993, PHS= 0.626,-1.002, 0.751, RAW= 153.7, -4.5, CAL= 153.3, -5.8, ROT= 356.7, 5.8 PDAT read: Bearing 179.3, -5.0 (Local) ~Local bearing/azimuth received: Bearing 179.3, -5.0 (Local) DAT read: Range 11 to 50 : 337.1 m (Round-trip 449.5 ms) speed 0.6 m/s *DAT read: user:235> BDAT read: Tx time:21:26:50.9455 $Ping request sent.+@]|٠]<+@ ]4QϽ)]8@I]4Q=YY]"U:o? I(?tA ]i?)]S=I]Qki]4Q=YYE:publishing transmit ping timeEFpublishing direction and range infoyY]q?;O]R+hg޹YYYYYY Y)YIYiYYYYYUBɢU)Q U iY)]g@X!,?A? >[3?_=ٱa! AHRS rotation from veh to nav: [[0.763936,-0.641065,-0.073741],[0.644261,0.751262,0.143291],[-0.036460,-0.156974,0.986929]]H)r?ಿɝ? W ?_W? ꪢ`Ŀ ?i? >I_;אCYByV$II==)=49E ?YM ?=M@FyMdEM68EU>QQ 5]Q5UWOI?Q 9eQ5U)Un_BYe_%?Q Ee:ye"?Q Ie@UDIU ;iU ;UQ5yqɮu@qJ!R%?A%{C%{C%ʥ ?% f&t@#ʚ.3GH@%q?;O]R+hg޹%Qk%4Q=—%DW!:?p@o bh@mCE%{N?Q-O?zY2@j%CCr%yCZ%qס?b%Bz%9A%I ;?%u/%Bڗ%yC%n%?Q addTargetRange:: Added new target pos. range: 337.100006 m, deltaT: 4.032119 s, deltaX: -3.000000 m, approachRate: -0.744026 m/s, rangeRepo size: 4 Q Added new target pos. range: 334.964355 m, bearing: 35.954806 deg, lat: 36.779400 deg, lon: -121.859072 deg, deltaT: 4.032119 s, deltaX: -2.984436 m, approachRate: -0.740166 m/s, posRepo size: 4 QFNOT Ignoring new targets: 334.96 m.Q ProNav: ac range: 334.964355 m, nav range: 326.946960 m, bearing: 37.025619 deg, approach rate: 0.000000 m/s, LOS rate: 0.008201 deg/s, cmd heading: 40.375509 deg, new cmd heading: 40.386983 deg. zQHeadingCmd: 0.704886 target range: 334.964355 and range: 337.10 m.Rfs4?JbZB:2ҔڔJBڒ’u@  (?1ɢ52)1 5 i9)=Ա<99i=_ViEfs4?E];EMIMfs4?II9 7I)hAa E 9@A  @A @A @A E=  E= DE= &E9 "E= sH;*E= h;VE= 4ZE9 aE @aE @aE @aE @ԑ ^A!9ԹA=؟AIAIQOe ?!,;'?A2N>2U3?2:C=ٱ2 ! :AHRS rotation from veh to nav: [[0.764042,-0.640762,-0.075257],[0.644232,0.751448,0.142450],[-0.034725,-0.157321,0.986937]]2Hs? D? ?@;?}ǡ#Ŀ?i2N>I2Pv`;2ڐCYBByBA$IbDN^VDN,4yR琽%V5=ٔV{Q-V>9Z"?YZ"?=Z@FyZfE^]SE^>`Q 5bQ5b"cI?Q 9fQ5bj)bp_BYdyf"?Q If@bDIby:ib:bQ5yn,Bɮn @nEE|QFNOT Ignoring new targets: 334.96 m.÷7÷7Q ProNav: ac range: 334.964355 m, nav range: 326.655121 m, bearing: 37.026180 deg, approach rate: -0.651806 m/s, LOS rate: 0.001255 deg/s, cmd heading: 40.386984 deg, new cmd heading: 40.388670 deg. z\8Q%HeadingCmd: 0.704915 target range: 334.964355 and range: 337.10 m.R%Tu4?J!b!Z!B!:!2!Ҕ)ڔ))ڒ’?BBBT$IBBBBBBT;BEBɢ )! %i!)%;];]{I]Tu4?IaԑԹu9 @  @ @ @ D1 zD5 @AbEjE4rE$Z/E= " E= .E= %E9 "E= Z;*E= ;VE= 4ZE9 BE9 aM 2E9 aM JE= qaM&m3?M=ٱM! AHRS rotation from veh to nav: [[0.763857,-0.640819,-0.076641],[0.644543,0.751398,0.141298],[-0.032959,-0.157330,0.986996]]MH`q? `?`s ??ߠ`c#Ŀx?iM0->IM[a;MאCYByQ$IiMb@Mb@Mb@ 9Mb?y&19Y=@FyiE(:E>iQ 5uQ5mt{I?Q 9}Q5m)mq_BY}K#?Q E}:y}v)?Q I}@mDImX ;im ;mQ5y+Bɮ)@FEԑQFNOT Ignoring new targets: 334.96 m.Q ProNav: ac range: 334.964355 m, nav range: 326.289307 m, bearing: 37.025171 deg, approach rate: -0.636804 m/s, LOS rate: -0.001759 deg/s, cmd heading: 40.388671 deg, new cmd heading: 40.385639 deg. zQHeadingCmd: 0.704862 target range: 334.964355 and range: 337.10 m.Rq4?JbZB:2ҔڔFBڒ’`U?Bɢk)  i)c<<i"zOi%q4?%\;-]h9I-q4?I)1111p>i%>] 9@Y  @Y @] 4@Y E  E vE 'E "E mR;*E ,;VE '4ZE a @a @a @a @ ^AU IqIO?/x!,÷g?A>>>f3?><ٱ> $ FAHRS rotation from veh to nav: [[0.763148,-0.641009,-0.081924],[0.645587,0.750620,0.140667],[-0.028675,-0.160239,0.986662]]>H k? &?`? b? ]Ŀ?i>>I>3c;>ڐCYNByNL$IXbDZ[VDZy'4yb%f8=ٔfQ-f>9dYh=j@FyjkEj59;En>lQ 5rQ5nI?Q 9vQ5n)ns_BYtyv)?Q Iv@nDIn:in:nQ5yzBɮ~_@~BBH$IBBBBBBS;BE 9@  @ @ /@^AU9IIO>9 E  E "E %E "E *E ;VE 4ZE BE 2 3?2<ٱ2W$ >AHRS rotation from veh to nav: [[0.762626,-0.641467,-0.083193],[0.646277,0.750268,0.139374],[-0.026987,-0.160056,0.986739]]2Hng?#L L?`1? ?^|Ŀ]?i2B>I2yd;2אCYFByFI$IbDNkVDND4yVT%VM=ٔVQ-V>9XYX=Z@FyZmE^ ;E^>dQ 5jQ5fqI?Q 9jQ5f)fu_BYhyj*?Q Ij@fDIf :if:f!,p\?A2>2^D4?2-%<ٱ2%k$ :AHRS rotation from veh to nav: [[0.761916,-0.642094,-0.084849],[0.647201,0.749781,0.137696],[-0.024795,-0.159827,0.986834]]2Ha?ߵ?3?? c@4uĿ $?i2>I2e;2ؐCYBByBK$IDDiEMb@Mb@Mb@AAAA A9E~jt?y&1|I +?YE$?yE`廙E94=ٔudQ-u>y9qYy=}@FypE1;E>Q 5Q5EI?Q 9Q5O)s_BY$?Q E:y72?Q I@DI;ix;Q5yBɮT@QFNOT Ignoring new targets: 334.96 m.!Ѹ!ѸQ ProNav: ac range: 334.964355 m, nav range: 325.486877 m, bearing: 37.021124 deg, approach rate: -0.648741 m/s, LOS rate: -0.005714 deg/s, cmd heading: 40.380765 deg, new cmd heading: 40.373489 deg. zzQHeadingCmd: 0.704650 target range: 334.964355 and range: 337.10 m.Rc4?JbZB:2Ҕڔ[Bڒ’@-Bɢ-wX߼)1 53i1)5*ao<99i=7Gi=c4?E\;EL;IEc4?IAE] E]E]$EY"E]CJ;*E] :VE]4ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7604249@ @@0@ԩBBBB$IBBBBBBS;BE^A=] ;IIO> } R>y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0143335!,v?A:n>:ڍ4?:X<ٱ:# FAHRS rotation from veh to nav: [[0.761227,-0.642732,-0.086192],[0.648087,0.749347,0.135878],[-0.022745,-0.159294,0.986969]]:H[?B ??@ud?JcĿ@@?i:n>I:\f;:אCYJByN=$IbDVlVDVF4y^j%^T=ٔbqQ-b>9`Y`=f@FyfrEf/?;Ef>hQ 5nQ5j=I?Q 9nQ5j")jr_BYpyr2?Q Ir@jDIjr;ij;jWQ5ytɮv@tQFNOT Ignoring new targets: 334.96 m.&Ը&ԸQ- ProNav: ac range: 334.964355 m, nav range: 325.240021 m, bearing: 37.018900 deg, approach rate: -0.642759 m/s, LOS rate: -0.005796 deg/s, cmd heading: 40.373487 deg, new cmd heading: 40.366809 deg. z-~Q5HeadingCmd: 0.704534 target range: 334.964355 and range: 337.10 m.R5S\4?J1b1Z1B1:929ҔAڔAAڒA’AIM @uBɢu*&߼)q uZԹi)h<iDiS\4?$.\;s(;IS\4?I @ @@0@DAzDAEM' EMEM&EI"EM _;*EM:VEM4ZEIBEM9 !,χ?A27)>2)4?20<ٱ2" :AHRS rotation from veh to nav: [[0.760346,-0.643591,-0.087549],[0.649206,0.748868,0.133150],[-0.020131,-0.158077,0.987222]]2H@T?KiK? ? ?J ;ĿQ?i27)>I2f;2ؐCYvByvE$IiuMb@Mb@Mb@qqqq q9u?{Gzty&1|?Yuf&?yuףu`;uEAq u A)qqYu AbDRVD4y:<%>=ٔǻQ->9Y=@FytEY;E>Q 5Q53I?Q 9Q5g)o_BYj&?Q E:yh3?Q I@DI. ;i:Q5yBɮ@>EQFNOT Ignoring new targets: 334.96 m.}}Q  ProNav: ac range: 334.964355 m, nav range: 324.961609 m, bearing: 37.016212 deg, approach rate: -0.648915 m/s, LOS rate: -0.006270 deg/s, cmd heading: 40.366811 deg, new cmd heading: 40.358741 deg. z QHeadingCmd: 0.704393 target range: 334.964355 and range: 337.10 m.RS4?JbZB:2Ҕ!ڔ%oB!ڒ!’))-5 @=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516339ABɢ5¼) i)A_<i !BiS4?q\;;IS4?I@ @@0@aEu% EuEu%Eq"EuO];*EuO:VEu 4ZEqa@a@a@a@ԑ^Ar; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771575IA I O >Թ !,釤?A2Y>2:25?2<ٱ2ڢ" :AHRS rotation from veh to nav: [[0.759672,-0.644143,-0.089320],[0.650057,0.748381,0.131726],[-0.018004,-0.158132,0.987254]]2HI2WHg;2ِCYBByB=$I DFAbDN^VDN,4yVb%VZ=ٔV0Q-Z>9XYX=^@Fy^vE^=;E^>`Q 5fQ5bI?Q 9fQ5bD)bn_BYhyj3?Q Ij@bDIb;ib ;b]Q5ylɮn@pQFNOT Ignoring new targets: 334.96 m. z zQ ProNav: ac range: 334.964355 m, nav range: 324.718384 m, bearing: 37.013814 deg, approach rate: -0.649177 m/s, LOS rate: -0.006406 deg/s, cmd heading: 40.358741 deg, new cmd heading: 40.351540 deg. zQ%HeadingCmd: 0.704267 target range: 334.964355 and range: 337.10 m.R%J4?J!b!Z!B):)2)Ҕ1ڔ11ڒ1’19=@4@eBɢez)a mii)mY ԱBDAT read: Tx time:21:26:54.8955 $Ping request sent.Eu  Eu 6Eu "Eq "Eu X;*Eu  ;VEu (3ZEq BEu =ٔeQ-m>9iYi=m@FymxEuEu>Q 5Q5I?Q 9Q5v)l_BYyQ I@DIN:i;+Q5yɮ6@JQRU?AUCUCU?Uc7t@WF;vDU M%?U1DrjƹIUUϢ=—U ]p@MNg@y$DU^?-8?^QjU7) .",f?A2%>25?2l[<ٱ2'# >AHRS rotation from veh to nav: [[0.757911,-0.645564,-0.093909],[0.652221,0.746904,0.129395],[-0.013392,-0.159319,0.987136]]2H @?u@f ?@??fmdĿ?i2%>I2g;2אCYFByF:$IiEMb@Mb@Mb@AAAA A9E%C?Mb{Gzt?YEZ$?yEEף;E\AE5@ E A)AAYE( AbD]UVD]n4ymz0<%mL=ٔm9qYq=u@FyuzE};E}>Q 5Q5wJ?Q 9Q5()k_BY^$?Q E:y3?Q I@DI:i:Q5yBɮ@5EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 333.07 m.Q ProNav: ac range: 333.073792 m, nav range: 323.100311 m, bearing: 36.753377 deg, approach rate: -0.646735 m/s, LOS rate: -0.006663 deg/s, cmd heading: 40.343096 deg, new cmd heading: 40.335259 deg. zSQHeadingCmd: 0.703983 target range: 333.073792 and range: 335.20 m.R<84?JbZB:2ҔڔqBڒ’ j?%Bɢ-8)) -i))-\I<11i5<;E9 E9E=%E9"E9*E9VE= 4ZE9aE@aE@aE@aM@iM<84?Us];U  e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990469M ",6?A2p>296?2* 8<ٱ2~d" :AHRS rotation from veh to nav: [[0.757127,-0.646359,-0.094758],[0.653171,0.746515,0.126820],[-0.011233,-0.157913,0.987389]]2Hb:? B?r?;?E {6Ŀ@?i2p>I2_g;2ڐCPY~By~5$IbD _VD .4y%O%%O=ٔ%QQ-%>9)Y)=-@Fy-|E-L;E5>1Q 5EQ55J?Q 9EQ55)1YAyEd3?Q IE@5DI5Q;i5V:5Q5yUBɮUF@QqQ}FNOT Ignoring new targets: 333.07 m.Q ProNav: ac range: 333.073792 m, nav range: 322.847687 m, bearing: 36.750718 deg, approach rate: -0.641826 m/s, LOS rate: -0.006762 deg/s, cmd heading: 40.335259 deg, new cmd heading: 40.327274 deg. zQHeadingCmd: 0.703844 target range: 333.073792 and range: 335.20 m.R/4?JbZB:2Ҕڔڒ’ ȁ?BɢB~) i)wA<i&'9i/4?^;"#1 %",ZP?A29>2s6?2 6<ٱ2v" :AHRS rotation from veh to nav: [[0.756566,-0.646784,-0.096321],[0.653850,0.746131,0.125574],[-0.009351,-0.157984,0.987397]]2H@5?uy`W?M??&8Ŀ`˜?i29>I28g;2ؐCYBByB<$I)iMMb@Mb@Mb@IIII I9M%C?9yYy=}@Fy}~E> ;E>Q 5Q5%J?Q 9Q5Z)l_BY`$?Q E:yY3?Q I@ DIG ;i ;Q5yɮ@QFNOT Ignoring new targets: 333.07 m.Q ProNav: ac range: 333.073792 m, nav range: 322.581970 m, bearing: 36.747923 deg, approach rate: -0.640736 m/s, LOS rate: -0.006744 deg/s, cmd heading: 40.327274 deg, new cmd heading: 40.318884 deg. zQHeadingCmd: 0.703697 target range: 333.073792 and range: 335.20 m.R%4?JbZB:2ҔڔYBڒ’` $?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4946955Bɢ=֡)9 =i9)=+:",~;j?A2Z>26?2;ٱ2-# :AHRS rotation from veh to nav: [[0.756415,-0.646668,-0.098270],[0.654050,0.746085,0.124803],[-0.007388,-0.158677,0.987303]]2H4?`@;(`?`??HC~`OĿ`?i2Z>I2g;2אCYBByB9$IbDJaVDJ24yR`%RX=ٔVQ-V>9TYX=Z@FyZEZ>-:EZ>\Q 5bQ5^5J?Q 9bQ5^;)^m_BYdyfj3?Q If@^DI^:i^:^Q5yjBɮj@n6E|QFNOT Ignoring new targets: 333.07 m.qqQ ProNav: ac range: 333.073792 m, nav range: 322.339478 m, bearing: 36.745358 deg, approach rate: -0.641160 m/s, LOS rate: -0.006788 deg/s, cmd heading: 40.318883 deg, new cmd heading: 40.311182 deg. zQ%HeadingCmd: 0.703563 target range: 333.073792 and range: 335.20 m.R%4?J!b!Z)B):)2)Ҕ1ڔ19ڒ9’AAE:?y5Bɢ=b)9 =:i9)= 3BqBqBqBqBqBqBumT;Bu EIIe9@i @i@i@iԡ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998904^AIAU>AU>II IY Oe > bEʻ 4jEʻ 4rE/Ee * Ee ,Ee &Ea "Ee a;*Ee ;VEe 4ZEa BEe ZU6?ZD;ٱZ o# bAHRS rotation from veh to nav: [[0.756380,-0.646478,-0.099780],[0.654109,0.746196,0.123823],[-0.005593,-0.158924,0.987275]]ZHB4?3`v?`?ֲ?vWĿ?iZc>IZ4h;XYjByjB$I====bDEiVDE=A4yU: =%U@=ٔU!Q-]>9YYY=]@Fy]EeG'9Ee>iQ 5uQ5m-GJ?Q 9uQ5m)mo_BYyy}n3?Q I}@mDImC ;imq ;mQ5yɮ@QFNOT Ignoring new targets: 333.07 m.Q ProNav: ac range: 333.073792 m, nav range: 322.066406 m, bearing: 36.742461 deg, approach rate: -0.640734 m/s, LOS rate: -0.006803 deg/s, cmd heading: 40.311182 deg, new cmd heading: 40.302484 deg. zfQHeadingCmd: 0.703411 target range: 333.073792 and range: 335.20 m.R4?JbZB:2Ҕڔڒ’s@ Bɢ Jݼ)  i)|+<in}3i4?%a;%R6Y "'",흈?A2o=>2Eu6?2 cv;ٱ2O# :AHRS rotation from veh to nav: [[0.756576,-0.646003,-0.101356],[0.653895,0.746529,0.122948],[-0.003760,-0.159295,0.987224]]2H`5? u??y?@_n`cĿ`V?i2o=>I2fg;2ِCYBByB<$Ii=Mb@Mb@Mb@9999 99=NbX9?y&19iYq=u@FyuEu;E}>yQ 5Q5}7XJ?Q 9Q5},)}s_BY%?Q E:y1?Q I@}#DI}:i}#:}DQ5yɮ@7EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 333.07 m.]ܸ]ܸQ ProNav: ac range: 333.073792 m, nav range: 321.803802 m, bearing: 36.740015 deg, approach rate: -0.645669 m/s, LOS rate: -0.006021 deg/s, cmd heading: 40.302484 deg, new cmd heading: 40.295138 deg. z8QHeadingCmd: 0.703283 target range: 333.073792 and range: 335.20 m.RX 4?JbZB:2ҔڔrBڒ’h@E8 E0E#E"En;*E;VE3ZEa%@a%@a-@a-@1=BɢE)A EiA)E $E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006575Թ |L-",qǷ?A2.>2m6?2:ٱ2t$ :AHRS rotation from veh to nav: [[0.756653,-0.645588,-0.103402],[0.653814,0.746699,0.122345],[-0.001774,-0.160178,0.987087]]2H6?x ??Q?]]@Ŀ6?i2.>I2g;2ؐCY@y@bDJYVDJ#4ٔRQ-V>9TYT=V@FyVEZEZ>\Q 5bQ5^hJ?Q 9bQ5^ )^w_BY`yf1?Q If@^+DI^];i^:^Q5yhɮhh|Q~FNOT Ignoring new targets: 333.07 m.ܸܸQ ProNav: ac range: 333.073792 m, nav range: 321.559052 m, bearing: 36.737735 deg, approach rate: -0.646877 m/s, LOS rate: -0.006030 deg/s, cmd heading: 40.295138 deg, new cmd heading: 40.288294 deg. zmQHeadingCmd: 0.703163 target range: 333.073792 and range: 335.20 m.R4?JbZB:2Ҕڔڒ’`@Bɢ>) 1 i)% W44",ш?A6>6NZ6?6>}ٱ6% FAHRS rotation from veh to nav: [[0.756851,-0.645027,-0.105438],[0.653588,0.746997,0.121731],[0.000242,-0.161045,0.986947]]6H8?@1? f?`)?/?Ŀ?i6>I6KNh;6ڐCYHyJ=$IIR%>)R;i%Mb@Mb@Mb@!!!! !9%Pn?I +Q?Y%$?y%94%u<%\A%@ %$ A)% A!Y% AbD=TVD=4yMK :%M<ٔMmQ-M>9QYQ=U@FyUEU9E]>aQ 5mQ5eyJ?Q 9mQ5eo)e~_BYm*$?Q Em:ym2?Q Im@e4DIe:ie:eJQ5y}Bɮ}@}.EQFNOT Ignoring new targets: 333.07 m.Q ProNav: ac range: 333.073792 m, nav range: 321.286835 m, bearing: 36.734920 deg, approach rate: -0.640081 m/s, LOS rate: -0.006625 deg/s, cmd heading: 40.288294 deg, new cmd heading: 40.279841 deg. zQHeadingCmd: 0.703016 target range: 333.073792 and range: 335.20 m.R3?JbZB:2ҔڔnBڒ’checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510681u3Y @颽Bɢ7)  i)3<iX.i3? d;2I  DAT read: 21:26:57.7064 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 35,-0.10,-1.911, 2.972,-1.458,-1.962, PHS= 0.153,-1.304, 0.460, RAW= 159.4, 8.5, CAL= 159.1, 8.9, ROT= 350.9, -8.9  Ygot valid direction response: 21:26:57.7064 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 35,-0.10,-1.911, 2.972,-1.458,-1.962, PHS= 0.153,-1.304, 0.460, RAW= 159.4, 8.5, CAL= 159.1, 8.9, ROT= 350.9, -8.9  PDAT read: Bearing 193.1, -10.4 (Local)  ~Local bearing/azimuth received: Bearing 193.1, -10.4 (Local)  DAT read: Range 11 to 50 : 305.1 m (Round-trip 406.9 ms) speed 0.2 m/s  *DAT read: user:237>  BDAT read: Tx time:21:26:58.7954  $Ping request sent. i y馿 > / 2@ > g1@ >) @I  <-&Iv?π?d:8Y? /?) !I "i  M :publishing transmit ping time U Fpublishing direction and range infoy  /%7?\ I4"Ŀj?Y ) I i ) I <-&Iv?π?d:8Y? ) I i B_:",눤?A2Х>2u)6?22ٱ2p& >AHRS rotation from veh to nav: [[0.757336,-0.644143,-0.107343],[0.653022,0.747544,0.121405],[0.002041,-0.162042,0.986782]]2HI2 i;2ؐCY^BybI$IbDM?VDM3yoE=%F=ٔݎQ->9Y=@FyEE>Q 5Q5J?Q 9Q5)_BYy2?BBBT$IBBBU =BBBT;B,EQ I@ cA",?Ab:>b5?bLjٱb' jAHRS rotation from veh to nav: [[0.757865,-0.643180,-0.109363],[0.652399,0.748135,0.121116],[0.003919,-0.163138,0.986596]]bHn@?@2`t? ? r?F p?Ŀ0?ib:>Ibkj;`YrByrA$IbDzoVDzHL4y% O=ٔ Q- >9 Y=@FyEx E>Q 5%Q5J?Q 9-Q5)_BY)y-2?Q I-@DDI:i9:WQ5y5Bɮ5p@9YQeFNOT Ignoring new targets: 333.07 m.eeQu ProNav: ac range: 333.073792 m, nav range: 320.770477 m, bearing: 36.729668 deg, approach rate: -0.682449 m/s, LOS rate: -0.006902 deg/s, cmd heading: 40.271642 deg, new cmd heading: 40.264075 deg. zuQ}HeadingCmd: 0.702741 target range: 333.073792 and range: 335.20 m.R}3?JybZB:2Ҕڔڒ’@?}Bɢ})y }iy)j<顁i+i3?|f;4!i>q1@9 @9@=4@A@i@iԙ^A$< I I O > G",>u?A2>2 5?2$»ٱ2( :AHRS rotation from veh to nav: [[0.758105,-0.642543,-0.111422],[0.652106,0.748479,0.120572],[0.005925,-0.164065,0.986432]]2H`eB?`, ? ?ݾ?Dx?ſ`ِ?i2>I2sk;2ڐCYBByBO$I DFAJ=J=\iMb@Mb@Mb@ 9E?Mb`I +?Y&?y9<EA5@ ) AYbD-_VD-.4y=]=%=H=ٔEBQ-E>9AYI=M@FyMEMsEM>QQ 5Q5UJ?Q 9Q5U!)U_BY&?Q E:y6?Q I@UMDIU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248041#M",@P9?A6>65?6Dٱ6) >AHRS rotation from veh to nav: [[0.758165,-0.642138,-0.113337],[0.652015,0.748673,0.119853],[0.007890,-0.164766,0.986301]]6HB?`d@O?`!?ಮ?`(? ſǏ?i6>I68l;6אCY^By^N$IbDfBVDf3ynٻ%nQ=ٔrnQ-r>9pYp=v@FyvEvEv>xQ 5~Q5zԡ T","6S?A2>25?2"ٱ2D* :AHRS rotation from veh to nav: [[0.758215,-0.641723,-0.115336],[0.651929,0.748866,0.119114],[0.009933,-0.165505,0.986159]]2H@KC?`?@?F~?`W? G/ſ?i2>I2l;0YbBybQ$Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752115iMb@Mb@Mb@ 9J +?~jtx?9Y=@FyE iE>Q 5Q5zJ?Q 9Q5)_BY (?Q E :y B9?Q I @^DI:i:'Q5yɮ@9Q=FNOT Ignoring new targets: 333.07 m.E2E2QU ProNav: ac range: 333.073792 m, nav range: 319.963745 m, bearing: 36.718721 deg, approach rate: -0.657348 m/s, LOS rate: -0.009767 deg/s, cmd heading: 40.244041 deg, new cmd heading: 40.231207 deg. zU}ֹQ]HeadingCmd: 0.702167 target range: 333.073792 and range: 335.20 m.R]83?JYbaZaBa:a2aҔiڔmBiڒ ’   d?}Bɢ}~̼)y }iy)/;顁i(i83?Ii;Z# gZ",m?AV>V5?VZBٱVu* bAHRS rotation from veh to nav: [[0.758190,-0.641417,-0.117188],[0.651926,0.748994,0.118324],[0.011878,-0.166109,0.986036]]VHC?| ??`tJ?S?Cſ?iV>IVl;VؐCYnBynY$IbDzGVDz4B|B|B~g$IB~BB|B|B|B~T;B~IEyM=%Y=ٔQ-%>9!Y!=%@Fy%E-8E->1Q 5=Q55.J?Q 9=Q55b)5_BY9y=D9?Q IE@5fDI5j;i5;5tQ5yMBɮM1@M0EiQuFNOT Ignoring new targets: 333.07 m.}2}2Q ProNav: ac range: 333.073792 m, nav range: 319.715942 m, bearing: 36.715035 deg, approach rate: -0.656791 m/s, LOS rate: -0.009777 deg/s, cmd heading: 40.231208 deg, new cmd heading: 40.220141 deg. zֹQHeadingCmd: 0.701974 target range: 333.073792 and range: 335.20 m.R3?JbZB:2Ҕڔڒ’R@Bɢ) i)/;顑i(i3?i;&605?6zI6Dl;4YDyHbDR6VDR3yZՑ%ZQ=ٔZQ-^>9\Y9==@Fy=EE9EE>IQ 5UQ5MJ?Q 9UQ5M)M_BYQyUN9?Q IU@MoDIM;iM;MQ5yBɮ1@&EQFNOT Ignoring new targets: 333.07 m.//Q ProNav: ac range: 333.073792 m, nav range: 319.448730 m, bearing: 36.711046 deg, approach rate: -0.643636 m/s, LOS rate: -0.009616 deg/s, cmd heading: 40.220139 deg, new cmd heading: 40.208163 deg. z-ӹQHeadingCmd: 0.701765 target range: 333.073792 and range: 335.20 m.R ܦ3?J b Z B : 2 Ҕڔ11ڒ9’99=@qBɢ м) i)cJ;)i5d'i5ܦ3?=&j;=ȫ+ "g",Ǽ?A2>2S6?2-ٱ2gD* :AHRS rotation from veh to nav: [[0.757432,-0.641798,-0.119968],[0.652719,0.748804,0.115106],[0.015958,-0.165490,0.986082]]2H`I2k;2֐CYBByBP$Ii Mb@Mb@Mb@     9 ?y&1?{Gz?Y ,?y `< #< A 5@  A)  A Y  AbDLVD 4y % 6=ٔ%Q-%>9)Y)=-@Fy-E-;E->QQ 5]Q5UKK?Q 9eQ5U`)U_BYe,?Q Ee:ye.A?Q Ie@UxDIU:iUj:UQ5yiɮu@Eu. EqEu#Eq"Euye;*EqVEu3ZEqa}@a}@a}@a}@'EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 333.07 m.{{Q ProNav: ac range: 333.073792 m, nav range: 319.154480 m, bearing: 36.705004 deg, approach rate: -0.669349 m/s, LOS rate: -0.013756 deg/s, cmd heading: 40.208163 deg, new cmd heading: 40.190021 deg. z QHeadingCmd: 0.701448 target range: 333.073792 and range: 335.20 m.R3?J!b!Z!B!:!2!Ҕ)ڔ-B=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012237IڒQ’QQU`B:@额Bɢ+ܼ) i)u;顩i7&i3?Sk;v7>A ? BDAT read: Rx Time:21:27:01.6215  TRx dataTimestamp_ set to:1761514022.868652 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265210A I I O5 >m", X?A2 >2P6?2lٱ2') >AHRS rotation from veh to nav: [[0.756825,-0.642254,-0.121355],[0.653369,0.748504,0.113357],[0.018030,-0.165081,0.986115]]2H 7?`W@g? ??v?`!ſ`A?i2 >I2fk;2אCYFByFB$IbDRUVDRn4yV~%Zf=ٔZQ-Z>9\Y\=^@Fy^Eb$;Eb>dQ 5fQ5fK?Q 9jQ5f )f_BYhyjiA?Q Ij@fDIf:if:fQ5yYɮ]P@aQFNOT Ignoring new targets: 333.07 m.yyQ ProNav: ac range: 333.073792 m, nav range: 318.920319 m, bearing: 36.700151 deg, approach rate: -0.658215 m/s, LOS rate: -0.013654 deg/s, cmd heading: 40.190022 deg, new cmd heading: 40.175450 deg. zQHeadingCmd: 0.701194 target range: 333.073792 and range: 335.20 m.Rq3?JbZB:2Ҕڔڒ’  @Bɢ+) i)_;i1 &iq3?pl;ӺMt",1ԉ?A2>2T6?2xٱ2gx) :AHRS rotation from veh to nav: [[0.755908,-0.643041,-0.122887],[0.654367,0.747909,0.111518],[0.020198,-0.164710,0.986135]]2H@e0?˓@u@?@?l?@?:ſ@k?i2>I2Sj;0@Y^By`i}Mb@Mb@Mb@yyyy y9}|?5^?~jt?Mbp?Y}-?y}=};}\A}K@ }QA)}VAyY}z AbDVVDE4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770787%;=ٔ֟Q->9  ?Y  ?=@FyE%E;E%>AQ 5eQ5E_"K?Q 9mQ5E~)E_BYu.?Q E}:y}E?Q I@EDIE  BDAT read: Tx time:21:27:02.7454  $Ping request sent. im ҭm \"?m G3@m ޹=m aF2@ m |٠=)m E@Im |٠i i m _jic9?[^`?dV? m r 5?)m Im +im |٠i i = :publishing transmit ping time = Fpublishing direction and range infoyi m hR3at?uGſ5;?Yi i i i i i )i Ii ii i i i i i )i Ii i i m _jic9?[^`?dV? i )i Ii ii i i ^A jZX<A zA fAB B B g$IB BB V =B B B T;B 1EA1 I9 II O] >|{",/?A 2*>26?2ٱ2K) >AHRS rotation from veh to nav: [[0.755212,-0.643557,-0.124456],[0.655101,0.747504,0.109906],[0.022301,-0.164534,0.986119]]2H*?aܿ ?@?`"?֖?tſJ?i2*>I2Kij;2ِCYFByFF$IbDN?VDN3yV/<%VJ=ٔVﭻQ-Z>9hYh=n@FynEnf';En>pQ 5vQ5r2K?Q 9vQ5r{)r_BYtyIE?Q I@rDIr;ir;rEQ5yɮ@(EJR>牤?A>C>C[?5&Rs@ݡI$J \8@hR3at?uGſ5;?+|٠—.p@#趁d@e`C@?ݸZޱ?X0'=5?j$&CrCZ%Er?boiz7Bꗝqס?|ڗ֠C◝?Q addTargetRange:: Added new target pos. range: 316.500000 m, deltaT: 7.811965 s, deltaX: -18.700012 m, approachRate: -2.393765 m/s, rangeRepo size: 4 Q Added new target pos. range: 314.492065 m, bearing: 32.179353 deg, lat: 36.779472 deg, lon: -121.859152 deg, deltaT: 7.811965 s, deltaX: -18.581726 m, approachRate: -2.378624 m/s, posRepo size: 4 QFNOT Ignoring new targets: 314.49 m.Q5 ProNav: ac range: 314.492065 m, nav range: 321.677979 m, bearing: 35.087442 deg, approach rate: 0.000000 m/s, LOS rate: -0.015063 deg/s, cmd heading: 40.154064 deg, new cmd heading: 40.137253 deg. z1Q=HeadingCmd: 0.700527 target range: 314.492065 and range: 316.50 m.R=U3?J9bAZABA:A2AҔiڔiiڒi’qus@u@@?颽Bɢ`V) i)8%;iL%i U3? Wo;;Jv{_", ?A2>2`?7?2Ǽٱ2E( :AHRS rotation from veh to nav: [[0.754337,-0.644313,-0.125842],[0.656034,0.746960,0.108030],[0.024393,-0.164047,0.986151]]2H #? 7`;??ڧ?? Ŀ@?i2>I2i;0@Y^xByb*$IIf<)fddbDj=VDj3yr۽%vG=ٔv+Q-v>9v"?Yz"?=z@FyzEzcN;Ez>|Q 5Q5~-CK?Q 9 Q5~v)~_BY y E?Q I @~DI~B:i~:~Q5yɮ{@9QEFNOT Ignoring new targets: 314.49 m.EEQU ProNav: ac range: 314.492065 m, nav range: 321.405365 m, bearing: 35.079623 deg, approach rate: -0.699368 m/s, LOS rate: -0.020076 deg/s, cmd heading: 40.137251 deg, new cmd heading: 40.113774 deg. zUs\Q]HeadingCmd: 0.700117 target range: 314.492065 and range: 316.50 m.Re:3?JabaZaBa:a2aҔiڔiiڒi’qqux?额Bɢx )  i)e;顡i$i:3?fq;1Ȇꉈ",c#?AVzb>Vˇ7?V*\ؼٱV;) bAHRS rotation from veh to nav: [[0.753573,-0.644835,-0.127733],[0.656834,0.746419,0.106902],[0.026408,-0.164457,0.986031]]VHE? }Y ?? ]?@ ?` ſ ?iVzb>IVL*i;VؐCYjfByj$IEr< ErGEr#Ep"Er,r;*Er;VEr3ZEpav@av@av@av@|iuMb@Mb@Mb@qqqq q9uK7A`??Mb`Yu+?yu9Y=@FyEh);E>Q 5R5TK?Q 9R5gq)_BY +?Q E:y@?Q I@DI ;i3:R5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 314.49 m.rrQ ProNav: ac range: 314.492065 m, nav range: 321.122681 m, bearing: 35.072461 deg, approach rate: -0.631155 m/s, LOS rate: -0.016004 deg/s, cmd heading: 40.113773 deg, new cmd heading: 40.092268 deg. z/QHeadingCmd: 0.699742 target range: 314.492065 and range: 316.50 m.RL"3?JbZB:2ҔڔkBڒ’~?UBɢU)Y ]NiY)]u;YYief$ieL"3?mxs;mT`BIBM[$IBMBBIBIBIBMT;BMEYrg @  @ @ m0@  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԁ ԩ ^A <A >A >؀GjA ?9 jAY UAAI)I9EE9 EEWEE&EA"EEso;*EEj;VEE4ZEABEE9 Y = @Fy E r5;E>Q 5%R5iK?Q 9%R5+k)_BY)y-8A?Q I-@DI:i:R5=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496075yEВBɮE4@EEaQmFNOT Ignoring new targets: 314.49 m.mlmlQ} ProNav: ac range: 314.492065 m, nav range: 320.780304 m, bearing: 35.063681 deg, approach rate: -0.687174 m/s, LOS rate: -0.017641 deg/s, cmd heading: 40.092268 deg, new cmd heading: 40.065900 deg. zAQHeadingCmd: 0.699282 target range: 314.492065 and range: 316.50 m.R#3?JbZB:2Ҕڔڒ’f?Bɢ)  i)M+O;IIiU$iU#3?Uu;]P3*",_?A2{L?2#8?27ٱ2Vv( :AHRS rotation from veh to nav: [[0.751935,-0.646233,-0.130293],[0.658547,0.745376,0.103591],[0.030173,-0.163698,0.986049]]2H?t`?`?? ?Ŀ`?i2{L?I2Ig;2ِCYBTByB#IliMMb@Mb@Mb@IIII I9Mw/?{Gz?I +YM&?yM#9Y=@FyE;E>Q 5R5T{K?Q 9R5Mf)_BY&?Q E:yM;?Q I@DIv;iv; R5yɮ@9QEFNOT Ignoring new targets: 314.49 m.M{M{Q ProNav: ac range: 314.492065 m, nav range: 320.505249 m, bearing: 35.057769 deg, approach rate: -0.639269 m/s, LOS rate: -0.013751 deg/s, cmd heading: 40.065900 deg, new cmd heading: 40.048150 deg. zQHeadingCmd: 0.698972 target range: 314.492065 and range: 316.50 m.R2?JbZB:2E> EIE"E"Es;*E ;VE(3ZEa@a@a@a@Ҕڔ;Bڒ’@?颅Bɢ-) ?i)O,;项i)#i2?_x;ZBABEB$IBEBBABABABET;BEEBqBqBqBuV =BuV =Cu34 9@  @ @ /0@ a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251980^A5 D-<ԑ AaIiIyO?*"",K?AVh?V'?8?VlٱV+ ^AHRS rotation from veh to nav: [[0.751579,-0.645775,-0.134550],[0.658805,0.745118,0.103799],[0.033225,-0.166655,0.985455]]VH ?/8 ?@??@?Tſو?iVh?IVy9g;VؐCYfEByf#IIn;>)n=bDreVDr94yz }%z'=ٔz̻Q-~>9|Y|=~@Fy~E3g:E> Q 5R5 'K?Q 9R5 `) _BYye;?Q I@ DI  +;i ,; R51y=ΒBɮ=@AQFNOT Ignoring new targets: 314.49 m.Q ProNav: ac range: 314.492065 m, nav range: 320.191223 m, bearing: 35.050987 deg, approach rate: -0.646204 m/s, LOS rate: -0.013971 deg/s, cmd heading: 40.048148 deg, new cmd heading: 40.027781 deg. zhQHeadingCmd: 0.698617 target range: 314.492065 and range: 316.50 m.R2?JbZB:I2IҔIڔQQڒQ’QQ]@@颥BɢEL E@E&E"EW;*EM;VE4ZEBEwG",2V?AB{?BsR8?B9xٱB|, NAHRS rotation from veh to nav: [[0.751346,-0.645675,-0.136320],[0.658992,0.745004,0.103432],[0.034776,-0.167548,0.985250]]BH  ?^r@v?@? z?Ρ?2rſ,?iB{?IBxf;BאCY~9By~#IiMb@Mb@Mb@ 9MbX9? rh{GzY!?yC #EA@ ; A)Y3 AԙAAbDLVD 4y_%?=ٔnQ->9Y=@FyE4:E>Q 5R5K?Q 9R5[\)_BY "?Q E:y*?Q I@DI ;i ;R5yɮV@ E Q FNOT Ignoring new targets: 314.49 m.+޸+޸Q% ProNav: ac range: 314.492065 m, nav range: 319.921143 m, bearing: 35.048441 deg, approach rate: -0.643469 m/s, LOS rate: -0.006070 deg/s, cmd heading: 40.027781 deg, new cmd heading: 40.020138 deg. z%MQ-HeadingCmd: 0.698483 target range: 314.492065 and range: 316.50 m.R-2?J)b)Z)B):121ҔڔBڒ’`=@~Bɢ|') "i)4:顩i5#i2?};\-`",͔?A>d?>;8?>ٱ>VU, FAHRS rotation from veh to nav: [[0.751541,-0.645268,-0.137170],[0.658698,0.745392,0.102507],[0.036101,-0.167392,0.985229]]>H ? `Ȏ ?`@?=?{? mſ?i>d?I>}Kf;>ؐCYN0ByN#IbDVcVDV264y^,%^G=ٔbTQ-b>9`Y`=b@FyfEf_Ef>hlQ 5rR5nUK?Q 9rR5n%X)n`BYpyr)?Q Ir@nDInd:in:nWR5yxɮz@z!EGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 314.49 m.%ظ%ظQ5 ProNav: ac range: 314.492065 m, nav range: 319.661804 m, bearing: 35.046009 deg, approach rate: -0.631328 m/s, LOS rate: -0.005925 deg/s, cmd heading: 40.020138 deg, new cmd heading: 40.012836 deg. z5 Q=HeadingCmd: 0.698356 target range: 314.492065 and range: 316.50 m.R=q2?J9b9Z9BA:A2AҔAڔIIڒI’IQU, @}BDAT read: Rx Time:21:27:05.5688 }TRx dataTimestamp_ set to:1761514026.900685checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261174e}Bɢe>)a eH&ia)m=ق:iiimÞ"iuq2?u۰;u\5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512955Y A I I O% >",KXЊ?A2v*?28?2ٱ2M- :AHRS rotation from veh to nav: [[0.752103,-0.644380,-0.138260],[0.658004,0.745994,0.102585],[0.037038,-0.168130,0.985069]]2H9?ž _?`.?B??Hſ?i2v*?I2Ud;2ՐCYB(ByB#I DDbDNVVDNE4yV(%VL=ٔVQ-Z>9XYX=Z@FyZE^*E^>`Q 5fR5b K?Q 9fR5b T)b `BYdyf)?Q Ij@bDIbl:ib:bR5ylɮni@l9Q=FNOT Ignoring new targets: 314.49 m.U̸̸Q ProNav: ac range: 314.492065 m, nav range: 319.409271 m, bearing: 35.043678 deg, approach rate: -0.605727 m/s, LOS rate: -0.005596 deg/s, cmd heading: 40.012836 deg, new cmd heading: 40.005837 deg. zuQHeadingCmd: 0.698234 target range: 314.492065 and range: 316.50 m.Ro2?JbZB:2Ҕڔڒ’@i}zBɢ}qV()y *)i)9顁DAT read: 21:27:05.5688 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.45, 2.843, 1.551, 3.097, 2.468, PHS= 0.476,-0.872, 0.585, RAW= 153.8, -2.7, CAL= 153.2, -3.9, ROT= 356.8, 3.9 Ygot valid direction response: 21:27:05.5688 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.45, 2.843, 1.551, 3.097, 2.468, PHS= 0.476,-0.872, 0.585, RAW= 153.8, -2.7, CAL= 153.2, -3.9, ROT= 356.8, 3.9 PDAT read: Bearing 181.1, -0.6 (Local) ~Local bearing/azimuth received: Bearing 181.1, -0.6 (Local) DAT read: Range 11 to 50 : 314.4 m (Round-trip 419.3 ms) speed 1.0 m/s *DAT read: user:239> BDAT read: Tx time:21:27:06.6954 $Ping request sent.id;_?+@AD +@ 'g)SF@I'g=J??\O >?)B=Idi'g=:publishing transmit ping timeFpublishing direction and range infoy&*I?ӝ~,::siY )Iii-Z"iMo2?M.;Md Ⱥ",a8튤?A(nʫ>nr7?n08ٱn0- zAHRS rotation from veh to nav: [[0.752927,-0.643310,-0.138755],[0.657012,0.746919,0.102210],[0.037886,-0.168120,0.985038]]nH?`>??l*?e?ſn?inʫ>Inc;nאCY#By#IB-`>B-CB-#IB-SBB-W =B)B)B-IT;B-EiMb@Mb@Mb@ 9Pn?/$9Y=@FyE+-E>Q 5R5FK?Q 9R5uO)`BY%?Q E:y(?Q I@DI:is:R5yBɮ@EJIRMي?AM3CM3CM&?M ss@cMf1ab?5M&*I?ӝ~,::siMdM'g=—M!>Mo@z*Og@4iMQqr?ׂc?X2X_jMJ=CrMrxCZM{b?bMqzMkqBIIMkqBڗMCM@?Q addTargetRange:: Added new target pos. range: 314.399994 m, deltaT: 3.780115 s, deltaX: -2.100006 m, approachRate: -0.555540 m/s, rangeRepo size: 4 Q Added new target pos. range: 312.402924 m, bearing: 37.303651 deg, lat: 36.779472 deg, lon: -121.859152 deg, deltaT: 3.780115 s, deltaX: -2.089142 m, approachRate: -0.552666 m/s, posRepo size: 4 Q%FNOT Ignoring new targets: 312.40 m.%!Q5 ProNav: ac range: 312.402924 m, nav range: 319.093811 m, bearing: 35.045100 deg, approach rate: 0.000000 m/s, LOS rate: -0.005596 deg/s, cmd heading: 40.005835 deg, new cmd heading: 39.997527 deg. zQQ]HeadingCmd: 0.698089 target range: 312.402924 and range: 314.40 m.R]2?JYbYZYBa:a2aҔaڔmBiڒi’im`fs@u?qxBɢ9) 4*i!)%pwn!!i%!i-2?-n;;-%", ?AFZ>F/7?F$'ٱF, RAHRS rotation from veh to nav: [[0.754163,-0.641850,-0.138808],[0.655567,0.748210,0.102049],[0.038358,-0.167959,0.985047]]FH"?`xf?V???ſ ?iFZ>IFkyc;DYZByZ#IbDb\VDbP)4yj%nK=ٔnQ-n>9n ?Yr ?=r@FyrErEr>tQ 5zR5vK?Q 9~R5vK)v&`BY|y~?Q I~@vDIv!;ivO;v"R5yɮ @ )Q5FNOT Ignoring new targets: 312.40 m.5Bt85Bt8QE ProNav: ac range: 312.402924 m, nav range: 318.834167 m, bearing: 35.046361 deg, approach rate: -0.686292 m/s, LOS rate: 0.003337 deg/s, cmd heading: 39.997526 deg, new cmd heading: 40.001313 deg. zE9QMHeadingCmd: 0.698155 target range: 312.402924 and range: 314.40 m.RMC2?JbZB:2Ҕڔڒ’f? uBɢ-M)) 540i1)5TD11i5Y!i=C2?=4;=tL",_"?A ((f>f 6?fS+ ٱfU. vAHRS rotation from veh to nav: [[0.755527,-0.639981,-0.140012],[0.653950,0.749509,0.102888],[0.039094,-0.169295,0.984790]]fHF-?z@)?`?V?? yſe?if>Ifb;fڐCYBy#IiMb@Mb@Mb@ 9S?y&1Mbp?Y/?y`彙;@ $ A)-AY AbDfVD;4y =%==ٔsߺQ->9Y=@FyEE>Q 5R5K?Q 9R5H):`BY?Q E:yH ?Q I@DIe ;iz ;d&R5yBɮ@ E]J E]=EYEY"E]~;*E];VEYZEYae@ae@ae@ae@QFNOT Ignoring new targets: 312.40 m.99Q ProNav: ac range: 312.402924 m, nav range: 318.566071 m, bearing: 35.050005 deg, approach rate: -0.620707 m/s, LOS rate: 0.008444 deg/s, cmd heading: 40.001314 deg, new cmd heading: 40.012255 deg. zp9QHeadingCmd: 0.698346 target range: 312.402924 and range: 314.40 m.R2?JbZB:2ҔڔBڒ’?MsBɢM0<)Q U#+iQ)U`OQQiU i]2?]U;]WԁBu",325?2!ٱ2f. :AHRS rotation from veh to nav: [[0.757208,-0.638006,-0.139945],[0.651991,0.751176,0.103165],[0.039303,-0.169360,0.984770]]2H` ;?j? ?` i?`?ſI2Ob;2ؐCYBByB#IbDJYVDJ#4PyVW%V]=ٔZQ-Z>9XYX=Z@Fy^E^4E>!Q 5-R5%;L?Q 9-R5%D)%M`BY)y-?Q I5@%DI%9:i%:%)R5y9ɮ='@=EGSUB*** querying acoustic contact ***:QBQaQmFNOT Ignoring new targets: 312.40 m.m9m9Q} ProNav: ac range: 312.402924 m, nav range: 318.329285 m, bearing: 35.053339 deg, approach rate: -0.619832 m/s, LOS rate: 0.008735 deg/s, cmd heading: 40.012256 deg, new cmd heading: 40.022266 deg. z}Կ9QHeadingCmd: 0.698520 target range: 312.402924 and range: 314.40 m.R:2?JbZB:2Ҕڔڒ’@t?qBɢVQ) |*i)di>g i:2?م;\^T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.! Na",֐V?A|mT>mL5?m"ٱm>. AHRS rotation from veh to nav: [[0.758939,-0.635989,-0.139751],[0.649960,0.752919,0.103271],[0.039542,-0.169209,0.984787]]mH9I? Z`^y??o?@>? ſ@_?imT>Imb;mאCY+By#Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004323i5Mb@Mb@Mb@1111 195 ףp= ?rh|{Gz?Y5Q?y55ף<15@ 5; A)5A1Y5 AbDMFVDM4y]=%]2=ٔ]7Q-]>9e"?Ye"?=e@FyeEm8Em>qQ 5}R5u!$L?Q 9}R5uhA)uj`BY}?Q E}:y}?Q I@uDIuj:iu<:u-R5yɮ3@QFNOT Ignoring new targets: 312.40 m.F9F9Qe ProNav: ac range: 312.402924 m, nav range: 318.059814 m, bearing: 35.058200 deg, approach rate: -0.601980 m/s, LOS rate: 0.010867 deg/s, cmd heading: 40.022265 deg, new cmd heading: 40.036859 deg. zm9QmHeadingCmd: 0.698775 target range: 312.402924 and range: 314.40 m.Ru2?JqbqZqBq:q2qҔyڔ}Byڒy’ @ nBɢ.) T!i)Ĉi4 !i}2?;8AE >y B= _>B9 B= #IB= IBB= W =B9 B= NDB= T;B= EA I I O >",U3q?AJ>Jݠ4?J#ٱJb^/ RAHRS rotation from veh to nav: [[0.760629,-0.633808,-0.140469],[0.647958,0.754513,0.104215],[0.039934,-0.170287,0.984585]]JHW?'H?$?έ?`2r?ſ?iJ>IJLa;HYZ,ByZ#IbDb?VDb3yj՚;%j_=ٔn9lYl=r@FyrErmEr>txQ 5~R5vj4L?Q 9~R5v>)v`BY|y~l?Q I@v DIv+;iv,;v0R5y ɮ )@ )Q5FNOT Ignoring new targets: 312.40 m.=K9=K9QE ProNav: ac range: 312.402924 m, nav range: 317.839569 m, bearing: 35.062281 deg, approach rate: -0.600623 m/s, LOS rate: 0.011137 deg/s, cmd heading: 40.036858 deg, new cmd heading: 40.049110 deg. zM9QUHeadingCmd: 0.698989 target range: 312.402924 and range: 314.40 m.RU2?JQbQZQBQ:Q2YҔYڔYYڒa’aae`G@颕kBɢiO) i)9顙iռi2?g;+I M EGe SkAy t9 SkAY Ay E > E NE $E "E s;*E ;VE 4ZE BE 63?64%ٱ60 BAHRS rotation from veh to nav: [[0.762430,-0.631522,-0.140999],[0.645803,0.756284,0.104751],[0.040483,-0.170923,0.984452]]6He?m5`D ¿l?z3?к? 3?ſ@?i6E$>I6a;6ؐCYJ=ByJ#IbDR^VDR,4yZe=%ZM=ٔ^ϴQ-^>9\Y`=b@FybEbEb>dQ 5jR5f-FL?Q 9jR5f};)f`BYlyn?Q In@YfDIf< checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018171A! I) I9 OM > h",֤?A2 >233?2Q'ٱ2"0 :AHRS rotation from veh to nav: [[0.764200,-0.629311,-0.141297],[0.643685,0.758012,0.105300],[0.040838,-0.171421,0.984351]]2H`Tt?Q#¿?A?`? ?@ ſ?i2 >I2|a;2֐CY^QBy^#IiuMb@Mb@Mb@qqqq q9ul?!rhQ?Yu?yul罙u\=qu@ u A)uAqYu AbDGVD4y\=%<=ٔVQ->9Y=@FyEлE>ԹQ 5R5"YL?Q 9R58)`BY?Q E:y?Q I@DI:i:8R5yBE7 E;EE"Em;*E ;VEZEa@a@a@a@ɮ@EQFNOT Ignoring new targets: 312.40 m. 69 69Q- ProNav: ac range: 312.402924 m, nav range: 317.341187 m, bearing: 35.071014 deg, approach rate: -0.617621 m/s, LOS rate: 0.009947 deg/s, cmd heading: 40.062833 deg, new cmd heading: 40.075331 deg. z-r9Q5HeadingCmd: 0.699446 target range: 312.402924 and range: 314.40 m.R53?J9b9Z9B9:929ҔAڔEBAڒA’IIM@c @ufBɢ}5')y } iy)}wyii3?";;I3?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2690519@ @@4@@@=^A;BBB $IB^BBV =BBODB.T;BEBMŷCBMŷCBIBIBICM4AI!I1O=r> BDAT read: Rx Time:21:27:09.5333  TRx dataTimestamp_ set to:1761514030.936615 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5213309 ",?A2Z>22?2:(ٱ2]0 :AHRS rotation from veh to nav: [[0.765913,-0.627210,-0.141368],[0.641625,0.759712,0.105619],[0.041154,-0.171600,0.984307]]2H\?X¿2?O? ? !?ſp?i2Z>I2ma;2ِCYZBy$IIi>)<bD-@VD-3y5B=%=Q=ٔ=TQ-=>9AYA=E@FyEEEEM>IQ 5UR5M>jL?Q 9]R5M5)M`BYYy]>?Q I]@M%DIM;iM;M;R5yiɮmK@iGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 312.40 m.F39F39Q= ProNav: ac range: 312.402924 m, nav range: 317.108154 m, bearing: 35.074883 deg, approach rate: -0.589494 m/s, LOS rate: 0.009796 deg/s, cmd heading: 40.075332 deg, new cmd heading: 40.086950 deg. zE!9QMHeadingCmd: 0.699649 target range: 312.402924 and range: 314.40 m.RM73?JIbQZqBq:q2yҔyڔڒ’X @EcBɢE$ )I MEiI)_顩i*i73?~;Q:I73?IE EIEE"E*E ;VEZEBE",؋?AM>1?v*ٱ21ߥ%=ߡDAT read: 21:27:09.5333 LVL= 32752, 32753, 31634, 28403, AGC= 72, IDX= 71,-0.24, 2.057, 0.597, 2.321, 1.498, PHS= 0.661,-0.857, 0.779, RAW= 153.7, -7.4, CAL= 153.9, -9.0, ROT= 356.1, 9.0 Ygot valid direction response: 21:27:09.5333 LVL= 32752, 32753, 31634, 28403, AGC= 72, IDX= 71,-0.24, 2.057, 0.597, 2.321, 1.498, PHS= 0.661,-0.857, 0.779, RAW= 153.7, -7.4, CAL= 153.9, -9.0, ROT= 356.1, 9.0  PDAT read: Bearing 175.1, 0.1 (Local) ~Local bearing/azimuth received: Bearing 175.1, 0.1 (Local) %DAT read: Range 11 to 50 : 325.3 m (Round-trip 433.8 ms) speed 0.4 m/s -*DAT read: user:240> -BDAT read: Tx time:21:27:10.6469 5$Ping request sent.5I1a;ڐCYurByu#$I}`direction in FSK: [0.985401,-0.067178,-0.156434]}:publishing transmit ping time)}Fpublishing direction and range infoyo sg?v~2p ĿYC{ n)HIL7)?iZd[lG?>+@ Ao+@ | )>@I| >|m:e?9d?[ޅ n?)>I)gi| >:publishing transmit ping time)Fpublishing direction and range infoyo sg?v~2p ĿY )Ii )I|m:e?9d?[ޅ )Iii=Mb@Mb@Mb@9999 99=/$?MbX9~jt?Y=?y=ʡ===A=@ =$ A)=A9Y=AbDJVD04yg=%=ٔcQ->9 Y=@FyEEE>iQ 5}R5mL?Q 9}R5m=0)m aBY}E?Q E}:y?Q I@ԉm0DIm|nKHIo sg?v~2p Ŀ)g| >—4Ǽ7p@"xf@2'a@́p=B?B? b j5CrCZ%ң?b@IzBꗥ%Er?@IڗC◥)?Q} addTargetRange:: Added new target pos. range: 325.299988 m, deltaT: 4.036275 s, deltaX: 10.899994 m, approachRate: 2.700508 m/s, rangeRepo size: 4 Q Added new target pos. range: 323.233063 m, bearing: 34.421022 deg, lat: 36.779479 deg, lon: -121.859155 deg, deltaT: 4.036275 s, deltaX: 10.830139 m, approachRate: 2.683202 m/s, posRepo size: 4 QFNOT Ignoring new targets: 323.23 m.Q ProNav: ac range: 323.233063 m, nav range: 317.288147 m, bearing: 34.951122 deg, approach rate: 0.000000 m/s, LOS rate: 0.009796 deg/s, cmd heading: 40.086951 deg, new cmd heading: 40.103383 deg. z Q HeadingCmd: 0.699936 target range: 323.233063 and range: 325.30 m.R /3?JbZB:2ҔAڔEBQڒQ’y}Tt@}/?^Bɢ) i) $ic E0 E:E&E"EJg;*E$ ;VE4ZEa@a@a@a@i/3?; I/3?I Ա @  @ @ 0@ @ @ hABi Bi Bm ;$IBm BBm W =Bi Bm NDBi Bm E ^A 0::A%.AI)I9OM? ",?A>>>hJ1?>~+ٱ>1 FAHRS rotation from veh to nav: [[0.768951,-0.623349,-0.141950],[0.637936,0.762685,0.106533],[0.041856,-0.172474,0.984124]]>H??yn+¿@i?g?E?%n?`ƿ@}?i>>I>`;>ؐCYNByNC$IbDVOVDVc4yb=%bI=ٔf"Q-f>9f ?Yf ?=j@FyjEjEj>lQ 5rR5nbL?Q 9rR5n,)n'aBYtyv}?Q Iv@n7DIn:in:nCR5yzBɮ~O@~EQ%FNOT Ignoring new targets: 323.23 m.%8%8Q5 ProNav: ac range: 323.233063 m, nav range: 317.052094 m, bearing: 34.952569 deg, approach rate: -0.657373 m/s, LOS rate: 0.004032 deg/s, cmd heading: 40.103384 deg, new cmd heading: 40.107728 deg. z519Q=HeadingCmd: 0.700012 target range: 323.233063 and range: 325.30 m.R=33?J9bAZABA:A2AҔIڔIIڒI’QQUN?}\Bɢ}l) Ͼi) ޣ顁i i33?ʄ;řI33?IQ @  @ @ 5@ ^AqyA5؟AI9IIO]T>E? ESE%E"Et;*EN;VE 4ZEBEU2l0?2,ٱ2 1 :AHRS rotation from veh to nav: [[0.769737,-0.622430,-0.141725],[0.636964,0.763568,0.106027],[0.042222,-0.171887,0.984211]]2H ? $¿`b?%o?$? ?cƿ~?i2C>I22i`;0YBByBa$I DDJ=J=bDN>VDN43yV=%VL=ٔVpQ-V>9Z"?YZ"?=Z@F^nManaging dock network, ignoring radio surface power offyZEbULEb>dQ 5jR5fʣL?Q 9jR5fV))fGaBYlyn'?Q In@f?DIf;if;f!GR5ypɮr@p Q FNOT Ignoring new targets: 323.23 m.88Q% ProNav: ac range: 323.233063 m, nav range: 316.806091 m, bearing: 34.954137 deg, approach rate: -0.612954 m/s, LOS rate: 0.003910 deg/s, cmd heading: 40.107728 deg, new cmd heading: 40.112436 deg. z%+9Q-HeadingCmd: 0.700094 target range: 323.233063 and range: 325.30 m.R-^93?J)b)Z1B1:121Ҕ9ڔ99ڒ9’AAE?mYBɢmH)q u5iq)u qqi}ZF!i}^93?S;OI^93?IԱ@ @@4@^AM" E E E gE "E "E Vz;*E $;VE (3ZE a @a @a @a @Ay I I O >1 J #,m.?AY~By~o$IB%^>B!B%t$IB%BB%V =B!B%ODB%@T;B%EiMb@Mb@Mb@ 9x&1?Zd;OQ?YA ?yj\=A@ )YAbD/VD3y*Y=%:=ٔQ->9Y=@FyEE>Q 5R5L?Q 9R5$)daBY ?Q E:y%*?Q I@HDI;i;JR5yBɮ@QFNOT Ignoring new targets: 323.23 m.ٸٸQ ProNav: ac range: 323.233063 m, nav range: 316.532654 m, bearing: 34.951435 deg, approach rate: -0.601203 m/s, LOS rate: -0.005947 deg/s, cmd heading: 40.112437 deg, new cmd heading: 40.104324 deg. zQHeadingCmd: 0.699952 target range: 323.233063 and range: 325.30 m.R03?JbZB:2Ҕڔ6B!ڒ!’!!%>?UBɢ ؼ) i)[i@"i03?ǃ;=I03?IA9@ @@4@@=@9q ^A nAQ Ia Iq O >#,`H?A2oI>2E0?2,ٱ22, >AHRS rotation from veh to nav: [[0.769709,-0.623128,-0.138779],[0.636997,0.764035,0.102402],[0.042223,-0.167221,0.985015]]2Hu?`Gb?r?@6?7? gſ=?i2oI>I2=_;2֐CYBȅByF$IbE%4jE% 4rE%a0ENO EN6EN$EL"EN;*EN ;VEN4ZELBEN9hYh=j@FynEn8En>pQ 5vR5rL?Q 9vR5r!)r}aBYxyz*?Q Iz@rODIr;irL;rBNR5y|ɮ~@|GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 323.23 m.-5Q= ProNav: ac range: 323.233063 m, nav range: 316.297729 m, bearing: 34.949120 deg, approach rate: -0.650225 m/s, LOS rate: -0.006412 deg/s, cmd heading: 40.104323 deg, new cmd heading: 40.097373 deg. zEόQEHeadingCmd: 0.699831 target range: 323.233063 and range: 325.30 m.RE#(3?JIbIZIBI:I2QҔQڔQQڒY’YY]`n?SBɢҼT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) -i))-y))i-#i5#(3?5b;5595I=#(3?I9A9@ @@/@i^A  7ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000492AQ IY Iq O} >=#,b?A@b!>b'1?bo,ٱb?* rAHRS rotation from veh to nav: [[0.769287,-0.623945,-0.137439],[0.637515,0.763815,0.100797],[0.042086,-0.165161,0.985368]]bH ?@\f? -q?`͹?O?$ſ#?ib!>Ib_;bאCY~ԅBy~$IIx>)>  iMb@Mb@Mb@ 9E?S㥛?:v?Y&?y/<<A  A)AYbDMVD 4yOe=%==ٔ9Q->9Y=@FyE:E>Q 5R5L?Q 9R5)aBY&?Q E:yU=?Q I@XDI ;iG ; RR5yɮ@EQFNOT Ignoring new targets: 323.23 m.Q ProNav: ac range: 323.233063 m, nav range: 316.018982 m, bearing: 34.942535 deg, approach rate: -0.622265 m/s, LOS rate: -0.014714 deg/s, cmd heading: 40.097373 deg, new cmd heading: 40.077600 deg. z!QHeadingCmd: 0.699486 target range: 323.233063 and range: 325.30 m.R3?JbZB:2ҔڔYBڒ’`@uOBɢu)q uviq)}ЃĻyyi}5$i3?;̠E+ E4E"E"Eb;*E ;VE(3ZEa@a@a@a@ԹI3?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250660a@a @a@a@aB[>BB$IBBBBBNDBPT;BE^A  A I I O >e#,0b|?A2l>21?2,ٱ28' :AHRS rotation from veh to nav: [[0.768295,-0.625425,-0.136257],[0.638708,0.763068,0.098892],[0.042124,-0.163007,0.985725]]2H`ߕ?{@p`Lp? k?P?`O?fĿ?i2l>I2!_;2ؐCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502135YFByJ$IbDR@VDR3yZƾ=%Z\=ٔZ׸Q-^>|9\Y1=5@Fy5E=̓;E=>AQ 5MR5EL?Q 9MR5E)EaBYIyM=?Q IU@E`DIE:iE:EiUR5yYɮ]@YQFNOT Ignoring new targets: 323.23 m.ooQ ProNav: ac range: 323.233063 m, nav range: 315.769928 m, bearing: 34.936573 deg, approach rate: -0.672530 m/s, LOS rate: -0.016112 deg/s, cmd heading: 40.077600 deg, new cmd heading: 40.059700 deg. z0QHeadingCmd: 0.699174 target range: 323.233063 and range: 325.30 m.R 2?JbZB:2Ҕڔڒ’`~y@MBɢ@) tNi):ɻi1%i 2?;YyI 2?I@ @@@@hA@iA)E^ EmE'E"E;*E(;VE'4ZEBEԁ M%#,=?A:u>:2?:,ٱ:%% BAHRS rotation from veh to nav: [[0.766900,-0.627439,-0.134851],[0.640381,0.761958,0.096597],[0.042142,-0.160437,0.986146]]:Hq?@B@~?a???`0Ŀ ?i:u>I:]`;:אCYJByJ$IbDR8VDR3yZp=%ZJ=ٔ^;Q-^>9^ ?Yb ?=b@FybEb;Eb>dQ 5jR5f`L?Q 9jR5f")faBYlyn?>?Q In@fhDIf;if;fXR5yrBɮr@vE Q FNOT Ignoring new targets: 323.23 m.؏؏Q% ProNav: ac range: 323.233063 m, nav range: 315.519257 m, bearing: 34.930465 deg, approach rate: -0.644640 m/s, LOS rate: -0.015720 deg/s, cmd heading: 40.059698 deg, new cmd heading: 40.041360 deg. z%,Q-HeadingCmd: 0.698854 target range: 323.233063 and range: 325.30 m.R-2?J)b)Z1B1:121Ҕ1ڔ99ڒ9’AAEٕ@YuJBɢuA×)q u0iq)}kͻyyi}Vf&i2?ȇ;[:I2?I9@ @@% 0@!ߥ>ߥ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010227ԉ^Au9ԱA ؟AE A E RE $E "E v;*E ;VE 4ZE a @a @a @a @I I O > M BDAT read: Rx Time:21:27:13.4826 U TRx dataTimestamp_ set to:1761514034.717312U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260132Ux+#,?ABR\>BPBR$IBRBBRX =BPBPBR_T;BREY~By~$I  = =iMb@Mb@Mb@ 9Gz?333333?{Gzt?Y0?y=ף;A@ )AYzAԹbD5VD3y =%:=ٔQ->9"?Y"?=@FyEE>Q 5R59M?Q 9R5Z )aBY1?Q E:yM?Q I@rDI ;i;\R5yBɮ@ E!Q%FNOT Ignoring new targets: 323.23 m.-޹-޹Q] ProNav: ac range: 323.233063 m, nav range: 315.219818 m, bearing: 34.919764 deg, approach rate: -0.680590 m/s, LOS rate: -0.024345 deg/s, cmd heading: 40.041359 deg, new cmd heading: 40.009226 deg. zeQmHeadingCmd: 0.698293 target range: 323.233063 and range: 325.30 m.RmP2?JibiZqBq:q2qҔyڔ}pByڒ’% @颭GBɢ兼) Hi)ѻ项i'iP2?a;;IP2?IM9@I @I@M0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5099461^A ; rG 9 m 9i Ym AA I I O >Y _2#,Ɍ?A2ɟ>2q&3?2+ٱ2! :AHRS rotation from veh to nav: [[0.764295,-0.631004,-0.132993],[0.643502,0.759693,0.093659],[0.041935,-0.157165,0.986682]]2H u?/1?fO? ? ux?Ŀ?i2ɟ>I2`;2ِCDV@AzDTEZ? EZ3EZ%EX"EZt;*EZt ;VEZ 4ZEXBEZU9|Y|=~@Fy~Ec1<E> Q 5R5 gM?Q 9R5 e) aBYyN?Q I@ {DI :i -: _R5y%Bɮ%q@% EGS=B*** querying acoustic contact ***:9B9IQMFNOT Ignoring new targets: 323.23 m.UUQe ProNav: ac range: 323.233063 m, nav range: 314.964233 m, bearing: 34.910415 deg, approach rate: -0.679477 m/s, LOS rate: -0.024874 deg/s, cmd heading: 40.009226 deg, new cmd heading: 39.981157 deg. zeQmHeadingCmd: 0.697803 target range: 323.233063 and range: 325.30 m.Rm52?JibiZiBq:q2qҔqڔyyڒy’yB@颭EBɢM)  i)iUջ顱i($)i52?z;a;I52?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762057=9@9 @A@E11@A@a@e=A^A] ;ԁI) IA ] DAT read: 21:27:13.4826 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.31,-0.704,-2.007,-0.476,-1.218, PHS= 0.615,-0.745, 0.697, RAW= 152.9, -8.1, CAL= 153.3, -9.8, ROT= 356.7, 9.8 e Ygot valid direction response: 21:27:13.4826 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.31,-0.704,-2.007,-0.476,-1.218, PHS= 0.615,-0.745, 0.697, RAW= 152.9, -8.1, CAL= 153.3, -9.8, ROT= 356.7, 9.8 m PDAT read: Bearing 174.4, 0.9 (Local) u ~Local bearing/azimuth received: Bearing 174.4, 0.9 (Local) } DAT read: Range 11 to 50 : 323.6 m (Round-trip 431.5 ms) speed 0.1 m/s O > *DAT read: user:241>  BDAT read: Tx time:21:27:14.5954  $Ping request sent. n2? {*@  <+@ %/) 8@I %/> :?ܘ?W$5?9¿ ?) \Y>I Qki %/>  :publishing transmit ping time  Fpublishing direction and range infoy  *ev{?P rlſY ) I i ) I :?ܘ?W$5?9¿ ) I i ԙ h8#,t㌤?AR?,>R3?R+ٱR ZAHRS rotation from veh to nav: [[0.762344,-0.633539,-0.132133],[0.645810,0.757952,0.091854],[0.041957,-0.155358,0.986967]]RH@e?Ez?%A?`Ń?r{? ÿ;?iR?,>IRq`;RՐCYyqiMb@Mb@Mb@ 9M?J +?MbYn2?y=A@ )tAYAbDU.VDUP3ٔeEQ-e>E> EWE#E"Es;*Ej;VE3ZEa@a@a@a@9iY=@FyEK;E>Q 5R5/+M?Q 9R5)aBY24?Q E:yV?Q I@DI:i<:LdR5y)ɮ))JRPތ?AŠCŠC?P23s@t4=2ûb]K*ev{?P rlſQk%/>—/N>p@-g@B$6Pl?Zt?>.jo9CrCZb?bBzAڗOC?QM addTargetRange:: Added new target pos. range: 323.600006 m, deltaT: 4.033492 s, deltaX: -1.699982 m, approachRate: -0.421466 m/s, rangeRepo size: 4 Q] Added new target pos. range: 321.542328 m, bearing: 35.503573 deg, lat: 36.779479 deg, lon: -121.859155 deg, deltaT: 4.033492 s, deltaX: -1.690735 m, approachRate: -0.419174 m/s, posRepo size: 4 QFNOT Ignoring new targets: 321.54 m.Q ProNav: ac range: 321.542328 m, nav range: 314.622162 m, bearing: 34.895848 deg, approach rate: 0.000000 m/s, LOS rate: -0.024874 deg/s, cmd heading: 39.981158 deg, new cmd heading: 39.941629 deg. zԡQHeadingCmd: 0.697113 target range: 321.542328 and range: 323.60 m.Ru2?JbZB:2ҔڔVBڒ’9t@ s?UBBɢUl)Q }iy)}ڻyyi}&+iu2?;fBB$IB$BBBBBzT;B EBaBaBaBeW =BeW =CeƊ@51@1 @9@=/@9 ^AU ;߽ %=߽ %=I1IqO}>a@#,3?ATv>v[?5?v+*ٱv  AHRS rotation from veh to nav: [[0.759007,-0.637606,-0.131785],[0.649750,0.754719,0.090687],[0.041638,-0.154459,0.987121]]vH I?Eg@R?@&??7?`Q? Pÿ?iv>Iv`;vאCYBy$II%=)%4=))bD5;VD5)3yE/%E<ٔEN:Q-M>9IYI=M@FyMEUV<EU>YQ 5eR5]:M?Q 9eR5] )]aBYaymX?Q Im@]DI];i];]gR5yuBɮu@qQFNOT Ignoring new targets: 321.54 m.Q ProNav: ac range: 321.542328 m, nav range: 314.355164 m, bearing: 34.884191 deg, approach rate: -0.743713 m/s, LOS rate: -0.032500 deg/s, cmd heading: 39.941628 deg, new cmd heading: 39.906625 deg. zoQHeadingCmd: 0.696502 target range: 321.542328 and range: 323.60 m.RM2?JbZB:2Ҕڔڒ’?@BɢS) .i):ܻi:,i M2? d; d) ӥF#,?ABT>B65?B^*ٱB0 ZAHRS rotation from veh to nav: [[0.757391,-0.639864,-0.130124],[0.651636,0.753384,0.088224],[0.041582,-0.151613,0.987565]]BHIB6`;@YvByv$I!bDE-VDE3y%A=ٔ%9Q-->9QYY=e@FyeEm$;E>Q 5R5KM?Q 9R5)aBYyX?Q I@DI:ip:kR5yɮ@)QUFNOT Ignoring new targets: 321.54 m.U]Q ProNav: ac range: 321.542328 m, nav range: 314.052429 m, bearing: 34.870794 deg, approach rate: -0.669060 m/s, LOS rate: -0.029635 deg/s, cmd heading: 39.906623 deg, new cmd heading: 39.866396 deg. zQHeadingCmd: 0.695800 target range: 321.542328 and range: 323.60 m.R2?JbZB:2Ҕڔڒ ’ ?I=Bɢ?) i)i-i 2? Z; 7B B %IB )BB V =B B ODB B E^A &$<ԩ A gAzA gAI! I1 OE >vL#,5?A2L>2|6?2 *ٱ2G :AHRS rotation from veh to nav: [[0.755847,-0.641550,-0.130801],[0.653420,0.751826,0.088319],[0.041679,-0.152223,0.987467]]2H/?`@??` ?V? |ÿ@T?i2L>I2`;0YfByf$IiUMb@Mb@Mb@QQQQ Q9UX9v?"~j?MbYU3?yUS=UUIAU@ U A)QQYU\AbDmMVDm 4yy%Q=ٔ̓Q->9Y=@FyE;E>Q 5R5]ZM?Q 9R5)aBY5?Q E:yC]?Q I@DI:iH:nR5yBɮ@ EQFNOT Ignoring new targets: 321.54 m.\\Q ProNav: ac range: 321.542328 m, nav range: 313.797363 m, bearing: 34.858621 deg, approach rate: -0.706335 m/s, LOS rate: -0.033738 deg/s, cmd heading: 39.866397 deg, new cmd heading: 39.829847 deg. z;QHeadingCmd: 0.695162 target range: 321.542328 and range: 323.60 m.R#1?JbZB:2Ҕڔ BB ڒ ’  ?颽;Bɢۗ) i)i6.i#1?;؇E 5 E NE %E "E k;*E ;VE 4ZE BE 26?2*ٱ2CD :AHRS rotation from veh to nav: [[0.754689,-0.642663,-0.132021],[0.654755,0.750552,0.089265],[0.041721,-0.153809,0.987219]]2H`i&? ??ڶ?`z\?@ÿ@M?i24>I2`;2ؐCY^Byb$I ddf=f=bDjBVDj3yrdO%rU=ٔvQ-v>9tYt=z@FyzEz;Ez>|Q 5R5~DiM?Q 9R5~>)~aBY y ]?Q I @~DI~:i~:~*rR5yBɮJ@EGS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 321.54 m.EdMdQU ProNav: ac range: 321.542328 m, nav range: 313.533478 m, bearing: 34.845916 deg, approach rate: -0.686715 m/s, LOS rate: -0.033089 deg/s, cmd heading: 39.829849 deg, new cmd heading: 39.791703 deg. zQHeadingCmd: 0.694496 target range: 321.542328 and range: 323.60 m.R1?JbZB:2Ҕڔڒ’11=9y?颅9Bɢ蕼) \&i)顉i&0iU1?U}*;UA>I1 IQ Oe >Y jY#,"qi?A6>6$7?6.ٱ6" BAHRS rotation from veh to nav: [[0.754146,-0.643187,-0.132568],[0.655332,0.750129,0.088579],[0.042470,-0.153677,0.987208]]6H!? {??`?ా?ÿ5?i6>I6Mp`;4YJޅByJ$IiMb@Mb@Mb@ 9> ףp=?+?S㥛Y1?y=/ݼ`A@ l A)^AY3AbD5@VD53yE%EE=ٔEoQ-E>9IYI=M@FyMEU:EU>YQ 5eR5]yM?Q 9eR5])]aBYe+3?Q Ee:yeQ?Q Im@]DI]:i]:]uR5yuBɮu@uEE> E^E#E"Es;*E ;VE3ZEa@a@a@a@QFNOT Ignoring new targets: 321.54 m.Q ProNav: ac range: 321.542328 m, nav range: 313.249176 m, bearing: 34.834746 deg, approach rate: -0.673900 m/s, LOS rate: -0.026501 deg/s, cmd heading: 39.791702 deg, new cmd heading: 39.758161 deg. z9Q}HeadingCmd: 0.693911 target range: 321.542328 and range: 323.60 m.R}$1?JybZB:2Ҕڔ+Bڒ’@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2381467Bɢm) 1i )   i p1i5$1?5\;5B9B=$IB=BB=W =B9B=NDB=ZT;B=E@ @@/@aԑ^A፨< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490995A I! I9 OE > :`#,X?AF>F<7?F/ٱF` NAHRS rotation from veh to nav: [[0.753901,-0.643186,-0.133956],[0.655588,0.749795,0.089508],[0.042869,-0.155300,0.986937]]FH?@y%? S?@??@ÿ@?iF>IFv`;FאCYVЅByV$IbDzYVDz#4y%N=ٔ ڃQ- >9 Y = @Fy E}i:E>Q 5%R5M?Q 9%R5O)aBY!y-Q?Q I-@DId:i9:DyR5y1ɮ5@1YQ]FNOT Ignoring new targets: 321.54 m.eCeCQu ProNav: ac range: 321.542328 m, nav range: 312.977478 m, bearing: 34.824039 deg, approach rate: -0.696164 m/s, LOS rate: -0.027459 deg/s, cmd heading: 39.758162 deg, new cmd heading: 39.726012 deg. zu–Q}HeadingCmd: 0.693350 target range: 321.542328 and range: 323.60 m.R}^1?JybyZyB:2Ҕڔڒ’ @颽5Bɢв) Ii)ijiBp2i^1?tj; tf#,'?A6>6|=7?61ٱ6g" JAHRS rotation from veh to nav: [[0.753870,-0.642800,-0.135972],[0.655589,0.749608,0.091055],[0.043395,-0.157786,0.986519]]6H ?ґ`g??fO?7?@R2Ŀ ?i6>I6_;4YRByR$IIV4>)Va=XZAbD^BVD^3yf[%fN=ٔf@Q-j>9hYh=j@FyjErm8Er>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000364Q 5R5 M?Q 9R5)aBYyQ?Q I@DIB1 B5 $IB5 BB1 B1 B5 ODB5 T;B5 E^Ae ~MXm#,?A2}>2u7?25ٱ2% :AHRS rotation from veh to nav: [[0.754240,-0.641766,-0.138775],[0.655103,0.749782,0.093101],[0.044301,-0.161132,0.985938]]2H"?`Y`]@?6?@zշ? ?Ŀ͌?i2}>I2O{_;2ؐCYBByBo$Ii Mb@Mb@Mb@     9 ?+?Y ,?y = ̼ A r@ )  Y AbD%9VD%3y5+%5==ٔ=` Q-=>9= ?Y= ?=E@FyEEE&EE>IQ 5UR5MM?Q 9UR5M)IY]4-?Q E]:y] D?Q I]@MDIM]:iM:MR5yaɮm@i Q FNOT Ignoring new targets: 321.54 m.ʹʹQE ProNav: ac range: 321.542328 m, nav range: 312.417419 m, bearing: 34.804846 deg, approach rate: -0.754229 m/s, LOS rate: -0.022130 deg/s, cmd heading: 39.693600 deg, new cmd heading: 39.668381 deg. zEsQMHeadingCmd: 0.692344 target range: 321.542328 and range: 323.60 m.RMs=1?JIbIZIBI:Q2QҔQڔUByڒy’y] @1Bɢ(ռ) i)#i4i]s=1?]g ;]:B DAT read: 21:27:17.4288 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 223, 0.32,-2.898, 1.949,-2.444,-3.029, PHS= 0.232,-1.261, 0.541, RAW= 159.2, 5.9, CAL= 158.5, 5.5, ROT= 351.5, -5.5  Ygot valid direction response: 21:27:17.4288 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 223, 0.32,-2.898, 1.949,-2.444,-3.029, PHS= 0.232,-1.261, 0.541, RAW= 159.2, 5.9, CAL= 158.5, 5.5, ROT= 351.5, -5.5  PDAT read: Bearing 188.8, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 188.8, -6.7 (Local)  DAT read: Range 11 to 50 : 321.9 m (Round-trip 429.2 ms) speed 0.7 m/s  *DAT read: user:242>  BDAT read: Tx time:21:27:18.5454  $Ping request sent. 4t#,э?Aish~ ?1@B= 1@ =)P@I Ľ#]?w ?rW6?rS8ٱr) )I#]?w ?Ir`_;rאCY]By]P$IbDmDVDmJ3y%E=ٔغQ->9Y=@FyE%WE>Q 5R5M?Q 9R5{)aBYyC?Q I@DI9:i:)R5yBɮr@JR_Ѝ?ACCo?iIO*s@ʨG) >@kM˷?&`¿aVX? Ľ—(yp@ѱe@MJ J@b^?j]?#6?j-CrɃCZk?bfzBb?ڗ؜CD?Q addTargetRange:: Added new target pos. range: 321.899994 m, deltaT: 3.782183 s, deltaX: -1.700012 m, approachRate: -0.449479 m/s, rangeRepo size: 4 Q Added new target pos. range: 319.855042 m, bearing: 33.364051 deg, lat: 36.779496 deg, lon: -121.859155 deg, deltaT: 3.782183 s, deltaX: -1.687286 m, approachRate: -0.446114 m/s, posRepo size: 4 QFNOT Ignoring new targets: 319.86 m.Q ProNav: ac range: 319.855042 m, nav range: 313.688477 m, bearing: 34.600111 deg, approach rate: 0.000000 m/s, LOS rate: -0.022130 deg/s, cmd heading: 39.668383 deg, new cmd heading: 39.640607 deg. zQ HeadingCmd: 0.691859 target range: 319.855042 and range: 321.90 m.R-1?J)b1Z1B1:121Ҕ9ڔ99ڒ9’9E`ft@E #?I /Bɢ )  i)i5i1?C; _z#,E덤?A2(>2j6?2 7<ٱ2, :AHRS rotation from veh to nav: [[0.755887,-0.638758,-0.143609],[0.653089,0.751051,0.096942],[0.045935,-0.167067,0.984875]]2H`:0?pa¿? ?@7Ѹ?„?pbſ?i2(>I2b9_;0@YZByZD$I ``b=b=E V E BE &E "E ;*E Z;VE 4ZE a@a@a@a@iUMb@Mb@Mb@QQQQ Q9Ux&?MbP?~jtYU7)?yU:UļUAU/@ UVA)UAQYUGAbD2VD 3y}$%9=ٔ Q->9Y=@FyE8E>Q 5R5eM?Q 9R5)aBYS)?Q E:y>5?Q I@DI:i:R5yBɮ9@EGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 319.86 m.ETlETlBu]>BqBu$IBu҅BBuV =BqBuNDBuS;BuEԩQ ProNav: ac range: 319.855042 m, nav range: 313.400909 m, bearing: 34.594619 deg, approach rate: -0.675545 m/s, LOS rate: -0.012913 deg/s, cmd heading: 39.640608 deg, new cmd heading: 39.624117 deg. z QHeadingCmd: 0.691571 target range: 319.855042 and range: 321.90 m.R 1?JbZB:2ҔڔBڒ’j?=,Bɢ=Pj)A EڞiA)eOaiim6im 1?uh;u KC1 M liAsF#,:Y?A2AF9FliAYFAf{>fk6?f*?ٱf,K-l rAHRS rotation from veh to nav: [[0.756717,-0.637484,-0.144888],[0.652065,0.751870,0.097480],[0.046795,-0.168241,0.984635]]fH7?Ef¿@?Q?m??@ſ` ?if{>Ifp_;dYzrByz#$IbD<VD3y%j=ٔ!Q->9Y=%@Fy%E%ywE%>)Q 55R5-1M?Q 95R5-)-aBY1y=4?Q I=@-DI-;i-L;-R5yEBɮE@AiQmFNOT Ignoring new targets: 319.86 m.uyfuyfQ ProNav: ac range: 319.855042 m, nav range: 313.171295 m, bearing: 34.590285 deg, approach rate: -0.666652 m/s, LOS rate: -0.012594 deg/s, cmd heading: 39.624116 deg, new cmd heading: 39.611104 deg. zI QHeadingCmd: 0.691344 target range: 319.855042 and range: 321.90 m.R0?JbZB:2Ҕڔڒ’@h/?+Bɢ) Li) i7i0?=;E= EeE E"Es;*E#;VE3ZEBEԁ ap#,3?ABn>Bڍ5?BdBٱBg. JAHRS rotation from veh to nav: [[0.758028,-0.635687,-0.145930],[0.650488,0.753152,0.098119],[0.047535,-0.169303,0.984417]]BHA? W׭¿@? ?`Y?@sV?ſ X?iBn>IB_;BؐCYRyByR,$IbD^CVD^3yf=%fO=ٔj@~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250709aQ-}>9Y=@FyE/E> Q 5MR5 M?Q 9}R5 ) aBYy\4?Q I@ DI |Bq Bu t$IBu BBu W =Bq Bq Bu S;Bu EB9B9B9B9B=V =C=H5^A R5<Ii I O >#,I9?A2 >2(5?2Fٱ23K/ :AHRS rotation from veh to nav: [[0.759009,-0.634287,-0.146920],[0.649285,0.754141,0.098495],[0.048324,-0.170151,0.984232]]2H@I? LG¿?!?6??ſ~?i2 >I28U`;2אCYVvByZ'$IIb=)b>dfAԹiMb@Mb@Mb@ 9{Gz?A`"{GzY#?yY#A@ A)5@YQAbDGVD4y%8=ٔ_Q->9Y= @Fy E xE >Q 5R5VN?Q 9R5)aBY%k$?Q E%:y%?Q I%@DI:iH:YR5y)ɮ- @)QQ]FNOT Ignoring new targets: 319.86 m.]8]8Qm ProNav: ac range: 319.855042 m, nav range: 312.626862 m, bearing: 34.584065 deg, approach rate: -0.693620 m/s, LOS rate: -0.002525 deg/s, cmd heading: 39.595266 deg, new cmd heading: 39.592431 deg. zmݸQuHeadingCmd: 0.691018 target range: 319.855042 and range: 321.90 m.Ru0?JqbyZyBy:y2yҔڔfBڒ’~?颵&Bɢz ) 'i)х项i8i0?+);B~D! zD! E- $ E- -E- %E) "E- g\;*E- K;VE- 4ZE) BE- -24?2-Iٱ21 :AHRS rotation from veh to nav: [[0.760466,-0.632108,-0.148766],[0.647519,0.755443,0.100122],[0.049096,-0.172468,0.983791]]2H`U?:: ÿz?,??`$#?@mƿ7{?i2v>I2`;2֐CYBoByB$IbDNSVDN4yV>%Vc=ٔVr Q-V>9XYX=Z@FyZE^AлE^>`Q 5fR5b2N?Q 9fR5b/)baBYdyf?Q If@bDIb:ib:bR5ynBɮn@lQFNOT Ignoring new targets: 319.86 m.f fQ ProNav: ac range: 319.855042 m, nav range: 312.395416 m, bearing: 34.583320 deg, approach rate: -0.641667 m/s, LOS rate: -0.002068 deg/s, cmd heading: 39.592431 deg, new cmd heading: 39.590193 deg. zQ%HeadingCmd: 0.690979 target range: 319.855042 and range: 321.90 m.R%0?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115e@$Bɢ) i)i[9i0?ސ;>ԙ #,l?AErE ErEr'Ep"ErVz;*Er5;VEr'4ZEpaz@az@az@az@Y=nBy=$IiMb@Mb@Mb@ 9+? ףp= Mb`?Yv?yQ; A@ A)@YAbD5>VD543yE¹%E3=ٔEQ-E>9M"?YM"?=M@FyMEU]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508376E]>aQ 5mR5e&N?Q 9mR5e-)eaBqYu! ?Q E}:y}3?Q I}@e DIe6;ieg5;eR5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 319.86 m.88Q ProNav: ac range: 319.855042 m, nav range: 312.110199 m, bearing: 34.585432 deg, approach rate: -0.621601 m/s, LOS rate: 0.004608 deg/s, cmd heading: 39.590194 deg, new cmd heading: 39.596537 deg. zdJ9QHeadingCmd: 0.691090 target range: 319.855042 and range: 321.90 m.RE0?JbZB:2ҔڔEBڒ’M@B[>BB[$IBBBBBBS;BE-!Bɢ5LS)1 5 i1)519i=[:i=E0?E;EɁ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761339Ay I I O > #,?AYyBy+$I !!-=)bD5OVD5c4yEr=%E\=ٔAQ-E>9IYI=M@FyMEQEU>YQ 5eR5]6N?Q 9eR5])]bBYayaQ Ie@]DI]:i][:]R5yuBɮu!@uEQFNOT Ignoring new targets: 319.86 m.88Q ProNav: ac range: 319.855042 m, nav range: 311.879700 m, bearing: 34.587142 deg, approach rate: -0.625651 m/s, LOS rate: 0.004645 deg/s, cmd heading: 39.596536 deg, new cmd heading: 39.601670 deg. zL9QHeadingCmd: 0.691180 target range: 319.855042 and range: 321.90 m.R$0?JbZB:2Ҕڔڒ’y@颍Bɢqj) i)gY#顑i%I;i$0?z;h#,>y?A2D>22?2)Oٱ22 >AHRS rotation from veh to nav: [[0.764942,-0.626448,-0.149755],[0.642100,0.759973,0.100740],[0.050701,-0.173218,0.983577]]2H@hz? .+ÿ?Q?ʹ?`?,ƿwy?i2D>I2`;2אCjchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265938YzByz3$IbDu1VDu[3yM<%U;=ٔ}mQ->9Y=@FyEE>Q 5R54KN?Q 9R5)%bBYyf?Q I@DIB B B B B B B S;B Eԩ ^A <AQ Ia Iq O} >$#,d?A,6]>62?69Oٱ6ͺ3 >AHRS rotation from veh to nav: [[0.766814,-0.624037,-0.150247],[0.639859,0.761686,0.102052],[0.050757,-0.174392,0.983367]]6Hཉ?M;ÿy?`_? ??}Rƿw?i6]>I6X3`;6֐CYFByF=$IiUMb@Mb@Mb@QQQQ Q9U1Zd?A`"Q?YU"?yUٽUu9Y=@FyEE>Q 5R5[N?Q 9R5)=bBY?Q E:yB?Q I@!DIz:in:R5yBɮ@EQFNOT Ignoring new targets: 319.86 m.99Q ProNav: ac range: 319.855042 m, nav range: 311.373383 m, bearing: 34.592717 deg, approach rate: -0.623026 m/s, LOS rate: 0.008661 deg/s, cmd heading: 39.609070 deg, new cmd heading: 39.618408 deg. z59QHeadingCmd: 0.691472 target range: 319.855042 and range: 321.90 m.RI1?JbZB:2Ҕڔ_Bڒ’| @5Bɢ5)1 5i9)=b*99i=ZB=iEI1?EK ;E[ ;IEI1?IIԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7700379@ @@ 0@ ^Ah%<A I9IYO{> bEijEm4rEmz:0E : E ?E %E "E \p;*E ;VE 4ZE BE j  BDAT read: Tx time:21:27:22.4453  $Ping request sent. iU AU ?U a1@U z0=U r0@ U Pw=)U @IU PwֽQ Q U >M?ץR?(hO? U W-?)U ߽IU iU PwֽQ Q  :publishing transmit ping time  Fpublishing direction and range infoyQ U /lR؁?)M4ޮ`º?YQ Q Q Q Q Q )Q IQ iQ Q Q Q Q Q )Q IQ Q Q U >M?ץR?(hO? Q )Q IQ iQ Q Q o#,OtԎ?A`r>rK1?rXPٱr$5 zAHRS rotation from veh to nav: [[0.768624,-0.621658,-0.150861],[0.637677,0.763325,0.103453],[0.050843,-0.175717,0.983127]]rH`? gOÿg?)m?{?#?}ƿu?ir>Ir_;rՐCYByW$II=)=bD>VD43y=%B=ٔ WQ- >9 Y =@FyEUػEU>YQ 5eR5]nN?Q 9eR5])]ZbBYiym?Q Im@]*DI]:i]:]R5yɮ?@JRIiҎ?ACC ??3r@;JW+Eͽ?@/lR؁?)M4ޮ`º?Pwֽ—zrGo@6u;d@+3J@~ ?j뭽?vG?j Cr;zCZ5PF͠?b'zBꗉڗC◍ ?Q% addTargetRange:: Added new target pos. range: 304.100006 m, deltaT: 4.031817 s, deltaX: -17.799988 m, approachRate: -4.414880 m/s, rangeRepo size: 4 QU Added new target pos. range: 302.165802 m, bearing: 32.702758 deg, lat: 36.779496 deg, lon: -121.859155 deg, deltaT: 4.031817 s, deltaX: -17.689240 m, approachRate: -4.387411 m/s, posRepo size: 4 YQ]FNOT Ignoring new targets: 302.17 m.]YQ ProNav: ac range: 302.165802 m, nav range: 311.111664 m, bearing: 34.596493 deg, approach rate: 0.000000 m/s, LOS rate: 0.008661 deg/s, cmd heading: 39.618406 deg, new cmd heading: 39.629972 deg. zQHeadingCmd: 0.691674 target range: 302.165802 and range: 304.10 m.R1?JbZB:2Ҕڔڒ’s@v?BɢԼ)e 2ri))j.!i%h>iM1?M;M:;IM1?II9@ @@0@!^A X%#,?AE6= E6QE4E4"E6s;*E6A;VE4ZE4a>@a>@a>@a>@Jx>Jے0?J3OٱJ6'5 VAHRS rotation from veh to nav: [[0.770424,-0.619541,-0.150384],[0.635523,0.765034,0.104083],[0.050565,-0.175761,0.983133]]JHP?H@?ÿ4V?@({?@7? ?Uƿ u?iJx>IJ* _;J֐CYZByZh$IpiEMb@Mb@Mb@AAAA A9EK?Zd;O:v?YE^?yEjE9u ?Yu ?=u@FyuE}E}>Q 5R5dN?Q 9R5d)vbBYK?Q E:y# ?Q I@1DI:i:R5yBɮ@=EGSUB*** querying acoustic contact ***:QBQBaBaBez$IBeBBaBaBaBeS;BeEQFNOT Ignoring new targets: 302.17 m.88Q ProNav: ac range: 302.165802 m, nav range: 310.879791 m, bearing: 34.598907 deg, approach rate: -0.592235 m/s, LOS rate: 0.006169 deg/s, cmd heading: 39.629973 deg, new cmd heading: 39.637219 deg. zz9QHeadingCmd: 0.691800 target range: 302.165802 and range: 304.10 m.R1?JbZB:2ҔڔwBڒ’A?]Bɢeм)a e4Qia)e0aiim@im1?u8;u ;I1?I@ @@K0@@@jA9 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A- vт;q AY Ia Iy O >%#,G ?A: >: /?:Nٱ:n6 FAHRS rotation from veh to nav: [[0.772188,-0.617292,-0.150586],[0.633386,0.766644,0.105254],[0.050474,-0.176655,0.982978]]:H@õ?@iFÿD?@Y?? ש?`ƿt?i: >I:9^;:אCYNŅByN$IbDV5VDV3y^ >%^S=ٔ^v9Q-b>9`Y`=b@FybEfEf>hQ 5nR5jQN?Q 9nR5j0)jbBYlynr ?Q Ir@j9DIj:ij[:j`R5yvBɮv@t QFNOT Ignoring new targets: 302.17 m.f9f9Q- ProNav: ac range: 302.165802 m, nav range: 310.645386 m, bearing: 34.601468 deg, approach rate: -0.646611 m/s, LOS rate: 0.007071 deg/s, cmd heading: 39.637220 deg, new cmd heading: 39.644910 deg. z-G9Q5HeadingCmd: 0.691934 target range: 302.165802 and range: 304.10 m.R5"1?J9b9Z9B9:929ҔAڔAAڒA’IIMN?uBɢuМ)y }Tiy)}2yyi\Ai"1?IĒ;9I"1?I @  @ @ 4@ EM: EMSEM EI"EM\p;*EMN;VEM3ZEIBEIa]2EIa]JEMԙ L#,"?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249804^ڿ>^|6/?^=HMٱ^06 fAHRS rotation from veh to nav: [[0.773810,-0.615296,-0.150429],[0.631434,0.768100,0.106368],[0.050097,-0.177295,0.982882]]^H ?DAÿ4?E?`:?G? ƿs?i^ڿ>I^Z^;\YnޅByn$I ppz=z=bD=VD3yy n=% 7=ٔEZ:Q-E>9u"?Y}"?=}@Fy}E഻E>Q 5R5N?Q 9R5L)bBYy ?Q I@BDI|:i:R5y)ɮ-`@1qQuFNOT Ignoring new targets: 302.17 m.}8}8Q ProNav: ac range: 302.165802 m, nav range: 310.359100 m, bearing: 34.604733 deg, approach rate: -0.594787 m/s, LOS rate: 0.006791 deg/s, cmd heading: 39.644911 deg, new cmd heading: 39.654717 deg. z"9QHeadingCmd: 0.692105 target range: 302.165802 and range: 304.10 m.R-1?JbZB:2Ҕڔڒ’&?5 Bɢ=%U)9 =i9)= 4AAiEtCim-1?mD;m5YIm-1?IqԩEe- EeeEe!Ea"Eed;*Ee#;VEec3ZEaam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500610B=[>B9B=$IB=BB9B9B9B=S;B=EU`Ի 9@  @ @ 0@ ^A-"1A5>A5>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757129iSkAMAA.AII  B9 SkAY uAO%?1#,xF?A2ʭ>2t.?2;Jٱ2g6 >AHRS rotation from veh to nav: [[0.775154,-0.613784,-0.149681],[0.629836,0.769312,0.107082],[0.049426,-0.177279,0.982919]]2H?`(ÿ'?3?i?`cN?ƿt?i2ʭ>I2#^;2ՐCYFByF$IieMb@Mb@Mb@aaaa a9e r?T㥛 V-?Ye#?yee%=ٔ/:Q->9 ?Y ?=@Fy E E>Q 5R5&N?Q 9R5n)bBY$?Q E:y?Q I@MDI ;i ; R5yBɮG@EQFNOT Ignoring new targets: 302.17 m.J7J7Q ProNav: ac range: 302.165802 m, nav range: 310.028076 m, bearing: 34.605392 deg, approach rate: -0.648809 m/s, LOS rate: 0.001293 deg/s, cmd heading: 39.654716 deg, new cmd heading: 39.656695 deg. z%c8QHeadingCmd: 0.692140 target range: 302.165802 and range: 304.10 m.R01?JbZ B : 2 ҔڔBڒ’`,?EBɢM<@)I M`IiI)MSP4IQiU9EiU01?];]rkI]01?IY%a9@ @@0@DzDEI ECE%E"E};*E;VE 4ZEBE+#,y`?A>Z>>@.?> Gٱ>3 FAHRS rotation from veh to nav: [[0.776230,-0.613043,-0.147121],[0.628575,0.770536,0.105677],[0.048578,-0.174506,0.983457]]>H@?` @¿@I?;? ?.ߨ? 6Vƿ {x?i>Z>I>];>אCPY^ By^$IbDr@VDr3y~V>%U=ٔ ;Q- >9Y=AFy EΌE%>1Q 5=R55wN?Q 9ER55̖)5bBYIyMe?Q IM@5UDI5In;i5o;5lR5yYɮem@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257297QFNOT Ignoring new targets: 302.17 m.77Q ProNav: ac range: 302.165802 m, nav range: 309.780548 m, bearing: 34.605970 deg, approach rate: -0.576669 m/s, LOS rate: 0.001346 deg/s, cmd heading: 39.656693 deg, new cmd heading: 39.658426 deg. zil8QHeadingCmd: 0.692170 target range: 302.165802 and range: 304.10 m.R21?JbZB:2ҔIڔIQڒQ’QQU"@颥Bɢd3) eZ=ia)ey3aaimҏHim21?unߐ;usIu21?IqyyyyE^ EFE$E"E;*Ev;VE4ZEa@a@a@a@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508670By By B} $IB} $BBy By By B} S;B} EB1B1B1B1B5W =C5N^4) 9@  @ @ /@ @ hA@ iAQ ^AdA hAzA hAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760759AU؟AIaIqO}?k;#,*?A6=>6d-?6@ٱ6,/ fAHRS rotation from veh to nav: [[0.777012,-0.613029,-0.142995],[0.627730,0.771543,0.103326],[0.046985,-0.170048,0.984315]]6HG?M¿`]? {?s?s?!ſ@?i6=>I6k];6ؐCYn:Byn%IieMb@Mb@Mb@aaaa a9e(\?MbX9v?Ye'?yee9"?Y"?=AFyEE>Q 5R5N?Q 9R5})cBY'?Q E:y,?Q I@aDI. ;i ;R5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 302.17 m.D*D*Q ProNav: ac range: 302.165802 m, nav range: 309.397919 m, bearing: 34.600893 deg, approach rate: -0.700375 m/s, LOS rate: -0.009304 deg/s, cmd heading: 39.658424 deg, new cmd heading: 39.643176 deg. zR̹QHeadingCmd: 0.691904 target range: 302.165802 and range: 304.10 m.R 1?JbZB ): 2ҔڔޅBڒ’@C @Bɢ% )A EP=iA)M&1IIiMUKiU 1?U ;UĶIU 1?IY@ @@@YE4 E>E'E"Ej;*E?;VE'4ZEBE`#,򞏤?A>u>>.?><ٱ>5- FAHRS rotation from veh to nav: [[0.776781,-0.613756,-0.141119],[0.628087,0.771378,0.102383],[0.046019,-0.168164,0.984684]]>Hd? 3¿I?!?5?`?@fſ?i>u>I>7];%bX=ٔb';Q-f>9f ?Yf ?=fAFyfEj:Ej>lQ 5rR5nN?Q 9rR5np)n5cBYpyr-?Q Iv@niDIn/;inL;nR5yzBɮz @zEQFNOT Ignoring new targets: 302.17 m.%%Q5 ProNav: ac range: 302.165802 m, nav range: 309.152252 m, bearing: 34.597612 deg, approach rate: -0.652106 m/s, LOS rate: -0.008717 deg/s, cmd heading: 39.643176 deg, new cmd heading: 39.633324 deg. z5oQ=HeadingCmd: 0.691732 target range: 302.165802 and range: 304.10 m.R=Y1?J9b9Z9B9:A2AҔAڔIIڒQ’QY]@ @MBɢMI;)Qu=q}BDAT read: Rx Time:21:27:25.2713 TRx dataTimestamp_ set to:1761514046.564912checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266043 UB>i)V3/顉iFMԑiY1?x;٢IY1?I@ @!@%0@)^A#2E+ EEE&E"Eb;*E;VE4ZEa@a@a@a@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517240BA AE <BM \>BI BM N%IBM fBBI BI BI BM S;BM EA ؟AI I O > ^#,۸?A2>2D.?23$9ٱ2Q, :AHRS rotation from veh to nav: [[0.776318,-0.614513,-0.140372],[0.628720,0.770840,0.102551],[0.045185,-0.167867,0.984774]]2H@?y?? @?"?|ſC?i2>I2^;2ՐCYByByBf%Ii Mb@Mb@Mb@     9 kt? ףp= ?~jt?Y  0?y Q8= < hA @ A)  Y AbD%:VD%{3y-=%5C=ٔ5u;Q-=>9="?Y="?==AFy=EE_:EE>IQ 5UR5MO?Q 9UR5MB)MIcBYU0?Q EU:y]H@?Q I]@MrDIM ;iM ;MR5yaɮec@aQFNOT Ignoring new targets: 302.17 m. } }Q ProNav: ac range: 302.165802 m, nav range: 308.866852 m, bearing: 34.589760 deg, approach rate: -0.680554 m/s, LOS rate: -0.018741 deg/s, cmd heading: 39.633324 deg, new cmd heading: 39.609746 deg. z%MQ%HeadingCmd: 0.691320 target range: 302.165802 and range: 304.10 m.R%a0?J)b)Z)B):I2IҔQڔUBQڒQ’YY]`k @颥Bɢ;) b~>i)+iZPia0?J;Ia0?I@ @@E2@@=@=DAT read: 21:27:25.2713 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 93,-0.22,-1.621,-2.879,-1.381,-2.040, PHS= 0.520,-0.794, 0.615, RAW= 153.4, -5.0, CAL= 153.2, -6.4, ROT= 356.8, 6.4  Ygot valid direction response: 21:27:25.2713 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 93,-0.22,-1.621,-2.879,-1.381,-2.040, PHS= 0.520,-0.794, 0.615, RAW= 153.4, -5.0, CAL= 153.2, -6.4, ROT= 356.8, 6.4 PDAT read: Bearing 176.8, 1.0 (Local) %~Local bearing/azimuth received: Bearing 176.8, 1.0 (Local) -DAT read: Range 11 to 50 : 316.4 m (Round-trip 421.9 ms) speed 0.4 m/s E*DAT read: user:244> MR#Rx 1: Read range and direction messages.}`direction in FSK: [0.992218,-0.055474,-0.111469]}Fpublishing direction and range infoy@?g -V:Y3C )EI?iCKp?uY+@¸D +@ )SF@I=Hl?'5 ?w:1 }?)d=Idi=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AE 3AM >AM >Y Au .AIy I O >E  E PE %E "E *E ;VE 4ZE BE 2.?24ٱ2* >AHRS rotation from veh to nav: [[0.775124,-0.616431,-0.138548],[0.630267,0.769724,0.101433],[0.044117,-0.165946,0.985148]]2H?`͹ `%+? ??w?@=ſ@T?i26>I2];2֐CYBByFv%IbDN2VDN 3yV=%VT=ٔV5;Q-V>9Z ?YZ ?=ZAFyZE^&;E^>`Q 5fR5bO?Q 9fR5b{)b\cBYdyf@?Q If@bzDIby:ib-:bR5ynBɮn@rBDAT read: Tx time:21:27:26.3953 v$Ping request sent.vi)'顁iSi(0?l;_ I(0?I9@ @@5@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251435^A #2? A ؟AI I O >R#,v쏤?A@Z~ >Z\/?Zx1ٱZ( jAHRS rotation from veh to nav: [[0.773685,-0.618636,-0.136753],[0.632086,0.768444,0.099802],[0.043346,-0.163655,0.985565]]ZH ? @ :??? g1?Ŀ?iZ~ >IZ^;XYvByv%IiMb@Mb@Mb@ 9bX9?Mb?I +?YE6?y=94<QA@ A)@YAbDCVD3yc=%;=ٔ:Q->9"?Y"?=AFyE;E>Q 5R5+O?Q 9R5w|)gcBY7?Q E:y-Q?Q I@DI/:i{:R5yɮo@QFNOT Ignoring new targets: 314.39 m.  E}C E}dE}$Ey"E}x;*E}B#;VE}4ZEya@a@a@a@Q ProNav: ac range: 314.389191 m, nav range: 311.034729 m, bearing: 34.223362 deg, approach rate: -0.710685 m/s, LOS rate: -0.029239 deg/s, cmd heading: 39.587694 deg, new cmd heading: 39.549915 deg. zQHeadingCmd: 0.690276 target range: 314.389191 and range: 316.40 m.R0?JbZB:2Ҕڔ:Bڒ’ ?]Bɢ]R<)eݼ eۦ>ia)e#aaimaVi0?&;O9I0?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503529BBB%IBBBV =BBODBS;BEE9@A @A@E4@A^Ae ?Bɺ A .A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755836I I O >$,p^?A2ť>2p)0?2.ٱ2Mb# :AHRS rotation from veh to nav: [[0.771729,-0.621787,-0.133476],[0.634516,0.766932,0.095942],[0.042711,-0.158734,0.986397]]2H@?M???Eޥ?aQĿ?i2ť>I24^;0YnByn%IlbDz.VDzP3yTg=%V=ٔ}:Q- >9  ?Y  ?= AFy E<E>Q 5%R5:O?Q 9%R50w)rcBY!y%Q?Q I-@DI:i: R5y5Bɮ5@5EGSMB*** querying acoustic contact ***:IBIYQeFNOT Ignoring new targets: 314.39 m.eeQu ProNav: ac range: 314.389191 m, nav range: 310.767151 m, bearing: 34.212178 deg, approach rate: -0.699331 m/s, LOS rate: -0.029253 deg/s, cmd heading: 39.549913 deg, new cmd heading: 39.516335 deg. zuQ}HeadingCmd: 0.689690 target range: 314.389191 and range: 316.40 m.R}0?JybZB:2Ҕڔڒ’rK?颽Bɢ*<) ]>i)iwiYi0?;aj;I0?Iq@q @q@u/@q bEjE#4rE30EG EQEE"E&|;*EA;VEZEBEi 6$,; ?A2>21?2,ٱ2X :AHRS rotation from veh to nav: [[0.769443,-0.625000,-0.131655],[0.637322,0.764885,0.093653],[0.042168,-0.155967,0.986862]]2H@F?@d?@y???ÿ _?i2>I2j^;2ԐCYBByB%IDFAHJBAbDR<VDR3yb2=%fN=ٔjͳ:Q-j>9n"?Yr"?=rAFyrEv<Ev>|Q 5R5~EKO?Q 9R5~q)~|cBY yR?Q I@~DI~I;i~}G;~R5y!ɮ%X@)9QFNOT Ignoring new targets: 314.39 m.DDQ% ProNav: ac range: 314.389191 m, nav range: 310.487549 m, bearing: 34.200274 deg, approach rate: -0.662996 m/s, LOS rate: -0.028254 deg/s, cmd heading: 39.516336 deg, new cmd heading: 39.480590 deg. z5Q=HeadingCmd: 0.689066 target range: 314.389191 and range: 316.40 m.R=f0?J9b9Z9BA:A2AҔAڔAIڒI’IIUY&?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259486BɢC<) ,>i)%qqiuq\i}f0?A>;k;If0?Iqi@q @q@q@yԑEJ EZEE"E~;*E;VEZEa@a@a@a@^A vт;A A @A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511877B [>B B %IB цBB B B NDB T;B E AQ IY Iq O} > $,21?2*ٱ2"b :AHRS rotation from veh to nav: [[0.767244,-0.627971,-0.130345],[0.639997,0.762864,0.091888],[0.041732,-0.153921,0.987201]]2HB?@V#z?ai?`?]?@ÿ'?i2F>I2P^;2אCYBByB%Ii Mb@Mb@Mb@     9 rh|?i|?5?MbY ;?y =    A) @ Y GAbD%4VD%f3qy"f=%:=ٔv:Q->9Y=AFyEM<E>Q 5R5<]O?Q 9R5Ak)~cBYS>?Q E:yY?Q I@DI;i;VR5yBɮ@EQFNOT Ignoring new targets: 314.39 m. & &Q ProNav: ac range: 314.389191 m, nav range: 310.174561 m, bearing: 34.185259 deg, approach rate: -0.758359 m/s, LOS rate: -0.036416 deg/s, cmd heading: 39.480590 deg, new cmd heading: 39.435501 deg. zǺQ%HeadingCmd: 0.688279 target range: 314.389191 and range: 316.40 m.R%30?J!b!Z!B!:)2)Ҕ)ڔ5KB1ڒ1’11=?eBɢeԞ<)a mb>ii)mYiiim_iu30?u;u* $,|dY?A2f>2 3?2c*ٱ2ՠ :AHRS rotation from veh to nav: [[0.764590,-0.631381,-0.129462],[0.643180,0.760384,0.090196],[0.041493,-0.152230,0.987474]]2H w?E4 9? U?`?>?H|ÿ`b?i2f>I2,^;2֐CYBByB%IbDN.VDNP3yV>%V5=ٔV :Q-V>9XYX=ZAFyZ!E^<E^>`Q 5fR5boO?Q 9fR5bd)bcBYdyfZ?Q If@bDIb`:ib:bGR5ylɮnK@lyQFNOT Ignoring new targets: 314.39 m.Q ProNav: ac range: 314.389191 m, nav range: 309.850250 m, bearing: 34.169398 deg, approach rate: -0.694483 m/s, LOS rate: -0.034002 deg/s, cmd heading: 39.435501 deg, new cmd heading: 39.387867 deg. zQHeadingCmd: 0.687448 target range: 314.389191 and range: 316.40 m.R/?JbZB:2Ҕڔڒ’J @ԉ颥Bɢ<) >i)`顱ici/?Z[;lA= >Aq Iy I O > E D E hE E "E ny;*E ^%;VE ZE a% @a% @a% @a% @C3$,+s?ABZ>BB%IBBBW =BBB T;BEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519384YEByM%IiMb@Mb@Mb@ 9Q?q= ףp?I +Y(9yYy=}AFy}#EE>Q 5R5O?Q 9R5])|cBY>?Q E:yY?Q I@DI;i ;NR5yBɮý@QFNOT Ignoring new targets: 314.39 m.""Q ProNav: ac range: 314.389191 m, nav range: 309.518005 m, bearing: 34.153580 deg, approach rate: -0.746492 m/s, LOS rate: -0.035579 deg/s, cmd heading: 39.387867 deg, new cmd heading: 39.340362 deg. zVúQHeadingCmd: 0.686619 target range: 314.389191 and range: 316.40 m.RA/?JbZB:2Ҕڔ#Bڒ’k@-Bɢ5š<)1 5l>i1)5 99i=gi=A/?Eq;Epi@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775023 E 9A YE MAI y ̮? rAq ^A t<AI I!E-I E-[E-%E)"E-};*E-;VE- 4ZE)BE-+24?2q!ٱ2 >AHRS rotation from veh to nav: [[0.760154,-0.636986,-0.128124],[0.648539,0.755845,0.089971],[0.039531,-0.151485,0.987669]]2H .S?/b[f?/?Y?`t=? cÿ?i2>I28W^;2אCYFByF%IbDN6VDN3yV׼%V8=ٔZQ;Q-Z>9XY\=^AFy^%E^<E^>`Q 5fR5b!O?Q 9fR5bHW)bxcBYhyjZ?Q Ij@bDIb):ibd:b-R5ynBɮnO@rEiQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023521GSB*** querying acoustic contact ***:BQ%FNOT Ignoring new targets: 314.39 m.%-Q] ProNav: ac range: 314.389191 m, nav range: 309.199310 m, bearing: 34.137931 deg, approach rate: -0.664932 m/s, LOS rate: -0.032683 deg/s, cmd heading: 39.340363 deg, new cmd heading: 39.293369 deg. z]pQeHeadingCmd: 0.685799 target range: 314.389191 and range: 316.40 m.Re/?JabaZaBa:a2iҔڔڒ’g @ԉBɢRn<) ~>i)"i5ji/?6v;x*$,W뭐?A,fZ>fσ5?fiٱfr ~AHRS rotation from veh to nav: [[0.758446,-0.639341,-0.126499],[0.650645,0.754002,0.090235],[0.037690,-0.150745,0.987854]]fH`1E?`{u!1? ??L?Kÿ?ifZ>IfU^;dY By %IiMb@Mb@Mb@ 9A`"?I +?X9vY9?y9=$ Ad@ A)Y @bD;VD)3yMS%5=ٔ;Q->91Y1=5AFy5(E=;E=>AQ 5MR5EO?Q 9MR5EP)EpcBYM:?Q EU:yU}R?Q IU@EDIEa:iE]:E@R5yYɮ]@YEJ E_E#E"E~;*E ;VE3ZEa@a@a@a@QFNOT Ignoring new targets: 314.39 m.Q ProNav: ac range: 314.389191 m, nav range: 308.868408 m, bearing: 34.123791 deg, approach rate: -0.770258 m/s, LOS rate: -0.032949 deg/s, cmd heading: 39.293368 deg, new cmd heading: 39.250903 deg. z紺QHeadingCmd: 0.685057 target range: 314.389191 and range: 316.40 m.R_/?JbZB:2ҔڔBڒ’ @Bɢ<) >i)ikmi _/? Y; BB%IBBBBBB T;BEBqBqBqBqBqCuT5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5281099@ @@0@^AuR5<A}gAzA}fAԱA.AIIO>  DAT read: 21:27:29.2187 LVL= 32752, 32753, 31218, 32755, AGC= 76, IDX= 418,-0.26,-0.069,-1.471, 0.222,-0.661, PHS= 0.694,-0.765, 0.840, RAW= 154.7, -10.0, CAL= 155.5, -11.7, ROT= 354.5, 11.7  Ygot valid direction response: 21:27:29.2187 LVL= 32752, 32753, 31218, 32755, AGC= 76, IDX= 418,-0.26,-0.069,-1.471, 0.222,-0.661, PHS= 0.694,-0.765, 0.840, RAW= 154.7, -10.0, CAL= 155.5, -11.7, ROT= 354.5, 11.7  8DAT read: $Error in header  *Received a bad header"1$,Lǐ?A&X#Rx 1: Read direction message, but no range.*`direction in FSK: [0.974715,-0.093855,-0.202787]y.0?i׃ ɿy )LI1?i C= W?3,@¸2-@ Q)z@IQ>?? ȧZ?'Kƿ /?)7B3>I)ĽiQ>6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse`U>U06?UJٱU AHRS rotation from veh to nav: [[0.756783,-0.641374,-0.126166],[0.652690,0.751988,0.092250],[0.035708,-0.152160,0.987711]]UH7?#1&@?I?? aH?yÿ@S?iU>IUu^;QYBy%IbD-6VD-3y]M%]B=ٔ];Q-]>9e ?Ye ?=eAFye*Em;Em>qQ 5R5uO?Q 9R5uJ)uhcBYy%S?Q I@uDIu:iu:uR5yBɮP@ިE QFNOT Ignoring new targets: 314.39 m.  Q% ProNav: ac range: 314.389191 m, nav range: 308.578827 m, bearing: 34.111248 deg, approach rate: -0.695998 m/s, LOS rate: -0.030177 deg/s, cmd heading: 39.250901 deg, new cmd heading: 39.213235 deg. z-QMHeadingCmd: 0.684400 target range: 314.389191 and range: 316.40 m.RU4/?JQbQZQBQ:Q2QҔYڔYYڒY’aae@@߅Bɢ[ъ<) 2>i)Aipi4/?<;i>EA EZE$E"Ev;*E;VE4ZEBEP 8$,w␤?Ah~5>~6?~/Z ٱ~  AHRS rotation from veh to nav: [[0.755747,-0.642798,-0.125128],[0.653992,0.750689,0.093593],[0.033771,-0.152565,0.987716]]~H/? ͑0???`nJ?@@ÿ _?i~5>I~l^;~֐CYByq%IbD5,VD53yE=ս%EX=ٔMA;Q-M>9M"?YM"?=UAFyU,EUW;EU>YQ 5eR5]UO?Q 9eR5]E)]acBYiymS?Q Im@]DI]l:i]:]R5yqɮ}@yQFNOT Ignoring new targets: 314.39 m.  Q ProNav: ac range: 314.389191 m, nav range: 308.310822 m, bearing: 34.099531 deg, approach rate: -0.724546 m/s, LOS rate: -0.031703 deg/s, cmd heading: 39.213236 deg, new cmd heading: 39.178056 deg. zQHeadingCmd: 0.683786 target range: 314.389191 and range: 316.40 m.R /?JbZB:2Ҕڔ5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseڒi’iqu@+@颽݅Bɢ<) >i)i{!si- /?-~;-Em[ EmmEm"Ei"Em%;*Em(;VEm(3ZEia}@a}@a}@a}@Bi Bm CBm %IBm ƆBBm X =Bi Bi Bm 9T;Bm Ei I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey cF>$,?A2>2N6?2'ٱ2Z% :AHRS rotation from veh to nav: [[0.755462,-0.643271,-0.124417],[0.654424,0.750042,0.095739],[0.031732,-0.153749,0.987600]]2H ,?ٿ` ?X?X? 2?? ÿl?i2>I2^^;2ؐCYBsByB_%IiMb@Mb@Mb@ 99v?~jt?Q롿Y4?y<\ AM@ )Yf@bD-+VD-E3Ay&%E=ٔg;Q->9Y=AFy.E:E>Q 5R5O?Q 9R5y@)ZcBYQ5?Q E:y`=?Q I@DI;i};R5yBɮ@ߨE1QUFNOT Ignoring new targets: 314.39 m.]]Qm ProNav: ac range: 314.389191 m, nav range: 308.020813 m, bearing: 34.091677 deg, approach rate: -0.687478 m/s, LOS rate: -0.018636 deg/s, cmd heading: 39.178057 deg, new cmd heading: 39.154473 deg. zmLQuHeadingCmd: 0.683374 target range: 314.389191 and range: 316.40 m.R.?JbZB:2ҔڔBڒ’ @څBɢJQS<) >i)߻!!i%ԿuiM.?Uw;UBE$,A?A2>26?2x8ٱ2>T****** received valid address query ******>R****** received valid ping request ******>received new query, but waiting for acoustic response period to elapse FAHRS rotation from veh to nav: [[0.755318,-0.643569,-0.123748],[0.654696,0.749465,0.098363],[0.029442,-0.155312,0.987427]]2H`+?@򭿿E?`?K.?%?Gÿ?i2>I2}^;2֐CYNbByNI%IPR=bDZFVDZ4yb^%bV=ٔb;Q-b>9f ?Yf ?=fAFyf0EjZN:Ej>lQ 5rR5nbO?Q 9rR5n;)nScBYpyrn=?Q Ir@nDIn9:in:nR5yxɮz@xGS B*** querying acoustic contact ***: B !Q%FNOT Ignoring new targets: 314.39 m.%-qQ ProNav: ac range: 314.389191 m, nav range: 307.753571 m, bearing: 34.084415 deg, approach rate: -0.713899 m/s, LOS rate: -0.019415 deg/s, cmd heading: 39.154473 deg, new cmd heading: 39.132669 deg. z0UQHeadingCmd: 0.682994 target range: 314.389191 and range: 316.40 m.R.?JbZB:2Ҕ ڔ  ڒ ’ _@]؅Bɢ]O Z<)a e >ia)eٻaaiewi.?u;7 kK$,!/?A~u>~Ȭ6?~V5ݼٱ~  AHRS rotation from veh to nav: [[0.755752,-0.643304,-0.122473],[0.654301,0.749497,0.100720],[0.027000,-0.156254,0.987348]]~H`/?`gZ` ?`? ȹ?Υ?ĿZ?i~u>I~s^;~ՐCYYBy%>%IiMb@Mb@Mb@ 9y&1?S㥫Zd;OY`%?y/]j A@ 1A)Y(@bD@VD3Ef EzE!E"E";*E.;VEc3ZEa%@a%@a%@a%@!yM%M4=ٔU+;Q-U>9U"?Y]"?=]AFy]2E]E]>aQ 5R5eP?Q 9R5e%7)eUcBY&?Q E:y- ?Q I@eDIe`;ie%;eR5yBɮ@AABX>BB%IBBBBBBfT;BE)Q5FNOT Ignoring new targets: 314.39 m.55QE ProNav: ac range: 314.389191 m, nav range: 307.459106 m, bearing: 34.082725 deg, approach rate: -0.625511 m/s, LOS rate: -0.003593 deg/s, cmd heading: 39.132671 deg, new cmd heading: 39.127596 deg. zeQmHeadingCmd: 0.682905 target range: 314.389191 and range: 316.40 m.Rm.?JqbqZqBq:q2qҔyڔ}Byڒy’[,@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseօBɢ&+<) >i)%5һiyi.?;:VdR$,SJ?Ab>bnT6?boʼٱb! nAHRS rotation from veh to nav: [[0.756678,-0.642428,-0.121345],[0.653321,0.750014,0.103205],[0.024709,-0.157370,0.987231]]bH6?Ŏz?@?k?NM? $Ŀd?ib>Ibb^;bאCYrLByr/%IbD~6VD~3y ‹% _=ٔ;Q->9Y=AFy4E}pE>!Q 5-R5%P?Q 9-R5%{3)!Y1y5?Q I5@%DI%;i%;%>R5y=Bɮ=@EEaQeFNOT Ignoring new targets: 314.39 m.mmQ} ProNav: ac range: 314.389191 m, nav range: 307.220917 m, bearing: 34.081417 deg, approach rate: -0.681001 m/s, LOS rate: -0.003744 deg/s, cmd heading: 39.127596 deg, new cmd heading: 39.123668 deg. z}m$QHeadingCmd: 0.682837 target range: 314.389191 and range: 316.40 m.Re.?JbZB:2Ҕڔڒ’ݎ@ԅBɢ0<<) p>i)̻iP{ie.? ;u1 X$,c?A]>]5?]뷼ٱ]# mAHRS rotation from veh to nav: [[0.758290,-0.640680,-0.120526],[0.651531,0.751142,0.106267],[0.022449,-0.159107,0.987006]]]HC?rھ X?@[ ?@H4??]Ŀ?i]>I]}^;]ՐCYFBy'%II=)4<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebDEVD3y%==ٔ;Q->9 ?Y ?=AFy6EE%>!Q 5-S5%)$P?Q 95S5%&/)!Y1yU3?Q IU@% DI%q;i%;% S5y]Bɮe^@e֨EԹQFNOT Ignoring new targets: 314.39 m.EhEhQ ProNav: ac range: 314.389191 m, nav range: 306.938293 m, bearing: 34.079991 deg, approach rate: -0.628373 m/s, LOS rate: -0.003173 deg/s, cmd heading: 39.123668 deg, new cmd heading: 39.119387 deg. z\ QHeadingCmd: 0.682762 target range: 314.389191 and range: 316.40 m.R.?JbZB:2Ҕڔڒ’ Z@хBɢ0 <) h>i1)=Ż9AiE~}i}.?Bŝ;BBa%IBuBBBBBUT;BE  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A <9 A ؟AI I O >t_$,MH?A>G)>>04?>Wٱ>p$ JAHRS rotation from veh to nav: [[0.760344,-0.638521,-0.119032],[0.649205,0.752818,0.108620],[0.020253,-0.159864,0.986931]]>HT?nx@I??~λ?M?nvĿ?i>G)>I>Z^;>֐CYRHByR*%IieMb@Mb@Mb@aaaa a9eMb?A`"~jtYe ?yeٽeDe Aa e5@)aaYe@bDJVD04yn(<%C=ٔ;Q->9"?Y"?=AFy8EE>IyQ 5}S5}b8P?Q 9S5}a+)}]cBY"?Q E:y ?Q I@}DI} ;i} ;}S5yBɮn@רEQFNOT Ignoring new targets: 314.39 m.88Q ProNav: ac range: 314.389191 m, nav range: 306.659241 m, bearing: 34.082941 deg, approach rate: -0.655256 m/s, LOS rate: 0.006932 deg/s, cmd heading: 39.119386 deg, new cmd heading: 39.128243 deg. z?9QHeadingCmd: 0.682917 target range: 314.389191 and range: 316.40 m.R.?JbZB:2ҔڔlBڒ’V@υBɢR/<) r>i)%㫿!!i%i-.?-b;-;ԡEa  Ee Ee %Ea "Ea *Ee 8;VEe 4ZEa BEe VDE43yU͒%UQ=ٔUQ-U>9aYa=eAFye:EeEm>iQ 5uS5mZIP?Q 9}S5m8()mdcBYyyyQ I}@mDIm;im<;mS5yɮT@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 314.39 m.88Q ProNav: ac range: 314.389191 m, nav range: 306.425110 m, bearing: 34.085420 deg, approach rate: -0.625583 m/s, LOS rate: 0.006628 deg/s, cmd heading: 39.128241 deg, new cmd heading: 39.135683 deg. z9QHeadingCmd: 0.683047 target range: 314.389191 and range: 316.40 m.R#.?JbZB:2Ҕڔڒ ’   `7@=̅Bɢ=a<)9 =Z>i9)EtAAiEJiM#.?MN#;MMA #l$,貑?A^u>^2?^oxٱ^& fAHRS rotation from veh to nav: [[0.765593,-0.632807,-0.115856],[0.643146,0.757114,0.114635],[0.015174,-0.162276,0.986629]]^H?`?@@?`G:?X??vĿ`v?i^u>I^$w^;\Yn;Byn%I ppE%d E%E%#E!"E%:;*E%*5;VE%3ZE!a-@a-@a-@a-@BU>BBB%IB\BBBBBT;BEiMb@Mb@Mb@ 9$C?Sÿ9IYI=MAFyMyQ 5S5}]P?Q 9S5}%)}wcBY?Q E:y>Q I@}#DI}:i}:} S5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyBɮq@بEQFNOT Ignoring new targets: 314.39 m.܏9܏9Q5 ProNav: ac range: 314.389191 m, nav range: 306.156219 m, bearing: 34.092346 deg, approach rate: -0.609792 m/s, LOS rate: 0.015722 deg/s, cmd heading: 39.135683 deg, new cmd heading: 39.156480 deg. z5,:Q=HeadingCmd: 0.683410 target range: 314.389191 and range: 316.40 m.R=.?J9b9Z9BA:A2AҔAڔM6BIڒI’iqu_Z@ɅBɢt<) 4c>i)ǽii-.?-;-s$, Α?AZ*>Z#0?Zޝ"ٱZ_I) bAHRS rotation from veh to nav: [[0.771263,-0.626533,-0.112293],[0.636439,0.761825,0.120700],[0.009925,-0.164559,0.986317]]ZH0? 9]?`?.?S?Cſ`?iZ*>IZ^;ZאCYjMByj0%IbDv0VDv3y~в=%~N=ٔ~IY9Y=AFy>EϵE >Q 5S5GpP?Q 9S5I")cBYy+>Q I@+DI:i :]S5y%Bɮ-@)IQUFNOT Ignoring new targets: 314.39 m.US9US9Qm ProNav: ac range: 314.389191 m, nav range: 305.916138 m, bearing: 34.098935 deg, approach rate: -0.626009 m/s, LOS rate: 0.017193 deg/s, cmd heading: 39.156481 deg, new cmd heading: 39.176262 deg. zm<:QuHeadingCmd: 0.683755 target range: 314.389191 and range: 316.40 m.Ru /?JqbqZqBq:q2qҔyڔyyڒy’@Am @auDžBɢuen]<)q uم>iq)}?yyi}ߚi /?`;~ y$,葤?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJF>J2R/?JٱJ+ RAHRS rotation from veh to nav: [[0.774494,-0.622711,-0.111305],[0.632538,0.764395,0.124882],[0.007315,-0.167125,0.985908]]JH?@@|~=?`u?K? }? ^dſ?iJF>IJ9pYp=rAFyr@ErPEv>tQ 5zS5vP?Q 9~S5v)vcBY|y~>Q I~@v3DIvX ;ive ;vS5y ɮ {@ QFNOT Ignoring new targets: 314.39 m.0909Q ProNav: ac range: 314.389191 m, nav range: 305.672760 m, bearing: 34.105853 deg, approach rate: -0.588470 m/s, LOS rate: 0.016741 deg/s, cmd heading: 39.176261 deg, new cmd heading: 39.197032 deg. z7:QHeadingCmd: 0.684117 target range: 314.389191 and range: 316.40 m.RO"/?JbZB:!2!Ҕ)ڔ))ڒ)’1 M!@UąBɢ] ,O<)a e">i)/i3iO"/?k;iv;IO"/?IEM[ EMSEM"EI"EM%;*EMN;VEM(3ZEIaU@aU@a]@a]@BT>BB<%IBWBBY =BBMDBS;BEBƶCBƶCBBX =BX =C4@ @@@@@jAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse) ^A] }U<I I O >Y 1$,?AJe>J .?JN-ٱJ. RAHRS rotation from veh to nav: [[0.777669,-0.618892,-0.110471],[0.628656,0.766870,0.129233],[0.004736,-0.169948,0.985442]]JH?G?3?`?es? ſ?iJe>IJ`u^;HYZ\ByZB%II\)^R=`bAiMb@Mb@Mb@ 9-?~jtÿX9v?Y??y< A@ @)@Y@bDVDyՀ=%==ٔ>;Q->9Y=AFyBE=E>Q 5S5ؖP?Q 9S5)cBYp?Q E:y>Q I@;DIz ;i ;S5yBɮ@٨EQ FNOT Ignoring new targets: 314.39 m. $9$9Q ProNav: ac range: 314.389191 m, nav range: 305.416229 m, bearing: 34.113547 deg, approach rate: -0.615787 m/s, LOS rate: 0.018484 deg/s, cmd heading: 39.197032 deg, new cmd heading: 39.220133 deg. z%J:Q%HeadingCmd: 0.684520 target range: 314.389191 and range: 316.40 m.R%ii)uxqqiu^i}QEM Q EM mEM &EI "EM ;*EM (;VEM 4ZEI BEM pN,?N(ٱN0 VAHRS rotation from veh to nav: [[0.780916,-0.615076,-0.108866],[0.624633,0.769506,0.133019],[0.001956,-0.171878,0.985116]]NHB?മ޻`? ʟ? ?@`?ƿ?iNe>INEN^;N֐CY^qByb\%IbDj9VDj3yr=%rY=ٔr;Q-v>9tYt=vAFyvDEz`Ez>|Q 5S5~)P?Q 9S5~)~cBYy>Q I @~CDI~;i~g:~S5yɮ|@GS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 314.39 m.E9E9QU ProNav: ac range: 314.389191 m, nav range: 305.192993 m, bearing: 34.120465 deg, approach rate: -0.591765 m/s, LOS rate: 0.018353 deg/s, cmd heading: 39.220131 deg, new cmd heading: 39.240901 deg. zUI:Q]HeadingCmd: 0.684883 target range: 314.389191 and range: 316.40 m.R]}T/?JYbYZaBa:a2aҔiڔiiڒi’iqup"@额Bɢ<) ۲>i)qv顡i/Hi}T/? ; $,+K6?AEe ExEE"E;*E-;VEـ3ZEa@a@a@a@B0B0B2[%IB2pBB2X =B0B2NDB2zS;B2EV>V+?Vj:ٱV0\ bAHRS rotation from veh to nav: [[0.783623,-0.612057,-0.106399],[0.621236,0.771902,0.135030],[-0.000517,-0.171912,0.985112]]VH@q?<`*?k?H?V@2ƿ ?iV>IVp^;VؐCYjByjm%IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9Q?q= ףpl?Y(?y뽙=A@ @)YG@bDGVD4yp=%9=ٔ;Q->9Y= AFy GE b!E >Q 5S5hP?Q 9S5)cBY%1?Q E%:y%\>Q I%@KDI:iE:S5y-Bɮ5@1QQ]FNOT Ignoring new targets: 314.39 m.]\R9]\R9Qm ProNav: ac range: 314.389191 m, nav range: 304.920990 m, bearing: 34.125528 deg, approach rate: -0.617008 m/s, LOS rate: 0.011494 deg/s, cmd heading: 39.240902 deg, new cmd heading: 39.256103 deg. zun9QuHeadingCmd: 0.685148 target range: 314.389191 and range: 316.40 m.R}e/?JybyZyBy:y2yҔڔyBڒ’ V#@5Bɢ5~g<)9 =>i9)=99i=ーiEe/?eӟ;m#Ime/?Ii9@ @@C3@@ =@ =^AvтA>A>A)I1IAOU>M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse9 ٓ$,g&P?A2E>21*?2E;ٱ21 :AHRS rotation from veh to nav: [[0.785690,-0.609795,-0.104121],[0.618613,0.773651,0.137048],[-0.003019,-0.172088,0.985077]]2H`_$? q?`?͊?[h ƿ ?i2E>I2U^;2ԐCY^By^%I ``bDfCVDf3ync>%n_=ٔrQ;Q-r>9pYp=vAFyvIEvEv>xQ 5~S5zEP?Q 9~S5z)zcBYy>Q I@zSDIz:iz:z S5y ɮ D@QFNOT Ignoring new targets: 314.39 m.O9O9Q ProNav: ac range: 314.389191 m, nav range: 304.694946 m, bearing: 34.129883 deg, approach rate: -0.589136 m/s, LOS rate: 0.011360 deg/s, cmd heading: 39.256102 deg, new cmd heading: 39.269178 deg. zy9QHeadingCmd: 0.685376 target range: 314.389191 and range: 316.40 m.Rt/?JbZB:2 Ҕ ڔڒ’$@Bɢg<) o>E5S E5aE5&E1"E5;*E5!;VE54ZE1BE5U 2Acoustic response timeout$,j?A6>6%*?6Z;ٱ6C/ NAHRS rotation from veh to nav: [[0.787130,-0.608488,-0.100837],[0.616764,0.775109,0.137143],[-0.005290,-0.170142,0.985405]]6H+0?`xmй ?`?@?Tu2ſp?i6>I6D^;4YVƆByV%IbDbAVDb?3yf >%jK=ٔj¸;Q-j>9lYl=nAFynKErEr>tQ 5vS5vP?Q 9zS5v)v dBYxyzh>Q Iz@v[DIv;iv;v}$S5yBɮ@ڨE!Q-FNOT Ignoring new targets: 314.39 m.5h95h9QM ProNav: ac range: 314.389191 m, nav range: 304.446655 m, bearing: 34.134792 deg, approach rate: -0.643098 m/s, LOS rate: 0.012725 deg/s, cmd heading: 39.269179 deg, new cmd heading: 39.283918 deg. zM :Q]HeadingCmd: 0.685634 target range: 314.389191 and range: 316.40 m.R]/?JYbYZYBY:a2aҔiڔiqqڒy’yyE%@]Bɢ]9=)i mM?ii)mbqqiuMKi}/?}Н;٦II/?IE9@I @I@M/@Qԡ^A= &E=^ E=E="E9"E=;*E=z1;VE=(3ZE9aE@aE@aE@aE@B}U>ByB}%IB}BB}Y =ByByB}YS;B}wEAiIyIO~>iߩI߭A2Acoustic response timeout) $,σ?A2>2)?2A;ٱ2- :AHRS rotation from veh to nav: [[0.787913,-0.607953,-0.097907],[0.615737,0.775828,0.137688],[-0.007749,-0.168772,0.985625]]2H 6?`Yt@t??ğ?@NſI2J^;2ՐCYB܆ByB%Ii Mb@Mb@Mb@     9 V-?kt rh?Y |?y  0 C =  A @ @) @ Y bD%6VD%3y-=%5E=ٔ5>;Q-5>91Y9==AFy=MEEKEE>IQ 5MS5MP?Q 9US5M )MdBYU ?Q EU:yU?Q IU@McDIMa;iM;M(S5yeBɮe@eѨE!Q-FNOT Ignoring new targets: 314.39 m.-?-?Q] ProNav: ac range: 314.389191 m, nav range: 304.187469 m, bearing: 34.134361 deg, approach rate: -0.595623 m/s, LOS rate: -0.000992 deg/s, cmd heading: 39.283918 deg, new cmd heading: 39.282623 deg. z]L.QeHeadingCmd: 0.685611 target range: 314.389191 and range: 316.40 m.Re6/?JabaZiBi:i2iҔqڔׅBڒ’ r&&@Bɢz=) e?i2Acoustic response timeout)v@iiimiu6/?u;}-XI}6/?Iy%9@! @!@%/@!@-jA@-iA1^AM 0bEȻ 4jErE0EU _ EU EU 'EQ "EU ;*EU *5;VEU '4ZEQ BEU h$,몝?A6>6h)?6k <ٱ6m+ >AHRS rotation from veh to nav: [[0.788149,-0.608118,-0.094941],[0.615407,0.776163,0.137278],[-0.009791,-0.166623,0.985972]]6H8?@u`Ni?T?`O?`K @Sſ`?i6>I6st^;4YFByF%IIJp<)Jp<bDNIVDNX4yV=%VS=ٔZì;Q-Z>9XYX=^AFy^OE^?E^>`Q 5fS5bQ?Q 9fS5bG )b(dBYhyj?Q Ij@bkDIb:ib:b+S5yQɮ]ܺ@YGSuB*** querying acoustic contact ***:qBqQFNOT Ignoring new targets: 314.39 m.Q ProNav: ac range: 314.389191 m, nav range: 303.945648 m, bearing: 34.133982 deg, approach rate: -0.630796 m/s, LOS rate: -0.000988 deg/s, cmd heading: 39.282624 deg, new cmd heading: 39.281488 deg. z-QHeadingCmd: 0.685591 target range: 314.389191 and range: 316.40 m.R/?JbZB:2Ҕڔڒ’ &@9EBɢE-=)A E ?iI)M'D!IIiM솼i]/?]s;e[Ie/?Ii}Y>i}>9@ @@0@a^AlX%2Acoustic response timeoutIIO>ԉ BY AY Be V>Ba Be %IBe ۆBBe X =Ba Ba Be QS;Be sEE} S E} hE} (Ey "E} ;*E} ^%;VE} c44ZEy BE} <2E} <JE} <:E} <X$,?A2T>2)?2Q)E<ٱ2A) :AHRS rotation from veh to nav: [[0.787817,-0.608982,-0.092122],[0.615792,0.775883,0.137130],[-0.012033,-0.164762,0.986260]]2H 5?|S@? ? z? ſ@q?i2T>I2^;2֐CYBByB&IE2Acoustic response timeoutiMb@Mb@Mb@ 9 rh?Mb?I +?YC+?y=9< A@ )@Y=@bD4VDf3y=%6=ٔȣ;Q->9Y=AFyQE:E> Q 5S5 Q?Q 9S5  ) ,dBY+?Q E:yJ7?Q I@ tDI ;i h; t/S5yEBɮE@EҨEYQFNOT Ignoring new targets: 314.39 m.UUQ ProNav: ac range: 314.389191 m, nav range: 303.644470 m, bearing: 34.127117 deg, approach rate: -0.676946 m/s, LOS rate: -0.015445 deg/s, cmd heading: 39.281487 deg, new cmd heading: 39.260872 deg. z)QHeadingCmd: 0.685231 target range: 314.389191 and range: 316.40 m.RTk/?JbZB:2ҔڔBڒ’w'@MBɢM 0=)I U-?iQ)i)ՇiTk/?#;NITk/?I9@ @@@ԑԱ2Acoustic response timeout^A jbA >A >I1 IA OM > j4$,Ϣђ?A2>28*?2mf<ٱ2V% :AHRS rotation from veh to nav: [[0.786882,-0.610756,-0.088286],[0.616944,0.775331,0.135064],[-0.014040,-0.160747,0.986896]]2H".?`O𙶿 ??I?ZĿ?i2>I2xN^;2ՐCYB&ByB;&IbDJ.VDJP3yR:,>%Rb=ٔV;Q-V>9TYT=VAFyZSEZŇ;EZ>\Q 5bS5^%Q?Q 9bS5^)^.dBYdyf7?Q If@^|DI^:i^$:^2S5yhɮj@h|Q~FNOT Ignoring new targets: 314.39 m.Q ProNav: ac range: 314.389191 m, nav range: 303.406464 m, bearing: 34.121619 deg, approach rate: -0.681083 m/s, LOS rate: -0.015745 deg/s, cmd heading: 39.260870 deg, new cmd heading: 39.244363 deg. z,QHeadingCmd: 0.684943 target range: 314.389191 and range: 316.40 m.RsX/?JbZB!:!2!Ҕ!ڔ!)ڒ)’))5&}(@]Bɢ]c=)Y ]>?ia)eaaie8imsX/?mL;m5ImsX/?IqEU EnE$E"El;*E(;VE4ZEa@a@a@a@q@q @q@q@y@=@=m2Acoustic response timeout^ANJNIQIaOu>) % BDAT read: Response Not Received % *response not received% *DAT read: user:246> - BDAT read: Tx time:21:27:38.8453 - $Ping request sent.- 2*?2 L<ٱ2$i" >AHRS rotation from veh to nav: [[0.785351,-0.613143,-0.085322],[0.618843,0.774027,0.133849],[-0.016027,-0.157920,0.987322]]2H`!?@ݞ׵@??`!?@Si`6Ŀ$?i2y>I2_>^;2אCY~@By~[&I IIM=M=bD1VD[3yug=%}0=ٔ}v;Q-}>9Y=AFyUEh;E>Q 5S58Q?Q 9S5)1dBYy@8?Q I@DIfUBB/&IBBBY =BBBYS;BuEE K E RE &E "E ;*E ;VE 4ZE BE P$,V?A .liA8vC+?vxȓ<ٱv ~AHRS rotation from veh to nav: [[0.783655,-0.615683,-0.082582],[0.620934,0.772511,0.132917],[-0.018039,-0.155439,0.987681]]vH`? $?@i? k?`xmÿ?ivme>Iv\^;tYUIBy]f&IiMb@Mb@Mb@ 9oʡ?EԸ?:v?Y-?y=T<VA@ @)@Y@bD9VD3y 8=% P=ٔ  ;Q- >9Y=AFyWE;E>Q 5-S5FHQ?Q 9-S5c)+dBY-.?Q E-:y-WP?Q I-@DI:iQ::S5y9ɮ=@9aQeFNOT Ignoring new targets: 314.39 m.e m Qu ProNav: ac range: 314.389191 m, nav range: 302.836548 m, bearing: 34.103360 deg, approach rate: -0.723308 m/s, LOS rate: -0.030397 deg/s, cmd heading: 39.222518 deg, new cmd heading: 39.189538 deg. z}㦺QHeadingCmd: 0.683986 target range: 314.389191 and range: 316.40 m.R/?JbZB:2ҔڔIBڒ’3*@4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502426}Bɢ}$݂=) R?i)(8顁i ܊i/?jt;aqǻI/?Iԙ1@1 @1@=.0@9EY EhE'E"E=;*E^%;VE'4ZEa @a @a @a @^Au  u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754123Ai Iq I O >ep$,3?A:>:I,?:Ժ<ٱ:i FAHRS rotation from veh to nav: [[0.781795,-0.618505,-0.079043],[0.623211,0.770997,0.131040],[-0.020107,-0.151707,0.988221]]:Hw?'<W?@??#kÿ?i:>I: P^;:ՐCYJVByNv&IbDV;VDV)3y^=%^d=ٔ^;Q-b>9dYd=jAFyjYEn<En>pxQ 5 S5zVQ?Q 9 S5z)z&dBYyQ?Q I@zDIzXc;izSd;z<=S5y%Bɮ%@-ӨEGSUB*** querying acoustic contact ***:QBQiQuFNOT Ignoring new targets: 314.39 m.}}Q ProNav: ac range: 314.389191 m, nav range: 302.594482 m, bearing: 34.093035 deg, approach rate: -0.654431 m/s, LOS rate: -0.027936 deg/s, cmd heading: 39.189539 deg, new cmd heading: 39.158539 deg. z`QHeadingCmd: 0.683445 target range: 314.389191 and range: 316.40 m.RH.?JbZB:2Ҕڔڒ’ *@颕Bɢb=) Z?i)[8:顙i%拼iH.?8;VIH.?I @ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059979^Am-»i A I I OM >A A AAB B B h&IB JBB B B B KS;B oEBBBBY =BCnk4E ^ E E "E "E ;*E VE (3ZE BE # A7@ @)@Y@bD5VD3yZ=%=ٔQ->9Y=AFy\E E >Q 5S50kQ?Q 9S5) dBY4?Q E:y_?Q I@DI:i:AS5y-Bɮ-(@-ɨEQQ]FNOT Ignoring new targets: 314.39 m.](](Qm ProNav: ac range: 314.389191 m, nav range: 302.229248 m, bearing: 34.073413 deg, approach rate: -0.685786 m/s, LOS rate: -0.036889 deg/s, cmd heading: 39.158540 deg, new cmd heading: 39.099600 deg. zmʺQuHeadingCmd: 0.682417 target range: 314.389191 and range: 316.40 m.Ruݲ.?JqbyZyBy:y2yҔڔBڒ’,@颵Bɢ"Ue=) `?i)=R:9AiEiEݲ.?MM;M8:IMݲ.?IIԙ9@ @@;0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510541 ^AU *:A] >A] > AIIO>$,KX?AE.S E.jE.&E,"E.;*E.k&;VE.4ZE,a2@a2@a2@a2@>p>>.?>!<ٱ>n FAHRS rotation from veh to nav: [[0.777407,-0.624605,-0.074204],[0.628552,0.766991,0.129022],[-0.023674,-0.146944,0.988861]]>H@??1?̃?=¿?i>p>I>eL^;>ӐCYzgByz&IbD.VDP3yU~$=%U_=ٔU9YYY=]AFy]^Ee<Ee>iQ 5uS5m yQ?Q 9uS5m)mcBYqyu`?Q I}@mDIm;im;m"ES5yBɮ@ʨEQFNOT Ignoring new targets: 314.39 m.++Q ProNav: ac range: 314.389191 m, nav range: 301.981842 m, bearing: 34.059727 deg, approach rate: -0.677997 m/s, LOS rate: -0.037536 deg/s, cmd heading: 39.099599 deg, new cmd heading: 39.058508 deg. zκQHeadingCmd: 0.681700 target range: 314.389191 and range: 316.40 m.R݃.?Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762184bZB:2Ҕڔڒ’%,@Bɢ=) e?i);it)i%݃.?%8;%Љ;I%݃.?II)9@ @@5@@@@@yԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093A I I O > $,q?A2P>2.?2 <ٱ2M :AHRS rotation from veh to nav: [[0.775073,-0.627644,-0.072975],[0.631372,0.764686,0.128933],[-0.025121,-0.146007,0.988965]]2He?|34?Ox? ߀?OX¿ ?i2P>I2*^;2ՐCYBbByB&IbDZ5VDZ3yb%bT=ٔfv;Q-f>9dYh=jAFyj`Ej<Ej>lQ 5rS5nQ?Q 9rS5nC)ncBYtyva?Q Iv@nDIn:in:nHS5yxɮz7@|!Q-FNOT Ignoring new targets: 314.39 m.] e ԹQ ProNav: ac range: 314.389191 m, nav range: 301.721771 m, bearing: 34.045117 deg, approach rate: -0.622045 m/s, LOS rate: -0.034975 deg/s, cmd heading: 39.058508 deg, new cmd heading: 39.014640 deg. zBBB&IBdBBX =BBB+S;B^EQUHeadingCmd: 0.680934 target range: 314.389191 and range: 316.40 m.RUQ.?JQbQZQBQ:Y2YҔYڔYaڒa’aaeF-@EuW EuwEu%Eq"EuT;*EuD-;VEu 4ZEqBEu# 9 $,n?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181506~>6/?6%<ٱ6{ BAHRS rotation from veh to nav: [[0.772834,-0.630589,-0.071304],[0.634050,0.762557,0.128400],[-0.026594,-0.144442,0.989156]]6H`?@-@#J?f?ho? ;}¿ *?i6~>I6Wh^;4YJWByJw&I LLN=N=iuMb@Mb@Mb@qqqq q9ugfffff?S?:vYu33?yu>uԼqq q)qqYqbDVDy/Q%==ٔ_;Q->9Y=AFybE<E>Q 5S5ؗQ?Q 9S5)cBYq7?Q E:yd?Q I@DI ;iX ;DLS5yBɮ.@˨EQFNOT Ignoring new targets: 314.39 m.EEQ  ProNav: ac range: 314.389191 m, nav range: 301.427704 m, bearing: 34.027920 deg, approach rate: -0.738764 m/s, LOS rate: -0.043243 deg/s, cmd heading: 39.014638 deg, new cmd heading: 38.962999 deg. z kQHeadingCmd: 0.680033 target range: 314.389191 and range: 316.40 m.R.?JbZB:2Ҕڔ%{B!ڒ!’!!-Y^.@UBɢUm=)Y ]/`?iY)]Cr;YYi]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770069- PExceeded connect timeout, disconnecting.i $,?A02>20?2|<ٱ2fj >AHRS rotation from veh to nav: [[0.770714,-0.633242,-0.070749],[0.636574,0.760369,0.128890],[-0.027823,-0.144374,0.989132]]2H?`C`^?`T?`y?}z¿?i2>I2l^;2אCYFBByF^&IbDLVDLyVoܽ%V[=ٔZW;Q-Z>9Z ?YZ ?=ZAFy^dE^<E^>`Q 5fS5bQ?Q 9fS5b|)bcBYhyj_e?Q Ij@bDIb:ib:bOS5ylɮnw@pGS~B*** querying acoustic contact ***:|B|Q FNOT Ignoring new targets: 314.39 m. 8 8Q% ProNav: ac range: 314.389191 m, nav range: 301.173248 m, bearing: 34.012836 deg, approach rate: -0.680521 m/s, LOS rate: -0.040376 deg/s, cmd heading: 38.962999 deg, new cmd heading: 38.917707 deg. z%ݺQ%HeadingCmd: 0.679242 target range: 314.389191 and range: 316.40 m.R--?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99=/@Bɢ߂=) V?i),Î;i(i-?1F;?[fԹB A <BE Q>BE CBE z&IBE ZBBE Y =BA BE MDBE #S;BE YEE k E rE &E "E f;*E *;VE 4ZE BE 21?2R,<ٱ2 :AHRS rotation from veh to nav: [[0.768700,-0.635749,-0.070172],[0.638966,0.758366,0.128855],[-0.028704,-0.143888,0.989178]]2H/?X@hr? D?T~?d j¿W?i2d>I2U^;2ԐCYB8ByBQ&I`iMb@Mb@Mb@ 9M?`"?ˡEYn2?y='A @)@Y@bD3VD3y\3%8=ٔ;Q->9Y=AFyfE;E>Q 5S5&Q?Q 9S5G)cBYg5?Q E :y [?Q I @DIv:iH:hSS5yBɮ@¨E9Q=FNOT Ignoring new targets: 314.39 m.EPEPQU ProNav: ac range: 314.389191 m, nav range: 300.871277 m, bearing: 33.997404 deg, approach rate: -0.680697 m/s, LOS rate: -0.034820 deg/s, cmd heading: 38.917708 deg, new cmd heading: 38.871366 deg. zU,Q]HeadingCmd: 0.678433 target range: 314.389191 and range: 316.40 m.R]έ-?JYbaZaBa:a2aҔiڔmHBiڒi’iqu@0@额BɢpVy=) S?i);顡iiέ-?m;-rfA >I A= ؟AIA IQ Ou >$, Pٓ?AbEM4jEM4rEM'0E&R E&E&"E$"E&;*E&B;VE&(3ZE$a*@a*@a*@a.@JO>J592?J<ٱJX#! AHRS rotation from veh to nav: [[0.766959,-0.637796,-0.070640],[0.641015,0.756421,0.130103],[-0.029546,-0.145065,0.988981]]JH?@h o2?@4?`9?@WA|¿@?iJO>IJ^;JՐCMDAT read: 21:27:41.6595 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 340, 0.33,-0.796,-2.234,-0.545,-1.233, PHS= 0.538,-0.956, 0.644, RAW= 153.4, -2.9, CAL= 152.8, -4.1, ROT= 357.2, 4.1 Y!By5&II=)p=bD5VD3yOս%==ٔ;Q->9"?Y"?=AFyhEL;E>nManaging dock network, ignoring radio surface power offYgot valid direction response: 21:27:41.6595 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 340, 0.33,-0.796,-2.234,-0.545,-1.233, PHS= 0.538,-0.956, 0.644, RAW= 153.4, -2.9, CAL= 152.8, -4.1, ROT= 357.2, 4.1 PDAT read: Bearing 179.3, -3.7 (Local) ~Local bearing/azimuth received: Bearing 179.3, -3.7 (Local) Q 5S56Q?Q 9S5)jcBY!y%[?Q I%@DI=:i:@WS55DAT read: Range 11 to 50 : 307.6 m (Round-trip 410.2 ms) speed 0.3 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [0.996250,-0.048724,-0.071497]EFpublishing direction and range infoyTG?wej򨿡 MY̙C )II^ ?ijt/$?y)ɮMp@QuY+@4QO*@ C)@IC= R?]2pj?hT] 6?)^S=I*HiC=}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JRGݓ?AјCјC&#?bm:s@ZA-AV65TG?wej򨿡 M*HC=—bEhn@0nuf@D}Fr<5"UQ?] `?iCBӷj5CrtCZqJJ?b's+zyBb?9 ڗ.C?IQm addTargetRange:: Added new target pos. range: 307.600006 m, deltaT: 16.383701 s, deltaX: -8.799988 m, approachRate: -0.537118 m/s, rangeRepo size: 4 Q Added new target pos. range: 305.638885 m, bearing: 36.515232 deg, lat: 36.779496 deg, lon: -121.859105 deg, deltaT: 16.383701 s, deltaX: -8.750305 m, approachRate: -0.534086 m/s, posRepo size: 4 QFNOT Ignoring new targets: 305.64 m.Q% ProNav: ac range: 305.638885 m, nav range: 300.367096 m, bearing: 35.041385 deg, approach rate: 0.000000 m/s, LOS rate: -0.034820 deg/s, cmd heading: 38.871365 deg, new cmd heading: 38.822318 deg. z!Q-HeadingCmd: 0.677577 target range: 305.638885 and range: 307.60 m.R-u-?J)b)Z1B1:121Ҕ9ڔ99ڒ9’9E9s@@? Bɢ I"^=)  H?i )k;i=]咼iEu-?Ed;E3  BDAT read: Tx time:21:27:42.8952  $Ping request sent. x3$,,?A2%>2 2?2#<ٱ2 :AHRS rotation from veh to nav: [[0.765577,-0.639477,-0.070433],[0.642622,0.754934,0.130812],[-0.030480,-0.145409,0.988902]]2H?v``[?k(?v?6¿?i2%>I2_^;2֐CYBy&IbDBVD3y- %-h=ٔ5R-;Q-5>91Y1=5AFԁy5jE;E>Q 5 S55Q?Q 9 S5)McBY9yEM\?Q IE@DIBBU&IB;BBBBNDBR;BDEyBɮD@!EmS EmyEm(Ei"Em;*EmQ.;VEmc44ZEiBEm=?i)\;ii%L-?-wk;-J]%,q?A2h>2,3?2A=ٱ2۱ :AHRS rotation from veh to nav: [[0.764530,-0.640692,-0.070764],[0.643827,0.753681,0.132108],[-0.031307,-0.146560,0.988706]]2Hw?@:?&??`}¿ {?i2h>I2s^;0YBByB&Ii Mb@Mb@Mb@     Q9 n?V-?ktY V.?y h=  0  @ @) 5@ Y bD#VDӀ3y[%;=ٔ:Q->9Y=AFylE|w;E>Q 5S5Q?Q 9S5)-cBY/?Q E:y4K?Q I@DI:i:^S5yɮc@QFNOT Ignoring new targets: 305.64 m.UUQ ProNav: ac range: 305.638885 m, nav range: 299.839294 m, bearing: 35.019503 deg, approach rate: -0.778648 m/s, LOS rate: -0.027466 deg/s, cmd heading: 38.786346 deg, new cmd heading: 38.756615 deg. z̖QHeadingCmd: 0.676431 target range: 305.638885 and range: 307.60 m.R*-?JbZB:!2!Ҕ!ڔ%B)ڒ)’))5O?]Bɢ]yw=)Y ]5?ia)e;aaieDim*-?m~p;myEa EoE!E"E݉;*E );VEc3ZEa@a@a@a@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753278ԩ %,'?A2>2N3?2.=ٱ2` :AHRS rotation from veh to nav: [[0.764177,-0.641077,-0.071089],[0.644194,0.753036,0.133981],[-0.032359,-0.148180,0.988431]]2H$t?`2I2E^;2ԐCYBنByB%I DDbDN+VDNE3yV6%V\=ٔVs9;Q-V>9XYX=ZAFyZnE^D:E^>`Q 5bS5bQ?Q 9fS5b)bcBYdyfNK?Q If@bDIb):ibB:bRaS5ynBɮn@nèEGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 305.64 m. /ٹ /ٹQ ProNav: ac range: 305.638885 m, nav range: 299.589874 m, bearing: 35.010679 deg, approach rate: -0.670331 m/s, LOS rate: -0.023735 deg/s, cmd heading: 38.756614 deg, new cmd heading: 38.730120 deg. zOQ%HeadingCmd: 0.675968 target range: 305.638885 and range: 307.60 m.R%? -?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’19=@N_?eBɢee`=)a e.'?ii)m;iiimДiu? -?u;uiBUCBU&IBUBBUX =BQBQBUR;BUGEET EPE)E"E;*E;VEFA4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257272Q ws%,KA?AB>B 3?Br =ٱB NAHRS rotation from veh to nav: [[0.764619,-0.640367,-0.072712],[0.643608,0.752834,0.137874],[-0.033550,-0.152220,0.987777]]BHw?@}Hp?@7?ܥ?o-{ÿޛ?iB>IB b^;BՐCYfÆByf%IiMb@Mb@Mb@ 9(\?{Gzt?L7A`堿Y'?yף;+l A @ )Y@bD7VDp3yƽ%7=+Gٔ -;Q-%>-jA99AY9=UAFyUpEu9ujAYuܢAmкE}>yQ 5S5} R?Q 9S5}̱)}bBY'?Q E:y3?Q I@}DI}m ;i}j:}\eS5yɮ@!QQ]FNOT Ignoring new targets: 305.64 m.eoBeoBQu ProNav: ac range: 305.638885 m, nav range: 299.288910 m, bearing: 35.005568 deg, approach rate: -0.624952 m/s, LOS rate: -0.010624 deg/s, cmd heading: 38.730120 deg, new cmd heading: 38.714771 deg. zuRQ}HeadingCmd: 0.675700 target range: 305.638885 and range: 307.60 m.R},?JybyZyBy:2ҔڔׅBڒ’?颽Bɢ@=)  ?i)?<i$>i,?%;?E ] E bE 'E "E ;*E 5";VE '4ZE a @a @a @a @K%,[?A0:<>:2?: =ٱ: BAHRS rotation from veh to nav: [[0.765262,-0.639477,-0.073783],[0.642786,0.752947,0.141054],[-0.034646,-0.155370,0.987249]]:H}?v@v㲿 ?@%?` ? *ÿ`?i:<>I:1B^;:אCYJByJ%IbDR(VDR:3yZ%Za=ٔ^G;Q-^>9`Y`=bAFybrEbMDEb?dQ 5jS5f)R?Q 9jS5f)fbBYlyn2?Q In@fDIfM;if;fchS5ypɮrC@vE QFNOT Ignoring new targets: 305.64 m.TTQ% ProNav: ac range: 305.638885 m, nav range: 299.063416 m, bearing: 35.001785 deg, approach rate: -0.690102 m/s, LOS rate: -0.011587 deg/s, cmd heading: 38.714769 deg, new cmd heading: 38.703410 deg. z%xQ-HeadingCmd: 0.675502 target range: 305.638885 and range: 307.60 m.R-,?J)b)Z1B1:121Ҕ9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761357ڔ9IڒI’IIM*@BɢW=) ?i)<ii ,? 0; hgchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013752 ҿ%,tyu?A2>2L2?2=ٱ2b# :AHRS rotation from veh to nav: [[0.766618,-0.637715,-0.074945],[0.641105,0.753686,0.144709],[-0.035799,-0.158984,0.986632]]2H!?*h/@?3?Յ?3TYĿ }?i2>I2%^;2ҐCYBByB%IIF?>)F>HHbDN?VDN3yV۽%ZK=`ٔj9;Q-j>9lYl=]AFyetEmEu>Q 5S5G*R?Q 9S5?)bBYy,2?Q I@ DI;i;"lS5BBB%IBƆBBBBB>S;BiEBBBBX =BY =C5yaɮm@iEU EpE$E"El;*E);VE4ZEBEi}>)@) @)@)@)^AE ] = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018A I I O >#%,Po?A2X>21?2l=ٱ2(& :AHRS rotation from veh to nav: [[0.768548,-0.635362,-0.075159],[0.638720,0.755149,0.147600],[-0.037023,-0.161444,0.986187]]2H`?T =ep?.*?@?`0Ŀ؎?i2X>I2D^;2֐CYBByBy%IHiUMb@Mb@Mb@QQQQ Q9UA`"?QMbYU?yUuUU AU@ Ur@)QQYU@bDeEVDe3yu=y%}7=ٔ}5;Q-}>9Y=AFyvEE>Q 5S5;R?Q 9S5Q =tI)bBY?Q E:y?Q I@DI<;i;oS5yBɮ@EQFNOT Ignoring new targets: 305.64 m.F8F8Q ProNav: ac range: 305.638885 m, nav range: 298.531281 m, bearing: 34.998216 deg, approach rate: -0.688892 m/s, LOS rate: 0.002715 deg/s, cmd heading: 38.689702 deg, new cmd heading: 38.692694 deg. z8QHeadingCmd: 0.675315 target range: 305.638885 and range: 307.60 m.Rp,?JbZB:2ҔڔBڒ’ U@5Bɢ5@=)1 5#?i1)=C<99i=iEp,?Eq\;Eݛ;VEE 4ZEAaM@aM@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769291^AU<A  I) I9 OE >L*%,5?A6l>60?6=ٱ6( >AHRS rotation from veh to nav: [[0.770898,-0.632513,-0.075127],[0.635797,0.757001,0.150705],[-0.038452,-0.163944,0.985720]]6H@2?@=;sX?Y9?NJ?`򯣿`Ŀ?i6l>I6%^;6ԐCYFqByF\%IbDR?VDR3yV-%VY=ٔZx;Q-Z>9XY\=^AFy^xE^#Eb>`Q 5fS5bKR?Q 9jS5b>)bbBYhyj'?Q Ij@bDIb:ibt:bsS5ypɮrF@p|GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 305.64 m.L8L8Q5 ProNav: ac range: 305.638885 m, nav range: 298.304932 m, bearing: 34.999273 deg, approach rate: -0.598827 m/s, LOS rate: 0.002799 deg/s, cmd heading: 38.692694 deg, new cmd heading: 38.695868 deg. z58QEHeadingCmd: 0.675370 target range: 305.638885 and range: 307.60 m.RE,?JAbAZABA:I2IҔQڔQQڒY’Yae- @额Bɢ\/=) >i)<顩i}/=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021607i,?E;EBYB]z%IB]BBYBYBYB]S;B]EEmQ EmKEm#Ei"Em;*Em;VEm3ZEiBEmp0%,wĔ?A2)f>2/?2X#=ٱ2* :AHRS rotation from veh to nav: [[0.773363,-0.629602,-0.074229],[0.632706,0.759151,0.152885],[-0.039906,-0.165201,0.985452]]2Hd?%@ ?? J? ?`nM%ſ@ӈ?i2)f>I2=d^;2֐CYBaByBH%I DDi Mb@Mb@Mb@     9 x?Cl绿~jtx?Y K?y ;߽ ; $ A @ ) @ Y @bD@VD3y%<=ٔn[;Q->9Y=AFy{E>E>Q 5S5_R?Q 9S5)Y?Q E:y?Q I@%DI ;i ;vS5yBɮ@QFNOT Ignoring new targets: 305.64 m.Z9Z9Q  ProNav: ac range: 305.638885 m, nav range: 298.045288 m, bearing: 35.004449 deg, approach rate: -0.599334 m/s, LOS rate: 0.011958 deg/s, cmd heading: 38.695870 deg, new cmd heading: 38.711411 deg. z N:QHeadingCmd: 0.675642 target range: 305.638885 and range: 307.60 m.R,?JbZB:2Ҕ!ڔ%uB!ڒ!’!)-@ia)e;#Ee ] Ee ZEe !Ea "Ee ;*Ee ;VEe c3ZEa am @am @am @am @Թ #7%,4ݔ?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779527[>f.?IW^;אCY=ZBy=@%IbDMBVDM3y]A%]>=ٔe^;Q-e>9aYa=mAFym}EmAEm>qQ 5}S5u%rR?Q 9}S5u)qYy?Q I@u-DIu:iu:uzS5yBԑɮ=@EQFNOT Ignoring new targets: 305.64 m.pb9pb9Q ProNav: ac range: 305.638885 m, nav range: 297.788818 m, bearing: 35.009764 deg, approach rate: -0.596495 m/s, LOS rate: 0.012373 deg/s, cmd heading: 38.711412 deg, new cmd heading: 38.727372 deg. z:QHeadingCmd: 0.675920 target range: 305.638885 and range: 307.60 m.R -?JbZB:2Ҕڔڒ’^q@额Bɢc=) >i)Kv)<顡ii% -?-g;-9(]??(֞ո U1v?)U=IU)iU5=QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A% /C<I I  O% >M=%,?AFK>F|-?Fd.=ٱF. ZAHRS rotation from veh to nav: [[0.778318,-0.623576,-0.073309],[0.626417,0.763264,0.158208],[-0.042701,-0.169058,0.984681]]FH?U@cIJ ?l?)@?ܥſ?iFK>IF^;DYbKByb-%IBBBB%IB\BBBBMDBS;BEbDjFVDj4y즽%V=ٔ?b;Q->9Y= AFy EE5V E5vE5$E1"E5;*E5,;VE54ZE1BE5[Q 5S5\R?Q 9 S5)Yy>Q I@5DId BDAT read: Tx time:21:27:47.1452 $Ping request sent.ia)eAg/A4D%,#?A2}>2h,?24=ٱ2\- >AHRS rotation from veh to nav: [[0.780474,-0.621085,-0.071503],[0.623630,0.765351,0.159134],[-0.044111,-0.168792,0.984664]]2H? N?}?@^?ſ^?i2}>I2Y^;2ՐCYnOByn2%IieMb@Mb@Mb@aaaa a9eX9v?S㥛I +?Ye?ye$e99Y=AFyEEE>Q 5S5R?Q 9S5)bBY?Q E:y>Q I@i) 3<  i ᕼQi.-?;);I.-?IbE4jEĔ4rE0E-c E-cE)E)"E-Ɗ;*E-";VE)ZE)a=@a=@a=@a=@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502693M*ԩ @  @ @ 1@ ^A ;I1IAOU>\K%,/?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548196u>6Ƚ+?6J;=ٱ6- bAHRS rotation from veh to nav: [[0.782466,-0.618831,-0.069248],[0.621014,0.767351,0.159732],[-0.045710,-0.167989,0.984729]]6H ?w@ X?#?r??g ſ?i6u>I6s^;6ҐCYjGByj(%IbDr<VDr3yz|%z6=ٔ~i;Q-~>9|Y=AFyEE> Q 5S5 R?Q 9S5 ߒ) bBYy#>Q I@ EDI ;i ; gS5y!ɮ%@)GSEB*** querying acoustic contact ***:ABAIQUFNOT Ignoring new targets: 303.15 m.]y9]y9Qe ProNav: ac range: 303.154816 m, nav range: 297.216309 m, bearing: 33.939561 deg, approach rate: -0.585998 m/s, LOS rate: 0.015352 deg/s, cmd heading: 38.760108 deg, new cmd heading: 38.780835 deg. zm(:QmHeadingCmd: 0.676853 target range: 303.154816 and range: 305.10 m.RuAF-?JqbqZqBq:q2yҔyڔyyڒ’?Ա颵|BɢK=) >i)!g9<项iiAF-?;yIAF-?I#ےe9@a @a@e0@aAAAAB B B #%IB BBB Y =B B B [S;B wE^A=NJN;IIE]U E]E]'EY"E]l;*E]z1;VE]'4ZEYBE]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0074311 @R%,zrI?A2y&>2*?2u[A=ٱ2- :AHRS rotation from veh to nav: [[0.784416,-0.616477,-0.068165],[0.618437,0.769044,0.161580],[-0.047189,-0.168902,0.984503]]2H?.=s;?@??`")@ſ ?i2y&>I2#^;2ԐCYNOByR3%Ii]Mb@Mb@Mb@YYYY Y9]9v?K7A~jt?Y]?y] ]=] A] @ ]@)]1AYY]z@bDu7VDup3y#=%B=ٔf;Q->9Y=AFyEE>Q 5S5R?Q 9S5)bBY?Q E:y$>Q I@MDI:if:S5yĒBɮG@EQFNOT Ignoring new targets: 303.15 m.99Q ProNav: ac range: 303.154816 m, nav range: 296.967316 m, bearing: 33.945612 deg, approach rate: -0.591950 m/s, LOS rate: 0.014397 deg/s, cmd heading: 38.780834 deg, new cmd heading: 38.799001 deg. z:QHeadingCmd: 0.677170 target range: 303.154816 and range: 305.10 m.R [-?JbZB:2Ҕڔ}Bڒ ’   ` ?=zBɢ=+#=)A E>iA)E<%?JY%,f?A2y>2*?2E=ٱ2. :AHRS rotation from veh to nav: [[0.786392,-0.614051,-0.067292],[0.615836,0.770801,0.163132],[-0.048303,-0.169726,0.984307]]2H *? O :?f?`?ſq?i2y>I2~^;2ՐCYB[ByBA%I DDF=F=bDN8VDN3yVaX=%V<=ٔV(;Q-V>X9XY\=^AFy^E^Eb>`Q 5fS5bsR?Q 9jS5bڌ)bbBYhyj>Q Ij@bUDIb;ib;bS5ypɮr@p Q FNOT Ignoring new targets: 303.15 m. 9 9Q ProNav: ac range: 303.154816 m, nav range: 296.710571 m, bearing: 33.952023 deg, approach rate: -0.590578 m/s, LOS rate: 0.014758 deg/s, cmd heading: 38.799002 deg, new cmd heading: 38.818250 deg. z":QHeadingCmd: 0.677506 target range: 303.154816 and range: 305.10 m.R q-?JbZB:2Ҕ)ڔ))ڒ1’115@ ?}yBɢY&=) >i)&E<iBM R>BI BI BI BI BI BI BM dS;BM |EA E R E WE "E "E ;*E j;VE (3ZE BE 8Nlh)?NSH=ٱN= 0 bAHRS rotation from veh to nav: [[0.787975,-0.612037,-0.067125],[0.613763,0.772148,0.164564],[-0.048888,-0.170871,0.984080]]NH`7? ϕ"/?p?n?@ſ}?iN#>IN];NאCYf`ByjG%IiMb@Mb@Mb@ 95^I ?~jt+?Y?yĽ=; A7@ )GAY@bD-VD3y N<% 6=ٔ 3:Q->9Y=AFyE쾻E>!Q 5-S5%>R?Q 9-S5%Z)%bBY-\?Q E5:y5?Q I5@%^DI% ;i%G ;%ʐS5y=ɒBɮ=@9 YYcGSkAE9ESkAYEAiQuFNOT Ignoring new targets: 303.15 m.u 9} 9Q ProNav: ac range: 303.154816 m, nav range: 296.441437 m, bearing: 33.956051 deg, approach rate: -0.558108 m/s, LOS rate: 0.008362 deg/s, cmd heading: 38.818250 deg, new cmd heading: 38.830347 deg. z9QHeadingCmd: 0.677717 target range: 303.154816 and range: 305.10 m.R~-?JbZB:2ҔڔBڒ’c@@AexBɢm'=)i m>ii)mi]MA] >A I E S E fE E "E ;*E P$;VE ZE a @a @a @a @I O>:g%,Q?AB>Ba(?BzN=ٱB>* JAHRS rotation from veh to nav: [[0.789744,-0.610283,-0.062120],[0.611354,0.774680,0.161605],[-0.050502,-0.165604,0.984898]]BH E?p0ί6?.?y? ^۩2ſI?iB>IBȀ];BՐCYRByRr%IbDZ=VDZ3ybW#>%bC=ٔfJ|;Q-f>9hYh=jAFyjEjwEn>lQ 5vS5nR?Q 9zS5n)nbBYxy~?Q I~@nfDInf;in ;nuS5y͒Bɮ@E5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519353QFNOT Ignoring new targets: 303.15 m.]09]09Q ProNav: ac range: 303.154816 m, nav range: 296.189301 m, bearing: 33.960002 deg, approach rate: -0.616197 m/s, LOS rate: 0.009664 deg/s, cmd heading: 38.830346 deg, new cmd heading: 38.842209 deg. z<9QHeadingCmd: 0.677924 target range: 303.154816 and range: 305.10 m.Ru-?JbZB:2Ҕڔڒ’v@}wBɢ}VL=)y ?i) T<顁iiu-?F;b1Iu-?I9@ @@/@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706719 ^A zAA II Ia a Ou >rm%,Qg?A>>>vc(?>)Q=ٱ>S' FAHRS rotation from veh to nav: [[0.790322,-0.609786,-0.059607],[0.610551,0.775697,0.159757],[-0.051181,-0.162652,0.985355]]>HQJ? ]ʄ`??r?V4Ŀ?i>>I>];>ԐCYNByNv%IIR=)RbDZ"VDZJz3ybf<%bI=ٔb:Q-b>9dYd=fAFyfEjEj>lQ 5rS5nS?Q 9rS5n)nbBYpyr?Q Ir@nmDIn:in$:nS5yxɮzy@|BS>BB<%IBWBBBBBS;BEBBBBY =BX =C 4GSEB*** querying acoustic contact ***:ABAQQUFNOT Ignoring new targets: 303.15 m.]69]69Qm ProNav: ac range: 303.154816 m, nav range: 295.944946 m, bearing: 33.963898 deg, approach rate: -0.625613 m/s, LOS rate: 0.009982 deg/s, cmd heading: 38.842210 deg, new cmd heading: 38.853907 deg. zm89QuHeadingCmd: 0.678129 target range: 303.154816 and range: 305.10 m.Ru֙-?JqbqZyBy:y2yҔyڔڒ’4 @颵vBɢW=) ?i)FZ<项ii֙-?uW;Eg EE(E"E;*EGA;VEc44ZEBEI5֙-?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026155Y@Y @Y@Y@aQ^A} *:ԁ A .A BDAT read: Rx Time:21:27:49.9525  TRx dataTimestamp_ set to:1761514071.269065 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276244I I O >Tt%,'ҕ?A02*>2e(?2,S=ٱ2& >AHRS rotation from veh to nav: [[0.790281,-0.609962,-0.058330],[0.610561,0.775859,0.158930],[-0.051685,-0.161213,0.985565]]2H`I?τ`eݭඉ??W?`vĿ`?i2*>I2{{];2ՐCYFByF%IiMb@Mb@Mb@ 9S?v/l?Y?yxi= Ad@ @)AY@bD$VD3y=%<=ٔd:Q->9 ?Y ?=AFyE8E>Q 5S5S?Q 9S5+)cBY?Q E:y0?Q I@vDI:i3:ЛS5yҒBɮ@9QEFNOT Ignoring new targets: 303.15 m.E8E8Q ProNav: ac range: 303.154816 m, nav range: 295.680908 m, bearing: 33.964811 deg, approach rate: -0.610730 m/s, LOS rate: 0.002114 deg/s, cmd heading: 38.853907 deg, new cmd heading: 38.856648 deg. z8QHeadingCmd: 0.678176 target range: 303.154816 and range: 305.10 m.R-?JbZB:2ҔڔBڒ’ @uBɢ%R=)! %$?i!)%kb?~z%,앤?ARC>Rx(?RqU=dٱRp%  AHRS rotation from veh to nav: [[0.790088,-0.610294,-0.057459],[0.610776,0.775800,0.158388],[-0.052087,-0.160235,0.985704]]RH`gH?` Ck z?Z?F?Ŀ@?iRC>IRS];R֐CYEByM%IbD6VD3DAT read: 21:27:49.9525 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397,-0.23, 0.676,-0.747, 0.939, 0.320, PHS= 0.458,-1.023, 0.575, RAW= 153.8, -0.1, CAL= 152.6, -1.1, ROT= 357.4, 1.1 Ygot valid direction response: 21:27:49.9525 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 397,-0.23, 0.676,-0.747, 0.939, 0.320, PHS= 0.458,-1.023, 0.575, RAW= 153.8, -0.1, CAL= 152.6, -1.1, ROT= 357.4, 1.1 PDAT read: Bearing 181.3, -5.3 (Local) ~Local bearing/azimuth received: Bearing 181.3, -5.3 (Local) DAT read: Range 11 to 50 : 302.4 m (Round-trip 403.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.998786,-0.045355,-0.019197]Fpublishing direction and range infoy}" ?8]~Y3C )MI~>i񂿉33?+@t*@ nF)@InF<S i$?A ?Mv&b ?)j.;I9inF< T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y%=%-5=ٔ-i:Q-5>95"?Y5"?=5AFy5E=':E=>AQ 5MS5E-S?Q 9MS5E@{)E cBYy>?Q I@EDIEf"3}?SV,?6u@L? GMj+CruCZ?bxEz@Bꗑ9 @BڗC◕?Q addTargetRange:: Added new target pos. range: 302.399994 m, deltaT: 4.031575 s, deltaX: -2.700012 m, approachRate: -0.669716 m/s, rangeRepo size: 4 Q Added new target pos. range: 300.471436 m, bearing: 34.957662 deg, lat: 36.779526 deg, lon: -121.859105 deg, deltaT: 4.031575 s, deltaX: -2.683380 m, approachRate: -0.665591 m/s, posRepo size: 4 QFNOT Ignoring new targets: 300.47 m.QM ProNav: ac range: 300.471436 m, nav range: 297.985626 m, bearing: 34.694821 deg, approach rate: 0.000000 m/s, LOS rate: 0.002114 deg/s, cmd heading: 38.856649 deg, new cmd heading: 38.859656 deg. zIQUHeadingCmd: 0.678229 target range: 300.471436 and range: 302.40 m.RUi-?JQbYZYBY:Y2YҔڔڒ’`fr@۸?tBɢoU=) ]?i)Vl<iii-?՛;9Ii-?I!I))-hAB!B!B%a%IB%uBB%X =B!B!B%S;B%EA@ @@/@@@EH ETE$E"E};*E;VE4ZEBEb ԁ } BDAT read: Tx time:21:27:51.1452  $Ping request sent. E%,@ ?An_>n(?nzuV=ٱnj# AHRS rotation from veh to nav: [[0.789713,-0.610873,-0.056461],[0.611241,0.775643,0.157361],[-0.052334,-0.158782,0.985926]]nHSE?Ex謿`H??@k$?˪RĿ?in_>InO];nՐCY%By%%I ))iMb@Mb@Mb@ 9x&1?95 ?Y5 ?=5AFy5E=:E=>AQ 5MS5E@S?Q 9MS5E w)AYM ?Q EM:yMa#?Q IU@EDIE ;iE;E~S5y]גBɮ]@]EQFNOT Ignoring new targets: 300.47 m.Q ProNav: ac range: 300.471436 m, nav range: 297.717133 m, bearing: 34.693134 deg, approach rate: -0.671967 m/s, LOS rate: -0.004227 deg/s, cmd heading: 38.859654 deg, new cmd heading: 38.854588 deg. z9QHeadingCmd: 0.678140 target range: 300.471436 and range: 302.40 m.R-?JbZB:2ҔڔBڒ’ ?sBɢ#t=) ?i)ԑs<i(i-? ;\-0I-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244057a@i @i@m 0@i^A! E ] E E E "E ;*E bC;VE ZE a @a @a @a @I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496290i%,QJ#?ABqK>BD(?B,V=ٱB! JAHRS rotation from veh to nav: [[0.788852,-0.612056,-0.055682],[0.612357,0.775056,0.155904],[-0.052265,-0.157083,0.986201]]BHF>? en?@C??`ª`JĿ`?iBqK>IB0];@YRByR%IbD^;VD^)3yf%fe=ٔfJQ-f>9hYh=jAFyjEnt;En>pQ 5vS5r;OS?Q 9vS5rs)r cBYtyv#?Q Iz@rDIrB:ir|:rS5y|ɮ~@yQFNOT Ignoring new targets: 300.47 m.VVQ ProNav: ac range: 300.471436 m, nav range: 297.493011 m, bearing: 34.691666 deg, approach rate: -0.597463 m/s, LOS rate: -0.003916 deg/s, cmd heading: 38.854586 deg, new cmd heading: 38.850179 deg. z,QHeadingCmd: 0.678064 target range: 300.471436 and range: 302.40 m.R-?JbZB:2Ҕڔڒ’? ɢ q=)  ?i)z<iRi-?=;% I%-?I!Q@ @@5@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747546^A0AA>ԩ I I O >Be U>Ba Be %IBe BBe W =Ba Be NDBe 1T;Be E%,'=?A:l>:ڌ)?:U=ٱ:O@ FAHRS rotation from veh to nav: [[0.787505,-0.613903,-0.054390],[0.614101,0.774163,0.153467],[-0.052107,-0.154257,0.986656]]:H`>3?@ ث`??ͤ?`˭ÿ@?i:l>I:Y];8YNByN%IEjX EjfEj%Eh"EjɅ;*EjP$;VEj 4ZEhBEj9 Y = AFy Eͯ;E>Q 5%S5`S?Q 9%S5wo)Y1y5>$?Q I5@DIЗ;iM;5S5yْBɮ@E}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002658GSB*** querying acoustic contact ***:BQQUFNOT Ignoring new targets: 300.47 m.]7]7Qm ProNav: ac range: 300.471436 m, nav range: 297.235504 m, bearing: 34.689874 deg, approach rate: -0.561938 m/s, LOS rate: -0.003913 deg/s, cmd heading: 38.850181 deg, new cmd heading: 38.844802 deg. zm+QHeadingCmd: 0.677970 target range: 300.471436 and range: 302.40 m.Rl-?JbZB:2Ҕڔڒ’?ԩ rBɢl=) s%?i)Ml<iil-?%;;%rI%l-?I9@ @!@%-1@!@-=@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252044 ^A I I O >s|%,W?A>`>>;&*?>S=ٱ>D- FAHRS rotation from veh to nav: [[0.786083,-0.615750,-0.054091],[0.615956,0.773006,0.151853],[-0.051691,-0.152687,0.986922]]>H`'?8ѱ? x?o?0w;ÿ@ݔ?i>`>I>:];9Y=AFyEɶ;E>Q 5S5rS?Q 9S5j)bBYJ)?Q E:y9?Q I@DI;i;߭S5yޒBɮn@EQFNOT Ignoring new targets: 300.47 m.bbQ ProNav: ac range: 300.471436 m, nav range: 296.960297 m, bearing: 34.683430 deg, approach rate: -0.775788 m/s, LOS rate: -0.018183 deg/s, cmd heading: 38.844802 deg, new cmd heading: 38.825451 deg. zGQHeadingCmd: 0.677632 target range: 300.471436 and range: 302.40 m.RJy-?JbZB:2ҔڔFBڒ’`? ɢ5n=)1 5"?i1)5T<19i=•i=Jy-?El;EbIEJy-?IAbE]J4jE]û 4rE][0E` EaE'E"Ei;*E!;VE'4ZEa@a@a@a@ 9@ @ @ 4@ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5036671^A- I I O >a %,*p?A60>6*?6~P=ٱ6F BAHRS rotation from veh to nav: [[0.784525,-0.617806,-0.053267],[0.618014,0.771963,0.148768],[-0.050789,-0.149632,0.987436]]6H ?E ??` ?@`$'ÿ@?i60>I6*!];6ԐCYJByJ%IbDR1VDR[3yZ1(<%ZX=^K?^?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755941ٔfQ-f>9dYd=fAFyjEjN;Ej>pQ 5rS5rS?Q 9vS5r4f)rbBYtyv:?Q Iv@rDIrN:irF:r5S5yxɮ~O@|!Q-FNOT Ignoring new targets: 300.47 m.--9QE ProNav: ac range: 300.471436 m, nav range: 296.709991 m, bearing: 34.677433 deg, approach rate: -0.654553 m/s, LOS rate: -0.015695 deg/s, cmd heading: 38.825452 deg, new cmd heading: 38.807447 deg. zEV,QMHeadingCmd: 0.677318 target range: 300.471436 and range: 302.40 m.RMd-?JIbIZIBI:Q2QҔQڔYYڒY’YYebK@颍qBɢ=) #?i)<顑1i5i=d-?=6;=yGI=d-?IA9@ @@0@aB T>B B %IB BB X =B B B 9T;B EEP EE%E"E(;*EA;VE 4ZEBEԹ h%,Ǹ?AY y %IiMb@Mb@Mb@ԙ 9Q?)\(?{GztY\/?yGa=ף; A@ 5@)AYAbD6VD3y%;=ٔQ->9Y=AFyEE>Q 5S5iS?Q 9S5`)bBY/?Q E:y>?Q I@DIX:iH:S5yBɮ@QFNOT Ignoring new targets: 300.47 m.Q- ProNav: ac range: 300.471436 m, nav range: 296.414734 m, bearing: 34.669374 deg, approach rate: -0.679922 m/s, LOS rate: -0.018577 deg/s, cmd heading: 38.807448 deg, new cmd heading: 38.783246 deg. z-KQ5HeadingCmd: 0.676895 target range: 300.471436 and range: 302.40 m.R5I-?J9b9Z9B9:929ҔAڔEWBAڒA’IIMO@qɢ}w=)y }#?iy)}liy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511880Ȩ%,פ?AF:>F+?F-I=ٱF@ RAHRS rotation from veh to nav: [[0.781821,-0.621244,-0.053025],[0.621555,0.769836,0.144988],[-0.049253,-0.146313,0.988012]]FH?; &??@?7^¿`ʝ?iF:>IFM*];F֐CYVByZ%I XX^=^=bDb;VDb)3yj?e%jX=ٔnHQ-r>9r"?Yr"?=vAFyvEv@<Ev>xQ 5~S5zrS?Q 9~S5z8\)zbBYy@?Q I@zDIz3;iz;zRS5y ɮ S@ 1Q5FNOT Ignoring new targets: 300.47 m.=}=}QM ProNav: ac range: 300.471436 m, nav range: 296.157379 m, bearing: 34.662107 deg, approach rate: -0.678530 m/s, LOS rate: -0.019178 deg/s, cmd heading: 38.783245 deg, new cmd heading: 38.761423 deg. zMRQUHeadingCmd: 0.676514 target range: 300.471436 and range: 302.40 m.RU 0-?JQbQZQBY:Y2YҔaڔaaڒa’aim@颉ɢvx=) ?i)ƒ<ii 0-?$;n:I 0-?I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7635611^A B A <B V>B B %IB BB B B B 2T;B Ea A} .AI I O >'%, ?AE@ EBrEB'E@"E@*EB*;VEB'4ZE@BEB8r:%1=ٔQ->9 ?Y ?=AFyE%E->aQ 5mS5eS?Q 9mS5eGV)ebBYyQ I@eDrGIeo< ie Aa A I I O >ӊ%,pۖ?A2E>2/,?2GuE=ٱ2H :AHRS rotation from veh to nav: [[0.780120,-0.623340,-0.053483],[0.623771,0.768370,0.143235],[-0.048189,-0.145102,0.988243]]2H@?e`(b ?}?`U?`6¿ட?i2E>I2*\;2ԐCYBByB%Ii Mb@Mb@Mb@     9 (\?&1?~jtY z4?y P=   @ @)  Y AbD%8VD%31y-'%5K=ٔ=-Q-=>99Y9=EAFyEEE;EE>IQ 5S5MS?Q 9S5MQ)MbBY5?Q E:y>?Q I@MDIMHi} m狿} C>} *@} K=} %:)@ } K=)} c9@I} Ky y } &h?^ ?v ? } ;?)} TI} wּi} Ky y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A- ؟AI9 II OU >%%,L?A>+-?@=ٱ1 5AHRS rotation from veh to nav: [[0.778935,-0.624639,-0.055545],[0.625335,0.767035,0.143574],[-0.047076,-0.146569,0.988080]]H ? pp?? `?h`¿ Y?i>IY\;ՐCԑYBy|%II=)=bDBVD3y%>=ٔ)Q->9"?Y"?= AFy E/;E>Q 5S5 S?Q 9S5K)bBYy>?Q I@DI :i[:S5yBɮ@EJR(?A1C1C)?ޫr@94iDEvc:@BE?Q?wּK—Ym@wu,f@|k?*@X=z.?6Qn?Bq}?j7CrjCZ(?b9nzEBB-U>B)B-%IB-BB)B)B)B- T;B-EBBBBX =BC4ꗩxEڗ@C◭ZQ?Q} addTargetRange:: Added new target pos. range: 300.299988 m, deltaT: 4.032896 s, deltaX: -2.100006 m, approachRate: -0.520719 m/s, rangeRepo size: 4 Q Added new target pos. range: 298.387604 m, bearing: 38.026597 deg, lat: 36.779526 deg, lon: -121.859080 deg, deltaT: 4.032896 s, deltaX: -2.083832 m, approachRate: -0.516709 m/s, posRepo size: 4 QFNOT Ignoring new targets: 298.39 m.Q ProNav: ac range: 298.387604 m, nav range: 296.503662 m, bearing: 34.985738 deg, approach rate: 0.000000 m/s, LOS rate: -0.018905 deg/s, cmd heading: 38.712153 deg, new cmd heading: 38.687206 deg. zQ HeadingCmd: 0.675219 target range: 298.387604 and range: 300.30 m.R ),?J bZB:2Ҕڔڒ9’Yer@e9?颉ɢZh=) > ?i)`<顑i Թi),?ߖ;s;I),?IEUV EQEU%EQ"EU;*EQVEU 4ZEQBEU[  BDAT read: Tx time:21:27:55.1952 $Ping request sent.%,r3?AYj|Byjj%Ix=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243845iuMb@Mb@Mb@qqqq q9u&1?:v?I +Yu0?yu9 ?Y ?=AFyEE>Q 5S5S?Q 9S5G)kbBY1?Q E:y5?Q I@DI*:i':SS5yɮ@QFNOT Ignoring new targets: 298.39 m.||Q ProNav: ac range: 298.387604 m, nav range: 296.224701 m, bearing: 34.980409 deg, approach rate: -0.721663 m/s, LOS rate: -0.013798 deg/s, cmd heading: 38.687206 deg, new cmd heading: 38.671204 deg. z QHeadingCmd: 0.674940 target range: 298.387604 and range: 300.30 m.R,?JbZB:2Ҕڔ*Bڒ!’!!%`H?)ɢ-}j=)1 5?i1)5g<11i5?̗i=,?=u;9IE,?II!9@ @@0@IE%a E%vE%&E!"E%݉;*E%,;VE%4ZE!a-@a5@a5@a5@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495990^A [R;A! zA% gAy AQ IY Ii O} >G?%,*?AY~UBy~9%IbD7VDp3y-BJ%5R=ٔ1Q-5>99Y9=EAFyEEAEM>QYQ 5mS5U6T?Q 9mS5U}B)UTbBYiyqQ Iu@UDIU;iUD;US5yBɮ@EQ%FNOT Ignoring new targets: 298.39 m.%e-eQ= ProNav: ac range: 298.387604 m, nav range: 295.956421 m, bearing: 34.975275 deg, approach rate: -0.655967 m/s, LOS rate: -0.012565 deg/s, cmd heading: 38.671206 deg, new cmd heading: 38.655789 deg. z= QEHeadingCmd: 0.674671 target range: 298.387604 and range: 300.30 m.RE:,?JAbAZABA:A2IҔIڔIIڒQ’QQ] .?颁ɢ*'T=) >i)]<顉iꗼi:,?2 ;Q;I:,?Ii>i> @  @ @ 0@ @iA@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747843ԉԱ^A5ϩ;B9B9B=n%IB=BB9B9B9B=S;B=EA ؟AI I O >E F E fE E "E >{;*E P$;VE ZE BE /.?8=ٱ AHRS rotation from veh to nav: [[0.776523,-0.627170,-0.060574],[0.628477,0.764077,0.145613],[-0.045041,-0.151141,0.987486]]H G?@ `{?Qs? q? Xÿ@{?i0>I%&];ԐCY\ByB%I   = =iMb@Mb@Mb@ 9&1?:v?~jtYyT<ļA@ K@)AYAbD=VD3yR<%4=ٔQ->9"?Y"?=AFyEJ<E>Q 5S5nT?Q 9S5==):bBY1?Q E:y1?Q I@DI:i:S5yBɮ@GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 298.39 m.SSQ% ProNav: ac range: 298.387604 m, nav range: 295.645447 m, bearing: 34.970241 deg, approach rate: -0.714348 m/s, LOS rate: -0.011576 deg/s, cmd heading: 38.655790 deg, new cmd heading: 38.640672 deg. z-;Q-HeadingCmd: 0.674407 target range: 298.387604 and range: 300.30 m.R-,?J1b1Z1B1:121Ҕ9ڔ=B9ڒ9’AAE@ ? ɢ CR=)  <>i)F<ii,?e;t"5u%,G_?AF>FT.?F-@7=ٱF  RAHRS rotation from veh to nav: [[0.776180,-0.627532,-0.061221],[0.628923,0.763679,0.145773],[-0.044724,-0.151649,0.987422]]FHw?@NX@# ?p?`?榿:iÿ@?iF>IFS];FՐCYbFByb'%IDhzDj@AbD~CVD~3y}%[=ٔ^Q->9Y=AFyEEd E[E'E"E:;*E;VE'4ZEa@a@a@a@:E>Q 5S5(%T?Q 9S58)$bBYy1?Q I@DI5;i5;S5yɮ@QFNOT Ignoring new targets: 298.39 m.LLQ ProNav: ac range: 298.387604 m, nav range: 295.388031 m, bearing: 34.966038 deg, approach rate: -0.684933 m/s, LOS rate: -0.011192 deg/s, cmd heading: 38.640672 deg, new cmd heading: 38.628053 deg. z QHeadingCmd: 0.674187 target range: 298.387604 and range: 300.30 m.R,?JbZB:2Ҕڔڒ!’!!% ?UrBɢU>P=)Q U>iQ)]AA II1OEs>!% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755800Q %,y?A6Ɯ>6.?65=ٱ6 BAHRS rotation from veh to nav: [[0.775422,-0.628494,-0.060961],[0.629886,0.763120,0.144540],[-0.044322,-0.150478,0.987619]]6HA?`V6`(?zk?@H? O@Bÿ?i6Ɯ>I6m\;4YF8ByF%IbDR5VDR3yV-%ZY=ٔZ_Q-Z>9\Y\=^AFy^EbV;Eb>dQ 5jS5f5T?Q 9jS5f4)fbBYhyj2?Q Ij@fDIf:if:f>S5yrBɮr(@rE Q FNOT Ignoring new targets: 298.39 m.QQQ% ProNav: ac range: 298.387604 m, nav range: 295.130768 m, bearing: 34.961767 deg, approach rate: -0.689490 m/s, LOS rate: -0.011457 deg/s, cmd heading: 38.628053 deg, new cmd heading: 38.615229 deg. z%Q-HeadingCmd: 0.673963 target range: 298.387604 and range: 300.30 m.R-Ո,?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE@iɢudI=)q u>iq)u BB<%IBWBBBBBS;BE1@ @@/@@=@=EMN EMuEM%EI"EM@;*EM6,;VEM 4ZEIBEMԹ m%,꒗?An?n=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259854Yv1Byv %IIz,>)zp;iMb@Mb@Mb@ 9@5^I ?QMbYb0?yuA@ )AY3AbD0VD3y%9=ٔQ->9Y=AFyEE>Q 5S5%JT?Q 9S5/)aBYy0?Q E:y:(?Q I@ DI ;i ;S5y Bɮ }@ E1Q5FNOT Ignoring new targets: 298.39 m.==QM ProNav: ac range: 298.387604 m, nav range: 294.827057 m, bearing: 34.958995 deg, approach rate: -0.687183 m/s, LOS rate: -0.006277 deg/s, cmd heading: 38.615229 deg, new cmd heading: 38.606906 deg. zM܉QUHeadingCmd: 0.673818 target range: 298.387604 and range: 300.30 m.RUP,?JQbQZQBY:Y2YҔYڔeBaڒa’aam@ԑ额sBɢP==) >i)|<顡iliP,?Ӛ;%: ԭ%,ʬ?AN6>N&,/?N{Z4=ٱNܪ ZAHRS rotation from veh to nav: [[0.774131,-0.630390,-0.057699],[0.631493,0.762705,0.139636],[-0.044017,-0.144533,0.988520]]NH?',Ɋ05?h??r@¿?iN6>INN\;NԐCY~By~$IbD@VD3y%3%%W=ٔ%QQ-->9)Y)=-AFy-E5;E5>9Q 5ES5=[T?Q 9ES5=o+)=aBYAyE(?Q IM@=DI=:i=p:=oS5yUBɮU[@UEyQ}FNOT Ignoring new targets: 298.39 m.Q ProNav: ac range: 298.387604 m, nav range: 294.565430 m, bearing: 34.956492 deg, approach rate: -0.687025 m/s, LOS rate: -0.006580 deg/s, cmd heading: 38.606907 deg, new cmd heading: 38.599389 deg. zQHeadingCmd: 0.673686 target range: 298.387604 and range: 300.30 m.Rv,?JbZB:2Ҕڔڒ’.@ɢ7=) >i) <iqiv,?!;[ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015726%,)Ɨ?AK>/?ο3=ٱ~ AHRS rotation from veh to nav: [[0.774276,-0.630149,-0.058389],[0.631326,0.762722,0.140292],[-0.043870,-0.145487,0.988387]]H?.**孿 3?8h?? !v P¿ݠ?iK>I+];ӐCY By$Ii-Mb@Mb@Mb@)))) )9-?ˡE9YYY=]AFy]Ee6Ee>iQ 5uS5m!pT?Q 9uS5m&)maBYu"-?Q E}:y}<?Q I}@mDIm<:imE:mOS5yBɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 298.39 m.  Q ProNav: ac range: 298.387604 m, nav range: 294.265625 m, bearing: 34.955797 deg, approach rate: -0.674797 m/s, LOS rate: -0.001564 deg/s, cmd heading: 38.599390 deg, new cmd heading: 38.597305 deg. AzMlQUHeadingCmd: 0.673650 target range: 298.387604 and range: 300.30 m.RUTt,?JQbQZQBQ:Q2YҔYڔ]BYڒa’Z @tBɢ&=) >i);ڴ<!i%Xi%Tt,?-ș;-GTi5'15M>5-\-@5V>5,@ 5nF>)5a@I5nF150Đd?@P3D?T:̑? 5@n?)5I5i5nFT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡ ^A 8k<I I O >%,{?A@EbY EbEb'E`"Eb=;*Eb3;VEb'4ZE`af@aj@aj@aj@^n>^D/?^3=ٱ^$: rAHRS rotation from veh to nav: [[0.774280,-0.630110,-0.058750],[0.631321,0.762649,0.140711],[-0.043857,-0.146040,0.988306]]^H ?) 3?g?@?{tn¿4?i^n>I^<];^ԐCYzByz$I ||bD AVD ?3y?%a=ٔ\Q->9!Y!=%AFy%E-E->1Q 55S55T?Q 9=S55#)5aBY9y9Q IE@5&DI53;i5a;5zS5yIɮMe@IqQ}FNOT Ignoring new targets: 298.39 m.}\}\Q ProNav: ac range: 298.387604 m, nav range: 294.020691 m, bearing: 34.955230 deg, approach rate: -0.675142 m/s, LOS rate: -0.001567 deg/s, cmd heading: 38.597303 deg, new cmd heading: 38.595598 deg. zQHeadingCmd: 0.673620 target range: 298.387604 and range: 300.30 m.Rar,?JbZB:2Ҕڔڒ’@uBɢ-r.=) LJ>i)L<ioQiar,?;;U %= 4= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse %,!\?A2{>2.?23=ٱ2jH :AHRS rotation from veh to nav: [[0.775006,-0.629116,-0.059828],[0.630428,0.763087,0.142329],[-0.043887,-0.148023,0.988010]]2H?!ѡ`x,?@6k?7? fxn¿@Ɲ?i2{>I2{/];2ӐCY^By^$IbDf4VDff3lyr8p%rM=ٔvǝ8Q-v>9tYt=vAFyzEz=Ez>|Q 5S5~ST?Q 9S5~)~aBY y ?Q I @~/DI~:i~:~S5yBɮv@BABABE$IBEBBEY =BABEMDBES;BEEYQ]FNOT Ignoring new targets: 298.39 m.eͷeͷQu ProNav: ac range: 298.387604 m, nav range: 293.751953 m, bearing: 34.954666 deg, approach rate: -0.670039 m/s, LOS rate: -0.001406 deg/s, cmd heading: 38.595599 deg, new cmd heading: 38.593908 deg. zuwQ}HeadingCmd: 0.673591 target range: 298.387604 and range: 300.30 m.R}rp,?JybyZB:2Ҕڔڒ’ǡ@]vBɢ]g=)Y ]u>iY)eA1IIO>a x&,Y1?AbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapse9Y]܅By]$Ionly read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V a@a a@a a@a a@a bDTVD4y=%==ٔQ->9Y=AFyEE>Q 5S5YT?Q 9S5)aBQ A+:YQ E~:yQ I@8DI#:i`>S5yɮ@Q%FNOT Ignoring new targets: 298.39 m.%ѷ-ѷQ= ProNav: ac range: 298.387604 m, nav range: 293.459778 m, bearing: 34.954053 deg, approach rate: -0.681563 m/s, LOS rate: -0.001433 deg/s, cmd heading: 38.593909 deg, new cmd heading: 38.592066 deg. z={QEHeadingCmd: 0.673559 target range: 298.387604 and range: 300.30 m.REVn,?JAbAZABA:A2IҔIڔIIڒQ’Qe@wBɢh=) J>i) T<  i iVn,?D;QG ) &,.?AYمBy$II%<)%bD-ZVD-%4y=!%ES=ٔAQ-E>9AYI=MAFyMEIEM>QQ 5]S5UCT?Q 9]S5U)UaBQ Ae :YaQ EeM:yaQ Ie@UADIU3:iU>R?Uiq)uB9B=$IB=݅BB=X =B9B9B=S;B=EBBBBBC4^AE/C<IIO>E x E E $E "E L;*E 3;VE 4ZE BE a 2E a JE 9Y=AFyEE>!Q 5-S5%T?Q 9-S5%()%aBQ A-T:Y-B"?Q E5:y5?Q I5@%JDI%S;i% ;%GS5y9ɮ=@9GSUB*** querying acoustic contact ***:YBYaQmFNOT Ignoring new targets: 298.39 m.mx7mx7Q} ProNav: ac range: 298.387604 m, nav range: 292.904999 m, bearing: 34.954192 deg, approach rate: -0.654544 m/s, LOS rate: 0.001540 deg/s, cmd heading: 38.590415 deg, new cmd heading: 38.592487 deg. z}H8QHeadingCmd: 0.673566 target range: 298.387604 and range: 300.30 m.Rn,?JbZB:2ҔڔBڒ’@@eyBɢe|+ =)a e1>ii)mٻO&,rb?AEe EE&E"E;*E?;VE4ZEa@a@a@a@B>B,?B8=ٱBui! JAHRS rotation from veh to nav: [[0.780390,-0.622093,-0.063183],[0.623662,0.767078,0.150453],[-0.045130,-0.156817,0.986596]]BH ?`/@, ??` B?8Ŀ1?iB>IB];@YjƅByj$IbDrFVDr4yz(%zh=ٔ~Mg;Q-~>9|Y=AFyE@ɼE> Q 5S5 WT?Q 9S5 ) Yy?Q I@ QDI ;i ; [S5y%Bɮ%@-EIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQFNOT Ignoring new targets: 298.39 m.8888Q ProNav: ac range: 298.387604 m, nav range: 292.681763 m, bearing: 34.955080 deg, approach rate: -0.634559 m/s, LOS rate: 0.002525 deg/s, cmd heading: 38.592488 deg, new cmd heading: 38.595153 deg. z8Q HeadingCmd: 0.673612 target range: 298.387604 and range: 300.30 m.R q,?J)b)Z)B):121Ҕ1ڔ19ڒ9’99=@@ zBɢ  =)  t>i)<i,0iq,?W;);Iq,?I!q@ @@4@@ iA@ jA)A^A% *A<e T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseAQ IY Ii q O} >.u&,ߣ|?AB6R>B4B6$IB6ÅBB4B4B4B6S;B6EJ>J,?Js9=ٱJu& VAHRS rotation from veh to nav: [[0.781617,-0.620278,-0.065807],[0.622111,0.767539,0.154471],[-0.045305,-0.161677,0.985803]]JH?`PذU?`?@?E2ӱĿ@?iJ>IJ\;HY^By^}$I ``bDfOVDfc4yn;G%nL=ٔr9Q-r>9pYt=vAFyvEvTEv>xQ 5~S5zT?Q 9~S5z2 )zaBYy?Q I@zYDIz<;iz8;zS5y ɮ ]@ 1Q5FNOT Ignoring new targets: 298.39 m.=I8=I8QM ProNav: ac range: 298.387604 m, nav range: 292.428467 m, bearing: 34.956177 deg, approach rate: -0.633834 m/s, LOS rate: 0.002747 deg/s, cmd heading: 38.595152 deg, new cmd heading: 38.598445 deg. zMF8QUHeadingCmd: 0.673670 target range: 298.387604 and range: 300.30 m.RUu,?JQbQZQBY:Y2aҔiڔiiڒq’qy@M|BɢMv=Y)y }>iy)}ԩ t]%&,?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6>6+?6Z{:=ٱ6.) zAHRS rotation from veh to nav: [[0.782788,-0.618672,-0.067000],[0.620622,0.768279,0.156766],[-0.045512,-0.164296,0.985361]]6H ?(&#???[Mſ ?i6>I6];4Y=By=w$IiMb@Mb@Mb@ 9y&1?~jt~jt?Y`%?yDD<A )AYQAbDGVD4y%:=ٔz9Q->9 ?Y ?=AFyEE>Q 5 S5U?Q 9 S5)aBY %?Q E :y ?Q I@bDI:i:S5yBɮ@EԱQFNOT Ignoring new targets: 298.39 m.ϯ7ϯ7Q ProNav: ac range: 298.387604 m, nav range: 292.144409 m, bearing: 34.956726 deg, approach rate: -0.620397 m/s, LOS rate: 0.001201 deg/s, cmd heading: 38.598444 deg, new cmd heading: 38.600093 deg. zR8QHeadingCmd: 0.673699 target range: 298.387604 and range: 300.30 m.Rw,?JbZB:2ҔڔBڒ ’   3@=}Bɢ=F~<)9 =x=i9)E.XA} ؟AI I O >1 b+&,Z?A2>2}+?2;=ٱ2O+ :AHRS rotation from veh to nav: [[0.783997,-0.617057,-0.067737],[0.619071,0.769136,0.158683],[-0.045818,-0.166341,0.985003]]2H? @:Wn?Ü? O?`eu`Jſ`%?i2>I2k];2֐CYBByBe$IbDJ;VDJ)3yR%Ra=ٔV]:Q-V>9V"?YV"?=ZAFyZEZ#EZ>\Q 5bS5^4U?Q 9bS5^)^aBYdyf-?Q If@^jDI^B:i^|:^S5yjBɮjA@hyQ}FNOT Ignoring new targets: 298.39 m.y7y7Q ProNav: ac range: 298.387604 m, nav range: 291.909637 m, bearing: 34.957269 deg, approach rate: -0.654009 m/s, LOS rate: 0.001513 deg/s, cmd heading: 38.600094 deg, new cmd heading: 38.601723 deg. z8QHeadingCmd: 0.673727 target range: 298.387604 and range: 300.30 m.Rby,?JbZB:2Ҕڔڒ’@D @]~Bɢ]p<)a e=ia)e׾BaBeg$IBeBBeY =BaBaBe\S;BeyE^A?B:E] _ E] ]E] 'EY "E] ;*E] ;VE] '4ZEY BE] hr2&,FDʘ?A\e>en*?eK;=ٱe,* AHRS rotation from veh to nav: [[0.784828,-0.616051,-0.067276],[0.618017,0.770028,0.158470],[-0.045821,-0.165949,0.985069]]eH`P?@9`??H?u@=ſ௅?ie>Ie="];eӐCYByi$IIp<);ieMb@Mb@Mb@aaaa a9e+?~jt9Y=AFyEy<E>Q 5T5p'U?Q 9T57)aBY?Q E:yx?Q I@sDIL ;i;T5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 298.39 m.y8y8Q ProNav: ac range: 298.387604 m, nav range: 291.619598 m, bearing: 34.958098 deg, approach rate: -0.641999 m/s, LOS rate: 0.001837 deg/s, cmd heading: 38.601723 deg, new cmd heading: 38.604212 deg. z^8QHeadingCmd: 0.673771 target range: 298.387604 and range: 300.30 m.R ;|,?J b Z B : 2ҔڔBڒ’`3@MBɢM><)I Md=iI)UqO8&,䘤?A29>2*?2y9<=ٱ2* :AHRS rotation from veh to nav: [[0.785124,-0.615692,-0.067111],[0.617633,0.770314,0.158576],[-0.045937,-0.165951,0.985063]]2H?2.`?i?3L?=ſ?i29>I2\;2֐CYBByB^$IbDN@VDN3yVl?%Vi=ٔVͭ9Q-Z>9XYX=ZAFyZE^ǴE^>`Q 5fT5b6U?Q 9fT5db)baBYhyjX?Q Ij@bzDIb*;ib+;bT5ynBɮr@rEQ FNOT Ignoring new targets: 298.39 m.MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse88Q ProNav: ac range: 298.387604 m, nav range: 291.401276 m, bearing: 34.958744 deg, approach rate: -0.621084 m/s, LOS rate: 0.001839 deg/s, cmd heading: 38.604212 deg, new cmd heading: 38.606151 deg. z8QHeadingCmd: 0.673804 target range: 298.387604 and range: 300.30 m.Rs~,?JbZB:2Ҕڔڒ’ TM@mBɢm<)i m=ii)u@׿B U>B B T$IB BB X =B B B S;B [E>&,o?AZs>Zv*?Z&<=ٱZ[H+ jAHRS rotation from veh to nav: [[0.785305,-0.615440,-0.067305],[0.617404,0.770438,0.158868],[-0.045919,-0.166314,0.985003]]ZH8!?@: ?l?U?`Iſ`%?iZs>IZ\;ZՐCYvByv[$IbD BVD 3y%K%-C=ٔ-2Q-->91Y1=5AFAyEEM6EM>YQ 5eT5]HU?Q 9mT5]")]aBYqyuF?Q Iu@]DI]SI;i]h;]T5yɮ@QFNOT Ignoring new targets: 298.39 m.88Q ProNav: ac range: 298.387604 m, nav range: 291.139221 m, bearing: 34.959535 deg, approach rate: -0.618629 m/s, LOS rate: 0.001869 deg/s, cmd heading: 38.606152 deg, new cmd heading: 38.608527 deg. z.8QHeadingCmd: 0.673846 target range: 298.387604 and range: 300.30 m.R*,?JbZB:2Ҕڔڒ’v @颍BɢI<) c=i)7<顱ii*,?ĩ;8MI*,?IEW EE#E"ET;*E6;VE3ZEBE#i>mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseq}9@y @y@}0@y@@iAԑ^ANJκ A I I O- > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE&,J?A2G>2z*?2;=ٱ2t+ :AHRS rotation from veh to nav: [[0.785514,-0.615145,-0.067562],[0.617143,0.770584,0.159172],[-0.045852,-0.166728,0.984936]]2H"?CK ??@_?`yVWſ ?i2G>I2m\;2ҐCYBByB@$I DDi Mb@Mb@Mb@     9 S㥛?lMb?Y $?y  < `A /@ A) VA Y AbD%@VD%3y5ڽ%5I=ԙٔX/Q->9Y=AFyEPE>Q 5T5[U?Q 9T5)aBY&%?Q E:y?Q I@DI;i;V T5yBɮ@IQMFNOT Ignoring new targets: 298.39 m.U4U4Qe ProNav: ac range: 298.387604 m, nav range: 290.869629 m, bearing: 34.959469 deg, approach rate: -0.635838 m/s, LOS rate: -0.000154 deg/s, cmd heading: 38.608525 deg, new cmd heading: 38.608329 deg. zeضQmHeadingCmd: 0.673842 target range: 298.387604 and range: 300.30 m.Rm,?JibiZiBq:2ҔڔBڒ’DT!@EBɢE<)A E K&,62?A2Dt>2*?29=ٱ2d+ :AHRS rotation from veh to nav: [[0.785324,-0.615346,-0.067941],[0.617422,0.770444,0.158765],[-0.045350,-0.166630,0.984976]]2H _!?@d@?y?`fR?(8!Tſ?i2Dt>I2\;2ӐCYRByR<$IbDXVDXybbk%bQ=ٔf@Q-f>9dYd=jAFyjEjYl:Ej>lQ 5rT5n=lU?Q 9rT5ni)naBYtyv?Q Iv@nDIn:in:nT5yxɮz@|Q%FNOT Ignoring new targets: 298.39 m.%n%nQ5 ProNav: ac range: 298.387604 m, nav range: 290.627960 m, bearing: 34.959395 deg, approach rate: -0.659400 m/s, LOS rate: -0.000204 deg/s, cmd heading: 38.608331 deg, new cmd heading: 38.608106 deg. z5aQ=HeadingCmd: 0.673839 target range: 298.387604 and range: 300.30 m.R=,?J9bAZABA:A2AҔIڔIIڒI’IQU "@}Bɢ}L*<) @i))G<顁i}i,?-;I,?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM9@I @I@M4@IA@AABW>BB;$IBBBW =BBNDB.S;BeE^AmNJκAu>Au>IEU EeE(E"El;*E#;VEc44ZEBE G! 9 u r9q Yu C_A} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey !R&,1L?Al4>p*?[9=ٱ(, AHRS rotation from veh to nav: [[0.785623,-0.614938,-0.068170],[0.617039,0.770655,0.159230],[-0.045381,-0.167158,0.984885]]H@#? sȾ?4?a?@ <peſ.?il4>I];ՐCYBy4$I9i}Mb@Mb@Mb@yyyy y9}'1Z?V-~jth?Y}"?y}}D;}IA}@ }^A)}AyY}AbDEVD3y%-=ٔ8Q->9Y=AFyE9E>Q 5T5ҀU?Q 9T5)aBY"?Q E:y"?Q I@DI<:if:T5yBɮn@EGSuB*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 298.39 m.BͷBͷQ ProNav: ac range: 298.387604 m, nav range: 290.327576 m, bearing: 34.958716 deg, approach rate: -0.619776 m/s, LOS rate: -0.001402 deg/s, cmd heading: 38.608105 deg, new cmd heading: 38.606067 deg. zOvQHeadingCmd: 0.673803 target range: 298.387604 and range: 300.30 m.RZ~,?JbZB:2ҔڔBڒ’`n#@mBɢmv<) i)r<顑iiZ~,?X;IZ~,?IqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE9@A @I@M4@I@U=@U=ԑ^A I I O > E 4 E jE $E "E j;*E k&;VE 4ZE a @a @a @a @Y&,e?A2w>2FZ*?2":=ٱ2* :AHRS rotation from veh to nav: [[0.785833,-0.614781,-0.067164],[0.616768,0.771097,0.158134],[-0.045428,-0.165691,0.985131]]2H%?H1 ?@Ԭ?=?KB_5ſ 1?i2w>I2C\;2ԐCYB{ByB.$IIF%=)F4<bDJAVDJ?3yV`%Vw=ٔV:9Q-V?9XYX=ZAFyZEZ߇E^?`Q 5fT5bBU?Q 9fT5b)b{aBYdyf ?Q If@bDIby:ib-:bT5ylɮn@l|QFNOT Ignoring new targets: 298.39 m.hԷ hԷQ ProNav: ac range: 298.387604 m, nav range: 290.116882 m, bearing: 34.958254 deg, approach rate: -0.661341 m/s, LOS rate: -0.001451 deg/s, cmd heading: 38.606067 deg, new cmd heading: 38.604680 deg. z~Q%HeadingCmd: 0.673779 target range: 298.387604 and range: 300.30 m.R%|,?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115Ԧ#@ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseBɢ<) @i)v<i8i |,? ;; VI|,?I1Թ9@ @@/@^A[RӺIqIO>=<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse B X>B B )$IB wBB B B B 0S;B gEBBBBBC.59 l2_&,?ANuG>NEz*?NJ9=ٱN)K( ^AHRS rotation from veh to nav: [[0.785541,-0.615277,-0.066033],[0.617159,0.771182,0.156186],[-0.045175,-0.163443,0.985518]]NH&#?`X簿`ÿ? ?`?@%!Ŀ\?iNuG>IN];LYjsByj#$IbDvKVDv 4yzI"%~E=ٔQ->9Y= AFy E !:E >Q 5T5XU?Q 9T5)raBY!y%)?Q I%@DID;ia;AT5y- Bɮ-@)QFNOT Ignoring new targets: 298.39 m.<Ϸ<ϷQ ProNav: ac range: 298.387604 m, nav range: 289.852875 m, bearing: 34.957650 deg, approach rate: -0.618395 m/s, LOS rate: -0.001415 deg/s, cmd heading: 38.604680 deg, new cmd heading: 38.602867 deg. zxQHeadingCmd: 0.673747 target range: 298.387604 and range: 300.30 m.Rz,?J1b1Z1B1:129Ҕ9ڔ99ڒA’AAE`$@E_ ERE%E"E;*E;VE 4ZEBEh DAT read:  2Acoustic response timeoutf&,?A 6O>6^~*?6C7=ٱ6' >AHRS rotation from veh to nav: [[0.785513,-0.615323,-0.065937],[0.617216,0.771258,0.155580],[-0.044877,-0.162908,0.985620]]6H"?@᰿;?%? ?.(Ŀ@3?i6O>I6];6ӐCY~oBy~$IiMb@Mb@Mb@ 9L7A`? rhY+'?yC AE@ A)VAY=AbDVDyĄ%@=ٔ97Q->9Y=AFyE9E>Q 5T5U?Q 9T5Q)gaBYd'?Q E:yX?Q I@DI]:i:T5yBɮ@EQFNOT Ignoring new targets: 298.39 m. . .Q ProNav: ac range: 298.387604 m, nav range: 289.574524 m, bearing: 34.957403 deg, approach rate: -0.672217 m/s, LOS rate: -0.000597 deg/s, cmd heading: 38.602867 deg, new cmd heading: 38.602124 deg. zѷQHeadingCmd: 0.673734 target range: 298.387604 and range: 300.30 m.Ry,?JbZB:2ҔڔBڒ’|`%@mBqɢsd<) ؀i)E'<顙iȐiy,?;Iy,?II)e9@a @a@a@a@i@iEN EE$E"E@;*EVE4ZEa@a@a@a@ԙ]2Acoustic response timeout^A NJκ I I O >Bl&,l?A2U>2f*?26=ٱ2/' :AHRS rotation from veh to nav: [[0.785493,-0.615362,-0.065806],[0.617259,0.771338,0.155015],[-0.044631,-0.162382,0.985718]]2H@"? ذ ? ̮?? ٦Ŀ?i2U>I2\;2ѐCYB`ByB $I DDPbDNOVDNc4yV%Z\=ٔZ-Q-Z>9XY\=^AFy^E^o9Eb>`Q 5fT5bBmCBm$IBmcBBiBiBiBmR;BmNE^A?BɺEU EUE'E"El;*E\;VE'4ZEBE-s&,V͙?A|e->ecm*?eҌ5=ٱe' AHRS rotation from veh to nav: [[0.785693,-0.615064,-0.066210],[0.617028,0.771507,0.155090],[-0.044309,-0.162707,0.985679]]eHe$??/??`Ŀ?ie->Ie ];eҐCY cBy $IiMb@Mb@Mb@ 9v/?9Y=AFyE'E>Q 5T5U?Q 9T5)SaBY)?Q E:y?Q I@DI ;i ;c%T5yBɮ@GS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 298.39 m.EEQU ProNav: ac range: 298.387604 m, nav range: 289.015778 m, bearing: 34.957062 deg, approach rate: -0.684693 m/s, LOS rate: -0.000266 deg/s, cmd heading: 38.601470 deg, new cmd heading: 38.601101 deg. zU;Q]HeadingCmd: 0.673716 target range: 298.387604 and range: 300.30 m.R]x,?JYbYZYBa:a2aҔڔBڒ’m'@!]Bɢ]<)Y ]$iY)5ؽ<顁ieAix,?B;ERIx,?I2Acoustic response timeout9@ @@/@Qy ^A A >A >I9 IQ O] >E > E RE $E "E s;*E ;VE 4ZE a @a @a @a @Ty&,O#癤?A2:Y>2**?2O4=ٱ2:% :AHRS rotation from veh to nav: [[0.785498,-0.615401,-0.065378],[0.617297,0.771613,0.153482],[-0.044007,-0.160918,0.985986]]2H"?`] `?? M? @Ŀ 3?i2:Y>I2];0YBVByB$IbDHVDHyRb%Rx=ٔVpQ-V?9TYT=ZAFyZEZ:EZ?\Q 5bT5^U?Q 9bT5^)^KaBYdyf?Q If@^DI^:i^:^E(T5yhɮj@h%2Acoustic response timeoutY|QFNOT Ignoring new targets: 298.39 m.ددQ ProNav: ac range: 298.387604 m, nav range: 288.797150 m, bearing: 34.956963 deg, approach rate: -0.663913 m/s, LOS rate: -0.000300 deg/s, cmd heading: 38.601101 deg, new cmd heading: 38.600804 deg. zSQHeadingCmd: 0.673711 target range: 298.387604 and range: 300.30 m.RUx,?JbZB:2Ҕڔڒ’'@mBɢm1c<)i mii)m+2Acoustic response timeout Ba Ba Be #IBe SBBe V =Ba Ba Be R;Be 9E>&,?A:J>:{*?: 2=ٱ:#% BAHRS rotation from veh to nav: [[0.785582,-0.615295,-0.065376],[0.617221,0.771802,0.152839],[-0.043583,-0.160419,0.986086]]:H@|#? ~x@F??`6?@PĿ ?i:J>I:]\;:ӐCY\y\Ib=)bp;bDfFVDf4yn %rF=ٔrQ-r>9tYt=vAFyvEvQEv>xQ 5UT5zU?Q 9]T5zn)zAaBYYy]?Q I]@zDIz;iz;z+T5yeBɮe@mEQFNOT Ignoring new targets: 298.39 m.Q ProNav: ac range: 298.387604 m, nav range: 288.524231 m, bearing: 34.956846 deg, approach rate: -0.644899 m/s, LOS rate: -0.000277 deg/s, cmd heading: 38.600804 deg, new cmd heading: 38.600452 deg. zBQHeadingCmd: 0.673705 target range: 298.387604 and range: 300.30 m.Rw,?JbZBԱ:2Ҕڔڒ’ȉ(@BɢHg<) ri!)%[9  BDAT read: Response Not Received  *response not received TDAT read: user:252>Tx time:21:28:07.6452  r*?r{1=ٱr5$ ~AHRS rotation from veh to nav: [[0.785536,-0.615389,-0.065037],[0.617298,0.771912,0.151970],[-0.043317,-0.159525,0.986243]]rH`#?C`J??s?-SkĿM?ir:V>IrC];rѐCYmMBym#Ii5Mb@Mb@Mb@1111 195E?{Gz{Gzt?Y5&?y5ף5ף;5A5r@ 5A)5l A1Y5AbD]>VD]43yuU%u3=ٔ}Q-}>9Y=AFyEL9E>Q 5T5V?Q 9T5)8aBY&?Q E:y#?Q I@DI0p;ibp;/T5yBɮ@EyQFNOT Ignoring new targets: 298.39 m.yyQ ProNav: ac range: 298.387604 m, nav range: 288.226166 m, bearing: 34.955258 deg, approach rate: -0.637881 m/s, LOS rate: -0.003403 deg/s, cmd heading: 38.600452 deg, new cmd heading: 38.595682 deg. zyQHeadingCmd: 0.673622 target range: 298.387604 and range: 300.30 m.Ryr,?JbZB:2ҔڔBڒ’|)@]Bɢ]\<)a e ia)5<i;㌼iyr,?g;cIyr,?IAbE-J4jE-( 4rE-Ŗ/E%L E%yE!E!"E%W;*E%Q.;VE!ZE!a=@a=@a=@a=@9@ @@B0@AzAII)=DAT read: =2Acoustic response timeoutOMs>qԙ 同&,4?A2]>2`*?2R.0=ٱ2X&$ :AHRS rotation from veh to nav: [[0.785512,-0.615396,-0.065256],[0.617351,0.771918,0.151727],[-0.043000,-0.159469,0.986266]]2H"?SV??k?@ |iĿ}?i2]>I2,\;2ӐCYnGByn#IbDz^VDz,4y%e=ٔWjQ->9 Y = AFy E r'9E>Q 5%T5 V?Q 9%T5))1aBY!y%#?Q I%@DI;i;2T5y1ɮ5*@1QQ]FNOT Ignoring new targets: 298.39 m.eVeVQm ProNav: ac range: 298.387604 m, nav range: 287.995972 m, bearing: 34.954026 deg, approach rate: -0.690496 m/s, LOS rate: -0.003698 deg/s, cmd heading: 38.595681 deg, new cmd heading: 38.591983 deg. zug"QuHeadingCmd: 0.673557 target range: 298.387604 and range: 300.30 m.R}>n,?JybyZyBy:y2Ҕڔڒ’g#*@Bɢv'<)7 6$i)^<i3i>n,?绕;"ҴI>n,?Iqߝ=ߝR=2Acoustic response timeoutu9@q @q@uB4@qBZ>BB#IBDBBBBBR;BEԡAIIO J>E5 P E5 _E5 'E1 "E5 (;*E5 ;VE5 '4ZE1 BE5 ~*?~.=ٱ~$ uAHRS rotation from veh to nav: [[0.785442,-0.615462,-0.065469],[0.617462,0.771883,0.151453],[-0.042679,-0.159382,0.986294]]~HW"?`ޱ°>?C?b?٥`fĿ`?i~n>I~];~ԐCY8By#I ==iMb@Mb@Mb@ 9q= ףp? rh~jtx?Y+?yC;A@ A) AY\AbDXVD!4y|%.=ٔc3Q->9Y = AFy E M9E>Q 5T55V?Q 9%T54)'aBY%+?Q E%:y%$?Q I%@DI<:i:7T5y5Bɮ5W@5EGSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 298.39 m.eٞeٞQu ProNav: ac range: 298.387604 m, nav range: 287.681549 m, bearing: 34.951989 deg, approach rate: -0.669088 m/s, LOS rate: -0.004340 deg/s, cmd heading: 38.591983 deg, new cmd heading: 38.585864 deg. zu>Q}HeadingCmd: 0.673450 target range: 298.387604 and range: 300.30 m.R}>g,?JybyZyBy:2ҔڔBڒ’%+@颽BɢN%<) Di)<i3i>g,?K;&ۜI>g,?Ie9@a @a@e4@a2Acoustic response timeoutAIIaIyO>9 D9 zD= ?AEE < EE ^EE *EA "EE ,r;*EE  ;VEE (N4ZEA aM @aM @aM @aM @壙&,oh?A~2Acoustic response timeoutY@By#IbDJVD04y-H=%-n=ٔ-Q--?91Y1=5AFy5E5E=?AQ 5ET5EzEV?Q 9MT5E)E aBYIyIQ IM@EDIE:iEF:E:T5yYɮ]@YQFNOT Ignoring new targets: 298.39 m.55QE ProNav: ac range: 298.387604 m, nav range: 287.451202 m, bearing: 34.950493 deg, approach rate: -0.661091 m/s, LOS rate: -0.004295 deg/s, cmd heading: 38.585863 deg, new cmd heading: 38.581373 deg. zE<QMHeadingCmd: 0.673372 target range: 298.387604 and range: 300.30 m.RMb,?JIbQZQBY:Y2YҔaڔaaڒi’ii`+@)Bɢ%<) 6i)u<iTib,?I;;:Ib,?Ia@a @a@e/@aAm>Am>YAIIO>2Acoustic response timeoutԁ B B B #IB 5BB B B B hR;B El&,H?A0Yv9Byv#IbD~MVD~ 4yEB%EH=ٔIQ-M>9IYI=UAFyUEYEe>Q 5T5XV?Q 9T57)aBYyQ I@DI:i:=T5y!Bɮ@QFNOT Ignoring new targets: 298.39 m.wwQ ProNav: ac range: 298.387604 m, nav range: 287.175018 m, bearing: 34.948697 deg, approach rate: -0.677689 m/s, LOS rate: -0.004411 deg/s, cmd heading: 38.581372 deg, new cmd heading: 38.575979 deg. zAQHeadingCmd: 0.673278 target range: 298.387604 and range: 300.30 m.R[,?JbZB:2Ҕڔڒ’ ,@ !!EA E[E&E"Ev;*E;VE4ZEBE6*?6!'=ٱ6' >AHRS rotation from veh to nav: [[0.785119,-0.616054,-0.063768],[0.617987,0.772420,0.146489],[-0.040990,-0.154419,0.987155]]6H?@@S@??@*?ÿŖ?i6%>I6\;4YF)J>LLiMb@Mb@Mb@ 9n?{Gz{Gzt?YV.?y#E-5 E-<E)E)"E-k;*E-1;VE)ZE)a5@a5@a5@a=@ף;`A@ A)YAbDMJVDM04yU <%U=ٔ]'DQ-]>9YYa=eAFyE:E>Q 5T5[rV?Q 9T5) aBY\.?Q E:yI'?Q I@DI:iQ:BT5y%Bɮ@ EE2Acoustic response timeoutIYQ}FNOT Ignoring new targets: 298.39 m.cָcָQ ProNav: ac range: 298.387604 m, nav range: 286.783234 m, bearing: 34.945292 deg, approach rate: -0.673055 m/s, LOS rate: -0.005857 deg/s, cmd heading: 38.575980 deg, new cmd heading: 38.565751 deg. zQHeadingCmd: 0.673099 target range: 298.387604 and range: 300.30 m.R=P,?JbZB:2ҔڔBڒ’2-@MBɢM)5<)Q UDiQ)}ٶ2j*?22%=ٱ2x! :AHRS rotation from veh to nav: [[0.785151,-0.615808,-0.065713],[0.617980,0.772115,0.148120],[-0.040475,-0.156905,0.986784]]2H?Ұ}?`*?? 3yĿ໓?i2>I2,];2ӐCYB0ByB#IEJF EJ5EJ%EH"EJ>{;*EJ ;VEJ 4ZEHBEJ9lYl=nAFynErS^Er>tQ 5zT5vV?Q 9zT5v)vaBYxy|Q I~@vDIv:iv:vFT5y#Bɮ4@E!Q-FNOT Ignoring new targets: 298.39 m.5۸5۸QE ProNav: ac range: 298.387604 m, nav range: 286.449860 m, bearing: 34.942388 deg, approach rate: -0.688660 m/s, LOS rate: -0.006007 deg/s, cmd heading: 38.565751 deg, new cmd heading: 38.557027 deg. zE샹QMHeadingCmd: 0.672947 target range: 298.387604 and range: 300.30 m.RMBF,?JIbIZIBI:Q2QҔQڔQYڒY’YY].@2Acoustic response timeout!-Bɢ-<)) 5^i1)5:<11i5Ti=BF,?=A;=ɹI=BF,?IAIIIIQ@ @@?0@ԁ] 2Acoustic response timeout^A 9Ա A I I O > ͸&,䚤?A2D>2.*?2W$=ٱ2g.# NAHRS rotation from veh to nav: [[0.785344,-0.615425,-0.066979],[0.617758,0.772083,0.149207],[-0.040112,-0.158555,0.986535]]2H@!?@%`??2?KĿ?i2D>I2];0YR.ByR#Ixi=Mb@Mb@Mb@9999 99=(\?y&1|?{Gzt?Y=.?y=`;9=A9 =A)=l A9Y=AbDUhVDUf?4y]%e-=ٔeIQ-e>9iYi=mAFymEu"Eu>yQ 5}T5}ΝV?Q 9T5}M)}`BY.?Q E:y-?Q I@}#DI}:i}:} KT5y'Bɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 298.39 m.*)*)Q ProNav: ac range: 298.387604 m, nav range: 286.128815 m, bearing: 34.938011 deg, approach rate: -0.677249 m/s, LOS rate: -0.009243 deg/s, cmd heading: 38.557026 deg, new cmd heading: 38.543880 deg. zʹQHeadingCmd: 0.672718 target range: 298.387604 and range: 300.30 m.R97,?JbZB:2ҔڔBڒ’/@E2 E3E&E"Ei;*Et ;VE4ZEa@a@a@a@BɢȢ;) fdi)?<iJMi97,?O;LeI97,?I i >UBDAT read: Rx Time:21:28:10.4359 ]TRx dataTimestamp_ set to:1761514091.685921]2Acoustic response timeout)@ @@5@I^AΒ{y = < 2Acoustic response timeoutA I I O >T&,ɰ?ABV\>BTBV#IBV&BBVV =BTBTBVR;BVEjb>j*?j"=ٱjz|$ zAHRS rotation from veh to nav: [[0.785593,-0.614999,-0.067978],[0.617465,0.772163,0.150002],[-0.039761,-0.159815,0.986346]]jH@#?f`F??G3?[ tĿ`%?ijb>Ij/\;jѐCYU%ByU#IY aam=m=bDuGVDu4y1%H=ٔaQ->9Y=AFyEwE>Q 5T5V?Q 9T5)`BYyo-?Q I@,DI:i:NT5y+Bɮe@EQFNOT Ignoring new targets: 298.39 m.((Q ProNav: ac range: 298.387604 m, nav range: 285.852173 m, bearing: 34.934253 deg, approach rate: -0.678986 m/s, LOS rate: -0.009233 deg/s, cmd heading: 38.543881 deg, new cmd heading: 38.532595 deg. zʹQHeadingCmd: 0.672521 target range: 298.387604 and range: 300.30 m.RP*,?JbZB:2 Ҕ ڔ  ڒ’ ,>0@EBɢE};)A EwiA)ME%E"EF;*E?;VE 4ZEBE^ *&,?AY5By5#IDAT read: 21:28:10.4359 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 324,-0.39, 2.673, 1.226, 2.943, 2.041, PHS= 0.734,-0.770, 0.858, RAW= 153.9, -10.5, CAL= 154.8, -12.2, ROT= 355.2, 12.2 Ygot valid direction response: 21:28:10.4359 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 324,-0.39, 2.673, 1.226, 2.943, 2.041, PHS= 0.734,-0.770, 0.858, RAW= 153.9, -10.5, CAL= 154.8, -12.2, ROT= 355.2, 12.2 PDAT read: Bearing 171.3, -4.7 (Local) ~Local bearing/azimuth received: Bearing 171.3, -4.7 (Local) DAT read: Range 11 to 50 : 290.0 m (Round-trip 386.7 ms) speed 0.6 m/s BDAT read: Tx time:21:28:11.4951 $Ping request sent.=< ?(\?bFMǿ ?)w;>Ii^ Z>:publishing transmit ping timeFpublishing direction and range infoy'E*?,^%𴿵\ ˿Y )Ii )I=< ?(\?bFMǿ )Iii-Mb@Mb@Mb@)))) )9-X9v?:v?MbpY-3?y-<--`A-@ -A)- A)Y-AbDSVD4yyG%!=ٔQ->9Y=AFyE E >Q 5MT5iV?Q 9MT5)`BYU3?Q EU:yU3?Q I@8DI—!;m@=GD>b@;-Pl?ǩ5?kͿjCroCZҵb}?bOczchꗕ?yBڗC◕O?QM addTargetRange:: Added new target pos. range: 290.000000 m, deltaT: 16.631168 s, deltaX: -10.299988 m, approachRate: -0.619318 m/s, rangeRepo size: 4 Q} Added new target pos. range: 288.155487 m, bearing: 31.401243 deg, lat: 36.779533 deg, lon: -121.859080 deg, deltaT: 16.631168 s, deltaX: -10.232117 m, approachRate: -0.615237 m/s, posRepo size: 4 yQFNOT Ignoring new targets: 288.16 m.Q ProNav: ac range: 288.155487 m, nav range: 286.112305 m, bearing: 34.840574 deg, approach rate: 0.000000 m/s, LOS rate: -0.009233 deg/s, cmd heading: 38.532594 deg, new cmd heading: 38.517380 deg. zQHeadingCmd: 0.672255 target range: 288.155487 and range: 290.00 m.R,?JbZB:2ҔڔBڒ’ r@?5Bɢ5;)1 5wi9)=V=<99i=,!iE,?Eq;E ѹIE,?IIQ)E4 EE!E"Ej;*E:VEc3ZEa@a@a@a@@ @@3@iA IA Q ^A 9ԁA9IYIiO?&,Y69?A67>6Q*?6=ٱ6& >AHRS rotation from veh to nav: [[0.784656,-0.615806,-0.071393],[0.618792,0.771025,0.150394],[-0.037567,-0.162185,0.986045]]6H?@F#?;?@?@ <{Ŀ@?i67>I6];6ԐCYJByJ#IbDPVDPyZ%ZV=ٔZ=ûQ-Z>9\Y\=^AFy^EbP;Eb>dQ 5jT5fV?Q 9jT5f()f`BYhyj4?Q In@f@DIf:if:fpVT5yr/Bɮrh@p Q FNOT Ignoring new targets: 288.16 m.˅˅Q% ProNav: ac range: 288.155487 m, nav range: 285.855011 m, bearing: 34.835644 deg, approach rate: -0.762451 m/s, LOS rate: -0.014622 deg/s, cmd heading: 38.517380 deg, new cmd heading: 38.502577 deg. z% Q-HeadingCmd: 0.671997 target range: 288.155487 and range: 290.00 m.R-,?J)b)Z1B1:121Ҕ1ڔ99ڒ9’99E`?qɢu)y }iy)}BiBm#IBmBBmU =BmGDBiBmR;Bm2E@ @@/@I^AE& E4E%E"E8^;*E ;VE 4ZEBEԩ &,R?Aue>u@)+?u3=ٱuq& AHRS rotation from veh to nav: [[0.784154,-0.616386,-0.071907],[0.619462,0.770582,0.149901],[-0.036987,-0.162089,0.986083]]uH ? n|h??/?@@UĿ@?iue>Iu^\;qYBy#IAa-@a- a-@a- a-@a5 a5@a5 bD=DVD=J3yE%M4=ٔMQ-M>9U ?YU ?=UAFyUEU:E]>YQ 5eT5]V?Q 9mT5])]`BQ Am+:YiQ Emt:ymI4?Q Iu@]JDI];i]>]YT5yyɮ}@yԉQFNOT Ignoring new targets: 288.16 m.]w]wQ ProNav: ac range: 288.155487 m, nav range: 285.537598 m, bearing: 34.829496 deg, approach rate: -0.697034 m/s, LOS rate: -0.013516 deg/s, cmd heading: 38.502579 deg, new cmd heading: 38.484114 deg. zkQHeadingCmd: 0.671674 target range: 288.155487 and range: 290.00 m.R+?JbZABI:I2IҔIڔIQڒQ’QQ]?颥Bɢe:) `i)E<i)i+?*; L ;I+?IY@Y @Y@e1@a@miA@meAԹ^A ; PExceeded connect timeout, disconnecting.bE%˞4jE%4rE%A0E  E E &E "E &U;*E :VE 4ZE a @a @a @a @A ؟AI  I O >&,"l?AFT>F+?Fqg=ٱFb:& AHRS rotation from veh to nav: [[0.783350,-0.617358,-0.072334],[0.620524,0.769924,0.148885],[-0.036224,-0.161514,0.986205]]FH 4?d`{V?`7?? 䋢}Ŀ?iFT>IF\;DYBy#IbDMCVDM3ym%uY=ٔu,Q-u>9}"?Y}"?=}AFy}Esh;E>Q 5T5jV?Q 9T5;)`BQ A :YQ EF:y4?Q I@RDI ;i U?[T5y3Bɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 288.16 m.{{Q ProNav: ac range: 288.155487 m, nav range: 285.275177 m, bearing: 34.824331 deg, approach rate: -0.698985 m/s, LOS rate: -0.013769 deg/s, cmd heading: 38.484113 deg, new cmd heading: 38.468606 deg. z0QHeadingCmd: 0.671404 target range: 288.155487 and range: 290.00 m.R+?JbZB:2Ҕڔڒ’ C?)ɢ-@)) -ni1)~U<i 8i+?);&d;I+?II)dA!@! @!@%/@!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q B} \>By B} #IB} BB} T =By By B} R;B} NE^A yb:A I I O >J&,?A27>2+?2C[=ٱ2oj% >AHRS rotation from veh to nav: [[0.782755,-0.618085,-0.072566],[0.621318,0.769503,0.147746],[-0.035480,-0.160736,0.986360]]2H`S ?Z@?`ğ?Z?n*ĿB?i27>I2&];0YBByF#IbDN=VDN3yV[%VX=ٔVQ-V>9XYX=ZAFyZEZ,;E^>`Q 5bT5bnW?Q 9fT5b)b`BQ Af9YdQ Ef :yf4?Q If@b[DIb:ib?b]T5yn1Bɮn*@n|EyQFNOT Ignoring new targets: 288.16 m.ttQ ProNav: ac range: 288.155487 m, nav range: 285.010956 m, bearing: 34.819069 deg, approach rate: -0.670818 m/s, LOS rate: -0.013374 deg/s, cmd heading: 38.468606 deg, new cmd heading: 38.452803 deg. zQHeadingCmd: 0.671128 target range: 288.155487 and range: 290.00 m.R +?JbZB:2Ҕڔڒ’=?ɢ|)! %!i!)%7 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752786Q)@) @)@)@)ԁ^Amr;ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004008A I I O >&,?A:t>:,?:j=ٱ:$< FAHRS rotation from veh to nav: [[0.782023,-0.618964,-0.072962],[0.622279,0.768907,0.146800],[-0.034763,-0.160204,0.986472]]:HU? `??W?i̡Ŀ-?i:t>I:];:ҐCYN݄Bybk#I ddj=j=aUaU aUaU aUaU aUa] i]Mb@Mb@Mb@YYYY Y9]K7A`?9Y=AFyE%7;E>Q 5T5 W?Q 9T5)`BQ AT:YH+?Q E:y8?Q I@dDI;i;WaT5y5Bɮ{@}EQFNOT Ignoring new targets: 288.16 m.SSQ ProNav: ac range: 288.155487 m, nav range: 284.724213 m, bearing: 34.812417 deg, approach rate: -0.688692 m/s, LOS rate: -0.015991 deg/s, cmd heading: 38.452804 deg, new cmd heading: 38.432830 deg. z/QHeadingCmd: 0.670779 target range: 288.155487 and range: 290.00 m.R3+?JbZB:2ҔڔvB ڒ ’  @颹ɢ@һ) ƾi)M<iW~i3+?(;B;I3+?I-nManaging dock network, ignoring radio surface power offԩ9@ @@@Em2 Em4Em"Ei"Emi;*Em ;VEm(3ZEiau@au@au@au@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260639^A#; A I I O >&,)u?A2'>2Mj,?2& =ٱ2($ :AHRS rotation from veh to nav: [[0.781189,-0.620000,-0.073103],[0.623359,0.768242,0.145698],[-0.034172,-0.159387,0.986624]]2H?` ᶲ`?p? ??fĿm?i2'>I2g];2ՐCYBڄByBg#IbDNVVDNE4yRM%VY=ٔV&ͺQ-V>9XYX=ZAFyZE^l;E^>`Q 5bT5b0W?Q 9fT5bI)b`BYdhyjO9?Q Ij@blDIbF-;ibB.;bdT5yn8Bɮn@r~EQFNOT Ignoring new targets: 288.16 m.  Q ProNav: ac range: 288.155487 m, nav range: 284.473785 m, bearing: 34.806527 deg, approach rate: -0.662599 m/s, LOS rate: -0.015598 deg/s, cmd heading: 38.432829 deg, new cmd heading: 38.415144 deg. zF+Q%HeadingCmd: 0.670471 target range: 288.155487 and range: 290.00 m.R%+?J!b!Z!B):)2)Ҕ1ڔ11ڒ1’19=_#@eBɢeRr)auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512134 mɾiy)}kBBz#IBBBBBB(S;BhE9@ @@0@]ɀGmSkA9SkAY[A)^A`;Em3 Em Em&Ei"Emj;*Em:VEm4ZEiBEm&,U2ԛ?A^>^,?^ =ٱ^ϫ! AHRS rotation from veh to nav: [[0.780136,-0.621430,-0.072195],[0.624695,0.767550,0.143612],[-0.033832,-0.157137,0.986997]]^H?]{`? ď? a?iRĿ {?i^>I^\;^ԐCAY5DŽByEP#IiMb@Mb@Mb@ 9?~jt?/$Y,?y<@ A) AYp AbD_VD.4y睽%)=ٔ<9Q->9Y!=%AFy% E%g;E%>)Q 55T5-EW?Q 95T5-})-i`BY=,?Q E=:y=2?Q I=@-wDI-:i-:-hT5yAɮE@IiQuFNOT Ignoring new targets: 288.16 m.uauaQ ProNav: ac range: 288.155487 m, nav range: 284.150513 m, bearing: 34.800604 deg, approach rate: -0.672058 m/s, LOS rate: -0.012329 deg/s, cmd heading: 38.415142 deg, new cmd heading: 38.397351 deg. zaQHeadingCmd: 0.670160 target range: 288.155487 and range: 290.00 m.R+?JbZB:2Ҕڔ[Bڒ’j@ɢF ) ܾi)ِ<iJyi+?ž;1i9 I9 E BDAT read: Rx Time:21:28:14.2614 M TRx dataTimestamp_ set to:1761514095.717819U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270647:&,U?ABu>B\-?B =ٱBA JAHRS rotation from veh to nav: [[0.779612,-0.622153,-0.071631],[0.625360,0.767242,0.142351],[-0.033606,-0.155774,0.987221]]BH@? kV???8?4gÿ`P?iBu>IB*\;BҐCYRByRB#IIV0>)VTTԑbD^SVD^4yt%b=ٔ$Q->9 ?Y ?=AFy E;E>Q 5T5HUW?Q 9T5y)X`BYy2?Q I@~DIW:i:lT5yB- CB- T#IB- ʄBB) B) B- ODB- /S;B- mEBBBBT =BU =CC5^A h%< I I O ',6?A2R >25]-?2H =ٱ2 :AHRS rotation from veh to nav: [[0.778890,-0.623262,-0.069818],[0.626264,0.766995,0.139685],[-0.033510,-0.152524,0.987732]]2H?`@߱ [ ? 9?`0?@1(ÿ ?i2R >I2\;2ӐCY^Byb1#IbDhVDhyER%MS=ٔM(Q-M>9IYQ=UAFyUEUD;EU>YQ 5eT5]fW?Q 9mT5]?u)]E`BYiymG3?Q Im@]DI]:i]:]doT5yqɮu@yQFNOT Ignoring new targets: 288.16 m.ggQ ProNav: ac range: 288.155487 m, nav range: 283.647919 m, bearing: 34.791207 deg, approach rate: -0.671756 m/s, LOS rate: -0.012665 deg/s, cmd heading: 38.383826 deg, new cmd heading: 38.369135 deg. z QHeadingCmd: 0.669668 target range: 288.155487 and range: 290.00 m.RXo+?JbZB:2Ҕڔڒ’ @ɢ )  i ) Ԗ<i tiXo+?HJ;p/ E}JE}$Ey"E}s;*E};VE}4ZEyBE}Tx time:21:28:15.3451 R#Rx 1: Read range and direction messages.^direction in FSK: [0.975910,-0.125017,0.178802]Fpublishing direction and range infoy,:?t?ẎC )JI">i󭿉>/@+>/@ X8>)@IX8)8?B9? яD? w'?)*ItwiX89@ @@4@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!^A&$ߡ ߡ  DAT read:  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024831ԁ _',6!?A2>2d-?2=ٱ2 :AHRS rotation from veh to nav: [[0.778072,-0.624275,-0.069896],[0.627312,0.766345,0.138545],[-0.032926,-0.151645,0.987886]]2H? 䱿?@?ۻ?۠iÿ Ĝ?i2>I2\;2ѐCYNByN$#Ii%Mb@Mb@Mb@!!!! !9%y&1?MbP rhY%`%?y%%C%A%@ !)!!Y% AbD=OVD=c4yMM%MJ=ٔM*Q-M>9QYQ=UAFyUE]NW;E]>aQ 5mT5eLwW?Q 9mT5ep)e6`BYmn%?Q Em:ymI,?Q Im@eDIej:ie:erT5y}@Bɮ}@}EJ!R%?A%C%C%?%m up@6I@ H@%,:?t?%tw%X8—%vǐk@iAb@l:F@%!``e?+ M?BɢtKp) i)4 <iqi\+?*ٓ;E :6',ԛ;?A28>2(-?2 =ٱ2Z :AHRS rotation from veh to nav: [[0.777814,-0.624579,-0.070047],[0.627648,0.766145,0.138130],[-0.032607,-0.151404,0.987934]]2H@?@?@B?`@?Ⱡ8aÿ'?i28>I2];2ӐCYBByB #IF=F=bDN]VDN'+4yrĽ%rQ=ٔv VQ-v>9tYx=zAFyzEz-:Ez>|Q 5T5~W?Q 9T5~l)~'`BY y f,?Q I @~DI~:i~:~WvT5y>Bɮ@uE9QEFNOT Ignoring new targets: 269.88 m.E^E^QU ProNav: ac range: 269.875305 m, nav range: 279.332245 m, bearing: 33.644829 deg, approach rate: -0.686718 m/s, LOS rate: -0.012172 deg/s, cmd heading: 38.352810 deg, new cmd heading: 38.339454 deg. zUechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.528137QmHeadingCmd: 0.669150 target range: 269.875305 and range: 271.60 m.RmeM+?JibqZqBq:y2Ҕڔڒ’m?ɢ)  i) <i!oieM+? I; >%L checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780080) Y ',ςU?AB*>B-?B=ٱBT fAHRS rotation from veh to nav: [[0.777834,-0.624539,-0.070175],[0.627635,0.766190,0.137938],[-0.032380,-0.151338,0.987952]]BH?@9?ࡄ??%_ÿL?iB*>IB|\;BҐCYBy #IbDMXVDM!4yMPL%u5=ٔ>Q->9Y=AFyEUE>Q 5T5`W?Q 9T5g)`BYyd,?Q I@DI;i ;XzT5yABɮB@vEQFNOT Ignoring new targets: 269.88 m.PP)Q= ProNav: ac range: 269.875305 m, nav range: 279.037750 m, bearing: 33.639605 deg, approach rate: -0.642414 m/s, LOS rate: -0.011409 deg/s, cmd heading: 38.339453 deg, new cmd heading: 38.323763 deg. z=QEHeadingCmd: 0.668876 target range: 269.875305 and range: 271.60 m.REs;+?JAbAZABI:I2IҔQڔQQڒQ’QY]@И?ɢ_)  i)<ilis;+?;NE  E ;E &E "E V;*E ;VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284478H',To?A02>2Z-?2@=ٱ2 >AHRS rotation from veh to nav: [[0.778356,-0.623731,-0.071566],[0.627011,0.766486,0.139126],[-0.031923,-0.153162,0.987685]]2HJ?(Rz? ??2XӚÿ ?i2>I2\;2ӐCYFByF"Ii Mb@Mb@Mb@     9 K7A?ly&1|Y  "?y  ` A @ -A)  A Y AbDUVDn4y]%V=ٔQ->9Y=AFyEhE>Q 5T5W?Q 9T5]d) `BYU"?Q E:yc?Q I@DI':i:}T5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 269.88 m.c cQ ProNav: ac range: 269.875305 m, nav range: 278.800629 m, bearing: 33.638067 deg, approach rate: -0.632778 m/s, LOS rate: -0.004109 deg/s, cmd heading: 38.323765 deg, new cmd heading: 38.319145 deg. zw4Q%HeadingCmd: 0.668795 target range: 269.875305 and range: 271.60 m.R%*6+?J!b!Z!B!:!2)Ҕ)ڔ- B)ڒ1’115`t?eBɢetƼ)a m]ii)m0"',/?A6>6R-?6p=ٱ6 BAHRS rotation from veh to nav: [[0.779043,-0.622766,-0.072483],[0.626186,0.767070,0.139622],[-0.031352,-0.154160,0.987548]]6H?`C` ?֋?$?j ÿ?i6>I6];6ԐCYFByF#IbDRSVDR4yZv<%Z[=ٔZȺQ-Z>9\Y\`=bAFybEbk<Ef>dQ 5jT5fW?Q 9jT5f`)f`BYlyn?Q In@fDIf;if;fT5yrEBɮv@vwE QFNOT Ignoring new targets: 269.88 m.ޑޑQ% ProNav: ac range: 269.875305 m, nav range: 278.564056 m, bearing: 33.636581 deg, approach rate: -0.634300 m/s, LOS rate: -0.003985 deg/s, cmd heading: 38.319144 deg, new cmd heading: 38.314685 deg. z% /Q-HeadingCmd: 0.668717 target range: 269.875305 and range: 271.60 m.R-1+?J)b1Z1B1:121Ҕ9ڔ99ڒ9’AAE#l?iɢm%O)q u iq)u5GA  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043627?\(',?A2՟>2v&-?28<ٱ2 :AHRS rotation from veh to nav: [[0.779476,-0.622198,-0.072709],[0.625663,0.767508,0.139557],[-0.031028,-0.154273,0.987541]]2H@w? @o?m??ş5ÿ?i2՟>I2B=];0YNtByN"Ii-Mb@Mb@Mb@)))) )9-S㥛?Zd;OY-$?y-j<--vA) -A)- A)Y- AbDEQVDE4yU%U@=ٔ]VHQ-]>9]"?Y]"?=]AFy]EeѺEe>iQ 5uT5mW?Q 9uT5m\)m_BY}H%?Q E}:y}?Q I}@mDImX ;im ;mT5yɮ@!Q-FNOT Ignoring new targets: 269.88 m.-0-0Q] ProNav: ac range: 269.875305 m, nav range: 278.290192 m, bearing: 33.635520 deg, approach rate: -0.621812 m/s, LOS rate: -0.002411 deg/s, cmd heading: 38.314684 deg, new cmd heading: 38.311498 deg. zeӸQeHeadingCmd: 0.668662 target range: 269.875305 and range: 271.60 m.Rmk-+?JibiZiBi:i2ҔڔBڒ’M@ Bɢ ) i)b<izcik-+?>4;%`.i>IY@a @a@e0@abEJ4jEĔ4rE/E: E\E%E"E\p;*E ;VE 4ZEa@a@a@a@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.292572q^A x/<ԡ A .AI I O ><.',?A2F%>2/,?2L#<ٱ2T` :AHRS rotation from veh to nav: [[0.780078,-0.621342,-0.073569],[0.624949,0.768067,0.139685],[-0.030286,-0.154942,0.987459]]2Hf?sղ ??0?2 %ÿD?i2F%>I2];2ѐCYB|ByB"IbDJRVDJ4yRf/=%RU=ٔVQ-V>9Z ?Y^ ?=^AFy^Eb-Eb>lQ 5vT5n2W?Q 9vT5nX)n_BYxyz?Q I~@nDIn;in ;nT5yHBɮ@ =checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544721aQmFNOT Ignoring new targets: 269.88 m.i}1}1Q- ProNav: ac range: 269.875305 m, nav range: 278.040588 m, bearing: 33.634599 deg, approach rate: -0.656707 m/s, LOS rate: -0.002426 deg/s, cmd heading: 38.311498 deg, new cmd heading: 38.308732 deg. z-ոQ5HeadingCmd: 0.668613 target range: 269.875305 and range: 271.60 m.R5A*+?J1b9Z9B9:929ҔAڔABU_>BQBU"IBUyBBQBQBUNDBU]S;BUEڒ’d@Bɢ& ɼ)F7θ i)5Jz<i`iA*+? X; "l5',֜?A6Q >6f,?6 <ٱ6n*! JAHRS rotation from veh to nav: [[0.781339,-0.619589,-0.074961],[0.623408,0.769132,0.140707],[-0.029525,-0.156671,0.987209]]6H ?`0 ???@; Ŀ 8?i6Q >I6];4YR}ByR"IbDZVVDZE4yb);%bI=ٔfoQ-f>9f"?Yf"?=jAFyjEjREj>xQ 5 T5z\W?Q 9T5zU)z_BY!y-^?Q I-@zDIz";iz4A >Y E A E 6E #E "E v;*E  ;VE 3ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300013A .AI I1 O= >; <',?A>U>>,?>Š<ٱ> " FAHRS rotation from veh to nav: [[0.782322,-0.618236,-0.075869],[0.622210,0.770045,0.141017],[-0.028759,-0.157527,0.987096]]>H?&l@$?5? ?s)ĿI?i>U>I>^;>ҐCYNByN#Ii%Mb@Mb@Mb@!!!! !9% r?S㥫y&1?IY%#?y%/]%`e<%A! %A)% A!Y%= AbDMVD 4y2)=%1=ٔ?ںQ->9 ?Y ?=AFy E\E>Q 5T5X?Q 9T5P)_BY4$?Q E:y?Q I@DII;i;T5yɮP@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 269.88 m.``Q  ProNav: ac range: 269.875305 m, nav range: 277.485321 m, bearing: 33.633431 deg, approach rate: -0.732708 m/s, LOS rate: -0.000768 deg/s, cmd heading: 38.306146 deg, new cmd heading: 38.305223 deg. z QHeadingCmd: 0.668552 target range: 269.875305 and range: 271.60 m.R>&+?JbZB:2Ҕ!ڔ%5B!ڒ!’))-`k @颍Bɢʧ)  i)ak<igZi=>&+?=Z ;=;I=>&+?IAIy@ @@1@DAT read: 21:28:18.1088 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.03, 0.028,-1.507, 0.493,-0.061, PHS= 0.191,-1.401, 0.510, RAW= 159.0, 8.0, CAL= 158.6, 8.2, ROT= 351.4, -8.2 Ygot valid direction response: 21:28:18.1088 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.03, 0.028,-1.507, 0.493,-0.061, PHS= 0.191,-1.401, 0.510, RAW= 159.0, 8.0, CAL= 158.6, 8.2, ROT= 351.4, -8.2 PDAT read: Bearing 191.2, -11.3 (Local) ~Local bearing/azimuth received: Bearing 191.2, -11.3 (Local) DAT read: Range 11 to 50 : 269.7 m (Round-trip 359.6 ms) speed 1.1 m/s TDAT read: user:255>Tx time:21:28:19.1951 R#Rx 1: Read range and direction messages.^direction in FSK: [0.978648,-0.148007,0.142629]Fpublishing direction and range infoyy}ۙQ?K¿x0A?Y}نCyyyy y)yI}C>i}S}\?}Κ1@}5>}m(1@ }C>Bu^>BuCBu"IButBBuV =BqBqBuS;BuEԡ)}?B@I}Cyy}] ?EH?m#7笱? }.?)}I}ti}CyyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A <  EG ɬ9 Y ՞AA I I! O5 >B',D ?AB>BN+?B"<ٱB3# JAHRS rotation from veh to nav: [[0.783355,-0.616735,-0.077416],[0.620951,0.770896,0.141916],[-0.027845,-0.159242,0.986847]]BH`>?Jѳ?-?@M*?d bĿ??iB>IBҀ^;BӐCYRByPbDZVVDZE4yr_%vW=ٔvQ-v>9tYx=zAFyz"EzcEz>|Q 5T5~X?Q 9 T5~#M)~_BY y -?Q I @~DI~3:i~L:~ӒT5yMBɮ=g@=oEEeM Ee3Ee'Ea"Eeˀ;*Eet ;VEe'4ZEaBEeM9IYI=MAFyM%EUEU>YQ 5eT5]1X?Q 9eT5]G)]_BYm0(?Q Em:ym?Q Im@]DI];i];]T5yuPBɮu@upEQFNOT Ignoring new targets: 267.99 m.øøQ ProNav: ac range: 267.985138 m, nav range: 268.782440 m, bearing: 32.514875 deg, approach rate: -0.676997 m/s, LOS rate: -0.005331 deg/s, cmd heading: 38.304309 deg, new cmd heading: 38.295764 deg. z$jQHeadingCmd: 0.668387 target range: 267.985138 and range: 269.70 m.Rl+?JbZB:2Ҕڔ>Bڒ’L??额Bɢ.)  i) nZ<顡iTil+??;$;Il+?II9y} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560303 9@  @ @ 0@ B] _>BY B] "IB] yBB] U =BY BY B] S;B] EBʸCBʸCBBBCK5ԩ ^A l;A II!O=?}S',N?AE:Q E:VE: E8"E:;*E:;VE:3ZE8BE:p2E:pJE::E:2B*?2)<ٱ2mi& RAHRS rotation from veh to nav: [[0.785229,-0.614067,-0.079606],[0.618640,0.772503,0.143261],[-0.026476,-0.161740,0.986478]]2H ?pa ?X?dV?@Ŀ:?i2m>I2^;2ѐCYZByZ#IbDbWVDb 4yjO=%j(=ٔn8Q-n>9lYl=rAFyr'Evchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.812184zDȻEz>|Q 5T5~IGX?Q 9T5~B)~`BYy?Q I @~DI~;i~7;~T5yɮ@9Q=FNOT Ignoring new targets: 267.99 m.EEQU ProNav: ac range: 267.985138 m, nav range: 268.462677 m, bearing: 32.512550 deg, approach rate: -0.656704 m/s, LOS rate: -0.004780 deg/s, cmd heading: 38.295764 deg, new cmd heading: 38.288781 deg. zUQQ]HeadingCmd: 0.668265 target range: 267.985138 and range: 269.70 m.R]o+?JYbYZYBY:Y2aҔiڔiiڒi’qqu;l?=Bɢ}a)y }|i)R<顁iQio+?/;g;Io+?I@ @@/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064625I ^A X;AIAIQOe>'Z',l?Abuv>b*?b~<ٱb8) rAHRS rotation from veh to nav: [[0.787091,-0.611253,-0.082815],[0.616349,0.774007,0.145005],[-0.024535,-0.165175,0.985959]]bH/?a\3!???t$ſ?ibuv>Ib^;bҐCYzByz#IEm# Em2Em%Ei"Em[;*Em;VEm 4ZEiau@au@au@au@iMb@Mb@Mb@ 9J +?+S㥛?Y(?y/<A@ l A) AY AbDcVD264y<%#=ٔ}Q->9Y=AFy*EE>Q 5T5 ^X?Q 9T5i!I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324374=) `BY]#)?Q E]:y]?Q Ie@DIBU CBU #IBU BBQ BQ BU ODBU S;BU EA ؟AI I O >la',E?A2)>2z)?2\<ٱ2* :AHRS rotation from veh to nav: [[0.787473,-0.610564,-0.084248],[0.615906,0.774342,0.145102],[-0.023357,-0.166152,0.985823]]2H2?F`?h??ꗿ|Dſ݋?i2)>I2F_;0@YFByF'#I HHJ=J=bDR?VDR3yZ=%Z_=ٔZtRQ-Z>9^"?Y^"?=^AFy^,EbкEb>dQ 5jT5fnX?Q 9jT5fN:)f`BYhyj?Q Ij@fDIf:ifw:fxT5ypɮr@pGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 267.99 m.Q ProNav: ac range: 267.985138 m, nav range: 267.890747 m, bearing: 32.507026 deg, approach rate: -0.666712 m/s, LOS rate: -0.006409 deg/s, cmd heading: 38.279174 deg, new cmd heading: 38.272190 deg. zQHeadingCmd: 0.667976 target range: 267.985138 and range: 269.70 m.Ru+?JbZB:2Ҕڔڒ’V@mBɢmM^)i moii)uC g',Fy?A2>2c)?2<ٱ2m+ >AHRS rotation from veh to nav: [[0.787714,-0.610061,-0.085630],[0.615647,0.774596,0.144845],[-0.022036,-0.166814,0.985742]]2H 4?`뵿 b?|? G?`(Zſ3?i2>I2C_;2АCR9Y=AFy.EQE>Q 5T5X?Q 9T5~5)`BY,?Q E:y)?Q I@ DIf:i:PT5yWBɮ@qEQFNOT Ignoring new targets: 267.99 m.~~Q ProNav: ac range: 267.985138 m, nav range: 267.594879 m, bearing: 32.500967 deg, approach rate: -0.678778 m/s, LOS rate: -0.013915 deg/s, cmd heading: 38.272190 deg, new cmd heading: 38.253993 deg. zQHeadingCmd: 0.667658 target range: 267.985138 and range: 269.70 m.R*?JbZB:2ҔڔBڒ’f@EBɢE)A M iI)M_=om',w?A2OR>2)?2;`<ٱ2F, >AHRS rotation from veh to nav: [[0.787339,-0.610262,-0.087623],[0.616193,0.774309,0.144055],[-0.020064,-0.167413,0.985683]]2H 1?@Crn`۷?"? dp?`mſ?i2OR>I2`;2ӐCYFByF$#IbDNCVDN3yV%Z]=ٔZ஻Q-Z>9XY\=^AFy^0E^:E^>`Q 5fT5bX?Q 9jT5bu1)`Yhyj)?Q Ij@bDIb;ib@;bT5yn[Bɮn{@pQFNOT Ignoring new targets: 267.99 m.  Q ProNav: ac range: 267.985138 m, nav range: 267.346710 m, bearing: 32.495838 deg, approach rate: -0.694795 m/s, LOS rate: -0.014372 deg/s, cmd heading: 38.253994 deg, new cmd heading: 38.238593 deg. zQ%HeadingCmd: 0.667389 target range: 267.985138 and range: 269.70 m.R%*?J!b!Z))B):121Ҕ1ڔ19ڒ9’99=3@mBɢm"Ǽ)i m iq)u8E K E fE %E "E ;*E P$;VE 4ZE BE 25*?2<ٱ2x* :AHRS rotation from veh to nav: [[0.786862,-0.610759,-0.088432],[0.616872,0.774288,0.141232],[-0.017787,-0.165682,0.986019]]2H -?Wj? ??6`5ſ`w?i2>I2m`;0YNByR5#IIV=)Vp;bDZ^VDZ,4y=%F=ٔ Q- >9  ?Y  ?= AFy 2Eq;E>Q 5%T5X?Q 9%T5,)`BY)y-*?Q I-@DI:iN:'T5y5XBɮ5k@5hEYQ]FNOT Ignoring new targets: 267.99 m.eeQu ProNav: ac range: 267.985138 m, nav range: 267.069000 m, bearing: 32.490040 deg, approach rate: -0.672014 m/s, LOS rate: -0.014045 deg/s, cmd heading: 38.238592 deg, new cmd heading: 38.221180 deg. zu9Q}HeadingCmd: 0.667085 target range: 267.985138 and range: 269.70 m.R}*?JybyZB:2Ҕڔڒ’ @ԙBɢ⿠) i)2<iRHFi*?8;!B;I*?IQ@Q @Q@U/@Q2Acoustic response timeout^A;A ؟AI I O > !z',?A%=>%**?%y}<ٱ%(DazDabE3jE#4rEDN0E}: E}SE}#Ey"E}\p;*E}N;VE}3ZEya@a@a@a@eDAT read: 21:28:21.9764 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 120,-0.21,-3.085, 1.920,-2.929, 2.737, PHS= 0.563,-0.772, 0.573, RAW= 150.4, -5.5, CAL= 150.2, -6.8, ROT= 359.8, 6.8 uYgot valid direction response: 21:28:21.9764 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 120,-0.21,-3.085, 1.920,-2.929, 2.737, PHS= 0.563,-0.772, 0.573, RAW= 150.4, -5.5, CAL= 150.2, -6.8, ROT= 359.8, 6.8 }PDAT read: Bearing 177.5, -0.0 (Local) }~Local bearing/azimuth received: Bearing 177.5, -0.0 (Local) DAT read: Range 11 to 50 : 282.9 m (Round-trip 377.2 ms) speed 0.0 m/s *DAT read: user:256> BDAT read: Tx time:21:28:23.0451 $Ping request sent.I%%a;%АCYBy7#I)%II% ?i%ˡE%!?%'@% Ľ%g'@ %)%B@I%=!!%ַj}{? T׈?;y %?)%=I%di%=!!:publishing transmit ping timeFpublishing direction and range infoy!%R?"elEOY!!!!! !)!I!i!!!!! !)!I!!!%ַj}{? T׈?;y !)!I!i!!!iMb@Mb@Mb@ !9sh|??y&1?9"?Y"?=AFy5E)L;E>Q 5]T5X?Q 9]T5&)`BYe *?Q Ee:ye0?Q Ie@)DI+A>EH ENE(E"E};*E;VEc44ZEBEbHF+?FZCU<ٱFo' RAHRS rotation from veh to nav: [[0.784878,-0.612966,-0.090775],[0.619514,0.773161,0.135734],[-0.013016,-0.162771,0.986578]]FH?@j =@? ?@_?9Ŀ ?iFo>IF=a;FϐCYZByZ-#IbDf;VDf)3ynz%nJ=ٔnƻQ-n>9r ?Yr ?=rAFyr7Er};Ev>tQ 5zT5v'X?Q 9~T5v7")tY|y~0?Q I~@v1DIvB:iv-:vT5yɮ @ GS%B*** querying acoustic contact ***:!B!1Q5FNOT Ignoring new targets: 281.10 m.=^=^QM ProNav: ac range: 281.103241 m, nav range: 264.692169 m, bearing: 32.713397 deg, approach rate: -0.707899 m/s, LOS rate: -0.018509 deg/s, cmd heading: 38.196433 deg, new cmd heading: 38.175511 deg. zM=KQHeadingCmd: 0.666288 target range: 281.103241 and range: 282.90 m.R*?JbZB:2Ҕڔڒ’i?5Bɢ5")1 =bi9)=#<99i=,BiE*?EO;E/;IE*?I%9@! @!@%34@!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AE; Iy I O >}',7+?AYBy 2#I iMb@Mb@Mb@ 9y&1?V-?{Gzt?Y`%?y<ף;A5@  A)Y( AbD<VD3y<%<=ٔQ->9Y=AFy9EE>Q 5T5 X?Q 9T5`)`BY%?Q E:y6?Q I@:DIq ;i ;]T5y^Bɮ@)Q-FNOT Ignoring new targets: 281.10 m.55QE ProNav: ac range: 281.103241 m, nav range: 264.414093 m, bearing: 32.704737 deg, approach rate: -0.640080 m/s, LOS rate: -0.019955 deg/s, cmd heading: 38.175512 deg, new cmd heading: 38.149504 deg. zE[QMHeadingCmd: 0.665834 target range: 281.103241 and range: 282.90 m.RM t*?JIbIZQBQEM E[EE"Eˀ;*E;VEZEa@a@a@a@:Q2ҔڔBڒ’`h?-Bɢ-iQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992372)) m5iq)uu',m F?AFţ>Fp(,?F<ٱF.Z" ZAHRS rotation from veh to nav: [[0.782245,-0.616147,-0.091954],[0.622916,0.771646,0.128603],[-0.008282,-0.157878,0.987424]]FH&?`zJ?@R? v?P`[5Ŀ?iFţ>IFܰ`;FАC rG%jAY-B99y-##Im9mjAYmٖAbDTVD4yn%H=ٔ=>Q->9Y=AFy;E,<E>Q 5T5X?Q 9T5) `BYy7?Q I@CDIC:i3;T5ybBɮ@jE!Q-FNOT Ignoring new targets: 281.10 m.-v-vQ= ProNav: ac range: 281.103241 m, nav range: 264.153290 m, bearing: 32.696350 deg, approach rate: -0.639838 m/s, LOS rate: -0.020596 deg/s, cmd heading: 38.149503 deg, new cmd heading: 38.124317 deg. zE(bQEHeadingCmd: 0.665395 target range: 281.103241 and range: 282.90 m.REQW*?JIbIZIBI:I2IҔQڔQYڒY’YY] "?颅Bɢh) 2i)<顑i#>iQW*?[̖;2 ',O`?A=>=,?=UA;ٱ=+C! UAHRS rotation from veh to nav: [[0.780980,-0.617569,-0.093163],[0.624525,0.770723,0.126311],[-0.006203,-0.156830,0.987606]]=H?@ٷ?©?`*? hy@Ŀ@x?i=>I=W`;=ѐCYeBye!#Iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752022iMMb@Mb@Mb@IIII I9M r?~jt?~jtxYM#?yM9yYy=}AFy}=En;E>Q 5T5NY?Q 9T5/)`BY#?Q E:y3?Q I@KDI:iv:T5yɮ @QFNOT Ignoring new targets: 281.10 m.##Q ProNav: ac range: 281.103241 m, nav range: 263.883209 m, bearing: 32.688578 deg, approach rate: -0.634102 m/s, LOS rate: -0.018265 deg/s, cmd heading: 38.124316 deg, new cmd heading: 38.100977 deg. zHQHeadingCmd: 0.664988 target range: 281.103241 and range: 282.90 m.R<*?JbZB:2ҔڔBڒ’?-Bɢ-˶)1 5Ti1)5_<11i5=i=<*?=T;=M dɝ',Vy?AYrByv#IIz%>)z>bD~HVD~4yEU_%M`=ٔMQ-M>9IYQ=UAFyU?EUEU>YQ 5eT5]KY?Q 9mT5]:)]`BYiyiQ Im@]SDI]:i]p:]T5yueBɮu@yQFNOT Ignoring new targets: 281.10 m.[[Q ProNav: ac range: 281.103241 m, nav range: 263.652222 m, bearing: 32.681920 deg, approach rate: -0.633905 m/s, LOS rate: -0.018289 deg/s, cmd heading: 38.100977 deg, new cmd heading: 38.080984 deg. zHQHeadingCmd: 0.664639 target range: 281.103241 and range: 282.90 m.R%*?JbZB:2Ҕڔڒ’c@Bɢ 1ټ)  i)e <i;i-%*?-Η;5rNi]> @  @ @ @ Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310BB.#IBBBBBB{S;BEByByByB}U =B}T =C}4!^A+WBy E C E 1E %E "E x;*E f;VE 4ZE BE wNkZ-?Nk@;ٱN"D ZAHRS rotation from veh to nav: [[0.779351,-0.619282,-0.095400],[0.626580,0.769541,0.123302],[-0.002945,-0.155871,0.987773]]NH@r?(l ? ? ? Kh ÿ ֛?iN>IN`;NϐCYbByb#IbDjDVDjJ3yr߼%rN=ٔvQ-v>9tYt=vAFyvAEzq;Ez>|Q 5T5~"Y?Q 9T5~ )~_BY y ~4?Q I @~[DI~ :i~|:~MT5yaBɮ@aEGS5B*** querying acoustic contact ***:1B19QEFNOT Ignoring new targets: 281.10 m.EEQU ProNav: ac range: 281.103241 m, nav range: 263.400940 m, bearing: 32.674515 deg, approach rate: -0.632684 m/s, LOS rate: -0.018661 deg/s, cmd heading: 38.080985 deg, new cmd heading: 38.058751 deg. z]LQ]HeadingCmd: 0.664250 target range: 281.103241 and range: 282.90 m.R]R *?JabaZaBa:a2aҔiڔiڒ’@)EBɢEKμ)A Ei)<顉i39iR *?*;{Ա ܪ',ڎ?AYBy"IiMb@Mb@Mb@ 9+?:v?I +Y?yT<945@  A) AY AbDRVD4y▽%?=ٔQ->9Y=AFyCEE>Q 5T53Y?Q 9T5g)_BY?Q E:y1?Q I@cDI]:i8: T5ydBɮ6@bEQ%FNOT Ignoring new targets: 281.10 m.%%Q= ProNav: ac range: 281.103241 m, nav range: 263.135895 m, bearing: 32.667282 deg, approach rate: -0.619777 m/s, LOS rate: -0.016932 deg/s, cmd heading: 38.058750 deg, new cmd heading: 38.037027 deg. z=9QEHeadingCmd: 0.663871 target range: 281.103241 and range: 282.90 m.REy)?JAbAZABA:A2IҔIڔMgBE]I E]OE]&EY"E]};*E]3;VE]4ZEYae@ae@ae@ae@Iڒi’iim@Ա5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011994UBɢUi޼)Y ] iY)]kz;YYi]L8iey)?eD;iIy)?I!@! @!@%0@! ^Am <B a>B B #IB BB B B > a= BDAT read: Rx Time:21:28:25.8251  TRx dataTimestamp_ set to:1761514107.069641 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266372B S;B EA ؟AI I O >1 Zñ',eǞ?A>>>-?>ڵٱ>i! FAHRS rotation from veh to nav: [[0.778324,-0.620036,-0.098828],[0.627862,0.768709,0.121965],[0.000347,-0.156979,0.987602]]>H ?U@Ls? C?9?`V6?Ŀ`o?i>>I>èb;>ѐCYN}ByN"I PPbDZWVDZ 4yb%b]=ٔbQ-b>9f"?Yf"?=fAFyfEEj|;Ej>lQ 5rT5nBY?Q 9rT5n)n_BYpyrU2?Q Iv@nkDIn;in;nFT5yxɮzr@xQFNOT Ignoring new targets: 281.10 m.%%Q5 ProNav: ac range: 281.103241 m, nav range: 262.906799 m, bearing: 32.660935 deg, approach rate: -0.619259 m/s, LOS rate: -0.017169 deg/s, cmd heading: 38.037026 deg, new cmd heading: 38.017971 deg. z5<Q5HeadingCmd: 0.663539 target range: 281.103241 and range: 282.90 m.R=)?J9b9Z9B9:92AҔAڔAAڒI’IIMN @uBɢ}ې)y }oiy)g;顁i56i)?;s',Pឤ?AeB>e,-?eٱe!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768045 AHRS rotation from veh to nav: [[0.778198,-0.619967,-0.100243],[0.628017,0.768666,0.121437],[0.001766,-0.157456,0.987524]]eH?? ?`~?@\?'Ŀ̙?ieB>Ieҍc;eҐCYdBy"IiiMb@Mb@Mb@ 9MbX9?I +QY!?y94u\A  A)Yz AbD AVD ?3ycǽ%=ٔ]2Q-]>9aYi=mAFymHEm9Em>qQ 5}T5uXY?Q 9T5u/)u_BY!?Q E:yx(?Q I@uuDIuC ;iuz ;uT5yhBɮ@@QFNOT Ignoring new targets: 281.10 m.#^#^Q ProNav: ac range: 281.103241 m, nav range: 262.577271 m, bearing: 32.654589 deg, approach rate: -0.629502 m/s, LOS rate: -0.012138 deg/s, cmd heading: 38.017970 deg, new cmd heading: 37.998908 deg. zHQHeadingCmd: 0.663206 target range: 281.103241 and range: 282.90 m.R)?JbZB:2ҔڔYBڒ’"@Bɢ}) ui)%,#;!!i%5i-)?-: ;-  BDAT read: Tx time:21:28:26.8951  $Ping request sent. iE GE >E /@E 'g >Թ E ~{/@ E 5>)E @IE 5A A E S%?pFO?؂V? E $'?)E  IE iE 5A A  :publishing transmit ping time  Fpublishing direction and range infoyA E r?_UH@l?YA A A A A A )A IA iA A A A A A )A IA A A E S%?pFO?؂V? A )A IA iA A A ^A < A- .AI1 IA OU >陾',=?AZ#>Z-?ZbٱZIX# zAHRS rotation from veh to nav: [[0.778420,-0.619340,-0.102371],[0.627734,0.768887,0.121500],[0.003461,-0.158840,0.987298]]ZH?4@f? ??`>[l?TĿ?iZ#>IZtd;ZѐCYUhByU"IbDm_VDm.4y<%g=ٔ?Q-?9 ?Y ?=AFyIEJE?Q 5T5gY?Q 9T5)_BYy^(?Q I@}DIB:i|:T5y)ɮ5@1JqRuA?AuCuCu?uh2aM4q@Amz$A%}C@ur?_UH@l?uu5—u'Dl@o8b@߷=qF@u r?AD?"߃?ju)CrugCZuLT?buh\rzu.BuUd̢?quBڗu CuA?Q addTargetRange:: Added new target pos. range: 281.899994 m, deltaT: 4.034306 s, deltaX: -1.000000 m, approachRate: -0.247874 m/s, rangeRepo size: 4 Q Added new target pos. range: 280.109406 m, bearing: 33.142484 deg, lat: 36.779498 deg, lon: -121.859256 deg, deltaT: 4.034306 s, deltaX: -0.993835 m, approachRate: -0.246346 m/s, posRepo size: 4 QFNOT Ignoring new targets: 280.11 m.  Q ProNav: ac range: 280.109406 m, nav range: 264.097137 m, bearing: 32.408322 deg, approach rate: 0.000000 m/s, LOS rate: -0.012138 deg/s, cmd heading: 37.998907 deg, new cmd heading: 37.985537 deg. zQ%HeadingCmd: 0.662973 target range: 280.109406 and range: 281.90 m.R%)?J!b!Z)B):)2)Ҕ)ڔ11ڒ1’15`fq@=E?BIBIBM#IBMBBIBIBIBMT;BME颭Bɢc7 ) i);顱i3i)?֛;e{{',T?A2ʧ>2q-?2噥ٱ20$ >AHRS rotation from veh to nav: [[0.778579,-0.618856,-0.104074],[0.627526,0.769108,0.121176],[0.005054,-0.159654,0.987160]]2H?`??\?6t?`oĿЖ?i2ʧ>I2e;0YFFByF"IIJ=)J=bDNTVDN4yV;8%V\=ٔZ,Q-Z>9XYX=^AFy^KE^8E^>`Q 5fT5bwY?Q 9fT5b)b_BYhyjL(?Q Ij@bDIb:ib:bT5ynkBɮnT@rcEGS~B*** querying acoustic contact ***:|B| Q FNOT Ignoring new targets: 280.11 m. nnQ ProNav: ac range: 280.109406 m, nav range: 263.868073 m, bearing: 32.403745 deg, approach rate: -0.652062 m/s, LOS rate: -0.013040 deg/s, cmd heading: 37.985537 deg, new cmd heading: 37.971794 deg. z1QHeadingCmd: 0.662733 target range: 280.109406 and range: 281.90 m.Rܨ)?JbZB:2Ҕڔڒ’4?EBɢE#)I M>iI)McT;IIiM1iܨ)?W;߽;?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AĎ<Ա A I I O >',0?A6]>6;c-?6Dٱ6z'@ BAHRS rotation from veh to nav: [[0.779252,-0.617456,-0.107303],[0.626673,0.769569,0.122653],[0.006844,-0.162822,0.986632]]6H? 3 5x ? P?`4f? |?WĿ|?i6]>I6?mf;4YJLByJ"IiMb@Mb@Mb@ 9S?9iYi=mAFymMEm&Em>qQ 5}T5u$Y?Q 9T5u)u_BYv?Q E:y0?Q I@uDIu ;iuv:uT5yɮ@QFNOT Ignoring new targets: 280.11 m.@@Q ProNav: ac range: 280.109406 m, nav range: 263.606018 m, bearing: 32.400760 deg, approach rate: -0.614666 m/s, LOS rate: -0.007008 deg/s, cmd heading: 37.971795 deg, new cmd heading: 37.962832 deg. z晹QHeadingCmd: 0.662576 target range: 280.109406 and range: 281.90 m.R)?JbZB:2ҔڔBڒ’ ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996810Bɢ|s) |i);ihG0i)?b;',0J?A2}>2KC-?2 ٱ2( :AHRS rotation from veh to nav: [[0.779548,-0.616721,-0.109363],[0.626285,0.769861,0.122803],[0.008459,-0.164223,0.986387]]2H?-3 ??p?`R?Dſ`{?i2}>I2}f;2ӐCYBHByB"IbDNBVDN3yRq%VV=ٔVlQ-V>9Z"?YZ"?=ZAFyZOE^E^>\Q 5bT5^OY?Q 9fT5^N)^_BYdhyf?Q Ij@^DI^+?;i^&@;^1T5ynjBɮr @rZEQ FNOT Ignoring new targets: 280.11 m.Q% ProNav: ac range: 280.109406 m, nav range: 263.371063 m, bearing: 32.398104 deg, approach rate: -0.612955 m/s, LOS rate: -0.006936 deg/s, cmd heading: 37.962830 deg, new cmd heading: 37.954855 deg. z%PQ%HeadingCmd: 0.662437 target range: 280.109406 and range: 281.90 m.R-|)?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99=@t,?eBɢm$)i mii)u;qqiu.i}|)?}Q;})UQ ',d?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755100->-,?-H1ٱ- , EAHRS rotation from veh to nav: [[0.781006,-0.614414,-0.111915],[0.624448,0.771044,0.124721],[0.009661,-0.167293,0.985860]]-H? Go@{?`d?@? Ƀ? iſ *?i->I-g;-ҐCYUOByU"I YYiMb@Mb@Mb@ 95^I ?V-9 Y =BFyREE>Q 5%T5Y?Q 9%T5s)_BY-?Q E-:y-?Q I-@DI:i;T5y1ɮ5@9QFNOT Ignoring new targets: 280.11 m.n n Q5 ProNav: ac range: 280.109406 m, nav range: 263.104126 m, bearing: 32.397203 deg, approach rate: -0.571731 m/s, LOS rate: -0.001932 deg/s, cmd heading: 37.954856 deg, new cmd heading: 37.952150 deg. z5Q=HeadingCmd: 0.662390 target range: 280.109406 and range: 281.90 m.R=d)?J9b9Z9B9:92AҔAڔBAڒI’IIU-;?aUBɢu)y }iy)}tm;yyi<-id)?T;Xxii>@ @@@EU2 EUIEQEQ"EUi;*EU ;VEQZEQae@ae@ae@ae@ԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004610Թ ^A5 <Ai Iq I O >A',<?A,6>6,,?6*K2ٱ6 . RAHRS rotation from veh to nav: [[0.782191,-0.612500,-0.114106],[0.622943,0.772043,0.126062],[0.010882,-0.169686,0.985438]]6H`?@ 6`&??"?`HI?Cſ?i6>I6#f;6ѐCYZLBy^"IbDf^VDf,4yn%nI=ٔnDQ-r>9pYp=rBFyrTEvEv>xQ 5~T5z3Y?Q 9~T5z)z_BY|y~A?Q I@zDIz:iz:zT5y mBɮ @ [E1Q5FNOT Ignoring new targets: 280.11 m.= = QM ProNav: ac range: 280.109406 m, nav range: 262.861847 m, bearing: 32.396481 deg, approach rate: -0.627820 m/s, LOS rate: -0.001872 deg/s, cmd heading: 37.952151 deg, new cmd heading: 37.949983 deg. zM|QUHeadingCmd: 0.662352 target range: 280.109406 and range: 281.90 m.RU)?JQbYZYBY:Y2YҔaڔaaڒa’aim9@颕~Bɢ(/) i)ֿ};顙i+i)?T;QBB"IBeBBU =BBBT;BEIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256930 9=CM9@Q @Q@]0@aԉGSkAQ9SkAY’AyE?MAԱ^Av<E- : E- ^E- &E) "E- \p;*E-  ;VE- 4ZE) BE- jf',ٚ?A2>2~+?2Fٱ2/ :AHRS rotation from veh to nav: [[0.783154,-0.610990,-0.115591],[0.621710,0.772982,0.126396],[0.012123,-0.170851,0.985222]]2H?@;\ ?`D?@-?@ӈ? uſ?i2>I2^&g;0\YbSByb"IbDjRVDj4yrj=%rJ=ٔv9IQ-v>9tYx=zBFyzVEz}Ez>|Q 5T5~9Y?Q 9T5~)~`BY y ?Q I @~DI~:i~ :~/T5yɮ@GS5B*** querying acoustic contact ***:1B1AQEFNOT Ignoring new targets: 280.11 m.MPMPQU ProNav: ac range: 280.109406 m, nav range: 262.620789 m, bearing: 32.395842 deg, approach rate: -0.595326 m/s, LOS rate: -0.001580 deg/s, cmd heading: 37.949982 deg, new cmd heading: 37.948063 deg. z]ɊQeHeadingCmd: 0.662319 target range: 280.109406 and range: 281.90 m.Re)?JabiZiBi:i2qҔ1ڔ19ڒ9’AAM@\@|BɢM)Q U iQ)U2$\;QQi]*i])?e^ڟ;e#_>E= 5 E= 'E= $E9 "E= k;*E= ";VE= 4ZE9 aM @aM @aM @aM @{',?A>׾>>5+?>^[Wٱ>Z/ FAHRS rotation from veh to nav: [[0.784503,-0.609185,-0.115965],[0.619985,0.774455,0.125849],[0.013144,-0.170626,0.985248]]>H?r~߯`?U??9?@ſ`'?i>׾>I>p?g;>ҐCYNZBRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012747yN"I|i5Mb@Mb@Mb@1111 195Cl?L7A`尿Q?Y5d?y5+5u<5A5@ 5 A)11Y5( AbDMEVDM3y]=%]A=ٔe)Q-e>9aYa=eBFyeXEmEm>qQ 5T5uY?Q 9T5u)u`BYZ?Q E:y?Q I@uDIuZ2;E/ BBBBBBBS;BEBaBaBaBaBeU =Ce3]BDAT read: Rx Time:21:28:29.6714 ]TRx dataTimestamp_ set to:1761514111.100608]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265724^AM *:<AU >AU >ԉ A} .AI I O >x',Ο?AY RBy "IbD:VD{3y-&%-O=ٔ5Q-5>95 ?Y5 ?=5BFy=ZE=E=>AQ 5MT5EY?Q 9MT5Ey)E$`BYQyQQ IU@EDIE:iE:EST5y]sBɮ] @]\EyQFNOT Ignoring new targets: 280.11 m.Q ProNav: ac range: 280.109406 m, nav range: 262.122528 m, bearing: 32.395762 deg, approach rate: -0.656143 m/s, LOS rate: -0.000106 deg/s, cmd heading: 37.947940 deg, new cmd heading: 37.947824 deg. zQHeadingCmd: 0.662314 target range: 280.109406 and range: 281.90 m.Rq)?JbZB:2Ҕڔڒ’S @xBɢ") i)vN";i9(iq)?&;(% ߅ %=߅ %=% DAT read: 21:28:29.6714 LVL= 32752, 32753, 30130, 32755, AGC= 72, IDX= 400, 0.20,-2.966, 1.948,-2.725, 2.594, PHS= 0.825,-0.602, 0.920, RAW= 153.2, -15.3, CAL= 155.0, -17.3, ROT= 355.0, 17.3 E Ygot valid direction response: 21:28:29.6714 LVL= 32752, 32753, 30130, 32755, AGC= 72, IDX= 400, 0.20,-2.966, 1.948,-2.725, 2.594, PHS= 0.825,-0.602, 0.920, RAW= 153.2, -15.3, CAL= 155.0, -17.3, ROT= 355.0, 17.3 M PDAT read: Bearing 166.2, -0.8 (Local) M ~Local bearing/azimuth received: Bearing 166.2, -0.8 (Local) 6', :BDAT read: Tx time:21:28:30.7451 :$Ping request sent.:Z.?[D?kpU[п {O?)>Ii#>E>EQ*?EHٱEY/ UAHRS rotation from veh to nav: [[0.786627,-0.606184,-0.117295],[0.617231,0.776859,0.124566],[0.015612,-0.170385,0.985254]]EH ,?e Z? ?@??`+ſ@3?iE>IEf;N:publishing transmit ping time8]Fpublishing direction and range infoyYyGo?mM+0ӿY )Ii )IZ.?[D?kpU[п )IiAYkBy"IiMb@Mb@Mb@ 9$C?MbMb?Y?y=EA@ )AY\ AbDUXVDU!4yu=% =ٔ%Q->9"?Y"?=BFy\E&ܻE>Q 5mT5Z?Q 9mT5 )@`BYm2?Q Em:ym?Q Im@DI—?7l@~`@.MRid?8zn?nqпjCr'gCZH?b.zꗹڗC◽?E, E)E$E"Ec;*E0;VE4ZEa @a @a @a @QE addTargetRange:: Added new target pos. range: 279.100006 m, deltaT: 3.782231 s, deltaX: -2.799988 m, approachRate: -0.740301 m/s, rangeRepo size: 4 QU Added new target pos. range: 277.328766 m, bearing: 30.213653 deg, lat: 36.779498 deg, lon: -121.859256 deg, deltaT: 3.782231 s, deltaX: -2.780640 m, approachRate: -0.735185 m/s, posRepo size: 4 QFNOT Ignoring new targets: 277.33 m.Q ProNav: ac range: 277.328766 m, nav range: 261.809814 m, bearing: 32.395463 deg, approach rate: 0.000000 m/s, LOS rate: -0.000106 deg/s, cmd heading: 37.947824 deg, new cmd heading: 37.947647 deg. zQ5HeadingCmd: 0.662311 target range: 277.328766 and range: 279.10 m.R==)?J9b9Z9B9:929ҔAڔE=BAڒA’IMqq@M`F?颵uBɢ:) i)T:项i'i=)?;o;I=)?I1m 9@i  @i @m 0@i Y ^A h%<A zA hAB B B "IB jBB B B B S;B EԑAIIO?T(, ?A^z>^ )?^ٱ^ . jAHRS rotation from veh to nav: [[0.788377,-0.603720,-0.118253],[0.614920,0.779054,0.122265],[0.018311,-0.169107,0.985428]]^H`b:?QEl? ?L?6?@Nſ`?i^z>I^ Qf;\YrnByr"Iv=va=bD=BVD=3yM;}<%MC=ٔU׻Q-U>9QYQ=]BFy]_E]E]>aQ 5mT5eZ?Q 9mT5e)eV`BYqyu?Q Iu@eDIe;ieT;eqT5y}vBɮ}|@yQFNOT Ignoring new targets: 277.33 m.jijiQ ProNav: ac range: 277.328766 m, nav range: 261.561371 m, bearing: 32.395390 deg, approach rate: -0.671195 m/s, LOS rate: -0.000199 deg/s, cmd heading: 37.947647 deg, new cmd heading: 37.947425 deg. z QHeadingCmd: 0.662308 target range: 277.328766 and range: 279.10 m.R)?JbZB:2Ҕڔڒ’`r? sBɢ :)  Ki)K:iXE&i)?*; ;I)?I!9@ @@Y1@^A]0;E* EHE!E"Ea;*E;VEc3ZEBE!Q Tz(,#?A>.)?Xhٱ0-9 MAHRS rotation from veh to nav: [[0.789303,-0.602335,-0.119138],[0.613684,0.780163,0.121399],[0.019824,-0.168934,0.985428]]HA?SFL?@? ?L?ſ@?i>I&f;ϐCY]|By]"IiMb@Mb@Mb@ 9'1Z?J +V-?Y"?yH<A  A)Y AbDMWVDM 4y]?i=%].=ٔ]RQ-e>9aYa=eBFyeaEmGWEm>qQ 5}T5uq.Z?Q 9}T5u )un`BY}w#?Q E:y?Q I@uDIuv:iuj:uT5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 277.33 m.%%Q ProNav: ac range: 277.328766 m, nav range: 261.262024 m, bearing: 32.393602 deg, approach rate: -0.635719 m/s, LOS rate: -0.003802 deg/s, cmd heading: 37.947425 deg, new cmd heading: 37.942054 deg. z&QHeadingCmd: 0.662214 target range: 277.328766 and range: 279.10 m.R׆)?JbZB:2Ҕڔ?Bڒ’HB?pBɢ2L)! %8i!)%Y*:!)i-G%i-׆)?5;5Jp;I5׆)?I1a@ @@0@ԉE9 EFE&E"Eso;*Ev;VE4ZEa@a@a@a@m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.^A Թ I I O >(,h=?AV>V(?VsٱVD. fAHRS rotation from veh to nav: [[0.790082,-0.601023,-0.120587],[0.612631,0.781010,0.121270],[0.021294,-0.169688,0.985268]]VHZH? ;޾@? ?@ ?@Ε?Wſ P?iV>IV`f;VАCY=By= #IbDU6VDU3y].=%eq=ٔeQ-e?9iYi=mBFymcEmD}Eu?qQ 5}U5u=Z?Q 9U5u)u`BYyd?Q I@uDIu;iu-:uU5ytBɮk@TEQFNOT Ignoring new targets: 277.33 m.99Q ProNav: ac range: 277.328766 m, nav range: 261.046478 m, bearing: 32.392372 deg, approach rate: -0.637519 m/s, LOS rate: -0.003640 deg/s, cmd heading: 37.942053 deg, new cmd heading: 37.938361 deg. zQHeadingCmd: 0.662149 target range: 277.328766 and range: 279.10 m.R)?JbZB:2Ҕڔڒ’?nBɢ) i!)%ZJ:!!i%@(%i-)?-;-U-;I-)?I1ԑBf>BB"IBBBT =BBBS;BE@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470347^AqZ;IIOj>E  E QE E "E US;*E A;VE ZE BE Wvȉ(?v|ٱvvo/ AHRS rotation from veh to nav: [[0.790794,-0.599771,-0.122143],[0.611654,0.781808,0.121059],[0.022885,-0.170442,0.985102]]vH/N?S1D?@?@?o? ſ`?iv}f>Ivg;vϐCYBy#IbD%5VD%3y5=%5J=ٔ=Q-=>99Y9==BFy=eEEDEE>IQ 5UU5MOZ?Q 9UU5M4)M`BYYy]?Q I]@MDIM;iM;M U5yaɮeS@aQFNOT Ignoring new targets: 277.33 m.~y~yQ ProNav: ac range: 277.328766 m, nav range: 260.789490 m, bearing: 32.390969 deg, approach rate: -0.623836 m/s, LOS rate: -0.003408 deg/s, cmd heading: 37.938361 deg, new cmd heading: 37.934149 deg. zQ-HeadingCmd: 0.662076 target range: 277.328766 and range: 279.10 m.R-})?J)b)Z)B):121Ҕ1ڔ11ڒ9’99= z`?颭lBɢ2ۼ)K\ ̾i)9顱iM$i})?(U;j:I})?Iy@y @y@}3@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976358^Ajb;! IA IY Oe >,(,?q?AF@ >F*\(?FʼٱF00 RAHRS rotation from veh to nav: [[0.791185,-0.598819,-0.124267],[0.611077,0.782263,0.121038],[0.024729,-0.171700,0.984839]]FH cQ?`)Ͽ?L?V?R? Bſ̃?iF@ >IF%g;FАCYZByZ+#Ii=Mb@Mb@Mb@9999 99=!rh? rh/$?Y=l'?y=C =<=EA=@ = A)99Y= AbDUIVDUX4ye^@=%eJ=ٔm^Q-m>9iYi=uBFyugEuaEu>Q 5U5bZ?Q 9U5 )`BY'?Q E :y ?Q I @DI@:i: U5ywBɮ@9QEFNOT Ignoring new targets: 277.33 m.EEbE 4jE( 4rE/E]2 E]*E]%EY"E]i;*E];VE] 4ZEYam@am@am@am@Qm ProNav: ac range: 277.328766 m, nav range: 260.514435 m, bearing: 32.388150 deg, approach rate: -0.665276 m/s, LOS rate: -0.006828 deg/s, cmd heading: 37.934150 deg, new cmd heading: 37.925681 deg. zuQ}HeadingCmd: 0.661928 target range: 277.328766 and range: 279.10 m.R}t)?JybyZyBy:y2ҔڔBڒ’?@颽iBɢ{ռ) i)R9iE$it)?;':It)?Ii1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226548I9@ @@/@ԁ^A0::I1 IA OM >ԩ B i>B CB (#IB BB B B B RS;B E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478247"(,?A>c>>:;(?@>ڼٱ>31 JAHRS rotation from veh to nav: [[0.791452,-0.598129,-0.125876],[0.610648,0.782739,0.120120],[0.026681,-0.171935,0.984747]]>HS?#`n?1 ?`2?@*R?ƿ ?i>c>I>>h;>ѐCYfByf1#IbDrEVDr3yv <%zR=ٔzQ-z>9xY|=~BFyiEE> Q 5U5 [sZ?Q 9U5 [) `BYy?Q I@ DI {;i ;  U5y%zBɮ%@%UEIQMFNOT Ignoring new targets: 277.33 m.UWUWQe ProNav: ac range: 277.328766 m, nav range: 260.270630 m, bearing: 32.385672 deg, approach rate: -0.653557 m/s, LOS rate: -0.006648 deg/s, cmd heading: 37.925681 deg, new cmd heading: 37.918240 deg. zeQmHeadingCmd: 0.661798 target range: 277.328766 and range: 279.10 m.Rmk)?JibiZiBi:q2qҔqڔyyڒy’yw@颭gBɢ,ټ) i)t顱i$ik)?%; b:Ik)?Iq@q @q@q@qԩEm  EmFEm#Ei"EmX;*Emv;VEm3ZEiBEm  ((,Nդ?Apj">jF(?jٱj0߭>߭R=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986114 AHRS rotation from veh to nav: [[0.791303,-0.598040,-0.127233],[0.610752,0.782883,0.118642],[0.028656,-0.171590,0.984752]]jHZR? $#@+IH?@` ?T_?W?`ſ?ij">IjQh;jАCY ByG#IbDaVDayr=%2=ٔHQ->9Y=BFykE 9E>Q 5U5Z?Q 9U5׽)`BYy?Q I@DI;i;U5yɮ@GSEB*** querying acoustic contact ***:ABAiQuFNOT Ignoring new targets: 277.33 m.uuQ ProNav: ac range: 277.328766 m, nav range: 259.971924 m, bearing: 32.382620 deg, approach rate: -0.630096 m/s, LOS rate: -0.006446 deg/s, cmd heading: 37.918239 deg, new cmd heading: 37.909072 deg. zQHeadingCmd: 0.661638 target range: 277.328766 and range: 279.10 m.Ra)?JbZB:2Ҕڔڒ’`@ ]eBɢ])Y ]&ia)eHiiimb%ia)?h;:Ia)?I1Eu Eu2Eu'Eq"EuV;*Eu;VEu'4ZEqa@a@a@a@ U BDAT read: Rx Time:21:28:33.5182 U TRx dataTimestamp_ set to:1761514114.880555] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235258a 9@  @ @ 4@ ԑ ^Aq:Bk>BBT#IBʄBBS =BBPDB@S;B{Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.486622A E GIYIiqO}?E2(,ɠ?Azlq(?ztٱz0 AHRS rotation from veh to nav: [[0.790859,-0.598358,-0.128491],[0.611235,0.782754,0.117001],[0.030568,-0.171069,0.984785]]zHN?%@ar;? Q ??`CM?`ſ`[?iz5>Izh;zѐCYɄByR#IiMb@Mb@Mb@ 9uV?Mb~jt?Yr(?y<\A A)VAY( AbD<VD3y]=%=ٔcQ->9Y=BFynE:E> Q 5U5 IZ?Q 9U5  ) `BY(?Q E:y&?Q I@  DI  :i : U5y%}Bɮ%E@!IQMFNOT Ignoring new targets: 277.33 m.UnUnQe ProNav: ac range: 277.328766 m, nav range: 259.610474 m, bearing: 32.375659 deg, approach rate: -0.674615 m/s, LOS rate: -0.013009 deg/s, cmd heading: 37.909073 deg, new cmd heading: 37.888162 deg. zeiQmHeadingCmd: 0.661273 target range: 277.328766 and range: 279.10 m.Ru3I)?JqbqZqBq:q2qҔyڔ}Byڒy’@ @颭bBɢ,) li)I项i(&i3I)?a;W;I3I)?IaԙE]5 E]sE]$EY"E]k;*E])+;VE]4ZEYBE] BDAT read: Tx time:21:28:34.5950 $Ping request sent.115-33?l?LZlʿ 5-?)5|V>I5)i5Ϣv>11:publishing transmit ping timeFpublishing direction and range infoy15t#?(w𣲿iCοY11111 1)1I1i11111 1)1I1115-33?l?LZlʿ 1)1I1i111% 9@!  @! @% 2@! @- =@) ^AA )A}.AIIO5?Bb:(,려?AV>VX(?VٱVٱ1 vAHRS rotation from veh to nav: [[0.790106,-0.598823,-0.130935],[0.612116,0.782068,0.116975],[0.032352,-0.172570,0.984466]]VH@H?)v`t? ??z?@ƿ?iV>IVWh;TY΄ByY#IiMb@Mb@Mb@ 9@5^I ?I +?I +?Yb0?y94<94<EA@  A)Y A bD=VD3y%w<%%=ٔ%YQ-->9- ?Y- ?=-BFy-qE5 ;E5>9Q 5EU5=Z?Q 9EU5=)=`BYEm0?Q EE:yMy-?Q IM@=DI=;i= ;=U5yUBɮU@UVEJyR}pؠ?A}C}C}: ?}gq |p@6)4Uk}fP}t#?(w𣲿iCο})}Ϣv>—}cuSl@"';va@VBJ}%a?q@?*cwzpȿj} Cr}gCZ}tLŦ?b}TAtWz}4^A}LT?}TAtW}Aڗ}}C} ?Q addTargetRange:: Added new target pos. range: 276.799988 m, deltaT: 3.778388 s, deltaX: -2.300018 m, approachRate: -0.608730 m/s, rangeRepo size: 4 Q Added new target pos. range: 275.048126 m, bearing: 31.161014 deg, lat: 36.779575 deg, lon: -121.859245 deg, deltaT: 3.778388 s, deltaX: -2.280640 m, approachRate: -0.603601 m/s, posRepo size: 4 QFNOT Ignoring new targets: 275.05 m.Qm ProNav: ac range: 275.048126 m, nav range: 266.979523 m, bearing: 31.551318 deg, approach rate: 0.000000 m/s, LOS rate: -0.013009 deg/s, cmd heading: 37.888162 deg, new cmd heading: 37.867009 deg. ziQuHeadingCmd: 0.660904 target range: 275.048126 and range: 276.80 m.Ru1)?JqbqZqBq:y2yҔyڔ}Bڒ’Lq@ǘ?_Bɢ) !i) iB'i1)??; #k;I1)?I9E/ E2E#E"Eaf;*E;VE3ZEa@a@a@a@q 9@  @ @ 0@ ԑ B i>B B z#IB BB B B B (S;B nEB̹CB̹CBBT =BT =Cy55=%=^A%;AU؟AIaIqO} ?\^C(, ?A6]>6u)?6ٱ6^- BAHRS rotation from veh to nav: [[0.788158,-0.601334,-0.131167],[0.614467,0.780973,0.111856],[0.035175,-0.168758,0.985030]]6H8?@ >????`ۙſ\?i6]>I60h;4YJلByJg#IbDR,VDR3yz3=%~#=ٔ~YQ-~>9"?Y"?=BFysE_;E > Q 5U5 9Z?Q 9U5 9)  aBYy>.?Q I@ #DI ;i : U5y%zBɮ- @-MEIQUFNOT Ignoring new targets: 275.05 m.UUQe ProNav: ac range: 275.048126 m, nav range: 266.636993 m, bearing: 31.541699 deg, approach rate: -0.688237 m/s, LOS rate: -0.019352 deg/s, cmd heading: 37.867009 deg, new cmd heading: 37.838115 deg. zeTQmHeadingCmd: 0.660400 target range: 275.048126 and range: 276.80 m.qRu)?JqbqZyBy:y2yҔڔڒ’`H\?颵]Bɢ,|) i)w项iO(i)?[;8;I)?IM9@I @I@M5@IEe  EeEEe$Ea"EeX;*Ee;VEe4ZEaBEe ɆI(,'?AUa>U*?U6ٱU]) AHRS rotation from veh to nav: [[0.786910,-0.603316,-0.129545],[0.616009,0.780345,0.107681],[0.036124,-0.164536,0.985709]]UH^.? ]N`X?`?`?~?ſ`?iUa>IUg;UϐCYyf#IiMb@Mb@Mb@ 9S? rh?MbPY/?yC<A@ )CAY3 AbD.VDP3ymB%u)=ٔuqQ-u>9} ?Y} ?=}BFy}vE}9;E>Q 5U5Z?Q 9U5)aBY(/?Q E:y>0?Q I@.DI:i:(#U5y}BɮA@GSB*** querying acoustic contact ***:B)Q-FNOT Ignoring new targets: 275.05 m.55Qe ProNav: ac range: 275.048126 m, nav range: 266.305969 m, bearing: 31.531813 deg, approach rate: -0.665549 m/s, LOS rate: -0.019901 deg/s, cmd heading: 37.838114 deg, new cmd heading: 37.808419 deg. zeZQmHeadingCmd: 0.659881 target range: 275.048126 and range: 276.80 m.Rm(?JibiZiBi:q2qҔqڔuByڒy’yR?-[Bɢ-&)) -ꁾi))5к11i5-)i=(?;;N i >U9@Q @Q@UP0@Q@Y@]jAE}2 E}+E}#Ey"E}i;*E}=;VE}3ZEya@a@a@a@)UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Y ^A q;A؟AII)O5>^Q(,ZE?AB.g>B.CB.#IB.BB.T =B,B.ODB.R;B.ME4B/>B*?BqٱB51& JAHRS rotation from veh to nav: [[0.785279,-0.605714,-0.128248],[0.618065,0.779125,0.104692],[0.036508,-0.161478,0.986201]]BH!?bkj`0??ͺ??NĿ ?iB/>IBg;BѐCYRބByRm#IV=V=bD^*VD^3yf<%fX=ٔfԄQ-f>9j"?Yj"?=jBFyjwEn`;En>pQ 5rU5rZ?Q 9vU5rY)raBYtyv0?Q Iz@r6DIr;ir+;rm&U5y~Bɮ~@~NEQ%FNOT Ignoring new targets: 275.05 m.%-Q= ProNav: ac range: 275.048126 m, nav range: 266.052551 m, bearing: 31.524080 deg, approach rate: -0.693050 m/s, LOS rate: -0.021168 deg/s, cmd heading: 37.808420 deg, new cmd heading: 37.785199 deg. z=qhQEHeadingCmd: 0.659476 target range: 275.048126 and range: 276.80 m.REm(?JAbAZABA:A2AҔIڔIQڒQ’QQU@H?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739813YBɢ)! %0viA)EAIiMIj*iMm(?U;U6YW(,z_?A2>2 a+?2ٱ2O% :AHRS rotation from veh to nav: [[0.783637,-0.607868,-0.128103],[0.620138,0.777621,0.103605],[0.036637,-0.160630,0.986335]]2H?s@e`+?@F?`Յ?#¢?`Ŀ` ?i2>I2h;2ϐCYBׄByBc#IbDJ=VDJ3yR#%VM=ٔVCQ-V>9XYX=ZBFyZyEZ;EZ>\`Q 5fU5bA[?Q 9fU5bÝ)b%aBYdyj1?Q Ij@b?DIbd:ib9:b)U5y9ɮ=@9QFNOT Ignoring new targets: 275.05 m.Q ProNav: ac range: 275.048126 m, nav range: 265.782776 m, bearing: 31.515675 deg, approach rate: -0.650651 m/s, LOS rate: -0.020293 deg/s, cmd heading: 37.785197 deg, new cmd heading: 37.759956 deg. z^QHeadingCmd: 0.659036 target range: 275.048126 and range: 276.80 m.R(?JbZB:2Ҕڔڒ’k@XBɢ⛼) i)pi>g+i(?\;y_E B E BE 'E "E w;*E Z;VE '4ZE a @a @a @a @0](,vPy?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.49580968>6+?6:ٱ6# BAHRS rotation from veh to nav: [[0.782254,-0.609770,-0.127512],[0.621880,0.776412,0.102224],[0.036669,-0.159262,0.986555]]6H9?=MRp?@^?R+??Ƣ?bĿ ܑ?i68>I6g;6ѐCYF̄ByJV#IiMb@Mb@Mb@ 9E?9Y=BFy|E5;E>Q 5U5[?Q 9U5).aBY&?Q E:y2?Q I@HDIF;i);-U5yBɮj@!QFNOT Ignoring new targets: 275.05 m.==Q ProNav: ac range: 275.048126 m, nav range: 265.499786 m, bearing: 31.506514 deg, approach rate: -0.641500 m/s, LOS rate: -0.020790 deg/s, cmd heading: 37.759956 deg, new cmd heading: 37.732443 deg. zIdQHeadingCmd: 0.658555 target range: 275.048126 and range: 276.80 m.R(?JbZB:2!Ҕ!ڔ%zB!ڒ)’))M@颵VBɢѧ) 2i)0@项iO,i(?T;X܀BiBm#IBmBBiBiBiBmR;Bm-Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.747640^A zl<ԡ A I I O >d(,(+?A2>>2u,?2)ٱ2G! :AHRS rotation from veh to nav: [[0.781013,-0.611681,-0.125959],[0.623444,0.775457,0.099919],[0.036558,-0.156566,0.986991]]2H? o@??@D??] Ŀ@m?i2>>I2g;2ҐCYBфByB\#IDFAbDN3VDN3yV<%V\=ٔV9Q-Z>9XYX=ZBFyZ~E^ ;E^>!Q 5-U5%)[?Q 9-U5%)%6aBY1y5t3?Q I5@%PDI%|:i%:%1U5y9ɮ=@9aQeFNOT Ignoring new targets: 275.05 m.m/˹m/˹yQ ProNav: ac range: 275.048126 m, nav range: 265.255035 m, bearing: 31.498465 deg, approach rate: -0.674594 m/s, LOS rate: -0.022205 deg/s, cmd heading: 37.732444 deg, new cmd heading: 37.708276 deg. zsQHeadingCmd: 0.658134 target range: 275.048126 and range: 276.80 m.Rq{(?JbZB:2Ҕڔڒ’`Y@UBɢb ) 烾i)i2,iq{(?; BDAT read: Rx Time:21:28:37.3663 - TRx dataTimestamp_ set to:1761514118.663645= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257458I j(,F#?A%5>%k,?%)ٱ%8 5AHRS rotation from veh to nav: [[0.779840,-0.613597,-0.123885],[0.624919,0.774633,0.097061],[0.036409,-0.153110,0.987538]]%Hs?綿U?@?`ظ?@1?ÿ?i%5>I%Ng;%ѐCYEȄByEQ#IiMb@Mb@Mb@ 9kt?y&1|?MbY 0?y`;A  A)-AY AbDFVD4y"%6=ٔg9Q->9Y=BFyE;E>  Q 5U5 G=[?Q 9U5 ) :aBY/0?Q E:y.?Q I@ ZDI ':i s: 4U5y-Bɮ-s@-FEGSEB*** querying acoustic contact ***:ABAQQUFNOT Ignoring new targets: 275.05 m.]]Qm ProNav: ac range: 275.048126 m, nav range: 264.957703 m, bearing: 31.489910 deg, approach rate: -0.681203 m/s, LOS rate: -0.019622 deg/s, cmd heading: 37.708276 deg, new cmd heading: 37.682582 deg. zmvWQuHeadingCmd: 0.657685 target range: 275.048126 and range: 276.80 m.Ru ^(?JqbqZqBy:y2yҔyڔgBڒ’ : @5SBɢ5ؚ)1 5}i1)=,99i=P-i ^(?;dq(, ơ?ABc>BB#IBBBU =BBBUR;BEEs>E?-?EٱEj UAHRS rotation from veh to nav: [[0.779096,-0.614770,-0.122749],[0.625854,0.774066,0.095544],[0.036278,-0.151261,0.987828]]eDAT read: 21:28:37.3663 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 428,-0.07,-1.332,-2.700,-1.128,-2.077, PHS= 0.847,-0.578, 0.905, RAW= 152.0, -15.9, CAL= 153.8, -18.0, ROT= 356.2, 18.0 mYgot valid direction response: 21:28:37.3663 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 428,-0.07,-1.332,-2.700,-1.128,-2.077, PHS= 0.847,-0.578, 0.905, RAW= 152.0, -15.9, CAL= 153.8, -18.0, ROT= 356.2, 18.0 qEH[? 1zl@?&? u?` ?\ÿ@I?iEs>IEg;EӐCYBy>#IPDAT read: Bearing 165.9, 1.4 (Local) ~Local bearing/azimuth received: Bearing 165.9, 1.4 (Local) DAT read: Range 11 to 50 : 275.3 m (Round-trip 367.1 ms) speed 0.3 m/s *DAT read: user:260> BDAT read: Tx time:21:28:38.4450 bD@VD3y%m%%9=ٔ%9Q-->9)Y)5$Ping request sent.5Q 5U5Q[?Q 9U5)>aBYy.?Q I@cDI:i: |٠)@I|٠>4? L?ѿ ?)J>IӇi|٠>:publishing transmit ping time1Fpublishing direction and range infoyI ]?s@";[@ӿY )Ii )I8U5yBɮ@4? L?ѿ )IiJRʡ?AƈCƈC-B?+bfz9p@k^=1 U"UI ]?s@";[@ӿӇ|٠>—A'k@l fa@?ߗQH?q?6σпj Cr9_CZ29̤?b zţ 4^AڗC$?Q addTargetRange:: Added new target pos. range: 275.299988 m, deltaT: 3.781437 s, deltaX: -1.500000 m, approachRate: -0.396675 m/s, rangeRepo size: 4 Q Added new target pos. range: 273.552979 m, bearing: 32.286731 deg, lat: 36.779575 deg, lon: -121.859214 deg, deltaT: 3.781437 s, deltaX: -1.495148 m, approachRate: -0.395391 m/s, posRepo size: 4 QFNOT Ignoring new targets: 273.55 m.Q  ProNav: ac range: 273.552979 m, nav range: 266.141266 m, bearing: 32.001691 deg, approach rate: 0.000000 m/s, LOS rate: -0.019622 deg/s, cmd heading: 37.682581 deg, new cmd heading: 37.654759 deg. zQHeadingCmd: 0.657200 target range: 273.552979 and range: 275.30 m.R:>(?JbZB:2Ҕ!ڔAAڒI’IM4q@Mf?ԡRBɢd) i)O%@i.i:>(?IT;(?IQ9@ @@@E- E0E#E"Ed;*E;VE3ZEBE:x(,䡤?A2]>27G-?2ٱ2 :AHRS rotation from veh to nav: [[0.779022,-0.615205,-0.121025],[0.625940,0.774283,0.093192],[0.036375,-0.148353,0.988265]]2H? ¯@|`?@?r۷?ğ?<¿`ޟ?i2]>I2Bg;2ϐCYBByB:#IbDN1VDN[3yR%VS=ٔV=Q-V>9Z ?YZ ?=ZBFyZE^9E^>`Q 5bU5bb[?Q 9fU5bG)bAaBYdyf.?Q If@blDIbl:ib:bT;*E ;VE 4ZE a @a @a @a @Y iy Iy A I I O >[~(,?AY%By%%#I9iMb@Mb@Mb@ 9Zd;O?y&1QY~*?y`eu $ A)AY AbDHVD4y%9=ٔQ->9Y=BFyEE>Q 5U5Fv[?Q 9U5)FaBY*?Q E:y'?Q I@uDI:i:?U5y Bɮ @ GE1Q5FNOT Ignoring new targets: 273.55 m.=Cx=CxQM ProNav: ac range: 273.552979 m, nav range: 265.591064 m, bearing: 31.988755 deg, approach rate: -0.664018 m/s, LOS rate: -0.013565 deg/s, cmd heading: 37.633902 deg, new cmd heading: 37.615913 deg. zMQUHeadingCmd: 0.656521 target range: 273.552979 and range: 275.30 m.RU(?JQbQZYBY:Y2YҔaڔe.Baڒa’aim?额PBɢ,ּ) i)`顡iO/i(?,Z;<B5CB5z#IB5BB5V =B1B1B5OR;B5Ea ېCEGjA1u9ujAYuA9@ @@/@ԑ^A oE< A5 ؟AIA IQ O] >_߅(,?AE.@ E.GE.#E,"E.u;*E.;VE.3ZE,BE.J,?JٱJ RAHRS rotation from veh to nav: [[0.780394,-0.613242,-0.122145],[0.624233,0.775412,0.095236],[0.036310,-0.150569,0.987933]]JH?ଟ D?-?@ia?)?Eÿ$?iJ>IJg;JӐCYZByZ#IbDfCVDf3ynA%n\=ٔnD99Q-n>9r"?Yr"?=rBFyrEv%Ev>tQ 5~U5v[?Q 9~U5v})vJaBY|y~&?Q I~@v}DIv:iv:v?ԑ额NBɢz) i)Dq顡i90i(?o@;Y b(,s2?A2>2VB,?2Nyٱ2 :AHRS rotation from veh to nav: [[0.781512,-0.611600,-0.123226],[0.622837,0.776296,0.097153],[0.036241,-0.152676,0.987612]]2H%?:@G?j? ߸?`?ÿ?i2>I2Zg;2ϐCYBByB#IIF=)F>i Mb@Mb@Mb@     9 p= ף?{GzMbY %?y #  A @  A) A Y (AbD%=VD%3y5P%=E=ٔ=1.9Q-=>99YA=EBFyEEEEE>IQ 5UU5Mj[?Q 9]U5My)MTaBY]s%?Q E]:y]?Q I]@MDIM" ;iM ;MFU5yeBɮe2@iGSB*** querying acoustic contact ***:BQ5FNOT Ignoring new targets: 273.55 m.55QE ProNav: ac range: 273.552979 m, nav range: 265.076569 m, bearing: 31.980848 deg, approach rate: -0.644225 m/s, LOS rate: -0.007186 deg/s, cmd heading: 37.601134 deg, new cmd heading: 37.592166 deg. zEӝQmHeadingCmd: 0.656107 target range: 273.552979 and range: 275.30 m.Rm'?JibqZqBq:q2qҔyڔ}Byڒy’y D?MBɢWu) ︾i)"i0i%'?%v>;%hBE CBE Z#IBE τBBE W =BA BA BE [R;BE EBɸCBɸCBBU =BU =C̜5A1 IA IQ O] >q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968713(,DL?ANAy>N*+?NٱN! VAHRS rotation from veh to nav: [[0.783178,-0.608956,-0.125716],[0.620749,0.777448,0.101222],[0.036098,-0.157313,0.986889]]NH?@|w@-???o{?"Ŀ?iNAy>IN~Mg;NАCY^By^#IbDfJVDf04yn<%rP=ٔr9Q-r>9tYt=vBFyvEvR߻Ev>xQ 5~U5z[?Q 9U5zu)z\aBYyh?Q I@zDIz;iz;zJJU5y ɮ @1Q=FNOT Ignoring new targets: 273.55 m.=s=sQM ProNav: ac range: 273.552979 m, nav range: 264.823547 m, bearing: 31.978170 deg, approach rate: -0.645871 m/s, LOS rate: -0.006842 deg/s, cmd heading: 37.592166 deg, new cmd heading: 37.584124 deg. zMEQUHeadingCmd: 0.655967 target range: 273.552979 and range: 275.30 m.RUo'?JYbYZYBY:Y2YҔaڔaaڒa’iim h@颕KBɢ) ҵi)`顙i0io'?0;` b(,f?A2?>2n*?2Vٱ2* :AHRS rotation from veh to nav: [[0.784663,-0.606014,-0.130579],[0.618876,0.777997,0.108225],[0.036004,-0.165732,0.985513]]2H ?@xdж? Z? ?%o?`6ſ@S?i2?>I2/g;2ΐCYBByB #IbDJ2VDJ 3yRL%RN=ٔVBx9Q-V>9TYT=VBFyZEZŻEZ>\Q 5U5^[?Q 9U5^q)^eaBYy?Q I@^DI^;i^Y;^MU5y-Bɮ-@-HEIQUFNOT Ignoring new targets: 273.55 m.U]Qm ProNav: ac range: 273.552979 m, nav range: 264.567810 m, bearing: 31.975592 deg, approach rate: -0.627997 m/s, LOS rate: -0.006336 deg/s, cmd heading: 37.584123 deg, new cmd heading: 37.576383 deg. zm&QmHeadingCmd: 0.655832 target range: 273.552979 and range: 275.30 m.Ru'?JqbqZqBq:q2yҔyڔyڒ’@|@颭JBɢx) i)bH项i4P1i'?;EmA}> E / E =E #E "E af;*E ;VE 3ZE a @a @a @a @A I I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7247119 @(, ?A2>2#*?2?ٱ2&1 :AHRS rotation from veh to nav: [[0.786653,-0.602694,-0.133930],[0.616356,0.779209,0.113746],[0.035805,-0.172027,0.984441]]2HB,?DI $1?G?|?U?ƿ?i2>I2g;2ѐCYrByr#I ttimMb@Mb@Mb@iiii i9mNbX9?X9vMb`?Ym%?ym}m;im@ mA)mtAiYm\AbD9VD3y<%<=ٔ9Q->9Y=BFyEiE>Q 5U5[?Q 9U5m)uaBYd&?Q E:y&?Q I@DI ;i ;QU5yBɮ@?EQFNOT Ignoring new targets: 273.55 m.QQQ ProNav: ac range: 273.552979 m, nav range: 264.285950 m, bearing: 31.974810 deg, approach rate: -0.665481 m/s, LOS rate: -0.001849 deg/s, cmd heading: 37.576381 deg, new cmd heading: 37.574033 deg. zbQ HeadingCmd: 0.655791 target range: 273.552979 and range: 275.30 m.R '?J b Z B : 2ҔڔBڒ’Y@HBɢ>) Mi)^i1i%'?%;%ԣBBCBA#IBBBS =BBPDBJR;BE@ @@/@>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9770249^Ajbl((,ә?AE&d E&IE&$E$"E&:;*E& ;VE&4ZE$BE&SBs)?BCٱBn=5 JAHRS rotation from veh to nav: [[0.788314,-0.600100,-0.135802],[0.614247,0.780333,0.117393],[0.035524,-0.175958,0.983756]]BH@9?4a@?@|?p ?-0?ͅƿz?iB:>IBxg;BҐCYnByn#IbDzBVDz3y&%T=ٔ&?:Q->9 Y = BFy E JE>-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229691Q 5MU5s[?Q 9MU5hj)aBYIyM{?Q IM@DI;i;TU5yYɮ]+@Y!Q-FNOT Ignoring new targets: 273.55 m.-ŷ5ŷQu ProNav: ac range: 273.552979 m, nav range: 264.035797 m, bearing: 31.974256 deg, approach rate: -0.607009 m/s, LOS rate: -0.001346 deg/s, cmd heading: 37.574032 deg, new cmd heading: 37.572368 deg. zilQHeadingCmd: 0.655762 target range: 273.552979 and range: 275.30 m.R'?JbZB:2Ҕڔڒ’? @FBɢ) %i!)%ͨ!!i%2i-'?Ud;]P R(,?A2c>2(?2*:ٱ2 8 :AHRS rotation from veh to nav: [[0.789842,-0.597679,-0.137585],[0.612285,0.781390,0.120565],[0.035448,-0.179469,0.983125]]2H`bF?/ dח?&?\ݾ?L&?ƿ u?i2c>I2mmg;2АC\YjByj#IiUMb@Mb@Mb@QQQQ Q9Ux&1?333333 rh?YUA ?yUUC9Y=BFyEE>Q 5U5|[?Q 9U5f)aBYu!?Q E:y ?Q I@DI:i3:XU5yBɮ&@@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 273.55 m.K7K7Q ProNav: ac range: 273.552979 m, nav range: 263.771393 m, bearing: 31.974911 deg, approach rate: -0.670089 m/s, LOS rate: 0.001662 deg/s, cmd heading: 37.572369 deg, new cmd heading: 37.574336 deg. z8QHeadingCmd: 0.655796 target range: 273.552979 and range: 275.30 m.R='?JbZB:2Ҕ ڔ B ڒ ’ @颽DBɢF) i)\ig2i='?;I~2g;~ΐCYUByU#II]=)]<bDm;VDm)3y<%6=ٔ9Q->9Y=BFyE8»E>Q 5U5 \?Q 9U5b)aBYyP ?Q I@DI)— T,k@Xa@W8K ǭ f?XңQ?36Vɿj NCr _CZ h?b (z 6DA h?  6DAڗ ƒC ?IQu addTargetRange:: Added new target pos. range: 272.700012 m, deltaT: 4.030119 s, deltaX: -2.599976 m, approachRate: -0.645136 m/s, rangeRepo size: 4 Q Added new target pos. range: 270.982727 m, bearing: 32.662316 deg, lat: 36.779575 deg, lon: -121.859214 deg, deltaT: 4.030119 s, deltaX: -2.570251 m, approachRate: -0.637761 m/s, posRepo size: 4 QFNOT Ignoring new targets: 270.98 m.Q ProNav: ac range: 270.982727 m, nav range: 263.522247 m, bearing: 31.970909 deg, approach rate: 0.000000 m/s, LOS rate: 0.001662 deg/s, cmd heading: 37.574336 deg, new cmd heading: 37.576766 deg. zQHeadingCmd: 0.655838 target range: 270.982727 and range: 272.70 m.R'?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’15@3 q@5-?颥BBɢPؼ) i)C顩i2i'?X;vq;I'?IEmM EmuEiEi"Emˀ;*Em6,;VEiZEiBEmM(,Iꢤ?A2b>2Ї'?2Nٱ2= >AHRS rotation from veh to nav: [[0.792918,-0.593150,-0.139480],[0.608324,0.783733,0.125323],[0.034980,-0.184220,0.982262]]2H_?{cw?@V? ??ǿn?i2b>I2Uig;2АCYFByF#IbDN5VDN3yV;%VX=ٔZ@D:Q-Z>9Z ?Y^ ?=^BFy^E^̻E^>`Q 5fU5b\?Q 9fU5b_)baBYhyj ?Q Ij@bDIbQ;ib];b_U5ynBɮn@pQFNOT Ignoring new targets: 270.98 m. .28 .28Q ProNav: ac range: 270.982727 m, nav range: 263.288116 m, bearing: 31.971731 deg, approach rate: -0.692670 m/s, LOS rate: 0.002434 deg/s, cmd heading: 37.576767 deg, new cmd heading: 37.579235 deg. z8QHeadingCmd: 0.655881 target range: 270.982727 and range: 272.70 m.R'?Jb!Z)BI:I2IҔQڔQQڒQ’YY] ,U?Q额@Bɢ ) i)&Ļi M=3i'?Eא;M*ys;IM'?IYq9@ @@@D zD ?AbEǻ 4jErE/E` EEEE"Ei;*E;VEZEa@a@a@a@ԡ ^A S; A% ؟AI1 IA O] >-(,O?A2?>2&?2tٱ2a= NAHRS rotation from veh to nav: [[0.794268,-0.591490,-0.138846],[0.606567,0.785090,0.125344],[0.034867,-0.183776,0.982350]]2H j?|@h?`t?`C ?@!ڡ?ǿ`ho?i2?>I2K~g;2ϐCYVByV,#IB z>B B A#IB BB O =B B B ~R;B %EiUMb@Mb@Mb@QQQQ Q9U%C?㥛 S㥛?YUZ$?yUU/9"?Y "?= BFy E E >Q 5U511\?Q 9U5~[)aBY%%?Q E%:y%Z ?Q I%@DI; ;i;dU5y-Bɮ-5@5AEQQUFNOT Ignoring new targets: 270.98 m.]7]7Qm ProNav: ac range: 270.982727 m, nav range: 262.978668 m, bearing: 31.972390 deg, approach rate: -0.643630 m/s, LOS rate: 0.001373 deg/s, cmd heading: 37.579236 deg, new cmd heading: 37.581216 deg. zm*q8QuHeadingCmd: 0.655916 target range: 270.982727 and range: 272.70 m.Ru'?JqbqZyBy:y2yҔڔ Bڒ’உ?ԙ颽>Bɢ]oԼ) i);̻iԼ3i'?_;|;I'?Iq@q @q@u0@q@}iA@}eA^Av;A>A>E G E gE "E "E &|;*E $;VE (3ZE BE ! $(,?A2S>2R&?2ٱ2a: ZAHRS rotation from veh to nav: [[0.795366,-0.590505,-0.136734],[0.605137,0.786497,0.123414],[0.034664,-0.180902,0.982890]]2Hs?k`I]? *? ??'ǿs?i2S>I2Ug;2ѐCYbĄBybM#I ddbDn:VDn{3yv >%vV=ٔv:Q-z>9xYx=zBFyzE~E~>Q 5 U5'B\?Q 9 U5FX)aBY y  ?Q I@DI:i:4gU5yɮ@AQEFNOT Ignoring new targets: 270.98 m.M(7M(7Q] ProNav: ac range: 270.982727 m, nav range: 262.743134 m, bearing: 31.972995 deg, approach rate: -0.643872 m/s, LOS rate: 0.001654 deg/s, cmd heading: 37.581217 deg, new cmd heading: 37.583032 deg. z]K8QeHeadingCmd: 0.655948 target range: 270.982727 and range: 272.70 m.Re/'?JabaZaBa:i2iҔiڔiqڒq’qqu@5?颥P(,9?A J6+>J&%?J ٱJc5 RAHRS rotation from veh to nav: [[0.796742,-0.589434,-0.133301],[0.603345,0.788387,0.120089],[0.034308,-0.176107,0.983773]]JH ~?`N?v:?*? ݐ?`ƿ{?iJ6+>IJ2g;HYZքByZc#IErT EroEr%Ep"Er;*Er );VEr 4ZEpav@av@av@az@iMb@Mb@Mb@ 9!rh?QMb?Yl'?yu=A/@ l A)tAY3AbD>VD43y5ߢ=%57=ٔ5gQ:Q-=>9AYA=EBFyEEMEM>YQ 5mU5]W\?Q 9mU5]"T)]bBYuS(?Q Eu:y}?Q I}@]DI]p;i]i~;]kU5yBɮ@BEGSB*** querying acoustic contact ***:B)Q5FNOT Ignoring new targets: 270.98 m.5ӭ=ӭQE ProNav: ac range: 270.982727 m, nav range: 262.449829 m, bearing: 31.972460 deg, approach rate: -0.650394 m/s, LOS rate: -0.001187 deg/s, cmd heading: 37.583031 deg, new cmd heading: 37.581424 deg. zMPqQHeadingCmd: 0.655920 target range: 270.982727 and range: 272.70 m.RY'?JbZB:2Ҕڔ#Bڒ’8?u:Bɢu)q uFiq)}E׻yyi}C;5iY'?;qIY'?I]9@a @a@e0@aԙB%{>B!B%a#IB%ԄBB%P =B!B%RDB%R;B%VE+GSkAA9SkAYܣA T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ^A 9I I O% >?(,dS?AJN>J2%?Jx ٱJ 2P VAHRS rotation from veh to nav: [[0.797182,-0.589200,-0.131700],[0.602761,0.789137,0.118077],[0.034358,-0.173513,0.984232]]JH?I? @?R:?l? 5ƿ ~?iJN>IJULg;JΐCY^By^r#IbDf<VDf3yn=%nc=ٔrQ-r>9pYp=vBFyvEvEv>xQ 5~U5zg\?Q 9~U5zP)z1bBYy?Q I@zDIz;iz;z?nU5y ɮ @ 1Q5FNOT Ignoring new targets: 270.98 m.==QM ProNav: ac range: 270.982727 m, nav range: 262.215729 m, bearing: 31.972078 deg, approach rate: -0.659347 m/s, LOS rate: -0.001076 deg/s, cmd heading: 37.581425 deg, new cmd heading: 37.580279 deg. zM =QUHeadingCmd: 0.655900 target range: 270.982727 and range: 272.70 m.RU '?JQbQZQBQ:Y2YҔYڔaaڒa’aam`9B@颕8BɢZ) +i)χۻ顙i5i '?A; I '?IQ@Q @Q@U5@QEB ErE$E"Ew;*E*;VE4ZEBE! (,}m?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512328Zt>Zސ%?^nManaging dock network, ignoring radio surface power offZ ٱZ0 jAHRS rotation from veh to nav: [[0.797573,-0.588875,-0.130783],[0.602228,0.789764,0.116594],[0.034628,-0.171753,0.984531]]ZH`?|sE?`E?`ٽ? ʺ? ſG?iZt>IZAg;ZϐCYrByr#I|bDz6VDz3y =% G=ٔ ,Q- >9Y=BFy}EB˺E>Q 5U5{\?Q 9U5L)MbBYy?Q I@DI:i[:qU5yBɮV@9E9QEFNOT Ignoring new targets: 270.98 m.uy}yQ ProNav: ac range: 270.982727 m, nav range: 261.936676 m, bearing: 31.971670 deg, approach rate: -0.636242 m/s, LOS rate: -0.000932 deg/s, cmd heading: 37.580278 deg, new cmd heading: 37.579051 deg. z#Q%HeadingCmd: 0.655878 target range: 270.982727 and range: 272.70 m.RM'?JIbQZQBQ:Y2aҔڔڒ’ !@!56Bɢ5$s)9 =i9)=q߻99i=!7iU'?U';U0IU'?Ia-9@) @1@U5@QEL EIE(E"EW;*E ;VEc44ZEa @a @a @a @QiIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769774^A} NJκԁ I I O >c(,v?AB=w>B*%?BٱB5. JAHRS rotation from veh to nav: [[0.797554,-0.589116,-0.129808],[0.602238,0.790011,0.114853],[0.034888,-0.169777,0.984865]]BH`?` `E?G? g? ܡ? Bſ?iB=w>IBng;B̐CYRByR#IBb|>B`Bb#IBbBBbO =B`B`Bb)S;BbzEBCBCBBP =BP =CN5Qi]Mb@Mb@Mb@YYYY Y9]?ˡEQ?Y]f&?y]']\=]A]\@ Y)]AYY]fAbDu@VDu3y}o=%C=ٔI"Q->9Y=BFyEM8E>Q 5U5ԍ\?Q 9U5 I)hbBY&?Q E:y?Q I@DI':i:uU5yɮ@QFNOT Ignoring new targets: 270.98 m.Q ProNav: ac range: 270.982727 m, nav range: 261.674866 m, bearing: 31.969627 deg, approach rate: -0.668513 m/s, LOS rate: -0.005222 deg/s, cmd heading: 37.579052 deg, new cmd heading: 37.572917 deg. zXeQHeadingCmd: 0.655771 target range: 270.982727 and range: 272.70 m.R'?JbZB:2ҔڔABڒ’@4Bɢ6I) Di)fiJ88i%'?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016389%<;eIe'?IiIq)uhAԁ@ @@@4@ԩ^AE E / E hE )E "E af;*E ^%;VE FA4ZE BE ˷H(,X?ABJ>B0%?BٱBwm- NAHRS rotation from veh to nav: [[0.797205,-0.589752,-0.129061],[0.602701,0.789820,0.113731],[0.034862,-0.168452,0.985093]]BH? @TI?`5F?v?j١? Տſ@?iBJ>IByKg;BҐCYVByV#IbD^=VD^3yfz=%fV=ٔ 8Q- >9 Y=BFyEt:E>Q 5%U5t\?Q 9%U5UE)bBY)y-?Q I-@DI6:i;xU5y5Bɮ=+@9YQeFNOT Ignoring new targets: 270.98 m.ejejQu ProNav: ac range: 270.982727 m, nav range: 261.422638 m, bearing: 31.967628 deg, approach rate: -0.648821 m/s, LOS rate: -0.005148 deg/s, cmd heading: 37.572918 deg, new cmd heading: 37.566915 deg. zubQ}HeadingCmd: 0.655666 target range: 270.982727 and range: 272.70 m.R}'?JybZB:2Ҕڔڒ’ @ԩ2Bɢ+) hDi)iz`9i'?ק;:޽I'?I9@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520332^A"5 A IA I O >1 (,*?A29>2]%?2fcٱ2]+ :AHRS rotation from veh to nav: [[0.796663,-0.590738,-0.127892],[0.603423,0.789504,0.112089],[0.034756,-0.166470,0.985434]]2HD~?`S^`>O?C?۱?ˡ?`Nſ?i29>I2=Xg;2АCYB+ByB#IEbM EbREb'E`"Ebˀ;*Eb;VEb'4ZE`aj@aj@aj@aj@DAT read: 21:28:45.0592 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.48,-1.426,-2.795,-1.233,-2.154, PHS= 0.831,-0.595, 0.878, RAW= 151.6, -15.2, CAL= 153.3, -17.3, ROT= 356.7, 17.3 Ygot valid direction response: 21:28:45.0592 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.48,-1.426,-2.795,-1.233,-2.154, PHS= 0.831,-0.595, 0.878, RAW= 151.6, -15.2, CAL= 153.3, -17.3, ROT= 356.7, 17.3  PDAT read: Bearing 165.0, 2.0 (Local)  ~Local bearing/azimuth received: Bearing 165.0, 2.0 (Local) DAT read: Range 11 to 50 : 270.0 m (Round-trip 360.1 ms) speed 0.4 m/s *DAT read: user:262> %BDAT read: Tx time:21:28:46.1450 %$Ping request sent.%UL?^h/?>xп d: ?);ʇ>IQki#>M:publishing transmit ping time!MFpublishing direction and range infoy )$in?|#+0ӿYQ )Ii )IUL?^h/?>xп )IiiMb@Mb@Mb@ 9uV? rhy&1?Yr(?yC`<E@  A)AYAbD;VD)3y] =%](=ٔ]d9Q-e>9aYa=eBFyeEm1:E>Q 5U5\?Q 9U5k@)bBY(?Q E:y;!?Q I@DI:i:}U5yBɮB@:EJR?A&C&Cw ?)no@i'}- WS )$in?|#+0ӿQk#>—VLk@*04G`@>qC'Pd6?[v?7ŋ пjCr^CZ,?bTzC2ꗽ,?TAtWC2ڗJC◽: ?Q addTargetRange:: Added new target pos. range: 270.000000 m, deltaT: 3.784222 s, deltaX: -2.700012 m, approachRate: -0.713492 m/s, rangeRepo size: 4 Q- Added new target pos. range: 268.302979 m, bearing: 30.990672 deg, lat: 36.779585 deg, lon: -121.859245 deg, deltaT: 3.784222 s, deltaX: -2.679749 m, approachRate: -0.708137 m/s, posRepo size: 4 )Q-FNOT Ignoring new targets: 268.30 m.51ԁQ ProNav: ac range: 268.302979 m, nav range: 260.584259 m, bearing: 31.301479 deg, approach rate: 0.000000 m/s, LOS rate: -0.005148 deg/s, cmd heading: 37.566915 deg, new cmd heading: 37.559016 deg. zQEHeadingCmd: 0.655528 target range: 268.302979 and range: 270.00 m.RE'?JAbAZABA:A2IҔIڔMhBIڒQ’QUp@UD?BBB#IB!BBBBBmS;BE0Bɢ)` 'i)i a;i '?J;Q!I'?I%i>i%>ԩ9@ @@4@@=@= ^A ?BɺA zA gA Ae.AIiIyO?c(,ۣ?A2>2?&?2ٱ2b( :AHRS rotation from veh to nav: [[0.795965,-0.592015,-0.126324],[0.604342,0.789147,0.109624],[0.034789,-0.163600,0.985913]]2H@x?^+`V? @? R?ϡ?@Ŀ?i2>I2Pg;2ΐCYF:ByF#IbDv<VDv3y-=%-;=ٔ5rQ-=>9= ?Y= ?=EBFyEEE],;EM>yQ 5U5}\?Q 9U5iߑIߕA};)}bBYy~!?Q I@}DI}`;i};}U5yɮX@E, EFE$E"Ec;*Ev;VE4ZEBEr1 (,5&?5{/ٱ5E' MAHRS rotation from veh to nav: [[0.795139,-0.593173,-0.126094],[0.605419,0.788451,0.108684],[0.034950,-0.162759,0.986047]]5H@q?`F #`_?:?һ??EĿ్?i5>I5+g;5ҐCY]KBy]#IiMb@Mb@Mb@ 9/$?~jt?Zd;O?Y,?yD<j<AS@ h A)AYbDU(VDU:3y]=%e8=ٔebQ-e>9m"?Ym"?=mBFyE$G;E>Q 5U5<\?Q 9U57)bBY(,?Q E:y,?Q I@DI ;i ;҄U5yBɮv@;EQFNOT Ignoring new targets: 268.30 m.==Q ProNav: ac range: 268.302979 m, nav range: 260.002411 m, bearing: 31.287794 deg, approach rate: -0.679664 m/s, LOS rate: -0.019260 deg/s, cmd heading: 37.542876 deg, new cmd heading: 37.517913 deg. z}SQHeadingCmd: 0.654811 target range: 268.302979 and range: 270.00 m.R'?J b Z B :2ҔڔBڒ’ ?M-BɢU0>)Q U8k=iQ)U.YYi]Ɵ>i]'?eǦ;eǁ;Ie'?IiDzD@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996025E* EUE(E"Ea;*E\;VEc44ZEa@a@a@a@@ @@0@1^Arg:a B {>B B #IB IBB B B B S;B EA .AI! I1 O= >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246902),l?A6p>6&?6\ٱ6 I& >AHRS rotation from veh to nav: [[0.794410,-0.594210,-0.125805],[0.606354,0.787914,0.107365],[0.035326,-0.161574,0.986228]]6Hk?`^@g?6?L|?4?wĿ@.?i6p>I6g;4YFSByF#IbDN7VDNp3yVE=%Vj=ٔZ쌺Q-Z>9^ ?Y^ ?=^BFy^E^a;Eb?`Q 5fU5bk\?Q 9fU5bG3)bbBYhyj,?Q Ij@b DIb;ib+;bӇU5ylɮr@pQ FNOT Ignoring new targets: 268.30 m.  Q ProNav: ac range: 268.302979 m, nav range: 259.773529 m, bearing: 31.281244 deg, approach rate: -0.666458 m/s, LOS rate: -0.019091 deg/s, cmd heading: 37.517912 deg, new cmd heading: 37.498242 deg. zQQ%HeadingCmd: 0.654468 target range: 268.302979 and range: 270.00 m.R%4'?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’99=A5 >9 A؟AII O%>+@ ),M0/?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750993>>>('?>ٱ>W$ JAHRS rotation from veh to nav: [[0.793788,-0.595150,-0.125289],[0.607150,0.787499,0.105897],[0.035640,-0.160129,0.986453]]>Hf?@x x m?13??x??Ŀ?i>>I>f;>ϐCYN_ByR $IbDZ>VDZ43ybi8=%b$=ٔb%Q-b>9f"?Yf"?=fBFyfEj;Ej>lQ 5rU5nl]?Q 9rU5n-)nbBYpyr-?Q Iv@n+DIn:in:n/U5xyzBɮ~@~2EQFNOT Ignoring new targets: 268.30 m.``Q ProNav: ac range: 268.302979 m, nav range: 259.441620 m, bearing: 31.271651 deg, approach rate: -0.639633 m/s, LOS rate: -0.018510 deg/s, cmd heading: 37.498244 deg, new cmd heading: 37.469429 deg. z @KQ%HeadingCmd: 0.653965 target range: 268.302979 and range: 270.00 m.R-?j'?J)b1Z1B1:92aҔqڔyڒ’?*Bɢx9A) D=iY)],ۻYYi]Bie?j'?e;eא;Im?j'?IiU@ @@/@IbEuƞ4jEuƞ4rEuS0E7 EE(E"Em;*EVEc44ZEa@a@a@a@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003236y ^A Β{;B y>B B "$IB rBB P =B B QDB ,T;B EA ԡ I I O >),L?A2C>2\x'?2mfٱ2# :AHRS rotation from veh to nav: [[0.793033,-0.596171,-0.125212],[0.608115,0.786885,0.104918],[0.035979,-0.159346,0.986567]]2H `?u?*.?ۺ?k?ueĿ?i2C>I2f;2ѐCYBjByB$IiUMb@Mb@Mb@QQQQ Q9Un?~jt?:v?YUV.?yU9Y=BFyE%);E>Q 5U5]?Q 9U5c()bBYo.?Q E:yN/?Q I@5DI]:i:VU5yBɮ=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255085QFNOT Ignoring new targets: 268.30 m.ƹƹQ ProNav: ac range: 268.302979 m, nav range: 259.121338 m, bearing: 31.261744 deg, approach rate: -0.701044 m/s, LOS rate: -0.021711 deg/s, cmd heading: 37.469431 deg, new cmd heading: 37.439674 deg. zfnQHeadingCmd: 0.653446 target range: 268.302979 and range: 270.00 m.R6H'?JbZB: 2 Ҕ ڔ Bڒ’`7@E)BɢEF;)A E>iI)Mc׻IIiMDiU6H'?U;U\S;IU6H'?IYaa)%9@) @)@-/@)E 9 E 4E #E "E so;*E ;VE 3ZE BE a% 2E a- JE f ), j?AYsBy$$I=p=bD3VD3ye=%e0=ٔeQ-m>q9qYy=}BFy}EE>Q 5U5L+]?Q 9U5#)cBYyQ I@?DI3;i$5;lU5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 268.30 m.%[%[Q= ProNav: ac range: 268.302979 m, nav range: 258.806274 m, bearing: 31.251975 deg, approach rate: -0.663033 m/s, LOS rate: -0.020584 deg/s, cmd heading: 37.439675 deg, new cmd heading: 37.410331 deg. z=bQMHeadingCmd: 0.652933 target range: 268.302979 and range: 270.00 m.RM&'?JIbIZIBQ:Q2QҔQڔYYڒY’YYe@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759017-(Bɢ-nD;)) ->i))5Fӻ11i5?Gi=&'?=U;=;I=&'?IAԡ@ @ @ /@ @=@=^A m;A- fAzA) E1  E5 JE5 %E1 "E1 *E5 ;VE5 4ZE1 aE @aE @aE @aE @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011260 Aq Iy I O > ),xу?A>n>> (?>?ٱ>A! FAHRS rotation from veh to nav: [[0.791640,-0.598276,-0.123981],[0.609918,0.785813,0.102454],[0.036130,-0.156725,0.986981]]>HU?%3s?b%?k:??ĿY?i>n>I>f;>ϐCYNxByN*$Ii%Mb@Mb@Mb@!!!! !9%Q?9QYQ=UBFyUE]л;E]>aQ 5mU5e=]?Q 9mU5e)ecBYml/?Q Em:ym.?Q Iu@eHDIe:ieE:eU5y}Bɮ}@}3EQFNOT Ignoring new targets: 268.30 m.ùùQe ProNav: ac range: 268.302979 m, nav range: 258.537048 m, bearing: 31.243682 deg, approach rate: -0.694424 m/s, LOS rate: -0.021411 deg/s, cmd heading: 37.410333 deg, new cmd heading: 37.385429 deg. aeѐCzekQHeadingCmd: 0.652499 target range: 268.302979 and range: 270.00 m.GBz>BBB$IBBBBBRDBXT;B ER* '?Jb)ZB):AU9QYUA2IҔiڔuBqڒq’qq}  @'Bɢ׋;) ">i) λ  i Ii* '?; G'),Q?AE, E\E$E"Ec;*E ;VE4ZEBErfa(?fٱf)! nAHRS rotation from veh to nav: [[0.790859,-0.599245,-0.124287],[0.610934,0.785003,0.102614],[0.036074,-0.157084,0.986926]]fH N?-Aѿ Ō? ?@D?`Wx?WĿ ?if>Iff;f̐CYvzByv,$IixIx~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515179bD /VD 3y <%G=ٔ 9Q-%>9!Y!=%BFy%E-QL;E->1Q 5=U55pO]?Q 9=U55)5&cBY9y=R/?Q IE@5QDI5:i5 :5|U5yQɮ]o@aQFNOT Ignoring new targets: 268.30 m.[[Q ProNav: ac range: 268.302979 m, nav range: 258.258118 m, bearing: 31.234992 deg, approach rate: -0.670445 m/s, LOS rate: -0.020912 deg/s, cmd heading: 37.385430 deg, new cmd heading: 37.359329 deg. zeQHeadingCmd: 0.652043 target range: 268.302979 and range: 270.00 m.RO&?JbZB:2Ҕڔڒ’@s @&Bɢ;) '>i)ʻiKKiO&?4;t!  BDAT read: Tx time:21:28:49.9950  $Ping request sent. ɾ)" @I>[ )?+qc?W_#vֿ * ?)>I)i> :publishing transmit ping time  Fpublishing direction and range infoy|?RAՅ}ؿYY  )Ii )I[ )?+qc?W_#vֿ )Iijq-),Vb?AfO>f(?fٱfD; AHRS rotation from veh to nav: [[0.790058,-0.600444,-0.123592],[0.611970,0.784355,0.101388],[0.036062,-0.155737,0.987140]]fH(H?6@B?o?@? v? 0ÿ?ifO>If-~f;f͐CY~By1$I)9=AE-V E-RE-&E)"E-;*E-;VE-4ZE)a5@a5@a5@a5@iMb@Mb@Mb@ 9Dl?y&1?Mb`YO-?y`e<\@ A)GAYGAbD4VDf3y <% #=ٔ 7Q- >9Y=BFyE+;E>AQ 5MU5Ee]?Q 9MU5EB)E0cBYMY-?Q EM:yM-?Q IU@E\DIE:iEz:EU5y]Bɮ}O@4EJR?ACC?bGn@f~,.UY|?RAՅ}ؿ)>— Ljk@_`@7-fVs^~?펴Է?W6sxտj4CrXCZˑ?b9zh?ڗyC ?Q  addTargetRange:: Added new target pos. range: 268.799988 m, deltaT: 3.780153 s, deltaX: -1.200012 m, approachRate: -0.317451 m/s, rangeRepo size: 4 Q= Added new target pos. range: 267.109436 m, bearing: 30.630282 deg, lat: 36.779575 deg, lon: -121.859245 deg, deltaT: 3.780153 s, deltaX: -1.193542 m, approachRate: -0.315739 m/s, posRepo size: 4 AQEFNOT Ignoring new targets: 267.11 m.EAYQ} ProNav: ac range: 267.109436 m, nav range: 256.950714 m, bearing: 31.355996 deg, approach rate: 0.000000 m/s, LOS rate: -0.020912 deg/s, cmd heading: 37.359328 deg, new cmd heading: 37.326945 deg. zyQ}HeadingCmd: 0.651478 target range: 267.109436 and range: 268.80 m.RE&?JbZB:2ҔڔBڒ’p@ ?%Bɢ;) 2>i) ЫĻ  i lNi5E&?5;5#1:A > A .AI IO%>B5),=֤?AB>B C)?BٱB5` JAHRS rotation from veh to nav: [[0.788784,-0.602459,-0.121912],[0.613671,0.783161,0.100331],[0.035031,-0.153953,0.987457]]BH=?`XG51??@R?? ÿ`??iB>IB`f;BҐCYRnByR$IbD^CVD^3yb崽%fe=ٔf[=;Q-f>9j ?hYj ?=nBFynEn;En>pQ 5vU5rzu]?Q 9vU5rK)r7cBYxyz`.?Q Iz@rdDIr;ir;rU5y~Bɮ~y@!Q-FNOT Ignoring new targets: 267.11 m.--Q= ProNav: ac range: 267.109436 m, nav range: 256.713531 m, bearing: 31.348866 deg, approach rate: -0.703933 m/s, LOS rate: -0.021180 deg/s, cmd heading: 37.326946 deg, new cmd heading: 37.305537 deg. z=hQEHeadingCmd: 0.651104 target range: 267.109436 and range: 268.80 m.REȮ&?JAbIZIBI:I2IҔQڔQQڒQ’YY]`?颅$BɢD;) >i)顉iPiȮ&?";]Y g;),Z襤?A2+O>2#~)?20 ٱ2x >AHRS rotation from veh to nav: [[0.788246,-0.603223,-0.121616],[0.614394,0.782554,0.100639],[0.034464,-0.154049,0.987462]]2HP9?M ?" ? ?zù?8? ޷ÿJ?i2+O>I2rf;2̐CYFmByF$IbDN'VDN3yZӻ%ZL=ٔZ:Q-Z>9\Y\=^BFy^Eb;Eb>dQ 5jU5f*]?Q 9jU5f )f?cBYhyj.?Q Ij@flDIf:if :fwU5yrBɮr@r+EGS~B*** querying acoustic contact ***:B Q FNOT Ignoring new targets: 267.11 m.==Q% ProNav: ac range: 267.109436 m, nav range: 256.445648 m, bearing: 31.340742 deg, approach rate: -0.670442 m/s, LOS rate: -0.020353 deg/s, cmd heading: 37.305537 deg, new cmd heading: 37.281140 deg. z%}_Q-HeadingCmd: 0.650679 target range: 267.109436 and range: 268.80 m.R-&?J)b1Z1B1:1219Ҕ9ڔAAڒA’AAM`?v?#Bɢ;) >i)Ľi4Ri&? K¨; l PB),9 ?AB4B4B4B4B4B4B4B6T;B6EB}p>Bˎ)?BV ٱB  JAHRS rotation from veh to nav: [[0.788107,-0.603428,-0.121501],[0.614608,0.782286,0.101420],[0.033849,-0.154605,0.987396]]BH +8?HO`ݪ?}?`?T? ÿ@?iB}p>IBe;BϐCYnpByn $IieMb@Mb@Mb@aaaa a9eJ +?~jtx?~jtx?Ye(?ye;e;eAeE@ a)eAaYeAԙbD6VD3y l<% 6=ٔ ӳ:Q- >9Y=BFyE:E>!Q 5-U5%]?Q 9-U5%)%LcBY-(?Q E-:y-9,?Q I5@%vDI%U:i% ;%aU5y=Bɮ=@9aQeFNOT Ignoring new targets: 267.11 m.mJmJQ} ProNav: ac range: 267.109436 m, nav range: 256.152924 m, bearing: 31.332467 deg, approach rate: -0.653654 m/s, LOS rate: -0.018501 deg/s, cmd heading: 37.281140 deg, new cmd heading: 37.256284 deg. z}&KQHeadingCmd: 0.650245 target range: 267.109436 and range: 268.80 m.Rrv&?JbZB:2ҔڔpBڒ’ઝ?ɢ;) v>i)fi`Tirv&?p;ztzH),#?A6G>6sz)?6 ٱ6M BAHRS rotation from veh to nav: [[0.788327,-0.603175,-0.121330],[0.614386,0.782240,0.103106],[0.032719,-0.155825,0.987243]]6H9?4M ??*e? {?ÿ~?i6G>I6`e;6ΐCYFjByF$IbDRBVDR3yZ %Zc=ٔZM;Q-Z>9^"?Y^"?=^BFy^Eb bEb>dQ 5jU5f<]?Q 9jU5f)fUcBYhyj%,?Q Ij@f}DIf):if:fU5ypɮrM@p Q FNOT Ignoring new targets: 267.11 m.Q% ProNav: ac range: 267.109436 m, nav range: 255.917755 m, bearing: 31.325820 deg, approach rate: -0.653255 m/s, LOS rate: -0.018480 deg/s, cmd heading: 37.256285 deg, new cmd heading: 37.236326 deg. z%JQ-HeadingCmd: 0.649897 target range: 267.109436 and range: 268.80 m.R-_&?J)b)Z)B):121Ҕ1ڔ19ڒ9’9AE`?m"Bɢmm;)i m>iq)uR6qqiu|$Vi}_&?}X;}<t ӥN),o=?AJ>Jad)?JٱJU! VAHRS rotation from veh to nav: [[0.788558,-0.602879,-0.121293],[0.614140,0.782220,0.104712],[0.031749,-0.157063,0.987078]]JH;?J @??oκ? jA?Ŀ$?iJ>IJМe;HYZ]ByZ $IEEN EEtEE&EA"EE@;*EE+;VEE4ZEAaM@aM@aM@aM@iMb@Mb@Mb@ 9K7A?y&1|~jtx?Y "?y`廙 A\@ )YAbD6VD3y!h%9=ٔ;Q->9Y=BFyEGE>Q 5U5]?Q 9U5)bcBY"?Q E:y&?Q I@DIC ;i ;cU5y Bɮ @@ ,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2237939QEFNOT Ignoring new targets: 267.11 m.EMQ] ProNav: ac range: 267.109436 m, nav range: 255.639877 m, bearing: 31.319225 deg, approach rate: -0.625847 m/s, LOS rate: -0.014869 deg/s, cmd heading: 37.236327 deg, new cmd heading: 37.216521 deg. z]E#QeHeadingCmd: 0.649551 target range: 267.109436 and range: 268.80 m.ReH&?JabaZaBa:a2iҔiڔmgBqڒq’qqub=@颡ɢ;) x=i)ڲ顩iXi-H&?5;5ArtBaBeH$IBeBBaBaBaBeS;BeE^A% +wU),lCW?A>>>G)?>Jٱ>! JAHRS rotation from veh to nav: [[0.788853,-0.602670,-0.120417],[0.613817,0.782376,0.105433],[0.030670,-0.157085,0.987109]]>HG>?IӾc?@: ??g?@`Ŀd?i>>I>Ve;>АCYN\ByR$ITVAbDZ4VDZf3yb%b^=ٔf@;Q-f>9dYd=fBFyjEj Ej>lQ 5rU5n]?Q 9rU5n)nlcBYtyv&?Q Iv@nDInN:in-:nU5yxɮzN@xQFNOT Ignoring new targets: 267.11 m.%C%CQ5 ProNav: ac range: 267.109436 m, nav range: 255.408218 m, bearing: 31.313740 deg, approach rate: -0.632913 m/s, LOS rate: -0.015001 deg/s, cmd heading: 37.216523 deg, new cmd heading: 37.200051 deg. z5$Q=HeadingCmd: 0.649263 target range: 267.109436 and range: 268.80 m.R= 6&?J9b9ZABA:A2AҔAڔIIڒI’IIU*@yɢ}.D;) (=i)7顁iYi 6&?K;}rA>AI IQ Ia Ou >ԩ [),)q?A2^>2)?2Kٱ28# :AHRS rotation from veh to nav: [[0.789494,-0.601813,-0.120503],[0.613040,0.782720,0.107384],[0.029695,-0.158653,0.986888]]2HC? B`Lپ`? ?`}?Zh?NĿ?i2^>I2ae;<Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9798002ϐCYJ[ByJ$IbDV'VDV3yZ֌%^K=ٔ^;Q-^>9`Y`=bBFybEb#Ef>dQ 5nU5f]?Q 9nU5f)fvcBYlyn&?Q In@fDIf" ;if ;f U5yvBɮv@v-EGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 267.11 m.$$Q- ProNav: ac range: 267.109436 m, nav range: 255.154572 m, bearing: 31.307779 deg, approach rate: -0.627801 m/s, LOS rate: -0.014769 deg/s, cmd heading: 37.200052 deg, new cmd heading: 37.182151 deg. z-,"Q5HeadingCmd: 0.648951 target range: 267.109436 and range: 268.80 m.R=!&?J9b9Z9B9:929ҔAڔAAڒA’IIM Lf@!Bɢa ;) =i)i$[i!&?; &h~b),?ABBB5$IBBBBBBS;BEB֍>Bw(?BٱBo$ JAHRS rotation from veh to nav: [[0.790492,-0.600526,-0.120378],[0.611800,0.783426,0.109286],[0.028678,-0.160037,0.986694]]BHK?7Ѿ ޓ?@? 1?@]?|Ŀ?iB֍>IBme;BΐCYROByR#Ipi}Mb@Mb@Mb@yyyy y9}Pn?/$Mbp?Y}$?y},};}A}/@ }-A)yyY}QAbD?VD3yS\%<=ٔ;Q->9Y=BFyEpE>Q 5U5]?Q 9U5)cBYs$?Q E:yR?Q I@DI:i:U5yBɮh@QFNOT Ignoring new targets: 267.11 m.Q ProNav: ac range: 267.109436 m, nav range: 254.876572 m, bearing: 31.304741 deg, approach rate: -0.642170 m/s, LOS rate: -0.007024 deg/s, cmd heading: 37.182150 deg, new cmd heading: 37.173028 deg. zAQHeadingCmd: 0.648792 target range: 267.109436 and range: 268.80 m.R7&?J!b!Z!B!:!2!Ҕ)ڔ-@B)ڒ)’)15 @Yɢ]x :)a e=ia)eۈaaim]im7&?mt;uT e BDAT read: Tx time:21:28:53.8450 e $Ping request sent.e Eh),)?AU=Ͽ>v?GQ\ -{#ӿYU3CQUoQUs Q)UIIU\?iU-U{n?UP*@UU,@ U|)U@IU|>QQUi{4?͗St?п U?)U3L>IU)iU|>QQ6:publishing transmit ping timei6Fpublishing direction and range infoyQU=Ͽ>v?GQ\ -{#ӿYQQQQQ Q)QIQiQQQQQ Q)QIQQQUi{4?͗St?п Q)QIQiQQQ%>%vJ(?%7ٱ%%q }AHRS rotation from veh to nav: [[0.791288,-0.599538,-0.120077],[0.610815,0.783988,0.110763],[0.027733,-0.160990,0.986566]]%H:R?i/aˋ?m?Z?e?@SĿ?i%>I%We;%ϐCYABy#IbDIVDIyx%6=ٔ> ;Q->9Y=BFyE,9Em>qQ 5}U5u^?Q 9}U5u[)ucBYyy?Q I@uDIu9v?GQ\ -{#ӿU)U|>—Ujok@7'Rj`@QU?(ɱ?e_uпjUVCrUx[CZUTBWD?bU ozUҿQU oUҿڗU~CU ?Q addTargetRange:: Added new target pos. range: 266.399994 m, deltaT: 3.781280 s, deltaX: -2.399994 m, approachRate: -0.634704 m/s, rangeRepo size: 4 ԡQ Added new target pos. range: 264.725006 m, bearing: 30.897807 deg, lat: 36.779575 deg, lon: -121.859256 deg, deltaT: 3.781280 s, deltaX: -2.384430 m, approachRate: -0.630588 m/s, posRepo size: 4 QFNOT Ignoring new targets: 264.73 m. Q ProNav: ac range: 264.725006 m, nav range: 254.097519 m, bearing: 31.122771 deg, approach rate: 0.000000 m/s, LOS rate: -0.007024 deg/s, cmd heading: 37.173028 deg, new cmd heading: 37.162670 deg. zQ=HeadingCmd: 0.648611 target range: 264.725006 and range: 266.40 m.RE^ &?JAbAZABA:A2AҔIڔIIڒI’QU`fp@UrM?ɢx) (=i)6]i^i^ &?a;Gi->9@ @@/@ ^A} hW<A gAzA EM H EM pEM "EI "EM };*EM );VEM (3ZEI a] @a] @a] @a] @A I I O >p),Z¥?AiI Y@By#IiMb@Mb@Mb@ 9 r?Mby&1|?Y#?y@`;A@ )YAbD$VD3y3%@=ٔQ->9Y=BFyEE>Q 5U5B^?Q 9U5)cBY $?Q E:y +?Q I @DI;iy;U5yBɮ@9Q=FNOT Ignoring new targets: 264.73 m.EpEpQU ProNav: ac range: 264.725006 m, nav range: 253.836533 m, bearing: 31.120213 deg, approach rate: -0.683509 m/s, LOS rate: -0.006706 deg/s, cmd heading: 37.162670 deg, new cmd heading: 37.154989 deg. zUCQ]HeadingCmd: 0.648477 target range: 264.725006 and range: 266.40 m.R]&?JYbYZaBa:a2aҔiڔmBiڒi’qqu@f?颙ɢ) u=i)X顡i+/`i&?hw;KBqBu"$IBurBBqBqBqBuS;BuEԑ^A2D< A I I O >v),>!ܥ?APZ>Zte'?ZѼٱZM' jAHRS rotation from veh to nav: [[0.793463,-0.596837,-0.119174],[0.608081,0.785646,0.114008],[0.025585,-0.162929,0.986306]]ZH d?J7fu?@$?@/? 2?Ŀя?iZ>IZ7ue;ZΐCYv3Byz#IbD5VD3y%%%X=ٔ-;Q-->9)Y1=5BFy5E5WE5>9Q 5EU5=L)^?Q 9EU5= )=cBYIyMJ?Q IM@=DI=:i=:=U5yQɮU@YyQFNOT Ignoring new targets: 264.73 m.ӸӸQ ProNav: ac range: 264.725006 m, nav range: 253.594452 m, bearing: 31.118024 deg, approach rate: -0.639905 m/s, LOS rate: -0.005791 deg/s, cmd heading: 37.154989 deg, new cmd heading: 37.148417 deg. z[~QHeadingCmd: 0.648362 target range: 264.725006 and range: 266.40 m.R%?JbZB:2Ҕڔڒ’`?ɢ0 ) H=i)<iTai%?;m! |),"?A2m>2B&?2'Ǽٱ2Ω* :AHRS rotation from veh to nav: [[0.794675,-0.595105,-0.119758],[0.606546,0.786350,0.117287],[0.024373,-0.165844,0.985851]]2Hm?  @n h?)??B?]:ſ?i2m>I2Me;2ϐCYB0ByB#IIF=)F?bDNBVDN3yV%VS=ٔVL;Q-Z>9Z ?YZ ?=ZBFyZE^E^>`Q 5fU5b:^?Q 9fU5bt)bcBYdyf?Q Ij@bDIb:ib:b?U5ynBɮn@n%EGSzB*** querying acoustic contact ***:|B|| Q FNOT Ignoring new targets: 264.73 m.ɸɸQ% ProNav: ac range: 264.725006 m, nav range: 253.346161 m, bearing: 31.115881 deg, approach rate: -0.637770 m/s, LOS rate: -0.005511 deg/s, cmd heading: 37.148419 deg, new cmd heading: 37.141983 deg. z% rQ-HeadingCmd: 0.648250 target range: 264.725006 and range: 266.40 m.R-%?J)b)Z)B):121Ҕ1ڔ1ڒ’`?E BɢMMA)I M`Bi Bm $IBm cBBm Q =Bi Bi Bm S;Bm EB)B)B)B)B)C-/4A ؟Aԑ I I O >ƃ),A?A2>2 d&?2d;ٱ2`- :AHRS rotation from veh to nav: [[0.795895,-0.593464,-0.119798],[0.604998,0.787106,0.120173],[0.022976,-0.168122,0.985498]]2Hw?`%\?/?þ?䆗?ſ3?i2>I2Ue;2ҐCYB+ByB#Ii=Mb@Mb@Mb@9999 99="~j?V-:v?Y=S#?y=h=T<=A=@ =A)=GA9Y=AYbDU5VDU3ym6Ƽ%m?=ٔmU;Q-u>9u"?Yu"?=uBFyuE}E}>Q 5U5N^?Q 9U5)cBY^$?Q E:yA ?Q I@DI:if:U5yɮ[@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727436QFNOT Ignoring new targets: 264.73 m.Q ProNav: ac range: 264.725006 m, nav range: 253.071533 m, bearing: 31.115827 deg, approach rate: -0.640164 m/s, LOS rate: -0.000127 deg/s, cmd heading: 37.141981 deg, new cmd heading: 37.141818 deg. zQHeadingCmd: 0.648247 target range: 264.725006 and range: 266.40 m.R%?JbZB:2ҔڔBڒ’X?)ɢ5(i)1 5p ),)?A6>6%?6? ٱ6i. >AHRS rotation from veh to nav: [[0.797090,-0.591941,-0.119389],[0.603469,0.787965,0.122213],[0.021731,-0.169462,0.985297]]6H?.@B@O?7?@ZI? @? ſ?i6>I6 )e;6͐CYF1ByF#IbDR;VDR)3yV =%ZW=ٔZV;Q-Z>9\Y\=^BFy^E^JEb>`Q 5fU5b/`^?Q 9jU5bi)bcBYhyj ?Q Ij@bDIb):ibW:bOU5ynBɮr@r&EQ FNOT Ignoring new targets: 264.73 m. +6 +6Q ProNav: ac range: 264.725006 m, nav range: 252.827957 m, bearing: 31.115882 deg, approach rate: -0.643623 m/s, LOS rate: 0.000146 deg/s, cmd heading: 37.141817 deg, new cmd heading: 37.141984 deg. z%6Q%HeadingCmd: 0.648250 target range: 264.725006 and range: 266.40 m.R%%?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’19= 23@qɢu= $)q }8=iy)}أ顁izdi%?l;;I%?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231338^A5;A) IY I O >9 E W E `E E "E T;*E '!;VE ZE a @a @a @a @ؐ),ʍC?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4833716sx>6ƒ%?6ٱ6m. BAHRS rotation from veh to nav: [[0.797860,-0.591068,-0.118565],[0.602481,0.788616,0.122889],[0.020867,-0.169481,0.985312]]6H?JZG?VI6d;6ϐCYF$ByF#IiMb@Mb@Mb@ 9"~j?~jtMb?Yy<@ A)1AY3AbD7VDp3yx%<=ٔw;Q->9Y=BFyE.=E>Q 5U5_t^?Q 9U5)cBY$?Q E:y?Q I@DI2 ;i ;U5yBɮ@QFNOT Ignoring new targets: 264.73 m.V7V7Q  ProNav: ac range: 264.725006 m, nav range: 252.549622 m, bearing: 31.116458 deg, approach rate: -0.641091 m/s, LOS rate: 0.001327 deg/s, cmd heading: 37.141985 deg, new cmd heading: 37.143714 deg. z 4i8QHeadingCmd: 0.648280 target range: 264.725006 and range: 266.40 m.R%?JbZB:!2!Ҕ!ڔ%B)ڒ)’))- @]Bɢ])Y ]BB#IBSBBP =BBBS;BE-9@) @)@-0@)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.735385^AU;qA I I O >ԙ U),+j]?ANo>NC%?N3ٱNV/ VAHRS rotation from veh to nav: [[0.798603,-0.590089,-0.118440],[0.601532,0.789037,0.124819],[0.019799,-0.170926,0.985085]]NH`(? R@??`??(?` F?@ſЅ?iNo>INd;NѐCY^+By^#IbDfBVDf3yn=%nW=ٔrW8;Q-r>9pYt=vBFyvEvPEv>xQ 5~U5z^?Q 9~U5zn)zcBYyh?Q I@zDIz;izD;zkU5y ɮ @ 1Q5FNOT Ignoring new targets: 264.73 m.= 7= 7QM ProNav: ac range: 264.725006 m, nav range: 252.306046 m, bearing: 31.117025 deg, approach rate: -0.641532 m/s, LOS rate: 0.001496 deg/s, cmd heading: 37.143713 deg, new cmd heading: 37.145417 deg. zMl8QUHeadingCmd: 0.648310 target range: 264.725006 and range: 266.40 m.RU%?JQbQZQBY:Y2YҔaڔaaڒa’aim@颕BɢlP) 0fi%?̭; A;I%?IEeP Ee]Ee'Ea"Ee(;*Ee;VEe'4ZEaBEe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239297 2-),5Dw?A2.h>2 %?2˜ٱ2#/ :AHRS rotation from veh to nav: [[0.799145,-0.589586,-0.117286],[0.600849,0.789462,0.125420],[0.018646,-0.170700,0.985147]]2H?o':?EC?@ ??ſ R?i2.h>I2d;2ΐCY^/Byb#IbDjAVDj?3yrY<%rJ=ٔr:;Q-r>9tYt=vBFyvEvO Ez>xQ 5UU5z^?Q 9UU5z)z dBYYy].?Q I]@zDIz^W EmWEm&Ei"Ems;*Emj;VEm4ZEiau@au@au@au@EBDAT read: Rx Time:21:28:56.6018 MTRx dataTimestamp_ set to:1761514138.068820Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.492639^A"5;1 I I O >B B B #IB DBB B B B zS;B EQ [),5?A21>2^$?27ٱ2*j, :AHRS rotation from veh to nav: [[0.799407,-0.589736,-0.114720],[0.600525,0.790024,0.123417],[0.017848,-0.167553,0.985702]]2H@?F^7? G?@D?F?@]rſ ފ?i21>I2d;0YB-ByB#Ii Mb@Mb@Mb@     9 NbX9?99Y9==BFy=EE EE>IQ 5UU5Mr^?Q 9UU5MS)MdBYU&?Q E]:y] ?Q I]@MDIM ;iM" ;MU5yeBɮe@eEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.751458Q FNOT Ignoring new targets: 264.73 m.,N7,N7Q% ProNav: ac range: 264.725006 m, nav range: 251.776367 m, bearing: 31.117966 deg, approach rate: -0.668539 m/s, LOS rate: 0.000704 deg/s, cmd heading: 37.147391 deg, new cmd heading: 37.148245 deg. z%i7Q%HeadingCmd: 0.648359 target range: 264.725006 and range: 266.40 m.R-%?J)b)Z)B):)21Ҕ1ڔ5B1ڒ9’99=g@颭Bɢ`2) X=i)big)iE%?m];mW;Iu%?Ii>@ @@@QEm: EmtEm%Ei"Em\p;*Em+;VEm 4ZEiBEmj  BDAT read: Tx time:21:28:57.6950  $Ping request sent. i w> .@ > .@ >) @I  )7A>g?Aze?ox"? #?) 9nI i0i  - :publishing transmit ping time - Fpublishing direction and range infoy  }l?j?Y ) I i ) I )7A>g?Aze?ox"? ) I i 9 ^A= ;I I O >?),?AYn+Byr#IbD%QVD%4y]eR%]K=ٔeQ-e>9iYi=mBFymEuEu>Q 5U5^?Q 9U5)*dBYyQ I@DI6ԡ bE-4jE4rE0E S E JE 'E "E ;*E ;VE '4ZE a @a @a @a @&),Ħ?A6>6R$?6 ~ٱ6kW% >AHRS rotation from veh to nav: [[0.800107,-0.589933,-0.108665],[0.599657,0.791290,0.119465],[0.015509,-0.160746,0.986874]]6H@y? tѻ`d0?>R?@? .Ï?@UĿx?i6>I6d;4Yj,Byj#Ii]Mb@Mb@Mb@YYYY Y9]x&1? rh9Y=BFyE-E>Q 5U5^?Q 9U5 ):dBY "?Q E :y  ?Q I @EIX:i:U5yBɮT@E9Q=FNOT Ignoring new targets: 262.84 m.EEQU ProNav: ac range: 262.837677 m, nav range: 252.215759 m, bearing: 30.985167 deg, approach rate: -0.667894 m/s, LOS rate: -0.000128 deg/s, cmd heading: 37.149156 deg, new cmd heading: 37.149004 deg. zUQ]HeadingCmd: 0.648372 target range: 262.837677 and range: 264.50 m.R]%?JYbaZaBa:a2aҔiڔmBiڒi’iquh?额Bɢ)  =i)r顡itii%?U;:I%?IBBBBBBBBS;BEI@I @I@U2@Qԩ^A] ;II O > #Q),ަ?A6s>6ę$?6jٱ6" BAHRS rotation from veh to nav: [[0.800235,-0.590224,-0.106107],[0.599514,0.791615,0.118017],[0.014339,-0.158054,0.987326]]6H`?)8/? T?[6?]?;Ŀ-?i6s>I6fd;4YJ3ByJ#IN=N=bDRFVDR4yZ=%Z`=ٔ^Q;Q-^>9`Y`=bBFybEbM Eb>dQ 5jU5f^?Q 9jU5f)fHdBYlyn ?Q In@fEIf3;ifQ;fU5ypɮr@t QFNOT Ignoring new targets: 262.84 m.>>Q% ProNav: ac range: 262.837677 m, nav range: 251.984207 m, bearing: 30.985138 deg, approach rate: -0.634012 m/s, LOS rate: -0.000077 deg/s, cmd heading: 37.149003 deg, new cmd heading: 37.148918 deg. z%~YQ-HeadingCmd: 0.648371 target range: 262.837677 and range: 264.50 m.R-%?J)b)Z1B1:121Ҕ9ڔ99ڒ9’AAE`?mBɢmĪ)q u8E=iq)uKqqiuHji}%?';3q:I%?IEET EE^EE#EA"EE;*EE ;VEE3ZEABEEԩ L{),ʋ?A6?b>6$?60[ٱ6= BAHRS rotation from veh to nav: [[0.800411,-0.590328,-0.104187],[0.599301,0.791922,0.117038],[0.013417,-0.156118,0.987647]]6H ?`y-?lW?@;?0z?@ÿΚ?i6?b>I6߆d;6͐CYJ4ByJ#IbDR4VDRf3yZ;%ZJ=ٔZ;Q-^>9\Y\=bBFybEbO3Eb>dQ 5jU5f"^?Q 9jU5f)fXdBYhyn~ ?Q In@f EIfy:ifr;fU5yr,Bɮr~@pGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 262.84 m.iiQ% ProNav: ac range: 262.837677 m, nav range: 251.728256 m, bearing: 30.985128 deg, approach rate: -0.633202 m/s, LOS rate: -0.000026 deg/s, cmd heading: 37.148917 deg, new cmd heading: 37.148886 deg. z-ؐQ-HeadingCmd: 0.648370 target range: 262.837677 and range: 264.50 m.R-%?J1b1Z1B1:121Ҕ9ڔ99ڒA’AAE ?mBɢu|)q uW=iq)u眻qyi}ji%?)S;Ss3:I%?IԹ9@ @@%0@!@=@=@E@EDAzDE?AEMI EMEM'EI"EM};*EM86;VEM'4ZEIaU@aU@aU@aU@eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. m>ېCrGڤ9YAA I I! O5 >1 B |>B B B B B B B S;B Ec),si?A :1>:Wo$?:TNٱ:Չ BAHRS rotation from veh to nav: [[0.800642,-0.590437,-0.101764],[0.599010,0.792405,0.115245],[0.012593,-0.153228,0.988111]]:Hܞ?1 +? a[? ?cʉ?ÿ`?i:1>I:-ud;:ϐCYJBByJ#IiMb@Mb@Mb@ 9J +?v/Mb?Y(?yxi<~A A)@YfAbD5=VD53yEE=%EA=ٔE:Q-E>9IYI=MBFyMEU~fEU>YQ 5eU5] _?Q 9eU5])]bdBYeX)?Q Ee:ye?Q Im@]EI]U:i]:]>U5yqɮu@qQFNOT Ignoring new targets: 262.84 m.GGQ ProNav: ac range: 262.837677 m, nav range: 251.449112 m, bearing: 30.983979 deg, approach rate: -0.661483 m/s, LOS rate: -0.002726 deg/s, cmd heading: 37.148887 deg, new cmd heading: 37.145435 deg. zx︝checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747501QHeadingCmd: 0.648310 target range: 262.837677 and range: 264.50 m.R%?JbZB:2ҔڔBQڒQ’YY] ?颥Bɢ@!]:) D=i)y顩iki%??;A9I%?I1M9@I @I@M/@IYAIIOn>EUX EU`EU#EQ"EUɅ;*EU'!;VEU3ZEQBEUJ]$?J ?ٱJ VAHRS rotation from veh to nav: [[0.800811,-0.590407,-0.100607],[0.598804,0.792553,0.115295],[0.011665,-0.152573,0.988223]]JH=?^f)? \???`ÿ`?iJ>IJod;JΐCYbFByb#IbDrCVDr3yzա<%zO=ٔ~-;Q-~>9Y=BFy E 0E >Q 5%U5_?Q 9%U5)ldBY)y-?Q I-@EI;i'!;U5y=+Bɮ=H@= EaQmFNOT Ignoring new targets: 262.84 m.mCmCQ} ProNav: ac range: 262.837677 m, nav range: 251.187866 m, bearing: 30.982918 deg, approach rate: -0.657662 m/s, LOS rate: -0.002674 deg/s, cmd heading: 37.145434 deg, new cmd heading: 37.142247 deg. z}QHeadingCmd: 0.648255 target range: 262.837677 and range: 264.50 m.R%?JbZB:2Ҕڔڒ’&P@Bɢ, ;) =i)w*i0li%? ;F΅9I%?II)gAm9@q @q@q@qԉA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255107AIIOI>Թ Ee J Ee Ee 'Ea "Ee ~;*Ee @;VEe '4ZEa am @am @am @am @!u),F?AiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5036726>65$?61ٱ6K BAHRS rotation from veh to nav: [[0.801192,-0.590069,-0.099554],[0.598310,0.792909,0.115414],[0.010835,-0.152032,0.988316]]6H\?Y|Z%?_?ྋ?0?uÿI?i6>I6=d;6ϐCYJQByJ#I\iuMb@Mb@Mb@qqqq q9uS㥛?L7A`堿Mb?Yu$?yu+u9Y=BFyEE>Q 5U5/_?Q 9U5)xdBY!%?Q E:y6?Q I@EI ;i" ;fU5yɮ@QFNOT Ignoring new targets: 262.84 m.Q  ProNav: ac range: 262.837677 m, nav range: 250.915039 m, bearing: 30.979562 deg, approach rate: -0.646484 m/s, LOS rate: -0.007960 deg/s, cmd heading: 37.142248 deg, new cmd heading: 37.132170 deg. z ϮQHeadingCmd: 0.648079 target range: 262.837677 and range: 264.50 m.R{%?JbZB:2Ҕ!ڔ%B!ڒ!’!)-R@UBɢU2b;)Y ]@=iY)]딻YYi]lie{%?eM;edkIm{%?IiB]{>BYB]#IB]NBBYBYBYB]S;B]EBBBBBC49@ @@@AIIOf>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755357A T),w_?A6>6$?6H_*ٱ61x >AHRS rotation from veh to nav: [[0.801469,-0.589935,-0.098103],[0.597946,0.793345,0.114302],[0.010399,-0.150270,0.988590]]6H?@_"?c?B?K?@<ÿ@?i6>I6d;6ΐCYFUByF#IbDN>VDN43yV<%V[=ٔZA:Q-Z>9XYX=^BFy^E^E^>`Q 5fU5b@_?Q 9fU5bi)bdBYhyj?Q Ij@bEIbl:ibd:bU5yn*BɮrO@r!EQ FNOT Ignoring new targets: 262.84 m.  Q% ProNav: ac range: 262.837677 m, nav range: 250.674561 m, bearing: 30.976627 deg, approach rate: -0.643731 m/s, LOS rate: -0.007865 deg/s, cmd heading: 37.132170 deg, new cmd heading: 37.123355 deg. z%Q-HeadingCmd: 0.647925 target range: 262.837677 and range: 264.50 m.R-f%?J)b)Z)B):121Ҕ1ڔ19ڒ9’9AE@mBɢm;)i m>iq)uɑqqiumi}f%?};}wȹIf%?IE%E E%E%%E!"E%Vz;*E%4;VE% 4ZE!BE% ԡ  = < BDAT read: Rx Time:21:29:00.4477  TRx dataTimestamp_ set to:1761514141.860831 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264673),,y?A2 P>2#?2#ٱ2  :AHRS rotation from veh to nav: [[0.801695,-0.589650,-0.097965],[0.597649,0.793487,0.114865],[0.010004,-0.150635,0.988539]]2H|?`j@=@?>d?`g?@|?Hÿ ?i2 P>I2jd;2͐CYB_ByB $IbDJ9VDJ3yR}E=%VK=ٔVI:Q-V>9XYX=ZBFyZEZrEZ>\Q 5bU5^R_?Q 9fU5^)^dBYdyf?Q If@^EI^:i^|:^0U5yj Bɮj @nEGSzB*** querying acoustic contact ***:xBxIQMFNOT Ignoring new targets: 262.84 m.U U yQ ProNav: ac range: 262.837677 m, nav range: 250.415100 m, bearing: 30.973475 deg, approach rate: -0.628638 m/s, LOS rate: -0.007645 deg/s, cmd heading: 37.123355 deg, new cmd heading: 37.113889 deg. z䧹QHeadingCmd: 0.647760 target range: 262.837677 and range: 264.50 m.R%?JbZB:2Ҕڔڒ’!!%`% @MBɢMB;)Q U>iq)uDqqi}~ni}%?;I%?Il>i>U9@Q @Q@]0@YԱE=U E=lE9E9"E=l;*E=y';VE9ZE9a]@ae@ae@ae@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515478^Am"Bi Bi Bm $IBm YBBi Bi Bi Bm S;Bm EA I I  O >),?A2Y>2#?2(ٱ2V :AHRS rotation from veh to nav: [[0.802020,-0.589134,-0.098413],[0.597209,0.793780,0.115129],[0.010292,-0.151109,0.988464]]2H@%?@01U?f?y??Wÿ`~?i2Y>I2FRd;2ΐCY^^By^ $IiEMb@Mb@Mb@AAAA A9E{Gz?Mb`?Q?YE#?yE;Eu BDAT read: Tx time:21:29:01.5449 $Ping request sent. YX?fa?Yyѿ 9* ?)>IQwVi?>E:publishing transmit ping timeEFpublishing direction and range infoy_?GSx\ӿY bDUCVDU3yet%e1=ٔm#Q-m>9i)Ii )I YX?fa?Yyѿ )IiYi=BFyE}E>Q 5V5f_?Q 9V5)dBY#?Q E:y%?Q I@#EI:i:>V5yɮ@JRkI?ACC ?>n@ǃ)s(9.T_?GSx\ӿQwV?>—jSvSj@&>J_@KuR7G?v?.ҿjBrbUCZI?bLjz ꗹTҿڗyC◽ ?Q addTargetRange:: Added new target pos. range: 261.500000 m, deltaT: 3.784103 s, deltaX: -3.000000 m, approachRate: -0.792790 m/s, rangeRepo size: 4 Q  Added new target pos. range: 259.855286 m, bearing: 30.908393 deg, lat: 36.779585 deg, lon: -121.859264 deg, deltaT: 3.784103 s, deltaX: -2.982391 m, approachRate: -0.788137 m/s, posRepo size: 4 QFNOT Ignoring new targets: 259.86 m.%!Qm ProNav: ac range: 259.855286 m, nav range: 249.747467 m, bearing: 30.823631 deg, approach rate: 0.000000 m/s, LOS rate: -0.007645 deg/s, cmd heading: 37.113889 deg, new cmd heading: 37.102720 deg. ziQuHeadingCmd: 0.647565 target range: 259.855286 and range: 261.50 m.Ru%?JybyZyBy:2ҔڔBڒ’Xp@I?颍Bɢ$;) >i)顑i֦oi%? ;`I%?Iq@q @q@u/@q@}iA@}iAE=@ E=QE=$E9"E=u;*E=A;VE=4ZE9BE=Q),񰧤?A2>2#?21ٱ2q :AHRS rotation from veh to nav: [[0.802241,-0.588731,-0.099020],[0.596902,0.794010,0.115132],[0.010841,-0.151469,0.988403]]2H? ^Y@?h?Ly?3?@Ucÿ`?i2>I2b;2͐CYVkByV$IXbDb7VDbp3yjx=%jI=ٔnKQ-n>9n ?Yr ?=rBFyrEruEr>tQ 5zV5vx_?Q 9zV5v̤)vdBY|y~u%?Q I~@v'EIv#;iv;vV5yBɮC@ )Q-FNOT Ignoring new targets: 259.86 m.====QM ProNav: ac range: 259.855286 m, nav range: 249.491241 m, bearing: 30.817232 deg, approach rate: -0.691690 m/s, LOS rate: -0.017293 deg/s, cmd heading: 37.102721 deg, new cmd heading: 37.083504 deg. zM=QUHeadingCmd: 0.647229 target range: 259.855286 and range: 261.50 m.RUѰ%?JQbQZQBY:Y2YҔYڔYaڒa’aam@)?颕Bɢ<) Z7>i)=顙iVpiѰ%?L;IѰ%?IA@I @I@M1@I ^Am#2?A ؟AE 5 E [E E "E k;*E ;VE ZE a @a @a @a @I I O >9 U),xʧ?A2>2#?295ٱ2 :AHRS rotation from veh to nav: [[0.802338,-0.588536,-0.099392],[0.596767,0.794091,0.115274],[0.011083,-0.151803,0.988349]]2H ?Iq?2i? ?貆?Enÿ`?i2>I2J2`;2АCYBgByB$IIFp=)F4BaBe$IBemBBaBaBaBeS;BeEyt%E=ٔEQ->9"?Y"?=BFyEeʹE>Q 5V5q_?Q 9V5)dBY'?Q E:y 1?Q I@,EI;i; V5yɮ @ IQUFNOT Ignoring new targets: 259.86 m.uϹuϹQ ProNav: ac range: 259.855286 m, nav range: 249.211914 m, bearing: 30.807262 deg, approach rate: -0.635108 m/s, LOS rate: -0.022695 deg/s, cmd heading: 37.083505 deg, new cmd heading: 37.053560 deg. z4yQHeadingCmd: 0.646707 target range: 259.855286 and range: 261.50 m.R%?JbZB:2Ҕڔ Bڒ’@? Bɢmx;) @2>i)p~顱iqi%?I;20I%?II9@ @@0@q^A qԡ A I I O >ҿ),}䧤?AE.9 E.>E,E,"E.so;*E.?;VE,ZE,BE.>>ڮ#?>^5ٱ>~ JAHRS rotation from veh to nav: [[0.802413,-0.588302,-0.100174],[0.596667,0.793999,0.116421],[0.011047,-0.153189,0.988135]]>H]?]?ph?ͽ? ?`ÿ͞?i>>I>_;>ΐCYRwByR($IbDZQVDZ4yb3=%bQ=ٔfE8Q-f>9dYh=jBFyjEj/Ej>lQ 5rV5n`_?Q 9rV5n)ndBYtyv1?Q Iv@n0EInj;in;n V5yzBɮzr@~EQFNOT Ignoring new targets: 259.86 m.%ع%عQ5 ProNav: ac range: 259.855286 m, nav range: 248.969299 m, bearing: 30.798590 deg, approach rate: -0.661326 m/s, LOS rate: -0.023660 deg/s, cmd heading: 37.053561 deg, new cmd heading: 37.027521 deg. z5灺Q=HeadingCmd: 0.646252 target range: 259.855286 and range: 261.50 m.R=p%?J9b9ZABA:A2AҔIڔIIڒI’QQU " ?i颅 Bɢkt?<) T>i) 0u  i rip%?;іIp%?I9@ @@4@@=@=ԙ^A"5AU .AIY Ii O} > ),o?A2>2j#?254ٱ2T :AHRS rotation from veh to nav: [[0.802244,-0.588505,-0.100335],[0.596894,0.793806,0.116573],[0.011043,-0.153410,0.988101]]2H@?@ ?f?׽?? ÿ?i2>I2}F^;2͐CYBByB8$IbDJ:VDJ{3yRx=%RM=ٔV}@7Q-V>9V ?YV ?=ZBFyZEZ::EZ>\Q 5bV5^I_?Q 9bV5^)^dBYdyf+1?Q If@^4EI^):i^:^IV5yhɮj@hGS5B*** querying acoustic contact ***:1B1YQeFNOT Ignoring new targets: 259.86 m.e*ιe*ιQu ProNav: ac range: 259.855286 m, nav range: 248.711746 m, bearing: 30.789349 deg, approach rate: -0.627250 m/s, LOS rate: -0.022530 deg/s, cmd heading: 37.027521 deg, new cmd heading: 36.999768 deg. zufwQHeadingCmd: 0.645768 target range: 259.855286 and range: 261.50 m.R Q%?JbZB:2Ҕڔڒ’@?bE J4jE 4rE 5/ES E4E%E"E;*E ;VE 4ZEa@a@a@a@ Bɢ;<) %p>i!)%sf!!i%P!tiE Q%?E;E]9IE Q%?IIiIAT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.9@ @@4@B]x>BYB]5$IB]BB]Q =BYB]QDB]T;B]E1^A ?Bɹa AU ؟AIa Iq O} >h*,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.01168169>6#?63ٱ6f BAHRS rotation from veh to nav: [[0.801792,-0.589146,-0.100183],[0.597503,0.793390,0.116288],[0.010974,-0.153098,0.988150]]6H@G? I?`sc?Ž?y?ธÿ?i69>I6ƾ];6ϐCYFByFA$I LLN=Np=iMb@Mb@Mb@ 9(\?Mb?Mbp?Y'?y=; A@ A)-AYAbD)VD3y=%6=ٔb 9Q->9"?Y"?=BFyE1:E>Q 5V5Ͻ_?Q 9V5OQ =%tI)dBY%{(?Q E-:y-i)zY顑ipui="%?n[;w:I="%?I9]9@Y @Y@]/@YE]? E]VE]"EY"E]t;*E];VE](3ZEYBE]U: *,f2?A2J>2#?2`2ٱ2 :AHRS rotation from veh to nav: [[0.801713,-0.589221,-0.100373],[0.597610,0.793256,0.116653],[0.010887,-0.153506,0.988088]]2H ? ?Yb? ܽ?K?ÿ`j?i2J>I2];2̐CYBByBG$IbDNDVDNJ3yV0<%Va=ٔV{9Q-V>9Z ?YZ ?=ZBFyZEZ9E^>`Q 5fV5b_?Q 9fV5b)`Yhyji))- M))i-vi5$?U,;UNa ;I]$?IYy=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516150 9@  @ @ @ @@ԡ^AU] ;E B E [E &E "E w;*E ;VE 4ZE a @a @a @a @A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767635 SkA ڦ9 SkAY aA =*,WBL?A6>6|=$?6L/ٱ6% >AHRS rotation from veh to nav: [[0.801115,-0.590056,-0.100243],[0.598414,0.792667,0.116531],[0.010699,-0.153342,0.988115]]6H? @5&?]?Խ?y?ÿ?i6>I6Ol];6ϐCY^Byb;$IBrv>BrCBrH$IBrBBpBpBpBr9T;BrEieMb@Mb@Mb@aaaa a9e?MbX9?Mbp?Yef&?yeʡ=aedAe@ eA)eAaYeAbD}HVD}4y3%==ٔ9Q->9"?Y"?=BFyE;E>Q 5V5_?Q 9V5)Y'?Q E:yC?Q I@AEI/:i:*V5yBɮ@EYQeFNOT Ignoring new targets: 259.86 m.e#e#Q ProNav: ac range: 259.855286 m, nav range: 247.911560 m, bearing: 30.750181 deg, approach rate: -0.615418 m/s, LOS rate: -0.032596 deg/s, cmd heading: 36.925963 deg, new cmd heading: 36.882136 deg. zQHeadingCmd: 0.643715 target range: 259.855286 and range: 261.50 m.R}$?JbZB:2ҔڔDBڒ’`4]@%Bɢ- ^<)) -{>i9)=>9AiExiE}$?M ;Ml;IM}$?Ia@a @a@e0@a@m@m@m@mEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0195421 A9 IA IY Oe >*,G f?AE* EjE$E"Ea;*Ek&;VE4ZEBE)%bD5<VD53yEV<%EO=ٔEQ-E>9IYI=MBFyMEMEU>YQ 5eV5]_?Q 9eV5]C)]dBYayaQ Ie@]EEI]:i] :]V5yiɮu@qiߙIߙBDAT read: Rx Time:21:29:04.2963 TRx dataTimestamp_ set to:1761514145.648898checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272936QQUFNOT Ignoring new targets: 259.86 m.]]Qm ProNav: ac range: 259.855286 m, nav range: 247.659531 m, bearing: 30.736817 deg, approach rate: -0.632428 m/s, LOS rate: -0.033570 deg/s, cmd heading: 36.882137 deg, new cmd heading: 36.842004 deg. zmNQHeadingCmd: 0.643014 target range: 259.855286 and range: 261.50 m.R$?JbZ!B!:!2!AҔAڔAڒ’_ @频ɢe<) p>i)/顙iyi$?;X{;I$?Ii>Y@ @@/@AII O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523547ԉ n@*,]?A0:[">:$?:ٱ:C BAHRS rotation from veh to nav: [[0.799572,-0.592666,-0.097119],[0.600504,0.791370,0.114581],[0.008948,-0.149936,0.988655]]:H?ܸ@S7? R? 5U?S?1ÿ ?i:[">I:U];:ΐCYJByJE$IbDV6VDV3yZ1<%^T=ٔ^;Q-^>9`Y`=bBFyb EbI;Ef>dQ 5jV5f _?Q 9nV5f)fdBYlyrC?Q Ir@fIEIf #;if$;f"V5yvBɮv4@tGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 259.86 m.%%%Q- ProNav: ac range: 259.855286 m, nav range: 247.413223 m, bearing: 30.723571 deg, approach rate: -0.670306 m/s, LOS rate: -0.036084 deg/s, cmd heading: 36.842003 deg, new cmd heading: 36.802225 deg. z5ƺQ5HeadingCmd: 0.642320 target range: 259.855286 and range: 261.50 m.R5o$?J9b9Z9B9:929ҔAڔAAڒA’IIM k @颕Bɢ֙<) >i)~%顱iZziUo$?e ;m;Imo$?IDqzDuAAԑEI E;E%E"E};*E ;VE 4ZEa@a@a@a@DAT read: 21:29:04.2963 LVL= 32752, 32753, 31922, 32755, AGC= 72, IDX= 433,-0.30, 0.645,-0.927, 0.865,-0.236, PHS= 0.983,-0.646, 1.057, RAW= 152.2, -16.5, CAL= 154.2, -18.6, ROT= 355.8, 18.6 Ygot valid direction response: 21:29:04.2963 LVL= 32752, 32753, 31922, 32755, AGC= 72, IDX= 433,-0.30, 0.645,-0.927, 0.865,-0.236, PHS= 0.983,-0.646, 1.057, RAW= 152.2, -16.5, CAL= 154.2, -18.6, ROT= 355.8, 18.6 PDAT read: Bearing 162.4, -0.4 (Local) ~Local bearing/azimuth received: Bearing 162.4, -0.4 (Local) DAT read: Range 11 to 50 : 260.4 m (Round-trip 347.3 ms) speed 0.4 m/s *DAT read: user:267> BDAT read: Tx time:21:29:05.3949  $Ping request sent. ,@ 6)Y@I6>V۞m?&:zlZ?!m$ҿ K?))>Ii i6>=:publishing transmit ping time UFpublishing direction and range infoyD??s űˬQiԿY )Ii )IV۞m?&:zlZ?!m$ҿ )IiԹBu>BB[$IBBBR =BBB&T;BEBBBBQ =BQ =CB5AqIIO~> ] %=] 4=-&*,y陨?A2>2 F%?2 ٱ2 :AHRS rotation from veh to nav: [[0.798711,-0.593924,-0.096519],[0.601656,0.790533,0.114311],[0.008410,-0.149373,0.988745]]2H ?@l{ @? L? wC? )9?ÿ ͣ?i2>I2];2̐CYJByNB$IXiMb@Mb@Mb@ 9m?bX9ȶ?9Y=BFy E ES;E >Q 5V5`?Q 9V5z)dBY0?Q E:yE?Q I%@NEI:if:&V5y)ɮ-f@)JR$?AaCaCp?U:n@1I'TD??s űˬQiԿi 6>—xUZ萿j@.X?u^@e+Z7SEv?)?NUnAӿj BrUCZz?bnx zw!TBWD?Lj ڗwC}?Q} addTargetRange:: Added new target pos. range: 260.399994 m, deltaT: 3.788069 s, deltaX: -1.100006 m, approachRate: -0.290387 m/s, rangeRepo size: 4 Q Added new target pos. range: 258.759125 m, bearing: 29.995512 deg, lat: 36.779592 deg, lon: -121.859267 deg, deltaT: 3.788069 s, deltaX: -1.096161 m, approachRate: -0.289372 m/s, posRepo size: 4 QFNOT Ignoring new targets: 258.76 m.Q ProNav: ac range: 258.759125 m, nav range: 247.702713 m, bearing: 30.566452 deg, approach rate: 0.000000 m/s, LOS rate: -0.036084 deg/s, cmd heading: 36.802224 deg, new cmd heading: 36.753538 deg. zQ5HeadingCmd: 0.641470 target range: 258.759125 and range: 260.40 m.R5e7$?J9b9Z9B9:929Ҕaڔe?Baڒa’im`fFp@mhV?颵Bɢ_ek<) !>i)<1顙i|ie7$?:O;Q9 YR,*,K?AY%zBy%-$IbD5BVD53yE%EW=ٔMQ-M>9M ?YM ?=MBFyUEUEU>YQ 5eV5]Y`?Q 9eV5]iI)M2( IIim5}iua$?u;uI9:3*,nͨ?ABFt>BDBFT$IBFBBDBDBDBFT;BFEYj{Byj.$Ii]Mb@Mb@Mb@YYYY Y9]v/?bX9ȶ?~jtY]x)?yY]D]QAY Y)]1AYY]AybDu7VDup3yM;%F=ٔQ->9"?Y"?=BFyEE>Q 5V5/`?Q 9V5)p)dBY+?Q E:yjF?Q I@WEI:i:-V5yɮ[@QFNOT Ignoring new targets: 258.76 m.))Q ProNav: ac range: 258.759125 m, nav range: 247.181442 m, bearing: 30.536876 deg, approach rate: -0.648029 m/s, LOS rate: -0.037087 deg/s, cmd heading: 36.710686 deg, new cmd heading: 36.664716 deg. z˺QHeadingCmd: 0.639920 target range: 258.759125 and range: 260.40 m.R#?JbZB : 2 Ҕ ڔBڒ’5 ?Bɢef<) dk>i)i}g~i#?Ө;ʓ  d9*,Re稤?AEN ECE&E"E@;*E;VE4ZEBE%>>&?>eٱ>%s FAHRS rotation from veh to nav: [[0.795582,-0.598382,-0.094810],[0.605806,0.787544,0.113026],[0.007034,-0.147358,0.989058]]>Hgu?%xE`b?3?F?|?¿]?i>%>I>"^;>͐CYNlByR$IbDZ?VDZ3yb%bX=ٔb6n;Q-f>9f ?Yf ?=fBFyfEj"a<Ej>lQ 5rV5n?`?Q 9rV5n}k)ndBYpyrG?Q Iv@n[EIn;in;n1V5yzBɮz@z EQFNOT Ignoring new targets: 258.76 m.%-%-Q5 ProNav: ac range: 258.759125 m, nav range: 246.936615 m, bearing: 30.522531 deg, approach rate: -0.647607 m/s, LOS rate: -0.037983 deg/s, cmd heading: 36.664715 deg, new cmd heading: 36.621637 deg. z5кQ=HeadingCmd: 0.639168 target range: 258.759125 and range: 260.40 m.R=#?J9b9Z9B9:A2AҔAڔAIڒI’IIM4?ɢ_T<) M>i)iVZi%#?%h;-yY K@*,=?A6>6'?6-һٱ6Z^ >AHRS rotation from veh to nav: [[0.794352,-0.600244,-0.093342],[0.607424,0.786500,0.111600],[0.006427,-0.145348,0.989360]]6H@Tk?25J巿p?+?ϑ?Rz?Ú¿ը?i6>I6x];6ΐCYFcByF$IbDRQVDR4yV##%ZL=ٔZw:Q-Z>9XY\=^BFy^E ;E >Q 5V5}O`?Q 9V5ef)dBY!y%NH?Q I%@_EI;i;4V5y)ɮ-3@)GSMB*** querying acoustic contact ***:IBIQQ]FNOT Ignoring new targets: 258.76 m.]a/ea/Qm ProNav: ac range: 258.759125 m, nav range: 246.670441 m, bearing: 30.506762 deg, approach rate: -0.646341 m/s, LOS rate: -0.038333 deg/s, cmd heading: 36.621637 deg, new cmd heading: 36.574279 deg. zuuҺQuHeadingCmd: 0.638342 target range: 258.759125 and range: 260.40 m.Ru[j#?JybyZyBy:y2yҔڔڒ’ ή?颱ɢ]6<) P=>i)lԺiu&i[j#?V';fmA>aBs>BBH$IBBBBBBS;BEA؟AI!I1O=r>ԑԹ mvF*,*?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264292Y^By $Ii-Mb@Mb@Mb@)))) )9-K7?T㥛 ?~jtY-)?y-=-)-@ -^A)-A)Y)bDE=VDE3yU/%U2=ٔ]Q-]>9]"?Y]"?=]BFyeEeEe>iQ 5uV5mb`?Q 9uV5ma)mdBY}*?Q E}:y}>?Q I}@mdEIm~ ;im;m8V5yBɮy@ EԑQFNOT Ignoring new targets: 258.76 m.Q ProNav: ac range: 258.759125 m, nav range: 246.378677 m, bearing: 30.492304 deg, approach rate: -0.650809 m/s, LOS rate: -0.032290 deg/s, cmd heading: 36.574280 deg, new cmd heading: 36.530853 deg. zGQHeadingCmd: 0.637584 target range: 258.759125 and range: 260.40 m.R8#?JbZB:2ҔڔBڒ’`@BɢXi%<) 3>i)^ii%8#?% ;%%_ L*,5?A2>2'?2bٱ2g :AHRS rotation from veh to nav: [[0.792557,-0.602624,-0.093264],[0.609772,0.784612,0.112081],[0.005633,-0.145700,0.989313]]2H\?@H@෿@? ?R?@w? K¿`s?i2>I2];0YBKByF#IbDNLVDN 4yVѽ%Vj=ٔV;Q-V>9XYX=ZBFyZE^J <E^>`Q 5fV5bsp`?Q 9fV5b\)bvdBYdyf>?Q Ij@bhEIbo;ibY;b;V5ynBɮn@n EQFNOT Ignoring new targets: 258.76 m. @ @Q ProNav: ac range: 258.759125 m, nav range: 246.150803 m, bearing: 30.480823 deg, approach rate: -0.651229 m/s, LOS rate: -0.032840 deg/s, cmd heading: 36.530854 deg, new cmd heading: 36.496380 deg. zLQ%HeadingCmd: 0.636982 target range: 258.759125 and range: 260.40 m.R%A#?J!b!Z!B):)2)Ҕ)ڔ11ڒ’!@ɢtK<) 2>i)EiiA#?z;X checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020206S*,N?ABt>BB)$IBwBBS =BBBS;BEF>F$(?F_ٱF NAHRS rotation from veh to nav: [[0.791934,-0.603446,-0.093237],[0.610584,0.783922,0.112488],[0.005210,-0.146012,0.989269]]FHW?mOc޷?`?̼?eWu?¿?iF>IFv];DYV?ByV#IZ=Z=i5Mb@Mb@Mb@1111 195NbX9?y&1?9Y=BFyEO;E>Q 5V5`?Q 9V5X)ndBY%?Q E:y 2?Q I @lEI:i:?V5yɮZ@9Q=FNOT Ignoring new targets: 258.76 m.E3E3QU ProNav: ac range: 258.759125 m, nav range: 245.867462 m, bearing: 30.469928 deg, approach rate: -0.639325 m/s, LOS rate: -0.024611 deg/s, cmd heading: 36.496382 deg, new cmd heading: 36.463660 deg. zUQ]HeadingCmd: 0.636411 target range: 258.759125 and range: 260.40 m.R]"?JYbYZYBY:a2aҔaڔe݄Biڒi’iiu E @额Bɢ`;) d=i)顡iNPi"?;Y*,Xh?AE( E:E"E"E`;*E$ ;VE(3ZEBEO^'(?^-ٱ^ jAHRS rotation from veh to nav: [[0.791914,-0.603345,-0.094062],[0.610615,0.783629,0.114347],[0.004719,-0.147989,0.988978]]^H@[W?@Nq@(?|? E? Ts?J¿?i^>I^];^̐CYr4Byr#IbDz6VDz3yX%Z=ٔ }:Q- >9 Y = BFyEY8E>Q 5%V5Ē`?Q 9%V5S)fdBY)y- 2?Q I-@pEI:i[:BV5y5Bɮ5@1YQ]FNOT Ignoring new targets: 258.76 m.eeQu ProNav: ac range: 258.759125 m, nav range: 245.627487 m, bearing: 30.460683 deg, approach rate: -0.639209 m/s, LOS rate: -0.024650 deg/s, cmd heading: 36.463662 deg, new cmd heading: 36.435899 deg. zuUQ}HeadingCmd: 0.635926 target range: 258.759125 and range: 260.40 m.R}"?JybyZyB:2Ҕڔڒ’RF @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524400ɢx;) =i)b_i𒁼i"?!;L11 5 Ygot valid direction response: 21:29:08.1433 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 163,-0.17, 2.298, 0.799, 2.670, 2.186, PHS= 0.215,-1.341, 0.441, RAW= 156.7, 8.2, CAL= 156.3, 8.6, ROT= 353.7, -8.6 = PDAT read: Bearing 189.2, -7.1 (Local) = ~Local bearing/azimuth received: Bearing 189.2, -7.1 (Local) M DAT read: Range 11 to 50 : 258.2 m (Round-trip 344.3 ms) speed 1.3 m/s U *DAT read: user:268> ] BDAT read: Tx time:21:29:09.2449 ] $Ping request sent.] i] 㥫] >]  /@] C>] .@ ] `>)] @I] `Y Y ] ^Re? 4_?~8B? ] #?)] ‘I] i0i] `Y Y  :publishing transmit ping timeY  Fpublishing direction and range infoyY ]  r? .ƻS&r#?YY Y Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY Y Y ] ^Re? 4_?~8B? Y )Y IY iY Y Y `*,+?A2M>222(?2뙻ٱ2 :AHRS rotation from veh to nav: [[0.791810,-0.603317,-0.095109],[0.610750,0.783325,0.115700],[0.004697,-0.149700,0.988720]]2H V?@`N@YC?`??o=s?b)ÿ?i2M>I2Ѻ];2͐C|Y'By#IbD-;VD-)3y]%eE=ٔeaZ8Q-e>9iYi=mBFymEm9Em>qQ 5V5u,`?Q 9V5utO)u^dBYy2?Q I@utEIu:iu:uyFV5yBɮ7@EJRF|?AICIC?avo@Dn;Hݎ.C@ r? .ƻS&r#?i0`—B!B%$IB%YBB%R =B!B!B%MS;B%EQ]9@Y @Y@]4@Y@e=@e=ԁ ^A} ~M<A .AԱ I I O >Tg*,͓?AY $By #Ia@a a@a a@a a@a bDCVD3yB%-=ٔQ->9 ?Y ?=BFy!EE>Q 5 V5`?Q 9 V5MJ)UdBQ A+:YQ E:yQ I@yEI:i>IV5yBɮR@!GS=B*** querying acoustic contact ***:9B9IQUFNOT Ignoring new targets: 256.57 m.UJUJQe ProNav: ac range: 256.571655 m, nav range: 246.148941 m, bearing: 30.545672 deg, approach rate: -0.688227 m/s, LOS rate: -0.026260 deg/s, cmd heading: 36.402596 deg, new cmd heading: 36.368053 deg. ze,QmHeadingCmd: 0.634742 target range: 256.571655 and range: 258.20 m.Rmx~"?JibqZqBq:q2qҔyڔyyڒy’y4E?颭Bɢ};) \=i)S顱i ix~"?;׾3m*,P?A 2Z5>27q'?2٦ٱ2 >AHRS rotation from veh to nav: [[0.793603,-0.600565,-0.097547],[0.608415,0.784652,0.118969],[0.005092,-0.153763,0.988095]]2H@2e?7!x?? t?@2t?ÿx?i2Z5>I2r];0YFByF#IbDN^VDN,4yV z%Vb=ٔZOQ-Z>9Z"?YZ"?=ZBFy^#E^E^>`Q 5fV5b`?Q 9fV5b_F)bNdBQ Aj :YhQ EjW:yjI1?Q Ij@b}EIb:ibT?bKV5ylɮr@pߥ>ߥ;?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975552QFNOT Ignoring new targets: 256.57 m.&ѹ&ѹQ  ProNav: ac range: 256.571655 m, nav range: 245.918091 m, bearing: 30.537026 deg, approach rate: -0.609707 m/s, LOS rate: -0.022856 deg/s, cmd heading: 36.368053 deg, new cmd heading: 36.342091 deg. z zQ5HeadingCmd: 0.634289 target range: 256.571655 and range: 258.20 m.R5`"?J1b9Z9B9:929ҔAڔAAڒA’AIMs?颵Bɢ;) C=i)b项i]?i`"?=;=1B CB #IB :BB S =B B PDB S;B dEBmʺCBmʺCBiBmR =BmS =Cm4AY Ia Iq O >t*,=+ө?A:K>:&?:vٱ:! FAHRS rotation from veh to nav: [[0.795257,-0.598053,-0.099493],[0.606250,0.785855,0.122038],[0.005202,-0.157369,0.987526]]:Hr?@#_xff?%? =?Nu?$ĿЙ?i:K>I:ץ];:̐CYJByN#IPa%a% a%a% a%a% a%a- i-Mb@Mb@Mb@)))) )9-Cl?QMbPY-;?y-u-- A-@ -A)-C@)Y-AbDUAVDU?3yu%u>=ٔ}Q-}>9yYy=BFy%EϻE>Q 5V5Q`?Q 9V5B)SdBQ AT:Y?Q E:y]?Q I@EI;i`;OV5yBɮ`@EQFNOT Ignoring new targets: 256.57 m.ssQ ProNav: ac range: 256.571655 m, nav range: 245.649887 m, bearing: 30.535579 deg, approach rate: -0.616548 m/s, LOS rate: -0.003330 deg/s, cmd heading: 36.342091 deg, new cmd heading: 36.337745 deg. zCQHeadingCmd: 0.634213 target range: 256.571655 and range: 258.20 m.R["?JbZB:2ҔڔBڒ’H?MBɢM|ѿ:)i m=iq)u傺qqiu&oi}["?}譲;}5oe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730197~z*,)?AnQ>nb%?n|ٻٱn"t ~AHRS rotation from veh to nav: [[0.797021,-0.595606,-0.100056],[0.603924,0.787544,0.122675],[0.005733,-0.158200,0.987390]]nH@2? 4 B YS?3?g? '{w? ?Ŀ?inQ>In];lY By#IbDEGVDE4yU%UK=ٔUQ-U>9YYY=]BFy]'E];Ee>iQ 5uV5mP`?Q 9uV5m.?)mXdBYqyu ?Q Iu@mEIm:im:m&SV5yɮ@QFNOT Ignoring new targets: 256.57 m.pfpfQ ProNav: ac range: 256.571655 m, nav range: 245.398941 m, bearing: 30.534393 deg, approach rate: -0.665244 m/s, LOS rate: -0.003148 deg/s, cmd heading: 36.337744 deg, new cmd heading: 36.334181 deg. zC QHeadingCmd: 0.634151 target range: 256.571655 and range: 258.20 m.RW"?JbZB:2Ҕڔڒ’0?颕Bɢes:) P1*,i?A2>20%?2ƻٱ2$ :AHRS rotation from veh to nav: [[0.798926,-0.592887,-0.101007],[0.601399,0.789233,0.124221],[0.006069,-0.159989,0.987100]]2H̐?۹>?dA? ̿?0x?@zĿS?i2>I2];2ΐCYBByB#IbDJ.VDJP3yR=%VW=ٔV!hQ-V>9XYX=ZBFyZ)EZKEZ>`Q 5bV5ba`?Q 9fV5b;)b]dBYdyf ?Q If@bEIb:ib:bxVV5yjBɮnE@nEYQFNOT Ignoring new targets: 256.57 m.--E= EDE$E"Es;*Eh;VE4ZEa@a@a%@a%@Q ProNav: ac range: 256.571655 m, nav range: 245.161423 m, bearing: 30.533442 deg, approach rate: -0.593019 m/s, LOS rate: -0.002376 deg/s, cmd heading: 36.334182 deg, new cmd heading: 36.331327 deg. zиQHeadingCmd: 0.634101 target range: 256.571655 and range: 258.20 m.RvT"?JbZB:2Ҕ -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236246ڔ qڒy’ !Q@Bɢb&:) *=i)viՂivT"?-! ;-'eBeCBe#IBe!BBaBaBaBeR;BeSEԉ@ @@0@Ա^A }U< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485886 AQ Ii Iy O >*,w,!?A2i>2;$?2Ļٱ2<#( :AHRS rotation from veh to nav: [[0.801163,-0.589592,-0.102568],[0.598416,0.790989,0.127413],[0.006009,-0.163457,0.986532]]2H? A@:&?@O?O?`x?)Ŀ૑?i2i>I2];2ϐCYBByB#Ii-Mb@Mb@Mb@)))) )9-V-?ʡEy&1?Y-?y---`e<-QA-@ -A)-5@)Y-AbDEJVDE04yUT<%U==ٔ]9Q-]>9YYY=eBFye+Eԡ5E=>AQ 5MV5E\a?Q 9MV5EI8)EldBYM?Q EM:yU?Q IU@EEIE:iE:E~ZV5y]Bɮ]@YGSuB*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 256.57 m.ɔ8ɔ8Q ProNav: ac range: 256.571655 m, nav range: 244.876862 m, bearing: 30.535232 deg, approach rate: -0.645602 m/s, LOS rate: 0.004065 deg/s, cmd heading: 36.331327 deg, new cmd heading: 36.336702 deg. z29QHeadingCmd: 0.634195 target range: 256.571655 and range: 258.20 m.RZ"?JbZB:2ҔڔBڒ’@jS@Bɢd;;) hU=i)fli iZ"?]h;]v3im>EH E7E&E"E};*E ;VE4ZEBEbb*,Z:?AN>NB#?NٱN;x+ AHRS rotation from veh to nav: [[0.803429,-0.586271,-0.103864],[0.595371,0.792785,0.130476],[0.005848,-0.166667,0.985996]]NH@? @ۖ`H ?`^? t?w?@TUſ`G?iN>INt];N̐CY%By%#II5=)5=bDEQVDE4yU<%UL=ٔU9Q-U>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9900099aYa=mBFym-Em%Em>qQ 5}V5uz#a?Q 9}V5uY5)uxdBYy?Q I@uEIu;iu;u]V5yɮ@QFNOT Ignoring new targets: 256.57 m.[8[8Q ProNav: ac range: 256.571655 m, nav range: 244.645218 m, bearing: 30.536890 deg, approach rate: -0.619116 m/s, LOS rate: 0.004436 deg/s, cmd heading: 36.336702 deg, new cmd heading: 36.341681 deg. zB9QHeadingCmd: 0.634282 target range: 256.571655 and range: 258.20 m.RN`"?Jb)Z)B):)21Ҕ9ڔ99ڒA’AAE\i@Bɢw;) Ї=i)oo^iMiN`"?䗴;%S;I%N`"?I!@ @@1@A^A.<E` EDE%E"Ei;*Eh;VE 4ZEa@a@a@a@AI9IiyO>- BDAT read: Rx Time:21:29:11.9645 5 TRx dataTimestamp_ set to:1761514153.219932E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247742B) B- CB- #IB- BB) B) B) B- R;B- HEԙ *,T?A:Q>:O"?:(ٱ:-/ BAHRS rotation from veh to nav: [[0.805636,-0.582998,-0.105190],[0.592386,0.794439,0.133961],[0.005467,-0.170237,0.985388]]:H ? ? l?@%? ev?Sſ`L?i:Q>I:];:͐CYVByZ#IiEMb@Mb@Mb@AAAA A9EV-?sh|?I +?YE|?yEE99qYq=uBFyu/EuE}>Q 5V556a?Q 9V52)dBY ?Q E:ye?Q I@EI3:i':OaV5yBɮY@EqQ%FNOT Ignoring new targets: 256.57 m.-}e8U}e8Qm ProNav: ac range: 256.571655 m, nav range: 244.390701 m, bearing: 30.538300 deg, approach rate: -0.565515 m/s, LOS rate: 0.003135 deg/s, cmd heading: 36.341681 deg, new cmd heading: 36.345914 deg. zm 9QHeadingCmd: 0.634356 target range: 256.571655 and range: 258.20 m.R%e"?JbZB:2Ҕ ڔ Bڒ’``! @mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.493948Bɢ%D;) D=i)|Li藃ԡi%e"?В;;I%e"?IQ@Q @Y@]r0@YE 0 E aE #E "E Jg;*E !;VE 3ZE BE ۛ*,q?AIYU+ByU#IbDeEVDe3yS=%2=ٔQ->9Y=BFy2EE>Q 5V5qKa?Q 9V5b.)dBYyQ I@EI:i:SeV5yBɮ @EQQUFNOT Ignoring new targets: 256.57 m.U08]08Qm ProNav: ac range: 256.571655 m, nav range: 244.102142 m, bearing: 30.539901 deg, approach rate: -0.674523 m/s, LOS rate: 0.003748 deg/s, cmd heading: 36.345913 deg, new cmd heading: 36.350723 deg. zm$9QuHeadingCmd: 0.634440 target range: 256.571655 and range: 258.20 m.Ruj"?JqbqZqBq:q2yҔyڔyyڒ’@W@颵Bɢ;) =i)e8项i䃼ij"?;i;Ij"?I=9@A @A@E4@A@MiA@MiAy^AX;%DAT read: 21:29:11.9645 LVL= 32752, 32753, 32754, 30547, AGC= 72, IDX= 139, 0.12,-1.915, 2.935,-1.763,-2.689, PHS= 0.875,-0.615, 0.881, RAW= 150.2, -15.1, CAL= 151.8, -17.4, ROT= 358.2, 17.4 5Ygot valid direction response: 21:29:11.9645 LVL= 32752, 32753, 32754, 30547, AGC= 72, IDX= 139, 0.12,-1.915, 2.935,-1.763,-2.689, PHS= 0.875,-0.615, 0.881, RAW= 150.2, -15.1, CAL= 151.8, -17.4, ROT= 358.2, 17.4 =PDAT read: Bearing 163.3, 1.7 (Local) =~Local bearing/azimuth received: Bearing 163.3, 1.7 (Local) EDAT read: Range 11 to 50 : 236.6 m (Round-trip 315.5 ms) speed -0.6 m/s M*DAT read: user:269> mBDAT read: Tx time:21:29:13.0949 }$Ping request sent.}II!O-p>ԩM?;? !ܡп ?)!>Iѭi|>:publishing transmit ping timeqFpublishing direction and range infoyFlzG? VO-{#ӿY )Ii )IM?;? !ܡп )Ii *,G?AԹbE 4jE( 4rE./ED EZE%E"Eny;*E;VE 4ZEa @a @a @a@%k>% ?%*}ٱ%C3BiBmCBm#IBm&BBiBiBiBmR;BmJE AHRS rotation from veh to nav: [[0.810849,-0.575754,-0.105027],[0.585242,0.798857,0.138994],[0.003875,-0.174170,0.984708]]%H@z?l㺿M? I%];%ΐCY4By#I =a=iMb@Mb@Mb@ 9$C?Zd;Mb?Y?yy=~A GA)YAbD5VD3y#=%,=ٔ-[;Q->9Y=BFy4EE>Q 5V5N`a?Q 9V5*)dBY?Q E:y?Q I@EIU:i:}iV5yBɮY@EJ)R- 7~?A-kC-kC-F9 ?-*nْl@e40nјQ-FlzG? VO-{#ӿ-ѭ-|>—-*n(h@m:K1\@.qHP-#6 N?AM >I I O >H*,X?ABœ>Bn?Bj'JٱB1 JAHRS rotation from veh to nav: [[0.811812,-0.574730,-0.103187],[0.583911,0.799958,0.138257],[0.003085,-0.172491,0.985006]]BH`\?/dwjf? A? k?Di?/ƿ+?iBœ>IB];B̐CYRCByR#IbD^HVD^4yf=%f=ٔjP*;Q-j?9hYh=jBFyn6En En?pQ 5vV5rma?Q 9vV5r()rdBYxyz{?Q Iz@rEIr:ird:r%lV5y|ɮ~l@GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 256.57 m.-|-|QE ProNav: ac range: 256.571655 m, nav range: 243.630661 m, bearing: 30.539772 deg, approach rate: -0.611878 m/s, LOS rate: -0.000013 deg/s, cmd heading: 36.350349 deg, new cmd heading: 36.350337 deg. zEQMHeadingCmd: 0.634433 target range: 256.571655 and range: 258.20 m.RM4j"?JIbIZIBI:I2QҔQڔQQڒY’YY]@?颍BɢC<) >i)!顑i4i4j"?;EeI4j"?I9@ @@/@^A2;uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.IER EGE&E"E;*E;VE4ZEBE8Aqԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9915915*,~6?Avh>v?a?v("ٱv0 ~AHRS rotation from veh to nav: [[0.812376,-0.574118,-0.102149],[0.583129,0.800554,0.138108],[0.002486,-0.171762,0.985135]]vH?,_@v&?"??\d? Nſ:?ivh>IvB];tYKBy#IbD-:VD-{3yEq=%EC=ٔE::Q-M>9IYI=MBFyM8EUEU>YQ 5eV5] a?Q 9eV5]$)]dBYaym8?Q Im@]EI]:i]l:]oV5yuBɮu@uEQFNOT Ignoring new targets: 256.57 m.66Q- ProNav: ac range: 256.571655 m, nav range: 243.377182 m, bearing: 30.539827 deg, approach rate: -0.583619 m/s, LOS rate: 0.000126 deg/s, cmd heading: 36.350335 deg, new cmd heading: 36.350500 deg. z-d6Q5HeadingCmd: 0.634436 target range: 256.571655 and range: 258.20 m.R5dj"?J1b1Z9B9:929Ҕ9ڔAAڒA’AAM@Up?q}Bɢ}7<)y }H0>iy)w嵹顁i센idj"?;忇Idj"?II)dA @  @ @ @@=@=ԡ؀GjA9jAY3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248921E6 EbE%E"El;*E5";VE 4ZEa@a@a@a@^A5 7B]o>B]CB]#IB]:BBYBYBYB]S;B]kEIIO> w*, ٪?A:>+?ٱ~Q/ -AHRS rotation from veh to nav: [[0.812852,-0.573627,-0.101108],[0.582465,0.801202,0.137149],[0.002336,-0.170374,0.985377]]H ?`'[ :⹿?r??"c?ſ4?i:>IX];ʐCYe]Bye $IIu8>)uc??Q?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495839iMb@Mb@Mb@ 9jt?9QYQ=]BFy]:E]E]>aQ 5mV5ea?Q 9mV5eI )edBYu!?Q Eu:yu?Q Iu@eEIe ;iem ;esV5y}Bɮ}@QFNOT Ignoring new targets: 256.57 m.@@Q ProNav: ac range: 256.571655 m, nav range: 243.082413 m, bearing: 30.535033 deg, approach rate: -0.647524 m/s, LOS rate: -0.010544 deg/s, cmd heading: 36.350499 deg, new cmd heading: 36.336100 deg. zQHeadingCmd: 0.634185 target range: 256.571655 and range: 258.20 m.RY"?JbZB:i2iҔiڔmBqڒq’qqu@& ?Bɢ[<) TY>i)lijiY"?F;㙕IY"?I!@ @@@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747779E H E ZE E "E };*E ;VE ZE BE bļ*,?A>}>>,?>ٱ>Bl, FAHRS rotation from veh to nav: [[0.812842,-0.573927,-0.099474],[0.582479,0.801575,0.134891],[0.002318,-0.167587,0.985855]]>H ? ]@w ??D?b?`{sſ?i>}>I>];>̐CNPExceeded connect timeout, disconnecting.YRkByR$IbD^9VD^3yb=%fa=ٔfQ8Q-f>9dYh=jBFyjlQ 5rV5nda?Q 9vV5n)ndBYtyv?Q Iv@nEInd:in:nwV5y|ɮ~@|Q%FNOT Ignoring new targets: 256.57 m.%:%:Q5 ProNav: ac range: 256.571655 m, nav range: 242.855148 m, bearing: 30.531336 deg, approach rate: -0.626687 m/s, LOS rate: -0.010204 deg/s, cmd heading: 36.336101 deg, new cmd heading: 36.325000 deg. z=Q=HeadingCmd: 0.633991 target range: 256.571655 and range: 258.20 m.RE9M"?JAbAZABA:A2AҔIڔIIڒQ’QQU`?}BɢJ<) Dx>i)7顁ii9M"?R;[I9M"?I M9@I @I@U0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9996249^A aA9 II IY Ou >Ա e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253172E + E YE E "E b;*E w;VE ZE a @a @a @a @*,>u?AB&n>B$B& $IB&^BB$B$B$B&lS;B&EBCBCBBS =BC4,>l?!ٱO( AHRS rotation from veh to nav: [[0.812272,-0.575056,-0.097595],[0.583273,0.801519,0.131755],[0.002458,-0.163945,0.986466]]H "?f -? ?X?`!d? )Ŀ!?i,>I];YBy4$I iMb@Mb@Mb@ 9Zd;?y&1?I +?Y?y`<9< A@ A)AYfAbD7VDp3yk=%)=ٔ䗹Q->9Y=BFy?E;E>Q 5 V5%a?Q 9 V5)dBY <?Q E :y I,?Q I@EI:i:M{V5yBɮS@EQFNOT Ignoring new targets: 256.57 m.TTQ ProNav: ac range: 256.571655 m, nav range: 242.558304 m, bearing: 30.521447 deg, approach rate: -0.600635 m/s, LOS rate: -0.020035 deg/s, cmd heading: 36.324998 deg, new cmd heading: 36.295294 deg. z[QHeadingCmd: 0.633472 target range: 256.571655 and range: 258.20 m.R?+"?JbZB:2Ҕڔ3Bڒ’@*I@Bɢ+<) Ԓ>i)R9ii?+"?BѰ;CkFI?+"?I!9El>iE>9@ @@@@hA@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503659a^AE هԑ A I I O >?*,P9-?AZ>ZT?Z/ٱZ& fAHRS rotation from veh to nav: [[0.811600,-0.576173,-0.096590],[0.584208,0.801094,0.130186],[0.002368,-0.162087,0.986774]]ZH ?p@ձ??`?ec?EĿ@?iZ>IZs];ZΐCYnByn=$I ttbDz5VDz3y =% N=ٔ m9Q- >9Y=BFyAE>;E>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755616Q 55V5Ya?Q 95V5)eBY1y=,?Q I=@EI\;i:~V5yAɮE@AEm: EmVEiEi"Em\p;*Em;VEiZEiBEmjU@Bɢ<) >i)| :iF,i"?}9e;}^I}"?I@ @@/@AnManaging dock network, ignoring radio surface power offa^A5 7checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007630A ԉ I I O >*,~F?A2>2& ?2ٱ2.4% :AHRS rotation from veh to nav: [[0.810614,-0.577663,-0.095966],[0.585576,0.800314,0.128837],[0.002379,-0.160632,0.987011]]2H?7|`= ?+?}?|c?Ŀ ?i2>I2V];2ːCYBByBA$IbDJ:VDJ{3yR:<%VR=ٔVQ-V>9TYX=ZBFyZCEZ9;EZ>Q 5V5a?Q 9V5)eBYy%,?Q I%@EI ;iP ;>V5y-ےBɮ- @-EQQUFNOT Ignoring new targets: 256.57 m.]ù]ùQm ProNav: ac range: 256.571655 m, nav range: 242.069107 m, bearing: 30.504868 deg, approach rate: -0.624183 m/s, LOS rate: -0.021320 deg/s, cmd heading: 36.270671 deg, new cmd heading: 36.245509 deg. zmjQuHeadingCmd: 0.632603 target range: 256.571655 and range: 258.20 m.RuM!?JqbqZqBqy:q2yҔڔڒ’`| @颽Bɢ^<) >i)N:i҇iM!?s;l8IM!?I@ @@g0@uBDAT read: Rx Time:21:29:15.8375 }TRx dataTimestamp_ set to:1761514157.253310EV EHE$E"E;*E;VE4ZEa@a@a@a@AA@AB B B /$IB |BB T =B B B S;B E]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293176^A?BɺA I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511399B*,M`?A27!>2(g ?2Wٱ2e$ :AHRS rotation from veh to nav: [[0.810040,-0.578581,-0.095290],[0.586372,0.799806,0.128365],[0.001944,-0.159856,0.987138]]2H ?ໃd?? Bn? _?@'vĿ`?i27!>I2Iu];2͐CYBByBL$Ii Mb@Mb@Mb@     9 K7A?Q?Mb?Y  "?y u= < A @ ) GA Y AbD%3VD%3y5'=%5B=ٔ56:Q-5>9Y=BFyEE;E>Q 5V5a?Q 9V5) )Y"?Q E:y8?Q I@EI;i ;V5yɮ|@QFNOT Ignoring new targets: 256.57 m.Q ProNav: ac range: 256.571655 m, nav range: 241.803802 m, bearing: 30.492814 deg, approach rate: -0.624543 m/s, LOS rate: -0.028407 deg/s, cmd heading: 36.245509 deg, new cmd heading: 36.209307 deg. zQHeadingCmd: 0.631972 target range: 256.571655 and range: 258.20 m.R!?JbZB:!2!Ҕ!ڔ%=B)ڒ)’))- T @]Bɢ]<)a e>ia)e:aiim.i!?;rk:I!?Ii@ @@ i0@ @=@=1DAT read: 21:29:15.8375 LVL= 32752, 27985, 29762, 27683, AGC= 70, IDX= 150, 0.42, 1.692, 0.333, 1.848, 0.890, PHS= 0.904,-0.512, 0.914, RAW= 150.4, -18.0, CAL= 152.4, -20.4, ROT= 357.6, 20.4 E* E&E#E"Ea;*E;VE3ZEBE BDAT read: Tx time:21:29:16.9449 $Ping request sent.YQY]`W[C?vǸ?B5%ӿ ]?)]B۠>I]Q+i]K>YY:publishing transmit ping time^A 9A hAzA hAFpublishing direction and range infoyY] az?̬q<OֿYYYYYY Y)YIYiYYYYY Y)YIYYY]`W[C?vǸ?B5%ӿ Y)YIYiYYYA= .AII IY Oe >y *,z?Ar>r ?raݺٱrW# %AHRS rotation from veh to nav: [[0.809326,-0.579684,-0.094645],[0.587357,0.799210,0.127573],[0.001689,-0.158839,0.987303]]rH?Ō:`? ?RT?@/[? TĿ?ir>Ira];r̐CY]By]c$IbDm4VDmf3y=%C=ٔ:Q->9 ?Y ?=BFyGECE;E>Q 5V5a?Q 9V5)Yy9?Q I@EI;it:|V5yڒBɮ7@EQJR!"p?A2|C2|CJ?8:m|m@gBz#]z$U az?̬q<OֿQ+K>—ITi@]@Ů4U _ ?ΚJY?uoտj.Br2MCZط?b?2zꗍI??2 ڗmC◍?Q addTargetRange:: Added new target pos. range: 253.800003 m, deltaT: 7.810264 s, deltaX: -4.400009 m, approachRate: -0.563362 m/s, rangeRepo size: 4 Q Added new target pos. range: 252.196014 m, bearing: 30.234058 deg, lat: 36.779575 deg, lon: -121.859289 deg, deltaT: 7.810264 s, deltaX: -4.375641 m, approachRate: -0.560242 m/s, posRepo size: 4 QFNOT Ignoring new targets: 252.20 m.Q ProNav: ac range: 252.196014 m, nav range: 237.818375 m, bearing: 30.189138 deg, approach rate: 0.000000 m/s, LOS rate: -0.028407 deg/s, cmd heading: 36.209309 deg, new cmd heading: 36.173083 deg. zQHeadingCmd: 0.631339 target range: 252.196014 and range: 253.80 m.Rv!?JbZB:2Ҕڔڒ!’!%o@%` ?颕BɢXp<) >i)~׶:顙iViv!?y;3;Iv!?IA@A @A@Eb3@AԁԱ^A ;E 2 E ;E 'E "E i;B m>B B T$IB BB B B B S;B E*E ;VE '4ZE BE %<2E %<JE Fm<:E Fm<I  I! OM >*,0d?AV>VR!?V޺ٱV= ^AHRS rotation from veh to nav: [[0.807928,-0.581980,-0.092477],[0.589279,0.798366,0.123944],[0.001698,-0.154632,0.987971]]VH ?^?`7?ź?`[?ÿt?iV>IV];TYfByfR$IiUMb@Mb@Mb@QQQQ Q9U%C?kt?MbYUZ$?yU =UUdAU@ UA)U-AQYQbDmAVDm?3y}o%}M=ٔQ->9Y=BFyIE<;E>Q 5V5 b?Q 9V5)dBY%?Q E:yB?Q I@EI ;iX ;V5yɮ@QFNOT Ignoring new targets: 252.20 m.?.?.Q ProNav: ac range: 252.196014 m, nav range: 237.567154 m, bearing: 30.174763 deg, approach rate: -0.664890 m/s, LOS rate: -0.038084 deg/s, cmd heading: 36.173085 deg, new cmd heading: 36.129916 deg. zѺQHeadingCmd: 0.630586 target range: 252.196014 and range: 253.80 m.Rn!?JbZB:2ҔڔBBڒ’   `vA?5Bɢ5e<)9 =>i):项i3in!?5;꒱;In!?I@ @@4@ ^A] ;9 I I O >9*,Q?AFD(>F!?FǺٱF! RAHRS rotation from veh to nav: [[0.806559,-0.584197,-0.090424],[0.591152,0.797457,0.120834],[0.001519,-0.150914,0.988546]]FH`T?@&?ń??X?`)Qÿ*?iFD(>IF؂];DYZByZO$IbDb=VDb3yjM%jW=ٔj9Q-j>9lYl=nBFynKEr7;Er>tQ 5zV5vb?Q 9zV5v)vdBYxy~%C?Q I~@vEIv;iv ;vJV5yؒBɮ@GS%B*** querying acoustic contact ***:!B!)Q5FNOT Ignoring new targets: 252.20 m.5&=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.5&Qe ProNav: ac range: 252.196014 m, nav range: 237.328049 m, bearing: 30.160904 deg, approach rate: -0.629080 m/s, LOS rate: -0.036499 deg/s, cmd heading: 36.129915 deg, new cmd heading: 36.088296 deg. zedȺQmHeadingCmd: 0.629860 target range: 252.196014 and range: 253.80 m.Rmz>!?JibiZiBi:i2qҔqE}H E}KE}*Ey"E}};*E};VE}(N4ZEyBE}b<2E}c<JE}{<:E}{<ڔڒ’ LQ?Bɢd%<) >i)N:iHiuz>!?u࡯;uH!?IyQ)@) @)@-/@)@5iA@5dAy^AMX;AQAU>IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241410ԡ *,ǫ?A2)!>2!g"?2p\ٱ2B :AHRS rotation from veh to nav: [[0.805435,-0.585937,-0.089174],[0.592683,0.796520,0.119512],[0.001002,-0.149111,0.988820]]2H@ ?Զ B?}?[?kP?ÿi?i2)!>I2];2ΐC@YfByfQ$IbDrCVDr3yv;%zI=ٔz-:Q-z>9|Y|=~BFy~ME;E> Q 5V5 (b?Q 9V5 ) dBYyC?Q I@ EI :i =: ٓV5y!ɮ%@!AQMFNOT Ignoring new targets: 252.20 m.M)U)Qe ProNav: ac range: 252.196014 m, nav range: 237.071655 m, bearing: 30.145883 deg, approach rate: -0.629860 m/s, LOS rate: -0.036941 deg/s, cmd heading: 36.088295 deg, new cmd heading: 36.043183 deg. zeʺQmHeadingCmd: 0.629072 target range: 252.196014 and range: 253.80 m.Rm !?JibiZiBi:i2qҔqڔqqڒy’yy} ?颩ɢ<) :>i);顱iAti !?6; #  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745398 *,r᫤?A2C>2"?2mmٱ2x :AHRS rotation from veh to nav: [[0.804761,-0.586972,-0.088454],[0.593599,0.795900,0.119091],[0.000498,-0.148346,0.988935]]2H?y餶@?@x?|?M@?@¿[?i2C>I2];2̐CY^By^S$IliMb@Mb@Mb@ 9y&1?+?:vY`%?y=TMA@ ZA)AYAbDGVD4y<%?=ٔ:Q->9Y=BFyOEl.;E>Q 5V59b?Q 9V5)dBY&?Q E:y]@?Q I@EI:iQ:V5yגBɮ@EQFNOT Ignoring new targets: 252.20 m.   Q ProNav: ac range: 252.196014 m, nav range: 236.800674 m, bearing: 30.130858 deg, approach rate: -0.633818 m/s, LOS rate: -0.035184 deg/s, cmd heading: 36.043185 deg, new cmd heading: 35.998058 deg. z+Q%HeadingCmd: 0.628285 target range: 252.196014 and range: 253.80 m.R%C ?J!b!Z!B!:!2)Ҕ)ڔ->B)ڒ1’115@]?eBɢe<)a e>ia)md#;iiimx5iuC ?uQ;u.:a 7*,V?AVqF>V"?V8ٱV ^AHRS rotation from veh to nav: [[0.804107,-0.587985,-0.087664],[0.594484,0.795287,0.118778],[-0.000122,-0.147625,0.989043]]VH?? &q@?r?@8h?_¿`>?iVqF>IV];TYfByfB$IbDnCVDn3yv%vW=ٔze:Q-z>9xYx=~BFy~QE~=;E>Q 5 V5 Ib?Q 9 V5N)dBYy@?Q I@EI:i:V5yϒBɮ%.@%E9IQMFNOT Ignoring new targets: 252.20 m.U!U!Qe ProNav: ac range: 252.196014 m, nav range: 236.559692 m, bearing: 30.117398 deg, approach rate: -0.632804 m/s, LOS rate: -0.035382 deg/s, cmd heading: 35.998058 deg, new cmd heading: 35.957636 deg. zeBºQmHeadingCmd: 0.627579 target range: 252.196014 and range: 253.80 m.Rm ?JibiZiBi:q2qҔqڔqyڒy’yy@颭Bɢ<) >i)F3;顱i9܌i ?İ;Rm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501571B l>B B B B B B B S;B E E = E UE %E "E s;*E \;VE 4ZE BE <2E <JE w<:E w<J"+,?An>n_E#?n_49ٱn[ vAHRS rotation from veh to nav: [[0.803421,-0.588989,-0.087216],[0.595411,0.794653,0.118370],[-0.000412,-0.147030,0.989132]]nH@?@S ? m?M?;¿?in>InS];lY~By~>$II,>)<ԑiMb@Mb@Mb@ 9+?㥛 ?~jtY?y=QA@ GA)AYAbD-VD3yb%;=ٔ.:Q->9Y=BFySE-;E>Q 5V5Zb?Q 9 V5e)dBY  ?Q E :y ??Q I@EIe ;i ;V5y͒BɮE@E9QEFNOT Ignoring new targets: 252.20 m.ERMRQ] ProNav: ac range: 252.196014 m, nav range: 236.292252 m, bearing: 30.102699 deg, approach rate: -0.612984 m/s, LOS rate: -0.033730 deg/s, cmd heading: 35.957637 deg, new cmd heading: 35.913488 deg. z]0QeHeadingCmd: 0.626809 target range: 252.196014 and range: 253.80 m.Rev ?JabaZaBa:i2iҔiڔu1Bqڒq’qq} Q@MBɢU<)Q U*>iY)]aF;Yaieiv ?zo;YlH +,\T/?A2&>2i#?2CL:ٱ2H :AHRS rotation from veh to nav: [[0.803089,-0.589264,-0.088415],[0.595859,0.794058,0.120096],[-0.000562,-0.149131,0.988817]]2H?@?ZG?h??@iBÿ d?i2&>I2b];2ʐCYBByB8$IbDJ;VDJ)3yvyȼ%v\=ٔvy9Q-z>9z"?Yz"?=zBFyzUE~}:E~>Q 5 V5khb?Q 9 V5:)dBY y ??Q I@EI:i:V5%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005485y!ɮ-@)GSEB*** querying acoustic contact ***:ABAQQUFNOT Ignoring new targets: 252.20 m.]]Qm ProNav: ac range: 252.196014 m, nav range: 236.065308 m, bearing: 30.090172 deg, approach rate: -0.609262 m/s, LOS rate: -0.033663 deg/s, cmd heading: 35.913490 deg, new cmd heading: 35.875873 deg. zmѸQuHeadingCmd: 0.626152 target range: 252.196014 and range: 253.80 m.RuK ?JqbqZqBq:q2yҔyڔyڒ’ K@EH EIE$E"E};*E ;VE4ZEa@a@a@a@ɢ <) >i)U;i-iK ?;+w{y 0+,/I?A2>2Qa#?2> :ٱ2 :AHRS rotation from veh to nav: [[0.803167,-0.588930,-0.089910],[0.595754,0.793832,0.122098],[-0.000533,-0.151629,0.988437]]2H? _i? g?A?gyA`hÿ@G?i2>I23];2͐CY^rByb"$IbDjCVDj3yr%rK=ٔr Q-r>9tYt=vBFyvWEvxEz>xQ 5UV5zxb?Q 9UV5z)zdBYQy]??Q I]@zEIzSi).d;iǎi ?;-BE$ E>EE"Eg\;*E?;VEZEBT$IBBBBBBS;BEB)B)B)B-T =B-T =C-N"4ԉ^A]<ԱIi Iy O > DAT read: 21:29:19.6333 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395, 0.05, 2.701, 1.152, 3.094, 2.611, PHS= 0.192,-1.414, 0.439, RAW= 157.0, 9.0, CAL= 156.8, 9.6, ROT= 353.2, -9.6  Ygot valid direction response: 21:29:19.6333 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395, 0.05, 2.701, 1.152, 3.094, 2.611, PHS= 0.192,-1.414, 0.439, RAW= 157.0, 9.0, CAL= 156.8, 9.6, ROT= 353.2, -9.6  PDAT read: Bearing 188.7, -8.0 (Local) % ~Local bearing/azimuth received: Bearing 188.7, -8.0 (Local) - DAT read: Range 11 to 50 : 213.1 m (Round-trip 284.2 ms) speed 0.4 m/s 5 *DAT read: user:271> 5 BDAT read: Tx time:21:29:20.7464 = $Ping request sent.= i > ^/@Z+, c?A | > %/@ +>) C@I + Z9?j ?&}? ?%?) Q!I i + :publishing transmit ping timeiFpublishing direction and range infoy   -uT?X^G 㽿8_X?Y ) I i ) I Z9?j ?&}? ) I i ,,J9>J( #?JC:ٱJ RAHRS rotation from veh to nav: [[0.803759,-0.587875,-0.091513],[0.594955,0.794063,0.124471],[-0.000506,-0.154491,0.987994]]JHd?@em ?h?@Wݿ?`ȗ@[ÿ?iJ9>IJLC];HYZpByZ $IiMb@Mb@Mb@ 9RQ?/$?MbY"?y,= A )1AYAbD=VD3y%-=ٔnQ->9Y=BFyYE E >Q 5V5lb?Q 9V5)dBY"?Q E:y2?Q I@EI:i:V5y)ɮ-@)iJ R [b?A SC SC  ? @q.i@PÝ8O%A@  -uT?X^G 㽿8_X?  +— H =f@-!y9[@ ǓLMC@ R?@nV? FU?j 8Br 1CZ e?b z B ط? nx  *ڗ jC ?Q%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 213.100006 m, deltaT: 3.779677 s, deltaX: -40.699997 m, approachRate: -10.768115 m/s, rangeRepo size: 4!QMFNOT Ignoring new targets: 252.20 m.MEMEQ] ProNav: ac range: 252.196014 m, nav range: 235.522736 m, bearing: 30.063921 deg, approach rate: -0.606896 m/s, LOS rate: -0.025930 deg/s, cmd heading: 35.834994 deg, new cmd heading: 35.797030 deg. z]\QeHeadingCmd: 0.624776 target range: 252.196014 and range: 253.80 m.RR?JbZB:2Ҕڔ Bڒ’@3j@@z?QɢUH<)Y ]ҍ>iY)]_w;yiviR?Ȉ; |5+,?A:iN>:"?:9ٱ: JAHRS rotation from veh to nav: [[0.804071,-0.587315,-0.092357],[0.594533,0.794245,0.125323],[-0.000250,-0.155678,0.987808]]:H?I`i?@tj? ? a0@Aÿ ?i:iN>I:95];:ːCYRXByR$IbDZAVDZ?3yb%bY=ٔf>2Q-f>9dYd=jBFyj[EjiEj>lQ 5rV5nb?Q 9rV5n)ndBYtyv2?Q Iv@nEIn:in:nV5y~ɒBɮ~@|!Q%FNOT Ignoring new targets: 252.20 m.%K-KQE ProNav: ac range: 252.196014 m, nav range: 235.286423 m, bearing: 30.053848 deg, approach rate: -0.672538 m/s, LOS rate: -0.028697 deg/s, cmd heading: 35.797028 deg, new cmd heading: 35.766778 deg. zEQMHeadingCmd: 0.624248 target range: 252.196014 and range: 253.80 m.RM?JIbIZIBI:Q2QҔQڔYYڒY’YYe`M?颉ɢX<) k>i);顑i쏼i?W ;QE}Bl>BB;$IBBBBBBS;BEEm > Em 9Em &Ei "Em s;*Em ;VEm 4ZEi BEm <2Em <JEm tk<:Em tk< &+,ő?A2I>21"?2#8ٱ2! :AHRS rotation from veh to nav: [[0.804639,-0.586362,-0.093466],[0.593765,0.794586,0.126791],[-0.000079,-0.157518,0.987516]]2H`? {d`??m? :?`)Ŀ`?i2I>I2Z];2ΐCY WBy $IiMb@Mb@Mb@ 9\(\?9Y=BFy]E E>Q 5 V5b?Q 9 V5>)dBY?Q E:y)?Q I@EI ;i ;V5yɮ%/@!AQMFNOT Ignoring new targets: 252.20 m.M_M_Q ProNav: ac range: 252.196014 m, nav range: 235.022171 m, bearing: 30.044887 deg, approach rate: -0.599957 m/s, LOS rate: -0.020367 deg/s, cmd heading: 35.766777 deg, new cmd heading: 35.739865 deg. z_QHeadingCmd: 0.623778 target range: 252.196014 and range: 253.80 m.R?JbZB:)21Ҕ1ڔ5B9ڒ9’99=`'?-Bɢ5<)1 5 j>i1)5;99i=iU?Uд;UvQ E,+,v?AEM EEE'E"Eˀ;*E;VE'4ZEa@a@a@a@YHBy#IbD-BVD-3y}%}R=ٔ}Q-}>9Y=BFy_EE>Q 5V5Lb?Q 9V5m)dBYyQ I@EI;i;(V5yȒBɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 252.20 m.~~Q ProNav: ac range: 252.196014 m, nav range: 234.788651 m, bearing: 30.036952 deg, approach rate: -0.599148 m/s, LOS rate: -0.020381 deg/s, cmd heading: 35.739866 deg, new cmd heading: 35.716036 deg. z_QHeadingCmd: 0.623362 target range: 252.196014 and range: 253.80 m.R?JbZB:2Ҕڔڒ’ 9j?1ɢ5~<)1 =M>i9)=];99i=iE?E\;EK}ԁ *3+,Gͬ?A2>2Y("?2, ٱ29' :AHRS rotation from veh to nav: [[0.806003,-0.583935,-0.096846],[0.591911,0.795291,0.130972],[0.000542,-0.162888,0.986644]]2H?`ʸ?s??EA?`Ŀ`?i2>I2{-];2̐C9Y=BFyaE%\E%>)Q 5-V5-b?Q 95V5-)-dBY1y5 )?Q I5@-EI-:i-:-V5yEBɮE@EEaQmFNOT Ignoring new targets: 252.20 m.m߷m߷Q ProNav: ac range: 252.196014 m, nav range: 234.554749 m, bearing: 30.029127 deg, approach rate: -0.600109 m/s, LOS rate: -0.020094 deg/s, cmd heading: 35.716036 deg, new cmd heading: 35.692540 deg. z\QHeadingCmd: 0.622952 target range: 252.196014 and range: 253.80 m.Ry?JbZB:2Ҕڔڒ’?ɢr<) (B>i)p5;i m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004540T9+,O#笤?A\Y~9Y=BFydEE>Q 5V5Mb?Q 9V5|)dBY!?Q E:y\ ?Q I@EI:i:EV5y]Bɮ]@YQFNOT Ignoring new targets: 252.20 m.//Q ProNav: ac range: 252.196014 m, nav range: 234.288193 m, bearing: 30.022437 deg, approach rate: -0.605275 m/s, LOS rate: -0.015210 deg/s, cmd heading: 35.692540 deg, new cmd heading: 35.672445 deg. z'QHeadingCmd: 0.622602 target range: 252.196014 and range: 253.80 m.Rb?JbZB:2ҔڔքBڒ’*`@ɢd<)! %6>i!)%k;))i- 둼i5b?5s;=iA>I A I I O% ><@+,a?A6b>6!?6 Rιٱ6|+ BAHRS rotation from veh to nav: [[0.808600,-0.580045,-0.098559],[0.588358,0.797286,0.134794],[0.000394,-0.166983,0.985960]]6H ?.;?^?@?A9?_ſ?i6b>I6?E];4YJ2ByJ#I LLbDr6VDr3yzc%zW=ٔzg9Q-~>9|Y|=BFyeE=E> Q 5V5 b?Q 9V5 ) dBYy;?%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508716)Q I@ EI /;i ; V5y1ɮ5@1YQ]FNOT Ignoring new targets: 252.20 m.eeQu ProNav: ac range: 252.196014 m, nav range: 234.048920 m, bearing: 30.016678 deg, approach rate: -0.653320 m/s, LOS rate: -0.015739 deg/s, cmd heading: 35.672446 deg, new cmd heading: 35.655153 deg. zu,Q}HeadingCmd: 0.622300 target range: 252.196014 and range: 253.80 m.R} O?JybZB:2Ҕڔڒ’#G@颹ɢV<) 0!>i)#;iPi O?Bٶ;*5iF+,?AqY}5By}#IiMb@Mb@Mb@ 9MbX9?Q{Gzt?Yyף;@ A)GAYAbD-FVD-4y=<%=7=ٔ=Q-=>9AYA=EBFyEhEEEM>QQ 5UV5Uc?Q 9]V5U)UdBY]!?Q E]:y]e?Q I]@UEIU:iU3:U~V5ymBɮmo@mEQFNOT Ignoring new targets: 252.20 m.G*G*Q ProNav: ac range: 252.196014 m, nav range: 233.767166 m, bearing: 30.012552 deg, approach rate: -0.634640 m/s, LOS rate: -0.009304 deg/s, cmd heading: 35.655152 deg, new cmd heading: 35.642759 deg. zU̹QHeadingCmd: 0.622083 target range: 252.196014 and range: 253.80 m.R@?JbZB:2ҔڔԄBڒ’ @@ɢ<) \)>i);iȒi@?@; 7 BDAT read: Rx Time:21:29:23.4316  TRx dataTimestamp_ set to:1761514164.808602 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265633E] < E] 2E] #EY "E] ,r;*E] ;VE] 3ZEY BE] j0 ?jٱjN- vAHRS rotation from veh to nav: [[0.810526,-0.577154,-0.099708],[0.585702,0.799076,0.135763],[0.001318,-0.168439,0.985711]]jH? x`u@?@?`?U?@fſ@?ij>Ijq];jːCY~+By~#IbD CVD 3y`%]=ٔ#Q-%>9!Y!=%BFy%jE- E->1Q 5=V55c?Q 9=V55U)5dBYyy}?Q I@5 EI5$i);项iS+,N?An->n$?n4yٱn5/ zAHRS rotation from veh to nav: [[0.811693,-0.575333,-0.100731],[0.584083,0.799931,0.137687],[0.001362,-0.170595,0.985340]]nHb?!i|ɹϰ??@?&OV? ſ`?in->Inw];nʐCY~0By#II ;>) p;bDBVD3y%<%%H=ٔ-Q-->9)Y1=5BFy5lE5NE5>9Q 5EV5=S%c?Q 9EV5=)=dBYIyM?Q IM@= EI=a;i=;=JV5yQɮU@YyQ}FNOT Ignoring new targets: 252.20 m.{ { Q ProNav: ac range: 252.196014 m, nav range: 233.275726 m, bearing: 30.005852 deg, approach rate: -0.652746 m/s, LOS rate: -0.008769 deg/s, cmd heading: 35.633018 deg, new cmd heading: 35.622636 deg. zQHeadingCmd: 0.621732 target range: 252.196014 and range: 253.80 m.R)?JbZB:2Ҕڔڒ’ @ɢv<) \ >i)m;iŧi)?;Q;I)?IBm>BB#IBDBBT =BBBS;BEE E~E&E"E*E0;VE4ZEBE2EJE<:E<DAT read: 21:29:23.4316 LVL= 32752, 32753, 32546, 32755, AGC= 72, IDX= 410, 0.41, 0.157,-1.389, 0.539,-0.006, PHS= 0.264,-1.338, 0.501, RAW= 156.8, 6.7, CAL= 156.2, 6.7, ROT= 353.8, -6.7 @ @@5@UYgot valid direction response: 21:29:23.4316 LVL= 32752, 32753, 32546, 32755, AGC= 72, IDX= 410, 0.41, 0.157,-1.389, 0.539,-0.006, PHS= 0.264,-1.338, 0.501, RAW= 156.8, 6.7, CAL= 156.2, 6.7, ROT= 353.8, -6.7 PDAT read: Bearing 185.2, -7.1 (Local) ~Local bearing/azimuth received: Bearing 185.2, -7.1 (Local) DAT read: Range 11 to 50 : 210.7 m (Round-trip 281.0 ms) speed 0.4 m/s 9u*DAT read: user:272> }BDAT read: Tx time:21:29:24.5449 }$Ping request sent.}i%C%A?%%/@%|=%!z.@ %|=)%e@I%|ゥ!!%*r?\V ?? %o$?)%\^I%iݽi%|ゥ!! :publishing transmit ping timey5Fpublishing direction and range infoy!%{Fw?~@Ёumu"޽?Y!!!!! !)!I!i!!!!! !)!I!!!%*r?\V ?? !)!I!i!!!a^AX;A .AI I O >ԉ Y+,h?AY|y|iMb@Mb@Mb@ 9MbX9?I +~jt?Yy9D<~A GA)1AYAbDCVD3ٔQ->9 ?Y ?=BFynEE>Q 5V57c?Q 9V5)dBY!?Q E:y?Q I@EIB;i;V5yBɮ@EqJaReU?Ae^QCe^QCeS} ?e9i@$u6QUm8@e{Fw?~@Ёumu"޽?eiݽe|—e "Hf@lZ@Cuy.<@et>? 9?y:?jeHBreA2CZe䝊?be`vzeBeU7?euCeBڗeiq)u;qqiu-i}k?}p;}f;Ik?IԡE A E EE %E "E v;*E ;VE  4ZE a@a@a@a@E9@A @A@E5@I^AE r; Au ؟AIy I O >x`+,?A2D>2-?2'Hٱ2$3 :AHRS rotation from veh to nav: [[0.813710,-0.572126,-0.102699],[0.581269,0.801355,0.141270],[0.001475,-0.174649,0.984630]]2H@ ?`N`J?ತ?` ?@)X?Zƿ ?i2D>I2~];2ΐCYB$ByB#IbDN6VDN3yR%%R<ٔVΛQ-V>9V"?YZ"?=ZBFyZpEZCE^>\Q 5bV5^Hc?Q 9bV5^7)^dBYdyf?Q If@^EI^:i^l:^EV5yhɮnF@l|QFNOT Ignoring new targets: 252.20 m.yMyMQ ProNav: ac range: 252.196014 m, nav range: 232.771561 m, bearing: 29.997477 deg, approach rate: -0.692534 m/s, LOS rate: -0.011228 deg/s, cmd heading: 35.609147 deg, new cmd heading: 35.597483 deg. zQHeadingCmd: 0.621293 target range: 252.196014 and range: 253.80 m.R ?JbZB:2Ҕڔڒ’@n?ɢ|~<)! % >i!)%;!!i%si- ?5 ;5n\;I5 ?I1IA)EhAԉ9@ @@/@Ա^AA >A >B}o>ByB}#IB}:BByByByB}rS;B}EBBBBBCq4E EE$E"EU;*E4;VE4ZEBEC =a2ED =aJEN f+,札?A2!x>2?2{ٱ23 :AHRS rotation from veh to nav: [[0.814212,-0.571459,-0.102439],[0.580566,0.801878,0.141187],[0.001461,-0.174429,0.984669]]2H?`dI s9??m?@W?Sƿg?i2!x>I2];2͐CYv+Byv#I xxiuMb@Mb@Mb@qqqq q9uX9v?:v:v?Yu?yuTuT9Y=BFyrEiE>Q 5V5D[c?Q 9V5:)dBY?Q E:y3?Q I@EI ;i;V5yBɮF@EQFNOT Ignoring new targets: 252.20 m.7[7[Q  ProNav: ac range: 252.196014 m, nav range: 232.504745 m, bearing: 29.992286 deg, approach rate: -0.615003 m/s, LOS rate: -0.011978 deg/s, cmd heading: 35.597484 deg, new cmd heading: 35.581894 deg. z QHeadingCmd: 0.621021 target range: 252.196014 and range: 253.80 m.R??JbZB:2Ҕڔ!ڒ!’!!-b?UބBɢ<) >i)y;i;i??@; ;I??I@ @@/@!^Ar;Q A I I O >E ? E mE E "E t;*E (;VE ZE a @a @a @a @i I m+,n?A>B>>w?>Bٱ>`3 VAHRS rotation from veh to nav: [[0.814449,-0.571154,-0.102251],[0.580233,0.802052,0.141569],[0.001153,-0.174631,0.984633]]>H@?F@$-E?h??R?@MZƿ?i>B>I>v];>ːCY*By#IbDGVD4y%!%-R=ٔ-fO:Q-->91Y1=5BFy5tE5E5>9Q 5EV5=kc?Q 9MV5=)=dBYIyM?Q IM@=EI=B:i=:=wV5yQɮ]M@aGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 252.20 m. Z ZQ ProNav: ac range: 252.196014 m, nav range: 232.265091 m, bearing: 29.987637 deg, approach rate: -0.613582 m/s, LOS rate: -0.011914 deg/s, cmd heading: 35.581894 deg, new cmd heading: 35.567934 deg. zQHeadingCmd: 0.620778 target range: 252.196014 and range: 253.80 m.RG?JbZB:2Ҕڔڒ’!% k?颭݄Bɢf<) V>i)gƶ;i-~iG?_z;A;IG?IQ9@ @@/@y}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.^Aԩ I I O >s+,Э?A@Y~8By#IbD\VDP)4y%ۅ=%%K=ٔ%Q-%>9)Y)=-BFy-vE5E5>1Q 5EV55;}c?Q 9EV55)5dBYAyAQ IE@5!EI5;i5,:5V5yUBɮUV@UEqQ}FNOT Ignoring new targets: 252.20 m.}[[Q ProNav: ac range: 252.196014 m, nav range: 232.017227 m, bearing: 29.982819 deg, approach rate: -0.617019 m/s, LOS rate: -0.012007 deg/s, cmd heading: 35.567933 deg, new cmd heading: 35.553464 deg. zQHeadingCmd: 0.620525 target range: 252.196014 and range: 253.80 m.R?JbZB:2Ҕڔڒ’?܄BɢJ<) 6>i)u1;i(i?g;V;I?IB!B!B!B!B!B!E_ EUEE"E;*E\;VEZEBEh  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193194 z+,wꭤ?AlYr2Byr#IIv>)vp9 Y = BFy xEE>!Q 5%V5%c?Q 9-V5%)%dBY-y?Q E-:y-?Q I-@%&EI%:i%:%V5y9ɮ=@9YQeFNOT Ignoring new targets: 252.20 m.eymyQ} ProNav: ac range: 252.196014 m, nav range: 231.749756 m, bearing: 29.976908 deg, approach rate: -0.616264 m/s, LOS rate: -0.013636 deg/s, cmd heading: 35.553464 deg, new cmd heading: 35.535708 deg. z}QHeadingCmd: 0.620215 target range: 252.196014 and range: 253.80 m.Rk?JbZB:2ҔڔBڒ’@2K@ۄBɢP<) ->i)P;i5ik?V;[;Ik?I A@A @A@E0@AEA EXE%E"Ev;*E;VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4440941^AM ;I I O >a +,S?A2>2?2ʧٱ2l/ :AHRS rotation from veh to nav: [[0.813863,-0.572468,-0.099535],[0.581056,0.801928,0.138872],[0.000320,-0.170859,0.985295]]2H + ?Q"{ ?`d?`?P4?ſ`?i2>I2 ];2̐CYf8Byf#IbDnYVDn#4y%=%-Y=ٔ-;Q-->9)Y1=5BFy5zE50;E5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.695450AIQ 5UV5Mןc?Q 9]V5MY)MdBYYy] ?Q I]@M)EIMr;iMn;MV5yeBɮm+@mEQFNOT Ignoring new targets: 252.20 m.||Q ProNav: ac range: 252.196014 m, nav range: 231.517197 m, bearing: 29.971700 deg, approach rate: -0.616577 m/s, LOS rate: -0.013821 deg/s, cmd heading: 35.535709 deg, new cmd heading: 35.520070 deg. zQHeadingCmd: 0.619942 target range: 252.196014 and range: 253.80 m.R?JbZB:2Ҕڔڒ’rO@ɢL-<) P;>i)f;ii?W;6;I?I@ @@l0@iԑ^A;Bn>BB#IB?BBBBBS;BEI9IIOU>DzDE\ E^EE"E;*E ;VEZEBE2#?29ٱ2-8, :AHRS rotation from veh to nav: [[0.813357,-0.573577,-0.097267],[0.581765,0.801867,0.136231],[-0.000144,-0.167391,0.985891]]2H? Z渿`ҝ? ?`p?"mſ@j?i239>I2T];2ɐCYb?Byb#IiMMb@Mb@Mb@IIII I9M~jt?y&1|?VD43y-<%A=ٔ1:Q->9Y=BFy|E;E>Q 5V5Ec?Q 9V5X)dBY?Q E:y}"?Q I@-EI:i{:V5yBɮ@Q%FNOT Ignoring new targets: 252.20 m.%%Q= ProNav: ac range: 252.196014 m, nav range: 231.261917 m, bearing: 29.964612 deg, approach rate: -0.604233 m/s, LOS rate: -0.016795 deg/s, cmd heading: 35.520071 deg, new cmd heading: 35.498784 deg. z=k8Q=HeadingCmd: 0.619571 target range: 252.196014 and range: 253.80 m.RE/?JAbAZABA:A2AҔIڔMBIڒI’QQU @}ڄBɢ}<) I>i)N;顉i|i/?i;;I/?IUBDAT read: Rx Time:21:29:27.2786 UTRx dataTimestamp_ set to:1761514168.612852]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200703]9@Y @a@eU1@a^A[R;A>A>II O >! E W E eE (E "E T;*E #;VE c44ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451353\+,8?AV&>V*?VB:ٱVܥ( ^AHRS rotation from veh to nav: [[0.812864,-0.574647,-0.095044],[0.582454,0.801811,0.133593],[-0.000562,-0.163952,0.986468]]VH?`cTu? o??@ThB^Ŀ%?iV&>IVZ^];VΐCYtyt xxbD?VD3ye%V=ٔ%>:Q-->9)Y1=5BFy5~EEF;EE>QQ 5]V5U.c?Q 9eV5U)UdBYaym"?Q Im@U1EIUV;iUU;U"V5yyɮ}@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 252.20 m.VVQe ProNav: ac range: 252.196014 m, nav range: 231.028793 m, bearing: 29.958078 deg, approach rate: -0.593411 m/s, LOS rate: -0.016648 deg/s, cmd heading: 35.498785 deg, new cmd heading: 35.479164 deg. ze6QmHeadingCmd: 0.619228 target range: 252.196014 and range: 253.80 m.Rm?JibiZiBi:q2Ҕڔڒ’b @Yɢe<)a eJ>ia)e;aiimi?*;d;I?I)M9@I @Q@U4@Y]%=]4=DAT read: 21:29:27.2786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 427, 0.31,-1.559,-2.975,-1.389,-2.332, PHS= 0.875,-0.597, 0.900, RAW= 150.8, -15.7, CAL= 152.5, -17.9, ROT= 357.5, 17.9 Ygot valid direction response: 21:29:27.2786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 427, 0.31,-1.559,-2.975,-1.389,-2.332, PHS= 0.875,-0.597, 0.900, RAW= 150.8, -15.7, CAL= 152.5, -17.9, ROT= 357.5, 17.9 PDAT read: Bearing 161.1, 0.6 (Local) ~Local bearing/azimuth received: Bearing 161.1, 0.6 (Local) DAT read: Range 11 to 50 : 247.2 m (Round-trip 329.6 ms) speed 0.2 m/s *DAT read: user:273> BDAT read: Tx time:21:29:28.3948 $Ping request sent.YY]n{t?.?2nQIѿ ]O ?)]>I]Ѹ2i]>YY:publishing transmit ping timeFpublishing direction and range infoyY]Y l?$"=@uYӿYYYYYY Y)YIYiYYYYY Y)YIYYY]n{t?.?2nQIѿ Y)YIYiYYYQ^A ;ԁ A I! I1 OE >9+,Q?ABe >B@[?BIB#R];BʐCYb9Y=BFyEY:E>!Q 5%V5%vc?Q 9-V5%)%dBY)y-"?Q IM@%5EI%;i%;%V5y]Bɮ]@]EJR*qG?AuCuC ?Wd0m@f Pd$C.}RY l?$"=@uYӿѸ2>—ߜp'Si@~]@ҡ;DRBm>BB#IBDBBBBBS;BEygd?he?) ӿj;BrJCZ;?b4qzꗡ*ڗXC◥?Q% addTargetRange:: Added new target pos. range: 247.199997 m, deltaT: 11.364199 s, deltaX: -6.600006 m, approachRate: -0.580772 m/s, rangeRepo size: 4 QU Added new target pos. range: 245.637543 m, bearing: 30.242630 deg, lat: 36.779448 deg, lon: -121.859346 deg, deltaT: 11.364199 s, deltaX: -6.558472 m, approachRate: -0.577117 m/s, posRepo size: 4 YQ]FNOT Ignoring new targets: 245.64 m.]aibEJ4jE( 4rEϚ/E^ EE$E"E;*EVE4ZEBEi);顱iΒi3n?;݌ ^+,}k?A>eI>>>{?>;:ٱ> JAHRS rotation from veh to nav: [[0.812146,-0.576467,-0.090023],[0.583453,0.802150,0.127034],[-0.001019,-0.155694,0.987805]]>H@? kr ?7?`B? P ÿ?i>eI>I>l];9 ?Y ?=BFyEh:E>Q 5V5c?Q 9V5Ώ)dBY?Q E:y(?Q I@9EI:i:GV5yUBɮU@U٧EQFNOT Ignoring new targets: 245.64 m.Q ProNav: ac range: 245.637543 m, nav range: 215.757980 m, bearing: 30.635948 deg, approach rate: -0.603916 m/s, LOS rate: -0.019959 deg/s, cmd heading: 35.458582 deg, new cmd heading: 35.433395 deg. z+[QHeadingCmd: 0.618429 target range: 245.637543 and range: 247.20 m.RdQ?J)b1Z1B1:121Ҕ9ڔ=݄B9ڒ9’AAEmm? ɢ~<) U>i)a;iidQ?%e;%aQ H+,a?A2O>22?2ƍ:ٱ2F :AHRS rotation from veh to nav: [[0.811879,-0.576999,-0.089014],[0.583824,0.802104,0.125615],[-0.001082,-0.153953,0.988078]]2H?`v`ɶ?`ժ?(?`ӸQÿU?i2O>I2Zc];2ːCYBCByB#IbDJKVDJ 4yR%V\=ٔV09Q-V>9V"?YZ"?=ZBFyZEZ:EZ>\Q 5bV5^c?Q 9fV5^.)\Ydyf(?Q If@^=EI^:i^:^V5yjBɮn@nڧE|QFNOT Ignoring new targets: 245.64 m.¹¹Q ProNav: ac range: 245.637543 m, nav range: 215.534607 m, bearing: 30.628531 deg, approach rate: -0.638006 m/s, LOS rate: -0.021208 deg/s, cmd heading: 35.433396 deg, new cmd heading: 35.411120 deg. zhQHeadingCmd: 0.618041 target range: 245.637543 and range: 247.20 m.R%7?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115`?؄Bɢ<) U>i)\;iǙi 7? C<; e$BB#IBIBBBBByS;BEES EYE$E"E;*Ew;VE4ZEBEIt+,C?A,NRx>N?N8ٱNe VAHRS rotation from veh to nav: [[0.811938,-0.576759,-0.090032],[0.583744,0.802193,0.125414],[-0.000111,-0.154384,0.988011]]NHd? tP ?`?` ?" ÿɝ?iNRx>INU];NʐCY^BBy^#IiEMb@Mb@Mb@AAAA A9EK?Zd;O?~jthYE^?yEj=ٔCQ->9Y=BFyEiE>Q 5V5[d?Q 9V5ۇ)dBY{?Q E:y)?Q I@AEI:iZ:hV5y ɮ @YQ]FNOT Ignoring new targets: 245.64 m.ebebQu ProNav: ac range: 245.637543 m, nav range: 215.268799 m, bearing: 30.619594 deg, approach rate: -0.592108 m/s, LOS rate: -0.019932 deg/s, cmd heading: 35.411119 deg, new cmd heading: 35.384276 deg. zuZQ}HeadingCmd: 0.617572 target range: 245.637543 and range: 247.20 m.R}5?JybyZB:2ҔڔBڒ’:L?颹ɢ*<) xR>i)|;iK/i5?@;}(E N E eE %E "E @;*E #;VE 4ZE a @a @a @a @+,?AN*>Nk?NIqٱN4!h nAHRS rotation from veh to nav: [[0.812286,-0.575929,-0.092183],[0.583259,0.802326,0.126817],[0.000923,-0.156778,0.987633]]NH>?nH??@;??N?KĿ?iN*>IN&];N̐CYzIByz#IbD[VDy'4y-=%5O=ٔ=1Q-=>9AYA=EBFyEEMo̺EU>YQ 5mV5]d?Q 9mV5] )]dBYqyu(?Q Iu@]EEI]D;i]a;]V5yBɮ!@ۧEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 245.64 m.̸̸Q ProNav: ac range: 245.637543 m, nav range: 215.039139 m, bearing: 30.611894 deg, approach rate: -0.601672 m/s, LOS rate: -0.020195 deg/s, cmd heading: 35.384277 deg, new cmd heading: 35.361151 deg. z]QHeadingCmd: 0.617168 target range: 245.637543 and range: 247.20 m.R?JQbQZQBY:Y2YҔYڔYaڒa’aam9?ɢ`<) 4b>i)U;i͚i?۸;$A >Q AY Ia Iy O >l+,Ү?A2_>2|?2Oٱ2)$ :AHRS rotation from veh to nav: [[0.813184,-0.574270,-0.094583],[0.582004,0.802867,0.129133],[0.001780,-0.160056,0.987106]]2H?`l`6ǟ??n?)]? |Ŀ_?i2_>I2m];2ːCYBEByB#IbDJEVDJ3yR!%VS=ٔVzQ-V>9XYX=ZBFyZEZ\E^>`Q 5bV5b7"d?Q 9fV5bf)bdBYdyft(?Q If@bHEIb:ib9:bV5yhɮnh@l|QFNOT Ignoring new targets: 245.64 m. Q ProNav: ac range: 245.637543 m, nav range: 214.809219 m, bearing: 30.604267 deg, approach rate: -0.603859 m/s, LOS rate: -0.020053 deg/s, cmd heading: 35.361150 deg, new cmd heading: 35.338244 deg. z2\Q%HeadingCmd: 0.616769 target range: 245.637543 and range: 247.20 m.R%?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’19=@@Bq>BB#IBNBBU =BBBiA)E;AAiEiiM?MA;M+,쮤?AYJBy#IyiMb@Mb@Mb@ 9^I +?~jt?Mb`YX?y<A GA)^AYAbDYVD#4y/<% 6=ٔ Q- >9 Y=BFyEE>Q 5%W5=4d?Q 9-W5|)dBY-l?Q E-:y-&?Q I-@MEI:i: W5y=Bɮ=@9YQeFNOT Ignoring new targets: 245.64 m.eHmHQ} ProNav: ac range: 245.637543 m, nav range: 214.542023 m, bearing: 30.595822 deg, approach rate: -0.594959 m/s, LOS rate: -0.018828 deg/s, cmd heading: 35.338244 deg, new cmd heading: 35.312878 deg. z}NQHeadingCmd: 0.616326 target range: 245.637543 and range: 247.20 m.R?JbZB:2ҔڔBڒ’W@ɢH<) c>i)?;ii?O^;E )+,$?A2L>2?2Jiٱ2bG, :AHRS rotation from veh to nav: [[0.815534,-0.570043,-0.099773],[0.578698,0.804371,0.134524],[0.003570,-0.167447,0.985875]]2H`?=@ ?g?8? ?m?nſH?i2L>I2%];2̐CYBNByB#IbDN;VDN)3yRް<%Rc=ٔVQ-V>9TYX=ZBFyZEZ8E^>\Q 5bW5^Bd?Q 9bW5^x)^dBYdyf%?Q If@^PEI^>:i^:^.W5yhɮn@l|QFNOT Ignoring new targets: 245.64 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205Q% ProNav: ac range: 245.637543 m, nav range: 214.327652 m, bearing: 30.589270 deg, approach rate: -0.595549 m/s, LOS rate: -0.018220 deg/s, cmd heading: 35.312877 deg, new cmd heading: 35.293202 deg. z%HQ-HeadingCmd: 0.615983 target range: 245.637543 and range: 247.20 m.R- ?J)b)Z)B):121Ҕ1ڔ19ڒ9’99E`#;@iɢma<)i mk>iq)u;qqiuaÜi} ?} k;};I} ?I@ @@5@AzAgA IIOH>B}v>B}CB}#IB}SBB}S =ByB}QDB}+S;B}uE)ED EE$E"Eny;*E|;;VE4ZEBE@jb?j!=ٱj 10 vAHRS rotation from veh to nav: [[0.816889,-0.567638,-0.102370],[0.576778,0.805278,0.137311],[0.004493,-0.171213,0.985224]]jH #? *4`t??k? gr? Nſ?ij>Ijt]];jʐCY~LBy~#II>)4<  AiMb@Mb@Mb@ 95^I ?9Y=BFyE E>Q 5W5Td?Q 9W5t)Y?Q E:y4!?Q I@TEI:i]: W5yBɮ@ ܧE)1Q5FNOT Ignoring new targets: 245.64 m.=U=UQM ProNav: ac range: 245.637543 m, nav range: 214.066040 m, bearing: 30.582540 deg, approach rate: -0.591204 m/s, LOS rate: -0.015227 deg/s, cmd heading: 35.293203 deg, new cmd heading: 35.272989 deg. zM3'QUHeadingCmd: 0.615630 target range: 245.637543 and range: 247.20 m.RU?JQbQZYBY:Y2YҔaڔeBaڒa’ai . @لBɢ&׹<) g>i)C><iKi%?%^;%<̛;IE?II-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5168539@ @@5@YIIO<>ԉE V E [E %E "E ;*E ;VE 4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770650ZE a @a @a @a @ +,j:?A>?ٱx5 uAHRS rotation from veh to nav: [[0.818158,-0.565285,-0.105221],[0.574974,0.805838,0.141528],[0.004787,-0.176291,0.984326]]HX.? ﺿ`0f?l?@?s?@ƿ@?i>I`];ːCYOBy#IbDDVDJ3y -<%H=ٔ9Y=BFyEE>)Q 55W5-Yed?Q 95W5-p)-dBY9y= ?Q I=@-XEI-:i-:- W5yAɮE@AGSeB*** querying acoustic contact ***:aBaQFNOT Ignoring new targets: 245.64 m.Q ProNav: ac range: 245.637543 m, nav range: 213.822128 m, bearing: 30.576397 deg, approach rate: -0.585246 m/s, LOS rate: -0.014756 deg/s, cmd heading: 35.272989 deg, new cmd heading: 35.254539 deg. z"QHeadingCmd: 0.615308 target range: 245.637543 and range: 247.20 m.RЄ?JbZB:2Ҕڔڒ’  L*@qɢu_<)q }tk>iy)}b15=l?rQQq?t9ؿ 5ď?)5T>I5i5^ >T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A% ܪ&<A% >A% >) I I O >I ++,BCB$IBYBBR =BBB,S;BwEy=;%=W=ٔ=Q-=>9AYA=ECFyEEEEM>IQ 5UW5Mtd?Q 9]W5Mbm)IYYyYQ I]@M\EIM;iM;MW5yBɮ@ӧEQFNOT Ignoring new targets: 245.64 m.Q ProNav: ac range: 245.637543 m, nav range: 213.600250 m, bearing: 30.570797 deg, approach rate: -0.590583 m/s, LOS rate: -0.014922 deg/s, cmd heading: 35.254540 deg, new cmd heading: 35.237723 deg. z#QHeadingCmd: 0.615014 target range: 245.637543 and range: 247.20 m.Rq?JbZB:2Ҕڔڒ’ @EQ EUcEU&EQ"EQ*EU";VEU4ZEQBEU[i)%SMԁ A E %=E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse{+,fn?A4F֮>F?FdٱFH; NAHRS rotation from veh to nav: [[0.820714,-0.561085,-0.107759],[0.571323,0.807405,0.147266],[0.004376,-0.182428,0.983209]]FHIC?@i@FH?C?`?q?@Yǿsv?iF֮>IFG];FɐCYnKByn#I ppv=v=iMb@Mb@Mb@ 9S?~jth?MbPY?yD; A@ A)1AYAbD:VD{3y%C=ٔm:Q->9Y=CFyE-E>Q 5W5 d?Q 9W5i)dBY?Q E:y?Q I@`EIL ;ir;W5yɮ6@QFNOT Ignoring new targets: 245.64 m.ddQ ProNav: ac range: 245.637543 m, nav range: 213.347427 m, bearing: 30.565413 deg, approach rate: -0.586626 m/s, LOS rate: -0.012507 deg/s, cmd heading: 35.237721 deg, new cmd heading: 35.221550 deg. zV QHeadingCmd: 0.614732 target range: 245.637543 and range: 247.20 m.R_?JbZB:2ҔڔBڒ’j@ԉڄBɢP1<) :b>i)_ <i៼i_?g;P3I_?IEi EmmEiEi"Ei*Em(;VEiZEia}@a}@a}@a}@@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹ ^A= yb];AE iAzAE jAAu .AIy I O >~+,~?A2>2m@?2tٱ2pc;< :AHRS rotation from veh to nav: [[0.821670,-0.559880,-0.106738],[0.569952,0.808343,0.147432],[0.003737,-0.181976,0.983296]]2H`K?@-S =??` ? n?Jǿ )w?i2>I2B];2ʐCYFQByF#IbDNCVDN3yVu<%VX=ٔVW:Q-Z>9^ ?Y^ ?=^CFy^E^kEb>`Q 5fW5bؕd?Q 9jW5bfnT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapse)`Ypyrl?Q Ir@bdEIbSh;ibpi;bW5yUBɮU@UԧEQFNOT Ignoring new targets: 245.64 m.ddQ5 ProNav: ac range: 245.637543 m, nav range: 213.119080 m, bearing: 30.560643 deg, approach rate: -0.597472 m/s, LOS rate: -0.012496 deg/s, cmd heading: 35.221551 deg, new cmd heading: 35.207223 deg. z56 Q=HeadingCmd: 0.614482 target range: 245.637543 and range: 247.20 m.R=N?J9b9Z9B9:92AҔAڔAAڒi’iiu b@颹ɢP<) m>i)M <iiN?S;^6IN?Iԩy@y @@@^A]qBw>BCB $IB^BBBBBS;BdEAIIO>bEǻ 4jEO4rE8/E-N E-E-#E)"E-@;*E-F;VE-3ZE)BE- ? Yy#ٱ : %AHRS rotation from veh to nav: [[0.822045,-0.559674,-0.104914],[0.569417,0.808771,0.147152],[0.002494,-0.180705,0.983534]] H@1N?`ۺ@8?s??)od? W!ǿy?i ,~>I ]; ΐCY5TBy5#IiMb@Mb@Mb@ 9l?Q:v?Y?yuT< A@ tA)GAYbD?VD3yk<%6=ٔ4;Q->9Y=%CFy%E%E%>)Q 55W5-d?Q 95W5-;b)-dBY=?Q E=:y=?Q I=@-hEI-:i-H:-W5yAɮE}@IiQuFNOT Ignoring new targets: 245.64 m.u}Q ProNav: ac range: 245.637543 m, nav range: 212.853424 m, bearing: 30.556960 deg, approach rate: -0.617387 m/s, LOS rate: -0.008568 deg/s, cmd heading: 35.207224 deg, new cmd heading: 35.196164 deg. z,QHeadingCmd: 0.614289 target range: 245.637543 and range: 247.20 m.R B?JbZB:2Ҕڔ Bڒ’@M@ۄBɢb<) zr>i)t<iYi B?߷;+I B?It>i>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse a@a @a@a@i1^A9a A ؟AI I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseOV+,d"?AE.T E.LE.'E,"E.;*E.;VE.'4ZE,a2@a2@a2@a2@9YEUByAy}AbD9VD3ym;%O=ٔQ->9"?Y"?=CFyEE>Q 5W5d?Q 9W5^)dBYyQ I@lEI>:iI;GW5yBɮS@GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 245.64 m.-m-mQ= ProNav: ac range: 245.637543 m, nav range: 212.620331 m, bearing: 30.553722 deg, approach rate: -0.590926 m/s, LOS rate: -0.008220 deg/s, cmd heading: 35.196163 deg, new cmd heading: 35.186436 deg. zEQEHeadingCmd: 0.614119 target range: 245.637543 and range: 247.20 m.RE6?JIbIZIBI:I2IҔڔڒ’ @܄Bɢ><) q>i)< ii6?sm;I6?Ii@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ+GSkAEo9ESkAYMR\A^ANJκA I I O >=+,"կ?A::>:?:Eٱ:7BFv>BDBDBDBFS =BDBDBFR;BFRE bAHRS rotation from veh to nav: [[0.821994,-0.560212,-0.102408],[0.569494,0.809034,0.145397],[0.001398,-0.177836,0.984059]]:H M?Bh7`K9??_?V?Wƿi}?i::>I:a];:̐CYjVByn$IbDvZVDv%4y~t<%~Y=ٔK>;Q->9Y= CFy E 9E >Q 5%W5d?Q 9%W5[)dBY!y%?Q I%@oEI;i ;!W5y1ɮ5:@1QQ]FNOT Ignoring new targets: 245.64 m.eeQu ProNav: ac range: 245.637543 m, nav range: 212.397278 m, bearing: 30.550615 deg, approach rate: -0.591292 m/s, LOS rate: -0.008244 deg/s, cmd heading: 35.186437 deg, new cmd heading: 35.177107 deg. zuQ}HeadingCmd: 0.613956 target range: 245.637543 and range: 247.20 m.R}>,?JybyZyBy:2Ҕڔڒ’@Y@ԙAɢE<)A Es>iI)Ms,?;̌ZI>,?IES E}E#E"E;*Em0;VE3ZEBE! Yh+,ﯤ?A2)>2U?2'ٱ2{~4 :AHRS rotation from veh to nav: [[0.821495,-0.561288,-0.100506],[0.570215,0.808831,0.143692],[0.000640,-0.175352,0.984506]]2HI?`ź`3???d?1D?qƿ?i2)>I2Ӧ];2ʐCY^XByb$Ii}Mb@Mb@Mb@yyyy y9}?{Gzy&1|?Y} ?y}ף}`;}A}z@ }A)}AyY}fAbDBVD3y<%@=ٔ:Q->9Y=CFyE;E>Q 5W5jd?Q 9W5W)dBY ?Q E:y?Q I@sEI3:i:K%W5yBɮ@էEQFNOT Ignoring new targets: 245.64 m.    Q ProNav: ac range: 245.637543 m, nav range: 212.131454 m, bearing: 30.547453 deg, approach rate: -0.624092 m/s, LOS rate: -0.007433 deg/s, cmd heading: 35.177107 deg, new cmd heading: 35.167608 deg. z>Q%HeadingCmd: 0.613791 target range: 245.637543 and range: 247.20 m.R%a!?J!b!Z!B):)2)Ҕ)ڔ- B1ڒ1’19=@e݄BɢeM<)a mu>ii)m^R[/?R~z):ٱRc+ ZAHRS rotation from veh to nav: [[0.819592,-0.565029,-0.094927],[0.572947,0.808077,0.136904],[-0.000647,-0.166593,0.986026]]RH:? MU?? ?O/ERſ`?iR>IR`];RːCbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseYf[Byf$I hhbDpVDpyzq<%zV=ٔz!];Q-~>9|Y|=~CFyE<E> Q 5W5 7d?Q 9W5 WT) dBYy?Q I@ wEI ;i ; (W5y!ɮ%@!IQMFNOT Ignoring new targets: 245.64 m.UUQe ProNav: ac range: 245.637543 m, nav range: 211.893311 m, bearing: 30.544408 deg, approach rate: -0.625850 m/s, LOS rate: -0.008011 deg/s, cmd heading: 35.167609 deg, new cmd heading: 35.158464 deg. zmQmHeadingCmd: 0.613631 target range: 245.637543 and range: 247.20 m.Rm?JqbqZqBq:q2qҔyڔyyڒ’ V@颭ބBɢI<) y>iQ)! },,#?A%e>%?%G:ٱ%& =AHRS rotation from veh to nav: [[0.818802,-0.566604,-0.092319],[0.574074,0.807838,0.133553],[-0.001093,-0.162351,0.986732]]%H@3? !1^? ? D?QĿO?i%e>I%];%ʐCYESByM#IiMb@Mb@Mb@ 9Gz?~jt9 ?Y ?=CFyE M;E >Q 5W5d?Q 9W5P)dBY?Q E:y% ?Q I%@|EI:i:u,W5y-Bɮ-$@-֧EQQUFNOT Ignoring new targets: 245.64 m.]lr]lrQm ProNav: ac range: 245.637543 m, nav range: 211.623077 m, bearing: 30.542956 deg, approach rate: -0.615770 m/s, LOS rate: -0.003312 deg/s, cmd heading: 35.158464 deg, new cmd heading: 35.154104 deg. zmtQuHeadingCmd: 0.613555 target range: 245.637543 and range: 247.20 m.Ru?JqbyZyBy:y2yҔڔBڒ’@u߄Bɢu~<)q uJg>iq)}oC ,,Uh=?AF,>F?FL:ٱFvb rAHRS rotation from veh to nav: [[0.818100,-0.568209,-0.088606],[0.575074,0.807965,0.128384],[-0.001358,-0.155986,0.987758]]FH-?.`䮶g??n?@V`Xÿ?iF,>IFR];DYzRByz#IbD-=VD-3y5`%=X=ٔ]5:Q-]>9e"?Ye"?=eCFyeEeQ;Em>iQ 5uW5mxe?Q 9W5mYM)mdBYy ?Q I@mEIm;imI;m/W5y}Bɮ@ͧEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 245.64 m. Kz KzQ] ProNav: ac range: 245.637543 m, nav range: 211.387726 m, bearing: 30.541621 deg, approach rate: -0.602011 m/s, LOS rate: -0.003419 deg/s, cmd heading: 35.154103 deg, new cmd heading: 35.150093 deg. z]-QeHeadingCmd: 0.613485 target range: 245.637543 and range: 247.20 m.ReX ?JabaZaBa:a2iҔiڔiiڒq’ཱུ@Bɢ <) c>i)#<i{i X ?5M;5';I5X ?I9QIq)uhA9@ @@/@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ar;ԩ A I) I9 OE >,,CW?AB B B B B B B B"R;B"?E@Vj>V?8?V/:ٱV: bAHRS rotation from veh to nav: [[0.817269,-0.569973,-0.084868],[0.576255,0.808027,0.122569],[-0.001286,-0.149078,0.988825]]VH@'?7=⹵`p?Z?`?eUÿs?iVj>IV9];V͐CYfYByf$IbDpVDpyz=%zO=ٔzAQ-z>9|Y|=~CFy~Er;E> Q 5W5 !e?Q 9W5 J) dBYy'?Q I@ EI :i  : 63W5yɮ?@=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseEUD EU}EU$EQ"EUny;*EUm0;VEU4ZEQBEU@iI)u 8&@,,4q?A:#>:Y?:nN:ٱ: BAHRS rotation from veh to nav: [[0.816976,-0.570646,-0.083149],[0.576671,0.808133,0.119883],[-0.001215,-0.145892,0.989300]]:H$?BDIt?9? ?`S`¿ X?i:#>I:];:ɐChY TBy #IiMb@Mb@Mb@ 9x&1?Q롿{Gzt?Y!?y\ף; ^A)GAY=AbD?VD3y~%0=ٔFQ->9Y=CFyE:E>Q 5%W57e?Q 9-W5E)dBY-!?Q E-:y-?Q I-@EI ;i; ;Y7W5y5zBɮ5b@9YQeFNOT Ignoring new targets: 245.64 m.eܾeܾQu ProNav: ac range: 245.637543 m, nav range: 210.847916 m, bearing: 30.537897 deg, approach rate: -0.685567 m/s, LOS rate: -0.005214 deg/s, cmd heading: 35.145729 deg, new cmd heading: 35.138906 deg. zueQ}HeadingCmd: 0.613290 target range: 245.637543 and range: 247.20 m.R}?JybyZB:2ҔڔBڒ’!@颽Bɢ<) b>i)J)<iSԦi? k;G;I?IET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseE]K E]E]&EY"E];*E]7;VE]4ZEYae@ae@ae@ae@y@y @y@y@y)^Ae c;Y A I I O >",,G?A>">>G?>Q:ٱ>* FAHRS rotation from veh to nav: [[0.817134,-0.570712,-0.081120],[0.576447,0.808676,0.117270],[-0.001327,-0.142587,0.989781]]>H%?`ECNĴ@r??i?)UI@¿J?i>">I>];>ːCN=N=RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseYVZByV$IbD^CVD^3yf<%fp=ٔj9Q-j?9hYh=nCFynEnYEr?pQ 5vW5rEe?Q 9vW5rB)rdBYxyz?Q Iz@rEIr:ir:r<:W5yɮ @!Q-FNOT Ignoring new targets: 245.64 m.-'5'9QE ProNav: ac range: 245.637543 m, nav range: 210.639053 m, bearing: 30.536326 deg, approach rate: -0.631695 m/s, LOS rate: -0.004758 deg/s, cmd heading: 35.138905 deg, new cmd heading: 35.134186 deg. zEPQMHeadingCmd: 0.613207 target range: 245.637543 and range: 247.20 m.RM&?JIbQZQBQ:Q2QҔYڔYYڒY’aae3"@颍Bɢtk<))޼ j>i)u+<顙iMii&?x;;I&?I]>i-9@) @1@50@1aB%u>B!B!B!B!B!B!B%_R;B%E^AUu ;ԙUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseE]P E]ZE]$EY"E](;*E];VE]4ZEYBE]Թ (,,र?A->-:?-m:ٱ-o mAHRS rotation from veh to nav: [[0.817253,-0.570548,-0.081071],[0.576278,0.808804,0.117219],[-0.001309,-0.142517,0.989792]]-H`&?A `p?`??@-qU=¿@_?i->I-/];-͐CYyy}$I==ԑi Mb@Mb@Mb@     9 Mb?V-Mb`Y #?y m   A @ A)  Y pAbD%QVD%4y5:%=5=ٔ=-Q-=>9AYA=ECFyEEEIEE>IQ 5UW5MZe?Q 9]W5M?)MeBY]#?Q E]:y]?Q I]@MEIMH:iMQ:M,>W5yexBɮm@mΧEQFNOT Ignoring new targets: 245.64 m.77Q ProNav: ac range: 245.637543 m, nav range: 210.350937 m, bearing: 30.537042 deg, approach rate: -0.639579 m/s, LOS rate: 0.001592 deg/s, cmd heading: 35.134186 deg, new cmd heading: 35.136337 deg. z݋8QHeadingCmd: 0.613245 target range: 245.637543 and range: 247.20 m.R?JbZB:2ҔڔBڒ’`#@颍BɢU<) h>i)"/<顑i_!i?;;T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI?I@ @@/@^A c;E 0 E 8E E "E Jg;*E  ;VE ZE a @a @a @a @! e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseA .AI I1 O= >[.,,&?AF)>F`?F8M:ٱFF ZAHRS rotation from veh to nav: [[0.817945,-0.569160,-0.083807],[0.575296,0.809020,0.120501],[-0.000783,-0.146777,0.989169]]FH,?6@`th?`~?@*پ?I¿`F?iF)>IF];F̐CYbUByb#IbDPVD:4yּ%a=ٔuQ->9 ?Y ?=CFy%E%]XE%>)Q 55W5-ke?Q 95W5-<)-eBY9y=?Q I=@-EI- :i-:-YAW5yAɮE/@AGSeB*** querying acoustic contact ***:aBaiQuFNOT Ignoring new targets: 245.64 m.}c8}c8Q ProNav: ac range: 245.637543 m, nav range: 210.118423 m, bearing: 30.537695 deg, approach rate: -0.638494 m/s, LOS rate: 0.001795 deg/s, cmd heading: 35.136337 deg, new cmd heading: 35.138298 deg. z8QHeadingCmd: 0.613279 target range: 245.637543 and range: 247.20 m.R?JbZB:2Ҕڔڒ’#@BɢJv<) ]>i)ٶ1<iĿi?;տ;I?Ia@a @a@e3@a1ԉ B5 v>B1 B5 $IB5 ^BB1 B1 B1 B5 R;B5 E5,,Pذ?A28p>2?2V8ٱ2m :AHRS rotation from veh to nav: [[0.818758,-0.567457,-0.087335],[0.574139,0.809220,0.124610],[-0.000038,-0.152168,0.988355]]2H@D3?@(`[X_?!?s?*>zÿ?i28p>I2Ҥ];2ʐCYFVByF$IbDZHVDZ4yj ;%jM=ٔn]Q-r>9v"?Yv"?=vCFyvEvhEz>Q 5 W5~e?Q 9 W58)eBYyu?Q I@EIv;ie;DW5y-vBɮ-@5ϧEqbE4jE4rEW\0E4 EaEE"Ej;*E!;VEZEBEiy)d4<顁iJzi?g; ;I?IԉԱM 9@I  @I @M 0@I  2Acoustic response timeout ^A 3;A >A > AIIO ?=,, 5?Af>fa?f 4ٱf! nAHRS rotation from veh to nav: [[0.819775,-0.565458,-0.090693],[0.572685,0.809620,0.128634],[0.000689,-0.157390,0.987536]]fH`;?`<7`oS?h? w?@!F?Y%Ŀ?if>Ife];dYvZByv$IE. EOE&E"Eye;*E3;VE4ZEa@a@a@a@u2Acoustic response timeoutiMb@Mb@Mb@ 9'1Z?~jtY"?yD A@ )1AYAbDFVD4y<%=ٔKQ->9Y=CFyEQE>Q 5W5Me?Q 9W53) eB!YeG#?Q Ee:ye ?Q Ie@EIi)8<ilai?';ٷ(;I?IQ QQԁGjA7།5 2Acoustic response timeoutM o9M jAYM [A 9@  @ @ /@ ԩ BaBaBaBaBaBaBaBe:R;BeE^Ar;E}B E}TE}(Ey"E}w;*E};VE}c44ZEyBE}9 ?Y ?=CFyE E >Q 5W5ae?Q 9W5Q/)eBYyQ I%@EI):i:mNW5y-lBɮ-@-ǧEQQUFNOT Ignoring new targets: 245.64 m.](](Qm ProNav: ac range: 245.637543 m, nav range: 209.162933 m, bearing: 30.538057 deg, approach rate: -0.662720 m/s, LOS rate: -0.000432 deg/s, cmd heading: 35.140060 deg, new cmd heading: 35.139383 deg. zm嗷QuHeadingCmd: 0.613298 target range: 245.637543 and range: 247.20 m.Ru?JqbqZqBq:y2yҔyڔyڒ’/&@颵Bɢ -<) a>i)m<<项i7>i?,;[3;I?I@ @@@ 52Acoustic response timeout9 ^A +;A% ؟AI1 II O] >a rM,,z:?AE\ EE"E"E;*EA;VE(3ZEa%@a%@a%@a%@Y=cBy=$Iu2Acoustic response timeoutiMb@Mb@Mb@ 9jt?~jtMb`?Y ?y;A 1A)AYAbD=;VD=)3yM<%M)=ٔIQ-U>9U"?YU"?=UCFyUEYE]>aQ 5mW5e(e?Q 9mW5e%+)eeBYm!?Q Eu:yu ?Q Iu@eEIee ;ie ;eRW5yyɮ}@yQFNOT Ignoring new targets: 245.64 m.c^c^Q ProNav: ac range: 245.637543 m, nav range: 208.859711 m, bearing: 30.536594 deg, approach rate: -0.628628 m/s, LOS rate: -0.003038 deg/s, cmd heading: 35.139384 deg, new cmd heading: 35.134987 deg. znQHeadingCmd: 0.613221 target range: 245.637543 and range: 247.20 m.R?JbZB:2ҔڔBڒ’@f'@Bɢ s<)  .n>i ) @< ii?_;4c7;I?I)I)))9@ @@0@Q^A2;- 2Acoustic response timeoutԁ A5 .AI9 IQ O] >%T,,sT?A0Y~`By~ $I = =bD>VD43yERf%E]=ٔAQ-E>9M ?YM ?=MCFyMEIEU>QQ 5]W5Ue?Q 9eW5U')UeBYayaQ Ie@UEIU;iU:UUW5ymiBɮu@qGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 245.64 m.[[Q ProNav: ac range: 245.637543 m, nav range: 208.627747 m, bearing: 30.535472 deg, approach rate: -0.620028 m/s, LOS rate: -0.003003 deg/s, cmd heading: 35.134988 deg, new cmd heading: 35.131618 deg. zQHeadingCmd: 0.613162 target range: 245.637543 and range: 247.20 m.R6?JbZB:2ҔڔڒBBB$IBcBBBBBAR;BEBBBBBC-4’%@q(@MBɢMC<)I Mf>iI)UBE BDAT read: Response Not Received E *response not receivedM *DAT read: user:275> U BDAT read: Tx time:21:29:40.8448 ] $Ping request sent.] E?EwٱEx( AHRS rotation from veh to nav: [[0.823046,-0.560225,-0.093508],[0.567975,0.811944,0.134730],[0.000444,-0.163999,0.986460]]EH dV?\,? q?`>?.=? Ŀ`?iE>IEj];AY eBy $IiMb@Mb@Mb@ 9x&1?Q{Gzt?YA ?yף;QA@ ^A)GAYAbDKVD 4y߱<%3=ٔ :Q->9"?Y"?=CFyE@ME>Q 5W5Re?Q 9W5#)eBYq ?Q E:y?Q I@EIs:iE:YW5yɮE@)Q-FNOT Ignoring new targets: 245.64 m.5Ƞ5ȠQE ProNav: ac range: 245.637543 m, nav range: 208.340973 m, bearing: 30.533488 deg, approach rate: -0.634033 m/s, LOS rate: -0.004393 deg/s, cmd heading: 35.131618 deg, new cmd heading: 35.125657 deg. zE@QMHeadingCmd: 0.613058 target range: 245.637543 and range: 247.20 m.RMe?JIbIZIBQ:Q2QҔQڔ]BYڒ’ x)@ Bɢ #<) Rn>i)rF<ini]e?];]Iee?Ia@ @@0@ E5L E5zE5$E1"E5W;*E5.;VE54ZE1a=@a=@a=@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248603^A 2;9 Aa Iq I O >b,,*Lj?AhYQBy#IbD=]VD='+4y}ؽ%}_=ٔ}Q-}>9Y=CFyEE>Q 5W5e?Q 9W5 )eBYyQ I@EI:i:]W5ygBɮa@ȧEQFNOT Ignoring new targets: 245.64 m.IIQ ProNav: ac range: 245.637543 m, nav range: 208.110870 m, bearing: 30.531892 deg, approach rate: -0.626740 m/s, LOS rate: -0.004352 deg/s, cmd heading: 35.125658 deg, new cmd heading: 35.120865 deg. z$?QHeadingCmd: 0.612975 target range: 245.637543 and range: 247.20 m.R?JbZB:2Ҕڔڒ’_,*@5Bɢ5<)1 5XD>i1)=H<99i=NHiE?E;ECԺIE?IIUV>iU>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5007409@ @@5@@iA@iA^AeAIIOh>)BBB$IBhBBBBBQ;BEE D E vE E "E ny;*E ,;VE ZE BE @2]?2Ҹ;ٱ2/ :AHRS rotation from veh to nav: [[0.824240,-0.558310,-0.094442],[0.566236,0.811997,0.141556],[-0.002346,-0.170152,0.985415]]2H+`?`S-?@?? 7c ſ ?i2>I2P|];0Y^iByb$IIb<)b=dfAbDjIVDjX4yr=%rU=ٔvY;Q-v>9tYt=zCFyzE~E>!Q 5-W5%/f?Q 9-W5%_)%!eBY)y-\?Q I-@%EI%4:i%,:%v`W59yAɮE@AaQmFNOT Ignoring new targets: 245.64 m.mmQ ProNav: ac range: 245.637543 m, nav range: 207.867706 m, bearing: 30.530336 deg, approach rate: -0.625231 m/s, LOS rate: -0.004005 deg/s, cmd heading: 35.120863 deg, new cmd heading: 35.116191 deg. z/Q%HeadingCmd: 0.612893 target range: 245.637543 and range: 247.20 m.R%?J!b!Z!B):)2)Ҕ)ڔ)1ڒY’aam+@Bɢc<) %4p>i!)M(LJn,,t?A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256792DYMeByM$IiMb@Mb@Mb@ 9Pn?Y$?yA@ GA)YAbD5VD3yn% ,=ٔ Q- >9 ?Y ?=CFyEE>Q 5%W5$#f?Q 9-W5)Y-$?Q E-:y-?Q I-@EI ;ii ;dW5y5eBɮ=@9YQeFNOT Ignoring new targets: 245.64 m.e `e `Qu ProNav: ac range: 245.637543 m, nav range: 207.566711 m, bearing: 30.524588 deg, approach rate: -0.640428 m/s, LOS rate: -0.012247 deg/s, cmd heading: 35.116192 deg, new cmd heading: 35.098924 deg. zuyQ}HeadingCmd: 0.612592 target range: 245.637543 and range: 247.20 m.R}?JbZB:2ҔڔBڒ’ +@颽Bɢ<) Jf>i)O<ii?];~EI?I]9@Y @Y@]4@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508527^A_ A I I O >u,, Kر?AB2u>B0B2$IB2mBB2T =B0B0B2Q;B2E>t~>>Ǖ?>;ٱ>a* VAHRS rotation from veh to nav: [[0.823133,-0.561017,-0.087821],[0.567797,0.811068,0.140623],[-0.007663,-0.165616,0.986161]]>H@W?@s{e+?D? ?Kc`2ſ?i>t~>I>];>ȐCYmlBym$IbD7VDp3y=%S=ٔ`9Y=CFyE;E>Q 5W5d4f?Q 9W5*)eBYy?Q I@EI;i;gW5ycBɮm@ɧEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 245.64 m.%f%fQ  ProNav: ac range: 245.637543 m, nav range: 207.318649 m, bearing: 30.519707 deg, approach rate: -0.638319 m/s, LOS rate: -0.012575 deg/s, cmd heading: 35.098925 deg, new cmd heading: 35.084264 deg. z QHeadingCmd: 0.612336 target range: 245.637543 and range: 247.20 m.R ?JbZB:2!Ҕ!ڔ!!ڒ)’))-,@EA EiE$E"Ev;*E%;VE4ZEBEi)w R<iIi% ?%;%I% ?I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760710Q)9@ @@/@@=@=i^A- 7A5 hAzA1 ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012746A] ؟AIa Iq O >|{,,$?A6p>6 ?6 <ٱ6M$ BAHRS rotation from veh to nav: [[0.822068,-0.563211,-0.083652],[0.569311,0.810600,0.137159],[-0.009441,-0.160378,0.987011]]6HaN?6j7?o?j?UAĿ ?i6p>I6{];6ːCYF`ByF $I HHN=N=iMb@Mb@Mb@ 9y&1?V-?~jthY`%?y<D A@ A)YAbD5HVD54yE0x%EP=ٔE;Q-E>9M"?YM"?=MCFyMEU;EU>YYQ 5W5]iEf?Q 9W5]")]eBY%?Q E:y4&?Q I@]EI]:i]:]dkW5yɮ0@1Q=FNOT Ignoring new targets: 245.64 m.=aEaQM ProNav: ac range: 245.637543 m, nav range: 207.066788 m, bearing: 30.511547 deg, approach rate: -0.617809 m/s, LOS rate: -0.020041 deg/s, cmd heading: 35.084264 deg, new cmd heading: 35.059754 deg. zM\QuHeadingCmd: 0.611908 target range: 245.637543 and range: 247.20 m.R}?JybyZyBy:y2yҔڔ Bڒ’-@UBɢUc<)Y ]U>iY)]U܂,, ?A2 >2?2L8<ٱ2 :AHRS rotation from veh to nav: [[0.820804,-0.565761,-0.078712],[0.571099,0.810103,0.132588],[-0.011249,-0.153781,0.988041]]2HD?`v&qF? \?`?`w @ÿ?i2 >I2];2ʐCYBfByB$IbDNEVDN3yV=%VU=ٔV ;Q-V>9XYX=ZCFyZEZ;E^>`Q 5fW5bVf?Q 9fW5b* )beBYdyf&?Q If@bEIbN:ibg:bnW5yn\BɮnX@nEQFNOT Ignoring new targets: 245.64 m. <˹ <˹Q ProNav: ac range: 245.637543 m, nav range: 206.819794 m, bearing: 30.503368 deg, approach rate: -0.669883 m/s, LOS rate: -0.022210 deg/s, cmd heading: 35.059754 deg, new cmd heading: 35.035186 deg. zsQ%HeadingCmd: 0.611479 target range: 245.637543 and range: 247.20 m.R%?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115`~8.@eBɢeq[<)a e^_>ia)m,WBqBu"$IBurBBuS =BqBqBuQ;BuE^A9DzDbEqjEuȶ4rEu+/E< EmEE"E,r;*E(;VEZEBE9 %,,s%?A2 >2]?2sL<ٱ2q >AHRS rotation from veh to nav: [[0.819129,-0.568863,-0.073645],[0.573474,0.809359,0.126754],[-0.012501,-0.146061,0.989197]]2H M6?4_ڲY? D?v9?♉¿?i2 >I29];0YF^ByF $IbDN>VDN43yn%nG=ٔrG;Q-r>9pYt=vCFyvEv;Ev>xQ 5~W5zgf?Q 9~W5z)z eBYy'?Q I@zEIz;iz;zVrW5y ɮ @QQUFNOT Ignoring new targets: 245.64 m.]+ƹ]+ƹQm ProNav: ac range: 245.637543 m, nav range: 206.556458 m, bearing: 30.494404 deg, approach rate: -0.635396 m/s, LOS rate: -0.021657 deg/s, cmd heading: 35.035186 deg, new cmd heading: 35.008259 deg. zmmQuHeadingCmd: 0.611009 target range: 245.637543 and range: 247.20 m.Ruk?JqbqZyBy:y2yҔڔڒ’ x /@!BɢE<) HK>i) *TZ< 1i=꙱iMk?uZe;};I}k?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021238AI@I @I@M/@Iq^A jb;A >A >ԩ E a E `E &E "E ݉;*E '!;VE 4ZE a @a @a @a @A1 IA IQ e BDAT read: Rx Time:21:29:43.5677 e TRx dataTimestamp_ set to:1761514184.996641m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273756Ou >@,,??A2@>2!?2;f<ٱ2 :AHRS rotation from veh to nav: [[0.817387,-0.571853,-0.069726],[0.575917,0.808185,0.123114],[-0.014052,-0.140789,0.989940]]2H (? L@ٱm??m?`2nj\¿?i2@>I2{];2ɐCYF\ByF$IiMb@Mb@Mb@ 9NbX9?+?y&1|Y%?y=`QA@ 1A)YpAbD?VD3yM %U3=Qٔ]U_;Q-]>9YYY=eCFyeEe;Ee>iQ 5uW5mN{f?Q 9uW5m)meBY}%?Q E}:y},?Q I}@mEIm* ;im;mRvW5yZBɮEQFNOT Ignoring new targets: 245.64 m.Q ProNav: ac range: 245.637543 m, nav range: 206.263885 m, bearing: 30.482978 deg, approach rate: -0.635892 m/s, LOS rate: -0.024868 deg/s, cmd heading: 35.008258 deg, new cmd heading: 34.973933 deg. zQ HeadingCmd: 0.610410 target range: 245.637543 and range: 247.20 m.R C?J b Z B1:121Ҕ1ڔ=B9ڒ9’99E~/@颍Bɢ6<) C>i)-]<iliC?ە;2 BI BM $IBM mBBM T =BI BI BM Q;BM EI O >j,,Z?A> >>?>֕~<ٱ> FAHRS rotation from veh to nav: [[0.815636,-0.574716,-0.066636],[0.578357,0.806822,0.120584],[-0.015538,-0.136892,0.990464]]>H?d?|?޾?fҏ?i> >I>@|];>ʐCYNQByN#IbDVNVDV4y^,o%b]=ٔb;Q-b>9`Yd=fCFyfEfa<Ef>hQ 5nW5j f?Q 9rW5j&)jdBYpyr,?Q Ir@jEIjp:ij$:jyW5ytɮv@xGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 245.64 m.%%Q5 ProNav: ac range: 245.637543 m, nav range: 206.027084 m, bearing: 30.473500 deg, approach rate: -0.654840 m/s, LOS rate: -0.026240 deg/s, cmd heading: 34.973932 deg, new cmd heading: 34.945466 deg. zQHeadingCmd: 0.609913 target range: 245.637543 and range: 247.20 m.RJ#?JbZB:2Ҕڔڒ’\0@EO E<E(E"E;*E1;VEc44ZEBEiY)]D7_iuPuS>uF/@ul$>u/@ u%/>)uj @Iu%/qqu䧯?"M Qz/?}? u'?)u.$Iuiu%/qqT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.IJ#?I)@ @@0@aԑ^A<E *DAT read: user:276> M BDAT read: Tx time:21:29:44.8948 M $Ping request sent.M Ա Ð,,t?A:`>:͆?:44<ٱ:x BAHRS rotation from veh to nav: [[0.814201,-0.576997,-0.064421],[0.580337,0.805608,0.119182],[-0.016870,-0.134424,0.990780]]:H ?`v}?@??PF 4y?i:`>I:~o];:ɐCY^EByb#IiEMb@Mb@Mb@AAAA A9ES㥛?9u ?Yu ?=uCFyuE}Z;E}>Q 5W5Ef?Q 9W5)dBYv&?Q E:y+?Q I@EI:i:C}W5yXBɮ$@§EJRP_?AmCmCϣ?e m@Q8W=].X8D@7H?OUrl?%/—/Kni@T\@ D@!tf?6l=?*?jBrrKCZ M?bGY!zuBꗭط??2Bڗ9\C◭="?ԑQ addTargetRange:: Added new target pos. range: 239.100006 m, deltaT: 16.383615 s, deltaX: -8.099991 m, approachRate: -0.494396 m/s, rangeRepo size: 4 Q Added new target pos. range: 237.590683 m, bearing: 29.686347 deg, lat: 36.779572 deg, lon: -121.859289 deg, deltaT: 16.383615 s, deltaX: -8.046860 m, approachRate: -0.491153 m/s, posRepo size: 4 QFNOT Ignoring new targets: 237.59 m.!Q] ProNav: ac range: 237.590683 m, nav range: 220.224319 m, bearing: 29.796880 deg, approach rate: 0.000000 m/s, LOS rate: -0.026240 deg/s, cmd heading: 34.945468 deg, new cmd heading: 34.910323 deg. zYQeHeadingCmd: 0.609300 target range: 237.590683 and range: 239.10 m.Re?JabaZaBa:a2aҔiڔՄBڒ’@3m@@2?Bɢ˻<) >i)3Xa<IiMciU?U{;Ua,,D?A23g>2& ?22?<ٱ2_ >AHRS rotation from veh to nav: [[0.813016,-0.578923,-0.062082],[0.581953,0.804621,0.117964],[-0.018340,-0.132035,0.991075]]2H 9?(ɯ[?t?2?@ǒ@?i23g>I2Ǹ];2ƐCYB-ByF#IbDN?VDN3Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498819yV%ZT=ٔ^x;Q-^>9\Y`=bCFybEb;Eb>dQ 5jW5f׭f?Q 9jW5f)fdBYlyn-,?Q In@fEIf:if:fW5ypɮr@t QFNOT Ignoring new targets: 237.59 m.[[Q% ProNav: ac range: 237.590683 m, nav range: 219.975876 m, bearing: 29.786934 deg, approach rate: -0.679941 m/s, LOS rate: -0.027250 deg/s, cmd heading: 34.910323 deg, new cmd heading: 34.880452 deg. z-Q-HeadingCmd: 0.608779 target range: 237.590683 and range: 239.10 m.R5?J1b1Z1B1:121Ҕ9ڔ99ڒ9’AAE h?Bɢ!H<) `=i)Rb<inqi?;B=CB=$IB=YBB9B9B=PDB= R;B=EBBBBT =BT =CD4^Azl<E T E _E E "E ;*E  ;VE ZE BE ,, ?A6$>6Q?6<ٱ6 >AHRS rotation from veh to nav: [[0.812359,-0.579956,-0.061027],[0.582824,0.803893,0.118629],[-0.019740,-0.131937,0.991062]]6H?>~?}?q^?6Qƶ?i6$>I6];6ʐCYF*ByF#IbDV:VDV{3yjCb%jI=ٔjb;Q-j>9lYl=nCFynErd0;Er>tQ 5zW5v(f?Q 9zW5v4)vdBYxyzu,?Q Iz@vEIv:ivp:v/W5yVBɮ@QFNOT Ignoring new targets: 237.59 m.==Q ProNav: ac range: 237.590683 m, nav range: 219.716034 m, bearing: 29.776432 deg, approach rate: -0.609424 m/s, LOS rate: -0.024660 deg/s, cmd heading: 34.880451 deg, new cmd heading: 34.848908 deg. zdQHeadingCmd: 0.608228 target range: 237.590683 and range: 239.10 m.Rش?J!b!Z)B):)Q2QҔYڔYYڒY’Yae?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003022颭Bɢ<) =i)(c<iliش?-t;5K ,,U²?A6 B>6w?6<ٱ6 >AHRS rotation from veh to nav: [[0.811996,-0.580385,-0.061770],[0.583276,0.803048,0.122076],[-0.021247,-0.135154,0.990597]]@6H@?G2?`?^@?L ?i6 B>I6 ];6ɐCYF$ByF#IiUMb@Mb@Mb@QQQQ Q9UE?~jt?~jtYU&?yU9"?Y"?=CFyE/:E>Q 5W5f?Q 9W5)dBY&?Q E:y%?Q I@EI ;i ;W5yOBɮ@EQFNOT Ignoring new targets: 237.59 m.qѹqѹQ ProNav: ac range: 237.590683 m, nav range: 219.441238 m, bearing: 29.767183 deg, approach rate: -0.679177 m/s, LOS rate: -0.022888 deg/s, cmd heading: 34.848909 deg, new cmd heading: 34.821127 deg. zT{QHeadingCmd: 0.607743 target range: 237.590683 and range: 239.10 m.R?JbZB:2ҔڔBڒ’  ?颵BɢP<) `=i)dd<项i5_i?/;A> A I I) BM j>BI BM #IBM ?BBM U =BI BI BM R;BM EOm >Ķ,,bܲ?A2>2>?2ϗ<ٱ2? :AHRS rotation from veh to nav: [[0.812483,-0.579572,-0.062989],[0.582554,0.802976,0.125934],[-0.022409,-0.139014,0.990037]]2H?@ۋ H???|@3a?i2>I2];2ȐCYB ByF#IIF!>)F>bDNGVDN4lyr%vT=ٔvF;Q-v>9xYx=zCFyzEz:Ez>Q 5W5f?Q 9 W5)dBY y %?Q I @EI:i:DW5yɮ"@GSB*** querying acoustic contact ***:BE/ EtE#E"Eaf;*E+;VE3ZEBE˷,,\?A2>2?2><ٱ2X2 :AHRS rotation from veh to nav: [[0.813375,-0.578071,-0.065229],[0.581251,0.802974,0.131832],[-0.023831,-0.145144,0.989124]]2H +?ز`?? ? Cg`¿`?i2>I2%];2ːCYBByB#IiMb@Mb@Mb@ 9K7A?:vI +Y "?yT9 A @)AYA)bD-NVD-4y=)%=D=ٔE_;Q-E>9AYA=MCFyMEM!xEU>YQ 5uW5]f?Q 9}W5])]dBY}."?Q E}:yW?Q I@]EI]h;i];]W5yNBɮ@EQFNOT Ignoring new targets: 237.59 m.$b$bQ ProNav: ac range: 237.590683 m, nav range: 218.929031 m, bearing: 29.753633 deg, approach rate: -0.621955 m/s, LOS rate: -0.012357 deg/s, cmd heading: 34.796146 deg, new cmd heading: 34.780428 deg. zQHeadingCmd: 0.607033 target range: 237.590683 and range: 239.10 m.Rf?JbZB:2ҔڔBڒ’6@uBɢuf<)q u:iq)}εd,,]?A:>:UL?:!<ٱ: FAHRS rotation from veh to nav: [[0.814578,-0.576166,-0.067049],[0.579511,0.803355,0.137069],[-0.025111,-0.150509,0.988290]]:H? o*Y? ?x?Cÿ?i:>I:6^;:ȐCYNByN#IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514891bD^BVD^3yfѽ%fS=ٔjRX;Q-j>9hYh=jCFyjEnEn>pQ 5vW5r(g?Q 9vW5rW)rdBYxyz?Q Iz@rEIr:ir-:rLW5y|ɮ~@|!Q%FNOT Ignoring new targets: 237.59 m.-q-qQ= ProNav: ac range: 237.590683 m, nav range: 218.685303 m, bearing: 29.748932 deg, approach rate: -0.684846 m/s, LOS rate: -0.013223 deg/s, cmd heading: 34.780426 deg, new cmd heading: 34.766308 deg. z=3QEHeadingCmd: 0.606787 target range: 237.590683 and range: 239.10 m.RE]V?JAbIZIBI:I2IҔQڔQQڒQ’QY] z]@颁ɢ2<)' "i)Dd<顉ii]V?ԙ޹;]oBCB#IBBBBBODBR;BE^AE` EiE"E"Ei;*E%;VE(3ZEBE1 ,,)?A2>2O?2<ٱ2G :AHRS rotation from veh to nav: [[0.815929,-0.574088,-0.068433],[0.577551,0.803949,0.141778],[-0.026376,-0.155204,0.987530]]2H@?^҄K{??%?`fÿ ٙ?i2>I2b:^;2ɐCY^Bybv#I ddbDj=VDj3yr{P%vI=ٔvK;Q-v>9xYx=~CFy=EEMEM>Q 5W5g?Q 9W5)dBY y ?Q IU@EI ~{/@ 4QO> f>) I f x?( ?tO? %?) OI i fM T****** received valid address query ******M R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseA I I O >-@,,>E?Ar'>r?r0[<ٱr$ AHRS rotation from veh to nav: [[0.817637,-0.571487,-0.069801],[0.575064,0.804819,0.146857],[-0.027750,-0.160216,0.986692]]rH*?`I yޱf??`8?vjĿ?ir'>IrK^;rʐCYyu#I]only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 88.95, 79.44, 81.48 a@a a@a a@a a@a bDAVD?3yVk%)=ٔ8;Q->9Y=CFyEz޻E>Q 5W5-g?Q 9W5)sdBQ A+:YQ E:yK?Q I@EIl;iV>dW5yɮt@QQ}FNOT Ignoring new targets: 237.59 m.}VVQ ProNav: ac range: 237.590683 m, nav range: 218.121033 m, bearing: 29.738615 deg, approach rate: -0.655322 m/s, LOS rate: -0.011729 deg/s, cmd heading: 34.749977 deg, new cmd heading: 34.735316 deg. zQHeadingCmd: 0.606246 target range: 237.590683 and range: 239.10 m.R2?JbZB:2Ҕڔڒ’ ɥ @ɢr<) (i)tTb<i6i2?V;t4/BA BE #IBE BBE V =BA BA BE Q;BE E^A hW,,`?AbEM3jEM4rEM x0EN EE&E"E@;*E4;VE4ZEBEF#?F>q<ٱF)NT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapse ^AHRS rotation from veh to nav: [[0.819355,-0.568851,-0.071172],[0.572553,0.805701,0.151751],[-0.028981,-0.165087,0.985853]]FH(8?@4L8[R? N? l?`!ſ?iF>IFA^;FȐCYfՄByfb#IbDrKVDr 4y:%Y=ٔV;Q->9Y=CFyE%E%>)Q 5UW5->g?Q 9UW5-)-edBQ AU :YQQ EU[:y]y?Q I]@-EI-u;i-UP?-W5yeJBɮeM@aqGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 237.59 m.EEQ ProNav: ac range: 237.590683 m, nav range: 217.883987 m, bearing: 29.734567 deg, approach rate: -0.630133 m/s, LOS rate: -0.010771 deg/s, cmd heading: 34.735316 deg, new cmd heading: 34.723161 deg. zQ-HeadingCmd: 0.606034 target range: 237.590683 and range: 239.10 m.R-%?J1b1Z1B1:121Ҕ9ڔ99ڒ9’AAEX@颭Bɢn;) ƽi)$a<顱ii%?6; i%>UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse! @!  @) @) @) @1 @5 iA ^Ae .)6L?6\}<ٱ6K+ BAHRS rotation from veh to nav: [[0.821191,-0.566301,-0.070355],[0.569848,0.807221,0.153842],[-0.030329,-0.166425,0.985588]]6H`1G?@"1I6Dn^;6ǐCYFфByF\#IIN=)NR=LLqaa aa aa aa iMb@Mb@Mb@ 9Cl?+~jtxYd?yĻQA@ @)^AYAbDGVD4y%=ٔ  ;Q- >9- ?Y- ?=5CFy5E5&E5>9Q 5EW5=Wg?Q 9EW5=)=^dBQ AMT:YM?Q EM:yM;>Q Iu@=EI=;i=r;=eW5y}IBɮ}~@}EQFNOT Ignoring new targets: 237.59 m.N8N8Q ProNav: ac range: 237.590683 m, nav range: 217.544724 m, bearing: 29.738144 deg, approach rate: -0.611453 m/s, LOS rate: 0.006456 deg/s, cmd heading: 34.723162 deg, new cmd heading: 34.733908 deg. zȍ9QHeadingCmd: 0.606221 target range: 237.590683 and range: 239.10 m.RN1?JbZB:2)Ҕ)ڔ-VB1ڒ1’115@颅Bɢ;) ܽi)2_<项i)iN1?;;IN1?I)ԡ n>=rGQi9Y AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-": @  @ @ @  B h>B B g#IB ڄBB B B B Q;B ^A y<)D1zD5@AE=G E=aE9E9"E=&|;*E=!;VE9ZE9BE=9e"?Ye"?=mCFymEmEm>Q 5W5Gog?Q 9W5)XdBYyQ I@ EI :i|:ܤW5yEBɮj@EQFNOT Ignoring new targets: 237.59 m.K8K8QM ProNav: ac range: 237.590683 m, nav range: 217.232254 m, bearing: 29.741448 deg, approach rate: -0.612221 m/s, LOS rate: 0.006483 deg/s, cmd heading: 34.733909 deg, new cmd heading: 34.743836 deg. zM`9QUHeadingCmd: 0.606394 target range: 237.590683 and range: 239.10 m.RU<?JQbYZYBY:Y2YҔaڔaaڒa’aJ@ Bɢ `;) 4i)J]<i~\i<? ;Ӿ;I<?IAT****** received valid address query ******R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseq @  @ @ /@ ԡ ^A- S;A1 zA5 gA EM/ EMJEM)EI"EMaf;*EM;VEMFA4ZEIaU@aU@aU@aU@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA9IAIYOe?*,,&mij?AVL>V?VR =ٱV!l, ^AHRS rotation from veh to nav: [[0.826198,-0.559456,-0.066381],[0.562338,0.811761,0.157541],[-0.034252,-0.167488,0.985279]]VH6p?`@Q??N*?~@Bpſg?iVL>IV];VɐCYf̄ByfW#IiMb@Mb@Mb@ 9?J +:v?Y ?ԉyȽT<hA@ @)YGAbDMVD 4y?%=ٔ;Q->9Y=CFyEE>Q 5W5͇g?Q 9W5 )\dBY!?Q E:yE>Q I@EI ;iL ;QW5yCBɮq@EQ FNOT Ignoring new targets: 237.59 m.z]9z]9Q% ProNav: ac range: 237.590683 m, nav range: 216.910202 m, bearing: 29.747523 deg, approach rate: -0.640546 m/s, LOS rate: 0.012102 deg/s, cmd heading: 34.743837 deg, new cmd heading: 34.762091 deg. z%:Q-HeadingCmd: 0.606713 target range: 237.590683 and range: 239.10 m.R-Q?J)b)Z)B):121Ҕ1ڔ5\B9ڒ9’99=@Ց@iɢm;)i m(iq)uJb[A,, p޳?AF>FQ ?F=ٱF{. NAHRS rotation from veh to nav: [[0.828054,-0.556730,-0.066165],[0.559532,0.813189,0.160148],[-0.035354,-0.169633,0.984873]]FH l?@0??`?ſ@?iF>IF];DYVфByV\#I XX^=^=bDbCVDb3yji<%jX=ٔj?;Q-j>9lYl=nCFynErEr>tQ 5zW5vg?Q 9zW5vX)v_dBYxyz>Q I~@vEIvl:iv;vW5yBBɮ@E)Q-FNOT Ignoring new targets: 237.59 m.5d95d9QE ProNav: ac range: 237.590683 m, nav range: 216.671310 m, bearing: 29.752249 deg, approach rate: -0.631806 m/s, LOS rate: 0.012512 deg/s, cmd heading: 34.762091 deg, new cmd heading: 34.776284 deg. zEd :QMHeadingCmd: 0.606961 target range: 237.590683 and range: 239.10 m.RMa?JIbIZIBI:Q2QҔQڔQYڒY’YYe @E E|E'E"Ex;*E/;VE'4ZEBE|A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY k,,sJ?AJ>JT?JG=ٱJ. VAHRS rotation from veh to nav: [[0.829764,-0.554349,-0.064720],[0.556944,0.814931,0.160316],[-0.036128,-0.169070,0.984942]]JHm?9@{??9?aſ`?iJ>IJs];J̐CYfByfo#IiMb@Mb@Mb@ 9Cl?bX9ȶ?Y;?yE<~A 5@)AY=AbDBVD3y_=%==ٔ:Q->9 ?Y ?=CFyEE>Q 5W5g?Q 9W50)gdBY ?Q E:yu>Q I@EI:i:fW5yɮ@1GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 237.59 m.2929Q ProNav: ac range: 237.590683 m, nav range: 216.400421 m, bearing: 29.756655 deg, approach rate: -0.598942 m/s, LOS rate: 0.009754 deg/s, cmd heading: 34.776284 deg, new cmd heading: 34.789519 deg. z79QHeadingCmd: 0.607192 target range: 237.590683 and range: 239.10 m.Rp?JbZB:2ҔڔBڒ’F@e BɢeO;)i mii)X<顉iثip?Kȶ;Ip?IE7 EAE)E"Em;*E;VEFA4ZEa@a@a@a@MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsea9@ @@@ԉ^A 7A >A >Թ A ؟AI! I1 O= >H-,w?A>y>>ȵ?>=ٱ>D. FAHRS rotation from veh to nav: [[0.831093,-0.552453,-0.063870],[0.554913,0.816180,0.161000],[-0.036815,-0.169249,0.984885]]>HP?Y`?&?`?y٢ſ.?i>y>I>[];>ːCYNByN}#I^T****** received valid address query ******^R****** received valid ping request ******^received new query, but waiting for acoustic response period to elapsebDVRVDV4yfH=%f[=ٔf :Q-j>9j"?Yj"?=jCFynEnջEn>pQ 5vW5rBg?Q 9vW5rz)rmdBYtyv9>Q Iz@rEIr;ir;rW5y~ABɮ~J@|!Q%FNOT Ignoring new targets: 237.59 m.-N9-N9Q= ProNav: ac range: 237.590683 m, nav range: 216.166779 m, bearing: 29.760615 deg, approach rate: -0.663916 m/s, LOS rate: 0.011263 deg/s, cmd heading: 34.789517 deg, new cmd heading: 34.801408 deg. z=Y9QEHeadingCmd: 0.607399 target range: 237.590683 and range: 239.10 m.RE~?JAbAZIBI:I2IҔQڔQQڒQ’YY]`~L@颁ɢHx<) oi)6X<顉i8i~?;I~?Iԩ-9@) @)@-0@)^A[RӻBBBH#IBBBV =BBB\R;BEAII)O=P>E < E hE &E "E ,r;*E ^%;VE 4ZE BE 2%?2=ٱ2W@. BAHRS rotation from veh to nav: [[0.832295,-0.550733,-0.063072],[0.553074,0.817346,0.161416],[-0.037346,-0.169229,0.984869]]2H(?x%Dz?'?@H?@Lſ ?i2N>I2]];2ȐCLYVByV#IIZ<)Zp;\^AbDfDVDfJ3y'=%-+=ٔ=H:Q-E>9IYQ=]CFy]EeHEm>Q 5W5g?Q 9W5)udBYy>Q I@ EI;i;T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseW5y?Bɮ@EQFNOT Ignoring new targets: 237.59 m.<9<9Q  ProNav: ac range: 237.590683 m, nav range: 215.859955 m, bearing: 29.766007 deg, approach rate: -0.586030 m/s, LOS rate: 0.010313 deg/s, cmd heading: 34.801409 deg, new cmd heading: 34.817608 deg. z ~9QHeadingCmd: 0.607682 target range: 237.590683 and range: 239.10 m.R ?JbZB:2Ҕڔ!ڒA’AAM`l@频ɢʱ0<)  i)jW<顙iJi ?v;_?I ?I=9@9 @A@E0@AA E- 7 E- :E- )E) "E- m;*E- $ ;VE- FA4ZE) a5 @a5 @a5 @a5 @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A ΒA zA hAq A I IO>5-,CI?A2X^>2?2 =ٱ2- :AHRS rotation from veh to nav: [[0.833630,-0.548811,-0.062194],[0.551032,0.818693,0.161571],[-0.037755,-0.168961,0.984899]]2H?@܏ׯ ?2?@_? TſK?i2X^>I2];2ɐCYBByB#Ii Mb@Mb@Mb@     9 NbX9?~jtV-?Y %?y  <  A @ K@) A Y  AbD%>VD%43y5c=%5L=ٔ=:Q-=>99YA=ECFyEEE8̻EE>IQ 5W5Mg?Q 9W5M)M|dBY&?Q E:y>Q I@M$EIMBu>BCBZ#IBτBBBBQDBiR;BE Z-, c?AE; EVE#E"EDq;*E;VE3ZEBE2V?V,=ٱV* AHRS rotation from veh to nav: [[0.834810,-0.547263,-0.059967],[0.549235,0.820387,0.159078],[-0.037862,-0.165736,0.985443]]VH¶?-󳮿U?`@?\?b`6ſ@?iVaD>IVB];VȐCY By#I!%AAbD%<VD%3y5,v<%5K=ٔ=-9Q-=>9AYA=ECFyEEEEE>IQ 5UW5M5g?Q 9UW5M)MdBYyy}>Q I}@M(EIMW;iM;M׾W5y>BɮH@EQFNOT Ignoring new targets: 237.59 m.99Q  ProNav: ac range: 237.590683 m, nav range: 215.344604 m, bearing: 29.772078 deg, approach rate: -0.670858 m/s, LOS rate: 0.008129 deg/s, cmd heading: 34.826301 deg, new cmd heading: 34.835841 deg. z 9QHeadingCmd: 0.608000 target range: 237.590683 and range: 239.10 m.R?Jb1Z1B1:929Ҕ9ڔ9AڒA’AAEV> @颉ɢV<) ȹi)UW<顙i i?R;ǀI?I-9@) @)@-5@)!MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse^AqA>A>I I I O >߄-,|?AY By #I=a=iMb@Mb@Mb@ 9?9Y=CFyEE>Q 5W5h?Q 9W5)dBY4-?Q E:yZ ?Q I@-EIa:i:W5y=Bɮ @GSB*** querying acoustic contact ***:BQ%FNOT Ignoring new targets: 237.59 m.%c-cQ= ProNav: ac range: 237.590683 m, nav range: 215.058975 m, bearing: 29.770792 deg, approach rate: -0.689173 m/s, LOS rate: -0.003108 deg/s, cmd heading: 34.835840 deg, new cmd heading: 34.831975 deg. z=QEHeadingCmd: 0.607933 target range: 237.590683 and range: 239.10 m.REy?JAbAZABA:A2IҔIڔMBIڒQ’QY]z!@颁ɢ|<) X=i)W<顉iotE=? E==E=!E9"E=t;*E=;VE=c3ZE9aE@aE@aE@aE@QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiy?{;9|Iy?IE9@A @A@E5@A@I@Iy^Am ԩ E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseIQ Ia Om >|%-,?A0^2>^o?^=ٱ^#- jAHRS rotation from veh to nav: [[0.835956,-0.545360,-0.061318],[0.547494,0.821054,0.161618],[-0.037795,-0.168677,0.984946]]^H&?s e ?F?`?`Y4ſ?i^2>I^H];^ɐCYz*Byz#IbD:VD{3y5=%EQ=ٔE|3Q-M>9QYQ=UCFyUE],E]>iQ 5uW5m4&h?Q 9W5mQ)mdBYy?Q I@m1EIm|1B]CB]#IB]BB]R =BYB]RDB]cR;B]EQu ProNav: ac range: 237.590683 m, nav range: 214.792725 m, bearing: 29.769727 deg, approach rate: -0.646896 m/s, LOS rate: -0.002591 deg/s, cmd heading: 34.831974 deg, new cmd heading: 34.828775 deg. zuQ}HeadingCmd: 0.607877 target range: 237.590683 and range: 239.10 m.R}Н?JybyZyBy:2Ҕڔڒ’@!@ Bɢ<) d=i)X<i 槼iН?;;"I-Н?I1ԉ@ @@0@DzDAAbEŞ4jE 4rEŤ0E%[ E%AE%"E!"E%%;*E%;VE%(3ZE!BE%F +-,ݰ?AB0>B o?B=ٱB\u1 NAHRS rotation from veh to nav: [[0.835964,-0.545118,-0.063329],[0.547481,0.820461,0.164647],[-0.037793,-0.172310,0.984318]]BH7?qL6?6A?%?Y@ƿ?iB0>IBU];@YV3ByV#I`bDb=VDb3yj >=%jQ=ٔjLQ-n>9pYt=vCFyzE~CE>Q 55W59h?Q 9=W5)dBYIyM?Q IM@5EI*;i;gW5y9Bɮe@E5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseQFNOT Ignoring new targets: 237.59 m.t9t9Q% ProNav: ac range: 237.590683 m, nav range: 214.526642 m, bearing: 29.768647 deg, approach rate: -0.623793 m/s, LOS rate: -0.002533 deg/s, cmd heading: 34.828774 deg, new cmd heading: 34.825532 deg. z%޸Q-HeadingCmd: 0.607820 target range: 237.590683 and range: 239.10 m.R-?JibiZqBq:q2qҔqڔyyڒy’yy@"@ɢH<) =i)Y<i\i ?r;^I?I@ @@/@E5 P E5 ~E5 #E1 "E5 (;*E5 0;VE5 3ZE1 a= @a= @a= @a= @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A% (A) zA- fAA I I O >r2-,ʴ?A2>2?2=ٱ2>3 :AHRS rotation from veh to nav: [[0.835627,-0.545544,-0.064103],[0.547981,0.819850,0.166021],[-0.038017,-0.173859,0.984037]]2H@t?ui?6I2H ^;2ʐCYbAByf#I!-+GAYy9YeeAi=Mb@Mb@Mb@9999 99=zG?~jt?Mb?Y= 7?y=<=<=A=@ =K@)99Y=AbD]HVD]4yee|=%m3=ٔm:Q-m>9iYq=uCFyuEuP:E}>yQ 5W5}Oh?Q 9W5}ک)}dBY07?Q E:y ?Q I@}:EI}:i}:}UW5yɮ@QFNOT Ignoring new targets: 237.59 m.TTQ ProNav: ac range: 237.590683 m, nav range: 214.206375 m, bearing: 29.760244 deg, approach rate: -0.804018 m/s, LOS rate: -0.021128 deg/s, cmd heading: 34.825533 deg, new cmd heading: 34.800285 deg. zgQHeadingCmd: 0.607380 target range: 237.590683 and range: 239.10 m.R:}?JbZB:2ҔڔBڒ’i#@颙ɢz<) =i)JM[<顡iꦼi:}?;I:}?II-T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse@ @@@@=@=qBYBYB]#IB] BB]Q =BYBYB]yR;B]$E^A ]II IY Om >ԡ E= @ E= aE= $E9 "E= u;*E= !;VE= 4ZE9 BE= 䴤?A2Vu>27?2I=ٱ2h. :AHRS rotation from veh to nav: [[0.834580,-0.547453,-0.061412],[0.549531,0.819517,0.162504],[-0.038635,-0.169370,0.984795]]2H?`q`?`|9??ǣſp?i2Vu>I2^;2ȐCi@IBABT****** received valid address query ******FR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseYJ=ByJ#IbDAVDAyUyɼ%U^=ٔU :Q-U>y9Y=CFyEX;E>Q 5W5ah?Q 9W5ƥ)dBYy?Q I@?EI >-,"o?A2T6>2?2u2 =ٱ2, :AHRS rotation from veh to nav: [[0.832677,-0.550416,-0.060749],[0.552376,0.817840,0.161303],[-0.039101,-0.167870,0.985033]]2HJ?`@? +?? |ſd?i2T6>I2^;2ǐCYB>ByB#IiEMb@Mb@Mb@AAAA A9E`"?Zd;?MbpYE7?yEy=EEIAA EA)EAAYEAbD]?VD]3ym:;%mI=ٔm:Q-m>9qYq=uCFyuE}v <E}>Q 5W5uh?Q 9W5)pdBYy8?Q E:y!+?Q I@CEIE:i:W5yɮ@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 237.59 m.Q ProNav: ac range: 237.590683 m, nav range: 213.654388 m, bearing: 29.741586 deg, approach rate: -0.723234 m/s, LOS rate: -0.029188 deg/s, cmd heading: 34.778900 deg, new cmd heading: 34.744237 deg. z@QHeadingCmd: 0.606401 target range: 237.590683 and range: 239.10 m.R=?JbZB:2ҔڔCBڒ’  l%@1ɢ5׬<)9 ==i9)=]<99i=iE=?ECɩ;Ed1IM=?IIE9 EUE%E"Eso;*E\;VE 4ZEa @a @a @a @DAT read: 2Acoustic response timeout9@ @@0@^AcA>A>9Aa Ii Iy O >E 2Acoustic response timeoutY E-,VJ?Aby>b?bS!=ٱbt, rAHRS rotation from veh to nav: [[0.830635,-0.553481,-0.060866],[0.555414,0.815822,0.161088],[-0.039503,-0.167611,0.985061]]bH? )? 7?`?`9Htſ?iby>Ib];`Y~;By~#IbD%IVD%X4y5fy%5N=ٔ=:Q-=>9AYA=ECFyE EE <EM>IQ 5UW5Mh?Q 9UW5M`)M^dBYYy],?Q I]@MHEIM;iM;MW5yaɮm@iQFNOT Ignoring new targets: 237.59 m.33Q ProNav: ac range: 237.590683 m, nav range: 213.371964 m, bearing: 29.729888 deg, approach rate: -0.712514 m/s, LOS rate: -0.029550 deg/s, cmd heading: 34.744237 deg, new cmd heading: 34.709097 deg. z=QHeadingCmd: 0.605788 target range: 237.590683 and range: 239.10 m.R?JbZB:2Ҕڔڒ’%@ɢ֨<1BE}>BABE#IBE&BBABABABER;BE4EBCBCBCBR =BS =C6) L=i)^,_<顑i0i?;zI?I)@) @)@-?0@)@1@5hAaED EEE"Eny;*ErN;VEZEBE@Թ K-,&2?A28>2?2zv#=ٱ2) :AHRS rotation from veh to nav: [[0.827970,-0.557618,-0.059399],[0.559352,0.813689,0.158226],[-0.039897,-0.164231,0.985615]]2H ~?` i6? ?@?kmſ'?i28>I2m ^;2ɐCYB8ByB#IbDJ=VDJ3yRӒ%RT=ٔVO:Q-V>9TYX=ZCFyZ EbQI<Ef>lQ 5rW5nYh?Q 9vW5n)nMdBYtyvM-?Q Iv@nLEIn6:in:nW5yz7Bɮz@~EQ%FNOT Ignoring new targets: 237.59 m.% - Q ProNav: ac range: 237.590683 m, nav range: 213.095001 m, bearing: 29.718018 deg, approach rate: -0.710728 m/s, LOS rate: -0.030501 deg/s, cmd heading: 34.709099 deg, new cmd heading: 34.673441 deg. zu 2Acoustic response timeoutQeHeadingCmd: 0.605166 target range: 237.590683 and range: 239.10 m.Rm$?JibiԙZB:2Ҕڔڒ ’!- &@ɢQ=<)  =i)`<i餼i$?%<;%=DI%$?II9@ @@80@E- 6 E- <E) E) "E- l;*E- 1;VE) ZE) a5 @a5 @a5 @a5 @ 2Acoustic response timeout^A ߻I I O > R-,\L?A2>2`?2 $=ٱ2# :AHRS rotation from veh to nav: [[0.825164,-0.562040,-0.056698],[0.563463,0.811782,0.153359],[-0.040168,-0.158494,0.986543]]2Hg?;??E?֐IĿ?i2>I2>];0YB/ByB#IiMMb@Mb@Mb@IIII I9Mx?333333?MbYMK7?yM=MMAM/@ MA)IIYIbDe9VDe3yu %u>=ٔu$:Q-u>9yYy=}CFy}E><E>Q 5W5h?Q 9W5)5dBYX8?Q E:y2?Q I@QEIe ;i ;W5yɮ@QFNOT Ignoring new targets: 237.59 m.Q ProNav: ac range: 237.590683 m, nav range: 212.794449 m, bearing: 29.703274 deg, approach rate: -0.705974 m/s, LOS rate: -0.034681 deg/s, cmd heading: 34.673442 deg, new cmd heading: 34.629148 deg. zhQHeadingCmd: 0.604393 target range: 237.590683 and range: 239.10 m.Rz?JbZB:2Ҕڔ4Bڒ’u'@)ɢ-<)) 5=i1)5`qa<99i=0piEz?EH;Ek:IEz?IA9@ @@4@^A_AzAhA2Acoustic response timeout!IiIyO\>B=w>B=CB=#IB=0BB=S =B9B=QDB=R;B=!EI E @ E _E E "E u;*E ;VE ZE BE Jt?JL%&=ٱJ* jAHRS rotation from veh to nav: [[0.822483,-0.566444,-0.051608],[0.567343,0.810537,0.145436],[-0.040552,-0.148898,0.988021]]JHQ?O Nl'?@? ?@4äÿݝ?iJ}>IJ=^;JȐCYrByr#IIv=)v=bD~8VD~3y % Q=ٔ :Q- >9Y=CFyEF<E>!Q 5%W5%h?Q 9-W5%ύ)%dBY)y-84?Q I-@%VEI%:i%:%W5y55Bɮ=}@=EaQeFNOT Ignoring new targets: 237.59 m.m#m#Q} ProNav: ac range: 237.590683 m, nav range: 212.518768 m, bearing: 29.689322 deg, approach rate: -0.705544 m/s, LOS rate: -0.035753 deg/s, cmd heading: 34.629148 deg, new cmd heading: 34.587238 deg. z}LĺQHeadingCmd: 0.603661 target range: 237.590683 and range: 239.10 m.R?JbZB:2Ҕڔڒ’I(@ Bɢ[ˇ<) !=i)Ca<iңi?;];I]?IYaQ@ @@3@@=@=y^A 7!%4=52Acoustic response timeoutIYIO >ԩ 4_-,?A ףp=?V-?:vY1?yh=Լ3A@ GA)CAYbDHVD4yVS%?=ٔQ->9Y=CFyEE>Q 5W5=h?Q 9W5Lj)dBY2?Q E:y3?Q I@ZEIP ;i:W5y4Bɮ*@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 237.59 m.Q- ProNav: ac range: 237.590683 m, nav range: 212.226440 m, bearing: 29.674872 deg, approach rate: -0.683846 m/s, LOS rate: -0.033850 deg/s, cmd heading: 34.587238 deg, new cmd heading: 34.543827 deg. z-ٹQ5HeadingCmd: 0.602904 target range: 237.590683 and range: 239.10 m.R5W?J1b1Z1B1:929Ҕ9ڔ=BAڒA’AAEA$)@EA EZEE"Ev;*E;VEZEa@a@a@a@)ɢ5Nt<)1 5Tx time:21:29:57.3447   DAT read:  2Acoustic response timeoutMf-,?AJ;>J?Jn*=ٱJc RAHRS rotation from veh to nav: [[0.817160,-0.574774,-0.043416],[0.574914,0.807297,0.133213],[-0.041518,-0.133817,0.990136]]JH+&?d@:e?_?" ?@A` 1?iJ;>IJ7^;JǐClY~By#IbDCVD3y-%-T=ٔ-$;Q-->91Y1=5CFy5E=<E=>AQ 5MW5Eeh?Q 9MW5E.)EcBYIyM5?Q IM@E_EIEW:iEp:E8W5yYɮ]@YQFNOT Ignoring new targets: 237.59 m.5$5$Q ProNav: ac range: 237.590683 m, nav range: 211.963043 m, bearing: 29.661076 deg, approach rate: -0.684397 m/s, LOS rate: -0.035891 deg/s, cmd heading: 34.543829 deg, new cmd heading: 34.502390 deg. z źQHeadingCmd: 0.602180 target range: 237.590683 and range: 239.10 m.R}(?JbZB:2Ҕڔڒ’f)@Bt>BB#IB&BBBBB@R;BEɢ^1<) *i) a<  i Ri}(?;lxA>II O >i Bl-,m?A2>2Z?2}*=ٱ2 :AHRS rotation from veh to nav: [[0.815100,-0.577772,-0.042328],[0.577824,0.805573,0.131038],[-0.041612,-0.131267,0.990473]]2H`L?}}?A?@?!N`] ?i2>I2;_^;2ȐCYRByRr#IbDZ>VDZ43yb%bQ=ٔf@{9Q-f>9dYd=fCFyfEj<Ej>lQ 5rW5nh?Q 9rW5n)ncBYtyv6?Q Iv@ncEIn:in:nW5yxɮz@zEԁ2Acoustic response timeoutQFNOT Ignoring new targets: 237.59 m.= = Q ProNav: ac range: 237.590683 m, nav range: 211.696259 m, bearing: 29.646791 deg, approach rate: -0.636157 m/s, LOS rate: -0.034106 deg/s, cmd heading: 34.502390 deg, new cmd heading: 34.459481 deg. zAQ5HeadingCmd: 0.601431 target range: 237.590683 and range: 239.10 m.R=h?J9bAZABI:q2yҔڔڒ’ X*@ Bɢ<) i)1w`<ie Pimh?m;up 2Acoustic response timeout *s-,G͵?A2f>2?2@+=ٱ2 :AHRS rotation from veh to nav: [[0.813208,-0.580405,-0.042702],[0.580471,0.803652,0.131141],[-0.041797,-0.131432,0.990444]]2H@?ݥ 7??:? jf?i2f>I2iR^;2ɐCYV˄ByVU#Ii5Mb@Mb@Mb@1111 195Gz?ˡE?lY50?y5'=55~A5\@ 5A)5A1Y1bDM7VDMp3y]&ٽ%eA=ٔek9Q-e>9e ?Ym ?=mCFymEm;Em>qQ 5}W5ui?Q 9W5uz)ucBY41?Q E:y,?Q I@uhEIu ;iuC ;uUW5yɮ@QFNOT Ignoring new targets: 237.59 m.  Q ProNav: ac range: 237.590683 m, nav range: 211.407944 m, bearing: 29.634624 deg, approach rate: -0.729955 m/s, LOS rate: -0.030846 deg/s, cmd heading: 34.459479 deg, new cmd heading: 34.422929 deg. zZQHeadingCmd: 0.600793 target range: 237.590683 and range: 239.10 m.R?JbZB:2ҔڔфBڒ’+@颙ɢr;) di)_<顡ixi?j;BCB#IBBBU =BBPDBR;BE1^Av<A ؟AI I O% >Y bE˻ 4jE4rE..E H E [E #E "E };*E ;VE 3ZE BE b6PV?6X,=ٱ6; >AHRS rotation from veh to nav: [[0.811754,-0.582384,-0.043405],[0.582478,0.802037,0.132119],[-0.042132,-0.132530,0.990283]]6H`?)9?J?F?`H@f?i6>I6n^;6ȐCYFByF0#IbDRAVDR?3yV%!%ZV=ٔZf:Q-Z>9^"?Y^"?=^CFy^Eb;Eb>dQ 5fW5fHi?Q 9jW5fhv)fcBYhyj,?Q Ij@flEIf`:ify:fW5yr3Bɮrm@rEQ FNOT Ignoring new targets: 237.59 m. Q ProNav: ac range: 237.590683 m, nav range: 211.148239 m, bearing: 29.623462 deg, approach rate: -0.680019 m/s, LOS rate: -0.029264 deg/s, cmd heading: 34.422927 deg, new cmd heading: 34.389399 deg. zQHeadingCmd: 0.600208 target range: 237.590683 and range: 239.10 m.R??JbZB:2Ҕڔڒ’V,@ Bɢ*:) . ;i ) _\<  i a1i=??=;= 2Acoustic response timeoutԑԹ ?-,k ?A23>2?2-=ٱ2# >AHRS rotation from veh to nav: [[0.811171,-0.583035,-0.045514],[0.583267,0.800931,0.135309],[-0.042436,-0.136306,0.989758]]2H?8M`?:?Q?.vr?i23>I2A^;0Y^By^#Ii=Mb@Mb@Mb@9999 99=/$?{Gz{GzY=,?y=#=#9=E@ =GA)=A9Y=zAbDYVDYye*½%m?=ٔmq::Q-m>9qYq=uCFyuE}+;E}>Q 5W5=.i?Q 9W5$r)wcBY[,?Q E:y?Q I@pEI/:i<iW5yɮ@GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 237.59 m.mmԉQ ProNav: ac range: 237.590683 m, nav range: 210.862244 m, bearing: 29.616964 deg, approach rate: -0.637134 m/s, LOS rate: -0.014495 deg/s, cmd heading: 34.389398 deg, new cmd heading: 34.369879 deg. z)QHeadingCmd: 0.599868 target range: 237.590683 and range: 239.10 m.R?JE9 EBE%E"Eso;*EZ;VE 4ZEa@a@a@a@bZB:2ҔڔBڒ’=:-@M2Acoustic response timeoutɢԺ) ei ) |eY<  i i?;i> 'n>CԹ cG!@! @!@%0@!!9@E=@E= 9YIA^A q< 2Acoustic response timeout A .AI I O >ɹ-,5?A2>>2*Y?2F.=ٱ2` :AHRS rotation from veh to nav: [[0.811709,-0.582073,-0.048158],[0.582499,0.800754,0.139598],[-0.042694,-0.141365,0.989037]]2H?W գ?Ɵ?Y?@ۥ>¿0?i2>>I21^;0YBtByB"IbDNCVDN3yVV4%VL=ٔV):Q-V>9Z ?YZ ?=ZCFyZE^E^>`Q 5bW5b@i?Q 9fW5b+n)b\cBYdyff?Q If@buEIb:ib:Bnn>BlBnT#IBnʄBBlBlBlBnQ;BnEbW5yxɮ~@~EQ%FNOT Ignoring new targets: 237.59 m.%J%JQ5 ProNav: ac range: 237.590683 m, nav range: 210.595261 m, bearing: 29.610972 deg, approach rate: -0.696889 m/s, LOS rate: -0.015659 deg/s, cmd heading: 34.369877 deg, new cmd heading: 34.351880 deg. z5+Q=HeadingCmd: 0.599553 target range: 237.590683 and range: 239.10 m.R=U|?J9bAZABA:A2AҔIڔIIڒI’-@ɢ) +i)%Uԡ ߌ-,Y5?A2Yd>2?2.=ٱ2$ :AHRS rotation from veh to nav: [[0.812426,-0.580902,-0.050176],[0.581504,0.800954,0.142565],[-0.042628,-0.145001,0.988513]]2Hd? ? k?@??Nӥg¿?i2Yd>I2fB^;2ʐCYBeByB"IbDJ8VDJ3yH%E=ٔ 'Q- >9 "?Y "?= CFy  E2BE>%2Acoustic response timeout)Q 5MW5-RTi?Q 9]W5- j)-@cBYiym?Q Iu@-yEI-6Au>BDAT read: Rx Time:21:29:59.9990 TRx dataTimestamp_ set to:1761514201.3862632Acoustic response timeoutAIIO?-,zq[?A6,>6!?6.=ٱ67" NAHRS rotation from veh to nav: [[0.815452,-0.576039,-0.056722],[0.577247,0.802084,0.153126],[-0.042711,-0.157610,0.986577]]6H .?n x? ??@>ޥ,Ŀ ?i6,>I6nK^;6ȐCYVPByV"IXB]r>BYB]#IB]BB]W =BYBYB]Q;B]EBCBBCBU =BU =Cu5i}Mb@Mb@Mb@yyyy y9}Mb?lS㥛Y} ?y}}/ݼ}Ay y)}CAyYybDMVD 4y愽%=ٔ9Q->9Y=CFy#E+ E>Q 5X5pi?Q 9X5Ke)&cBY!?Q E:yp>Q I@EI ;iz ;X5y3Bɮ&@EQFNOT Ignoring new targets: 237.59 m.88Q ProNav: ac range: 237.590683 m, nav range: 209.936111 m, bearing: 29.607283 deg, approach rate: -0.724466 m/s, LOS rate: 0.004689 deg/s, cmd heading: 34.333404 deg, new cmd heading: 34.340801 deg. zM9QHeadingCmd: 0.599360 target range: 237.590683 and range: 239.10 m.Ro?JbZB:2ҔڔFBڒ’v0@ɢ%?(")! EiA)MIJTx time:21:30:01.0947 R#Rx 1: Read range and direction messages.^direction in FSK: [0.975367,-0.107681,0.192522]Fpublishing direction and range infoy*^46?oe:M?Y;C AIIO?{-,7}?A<)}GI} +>i}L7}9>}R.@}K6>}.@ }aF>)}@I}aFyy}sITU?&4GB?wM? }"?)})7I}i0i}aFyy2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.3>?n?2=ٱ=' %AHRS rotation from veh to nav: [[0.817493,-0.572976,-0.058343],[0.574294,0.803312,0.157723],[-0.043504,-0.162443,0.985758]]H (?U%߭@`?@?C0? FĿU?i3>I^;ɐCYu6Byu"Ii}Mb@Mb@Mb@yyyyԡ y9}S?X9v~jthY}/?y}}D} A}/@ }1A)yyYybD8VD3y%=ٔڭ:Q->9Y=CFy&EŻE>!Q 5-X5%ڍi?Q 9-X5%Ea)% cBY-[ ?Q E-:y5{>Q I5@%EI%;i%;% X5y9ɮ=@9JyR}x?A}P:C}P:C}#N ?}u-4f@Ϛ4.I:OQA@}*^46?oe:M?}i0}aF—}Tžc@"yW@GN>@}X/Z!?I ?{?j}ϻBr}CZ}d򌝊?b}>bz}B}䝊?}>b}Bڗ}8C}?Q addTargetRange:: Added new target pos. range: 187.500000 m, deltaT: 16.389939 s, deltaX: -51.600006 m, approachRate: -3.148273 m/s, rangeRepo size: 4 Q Added new target pos. range: 186.314682 m, bearing: 30.730508 deg, lat: 36.779364 deg, lon: -121.859397 deg, deltaT: 16.389939 s, deltaX: -51.276001 m, approachRate: -3.128505 m/s, posRepo size: 4 EY EyE&E"E=;*EQ.;VE4ZEa @a @a @a @Q%FNOT Ignoring new targets: 186.31 m.%!Q5 ProNav: ac range: 186.314682 m, nav range: 184.664047 m, bearing: 30.564364 deg, approach rate: 0.000000 m/s, LOS rate: 0.004689 deg/s, cmd heading: 34.340801 deg, new cmd heading: 34.349549 deg. z1Q]HeadingCmd: 0.599513 target range: 186.314682 and range: 187.50 m.R]y?JYbaZaBa:a2aҔiڔm,Biڒi’iupg@u &S?DAT read: 2Acoustic response timeoutIɢML9)I MԾiI)UABCB"IBPBBT =BBQDBQ;BEAzAjAYIIO??-,?A27>2?2L6=ٱ2.* :AHRS rotation from veh to nav: [[0.819306,-0.570315,-0.058975],[0.571617,0.804483,0.161436],[-0.044625,-0.165977,0.985119]]2H 7?@ 1J?S?? ٦>ſ ?i27>I2g];2ƐCYVByZ"II^=)^%=bDbKVDb 4yjP½%n(=ٔn;Q-n>9lYp=rCFyr)ErٻEr>tQ 5~X5vi?Q 9~X5v^)vcBY|y~>Q I@vEIv7!;ivD";vM X5y ɮ K@ EGS%B*** querying acoustic contact ***:!B!1Q=FNOT Ignoring new targets: 186.31 m.={9={9QM ProNav: ac range: 186.314682 m, nav range: 184.366211 m, bearing: 30.575675 deg, approach rate: -0.642089 m/s, LOS rate: 0.024423 deg/s, cmd heading: 34.349547 deg, new cmd heading: 34.383533 deg. zM:QUHeadingCmd: 0.600106 target range: 186.314682 and range: 187.50 m.RU?JQbYZYBY:Y2YҔaڔaaڒa’aimK?Ա Bɢ") )i):<i"Di?<;EZI  2Acoustic response timeout9 h-,o?Aώ>?<=ٱJ0 -AHRS rotation from veh to nav: [[0.821109,-0.567549,-0.060562],[0.568923,0.805296,0.166806],[-0.045900,-0.171421,0.984128]]H F?`]) 4??Y?`6#ſ}?iώ>I ];Y=*By="Ii%Mb@Mb@Mb@!!!! !9%n?Onÿ:v?Y%?y%%<%A! %A)%A!Y%AbD=SVD=4yMO=%M5=ٔUA9;Q-U>9QYQ=UCFy]+E]kE]>aQ 5mX5e}i?Q 9mX5e[)e&cBYu?Q Eu:yu>Q Iu@eEIe ;ie] ;e?X5yyɮ}@yQFNOT Ignoring new targets: 186.31 m.::Q ProNav: ac range: 186.314682 m, nav range: 184.096893 m, bearing: 30.589659 deg, approach rate: -0.597353 m/s, LOS rate: 0.031063 deg/s, cmd heading: 34.383534 deg, new cmd heading: 34.425549 deg. z:QHeadingCmd: 0.600839 target range: 186.314682 and range: 187.50 m.R?JbZB:2Ҕڔ/Bڒ’^?ɢDԌ)  ߾i ) 04<  i HPi?;ԑ tM-,=ֶ?A6>6q7?6J@=ٱ653 BAHRS rotation from veh to nav: [[0.823062,-0.564720,-0.060501],[0.566002,0.806747,0.169709],[-0.047029,-0.173925,0.983635]]6H`V?0 ???#@)Cƿy?i6>I6];6ǐCYJ!ByJ"IbDRRVDR4yZN%Zi=ٔZS;Q-^>9\Y\=^CFyb-Eb,$Eb>dQ 5jX5f3i?Q 9jX5fY)f/cBYhyj>Q In@fEIf:if:fPX5ypɮr%@p1Q=FNOT Ignoring new targets: 186.31 m.M.:M.:Q ProNav: ac range: 186.314682 m, nav range: 183.887650 m, bearing: 30.600774 deg, approach rate: -0.588456 m/s, LOS rate: 0.031295 deg/s, cmd heading: 34.425550 deg, new cmd heading: 34.458934 deg. zѫ:QHeadingCmd: 0.601422 target range: 186.314682 and range: 187.50 m.R?Jb2Acoustic response timeoutZB:2Ҕڔڒ’A?q颍 Bɢ)(; i).<顱i@i?e;d;I?IBy>BB"IB#BBBBBoQ;BEM9@I @I@I@Q@Q@UiA^A% &<IIԡO=>Ei EwE%E"E~;*ED-;VE 4ZEBE>24?26D=ٱ2\3 :AHRS rotation from veh to nav: [[0.825254,-0.561612,-0.059560],[0.562728,0.808755,0.171035],[-0.047886,-0.174663,0.983463]]2H{h?@~?@R?v?`s\[ƿx?i2ļ>I2];2ȐCY^)Byb"I ``bDjIVDjX4yr=%rG=ٔv ;Q-v>9tYt=vCFyv/EzEz>|Q 5X5~i?Q 9X5~:W)~9cBYy >Q I @~EI~:i~[:~X5y4Bɮ@EQFNOT Ignoring new targets: 186.31 m.::Q ProNav: ac range: 186.314682 m, nav range: 183.643372 m, bearing: 30.614086 deg, approach rate: -0.579820 m/s, LOS rate: 0.031638 deg/s, cmd heading: 34.458933 deg, new cmd heading: 34.498920 deg. z:QHeadingCmd: 0.602120 target range: 186.314682 and range: 187.50 m.R$?JbZB:2Ҕڔ ڒ ’   @m?yɢ})y }߾iy))<顁iߏi$?i;H:I$?I1߽o?߽>2Acoustic response timeout 9@ @@0@) ^Am H<I I O >E S E cE &E "E ;*E ";VE 4ZE a @a @a @a @] 2Acoustic response timeouta f-, ?AY52By="IiMb@Mb@Mb@ 9㥛 ?Q{Gz?Y?y\#=A@ ^A)AYAbD>VD43yT =%9=ٔQ->9Y=CFy1E E >Q 5X5i?Q 9X5T)IcBY?Q E:y%>Q I%@EI:i:X5y)ɮ-#@-EQQUFNOT Ignoring new targets: 186.31 m.]; :]; :Qm ProNav: ac range: 186.314682 m, nav range: 183.381180 m, bearing: 30.626921 deg, approach rate: -0.616297 m/s, LOS rate: 0.030213 deg/s, cmd heading: 34.498920 deg, new cmd heading: 34.537480 deg. zm:QuHeadingCmd: 0.602793 target range: 186.314682 and range: 187.50 m.RuP?JqbqZyBy:y2yҔڔjBڒ’`@颵Bɢ ]) t־i)Z#<项i iP?-;":IP?I!59@1 @1@50@9^A2;QA1IIIiO}z>2Acoustic response timeouty B x>B B m"IB BB B B B Q;B E-,>#?A06@>6?6AF=ٱ6u+ >AHRS rotation from veh to nav: [[0.830694,-0.554228,-0.052722],[0.554608,0.815550,0.165192],[-0.048557,-0.166464,0.984851]]6H@ ?`;\ Y?@?%?@gܨNſ?i6@>I6];6ƐCYFCByF"IbDNGVDN4yV5=%Vd=ٔV :Q-Z>9XYX=ZCFyZ3E^M߼E^>`Q 5fX5b~j?Q 9fX5bR)bVcBYdyf>Q Ij@bEIb:ibN:bX5ylɮn@lGSzB*** querying acoustic contact ***:xBx!Q-FNOT Ignoring new targets: 186.31 m.5 :5 :Q ProNav: ac range: 186.314682 m, nav range: 183.168320 m, bearing: 30.638096 deg, approach rate: -0.586624 m/s, LOS rate: 0.030833 deg/s, cmd heading: 34.537480 deg, new cmd heading: 34.571044 deg. zI:QHeadingCmd: 0.603379 target range: 186.314682 and range: 187.50 m.Rw?JbZB:2Ҕڔڒ!’!!%P@iɢmNSbE-4jE4rE١/E}J E}TE}"Ey"E}~;*E};VE}(3ZEyBE})4<AiMb@Mb@Mb@E: ELE&E"E\p;*E;VE4ZEa@a@a@a@ 9MbX9? rhMb?Y!?yC @=AE@ ) AYAbDHVD4y =%=ٔQ- >9 Y = CFy 6EE>Q 5%X56!j?Q 9%X5N)lcBY%%?Q E-:y->Q I-@EI? ;i ;#X5y55Bɮ5@5EYQ]FNOT Ignoring new targets: 186.31 m.mBDAT read: Rx Time:21:30:03.7741 mTRx dataTimestamp_ set to:1761514205.164688u2Acoustic response timeoutu:u:Q ProNav: ac range: 186.314682 m, nav range: 182.803253 m, bearing: 30.654508 deg, approach rate: -0.644625 m/s, LOS rate: 0.029038 deg/s, cmd heading: 34.571043 deg, new cmd heading: 34.620379 deg. zm:QHeadingCmd: 0.604240 target range: 186.314682 and range: 187.50 m.Rr?JbZB:2ҔڔBڒ’@A @BɢN) 빾i)<i-0ir?S;^Ir?IarG9 )]9aYe+A@ @@0@^Am&tԙAIIO>Թ  %= = 2Acoustic response timeouto-,1_?ABv>BBy"IBBBU =BBBQ;BEF^>F:?F(hB=ٱF2P RAHRS rotation from veh to nav: [[0.838926,-0.541491,-0.054689],[0.542173,0.822742,0.170714],[-0.047445,-0.172867,0.983802]]FH{?@S; |Y?S?? J ƿM{?iF^>IF^;FɐCYZnByZ"IbD>VD43y%w0>%%[=ٔ-aCQ-->91Y9=ECFyE8EUQ"EU>qQ 5X5ux4j?Q 9X5uL)u{cBYy>Q I@uEIu7Tx time:21:30:04.8447 R#Rx 1: Read range and direction messages.`direction in FSK: [0.958309,-0.005018,-0.285688]Fpublishing direction and range infoyU4x?>5jxtWԷHҿYfNC )KI'1H?i@?R&@r'@ V)@IV>q#?mX?=ʘ5Ͽ 3;?)">IiV>2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.} 9@y  @ @ /@ ) 5 DAT read: = 2Acoustic response timeoutQ ^A A=.AIIIYOe ?6a-,?A 6>6?6Kr>=ٱ6C< RAHRS rotation from veh to nav: [[0.841078,-0.537539,-0.060332],[0.538914,0.823154,0.178855],[-0.046479,-0.182945,0.982024]]6H?3㮿>?@GW?@?@̧`jǿ`l?i6>I6];4YZBy^"IiEMb@Mb@Mb@AAAA A9EK7A?y&1A`"?YE "?yE`eEY=EAE@ EA)AAYE\AbD]7VD]p3ym=%m=ٔuQ-u>9u ?Yu ?=}CFy};E}E}>Q 5X5Mj?Q 9X5.H)cBY>#?Q E:yD>Q I@EIq ;i ;+X5yɮQ@JRӾj?AMCMC%`?8h@ƊIwU<3LMU4x?>5jxtWԷHҿ󉒫V>—AՅ,e@?BW@T5PB&n??/LԿj0Brf)CZb?bd#zpꗥb?d#BڗBC◥_?QaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 206.399994 m, deltaT: 3.778061 s, deltaX: 18.899994 m, approachRate: 5.002564 m/s, rangeRepo size: 4QFNOT Ignoring new targets: 186.31 m.99Q ProNav: ac range: 186.314682 m, nav range: 182.216782 m, bearing: 30.670539 deg, approach rate: -0.693068 m/s, LOS rate: 0.008010 deg/s, cmd heading: 34.656629 deg, new cmd heading: 34.668542 deg. z 9QHeadingCmd: 0.605080 target range: 186.314682 and range: 187.50 m.R?JbZB:2ҔڔӄBڒ’i@W? Bɢ y) xi)z<ii?0;%I%?I!IES EUE&E"E;*E\;VE4ZEa@a@a@a@2Acoustic response timeout@ @@0@^A>qA؟AIIO>ԙ 5 2Acoustic response timeoutJ-,]?A@YBy"IbD-GVD-4y=%EN=ٔEQ-E>9M"?YM"?=MCFyM=EMEM>QQ 5]X5U`j?Q 9eX5UE)UcBYayaQ Ie@UEIU;iU;Ua/X5ym7Bɮme@qQFNOT Ignoring new targets: 186.31 m.|9|9Q ProNav: ac range: 186.314682 m, nav range: 181.964218 m, bearing: 30.673462 deg, approach rate: -0.643474 m/s, LOS rate: 0.007458 deg/s, cmd heading: 34.668541 deg, new cmd heading: 34.677323 deg. zȣ9QHeadingCmd: 0.605233 target range: 186.314682 and range: 187.50 m.B{>BB"IB7BBV =BBBQ;BEBCBBBT =BC-5R?JbZB:2Ҕ!ڔ!!ڒ!’!)-6?颕Bɢ) Ƃi) <顙i6i?=;ʋI?ԩIE9@A @A@M0@IEm EE"E"EO;*En:;VE(3ZEBEa$-,7?A2ó>2n?2/7=ٱ2(E :AHRS rotation from veh to nav: [[0.843637,-0.532924,-0.065332],[0.535040,0.824288,0.185151],[-0.044819,-0.191156,0.980536]]2H@? ?`? ?wȿ`?i2ó>I2m^;2ƐCYbByb#IbDjCVDj3pyvw>%vP=ٔvQ-z>9xYx=zCFyz?E~AE~>Q 5 X52sj?Q 9 X5A)cBY y N>Q I@EI:i:2X5y8Bɮ@EGS5B*** querying acoustic contact ***:1B1AQMFNOT Ignoring new targets: 186.31 m.M;9M;9Qu ProNav: ac range: 186.314682 m, nav range: 181.713959 m, bearing: 30.676669 deg, approach rate: -0.635423 m/s, LOS rate: 0.008154 deg/s, cmd heading: 34.677321 deg, new cmd heading: 34.686956 deg. zu9QHeadingCmd: 0.605402 target range: 186.314682 and range: 187.50 m.R?JbZB:2Ҕڔڒ’#}?BɢD?ݻ) Pi) <i di ?c;uI?I2Acoustic response timeout )@) @)@-z4@)@5=@5=9^AmE a E hE $E "E ݉;*E ^%;VE 4ZE a @a @a @a @a A  2Acoustic response timeoutI I O >q-,Ϸ?A2>2?295=ٱ2SB :AHRS rotation from veh to nav: [[0.843312,-0.533514,-0.064712],[0.535601,0.824426,0.182901],[-0.044230,-0.188902,0.980999]]2Hi?񐰿#?`a?Li?X-ȿXd?i2>I2];2ǐCYBByB*#Ijonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V aj@aj aj@aj an@an an@an bDrRVDr4yz=%zJ=ٔzQ-z>9|Y=CFyAEk:E> Q 5X5 Yj?Q 9X5 >) cBQ A+:YQ E:y>Q I@ EI  ;i > 5X5y!ɮ-@)9QQUFNOT Ignoring new targets: 186.31 m.]49]49Qm ProNav: ac range: 186.314682 m, nav range: 181.455856 m, bearing: 30.679952 deg, approach rate: -0.635780 m/s, LOS rate: 0.008098 deg/s, cmd heading: 34.686955 deg, new cmd heading: 34.696818 deg. zmر9QuHeadingCmd: 0.605574 target range: 186.314682 and range: 187.50 m.Ru?JqbyZyBy:y2yҔڔڒ’@?mBɢuOm)q uD1iq)}7<ԑB>BCB"IBeBBQ =BBRDBuQ;BEԹ -,跤?A2>2?2C3=ٱ2;; :AHRS rotation from veh to nav: [[0.841743,-0.536296,-0.062085],[0.538102,0.824089,0.176983],[-0.043752,-0.182383,0.982254]]2H?@V)ɯ!8?^?d?fPXǿ@n?i2>I21];2ȐCYNByNB#IEbR EbGEb&E`"Eb;*Eb;VEb4ZE`BEb89tYt=vCFyzCEz+;Ez>]2Acoustic response timeoutԙQ 5X51j?Q 9X5H;)cBQ A :YQ EZ:y>Q I@EI-/;iHT?8X5y9Bɮ@EQFNOT Ignoring new targets: 186.31 m.N 9N 9Q ProNav: ac range: 186.314682 m, nav range: 181.188080 m, bearing: 30.683172 deg, approach rate: -0.631942 m/s, LOS rate: 0.007612 deg/s, cmd heading: 34.696818 deg, new cmd heading: 34.706494 deg. z*9QHeadingCmd: 0.605743 target range: 186.314682 and range: 187.50 m.R%?J!b!Z!B!:)2)Ҕ)ڔ19ڒ9’9AE ]@颅Bɢ/) ~i)ar<顉iۀi?"-;=ƼI?I9@ @@P4@^AiAqzAuhA 2Acoustic response timeoutA I I O% >1 D.,%?AY~By~H#Iaa aa aa aa iMb@Mb@Mb@ 9M?I +?~jt?Yn2?y9=D<EA@ -A)$ AY AbDIVDX4y.<%==ٔQ->9Y=CFyEEE>Q 5X5j?Q 9X5e6)cBQ AT:Y3?Q E:y2?Q I@EIC ;i ;;X5yɮ@!Q%FNOT Ignoring new targets: 186.31 m.-Y#-Y#Q= ProNav: ac range: 186.314682 m, nav range: 180.901718 m, bearing: 30.668535 deg, approach rate: -0.697370 m/s, LOS rate: -0.035703 deg/s, cmd heading: 34.706493 deg, new cmd heading: 34.662511 deg. z=ĺQEHeadingCmd: 0.604975 target range: 186.314682 and range: 187.50 m.RE?JAbAZABI:I2IҔIڔMiBQڒQ’QY]5@颅Bɢ@) i)<顉i Ui?Q;üI?IEZ EE(E"E;*EGA;VEc44ZEa@a@a@a@M9@I @I@M/@I@UhA@Q}2Acoustic response timeout!Q^A¼A .AI I! O5 >y = >= %== 2Acoustic response timeout.,?A2L>23?2-=ٱ2/ :AHRS rotation from veh to nav: [[0.836518,-0.544851,-0.058094],[0.546298,0.821113,0.165325],[-0.042376,-0.170034,0.984527]]2H? ko}`F{?F? `)?Lſ>?i2L>I2];2ƐCYBȄByBQ#I DDbDN;VDN)3yVC(=%V^=ٔVXuQ-V>9Z ?YZ ?=ZCFyZGEZ<E^>`Q 5fX5bj?Q 9fX5b1)bcBYdyf4?Q If@bEIb9:ib1:b>X5yn:Bɮn@lQFNOT Ignoring new targets: 186.31 m.$$B~>BCB#IBBBBBBHQ;BEQ ProNav: ac range: 186.314682 m, nav range: 180.647217 m, bearing: 30.654674 deg, approach rate: -0.657460 m/s, LOS rate: -0.035857 deg/s, cmd heading: 34.662510 deg, new cmd heading: 34.620869 deg. zĺQHeadingCmd: 0.604248 target range: 186.314682 and range: 187.50 m.R?JbZB:2Ҕڔڒ’Ӿ@BɢF&:)! %Խi!)% a .,6?A2by>2>?2/>)=ٱ2) :AHRS rotation from veh to nav: [[0.833399,-0.549734,-0.056910],[0.551126,0.818953,0.159921],[-0.041307,-0.164643,0.985488]]2H3?l^#Ԣ?4?`Nx?`;&ſ?i2by>I2(];0YBÄByBL#IbDJ=VDJ3yVѷ%ZJ=ٔZ-Q-^>9`Y`=fCFyfIEjg<Ej>pQ 5zX5rj?Q 9zX5r-)rcBYxy~ 6?Q I~@rEIrGD;iruE;r~BX5y ;Bɮ @ EGSEB*** querying acoustic contact ***:ABAQQFNOT Ignoring new targets: 186.31 m.f9f9Q  ProNav: ac range: 186.314682 m, nav range: 180.364990 m, bearing: 30.638725 deg, approach rate: -0.715948 m/s, LOS rate: -0.040522 deg/s, cmd heading: 34.620870 deg, new cmd heading: 34.572948 deg. z {޺QEHeadingCmd: 0.603412 target range: 186.314682 and range: 187.50 m.RE2y?JAbAZABA:I2IҔIڔIԱBDAT read: Rx Time:21:30:07.5226 TRx dataTimestamp_ set to:1761514208.9487172Acoustic response timeoutQڒ1’115]N @}Bɢ?:) i)<顁if |i2y?;TI2y?IM9@I @I@Q@Q^AemAu>Au>IQIiOu> E \ E E $E "E ;*E B;VE 4ZE a @a @a @a @ 2Acoustic response timeout9 Q.,>[P?AJ>J?J\#=ٱJ$ nAHRS rotation from veh to nav: [[0.830126,-0.554724,-0.056320],[0.556138,0.816503,0.155026],[-0.040012,-0.160013,0.986304]]JH`d?Lլ? ?`?e|@L{Ŀ̏?iJ>IJ];JȐCY ByB#IiMb@Mb@Mb@ 9㥛 ?Q?MbY5?y=A@ A) AY AbDAVD?3yR%,=ٔ,3Q->9Y=CFyKEO<E>Q 5X5j?Q 9X5&)cBY8?Q E:y"A?Q I@EI(;i]:FX5y=Bɮ  @ 1Q5FNOT Ignoring new targets: 186.31 m.=Af=AfQM ProNav: ac range: 186.314682 m, nav range: 180.035736 m, bearing: 30.615329 deg, approach rate: -0.706959 m/s, LOS rate: -0.050326 deg/s, cmd heading: 34.572949 deg, new cmd heading: 34.502633 deg. zU' QUHeadingCmd: 0.602185 target range: 186.314682 and range: 187.50 m.RU(?JYbYZYBY:Y2YҔaڔeyBaڒa’iimz @颍Bɢ$) i)ce;顙iyi(?0;I(?IEDAT read: 21:30:07.5226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433, 0.07, 0.502,-0.814, 0.603,-0.337, PHS= 0.941,-0.432, 0.896, RAW= 148.3, -20.2, CAL= 150.1, -22.5, ROT= 359.9, 22.5 MYgot valid direction response: 21:30:07.5226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433, 0.07, 0.502,-0.814, 0.603,-0.337, PHS= 0.941,-0.432, 0.896, RAW= 148.3, -20.2, CAL= 150.1, -22.5, ROT= 359.9, 22.5 UPDAT read: Bearing 157.0, 1.4 (Local) U~Local bearing/azimuth received: Bearing 157.0, 1.4 (Local) YeDAT read: Range 11 to 50 : 205.4 m (Round-trip 273.9 ms) speed 0.0 m/s mTDAT read: user:281>Tx time:21:30:08.5946 uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.923878,-0.001613,-0.382683]}Fpublishing direction and range infoy(Sh?0GkZAՅ}ؿYfMC )DI`p?i/ݾB`e?%@Jϩ'@ ɾ)@I><0n?)+obr?Q5Pֿ O>)>d>I"i>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@ @@@@=@=Bu>BCB.#IBBBT =BBQDB?Q;BEԉ ^A kI! I1 OE >@.,5j?A0bE-4jE-w4rE-L0ERD ERjEPEP"ERny;*ERk&;VEPZEPBER@:i :IX5y%>Bɮ%R@%EeDAT read: m2Acoustic response timeoutJ1R5\?A5LC5LC5%i?5]%g@طտAgۆS5(Sh?0GkZAՅ}ؿ5"5>—5Mѵ#d@"-|W@Y3!U5B?|Џ?"Znڿj5Br5!CZ5|}?b5O١z5115pڗ5?C5r?QM addTargetRange:: Added new target pos. range: 205.399994 m, deltaT: 7.562532 s, deltaX: 17.899994 m, approachRate: 2.366931 m/s, rangeRepo size: 4 Q Added new target pos. range: 204.103790 m, bearing: 29.858874 deg, lat: 36.779478 deg, lon: -121.859379 deg, deltaT: 7.562532 s, deltaX: 17.789108 m, approachRate: 2.352269 m/s, posRepo size: 4 QFNOT Ignoring new targets: 204.10 m.Q ProNav: ac range: 204.103790 m, nav range: 191.607788 m, bearing: 29.092406 deg, approach rate: 0.000000 m/s, LOS rate: -0.050326 deg/s, cmd heading: 34.502632 deg, new cmd heading: 34.446232 deg. zQHeadingCmd: 0.601200 target range: 204.103790 and range: 205.40 m.RA?JbZB:2Ҕڔڒ’̬i@y?EBɢEt)I M6"iI)M t;iiimwiuA?u;}svI}A?Iyԑ!@! @!@-0@)^AIaIqOZ>Թ = < 2Acoustic response timeout .,$?A>^>>?>@=ٱ>9? FAHRS rotation from veh to nav: [[0.823829,-0.564265,-0.053951],[0.565607,0.812038,0.143814],[-0.037339,-0.148993,0.988133]]>H\?`u l t?7?h?$6ÿɞ?i>^>I>:];>ǐCXYjByj#Ii]Mb@Mb@Mb@YYYY Y9]X9v?V-?I +Y]3?y]=]9]AY ]A)]; AYY] AbDuIVDuX4yt%A=ٔyλQ->9Y=CFyOE<E>Q 5X5k?Q 9X5")ScBY<6?Q E:ymB?Q I@EI:i:KMX5yɮ@QFNOT Ignoring new targets: 204.10 m.^^Q ProNav: ac range: 204.103790 m, nav range: 191.316498 m, bearing: 29.069971 deg, approach rate: -0.744442 m/s, LOS rate: -0.057425 deg/s, cmd heading: 34.446232 deg, new cmd heading: 34.378823 deg. zQHeadingCmd: 0.600024 target range: 204.103790 and range: 205.40 m.R&?JbZB:2Ҕ ڔ NB ڒ’?颽Bɢpл) Gi)_;i1|ui &? ޿;k';I&?IE8 EQE#E"En;*EA;VE3ZEa@a@a@a@ QYu2Acoustic response timeoutliA@ @ @ z0-95liAY5A@9 ^A yb]A gAzA gAI I! O= >I  2Acoustic response timeout_"'.,[인?A2G%>20i?2=ٱ2tJ :AHRS rotation from veh to nav: [[0.820799,-0.568720,-0.053358],[0.570104,0.809790,0.138643],[-0.035641,-0.144218,0.988904]]2H`C?@2QJ>? ? ?y?u¿?i2G%>I2;];2ʐCYBrByB"IbDJGVDJ4yR;%RZ=ٔVQ-V>9TYX=ZCFyZQEZim<EZ>Q 5%X5k?Q 9%X5&):cBY)y-C?Q I-@EI(;iG);PX5y5?Bɮ5@5EBaBeCBaBaBeX =BaBePDBeQ;BecEyQ}FNOT Ignoring new targets: 204.10 m.ruruQ ProNav: ac range: 204.103790 m, nav range: 191.051849 m, bearing: 29.049046 deg, approach rate: -0.677576 m/s, LOS rate: -0.053647 deg/s, cmd heading: 34.378821 deg, new cmd heading: 34.315961 deg. zDQHeadingCmd: 0.598926 target range: 204.103790 and range: 205.40 m.R?S?JbZB:2Ҕڔڒ’ I?Bɢ?) EK EhE$E"E;*E^%;VE4ZEBER?R$ =ٱR: bAHRS rotation from veh to nav: [[0.818045,-0.572583,-0.054325],[0.574166,0.807456,0.135451],[-0.033692,-0.141997,0.989294]]RHl-?@R`Ы`_??wV?@,¿K?iR>IR];RǐCYnUByr"I ttbD=VD3y %C=ٔ]ØQ-]>9aYa=eCFyeSEeV<<Em>iyQ 5}X5mm(k?Q 9}X5m)m cBYy(E?Q I@mEIm+;im:,;mLTX5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 204.10 m.Q ProNav: ac range: 204.103790 m, nav range: 190.767319 m, bearing: 29.026025 deg, approach rate: -0.690439 m/s, LOS rate: -0.055947 deg/s, cmd heading: 34.315960 deg, new cmd heading: 34.246792 deg. zQHeadingCmd: 0.597719 target range: 204.103790 and range: 205.40 m.R!?JbZB:2Ҕڔڒ’ ?ɢr) Ni)ƒ;!!i%Opi-!?-';-6_;VE ZE a @a @a @a @A] ؟AIi Iy  2Acoustic response timeoutO > `44.,Ѹ?A6q0>6?6=>=ٱ6{ >AHRS rotation from veh to nav: [[0.815249,-0.576372,-0.056247],[0.578237,0.804839,0.133701],[-0.031792,-0.141524,0.989424]]6H?@qY̬?>??G s¿\?i6q0>I6];6ȐCY^:Byb"IiEMb@Mb@Mb@AAAA A9EV-?㥛 ?9u"?Yu"?=}CFy}UE}G<E}>Q 5X59k?Q 9X5 )cBY.?Q E:yG7?Q I@EI:i:WX5yDBɮ@EQFNOT Ignoring new targets: 204.10 m.CCQ ProNav: ac range: 204.103790 m, nav range: 190.497116 m, bearing: 29.008760 deg, approach rate: -0.666459 m/s, LOS rate: -0.042643 deg/s, cmd heading: 34.246790 deg, new cmd heading: 34.194925 deg. zQHeadingCmd: 0.596814 target range: 204.103790 and range: 205.40 m.R?JbZB:2ҔڔBڒ’ى?MBɢU)Q UiY)];Yaieǹmi?o;B]CB]#IB]BB]S =BYB]RDB]P;B]YEB%ǻCB%ǻCB%ǔCB%S =B%S =C%v%61A .AI I! O5 >Y ^:.,~븤?A6I>6?66<ٱ6VEF& EFOEF&ED"EF8^;*EF3;VEF4ZEDBEFI61];4YfByfs"IbDr?VDr3y~H%R=ٔkQ->9  ?Y  ?= CFyWEv<E>!Q 5-X5%Jk?Q 95X5%_ )%bBY1y5!8?Q I5@%EE2Acoustic response timeoutI%m;i%';%E[X5yYɮ]@YQFNOT Ignoring new targets: 204.10 m. C CQ ProNav: ac range: 204.103790 m, nav range: 190.237152 m, bearing: 28.991831 deg, approach rate: -0.654001 m/s, LOS rate: -0.042648 deg/s, cmd heading: 34.194925 deg, new cmd heading: 34.144068 deg. z'QHeadingCmd: 0.595926 target range: 204.103790 and range: 205.40 m.R?JbZB:2Ҕڔڒ’I@1颹ɢ)̼) i);iji?2Q;W jHA.,xa?A^C>^x?^`H<ٱ^5 jAHRS rotation from veh to nav: [[0.811869,-0.580451,-0.062812],[0.583203,0.801256,0.133657],[-0.027253,-0.145144,0.989035]]^H? @q???)蛿¿-?i^C>I^];^ƐCYrByr\"IIv>)v;imMb@Mb@Mb@iiii i9m"~j?I +?X9vYmS#?ym949"?Y"?=CFyYEz;E>Q 5X5]k?Q 95X51)bBY5#?Q E5:y5 "?Q I5@EIƕ޼) i) ;igick?ɣ;d 2Acoustic response timeout vpG.,3?A2>2V?2b<ٱ2S :AHRS rotation from veh to nav: [[0.811173,-0.581149,-0.065304],[0.584258,0.800505,0.133548],[-0.025336,-0.146485,0.988888]]2H ?`Ƙ@=?ໝ??@¿@?i2>I2 ];2ǐCYBӃByB#"IbDNYVDN#4yvgp%zV=ٔzHQ-z>9xY|=~CFB>BCB"IBKBBP =BBSDBP;BnEy[EAV;E>!Q 5-X5%mk?Q 9-X5%[)%bBY1y5W"?Q I5@%EI%:i%:%UbX5y9ɮ= @AaQeFNOT Ignoring new targets: 204.10 m.mrmrQ ProNav: ac range: 204.103790 m, nav range: 189.726425 m, bearing: 28.972057 deg, approach rate: -0.659524 m/s, LOS rate: -0.025731 deg/s, cmd heading: 34.113253 deg, new cmd heading: 34.084663 deg. zDQHeadingCmd: 0.594890 target range: 204.103790 and range: 205.40 m.RJ?JbZB:2Ҕڔڒ’x@Bɢ?) vi)ص;idiJ?T8;AM.,"9?AB۵>Bx?Bm<ٱBn JAHRS rotation from veh to nav: [[0.811436,-0.580580,-0.067067],[0.583961,0.800767,0.133268],[-0.023668,-0.147303,0.988808]]BH I?@F+Я? ?`?@y<@¿Q?iB۵>IB,^;BȐCY^By^!IbDfZVDf%4yn"%nK=ٔrՇQ-r>9pYp=vCFyv]Ev偺Ev>xQ 5~X5z k?Q 9~X5zg)zbBYy:"?Q I@zEIz ;iz ;zeX5y DBɮ *@ EGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 204.10 m.EEQ ProNav: ac range: 204.103790 m, nav range: 189.474808 m, bearing: 28.962261 deg, approach rate: -0.630107 m/s, LOS rate: -0.024563 deg/s, cmd heading: 34.084662 deg, new cmd heading: 34.055236 deg. zۆQHeadingCmd: 0.594376 target range: 204.103790 and range: 205.40 m.R)?JbZB:2Ҕڔڒ’Z @yɢ}H)y }o!iy)T;顁iai)?ڦ;2Acoustic response timeoutTx time:21:30:12.3946  R#Rx 1: Read range and direction messages. `direction in FSK: [0.898006,-0.037637,-0.438371] Fpublishing direction and range infoya e F av?9C[2E3EܿYe aCa a a a e })e JIe +?ie e L7?e aU(@e !ھe ;*@ e V)e @Ie V>a a e ??C?أڿ e c ?)e >Ie Q+ie V>a a  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.IA IQ O > T.,R?A@F>Fc?F <ٱF~ ~AHRS rotation from veh to nav: [[0.812157,-0.579350,-0.068948],[0.583016,0.801385,0.133699],[-0.022204,-0.148782,0.988621]]FH1? `?`? ?Ƽ`M ÿǢ?iF>IF*^;DY By !I ==iMb@Mb@Mb@ 9)\(?~jtI +YG!?y9A@ VA) AYbD5?VD53y%-=ٔJQ->9 Y =5CFy5`EE"EE>qQ 5}X5u֕k?Q 9}X5u)ubBY}"?Q E}:yS>Q I@uEIuv:iu:u jX5ԩyFBɮ?@EJR0N?A_C_C?i@}l YÃXF av?9C[2E3EܿQ+V>—4ɐe@zXPX@T  Ynכ?;m?hT}ܿjBr.CZ~,?b1zu ꗑڗ*=C◕Oh?Q=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 225.100006 m, deltaT: 3.779516 s, deltaX: 19.700012 m, approachRate: 5.212311 m/s, rangeRepo size: 4AQEFNOT Ignoring new targets: 204.10 m.mй7mй7Q} ProNav: ac range: 204.103790 m, nav range: 189.166885 m, bearing: 28.962896 deg, approach rate: -0.614159 m/s, LOS rate: 0.001269 deg/s, cmd heading: 34.055238 deg, new cmd heading: 34.057147 deg. z}^8QHeadingCmd: 0.594409 target range: 204.103790 and range: 205.40 m.R6+?JbZB:2ҔڔOBڒ’@3#l@b?-Bɢ-!)) -0i))5>;11i5K]i=6+?=;=BCB`"IBBBO =BBBP;BfE@ @@0@ ^A <E B E RE #E "E w;*E ;VE 3ZE BE [.,jn?A.2Acoustic response timeoutf7>f?f/<ٱfv rAHRS rotation from veh to nav: [[0.813632,-0.576819,-0.072691],[0.580996,0.802167,0.137738],[-0.021139,-0.154301,0.987798]]fHE ?@Luߛ?Y?c? "ÿ ?if7>If^;fƐCYzhByz!IbD[VDy'4ypc%^=ٔ>Q->9Y=CFyaE%,E%>)Q 55X5-k?Q 95X5-)-bBY1y=>Q I=@-EI-@;i-[:-'mX5yAɮE@AiQmFNOT Ignoring new targets: 204.10 m.uf 8uf 8Q ProNav: ac range: 204.103790 m, nav range: 188.941803 m, bearing: 28.963538 deg, approach rate: -0.666790 m/s, LOS rate: 0.001904 deg/s, cmd heading: 34.057147 deg, new cmd heading: 34.059075 deg. zG8QHeadingCmd: 0.594443 target range: 204.103790 and range: 205.40 m.Rk-?JbZB:2Ҕڔڒ’`1x?MBɢM]bf)I M~EiQ)U{;QYi]a\Zik-?Mҩ;ԙ a.,5?A2>2f?24<ٱ2a&< >AHRS rotation from veh to nav: [[0.815986,-0.572835,-0.077634],[0.577724,0.803451,0.143878],[-0.020043,-0.162254,0.986546]]2H?T@߳|?ߵ?@j?6ĿǑ?i2>I2j^;0YFXByF!IiMMb@Mb@Mb@IIII I9MOn?MbX9Ŀ~jth?YM?yM!MD;IM@ MA)M AIYM AbDeSVDe4ym%uE=ٔu#-Q-u>9yYy=}CFy}dE+E>Q 5X5k?Q 9X5V)bBY?Q E:y>Q I@EI& ;i ;pX5yGBɮ@QFNOT Ignoring new targets: 204.10 m.99Q ProNav: ac range: 204.103790 m, nav range: 188.688629 m, bearing: 28.974712 deg, approach rate: -0.609778 m/s, LOS rate: 0.026948 deg/s, cmd heading: 34.059076 deg, new cmd heading: 34.092642 deg. z:QHeadingCmd: 0.595029 target range: 204.103790 and range: 205.40 m.RS?JbZB:2ҔڔBڒ’L?-Bɢ-.T)) 5Li1)5h8P;11i5rVi=S?=;Efi}>EH E'E'E"E};*E";VE'4ZEa@a@a@a@u2Acoustic response timeoutԩ9@ @@5@@=@=^AU<IIO>  2Acoustic response timeoutB9 B9 B= !IB= BB9 B9 B9 B= P;B= AEh.,?A2>2ٜ?2<ٱ2B- :AHRS rotation from veh to nav: [[0.818481,-0.568750,-0.081315],[0.574209,0.805031,0.149028],[-0.019299,-0.168669,0.985484]]2H0?23@Ѵ_??\? Óſ`?i2>I2z^;2ʐClYvIByvz!IIz=)zR=bD`VD04y % Q=ٔQ->9Y=CFyfE4E%>!Q 5-X5%k?Q 95X5%)%bBY1y5޶>Q I5@%EI%:i%p:%1tX5y9ɮE@AaQmFNOT Ignoring new targets: 204.10 m.m)9m)9Q} ProNav: ac range: 204.103790 m, nav range: 188.450333 m, bearing: 28.985554 deg, approach rate: -0.609689 m/s, LOS rate: 0.027776 deg/s, cmd heading: 34.092643 deg, new cmd heading: 34.125212 deg. z:QHeadingCmd: 0.595597 target range: 204.103790 and range: 205.40 m.Ry?JbZB:2Ҕڔڒ’s?BɢRe) Si)r%;iRiy?û;9̏a Gn.,廹?A2FQ>20?2W<ٱ23 :AHRS rotation from veh to nav: [[0.820985,-0.564717,-0.084138],[0.570642,0.806741,0.153418],[-0.018760,-0.173966,0.984573]]2HE?( B?`?0?5 Dƿ?i2FQ>I2@=^;2ƐCYB8ByBe!IbDNZVDN%4yV&%VQ=ٔVtQ-V>9XYX=ZCFyZhEZ6E^>`Q 5bX5bk?Q 9fX5b)bbBYdyfĴ>Q If@b EIb:ibN:bwX5yjJBɮn&@nEGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 204.10 m. : :Q ProNav: ac range: 204.103790 m, nav range: 188.212097 m, bearing: 28.996726 deg, approach rate: -0.608464 m/s, LOS rate: 0.028570 deg/s, cmd heading: 34.125213 deg, new cmd heading: 34.158772 deg. zܜ:Q%HeadingCmd: 0.596183 target range: 204.103790 and range: 205.40 m.R%t?J!b!Z)B):)2)Ҕ1ڔ11ڒ19’99E@V?mBɢmq)i m[ii)uDR:qqiuVNi}t?}O;}^E' E;E$E"E _;*E ;VE4ZEa@a@a@a@+GSkA E 춿9E SkAYE 'A 2Acoustic response timeoutԹ I.u.,غչ?A2>2VI?2ԗ<ٱ2 {7 :AHRS rotation from veh to nav: [[0.823677,-0.560499,-0.086003],[0.566756,0.808757,0.157161],[-0.018533,-0.178192,0.983821]]2H [?`O"?V??:ƿv{?i2>I2];2ȐCYB#ByBK!IiMb@Mb@Mb@ԙ 9M?|?5^ɿQ?Yn?yM\=EA@ A) AY AbDVDy%8=ٔQ->9Y=CFyjE.E> Q 5%X5 k?Q 9%X5 ) bBY%w?Q E%:y-t>Q I-@ EI g;i ,; {X5y5KBɮ5@1YQ]FNOT Ignoring new targets: 204.10 m.e;<:e;<:Qu ProNav: ac range: 204.103790 m, nav range: 187.949585 m, bearing: 29.015119 deg, approach rate: -0.586367 m/s, LOS rate: 0.041141 deg/s, cmd heading: 34.158773 deg, new cmd heading: 34.214029 deg. z}:Q}HeadingCmd: 0.597147 target range: 204.103790 and range: 205.40 m.R}?JbZB:2ҔڔBڒ’Ȉ@}Bɢ}Xh)y ei)Dv:顁i.Ii?$;rBB!IBgBBP =BBBkP;B)E^Am jZXE % E ?E %E "E O];*E ;VE 4ZE BE R?R`<ٱRn8 ZAHRS rotation from veh to nav: [[0.826300,-0.556669,-0.085721],[0.562923,0.811197,0.158356],[-0.018615,-0.179104,0.983654]]RH q? < w?T?E? ƿz?iR>IR[^;RŐCYb BybH!I ddhhbDn_VDn.4yvN%vY=ٔvf9Q-v>9xYx=zCFyzlEzJE~>Q 5X5l?Q 9 X5Y)bBY y !>Q I @EI:iN:~X5yɮ@9QEFNOT Ignoring new targets: 204.10 m.EB:EB:QU ProNav: ac range: 204.103790 m, nav range: 187.729431 m, bearing: 29.030907 deg, approach rate: -0.592093 m/s, LOS rate: 0.042510 deg/s, cmd heading: 34.214029 deg, new cmd heading: 34.261448 deg. z]e:Q]HeadingCmd: 0.597975 target range: 204.103790 and range: 205.40 m.Re?JabaZaBa:a2aҔiڔiiڒi’qqu ŀ@=Bɢ=@)E< ECfiA)Evi9AAiEEiM?M姬;M[;IM?IQ@ @@@^Az< AIIOn>2Acoustic response timeout1a |S., ?AB E>B?BV<ٱBä8 NAHRS rotation from veh to nav: [[0.828773,-0.552990,-0.085655],[0.559296,0.813664,0.158554],[-0.017984,-0.179311,0.983628]]BH`O?@z?@ ?}K? jƿ`y?iB E>IBO];BƐCYRByRD!IieMb@Mb@Mb@aaaa a9eoʡ?(\ȿMb?Ye ?yeGe=eAe@ a)e$ AaYe\ AbD}ZVD}%4y%@=ٔ+ºQ->9Y=CFynE'E>Q 5X54l?Q 9X5)cBY?Q E:yp>Q I@EI ;i ;X5yLBɮ@E Q FNOT Ignoring new targets: 204.10 m.P8:P8:Q% ProNav: ac range: 204.103790 m, nav range: 187.485626 m, bearing: 29.048235 deg, approach rate: -0.566082 m/s, LOS rate: 0.040285 deg/s, cmd heading: 34.261448 deg, new cmd heading: 34.313499 deg. z%-:1Q5HeadingCmd: 0.598884 target range: 204.103790 and range: 205.40 m.R5nP?J1b1Z1B1:929Ҕ9ڔ=BAڒA’AAE@E E&EE"ECJ;*E;VEZEa@a@a@a@-2Acoustic response timeoutMBɢM߶)Q ULgiQ)U|wιQQi]ϊAi]nP?]Z;e9IenP?Ia9@ @@@ԉ^A < BDAT read: Rx Time:21:30:15.0645  TRx dataTimestamp_ set to:1761514216.508559 2Acoustic response timeoutB >B B `!IB 4BB O =B B B 6P;B EB}˽CB}˽CB}˓CB}O =B}O =C}4 A5 .AI9 II O] >.,#?AV0 >V%?V'<ٱV17 nAHRS rotation from veh to nav: [[0.831200,-0.549465,-0.084820],[0.555707,0.816353,0.157345],[-0.017213,-0.177921,0.983894]]VH 1?7`ƶY??#?+ƿ|?iV0 >IV];TYz-ByzX!IbDXVD!4y=%R=ٔQ->9 ?Y ?=CFy%pE%8E%>)Q 5}X5-S/l?Q 9X5-)-*cBYy>Q I@-EI-q ) b.,qv=?A2u>2H?2l<ٱ2F4 :AHRS rotation from veh to nav: [[0.833464,-0.546164,-0.083924],[0.552341,0.819038,0.155227],[-0.016042,-0.175731,0.984308]]2H? ,z |Ǭ? 5?{?nm`Y~ƿr?i2u>I2=];0YB:ByBg!IIF>)F9XYX=ZCFyZrE^q*E^>`Q 5fX5bAl?Q 9fX5b^)bNcBYdyfˉ>Q Ij@bEIbK:ib:bMX5ynMBɮn<@nEGS~B*** querying acoustic contact ***:|B|Q FNOT Ignoring new targets: 204.10 m. J: J:Q ProNav: ac range: 204.103790 m, nav range: 187.048035 m, bearing: 29.080421 deg, approach rate: -0.593233 m/s, LOS rate: 0.044163 deg/s, cmd heading: 34.360971 deg, new cmd heading: 34.410170 deg. z%x:Q%HeadingCmd: 0.600571 target range: 204.103790 and range: 205.40 m.R-?J)b)Z)B):)2)Ҕ1ڔ11ڒ9’99=&@颍BɢDAT read: 21:30:15.0645 LVL= 30512, 32753, 28370, 26419, AGC= 77, IDX= 94, 0.24, 1.732, 0.355, 1.801, 0.787, PHS= 1.047,-0.387, 0.970, RAW= 147.2, -22.4, CAL= 148.7, -24.4, ROT= 1.3, 24.4 Ygot valid direction response: 21:30:15.0645 LVL= 30512, 32753, 28370, 26419, AGC= 77, IDX= 94, 0.24, 1.732, 0.355, 1.801, 0.787, PHS= 1.047,-0.387, 0.970, RAW= 147.2, -22.4, CAL= 148.7, -24.4, ROT= 1.3, 24.4 PDAT read: Bearing 156.5, 4.3 (Local) ~Local bearing/azimuth received: Bearing 156.5, 4.3 (Local) DAT read: Range 11 to 50 : 199.3 m (Round-trip 265.8 ms) speed 0.0 m/s TDAT read: user:283>Tx time:21:30:16.1446 R#Rx 1: Read range and direction messages.^direction in FSK: [0.910449,0.020661,-0.413104]Fpublishing direction and range infoy6rzf"?J'(?IMpڿYLGC0wn 3g)MI?i$ƾQx?l$@+Ⱦx&@ ^ ھ)޹K?0O? Ɂgؿ >)XO>I޹U2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.) nWi)顱iE9i?;+I?I A i@i @i@i@iE5  E5 8E5 $E1 "E5 X;*E5  ;VE5 4ZE1 a= @a= @a= @a= @M DAT read: U 2Acoustic response timeouta ^A 9ԡ IIO>.,2\?A6,>>6u?6k`<ٱ6/ >AHRS rotation from veh to nav: [[0.836428,-0.541851,-0.082376],[0.547906,0.822912,0.150383],[-0.013697,-0.170918,0.985190]]6H?V@q?LU???( ſ ?i6,>>I6];6ŐCYF9Y=CFytE,*E>Q 5X5%Yl?Q 9X5)cBY?Q E:y>Q I@#EI ;iX ;ɍX5yNBɮ'@JqRu @?Au FCu FCu@?uMf@G(^@rx—uxkc@Z6 wV@˅̓Tudy?5P ?Q)<ۿjuBruXCZuH{?buqzu>u|}?uO١u>ڗu4Cu?Q5 addTargetRange:: Added new target pos. range: 199.300003 m, deltaT: 7.559598 s, deltaX: -6.099991 m, approachRate: -0.806920 m/s, rangeRepo size: 4 QE Added new target pos. range: 198.052078 m, bearing: 30.047551 deg, lat: 36.779421 deg, lon: -121.859387 deg, deltaT: 7.559598 s, deltaX: -6.051712 m, approachRate: -0.800534 m/s, posRepo size: 4 AQEFNOT Ignoring new targets: 198.05 m.U2Acoustic response timeoutUYQe ProNav: ac range: 198.052078 m, nav range: 180.930145 m, bearing: 29.883787 deg, approach rate: 0.000000 m/s, LOS rate: 0.044163 deg/s, cmd heading: 34.410169 deg, new cmd heading: 34.478732 deg. ziQuHeadingCmd: 0.601767 target range: 198.052078 and range: 199.30 m.Run ?JqbqZqBq:q2yҔyڔ}2Byڒ’h@YX?颵Bɢ[) ;Ui)ʰ)项i4in ?E;!TIn ?B >B B M!IB %BB B B B -P;B EIA%riE  E E &E "E *E j:VE 4ZE BE 2#?21D<ٱ2׷- :AHRS rotation from veh to nav: [[0.837132,-0.540751,-0.082456],[0.546870,0.824068,0.147801],[-0.011974,-0.168822,0.985574]]2H?M?^? (? ſ ҉?i2>I2];2ƐCYbaByb!IbDzGVDz4y]B>%]S=ٔe쏻Q-e>9iYi=mCFyuvEyusPE>Q 5X5[kl?Q 9X5)cBYy>Q I@'EI;im;GX5yɮ@)Q-FNOT Ignoring new targets: 198.05 m.5%:U%:Qe ProNav: ac range: 198.052078 m, nav range: 180.707336 m, bearing: 29.898383 deg, approach rate: -0.552411 m/s, LOS rate: 0.036232 deg/s, cmd heading: 34.478733 deg, new cmd heading: 34.522575 deg. ze:QmHeadingCmd: 0.602533 target range: 198.052078 and range: 199.30 m.Rm??JibiZiBi:2Ҕڔڒ’\?MBɢ`) Ai)S顑i:1i??&K;еhI??Iԡe2Acoustic response timeout<PExceeded connect timeout, disconnecting.Y>i> 9@  @ @ /@ @ iA@ hA E > E 8E %E "E s;*E  ;VE 4ZE a @a @a @a @i I  2Acoustic response timeout)^AMIIO>.,h?A>>>?>̃#<ٱ>- FAHRS rotation from veh to nav: [[0.837701,-0.539634,-0.083979],[0.546038,0.824789,0.146849],[-0.009980,-0.168872,0.985587]]>Hq?D%y?`d??@cp`ſ?i>>I>k];>ǐCYNqByN!I PPV=Va=i=Mb@Mb@Mb@9999 99=Q?~jtl?Y=?y=Ľ===A=5@ = A)= A9Y9bDuNVDu4y%s=%%=ٔQ->9Y=CFyyE|E>Q 5X5Nl?Q 9X5)cBYM?Q EM:yMt>Q IU@+EIBCBf!IB9BBN =BBBOP;BE @  @ @ @   2Acoustic response timeoutD zD @AE  E E &E "E V;*E :VE 4ZE BE V.,?A21>2e?2 o;ٱ2\* :AHRS rotation from veh to nav: [[0.837604,-0.539695,-0.084550],[0.546227,0.825329,0.143064],[-0.007429,-0.166015,0.986095]]2H?.Ez?i?@O?m~?ſ?Xi21>I2 ^;2ŐCYBy!IbD_VD.4y%1=%%/=ٔ->Q-->9)Y)=5CFy5{E59E5>9Q 5EX5=El?Q 9EX5=)=cBYIyMQ>Q IM@=0EI=):i=:=X5yUPBɮU3@]EyQ}FNOT Ignoring new targets: 198.05 m.99Q ProNav: ac range: 198.052078 m, nav range: 180.146896 m, bearing: 29.913315 deg, approach rate: -0.619354 m/s, LOS rate: 0.016581 deg/s, cmd heading: 34.545454 deg, new cmd heading: 34.567443 deg. z6:QHeadingCmd: 0.603316 target range: 198.052078 and range: 199.30 m.Rr?JbZB:2Ҕڔڒ’¦?额Bɢ9N) )i)B顩i-*ir? /;XG{Ir?Ie9@a @a@e0@a2Acoustic response timeout^Av% nManaging dock network, ignoring radio surface power off9 A I I) OM >8<.,͑ͺ?AJѡ>Jx'?J3;ٱJ% RAHRS rotation from veh to nav: [[0.837150,-0.540459,-0.084163],[0.546953,0.825817,0.137365],[-0.004736,-0.161028,0.986938]]JH?@qK ?m? *?zfsĿ?iJѡ>IJw];JÐCYZByZ!IiMMb@Mb@Mb@IIII I9M(\?y&1p= ף?YMz?yM`eM=IMK@ M A)M AIYMG AbDe<VDe3yu&=%F=ٔλQ->9Y=CFy}E;E>E EE#E"EUS;*E:VE3ZEa@a@a@a@2Acoustic response timeoutQ 5X5ǧl?Q 9X5G)dBY%s?Q E%:y%?Q I%@4EI;i;OX5y)ɮ-@1GSMB*** querying acoustic contact ***:IBIYQ]FNOT Ignoring new targets: 198.05 m.e)e)Qu ProNav: ac range: 198.052078 m, nav range: 179.899979 m, bearing: 29.909312 deg, approach rate: -0.572191 m/s, LOS rate: -0.009289 deg/s, cmd heading: 34.567444 deg, new cmd heading: 34.555419 deg. zu˹Q}HeadingCmd: 0.603106 target range: 198.052078 and range: 199.30 m.R}%e?JybyZyBy:2ҔڔBڒ’@D@颽ބBɢY>) i)i4R'i%e?<;kI%e?IAe9@a @i@m0@i@q@u=q^A 2Acoustic response timeoutBI BI BM !IBM bBBI BI BI BM |P;BM 5EA ؟Aԡ I I O >ed.,d纤?A2 ۹>2?2:ٱ2J :AHRS rotation from veh to nav: [[0.835849,-0.542471,-0.084153],[0.548957,0.825558,0.130769],[-0.001465,-0.155499,0.987835]]2HF?[?j??[XeÿX?i2 ۹>I2h^;2ƐCYBByB!IIFl>)F4<bDN`VDN04yV\=%VX=ٔVQ-V>9Z"?YZ"?=ZCFyZEZ;E^>`Q 5fX5bl?Q 9fX5b@)b-dBYdyf?Q If@b7EIb:ibN:bX5ynQBɮn@lIQMFNOT Ignoring new targets: 198.05 m.U_0U_0yQ ProNav: ac range: 198.052078 m, nav range: 179.688553 m, bearing: 29.905758 deg, approach rate: -0.572631 m/s, LOS rate: -0.009637 deg/s, cmd heading: 34.555419 deg, new cmd heading: 34.544745 deg. zӹQHeadingCmd: 0.602920 target range: 198.052078 and range: 199.30 m.RX?JbZB:2Ҕڔڒ’`%J@-܄Bɢ5>) i)ei$iX?<;&FIX?II@I @I@M5@IԡbEjE 4rE/E  E FE $E "E &U;*E v;VE 4ZE BE  :L.,??A2)>2k?2Lٱ2 >AHRS rotation from veh to nav: [[0.834443,-0.544348,-0.085967],[0.551090,0.824851,0.126177],[0.002225,-0.152663,0.988276]]2H ?@Mk?-e?&?h:b? wÿ`?i2)>I2T];2ǐCB2Acoustic response timeoutYRÃByV"IbDIVDX4yE؃=%E3=ٔE}Q-E>9IYI=MCFyMEUq;EU>YQ 5eX5]ql?Q 9eX5]t)]LdBYaye?Q Im@];EI]:i]:]|X5yqɮ@QFNOT Ignoring new targets: 198.05 m.::Q ProNav: ac range: 198.052078 m, nav range: 179.424332 m, bearing: 29.901116 deg, approach rate: -0.578028 m/s, LOS rate: -0.010170 deg/s, cmd heading: 34.544744 deg, new cmd heading: 34.530798 deg. zX߹Q HeadingCmd: 0.602676 target range: 198.052078 and range: 199.30 m.R H?JbZB:2Ҕڔڒ’!!%@UلBɢU,)U2 U iQ)]BûYYi]H"ieH?e ;e 2#IeH?Ii9@ @@4@  CucGd9YlAUBDAT read: Rx Time:21:30:18.8129 UTRx dataTimestamp_ set to:1761514220.291803]2Acoustic response timeoutYEe. Ee3Ee%Ea"Eeye;*Eet ;VEe 4ZEaam@am@am@am@^A*:A I1 II Oe >y gv.,?A2,>2$?2Hǻٱ2?D :AHRS rotation from veh to nav: [[0.832924,-0.546336,-0.088058],[0.553354,0.824010,0.121682],[0.006082,-0.150079,0.988655]]2HP?{ ?@K^? &? x?5ÿ?i2,>I2];2ȐCYBكByB,"IiMb@Mb@Mb@ 9rh|?~jt?Zd;O?Y?yD=j<=A $ A)AY=AbD-SVD-4yl=%U=ٔ$Q->9Y=CFyE;E>Q 5X5l?Q 9X5)]dBY?Q E:y,?Q I@?EI':i<:էX5yRBɮ@EQFNOT Ignoring new targets: 198.05 m.  Q ProNav: ac range: 198.052078 m, nav range: 179.192703 m, bearing: 29.889652 deg, approach rate: -0.619881 m/s, LOS rate: -0.030720 deg/s, cmd heading: 34.530797 deg, new cmd heading: 34.496360 deg. zQ%HeadingCmd: 0.602075 target range: 198.052078 and range: 199.30 m.R%!?J!b!Z!B!:!2)Ҕ)ڔ-B)ڒ1’115_ @QeׄBɢe-)i mii)mjϻiiim~ iu!?um;}I}!?IyI)2Acoustic response timeoutB>BCB!IBBBO =BBBP;B>E-9@) @)@-/@)@5hA@5iAԉ^AMԱA I I O >E% + E% NE% #E! "E% b;*E% ;VE% 3ZE! BE% Tx time:21:30:19.8946  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.981679,-0.113584,0.152986] Fpublishing direction and range infoyA E gi?e8C ?YE FCA E cA E 2b E S~)E GIE "[>iE FE >E ^/@E Q >E .@ E nF>)E 4`@IE nFA A E ]J?}Z ?Q Y? E d6%?)E IE iE nFA A  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. 7.,4?AYރBy1"I bD9VD3y5O<%=A=ٔ=Q-=>99YA=ECFyEEEEE>IQ 5X5Ml?Q 9X5MY)ModBYyQ I@MCEIM)uV6"(h@tu ;\6->@ugi?e8C ?uunF—uPe@)q[ W@m6'A@u_lM?= 9? bN?juZBru*CZu+ ?buQzu{Bub?ud#qڗu8Cu?QU addTargetRange:: Added new target pos. range: 198.100006 m, deltaT: 3.779866 s, deltaX: -1.199997 m, approachRate: -0.317471 m/s, rangeRepo size: 4 Qe Added new target pos. range: 196.860840 m, bearing: 28.392746 deg, lat: 36.779478 deg, lon: -121.859379 deg, deltaT: 3.779866 s, deltaX: -1.191238 m, approachRate: -0.315154 m/s, posRepo size: 4 aQuFNOT Ignoring new targets: 196.86 m.}yQ ProNav: ac range: 196.860840 m, nav range: 184.768204 m, bearing: 29.082111 deg, approach rate: 0.000000 m/s, LOS rate: -0.030720 deg/s, cmd heading: 34.496359 deg, new cmd heading: 34.455542 deg. zQHeadingCmd: 0.601363 target range: 196.860840 and range: 198.10 m.R?JbZB:2Ҕڔڒ’@3h@?UՄBɢUjz)Q U?iQ)]l޻YYi]ie?e;e:I?I%9@! @!@%/@!DAT read: 2Acoustic response timeout ^A `Ի9 A .AI I O >.,r7P?AJ>J?J3oٱJ: RAHRS rotation from veh to nav: [[0.829563,-0.550359,-0.094499],[0.558223,0.821743,0.114571],[0.014599,-0.147795,0.988910]]JH@Nj?`1?`K? ~T?-? ¿ '?iJ>IJ|];JǐCYZ׃ByZ)"IE5( E5&E5&E1"E5`;*E5;VE54ZE1a=@a=@a=@a=@U2Acoustic response timeoutiMb@Mb@Mb@ 9'1Z?J +?/$?Y"?y=<A A) AYAbDMVD 4y%D=ٔYQ->9 ?Y ?=CFyE~h<E> Q 5X5 sl?Q 9X5 ) vdBY$?Q E:y??Q I@ HEI Q:i #: -X5y!ɮ%@-EGSEB*** querying acoustic contact ***:ABAIQUFNOT Ignoring new targets: 196.86 m.UTeUTeaQm ProNav: ac range: 196.860840 m, nav range: 184.507339 m, bearing: 29.062222 deg, approach rate: -0.656479 m/s, LOS rate: -0.050123 deg/s, cmd heading: 34.455542 deg, new cmd heading: 34.395789 deg. zm QuHeadingCmd: 0.600320 target range: 196.860840 and range: 198.10 m.Ru?JqbyZyBy:y2yҔڔBڒ’@_l?颵ӄBɢ.) zi)vB项iyi?;Ѕ3I?Iԑ 0; i >@ @@4@@=@ 2Acoustic response timeoutBM >BI BM "IBM ̃BBI BI BI BM P;BM ;EB B B B B C T4 ^A rAI!I1O=>{., +p?A29>2]?2絝ٱ2 >AHRS rotation from veh to nav: [[0.827895,-0.552236,-0.098111],[0.560553,0.820654,0.110939],[0.019251,-0.146842,0.988973]]2H~?@ ` ?B?zf? m?¿?i29>I2D^;2ɐCYBByF="IbDNQVDN4yV+=%V3=ٔZ&Q-Z>9XY\=^CFy^E^;E^>`Q 5fX5b m?Q 9fX5bA)bdBYhyjP@?Q Ij@bLEIb;ib&;b,X5ylɮn@pQFNOT Ignoring new targets: 196.86 m. ] ]E]A E];E]!EY"E]v;*E] ;VE]c3ZEYBE]9qYq=uCFyuEuE}>yQ 5X5}D#m?Q 9X5}Q =tI)}|dBY+?Q E:yB?Q I@}REI};i}p;} X5yɮ@EQFNOT Ignoring new targets: 196.86 m.ppQ ProNav: ac range: 196.860840 m, nav range: 183.861694 m, bearing: 29.010879 deg, approach rate: -0.646655 m/s, LOS rate: -0.052599 deg/s, cmd heading: 34.329340 deg, new cmd heading: 34.241485 deg. zdQHeadingCmd: 0.597627 target range: 196.860840 and range: 198.10 m.R?JbZB:2Ҕڔ+Bڒ’?%τBɢ%8)! -i))-z)))i-?i5?5 .;5IG;I5?I9AAAAaԉm9@i @i@m33@qM 2Acoustic response timeoutBi Bm CBm G"IBm BBi Bi Bi Bm P;Bm KEԹ ^Am ] ; IIIaOu>~.,?ABܳ>B|?BJٱB@ NAHRS rotation from veh to nav: [[0.822499,-0.557524,-0.112523],[0.567855,0.816141,0.107020],[0.032169,-0.151921,0.987869]]BH`Q?<Tμ@+??e?ox? #rÿ?iBܳ>IB8^;BȐCYVރByV2"IbD^XVD^!4yfNE%fB=ٔj;Q-j>9hYh=nCFynEnv<En>pQ 5vX5rN4m?Q 9vX5rW)r~dBYxyzHE?Q Iz@rWEIr :ir:rX5y|ɮ~A@|!Q-FNOT Ignoring new targets: 196.86 m.-y-yQ= ProNav: ac range: 196.860840 m, nav range: 183.589691 m, bearing: 28.987906 deg, approach rate: -0.645480 m/s, LOS rate: -0.054597 deg/s, cmd heading: 34.241487 deg, new cmd heading: 34.172466 deg. z=QEHeadingCmd: 0.596422 target range: 196.860840 and range: 198.10 m.RE?JIbIZIBI:I2IҔQڔQQڒQ’YY] ?颅̈́BɢR$) i) 顉iXi?;*xJA>IIO>5 2Acoustic response timeout! a.,Z*Ȼ?A2*>2k?2ٱ2f! :AHRS rotation from veh to nav: [[0.820770,-0.558810,-0.118610],[0.570135,0.814324,0.108730],[0.035828,-0.156866,0.986970]]2HC?:] >??ջ?W?/ĿA?i2*>I2 ^;2ŐCYBՃByB&"IbDJ:VDJ{3yRK@%RO=ٔVQ-V>9TYT=ZCFyZEZ;EZ>\Q 5bX5^?Dm?Q 9bX5^{)^dBYdyfE?Q If@^[EI^:i^9:^,X5yhɮj@j|E|Q~FNOT Ignoring new targets: 196.86 m.||Q ProNav: ac range: 196.860840 m, nav range: 183.334763 m, bearing: 28.966078 deg, approach rate: -0.644728 m/s, LOS rate: -0.055283 deg/s, cmd heading: 34.172468 deg, new cmd heading: 34.106890 deg. zQHeadingCmd: 0.595278 target range: 196.860840 and range: 198.10 m.Rd?JbZ!B!:!2!Ҕ)ڔ))ڒ)’)15@˄Bɢ-) i)Riuid?B@;8}s2Acoustic response timeout9i .,p⻤?A06+>6$?6zY!ٱ6@T$ >AHRS rotation from veh to nav: [[0.819168,-0.560128,-0.123373],[0.572200,0.812874,0.108734],[0.039382,-0.159666,0.986385]]6H`6?``c wO??ֻ?`)?oĿw?i6+>I6B^;4YvByz"I2Acoustic response timeoutB >B B Z"IB BB B B TDB P;B jE%=%=iMb@Mb@Mb@ 9v/?+η?~jtYx)?yv=D&AA ~A) AY3AbDHVD4y%9=ٔ%Q->9Y=CFyE ;E>Q 5X5Vm?Q 9X59)dBY)+?Q E:y>?Q I@`EI :i:X5yɮ@}EGSB*** querying acoustic contact ***:B!Q%FNOT Ignoring new targets: 196.86 m.-b-bQ= ProNav: ac range: 196.860840 m, nav range: 183.048141 m, bearing: 28.944216 deg, approach rate: -0.648639 m/s, LOS rate: -0.049551 deg/s, cmd heading: 34.106891 deg, new cmd heading: 34.041204 deg. z=QEHeadingCmd: 0.594131 target range: 196.860840 and range: 198.10 m.RE?JAbAZABA:I2IҔIڔMB ڒ’'@]ʄBɢey0)a e"ia)eiiԉim=i?"2;? .,?AY~By~!IbD>VD43y%Ȇ%%?=ٔ%Q-%>9)Y)=-CFy-E5E5>1Q 5EX554hm?Q 9EX55$)1YAyAQ IE@5dEI5;i5 ;5X5yQɮU@QQFNOT Ignoring new targets: 196.86 m.\\Q ProNav: ac range: 196.860840 m, nav range: 182.771072 m, bearing: 28.923016 deg, approach rate: -0.630161 m/s, LOS rate: -0.048291 deg/s, cmd heading: 34.041205 deg, new cmd heading: 33.977508 deg. zQHeadingCmd: 0.593019 target range: 196.860840 and range: 198.10 m.R?JbZB: 2 Ҕ ڔ ڒ’ @EȄBɢEA)A E iA)Mc IIiMiU?U;U& } 2Acoustic response timeout9 /,?AB>BP?BCٱBM& NAHRS rotation from veh to nav: [[0.816130,-0.562607,-0.131932],[0.575905,0.810680,0.105506],[0.047596,-0.162087,0.985628]]BH`?` $m?? w?|^?EĿC?iB>IB/^;BƐCYjByn!Ii]Mb@Mb@Mb@YYYY Y9]K7A?/$?QY] "?y],=]u]A]GA ] A)] AYY]AbD}cVD}264yƽ%C=ٔQ->9Y=CFyEO;<E>Q 5X5ym?Q 9X5Š)dBYs"?Q E:y-?Q I@hEI ;iX ;iX5yQBɮ4@QFNOT Ignoring new targets: 196.86 m.  Q ProNav: ac range: 196.860840 m, nav range: 182.509521 m, bearing: 28.908819 deg, approach rate: -0.646152 m/s, LOS rate: -0.035124 deg/s, cmd heading: 33.977507 deg, new cmd heading: 33.934854 deg. zQHeadingCmd: 0.592275 target range: 196.860840 and range: 198.10 m.RU?JbZB:2 Ҕ ڔBڒ’q @ %DŽBɢ%I)%2J# Gi)NL(iiU?f;2BBT"IBBBN =BBB9Q;BEDAT read: 21:30:22.5603 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.47,-0.567,-2.022,-0.183,-0.593, PHS= 0.129,-1.383, 0.366, RAW= 157.2, 10.8, CAL= 157.2, 11.9, ROT= 352.8, -11.9 %Ygot valid direction response: 21:30:22.5603 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.47,-0.567,-2.022,-0.183,-0.593, PHS= 0.129,-1.383, 0.366, RAW= 157.2, 10.8, CAL= 157.2, 11.9, ROT= 352.8, -11.9 -PDAT read: Bearing 190.7, -7.0 (Local) -~Local bearing/azimuth received: Bearing 190.7, -7.0 (Local) 1EDAT read: Range 11 to 50 : 196.2 m (Round-trip 261.6 ms) speed 0.5 m/s MTDAT read: user:285>Tx time:21:30:23.6446 UR#Rx 1: Read range and direction messages.}^direction in FSK: [0.970793,-0.122640,0.206204]}Fpublishing direction and range infoy+?=miVeFa5d?Y3DC )EI>i%Zd>/@A>/@ ȭT>)j @IȭTàh ?;b(I?s? &?)LAIiȭT2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.a ^A '<A I I O > /,D2?A6>6v?6Sٱ6M( >AHRS rotation from veh to nav: [[0.814908,-0.563391,-0.136075],[0.577279,0.809919,0.103827],[0.051714,-0.163163,0.985243]]6H`?Kjy?@?@j?Nz?Ŀ ?i6>I6L^;4YFByF!IIJ=)J;LNAbDPVDPyZXj%ZX=ٔZ2Q-^>9\Y\=^CFy^Ebܞ;Eb>dQ 5jX5f^m?Q 9jX5fҜ)fdBYhyj-?Q In@flEIf8;ifU;fX5ypɮr@pEz Ez%Ez'Ex"Ez>T;*Ez;VEz'4ZExBEz<2Ez <JEzAY<:EzAY<DAT read: 2Acoustic response timeoutJR$?ABCBC@?7.g@b7"-D@+?=miVeFa5d?ȭT—BGd@ۑq̈́W@'"J@ 20?zE?#Y~?j&Br?"CZw׆?brz-Bw׆?Qڗ9C!0?Q] addTargetRange:: Added new target pos. range: 196.199997 m, deltaT: 3.780062 s, deltaX: -1.900009 m, approachRate: -0.502640 m/s, rangeRepo size: 4 Qm Added new target pos. range: 194.974335 m, bearing: 30.106382 deg, lat: 36.779502 deg, lon: -121.859352 deg, deltaT: 3.780062 s, deltaX: -1.886505 m, approachRate: -0.499067 m/s, posRepo size: 4 qQuFNOT Ignoring new targets: 194.97 m.}yQ ProNav: ac range: 194.974335 m, nav range: 185.753311 m, bearing: 29.137590 deg, approach rate: 0.000000 m/s, LOS rate: -0.035124 deg/s, cmd heading: 33.934856 deg, new cmd heading: 33.894065 deg. z Q HeadingCmd: 0.591563 target range: 194.974335 and range: 196.20 m.Rp?JbZB:2ҔڔAڒI’IU`fh@U?ńBɢpX) 2i)0i i p? 6; J2Acoustic response timeout /,AL?A2>2?2Qcٱ2N& :AHRS rotation from veh to nav: [[0.814043,-0.564038,-0.138549],[0.578150,0.809711,0.100554],[0.055469,-0.161957,0.985238]]2H ?` `4?&?佹?ef?@Ŀ?i2>I2k+^;2ĐCYByByB!IbDNGVDN4yVN%VL=ٔVQ-V>9XYX=ZCFyZE^-F;E^>`t-+GjAAQ 5 X5=19=jAY=ިAvLm?Q 9UX5v)vdBYyy-?Q I@vpEIvR=ivS=vCX5yɮ@~EbEjEr 4rE}0E+ E'EE"Eb;*E";VEZEa@a@a@a@-2Acoustic response timeoutqQ}FNOT Ignoring new targets: 194.97 m.}Q ProNav: ac range: 194.974335 m, nav range: 185.498901 m, bearing: 29.124058 deg, approach rate: -0.504035 m/s, LOS rate: -0.026846 deg/s, cmd heading: 33.894066 deg, new cmd heading: 33.853414 deg. zeQHeadingCmd: 0.590854 target range: 194.974335 and range: 196.20 m.R-B?JbZB:2Ҕڔڒ’@<?ĄBɢU) %i)р:i:i=-B?EFa;EcB B 5"IB BB B B B dQ;B E 2Acoustic response timeout^A ]<A zA q AIIQIaOu>f&/,yj?A68>6r?6rٱ6' >AHRS rotation from veh to nav: [[0.813061,-0.564502,-0.142370],[0.579151,0.809180,0.099055],[0.059286,-0.162991,0.984845]]6H@?e,9¿h??[?Z? Ŀ؃?i68>I6RF^;6ÐCYFcByF!IbDRHVDR4yf%j,=ٔjQ-j>9lYl=nCFynEr=;Er>pQ 5X5rm?Q 9X5r)rdBYy1.?Q I@ruEIr;ir;reX5yQɮU@QGSB*** querying acoustic contact ***:BQ FNOT Ignoring new targets: 194.97 m.;;Q% ProNav: ac range: 194.974335 m, nav range: 185.203384 m, bearing: 29.108166 deg, approach rate: -0.761083 m/s, LOS rate: -0.040994 deg/s, cmd heading: 33.853413 deg, new cmd heading: 33.805660 deg. z%)QMHeadingCmd: 0.590020 target range: 194.974335 and range: 196.20 m.RM ?JIbIZQBQ:Q2QҔQڔYYڒY’YYe 4?mÄBɢmi|u)q u/iq)uCqqiui} ?9ݧ;j2k?2#ٱ2Nk) :AHRS rotation from veh to nav: [[0.812711,-0.564026,-0.146203],[0.579249,0.809233,0.098041],[0.063015,-0.164367,0.984384]]2H? ˶¿6?I22^;2ƐCYBPByB!I DDJ=J=bDN]VDN'+4yV%V!=ٔZhQ-Z>9Z"?Y^"?=^CFy^E^:E^>`Q 5fX5bm?Q 9fX5bP)bdBYhyj@.?Q Ij@bzEIb;ibL;bX5ynOBɮn@ruEQFNOT Ignoring new targets: 194.97 m. 1" 1"Q ProNav: ac range: 194.974335 m, nav range: 184.889023 m, bearing: 29.091179 deg, approach rate: -0.654919 m/s, LOS rate: -0.035450 deg/s, cmd heading: 33.805659 deg, new cmd heading: 33.754611 deg. zºQHeadingCmd: 0.589129 target range: 194.974335 and range: 196.20 m.R*?JbZB:2Ҕڔڒ’?ԑ„Bɢno) 58i9)ebOiiiu"i*?ݩ;OB] CB] "IB] BB] M =BY B] SDB] UQ;B] EB̾CB̾CBBN =BN =C̡*5 2Acoustic response timeoutA I I! O- >c:)/,?Ar3 >r&?rMٱr:' zAHRS rotation from veh to nav: [[0.813911,-0.561459,-0.149375],[0.576959,0.811326,0.094176],[0.068316,-0.162834,0.984286]]rH@ ? xÿrv?@a? ?@,}?Ŀ`D?ir3 >IrW^;rĐCYCBys!I i=Mb@Mb@Mb@9999 99=%C?{Gzt~jtY=Z$?y=ף==A=1A 9)=l A9Y=AbDUZVDU%4yepR%e'=ٔep2Q-e>9iYi=uCFyuEuREu>yQ 5X5}m?Q 9X5})}dBYm$?Q E:y?Q I@}EI}~ ;i} ;}X5yNBɮ@vEQFNOT Ignoring new targets: 194.97 m.Q ProNav: ac range: 194.974335 m, nav range: 184.577118 m, bearing: 29.081817 deg, approach rate: -0.638617 m/s, LOS rate: -0.019199 deg/s, cmd heading: 33.754610 deg, new cmd heading: 33.726479 deg. zRQHeadingCmd: 0.588638 target range: 194.974335 and range: 196.20 m.R?JbZB:2Ҕڔ|B ڒ ’ @W@BɢA(|) >i)LnZi\i?4;A >Թ2Acoustic response timeoutAIIO?2/,~ȼ?AFP>F4R?FӏٱF\$ NAHRS rotation from veh to nav: [[0.815027,-0.559981,-0.148836],[0.575158,0.812990,0.090774],[0.070170,-0.159588,0.984687]]FH ?\ ÿg??IFB^;FÐCYV7ByVd!IIZ;>)Zp=bDbdVDb 84yfO%j+=ٔjRQ-n>9lYl=nCFynErґEr>tQ 5zX5vm?Q 9zX5v)vdBYxyz#?Q I~@vEIv;iv;v8X5yɮv@!Q-FNOT Ignoring new targets: 194.97 m.55QE ProNav: ac range: 194.974335 m, nav range: 184.272781 m, bearing: 29.072846 deg, approach rate: -0.639067 m/s, LOS rate: -0.018870 deg/s, cmd heading: 33.726480 deg, new cmd heading: 33.699521 deg. zE4OQMHeadingCmd: 0.588168 target range: 194.974335 and range: 196.20 m.RM'?JIbIZIBI:Q2QҔQڔQYڒY’YYe@颍Bɢ⃽) ?Di)e顑i,i'?y; +8/,E⼤?A>7>>(?>8ݒٱ>M$ FAHRS rotation from veh to nav: [[0.816116,-0.558156,-0.149721],[0.573429,0.814290,0.090058],[0.071650,-0.159352,0.984618]]>H@?j *ÿ Y?`? ? W?@eĿ`?i>7>I>i^;>ŐCYN.ByNY!IBe>BaBe!IBeBBeN =BaBaBe1Q;BeEiuMb@Mb@Mb@qqqq q9u\(\?p= ף{Gz?Yu?yuu#=ٔ|bQ->9Y=CFyE7E>Q 5X5<n?Q 9X5X)dBYo?Q E:y;>Q I@EIv:i:X5yMBɮ@BDAT read: Rx Time:21:30:26.3073 TRx dataTimestamp_ set to:1761514227.5966602Acoustic response timeout Q FNOT Ignoring new targets: 194.97 m.99Q% ProNav: ac range: 194.974335 m, nav range: 184.010422 m, bearing: 29.081263 deg, approach rate: -0.607719 m/s, LOS rate: 0.019525 deg/s, cmd heading: 33.699522 deg, new cmd heading: 33.724809 deg. z%eV:Q-HeadingCmd: 0.588609 target range: 194.974335 and range: 196.20 m.R-?J)b)Z1B1:121Ҕ9ڔ=$B9ڒ9’AAE`BL@mBɢmȉ)q uGiq)upyyi}q&i}?k;Y X>/,Z-?A>X>>?>ٱ>F) FAHRS rotation from veh to nav: [[0.817798,-0.554741,-0.153193],[0.570862,0.815676,0.093747],[0.072950,-0.164118,0.983739]]>Hg+? pћÿD???߬?ſ@z?i>X>I>o^;9`Yd=fCFyfEfEf>hQ 5nX5j"n?Q 9rX5j)jdBYpyr>Q Ir@jEIj9:ij:j@X5yvLBɮz@zwEGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 194.97 m.%9%9Q5 ProNav: ac range: 194.974335 m, nav range: 183.780914 m, bearing: 29.088855 deg, approach rate: -0.613689 m/s, LOS rate: 0.020326 deg/s, cmd heading: 33.724810 deg, new cmd heading: 33.747615 deg. z50_:Q=HeadingCmd: 0.589007 target range: 194.974335 and range: 196.20 m.R=*?J9b9Z9B9:A2AҔAڔAIڒI’IIMI @}Bɢ}P)y }+Hiy)rz顁i4i*?Dk;ϭTx time:21:30:27.3946 R#Rx 1: Read range and direction messages.Ye^direction in FSK: [0.989486,-0.121494,0.078459]mFpublishing direction and range infoy&~ߩ?*65;?YAC )IIn>i-?A`0@¸=^/@ |٠=)'@I|٠>.&?XZ?vl? e)?)HI5i|٠2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.A1I9IIOUu>ԁ A>E/,?AE  E/E#E"ED;*EY;VE3ZEa@a@a@a@"DAT read: &2Acoustic response timeout0jw>j)?jٱj1- zAHRS rotation from veh to nav: [[0.819593,-0.551127,-0.156609],[0.568092,0.817208,0.097178],[0.074425,-0.168615,0.982868]]jH :?բ` Ŀ-?`&?`?| ?)ſ@s?ijw>Ij}^;jÐCY--By5X!I AAiMMb@Mb@Mb@IIII I9MbX9?333333ÿ?YME?yMM9yY=CFyEE>Q 5X5)n?Q 9X5d})"eBY;?Q E:yc>Q I@EI ;i ;DX5yɮ@J!R%?A%@C%@C%I>%]g@ٌe7@i8.@%&~ߩ?*65;?%5%|٠—%خ/d@V@"f R}@@%' a?p ?p%G?j%5Br%&CZ%O ?b%Z1P.z%#B%O ?%Z1P.%#Bڗ%=C%>Q addTargetRange:: Added new target pos. range: 193.800003 m, deltaT: 3.529704 s, deltaX: -2.399994 m, approachRate: -0.679942 m/s, rangeRepo size: 4 Q Added new target pos. range: 192.586731 m, bearing: 28.522994 deg, lat: 36.779559 deg, lon: -121.859337 deg, deltaT: 3.529704 s, deltaX: -2.387604 m, approachRate: -0.676432 m/s, posRepo size: 4  Q FNOT Ignoring new targets: 192.59 m.Q% ProNav: ac range: 192.586731 m, nav range: 189.741592 m, bearing: 28.522457 deg, approach rate: 0.000000 m/s, LOS rate: 0.020326 deg/s, cmd heading: 33.747616 deg, new cmd heading: 33.775852 deg. z!Q%HeadingCmd: 0.589500 target range: 192.586731 and range: 193.80 m.R-v?J)b)Z)B):)21Ҕ1ڔ5B9ڒ9’9=9h@=B?eBɢm@燽)i mFii)uf*qqiumi}v?}bo;}BYB]!IB]vBB]O =BYBYB](Q;B]E%==2Acoustic response timeout^A A .AI) IA OU >joK/,w/?A2>2Q?2ٱ2n/ :AHRS rotation from veh to nav: [[0.821352,-0.547967,-0.158470],[0.565315,0.819046,0.097892],[0.076153,-0.169989,0.982499]]2HH?HĿ?`5?s?~?5ſp?i2>I2^;2ŐCYB+ByBV!IbDNTVDN4yR7%Vl=ٔVܣXQ-Z?9Z ?Y^ ?=^CFy^E^RE^?`Q 5fX5b::n?Q 9jX5bu{)bDeBYhyj>Q Ij@bEIb: ;ibh;bMX5ynKBɮr@rxEQ FNOT Ignoring new targets: 192.59 m.'9'9Q% ProNav: ac range: 192.586731 m, nav range: 189.535446 m, bearing: 28.531049 deg, approach rate: -0.600136 m/s, LOS rate: 0.025043 deg/s, cmd heading: 33.775852 deg, new cmd heading: 33.801659 deg. z%~:Q%HeadingCmd: 0.589950 target range: 192.586731 and range: 193.80 m.R-?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99=?eBɢmᚽ)i mFGii)uqqiuGi}?}3;}D>x1  2Acoustic response timeout PR/,>I?A2aW>2>?2tٱ20 :AHRS rotation from veh to nav: [[0.823027,-0.545030,-0.159902],[0.562633,0.820891,0.097886],[0.077911,-0.170529,0.982268]]2H=V?p@wĿ?D??? ſn?i2aW>I2^;2ƐCYB8ByBe!IbDJZVDJ%4yRv=%RK=ٔV׏Q-V>9V"?YV"?=ZCFyZEZ|EZ>|Q 5X5~Mn?Q 9X5~4y)~leBY y >Q I @~EI~4:i~b:~X5yɮ4@aQeFNOT Ignoring new targets: 192.59 m.m9m9Q ProNav: ac range: 192.586731 m, nav range: 189.292801 m, bearing: 28.541427 deg, approach rate: -0.586374 m/s, LOS rate: 0.025110 deg/s, cmd heading: 33.801660 deg, new cmd heading: 33.832833 deg. z݉:QHeadingCmd: 0.590494 target range: 192.586731 and range: 193.80 m.R*?JbZB:2Ҕڔڒ’s?]Bɢ])a e;@ia)e֌aaimgPim*?mJ;u.I{;*EUK;VEUc44ZEQa]@a]@a]@ae@y^AiAqAqA ԡ I I O >yX/,c?A6U>68?6pٱ62 >AHRS rotation from veh to nav: [[0.824868,-0.541454,-0.162543],[0.559671,0.822699,0.099673],[0.079756,-0.173188,0.981654]]6H@Qe?S`8Ŀ?@S?.?`j?+ƿi?i6U>I6[^;6ĐCYFHByFy!IBBCB!IBgBBN =BBB Q;BzEi5Mb@Mb@Mb@1111 1959v?(\ſ+?Y5?y5.5=15@ 5 A)5A1Y5 AbDM]VDM'+4y]'=%]?=ٔeݍQ-e>9aYa=eCFymEmEm>qyQ 5X5uan?Q 9X5uw)ueBY?Q E:y>Q I@uEIu2;iu1;uX5yJBɮ@2Acoustic response timeoutQFNOT Ignoring new targets: 192.59 m.I:I:Q] ProNav: ac range: 192.586731 m, nav range: 189.046555 m, bearing: 28.554588 deg, approach rate: -0.593342 m/s, LOS rate: 0.031754 deg/s, cmd heading: 33.832833 deg, new cmd heading: 33.872369 deg. z]W:QeHeadingCmd: 0.591184 target range: 192.586731 and range: 193.80 m.ReW?JabaZaBa:i2iҔiڔmBqڒ’`J?Bɢ) J7i)Ƒi iW?aͱ;%m 2Acoustic response timeoutEe  Ee $Ee $Ea "Ee X;*Ee ;VEe 4ZEa BEe 2?2 ٱ2e1 :AHRS rotation from veh to nav: [[0.826945,-0.538231,-0.162694],[0.556421,0.824993,0.098911],[0.080985,-0.172320,0.981706]]2HTv? 19@)Ŀ2?Vf?@5R?h? ƿ`#j?i2<>I2^;2ÐCYBZByB!IbDJAVDJ?3yr=%rR=ٔrPQ-r>9tYt=vCFyvEz>#Ez>xQ 5X5ztn?Q 9X5z2u)zeBYy>Q I@zEIz;iz;zX5yHBɮ@yEGS-B*** querying acoustic contact ***:)B)9Q=FNOT Ignoring new targets: 192.59 m.E:E:QU ProNav: ac range: 192.586731 m, nav range: 188.818573 m, bearing: 28.567091 deg, approach rate: -0.587604 m/s, LOS rate: 0.032264 deg/s, cmd heading: 33.872370 deg, new cmd heading: 33.909923 deg. zU#:Q]HeadingCmd: 0.591840 target range: 192.586731 and range: 193.80 m.R]Ђ?JYbaZaBa:a2aҔiڔiiڒi’iquy?额Bɢ) -i)̕顡iiЂ?ұ; ;IЂ?I1@1 @1@5/@12Acoustic response timeout^A IGSkAMA19SkAY=AAQ yU ?U AIa Iq O} >a `e/2Acoustic response timeout,s?A^>^?^Aٱ^w/bE4jET4rE/Eb Eb"Eb'E`"EbP;*Eb;VEb'4ZE`aj@aj@aj@aj@ rAHRS rotation from veh to nav: [[0.828946,-0.535437,-0.161727],[0.553347,0.827224,0.097503],[0.081578,-0.170316,0.982007]]^H ?`L"vĿ`?x??G?ſl?i^>I^Fn^;^ĐCYziByz!IiMb@Mb@Mb@ 99v?ףp= ÿ/$?Yy,=\A@ A)AY AbD@VD3yy=%8=ٔ Q- >9 Y = CFy EE>!Q 5-X5n?Q 9-X5r)eBY-?Q E-:y-U>Q I5@EI7;ib;X5y9ɮ=@9aQeFNOT Ignoring new targets: 192.59 m.m:m:Q} ProNav: ac range: 192.586731 m, nav range: 188.558640 m, bearing: 28.579684 deg, approach rate: -0.584387 m/s, LOS rate: 0.028350 deg/s, cmd heading: 33.909922 deg, new cmd heading: 33.947753 deg. z}:QHeadingCmd: 0.592500 target range: 192.586731 and range: 193.80 m.R?JbZB:2ҔڔEBڒ’ @BɢҢ|) !%i)Uii?;&}:I?I9@ @@@@@Q^Am;AqzAqB>BCB!IBvBBBBByԡ k/,?A20>2'?2ڧٱ2^x0 :AHRS rotation from veh to nav: [[0.831127,-0.531994,-0.161898],[0.550024,0.829321,0.098492],[0.081869,-0.170907,0.981880]]2H?`Ŀ˙?@̉?6?`V?Eſk?i20>I2^;2ÐCYZByZ!IbDf^VDf,4yj>%nb=ٔnSQ-n>9pYp=rCFyrEv4Ev>xQ 5zY5zn?Q 9~Y5zq)z*fBY|y~P>Q I@zEIz;iz;zY5y GBɮ 0@ zE)Q5FNOT Ignoring new targets: 192.59 m.=:=:QM ProNav: ac range: 192.586731 m, nav range: 188.346466 m, bearing: 28.590251 deg, approach rate: -0.586487 m/s, LOS rate: 0.029241 deg/s, cmd heading: 33.947751 deg, new cmd heading: 33.979487 deg. zM:QUHeadingCmd: 0.593054 target range: 192.586731 and range: 193.80 m.RUb?JQbQZQBQ:Y2YҔYڔaaڒa’aam@颕Bɢ) si)-顙iƽib?2;9;Ib?Iԑi9I9=2Acoustic response timeoutQ@Q @Y@Y@YE E!E$E"E[I;*E:VE4ZEBE 2Acoustic response timeout r/,Uʽ?A:<>:?:ٱ:>0 BAHRS rotation from veh to nav: [[0.832634,-0.529740,-0.161543],[0.547733,0.830808,0.098729],[0.081911,-0.170688,0.981915]]:H?@sĿ ??JF?`? ſ@k?i:<>I:t^;:ĐCYJByJ!IbDVUVDVn4y^=%^L=ٔ^7޸Q-^>9`Y`=bCFybEfZEf>hQ 5jY5jn?Q 9nY5jn)jYfBYlyn>Q In@jEIj;ij;jzY5yvEBɮv @vpE QFNOT Ignoring new targets: 192.59 m.::Q- ProNav: ac range: 192.586731 m, nav range: 188.112625 m, bearing: 28.602127 deg, approach rate: -0.584576 m/s, LOS rate: 0.029726 deg/s, cmd heading: 33.979488 deg, new cmd heading: 34.015161 deg. z-5:Q5HeadingCmd: 0.593677 target range: 192.586731 and range: 193.80 m.R50?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAM"@uBɢu- o)q uG iq)} yyi} i0?q;aI0?I@ @@@^AeA!eBDAT read: Rx Time:21:30:30.0535 mTRx dataTimestamp_ set to:1761514231.3808072Acoustic response timeoutE0 E#E*E"EJg;*E;VE(N4ZEa@a@a@a@IIOl>I x/,A佤?A 6\>6܄?6ٱ60 >AHRS rotation from veh to nav: [[0.833577,-0.528361,-0.161193],[0.546315,0.831714,0.098955],[0.081783,-0.170549,0.981949]]6H?@U@Ŀi{?f?@U??ſ!l?i6\>I6z^;6ŐCBR>BPBR!IBRBBRP =BPBPBRkQ;BREBmCBmCBiBiBiCmH5YBy!I2Acoustic response timeoutiMb@Mb@Mb@ 95^I ?Cl绿/$?Y?y;߽+A A)AY AbDDVDJ3y=%:=ٔ9Q->9Y=CFyES~E>Q 5Y59n?Q 9Y58l)fBY?Q E:y|>Q I@EI ;i ;S Y5yDBɮ@ qE)Q-FNOT Ignoring new targets: 192.59 m.5p9=p9QE ProNav: ac range: 192.586731 m, nav range: 187.851379 m, bearing: 28.609166 deg, approach rate: -0.593157 m/s, LOS rate: 0.016003 deg/s, cmd heading: 34.015162 deg, new cmd heading: 34.036307 deg. zM/:QMHeadingCmd: 0.594046 target range: 192.586731 and range: 193.80 m.RM`?JQbQZQB:2ҔڔdBڒ’ @-BɢMY)Q UiQ)UZeQQi]"i]`?]Ǻ;e"ĻIe`?Iaie9@a @a@a@a@m=@m=ԙ^AQ E  E /E )E "E L;*E Y;VE FA4ZE BE ڡA  DAT read: 21:30:30.0535 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398, 0.17,-3.030, 1.691,-2.655, 3.069, PHS= 0.286,-1.333, 0.515, RAW= 156.5, 6.1, CAL= 155.8, 6.1, ROT= 354.2, -6.1  Ygot valid direction response: 21:30:30.0535 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398, 0.17,-3.030, 1.691,-2.655, 3.069, PHS= 0.286,-1.333, 0.515, RAW= 156.5, 6.1, CAL= 155.8, 6.1, ROT= 354.2, -6.1  PDAT read: Bearing 184.0, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 184.0, -2.2 (Local)  DAT read: Range 11 to 50 : 191.1 m (Round-trip 254.8 ms) speed 0.6 m/s  TDAT read: user:287>Tx time:21:30:31.1445 % R#Rx 1: Read range and direction messages.- ^direction in FSK: [0.989248,-0.100484,0.106264]5 Fpublishing direction and range infoya e 5?~TJRO4?Ye ?Ca a a a a )a Ia ie e ?e .@e ^ =e .@ e ^ =)e @Ie ^ ڽa a e  S?ej䈿?=_~p? e 3#?)e ۽Ie )QϽie ^ ڽa a M 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode.A I I O >~/,?ALf>fc?fۦٱfm2 AHRS rotation from veh to nav: [[0.834508,-0.526659,-0.161948],[0.544953,0.832312,0.101408],[0.081384,-0.172880,0.981575]]fHJ?`cĿ@@p?L??մ? ƿi?if>Ifb^;fÐCY]σBy]"IIe>)e=bDm8VDm3y73>%N=ٔ(:Q->9Y=CFyEE>Q 5Y5n?Q 9Y5i)fBYy>Q I@EId:i9: Y5yCBɮ;@rEJRpx?A=C=C >D"{g@W 3+x .4@5?~TJRO4?)QϽ^ ڽ—Rlxqd@< ۇ"V@ɩˡ2C@T?#P?('u=?jBr#CZ?blPzBꗕ?lP{Bڗ9C◕ >Q} addTargetRange:: Added new target pos. range: 191.100006 m, deltaT: 3.780753 s, deltaX: -2.699997 m, approachRate: -0.714143 m/s, rangeRepo size: 4 Q Added new target pos. range: 189.903244 m, bearing: 28.428856 deg, lat: 36.779549 deg, lon: -121.859352 deg, deltaT: 3.780753 s, deltaX: -2.683487 m, approachRate: -0.709776 m/s, posRepo size: 4 QFNOT Ignoring new targets: 189.90 m.Q ProNav: ac range: 189.903244 m, nav range: 185.980789 m, bearing: 28.428328 deg, approach rate: 0.000000 m/s, LOS rate: 0.016003 deg/s, cmd heading: 34.036308 deg, new cmd heading: 34.056166 deg. zQHeadingCmd: 0.594392 target range: 189.903244 and range: 191.10 m.R*?JbZB:2Ҕڔڒ’@3g@ ?uBɢuM)q }۾iy)}Dyyi}`f$i*?;I*?IDAT read: 2Acoustic response timeout%9@! @!@%0@!^A[RӻA)I9IIOU>! ia Ie Au 2Acoustic response timeout/,?AE  E E $E"E L;*E ]:VE 4ZEa@a@a@a@V>Vu?V+ٱV@5 ^AHRS rotation from veh to nav: [[0.835044,-0.525422,-0.163197],[0.544141,0.832545,0.103824],[0.081318,-0.175500,0.981115]]VH@?BĿi?@5?/?@AѴ?@vƿKe?iV>IV^;VŐCYf܃B y-0"IiMb@Mb@Mb@ 9+?)\(L7A`?Y?yGa+=A@ A)Y AbDUVDn4yŀ=%C=ٔ$9Q->9Y=CFyEE>Q 5 Y5n?Q 9 Y5xf)fBY  ?Q E :y >Q I@EI ;i7 ;uY5yɮc@GS5B*** querying acoustic contact ***:1B1AQMFNOT Ignoring new targets: 189.90 m.M"BM"BQ] ProNav: ac range: 189.903244 m, nav range: 185.723450 m, bearing: 28.428061 deg, approach rate: -0.638358 m/s, LOS rate: -0.000663 deg/s, cmd heading: 34.056167 deg, new cmd heading: 34.055365 deg. z]QHeadingCmd: 0.594378 target range: 189.903244 and range: 191.10 m.R,)?JbZB:2ҔڔBڒ’,R?颥BɢE) ˾i)顩i\5&i,)?;I,)?I99@ @@ 0@Bu>BuCBu"IBũBBuN =BqBuTDBupQ;BuEi2Acoustic response timeout^A #2A zA ԙ I I O >/,2?A:>:p?:륽ٱ:]4 BAHRS rotation from veh to nav: [[0.835054,-0.525646,-0.162423],[0.544184,0.832582,0.103306],[0.080928,-0.174654,0.981298]]:H¸? `EĿi?? Hr?ଷ?`[ƿf?i:>I:շ^;:CYJByJY"IbDVKVDV 4y^7>%^a=ٔb:Q-b>9`Y`=fCFyfEf:8Ef>hQ 5nY5jpn?Q 9nY5jc)jgBYpyr>Q Ir@jEIj;ij{;jY5yvABɮv7@tQFNOT Ignoring new targets: 189.90 m.<<Q- ProNav: ac range: 189.903244 m, nav range: 185.497757 m, bearing: 28.427828 deg, approach rate: -0.621385 m/s, LOS rate: -0.000642 deg/s, cmd heading: 34.055364 deg, new cmd heading: 34.054664 deg. z-Q5HeadingCmd: 0.594366 target range: 189.903244 and range: 191.10 m.R5_(?J1b1Z1B1:929ҔAڔAAڒA’AIMm?uBɢu=)uwy }ߨiy)ʬ顁i 'i_(?:;I_(?Ii>E/ EE'E"Eaf;*Ej:VE'42Acoustic response timeoutZEBE˷ 2Acoustic response timeout a/, L?A2>2 ?2\ٱ2M1 :AHRS rotation from veh to nav: [[0.834561,-0.526917,-0.160830],[0.544999,0.832303,0.101230],[0.080520,-0.172135,0.981777]]2H?`Ŀ@p?9?6??ƿ`j?i2>I2^;2ŐCYb Bybk"I ddbDj@VDj3yr=%vG=ٔv:Q-v>9tYx=zCFyzEz;Ez>|Q 5Y5~< o?Q 9 Y5~k`)~'gBY y ?Q I @~EI~:i~:~7Y5yɮB@9QEFNOT Ignoring new targets: 189.90 m.EhEhQU ProNav: ac range: 189.903244 m, nav range: 185.243576 m, bearing: 28.427503 deg, approach rate: -0.620462 m/s, LOS rate: -0.000795 deg/s, cmd heading: 34.054664 deg, new cmd heading: 34.053688 deg. zU Q]HeadingCmd: 0.594349 target range: 189.903244 and range: 191.10 m.R]A'?JYbaZaBa:a2aҔiڔiiڒi’iqu@{?额BɢT+) i)qǮ顡i)iA'?Ha;IA'?Ii@i @q@u]3@q 2Acoustic response timeoutE%$ E%#E%&E!"E%g\;*E%;VE%4ZE!aM@aM@aM@aU@^AzII)1O=>Y %/,^f?AB>BCBf"IB BBBBSDBQ;BEY=)By="Ie2Acoustic response timeoutiMb@Mb@Mb@ 9}?5^I?Mb?YM"?y<A@ A)^AYAbDMVD 4y>%:=ٔQ->9Y=CFyEE> Q 5Y5 o?Q 9Y5 \) KgBY{"?Q E:yr?Q I@ EI  ;i r;  Y5y%@Bɮ%h@-sE1QQUFNOT Ignoring new targets: 189.90 m.]d]dQm ProNav: ac range: 189.903244 m, nav range: 184.967987 m, bearing: 28.422017 deg, approach rate: -0.627508 m/s, LOS rate: -0.012510 deg/s, cmd heading: 34.053687 deg, new cmd heading: 34.037205 deg. zm] QuHeadingCmd: 0.594061 target range: 189.903244 and range: 191.10 m.Rug?JqbqZqBy:y2yҔyڔBڒ’[?5Bɢ5)9 =ri9)=H|AAiEjM,iMg?ur;}BI}g?Iy!@! @!@- 4@)aԙE  E7E'E"EF;*E ;VE'4ZEBE^Թ _/,G23?2Ԥٱ2' :AHRS rotation from veh to nav: [[0.832508,-0.531604,-0.155972],[0.548148,0.831234,0.092651],[0.080396,-0.162629,0.983407]]2H?@ÿ n?@w?@?Д?Ŀ x?i2Ls>I2F^;0YB=ByB"IbDJ=VDJ3yr=%r]=ٔv9Q-v>9tYt=vCFyzEzl'<Ez>Q 5Y5.o?Q 9 Y5IY)hgBY y N?Q I @EI :i:FY5yɮ4@9QEFNOT Ignoring new targets: 189.90 m.MUrMUrQ] ProNav: ac range: 189.903244 m, nav range: 184.735626 m, bearing: 28.417137 deg, approach rate: -0.629629 m/s, LOS rate: -0.013241 deg/s, cmd heading: 34.037206 deg, new cmd heading: 34.022546 deg. z]fQeHeadingCmd: 0.593805 target range: 189.903244 and range: 191.10 m.Re?JabaZaBa:a2iҔiڔiiڒq’qquaY@颥Bɢcm) Hi)顩i%t.i?;bI?Iԑm2Acoustic response timeout軩q@q @q@u4@q@=@=^A E - E E $E "E d;*E x:VE 49 Ia  2Acoustic response timeoutZE a @a @a @a @I O >/,Z?AV>V?V)ٱV.I# ^AHRS rotation from veh to nav: [[0.831384,-0.534068,-0.153534],[0.549899,0.830494,0.088823],[0.080072,-0.158274,0.984143]]VH@? @ÿƘ?i???`SBĿ~?iV>IVM^;TYfNByf"IIj>)j=iUMb@Mb@Mb@QQQQ Q9U?9Y=CFyEd;E>Q 5Y5Ao?Q 9Y5T)gBY&?Q E:y$?Q I@EI ;i* ;$"Y5y?Bɮ@tEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 189.90 m.Q ProNav: ac range: 189.903244 m, nav range: 184.451859 m, bearing: 28.404115 deg, approach rate: -0.640663 m/s, LOS rate: -0.029444 deg/s, cmd heading: 34.022545 deg, new cmd heading: 33.983420 deg. zqQHeadingCmd: 0.593123 target range: 189.903244 and range: 191.10 m.R?JbZB:2ҔڔȄBڒ’G@BɢD) |#i)䲼i%d1i%?-R`;-NMĺI-?I)-B>BB"IԡBABBO =BBBQ;BE@ @@/@^A}yb]=>9=2Acoustic response timeoutIIO> /,f?A2?S>2-?2cٱ2 :AHRS rotation from veh to nav: [[0.830542,-0.536122,-0.150904],[0.551224,0.830019,0.084977],[0.079696,-0.153759,0.984889]]2H͓?@'`Pÿ? ??f?]ÿ6?i2?S>I2^;2ÐCYB[ByB"IbDJ<VDJ3yR,=%V[=ٔV{:Q-Z>9\Y\=bCFybEf;Ef>YQ 5mY5]VRo?Q 9mY5]P)]gBYqyu$?Q Iu@]EI];i]3w;]n%Y5y=Bɮ$@QFNOT Ignoring new targets: 189.90 m.GGQ  ProNav: ac range: 189.903244 m, nav range: 184.210403 m, bearing: 28.392887 deg, approach rate: -0.596782 m/s, LOS rate: -0.027788 deg/s, cmd heading: 33.983422 deg, new cmd heading: 33.949693 deg. zE=  E=*E='E9"E=X;*E=;VE='4ZE9BE= /,YԾ?A:0>:n?:3ءٱ: BAHRS rotation from veh to nav: [[0.829659,-0.538279,-0.148057],[0.552660,0.829414,0.081477],[0.078943,-0.149423,0.985617]]:H?9@¿d??۴?5? O ÿ`,?i:0>I:^;8LYNtByN"IbDV7VDVp3y^@=%^%=ٔb:Q-b>9`Y`=fCFyfEfd`;Ef>hQ 5nY5jgo?Q 9rY5jK)jgBYtyvR%?Q Iv@jEIj];ij{;j)Y5yB B "IB yBB B B B /R;B E 9@  @ @ 4@ !  DAT read: 21:30:33.8025 LVL= 32560, 32753, 30642, 32755, AGC= 61, IDX= 106, 0.15, 2.080, 0.573, 2.421, 1.968, PHS= 0.214,-1.351, 0.408, RAW= 155.8, 8.8, CAL= 155.4, 9.3, ROT= 354.6, -9.3  Ygot valid direction response: 21:30:33.8025 LVL= 32560, 32753, 30642, 32755, AGC= 61, IDX= 106, 0.15, 2.080, 0.573, 2.421, 1.968, PHS= 0.214,-1.351, 0.408, RAW= 155.8, 8.8, CAL= 155.4, 9.3, ROT= 354.6, -9.3  PDAT read: Bearing 187.1, -2.4 (Local)  ~Local bearing/azimuth received: Bearing 187.1, -2.4 (Local)  DAT read: Range 11 to 50 : 190.4 m (Round-trip 253.9 ms) speed 0.0 m/s  TDAT read: user:288>Tx time:21:30:34.8945 % R#Rx 1: Read range and direction messages.- ^direction in FSK: [0.982476,-0.092871,0.161604]- Fpublishing direction and range infoy  fKqp?fhƷo?Y f>C 0 w ) =I "[>i `> .@ nF> ^-@ 6&>) @I 6& nѨ?o|?Y᷄? ?) NI i 6& E 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode.I ^Ae9IIO>|U/,s?A-D>-0?- ٱ- AHRS rotation from veh to nav: [[0.828799,-0.540369,-0.145239],[0.554230,0.828484,0.080271],[0.076952,-0.147024,0.986135]]-H?`J@0¿@???#?@¿k?i-D>I-}_;-ŐCԑYBy"I E EE&E"EM;*E:VE4ZEBE9Y=CFyEF;E>Q 5Y5o?Q 9Y5]E)gBY.?Q E:y%(?Q I%@EI;iK ;.Y5y-;Bɮ-X@)JaRe뾤?Ae5=Ce5=Ce?e0tܡ@efKqp?fhƷo?ee6&—e&c@&xV@"CG@e$c}`?ثJ?(4?jeصBreCZe<㣊?be/zeBaeZ1P.eBڗe 8Ce$P?Qu addTargetRange:: Added new target pos. range: 190.399994 m, deltaT: 3.789872 s, deltaX: -0.700012 m, approachRate: -0.184706 m/s, rangeRepo size: 4 Q Added new target pos. range: 189.207962 m, bearing: 29.744000 deg, lat: 36.779549 deg, lon: -121.859337 deg, deltaT: 3.789872 s, deltaX: -0.695282 m, approachRate: -0.183458 m/s, posRepo size: 4 QFNOT Ignoring new targets: 189.21 m.Q ProNav: ac range: 189.207962 m, nav range: 184.125854 m, bearing: 28.717953 deg, approach rate: 0.000000 m/s, LOS rate: -0.031624 deg/s, cmd heading: 33.904943 deg, new cmd heading: 33.845873 deg. zQHeadingCmd: 0.590722 target range: 189.207962 and range: 190.40 m.R9?JbZB:2Ҕڔ܄Bڒ’ g@  l\?颽Bɢzȼ) $i)Dϴi s;i9?;Yr;I9?Ii@i @i@m4@i = 2Acoustic response timeout^A ;Iq I O >2/,,?AXYyBy"IbD%=VD%3y=%=e=ٔ=Q-E>9AYA=ECFyEEMEM>QQ 5]Y5Uߒo?Q 9]Y5UtA)UgBYYyYQ Ie@UEIU:iU:U2Y5ym:Bɮm@mlEQFNOT Ignoring new targets: 189.21 m.-+-+Q ProNav: ac range: 189.207962 m, nav range: 183.885941 m, bearing: 28.706082 deg, approach rate: -0.755140 m/s, LOS rate: -0.037414 deg/s, cmd heading: 33.845872 deg, new cmd heading: 33.810212 deg. zjͺQHeadingCmd: 0.590100 target range: 189.207962 and range: 190.40 m.R?JbZB:2Ҕڔڒ’`l?Bɢ,޼) i)i>i=i? ;S;I?I i@i @q@u/@q^Aevт;IE=  E='E=%E9"E=X;*E=";VE= 4m2Acoustic response timeoutZE9a}@a}@a}@a}@IO?> 9 B% >B! B% "#IB% BB% P =B! B! B% R;B% ?EBBBBO =BO =C55/,)?AB־>BA?BpٱB=  JAHRS rotation from veh to nav: [[0.828168,-0.542082,-0.142426],[0.555525,0.827617,0.080262],[0.074365,-0.145592,0.986546]]BHY?X;¿ ?{?`? ?¿ȑ?iB־>IB|^;BÐCb2Acoustic response timeoutY~By~ #IiMb@Mb@Mb@ 9S? ףp= ?~jtxY/?yQ8=ĻA )K@YAbD=>VD=43yUS=%]:=ٔ]d;Q-]>9aYa=eCFyeEmUU;Em>qQ 5}Y5uo?Q 9}Y5u<)ugBY}}/?Q E}:y}'?Q I@uEIu~:iu:u5Y5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 189.21 m.Q ProNav: ac range: 189.207962 m, nav range: 183.588776 m, bearing: 28.691720 deg, approach rate: -0.675134 m/s, LOS rate: -0.032681 deg/s, cmd heading: 33.810212 deg, new cmd heading: 33.767057 deg. znQHeadingCmd: 0.589346 target range: 189.207962 and range: 190.40 m.Rg?JbZB:2ҔڔƄBڒ’`A?Bɢ) @i)%/C!!i%Z@i-g?-E;-B;I-g?I1I@ @@@qEE EE9EE)EA"EEW;*EE ;VEEFA4ZEABEEB/,lC?A2i>2B_?2{/ٱ2 >AHRS rotation from veh to nav: [[0.828017,-0.542663,-0.141088],[0.555960,0.827256,0.080964],[0.072780,-0.145479,0.986681]]2H? ~]`,¿m?x?@?ඡ? ¿?i2i>I2ȏ^;2CYBByF #IIJ=)JG?HJAbDN1VDN[3yV ;%Vj=ٔZ';Q-Z>9XYX=^CFy^E^:E^>`Q 5fY5bo?Q 9fY5b8)bhBYhyj'?Q Ij@bEIb :ib:b8Y5yn9Bɮr@rmEQ FNOT Ignoring new targets: 189.21 m.  Q ProNav: ac range: 189.207962 m, nav range: 183.352417 m, bearing: 28.680231 deg, approach rate: -0.677752 m/s, LOS rate: -0.032989 deg/s, cmd heading: 33.767058 deg, new cmd heading: 33.732545 deg. zQ%HeadingCmd: 0.588744 target range: 189.207962 and range: 190.40 m.R%?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’1yp?BɢN) i) [  i 0Bi?ҩ;5v;I5?I92Acoustic response timeout@ @@ 0@ԩ^A(;A! I) I9 OM >  2Acoustic response timeoutE= ) E= E= &E9 "E= `;*E= :X/,]?AVEe4ZEaa@a@a@a@=^>=ۅ?=Бٱ=`~ MAHRS rotation from veh to nav: [[0.827787,-0.543131,-0.140633],[0.556514,0.826675,0.083073],[0.071138,-0.147030,0.986570]]=H;}?@Sa@A¿ ?t?@>D?`6? ¿@?i=^>I=^;=CY]By]#IiMb@Mb@Mb@ 9m?{Gz?:vY.?y#=TAr@  A)5@Y=AbD<VD3yut<%u1=ٔu9yYy=}DFy}E:E>Q 5Y5,o?Q 9Y53)hBY.?Q E:y%?Q I@EIk;i;BBA#IBBBO =BBBR;BYE=2Acoustic response timeout)^A% y<Aa i Iq I O >>/,w?AFn>F?FsٱFw RAHRS rotation from veh to nav: [[0.827799,-0.543350,-0.139714],[0.556669,0.826467,0.084099],[0.069774,-0.147391,0.986614]]FH T}?c&;?ir?}?ܱ?¿W?iFn>IFQ^;FĐCYTyXbDb9VDb3yj=!;%ji=ٔj;Q-j>9lYl=nDFynErY9Er>tQ 5zY5vDo?Q 9zY5v0)vhBYxyz%?Q Iz@vEIv;iv;v@Y5y8BɮT@QFNOT Ignoring new targets: 189.21 m.  Q ProNav: ac range: 189.207962 m, nav range: 182.803467 m, bearing: 28.654836 deg, approach rate: -0.653342 m/s, LOS rate: -0.030328 deg/s, cmd heading: 33.689218 deg, new cmd heading: 33.656246 deg. zQHeadingCmd: 0.587412 target range: 189.207962 and range: 190.40 m.R`?JbZB:2Ҕڔڒ’E E@E$E"EL;*EM;VE4ZEBEۡԹ $/,`?A24>2p?2*ٱ2g :AHRS rotation from veh to nav: [[0.828153,-0.543066,-0.138719],[0.556375,0.826461,0.086076],[0.067901,-0.148464,0.986584]]2H9?`@`?^r?@ ?a?ÿ?i24>I2.^;2ŐCYBByF#IJ=J=bDN<VDN3yr;%rI=ٔvn;Q-v>9tYx=zDFyzEz܎Ez>|Q 5Y5~o?Q 9Y5~+)~%hBY y %?Q I @~EI~-:i~F:~CY5y7Bɮ3@dE9QEFNOT Ignoring new targets: 189.21 m.EEQU ProNav: ac range: 189.207962 m, nav range: 182.529022 m, bearing: 28.642119 deg, approach rate: -0.696166 m/s, LOS rate: -0.032308 deg/s, cmd heading: 33.656245 deg, new cmd heading: 33.618036 deg. zUaQ]HeadingCmd: 0.586745 target range: 189.207962 and range: 190.40 m.Re4?JabaZaBa:a2aҔiڔiiڒi’qqu@+@额Bɢl=) 9i)2o顡i0Ji4?;;IB >B B T#IB ʄBB B B B R;B LE N/,2:?2ٱ2 >AHRS rotation from veh to nav: [[0.828739,-0.542407,-0.137792],[0.555774,0.826559,0.088973],[0.065633,-0.150316,0.986457]]2H?f[@(`? +s?ƶ?YͰ?=ÿ ?i2=Ⱦ>I2^;2ÐCYBByF#I 2Acoustic response timeoutiMMb@Mb@Mb@IIII I9Moʡ?~jt?MbYM-?yM99Y9==DFy=E=EE>AQ 5MY5Ep?Q 9UY5E&)E1hBYU6-?Q EU:yUM?Q IU@EEIE ;iET ;EuGY5ye6Bɮe@eeEGS}B*** querying acoustic contact ***:yByQFNOT Ignoring new targets: 189.21 m.llQ ProNav: ac range: 189.207962 m, nav range: 182.229660 m, bearing: 28.630544 deg, approach rate: -0.669955 m/s, LOS rate: -0.025946 deg/s, cmd heading: 33.618034 deg, new cmd heading: 33.583253 deg. ztQHeadingCmd: 0.586138 target range: 189.207962 and range: 190.40 m.R) ?JbZB:2ҔڔBڒ’@Bɢ粼) ;i)fiLi) ?Wɪ;I6/,ſ?A:9>:?:Gٱ:  FAHRS rotation from veh to nav: [[0.830012,-0.541079,-0.135324],[0.554208,0.827387,0.091020],[0.062717,-0.150545,0.986612]]:Hu?PPR ?y?M?5?EÿR?i:9>I:^;:ŐCYJByN #IbDVCVDV3y^T%^c=ٔ^P9`Y`=bDFybEfHEf>hQ 5nY5jp?Q 9nY5jM#)j9hBYlyr?Q Ir@jEIj;ij/;jJY5yv5Bɮvp@tQFNOT Ignoring new targets: 189.21 m.Q- ProNav: ac range: 189.207962 m, nav range: 181.990540 m, bearing: 28.621425 deg, approach rate: -0.672609 m/s, LOS rate: -0.025683 deg/s, cmd heading: 33.583251 deg, new cmd heading: 33.555860 deg. z-Q5HeadingCmd: 0.585660 target range: 189.207962 and range: 190.40 m.R5?J1b1Z1B1:929Ҕ9ڔAAڒA’AAM`c @uBɢum)q u׻iy)}[pyyi}UNi?;5;I?I1@1 @1@5/@1Y2Acoustic response timeoutԁ^A}H<AzAII O>ԩ E%  E% E% &E! "E% F;*E% :VE% 4ZE! a- @a- @a5 @a5 @d/,޿?A@ZDAT read: 21:30:37.5170 LVL= 29088, 32753, 32754, 32755, AGC= 72, IDX= 58,-0.39,-1.841, 2.992,-1.510,-1.912, PHS= 0.173,-1.334, 0.358, RAW= 155.7, 10.0, CAL= 155.6, 10.9, ROT= 354.4, -10.9 =Ygot valid direction response: 21:30:37.5170 LVL= 29088, 32753, 32754, 32755, AGC= 72, IDX= 58,-0.39,-1.841, 2.992,-1.510,-1.912, PHS= 0.173,-1.334, 0.358, RAW= 155.7, 10.0, CAL= 155.6, 10.9, ROT= 354.4, -10.9 EPDAT read: Bearing 188.6, -3.8 (Local) E~Local bearing/azimuth received: Bearing 188.6, -3.8 (Local) DAT read: Range 11 to 50 : 163.8 m (Round-trip 218.4 ms) speed 0.8 m/s TDAT read: user:289>Tx time:21:30:38.5945 R#Rx 1: Read range and direction messages.^direction in FSK: [0.977272,-0.095823,0.189095]Fpublishing direction and range infoy\E?T҇oG4?Y#Cq )HI&1>iK>'-@¸2>-@ B>).@IBKD?Ee?XC? 1?) 3I)+ȽiB2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.6>+U?tbtٱ; AHRS rotation from veh to nav: [[0.830993,-0.540342,-0.132215],[0.553077,0.828007,0.092249],[0.059629,-0.149783,0.986919]]H?zJjϲ???ઇ?`,ÿ`ה?i6>I;^;Y%By% #Iԩi5Mb@Mb@Mb@1111 195K7A`?/${GzY5+?y55#5A5@ 5ABiBiBiBiBmN =BiBiBmR;Bm;E)5@1Y5\AbD<VD3yV;%=ٔ{;Q->9Y=DFyE4E>Q 5Y5-p?Q 9Y5R)KhBY+?Q E:y ?Q I@EI;ip;HOY5y!ɮ-[@)JRjݿ?A"C"Cq?DD3nc@R1/o>@\E?T҇oG4?)+ȽB—oa@ym8yS@IvE@?RS?{=_Q?jϛBrCZ) ?b:zB<㣊?Bڗ3Cdv?QaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 163.800003 m, deltaT: 3.792768 s, deltaX: -26.599991 m, approachRate: -7.013345 m/s, rangeRepo size: 4QFNOT Ignoring new targets: 189.21 m.IIQ ProNav: ac range: 189.207962 m, nav range: 181.631027 m, bearing: 28.615257 deg, approach rate: -0.641977 m/s, LOS rate: -0.011036 deg/s, cmd heading: 33.555859 deg, new cmd heading: 33.537318 deg. z5^Q=HeadingCmd: 0.585337 target range: 189.207962 and range: 190.40 m.R=?J9b9ZABA:A2AҔIڔMbBIڒI’IUyd@U?Bɢǵ) 8i)riyQi ?DAT read: 2Acoustic response timeout-0;5\G;I5?I9Mi>iM>9@ @@5@ ^A 0;1 IQ Ia Ou >/,f-?A2?ۻ>2/?2 eٱ25 :AHRS rotation from veh to nav: [[0.832388,-0.538495,-0.130972],[0.551352,0.828564,0.097428],[0.056054,-0.153309,0.986587]]2H`?Z;`???@'?`ÿ`?i2?ۻ>I2^;2CYB~ByB"IbDN>VDN43yR0%V=ٔV> 2Acoustic response timeout ] n>e Cԁ rG = 9A YE AZ0,?A YBy#IbD53VD53yM?D=%MA=ٔUQ-U>9aYi=mDFymEuEu>Q 5Y5Pp?Q 9Y5)bhBYyQ I@ EI;i6-;UY5y4Bɮ@gEQFNOT Ignoring new targets: 189.21 m.IIQ ProNav: ac range: 189.207962 m, nav range: 181.143585 m, bearing: 28.607202 deg, approach rate: -0.665320 m/s, LOS rate: -0.011024 deg/s, cmd heading: 33.527165 deg, new cmd heading: 33.513118 deg. zQHeadingCmd: 0.584914 target range: 189.207962 and range: 190.40 m.R?JbZB:2Ҕڔڒ’B?-Bɢ-)) -@(i))-X11i5hTi=?=b;=;I=?IAqbEmJ4jEmÔ4rEmL0EM E.EE"Eˀ;*E;VEZEa@a@a@a@!@) @1@1@12Acoustic response timeoutԙ^Ag;A>A%?Be >Ba Be N#IBe ńBBe P =Ba Ba Be R;Be 4E Ae .AI I O >% 2Acoustic response timeout** 0,.?A2>2?2Jٱ2 [# :AHRS rotation from veh to nav: [[0.834799,-0.535451,-0.128069],[0.548323,0.829530,0.105934],[0.049515,-0.158656,0.986091]]2H`? k"`d܋?`?w?Y? NĿ?i2>I2^;2ÐCYBByB"ILiMb@Mb@Mb@ 9y&1? ףp= {Gzt?Y`%?yQ8ף;@ )@YAbDuDVDuJ3yּ%F=ٔ[9 ?Y ?=DFyEE>Q 5Y5Ldp?Q 9Y5.)uhBY%?Q E:yy?Q I@EI:i:=YY5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 189.21 m.]V]VQ ProNav: ac range: 189.207962 m, nav range: 180.879730 m, bearing: 28.606009 deg, approach rate: -0.646634 m/s, LOS rate: -0.002928 deg/s, cmd heading: 33.513119 deg, new cmd heading: 33.509534 deg. zQ HeadingCmd: 0.584852 target range: 189.207962 and range: 190.40 m.R ׸?J b Z B : 2Ҕڔ@Bڒ’_?MBɢM*0)I MiI)UʵQQiUeUi]׸?];]d:I]׸?Iai@ @@@E E*E%E"EN;*E;VE 4ZEBElf0,uH?A2L>2S?2ݛ>ٱ2& :AHRS rotation from veh to nav: [[0.835884,-0.533989,-0.127096],[0.546931,0.829866,0.110403],[0.046519,-0.161797,0.985727]]2H ?o`Du?B?dC? Hѧ?`ŵĿ@?i2L>I2^;2ĐCYBByB#IbDN@VDN3yV=%VZ=ٔV9XYX=ZDFyZEZE^>|Q 5%Y5vp?Q 9%Y5)hBY!y% ?Q I-@EI;i:\Y5y1ɮ5@1QQ]FNOT Ignoring new targets: 189.21 m.e=e=Qm ProNav: ac range: 189.207962 m, nav range: 180.630173 m, bearing: 28.605011 deg, approach rate: -0.647063 m/s, LOS rate: -0.002591 deg/s, cmd heading: 33.509533 deg, new cmd heading: 33.506535 deg. zuQuHeadingCmd: 0.584799 target range: 189.207962 and range: 190.40 m.R}i?JybyZyBy:y2Ҕڔڒ’?颽Bɢaϩ) @D zD @AE 6 E YE E "E l;*E w;VE ZE a @a @a @a @ 2Acoustic response timeout @0,b?AF>F?F3ٱF* NAHRS rotation from veh to nav: [[0.836996,-0.532387,-0.126497],[0.545451,0.830222,0.114954],[0.043821,-0.165214,0.985284]]FH?P 1Ut?-?@m?o?%ſq?iF>IF^;FCYVByV#IԑiMb@Mb@Mb@ 9RQ?(\µ{Gz?Y"?y#<hA@ A)@YAbD-QVD-4y=hd%=3=ٔE;Q-E>9AYA=MDFyMEMxEM>QQ 5]Y5UBp?Q 9]Y5U )UhBYe$?Q Ee:ye>Q Ie@UEIU3:iUH:U`Y5yiɮu@u^EQFNOT Ignoring new targets: 189.21 m.<9<9Q ProNav: ac range: 189.207962 m, nav range: 180.345703 m, bearing: 28.609600 deg, approach rate: -0.637573 m/s, LOS rate: 0.010302 deg/s, cmd heading: 33.506535 deg, new cmd heading: 33.520324 deg. z>9QHeadingCmd: 0.585040 target range: 189.207962 and range: 190.40 m.R/?JbZB:2B>BCBA#IBBBO =BBTDB~R;B1EBBBBBC`,5Ҕڔe,Baڒa’iim@Bɢ ) Ѻi)9i=GrXiE/?E ;EoIIM/?II2Acoustic response timeout9@ @@0@^A= [RS:AE gAzAE fAI I O > e0,|b|?A2f>2?2*ٱ2, :AHRS rotation from veh to nav: [[0.837553,-0.531717,-0.125627],[0.544763,0.830281,0.117757],[0.041692,-0.167064,0.985064]]2H@I2K^;2ĐCER* ERER'EP"ERa;*ER:VER'4ZEPBER9 Y =DFyEdE>E2Acoustic response timeoutAQ 5MY5Ep?Q 9MY5E )EhBYQyU=>Q IU@EEIE:iE$:EcY5yYɮe@aQFNOT Ignoring new targets: 189.21 m.>9>9Q ProNav: ac range: 189.207962 m, nav range: 180.111069 m, bearing: 28.613455 deg, approach rate: -0.631084 m/s, LOS rate: 0.010383 deg/s, cmd heading: 33.520325 deg, new cmd heading: 33.531906 deg. z9QHeadingCmd: 0.585242 target range: 189.207962 and range: 190.40 m.Rn?JbZB:2Ҕڔڒ’%a@颍Bɢs ) %=2Acoustic response timeout^A- NJκI I O >y O%0,G?AN >N\?Nm"ٱN+* bAHRS rotation from veh to nav: [[0.838193,-0.531358,-0.122844],[0.543931,0.830866,0.117478],[0.039644,-0.165288,0.985448]]NHz?@r g?t??@EL?'(ſʈ?iN >IN$^;LYBy#IbDIVDX4y-<%-H=ٔ-;Q-->91Y1=5DFy5E='E=>AQ 5MY5Ep?Q 9MY5E)EhBYIyM>Q IM@E EIE:iE:EAgY5y]3Bɮ]@]_EQFNOT Ignoring new targets: 189.21 m.F9F9Q ProNav: ac range: 189.207962 m, nav range: 179.853226 m, bearing: 28.617794 deg, approach rate: -0.644580 m/s, LOS rate: 0.010861 deg/s, cmd heading: 33.531905 deg, new cmd heading: 33.544939 deg. z9QHeadingCmd: 0.585470 target range: 189.207962 and range: 190.40 m.RW?JbZB:2Ҕڔڒ’@@Bɢ;) x=i)SisZiW?=;QԱB>BB;#IBBBBBBR;BCE  BDAT read: Rx Time:21:30:41.2461  TRx dataTimestamp_ set to:1761514242.740580 2Acoustic response timeoutw+0,L?A>{Ŷ>>L9?>ٱ>( nAHRS rotation from veh to nav: [[0.838550,-0.531397,-0.120218],[0.543529,0.831147,0.117351],[0.037559,-0.163747,0.985787]]>Hf?@3ƾ d?? ?:?Ŀ?i>{Ŷ>I>U^;>CYvByv #IimMb@Mb@Mb@iiii i9mK7A?~jtMb?Ym "?ymĽm9Y=DFyEɦE>Q 5Y5!p?Q 9Y50)hBY#?Q E:yL>Q I@$EI;i ;jY5yɮ6@GSeB*** querying acoustic contact ***:aBaiQFNOT Ignoring new targets: 189.21 m.3x93x9Q ProNav: ac range: 189.207962 m, nav range: 179.587524 m, bearing: 28.623671 deg, approach rate: -0.612290 m/s, LOS rate: 0.013562 deg/s, cmd heading: 33.544941 deg, new cmd heading: 33.562597 deg. z:ԱQHeadingCmd: 0.585778 target range: 189.207962 and range: 190.40 m.R?JbZB:2Ҕڔ-DB1ڒ1’99= # @Bɢؗ) `=i)>贼i-[i5?5<;5TeI5?I9]9@Y @Y@]4@YE  EE$E"ED;*E]:VE4ZEBE͚AM >9 Au ؟AIy I O >20,r?A2>>2 ?2sٱ2& :AHRS rotation from veh to nav: [[0.839185,-0.531090,-0.117103],[0.542718,0.831663,0.117448],[0.035015,-0.162114,0.986151]]2H?n]??` ? p?%Ŀ?i2>>I2B^;0YBByB+#IbDjGVDj4yr9=%rQ=ٔr;Q-v>9v"?Yv"?=vDFyvEzb,Ez>|Q 5Y5~6p?Q 9Y5~v)~hBYy >Q I @~(EI~W:i~ :~OnY5yɮ@`E9QEFNOT Ignoring new targets: 189.21 m.M9M9Q] ProNav: ac range: 189.207962 m, nav range: 179.339127 m, bearing: 28.629266 deg, approach rate: -0.663537 m/s, LOS rate: 0.014967 deg/s, cmd heading: 33.562597 deg, new cmd heading: 33.579406 deg. z]Y$:QeHeadingCmd: 0.586071 target range: 189.207962 and range: 190.40 m.Re?JabaZaBa:i2iҔiڔqqڒq’qy} @颥Bɢp) =i)O|顩iOt\i? ;dI?IDAT read: 21:30:41.2461 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 228,-0.21, 0.142,-1.340, 0.465, 0.104, PHS= 0.140,-1.399, 0.316, RAW= 155.4, 11.5, CAL= 155.4, 12.8, ROT= 354.6, -12.8 Ygot valid direction response: 21:30:41.2461 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 228,-0.21, 0.142,-1.340, 0.465, 0.104, PHS= 0.140,-1.399, 0.316, RAW= 155.4, 11.5, CAL= 155.4, 12.8, ROT= 354.6, -12.8 PDAT read: Bearing 190.3, -5.5 (Local) ~Local bearing/azimuth received: Bearing 190.3, -5.5 (Local) DAT read: Range 11 to 50 : 185.6 m (Round-trip 247.5 ms) speed 0.8 m/s TDAT read: user:290>Tx time:21:30:42.3445 R#Rx 1: Read range and direction messages.%9@) @)@-/@)@5=@1U^direction in FSK: [0.970822,-0.091770,0.221548]UFpublishing direction and range infoyquVq?35~@|[?Yu9Cquqq q)uJIu)\>iuouʡ>u^-@uM>u^-@ ud>)u @Iudqqu8l S?|\2$?X ? u>?)uNIuiudqq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AM_! A} .AI I O >E  E E %E "E O;*E VE 4ZE a @a @a @a @- DAT read: 5 2Acoustic response timeout80,a?ANx?NٱN+# VAHRS rotation from veh to nav: [[0.839545,-0.531380,-0.113138],[0.542305,0.832186,0.115638],[0.032704,-0.158439,0.986827]]NH?@Z?C?{??GĿ?iN>INGg^;NĐCYzByz6#IiMb@Mb@Mb@ 9}?5^I?1Zd/$?YM"?y"۽<Az@ tA)@YAbDJVD04y#=%==ٔ$;Q->9 ?Y ?=DFyEzE>Q 5Y5p?Q 9Y5) iBY$?Q E:y>Q I@,EI':iX ;rY5yɮ@JR?Aq8Cq8C(?CXaf@l0&tnD@Vq?35~@|[?d—mciVc@u˯U@!MdnH@I?yudr?Yx]r?j}BrCZڣ?bzlBꗡڗ0C◥r?QM addTargetRange:: Added new target pos. range: 185.600006 m, deltaT: 7.571953 s, deltaX: -4.799988 m, approachRate: -0.633917 m/s, rangeRepo size: 4 BU>BQBQBQBQBQBQBUR;BUGEQ} Added new target pos. range: 184.442322 m, bearing: 29.561632 deg, lat: 36.779527 deg, lon: -121.859337 deg, deltaT: 7.571953 s, deltaX: -4.765640 m, approachRate: -0.629381 m/s, posRepo size: 4 yQ}FNOT Ignoring new targets: 184.44 m.Q ProNav: ac range: 184.442322 m, nav range: 176.999374 m, bearing: 29.002355 deg, approach rate: 0.000000 m/s, LOS rate: 0.014967 deg/s, cmd heading: 33.579406 deg, new cmd heading: 33.599004 deg. zQHeadingCmd: 0.586413 target range: 184.442322 and range: 185.60 m.R.?JbZB:2Ҕڔ>0,o-?AE2 E0E2)E0"E2>T;*E0VE2FA4ZE0BE2ģ>>p?>ٱ> JAHRS rotation from veh to nav: [[0.839957,-0.531805,-0.107961],[0.541808,0.832980,0.112195],[0.030264,-0.152733,0.987804]]>H? @W~V?Ƨ?и?k?@Ìÿ?i>ģ>I>}^;>CYNÄByRK#IbDZBVDZ3ybֵ=%b]=ٔbU;Q-b>9f"?Yf"?=fDFyfEjuEj>hr2Acoustic response timeouttQ 5vY5jq?Q 9zY5j )j!iBYxyz >Q Iz@j0EIj|;ij~;jQuY5yyɮ}@QFNOT Ignoring new targets: 184.44 m.?9?9Q ProNav: ac range: 184.442322 m, nav range: 176.763611 m, bearing: 29.009561 deg, approach rate: -0.615105 m/s, LOS rate: 0.018824 deg/s, cmd heading: 33.599005 deg, new cmd heading: 33.620650 deg. zN:QHeadingCmd: 0.586791 target range: 184.442322 and range: 185.60 m.R7?JbZB:2Ҕ ڔ  ڒ ’o?}~Bɢ}H)  >i)顁i[^i7?a;zoʻI7?I m9@i @i@i@i12Acoustic response timeout^ASAhAzAa A I I O >E0, ?A2g|>2?2 ٱ2D :AHRS rotation from veh to nav: [[0.840166,-0.532518,-0.102691],[0.541586,0.833745,0.107490],[0.028378,-0.145926,0.988888]]2H ? c I`T?` ?~??@¿@?i2g|>I2q^;2ŐCYBĄByBM#IIFp=)F{>bDJJVDJ04yRo;%VL=ٔVA;Q-V>9XYX=ZDFyZEZqDEZ>|Q 5Y5~"q?Q 9 Y5~H)~8iBY y >Q I @~4EI~ :i~:~xY5yɮ@aE9QFNOT Ignoring new targets: 184.44 m.99Q ProNav: ac range: 184.442322 m, nav range: 176.502548 m, bearing: 29.017617 deg, approach rate: -0.653699 m/s, LOS rate: 0.020204 deg/s, cmd heading: 33.620650 deg, new cmd heading: 33.644856 deg. z]:QHeadingCmd: 0.587214 target range: 184.442322 and range: 185.60 m.RS?JbZB:2Ҕڔڒ’!?e|BɢeQ~D)i m>ii)miiiu =_iS?̥;ܻIS?IE}  E}NE}%Ey"E}X;*E};VE} 4ZEya@a@a@a@2Acoustic response timeoutu9@y @y@@@@eABYBYB]N#IB]ńBB]P =BYBYB]R;B]2E^Au[RӻA I I O >  2Acoustic response timeoutK0,2?A2>2?2~ڼٱ2M :AHRS rotation from veh to nav: [[0.840194,-0.533488,-0.097283],[0.541628,0.834396,0.102094],[0.026707,-0.138470,0.990007]]2H? V縿U?^?"?Y?` "?i2>I2G^;2ÐCYBՄByBb#Ii Mb@Mb@Mb@     9 ?&1S㥛?Y  ?y н /< ; A @ A) @ Y AbD%HVD%4y5L=%5@=ٔ=;Q-=>99Y9=EDFyEEE0D8EE>IQ 5UY5Ml)q?Q 9UY5Mx)MPiBY]C"?Q E]:y]>Q I]@M9EIM:iM ;M|Y5yaɮe@iԹGS B*** querying acoustic contact ***: B 9QEFNOT Ignoring new targets: 184.44 m.M9M9Q ProNav: ac range: 184.442322 m, nav range: 176.240158 m, bearing: 29.025194 deg, approach rate: -0.608073 m/s, LOS rate: 0.017584 deg/s, cmd heading: 33.644856 deg, new cmd heading: 33.667620 deg. zA:QHeadingCmd: 0.587611 target range: 184.442322 and range: 185.60 m.Rm?JbZB:2ҔڔUBڒ’@<=?ezBɢe)i mt7>ii)mmiiimq9`im?;Im?I)@) @)@-0@)Em EmEm)Ei"EmN;*Em:VEmFA4ZEiBEmlR0,@K?AYrByr#IbDz>VDz43y-`>%-M=ٔ-Q-->91Y1=5DFy5E5E=>AQ 5EY5Ei)Rimeai?; I?I9@ @@o0@bEɻ 4jET4rE5/E $ E E %E "E g\;*E :VE 4ZE a @a @a @a @^A rA >A > 2Acoustic response timeoutA ! I1 Iy O >"Y0,Nf?AJz7>JL?JJʼٱJO~ VAHRS rotation from veh to nav: [[0.839474,-0.535157,-0.094283],[0.542838,0.833772,0.100755],[0.024691,-0.135762,0.990434]]JH?  "^?@B?˹?`H?` ?iJz7>IJR^;JCY^By^#I ``iMb@Mb@Mb@ 9x&1?+/$?YA ?y< A@ A)@Y@B>BBg#IBڄBBBBBsR;B,EbD<VD3yB=%;=ٔ;Q->9Y=DFyES;E>Q 5Y5Qq?Q 9Y5)}iBY!?Q E:y6>Q I@AEIa:i3:ՃY5y4Bɮ@cE!Q%FNOT Ignoring new targets: 184.44 m.-A9-A9Q= ProNav: ac range: 184.442322 m, nav range: 175.715347 m, bearing: 29.037038 deg, approach rate: -0.632346 m/s, LOS rate: 0.010589 deg/s, cmd heading: 33.689444 deg, new cmd heading: 33.703206 deg. z=9QEHeadingCmd: 0.588232 target range: 184.442322 and range: 185.60 m.RE^?JAbIZIBI:I2IҔQڔU\BQڒQ’QY]s@颍uBɢ() >i)~顑ibԙi^?m;N,ͻI^?II)U9@Q @Q@U5@Q@]=@]=2Acoustic response timeout^API I O >! ?_0,I?AE7 E0E$E"Em;*E;VE4ZEBEђ>>?>Ƽٱ>( NAHRS rotation from veh to nav: [[0.839107,-0.535736,-0.094270],[0.543430,0.833295,0.101510],[0.024172,-0.136407,0.990358]]>H?`$@"c?@Y???u ?i>ђ>I>?s^;>CYVByV#IbD5DVD5J3yE=%EU=ٔEr:Q-M>9IYI=MDFyMEU :EU>YQ 5eY5]cq?Q 9eY5])]iBYaym>Q Im@]EEI]:i]:].Y5yu5Bɮuv@uYEQFNOT Ignoring new targets: 184.44 m.a>9a>9Q ProNav: ac range: 184.442322 m, nav range: 175.474228 m, bearing: 29.041024 deg, approach rate: -0.628540 m/s, LOS rate: 0.010403 deg/s, cmd heading: 33.703206 deg, new cmd heading: 33.715179 deg. zu9QHeadingCmd: 0.588441 target range: 184.442322 and range: 185.60 m.R?JbZB:2Ҕڔڒ’@sBɢ .:) >i)晫ici ? ;7ûI?I9@ @@/@9^ABʻEBDAT read: Rx Time:21:30:44.9924 MTRx dataTimestamp_ set to:1761514246.270148M2Acoustic response timeouti I I O >B(f0,Nә?A 6a >6[?6ƶǼٱ6 >AHRS rotation from veh to nav: [[0.838606,-0.536514,-0.094299],[0.544192,0.832865,0.100951],[0.024377,-0.135975,0.990412]]6H?+@#j?Ԧ?`׹?6?g u?i6a >I6]^;4YFByF#IbDNKVDN 4yVIo=%VT=ٔV Q-Z>9XYX=ZDFyZE^k;E^>`Q 5fY5b'vq?Q 9fY5b)biBYdyj >Q Ij@bIEIb:ib:bY5ylɮn@nZEQFNOT Ignoring new targets: 184.44 m. ;9 ;9Q ProNav: ac range: 184.442322 m, nav range: 175.232391 m, bearing: 29.044961 deg, approach rate: -0.628995 m/s, LOS rate: 0.010255 deg/s, cmd heading: 33.715180 deg, new cmd heading: 33.727009 deg. z79QHeadingCmd: 0.588647 target range: 184.442322 and range: 185.60 m.R?JbZB:2Ҕڔڒ’ @qBɢP ;) A>i)hi(ei%?% ;-qI-?I)E= E=?E='E9"E=V;*E=;VE='4ZE9aM@aM@aM@aM@q2Acoustic response timeout9@ @@0@ԙBBB#IBBBBBBpR;B+EB}ǾCB}ǾCByB}P =B}P =C}*05^A#2AgAzAiAIqIO> U 2Acoustic response timeoutcSl0,?A:+>:&?:ϋʼٱ:$ FAHRS rotation from veh to nav: [[0.837889,-0.537886,-0.092843],[0.545280,0.832536,0.097739],[0.024722,-0.132520,0.990872]]:H? ]6@ķr?#?`p?P?i 9?i:+>I:o^;:ÐCYJ(ByN#ILIR=)R9Y=DFy EC;E>Q 5Y5eq?Q 9UY5)iBYUr ?Q EU:yU>Q IU@MEIi)Ki"fi?yT;'I?I5Y>i19@ @@/@EM EM&EM(EI"EM&U;*EM;VEMc44ZEIBEMTx time:21:30:46.0944 %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.978071,-0.087291,0.189095]-Fpublishing direction and range infoy.e[L?iXoG4?Y6C )GIv>>i5^>x-@J4>?-@ B>)6@IBܴZY?Ϟ^4?ܝ[? &?)3IKiBM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.) ^A I! I1 OE >a:s0,?A6v>6?63мٱ6J >AHRS rotation from veh to nav: [[0.837067,-0.539288,-0.092129],[0.546506,0.832065,0.094866],[0.025497,-0.129758,0.991218]]6H`@?AÕ|?E?@$I??``?i6v>I6R^;4YF2ByF#IbDN8VDN3yVO=%VZ=ٔZQ-Z>9XYX=^DFy^ E^;E^>`Q 5fY5bq?Q 9fY5b)biBYhyj>Q Ij@bQEIbl:ibd:bY5yn6BɮnE@p|JR?A5C5C?.G8f@Ff+V/xV/A@.e[L?iXoG4?KB— VFc@,1U@›ZhTD@%?h?5/?jmBr2CZ^]?b`zBڗ/CQ<?Q5 addTargetRange:: Added new target pos. range: 182.899994 m, deltaT: 3.779669 s, deltaX: -2.700012 m, approachRate: -0.714351 m/s, rangeRepo size: 4 QE Added new target pos. range: 181.759232 m, bearing: 29.492201 deg, lat: 36.779527 deg, lon: -121.859316 deg, deltaT: 3.779669 s, deltaX: -2.683090 m, approachRate: -0.709874 m/s, posRepo size: 4 AQEFNOT Ignoring new targets: 181.76 m.MIQ] ProNav: ac range: 181.759232 m, nav range: 175.670380 m, bearing: 29.595869 deg, approach rate: 0.000000 m/s, LOS rate: 0.002121 deg/s, cmd heading: 33.729926 deg, new cmd heading: 33.732181 deg. zYQeHeadingCmd: 0.588738 target range: 181.759232 and range: 182.90 m.Re?JabaZiBi:i2iҔiڔqqڒq’qDAT read: 2Acoustic response timeoutf@@]?]mBɢe<)a e>ia)eniiimohim?ؠ;OI?I)59@9 @9@9@9Q^AmIIO>EU . EU FEU "EQ "EU ye;*EU v;VEU (3ZEQ a] @a] @a] @a] @ 2Acoustic response timeoutԁ mgy0,zq?Ar6>rO?r׼ٱr zAHRS rotation from veh to nav: [[0.836535,-0.540037,-0.092565],[0.547284,0.831659,0.093933],[0.026255,-0.129238,0.991266]]rH?G`SX? ? ??`݊s?ir6>IrH^;pY7By#IQBe>BeCBe#IBeBBeN =BaBaBeOR;BeEiMb@Mb@Mb@ 9!rh?I +:v?Yl'?y9T<@ )Y@bDHVD4y<%9=ٔ\Q->9Y=DFy Ef ;E>Q 5Y5bq?Q 9Y5)iBY'?Q E:yl ?Q I@UEI ;i':yY5yɮ@ [EQFNOT Ignoring new targets: 181.76 m.  QU ProNav: ac range: 181.759232 m, nav range: 175.381287 m, bearing: 29.592847 deg, approach rate: -0.618696 m/s, LOS rate: -0.006476 deg/s, cmd heading: 33.732180 deg, new cmd heading: 33.723102 deg. zU:QeHeadingCmd: 0.588579 target range: 181.759232 and range: 182.90 m.Re ?JabZB:2ҔڔBڒ’? kBɢ <;)  !>i )uicji ?SJ;;I ?I!ԁ 2Acoustic response timeout9@ @@@Ա^A cU AU .AEY  E] .E] %EY "EY *E] ;VE] 4ZEY BE] \q0,w¤?A2Acoustic response timeout6Ii>64?6bټٱ6 BAHRS rotation from veh to nav: [[0.836030,-0.540644,-0.093580],[0.548038,0.831081,0.094650],[0.026601,-0.130416,0.991102]]6H`? L ?6?;?9=?@{`?i6Ii>I6T^;6CYFXByJ$IbDR<VDR3yZ0>%ZZ=ٔZqQ-^>9^ ?Y^ ?=^DFy^Eb;Eb>dQ 55Y5fq?Q 95Y5fT)fiBY1y5 ?Q I5@fYEIfhi)i_li?3;ɺI?I@ @@0@ԡ@=@=2Acoustic response timeout^A?BɺA I I O >0,¤?A2}>2N?2!oܼٱ2c :AHRS rotation from veh to nav: [[0.835872,-0.540525,-0.095661],[0.548265,0.830634,0.097228],[0.026905,-0.133718,0.990654]]2Hv?`KC}`b?@?@?@ ? @p?i2}>I2;3^;0Y@yB$IbDNEVDN3ynJP%nH=ٔrCQ-r>9pYt=vDFyvEvn1:Ev>xQ 5~Y5z/q?Q 9~Y5z)ziBYy ?Q I@z^EIzY;iz;zQY5y 7Bɮ @ \E1Q=FNOT Ignoring new targets: 181.76 m.=( E( QM ProNav: ac range: 181.759232 m, nav range: 174.869446 m, bearing: 29.587286 deg, approach rate: -0.684206 m/s, LOS rate: -0.007495 deg/s, cmd heading: 33.715152 deg, new cmd heading: 33.706392 deg. zUQUHeadingCmd: 0.588288 target range: 181.759232 and range: 182.90 m.RU?JYbYZYBY:Y2aҔaڔaaڒi’iimC?颕hBɢt<) >i)=̛顡ikni?o;I?IE E+E#E"EO;*E=;VE3ZEa@a@a@a@52Acoustic response timeoutQ@Q @Q@U2@Q@]@]@]@] B5>B1B5#IB5DBB1B1B5SDB5Q;B5E1AM ؟AIQ Ia Ou > 2Acoustic response timeoutY ⿌0,y5¤?AJ:>J.?J9ۼٱJE ZAHRS rotation from veh to nav: [[0.835684,-0.540628,-0.096717],[0.548559,0.830227,0.099032],[0.026758,-0.135815,0.990373]]JH?`L@x¸ʍ?@7?,Z? df?`b"?iJ:>IJK^;HYfmByf$IiMb@Mb@Mb@ 9#~j?Mb?I +?Y%?y<94< A A)@Y\@bD>VD43y=%<=ٔN9Q->9"?Y"?=DFyES:E>Q 5Y5q?Q 9Y5q)iBY%?Q E:y?Q I@bEI:i]:Y5yɮ@GSB*** querying acoustic contact ***:B!Q%FNOT Ignoring new targets: 181.76 m.-`-`1QE ProNav: ac range: 181.759232 m, nav range: 174.589539 m, bearing: 29.578880 deg, approach rate: -0.644481 m/s, LOS rate: -0.019384 deg/s, cmd heading: 33.706393 deg, new cmd heading: 33.681136 deg. zETQEHeadingCmd: 0.587847 target range: 181.759232 and range: 182.90 m.RM}?JIbIZIBI:I2IҔQڔUɄBYڒY’YY]`8?颍fBɢȁ<) >?i)$顑ipi}?;c%I}?IM9@I @I@U5@QaE EE&E"EQ;*E:VE4ZEBEƥԉԹ  PExceeded connect timeout, disconnecting.O0,*WO¤?A2>2?2(׼ٱ2  :AHRS rotation from veh to nav: [[0.835528,-0.540596,-0.098230],[0.548818,0.829684,0.102097],[0.026307,-0.139215,0.989913]]2H़?L%?Č?@#?`?]?i2>I2~:^;2ŐCYNtByR%$IbDZ@VDZ3y=$ =%=S=ٔE:Q-E>9AYI=MDFyMEMM:EM>QQ 5]Y5Uq?Q 9eY5U)UjBYaye?Q Ie@UfEIUH;iUD;U|Y5ym8Bɮm2@q2Acoustic response timeoutQFNOT Ignoring new targets: 181.76 m.Q ProNav: ac range: 181.759232 m, nav range: 174.340225 m, bearing: 29.571342 deg, approach rate: -0.645903 m/s, LOS rate: -0.019558 deg/s, cmd heading: 33.681135 deg, new cmd heading: 33.658487 deg. zVQHeadingCmd: 0.587451 target range: 181.759232 and range: 182.90 m.R7c?JbZB:2Ҕڔڒ’4@eBɢܸ<) ?i)Ȕ i ,si 7c?SΞ;NI7c?II!)!ԑ9@ @@4@A}.AIIO^>E E:EE"E[I;*E$ ;VEZEa@a@a@a@ M 2Acoustic response timeout [ԙ0,\:i¤?ABf>BdBf$IBfhBBdBdBdBfuQ;BfE ɹ>?(:ϼٱPF AHRS rotation from veh to nav: [[0.835658,-0.540243,-0.099062],[0.548667,0.829388,0.105262],[0.025294,-0.142315,0.989498]]H?I!\ ?X?z??d7¿?i ɹ>I-1^;CY%{By%-$Ii%Mb@Mb@Mb@!!!! !9%/$?X9v?~jth?Y%,?y%<%D;%l A! %GA)%@!Y%f@bDM;VDM)3ye%<%e9=ٔm6;Q-m>9u ?Yu ?=uDFyuE}<E}>Q 5Y5Or?Q 9Y5) jBY7,?Q E:y ?Q I@kEIrY;i6D;\Y5y9Bɮ@SEaQmFNOT Ignoring new targets: 181.76 m.mO׹mO׹Q} ProNav: ac range: 181.759232 m, nav range: 174.043625 m, bearing: 29.560447 deg, approach rate: -0.639455 m/s, LOS rate: -0.023530 deg/s, cmd heading: 33.658486 deg, new cmd heading: 33.625744 deg. z}/QHeadingCmd: 0.586880 target range: 181.759232 and range: 182.90 m.R=?JbZB:2ҔڔȄBڒ’@cBɢ%<)  ?i)ieui=?r;#"9I=?I2Acoustic response timeouty@y @y@4@IIO>I E 4 E /E %E "E j;*E Y;VE 4ZE BE 9qYq=}DFy}E}E}>Q 5Y5gr?Q 9Y54)jBYyQ I@oEIU:i:Y5y:Bɮ@TEQFNOT Ignoring new targets: 181.76 m.  Q ProNav: ac range: 181.759232 m, nav range: 173.794632 m, bearing: 29.551271 deg, approach rate: -0.706465 m/s, LOS rate: -0.026072 deg/s, cmd heading: 33.625745 deg, new cmd heading: 33.598179 deg. z$QEHeadingCmd: 0.586399 target range: 181.759232 and range: 182.90 m.RE<?JAbAZIBI:I2IҔQڔQQڒQ’QY]@9EbBɢE<)A E9 ?iA)MOHIIiME#xi}<?}+;}:I}<?I1@1 @1@5/@1nManaging dock network, ignoring radio surface power off EԀGQiq9YBA2Acoustic response timeout^AU NJκA] >A] >ԙ I1 IA O] >0,¤?A@Y~By3$IbD<VD3y%qj<%%Q=ٔ!Q-%>9)Y)=-DFy-E1E5>9Q 5EY5=b1r?Q 9EY5=")=jBYAyAQ IE@=sEI= ;i=@:= Y5ye;Bɮe@iQ FNOT Ignoring new targets: 181.76 m.'ٹ'ٹbEE-4jEEO4rEE.0E EE&E"EC;*E:VE4ZEa@a@a@a@i!I!mDAT read: 21:30:48.7404 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 425, 0.18, 0.608,-0.825, 0.944, 0.566, PHS= 0.144,-1.345, 0.334, RAW= 155.9, 10.9, CAL= 155.9, 12.0, ROT= 354.1, -12.0 uYgot valid direction response: 21:30:48.7404 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 425, 0.18, 0.608,-0.825, 0.944, 0.566, PHS= 0.144,-1.345, 0.334, RAW= 155.9, 10.9, CAL= 155.9, 12.0, ROT= 354.1, -12.0 }PDAT read: Bearing 191.5, -5.9 (Local) }~Local bearing/azimuth received: Bearing 191.5, -5.9 (Local) ԩDAT read: Range 11 to 50 : 181.3 m (Round-trip 241.8 ms) speed 0.4 m/s TDAT read: user:292>Tx time:21:30:49.8444 R#Rx 1: Read range and direction messages.^direction in FSK: [0.972966,-0.100546,0.207912]Fpublishing direction and range infoy!Q ProNav: ac range: 181.759232 m, nav range: 173.532715 m, bearing: 29.541591 deg, approach rate: -0.641130 m/s, LOS rate: -0.023731 deg/s, cmd heading: 33.598179 deg, new cmd heading: 33.569094 deg. zJQHeadingCmd: 0.585891 target range: 181.759232 and range: 182.90 m.R?JbZB:2%3"?|chٜ?Y%L5C!!!! !)!I%t>i%(% >%X$.@%B>%X$.@ %PwV>)%J@Ҕ ڔ)1ڒ9’AEf@E?I%PwV!!%q? 8tp?҈1? % ?)%%BI%)ҽi%PwV!!2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.`Bɢ%Y<)) -j?i1)顉izB>BB5$IBBBO =BBBCQ;BEi?֝;ju:I?IV>i>i @i  @i @m 4@i @u iA@u jA  DAT read:  2Acoustic response timeout1 ^Au 9I I O >Sݭ0,&¤?AYBy;$IiMb@Mb@Mb@ 9K7?9Y=DFyEE>Q 5Y5Gr?Q 9Y5()jBY)?Q E:yO"?Q I@xEI@:i:?Y5y ɮ H@JR{¤?A*4C*4C@?fze@aeu2̹B@3"?|chٜ?)ҽPwV—^5c@UDFU@cw F@?_:?saP?j2BrCZGI?bzBꗹBڗ7-C◽?Qe addTargetRange:: Added new target pos. range: 181.300003 m, deltaT: 3.530575 s, deltaX: -1.599991 m, approachRate: -0.453181 m/s, rangeRepo size: 4 iQu Added new target pos. range: 180.166855 m, bearing: 29.152210 deg, lat: 36.779527 deg, lon: -121.859316 deg, deltaT: 3.530575 s, deltaX: -1.592377 m, approachRate: -0.451025 m/s, posRepo size: 4 yQ}FNOT Ignoring new targets: 180.17 m.Q ProNav: ac range: 180.166855 m, nav range: 173.215454 m, bearing: 29.529104 deg, approach rate: 0.000000 m/s, LOS rate: -0.023731 deg/s, cmd heading: 33.569096 deg, new cmd heading: 33.535684 deg. zQHeadingCmd: 0.585308 target range: 180.166855 and range: 181.30 m.R?JbZB:2Ҕڔ΄Bڒ’L?]_Bɢ]<)] ]b?iY)eai}i?;:I?IE5 E5dE5$E1"E5P;*E5B#;VE54ZE1BE5 5 2Acoustic response timeout!0,¤?A2H>24?2{ٱ2Q :AHRS rotation from veh to nav: [[0.836072,-0.539293,-0.100732],[0.548266,0.827924,0.118095],[0.019711,-0.153964,0.987880]]2H`?Aɹ`e?@Z~?s;?@/? ÿ`?i2H>I2oY^;2ĐCYBiByB$IbDJ@VDJ3yR%Ra=ٔV{9TYT=ZDFyZEZʺE^>dQ 5nY5fWr?Q 9rY5fc)fjBYpyv!"?Q Iv@f|EIf;if~;fnY5yyɮ!@UEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 180.17 m.޹޹Q ProNav: ac range: 180.166855 m, nav range: 172.974960 m, bearing: 29.519666 deg, approach rate: -0.620045 m/s, LOS rate: -0.024367 deg/s, cmd heading: 33.535686 deg, new cmd heading: 33.507332 deg. zȅQ%HeadingCmd: 0.584813 target range: 180.166855 and range: 181.30 m.R%S?J!b!Z!B):)2)Ҕ)ڔ11ڒy’yy}?^Bɢ <) f?i)ցiJiS?j;jݦ:I%S?I!@ @@@E= E=E=#E9"E=sH;*E=:VE=3ZE9aE@aE@aE@aE@2Acoustic response timeout^A NJ:A hAzA gA) Iy I O >B9 B9 B= H$IB= BB= N =B9 B= TDB= EQ;B= EBʽCBʽCBBN =BN =Cľ4 0,}¤?AFI>F{?FٱFM ^AHRS rotation from veh to nav: [[0.836328,-0.539035,-0.099979],[0.547939,0.827795,0.120488],[0.017815,-0.155550,0.987667]]FH3??4?L}?Qؾ?=?ÿ?iFI>IF;^;FCYf}Byf0$IIja=)jl>iUMb@Mb@Mb@QQQQ Q9UV-?Mb?~jtYU-?yU=UU AUz@ UGA)QQYU@bD7VDp3y:=%;=ٔ@;Q->9Y=DFy"ExE>Q 5Y5kr?Q 9Y5۸)jBY-?Q E:yI?Q I@EI:i:i I  2Acoustic response timeout0,zä?A6>6b?62o|ٱ6$ >AHRS rotation from veh to nav: [[0.837169,-0.537645,-0.100425],[0.546727,0.827782,0.125963],[0.015407,-0.160357,0.986939]]@6H@?c4s@~?0}??`?Ŀ?i6>I6JK^;4YJmByJ$IbDRAVDR?3yZ!%Z[=ٔ^};Q-^>9^"?Yb"?=bDFyb$EbyEb>dQ 5jY5f!}r?Q 9nY5f)fjBYlyn?Q In@fEIf5;if;f~Y5yvAm ?1 E]  EY E] #EY "E] V;*EY VE] 3ZEY ae @ae @ae @ae @A I I O >W0,$ä?A2Acoustic response timeout6>6V?6Nٱ6#J( >AHRS rotation from veh to nav: [[0.838829,-0.535227,-0.099492],[0.544249,0.828715,0.130474],[0.012617,-0.163593,0.986447]]6H? Jx}j?ք?]?׉?Ŀ?i6>I6l<^;4YFhByF$IbDRGVDR4yV%Z5=ٔzz;Q-z>9|Y|=~DFy~&E~(ԻE>Q 5 Y5r?Q 9 Y59)jBYy?Q I@EI+;iH;Y5yɮ%M@!QFNOT Ignoring new targets: 180.17 m.ιιQM ProNav: ac range: 180.166855 m, nav range: 172.118240 m, bearing: 29.489670 deg, approach rate: -0.658812 m/s, LOS rate: -0.022620 deg/s, cmd heading: 33.449229 deg, new cmd heading: 33.417197 deg. zUaxQHeadingCmd: 0.583240 target range: 180.166855 and range: 181.30 m.ԑR9O?JbZB:2Ҕڔڒ)’19=)@Be>BaBaBaBeP =BaBaBepQ;BeE}[Bɢl<) ?i)l顉ii9O?b;UٺI9O?IԹA?2Acoustic response timeout % @  @ @ 0@ ! ^A"E0 EE"E"EJg;*E:VE(3ZEBE9)Y)=5DFy5)E5E5>9Q 5EY5=cr?Q 9EY5={)= jBYE*?Q EM:yM?Q IM@=EI= ;i= ;=Y5yU>BɮU?@UMEyQ}FNOT Ignoring new targets: 180.17 m.``Q ProNav: ac range: 180.166855 m, nav range: 171.713547 m, bearing: 29.482377 deg, approach rate: -0.679122 m/s, LOS rate: -0.012267 deg/s, cmd heading: 33.417196 deg, new cmd heading: 33.395266 deg. zQHeadingCmd: 0.582857 target range: 180.166855 and range: 181.30 m.R$6?JbZBQ:Q2QҔYڔ]BYaڒi’iim;@额ZBɢw<) ^>i))c顡ii$6?֛;h芺I$6?I2Acoustic response timeoutԉ @  @ @ 3@ Թ E  E E #E "E G;*E 4:VE 3ZE a @a @a @a @ 2Acoustic response timeout ^AE AAzAAAqB>BCB;$IBBBO =BBBQ;BEI)IO?;0,oä?A: >:0?:3ٱ:Z0- JAHRS rotation from veh to nav: [[0.845525,-0.525922,-0.092157],[0.533928,0.833710,0.140882],[0.002739,-0.168324,0.985728]]:H`?`Z@??g?pf?ſ@?i: >I:zD^;8YRNByR#Ii-Mb@Mb@Mb@)))) )9-q= ףp?Q롿MbpY-+?y-\-)) -@)-@)Y)bDEBVDE3yUC+%U=ٔUP9YYY=]DFy],EeUEe>iQ 5uY5mkr?Q 9uY5m)mjBYu+?Q E}:y}?Q I}@mEImu ;im" ;mY5yɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 180.17 m.x7x7Q ProNav: ac range: 180.166855 m, nav range: 171.332214 m, bearing: 29.482860 deg, approach rate: -0.670384 m/s, LOS rate: 0.000850 deg/s, cmd heading: 33.395267 deg, new cmd heading: 33.396718 deg. zW8QHeadingCmd: 0.582883 target range: 180.166855 and range: 181.30 m.R7?JbZB:2ҔڔBڒ’ @ Qɢ"<) >i)k+[顱i菄i7?Xx;EI7?I]BDAT read: Rx Time:21:30:52.4877 eTRx dataTimestamp_ set to:1761514253.846503u2Acoustic response timeout@ @@/@yԩ^A9E- ( E- 'E- &E) "E- `;*E- ";VE- 4ZE) BE- O 0,kä?AY~@By~#IbD AVD ?3y%%R=ٔ%Q-%>9!Y)=-DFy-.E-E->1Q 5=Y55r?Q 9=Y559)5jBYAyAQ IE@5EI5/;i5;50Y5yIɮM@UNEQFNOT Ignoring new targets: 180.17 m.r7r7Q ProNav: ac range: 180.166855 m, nav range: 171.071350 m, bearing: 29.483191 deg, approach rate: -0.651363 m/s, LOS rate: 0.000828 deg/s, cmd heading: 33.396719 deg, new cmd heading: 33.397714 deg. z8QHeadingCmd: 0.582900 target range: 180.166855 and range: 181.30 m.R8?JbZB:2Ҕڔڒ’  % @5YBɢ5ޗ<)9 =>i9)=@U99iEiE8?E};Mk4IM8?II]l>iY9@ @@/@@=@=^AzADAT read: 21:30:52.4877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.21, 2.535, 0.964, 2.859, 2.464, PHS= 0.173,-1.455, 0.352, RAW= 155.1, 10.8, CAL= 155.1, 11.9, ROT= 354.9, -11.9 Ygot valid direction response: 21:30:52.4877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.21, 2.535, 0.964, 2.859, 2.464, PHS= 0.173,-1.455, 0.352, RAW= 155.1, 10.8, CAL= 155.1, 11.9, ROT= 354.9, -11.9 PDAT read: Bearing 191.4, -6.7 (Local) ~Local bearing/azimuth received: Bearing 191.4, -6.7 (Local) %DAT read: Range 11 to 50 : 179.4 m (Round-trip 239.2 ms) speed 0.5 m/s -BDAT read: Tx time:21:30:53.5475 -$Ping request sent.-iq=X9>?-@A>?-@ ȭT>)6@IȭT ?|(?+8D? ?)@IKiȭT]:publishing transmit ping time)]Fpublishing direction and range infoyչ50?eBlDFa5d?Y )Ii )I ?|(?+8D? )IiAu.AIyIO~>i 4,0,VGä?A 23>2 ?2;;ٱ2M?@ >AHRS rotation from veh to nav: [[0.850177,-0.518190,-0.093157],[0.526461,0.834653,0.161841],[-0.006111,-0.186637,0.982410]]2H4?@!ٷ?z?4? iyǿo?i23>I2Za^;2ÐCYN7ByR#IIV>)Vp=TTbDZBVDZ3yv<2%vN=ٔv9z ?Yz ?=zDFyz0Ez{E~>E%  E%E%$E!"E%D;*E%4:VE%4ZE!a-@a-@a-@a-@yQ 5Y5}r?Q 9Y5})}jBYy?Q I@}EI}:i}:}Y5y?Bɮu@OEJR ä?AG2CG2Ct? Ge@AY/RbaB@չ50?eBlDFa5d?KȭT—A{K c@qU@\B@9?jBrVCZz3?bƝzBꗵ^]?Bڗ,C◵W?QE addTargetRange:: Added new target pos. range: 179.399994 m, deltaT: 3.790032 s, deltaX: -1.900009 m, approachRate: -0.501317 m/s, rangeRepo size: 4 Qu Added new target pos. range: 178.280823 m, bearing: 29.011980 deg, lat: 36.779540 deg, lon: -121.859316 deg, deltaT: 3.790032 s, deltaX: -1.886032 m, approachRate: -0.497630 m/s, posRepo size: 4 qQ}FNOT Ignoring new targets: 178.28 m.}yQ ProNav: ac range: 178.280823 m, nav range: 172.055771 m, bearing: 29.247058 deg, approach rate: 0.000000 m/s, LOS rate: 0.000828 deg/s, cmd heading: 33.397713 deg, new cmd heading: 33.398750 deg. zQHeadingCmd: 0.582918 target range: 178.280823 and range: 179.40 m.R :?JbZB:2Ҕڔڒ’lf@ V ?qɢ=ށ<)E<B>BB$IBmBBBBBQ;BE E>i))5rN19i=uii :?t;ΝI :?Iԙ9@ @@/@ ^A 2DA >A > A ؟AI IO>50,˿ä?A>>>% ?>*<ٱ>A FAHRS rotation from veh to nav: [[0.851767,-0.516156,-0.089864],[0.523817,0.835569,0.165652],[-0.010414,-0.188169,0.982081]]>H@A?Y`[??4?T ȿ6m?i>>I>^;9]"?Y]"?=]DFy]2EeԻEe>Q 5Y5K s?Q 9Y5])jBY4"?Q E:yc>Q I@EIn;;i;Y5yɮ @QFNOT Ignoring new targets: 178.28 m.q9q9Q ProNav: ac range: 178.280823 m, nav range: 171.763580 m, bearing: 29.252961 deg, approach rate: -0.652737 m/s, LOS rate: 0.013209 deg/s, cmd heading: 33.398751 deg, new cmd heading: 33.416490 deg. Eu EuEu%Eq"EuCJ;*Eu&:VEu 4ZEqBEui)Hi;i%jN?E0;E[IMjN?I9y@y @y@y@y^AU5% GjA)]R9]jAY]!AaIIO>ԑ 0,őä?A2U>2: ?2h<ٱ2> :AHRS rotation from veh to nav: [[0.852299,-0.516128,-0.084840],[0.522861,0.836297,0.164997],[-0.014208,-0.184986,0.982638]]2H F?`@G?`??@7@ǿq?i2U>I2@[^;2CYB)ByB#IbDJ;VDJ)3yR%VW=ٔV=#9TYX=ZDFyZ4EZ<EZ>\Q 5bY5^qs?Q 9fY5^)^jBYdyf>Q If@^EI^ :i^F:^"Y5yhɮjk@l|QFNOT Ignoring new targets: 178.28 m.p9p9Q ProNav: ac range: 178.280823 m, nav range: 171.524994 m, bearing: 29.257891 deg, approach rate: -0.635180 m/s, LOS rate: 0.013144 deg/s, cmd heading: 33.416489 deg, new cmd heading: 33.431300 deg. zS:QHeadingCmd: 0.583486 target range: 178.280823 and range: 179.40 m.R[_?Jb!Z!B!:!2!Ҕ)ڔ))ڒ)’)15?XBɢ<) 3>i)Ci禅i [_? 5d; NI [_?IYy@ @@@@@hAbE 4jE 4rE )0E4 E2E+E"Ej;*E;VE [4ZEa@a@a@a@ԡ^AFΞI I O= >BQ BQ BU #IBU 5BBU N =BQ BQ BU R;BU E B0,mä?A2f>2 ?2<ٱ2E0: :AHRS rotation from veh to nav: [[0.852919,-0.515992,-0.079252],[0.521733,0.837296,0.163494],[-0.018004,-0.180795,0.983356]]2H K?`I`?`!?]?o`L$ǿw?i2f>I2T^;2CYrByr#I ||ߥY?ߥ?iMb@Mb@Mb@ 9)\(?#~j:v?Yy㥽T< @ )1AY @bD GVD 4yeR%e1=ٔm9iYi=mDFyu7Eu6Eu>yQ 5Y5}1s?Q 9Y5}r)}$jBY"?Q E:y>Q I@}EI}:i}:}*Y5yɮ/@PEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 178.28 m.99Q ProNav: ac range: 178.280823 m, nav range: 171.233185 m, bearing: 29.266084 deg, approach rate: -0.632088 m/s, LOS rate: 0.017777 deg/s, cmd heading: 33.431300 deg, new cmd heading: 33.455921 deg. z3C:QHeadingCmd: 0.583916 target range: 178.280823 and range: 179.40 m.R{?JbZB:2ҔڔsBڒ’?)ɢ-Ma<)1 50>i1)5S>11i5i={?=\;=MIE{?IATмE E E%E"EM;*E:VE 4ZEBEIJ1,Ĥ?AJ!>J!- ?J<ٱJs;# VAHRS rotation from veh to nav: [[0.853531,-0.517379,-0.061670],[0.520448,0.840915,0.148310],[-0.024873,-0.158683,0.987016]]JH!P?^D?`? ?7xOĿ ?iJ!>IJq^;JÐCY^"By^#IbDf;VDf)3yn<%nR=ٔrϐ9pYp=vDFyv9EvnEv>xQ 5~Y5zDs?Q 9~Y5zŒ)z(jBYyf>Q I@zEIz:iz#;zY5y ɮ @ 1Q5FNOT Ignoring new targets: 178.28 m.=#9=#9QM ProNav: ac range: 178.280823 m, nav range: 170.987228 m, bearing: 29.273205 deg, approach rate: -0.633717 m/s, LOS rate: 0.018375 deg/s, cmd heading: 33.455919 deg, new cmd heading: 33.477314 deg. zMI:QUHeadingCmd: 0.584289 target range: 178.280823 and range: 179.40 m.RU?JQbQZQBY:Y2YҔYڔYڒ’'[?!IɢU}<)Q U>iQ)UW9YYi]WIie?eab;eXtμIe?Iiem*DAT read: user:293> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995931@ @@0@Iy^A Iy I O >E  E E )E "E US;*E VE FA4ZE a @a @a @a @iI II M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246020ԡ 1,~Q)Ĥ?A>= >>/] ?><ٱ>\, FAHRS rotation from veh to nav: [[0.853086,-0.518987,-0.053810],[0.521035,0.841871,0.140627],[-0.027682,-0.148004,0.988599]]>H{L? Q?? ?X@¿ ?i>= >I>^;>CYNByN#IbDV3VDV3y^>%^M=ٔ^;Q-b>9`Y`=bDFyb;Ef:Ef>hQ 5nY5jRXs?Q 9nY5j)j+jBYlyr>Q Ir@jEIj :ij:j Y5yxɮ~n@QEԉBBB#IB!BBO =BBB>R;BEBmCBmCBiBmO =BmO =Cm4iQuFNOT Ignoring new targets: 178.28 m.u܌9u܌9Q ProNav: ac range: 178.280823 m, nav range: 170.734695 m, bearing: 29.280512 deg, approach rate: -0.531250 m/s, LOS rate: 0.015394 deg/s, cmd heading: 33.477315 deg, new cmd heading: 33.499268 deg. z):QHeadingCmd: 0.584673 target range: 178.280823 and range: 179.40 m.R?JbZB:2Ҕڔڒ’{l@IɢMZ<)I U1>iQ)UB3QQi؄i?;upʼI?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497875II)I @  @ @ /@ E  E -E E "E N;*E K;VE ZE BE lͷ1,4GĤ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.749868Zh>ZҊ ?Z{<ٱZ bAHRS rotation from veh to nav: [[0.852663,-0.520322,-0.047234],[0.521592,0.842544,0.134394],[-0.030131,-0.139230,0.989802]]ZHI?y/ ??@3?@ڞ@H@t?iZh>IZ^;ZÐC|YBy#IiMb@Mb@Mb@ 9 r?|?5^I +?Y#?yҽ9<; A7@ @)GAYbDMVD 4ye<%"=ٔ@;Q->9Y=DFy=E- :E5>9Q 5EY5=+rs?Q 9EY5=)=4jBYM%?Q EM:yM>Q IU@=EI=;i=;=Y5yYɮ]@]HEQFNOT Ignoring new targets: 178.28 m.::Q ProNav: ac range: 178.280823 m, nav range: 170.404541 m, bearing: 29.293388 deg, approach rate: -0.754661 m/s, LOS rate: 0.029488 deg/s, cmd heading: 33.499267 deg, new cmd heading: 33.537969 deg. z:QHeadingCmd: 0.585348 target range: 178.280823 and range: 179.40 m.R^?JbZB:2ҔڔtBڒ’@ɢ<) >i)-iri^?%;R˼I^?I!a@a @a@e0@iQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002990^A¼y A I I O >1,"`Ĥ?A29>2, ?2a=ٱ2" :AHRS rotation from veh to nav: [[0.852416,-0.521126,-0.042588],[0.521894,0.843051,0.129968],[-0.031826,-0.133013,0.990603]]2HF?Υ@[?E?ˢ?}K`?i29>I2DO^;0YFByF#IbDNSVDN4yV%Va=ٔZ;Q-Z>9XYX=ZDFy^?E^Z:E^>`Q 5fY5bs?Q 9fY5bT)b9jBYhyj>Q Ij@bEIb6:ibN:bY5ylɮn;@pYQFNOT Ignoring new targets: 178.28 m.99Q ProNav: ac range: 178.280823 m, nav range: 170.176453 m, bearing: 29.302308 deg, approach rate: -0.613738 m/s, LOS rate: 0.024036 deg/s, cmd heading: 33.537971 deg, new cmd heading: 33.564769 deg. z:QHeadingCmd: 0.585816 target range: 178.280823 and range: 179.40 m.R?JbZB:2Ҕڔڒ’ @YBɢ<) >i)U)i^i?K_;E̼I?IDqzDqE}  E}E}%Ey"E}D;*E}A:VE} 4ZEya@a@a@a@EBDAT read: Rx Time:21:30:56.1539 ETRx dataTimestamp_ set to:1761514257.621733Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256375u9@q @q@u4@yԉB>BB#IBBBBBBR;B>EԹ^AF˼A I1 II Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505755 X 1,ZzĤ?A5> ?"=ٱ AHRS rotation from veh to nav: [[0.851782,-0.522282,-0.041107],[0.522889,0.842656,0.128521],[-0.032485,-0.130966,0.990855]]HA? ? ?]s?䡠|?i5>IrP^;CԩYBy#Ii5Mb@Mb@Mb@1111 195S㥛?ʡES㥛?Y5$?y5-5/<5l A5d@ 5@)5K@1Y5z@bDM@VDM3y]G<%]1=ٔe:Q-e>9iYi=mDFymAEm';Eu>qQ 5}Y5u s?Q 9}Y5u)uAjBY&?Q E:y>Q I@uEIu ;iuz ;uY5yɮ@IEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 178.28 m.D9D9Q ProNav: ac range: 178.280823 m, nav range: 169.877960 m, bearing: 29.311234 deg, approach rate: -0.672235 m/s, LOS rate: 0.020137 deg/s, cmd heading: 33.564769 deg, new cmd heading: 33.591594 deg. z]:QHeadingCmd: 0.586284 target range: 178.280823 and range: 179.40 m.R?JbZB:2ҔڔLBڒ’ @ɢKUr<) x>i)eR#ie#ie?m;mpǼIm?IiE E"E"E"E>T;*E;VE(3ZEBETx time:21:30:57.2444 R#Rx 1: Read range and direction messages.^direction in FSK: [0.975997,-0.064825,0.207912]Fpublishing direction and range infoy9=$W^;?&dhٜ?Y=C9999 9)=HI=9H>i=v=>=o+@=B>=+@ =PwV>)=@I=PwV99=m?f!i։? ?2? =?)=BI=Ӈi=PwV99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A= ̼AA zAA 1 Am .AIy I O >V&%1,Ĥ?Abm>b] ?b=ٱb nAHRS rotation from veh to nav: [[0.850533,-0.524235,-0.042089],[0.524911,0.841213,0.129732],[-0.032604,-0.132434,0.990655]]bH 7?`?6? ?|s?ibm>IbG(^;bCYr Byv#I xxbD~UVD~n4y =<% [=ٔ9Q->9 ?Y ?=DFyCE;E>!5DAT read: =checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010426Q 5=Y5%s?Q 9=Y5%u)%HjBYAyE>Q IE@%EI%f;i%;%Y5yIɮM@QJ R Ĥ?A C C "? ~i )   in=i.?;$I.?IE9@A @A@E/@AE-" E-=E-%E)"E-Z;*E-;VE- 4ZE)a=@a=@a=@a=@^A]Gg̼checking for new query: numPingsReceived=0, elapsed TxPingTime=4.262265A ؟AI I O >9 k+1,2Ĥ?ABaBaBe#IBe BBaBaBaBeR;BeDE%Ŭ>#9?a=ٱ( AHRS rotation from veh to nav: [[0.849151,-0.526232,-0.044963],[0.527137,0.839177,0.133824],[-0.032690,-0.137339,0.989985]]H?,?mM??%!?ȼP ?i%Ŭ>IgG^;ÐCYBy#Ii5Mb@Mb@Mb@1111 195{Gz?T㥛 y&1?Y5#?y55`<5VA5@ 5@)5A1Y5@bDMXVDM!4y]1n%]4=ٔ]G9Q-]>9e"?Ye"?=eDFyeEEe;Em>qQ 5Y5us?Q 9Y5u)uOjBY$?Q E:y>Q I@uEIuJ;iu;uY5y>Bɮ@QFNOT Ignoring new targets: 178.28 m.;9;9Q ProNav: ac range: 178.280823 m, nav range: 169.344406 m, bearing: 29.322955 deg, approach rate: -0.640184 m/s, LOS rate: 0.010264 deg/s, cmd heading: 33.612778 deg, new cmd heading: 33.626809 deg. zg9QHeadingCmd: 0.586899 target range: 178.280823 and range: 179.40 m.R>?JbZB:2 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.513851ҔڔUBڒ’??qɢu-a<)y }:>iy)顉isi>?C;EI>?IQ@Q @Y@]&0@Y)^A} E ! E E #E "E Y;*E ]:VE 3ZE BE Ӭ21,Ĥ?A6Cɭ>63?6=ٱ6w BAHRS rotation from veh to nav: [[0.848099,-0.527765,-0.046809],[0.528818,0.837683,0.136523],[-0.032841,-0.140539,0.989530]]6H#? t^`?@L?@y?Р@.;?i6Cɭ>I6&^;6CYF&ByJ#IbDR[VDRy'4yj=%j]=ٔn9Q-n>9lYl=nDFyrGEr;Er>tQ 5Y5vs?Q 9Y5v+~)vUjBYy>Q I@vEIv;iv?;v&Y5y%=Bɮ%u@%JEiQmFNOT Ignoring new targets: 178.28 m.ԑ4949Q ProNav: ac range: 178.280823 m, nav range: 169.103943 m, bearing: 29.326639 deg, approach rate: -0.643103 m/s, LOS rate: 0.009865 deg/s, cmd heading: 33.626811 deg, new cmd heading: 33.637877 deg. z9QHeadingCmd: 0.587092 target range: 178.280823 and range: 179.40 m.RK?JbZB:2Ҕڔڒ’ ?XBɢE<) >i)XiiYiK?%!;%u瞼I-K?I)1@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.017730^A% bި AQ IY Ii O >/81,Ĥ?A2iD>2x?2=ٱ2& :AHRS rotation from veh to nav: [[0.846573,-0.530218,-0.046723],[0.531274,0.836346,0.135183],[-0.032600,-0.139265,0.989718]]2H ? 짿`1?X?M? 򰠿k ƫ?i2iD>I2^;2ÐCYB%ByB#IbDJKVDJ 4yRӻ%RL=ٔVYQ-V>9TYT=ZDFyZIEZ;EZ>Q 5Y5E% E%E%$E!"E%M;*E% :VE%4ZE!a-@a-@a-@a-@s?Q 95Y5 {)\jBY1y5X>Q I5@EI;i;Y5yAɮE@AiQmFNOT Ignoring new targets: 178.28 m.u+9u+9Q ProNav: ac range: 178.280823 m, nav range: 168.841858 m, bearing: 29.330414 deg, approach rate: -0.650800 m/s, LOS rate: 0.009390 deg/s, cmd heading: 33.637876 deg, new cmd heading: 33.649220 deg. z59QHeadingCmd: 0.587290 target range: 178.280823 and range: 179.40 m.RX?JbZB:2Ҕڔڒ’`?ɢ<) v>i)Kchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.269944iiX?oׁ;VŒIX?Iq@q @y@y@yB>BB#IBBBBBBR;B>E!^A;Y checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522012A I I O- >y >1,Ĥ?AYxyxi}Mb@Mb@Mb@yyyy y9}L7A`?Q롿9Y=DFyLEE>Q 5Z5ds?Q 9Z5dw)Yx'?Q E:y?Q I@EI:iQ:Z5y ɮ @KEGS-B*** querying acoustic contact ***:)B)1Q=FNOT Ignoring new targets: 178.28 m.=*6=*6IQU ProNav: ac range: 178.280823 m, nav range: 168.557785 m, bearing: 29.330477 deg, approach rate: -0.658274 m/s, LOS rate: 0.000146 deg/s, cmd heading: 33.649221 deg, new cmd heading: 33.649410 deg. zU#6Q]HeadingCmd: 0.587293 target range: 178.280823 and range: 179.40 m.R]X?JYbaZaBa:a2aҔiڔmBiڒi’qqu?颩ɢ:<) >i)w 顱iiX?Q;폼IX?IE- E-E-&E)"E-B;*E-:VE-4ZE)BE-s E1,Ť?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025935YE$ByE#IbD]=VD]3ym)%m<ٔiQ-m>9u ?Yu ?=uDFyuNEqE}>Q 5Z5 t?Q 9Z5t)]jBYyQ I@EI:iN:Z5yi!)-))i-BOi5Y?5};5II5Y?I9IA)A9@ @@10@@hA@iAAbEƻ 4jEƙ4rEƿJ0EU  EUEU%EQ"EUX;*EU:VEU 4ZEQae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.277837^Aei AE ؟AIQ Ii O} >B >B B #IB BB Q =B B B R;B @L1,w2Ť?A$>oZ? =ٱKJ -AHRS rotation from veh to nav: [[0.840496,-0.540167,-0.042270],[0.540740,0.831348,0.128298],[-0.034161,-0.130691,0.990834]]H W? I@yM?@g? l? }z?i>IjC^;CYIyM#I aam=m=imMb@Mb@Mb@iiii i9mHzG?{GzVD43y>;%7=ٔe;Q->9"?Y"?=DFyPE<E>Q 5Z5j&t?Q 9Z5p)XjBYU*?Q E:y, ?Q I@EI ;i ;Z5yɮ|@QFNOT Ignoring new targets: 178.28 m.Q ProNav: ac range: 178.280823 m, nav range: 168.007797 m, bearing: 29.327328 deg, approach rate: -0.664660 m/s, LOS rate: -0.007207 deg/s, cmd heading: 33.649579 deg, new cmd heading: 33.639947 deg. zEQHeadingCmd: 0.587128 target range: 178.280823 and range: 179.40 m.RN?JbZ!B!:!2!Ҕ)ڔ-B)ڒ)’115 $@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.529922aqɢu<)q u#>iy)})yyi}ۀiN?k|;wIN?I @ @@.0@ԑ^A EM  EM 3EM 'EI "EM >T;*EM t ;VEM '4ZEI BEM gR1,CLŤ?A2P>2~?2P=ٱ2 >AHRS rotation from veh to nav: [[0.838050,-0.544078,-0.040641],[0.544464,0.829200,0.126437],[-0.035092,-0.128088,0.991142]]2HM?`iΤ@l? Έ?/?@2en?i2P>I2!^;0YF&ByF#IPbDNDVDNJ3yZ;%Zq=ٔZ4;Q-Z?9\Y\=^DFy^REbTW<Eb?dQ 5jZ5f6t?Q 9jZ5fm)fSjBYhyjM ?Q Ij@fEIf2:if:f Z5yr:BɮrL@rCEAQMFNOT Ignoring new targets: 178.28 m.MAUAQ ProNav: ac range: 178.280823 m, nav range: 167.782288 m, bearing: 29.324540 deg, approach rate: -0.649801 m/s, LOS rate: -0.008046 deg/s, cmd heading: 33.639949 deg, new cmd heading: 33.631571 deg. zQHeadingCmd: 0.586982 target range: 178.280823 and range: 179.40 m.RnD?JbZB:2Ҕڔڒ’J@!ɢ- Ӵ<)) -Z>i))-)1i5񋀼i=nD?=3{;=2I=nD?I9@ @@5@^ANJNIAIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=7.033938OmW>! LY1,2fŤ?A2ι>2?2=ٱ2Ux :AHRS rotation from veh to nav: [[0.835371,-0.548173,-0.040753],[0.548531,0.826519,0.126411],[-0.035612,-0.127955,0.991140]]2H\? ݤ?@r?@.?;` l?i2ι>I2~^;0YB0ByB#IbDJ3VDJ3yrJ=%rG=ٔr1:Q-r>9tYt=vDFyvTEvB<Ez>xE E+E&E"EsH;*E=;VE4ZEa @a @a @a @Q 5Z5z2Jt?Q 9Z5zi)Di7iA7?Dz;P+IA7?I]>iy@y @y@}2@y@=@=)B5>B1B5#IB5BB5O =B1B1B5tR;B5,EB)B)B)B)B)C-5Y^A}`ԻIIO%>} =} R=} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.539595ԁ t@_1,wŤ?A63>6?6N =ٱ6W >AHRS rotation from veh to nav: [[0.832795,-0.552161,-0.039630],[0.552433,0.824325,0.123721],[-0.035646,-0.124927,0.991525]]6HA? N@lJ?`? 2?@,@?`?i63>I6,^;6ÐCYF!ByF#IIJ=)J=LNAi%Mb@Mb@Mb@!!!! !9%S㥛?Mb`9QYQ=UDFyUVEU7<EU>YaQ 5mZ5e]t?Q 9mZ5eTe)eHjBYm$?Q Em:yu?Q Iu@eEIe:ieQ:eZ5yyɮ}@yQFNOT Ignoring new targets: 178.28 m.Q ProNav: ac range: 178.280823 m, nav range: 167.241577 m, bearing: 29.314020 deg, approach rate: -0.648016 m/s, LOS rate: -0.016175 deg/s, cmd heading: 33.620052 deg, new cmd heading: 33.599960 deg. z1QHeadingCmd: 0.586430 target range: 178.280823 and range: 179.40 m.RF ?JbZB:2ҔڔBڒ’`@YBɢ"<) >i)޻i~i F ? jz;{;IF ?I1E E EE"E[I;*E:VEZEBEԹ D(f1,VәŤ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.0418636i~>6?6@=ٱ6, BAHRS rotation from veh to nav: [[0.830330,-0.556047,-0.036935],[0.556164,0.822676,0.117838],[-0.035138,-0.118386,0.992346]]6H?`#@%颿?@]S?@*?@NK?i6i~>I6^;6CYFByJ#IbDRSVDR4yZ%ZT=ٔ^Q-^>9\Y\=bDFybXEb<><Eb>dQ 5jZ5fvnt?Q 9jZ5fa)fCjBYhyn?Q In@fEIf:if!;fXZ5ytɮv@tGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 178.28 m.ԹQ ProNav: ac range: 178.280823 m, nav range: 166.994583 m, bearing: 29.307473 deg, approach rate: -0.640254 m/s, LOS rate: -0.016997 deg/s, cmd heading: 33.599961 deg, new cmd heading: 33.580290 deg. z:Q HeadingCmd: 0.586087 target range: 178.280823 and range: 179.40 m.R  ?J bZB:121Ҕ9ڔ99ڒ9’AAEh@ɢϣ<) (>i)ӻi~i ?5[z;5U ;I5 ?I19@ @@/@E EJE%E"EmR;*E;VE 4ZEa%@a-@a-@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.2939631^ANJκAzAhAI I) O= >B% >B! B% #IB% BB! B! B! B% HR;B% EY Ul1,ûŤ?Ae[>e?e =ٱe'[ AHRS rotation from veh to nav: [[0.828107,-0.559341,-0.037091],[0.559502,0.820636,0.116253],[-0.034587,-0.117022,0.992527]]eH?@p? B?½?W(?ie[>Ie4^;aYBy#I1iUMb@Mb@Mb@QQQQ Q9US㥛?9Y=DFyZE<E>Q 5Z5t?Q 9Z5_])7jBY*&?Q E:yZ?Q I@EI2 ;i ;gZ5y9Bɮ@DEQFNOT Ignoring new targets: 178.28 m.Q ProNav: ac range: 178.280823 m, nav range: 166.693909 m, bearing: 29.300436 deg, approach rate: -0.648040 m/s, LOS rate: -0.015193 deg/s, cmd heading: 33.580290 deg, new cmd heading: 33.559142 deg. z&QHeadingCmd: 0.585718 target range: 178.280823 and range: 179.40 m.R?JbZB:2 Ҕ ڔ Bڒ’"@5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.545987MZBɢU8G<)Q Uͽ>iQ)UɻQYi]}i]?e{;e5ԉE% . E% E% "E! "E% ye;*E% :VE% (3ZE! BE% 2?20 =ٱ2E :AHRS rotation from veh to nav: [[0.826466,-0.561547,-0.040232],[0.561969,0.818571,0.118880],[-0.033823,-0.120859,0.992093]]2H ir?`1Y@? 1?`n?MQ` :?i2>I2^;2CY^By^#I ``f=f=bDjJVDj04yr{S%ri=ٔvmQ-v>9tYt=zDFyz\Ez? <Ez>|Q 5Z5~t?Q 9Z5~Z)~-jBY y ?Q I @~EI~1:i~I:~uZ5y8Bɮ@EEQFNOT Ignoring new targets: 178.28 m.Q ProNav: ac range: 178.280823 m, nav range: 166.467651 m, bearing: 29.294894 deg, approach rate: -0.613701 m/s, LOS rate: -0.015053 deg/s, cmd heading: 33.559144 deg, new cmd heading: 33.542495 deg. zJ%QHeadingCmd: 0.585427 target range: 178.280823 and range: 179.40 m.R?JbZB:2Ҕڔڒ’ _@1ɢ=-<)9 =>i9)E9AAiE*}iM?M |;M~` gy1,qŤ?A2C5>24q?2s)=ٱ2\h :AHRS rotation from veh to nav: [[0.825227,-0.563094,-0.043879],[0.563822,0.816736,0.122668],[-0.033237,-0.125969,0.991477]]2H@Ch? @w` ?"?@0g?a.?i2C5>I2^;0YB ByB#IbDNSVDN4yVC%VN=ٔVQ-V>9XYX=ZDFyZ^E^;E^>`Q 5bZ5bĥt?Q 9fZ5bZV)b#jBYdyf?Q If@bEIb:iby:b Z5En En=En)El"EnL;*En;VEnFA4ZElav@av@av@av@ytɮv@xQFNOT Ignoring new targets: 178.28 m.%Q- ProNav: ac range: 178.280823 m, nav range: 166.210922 m, bearing: 29.288392 deg, approach rate: -0.674724 m/s, LOS rate: -0.017115 deg/s, cmd heading: 33.542496 deg, new cmd heading: 33.522959 deg. z5;Q=HeadingCmd: 0.585086 target range: 178.280823 and range: 179.40 m.R=2?J9b9Z9BA:A2AҔAڔIIڒI’IIU@"@}[Bɢ}/<) >i)C顁iv|i2?AU~;(<checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309969I2?IQBBB#IBBBBBBQ;BE@ @@0@^AhW<AIIIO{>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561799IL1,?Ƥ?AYvByv#IiuMb@Mb@Mb@qqqq q9u!rh?{Gz{GzYul'?yuףu#ul Au@ u5@)uAqYuzAbDWVD 4yS%<=ٔQ->9Y=DFy`EE>Q 5Z5t?Q 9Z5WR)jBY'?Q E:y-?Q I@EI? ;i ;$Z5y7Bɮm@QFNOT Ignoring new targets: 178.28 m.hhQ  ProNav: ac range: 178.280823 m, nav range: 165.927475 m, bearing: 29.282913 deg, approach rate: -0.656721 m/s, LOS rate: -0.012714 deg/s, cmd heading: 33.522958 deg, new cmd heading: 33.506495 deg. z  QHeadingCmd: 0.584799 target range: 178.280823 and range: 179.40 m.R]?JbZB:2Ҕ!ڔ%vB!ڒ!’!)-@U\BɢU݅<)Y ]>iY)]zYYi]<{ie]?e;ev1,LƤ?A"bs?b,&=ٱb} jAHRS rotation from veh to nav: [[0.823797,-0.564741,-0.049254],[0.565952,0.814350,0.128574],[-0.032501,-0.133795,0.990476]]bH\?[7H?(?@ u?`- ?ib…>Ib^;bCY By #II=);bD%[VD%y'4y5̅%5Q=ٔ5Q-5>99Y9==DFy=bEEh;EE>IQ 5UZ5Mt?Q 9UZ5MN)M jBYQyU?Q IU@MEIM;iM ;M"(Z5yaɮe7@eiQ)U炙YYi]zi]?e[;e`B B #IB BB B B B Q;B Eԉ A I I O >q1,5Ƥ?AY>&?=ٱ AHRS rotation from veh to nav: [[0.823674,-0.564820,-0.050387],[0.566110,0.813887,0.130794],[-0.032865,-0.136256,0.990128]]H`[?U̩?] ?׽?`Ӡp!?i>IA8^;CYBy~#Ii5Mb@Mb@Mb@1111 195"~j?V-MbPY5S#?y555 A5@ 5@)5tA1Y5AbDM^VDM,4y]%]8=ٔ]W:Q-]>9aYa=eDFyedEm99Em>qQ 5}Z5uJt?Q 9}Z5uJ)ujBY}#?Q E}:y}?Q I@u EIuj:iu]:u,Z5M2Acoustic response timeouty6Bɮ@ Q FNOT Ignoring new targets: 178.28 m.i*i*Q5 ProNav: ac range: 178.280823 m, nav range: 165.390137 m, bearing: 29.273256 deg, approach rate: -0.583992 m/s, LOS rate: -0.009312 deg/s, cmd heading: 33.490986 deg, new cmd heading: 33.477475 deg. z=~̹Q]HeadingCmd: 0.584292 target range: 178.280823 and range: 179.40 m.Re,?JabaZaBa:a2aҔiڔmBiڒi’qquYe@ԁ]BɢTP<) />i)ԞiUyi,?e;N+01,QƤ?A2=>42?22/=ٱ2A >AHRS rotation from veh to nav: [[0.823784,-0.564729,-0.049621],[0.565929,0.814077,0.130394],[-0.033242,-0.135498,0.990220]]2Ho\?Ag? ? ?`X`?i2=>I2];2CYJByJp#IbDRgVDR=4y`%K=ٔu:Q- >9 Y = DFy fE E>Q 5%Z5t?Q 9%Z59G)iBY!y-?Q I-@EIQ;i;/Z5y55Bɮ5>@5=EiQuFNOT Ignoring new targets: 178.28 m.}M}MQ ProNav: ac range: 178.280823 m, nav range: 165.133881 m, bearing: 29.269183 deg, approach rate: -0.706660 m/s, LOS rate: -0.011250 deg/s, cmd heading: 33.477476 deg, new cmd heading: 33.465237 deg. zQHeadingCmd: 0.584079 target range: 178.280823 and range: 179.40 m.R,?JbZB:2Ҕڔڒ’@-^Bɢ-Ai<)1 5 >i1)5̘9ipxi,?;I,?Iԙ59@1 @1@=4@9@A@EjA2Acoustic response timeout^AU'< I1 IA OU >bEMJ4jEM( 4rEMˍH0E  E *E #E "E *E ;VE 3ZE a @a @a @a @eN1,;:kƤ?A:q>:b?:6{ =ٱ: i@I@F2Acoustic response timeout JAHRS rotation from veh to nav: [[0.823848,-0.564701,-0.048846],[0.565801,0.814183,0.130286],[-0.033802,-0.134973,0.990273]]:H@\?g` ? ?2?N@FP?i:q>I:+];8YVބByZl#I \\bDjUVDjn4pyz%zM=ٔ~5:Q-~>9Y=DFy hE ιE >Q 5-Z5u?Q 9-Z5C)iBY1y5z?Q I5@EIj;i5;3Z5yAɮEv@ABBBm#IB߄BBBBBLQ;BEQFNOT Ignoring new targets: 178.28 m.>2>2Q- ProNav: ac range: 178.280823 m, nav range: 164.878250 m, bearing: 29.265120 deg, approach rate: -0.611836 m/s, LOS rate: -0.009740 deg/s, cmd heading: 33.465236 deg, new cmd heading: 33.453028 deg. z-չQ5HeadingCmd: 0.583865 target range: 178.280823 and range: 179.40 m.R55x?J1b9Z9B9:A2AҔAڔAIڒI’IIM@_BɢK<) |>i)i Bwi5x?;a 61,Ƥ?AY~ӄBy~^#I9iMb@Mb@Mb@ 9{Gz?J +Y#?yH$ A @)AYAbDDVDJ3yL%==ٔQ->9Y=DFykEE>Q 5Z5u?Q 9Z5@)iBYQ$?Q E:y?Q I@EI]:i_<6Z5yyɮ}@}>EE$ E(E&E"Eg\;*E;VE4ZEBE-i!)%ዻ!)i-vi5)s?5܄;5fPA>I1 IA OM >  2Acoustic response timeout`1,4Ƥ?A2ū>2s,?2p=ٱ2m :AHRS rotation from veh to nav: [[0.825761,-0.561933,-0.048477],[0.562917,0.815724,0.133112],[-0.035256,-0.137207,0.989915]]2Hl?Z@Ѩ`j?`i? ?` a?i2ū>I2e&^;0YBЄByB[#IbDJVVDJE4yR{%R_=ٔV;Q-V>9TYT=ZDFyZmEZEZ>Q 5Z5*u?Q 9Z5<)iBY!y%?Q I%@EI;in;:Z5y)ɮ-K@)GSMB*** querying acoustic contact ***:IBIQQUFNOT Ignoring new targets: 178.28 m.MMԙQ ProNav: ac range: 178.280823 m, nav range: 164.360291 m, bearing: 29.262650 deg, approach rate: -0.676312 m/s, LOS rate: -0.002802 deg/s, cmd heading: 33.448615 deg, new cmd heading: 33.445607 deg. z QHeadingCmd: 0.583736 target range: 178.280823 and range: 179.40 m.Ro?JbZB:2Ҕڔڒ’3 @aBɢ?<)d/ N]>i)ȴibtio?;z! Z1,Ƥ?AfYR>f?fC5=ٱf nAHRS rotation from veh to nav: [[0.827222,-0.559723,-0.049132],[0.560725,0.816775,0.135891],[-0.035932,-0.139962,0.989505]]fHx?@`' v?`#?@d?eC?ifYR>IfN^;fCYvÄByvK#IIz<)z9Y=DFyoEE>Q 5 Z5y?u?Q 9Z59)iBYJ'?Q E:y?Q I@EI; ;ir;=Z5y4Bɮ@%?E52Acoustic response timeoutQQUFNOT Ignoring new targets: 178.28 m.]v]vQm ProNav: ac range: 178.280823 m, nav range: 164.075211 m, bearing: 29.260793 deg, approach rate: -0.650808 m/s, LOS rate: -0.004247 deg/s, cmd heading: 33.445606 deg, new cmd heading: 33.440024 deg. zm:QuHeadingCmd: 0.583639 target range: 178.280823 and range: 179.40 m.RuVi?JqbqZyBy:y2yҔڔbBڒ’!@颵bBɢ<) A>i)5]项iZsiEVi?E=;Eޏ\q Xs1,Ƥ?A>>>`?>=ٱ> FAHRS rotation from veh to nav: [[0.828690,-0.557306,-0.051801],[0.558527,0.817379,0.141205],[-0.036353,-0.145947,0.988624]]>H ?ss?'??圢g¿ Ϣ?i>>I>S^;>CYNByNA#IbDZGVDZ4yb=%b`=ٔbė:Q-b>9dYd=fDFyfqEjEj>lQ 5vZ5nPu?Q 9vZ5n5)niBYxyz?Q Iz@n#EInw;in;nAZ5yɮ@QQuFNOT Ignoring new targets: 178.28 m.ބބQ ProNav: ac range: 178.280823 m, nav range: 163.837250 m, bearing: 29.259452 deg, approach rate: -0.643023 m/s, LOS rate: -0.003630 deg/s, cmd heading: 33.440026 deg, new cmd heading: 33.435995 deg. zqQHeadingCmd: 0.583568 target range: 178.280823 and range: 179.40 m.Rd?JbZB:2ҔڔڒQ’qqu`j~"@颽cBɢ<) 8/>i),yiqid? ;c9E + E ,E $E "E b;*E ;VE 4ZE a @a @a @a @ 1,Ƥ?AFL>F?F=ٱFKR2Acoustic response timeout ^AHRS rotation from veh to nav: [[0.830482,-0.554461,-0.053588],[0.555811,0.818401,0.145923],[-0.037052,-0.150972,0.987843]]FHO?&o 5?W0?? Sÿi?iFL>IFN^;FCYjByj?#IbDvDVDvJ3y% F=ٔ :Q- >9YBBB5#IBBBM =BBBP;BsE=DFysEE>Q 5Z5eu?Q 9Z5&2)iBYy ?Q I@'EIK:i :DZ5yɮ@YQeFNOT Ignoring new targets: 178.28 m.eCYeCYQ ProNav: ac range: 178.280823 m, nav range: 163.551147 m, bearing: 29.258154 deg, approach rate: -0.652926 m/s, LOS rate: -0.002968 deg/s, cmd heading: 33.435996 deg, new cmd heading: 33.432094 deg. z[QHeadingCmd: 0.583500 target range: 178.280823 and range: 179.40 m.RD`?JbZB:2ҔڔԱڒ’S#@Yɢ](;)a e ,>ia)ePpaaier:piD`?;#r1,1D Ǥ?A6[>6?6=ٱ6k" >AHRS rotation from veh to nav: [[0.832382,-0.551354,-0.056106],[0.552895,0.819205,0.152352],[-0.038037,-0.157836,0.986732]]6H?౤񹬿P?6? D? y3ĿP?i6[>I6v^;4YFByF0#I HHER ER6EPEP"ERM;*ER ;VEPZEPBER9iYi=mDFymuEmEm>2Acoustic response timeoutQ 5Z57|u?Q 9Z5@.)iBY(?Q E:y?Q I@,EI,;i;HZ5yɮf@6EYQ]FNOT Ignoring new targets: 178.28 m.ej7ej7Q ProNav: ac range: 178.280823 m, nav range: 163.245529 m, bearing: 29.258636 deg, approach rate: -0.658795 m/s, LOS rate: 0.001041 deg/s, cmd heading: 33.432096 deg, new cmd heading: 33.433545 deg. z68QHeadingCmd: 0.583525 target range: 178.280823 and range: 179.40 m.Ra?JbZB:2ҔڔLBڒ’#A$@EdBɢM#;)I M>iI)MlgIQiUKniUa?]D;]4;I]a?IY%!a9@ @@0@^Au8<IIOi>ԉ 2Acoustic response timeoutԹ 1,9$Ǥ?AY}By}$#IbDTVD4ԙy@%F=ٔQ->9Y=DFywEE>Q 5Z5u?Q 9Z5*)iBYyQ I@1EI:i :pLZ5yɮ@GSUB*** querying acoustic contact ***:QBQaQeFNOT Ignoring new targets: 178.28 m.m7m7Q} ProNav: ac range: 178.280823 m, nav range: 162.982559 m, bearing: 29.259052 deg, approach rate: -0.650422 m/s, LOS rate: 0.001031 deg/s, cmd heading: 33.433544 deg, new cmd heading: 33.434794 deg. z})58QHeadingCmd: 0.583547 target range: 178.280823 and range: 179.40 m.RZc?JbZB:2Ҕڔڒ’ %@ɢ:c;) =i)gqaiBB"#IBBBBBBQ;BE59@ @@/@ @ =@ =!  2Acoustic response timeout^A= H<AE >AE >I I O >@1,AǤ?A2m>2HV?2"#=ٱ2/< >AHRS rotation from veh to nav: [[0.836098,-0.545219,-0.060630],[0.547118,0.820699,0.164667],[-0.040021,-0.170850,0.984484]]2HQ?@or ? *C??}iſ?i2m>I2^;2CYFByF*#Ii}Mb@Mb@Mb@yyyy y9} r?Mb{Gz?Y}#?y}@}#<}A}@ }1A)}AyY} AbDNVD4y.<%5=ٔΏ;Q->9Y=DFyzExE>Q 5Z5u?Q 9Z5-')iBY $?Q E:y?Q I@5EI;i;dPZ5y3Bɮ@7EQFNOT Ignoring new targets: 178.28 m.r6r6Q ProNav: ac range: 178.280823 m, nav range: 162.692764 m, bearing: 29.259143 deg, approach rate: -0.658495 m/s, LOS rate: 0.000207 deg/s, cmd heading: 33.434794 deg, new cmd heading: 33.435068 deg. z7QHeadingCmd: 0.583552 target range: 178.280823 and range: 179.40 m.Rc?Jb!Z!B!:!2!Ҕ)ڔ-pB)ڒ)’1157%@]eBɢ];)a eR>ia)e:Yaaimjimc?u-,;u18Iuc?IqyyyyԡEE EEHEE'EA"EEV;*EE;VEE'4ZEABEEZ1,^Ǥ?A6 >6?6,=ٱ66 >AHRS rotation from veh to nav: [[0.839159,-0.540396,-0.061510],[0.542246,0.822486,0.171718],[-0.042205,-0.177452,0.983224]]6Hd?@J@.~Z? Q?? öƿ v?i6 >I6^;6CYFByF#IIJ=)J%=bDR8VDR3yZ%Z<=ٔZޤ;Q-^>9\Y\=^DFy^|EbCYEb>dQ 5jZ5fsu?Q 9jZ5f#)fiBYhyn?Q In@f:EIfy:ifp:f0TZ5ypɮr@r8E Q FNOT Ignoring new targets: 178.28 m.\7\7Q% ProNav: ac range: 178.280823 m, nav range: 162.414383 m, bearing: 29.259778 deg, approach rate: -0.640947 m/s, LOS rate: 0.001464 deg/s, cmd heading: 33.435067 deg, new cmd heading: 33.436975 deg. z%8Q-HeadingCmd: 0.583585 target range: 178.280823 and range: 179.40 m.R-e?J)b)Z)B):121Ҕ1ڔ19ڒ9’99=q&@fBɢ SS\;)  =i ) SiThie?E;גIe?I!9@ @@1@^A0::IEu EuEu(Eq"EuB;*Eu:VEuc44ZEqa}@a}@a}@a}@A.AII)O=r>2Acoustic response timeoutBe>BaBe#IBeBBaBaBaBe}>>Ne?> /=ٱ>_7 AHRS rotation from veh to nav: [[0.840129,-0.538940,-0.061049],[0.540702,0.823332,0.172531],[-0.042720,-0.177958,0.983110]]>H`V?>A`mM?`X?`?kߥSƿu?i>}>I>c^;9 ?Y ?=DFy~EjE>Q 55Z5ԙyu?Q 9Z5 )iBYy?Q I@>EIU C ԀG A I  A IA e 9a Ye BlAOm >l1,Ǥ?AY By  #IiMb@Mb@Mb@ 9E? ףp= Mb?Y&?yQ8<A A)-AYzAbD5bVD5[44yEG%EA=ٔEQ-M>9IYI=MDFyMEUEU>YQ 5eZ5]ju?Q 9eZ5])]iBYe'?Q Ee:ye?Q Im@]CEI] ;i];][Z5yqɮu`@qQFNOT Ignoring new targets: 178.28 m.`7`7Q ProNav: ac range: 178.280823 m, nav range: 161.859207 m, bearing: 29.261049 deg, approach rate: -0.688356 m/s, LOS rate: 0.001116 deg/s, cmd heading: 33.439483 deg, new cmd heading: 33.440798 deg. z D8QHeadingCmd: 0.583652 target range: 178.280823 and range: 179.40 m.R8j?JbZB:2ҔڔBڒ’X(@Yɢ ;)  =i).aKiRci8j?<; I 8j?I @ @@5@BDAT read: Response Not Received *response not received*DAT read: user:295> %BDAT read: Tx time:21:31:09.6943 %$Ping request sent.% P1, BǤ?AbEU!4jEUT4rEU}0E&1 E&'E&'E$"E&2h;*E&";VE&'4ZE$a2@a2@a2@a2@R i>R ?ReR3=ٱR(l6` %AHRS rotation from veh to nav: [[0.840834,-0.538018,-0.059446],[0.539520,0.824133,0.172405],[-0.043766,-0.177036,0.983231]]RH?r7oC?`K_?`^?`wh ƿ@v?iR i>IRI_;RCYmByu"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249428 AAAAbDGVD4y+%V=ٔ3;Q->9Y=DFyElE>Q 5Z5u?Q 9Z5l)iBYy6?Q I@GEI;i;_Z5yɮ@9EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 178.28 m.77BBB"IBBBN =BBBAQ;BEQ5 ProNav: ac range: 178.280823 m, nav range: 161.610413 m, bearing: 29.261577 deg, approach rate: -0.651511 m/s, LOS rate: 0.001383 deg/s, cmd heading: 33.440797 deg, new cmd heading: 33.442382 deg. z5 s8Q=HeadingCmd: 0.583680 target range: 178.280823 and range: 179.40 m.R=l?JAbAZABA:A2AҔIڔIIڒI’IQ`Q)@=hBɢ=PG|:)9 =e=iA)EHAAiEІaiMl?m;mmۻIml?Iq%9@! @!@%/@)!5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501369^Ae &tI IY Ii O} >Nu1,Ǥ?A:>:?:;5=ٱ:=5 BAHRS rotation from veh to nav: [[0.841246,-0.537501,-0.058302],[0.538841,0.824714,0.171746],[-0.044231,-0.175896,0.983415]]:H{?@43٭ />?d??{`ƿ"x?i:>I:X_;:CYJwByJ"Ii%Mb@Mb@Mb@!!!! !9%S㥛?S㥛Mb?Y%$&?y%/ݼ!%3A! %1A)%A!Y!bD=hVD=f?4yM%MP=ٔM}:Q-U>9QYQ=UDFyUE]|E]>aQ 5mZ5eMv?Q 9mZ5e)eiBYmL&?Q Eu:yu?Q Iu@eKEIej:ies:etbZ5yyɮ}@yQFNOT Ignoring new targets: 178.28 m.Q= ProNav: ac range: 178.280823 m, nav range: 161.355362 m, bearing: 29.259747 deg, approach rate: -0.650149 m/s, LOS rate: -0.004671 deg/s, cmd heading: 33.442382 deg, new cmd heading: 33.436884 deg. z=,MQEHeadingCmd: 0.583584 target range: 178.280823 and range: 179.40 m.REe?JAbAZABA:I2IҔIڔMmBQڒq’qq}&*@iBɢ ) Am >I I O >Ա = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005291t1,Ǥ?A:ճ>:v?:m7=ٱ:ef3 FAHRS rotation from veh to nav: [[0.841403,-0.537412,-0.056836],[0.538551,0.825148,0.170568],[-0.044767,-0.174126,0.983705]]:H`?y2;?g? .?릿@Iƿz?i:ճ>I:_;:CYJ{ByN"IbDVCVDV3y^_<%^T=ٔbN:Q-b>9`Y`=bDFyfEf_Ef>hQ 5nZ5jv?Q 9nZ5j)jiBYpyr?Q Ir@jOEIj;ij;jeZ5ytɮv@v:EQFNOT Ignoring new targets: 178.28 m.;;Q- ProNav: ac range: 178.280823 m, nav range: 161.105087 m, bearing: 29.257978 deg, approach rate: -0.649408 m/s, LOS rate: -0.004596 deg/s, cmd heading: 33.436884 deg, new cmd heading: 33.431570 deg. z-IQ5HeadingCmd: 0.583491 target range: 178.280823 and range: 179.40 m.R5_?J1b1Z1B9:929ҔAڔAAڒA’AIM`!*@ujBɢugԹ)q u =iq)uEyyi}]i_?%;RI_?I 9@  @ @ @ Em Em!Em&Ei"EmmR;*Em:VEm4ZEiau@au@au@au@iߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260620B%>B!B%"IB%tBB!B!B!B%fQ;B%EBBBBM =BM =C4A^AQIIO>Y e1,[Ǥ?AF9>F?F#8=ٱFw. NAHRS rotation from veh to nav: [[0.840984,-0.538314,-0.054439],[0.539190,0.825468,0.166963],[-0.044941,-0.169766,0.984459]]FHX?9k߫ A?@IF/_;FCYTyV"IIZR=)Z=\^AbDbSVDb4yr%vH=ٔz9Q-~>9 Y =DFyE%:E%>AQ 5eZ5E:-v?Q 9eZ5E)EiBYqyu?Q I}@ESEIEE;iE;EziZ5y5Bɮ@0E9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509529QFNOT Ignoring new targets: 178.28 m. & &Q= ProNav: ac range: 178.280823 m, nav range: 160.833588 m, bearing: 29.255988 deg, approach rate: -0.580932 m/s, LOS rate: -0.004266 deg/s, cmd heading: 33.431570 deg, new cmd heading: 33.425588 deg. z=a;QEHeadingCmd: 0.583387 target range: 178.280823 and range: 179.40 m.REX?JAbIZIBQ:Q2QҔQڔYYڒY’YYe +@颍kBɢ s) =i)ГC顱i;ZiX?>`;*ջIX?Iai@i @i@m0@iԉEu  Eu Eu #Eq "Eu >T;*Eu :VEu 3ZEq BEu  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761333Թ P2,Ȥ?AFdh>F ?F:=ٱF2+ VAHRS rotation from veh to nav: [[0.840770,-0.538883,-0.052062],[0.539473,0.825815,0.164312],[-0.045551,-0.166235,0.985034]]FH?>@㧪`\C?m?`-? R.Gſ e?iFdh>IF-_;FCYfvByf"IiMb@Mb@Mb@ 9Zd;O?+MbP?Y~*?y:A@ A)AYAbDPVD:4yB¼%;=ٔ:Q->9Y=DFyEgW:E>Q 5Z5+Bv?Q 9Z5d )iBY*?Q E :y U?Q I @XEIj:i:6mZ5yɮ@1E9Q=FNOT Ignoring new targets: 178.28 m.E<E<QU ProNav: ac range: 178.280823 m, nav range: 160.548340 m, bearing: 29.255744 deg, approach rate: -0.753136 m/s, LOS rate: -0.000645 deg/s, cmd heading: 33.425590 deg, new cmd heading: 33.424857 deg. zUQ]HeadingCmd: 0.583374 target range: 178.280823 and range: 179.40 m.R]W?JYbYZaBa:a2aҔiڔmpBiڒi’iqԑ-,@颙ɢ:ͺ)  2,K-Ȥ?AE  EE&E"EX;*E:VE4ZEa@a@a@a@V_K>V@?VT==ٱV,) ^AHRS rotation from veh to nav: [[0.840860,-0.538908,-0.050325],[0.539268,0.826189,0.163100],[-0.046318,-0.164283,0.985325]]VHR?>0ĩ A?$p?u?@7ſȇ?iV_K>IVRB`;VCYfdByf"IbDncVDn264yv*%v[=ٔz;Q-z>9xYx=~DFy~E~E~>Q 5 Z5mTv?Q 9 Z5/)iBYyE?Q I@\EI(:iA:xpZ5y6Bɮ%@%2EAQMFNOT Ignoring new targets: 178.28 m.MMechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265570Qm ProNav: ac range: 178.280823 m, nav range: 160.299728 m, bearing: 29.255553 deg, approach rate: -0.666864 m/s, LOS rate: -0.000514 deg/s, cmd heading: 33.424856 deg, new cmd heading: 33.424281 deg. zmQuHeadingCmd: 0.583364 target range: 178.280823 and range: 179.40 m.RuTW?JqBBB"IBeBBBBBQ;BEbqZB:2Ҕڔڒ’N-@MlBɢu)q u`uiq)uc7Cqyi}MUUi}TW?U;}׻ITW?II@I @I@M`0@I^AU`Ի checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517402I A ؟AI I O ><2,dGȤ?A:>:?:xSA=ٱ:zX& BAHRS rotation from veh to nav: [[0.841026,-0.538856,-0.048059],[0.538934,0.826761,0.161294],[-0.047181,-0.161553,0.985735]]:H?O>.>? t?J?#(ƭĿ %?i:>I:e`;:CYJeByJ"I PPR=R=i%Mb@Mb@Mb@!!!! !9%(\?l{Gzt?Y%.?y%%ף;%3A! %GA)%-A!Y%zAbD=EVD=3yM;%ME=ٔMZ;Q-M>9U"?YU"?=UDFyUEU(jE]>aQ 5mZ5e!iv?Q 9mZ5e)eiBYmW.?Q Em:ymt?Q Im@e`EIe:ie:etZ5yyɮ}@yGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 178.28 m.Q ProNav: ac range: 178.280823 m, nav range: 160.017044 m, bearing: 29.254865 deg, approach rate: -0.679883 m/s, LOS rate: -0.001657 deg/s, cmd heading: 33.424282 deg, new cmd heading: 33.422216 deg. zQHeadingCmd: 0.583328 target range: 178.280823 and range: 179.40 m.RT?JbZB:2Ҕڔ[BڒQ’QY]\".@颥mBɢn)&g^8 pi)D顩iRiT?-X;% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0214012,h@aȤ?A2߳>2P?2F=ٱ2! :AHRS rotation from veh to nav: [[0.841222,-0.538845,-0.044624],[0.538524,0.827615,0.158257],[-0.048345,-0.157160,0.986389]]2H@K? 7>ئ;? {?A?Ŀ?i2߳>I2U`;2C@YF`ByF"IbDRCVDR3yVʼ%VU=ٔZF;Q-Z>9XY\=^DFy^EE>!Q 5-Z5%|v?Q 9-Z5%)%yiBY1y5R?Q I5@%dEI%W:i%:%wZ5yYɮ][@YQFNOT Ignoring new targets: 178.28 m.ܷܷQ ProNav: ac range: 178.280823 m, nav range: 159.747314 m, bearing: 29.254258 deg, approach rate: -0.667897 m/s, LOS rate: -0.001507 deg/s, cmd heading: 33.422216 deg, new cmd heading: 33.420390 deg. z^QHeadingCmd: 0.583296 target range: 178.280823 and range: 179.40 m.RR?JbZB:2Ҕڔڒ ’    '.@1ɢ5Y)9 =0мi9)=PE99i=|OiER?E4';M#IMR?IIԱ@ @@5@ EM( EM"EM&EI"EM`;*EM;VEM4ZEIaU@aU@aU@a]@}BDAT read: Rx Time:21:31:12.3577 TRx dataTimestamp_ set to:1761514273.764564checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274422AAB>BB"IBUBBBBBQ;BE^A5 `ԻA= >A= > Ay I I O >2,{Ȥ?A24>2-?2H=ٱ2 :AHRS rotation from veh to nav: [[0.841388,-0.538672,-0.043586],[0.538211,0.827893,0.157867],[-0.048954,-0.156286,0.986498]]2H?<P`9?@~?`4? s-Ŀ@d?i24>I2`;2CYB\ByB"IbDJRVDJ4yRv%RK=ٔVe:Q-Z>9`Y`=fDFyfEjCjEj>lpQ 5vZ5rv?Q 9vZ5r)rpiBYxyz:?Q Iz@riEIr:ir:r{Z5y~7Bɮ~@~3EQFNOT Ignoring new targets: 178.28 m.ηηQ ProNav: ac range: 178.280823 m, nav range: 159.477921 m, bearing: 29.253685 deg, approach rate: -0.662637 m/s, LOS rate: -0.001412 deg/s, cmd heading: 33.420389 deg, new cmd heading: 33.418666 deg. zxchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527746Q HeadingCmd: 0.583266 target range: 178.280823 and range: 179.40 m.R5P?J1b1Z9B9:929Ҕ9ڔAAڒA’AAM@/@颵nBɢ)  i)SiG项iLiP?};qIP?I@ @@4@9EU ! EU EU $EQ "EU Y;*EU O:VEU 4ZEQ BEU Ӭ?֊(?eY fBC ) EI -?i X9> X9? O$@ g5 m%@ ;0) =I ;0? NK?vC ? p ]%>) 5?I =i ;0? E T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.I I O >%2,Ȥ?A)m>maX?m]L=ٱmq }AHRS rotation from veh to nav: [[0.842058,-0.537723,-0.042337],[0.537069,0.828582,0.158139],[-0.049955,-0.155900,0.986509]]mH #?@5@A/?`?@=?ÿz?im>Ima;mCYVBy"II=)<iMb@Mb@Mb@ 9V-?MbI +?Y-?y@94<A/@ A)VAYAbD WVD  4y˼%%(=ٔ%;Q-%>9)Y)=-DFy-E-3E5>1Q 5]Z55֨v?Q 9eZ55Z)5hiBYe.?Q Ee:ye}?Q Ie@5nEI5O;i5;5;Z5yiɮu @qJRNȤ?A/AC/ACM>b@*@{a^>?֊(?e=;0?—gS_@f!P@vG^5`"G,?G_?JA{jBrBZ<?bqXz ~ꗹBڗC◽S?Q addTargetRange:: Added new target pos. range: 194.399994 m, deltaT: 19.925983 s, deltaX: 15.000000 m, approachRate: 0.752786 m/s, rangeRepo size: 4 Q- Added new target pos. range: 193.186234 m, bearing: 26.779534 deg, lat: 36.779540 deg, lon: -121.859319 deg, deltaT: 19.925983 s, deltaX: 14.905411 m, approachRate: 0.748039 m/s, posRepo size: 4 1Q5FNOT Ignoring new targets: 193.19 m.Y]YQm ProNav: ac range: 193.186234 m, nav range: 159.015823 m, bearing: 29.168100 deg, approach rate: 0.000000 m/s, LOS rate: -0.001412 deg/s, cmd heading: 33.418668 deg, new cmd heading: 33.416636 deg. ziQHeadingCmd: 0.583230 target range: 193.186234 and range: 194.40 m.RN?JbZB:2ҔڔVBڒ’Lh@ ?ɢҀ̻) 0Di)b?J!!i%mNIi-N?-{;-1I-N?IQ*DAT read: user:296> BDAT read: Tx time:21:31:13.6443 $Ping request sent.B B "IB ABB O =B B B R;B E ^AuA}hAzA}fA IqIO?-2,IȤ?A2Y>2?2?(Q=ٱ2x! :AHRS rotation from veh to nav: [[0.842706,-0.536742,-0.041893],[0.535949,0.828989,0.159798],[-0.051042,-0.157115,0.986260]]2H`r?,`r~&?`??t?`"UĿr?i2Y>I2a;2CYBMByB"IbDN]VDN'+4yR?%V%=ٔV;Q-V>9XYX=ZDFyZE^[+E^>`Q 5bZ5bv?Q 9fZ5b)b`iBYdyf*?Q If@bsEIbQ;ib];bZ5ylɮn@n4E|QFNOT Ignoring new targets: 193.19 m.88Q ProNav: ac range: 193.186234 m, nav range: 158.679443 m, bearing: 29.169124 deg, approach rate: -0.702626 m/s, LOS rate: 0.002144 deg/s, cmd heading: 33.416636 deg, new cmd heading: 33.419715 deg. z_8QHeadingCmd: 0.583284 target range: 193.186234 and range: 194.40 m.R%R?J!b!Z!B!:!2!Ҕ)ڔ)1ڒ1’11=`?ԩ颵oBɢqF)q uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504161iy)tNiEiR?iy;)b IR?I9@ @@*1@E=  E= E= $E9 "E= I@;*E= 4:VE= 4ZE9 BE= ) x42,SȤ?AY=@By="IiMb@Mb@Mb@ 9B`"?J +Mb?Y.?yH<AE@ GA)YGAbD[VDy'4y[%8=ٔQ->9Y=DFyEE>Q 5 Z5,v?Q 9 Z5L)WiBY O/?Q E :y >Q I @xEIH:i#:nZ5y8Bɮw@GS=B*** querying acoustic contact ***:9B9AQEFNOT Ignoring new targets: 193.19 m.MQ8MQ8Q] ProNav: ac range: 193.186234 m, nav range: 158.376022 m, bearing: 29.170392 deg, approach rate: -0.683739 m/s, LOS rate: 0.002863 deg/s, cmd heading: 33.419716 deg, new cmd heading: 33.423528 deg. z]8QeHeadingCmd: 0.583351 target range: 193.186234 and range: 194.40 m.RewV?JabaZiBi:i2iҔqڔPBڒ’$?颉ɢ-) Ⱥi)S顙iBiwV?ۨw;:IwV?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005605@ @@0@i ԙ ^A }bE4jE4rES}/E=  E= HE= #E9 "E= C;*E= ;VE= 3ZE9 aE @aE @aE @aE @Iy I O > |;2,o+Ȥ?ARq?>RJv?RCU=ٱRr" ZAHRS rotation from veh to nav: [[0.843815,-0.535060,-0.041068],[0.534104,0.829953,0.160968],[-0.052043,-0.157761,0.986105]]RH@?5a? ?`?_1Ŀ+?iRq?>IRa;PBn>BnCBn"IBn2BBnN =BlBnUDBn4R;BnE~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261268Y~3By~"I  = =bDVDy%%%C=ٔ-o;Q-->9)Y)=5DFy5E5 E5>9Q 5EZ5=~v?Q 9EZ5=)=OiBYIyM>Q IM@=}EI=):i= :=Z5yU:BɮU|@]+EyQFNOT Ignoring new targets: 193.19 m.y8y8Q ProNav: ac range: 193.186234 m, nav range: 158.088501 m, bearing: 29.171822 deg, approach rate: -0.685350 m/s, LOS rate: 0.003413 deg/s, cmd heading: 33.423527 deg, new cmd heading: 33.427823 deg. z9QHeadingCmd: 0.583426 target range: 193.186234 and range: 194.40 m.Ra[?JbZB:2Ҕڔڒ’ ?1ɢ?) 8i)Y顑i>ia[?u;qAIa[?I9@ @@/@Yԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515892^A &A>AIi Iy O >Ա 1_B2, ɤ?A2S'>2:j?2R=ٱ28' :AHRS rotation from veh to nav: [[0.843939,-0.534632,-0.044004],[0.533964,0.829342,0.164541],[-0.051475,-0.162359,0.985388]]2H? @@<???Z0ĿL?i2S'>I2\a;2CYB7ByB"IiEMb@Mb@Mb@AAAA A9E? ףp= I +?YE,?yEQ8E949qYq=uDFyuE}E}>Q 5Z5w?Q 9Z5/)HiBY4-?Q E:yF?Q I@EI:i:Z5y;BɮE@,EQFNOT Ignoring new targets: 193.19 m.^8^8Q ProNav: ac range: 193.186234 m, nav range: 157.810165 m, bearing: 29.172638 deg, approach rate: -0.676099 m/s, LOS rate: 0.001986 deg/s, cmd heading: 33.427823 deg, new cmd heading: 33.430276 deg. zq8QHeadingCmd: 0.583468 target range: 193.186234 and range: 194.40 m.R/^?JbZB:2ҔڔjBڒ’/?)ɢ54)1 5i1)=_99i=h;iE/^?Es;E%AIE/^?IIԑE" E'E%E"EZ;*E";VE 4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017620 `H2,R#ɤ?AFJ>Fb?F9M=ٱF+ RAHRS rotation from veh to nav: [[0.844053,-0.534158,-0.047436],[0.533901,0.828759,0.167656],[-0.050242,-0.166837,0.984704]]FH`{?I?1?u? AZſ@?iFJ>IFwa;FCYV)ByZ"IbDbXVDb!4yj%jT=ٔjZRQ-j>9lYl=nDFynEr,Er>tQ 5zZ5vLw?Q 9zZ5v)vBiBYxyzG?Q Iz@vEIv:ivD;vZ5yBB"IBBBBBBBBBBBN =BN =C 5%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270163^AU0:DI A .AI I O >۳N2,=ɤ?AY%By%"II4>)=bD`VD04yP% :=ٔEQ-M>9] ?Y] ?=eDFyeEmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523755E>QQ 5eZ5q,w?Q 9eZ5):iBYiyiQ Im@EIDU2,S#Xɤ?A6=[>61?6>=ٱ6' , >AHRS rotation from veh to nav: [[0.842886,-0.535669,-0.051014],[0.536075,0.827743,0.165723],[-0.046546,-0.167033,0.984852]]6H?2$``'?|?`l6?ԧ Xaſ@?i6=[>I6a;4YFByFw"IiMb@Mb@Mb@ 9v/?y&1~jt?Yx)?y`eD<A tA) AYAbD-ZVD-%4y= %=Q=ٔ=cQ-=>9E"?YE"?=EDFyEEM{;EM>QQ 5]Z5U>w?Q 9]Z5U)U7iBY]*?Q Ee:ye>Q Ie@UEIU':iU:UQZ5y =Bɮ b@ -EGS%B*** querying acoustic contact ***:!B!1Q5FNOT Ignoring new targets: 193.19 m.=8=8Qm ProNav: ac range: 193.186234 m, nav range: 156.992355 m, bearing: 29.176368 deg, approach rate: -0.665430 m/s, LOS rate: 0.005569 deg/s, cmd heading: 33.435350 deg, new cmd heading: 33.441487 deg. zmt9QuHeadingCmd: 0.583664 target range: 193.186234 and range: 194.40 m.Ruk?JqbqZqBq:y2yҔyڔ}}Bڒ’` @QɢUם)Q U`1iQ)]yYYi]s0aik?khm; Ik?I=BDAT read: Rx Time:21:31:16.2687 ETRx dataTimestamp_ set to:1761514277.548636Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026723Q@Q @Y@Y@Yԉ^A9 Թ Aq Iy E  E E E "E G;*E u:VE ZE a @a @a @a @I O >[2,qɤ?AB$B$B&f"IB& BB$B$B$B&)R;B& ERchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277611TZn>Z?Z3=ٱZ؝+ rAHRS rotation from veh to nav: [[0.841857,-0.537060,-0.053324],[0.537910,0.826919,0.163883],[-0.043920,-0.166650,0.985038]]ZH`~?/MM6?`v?@ ? |Tſ`m?iZn>IZ`;XYzByzd"IbDAVDAyU眽%}I=ٔ}ѻQ->9Y=DFyE=;E>Q 5Z5Sw?Q 9Z5)3iBYy>Q I@EI.DBɮq@.EaQuFNOT Ignoring new targets: 193.19 m.}8}8Q ProNav: ac range: 193.186234 m, nav range: 156.718292 m, bearing: 29.178456 deg, approach rate: -0.671320 m/s, LOS rate: 0.005123 deg/s, cmd heading: 33.441487 deg, new cmd heading: 33.447762 deg. za9QHeadingCmd: 0.583774 target range: 193.186234 and range: 194.40 m.R/r?JbZB:2Ҕڔڒ’ @)ɢ-9)I MbQiQ)U?QQiUr-i]/r?]k;]'TI]/r?Ia9@ @ @ 0@  DAT read: 21:31:16.2687 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 44, 0.46,-0.543,-2.116,-0.232,-0.611, PHS= 0.171,-1.459, 0.336, RAW= 154.8, 11.1, CAL= 154.8, 12.2, ROT= 355.2, -12.2  Ygot valid direction response: 21:31:16.2687 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 44, 0.46,-0.543,-2.116,-0.232,-0.611, PHS= 0.171,-1.459, 0.336, RAW= 154.8, 11.1, CAL= 154.8, 12.2, ROT= 355.2, -12.2  PDAT read: Bearing 194.0, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 194.0, -9.7 (Local)  DAT read: Range 11 to 50 : 165.2 m (Round-trip 220.3 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.973988,-0.081788,0.211325] Fpublishing direction and range infoy  'E*?,^%𴿵\ ?Y 3%C     ) LI />i  1> ,@ aF> ,@  ^ Z>) a@I ^ Z   s^ y? ?!?ae?  `Z?) FI i ^ Z   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.) ^A A1 I9 II Q O] >gQc2,ɤ?A2>2R?2U&=ٱ2m( :AHRS rotation from veh to nav: [[0.840358,-0.539246,-0.054893],[0.540510,0.826104,0.159380],[-0.040598,-0.163606,0.985690]]2H5?@A`K?po?`f??ɤ ĿŊ?i2>I2a;2CYBByBs"IJ=J=iMb@Mb@Mb@ 9#~j?Mb:v?Y%?yT<A A) AEU EU EU&EQ"EUL;*EU:VEU4ZEQBEUۡ9iYi=mDFyuEu;Eu>yQ 5Z5}iw?Q 9Z5})}2iBY&?Q E:y>Q I@}EI} ;i}P;}Z5yɮ@J9R=-ɤ?A=+$C=+$C=R?=ۜc@U*{GXA@!='E*?,^%𴿵\ ?==^ Z—=t=va@^7T@A2=@=_=h;?! 2?U\P?j=Br= CZ=af?b=z=B=GI?9=Bm*DAT read: user:297> uBDAT read: Tx time:21:31:17.4943 }$Ping request sent.}i2,ɤ?AY5By5Y"IbDU^VDU,4ymtѽ%mJ=ٔuQ-u>9} ?Y} ?=}DFy}EE>Q 5Z5}w?Q 9Z5)1iBYyQ I@EIC;iD;Z5y?Bɮ @QFNOT Ignoring new targets: 193.19 m.99Q ProNav: ac range: 193.186234 m, nav range: 156.150101 m, bearing: 29.185027 deg, approach rate: -0.701873 m/s, LOS rate: 0.008146 deg/s, cmd heading: 33.458279 deg, new cmd heading: 33.467511 deg. z9Q%HeadingCmd: 0.584118 target range: 193.186234 and range: 194.40 m.R%ƈ?J!b!Z)B):)2)Ҕ1ڔ19ڒ9’AAE?yyɢWE) hbi)C顁i-'iƈ?K i;ջIƈ?IEe EeEe'Ea"EeV;*Ee:VEe'4ZEaam@au@au@au@ 9@  @@0@BE>BABET"IBEBBABABABER;BEE}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502975ԩ^AXһA) I1 IA O] > qp2,ɤ?Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755697U۹>@?i>=ٱi AHRS rotation from veh to nav: [[0.835439,-0.546606,-0.057130],[0.548691,0.823643,0.143356],[-0.031304,-0.151112,0.988021]]H`?},@`?G[?@~Y?!@Wÿݝ?iU۹>I`;CYBy["IieMb@Mb@Mb@aaaa a9e#~j?~jty&1?Yayee`e9Y=DFyEg<E>Q 5Z5w?Q 9Z5 )3iBY'?Q E:y!>Q I@EI ;i ;Z5y@Bɮ@/EQFNOT Ignoring new targets: 193.19 m.2929Q ProNav: ac range: 193.186234 m, nav range: 155.844147 m, bearing: 29.189572 deg, approach rate: -0.656594 m/s, LOS rate: 0.009772 deg/s, cmd heading: 33.467510 deg, new cmd heading: 33.481170 deg. z9QHeadingCmd: 0.584357 target range: 193.186234 and range: 194.40 m.Rf?Jb Z B : 2 ҔڔaBڒ’?AɢEB)I M^iI)MՓIIiU($iUf?]\h;]:I]f?IYE} EyE}(Ey"E}V;*EyVE}c44ZEyBE}y9uw2,Gɤ?A2Yں>2C?2+<ٱ2% >AHRS rotation from veh to nav: [[0.834439,-0.548269,-0.055796],[0.550361,0.823792,0.135906],[-0.028549,-0.144113,0.989149]]2Hำ?k`G`? \? \e?;Jr¿?i2Yں>I2C`;2CYFByFY"IbDLVDLyVf'%Vr=ٔVQ-Z?9XYX=^DFy^E^S;E^?`Q 5fZ5b5w?Q 9fZ5bg)b5iBYdyj>Q Ij@bEIb;ib ;bZ5ynCBɮnP@n&EGSuB*** querying acoustic contact ***:qBqQFNOT Ignoring new targets: 193.19 m."#9"#9Q ProNav: ac range: 193.186234 m, nav range: 155.623383 m, bearing: 29.192726 deg, approach rate: -0.623001 m/s, LOS rate: 0.008914 deg/s, cmd heading: 33.481171 deg, new cmd heading: 33.490647 deg. z9QHeadingCmd: 0.584522 target range: 193.186234 and range: 194.40 m.R=?JbZB:2 Ҕ ڔڒ’?ԉɢab) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257765 ai!)-_{))i-*!i5=?5~h;5-;I5=?I9@ @@5@^A9ԹAzAIIO>E E<E#E"EL;*E1;VE3ZEa@a@a@a@Be >Ba Be N"IBe BBa Ba Be TDBa Be E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509856 9}2, ɤ?A:?>:v?:><ٱ: BAHRS rotation from veh to nav: [[0.834070,-0.549069,-0.053393],[0.551046,0.824668,0.127556],[-0.026005,-0.135812,0.990393]]:H?TV*? c? S?#Lb M?i:?>I:&Ka;8YJByJU"IbDVTVDV4yZQ%^J=ٔ^EλQ-^>9`Y`=bDFybEbb:Ef>dQ 5jZ5fw?Q 9nZ5fA)f8iBYlyn8>Q Ir@fEIf6;ifB;f#Z5yvDBɮv@tQFNOT Ignoring new targets: 193.19 m.f09f09Q- ProNav: ac range: 193.186234 m, nav range: 155.359818 m, bearing: 29.196459 deg, approach rate: -0.679388 m/s, LOS rate: 0.009639 deg/s, cmd heading: 33.490648 deg, new cmd heading: 33.501866 deg. z-9Q5HeadingCmd: 0.584718 target range: 193.186234 and range: 194.40 m.R5?J1b1Z1B1:929Ҕ9ڔ9AڒA’AAMO?qɢuwY)q ufiq)}ìyyi}{ui?Ijh;;>;I?I@ @@/@-Y?-?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764521Q^A] ;i Iq I O > I I E  E E $E "E [I;*E :VE 4ZE BE j?j><ٱj;, zAHRS rotation from veh to nav: [[0.833878,-0.549499,-0.051947],[0.551441,0.825374,0.121125],[-0.023682,-0.129649,0.991277]]jH!?~Ҙf?vi?? @U?ijy>Ijmaa;hY By Y"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013809PExceeded connect timeout, disconnecting.ieMb@Mb@Mb@aaaa a9eRQ?(\µ{Gz?Ye"?yeeף9Y=DFyEv:E>Q 5Z5zw?Q 9Z5)@iBY$?Q E:y>Q I@EI:i$<0Z5yɮ_@9QEFNOT Ignoring new targets: 193.19 m.E`9E`9qQ} ProNav: ac range: 193.186234 m, nav range: 155.063202 m, bearing: 29.202288 deg, approach rate: -0.623876 m/s, LOS rate: 0.012284 deg/s, cmd heading: 33.501866 deg, new cmd heading: 33.519388 deg. z}:QHeadingCmd: 0.585024 target range: 193.186234 and range: 194.40 m.R?JbZB:2ҔڔjBڒ’@nBɢ) _i)iki?Qh;B;I-?I)9@ @@/@ԩ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265650^A yb]; I I O- >ɬ2,",ʤ?ATO>W?ܚ<ٱV -AHRS rotation from veh to nav: [[0.834401,-0.548690,-0.052092],[0.550701,0.826136,0.119277],[-0.022411,-0.128212,0.991494]]Hj?ގ@ԫ@X?@o??AiP?iO>Ia;YMByM\"I QQbDeRVDe4yuR<%u^=ٔubQ-}>9yYy=DFyE E>Q 5Z5\w?Q 9Z5)FiBYy2>Q I@EI;i+;iZ5yEBɮK@'EQFNOT Ignoring new targets: 193.19 m.s9s9Q ProNav: ac range: 193.186234 m, nav range: 154.827255 m, bearing: 29.207027 deg, approach rate: -0.661578 m/s, LOS rate: 0.013308 deg/s, cmd heading: 33.519389 deg, new cmd heading: 33.533627 deg. z :QHeadingCmd: 0.585272 target range: 193.186234 and range: 194.40 m.Rf?JbZB:2Ҕڔڒ’@ @)ɢ-V )) 5Zi1bEjE( 4rE./E} E}E}#Ey"E}&U;*E}:VE}3ZEya@a@a@a@)'v顱iif?#h;7:If?IB>BCBT"IBBBM =BBBQ;BEm9@i @i@m/@i@u=@u=iߙIߝAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520251^A] ;A>A>II O >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7757482,Gʤ?AV͹>V!?V7<ٱV: ^AHRS rotation from veh to nav: [[0.835710,-0.546350,-0.055595],[0.548739,0.826743,0.124022],[-0.021797,-0.134153,0.990721]]`VH "?{ vD? t?`῿?Q@+@?iV͹>IVUa;VCYhyhiUMb@Mb@Mb@QQQQ Q9Ux&1?T㥛 V-?YU!?yUU9Y=DFyEAE>Q 5Z5w?Q 9Z5)PiBY"?Q E:y)>Q I@EI ;i ;Z5yGBɮ`@(EQUFNOT Ignoring new targets: 193.19 m.]t8]t8Qm ProNav: ac range: 193.186234 m, nav range: 154.565445 m, bearing: 29.209082 deg, approach rate: -0.634144 m/s, LOS rate: 0.004985 deg/s, cmd heading: 33.533627 deg, new cmd heading: 33.539801 deg. zmZ9QuHeadingCmd: 0.585380 target range: 193.186234 and range: 194.40 m.Ruv?JbZB:2ҔڔgBڒ’@mBɢ&) Xi)!!i%di-v?-ݦg;-I-v?IQ@ @@/@EM EM EM$EI"EMQ;*EM:VEM4ZEIBEMƥA ͗2,`ʤ?A2ms>2J?2 s<ٱ2 :AHRS rotation from veh to nav: [[0.837156,-0.543648,-0.060134],[0.546534,0.827075,0.131326],[-0.021660,-0.142805,0.989514]]2H@?@e@ɮ5}?fw?G?-rG¿?i2ms>I2 @a;2CYFByFY"IbDN]VDN'+4yVۡ%V<ٔVQ-V>9XYX=ZDFyZE^E^>`Q 5fZ5bzx?Q 9fZ5b)bYiBYdyf>Q If@bEIbK:ib:bFZ5ylɮn@lGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 193.19 m. 38 38Q ProNav: ac range: 193.186234 m, nav range: 154.328796 m, bearing: 29.211131 deg, approach rate: -0.633679 m/s, LOS rate: 0.005497 deg/s, cmd heading: 33.539801 deg, new cmd heading: 33.545960 deg. zpq9Q%HeadingCmd: 0.585487 target range: 193.186234 and range: 194.40 m.R%?J!b!Z)B):)2)Ҕ1ڔ11ڒ1’119= @mlBɢm谼)i m[ii)uoqqiuii?2g;(&I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278249@ @@0@iԙ^A!II)O5>Eq EuEu%Eq"Eq*Eu:VEu 4ZEqa@a@a@a@BBCBBBN =BBBxQ;BEBȿCBȿCBBBC04 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531941 2,zʤ?A2>Ķ>28?2Go<ٱ2q :AHRS rotation from veh to nav: [[0.838945,-0.540303,-0.065137],[0.543775,0.827423,0.140287],[-0.021902,-0.153113,0.987966]]2H?`*Jˬ f??z??`sm`1ÿj?i2>Ķ>I2a;2CYNByRa"IIV0>)V<bDZTVDZ4y%<%%C=ٔ%x:Q-%>9)Y)=-DFy-E-E5>1Q 5EZ55Px?Q 9EZ55)5diBYAyE>Q IE@5EI5:i5:5Z5yUHBɮU5@QqQ}FNOT Ignoring new targets: 193.19 m.}L8L8Q ProNav: ac range: 193.186234 m, nav range: 154.062988 m, bearing: 29.213705 deg, approach rate: -0.634685 m/s, LOS rate: 0.006155 deg/s, cmd heading: 33.545958 deg, new cmd heading: 33.553692 deg. z-9ԙQHeadingCmd: 0.585622 target range: 193.186234 and range: 194.40 m.RZ?JbZB:2Ҕڔڒ’;&@ɢv) Mi)8i{$iZ?e;IZ?II)@ @@O0@DAT read: 21:31:20.0795 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 43, 0.06, 3.113, 1.482,-2.784, 3.001, PHS= 0.214,-1.474, 0.454, RAW= 156.6, 8.9, CAL= 156.3, 9.5, ROT= 353.7, -9.5 Ygot valid direction response: 21:31:20.0795 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 43, 0.06, 3.113, 1.482,-2.784, 3.001, PHS= 0.214,-1.474, 0.454, RAW= 156.6, 8.9, CAL= 156.3, 9.5, ROT= 353.7, -9.5 PDAT read: Bearing 192.8, -8.9 (Local) ~Local bearing/azimuth received: Bearing 192.8, -8.9 (Local) %DAT read: Range 11 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.980329,-0.108229,0.165048]5Fpublishing direction and range infoy  gF^?6i  r> .@ > .@ )>) @I )   Se?Aƹ8?H? W#?) P I i0i )^A"5AgAzAiA  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A ؟AI I O > E  E E #E "E CJ;*E j:VE 3ZE BE ^}?^<ٱ^uh$ fAHRS rotation from veh to nav: [[0.840494,-0.537482,-0.068430],[0.541380,0.827990,0.146082],[-0.021857,-0.159828,0.986903]]^HS?3`R?`~? ϲ? a@;uĿ?i^ZN>I^^b;^CYlypi߁I߅A*DAT read: user:298> BDAT read: Tx time:21:31:21.5443 $Ping request sent.9"?Y"?=DFyEAڻE>Q 5Z5.x?Q 9Z5-)piBYK$?Q E :y V?Q I @EI:i:Z5yɮJ9R=B?ʤ?A=C=C=97>=8=`@U)':6-yPUF6@=gF^?6QeaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 135.800003 m, deltaT: 7.842801 s, deltaX: -58.599991 m, approachRate: -7.471819 m/s, rangeRepo size: 4aQeFNOT Ignoring new targets: 193.19 m.mۡ7mۡ7Q} ProNav: ac range: 193.186234 m, nav range: 153.787811 m, bearing: 29.214183 deg, approach rate: -0.635199 m/s, LOS rate: 0.001106 deg/s, cmd heading: 33.553694 deg, new cmd heading: 33.555130 deg. z}:B8QHeadingCmd: 0.585648 target range: 193.186234 and range: 194.40 m.R?JbZB:2ҔڔBڒ’`@?kBɢM) Li)\i!i?%Sd;ƊI?Ii@i @i@m0@i!I^A#25 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249323A .AI I O >y 2,Oʤ?A>hԳ>>?>:ŭ<ٱ>) VAHRS rotation from veh to nav: [[0.842063,-0.534640,-0.071342],[0.538962,0.828818,0.150269],[-0.021211,-0.164987,0.986068]]>H.?@uC,???@hԳ>I>=c;>CY~By~V"IbD UVD n4y=%=<ٔEܺQ-E>9E ?YM ?=MDFyMEM_EM>QQ 5}Z5U@x?Q 9}Z5U)U{iBYy?Q I@UEIU;iUm;UZ5yIBɮ@)EQFNOT Ignoring new targets: 193.19 m.77Q ProNav: ac range: 193.186234 m, nav range: 153.542496 m, bearing: 29.214844 deg, approach rate: -0.634738 m/s, LOS rate: 0.001713 deg/s, cmd heading: 33.555131 deg, new cmd heading: 33.557117 deg. zo8Q HeadingCmd: 0.585682 target range: 193.186234 and range: 194.40 m.R D?J b ZB:2Ҕڔڒ’!!%`?E= E=E=%E9"E=C;*E=:VE= 4ZE9aE@aE@aE@aE@B>BBZ"IBBBBBUDBQ;BEjBɢG) \i)ƻisiD?(ob;<#ID?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501363@ @@{1@ ^A A ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755695ԉ I I O >V2,ʤ?A2>2Q?2CP<ٱ2+ >AHRS rotation from veh to nav: [[0.842996,-0.532973,-0.072777],[0.537536,0.829544,0.151363],[-0.020301,-0.166719,0.985795]]2H`?`@3?ࠋ?_?ɔ` Wſࢋ?i2>I2Uc;2CYBByBO"IJ=J=iUMb@Mb@Mb@QQQQ Q9UJ +?~jt9Y=DFyEYE>Q 5Z5XUx?Q 9Z5 )iBY(?Q E:y?Q I@EI:i:Z5yKBɮP@*EQFNOT Ignoring new targets: 193.19 m.aaQ ProNav: ac range: 193.186234 m, nav range: 153.254181 m, bearing: 29.209568 deg, approach rate: -0.670840 m/s, LOS rate: -0.012298 deg/s, cmd heading: 33.557116 deg, new cmd heading: 33.541260 deg. z QHeadingCmd: 0.585405 target range: 193.186234 and range: 194.40 m.R!?JbZB:2ҔڔBڒ’  ?1ɢ51)1 =gi9)=Nl̻99i=*J iE!?E>`;E63IM!?II9@ @@4@E EE$E"E1A;*E:VE4ZEBEA>A A ؟AI! I1 O= >z2,ōʤ?A$:Բ>:@?:%<ٱ:$, BAHRS rotation from veh to nav: [[0.843157,-0.532505,-0.074328],[0.537340,0.829731,0.151036],[-0.018755,-0.167286,0.985730]]:H$?G #1?`(?$U?4iſ?i:Բ>I:}gc;:CYJByJT"IbDV]VDV'+4yZ<%^Y=ٔ^BQ-^>9b"?Yb"?=bDFybEb.Ef>dQ 5jZ5f gx?Q 9nZ5f)fiBYlyn?Q Ir@fEIf;if5;f&Z5yvQBɮvl@v EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 193.19 m.k\k\Q- ProNav: ac range: 193.186234 m, nav range: 153.005676 m, bearing: 29.205026 deg, approach rate: -0.657815 m/s, LOS rate: -0.012044 deg/s, cmd heading: 33.541259 deg, new cmd heading: 33.527609 deg. z-@Q5HeadingCmd: 0.585167 target range: 193.186234 and range: 194.40 m.R5?J1b1Z1B1:929ҔAڔAAڒA’AIMO?uiBɢu)q }H^iy)}vѻyyi}@E i?^;F1I?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2578369@ @@/@iԡ^A=0B>BBBBBBBQ;BE EE&E"E=;*E:VE4ZEBE<2E<JEQ<:EQ<A I I O >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509577&2,hʤ?A2u>2P?2聄<ٱ2u&( :AHRS rotation from veh to nav: [[0.842483,-0.533533,-0.074593],[0.538479,0.829835,0.146334],[-0.016175,-0.163451,0.986419]]2H? @ 9;?`?? Ŀ`?i2u>I2c;2CLYRByRI"IbDZAVDZ?3yb2%bI=ٔfUлQ-f>9dYh=jDFyjEjU;Ej>lQ 5rZ5n?zx?Q 9rZ5nժ)niBYtyvG?Q Iv@nEInp:inF:nZ5yzSBɮz@~!EQ%FNOT Ignoring new targets: 193.19 m.%b%bQ5 ProNav: ac range: 193.186234 m, nav range: 152.738266 m, bearing: 29.200011 deg, approach rate: -0.659867 m/s, LOS rate: -0.012397 deg/s, cmd heading: 33.527609 deg, new cmd heading: 33.512537 deg. z5 QHeadingCmd: 0.584904 target range: 193.186234 and range: 194.40 m.RG?JbZB:2Ҕڔڒ’{?ɢmB)! %oi!)%Qػ!!i-x i-G?5 ];5I5G?IY@ @@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763984^AA I I! ) O5 >E  E E #E "E ,K;*E A:VE 3ZE BE I<2E J<JE I<:E I<2,0Fˤ?A2>2)?2ER<ٱ2% >AHRS rotation from veh to nav: [[0.841317,-0.535109,-0.076445],[0.540389,0.829269,0.142452],[-0.012834,-0.161157,0.986845]]2H`?瑳J?@_?@;?H͠ĿI2mb;Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0132940|Y%By%>"IiMb@Mb@Mb@ 9w/?I +?V-?Y&?y94<<A VA) AY AbD<VD3y%%:=ٔQ->9Y=DFyE3;E>Q 5Z54x?Q 9Z5)iBY'?Q E:yA?Q I@EI;i>;Z5yɮ@QFNOT Ignoring new targets: 193.19 m.CCQ ProNav: ac range: 193.186234 m, nav range: 152.453384 m, bearing: 29.190876 deg, approach rate: -0.626826 m/s, LOS rate: -0.020137 deg/s, cmd heading: 33.512538 deg, new cmd heading: 33.485083 deg. z]QHeadingCmd: 0.584425 target range: 193.186234 and range: 194.40 m.Rߜ?JbZB:2ҔڔBڒ’ @qɢu3\)q uiq)}͍߻yyi}@iߜ?~[;IIߜ?I)a@a @a@e0@a@i@mhAQU>U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265520^A A hAzA gA A I I O >2,1ˤ?A>>>?>h<ٱ>+ FAHRS rotation from veh to nav: [[0.839963,-0.536265,-0.082952],[0.542568,0.827424,0.144881],[-0.009058,-0.166702,0.985966]]>H?)Z<\?`Az?u?|Vſ ?i>>I>:a;9dYd=fDFyfEf;Ej>hQ 5rZ5jx?Q 9rZ5j)jiBYpyr?Q Ir@jEIjQ;ij;jZ5yzTBɮz@z"EQFNOT Ignoring new targets: 193.19 m.Ϲ%ϹQE ProNav: ac range: 193.186234 m, nav range: 152.213669 m, bearing: 29.182908 deg, approach rate: -0.679751 m/s, LOS rate: -0.022628 deg/s, cmd heading: 33.485081 deg, new cmd heading: 33.461142 deg. zMwxQUHeadingCmd: 0.584007 target range: 193.186234 and range: 194.40 m.R]}?JibiZiBi:q2qҔqB>BBN"IBBBBBB7Q;BEڔqڒ’`@Eu' EqEu'Eq"Eu _;*EqVEu'4ZEqBEu<2Eu<JEq:EqhBɢ޼) i)DiY(i}?|Z;hI}?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518084@ @@/@9^A`ԻI } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771327ԉ I O >2,ѓKˤ?A2:>20?2;ٱ2/ :AHRS rotation from veh to nav: [[0.838277,-0.537976,-0.088738],[0.545223,0.825611,0.145254],[-0.004880,-0.170145,0.985407]]2H)?7wr? gk??ss@Oſ t?i2:>I2aa;0YBӃByB$"Ii=Mb@Mb@Mb@9999 99=Fx?~jthMbp?Y=+?y=D=;=/A=@ = A)= A9Y= AbDULVDU 4ye%e<=ٔmQ-m>9qYq=uDFyuEu&;Eu>yQ 5Z5}x?Q 9Z5})}iBY+?Q E:y?Q I@}EI}X ;i} ;}Z5yVBɮ2@QFNOT Ignoring new targets: 193.19 m.,,Q ProNav: ac range: 193.186234 m, nav range: 151.922577 m, bearing: 29.175881 deg, approach rate: -0.669482 m/s, LOS rate: -0.016193 deg/s, cmd heading: 33.461141 deg, new cmd heading: 33.440019 deg. z1QHeadingCmd: 0.583638 target range: 193.186234 and range: 194.40 m.RTi?JbZB:2ҔڔBڒ’`d @ !ɢ%)- -ji))-[11i5xi5Ti?=`Y;=8I=Ti?I9ԀG@ @@@b9YAE% EE%E"EO];*Eu:VE 4ZEBE<2E<JE"<<:E"<<9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021187^A3aIa Iy O >ԑ k2,Xeˤ?A2!P>2~?2_:ٱ2=R/ :AHRS rotation from veh to nav: [[0.836431,-0.540180,-0.092675],[0.548072,0.824122,0.142970],[-0.000854,-0.170377,0.985379]]2H ?(I͉?5_? L?}Kſ8?i2!P>I2Oa;2CYBByB"IbDJ[VDJy'4yR%RX=ٔVn.Q-V>9TYX=ZDFyZEZ%<EZ>\Q 5bZ5^x?Q 9bZ5^B)^iBYdyf?Q If@^EI^:i^:^Z5yhɮj @lGSzB*** querying acoustic contact ***:xBxQFNOT Ignoring new targets: 193.19 m. t tQ ProNav: ac range: 193.186234 m, nav range: 151.669403 m, bearing: 29.169421 deg, approach rate: -0.668970 m/s, LOS rate: -0.017098 deg/s, cmd heading: 33.440019 deg, new cmd heading: 33.420606 deg. z;Q%HeadingCmd: 0.583300 target range: 193.186234 and range: 194.40 m.R% S?J!b!Z!B!:!2)Ҕ)ڔ))ڒ1’115G @BDAT read: Rx Time:21:31:24.1627 TRx dataTimestamp_ set to:1761514285.644707checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274434ɢ) Ҳi)ii% S?%FoY;-K:I- S?I)q9@ @@?0@@@=ԡBU>BQBU."IBU܃BBQBQBQBUZQ;BUEbE%Ȼ 4jE%r 4rE%?/E) E E'E"E`;*E:VE'4ZEBE<2E<JE@<:E@<^A?BɺA >A >IyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525206 -2,+2ˤ?A2B>2w?2%4ٱ27- :AHRS rotation from veh to nav: [[0.834337,-0.542995,-0.095065],[0.551247,0.822687,0.138970],[0.002749,-0.168352,0.985723]]2H@?`7`/V`ѣ?sS?`?f?ſ ?i2B>I2y`;0YRByR!IbDZWVDZ 4y~%E=ٔ&Q->9 Y = DFy E <E >Q 5Z5*x?Q 9%Z5>)iBY!y%?Q I%@EI;i;yZ5y-XBɮ-@5#EQQ]FNOT Ignoring new targets: 193.19 m.e凉e凉Qu ProNav: ac range: 193.186234 m, nav range: 151.391663 m, bearing: 29.161909 deg, approach rate: -0.669199 m/s, LOS rate: -0.018134 deg/s, cmd heading: 33.420607 deg, new cmd heading: 33.398029 deg. zuGQ}HeadingCmd: 0.582906 target range: 193.186234 and range: 194.40 m.R}M9?JybyZyBy:2Ҕڔڒ’e@颹ɢ ) *¾i)iiM9?jY;v;IM9?IU9@Q @Q@U5@Q%=%=DAT read: 21:31:24.1627 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 272,-0.32,-2.604, 2.159,-2.297,-2.687, PHS= 0.186,-1.391, 0.347, RAW= 154.8, 10.3, CAL= 154.7, 11.3, ROT= 355.3, -11.3 Ygot valid direction response: 21:31:24.1627 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 272,-0.32,-2.604, 2.159,-2.297,-2.687, PHS= 0.186,-1.391, 0.347, RAW= 154.8, 10.3, CAL= 154.7, 11.3, ROT= 355.3, -11.3 -PDAT read: Bearing 193.7, -6.8 (Local) 5~Local bearing/azimuth received: Bearing 193.7, -6.8 (Local) DAT read: Range 11 to 50 : 160.7 m (Round-trip 214.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.u^direction in FSK: [0.977317,-0.080350,0.195946]uFpublishing direction and range info^Au] ;y.F?ㅞ Ց>x_?Y C )IIv>>iJ >,@X8>3,@ I>)o@IIJd? f?`F? ?)8IiIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.II O>) E D E E E "E ny;*E A:VE ZE a @a @a @a @Y 2,ˤ?A"*DAT read: user:299> &BDAT read: Tx time:21:31:25.5943 &$Ping request sent.&>>d?>Ȼٱ>n* FAHRS rotation from veh to nav: [[0.832333,-0.545748,-0.096854],[0.554242,0.821410,0.134545],[0.006130,-0.165667,0.986163]]>H@y? vr˸ Y?H? 8?py?4ſ ?i>>I>s`;9Y=DFyEc<E>Q 5Z5x?Q 9Z5,)iBY(?Q E:y ?Q I@EI;i;vZ5yɮ/@)J)R-ˤ?A-C-C-! ?-8uc@O)&{J?@-.F?ㅞ Ց>x_?--I—-W%*`@K0( T@@@-n?%됧? g4?j-YBr-CZ-X?b-\hhVz-wB)))ڗ-C-;>Q addTargetRange:: Added new target pos. range: 160.699997 m, deltaT: 11.880236 s, deltaX: -33.699997 m, approachRate: -2.836644 m/s, rangeRepo size: 4 Q Added new target pos. range: 159.699310 m, bearing: 30.915350 deg, lat: 36.779441 deg, lon: -121.859428 deg, deltaT: 11.880236 s, deltaX: -33.486923 m, approachRate: -2.818709 m/s, posRepo size: 4 QFNOT Ignoring new targets: 159.70 m.Q ProNav: ac range: 159.699310 m, nav range: 136.751678 m, bearing: 27.836236 deg, approach rate: 0.000000 m/s, LOS rate: -0.018134 deg/s, cmd heading: 33.398030 deg, new cmd heading: 33.372345 deg. zQHeadingCmd: 0.582457 target range: 159.699310 and range: 160.70 m.R?JbZB:2 Ҕ ڔ XB ڒ’`fd@?ɢ )! %aӾi!)%}!!i-}i-?-5Z;5x;I5?I1Y9@ @@Y0@@iA@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250816ԁ ^A ;I! I1 O= >#2,ˤ?A0J>J`3?J~~ٱJa) ZAHRS rotation from veh to nav: [[0.830558,-0.548006,-0.099313],[0.556860,0.820004,0.132290],[0.008941,-0.165177,0.986223]]JH?@Cl`?x=??O?$ſ $?iJ>IJՖ`;HYfuByj!IIn<BxBxBz"IBzBBxBxBxBzdQ;BzEBBBBBC,4)nE E E#E"EI@;*E:VE3ZEBE9!Y!=%DFy%E%<E%>)Q 55Z5-y?Q 9=Z5-)-iBY9y= ?Q I=@-EI-* ;i-G;-Z5yE^BɮM@MEiQuFNOT Ignoring new targets: 159.70 m.u}Q ProNav: ac range: 159.699310 m, nav range: 136.497589 m, bearing: 27.829807 deg, approach rate: -0.683885 m/s, LOS rate: -0.017336 deg/s, cmd heading: 33.372345 deg, new cmd heading: 33.353022 deg. z\>QHeadingCmd: 0.582120 target range: 159.699310 and range: 160.70 m.R?JbZB:2Ҕڔڒ’c?ɢe7) i)E ip_i?%Z;%-Թ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7572542,Rˤ?AJ3>Jd?J7ٱJ& RAHRS rotation from veh to nav: [[0.828930,-0.550358,-0.099906],[0.559241,0.819007,0.128365],[0.011177,-0.162278,0.986682]]JH?`qL?M5?Gn??Ŀ?iJ3>IJ`;JCXY^`By^!IiEMb@Mb@Mb@AAAA A9EZd;O?9qYq=uDFyuE};E}>Q 5Z5@y?Q 9Z5)iBY+?Q E:y>Q I@EI ;iT ;2Z5y`Bɮ@EQFNOT Ignoring new targets: 159.70 m.1717Q ProNav: ac range: 159.699310 m, nav range: 136.241013 m, bearing: 27.830008 deg, approach rate: -0.670070 m/s, LOS rate: 0.000527 deg/s, cmd heading: 33.353023 deg, new cmd heading: 33.353628 deg. z7QHeadingCmd: 0.582131 target range: 159.699310 and range: 160.70 m.R?JbZB:2Ҕڔ2Bڒ’ $?ɢm7) i)8  i 6i?x)\;c]RA >i A5 .AI9 IQ O] >52,ˤ?AYPBy!IbD-IVD-X49yE%EM=ٔEQ-M>9M ?YM ?=MDFyMEUEU>YQ 5eZ5]'(y?Q 9eZ5]J)]iBYayiQ Im@]EI]:i]:]Z5yqɮu@qGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 159.70 m.77Q ProNav: ac range: 159.699310 m, nav range: 135.974213 m, bearing: 27.830219 deg, approach rate: -0.669631 m/s, LOS rate: 0.000528 deg/s, cmd heading: 33.353627 deg, new cmd heading: 33.354259 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995z7QHeadingCmd: 0.582142 target range: 159.699310 and range: 160.70 m.R<?JbZB:2Ҕڔڒ’ 8?ɢ3C)  i)uqqiugi}<?g];Z\LH3,z̤?A2>2U?2JUٱ2 ! :AHRS rotation from veh to nav: [[0.826858,-0.553681,-0.098701],[0.562259,0.817870,0.122284],[0.013018,-0.156607,0.987575]]2Hu? ·@vD@?@+? N?*? Ŀ@7?i2>I2a;2CYBCByBr!I DDJ=J=bDN^VDN,4yV%VT=ٔZÜQ-Z>9Z"?Y^"?=^DFy^E^<Eb>`Q 5fZ5bZ;y?Q 9jZ5b)biBYhyj>Q Ij@bEIb:ib:b Z5ynbBɮr@pQ FNOT Ignoring new targets: 159.70 m. $ $ԙQ ProNav: ac range: 159.699310 m, nav range: 135.716324 m, bearing: 27.830022 deg, approach rate: -0.670562 m/s, LOS rate: -0.000513 deg/s, cmd heading: 33.354259 deg, new cmd heading: 33.353667 deg. z+QHeadingCmd: 0.582131 target range: 159.699310 and range: 160.70 m.R?JbZB:2Ҕڔڒ’ٝ? ɢ P)  gi ) !ia/i?q^;VE  E E &E "E ,K;*E :VE 4ZE a @a @a @a @ G3,V̤?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148996>6x?6NYٱ6o ^AHRS rotation from veh to nav: [[0.826906,-0.553726,-0.098052],[0.562183,0.818135,0.120851],[0.013302,-0.155055,0.987816]]6Hv?@ g?).?? =?ÿ0?i6>I6`;6CYf1Byf\!IiMMb@Mb@Mb@IIII I9Mrh|?OnÿMb`?YM?yMM;MAI M A)MVAIYMf AbDmTVDm4yuݨ%}>=ٔ},Q-}>9Y=DFyETZE>Q 5Z5Py?Q 9Z5)iBY ?Q E:yt>Q I@EI ;i" ;Z5ydBɮ/@EQFNOT Ignoring new targets: 159.70 m.::Q ProNav: ac range: 159.699310 m, nav range: 135.449478 m, bearing: 27.844259 deg, approach rate: -0.621022 m/s, LOS rate: 0.033199 deg/s, cmd heading: 33.353668 deg, new cmd heading: 33.396464 deg. zE:QHeadingCmd: 0.582878 target range: 159.699310 and range: 160.70 m.R7?JbZB:2ҔڔBڒ’  @gBɢV^R) >i)m*ii7?n`;+p't 3,<4̤?ABF>BDBF!IBFWBBDBDBDBF`Q;BFEE] E]EYEY"E]US;*E]Z:VEYZEYBE]W9Y=DFyEE>Q 5Z56ey?Q 9Z51)iBYyQ I@EI:i=:qZ5yɮ@9Q=FNOT Ignoring new targets: 159.70 m.E:E:QQU ProNav: ac range: 159.699310 m, nav range: 135.189713 m, bearing: 27.858173 deg, approach rate: -0.621101 m/s, LOS rate: 0.033334 deg/s, cmd heading: 33.396463 deg, new cmd heading: 33.438287 deg. z]:Q]HeadingCmd: 0.583608 target range: 159.699310 and range: 160.70 m.R]Yg?JabaZaBa:a2aҔiڔiiڒq’qqu@@颙ɢb) "i)2顡iiYg?ga;Cg > 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774059 y\3,N̤?Ab\>b?bRRٱb nAHRS rotation from veh to nav: [[0.828738,-0.551171,-0.096976],[0.559490,0.819955,0.121013],[0.012817,-0.154546,0.987903]]bH@?0pӸ X?=?@? ??'ÿ?ib\>IbG`;bCYvByv7!IIz>)zC=xzAiuMb@Mb@Mb@qqqq q9u$C?MbXɿQ?Yu?yuJuu9Y=DFyEE>Q 5[5lyy?Q 9[5[)iBYG"?Q E:y͐>Q I@ EI:i':[5yfBɮ4@EԱQFNOT Ignoring new targets: 159.70 m.Ae:Ae:Q ProNav: ac range: 159.699310 m, nav range: 134.945114 m, bearing: 27.879594 deg, approach rate: -0.571138 m/s, LOS rate: 0.050107 deg/s, cmd heading: 33.438287 deg, new cmd heading: 33.502665 deg. z% ;Q-HeadingCmd: 0.584732 target range: 159.699310 and range: 160.70 m.R-?J1b1Z1B1:929ҔAڔEBIڒI’QQ] n @Em EmEm$Ei"Emy>;*Em:VEm4ZEiau@au@au@au@颅fBɢ:sb) )i)w<顉ii?b;5';3,3h̤?A>)>>M?>Xٱ>}+ JAHRS rotation from veh to nav: [[0.830295,-0.548796,-0.097125],[0.557167,0.821499,0.121265],[0.013239,-0.154801,0.987857]]>H Ǒ? 4ݸ O?I?@6 ??ÿ`?i>)>I>X `;>CYRByR4!IbDZXVDZ!4ybG%bR=ٔf$Q-f>9dYd=fDFyfEjEj>lQ 5r[5nOy?Q 9r[5n})njBYtyv_>Q Iv@nEInl:ind:nK[5yxɮz[@xGSB*** querying acoustic contact ***:BQ%FNOT Ignoring new targets: 159.70 m.%܉:%܉:Q5 ProNav: ac range: 159.699310 m, nav range: 134.704758 m, bearing: 27.901018 deg, approach rate: -0.674899 m/s, LOS rate: 0.060264 deg/s, cmd heading: 33.502665 deg, new cmd heading: 33.567052 deg. z=o%;Q=HeadingCmd: 0.585856 target range: 159.699310 and range: 160.70 m.R=?JAbAZABA:A2AҔIڔII]BDAT read: Rx Time:21:31:28.2094 ]TRx dataTimestamp_ set to:1761514289.680674echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280005ڒI’aam @ @颕eBɢ) *i)C顙i ܻi?^c;W;I?Iԩ 9@ @@5@^A&t@<A>A>AII)O=P>BE>BABEZ!IBE/BBABABABEbQ;BEEE EE&E"E2;*E:VE4ZEBE!>2u?26Fwٱ2  :AHRS rotation from veh to nav: [[0.832106,-0.545769,-0.098672],[0.554412,0.823369,0.121209],[0.015092,-0.155564,0.987711]]2H?vBཽ?@ Y? ?y?ÿ S?i2>>I2p`;0YNByN(!IbDVNVDV4yrsC%rI=ٔrQ-r>9tYt=vDFyvEzEz>|Q 5[5~,y?Q 9[5~{)~jBYy>Q I@~EI~:i~B:~[5yhBɮ@E9Q=FNOT Ignoring new targets: 159.70 m.Eր:Eր:QM ProNav: ac range: 159.699310 m, nav range: 134.453079 m, bearing: 27.923906 deg, approach rate: -0.618135 m/s, LOS rate: 0.056319 deg/s, cmd heading: 33.567050 deg, new cmd heading: 33.635842 deg. zU;Q]HeadingCmd: 0.587056 target range: 159.699310 and range: 160.70 m.R]QI?JYbYZYBY:Y2aҔaڔaaڒi’iim&}@频ɢv) U/i)L顙iY׻iQI?rc;Wc;IQI?Ip>i> A@A @A@E5@A@M=@M=DAT read: 21:31:28.2094 LVL= 32016, 31169, 31010, 30707, AGC= 75, IDX= 35,-0.34,-1.114,-2.692,-0.778,-1.270, PHS= 0.258,-1.377, 0.448, RAW= 155.4, 7.8, CAL= 154.9, 8.1, ROT= 355.1, -8.1 Ygot valid direction response: 21:31:28.2094 LVL= 32016, 31169, 31010, 30707, AGC= 75, IDX= 35,-0.34,-1.114,-2.692,-0.778,-1.270, PHS= 0.258,-1.377, 0.448, RAW= 155.4, 7.8, CAL= 154.9, 8.1, ROT= 355.1, -8.1 PDAT read: Bearing 191.5, -5.4 (Local) ~Local bearing/azimuth received: Bearing 191.5, -5.4 (Local) EDAT read: Range 11 to 50 : 158.3 m (Round-trip 211.1 ms) speed 0.9 m/s UR#Rx 1: Read range and direction messages.^direction in FSK: [0.986405,-0.084565,0.140901]Fpublishing direction and range infoyqut?6= :N ?YuLCqu}uyu"y uw)uKIu>iuAuB`>u^-@u'g >uc-@9 u>)uDS@Iuqqu0ǟo?U a?$2+P? u-Q?)u^ Iu%iuqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. }Gn>CTG1^Amh% *DAT read: user:300>  BDAT read: Tx time:21:31:29.6442  $Ping request sent.% A>>e?> ٱ>ӡ bAHRS rotation from veh to nav: [[0.834368,-0.542091,-0.099833],[0.550935,0.825856,0.120133],[0.017325,-0.155237,0.987725]]>H`%?@X@@B?jm??੽?ÿ@r?i>A>I>Z_;>CY] By]1!I aai]Mb@Mb@Mb@YYYY Y9](\?uVͿL7A`?Y]z?y]rh]+=]AY ] A)]l AYY] AbDmRVDm4y}=%3=ٔ|Q->9Y=DFyE E>Q 5[5`y?Q 9[5z)>jBY?Q E:yb>Q I@EI:i: [5yjBɮ@JR2̤?APCPC^?~Pec@*sLG* D[u*6@t?6= :N ?%—}*3!`@AJS@W5:@hنZ?d?q?jVBryCZ ?bezYBꗭX?eYBڗsC◭X?Q addTargetRange:: Added new target pos. range: 158.300003 m, deltaT: 4.035193 s, deltaX: -2.399994 m, approachRate: -0.594766 m/s, rangeRepo size: 4 Q  Added new target pos. range: 157.314819 m, bearing: 29.849683 deg, lat: 36.779558 deg, lon: -121.859268 deg, deltaT: 4.035193 s, deltaX: -2.384491 m, approachRate: -0.590924 m/s, posRepo size: 4 QFNOT Ignoring new targets: 157.31 m.Q- ProNav: ac range: 157.314819 m, nav range: 152.449265 m, bearing: 30.409832 deg, approach rate: 0.000000 m/s, LOS rate: 0.056319 deg/s, cmd heading: 33.635844 deg, new cmd heading: 33.713585 deg. z)Q5HeadingCmd: 0.588413 target range: 157.314819 and range: 158.30 m.R5=?J1b1Z1B1:929Ҕ9ڔ=BAڒA’AEc@ESV?ԩdBɢдg) +i) Wiһi=?b;b,I=?I!9@ @@4@}%=}=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251415^A 2; A .AI I JI BA BA BE G!IBE BBA BA BA BE eQ;BE EOU >D,3,t@̤?A27>2r?2Oٱ2 :AHRS rotation from veh to nav: [[0.836363,-0.538602,-0.102004],[0.547799,0.828093,0.119072],[0.020337,-0.155465,0.987632]]2H |?`:<@?`?~{?+Ӕ?Hÿ`?i27>I2`;2CYB ByB+!IbDNdVDN 84yV%Vn=ٔVQ-V?9Z ?YZ ?=ZDFyZEZ1E^?`Q 5f[5by?Q 9f[5bx)bZjBYdyf _>Q If@bEIbl:ib:b[5ylɮn@bEe3tjEe#4rEeI"0Er ErEr"Ep"Er3;*Er :VEr(3ZEpBEri  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955 33,+̤?AZA[>Z4?Z/YٱZ+% fAHRS rotation from veh to nav: [[0.838293,-0.534670,-0.106736],[0.544725,0.829668,0.122173],[0.023234,-0.160558,0.986753]]ZHL?@S bn?࣌?F?ʗ?,Ŀz?iZA[>IZE`;ZCYhyn,!I1iMb@Mb@Mb@ 9`"?%C̿Mb?Y?yZd@=A  A)CAY AbD\VDP)4y%>;% 6=ٔһQ->9"?Y"?=DFyE%E%>1Q 5E[55/y?Q 9E[55,w)5jBYM"?Q EM:yM}l>Q IU@5EI5o;i5;5[5yelBɮe+@eEQFNOT Ignoring new targets: 157.31 m. : :Q ProNav: ac range: 157.314819 m, nav range: 151.975494 m, bearing: 30.466158 deg, approach rate: -0.602324 m/s, LOS rate: 0.070435 deg/s, cmd heading: 33.787621 deg, new cmd heading: 33.882829 deg. zZA;QMHeadingCmd: 0.591367 target range: 157.314819 and range: 158.30 m.RMc?JIbIZIBI:Q2QҔQڔUBYڒY’YY]!?E  EE'E"EE;*E:VE'4ZEa@a@a@a@%bBɢ%o)! %/,i!)-Ei))i-Lʻi5c?5#`;5I5c?I9Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0071319@ @@/@@iA@jAԉ^A qԹ A- .AI9 II OU >:3,̤?A22>2?2rּٱ2A' :AHRS rotation from veh to nav: [[0.839597,-0.531990,-0.109832],[0.542579,0.831044,0.122372],[0.026175,-0.162336,0.986388]]2H?@\??S?͚?jĿ`~?i22>I2I`;2CYB"ByBJ!IIF=)F]?bDnWVDn 4yv>%v^=ٔzQ-z>9~ ?Y~ ?=~DFy~EE>Q 5 [5y?Q 9[5u)jBYyi>Q I@"EI;i;[5y%nBɮ%@% E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259747GS]B*** querying acoustic contact ***:YBYqQuFNOT Ignoring new targets: 157.31 m.}i:}i:ԙQ ProNav: ac range: 157.314819 m, nav range: 151.756470 m, bearing: 30.492034 deg, approach rate: -0.596377 m/s, LOS rate: 0.070559 deg/s, cmd heading: 33.882830 deg, new cmd heading: 33.960571 deg. zA;QHeadingCmd: 0.592724 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’@{?aBɢA\z) 5i)u=pi%'ǻi?6u^;wLJI?IE9@A @A@A@AԹ^AB>BBT!IB*BBM =BBBQ;BEBBBBBC 4E EE$E"EB;*EV:VE4ZEBEschecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862 @3,ͤ?A2>2c?2[ٱ2$ :AHRS rotation from veh to nav: [[0.840553,-0.530289,-0.110743],[0.540948,0.832593,0.119013],[0.029092,-0.159943,0.986697]]2H ?! YqO?`?w?cʝ?yĿ?i2>I2]<`;0Y^:By^h!IbDhVDhyr4=%rL=ٔrQ-r>9v"?Yv"?=vDFyvEztEz>|Q 5[5~ z?Q 9[5~Rt)~jBYyg>Q I @~&EI~;i~n:~~[5yɮ@@1Q=FNOT Ignoring new targets: 157.31 m.Eӥ:Eӥ:QU ProNav: ac range: 157.314819 m, nav range: 151.516647 m, bearing: 30.520689 deg, approach rate: -0.605725 m/s, LOS rate: 0.072488 deg/s, cmd heading: 33.960571 deg, new cmd heading: 34.046672 deg. zUF;Q]HeadingCmd: 0.594227 target range: 157.314819 and range: 158.30 m.R];?JYbYZYBY:a2aҔaڔaiڒi’iim ?_BɢPa) %i!)%nw!!i%UĻi-;?-W\;-w^uI-;?I1 @  @ @ @ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762850!^AUQA]>A]>E  E E E "E 77;*E ]:VE ZE a @a @a @a @A I I O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014922G3,ͤ?AFʴ>F;?F;ٱF! RAHRS rotation from veh to nav: [[0.840822,-0.529840,-0.110848],[0.540396,0.833517,0.114990],[0.031467,-0.156587,0.987163]]FH`?@s@`J?*?o?y?  Ŀ`֖?iFʴ>IF `;FCYZPByZ!Ii5Mb@Mb@Mb@1111 195Q?Qſ&1?Y5(?y5(5P=5A1 1)5A1Y5p AbDMRVDM4y]=%eC=ٔe^Q-e>9iYi=mDFymEm~Em>qQ 5}[5uz?Q 9[5u"r)ujBYL"?Q E:y>Q I@u*EIue ;iu':u*[5ypBɮ@QFNOT Ignoring new targets: 157.31 m.d:d:Q ProNav: ac range: 157.314819 m, nav range: 151.259277 m, bearing: 30.541603 deg, approach rate: -0.612535 m/s, LOS rate: 0.049860 deg/s, cmd heading: 34.046673 deg, new cmd heading: 34.109522 deg. z;QHeadingCmd: 0.595323 target range: 157.314819 and range: 158.30 m.Rg?JbZB:2ҔڔBڒ’Ǹ@Q^BɢR) i)&is»ig?cY;WfIg?IIhA)fA@ @@0@@=@=^Aevԉechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267553IqIO~>ԱB >B B !IB MBB B B B Q;B E 2q?2ٱ2" :AHRS rotation from veh to nav: [[0.841545,-0.528290,-0.112745],[0.539185,0.834188,0.115803],[0.032873,-0.158244,0.986853]]2H?@ܼA??`H?Ԡ?VAĿ L?i2>I2) `;2CYB_ByB!I DDbDN_VDN.4yV =%VW=ٔVrQ-V>9XYX=ZDFyZEZrE^>Eb  EbEb%E`"EbD;*Eb:VEb 4ZE`BEb͚Q Iv@n.EIn:ing:n [5yzsBɮzA@z!EQFNOT Ignoring new targets: 157.31 m.Z:Z:Q ProNav: ac range: 157.314819 m, nav range: 151.023758 m, bearing: 30.560924 deg, approach rate: -0.582181 m/s, LOS rate: 0.047833 deg/s, cmd heading: 34.109521 deg, new cmd heading: 34.167573 deg. zO;QHeadingCmd: 0.596337 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔ ڒ ’  S@}]Bɢ}"Q)y }3i)Ă顁i?i?V;I?Աi߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519937Ii@i @i@m0@i^A m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770930I I O >A (T3,erQͤ?A5t[>5O?5rٱ5C! UAHRS rotation from veh to nav: [[0.842280,-0.527182,-0.112448],[0.538005,0.835091,0.114776],[0.033397,-0.157171,0.987006]]5H?@eɼV7??a?]?-Ŀ?i5t[>I5!`;5CYmBym!IiMb@Mb@Mb@ 91Zd?RQT㥛 ?Y"?y½=vA@  A)CAY AbD-TVD-4y=7>%=3=ٔElQ-E>9AYI=MDFyMEMSGEU>QQ 5][5U#Gz?Q 9e[5Um)UPkBYe?Q Ee:ye@>Q Ie@U3EIU:iU/:U|$[5yuvBɮu\@uEQFNOT Ignoring new targets: 157.31 m.L9%L9QU ProNav: ac range: 157.314819 m, nav range: 150.749207 m, bearing: 30.571733 deg, approach rate: -0.610377 m/s, LOS rate: 0.024075 deg/s, cmd heading: 34.167574 deg, new cmd heading: 34.200061 deg. zU-:Q]HeadingCmd: 0.596904 target range: 157.314819 and range: 158.30 m.R]?JYbYZYBY:Y2YҔڔ$Bڒ’I @E% EEE"EO];*EZ:VEZEa@a@a@a@[Bɢ:85) #۾i)iᄏi?S;yI?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238711@ @@0@a ^A uI I1 OM >NZ3,24?2 ٱ2 >AHRS rotation from veh to nav: [[0.842923,-0.526539,-0.110626],[0.536978,0.836173,0.111666],[0.033706,-0.153530,0.987569]]2H 9?gQ.? ?*?A?ݦÿ@*?i2>I2`;0YBy!I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275920bD5[VD5y'4yE=%M\=ٔMNZQ-M>9QYQ=UDFy]EeYUEe>iQ 5}[5mXz?Q 9}[5mj)mukBYyd>Q I@m6EImdE;imF;m'[5yxBɮ+@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.99Q ProNav: ac range: 157.314819 m, nav range: 150.523224 m, bearing: 30.580806 deg, approach rate: -0.626437 m/s, LOS rate: 0.025189 deg/s, cmd heading: 34.200062 deg, new cmd heading: 34.227322 deg. zL:QHeadingCmd: 0.597379 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’Nq @ZBɢ8) ľi)Fifཻi?]P;I?IN>i>q9@ @@4@@@iAAAAAB>BB!IBBBN =BBBBԙE EE(E"EL;*E:VEc44ZEBE 18a3,mͤ?A2 h>2 ?2 ٱ2E :AHRS rotation from veh to nav: [[0.843272,-0.526264,-0.109265],[0.536437,0.836754,0.109900],[0.033592,-0.151290,0.987918]]2H@?@'}*??o"?2?w]ÿ@?i2 h>I2N`;2CLYRByR!IIV>)V=bDZXVDZ!4yb>%fS=ٔfv9Q-f>9dYh=jDFyjEjںEj>lQ 5r[5njz?Q 9v[5nh)nkBYtyv>Q Iv@n:EIn:in:n+[5yxɮ~@|Q%FNOT Ignoring new targets: 157.31 m.%9%9Q= ProNav: ac range: 157.314819 m, nav range: 150.289444 m, bearing: 30.590304 deg, approach rate: -0.612255 m/s, LOS rate: 0.024912 deg/s, cmd heading: 34.227321 deg, new cmd heading: 34.255858 deg. z=ƈ:Q=HeadingCmd: 0.597878 target range: 157.314819 and range: 158.30 m.RE?JAbAZABA:A2AҔIڔIIڒI’QQU@=XBɢ=&)9 EiA)E8`AAiE:,iM?M;M;MIu?Iq 9@  @ @ /@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779886^AMIIO>E  E E !E "E 0;*E :VE c3ZE a @a @a @a @!  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030872`g3,gͤ?A|Y=ȃBy="IiMb@Mb@Mb@ 9/$?~jtZd;O?Y,?yDj<=@ )-AYbDYVD#4y=%9=ٔQ->9YA=EDFyEEEEE>IQ 5U[5M&z?Q 9][5Mc)MkBY]v,?Q E]:y]+?Q I]@M?EIM7 ;iM;M/[5yezBɮm!@mEQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 149.987625 m, bearing: 30.587381 deg, approach rate: -0.669775 m/s, LOS rate: -0.006500 deg/s, cmd heading: 34.255858 deg, new cmd heading: 34.247071 deg. zQHeadingCmd: 0.597724 target range: 157.314819 and range: 158.30 m.Rs?JbZB:2ҔڔlBڒ’@WBɢw) i))Ril缻is?ʿI;ѲIs?I)9@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283492Y^AIQ Ia Om >ԁ B >B B "IB ǃBB P =B B B Q;B Em3,`͸ͤ?A2>2`(?2 ٱ2 >AHRS rotation from veh to nav: [[0.843027,-0.526832,-0.108417],[0.536819,0.836714,0.108333],[0.033640,-0.149528,0.988185]]2H?/`-?[?`?L9?#ÿ`6?i2>I2+`;2CYB݃ByF0"IEV EVEV%ET"EV);*EV:VEV 4ZETBEVK99YA=EDFyEEEx:EE>IQ 5U[5Mz?Q 9U[5Ma`Y)MkBYyy}A?Q I}@MCEIM;iM;ML2[5y|Bɮ@EQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 149.739059 m, bearing: 30.584934 deg, approach rate: -0.655498 m/s, LOS rate: -0.006465 deg/s, cmd heading: 34.247071 deg, new cmd heading: 34.239716 deg. zQ HeadingCmd: 0.597596 target range: 157.314819 and range: 158.30 m.R  ?J b Z B :2ҔAڔAAڒA’IIM`@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535037UBɢ  )  *pi )5⍼11i5輻iE ?E[qF;EIE ?Iqԉ9@  @ @ @ @@@@ԱM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787407A I I O% >mvt3,ͤ?A-+G99QiԱ9YݦA>W? ٱE AHRS rotation from veh to nav: [[0.842645,-0.526988,-0.110603],[0.537419,0.835891,0.111653],[0.033613,-0.153524,0.987573]]H?`~P2? ?J?5?@ÿ2?i>I&`;CYBy<"IiMb@Mb@Mb@ 9oʡ?{Gz?Mb?Y-?yף==A@  A)AY AIbD[VDy'4y=%-=ٔv8Q->9Y=DFyE :E>Q 5[50z?Q 9[5#[)kBYt.?Q E:y1?Q I@HEI<:i:O6[5y ɮ`@1Q5FNOT Ignoring new targets: 157.31 m.=:?=:?QM ProNav: ac range: 157.314819 m, nav range: 149.430496 m, bearing: 30.566121 deg, approach rate: -0.684142 m/s, LOS rate: -0.041796 deg/s, cmd heading: 34.239718 deg, new cmd heading: 34.183165 deg. zMyQUHeadingCmd: 0.596609 target range: 157.314819 and range: 158.30 m.RUZ?JQbQZQBQ:Y2YҔYڔ]Baڒa’aam@@颕TBɢ$G) Zi)h]顙ikiZ?E EE!E"E%;*Eu:VEc3ZEa@a@a@a@EFIC;E8IEZ?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.0394899@ @@@AzAhA A!I1IAOM>1 Dz3,;ͤ?AB>Bڧ?Bp ٱB." RAHRS rotation from veh to nav: [[0.841970,-0.527444,-0.113535],[0.538450,0.834752,0.115154],[0.034036,-0.158090,0.986838]]BH j?@ :?I? z? 5m? H<Ŀ -?iB>IB)`;BCY^By^H"IbDn?VDn3yvo=%vq=ٔzQ-z?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2913519 Y=DFyEk;E?Q 5[5z?Q 9[5 W)kBYy_1?Q I@LEI;i;o9[5yBɮ@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.==Q ProNav: ac range: 157.314819 m, nav range: 149.190414 m, bearing: 30.551301 deg, approach rate: -0.670327 m/s, LOS rate: -0.041447 deg/s, cmd heading: 34.183164 deg, new cmd heading: 34.138630 deg. zQHeadingCmd: 0.595832 target range: 157.314819 and range: 158.30 m.Rj?JbZB:2Ҕڔڒ’ `M@=SBɢ=6)9 =&Di9)E}AAiEKiMj?M@;M IMj?IQ@ @@0@ABM>BIBMZ"IBMBBIBIBIBMQ;BMEA=.AIAIQOmW>bEEJ4jEEƶ4rEEƿJ0E EE#E"E8;*E:VE3ZEBEՏ2:?2bٱ2ߊ$ :AHRS rotation from veh to nav: [[0.840742,-0.529018,-0.115297],[0.540325,0.833410,0.116090],[0.034676,-0.159899,0.986524]]2H`[?@ WJ?K???wĿ?i2lȴ>I2+`;2CYbBybT"IbDvTVDv4yz;=%~J=ٔ~ϺQ-~>9 ?Y ?=DFyE ;E >Q 5[5z?Q 9[5R) lBYy1?Q I@PEID;i;<[5y)ɮ-I@)IQUFNOT Ignoring new targets: 157.31 m.UAUAQm ProNav: ac range: 157.314819 m, nav range: 148.930435 m, bearing: 30.534962 deg, approach rate: -0.672022 m/s, LOS rate: -0.042308 deg/s, cmd heading: 34.138631 deg, new cmd heading: 34.089530 deg. zmHQmHeadingCmd: 0.594975 target range: 157.314819 and range: 158.30 m.Ru@P?JqbqZqBq:q2yҔyڔyyڒ’,@颭RBɢ6) .i)项iƽi@P?gY>;€I@P?II)iAqi@q @q@ui1@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795247ԩA؟AIIO%M>E  E E %E "E :;*E d:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046868 3,9 Τ?A2!>2#/?2 ٱ28$ :AHRS rotation from veh to nav: [[0.838685,-0.531992,-0.116587],[0.543432,0.831575,0.114736],[0.035912,-0.159584,0.986531]]2H@?@ؽc?C?@P_?`c??mĿ`?i2!>I2x;`;2CYBByBJ"IDFAiMb@Mb@Mb@ 9K7?J +?9"?Y"?=DFyE<E>Q 5[51z?Q 9[5M)lBY.?Q E:yG8?Q I@TEI:i:@[5yBɮ@EQFNOT Ignoring new targets: 157.31 m.(_(_Q ProNav: ac range: 157.314819 m, nav range: 148.648392 m, bearing: 30.514404 deg, approach rate: -0.667902 m/s, LOS rate: -0.048775 deg/s, cmd heading: 34.089529 deg, new cmd heading: 34.027738 deg. zQHeadingCmd: 0.593896 target range: 157.314819 and range: 158.30 m.R ?JbZB:2Ҕ ڔ B ڒ ’f@=PBɢE)A EzA>1 AA II Ia Om >B% >B! B% y"IB% BB% S =B! B! B% zQ;B% EBBBBP =BP =Ce 6Q Jۍ3,i:Τ?AN>N4?NQٱN# VAHRS rotation from veh to nav: [[0.836471,-0.535172,-0.117930],[0.546752,0.829576,0.113429],[0.037128,-0.159358,0.986522]]NH^? ! 0~?`? ?k?`eĿ?iN>IN:`;NCEb EbEb'E`"Eb=;*Eb:VEb'4ZE`BEb9 Y = DFy E(<E>Q 5%[5z?Q 9%[5 I)lBY!y%M9?Q I%@YEI:i:C[5y1ɮ5`@1YQ]FNOT Ignoring new targets: 157.31 m.]dedQm ProNav: ac range: 157.314819 m, nav range: 148.389679 m, bearing: 30.495062 deg, approach rate: -0.667701 m/s, LOS rate: -0.050008 deg/s, cmd heading: 34.027739 deg, new cmd heading: 33.969610 deg. zuG Q}HeadingCmd: 0.592882 target range: 157.314819 and range: 158.30 m.R}?JybyZyBy:y2Ҕڔڒ’`)@颽OBɢ&) #i)ۓiG*i?:;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.55244419@ @@4@^ANJNYAIIOe>ԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802748Ɣ3,tTΤ?A,Y By M"IiMb@Mb@Mb@ 9Gz?"~j?MbY0?yS=A $ A)Y AbDEVD3y%%1=ٔQ->9Y=DFy EE>Q 5-[5wz?Q 9-[5AC)lBY-2?Q E-:y-;?Q I-@^EIm ;i:H[5y=Bɮ=@=EYQeFNOT Ignoring new targets: 157.31 m.evmvQu ProNav: ac range: 157.314819 m, nav range: 148.066910 m, bearing: 30.469690 deg, approach rate: -0.684984 m/s, LOS rate: -0.053961 deg/s, cmd heading: 33.969611 deg, new cmd heading: 33.893331 deg. z}!Q}HeadingCmd: 0.591550 target range: 157.314819 and range: 158.30 m.ԁRo?JbZB:2ҔڔBڒ’]@E EE$E"Ea?;*E:VE4ZEa@a@a@a@NBɢ%) \4i)Z;iFio?B9;!Io?IR>i>}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0550769@ @@@Ա^A +WBA iAzA jA A I I O >3,lmΤ?AN5>Nq?Nq#ٱN ZAHRS rotation from veh to nav: [[0.831572,-0.542763,-0.117879],[0.553974,0.825802,0.105658],[0.039997,-0.153164,0.987391]]NH=?Q^`J-`(?@l?@_ ?z?`ݚÿ@?iN5>IN`;NC\YbByb<"I)drchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.307197bDnNVDn4yz垽%zm=ٔ~%Q-~?9Y=DFy Eq<E? Q 5[5  {?Q 9[5 ?) lBYy=?Q I@ bEI w;i ; J[5y!ɮ%@)GSEB*** querying acoustic contact ***:ABAQQ]FNOT Ignoring new targets: 157.31 m.]]Qm ProNav: ac range: 157.314819 m, nav range: 147.837830 m, bearing: 30.450779 deg, approach rate: -0.681851 m/s, LOS rate: -0.056377 deg/s, cmd heading: 33.893332 deg, new cmd heading: 33.836509 deg. zmQuHeadingCmd: 0.590558 target range: 157.314819 and range: 158.30 m.Ru.?JqbyZyBy:y2yҔڔڒ’Q@颱ɢ ) dNi)S项iqi.?e9;f;I.?I 9@  @ @ /@ @iA@iAB>BB"IBBBR =BBBQ;BE^AΒE EE#E"E=;*Ed:VE3ZEBEa2EaJE)checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558882A (ӡ3,eΤ?A27i>20?2)ٱ2s5 :AHRS rotation from veh to nav: [[0.829133,-0.546525,-0.117683],[0.557516,0.823918,0.101657],[0.041403,-0.149897,0.987834]]2HA?!}v ,?]? 2?2?/ÿV?i27i>I2G`;2CYfӃByf$"IbDn`VDn04yv`%vK=ٔzeQ-z>9z ?Yz ?=~DFy~ E~ /<E>Q 5 [5r{?Q 9[5:)lBYy??Q I@fEIW:ip:uN[5y%Bɮ%R@%EIQMFNOT Ignoring new targets: 157.31 m.UUQe ProNav: ac range: 157.314819 m, nav range: 147.562653 m, bearing: 30.427484 deg, approach rate: -0.683503 m/s, LOS rate: -0.057969 deg/s, cmd heading: 33.836508 deg, new cmd heading: 33.766493 deg. zm"QmHeadingCmd: 0.589337 target range: 157.314819 and range: 158.30 m.Ru?JqbqZqBq:q2yҔyڔyyڒ’`@颭MBɢ:) si)N旼项i'Pi?I9;;I?Ii@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.811590Iy^ArA>A>Ae ؟AEm  Em Em +Ei "Em ;;*Em :VEm [4ZEi au @au @a} @a} @I I O >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062947n3,'Τ?A2]>2B?2070ٱ2 :AHRS rotation from veh to nav: [[0.826532,-0.549988,-0.119822],[0.561244,0.821493,0.100775],[0.043008,-0.150543,0.987667]]2H r?@ ?I?`̹?(?Dÿ?i2]>I2)4`;2CYBÃByB"Ii Mb@Mb@Mb@     9  rh?X9v?V-Y ,?y }=  A @  A) A Y AbD%ZVD%%4y5 %5F=ٔ5 Q-5>y9"?Y"?=DFyE~/<E>Q 5[5H1{?Q 9[5M5)lBYn-?Q E:y>.?Q I@kEI;i;+R[5yBɮo@E!Q%FNOT Ignoring new targets: 157.31 m.-/1-/1Q] ProNav: ac range: 157.314819 m, nav range: 147.278229 m, bearing: 30.410809 deg, approach rate: -0.659292 m/s, LOS rate: -0.038727 deg/s, cmd heading: 33.766495 deg, new cmd heading: 33.716374 deg. z]ԺQeHeadingCmd: 0.588462 target range: 157.314819 and range: 158.30 m.Ren?JabaZaBa:a2iҔiڔmCBiڒ’ 5 @LBɢ,) ki) ڙ  i H»in?[H:;ln"B >B CB `"IB BB S =B B TDB ~Q;B E x'3,]Τ?A2>2?2R6ٱ28 :AHRS rotation from veh to nav: [[0.824220,-0.552869,-0.122467],[0.564512,0.819244,0.100827],[0.044586,-0.152238,0.987338]]2H `?`Y{?@>7?Ϲ? Ӧ?|ÿ@E?i2>I2k_;2CYvByv!IxxE EE$E"Eg5;*E:VE4ZEBE{91Y1==DFy=E='<E=>AQ 5M[5EB{?Q 9M[5E0)E lBYQyU>/?Q IU@EoEIE:iE :EU[5yYɮ]@aQFNOT Ignoring new targets: 157.31 m.<<Q ProNav: ac range: 157.314819 m, nav range: 147.016266 m, bearing: 30.394984 deg, approach rate: -0.682234 m/s, LOS rate: -0.041288 deg/s, cmd heading: 33.716375 deg, new cmd heading: 33.668814 deg. zQHeadingCmd: 0.587632 target range: 157.314819 and range: 158.30 m.Ro?JbZB:2Ҕڔڒ’ט!@KBɢ>+) i)߽ij[»io?r;;1bY 3,GΤ?A5pW>5L?5R;ٱ5+ AHRS rotation from veh to nav: [[0.822465,-0.555295,-0.123287],[0.566976,0.817736,0.099226],[0.045717,-0.151510,0.987398]]5HQ? $? *?f?)h? dÿØ?i5pW>I5x%`;5CYBy!I)i]Mb@Mb@Mb@YYYY Y9]!rh?Mb`? rhY]l'?y];]C ]A]@ ] A)]AYY]AbDu`VDu04yiý%6=ٔo%Q->9 ?Y ?=DFyEJ;E>Q 5[5W{?Q 9[5,Q =tI) lBY'?Q E:yD?Q I@tEI;i;Y[5yBɮ@ EQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 146.723343 m, bearing: 30.387171 deg, approach rate: -0.653005 m/s, LOS rate: -0.017451 deg/s, cmd heading: 33.668813 deg, new cmd heading: 33.645329 deg. z?QHeadingCmd: 0.587222 target range: 157.314819 and range: 158.30 m.R*T?JbZB:2ҔڔBڒ’@"@JBɢ*{,) δi)kxE  E E E "E /;*E :VE ZE a@a@a@a@AiE»iM*T?M<=;M(хԱ l93,Τ?A2/>2*8?2@ٱ2 :AHRS rotation from veh to nav: [[0.820840,-0.557391,-0.124648],[0.569223,0.816292,0.098252],[0.046984,-0.151602,0.987324]]2HRD?%`迿7??`'?@L?gÿ`)?i2/>I2:`;2CYB}ByB!IbDJdVDJ 84yR %Vo=ٔVrQ-V?9XYX=ZDFyZEZ<EZ?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323012dQ 5j[5ff{?Q 9j[5f0))flBYhyj?Q In@fwEIf:if';f\[5ypɮr@pGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 157.31 m.Q% ProNav: ac range: 157.314819 m, nav range: 146.498688 m, bearing: 30.380914 deg, approach rate: -0.652817 m/s, LOS rate: -0.018211 deg/s, cmd heading: 33.645327 deg, new cmd heading: 33.626527 deg. z%GQ-HeadingCmd: 0.586894 target range: 157.314819 and range: 158.30 m.R->?J)b1Z1B1:121Ҕڔڒ’ `;#@ԑIBɢ{I) ˾i)ʠiϙ»i>?R?;?II)hABqBqBu("IBuփBBqBqBqBu Q;BuE9@ @@0@E EE%E"Em+;*E:VE 4ZEBE܄ !3,Ϥ?A66?6X2Eٱ6Z BAHRS rotation from veh to nav: [[0.820069,-0.558185,-0.126158],[0.570237,0.815599,0.098120],[0.048125,-0.152405,0.987146]]6H>?`@%`b?? c?h?ۣ?ÿ?i6I6O`;6CYJdByJ!I LLR=R=bDVQVDV4y^%^I=ٔb8Q-b>9`Y`=fDFyfEfXM;Ef>hQ 5n[5jy{?Q 9n[5j<%)jlBYpyrJ?Q Ir@j|EIj3;ijr;j `[5yvBɮv@tQFNOT Ignoring new targets: 157.31 m.nnQ- ProNav: ac range: 157.314819 m, nav range: 146.234131 m, bearing: 30.373392 deg, approach rate: -0.653879 m/s, LOS rate: -0.018625 deg/s, cmd heading: 33.626527 deg, new cmd heading: 33.603920 deg. z-LQ5HeadingCmd: 0.586499 target range: 157.314819 and range: 158.30 m.R5$?J1b1Z1B1:929Ҕ9ڔAAڒA’AAM@#@uHBɢuudV)q uiiy)}yyyi}1»i$?NA;/ =GYqk9YXA!I E-  E- E- #E) "E- /;*E- d:VE- 3ZE) a5 @a5 @a5 @a5 @ 2_?2YHٱ2 >AHRS rotation from veh to nav: [[0.820048,-0.557784,-0.128056],[0.570198,0.815463,0.099466],[0.048944,-0.154584,0.986767]]2H =?@^ d ??F?@v?:?@fÿ?i2g>I228`;2CYNMByR!Ii%Mb@Mb@Mb@!!!! !9%Zd;?Mb~jtY%?y%%%vA%@ % A)%A!Y%AbD}RVD}4ydս%==ٔQ->9Y=DFyEAE>Q 5[5ƍ{?Q 9[5")lBY ?Q E:y>Q I@EI*A5 >I I O > Bi Bi Bm !IBm BBi Bi Bi Bm P;Bm <Ev3,?<Ϥ?A2,>2X?2dKٱ2 # :AHRS rotation from veh to nav: [[0.820452,-0.556581,-0.130675],[0.569557,0.815561,0.102298],[0.049636,-0.158358,0.986133]]2H$A? 9? ?80? i?`EĿg?i2,>I2+H`;2CYB;ByBi!IbDJYVDJ#4yRĽ%VZ=ٔVPQ-V>9TYX=ZDFyZEZ.EZ>\`Q 5f[5bm{?Q 9f[5be)blBYdyj<>Q Ij@bEIb:ib:bg[5bEajEeO4rEeb0Er ErEr&Ep"Erm+;*Ern:VEr4ZEpBEpaz2EpazJEri%!>M2Acoustic response timeout@ @@/@)^AD-<II!O5> 4= R= 2Acoustic response timeouta `3,VϤ?AAY,ByV!II=)4<  iMb@Mb@Mb@ 97A`?oʡſ~jth?Y?y-D;IAr@  A)AY AbDJVD04yy%*=ٔQ- >9 Y = EFy EE>Q 5%[5ȶ{?Q 9%[5)9lBY%?Q E-:y->Q I-@EI2 ;i ;Kk[5y5Bɮ5@5 EYQ]FNOT Ignoring new targets: 157.31 m.e\:e\:Qu ProNav: ac range: 157.314819 m, nav range: 145.442291 m, bearing: 30.411489 deg, approach rate: -0.601871 m/s, LOS rate: 0.048237 deg/s, cmd heading: 33.649402 deg, new cmd heading: 33.718430 deg. zuk;Q}HeadingCmd: 0.588498 target range: 157.314819 and range: 158.30 m.R}ȧ?JybyZyB:2ҔڔtBڒ’ &@颽CBɢf)  i);eiziȧ?G;z ߏ3,~pϤ?A26>2/I?2JOٱ2S( :AHRS rotation from veh to nav: [[0.822763,-0.552383,-0.133918],[0.566124,0.817412,0.106492],[0.050642,-0.163432,0.985254]]2HT?@:$?=(? C? ?YĿ@3?i26>I2@`;0YB ByBH!IJ2Acoustic response timeoutbDRVVDRE4yZ%Zx=ٔ^GQ-^?9\Y\=bEFybEbMEb?lQ 5r[5n{?Q 9v[5n2)nNlBYxyz>Q I~@nEInX;inL;n1n[5y ɮR@GSEB*** querying acoustic contact ***:ABAYQeFNOT Ignoring new targets: 157.31 m.eXZ:eXZ:Q ProNav: ac range: 157.314819 m, nav range: 145.244690 m, bearing: 30.427669 deg, approach rate: -0.582062 m/s, LOS rate: 0.047723 deg/s, cmd heading: 33.718431 deg, new cmd heading: 33.767034 deg. z;Q HeadingCmd: 0.589346 target range: 157.314819 and range: 158.30 m.R `?J b Z B : 2Ҕڔڒ’@ H'@颍BBɢŁ) i)顑iܾi`?*I;TI o3,8Ϥ?A6>6ԟ?6iPٱ6 + BAHRS rotation from veh to nav: [[0.824208,-0.549862,-0.135399],[0.563986,0.818583,0.108819],[0.051000,-0.166052,0.984797]]6H_?xT`, ? 1?ۻ?`?4Aſu?i6>I6a:`;6CYJ&ByJO!IbDR\VDRP)4yZ<%ZK=ٔZ&jQ-Z>9^"?Y^"?=^EFy^!EbһEb>dQ 5j[5fZ{?Q 9j[5f()fglBYhyj>Q In@fEIfl:if8;fq[5yrBɮr!@rE Q FNOT Ignoring new targets: 157.31 m.g:g:Q% ProNav: ac range: 157.314819 m, nav range: 145.006332 m, bearing: 30.447488 deg, approach rate: -0.608236 m/s, LOS rate: 0.050659 deg/s, cmd heading: 33.767035 deg, new cmd heading: 33.826592 deg. z% ;Q-HeadingCmd: 0.590385 target range: 157.314819 and range: 158.30 m.R-#?J)b)Z)B):121Ҕ1ڔ19ڒ9’99EZ(@mABɢmel)i m iq)uJqqiu½i}#?}J;}1*ԑE  E E #E "E *;*E ;:VE 3ZE a @a @a @a @e 2Acoustic response timeoutԹ @3,Ϥ?A> >>?>ޒOٱ>W, FAHRS rotation from veh to nav: [[0.826271,-0.546754,-0.135409],[0.560990,0.820410,0.110534],[0.050655,-0.167294,0.984605]]>Hp?`U?@?K??iſ?i> >I>!`;9QYQ=UEFy]#E] E]>aQ 5m[5e{?Q 9m[5e)elBYu ?Q Eu:yuOj>Q Iu@eEIe:ie8:ecu[5yyɮ@QFNOT Ignoring new targets: 157.31 m.::Q ProNav: ac range: 157.314819 m, nav range: 144.755005 m, bearing: 30.478545 deg, approach rate: -0.593028 m/s, LOS rate: 0.073409 deg/s, cmd heading: 33.826590 deg, new cmd heading: 33.919923 deg. zI;QHeadingCmd: 0.592014 target range: 157.314819 and range: 158.30 m.R@?JbZB:2Ҕڔ[Bڒ’ _(@颅?BɢX"w) i)+顉iȥԑi@?TJ;b;I@?Ii@q @q@u0@qBDAT read: Response Not Received *response not received*DAT read: user:301> A>B >B B !IB RBB B B B mO;B EA I) I9 OM > 3,Ϥ?A2>2?2Oٱ26- :AHRS rotation from veh to nav: [[0.828178,-0.543830,-0.135537],[0.558166,0.822181,0.111666],[0.050709,-0.168132,0.984459]]2Ho?` gGY?MO?@#??@Uſ ?i2>I2r7`;2CYB#ByBK!IbDNUVDNn4yV<%VU=ٔVQ-V>9XYX=ZEFyZ%E^E^>Eb EbEb'E`"Eb /;*Eb:VEb'4ZE`BEbQ Iv@nEIn:in*:nx[5yzBɮzr@|Q%FNOT Ignoring new targets: 157.31 m.%X:%X:Q5 ProNav: ac range: 157.314819 m, nav range: 144.525864 m, bearing: 30.507294 deg, approach rate: -0.592583 m/s, LOS rate: 0.074464 deg/s, cmd heading: 33.919922 deg, new cmd heading: 34.006303 deg. z5jL;Q=HeadingCmd: 0.593522 target range: 157.314819 and range: 158.30 m.R=?JAbAZABA:A2AҔIڔIIڒI’QQU@+)@:DAT read: Tx time:2114.0941 %Xunknown deviceResponse_: Tx time:2114.0941 %2Acoustic response timeout-=Bɢ-R)) 59 i1)UÄQQiUI  2Acoustic response timeout3,Ϥ?AY]*ByeT!IbDOVDc4y=%9=ٔQ->9Y=EFy'E E>1Q 5M[55|?Q 9M[55)5lBYyQ I@5EI5)K3,Ϥ?AF2Acoustic response timeoutHZ%>Zu?ZRٱZW0 jAHRS rotation from veh to nav: [[0.832283,-0.537181,-0.136896],[0.551964,0.825924,0.114830],[0.051381,-0.171133,0.983907]]ZH?0҅?@m?@e?@N?ſ+|?iZ%>IZQu`;XYvCByvs!IiMb@Mb@Mb@ 97A`?пJ +?Y?yH=A )YAbD_VD.4y=%H=ٔٺQ->9 ?Y ?=EFy)E_E > Q 5[5 Q/|?Q 9[5 =) mBY $?Q E:yJ>Q I@ EI %;i  ; +[5y)ɮ-@)GSEB*** querying acoustic contact ***:ABAQQUFNOT Ignoring new targets: 157.31 m.]:]:Qm ProNav: ac range: 157.314819 m, nav range: 144.023407 m, bearing: 30.573564 deg, approach rate: -0.609679 m/s, LOS rate: 0.084628 deg/s, cmd heading: 34.106693 deg, new cmd heading: 34.205461 deg. zmQh;QuHeadingCmd: 0.596998 target range: 157.314819 and range: 158.30 m.Ru?JqbqZqBy:y2yҔyڔ{Bڒ’.X+@颵9BɢTm) )i)3ü项i4ٹi?&I;I?IB>BBBBT =BBBN;BvE@ @@ 4@ @=@=E E E&E"E/;*E:VE4ZEBELjD4,R} Ф?A>_j>> ?>UTٱ>1 FAHRS rotation from veh to nav: [[0.834127,-0.534146,-0.137551],[0.549133,0.827629,0.116119],[0.051816,-0.172392,0.983665]]>H +?A? {?@??ƿ`.z?i>_j>I>c`;>CYNKByR|!IbDZ`VDZ04yb*=%b`=ٔbQ-f>9dYd=fEFyf+Ej$Ej>lQ 5r[5nDB|?Q 9r[5n)n?mBYpyrJG>Q Iv@nEIn/;inL;nY[5yzBɮz9@zE|Q%FNOT Ignoring new targets: 157.31 m.%׾:%׾:Q5 ProNav: ac range: 157.314819 m, nav range: 143.807281 m, bearing: 30.603928 deg, approach rate: -0.592885 m/s, LOS rate: 0.083423 deg/s, cmd heading: 34.205461 deg, new cmd heading: 34.296691 deg. z5e;Q=HeadingCmd: 0.598590 target range: 157.314819 and range: 158.30 m.R=5=?JAbAZABA:A2AҔIڔIIڒI’QQU,@}7Bɢ}n) i)/ZƼ顁i?i5=?#G;/I5=?I@ @@/@ߝ ?ߝV?2Acoustic response timeout^A3)A؟AI!I9OEQ>yD ?AzD ?AE  E E "E "E =-;*E n:VE (3ZE a @a @a @a @ԡ E 2Acoustic response timeout4,Y%Ф?A2>2'?2Uٱ2޸2 :AHRS rotation from veh to nav: [[0.836017,-0.531065,-0.138003],[0.546216,0.829396,0.117261],[0.052186,-0.173412,0.983466]]2H? |`z? j??%?]2ƿ x?i2>I2đ`;2CYNcByR!Ii%Mb@Mb@Mb@!!!! !9%-?}?5^I̿Q?Y%5?y%Mb%u=%IA%/@ %l A)%A!Y%AbD=^VD=,4yM=%MB=ٔMQfQ-U>9U"?YU"?=UEFyU-EԙME>Q 5[5ZY|?Q 9[57)ymBY(?Q E:y+>Q I@EI:i#:-[5yBɮ@!Q%FNOT Ignoring new targets: 157.31 m.-:-:Q= ProNav: ac range: 157.314819 m, nav range: 143.535568 m, bearing: 30.635339 deg, approach rate: -0.621005 m/s, LOS rate: 0.071926 deg/s, cmd heading: 34.296692 deg, new cmd heading: 34.391103 deg. z=rE;QEHeadingCmd: 0.600238 target range: 157.314819 and range: 158.30 m.RE2?JAbAZIBI:I2IҔIڔUBQڒQ’YY] ,@颅5BɢFU) kҾi)Lɼ顉i Di2?6E;;rI2?II@I @I@U/@Q2Acoustic response timeout^ArAA>B B B !IB vBB S =B B B N;B BEA I I O > 4,3?Ф?A2>2?2Zٱ222 :AHRS rotation from veh to nav: [[0.837090,-0.529258,-0.138440],[0.544459,0.830657,0.116503],[0.053336,-0.172898,0.983495]]2H`q?@g4l?ྔ? ӽ?N?!ƿx?i2>I2`;2CER ERER$EP"ER';*ERV:VER4ZEPBER%=K=ٔE;Q-E>9IYI=MEFyM/EM̮EM>QQ 5][5Um|?Q 9e[5U)UmBYaye >Q Ie@UEIU];iU;U[5yiɮu<@uEQFNOT Ignoring new targets: 157.31 m.r:r:Q ProNav: ac range: 157.314819 m, nav range: 143.296112 m, bearing: 30.663351 deg, approach rate: -0.620951 m/s, LOS rate: 0.072760 deg/s, cmd heading: 34.391102 deg, new cmd heading: 34.475277 deg. zG;QHeadingCmd: 0.601707 target range: 157.314819 and range: 158.30 m.Rz ?JbZB:2Ҕڔڒ’C-@2Acoustic response timeout3BɢC) /i ) V˼  i Dӹiz ?kB;]Iz ?I9@ @@@@hA@!^A}tAIIO>Q 2Acoustic response timeout ԀG) A } 9y Y} Ay o4,YФ?A>7>>I?>^ٱ> 1 JAHRS rotation from veh to nav: [[0.837768,-0.528167,-0.138509],[0.543320,0.831574,0.115275],[0.054296,-0.171829,0.983629]]>H?଺b?@??̫?zſ`y?i>7>I>a;9)YY1=mEFym2EBE>Q 5[5S|?Q 9[5 )mBYy~>Q I@EI;ii;u[5yBɮ@YQeFNOT Ignoring new targets: 157.31 m.e:m:Q} ProNav: ac range: 157.314819 m, nav range: 143.018967 m, bearing: 30.696081 deg, approach rate: -0.598900 m/s, LOS rate: 0.070865 deg/s, cmd heading: 34.475277 deg, new cmd heading: 34.573657 deg. z}B;QHeadingCmd: 0.603424 target range: 157.314819 and range: 158.30 m.Rz?JbZB:2Ҕڔڒ’ s.@E EEE"E1;*E|:VEZEa@a@a@a@0Bɢ-)ii i)`ͼi Iiz?(?;ޢIz?I2Acoustic response timeoutԁ9@ @@@ԩ^A vA gAzA hA AA IQ Iq O} >:4,^JsФ?A2Acoustic response timeoutB^>B/?B,bٱB. NAHRS rotation from veh to nav: [[0.837942,-0.528042,-0.137930],[0.542962,0.832141,0.112845],[0.055190,-0.169448,0.983993]]BH@k?`ಧ_??@j?A?|ſ|?iB^>IB`;BCYVуByV!"Ii-Mb@Mb@Mb@)))) )9-S?xƿʡE?Y-?y-K7-=-`A) - A)))Y-=AbDEYVDE#4yI>%H=ٔQ->9Y=EFy4EE>Q 5[5l|?Q 9[5 )nBYx"?Q E:y>Q I@EI;i?;Б[5yBɮP@EGSB*** querying acoustic contact ***:B!Q%FNOT Ignoring new targets: 157.31 m.-:-:Q= ProNav: ac range: 157.314819 m, nav range: 142.787292 m, bearing: 30.717631 deg, approach rate: -0.627519 m/s, LOS rate: 0.058465 deg/s, cmd heading: 34.573656 deg, new cmd heading: 34.638410 deg. z=~ ;QEHeadingCmd: 0.604554 target range: 157.314819 and range: 158.30 m.RE?JAbAZIBI:I2IҔIڔUBQڒQ’QQ]@Ib/@ԁ颍.Bɢ.) :i)xμ顑i⼻i?O<;,I?IB)B)B-!IB-BB)B)B)B-vN;B-:EY@Y @Y@Y@Y^AU֣ԱbE4jEJ4rEƁ/E EE#E"E%;*E:VE3ZEBE(2Acoustic response timeout c#4,Ф?A28>2r?2&fٱ2) :AHRS rotation from veh to nav: [[0.837331,-0.529406,-0.136402],[0.543785,0.832246,0.108003],[0.056343,-0.164607,0.984749]]2Hk?u@f?¡? ?ج? ſ?i28>I2`;2CYnBynG"IIr?>)rR=bDxVDxy!>%Y=ٔHQ- >9 Y = EFy 6E2;E>Q 5%[5(|?Q 9%[5)UnBY!y%ŝ>Q I%@EI:iN:1ɮ5h@1QQ]FNOT Ignoring new targets: 157.31 m.]:e:Qm ProNav: ac range: 157.314819 m, nav range: 142.560028 m, bearing: 30.738824 deg, approach rate: -0.604054 m/s, LOS rate: 0.056421 deg/s, cmd heading: 34.638410 deg, new cmd heading: 34.702091 deg. zu;Q}HeadingCmd: 0.605666 target range: 157.314819 and range: 158.30 m.R} ?JybyZyBy:y2Ҕڔڒ’@l0@颽,Bɢp ) Hi)$3ϼi~i ?Wc9;~I ?I=9@9 @9@E0@A@I@M=U2Acoustic response timeout^AI I I E  E E %E "E *;*E :VE 4ZE a @a @a @a @O >i I  2Acoustic response timeoutlE)4,Ф?A2>2p?2Kkٱ29# >AHRS rotation from veh to nav: [[0.836553,-0.531215,-0.134125],[0.544870,0.832286,0.102063],[0.057413,-0.158461,0.985695]]2H ?@@+o?? ?>e?vHĿ@ϊ?i2>I2`;2CYF ByFk"Ii Mb@Mb@Mb@     9 y&1?y&1V-?Y `%?y `彙 m= IA   A) 1A Y AbD-gVD-=4y52>%=G=ٔ=*Q-=>9AYA=EEFyE8EEU;EM>IQ 5U[5M|?Q 9][5M)MnBY](?Q E]:y]:>Q I]@MEIM ;iM ;M[5ymBɮm@m E)Q-FNOT Ignoring new targets: 157.31 m.U5:U5:Qe ProNav: ac range: 157.314819 m, nav range: 142.295273 m, bearing: 30.751260 deg, approach rate: -0.614019 m/s, LOS rate: 0.028896 deg/s, cmd heading: 34.702091 deg, new cmd heading: 34.739470 deg. ze:QmHeadingCmd: 0.606318 target range: 157.314819 and range: 158.30 m.Rm7?JibiZiBq:2Ҕڔ0Bڒ’`0@Q )Bɢ ) di)ϼi»i7?O5;%`I%7?I!e2Acoustic response timeoutymqB9 B9 B= `"IB= BB= R =B9 B9 B= rN;B= 8EBBBBBC1 5ԩ E 9@A  @A @E /@A E  E E &E "E :;*E #:VE 4ZE BE .A>I!I9OE?&24,Ф?ABbd>B?BvٱBPr JAHRS rotation from veh to nav: [[0.833761,-0.536041,-0.132294],[0.548838,0.830761,0.092803],[0.060159,-0.149983,0.986857]]BH@,?@@'`? ??ͮ?2ÿ`T?iBbd>IB`;@YR*ByR"I TTbD^CVD^3yb=%f=ٔfQ-f>9hYh=jEFyj:EnF<En>pQ 5r[5r|?Q 9v[5ru)rnBYtyv/>Q Iv@rEIrI;ir;r;[5y~Bɮ~@~ EQ%FNOT Ignoring new targets: 157.31 m.%7 :%7 :Q= ProNav: ac range: 157.314819 m, nav range: 141.960709 m, bearing: 30.766520 deg, approach rate: -0.670361 m/s, LOS rate: 0.030647 deg/s, cmd heading: 34.739469 deg, new cmd heading: 34.785355 deg. z=C:QEHeadingCmd: 0.607119 target range: 157.314819 and range: 158.30 m.RE&l?JAbAZABA:A2IҔIڔIQڒQ’QQU0@颅'Bɢn̼) @;i)Fϼ顉iƻi&l?2;I&l?Im@ @@0@}=}<}2Acoustic response timeout^A&IiIyO>A E  E E %E "E O6;*E VE 4ZE a @a @a @a @0K84,KФ?A64>6?6xzٱ6 >AHRS rotation from veh to nav: [[0.832018,-0.538688,-0.132518],[0.551372,0.829329,0.090570],[0.061112,-0.148423,0.987034]]6H?`<\֤?@܉?/?J?@¿@ȕ?i64>I6`;4YFMByF"Ir2Acoustic response timeoutiMb@Mb@Mb@ 9q= ףp?ˡE/$?Y+?y',= Ar@ A)YGAbD5@VD53y#>%==ٔQ->9Y=EFyQ 5[5o|?Q 9[5)nBY-,?Q E:y?Q I@EI ;iT ;[5yɮ@ Q FNOT Ignoring new targets: 157.31 m.}7}7Q% ProNav: ac range: 157.314819 m, nav range: 141.672455 m, bearing: 30.766894 deg, approach rate: -0.666455 m/s, LOS rate: 0.000866 deg/s, cmd heading: 34.785354 deg, new cmd heading: 34.786478 deg. z%$8Q-HeadingCmd: 0.607139 target range: 157.314819 and range: 158.30 m.R-om?J)b)Z)B):121Ҕ1ڔ=]B9ڒ9’99E@Un1@m$Bɢmˢ)i m8=iq)uϼqqiu׋˻i}om?}\O0;}wmIom?IQԁ9@ @@/@2Acoustic response timeoutԩ BI BI BM "IBM PBBI BI BM UDBM kN;BM 4E^A5 膼A= hAzA= fAI I O >>4,mФ?A2{>2?2\}ٱ2 >AHRS rotation from veh to nav: [[0.830347,-0.541546,-0.131343],[0.553807,0.828119,0.086698],[0.061816,-0.144728,0.987539]]2H4?XT ȸ?@?@1? g?o¿?i2{>I2`;2CYBnByF"IbDNZVDN%4yVo+>%VU=ٔZ1Q-Z>9XYX=ZEFyZ>E^;E^>`Q 5f[5b}?Q 9f[5b')b oBYdyjU ?Q Ij@bEIb;ib3;b_[5ynBɮn@lGS~B*** querying acoustic contact ***:|B|QFNOT Ignoring new targets: 157.31 m. W&6 W&6Q ProNav: ac range: 157.314819 m, nav range: 141.416016 m, bearing: 30.766948 deg, approach rate: -0.666266 m/s, LOS rate: 0.000142 deg/s, cmd heading: 34.786478 deg, new cmd heading: 34.786642 deg. z6Q%HeadingCmd: 0.607141 target range: 157.314819 and range: 158.30 m.R%m?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’99=`1@"BE- E-E-#E)"E-1;*E-|:VE-3ZE)BE-Xia)e μaiime~лimm?u=.;u\FIum?Iq92Acoustic response timeout9@ @@5@^AIYIOG>iԙ 5 2Acoustic response timeoutE4,BѤ?A@YrvByr"IIv4=)v91Y1=5EFy5AE5E5>AQ 5E[5E-}?Q 9M[5Ei)E0oBYIyIQ IM@EEIE:iE:E[5yUBɮU@] EyQFNOT Ignoring new targets: 157.31 m.L'6L'6Q ProNav: ac range: 157.314819 m, nav range: 141.137573 m, bearing: 30.767008 deg, approach rate: -0.667449 m/s, LOS rate: 0.000143 deg/s, cmd heading: 34.786642 deg, new cmd heading: 34.786821 deg. z6QHeadingCmd: 0.607145 target range: 157.314819 and range: 158.30 m.Rm?JbZB:2Ҕڔڒ’;2@ BɢmY)  ,>i)̼i™ջim?sT,;`.MIm?Ii@i @q@uh4@yԱEU EUEU$EQ"EU%.;*EU:VEU4ZEQa]@a]@ae@ae@2Acoustic response timeout^AiII O> 3K4,\1Ѥ?Ax->-e?-ٱ-// =AHRS rotation from veh to nav: [[0.826986,-0.547527,-0.127700],[0.558738,0.825628,0.078422],[0.062495,-0.136205,0.988708]]-H v?@X@zX`.?k?v?`L?(o ~?i->I-da;)YMByM#I2Acoustic response timeoutiMb@Mb@Mb@ 9K7?~jt?{Gz?YI,?y<ף< AE@ l A)@YzAbD-AVD-?3y= >%=:=ٔEʺQ-E>9AYI=MEFyMCEM^<EM>QQ 5][5U8)}?Q 9][5U)UKoBYey,?Q Ee:ye9"?Q Ie@UEIU:iUa:Uܫ[5yiɮm@qQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 140.843811 m, bearing: 30.755416 deg, approach rate: -0.667743 m/s, LOS rate: -0.026402 deg/s, cmd heading: 34.786819 deg, new cmd heading: 34.751973 deg. zQHeadingCmd: 0.606536 target range: 157.314819 and range: 158.30 m.RE?JbZB:2ҔڔBڒ’72@Bɢ) m>i)D˼i3ۻiE? *; ջI E?I BBB#IBBBBBBJN;B#E!@) @)@-?4@)@1@5=1EU EUEQEQ"EU%;*EU :VEQZEQBEU(Am > 2Acoustic response timeouta A I I O >R4,JѤ?A2#>2?2Q ٱ2wN :AHRS rotation from veh to nav: [[0.825246,-0.550078,-0.127996],[0.561306,0.823912,0.078132],[0.062479,-0.136323,0.988692]]2Hjh?<,b9?{]?o?=?@s^?i2#>I221a;0YBByB"#IbDJEVDJ3yRČ=%Vh=ٔVU;8Q-V>9XYX=ZEFyZEEZ<E^>`Q 5f[5b;9}?Q 9f[5b)b`oBYdyf#?Q If@bEIbK:ib:b[5ynBɮn@nE9yQFNOT Ignoring new targets: 157.31 m.zzQ ProNav: ac range: 157.314819 m, nav range: 140.608658 m, bearing: 30.745802 deg, approach rate: -0.639017 m/s, LOS rate: -0.026171 deg/s, cmd heading: 34.751972 deg, new cmd heading: 34.723080 deg. zQHeadingCmd: 0.606032 target range: 157.314819 and range: 158.30 m.R$?JbZB:2Ҕڔڒ’p 3@Bɢv) >i)ɼiRi$? ); :I $?I1i 2Acoustic response timeout5ԑ@ @@5@ Ee  Ee Ee %Ea "Ee [";*Ee Z:VEe 4ZEa am @am @am @am @i߹ I߹  2Acoustic response timeout^A [Rӻ A!I)IAOM? DZ4,kѤ?AYBy-#I !!%=%=iMb@Mb@Mb@ 9HzG?S㥫?Y=*?y/]=hAr@ VA)5@YQAbDCVD3y%=%%=ٔ%Q-->9)Y)=-EFy5GE5E5>9Q 5E[5=EQ}?Q 9E[5=)=soBYE*?Q EE:yM{-?Q IM@=EI= ;i=u ;=[5yUBɮU@UEyQ}FNOT Ignoring new targets: 157.31 m.44Q ProNav: ac range: 157.314819 m, nav range: 140.246078 m, bearing: 30.724771 deg, approach rate: -0.679167 m/s, LOS rate: -0.039497 deg/s, cmd heading: 34.723080 deg, new cmd heading: 34.659823 deg. zغQHeadingCmd: 0.604928 target range: 157.314819 and range: 158.30 m.R?JbZB:2ҔڔBڒ’3@BɢA) >i);Ǽii?(;"`I ?I%%2Acoustic response timeout9@ @@4@B>BCBN#IBńBBBBB%N;BE!^A jZXQ E}  E} E} 'Ey "E} 9;*E} :VE} '4ZEy BE} f6*a4,Ѥ?A2f>28?2q}ٱ2 :AHRS rotation from veh to nav: [[0.822383,-0.553585,-0.131261],[0.565560,0.820539,0.082807],[0.061864,-0.142335,0.987883]]2H P?``%?A?2??8¿?i2f>>2Acoustic response timeoutI2a;2CYFByF8#IbDRWVDR 4yZU=%Ze=ٔ^:Q-^>9\Y\=^EFybIEb$l<Eb>dQ 5j[5f`}?Q 9j[5f#)foBYlyn.?Q In@fEIfU;ifr;f۶[5ypɮr@pGSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 157.31 m.H6H6Q% ProNav: ac range: 157.314819 m, nav range: 140.011124 m, bearing: 30.710586 deg, approach rate: -0.658805 m/s, LOS rate: -0.039841 deg/s, cmd heading: 34.659822 deg, new cmd heading: 34.617196 deg. z%ںQ-HeadingCmd: 0.604184 target range: 157.314819 and range: 158.30 m.R-Ϋ?J)b)Z1B1:121Ҕ9ڔ99ڒ9’AAEl3@Bɢ0)  >i)eżi6iΫ?(;;IΫ?I    1Y =9@9 @9@=G4@9@eiA@aeTG,9Y*qA52Acoustic response timeoutԉ^Au qZAy zA} hAԱ A I I O>>h4,Ѥ?AE: E:E:$E8"E:';*E:V:VE:4ZE8aF@aF@aJ@aJ@ 9>?tyٱL AHRS rotation from veh to nav: [[0.821095,-0.555105,-0.132898],[0.567537,0.818803,0.086385],[0.060865,-0.146355,0.987358]]HhF?`k`D)? 3?O?)?¿o?i9>IRa;CYBy&#I2Acoustic response timeoutiMb@Mb@Mb@ 9S㥛?S㥫?QY$&?yu@ )@YAbDIVDX4y]%=ٔl:Q->9Y=EFyLE;E>Q 5[5Fw}?Q 9[5l)oBY&?Q E:y.?Q I@EIi ;i ;x[5yBɮ@EQFNOT Ignoring new targets: 157.31 m. -4 -4Q ProNav: ac range: 157.314819 m, nav range: 139.670898 m, bearing: 30.689847 deg, approach rate: -0.644481 m/s, LOS rate: -0.039381 deg/s, cmd heading: 34.617195 deg, new cmd heading: 34.554827 deg. z6غQ%HeadingCmd: 0.603095 target range: 157.314819 and range: 158.30 m.R%wd?J!b!Z!B!:)2)Ҕ)ڔ-|B1ڒ1’115u4@Bɢ) q>i)¼  i Fi wd?w );;Iwd?I!@ @@/@^A] ;QAIIO>e 2Acoustic response timeouty B >B B m#IB ߄BB B B B N;B Efen4,aѤ?AY}O$>}h?}Nsٱ} AHRS rotation from veh to nav: [[0.819876,-0.556635,-0.134017],[0.569455,0.817073,0.090068],[0.059366,-0.150161,0.986878]]}HmI}˺a;}CYBy0#IbDWVD 4y*=%[=ٔǃ;Q->9Y=EFyNE;E>Q 5[5#}?Q 9[5_)oBYy/?Q I@EId:i:[5yɮ|@QFNOT Ignoring new targets: 157.31 m.%I7%I7Q- ProNav: ac range: 157.314819 m, nav range: 139.430420 m, bearing: 30.674910 deg, approach rate: -0.643872 m/s, LOS rate: -0.040060 deg/s, cmd heading: 34.554825 deg, new cmd heading: 34.509939 deg. z5ۺQ=HeadingCmd: 0.602312 target range: 157.314819 and range: 158.30 m.R= 1?J9b9Z9B9:92AҔAڔAAڒI’IIM@ 4@颅Bɢ`7ٺ) >i)@顉i`i 1?n|);;I 1?IbE» 4jE» 4rE¼/E} E}E}'Ey"E}g5;*E}d:VE}'4ZEyBE}{ Mu4,=Ѥ?A2Acoustic response timeout6(>6(?6kٱ6;5 BAHRS rotation from veh to nav: [[0.819056,-0.557696,-0.134617],[0.570822,0.815704,0.093753],[0.057522,-0.153631,0.986453]]6H5?`;,D?>?3?xs?0ÿ?i6(>I6a;6CYFByF-#IbDRSVDR4yVR%Z]=ٔZ;Q-Z>9^ ?Y^ ?=^EFy^PEF;E>Q 5[5}?Q 9[5 )oBYy/?Q I@EI :Թi+;5[5yBɮ@ Q FNOT Ignoring new targets: 157.31 m.77QE ProNav: ac range: 157.314819 m, nav range: 139.174469 m, bearing: 30.658798 deg, approach rate: -0.636526 m/s, LOS rate: -0.040144 deg/s, cmd heading: 34.509941 deg, new cmd heading: 34.461514 deg. zEgܺQMHeadingCmd: 0.601467 target range: 157.314819 and range: 158.30 m.RM?JIbIZIBI:I2QҔڔڒ’@bG5@Bɢd) ʖ>i-PExceeded connect timeout, disconnecting.)IIiM(i]?e[*;eΦ A >I Aq Iy I O >ě{4,}Ѥ?AF>F9?FfeٱF.# vAHRS rotation from veh to nav: [[0.818212,-0.559185,-0.133567],[0.572173,0.814694,0.094294],[0.056089,-0.153576,0.986544]]FH.?>O??#??`_ÿ đ?iF>IFYa;DYBy#IiMb@Mb@Mb@ 9X9v?I +?:vY?y9<Լ~A A)@Y AbD6VD3yч%6=ٔP;Q->9Y=EFyREw;E>Q 5[5}?Q 9[5)oBY1?Q E:y#?Q I@EI;i0;[5yɮ@!Q-FNOT Ignoring new targets: 157.31 m.4=%=2Acoustic response timeoutQ- ProNav: ac range: 157.314819 m, nav range: 138.915344 m, bearing: 30.647657 deg, approach rate: -0.621780 m/s, LOS rate: -0.026782 deg/s, cmd heading: 34.461515 deg, new cmd heading: 34.428031 deg. z- Q5HeadingCmd: 0.600882 target range: 157.314819 and range: 158.30 m.R5o?J1b1Z1B1:121Ҕ9ڔ=cB9ڒA’AAE|5@mBɢmp)q uȈ>iq)uUqqi}i}o?}M+;_*B!B!B!B%S =B!B!B%6N;B%EBĿCBĿCBBR =BR =C?4=9@9 @9@E0@A)EM  EM EM #EI "EM *;*EM :VEM 3ZEI BEM ~4,dw Ҥ?A2Q>2p?2_ٱ2 :AHRS rotation from veh to nav: [[0.817668,-0.560255,-0.132414],[0.573091,0.813986,0.094839],[0.054649,-0.153432,0.986647]]2HU*?V?+ ?@\G? ?@ÿ?i2Q>I2*Ja;2CYBByB#IbDN\VDNP)4y=%ET=ٔEv;Q-E>9IYI=MEFyMTEM5;EM>QQ 5e[5U}?Q 9e[5U=)UoBYaye#?Q Ie@UEIU~ ;iU;U?[5yuBɮu@uEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 138.679306 m, bearing: 30.637367 deg, approach rate: -0.612894 m/s, LOS rate: -0.026764 deg/s, cmd heading: 34.428030 deg, new cmd heading: 34.397107 deg. zQHeadingCmd: 0.600343 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’ Y 6@Bɢ) Ă>i)_ٻii ? S,; :y> nManaging dock network, ignoring radio surface power off Eu  Eu Eu %Eq "Eu /;*Eu :VEu 4ZEq a @a @a @a @Έ4,g$Ҥ?AiI2Acoustic response timeout2~>?[!Zٱ  AHRS rotation from veh to nav: [[0.817536,-0.560829,-0.130791],[0.573412,0.813756,0.094864],[0.053229,-0.152552,0.986861]]HA)? O dY?`J ?I?@?҆ÿ`]?i2~>Iba;CYBy#IIiuMb@Mb@Mb@qqqq q9ux&1?y&1Zd;OYuA ?yu`弙ujuhAu@ uA)u5@qYuAbDXVD!4yBP%2=ٔJ;Q->9Y=EFyVEA:E>Q 5[52}?Q 9[54)oBY ?Q E:y?Q I@EI ;i ;B[5yɮ@QFNOT Ignoring new targets: 157.31 m.mmQ ProNav: ac range: 157.314819 m, nav range: 138.391602 m, bearing: 30.634132 deg, approach rate: -0.627478 m/s, LOS rate: -0.007072 deg/s, cmd heading: 34.397106 deg, new cmd heading: 34.387378 deg. zOQHeadingCmd: 0.600173 target range: 157.314819 and range: 158.30 m.R?JbZB:!2!Ҕ!ڔ-AB)ڒ)’))5~6@]Bɢ] )Y ,p>i)i i?p-;BB B B T#IB ʄBB B B B WN;B *E d4, >Ҥ?A}&g>}(?}Qٱ} AHRS rotation from veh to nav: [[0.817722,-0.560932,-0.129171],[0.573329,0.813677,0.096040],[0.051231,-0.152591,0.986961]]}H*?( X? ? ?;?@ÿ.?i}&g>I}Ga;}CY}By"IbD[VDy'4yx%X=ٔ;Q->9Y=EFyXE E> Q 5 [5 +}?Q 9[5 ) oBYy?Q I@ EI  ;i ; [5y%Bɮ%u@%EAQMFNOT Ignoring new targets: 157.31 m.MMQe ProNav: ac range: 157.314819 m, nav range: 138.153671 m, bearing: 30.631463 deg, approach rate: -0.626847 m/s, LOS rate: -0.007044 deg/s, cmd heading: 34.387380 deg, new cmd heading: 34.379359 deg. zeQmHeadingCmd: 0.600033 target range: 157.314819 and range: 158.30 m.RmÛ?JibiZiBi:i2iҔyڔyyڒy’y6@Ա颭Bɢ4) Z>i)/项i& iÛ?C.;ȹA = < 2Acoustic response timeout9 Rڕ4,iXҤ?AbC>bjx?bZJٱbl/ %AHRS rotation from veh to nav: [[0.817954,-0.560805,-0.128257],[0.573161,0.813561,0.098006],[0.049383,-0.153676,0.986886]]bH ,?@jTW?@?@?@H?ÿ?ibC>Ib La;bCY=xByE"IbDuKVDu 4y%Q=ٔԚ;Q->9Y=EFyZE/5E>Q 5[5}?Q 9[5r)oBYy?Q I@EIt:i(:[5yBɮ@EQFNOT Ignoring new targets: 157.31 m.Q ProNav: ac range: 157.314819 m, nav range: 137.909241 m, bearing: 30.628742 deg, approach rate: -0.626808 m/s, LOS rate: -0.006990 deg/s, cmd heading: 34.379358 deg, new cmd heading: 34.371180 deg. zQHeadingCmd: 0.599890 target range: 157.314819 and range: 158.30 m.Ri?JbZB:2Ҕڔڒ ’   C7@UBɢUV)Q ]T>iY)]oYYi]C' iei?e0;e#@E EEE"EP;*E:VEZEa@a@a@a%@A=2Acoustic response timeouti `4,orҤ?A`r>rb?rCٱrZG zAHRS rotation from veh to nav: [[0.818208,-0.560484,-0.128040],[0.572938,0.813396,0.100643],[0.047738,-0.155706,0.986649]]rH.?{c U?W?ù?!q?-ÿ`?ir>IrOa;rCYpBy"IiMb@Mb@Mb@ 9Cl?QMbYd?yuA@ A)@YpAbD]VD'+4yA,%G=ٔB;Q->9Y=EFy\EQE>Q 5[5~?Q 9[59)oBY)?Q E:y?Q I@EI ;i ;[5yɮO@ QFNOT Ignoring new targets: 157.31 m.88Q% ProNav: ac range: 157.314819 m, nav range: 137.658997 m, bearing: 30.631157 deg, approach rate: -0.608890 m/s, LOS rate: 0.005888 deg/s, cmd heading: 34.371182 deg, new cmd heading: 34.378441 deg. z%N9Q-HeadingCmd: 0.600017 target range: 157.314819 and range: 158.30 m.R-?J)b1Z1B1:121Ҕ9ڔ=B9ڒ9’AAE7@2Acoustic response timeout- Bɢ-?)) -D>i1)511i5%Ti=?=>1;=9E EE&E"E%;*EO:VE4ZEBE~9Y=EFy^EE>Q 5[5~?Q 9[5)oBYyQ I@ EI ;i` ; [5yɮv@EGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.88Q ProNav: ac range: 157.314819 m, nav range: 137.417587 m, bearing: 30.633495 deg, approach rate: -0.608248 m/s, LOS rate: 0.005902 deg/s, cmd heading: 34.378442 deg, new cmd heading: 34.385469 deg. z9QHeadingCmd: 0.600140 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ ’   @8@ Bɢ ) B>i)紼iEi%?%^2;%2*9ԡ E  E E E "E m+;*E :VE ZE a5 @a5 @a= @a= @f4,f.Ҥ?A~2Acoustic response timeoutqY gBy "IiMb@Mb@Mb@ 9S?B`"۹{Gzt?Y/?yνף;QAd@ tA)YzAbDJVD04yܼ%6=ٔQ->9"?Y"?=EFy`EE>Q 5[5)~?Q 9[5)oBYM?Q E:y>Q I@EI:i:[5yɮ@ aQmFNOT Ignoring new targets: 157.31 m.m9u9Q ProNav: ac range: 157.314819 m, nav range: 137.140137 m, bearing: 30.643262 deg, approach rate: -0.609345 m/s, LOS rate: 0.021492 deg/s, cmd heading: 34.385471 deg, new cmd heading: 34.414829 deg. zk:QHeadingCmd: 0.600652 target range: 157.314819 and range: 158.30 m.RV?JbZB:2Ҕڔ݃Bڒ’8@ Bɢr&) $9>i)iJi V?3;%2C4,Ҥ?A2>2 S?2-ٱ2!" >AHRS rotation from veh to nav: [[0.818548,-0.560764,-0.124591],[0.572882,0.812852,0.105253],[0.042251,-0.157531,0.986610]]2H`1?`*忿 U? ?`?@?)ĿN?i2>I2*`;0YB^ByF"IbDN[VDNy'4yVY%Vi=ٔZP9XYX=ZEFy^bE^z4E^>`Q 5f[5bZ:~?Q 9f[5bp)boBYhyj>Q Ij@bEIb;ib;b[5ylɮny@lQFNOT Ignoring new targets: 157.31 m. 9 9Q ProNav: ac range: 157.314819 m, nav range: 136.923691 m, bearing: 30.650919 deg, approach rate: -0.631060 m/s, LOS rate: 0.022360 deg/s, cmd heading: 34.414830 deg, new cmd heading: 34.437838 deg. zu:Q%HeadingCmd: 0.601054 target range: 157.314819 and range: 158.30 m.R%?J!b!Z!B!:)2)Ҕ)ڔ11ڒ1’11=8@Ie Bɢm/)i mF(>ii)uqqiui}?}kb4;};) 5 BDAT read: Response Not Received = *response not received= *DAT read: user:302> E BDAT read: Tx time:21:31:54.5441 E $Ping request sent.E z`?z%S&ٱz  AHRS rotation from veh to nav: [[0.818491,-0.561384,-0.122150],[0.573084,0.812801,0.104541],[0.040595,-0.155568,0.986991]]zH`1?3EV?x?:ú?@Ȥ?ÿm?iz>Iza;zCYcByE"IIM=)M=bD]TVD]4ym%<%m@=ٔm~;Q-m>9qYq=uEFyudE}9E}>Q 5[5pN~?Q 9[5g)oBYy>Q I@EI:i:[5yɮ$@ԹQFNOT Ignoring new targets: 157.31 m.99Q ProNav: ac range: 157.314819 m, nav range: 136.659851 m, bearing: 30.660267 deg, approach rate: -0.617500 m/s, LOS rate: 0.021923 deg/s, cmd heading: 34.437838 deg, new cmd heading: 34.465938 deg. zp:QHeadingCmd: 0.601544 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’`[L9@-Bɢ-)) -5>i1)5b19i=:i=?E2m5;E&A /4,ٵҤ?AY~lBy~"IiMb@Mb@Mb@ 9l?ʡE󽿜 rh?Y?yyC<$ A )YAbDUVDn4y+=%F=ٔQ->9Y=EFyfEE>Q 5[5}a~?Q 9[5)pBY?Q E:y>Q I@EI3;i ;X[5yBɮ@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502275QFNOT Ignoring new targets: 157.31 m.%:%:Q5 ProNav: ac range: 157.314819 m, nav range: 136.413635 m, bearing: 30.672042 deg, approach rate: -0.595347 m/s, LOS rate: 0.028522 deg/s, cmd heading: 34.465937 deg, new cmd heading: 34.501324 deg. z5:Q=HeadingCmd: 0.602162 target range: 157.314819 and range: 158.30 m.R=E'?J9b9Z9B9:A2AҔAڔE҃BIڒI’IIU9@=Bɢ=&)9 =J>iA)E~AAiEiME'?ml6;m6BCB #IBBBBBTDBWN;B(E@  @ @ 0@ AbEǞ4jEǞ4rEDz/EU  EUEU&EQ"EUF;*EU;:VEU4ZEQBEU^ԙ x4,Ӥ?A2V,>2l?2hIٱ2h :AHRS rotation from veh to nav: [[0.818474,-0.562685,-0.116129],[0.573308,0.813105,0.100884],[0.037659,-0.149149,0.988097]]2H`0?X??ӹ? H? Mÿ`~?i2V,>I2`;2CYReByR"IbDXVDXyb%bZ=ٔb9dYd=fEFyfhEj:Ej>lQ 5r[5nr~?Q 9r[5nQ)n-pBYpyr>Q Iv@nEIn;inn;n[5yxɮz@zEGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.99Q% ProNav: ac range: 157.314819 m, nav range: 136.190369 m, bearing: 30.682768 deg, approach rate: -0.569957 m/s, LOS rate: 0.027426 deg/s, cmd heading: 34.501324 deg, new cmd heading: 34.533554 deg. z%:Q-HeadingCmd: 0.602724 target range: 157.314819 and range: 158.30 m.R-"L?J)b)Z)B):)21ҔYڔaiyڒ’W!:@Bɢc) @>i) 쾮  i "i"L?I7;Eu  Eu Eu $Eq "Eu /;*Eu :VEu 4ZEq a @a @a @a @ 4,(Ӥ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260371=$>=h?==Qٱ=l ]AHRS rotation from veh to nav: [[0.818537,-0.563029,-0.113995],[0.573281,0.813295,0.099500],[0.036690,-0.146796,0.988486]]=Hu1?V.PX??x?@ɢ?4¿?i=$>I=`;9YmrBym"I qqiMb@Mb@Mb@ 91Zd?X9v?Y"?y< Az@ A)r@Y@bD=SVD=4y]g=%]2=ٔe ;Q-m>9iYi=uEFyukEuE}>Q 5[5~?Q 9[5M)LpBYz?Q E:y<>Q I@#EII;iX%;[5yBɮ @EiQmFNOT Ignoring new targets: 157.31 m.u :u :Q ProNav: ac range: 157.314819 m, nav range: 135.909119 m, bearing: 30.696950 deg, approach rate: -0.608607 m/s, LOS rate: 0.030753 deg/s, cmd heading: 34.533553 deg, new cmd heading: 34.576187 deg. zר:QHeadingCmd: 0.603468 target range: 157.314819 and range: 158.30 m.R|?JbZB:2ҔڔBڒ’:@mBɢmr)q u:^>iq)#顙iSi|?08;~ 4,#fDӤ?AYzyByz"IbD LVD  4E= E=E=!E9"E=&;*E=:VE=c3ZE9BE=9aYa=mEFymmEmEm>qQ 5}[5u~?Q 9}[5u)ufpBYyQ I@u'EIuB:iu:u#[5yɮ@EQFNOT Ignoring new targets: 157.31 m.::Q ProNav: ac range: 157.314819 m, nav range: 135.663940 m, bearing: 30.709361 deg, approach rate: -0.646010 m/s, LOS rate: 0.032760 deg/s, cmd heading: 34.576187 deg, new cmd heading: 34.613487 deg. zݳ:QHeadingCmd: 0.604119 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’:@Bɢ5t) n>i)aīiti%?%8;%Ա 14,-^Ӥ?A6>6?6;ٱ6Y BAHRS rotation from veh to nav: [[0.817976,-0.564257,-0.111934],[0.574137,0.812895,0.097814],[0.035798,-0.144275,0.988890]]6H ,?d` U_?<?] ?&T?w¿@?i6>I6`;4YFByJ"IbDRZVDR%4yZ =%ZW=ٔZ;Q-Z>9\Y\=^EFy^oEb)0;Eb>dQ 5j[5f~?Q 9j[5f-)fpBYhyj>Q Ij@f+EIf:ifB:fw[5ypɮr4@p1Q=FNOT Ignoring new targets: 157.31 m.E :E :QU ProNav: ac range: 157.314819 m, nav range: 135.431137 m, bearing: 30.721100 deg, approach rate: -0.601693 m/s, LOS rate: 0.030393 deg/s, cmd heading: 34.613486 deg, new cmd heading: 34.648765 deg. zUަ:Q]HeadingCmd: 0.604735 target range: 157.314819 and range: 158.30 m.R]?JYbYZYBY:a2aҔaڔaiڒi’iimU;@额BɢC) >i)..顡i,i?y9;ۂ \4,xӤ?A6>6c?6)Qٱ60 BAHRS rotation from veh to nav: [[0.817947,-0.564197,-0.112446],[0.574198,0.812696,0.099104],[0.035470,-0.145629,0.988703]]6H ,? Gɼ`_??`^?`+)?¿ u?i6>I6 `;6CYJByJ#IING>)N=vH?v= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522243iUMb@Mb@Mb@QQQQ Q9UX9v?i|?5Zd;O?YU?yUUj=ٔG:Q->9Y=EFyqER"9E>Q 5[5L~?Q 9[5:)pBY ?Q E:y>Q I@/EI7%;i:8[5yBɮ{@EQFNOT Ignoring new targets: 157.31 m.::Q ProNav: ac range: 157.314819 m, nav range: 135.163635 m, bearing: 30.733210 deg, approach rate: -0.629804 m/s, LOS rate: 0.028568 deg/s, cmd heading: 34.648764 deg, new cmd heading: 34.685166 deg. zٜ:B]>B]CB]#IB]BB]Q =BYB]UDB]M;B]EQHeadingCmd: 0.605370 target range: 157.314819 and range: 158.30 m.R?JbZB:2ҔڔԃBڒ’`;@Bɢ) >i)$!i%!i%?-Z:;-ZUE4,Ӥ?A F>F?FxٱFS RAHRS rotation from veh to nav: [[0.818038,-0.563784,-0.113850],[0.574097,0.812416,0.101942],[0.035020,-0.148754,0.988254]]FH]-? C%_?P??$?[ ÿƟ?iF>IFa;DYVByV#IbD%YVD%#4y5 r=%5O=ٔ=:Q-=>99Y9=EEFyEsEE;EE>IQ 5U[5M:~?Q 9U[5M)MpBYYy]>Q I]@M3EIMX ;iM ;M[5yaɮe@iGSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 157.31 m.::Q ProNav: ac range: 157.314819 m, nav range: 134.917892 m, bearing: 30.744371 deg, approach rate: -0.622383 m/s, LOS rate: 0.028318 deg/s, cmd heading: 34.685166 deg, new cmd heading: 34.718709 deg. zy:QHeadingCmd: 0.605956 target range: 157.314819 and range: 158.30 m.R?JbZB:2Ҕڔڒ’ &<@Bɢ G:)  >i)KiS"i?y:;;I%?I!i9@ @@0@BDAT read: Rx Time:21:31:57.0974 TRx dataTimestamp_ set to:1761514318.408787checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023407ԑ^AΒ;AA>IQIaOu> EE  EE EE %EA "EE *;*EE :VEE 4ZEA aU @aU @aU @aU @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276651~4,Ӥ?A:t>:?: @ٱ: rAHRS rotation from veh to nav: [[0.818253,-0.563458,-0.113913],[0.573828,0.812444,0.103223],[0.034386,-0.149829,0.988114]]:H!/? j)@\??l??-ÿ?i:t>I:!a;:CY]By])#Iԩi%Mb@Mb@Mb@!!!! !9%X9v?Zd;O?Y!y%̽!%$ A%d@ !)!!Y%f@bDM6VDM3yuum=%u=ٔu:Q-u>9yYy=}EFy}uEp/E>Q 5\5n~?Q 9\5̞)pBY ?Q E:y\>Q I@8EI:i:*\5yɮ@QFNOT Ignoring new targets: 157.31 m.99Q ProNav: ac range: 157.314819 m, nav range: 134.598724 m, bearing: 30.755107 deg, approach rate: -0.621290 m/s, LOS rate: 0.020948 deg/s, cmd heading: 34.718709 deg, new cmd heading: 34.750993 deg. zf:QHeadingCmd: 0.606519 target range: 157.314819 and range: 158.30 m.RD?JbZB:2ҔڔBڒ’ =<@BɢF8DAT read: 21:31:57.0974 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.12,-2.574, 2.232,-2.155,-2.627, PHS= 0.155,-1.379, 0.428, RAW= 158.1, 9.5, CAL= 157.9, 10.1, ROT= 352.1, -10.1 Ygot valid direction response: 21:31:57.0974 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.12,-2.574, 2.232,-2.155,-2.627, PHS= 0.155,-1.379, 0.428, RAW= 158.1, 9.5, CAL= 157.9, 10.1, ROT= 352.1, -10.1 PDAT read: Bearing 191.6, -7.0 (Local) ~Local bearing/azimuth received: Bearing 191.6, -7.0 (Local) %DAT read: Range 11 to 50 : 111.9 m (Round-trip 149.2 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.975160,-0.135315,0.175367]5Fpublishing direction and range infoyr4?"KQ:ujr?YB )EIR>i">r0@)>A`0@ J4>)U@IJ4m{˔? t?K[r? *?)@)I0 iJ4MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.a)q u{>iq)u-yyi}$h%i}D?7;;] ;ID?Ii>i>B=>B9B=.#IB=BB=P =B9B9B=M;B=E) @)  @) @- /@) ԁ E=  E= E= #E9 "E= 4;*E= :VE= 3ZE9 BE= $4,Ӥ?A 6~>6?6ٱ6, BAHRS rotation from veh to nav: [[0.818275,-0.564670,-0.107576],[0.573938,0.812975,0.098317],[0.031940,-0.142192,0.989324]]6HP/? ]??@F+?Z?Z3¿?i6~>I6 a;6CYJByJD#I LLN=N=bDVTVDV4^*DAT read: user:303> bBDAT read: Tx time:21:31:58.2941 b$Ping request sent.b%5u=ٔ5;Q-=?99Y9==EFy=wEE=j9EE?IQ 5u\5M~?Q 9u\5MK)MpBYqyu0>Q I}@M<EIM;iM;M0\5yɮf@EJR}\Ӥ?AhBhB>;[@L.PcZ3@r4?"KQ:ujr?0 J4—u0BW@r%KI@cFz8@ 1`?%Px?f,?jOBrDBZorN?b0CFzBꗉڗbC◍r ?Qu addTargetRange:: Added new target pos. range: 111.900002 m, deltaT: 28.726031 s, deltaX: -46.400002 m, approachRate: -1.615260 m/s, rangeRepo size: 4 Q Added new target pos. range: 111.203461 m, bearing: 28.625087 deg, lat: 36.779558 deg, lon: -121.859268 deg, deltaT: 28.726031 s, deltaX: -46.111359 m, approachRate: -1.605212 m/s, posRepo size: 4 QFNOT Ignoring new targets: 111.20 m.Q ProNav: ac range: 111.203461 m, nav range: 134.383820 m, bearing: 30.762396 deg, approach rate: 0.000000 m/s, LOS rate: 0.020948 deg/s, cmd heading: 34.750992 deg, new cmd heading: 34.773779 deg. zQHeadingCmd: 0.606917 target range: 111.203461 and range: 111.90 m.R^?JbZ B : 2 Ҕڔڒ’[@6?I颍Bɢq<) Z>i)`顱iH'i^?_<;O;I^?I@ @@@ymchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250927ԡ ^A IA IQ Oe >#K4,Ӥ?A@YnByrI#IbDzKVDz 4y%ۙ<%-E=ٔ-Q-->91Y1=5EFy5yE5E5>AQ 5E\5E?Q 9M\5Ec)EpBYIyIQ IM@E@EIE:iE$:E \5yQɮU(@]EyQFNOT Ignoring new targets: 111.20 m.99Q ProNav: ac range: 111.203461 m, nav range: 134.134354 m, bearing: 30.770886 deg, approach rate: -0.647716 m/s, LOS rate: 0.022087 deg/s, cmd heading: 34.773781 deg, new cmd heading: 34.799300 deg. zr:QHeadingCmd: 0.607362 target range: 111.203461 and range: 111.90 m.R|?JbZB:2Ҕڔڒ’ ?E EEE"E1;*E:VEZEa@a@a@a@5Bɢ=&<)A E>iI)uyyi}:)Աi|?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505251<;t:;I|?I!9@ @@@^A X; A zA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755419AU .AIa Iq O} >4,Ӥ?AB B B"T#IB"ʄBB"Q =B B B"M;B"EB(>B*?B*ٱB7 JAHRS rotation from veh to nav: [[0.817668,-0.566099,-0.104642],[0.574967,0.812140,0.099204],[0.028825,-0.141281,0.989550]]BHW*?|ɺ "f? ?je?@4?¿@d?iB(>IB`;BCYRЄByR[#IXiMb@Mb@Mb@ 9Pn?+ηI +?Y$?yv94< A7@ 1A)@Y(@bDZVD%4y=%?=ٔ ;Q->9 ?Y ?=EFy{E6;E>Q 5\5]%?Q 9\5)qBY%?Q E:y>Q I@DEI:i:n \5yɮA@ Q FNOT Ignoring new targets: 111.20 m.99Q% ProNav: ac range: 111.203461 m, nav range: 133.858871 m, bearing: 30.778525 deg, approach rate: -0.644962 m/s, LOS rate: 0.017920 deg/s, cmd heading: 34.799302 deg, new cmd heading: 34.822263 deg. z%D:Q-HeadingCmd: 0.607763 target range: 111.203461 and range: 111.90 m.R-^?J)b)Z1B1:121Ҕ1ڔ=B9ڒ9’99E ?uBɢuU"<)y }>iy)} yyi}h+i^?=;;I^?I 9@ @@/0@@=@=Ee EeEe$Ea"EeC;*Ee&:VEe4ZEaBEe< Cm G jA R9 jAY Al5,Ԥ?A:>:?:'ٱ: FAHRS rotation from veh to nav: [[0.817259,-0.566694,-0.104623],[0.575619,0.811401,0.101442],[0.027404,-0.143128,0.989325]]:H&?["Ⱥ`xk? ? ??R¿?i:>I:[`;:CYR݄ByRk#IIV=)VX?TVAbD^JVD^04yfɉ=%f[=ٔfy;Q-f>9hYh=jEFyj}Ej?;En>pQ 5v\5rq7?Q 9v\5r1)r!qBYtyvJ>Q Iv@rHEIr:irW:r\5yxɮ~t@|GSB*** querying acoustic contact ***:B!Q-FNOT Ignoring new targets: 111.20 m.-959QE ProNav: ac range: 111.203461 m, nav range: 133.618378 m, bearing: 30.785131 deg, approach rate: -0.643487 m/s, LOS rate: 0.017708 deg/s, cmd heading: 34.822265 deg, new cmd heading: 34.842118 deg. zEpB:QMHeadingCmd: 0.608110 target range: 111.203461 and range: 111.90 m.RM?JIbIZIBI:I2QҔQڔQQڒY’YY]?颅Bɢck<) *>i)꘼顑i6r-i?=;?;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003Q@Q @Q@U5@QI^AqyD}@AzD}@AE EE%E"E3;*E:VE 4ZEa@a@a@a@II Ii O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513348ԩ 5, 0Ԥ?AYEByE}#IqiMb@Mb@Mb@ 9)\(?L7A`尿Q?YG!?y+u<A 5@)\@Y@bDCVD3y=%8=ٔQ->9Y=EFyEE> Q 5\5 K?Q 9\5 ) 4qBY5"?Q E:yw?Q I@ MEI \ ;i  ; \5y%Bɮ%K@-EIQUFNOT Ignoring new targets: 111.20 m.UP8UP8Qe ProNav: ac range: 111.203461 m, nav range: 133.338455 m, bearing: 30.787990 deg, approach rate: -0.633419 m/s, LOS rate: 0.006484 deg/s, cmd heading: 34.842120 deg, new cmd heading: 34.850716 deg. zec9QmHeadingCmd: 0.608260 target range: 111.203461 and range: 111.90 m.Rm?JibqZqBq:q2qҔyڔ}Byڒy’y@?颵Bɢh<) >i)a项i/i?a;>;%7;I?Iԡ@ @@ 5@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764290BE>BABEz#IBEBBABABABEM;BEE^A 8<A >A >Ii Iy O > bE 4jE ˶4rE W\0E}  E} Ey Ey "E} ;;*E} :VEy ZEy BE} >>N?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930>¼ٱ>8m fAHRS rotation from veh to nav: [[0.816839,-0.566869,-0.106925],[0.576376,0.809640,0.110787],[0.023769,-0.152124,0.988076]]>H#?#r_ q?? \?V?@xÿP?i>>I>`;9AYA=EEFyEEM;EM>QQ 5]\5U]?Q 9]\5Uw)UCqBYYye?Q Ie@UPEIU;iU;U\5yiɮmR@mEQFNOT Ignoring new targets: 111.20 m.s8s8Q ProNav: ac range: 111.203461 m, nav range: 133.098450 m, bearing: 30.790324 deg, approach rate: -0.632322 m/s, LOS rate: 0.006159 deg/s, cmd heading: 34.850716 deg, new cmd heading: 34.857730 deg. zE9QHeadingCmd: 0.608382 target range: 111.203461 and range: 111.90 m.R?JbZB:2Ҕڔڒ!’!!%.@MBɢU<) 0?i) i= 2i?>;[Y 5,rRdԤ?A2M>2}?2Zpٱ2= :AHRS rotation from veh to nav: [[0.816461,-0.567370,-0.107154],[0.576980,0.808774,0.113927],[0.022024,-0.154843,0.987694]]2Hs ? 'rn v?y? W*??ÿ/?i2M>I2g`;2CYBByB#I DDbDNTVDN4yVe=%VT=ٔVk;Q-Z>9XYX=ZEFyZE^:E^>`Q 5f\5b{o?Q 9f\5bN)bRqBYdyf?Q Ij@bTEIbB:ib:b>\5ylɮn@lyQFNOT Ignoring new targets: 111.20 m.>8>8Q ProNav: ac range: 111.203461 m, nav range: 132.854630 m, bearing: 30.792616 deg, approach rate: -0.607025 m/s, LOS rate: 0.005717 deg/s, cmd heading: 34.857730 deg, new cmd heading: 34.864619 deg. z{9QHeadingCmd: 0.608502 target range: 111.203461 and range: 111.90 m.R?JbZB:2Ҕڔڒ’@EE EEEE$EA"EE2;*EE:VEE4ZEAaM@aM@aM@aM@QiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522386Bɢ<) k ?i)5_19i="m4i??;E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771022Թ BE >BA BE #IBE BBE O =BA BA BE $N;BE EBB̿CE5,.~Ԥ?AB1B5Q =B5P =C5_56y>6?6ٱ6 >AHRS rotation from veh to nav: [[0.816299,-0.567996,-0.105051],[0.577275,0.808561,0.113939],[0.020224,-0.153652,0.987918]]6H?@-`亿 y?? +?`y?`ߪÿ`?i6y>I6e`;6CY^Byb#IiMb@Mb@Mb@ 9Mb?y&1I +?Y ?y`e94< Ad@ K@)@Y(@bDVDywh=%9=ٔ;Q->9Y=EFyEF:E>Q 5\5?Q 9\5)aqBY,!?Q E:y?Q I@YEI ;i ;\5yɮ@!Q-FNOT Ignoring new targets: 111.20 m.-8-8QE ProNav: ac range: 111.203461 m, nav range: 132.577042 m, bearing: 30.793495 deg, approach rate: -0.652273 m/s, LOS rate: 0.002070 deg/s, cmd heading: 34.864619 deg, new cmd heading: 34.867262 deg. zEٵ8QMHeadingCmd: 0.608549 target range: 111.203461 and range: 111.90 m.RM?JIbIZIBI:I2IҔQڔU %5,Ԥ?A>q>>M?>#ٱ> FAHRS rotation from veh to nav: [[0.815931,-0.568900,-0.103003],[0.577851,0.808184,0.113692],[0.018566,-0.152286,0.988162]]>H?m4 l^}?`?`??~ÿ ?i>q>I>%a;9f"?Yf"?=fEFyfEj:Ej>lQ 5r\5n?Q 9r\5n)nmqBYpyr?Q Iv@n]EInX ;inT ;nS"\5yxɮz@zEGS B*** querying acoustic contact ***: B QFNOT Ignoring new targets: 111.20 m.%8%8Q5 ProNav: ac range: 111.203461 m, nav range: 132.344849 m, bearing: 30.794168 deg, approach rate: -0.628190 m/s, LOS rate: 0.001824 deg/s, cmd heading: 34.867262 deg, new cmd heading: 34.869285 deg. z5<8Q=HeadingCmd: 0.608584 target range: 111.203461 and range: 111.90 m.R=&?J9b9ZABA:A2AҔIڔIIڒI’IQU @}Bɢ}W<) Q?i)~顁i8i&?H A;= PDAT read: Bearing 189.4, -7.7 (Local) E ~Local bearing/azimuth received: Bearing 189.4, -7.7 (Local) +5,Ԥ?A>DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.1 ms) speed 0.4 m/s >R#Rx 1: Read range and direction messages.B^direction in FSK: [0.979654,-0.139425,0.144356]FFpublishing direction and range infoyiASY?Ө'ЌCz?YBrx )IID>iAZd>m(1@5>r0@ V>Nm>N ?NJٱN EAHRS rotation from veh to nav: [[0.815274,-0.570204,-0.100970],[0.578822,0.807590,0.112973],[0.017125,-0.150548,0.988454]]NH? ?@,ٹ@????&Eÿ k?iNm>INa;NC)@IVe?!q!.?e? S,?)IiVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y4By#II=)C=iMb@Mb@Mb@ 9+?/${Gz?Y?y,#<A7@ @)@Y=@bDJVD04y=%%)=ٔ%C;Q-%>9)Y)=5EFy5E5;E5>9Q 5E\5=.?Q 9E\5=Y~I)=zqBYm ?Q Em:ym ?Q Im@=aEI=K;i=;=&\5yyɮ}@JRaԤ?ABB>}Z@ρ)X.${j/@iASY?Ө'ЌCz?V—C~W@3*^UI@Fd" 3@c?xt#) ?(G[-?jLBrBZM~?b]&:zzB 7ݞ?]&:Bڗ~B>Q5 addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.781576 s, deltaX: -2.400002 m, approachRate: -0.634656 m/s, rangeRepo size: 4 QE Added new target pos. range: 108.819481 m, bearing: 28.594805 deg, lat: 36.779390 deg, lon: -121.859452 deg, deltaT: 3.781576 s, deltaX: -2.383980 m, approachRate: -0.630420 m/s, posRepo size: 4 aQeFNOT Ignoring new targets: 108.82 m.miQ} ProNav: ac range: 108.819481 m, nav range: 107.747299 m, bearing: 28.387616 deg, approach rate: 0.000000 m/s, LOS rate: 0.001824 deg/s, cmd heading: 34.869284 deg, new cmd heading: 34.872046 deg. zyQHeadingCmd: 0.608632 target range: 108.819481 and range: 109.50 m.RO?JbZB:2Ҕڔ>Bڒ’`[@?*DAT read: user:304>  BDAT read: Tx time:21:32:02.1940  $Ping request sent. BB#IB&BBBBB{N;B:Ey9@ @@/@ԡ ^A <Ee  Ee Ea Ea "Ee [";*Ee u:VEa ZEa BEe z035,_Ԥ?A2B>27B?2ٱ2 :AHRS rotation from veh to nav: [[0.814823,-0.571202,-0.098954],[0.579495,0.807208,0.112249],[0.015760,-0.148807,0.988741]]2H?HG@U :?@?@Y?`f#?  ÿã?i2B>I2a;0YB;ByB#IbDNKVDN 4yV=%Vk=ٔV;Q-V?9XYX=ZEFyZE^;E^?`Q 5b\5b?Q 9f\5bX{)bqBYdyf ?Q If@beEIbK:ibeT95,)#Ԥ?AY~ABy#I  AAbDgVD=4y% <%%C=ٔ%Q-->9)Y)=-EFy-E5E5>Ee EeEe$Ea"EeO6;*Ee:VEe4ZEaam@am@am@am@Q 5\5K?Q 9\5w)qBYyQ I@iEI* ;i& ;e-\5yɮ@ Q FNOT Ignoring new targets: 108.82 m.QE ProNav: ac range: 108.819481 m, nav range: 107.258141 m, bearing: 28.372282 deg, approach rate: -0.658281 m/s, LOS rate: -0.020730 deg/s, cmd heading: 34.851675 deg, new cmd heading: 34.825938 deg. zMcQeHeadingCmd: 0.607827 target range: 108.819481 and range: 109.50 m.Re?JibiZiBq:q2yҔڔڒ’checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757419-@GV?Q颍Bɢn<) r+?i)Wdq顙iÓ@i?kD;9B- CB- #IB- DBB- Q =B) B- TDB- N;B- WE A I I O >@5,oդ?A2~Z>2Ճ?2\Yٱ2) :AHRS rotation from veh to nav: [[0.814272,-0.572482,-0.096051],[0.580332,0.806619,0.112161],[0.013266,-0.147071,0.989037]]2H?QȖ?@??f+?6¿1?i2~Z>I2`;2CYBPByB#I DDi Mb@Mb@Mb@     9 ?Qy&1?Y  ?y  `e< VA  @ @) @ Y @bD%[VD%y'4y5V=%5==ٔ=R;Q-=>99Y9=EEFyEEE;EE>IQ 5\5M?Q 9\5Ms)MqBY9 ?Q E:y4?Q I@MmEIMF5,=`դ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861:x>:җ?:vJٱ: BAHRS rotation from veh to nav: [[0.814104,-0.572865,-0.095182],[0.580587,0.806403,0.112396],[0.012368,-0.146763,0.989094]]:H@$ ?T]`+? ?ż?`$T?#¿ ?i:x>I:;`;:CYHyJ#IbDV=VDV3yZ[;%^S=ٔ^p;Q-^>9`Y`=bEFybEfN:Ef>hQ 5n\5j?Q 9n\5jip)jqBYYymH?Q Im@jqEIjL5,=6դ?A2>2ܰ?2-9ٱ2Ш :AHRS rotation from veh to nav: [[0.813892,-0.573221,-0.094850],[0.580905,0.806005,0.113597],[0.011334,-0.147555,0.988989]]2Hg ?`W`HƖ??@?6?¿ ̥?i2>I2p`;2C@Y^ZByb$Ii}Mb@Mb@Mb@yyyy y9}'1Z?I +{Gzt?Y}"?y}94}ף;}l Ay }@)}@yY}@bDCVD3yl3=%<=ٔ#;Q->9Y=EFyEf:E>Q 5\5?Q 9\5Jl)qBY"?Q E:y?Q I@vEI':i:-8\5yBɮ@EQFNOT Ignoring new targets: 108.82 m.66Q ProNav: ac range: 108.819481 m, nav range: 106.485252 m, bearing: 28.334667 deg, approach rate: -0.675388 m/s, LOS rate: -0.039914 deg/s, cmd heading: 34.761462 deg, new cmd heading: 34.712820 deg. z$ۺQHeadingCmd: 0.605853 target range: 108.819481 and range: 109.50 m.R/?JbZB:!2!Ҕ!ڔ%oB)ڒ)’))-@]Bɢ]Z=)Y ] 9?ia)e=VaaieHim/?mZH;mڑlBB$IBYBBBBBN;BcE-9@) @1@51@1@==@==^AMhW<E  E E %E "E %;*E خ:VE 4ZE BE a 2E a JE E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270757S5,p#Pդ?AV>V?V5c(ٱV jAHRS rotation from veh to nav: [[0.814063,-0.572999,-0.094731],[0.580686,0.805921,0.115303],[0.010277,-0.148873,0.988803]]VH ? VN@???`N ?EÿF?iV>IV`;lVCYz\Byz$II~G>)~>bD@VD3y;%S=ٔ2;Q->9% ?Y% ?=%EFy%E%K<E%>)Q 55\5-?Q 9=\5-h)-qBY9y=?Q I=@-zEI-;i-;-;\5yEBɮE@IiQmFNOT Ignoring new targets: 108.82 m.u\+u\+Q ProNav: ac range: 108.819481 m, nav range: 106.240791 m, bearing: 28.320222 deg, approach rate: -0.632378 m/s, LOS rate: -0.037454 deg/s, cmd heading: 34.712821 deg, new cmd heading: 34.669385 deg. zͺQHeadingCmd: 0.605095 target range: 108.819481 and range: 109.50 m.R?JbZB:2Ҕڔڒ’@Bɢ¶ =) :?i)Mi]Ji?YI;qZ5,Aiդ?A6Y>6l?6ٱ6LEB EBEB$E@"EB[";*EB:VEB4ZE@aF@aJ@aJ@aJ@ >AHRS rotation from veh to nav: [[0.814312,-0.572714,-0.094312],[0.580353,0.805998,0.116438],[0.009329,-0.149551,0.988710]]6H?S$@?`?ν?@M?@~$ÿ ?i6Y>I6`;6CYR_ByR $IbDZEVDZ3yb<%fP=ٔf;Q-f>9j"?Yj"?=jEFyjEjwEn>pQ 5r\5r:&?Q 9v\5rd)rqBYtyvo?Q Iv@r~EIr:ir:r>\5yxɮ~@|Q%FNOT Ignoring new targets: 108.82 m.%y+%y+AQ] ProNav: ac range: 108.819481 m, nav range: 105.992035 m, bearing: 28.305509 deg, approach rate: -0.632181 m/s, LOS rate: -0.037479 deg/s, cmd heading: 34.669385 deg, new cmd heading: 34.625142 deg. z]ͺQmHeadingCmd: 0.604323 target range: 108.819481 and range: 109.50 m.Rm?JibiZiBi:q2qҔyڔyyڒ’a@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.788930ɢC=) `5,σդ?AY~jBy~$IiMb@Mb@Mb@ԙ 9p= ף?Mb`y&1|?Y%?y`;A )Y@bDHVD4yN=%;=ٔQ->9Y=EFyEE>Q 5\59?Q 9\5`)qBY!%?Q E:y$?Q I@EI :i:B\5yɮ@EQFNOT Ignoring new targets: 108.82 m.%E%EQ5 ProNav: ac range: 108.819481 m, nav range: 105.712906 m, bearing: 28.286696 deg, approach rate: -0.639801 m/s, LOS rate: -0.043236 deg/s, cmd heading: 34.625142 deg, new cmd heading: 34.568554 deg. z5aQ=HeadingCmd: 0.603335 target range: 108.819481 and range: 109.50 m.R=+t?J9b9Z9BA:A2AҔAڔMzBIڒI’IIU @yɢ}?+=) A?i)j8顁iOi+t?P(M; g5,vդ?A27>2!r?2ٱ2] :AHRS rotation from veh to nav: [[0.814467,-0.572379,-0.095009],[0.580139,0.805940,0.117892],[0.009092,-0.151138,0.988471]]2H@?@P~R?C?-.??`yXÿ?i27>I2z`;2CYBeByB$I DDbDNYVDN#4yV%V^=ٔV(:Q-V>9XYX=ZEFyZE^;E^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.542917IQ 5\5MJ?Q 9\5M\)MqBYy?Q I@MEIMGu^/@uM>u~{/@ ub>ԁ )u@IubqquZ ?ఇ+?cE|? uvD%?)uEMIuiubqq T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I I O >om5,F[դ?A^$=>^'u?^ؓٱ^K jAHRS rotation from veh to nav: [[0.814439,-0.572297,-0.095736],[0.580176,0.805790,0.118737],[0.009190,-0.152248,0.988300]]^H? AP&͐?? e?i҂?|ÿ&?i^$=>I^_;\YbBy$Ii5Mb@Mb@Mb@1111 195?Mbp?{GztY5f&?y5;5ף5l A1 5@)5@1Y5@bDE@VDE3yu}A%},=ٔ}WQ-}>9Y=EFyE/8E>Q 5\53_?Q 9\51X)Yh&?Q E:y?Q I@EI@:i:6J\5yBɮt@EJ9R=Vդ?A=B=B=\?=HY@R!O)NS f7@=mCzL?4*޾F#?==b—=z8AV@kQbJ@mԍ:@=t?dve?;5[L?j=PBr=BZ=NC?b=p6z=oB=M~?=p6=YBڗ=EB=GZ?BU>BUCBU"$IBUrBBUR =BQBQBUO;BUwEBþCm*DAT read: user:305> uBDAT read: Tx time:21:32:06.1940 u$Ping request sent.ut5,դ?A2 >2Z]?22ٱ2y& :AHRS rotation from veh to nav: [[0.814647,-0.571800,-0.096930],[0.579878,0.805843,0.119826],[0.009594,-0.153823,0.988052]]2H?/L@lи\?w?@䬾?@.?`{ÿ?i2 >I2"Q_;2CYBRByB#I HHbDNEVDN3yVi%V[=ٔVQ-V>9XYX=ZEFyZE^E^>`Q 5f\5bo?Q 9f\5bT)`Ydyf?Q If@bEIb:ib-:bpM\5y]Bɮ]U@YqQFNOT Ignoring new targets: 106.43 m.l/l/Q ProNav: ac range: 106.431847 m, nav range: 105.397453 m, bearing: 29.608203 deg, approach rate: -0.658268 m/s, LOS rate: -0.038342 deg/s, cmd heading: 34.467501 deg, new cmd heading: 34.425828 deg. zҺQHeadingCmd: 0.600844 target range: 106.431847 and range: 107.10 m.R?JbZB:2Ҕڔڒ’'?ɢv%4=) 6?i)iWi?+R;uCԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503676^A <A5 .AIA IQ Om > E}  E} E} "Ey "E} ';*E} |:VE} (3ZEy a @a @a @a @hz5,դ?ANM>N<>?N$ٱNߨ! VAHRS rotation from veh to nav: [[0.814918,-0.571022,-0.099208],[0.579489,0.805742,0.122365],[0.010063,-0.157208,0.987514]]NH`?E@e+??@XS?ě?cĿ?iNM>IN^;NCY^FBy^#IIj=)j4=iI-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760070bD?VD3y]% 7=ٔ5ڈQ-=>9M ?YM ?=uEFyuEE>Q 5\5F?Q 9\5O)qBYy}?Q I@EI{;i1;Q\5yBɮ@E)QMFNOT Ignoring new targets: 106.43 m.U/U/Qe ProNav: ac range: 106.431847 m, nav range: 105.097176 m, bearing: 29.590746 deg, approach rate: -0.658016 m/s, LOS rate: -0.038364 deg/s, cmd heading: 34.425827 deg, new cmd heading: 34.373306 deg. zeҺQmHeadingCmd: 0.599927 target range: 106.431847 and range: 107.10 m.Rה?JbZB:2Ҕڔڒ’? ɢ  =)  /?i )}iyZiה?T;>UBqBu$IBumBBqBqBqBuO;BuEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006857^A Y A I I O >ҁ5,֤?A2\>2'?2.ٱ2$ :AHRS rotation from veh to nav: [[0.815112,-0.570395,-0.101204],[0.579206,0.805646,0.124316],[0.010625,-0.159949,0.987068]]2Hf?@@|蹿ڈ? ?@*ӿ?…?6yĿ?i2\>I29^;2CY^KByb#IiMb@Mb@Mb@ 9%C?{Gz~jtxYZ$?y#Ļ@ @)@Y@bDDVDJ3yb<%P=ٔQ->9Y=EFyEMmE>Q 5\5?Q 9\5JL)qBYa$?Q E:y?Q I@EI:i]:T\5yBɮX@EQFNOT Ignoring new targets: 106.43 m.    Q ProNav: ac range: 106.431847 m, nav range: 104.857101 m, bearing: 29.579640 deg, approach rate: -0.655768 m/s, LOS rate: -0.030407 deg/s, cmd heading: 34.373306 deg, new cmd heading: 34.339911 deg. zQ%HeadingCmd: 0.599344 target range: 106.431847 and range: 107.10 m.R%n?J!b!Z)B):)2)Ҕ)ڔ5QB1EA EEEAEA"EA*EEI:VEAZEABEE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759 5,s!֤?AJ>J\(?JG;ٱJ' RAHRS rotation from veh to nav: [[0.815100,-0.569977,-0.103629],[0.579208,0.805326,0.126364],[0.011430,-0.163022,0.986556]]JHK?@@=i`߈?@;?@,?h?Ŀޑ?iJ>IJ=^;JCYZGByZ#IbDb<VDb3yjμ%jY=ٔn' Q-n>9r"?Yr"?=rEFyrEv(7Ev>xQ 5~\5zڥ?Q 9~\5zH)zqBY|y?Q I@zEIz;iz;zX\5y ɮ @ GS%B*** querying acoustic contact ***:)B)1Q5FNOT Ignoring new targets: 106.43 m.=;=;QM ProNav: ac range: 106.431847 m, nav range: 104.615807 m, bearing: 29.568427 deg, approach rate: -0.639276 m/s, LOS rate: -0.029775 deg/s, cmd heading: 34.339910 deg, new cmd heading: 34.306194 deg. zMzQUHeadingCmd: 0.598756 target range: 106.431847 and range: 107.10 m.RUH?JQbQZYBY:Y2YҔaڔaaڒa’iim`F?频ɢM,=) %0?i) 顙i_iH?RX;p9 E'5,];֤?A2[>2A.?2gDٱ2ܱ( :AHRS rotation from veh to nav: [[0.815042,-0.569873,-0.104645],[0.579278,0.805204,0.126823],[0.011987,-0.163985,0.986390]]2H`?g<@ʺ@q?:?`;?@͌?@vĿ?i2[>I2uq^;0YB:ByB#I DDi Mb@Mb@Mb@     9 HzG?V-~jtY =*?y    A @ ) @ Y @bD%VVD%E4y5z%5D=ٔ5dQ-=>99YA=EEFyEEEb9EE>IQ 5U\5M}?Q 9U\5MD)MqBYx*?Q E:y?Q I@MEIM5,?7U֤?A0>>>u ?>/Iٱ>AH* FAHRS rotation from veh to nav: [[0.815161,-0.569502,-0.105736],[0.579104,0.805154,0.127927],[0.012279,-0.165513,0.986131]]>H?[9??_?%?@/ſb?i>>I>m^;>CYR4ByR#IbDZCVDZ3yb%bR=ٔfGDQ-f>9dYd=fEFyfEj Ej>lQ 5r\5nˀ?Q 9r\5nA)nqBYtyv?Q Iv@nEInw:in:n_\5yxɮz@xQFNOT Ignoring new targets: 106.43 m.%ù%ùQ5 ProNav: ac range: 106.431847 m, nav range: 104.080574 m, bearing: 29.552488 deg, approach rate: -0.716747 m/s, LOS rate: -0.021404 deg/s, cmd heading: 34.281440 deg, new cmd heading: 34.258252 deg. z5kQ=HeadingCmd: 0.597919 target range: 106.431847 and range: 107.10 m.R==?J9b9Z9BA:A2AҔAڔIIڒI’IIU+@yɢ}I-=)y x&?i)ݻ顁iHei=?0\;1d(^5,s֤?AԡY-By#Ii=Mb@Mb@Mb@9999 99=ˡE?V-{GzY='?y=m=#=l A=@ =@)=r@9Y9bDUGVDU4ye9μ%e=ٔeQ-m>9iYi=mEFymEuEu>yQ 5\5}f倊?Q 9\5}n<)}qBY(?Q E:y7?Q I@}EI}*:i}:}c\5yBɮ%@EQFNOT Ignoring new targets: 106.43 m.Q ProNav: ac range: 106.431847 m, nav range: 103.729935 m, bearing: 29.550085 deg, approach rate: -0.658441 m/s, LOS rate: -0.004527 deg/s, cmd heading: 34.258252 deg, new cmd heading: 34.251020 deg. zFQHeadingCmd: 0.597793 target range: 106.431847 and range: 107.10 m.R?JbZB:2Ҕڔ-Bڒ’U @ɢ"=)! %"?i!)%Dƻ!!i%hhi-?-v_;- ai]>B>BB#IBSBBBBBuO;BE9@ @@/@@=@=MBDAT read: Rx Time:21:32:08.7376 UTRx dataTimestamp_ set to:1761514330.016687Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014^A }<) A9 EM  EM EM (EI "EM 2;*EM :VEM c44ZEI BEM !<]5,G֤?A2~>2?2W1Qٱ2 + :AHRS rotation from veh to nav: [[0.815197,-0.569212,-0.107012],[0.579043,0.805040,0.128918],[0.012768,-0.167058,0.985864]]2H`?6&e??`^?`%?&bſ3?i2~>I2];2CYB!ByB#IbDN[VDNy'4yZR%Zg=ٔ^Q-b>9dYd=jEFyjEnNEr>tQ 5~\5v?Q 9~\5vL9)vqBYy3?Q I@vEIvI;ivJ;vf\5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276280yBɮ@EQFNOT Ignoring new targets: 106.43 m.JJQ5 ProNav: ac range: 106.431847 m, nav range: 103.493492 m, bearing: 29.548466 deg, approach rate: -0.613926 m/s, LOS rate: -0.004215 deg/s, cmd heading: 34.251018 deg, new cmd heading: 34.246148 deg. z5&9Q=HeadingCmd: 0.597708 target range: 106.431847 and range: 107.10 m.R=e?J9b9Z9B9:92AҔAڔAAڒI’IQU#t @Bɢw=) l?i)׶i  kie?`a;~iU 𧶿U >U A`0@U 6&>U x 0@ U ¸2>)U :@IU ¸2Q Q U V 5?%gM_?Bս? U )?)U Ϫ&IU iU ¸2Q Q U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.ԑ E5 E5E5&E1"E5/;*E5 :VE54ZE1a]@a]@a]@a]@AIIO?2T5,M֤?Az*DAT read: user:306> ~BDAT read: Tx time:21:32:09.9440 ~$Ping request sent.~="?=(Fٱ=_X- AHRS rotation from veh to nav: [[0.815722,-0.568430,-0.107165],[0.578317,0.805299,0.130544],[0.012094,-0.168463,0.985634]]=He?0"o`?`??Ĉ?0ſP?i=>I=];=C YBy#IbDM:VDM{3y%=ٔ:Q->9Y=EFyE<E>Q 5\5O?Q 9\53)qBYy?Q I@EI:i:Ml\5yBɮ%@JR{֤?ABBT?O*^Y@@/+M3 2@CFBB#IB?BBP =BBBO;BEYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250376A .AI I O >ԉ 05,/֤?A2?>2?22ٱ2+ :AHRS rotation from veh to nav: [[0.815993,-0.568396,-0.105266],[0.577959,0.805640,0.130030],[0.010898,-0.166943,0.985906]]2H`?M0~?? Ϥ?`Q?`^ſ?i2?>I2\;0YBy#IiMb@Mb@Mb@ 9Mb?Zd;OMb`Y#?yj A@ @)@YG@bDTVD4yqƼ%q=ٔ+h;Q-?9 ?Y ?=EFyE E?Q 5\5V$?Q 9\5U1)qBY$?Q E:y>Q I@EIX ;i ;4o\5yɮi@GSB*** querying acoustic contact ***:B QFNOT Ignoring new targets: 103.95 m.99Q- ProNav: ac range: 103.947639 m, nav range: 101.752647 m, bearing: 29.455593 deg, approach rate: -0.656094 m/s, LOS rate: 0.014725 deg/s, cmd heading: 34.238557 deg, new cmd heading: 34.252941 deg. z-!:Q5HeadingCmd: 0.597827 target range: 103.947639 and range: 104.60 m.R5* ?J1b1Z1B1:929Ҕ9ڔ=BAڒA’AAE@%?qbE 4jEJ4rEC0E EEE"E%;*E:VEZEBE) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754058 [5, ֤?A2>2?2sٱ2( :AHRS rotation from veh to nav: [[0.816158,-0.568730,-0.102138],[0.577755,0.806016,0.128594],[0.009189,-0.163964,0.986424]]2H?3%|??u?т? Ŀ Ȑ?i2>I2\;2CYFByF#IbDNYVDN#4yV%V]=ٔZQ;Q-Z>9XYX=ZEFy^E^w9E^>`Q 5f\5b36?Q 9f\5by.)bqBYhyj>Q Ij@bEIb:ib:bqr\5yvBɮv@vEQFNOT Ignoring new targets: 103.95 m.=9=9Q- ProNav: ac range: 103.947639 m, nav range: 101.514610 m, bearing: 29.460991 deg, approach rate: -0.640653 m/s, LOS rate: 0.014561 deg/s, cmd heading: 34.252941 deg, new cmd heading: 34.269172 deg. z-:Q5HeadingCmd: 0.598110 target range: 103.947639 and range: 104.60 m.R5?J1b1Z1B9:929ҔAڔAAڒA’AIM h?Bɢ9=)Q U ?iQ)]u@YYi]rie?eg;efchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0061131 5,h֤?A,2f>2 ?2<ٱ2o$ >AHRS rotation from veh to nav: [[0.816529,-0.568921,-0.098026],[0.577260,0.806700,0.126514],[0.007101,-0.159889,0.987109]]2H!?`4<x?@|?1?}?=wĿf?i2f>I2\;0YvByv#IIz>)zY?iuMb@Mb@Mb@qqqq q9u?y&1Mb?Yu ?yu`彙u9"?Y"?=EFyEVE>B>BB#IB+BBBBBP;BEBBBBBC\5Q 5\52K?Q 9\5^+)qBY"?Q E:yl>Q I@EI;i:=v\5yɮ@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258160QFNOT Ignoring new targets: 103.95 m.99Q ProNav: ac range: 103.947639 m, nav range: 101.239677 m, bearing: 29.472207 deg, approach rate: -0.600175 m/s, LOS rate: 0.024552 deg/s, cmd heading: 34.269173 deg, new cmd heading: 34.302914 deg. z̆:QHeadingCmd: 0.598699 target range: 103.947639 and range: 104.60 m.RSD?JbZB:2ҔڔBڒ ’  15@|?}Bɢ} =) ?i)o|h顁i*uiSD?]i;zl5,vפ?A06{>6Tc?6ޱٱ6:" >AHRS rotation from veh to nav: [[0.816882,-0.568969,-0.094757],[0.576786,0.807084,0.126223],[0.004660,-0.157763,0.987466]]6H #?4@Au??`(?@7s?1Ŀ@R?i6{>I6\;4YFByF#IbDNSVDN4yVJ=%V[=ٔZf;Q-Z>9XYX=^EFy^E^zϺE^>`Q 5f\5b=]?Q 9f\5b()bqBYhyj>Q Ij@bEIb:ib:by\5yvBɮv @tQFNOT Ignoring new targets: 103.95 m.99Q ProNav: ac range: 103.947639 m, nav range: 101.003433 m, bearing: 29.481982 deg, approach rate: -0.645771 m/s, LOS rate: 0.026783 deg/s, cmd heading: 34.302914 deg, new cmd heading: 34.332308 deg. z :QHeadingCmd: 0.599212 target range: 103.947639 and range: 104.60 m.Re?JbZB:2Ҕڔڒ’ ,U?颭Bɢ=) ?i)KiLQwi%e?%.{k;%bD zD ?AC5,0פ?A:i>:J!?:E> E>E>$E<"E>%.;*E>:VE>4ZEI:$\;:CYVByV#Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014323bDn:VDn{3yv<%vD=ٔv;Q-z>9xYx=zEFyzE~E~>Q 5 \5_q?Q 9 \5%)qBY y >Q I@EI:i:#}\5yBɮ@EAQEFNOT Ignoring new targets: 103.95 m.M9M9Q] ProNav: ac range: 103.947639 m, nav range: 100.740021 m, bearing: 29.493089 deg, approach rate: -0.660801 m/s, LOS rate: 0.027935 deg/s, cmd heading: 34.332308 deg, new cmd heading: 34.365715 deg. z]_:QeHeadingCmd: 0.599795 target range: 103.947639 and range: 104.60 m.Re(?JabaZaBa:i2iҔiڔiqڒq’%k@Bɢ =) ?i!)-#:,AAiEUsyi(?m;-oBB#IB&BBBBUDB5P;BEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266175^A {<A >A ) AQ IY Ii O} >Ϣ5,ZKפ?AY^!By^#IhieMb@Mb@Mb@aaaa a9eK7A?`"Mb?Ye "?yee=ٔQ->9Y=EFyEE>Q 5\5?Q 9\5") rBY%?Q E:y>Q I@EIu;i ;\5yɮG@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 103.95 m. : :Q% ProNav: ac range: 103.947639 m, nav range: 100.464417 m, bearing: 29.506281 deg, approach rate: -0.640626 m/s, LOS rate: 0.030749 deg/s, cmd heading: 34.365714 deg, new cmd heading: 34.405400 deg. z%Ҩ:Q5HeadingCmd: 0.600488 target range: 103.947639 and range: 104.60 m.R5?J9b9Z9B9:929ҔAڔEBYڒY’Yae@E  EEE"ED;*EVEZEBE͚L5, dפ?AY~,By~#IbDXVD!4y% h=%%R=ٔ!Q-%>9- ?Y- ?=-EFy-E1E5>91Q 5E\55?Q 9E\55)5rBYIyIQ IM@5EI5);i5d:5I\5yUBɮU@UEyQ}FNOT Ignoring new targets: 103.95 m.x :x :Q ProNav: ac range: 103.947639 m, nav range: 100.215164 m, bearing: 29.518275 deg, approach rate: -0.640995 m/s, LOS rate: 0.030921 deg/s, cmd heading: 34.405401 deg, new cmd heading: 34.441472 deg. zĩ:QHeadingCmd: 0.601117 target range: 103.947639 and range: 104.60 m.R?JbZB:2Ҕڔڒ’@BɢmV0=) ?i)ۺi}i?o;T`i>9@ @@/@iE EE&E"Eg5;*E:VE4ZEa%@a%@a%@a%@BDAT read: Rx Time:21:32:12.4844 TRx dataTimestamp_ set to:1761514333.796710checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023260^Azl<ԹI I O > E5,~פ?A2>2,?2<ٱ2 :AHRS rotation from veh to nav: [[0.819594,-0.567071,-0.081827],[0.572888,0.809105,0.130953],[-0.008053,-0.154207,0.988006]]2H:?@r%U?0??~ ÿ`?i2>I2f\;2CYn*Byn#IB%>B%CB!B!B%N =B!B!B%P;B% EiMb@Mb@Mb@ 9V-?V-?Y?y< @)r@Yf@ԙbD_VD.4y%A=ٔ9Y=EFyE E>Q 5\5ݭ?Q 9\5)*rBY?Q E:y>Q I@EIi ;i ;\5yɮ@ Q FNOT Ignoring new targets: 103.95 m.^ :^ :checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274257Q ProNav: ac range: 103.947639 m, nav range: 99.952660 m, bearing: 29.530916 deg, approach rate: -0.621862 m/s, LOS rate: 0.030024 deg/s, cmd heading: 34.441471 deg, new cmd heading: 34.479493 deg. zפ:QHeadingCmd: 0.601781 target range: 103.947639 and range: 104.60 m.RL?JbZB:2ҔڔBڒ’2b @-BɢM!=)Q U0?iQ)U0+QQiUi]L?]p;e3 i b /> 0@ ;0> r0@ t;?>) @I t;? n<,?%!}?_sl? ؤ*?) e0I i t;?  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! Ia Iq O >5,פ?A>;>>?>=<ٱ>t ~AHRS rotation from veh to nav: [[0.820399,-0.566534,-0.077369],[0.571675,0.809944,0.131068],[-0.011590,-0.151758,0.988350]]>H@? !@nγ(K??@?@lÿ?i>;>I>q\;VDE43yUh=%UQ=ٔU9yYy=}EFy}EpE>Q 5\5?Q 9\5Z)9rBYy>Q I@EIC;i;p\5yBɮf@JR8פ?A!B!Bs>gX@M,no2@tJB!?Fr,Ÿ &K{?t;?—0U@)`eG@76zU3@mٖ?ڃ*?tp?jC>Br!BZЬ?baD7z}BaD7BڗBf?Qu addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.774870 s, deltaX: -2.400002 m, approachRate: -0.635784 m/s, rangeRepo size: 4 Q Added new target pos. range: 101.564713 m, bearing: 28.510827 deg, lat: 36.779375 deg, lon: -121.859450 deg, deltaT: 3.774870 s, deltaX: -2.382927 m, approachRate: -0.631261 m/s, posRepo size: 4 QFNOT Ignoring new targets: 101.56 m.Q ProNav: ac range: 101.564713 m, nav range: 98.928482 m, bearing: 28.737867 deg, approach rate: 0.000000 m/s, LOS rate: 0.030024 deg/s, cmd heading: 34.479492 deg, new cmd heading: 34.516673 deg. zQHeadingCmd: 0.602430 target range: 101.564713 and range: 102.20 m.R8?JbZB:2Ҕڔڒ’̌Y@\7?MBɢmm5=)i u%?iq)uFqqiuVi}8?}@q;} 5BDAT read: Tx time:21:32:13.6940 5$Ping request sent.5Dy zD} AAԑ E  E E E "E 4;*E :VE ZE a @a @a @a @=5,fפ?A2^>2?28p<ٱ2~U :AHRS rotation from veh to nav: [[0.820985,-0.566234,-0.073236],[0.570761,0.810635,0.130776],[-0.014682,-0.149165,0.988703]]2HE? C? ?B?@ÿ u?i2^>I2#\;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839YJCByJ#IbDZ[VDZy'4yb =%bT=ٔfM9dYd=fEFyjEjf:Ej>lQ 5r\5nӁ?Q 9r\5n)nFrBYtyvm>Q Iv@nEIn:in:nŎ\5yzBɮz@zEQFNOT Ignoring new targets: 101.56 m.>9>9Q ProNav: ac range: 101.564713 m, nav range: 98.691376 m, bearing: 28.747934 deg, approach rate: -0.616883 m/s, LOS rate: 0.026254 deg/s, cmd heading: 34.516672 deg, new cmd heading: 34.546945 deg. z%:Q HeadingCmd: 0.602958 target range: 101.564713 and range: 102.20 m.R t[?J b Z B : 2 Ҕڔ19ڒA’IIY}`~'?]Bɢ]X4=)Y ](?iY)e@aaie.imt[?mYq;m{;Imt[?Iqyԁ@ @@/@B%>B!B%#IB%5BB%M =B!B!B%P;B%E5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502685ԩ^A <Ii Iy O > 5,Aפ?A6z>6SF?6K<ٱ6@ BAHRS rotation from veh to nav: [[0.821498,-0.565941,-0.069656],[0.569942,0.811208,0.130796],[-0.017518,-0.147149,0.988959]]6HI?/Ա@I67];4YJ=ByJ#Ii%Mb@Mb@Mb@!!!! !9%K7A?B`"۹~jt?Y% "?y%ν%<%CA%@ %r@)%@!Y%@bD=CVD=3yU2%]A=ٔeh;Q-e>9iYi=uEFyuE}E}>Q 5\5灊?Q 9\5)RrBY6$?Q E:yD>Q I@EI/];iv\;\5yɮH@GSB*** querying acoustic contact ***:BQFNOT Ignoring new targets: 101.56 m.99E EE#E"E;;*E:VE3ZEBEI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067549 n5,פ?AFp>F?F ~<ٱF*e VAHRS rotation from veh to nav: [[0.821937,-0.565571,-0.067443],[0.569220,0.811442,0.132479],[-0.020200,-0.147279,0.988889]]FHOM? ( C 7?U?`? e¿?iFp>IF\;DY^UBy^#I ``f=f=bDj8VDj3yr=%rR=ٔv.;Q-v>9tYt=zEFyzEzEz>|Q 5\5~j?Q 9\5~)~\rBY y >Q I @~EI~n:i~:~ߕ\5yBɮ@E9QEFNOT Ignoring new targets: 101.56 m.EE9EE9QU ProNav: ac range: 101.564713 m, nav range: 98.171211 m, bearing: 28.762073 deg, approach rate: -0.686602 m/s, LOS rate: 0.018936 deg/s, cmd heading: 34.569056 deg, new cmd heading: 34.589479 deg. zUO:Q]HeadingCmd: 0.603700 target range: 101.564713 and range: 102.20 m.R]?JabaZaBa:a2aҔiڔiiڒi’iqu Xy?额BɢqX=) 0?i)>v:顡i i?Dr;2;I?Ii@i @q@u0@qEM EMEIEI"EM/;*EM:VEIZEIaU@aU@aU@aU@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258833^AU;II OE >i ?5,פ?A 60>6?6 v<ٱ6 >AHRS rotation from veh to nav: [[0.822173,-0.565392,-0.066057],[0.568788,0.811357,0.134832],[-0.022637,-0.148427,0.988664]]6H =O?鰿3??,B??.¿ #?i60>I6L\;6CYFiByF$IB`Ab<Bf>BdBf#IBfIBBdBdBdBfO;BfEiMb@Mb@Mb@ 9?L7A`尿?Y ?y+<@ \@)@Y @bDVDy\=%==ٔ;Q->9Y=EFyEgE>Q 5\5h?Q 9\5C)erBY!?Q E:y?Q I@EI:i]:\5y|Bɮ3@ڦEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510789!Q%FNOT Ignoring new targets: 101.56 m.-% -% Q= ProNav: ac range: 101.564713 m, nav range: 97.899788 m, bearing: 28.761258 deg, approach rate: -0.626486 m/s, LOS rate: -0.001887 deg/s, cmd heading: 34.589478 deg, new cmd heading: 34.587025 deg. z=ƥQEHeadingCmd: 0.603657 target range: 101.564713 and range: 102.20 m.REL?JAbAZIBI:I2IҔIڔU@BQڒQ’YY]7i?颅Bɢ,(6,ؤ?A2j>2?2<ٱ2 :AHRS rotation from veh to nav: [[0.822408,-0.565125,-0.065407],[0.568354,0.811151,0.137867],[-0.024857,-0.150558,0.988289]]2H`+Q?@@`/???&tzEÿ?i2j>I2];2CYBrByB"$IbDJEVDJ3Py@9=%V=ٔk;Q->9"?Y%"?=%EFy%E%>E%>)Q 55\5- ?Q 95\5-2 )-lrBY9y=?Q I=@-EI-Q;i-<;-\5yEzBɮE@MۦEiQmFNOT Ignoring new targets: 101.56 m.uuQ ProNav: ac range: 101.564713 m, nav range: 97.659485 m, bearing: 28.760584 deg, approach rate: -0.631308 m/s, LOS rate: -0.001775 deg/s, cmd heading: 34.587026 deg, new cmd heading: 34.584999 deg. zQHeadingCmd: 0.603622 target range: 101.564713 and range: 102.20 m.R?JbZB:2Ҕڔڒ’@@Bɢhb=) =?i) ;iIi?1r;j ;I?Iq@q @q@u4@q@}=@}= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014788^A];AegAzAegAA I I O >) Ee  Ee Ee "Ea "Ee /;*Ee :VEe (3ZEa am @am @am @am @}R 6,3ؤ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801:;>:3?:<ٱ: BAHRS rotation from veh to nav: [[0.822837,-0.564710,-0.063573],[0.567638,0.811447,0.139070],[-0.026948,-0.150519,0.988240]]:H T?@VF*?_? ?G2Dÿ?i:;>I:];:C9YybD@VD3y=:%=9=ٔ=;Q-E>9AYA=EEFyEEM<EM>QQ 5]\5U4?Q 9]\5U)UtrBYYy]?Q Ie@UEIU :iU9:Uנ\5yyBɮt@ܦEIQ]FNOT Ignoring new targets: 101.56 m.i  Q ProNav: ac range: 101.564713 m, nav range: 97.381813 m, bearing: 28.759936 deg, approach rate: -0.557756 m/s, LOS rate: -0.001305 deg/s, cmd heading: 34.584998 deg, new cmd heading: 34.583049 deg. z?eQHeadingCmd: 0.603588 target range: 101.564713 and range: 102.20 m.R?JbZB:2Ҕڔڒ’S@uBɢuD=)q u;yyi}_Ni?r;/|;I?I]>i>B>BB $IB^BBN =BBBO;BEBƿCBƿCBBN =BN =C5U9@Q @Y@]_1@Yԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519613 ^AA A I I O >K 6,Pؤ?AEB EBEB(E@"EB0;*EB|:VEBc44ZE@BEBr?rg<ٱr/ zAHRS rotation from veh to nav: [[0.822738,-0.565158,-0.060818],[0.567676,0.811465,0.138809],[-0.029098,-0.148729,0.988450]]rH@S?`#f*?@??˝` ÿa?ir>IrP];rCY By 7$IiMb@Mb@Mb@ 9MbX9?Zd;OI +?Y!?yj9<@ @)@Y@bDFVD4y?=%9=ٔ;Q->9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840Y=EFyEBN9E>Q 5\5pH?Q 9\5)wrBY!?Q E:y?Q I@EIi ;i ;\5yɮg@GSB*** querying acoustic contact ***:B)QFNOT Ignoring new targets: 101.56 m.u u Q ProNav: ac range: 101.564713 m, nav range: 97.102051 m, bearing: 28.748157 deg, approach rate: -0.721857 m/s, LOS rate: -0.030481 deg/s, cmd heading: 34.583048 deg, new cmd heading: 34.547608 deg. zY)Q5HeadingCmd: 0.602970 target range: 101.564713 and range: 102.20 m.R56\?J1b1Z1B1:129Ҕ9ڔ=sB9ڒA’AAe@颵BɢFj=) rD?i)&f;项i) i6\?Er;E|;IE6\?II9@ @@5@Q BDAT read: Rx Time:21:32:16.2311  TRx dataTimestamp_ set to:1761514337.576523 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023735ԑ ^A _;A) I9 II OU >I46,jؤ?A,>+>>jl?><ٱ>V FAHRS rotation from veh to nav: [[0.823117,-0.564731,-0.059645],[0.567020,0.811586,0.140769],[-0.031090,-0.149689,0.988244]]>H@V?F%???֟`)ÿ@?i>+>I>Q];>CYNByR@$IbDZEVDZ3yb=%b\=ٔb;Q-b>9dYd=fEFyfEjEj>pQ 5v\5r Y?Q 9v\5rP)ryrBYxyz?Q Iz@rEIr!E;irF;r\5yxBɮ@ ݦEAQMFNOT Ignoring new targets: 101.56 m.UUQu ProNav: ac range: 101.564713 m, nav range: 96.868095 m, bearing: 28.738353 deg, approach rate: -0.623923 m/s, LOS rate: -0.026208 deg/s, cmd heading: 34.547609 deg, new cmd heading: 34.518127 deg. zu㏺Q}HeadingCmd: 0.602455 target range: 101.564713 and range: 102.20 m.R}:?JbZB:2Ҕڔڒ’ ^ @eBɢe{=)a uLG?iq)u;qyi}†i}:?+r;Q;I}:?IԁE EE'E"E9;*E:VE'4ZEa@a@a@a@e9@a @a@e/@a@mhA@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275470Ա^A;A>A> A- @AA- @AAq Iy I BE >BA BE "$IBE rBBE M =BA BA BE P;BE EO >-!6,ؤ?A"DAT read: 21:32:16.2311 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.36,-0.526,-2.071,-0.067,-0.541, PHS= 0.117,-1.485, 0.431, RAW= 158.8, 10.5, CAL= 158.8, 11.5, ROT= 351.2, -11.5 &Ygot valid direction response: 21:32:16.2311 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.36,-0.526,-2.071,-0.067,-0.541, PHS= 0.117,-1.485, 0.431, RAW= 158.8, 10.5, CAL= 158.8, 11.5, ROT= 351.2, -11.5 *PDAT read: Bearing 193.5, -12.0 (Local) .~Local bearing/azimuth received: Bearing 193.5, -12.0 (Local) 2DAT read: Range 11 to 50 : 99.7 m (Round-trip 133.0 ms) speed 0.5 m/s 6R#Rx 1: Read range and direction messages.:^direction in FSK: [0.968389,-0.149914,0.199368]:Fpublishing direction and range infoy  ?c0ÿi?YfB )LI=i{>a1@f;>a1@ M>)%@IM q(]? ;*?E~k? N-?)oz3?zo=ٱz! AHRS rotation from veh to nav: [[0.823574,-0.564152,-0.058811],[0.566273,0.811829,0.142366],[-0.032572,-0.150552,0.988065]]zHZ? x`?? 9? 8IEÿ`;?iz>IzFC];zCYBy7$I%=%p=iMb@Mb@Mb@ 9x&1?y&1|y&1?YA ?y`廙`e<A r@)@YbDPVD:4y-{%-(=ٔ-LG;Q-->91Y1=5EFy5E=E=>AQ 5M\5EOn?Q 9M\5E)EwrBYMN ?Q EM:yM;?Q IU@EEIE:iE:E3\5yYɮ]P@YJ R ؤ?A)B)Bv>1;W@an-Ϻ>3@ ?c0ÿi?TFM—wP}EU@HcF@2@;z;?05?ˣ?jX4BrzBZTuў?baYzĪBЬ? }BڗB#>Q addTargetRange:: Added new target pos. range: 99.699997 m, deltaT: 3.779486 s, deltaX: -2.500000 m, approachRate: -0.661466 m/s, rangeRepo size: 4 Q Added new target pos. range: 99.080467 m, bearing: 27.601160 deg, lat: 36.779382 deg, lon: -121.859450 deg, deltaT: 3.779486 s, deltaX: -2.484245 m, approachRate: -0.657297 m/s, posRepo size: 4 Q=DNOT Ignoring new targets: 99.08 m.EAQU ProNav: ac range: 99.080467 m, nav range: 97.286766 m, bearing: 28.488833 deg, approach rate: 0.000000 m/s, LOS rate: -0.026208 deg/s, cmd heading: 34.518127 deg, new cmd heading: 34.479295 deg. zQQ]HeadingCmd: 0.601777 target range: 99.080467 and range: 99.70 m.R]?JabaZaBa:a2aҔiڔiiڒi’quX@uD?]Bɢ]gW=)Y eB?ia)e;iiimii?;r;z;I?IE} E}E}$Ey"E}Q;*E}:VE}4ZEyBE}ƥ BDAT read: Tx time:21:32:17.4440 $Ping request sent.!(6,zؤ?A2d*>2?2Q =ٱ2 >AHRS rotation from veh to nav: [[0.824159,-0.563296,-0.058824],[0.565356,0.812069,0.144627],[-0.033699,-0.152452,0.987736]]2H_?`$d?@x? ?@ÿ ?i2d*>I2]];0Y@yDbDNGVDN4yV;%V[=ٔVE;Q-Z>9Z ?YZ ?=ZEFy^E^>E^>`Q 5f\5b~?Q 9f\5bb)btrBYdyf?Q Ij@bEIb;ib;bw\5ynvBɮn1@lQDNOT Ignoring new targets: 99.08 m. ( (checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250533Q ProNav: ac range: 99.080467 m, nav range: 97.053833 m, bearing: 28.475538 deg, approach rate: -0.644444 m/s, LOS rate: -0.036872 deg/s, cmd heading: 34.479297 deg, new cmd heading: 34.439315 deg. zpʺQHeadingCmd: 0.601079 target range: 99.080467 and range: 99.70 m.RX?JbZB:2Ҕڔڒ’n?ԉ颭Bɢ#y=) 1B?i)Z;顱iiX?r;Ax;IX?I}9@y @@/@ԹDzD@AE EEE"E9;*E:VEZEa-@a-@a-@a-@^AM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002A ؟AI I) O= > J.6,ؤ?AeFZ>e?eF=ٱe AHRS rotation from veh to nav: [[0.825021,-0.562003,-0.059106],[0.564023,0.812467,0.147566],[-0.034911,-0.155082,0.987285]]eHf?@@!Cy ??r?ߡ ÿ՗?ieFZ>Ie?];aY}By0$Ii5Mb@Mb@Mb@1111 195NbX9?:v?Mbp?Y5%?y5T<5;5 A5 @ 1)5@1Y5@bDEVVDEE4yҼ%.=ٔ );Q->9"?Y"?=EFyEi]E>Q 5\5?Q 9\5)jrBY%?Q E:y?Q I@EI:i:\5yuBɮ|@ަEB>BCB)$IBwBBP =BBB:P;BE9Q=DNOT Ignoring new targets: 99.08 m.= VE VQU ProNav: ac range: 99.080467 m, nav range: 96.751709 m, bearing: 28.453331 deg, approach rate: -0.634517 m/s, LOS rate: -0.046785 deg/s, cmd heading: 34.439316 deg, new cmd heading: 34.372487 deg. zUnQ]HeadingCmd: 0.599913 target range: 99.080467 and range: 99.70 m.R]?JYbYZYBY:Y2aҔaڔeBiڒi’iimI?额BɢKb=) >?i)Z;顡iKi?Sr;c;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755118=9@A @A@A@A@M=@M=I ^Ae y;Am hAzAm fAE  E E #E "E :;*E :VE 3ZE BE .] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006693456,4ؤ?A25>20?2=ٱ2| >AHRS rotation from veh to nav: [[0.825914,-0.560832,-0.057731],[0.562629,0.813287,0.148365],[-0.036256,-0.155018,0.987246]]2Hm?V쎭@?s??'@ÿ@?i25>I2o];0YF~ByF1$IbDN?VDN3yVv;%Vr=ٔZ:;Q-Z?9XY\=^EFy^E^9E^?`Q 5f\5b?Q 9f\5bd)bcrBYhyjk?Q Ij@b EIbr;ib;b\5ylɮng@pGS~B*** querying acoustic contact ***:|B|Q DNOT Ignoring new targets: 99.08 m.YYQ% ProNav: ac range: 99.080467 m, nav range: 96.534752 m, bearing: 28.437514 deg, approach rate: -0.651660 m/s, LOS rate: -0.047614 deg/s, cmd heading: 34.372486 deg, new cmd heading: 34.324930 deg. z%Q%HeadingCmd: 0.599083 target range: 99.080467 and range: 99.70 m.R-]?J)b)Z)B):2Ҕڔڒ’ $?eBɢe8y=) =?i) ;  i @i]?r;1;I]?II))-iAI9@ @@@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258521^Av;ԩ A1 IA IQ Om >X;6,ؤ?A@Zo6>Z?Z=ٱZ bAHRS rotation from veh to nav: [[0.826205,-0.560483,-0.056949],[0.562138,0.813497,0.149079],[-0.037228,-0.155183,0.987184]]ZHFp?@z`j(?@*??ÿ?iZo6>IZ Y];XY~xBy~)$IbD@VD3y%%%D=ٔ%;Q-%>9)Y)=-EFy-E-NE5>1Q 5E\55?Q 9E\55H)5YrBYAyEF?Q IE@5EI5;i5g:5-\5yMnBɮUk@UզEqQ}DNOT Ignoring new targets: 99.08 m.}W}WQ ProNav: ac range: 99.080467 m, nav range: 96.267075 m, bearing: 28.417993 deg, approach rate: -0.642646 m/s, LOS rate: -0.046998 deg/s, cmd heading: 34.324931 deg, new cmd heading: 34.266204 deg. zQHeadingCmd: 0.598058 target range: 99.080467 and range: 99.70 m.RV?JbZB:2Ҕڔڒ’`|?E EE$E"EI@;*E :VE4ZEa@a@a@a@mBɢml=)i m9?iq)CF;顑iNˉiV?r;lV;IV?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511504ԩm9@i @i@m0@i^A2;B A <B >B B B B B B B ]P;B 'E A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762639Y@B6,aq ٤?A2%6>2?2% =ٱ2v# :AHRS rotation from veh to nav: [[0.826180,-0.560374,-0.058375],[0.562117,0.812849,0.152645],[-0.038088,-0.158926,0.986556]]2Hp?O㭿??`މ?`O`WĿݑ?i2%6>I2@];0YBrByB"$IliEMb@Mb@Mb@AAAA A9EE?Mb?{GztYE&?yE9qYq=uEFy}E}DzE}>Q 5\5ǂ?Q 9\5<)LrBY&?Q E:y?Q I@EI:i:ʽ\5yɮ@QDNOT Ignoring new targets: 99.08 m.GGQ ProNav: ac range: 99.080467 m, nav range: 95.999580 m, bearing: 28.399977 deg, approach rate: -0.646084 m/s, LOS rate: -0.043634 deg/s, cmd heading: 34.266205 deg, new cmd heading: 34.212008 deg. zQHeadingCmd: 0.597112 target range: 99.080467 and range: 99.70 m.RX?JbZB:2Ҕڔڒ’`@%Bɢ%˙l=)) -5?i))-;))i-Mi5X?= r;=ԅ;I=X?I99@ @@0@ E EE(E"E2;*Er:VEc44ZEBE!C-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015412=cGMSkAQ9SkAYϙAA^AAA>Aa a Iq I O >]jH6,L#٤?A6:>>6?6=ٱ6u( BAHRS rotation from veh to nav: [[0.826125,-0.560224,-0.060550],[0.562155,0.812015,0.156888],[-0.038725,-0.163647,0.985759]]6Ho?`[`k+??@?`ӣ@eĿU?i6:>>I6Z];4YFkByF$IbDRCVDR3yZ %ZW=ٔZ:Q-Z>9\Y\=^EFy^Eb;*9Eb>dQ 5j\5f؂?Q 9j\5f)f@rBYhyj?Q Ij@fEIfp:if:f\5yrmBɮr@r֦E Q DNOT Ignoring new targets: 99.08 m.HHQ% ProNav: ac range: 99.080467 m, nav range: 95.754036 m, bearing: 28.383349 deg, approach rate: -0.646127 m/s, LOS rate: -0.043869 deg/s, cmd heading: 34.212008 deg, new cmd heading: 34.161994 deg. z%Q-HeadingCmd: 0.596239 target range: 99.080467 and range: 99.70 m.R-#?J)b)Z)B):)21Ҕ1ڔ119ڒ9’AAE@mBɢm^m=)q u1?iq)uN{<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266665qiȊi#?lr;_p;I#?Ie>i>1@1 @1@55@1i^AUϩ;ԑE EE$E"E*E:VE4ZEa@a@a@a@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518613AM .AIQ Ia Ou > N6,:=٤?AԑYWBy$Ii}Mb@Mb@Mb@yyyy y9}#~j?~jtxy&1|Y}%?y}Ļ}`} Ay }r@)}1AyY}(@bDDVDJ3yo%.=ٔQ->B>BCB$IBhBBBBBB(E9 ?Y ?=EFyEE>!Q 5-\5%?Q 9-\5%)%1rBY-%?Q E5:y5*?Q I5@%EI%;i%S;%R\5y9ɮ=d@9aQeDNOT Ignoring new targets: 99.08 m.mj"mj"Q} ProNav: ac range: 99.080467 m, nav range: 95.443375 m, bearing: 28.366294 deg, approach rate: -0.644531 m/s, LOS rate: -0.035499 deg/s, cmd heading: 34.161994 deg, new cmd heading: 34.110663 deg. z}ºQHeadingCmd: 0.595343 target range: 99.080467 and range: 99.70 m.Rlh?JbZB:2ҔڔBڒ’@ BɢM=) %?i)1<i%ilh?s;;Ilh?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770733Թa@a @a@e5@i^A} ;bEijEmʻ 4rEm/0E  E E &E "E s!;*E :VE 4ZE BE |x5 BDAT read: Rx Time:21:32:19.9781 = TRx dataTimestamp_ set to:1761514341.356568= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023605U6,GW٤?Ar>r,?rV%=ٱr. zAHRS rotation from veh to nav: [[0.825593,-0.560769,-0.062727],[0.562811,0.810379,0.162876],[-0.040503,-0.169773,0.984650]]rH Ak???@"?ּ@ ſA?ir>IrB];pYJBy#IbD\VDP)4yE%Ea=ٔMܠ;Q-M>9M"?YM"?=UEFyUEUG;EU>Q 5\5?Q 9\5)%rBYy]?Q I@EI :i:q\5ykBɮ@צEGSB*** querying acoustic contact ***:B!Q%DNOT Ignoring new targets: 99.08 m.- - Q] ProNav: ac range: 99.080467 m, nav range: 95.213104 m, bearing: 28.353471 deg, approach rate: -0.628805 m/s, LOS rate: -0.035102 deg/s, cmd heading: 34.110661 deg, new cmd heading: 34.072099 deg. z]QeHeadingCmd: 0.594670 target range: 99.080467 and range: 99.70 m.ReP<?JabaZaBi:i2iҔiڔڒ’# @ Bɢ\=) d?i)p<iziP<?vs;;IP<?I)9@ @@ 4@ }checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2746311^Aϩ;AY q I I O >[6,o+q٤?Ajl>jL+?jj*=ٱjr, vAHRS rotation from veh to nav: [[0.825566,-0.561084,-0.060212],[0.562763,0.810724,0.161321],[-0.041699,-0.167066,0.985063]]jH k? f"Ԯ&?s?+?Y@nbſ?ijl>IjAY];jCYz@By~#IA p< bD ]VD '+4yi>%%L=ٔ%KD;Q-%>9!Y)=-EFy-E-E->1Q 5=\55?Q 9E\55)5rBYAyAQ IE@5#EI5:i5-:5\5yMiBɮM@QE} E}E})Ey"E}';*E}:VE}FA4ZEya@a@a@a@QDNOT Ignoring new targets: 99.08 m.""Q  ProNav: ac range: 99.080467 m, nav range: 94.960732 m, bearing: 28.339345 deg, approach rate: -0.633248 m/s, LOS rate: -0.035539 deg/s, cmd heading: 34.072098 deg, new cmd heading: 34.029608 deg. z ú1Q=HeadingCmd: 0.593929 target range: 99.080467 and range: 99.70 m.R= ?J9b9Z9B9:92AҔAڔAAڒA’IIm #@颵BɢS=) v?i)(!<ii ?DAT read: 21:32:19.9781 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415, 0.15,-2.305, 2.483,-1.924,-2.305, PHS= 0.102,-1.450, 0.337, RAW= 156.9, 12.0, CAL= 157.2, 13.4, ROT= 352.8, -13.4 Ygot valid direction response: 21:32:19.9781 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415, 0.15,-2.305, 2.483,-1.924,-2.305, PHS= 0.102,-1.450, 0.337, RAW= 156.9, 12.0, CAL= 157.2, 13.4, ROT= 352.8, -13.4  PDAT read: Bearing 195.0, -11.5 (Local) ~Local bearing/azimuth received: Bearing 195.0, -11.5 (Local) DAT read: Range 11 to 50 : 97.4 m (Round-trip 129.9 ms) speed 0.6 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.965105,-0.121921,0.231748]-Fpublishing direction and range infoyeNvQ$?!?6] A?YB )KI`=iD>LB/@PwV>/@ |o>)j @I|o7?vO`?2KF? W%?)5pVIi|oET****** received valid address query ******ER****** received valid ping request ******U.s;U;IU ?IYmQuerying Benthos address 50 with one ping in standard two-way mode.%9@) @)@-/@1YԉAAAAB>BB#IBNBBO =BBBP;B>EBYBYBYB]P =B]O =C]25^Ae (; *DAT read: user:309>  BDAT read: Tx time:21:32:21.2440  $Ping request sent. Gb6,Y٤?AY~3By~#IiMb@Mb@Mb@ 9Cl?~jtMbP?Y;?y: @ @)GAY@bDFVD4y%?=ٔQ->9 ?Y ?=EFyEE>Q 5\5$?Q 9%\5I)rBY-?Q E-:y- ?Q I-@(EIN;iM;\5y9ɮEl@AJRw٤?ABB?ZW@qfoC';n6@eNvQ$?!?6] A?ԙ|o—gT@IKlOG@/KJ,4@A]l!=?'té?PЈ8?j}:BrȤBZy$C?bY zBy$C?a< Bڗ@B?Q5 addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 3.780067 s, deltaX: -2.299995 m, approachRate: -0.608454 m/s, rangeRepo size: 4 QE Added new target pos. range: 96.794228 m, bearing: 29.503750 deg, lat: 36.779374 deg, lon: -121.859432 deg, deltaT: 3.780067 s, deltaX: -2.286240 m, approachRate: -0.604815 m/s, posRepo size: 4 IQMDNOT Ignoring new targets: 96.79 m.mqQ} ProNav: ac range: 96.794228 m, nav range: 94.626907 m, bearing: 29.458799 deg, approach rate: 0.000000 m/s, LOS rate: -0.035539 deg/s, cmd heading: 34.029608 deg, new cmd heading: 33.984034 deg. zQHeadingCmd: 0.593133 target range: 96.794228 and range: 97.40 m.R?JbZB:2ҔڔkBڒ’YX@@?E E%E$E"E[";*E;VE4ZEBE z]i6,H٤?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.4987566g>6t?6c7=ٱ6˂ BAHRS rotation from veh to nav: [[0.826834,-0.560511,-0.046615],[0.560660,0.814772,0.147675],[-0.044793,-0.148237,0.987937]]6Hlu? ݧ? ??`樂@r¿-?i6g>I6pq];6CYFByJ#IbDR;VDR)3yZ %ZK=ٔZ*;Q-Z>9^"?Y^"?=^EFy^EbȻEb>`Q 5j\5b"6?Q 9j\5b)brBYhyj% ?Q Ij@b,EIb;ibf:b \5yrhBɮr@rئEQ DNOT Ignoring new targets: 96.79 m. ,,Q ProNav: ac range: 96.794228 m, nav range: 94.378098 m, bearing: 29.455540 deg, approach rate: -0.641634 m/s, LOS rate: -0.008424 deg/s, cmd heading: 33.984033 deg, new cmd heading: 33.974233 deg. z%Q%HeadingCmd: 0.592962 target range: 96.794228 and range: 97.40 m.R-_?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99= g?%Bɢ%hB=)%LA -?i))-/<))i- i5_?5t;5D;I5_?I9@ @@%/@!@5iA@1Eu EuEu)Eq"Eu);*Eua:VEuFA4ZEqa}@a}@a}@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751144^AA>A>)AI IY Ii Ou >Q ?p6, ٤?Ab>?;=ٱ -AHRS rotation from veh to nav: [[0.827912,-0.559287,-0.041952],[0.558985,0.816725,0.143161],[-0.045805,-0.141975,0.988810]]H@~?z4?"? S?s>,¿T?ib>IQ];CY= By=#I AAB]>BYB]#IB]+BBYBYBYB]P;B]WE1i-Mb@Mb@Mb@)))) )9-V-?MbX9~jth?Y-|?y-ʡ-D;- A-7@ ))))Y)bDMGVDM4y]=%]3=ٔ]^;Q-]>9aYa=eEFyeEmEm>qQ 5}\5uK?Q 9}\5u)urBY} ?Q E}:y}y>Q I@u0EIu:iuQ:u\5ydBɮ@ϦEQDNOT Ignoring new targets: 96.79 m.ʛ9ʛ9Q ProNav: ac range: 96.794228 m, nav range: 94.091393 m, bearing: 29.463301 deg, approach rate: -0.627049 m/s, LOS rate: 0.017025 deg/s, cmd heading: 33.974232 deg, new cmd heading: 33.997585 deg. z::QHeadingCmd: 0.593370 target range: 96.794228 and range: 97.40 m.R?JbZB:2ҔڔDBڒ’G?BɢZ0=) >i)Tr6<i%㋼i%?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0028165Bt;5};I5?I9I)hA9@A @A@A@Aiԉ^A ϩ;E  E E %E "E *;*E :VE 4ZE BE Vav6,٤?A2e>2 ?2>=ٱ2 :AHRS rotation from veh to nav: [[0.830044,-0.556093,-0.042281],[0.555749,0.818429,0.146002],[-0.046587,-0.144686,0.988380]]2H`?`˥`?0?3?Fڧ`¿Ϡ?i2e>I2C];2CYBByB#IbDN8VDN3yV%Vl=ٔV;Q-Z?9Z ?YZ ?=ZEFyZE^\7E^?`Q 5f\5b\?Q 9f\5b)bqBYdyf>Q Ij@b4EIb;ib;b&\5ynbBɮn@lGSzB*** querying acoustic contact ***:xBxQ DNOT Ignoring new targets: 96.79 m. ҩ9 ҩ9Q ProNav: ac range: 96.794228 m, nav range: 93.874161 m, bearing: 29.469720 deg, approach rate: -0.626593 m/s, LOS rate: 0.018559 deg/s, cmd heading: 33.997584 deg, new cmd heading: 34.016886 deg. zK:Q%HeadingCmd: 0.593707 target range: 96.794228 and range: 97.40 m.R%)?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’19=`А?%Bɢ%D9=)! %0>i!)-U;<))i-eۋi5)?5وt;5(a 9I5)?I9ԡ9@ @@0@^Ar;nManaging dock network, ignoring radio surface power offUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506865A؟AII Om>! h|6,s٤?AE6 E6E6$E4"E64;*E6:VE64ZE4a:@a:@a:@a:@>>>?>+B=ٱ>. JAHRS rotation from veh to nav: [[0.832521,-0.552263,-0.043754],[0.551965,0.820128,0.150746],[-0.047368,-0.149649,0.987604]]>H?#f?}>?K?`@'ÿs?i>>I>ZY];>CYRByR#IbDZeVDZ94yb %bJ=ٔb+:Q-f>9f"?Yf"?=fEFyfEj^7Ej>lQ 5E\5nQ IE@n8EInSeiq)uABCB#IBBBR =BBTDBP;BmƼY>i!>I @I  @I @M /@I @Q @U =} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012057ԁ ԙ ^A Β{;E EEE"E1;*E:VEZEBEk6ߤ?6ZF=ٱ6' >AHRS rotation from veh to nav: [[0.837265,-0.544596,-0.049013],[0.544650,0.822685,0.162927],[-0.048407,-0.163108,0.985420]]6H ?TmB`m?pS?`? ȨĿ?i6>I6o];6CYFByF#IIJC>)J>i I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262897iMb@Mb@Mb@ 9V-?ʡE:v?Y?yyT<d@ \@)Y@bDYVD#4yK%=ٔ:Q-%>9)Y)=-EFy-E5zE5>1Q 5=\55?Q 9E\55b)5qBYE?Q EE:yE>Q IM@5=EI5 ;i5 ;5\5yU`BɮU@UЦEQDNOT Ignoring new targets: 96.79 m.GV:GV:Q ProNav: ac range: 96.794228 m, nav range: 93.266792 m, bearing: 29.504209 deg, approach rate: -0.628303 m/s, LOS rate: 0.046835 deg/s, cmd heading: 34.041605 deg, new cmd heading: 34.120716 deg. z;QHeadingCmd: 0.595519 target range: 96.794228 and range: 97.40 m.Rs?Jb!Z!B!:!2!Ҕ)ڔ-"B)ڒ)’)15 7@= Bɢ="=)9 =>iA)EI^?^E=ٱ^o. fAHRS rotation from veh to nav: [[0.839571,-0.540759,-0.051961],[0.541098,0.823910,0.168480],[-0.048296,-0.169567,0.984335]]^H?`M`P?w]? ?J`]ſ@?i^p>I^g];^CYnBynq#IbDvPVDv:4y~\I%=ٔ_Q->9Y = EFy E &E >Q 5\5?Q 9%\5,)qBY!y%>Q I%@CEI:i[:)\5y-^Bɮ5@5ѦEQQ]DNOT Ignoring new targets: 96.79 m.]$_:]$_:Qm ProNav: ac range: 96.794228 m, nav range: 92.948318 m, bearing: 29.528807 deg, approach rate: -0.629285 m/s, LOS rate: 0.048771 deg/s, cmd heading: 34.120715 deg, new cmd heading: 34.194763 deg. zm;QuHeadingCmd: 0.596811 target range: 96.794228 and range: 97.40 m.Ru?JybyZyBy:y2yҔڔڒ’@#Bɢj$=) Ҿ>i)dO<i2܊i-?-m;-}#I5?I19999!BYBYB]m#IB]߄BB]Q =BYBYB]P;B]FEU>U<]BDAT read: Rx Time:21:32:23.7749 eTRx dataTimestamp_ set to:1761514345.137908echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021071@ @@@A^Ae8FA I I O >q 6,c+Sڤ?A>>>~?>GzD=ٱ>, FAHRS rotation from veh to nav: [[0.841155,-0.538399,-0.050841],[0.538664,0.825796,0.167040],[-0.047950,-0.167892,0.984639]]>H? :@>I>x\];>CYfքByfb#IEe EeEe$Ea"Ee;;*Ee:VEe4ZEaBEe9Y=EFyEͻE>Q 5\5?Q 9\5c)qBY ?Q E:y'>Q I@GEI;i;3\5y\Bɮk@!Q-DNOT Ignoring new targets: 96.79 m.5w:5w:QE ProNav: ac range: 96.794228 m, nav range: 92.662201 m, bearing: 29.553752 deg, approach rate: -0.618877 m/s, LOS rate: 0.054124 deg/s, cmd heading: 34.194762 deg, new cmd heading: 34.269828 deg. zE;QEHeadingCmd: 0.598121 target range: 96.794228 and range: 97.40 m.RM{?JIbIZIBI:I2QҔQڔUBYڒY’YY]`Ne @颅&Bɢ=) >i)qT<顑iBzi{?Gj;xI{?I!@! @)@)@)ԁԱ^Am 0:D DAT read: 21:32:23.7749 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 415,-0.34, 2.618, 1.037, 2.981, 2.618, PHS= 0.102,-1.535, 0.320, RAW= 156.2, 12.6, CAL= 156.4, 14.2, ROT= 353.6, -14.2  Ygot valid direction response: 21:32:23.7749 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 415,-0.34, 2.618, 1.037, 2.981, 2.618, PHS= 0.102,-1.535, 0.320, RAW= 156.2, 12.6, CAL= 156.4, 14.2, ROT= 353.6, -14.2  PDAT read: Bearing 194.2, -11.4 (Local)  ~Local bearing/azimuth received: Bearing 194.2, -11.4 (Local)  DAT read: Range 11 to 50 : 95.0 m (Round-trip 126.7 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.963404,-0.108063,0.245307] Fpublishing direction and range infoya e aQ4?_ /;f?Ye Ba a a a a )e LIa ie zĿe ף>e !z.@e z0a>e R.@ e }>)e |@Ie }a a e `5?;Nym?z? e !?)e aIe iie }a a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. A I) I9 OU >36,mڤ?A#>h?`C=ٱI( eAHRS rotation from veh to nav: [[0.842022,-0.537271,-0.048356],[0.537331,0.827427,0.163218],[-0.047681,-0.163417,0.985404]]H?R1@¨1?Gz?@U?i Ŀn?i#>Io];CY}ɄBy}R#I==bDiVD=A4y%[=ٔ9Y=EFyEE>Q 5%\5+̓?Q 9%\5)rBY)y-.>Q I-@KEI:i:\5yQɮU;@YJRchڤ?AѼBѼB>T~V@ing$ǧ$4(7@aQ4?_ /;f?i}—dЇQ addTargetRange:: Added new target pos. range: 95.000000 m, deltaT: 3.779890 s, deltaX: -2.400002 m, approachRate: -0.634939 m/s, rangeRepo size: 4 Q Added new target pos. range: 94.408203 m, bearing: 28.642185 deg, lat: 36.779379 deg, lon: -121.859448 deg, deltaT: 3.779890 s, deltaX: -2.386024 m, approachRate: -0.631242 m/s, posRepo size: 4 QDNOT Ignoring new targets: 94.41 m.%!QU ProNav: ac range: 94.408203 m, nav range: 92.232376 m, bearing: 28.641922 deg, approach rate: 0.000000 m/s, LOS rate: 0.054124 deg/s, cmd heading: 34.269829 deg, new cmd heading: 34.333898 deg. zQQ]HeadingCmd: 0.599240 target range: 94.408203 and range: 95.00 m.R]g?JYbYZYBY:Y2aҔaڔaaڒi’iW@ ?(BɢW=) >i)X<i i g?-xf;-OI-g?I1Em EmEm)Ei"Em%;*Em:VEmFA4ZEia}@a}@a}@a}@*DAT read: user:310> BDAT read: Tx time:21:32:25.0440 $Ping request sent.Ba Ba Be N#IBe ńBBa Ba Ba Be P;Be >E<6,{ڤ?A2y>2[?28F=ٱ2& :AHRS rotation from veh to nav: [[0.842683,-0.536414,-0.046314],[0.536220,0.828398,0.161942],[-0.048501,-0.161300,0.985713]]2H@C?M*|(?;??@(ը`|Ŀ?i2y>I2]];2CDYb˄BybU#IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823imMb@Mb@Mb@iiii i9m$C?@5^I ¿?Ym?ymbm9Y=EFyEYE>Q 5\5?Q 9\5) rBYi?Q E:yf>Q I@OEI ;ie ;\5y[Bɮ@ҦEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 94.41 m.::Q ProNav: ac range: 94.408203 m, nav range: 91.996864 m, bearing: 28.664603 deg, approach rate: -0.637882 m/s, LOS rate: 0.061588 deg/s, cmd heading: 34.333899 deg, new cmd heading: 34.402116 deg. z );Q HeadingCmd: 0.600430 target range: 94.408203 and range: 95.00 m.R ˵?JbZB:2Ҕڔ1Bڒ!’!!%`?*Bɢ9=) >i)L\<iu։i˵?c;EüI˵?IԱq@q @q@u0@ybE%ǻ 4jE%T4rE%xE0E EE&E"E8;*E:VE4ZEBEՏ6,{ڤ?A2>2)?21J=ٱ2s" :AHRS rotation from veh to nav: [[0.842463,-0.536977,-0.043725],[0.536473,0.828668,0.159706],[-0.049525,-0.158003,0.986196]]2Hu?@.c*?r?@=q?^[`s9Ŀ?i2>I2];2CYJByJE#IbDjPlVDj:4yv %vU=ٔz/;Q-z>9xYx=zEFyzE~kc:E~>Q 5 \5?Q 9 \5)rBYyq>Q I@SEI`:iW:7\5yYBɮ@ӦEAQEDNOT Ignoring new targets: 94.41 m.Mև:Mև:Q] ProNav: ac range: 94.408203 m, nav range: 91.762856 m, bearing: 28.687244 deg, approach rate: -0.612156 m/s, LOS rate: 0.059379 deg/s, cmd heading: 34.402116 deg, new cmd heading: 34.470212 deg. z]#;QeHeadingCmd: 0.601619 target range: 94.408203 and range: 95.00 m.Re?JabaZaBi:i2iҔiڔqqڒq’qq}@L?颥,Bɢ<} =) >i) `<顩ikzi?V`;ǼI?II)iAi@i @q@u4@q@}=@}= ^AM¼AIzAMgAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759802IIIaOY>Ia E  E E "E "E ;*E :VE (3ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010659O6,6Yڤ?A2!>2rg?2*6P=ٱ2#V :AHRS rotation from veh to nav: [[0.841898,-0.538229,-0.038949],[0.537239,0.829176,0.154407],[-0.050811,-0.150919,0.987239]]2H?-91??? TQÿ w?i2!>I2d];2CYJByJ>#IbDRgVDR=4yZ%ZN=ٔ^}T;Q-^>9`Y`=bEFybEb;Ef>dQ 5j\5fN?Q 9n\5f)frBYlyn>Q In@fVEIf@;if;f\5ytɮv @t QDNOT Ignoring new targets: 94.41 m.::Q% ProNav: ac range: 94.408203 m, nav range: 91.519974 m, bearing: 28.710802 deg, approach rate: -0.611256 m/s, LOS rate: 0.059447 deg/s, cmd heading: 34.470213 deg, new cmd heading: 34.541076 deg. z-0#;Q-HeadingCmd: 0.602856 target range: 94.408203 and range: 95.00 m.R-T?J1b1Z1B1:121yҔڔڒ’3?.Bɢ4=) %>i)Ic<11i5i=T?={\;=0ɼIET?IAm9@q @q@u4@yԩB!B!B%;#IB%BB%P =B!B!B%kP;B%.EBľCBľCBBQ =BQ =C5}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262650^AI I O > д6,1ڤ?A6#8>6?6sDW=ٱ6e JAHRS rotation from veh to nav: [[0.840680,-0.540448,-0.034259],[0.538979,0.828902,0.149744],[-0.052531,-0.144351,0.988131]]6H@?@YK`e P??]?*?b媿`z¿ Ş?i6#8>I6V[];4YRByR?#Ii-Mb@Mb@Mb@)))) )9-ףp= ?i|?5Mb?Y-?y--=-$ A) -@)))Y-\@bDE\VDEP)4yM;%UA=ٔU?;Q-U>Ee EeEe*Ea"Ee/;*Ee8:VEe(N4ZEaBEeLjQ 5\5Q?Q 9\5)rBY!?Q E:y>Q I@[EI:if:k\5yWBɮ@aQeDNOT Ignoring new targets: 94.41 m.m=:m=:Q ProNav: ac range: 94.408203 m, nav range: 91.251801 m, bearing: 28.729304 deg, approach rate: -0.599725 m/s, LOS rate: 0.041499 deg/s, cmd heading: 34.541076 deg, new cmd heading: 34.596746 deg. z:QHeadingCmd: 0.603827 target range: 94.408203 and range: 95.00 m.Rj?JbZB:2ҔڔBiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514995ڒ’`,S?0Bɢtv=) X>i)ݥg<i^ij?pX;zIj?I9@ @@3@1^A ǼI I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766758Y n6,aڤ?A^`>^H?^]\=ٱ^ nAHRS rotation from veh to nav: [[0.838822,-0.543520,-0.031058],[0.541744,0.827725,0.146235],[-0.053774,-0.139490,0.988762]]^H`?d͟U? |?`Է?@R`?i^`>I^r];^CYvByv=#IbDQVD4y 2%N=ٔM;Q->9Y=EFyE% <E%>)Q 5-\5-.?Q 95\5-u)-$rBY1y5 >Q I5@-_EI-;i-;-\5yAɮE@AaQmDNOT Ignoring new targets: 94.41 m.mL:mL:Q ProNav: ac range: 94.408203 m, nav range: 91.005035 m, bearing: 28.745961 deg, approach rate: -0.661991 m/s, LOS rate: 0.044806 deg/s, cmd heading: 34.596745 deg, new cmd heading: 34.646851 deg. z:QHeadingCmd: 0.604702 target range: 94.408203 and range: 95.00 m.R?JbZ B : 2 1ҔQڔQQڒQ’QY] A@2Bɢ=)I MW>iI)UkA >Iy I O >B B B (#IB BB Q =B B B QP;B !EԹ 6,ۤ?A2!>2?2ѯ`=ٱ2 :AHRS rotation from veh to nav: [[0.836573,-0.547075,-0.029227],[0.545105,0.825849,0.144340],[-0.054828,-0.136683,0.989096]]2H4?흿 q?Zm?`y? _~`?i2!>I2*_];0YbByb@#I ddEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270791i}Mb@Mb@Mb@yyyy y9}Gz?A`"?Y}p?y}ٽ}<} A}@ }@)}AyY}AbDVDyYI<%B=ٔ#;Q->9Y=EFy EC<E>Q 5]5B?Q 9]5)&rBY?Q E:y>Q I@cEI]:iQ:]5yRBɮz@˦EGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 94.41 m.::ԑQ ProNav: ac range: 94.408203 m, nav range: 90.742416 m, bearing: 28.760524 deg, approach rate: -0.621400 m/s, LOS rate: 0.034557 deg/s, cmd heading: 34.646852 deg, new cmd heading: 34.690665 deg. z:QHeadingCmd: 0.605466 target range: 94.408203 and range: 95.00 m.R?JbZB:2Ҕڔ:Bڒ’@s@}4Bɢ}3=) 2>i)n<顉i6i ? $R; ڙI ?I@ @@!@!E} E}E}&Ey"E}77;*E}d:VE}4ZEyBE}  6,"!ۤ?A2e>2 ?2c=ٱ2? :AHRS rotation from veh to nav: [[0.833977,-0.551120,-0.027377],[0.548994,0.823718,0.141754],[-0.055573,-0.133249,0.989523]]2H? Ǣ\?`[?$?sO,?i2e>I2];2CYJByJA#IbDVXVDV!4yZ b;%^[=ٔ^;Q-^>9`Y`=bEFyb EfM<Ef>hQ 5j]5jT?Q 9n]5j,)j(rBYAyEQ>Q IE@jgEIjzi)q<ii2*? P; }I2*?I@ @@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775353^AmIIO$>!I E  E E 'E "E );*E :VE '4ZE a @a @a @a @ BDAT read: Rx Time:21:32:27.5714  TRx dataTimestamp_ set to:1761514348.920566 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.02778476,;ۤ?A Z>Z%?Zf=ٱZCC rAHRS rotation from veh to nav: [[0.831562,-0.554924,-0.023745],[0.552576,0.822201,0.136545],[-0.056249,-0.126666,0.990349]]ZH(?@@P?yO?@Kz?̬6 ?iZ>IZ5w];ZCYzByz5#IbD OVD c4y6%D=ٔ= :Q-=>9AYA=EEFyEEM(<EM>QQ 5U]5U i?Q 9}]5UW)U)rBYyy}Q>Q I}@UkEIUi;iU;Uz ]5yɮ@QDNOT Ignoring new targets: 94.41 m.::Q ProNav: ac range: 94.408203 m, nav range: 90.247932 m, bearing: 28.786107 deg, approach rate: -0.630322 m/s, LOS rate: 0.032049 deg/s, cmd heading: 34.727694 deg, new cmd heading: 34.767626 deg. z:Q HeadingCmd: 0.606810 target range: 94.408203 and range: 95.00 m.R W?J bZB:q2qҔyڔyyڒy’y` @-7Bɢ- iq)uzuBCB#IBBBP =9@ @@0@@1@5=BBUDB?P;BEԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278895^AM 7ƙ Ay I I O >"6,QUۤ?A`||EU EUEU(EQ"EU;*EUa:VEUc44ZEQBEUp?Ii=ٱc AHRS rotation from veh to nav: [[0.829690,-0.557843,-0.020619],[0.555296,0.820998,0.132696],[-0.057095,-0.121547,0.990942]]HҌ?B ?@E?1?;̵?iN>Ipk];CYBy2#I!!DAT read: 21:32:27.5714 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.40,-1.029,-2.580,-0.629,-1.030, PHS= 0.102,-1.505, 0.356, RAW= 157.2, 11.9, CAL= 157.4, 13.3, ROT= 352.6, -13.3 Ygot valid direction response: 21:32:27.5714 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.40,-1.029,-2.580,-0.629,-1.030, PHS= 0.102,-1.505, 0.356, RAW= 157.2, 11.9, CAL= 157.4, 13.3, ROT= 352.6, -13.3 PDAT read: Bearing 194.6, -12.1 (Local) ~Local bearing/azimuth received: Bearing 194.6, -12.1 (Local) DAT read: Range 11 to 50 : 92.5 m (Round-trip 123.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965073,-0.125341,0.230050] Fpublishing direction and range infoyf?Ut+ gz}"Er?YB )HIiףE>/@ȭT>F/@ ,m>)@I,m넅??RbNz ? X&?)UI@i,m%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.iUMb@Mb@Mb@QQQQ Q9Uףp= ?9Y=EFyE;E>Q 5]5?Q 9]5)'rBY?Q E:yz>Q I@pEI ;i;]5yNBɮ@̦EJR [ۤ?AٷBٷBӥ>6Ht-V@Qe addTargetRange:: Added new target pos. range: 92.500000 m, deltaT: 3.784071 s, deltaX: -2.500000 m, approachRate: -0.660664 m/s, rangeRepo size: 4 Qu Added new target pos. range: 91.923927 m, bearing: 28.160847 deg, lat: 36.779382 deg, lon: -121.859450 deg, deltaT: 3.784071 s, deltaX: -2.484276 m, approachRate: -0.656509 m/s, posRepo size: 4 qQDNOT Ignoring new targets: 91.92 m.Q ProNav: ac range: 91.923927 m, nav range: 90.205147 m, bearing: 28.563640 deg, approach rate: 0.000000 m/s, LOS rate: 0.032049 deg/s, cmd heading: 34.767627 deg, new cmd heading: 34.817670 deg. zQHeadingCmd: 0.607683 target range: 91.923927 and range: 92.50 m.R?Jb!Z!B):12QҔYڔ]/BYڒY’ae W@e ?59Bɢ5w<)1 5k>i9)=Xy<99i= iU?UB"K;U-3IU?IY@ @@/@A e *DAT read: user:311> m BDAT read: Tx time:21:32:28.7939 m $Ping request sent.m 9] ?Y] ?=]EFy]EeEe>iQ 5u]5m?Q 9u]5mm)m%rBYqyyQ I}@mtEIm;imj;ms]5yMBɮ@ͦEQDNOT Ignoring new targets: 91.92 m.99Q ProNav: ac range: 91.923927 m, nav range: 89.935127 m, bearing: 28.566924 deg, approach rate: -0.703370 m/s, LOS rate: 0.008580 deg/s, cmd heading: 34.817671 deg, new cmd heading: 34.827553 deg. zl9QHeadingCmd: 0.607855 target range: 91.923927 and range: 92.50 m.Rj?JbZB:2Ҕڔڒ’ ђ? :Bɢu=) hk>i)/{<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251047顡itij?LI;:Ij?Iaq@y @y@y@yB>BCB#IBBBBBTDBBE^A &e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503238Թ A ؟AI! I1 OM >l6,ۤ?A2>2?2o=ٱ2| >AHRS rotation from veh to nav: [[0.827201,-0.561653,-0.016875],[0.558850,0.819202,0.128816],[-0.058526,-0.115987,0.991525]]2Hmx?@G`?6?` }?S?i2>I2Hj];2CYBByF%#IiMMb@Mb@Mb@IIII I9M%C?Mb?YMZ$?yMLM9"?Y"?=EFyE.<E>ԑQ 5]5󦄊?Q 9]5)rBY$?Q E:y?Q I@xEI3;i=3;]5yɮ@GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 91.92 m.  Q ProNav: ac range: 91.923927 m, nav range: 89.672455 m, bearing: 28.563355 deg, approach rate: -0.641558 m/s, LOS rate: -0.008743 deg/s, cmd heading: 34.827551 deg, new cmd heading: 34.816812 deg. zQHeadingCmd: 0.607668 target range: 91.923927 and range: 92.50 m.R!?JbZB:2Ҕڔ3Bڒ ’   &b?=;Bɢ=<)9 =P>i9)Eyh~A>A9 II IY Oe > 6,qۤ?A2_>29?2ou=ٱ2H :AHRS rotation from veh to nav: [[0.826868,-0.562091,-0.018506],[0.559198,0.818218,0.133479],[-0.059885,-0.120718,0.990879]]2H@u?M?@.??Lg羿`G?i2_>I2];0YBByF#I HHbDNdVDN 84yVż%VY=ٔVl;Q-Z>9XYX=ZEFyZE^:E^>`Q 5f]5b?Q 9j]5bϛ)brBYhyj>?Q Ij@b|EIbj:ib:bQ]5yrKBɮr@rΦEQ DNOT Ignoring new targets: 91.92 m. &&%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007034Q- ProNav: ac range: 91.923927 m, nav range: 89.429169 m, bearing: 28.559932 deg, approach rate: -0.645633 m/s, LOS rate: -0.009110 deg/s, cmd heading: 34.816811 deg, new cmd heading: 34.806512 deg. z-ȹQ5HeadingCmd: 0.607488 target range: 91.923927 and range: 92.50 m.R5Y?J1b1Z9B9:929ҔAڔAAڒA’IIM??=Bɢp<) m @E>i)5f<19i= 킼iEY?MtF;M}IMY?IQ-9@) @)@-5@)!E] E]E]'EY"E]);*E]a:VE]'4ZEYae@ae@ae@ae@Q^Am`Իchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482A .AI I O >y 6,Nۤ?A:a>:q?:&|=ٱ:= BAHRS rotation from veh to nav: [[0.827205,-0.561516,-0.020789],[0.558500,0.817573,0.140184],[-0.061719,-0.127571,0.989907]]:H`vx?@I@I:o];:CYJByJ#IbDVeVDV94y^?%^I=ٔb.;Q-b>9b ?Yb ?=bEFybEfEf>hQ 5n]5j˄?Q 9r]5je)jrBYpyr?Q Ir@jEIjn ;ijj!;j]5ytɮvX@x1BE>BABE #IBEBBEQ =BABABEAP;BAQ]DNOT Ignoring new targets: 91.92 m.]s!]s!Qm ProNav: ac range: 91.923927 m, nav range: 89.168083 m, bearing: 28.556326 deg, approach rate: -0.636960 m/s, LOS rate: -0.008822 deg/s, cmd heading: 34.806511 deg, new cmd heading: 34.795663 deg. zmQuHeadingCmd: 0.607299 target range: 91.923927 and range: 92.50 m.Ruw?JqbyZyBy:2Ҕڔڒ’@?Ye>Bɢe<<) 0/>i)<顑i<ၼiw?mE;rIw?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510895e9@i @i@i@iԉԩ^A bEʞ4jErEDN0Em  Em Em &Ei "Em ;*Em :VEm 4ZEi BEm p6,'ۤ?AYBy#IiMb@Mb@Mb@ 9{Gz?{Gz{Gz?Y#?y##< A\@ )AYAbD5JVD504yE;%E4=ٔMQ-M>9M"?YM"?=UEFyUEUEU>YQ 5e]5]?Q 9e]5])]rBYm-$?Q Em:ym?Q Im@]EI]n:i]:] ]5yuIBɮ}#@yԱQDNOT Ignoring new targets: 91.92 m.MUUUQ] ProNav: ac range: 91.923927 m, nav range: 88.876984 m, bearing: 28.549659 deg, approach rate: -0.638920 m/s, LOS rate: -0.014680 deg/s, cmd heading: 34.795661 deg, new cmd heading: 34.775595 deg. ze3!QeHeadingCmd: 0.606949 target range: 91.923927 and range: 92.50 m.Re`?JibiZiB:2Ҕڔ;Bڒ’:@?Bɢ <) z0>i)<顉i耼i`?>C;I`?Ip>i>]9@Y @Y@]4@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014813 ^A A AI IY Ii E}  E} /E} $Ey "E} 3;*E} Y;VE} 4ZEy a @a @a @a @O >6,ۤ?A2'>2,?2=ٱ2/ :AHRS rotation from veh to nav: [[0.827364,-0.561168,-0.023674],[0.557923,0.816260,0.149807],[-0.064743,-0.137153,0.988432]]2H y?=??`,?7;?i2'>I2u];0YnByn"IIr>)r=bDz]VDz'+4y>ٽ%K=ٔ0;Q- >9 Y = EFy EE>Q 5%]5?Q 9-]5 )qBY9yE?Q IE@EI;iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267iT;[$]5ymHBɮmj@mϦEQDNOT Ignoring new targets: 91.92 m.Q ProNav: ac range: 91.923927 m, nav range: 88.618736 m, bearing: 28.543766 deg, approach rate: -0.638494 m/s, LOS rate: -0.014614 deg/s, cmd heading: 34.775594 deg, new cmd heading: 34.757861 deg. zy QHeadingCmd: 0.606639 target range: 91.923927 and range: 92.50 m.RL?JbZB:2Ҕڔڒ’`mE@@Bɢ6<) >i)<iiL? gYB; I L?I BBB"IB~BBR =BBB0P;BEBBBBBC\5U()9@ @@2@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941Y ^A ԉA!I)I9EM EMEIEI"EM%.;*EMg:VEIZEIBEM66?6_=ٱ6' BAHRS rotation from veh to nav: [[0.827143,-0.561443,-0.024814],[0.558096,0.815419,0.153688],[-0.066053,-0.140970,0.987808]]6Hw?@X@h? ? ?@谿 R ¿ ?i6B:>I6o];6CYFByF"I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770796iMb@Mb@Mb@ 9S㥛?I +9Y=EFy E:E>Q 5]5 ?Q 9]5u)qBY%C%?Q E%:y%'?Q I%@EI@:i: )]5IyUDBɮUO@UŦEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 91.92 m.ccQ ProNav: ac range: 91.923927 m, nav range: 88.273026 m, bearing: 28.537085 deg, approach rate: -0.641745 m/s, LOS rate: -0.012450 deg/s, cmd heading: 34.757863 deg, new cmd heading: 34.737742 deg. zQHeadingCmd: 0.606288 target range: 91.923927 and range: 92.50 m.R5?JbZB:2Ҕ ڔ GB ڒ ’`@}ABɢ}<) =i)%̄ C= BDAT read: Rx Time:21:32:31.3183  TRx dataTimestamp_ set to:1761514352.701609 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025299U 9@Y  @Y @] 0@a @m hA@m iA ^AEE EEEE"EA"EE0;*EE:VEE(3ZEAaU@aU@aU@aU@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909AIIO?F7,_~=ܤ?AN>Nc5?Nyd=ٱN VAHRS rotation from veh to nav: [[0.826583,-0.562274,-0.024661],[0.558924,0.814938,0.153232],[-0.066061,-0.140442,0.987882]]NH]s?'@? ??`g鰿 ?iN>IN*>];NCY^tBy^"Idf@AbDfaVDf24y4%=ٔ 7Q->9Y!=%EFy%"E%N:E%>1)Q 5=]5-%?Q 9=]5-)-qBY9yEh?Q IE@-EI-*;i-:--]5yMCBɮM@MƦEqQuDNOT Ignoring new targets: 91.92 m.}Ar}ArQ ProNav: ac range: 91.923927 m, nav range: 87.933449 m, bearing: 28.530252 deg, approach rate: -0.655356 m/s, LOS rate: -0.013237 deg/s, cmd heading: 34.737741 deg, new cmd heading: 34.717164 deg. zZQHeadingCmd: 0.605929 target range: 91.923927 and range: 92.50 m.R'?JbZB:2Ҕڔڒ’ @颍CBɢؗ<) =i)H<顑iLyi'?$>;&0ƻI'?IԁBe>BaBe"IBeeBBeQ =BaBaBe9P;BeEԩDAT read: 21:32:31.3183 LVL= 32752, 32753, 31026, 32755, AGC= 75, IDX= 412, 0.38,-2.450, 2.262,-2.030,-2.524, PHS= 0.176,-1.452, 0.450, RAW= 157.7, 9.3, CAL= 157.4, 9.9, ROT= 352.6, -9.9 Ygot valid direction response: 21:32:31.3183 LVL= 32752, 32753, 31026, 32755, AGC= 75, IDX= 412, 0.38,-2.450, 2.262,-2.030,-2.524, PHS= 0.176,-1.452, 0.450, RAW= 157.7, 9.3, CAL= 157.4, 9.9, ROT= 352.6, -9.9 PDAT read: Bearing 191.3, -12.4 (Local) ~Local bearing/azimuth received: Bearing 191.3, -12.4 (Local) DAT read: Range 11 to 50 : 90.2 m (Round-trip 120.3 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.976905,-0.126877,0.171929]Fpublishing direction and range infoyquFVB?WK=!?)@) @1@5/@1YufBqqqu2y q)uKIuX94>iu#۹uff>u'0@u6&>q u;0>)qIu;0qqu5O?BJ?a? u@(?)up&Iqiu;0qq}T****** received valid address query ******}R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode. ^AM E  E E !E "E P;*E -:VE c3ZE BE 7,6\ܤ?AiA>*DAT read: user:312> BBDAT read: Tx time:21:32:32.6439 B$Ping request sent.BY? ͆=ٱ UAHRS rotation from veh to nav: [[0.825839,-0.563348,-0.025073],[0.560057,0.814205,0.152992],[-0.065773,-0.140389,0.987909]]H`Fm?` ? ?I];CYdBy%"IԉiMb@Mb@Mb@ 9K7A?{Gzt?Y "?yLף;A @)AYAbDfVD;4y%c%=ٔ Q->9Y=EFy%Eo%;E>Q 5]5>?Q 9]5)qBY"?Q E:y?Q I@EI6;i];W2]5y-BBɮ5@5ǦEJIRM#Mܤ?AMFBMFBM>MMU@]f&.@MFVB?WK=!?IM;0—M㑑S@rE@2&@Ma5*??n|x?=?jM(BrMBZMY?bMg/zMBM 첞?MG2MĪBڗMBM>Q addTargetRange:: Added new target pos. range: 90.199997 m, deltaT: 3.780367 s, deltaX: -2.300003 m, approachRate: -0.608407 m/s, rangeRepo size: 4 Q  Added new target pos. range: 89.637474 m, bearing: 28.277524 deg, lat: 36.779386 deg, lon: -121.859448 deg, deltaT: 3.780367 s, deltaX: -2.286453 m, approachRate: -0.604823 m/s, posRepo size: 4  QDNOT Ignoring new targets: 89.64 m.QE ProNav: ac range: 89.637474 m, nav range: 88.008080 m, bearing: 28.518969 deg, approach rate: 0.000000 m/s, LOS rate: -0.013237 deg/s, cmd heading: 34.717165 deg, new cmd heading: 34.694852 deg. zAQMHeadingCmd: 0.605539 target range: 89.637474 and range: 90.20 m.RM?JIbIZQBQ:Q2QҔYڔ]@BYڒy’y̌V@@%?MDBɢM <)I M=iI)U>47,ҧyܤ?AE. E.E.'E,"E. ;*E.I:VE.'4ZE,a2@a2@a2@a2@>>>?>{=ٱ> FAHRS rotation from veh to nav: [[0.825317,-0.564096,-0.025450],[0.560901,0.813776,0.152176],[-0.065131,-0.139869,0.988026]]>Hh? @@?u ?z?l6?i>>I>];>CYN[ByN"IbDV\VDVP)4y^5%^Q=ٔ^׺Q-b>9`Y`=bEFyb'Ef&;Ef>hQ 5n]5jP?Q 9n]5jB)jqBYlyr?Q Ir@jEIj[:ij:j5]5yv@BɮvN@vȦEYQDNOT Ignoring new targets: 89.64 m.33Q ProNav: ac range: 89.637474 m, nav range: 87.760277 m, bearing: 28.515386 deg, approach rate: -0.677694 m/s, LOS rate: -0.009827 deg/s, cmd heading: 34.694851 deg, new cmd heading: 34.684072 deg. z׹checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839QHeadingCmd: 0.605351 target range: 89.637474 and range: 90.20 m.RM?JbZB:2Ҕڔڒ ’  wp?]EBɢ]c<)Y ]X7=iY)exB=CB="IB=KBB=P =B9B9B=_P;B=*EԱ^A3AzA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755871 A .AI I) O= >$7,Ymܤ?A2>>2?2݂=ٱ26 :AHRS rotation from veh to nav: [[0.825056,-0.564398,-0.027151],[0.561431,0.813394,0.152267],[-0.063855,-0.140872,0.987966]]2Hf?f͛=?S?x}? X¿k?i2>>I2V\;2CYBFByB"IIF<)Fp;i Mb@Mb@Mb@     9 '1Z?&1~jtx?Y "?y P ; A \@ 1A) l A Y GAbDMiVDM=A4ԹyU#ͽ%A=ٔ?Q->9 ?Y ?=EFy)Ef:E>Q 5]5e?Q 9]5|)qBYX#?Q E:y?Q I@EI:i:9]5yɮ@Q%DNOT Ignoring new targets: 89.64 m.%'%'Q5 ProNav: ac range: 89.637474 m, nav range: 87.481621 m, bearing: 28.511397 deg, approach rate: -0.637262 m/s, LOS rate: -0.009153 deg/s, cmd heading: 34.684073 deg, new cmd heading: 34.672066 deg. z=ɹQ=HeadingCmd: 0.605142 target range: 89.637474 and range: 90.20 m.R=?JAbAZABA:A2AҔIڔMUBIڒI’IQU ?yɢ}<) ::i)y<顁i՟qi?\;;NI?IE} E}E}"Ey"E}C#;*E}:VE}(3ZEyBE}{9 /*7,7Rܤ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2593325>5{P?5 {=ٱ5p EAHRS rotation from veh to nav: [[0.824414,-0.565463,-0.024340],[0.562663,0.814161,0.143362],[-0.061249,-0.131885,0.989371]]5H@a?F@옿U? ? Y?[ `?i5>I5)];5CYU;ByU"IbDeMVDe 4yuyX%}H=ٔ}ٻQ-}>9Y=EFy+Ee;E>Q 5]5rw?Q 9]5Uy)qBYyP?Q I@EI;iL;=]5y?BɮF@GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 89.64 m.-1-1Q ProNav: ac range: 89.637474 m, nav range: 87.230522 m, bearing: 28.507581 deg, approach rate: -0.635281 m/s, LOS rate: -0.009681 deg/s, cmd heading: 34.672065 deg, new cmd heading: 34.660586 deg. zԹQHeadingCmd: 0.604941 target range: 89.637474 and range: 90.20 m.Rp?JbZB:2Ҕڔڒ’˓?颕FBɢq\s<) i)IP<顙i"nip?x*;; Ip?IA@ @@4@E} E}WE}%Ey"E}';*E}j;VE} 4ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510688i^A qZԙ A ؟AI I O >B= >B9 B= "IB= 2BB= O =B9 B= UDB= ;P;B= E17,$ܤ?AY6By "IbDmNVDm4y}vɼ%J=ٔQ->9"?Y"?=EFy-EE>Q 5]5?Q 9]5u)qBY yQ I@EI;i;@]5y9ɮ=@Ayuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765820QDNOT Ignoring new targets: 89.64 m.Q ProNav: ac range: 89.637474 m, nav range: 86.967773 m, bearing: 28.503565 deg, approach rate: -0.570103 m/s, LOS rate: -0.008740 deg/s, cmd heading: 34.660587 deg, new cmd heading: 34.648502 deg. zQHeadingCmd: 0.604730 target range: 89.637474 and range: 90.20 m.R?JbZB: 2 Ҕ ڔ ڒ’T@颅HBɢe<) i)0<顩iAli?q~:;I?Iԡ9@9 @A@E4@ASkAS9SkAYåAE  E E 'E "E &;*E :VE '4ZE BE 77,_ܤ?A2T>2?2w=ٱ2 :AHRS rotation from veh to nav: [[0.824037,-0.566027,-0.024032],[0.563300,0.814063,0.141403],[-0.060474,-0.130058,0.989660]]2H^? ϛ? ?{?z``L?i2T>I2P];2CYB/ByB"Ii-Mb@Mb@Mb@)))) )9-MbX9?V-I +?Y-!?y-m-94<-A) -GA)))Y-AbDESVDE4yU#%UJ=ٔ]Q-]>9YYY=eEFye/Ee:Ee>Q 5]5?Q 9]5r)qBY"?Q E:y?Q I @EI ;i ;=D]5y>Bɮ@ɦE1Q=DNOT Ignoring new targets: 89.64 m.=EQU ProNav: ac range: 89.637474 m, nav range: 86.704819 m, bearing: 28.501194 deg, approach rate: -0.720578 m/s, LOS rate: -0.006516 deg/s, cmd heading: 34.648501 deg, new cmd heading: 34.641367 deg. zUQ]HeadingCmd: 0.604606 target range: 89.637474 and range: 90.20 m.R]t?JYbYZYBY:Y2aҔaڔeNBiڒi’iim@+@颙ɢkN<) Kiԡ)ƅ<顩ijit?v :;It?IA@A @A@E/@A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267854^A!a I I) O= >>7,ܤ?AE EE%E"E4;*E:VE 4ZEa@a@a@a@ n>n_?nl=ٱnId vAHRS rotation from veh to nav: [[0.824455,-0.565171,-0.029252],[0.562970,0.813773,0.144350],[-0.057778,-0.135478,0.989094]]nH@a?)?n ?z? XWਦ?in>In8];lY~$By~"IbDcVD264y%V[%%O=ٔ%߻Q-%>9)Y)=-EFy-1E-E5>1Q 5=]55?Q 9E]55no)5qBYAyE?Q IE@5EI5;i5;5G]5yM;BɮUr@UEqQ}DNOT Ignoring new targets: 89.64 m.}θ}θQ ProNav: ac range: 89.637474 m, nav range: 86.465340 m, bearing: 28.499076 deg, approach rate: -0.634728 m/s, LOS rate: -0.005629 deg/s, cmd heading: 34.641367 deg, new cmd heading: 34.634996 deg. z8wQHeadingCmd: 0.604495 target range: 89.637474 and range: 90.20 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518940R*?JbZB:2Ҕڔڒ’3@IBɢF25<) |i)S<igi*?9;~ǺI*?Iqi@i @i@m0@iB>BBy"IBBBBBTDBP;B Eԙ^AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893Iy I O > uD7,oݤ?APY By z"IiMb@Mb@Mb@ 9~jt?Q~jt?Y$?yuD<~A@ A) AYAbD\VDP)4y;Q%A=ٔQ->9Y=EFy4EE>Q 5]5Å?Q 9]5k)qBYZ%?Q E:yk?Q I@EI ;i ;! m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2757854K7,/ݤ?A^3>^9?^1[=ٱ^D fAHRS rotation from veh to nav: [[0.824978,-0.563914,-0.037569],[0.562627,0.813167,0.149028],[-0.053489,-0.144082,0.988119]]^H 9f? C<@ ?w?@V?b`Gq¿૞?i^3>I^N];^CYnBynn"ItIr>)r<bDzVVDzE4yJ%U=ٔ '7Q- >9 Y=EFy5EźE>Q 5%]5Յ?Q 9%]5h)qBY)y-X?Q I-@EI;i ;N]5y59Bɮ5@=EGSUB*** querying acoustic contact ***:QBQYQeDNOT Ignoring new targets: 89.64 m.e⻸m⻸Qu ProNav: ac range: 89.637474 m, nav range: 85.943954 m, bearing: 28.494939 deg, approach rate: -0.651309 m/s, LOS rate: -0.005133 deg/s, cmd heading: 34.628410 deg, new cmd heading: 34.622543 deg. z}uaQ}HeadingCmd: 0.604277 target range: 89.637474 and range: 90.20 m.R}?JbZB:2Ҕڔڒ’ צ @颽KBɢl;) i)E<ibi?Z8;)NI?I9@9 @A@E/0@AIIO>E= E=E9E9"E=U,;*E=:VE9ZE9a]@a]@a]@a]@ADAT read: 21:32:35.1651 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.21, 2.166, 0.662, 2.573, 2.231, PHS= 0.037,-1.524, 0.298, RAW= 157.6, 13.8, CAL= 158.2, 15.8, ROT= 351.8, -15.8 Ygot valid direction response: 21:32:35.1651 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.21, 2.166, 0.662, 2.573, 2.231, PHS= 0.037,-1.524, 0.298, RAW= 157.6, 13.8, CAL= 158.2, 15.8, ROT= 351.8, -15.8 PDAT read: Bearing 197.2, -13.1 (Local) ~Local bearing/azimuth received: Bearing 197.2, -13.1 (Local) DAT read: Range 11 to 50 : 87.7 m (Round-trip 117.0 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.952380,-0.137240,0.272280]Fpublishing direction and range infoyWy?wx ^ m?YfB )JIP=ioÿu>x 0@Ϣv> 0@ 0>)p{@I0Ar?>Cx?]Llo? y (?)RwITi0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i B B CB `"IB BB P =B B B O;B EBm˿CBiBiBmP =BmP =Cm|5R7,Hݤ?ABa$>Bh?B׵P=ٱBP JAHRS rotation from veh to nav: [[0.824684,-0.564093,-0.041173],[0.563295,0.812599,0.149603],[-0.050933,-0.146568,0.987889]]BH`c? ??`1&? ¿`Ȝ?iBa$>IBM];BCYnByr^"IbDzLVDz 4Yye|%eF=ٔmʻQ-m>9iYq=uEFyu8Eu:Eu>Q 5]5酊?Q 9]5He)}qBYy?Q I@EI;i;>R]5yɮo@-*DAT read: user:313> EBDAT read: Tx time:21:32:36.3439 U$Ping request sent.Uݤ?ANBNB9?-t3T@l'|7@Wy?wx ^ m?T0—+R@zJD@KpEe4@d/v@?\5??jW"BrqBZ&FX?b+9zBRr?BڗBlh?Q addTargetRange:: Added new target pos. range: 87.699997 m, deltaT: 3.779572 s, deltaX: -2.500000 m, approachRate: -0.661451 m/s, rangeRepo size: 4 QM Added new target pos. range: 87.153343 m, bearing: 28.670816 deg, lat: 36.779379 deg, lon: -121.859448 deg, deltaT: 3.779572 s, deltaX: -2.484131 m, approachRate: -0.657252 m/s, posRepo size: 4 QQUDNOT Ignoring new targets: 87.15 m.]YԉQ ProNav: ac range: 87.153343 m, nav range: 85.001282 m, bearing: 28.739181 deg, approach rate: 0.000000 m/s, LOS rate: -0.005133 deg/s, cmd heading: 34.622543 deg, new cmd heading: 34.615060 deg. zQHeadingCmd: 0.604147 target range: 87.153343 and range: 87.70 m.R]?JbZB:2Ҕڔڒ!’!-U@-`?uLBɢuZu;)y }iy)}TA>ԱII)O=>EU  EU EU EQ "EU &;*EU :VEU ـ3ZEQ BEU B?B< F=ٱB NAHRS rotation from veh to nav: [[0.824062,-0.564738,-0.044638],[0.564434,0.811782,0.149744],[-0.048330,-0.148594,0.987717]]BH^?@V@ڦ??@*?` ÿ_?iB>IBz];BCYnBynd"IieMb@Mb@Mb@aaaa a9e'1Z?T㥛 ~jt?Ye"?yeae3Ae@ e^A)e AaYeAԱbDPVD:4yM<%B=ٔʻQ->9Y=EFy:EH;E>Q 5 ]5u?Q 9 ]5a)yqBY#?Q E:yw?Q I@EIi ;i ;U]5y8Bɮ@%¦EAQMDNOT Ignoring new targets: 87.15 m.MMQ] ProNav: ac range: 87.153343 m, nav range: 84.734474 m, bearing: 28.738436 deg, approach rate: -0.764380 m/s, LOS rate: -0.002141 deg/s, cmd heading: 34.615061 deg, new cmd heading: 34.612818 deg. zeQeHeadingCmd: 0.604108 target range: 87.153343 and range: 87.70 m.Re̦?JibiZiBi:i2iҔqڔuJBqڒy’yy}0b?颡ɢ;) : i)n<顱iZ^i̦?c7;8I̦?Im9@i @i@m5@i%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497535IIO]>9 j^7,:x|ݤ?AE  E E#E"EE;*E:VE3ZEa@a@a@a@J>J"?JQ;=ٱJ; fAHRS rotation from veh to nav: [[0.823288,-0.565594,-0.047959],[0.565773,0.810852,0.149737],[-0.045803,-0.150410,0.987562]]JH``X?X`@??*?@ps@ÿ?iJ>IJ~];JCYnBynH"I ppbDz`VDz04y%Z=ٔݻQ->9 Y = EFy Q 5%]5?Q 9%]5^)vqBY!y%?Q I%@EIl:i:*Y]5y1ɮ5@1YQ]DNOT Ignoring new targets: 87.15 m.e 7e 7iqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749639Q} ProNav: ac range: 87.153343 m, nav range: 84.494774 m, bearing: 28.737501 deg, approach rate: -0.639690 m/s, LOS rate: -0.002502 deg/s, cmd heading: 34.612817 deg, new cmd heading: 34.610005 deg. z۸QHeadingCmd: 0.604059 target range: 87.153343 and range: 87.70 m.R?JbZB:2Ҕڔڒ’7?MBɢdX4;) @8i)\<ij[i?;27;:I?II@I @I@M3@I9Be>BeCBeG"IBeBBaBaBaBeP;Be E^A-qiE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003763I I O >ԑ Qe7,Oݤ?A:*>:?:4X1=ٱ:; BAHRS rotation from veh to nav: [[0.821971,-0.567253,-0.050878],[0.567883,0.809527,0.148912],[-0.043283,-0.151294,0.987541]]:H@M?&@ ,???@)]ÿ ?i:*>I:3];:CYHyHiMb@Mb@Mb@ 9y&1?Zd;~jt?Y`%?yyA tA)Y3AbD5UVD5n4yE %EF=ٔEoȻQ-M>9IYI=MEFyM>EU;EU>YQ 5e]5]"?Q 9e]5][[)]sqBYe#&?Q Em:ym?Q Im@]EI]:i]s:]\]5yqɮuz@yQDNOT Ignoring new targets: 87.15 m.θθQ ProNav: ac range: 87.153343 m, nav range: 84.227280 m, bearing: 28.735177 deg, approach rate: -0.648733 m/s, LOS rate: -0.005655 deg/s, cmd heading: 34.610006 deg, new cmd heading: 34.603011 deg. zdxQHeadingCmd: 0.603936 target range: 87.153343 and range: 87.70 m.R?JbZB:2Ҕڔ=Bڒ’ ?iyɢ}V;) 9i)E<顁iYi?D7;m;I?IE- E- E-&E)"E-8;*E-:VE-4ZE)BE-Տ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507332Ywk7,ݤ?AF{>FTN?F>*=ٱF:V RAHRS rotation from veh to nav: [[0.820845,-0.568843,-0.051299],[0.569637,0.808827,0.145988],[-0.041552,-0.149055,0.987955]]FH\D?@3@C`x:?? ?HF@=ÿT?iF{>IF,];DYZByZ8"IbDbSVDb4yj2%jR=ٔjFQ-j>9lYl=nEFyn@Er;Er>tQ 5z]5v45?Q 9z]5vX)vqqBYxyz/?Q I~@vEIvN:iv:v)`]5y7Bɮ<@æEGS%B*** querying acoustic contact ***:!B!)Q-DNOT Ignoring new targets: 87.15 m.55QE ProNav: ac range: 87.153343 m, nav range: 83.975327 m, bearing: 28.732628 deg, approach rate: -0.648314 m/s, LOS rate: -0.006578 deg/s, cmd heading: 34.603012 deg, new cmd heading: 34.595343 deg. zExQMHeadingCmd: 0.603803 target range: 87.153343 and range: 87.70 m.RMϒ?JIbQZQBQ:Q2QҔYڔYYڒY’aae@?颉ɢ9) 8Ti)'|<顑iWiϒ?x7;,;Iϒ?IU9@Q @Q@Q@QEE EEEE%EA"EEg5;*EEu:VEE 4ZEAaM@aM@aM@aM@^Ar;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761359O>) Be >Ba Be 5"IBe BBe N =Ba Be UDBe 4P;Be E_r7,0ݤ?A2q>>2?2j$=ٱ2z >AHRS rotation from veh to nav: [[0.819434,-0.570858,-0.051467],[0.571767,0.807835,0.143130],[-0.040130,-0.146713,0.988365]]2H 8?wDYK? ?`R?苤y¿ ?i2q>>I2Ę];2CYBރByF2"IIJ>)J>HJAbDNgVDN=4yV%VM=ٔZiQ-Z>9XYX=^EFy^BE^;Eb>`Q 5f]5b,H?Q 9f]5bT)boqBYhyj?Q Ij@bEIby:ibN:bc]5ylɮr@pQ DNOT Ignoring new targets: 87.15 m.    Q ProNav: ac range: 87.153343 m, nav range: 83.716202 m, bearing: 28.729550 deg, approach rate: -0.649587 m/s, LOS rate: -0.007739 deg/s, cmd heading: 34.595342 deg, new cmd heading: 34.586081 deg. zQHeadingCmd: 0.603641 target range: 87.153343 and range: 87.70 m.R7?JbZB:2Ҕڔڒ’`{@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015855YaɢmPXc:) ^i)@y<项iqYUi7?n=8;_h;I7?I 9@ @@/@ԁEU  EU EU $EQ "EU =-;*EU Z:VEU 4ZEQ BEU m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269298qx7,ݤ?A2m>2NY?2T=ٱ2eH :AHRS rotation from veh to nav: [[0.818601,-0.572133,-0.050559],[0.573035,0.807558,0.139573],[-0.039025,-0.143226,0.988920]]2H1?N@⩿MV?@??=U¿ I2[];2C9qYq=uEFyuDE} h;E}>Q 5]5\?Q 9]52Q)Yv%?Q E:y?Q I@EI:i:dg]5y6Bɮu@ĦEYQeDNOT Ignoring new targets: 87.15 m.er׶er׶Q ProNav: ac range: 87.153343 m, nav range: 83.439240 m, bearing: 28.729386 deg, approach rate: -0.617241 m/s, LOS rate: -0.000368 deg/s, cmd heading: 34.586080 deg, new cmd heading: 34.585585 deg. zDQHeadingCmd: 0.603632 target range: 87.153343 and range: 87.70 m.R?JbZB:2Ҕڔ;Bڒ’X@ENBɢEH)A ED}iA)!0v<顑i8Si?8;{KAM > Aq I I O >H~7,Xݤ?AE  EE%E"EG;*EI:VE 4ZEa@a@a@a@>ɲ>>?>Y=ٱ>_ FAHRS rotation from veh to nav: [[0.817882,-0.573460,-0.047034],[0.574145,0.808024,0.132117],[-0.037760,-0.135061,0.990118]]>H,?Y e_?`T?9?=UI ?i>ɲ>I>];>CYNƃByN"IbDV]VDV'+4y^5%^V=ٔbYQ-b>9`Y`=fEFyfFEfYc;Ef>hQ 5n]5pjn?Q 9r]5jN)jpqBYpyv?Q Iv@jEIj,3;ij4;jj]5yz5Bɮz@zEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773338QDNOT Ignoring new targets: 87.15 m.ttQ ProNav: ac range: 87.153343 m, nav range: 83.192848 m, bearing: 28.729071 deg, approach rate: -0.652362 m/s, LOS rate: -0.000836 deg/s, cmd heading: 34.585585 deg, new cmd heading: 34.584637 deg. zQHeadingCmd: 0.603616 target range: 87.153343 and range: 87.70 m.R?JbZB:2Ҕڔڒ ’   _@yɢ}b)y }Riy)r<顁i Qi?.9; B B ""IB уBB L =B B B \P;B -E9^A<m BDAT read: Rx Time:21:32:38.8619 } TRx dataTimestamp_ set to:1761514360.272551 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031590a I I O > I a y7,ޤ?A:ʰ9AV=W>V6?V=ٱVp  bAHRS rotation from veh to nav: [[0.817190,-0.574675,-0.044151],[0.575191,0.808229,0.126177],[-0.036827,-0.128506,0.991025]]VH k&?`c暦g??&?ڢry?iV=W>IV];TYjByj"I1i]Mb@Mb@Mb@YYYY Y9]/$?MbX9~jt?Y]1(?y]ʡ]D<]AY ]A)] AYY]AbDuOVDuc4yͼ%==ٔ Q->9Y=EFyHE>;E>Q 5]5?Q 9]5~J)oqBYn)?Q E:yx>Q I@EI;i_;~n]5y4Bɮ4@EQDNOT Ignoring new targets: 87.15 m.88Qu ProNav: ac range: 87.153343 m, nav range: 82.907326 m, bearing: 28.729941 deg, approach rate: -0.687950 m/s, LOS rate: 0.002104 deg/s, cmd heading: 34.584636 deg, new cmd heading: 34.587255 deg. zuָ8Q}HeadingCmd: 0.603661 target range: 87.153343 and range: 87.70 m.R}?JybyZB:2Ҕڔ"Bڒ’ @ɢ^) ҌE- E-E-#E)"E-U,;*E-g:VE-3ZE)BE-} DAT read: 21:32:38.8619 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.07,-0.022,-1.559, 0.436,-0.028, PHS= 0.108,-1.486, 0.420, RAW= 158.8, 10.8, CAL= 158.9, 11.9, ROT= 351.1, -11.9  Ygot valid direction response: 21:32:38.8619 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 410, 0.07,-0.022,-1.559, 0.436,-0.028, PHS= 0.108,-1.486, 0.420, RAW= 158.8, 10.8, CAL= 158.9, 11.9, ROT= 351.1, -11.9  PDAT read: Bearing 194.2, -12.4 (Local)  ~Local bearing/azimuth received: Bearing 194.2, -12.4 (Local)  DAT read: Range 11 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.966728,-0.151385,0.206204] Fpublishing direction and range infoyI M 5n?pO`ÿFa5d?YM BI I I I I )M LIM /=iM ?5M = >M a1@M A>M 5~1@ M ȭT>)M [@IM ȭTI I M s۞?Z61?6=ٱ6ط >AHRS rotation from veh to nav: [[0.816790,-0.575261,-0.043922],[0.575792,0.808015,0.124799],[-0.036302,-0.127224,0.991209]]6H`$#?h@|`l?C? ?4H?i6>I6 m];4YFByF!IbDRZVDR%4yZ̍%ZP=ٔ^Q-^>9\Y\=^EFy^JEb:Eb>dQ 5j]5f8?Q 9j]5f:G)fnqBYlyn>Q In@fEIf7 ;ife ;fq]5ypɮr @rEAJR(d1ޤ?ABB#>6e|T@ķq)?z1@5n?pO`ÿFa5d?ȭT—=N{/cR@zC@>{/@P"R?eq?i*"?jBrBZ͞?b }EzB 첞?+9DBڗ^B>Q addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.787934 s, deltaX: -2.399994 m, approachRate: -0.633589 m/s, rangeRepo size: 4 Q Added new target pos. range: 84.769638 m, bearing: 27.933676 deg, lat: 36.779386 deg, lon: -121.859451 deg, deltaT: 3.787934 s, deltaX: -2.383705 m, approachRate: -0.629289 m/s, posRepo size: 4 QDNOT Ignoring new targets: 84.77 m.Q ProNav: ac range: 84.769638 m, nav range: 83.184845 m, bearing: 28.304639 deg, approach rate: 0.000000 m/s, LOS rate: 0.002104 deg/s, cmd heading: 34.587255 deg, new cmd heading: 34.589937 deg. zQHeadingCmd: 0.603708 target range: 84.769638 and range: 85.30 m.R?JbZ B : 2 Ҕڔڒ’@3SU@C?颁ɢĻ) i)Xj<顉i[Li?d <;7 =BDAT read: Tx time:21:32:40.1439 =$Ping request sent.=B >B CB "IB BB K =B B B ZP;B ,EԱ q7,1CLޤ?AVU7>VB?V3=ٱV fAHRS rotation from veh to nav: [[0.817356,-0.574294,-0.045986],[0.575011,0.808185,0.127278],[-0.035930,-0.130474,0.990800]]VH'?`v }f??J?me`` ?iVU7>IVuC];VCYrByr!IbDCVD3y%%%D=ٔ%,jQ-->9)Y)=-EFy-LE5E5>9Q 5E]5=?Q 9E]5=C)=mqBYAyEa>Q IM@=EI=y:i=N:=u]5yYɮe@aGSB*** querying acoustic contact ***:BԙQDNOT Ignoring new targets: 84.77 m.ʷʷQ ProNav: ac range: 84.769638 m, nav range: 82.908798 m, bearing: 28.304101 deg, approach rate: -0.707533 m/s, LOS rate: -0.001384 deg/s, cmd heading: 34.589936 deg, new cmd heading: 34.588316 deg. z!sQHeadingCmd: 0.603680 target range: 84.769638 and range: 85.30 m.RƊ?JbZB:2Ҕaڔaichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253206ڒ’ -\?MBɢ )  i ) =f<i%IiƊ?=;Y( Q7,Gfޤ?A2%E>2*y?2H=ٱ2 :AHRS rotation from veh to nav: [[0.818421,-0.572465,-0.049697],[0.573502,0.808382,0.132715],[-0.035800,-0.137118,0.989908]]2H0?Qq`!Z?`D??@hTR?i2%E>I2zp];0YBByB!Ii Mb@Mb@Mb@     9 K7?B`"۹{Gz?Y )?y ν #< 3A @ A)  A Y AbD%SVD%4y5%5I=ٔ5٧Q-5>99Y9=EEFyENEEEE>IQ 5U]5M3?Q 9U]5M@)IYU+?Q E:yY>Q I@MEIM;y E  E E 'E "E *E :VE '4ZE a @a @a @a @@7,ޤ?A>u>>?>=ٱ> FAHRS rotation from veh to nav: [[0.819927,-0.569940,-0.053744],[0.571348,0.808838,0.139077],[-0.035795,-0.144739,0.988822]]>H u>I>ʂ];9dYd=fEFyfPEfݻEj>hQ 5r]5jӆ?Q 9r]5j=)jnqBYpyv%>Q Iv@jEIj;ij+ ;j|]5yxɮz@zEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006637!Q-DNOT Ignoring new targets: 84.77 m.-9-9QE ProNav: ac range: 84.769638 m, nav range: 82.375893 m, bearing: 28.315810 deg, approach rate: -0.703020 m/s, LOS rate: 0.016135 deg/s, cmd heading: 34.605614 deg, new cmd heading: 34.623559 deg. zE+1:QEHeadingCmd: 0.604295 target range: 84.769638 and range: 85.30 m.RM?JIbIZIBI:I2IҔQڔQQڒQ’YY]@Y?ɢBL)  i ) ]<  i *BEi?57>;=D;I=?I9M]>iM>Y@ @@/@B5>B5CB5!IB5BB5N =B1B1B5tP;B57EBBÿCBBN =BM =Cæ5^AH<I)I9OM0>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261141 A(7,Jәޤ?A2,>20?2V=ٱ2  :AHRS rotation from veh to nav: [[0.821288,-0.567612,-0.057473],[0.569395,0.809200,0.144864],[-0.035720,-0.151700,0.987781]]2HG?)m{8??`?Ijÿ?i2,>I2];2CYfByf!IiUMb@Mb@Mb@QQQQ Q9Uv/?B`"۹{Gzt?YUx)?yQUף;UIAU@ Q)U AQYUAbDmOVDmc4y}M%}?=ٔ9Q->9Y=EFyREME>Q 5]5醊?Q 9]5-:)lqBYp+?Q E:y[>Q I@EIK;i;A]5yɮ@QDNOT Ignoring new targets: 84.77 m.G9G9Q ProNav: ac range: 84.769638 m, nav range: 82.089294 m, bearing: 28.323110 deg, approach rate: -0.672390 m/s, LOS rate: 0.017188 deg/s, cmd heading: 34.623557 deg, new cmd heading: 34.645536 deg. z<:QHeadingCmd: 0.604679 target range: 84.769638 and range: 85.30 m.R9?JbZB:2Ҕڔ Bڒ’  `I+?E EE%E"E;*E:VE 4ZEBEm; y;I9?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510581!@! @!@%/@!1 ^AM <A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762619O >Q T7,ޤ?A2e>2?2"=ٱ28$ :AHRS rotation from veh to nav: [[0.822741,-0.565057,-0.061711],[0.567301,0.809471,0.151415],[-0.035605,-0.159584,0.986542]]2H`S?`S'?0?a?:@mĿ?i2e>I2];0YBByB!I DDJ=J=bDNRVDN4yV%VX=ٔVQ-Z>9XYX=ZEFyZTE^ ݻE^>`Q 5f]5b?Q 9f]5b?7)bkqBYdyj->Q Ij@bEIb:ib$:b]5ylɮn@nEQDNOT Ignoring new targets: 84.77 m. w9 w9Q ProNav: ac range: 84.769638 m, nav range: 81.836304 m, bearing: 28.330006 deg, approach rate: -0.669415 m/s, LOS rate: 0.018301 deg/s, cmd heading: 34.645537 deg, new cmd heading: 34.666287 deg. zH:Q%HeadingCmd: 0.605041 target range: 84.769638 and range: 85.30 m.R%?J!b!Z!B!:)2)Ҕ)ڔ)1ڒ1’a@ɢh) ži){S<  i @@i5?51A>;5Z:I5?I919@ @@@@=@=^Ajb;E EE'E"EU,;*E:VE'4ZEa@a@a@a@YAII checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014550O%o>ԁ B- >B- CB- !IB- BB- P =B) B- TDB- P;B- PEx:7,vޤ?A0R<>R?RR=ٱRu( ZAHRS rotation from veh to nav: [[0.824014,-0.562985,-0.063628],[0.565427,0.810022,0.155422],[-0.035960,-0.164047,0.985797]]RHR^?`I? ?`?RiĿ?iR<>IRgb];RCY~tBy~!IbDhVDf?4y%g%%C=ٔ%x^:Q-%>9)Y)=-EFy-VE5E5>9Q 5E]5=?Q 9E]5=4)=jqBYAyE>Q IE@=EI=N:i=9:=7]5yQɮU@UEGSmB*** querying acoustic contact ***:iBiyQ}DNOT Ignoring new targets: 84.77 m.t9t9Q ProNav: ac range: 84.769638 m, nav range: 81.556358 m, bearing: 28.338103 deg, approach rate: -0.668145 m/s, LOS rate: 0.019393 deg/s, cmd heading: 34.666287 deg, new cmd heading: 34.690663 deg. zT:QHeadingCmd: 0.605466 target range: 84.769638 and range: 85.30 m.R?JbZB:2Ҕڔڒ’` @KBɢԃ) ׾i)M<i ;=i ? =;l3I?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268856IԑԹܪ&9@ @@@E EE*E"E*E:VE(N4ZEBEBU|?B>\=ٱB-/ JAHRS rotation from veh to nav: [[0.825031,-0.561167,-0.066445],[0.563894,0.809942,0.161302],[-0.036701,-0.170547,0.984666]]BH`f?@j ? ? ? sʢſa?iB{K>IBp];BCYRlByR!IXiuMb@Mb@Mb@qqqq q9u(\?!rhy&1|?Yu'?yul罙u`;uAu@ q)qqYup AbDWVD 4yi޼%=ٔ:Q->9Y=EFyYEeE>Q 5]5,?Q 9]5*0)kqBY**?Q E:y>Q I@ EI<:i:΋]5yɮp@QDNOT Ignoring new targets: 84.77 m.::Q  ProNav: ac range: 84.769638 m, nav range: 81.207748 m, bearing: 28.353254 deg, approach rate: -0.664149 m/s, LOS rate: 0.028988 deg/s, cmd heading: 34.690664 deg, new cmd heading: 34.736312 deg. z ':QHeadingCmd: 0.606263 target range: 84.769638 and range: 85.30 m.R 4?JbZB:2Ҕڔ%B!ڒ!’!)-(@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770601]JBɢebyl)a eݾia)mF7,dߤ?A2m>2 ?2V=ٱ24 :AHRS rotation from veh to nav: [[0.825971,-0.559516,-0.068664],[0.562481,0.809980,0.165976],[-0.037250,-0.175713,0.983736]]2HZn?`@@?Z?>?i}ƿz?i2m>I2l];0YBdByB!IBLBLBN!IBNqBBLBLBLBNP;BNgEDFAbD^VVD^E4yfR2%fY=ٔf :Q-f>9hYh=jEFyj[EnEn>pQ 5v]5r??Q 9v]5rh-)rlqBYtyz>Q Iz@r EIr,;ir6-;r]5y|ɮ~@E)Q-DNOT Ignoring new targets: 84.77 m.5:5:QE ProNav: ac range: 84.769638 m, nav range: 80.957680 m, bearing: 28.364466 deg, approach rate: -0.661319 m/s, LOS rate: 0.029743 deg/s, cmd heading: 34.736310 deg, new cmd heading: 34.770051 deg. zEL:QMHeadingCmd: 0.606852 target range: 84.769638 and range: 85.30 m.RMZ?JIbIZIBQ:Q2QҔQڔQYڒY’YYe. @颍IBɢ ) i)t@<i%6i5Z?5E;;=񦗻I=Z?IAqqyy9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276610i@ @@@ԑ E  E E #E "E +$;*E x:VE 3ZE BE /}i ^ > r0@ f;> |0@ %K>) @I %K _+?布g?M$)B? *?) f;I 4i %K O >7,&W%ߤ?AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Uߤ>U?Uy=ٱUb6 AHRS rotation from veh to nav: [[0.826826,-0.558195,-0.069112],[0.561218,0.810600,0.167218],[-0.037318,-0.177047,0.983495]]UH\u?Z?p?eg?@L|ƿx?iUߤ>IU*];UCYSBy5!IiMMb@Mb@Mb@IIII I9M!rh?|?5^{Gz?YMl'?yMҽMף9Y=EFy^E)E> Q 5]5 ]?Q 9]5 () tqBY)?Q E%:yMh>Q IM@  EI &S@1s&suC0@:?)svg4L?4%K—!3,Q@:F9C@R%.@ ?D#J?2,vaV?jBr^BZ&\̞?b_}5zTBꗕ&\̞?BڗB◕>Q addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.780117 s, deltaX: -2.500000 m, approachRate: -0.661355 m/s, rangeRepo size: 4 Q Added new target pos. range: 82.283585 m, bearing: 28.373727 deg, lat: 36.779388 deg, lon: -121.859451 deg, deltaT: 3.780117 s, deltaX: -2.486053 m, approachRate: -0.657666 m/s, posRepo size: 4 QDNOT Ignoring new targets: 82.28 m.!QM ProNav: ac range: 82.283585 m, nav range: 80.830078 m, bearing: 28.275922 deg, approach rate: 0.000000 m/s, LOS rate: 0.029743 deg/s, cmd heading: 34.770051 deg, new cmd heading: 34.824629 deg. zIQUHeadingCmd: 0.607804 target range: 82.283585 and range: 82.80 m.RU?JQbQZQBQ:Y2YҔaڔaiڒi’im@3T@mf?߽4=߽4=*DAT read: user:315> BDAT read: Tx time:21:32:43.9438 $Ping request sent.A >I IO>!7,YBߤ?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250477RΒ>R?R=ٱRs4 vAHRS rotation from veh to nav: [[0.826920,-0.558134,-0.068476],[0.561115,0.811045,0.165397],[-0.036777,-0.175193,0.983847]]RH!v?@<@? ?`+? jԢ@lƿ{?iRΒ>IRL];RCY~QBy~!IbD TVD 4y '%q=ٔ%кQ-%?9!Y!=-EFy-`E-ԹE-?1Q 5=]55n?Q 9=]55c&)5yqBYAyEG>Q IE@5 EI5:i5-:5:]5yIɮM@IqQ}DNOT Ignoring new targets: 82.28 m.}9}9Q ProNav: ac range: 82.283585 m, nav range: 80.608002 m, bearing: 28.283141 deg, approach rate: -0.699658 m/s, LOS rate: 0.022805 deg/s, cmd heading: 34.824628 deg, new cmd heading: 34.846343 deg. ziz:ԑQHeadingCmd: 0.608183 target range: 82.283585 and range: 82.80 m.R?JbZB:2Ҕڔڒ’`?B->B)B-!IB-WBB)B)B)B-Q;B-{EuGBɢu7ؼ)y }iy)}1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502368 cGE liAQ ʵ9 liAY ¥A 7,ʥ\ߤ?A2O>2??2 =ٱ2q0 :AHRS rotation from veh to nav: [[0.826519,-0.558894,-0.067112],[0.561750,0.811289,0.162009],[-0.036098,-0.171604,0.984504]]2Hr?uF.? ??y{ſ`?i2O>I2 I];2CYR9ByRg!IV=V>}9Y=FFybE:E>Q 5]5?Q 9]5:#)qBQ A+:YQ E:y>Q I@ EI ;i>1]5y4Bɮ@GSB*** querying acoustic contact ***:BE EE$E"E*;*E:VE4ZEBE% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006483y ?7,Jvߤ?A> >>'+?>=ٱ>L* NAHRS rotation from veh to nav: [[0.825776,-0.560301,-0.064468],[0.562903,0.811653,0.156075],[-0.035123,-0.165172,0.985639]]>H l? M??`A? `[$ſ [?i> >I>D];>CYRCByVs!IaZ@QPowering down 4<<bDRVD4y=@*=%=3=ٔE Q-E>9AYA=MFFyMdED;E>Q 5]5 ?Q 9]5)qBQ A :YQ ER:y>Q I@ EI:i c?ݜ]5yɮ@EQDNOT Ignoring new targets: 82.28 m.G9%G9Qe ProNav: ac range: 82.283585 m, nav range: 80.022507 m, bearing: 28.301915 deg, approach rate: -0.650619 m/s, LOS rate: 0.020794 deg/s, cmd heading: 34.873307 deg, new cmd heading: 34.902875 deg. zeUd:E  E E E "E ';*E :VE ZE a@a@a@a@Q-HeadingCmd: 0.609170 target range: 82.283585 and range: 82.80 m.R-?J)b)Z)B):)21Ҕ1ڔ11ڒ9’99=C?ԁ颭EBɢx߻) i)"<顱i(i?o6;BI?Ii>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258671q@q @q@y@yԩB5 >B1 B5 y!IB5 HBB1 B1 B1 B5 CQ;B5 E^A [Rӻ A I I O >7,“ߤ?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5143866^>6?6Dr =ٱ6cG" NAHRS rotation from veh to nav: [[0.824378,-0.562645,-0.061895],[0.565044,0.811513,0.148901],[-0.033550,-0.157724,0.986913]]6HNa?0 ??0?@u-M0Ŀʔ?i6^>I6];6CYVAByVp!IbD^jVD^C4yf;%fY=ٔjÈQ-E>9IYI=MFFyMfEU;E]>yQ 5]5}?Q 9]5})}qBQ A9YQ E*:y*>Q I@} EI} ;i}G?}]5yɮ1@QDNOT Ignoring new targets: 82.28 m.2929Q ProNav: ac range: 82.283585 m, nav range: 79.765793 m, bearing: 28.309752 deg, approach rate: -0.675168 m/s, LOS rate: 0.020676 deg/s, cmd heading: 34.902875 deg, new cmd heading: 34.926459 deg. z c:QHeadingCmd: 0.609582 target range: 82.283585 and range: 82.80 m.R ?JbZB:2Ҕڔڒ’ ?DBɢE)! %Wi!)% ԙ 7,ߤ?Af4>f?f=ٱfr nAHRS rotation from veh to nav: [[0.822514,-0.565507,-0.060606],[0.567851,0.810571,0.143247],[-0.031882,-0.152237,0.987830]]fHR?@+?`3?U?R|ÿL?if4>If7^;fCYvCByvr!IIz,>)z>bD~gVD~=4y ? <% F=ٔۄQ->9Y=FFyhE <E>!Q 5-]5%H‡?Q 9-]5%)%qBQ A59Y1Q E5 :y5>Q I5@%$ EI% ;i%?%$]5ԑy5Bɮ@EQDNOT Ignoring new targets: 82.28 m.Q9Q9Q5 ProNav: ac range: 82.283585 m, nav range: 79.506157 m, bearing: 28.317154 deg, approach rate: -0.631584 m/s, LOS rate: 0.018067 deg/s, cmd heading: 34.926459 deg, new cmd heading: 34.948740 deg. z5bF:Q=HeadingCmd: 0.609971 target range: 82.283585 and range: 82.80 m.R='?J9b9ZABA:A2AҔAڔIIڒI’ @=BBɢ=Lż)9 EtiA)EcZ7,eߤ?A2W>2Z?2g<ٱ2@ :AHRS rotation from veh to nav: [[0.821076,-0.567570,-0.060818],[0.570029,0.809666,0.139673],[-0.030032,-0.149351,0.988328]]2H@F?`)#=???@ÿ`b?i2W>I2];2CY^?Bybm!If:Expecting PD13 message formathhBQBQBUm!IBU>BBQBQBQBUzQ;BUEBCBCBBP =BP =CI4bDnOVDnc4y%C=ٔDQ->9Y=FFyjEV;E>Q 5]5ׇ?Q 9]5s)qBQ A9YQ E9y>Q I@( EIS;ip@r]5y)ɮ-m@QQDNOT Ignoring new targets: 82.28 m.c9c9QU ProNav: ac range: 82.283585 m, nav range: 79.222206 m, bearing: 28.324803 deg, approach rate: -0.656493 m/s, LOS rate: 0.017746 deg/s, cmd heading: 34.948739 deg, new cmd heading: 34.971766 deg. zUB:Q]HeadingCmd: 0.610372 target range: 82.283585 and range: 82.80 m.R]_A?JYbYZYBY:a2aҔaڔaiڒi’ @}ABɢ}˼)y } iy)}<顁isi_A?\4;|Q9I_A?I!=9@9 @9@=5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522488Q^Ae ?Bɺԉ A E  E E )E "E 0;*E :VE FA4ZE BE 67,pߤ?A2;*>2?2V<ٱ2% BAHRS rotation from veh to nav: [[0.819856,-0.569242,-0.061641],[0.571873,0.808790,0.137183],[-0.028236,-0.147721,0.988626]]2HBI2];2CYVDByVt!IbD^QVD^4yf:<%fM=ٔjQ-j>9hYh=nFFynlEn;En>pQ 5v]5r3뇊?Q 9v]5rt)rqBQ Azo9YxQ Ez9yz>Q Iz@r, EIr ;ir @rh]5y|ɮ~@|Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774337GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 82.28 m.Ý9Ý9Q ProNav: ac range: 82.283585 m, nav range: 78.965149 m, bearing: 28.331378 deg, approach rate: -0.671794 m/s, LOS rate: 0.017241 deg/s, cmd heading: 34.971767 deg, new cmd heading: 34.991559 deg. zQ=:QHeadingCmd: 0.610718 target range: 82.283585 and range: 82.80 m.RX?JbZB:2Ҕڔڒ’g@颅?BɢP;) >i)`<顑ikiX?n4;&:IX?IQ@Q @Q@]/@Y^A}9 BDAT read: Rx Time:21:32:46.4551  TRx dataTimestamp_ set to:1761514367.833230 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028106A I I O >I V7,2!ߤ?Ar{i>rV?r<ٱrcs ~AHRS rotation from veh to nav: [[0.818529,-0.571345,-0.059794],[0.573916,0.808752,0.128609],[-0.025122,-0.139587,0.989891]]rH@c1?uH`J]?@L?Bv? 0?ir{i>Ir ];rCY9By g!IbDeVD94y-Q%-F=ٔ-'Q-->91Y1=5FFy5nE5<;E=>AQ 5E]5E?Q 9M]5E@)EqBQ AMB9YIQ EM9yM>Q IM@E1 EIE]:iE{9@E;]5y]6Bɮ]@]EyQDNOT Ignoring new targets: 82.28 m.99Q ProNav: ac range: 82.283585 m, nav range: 78.691658 m, bearing: 28.338025 deg, approach rate: -0.689749 m/s, LOS rate: 0.016820 deg/s, cmd heading: 34.991558 deg, new cmd heading: 35.011565 deg. z8:QHeadingCmd: 0.611067 target range: 82.283585 and range: 82.80 m.Rn?JbZB:2Ҕڔڒ’`` @1颅>BɢV߼) <i)%<顉i/in?8z4;I[;In?IE EE#E"E;*Eخ:VE3ZEa@a@a@a@-9@) @)@)@)@5=@5=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278528aBA<B>BBf!IB9BBO =BBBQ;BE^AU] ;ԱA .AI I O > M DAT read: 21:32:46.4551 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.18,-1.440,-2.936,-0.985,-1.424, PHS= 0.086,-1.467, 0.396, RAW= 158.9, 11.4, CAL= 159.1, 12.6, ROT= 350.9, -12.6 U Ygot valid direction response: 21:32:46.4551 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.18,-1.440,-2.936,-0.985,-1.424, PHS= 0.086,-1.467, 0.396, RAW= 158.9, 11.4, CAL= 159.1, 12.6, ROT= 350.9, -12.6 =8,H?AJPDAT read: Bearing 194.2, -12.0 (Local) N~Local bearing/azimuth received: Bearing 194.2, -12.0 (Local) RDAT read: Range 11 to 50 : 80.4 m (Round-trip 107.2 ms) speed 0.6 m/s VR#Rx 1: Read range and direction messages.Z^direction in FSK: [0.963634,-0.154349,0.218143]ZFpublishing direction and range infoyIM(V9?QFÿ'$?YM̠BIIIM I)IIM =iMƻM>M5~1@M%K>Mg1@ Mz0a>)M@IMz0aIIMf?pܙ2?+3F? M-?)MKIM"iMz0aIIjT****** received valid address query ******jR****** received valid ping request ******jQuerying Benthos address 50 with one ping in standard two-way mode.{>֪?Q<ٱ 5AHRS rotation from veh to nav: [[0.818282,-0.571794,-0.058871],[0.574330,0.809078,0.124649],[-0.023642,-0.135809,0.990453]]H`^/?"LO$`? ?@?@52b ʱ?i{>I,];YE?ByEn!I Up9u ?Yu ?=uFFy}qE}k:E}>Q 5]5?Q 9]5 )qBQ A9YQ Em9ԙy<>Q I@5 EI[;iAV@]5y8Bɮ@EJIRM}?AM˟BM˟BM0>M'&x?S@s(m1@M(V9?QFÿ'$?M"Mz0a—M<:AQ@+4B@#1@M6sa?z9}+?^+7l?jMBrM BZMΞ?bMOzM{BM͞?IIڗMϜBMD>Q addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.783930 s, deltaX: -2.400002 m, approachRate: -0.634262 m/s, rangeRepo size: 4 Q Added new target pos. range: 79.898376 m, bearing: 27.813050 deg, lat: 36.779388 deg, lon: -121.859451 deg, deltaT: 3.783930 s, deltaX: -2.385208 m, approachRate: -0.630352 m/s, posRepo size: 4 QDNOT Ignoring new targets: 79.90 m.Q ProNav: ac range: 79.898376 m, nav range: 78.404762 m, bearing: 28.342123 deg, approach rate: 0.000000 m/s, LOS rate: 0.016820 deg/s, cmd heading: 35.011567 deg, new cmd heading: 35.035083 deg. zQHeadingCmd: 0.611478 target range: 79.898376 and range: 80.40 m.Rˉ?JbZB:2 Ҕ ڔ ڒ’T@ ?] BDAT read: Tx time:21:32:47.7438 $Ping request sent. 8,r61?AFޤ>F?F{<ٱF ^AHRS rotation from veh to nav: [[0.818326,-0.571597,-0.060162],[0.574327,0.809192,0.123925],[-0.022152,-0.135964,0.990466]]FH/?J`ͮ`? ?@?`Cg?iFޤ>IFf];FCYf;Byfi!IbDpVDpyv6%Y=ٔQ->9"?Y"?=FFysE%0E%>)Q 5]5-")?Q 9]5- )-qBQ A8YQ E@9y8>Q I@-: EI-O8,J?A2>2U?2<ٱ2 rAHRS rotation from veh to nav: [[0.819078,-0.570306,-0.062144],[0.573298,0.809752,0.125023],[-0.020980,-0.138031,0.990206]]2H5??eѯuX?}?@? { ï?i2>I2];2CYM'ByUP!IbDmSVDm4y}?%}C=ٔm9Q->9 ?Y ?=FFyuE^GE>Q 5]5>?Q 9]5)qBQ A8YQ E9y>Q I@> EI;i@]5y9Bɮ@EQDNOT Ignoring new targets: 79.90 m.V9V9QM ProNav: ac range: 79.898376 m, nav range: 77.875526 m, bearing: 28.355333 deg, approach rate: -0.703135 m/s, LOS rate: 0.017959 deg/s, cmd heading: 35.053617 deg, new cmd heading: 35.074849 deg. zM4E:QUHeadingCmd: 0.612172 target range: 79.898376 and range: 80.40 m.RUG?JQbQZYBY:Y2YҔaڔaڒ’T?8Bɢ) %i!)%;!!i%i-G?-~h4;- :I5G?I1@ @@@@iA@iA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738^A#2:A>A>! I I O >Eu  Eu Eu "Eq "Eu /;*Eu :VEu (3ZEq BEu R"?R<ٱR( ZAHRS rotation from veh to nav: [[0.819548,-0.569186,-0.066097],[0.572677,0.809671,0.128352],[-0.019540,-0.143043,0.989524]]RH9?6밿`_S? ?m?=`;O¿`-?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006510iRח>IR];RCYj4Byj`!IppbDraVDr24yzX=%zT=ٔ~ uQ-~>9Y=FFywEE > Q 5]5 Q?Q 9]5 ) qBQ A}8YyQ E}8y}Z>Q I}@ B EI giI@ @@?0@yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781^A:Թ I I O >38,"m~?A@Ff>F ?Fh<ٱF  RAHRS rotation from veh to nav: [[0.819794,-0.568260,-0.070848],[0.572391,0.809334,0.131709],[-0.017505,-0.148527,0.988753]]FH;?./#Q???쑿ÿ@ޣ?iFf>IF];FCYV6ByVc!IbDbRVDb4yf<%jM=ٔj_Q-j>9lYl=nFFynyErvEr>tQ 5v]5v e?Q 9z]5v)vqBQ Az8YxQ Ez8yzM>Q Iz@vF EIv:iv@v]5yɮ@!Q-DNOT Ignoring new targets: 79.90 m.-c95c9QE ProNav: ac range: 79.898376 m, nav range: 77.359833 m, bearing: 28.368812 deg, approach rate: -0.690187 m/s, LOS rate: 0.018183 deg/s, cmd heading: 35.094571 deg, new cmd heading: 35.115417 deg. zEG:QMHeadingCmd: 0.612880 target range: 79.898376 and range: 80.40 m.RM?JIbIZIBI:I2QҔQڔQQڒY’YYe /?EE EEEE$EA"EE;*EE:VEE4ZEAaM@aM@aM@aM@额4Bɢ$!) i)W ;顡iL i?3; I?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511112@ @@z2@AAB>BBBBQ =BBBlQ;BE^Aq:II O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762393 %8,(H?AbrGnjAxxm09mjAYmABe>7 ?6|<ٱ AHRS rotation from veh to nav: [[0.819828,-0.567534,-0.076074],[0.572403,0.808696,0.135523],[-0.015393,-0.154650,0.987849]]HI|Z];CY,By V!IbD]aVD]24ye.%m3=ٔmQ-m>9iYq=uFFyu{EukƷE}>yQ 5]5}{?Q 9]5})}qBQ A[8YQ E8yu>Q I@}K EI}:i}@}¥]5yɮ@EQDNOT Ignoring new targets: 79.90 m.O9O9Q ProNav: ac range: 79.898376 m, nav range: 77.058151 m, bearing: 28.376722 deg, approach rate: -0.661407 m/s, LOS rate: 0.017410 deg/s, cmd heading: 35.115416 deg, new cmd heading: 35.139240 deg. z,?:QHeadingCmd: 0.613295 target range: 79.898376 and range: 80.40 m.R?JbZB:2Ҕڔڒ’@2Bɢ)! %!i!)%1;!!i- i-?5w_3;5QI5?I9 @ @@4@@@=EU EUEU&EQ"EU[";*EU:VEU4ZEQBEU zԁ +8,)&?A2>2'?2Y<ٱ2$ :AHRS rotation from veh to nav: [[0.819587,-0.567190,-0.081073],[0.572800,0.807841,0.138898],[-0.013288,-0.160278,0.986982]]2H:?j&/aT??l?6Ŀ@\?i2>I2j];0YB*ByBT!IbDJdVDJ 84yRK%Vl=ٔVƻQ-V?9TYX=ZFFyZ}EZ:EZ?\Q 5b]5^(?Q 9b]5^`)^qBQ Af18YdQ Ef8yf>Q If@^O EI^:i^8@^]5yhɮn@l|QDNOT Ignoring new targets: 79.90 m.֜9֜9Q ProNav: ac range: 79.898376 m, nav range: 76.828781 m, bearing: 28.382647 deg, approach rate: -0.661476 m/s, LOS rate: 0.017140 deg/s, cmd heading: 35.139240 deg, new cmd heading: 35.157070 deg. z5<:Q%HeadingCmd: 0.613607 target range: 79.898376 and range: 80.40 m.R%S?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115@@Y=?=<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267369]0Bɢ])Y ]=ia)er/;aaie ]imS?m,3;mImS?Iqy 9@ @@/@ԉԱ^AU"DQzDU@AE] E]E]!EY"E] ;*E]خ:VE]c3ZEYae@ae@ae@ae@IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420 B >B B Z!IB /BB B B B XQ;B E28, ?Av#>>vu?v8<ٱvg* AHRS rotation from veh to nav: [[0.818925,-0.567414,-0.086038],[0.573790,0.806580,0.142106],[-0.011236,-0.165742,0.986105]]vH4?A(}\?`?`0?``7ſ,?iv#>>IvM];tY "ByK!IbD%^VD%,4y5X %5B=ٔ5@Q-=>99Y9==FFy=EE8;EE>IQ 5M]5M:?Q 9U]5M)MqBQ AU8YQQ E]Y8y]>Q I]@MS EIMT ;iM@M]5yaɮe*@aQDNOT Ignoring new targets: 79.90 m.0909Q ProNav: ac range: 79.898376 m, nav range: 76.549568 m, bearing: 28.389599 deg, approach rate: -0.661247 m/s, LOS rate: 0.016523 deg/s, cmd heading: 35.157070 deg, new cmd heading: 35.178000 deg. zm5:QHeadingCmd: 0.613972 target range: 79.898376 and range: 80.40 m.RD-?JbZB:2ԱҔڔڒ’:G@.Bɢ) i)y;iiD-?2; :ID-?IE9@A @I@M0@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770368 ^AmጹIIO9 bE4jE#4rE?z0Eu  Eu Eu %Eq "Eu *;*Eu d:VEu 4ZEq BEu 2?2Au<ٱ2+ :AHRS rotation from veh to nav: [[0.817717,-0.568710,-0.088931],[0.575550,0.805384,0.141765],[-0.009000,-0.167108,0.985898]]2H@*?2'Ķj??]%?ncſ y?i2V>I2*];2CYBByB?!IbDJXVDJ!4RBDAT read: Rx Time:21:32:50.2517 VTRx dataTimestamp_ set to:1761514371.612683Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023521y^H%^S=ٔ^Q-b>9`Y`=bFFybEf>;Ef>hQ 5n]5j?Q 9n]5j)jrBQ Ar7YpQ Er08yr>Q Ir@jW EIj;ij*@j1]5ytɮv@vEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 79.90 m.n9n9Q- ProNav: ac range: 79.898376 m, nav range: 76.292847 m, bearing: 28.395611 deg, approach rate: -0.615871 m/s, LOS rate: 0.014472 deg/s, cmd heading: 35.178001 deg, new cmd heading: 35.196099 deg. z-:QuHeadingCmd: 0.614288 target range: 79.898376 and range: 80.40 m.RuA?JybyZyBy:y2yҔڔڒ’ @U+Bɢ])Y e\ ia)e/;aaieiA?2;%y;I%A?IIA9@ @@@@hA@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274389q^A% A- >A- >ԡ AU ؟AIa Iq O >C @8, +?A57>5?5;ٱ5N*E EE$E"E=;*EV:VE4ZEa@a@a@a@ AHRS rotation from veh to nav: [[0.816059,-0.570854,-0.090402],[0.577931,0.804189,0.138837],[-0.006555,-0.165546,0.986180]]5H(? pD$ i~??l?@z`0ſʎ?i57>I52];5CY By 5!IbD[VDy'4y-%-2=ٔ-宻Q-->95"?Y5"?=5FFy5E=;9EE>AQ 5M]5Ek̈?Q 9M]5E{)ErBQ AU7YQQ EU8yU)>Q IU@E\ EIE:iE@EM]5yaɮe?@aQDNOT Ignoring new targets: 79.90 m.4949Q ProNav: ac range: 79.898376 m, nav range: 75.989418 m, bearing: 28.402130 deg, approach rate: -0.705313 m/s, LOS rate: 0.015213 deg/s, cmd heading: 35.196098 deg, new cmd heading: 35.215732 deg. z ':QHeadingCmd: 0.614630 target range: 79.898376 and range: 80.40 m.RlX?JbZB:2Ҕڔڒ’ @)Bɢ]A )  i)t;iilX?2;;IlX?II gA) hADAT read: 21:32:50.2517 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403, 0.47,-0.020,-1.529, 0.472, 0.017, PHS= 0.064,-1.501, 0.410, RAW= 159.8, 11.6, CAL= 160.0, 13.0, ROT= 350.0, -13.0 Ygot valid direction response: 21:32:50.2517 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 403, 0.47,-0.020,-1.529, 0.472, 0.017, PHS= 0.064,-1.501, 0.410, RAW= 159.8, 11.6, CAL= 160.0, 13.0, ROT= 350.0, -13.0 PDAT read: Bearing 193.7, -12.5 (Local) ~Local bearing/azimuth received: Bearing 193.7, -12.5 (Local) DAT read: Range 11 to 50 : 77.8 m (Round-trip 103.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.959567,-0.169197,0.224951]Fpublishing direction and range infoyy}Vƴ?jBſ:/2?Y}Byyyy y)yI}o=i} }>}2@}4QO>}¸2@ }Vh>)}z@I}Vhyy}:?p!?살? }~1?)}OI}2i}Vhyy-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@BYBYB]M!IB]%BBYBYBYB] Q;B]~EBBBԉBQ =BCũz5^A] ;A I I O >- *DAT read: user:317> 5 BDAT read: Tx time:21:32:51.4938 5 $Ping request sent.5 B?B0;ٱB) JAHRS rotation from veh to nav: [[0.814239,-0.573081,-0.092700],[0.580516,0.802694,0.136686],[-0.003922,-0.165109,0.986268]]BH ??V`6 ?@?~?@pK"ſ?iBp>IB];BCYfByf(!IbDnaVDn24yvop%vc=ٔzSQ-z>9xY|=~FFy~E~<E>Q 5 ]5Oވ?Q 9 ]5)rBQ A7YQ E7y>Q I@` EIj:i[@`]5y%3Bɮ%@%EJRk?ABBUa>R@J~)*VOd1@Vƴ?jBſ:/2?2Vh—BP@dT\xA@.\3@"Xky p?16?4 G(~?j BrBZ<儰?bVzB&\̞? }E{BڗB7>Qm addTargetRange:: Added new target pos. range: 77.800003 m, deltaT: 3.780122 s, deltaX: -2.599998 m, approachRate: -0.687808 m/s, rangeRepo size: 4 Q Added new target pos. range: 77.313866 m, bearing: 27.795191 deg, lat: 36.779388 deg, lon: -121.859456 deg, deltaT: 3.780122 s, deltaX: -2.584511 m, approachRate: -0.683711 m/s, posRepo size: 4 QDNOT Ignoring new targets: 77.31 m.Q ProNav: ac range: 77.313866 m, nav range: 75.532791 m, bearing: 28.112804 deg, approach rate: 0.000000 m/s, LOS rate: 0.015213 deg/s, cmd heading: 35.215731 deg, new cmd heading: 35.232345 deg. zQHeadingCmd: 0.614920 target range: 77.313866 and range: 77.80 m.Rmk?JbZB:2Ҕڔڒ’@3sS@?'Bɢ) Ii)Y;i#'imk?/3;MA;Imk?I9@ @@0@E  E E E "E );*E :VE ZE BE K2RL8,3?A2g>2J8?2:ٱ2& >AHRS rotation from veh to nav: [[0.812741,-0.575130,-0.093149],[0.582623,0.801885,0.132403],[-0.001454,-0.161880,0.986809]]2H`? wg@ط`ؤ? ??rW`Ŀ?i2g>I2];2CYFByF!IbDNSVDN4yV%VO=ٔV̻Q-Z>9Z ?YZ ?=ZFFyZE^k;E^>`Q 5f]5b?Q 9f]5b)b*rBQ Afw7YdQ Ej7yj>Q Ij@bd EIb:ib@bp]5ylɮn@nEQDNOT Ignoring new targets: 77.31 m. (9 (9Q ProNav: ac range: 77.313866 m, nav range: 75.271454 m, bearing: 28.116394 deg, approach rate: -0.667924 m/s, LOS rate: 0.009207 deg/s, cmd heading: 35.232346 deg, new cmd heading: 35.243153 deg. z39Q%HeadingCmd: 0.615109 target range: 77.313866 and range: 77.80 m.R%w?J!b!Z!B):)2)Ҕ)ڔ11ڒ1’11=d?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503095%$Bɢ%I)! %i))-L:;))i-i5w?u'3;uԪ Bq Bq Bu A!IBu BBq Bq Bq Bu P;Bu cE:S8,M?A@F>Fy?F~+ٱF"# RAHRS rotation from veh to nav: [[0.811235,-0.577231,-0.093284],[0.584719,0.801023,0.128316],[0.000654,-0.158640,0.987336]]FH?xs᷿`?`?`l?qE?MNĿ`B?iF>IF];FCYVByV!I ^4<^p;bDb\VDbP)4yjϻ%jH=ٔjԨQ-n>9n"?Yn"?=rFFyrEr;Er>tQ 5z]5v5?Q 9z]5vA)v9rBQ AzH7YxQ E~7y~4>Q I~@vh EIv ;ivAv}]5yɮ@ )Q-DNOT Ignoring new targets: 77.31 m.5959QE ProNav: ac range: 77.313866 m, nav range: 75.000778 m, bearing: 28.119645 deg, approach rate: -0.661285 m/s, LOS rate: 0.007971 deg/s, cmd heading: 35.243155 deg, new cmd heading: 35.252943 deg. zE9QMHeadingCmd: 0.615280 target range: 77.313866 and range: 77.80 m.RM?JIbQZQBQ:Q2QҔYڔYYڒY’aae@E@?颍"Bɢ") i)ؤ;顑i:i?D4;P+i>9@ @@5@Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006856^A5<Aa Iq I O > E%  E% E% 'E! "E% &;*E% :VE% '4ZE! BE% 9qYq=uFFyuE}E}>Q 5]5/?Q 9]5)IrBQ A"7YQ Eu7yQ I@m EI:iR A]5yɮ@EGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 77.31 m.99Q ProNav: ac range: 77.313866 m, nav range: 74.720894 m, bearing: 28.123031 deg, approach rate: -0.660982 m/s, LOS rate: 0.008027 deg/s, cmd heading: 35.252942 deg, new cmd heading: 35.263139 deg. zJ9QHeadingCmd: 0.615458 target range: 77.313866 and range: 77.80 m.R?JbZB:2 Ҕڔ!ڒ!’!)-?u Bɢ}W#)y i):顉i2pi?y5;$?L`8,??A2a>2t!?2 ٱ2e> >AHRS rotation from veh to nav: [[0.808592,-0.580937,-0.093224],[0.588344,0.799815,0.118942],[0.005464,-0.151023,0.988515]]2H@?ݷ`? ?r?`av?Tÿ?i2a>I2<];2CYBۂByF IbDN\VDNP)4yr %rS=ٔvKQ-v>9tYt=zFFyzEz><Ez>|Q 5]5~R.?Q 9]5~)~XrBQ A 7Y Q E F7y D>Q I @~q EI~]:i~A~]5yɮ@9AQEDNOT Ignoring new targets: 77.31 m.Mb8Mb8Q] ProNav: ac range: 77.313866 m, nav range: 74.465012 m, bearing: 28.125355 deg, approach rate: -0.660696 m/s, LOS rate: 0.006021 deg/s, cmd heading: 35.263140 deg, new cmd heading: 35.270135 deg. z]:9QeHeadingCmd: 0.615580 target range: 77.313866 and range: 77.80 m.Re?JabaZaBi:i2iҔiڔiqڒq’qq}@9?颥Bɢ14) G!i)I~:顩ici?77;2gBB(!IBBBBBBP;BdE^A5 &<A=>A=>ԙA I I O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843vf8,?A2Z>2!?2]ٱ2@ :AHRS rotation from veh to nav: [[0.807463,-0.582598,-0.092649],[0.589864,0.799503,0.113381],[0.008018,-0.146202,0.989222]]2H?@ܷ +??@?k?`¿?i2Z>I2];0YBʂByB IJ@AHbDNkVDND4yV%VN=ٔV5ӻQ-V>9XYX=ZFFyZEZ;E^>`Q 5f]5bA?Q 9f]5b)birBQ Af6YdQ Ef!7yf>Q Ij@bu EIbH:ibAb]5ylɮn@lQDNOT Ignoring new targets: 77.31 m.  8  8Q ProNav: ac range: 77.313866 m, nav range: 74.202995 m, bearing: 28.127424 deg, approach rate: -0.662052 m/s, LOS rate: 0.005247 deg/s, cmd heading: 35.270134 deg, new cmd heading: 35.276363 deg. ԙztf9QHeadingCmd: 0.615689 target range: 77.313866 and range: 77.80 m.RƝ?JbZB:2Ҕڔڒ’v@额Bɢy4) f(i)5T:顡iϤiƝ?68;ey ѧl8,?A2>2\!?2-ٱ2 :AHRS rotation from veh to nav: [[0.806815,-0.583471,-0.092795],[0.590710,0.799482,0.109043],[0.010564,-0.142792,0.989696]]2Hn?˫c?[?C?? G¿?i2>I2];2CYBĂByB IbDNnVDNpJ4yR%VI=ٔVͻQ-V>9XYX=ZFFyZE^+;E^>\Q 5b]5^U?Q 9f]5^U)^zrBQ Af6YdQ Ef7yf>Q If@^z EI^ ;i^YA^]5ylɮn@nE|QDNOT Ignoring new targets: 77.31 m.88Q ProNav: ac range: 77.313866 m, nav range: 73.934891 m, bearing: 28.129377 deg, approach rate: -0.661094 m/s, LOS rate: 0.004833 deg/s, cmd heading: 35.276363 deg, new cmd heading: 35.282243 deg. zJT9QHeadingCmd: 0.615791 target range: 77.313866 and range: 77.80 m.R%?J!b!Z!B!:!2!Ҕ)ڔ))ڒ1’115`w@]BɢeB)a eZ*ia)e"9aaimiu?uM:;u[ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770838B >B CB !IB BB N =B B B P;B eEi _s8,5?A>u>>f"?>áVٱ>Ǭ FAHRS rotation from veh to nav: [[0.806141,-0.584338,-0.093195],[0.591578,0.799372,0.105073],[0.013100,-0.139836,0.990088]]>H`? ۷5?s? ? Ԋ?@" ͮ?i>u>I>.];>CYLyLbDVWVDV 4ybc %bJ=ٔb̻Q-b>9dYd=fFFyfEf1;Ej>hQ 55]5ji?Q 95]5j)jrBQ A56Y1Q E56y=>Q I=@j~ EIjR=BDAT read: Rx Time:21:32:53.9986 TRx dataTimestamp_ set to:1761514375.392913checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024271 ʴ9 SkAY 1Aԁ^A<II)O5>ԩE  E E "E "E 4;*E ;:VE (3ZE BE R/)"?R9NzٱR ZAHRS rotation from veh to nav: [[0.805901,-0.584474,-0.094407],[0.591853,0.799439,0.102991],[0.015277,-0.138875,0.990192]]RH?+t??]?`wI?`@?iR->IR];RCYBy I p<<bDoVDHL4yU%f%]A=ٔ}Q-}>9Y=FFyE^:E>Q 5]5?Q 9]5)rBQ Ab6YQ E6y)>Q I@ EIo;i)A]5y4Bɮ@EGSEB*** querying acoustic contact ***:ABAqQ}DNOT Ignoring new targets: 77.31 m.Q8Q8ԱQ ProNav: ac range: 77.313866 m, nav range: 73.383194 m, bearing: 28.132979 deg, approach rate: -0.647763 m/s, LOS rate: 0.004189 deg/s, cmd heading: 35.287582 deg, new cmd heading: 35.293090 deg. z79QHeadingCmd: 0.615981 target range: 77.313866 and range: 77.80 m.R?JbZB:2Ҕڔڒ’U @eBɢ@7) h.i)[KjiN߻i?_>;1im>g1@ >E1@ 0 >)3@I0 OsRD?a?v*? ׻.?)v I|i0 }T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. ^Ae ]<I I O >9 8,ˆ?A2>23"?2~ٱ2 :AHRS rotation from veh to nav: [[0.805792,-0.584499,-0.095179],[0.591960,0.799554,0.101474],[0.016789,-0.138109,0.990275]]2H ? 8 ]@V??8?1?T?i2>I2];2CYBByB IbDJ`VDJ04yRӁ%RV=ٔV8Q-V>9TYT=ZFFyZEZ9EZ>\Q 5b]5^?Q 9b]5^)^rBQ Af76YdQ Ef6yf5>Q If@^ EI^:i^/A^]5yhɮj@jEJ!R%\Z?A%ܕB%ܕB%Kw?%OUWR@(s&$@%bT? W,{-ÿyjȗ?%|%0 —%(o#,P@A@aF)@%t+g?3Q?1(,?j% Br%eBZ% ݞ?b%Z*z%B%͞?!%Bڗ%IB%Eb>Q% addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.780233 s, deltaX: -2.400002 m, approachRate: -0.634882 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 74.929718 m, bearing: 28.752183 deg, lat: 36.779388 deg, lon: -121.859456 deg, deltaT: 3.780233 s, deltaX: -2.384148 m, approachRate: -0.630688 m/s, posRepo size: 4 1E EE$E"E*E:VE4ZEa@a@a@a@QDNOT Ignoring new targets: 74.93 m.Q ProNav: ac range: 74.929718 m, nav range: 73.143082 m, bearing: 28.131318 deg, approach rate: 0.000000 m/s, LOS rate: 0.004189 deg/s, cmd heading: 35.293090 deg, new cmd heading: 35.297611 deg. zQ HeadingCmd: 0.616060 target range: 74.929718 and range: 75.40 m.R ?J b Z B : 2Ҕ1ڔ19ڒ9’9=R@E@?颭BɢJX) 3i) iMܻi?=@; ]BDAT read: Tx time:21:32:55.2938 e$Ping request sent.eBB IB؂BBO =BBBP;B@ @@0@9^A) i I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250290Ć8,c?A 2>2Y"?2֧ٱ2 >AHRS rotation from veh to nav: [[0.806025,-0.584029,-0.096089],[0.591625,0.799765,0.101767],[0.017413,-0.138876,0.990157]]2H? ^C@??@n ?ԑ?@]?i2>I2s];0YFByF IIJ=)Jp;bDNkVDND4yV<=%VJ=ٔV4ʺQ-Z>9XYX=ZFFyZE^,E^>Q 5%]5&?Q 9%]57)rBQ A-6Y)Q E-`6y->Q I-@ EI:i]6A]5y1ɮ5@=EYQeDNOT Ignoring new targets: 74.93 m.ex8ex8Qu ProNav: ac range: 74.929718 m, nav range: 72.867889 m, bearing: 28.133164 deg, approach rate: -0.667320 m/s, LOS rate: 0.004493 deg/s, cmd heading: 35.297612 deg, new cmd heading: 35.303171 deg. zu]E9Q}HeadingCmd: 0.616157 target range: 74.929718 and range: 75.40 m.Rp?JbZB:2Ҕڔڒ’`R'?颽Bɢ/Q)  .i)hisػip?&A;iNA}>IIO%> 8,=6?A2_>2!?2ٱ26 :AHRS rotation from veh to nav: [[0.806700,-0.582634,-0.098858],[0.590671,0.800184,0.103985],[0.018519,-0.142277,0.989654]]2H|?N? ?@ƞ? ?#6¿>?i2_>I2&^;0YBByB IJAAJAAbDJUPVDJn4yV۷%VJ=ٔZX3Q-Z>9XYX=ZFFy^E^n=E^>`Q 5f]5b?Q 9f]5b)brBQ Aj5YhQ Ej66yj>Q Ij@b EIbQ:ib) B B B IB ɂBB M =B B B P;B XEBuʿCBqBqBuO =BuO =Cuʤ5֓8,&P?A2I>2N!?2ٱ2 :AHRS rotation from veh to nav: [[0.807816,-0.580693,-0.101137],[0.589124,0.800991,0.106517],[0.019156,-0.145629,0.989154]]2H`? @$乿?ม? D??¿&?i2I>I2^;2CYbByb IbDjiVDj=A4yr#%rG=ٔrd˺Q-r>9v ?Yv ?=vFFyvEz,Ez>||Q 5]5~͉?Q 9]5~)~rBQ A 5Y Q E 6y >Q I @~ EI~51;i~:CA~]5yɮ@9QEDNOT Ignoring new targets: 74.93 m.E8E8QU ProNav: ac range: 74.929718 m, nav range: 72.337326 m, bearing: 28.137559 deg, approach rate: -0.659547 m/s, LOS rate: 0.005948 deg/s, cmd heading: 35.309066 deg, new cmd heading: 35.316404 deg. zU9Q]HeadingCmd: 0.616388 target range: 74.929718 and range: 75.40 m.R]?JabaZaBa:a2aҔiڔiiڒi’qqu2p?额Bɢ-W) 2i)BF顡i3һi?E;Taԁ E  E E 'E "E 4;*E :VE '4ZE BE 6R ?6oٱ6aw JAHRS rotation from veh to nav: [[0.808908,-0.578869,-0.102853],[0.587609,0.801819,0.108637],[0.019583,-0.148315,0.988746]]6H`?@T??@ϻ? ?¿@ϣ?i6p>I661^;6CY^By^ IbDjTVDj4yz>t<%zI=ٔzÉQ-~>Y9e"?Ye"?=mFFymEuEu>Q 5]5≊?Q 9]5e)rBQ A5YQ E5y>Q I@ EIq';i JA]5y5Bɮ@GSB*** querying acoustic contact ***:1B1AQMDNOT Ignoring new targets: 74.93 m.U8U8Qm ProNav: ac range: 74.929718 m, nav range: 72.058945 m, bearing: 28.140462 deg, approach rate: -0.635883 m/s, LOS rate: 0.006658 deg/s, cmd heading: 35.316405 deg, new cmd heading: 35.325150 deg. zm99QmHeadingCmd: 0.616540 target range: 74.929718 and range: 75.40 m.Ru?JqbZB:2Ҕڔڒ’?U BɢU+H)Q U~0iQ)]/ooYYi].λie?eiF;e G8,$?A2f>2= ?2ٱ2 :AHRS rotation from veh to nav: [[0.810255,-0.576669,-0.104594],[0.585749,0.802774,0.111588],[0.019616,-0.151681,0.988235]]2H@?tƺt?@S? ?J?Hjÿ?i2f>I2|W^;2CYBByB IbDJPVDJ:4yRJ(=%RM=ٔVSQ-V>9TYT=ZFFyZEZ^ûEZ>\Q 5b]5^?Q 9b]5^V)^sBQ Af5YdQ Ef5yf>Q If@^ EI^#:i^PA^]5yhɮn@nE|QDNOT Ignoring new targets: 74.93 m.99E} E}E}%Ey"E}y>;*E}:VE} 4ZEya@a@a@a@ԑQ ProNav: ac range: 74.929718 m, nav range: 71.805115 m, bearing: 28.143559 deg, approach rate: -0.691490 m/s, LOS rate: 0.008465 deg/s, cmd heading: 35.325151 deg, new cmd heading: 35.334473 deg. z9QHeadingCmd: 0.616703 target range: 74.929718 and range: 75.40 m.R>?JbZB:2Ҕڔڒ’@u@- Bɢ5XW)9 =+i9)=799iEiu˻im>?mzSG;un%?Iqy5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019198@ @ @ /@ B->B)B- IB-ĂBB)B)B)B-P;B-GEԹ^Ae0:D<A I J?  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270632I O > 48,9?AN=>N?N!ٱN.B VAHRS rotation from veh to nav: [[0.811595,-0.574498,-0.106137],[0.583893,0.803721,0.114463],[0.019546,-0.154870,0.987741]]NH?@Ib`+?? ?oM??`ÿ?iN=>IN߁^;NCY^By^ IbDhVDhyrr<%rE=ٔr19Q-v>9tYt=vFFyvEzEz>|Q 5]5~9 ?Q 9]5~ )~&sBQ AO5YQ E 5y >Q I @~ EI~:i~VA~]5yɮ@9Q=DNOT Ignoring new targets: 74.93 m.E)9E)9QU ProNav: ac range: 74.929718 m, nav range: 71.530708 m, bearing: 28.147397 deg, approach rate: -0.660431 m/s, LOS rate: 0.009273 deg/s, cmd heading: 35.334474 deg, new cmd heading: 35.346032 deg. zU9Q]HeadingCmd: 0.616905 target range: 74.929718 and range: 75.40 m.R]v?JYbYZYBa:a2aҔaڔaiڒi’iiu]@U Bɢ]nN)Y ]8(iY)][8,p?A>L>>?>Eٱ>@# FAHRS rotation from veh to nav: [[0.813112,-0.571966,-0.108182],[0.581774,0.804775,0.117800],[0.019685,-0.158722,0.987127]]>H?Mֱ??@(?K(?@QĿ`?i>L>I>^;)R=bDZbVDZ[44yb ;%bM=ٔbQ-b>9dYd=fFFyfEf'ֻEj>hj?j)j:sBQ Ar(5YpQ Er}5yrS>j EIj:ij!]Ahyv6Bɮv@zEQDNOT Ignoring new targets: 74.93 m.B9B9Q- ProNav: ac range: 74.929718 m, nav range: 71.267532 m, bearing: 28.151614 deg, approach rate: -0.660917 m/s, LOS rate: 0.010628 deg/s, cmd heading: 35.346031 deg, new cmd heading: 35.358728 deg. z-j9Q5HeadingCmd: 0.617126 target range: 74.929718 and range: 75.40 m.R5?J1b1Z1B9:929ҔAڔAAڒA’AIMT+@uBɢuXT)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774352 u]'i)< 顉iĻi?nH;Q;I?I9@ @@@@@iAa^A=;AE>AE>E EE'E"E(;*E:VE'4ZEa@a@a@a@ԑi1 I5 A= BDAT read: Rx Time:21:32:57.7953 E TRx dataTimestamp_ set to:1761514379.178073M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029648Ai Iy I O >B >B B IB ɂBB B B B nP;B 5EԹ ZC8,v?A2gw>2L?2˦ٱ2;& :AHRS rotation from veh to nav: [[0.814047,-0.570184,-0.110535],[0.580443,0.805349,0.120417],[0.020359,-0.162184,0.986550]]2H ?>L@?@j?@Ӿ?ٔ?uĿ@ґ?i2gw>I2^;2CY^Byb IbDj^VDj,4y=}<%=C=ٔEҺQ-E>9AYI=MFFyMEM}EM>QQ 5]5U2?Q 9]5U)UPsBQ A5YQ EM5y>Q I@U EIUc }8,?ADAT read: 21:32:57.7953 LVL= 32752, 32753, 30802, 32755, AGC= 72, IDX= 402,-0.31, 0.823,-0.640, 1.315, 0.753, PHS= 0.172,-1.348, 0.518, RAW= 160.0, 7.7, CAL= 159.6, 7.8, ROT= 350.4, -7.8 &Ygot valid direction response: 21:32:57.7953 LVL= 32752, 32753, 30802, 32755, AGC= 72, IDX= 402,-0.31, 0.823,-0.640, 1.315, 0.753, PHS= 0.172,-1.348, 0.518, RAW= 160.0, 7.7, CAL= 159.6, 7.8, ROT= 350.4, -7.8 *PDAT read: Bearing 189.0, -9.3 (Local) *~Local bearing/azimuth received: Bearing 189.0, -9.3 (Local) :DAT read: Range 11 to 50 : 72.9 m (Round-trip 97.3 ms) speed 0.8 m/s >R#Rx 1: Read range and direction messages.B^direction in FSK: [0.976873,-0.165226,0.135716]FFpublishing direction and range infoyIM9B?:&ſ M _?YM̑BIIIMRx I)MHIM 0>iMDM?M¸2@IMaF2@ M'g >)ME@IM'g IIM bhG?*@*f?\0y)? M2?)ME IM+iM'g IImT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.->-,?- ٱ-* ]AHRS rotation from veh to nav: [[0.814929,-0.568355,-0.113416],[0.579166,0.805847,0.123197],[0.021376,-0.166084,0.985880]]-H?/`?? ؉??`:BſT?i->I-^;)YmςBym IbDmMVDm 4y}=%})=ٔN Q->9Y=FFyEQE>J?Dz)isBQ A4YQ E&5y> EIk:ikAyɮt@JIRMۈ?AMBMBMy>MUxIQ@*'A<#@M9B?:&ſ M _?M+M'g —Me*O@߼1F@@ JWOc*@M"̳?U?TO?jM6BrMq}BZM}B&?bMZzM3BMΞ?MOMTBڗMBMD>Q addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.784088 s, deltaX: -2.500000 m, approachRate: -0.660661 m/s, rangeRepo size: 4 Q Added new target pos. range: 72.445526 m, bearing: 27.192883 deg, lat: 36.779389 deg, lon: -121.859460 deg, deltaT: 3.784088 s, deltaX: -2.484192 m, approachRate: -0.656484 m/s, posRepo size: 4 QDNOT Ignoring new targets: 72.45 m.Q- ProNav: ac range: 72.445526 m, nav range: 70.517212 m, bearing: 27.894625 deg, approach rate: 0.000000 m/s, LOS rate: 0.010975 deg/s, cmd heading: 35.373188 deg, new cmd heading: 35.389386 deg. z)Q5HeadingCmd: 0.617661 target range: 72.445526 and range: 72.90 m.R5 ?J1b1Z1B1:129Ҕ9ڔ99ڒa’ae9R@e*?颭BɢV|3) i)л顱ii ?H; BDAT read: Tx time:21:32:59.0938 $Ping request sent.E8,b ?A2>2?2ٱ2}. ^AHRS rotation from veh to nav: [[0.815748,-0.566577,-0.116389],[0.577957,0.806380,0.125365],[0.022825,-0.169534,0.985260]]2H?e!˽~??@ ?Z_? Nſ??i2>I2_;0%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251441Y5܂By= IqbDyVDyB>BB IB؂BBBBBOP;B&Eyq=%G=ٔgQ->9 ?Y ?=FFyEkE>Q 5E]5_?Q 9M]5)sBQ AM4YIQ EM5yU=> EI+!C5GEliAQ9liAYKAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502603^A"5; A ؟AIA Ii O >Sn8,\#?AYڂBy Iaa aa aa aa aa iMb@Mb@Mb@ 9X9v?S㥛/$?Y?y/ݼ<AK@ A) AYp AbDSVD4y0%L=ٔQ->9"?Y"?=FFyEE>Q 5]5p?Q 9]5 )sBQ AT:Y1?Q E:y;?Q I@ EI;i;7]5y 9Bɮ @ E1Q5DNOT Ignoring new targets: 72.45 m.=oY=oYQM ProNav: ac range: 72.445526 m, nav range: 70.003174 m, bearing: 27.880270 deg, approach rate: -0.626489 m/s, LOS rate: -0.047524 deg/s, cmd heading: 35.402264 deg, new cmd heading: 35.346173 deg. zMuQUHeadingCmd: 0.616907 target range: 72.445526 and range: 72.90 m.RU?JQbQZQBY:Y2YҔYڔeBaڒa’aam@k?Eu EuEqEq"Eu3;*Eu:VEqZEqBEuiu>i)I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756548 @  @ @ 0@ )^A% 0::AY Y Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067128,'=?A2o>2Я?2ʼٱ2!. >AHRS rotation from veh to nav: [[0.815967,-0.565918,-0.118045],[0.577568,0.806786,0.124543],[0.024757,-0.169802,0.985167]]2H`f?@:8p{? 1?@? Y?ſ`}?i2o>I2&_;0YFByF!IbDNbVDN[44yV7>%V`=ٔZQ-Z>9XYX=ZFFyZE^E^>`Q 5f]5bp?Q 9f]5bШ)bsBYhyj?Q Ij@b EIb:ib :bf]5ylɮnT@laQeDNOT Ignoring new targets: 72.45 m.mNmNQ ProNav: ac range: 72.445526 m, nav range: 69.779358 m, bearing: 27.863318 deg, approach rate: -0.594803 m/s, LOS rate: -0.045195 deg/s, cmd heading: 35.346174 deg, new cmd heading: 35.295156 deg. z"QHeadingCmd: 0.616017 target range: 72.445526 and range: 72.90 m.RE?JbZB:2Ҕڔڒ’\?Bɢ"\:) i) '  i YoiE?}H;-I;I-E?9I-9@) @)@-4@)aE EE'E"E0;*E-:VE'4ZEa@a@a@a@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007B>BB!IBBBBBBvP;B9E^A0;A%>A%>ԑAa Ii Iy O >Թ c|8,mW?A:'u>:,?: ^Ӽٱ:c. BAHRS rotation from veh to nav: [[0.816215,-0.565441,-0.118612],[0.577172,0.807200,0.123699],[0.025799,-0.169424,0.985205]]:H`o?`X]0x?? ?k?@ſ͆?i:'u>I:m_;8YJByJ$!IINa=)N<bDV^VDV,4y^U=%^I=ٔ^[(Q-b>9`Y`=bFFybEfEf>hQ 5n]5j?Q 9n]5j7)jsBYlyr?Q Ir@j EIj+;ij;j]5yv:Bɮvs@tQDNOT Ignoring new targets: 72.45 m.f\f\Q- ProNav: ac range: 72.445526 m, nav range: 69.530304 m, bearing: 27.844426 deg, approach rate: -0.632786 m/s, LOS rate: -0.048172 deg/s, cmd heading: 35.295156 deg, new cmd heading: 35.238278 deg. z-=Q5HeadingCmd: 0.615024 target range: 72.445526 and range: 72.90 m.R56r?J1b1Z1B1:129Ҕ9ڔ9AڒA’AAE`އ?uBɢuh1)q uiq)} yyi}i6r?'H;e;I6r?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511290ԡ59@1 @1@5/@1^AUyb];bEȞ4jE 4rE@o/E EEE"Ea?;*E˭:VEZEBEU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763944 8,p?A6u>6'?6.߼ٱ6+ >AHRS rotation from veh to nav: [[0.816184,-0.565534,-0.118385],[0.577149,0.807640,0.120898],[0.027241,-0.167000,0.985580]]6H@.?tNx?/?@$??C`ſ?i6u>I6W`;4YFByF;!IiMb@Mb@Mb@ 9"~j?{Gz rh?YS#?yףC<rA QA)Y AbD-lVD-F4y==%=B=ٔE4`Q-E>9AYA=MFFyMEM=EM>QQ 5]]5U?Q 9]]5UJ)UsBYew#?Q Ee:ye?Q Ie@U EIU:iU:U]5yiɮm?@q1Q5DNOT Ignoring new targets: 72.45 m.=m=mQM ProNav: ac range: 72.445526 m, nav range: 69.262901 m, bearing: 27.821553 deg, approach rate: -0.605122 m/s, LOS rate: -0.051960 deg/s, cmd heading: 35.238278 deg, new cmd heading: 35.169395 deg. zMQuHeadingCmd: 0.613822 target range: 72.445526 and range: 72.90 m.Rul#?JqbqZqBq:y2yҔyڔ} Bڒ’T@Bɢ() i)[ iTi%l#?%H;%;I%l#?Iiq9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015247^Ar;I A I! I1 O= >E  E E %E "E ;*E :VE 4ZE a @a @a @a @8,4?A Vr>V?V-sٱVPE* fAHRS rotation from veh to nav: [[0.816166,-0.565515,-0.118601],[0.577109,0.807973,0.118850],[0.028615,-0.165447,0.985803]]VH@? \@w?`?l?_M?^-ſ?iVr>IV `;VCYv(ByvQ!I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273035bD=gVD==4yM=%MI=ٔUD^Q-U>9YYY=]FFy]E]*mE]>aQ 5m]5e ?Q 9m]5e)esBYqyu?Q Iu@B>BB;!IBBBBBUDBP;B`EBABECBABEM =BEM =CEg4e EIe;ie;e,]5y;Bɮ5@EQDNOT Ignoring new targets: 72.45 m.NNQ ProNav: ac range: 72.445526 m, nav range: 69.005753 m, bearing: 27.799406 deg, approach rate: -0.658910 m/s, LOS rate: -0.056961 deg/s, cmd heading: 35.169395 deg, new cmd heading: 35.102706 deg. z^QHeadingCmd: 0.612658 target range: 72.445526 and range: 72.90 m.R$?JbZB:2Ҕڔڒ’@l@-Bɢ-)) 5S־i1)5 11i=Pi=$?=UI;EOP;IE$?IAi9@ @@0@ԙ^Avт;AzAgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526722 AY Iq I O >N8,?AZ>Z?ZٱZ)' bAHRS rotation from veh to nav: [[0.815886,-0.566058,-0.117934],[0.577441,0.808201,0.115640],[0.029856,-0.162449,0.986265]]ZH?@%0`fz? ??s?@$Ŀ{?iZ>IZ`;ZCYj4Bhyja!Ii]Mb@Mb@Mb@YYYY Y9]!rh?y&1|/$?Y]l'?y]`廙]<]AY ]A)]l AYY] AbDWVD 4yi=%A=ٔ?Q->9Y=FFyE:E>Q 5]5+ʊ?Q 9 ]5U)sBY '?Q E :y M?Q I @ EI ;i ;]5yɮo@GS5B*** querying acoustic contact ***:1B1AQEDNOT Ignoring new targets: 72.45 m.MEU EUEQEQ"EU /;*EU:VEQZEQBEU > R= BDAT read: Rx Time:21:33:01.5921  TRx dataTimestamp_ set to:1761514382.964828 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0319898,o?Az>z?zٱz2&  AHRS rotation from veh to nav: [[0.815790,-0.566055,-0.118611],[0.577513,0.808314,0.114485],[0.031071,-0.161895,0.986319]]zH ?Q]`z?`?@N?џ?Ŀ@?iz>IzE`;zCYFByv!IbD-MVD- 49yE=%EW=ٔEPQ-E>9IYI=MFFyMEMB9EU>QQ 5]]5U^ۊ?Q 9e]5U)UsBYayeS?Q Ie@U EIU ;iU:U6]5ymByB}m!IB}>BByByByB}-Q;B}Eԑ^AM 0; A .AI I O >8,W?A>?qٱ"$ -AHRS rotation from veh to nav: [[0.815825,-0.566202,-0.117665],[0.577435,0.808683,0.112251],[0.031597,-0.159521,0.986689]]H@<?TFZz??`z?q-?@.kĿ@?i>IUx`;YeGByex!IbD}lVD}F4y;%E=ٔQ->ԑ9 ?Y ?=FFyESE>Q 5]5?Q 9]5~)tBYyH?Q I@ EI;i;]5yɮT@QDNOT Ignoring new targets: 72.45 m.Q ProNav: ac range: 72.445526 m, nav range: 68.215111 m, bearing: 27.715705 deg, approach rate: -0.647621 m/s, LOS rate: -0.069319 deg/s, cmd heading: 34.936903 deg, new cmd heading: 34.850633 deg. zJ>QHeadingCmd: 0.608258 target range: 72.445526 and range: 72.90 m.RѶ?JbZB: 2 Ҕڔڒ’%@EBɢEn )A M3iI)MmIIiM/iUѶ?UdJ;]Ye??jſ =η?Y3B )IIB`=iвT>)2@;0>2@ q=>)@Iq=0čy2?PQ6?pY^? ~#2?)v0I%/iq=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/0@^A 8<Eu EuEu%Eq"EuO6;*Eu:VEu 4ZEqBEuCe *DAT read: user:320> m BDAT read: Tx time:21:33:02.8938 u $Ping request sent.u 9}"?Y}"?=}FFy}EE>Q 5]5>?Q 9]5c)tBY$?Q E:yJ'?Q I@ EI ;iX ;T]5y?Bɮf@EJR?ARBRB˅>;P@|y'DaR)@l/?->??jſ =η?%/q=—sHN@jԤh2?@F0@u?SeM%,u?dSsnې?jArFrBZ6?bXzڤB ݞ?VڤBڗBd>Q addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.787531 s, deltaX: -2.300003 m, approachRate: -0.607257 m/s, rangeRepo size: 4 Q Added new target pos. range: 70.160339 m, bearing: 27.251600 deg, lat: 36.779390 deg, lon: -121.859464 deg, deltaT: 3.787531 s, deltaX: -2.285187 m, approachRate: -0.603345 m/s, posRepo size: 4  Q DNOT Ignoring new targets: 70.16 m.Q% ProNav: ac range: 70.160339 m, nav range: 67.985054 m, bearing: 27.397863 deg, approach rate: 0.000000 m/s, LOS rate: -0.069319 deg/s, cmd heading: 34.850634 deg, new cmd heading: 34.766556 deg. z!Q-HeadingCmd: 0.606791 target range: 70.160339 and range: 70.60 m.R-V?J)b)Z)B):2ҔڔSBڒ’`fQ@?Bɢ>)  i )"iiV?L;-ԉ 9, ?AE. E.E.&E,"E.;*E.:VE.4ZE,a2@a2@a2@a2@b>bH?bSٱbP' jAHRS rotation from veh to nav: [[0.816714,-0.564608,-0.119148],[0.576175,0.809232,0.114744],[0.031633,-0.162363,0.986224]]bH"? D{@p?:?`_?@92?NĿ%?ib>Ib_;bCYrZByr!IbD~YVD~#4y;% Q=ٔ oøQ- >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159B%>B!B%!IB%\BB%N =B!B%TDB%gQ;B%E99Y9==FFy=EEEE>IQ 5U]5MJ?Q 9U]5MS)M"tBYQyU&?Q I]@M EIM;iM;M]5yeBBɮe@eEQDNOT Ignoring new targets: 70.16 m.ٺٺQ ProNav: ac range: 70.160339 m, nav range: 67.734360 m, bearing: 27.360623 deg, approach rate: -0.638718 m/s, LOS rate: -0.095231 deg/s, cmd heading: 34.766554 deg, new cmd heading: 34.654421 deg. zQHeadingCmd: 0.604834 target range: 70.160339 and range: 70.60 m.Rb?JbZB:2Ҕڔڒ’u?ɢ) i)&i豻ib?L;1iE9@A @A@E5@Ay^Aaԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754373Ia Iq O > 9,%?AvC>v?vcٱvKt' AHRS rotation from veh to nav: [[0.817412,-0.563529,-0.119471],[0.575167,0.809912,0.115001],[0.031954,-0.162719,0.986155]]vH<(?m@g?`?p?U\?Ŀ?ivC>Iv`;vCYcBy!IiMb@Mb@Mb@ 9K7?Mb?Mb?Y)?y<< A)Y AbDUVDn4y7=%<=ٔNBQ->9Y=FFyE;E> Q 5]5 s#?Q 9%]5 ݄) 2tBY%)?Q E-:y-$?Q I=@  EI ;i ; ]5yQɮU@YGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 70.16 m.Ա̺̺Q ProNav: ac range: 70.160339 m, nav range: 67.454498 m, bearing: 27.321430 deg, approach rate: -0.637093 m/s, LOS rate: -0.089590 deg/s, cmd heading: 34.654420 deg, new cmd heading: 34.536355 deg. zuQHeadingCmd: 0.602773 target range: 70.160339 and range: 70.60 m.RWO?EM EMEM)EI"EM/;*EM:VEMFA4ZEIBEMLj`9,A?A2>2?2ٱ2;( >AHRS rotation from veh to nav: [[0.818028,-0.562445,-0.120357],[0.574249,0.810516,0.115336],[0.032681,-0.163463,0.986008]]2H`I-?`Ͼ`?`?? ??WĿ`?i2>I2`;2CYFfByF!IbDN]VDN'+4yVG<%VR=ٔVEQ-V>9XYX=ZFFyZE^9E^>`Q 5f]5b4?Q 9f]5b΀)b?tBYdyf#?Q Ij@b EIb:ibd:b]5yUDBɮ]@YyQDNOT Ignoring new targets: 70.16 m.ϺϺQ ProNav: ac range: 70.160339 m, nav range: 67.199326 m, bearing: 27.285650 deg, approach rate: -0.645634 m/s, LOS rate: -0.090875 deg/s, cmd heading: 34.536356 deg, new cmd heading: 34.428608 deg. zwyQHeadingCmd: 0.600893 target range: 70.160339 and range: 70.60 m.R?JbZB:2Ҕڔڒ’?Bɢ@) }i).iWi?IO;@HB=CB=!IB=vBB=O =B9B9B=Q;B=E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510156^A*:<II!O->ԁ ԀG SkA) ] 9] SkAY] AԱ 9,y\[?A2}>2Xb?26 ٱ2?+ :AHRS rotation from veh to nav: [[0.818668,-0.560859,-0.123368],[0.573250,0.810917,0.117463],[0.034161,-0.166884,0.985385]]2H@2?@ X??@?}?u\ſ E?i2}>I2S `;2CYBeByB!IJAJAbDNKVDN 4yVҌ%VK=ٔVpQ-Z>9XYX=ZFFyZE^@E^>`Q 5f]5bF?Q 9f]5b|)bNtBYdyf#?Q Ij@b EIbl:i`bx]5ylɮn@lQDNOT Ignoring new targets: 70.16 m. ^ۺ ^ۺQ ProNav: ac range: 70.160339 m, nav range: 66.935944 m, bearing: 27.248687 deg, approach rate: -0.680619 m/s, LOS rate: -0.095893 deg/s, cmd heading: 34.428607 deg, new cmd heading: 34.317283 deg. zQ%HeadingCmd: 0.598950 target range: 70.160339 and range: 70.60 m.R%T?J!b!Z!B!:)2)Ҕ)ڔ))ڒ1’115 ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762208ɢW)! %璾i!)%a2!!i%ײi-T?-P;5_Qu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014086 /9,7u?AY~lBy~!IiMb@Mb@Mb@ 9!rh?Mb?Q?Yl'?y<u<A@ hA)AY AbDQVD4y(<%;=ٔQ->9Y=FFyEE>Q 5]5yZ?Q 9]57x)^tBY{'?Q E:yt ?Q I@ EI@:i:I]5yFBɮ@EQDNOT Ignoring new targets: 70.16 m. Aº AºQ ProNav: ac range: 70.160339 m, nav range: 66.653732 m, bearing: 27.211723 deg, approach rate: -0.645572 m/s, LOS rate: -0.084916 deg/s, cmd heading: 34.317281 deg, new cmd heading: 34.205919 deg. ziQHeadingCmd: 0.597006 target range: 70.160339 and range: 70.60 m.Ra?JbZB:2ҔڔgBڒ’@AɢM:)I Mii)u^6qqiuGi}a?}1R;}MmI I1 OE >E=  E= E= 'E9 "E= %;*E= |:VE= '4ZE9 aE @aE @aE @aE @BA BA BE !IBE BBE P =BA BA BE Q;BE E#9,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518204:I>:?:ٱ:6/ BAHRS rotation from veh to nav: [[0.819842,-0.558179,-0.127653],[0.571362,0.812087,0.118577],[0.037478,-0.170151,0.984705]]:H`%I:&`;:CYJoByJ!IbDVYVDV#4yZv<%^[=ٔ^Q-^>9`Y`=bFFybEfTûEf>dQ 5j]5fk?Q 9n]5fxt)fmtBYlyn?Q In@f EIf;if+;f]5ytɮvn@t QDNOT Ignoring new targets: 70.16 m.Q- ProNav: ac range: 70.160339 m, nav range: 66.413055 m, bearing: 27.180405 deg, approach rate: -0.646010 m/s, LOS rate: -0.084365 deg/s, cmd heading: 34.205919 deg, new cmd heading: 34.111625 deg. z-gQ5HeadingCmd: 0.595360 target range: 70.160339 and range: 70.60 m.R5i?J1b1Z1B1:129Ҕڔڒ’@ș@ Bɢ ) |i)5O911i5賻i=i?=uS;E0aԩ )9,?Ab?bٱb 0 rAHRS rotation from veh to nav: [[0.819716,-0.558025,-0.129127],[0.571460,0.812027,0.118517],[0.038719,-0.170941,0.984520]]bH ;?W@; fI?`?#W?ң?@gſ@0?ibC>Ib `;`Y~hBy~!I = =bE-4jErE/E EEE"Em+;*E:VEZEBE܄9Y=FFyE9E>Q 5 ]5耋?Q 9]5o)tBY)?Q E:y?Q I@ EIm;i);]5yJBɮ%@%Ei)I)5BDAT read: Rx Time:21:33:05.3889 =TRx dataTimestamp_ set to:1761514386.744906=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023465GS]B*** querying acoustic contact ***:YBYQDNOT Ignoring new targets: 70.16 m.Q ProNav: ac range: 70.160339 m, nav range: 66.103439 m, bearing: 27.148494 deg, approach rate: -0.637171 m/s, LOS rate: -0.065980 deg/s, cmd heading: 34.111624 deg, new cmd heading: 34.015441 deg. z 5ԩQHeadingCmd: 0.593681 target range: 70.160339 and range: 70.60 m.R?JbZB:2Ҕڔ^Bڒ’c @颡ɢH) ⎾i)=顩ii?[bU;~u09,?A(2>2?2"ٱ2#/ NAHRS rotation from veh to nav: [[0.819942,-0.557626,-0.129415],[0.571065,0.812484,0.117280],[0.039749,-0.170067,0.984630]]2HI2g`;0YVaByV!IbDbXVDb!4yf%jY=ٔj=Q-j>9lYl=nFFynErNEr>tQ 5v]5vE?Q 9z]5vtl)vtBYxyz?Q Iz@v EIv/;iv];v]5yLBɮ@E!Q-DNOT Ignoring new targets: 70.16 m.-B5BQE ProNav: ac range: 70.160339 m, nav range: 65.871033 m, bearing: 27.124438 deg, approach rate: -0.678657 m/s, LOS rate: -0.070492 deg/s, cmd heading: 34.015442 deg, new cmd heading: 33.943022 deg. zEAQEHeadingCmd: 0.592417 target range: 70.160339 and range: 70.60 m.RM?JIbIZIBI:I2QҔQڔQQڒY’YY]`( @颁ɢQ ) ڕi)A顑i=i?V;_BaBe!IBeBBeO =BaBaBeQ;BeEB%žCB!B!B%O =B%O =C%Ŧ5DAT read: 21:33:05.3889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.29,-1.433,-2.901,-0.948,-1.471, PHS= 0.140,-1.385, 0.479, RAW= 159.8, 8.9, CAL= 159.6, 9.4, ROT= 350.4, -9.4 Ygot valid direction response: 21:33:05.3889 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.29,-1.433,-2.901,-0.948,-1.471, PHS= 0.140,-1.385, 0.479, RAW= 159.8, 8.9, CAL= 159.6, 9.4, ROT= 350.4, -9.4 PDAT read: Bearing 190.1, -8.7 (Local) ~Local bearing/azimuth received: Bearing 190.1, -8.7 (Local)  DAT read: Range 11 to 50 : 68.3 m (Round-trip 91.1 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.972756,-0.164530,0.163326]Fpublishing direction and range infoy ?_fcNſ$vz?YB )FI)\>iG}?>2@>aF2@ '>)E@I'YFF? fB??6fk? z1?)I+i'5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Ա^Amu<AqzAqA .AI I O > 79,?AlYr_Byr!I%*DAT read: user:321> %BDAT read: Tx time:21:33:06.6437 -$Ping request sent.-9M ?YM ?=MFFyMEUEU>YQ 5e]5]?Q 9e]5]jh)]tBYayaQ Ie@] EI]6:i]p:]m]5yqɮu@qJR?ABB@>AP@qU&{մS+&@ ?_fcNſ$vz?+'—"vM@cr=@s.@ߠSf?1'9?Rc?jsArkBZW ?bAR%Uz@B6?@BڗBc>Q addTargetRange:: Added new target pos. range: 68.300003 m, deltaT: 3.780085 s, deltaX: -2.299995 m, approachRate: -0.608451 m/s, rangeRepo size: 4 Q Added new target pos. range: 67.874153 m, bearing: 26.927011 deg, lat: 36.779392 deg, lon: -121.859464 deg, deltaT: 3.780085 s, deltaX: -2.286186 m, approachRate: -0.604798 m/s, posRepo size: 4 QDNOT Ignoring new targets: 67.87 m.Q ProNav: ac range: 67.874153 m, nav range: 65.784172 m, bearing: 27.013001 deg, approach rate: 0.000000 m/s, LOS rate: -0.070492 deg/s, cmd heading: 33.943021 deg, new cmd heading: 33.854000 deg. zQHeadingCmd: 0.590864 target range: 67.874153 and range: 68.30 m.RB?JbZB:2Ҕڔڒ’@3Q@ ?频ɢ8) \i)WEii%B?MX;Uj i>Y@Y @a@e0@aE EE$E"E2;*E;:VE4ZEBE!L=9,"?A2H>2>?2*ٱ2r*< >AHRS rotation from veh to nav: [[0.819526,-0.558494,-0.128300],[0.571523,0.812895,0.112086],[0.041695,-0.165183,0.985381]]2H 9?/` l I?<?`?@ Y?`$ſ>?i2H>I2Ba;2CYFXByF!IJAJAi]Mb@Mb@Mb@YYYY Y9]Pn?+9"?Y"?=FFyE:E>Q 5]5?Q 9]5d)tBYj$?Q E:y ?Q I@ EI;i; ;@]5yMBɮZ@EQDNOT Ignoring new targets: 67.87 m.NNQ ProNav: ac range: 67.874153 m, nav range: 65.504517 m, bearing: 26.993446 deg, approach rate: -0.643985 m/s, LOS rate: -0.045221 deg/s, cmd heading: 33.854000 deg, new cmd heading: 33.795087 deg. zGQHeadingCmd: 0.589836 target range: 67.874153 and range: 68.30 m.Rv?JbZB:2Ҕ ڔ NB ڒ ’@?9ɢ=P )A E$iA)EIAAiEUiMv?UjZ;UnB >B B !IB BB B B B Q;B E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996UD9,?A6>6>?6,ٱ6F- >AHRS rotation from veh to nav: [[0.818733,-0.559158,-0.130455],[0.572635,0.811807,0.114272],[0.042008,-0.168261,0.984847]]6H3? S?R?@??ſ݃?i6>I6O`;6CY^OByb!IbDjcVDj264lyrY4%vV=ٔvVQ-v>9z ?Yz ?=zFFyzEz]j;Ez>|Q 5]5~9ʋ?Q 9 ]5~*a)~tBY y | ?Q I @~ EI~l:i~d:~]5yɮ@9QEDNOT Ignoring new targets: 67.87 m.ERERQU ProNav: ac range: 67.874153 m, nav range: 65.260139 m, bearing: 26.975910 deg, approach rate: -0.638953 m/s, LOS rate: -0.046023 deg/s, cmd heading: 33.795086 deg, new cmd heading: 33.742280 deg. zUQ]HeadingCmd: 0.588914 target range: 67.874153 and range: 68.30 m.R]?JabaZaBa:a2aҔiڔiiڒi’qqu?颙ɢ) 㧾i)իM顡ii?\;esA>A I I O= >i EE  EE EA EA "EE ;*EE I:VEA ZEA BEE vJ^?Jg+ٱJ. ZAHRS rotation from veh to nav: [[0.818009,-0.560058,-0.131136],[0.573682,0.810939,0.115182],[0.041835,-0.169450,0.984650]]JH -?[?6?|?`Yk?ſA?iJw>IJ;{`;JCYbCByfs!I9iMb@Mb@Mb@ 9~jt?l~jtx?Y$?ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259141;@  A)AY AbDYVD#4yGY%:=ٔ9Q->9Y = FFy E =;E >Q 5]59ߋ?Q 9]5])tBY%%?Q E%:y%?Q I%@ EI:ij:o]5y-OBɮ-@5EGSuB*** querying acoustic contact ***:qBqQDNOT Ignoring new targets: 67.87 m.Q ProNav: ac range: 67.874153 m, nav range: 64.976295 m, bearing: 26.968604 deg, approach rate: -0.637226 m/s, LOS rate: -0.016474 deg/s, cmd heading: 33.742279 deg, new cmd heading: 33.720264 deg. z4QHeadingCmd: 0.588530 target range: 67.874153 and range: 68.30 m.R?JbZB:2ҔڔB)ڒ1’115@?yɢb5) i)C S顁iѮi?_;xHQ9,F?A2<>28?27)ٱ2, :AHRS rotation from veh to nav: [[0.817351,-0.561271,-0.130048],[0.574652,0.810415,0.114033],[0.041389,-0.167937,0.984928]]2H'?i`c??C1?0?~ſ?i2<>I2`;2CYz>Byzm!I==bD WVD  4yϼ%Z=ٔ%Л:Q-%>9%"?Y%"?=%FFy%E-L;E->1Q 5=]55?Q 9=]55Z)5tBY9yEJ?Q IE@5 EI5;i5;5]5yMQBɮM1@IqQuDNOT Ignoring new targets: 67.87 m.}8}8ԙQ ProNav: ac range: 67.874153 m, nav range: 64.734459 m, bearing: 26.962085 deg, approach rate: -0.655259 m/s, LOS rate: -0.017728 deg/s, cmd heading: 33.720265 deg, new cmd heading: 33.700636 deg. zBQHeadingCmd: 0.588187 target range: 67.874153 and range: 68.30 m.Rm?JbZB:2Ҕڔڒ’?%Bɢ%-a#)) 55i9)EJWIQi:Ӹim?6b;BUCBU!IBUBBQBQBQBUQ;BUEm9@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763945^A<A I I ! O- >tW9,{`?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015152R >R!#?R(ٱR, ZAHRS rotation from veh to nav: [[0.816760,-0.562238,-0.129583],[0.575502,0.809910,0.113324],[0.041236,-0.167134,0.985071]]RH"? @0j? ? ??dſ?iR >IRm`;RCY~2By~^!IbDeVD94y%l%%J=ٔ%;9Q-%>9)Y)=-FFy-E-';E5>1Q 5E]55g?Q 9E]557W)5tBYAyE?Q IE@5 EI5/;i5L;5>]5yIɮU@QqQ}DNOT Ignoring new targets: 67.87 m.}m}mQ ProNav: ac range: 67.874153 m, nav range: 64.473335 m, bearing: 26.954756 deg, approach rate: -0.645379 m/s, LOS rate: -0.018188 deg/s, cmd heading: 33.700635 deg, new cmd heading: 33.678558 deg. zGQHeadingCmd: 0.587802 target range: 67.874153 and range: 68.30 m.R-z?JbZB:2Ҕڔڒ’@颱ɢa&) ži)KH\i㸻i-z?&d;'6]9,\z?A2۽>25?2]&ٱ2J - :AHRS rotation from veh to nav: [[0.816615,-0.562413,-0.129739],[0.575743,0.809599,0.114322],[0.040741,-0.168053,0.984936]]2H!?HI }l?;?/D? ۤ?Âſ?i2۽>I2`;2CYB-ByBX!Ii=Mb@Mb@Mb@9999 99=S㥛?|?5^{Gzt?Y=$&?y=ҽ=ף;9=@ 9)=A9Y9bDU`VDU04yeͼ%eF=ٔm7:Q-m>9iYi=mFFyuEu*2:Eu>yQ 5]5}?Q 9]5}TQ =tI)}uBY:(?Q E:yo>Q I@} EI}r;i};}]5ySBɮf@EQDNOT Ignoring new targets: 67.87 m.88Q ProNav: ac range: 67.874153 m, nav range: 64.202415 m, bearing: 26.957322 deg, approach rate: -0.654820 m/s, LOS rate: 0.006229 deg/s, cmd heading: 33.678560 deg, new cmd heading: 33.686291 deg. z͈9QHeadingCmd: 0.587937 target range: 67.874153 and range: 68.30 m.R?JbZB:2Ҕڔ Bڒ’ @@AɢE"')I MN˾iI)MĺaIIiM[޸iU?U2g;YI]?IYIa)ay]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5201139@ @@@ԙ^Am<E  E E %E "E C#;*E a:VE 4ZE a% @a% @a% @a% @AA BM >BI BM !IBM lBBM N =BI BI BM Q;BM EIa Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771067 d9,{2?AY$ByM!I%A%AbD5SVD54yE,%EM=ٔEQ-E>9IYI=MFFyMEUEU>YQ 5e]5],?Q 9e]5]Q)]%uBYayaQ Ie@] EI]:i]A:]W]5yqɮu@q eŀGy9Y.AQDNOT Ignoring new targets: 67.87 m.9898Q ProNav: ac range: 67.874153 m, nav range: 63.941063 m, bearing: 26.959819 deg, approach rate: -0.596000 m/s, LOS rate: 0.005716 deg/s, cmd heading: 33.686291 deg, new cmd heading: 33.693811 deg. z{9QHeadingCmd: 0.588068 target range: 67.874153 and range: 68.30 m.R?JbZB:2Ҕڔڒ’  U @MBɢUD()Q UԾiQ)UhYYi] Ըie?ej;e9k9,@?AB>B?B="ٱB$ & JAHRS rotation from veh to nav: [[0.817641,-0.562044,-0.124780],[0.574365,0.811223,0.109645],[0.039599,-0.161319,0.986108]]BH *?C` 3a???`TF?Ŀ`1?iB>IBm`;BCYRByR=!Ii-Mb@Mb@Mb@)))) )9-ףp= ?K7A rh?Y-?y- -C<-A-@ - A)--A)echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278932Y-f AbDcVD264yn%8=ٔV(;Q- >9 Y = FFy EE}E>!Q 5-^5%=B?Q 9-^5%N)%AuBY-"?Q E-:y-H>Q I-@% EI%3:i%':%<^5y=XBɮ=@=EGSUB*** querying acoustic contact ***:YBYaQeDNOT Ignoring new targets: 67.87 m.m9:m9:Q} ProNav: ac range: 67.874153 m, nav range: 63.660667 m, bearing: 26.973452 deg, approach rate: -0.690211 m/s, LOS rate: 0.033708 deg/s, cmd heading: 33.693812 deg, new cmd heading: 33.734893 deg. z}:QHeadingCmd: 0.588785 target range: 67.874153 and range: 68.30 m.R?JbZB:2ҔڔʃBڒ’ @Աɢb>) Ki)~mix'i?5 m;A>- DAT read: 21:33:09.1356 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.25,-3.111, 1.724,-2.609,-3.101, PHS= 0.092,-1.413, 0.448, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 5 Ygot valid direction response: 21:33:09.1356 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.25,-3.111, 1.724,-2.609,-3.101, PHS= 0.092,-1.413, 0.448, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 = PDAT read: Bearing 192.1, -9.9 (Local) = ~Local bearing/azimuth received: Bearing 192.1, -9.9 (Local) E DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.7 ms) speed 0.7 m/s I U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.965171,-0.177142,0.192522]] Fpublishing direction and range infoyمeU?zƿM?YfB )HIj=i/ݴB`>$+3@K6>$+3@ aF>)@@IaF 0.?8g?3? Pl4?)6I9iaFu T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.I I O >r9,]l?A06>6C?61ٱ6f! >AHRS rotation from veh to nav: [[0.818811,-0.561118,-0.121222],[0.572779,0.812672,0.107188],[0.038368,-0.157200,0.986821]]6H 3?@`@4T?g?p? ?@ Ŀ ?i6>I6`;6CY~By?!IbDmdVDm 84y<%U=ٔQ;Q->9Y=FFyEBE>Q 5^5U?Q 9^5mK)YuBYy*>Q I@$ EI:i:^5yZBɮ@EJYR]~?A]B]B]f>]tO@6 .f!'w#)@]مeU?zƿM?]9]aF—][HGHL@DϜ <@]͛0@]QDG*?%c }?}WO?j]WAr]BbBZ]?b]Diz]`B]?]XYE EE'E"E ;*E:VE'4ZEa@a@a@a@ڗ]}B]R>Q addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.780079 s, deltaX: -2.600006 m, approachRate: -0.687818 m/s, rangeRepo size: 4 Q Added new target pos. range: 65.290573 m, bearing: 26.370605 deg, lat: 36.779393 deg, lon: -121.859465 deg, deltaT: 3.780079 s, deltaX: -2.583580 m, approachRate: -0.683473 m/s, posRepo size: 4  QDNOT Ignoring new targets: 65.29 m.Q% ProNav: ac range: 65.290573 m, nav range: 63.424129 m, bearing: 26.893491 deg, approach rate: 0.000000 m/s, LOS rate: 0.033708 deg/s, cmd heading: 33.734892 deg, new cmd heading: 33.776403 deg. z!QMHeadingCmd: 0.589509 target range: 65.290573 and range: 65.70 m.RM?JibiZqBq:q2qҔqڔyyڒy’y}lP@?ԉB>BB!IBRBBM =BBUDBQ;BEBɢ&7) )i)vsi~ri?zo; BDAT read: Tx time:21:33:10.3937 $Ping request sent.i>y@y @y@}0@yԹ ^A z<I! I1 OE >= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506562,x9,NG?A>.>>m?>ٱ>b VAHRS rotation from veh to nav: [[0.820725,-0.559166,-0.117235],[0.570135,0.814818,0.104966],[0.036832,-0.152988,0.987541]]>H`C?">?? ߺ?ۢ? ÿ`?i>.>I>g`;>CY\y\\f=f=bDjYVDj#4ٔr;Q-v>9tYt=vFFyvEzEz>|Q 5^5~Tg?Q 9^5~H)~puBYy b>Q I @~' EI~B:i~N:~ ^5yɮ1Q=DNOT Ignoring new targets: 65.29 m.E#:M#:Qu ProNav: ac range: 65.290573 m, nav range: 63.188560 m, bearing: 26.905995 deg, approach rate: -0.670730 m/s, LOS rate: 0.035735 deg/s, cmd heading: 33.776402 deg, new cmd heading: 33.814054 deg. z}2:Q}HeadingCmd: 0.590167 target range: 65.290573 and range: 65.70 m.R(?JbZB:2Ҕڔڒ’`?9ɢ=\G)9 EniA)ExAAiEBfiM(?M q;M OOA V~9,>!?A2s>2?2ٱ2ȳ >AHRS rotation from veh to nav: [[0.822679,-0.556642,-0.115535],[0.567388,0.816666,0.105488],[0.035635,-0.152336,0.987686]]2H cS?@@ (? "? C?>?`ÿ ?i2s>I2o`;2CYBByFD!IAiuMb@Mb@Mb@qqqq q9uGz?9Y=FFyELE>Q 5^5W|?Q 9^5QF)uBY!?Q E:y>Q I@, EI& ;i ; ^5y\Bɮ@EQDNOT Ignoring new targets: 65.29 m.bh:bh:Q  ProNav: ac range: 65.290573 m, nav range: 62.920971 m, bearing: 26.927621 deg, approach rate: -0.625819 m/s, LOS rate: 0.050791 deg/s, cmd heading: 33.814054 deg, new cmd heading: 33.879206 deg. z n ;QHeadingCmd: 0.591304 target range: 65.290573 and range: 65.70 m.R_?JbZB:2ҔڔB!ڒ!’!!%i?QɢUb^8)Q ]ݾiY)]~YYi]S\ie_?e0`r;e7WԑE+ EE$E"Eb;*E:VE4ZEa@a@a@a@B >B B s!IB CBB B B TDB qQ;B EBuɿCBqBqBuN =BuN =Cu=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701 @>9,?A6>>6?6V! ٱ6\$! BAHRS rotation from veh to nav: [[0.824776,-0.553311,-0.116583],[0.564409,0.818117,0.110118],[0.034449,-0.156624,0.987057]]6H@d?aؽ? .?@0?F?= Ŀ`?i6>>I6`;6CY^By^9!IbDjbVDj[44yr0%rW=ٔrxL;Q-r>9tYt=vFFyvEvEz>xQ 5^5z?Q 9^5zD)zuBYyj>Q I @z/ EIz:G;izGc;z^5y1ɮ=@9YQeDNOT Ignoring new targets: 65.29 m.eo:eo:Qu ProNav: ac range: 65.290573 m, nav range: 62.682945 m, bearing: 26.947741 deg, approach rate: -0.617597 m/s, LOS rate: 0.052404 deg/s, cmd heading: 33.879207 deg, new cmd heading: 33.939798 deg. z};Q}HeadingCmd: 0.592361 target range: 65.290573 and range: 65.70 m.R?JbZB:2Ҕڔڒ’@?ԙBɢBSD) ?i)niVi?)s;p) E  E E &E "E ;;*E ;:VE 4ZE BE 2ʒ?2ٱ2|& :AHRS rotation from veh to nav: [[0.827133,-0.549444,-0.118161],[0.561016,0.819697,0.115577],[0.033353,-0.161888,0.986245]]2H w?@ ??:?s??Ŀ@R?i2ax>I25}`;2CYBByB?!IJAJAiYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025iMb@Mb@Mb@ 9Gz?QQ?Yy\<A@  A)AYAbDtVD{U4yo<%9=ٔ";Q->9 Y = FFy EE>Q 5%^5?Q 9%^5JA)uBY%!?Q E%:y%>Q I-@4 EI:i:^5y5_Bɮ5[@5EGSMB*** querying acoustic contact ***:IBIYQeDNOT Ignoring new targets: 65.29 m.eQl:eQl:Qu ProNav: ac range: 65.290573 m, nav range: 62.407383 m, bearing: 26.970184 deg, approach rate: -0.631404 m/s, LOS rate: 0.051652 deg/s, cmd heading: 33.939797 deg, new cmd heading: 34.007424 deg. zu ;Q}HeadingCmd: 0.593542 target range: 65.290573 and range: 65.70 m.R}V?JybZB:2ҔڔBڒ’ ?9ɢ=:9)9 =iA)E_AAiEiMV?m_ss;muC;IuV?Iq@  @ @ @ 1^AH<AII)O=>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828y GR9,I?AZd>Zވ?Z՝ٱZtn* ~AHRS rotation from veh to nav: [[0.829416,-0.545738,-0.119330],[0.557664,0.821434,0.119402],[0.032859,-0.165580,0.985649]]ZH`?v ib?/I?$? Ҡ?1ſ@o?iZd>IZ`;ZCY "By J!IbD%nVD%pJ4y-D=%-X=ٔ5:Q-5>99Y9==FFy=E=/EE>AQ 5M^5E@?Q 9U^5E>)EuBYQyU>Q IU@E8 EIE@;iEL;E^5y]aBɮe@aQDNOT Ignoring new targets: 65.29 m.u:u:Q ProNav: ac range: 65.290573 m, nav range: 62.171516 m, bearing: 26.990374 deg, approach rate: -0.625463 m/s, LOS rate: 0.053741 deg/s, cmd heading: 34.007423 deg, new cmd heading: 34.068221 deg. z;QHeadingCmd: 0.594603 target range: 65.290573 and range: 65.70 m.R7?JbZB:2Ҕڔڒ’q@ɢ{C) ^ؾi)߇i,i7?2s;i:I7?IQEu EuEu"Eq"Eu+$;*Eu:VEu(3ZEqa@a@a@a@B]>BYB]m!IB]>BB]O =BYBYB]Q;B]E}9@y @y@y@ymchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729ԁ^A<A>A>ԱA I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266630*z9,Tc?A2>2?2wvٱ28, :AHRS rotation from veh to nav: [[0.831018,-0.543149,-0.119993],[0.555262,0.822841,0.120904],[0.033066,-0.167101,0.985385]]2H ?ya@ַ`?T???`cſF?i2>I2`;2CYB4ByB`!IbDJ[VDJy'4yRT=%VT=ٔV> Q-V>9XYX=^FFybEjWEn>tQ 5z^5vʌ?Q 9z^5v<)vvBYxyz,>Q I~@v< EIv|:ivP;v^5yɮ@QDNOT Ignoring new targets: 65.29 m.t:t:Q ProNav: ac range: 65.290573 m, nav range: 61.927036 m, bearing: 27.012096 deg, approach rate: -0.599608 m/s, LOS rate: 0.053486 deg/s, cmd heading: 34.068222 deg, new cmd heading: 34.133646 deg. z;QHeadingCmd: 0.595744 target range: 65.290573 and range: 65.70 m.R?JbZB:2Ҕڔڒ’@Ա]Bɢ]\0)a eƾia)e7aii}< i?cer;|| I?II)DzDE EE&E"E=-;*EE:VE4ZEBEm9 F9,fi}?A2ü>2&8?2۱ ٱ2, :AHRS rotation from veh to nav: [[0.832250,-0.541158,-0.120451],[0.553382,0.824047,0.121308],[0.033611,-0.167614,0.985280]]2Hɡ? +Q`վ@M?^? ?f5?``tſi?i2ü>I2``;0YBFByBv!IJ>J=iuMb@Mb@Mb@qqqq q9uV-?v/~jt?Yu?yux齙u=qu@ u A)u-AqYu AbDaVD24y=%<=ٔ*Q->9Y=FFyEE>Q 5^5ߌ?Q 9^59)#vBY?Q E:yq>Q I@@ EI] ;i;G^5ycBɮ@EQDNOT Ignoring new targets: 65.29 m.S:S:Q  ProNav: ac range: 65.290573 m, nav range: 61.661308 m, bearing: 27.026067 deg, approach rate: -0.642931 m/s, LOS rate: 0.033949 deg/s, cmd heading: 34.133645 deg, new cmd heading: 34.175739 deg. z d:QHeadingCmd: 0.596479 target range: 65.290573 and range: 65.70 m.Rܲ?JbZB:2Ҕ!ڔ%ЃB!ڒ!’!)-T@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725ɢ$ +) ti)E!i%/i%ܲ?-gq;-|̐I-ܲ?I19@ @@0@9E EE"E"E&;*E:VE(3ZEa@a@a@a@^A- rg:BY B] CB] y!IB] HBB] P =BY BY B] Q;B] Ey  BDAT read: Rx Time:21:33:12.8823  TRx dataTimestamp_ set to:1761514394.305137 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024273A] .AIi Iy O >9,9D?A 2ܻ>2?2 ٱ2+ >AHRS rotation from veh to nav: [[0.833197,-0.539687,-0.120505],[0.551903,0.825168,0.120422],[0.034447,-0.166842,0.985382]]2H ?Epپ0?`g?`Ӿ?@?@[ſ@??i2ܻ>I2`;2CYrIByrz!IbDzLVDz 4y <%T=ٔ Q- >9  ?Y  ?=FFyEE>!Q 5%^5%y?Q 9-^5%F7)%BvBY)y->Q I-@%D EI%6:i%:%"^5y5fBɮ=@=EYQeDNOT Ignoring new targets: 65.29 m.e:e:Qu ProNav: ac range: 65.290573 m, nav range: 61.422775 m, bearing: 27.039124 deg, approach rate: -0.618890 m/s, LOS rate: 0.034007 deg/s, cmd heading: 34.175739 deg, new cmd heading: 34.215061 deg. z}:QHeadingCmd: 0.597165 target range: 65.290573 and range: 65.70 m.R?JbZB:2Ҕڔڒ’`F @颹ɢ.) 䰾i) idi?Cp;^gлI?Iiq@q @q@u1@q^AMyAMhAzAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275194A}؟AIIԙO^> E  E E $E "E C#;*E :VE 4ZE BE {Z$?Z"ٱZ9# AHRS rotation from veh to nav: [[0.833049,-0.540310,-0.118720],[0.551935,0.826280,0.112375],[0.037378,-0.159140,0.986548]]ZHV?9Jid@t?`p?`ļ?8#?^Ŀ͑?iZ>IZ*a;XY-gBy-!ImDAT read: 21:33:12.8823 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.14, 0.498,-1.003, 0.977, 0.496, PHS= 0.103,-1.455, 0.437, RAW= 159.5, 10.5, CAL= 159.5, 11.4, ROT= 350.5, -11.4 uYgot valid direction response: 21:33:12.8823 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.14, 0.498,-1.003, 0.977, 0.496, PHS= 0.103,-1.455, 0.437, RAW= 159.5, 10.5, CAL= 159.5, 11.4, ROT= 350.5, -11.4 }PDAT read: Bearing 191.5, -9.2 (Local) ~Local bearing/azimuth received: Bearing 191.5, -9.2 (Local) DAT read: Range 11 to 50 : 63.3 m (Round-trip 84.4 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.966827,-0.161791,0.197657]Fpublishing direction and range infoy9=???zkĿg4L?Y=3}B9999 9)=GI==i=q==w>=)2@=f;>=)2@ =%K>)=@I=%K99=E#tF?D_? G? =0?)=G;I=)i=%K99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9RQ?sh|?~jt?Y"?y@ )AYG AbDuVDRW4yc=%&=ٔ»Q->9"?Y"?=MFFyMEM_9EM>QQ 5]^5U ?Q 9]^5Uq3)UivBYe;$?Q Ee:yex>Q Ie@UI EIU~&=hN@W4Z$5 (@=???zkĿg4L?=)=%K—=܌XK@jxQ=:@z(0@=-?W?_Sp?j=qAr=ZBZ=RP ?b=-~xz=B=RP ?=Z=Bڗ=;uB=w">Q= addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 3.780020 s, deltaX: -2.399998 m, approachRate: -0.634917 m/s, rangeRepo size: 4 Qm Added new target pos. range: 62.905197 m, bearing: 25.900618 deg, lat: 36.779395 deg, lon: -121.859465 deg, deltaT: 3.780020 s, deltaX: -2.385376 m, approachRate: -0.631049 m/s, posRepo size: 4 qQuDNOT Ignoring new targets: 62.91 m.uyQ ProNav: ac range: 62.905197 m, nav range: 61.308048 m, bearing: 26.872462 deg, approach rate: 0.000000 m/s, LOS rate: 0.034007 deg/s, cmd heading: 34.215061 deg, new cmd heading: 34.269076 deg. zQHeadingCmd: 0.598108 target range: 62.905197 and range: 63.30 m.R?JbZB:2ҔڔBڒ’`fO@?IɢU)Q UiQ)UߥQQi]îi}?^n;q߻I?IG>i>9@ @@0@=%=*DAT read: user:323> BDAT read: Tx time:21:33:14.1953 $Ping request sent.a9,-?AE. E.E,E,"E.9;*E.:VE,ZE,a2@a2@a2@a2@Z/f>Z ?Z?!ٱZL bAHRS rotation from veh to nav: [[0.832461,-0.541529,-0.117278],[0.552672,0.826626,0.106033],[0.039525,-0.153084,0.987422]]ZH?5T|?s?@$?@IZCa;ZCYjpByj!InAnAbDrkVDrD4B|B~CB~!IB~bBB~O =B|B|B~Q;B~Ey9=%V=ٔ$Q->9 ?Y ?=%FFy%E%/(;E%>)Q 55^5-r?Q 95^5-0)-vBY9y=>Q I=@-M EI-:i-N:-J*^5yEhBɮE@AGSeB*** querying acoustic contact ***:aBaiQuDNOT Ignoring new targets: 62.91 m.u8u8Q ProNav: ac range: 62.905197 m, nav range: 61.074924 m, bearing: 26.873080 deg, approach rate: -0.673342 m/s, LOS rate: 0.001789 deg/s, cmd heading: 34.269077 deg, new cmd heading: 34.270936 deg. z)8QHeadingCmd: 0.598141 target range: 62.905197 and range: 63.30 m.R?JbZB:2Ҕڔڒ’?BɢV) i)iUѮi?\m;JMI?I)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506009@ @@4@jA-9-jAY-ٖAQ^AԁA ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455ԩ ,¹9,?AZH>Zz?Z3-ٱZR jAHRS rotation from veh to nav: [[0.831411,-0.543320,-0.116445],[0.554048,0.826537,0.099340],[0.042273,-0.147109,0.988217]]ZH@?b@[Ͻ º?r?`Yn? ʤ?t¿`x?iZH>IZv`;ZCYzByz!IbDXVD!4y-=%-J=ٔ-o޻Q-5>95"?Y5"?=5FFy5E=؋;E=>AQ 5M^5E.?Q 9M^5E-)EvBYIyMQ>Q IU@EQ EIE):iEd:E-^5y]jBɮ]@]EQDNOT Ignoring new targets: 62.91 m.ƌ7ƌ7Q ProNav: ac range: 62.905197 m, nav range: 60.816750 m, bearing: 26.873471 deg, approach rate: -0.631315 m/s, LOS rate: 0.000962 deg/s, cmd heading: 34.270935 deg, new cmd heading: 34.272115 deg. z(8QHeadingCmd: 0.598161 target range: 62.905197 and range: 63.30 m.R!?JbZB:Y2iԙҔڔڒ’?DqzDu@AE EE%E"E77;*Er:VE 4ZEBE ڮ9,a?A2)>2l?229ٱ2$) >AHRS rotation from veh to nav: [[0.830353,-0.544744,-0.117338],[0.555402,0.826140,0.094980],[0.045198,-0.144037,0.988540]]2H??n `?@o?@P?=$?o¿?i2)>I2Ta;2CYBByF!I^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006492iMb@Mb@Mb@ 9'1Z?L7A`堿l?Y"?y+=`A@  A)CAY AbD5mVD5H4yEB>%EH=ٔE Q-E>9IYI=MFFyME;E>Q 5^5;B?Q 9^5))vBYO#?Q E:y ?Q I@U EI:i<:1^5ymBɮg@EQDNOT Ignoring new targets: 62.91 m.DWDWQM ProNav: ac range: 62.905197 m, nav range: 60.548626 m, bearing: 26.853795 deg, approach rate: -0.638321 m/s, LOS rate: -0.047050 deg/s, cmd heading: 34.272113 deg, new cmd heading: 34.212824 deg. zU)QUHeadingCmd: 0.597126 target range: 62.905197 and range: 63.30 m.RUG?JYbYZYBY:Y2YҔaڔeEBaڒa’ ?Bɢ)O #i)}i`i G? eWk; S IG?I19@ @@3@E} E}E}&Ey"E}1;*E}:VE}4ZEya@a@a@a@BBB!IBBBBBBR;BEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259066^AA A I I O >9,?A6*>6/ ?6Bٱ6J >AHRS rotation from veh to nav: [[0.829816,-0.545066,-0.119616],[0.556011,0.825836,0.094061],[0.047514,-0.144561,0.988355]]6Hڍ?/q%?`?m?\?S?¿?i6*>I6vxa;6CYFByF!IN=N=bDnQVDn4yvX;%vQ=ٔvQ-z>9xYx=zFFyzE~n ;E~>Q 5 ^5`S?Q 9 ^5&)vBY y ?Q I@Y EIB:i[:4^5yoBɮ@AQEDNOT Ignoring new targets: 62.91 m.M.YM.YQ] ProNav: ac range: 62.905197 m, nav range: 60.311138 m, bearing: 26.836032 deg, approach rate: -0.632163 m/s, LOS rate: -0.047468 deg/s, cmd heading: 34.212824 deg, new cmd heading: 34.159326 deg. z]NQeHeadingCmd: 0.596193 target range: 62.905197 and range: 63.30 m.Re?JabaZaBi:i2iҔiڔiqڒq’qq}?颡ɢX) !i)@і顩i i?mj;LcI?IQq@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510655ԁ^A?BɺbE!jE%ɔ4rE%7/E  E E 'E "E );*E :VE '4ZE A BE K checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7624509,Ԁ6?A2t>2,?2trJٱ2]t :AHRS rotation from veh to nav: [[0.829633,-0.545148,-0.120515],[0.556120,0.825997,0.091975],[0.049405,-0.143326,0.988442]]2HY?`qھ ? n??`K?`X¿@P?i2t>I22a;2CYFByF"I\iMb@Mb@Mb@ 9NbX9?Mb?S㥛?Y%?y</<IA@ )-AY AbD-`VD-04y==%=E=ٔEQ-E>9AYA=MFFyMEM9EM>QQ 5^5Ue?Q 9^5U")UvBY%?Q E:y?Q I@U] EIUM%9,ZP?AE& E&E&#E$"E&I@;*E&:VE&3ZE$a*@a*@a*@a*@BV>BTBV "IBVBBVN =BTBVUDBVR;BVEBiBiBiBmO =BmO =Cm@5f>fP?fmbPٱf) rAHRS rotation from veh to nav: [[0.829269,-0.545521,-0.121326],[0.556531,0.825887,0.090461],[0.050853,-0.142538,0.988482]]fH@_?t8`?@m?u(?`m ?>¿ ?if>Ifb;fCY%ɃBy%"IbD5TVD54yE=%EJ=ٔEjQ-M>9IYI=MFFyMEU:EU>YQ 5e^5]w?Q 9e^5])]wBYiym?Q Im@]a EI]:i]:];^5yuqBɮu@uEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 62.91 m.ѺѺQ ProNav: ac range: 62.905197 m, nav range: 59.787884 m, bearing: 26.765012 deg, approach rate: -0.666312 m/s, LOS rate: -0.091402 deg/s, cmd heading: 34.051785 deg, new cmd heading: 33.945336 deg. zzQHeadingCmd: 0.592458 target range: 62.905197 and range: 63.30 m.RR?JbZB:2Ҕڔڒ’L@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266357yɢ}̼) i)@顁i?iR?,5j;Y5;IR?II I)y9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428ԩ ^A 9 IIO>y9,!p?AEJ EJEJ$EH"EJ8;*EJ:VEJ4ZEHBEJՏg7?Xٱ AHRS rotation from veh to nav: [[0.829401,-0.544733,-0.123933],[0.556159,0.826065,0.091131],[0.052734,-0.144511,0.988097]]Ht?sn  ?o?bT?`?T¿}?i>I5c;CY ЃBy  "IAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770469iMb@Mb@Mb@ 9S㥛?L7A`?/$?Y$&?y+=<A $ A)AYp A <bDYVD#4y<%=ٔ1aQ->9Y=FFyEx7E>Q 5^5Џ?Q 9^5),wBYr&?Q E:yQ%?Q I@g EI:i<:@^5yɮ @ )Q5DNOT Ignoring new targets: 62.91 m.5=QE ProNav: ac range: 62.905197 m, nav range: 59.438290 m, bearing: 26.704159 deg, approach rate: -0.638188 m/s, LOS rate: -0.111741 deg/s, cmd heading: 33.945337 deg, new cmd heading: 33.761705 deg. zE_QHeadingCmd: 0.589253 target range: 62.905197 and range: 63.30 m.RG?JbZB:2ҔڔdBڒ’@Yɢٚ) Мi)顩iiG?kj;c;IG?I!IE 5 BDAT read: Rx Time:21:33:16.6806 5 TRx dataTimestamp_ set to:1761514398.085934= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025202 9@  @ @ 5@ y ԩ^Aejb;Ae>Ae>E EE&E"E);*E:VE4ZEa@a@a@a@B%>B!B%;"IB%BB!B!B%TDB% R;B%EIYIiO}?9,aƔ?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2743980:=S>:8?:$F]ٱ: BAHRS rotation from veh to nav: [[0.829813,-0.543596,-0.126148],[0.555422,0.826413,0.092449],[0.053996,-0.146781,0.987694]]:Hԍ?"e`%`?`q?ສ?S?¿0?i:=S>I:ec;8YJByN7"IbDVFVDV4y=%%=ٔ%W Q-%>9)Y)=-FFy- E-պE->9Q 5=^5=Y?Q 9E^5=)=GwBYAyE%?Q IE@=l EI=:i=:=GE^5yMtBɮU@UEqQ}DNOT Ignoring new targets: 62.91 m.}}Q ProNav: ac range: 62.905197 m, nav range: 59.109016 m, bearing: 26.646431 deg, approach rate: -0.637887 m/s, LOS rate: -0.112457 deg/s, cmd heading: 33.761704 deg, new cmd heading: 33.587555 deg. z[QHeadingCmd: 0.586213 target range: 62.905197 and range: 63.30 m.R?JbZB:2Ҕڔڒ’@. @ɢꭼ) (#i)Kini ? @j;F;I?IԉԱ-9@1 @1@55@1=DAT read: 21:33:16.6806 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.33,-2.173, 2.638,-1.699,-2.198, PHS= 0.127,-1.403, 0.455, RAW= 159.5, 9.6, CAL= 159.4, 10.3, ROT= 350.6, -10.3 EYgot valid direction response: 21:33:16.6806 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.33,-2.173, 2.638,-1.699,-2.198, PHS= 0.127,-1.403, 0.455, RAW= 159.5, 9.6, CAL= 159.4, 10.3, ROT= 350.6, -10.3 MPDAT read: Bearing 190.5, -7.5 (Local) M~Local bearing/azimuth received: Bearing 190.5, -7.5 (Local) ]DAT read: Range 11 to 50 : 60.9 m (Round-trip 81.2 ms) speed 0.4 m/s ]R#Rx 1: Read range and direction messages.m^direction in FSK: [0.970674,-0.160694,0.178802]mFpublishing direction and range infoy  ?0FĿ?Y sB     ) HI J >i  >  +> / 2@ X8>) @I X8    qW?l1?>T? 0?) Sm+I 'i X8  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y ^A ;I I O% >;9,.?A6Tɽ>6C?6_ٱ6B VAHRS rotation from veh to nav: [[0.830368,-0.541967,-0.129463],[0.554530,0.826536,0.096622],[0.054640,-0.152023,0.986866]]6H``?W=ാ?r?2??zuÿg?i6Tɽ>I64c;4YnByn<"IbDvZVDv%4y 9<% L=ٔҺQ-=>9IYQ=UFFaE EE%E"E*E:VE 4ZEBEK9Q 5u^5=e?Q 9}^5=[)=]wBYy$?Q I@=q EI=wu }BDAT read: Tx time:21:33:17.9437 $Ping request sent.Eɱqs_M@Xs#2ouu%@E?0FĿ?E'EX8—E`c@SJ@`9@}1.@E[C?ST ?>;@?jEArERBZEv#?bE)QsnzEBAEDiAڗEJjBE #>Q% addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.780258 s, deltaX: -2.399998 m, approachRate: -0.634877 m/s, rangeRepo size: 4 QU Added new target pos. range: 60.520561 m, bearing: 25.915708 deg, lat: 36.779395 deg, lon: -121.859472 deg, deltaT: 3.780258 s, deltaX: -2.384636 m, approachRate: -0.630813 m/s, posRepo size: 4 QQ]DNOT Ignoring new targets: 60.52 m.]YԉQ ProNav: ac range: 60.520561 m, nav range: 58.573124 m, bearing: 26.089374 deg, approach rate: 0.000000 m/s, LOS rate: -0.112457 deg/s, cmd heading: 33.587554 deg, new cmd heading: 33.422348 deg. zQHeadingCmd: 0.583330 target range: 60.520561 and range: 60.90 m.RU?JbZB:2Ҕڔڒ’@3sN@@?ɢ) Xi!)EAAiEwsŻiMU?M!k;M%(iY@ @@4@Ա - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251082^A= ;I I O >9,n?AY]By]B"Ie=ep=i Mb@Mb@Mb@     9 Q??Mb?Y (?y L= < A   A) A Y QAAE@AbDEKVDE 4yU`<%]7=ٔ]Q-]>9aYa=eFFye EeEe>iQ 5u^5mdˍ?Q 9}^5m )mmwBY}t)?Q E}:y}\*?Q I}@mu EIm;im:mL^5yɮ@QDNOT Ignoring new targets: 60.52 m.22Q ProNav: ac range: 60.520561 m, nav range: 58.307678 m, bearing: 26.033737 deg, approach rate: -0.743006 m/s, LOS rate: -0.156443 deg/s, cmd heading: 33.422349 deg, new cmd heading: 33.254678 deg. zֻQHeadingCmd: 0.580404 target range: 60.520561 and range: 60.90 m.RU?JbZB:2Ҕڔ\Bڒ’h?ɢ) 0ļi)ౙi^vȻi%U?%Xl;%D0BBf"IB BBO =BBBQ;BE@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502301^A<AzAhAIQ Ia Om >9 ,9,(I?A2B>2:(?2Ecٱ2NS* :AHRS rotation from veh to nav: [[0.831576,-0.538214,-0.137140],[0.552642,0.826436,0.107656],[0.055396,-0.165313,0.984684]]2H`D?@ 9΍>?*r?S?\? (ſ`?i2B>I2vc;0YBByB="IbDJhVDJf?4yV"%Vj=ٔZ Q-Z>9XYX=ZFFy^E^]һE^>`Q 5f^5bڍ?Q 9f^5b5)bzwBYhyj)?Q Ij@by EIb:ib-:bO^5yn{Bɮn9@rEGS~B*** querying acoustic contact ***:|B|Q DNOT Ignoring new targets: 60.52 m.  Q% ProNav: ac range: 60.520561 m, nav range: 58.081669 m, bearing: 25.986479 deg, approach rate: -0.646016 m/s, LOS rate: -0.135605 deg/s, cmd heading: 33.254678 deg, new cmd heading: 33.112353 deg. z%!Q%HeadingCmd: 0.577920 target range: 60.520561 and range: 60.90 m.R-?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99= Ԛ?eBɢmQ)i mii)maiqiu˻checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754371i?!#m;, checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006285ԙ %V9,!?A2d>2?2cٱ21 :AHRS rotation from veh to nav: [[0.832380,-0.535956,-0.141047],[0.551413,0.826431,0.113825],[0.055560,-0.172521,0.983438]]2Hۢ?& ¿,?r?@#?`Tr?*ƿ@Rx?i2d>I2oJc;2CYRByR8"Ii]Mb@Mb@Mb@YYYY Y9]v/?Mb?MbpY]x)?y]=]]vA]@ ] A)YYY]AbDRVD4y%;=ٔ|ŹQ->9Y=FFyE\E>Q 5^5c?Q 9^5)wBY)?Q E:y!?Q I@~ EIH:i:S^5yɮy@QDNOT Ignoring new targets: 60.52 m.  Q ProNav: ac range: 60.520561 m, nav range: 57.797234 m, bearing: 25.935721 deg, approach rate: -0.652161 m/s, LOS rate: -0.116953 deg/s, cmd heading: 33.112354 deg, new cmd heading: 32.959329 deg. zQ%HeadingCmd: 0.575249 target range: 60.520561 and range: 60.90 m.R%C?J!b!Z)B):)2)Ҕ)ڔ5^B1ڒ1’99=@_?aɢe;)i m$ii)m)iiimuϻqi}C?}Cn;}>B >B B y"IB BB N =B B B Q;B EE  E E &E "E +$;*E 8:VE 4ZE BE /}<2E 0}<JE <:E < >:,?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510169B>Bb?B/dٱB8 JAHRS rotation from veh to nav: [[0.833225,-0.533711,-0.144530],[0.550124,0.826490,0.119487],[0.055681,-0.179069,0.982260]]BHƩ?)¿`? r?? 2?ƿn?iB>IB+c;BCY~؃By*"I  A  bDcVD264y%m%%S=ٔ-KQ-->9)Y)=5FFy5E5тE5> Q]CAQ 5^5E?Q 9^5 GE)EwBY =99Y=eAyH!?Q IU@E EIE^ӻi@?fo;qHA >A I I O% >p :,"/?AY ΃By "IEM EMEM%EI"EM;*EM;:VEM 4ZEIa]@a]@a]@a]@bD%]VD%'+4yR(%5=ٔQ->9Y=FFyEE>Q 5^5?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015497QQ 9^5)wBYyQ I@ EITf:,J?A0Y-ɃBy-"IMonly read 0 of 1 data item for BIT error. Device response is::TS, 20.00, 21.33 aM@aM aM@aM aM@aM aM@aM bDUUVDUn4ye%e]=ٔiQ-m>9qYq=uFFyuEqEu>yQ 5^5}$?Q 9^5}Q)}wBQ A+:YQ E:yQ I@} EI} ;i}`>}]^5yɮr@QDNOT Ignoring new targets: 60.52 m.Q ProNav: ac range: 60.520561 m, nav range: 57.009537 m, bearing: 25.793806 deg, approach rate: -0.689313 m/s, LOS rate: -0.125924 deg/s, cmd heading: 32.659683 deg, new cmd heading: 32.531615 deg. z׬QHeadingCmd: 0.567784 target range: 60.520561 and range: 60.90 m.RGZ?JbZB:2Ҕaڔiiڒi’iqu h0@颹ɢռ) ýi)śiٻi GZ? 2r;  B!B!B!B!B!EM EMEM#EI"EM;*EMV:VEM3ZEIBEMd:,Oc?A2B>2w?2eٱ2> :AHRS rotation from veh to nav: [[0.835173,-0.529850,-0.147460],[0.547126,0.827720,0.124626],[0.056022,-0.184764,0.981185]]2H ? ¿@?`|?@?宬? Vǿe?i2B>I28c;2CYFByF"IJ=J=N@ALbDRjVDRC4yZf%ZX=ٔZ3lQ-Z>9\Y\=^FF`ybEbEb>dQ 5v^5f6?Q 9z^5fp)fwBQ A :YQ ER:yW ?Q I@f EIf;if>?f_^5y Bɮ@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770247GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 60.52 m.  Q  ProNav: ac range: 60.520561 m, nav range: 56.761967 m, bearing: 25.749322 deg, approach rate: -0.608102 m/s, LOS rate: -0.109742 deg/s, cmd heading: 32.531614 deg, new cmd heading: 32.397580 deg. z Q]HeadingCmd: 0.565444 target range: 60.520561 and range: 60.90 m.Re?JibiZqB:2Ҕڔڒ’T@颅BɢF) &i)iܻi?,t;w:,|}?A>ȸ>>:?>Vdٱ>0< FAHRS rotation from veh to nav: [[0.835699,-0.529380,-0.146160],[0.546353,0.828404,0.123468],[0.055718,-0.183038,0.981526]]>H ?@`¿{?I?@??mǿh?i>ȸ>I>b;>CYnByn!I1a}a} aa aa aa iMb@Mb@Mb@ 9?y&1I +Yf&?y`e94A/@  A)^AYAbDYVD#4y튼%==ٔ8:Q->9Y=FFyE E>Q 5^5K?Q 9M^5)wBQ AMT:YM '?Q EM:yM>Q IU@ EI5>%:,?A6DAT read: 21:33:20.4259 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.49, 2.593, 1.105, 3.040, 2.521, PHS= 0.174,-1.371, 0.475, RAW= 158.8, 8.5, CAL= 158.4, 8.8, ROT= 351.6, -8.8 :Ygot valid direction response: 21:33:20.4259 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.49, 2.593, 1.105, 3.040, 2.521, PHS= 0.174,-1.371, 0.475, RAW= 158.8, 8.5, CAL= 158.4, 8.8, ROT= 351.6, -8.8 >PDAT read: Bearing 186.8, -6.6 (Local) >~Local bearing/azimuth received: Bearing 186.8, -6.6 (Local) BDAT read: Range 11 to 50 : 58.5 m (Round-trip 78.1 ms) speed 0.7 m/s FR#Rx 1: Read range and direction messages.N^direction in FSK: [0.977627,-0.144363,0.152986]NFpublishing direction and range infoyAeH?ђIz¿8C ?YjB )FI-2>i|33>a1@>;0@ nF>)^@InFݔ{?s3?~? -?)DIT inF^T****** received valid address query ******^R****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.%>%l?%U3_ٱ%}: 5AHRS rotation from veh to nav: [[0.836849,-0.528237,-0.143696],[0.544717,0.829614,0.122571],[0.054465,-0.180847,0.982002]]%H`x?R`d¿Rn?3?`??&ǿ`l?i%>I% c;!YEByE!IԱbDfVD;4yǍ%8=ٔ9;Q->9Y!=%FFy%E-E->1Q 5=^55`?Q 9=^55V)5wBY9yE>Q IE@5 EI5;i5;5`g^5ymBɮm,@iJR??AhBhB.>ïKjL@NWr< !@AeH?ђIz¿8C ?T nF—LD4[I@^ 9@c*@A?P,?\2c?jArJBZXÊ?bd3WzUBW ?Bڗ`B >Q addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.779673 s, deltaX: -2.400002 m, approachRate: -0.634976 m/s, rangeRepo size: 4 Q- Added new target pos. range: 58.135609 m, bearing: 26.318378 deg, lat: 36.779395 deg, lon: -121.859472 deg, deltaT: 3.779673 s, deltaX: -2.384953 m, approachRate: -0.630994 m/s, posRepo size: 4 )Q5DNOT Ignoring new targets: 58.14 m.5Q5Powering the camera and arming the capture device at range: 58.50 m.j5=YQm ProNav: ac range: 58.135609 m, nav range: 56.189491 m, bearing: 25.725280 deg, approach rate: 0.000000 m/s, LOS rate: -0.028290 deg/s, cmd heading: 32.361467 deg, new cmd heading: 32.323857 deg. ziQuHeadingCmd: 0.564158 target range: 58.135609 and range: 58.50 m.Rul?JqbqZyByjy:2Ҕڔڒ’@M@ '?Bɢ') %|0i!)%!!i%Li-l?-&w;-cie>*DAT read: user:325> BDAT read: Tx time:21:33:21.7437 $Ping request sent.V-:,Ӷ?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251946!!]K>]3?]=[ٱ]: uAHRS rotation from veh to nav: [[0.837986,-0.526693,-0.142736],[0.543063,0.830559,0.123508],[0.053500,-0.181013,0.982024]]]H?@0E¿`??6?cd?@m+ǿl?i]K>I]0c;]CYBy!Ii Mb@Mb@Mb@     9 }?5^I?v/MbY M"?y x齙  A @  A) A Y 3A ;p;bD%iVD%=A4y5)%=-=ٔ=;Q-=>9= ?YE ?=EFFyE EE EE>IQ 5U^5Mw?Q 9]^5MI)MwBY]$?Q E]:y]o>Q I]@M EIMH:iM:Msk^5yeBԩɮ@E)Q-DNOT Ignoring new targets: 58.14 m.1Q5Powering the camera and arming the capture device at range: 58.50 m.j1=!:=!:Qm ProNav: ac range: 58.135609 m, nav range: 55.890034 m, bearing: 25.741154 deg, approach rate: -0.636230 m/s, LOS rate: 0.033906 deg/s, cmd heading: 32.323857 deg, new cmd heading: 32.371733 deg. zm(:QuHeadingCmd: 0.564993 target range: 58.135609 and range: 58.50 m.Rug?JqbqZqBqjq:y2yҔyڔ}Bڒ’?Bɢw) $Fi)WZiieg?ebx;ea<3:,ݵ?A2VC>2E?2yYٱ24 :AHRS rotation from veh to nav: [[0.838503,-0.526812,-0.139221],[0.542318,0.831665,0.119264],[0.052956,-0.175505,0.983053]]2H?  Z??`?? vƿ+u?i2VC>I2e;2CYBByB!IbDN[VDNy'4yRbM%Vg=ٔV1:Q-V>9Z"?YZ"?=ZFFyZ"E^?(E^>`Q 5b^5b?Q 9f^5b)bwBYdyf>Q If@b EIb:ib;bn^5ylɮn@l|QDNOT Ignoring new targets: 58.14 m.QPowering the camera and arming the capture device at range: 58.50 m.j *: *:Q ProNav: ac range: 58.135609 m, nav range: 55.663334 m, bearing: 25.753518 deg, approach rate: -0.680580 m/s, LOS rate: 0.037271 deg/s, cmd heading: 32.371733 deg, new cmd heading: 32.408977 deg. z:Q%HeadingCmd: 0.565643 target range: 58.135609 and range: 58.50 m.R%?J!b!Z!B!j):)B9B9B=;"IB=BB=N =B9B9B=R;B=EE EE#E"E+$;*Eخ:VE3ZEBE/}= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005800::,yv?A BA*>Bk?B9XWٱB80 JAHRS rotation from veh to nav: [[0.839682,-0.525716,-0.136224],[0.540530,0.833294,0.115964],[0.052550,-0.171006,0.983868]]BH?`oL?Y?ӯ??ſ{?iBA*>IBd;BCYRByR!IbDZVVDZE4yb%bI=ٔf):Q-f>9f ?Yf ?=jFFyj$EjEj>lQ 5r^5n?Q 9r^5nX)n xBYtyv>Q Iv@n EIn:in3:nr^5yzBɮz@~EGS%B*** querying acoustic contact ***:!B!1Q=DNOT Ignoring new targets: 58.14 m.9QEPowering the camera and arming the capture device at range: 58.50 m.jAM':M':Qe ProNav: ac range: 58.135609 m, nav range: 55.402740 m, bearing: 25.768455 deg, approach rate: -0.636712 m/s, LOS rate: 0.036667 deg/s, cmd heading: 32.408978 deg, new cmd heading: 32.453999 deg. zeP:QmHeadingCmd: 0.566429 target range: 58.135609 and range: 58.50 m.Rm?JqbqZqBqjq:2Ҕڔ!!ڒ!’!!- f?颕Bɢ;) ,fi) 顙i{Ni?y;A:,&R?A:e>:L?:Vٱ: - FAHRS rotation from veh to nav: [[0.841306,-0.523660,-0.134110],[0.538016,0.835209,0.113866],[0.052383,-0.167949,0.984403]]:H?*l7??N&?@Ѫ?@[ſ:?i:e>I:Fd;:CYNByN!I\i%Mb@Mb@Mb@!!!! !9%S?{GzĿ rh?Y%?y%#%C<%A! %A)%1A!Y%AbD=dVD= 84yM@A=%MB=ٔU9Q-U>9QYQ=UFFyU&E]E]>aQ 5m^5e޲?Q 9m^5e4)e,xBYu ?Q Eu:yu)>Q Iu@e EIe:ief:eu^5y}Bɮ}@QDNOT Ignoring new targets: 58.14 m.QPowering the camera and arming the capture device at range: 58.50 m.j::Q ProNav: ac range: 58.135609 m, nav range: 55.143612 m, bearing: 25.804484 deg, approach rate: -0.619497 m/s, LOS rate: 0.086539 deg/s, cmd heading: 32.453999 deg, new cmd heading: 32.562594 deg. zm;QHeadingCmd: 0.568325 target range: 58.135609 and range: 58.50 m.R}?JbZBj:2 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511187ҔڔBڒ’ޒ?9ɢ=^> )9 =Ri9)EAAiE6aiM}?M-y;M(u;IM}?IQ0@ @@ 0@B=<A=<BE>BABE"IBẼBBEO =BABABER;BEEE EE%E"E%.;*E:VE 4ZEBE61G:,-?A2Q>2B?2Vٱ2) :AHRS rotation from veh to nav: [[0.843303,-0.520958,-0.132072],[0.534879,0.837507,0.111743],[0.052398,-0.164876,0.984922]]2HU?`??(?Ӫ?@ſ z?i2Q>I2c;2CYBByB!IbDNYVDN#4yVԼ%VU=ٔVq+Q-V>9Z"?YZ"?=ZFFyZ(EZ^E^>Q 5%^5sƎ?Q 9%^5:)JxBY!y%'>Q I%@ EI*;iq+;5y^5y1ɮ5@1QQ]DNOT Ignoring new targets: 58.14 m.YQ]Powering the camera and arming the capture device at range: 58.50 m.jYe:e:Qu ProNav: ac range: 58.135609 m, nav range: 54.901695 m, bearing: 25.839440 deg, approach rate: -0.613977 m/s, LOS rate: 0.089108 deg/s, cmd heading: 32.562596 deg, new cmd heading: 32.667926 deg. zut;Q}HeadingCmd: 0.570163 target range: 58.135609 and range: 58.50 m.R}2?JybZBj:2Ҕڔڒ’`<@颽Bɢ) ]i)ĥii2?Wy;hOgI2?IUO.@Q @Q@U4@Q^A-_;Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015031AYIaIqOY>qԡ E  E E &E "E 9;*E a:VE 4ZE a @a @a @a @ PExceeded connect timeout, disconnecting.^M:,8?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267990q5~>5?5Xٱ5b* ]AHRS rotation from veh to nav: [[0.844564,-0.518801,-0.132501],[0.532834,0.838743,0.112239],[0.052904,-0.165394,0.984807]]5H?@ ?? ?E?+ſ?i5~>I5%c;5CYBy!IiMb@Mb@Mb@ 9/$?gfffffƿZd;O?Y?y33j<A@ VA)5@YQAbD-fVD-;4y=3=%==ٔE3~Q-E>9IYI=MFFyM*EMᖻEU>QQ 5]^5U?Q 9]^5U)UvxBYe#?Q Ee:ye>Q Ie@U EIU ;iU ;U}^5yuBɮug@uEQDNOT Ignoring new targets: 58.14 m.QPowering the camera and arming the capture device at range: 58.50 m.ԡjG:G:Q ProNav: ac range: 58.135609 m, nav range: 54.582733 m, bearing: 25.893048 deg, approach rate: -0.623895 m/s, LOS rate: 0.105471 deg/s, cmd heading: 32.667927 deg, new cmd heading: 32.829690 deg. zĐ;QHeadingCmd: 0.572986 target range: 58.135609 and range: 58.50 m.R9?JbZBj:2ҔڔBڒ’`X@ɢ\) DKi)ʄii9??w;`I9?IIgA)gA*@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518437 ^A Β{;A >A >BU >BQ BU "IBU BBQ BQ BU TDBU (R;BU EE  E E 'E "E );*E :VE '4ZE BE KEU:,rV?A2>2Z?2; Zٱ2+ jAHRS rotation from veh to nav: [[0.846065,-0.516271,-0.132808],[0.530417,0.840164,0.113061],[0.053210,-0.166101,0.984672]]2H?J,? ?@?[>?Bſ o?i2>I2aa;2CYrByr!IbD~pVD~N4y !=% a=ٔ \Q- >9Y=FFy,EEE>!Q 5-^5%?Q 9-^5% )%xBYQy]/>Q Ie@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770481% EI%j - BDAT read: Rx Time:21:33:24.2226 5 TRx dataTimestamp_ set to:1761514405.6456765 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024260Ai y I I O >h[:,o?A0:`P>:?:Wٱ:S) BAHRS rotation from veh to nav: [[0.846837,-0.515353,-0.131444],[0.529245,0.840985,0.112446],[0.052593,-0.164790,0.984926]]:HJ?}+`? Y?Dɼ?@?ſ?i:`P>I:`;:CY^Byb"IbDjsVDjS4yr?=%rN=ٔr:Q-r>9tYt=vFFyv.EvgEz>xQ 5^5zS?Q 9^5z.)zxBYym>Q I@z EIz;iz;zS^5yɮ@GS-B*** querying acoustic contact ***:)B)9Q=DNOT Ignoring new targets: 58.14 m.9QEPowering the camera and arming the capture device at range: 58.50 m.jAE ;E ;QU ProNav: ac range: 58.135609 m, nav range: 54.108799 m, bearing: 25.975729 deg, approach rate: -0.687200 m/s, LOS rate: 0.121475 deg/s, cmd heading: 32.947753 deg, new cmd heading: 33.078820 deg. zU;Q]HeadingCmd: 0.577334 target range: 58.135609 and range: 58.50 m.Re/?JabaZaBaja:a2iҔiڔiiڒq’qqu@Cj @颡ɢϋ) li)El顩ii/?t;ʵAI/?I1E EE%E"Eg5;*E;:VE 4ZEa@a@a@a@nManaging dock network, ignoring radio surface power offԹ5G&@9 @9@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277558^AU Ii Iy O >Qb:,?A.DAT read: 21:33:24.2226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.26, 0.444,-1.089, 0.807, 0.371, PHS= 0.175,-1.415, 0.392, RAW= 156.3, 10.0, CAL= 156.2, 10.8, ROT= 353.8, -10.8 6Ygot valid direction response: 21:33:24.2226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.26, 0.444,-1.089, 0.807, 0.371, PHS= 0.175,-1.415, 0.392, RAW= 156.3, 10.0, CAL= 156.2, 10.8, ROT= 353.8, -10.8 6PDAT read: Bearing 188.0, -4.7 (Local) :~Local bearing/azimuth received: Bearing 188.0, -4.7 (Local) >DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.8 ms) speed 0.7 m/s BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.976542,-0.106086,0.187381]FFpublishing direction and range infoyimg2??p1y(0i?Ymf`Biiii i)mDIm333>imm9>m.@m¸2>m!z.@ mA>)me@ImAiim9'ue?T7]?Ma? mO@"?)m1ImiݽimAiiRT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.l~ >~\?~0Sٱ~(  AHRS rotation from veh to nav: [[0.847170,-0.515258,-0.129660],[0.528816,0.841354,0.111697],[0.051537,-0.163193,0.985247]]~H`?|@?_?)?c? Ŀ %?i~ >I~I`;|YBy "Ii]Mb@Mb@Mb@YYYY Y9]$C?@5^I ¿L7A`?Y]?y]b]+=]~A]@ ]CA)YYY]AbDLVD 4y #=%$=ٔ ;Q->9Y=FFy1EE> Q 5%^5?Q 9-^5})xBY-?Q E-:y-%>Q I-@ EIB;i);^5y5Bɮ=P@=EJiRm ?Am_Bm_Bm>mP 8K@?Or)$@mg2??p1y(0i?miݽmA—mHvUG@&"'8@¢ ,@mq?fl?Xwt$?jmArmB?BZm%ݞ?bmmEzmBmRP ?iiڗm5WBmu>AAAABBB"IBǃBBN =BBUDBR;BEQ addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 3.780810 s, deltaX: -2.400002 m, approachRate: -0.634785 m/s, rangeRepo size: 4 Q Added new target pos. range: 55.750465 m, bearing: 27.584762 deg, lat: 36.779395 deg, lon: -121.859472 deg, deltaT: 3.780810 s, deltaX: -2.385143 m, approachRate: -0.630855 m/s, posRepo size: 4 QDNOT Ignoring new targets: 55.75 m.QPowering the camera and arming the capture device at range: 56.10 m.j%!Q5 ProNav: ac range: 55.750465 m, nav range: 53.801853 m, bearing: 26.013670 deg, approach rate: 0.000000 m/s, LOS rate: 0.121475 deg/s, cmd heading: 33.078821 deg, new cmd heading: 33.268071 deg. z1Q}HeadingCmd: 0.580637 target range: 55.750465 and range: 56.10 m.R}?JybZBj:2ҔڔBڒ’ L@Y?E EEE"E(;*EL:VEZEBE BDAT read: Tx time:21:33:25.5437 $Ping request sent.gzh:,T?A2K>2?2Nٱ2% :AHRS rotation from veh to nav: [[0.846950,-0.516135,-0.127593],[0.529275,0.841257,0.110250],[0.050434,-0.160908,0.985680]]2H7?-T@??W9?ҩ?@Ŀ?i2K>I2D`;2CYbՃByb'"IbDjFVDj4y>% =ٔ i;Q- ?9Y=FFy2E#:E?!Q 5%^5%.?Q 9-^5%)%xBY)y-Q>Q I-@% EI%:i%d:%n^5y19ɮ=@AaQeDNOT Ignoring new targets: 55.75 m.aQmPowering the camera and arming the capture device at range: 56.10 m.jiu:u:Q ProNav: ac range: 55.750465 m, nav range: 53.613140 m, bearing: 26.037071 deg, approach rate: -0.641327 m/s, LOS rate: 0.079807 deg/s, cmd heading: 33.268072 deg, new cmd heading: 33.338522 deg. z[;QHeadingCmd: 0.581867 target range: 55.750465 and range: 56.10 m.R<?JbZBj:2Ҕڔڒ’ k?ɢn) pi)媼ii<?o;;xI<?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251095u!@q @q@u/@qi^AԙII O>bE5Ȼ 4jE1rE5DN0E EE E"E=-;*E:VE3ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504042 4n:,i?A6>6'?6Gٱ6=# >AHRS rotation from veh to nav: [[0.846675,-0.517227,-0.124967],[0.529877,0.841034,0.109056],[0.048695,-0.158552,0.986149]]6H ? @? ???nKĿ?i6>I6?W`;6CYRByR7"Ii%Mb@Mb@Mb@!!!! !9%\(\?V-I +?Y%?y%%94=!! %A)%@!Y%\AbD=PVD=:4yM=%MF=ٔU0;Q-U>9QYY=]FFy]4E]v:Ee>aQ 5m^5eB?Q 9u^5eZ)e&yBYu?Q Eu:yu>Q Iu@e EIe:ie;e ^5yBɮP@ԙQDNOT Ignoring new targets: 55.75 m.QPowering the camera and arming the capture device at range: 56.10 m.jY:Y:Q ProNav: ac range: 55.750465 m, nav range: 53.361549 m, bearing: 26.056617 deg, approach rate: -0.609053 m/s, LOS rate: 0.047540 deg/s, cmd heading: 33.338522 deg, new cmd heading: 33.397436 deg. z;QHeadingCmd: 0.582895 target range: 55.750465 and range: 56.10 m.R8?JbZBjQ:Q2YҔYڔ]BYڒa’aaeIq?颩ɢ-ʼ) @hi)Lixli8?Y!m;1{I8?ImO@i @i@i@i=4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755400^AUIIO>B >B B 5"IB BB B B B Q;B EBBBBBC94 E  E E !E "E ;*E n:VE c3ZE BE 7r>% O=ٔ Q- >9Y=FFy6EE>!Q 5-^5%U?Q 9-^5%)%KyBY)y)Q I-@% EI%:i%:%~^5y=Bɮ=,@=}Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005897iQuDNOT Ignoring new targets: 55.75 m.qQuPowering the camera and arming the capture device at range: 56.10 m.jq}![:}![:Q ProNav: ac range: 55.750465 m, nav range: 53.120773 m, bearing: 26.075497 deg, approach rate: -0.608060 m/s, LOS rate: 0.047895 deg/s, cmd heading: 33.397436 deg, new cmd heading: 33.454331 deg. zz;QHeadingCmd: 0.583888 target range: 55.750465 and range: 56.10 m.Ry?JbZBj:2Ҕڔڒ’L?1ɢ=9)9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257782y +{:,:?A2>2?2ʘ4ٱ26 :AHRS rotation from veh to nav: [[0.845487,-0.521657,-0.114130],[0.532174,0.840773,0.099454],[0.044077,-0.144825,0.988475]]2H:?i7 ??u?:?¿?i2>I2`;0YBByF"IbDNeVDN94yV=%VQ=ٔVTA9XYX=ZFFyZ8E^;E^>`Q 5f^5bHh?Q 9f^5b)bnyBYdyfa>Q Ij@b EIb:ib:b^5ylɮn@lGSzB*** querying acoustic contact ***:|B|Q DNOT Ignoring new targets: 55.75 m. Q Powering the camera and arming the capture device at range: 56.10 m.j 5Z:5Z:Q% ProNav: ac range: 55.750465 m, nav range: 52.881836 m, bearing: 26.094052 deg, approach rate: -0.611387 m/s, LOS rate: 0.047693 deg/s, cmd heading: 33.454331 deg, new cmd heading: 33.510249 deg. z%;Q-HeadingCmd: 0.584864 target range: 55.750465 and range: 56.10 m.R-?J)b)Z)B1j1:121Ҕ9ڔڒ’`?MBɢMĦ)I Mw=iI)UɪQE} E}E}%Ey"E}&;*E}-:VE} 4ZEya@a@a@a@Qi^&i?%$h;qI?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512285@ @@3@ԁԩ^A5 I I O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761790~:,G ?A2>2c?2J+ٱ2} :AHRS rotation from veh to nav: [[0.844372,-0.524799,-0.107804],[0.534124,0.840281,0.092947],[0.041807,-0.136063,0.989818]]2H?`' @??b˷?@g? j@?i2>I2Ĥ`;2CYB.ByB"Ii Mb@Mb@Mb@     9 V-?i|?5 ףp= ?Y ?y q Q8= hA @ A)  Y AbD%`VD%04y5m=%5@=ٔ=;Q-=>99Y9=EFFyE;EE;EE>IQ 5U^5M{?Q 9U^5Mw)MyBY]?Q E]:y]>Q I]@M EIM ;iM ;M^5yeBɮe@aQ DNOT Ignoring new targets: 55.75 m. Q-Powering the camera and arming the capture device at range: 56.10 m.j15t5tQE ProNav: ac range: 55.750465 m, nav range: 52.620888 m, bearing: 26.087497 deg, approach rate: -0.590729 m/s, LOS rate: -0.014912 deg/s, cmd heading: 33.510250 deg, new cmd heading: 33.490488 deg. zE#QMHeadingCmd: 0.584519 target range: 55.750465 and range: 56.10 m.Rm?JibqZqBqjq:q2qҔyڔ}Byڒy’@ԉ颉ɢ^n) =i)%顑i֫i?e;d?NI?IBiAm<Bu>BqBum"IBuBBqBqBqBuQ;BuE@@ @@5@ Ee EeEe&Ea"Ee*;*Ee>:VEe4ZEaBEe KȈ:,$?A2#>2_?2"ٱ2 :AHRS rotation from veh to nav: [[0.843361,-0.527562,-0.102083],[0.535875,0.839790,0.087130],[0.039762,-0.128186,0.990953]]2H?"%??'N? [?bh?i2#>I2>d;0YBIByB"I DDbDNWVDN 4yVF >%VV=ٔV;Q-V>9XYX=ZFFyZ`Q 5f^5bI?Q 9f^5b)byBYdyf>Q If@b EIbj:ib@:b^5ylɮnM@lQDNOT Ignoring new targets: 55.75 m.QPowering the camera and arming the capture device at range: 56.10 m.Q lFinal approach. Armed for intercept at range: 56.10 m.Q \Transitioning guidance mode to: FINAL_APPROACHr @͝͝Q% ProNav: ac range: 55.750465 m, nav range: 52.387157 m, bearing: 26.081221 deg, approach rate: -0.639334 m/s, LOS rate: -0.017245 deg/s, cmd heading: 33.490487 deg, new cmd heading: 33.471573 deg. z%]=Q-HeadingCmd: 0.584189 target range: 55.750465 and range: 56.10 m.R-l?J)b)Z)B):121Ҕ1ڔ19ڒ’@iɢut))y }0>iy)};yyi}(il?d;/Il?II)fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266009?@ @@/@@%=@%=9^A5ONE EE#E"E+$;*Ea:VE3ZEa@a@a@a@i AI Iq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520279I O >:,>?A 2>2Y?2kٱ29 >AHRS rotation from veh to nav: [[0.842487,-0.529524,-0.099099],[0.537363,0.839064,0.084928],[0.038179,-0.124803,0.991447]]2H@?@^2??@׽?`:?@?i2>I2^,f;0YZ[ByZ"IiEMb@Mb@Mb@AAAA A9ES㥛?~jtS㥛?YE$?yEDE/9qYq=uFFyu?Eu;E}>Q 5^5 ?Q 9^5)yBY %?Q E:y ?Q I@ EI:i:^5yBɮL@~EQDNOT Ignoring new targets: 55.75 m.Q ProNav: ac range: 55.750465 m, nav range: 52.112862 m, bearing: 26.051180 deg, approach rate: -0.639296 m/s, LOS rate: -0.070384 deg/s, cmd heading: 33.471574 deg, new cmd heading: 33.380978 deg. z7AQHeadingCmd: 0.582608 target range: 55.750465 and range: 56.10 m.R%?JbZB:2ҔڔBڒ’ )@颥Bɢ) :>i)顩ii%?kb;:mI%?IqI@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769666ԡ^A0 B >B CB "IB ABB O =B B TDB Q;B EA I I O E  E E $E "E %;*E V:VE 4ZE BE )B?BٱB JAHRS rotation from veh to nav: [[0.841105,-0.531772,-0.098796],[0.539583,0.837585,0.085453],[0.037308,-0.125184,0.991432]]BHU?FJCD? ~?D? ?@@Ϲ?iB\>IBpe;@PYRiByR"IbDZTVDZ4yb}=%fU=ٔf;Q-f>9hYh=jFFyjAEj;Ej>pQ 5r^5r?Q 9v^5rc)ryBYtyv?Q Iv@r EIrN:ir:r^5yzBɮ~@~EQ%DNOT Ignoring new targets: 55.75 m.!%⦺-⦺Q5 ProNav: ac range: 55.750465 m, nav range: 51.868179 m, bearing: 26.023393 deg, approach rate: -0.639365 m/s, LOS rate: -0.072950 deg/s, cmd heading: 33.380979 deg, new cmd heading: 33.297225 deg. z5BHEBDAT read: Rx Time:21:33:28.0194 MTRx dataTimestamp_ set to:1761514409.424701Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022908QUHeadingCmd: 0.581146 target range: 55.750465 and range: 56.10 m.RU?JQbQZQBY:2Ҕڔڒ’O @ɢdﱻ)  U>i)iMbi%?%Xa;%ߗI%?I) @@  @ @/@^AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273859) IQ Ia Ou >:,qur?A|U >U?UٱU4  eAHRS rotation from veh to nav: [[0.839346,-0.534430,-0.099415],[0.542350,0.835682,0.086557],[0.036821,-0.126569,0.991274]]UH? As`Z??(? 'ڢ?h3?iU >IUzd;UCYuwByu"Iy}AbDVDy7=%==ٔ%:Q->9Y=FFyCE;E>Q 5^5kƏ?Q 9^5)yBYyz?Q I@ EI :i:է^5yɮ@GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 55.75 m.ɭɭQ  ProNav: ac range: 55.750465 m, nav range: 51.592487 m, bearing: 25.990733 deg, approach rate: -0.637848 m/s, LOS rate: -0.075968 deg/s, cmd heading: 33.297227 deg, new cmd heading: 33.198722 deg. EU EUEU%EQ"EU2;*EU:VEU 4ZEQa]@a]@a]@a]@z PQHeadingCmd: 0.579427 target range: 55.750465 and range: 56.10 m.RTU?JbZB:2Ҕڔڒ’@ @ɢ<) $r>i)Hi%Ci%TU?U3`;]I]TU?Ia)@  @ @@DAT read: 21:33:28.0194 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.13,-3.014, 1.775,-2.599,-3.079, PHS= 0.167,-1.384, 0.436, RAW= 157.9, 9.2, CAL= 157.6, 9.8, ROT= 352.4, -9.8 Ygot valid direction response: 21:33:28.0194 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.13,-3.014, 1.775,-2.599,-3.079, PHS= 0.167,-1.384, 0.436, RAW= 157.9, 9.2, CAL= 157.6, 9.8, ROT= 352.4, -9.8 PDAT read: Bearing 187.6, -6.6 (Local) ~Local bearing/azimuth received: Bearing 187.6, -6.6 (Local) DAT read: Range 11 to 50 : 53.6 m (Round-trip 71.5 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.976752,-0.130326,0.170209]Fpublishing direction and range infoyQUbA?aWoKrl?YUfVBQQQQ Q)UCIU +>iU&Ud;>UA`0@Ul$>Ux 0@ U%/>)U:@IU%/QQUHRJ^?8c?`? U3)?)Ud$IUiU%/QQMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Q^A ԁ I I O > *DAT read: user:327>  BDAT read: Tx time:21:33:29.3936  $Ping request sent. 2?2+ٱ2i :AHRS rotation from veh to nav: [[0.837256,-0.537440,-0.100804],[0.545586,0.833398,0.088224],[0.036595,-0.128863,0.990987]]2H?2Hιpu? 3?ѕ? ?~@*?i2 >I2c;2CYRByR#IYi%Mb@Mb@Mb@!!!! !9%MbX9? ףp= ?{Gz?Y%!?y%Q8=%ף<% A! %A)%@!Y%AbD}UVD}n4yٞ=%<=ٔ:Q->9Y=FFyEE<E>Q 5^5ُ?Q 9^5)zBYH"?Q E:y&?Q I@ EI;ih;^5yBɮ@EJR8{?AUBUB @>ExJ@dh}!"@bA?aWoKrl?%/—W=VvN0G@df7@gVz'@ƹKJ?!ӏ?ʂP?j3Ar9BZK1%?bxPzBꗍv#?d3WBڗNB◍>Q addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 3.781200 s, deltaX: -2.500000 m, approachRate: -0.661166 m/s, rangeRepo size: 4 Q Added new target pos. range: 53.265980 m, bearing: 26.773484 deg, lat: 36.779395 deg, lon: -121.859464 deg, deltaT: 3.781200 s, deltaX: -2.484486 m, approachRate: -0.657063 m/s, posRepo size: 4 QDNOT Ignoring new targets: 53.27 m.Q ProNav: ac range: 53.265980 m, nav range: 51.669350 m, bearing: 26.602538 deg, approach rate: 0.000000 m/s, LOS rate: -0.075968 deg/s, cmd heading: 33.198722 deg, new cmd heading: 33.095140 deg. zQHeadingCmd: 0.577619 target range: 53.265980 and range: 53.60 m.R?JbZBA-@AA)B1B1B5"IB5oBB1B1B1B5Q;B5E:A2IҔIڔM'BIڒQ’QUJ@U`?ԁɢ ) f>i)i3Q i?F`;;I?IEm EiEiEi"Em1;*EiVEiZEiBEmX2:,?AYBy%#IbD=cVD=264yU<%]`=ٔ]Q-e>9iYi=mFFymGEuEu>Q 5^5b菊?Q 9^5j)zBYyQ I@ EIq;i~;֮^5yɮ@ԹQDNOT Ignoring new targets: 53.27 m.^^Q ProNav: ac range: 53.265980 m, nav range: 51.443966 m, bearing: 26.554810 deg, approach rate: -0.642751 m/s, LOS rate: -0.136708 deg/s, cmd heading: 33.095142 deg, new cmd heading: 32.951330 deg. zQHeadingCmd: 0.575109 target range: 53.265980 and range: 53.60 m.R[:?JbZB:2Ҕڔڒ’`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502841ɢ˰:)  >i)fi i[:?`;л;I[:?II@Q @Q@U/0@Q^A% ;IIO=>Eu EuEu&Eq"Eu%;*Eu:VEu4ZEqa@a@a@a@m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754746A :,?A>޼>>F?>ٱ>o JAHRS rotation from veh to nav: [[0.832060,-0.545170,-0.102304],[0.553510,0.828055,0.089173],[0.036099,-0.130823,0.990748]]>H;?r0Z?l?Զ?{? Ѿ5?i>޼>I>3b;9Y=FFyIEw<E>Q 5^5?Q 9^5)zBY0%?Q E:y+?Q I@ EI<:is:n^5yBɮ>@QDNOT Ignoring new targets: 53.27 m.,,Q ProNav: ac range: 53.265980 m, nav range: 51.184258 m, bearing: 26.493676 deg, approach rate: -0.637828 m/s, LOS rate: -0.150904 deg/s, cmd heading: 32.951329 deg, new cmd heading: 32.766996 deg. z ϻQHeadingCmd: 0.571892 target range: 53.265980 and range: 53.60 m.Rg?Jb!Z!B!:!2!Ҕ)ڔ-(B)ڒ)’115`F?ɢP) ߅>i)֥i%^ i-g?-b;5B! B! B% #IB% BB% P =B! B! B% Q;B% EE}  E} E} 'Ey "E} 3;*E} :VE} '4ZEy BE} B ?BnUٱB JAHRS rotation from veh to nav: [[0.829309,-0.549165,-0.103272],[0.557632,0.825227,0.089701],[0.035962,-0.131977,0.990600]]BH?`p?@Ch? ?i? ?iBh>IBa;@YbByb#IbDjQVDj4y=% U=ٔ 9Q- >9Y=FFyKES<E>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258820AQ 5M^5E\ ?Q 9M^5E)EzBYIyM,?Q IM@E EIE:iEZ:Eҵ^5yQɮ}@}wEQDNOT Ignoring new targets: 53.27 m.,,Q ProNav: ac range: 53.265980 m, nav range: 50.939693 m, bearing: 26.434100 deg, approach rate: -0.617307 m/s, LOS rate: -0.151098 deg/s, cmd heading: 32.766996 deg, new cmd heading: 32.587410 deg. zeϻQHeadingCmd: 0.568758 target range: 53.265980 and range: 53.60 m.R?JbZB: 2 Ҕ ڔ ڒ’?qɢc8) 9>i)םi(i5?5@d;5X@?8?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947 R:,?A2>2?2Qٱ2 :AHRS rotation from veh to nav: [[0.826729,-0.553077,-0.103076],[0.561421,0.822885,0.087558],[0.036393,-0.130256,0.990812]]2H@t?Ͳ-c*?U?8j?`?:໴?i2>I2ya;2CYPyR#IbDZbVDZ[44yR%I=ٔ%ʊQ-%>9!Y)=-FFy-ME-8<E->1Q 5=^55_?Q 9E^55)5&zBYAyE%.?Q IE@5 EI5;i5;5W^5yMBɮM@UxEGSmB*** querying acoustic contact ***:iBiqQ}DNOT Ignoring new targets: 53.27 m.y99Q ProNav: ac range: 53.265980 m, nav range: 50.686230 m, bearing: 26.370352 deg, approach rate: -0.642080 m/s, LOS rate: -0.162294 deg/s, cmd heading: 32.587410 deg, new cmd heading: 32.395212 deg. z޻QHeadingCmd: 0.565403 target range: 53.265980 and range: 53.60 m.RB?JbZB:2Ҕڔڒ’?ɢe:) S>i)&.iEiB?g;u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014714Q <:,y ?AF >F*?FPwٱF> NAHRS rotation from veh to nav: [[0.824156,-0.556783,-0.103727],[0.565139,0.820499,0.086018],[0.037215,-0.129512,0.990879]]FH |_?+ٍ`?`A?`D? ?ۓ@H?iF >IF*La;FCYVByV"IXXi5Mb@Mb@Mb@1111 195+?Zd;O?{GztY5?y5j<=5ף11 1)11Y1bDMPVDM:4y]Z%]F=ٔ]Q-e>9aYa=eFFyeOEm3<Em>qQ 5}^5u],?Q 9}^5uo)u,zBY}. ?Q E}:yJ,?Q I@u EIue ;iuj:u^5yɮ@Q5DNOT Ignoring new targets: 53.27 m.15,=,QE ProNav: ac range: 53.265980 m, nav range: 50.434204 m, bearing: 26.308493 deg, approach rate: -0.611932 m/s, LOS rate: -0.150949 deg/s, cmd heading: 32.395212 deg, new cmd heading: 32.208706 deg. zM0ϻQmHeadingCmd: 0.562148 target range: 53.265980 and range: 53.60 m.Ru?JqbqZB:2Ҕڔ#Bڒ’@Bɢ) >i)ci3i? ql;=I?I)BAB>BCB.#IBBBO =BBUDBQ;BEBþCBþCBBO =BO =CùB5@ @@/@E EE"E"E77;*EI:VE(3ZEBE ԁ d:,0e'?A0bڔ>b?bٱbD rAHRS rotation from veh to nav: [[0.822472,-0.558782,-0.106316],[0.567550,0.818606,0.088152],[0.037773,-0.132843,0.990417]]bHQ? 7^)?2?&?@ W? ?ibڔ>Ibe a;bCY~xBy"IbD\VDP)4y-%-N=ٔ-Q-->91Y1=5FFy5QE=;E=>AQ 5M^5Eia)eaiimoiu?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519776=p;&=I?Iԑi@i @i@i@iԹ^AUe<E EE'E"Eg5;*E:VE'4ZEa@a@a@a@ M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770673A I I O= >xS:,^A?AX^5>^5V?^|ٱ^h jAHRS rotation from veh to nav: [[0.820879,-0.560732,-0.108339],[0.569807,0.816914,0.089284],[0.038439,-0.135023,0.990097]]^HD?`;?`($?J۶?`R?`qH߮?i^5>I^`;^CYnwByr"IiMb@Mb@Mb@ 9jt?y&1?y&1Y ?y`<`e@ A)@YAbDVVDE4y%@=ٔmͺQ->9Y=FFySE;E>Q 5^5N?Q 9^5)3zBY ?Q E:y%?Q I@ EI ;i ; ^5yɮ@1Q=DNOT Ignoring new targets: 53.27 m.9=EQU ProNav: ac range: 53.265980 m, nav range: 49.928921 m, bearing: 26.189586 deg, approach rate: -0.611864 m/s, LOS rate: -0.135615 deg/s, cmd heading: 32.024739 deg, new cmd heading: 31.850188 deg. zU$Q]HeadingCmd: 0.555891 target range: 53.265980 and range: 53.60 m.R]N?JYbYZYBY:Y2aҔaڔeBiڒi’iim@] @额Bɢ@M)2 "o>i)aK顡!i%ci-N?5v;5D8=I5N?I9@@ @@/@BDAT read: Rx Time:21:33:31.8662 TRx dataTimestamp_ set to:1761514413.205052checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024612^A 3= AAIIIYOm>B B B B B N =B B B Q;B E1 E  E E #E "E m+;*E g:VE 3ZE BE ܄2E?2` ٱ27 :AHRS rotation from veh to nav: [[0.819574,-0.562219,-0.110490],[0.571631,0.815500,0.090543],[0.039200,-0.137366,0.989744]]2H 9? @IJ?@?@-??`6`?i2T%>I2Թ`;2CYNrByR"I TTV=V=bDZgVDZ=4yv%vZ=ٔvQ-v>9xYx=zFFyzUE~];checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749069E}>yQ 5^5}'_?Q 9^5}0)}6zBYyl&?Q I@} EI}N:i}:}^5yƒBɮI@yEQDNOT Ignoring new targets: 53.27 m. Q= ProNav: ac range: 53.265980 m, nav range: 49.687805 m, bearing: 26.135247 deg, approach rate: -0.610198 m/s, LOS rate: -0.138185 deg/s, cmd heading: 31.850186 deg, new cmd heading: 31.686378 deg. z=Q=HeadingCmd: 0.553032 target range: 53.265980 and range: 53.60 m.RE{ ?JAbAZABA:A2AҔIڔIIڒI’Qqu3 @颹ɢt>) b>i) ѕiSi { ?yv|;>I=I{ ?Ii?@ @@/@ԙDAT read: 21:33:31.8662 LVL= 32752, 32753, 29554, 32755, AGC= 69, IDX= 410,-0.27, 2.003, 0.562, 2.508, 1.981, PHS= 0.124,-1.374, 0.483, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5 Ygot valid direction response: 21:33:31.8662 LVL= 32752, 32753, 29554, 32755, AGC= 69, IDX= 410,-0.27, 2.003, 0.562, 2.508, 1.981, PHS= 0.124,-1.374, 0.483, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5  PDAT read: Bearing 188.5, -9.4 (Local)  ~Local bearing/azimuth received: Bearing 188.5, -9.4 (Local)  DAT read: Range 11 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.5 m/s % R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.970392,-0.176350,0.165048]] Fpublishing direction and range infoy`r ?+; ƿG ?Y3MBrs )EI=i;߯K>G3@| >3@ )>)0O@I)f?N?:v? 4?)i!IT8i)5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.^AE "= Aq Iy I O >:,u?AN.>N1B?Nb$ٱN vAHRS rotation from veh to nav: [[0.818768,-0.562913,-0.112911],[0.572721,0.814559,0.092110],[0.040123,-0.140083,0.989326]]NH X3?a@缿S????=?iN.>INթ`;LY~eBy~"IbD5iVD5=A4yEu%E@=ٔEeQ-M>I9QYQ=UFFyUWE]P;E]>aQ 5e^5ejp?Q 9^5e)e9zBYy&?Q I@e EIe;ieu;e^5yʒBɮP@zEJRNm?AKBKB>FNH@ӣ! @`r ?+; ƿG ?T8)—mJNF@W$&5@ 1#'@+K N?P2Y?a6 ?jGArv2BZj ?bVzBꗕXÊ?VUBڗFB◕K>EU EUEU'EQ"EU0;*EU:VEU'4ZEQa]@a]@a]@a]@Qe addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.778051 s, deltaX: -2.299999 m, approachRate: -0.608779 m/s, rangeRepo size: 4 Q Added new target pos. range: 50.980606 m, bearing: 26.025142 deg, lat: 36.779396 deg, lon: -121.859463 deg, deltaT: 3.778051 s, deltaX: -2.285374 m, approachRate: -0.604908 m/s, posRepo size: 4 QDNOT Ignoring new targets: 50.98 m.Q ProNav: ac range: 50.980606 m, nav range: 49.505810 m, bearing: 26.106871 deg, approach rate: 0.000000 m/s, LOS rate: -0.138185 deg/s, cmd heading: 31.686378 deg, new cmd heading: 31.513219 deg. zQHeadingCmd: 0.550009 target range: 50.980606 and range: 51.30 m.Rk ?JbZB:2Ҕڔڒ’  `fI@ C?UBɢU)Y ]G>iY)]nYiR*DAT read: user:328> BDAT read: Tx time:21:33:33.1436 $Ping request sent. u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819:,T?A24>2p?2n(ٱ2vx :AHRS rotation from veh to nav: [[0.818322,-0.562293,-0.119058],[0.573279,0.813369,0.098901],[0.041227,-0.149186,0.987949]]2H`/?N`z`MX?@? Q??ÿG?i24>I2`;2CYR[ByR"IiUMb@Mb@Mb@QQQQ Q9UK?:vI +YU^?yUTU9U AU@ Q)U@QYUAbDmUVDmn4y}9%G=ٔ0Q->9 ?Y ?=FFyYEW:E>Q 5^5ā?Q 9^5);zBY?Q E:y?Q I@ EIa:i:^5y˒Bɮ@pEԹGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 50.98 m.ֺֺQ ProNav: ac range: 50.980606 m, nav range: 49.260979 m, bearing: 26.070017 deg, approach rate: -0.621068 m/s, LOS rate: -0.093954 deg/s, cmd heading: 31.513219 deg, new cmd heading: 31.402107 deg. zQHeadingCmd: 0.548070 target range: 50.980606 and range: 51.30 m.RSN ?JbZB: 2 Ҕ ڔ Bڒ’c1?AɢEҨ)A E3>iI)Mg`IIiMiUSN ?U;U`=IUSN ?IYA1A1B9B9B=#IB=BB9B9B9B=Q;B=EEm EmEm$Ei"EmU,;*EmV:VEm4ZEiBEm:,??A>>>%W?>x/ٱ>$ FAHRS rotation from veh to nav: [[0.818489,-0.560437,-0.126435],[0.572917,0.812631,0.106759],[0.042913,-0.159817,0.986213]]>H1? /`UU??T??tĿ`?i>>I>ʑ`;9-"?Y-"?=-FFy-\E5ZE5>9Q 5E^5=ĕ?Q 9E^5=a)=?zBYAyEg?Q IM@= EI={;i=;=^5yUϒBɮU{@UqEyQ}DNOT Ignoring new targets: 50.98 m.yккQ ProNav: ac range: 50.980606 m, nav range: 48.978970 m, bearing: 26.027357 deg, approach rate: -0.600036 m/s, LOS rate: -0.091292 deg/s, cmd heading: 31.402105 deg, new cmd heading: 31.273388 deg. zzQHeadingCmd: 0.545824 target range: 50.980606 and range: 51.30 m.R ?JbZB:2Ҕڔڒ’?ɢ )  >i)/Ui#i ?Ǯ;~f=I ?I >@ @@O0@@@^Am0Z=E  E E 'E "E *E u:VE '4ZE a@a@a@a@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006927A.AIIO>a T:,:?A8^p>^?^ 6ٱ^V* fAHRS rotation from veh to nav: [[0.819065,-0.558549,-0.130978],[0.571976,0.812726,0.111000],[0.044450,-0.165832,0.985152]]^H5?@M? ?|j?1¦?9ſ\?i^p>I^`;^CYn>Byn"IieMb@Mb@Mb@aaaa a9e1Zd?X9vMbpYe"?ye}eae@ eA)e@aYeAbD}]VD}'+4y#3%E=ٔ-sQ->9 ?Y ?=FFy^E.E>Q 5^5Y?Q 9^5&)MzBY?Q E:y?Q I@ EI;i;p^5yΒBɮ @QDNOT Ignoring new targets: 50.98 m.00Q ProNav: ac range: 50.980606 m, nav range: 48.726944 m, bearing: 26.011471 deg, approach rate: -0.607488 m/s, LOS rate: -0.038490 deg/s, cmd heading: 31.273387 deg, new cmd heading: 31.225482 deg. zSӺQHeadingCmd: 0.544987 target range: 50.980606 and range: 51.30 m.RM ?JbZB:2ҔڔBڒ’`S?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773UBiɢ~#) =i)z顑i&!iM ?;1!e=IM ?IԙB>BB#IBBBM =BBBQ;BE?@ @@0@ GjA EM  EM EM (EI "EM F;*EM :VEM c44ZEI BEM ^JR?JY<ٱJ6 VAHRS rotation from veh to nav: [[0.820646,-0.554433,-0.138366],[0.569585,0.813123,0.120016],[0.045968,-0.177302,0.983082]]JHB?`@ :? ?[??ұƿ`iu?iJ>IJv`;HYv7Byv"I xxbDfVD;4yּ%%=ٔbIQ->9"?Y"?=FFy`E%,E%>1Q 55^55?Q 9=^55R)5^zBY9y=L?Q I=@5 EI59:i5g:5^5yEҒBɮM@MrEiQuDNOT Ignoring new targets: 50.98 m.qu&)}&)Q ProNav: ac range: 50.980606 m, nav range: 48.426445 m, bearing: 25.993294 deg, approach rate: -0.607456 m/s, LOS rate: -0.036971 deg/s, cmd heading: 31.225484 deg, new cmd heading: 31.170617 deg. zʺQHeadingCmd: 0.544030 target range: 50.980606 and range: 51.30 m.RE ?JbZB:2Ҕڔڒ’f?ɢ3) \=i)𰐼iH#iE ?5E;^=IE ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763201Թ@  @ @ 1@ E  E E $E "E /;*E :VE 4ZE a @a @a @a @ ^A5 c=} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015174A I I O= >A ;,^?AYv/Byz"IiMb@Mb@Mb@ 9`"?~jt~jth?Y?yĽD;QAd@ )@Y(AAAAAbDPVD:4y%1=ٔQ->9Y=FFycEE>Q 5^5Ӑ?Q 9%^5&)uzBY%?Q E%:y%>Q I-@ EI6c;i;^5y=ՒBɮEj@AQDNOT Ignoring new targets: 50.98 m._8_8)Q- ProNav: ac range: 50.980606 m, nav range: 48.148827 m, bearing: 25.994766 deg, approach rate: -0.573435 m/s, LOS rate: 0.003057 deg/s, cmd heading: 31.170617 deg, new cmd heading: 31.175057 deg. z5I9Q5HeadingCmd: 0.544107 target range: 50.980606 and range: 51.30 m.R5J ?J9b9Z9B9:929ҔAڔEBAڒi’iim@颱ɢKF) =i)i~%iJ ?Z;_=IJ ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267675Y@Y @Y@ec0@aYB>BB"IBoBBBBBuQ;BEԡ ^A u \=E%  E% $E! E! "E% 3;*E% ;VE! ZE! BE% 1;,-?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189220:F>:]?:9ٱ:< FAHRS rotation from veh to nav: [[0.822797,-0.550638,-0.140727],[0.566528,0.814373,0.125864],[0.045299,-0.183287,0.982015]]:H`YT?ҞZ¿ ?Y?S?k1?`uǿ@l?i:F>I:4`;:CYz-By~"IbD hVD f?4y%Y=ٔ%:Q-%>9% ?Y% ?=%FFy%eE-.#E->1Q 5=^55䐊?Q 9=^55~)5zBYAyE0>Q IE@5$ EI5;i5#;5^5yIɮM@IGSmB*** querying acoustic contact ***:iBiqQ}DNOT Ignoring new targets: 50.98 m.y}8}8Q ProNav: ac range: 50.980606 m, nav range: 47.924362 m, bearing: 25.996918 deg, approach rate: -0.632911 m/s, LOS rate: 0.006095 deg/s, cmd heading: 31.175056 deg, new cmd heading: 31.181541 deg. zڅ9QHeadingCmd: 0.544221 target range: 50.980606 and range: 51.30 m.R R ?JbZB:2Ҕڔڒ’܊@ɢ6) x=i)5iC'i R ?%;YQ=I R ?IUA@Q @Q@]4@YԉԹ^A<|^=A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771362 A ؟AI I9 OM >$\ ;, 8?A2->2?2Z7ٱ2g> :AHRS rotation from veh to nav: [[0.823879,-0.548991,-0.140825],[0.564996,0.815168,0.127593],[0.044749,-0.184687,0.981778]]2H8]?U¿r? ?T?`\?ѣǿj?i2->I25`;0YB(ByB"IbDJUVDJn4yVټ%VR=ٔV5:Q-Z>9Z"?YZ"?=ZFFyZgE^E^>``Q 5f^5bx?Q 9j^5b{)bzBYhyj@>Q Ij@b( EIbl:ib :b^5yrْBɮr@rsEQ DNOT Ignoring new targets: 50.98 m.  9 9Q% ProNav: ac range: 50.980606 m, nav range: 47.690609 m, bearing: 25.999692 deg, approach rate: -0.599475 m/s, LOS rate: 0.007150 deg/s, cmd heading: 31.181542 deg, new cmd heading: 31.189906 deg. z%9Q-HeadingCmd: 0.544367 target range: 50.980606 and range: 51.30 m.R-[ ?J)b)Z)B):)2)Ҕ1ڔ11ڒ1’99= @aɢmG)i m=ii)m9 qqiu(bEe4jEer 4rEe30E EE#E"E=-;*E#:VE3ZEa@a@a@a@i[ ?F;* L=I[ ?I]BDAT read: Rx Time:21:33:35.6131 eTRx dataTimestamp_ set to:1761514416.985662mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025262?@ @@/@^AdO=AA A IQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750 D;,\Q?A2m>2;?2|5ٱ23> :AHRS rotation from veh to nav: [[0.825332,-0.546929,-0.140340],[0.562908,0.816467,0.128517],[0.044293,-0.185068,0.981727]]2Hi? r@@W?  ??s??MǿNj?i2m>I2_;2CYB2ByB"IiEMb@Mb@Mb@AAAA A9E-?q= ףpQ?YE??yE뽙Eu=ٔul:Q-u>9qYy=}FFy}iE}b»E}>Q 5^5 ?Q 9^5My)zBY,?Q E:yp>Q I@, EI:i;=^5yɮh@QDNOT Ignoring new targets: 50.98 m.0 :0 :Q ProNav: ac range: 50.980606 m, nav range: 47.437588 m, bearing: 26.012769 deg, approach rate: -0.589716 m/s, LOS rate: 0.030641 deg/s, cmd heading: 31.189905 deg, new cmd heading: 31.229345 deg. z::QHeadingCmd: 0.545055 target range: 50.980606 and range: 51.30 m.R ?JbZB:2ҔڔBڒ’`Q @)ɢ-3)) 5 =i1)5^11i5*i= ?=.;EklA=IE ?IAMl>iM%>BYBYB]"IB]`BBYBYBYB]Q;B]EB¿CB¿CBBM =BM =C•15I@@ @@/@E EEE"E3;*E:VEZEBEa2EaJE"i]]T?]P3@]V>]3@ ]`>)]@I]`YY]qo?oz~?Om4u? ]p7?)]-I]Ai]`YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q^Au\J=ԩ A I I O >"n;,Yk?A:>:ڰ?:Z42ٱ:= FAHRS rotation from veh to nav: [[0.826553,-0.545458,-0.138873],[0.561176,0.817670,0.128441],[0.043493,-0.184096,0.981946]]:Hs?dt'? Z*? p?D?qǿ l?i:>I:2_;:CYr>Byv"IbD eVD 94yi=%%P=ٔ%1;Q-->9)Y)=5FFy5kE5#E5>AQ 5M^5E?Q 9U^5Ev)EzBYQyUU>Q IU@E/ EIEXD;iEE;E^5yeܒBɮm@mtEԁJR8_?ABBBB>G@9nK5> "f @ k?XǿS&r#?A`—>1E@WV?aW4@cu%@a$)B?5Ԏj?Q^?jʠAr,BZC?b4fzBꗍK1%?BڗD=B◍*>*DAT read: user:329> BDAT read: Tx time:21:33:36.8936 $Ping request sent.OM!;,u?AN>NA?N}/ٱNt< ZAHRS rotation from veh to nav: [[0.827528,-0.544269,-0.137722],[0.559779,0.818656,0.128256],[0.042942,-0.183229,0.982132]]NH{?j?`n2?@j?`t? tǿm?iN>IN&_;NCYf@Byj"Ir=ra= iMb@Mb@Mb@ 9"~?i|?5V-?Y?y<hA @ GA)@Y\@bD-\VD-P)4y=B<%=:=ٔ=J:Q-=>9AYA=EFFyEmEMEM>QQ 5]^5U/?Q 9]^5U6t)UzBY]3?Q E]:y]2>Q Ie@U3 EIU:iU:U^5yiɮm@iQDNOT Ignoring new targets: 48.70 m.#:#:Q- ProNav: ac range: 48.695126 m, nav range: 47.061760 m, bearing: 25.973780 deg, approach rate: -0.601372 m/s, LOS rate: 0.035644 deg/s, cmd heading: 31.266721 deg, new cmd heading: 31.312133 deg. z-:Q5HeadingCmd: 0.546500 target range: 48.695126 and range: 49.00 m.R5j ?J1b1Z1B1:129Ҕ9ڔ=Baڒa’iimN?频ɢ) =i)򮌼ia.ij ?t;41=Ij ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5035151Q@Q @Q@]4@YBm>BiBm"IBm[BBiBiBiBmQ;BmEy^A d6=E=  E= E= $E9 "E= );*E= S:VE= 4ZE9 BE= Kp';,5?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548376>6?6',ٱ6~: bAHRS rotation from veh to nav: [[0.828835,-0.542858,-0.135417],[0.557913,0.820098,0.127173],[0.042018,-0.180956,0.982593]]6Hх?_@UU`l? =>?5G? _?`)ǿ gq?i6>I6_;6CYfIByf"IbD%fVD%;4y55;=%5^=ٔ5U$;Q-]>9] ?Y] ?=]FFyeoEe]ȻEe>iQ 5u^5m@?Q 9u^5mq)m {BYyy}>Q I}@m7 EIm#;im$;m^5yBɮl@uEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 48.70 m.':':Q ProNav: ac range: 48.695126 m, nav range: 46.843590 m, bearing: 25.987427 deg, approach rate: -0.583942 m/s, LOS rate: 0.036697 deg/s, cmd heading: 31.312135 deg, new cmd heading: 31.353267 deg. zz:QHeadingCmd: 0.547218 target range: 48.695126 and range: 49.00 m.Rv ?JbZB:2Ҕڔڒ’ W?UBɢU=ֻ)Y ]>iY)]f݋YYieU0iev ?m(;m*'=Imv ?IiqI@I @I@M/@I@Y@]=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006857^A.=A ؟AI I O > 8-;,?A20>2 ?2'ٱ2B7 :AHRS rotation from veh to nav: [[0.830473,-0.541091,-0.132418],[0.555549,0.821971,0.125414],[0.040983,-0.177718,0.983228]]2HI2!^;2CYBZByB"IbDJTVDJ4yR=%VT=ٔV/;Q-V>9V"?YZ"?=ZFFyZqEZ EZ>\Q 5b^5^=R?Q 9f^5^o)^({BYdyfX>Q If@^; EI^N:i^g:^^5yjBɮj@nlE|QDNOT Ignoring new targets: 48.70 m.4:4:Q ProNav: ac range: 48.695126 m, nav range: 46.620033 m, bearing: 26.002405 deg, approach rate: -0.586581 m/s, LOS rate: 0.039486 deg/s, cmd heading: 31.353266 deg, new cmd heading: 31.398413 deg. z:QHeadingCmd: 0.548006 target range: 48.695126 and range: 49.00 m.R%J ?J!b!Z!B!:!2!Ҕ)ڔ))ڒ)’115k?E EE'E"E<;*E:VE'4ZEa@a@a@a@1ɢ5)9 =4>i9)=M99i=1iEJ ?E;M$=IMJ ?II]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259691@ @@@^A#'=1 A! I) I9 OM > ? b? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511024Q Մ4;,?A2ㆼ>2 ?2U$ٱ2+T3 :AHRS rotation from veh to nav: [[0.832300,-0.539009,-0.129406],[0.552864,0.824112,0.123209],[0.040235,-0.174091,0.983907]]2H3??b`? _?@? ?@Hƿ +|?i2ㆼ>I2^;2CYBvByB"IIF>)F>HJAiMMb@Mb@Mb@IIII I9M㥛 ?|?5^X9v?YM?yMҽM=ٔ}:Q-}>9yYy=FFysE(E>Q 5^5e?Q 9^5l)H{BY?Q E:yl>Q I@? EIu ;i ;^5yɮ@QDNOT Ignoring new targets: 48.70 m.N9N9Q ProNav: ac range: 48.695126 m, nav range: 46.366322 m, bearing: 26.012167 deg, approach rate: -0.588408 m/s, LOS rate: 0.022764 deg/s, cmd heading: 31.398414 deg, new cmd heading: 31.427860 deg. zy:QHeadingCmd: 0.548520 target range: 48.695126 and range: 49.00 m.Rk ?JbZB:2ҔڔÃBڒ’    ?BBB"IBjBBN =BBBQ;BEBɢQ) m>i)9iM&4ik ?ߨ;|;=Ik ?I 9=@ @@/@E EE#E"E77;*E|:VE3ZEBE :;,?A0J>J~_?JK"ٱJۄ1 VAHRS rotation from veh to nav: [[0.833891,-0.536978,-0.127595],[0.550506,0.825801,0.122455],[0.039612,-0.172356,0.984238]]JH;? .`Uྜྷ?l?:Y?H?ƿ~?iJ>IJ^;JCYbByb#IbDriVDr=A4y~=%~S=ٔw:Q->9 Y = FFy uE -E >Q 5u^5^w?Q 9}^5{j)d{BYyy}>Q I}@B EIYi))-]))i-H6i5a ?5;5r=I=a ?I9ԑ?@ @@@^Am =A.AIIԹOb>E EE$E"E&;*E:VE4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268925 9A;,6?A\<>t?ٱj4 -AHRS rotation from veh to nav: [[0.835883,-0.533827,-0.127780],[0.547535,0.827337,0.125374],[0.038789,-0.174762,0.983846]]H@?[ h?y?@C ? +ܣ?^ƿ@{?i<>I_;CY=By=!#IiMb@Mb@Mb@ 9v?ˡE:v?Y?y什<; A7@ A)r@Yp@bD^VD,4y=%<=ٔU :Q-U>9] ?Y] ?=]FFy]wEeEe>iQ 5u_5m?Q 9u_5mcg)m{BYui?Q Eu:y}>Q I}@mG EIm:im/:m,_5yɮw@QDNOT Ignoring new targets: 48.70 m.77Q ProNav: ac range: 48.695126 m, nav range: 45.868572 m, bearing: 26.022453 deg, approach rate: -0.615374 m/s, LOS rate: 0.001250 deg/s, cmd heading: 31.457232 deg, new cmd heading: 31.458871 deg. z[8QHeadingCmd: 0.549061 target range: 48.695126 and range: 49.00 m.RA ?JbZB:2ҔڔރBڒ’`Ԯ@ Bɢ  ;) >i)i8iA ?U;%BB#IBBBBBB|Q;BE^A =A gA   CzA iA G SkA u9 SkAY ΦA9 E  E E #E "E O6;*E |:VE 3ZE BE C#G;,} ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774850Y-By-8#I 11====bDEgVDE=4yU=%UU=ٔ]Q-]>9e"?Ye"?=eFFyeyEeEe>iQ 5u_5m?Q 9}_5md)m{BYyyyQ I}@mJ EIm ;imj;mj_5yBɮ@GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 48.70 m.77Q ProNav: ac range: 48.695126 m, nav range: 45.646019 m, bearing: 26.022907 deg, approach rate: -0.599268 m/s, LOS rate: 0.001229 deg/s, cmd heading: 31.458871 deg, new cmd heading: 31.460241 deg. zX8QHeadingCmd: 0.549085 target range: 48.695126 and range: 49.00 m.RҐ ?JbZB:2Ҕڔڒ’`b@Bɢz]"<) >i)킼!i%(;i%Ґ ?-֭;-IpqBDAT read: Rx Time:21:33:39.3600 TRx dataTimestamp_ set to:1761514420.768568checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027829ԡ M;,uZ:?A25>2!q?2ٱ2L[9 :AHRS rotation from veh to nav: [[0.840234,-0.526956,-0.127763],[0.540984,0.830633,0.131853],[0.036643,-0.179905,0.983001]]2H`3?`Z@O???@¢?ǿ@t?i25>I2^;0Yr̄ByvW#IbD~SVD~4y y=% O=ٔ w;Q->9Y=FFy{E%%E%>)Q 5-_5-?Q 95_5-$b)-{BY1y5>Q I5@-N EI-;i-;-_5yAɮE@AaQmDNOT Ignoring new targets: 48.70 m.im8u8yQ ProNav: ac range: 48.695126 m, nav range: 45.408920 m, bearing: 26.025640 deg, approach rate: -0.600493 m/s, LOS rate: 0.006956 deg/s, cmd heading: 31.460241 deg, new cmd heading: 31.468480 deg. zĘ9QHeadingCmd: 0.549229 target range: 48.695126 and range: 49.00 m.R? ?JbZB:2Ҕڔڒ’ V @E  EE%E"EF;*Ea:VE 4ZEa@a@a@a@BɢVS<) |>i)TEi=i? ?(;= DAT read: 21:33:39.3600 LVL= 32752, 32753, 32434, 32755, AGC= 66, IDX= 411,-0.27, 0.976,-0.492, 1.485, 0.942, PHS= 0.136,-1.389, 0.499, RAW= 160.4, 8.7, CAL= 160.2, 9.1, ROT= 349.8, -9.1 E Ygot valid direction response: 21:33:39.3600 LVL= 32752, 32753, 32434, 32755, AGC= 66, IDX= 411,-0.27, 0.976,-0.492, 1.485, 0.942, PHS= 0.136,-1.389, 0.499, RAW= 160.4, 8.7, CAL= 160.2, 9.1, ROT= 349.8, -9.1 M PDAT read: Bearing 186.0, -9.3 (Local) M ~Local bearing/azimuth received: Bearing 186.0, -9.3 (Local) U DAT read: Range 11 to 50 : 46.7 m (Round-trip 62.3 ms) speed 0.5 m/s ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.971808,-0.174856,0.158158]e Fpublishing direction and range infoy  Ƃ ?Ѣ5aƿ@\~>?Y :B    ~  ) BI i ʱ |> $+3@ |> 2@  ">) |]@I "   H˵?=@a?~?~aٱ~5: AHRS rotation from veh to nav: [[0.842135,-0.524095,-0.127018],[0.538108,0.832114,0.134258],[0.035330,-0.181413,0.982772]]~H ?a B.8?`?\/?`?8ǿr?i~q>I~ ^;~CY%߄By%n#IB>BB;#IBBBM =BBBqQ;BE1iMb@Mb@Mb@ 9On?Zd;O?Y?yLj<@ )@Y@bD]VD'+4y =% -=ٔ5S4;Q-5>91Y1==FFy=~E=E=>AQ 5M_5EÑ?Q 9m_5E^)E{BYu9?Q Eu:yuq>Q Iu@ER EIE;iE;E _5y}Bɮ}@}nEJRdQ?A9B9B4>0F@UAp: Fe,\@Ƃ ?Ѣ5aƿ@\~>?K6"—*]D@5Q2@ `$@~pz?փ?~iY?jAr5%BZC,\?bnwznBj ?Bڗ4B(D>Q5 addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 3.783888 s, deltaX: -2.299999 m, approachRate: -0.607840 m/s, rangeRepo size: 4 QE Added new target pos. range: 46.409344 m, bearing: 24.131092 deg, lat: 36.779397 deg, lon: -121.859463 deg, deltaT: 3.783888 s, deltaX: -2.285782 m, approachRate: -0.604083 m/s, posRepo size: 4 AQDNOT Ignoring new targets: 46.41 m.Q ProNav: ac range: 46.409344 m, nav range: 45.156601 m, bearing: 25.991943 deg, approach rate: 0.000000 m/s, LOS rate: 0.006956 deg/s, cmd heading: 31.468481 deg, new cmd heading: 31.478858 deg. zQHeadingCmd: 0.549410 target range: 46.409344 and range: 46.70 m.E EE&E"EU,;*E:VE4ZEBEii)mxiiiuX@iu ?uW;} UBDAT read: Tx time:21:33:40.6436 U$Ping request sent.UA% ?Թ AI IY Ii Ou >ś[;,p?A2 >2 ?2.e ٱ2o;>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249872 bAHRS rotation from veh to nav: [[0.843550,-0.522050,-0.126041],[0.535971,0.833212,0.135990],[0.034025,-0.182269,0.982660]]2H@]?"&??@h?`k?Tǿq?i2 >I2^;2CYjByj#IIn=)n;prAbDvKVDv 4y~>%~[=ٔzg;Q->9Y=FFyE E >Q 5_5"ԑ?Q 9_5[){BY!y%(>Q I%@V EI:i-:C_5y-Bɮ-Z@-oEQQUDNOT Ignoring new targets: 46.41 m.Q]t]tQm ProNav: ac range: 46.409344 m, nav range: 44.936371 m, bearing: 25.981579 deg, approach rate: -0.630634 m/s, LOS rate: -0.029824 deg/s, cmd heading: 31.478860 deg, new cmd heading: 31.447614 deg. zmqQ}HeadingCmd: 0.548864 target range: 46.409344 and range: 46.70 m.R}a ?JybyZB:2Ҕڔڒ’`H?颽Bɢ<) Q?i)siUvCia ?;@ @@1@^A]X<ԙA.AbEjE4rEp/E EEE"E ;*E:VEZEa@a@a@a@IIOd>5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502311 ~b;,w?A2>2te?2ٱ2}< :AHRS rotation from veh to nav: [[0.844654,-0.520623,-0.124544],[0.534331,0.834055,0.137269],[0.032412,-0.182492,0.982673]]2Hg?$⿿<???@?[ǿ`r?i2>I2^;0YBByB#IiEMb@Mb@Mb@AAAA A9E$C?9u ?Yu ?=uFFyuE}[E}>Q 5_5摊?Q 9_5fX){BY4?Q E:y?Q I@Z EI:i:_5yɮ@QDNOT Ignoring new targets: 46.41 m.Q ProNav: ac range: 46.409344 m, nav range: 44.687122 m, bearing: 25.948987 deg, approach rate: -0.597098 m/s, LOS rate: -0.078513 deg/s, cmd heading: 31.447615 deg, new cmd heading: 31.349294 deg. zWQHeadingCmd: 0.547148 target range: 46.409344 and range: 46.70 m.R ?JbZB:2ҔڔFBڒ’j?)ɢ5ս<)1 5h ?i1)=sl99i=FiE ?E;EBB#IBBBL =BBBQ;BEBIBIBIBIBICM+5^A`=<1E  E E %E "E D;*E :VE 4ZE BE ͚E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005849Y ިh;,7R?AFeB>F?FլٱF`< RAHRS rotation from veh to nav: [[0.845608,-0.519541,-0.122577],[0.532955,0.834653,0.138973],[0.030107,-0.182845,0.982681]]FH7?7a ?y??@iԞ?vgǿr?iFeB>IF>^;DYn"Byn#IbDzfVDz;4yI=%Q=ٔu;Q->9 "?Y "?= FFy EEE>)Q 5=_5-?Q 9E_5-#U)-|BYAyM ?Q IM@-^ EI-a;i-G;-V_5y]Bɮ]I@epEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 46.41 m.1Q ProNav: ac range: 46.409344 m, nav range: 44.452324 m, bearing: 25.918456 deg, approach rate: -0.587532 m/s, LOS rate: -0.076800 deg/s, cmd heading: 31.349294 deg, new cmd heading: 31.257219 deg. zRQHeadingCmd: 0.545541 target range: 46.409344 and range: 46.70 m.R ?JbZB:2Ҕڔڒ’??Bɢdi<) [?i)ci Ii% ?%j;%QҚԹ n;,k-?AE2 E2E2$E0"E2U,;*E2|:VE24ZE0a:@a:@a:@a:@:>:?:ee߼ٱ:p> jAHRS rotation from veh to nav: [[0.846336,-0.518692,-0.121134],[0.531950,0.834721,0.142370],[0.027267,-0.184931,0.982373]]:H 0?? ?19??ͫǿ o?i:>I:g^;:CYn;Byr#I ttbDzKVDz 4yj=%J=ٔ ;;Q- >9 Y = FFyEIE>Q 5%_5Y?Q 9%_5Q)|BY)y-a ?Q I-@b EI[:iR:_5y1ɮ5@1YQ]DNOT Ignoring new targets: 46.41 m.YeQeQQu ProNav: ac range: 46.409344 m, nav range: 44.211658 m, bearing: 25.887191 deg, approach rate: -0.610163 m/s, LOS rate: -0.079697 deg/s, cmd heading: 31.257220 deg, new cmd heading: 31.162916 deg. zuZQ}HeadingCmd: 0.543895 target range: 46.409344 and range: 46.70 m.R}< ?JybyZB:2Ҕڔڒ’h?Bɢ-7=)޼ 3!?i)Tp\i {Li< ?; u;,?AB>BB#IB&BBN =BBBQ;BEBe>BLY?BȼٱB> JAHRS rotation from veh to nav: [[0.847024,-0.518106,-0.118810],[0.530990,0.835012,0.144237],[0.024478,-0.185259,0.982385]]BH?R ]j?`k?[v??ǿ o?iBe>IBs^;BCYRMByR#Ii-Mb@Mb@Mb@)))) )9-Gz?~jth?9Y=FFyEB4E>Q 5_5?Q 9_5N)|BYu?Q E:yE?Q I@f EIs:i:_5yBɮ@gEQ%DNOT Ignoring new targets: 46.41 m.!%Ժ%ԺQ= ProNav: ac range: 46.409344 m, nav range: 43.949818 m, bearing: 25.847536 deg, approach rate: -0.610046 m/s, LOS rate: -0.092940 deg/s, cmd heading: 31.162916 deg, new cmd heading: 31.043242 deg. z="QEHeadingCmd: 0.541807 target range: 46.409344 and range: 46.70 m.REٳ ?JAbAZABA:A2AҔIڔMBIڒQ’QQU up@颁ɢ=) *?i)S顉iOiٳ ?ƴ;U{;,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265584> >>[?>.ٱ>*< FAHRS rotation from veh to nav: [[0.847066,-0.518931,-0.114845],[0.531058,0.835068,0.143661],[0.021353,-0.182680,0.982940]]>H`*?~f@n?`?~c?ݕ?@bǿ?t?i> >I>u^;>CYNbByR$IbDZhVDZf?4yb0=%b\=ٔf 9dYd=fFFyjEj~8Ej>lQ 5r_5nF+?Q 9r_5nJ)n"|BYtytQ Iv@nj EIn:in|:n!_5yxɮz@xQDNOT Ignoring new targets: 46.41 m.%׺%׺Q5 ProNav: ac range: 46.409344 m, nav range: 43.723484 m, bearing: 25.812874 deg, approach rate: -0.610740 m/s, LOS rate: -0.094018 deg/s, cmd heading: 31.043241 deg, new cmd heading: 30.938714 deg. z5 Q=HeadingCmd: 0.539982 target range: 46.409344 and range: 46.70 m.R=J< ?J9b9ZABA:A2AҔAڔIIڒI’IIU*g@yɢ}; =) -5?i)xJ顁iRiJ< ?; ς;, ?A6K>6||?6 ٱ6}: BAHRS rotation from veh to nav: [[0.846861,-0.520087,-0.111071],[0.531521,0.834666,0.144284],[0.017667,-0.181225,0.983283]]6H{?@(o8??w?c?_2ǿ w?i6K>I6+&_;4YFoByJ$ILiUMb@Mb@Mb@QQQQ Q9US?Q?~jtx?YU/?yU9Y=FFyEO:E>Q 5_5x=?Q 9_5F)'|BYa?Q E:y;?Q I@n EI:i:%_5yBɮ@hEQDNOT Ignoring new targets: 46.41 m.<<Q ProNav: ac range: 46.409344 m, nav range: 43.463371 m, bearing: 25.757618 deg, approach rate: -0.606444 m/s, LOS rate: -0.129599 deg/s, cmd heading: 30.938715 deg, new cmd heading: 30.771955 deg. zⱻQHeadingCmd: 0.537072 target range: 46.409344 and range: 46.70 m.R} ?JbZB:2ҔڔBڒ’    7@5Bɢ==)9 =;?i9)=,@AAiEUiE} ?M;MZB!B%$IB%YBB!B!B!B%Q;B%E=a>i=!>?@ @@/@E  E E %E "E C;*E :VE 4ZE BE <;,*?A2>2n?2*jٱ27 :AHRS rotation from veh to nav: [[0.846509,-0.521517,-0.106966],[0.532182,0.834342,0.143723],[0.014292,-0.178588,0.983820]]2H?`Eb?`?@e?E?`ƿt{?i2>I2_;2CYBxByB)$IbDNNVDN4yR #=%V8=ٔV;Q-V>9TYX=ZFFyZEZ:E^>\Q 5b_5^ZP?Q 9f_5^B)^+|BYdyfl?Q If@^r EI^l:i^ :^x)_5yjBɮn@lGS~B*** querying acoustic contact ***:|B|QDNOT Ignoring new targets: 46.41 m.   Q ProNav: ac range: 46.409344 m, nav range: 43.193386 m, bearing: 25.699279 deg, approach rate: -0.605761 m/s, LOS rate: -0.131712 deg/s, cmd heading: 30.771956 deg, new cmd heading: 30.595845 deg. zɴQHeadingCmd: 0.533998 target range: 46.409344 and range: 46.70 m.R?JbZB:2Ҕڔڒ ’- @aɢe=) D@?i)e4顉iXi?ɸ;@ԑ = DAT read: 21:33:43.1072 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.01,-1.197,-2.631,-0.780,-1.178, PHS= 0.083,-1.408, 0.354, RAW= 158.2, 11.8, CAL= 158.4, 13.2, ROT= 351.6, -13.2 E Ygot valid direction response: 21:33:43.1072 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.01,-1.197,-2.631,-0.780,-1.178, PHS= 0.083,-1.408, 0.354, RAW= 158.2, 11.8, CAL= 158.4, 13.2, ROT= 351.6, -13.2 N;,[C?APDAT read: Bearing 189.3, -9.5 (Local) ~Local bearing/azimuth received: Bearing 189.3, -9.5 (Local) DAT read: Range 11 to 50 : 44.5 m (Round-trip 59.4 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.963135,-0.142223,0.228351]2Fpublishing direction and range infoyIMA)]?OS`4¿ :?YM2BIIIM I)MDIM=iMX9M}?>M 0@MBR>M;0@ Mk>)M^@IMkIIM݉aƜ?DR!`?0,? M&*?)M_RIMT iMkIIRT****** received valid address query ******RR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode.e>e?e?ٱe9R2 AHRS rotation from veh to nav: [[0.845648,-0.523869,-0.102176],[0.533613,0.833993,0.140400],[0.011663,-0.173251,0.984809]]eH?3([???? -ƿ`?ie>IeR^;aY%By%:$IbDEdVDE 84qyU_=%]&=ٔm;Q->9Y=FFyEBV;EE>yQ 5_5}f?Q 9_5}=)}/|BYy?Q I@}w EI}FM4KE@S(ґ_2$@MA)]?OS`4¿ :?MT Mk—M $C@n0V2@,1'@Mo.b?˟TZ?J6?jM4ArM BZMO?bMLzMBIIIڗM+BMV>ԡQ addTargetRange:: Added new target pos. range: 44.500000 m, deltaT: 3.780045 s, deltaX: -2.200001 m, approachRate: -0.582004 m/s, rangeRepo size: 4 Q Added new target pos. range: 44.223110 m, bearing: 26.276515 deg, lat: 36.779397 deg, lon: -121.859463 deg, deltaT: 3.780045 s, deltaX: -2.186234 m, approachRate: -0.578362 m/s, posRepo size: 4 QDNOT Ignoring new targets: 44.22 m.Q ProNav: ac range: 44.223110 m, nav range: 42.874859 m, bearing: 25.628766 deg, approach rate: 0.000000 m/s, LOS rate: -0.131712 deg/s, cmd heading: 30.595846 deg, new cmd heading: 30.376588 deg. zQ%HeadingCmd: 0.530171 target range: 44.223110 and range: 44.50 m.R%Q?J!b)Z)B):)2)Ҕ1ڔ11ڒ1’1=@F@] ?颁ɢ=) )G?i)ٮ&顉i\\iQ?2;=IQ?I}*DAT read: user:331> BDAT read: Tx time:21:33:44.4436 $Ping request sent.6 ?6Cѻٱ6@) >AHRS rotation from veh to nav: [[0.842751,-0.530057,-0.093869],[0.538266,0.831847,0.135276],[0.006381,-0.164530,0.986351]]6H?@9z9?}?P?"z?`Uſ0?i6 W>I6f^;6CYFByF;$Ij=j=iuMb@Mb@Mb@qqqq q9uQ?L7A`?~jtx?Yu(?yu+=qu$ Au@ u@)u@qYu(@bDRVD4yO;%=ٔ&9 ?Y ?=FFy}E}"<E>Q 5_5}?Q 9_58)2|BYe?Q E:y?Q I@} EI:i:2_5yBɮ@iEQDNOT Ignoring new targets: 44.22 m.//Q ProNav: ac range: 44.223110 m, nav range: 42.551109 m, bearing: 25.551226 deg, approach rate: -0.637113 m/s, LOS rate: -0.153753 deg/s, cmd heading: 30.376587 deg, new cmd heading: 30.142199 deg. z ӻQHeadingCmd: 0.526081 target range: 44.223110 and range: 44.50 m.R8?JbZB:2ҔڔBڒ’@?!1ɢ5"=)1 =G?i9)=$99i=GW_iE8?E{н;M &=IM8?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503531@ @@/@^A@o=QA؟AI IO->y E  E E "E "E L;*E :VE (3ZE a @a @a @a @5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826;,f?A02д>2>?2dmٱ2ʌ' >AHRS rotation from veh to nav: [[0.841207,-0.532943,-0.091330],[0.540698,0.830324,0.134938],[0.003919,-0.162893,0.986636]]2H+? `ga@fM??E? p?`Ŀ?i2д>I2@^;2CYFvByF'$IbDNaVDN24yVձ%V^=ٔZ;Q-Z>9Z"?YZ"?=ZFFyZE^D <E^?`Q 5f_5bu?Q 9f_5b5)b3|BYhyjN ?Q Ij@b EIb:ib:b5_5ylɮn@l Q DNOT Ignoring new targets: 44.22 m.K*K*QU ProNav: ac range: 44.223110 m, nav range: 42.344440 m, bearing: 25.500267 deg, approach rate: -0.600874 m/s, LOS rate: -0.148884 deg/s, cmd heading: 30.142199 deg, new cmd heading: 29.988575 deg. z]Z̻Q]HeadingCmd: 0.523399 target range: 44.223110 and range: 44.50 m.Re?JabaZaBa:a2aҔiڔiiڒi’@?ԑ颩ɢf)=) T??i)h项iai?s;7=I?I @ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919 A A B B CB B$IB BB O =B B B ^R;B #E^A A zA bA A- .AI9 II OU >;,V ?AE. E.E.#E,"E.77;*E.:VE.3ZE,BE. Uõ>>E?>cٱ>_% FAHRS rotation from veh to nav: [[0.840210,-0.535007,-0.088395],[0.542259,0.829330,0.134783],[0.001199,-0.161179,0.986924]]>H?` 0Z? ߉?@? LS? Ŀ?i>Uõ>I>^;>CYN}ByR0$Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258730ieMb@Mb@Mb@aaaa a9e-?9e ?Ye ?=eFFyeEmY;Em>qQ 55_5ul?Q 95_5ur0)u0|BY=F?Q E=:y=?Q I=@u EIu;ZJ=I<?I@ @@/@@hA@eAA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511907^A 4=A ؟AI I O >Xɭ;,$ӹ?A>+>>?>0:ٱ>W# JAHRS rotation from veh to nav: [[0.839777,-0.536285,-0.084696],[0.542929,0.829016,0.134017],[-0.001657,-0.158528,0.987353]]>H t? >)``_?L?x'?`&[JĿ`e?i>+>I>^;>CYRpByR $IbDZaVDZ24yb%b=ٔf`;,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146836>61?6km;ٱ6 @ BAHRS rotation from veh to nav: [[0.839198,-0.537616,-0.081949],[0.543814,0.828593,0.133042],[-0.003623,-0.156213,0.987717]]6H?'4f? Ճ??`sm ÿ`?i6>I6^;6CYJ_ByJ $IiMb@Mb@Mb@ 9)\(?{GzYG!?y# )@Y@bD[VDy'4yz%7=ٔ;Q->9Y=FFyE%;E%>)Q 55_5-Ò?Q 95_5-))-)|BY5L!?Q E=:y=?Q I=@- EI-" ;i- ;- A_5yEBɮE@EaEiQmDNOT Ignoring new targets: 44.22 m.iuuQ ProNav: ac range: 44.223110 m, nav range: 41.550674 m, bearing: 25.338908 deg, approach rate: -0.643065 m/s, LOS rate: -0.116150 deg/s, cmd heading: 29.652532 deg, new cmd heading: 29.501234 deg. zmQHeadingCmd: 0.514894 target range: 44.223110 and range: 44.50 m.R?JbZB:2Ҕڔ~Bڒ’]@BBBH$IBBBBBBnR;B+EByByByB}N =B}N =C}5ɢ#=) a3?i)iphi?n;_=I?I ԱE?@A @A@E5@A^AO=E EEE"E);*E#:VEZEBEK ݺ;,?AJo>J?J ;ٱJ.g VAHRS rotation from veh to nav: [[0.839485,-0.537605,-0.079026],[0.543359,0.829180,0.131233],[-0.005025,-0.153107,0.988197]]JH?@4; 2c?ࣈ?@=?tÿN?iJo>IJ^;JCY^QBy^#IddbDjTVDj4ԑyf%P=ٔi;Q->9Y=FFyEuE>Q 5_5WՒ?Q 9_5>&)$|BYyo?Q I@ EI[:iR:D_5y Bɮ @ bEQDNOT Ignoring new targets: 44.22 m.WWQ ProNav: ac range: 44.223110 m, nav range: 41.302372 m, bearing: 25.293957 deg, approach rate: -0.591278 m/s, LOS rate: -0.107685 deg/s, cmd heading: 29.501233 deg, new cmd heading: 29.365569 deg. zΓQHeadingCmd: 0.512526 target range: 44.223110 and range: 44.50 m.R4?JbZB: 2 Ҕڔڒ’@@EBɢE#=)I MI,?iI)MMһIIiMojiU4?U;UH_e=I]4?IYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518929@@ @@n4@^AXR=E  E E 'E "E (;*E :VE '4ZE a @a @a @a @% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770749! A1 IA IQ O] >;,Hn?ABU>BF?Bq;ٱB: JAHRS rotation from veh to nav: [[0.840389,-0.536355,-0.077908],[0.541939,0.829755,0.133447],[-0.006930,-0.154369,0.987989]]BHw? )@W?`[??@b|Xÿ@?iBU>IB^;BCYRJByR#IbDZ^VDZ,4yb%b[=ٔjH;Q-m>9iYi=mFFyuExE>Q 5_5璊?Q 9_5")|BYy?Q I@ EI:i:G_5yɮ @ 9QMDNOT Ignoring new targets: 44.22 m.I]jejQ ProNav: ac range: 44.223110 m, nav range: 41.054623 m, bearing: 25.249158 deg, approach rate: -0.596932 m/s, LOS rate: -0.108590 deg/s, cmd heading: 29.365568 deg, new cmd heading: 29.230362 deg. z QHeadingCmd: 0.510166 target range: 44.223110 and range: 44.50 m.R>?JbZB:2Ҕڔڒ’@ @ɢIb=) n(?i)iaAli>?!;]Zg=I]>?Ia}>}<BDAT read: Rx Time:21:33:46.9040 TRx dataTimestamp_ set to:1761514428.329519checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025143?@ @@4@IBAp<BBCB/$IB|BBN =BBBR;B9E^A Jc=y E  E E #E "E /;*E :VE 3ZE BE Lj_;,#?Arm>r ?r1<ٱr#~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274838 AHRS rotation from veh to nav: [[0.841586,-0.534376,-0.078582],[0.540047,0.830078,0.138992],[-0.009045,-0.159412,0.987171]]rH F?H??`?+gĿ ?irm>IrC^;rCY =By5#IqiMb@Mb@Mb@ 9S?+y&1|Y/?y` A7@ )@Y@bD[VDy'4yZ%%=ٔ4;Q->9Y=FFyEhE>Q 5_59?Q 9_5 )|BY?Q E:y?Q I@ EI ;iu ; L_5yBɮ@cEQ DNOT Ignoring new targets: 44.22 m. Q= ProNav: ac range: 44.223110 m, nav range: 40.768143 m, bearing: 25.222789 deg, approach rate: -0.672862 m/s, LOS rate: -0.062369 deg/s, cmd heading: 29.230361 deg, new cmd heading: 29.150698 deg. zE6+Q]HeadingCmd: 0.508776 target range: 44.223110 and range: 44.50 m.Re??JibiZiBq:q2yҔڔ`Bڒ’ @ԡBɢ,*=)9 =U!?i9)EAAiEWmiM??U$;Ud=IU??Iy-A@) @1@53@1DAT read: 21:33:46.9040 LVL= 31984, 32753, 29426, 32755, AGC= 69, IDX= 414,-0.35,-1.194,-2.620,-0.697,-1.186, PHS= 0.094,-1.389, 0.444, RAW= 160.4, 10.1, CAL= 160.3, 11.0, ROT= 349.7, -11.0 Ygot valid direction response: 21:33:46.9040 LVL= 31984, 32753, 29426, 32755, AGC= 69, IDX= 414,-0.35,-1.194,-2.620,-0.697,-1.186, PHS= 0.094,-1.389, 0.444, RAW= 160.4, 10.1, CAL= 160.3, 11.0, ROT= 349.7, -11.0 PDAT read: Bearing 187.7, -12.1 (Local) ~Local bearing/azimuth received: Bearing 187.7, -12.1 (Local) DAT read: Range 11 to 50 : 42.2 m (Round-trip 56.3 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965808,-0.175517,0.190809] Fpublishing direction and range infoy"?WwƿP@ml?Y(B|r )EI=iʱS>$+3@J4>3@  D>)0O@I Dk?4of?EC^~? T4?)m4IT8i D T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ^AQ A] hAzA] gAA .AI I O >5;,??A2~>2?2#z@<ٱ23+ :AHRS rotation from veh to nav: [[0.843599,-0.531045,-0.079571],[0.536845,0.830844,0.146614],[-0.011748,-0.166400,0.985988]]L2H?`R^@-?F?=? @Lſ@7?i2~>I2^;0YZ#ByZ#I bp9r ?Yr ?=rFFyrErEr>tQ 5~_5v ?Q 9~_5v)v|BY|y?Q I@v EIv#;iv%;vpO_5y ɮ @ E EE&E"E;;*E:VE4ZEa%@a%@a%@a%@JyR};5?A}'B}'B}C>}q@D@xbq9  @}"?WwƿP@ml?}T8} D—}>\AmB@R0:0@G!@}@ꦑ?r# ?W^?j}iAr}BZ}F`?b}(bz}kB}C?}(b}Bڗ}"B}>Qu addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 3.779983 s, deltaX: -2.299999 m, approachRate: -0.608468 m/s, rangeRepo size: 4 Q Added new target pos. range: 41.937378 m, bearing: 24.168274 deg, lat: 36.779401 deg, lon: -121.859469 deg, deltaT: 3.779983 s, deltaX: -2.285732 m, approachRate: -0.604694 m/s, posRepo size: 4 QDNOT Ignoring new targets: 41.94 m.Q ProNav: ac range: 41.937378 m, nav range: 40.722504 m, bearing: 24.367483 deg, approach rate: 0.000000 m/s, LOS rate: -0.062369 deg/s, cmd heading: 29.150698 deg, new cmd heading: 29.076713 deg. zQHeadingCmd: 0.507484 target range: 41.937378 and range: 42.20 m.R?JbZB:2Ҕڔڒ’E@`x^?Bɢh$=) j?i)ןioi?2;[=I?I*DAT read: user:332> BDAT read: Tx time:21:33:48.2435 $Ping request sent.;,ڑY?ABBB#IBSBBBBBR;B5E|Y= By=#IiMb@Mb@Mb@ 9MbX9?#~jMbY!?y㥽 A@ @)Y3@bD_VD.4yڽ%:=ٔQ->9Y=GFyEE>Q 5 _5-#?Q 9 _5)|BY #?Q E:y>Q I@ EI;i ;FS_5y%Bɮ%I@!GS=B*** querying acoustic contact ***:9B9IQMDNOT Ignoring new targets: 41.94 m.IUfUfQe ProNav: ac range: 41.937378 m, nav range: 40.443012 m, bearing: 24.362073 deg, approach rate: -0.647377 m/s, LOS rate: -0.012618 deg/s, cmd heading: 29.076713 deg, new cmd heading: 29.060370 deg. ze QmHeadingCmd: 0.507199 target range: 41.937378 and range: 42.20 m.Rm?JibiZqBq:2Ҕڔ%Bڒ’% Nn?mBɢy<) ?i)顑ii1pi?V;j^=I?IE= E=E='E9"E=<;*E=>:VE='4ZE9BE=B;,ls?A2>2dZ?2<ٱ28Q: :AHRS rotation from veh to nav: [[0.849205,-0.521855,-0.080739],[0.527767,0.833628,0.162868],[-0.017688,-0.180920,0.983339]]2H,?@Iw?? ?@a(ǿw?i2>I2^;2CYBByB~#IbDJZVDJ%4yv('%v]=ٔvY9xYx=zGFyzEzE~>Q 5 _5E5?Q 9 _5O)|BY y [>Q I @ EI:i:V_5yB%%=%a=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754503ɮ-a@-dEIQUDNOT Ignoring new targets: 41.94 m.QU%W]%WQm ProNav: ac range: 41.937378 m, nav range: 40.206921 m, bearing: 24.360986 deg, approach rate: -0.634984 m/s, LOS rate: -0.002939 deg/s, cmd heading: 29.060372 deg, new cmd heading: 29.057094 deg. zmQmHeadingCmd: 0.507142 target range: 41.937378 and range: 42.20 m.Ru?JqbqZqBq:qy2yҔڔڒ’.Y?颱ɢ:<)j M>i)eipi? ;g6=I?I5=@1 @1@5/@9ԡEE EEEE$EA"EE%;*EE:VEE4ZEAaM@aM@aU@aU@^AuS^=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007730Am ؟AIy I O > *;,H?A癪># ?x<ٱ.< UAHRS rotation from veh to nav: [[0.851666,-0.518012,-0.079550],[0.523714,0.835494,0.166354],[-0.019710,-0.183339,0.982852]]H@?b] C? ^?K?.wǿ@s?i癪>I]^;Y-By-q#IiMb@Mb@Mb@ 9A`"?@5^I ¿{Gz?Y?yb#<@ )@Y@AbDLVD 4y-m8%-.=ٔ-;Q-5>95"?Y5"?=5GFy5E="E=>AQ 5M_5EL?Q 9M_5E)E!|BYMN?Q EU:yUC>Q IU@E EIEi ;iE ;EZ_5yYɮ]@YQDNOT Ignoring new targets: 41.94 m.y:y:Q ProNav: ac range: 41.937378 m, nav range: 39.914959 m, bearing: 24.402402 deg, approach rate: -0.613297 m/s, LOS rate: 0.087634 deg/s, cmd heading: 29.057093 deg, new cmd heading: 29.182248 deg. zp;QHeadingCmd: 0.509326 target range: 41.937378 and range: 42.20 m.R6c?JbZB:2ҔڔBڒ’ ?Bɢ[<) >i) ni-#qi6c?d);"=I6c?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259186e?@i @i@i@iA1A1 =n>=CB9B9B=#IB=&BB9B9B9B=mR;B=+EԀGjA^AB4= 쵿9 jAY VA1AI IQ Ia Ou >EM  EM EM (EI "EM /;*EM :VEM c44ZEI BEM )i))5{\11i5yqi=x?=;==I=x?IA@ @@1@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763421^A ;6=ԉI I O% >Ա <;,.?A:1>:6 ?:]<ٱ:HB BAHRS rotation from veh to nav: [[0.856719,-0.509842,-0.078059],[0.515282,0.839352,0.173126],[-0.022748,-0.188543,0.981801]]:H=j? P0}? ?(?4K -"ȿj?i:1>I:^;8YJĄByJM#IbDVKVDV 4yZC%^W=ٔ^9`Y`=bGFybEfӼEf>hQ 5n_5jop?Q 9n_5j)j3|BYpyrf>Q Ir@j EIjw;ij;j a_5yvBɮv;@vfEE  EE&E"ED;*EZ:VE4ZEa @a @a @a @)Q-DNOT Ignoring new targets: 41.94 m.)5):5):QE ProNav: ac range: 41.937378 m, nav range: 39.470261 m, bearing: 24.469905 deg, approach rate: -0.606326 m/s, LOS rate: 0.097114 deg/s, cmd heading: 29.274273 deg, new cmd heading: 29.385899 deg. zEK;QMHeadingCmd: 0.512881 target range: 41.937378 and range: 42.20 m.RM&L?JIbIZIBI:Q2QҔQڔQYڒY’YYe@颉ɢ<) >i)I顑iqi&L?p;r@a @i@m0@iM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266114^A ;=A gAzA B! B! B% #IB% BB% O =B! B! B% WR;B% !EI I I O >&;,??A2p>2` ?2U<ٱ2^C >AHRS rotation from veh to nav: [[0.859176,-0.505968,-0.076243],[0.511092,0.841461,0.175294],[-0.024538,-0.189576,0.981559]]2H^~?0`Z??? p?`e Dȿ h?i2p>I2ӷ^;2CYBByF>#Ii Mb@Mb@Mb@     9 rh|?Gzǿ~jt?Y ?y p= D< $ A @ @) 5@ Y  %4<%<bD-^VD-,4y=2O%=.=ٔ=y;Q-=>9AYA=EGFyEEE)EM>ԑQ 5_5Ɉ?Q 9_5+)B|BY"?Q E:yS>Q I@ EI:i:%e_5yBɮ@\EGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 41.94 m.6;6;Q- ProNav: ac range: 41.937378 m, nav range: 39.176659 m, bearing: 24.546475 deg, approach rate: -0.608118 m/s, LOS rate: 0.159784 deg/s, cmd heading: 29.385899 deg, new cmd heading: 29.617330 deg. zMP;QUHeadingCmd: 0.516920 target range: 41.937378 and range: 42.20 m.RUT?JQbQZQBQ:Y2YҔYڔ]҃Baڒa’aae@O@E EE#E"E+$;*E:VE3ZEBE/}ii)mP1iiim@qiuT?u;u  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770055jL;,&?A2h>2R?2W<ٱ2,D >AHRS rotation from veh to nav: [[0.861642,-0.502096,-0.073984],[0.506817,0.843606,0.177383],[-0.026650,-0.190337,0.981357]]2H`?*`7??|?J\ȿFg?i2h>I2J^;2CYBy*#II0>)p;bD-UVD-n4y=%=.=ٔE;Q-E>9AYA=EGFyEEM,EM>QQ 5]_5U*?Q 9]_5UB )UQ|BYaye{>Q Ie@U EIU:iUp:U>i_5ymBɮm@u]EQDNOT Ignoring new targets: 41.94 m.%\K;%\K;Q5 ProNav: ac range: 41.937378 m, nav range: 38.883377 m, bearing: 24.626301 deg, approach rate: -0.648319 m/s, LOS rate: 0.177791 deg/s, cmd heading: 29.617329 deg, new cmd heading: 29.858611 deg. z5;Q=HeadingCmd: 0.521131 target range: 41.937378 and range: 42.20 m.R=h?J9bAZABA:A2AҔIڔIIڒI’QQUr @颥Bɢ2g<) >i)F顩iUpih?b;IlA?IqIO>Q<,O?A 2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274270J>J?J)|<ٱJD RAHRS rotation from veh to nav: [[0.864434,-0.497637,-0.071493],[0.501924,0.846120,0.179315],[-0.028742,-0.190890,0.981191]]JHq?G߿^M`? j?@?{noȿe?iJ>IJϧ^;HYZByZ"#Ii=Mb@Mb@Mb@9999 99=l?:vʿ:v?Y=?y=T=<=; A=@ =@)99Y=@bDUfVDU;4ye%eD=ٔe;Q-m>9iYi=mGFymEu]Eu>yQ 5_5}?Q 9_5} )}e|BY ?Q E:y&O>Q I@} EI}:i}<:}l_5yBɮh@^EQDNOT Ignoring new targets: 41.94 m.q;q;BA4=B5>B1B5N#IB5ńBB5N =B1B1B5VR;B1BBBBBCb4Q ProNav: ac range: 41.937378 m, nav range: 38.629372 m, bearing: 24.713543 deg, approach rate: -0.609497 m/s, LOS rate: 0.210717 deg/s, cmd heading: 29.858613 deg, new cmd heading: 30.122057 deg. z<QHeadingCmd: 0.525729 target range: 41.937378 and range: 42.20 m.R.?JbZB:2ҔڔƃBڒ’c @I颡ɢ7<) ܡ>i)  i Apim.?u7g;uw~;I}.?IqE} E}E}"Ey"E}[";*E}-:VE}(3ZEyBE} z [?; Fht?YB )CI/]=iIʡ>C0@ j> 0@ %>)p{@I%< ?+#H?~q6Q? }(?)LjITi% T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԡ x <,0?A2>2J?2i<ٱ2\]B :AHRS rotation from veh to nav: [[0.867078,-0.493567,-0.067588],[0.497218,0.849016,0.178734],[-0.030834,-0.188582,0.981573]]2H?߿`oMi?$+?? 咟s#ȿ` i?i2>I2Ý^;0@YNByR#IbDZhVDZf?4y|μ%%O=ٔ%;Q-%>9)Y)=-GFy-E-r`E->1Q 5=_55˓?Q 9E_55 )5x|BYAyEnI>Q IE@5 EI5 ;i5\ ;5Sp_5yIɮU@QJIRM`:'?AMBMBM>Mh hB@- |r6d$@M [?; Fht?MTM%—MVnerA@͖: 0@-#@MX)??@?jMQArM BZMlG?bMczMZBMlG?McMnBڗMBMg>Q addTargetRange:: Added new target pos. range: 39.900002 m, deltaT: 3.781181 s, deltaX: -2.299999 m, approachRate: -0.608275 m/s, rangeRepo size: 4 Q Added new target pos. range: 39.651619 m, bearing: 24.687310 deg, lat: 36.779402 deg, lon: -121.859469 deg, deltaT: 3.781181 s, deltaX: -2.285759 m, approachRate: -0.604509 m/s, posRepo size: 4 QDNOT Ignoring new targets: 39.65 m.Q ProNav: ac range: 39.651619 m, nav range: 38.403786 m, bearing: 24.687212 deg, approach rate: 0.000000 m/s, LOS rate: 0.210717 deg/s, cmd heading: 30.122056 deg, new cmd heading: 30.373602 deg. zQHeadingCmd: 0.530119 target range: 39.651619 and range: 39.90 m.R?JbZB:2Ҕڔڒ’@3C@@?9ɢ=5<)9 =>i9)E9AAiE(oiM?MI;MlIM?IQu=u=}*DAT read: user:333> BDAT read: Tx time:21:33:52.0435 $Ping request sent.E  E E %E "E m+;*E a:VE 4ZE a @a @a @a @ - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249714_<,I?A6>6?6=ٱ6#(@ >AHRS rotation from veh to nav: [[0.869286,-0.490134,-0.064106],[0.493225,0.851471,0.178117],[-0.032717,-0.186454,0.981919]]6H1?`\^߿Gi?@??@?`;@ǿ k?i6>I6g^;4Y^Byb+#I ``f=f=bDjPVDj:4lyvu=%vN=ٔvp;Q-z>9xYx=zGFyzE~T<E~>Q 5 _5ߓ?Q 9 _5])|BY y D>Q I@ EI:i:s_5y Bɮ @q5#T5Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL=GTEEntering USBL mode with 120.000000 count pings at 39.900002 m (mode 2.000000 count ).EEQQUDNOT Ignoring new targets: 39.65 m.Q];];Qm ProNav: ac range: 39.651619 m, nav range: 38.161983 m, bearing: 24.775647 deg, approach rate: -0.611367 m/s, LOS rate: 0.225014 deg/s, cmd heading: 30.373602 deg, new cmd heading: 30.640587 deg. zml<QuHeadingCmd: 0.534779 target range: 39.651619 and range: 39.90 m.RuI?JqbyZyBy:y2yҔڔڒ’@l?颱ɢ<<) >i)غi4oiI?u;II?I5>@9 @9@E/@A^A-፨;A=hAzA=hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5024441AyIIO>BBB(#IBBBBBB5R;BEa <,c?AE& E&E&$E$"E& ;*E&:VE&4ZE$BE&vj>> ?> =ٱ>}0= JAHRS rotation from veh to nav: [[0.871298,-0.487011,-0.060504],[0.489547,0.853881,0.176722],[-0.034403,-0.183597,0.982399]]>H?/+߿ UT? R?מ?`?@ǿo?i>j>I>p^;>CYRByR##I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756646iuMb@Mb@Mb@qqqq q9ux?}?5^I̿{Gz?YuK?yuMbu#=u Aq u@)uK@qYu(@bDMJVDM04y]f%]5=ٔ]t;Q-e>9aYa=eGFyeEm<Em>Q 5_5z?Q 9_5)|BY!?Q E:y 0>Q I@ EI;i;w_5y Bɮ@_E*^@1GSB*** querying acoustic contact ***:BxQDNOT Ignoring new targets: 39.65 m.%';%';QU ProNav: ac range: 39.651619 m, nav range: 37.885109 m, bearing: 24.887288 deg, approach rate: -0.599052 m/s, LOS rate: 0.243314 deg/s, cmd heading: 30.640587 deg, new cmd heading: 30.977953 deg. zU&<Q]HeadingCmd: 0.540667 target range: 39.651619 and range: 39.90 m.R],i ?JYbYZYBY:a2aҔaڔe˃Biڒ’ ?ɢu<) >i)8i2?ni,i ?O9; I,i ?II%hA)%hAi@ @@/@@iA@iAԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005606^A A1 IA IQ O] ><,}?A>N>>?>$r=ٱ>ȇ: FAHRS rotation from veh to nav: [[0.873244,-0.483970,-0.056736],[0.485917,0.856155,0.175739],[-0.036478,-0.181032,0.982800]]>H`?\޿ B? e?~?4,ǿs?i>N>I>x^;>CYNByN:#IbDVjVDVC4y^=%^h=ٔb9;Q-b>9`Y`=bGFyfEf?Ef>hQ 5n_5j ?Q 9n_5j)j|BYpyr+>Q Ir@j EIj :ij[:jz_5ytɮv@t21q QDNOT Ignoring new targets: 39.65 m.ޔ;%ޔ;Q- ProNav: ac range: 39.651619 m, nav range: 37.673801 m, bearing: 24.975146 deg, approach rate: -0.622566 m/s, LOS rate: 0.260305 deg/s, cmd heading: 30.977954 deg, new cmd heading: 31.243005 deg. z52<Q=HeadingCmd: 0.545293 target range: 39.651619 and range: 39.90 m.R=X ?J9b9Z9B9:92AҔAڔAAڒI’IIM`qM?yɢ}@<) T>i)顁imԑiX ?;ȼIX ?IEU EUEU&EQ"EUg5;*EU:VEU4ZEQae@ae@ae@ae@?@ @@0@^AΒchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258686AII Om> %<,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5094516ؒ>6B?6x=ٱ6[5 BAHRS rotation from veh to nav: [[0.874553,-0.482134,-0.052003],[0.483381,0.858164,0.172911],[-0.038739,-0.176357,0.983564]]6HU?@I޿?v?!?գ@ƿ`Zy?i6ؒ>I6^;4YFByJG#ILLiuMb@Mb@Mb@qqqq q9uX9v?Eȿ~jt?Yu?yuFuD=qu@ u@)u1AqYqbDkVDD4AA@AB>BB#IBBBBBB.R;BEy A=%:=ٔ;Q->9Y=GFyEԻE>Q 5_5?Q 9_5)|BYR?Q E:y L>Q I @ EI:i:~_5yBɮ @`E:)q-'T-Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLq5#T5Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLQDNOT Ignoring new targets: 39.65 m.s;s;Q ProNav: ac range: 39.651619 m, nav range: 37.413628 m, bearing: 25.070951 deg, approach rate: -0.574695 m/s, LOS rate: 0.213095 deg/s, cmd heading: 31.243006 deg, new cmd heading: 31.532419 deg. z><QHeadingCmd: 0.550345 target range: 39.651619 and range: 39.90 m.Ra ?JbZB:2ҔڔBڒ ’6?Yɢe><)a e>ia)eKaaim lia ?;cIa ?I!)@) @)@-/@)Ee EaEe%Ea"Ee:;*EaVEe 4ZEaBEe.A- >AY Ia Iq ԁ O >+<,`?A2>2?2 k)=ٱ2"1 :AHRS rotation from veh to nav: [[0.875340,-0.481189,-0.047295],[0.481737,0.859586,0.170419],[-0.041350,-0.171958,0.984236]]2H? ޿6`??J?+ƿ~?i2>I2(}^;2CYBքByBb#IbDJiVDJ=A4yR=%V`=ٔV ;Q-V>9XYX=ZGFyZEZݣEZ>`Q 5b_5b2?Q 9f_5b)b|BYdyfbJ>Q If@b EIb6:ib-:bׁ_5yjBɮn@naEQDNOT Ignoring new targets: 39.65 m.|;|;Q ProNav: ac range: 39.651619 m, nav range: 37.198868 m, bearing: 25.151889 deg, approach rate: -0.583173 m/s, LOS rate: 0.221052 deg/s, cmd heading: 31.532419 deg, new cmd heading: 31.776632 deg. z<QHeadingCmd: 0.554607 target range: 39.651619 and range: 39.90 m.R ?JbZB:2Ҕ ڔ  ڒ ’  @Q颙ɢց<) H>i)y顡iGli ?`P;I ?Ie>i%>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013550>@ @@P0@@@^Ae̼ԉAIIO>ԩEu  Eu Eq Eq "Eu %;*Eu *:VEq ZEq a} @a} @a} @a} @i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265676 2<,;?A6뵑>6?6&3=ٱ6u+ BAHRS rotation from veh to nav: [[0.875443,-0.481448,-0.042525],[0.481341,0.860515,0.166809],[-0.043716,-0.166501,0.985072]]6H?` ޿ť K?V?Y? aOſ ?i6뵑>I6l^;6CY^Byb|#IbDjYVDj#4yr0=%rG=ٔr;Q-r>9tYt=vGFyvEv{|Ez>xQ 5_5zF?Q 9_5zI)z}BYyOI>Q I@z EIz+;iz&;zo_5yɮ@1Q=DNOT Ignoring new targets: 39.65 m.9E;E;QU ProNav: ac range: 39.651619 m, nav range: 36.956188 m, bearing: 25.244934 deg, approach rate: -0.615976 m/s, LOS rate: 0.237721 deg/s, cmd heading: 31.776632 deg, new cmd heading: 32.057599 deg. zU%#<QmHeadingCmd: 0.559511 target range: 39.651619 and range: 39.90 m.Ru<?JybZB:2Ҕڔڒ’@颹ɢ=) I>i)iki<?̈́;"I<?IԱ5@@9 @9@=4@9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517475^AeBBB.#IBBBM =BBBR;BEŀGSkA9e9eSkAYmA A I I O >9 8<,e?AZ>Z&?ZN;=ٱZ% jAHRS rotation from veh to nav: [[0.874494,-0.483525,-0.038254],[0.482862,0.860402,0.162950],[-0.045877,-0.160971,0.985892]]ZH?@޿ 4?i?@?@-}Ŀ n?iZ>IZ^;XYvByz#I = =E] E]EYEY"E]I@;*E]:VEYZEYBE]9Y=GFyE ;E>Q 5_5]?Q 9_5)}BY?Q E:y>Q I@ EIpiY)]W9YYi]jie+?eJ;es%Im+?Iiq9>@ @@$1@@!@%jAu BDAT read: Rx Time:21:33:54.4976 u TRx dataTimestamp_ set to:1761514435.888500u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022432y ^A} l"A gAzA gAԑ U PExceeded connect timeout, disconnecting.A I I O >@<,_?A6 >6&?6M=ٱ6@ >AHRS rotation from veh to nav: [[0.871123,-0.490310,-0.027212],[0.488489,0.859554,0.150149],[-0.050230,-0.144091,0.988289]]6H=?=a߿@]ݛ gC?`x?`8?@q¿?i6 >I6mu^;4YFByF#IbDRSVDR4yV=%ZN=ٔZ39\Y\=^GFy^Ebm<Eb>dQ 5j_5fq?Q 9j_5f-)f"}BYhyj>Q Ij@f EIf';if;f_5yrBɮr,@rbEQ DNOT Ignoring new targets: 39.65 m. %;%;Q% ProNav: ac range: 39.651619 m, nav range: 36.429489 m, bearing: 25.363766 deg, approach rate: -0.643870 m/s, LOS rate: 0.144722 deg/s, cmd heading: 32.251754 deg, new cmd heading: 32.416674 deg. z%;Q-HeadingCmd: 0.565778 target range: 39.651619 and range: 39.90 m.R-?J)b)Z)B):121Ҕ1ڔ19ڒ9’99= ) @!ɢ%(=)1 5 ?i1)=IN:99i=SPjiU?U;]mI]?IaE+ EE&E"Eb;*E :VE4ZEa@a@a@a@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274351?@! @!@%4@!^A-$9IY Iq O} > DAT read: 21:33:54.4976 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.03, 2.773, 1.259,-3.086, 2.882, PHS=-0.006,-1.578, 0.271, RAW= 158.0, 15.0, CAL= 158.8, 17.4, ROT= 351.2, -17.4  Ygot valid direction response: 21:33:54.4976 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.03, 2.773, 1.259,-3.086, 2.882, PHS=-0.006,-1.578, 0.271, RAW= 158.0, 15.0, CAL= 158.8, 17.4, ROT= 351.2, -17.4 % PDAT read: Bearing 192.6, -13.3 (Local) % ~Local bearing/azimuth received: Bearing 192.6, -13.3 (Local) - DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.0 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [0.943007,-0.145985,0.299041]= Fpublishing direction and range infoy  7>-?P¿-{#?Y B ) DI Ļi ɿ > |0@ > a1@ |>) %@I | Q 36[?{'?s|{? )?) mI TFi | ] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B B B T#IB ʄBB B B B R;B EF<,!?AV@>VF?V}U=ٱV f =AHRS rotation from veh to nav: [[0.868270,-0.495618,-0.021668],[0.493346,0.858054,0.142664],[-0.052114,-0.134561,0.989534]]VH ? 3߿.0?-u?B? H9@C?iV@>IVFv^;VCYM1ByM#I1iMb@Mb@Mb@ 9+?lˡE?Yv?y'= Az@ @)AY@ p<<bDcVD264yM=%,=ٔ~;Q->9Y=GFyE B<E>Q 5_5?Q 9%_5)+}BY%?Q E%:y%>Q I%@ EI:is:_5yQɮUr@QJR+?ABB>HGA@S)I&@7>-?P¿-{#?TF|—l&{@@̇vĄ,@qD#@$pcO?N[5|?eLʪ ?j&dArBZ3'b?b/z BC,\? BڗiBQ>Q addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 3.780372 s, deltaX: -2.400002 m, approachRate: -0.634859 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 37.266727 m, bearing: 23.389229 deg, lat: 36.779404 deg, lon: -121.859469 deg, deltaT: 3.780372 s, deltaX: -2.384892 m, approachRate: -0.630862 m/s, posRepo size: 4 1Q=DNOT Ignoring new targets: 37.27 m.9=AQ} ProNav: ac range: 37.266727 m, nav range: 36.352676 m, bearing: 25.214602 deg, approach rate: 0.000000 m/s, LOS rate: 0.144722 deg/s, cmd heading: 32.416675 deg, new cmd heading: 32.633394 deg. zQHeadingCmd: 0.569560 target range: 37.266727 and range: 37.50 m.R?JbZB:2ҔڔBڒ’B@%h?Ee EeEe'Ea"Ee*;*Eer:VEe'4ZEaBEe MBDAT read: Tx time:21:33:55.7935 M$Ping request sent.MA > IY Ii Ou >$pM<,\8?A25$>2?2W[=ٱ2->checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251165 BAHRS rotation from veh to nav: [[0.865042,-0.501406,-0.017170],[0.498837,0.855950,0.136059],[-0.053524,-0.126262,0.990552]]2H l?` @ ?c? `j?g`V)?i25$>I2_^;2CYJ@ByJ#IbDRWVDR 4yZ=%Z]=ٔ^y;Q-^>9\Y`=bGFybEb<Eb>dQ 55_5fS?Q 95_5f)f1}BY1y=>Q I=@f EIf\e5ii]?e];eIe?Ia@ @@/@EnManaging dock network, ignoring radio surface power offԡbEƻ 4jErEƳ0E] E]E])EY"E]=-;*E]:VE]FA4ZEYau@au@au@au@^A-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502993IIIaOm> ST<,[%R?A2Yӟ>2K?22`=ٱ2< :AHRS rotation from veh to nav: [[0.861375,-0.507803,-0.013026],[0.505016,0.853321,0.129624],[-0.054709,-0.118233,0.991478]]2Ha??)?gN? ?D`/?i2Yӟ>I2^^;0YBAByB#IbDJZVDJ%4yR/ <%VL=ٔVA;Q-V>9XYX=ZGFyZEZ<EZ>`Q 5b_5b?Q 9f_5b)b8}BYdyf!>Q If@b EIb:ib:bʗ_5yhɮn@l!Q%DNOT Ignoring new targets: 37.27 m.!-9-9Q= ProNav: ac range: 37.266727 m, nav range: 35.873665 m, bearing: 25.232221 deg, approach rate: -0.636790 m/s, LOS rate: 0.020555 deg/s, cmd heading: 32.662337 deg, new cmd heading: 32.686601 deg. z=a:QEHeadingCmd: 0.570489 target range: 37.266727 and range: 37.50 m.RE ?JAbAZABA:I2IҔIڔIQڒQ’QQU ?!ɢ-7=)Q ] ?iY)en;aߕ>ߕ:?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755404iihi ?;OμI ?IBBB#IBBBN =BBBQ;BEBBBBBCČ4>@ @@@1^Am 3I I O >E  E E &E "E 0;*E ;:VE 4ZE BE :m ?:4$d=ٱ:9 FAHRS rotation from veh to nav: [[0.857364,-0.514618,-0.009737],[0.511691,0.850136,0.124262],[-0.055670,-0.111520,0.992202]]:Ho?w_?P4?Ͽ?@@?i:ѣ>I:Ln^;8YRYByR$IiMb@Mb@Mb@ 9Zd;?~jtx rh?Y?yĻC = A@ @)tAY\@AAbDSVD4y=%7=ٔ( ;Q->9Y=GFyE<E> Q 5_5 ?Q 9_5 ;) Y8?Q E:y?Q I@  EI a;i  ; _5y%Bɮ%H@)1GSMB*** querying acoustic contact ***:IBIQQ]DNOT Ignoring new targets: 37.27 m.YeںeںQu ProNav: ac range: 37.266727 m, nav range: 35.597099 m, bearing: 25.190159 deg, approach rate: -0.623266 m/s, LOS rate: -0.095529 deg/s, cmd heading: 32.686601 deg, new cmd heading: 32.559432 deg. zuQ}HeadingCmd: 0.568269 target range: 37.266727 and range: 37.50 m.R}z?JybyZyBy:2ҔڔBڒ’+ ?]Bɢ]bI=)Y ]-,?ia)e Z>;aaieLhimz?s;8Iz?I%?@! @!@%/@)a^ATмAzAhAIqIO[>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017ԉԹ ea<,܅?A^Z}>^K ?^h&h=ٱ^Mݽ fAHRS rotation from veh to nav: [[0.853626,-0.520828,-0.007783],[0.517796,0.846844,0.121418],[-0.056647,-0.107675,0.992571]]^H@P?ɑ?X?8?@@$?i^Z}>I^em^;^CYnUBEn  EnEn%El"EnC;*En :VEn 4ZElar@ar@av@av@yv#IbD~^VD~,4y 5% Z=ٔf+;Q->9Y=GFyEܜ<E>!Q 5-_5%Ҕ?Q 9-_5%)%7}BY1y5 ?Q I5@% EI%>:i%6:%_5y=Bɮ=]@E[EaQmDNOT Ignoring new targets: 37.27 m.immQ ProNav: ac range: 37.266727 m, nav range: 35.365414 m, bearing: 25.151776 deg, approach rate: -0.621021 m/s, LOS rate: -0.103556 deg/s, cmd heading: 32.559433 deg, new cmd heading: 32.443532 deg. z#QHeadingCmd: 0.566246 target range: 37.266727 and range: 37.50 m.R?JbZB:2Ҕڔڒ’0?ɢW=) )?i)g];ihi?_{;I?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513877ԑQ@Q @Q@U/@QԹ^A]̼IIO=> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051A A AAB >B B #IB BB M =B B B Q;B E ̏g<,R?A2>2 ?2.i=ٱ2[ݽ :AHRS rotation from veh to nav: [[0.849388,-0.527699,-0.008568],[0.524693,0.842576,0.121504],[-0.056898,-0.107700,0.992554]]2H0.?@! H?b?`?@!@8?i2>I2^;2CY^WBy^$IiEMb@Mb@Mb@AAAA A9EˡE?{Gz?y&1?YE'?yE#=E`e9qYq=uGFyE<E>Q 5_5 攊?Q 9_5)+}BYI(?Q E :y ?Q I @ EI:i:_5yɮ/@9QEDNOT Ignoring new targets: 37.27 m.AEYEYQU ProNav: ac range: 37.266727 m, nav range: 35.086582 m, bearing: 25.070199 deg, approach rate: -0.646158 m/s, LOS rate: -0.190548 deg/s, cmd heading: 32.443532 deg, new cmd heading: 32.196857 deg. zUQ]HeadingCmd: 0.561941 target range: 37.266727 and range: 37.50 m.R]`?JYbaZaBa:a2aҔiڔmBiڒi’iqu@u@ɢT H=) *?i);iŤgi`?b;֯:I`?IE E#E"E"E3;*E;VE(3ZEBEI m<,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266896:}s>:\?:4j=ٱ: BAHRS rotation from veh to nav: [[0.845448,-0.533955,-0.010474],[0.530992,0.838333,0.123472],[-0.057148,-0.109951,0.992293]]:H ?)[s@??ۛ?`|B%?i:}s>I:Lw^;:CYJVByJ$I R49!Y!=%GFy%E%O<E->)Q 55_5-?Q 9=_5-)- }BY9yE?Q IE@- EI-;i-!;-_5yMBɮMs@M\EqQuDNOT Ignoring new targets: 37.27 m.q} f} fQ ProNav: ac range: 37.266727 m, nav range: 34.842827 m, bearing: 24.994697 deg, approach rate: -0.644808 m/s, LOS rate: -0.201124 deg/s, cmd heading: 32.196856 deg, new cmd heading: 31.968765 deg. z QHeadingCmd: 0.557960 target range: 37.266727 and range: 37.50 m.R{?JbZB:2Ҕڔڒ’{@BɢV=) )?i);iigi{? ;5 !A>%DDAT read: Rx Time:21:33:57.9698 -TRx dataTimestamp_ set to:1761514439.166287=PDAT read: Bearing 191.8, -14.4 (Local) =~Local bearing/azimuth received: Bearing 191.8, -14.4 (Local) UDAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.5 }DAT read: 21:33:57.9698 LVL= 32752, 32753, 27570, 32755, AGC= 70, IDX= 416,-0.26, 1.530, 0.011, 2.027, 1.598, PHS= 0.033,-1.542, 0.385, RAW= 159.9, 12.6, CAL= 160.3, 14.3, ROT= 349.7, -14.3 Ygot valid direction response: 21:33:57.9698 LVL= 32752, 32753, 27570, 32755, AGC= 70, IDX= 416,-0.26, 1.530, 0.011, 2.027, 1.598, PHS= 0.033,-1.542, 0.385, RAW= 159.9, 12.6, CAL= 160.3, 14.3, ROT= 349.7, -14.3 R#Rx 1: Read range and direction messages.^direction in FSK: [0.953400,-0.173262,0.246999]Fpublishing direction and range infoy)-6@?VQs-ƿ⩝?Y- B)))-k ))-FI-+=i-B`ſ->-)2@-z0a>-3@ -r>)-0O@I-r))-*ZKU?(.E?ϕe ? -*2?)-5@aI-T8i-r))checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538869ԩ A I I) O5 >t<,n?A@Y~QBy~#IbD gVD =4y%%%D=ٔ%Q-%>9)Y)=-GFy-E-E5>1Q 5M_557 ?Q 9U_55)5}BYayaQ Ie@5 EI5u;i5O;5_5yiɮu@qJQRUr?AU BU BU>U!.@@$a4`!@U6@?VQs-ƿ⩝?UT8Ur—Ut6?@¦Ӝ+@Vw؂܀@U~mNث?Eث";?.*?jU\\ArU)AZUs_i?bU` xzUBUF`?QUZBڗU BU E>checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773273ԱQ addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 2.772977 s, deltaX: -2.099998 m, approachRate: -0.757308 m/s, rangeRepo size: 4 Q Added new target pos. range: 35.179871 m, bearing: 23.602727 deg, lat: 36.779404 deg, lon: -121.859469 deg, deltaT: 2.772977 s, deltaX: -2.086857 m, approachRate: -0.752569 m/s, posRepo size: 4 Q DNOT Ignoring new targets: 35.18 m.  Q ProNav: ac range: 35.179871 m, nav range: 34.632538 m, bearing: 24.873309 deg, approach rate: 0.000000 m/s, LOS rate: -0.201124 deg/s, cmd heading: 31.968765 deg, new cmd heading: 31.678387 deg. z!BU>BQBU#IBU5BBQBQBQBUQ;BUEQeHeadingCmd: 0.552892 target range: 35.179871 and range: 35.40 m.RuW ?JqbqZqBq:y2yҔyڔyڒ’y@3A@`*R?Bɢl6=) '?i);ifi]W ?];]ȩR R#Rx 2: Read range and direction messages. ^direction in FSK: [0.949674,-0.160626,0.268920] Fpublishing direction and range infoy) - bvc? QaĿ]^|5?Y- B) ) ) - { ) )- DI- C- g1@- s>- aF2@ - 'g>)- E@I- 'g) ) - c&&? e? ee? - .?)- GCsI- +i- 'g) )  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.045064z<,P?All>?{i=ٱ eAHRS rotation from veh to nav: [[0.838536,-0.544692,-0.012958],[0.541860,0.831216,0.124369],[-0.056972,-0.111309,0.992151]]H I?nV?R?ֿ?`q+~`?il>I8h^;CYLBy#IiMb@Mb@Mb@ 9y&1? rh?~jth?Y`%?yC=D;AE@ @)AYAbDVVDE4y%%--=ٔML¹Q-M>9QYQ=UGFyUE]`<E]>aQ 5_5em?Q 9_5e)e}BYJ&?Q E:y-?Q I@e EIe;ieG;e_5y Bɮ>@JYR]?A]! B]! B]P>]I@@LYIJ"@]bvc? QaĿ]^|5?]+]'g—]^#HҞ>@,@iA\ @]P+?(??j]fAr]AZ]1?b]bz]VBYY]kBڗ]U B]_(>Q addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503118 s, deltaX: -0.400002 m, approachRate: -0.795045 m/s, rangeRepo size: 4 Q% Added new target pos. range: 34.782360 m, bearing: 25.214008 deg, lat: 36.779404 deg, lon: -121.859469 deg, deltaT: 0.503118 s, deltaX: -0.397511 m, approachRate: -0.790094 m/s, posRepo size: 4 aQeDNOT Ignoring new targets: 34.78 m.iiiQ} ProNav: ac range: 34.782360 m, nav range: 34.333683 m, bearing: 24.748834 deg, approach rate: 0.000000 m/s, LOS rate: -0.201124 deg/s, cmd heading: 31.678387 deg, new cmd heading: 31.430252 deg. zyQHeadingCmd: 0.548561 target range: 34.782360 and range: 35.00 m.Rn ?JbZB:2Ҕڔ̄Bڒ’A@?uBɢ}ĠQ=) /$?i);j;顁i8fin ?;c%<, ?A,6k>6?6xg=ٱ6 >AHRS rotation from veh to nav: [[0.834980,-0.550059,-0.015600],[0.547374,0.827326,0.126146],[-0.056481,-0.113868,0.991889]]6H (?@ @?`uy? %?묿z& ?i6k>I6b^;6CYF-ByF#ILLbDR_VDR.4yV-%Vh=ٔZQ-Z?9\Y\=^GFy^E^<Eb?`Q 5f_5b ,?Q 9j_5b)b|BYhyji/?Q Ij@b EIb ;ib. ;b°_5ypɮr'@pDDAT read: Rx Time:21:33:58.9694 TRx dataTimestamp_ set to:1761514440.173214 PDAT read: Bearing 193.1, -14.9 (Local) ~Local bearing/azimuth received: Bearing 193.1, -14.9 (Local) %DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5 eDAT read: 21:33:58.9694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.01, 0.205,-1.271, 0.705, 0.295, PHS= 0.012,-1.521, 0.366, RAW= 160.2, 13.1, CAL= 160.6, 15.0, ROT= 349.4, -15.0 mYgot valid direction response: 21:33:58.9694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.01, 0.205,-1.271, 0.705, 0.295, PHS= 0.012,-1.521, 0.366, RAW= 160.2, 13.1, CAL= 160.6, 15.0, ROT= 349.4, -15.0 uR#Rx 3: Read range and direction messages.}^direction in FSK: [0.949443,-0.177683,0.258819]}Fpublishing direction and range infoy{a?lVTƿV!}?Y3 B )CID2@ j>Ud3@  >)K$@JR ?AU BU B>j@@@`\e ,@za@6~]?>߀3?gW?jK`ArAAZ72C?bPizBlG?PiVBڗBgI>Q- addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503809 s, deltaX: -0.200001 m, approachRate: -0.396977 m/s, rangeRepo size: 4 Q= Added new target pos. range: 34.583603 m, bearing: 24.572833 deg, lat: 36.779402 deg, lon: -121.859472 deg, deltaT: 0.503809 s, deltaX: -0.198757 m, approachRate: -0.394509 m/s, posRepo size: 4 9QEDNOT Ignoring new targets: 34.58 m.AAAQu ProNav: ac range: 34.583603 m, nav range: 33.753025 m, bearing: 24.539461 deg, approach rate: 0.000000 m/s, LOS rate: -0.201124 deg/s, cmd heading: 31.430253 deg, new cmd heading: 31.208659 deg. zqQ}HeadingCmd: 0.544694 target range: 34.583603 and range: 34.80 m.R}q ?JybZB:2Ҕڔڒ’`ffA@?Yɢ]8WG=)Y ]?iaԁ)eA;ieiq ?+;=Iq ?IY@Y @Y@]5@YԹ^A55%<AEhAzAEgA Cchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.783818= ~GQ Ba Ae <Bm >Bi Bi Bi Bi Bi Bi Bm Q;Bm E A I I O > 쬿9 Y A+T<,"?AX>!?L'e=ٱW AHRS rotation from veh to nav: [[0.832302,-0.553954,-0.020195],[0.551495,0.823832,0.130975],[-0.055916,-0.120148,0.991180]]H7?@٥?`\??` ¾?i>Iˈ^;CEm EmEm(Ei"Em);*EmE:VEmc44ZEiBEmKP3@k>J4@ ԇ>)Q@Iԇװ;)u?݉[?-k+9? [7?)CkI4QOiԇ}checking for new query: numPingsReceived=4, elapsed TxPingTime=4.046896 )AIbDWVD 4y%=ٔMQ->9Y=GFyE<E>)Q 5U_5-yD?Q 9]_5-8)-|BY]*?Q E]:y]''?Q I]@- EI-;i-B;-_5y#Bɮ@]EJRW+?ABB%y>ΈD(@@Έ;7-!@??| kȿ;f$?4QOԇ— d>@…+@!,)@EK~r?ۻT?sJ{?jXAr AZ{oE?bOpzؔB{oE?OpؔBڗBx>Q% addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503977 s, deltaX: -0.399998 m, approachRate: -0.793682 m/s, rangeRepo size: 4 Q] Added new target pos. range: 34.186153 m, bearing: 24.000802 deg, lat: 36.779401 deg, lon: -121.859475 deg, deltaT: 0.503977 s, deltaX: -0.397449 m, approachRate: -0.788626 m/s, posRepo size: 4 YQ]DNOT Ignoring new targets: 34.19 m.YaaQ ProNav: ac range: 34.186153 m, nav range: 33.266945 m, bearing: 24.000718 deg, approach rate: 0.000000 m/s, LOS rate: -0.201124 deg/s, cmd heading: 31.208657 deg, new cmd heading: 30.883015 deg. zQHeadingCmd: 0.539010 target range: 34.186153 and range: 34.40 m.R ?JbZB:2Ҕ ڔ  ڒ ’@33A@ढ?]Bɢ]t, =) o ?i)!;idi ?j;4=I ?IY @Y  @Y @] 2@Y 1  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283147a ^A} <AIIaԑO ?j<,gE?Av#>vp?v_c=ٱv%% AHRS rotation from veh to nav: [[0.829947,-0.557341,-0.023631],[0.555076,0.820877,0.134353],[-0.055483,-0.124623,0.990652]]vH`?`@2.?D?`~2?@hL翿 k?iv#>Ivtv^;tE EE%E"EI@;*EZ:VE 4ZEa%@a%@a%@a%@Y5By5#IbDERVDE4y %7=ٔQ->9Y=GFyE<E>Q 5_5W?Q 9_5)|BYy4(?Q I@ EI;i;e_5yBɮ}@TEGSB*** querying acoustic contact ***:B!Q-DNOT Ignoring new targets: 34.19 m.)-J-JQ= ProNav: ac range: 34.186153 m, nav range: 32.983776 m, bearing: 23.881275 deg, approach rate: -0.679347 m/s, LOS rate: -0.289015 deg/s, cmd heading: 30.883015 deg, new cmd heading: 30.521614 deg. z=YFQEHeadingCmd: 0.532703 target range: 34.186153 and range: 34.40 m.RE3_?JIbIZIBI:I2IҔQڔQQڒQ’YY] ?颍Bɢ~%=) >i);顑ici3_?;uY=I3_?IDDAT read: Rx Time:21:33:59.9690 TRx dataTimestamp_ set to:1761514441.181188PDAT read: Bearing 189.7, -15.4 (Local) ~Local bearing/azimuth received: Bearing 189.7, -15.4 (Local) DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.5 =DAT read: 21:33:59.9690 LVL= 32752, 32753, 25778, 32755, AGC= 67, IDX= 503,-0.00, 0.809,-0.681, 1.350, 0.838, PHS= 0.073,-1.474, 0.467, RAW= 161.1, 10.5, CAL= 161.1, 11.5, ROT= 348.9, -11.5 EYgot valid direction response: 21:33:59.9690 LVL= 32752, 32753, 25778, 32755, AGC= 67, IDX= 503,-0.00, 0.809,-0.681, 1.350, 0.838, PHS= 0.073,-1.474, 0.467, RAW= 161.1, 10.5, CAL= 161.1, 11.5, ROT= 348.9, -11.5 MR#Rx 5: Read range and direction messages.U^direction in FSK: [0.961593,-0.188657,0.199368]UFpublishing direction and range infoyz^?d%ȿi?YBd )I=i>f;>P3@ M>)@IM3xy?j?gTIb? 7?)"a  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792582B >B B #IB BB B B B Q;B E <,_?A`r>r?ra=ٱr zAHRS rotation from veh to nav: [[0.827907,-0.560245,-0.026379],[0.558150,0.818366,0.136916],[-0.055119,-0.128077,0.990231]]rH6~?``^? 0?`t?8d?ir>Ir^;pY%ׄBy-d#Ia]a] i]Mb@Mb@Mb@YYYY Y9]'1Z?~jth?V-Y]"?y]D;]]; AY ]@)]-AYY]fAbD}[VD}y'4yt %2=ٔOQ->9Y=GFyE<E>Q 5_5Ml?Q 9_5B)|BY"?Q E:y?Q I@ EI;i;j_5y Bɮ@JRK?ABBm>`G>NW@@Ӧ̐ۥMޠ@z^?d%ȿi?aFM—npx>@N"+@9&@(-~?Nyz57?Zn?j^ArAZ= t?bI)]zMBPiBڗ8Bh>E5 E5E5$E1"E5&;*E5:VE54ZE1BE5i)̓;顱i4gbi?&>;DDAT read: Rx Time:21:34:00.4687 TRx dataTimestamp_ set to:1761514441.689248PDAT read: Bearing 192.3, -15.8 (Local) ~Local bearing/azimuth received: Bearing 192.3, -15.8 (Local)  DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.8 =DAT read: 21:34:00.4687 LVL= 32752, 32753, 31602, 32755, AGC= 66, IDX= 500,-0.09, 0.008,-1.440, 0.532, 0.089, PHS= 0.021,-1.484, 0.399, RAW= 160.9, 12.3, CAL= 161.3, 13.9, ROT= 348.7, -13.9 EYgot valid direction response: 21:34:00.4687 LVL= 32752, 32753, 31602, 32755, AGC= 66, IDX= 500,-0.09, 0.008,-1.440, 0.532, 0.089, PHS= 0.021,-1.484, 0.399, RAW= 160.9, 12.3, CAL= 161.3, 13.9, ROT= 348.7, -13.9 MR#Rx 6: Read range and direction messages.U^direction in FSK: [0.951899,-0.190208,0.240228]]|=I]?IauY>iu>Fpublishing direction and range infoyBuu?;sXȿؼʿ?Y3Br{ )BI13@[>,4@ Ulx>)6@IUlx9 #h?lu|?D UD? 6?)I[IIiUlxchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.100727@ @@5@A ^A ;6=q  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.295974AIIQIaOm>VǞ<,v}?AZ`>Z?Z`|`=ٱZ bAHRS rotation from veh to nav: [[0.826451,-0.562210,-0.029966],[0.560337,0.816186,0.140938],[-0.054779,-0.133269,0.989565]]ZHJr?@vG?`1?@ ? ?iZ`>IZ^;XYnByn.#IbDvVVDvE4y~_%~R=ٔveQ->9Y = GFy E {;E >Q 5_5}?Q 9_5)x|BY!y%*?Q I%@ EIy:i:_5y-#Bɮ-u@5UEJRl?A\B\B3>x_ te?@{.Ihjs# @Buu?;sXȿؼʿ?IUlx—WsU{=@R?:+@ʸe W@jq]?3q%^?~g?jl]Ar3AZ8J?b[zגBbڗBJl>Q} addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.508060 s, deltaX: -0.400002 m, approachRate: -0.787312 m/s, rangeRepo size: 4 Q Added new target pos. range: 33.589920 m, bearing: 24.927983 deg, lat: 36.779401 deg, lon: -121.859469 deg, deltaT: 0.508060 s, deltaX: -0.397514 m, approachRate: -0.782416 m/s, posRepo size: 4 QDNOT Ignoring new targets: 33.59 m.Q ProNav: ac range: 33.589920 m, nav range: 32.668034 m, bearing: 24.554710 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 30.111108 deg, new cmd heading: 29.781974 deg. zQHeadingCmd: 0.519794 target range: 33.589920 and range: 33.80 m.R0?JbZB:2ҔڔڒA’`f@@r? Bɢ<) z>i)- ;i ai%0?-d;-,=I-0?I1bEjEĻ 4rE/E- E-E-%E)"E-(;*E-:VE- 4ZE)aE@aE@aE@aE@a@@ @@4@DDAT read: Rx Time:21:34:00.9685 TRx dataTimestamp_ set to:1761514442.194198^A&V=PDAT read: Bearing 191.9, -16.4 (Local) ~Local bearing/azimuth received: Bearing 191.9, -16.4 (Local) 5DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.5 DAT read: 21:34:00.9685 LVL= 32752, 32753, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.170,-1.270, 0.714, 0.255, PHS= 0.017,-1.480, 0.415, RAW= 161.5, 12.1, CAL= 161.8, 13.7, ROT= 348.2, -13.7 Ygot valid direction response: 21:34:00.9685 LVL= 32752, 32753, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.170,-1.270, 0.714, 0.255, PHS= 0.017,-1.480, 0.415, RAW= 161.5, 12.1, CAL= 161.8, 13.7, ROT= 348.2, -13.7 R#Rx 7: Read range and direction messages.^direction in FSK: [0.951018,-0.198678,0.236838]%Fpublishing direction and range infoy ݼn?Enɿ4ӋHP?YB2i )ICe4@@X>{4@ Gt>)x@IGtԉ<sp?pЮ?E)? ^9?)}WI4RiGtchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.604430A% .AI) I9 OM >Ա <,ȗ?AJ >J?J^`=ٱJ'| rAHRS rotation from veh to nav: [[0.825977,-0.562733,-0.033079],[0.561039,0.814956,0.145198],[-0.054750,-0.138489,0.988849]]JHfn?@ ??@ܕ?@;?iJ >IJ͚^;JCYBy#IbDeQVDe4y%B=ٔ֌Q->9 ?Y ?=GFyEUchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.801370ԙAA@ABBBs#IBBBBBBQ;BEBYBYBYB]M =B]M =C]g4C:E>Q 5_5摕?Q 9_5R)Y|BYyQ?Q I@% EI:i:_5y&BɮG@VEJRm?A*B*B@>@Qg:?@A)uvh-@ ݼn?Enɿ4ӋHP?4RGt—ù ќ=@Bcx+@E@v?s r?qM?jGXArAZ2JQ?b_zB8J?_גBڗB.>Q} addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504950 s, deltaX: -0.299999 m, approachRate: -0.594117 m/s, rangeRepo size: 4 Q Added new target pos. range: 33.291752 m, bearing: 24.535756 deg, lat: 36.779402 deg, lon: -121.859468 deg, deltaT: 0.504950 s, deltaX: -0.298168 m, approachRate: -0.590491 m/s, posRepo size: 4 QDNOT Ignoring new targets: 33.29 m.Q ProNav: ac range: 33.291752 m, nav range: 32.480049 m, bearing: 24.593568 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 29.781974 deg, new cmd heading: 29.375364 deg. zQHeadingCmd: 0.512697 target range: 33.291752 and range: 33.50 m.R@?JbZB:2Ҕڔڒ’!%@@%?颭 Bɢ<) Ɇ>i)<顱ij_i@?;E=I@?I?@ @@4@E= E=E=&E9"E=<;*E=:VE=4ZE9BE= 3@ M> 4@ f>) @I f _ ?We܍?8? 7?) 8NI 4+Hi f  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.089541 ^A |=A! zA% iAAm؟AIqIO><,N?A6^I>6L?6_=ٱ6\ ^AHRS rotation from veh to nav: [[0.827650,-0.559860,-0.039399],[0.558578,0.814848,0.154963],[-0.054653,-0.150263,0.987134]]6H|? ``), ?<?`?~;ÿ?i6^I>I6^;6CYfkByf"IiMb@Mb@Mb@ 9Gz?A`"V-Yp?yY A )Y=AbDeVD94y3%)=ٔSQ->9"?Y"?=GFyEۻE>Q 5_5?Q 9_5޿)A|BY2?Q E:yW?Q I@) EI:i:_5yɮ@JR?A-B-Bo>!*l[?@n' T+I@Q*?xR <ȿNu?4+Hf—TKxD:$=@ߐ.+@jH%@hʄiio?Nx?7“&)?juYAr!AZff=?b2bZzOBI)]BڗB1>QE addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.503744 s, deltaX: -0.500000 m, approachRate: -0.992568 m/s, rangeRepo size: 4 QU Added new target pos. range: 32.794861 m, bearing: 25.003570 deg, lat: 36.779402 deg, lon: -121.859466 deg, deltaT: 0.503744 s, deltaX: -0.496891 m, approachRate: -0.986396 m/s, posRepo size: 4 QQ]DNOT Ignoring new targets: 32.79 m.YYYQu ProNav: ac range: 32.794861 m, nav range: 32.250229 m, bearing: 24.724275 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 29.375363 deg, new cmd heading: 28.997233 deg. zqQ}HeadingCmd: 0.506097 target range: 32.794861 and range: 33.00 m.R}?JybyZyBy:y2ҔڔBڒ’@@ j?颽 Bɢ]+<) =>i)mB<i4] checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302971iM?e,;m=Im?IiPE  E E (E "E ;*E :VE c44ZE a @a @a @a @a @a  @a @e z2@a @i @m hA^A= <=A  DDAT read: Rx Time:21:34:01.9681  TRx dataTimestamp_ set to:1761514443.202005 PDAT read: Bearing 189.8, -16.1 (Local)  ~Local bearing/azimuth received: Bearing 189.8, -16.1 (Local)  DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.6  DAT read: 21:34:01.9681 LVL= 32752, 32753, 27682, 32755, AGC= 66, IDX= 510,-0.10,-1.354,-2.775,-0.821,-1.308, PHS= 0.056,-1.422, 0.443, RAW= 161.3, 10.8, CAL= 161.4, 12.0, ROT= 348.6, -12.0  Ygot valid direction response: 21:34:01.9681 LVL= 32752, 32753, 27682, 32755, AGC= 66, IDX= 510,-0.10,-1.354,-2.775,-0.821,-1.308, PHS= 0.056,-1.422, 0.443, RAW= 161.3, 10.8, CAL= 161.4, 12.0, ROT= 348.6, -12.0  R#Rx 9: Read range and direction messages.% ^direction in FSK: [0.958850,-0.193338,0.207912]% Fpublishing direction and range infoy  ܈?Kȿhٜ?Y B "l ) BI B`e=i  > ,4@ A> I4@ PwV>) @I PwV <?fS?0^? 28?) DAI Ki PwV  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.592224A I I O >(<,q?AR=?R޸_=ٱR@$ zAHRS rotation from veh to nav: [[0.829271,-0.557106,-0.044083],[0.556174,0.815027,0.162485],[-0.054593,-0.159262,0.985726]]RHb? -??@O?bĿ?iR̾>IR*^;RCY=9Y=GFyE<E>Q 5_5B?Q 9_5)*|BYy >Q I@. EI6:i;f_5y(Bɮ@JaRe?AeBeBe>eċY?@NH|t0@e܈?Kȿhٜ?eKePwV—ensIZ:8=@Bn5*@$O@eθ?g(5?lLy?je7VAreAZeW?beu\ze:Be2JQ?eu\eOBڗeKBez>Q addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504063 s, deltaX: -0.099998 m, approachRate: -0.198385 m/s, rangeRepo size: 4 Q Added new target pos. range: 32.695484 m, bearing: 24.617544 deg, lat: 36.779403 deg, lon: -121.859466 deg, deltaT: 0.504063 s, deltaX: -0.099377 m, approachRate: -0.197151 m/s, posRepo size: 4 QDNOT Ignoring new targets: 32.70 m.Q ProNav: ac range: 32.695484 m, nav range: 32.073566 m, bearing: 24.672646 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 28.997233 deg, new cmd heading: 28.622230 deg. zQHeadingCmd: 0.499552 target range: 32.695484 and range: 32.90 m.RM>JbZB:2Ҕڔ!ڒ)’)-@3s@@-`O?u Bɢ}g<)y }x=iy)}*>;K=IM>I;ߍ%=ߍ%=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.811686BBB#IBBBL =BBBQ;BE@ @@/@ ^A] =E  E E 'E "E 3;*E :VE '4ZE BE c<,?A2D׼>2@B?2`=ٱ2u$. >AHRS rotation from veh to nav: [[0.831388,-0.553540,-0.048851],[0.552994,0.815497,0.170769],[-0.054690,-0.168989,0.984099]]2H?`@ ???Koſ}?i2D׼>I22n^;2CYJ ByJ"IbDDAT read: Rx Time:21:34:02.4678 fTRx dataTimestamp_ set to:1761514443.705992nPDAT read: Bearing 189.3, -16.1 (Local) n~Local bearing/azimuth received: Bearing 189.3, -16.1 (Local) zDAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 -DAT read: 21:34:02.4678 LVL= 32752, 32753, 24962, 32755, AGC= 67, IDX= 507,-0.17,-1.902, 2.960,-1.374,-1.860, PHS= 0.060,-1.418, 0.442, RAW= 161.2, 10.8, CAL= 161.3, 11.9, ROT= 348.7, -11.9 1=Ygot valid direction response: 21:34:02.4678 LVL= 32752, 32753, 24962, 32755, AGC= 67, IDX= 507,-0.17,-1.902, 2.960,-1.374,-1.860, PHS= 0.060,-1.418, 0.442, RAW= 161.2, 10.8, CAL= 161.3, 11.9, ROT= 348.7, -11.9 ET#Rx 10: Read range and direction messages.M^direction in FSK: [0.959540,-0.191735,0.206204]UFpublishing direction and range infoydf)Ӎ?!9ŊȿFa5d?YfBdddfa d)fCIfu=iffM>f4@df,4@ fȭT>)f6@IfȭTddfy'c? ?=i/? f"8?)f9@IfIifȭTddchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.087524i]Mb@Mb@Mb@YYYY Y9]5^I ?B`"۹y&1Y]?y]ν]`e]A]@ Y)]AYY]AbDVVDE4y%+=ٔU9Q->9Y=GFyEcE>Q 5_59ϕ?Q 9_5)|BYI?Q E:yk>Q I@2 EIy;i6;_5yɮ{@JdYRf.?AfBfBf>f6;X>@IgıN֎@f)Ӎ?!9ŊȿFa5d?fIfȭT—f@oS<@S]u^*@ފtf͌@fd?4?ig?jfRArfQ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503987 s, deltaX: -0.500000 m, approachRate: -0.992089 m/s, rangeRepo size: 4 Q- Added new target pos. range: 32.198624 m, bearing: 24.613533 deg, lat: 36.779402 deg, lon: -121.859466 deg, deltaT: 0.503987 s, deltaX: -0.496861 m, approachRate: -0.985860 m/s, posRepo size: 4 1Q5DNOT Ignoring new targets: 32.20 m.1YYQm ProNav: ac range: 32.198624 m, nav range: 31.716755 m, bearing: 24.739344 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 28.622230 deg, new cmd heading: 28.197739 deg. ziQuHeadingCmd: 0.492143 target range: 32.198624 and range: 32.40 m.Ru8>JqbqZB:2ҔڔكBڒ’@33@@?Bɢz)<) @ =i)!<i%SXi 8> H; B=I58>I1ԉmchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.311132 { @  @ @ 3@ Ee EeEe&Ea"Eea?;*Ee :VEe4ZEaau@au@au@au@^A͢=A>A>%DDAT read: Rx Time:21:34:02.9677 -TRx dataTimestamp_ set to:1761514444.209876=PDAT read: Bearing 186.3, -16.0 (Local) =~Local bearing/azimuth received: Bearing 186.3, -16.0 (Local) ]DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.5 DAT read: 21:34:02.9677 LVL= 32752, 32753, 26098, 32755, AGC= 67, IDX= 506,-0.19,-0.637,-2.069,-0.086,-0.642, PHS= 0.107,-1.382, 0.512, RAW= 161.7, 8.9, CAL= 161.5, 9.3, ROT= 348.5, -9.3 Ygot valid direction response: 21:34:02.9677 LVL= 32752, 32753, 26098, 32755, AGC= 67, IDX= 506,-0.19,-0.637,-2.069,-0.086,-0.642, PHS= 0.107,-1.382, 0.512, RAW= 161.7, 8.9, CAL= 161.5, 9.3, ROT= 348.5, -9.3 T#Rx 11: Read range and direction messages.U^direction in FSK: [0.967044,-0.196748,0.161604]UFpublishing direction and range infoy)- ?X/ɿo?Y-3B)))-e )))I-"=i-`尿-o?-4@->-e4@ -6&>)-@I-6&))-دڙ?0r ?]2? -a:?)-I-Mi-6&))checking for new query: numPingsReceived=11, elapsed TxPingTime=7.612824A)I1IAOU?gI<,?AYBy["I bD]VD'+4y%=ٔQ->9Y=GFyEE>Q 5_5W蕊?Q 9_5) |BYyQ I@7 EI:ij:D_5yM+BɮM@MWEJYR]n ?A]eB]eB]>]Mo ?@KyHCVOpۿ@] ?X/ɿo?]M]6&—]"Z =@Af =x)@=}@]f*? ?(8?j]kNAr]fAZ]Px?b]*bz]B]2JQ?]^]:Bڗ]gA]L>Q addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503884 s, deltaX: -0.100002 m, approachRate: -0.198463 m/s, rangeRepo size: 4 Q Added new target pos. range: 32.099243 m, bearing: 23.946413 deg, lat: 36.779403 deg, lon: -121.859467 deg, deltaT: 0.503884 s, deltaX: -0.099380 m, approachRate: -0.197229 m/s, posRepo size: 4  Q DNOT Ignoring new targets: 32.10 m. Q% ProNav: ac range: 32.099243 m, nav range: 31.425655 m, bearing: 24.541011 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 28.197739 deg, new cmd heading: 27.738727 deg. zAQMHeadingCmd: 0.484132 target range: 32.099243 and range: 32.30 m.RM*>JIbIZIBI:I2QҔQڔQQڒY’Y]`f&@@]'? Bɢ sb;)  ` i)<iTi*>uv;D=I*>I ichecking for new query: numPingsReceived=11, elapsed TxPingTime=7.817106B<AB>BB"IBFBBBBBQ;BEi99Iq q @y  @y @} 0@y E  E E %E "E %;*E :VE 4ZE BE ~= 4@= ;0>= {4@ = t;?>)= x@I= t;?9 9 = p3J,w?TlU ?4,\? = i2;?)= 0I= 4Ri= t;?9 9 checking for new query: numPingsReceived=12, elapsed TxPingTime=8.121600^A=AIIO?AQ<,s7?A6P>6G*?6g]=ٱ6aB RAHRS rotation from veh to nav: [[0.840153,-0.539305,-0.057384],[0.539648,0.820729,0.187577],[-0.054065,-0.188560,0.980572]]6H?AiaD?hC? ?X`"ȿ`?i6P>I6\^;6CYV҃ByZ#"Ii=Mb@Mb@Mb@9999 99=㥛 ?ףp= ÿMb`?Y=?y==;= A=@ =@)=A9Y= AbDUpVDUN4y]%e =ٔe@Q-e>9iYi=mGFymEuEu>yQ 5}_5}9?Q 9_5}@)yY?Q E:yF>Q I@}= EI}:i}:}M_5y.Bɮ@XEJR%-?AAA(>/ce>@RfncBRx@%!t??xhɿ &K{?4Rt;?—w5<@0 %(@_j:@Iqk?N?fJ?jDArAZAvp?bozoBꗭW?Bڗ-A◭6n>Q addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504061 s, deltaX: -0.500000 m, approachRate: -0.991943 m/s, rangeRepo size: 4 Q Added new target pos. range: 31.602348 m, bearing: 23.239323 deg, lat: 36.779403 deg, lon: -121.859467 deg, deltaT: 0.504061 s, deltaX: -0.496895 m, approachRate: -0.985783 m/s, posRepo size: 4 QDNOT Ignoring new targets: 31.60 m.Q ProNav: ac range: 31.602348 m, nav range: 31.147030 m, bearing: 24.555551 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 27.738727 deg, new cmd heading: 27.252846 deg. zQHeadingCmd: 0.475652 target range: 31.602348 and range: 31.80 m.R>JbZB:2ҔڔBڒ’checking for new query: numPingsReceived=12, elapsed TxPingTime=8.319109?@?Bɢh5*:)%: %i))-.<))i-PiM>M;Mw=IM>II@ @ @ _0@!^A5õ=AIIO>E EEE"Ey>;*Ed:VEZEa@a@a@a@A  DDAT read: Rx Time:21:34:03.9673  TRx dataTimestamp_ set to:1761514445.217185 PDAT read: Bearing 189.7, -16.9 (Local)  ~Local bearing/azimuth received: Bearing 189.7, -16.9 (Local)  DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5  DAT read: 21:34:03.9673 LVL= 32752, 32753, 30690, 32755, AGC= 68, IDX= 502,-0.19,-0.098,-1.523, 0.441,-0.021, PHS= 0.025,-1.457, 0.418, RAW= 161.5, 11.8, CAL= 161.7, 13.3, ROT= 348.3, -13.3  Ygot valid direction response: 21:34:03.9673 LVL= 32752, 32753, 30690, 32755, AGC= 68, IDX= 502,-0.19,-0.098,-1.523, 0.441,-0.021, PHS= 0.025,-1.457, 0.418, RAW= 161.5, 11.8, CAL= 161.7, 13.3, ROT= 348.3, -13.3  T#Rx 13: Read range and direction messages. ^direction in FSK: [0.952959,-0.197349,0.230050] Fpublishing direction and range infoy  (P~?8KBɿgz}"Er?Y A w ) DI e4@ BR> 4@ ,m>) @I ,m 6x?`V?e69? }A9?) fLSI Qi ,m % checking for new query: numPingsReceived=13, elapsed TxPingTime=8.5919194<,Q?A 2H>2{?2*>[=ٱ2ZF >AHRS rotation from veh to nav: [[0.843712,-0.533603,-0.058465],[0.534123,0.823662,0.190508],[-0.053501,-0.191961,0.979943]]2H@?@F@ﭿ? p[?b?kd0ȿ[?i2H>I2Щ^;2CYvByv"IbDegVDe=4y%E=ٔQ->9Y=GFyEE>Q 5_5?Q 9_56)Yy >Q I @A EI6:i:_5y51Bɮ5}@5YEJR\M?AAA Z>b>@:G++K/@(P~?8KBɿgz}"Er?Q,m— m 9<@O7(@պ@st ?̹{E?n-?jDArAZb?b &mzBꗽb?*bڗA◽>Q addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503248 s, deltaX: -0.099998 m, approachRate: -0.198706 m/s, rangeRepo size: 4 Q Added new target pos. range: 31.502972 m, bearing: 23.539586 deg, lat: 36.779404 deg, lon: -121.859469 deg, deltaT: 0.503248 s, deltaX: -0.099377 m, approachRate: -0.197471 m/s, posRepo size: 4 QDNOT Ignoring new targets: 31.50 m.!QU ProNav: ac range: 31.502972 m, nav range: 30.954912 m, bearing: 24.252972 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 27.252846 deg, new cmd heading: 26.874658 deg. zQQ]HeadingCmd: 0.469051 target range: 31.502972 and range: 31.70 m.R]}'>JYbYZYBY:Y2aҔaڔaaڒii’i@3?@@GV?BɢX) &5i)<iMi}'> m< 5=I }'>I Mi>iM>G)I9Y~Achecking for new query: numPingsReceived=13, elapsed TxPingTime=8.825792B)B-CB-N"IB-BB-K =B)B)B-R;B-E}>@ @@0@ԡ@@iA ^A =E  E E &E "E g5;*E g:VE 4ZE BE {<,m?AiIDDAT read: Rx Time:21:34:04.4670 TRx dataTimestamp_ set to:1761514445.722450&PDAT read: Bearing 189.0, -16.3 (Local) &~Local bearing/azimuth received: Bearing 189.0, -16.3 (Local) 2DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 NDAT read: 21:34:04.4670 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 499,-0.09, 3.105, 1.661,-2.656,-3.119, PHS= 0.043,-1.459, 0.419, RAW= 160.9, 11.6, CAL= 161.1, 13.0, ROT= 348.9, -13.0 RYgot valid direction response: 21:34:04.4670 LVL= 32752, 32753, 28466, 32755, AGC= 67, IDX= 499,-0.09, 3.105, 1.661,-2.656,-3.119, PHS= 0.043,-1.459, 0.419, RAW= 160.9, 11.6, CAL= 161.1, 13.0, ROT= 348.9, -13.0 RT#Rx 14: Read range and direction messages.V^direction in FSK: [0.956142,-0.187588,0.224951]VFpublishing direction and range infoy*?! Oȿ:/2?YA2o )CI 0=i+>3@4QO>P3@ Vh>)@IVh]S/]|?06?2?E B? 6?)NIaFiVhchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.117866}!>}?}+Y=ٱ}J AHRS rotation from veh to nav: [[0.847506,-0.527399,-0.059862],[0.528134,0.826631,0.194311],[-0.052996,-0.196295,0.979112]]}H?t@Cx?s?/?="@2 ɿ T?Աi}!>I}[^;}CY-By-!I5=5=bDEkVDED4yUw%U&=ٔU܆Q-]>9YYY=]GFy]EelEe>Q 5_5u0?Q 9_5) |BYy}>Q I@F EI:i:C_5y-Bɮ@PEJRvm=@v.C=@*?! Oȿ:/2?aFVh—Rl|;@4A`h(@6Y@Wl?eo0?Vmk?jECAr3AZ9U?b·mz|B &mڗAo>QU addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505265 s, deltaX: -0.500000 m, approachRate: -0.989580 m/s, rangeRepo size: 4 Q Added new target pos. range: 31.006060 m, bearing: 23.720659 deg, lat: 36.779404 deg, lon: -121.859474 deg, deltaT: 0.505265 s, deltaX: -0.496912 m, approachRate: -0.983468 m/s, posRepo size: 4 QDNOT Ignoring new targets: 31.01 m.Q ProNav: ac range: 31.006060 m, nav range: 30.489298 m, bearing: 23.599203 deg, approach rate: 0.000000 m/s, LOS rate: -0.289015 deg/s, cmd heading: 26.874658 deg, new cmd heading: 26.452304 deg. zQHeadingCmd: 0.461680 target range: 31.006060 and range: 31.20 m.RKa>JbZB:2Ҕڔڒ’@33?@}s?EBɢE})A MJiI)M*';IIiMUJiUKa>UzIY @@  @ @ W0@ checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327653 ^A p=9 A) I1 II OU >T<,Ɖ?AE> E>E>$E<"E>%;*E>:VE>4ZE9YYY=]GFy]E]E]>aQ 5m_5eAB?Q 9u_5e")e |BYqyqQ Iu@eI EIef;ie;ew_5yyɮ}~@GSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 31.01 m.;;Q ProNav: ac range: 31.006060 m, nav range: 30.269253 m, bearing: 23.644445 deg, approach rate: -0.627812 m/s, LOS rate: 0.130018 deg/s, cmd heading: 26.452303 deg, new cmd heading: 26.589015 deg. zu;QHeadingCmd: 0.464066 target range: 31.006060 and range: 31.20 m.R >JbZB:2Ҕڔڒ’ p?  ɢ?) }i);iR:Gi% >%<%Q=I% >I)=DDAT read: Rx Time:21:34:04.9668 =TRx dataTimestamp_ set to:1761514446.225193EPDAT read: Bearing 186.5, -14.9 (Local) M~Local bearing/azimuth received: Bearing 186.5, -14.9 (Local) ]DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.7 }DAT read: 21:34:04.9668 LVL= 32752, 32753, 28370, 32755, AGC= 65, IDX= 497,-0.08, 2.420, 0.953, 2.919, 2.416, PHS= 0.106,-1.419, 0.458, RAW= 160.2, 9.9, CAL= 160.1, 10.7, ROT= 349.9, -10.7 Ygot valid direction response: 21:34:04.9668 LVL= 32752, 32753, 28370, 32755, AGC= 65, IDX= 497,-0.08, 2.420, 0.953, 2.919, 2.416, PHS= 0.106,-1.419, 0.458, RAW= 160.2, 9.9, CAL= 160.1, 10.7, ROT= 349.9, -10.7 T#Rx 15: Read range and direction messages.^direction in FSK: [0.967385,-0.172318,0.185667]Fpublishing direction and range infoy9=36?{ƿ &K{?Y=A999=n 9)=AI==i=ˡ=~>=2@=;0>=[2@ =t;?>)=k@I=t;?99=E ?]:T?K 7? =p3?)=GT1I=T4i=t;?99checking for new query: numPingsReceived=15, elapsed TxPingTime=9.6029489i >@  @ @ 0@ A A B >B CB "IB BB L =B B B R;B Eu checking for new query: numPingsReceived=15, elapsed TxPingTime=9.848360ԙ ^Am 벫=Aq Au >A.AIIE  EE%E"EG;*Ea:VE 4ZEBE'2 ?2+)S=ٱ2wR :AHRS rotation from veh to nav: [[0.855530,-0.514020,-0.062068],[0.515183,0.833212,0.200859],[-0.051530,-0.203817,0.977652]]2H`?@r@Rǯ@a|?૩? ?@'bʿH?i2֥>I2^;2CYBByB!IDDAT read: Rx Time:21:34:05.4664 TRx dataTimestamp_ set to:1761514446.745236-PDAT read: Bearing 189.1, -15.1 (Local) -~Local bearing/azimuth received: Bearing 189.1, -15.1 (Local) =DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 uDAT read: 21:34:05.4664 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.35,-2.661, 2.175,-2.190,-2.609, PHS= 0.050,-1.454, 0.375, RAW= 159.6, 12.1, CAL= 159.9, 13.7, ROT= 350.1, -13.7 }Ygot valid direction response: 21:34:05.4664 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.35,-2.661, 2.175,-2.190,-2.609, PHS= 0.050,-1.454, 0.375, RAW= 159.6, 12.1, CAL= 159.9, 13.7, ROT= 350.1, -13.7 }T#Rx 16: Read range and direction messages.^direction in FSK: [0.957082,-0.167037,0.236838]Fpublishing direction and range infoyj?.{aſ4ӋHP?YfA )@IL=i>aF2@@X>)2@ Gt>)a@IGt([p?w`? ? 0?)MYI40iGtchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.116959iMb@Mb@Mb@ 9Q?-ƿZd;O?Y\?y?5j<A@ 5@)l AY(AbDmeVDm94yu\<%}=ٔ}`Q-}>9 ?Y ?=GFyE9¼E> Q 5_5 a?Q 9_5 )  |BY=w?Q E=:y=_>Q I=@ O EI N;i ; _5yM0BɮM@MQEJR?AAA>xC#<@~%xl޷@j?.{aſ4ӋHP?40Gt—"g:@@q-(@V, @[z?}[k?o=ˮ?jkAArcAZƏW3?bolzB|Bڗ,AT>Q addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 1.022786 s, deltaX: -0.900002 m, approachRate: -0.879951 m/s, rangeRepo size: 4 Q Added new target pos. range: 30.111540 m, bearing: 24.280098 deg, lat: 36.779404 deg, lon: -121.859474 deg, deltaT: 1.022786 s, deltaX: -0.894520 m, approachRate: -0.874591 m/s, posRepo size: 4  Q DNOT Ignoring new targets: 30.11 m. QE ProNav: ac range: 30.111540 m, nav range: 29.896521 m, bearing: 23.761167 deg, approach rate: 0.000000 m/s, LOS rate: 0.130018 deg/s, cmd heading: 26.589015 deg, new cmd heading: 26.846287 deg. zAQMHeadingCmd: 0.468556 target range: 30.111540 and range: 30.30 m.RM>JIbIZIBI:Q2QҔqڔuByڒy’y}L>@@Mf?Bɢ) Nqi)%;i/&Bi>c<\=I>II checking for new query: numPingsReceived=16, elapsed TxPingTime=10.351188 9 y ?@  @ @ /@ ԡbE-4jEw4rES}/EE EEEE$EA"EE1;*EE:VEE4ZEAaU@aU@aU@aU@^A=DDAT read: Rx Time:21:34:05.9663 TRx dataTimestamp_ set to:1761514447.249859PDAT read: Bearing 185.4, -14.5 (Local) ~Local bearing/azimuth received: Bearing 185.4, -14.5 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 DAT read: 21:34:05.9663 LVL= 32096, 32753, 28050, 32755, AGC= 65, IDX= 509,-0.26,-1.920, 2.880,-1.427,-1.935, PHS= 0.117,-1.423, 0.464, RAW= 160.0, 9.7, CAL= 159.9, 10.4, ROT= 350.1, -10.4  Ygot valid direction response: 21:34:05.9663 LVL= 32096, 32753, 28050, 32755, AGC= 65, IDX= 509,-0.26,-1.920, 2.880,-1.427,-1.935, PHS= 0.117,-1.423, 0.464, RAW= 160.0, 9.7, CAL= 159.9, 10.4, ROT= 350.1, -10.4 T#Rx 17: Read range and direction messages.^direction in FSK: [0.968925,-0.169104,0.180519]Fpublishing direction and range infoywo?qe7ſlE@?YA`}m )AI=i$h>¸2@-\-> 9>)I9TzL.?ʘ@?a? t|2?)+-Ii9=checking for new query: numPingsReceived=17, elapsed TxPingTime=10.660516AE؟AIIIYOm"?<,}?AzĶ>z?zVtL=ٱzV AHRS rotation from veh to nav: [[0.863668,-0.500183,-0.062402],[0.501585,0.840561,0.204621],[-0.049895,-0.208024,0.976850]]zH@+?/ ??@1?`Ӌʿ[B?izĶ>Iz^;xYBy!IbD-VVD-E4y]c{%]=ٔeHQ-e>9e"?Ye"?=eGFyeEmEm>ԑQ 5_5>z?Q 9_5ʨ)1|BYyp>Q I@T EI:iW:_5y3Bɮ@JR?AAA>@B]=@ L˫@wo?qe7ſlE@?9—W(P;@]^&@mB@.>?̇^?k&?j6ArAZz~x?bB/1|zeBꗙ·mڗA◝VA>Qu addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504623 s, deltaX: -0.099998 m, approachRate: -0.198165 m/s, rangeRepo size: 4 Q Added new target pos. range: 30.012163 m, bearing: 22.703797 deg, lat: 36.779404 deg, lon: -121.859474 deg, deltaT: 0.504623 s, deltaX: -0.099377 m, approachRate: -0.196933 m/s, posRepo size: 4 QDNOT Ignoring new targets: 30.01 m.Q ProNav: ac range: 30.012163 m, nav range: 29.593925 m, bearing: 23.864501 deg, approach rate: 0.000000 m/s, LOS rate: 0.130018 deg/s, cmd heading: 26.846287 deg, new cmd heading: 27.049458 deg. zQHeadingCmd: 0.472102 target range: 30.012163 and range: 30.20 m.R^>JbZB:2Ҕڔڒ’@33>@ j?aɢm5)i mR{ii)m;iqiu/>iu^>} <}[L=I}^>IyBE>BABE!IBEBBABABABEQ;BEEB B B B L =B L =C ŷg4checking for new query: numPingsReceived=17, elapsed TxPingTime=10.857644 @@  @ @ /@ ^A m=! EE  EE EA EA "EE %;*EE :VEA ZEA BEE )s<, ?AN0>N ?NF=ٱN\X VAHRS rotation from veh to nav: [[0.867160,-0.494039,-0.062925],[0.495665,0.843828,0.205598],[-0.048476,-0.209476,0.976611]]NHƿ?T߿`? ? Q?@Ѩ ʿf@?iN0>IN^;NCY^By^!I DDAT read: Rx Time:21:34:06.4660  TRx dataTimestamp_ set to:1761514447.753190PDAT read: Bearing 186.9, -15.0 (Local) ~Local bearing/azimuth received: Bearing 186.9, -15.0 (Local) -DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5 DAT read: 21:34:06.4660 LVL= 32752, 32753, 27474, 32755, AGC= 65, IDX= 506,-0.26,-2.218, 2.577,-1.722,-2.190, PHS= 0.074,-1.471, 0.425, RAW= 160.0, 11.1, CAL= 160.1, 12.3, ROT= 349.9, -12.3 Ygot valid direction response: 21:34:06.4660 LVL= 32752, 32753, 27474, 32755, AGC= 65, IDX= 506,-0.26,-2.218, 2.577,-1.722,-2.190, PHS= 0.074,-1.471, 0.425, RAW= 160.0, 11.1, CAL= 160.1, 12.3, ROT= 349.9, -12.3 T#Rx 18: Read range and direction messages.^direction in FSK: [0.961904,-0.171341,0.213030]Fpublishing direction and range infoy  ?i*ſAzUmD?Y A    Rk ) I P=i I >  aF> [2@ [>) k@I [  iMb@Mb@Mb@ 9Fx?ףp= ÿ:v?Y ?yT=Ad@ A) AYAbDhVDf?4y%=%%0=ٔ-5HQ--> 7° ?E0?EE? 2?) PFI T4i [  =checking for new query: numPingsReceived=18, elapsed TxPingTime=11.1792079- ?YM ?=UGFyUEU"pEU>YQ 5e_5]?Q 9e_5])]L|BYm?Q Em:ym>Q I@]X EI];i];]_5yɮ@J R D4?A A A 2> x d<@ :}LJ&@ ?i*ſAzUmD? T4 [— 6ݸ:@n2&@߲mK@ q ?NK\?zA?j 1Ar AZ n[y[?b { z OB n[y[?  ڗ A  >Q addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.503331 s, deltaX: -0.500000 m, approachRate: -0.993382 m/s, rangeRepo size: 4 Q Added new target pos. range: 29.515165 m, bearing: 22.553041 deg, lat: 36.779404 deg, lon: -121.859474 deg, deltaT: 0.503331 s, deltaX: -0.496998 m, approachRate: -0.987418 m/s, posRepo size: 4 QDNOT Ignoring new targets: 29.52 m.Q ProNav: ac range: 29.515165 m, nav range: 29.253277 m, bearing: 24.009940 deg, approach rate: 0.000000 m/s, LOS rate: 0.130018 deg/s, cmd heading: 27.049458 deg, new cmd heading: 27.236173 deg. zQHeadingCmd: 0.475361 target range: 29.515165 and range: 29.70 m.Rb>JbZB:2Ҕ!ڔ%̓B!ڒ)’)-@3=@-X?uBɢ}=)y }\iy)};;顡iDz:ib>z <B.=Ib>I?@ @@/@1checking for new query: numPingsReceived=18, elapsed TxPingTime=11.359354^A% _=A9 zA= gAa Am ؟AIy I O >=,ҋ ?A2q>2a?2@=ٱ2cE[EN ENEN'EL"EN1;*EN:VEN'4ZELaR@aR@aR@aR@ VAHRS rotation from veh to nav: [[0.870826,-0.487397,-0.064075],[0.489340,0.846988,0.207745],[-0.046983,-0.212265,0.976082]]2H`? 1߿I2r^;2CY^By^!IbDfcVDf264yn3x=%n\=ٔr Q-r>9r"?Yr"?=vGFyvEvEv>x|Q 5_5~?Q 9_5~)~b|BYy>Q I @~\ EI~-:i~:~_5y6Bɮ@RE9Q=DNOT Ignoring new targets: 29.52 m.9EZ;EZ;QU ProNav: ac range: 29.515165 m, nav range: 29.047691 m, bearing: 24.074283 deg, approach rate: -0.606785 m/s, LOS rate: 0.191250 deg/s, cmd heading: 27.236173 deg, new cmd heading: 27.430566 deg. zU@<Q]HeadingCmd: 0.478754 target range: 29.515165 and range: 29.70 m.R]4>JYbYZYBa:a2aҔaڔiiڒi’iqu !X?颙ɢ ) rFi)b;顡i_8i4> <0 =I4>II)DDAT read: Rx Time:21:34:06.9660 TRx dataTimestamp_ set to:1761514448.258605PDAT read: Bearing 183.9, -13.6 (Local) ~Local bearing/azimuth received: Bearing 183.9, -13.6 (Local) DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 =DAT read: 21:34:06.9660 LVL= 28976, 29809, 26258, 32755, AGC= 64, IDX= 505,-0.08,-1.581,-3.094,-1.104,-1.628, PHS= 0.148,-1.421, 0.479, RAW= 159.4, 9.1, CAL= 159.2, 9.6, ROT= 350.8, -9.6 EYgot valid direction response: 21:34:06.9660 LVL= 28976, 29809, 26258, 32755, AGC= 64, IDX= 505,-0.08,-1.581,-3.094,-1.104,-1.628, PHS= 0.148,-1.421, 0.479, RAW= 159.4, 9.1, CAL= 159.2, 9.6, ROT= 350.8, -9.6 i@i @i@m0@i)^AE(z=mT#Rx 19: Read range and direction messages.}^direction in FSK: [0.973312,-0.157642,0.166769]Fpublishing direction and range infoy^u`%?.g-Ŀ8_X?Y0qqtf )@IP>iT㵿}?>/ 2@">1@ +>)v@I+8tl?% ?Š.? p/?)$"Il$i+checking for new query: numPingsReceived=19, elapsed TxPingTime=11.682953AqIyIO^>IB B B !IB BB B B B Q;B  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.865486ԡ =,$?AvՒ>vtA?v3L:=ٱvc] ~AHRS rotation from veh to nav: [[0.874315,-0.480989,-0.064980],[0.483224,0.850093,0.209372],[-0.045467,-0.214457,0.975675]]vH d?޿$?3??@xG@Vs˿8?ivՒ>Iv±^;vCY5By5 "IaiMb@Mb@Mb@ 9Cl?Cl绿V-?Y?y;߽m=@ GA) AY=AbDfVD;4y$=%:=ٔaQ->9Y=GFyE E>Q 5 _5?Q 9 _5R)z|BYM?Q E:y>Q I@` EI':i:_5y9Bɮ@%SEJR?Ay&>=<@VAX@^u`%?.g-Ŀ8_X?l$+—L6[;@ W%@iB@%nՆO?Qm addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.505415 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q} Added new target pos. range: 29.515198 m, bearing: 22.062264 deg, lat: 36.779404 deg, lon: -121.859480 deg, deltaT: 0.505415 s, deltaX: 0.000032 m, approachRate: 0.000064 m/s, posRepo size: 4 QDNOT Ignoring new targets: 29.52 m.Q ProNav: ac range: 29.515198 m, nav range: 28.578451 m, bearing: 23.117894 deg, approach rate: 0.000000 m/s, LOS rate: 0.191250 deg/s, cmd heading: 27.430566 deg, new cmd heading: 27.685271 deg. zQHeadingCmd: 0.483199 target range: 29.515198 and range: 29.70 m.Re>J!b!Z!B!:!2!Ҕ)ڔ-B)ڒ)’115"?E EE&E"E&;*Ed:VE4ZEBEb <IԑDDAT read: Rx Time:21:34:07.4657 TRx dataTimestamp_ set to:1761514448.761282PDAT read: Bearing 188.1, -14.6 (Local) ~Local bearing/azimuth received: Bearing 188.1, -14.6 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 DAT read: 21:34:07.4657 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.07,-1.874, 2.900,-1.403,-1.822, PHS= 0.050,-1.517, 0.375, RAW= 159.2, 12.4, CAL= 159.6, 14.0, ROT= 350.4, -14.0 5Ygot valid direction response: 21:34:07.4657 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.07,-1.874, 2.900,-1.403,-1.822, PHS= 0.050,-1.517, 0.375, RAW= 159.2, 12.4, CAL= 159.6, 14.0, ROT= 350.4, -14.0 5T#Rx 20: Read range and direction messages.=^direction in FSK: [0.956708,-0.161815,0.241922]=Fpublishing direction and range infoySzY?c0Q\Ŀ79K?YfA )BIL=i-¿>1@k]>aF2@ 5z>)E@I5z n3?s?&Ɗ? 1W/?)^I+i5z]checking for new query: numPingsReceived=20, elapsed TxPingTime=12.132957]>@a @a@e0@aԹ^Am m,=Au >Au > A I I O >=,I??A20>2>2l1=ٱ2] :AHRS rotation from veh to nav: [[0.876883,-0.476168,-0.065879],[0.478749,0.852733,0.208917],[-0.043302,-0.214735,0.975712]]2Hm? y޿@qݰӣ?I?ɽ?+@q|˿ 9?i20>I2^;2CYBۃByB."IbDJdVDJ 84yR>%RY=ٔVQ-V>9TYT=VGFyZ E^checking for new query: numPingsReceived=20, elapsed TxPingTime=12.367211MUQEe>yQ 5_5}Ɩ?Q 9_5}V)}|BYyv>Q I@}c EI}uk;@yn:D-@SzY?c0Q\Ŀ79K?+5z—]4:@%@ʗ9@1QZ?T3r?[?j,ArAZgLg?bFz6BꗕgLg?{ ڗA◕>Q addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.502677 s, deltaX: -0.400002 m, approachRate: -0.795743 m/s, rangeRepo size: 4 Q Added new target pos. range: 29.117685 m, bearing: 22.378876 deg, lat: 36.779405 deg, lon: -121.859483 deg, deltaT: 0.502677 s, deltaX: -0.397512 m, approachRate: -0.790791 m/s, posRepo size: 4 QDNOT Ignoring new targets: 29.12 m.Q ProNav: ac range: 29.117685 m, nav range: 28.377281 m, bearing: 22.554060 deg, approach rate: 0.000000 m/s, LOS rate: 0.191250 deg/s, cmd heading: 27.685272 deg, new cmd heading: 27.946394 deg. zQHeadingCmd: 0.487757 target range: 29.117685 and range: 29.30 m.R;>JbZB:2Ҕ ڔ  ڒ ’L=@{?y颹ɢ8ܺ) |i)t;iĞ2i;>u < IE= E=E="E9"E=';*E=8:VE=(3ZE9aM@aM@aM@aM@@@ @@0@^A{=ԩ}DDAT read: Rx Time:21:34:07.9656 TRx dataTimestamp_ set to:1761514449.266611PDAT read: Bearing 185.2, -13.8 (Local) ~Local bearing/azimuth received: Bearing 185.2, -13.8 (Local) DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 DAT read: 21:34:07.9656 LVL= 31904, 32753, 29314, 32755, AGC= 65, IDX= 501, 0.47,-1.956, 2.797,-1.480,-1.965, PHS= 0.111,-1.477, 0.441, RAW= 159.3, 10.4, CAL= 159.3, 11.4, ROT= 350.7, -11.4 Ygot valid direction response: 21:34:07.9656 LVL= 31904, 32753, 29314, 32755, AGC= 65, IDX= 501, 0.47,-1.956, 2.797,-1.480,-1.965, PHS= 0.111,-1.477, 0.441, RAW= 159.3, 10.4, CAL= 159.3, 11.4, ROT= 350.7, -11.4 T#Rx 21: Read range and direction messages.^direction in FSK: [0.967386,-0.158415,0.197657]Fpublishing direction and range infoyy}W?΢FĿg4L?Y}Ay}|y}r y)}AI}S=i}V}>}1@}9>}1@ }%K>)}+@I}%Kyy}ź^?wEzt?8򈡾-? }i/?)}Lu:I}5&i}%Kyychecking for new query: numPingsReceived=21, elapsed TxPingTime=12.637548A9 IA IQ Oe > 9=,Y?A2>2>2'=ٱ2oZ :AHRS rotation from veh to nav: [[0.878936,-0.472414,-0.065545],[0.475177,0.855576,0.205419],[-0.040964,-0.211695,0.976477]]2H> ? <޿ǰLi?`?(K?`:˿L??i2>I2n^;2CYbByb4"IIf<)f4<bDjeVDj94yC<%E=ٔQ- >9 Y = GFy  E*E>Q 5%`5ؖ?Q 9%`5o)|BY!y%>Q I-@g EI:i:`5y5-*;@SRE%S*XF9@W?΢FĿg4L?5&%K—\4|`:@t%@w @ G[0?2gW?Ӧ?j(ArAZ7?b5zBꗽz~x?BڗA◽$`>Q addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.505329 s, deltaX: -0.199999 m, approachRate: -0.395779 m/s, rangeRepo size: 4 Q Added new target pos. range: 28.918930 m, bearing: 21.795171 deg, lat: 36.779407 deg, lon: -121.859483 deg, deltaT: 0.505329 s, deltaX: -0.198755 m, approachRate: -0.393319 m/s, posRepo size: 4 QDNOT Ignoring new targets: 28.92 m.Q ProNav: ac range: 28.918930 m, nav range: 28.337399 m, bearing: 22.423191 deg, approach rate: 0.000000 m/s, LOS rate: 0.191250 deg/s, cmd heading: 27.946393 deg, new cmd heading: 28.138890 deg. zQHeadingCmd: 0.491116 target range: 28.918930 and range: 29.10 m.Rs>JԹbZB:2Ҕڔڒ’=@ P?ɢ^>#) i);i(0i s>  < 7I%V>i%>B>BB!IBBBBBBQ;BE?@ @@4@checking for new query: numPingsReceived=21, elapsed TxPingTime=12.873809^Au<EU  EU EU #EQ "EU s!;*EU :VEU 3ZEQ BEU |x9  DDAT read: Rx Time:21:34:08.4654  TRx dataTimestamp_ set to:1761514449.769174 PDAT read: Bearing 189.3, -13.8 (Local)  ~Local bearing/azimuth received: Bearing 189.3, -13.8 (Local)  DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 = DAT read: 21:34:08.4654 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.16, 1.734, 0.213, 2.170, 1.798, PHS= 0.038,-1.540, 0.329, RAW= 158.3, 13.4, CAL= 158.8, 15.3, ROT= 351.2, -15.3 E Ygot valid direction response: 21:34:08.4654 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.16, 1.734, 0.213, 2.170, 1.798, PHS= 0.038,-1.540, 0.329, RAW= 158.3, 13.4, CAL= 158.8, 15.3, ROT= 351.2, -15.3 E T#Rx 22: Read range and direction messages.M ^direction in FSK: [0.953203,-0.147563,0.263873]M Fpublishing direction and range infoy  iq??`Z¿&K?Y fA u#=,r?A2͌>2z>2ر=ٱ2u4V :AHRS rotation from veh to nav: [[0.880205,-0.470102,-0.065138],[0.473030,0.857872,0.200744],[-0.038490,-0.207508,0.977476]]2H*?(޿䬰!F?s?@? ʿ@{G?i2͌>I2M^;2C )I=iſr>0@|o>a1@ ܸ>)%@Iܸicnl?:M?,&uұ? 5+?)YoITFiܸchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.200861YBy?"IiMb@Mb@Mb@ 9On?J +Zd;O?Y?yHj<=A@ A) AYAbDcVD264y`=%.=ٔ Q- >9Y=GFyEE>Q 5%`5D?Q 9-`5Z)|BY-?Q E-:y->Q IM@l EI>;i ;`5yYɮ]'@YJR&:q?AAA >CH;@%X86P5@iq??`Z¿&K?TFܸ—79@e4%@\8q}@EӬ?GD%?+VC~?j,Ar AZS?bVzTBꗽgLg?OBڗA◽E>Q- addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502563 s, deltaX: -0.300001 m, approachRate: -0.596942 m/s, rangeRepo size: 4 Q= Added new target pos. range: 28.620874 m, bearing: 22.944663 deg, lat: 36.779405 deg, lon: -121.859483 deg, deltaT: 0.502563 s, deltaX: -0.298056 m, approachRate: -0.593071 m/s, posRepo size: 4 9Q=DNOT Ignoring new targets: 28.62 m.AAAQu ProNav: ac range: 28.620874 m, nav range: 27.872023 m, bearing: 22.557446 deg, approach rate: 0.000000 m/s, LOS rate: 0.191250 deg/s, cmd heading: 28.138890 deg, new cmd heading: 28.413754 deg. zqQ}HeadingCmd: 0.495914 target range: 28.620874 and range: 28.80 m.R}b>JybyZyB:2ҔڔJBڒ’<@@?Bɢq9)  ½i) {;  i  F.i%b>-i <-';I-b>I)I>@ @@5@checking for new query: numPingsReceived=22, elapsed TxPingTime=13.375109^AgW<ԑA I I O >ԙ #=,Œ?AE:  E:E8E8"E:F;*E:-:VE8ZE8a>@a>@aB@aB@B >B>B\=ٱBNjP JAHRS rotation from veh to nav: [[0.880979,-0.468748,-0.064428],[0.471785,0.859897,0.194926],[-0.035969,-0.202122,0.978699]]BH0?ݿa~1?E?W?`j%ɿQ?iB >IB5 ^;BCYRByVR"IbD^XVD^!4yf=%fw=ٔfQ-f?9hYh=jGFyjEjMEn?pQ 5v`5rr?Q 9v`5r2)r|BYtyv>Q Iv@ro EIr:ir:r`5y~?Bɮ~]@|GSB*** querying acoustic contact ***:B!Q%DNOT Ignoring new targets: 28.62 m.!-E-EQ= ProNav: ac range: 28.620874 m, nav range: 27.674261 m, bearing: 22.543801 deg, approach rate: -0.621700 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.413754 deg, new cmd heading: 28.372525 deg. zE4QEHeadingCmd: 0.495194 target range: 28.620874 and range: 28.80 m.RE>JIbIZIBI:I2IҔQڔQQڒQ’QY]@W[?颁ɢAS:) Hi)A;顉i6,i>g <֒;I>IMDDAT read: Rx Time:21:34:08.9652 MTRx dataTimestamp_ set to:1761514450.273944]PDAT read: Bearing 185.0, -12.9 (Local) e~Local bearing/azimuth received: Bearing 185.0, -12.9 (Local) }DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 DAT read: 21:34:08.9652 LVL= 32752, 32753, 29410, 32755, AGC= 65, IDX= 497, 0.22, 1.770, 0.204, 2.237, 1.744, PHS= 0.129,-1.495, 0.450, RAW= 158.8, 10.2, CAL= 158.8, 11.0, ROT= 351.2, -11.0 ԱYgot valid direction response: 21:34:08.9652 LVL= 32752, 32753, 29410, 32755, AGC= 65, IDX= 497, 0.22, 1.770, 0.204, 2.237, 1.744, PHS= 0.129,-1.495, 0.450, RAW= 158.8, 10.2, CAL= 158.8, 11.0, ROT= 351.2, -11.0 T#Rx 23: Read range and direction messages.^direction in FSK: [0.970072,-0.150175,0.190809]Fpublishing direction and range infoyIM9B9 ?!a8ÿP@ml?YMAIIIMr I)IIM>iM)\Mff>Ma1@MK6>I M D>)IIM DIIMWBJ?8f?ّȮ? M-?)M#5=@ @@/@IIiM DIIEchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.660211 ~C^AE0<G`9Y_sAAAAA B >B CB "IB ƒBB K =B B B R;B EA I  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.881134I) O >9 6)=,s?AY~ By~i"I  = =iMb@Mb@Mb@ 9`"?{GzMb?Y?y#=\AE@ tA) AYzAbDMVD 4y=%;=ٔQ->9Y=GFyEE>Q 5`5?Q 9`5)|BY ?Q E:y>Q I@s EI; ;i;~ `5yUBɮ@UEJyR}L?A}A}A} >}sMYy;@eKsѽ1@}9B9 ?!a8ÿP@ml?y} D—}>\9@JXz$@JhSl@}hڝ4? h?]R?j}%Ar}AZ}-?b}}z}]B}7?}F}Bڗ}A}r>QM addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504770 s, deltaX: -0.299999 m, approachRate: -0.594329 m/s, rangeRepo size: 4 Qe Added new target pos. range: 28.322811 m, bearing: 21.835997 deg, lat: 36.779408 deg, lon: -121.859484 deg, deltaT: 0.504770 s, deltaX: -0.298063 m, approachRate: -0.590493 m/s, posRepo size: 4 aQeDNOT Ignoring new targets: 28.32 m.amiQ} ProNav: ac range: 28.322811 m, nav range: 27.735235 m, bearing: 22.017228 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.372524 deg, new cmd heading: 28.315294 deg. zyQHeadingCmd: 0.494195 target range: 28.322811 and range: 28.50 m.R$>JbZB:2ҔڔBڒ’<@ ?ɢ9;) i)4c;E} E}E}$Ey"E}/;*E}n:VE}4ZEyBE}Lja <;;I$>IMDDAT read: Rx Time:21:34:09.4649 UTRx dataTimestamp_ set to:1761514450.777280]PDAT read: Bearing 191.4, -12.8 (Local) ]~Local bearing/azimuth received: Bearing 191.4, -12.8 (Local) mDAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 >@ @@@DAT read: 21:34:09.4649 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35,-1.130,-2.657,-0.734,-1.040, PHS= 0.012,-1.572, 0.262, RAW= 157.2, 14.9, CAL= 157.9, 17.2, ROT= 352.1, -17.2 9^A}ϩ;Ygot valid direction response: 21:34:09.4649 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35,-1.130,-2.657,-0.734,-1.040, PHS= 0.012,-1.572, 0.262, RAW= 157.2, 14.9, CAL= 157.9, 17.2, ROT= 352.1, -17.2  T#Rx 24: Read range and direction messages.^direction in FSK: [0.946212,-0.131298,0.295708]Fpublishing direction and range infoyQU7'^G?5Q^-?YUAQQQU Q)UBIUDU/@U%>UA`0@ U`>)UU@IU`QQUѝ?',?p%,y? UM&?)ULIU0 iU`QQchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.239933AIIO>i )0=,~?A 2k)>2>2-=ٱ2LVE >AHRS rotation from veh to nav: [[0.880095,-0.470499,-0.063741],[0.473765,0.861386,0.183195],[-0.031288,-0.191428,0.981008]]2H )?޿`SQ`,R?@y?r?`ȿjd?i2k)>I2^;2CVchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.383351YVByZr"IbD%`VD%04y}=%R=ٔ4BQ->9Y=GFyE;E >QQ 5`5UJ#?Q 9`5U)U|BYy>Q I@Uw EIUDZl:@)U Mw @7'^G?5Q^-?0 `—l't8@'%@e+z@n M?0d)9?>G?j-ArAZ~k/?b{uzBꗅgLg?6BڗA◅>iQ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.503336 s, deltaX: -0.400000 m, approachRate: -0.794697 m/s, rangeRepo size: 4 Q Added new target pos. range: 27.925299 m, bearing: 23.971459 deg, lat: 36.779405 deg, lon: -121.859484 deg, deltaT: 0.503336 s, deltaX: -0.397512 m, approachRate: -0.789756 m/s, posRepo size: 4 QDNOT Ignoring new targets: 27.93 m.Q ProNav: ac range: 27.925299 m, nav range: 27.133732 m, bearing: 22.266036 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.315294 deg, new cmd heading: 28.257473 deg. zQ HeadingCmd: 0.493186 target range: 27.925299 and range: 28.10 m.R ނ>J b Z B:2Ҕڔڒ’<@% ]?颍Bɢ';) Pi);顑i~)iނ> <8I=?@9 @9@E/@AE EEE"E%;*E:VEZEa@a@a@a@ԙ]DDAT read: Rx Time:21:34:09.9649 ]TRx dataTimestamp_ set to:1761514451.281338mPDAT read: Bearing 188.9, -13.2 (Local) u~Local bearing/azimuth received: Bearing 188.9, -13.2 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 DAT read: 21:34:09.9649 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.06, 0.924,-0.628, 1.375, 0.979, PHS= 0.048,-1.562, 0.352, RAW= 158.5, 13.0, CAL= 159.0, 14.7, ROT= 351.0, -14.7 Ygot valid direction response: 21:34:09.9649 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.06, 0.924,-0.628, 1.375, 0.979, PHS= 0.048,-1.562, 0.352, RAW= 158.5, 13.0, CAL= 159.0, 14.7, ROT= 351.0, -14.7 T#Rx 25: Read range and direction messages.^direction in FSK: [0.955359,-0.151314,0.253758]Fpublishing direction and range infoyY]f?M?7A^ÿN=?YYYYYY Y)]CI]D=i]ǿ]X9>] 1@]Vh>]Κ1@ ]G\>)] @I]G\YY]!Wg?)i?:? ],?)]hI]t i]G\YYchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.656008 ^A% ;AQ Ia Iq O} >I\6=,?AR>RE,<ٱR? jAHRS rotation from veh to nav: [[0.879088,-0.472516,-0.062719],[0.475743,0.861608,0.176919],[-0.029558,-0.185365,0.982225]]RH |!? =޿@Y r?J? F?gD ǿ@cn?iRbL>IR,];RCYrByr"IbDRVD4y- z=%-K=ٔ-ˎQ-->9QYQ=UGFyUE];E]>aQ 5m`5e3?Q 9m`5e*)e|BYy>Q I@ez EIeC;ie;es`5yXBɮ@VEJaReq?Aaae%>e>⏋:@.pӡ8VX@ef?M?7A^ÿN=?et eG\—eBr4L9@g@$@=5@eV?Lp"?bq?je$Are AZeco?beG]zeBeco?eG]eBڗe\Ae%>Bu>BuCBuA"IBuBBuL =BqBqBu'R;BuEQ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 27.925299 m, bearing: 22.397722 deg, lat: 36.779406 deg, lon: -121.859482 deg, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 QDNOT Ignoring new targets: 27.93 m.Q ProNav: ac range: 27.925299 m, nav range: 27.045332 m, bearing: 22.397657 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.257473 deg, new cmd heading: 28.209984 deg. zQHeadingCmd: 0.492357 target range: 27.925299 and range: 28.10 m.R;>JbZ!B!:!2)Ҕ)ڔ))ڒ1’11=$?ԩDDAT read: Rx Time:21:34:10.4646 TRx dataTimestamp_ set to:1761514451.538949PDAT read: Bearing 190.1, -13.5 (Local) ~Local bearing/azimuth received: Bearing 190.1, -13.5 (Local) checking for new query: numPingsReceived=25, elapsed TxPingTime=14.904013}Bɢ=;) ;i) ;i&1(i;>0 <=DI@ @@/@Em  Em Em )Ei "Em 4;*Em :VEm FA4ZEi BEm 5 E1@5 Ϣv>5 1@ 5 q>)5 +@I5 q1 1 5 @?Ejl?.W? 5 g,?)5 wI5 5&i5 q1 1  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.151392^A h%<) IIO>_==,fj?A25>2rl>2<ٱ2>7 :AHRS rotation from veh to nav: [[0.877797,-0.475048,-0.061658],[0.478260,0.861783,0.169108],[-0.027199,-0.177931,0.983667]]2H`?`1g޿ ћ??V?ٛsƿ 3z?i25>I2x ^;2CYB ByB"IIF%=)F=iUMb@Mb@Mb@QQQQ Q9Uףp= ?Q?:v?YU?yU9Y=GFyE;E>Q 5`5I?Q 9`5)|BY?Q E:y ?Q I@ EI:i:`5ԩyPBɮ @MEJR(?AmAmA>5myx>:@q&N< ZW@3_?Մ ÿψ.?5&q—z\0i8@&$@itݓ@9L Y{? ^Ƒq?_Ta]?j ArMAZMR?bg'zBS?TBڗA=>Q addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.502411 s, deltaX: -0.500000 m, approachRate: -0.995201 m/s, rangeRepo size: 4 Q Added new target pos. range: 27.428305 m, bearing: 22.369812 deg, lat: 36.779403 deg, lon: -121.859482 deg, deltaT: 0.502411 s, deltaX: -0.496994 m, approachRate: -0.989218 m/s, posRepo size: 4 QDNOT Ignoring new targets: 27.43 m.Q- ProNav: ac range: 27.428305 m, nav range: 26.446110 m, bearing: 22.562677 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.209984 deg, new cmd heading: 28.148937 deg. z)Q5HeadingCmd: 0.491292 target range: 27.428305 and range: 27.60 m.R5>J1b9Z9B9:929ҔAڔEBAڒA’IM;@M?qɢ}/4;)y };iy)}7;yyiT'i> <nxI I)uDDAT read: Rx Time:21:34:10.9645 TRx dataTimestamp_ set to:1761514452.043451PDAT read: Bearing 184.0, -11.8 (Local) ~Local bearing/azimuth received: Bearing 184.0, -11.8 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.6 Z#Rx 27: Read range message, but no direction.yyY}Aychecking for new query: numPingsReceived=27, elapsed TxPingTime=15.416291!@! @)@-/@1^A} -B<bE4jEɔ4rEɮ10E%  E% E% $E! "E% %.;*E% ;:VE% 4ZE! a- @a- @a- @a- @1 Iy I O > DAT read: 21:34:10.9645 LVL= 29280, 31217, 23922, 32755, AGC= 65, IDX= 506, 0.22,-2.468, 2.277,-2.004,-2.527, PHS= 0.161,-1.434, 0.479, RAW= 158.9, 9.0, CAL= 158.7, 9.5, ROT= 351.3, -9.5  Ygot valid direction response: 21:34:10.9645 LVL= 29280, 31217, 23922, 32755, AGC= 65, IDX= 506, 0.22,-2.468, 2.277,-2.004,-2.527, PHS= 0.161,-1.434, 0.479, RAW= 158.9, 9.0, CAL= 158.7, 9.5, ROT= 351.3, -9.5  Z#Rx 28: Read direction message, but no range.% ^direction in FSK: [0.974937,-0.149187,0.165048]y  cr2?ÿG ? `r y r] ) AI /$>i P }?> 5~1@ | > E1@ )>) 3@I ) :}?Jb?.\? -?) % I |i )= checking for new query: numPingsReceived=28, elapsed TxPingTime=15.652632FD=,|,?AYBy"IbDKVD 4y%!%%A=ٔ-Q-->9)Y)=5GFy5E5E=>9Q 5E`5=\?Q 9E`5=c)=|BYIyIQ IM@= EI=:i=y:=i`5yUTBɮUN@YJR?AAAY>kܤ:@)Niʟ @cr2?ÿG ?|)—p 9@}~#@&p+@nGS?#B-Jf??jAr_AZ??bszBꗵco?sBڗA◵>Q addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.259702 s, deltaX: -0.100000 m, approachRate: -0.385058 m/s, rangeRepo size: 4 Q Added new target pos. range: 27.328926 m, bearing: 21.748672 deg, lat: 36.779406 deg, lon: -121.859482 deg, deltaT: 0.259702 s, deltaX: -0.099379 m, approachRate: -0.382664 m/s, posRepo size: 4 QDNOT Ignoring new targets: 27.33 m.Q ProNav: ac range: 27.328926 m, nav range: 26.480473 m, bearing: 22.168509 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.148938 deg, new cmd heading: 28.094077 deg. zQHeadingCmd: 0.490334 target range: 27.328926 and range: 27.50 m.R >JbZB:2Ҕڔڒ’;@}?Bɢ9;) K;i)%(M;!!i%m%i- >-|#<-I1>@ @@0@IB!A%=B)B)B-f"IB- BB)B)B)B-_R;B-)EBBBBBC4DDAT read: Rx Time:21:34:11.4642 TRx dataTimestamp_ set to:1761514452.5608765PDAT read: Bearing 190.7, -12.8 (Local) =~Local bearing/azimuth received: Bearing 190.7, -12.8 (Local) qDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 ^A oM<A zA jA DAT read: 21:34:11.4642 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.42, 2.583, 1.065, 3.024, 2.665, PHS= 0.020,-1.555, 0.315, RAW= 158.4, 13.9, CAL= 159.1, 16.0, ROT= 350.9, -16.0  Ygot valid direction response: 21:34:11.4642 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.42, 2.583, 1.065, 3.024, 2.665, PHS= 0.020,-1.555, 0.315, RAW= 158.4, 13.9, CAL= 159.1, 16.0, ROT= 350.9, -16.0  T#Rx 29: Read range and direction messages. ^direction in FSK: [0.949163,-0.152032,0.275637] Fpublishing direction and range infoyP&_? uÿ ?I I O- >YA )BI ף;0@Ulx>g1@ 5>)@I5 T?Ep#O?Q;.? a+?)xI"i5e checking for new query: numPingsReceived=29, elapsed TxPingTime=15.994239ԙ J=, -?AFl>F?FU<ٱF* RAHRS rotation from veh to nav: [[0.874445,-0.481237,-0.061294],[0.484611,0.860710,0.155980],[-0.022307,-0.166100,0.985857]]FH`t?޿ a?`? '?ז`Bſ@#?iFl>IF8^;FCY^By^y"IEr ErEpEp"Er=-;*Er*:VEpZEpBErm9YYY=]GFy]Ee<Ee>iqQ 5`5mn?Q 9`5m…)m|BYf?Q E:y?Q I@m EIm;im;m`5yɮ@checking for new query: numPingsReceived=29, elapsed TxPingTime=16.159185J)R-d#?A-A-A-o>-ew9@&7Q+h@-P&_? uÿ ?-"-5—-~7@Щ9#@`@-z<\?1?S?j-Ar-=AZ-A?b-$z-B-MR?-G]-Bڗ-wA->Q addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.517425 s, deltaX: -0.500000 m, approachRate: -0.966324 m/s, rangeRepo size: 4 Q Added new target pos. range: 26.832022 m, bearing: 22.776084 deg, lat: 36.779403 deg, lon: -121.859482 deg, deltaT: 0.517425 s, deltaX: -0.496904 m, approachRate: -0.960341 m/s, posRepo size: 4 QDNOT Ignoring new targets: 26.83 m.Q ProNav: ac range: 26.832022 m, nav range: 25.933437 m, bearing: 22.373731 deg, approach rate: 0.000000 m/s, LOS rate: -0.043204 deg/s, cmd heading: 28.094078 deg, new cmd heading: 28.037694 deg. zQHeadingCmd: 0.489350 target range: 26.832022 and range: 27.00 m.R>Jb Z B : 2ҔAڔEBIڒI’IM;@M@(?额Bɢ};)  Ii);i$i>ѣ<:ݼIԩ}=@y @y@/@ DDAT read: Rx Time:21:34:11.9641  TRx dataTimestamp_ set to:1761514453.062124 PDAT read: Bearing 184.9, -11.0 (Local) % ~Local bearing/azimuth received: Bearing 184.9, -11.0 (Local) ^AA  DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 I I O% >5 Z#Rx 30: Read range message, but no direction.y Y 3A = checking for new query: numPingsReceived=30, elapsed TxPingTime=16.459044Q=,?F?Af+>fcl?f<ٱfIa& nAHRS rotation from veh to nav: [[0.872835,-0.484076,-0.061887],[0.487616,0.859949,0.150725],[-0.019743,-0.161735,0.986637]]fH C?޿@5??J?@l7`Ŀ ?if+>If5 ^;fCYBy|"I bDKVD 4yG<%Q=ٔ`׻Q->9Y=GFyE<E>Q 5 `5~?Q 9 `5H)|BY yc?Q I@ EI:i;g"`5yWBɮ@NEGS=B*** querying acoustic contact ***:9B9QM addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.501248 s, deltaX: -0.100000 m, approachRate: -0.199503 m/s, rangeRepo size: 4 QQUDNOT Ignoring new targets: 26.83 m.Q]]Qm ProNav: ac range: 26.832022 m, nav range: 25.701178 m, bearing: 22.268286 deg, approach rate: -0.641260 m/s, LOS rate: -0.293761 deg/s, cmd heading: 28.037694 deg, new cmd heading: 27.718504 deg. zmIQHeadingCmd: 0.483779 target range: 26.832022 and range: 26.90 m.R>JbZB:2Ҕڔڒ’`f:@%?颕Bɢ\;)  i)U;顙isF$i>A<<E EE&E"E9;*E:VE4ZEa@a%@a%@a%@I>Iiua>iu>>@ @@\0@i)I-AUDAT read: 21:34:11.9641 LVL= 29040, 31729, 26178, 32755, AGC= 65, IDX= 503,-0.43, 2.316, 0.768, 2.764, 2.259, PHS= 0.159,-1.446, 0.460, RAW= 158.5, 9.4, CAL= 158.3, 10.0, ROT= 351.7, -10.0 ]Ygot valid direction response: 21:34:11.9641 LVL= 29040, 31729, 26178, 32755, AGC= 65, IDX= 503,-0.43, 2.316, 0.768, 2.764, 2.259, PHS= 0.159,-1.446, 0.460, RAW= 158.5, 9.4, CAL= 158.3, 10.0, ROT= 351.7, -10.0 ]Z#Rx 31: Read direction message, but no range.e^direction in FSK: [0.974493,-0.142163,0.173648]y)-)E]Y /?낲c2¿ٖNs:?)-pq-{-Bf ))-AI-">i-->- 1@-'>-0@ -¸2>)-%m@I-¸2)-8?]nۡ?+? -f+?)-3'I-Vi-¸2checking for new query: numPingsReceived=31, elapsed TxPingTime=16.676411^A~M<I9IQO]v>) B% >B! B% y"IB% BB% M =B! B! B% R;B% NEW=,r`?A j/>j)?jR<ٱj! %AHRS rotation from veh to nav: [[0.871468,-0.486448,-0.062538],[0.490162,0.859461,0.145150],[-0.016859,-0.157148,0.987431]]jH?!߿ ^??H?tCkĿ` ?ij/>Ij^;hDDAT read: Rx Time:21:34:12.4638 TRx dataTimestamp_ set to:1761514453.566606-PDAT read: Bearing 190.5, -12.4 (Local) YEByMl"I}~Local bearing/azimuth received: Bearing 190.5, -12.4 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 bD WVD  4ysW%+=ٔ ZƻeDAT read: 21:34:12.4638 LVL= 32752, 32753, 31586, 32755, AGC= 66, IDX= 499, 0.38,-1.748, 3.029,-1.299,-1.674, PHS= 0.028,-1.535, 0.331, RAW= 158.7, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 Q-m>9iYi=mGFym!Eu;Eu>yQ 5`5}W?Q 9`5}}Ygot valid direction response: 21:34:12.4638 LVL= 32752, 32753, 31586, 32755, AGC= 66, IDX= 499, 0.38,-1.748, 3.029,-1.299,-1.674, PHS= 0.028,-1.535, 0.331, RAW= 158.7, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 T#Rx 32: Read range and direction messages.^direction in FSK: [0.951694,-0.154141,0.265556]Fpublishing direction and range infoy4Et?4eMÿ<?Y3Ab{ )B)}|BYy ?Q I@} EI}$E1@:Fq>1@ >)v@I_I?u?(? ,?)JpIl$i5checking for new query: numPingsReceived=32, elapsed TxPingTime=17.040415JRFCd?AAAp>8җ8@:n- ;@A4Et?4eMÿ<?l$—`J7@$W#@aG`@a3hh?/?'xi.N?jbArSAZ8=?bU|z>Bꗑ>BڗIA◕>E EE$E"EL;*E:VE4ZEBEۡJIbIZIBI:i2qҔqڔqyڒy’y}`ff:@}?!Bɢ.};) Xi)E;iD#i4<><"=I4<>I  checking for new query: numPingsReceived=32, elapsed TxPingTime=17.167061i @  @ @ /@ @ =@ =ԙ ^A<A>A>DDAT read: Rx Time:21:34:12.9636 A TRx dataTimestamp_ set to:1761514454.0702645PDAT read: Bearing 188.2, -11.3 (Local) IiIO?~Local bearing/azimuth received: Bearing 188.2, -11.3 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 ca=,Ӆ?AnDAT read: 21:34:12.9636 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.42, 1.886, 0.364, 2.330, 1.900, PHS= 0.088,-1.491, 0.386, RAW= 158.5, 11.6, CAL= 158.7, 13.0, ROT= 351.3, -13.0 %Ygot valid direction response: 21:34:12.9636 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.42, 1.886, 0.364, 2.330, 1.900, PHS= 0.088,-1.491, 0.386, RAW= 158.5, 11.6, CAL= 158.7, 13.0, ROT= 351.3, -13.0 -T#Rx 33: Read range and direction messages.5^direction in FSK: [0.963159,-0.147384,0.224951]5Fpublishing direction and range infoy`Ls2?`b|¿:/2?YA )YIX9=iپˡ> 1@4QO>E1@ Vh>)3@IVh% ?V?O U-? +?)OI|iVhchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.497070Y}By}\"II)4=iMb@Mb@Mb@ 9Zd;?Mb?9Y=GFy$EE>Q 5`5ϫ?Q 9`5x)|BY r?Q E :y ?Q I @ EI;i\;+`5y1ɮ5@9ԉJR5?AAAY=>lF^8@뵨 V@`Ls2?`b|¿:/2?E EE'E"E4;*E1:VE'4ZEa@a@a@a@|Vh—*KD7@ a#@-Vz{@Tϼ"?P:2?iQ?jAr AZj[T?bJvzB$ڗA>Q  addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503658 s, deltaX: -0.299999 m, approachRate: -0.595641 m/s, rangeRepo size: 4 Q Added new target pos. range: 25.937475 m, bearing: 22.855604 deg, lat: 36.779403 deg, lon: -121.859481 deg, deltaT: 0.503658 s, deltaX: -0.298130 m, approachRate: -0.591929 m/s, posRepo size: 4 QDNOT Ignoring new targets: 25.94 m.!!QU ProNav: ac range: 25.937475 m, nav range: 25.112286 m, bearing: 22.214157 deg, approach rate: 0.000000 m/s, LOS rate: -0.293761 deg/s, cmd heading: 27.219431 deg, new cmd heading: 26.776953 deg. zQQ]HeadingCmd: 0.467346 target range: 25.937475 and range: 26.10 m.R]G>JYbYZYBY:a2aҔڔwBڒ’:@?"Bɢ:) i),8;i]R"i G> < N;=I G>Ichecking for new query: numPingsReceived=33, elapsed TxPingTime=17.671892Թ@ @@@^Ae=A I I O >g=,t?A2l>2?2<ٱ2g :AHRS rotation from veh to nav: [[0.868402,-0.491319,-0.066960],[0.495792,0.858074,0.133792],[-0.008278,-0.149383,0.988745]]2H ?q߿F$ ?Vu? ?`ÿˣ?i2l>I2^^;2CBF>BDBDBDBDBDBDBFR;BF^EYrByr9"IbDSVD4yEz4%M=ٔ]sۼQ-e ?9iYq=uGFy&E[<E ?Q 5`5?Q 9`5u)|BY y a?Q I@ EIYJbZBm^direction in FSK: [0.955510,-0.144508,0.257133]mFpublishing direction and range infoyk?D/>:¿Fht?YA )AI9H=i`>r0@ j>m(1@ %>)?B@I%:2Ҕڔڒ’@39@@?wQ?K,i];?\|? wG*?)jIti%checking for new query: numPingsReceived=34, elapsed TxPingTime=18.039385 #Bɢ "`4)  i );i!i]><=vCd=IE]>IAQE EEE"E&;*E:VEZEBEѸn=,?A 2X>2?2;ٱ2U^ >AHRS rotation from veh to nav: [[0.868015,-0.491829,-0.068220],[0.496498,0.857979,0.131766],[-0.006275,-0.148246,0.988931]]2H?!z߿ v`?`t?`?1y@¿Q?i2X>I2P^;0YB߃ByF3"Ii Mb@Mb@Mb@     9 V-?Mb?{GzY |?y < ף  @ ) A Y bD%bVD%[44y5ϝ%5-=ٔ=Q-=>99Y9=EGFyE(EEm:EE>IQ 5`5MΗ?Q 9`5Mr)M|BY?Q E:yK ?Q I%@M EIMi}µ}>}1@}6&>}Κ1@ }%/>)} @I}%/yy} ?@y?B^?y챹? }0)/?)}N%I}t i}%/yy%checking for new query: numPingsReceived=35, elapsed TxPingTime=18.454557JyR};?A}A}A}>}G8@RaM@i @@}W/C%? =ÿrl?}t }%/—}) 7@? :g"@#w@} ??En`?j}eAr}IAZ}ҏc?b} !yz}AB}j[T?}U|}Bڗ}oA}M>Q addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 1.007936 s, deltaX: -0.600000 m, approachRate: -0.595276 m/s, rangeRepo size: 4 Q Added new target pos. range: 25.341267 m, bearing: 22.331359 deg, lat: 36.779403 deg, lon: -121.859480 deg, deltaT: 1.007936 s, deltaX: -0.596209 m, approachRate: -0.591514 m/s, posRepo size: 4 QDNOT Ignoring new targets: 25.34 m.Q  ProNav: ac range: 25.341267 m, nav range: 24.679646 m, bearing: 22.191306 deg, approach rate: 0.000000 m/s, LOS rate: -0.244396 deg/s, cmd heading: 26.492550 deg, new cmd heading: 26.146277 deg. z QHeadingCmd: 0.456339 target range: 25.341267 and range: 25.50 m.R7>JbZB:Q2YҔYڔ]UBaڒa’ae9@e(?%Bɢ^KK) t i);iE)!i%7>%Ӌ<%6w=I%7>I))?@ @@@@@hA^AS-P=E EE#E"E*;*Ed:VE3ZEa@a@a@a@Y A I I  checking for new query: numPingsReceived=35, elapsed TxPingTime=18.679117O >u=,?A2>2l?2IH;ٱ2H :AHRS rotation from veh to nav: [[0.868327,-0.490962,-0.070456],[0.495970,0.858153,0.132615],[-0.004647,-0.150097,0.988660]]2H V?k߿c `?u?`? sc6ÿ?i2>I2;h^;2CY^ăBy^"I ``bDjlVDjF4yr %rP=ٔvQ-v>9tYt=zGFyz*Ez̺Ez>9AQ 5M`5E?Q 9M`5En)E|BYIyM ?Q IM@E EIE:iE:E5`5y}YBɮ}S@}GEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 25.34 m.QQEԀGYqQ ProNav: ac range: 25.341267 m, nav range: 24.432545 m, bearing: 22.102402 deg, approach rate: -0.785764 m/s, LOS rate: -0.285567 deg/s, cmd heading: 26.146277 deg, new cmd heading: 25.876870 deg. zC%{9YfAQHeadingCmd: 0.451637 target range: 25.341267 and range: 25.50 m.R<>JbZB:2Ҕڔڒ’*?-&BɢMX)Q UDiQ)UǷ;QQiU i]<>]b<] =Ie<>IaiB}>ByB}Z"IB}BB}L =ByByB}R;B}QE@ @@%5@!qu<DDAT read: Rx Time:21:34:14.4629 TRx dataTimestamp_ set to:1761514455.585170PDAT read: Bearing 188.5, -11.7 (Local) ~Local bearing/azimuth received: Bearing 188.5, -11.7 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.5 mDAT read: 21:34:14.4629 LVL= 32752, 32753, 31442, 32755, AGC= 64, IDX= 507,-0.49, 1.008,-0.496, 1.476, 1.043, PHS= 0.067,-1.493, 0.389, RAW= 159.2, 11.9, CAL= 159.5, 13.3, ROT= 350.5, -13.3 ԙYgot valid direction response: 21:34:14.4629 LVL= 32752, 32753, 31442, 32755, AGC= 64, IDX= 507,-0.49, 1.008,-0.496, 1.476, 1.043, PHS= 0.067,-1.493, 0.389, RAW= 159.2, 11.9, CAL= 159.5, 13.3, ROT= 350.5, -13.3 T#Rx 36: Read range and direction messages.%^direction in FSK: [0.959832,-0.160621,0.230050]-Fpublishing direction and range infoyfL?$7Ŀgz}"Er?YAz )@IL7=i+>ȭT>)2@ ,m>)@I,m.KD?>y(.?SodW? */?)`?TI)i,mE checking for new query: numPingsReceived=36, elapsed TxPingTime=19.025627^AM Jc= Ay I I O >D =D <E  E E "E "E *E :VE (3ZE BE 9yYy=GFy,EE>Q 5`5j?Q 9`52k)|BY?Q E:y>Q I@ EIT:iv:9`5y]Bɮ@HEJRms?AAA>YR"7@7}W @fL?$7Ŀgz}"Er?),m—*'Z6@%e"@'G@g7׬?2?j?j(ArѲAZ6P?bRIyzB6P?RIyBڗ]A>Q} addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.506970 s, deltaX: -0.400000 m, approachRate: -0.789001 m/s, rangeRepo size: 4 Q Added new target pos. range: 24.943867 m, bearing: 22.365765 deg, lat: 36.779403 deg, lon: -121.859478 deg, deltaT: 0.506970 s, deltaX: -0.397400 m, approachRate: -0.783873 m/s, posRepo size: 4 QDNOT Ignoring new targets: 24.94 m.Q ProNav: ac range: 24.943867 m, nav range: 24.170422 m, bearing: 22.365709 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 25.876870 deg, new cmd heading: 25.483316 deg. zQHeadingCmd: 0.444768 target range: 24.943867 and range: 25.10 m.R>JbZB:2Ҕڔ5Bڒ’9@@;R?(Bɢ') 4pi)l;i׶i>O!<x>=I>I @  @ @ 0@!  DDAT read: Rx Time:21:34:14.9628  TRx dataTimestamp_ set to:1761514456.084917 PDAT read: Bearing 187.4, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 187.4, -10.9 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4  DAT read: 21:34:14.9628 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.34, 0.843,-0.647, 1.286, 0.847, PHS= 0.099,-1.449, 0.396, RAW= 158.6, 11.1, CAL= 158.7, 12.3, ROT= 351.3, -12.3  Ygot valid direction response: 21:34:14.9628 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.34, 0.843,-0.647, 1.286, 0.847, PHS= 0.099,-1.449, 0.396, RAW= 158.6, 11.1, CAL= 158.7, 12.3, ROT= 351.3, -12.3  T#Rx 37: Read range and direction messages. ^direction in FSK: [0.965804,-0.147789,0.213030] Fpublishing direction and range infoy  ?YʔA¿AzUmD?Y 3A  ) I =i x > m(1@ aF> E1@ [>) 3@I [ Zm''?]/)?4A->QE E E&E"EU,;*E:VE4ZEa@a@a@a@AyIIO ?kՄ=,F?A>checking for new query: numPingsReceived=37, elapsed TxPingTime=19.686888B傘>B?B|;ٱBi% JAHRS rotation from veh to nav: [[0.869801,-0.487244,-0.077711],[0.493397,0.858227,0.141440],[-0.002222,-0.161368,0.986892]]BHi?/߿䳿Г? v??.4b Ŀ`?iB傘>IBXj^;@YRByR!IbD^dVD^ 84yb%f'=ٔfDQ-f>9hhYl=nGFyn/EnƻEn>pQ 5v`5r ?Q 9v`5rrg)r||BYxyzS>Q Iz@r EIr;ir+;r>`5y|ɮ~@JqRuHo?AuAuAub>uB2N7@A ,º@u?YʔA¿AzUmD?u|u[—uΥZ(6@g2"@v6!@uN-? N??yJ6?ju`AruFAZu-sW?buUQM addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.499747 s, deltaX: -0.200001 m, approachRate: -0.400204 m/s, rangeRepo size: 4 Q] Added new target pos. range: 24.745110 m, bearing: 22.983567 deg, lat: 36.779403 deg, lon: -121.859478 deg, deltaT: 0.499747 s, deltaX: -0.198757 m, approachRate: -0.397716 m/s, posRepo size: 4 YQeDNOT Ignoring new targets: 24.75 m.aaiQ} ProNav: ac range: 24.745110 m, nav range: 23.906376 m, bearing: 22.272016 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 25.483316 deg, new cmd heading: 25.077658 deg. zyQHeadingCmd: 0.437688 target range: 24.745110 and range: 24.90 m.R>JbZB:2Ҕڔڒ’`f8@ -#?颽*Bɢ@g) fi) ;imim>mIqAA@A @I@M 5@I^A=BBB."IB܃BBBBBR;BGEAQqIUDDAT read: Rx Time:21:34:15.4625 ]TRx dataTimestamp_ set to:1761514456.589601ePDAT read: Bearing 187.2, -11.8 (Local) e~Local bearing/azimuth received: Bearing 187.2, -11.8 (Local) uDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 DAT read: 21:34:15.4625 LVL= 32752, 32753, 27234, 32755, AGC= 65, IDX= 502, 0.41,-3.112, 1.693,-2.640,-3.090, PHS= 0.080,-1.455, 0.406, RAW= 159.5, 11.3, CAL= 159.6, 12.5, ROT= 350.4, -12.5 Ygot valid direction response: 21:34:15.4625 LVL= 32752, 32753, 27234, 32755, AGC= 65, IDX= 502, 0.41,-3.112, 1.693,-2.640,-3.090, PHS= 0.080,-1.455, 0.406, RAW= 159.5, 11.3, CAL= 159.6, 12.5, ROT= 350.4, -12.5 T#Rx 38: Read range and direction messages.IO >m ^direction in FSK: [0.962624,-0.162816,0.216440]u Fpublishing direction and range infoyQU?vww&ĿK?YUAQQQUbj Q)UAIU ף=iUq=U;>U)2@UI>UaF2@ Uf_>)UE@IUf_QQUǵAB>>w?>ṛ:ٱ>Ԕ- FAHRS rotation from veh to nav: [[0.871007,-0.484402,-0.081858],[0.491268,0.858425,0.147516],[-0.001188,-0.168702,0.985666]]>HK?q߿@p?8x??;wS@ ſ ?i>AB>I>yn^;>CY^|By^!IDYzDYEe EeEe$Ea"Ee/;*Ee|:VEe4ZEaBEeLj9QYQ=]GFy]1E]=E]>aQ 5m`5e ?Q 9m`5ed)e{|BY?Q E:y>Q I@e EIe:;ie);eB`5y`BɮG@JR%?AAA a>iY7@̲ԥE*@?vww&ĿK?+f_—Z5@σ!@?o@J?c-N]?w_5?jArAZȁ.^?byz3Bꗍ-sW?3Bڗ]A◍L>QM addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504684 s, deltaX: -0.299999 m, approachRate: -0.594430 m/s, rangeRepo size: 4 Q] Added new target pos. range: 24.446917 m, bearing: 22.087903 deg, lat: 36.779403 deg, lon: -121.859478 deg, deltaT: 0.504684 s, deltaX: -0.298193 m, approachRate: -0.590851 m/s, posRepo size: 4 YQeDNOT Ignoring new targets: 24.45 m.achecking for new query: numPingsReceived=38, elapsed TxPingTime=20.191158Q ProNav: ac range: 24.446917 m, nav range: 23.670527 m, bearing: 22.220428 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 25.077658 deg, new cmd heading: 24.679521 deg. zQHeadingCmd: 0.430739 target range: 24.446917 and range: 24.60 m.Rω>JbZB:2ҔڔBڒ’8@`?ԡE+BɢE)A EiA)Ei;IIiMiMω>Uc7IQ@ @@N1@^A Ď= M DDAT read: Rx Time:21:34:15.9625 U TRx dataTimestamp_ set to:1761514457.090440e PDAT read: Bearing 185.7, -11.8 (Local) e ~Local bearing/azimuth received: Bearing 185.7, -11.8 (Local) } DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.5  DAT read: 21:34:15.9625 LVL= 32752, 32753, 30818, 32755, AGC= 64, IDX= 501, 0.48,-2.631, 2.170,-2.147,-2.629, PHS= 0.100,-1.439, 0.438, RAW= 159.7, 10.4, CAL= 159.7, 11.4, ROT= 350.3, -11.4  Ygot valid direction response: 21:34:15.9625 LVL= 32752, 32753, 30818, 32755, AGC= 64, IDX= 501, 0.48,-2.631, 2.170,-2.147,-2.629, PHS= 0.100,-1.439, 0.438, RAW= 159.7, 10.4, CAL= 159.7, 11.4, ROT= 350.3, -11.4  T#Rx 39: Read range and direction messages. ^direction in FSK: [0.966257,-0.165165,0.197657] Fpublishing direction and range infoyQ U Z!?Z#$ſg4L?YU AQ Q Q U bx Q )U @IU =iU '1U A>U b2@U 9>U b2@ U %K>)U @IU %KQ Q U Q34?>j=?TT$? U ~1?)U (:IU 4\-iU %KQ Q  checking for new query: numPingsReceived=39, elapsed TxPingTime=20.461889AI IQ Ii Ou >t=,LJ?AB>B~?B9ٱB6X nAHRS rotation from veh to nav: [[0.872617,-0.480773,-0.086009],[0.488405,0.858823,0.154542],[-0.000433,-0.176863,0.984235]]BHz?޿`B?z{??_<sƿ ~?iB>IBEG^;BCYrhByr!IbDElVDEF4yuu%uD=ٔ}Q-}>9yYy=GFy3E:E>Q 5`5%4?Q 9`5a)Yy`>Q I@ EI:i:E`5ydBɮ@IEJaReE?AeAeAe>eр7@ry.y\N?@eZ!?Z#$ſg4L?e4\-e%K—eq 6@6s!@ '@e?e%t?T`e:?je| ArecAZeN#v?be{zeHBeȁ.^?eRIye BڗeAe>Q addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500839 s, deltaX: -0.100000 m, approachRate: -0.199666 m/s, rangeRepo size: 4 bEJ4jE( 4rE./EM EMEM%EI"EM /;*EM:VEM 4ZEIa]@a]@a]@a]@Qe Added new target pos. range: 24.347538 m, bearing: 21.713651 deg, lat: 36.779404 deg, lon: -121.859478 deg, deltaT: 0.500839 s, deltaX: -0.099379 m, approachRate: -0.198424 m/s, posRepo size: 4 iQmDNOT Ignoring new targets: 24.35 m.iqqQ ProNav: ac range: 24.347538 m, nav range: 23.493185 m, bearing: 22.118042 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 24.679521 deg, new cmd heading: 24.321873 deg. zQHeadingCmd: 0.424497 target range: 24.347538 and range: 24.50 m.RW>JbZB:2Ҕڔڒ’8@`O?--Bɢ5)1 5gľi1)5-;99i=9TiEW>E IIchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.695955>@ @@5@@@iA^A= AI I O% >9 B >B B !IB BB M =B B B `R;B )EBBBBM =BM =C5=,-#d?ArDDAT read: Rx Time:21:34:16.4622 rTRx dataTimestamp_ set to:1761514457.593007vPDAT read: Bearing 188.8, -11.7 (Local) z~Local bearing/azimuth received: Bearing 188.8, -11.7 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.5 %DAT read: 21:34:16.4622 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.31,-0.738,-2.202,-0.299,-0.683, PHS= 0.047,-1.475, 0.339, RAW= 158.6, 12.9, CAL= 159.1, 14.6, ROT= 350.9, -14.6 -Ygot valid direction response: 21:34:16.4622 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.31,-0.738,-2.202,-0.299,-0.683, PHS= 0.047,-1.475, 0.339, RAW= 158.6, 12.9, CAL= 159.1, 14.6, ROT= 350.9, -14.6 -T#Rx 40: Read range and direction messages.5^direction in FSK: [0.955529,-0.153051,0.252069]=Fpublishing direction and range infoypr$KK?0/ÿ!?YrApppr p)rBIr@=ir̼rh>rm(1@rf>rg1@ rw>)r@Irwppr~H_?5wBx?rC'z? r(,?)reIr"irwQpp]checking for new query: numPingsReceived=40, elapsed TxPingTime=20.963409Y]MBԁy]!Ii=Mb@Mb@Mb@9999 99=V-?(\µY=?y===/A=@ =A)=VA9Y=AE] E]E]"EY"E]);*E]-:VE](3ZEYBE]K9Y=GFy6EE>Q 5`5(P?Q 9`5^)|BYm?Q E:yο>Q I@ EI:i:J`5ygBɮAJEJpRre?Ar;Ar;Ar>rӛ66@H3 G @r$KK?0/ÿ!?r"rw—r35@n!@>m;6@r" W?;ش?dP8?jrArrAZrKD?brszrhBr-sW?pr3BڗrAr.h>Q addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.502567 s, deltaX: -0.500000 m, approachRate: -0.994892 m/s, rangeRepo size: 4 ԩQ Added new target pos. range: 23.850544 m, bearing: 22.903123 deg, lat: 36.779403 deg, lon: -121.859478 deg, deltaT: 0.502567 s, deltaX: -0.496994 m, approachRate: -0.988911 m/s, posRepo size: 4 QDNOT Ignoring new targets: 23.85 m.Q  ProNav: ac range: 23.850544 m, nav range: 23.062082 m, bearing: 22.202892 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 24.321873 deg, new cmd heading: 23.830733 deg. zQHeadingCmd: 0.415925 target range: 23.850544 and range: 24.00 m.R>JbZB:2Ҕ!ڔ%҃B!ڒA’IM8@M?i߉IߍAchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.199373.Bɢ}) i)^;i<i>#< =I>I ?@  @ @ 10@ ^AUDDAT read: Rx Time:21:34:16.9621 ]TRx dataTimestamp_ set to:1761514458.099553ePDAT read: Bearing 189.2, -11.0 (Local) m~Local bearing/azimuth received: Bearing 189.2, -11.0 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 DAT read: 21:34:16.9621 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497,-0.23,-1.091,-2.563,-0.684,-1.036, PHS= 0.047,-1.482, 0.308, RAW= 157.8, 13.4, CAL= 158.3, 15.2, ROT= 351.7, -15.2 Ygot valid direction response: 21:34:16.9621 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 497,-0.23,-1.091,-2.563,-0.684,-1.036, PHS= 0.047,-1.482, 0.308, RAW= 157.8, 13.4, CAL= 158.3, 15.2, ROT= 351.7, -15.2 T#Rx 41: Read range and direction messages.^direction in FSK: [0.954909,-0.139306,0.262189]Fpublishing direction and range infoyQU̜?;f$?YU3AQQQQ Q)UAIQiU-U->UC0@U|o>U0@ Uԇ>)U%m@IUԇQQU3?ҿ? &? US(?)U,oIUViUԇQQchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.474207A)I9IIOU?=,|?A 6>6$o>6/ٱ6aD uAHRS rotation from veh to nav: [[0.879042,-0.467593,-0.092957],[0.476738,0.863098,0.166681],[0.002292,-0.190836,0.981619]]6H!? ݿ`̷??U?b?@Pmȿli?i6>I6]#^;6CY>Byl!IbDfVD;4y%J=ܻٔQ->9Y=GFy8EE>Q 5`5c?Q 9`53\)|BYy*>Q I @ EI;i;DN`5yfBɮCAJR_?AAA >l!6@L*x .@̜?;f$?Vԇ—C4@S!@ U/@@=l]*?AQ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.506546 s, deltaX: -0.100000 m, approachRate: -0.197416 m/s, rangeRepo size: 4 Q Added new target pos. range: 23.751167 m, bearing: 23.280623 deg, lat: 36.779403 deg, lon: -121.859476 deg, deltaT: 0.506546 s, deltaX: -0.099377 m, approachRate: -0.196185 m/s, posRepo size: 4 QDNOT Ignoring new targets: 23.75 m.Q ProNav: ac range: 23.751167 m, nav range: 22.894424 m, bearing: 22.705305 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 23.830733 deg, new cmd heading: 23.483773 deg. zQHeadingCmd: 0.409869 target range: 23.751167 and range: 23.90 m.R_>JbZB:2!Ҕ)ڔ))ڒ)’15`f7@5ǚ?I}/Bɢ}) @i);l;顩iFi_>3&<=I_>IEm EmEm&Ei"EmU,;*Em|:VEm4ZEia}@a}@a}@a}@=>@9 @9@={4@9^A=ychecking for new query: numPingsReceived=41, elapsed TxPingTime=21.703781AE.AIQIaOm>ԡ A AAA @AB >B B !IB BB B B /=,;S?ABMER;BME@>>x+bٱATH AHRS rotation from veh to nav: [[0.881682,-0.462243,-0.094704],[0.471832,0.865185,0.169792],[0.003451,-0.194387,0.980919]]H6? cݿ@>~2??@»?`kEl?@ȿc?i>II^;CY1By]!IbD]VD'+4DDAT read: Rx Time:21:34:17.4618 TRx dataTimestamp_ set to:1761514458.601231 PDAT read: Bearing 188.3, -10.8 (Local)  ~Local bearing/azimuth received: Bearing 188.3, -10.8 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.5 EDAT read: 21:34:17.4618 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.21,-2.198, 2.615,-1.789,-2.155, PHS= 0.060,-1.467, 0.323, RAW= 157.8, 12.9, CAL= 158.2, 14.6, ROT= 351.8, -14.6 MYgot valid direction response: 21:34:17.4618 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.21,-2.198, 2.615,-1.789,-2.155, PHS= 0.060,-1.467, 0.323, RAW= 157.8, 12.9, CAL= 158.2, 14.6, ROT= 351.8, -14.6 MT#Rx 42: Read range and direction messages.U^direction in FSK: [0.957815,-0.138024,0.252069]]Fpublishing direction and range infoy[l?߈I!?Y3A )?yk%?=ٔ-Q->9 ?Y ?=GFIu=iƻB`>f> 0@ w>)p{@Iwy :EBME>,@ ? n\y ?Q Im@ EIx2@E6@JI~U ]r@[l?߈I!?Tw—8m4@|dӆt!@n@f_$M?$?r]?j ArAZ}0??b7szBSE?7sBڗ5A>Q addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.501678 s, deltaX: -0.500000 m, approachRate: -0.996655 m/s, rangeRepo size: 4 Q Added new target pos. range: 23.254257 m, bearing: 22.994446 deg, lat: 36.779401 deg, lon: -121.859476 deg, deltaT: 0.501678 s, deltaX: -0.496910 m, approachRate: -0.990496 m/s, posRepo size: 4 Q%DNOT Ignoring new targets: 23.25 m.!!!Qu ProNav: ac range: 23.254257 m, nav range: 22.401360 m, bearing: 22.929614 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 23.483773 deg, new cmd heading: 23.058073 deg. zyQ}HeadingCmd: 0.402439 target range: 23.254257 and range: 23.40 m.R >JbZB:2Ҕڔڒ’`ff7@`ob?E0BɢER߼)I MiI)M4I;Eu EuEu$Eq"Eu);*Eu&:VEu4ZEqBEqa2EqaJEuG8R)<R=I >IE <@A  @A @E 0@I @U =@U > checking for new query: numPingsReceived=42, elapsed TxPingTime=22.207245 ) ^Am 6=A؟AIIOM?aX!=,?AzDDAT read: Rx Time:21:34:17.9616 ~TRx dataTimestamp_ set to:1761514459.105116PDAT read: Bearing 187.5, -10.9 (Local) ~Local bearing/azimuth received: Bearing 187.5, -10.9 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 =DAT read: 21:34:17.9616 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.30,-0.370,-1.853, 0.049,-0.332, PHS= 0.064,-1.475, 0.337, RAW= 158.0, 12.6, CAL= 158.4, 14.3, ROT= 351.6, -14.3 mYgot valid direction response: 21:34:17.9616 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.30,-0.370,-1.853, 0.049,-0.332, PHS= 0.064,-1.475, 0.337, RAW= 158.0, 12.6, CAL= 158.4, 14.3, ROT= 351.6, -14.3 mT#Rx 43: Read range and direction messages.u^direction in FSK: [0.958620,-0.141557,0.246999]uFpublishing direction and range infoyxz<?#v¿⩝?Yz̸Axxxx x)z=Izo=iz̼zD>z|0@zz0a>z;0@ zr>)z^@Izrxxz#8?$99m"?Ym"?=mGFym=EmEu>Q 5`5?Q 9`5V)|BY7?Q E:y>Q I@ EIa;i;EW`5ymBɮAKEJxRz8?AzAzAz(>zn^S-6@/ , a9@z<?#v¿⩝?zT zr—zᦉ^4@Ͼk!@If @zEd?_2#?uz?jzArzAZzfqJ?bz`vzzBxxxڗzAzê>Qe addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503885 s, deltaX: -0.299999 m, approachRate: -0.595372 m/s, rangeRepo size: 4 Q Added new target pos. range: 22.956127 m, bearing: 22.734781 deg, lat: 36.779401 deg, lon: -121.859476 deg, deltaT: 0.503885 s, deltaX: -0.298130 m, approachRate: -0.591663 m/s, posRepo size: 4 QDNOT Ignoring new targets: 22.96 m.Q ProNav: ac range: 22.956127 m, nav range: 22.063114 m, bearing: 23.015338 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 23.058073 deg, new cmd heading: 22.600835 deg. zQHeadingCmd: 0.394459 target range: 22.956127 and range: 23.10 m.R>JbZB:2ҔڔBڒ ’  7@  _?I]1Bɢ]SO)a eiaEm EmEm&Ei"Em%;*Em:VEm4ZEia}@a}@a}@a}@)ev';顁ii>~,<=I>I=@@9 @9@E0@AiߙIߙchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.711420q ^A T=ԩ B B B !IB WBB B B B R;B EAIIqO?|=,Y?A 2J>2>2ǻٱ2Z@N >AHRS rotation from veh to nav: [[0.887879,-0.449661,-0.097344],[0.460037,0.870507,0.174880],[0.006102,-0.200055,0.979766]]2Hi?Aܿ@븿`?q?1?`{b?`'x?bɿ=Z?i2J>I2;^;2CYF(ByFR!IRDDAT read: Rx Time:21:34:18.4613 VTRx dataTimestamp_ set to:1761514459.609215ZPDAT read: Bearing 184.3, -10.3 (Local) Z~Local bearing/azimuth received: Bearing 184.3, -10.3 (Local) bDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.5 vDAT read: 21:34:18.4613 LVL= 32752, 32753, 31826, 32755, AGC= 62, IDX= 506,-0.31,-1.552,-3.057,-1.116,-1.574, PHS= 0.124,-1.438, 0.414, RAW= 158.4, 10.4, CAL= 158.4, 11.4, ROT= 351.6, -11.4 zYgot valid direction response: 21:34:18.4613 LVL= 32752, 32753, 31826, 32755, AGC= 62, IDX= 506,-0.31,-1.552,-3.057,-1.116,-1.574, PHS= 0.124,-1.438, 0.414, RAW= 158.4, 10.4, CAL= 158.4, 11.4, ROT= 351.6, -11.4 T#Rx 44: Read range and direction messages.^direction in FSK: [0.969755,-0.143201,0.197657]Fpublishing direction and range infoyTV*;?E|BiT¿g4L?YVATTTVR| T)V>IV=iVbV>V;0@V9>T V%K>)TIV%KTTVZU0?y[/? e6? Vp+?)V :ITiV%KTT=checking for new query: numPingsReceived=44, elapsed TxPingTime=22.982958bDE{VDE]b4yas%;=ٔ1ǻQ->9Y = GFy @E QEU>iQQ 5u`5m۫?Q 9}`5mT)m|BY y t>Q I@m EIm2=im3=m#[`5yIɮM)AIJTRVa?AVxAVxAV>VVV5@ @V*;?E|BiT¿g4L?TV%K—V1mo+q4@bo, @fE@V}KEe?e P;?G:j6?jVArVAZVlnwf?bVIzVtBTTTڗV]AV\_>Q% addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504099 s, deltaX: -0.400000 m, approachRate: -0.793494 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 22.558603 m, bearing: 21.449621 deg, lat: 36.779401 deg, lon: -121.859476 deg, deltaT: 0.504099 s, deltaX: -0.397524 m, approachRate: -0.788583 m/s, posRepo size: 4 1Q=DNOT Ignoring new targets: 22.56 m.9Q ProNav: ac range: 22.558603 m, nav range: 21.795492 m, bearing: 23.094284 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 22.600835 deg, new cmd heading: 22.171214 deg. zDD%=E% E%E!E!"E%/;*E%:VE!ZE!BE%LjJYbYZYBY:a2aҔaڔaiڒi’im@36@m9?y2Bɢr) i);i-Hi5>=/<=l=I=>I9]checking for new query: numPingsReceived=44, elapsed TxPingTime=23.215519?@ @@/@@@ԡ ^A 箵=AAIIIYOm??l=,?A6D|>6>6^ٱ6UU >AHRS rotation from veh to nav: [[0.894020,-0.436568,-0.100679],[0.447935,0.875519,0.181166],[0.009056,-0.207064,0.978286]]6H`Л?ۿƹ?@?p0??ʿN?i6D|>I6TJ^;4YF*ByFT!INDDAT read: Rx Time:21:34:18.9612 RTRx dataTimestamp_ set to:1761514460.113168VPDAT read: Bearing 187.1, -10.2 (Local) V~Local bearing/azimuth received: Bearing 187.1, -10.2 (Local) ^DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 vDAT read: 21:34:18.9612 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.48, 2.129, 0.631, 2.526, 2.160, PHS= 0.072,-1.483, 0.323, RAW= 157.4, 12.8, CAL= 157.7, 14.4, ROT= 352.3, -14.4 zYgot valid direction response: 21:34:18.9612 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.48, 2.129, 0.631, 2.526, 2.160, PHS= 0.072,-1.483, 0.323, RAW= 157.4, 12.8, CAL= 157.7, 14.4, ROT= 352.3, -14.4 zT#Rx 45: Read range and direction messages.~^direction in FSK: [0.959850,-0.129777,0.248690]~Fpublishing direction and range infoyLN@;Ʉ?>׈l?YNALLLN L)N<INt=iNҽNB`>NF/@Nd>N'0@ N>)N@INLLN';?O?*h% V? N&?)N4dIN iNLLchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.483601! ))iMb@Mb@Mb@ 9ףp= ?X9vQ?Y?y<EAE@ A)CAYbD]jVD]C4y;%=ٔ"Q->9Y=GFyCEȼE>Q 5`5ǘ?Q 9`5>R)|BY!?Q E:y>Q I@ EI:i:_`5yqBɮ7ALE9JLRN%>?ANANANƈ>NKv5@ 32`6b_>@N@;Ʉ?>׈l?N N—N%3@=q0) @4P4@Ntx?FmQ ?,.d?jNIArN'AZN[?T?bN?}zNBNfqJ?N`vNBڗNƫANZ>Q addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503953 s, deltaX: -0.200001 m, approachRate: -0.396864 m/s, rangeRepo size: 4 Q Added new target pos. range: 22.359848 m, bearing: 22.105235 deg, lat: 36.779402 deg, lon: -121.859477 deg, deltaT: 0.503953 s, deltaX: -0.198755 m, approachRate: -0.394392 m/s, posRepo size: 4 QDNOT Ignoring new targets: 22.36 m.Q ProNav: ac range: 22.359848 m, nav range: 21.472122 m, bearing: 22.911121 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 22.171214 deg, new cmd heading: 21.744549 deg. z1Q=HeadingCmd: 0.379514 target range: 22.359848 and range: 22.50 m.R=O>J9b9Z9BA:A2AҔAڔMBIڒI’IM6@UĮ?颽3BɢD) i)G:i\iO>C2<=IO>IE EE$E"E);*E:VE4ZEa%@a%@a%@a%@i@ @@@Uchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.719576 a e Cԙ ŀG e }9a Ye hA^A ا=B B B m!IB >BB B B TD B ,R;B EA9IyIO%>]=,и%?AnDDAT read: Rx Time:21:34:19.4609 nTRx dataTimestamp_ set to:1761514460.617054vPDAT read: Bearing 184.3, -10.3 (Local) v~Local bearing/azimuth received: Bearing 184.3, -10.3 (Local) ~DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 DAT read: 21:34:19.4609 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32,-0.163,-1.698, 0.275,-0.171, PHS= 0.109,-1.482, 0.402, RAW= 158.3, 11.1, CAL= 158.4, 12.2, ROT= 351.6, -12.2 %Ygot valid direction response: 21:34:19.4609 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.32,-0.163,-1.698, 0.275,-0.171, PHS= 0.109,-1.482, 0.402, RAW= 158.3, 11.1, CAL= 158.4, 12.2, ROT= 351.6, -12.2 -T#Rx 46: Read range and direction messages.m^direction in FSK: [0.966930,-0.142784,0.211325]uFpublishing direction and range infoylnA8?4TMF¿\ ?Yn̰Allll l)n@Ind;=in-n>n0@naF>n;0@ n^ Z>)n^@In^ Zlln?Igm'w?'g? nL*+?)nEInT in^ Zllchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.004354YM2ByM^!IbDiVD=A4yW=%"=ٔQ->9Y==GFy=EEEEE>IQ 5U`5Mᘊ?Q 9}`5MO)M}BYyyyQ I}@M EIM;iM;Mmd`5ylBɮACEJlRn}'?AnAnAnA>nk<5@? |&T@nA8?4TMF¿\ ?nT n^ Z—n![,3@:An@61@nL?;Ġ]+?6o ^?jnr@rnAZnm?bn|湇znBn[?T?n?}nBڗn5AnvK>QE addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503886 s, deltaX: -0.400000 m, approachRate: -0.793830 m/s, rangeRepo size: 4 QU Added new target pos. range: 21.962303 m, bearing: 20.933930 deg, lat: 36.779403 deg, lon: -121.859480 deg, deltaT: 0.503886 s, deltaX: -0.397545 m, approachRate: -0.788958 m/s, posRepo size: 4 QQUDNOT Ignoring new targets: 21.96 m.YYYQm ProNav: ac range: 21.962303 m, nav range: 21.151194 m, bearing: 22.190339 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 21.744549 deg, new cmd heading: 21.306389 deg. ziQHeadingCmd: 0.371867 target range: 21.962303 and range: 22.10 m.RNe>JbZB:2Ҕڔڒ’6@`d?EU EUEU%EQ"EU/;*EU;:VEU 4ZEQBEQae2EQaeJEU4'f5<|=INe>I!A@A @A@E/@A@M=@M=checking for new query: numPingsReceived=46, elapsed TxPingTime=24.223183Q ^Am =ԉIIO>L=,sE?A2o>2<>2Rٱ2r\ JAHRS rotation from veh to nav: [[0.899661,-0.423841,-0.104735],[0.436400,0.880084,0.187103],[0.012873,-0.214036,0.976741]]2H?@7 ۿϺ?)??']?e˿@vA?i2o>I23^;2CYRBByRr!IDDAT read: Rx Time:21:34:19.9608 TRx dataTimestamp_ set to:1761514461.121220-PDAT read: Bearing 186.9, -9.7 (Local) -~Local bearing/azimuth received: Bearing 186.9, -9.7 (Local) EDAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.5 eDAT read: 21:34:19.9608 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.45, 2.687, 1.170, 3.071, 2.722, PHS= 0.067,-1.507, 0.306, RAW= 157.0, 13.2, CAL= 157.4, 15.0, ROT= 352.6, -15.0 uYgot valid direction response: 21:34:19.9608 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.45, 2.687, 1.170, 3.071, 2.722, PHS= 0.067,-1.507, 0.306, RAW= 157.0, 13.2, CAL= 157.4, 15.0, ROT= 352.6, -15.0 uT#Rx 47: Read range and direction messages.}^direction in FSK: [0.957881,-0.124407,0.258819]}Fpublishing direction and range infoye?m6ٿV!}?Y3A )?IL7=i`>^/@k>F/@  >)@I ?ʻ?/1H? ,%?)VYlI@i checking for new query: numPingsReceived=47, elapsed TxPingTime=24.491831iMb@Mb@Mb@ 9Cl?MbX{Gz?Y;?yʽ#=Ar@ )AYp AbDnVDpJ4y=%<=ٔQ->9Y=GFyGEE>Q 5`5 ?ԉQ 9`5M) }BY!?Q E:y>Q I @ EI =i =h`5ypBɮkADEJRG?AAA`>b!4@8S?@e?m6ٿV!}?@ — oWVP3@&npS@f@ h}e?|6b?Lj'?j@rAZB{R?bk_zBk_ڗA">Q addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504166 s, deltaX: -0.200001 m, approachRate: -0.396696 m/s, rangeRepo size: 4 Q Added new target pos. range: 21.763548 m, bearing: 21.912723 deg, lat: 36.779403 deg, lon: -121.859482 deg, deltaT: 0.504166 s, deltaX: -0.198755 m, approachRate: -0.394226 m/s, posRepo size: 4 QDNOT Ignoring new targets: 21.76 m.99QM ProNav: ac range: 21.763548 m, nav range: 20.836082 m, bearing: 21.891197 deg, approach rate: 0.000000 m/s, LOS rate: -0.285567 deg/s, cmd heading: 21.306389 deg, new cmd heading: 20.920464 deg. zIQUHeadingCmd: 0.365131 target range: 21.763548 and range: 21.90 m.RUr>JQbQZQBQ:y2yҔyڔ׃Bڒ’`f5@`д?ɢ.) i ):i5{ii=r>=T7<==I=r>IAԱE EE'E"E1A;*Ed:VE'4ZEa@a@a@a@@ @@/@^A"=checking for new query: numPingsReceived=47, elapsed TxPingTime=24.730953Ia Iq O > p=,r5_?A6,i>6ԡ>6sٱ6] BAHRS rotation from veh to nav: [[0.901844,-0.418881,-0.105909],[0.431806,0.882250,0.187558],[0.014874,-0.214880,0.976527]]6H?@ڿ`ൢ?e;??`gv?3˿??i6,i>I6^;6CY^JBy^{!IIb<)b<bDj[VDjy'4yr'=%r]=ٔrQ-v>9tYt=vGFyvIEzaEz>|Q 5`5~ ?Q 9`5~K)~;}BYy}>Q I @~ EI~:i~:~Rk`5yɮ-AGSmB*** querying acoustic contact ***:iBiBBBBBBBB[R;B'EQDNOT Ignoring new targets: 21.76 m.;;Q5 ProNav: ac range: 21.763548 m, nav range: 20.605215 m, bearing: 21.940361 deg, approach rate: -0.639922 m/s, LOS rate: 0.137800 deg/s, cmd heading: 20.920463 deg, new cmd heading: 21.069607 deg. z5$;Q=HeadingCmd: 0.367734 target range: 21.763548 and range: 21.90 m.R=G>J9b9Z9B9:92AҔAڔAAڒI’Iiuן?颽5BɢF) i) 9ieiG>9<1=IG>IUDDAT read: Rx Time:21:34:20.4605 ]TRx dataTimestamp_ set to:1761514461.629248ePDAT read: Bearing 183.4, -9.3 (Local) e~Local bearing/azimuth received: Bearing 183.4, -9.3 (Local) }DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.5 DAT read: 21:34:20.4605 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.30,-0.628,-2.175,-0.209,-0.656, PHS= 0.130,-1.474, 0.403, RAW= 157.7, 10.7, CAL= 157.7, 11.8, ROT= 352.3, -11.8 Ygot valid direction response: 21:34:20.4605 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.30,-0.628,-2.175,-0.209,-0.656, PHS= 0.130,-1.474, 0.403, RAW= 157.7, 10.7, CAL= 157.7, 11.8, ROT= 352.3, -11.8 T#Rx 48: Read range and direction messages.@ @@0@^direction in FSK: [0.970041,-0.131155,0.204496]Fpublishing direction and range infoyQUv ?QrG,?YUAQQQQ Q)QIU>iUUV>U'0@Ut;?>U'0@ UBR>)U@IUBRQQ!Uj?jb&>? ? U(?)U?IU iUBRQQchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.072765I ^A 6=D D <E  E E #E "E +$;*E >:VE 3ZE BE /} checking for new query: numPingsReceived=48, elapsed TxPingTime=25.235077t=,y?A 2Ze>2?Z>2,ٱ2.h] :AHRS rotation from veh to nav: [[0.903716,-0.414446,-0.107381],[0.427767,0.884433,0.186529],[0.017666,-0.214503,0.976563]]2H>?Jڿ@Z}`?GM?-??t˿@?i2Ze>I2A'^;2CYNQByN!Ii}Mb@Mb@Mb@yyyy y9}V-?333333/$?Y}|?y}},=}A}@ }l A)yyY} AbDaVD24y=%?=ٔWջQ->9Y=GFyKE"*E>Q 5`5?Q 9`5I)Y}BY ?Q E:y>Q I@ EI:i#:o`5ysBɮAEEJREh?AAAе> *Oֹ4@E k!z@v ?QrG,? BR—l-l3@PtN@v@t]?%?D 1/E[?jz@raAZ?bfzɍBꗅlnwf?IBڗGA◅3(>Q% addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.508028 s, deltaX: -0.400000 m, approachRate: -0.787357 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 21.366030 m, bearing: 20.346235 deg, lat: 36.779405 deg, lon: -121.859482 deg, deltaT: 0.508028 s, deltaX: -0.397518 m, approachRate: -0.782473 m/s, posRepo size: 4 1Q5DNOT Ignoring new targets: 21.37 m.9=9QM ProNav: ac range: 21.366030 m, nav range: 20.534985 m, bearing: 21.727301 deg, approach rate: 0.000000 m/s, LOS rate: 0.137800 deg/s, cmd heading: 21.069607 deg, new cmd heading: 21.230433 deg. zIQUHeadingCmd: 0.370541 target range: 21.366030 and range: 21.50 m.RU>JQbYZYBY:Y2YҔaڔeBaڒa’am5@m?频ɢ) i)r顙ii>;<'Ԋ=I>I)Q@ @@/0@^A`=A>A>IaIqԁO[>]DDAT read: Rx Time:21:34:20.9603 eTRx dataTimestamp_ set to:1761514462.133225mPDAT read: Bearing 190.2, -9.0 (Local) m~Local bearing/azimuth received: Bearing 190.2, -9.0 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 DAT read: 21:34:20.9603 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512,-0.31,-0.080,-1.584, 0.247, 0.016, PHS= 0.007,-1.554, 0.188, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 Ygot valid direction response: 21:34:20.9603 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 512,-0.31,-0.080,-1.584, 0.247, 0.016, PHS= 0.007,-1.554, 0.188, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 T#Rx 49: Read range and direction messages.^direction in FSK: [0.942225,-0.102358,0.318959]Fpublishing direction and range infoyaefFʴ&?67(4ˬQi?YeAaaaa a)eAIeB`;ieyƿe@>e^-@eÐ>e!z.@ e6>)ee@Ie6aaeC, ?DTC?|;F? eHD?)eWIeiݽie6aachecking for new query: numPingsReceived=49, elapsed TxPingTime=25.503540ԡ =,B?AbEu-4jEu 4rEu/E2 E2E2'E0"E24;*E2:VE2'4ZE0a:@a:@a:@a:@@Y`By!IbD-YVD-#4yg=%M=ٔQ->9Y=GFyMEE>Q 5`52?Q 9`5WG)t}BYyQ I@ EI[:iR:r`5ywBɮAFEJR†?AAA7>Tf3@l9v@4`@fFʴ&?67(4ˬQi?iݽ6—!Mg2@Y@N9@4av?<ɖ'?x.B^g?j@rAZ3)?byY1yz Bꗕ[?T?k_BڗA◕>Q addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503977 s, deltaX: -0.299999 m, approachRate: -0.595264 m/s, rangeRepo size: 4 Q  Added new target pos. range: 21.067900 m, bearing: 23.400212 deg, lat: 36.779403 deg, lon: -121.859482 deg, deltaT: 0.503977 s, deltaX: -0.298130 m, approachRate: -0.591555 m/s, posRepo size: 4 QDNOT Ignoring new targets: 21.07 m.Q- ProNav: ac range: 21.067900 m, nav range: 20.087772 m, bearing: 22.005011 deg, approach rate: 0.000000 m/s, LOS rate: 0.137800 deg/s, cmd heading: 21.230432 deg, new cmd heading: 21.395466 deg. z)Q5HeadingCmd: 0.373421 target range: 21.067900 and range: 21.20 m.R51>J1b1Z1B1:929Ҕ9ڔ9AڒA’AE@335@EcD?qɢug)q u$վiq)}aJٹyyi}/i1>@S=<p=I1>Ichecking for new query: numPingsReceived=49, elapsed TxPingTime=25.740030Ա@@ @@5@B>BB!IBMBBBBBpR;B1EBYBYBYBYBYC]G4^AU=IIO > m DDAT read: Rx Time:21:34:21.4600 u TRx dataTimestamp_ set to:1761514462.637171} PDAT read: Bearing 182.7, -8.6 (Local) } ~Local bearing/azimuth received: Bearing 182.7, -8.6 (Local)  DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.5  DAT read: 21:34:21.4600 LVL= 32112, 32753, 31858, 32755, AGC= 62, IDX= 509,-0.36,-2.048, 2.673,-1.637,-2.088, PHS= 0.142,-1.478, 0.407, RAW= 157.5, 10.5, CAL= 157.4, 11.5, ROT= 352.6, -11.5  Ygot valid direction response: 21:34:21.4600 LVL= 32112, 32753, 31858, 32755, AGC= 62, IDX= 509,-0.36,-2.048, 2.673,-1.637,-2.088, PHS= 0.142,-1.478, 0.407, RAW= 157.5, 10.5, CAL= 157.4, 11.5, ROT= 352.6, -11.5  T#Rx 50: Read range and direction messages. ^direction in FSK: [0.971763,-0.126210,0.199368] Fpublishing direction and range infoyq u 7?yb'i?Yu Aq u p}q u r| q )u >Iu sh>iu /u Nb>u /@u f;>u F/@ u M>)u @Iu Mq q u I?(f"?Cb? u 5`'?)u P%>˼ٱ.[ MAHRS rotation from veh to nav: [[0.906460,-0.407712,-0.110008],[0.421663,0.888074,0.183096],[0.023044,-0.212356,0.976921]]H?ڿ@u)?k?o?`蘗? y.˿@B?i^>I2.^;CY]mBy]!I aam=m=Em EmEm#Ei"Emm+;*Em:VEm3ZEiBEm܄9Y=GFyPEaE> Q 5`5 ^K?Q 9`5  D) }BY'?Q E:y,>Q I=@  EI ;i |; v`5yIɮMQAIJRiǨ?AAA1>-y3@"Jӟg@7?yb'i?@M—D2@GT@EQ@V!? 'c?Į!:?j@rҕAZu?b:zvBꗕm?|湇BڗA◕ͻ>Q addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503946 s, deltaX: -0.500000 m, approachRate: -0.992170 m/s, rangeRepo size: 4 Q- Added new target pos. range: 20.570990 m, bearing: 20.156681 deg, lat: 36.779406 deg, lon: -121.859485 deg, deltaT: 0.503946 s, deltaX: -0.496910 m, approachRate: -0.986038 m/s, posRepo size: 4 )Q-DNOT Ignoring new targets: 20.57 m.)11Qe ProNav: ac range: 20.570990 m, nav range: 19.963533 m, bearing: 21.016325 deg, approach rate: 0.000000 m/s, LOS rate: 0.137800 deg/s, cmd heading: 21.395467 deg, new cmd heading: 21.603367 deg. zaQmHeadingCmd: 0.377050 target range: 20.570990 and range: 20.70 m.Rm >JibiZiBq:q2qҔyڔ}%Byڒ’@34@=?checking for new query: numPingsReceived=50, elapsed TxPingTime=26.243069ɢ˼) oȾi)KWiCi >ZP?<j=I >I 1?@ @@i0@^Ab$=i A I I O5 >X=,?A2z[>2j>2jnмٱ2JQX >AHRS rotation from veh to nav: [[0.907646,-0.404940,-0.110462],[0.418965,0.889992,0.179952],[0.025441,-0.209612,0.977454]]2Ho ?ٿ;GP?z?? ?`ʿLG?i2z[>I2H ^;2CYvByv!IbDXVD!4y >%=ٔ}Q-?-DDAT read: Rx Time:21:34:21.9599 -TRx dataTimestamp_ set to:1761514463.1412435PDAT read: Bearing 183.8, -9.1 (Local) 9=~Local bearing/azimuth received: Bearing 183.8, -9.1 (Local) MDAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.5 uDAT read: 21:34:21.9599 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.42,-1.122,-2.684,-0.706,-1.124, PHS= 0.104,-1.515, 0.375, RAW= 157.6, 11.7, CAL= 157.8, 13.0, ROT= 352.2, -13.0 }Ygot valid direction response: 21:34:21.9599 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.42,-1.122,-2.684,-0.706,-1.124, PHS= 0.104,-1.515, 0.375, RAW= 157.6, 11.7, CAL= 157.8, 13.0, ROT= 352.2, -13.0 T#Rx 51: Read range and direction messages.^direction in FSK: [0.965355,-0.132237,0.224951]Fpublishing direction and range infoy)-oS0?a´#:/2?Y-̤A)-)- ))-@I-=i-->-x 0@-Q>-C0@ -Vh>)-@I-Vh))-XS!D+?ef ?&? -W(?)-PI-g i-Vh))checking for new query: numPingsReceived=51, elapsed TxPingTime=26.5119119Y=GFyQEE?Q 5`5[?Q 9`5A)}BYy>Q I@ EIQ:ij:y`5y{BɮR@J)R- ?A-ţA-ţA-ҩ>-H>+3@d޻%emo&k@-oS0?a´#:/2?-g -Vh—-WBW2@r,@ j4I@-U?I?Z sk?j-_@r-2AZ-t?b-rz-B-t?-f-Bڗ-,A-̶>Q% addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504072 s, deltaX: -0.100000 m, approachRate: -0.198385 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 20.471613 m, bearing: 19.881564 deg, lat: 36.779406 deg, lon: -121.859487 deg, deltaT: 0.504072 s, deltaX: -0.099377 m, approachRate: -0.197148 m/s, posRepo size: 4 9Q=DNOT Ignoring new targets: 20.47 m.9AAQU ProNav: ac range: 20.471613 m, nav range: 19.771608 m, bearing: 20.456458 deg, approach rate: 0.000000 m/s, LOS rate: 0.137800 deg/s, cmd heading: 21.603368 deg, new cmd heading: 21.731467 deg. zQQHeadingCmd: 0.379286 target range: 20.471613 and range: 20.60 m.R1>JbZB:2Ҕڔڒ’4@?ԑ颩ɢ0ۼ) i)R顱ii1>@<?[=I1>IE EE'E"E4;*E:VE'4ZEa@a@a@a@@ @@5@Աchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.747206^A 8=A gAzA A I IA B >B B !IB vBB B B B iR;B -EO%>i=,Ee?AzvX>zz>z߼ٱzV AHRS rotation from veh to nav: [[0.908793,-0.402210,-0.111002],[0.416351,0.891579,0.178152],[0.027312,-0.208119,0.977722]]zH? нٿ`j`?Ї??? ʿI?izvX>Iz@^;zCY=By=!IbDMiVDM=A4y]<%],=ٔ]EQ-e>9aYa=eGFyeTEm3ͻEm>qQ 5}`5us?Q 9}`5u>)u}BYyy>Q I@u EIuR:iu:u}`5y~Bɮ@GEGSB*** querying acoustic contact ***:BQDNOT Ignoring new targets: 20.47 m.úúQ ProNav: ac range: 20.471613 m, nav range: 19.474197 m, bearing: 20.418366 deg, approach rate: -0.657798 m/s, LOS rate: -0.085536 deg/s, cmd heading: 21.731466 deg, new cmd heading: 21.615445 deg. zjQHeadingCmd: 0.377261 target range: 20.471613 and range: 20.60 m.RP(>JbZB:2Ҕڔڒ’ kb?ɢQɼ) i)%Z!!i%$i-P(>-A<-[=I-P(>I1uDDAT read: Rx Time:21:34:22.4596 TRx dataTimestamp_ set to:1761514463.649778PDAT read: Bearing 181.6, -8.2 (Local) ~Local bearing/azimuth received: Bearing 181.6, -8.2 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.6 DAT read: 21:34:22.4596 LVL= 32624, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.48,-1.278,-2.850,-0.862,-1.330, PHS= 0.154,-1.476, 0.424, RAW= 157.5, 10.1, CAL= 157.5, 11.0, ROT= 352.5, -11.0 Ygot valid direction response: 21:34:22.4596 LVL= 32624, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.48,-1.278,-2.850,-0.862,-1.330, PHS= 0.154,-1.476, 0.424, RAW= 157.5, 10.1, CAL= 157.5, 11.0, ROT= 352.5, -11.0 T#Rx 52: Read range and direction messages.^direction in FSK: [0.973229,-0.128128,0.190809]Fpublishing direction and range info@ @@/@yy}$?tN\fP@ml?Y}̠Ay}pyy y)}>I}->i}}>}/@}J4>}/@ } D>)}@I} Dyy}"9?6ι2?sx? }'?)}-4I} i} DyyUchecking for new query: numPingsReceived=52, elapsed TxPingTime=27.064175^Anp=AA II)O5q>E EE$E"E(;*E:VE4ZEBE2>2.ٱ2S >AHRS rotation from veh to nav: [[0.909920,-0.399712,-0.110793],[0.413774,0.893352,0.175255],[0.028926,-0.205312,0.978269]]2H?ٿ@\D{?V?n??GʿM?i2U>I29^;2CYNByR!ITVAieMb@Mb@Mb@aaaa a9eNbX9?I +?y&1?Ye%?ye949Y=GFyVEKE>Q 5`5$?Q 9`5;)}BY%?Q E:y>Q I@ EI}p3@5Q9}yĥ)}@$?tN\fP@ml?  D—}J2@Ȇh@?|C@&QL?çK?{U?j@rPAZ]?b,zABꗵu?:ɍBڗeA◵P>Q addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.508535 s, deltaX: -0.500000 m, approachRate: -0.983217 m/s, rangeRepo size: 4 Q  Added new target pos. range: 19.974712 m, bearing: 19.356976 deg, lat: 36.779406 deg, lon: -121.859488 deg, deltaT: 0.508535 s, deltaX: -0.496901 m, approachRate: -0.977122 m/s, posRepo size: 4  QDNOT Ignoring new targets: 19.97 m.Q% ProNav: ac range: 19.974712 m, nav range: 19.174734 m, bearing: 20.000678 deg, approach rate: 0.000000 m/s, LOS rate: -0.085536 deg/s, cmd heading: 21.615445 deg, new cmd heading: 21.494301 deg. zAQMHeadingCmd: 0.375146 target range: 19.974712 and range: 20.10 m.RM.>JIbQZQBQ:Q2QҔYڔ]HBYڒY’Ye4@e?ɢc`) imDDAT read: Rx Time:21:34:22.9595 uTRx dataTimestamp_ set to:1761514464.149302}PDAT read: Bearing 183.3, -8.7 (Local) }~Local bearing/azimuth received: Bearing 183.3, -8.7 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 DAT read: 21:34:22.9595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.40, 3.139, 1.566,-2.728, 3.133, PHS= 0.109,-1.521, 0.378, RAW= 157.5, 11.6, CAL= 157.7, 12.9, ROT= 352.3, -12.9 Ygot valid direction response: 21:34:22.9595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.40, 3.139, 1.566,-2.728, 3.133, PHS= 0.109,-1.521, 0.378, RAW= 157.5, 11.6, CAL= 157.7, 12.9, ROT= 352.3, -12.9 T#Rx 53: Read range and direction messages.^direction in FSK: [0.965972,-0.130605,0.223250]Fpublishing direction and range infoyim>=?rNu?YmAimii i)mAImd;=im!¿m7>im4QO>m'0@ mf>)m@Imfiim}[r?ST?bOX?)hҺii.>C<|Y=I.>I mN'?)mqOIm imfiichecking for new query: numPingsReceived=53, elapsed TxPingTime=27.525337ԙ E Β{E  E E &E "E 3;*E -:VE 4ZE a @a @a @a @ @  @ @ 0@  checking for new query: numPingsReceived=53, elapsed TxPingTime=27.755022^A5[=A>A>1B>BB!IBBBBBBPR;B!EAqIIO?>,I%?A6.5Q>6G>6ٱ6L< BAHRS rotation from veh to nav: [[0.911645,-0.396090,-0.109618],[0.409768,0.896486,0.168531],[0.031517,-0.198558,0.979582]]6H`2,? Yٿ9??m?#?\jɿX?i6.5Q>I6,^;6CYJByJ!IbD QVD 4y=h=%=ٔQ->9!Y!=%GFy%YE-E->1Q 5=`55?Q 9=`55Q7)5}BY9y=;>Q IE@5 EI5w;i5r;5y`5yMBɮM@MHEJ!R%* ?A%A%A%>%g 23@12?@%>=?rNu?% %f—%kդf 2@ybZ&@dPR@%k` ?+9/M??<*㻚?j%6@r%[AZ%`%?b%z%B!%r%Bڗ%A%RW>Q addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.499524 s, deltaX: -0.100000 m, approachRate: -0.200191 m/s, rangeRepo size: 4 Q Added new target pos. range: 19.875404 m, bearing: 19.211561 deg, lat: 36.779406 deg, lon: -121.859489 deg, deltaT: 0.499524 s, deltaX: -0.099308 m, approachRate: -0.198805 m/s, posRepo size: 4 QDNOT Ignoring new targets: 19.88 m.Q ProNav: ac range: 19.875404 m, nav range: 18.758335 m, bearing: 19.621690 deg, approach rate: 0.000000 m/s, LOS rate: -0.085536 deg/s, cmd heading: 21.494301 deg, new cmd heading: 21.355140 deg. zQHeadingCmd: 0.372717 target range: 19.875404 and range: 20.00 m.RԾ>JbZB:2Ҕڔڒ’4@'?%=DDAT read: Rx Time:21:34:23.4592 TRx dataTimestamp_ set to:1761514464.653510 PDAT read: Bearing 185.2, -8.7 (Local) ~Local bearing/azimuth received: Bearing 185.2, -8.7 (Local) %DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 eDAT read: 21:34:23.4592 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.40,-1.846, 2.866,-1.451,-1.812, PHS= 0.068,-1.560, 0.316, RAW= 157.0, 13.3, CAL= 157.4, 15.0, ROT= 352.6, -15.0 uYgot valid direction response: 21:34:23.4592 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.40,-1.846, 2.866,-1.451,-1.812, PHS= 0.068,-1.560, 0.316, RAW= 157.0, 13.3, CAL= 157.4, 15.0, ROT= 352.6, -15.0 uT#Rx 54: Read range and direction messages.}^direction in FSK: [0.957881,-0.124407,0.258819]}Fpublishing direction and range infoye?m6ٿV!}?YA )?IC=iǿʡ>^/@,m>F/@  >)@I 颱ɢ!) i)i&iԾ>EZE< S=IԾ>I,T- ?zр?͆LX? D%?)jlI@i 5checking for new query: numPingsReceived=54, elapsed TxPingTime=28.047123ԱDQzDQEe( EeEe!Ea"Ee`;*Ee:VEec3ZEaBEeO*>,;D?AVkN>V>VRٱVPGJ ^AHRS rotation from veh to nav: [[0.912620,-0.394057,-0.108827],[0.407540,0.897910,0.166337],[0.032171,-0.196154,0.980045]]VH/4?:8ٿܻ$?@? J?x? ɿ\?iVkN>IVZ^;VCYfByf!IiUMb@Mb@Mb@QQQQ Q9URQ?I +?Mb?YU"?yU94=U9Y=GFy\EE>Q 5`5D?Q 9`5Y3)}BY#?Q E:yR>Q I@ EI3:i':ۊ`5yBɮk@IEJR)?AAA񮬰>wY2@m"nnZIy @e?m6ٿV!}?@ —y/2X1@x6@QC='@OM'?,\S?r:G?j@rAZoq?b]zBꗡڗA◥>Q addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504208 s, deltaX: -0.500000 m, approachRate: -0.991654 m/s, rangeRepo size: 4 Q Added new target pos. range: 19.378519 m, bearing: 19.770908 deg, lat: 36.779406 deg, lon: -121.859489 deg, deltaT: 0.504208 s, deltaX: -0.496885 m, approachRate: -0.985477 m/s, posRepo size: 4 QDNOT Ignoring new targets: 19.38 m.!!}DDAT read: Rx Time:21:34:23.9590 }TRx dataTimestamp_ set to:1761514465.157136PDAT read: Bearing 181.3, -8.2 (Local) ~Local bearing/azimuth received: Bearing 181.3, -8.2 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6 DAT read: 21:34:23.9590 LVL= 32752, 32753, 31730, 32755, AGC= 65, IDX= 498, 0.20,-0.035,-1.634, 0.391,-0.075, PHS= 0.142,-1.514, 0.422, RAW= 157.7, 10.5, CAL= 157.7, 11.5, ROT= 352.3, -11.5 Ygot valid direction response: 21:34:23.9590 LVL= 32752, 32753, 31730, 32755, AGC= 65, IDX= 498, 0.20,-0.035,-1.634, 0.391,-0.075, PHS= 0.142,-1.514, 0.422, RAW= 157.7, 10.5, CAL= 157.7, 11.5, ROT= 352.3, -11.5 T#Rx 55: Read range and direction messages.^direction in FSK: [0.971089,-0.131297,0.199368]Fpublishing direction and range infoyy}P(?_HTi?Y}Ayyy}{ y)}AI}sh>i}}b>}'0@}f;>}'0@ }M>)}@I}Myy}|N??'{ JQbQZYBY:Y2YҔYڔebBaڒ’@333@@ա?6BɢN) i)i:i߭>G<S=I ߭>I ԡE EE%E"E8;*EVE 4ZEa@a@a@a@ 9@  @ @ @ % checking for new query: numPingsReceived=55, elapsed TxPingTime=28.763130 a G}9 Y hA^A- XR=)BBB "IBBBL =BBUDBJR;BEA].AIiIyO?>,te?A2 sL>2>2+ٱ2oI :AHRS rotation from veh to nav: [[0.913511,-0.392046,-0.108616],[0.405515,0.898860,0.166160],[0.032488,-0.195835,0.980099]]2H{;?IٿAλ ?@u?D?E?@ɿ\?i2 sL>I2^;0YBByB!I DDbDNQVDN4yVq<%V*=ٔZ,Q-Z>9Z ?YZ ?=^GFy^^E^E^>`Q 5f`5bә?Q 9f`5b/)b~BYIyM/>Q IU@b EIbu Q addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503626 s, deltaX: -0.299999 m, approachRate: -0.595679 m/s, rangeRepo size: 4 UDDAT read: Rx Time:21:34:24.4587 ]TRx dataTimestamp_ set to:1761514465.661263ePDAT read: Bearing 182.8, -8.7 (Local) e~Local bearing/azimuth received: Bearing 182.8, -8.7 (Local) uDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6 DAT read: 21:34:24.4587 LVL= 28992, 32753, 26962, 32755, AGC= 62, IDX= 495, 0.11, 0.004,-1.577, 0.426, 0.008, PHS= 0.098,-1.540, 0.374, RAW= 157.7, 11.9, CAL= 157.9, 13.3, ROT= 352.1, -13.3 Ygot valid direction response: 21:34:24.4587 LVL= 28992, 32753, 26962, 32755, AGC= 62, IDX= 495, 0.11, 0.004,-1.577, 0.426, 0.008, PHS= 0.098,-1.540, 0.374, RAW= 157.7, 11.9, CAL= 157.9, 13.3, ROT= 352.1, -13.3 T#Rx 56: Read range and direction messages.^direction in FSK: [0.963943,-0.133758,0.230050]Fpublishing direction and range infoyQUPAﶞ?,Agz}"Er?YUfAQU@qQURi Q)U>IU9=iUſU|>QUȭT>UA`0@ U,m>)UU@IU,mQQU1(Vk?xj9% "?Bf1d? U J(?)UTIU0 iU,mQQchecking for new query: numPingsReceived=56, elapsed TxPingTime=29.031261Q Added new target pos. range: 19.080454 m, bearing: 18.618120 deg, lat: 36.779409 deg, lon: -121.859489 deg, deltaT: 0.503626 s, deltaX: -0.298065 m, approachRate: -0.591838 m/s, posRepo size: 4 QDNOT Ignoring new targets: 19.08 m.Q ProNav: ac range: 19.080454 m, nav range: 18.392540 m, bearing: 19.014807 deg, approach rate: 0.000000 m/s, LOS rate: -0.085536 deg/s, cmd heading: 21.226204 deg, new cmd heading: 21.097623 deg. zQHeadingCmd: 0.368223 target range: 19.080454 and range: 19.20 m.R>JbZB:29ҔAڔAAڒI’IM2@U Ü?颩ɢ!㐼) ځi)  i̽i->-gI<-tqT=I->I1E EE&E"E*;*E:VE4ZEBE,i?AYBy!IiMb@Mb@Mb@ 9S㥛?v/?~jthY$&?yxi=DrA@ ; A)-AY A ;bDZVD%4y!:%=ٔQ->9Y=GFyaEE>uDDAT read: Rx Time:21:34:24.9586 }TRx dataTimestamp_ set to:1761514466.165004PDAT read: Bearing 183.0, -9.0 (Local) ~Local bearing/azimuth received: Bearing 183.0, -9.0 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 DAT read: 21:34:24.9586 LVL= 31440, 32753, 25906, 32755, AGC= 63, IDX= 510, 0.09, 1.319,-0.265, 1.746, 1.336, PHS= 0.084,-1.557, 0.365, RAW= 157.8, 12.3, CAL= 158.1, 13.8, ROT= 351.9, -13.8 Ygot valid direction response: 21:34:24.9586 LVL= 31440, 32753, 25906, 32755, AGC= 63, IDX= 510, 0.09, 1.319,-0.265, 1.746, 1.336, PHS= 0.084,-1.557, 0.365, RAW= 157.8, 12.3, CAL= 158.1, 13.8, ROT= 351.9, -13.8 T#Rx 57: Read range and direction messages.^direction in FSK: [0.961446,-0.136834,0.238533]Fpublishing direction and range infoyy}(?*?SZŃiC?Yyy}zy}2e y)}?I}1=i}Kǿ}H>}C0@}[>}r0@ }Ϣv>)}@I}Ϣvyy}m?qy'?ԩi{?? }(?)}([I}i}Ϣvyychecking for new query: numPingsReceived=57, elapsed TxPingTime=29.535042yQ 5`5}[?Q 9`5}*)}~BY&?Q E:y?Q I@} EI};i}};}5`5yɮAJyR}m?A}vA}vA}>}"܈o1@:hPNs}v@}(?*?SZŃiC?}}Ϣv—}Ka0@9-&@W@} .?h ?(?j}A@r}kAZ}ȁ?b}4z}By},}Bڗ} A}?>Qm addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.007868 s, deltaX: -0.400002 m, approachRate: -0.396879 m/s, rangeRepo size: 4 Q} Added new target pos. range: 18.682943 m, bearing: 18.691330 deg, lat: 36.779409 deg, lon: -121.859489 deg, deltaT: 1.007868 s, deltaX: -0.397511 m, approachRate: -0.394407 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.68 m.Q ProNav: ac range: 18.682943 m, nav range: 18.004917 m, bearing: 18.716217 deg, approach rate: 0.000000 m/s, LOS rate: -0.085536 deg/s, cmd heading: 21.097623 deg, new cmd heading: 20.948625 deg. zQHeadingCmd: 0.365622 target range: 18.682943 and range: 18.80 m.R2>J!b!Z!B!:!2!Ҕ)ڔ-rB)ڒ)’115߶?颽7Bɢ`r)  i)ދ1i\i2>+J<^=I2>I@ @@/@E EE$E"E(;*E8:VE4ZEa@a@a@a@A % checking for new query: numPingsReceived=57, elapsed TxPingTime=29.771162^A lT=i A I IBBB("IBփBBM =BBB:R;BEO>(>,e?A@>E>>Ω>>' ٱ>J JAHRS rotation from veh to nav: [[0.916012,-0.386023,-0.109121],[0.399710,0.901338,0.166798],[0.033967,-0.196406,0.979934]]>HO?ؿY`ה??Y?d?#ɿ [?i>E>I>*J^;9hYh=jGFyjcEjaEn>pQ 5r`5r?Q 9v`5rY')r ~BYtyv->Q Iv@r EIr:ir1:rȗ`5yzݓBɮ~uA~AEGSB*** querying acoustic contact ***:B!Q%DNOT Ignoring new targets: 18.68 m.!-ֻ-ֻQ= ProNav: ac range: 18.682943 m, nav range: 17.742205 m, bearing: 18.570747 deg, approach rate: -0.667637 m/s, LOS rate: -0.375161 deg/s, cmd heading: 20.948626 deg, new cmd heading: 20.505762 deg. z=QEHeadingCmd: 0.357893 target range: 18.682943 and range: 18.80 m.RE=>JAbAZIBI:I2IҔIڔQQڒQ’Q@?ɢ) Èi) +>  i Mi=>QUMc=IU=>IYDDAT read: Rx Time:21:34:25.4583 TRx dataTimestamp_ set to:1761514466.669261PDAT read: Bearing 183.3, -9.0 (Local) ~Local bearing/azimuth received: Bearing 183.3, -9.0 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.6 DAT read: 21:34:25.4583 LVL= 30432, 32753, 27506, 32755, AGC= 62, IDX= 507, 0.24,-0.615,-2.201,-0.192,-0.585, PHS= 0.072,-1.571, 0.349, RAW= 157.7, 12.8, CAL= 158.0, 14.4, ROT= 352.0, -14.4 %Ygot valid direction response: 21:34:25.4583 LVL= 30432, 32753, 27506, 32755, AGC= 62, IDX= 507, 0.24,-0.615,-2.201,-0.192,-0.585, PHS= 0.072,-1.571, 0.349, RAW= 157.7, 12.8, CAL= 158.0, 14.4, ROT= 352.0, -14.4 %T#Rx 58: Read range and direction messages.Ա@ @@@@@jAU^direction in FSK: [0.959157,-0.134801,0.248690]UFpublishing direction and range infoyji?@R&Al?YfAvrk )>It=iɿ!>'0@d>|0@ >) @I5a?vB?kȟ =? N(?)cI4ichecking for new query: numPingsReceived=58, elapsed TxPingTime=30.095362^A<|^=A>A?EA EEEE EA"EA*EE:VEE3ZEABEE/>,?AlYrByr!IIt)v=iMb@Mb@Mb@ 9{Gz?J +?~jtY#?yH=DAr@  A)AYf AbDPVD:4y%*=ٔQ->9Y=GFy%eE%E%>)Q 55`5-?Q 95`5-#Q =5tI))Y=Y$?Q E=:y=!>Q I=@- EI-;i-;-`5yEBɮEAIJR,ժ?A|A|A?ۥ>ˬxq1@N+㥜J#9@ji?@R&Al?4— Xn0@jʄd@Yk @Su?(3Qj?Hw@V`?j@rrAZ}`?b |zB}`? |BڗA*ۥ>Q addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504257 s, deltaX: -0.500000 m, approachRate: -0.991558 m/s, rangeRepo size: 4 Q Added new target pos. range: 18.186018 m, bearing: 18.560300 deg, lat: 36.779408 deg, lon: -121.859489 deg, deltaT: 0.504257 s, deltaX: -0.496925 m, approachRate: -0.985461 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.19 m.Q ProNav: ac range: 18.186018 m, nav range: 17.332518 m, bearing: 18.560265 deg, approach rate: 0.000000 m/s, LOS rate: -0.375161 deg/s, cmd heading: 20.505761 deg, new cmd heading: 19.962142 deg. zQHeadingCmd: 0.348405 target range: 18.186018 and range: 18.30 m.R'b>JbZB:2Ҕڔ`Bڒ’L2@1?  8Bɢ H) i)Oii'b>=I%'b>I! PExceeded connect timeout, disconnecting.>@ @@0@DDAT read: Rx Time:21:34:25.9583 TRx dataTimestamp_ set to:1761514467.173306PDAT read: Bearing 182.5, -8.9 (Local) ~Local bearing/azimuth received: Bearing 182.5, -8.9 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 -DAT read: 21:34:25.9583 LVL= 32752, 32753, 26162, 32755, AGC= 63, IDX= 506, 0.35, 0.481,-1.101, 0.909, 0.499, PHS= 0.084,-1.556, 0.366, RAW= 157.8, 12.3, CAL= 158.1, 13.8, ROT= 351.9, -13.8 5Ygot valid direction response: 21:34:25.9583 LVL= 32752, 32753, 26162, 32755, AGC= 63, IDX= 506, 0.35, 0.481,-1.101, 0.909, 0.499, PHS= 0.084,-1.556, 0.366, RAW= 157.8, 12.3, CAL= 158.1, 13.8, ROT= 351.9, -13.8 =T#Rx 59: Read range and direction messages.M^direction in FSK: [0.961446,-0.136834,0.238533]MFpublishing direction and range infoy(?*?SZŃiC?YA2f )?I1=i+ǿZd>C0@[>r0@ Ϣv>)@IϢvVJ\?7w3+?P14? z(?),S[IiϢvchecking for new query: numPingsReceived=59, elapsed TxPingTime=30.5518829^A c=a bEJ4jEm4rEXQ0E5  E5 E5 &E1 "E5 =-;*E5 :VE5 4ZE1 aE @aE @aM @aM @A ؟AI I O >_5>,?AB^B>BH>BI ٱBG JAHRS rotation from veh to nav: [[0.917398,-0.383028,-0.108033],[0.396475,0.903152,0.164695],[0.034487,-0.193923,0.980410]]BH`R[?ؿ` _???J?@zȿ_?iB^B>IBf^;BCYRByR!IXZ@AbDnWVDn 4%checking for new query: numPingsReceived=59, elapsed TxPingTime=30.7788799yE{v%Em=ٔMźQ-M?9M"?YM"?=MGFyUgEUf'EU?yQ 5`5}*?Q 9`5} )} ~BYy^>Q I@} EI}6:i} :}`5yɮAJRr?AAAW>c1@@o1A@(?*?SZŃiC?Ϣv—vNo0@:?z@LTF<@s6?,I?QB?jի@rzAZ%?bz@BBڗLjAo>QE addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504045 s, deltaX: -0.099998 m, approachRate: -0.198392 m/s, rangeRepo size: 4 Q Added new target pos. range: 18.086643 m, bearing: 18.093921 deg, lat: 36.779408 deg, lon: -121.859490 deg, deltaT: 0.504045 s, deltaX: -0.099375 m, approachRate: -0.197155 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.09 m.Q ProNav: ac range: 18.086643 m, nav range: 17.097408 m, bearing: 18.304660 deg, approach rate: 0.000000 m/s, LOS rate: -0.375161 deg/s, cmd heading: 19.962141 deg, new cmd heading: 19.556179 deg. zQHeadingCmd: 0.341320 target range: 18.086643 and range: 18.20 m.Ru>JbZB:2Ҕڔڒ’@332@`?U9BɢUʼ)Y ]iY)]{#^YYi]ieu>aeQ=Imu>Iiq?@ @@P0@Bm>BiBm."IBm܃BBiBiBiBm>R;BmEB)^A|=B)B)B)B)C-4ԑAI9IIO]>DDAT read: Rx Time:21:34:26.4580 TRx dataTimestamp_ set to:1761514467.677139PDAT read: Bearing 183.9, -9.0 (Local) ~Local bearing/azimuth received: Bearing 183.9, -9.0 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4  DAT read: 21:34:26.4580 LVL= 32224, 32753, 28466, 32755, AGC= 62, IDX= 504,-0.39,-2.723, 1.973,-2.311,-2.673, PHS= 0.052,-1.592, 0.318, RAW= 157.4, 13.6, CAL= 157.9, 15.4, ROT= 352.1, -15.4 % Ygot valid direction response: 21:34:26.4580 LVL= 32224, 32753, 28466, 32755, AGC= 62, IDX= 504,-0.39,-2.723, 1.973,-2.311,-2.673, PHS= 0.052,-1.592, 0.318, RAW= 157.4, 13.6, CAL= 157.9, 15.4, ROT= 352.1, -15.4 - T#Rx 60: Read range and direction messages.5 ^direction in FSK: [0.954946,-0.132510,0.265556]5 Fpublishing direction and range infoy$_?}L<?YA}2o )>IT=i˿Т>F/@s>A`0@ >)U@Is?9l?%? C '?)gFrI0 i checking for new query: numPingsReceived=60, elapsed TxPingTime=31.067856 <>,'?Aԑ?>>j6ٱH AHRS rotation from veh to nav: [[0.918359,-0.380700,-0.108096],[0.394202,0.904111,0.164890],[0.034957,-0.194040,0.980371]]H2c?b]ؿ+@:?y? ?@?`Nȿ 2_?i?>Iv<^;CE EE$E"E[";*E:VE4ZEBE z9aYa=eGFyeiEmEm>qQ 5}`5u@?Q 9}`5u)u ~BYO?Q E:yc>Q I@u EIu;iu|;u`5yBɮbABEJR?V?AAA&,>Vl?0@$؁AtI,@$_?}L<?-checking for new query: numPingsReceived=60, elapsed TxPingTime=31.2835600 —LVݝ/@<#@69Yy@< X?K۽+:?`aq?j@r|AZރt?bӹz؎BڗA)>Qm addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503833 s, deltaX: -0.500000 m, approachRate: -0.992392 m/s, rangeRepo size: 4 Q Added new target pos. range: 17.589756 m, bearing: 18.483759 deg, lat: 36.779408 deg, lon: -121.859490 deg, deltaT: 0.503833 s, deltaX: -0.496887 m, approachRate: -0.986214 m/s, posRepo size: 4 QDNOT Ignoring new targets: 17.59 m.Q ProNav: ac range: 17.589756 m, nav range: 16.812752 m, bearing: 18.186951 deg, approach rate: 0.000000 m/s, LOS rate: -0.375161 deg/s, cmd heading: 19.556179 deg, new cmd heading: 19.020178 deg. ԹzQHeadingCmd: 0.331965 target range: 17.589756 and range: 17.70 m.RH>JbZB:2ҔڔNBڒ’@31@%_#?颍:BɢJ) #i)$qiASiH>-=IH>I@ @@0@ nManaging dock network, ignoring radio surface power off  DDAT read: Rx Time:21:34:26.9579  TRx dataTimestamp_ set to:1761514468.181705 PDAT read: Bearing 179.9, -8.1 (Local)  ~Local bearing/azimuth received: Bearing 179.9, -8.1 (Local)  DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 ^A- S=M DAT read: 21:34:26.9579 LVL= 30784, 32753, 28786, 32755, AGC= 63, IDX= 503,-0.28,-1.539,-3.120,-1.115,-1.574, PHS= 0.137,-1.501, 0.415, RAW= 157.7, 10.6, CAL= 157.7, 11.6, ROT= 352.3, -11.6 e Ygot valid direction response: 21:34:26.9579 LVL= 30784, 32753, 28786, 32755, AGC= 63, IDX= 503,-0.28,-1.539,-3.120,-1.115,-1.574, PHS= 0.137,-1.501, 0.415, RAW= 157.7, 10.6, CAL= 157.7, 11.6, ROT= 352.3, -11.6 e T#Rx 61: Read range and direction messages.M ^direction in FSK: [0.970743,-0.131250,0.201078]M Fpublishing direction and range infoy  ⽶R?Go?Y ̌A @x rp ) ?I I >i z> '0@ q=> '0@ 4QO>) @I 4QO ^A?*-=?ʴu? (?) g=I i 4QO  checking for new query: numPingsReceived=61, elapsed TxPingTime=31.599363AAyIIO>*D>,5{?AYmBym!I}=}=bD]VD'+4y|%@=ٔQ->9Y=GFylEE>Q 5`5T?Q 9`5)~BYyQ I@# EIn:i:צ`5yBɮACEJR ?AAAa>h"0@dh]A" @⽶R?Go? 4QO—ku0@Ό-@@'Zn??(Zk?jQ@rAZ?b( zBꗹӹڗA◽>Qu addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504566 s, deltaX: -0.100000 m, approachRate: -0.198191 m/s, rangeRepo size: 4 Q Added new target pos. range: 17.490379 m, bearing: 17.905534 deg, lat: 36.779408 deg, lon: -121.859489 deg, deltaT: 0.504566 s, deltaX: -0.099377 m, approachRate: -0.196955 m/s, posRepo size: 4 E EEE"E2;*Eu:VEZEa@a@a@a@QDNOT Ignoring new targets: 17.49 m.Q ProNav: ac range: 17.490379 m, nav range: 16.566151 m, bearing: 18.197802 deg, approach rate: 0.000000 m/s, LOS rate: -0.375161 deg/s, cmd heading: 19.020178 deg, new cmd heading: 18.552786 deg. zQHeadingCmd: 0.323807 target range: 17.490379 and range: 17.60 m.Rʥ>JbZB:2Ҕڔڒ’1@@/?e;Bɢm)i mƯii)mqqiuiuʥ>y}/=I}ʥ>Ichecking for new query: numPingsReceived=61, elapsed TxPingTime=31.787750Y@Y @Y@]0@a^A5v=AaIIO>I B >B B ""IB уBB B B TDB XR;B $ENJ>,;+?A&DDAT read: Rx Time:21:34:27.4576 *TRx dataTimestamp_ set to:1761514468.685278.PDAT read: Bearing 184.0, -9.2 (Local) 2~Local bearing/azimuth received: Bearing 184.0, -9.2 (Local) :DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5 JDAT read: 21:34:27.4576 LVL= 30704, 32753, 28514, 32755, AGC= 62, IDX= 500,-0.25,-1.643, 3.070,-1.226,-1.572, PHS= 0.031,-1.596, 0.302, RAW= 157.6, 14.1, CAL= 158.2, 16.1, ROT= 351.8, -16.1 RYgot valid direction response: 21:34:27.4576 LVL= 30704, 32753, 28514, 32755, AGC= 62, IDX= 500,-0.25,-1.643, 3.070,-1.226,-1.572, PHS= 0.031,-1.596, 0.302, RAW= 157.6, 14.1, CAL= 158.2, 16.1, ROT= 351.8, -16.1 RT#Rx 62: Read range and direction messages.Z^direction in FSK: [0.950956,-0.137035,0.277315]ZFpublishing direction and range infoy(*&;n? "^/?Y*̈A(*w(*bo ()*>I**x 0@*d{>* 0@ *ޏ>)*p{@I*ޏ((*P=?:(?յ5r-? *?'?)*j{I*Ti*ޏ((s0:>x>Ochecking for new query: numPingsReceived=62, elapsed TxPingTime=32.057777ٱG uAHRS rotation from veh to nav: [[0.920446,-0.375338,-0.109089],[0.389098,0.906410,0.164390],[0.037177,-0.193759,0.980345]]H@Kt?ؿ:? O?@ ?`?ȿ^?is0:>I}R^;CY}By!I %4<%<bD-[VD-y'4y=k%=A=ٔEQ-E>9AYI=MGFyMnEM'UEM>Q 5`5h?Q 9`5)~BYy>Q I@( EI.:i:`5yɮuAYJ(R*+?A*A*A*>*[8(0@;s-\K@*&;n? "^/?*T*ޏ—*qx.@w{@NG@*L?8Q-?iy\?j*t@r*sAZ*pKl?b*z*ՎB((*Bڗ*hA*f>E EE#E"E%;*E:VE3ZEBE)JbZB:2Ҕڔڒ’1@A? ,=I>Ichecking for new query: numPingsReceived=62, elapsed TxPingTime=32.291557@ @@0@ԩ ^A ":= AII!O->ܢR>,K?A2X6>2k >2U]ٱ2jI :AHRS rotation from veh to nav: [[0.921701,-0.371842,-0.110453],[0.385970,0.907522,0.165621],[0.038654,-0.195285,0.979985]]BDDAT read: Rx Time:21:34:27.9574 BTRx dataTimestamp_ set to:1761514469.189233JPDAT read: Bearing 183.5, -9.1 (Local) J~Local bearing/azimuth received: Bearing 183.5, -9.1 (Local) RDAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 fDAT read: 21:34:27.9574 LVL= 32464, 32753, 29570, 32755, AGC= 62, IDX= 498,-0.19,-1.475,-3.044,-1.056,-1.409, PHS= 0.036,-1.590, 0.309, RAW= 157.6, 13.9, CAL= 158.2, 15.9, ROT= 351.8, -15.9 jYgot valid direction response: 21:34:27.9574 LVL= 32464, 32753, 29570, 32755, AGC= 62, IDX= 498,-0.19,-1.475,-3.044,-1.056,-1.409, PHS= 0.036,-1.590, 0.309, RAW= 157.6, 13.9, CAL= 158.2, 15.9, ROT= 351.8, -15.9 hnT#Rx 63: Read range and direction messages.r^direction in FSK: [0.951909,-0.137172,0.273959]rFpublishing direction and range infoy@BV% v?nSݎψ.?YBfA@B~@Bs @)@IBt=iB˿B?5>@BUlx>@ Bq>)@IBq@@BYRU?/K?1Z? B-(?)B1yxI@iBq@@~checking for new query: numPingsReceived=63, elapsed TxPingTime=32.5595862H~?C׿F?l ?`3?`gʣ?ȿ\?i2X6>I2'^;2CY]|By]!IiMb@Mb@Mb@ 91Zd?X9v{GzY"?y#/Ar@  A)AYAbDWVD 4y,u% =ٔ2'Q->9Y=GFyqE̾E>Q 5`5􃚊?Q 9`5)~BY\?Q E:y>Q I@- EI;i ;`5yBɮADEJ@RBeL?ABABAB>B0/@&!^,3ReK@BV% v?nSݎψ.?@Bq—Br2'-@2 @@as,@BG!k?ۧis?v{p@?jB@rBoAZBms?bBՍ-zBBBރt?BBBڗB|ABڡ>Q addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503955 s, deltaX: -0.300001 m, approachRate: -0.595294 m/s, rangeRepo size: 4 Q Added new target pos. range: 16.695318 m, bearing: 17.796454 deg, lat: 36.779406 deg, lon: -121.859490 deg, deltaT: 0.503955 s, deltaX: -0.298132 m, approachRate: -0.591584 m/s, posRepo size: 4 QDNOT Ignoring new targets: 16.70 m.E EE'E"E ;*E:VE'4ZEa@a@a@a@Q ProNav: ac range: 16.695318 m, nav range: 15.792570 m, bearing: 18.112541 deg, approach rate: 0.000000 m/s, LOS rate: -0.375161 deg/s, cmd heading: 17.977109 deg, new cmd heading: 17.423658 deg. z Q HeadingCmd: 0.304100 target range: 16.695318 and range: 16.80 m.R >Jb1Z1B1:121Ҕ9ڔ=B9ڒ9’AE0@E?=BɢyM) Ii)i i>:=I>I)5checking for new query: numPingsReceived=63, elapsed TxPingTime=32.795601>@ @@/@^A T=Y A .AI B5 >B1 B5 "IB5 ƒBB1 B1 B5 UDB5 YR;B5 %EIy O >>X>,We?Ab1>bz>b"ٱb J nAHRS rotation from veh to nav: [[0.923583,-0.366932,-0.111150],[0.381331,0.909217,0.167068],[0.039756,-0.196686,0.979660]]bH?@{׿Ntg?M?@b?Z?-ɿ@`Y?|ib1>Ib^;bCY gBy !IAbDERVDE4ya%=ٔ|jQ-?9 ?Y ?=GFyrEE?Q 5`5Ӓ?Q 9`5$)$~BYy&>Q I@0 EI$:i:D`5yBɮqAGS B*** querying acoustic contact ***: B AQUDNOT Ignoring new targets: 16.70 m.q}g}gQ ProNav: ac range: 16.695318 m, nav range: 15.605546 m, bearing: 18.097393 deg, approach rate: -0.618589 m/s, LOS rate: -0.050703 deg/s, cmd heading: 17.423659 deg, new cmd heading: 17.377670 deg. z0 QHeadingCmd: 0.303298 target range: 16.695318 and range: 16.80 m.RI>JbZB:2Ҕڔڒ’QI?]DDAT read: Rx Time:21:34:28.4571 ]TRx dataTimestamp_ set to:1761514469.693230mPDAT read: Bearing 180.6, -8.4 (Local) m~Local bearing/azimuth received: Bearing 180.6, -8.4 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5 DAT read: 21:34:28.4571 LVL= 29216, 31329, 27762, 32755, AGC= 63, IDX= 511,-0.10, 2.916, 1.331,-2.941, 2.922, PHS= 0.096,-1.546, 0.376, RAW= 157.8, 11.9, CAL= 158.0, 13.3, ROT= 352.0, -13.3 Ygot valid direction response: 21:34:28.4571 LVL= 29216, 31329, 27762, 32755, AGC= 63, IDX= 511,-0.10, 2.916, 1.331,-2.941, 2.922, PHS= 0.096,-1.546, 0.376, RAW= 157.8, 11.9, CAL= 158.0, 13.3, ROT= 352.0, -13.3 T#Rx 64: Read range and direction messages.>Bɢ ) |־i)i^direction in FSK: [0.963708,-0.135440,0.230050]Fpublishing direction and range infoyY]}?HVgz}"Er?Y]3AY] r]az]rl Y)i:>5YL<5֘=I5I>I9)]?I]=i]Tſ]>]C0@]ȭT>]|0@ ],m>)] @I],mYY]S̥}?R:*?9Xq? ](?)]UI]4i],mYYchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.092625?@ @@ 5@YE EE&E"Eg5;*E:VE4ZEBE{,?AY%_By-!I9i}Mb@Mb@Mb@yyyy y9}/$?ʡE~jth?Y}?y}}D;}A}/@ }A)}AyY}ABAbDeVD94y %)=ٔQ->9"?Y"?=GFyuEE>Q 5`5?Q 9`5)9~BY?Q E:y>Q I@5 EI1;i};z`5y ɮ A JaRe]l?AebAebAe >ejISi/@%»޳$ @e}?HVgz}"Er?e4e,m—e)}-@ɯHVo@d6@eTA?Z?|9?jez@recnAZe~Dy?beؗze֌BaeaڗetAeޟ>Q] addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503997 s, deltaX: -0.400000 m, approachRate: -0.793655 m/s, rangeRepo size: 4 aQu Added new target pos. range: 16.297876 m, bearing: 17.188052 deg, lat: 36.779406 deg, lon: -121.859491 deg, deltaT: 0.503997 s, deltaX: -0.397442 m, approachRate: -0.788580 m/s, posRepo size: 4 qQuDNOT Ignoring new targets: 16.30 m.q}yQ ProNav: ac range: 16.297876 m, nav range: 15.286621 m, bearing: 17.890081 deg, approach rate: 0.000000 m/s, LOS rate: -0.050703 deg/s, cmd heading: 17.377671 deg, new cmd heading: 17.305231 deg. zQHeadingCmd: 0.302033 target range: 16.297876 and range: 16.40 m.R>JbZB:2ҔڔŃBڒ’`ff0@??Bɢ# ) ߾i)Diki>wN<u7=I>IMDDAT read: Rx Time:21:34:28.9570 UTRx dataTimestamp_ set to:1761514470.198629]PDAT read: Bearing 179.6, -7.6 (Local) ]~Local bearing/azimuth received: Bearing 179.6, -7.6 (Local) mDAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.6 DAT read: 21:34:28.9570 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 014, 1.518,-2.762, 3.093, PHS= 0.123,-1.530, 0.384, RAW= 157.2, 11.4, CAL= 157.3, 12.6, ROT= 352.7, -12.6 !unknown deviceResponse_: 21:34:28.9570 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 014, 1.518,-2.762, 3.093, PHS= 0.123,-1.530, 0.384, RAW= 157.2, 11.4, CAL= 157.3, 12.6, ROT= 352.7, -12.6 Z#Rx 65: Read range message, but no direction.yIYMAIchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.564121@ @@4@ԉ^A = E  E E E "E +$;*E :VE ZE a @a @a @a @A I I! O5 >M{f>,/?A2&>2 >2f.ٱ2O :AHRS rotation from veh to nav: [[0.927478,-0.356194,-0.113620],[0.371446,0.912466,0.171561],[0.042566,-0.201323,0.978600]] @B~Cbchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.803986` G2H@?ֿ@:?2?? -˥?@ɿP?i2&>1ej}9aYehAI2^;y?A2CYEUByE!IbD]tVD]{U4ymuS%mT=ٔm0Q-m>9qYq=uGFyuwE}EE}>Q 5`59?Q 9`5x)J~BYy>Q I@9 EI^;i;׹`5yBɮAJ9b9ZABI:Q2YҔiڔqyڒ’@330@/?B>BB!IBBBBBB4R;BE@Bɢ) i) L  i is>Iq @ @@4@m=mR=}DDAT read: Rx Time:21:34:29.4567 TRx dataTimestamp_ set to:1761514470.702563PDAT read: Bearing 179.4, -7.6 (Local) ~Local bearing/azimuth received: Bearing 179.4, -7.6 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5 DAT read: 21:34:29.4567 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.12, 1.980, 0.392, 2.389, 1.966, PHS= 0.116,-1.528, 0.379, RAW= 157.3, 11.5, CAL= 157.4, 12.8, ROT= 352.6, -12.8  Ygot valid direction response: 21:34:29.4567 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.12, 1.980, 0.392, 2.389, 1.966, PHS= 0.116,-1.528, 0.379, RAW= 157.3, 11.5, CAL= 157.4, 12.8, ROT= 352.6, -12.8  T#Rx 66: Read range and direction messages. ^direction in FSK: [0.967028,-0.125595,0.221548]E Fpublishing direction and range infoyy}2?Br)|@|[?Y}|Ay}}} y)}>I}h=i}ÿ}J >}/@}M>}F/@ }d>)}@I}dyy})Q?*,?)뤖? }&?)}NI}@i}dyy checking for new query: numPingsReceived=66, elapsed TxPingTime=34.0911069 ^A5 ʞ=q Aa I E  E E %E "E 3;*E :VE 4ZE BE [um>,r?AvB>vMN>v7ٱvHV ~AHRS rotation from veh to nav: [[0.932187,-0.343012,-0.115628],[0.359188,0.916119,0.178073],[0.044848,-0.207530,0.977200]]vH@z?տ˙?P??`G?Uʿ 9E?ivB>Iv^;vCY-_By-!I 11====iMb@Mb@Mb@ 9Zd;O?J +~jt?Yj?yȽD<  A)AY(AbD\VDP)4y?=%8=ٔQ->-checking for new query: numPingsReceived=66, elapsed TxPingTime=34.3070539qYq=uGFyuyEuE}>Q 5`5i՚?Q 9`5 )f~BYq?Q E:y\>Q I@= EI:iQ:ֽ`5yCBɮAԡJ R ?A 9{A 9{A 5> m[*^.@dz>'(R @ 2?Br)|@|[? @ d— {B^,@M;@T@ ;g?!d?vJEL?j @r fAZ H3D?b ;Ĩz ZB ~Dy? Ս- ֌Bڗ qA ǜ>Q addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503934 s, deltaX: -0.400001 m, approachRate: -0.793756 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.701636 m, bearing: 16.473731 deg, lat: 36.779410 deg, lon: -121.859491 deg, deltaT: 1.009333 s, deltaX: -0.596240 m, approachRate: -0.590727 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.70 m. Q ProNav: ac range: 15.701636 m, nav range: 15.097610 m, bearing: 17.544547 deg, approach rate: 0.000000 m/s, LOS rate: 0.127927 deg/s, cmd heading: 17.451384 deg, new cmd heading: 17.628645 deg. zQ%HeadingCmd: 0.307678 target range: 15.701636 and range: 15.80 m.R%>J!b!Z!B!:!2)Ҕ)ڔ-˃B)ڒ1’15/@5 -?aɢeг)a eia)mɻiiim4iu>uRI1)@) @)@-F4@)^A=A5 .AIA IQ O] > DDAT read: Rx Time:21:34:29.9566  TRx dataTimestamp_ set to:1761514471.205172 PDAT read: Bearing 181.1, -8.6 (Local)  ~Local bearing/azimuth received: Bearing 181.1, -8.6 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 % DAT read: 21:34:29.9566 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.06,-2.837, 1.861,-2.416,-2.790, PHS= 0.055,-1.587, 0.330, RAW= 157.6, 13.3, CAL= 158.1, 15.1, ROT= 351.9, -15.1 - Ygot valid direction response: 21:34:29.9566 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.06,-2.837, 1.861,-2.416,-2.790, PHS= 0.055,-1.587, 0.330, RAW= 157.6, 13.3, CAL= 158.1, 15.1, ROT= 351.9, -15.1 5 T#Rx 67: Read range and direction messages.5 ^direction in FSK: [0.955841,-0.136036,0.260505]= Fpublishing direction and range infoy  1[Z??iQfJ0?Y yA ) =I Ga=i "˿ > x 0@ ,m> r0@ V>) @I V m?k?c{? (?) ?nI i V U checking for new query: numPingsReceived=67, elapsed TxPingTime=34.575069! .Tt>, (?A2J>2f>2? =ٱ2X :AHRS rotation from veh to nav: [[0.934469,-0.336454,-0.116480],[0.353043,0.917996,0.180676],[0.046139,-0.209958,0.976621]]2H*?`tտ ѽC? 9`?@a ? ? ʿz@?i2J>I2 ^;2CYRBy!I -p<)bD5cVD5264ye݊%eV=ٔe]Q-m>9m ?Ym ?=mGFym{EuEu>Q 5`5P蚊?Q 9`5 )}~BYy5V>Q I@A EIj:i@:`5yɮAJ!R%!?A% xA% xA%p>%Q-X-@="'@%1[Z??iQfJ0?%%V—%up9,,@ٲ@J1VH@%=~?/?Ņye?j%΀@r%aaAZ%\W?b%¢z%vB%\W?%ؗ%vBڗ%PlA%W>Qe addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502609 s, deltaX: -0.200000 m, approachRate: -0.397923 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.502881 m, bearing: 15.947207 deg, lat: 36.779409 deg, lon: -121.859492 deg, deltaT: 0.502609 s, deltaX: -0.198755 m, approachRate: -0.395447 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.50 m.Q ProNav: ac range: 15.502881 m, nav range: 14.769601 m, bearing: 17.495377 deg, approach rate: 0.000000 m/s, LOS rate: 0.127927 deg/s, cmd heading: 17.628645 deg, new cmd heading: 17.775995 deg. zQHeadingCmd: 0.310250 target range: 15.502881 and range: 15.60 m.R ٞ>JbZB:2Ҕڔڒ’@33/@a1?E EE"E"E*E:VE(3ZEa@a@a@a@=ABɢ= )9 =ui9)E$ջAAiEiM ٞ>M TIq@ @@/@Mchecking for new query: numPingsReceived=67, elapsed TxPingTime=34.8117229^Av=A>A>B >B B !IB BB L =B B B R;B Ei A I I O% >z>,?ABQ >Bj=>ByAٱB]=[RDDAT read: Rx Time:21:34:30.4563 VTRx dataTimestamp_ set to:1761514471.709914ZPDAT read: Bearing 181.6, -8.7 (Local) ^~Local bearing/azimuth received: Bearing 181.6, -8.7 (Local) jDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 DAT read: 21:34:30.4563 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.04, 1.402,-0.180, 1.820, 1.469, PHS= 0.035,-1.604, 0.306, RAW= 157.5, 14.0, CAL= 158.1, 16.0, ROT= 351.9, -16.0  Ygot valid direction response: 21:34:30.4563 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.04, 1.402,-0.180, 1.820, 1.469, PHS= 0.035,-1.604, 0.306, RAW= 157.5, 14.0, CAL= 158.1, 16.0, ROT= 351.9, -16.0 T#Rx 68: Read range and direction messages.^direction in FSK: [0.951672,-0.135443,0.275637]Fpublishing direction and range infoyPR(~t?H0V ?YR3sAPPPP P)R<IR)\=iROͿR>R/@R5z>P R5>)PIR5PPR10c?y`Co?7? RA'?)RXzIPiR5PPEchecking for new query: numPingsReceived=68, elapsed TxPingTime=35.085457 ]AHRS rotation from veh to nav: [[0.936953,-0.329313,-0.116928],[0.346251,0.920060,0.183303],[0.047217,-0.212232,0.976078]]BH?vտ ソ@(?!q?tv?,?m*˿IB$^;BCYmZByu!IbDdVD 84yM=%M;=ٔUM"Q-U>9QYQ=]GFy]}E]E]>Q 5`5?Q 9`55 )~BYyN>Q I@E EIC;i;`5yIBɮ{A=EJPRR;o?ARqARqAR >R#1,@ ^^q[@R(~t?H0V ?PR5—RO+@k4S@v+:@R&?@X?0?jRv@rR~ZAZR@J[}?bR;2zRBPR;ĨPڗRfAR=ٕ>aQ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504742 s, deltaX: -0.400001 m, approachRate: -0.792485 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.105391 m, bearing: 15.776991 deg, lat: 36.779409 deg, lon: -121.859494 deg, deltaT: 0.504742 s, deltaX: -0.397491 m, approachRate: -0.787512 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.11 m.AAQU ProNav: ac range: 15.105391 m, nav range: 14.435796 m, bearing: 16.768929 deg, approach rate: 0.000000 m/s, LOS rate: 0.127927 deg/s, cmd heading: 17.775994 deg, new cmd heading: 17.950490 deg. zQQ}HeadingCmd: 0.313295 target range: 15.105391 and range: 15.20 m.R}9h>JbZB:2Ҕڔڒ’`ff.@?E  E E #E "E %;*E -:VE 3ZE BE ~ToU<6=I9h>IMchecking for new query: numPingsReceived=68, elapsed TxPingTime=35.315113a@a @a@e/@a^A= Jc=Թ Am ؟AI I O >e>, ?APVa>Vޱ>VbDٱVZ nAHRS rotation from veh to nav: [[0.939181,-0.323149,-0.116245],[0.340061,0.922332,0.183472],[0.047927,-0.211844,0.976128]]VH ?zԿ6½ ??|??@˿pIV0 ^;VCYv\Byv!IIz<)zp;i5Mb@Mb@Mb@1111 195K?Qy&1?Y5^?y55`<5EA5@ 5l A)5tA1Y5AbDMbVDM[44y}a<%}H=ٔWQ->9"?Y"?=GFyE/E>Q 5`54?Q 9`5$ )~BY?Q E:y'>Q I@I EI:i@:x`5yQBɮA>EGS-B*** querying acoustic contact ***:1B19Q=DNOT Ignoring new targets: 15.11 m.AE;M;Q] ProNav: ac range: 15.105391 m, nav range: 14.190022 m, bearing: 16.897485 deg, approach rate: -0.642941 m/s, LOS rate: 0.342128 deg/s, cmd heading: 17.950490 deg, new cmd heading: 18.342833 deg. z]j<QeHeadingCmd: 0.320143 target range: 15.105391 and range: 15.20 m.Re>JabaZiBi:i2iҔqڔuBqڒq’yy} ?߭%=߭<DDAT read: Rx Time:21:34:30.9561 TRx dataTimestamp_ set to:1761514472.213394PDAT read: Bearing 182.0, -8.8 (Local) ~Local bearing/azimuth received: Bearing 182.0, -8.8 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.6 DAT read: 21:34:30.9561 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.21,-2.703, 1.996,-2.287,-2.619, PHS= 0.017,-1.624, 0.288, RAW= 157.5, 14.6, CAL= 158.2, 16.8, ROT= 351.8, -16.8  Ygot valid direction response: 21:34:30.9561 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.21,-2.703, 1.996,-2.287,-2.619, PHS= 0.017,-1.624, 0.288, RAW= 157.5, 14.6, CAL= 158.2, 16.8, ROT= 351.8, -16.8 T#Rx 69: Read range and direction messages.^direction in FSK: [0.947532,-0.136542,0.289032]Fpublishing direction and range infoy.R?Ex$2z\.?YfnA );ICw> 0@ Q >)p{@IQ ={?) ?]? '?)>ZITiQ =checking for new query: numPingsReceived=69, elapsed TxPingTime=35.584030颙ɢ() i)yYii>v4=I>I@ @@/@bE4jE4rE/E  E E $E "E /;*E ;:VE 4ZE a% @a% @a% @a% @A ^A &V=e checking for new query: numPingsReceived=69, elapsed TxPingTime=35.819244A I9 Ia q O >=>,"?AB9A=<BE>BABE!IBEBBABABABE R;BEEBBBBBC4=o%>kFٱEY AHRS rotation from veh to nav: [[0.940950,-0.318306,-0.115304],[0.335055,0.924357,0.182487],[0.048496,-0.210344,0.976424]]HB?`_Կ`@q? V?[?nԨ?ʿ@>?i=I^;CYgBy!IAAbDjVDC4yWC=%@=ٔ'Q->9Y=GFyEaLE>Q 5`5(?Q 9`5 )~BYy5">Q I@M EI;iL;&`5yɮPAJR? ?AlAlAN>P,@JW,Hv@.R?Ex$2z\.?TQ —I(*@Ɔ @".M\#@a?mf;?vFG?jQ% addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503480 s, deltaX: -0.300000 m, approachRate: -0.595853 m/s, rangeRepo size: 4 QU Added new target pos. range: 14.807191 m, bearing: 15.141745 deg, lat: 36.779409 deg, lon: -121.859496 deg, deltaT: 0.503480 s, deltaX: -0.298200 m, approachRate: -0.592277 m/s, posRepo size: 4 YQ]DNOT Ignoring new targets: 14.81 m.YeaQ ProNav: ac range: 14.807191 m, nav range: 13.907005 m, bearing: 16.243288 deg, approach rate: 0.000000 m/s, LOS rate: 0.342128 deg/s, cmd heading: 18.342833 deg, new cmd heading: 18.799215 deg. zQHeadingCmd: 0.328108 target range: 14.807191 and range: 14.90 m.R>JbZB:2Ҕڔڒ’-@?BBɢ;c) ھi)% p!AiE_iM>IMIQuDDAT read: Rx Time:21:34:31.4558 uTRx dataTimestamp_ set to:1761514472.718209PDAT read: Bearing 181.9, -8.7 (Local) ~Local bearing/azimuth received: Bearing 181.9, -8.7 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5 @ @@0@ DAT read: 21:34:31.4558 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.42,-2.867, 1.816,-2.451,-2.779, PHS= 0.013,-1.644, 0.283, RAW= 157.4, 14.8, CAL= 158.1, 17.0, ROT= 351.9, -17.0 Ygot valid direction response: 21:34:31.4558 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.42,-2.867, 1.816,-2.451,-2.779, PHS= 0.013,-1.644, 0.283, RAW= 157.4, 14.8, CAL= 158.1, 17.0, ROT= 351.9, -17.0 ET#Rx 70: Read range and direction messages.M^direction in FSK: [0.946764,-0.134744,0.292372]UFpublishing direction and range infoyqu|K?G1%N?兗7?YuffAqqqq q)qIuTuF/@u A>ur0@ u>)u@Iu闾qquԑ?F?Q? uA'?)uIuiu闾qq^AS,=AhAzAhAchecking for new query: numPingsReceived=70, elapsed TxPingTime=36.113800A.AII O >I E  E E (E "E =-;*E :VE c44ZE BE m,wf6KHٱ6!X >AHRS rotation from veh to nav: [[0.942634,-0.313576,-0.114507],[0.330208,0.926225,0.181851],[0.049035,-0.209230,0.976636]]6H *?ԿMP "?ࢣ?F?`? ʿ@?i6\[=I6^;6CYNvByR!Ibchecking for new query: numPingsReceived=70, elapsed TxPingTime=36.323074iMb@Mb@Mb@ 9rh|?X9vˡE?Y?y'=A@  A)YAbD]VD'+4y =% G=ٔ ֫Q- >9 ?Y ?=GFyEAE>QiQ 5`5m??Q 9`5m)m BYr?Q E:y>Q I@mR EImy,@L+@%@ lW@|K?G1%N?兗7?闾—c7K+,)@tS& @y@C3?qf? ?j\@rYNAZ5~?bF@zčBꗥ\W?;2Bڗ&YA◥E>Q addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504815 s, deltaX: -0.500000 m, approachRate: -0.990462 m/s, rangeRepo size: 4 Q Added new target pos. range: 14.310306 m, bearing: 14.970975 deg, lat: 36.779409 deg, lon: -121.859497 deg, deltaT: 0.504815 s, deltaX: -0.496885 m, approachRate: -0.984292 m/s, posRepo size: 4 Q DNOT Ignoring new targets: 14.31 m.  Q ProNav: ac range: 14.310306 m, nav range: 13.571986 m, bearing: 15.973363 deg, approach rate: 0.000000 m/s, LOS rate: 0.342128 deg/s, cmd heading: 18.799215 deg, new cmd heading: 19.269964 deg. zAQMHeadingCmd: 0.336324 target range: 14.310306 and range: 14.40 m.RM2>JIbIZQBQ:Q2QҔYڔ]҃BYڒY’y,@`!%EI)y@ @@/@}DDAT read: Rx Time:21:34:31.9556 TRx dataTimestamp_ set to:1761514473.221865PDAT read: Bearing 179.9, -7.7 (Local) ~Local bearing/azimuth received: Bearing 179.9, -7.7 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 DAT read: 21:34:31.9556 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.35,-0.385,-2.026, 0.021,-0.349, PHS= 0.066,-1.632, 0.326, RAW= 157.0, 13.4, CAL= 157.5, 15.2, ROT= 352.5, -15.2 Ygot valid direction response: 21:34:31.9556 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.35,-0.385,-2.026, 0.021,-0.349, PHS= 0.066,-1.632, 0.326, RAW= 157.0, 13.4, CAL= 157.5, 15.2, ROT= 352.5, -15.2 T#Rx 71: Read range and direction messages.^direction in FSK: [0.956761,-0.125960,0.262189]Fpublishing direction and range infoyj|ȝ?G!t;f$?YaA )I+=i`пy>^/@|o>/@ ԇ>)@IԇdK??r:L? j%?) JoI iԇ] checking for new query: numPingsReceived=71, elapsed TxPingTime=36.604794Ա ^A5 @o= E  E E #E "E 0;*E ;:VE 3ZE a @a @a @a @AaIqIO>+x>,y"[?A2x=2>2Hٱ2W :AHRS rotation from veh to nav: [[0.944208,-0.309194,-0.113449],[0.325685,0.927806,0.181948],[0.049001,-0.208746,0.976742]]2H 6?ӿ ?@?J?`?-ʿwA?i2x=I2(^;2CYBByB!I DDbDJbVDJ[44yR=%V<=ٔV8Q-V>9XYX=ZGFyZEZ>EZ>\Q 5b`5^S?Q 9f`5^)^1BYdyf>Q If@^V EI^:i^:^`5yj\BɮnAlJYR] 3N?A]1`A]1`A]>]a5*@_T= d @]j|ȝ?G!t;f$?] ]ԇ—]Cl)@2HP- @(;/yt@]%3?V8oN? %۹?j]jY@r]LAZ]?b]9z]B]?]Ð Yڗ]ETA]>Q}checking for new query: numPingsReceived=71, elapsed TxPingTime=36.827095Q addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503656 s, deltaX: -0.299999 m, approachRate: -0.595643 m/s, rangeRepo size: 4 Q Added new target pos. range: 14.012175 m, bearing: 14.877821 deg, lat: 36.779409 deg, lon: -121.859499 deg, deltaT: 0.503656 s, deltaX: -0.298131 m, approachRate: -0.591934 m/s, posRepo size: 4 QDNOT Ignoring new targets: 14.01 m.Q ProNav: ac range: 14.012175 m, nav range: 13.266854 m, bearing: 15.452847 deg, approach rate: 0.000000 m/s, LOS rate: 0.342128 deg/s, cmd heading: 19.269963 deg, new cmd heading: 19.653026 deg. zQHeadingCmd: 0.343010 target range: 14.012175 and range: 14.10 m.R>JbZB:2!Ҕ!ڔ!!ڒ)’)-@33,@-v?qɢ}Cv)y }[iy)}顁ii>4;;I>I>@ @@ 0@ԑB>BB!IBBBN =BBTDBQ;BE^A<AM؟AIYIiOuz>Ա5 DDAT read: Rx Time:21:34:32.4553 = TRx dataTimestamp_ set to:1761514473.725673M PDAT read: Bearing 179.6, -7.4 (Local) M ~Local bearing/azimuth received: Bearing 179.6, -7.4 (Local) e DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.6  DAT read: 21:34:32.4553 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.28,-1.404,-3.049,-1.002,-1.374, PHS= 0.072,-1.629, 0.328, RAW= 156.9, 13.3, CAL= 157.3, 15.0, ROT= 352.7, -15.0  Ygot valid direction response: 21:34:32.4553 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.28,-1.404,-3.049,-1.002,-1.374, PHS= 0.072,-1.629, 0.328, RAW= 156.9, 13.3, CAL= 157.3, 15.0, ROT= 352.7, -15.0  T#Rx 72: Read range and direction messages. ^direction in FSK: [0.958096,-0.122735,0.258819] Fpublishing direction and range infoy9 = ?HtkV!}?Y= 3[A9 9 9 9 9 )9 I= t=i= п= >= LB/@= ,m>= /@ = >)= @I= 9 9 = m"?P;?*a? = $?)= +mI= twi= 9 9  checking for new query: numPingsReceived=72, elapsed TxPingTime=37.097721 $>,t?A2=28>2)Iٱ2^!U :AHRS rotation from veh to nav: [[0.945423,-0.305902,-0.112249],[0.322103,0.929424,0.180056],[0.049247,-0.206385,0.977231]]2H@?ӿRU? ؽ?` ?6?jʿyE?i2=I27^;2CY^Byb!I prbDzcVDz264y%K=%%C=ٔ% Q-->9-"?Y-"?=-GFy-E5E5>9Q 5M`5=i?Q 9U`5= )=ZBYQyei>Q Ie@=Z EI=;;i= ;=5`5yɮ'AԹJiRmmqn?AmYAmYAE EE%E"E3;*E:VE 4ZEBEm2O*@1W[!0 @m?HtkV!}?mtwm —mw#I(@~C @\@>@m -A?ǁ?1d$?jmR@rm*GAZmPx?bmzmtBmPx?mF@iڗm\NAm昇>Q addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503808 s, deltaX: -0.400001 m, approachRate: -0.793954 m/s, rangeRepo size: 4 Q Added new target pos. range: 13.614608 m, bearing: 14.774611 deg, lat: 36.779408 deg, lon: -121.859501 deg, deltaT: 0.503808 s, deltaX: -0.397567 m, approachRate: -0.789124 m/s, posRepo size: 4 QDNOT Ignoring new targets: 13.61 m.Q ProNav: ac range: 13.614608 m, nav range: 12.897498 m, bearing: 15.174122 deg, approach rate: 0.000000 m/s, LOS rate: 0.342128 deg/s, cmd heading: 19.653026 deg, new cmd heading: 20.129883 deg. zQHeadingCmd: 0.351333 target range: 13.614608 and range: 13.70 m.R>JbZB: 2 Ҕ ڔ ڒ’`ff+@@|'?aɢe{checking for new query: numPingsReceived=72, elapsed TxPingTime=37.331150)a i)L 顑i!i>ڻI>Ie?@i @i@m0@q@@hA^A *A<A >A >9 E DDAT read: Rx Time:21:34:32.9552 M TRx dataTimestamp_ set to:1761514474.229608] PDAT read: Bearing 179.5, -7.3 (Local) ] ~Local bearing/azimuth received: Bearing 179.5, -7.3 (Local) u DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.7  DAT read: 21:34:32.9552 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.29,-0.301,-1.95,-0.271, PHS= 0.072,-1.638, 0.326, RAW= 156.8, 13.3, CAL= 157.2, 15.1, ROT= 352.8, -15.1  !unknown deviceResponse_: 21:34:32.9552 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.29,-0.301,-1.95,-0.271, PHS= 0.072,-1.638, 0.326, RAW= 156.8, 13.3, CAL= 157.2, 15.1, ROT= 352.8, -15.1  Z#Rx 73: Read range message, but no direction.yI YM XAI  checking for new query: numPingsReceived=73, elapsed TxPingTime=37.596756A I I) O= >>,?ArR=r >rIٱrP1 5AHRS rotation from veh to nav: [[0.946095,-0.304511,-0.110351],[0.320125,0.930947,0.175662],[0.049240,-0.201519,0.978246]]rHhF?}ӿ@?|? R?|?5?`ɿM?irR=Ir'^;rCYEByE!IiMb@Mb@Mb@ 9MbX9?sh|?9Y=GFyEꋻE>Q 5`5?Q 9`5[)BYp#?Q E:yV>Q I@_ EI;i;}`5y-bBɮ-A-@EGSmB*** querying acoustic contact ***:iBiQ} addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503935 s, deltaX: -0.200000 m, approachRate: -0.396876 m/s, rangeRepo size: 4 QDNOT Ignoring new targets: 13.61 m.S;S;Q ProNav: ac range: 13.614608 m, nav range: 12.588030 m, bearing: 15.252781 deg, approach rate: -0.710290 m/s, LOS rate: 0.184975 deg/s, cmd heading: 20.129884 deg, new cmd heading: 20.371660 deg. z;QHeadingCmd: 0.355553 target range: 13.614608 and range: 13.50 m.R >JbZB:2ҔڔBڒ’+@ ?Y颁ɢA) i)顉iMi >>T<Y6I >E EE'E"E=;*EI:VE'4ZEa@a@a@a@IU=@Q @Q@U)0@Qi߱I߱checking for new query: numPingsReceived=73, elapsed TxPingTime=37.835407^A-}U;ԑA} .AI I O >B B B !IB BB B B B Q;B EԱ >,Gw?A2j=2ܦ>2 Iٱ2rH :AHRS rotation from veh to nav: [[0.946222,-0.304949,-0.108027],[0.319774,0.932242,0.169318],[0.049075,-0.194757,0.979623]]2HsG? Hӿ`-w? ?@4?K ?ȿY?i2j=I2^;0YBByB "IIF<)DHJAbDNNVDN4yV=%Vt=ٔZ:Q-Z?9Z ?YZ ?=ZGFyZE^E^?`Q 5f`5bX?Q 9f`5b7)bBYhyjU>Q Ij@bb EIb:ib:ba`5ynhBɮn9ArAE Q DNOT Ignoring new targets: 13.61 m.|J;ԙ|J;%DDAT read: Rx Time:21:34:33.4549 -TRx dataTimestamp_ set to:1761514474.7338195PDAT read: Bearing 178.2, -6.3 (Local) =~Local bearing/azimuth received: Bearing 178.2, -6.3 (Local) MDAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.5 mDAT read: 21:34:33.4549 LVL= 30672, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.33,-1.942, 2.659,-1.556,-1.959, PHS= 0.119,-1.620, 0.358, RAW= 156.4, 12.2, CAL= 156.6, 13.6, ROT= 353.4, -13.6 uYgot valid direction response: 21:34:33.4549 LVL= 30672, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.33,-1.942, 2.659,-1.556,-1.959, PHS= 0.119,-1.620, 0.358, RAW= 156.4, 12.2, CAL= 156.6, 13.6, ROT= 353.4, -13.6 }T#Rx 74: Read range and direction messages.^direction in FSK: [0.965520,-0.111714,0.235142]Fpublishing direction and range infoy)-,R?,YؕQ#?Y-QA)-w)) ))-:I-F=i-)\Ͽ-K>-R.@-^ Z>-.@ -s>)-4`@I-s))-qHX0?7=&k?U& ? -So"?)-LYI-i-s))checking for new query: numPingsReceived=74, elapsed TxPingTime=38.103832Q ProNav: ac range: 13.614608 m, nav range: 12.378849 m, bearing: 15.309081 deg, approach rate: -0.646800 m/s, LOS rate: 0.177027 deg/s, cmd heading: 20.371659 deg, new cmd heading: 20.543415 deg. z;QHeadingCmd: 0.358550 target range: 13.614608 and range: 13.50 m.R哷>JbZB:2Ҕڔڒ’@33*@h?QɢU,)Y ]iY)]YYieaYie哷>eSIE?@A @A@E 5@IE EE#E"E=-;*E:VE3ZEBEm >,_?AZ==Z!>Z'GٱZ2B fAHRS rotation from veh to nav: [[0.946074,-0.306234,-0.105659],[0.320283,0.933150,0.163251],[0.048603,-0.188289,0.980910]]ZH=F? Wӿ ?`\?`k?`{?ȿc?iZ==IZ^;ZCYnӃByn#"Ii]Mb@Mb@Mb@YYYY Y9]MbX9?~jt+?YYy]D]=]/AY ]A)]AYY]3Aqu@AbD}TVD}4y=%==ٔ:Q->9Y=GFyEJ:E>Q 5`5?Q 9`5Y)BY"?Q E:yȆ>Q I@f EI.;i!.;)`5yɮAJQRU?AUKPAUKPAU>U #)@5DYXA}@U,R?,YؕQ#?UUs—U(@X @$F)@U ? '?9?jUJ@rU7@AZU;螟?bUzUBU?U9UBڗUBAUF>Q addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504211 s, deltaX: -0.400000 m, approachRate: -0.793318 m/s, rangeRepo size: 4 Q% Added new target pos. range: 13.018344 m, bearing: 14.774511 deg, lat: 36.779409 deg, lon: -121.859501 deg, deltaT: 1.008146 s, deltaX: -0.596264 m, approachRate: -0.591446 m/s, posRepo size: 4 !Q-DNOT Ignoring new targets: 13.02 m.)Q ProNav: ac range: 13.018344 m, nav range: 12.182742 m, bearing: 15.137910 deg, approach rate: 0.000000 m/s, LOS rate: 0.177027 deg/s, cmd heading: 20.543414 deg, new cmd heading: 20.775620 deg. zQHeadingCmd: 0.362603 target range: 13.018344 and range: 13.10 m.R>JbZB:2ҔڔBڒ’8?EABɢEƼ)a m]ii)m`iiim iu>uRIy-DDAT read: Rx Time:21:34:33.9548 -TRx dataTimestamp_ set to:1761514475.237398=PDAT read: Bearing 178.7, -5.9 (Local) =~Local bearing/azimuth received: Bearing 178.7, -5.9 (Local) MDAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.8 uDAT read: 21:34:33.9548 LVL= 29392, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.32,-0.571,-2.268,-0.200,-0.587, PHS= 0.118,-1.636, 0.343, RAW= 156.0, 12.5, CAL= 156.2, 14.0, ROT= 353.8, -14.0 }Ygot valid direction response: 21:34:33.9548 LVL= 29392, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.32,-0.571,-2.268,-0.200,-0.587, PHS= 0.118,-1.636, 0.343, RAW= 156.0, 12.5, CAL= 156.2, 14.0, ROT= 353.8, -14.0 }T#Rx 75: Read range and direction messages.^direction in FSK: [0.964620,-0.104791,0.241922]Fpublishing direction and range infoy)-+?uӺ79K?Y-fNA)-r)) )))I-=i-shѿ->-@.@-f_>-!z.@ -5z>)-e@I-5z))-N\cJ?VX?BE? - ?)-_I-iݽi-5z))checking for new query: numPingsReceived=75, elapsed TxPingTime=38.607464ԩ@@ @@4@^Auw\AyzA}jAA؟AIIO>E  E E $E "E g5;*E :VE 4ZE a @a @a @a @ G  M y9I YM dA|2>,/?A2U=2>2zDٱ2: :AHRS rotation from veh to nav: [[0.945489,-0.308909,-0.103080],[0.322104,0.933705,0.156344],[0.047950,-0.181024,0.982309]]2HrA?*ӿrcZ???쌨?+ǿo?i2U=I2q];2CBchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.843048Y~݃By~1"IbDZVD%4ymX=%mL=ٔ}:Q-}>9"?Y"?=GFyE;E>Q 5`5?Q 9 `5)BYy%|>Q I%@k EIBe\_i(@}bp}~P@e+?uӺ79K?eiݽe5zB>BB"IB̃BBBBBAeD>Q addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503579 s, deltaX: -0.200001 m, approachRate: -0.397159 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 12.819590 m, bearing: 15.250600 deg, lat: 36.779409 deg, lon: -121.859501 deg, deltaT: 0.503579 s, deltaX: -0.198754 m, approachRate: -0.394683 m/s, posRepo size: 4 1Q=DNOT Ignoring new targets: 12.82 m.999Qu ProNav: ac range: 12.819590 m, nav range: 11.923234 m, bearing: 15.137395 deg, approach rate: 0.000000 m/s, LOS rate: 0.177027 deg/s, cmd heading: 20.775620 deg, new cmd heading: 21.023714 deg. zqQuHeadingCmd: 0.366933 target range: 12.819590 and range: 12.90 m.R}޻>JybyZyBy:y2yҔڔڒ’)@?1ɢ5H )9 =LGi9)=b9aie]="im޻>m_QIi?@ @@4@=DDAT read: Rx Time:21:34:34.4545 ETRx dataTimestamp_ set to:1761514475.741353MPDAT read: Bearing 176.3, -4.9 (Local) M~Local bearing/azimuth received: Bearing 176.3, -4.9 (Local) ]DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 DAT read: 21:34:34.4545 LVL= 25104, 32753, 27170, 32755, AGC= 56, IDX= 501, 0.44,-3.027, 1.551,-2.661,-3.117, PHS= 0.192,-1.570, 0.412, RAW= 155.8, 10.3, CAL= 155.7, 11.2, ROT= 354.3, -11.2 Ygot valid direction response: 21:34:34.4545 LVL= 25104, 32753, 27170, 32755, AGC= 56, IDX= 501, 0.44,-3.027, 1.551,-2.661,-3.117, PHS= 0.192,-1.570, 0.412, RAW= 155.8, 10.3, CAL= 155.7, 11.2, ROT= 354.3, -11.2 T#Rx 76: Read range and direction messages.^direction in FSK: [0.976105,-0.097428,0.194234]Fpublishing direction and range infoy9=R@i=ȿ=>=.@=X8>='-@ =+H>)=@I=+H99=\?C}?,w;l? hnd? = ?)= 7I=)˽i=+H99checking for new query: numPingsReceived=76, elapsed TxPingTime=39.111504) ^A jbY AU .AE  E E 'E "E );*E I:VE '4ZE BE K>,?ADZI=Z>ZAٱZb83 fAHRS rotation from veh to nav: [[0.944484,-0.312739,-0.100719],[0.325135,0.933778,0.149484],[0.047300,-0.173933,0.983621]]ZH69?@Կȹ??M"?`7?`mCƿy?iZI=IZ^;XYnBynM"I ppzchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.347260z=z=iuMb@Mb@Mb@qqqq q9uX9v?{Gzt?Yu?yuףu9 ?Y ?=GFyE;E>Q 5`5iכ?Q 9`5)BY?Q E:yE>Q I@o EIǸV,[!@(@#C;]@lgM@R@崭?-{X?JD?jK@rf9AZߧ?bPKzEB;螟?Bڗ=AX>Q5 addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503955 s, deltaX: -0.400000 m, approachRate: -0.793721 m/s, rangeRepo size: 4 QE Added new target pos. range: 12.422082 m, bearing: 15.313308 deg, lat: 36.779411 deg, lon: -121.859501 deg, deltaT: 0.503955 s, deltaX: -0.397508 m, approachRate: -0.788776 m/s, posRepo size: 4 AQEDNOT Ignoring new targets: 12.42 m.AIIQ} ProNav: ac range: 12.422082 m, nav range: 11.870943 m, bearing: 14.722322 deg, approach rate: 0.000000 m/s, LOS rate: 0.177027 deg/s, cmd heading: 21.023715 deg, new cmd heading: 21.285149 deg. zyQHeadingCmd: 0.371496 target range: 12.422082 and range: 12.50 m.R4>JbZB:2Ҕڔ2Bڒ’)@(?@BɢE)  i )-_))i5F $i54>5iP<=מI=4>I9@ @@4@DDAT read: Rx Time:21:34:34.9544 TRx dataTimestamp_ set to:1761514476.245246PDAT read: Bearing 180.7, -6.4 (Local) ~Local bearing/azimuth received: Bearing 180.7, -6.4 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 DAT read: 21:34:34.9544 LVL= 32624, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.49,-3.098, 1.494,-2.721,-3.073, PHS= 0.077,-1.671, 0.308, RAW= 156.1, 13.6, CAL= 156.6, 15.5, ROT= 353.4, -15.5 Ygot valid direction response: 21:34:34.9544 LVL= 32624, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.49,-3.098, 1.494,-2.721,-3.073, PHS= 0.077,-1.671, 0.308, RAW= 156.1, 13.6, CAL= 156.6, 15.5, ROT= 353.4, -15.5 T#Rx 77: Read range and direction messages.^direction in FSK: [0.957244,-0.110757,0.267238] Fpublishing direction and range infoya?VtvZ֚n?Yp )9I-=iTտ->].@s>.@ c>)4`@Ic)D<?WU?Tt7-? 3k!?)sIic= checking for new query: numPingsReceived=77, elapsed TxPingTime=39.619274 ^A uA= ؟AA II IY Oe >| >,?A2W=2ë>2z>ٱ2+ :AHRS rotation from veh to nav: [[0.943234,-0.317333,-0.098026],[0.328859,0.933654,0.141919],[0.046487,-0.166100,0.985013]]2H@.?/OԿ@A ? ?`h*?`'ͧ?Bſ 9?i2W=I2];2CYB ByBi"IEj EjEj%Eh"Ejm+;*Ej:VEj 4ZEhan@an@ar@ar@bDvWVDv 4y~r=%~C=ٔZ:Q->9"?Y"?= GFy E <E>Q 5`5뛊?Q 9`5) BY!y%>Q I%@s EI:i[:`5y)ɮ5=A1JR?A:>dY,'@Shq1 @a?VtvZ֚n?c—>o&@e @`3o4@nW-?0e8ԗ?fM?j5F@r;5AZu?bUz&Bq񠟊?ڗ:A>Q} addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 12.422082 m, bearing: 15.291854 deg, lat: 36.779411 deg, lon: -121.859500 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 QDNOT Ignoring new targets: 12.42 m.Q ProNav: ac range: 12.422082 m, nav range: 11.662833 m, bearing: 15.070154 deg, approach rate: 0.000000 m/s, LOS rate: 0.177027 deg/s, cmd heading: 21.285149 deg, new cmd heading: 21.473528 deg. zQHeadingCmd: 0.374784 target range: 12.422082 and range: 12.50 m.R>JbZB:2Ҕڔڒ’=]?ɢ=) ҽi)%A!!i%Z%i>lO<ԙI>Ichecking for new query: numPingsReceived=77, elapsed TxPingTime=39.851223)@) @1@5/@9BABBCBN"IBBBBBBR;BDE)^AE}AE>AE>a  DDAT read: Rx Time:21:34:35.4541  TRx dataTimestamp_ set to:1761514476.749055 PDAT read: Bearing 177.6, -5.5 (Local)  ~Local bearing/azimuth received: Bearing 177.6, -5.5 (Local)  DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5  DAT read: 21:34:35.4541 LVL= 26096, 32753, 28786, 32755, AGC= 55, IDX= 498,-0.36, 0.593,-1.127, 0.979, 0.528, PHS= 0.167,-1.610, 0.407, RAW= 156.3, 10.9, CAL= 156.2, 11.9, ROT= 353.8, -11.9  Ygot valid direction response: 21:34:35.4541 LVL= 26096, 32753, 28786, 32755, AGC= 55, IDX= 498,-0.36, 0.593,-1.127, 0.979, 0.528, PHS= 0.167,-1.610, 0.407, RAW= 156.3, 10.9, CAL= 156.2, 11.9, ROT= 353.8, -11.9  T#Rx 78: Read range and direction messages. ^direction in FSK: [0.972786,-0.105678,0.206204] Fpublishing direction and range infoy  a!?B Fa5d?Y @A e rp ) 7I +>i {ο Nb> .@ B> !z.@ ȭT>) e@I ȭT Mܫ\W?oюx{?ۦ~ۜ ? !?) K.BI iݽi ȭT  checking for new query: numPingsReceived=78, elapsed TxPingTime=40.118538A .AI! I1 O= >C>,7n3?A 6r=6>60=ٱ6'$! ~AHRS rotation from veh to nav: [[0.941450,-0.323382,-0.095373],[0.333976,0.933229,0.132451],[0.046173,-0.156549,0.986590]]6H\ ?HԿ ]j_??+?@죧?` Ŀ&?i6r=I6^;6CY  By j"IbD=ZVD=%4yML;%MF=ٔU H:Q-U>9U ?Y} ?=}GFy}E}[U<E>Q 5`5N?Q 9`5)BYy>Q I@x EIB.A>AO>>p3'@+)|y@a!?B Fa5d?iݽȭT—[Ԩ[0&@5 1@0jE @ɄR?bh@:? $?jA@r1AZ <6?bYgz]Bu?PKBڗ7Ar>Q] addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503809 s, deltaX: -0.500000 m, approachRate: -0.992440 m/s, rangeRepo size: 4 Q Added new target pos. range: 11.925190 m, bearing: 15.246428 deg, lat: 36.779412 deg, lon: -121.859499 deg, deltaT: 0.503809 s, deltaX: -0.496892 m, approachRate: -0.986271 m/s, posRepo size: 4 QDNOT Ignoring new targets: 11.93 m.Q ProNav: ac range: 11.925190 m, nav range: 11.485049 m, bearing: 15.157446 deg, approach rate: 0.000000 m/s, LOS rate: 0.177027 deg/s, cmd heading: 21.473527 deg, new cmd heading: 21.702382 deg. zQHeadingCmd: 0.378778 target range: 11.925190 and range: 12.00 m.R1>JbZB:2Ҕڔڒ’!-(@Ur?qE EE&E"E=-;*Eu:VE4ZEBEmLN<#*IE1>IA checking for new query: numPingsReceived=78, elapsed TxPingTime=40.355843ԡ@ @@@ ^A 7ƙ A) I9 II OU >o>,whO?A.DDAT read: Rx Time:21:34:35.9540 2TRx dataTimestamp_ set to:1761514477.2525906DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 :Z#Rx 79: Read range message, but no direction.y0Y23;A0>checking for new query: numPingsReceived=79, elapsed TxPingTime=40.610390F>F<>Fy:ٱFRB RAHRS rotation from veh to nav: [[0.939377,-0.330271,-0.092150],[0.339841,0.932517,0.122148],[0.045589,-0.146059,0.988225]]FH`?'#տ!?.? E?|W?`¿?iF>IF#^;FCYBy}"IIa=)=iMb@Mb@Mb@ 9~jt?:v?y&1|?Y$?y<`;A\@ VA)AY=A@AAAbDbVD[44yJ=%)=ٔt:Q->9Y=GFyE;U<E>Q 5`5S?Q 9`5z)BY$?Q E:y >Q I@| EI;i;{`5y~BɮADEGS B*** querying acoustic contact ***: B Q addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503535 s, deltaX: -0.300000 m, approachRate: -0.595788 m/s, rangeRepo size: 4 Q%DNOT Ignoring new targets: 11.93 m.!--Q= ProNav: ac range: 11.925190 m, nav range: 11.179449 m, bearing: 14.961876 deg, approach rate: -0.662030 m/s, LOS rate: -0.435249 deg/s, cmd heading: 21.702381 deg, new cmd heading: 21.099657 deg. z=ZQEHeadingCmd: 0.368258 target range: 11.925190 and range: 11.70 m.RE`>JAbAZABA:I2IҔIڔMJBQڒQ’QU`ff'@U׸?颁ɢjmo) i)`顉i(i`>I`>I=>@9 @9@=/@9bE}-4jE}4rE}7/E EEE"E1A;*E#:VEZEa @a @a @a @ checking for new query: numPingsReceived=79, elapsed TxPingTime=40.859020) ^A] B B B "IB BB B B B R;B REBBBBN =BN =Cާ4A ؟AI I O >R>,-i?A2ϗ >2+>29ٱ2 >AHRS rotation from veh to nav: [[0.937215,-0.337036,-0.089639],[0.345793,0.931456,0.113211],[0.045338,-0.137099,0.989519]]2H?տ@@z!?|?b?6?x $?i2ϗ >I2?^;0YF%ByF"IbDbjVDbC4yj+_=%jp=ٔj*A:Q-j?9n"?Yn"?=nGFynEr.<Er?tQ 5z`5vX)?Q 9z`5vC)v#BYxy~B>Q I~@v EIv:iv;vu`5yɮA)Q-DNOT Ignoring new targets: 11.93 m.)55Q ProNav: ac range: 11.925190 m, nav range: 10.962633 m, bearing: 14.809197 deg, approach rate: -0.637831 m/s, LOS rate: -0.458035 deg/s, cmd heading: 21.099656 deg, new cmd heading: 20.632571 deg. z,QHeadingCmd: 0.360106 target range: 11.925190 and range: 11.70 m.R_>JbZB:2Ҕڔ  ڒ ’5 W?额>BɢZ) Ii)[ 顩iu*i_> FIQDDAT read: Rx Time:21:34:36.4538 TRx dataTimestamp_ set to:1761514477.758707PDAT read: Bearing 182.5, -7.2 (Local) ~Local bearing/azimuth received: Bearing 182.5, -7.2 (Local) DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 DAT read: 21:34:36.4538 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.16,-1.432,-3.099,-1.014,-1.373, PHS= 0.043,-1.681, 0.314, RAW= 157.2, 14.0, CAL= 157.8, 16.0, ROT= 352.2, -16.0 Ygot valid direction response: 21:34:36.4538 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.16,-1.432,-3.099,-1.014,-1.373, PHS= 0.043,-1.681, 0.314, RAW= 157.2, 14.0, CAL= 157.8, 16.0, ROT= 352.2, -16.0 T#Rx 80: Read range and direction messages. ^direction in FSK: [0.952368,-0.130458,0.275637]Fpublishing direction and range infoyZmy? Rز ?Yf6A )<I 0=i+׿Ġ>/@5z>C0@ 5>)@M@@i @i@m/@iI5a7BC?Lċ? ? .&?)YzIg i5checking for new query: numPingsReceived=80, elapsed TxPingTime=41.151291^A%*:A)zA-hAԁAQIaIqO}z>E5  E5 E5 #E1 "E5 9;*E5 :VE5 3ZE1 BE5 ,`#?A<>z>46ٱ AHRS rotation from veh to nav: [[0.932777,-0.350138,-0.085625],[0.357687,0.928502,0.099718],[0.044588,-0.123641,0.991325]]H@N?hֿ@뵿@W?J??`6Ԧ?󦿿?i>I^;Y%.By-"IiMb@Mb@Mb@ 9X9v?Mb?Mb`Y?y@=~A@ )GAYGAbDJVD04yZ)=%:=ٔl:Q->9Y=GFyEd<E>Q 5`5>?Q 9`57)(BYi?Q E:y>Q I@ EI:i:J`5yBɮA EEJRp?AC5AC5A>r %@21⭥.>@Zmy? Rز ?g 5—ՠ$@йfb@Rk=@3A0"?;×۝?$kNQU addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.506117 s, deltaX: -0.300000 m, approachRate: -0.592749 m/s, rangeRepo size: 4 Qe Added new target pos. range: 11.328934 m, bearing: 15.179390 deg, lat: 36.779412 deg, lon: -121.859499 deg, deltaT: 1.009652 s, deltaX: -0.596256 m, approachRate: -0.590556 m/s, posRepo size: 4 QDNOT Ignoring new targets: 11.33 m.Q ProNav: ac range: 11.328934 m, nav range: 10.698101 m, bearing: 14.590208 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 20.632571 deg, new cmd heading: 20.024248 deg. zQ%HeadingCmd: 0.349489 target range: 11.328934 and range: 11.40 m.R%;>J)b)Z)B):)2)Ҕ1ڔ5>B1ڒ1’9=&@=R?ԡ颩ɢB) i) 顱i/U,i;>]LAIaqu%=}DDAT read: Rx Time:21:34:36.9536 TRx dataTimestamp_ set to:1761514478.261522PDAT read: Bearing 177.0, -5.7 (Local) ~Local bearing/azimuth received: Bearing 177.0, -5.7 (Local) DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 DAT read: 21:34:36.9536 LVL= 24752, 32753, 25986, 32755, AGC= 57, IDX= 508,-0.20, 1.739, 0.045, 2.163, 1.644, PHS= 0.197,-1.554, 0.475, RAW= 157.3, 9.3, CAL= 157.0, 9.9, ROT= 353.0, -9.9 Ygot valid direction response: 21:34:36.9536 LVL= 24752, 32753, 25986, 32755, AGC= 57, IDX= 508,-0.20, 1.739, 0.045, 2.163, 1.644, PHS= 0.197,-1.554, 0.475, RAW= 157.3, 9.3, CAL= 157.0, 9.9, ROT= 353.0, -9.9 T#Rx 81: Read range and direction messages.^direction in FSK: [0.977766,-0.120055,0.171929]Fpublishing direction and range infoy,I? º绾!?Y1A`e )9I^I>iyƿ33>/@6&>^/@ ;0>)'@I;0/Hk"?lH?3? z&?)&I5i;0checking for new query: numPingsReceived=81, elapsed TxPingTime=41.632576[Rӻ  >@  @ @ /@ E  E E %E "E g5;*E g:VE 4ZE a @a @a @a @! Echecking for new query: numPingsReceived=81, elapsed TxPingTime=41.869869^AM QA.AB>BB"IB,74?AJi>J>J} 6ٱJ RAHRS rotation from veh to nav: [[0.930567,-0.355993,-0.085517],[0.363413,0.926491,0.097702],[0.044450,-0.121996,0.991535]]JH 5?@ֿ`y䵿&B?Х??$¦? (;?iJi>IJ^;JCYZ-ByZ"I \\b=b= f49r ?Yr ?=vGFyvEv;=<Ev>|Q 5a5~W?Q 9a5~x)~-BYy>Q I@~ EI~:i~:~a5yBɮA0|F2%@=S0pkX?,I? º绾!?5;0—]b$@I$@D+@Rb?St?,)B?j08@r%AZJܾ?bŠz8B <6?Yg]Bڗ0&A{>Qe addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.502815 s, deltaX: -0.299999 m, approachRate: -0.596639 m/s, rangeRepo size: 4 Qu Added new target pos. range: 11.030793 m, bearing: 15.545058 deg, lat: 36.779412 deg, lon: -121.859499 deg, deltaT: 0.502815 s, deltaX: -0.298141 m, approachRate: -0.592943 m/s, posRepo size: 4 qQuDNOT Ignoring new targets: 11.03 m.yyyQ ProNav: ac range: 11.030793 m, nav range: 10.386868 m, bearing: 14.294995 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 20.024248 deg, new cmd heading: 19.292869 deg. zQHeadingCmd: 0.336724 target range: 11.030793 and range: 11.10 m.Rg>JbZB:2Ҕڔڒ’@33&@ [?=BɢA) i)?Q!i.ig>>/=Ig>IImDDAT read: Rx Time:21:34:37.4534 TRx dataTimestamp_ set to:1761514478.766313PDAT read: Bearing 176.6, -6.0 (Local) ~Local bearing/azimuth received: Bearing 176.6, -6.0 (Local) DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 DAT read: 21:34:37.4534 LVL= 22000, 32753, 21282, 32755, AGC= 56, IDX= 505,-0.14, 1.351,-0.309, 1.789, 1.248, PHS= 0.204,-1.512, 0.497, RAW= 157.8, 8.7, CAL= 157.4, 9.1, ROT= 352.6, -9.1  Ygot valid direction response: 21:34:37.4534 LVL= 22000, 32753, 21282, 32755, AGC= 56, IDX= 505,-0.14, 1.351,-0.309, 1.789, 1.248, PHS= 0.204,-1.512, 0.497, RAW= 157.8, 8.7, CAL= 157.4, 9.1, ROT= 352.6, -9.1  T#Rx 82: Read range and direction messages.^direction in FSK: [0.979190,-0.127174,0.158158]Fpublishing direction and range infoy!U?lc>G@\~>?Y,AU"S )8I`P>i7v>C0@|>F/@ ">)@I"閍?4ր^?ZLM? (?)I@i"5checking for new query: numPingsReceived=82, elapsed TxPingTime=42.137283=?@9 @9@=/@9y^Am;AAIQIaOu>ԩDA zDE AAE]  E] EY EY "E] <;*E] :VEY ZEY BE] ,&5?AG#>Q>H5ٱ- AHRS rotation from veh to nav: [[0.928653,-0.361048,-0.085140],[0.368303,0.924785,0.095532],[0.044244,-0.120073,0.991779]]H?`i׿˵E? ֗?`t?@.?@?iG#>I_1^;Yy"IiEMb@Mb@Mb@AAAA A9ES?J +?~jtxYE/?yEH=EĻE AE@ EA)EAAYEzAbD]dVD] 84ym>(%m"=ٔm9Q-m>9qYq=uGFyuE}a*<E}>Q 5a5n?Q 9a5)1BY?Q E:y3>Q I@ EI:i:Za5yɮAJYR]F ?A]+A]+A]C>]%@ohm](?]!U?lc>G@\~>?]@]"—]A/7$@;*@w"@] #?W?ao?j]P1@r]!AZ]yRŸ?b]z]̈BY] FYڗ]!A]h>Q addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504791 s, deltaX: -0.300000 m, approachRate: -0.594306 m/s, rangeRepo size: 4 Q Added new target pos. range: 10.732664 m, bearing: 15.328151 deg, lat: 36.779412 deg, lon: -121.859498 deg, deltaT: 0.504791 s, deltaX: -0.298129 m, approachRate: -0.590599 m/s, posRepo size: 4 QDNOT Ignoring new targets: 10.73 m.  Q ProNav: ac range: 10.732664 m, nav range: 10.105101 m, bearing: 14.435591 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 19.292870 deg, new cmd heading: 18.599209 deg. zQ%HeadingCmd: 0.324617 target range: 10.732664 and range: 10.80 m.R%A4>J!b!Z!B!:)2)Ҕ)ڔ-"Bڒ’%@`?ɢA) 8i)!  i 0i5A4>15Zg=I5A4>I199AAQ=DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 eDAT read: 21:34:37.9533 LVL= 25104, 32753, 24770, 32755, AGC= 54, IDX= 504,-0.04, 2.585, 0.952, 3.046, 2.498, PHS= 0.189,-1.501, 0.504, RAW= 158.4, 8.7, CAL= 158.1, 9.1, ROT= 351.9, -9.1 mYgot valid direction response: 21:34:37.9533 LVL= 25104, 32753, 24770, 32755, AGC= 54, IDX= 504,-0.04, 2.585, 0.952, 3.046, 2.498, PHS= 0.189,-1.501, 0.504, RAW= 158.4, 8.7, CAL= 158.1, 9.1, ROT= 351.9, -9.1 mT#Rx 83: Read range and direction messages.u^direction in FSK: [0.977563,-0.139128,0.158158]uFpublishing direction and range infoy)-1K2H?u@\~>?Y-3+A)-b)-` ))-6I-7A>i- -%?-;0@)-r0@ ))-@I)))-6>?iּ?@Z? -+?)-nI-i)))checking for new query: numPingsReceived=83, elapsed TxPingTime=42.636948y) @1  @1 @5 4@1 @9 @= iAԡ E  E E #E "E B;*E Z:VE 3ZE a @a @a @a @^AU <A]>A]>DDAT read: Rx Time:21:34:38.4530  TRx dataTimestamp_ set to:1761514479.525765%PDAT read: Bearing 176.6, -7.3 (Local) -~Local bearing/azimuth received: Bearing 176.6, -7.3 (Local) Echecking for new query: numPingsReceived=83, elapsed TxPingTime=42.888176YA؟AIIO ?>,ı?ABLBLBN"IBNPBBNO =BLBLBNnR;BN,E'>8>3ٱ? UAHRS rotation from veh to nav: [[0.927004,-0.365225,-0.085293],[0.372480,0.923111,0.095521],[0.043848,-0.120318,0.991767]]H?`_׿յ ? ?@t?@Gs?@-; ?i'>I#^;CYYyaIm<)m=bDuTVDu4y`c:%&=ٔR:Q->ԉ9"?Y"?=GFyEI<E>Q 5a5?Q 9a5M)5BYy>Q I@ EI";i*$; a5yBɮA=EJR6?A!*A!*A>ѽ$@'yxsf?1K2H?u@\~>?—$@U9U@i@}8G`1?) ?Z?j*@r AZbӟ?bi(zLjBJܾ?Š8Bڗ""A #>Qu addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502644 s, deltaX: -0.100000 m, approachRate: -0.198949 m/s, rangeRepo size: 4 Q Added new target pos. range: 10.633275 m, bearing: 14.885630 deg, lat: 36.779414 deg, lon: -121.859495 deg, deltaT: 0.502644 s, deltaX: -0.099389 m, approachRate: -0.197733 m/s, posRepo size: 4 QDNOT Ignoring new targets: 10.63 m.Q ProNav: ac range: 10.633275 m, nav range: 10.133314 m, bearing: 14.898789 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 18.599208 deg, new cmd heading: 17.910575 deg. zQHeadingCmd: 0.312598 target range: 10.633275 and range: 10.70 m.R >JbZB:2Ҕڔڒ’`ff%@%w?U=I >Iߝ=ߝ=DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 DAT read: 21:34:38.4530 LVL= 23232, 32753, 22866, 32755, AGC= 56, IDX= 501, 0.09, 2.443, 0.820, 2.931, 2.358, PHS= 0.187,-1.494, 0.529, RAW= 159.1, 8.3, CAL= 158.7, 8.7, ROT= 351.3, -8.7 Ygot valid direction response: 21:34:38.4530 LVL= 23232, 32753, 22866, 32755, AGC= 56, IDX= 501, 0.09, 2.443, 0.820, 2.931, 2.358, PHS= 0.187,-1.494, 0.529, RAW= 159.1, 8.3, CAL= 158.7, 8.7, ROT= 351.3, -8.7 T#Rx 84: Read range and direction messages.^direction in FSK: [0.977120,-0.149521,0.151261]Fpublishing direction and range infoyqD?}#ÿni\?Y3#AZRY )8I|?>id;l?g1@V>E1@ |>)3@I|#͐S?oH?qauޒ? e.?)I|i|checking for new query: numPingsReceived=84, elapsed TxPingTime=43.140388 >@  @ @ /@ ^A3=A.AI I O% > E=  E= E= %E9 "E= ;;*E= :VE= 4ZE9 BE= ,?A5DDAT read: Rx Time:21:34:38.9529 ETRx dataTimestamp_ set to:1761514480.032534ePDAT read: Bearing 176.6, -8.0 (Local) m~Local bearing/azimuth received: Bearing 176.6, -8.0 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 Z#Rx 85: Read range message, but no direction.y9Y=!A9checking for new query: numPingsReceived=85, elapsed TxPingTime=43.421555`->]>s/ٱ AHRS rotation from veh to nav: [[0.925033,-0.369751,-0.087169],[0.377466,0.920478,0.101192],[0.042821,-0.126510,0.991041]]Hޙ?׿P g(?t?? ? w1?i`->I!^;CY 0By "IiUMb@Mb@Mb@QQQQ Q9U/$?+?I +YU?yU=U94QUE@ U-A)UGAQYUAAAbDiVD=A4yD<%"=ٔf;Q->9 ?Y ?=GFyE,<E>Q 5a5V?Q 9%a5)8BY%?Q E%:y%>Q I%@ EI;i;"a5y-Bɮ5A1J9R= ?A= A= A=h>=z_#@?J?=qD?}#ÿni\?=|=|—=D_sI"@ָ@}:X@=m_E?h9P?5?j=X@r=AZ=o?b=z=jB9==̈Bڗ=@A=oK>QM addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.763577 s, deltaX: -0.599999 m, approachRate: -0.785775 m/s, rangeRepo size: 4 Qe Added new target pos. range: 10.037018 m, bearing: 14.605635 deg, lat: 36.779414 deg, lon: -121.859495 deg, deltaT: 0.763577 s, deltaX: -0.596257 m, approachRate: -0.780874 m/s, posRepo size: 4 aQeDNOT Ignoring new targets: 10.04 m.iiiQ ProNav: ac range: 10.037018 m, nav range: 9.828159 m, bearing: 14.580730 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 17.910575 deg, new cmd heading: 17.200599 deg. zQHeadingCmd: 0.300207 target range: 10.037018 and range: 10.10 m.R>JbZB:2IҔQڔUBQڒY’Y]@33$@] հ?;Bɢz8)) -i))-+"))i5%5i5>9=B=I=>I9IDAT read: 21:34:38.9529 LVL= 25424, 32753, 23714, 32755, AGC= 56, IDX= 500, 0.27,-2.747, 1.933,-2.235,-2.819, PHS= 0.174,-1.486, 0.541, RAW= 159.8, 8.3, CAL= 159.4, 8.6, ROT= 350.6, -8.6 Ygot valid direction response: 21:34:38.9529 LVL= 25424, 32753, 23714, 32755, AGC= 56, IDX= 500, 0.27,-2.747, 1.933,-2.235,-2.819, PHS= 0.174,-1.486, 0.541, RAW= 159.8, 8.3, CAL= 159.4, 8.6, ROT= 350.6, -8.6 Z#Rx 86: Read direction message, but no range.^direction in FSK: [0.975480,-0.161490,0.149535]y 7?todĿS&r#?Pc\ )I-2>i?5~ ?2@/ 2@ `>)@I`PoۢU?9C?Mft? h1?)}+I'i` checking for new query: numPingsReceived=86, elapsed TxPingTime=43.645054 <@  @ @ 4@ q tC^A c=AzAgAEU EUEU#EQ"EUsH;*EU:VEU3ZEQam@au@au@au@ԩԀGUq9QY]mAA]؟ADDAT read: Rx Time:21:34:39.4526 TRx dataTimestamp_ set to:1761514480.534858IPDAT read: Bearing 176.5, -8.4 (Local) %~Local bearing/azimuth received: Bearing 176.5, -8.4 (Local) IDAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.6 O??,$?A"DAT read: 21:34:39.4526 LVL= 24336, 32753, 23026, 32755, AGC= 56, IDX= 498,-0.41, 0.543,-1.058, 1.069, 0.478, PHS= 0.168,-1.491, 0.547, RAW= 160.1, 8.3, CAL= 159.7, 8.6, ROT= 350.3, -8.6 &Ygot valid direction response: 21:34:39.4526 LVL= 24336, 32753, 23026, 32755, AGC= 56, IDX= 498,-0.41, 0.543,-1.058, 1.069, 0.478, PHS= 0.168,-1.491, 0.547, RAW= 160.1, 8.3, CAL= 159.7, 8.6, ROT= 350.3, -8.6 &T#Rx 87: Read range and direction messages.Z^direction in FSK: [0.974621,-0.166595,0.149535]ZFpublishing direction and range infoy9=}0?^RſS&r#?Y=A9=_9=Y 9)9I=1,>i=پ=1 ?=[2@9=b2@ 9)=@I999=<;?(a?M o@? =@3?)=_I=4\-i9B<A<BqBqBu"IBuUBBqBqBqBuJR;BuE99.->D>,ٱchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.990364 AHRS rotation from veh to nav: [[0.925133,-0.369159,-0.088610],[0.377301,0.919920,0.106731],[0.042113,-0.132173,0.990332]]H?K׿!`%?`o?R?ޏ? ̰?i.->I^;Y$By "I bDOVDc4ym:%m=ٔuз:Q-u>9u"?Yu"?=}GFy}E}ŹE}>Q 5a5p?Q 9a5!):BYyX>Q I@ EI:i:a5yBɮmA>E!J9R=;"?A=A=A=s>=/z"@A_ m'{&O?=}0?^RſS&r#?=4\-=`—=<^Z"@S,9@=@=še?+9.~?-.?j= @r=AZ=?b=`Oz=+B99=LjBڗ=EA=]~>Q addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.502324 s, deltaX: -0.500000 m, approachRate: -0.995373 m/s, rangeRepo size: 4 Q Added new target pos. range: 9.540147 m, bearing: 13.635659 deg, lat: 36.779414 deg, lon: -121.859495 deg, deltaT: 0.502324 s, deltaX: -0.496871 m, approachRate: -0.989144 m/s, posRepo size: 4 QBNOT Ignoring new targets: 9.54 m.Q6Short final. Range: 9.60 m.QVTransitioning guidance mode to: SHORT_FINALr@@Q ProNav: ac range: 9.540147 m, nav range: 9.516941 m, bearing: 14.213430 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 17.200600 deg, new cmd heading: 16.483818 deg. zQ|HeadingCmd: 0.287697 target range: 9.540147 and range: 9.60 m.RM>JQbQZQBQ:Y2YҔYڔYaڒa’ae@33#@e?ɢ_`P) P5i)x#i7iM>'X=IM>I 5checking for new query: numPingsReceived=87, elapsed TxPingTime=44.135098Y@@ @@4@^AP=y A .AI I9 O] >E  E E (E "E 2;*E ;:VE c44ZE BE !?A0DDAT read: Rx Time:21:34:39.9524 TRx dataTimestamp_ set to:1761514481.034364DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.5 Z#Rx 88: Read range message, but no direction.yYAchecking for new query: numPingsReceived=88, elapsed TxPingTime=44.393646=+>=y>=W&ٱ= uAHRS rotation from veh to nav: [[0.925768,-0.367240,-0.089936],[0.375890,0.919593,0.114261],[0.040743,-0.139585,0.989372]]=H@? ۀ׿ ?Mm?1@?`Pܤ??i=+>I=3^;9Y#ByԉiMb@Mb@Mb@ 9Zd;O?y&1?~jtxYj?y`e<ĻQA )AYbD TVD 4y%2=ٔ5D;Q-%>9% ?Y% ?=-GFy-E-a]E->1Q 5=a55ʜ?Q 9=a55K)5>BY=v?Q EE:yEd>Q IE@5 EI5& ;i5 ;5a5yIɮMpAIGSmB*** querying acoustic contact ***:iBiQ} addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499506 s, deltaX: -0.300000 m, approachRate: -0.600594 m/s, rangeRepo size: 4 QzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.88Q ProNav: ac range: 9.540147 m, nav range: 9.248060 m, bearing: 13.946304 deg, approach rate: -0.632001 m/s, LOS rate: -0.646129 deg/s, cmd heading: 16.483818 deg, new cmd heading: 15.659200 deg. zݼQ|HeadingCmd: 0.273305 target range: 9.540147 and range: 9.30 m.R>JbZB:2ҔڔBڒ’"@^?e:BɢeW)a m2ii)me$iiimz8iu>qui=Iu>IyԹ?@ @@4@M checking for new query: numPingsReceived=88, elapsed TxPingTime=44.639015 ^A .= AM ؟AIQ Ia Ou >k?,|Z?A2Cr(>2f>2"ٱ2 :AHRS rotation from veh to nav: [[0.926960,-0.363704,-0.091999],[0.373056,0.919550,0.123522],[0.039672,-0.148821,0.988068]]2H?F׿9@%?l?"? O? ÿ@?i2Cr(>I2n'^;2CYBByB|"I JpQ If@b EIb:ib:bia5ynBɮnAn?E|QzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m. 4 4E EE$E"EO6;*E:VE4ZEa@a@a@a@Q ProNav: ac range: 9.540147 m, nav range: 9.050591 m, bearing: 13.743986 deg, approach rate: -0.603908 m/s, LOS rate: -0.632237 deg/s, cmd heading: 15.659201 deg, new cmd heading: 15.039029 deg. zؼQ|HeadingCmd: 0.262481 target range: 9.540147 and range: 9.30 m.Rc>JbZB:2Ҕڔڒ’Bu?59Bɢ5-n)9 =si9)=^$99i=n9iEc>AM=IMc>IiIDDAT read: Rx Time:21:34:40.4522 @ @@/TRx dataTimestamp_ set to:1761514481.543001PDAT read: Bearing 178.0, -10.0 (Local)  ~Local bearing/azimuth received: Bearing 178.0, -10.0 (Local) eDAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.5 uZ#Rx 89: Read range message, but no direction.yYAchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.938736@@ @ ^AQ=A>A>B B B "IB PBB N =B B B ER;B EqA.AII!O->ԙ ] DAT read: 21:34:40.4522 LVL= 27632, 32753, 21810, 32755, AGC= 57, IDX= 509,-0.03,-0.073,-1.651, 0.482,-0.074, PHS= 0.104,-1.532, 0.512, RAW= 160.9, 9.8, CAL= 160.8, 10.6, ROT= 349.2, -10.6 e Ygot valid direction response: 21:34:40.4522 LVL= 27632, 32753, 21810, 32755, AGC= 57, IDX= 509,-0.03,-0.073,-1.651, 0.482,-0.074, PHS= 0.104,-1.532, 0.512, RAW= 160.9, 9.8, CAL= 160.8, 10.6, ROT= 349.2, -10.6 e Z#Rx 90: Read direction message, but no range.m ^direction in FSK: [0.965525,-0.184184,0.183951]y1 5 mbn?d 6Tǿ =η?1 5 k1 5 2U 1 )5 9I5 =i5 Ŀ5 o?5 3@5 %/>5 3@ 5 q=>)5 @I5 q=1 5 &UT7?D ?Ukp/? 5 36?)5 2>2τٱ2% :AHRS rotation from veh to nav: [[0.928366,-0.359311,-0.095040],[0.369648,0.919244,0.135463],[0.038691,-0.160891,0.986214]]2H`,?@ֿT P?sj? V?Uϣ?Ŀ?i2B$>I2^L^;2C@YNByNy"IIR<)RbDZTVDZ4yb-%bI=ٔf+;Q-f>9f ?Yf ?=fGFyjEjEj>Q 5%a5휊?Q 9%a5)DBY!y->Q I-@ EI:i: a5y1ɮ5A1JRb?AAA_b>oPgE!@$Lk[XةR?mbn?d 6Tǿ =η?Aq=— @T*@i? @=?Dc3?(7?jJ?r=AZH?bu⣤zBo?Bڗ Aeq>Q addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.508637 s, deltaX: -0.300000 m, approachRate: -0.589812 m/s, rangeRepo size: 4 Q Added new target pos. range: 8.943895 m, bearing: 12.673197 deg, lat: 36.779414 deg, lon: -121.859495 deg, deltaT: 1.008143 s, deltaX: -0.596251 m, approachRate: -0.591435 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 8.94 m. 9.54 m.Q  ProNav: ac range: 9.540147 m, nav range: 8.800599 m, bearing: 13.481090 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 15.039030 deg, new cmd heading: 14.452531 deg. z ,Q5|HeadingCmd: 0.252244 target range: 9.540147 and range: 9.00 m.R5)&>J1b9Z9B9:929ҔAڔAAڒA’AM"@M?颵8BɢGk) }i)%项ih:i)&>=I)&>IԱ@ @@/@E EEE"E4;*E;:VEZEBEe,4@ePwV>eJ4@ es>)eQ@Iesaaes?/0?\tZX? eh8?)eIJVIe4QOiesaachecking for new query: numPingsReceived=91, elapsed TxPingTime=45.471218ԁ A I I O >cy#?,\?A2 >2>2Rٱ2SD1 :AHRS rotation from veh to nav: [[0.930506,-0.353086,-0.097414],[0.364329,0.919621,0.146840],[0.037737,-0.172126,0.984352]]2H?ֿ` (Q?m?`?=R?;ƿ?i2 >I2W0^;2CYBByBs"IYiMb@Mb@Mb@ 9$C?~jtY?yDhA@ A)YbD`VD04yǼ%8=ٔ? ;Q->9Y=GFyE!TE> Q 55a5 `?Q 9=a5 @) JBY=$?Q E=:y=>Q I=@  EI ;i u;  a5yEBɮMLAM@E}checking for new query: numPingsReceived=91, elapsed TxPingTime=45.663181JR7?A A A.6Z>C% @ET;0C@;(w?n,ɿ#?4QOs—6)| @󑛊8?i(L@1WM?ԋ"?Xm*D?jQ?rAZO ?b;SUzfBꗝO ?`OڗA◝^>Q% addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.522862 s, deltaX: -0.100000 m, approachRate: -0.191256 m/s, rangeRepo size: 4 QU Added new target pos. range: 8.844519 m, bearing: 12.209576 deg, lat: 36.779414 deg, lon: -121.859497 deg, deltaT: 1.531005 s, deltaX: -0.695628 m, approachRate: -0.454360 m/s, posRepo size: 4 QQQ]zIgnoring new targets. Set target to previous: 8.84 m. 9.54 m.YYQ ProNav: ac range: 9.540147 m, nav range: 8.540804 m, bearing: 13.273987 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 14.452532 deg, new cmd heading: 13.835864 deg. zQ|HeadingCmd: 0.241481 target range: 9.540147 and range: 8.90 m.RFw>JbZB:2ҔڔBڒ’!@@0G?57Bɢ5&r)1 =,i9)=&99i=Uaeʯ=ImFw>Iiԉ<@ @@@^A=bE-J4jE-ǔ4rE-/E  EE&E"EC;*E-:VE4ZEa@a@a@a@A ؟AII Iq O >U DDAT read: Rx Time:21:34:41.4518 e TRx dataTimestamp_ set to:1761514482.566256 PDAT read: Bearing 181.4, -12.0 (Local)  ~Local bearing/azimuth received: Bearing 181.4, -12.0 (Local)  DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.5 ] DAT read: 21:34:41.4518 LVL= 32752, 32753, 29794, 32755, AGC= 58, IDX= 505, 0.42,-0.603,-2.158,-0.030,-0.498, PHS=-0.003,-1.616, 0.423, RAW= 161.4, 12.8, CAL= 161.9, 14.6, ROT= 348.1, -14.6 e Ygot valid direction response: 21:34:41.4518 LVL= 32752, 32753, 29794, 32755, AGC= 58, IDX= 505, 0.42,-0.603,-2.158,-0.030,-0.498, PHS=-0.003,-1.616, 0.423, RAW= 161.4, 12.8, CAL= 161.9, 14.6, ROT= 348.1, -14.6 m T#Rx 92: Read range and direction messages.u ^direction in FSK: [0.946912,-0.199545,0.252069]u Fpublishing direction and range infoyY ] oM?Hɿ!?Y] fAA @AA B B B "IB FBB O =B B B PR;B EB̾CB̾CBBO =BO =Co4Y Y Y ] bt Y )Y I] Di] ο] u>] I4@] d>] 4@ ] w>)] mj@I] wY Y ] Kjf?y ^i?HWU? ] 9?)] ^dI] Ti] wY Y U checking for new query: numPingsReceived=92, elapsed TxPingTime=45.985371)?,vk?Ab>b>bٱb4:< jAHRS rotation from veh to nav: [[0.932947,-0.346051,-0.099290],[0.358127,0.920263,0.157673],[0.036810,-0.182659,0.982487]]bH?%ֿ@k@? r?.?آ?Zaǿp?ib>Ibw0^;bCY Byf"I@AbDlVDF4y}eQ%R=ٔ_;Q->9"?Y"?=GFyEE>ԹQ 5a5"?Q 9a5")OBYy>Q I@ EI:i$:E$a5yBɮAJR=?AAArT>B2*@Ҧ-[@oM?Hɿ!?Tw—@{?] L@@מ?@f ?#i?j?r@Z,?bDDz\BꗍH?u⣤ڗA◍rZ>Q addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.500393 s, deltaX: -0.500000 m, approachRate: -0.999215 m/s, rangeRepo size: 4 Q Added new target pos. range: 8.347616 m, bearing: 11.887079 deg, lat: 36.779413 deg, lon: -121.859497 deg, deltaT: 2.031398 s, deltaX: -1.192531 m, approachRate: -0.587049 m/s, posRepo size: 4 Q zIgnoring new targets. Set target to previous: 8.35 m. 9.54 m.QQQe ProNav: ac range: 9.540147 m, nav range: 8.305711 m, bearing: 13.086237 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 13.835864 deg, new cmd heading: 13.297456 deg. zaQe|HeadingCmd: 0.232084 target range: 9.540147 and range: 8.40 m.Rmm>JibiZiB:2Ҕڔڒ’ @ ? 6Bɢ 8ņ)  xi)'iXc=im>Q=Im>I!checking for new query: numPingsReceived=92, elapsed TxPingTime=46.167709?@ @@/@@>@;>^A p{=A zA hAE  E E !E "E /;*E u:VE c3ZE BE h#? ſ\.?Ye Aa a a e  a )e 9Ie 1ie -ҿe r>e aF2@e >e 3@ e Q >)e 0O@Ie Q a a e 6KQQ?D>ܼ?TT ? e 0?)e ۺIe T8ie Q a a I IO >,h1?,?Achecking for new query: numPingsReceived=93, elapsed TxPingTime=46.454262,5>5">5Eٱ5pG eAHRS rotation from veh to nav: [[0.935704,-0.338022,-0.100987],[0.350949,0.921050,0.168824],[0.035947,-0.193411,0.980459]]5H`J?(տEڹu?>y? ?g?ȿ_?i5>I5D^;5CYu Byui"I yyiEMb@Mb@Mb@AAAA A9E333333?S㥛Mb`?YE?yE/ݼE;E3AE@ EA)E1AAYEAbDuKVDu 4y<%=ԉٔ:Q->9 ?Y ?=GFyEmE>Q 5a5h.?Q 9a5)VBY?Q E:yo>Q I@ EI ;i;(a5yBɮqA7EJRt~?AAA)t>Jh@=$a5F*p@n>h#? ſ\.?T8Q —߈@|LA?KF;@z?/L`?r/l?j?r0@Z$ꦟ?bvzӉB?\Bڗ@W>Q addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503962 s, deltaX: -0.099999 m, approachRate: -0.198427 m/s, rangeRepo size: 4 Q Added new target pos. range: 8.248240 m, bearing: 13.691668 deg, lat: 36.779413 deg, lon: -121.859497 deg, deltaT: 2.535360 s, deltaX: -1.291906 m, approachRate: -0.509555 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 8.25 m. 9.54 m.Q- ProNav: ac range: 9.540147 m, nav range: 7.991479 m, bearing: 12.889923 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 13.297455 deg, new cmd heading: 12.575883 deg. z)Q5|HeadingCmd: 0.219491 target range: 9.540147 and range: 8.30 m.R5#`>J1b1Z1B1:129ҔaڔBڒ’ @?颵4Bɢy) `i)'$)i>i#`>=I#`>IԹchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.671890>@ @@@ ^A =E  E E &E "E =-;*E :VE 4ZE a- @a- @a- @a- @1 A ؟AI1IYiߑIߑDDAT read: Rx Time:21:34:42.4515 TRx dataTimestamp_ set to:1761514483.573897PDAT read: Bearing 180.8, -12.1 (Local) ~Local bearing/azimuth received: Bearing 180.8, -12.1 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 DAT read: 21:34:42.4515 LVL= 32752, 32753, 30898, 32755, AGC= 54, IDX= 502,-0.13, 3.055, 1.484,-2.671,-3.125, PHS=-0.001,-1.629, 0.411, RAW= 161.0, 13.0, CAL= 161.4, 14.9, ROT= 348.6, -14.9 Ygot valid direction response: 21:34:42.4515 LVL= 32752, 32753, 30898, 32755, AGC= 54, IDX= 502,-0.13, 3.055, 1.484,-2.671,-3.125, PHS=-0.001,-1.629, 0.411, RAW= 161.0, 13.0, CAL= 161.4, 14.9, ROT= 348.6, -14.9  T#Rx 94: Read range and direction messages. ^direction in FSK: [0.947311,-0.191011,0.257133]Fpublishing direction and range infoyRt^P? sȿFht?YAx )6Ioiпn>3@Vh>I4@ %>)@I%T1F?Ou?=.4? 8;7?)i%hIKi%-checking for new query: numPingsReceived=94, elapsed TxPingTime=46.943787O5>9?,q?Ab1>b)F>bzٱbR zAHRS rotation from veh to nav: [[0.938731,-0.328988,-0.102722],[0.342817,0.922006,0.179947],[0.035510,-0.204137,0.978298]]bH ?@"տK@???X.?`*!ʿ7N?ib1>Ib-^;bCBBB"IB9"?Y"?=GFyE"E>Q 5a5JC?Q 9a5~)]BY y >Q I @ EIV:i:,a5yBɮA8EJR?Ag@g@~T>( @,LZ@Rt^P? sȿFht?K%—Fsp@.?>6N@ֲN?']]?Jwm?jX?r@ZSs?bZz.BSs?Zڗ@rT>Q addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503679 s, deltaX: -0.300000 m, approachRate: -0.595618 m/s, rangeRepo size: 4 Q Added new target pos. range: 7.950112 m, bearing: 11.890320 deg, lat: 36.779413 deg, lon: -121.859497 deg, deltaT: 3.039039 s, deltaX: -1.590035 m, approachRate: -0.523203 m/s, posRepo size: 4 Q=zIgnoring new targets. Set target to previous: 7.95 m. 9.54 m.AAQ ProNav: ac range: 9.540147 m, nav range: 7.732423 m, bearing: 12.732568 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 12.575883 deg, new cmd heading: 11.968628 deg. zQ|HeadingCmd: 0.208892 target range: 9.540147 and range: 8.00 m.RU>JbZB:2Ҕڔڒ’ @@9|?1颅3Bɢ:) i)o*顉i[?iU>>IU>Ia@a @a@a@i checking for new query: numPingsReceived=94, elapsed TxPingTime=47.175991Y^A =ԡ DE %=DA EI  EM EM $EI "EI *EM :VEM 4ZEI BEM m@?,{?AZDDAT read: Rx Time:21:34:42.9513 bTRx dataTimestamp_ set to:1761514484.078085vPDAT read: Bearing 180.3, -12.7 (Local) z~Local bearing/azimuth received: Bearing 180.3, -12.7 (Local) -DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.5 DAT read: 21:34:42.9513 LVL= 32752, 32753, 30562, 32755, AGC= 56, IDX= 500,-0.07,-2.803, 1.912,-2.222,-2.693, PHS=-0.008,-1.633, 0.427, RAW= 161.6, 12.9, CAL= 162.0, 14.8, ROT= 348.0, -14.8 Ygot valid direction response: 21:34:42.9513 LVL= 32752, 32753, 30562, 32755, AGC= 56, IDX= 500,-0.07,-2.803, 1.912,-2.222,-2.693, PHS=-0.008,-1.633, 0.427, RAW= 161.6, 12.9, CAL= 162.0, 14.8, ROT= 348.0, -14.8 T#Rx 95: Read range and direction messages.^direction in FSK: [0.945696,-0.201014,0.255446]Fpublishing direction and range infoy\^Zah-$C?w;Ӻɿl39Y?Y^f@\\\^bw \)^8I^oi^%ѿ^>^J4@^f>^4@ ^ A>)^ \@I^ A\\^4tX?".7?p){? ^9?)^eI^TwVi^ A\\checking for new query: numPingsReceived=95, elapsed TxPingTime=47.477043Y}By}\"IiMb@Mb@Mb@ 9`"?Q?Y?yLu<A@ -A)AYA Y]<bDefVDe;4yuu%u=ٔuQ-u>9yYy=}GFy}EE>Q 5a5 ^?Q 9a5()jBYe?Q E:y>Q I@ EI;i;1a5yBɮA9EJ\R^X?A^@^@^dI>^x@Q^HwqPF?^Zah-$C?w;Ӻɿl39Y?^TwV^ A—^d@"]??@^03D?0퐨?9\>?j^?r^%@Z^>4?b^Hz^B\^;SU\ڗ^@^IN>Q addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504188 s, deltaX: -0.300000 m, approachRate: -0.595017 m/s, rangeRepo size: 4 Q Added new target pos. range: 7.651983 m, bearing: 11.268516 deg, lat: 36.779413 deg, lon: -121.859497 deg, deltaT: 3.543227 s, deltaX: -1.888164 m, approachRate: -0.532894 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 7.65 m. 9.54 m.Q  ProNav: ac range: 9.540147 m, nav range: 7.403214 m, bearing: 12.603689 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 11.968628 deg, new cmd heading: 11.215111 deg. z Q|HeadingCmd: 0.195741 target range: 9.540147 and range: 7.70 m.R:pH>JbZB:2Ҕڔ Bڒ!’!!%@E27?颍1Bɢu) ˨ >I:pH>IEchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.679340]@@Y @Y@]/@YQ ԁ ^A u=A >A ?E  E E %E "E :;*E :VE 4ZE a @a @a @a @AIIyO?ԱH?,M$?ADDAT read: Rx Time:21:34:43.4510 TRx dataTimestamp_ set to:1761514484.577267"PDAT read: Bearing 178.0, -13.5 (Local) &~Local bearing/azimuth received: Bearing 178.0, -13.5 (Local) .DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 BDAT read: 21:34:43.4510 LVL= 32752, 32753, 27282, 32755, AGC= 54, IDX= 497,-0.03, 2.506, 0.931,-3.136, 2.602, PHS= 0.005,-1.626, 0.501, RAW= 162.9, 11.6, CAL= 163.1, 13.1, ROT= 346.9, -13.1 FYgot valid direction response: 21:34:43.4510 LVL= 32752, 32753, 27282, 32755, AGC= 54, IDX= 497,-0.03, 2.506, 0.931,-3.136, 2.602, PHS= 0.005,-1.626, 0.501, RAW= 162.9, 11.6, CAL= 163.1, 13.1, ROT= 346.9, -13.1 FT#Rx 96: Read range and direction messages.J^direction in FSK: [0.948629,-0.220753,0.226651]NFpublishing direction and range infoy{+m+[?{{A̿+#?Yf@j )6I ף;i пA?5@4QO>8/6@  j>)پ@I jEo?o=T?ܯx"? S??){OI4 ji jjchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.951786=פ>ٱggd AHRS rotation from veh to nav: [[0.948032,-0.301209,-0.102512],[0.316228,0.927578,0.198993],[0.035150,-0.221069,0.974625]]H GV?Gӿ@> =??@x?(?K̿0?i=Id^;CBABBB"IB2BBBBBVR;B EYByc"IbD]VD'+4y-<%-9=ٔ- V:Q-->91Y1=5GFy5E=قE=>AQ 5Ma5Eus?Q 9Ma5E|)EtBYIyM2{>Q IU@E EIEl:iE :E\5a5y]Bɮ]AJR$?A@@S>Doo&@Eʜ?{+m+[?{{A̿+#?4 j j—_L.@O]?AX@K)?_R=?ߧFe?j?r@Z5ɫ?b*z\B5ɫ?H.Bڗ@fJ>Q- addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.499182 s, deltaX: -0.500000 m, approachRate: -1.001639 m/s, rangeRepo size: 4 Qe Added new target pos. range: 7.155098 m, bearing: 8.467179 deg, lat: 36.779412 deg, lon: -121.859498 deg, deltaT: 4.042409 s, deltaX: -2.385048 m, approachRate: -0.590007 m/s, posRepo size: 4 aaQmzIgnoring new targets. Set target to previous: 7.16 m. 9.54 m.iiQ ProNav: ac range: 9.540147 m, nav range: 7.141313 m, bearing: 12.550444 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 11.215111 deg, new cmd heading: 10.614399 deg. zQ |HeadingCmd: 0.185256 target range: 9.540147 and range: 7.20 m.R ͳ=>J b Z B :Q2QҔYڔYYڒa’ae@m L?/BɢL<) i ) L-))i-~Bi5ͳ=>15p=I5ͳ=>I9A>@ @@/@checking for new query: numPingsReceived=96, elapsed TxPingTime=48.183090^A}>q A I I O >N?,#1>?A,2=2)>2ٱ2i >AHRS rotation from veh to nav: [[0.950881,-0.292171,-0.102277],[0.307553,0.929196,0.204954],[0.035154,-0.226343,0.973413]]2Hm?ҿ.??;?@?̿@3&?i2=I2Z+^;0Y^By^e"IbDfRVDf4DlzDn?AEr ErEpEp"Er77;*Era:VEpZEpBEr 91YY=eGFyeEuǼE>}DDAT read: Rx Time:21:34:43.9509 TRx dataTimestamp_ set to:1761514485.085553ԉPDAT read: Bearing 173.8, -12.4 (Local) ~Local bearing/azimuth received: Bearing 173.8, -12.4 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.5 DAT read: 21:34:43.9509 LVL= 32752, 32753, 25634, 32755, AGC= 53, IDX= 512,-0.01,-0.730,-2.493,-0.025,-0.733, PHS= 0.105,-1.715, 0.664, RAW= 163.0, 8.8, CAL= 162.7, 9.3, ROT= 347.3, -9.3 Ygot valid direction response: 21:34:43.9509 LVL= 32752, 32753, 25634, 32755, AGC= 53, IDX= 512,-0.01,-0.730,-2.493,-0.025,-0.733, PHS= 0.105,-1.715, 0.664, RAW= 163.0, 8.8, CAL= 162.7, 9.3, ROT= 347.3, -9.3 T#Rx 97: Read range and direction messages.^direction in FSK: [0.962712,-0.216957,0.161604]Fpublishing direction and range infoyy}p?/m4=˿o?Y}3@yyy}"d y)}5Q 5a5?Q 9a5)BYyr>Q I@ EId:i[:X9a5yɮAI}= =i}ۿ})?}6@}nF>}ּ5@ }6&>)} @I}6&yy}1!?!4?&dq? }r@?)}I}bi}6&yychecking for new query: numPingsReceived=97, elapsed TxPingTime=48.512535JyR}yE?A}@}@}>}sZR+@Vh~c>?}p?/m4=˿o?}b}6&—}(@^?y?}?;m ?U?>Dc?j}f?r}D@Z}1Fş?b}#4#z}lB}Ss?y}Bڗ}@}CyG>Q addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.508286 s, deltaX: -0.100000 m, approachRate: -0.196739 m/s, rangeRepo size: 4 ԹQ Added new target pos. range: 7.055722 m, bearing: 7.554056 deg, lat: 36.779413 deg, lon: -121.859498 deg, deltaT: 4.550695 s, deltaX: -2.484425 m, approachRate: -0.545944 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 7.06 m. 9.54 m.Q% ProNav: ac range: 9.540147 m, nav range: 6.870847 m, bearing: 12.511285 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 10.614398 deg, new cmd heading: 9.904980 deg. z!Q-|HeadingCmd: 0.172875 target range: 9.540147 and range: 7.10 m.R-1>J)b)Z)B1:121Ҕ9ڔ99ڒ9’9E`ff@EU?颭-Bɢy) $i)~t.iGCi1>(=I1>I  ?@  @ @ @  checking for new query: numPingsReceived=97, elapsed TxPingTime=48.687321 ^A > G1Q_9YmAAI!I9EE EEEE$EA"EE8;*EEu:VEE4ZEAaM@aM@aM@aM@QO] ?;W?,ۊ`?A]DDAT read: Rx Time:21:34:44.4506 ]TRx dataTimestamp_ set to:1761514485.585099ePDAT read: Bearing 174.8, -13.4 (Local) m~Local bearing/azimuth received: Bearing 174.8, -13.4 (Local) }DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 DAT read: 21:34:44.4506 LVL= 31440, 32753, 26962, 32755, AGC= 52, IDX= 509, 0.02,-2.130, 2.577,-1.466,-2.073, PHS= 0.045,-1.588, 0.563, RAW= 163.3, 10.1, CAL= 163.3, 11.1, ROT= 346.7, -11.1 Ygot valid direction response: 21:34:44.4506 LVL= 31440, 32753, 26962, 32755, AGC= 52, IDX= 509, 0.02,-2.130, 2.577,-1.466,-2.073, PHS= 0.045,-1.588, 0.563, RAW= 163.3, 10.1, CAL= 163.3, 11.1, ROT= 346.7, -11.1 T#Rx 98: Read range and direction messages.^direction in FSK: [0.954973,-0.225746,0.192522]Fpublishing direction and range infoyY]KeIN$?9<̿M?Y]3@Y]zY]Ri Y)]4I]Q8=i]C˿] ?]ih6@]J4>]ih6@ ]aF>)]B@I]aFYY]~ͷ?ARW?*at? ]A?)]<4I]mi]aFYYchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.954861-=-ך>-ٱ-cn AHRS rotation from veh to nav: [[0.954017,-0.282005,-0.101610],[0.297653,0.931298,0.209970],[0.035417,-0.230560,0.972413]]-HN?^ ҿ" ?0?M?&"?@Ϳ?i-=I-^;-C YMByUm"I YYY]=BBB"IB-BBO =BBBgR;B)EiMb@Mb@Mb@ 9I +?QS㥛?Y9?yu/<z@ )AYAAEAAbDEWVDE 4yU<%U<ٔNʹQ->9Y=GFyEwE>9YQ 5ma5]?Q 9ma5])]BYm-?Q Eu:y}jY>Q I}@] EI];i];]>a5yBɮA:EJYR]Cre?A]@]@]4=]Qq @$}L驰@4?]KeIN$?9<̿M?]m]aF—]0@{? VR?]Ϫ뫐?w K?Kʤa(z?j]%@?r]x@Z]?b]z]B]>4?]*]\Bڗ]U@]H >Q5 addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.499546 s, deltaX: -0.500000 m, approachRate: -1.000909 m/s, rangeRepo size: 4 QE Added new target pos. range: 6.558841 m, bearing: 6.832043 deg, lat: 36.779413 deg, lon: -121.859501 deg, deltaT: 5.050241 s, deltaX: -2.981306 m, approachRate: -0.590329 m/s, posRepo size: 4 IIQuzIgnoring new targets. Set target to previous: 6.56 m. 9.54 m.qqQ ProNav: ac range: 9.540147 m, nav range: 6.513473 m, bearing: 12.530278 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 9.904980 deg, new cmd heading: 9.144581 deg. zQ|HeadingCmd: 0.159603 target range: 9.540147 and range: 6.60 m.Rn#>JbZB:2ҔڔBڒ’`ff@?+Bɢd) `i)q/iMQEi%n#>!M4a>IMn#>IIa >@  @ @ 4@  checking for new query: numPingsReceived=98, elapsed TxPingTime=49.192883^A a=ԑ A I I O >qJ^?,{?ABA+=Bx>BٱBaSr JAHRS rotation from veh to nav: [[0.957081,-0.271775,-0.100674],[0.287620,0.933405,0.214547],[0.035662,-0.234294,0.971511]]BH`g? dѿŹ\h?s?Ev? ;B?\Ϳ?iBA+=IB(6^;BCYb Bybj"IbD~RVD~4y8% =ٔ fQ-  ?9Y1=5GFy5E=( E=&?AQ 5Ma5E?Q 9Ma5E )EBYIyMN>Q IM@E EIE :iE;EAa5y}Bɮ}<A};EGSB*** querying acoustic contact ***:BQzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.::Q ProNav: ac range: 9.540147 m, nav range: 6.362368 m, bearing: 12.552879 deg, approach rate: -0.601894 m/s, LOS rate: 0.092165 deg/s, cmd heading: 9.144581 deg, new cmd heading: 9.213995 deg. z};Q|HeadingCmd: 0.160815 target range: 9.540147 and range: 6.60 m.R$>JbZ B : 2AҔiڔqyڒy’  ?E EEE"EU,;*E:VEZEBENQ<=I$>I=DAT read: 21:34:44.9505 LVL= 27360, 32753, 25138, 32755, AGC= 51, IDX= 508, 0.08,-0.587,-2.166, 0.063,-0.574, PHS= 0.090,-1.547, 0.593, RAW= 163.0, 9.0, CAL= 162.8, 9.5, ROT= 347.2, -9.5 EYgot valid direction response: 21:34:44.9505 LVL= 27360, 32753, 25138, 32755, AGC= 51, IDX= 508, 0.08,-0.587,-2.166, 0.063,-0.574, PHS= 0.090,-1.547, 0.593, RAW= 163.0, 9.0, CAL= 162.8, 9.5, ROT= 347.2, -9.5 MT#Rx 99: Read range and direction messages.U^direction in FSK: [0.961776,-0.218510,0.165048]uFpublishing direction and range infoyD*?o5@ )>)@I);A?X Ҩ?۷? @?)u Itdi)checking for new query: numPingsReceived=99, elapsed TxPingTime=49.510925?@ @@/@ ^A 0>1 U checking for new query: numPingsReceived=99, elapsed TxPingTime=49.695076A I I O >e?,?AYzBy~q"IiMb@Mb@Mb@ 9Zd;?Mb rh?Y?yC<ԑEAd@ )YpAbD[VDy'4yغ<%,=ٔQ->9Y=GFyEE>Q 5a5˝?Q 9a5)BY?Q E:yJ>Q I@ EIz ;i;Ea5yɮAJR?A@@=rכ@'ZS#?D*?Bꗅ?#4#Bڗ@◅>Q addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.508322 s, deltaX: -0.100000 m, approachRate: -0.196726 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 6.459465 m, bearing: 6.401786 deg, lat: 36.779413 deg, lon: -121.859502 deg, deltaT: 5.558563 s, deltaX: -3.080682 m, approachRate: -0.554223 m/s, posRepo size: 4 11Q=zIgnoring new targets. Set target to previous: 6.46 m. 9.54 m.==Q ProNav: ac range: 9.540147 m, nav range: 6.070501 m, bearing: 12.610411 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 9.213995 deg, new cmd heading: 8.543947 deg. z,Q|HeadingCmd: 0.149120 target range: 9.540147 and range: 6.50 m.R>JbZB:2Ҕڔ&Bڒ’!%@53?E EE#E"Eg5;*E>:VE3ZEa@a @a @a @'BɢS\) .i)ŷ0iGi>a>I>IEDDAT read: Rx Time:21:34:45.4502 ETRx dataTimestamp_ set to:1761514486.593509MPDAT read: Bearing 172.1, -11.4 (Local) U~Local bearing/azimuth received: Bearing 172.1, -11.4 (Local) eDAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 DAT read: 21:34:45.4502 LVL= 28096, 32753, 25138, 32755, AGC= 50, IDX= 505, 0.15,-1.232,-2.809,-0.630,-1.251, PHS= 0.121,-1.513, 0.577, RAW= 162.0, 8.6, CAL= 161.7, 9.0, ROT= 348.3, -9.0 Ygot valid direction response: 21:34:45.4502 LVL= 28096, 32753, 25138, 32755, AGC= 50, IDX= 505, 0.15,-1.232,-2.809,-0.630,-1.251, PHS= 0.121,-1.513, 0.577, RAW= 162.0, 8.6, CAL= 161.7, 9.0, ROT= 348.3, -9.0 V#Rx 100: Read range and direction messages.^direction in FSK: [0.967167,-0.200291,0.156434]Fpublishing direction and range infoyAE"H?Vy"ɿp ?YEf@AEmAA A)E2IE=iEEF?E4@E`>E4@ E| >)E@IE| AAE ?6)?U(? E;?)E>IEQiE| AAchecking for new query: numPingsReceived=100, elapsed TxPingTime=49.968262U=@Q @Q@]/@YAAAAB>BBBBN =BBB@R;BE^A-=A->A->A] .AIi Iy O > l?,?A2 EX=2浊>2Zٱ2x :AHRS rotation from veh to nav: [[0.962910,-0.251488,-0.097762],[0.267446,0.937553,0.222410],[0.035724,-0.240307,0.970039]]2H`)?aп? p?w?`J?`^ο ?i2 EX=I2^;2CYByr"IbDfVD;4ye;%eP=ٔm%Q-m>9m ?Ym ?=mGFymEuZEu>checking for new query: numPingsReceived=100, elapsed TxPingTime=50.199104Q 5a5a?Q 9a5^)BYy5>Q I@ EI[:iR:Ha5yBɮM/AMz}B}1Fş?}?*}lBڗ}@}=Q5 addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.500088 s, deltaX: -0.300000 m, approachRate: -0.599895 m/s, rangeRepo size: 4 Q= Added new target pos. range: 6.161351 m, bearing: 6.240575 deg, lat: 36.779415 deg, lon: -121.859502 deg, deltaT: 6.058651 s, deltaX: -3.378796 m, approachRate: -0.557681 m/s, posRepo size: 4 AAQEzIgnoring new targets. Set target to previous: 6.16 m. 9.54 m.iiQ} ProNav: ac range: 9.540147 m, nav range: 5.820848 m, bearing: 12.715130 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 8.543947 deg, new cmd heading: 7.982239 deg. zyQ|HeadingCmd: 0.139316 target range: 9.540147 and range: 6.20 m.R>JbZB:2Ҕڔڒ’@ r?&Bɢ\1_) i)_$1i Hi->)-7=I->I1!>@ @@/@@@jAE EE%E"Em+;*E:VE 4ZEBE܄ 2@ t;?> 3@ BR>) 0O@I BR v[?@J?.? ʐ3?) ѕ?I T8i BR e checking for new query: numPingsReceived=101, elapsed TxPingTime=50.518673y A1 IA IQ O] >r?,K?Abh,=bG>b 1ٱbF4z jAHRS rotation from veh to nav: [[0.965694,-0.241395,-0.095722],[0.257218,0.939830,0.224854],[0.035684,-0.241762,0.969679]]bH?ο@>Av???`#E?@ο?ibh,=Ib ^;`Y%"By%"IYiMb@Mb@Mb@ 9-?Mb~jt?Y5?y<A )GAYAbD _VD .4y<=%1=ٔ%ϵ8Q-%>9!Yi=uGFyuEE>Q 5a5C?Q 9a5)BY,?Q E:yF->Q I@ EI:i:La5yBɮAJR%?A;@;@ >(Hy[@;% ]?`"a?7u,gƿrG,?T8BR— J@ =%?? ;?(|?:m6?6?jJbZB:2ҔڔABڒ’  @ W?5$Bɢ54)Y ]\iY)]01aaieJie>im=Im>Iiy?@ @@@ԩbEm4jEm4rEmT/E  E E #E "E :;*E 1:VE 3ZE a @a @a @a @^A] = ] DDAT read: Rx Time:21:34:46.4499 ] TRx dataTimestamp_ set to:1761514487.601175m PDAT read: Bearing 175.4, -8.3 (Local) m ~Local bearing/azimuth received: Bearing 175.4, -8.3 (Local) } DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5  DAT read: 21:34:46.4499 LVL= 31024, 32753, 31698, 32755, AGC= 50, IDX= 501, 0.41,-1.590, 3.093,-1.169,-1.610, PHS= 0.123,-1.535, 0.397, RAW= 157.5, 11.2, CAL= 157.6, 12.4, ROT= 352.4, -12.4  Ygot valid direction response: 21:34:46.4499 LVL= 31024, 32753, 31698, 32755, AGC= 50, IDX= 501, 0.41,-1.590, 3.093,-1.169,-1.610, PHS= 0.123,-1.535, 0.397, RAW= 157.5, 11.2, CAL= 157.6, 12.4, ROT= 352.4, -12.4  V#Rx 102: Read range and direction messages. ^direction in FSK: [0.968093,-0.129171,0.214735] Fpublishing direction and range infoyY ] 8h?(h`r|?Y] 3@Y ] 0yY ] { Y )] 2I] m=i] zĿ] C>] /@] +H>] x 0@ ] k]>)] :@I] k]Y Y ] 5(?MC!8?qp? ] 1'?)] '[HI] i] k]Y Y  checking for new query: numPingsReceived=102, elapsed TxPingTime=50.976532A B >B B "IB 7BB B B B *R;B EBQBQBQBUN =BUN =CU͓4I I O>{ z?,!?At5O<5xv>5ٱ5_{ uAHRS rotation from veh to nav: [[0.970518,-0.222950,-0.091591],[0.238388,0.943984,0.228176],[0.035589,-0.243283,0.969302]]5Hz?̿@r?5?4?8?#Ͽ ?i5O9iYi=mGFymEu:Eu>yQ 5a5}<?Q 9a5})}΀BYyu>Q I@} EI};i}C;}gPa5yɮAJRy?A@@E(>˦9?Ҍ@zo|O翛?8h?(h`r|?k]—v4@?^z8f?#[?gw<4??58p?j`?r@Z4h!˟?bLqz)B>Bڗ@Ȑ=Q] addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.495148 s, deltaX: -0.400000 m, approachRate: -0.807839 m/s, rangeRepo size: 4 Qm Added new target pos. range: 5.565087 m, bearing: 9.446484 deg, lat: 36.779417 deg, lon: -121.859502 deg, deltaT: 7.066317 s, deltaX: -3.975060 m, approachRate: -0.562536 m/s, posRepo size: 4 qqQ}zIgnoring new targets. Set target to previous: 5.57 m. 9.54 m.yQ ProNav: ac range: 9.540147 m, nav range: 5.270798 m, bearing: 13.086192 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 7.374217 deg, new cmd heading: 6.783121 deg. zQ|HeadingCmd: 0.118388 target range: 9.540147 and range: 5.60 m.RMu=JbZB:2Ҕڔڒ’`ff@)?]#Bɢ]&>)Y ]`=iY)eZ1aaie[^KimMu=imŜ=ImMu=Ichecking for new query: numPingsReceived=102, elapsed TxPingTime=51.207706)@) @)@)@)A^Am #=Aq zAu fAԁ E  E E "E "E I@;*E :VE (3ZE BE "?,E?A"DAT read: 21:34:46.9497 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.43,-0.500,-2.173,-0.184,-0.399, PHS= 0.002,-1.729, 0.171, RAW= 154.6, 16.8, CAL= 155.4, 19.3, ROT= 354.6, -19.3 &Ygot valid direction response: 21:34:46.9497 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.43,-0.500,-2.173,-0.184,-0.399, PHS= 0.002,-1.729, 0.171, RAW= 154.6, 16.8, CAL= 155.4, 19.3, ROT= 354.6, -19.3 &\#Rx 103: Read direction message, but no range.*^direction in FSK: [0.939612,-0.088819,0.330514]yM?Yy޼ 3%'? )5Io;iOݿ/>,@Q >^-@ iw>) @Iiw~[k6?gwf?L9? k?).Iiiwfchecking for new query: numPingsReceived=103, elapsed TxPingTime=51.520481S<8l>ٱ&| AHRS rotation from veh to nav: [[0.972822,-0.213617,-0.089354],[0.228810,0.946057,0.229397],[0.035530,-0.243607,0.969223]]H\!?W˿߶I?`F?\?1?.Ͽ?iS9"?Y"?=GFyEE>Q 5a5)?Q 9 a5;)݀BY !?Q E :y >Q I @ EI;i;Ua5yBɮA=EGSUB*** querying acoustic contact ***:QBQaaQzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.1;<1;<Q ProNav: ac range: 9.540147 m, nav range: 4.941441 m, bearing: 13.405268 deg, approach rate: -0.633497 m/s, LOS rate: 0.654625 deg/s, cmd heading: 6.783121 deg, new cmd heading: 7.804037 deg. z<Q|HeadingCmd: 0.136206 target range: 9.540147 and range: 5.60 m.Ry >JbZB:2ҔڔNBڒ’`L?E!BɢEa)A E0QUc=IUy >IYchecking for new query: numPingsReceived=103, elapsed TxPingTime=51.711658=@ @@@) ^A= ^1=Y Eu  Eu Eu 'Eq "Eu g5;*Eu :VEu '4ZEq a @a @a @a @I I9 OM >rʈ?, $?AJ];JTb>JvٱJ0hz VAHRS rotation from veh to nav: [[0.974958,-0.204815,-0.086644],[0.219561,0.948424,0.228659],[0.035342,-0.241957,0.969643]]JH2?`_7ʿE.?}Y?D?W?qο Q?iJ];IJ^;JCY^0By^"IbDfXVDf!4ynt;%nm=ٔr:Q-r?9pYt=vGFyvEv_Ev?DDAT read: Rx Time:21:34:47.4495  TRx dataTimestamp_ set to:1761514488.609227PDAT read: Bearing 190.5, -9.8 (Local) ~Local bearing/azimuth received: Bearing 190.5, -9.8 (Local) %DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 MDAT read: 21:34:47.4495 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497,-0.45,-2.830, 1.863,-2.585,-2.621, PHS=-0.107,-1.755,-0.009, RAW= 152.9, 21.3, CAL= 155.5, 28.4, ROT= 354.5, -28.4 UYgot valid direction response: 21:34:47.4495 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497,-0.45,-2.830, 1.863,-2.585,-2.621, PHS=-0.107,-1.755,-0.009, RAW= 152.9, 21.3, CAL= 155.5, 28.4, ROT= 354.5, -28.4 UV#Rx 104: Read range and direction messages.]^direction in FSK: [0.875599,-0.084311,0.475624]]Fpublishing direction and range infoyVr?oAdyp?Y@ )4I"۽iף࿉t{*@V>-@ >)z@IPm9 ? e.?28?xQ 5}a5z;?Q 9}a5z )zBYyy >Q I@z EIzA:iz9:zWa5yƔBɮA>E o?)PI)Ľichecking for new query: numPingsReceived=104, elapsed TxPingTime=51.9830171BQAU<B]>BYB]"IB]ABB]O =BYBYB]:R;B]EJR&?A@@-M>Jg@tڿse@Vr?oAdyp?)Ľ—=@}@Fb?_@s'?K?mڦf?j?r@Z ?b'zHBԬڗH@*>Q= addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 1.008052 s, deltaX: -0.600000 m, approachRate: -0.595207 m/s, rangeRepo size: 4 Q Added new target pos. range: 4.968793 m, bearing: 14.917211 deg, lat: 36.779417 deg, lon: -121.859500 deg, deltaT: 8.074369 s, deltaX: -4.571353 m, approachRate: -0.566156 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 4.97 m. 9.54 m.Q ProNav: ac range: 9.540147 m, nav range: 4.728981 m, bearing: 13.659678 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 7.804038 deg, new cmd heading: 7.257107 deg. z,Q|HeadingCmd: 0.126660 target range: 9.540147 and range: 5.00 m.RD>JbZ B : 2Ҕڔڒ’%@%? Bɢ ) =i)q0i\Ni\>l=ID>Iq?@ @@@^A$=ԉ߭%=߭%=checking for new query: numPingsReceived=104, elapsed TxPingTime=52.215328I I O >Ա ?,>?A2"@2`Y>2dٱ2x :AHRS rotation from veh to nav: [[0.976870,-0.196600,-0.084106],[0.210930,0.950546,0.227973],[0.035127,-0.240440,0.970028]]2HB?`.*ɿ?j?5.?:?οx ?i2"@I26^;2CYR9ByR"IbDZYVDZ#4yz<.=%~I=ٔ :Q->9 Y=GFyE-4E5>E EE"E"E1;*E:VE(3ZEBEXQ I@M EIM\W=iMU=M[a5y-˔Bɮ-AM?E5DDAT read: Rx Time:21:34:47.9495 =TRx dataTimestamp_ set to:1761514489.117253ePDAT read: Bearing 192.2, -12.1 (Local) m~Local bearing/azimuth received: Bearing 192.2, -12.1 (Local) DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 AAQMzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.Mn<Mn<Q] ProNav: ac range: 9.540147 m, nav range: 4.470737 m, bearing: 14.031561 deg, approach rate: -0.548692 m/s, LOS rate: 0.835777 deg/s, cmd heading: 7.257107 deg, new cmd heading: 8.437025 deg. z]e=uDAT read: 21:34:47.9495 LVL= 32752, 32753, 27202, 32755, AGC= 50, IDX= 496,-0.12, 1.345,-0.103, 1.644, 1.612, PHS=-0.165,-1.670,-0.012, RAW= 154.8, 22.4, CAL= 157.7, 31.1, ROT= 352.3, -31.1 }Ygot valid direction response: 21:34:47.9495 LVL= 32752, 32753, 27202, 32755, AGC= 50, IDX= 496,-0.12, 1.345,-0.103, 1.644, 1.612, PHS=-0.165,-1.670,-0.012, RAW= 154.8, 22.4, CAL= 157.7, 31.1, ROT= 352.3, -31.1 }V#Rx 105: Read range and direction messages.Q|HeadingCmd: 0.147254 target range: 9.540147 and range: 5.00 m.R>JbZB:2Ҕڔڒ’@?^direction in FSK: [0.848546,-0.114728,0.516533]Fpublishing direction and range infoy15ꛬJ'?^jp?Y11115Bj 1)52I5(i5տ5D5,@5+>5'0@ 5 ?)5@I5 115'M?fej?:#UZ? 5p?)5&ǾI5 i5 11checking for new query: numPingsReceived=105, elapsed TxPingTime=52.551388%Bɢ%U)! -T=i))-//))i-RPi>"}=I>I) @)  @) @) @)  checking for new query: numPingsReceived=105, elapsed TxPingTime=52.719002 ^A] 6=Ae >Ae >I I O >\?,[?A2@2AQ>2tٱ2߿v :AHRS rotation from veh to nav: [[0.978601,-0.188944,-0.081492],[0.202810,0.952586,0.226823],[0.034772,-0.238497,0.970521]]2H@P?R/ȿ ܴ?{?@? ͡?`ο@?i2@I2^;2CYBJByB"IQiMMb@Mb@Mb@IIII I9MZd;?S㥫 rh?YM?yM/]MC9Y=GFyEE>Q 5a5i?Q 9a58)BY?Q E:yu>Q I@ EI:iQ:_a5yɮ AJRG?A|_>jp@Qc7=⿠2J@ꛬJ'?^jp?  —<7+@bo?>Lj0@/UI?b' ?ql?jd?rɀ@Zy?bHz։B4h!˟?LqjBڗG@0>Q addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.508026 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 4.968793 m, bearing: 12.527000 deg, lat: 36.779416 deg, lon: -121.859499 deg, deltaT: 8.582395 s, deltaX: -4.571353 m, approachRate: -0.532643 m/s, posRepo size: 4 !Q-zIgnoring new targets. Set target to previous: 4.97 m. 9.54 m.5=Q] ProNav: ac range: 9.540147 m, nav range: 4.182953 m, bearing: 14.501006 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 8.437025 deg, new cmd heading: 7.957534 deg. z],Q|HeadingCmd: 0.138885 target range: 9.540147 and range: 5.00 m.R7>JbZE% E%E%'E!"E%%.;*E%:VE%'4ZE!aE@aM@aM@aM@Ba:i2qҔڔTBڒ’@?ԁ}BɢN) =i)Z.顉iQi>7R< ;v=I7>IDDAT read: Rx Time:21:34:48.4492 TRx dataTimestamp_ set to:1761514489.618743PDAT read: Bearing 189.1, -16.1 (Local) ~Local bearing/azimuth received: Bearing 189.1, -16.1 (Local) DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.5 >@ @@/0@DAT read: 21:34:48.4492 LVL= 32752, 32753, 24098, 32755, AGC= 50, IDX= 493, 0.22,-1.360,-2.553,-0.909,-1.052, PHS=-0.206,-1.456, 0.099, RAW= 160.7, 21.2, CAL= 162.7, 29.3, ROT= 347.3, -29.3 -Ygot valid direction response: 21:34:48.4492 LVL= 32752, 32753, 24098, 32755, AGC= 50, IDX= 493, 0.22,-1.360,-2.553,-0.909,-1.052, PHS=-0.206,-1.456, 0.099, RAW= 160.7, 21.2, CAL= 162.7, 29.3, ROT= 347.3, -29.3 -V#Rx 106: Read range and direction messages.}^direction in FSK: [0.850734,-0.191721,0.489382]}Fpublishing direction and range infoy}59?-aSȿ6Z R?Y@"^ )IRi5^=3@q>ּ5@BBB"IBUBBP =BBB+R;B E^A:= ?) @Ic ? L r?a~? K5?)%Ibi-checking for new query: numPingsReceived=106, elapsed TxPingTime=53.017746IiIyO{>ԩ FМ?,wu?A2\@2H>2n ٱ2s :AHRS rotation from veh to nav: [[0.980222,-0.181581,-0.078694],[0.194908,0.954675,0.224959],[0.034278,-0.235848,0.971185]]2H]?@ >ǿ@C%?@?w?? F0ο?i2\@I2^;0YN_ByN"IbDZSVDZ4yfH=%fW=ٔfA:Q-f>9hYh=jGFyjEj En>rchecking for new query: numPingsReceived=106, elapsed TxPingTime=53.223186Q 5 a5}?Q 9 a5z)BY y !=Q I @ EI:i: ca5y=ДBɮ=A9JR|g?A@@(=kko@$or@}59?-aSȿ6Z R?b—˄s @?s @?o٣Ʒ?WЖ?j>rm@Zm?b zJBy?ԹHBڗv@@<>Q addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.501490 s, deltaX: -0.500000 m, approachRate: -0.997029 m/s, rangeRepo size: 4 Q Added new target pos. range: 4.471910 m, bearing: 6.383084 deg, lat: 36.779414 deg, lon: -121.859499 deg, deltaT: 9.083885 s, deltaX: -5.068237 m, approachRate: -0.557937 m/s, posRepo size: 4 !Q%zIgnoring new targets. Set target to previous: 4.47 m. 9.54 m.))Q] ProNav: ac range: 9.540147 m, nav range: 3.946628 m, bearing: 14.966795 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 7.957534 deg, new cmd heading: 7.407358 deg. zYQe|HeadingCmd: 0.129283 target range: 9.540147 and range: 4.50 m.Reb>JabaZaBa:a2aҔiڔiiڒ’@@h?BɢQ) x>i)-i jSi-b>15b=I5b>I1?@ @@5@^A|=D%=D!EE EEEE#EA"EEC;*EE:VEE3ZEABEE<DDAT read: Rx Time:21:34:48.9491 TRx dataTimestamp_ set to:1761514490.125377PDAT read: Bearing 162.0, -31.9 (Local) ~Local bearing/azimuth received: Bearing 162.0, -31.9 (Local) E DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 = DAT read: 21:34:48.9491 LVL= 24944, 28257, 18802, 32755, AGC= 49, IDX= 509,-0.36, 2.358, 1.680,-2.884, 2.691, PHS=-0.231,-0.966, 0.665, RAW= 183.3, 7.6, CAL= 183.1, 7.6, ROT= 326.9, -7.6 m Ygot valid direction response: 21:34:48.9491 LVL= 24944, 28257, 18802, 32755, AGC= 49, IDX= 509,-0.36, 2.358, 1.680,-2.884, 2.691, PHS=-0.231,-0.966, 0.665, RAW= 183.3, 7.6, CAL= 183.1, 7.6, ROT= 326.9, -7.6 m V#Rx 107: Read range and direction messages.u ^direction in FSK: [0.830360,-0.541305,0.132256]u Fpublishing direction and range infoyLPmN?J^R) ?Y̌@paanrI )1IDliKwq=*?L@>QL@ >)M@IH4? Z2U ٱ2p >AHRS rotation from veh to nav: [[0.981637,-0.174923,-0.076099],[0.187727,0.956682,0.222527],[0.033877,-0.232727,0.971952]]2Hi?cƿ1{o?@#?{? QX?Ϳ;?i2 @I2^;0YNSByN"IiMb@Mb@Mb@ 9RQ?S㥫y&1?Y"?y`e<A A)AYzAbD^VD,4yh%<=ٔr:Q->9Y=GFyEE>Q 5a5?Q 9a5)BY/#?Q E:y!=Q I@ EI;i;fa5y%ՔBɮ%A-@EJR-?A@@@@vj @ֽT[_e?LPmN?J^R) ?m—q8cy@5C I?h׼?)/kHտV?jr{@ZO*?b@Lz̆Bڗd@A>Q addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.506634 s, deltaX: -0.100000 m, approachRate: -0.197381 m/s, rangeRepo size: 4 Q Added new target pos. range: 4.372534 m, bearing: 339.715493 deg, lat: 36.779414 deg, lon: -121.859499 deg, deltaT: 9.590519 s, deltaX: -5.167613 m, approachRate: -0.538825 m/s, posRepo size: 4 QzIgnoring new targets. Set target to previous: 4.37 m. 9.54 m.Q ProNav: ac range: 9.540147 m, nav range: 3.674417 m, bearing: 15.608115 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 7.407358 deg, new cmd heading: 6.816742 deg. z QM|HeadingCmd: 0.118975 target range: 9.540147 and range: 4.40 m.RU=JQbQZQBQ:Q2QҔYڔ]IBYڒY’ae@eQ?BɢoK) p=i)~+i#Ui==I=checking for new query: numPingsReceived=107, elapsed TxPingTime=53.727104IA@ @@4@ n>oCG9mis9iYm_AqEE  EE EE &EA "EE /;*EE :VEE 4ZEA ae @am @am @am @^AA AI zAM jA DDAT read: Rx Time:21:34:49.4488  TRx dataTimestamp_ set to:1761514490.626301 PDAT read: Bearing 150.7, -7.0 (Local)  ~Local bearing/azimuth received: Bearing 150.7, -7.0 (Local)  DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4  DAT read: 21:34:49.4488 LVL= 16240, 21825, 18146, 25827, AGC= 46, IDX= 506,-0.29,-2.248, 2.228,-1.623,-2.853, PHS= 0.706,-1.158, 1.186, RAW= 161.2, -6.9, CAL= 161.5, -8.6, ROT= 348.5, 8.6  Ygot valid direction response: 21:34:49.4488 LVL= 16240, 21825, 18146, 25827, AGC= 46, IDX= 506,-0.29,-2.248, 2.228,-1.623,-2.853, PHS= 0.706,-1.158, 1.186, RAW= 161.2, -6.9, CAL= 161.5, -8.6, ROT= 348.5, 8.6  V#Rx 108: Read range and direction messages. `direction in FSK: [0.968907,-0.197126,-0.149535] Fpublishing direction and range infoy  xH?*6]p;ɿS&r#ÿY y@ p? AU F d) .I j4?i X9 Η? 4@ Ϣ e4@ `) @I `> pa?11\?ڑޅ 7?) =I Mi `> 1 = checking for new query: numPingsReceived=108, elapsed TxPingTime=53.999222A A @AB B B "IB eBB O =B B B :R;B EA I I O >G3?,~Ȫ?A2@2;>2nٱ2l :AHRS rotation from veh to nav: [[0.982741,-0.169896,-0.073179],[0.182042,0.958509,0.219367],[0.032873,-0.228902,0.972894]]2Hr?'ſ߻`%M??5?Ԡ?LͿ!?i2@I21^;2CYNbByN"IbDZTVDZ4yM"=%MF=ٔU;Q->9Y=GFyE^E>QQ 5]a5U?Q 9]a5U)UBYYy]=Q I]@UEIU:iU:Uja5yiiɮuAqJ9R=Q?A= x@= x@=0@= ؔ @^Mr迱髋=xH?*6]p;ɿS&r#ÿ=M=`>—=sݓE@Áƿ@2п=RL?`:Mj=4r=4w@Z=] }?b=䆾z=ڃB9= 9ڗ=dP@=J=Q- addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.500924 s, deltaX: -0.500000 m, approachRate: -0.998155 m/s, rangeRepo size: 4 Q= Added new target pos. range: 3.875670 m, bearing: 357.393530 deg, lat: 36.779414 deg, lon: -121.859502 deg, deltaT: 10.091443 s, deltaX: -5.664476 m, approachRate: -0.561315 m/s, posRepo size: 4 99QEzIgnoring new targets. Set target to previous: 3.88 m. 9.54 m.aaQu ProNav: ac range: 9.540147 m, nav range: 3.399931 m, bearing: 16.388637 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 6.816742 deg, new cmd heading: 6.218240 deg. zqQ}|HeadingCmd: 0.108529 target range: 9.540147 and range: 3.90 m.R}TD=JybyZyB:2Ҕڔڒ’@33@:?Bɢ-})1 5>i1)5Հ)11i= Vi=TD=k=ITD=Iԙ@ @@4@@%=@%>}checking for new query: numPingsReceived=108, elapsed TxPingTime=54.235027^Ax=A! I1 IA OM >D zD E  E E #E "E =;*E V:VE 3ZE BE 2%ٱ2h :AHRS rotation from veh to nav: [[0.983718,-0.165326,-0.070472],[0.176864,0.960173,0.216304],[0.031905,-0.225246,0.973779]]2H z?e)ſr `~?@?կ?U?̿3)?i2P@I22&^;2CYNnByN"IbDn`VDn04yvs=%vQ=ٔz`";Q-z>9xY|=GFyEeE>)Q 5ea5-?Q 9ma5-J)-&BYy=Q I@-EI-"yJbZB:2Ҕڔڒ’S?IɢM7:)I M(>iI)U$M'QQiUXi]Ϭ=Y]wh=I]>IY@@ @@%/@!) u checking for new query: numPingsReceived=109, elapsed TxPingTime=54.735062^AE V=AM >AM >IA Q IY Oe >I?,u?AYBy"IiMb@Mb@Mb@ 9V-?Mb{Gz?Y?y#<A -A)1AYQAbD5RVD54yE6=%E6=EM EMEM$EI"EM=-;*EMx:VEM4ZEIaU@aU@a]@a]@ٔ]Q-]>9aYa=eGFyeEmEm>qQ 5}a5u֞?Q 9}a5u)u0BY}?Q E}:y}ѣ=Q I}@uEIu;iu;uqa5yޔBɮABEQzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m. n= n=Q ProNav: ac range: 9.540147 m, nav range: 2.903831 m, bearing: 18.347970 deg, approach rate: -0.690612 m/s, LOS rate: 3.329738 deg/s, cmd heading: 8.717499 deg, new cmd heading: 12.583231 deg. z>Q|HeadingCmd: 0.219619 target range: 9.540147 and range: 3.90 m.R`>JbZB:2ҔڔsBڒ’?!颵Bɢjߔ;) R>i)˩$项iwZir>&I DDAT read: Rx Time:21:34:50.4486 TRx dataTimestamp_ set to:1761514491.633658DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4 \#Rx 110: Read range message, but no direction.yYff@checking for new query: numPingsReceived=110, elapsed TxPingTime=54.992611BBB"IByBBP =BBB1R;B E?@ @@/@I^A(z=I)I9OE>y k?,J?A4=4=checking for new query: numPingsReceived=110, elapsed TxPingTime=55.2393616u@6+>6qٱ6Ma@ FAHRS rotation from veh to nav: [[0.985495,-0.156780,-0.064958],[0.167105,0.963238,0.210353],[0.029591,-0.218157,0.975465]]6H,? bĿ@c???M?`˿`7?i6u@I6^;4Y^Byb#IbDjWVDj 4yr<%re=ٔrC;Q-v>9tYt=vGFyvEzEz>|Q 5a5~螊?Q 9a5~P)~7BYy=Q I @~ EI~;i~$:~ta5yɮAQ addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.499465 s, deltaX: -0.300000 m, approachRate: -0.600643 m/s, rangeRepo size: 4 QzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.y=y=Q  ProNav: ac range: 9.540147 m, nav range: 2.693605 m, bearing: 19.494865 deg, approach rate: -0.594475 m/s, LOS rate: 3.496054 deg/s, cmd heading: 12.583231 deg, new cmd heading: 16.287034 deg. z >Q|HeadingCmd: 0.284262 target range: 9.540147 and range: 3.60 m.R֊>JbZB:2Ҕڔ!ڒ!’!% @% 8?UBɢU;)Y ]"[>iY)]("YYi]B\ie\I>aepꑼIm֊>IiqԱ@@ @@/@E EEE"E3;*E:VEZEBE Ygot valid direction response: 21:34:50.9483 LVL= 21040, 16113, 19122, 25587, AGC= 46, IDX= 503, 0.24, 0.797, 2.877, 0.985, 2.405, PHS=-1.505, 0.517,-1.464, RAW= 329.0, 23.4, CAL= 328.6, 28.3, ROT= 181.4, -28.3   V#Rx 111: Read range and direction messages. `direction in FSK: [-0.880215,-0.021512,0.474088] Fpublishing direction and range infoy*{1AvW?YL@0R>J c)IףiZ?Zd@>^@ '>)0J@I'wݯ鿹]O9uܿSn? ֯()>ѾIGi'U checking for new query: numPingsReceived=111, elapsed TxPingTime=55.571976mT?,)?A2M@2'>2hٱ2] :AHRS rotation from veh to nav: [[0.986336,-0.152572,-0.062150],[0.162302,0.964635,0.207693],[0.028264,-0.214943,0.976218]]2H?|ÿ.ү S? K?@?`P?<˿,=?i2M@I2l3^;2CYNByN"IliuMb@Mb@Mb@qqqq q9uZd;O?I + rh?Yuj?yu94uC9Y=GFyEm:E>Q 5a5?Q 9a5)ABY?Q E:y2=Q I@EI:i/:xa5yBɮAJR?AK@K@.M@%udӉ2q/?*{1AvW?G'—|!Z҇ʿ6?T@zK溜R?j$Tr6Z|5?bMzVBMVBڗ@ @Q% addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505167 s, deltaX: -0.400000 m, approachRate: -0.791817 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 3.180029 m, bearing: 184.166140 deg, lat: 36.779414 deg, lon: -121.859507 deg, deltaT: 11.603967 s, deltaX: -6.360118 m, approachRate: -0.548099 m/s, posRepo size: 4 11Q=zIgnoring new targets. Set target to previous: 3.18 m. 9.54 m.=EQM ProNav: ac range: 9.540147 m, nav range: 2.439827 m, bearing: 20.967709 deg, approach rate: 0.000000 m/s, LOS rate: -0.458035 deg/s, cmd heading: 16.287033 deg, new cmd heading: 15.691810 deg. zM,Q]|HeadingCmd: 0.273874 target range: 9.540147 and range: 3.20 m.R].9>JYbYZYBY:Y2aҔaڔefBaڒi’im @m\?5checking for new query: numPingsReceived=111, elapsed TxPingTime=55.743084AɢE?;)A EvZ>iA)E(IIim"^iu.9>qu=\Iu.9>Iy =@ @@0@^AOo8=AgAzAhAI!I1OEQ>9bE jE 4rE J0E EE&E"E4;*EA:VE4ZEa@a@a@a@a  DDAT read: Rx Time:21:34:51.4481  TRx dataTimestamp_ set to:1761514492.641116 PDAT read: Bearing 310.7, -16.9 (Local)  ~Local bearing/azimuth received: Bearing 310.7, -16.9 (Local)  DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 - DAT read: 21:34:51.4481 LVL= 18896, 11217, 10866, 30067, AGC= 41, IDX= 500, 0.13,-1.817, 0.131,-1.311,-0.143, PHS=-1.573, 0.319,-1.213, RAW= 319.7, 26.6, CAL= 319.5, 31.8, ROT= 190.5, -31.8 5 Ygot valid direction response: 21:34:51.4481 LVL= 18896, 11217, 10866, 30067, AGC= 41, IDX= 500, 0.13,-1.817, 0.131,-1.311,-0.143, PHS=-1.573, 0.319,-1.213, RAW= 319.7, 26.6, CAL= 319.5, 31.8, ROT= 190.5, -31.8 = V#Rx 112: Read range and direction messages. `direction in FSK: [-0.835661,-0.154881,0.526956] Fpublishing direction and range infoy  F}J !ÿGW?Y 9@ IB <A B B B #IB BB O =B B B R;B EBBBBO =BO =C5 + r* su) )I Xɿi S> C ލ@ ,> Eq@ q?) aT@I q >Sf samDӿu✀? 3) I TU=i q  checking for new query: numPingsReceived=112, elapsed TxPingTime=56.029869~?,!,?A:+@:">:Utݼٱ:tZ FAHRS rotation from veh to nav: [[0.987022,-0.149132,-0.059559],[0.158295,0.965975,0.204538],[0.027030,-0.211311,0.977045]]:Hக?ÿ~B?C?K.??`? ˿C?i:+@I:^;:CY^Byb#IbDnVVDnE4yzݻ=%zV=ٔS;Q->9!Y!=%GFy%E-0,E->9yQ 5a5}1?Q 9a5})}IBYy=Q I@}EI}:i}(:}|a5yBɮACEJR )?Aq8@q8@W?V@]/DrܿcyԽTL?F}J !ÿGW?TU=q—Z{35siv࿆ >5?TȨdI4Iƿ! v?jsrZDH?b;zBm?䆾ڗ?c@Q addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.502291 s, deltaX: -0.300000 m, approachRate: -0.597263 m/s, rangeRepo size: 4 Q Added new target pos. range: 2.881903 m, bearing: 191.804264 deg, lat: 36.779413 deg, lon: -121.859508 deg, deltaT: 12.106258 s, deltaX: -6.658244 m, approachRate: -0.549984 m/s, posRepo size: 4 QBIntercept lockout. Range: 2.90 m.QbTransitioning guidance mode to: INTERCEPT_LOCKOUTr@RJbZB: 2 Ҕ)ڔ)1ڒ1’15@33@=@bf?颅BɢJ;) .>i)ai6`iO<KIIie>@a @a@e 0@aEchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.247303^AM0::IIOe>ԑ E  E E 'E "E a?;*E :VE '4ZE BE 2?мٱ2V :AHRS rotation from veh to nav: [[0.987677,-0.145848,-0.056769],[0.154416,0.967201,0.201688],[0.025491,-0.207969,0.977803]]2H ? "¿@?@O??N? ʿ*J?i2 @I2K^;2CY^By^#I ddbDjYVDj#4yM<%UC=ٔeo;Q-e>9qDDAT read: Rx Time:21:34:51.9481 TRx dataTimestamp_ set to:1761514493.148388DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 \#Rx 113: Read range message, but no direction.yY%checking for new query: numPingsReceived=113, elapsed TxPingTime=56.5193441Yq=EGFyEEUE]>Q 5a5)?Q 9a5c)SBYy7=Q I@EIiA)E/AAiEaiimKL?,~a?A6@6`>6S¼ٱ6S >AHRS rotation from veh to nav: [[0.988131,-0.143802,-0.054017],[0.151770,0.968226,0.198757],[0.023719,-0.204596,0.978559]]6H@Ş?h¿ *6m??p?I?50ʿ[P?i6@I6\^;6CYFByF3#IiMb@Mb@Mb@ 9+?I +?Yv?yL94< tA)1AYAE5 E5E5&E1"E5U,;*E5>:VE54ZE1a=@a=@a=@a=@bDEVVDEE4yU=%]<=ٔ] ;Q-]>9] ?Ye ?=eHFyeEe<ڻEe>ԩQ 5a5o??Q 9a5ߵ)ZBY?Q E:yĝ=Q I@EI:i:a5yBɮA DEIIRIJIbQZQBQ:Q2QҔYڔ]BYڒY’Yae@uW?ɢI<) >i)@SiciM@I<TIIDDAT read: Rx Time:21:34:52.4478 TRx dataTimestamp_ set to:1761514493.649865DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 \#Rx 114: Read range message, but no direction.yY@checking for new query: numPingsReceived=114, elapsed TxPingTime=57.008831BiBiBm(#IBmBBmP =BiBiBmQ;BmE@ @@5@^A̼A؟AIIO >1 U checking for new query: numPingsReceived=114, elapsed TxPingTime=57.2550286?,Z{?AF@F`=>F!6ٱFJ RAHRS rotation from veh to nav: [[0.988310,-0.143957,-0.050205],[0.150988,0.969836,0.191364],[0.021142,-0.196707,0.980234]]FH`;?1m¿w S?`?~?`Z?-ɿ`^?iF@IFђ^;FCYVByZ7#IbDbXVDb!4yj<%jT=ٔjK;Q-j>9n"?Yn"?=nHFynEr4Er>tQ 5za5vR?Q 9za5vi)vaBYxyz=Q Iz@v EIv`:ivy:vÆa5yBɮAEEQ5 addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.501477 s, deltaX: -0.500000 m, approachRate: -0.997055 m/s, rangeRepo size: 4 19R9J9b9Z9B9:A2AҔAڔAIڒI’IM@33@M`i)h顁i_ei_F<PII@ @@/@^AmEU EU EQEQ"EU77;*EU:VEQZEQBEU DDAT read: Rx Time:21:34:52.9478 TRx dataTimestamp_ set to:1761514494.153810DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.3 \#Rx 115: Read range message, but no direction.yYchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.514671qԙ ?,5{?A2R@2`>2ٱ2x@ :AHRS rotation from veh to nav: [[0.988144,-0.146207,-0.046851],[0.152367,0.971381,0.182218],[0.018869,-0.187196,0.982141]]2H?@¿࿀??R?FR?` ǿm?i2R@I2m^;2CYNByR9#Ii%Mb@Mb@Mb@!!!! !9%Zd;?~jt9YYY=]HFy]EeX;Ee>iQ 5ma5mh?Q 9ua5mش)miBYu?Q Eu:yu=Q Iu@m$EImiy)I* 顁ir.giB<bIII@I @Q@Q@Y@y@}iAԩ^AEe EeEe$Ea"EeC;*Eeu:VEe4ZEaam@am@am@am@AIIO> DDAT read: Rx Time:21:34:53.4478  TRx dataTimestamp_ set to:1761514494.656704 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.2  \#Rx 116: Read range message, but no direction.y Y  checking for new query: numPingsReceived=116, elapsed TxPingTime=58.014439Aa Aa Bi Bi Bm A#IBm BBi Bi Bi Bm Q;Bm E H?,T?ARw@R >RqٱR3 ZAHRS rotation from veh to nav: [[0.987588,-0.150788,-0.043975],[0.156127,0.973023,0.169856],[0.017176,-0.174613,0.984487]]RH`Q? Mÿԃ`?#? ٽ?? Yƿ`?iRw@IRs^;RCYbBybI#IbDjLVDj 4yr}=%rQ=ٔv;Q-v>9tYt=zHFyzEz<Ez>|Q 5a5~}?Q 9a5~L)~pBY y =Q I @~(EI~d:i~:~؍a5yBɮAQE addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502894 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 AARIJIbIZIBI:I2IҔQڔQQڒQ’YaeW?颉ɢK<) >i)7顑ihi @<ӦII@ @@/@%=%=-checking for new query: numPingsReceived=116, elapsed TxPingTime=58.263309^A1) Aa Iq I O >Da zDe @AEm  Em Em #Ei "Em O;*Em :VEm 3ZEi BEm 4VoٱV bAHRS rotation from veh to nav: [[0.986343,-0.159814,-0.039830],[0.164056,0.974726,0.151644],[0.014588,-0.156107,0.987632]]VH?tĿd`?0?@i?V? Oÿ`?iV8[@IVm^;VCYM̄ByUV#IbDSVD4y>=%3=ٔH;Q->9Y=HFyE<E>Q 5a5?Q 9 a5)xBY y =Q I @,EaI:i<a5yBɮmAFEGSB*** querying acoustic contact ***:BQE addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504183 s, deltaX: -0.300000 m, approachRate: -0.595022 m/s, rangeRepo size: 4 iiRiJibiZiBi:q2qҔqڔqyڒy’y}@}u?BɢGe<) =>i)Miji]<<aIIy@ @@/@=checking for new query: numPingsReceived=117, elapsed TxPingTime=58.767002ԩ ! A ~9 Y iA^A% ~A= >A9 Au .AE}  E} E} $Ey "E} :;*E} :VE} 4ZEy a @a @a @a @I I O >0?,?A2p@2 1>29 ?Y ?=HFyEͲ<E>Q 5a5ת?Q 9a5)~BY!?Q E:y>Q I@0EI/:i{:za5yɮ<A=DDAT read: Rx Time:21:34:54.4476 ETRx dataTimestamp_ set to:1761514495.665021MPDAT read: Bearing 285.6, 2.1 (Local) M~Local bearing/azimuth received: Bearing 285.6, 2.1 (Local) ]DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 21:34:54.4476 LVL= 19392, 19857, 24562, 32579, AGC= 49, IDX= 511,-0.05,-0.943,-0.038,-1.172, 0.588, PHS=-1.429,-0.581,-1.804, RAW= 347.4, 51.2, CAL= 346.3, 54.9, ROT= 163.7, -54.9 Ygot valid direction response: 21:34:54.4476 LVL= 19392, 19857, 24562, 32579, AGC= 49, IDX= 511,-0.05,-0.943,-0.038,-1.172, 0.588, PHS=-1.429,-0.581,-1.804, RAW= 347.4, 51.2, CAL= 346.3, 54.9, ROT= 163.7, -54.9 V#Rx 118: Read range and direction messages.ԑ^direction in FSK: [-0.551893,0.161385,0.818150]Fpublishing direction and range infoy9=pῑB?[H.?Y99=K=M=_ =C)=1I=y鶿i=jB>BBZ#IBτBBBBBQ;BE=y濩=W@=d?=i@ =Ku?)=6@I=Ku99=c'ۿ4iZݿXx? =)=dI=6@i=Ku99checking for new query: numPingsReceived=118, elapsed TxPingTime=59.048222J9R=?A=@=@=]7@=N/umz ?+@{Q?=pῑB?[H.?=6@=Ku—=L[ b?\?=(5b?'q?j=>r=VZ=dHA?b=Gfz=B=dHA?99ڗ=E?=_@Qm addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q} Added new target pos. range: 2.086895 m, bearing: 164.157484 deg, lat: 36.779401 deg, lon: -121.859508 deg, deltaT: 3.023905 s, deltaX: -0.795008 m, approachRate: -0.262908 m/s, posRepo size: 4 yyRyJybyZyBy:2ҔڔqB ڒ ’   ?Թyɢ} z<)y }1>i)顁ikli9<܊II->@) @1@5/@1 checking for new query: numPingsReceived=118, elapsed TxPingTime=59.271160 ^A] 蘽A؟AID%=D%%=E- E-:E-&E)"E-9;*E-$ ;VE-4ZE)BE-f6{ ٱ6ʽ >AHRS rotation from veh to nav: [[0.980746,-0.193321,-0.027645],[0.195096,0.976181,0.094914],[0.008638,-0.098480,0.995102]]6HEb?ȿN?@9^"?Y^"?=^HFy^Eb&D=Eb>dQ 5ja5fß?Q 9ja5f)fBYhyj5>Q In@f5EIf:if:fa5yrBɮr ArGE Q TStarting intercept timer at range: 2.10 m. RJbZB:2Ҕڔڒ’!!Z? ɢ <)  Z>i ) imiD7<\FMDDAT read: Rx Time:21:34:54.9475 MTRx dataTimestamp_ set to:1761514496.168849UDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ]\#Rx 119: Read range message, but no direction.yIYM@Iechecking for new query: numPingsReceived=119, elapsed TxPingTime=59.526585IaIi?@! @!@%/@)^AQAYIiIyO{>q  checking for new query: numPingsReceived=119, elapsed TxPingTime=59.775028@,??A0c@U>޻ٱc AHRS rotation from veh to nav: [[0.978261,-0.205867,-0.024979],[0.207266,0.974563,0.085256],[0.006793,-0.088580,0.996046]]H M?Yʿ`2`?/? Tӵ?`{?+?ic@I%^;CY%By-s#IiMb@Mb@Mb@ 9?~jty&1?Y ?yļ`e< A@ K@)YAbDfVD;4y4<%:=ٔk;Q->9Y=HFyEE<E>Q 5a5ڟ?Q 9a5Z)BY( ?Q E:y0>Q I@:EI/:iZ:xa5y Bɮ AHEQ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503828 s, deltaX: -0.100000 m, approachRate: -0.198480 m/s, rangeRepo size: 4 QRStopped intercept timer at range: 2.00 m.RJbZB:2E EEE"E2;*EV:VEZEa@a@a@a@Ҕ ڔ IB ڒ’@ Ie?ԉ颹ɢ5<) >i)ivoiL5<-"IImDDAT read: Rx Time:21:34:55.4477 uTRx dataTimestamp_ set to:1761514496.673999DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.5 \#Rx 120: Read range message, but no direction.yiYm3@iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B<A<BBBm#IB߄BBBBBQ;BE<@ @@@Թ ^A A hAzA fAAI IY Ii Ou > @,9?A2H :2&a>2ٱ2 :AHRS rotation from veh to nav: [[0.975913,-0.216933,-0.023118],[0.218105,0.972578,0.080763],[0.004964,-0.083860,0.996465]]2H`:?@t˿3@?[?@欴?Tt?w ?i2H :I2`K^;0YBByBv#IIF<)Fp;N2Acoustic response timeoutLbDR`VDR04yZ,R<%^\=ٔ^{;Q-^>9\Y`=bHFybEb<Eb>dQ 5ja5f퟊?Q 9na5f=)fBYlyn;>Q In@f=EIf;if;fa5yrBɮrAv>EQ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505150 s, deltaX: 0.300000 m, approachRate: 0.593883 m/s, rangeRepo size: 4 QTStarting intercept timer at range: 2.30 m.RJbZ!B!:!2!Ҕ!ڔ))ڒ)’)`ff@ 0H?Bɢvp<) >i)YڻiWpi v4<II?@ @@/@E EE"E"E*E:VE(3ZEBE!) @,lS?A2CZ<2al>2bٱ2꡽ :AHRS rotation from veh to nav: [[0.973333,-0.228389,-0.021463],[0.229370,0.970361,0.076084],[0.003450,-0.078978,0.996870]]2H%?;Ϳt[?2 ?Az? Cl?7\?i2CZ9Y=HFyEa<E>Q 5a5S?Q 9a5)BY#?Q E:y#Y>Q I@BEI;i;¤a5yBɮA?EJR[[K?A+@+@?h:п/;>!?BE(@mG1{3G7?6 "??0—6C0jY?1e\X@bfH~˿)vV?r|cFY?j͢?rZ{m֟?b"4%z|BꗉMBڗQ@◍X@Q addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503452 s, deltaX: 0.400000 m, approachRate: 0.794515 m/s, rangeRepo size: 4 Q Added new target pos. range: 2.683147 m, bearing: 114.079340 deg, lat: 36.779401 deg, lon: -121.859507 deg, deltaT: 1.512430 s, deltaX: 0.596251 m, approachRate: 0.394234 m/s, posRepo size: 4 QRStopped intercept timer at range: 2.70 m.RJbZB2Acoustic response timeout:2Ҕڔ-Bڒ’@^?)!ɢEp<)I M>iI)MͻIIiU/riQ]2<]EIYIY>@ @@0@YbE}Ȟ4jE}O4rE} 0E EE(E"E3;*EL:VEc44ZEa@a@a @a @^A% C"ԁ  DDAT read: Rx Time:21:34:56.4478  TRx dataTimestamp_ set to:1761514497.686475B >B B z#IB BB B B B Q;B EBBBBP =BP =C/4 PDAT read: Bearing 285.4, 21.8 (Local)  ~Local bearing/azimuth received: Bearing 285.4, 21.8 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.4 - DAT read: 21:34:56.4478 LVL= 20320, 32753, 32754, 32755, AGC= 44, IDX= 498,-0.13, 1.441, 1.869, 0.581, 2.523, PHS=-0.980,-0.609,-1.986, RAW= 14.9, 45.7, CAL= 13.5, 50.5, ROT= 136.5, -50.5 = Ygot valid direction response: 21:34:56.4478 LVL= 20320, 32753, 32754, 32755, AGC= 44, IDX= 498,-0.13, 1.441, 1.869, 0.581, 2.523, PHS=-0.980,-0.609,-1.986, RAW= 14.9, 45.7, CAL= 13.5, 50.5, ROT= 136.5, -50.5 = R#Rx 1: Read range and direction messages.M ^direction in FSK: [-0.461395,0.437847,0.771625]M Fpublishing direction and range infoy  ]\~ݿ?p&?Y @ `O   ) ,I Hzi m ?5 %> 0L? :Fq> ܢa?) x@I ܢa N{|GǿNL ? )  LI x@i ܢaAq I I O > @,Kn?Aiib2Acoustic response timeoutbQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.<w>Ouպٱ% AHRS rotation from veh to nav: [[0.970819,-0.239019,-0.019492],[0.239807,0.968137,0.072139],[0.001629,-0.074708,0.997204]]H?@+ο ??w? Z?@ ?i91YQ=UHFy]E]<E]>aQ 5ma5e?Q 9ma5e)eBYiyud>Q Iu@eFEIe:ieS;ePa5yBɮA@EJiRm5k?Am@m@m`-$@mVe7R[? r?m]\~ݿ?p&?mx@mܢa—mnrZ<+o'??m'`)1߸vK?ڞZ?jm?a?rmIZm<󪩟?bmZzmfBimGfmBڗm &@m F@Q- addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.509024 s, deltaX: -0.300000 m, approachRate: -0.589363 m/s, rangeRepo size: 4 Q] Added new target pos. range: 2.385025 m, bearing: 146.979116 deg, lat: 36.779401 deg, lon: -121.859499 deg, deltaT: 0.509024 s, deltaX: -0.298122 m, approachRate: -0.585673 m/s, posRepo size: 4 ]QeTStarting intercept timer at range: 2.40 m.aRaJabaZaBa:i2iҔڔڒ’@33@?Bɢ<) +>i) Fû)))i5lsi1=1<=XI9I9?@ @@/0@@=@>e%=am2Acoustic response timeout^AYA Ia I O >ԉ E  E E %E "E 8;*E :VE 4ZE BE ՏJk)ٱJ2L VAHRS rotation from veh to nav: [[0.968282,-0.249159,-0.018691],[0.249858,0.965646,0.071403],[0.000258,-0.073809,0.997272]]JH@+? mϿ@#`\??`}G?`-0?岿?iJ =IJHL^;JCYZBy^}#I ``b=b=bDfbVDf[44yn@=%rd=ٔr{;Q-r>9tYt=vHFyvEvH<Ev>xQ 5~a5zK.?Q 9a5z)zBYyn>Q I@zJEIz;iz;zga5y ɮAGS5B*** querying acoustic contact ***:1B19ARAJAbAZABA:A2AҔIڔIIڒI’QQU@ǹ?y颅Bɢy<) B>i)O顉i tir1<tIIDDAT read: Rx Time:21:34:56.9481 TRx dataTimestamp_ set to:1761514498.185284PDAT read: Bearing 290.0, 17.5 (Local) ~Local bearing/azimuth received: Bearing 290.0, 17.5 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 -DAT read: 21:34:56.9481 LVL= 11888, 22593, 22962, 32755, AGC= 49, IDX= 5,-0.23,-0.710,-0.093,-1.366, 0.454, PHS=-1.062,-0.501,-1.864, RAW= 5.8, 45.6, CAL= 4.4, 50.2, ROT= 145.6, -50.2 EYgot valid direction response: 21:34:56.9481 LVL= 11888, 22593, 22962, 32755, AGC= 49, IDX= 5,-0.23,-0.710,-0.093,-1.366, 0.454, PHS=-1.062,-0.501,-1.864, RAW= 5.8, 45.6, CAL= 4.4, 50.2, ROT= 145.6, -50.2 ER#Rx 1: Read range and direction messages.M^direction in FSK: [-0.528163,0.361641,0.768284]UFpublishing direction and range infoy3i$/%?_Ǖ?Y9@p.AXY )1IiA4Q=%K?nF= K`?)"@IK`+Uҿ:'(m%&? )½KI"@iK`2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.1@1 @1@54@1ԱPExceeded connect timeout, disconnecting.^AuoE 2Acoustic response timeoutA .AI I O > (@,ӡ?AE/=E>EfA:ٱE{圽 ]AHRS rotation from veh to nav: [[0.966132,-0.257374,-0.018645],[0.258046,0.963276,0.074238],[-0.001146,-0.076535,0.997066]]EH@?xп`ԃ?`(?;?,Rŗ?iE/=IE+6^;AYmBymr#IiMb@Mb@Mb@ 9E?{Gz~jth?Y&?yףD;A\@ K@)K@Y\@bDPVD:4y.%%7=ٔ%hN;Q-%>9% ?Y- ?=-HFy-E-v<E5>1Q 5=a55!F?Q 9Ea55)5BYE&?Q EE:yEDl>Q IE@5OEI5s:i5{:5Ma5Eu EuEu$Eq"EuO6;*Eu:VEu4ZEqa}@a}@a}@a}@yBɮ AJ R ۋ?A q8@ q8@ .@ ;Z%?J? ܄@ 3i$/%?_Ǖ? "@ K`— <{ Hc.?n @ ԯ9?G34?j F?r Z ?b cz %B <󪩟? Z fBڗ m@ )0@Qm addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.498809 s, deltaX: 0.500000 m, approachRate: 1.002388 m/s, rangeRepo size: 4 Q} Added new target pos. range: 2.881906 m, bearing: 156.458573 deg, lat: 36.779412 deg, lon: -121.859490 deg, deltaT: 0.498809 s, deltaX: 0.496880 m, approachRate: 0.996133 m/s, posRepo size: 4 }QRStopped intercept timer at range: 2.90 m.RJbZB:2Ҕڔ>Bڒ’@33@f?%Bɢ%<)) ->i))-FE))i-ui151<5p:I9I9DDAT read: Rx Time:21:34:57.4483 TRx dataTimestamp_ set to:1761514498.690258AAB B B #IB BB O =B B B Q;B E)EPDAT read: Bearing 301.6, 5.1 (Local) E~Local bearing/azimuth received: Bearing 301.6, 5.1 (Local) eDAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.5 DAT read: 21:34:57.4483 LVL= 19536, 21057, 31890, 29523, AGC= 43, IDX= 502,-0.12, 0.310, 1.415, 0.138, 1.619, PHS=-1.207,-0.159,-1.526, RAW= 342.9, 39.6, CAL= 341.6, 44.4, ROT= 168.4, -44.4 >@ @@4@Ygot valid direction response: 21:34:57.4483 LVL= 19536, 21057, 31890, 29523, AGC= 43, IDX= 502,-0.12, 0.310, 1.415, 0.138, 1.619, PHS=-1.207,-0.159,-1.526, RAW= 342.9, 39.6, CAL= 341.6, 44.4, ROT= 168.4, -44.4 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.699880,0.143665,0.699663]Fpublishing direction and range infoyFH2je濴Jc?/;^c?YL@PLAR| Ss)+I~i"Sÿ@;0?ɾ@ aF?)<@IaFDH| \^? *()0I<@iaF^AAiAzAiA2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.IAIIO>q 47.@,ퟻ?A"2Acoustic response timeout6CM=6U>6;ٱ6` >AHRS rotation from veh to nav: [[0.964238,-0.264355,-0.019015],[0.265027,0.961061,0.078242],[-0.002409,-0.080484,0.996753]]6H ?/пx2???`cf?i6CM=I6,[^;6CY^߄Bybm#IbDjQVDj4y%_=ٔ ]a;Q- >9 Y =HFyE<E>!Q 5-a5%Y?Q 9-a5%z)!Y)y-s>Q I-@%REI%:i%$:%a5y=Bɮ=FA=AEJ)R-0-?A-K@-K@-jH@-ayؤ0=?6KԶ@-FH2je濴Jc?/;^c?-<@-aF—- y؜ۗ?*}@-|<2~?n?j-߾<r-Z-A&'?b-wݦz->B))-%Bڗ- @->4@Q addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504974 s, deltaX: 0.300000 m, approachRate: 0.594090 m/s, rangeRepo size: 4 Q Added new target pos. range: 3.180041 m, bearing: 179.421883 deg, lat: 36.779412 deg, lon: -121.859490 deg, deltaT: 0.504974 s, deltaX: 0.298135 m, approachRate: 0.590397 m/s, posRepo size: 4 RJbZB:2Ҕڔڒ’ @?ɢ<) >i)Z䥻  i vi0<<;II!Y)@) @)@-/@)@1@1ԁE EE&E"E1;*E:VE4ZEBEX *DAT read: user:335> BDAT read: Tx time:21:34:58.3432 $Ping request sent. 5@,yy?Are=r&h>rj;ٱrF zAHRS rotation from veh to nav: [[0.962627,-0.270063,-0.020370],[0.270806,0.958821,0.085593],[-0.003584,-0.087910,0.996122]]rH?Hѿ`۔T?? g?:]mF ;?ire=Ir>^;rCYEބByAIM<)M49"?Y"?=HFy ElY<E>ԱQ 5a5q?Q 9a5)BY!?Q E:yz>Q I@WEI:i:a5y Bɮ jA BE)1R1J1b1Z1B1:121Ҕ9ڔ=:B9ڒ9’AAE?U=U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250658}Bɢ}>Ǥ<) >i)z顁iwi0<}@E EE"E"E*E:VE(3ZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026439 B9 B9 B= m#IB= ߄BB= P =B9 B9 B= R;B= EH;@,T?A2Àz=2e>2,;ٱ2UĽ :AHRS rotation from veh to nav: [[0.961245,-0.274805,-0.022118],[0.275658,0.956724,0.093236],[-0.004461,-0.095719,0.995398]]2H?iѿ `a?z?I޷?ErM?i2Àz=I24+^;2CYn҄Byn]#IbDzWVDz 4y%d=ٔ% ;Q-%>9% ?Y% ?=%HFy% E-rf<E->1Q 5=a55?Q 9=a550)5BY9yE>Q IE@5[EI5;i5;5a5yIɮMAIRJbZB:2Ҕڔڒ’[? Bɢ <) 5O>i1)=IY99i=7sxiAEj 1A=>q A I I O >E  E E %E "E 9;*E ;:VE 4ZE BE 9qYq=uHFyu EuEu>yQ 5a5}ؘ?Q 9a5}})yYyQ I@}_EI}:i} :}4a5yBɮ+ACEGSB*** querying acoustic contact ***:Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.014317iiRqJqbqZqBq:q2yҔyڔyyڒ’R?颭BɢB <) >i)bو项iByi21<x checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266684 1 M jAa A9 jAY AZH@, #?ATY~By~G#I iMb@Mb@Mb@ 9p= ף?V-y&1|Y%?y`A/@ K@)1AY@bDgVD=4yƆ%F=ٔQ->9Y=HFyEE>Q 5a5?Q 9a5ݠ)BYK%?Q E:yo>Q I@cEI;ip;a5yɮA  R J b Z B:2Ҕڔ!Bڒ’!%`?E] E]E]#EY"E]O6;*E]:VE]3ZEYae@ae@ae@ae@Bɢ<) >i)liyi,X1<II!?@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519289BBBZ#IBτBBO =BBB3R;B E^APz<1 A= ؟AIA IY Oe >N@,<?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7703516U=6ғ>6;ٱ61 FAHRS rotation from veh to nav: [[0.958586,-0.283450,-0.027742],[0.284715,0.951275,0.118378],[-0.007164,-0.121374,0.992581]]6H?@ $ҿah8?p?N?X}Y@9?i6U=I6a^;6CYNByN9#IbDVXVDV!4y^ch%b[=ٔb\;Q-b>9f"?Yf"?=fHFyfEfi<Ef>hQ 5na5jn ?Q 9ra5jW)jBYpyrx>Q Ir@jgEIj;ij;ja5yvBɮzAzDEaRJbZB:2Ҕڔڒ’Q@} Bɢ}߶<) 9>i)I3r顁iiwziY1<ƀlU@,2I;ٱ2` :AHRS rotation from veh to nav: [[0.958239,-0.284460,-0.029346],[0.285864,0.950031,0.125395],[-0.007791,-0.128547,0.991673]]2H?@4ҿ` K?f? ?:tȻ?i2 =I2;D^;2CYBByB;#Ii Mb@Mb@Mb@     9 '1Z?&1~jthY "?y P D CA  ) A Y AbD%^VD%,4y5;%5C=ٔ=:Q-=>99YA=EHFyEEE;;EE>IQ 5Ua5Mxؠ?Q 9Ua5M)IYW#?Q E:yV>Q I@MkEIM&i)vb项iOzi'2<ci>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274505I@I @Q@U4@Q@]hA@Y^AEEu Eu;Eu$Eq"Euy>;*Eu ;VEu4ZEqa@a@a@a@ԉ- DDAT read: Rx Time:21:35:00.4781 - TRx dataTimestamp_ set to:1761514501.721316= DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.6 E X#Rx 1: Read range message, but no direction.y) Y- ̌@) M checking for new query: numPingsReceived=1, elapsed TxPingTime=2.531535B >B B ;#IB BB P =B B B R;B E [@,0p?Af"=f>f <ٱf ~AHRS rotation from veh to nav: [[0.957857,-0.285684,-0.029900],[0.287118,0.949142,0.129197],[-0.008530,-0.132337,0.991168]]fH@Ħ?`Hҿ 0 %`?`_??xi ?if"=IfB3^;fCY By '#II>)<bDEdVDE 84yM%UH=ٔU:Q-U>9YYY=]HFy]EeR;Ee>iQ 5ua5m?Q 9ua5mp)iYqy\X>Q I@moEIm~;im6;mMa5yɮAQ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 3.031058 s, deltaX: 1.200000 m, approachRate: 0.395901 m/s, rangeRepo size: 4 RJbZB:2Ҕڔ!!ڒ!’!%@-@ѻ?ԑ颵"Bɢ;q<) R>i)U项inC{i2<ZE  E E %E "E 8;*E :VE 4ZE BE Տ2I<ٱ23 :AHRS rotation from veh to nav: [[0.957582,-0.286511,-0.030782],[0.288013,0.948220,0.133892],[-0.009173,-0.137078,0.990518]]2H?@0Vҿqn?W?\#?,ɂŋ`R?i2=I2I^;2CYBByB%#IbDNNVDN4yV%VV=ٔVi:Q-V>9Z ?YZ ?=ZHFyZEZ ;E^>`Q 5fa5b?Q 9fa5b)bBYdyfZY>Q If@bsEIbE:ib:ba5ynBɮnAnEERJbZB: 2 Ҕ ڔ ڒ’?颅#Bɢ?z<) >i)H顉iُ{i 3<eE@ %>)"W@I%پYOٰ쿶ܪҿj63F? 4)I:i%پchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.064032@ @@/@^AU<vh@,Ja?A-(=->-<ٱ-U =AHRS rotation from veh to nav: [[0.957365,-0.287180,-0.031318],[0.288720,0.947551,0.137068],[-0.009688,-0.140266,0.990066]]-H?@(aҿcz?VR?r?@i׃>?i-(=I-$^;-CYMByM#IiMb@Mb@Mb@ 9!rh?/$MbPYl'?y A@ 5@)YzAbE 4jE4rE$Z/E5 E5E1E1"E577;*E5:VE1ZE1aE@aE@aE@aE@bD^VD,4yW%.=ٔ:Q->9"?Y"?=HFyEu:E>Q 5a5?Q 9a5)BY(?Q E:y4*>Q I@xEI:i~ ;a5yBɮAFEJR?Au@u@e@!W& -?5;gvsrɿL@V?:%پ—$o*s 4j@; ؿCQ]i?jnrSqZnݟ?btzB ?ڗ1@[F@Q addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.505962 s, deltaX: 0.300000 m, approachRate: 0.592929 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 4.670646 m, bearing: 205.714305 deg, lat: 36.779413 deg, lon: -121.859490 deg, deltaT: 3.537020 s, deltaX: 1.490606 m, approachRate: 0.421430 m/s, posRepo size: 4 15Q5XTarget missed at range: 4.70 m. Rolling out.j=Q=NTransitioning guidance mode to: ROLLOUTr=@R9J9b9Z9B=j9:A2AIҔIڔM BQڒQ’QU@U@?颁<) Xh>i):;ii/BCB"#IBBBQ =BBSDBQ;BEBBBBBCJ5UDAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 ]DAT read: 21:35:01.4780 LVL= 19280, 21569, 31922, 32755, AGC= 57, IDX= 501, 0.35,-0.188, 1.812, 0.143, 1.108, PHS=-1.193, 0.749,-1.009, RAW= 325.1, 15.5, CAL= 324.6, 19.9, ROT= 185.4, -19.9 eYgot valid direction response: 21:35:01.4780 LVL= 19280, 21569, 31922, 32755, AGC= 57, IDX= 501, 0.35,-0.188, 1.812, 0.143, 1.108, PHS=-1.193, 0.749,-1.009, RAW= 325.1, 15.5, CAL= 324.6, 19.9, ROT= 185.4, -19.9 eR#Rx 3: Read range and direction messages.m`direction in FSK: [-0.936115,-0.088489,0.340380]uFpublishing direction and range infoqyIRn4"T?Yf@PKAT| )9I9iw??&@c>uJ@ ӱ>)O@Iӱ@ @@/@@@ >X.뿃_ٸ$ڿ?  -)K1ICiӱchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.602574ԡ ^A u< checking for new query: numPingsReceived=3, elapsed TxPingTime=3.786322 A I! I9 OM >p@,O?AYUBy] #I yybDRVD4y'%F=ٔQ->9Y = HFyEE%>AQ 5]a5E2?Q 9ea5E)EBYqyqQ I}@E}EIE ;iE;Eka5yBɮmAEGEUcU]Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1]UEntering Midcourse tracking update period 60.000000 s sec at 4.700000 m (mode 5.000000 count ).1qTAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRTResuming normal ranging with 1.000000 count pings 4.700000 m (mode 5.000000 count ).1J)R-r?A-@-@-^@-]A?׿%'?-IRn4"T?-C-ӱ—-6Tyn uZ$n?-ɾ4쿴У,ӿT?j-Br-skZ-v?b-Iz-B)-wݦ-Bڗ-ݓ@-#P@Q addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503218 s, deltaX: -0.500000 m, approachRate: -0.993605 m/s, rangeRepo size: 4 EE EEEE!EA"EEO6;*EE:VEEc3ZEABEECi59)5535>@ 0>)\wA@I0krPEA[[^?  )7fI\wA@i0checking for new query: numPingsReceived=4, elapsed TxPingTime=4.060514@ @@/@9 ^A <A zA A A I checking for new query: numPingsReceived=4, elapsed TxPingTime=4.290521A]IiyIO?w@,:$?A2>"=2>2+.<ٱ2 :AHRS rotation from veh to nav: [[0.956793,-0.288995,-0.032071],[0.290575,0.946287,0.141797],[-0.010630,-0.144990,0.989376]]2H ?~ҿk`Ƙ?G?h&?`WŅ¿?i2>"=I2xa;2CYBByB"#IiMb@Mb@Mb@ 9x&1?QI +?Y!?y94<; A@ )^AYAbDqVDO4y׆=%=ٔ:Q->9Y=HFy)l;E>Q 5a5O?Q 9a5)BYt$?Q E:y=Q I@EI 7;is6;a5y ɮ A z%N@q%%R%?1%q-JRK?Aa@a@Q@k$S/[?`?T {]*? ^ m?\wA@0—1Ḯ'dXh῱2%?4mz4Ui?jr=yZc?bzƆBnݟ?ڗ@Q@Q] addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503897 s, deltaX: -0.100000 m, approachRate: -0.198453 m/s, rangeRepo size: 4 Qm Added new target pos. range: 4.074361 m, bearing: 187.816354 deg, lat: 36.779418 deg, lon: -121.859498 deg, deltaT: 0.503897 s, deltaX: -0.099375 m, approachRate: -0.197212 m/s, posRepo size: 4 QuBNOT Ignoring new targets: 4.07 m.RqJqbqZqBqjy:y2yҔڔ&Bڒ’`ff@? t$?t$?T @"4=+.<) u>iq9) 4:VE4ZEa @a @a @a @@ @@/@1DDAT read: Rx Time:21:35:02.4784 TRx dataTimestamp_ set to:1761514503.739596PDAT read: Bearing 339.6, 11.9 (Local) ~Local bearing/azimuth received: Bearing 339.6, 11.9 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5  DAT read: 21:35:02.4784 LVL= 21232, 27697, 30354, 31603, AGC= 60, IDX= 506, 0.04,-1.196, 0.265,-1.475,-0.571, PHS=-0.524, 0.880,-0.949, RAW= 342.8, 7.2, CAL= 342.7, 6.8, ROT= 167.3, -6.8 Ygot valid direction response: 21:35:02.4784 LVL= 21232, 27697, 30354, 31603, AGC= 60, IDX= 506, 0.04,-1.196, 0.265,-1.475,-0.571, PHS=-0.524, 0.880,-0.949, RAW= 342.8, 7.2, CAL= 342.7, 6.8, ROT= 167.3, -6.8 R#Rx 5: Read range and direction messages.^direction in FSK: [-0.968672,0.218300,0.118404]Fpublishing direction and range infoy臨\1=?EO?Y@R1lv s{)<I$iGa?rt@>Yf@ =);:@I|LHMCϔ忢cD&? F9)I;:@i=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.560307B=>B9B=#IB=BB=R =B9B9B=0Q;B=EY ^A <I I O >@~@,?A :w=:jf>:Q(<ٱ:8 BAHRS rotation from veh to nav: [[0.956547,-0.289687,-0.033158],[0.291397,0.945745,0.143715],[-0.010273,-0.147133,0.989063]]:H`?@:ҿ@?C?Ce?` >¿`h?i:w=I:`;:CY\y^!#IbDjrVDjQ4yr{%rr=ٔrQ-r?9tYt=vHFytv&;Ez?xQ 5a5za?Q 9a5z)zBYy =Q I@zEIz ;iz ;z a5y BɮA!--Z)q--J R U?A @ @ L@ l{ x?s? 臨\1=?EO? ;:@ — / HѿiJ? N8'rOۻN?j r Z Cҟ?b Dz B   Bڗ @ uQ@Qe addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505203 s, deltaX: 0.700000 m, approachRate: 1.385582 m/s, rangeRepo size: 4 Qu Added new target pos. range: 4.769964 m, bearing: 183.386030 deg, lat: 36.779418 deg, lon: -121.859498 deg, deltaT: 0.505203 s, deltaX: 0.695603 m, approachRate: 1.376878 m/s, posRepo size: 4 Q}BNOT Ignoring new targets: 4.77 m.RyJybyZyByj:2Ҕڔڒ’@33@@? " =Q(<) pt>i(9)C4 g@ J4>) 8@I J4 @&2Ԃ<@f#濵.? T) >{'I 8@i J4 U checking for new query: numPingsReceived=6, elapsed TxPingTime=5.063005^A <I I O% > @,?A\5=5pٗ>5u<ٱ5T mAHRS rotation from veh to nav: [[0.956298,-0.290637,-0.032014],[0.292239,0.946465,0.137112],[-0.009549,-0.140475,0.990038]]5H?ʙҿ+d ?qI??`d?i5=I5Wx`;5CY}By}.#II<)p;AiMb@Mb@Mb@ 9+?{Gz?Y?yף< A@ 5A)AYpA <bDeVD94y&=%$=ٔ9Y=HFy :E >Q 5a5|?Q 9a5)BY="?Q EE:yE~=Q IE@EI;i;ya5yMBɮMAMHEgUtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcoursecUAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcoursebTCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRTAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJRo?A-@-@ oJ@&^R:?XYp?U(dN?:ujr?8@J4—EfP e>)?㊛Σ4?jܽrZZYu֟?bӘz+BƆBڗ@P@-checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299421QM addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.501555 s, deltaX: 0.300000 m, approachRate: 0.598139 m/s, rangeRepo size: 4 Q Added new target pos. range: 5.068086 m, bearing: 181.228150 deg, lat: 36.779418 deg, lon: -121.859497 deg, deltaT: 0.501555 s, deltaX: 0.298122 m, approachRate: 0.594396 m/s, posRepo size: 4 QBNOT Ignoring new targets: 5.07 m.RJbZBj:2Ҕڔ@Bڒ’`ff@\? U"?U"?UD@"U~=eu<)a m W>im9)im4m @ -\->) ;@I -\- HˊwB|K/? nQ) Ud!I ;@i -\-i  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.573894^A)<I IO>M@,3?A6S=6DB>6IS<ٱ6l ~AHRS rotation from veh to nav: [[0.956063,-0.291529,-0.030904],[0.293003,0.946744,0.133508],[-0.009663,-0.136697,0.990566]]6H?iҿI?K?@?Uʃ@H?i6S=I6_;4Y-By-2#IbD=nVD=pJ4yM<%UK=ٔU9Q-U>9YYY=]HFyY];E]>Q 5a5?Q 9a5F)BYy=Q I@EIN:i[:a5y%Bɮ%A%IEJR(/?A@@EM@Yr؎N?zI?}u?=u!?RV?;@-\-—a(,Jd׿ш}?l7 ±h l?jrdZԟ?bo_zGBꗭYu֟?o_GBڗ@◭2M@Q addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504281 s, deltaX: 0.300000 m, approachRate: 0.594907 m/s, rangeRepo size: 4 Q Added new target pos. range: 5.366202 m, bearing: 184.023065 deg, lat: 36.779417 deg, lon: -121.859495 deg, deltaT: 0.504281 s, deltaX: 0.298116 m, approachRate: 0.591170 m/s, posRepo size: 4 QBNOT Ignoring new targets: 5.37 m.RJbZBj:2Ҕ!ڔ!ڒ!’!%@-@? aaa"e=IS<) ^>i9)顥.4 I@ V>) k;@I V oKT翭 Fl忏ݧ:? ) 7PI k;@i V checking for new query: numPingsReceived=8, elapsed TxPingTime=6.072769'@ @@4@ԙ^A=<IIIYOe?v=@,=,Z?AJF=J>J (<ٱJ RAHRS rotation from veh to nav: [[0.955634,-0.293305,-0.027121],[0.294378,0.947792,0.122608],[-0.010256,-0.125152,0.992085]]JH ?`ҿ@ś`?`OT?5c?" @(?iJF=IJ^;JCYZByZ9#IiMb@Mb@Mb@ 9zG?rh|Q?Y ?y< A@ =@)bAYAbDUVDn4y<%=ٔ{:Q->9Y=HFyk;E>=ԀGUjAԉchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.308147s9jAYAAQ 5Ea5E?Q 9Ma5EK)EBYMz?Q EM:yM=Q IM@EEIE=iE:Ena5y]Bɮ]A]JEJRO?A@@,M@]E(Jc?.@x?# j?'ЌCz?k;@V—~Qg79؞׿rE?rR/PqNB,+?j7rZtȟ?bz/Bꗥԟ?D/Bڗ@◥WM@Q addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503622 s, deltaX: 0.500000 m, approachRate: 0.992808 m/s, rangeRepo size: 4 Q  Added new target pos. range: 5.863072 m, bearing: 183.681697 deg, lat: 36.779417 deg, lon: -121.859494 deg, deltaT: 0.503622 s, deltaX: 0.496871 m, approachRate: 0.986594 m/s, posRepo size: 4 Q BNOT Ignoring new targets: 5.86 m.RJbZBj!:)21Ҕڔ9Bڒ’@@0? z?z?%|@Թ"4=E (<)A Eu>iE9)AE4AiIiIQUu:VE4ZEa@a@a@a@B >B B "#IB BB R =B B TDB Q;B }E DDAT read: Rx Time:21:35:04.4791  TRx dataTimestamp_ set to:1761514505.753721 PDAT read: Bearing 337.6, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 337.6, 9.9 (Local)  DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.5  DAT read: 21:35:04.4791 LVL= 20912, 28273, 29810, 32755, AGC= 59, IDX= 498,-0.35,-0.836, 0.600,-1.035,-0.150, PHS=-0.584, 0.795,-0.930, RAW= 340.9, 9.1, CAL= 340.9, 9.9, ROT= 169.1, -9.9  Ygot valid direction response: 21:35:04.4791 LVL= 20912, 28273, 29810, 32755, AGC= 59, IDX= 498,-0.35,-0.836, 0.600,-1.035,-0.150, PHS=-0.584, 0.795,-0.930, RAW= 340.9, 9.1, CAL= 340.9, 9.9, ROT= 169.1, -9.9  R#Rx 9: Read range and direction messages. ^direction in FSK: [-0.967337,0.186280,0.171929] Fpublishing direction and range infoy  qlJhO?!?Y @ Q qn rt ) ;I i K? {n d@ "> d@ ;0>) <@I ;0 r:˖R? fX) H#I <@i ;0  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575702 J9 u+@  @ @ 0@ 9^A8<II O?ɞ@,~?Achecking for new query: numPingsReceived=9, elapsed TxPingTime=6.810715Y%˄By%U#IQbDMWVDM 4ymA=%u=ٔuQ-u>9yYy=}HFyy}E}>Q 5a5̡?Q 9a5o)ÁBYyQ I@EIa;i ;a5yɮAJRi\9)^4ii!!% =):>@IVnn_Bǘx{mvXj? Y):ӽI:>@i  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.137734@,Yݗ?AԩY-؄By5f#IiMb@Mb@Mb@ 9gfffff?(\µMb?Y3?y= A@ 5@)tAYAbDlVDF4ys=%5=ٔQ->9Y=HFyE>Q 5a5t⡊?Q 9a5V)ˁBY?Q E:y#>Q I@EIH:i; a5y Bɮ pAJRt?AW@W@P@˓C ?2s=?d(n }?U]k?:>@—ܬ 翁L 4?]i툨!Is?j?r_ZE]؟?bWzBYu֟?o_ڗ@bN@Q} addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503403 s, deltaX: 0.300000 m, approachRate: 0.595944 m/s, rangeRepo size: 4 Q Added new target pos. range: 6.260627 m, bearing: 186.896225 deg, lat: 36.779417 deg, lon: -121.859495 deg, deltaT: 0.503403 s, deltaX: 0.298125 m, approachRate: 0.592220 m/s, posRepo size: 4 5checking for new query: numPingsReceived=10, elapsed TxPingTime=7.315648Q]BNOT Ignoring new targets: 6.26 m.RaJabaZaBaja:a2iҔiڔmrBڒi’qu@33@u g? ??]@"#>) L>i9)\5iiII0@ @@4@ E%  E% `E% 'E! "E% 2;*E% '!;VE% '4ZE! a5 @a5 @a5 @a5 @^A I! 1 B= >B= CB= ;#IB= BB= O =B9 B9 B= %Q;B= EII O] > DDAT read: Rx Time:21:35:05.4795  TRx dataTimestamp_ set to:1761514506.761100 PDAT read: Bearing 343.0, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 343.0, 10.1 (Local)  DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 % DAT read: 21:35:05.4795 LVL= 26832, 31057, 32754, 32755, AGC= 60, IDX= 502,-0.20,-1.185, 0.425,-1.411,-0.516, PHS=-0.567, 0.986,-0.940, RAW= 340.5, 5.9, CAL= 340.2, 4.9, ROT= 169.8, -4.9 - Ygot valid direction response: 21:35:05.4795 LVL= 26832, 31057, 32754, 32755, AGC= 60, IDX= 502,-0.20,-1.185, 0.425,-1.411,-0.516, PHS=-0.567, 0.986,-0.940, RAW= 340.5, 5.9, CAL= 340.2, 4.9, ROT= 169.8, -4.9 - T#Rx 11: Read range and direction messages.5 ^direction in FSK: [-0.980599,0.176437,0.085417]5 Fpublishing direction and range infoy  /X|a5]?b$ݵ?Y @ h Qy  ) <I &i j|? ףp +@ @ %=) =@I % 51yح俢'|? ) fuԽ=ի@,?AI=@i%checking for new query: numPingsReceived=11, elapsed TxPingTime=7.586161%7=%%>%<ٱ%i 5AHRS rotation from veh to nav: [[0.954976,-0.295762,-0.023340],[0.296527,0.948977,0.107304],[-0.009587,-0.109394,0.993952]]%H*?ҿ旿 L?@^?Ax? A7u?i%7=I%y^;!Y݄Byk#I 4<<bDhVDf?4y<%G=ٔպQ->9!Y!=%HFy!-p;E->1Q 5=a55Q?Q 9=a55T)5ӁBYAyE%>Q IE@5EI59:i51:5a5yuBɮu\AuKEJRݵ?A@@gP@4"Vlj(-<)) -U>i5Z9)1551i1i99=.=I9AII2@ @@/@Echecking for new query: numPingsReceived=11, elapsed TxPingTime=7.819418y^A V<I I O >ԙ E=  E= E= "E9 "E= %;*E= :VE= (3ZE9 BE= )2Y<ٱ2нս :AHRS rotation from veh to nav: [[0.954795,-0.296433,-0.022221],[0.297122,0.949355,0.102189],[-0.009197,-0.104172,0.994517]]2H?ҿ@ ?a? )?Ղ ?i2i'=I2k^;0YByz#IbD-qVD-O4y=}=%=n=ٔ=Q-E?9AYA=EHFyAM:EM?QQ 5]a5U?Q 9]a5U})UفBYYy]Z%>Q Ie@UEIU ;iU* ;Ua5yiɮmAiQBNOT Ignoring new targets: 6.46 m.RJbZBj:2Ҕڔڒ’`Y<) nn>i9)5iik=IIqDDAT read: Rx Time:21:35:05.9798 TRx dataTimestamp_ set to:1761514507.266489PDAT read: Bearing 346.0, 10.3 (Local) ~Local bearing/azimuth received: Bearing 346.0, 10.3 (Local) DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.5  DAT read: 21:35:05.9798 LVL= 24928, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.16,-1.119, 0.579,-1.366,-0.473, PHS=-0.544, 1.097,-0.937, RAW= 340.5, 4.1, CAL= 340.1, 2.0, ROT= 169.9, -2.0 Ygot valid direction response: 21:35:05.9798 LVL= 24928, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.16,-1.119, 0.579,-1.366,-0.473, PHS=-0.544, 1.097,-0.937, RAW= 340.5, 4.1, CAL= 340.1, 2.0, ROT= 169.9, -2.0 T#Rx 12: Read range and direction messages.%^direction in FSK: [-0.983903,0.175260,0.034899]-Fpublishing direction and range infoyco#|WѪn?Xޡ?Y@`a )=IC ij?;oC=@ 5=)=@I5SvE4#N %R? )I=@i5`4@ @@/@checking for new query: numPingsReceived=12, elapsed TxPingTime=8.107151^Am@o=IqIO>ԩM checking for new query: numPingsReceived=12, elapsed TxPingTime=8.322331 .@,?AZU=Z>Zf<ٱZHwӽ bAHRS rotation from veh to nav: [[0.954513,-0.297353,-0.022044],[0.298029,0.949188,0.101096],[-0.009137,-0.103067,0.994632]]ZH _?`ӿ̒? _?j?[@b?iZU=IZR^;ZCY~By~#IiMb@Mb@Mb@ 9ˡE?&1Mb?Y?yP Ar@ 1A)AYAbD[VDy'4y,=%>=ٔQ->9Y=HFy;E>Q 5a5?Q 9a56)BY?Q E:yZ>Q I @EI:i:ba5yBɮ#ABEJR(?Al@l@P@ |_~G[:?WbD?co#|WѪn?Xޡ?=@5—'P905HMC&{Z?m-ᅢxzɓm@?jXrZX\ܟ?bECuzMBꗽ\ ۟?ՅBڗ@◽P@Qe addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505389 s, deltaX: 0.400000 m, approachRate: 0.791470 m/s, rangeRepo size: 4 Qu Added new target pos. range: 6.856943 m, bearing: 187.087753 deg, lat: 36.779417 deg, lon: -121.859497 deg, deltaT: 0.505389 s, deltaX: 0.397504 m, approachRate: 0.786531 m/s, posRepo size: 4 QuBNOT Ignoring new targets: 6.86 m.RyJybyZyByjy:y2ҔڔBڒ’@C? ??Աu@"ڻZ>f<) .>i9)q*5ibE]ž4jE]O4rE]H0E EE%E"E/;*E4:VE 4ZEa@a@a@a@i' =II I)B>BBZ#IBτBBP =BBBRQ;BEBĽCBĽCBBR =BQ =Cw5DDAT read: Rx Time:21:35:06.4799 TRx dataTimestamp_ set to:1761514507.769309PDAT read: Bearing 344.3, 10.4 (Local) ~Local bearing/azimuth received: Bearing 344.3, 10.4 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 DAT read: 21:35:06.4799 LVL= 23264, 28785, 32754, 32755, AGC= 60, IDX= 506,-0.22,-2.507,-0.868,-2.749,-1.850, PHS=-0.555, 1.027,-0.943, RAW= 340.7, 5.3, CAL= 340.4, 3.8, ROT= 169.6, -3.8 Ygot valid direction response: 21:35:06.4799 LVL= 23264, 28785, 32754, 32755, AGC= 60, IDX= 506,-0.22,-2.507,-0.868,-2.749,-1.850, PHS=-0.555, 1.027,-0.943, RAW= 340.7, 5.3, CAL= 340.4, 3.8, ROT= 169.6, -3.8 T#Rx 13: Read range and direction messages.^direction in FSK: [-0.981409,0.180122,0.066274]Fpublishing direction and range infoygBgh;n>?{S?Y3@Zqp )<I{it?shqdH@q=@ ԇ=)q=@Iԇ-'迓i俏K|? )&Iq=@iԇ checking for new query: numPingsReceived=13, elapsed TxPingTime=8.591141IgA)fA7@ @@/@@=@= 9 ^A I I O >0@,?A"checking for new query: numPingsReceived=13, elapsed TxPingTime=8.826432VT=Va*>V8.<ٱVҽ bAHRS rotation from veh to nav: [[0.954392,-0.297715,-0.022395],[0.298429,0.949100,0.100748],[-0.008739,-0.102837,0.994660]]VHa? ӿt?@_?ʹ? 偿@S@?iVT=IV];VCYjByj#In=n=bDrnVDrpJ4y <<% N=ٔQ->9!Y)=-HFy1MՇ:EM>aQ 5}b5e+?Q 9b5e)eBYy$[>Q I@eEIe;ie;eb5yɮ@yJR\<?A@@KwP@'JU?oN?gBgh;n>?{S?q=@ԇ—B~O0v:MދF?1{G򹆨?j+PrZ5tݟ?b7dz…BX\ܟ?…Bڗ"@P@Q addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502820 s, deltaX: 0.200000 m, approachRate: 0.397756 m/s, rangeRepo size: 4 Q% Added new target pos. range: 7.055706 m, bearing: 186.628458 deg, lat: 36.779417 deg, lon: -121.859497 deg, deltaT: 0.502820 s, deltaX: 0.198763 m, approachRate: 0.395296 m/s, posRepo size: 4 Q%BNOT Ignoring new targets: 7.06 m.R!J)b)Z)B1j1:121Ҕ9ڔ9ڒ9’9=`ff@EY? "$[>8.<) B8>i9)65ii =IIEE EEEE#EA"EEy>;*EE:VEE3ZEABEEQ)8=@I7@;:8? \R)LI8=@i checking for new query: numPingsReceived=14, elapsed TxPingTime=9.148745 W\@,?A%\=%oD>%?<ٱ%Ű̽ MAHRS rotation from veh to nav: [[0.954340,-0.297887,-0.022345],[0.298620,0.949372,0.097559],[-0.007848,-0.099777,0.994979]]%H`?`ӿᖿ?`Ba?`??i%\=I%];%CY]By]#IiMb@Mb@Mb@ 9L7A`?{GzI +?Y+?yף9<l A A)AYAbDWVD 4y5=%59=ٔ=+Q-=>9AYQ=UHFyYmA9Eu>yQ 5b5}p>?Q 9b5}_)}BYa?Q E:y>Q I@}EI}f;i}Oe;}b5yBMchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.330358ɮM!@UCEJ!R%z?A%@%@%.DP@%BaKA?:RF6Y?%Vǀbx~?{S?%8=@!—%=Ge*#鿊ZU?%#tIS?j%qMr%*Z%:蟊?b% {z%хB!!!ڗ%@%4Q@Q  addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503816 s, deltaX: 0.100000 m, approachRate: 0.198485 m/s, rangeRepo size: 4 Q Added new target pos. range: 7.155082 m, bearing: 186.449711 deg, lat: 36.779417 deg, lon: -121.859497 deg, deltaT: 0.503816 s, deltaX: 0.099376 m, approachRate: 0.197246 m/s, posRepo size: 4 QBNOT Ignoring new targets: 7.16 m.RJbZB:2ҔڔBڒ!’)5@5~? a?a?@"]>%?<)! %B>i%9)!%ED5!i)i)] =II!@) @)@)@)EQ EUEU&EQ"EQ*EU:VEU4ZEQa]@ae@ae@ae@! B B B s#IB BB O =B B B 1Q;B E DDAT read: Rx Time:21:35:07.4801  TRx dataTimestamp_ set to:1761514508.777193 PDAT read: Bearing 345.3, 10.2 (Local)  ~Local bearing/azimuth received: Bearing 345.3, 10.2 (Local) % DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 E DAT read: 21:35:07.4801 LVL= 23104, 19217, 27890, 28515, AGC= 63, IDX= 509,-0.32, 0.955, 2.587, 0.722, 1.593, PHS=-0.536, 1.039,-0.915, RAW= 340.5, 4.6, CAL= 340.2, 2.8, ROT= 169.8, -2.8 M Ygot valid direction response: 21:35:07.4801 LVL= 23104, 19217, 27890, 28515, AGC= 63, IDX= 509,-0.32, 0.955, 2.587, 0.722, 1.593, PHS=-0.536, 1.039,-0.915, RAW= 340.5, 4.6, CAL= 340.2, 2.8, ROT= 169.8, -2.8 U T#Rx 15: Read range and direction messages.] ^direction in FSK: [-0.983021,0.176873,0.048850]] Fpublishing direction and range infoy  tuMtL6ȣ?s!D?Y @  @Z K l  co) ?I i ? q=j +@ l= @  +H=) =@I +H   M]=a 俠qg~?  ) XڥI =@i +H  } checking for new query: numPingsReceived=15, elapsed TxPingTime=9.598234I ^A Nw =I I O >@,y\5?Aa=>p;ٱG˽ %AHRS rotation from veh to nav: [[0.954487,-0.297395,-0.022607],[0.298164,0.949598,0.096755],[-0.007307,-0.099092,0.995051]]H'?ӿE&?c?@ĸ? }@^v?ia=I7 _;CY5By5#IbDmYVDm#4yu%}@=ٔ}ӦQ-}>9Y=HFyE>Q 5b5P?Q 9b5Ί)BYyى>Q I@EI;i;x b5yBɮ@DEJR1?AR@R@P@٩5{KjU?6-x?tuMtL6ȣ?s!D?=@+H—>-Pcp4Vѝ"J?$EX]hӾ'k'`?jbroZ8韊?bEzB5tݟ?7dڗ@Q@Q} addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504068 s, deltaX: 0.200000 m, approachRate: 0.396772 m/s, rangeRepo size: 4 Q Added new target pos. range: 7.353852 m, bearing: 186.921220 deg, lat: 36.779418 deg, lon: -121.859496 deg, deltaT: 0.504068 s, deltaX: 0.198770 m, approachRate: 0.394332 m/s, posRepo size: 4 QBNOT Ignoring new targets: 7.35 m.RJbZB:2Ҕڔڒ’@?? "Uى>p;) h4>i%'9)!%N5!i!i99=eh =I9IAe?ie?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.834886@ @@b1@@ hA@ iA 9 ^A I! I9 OE >E  E E %E "E g5;*E I:VE 4ZE BE {6<0;ٱ69dǽ >AHRS rotation from veh to nav: [[0.954544,-0.297200,-0.022758],[0.297998,0.949855,0.094727],[-0.006536,-0.097203,0.995243]]6H?`SӿM h?`5e?`@?z Q⸿ ?i6U=I6_;6CYFByF#IIJ4=)HbDNcVDN264yVؼ%Vn=ٔZ+Q-Z?9XYX=^HFy\^]E^?`Q 5fb5b,_?Q 9fb5b)bBYhyj>Q Ij@bEIbt:ib:bn b5ylɮn@piYIYmDDAT read: Rx Time:21:35:07.9804 mTRx dataTimestamp_ set to:1761514509.281377uPDAT read: Bearing 345.3, 9.6 (Local) }~Local bearing/azimuth received: Bearing 345.3, 9.6 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.6 DAT read: 21:35:07.9804 LVL= 27376, 20337, 30370, 32755, AGC= 60, IDX= 511, 0.39,-2.975,-1.339, 3.096,-2.329, PHS=-0.544, 1.036,-0.902, RAW= 340.0, 4.6, CAL= 339.6, 2.8, ROT= 170.4, -2.8 Ygot valid direction response: 21:35:07.9804 LVL= 27376, 20337, 30370, 32755, AGC= 60, IDX= 511, 0.39,-2.975,-1.339, 3.096,-2.329, PHS=-0.544, 1.036,-0.902, RAW= 340.0, 4.6, CAL= 339.6, 2.8, ROT= 170.4, -2.8 T#Rx 16: Read range and direction messages.^direction in FSK: [-0.984819,0.166570,0.048850]Fpublishing direction and range infoyim3㢃]H'R?s!D?Ym@imjmqOmv m)m<ImC im?myfmN@im@ i)mV>@IiiimsZ9oޡ 俹Q? mb)mإImV>@iiiichecking for new query: numPingsReceived=16, elapsed TxPingTime=10.106974Q addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504184 s, deltaX: 0.400000 m, approachRate: 0.793361 m/s, rangeRepo size: 4 QBNOT Ignoring new targets: 7.35 m.RJb!Z!B!:!2!Ҕ)ڔ)ڒ)’)-@33@5 ? III"M><0;) %+>i%9)!%>Y5!i!i))-% =I)QI@ @@4@@@@@y checking for new query: numPingsReceived=16, elapsed TxPingTime=10.338355 I I Ou >@,h?A2/ج=2W>2,<;ٱ2dǽ :AHRS rotation from veh to nav: [[0.954574,-0.297038,-0.023586],[0.297918,0.949886,0.094662],[-0.005714,-0.097388,0.995230]]2Hߋ?ӿ&?@xe?;? }gwo?i2/ج=I2"_;0@YnByn#IimMb@Mb@Mb@iiii i9mv?:v?y&1|?Ym>ymT9Y=HFyE EE&E"E=;*E1:VE4ZEa@a@a@a@~LE>Q 5b5Kp?Q 9b5)BY>Q E:y;>Q I@EI/;i>;Jb5y Bɮ#AEEJRR?A @ @rrQ@[=?QӃ?߱γ;?3㢃]H'R?s!D?V>@—ZqS=80𿿶gg?ٞ￑)hеw?j󆁿rZ9+韊?b}oVBBB#IBBBBBBP;BbEzBꗝ:蟊?}oVBڗ7@◝^oQ@Q%BNOT Ignoring new targets: 7.35 m.R!J!b!Z!B!:!2)Ҕ)ڔMBڒQ’QQU? >>Q<"m;>,<;)ԩ R8>i9)&e5ii =IIuDDAT read: Rx Time:21:35:08.4805 }TRx dataTimestamp_ set to:1761514509.785261PDAT read: Bearing 6.5, 24.3 (Local) ~Local bearing/azimuth received: Bearing 6.5, 24.3 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.5 DAT read: 21:35:08.4805 LVL= 22832, 18241, 28066, 29411, AGC= 59, IDX= 512, 0.08, 0.456, 1.660,-0.176, 0.245, PHS= 0.313, 1.460,-0.465, RAW= 353.7, -15.4, CAL= 353.4, -18.3, ROT= 156.6, 18.3 Ygot valid direction response: 21:35:08.4805 LVL= 22832, 18241, 28066, 29411, AGC= 59, IDX= 512, 0.08, 0.456, 1.660,-0.176, 0.245, PHS= 0.313, 1.460,-0.465, RAW= 353.7, -15.4, CAL= 353.4, -18.3, ROT= 156.6, 18.3 T#Rx 17: Read range and direction messages.`direction in FSK: [-0.871340,0.377062,-0.313992]Fpublishing direction and range infoyquٍ2Άeq!?v9sԿYuAqu0YuAGum ur)u;IuA>iuH?u{u@u9@ @@3@IIOC>u4`@ uƇ)u.@IuƇ>qqu.tE'цn追xѿ uu )u7>Iu.@iuƇ>qqchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.642499  %= =% checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842705@,*?A\=O>S@w;ٱƽ AHRS rotation from veh to nav: [[0.954710,-0.296461,-0.025273],[0.297512,0.950107,0.093720],[-0.003773,-0.096995,0.995278]]H?7ҿᙿq ? Fg? ?n ԸP?i=IV_;YBy#IbD_VD.4y.'%A=ٔQ->9Y=HFy YE >Q 5b5T?Q 9b5)Yy>Q I@EI[:i:b5y)ɮ-5A)JRAr?Ag@g@OD@=%z~nA@ ]ٍ2Άeq!?v9sԿ.@Ƈ>—ac} ?{(-•w ~{б?6%!ֿj ?r ZXs ?bSztwz~Bꗅ9+韊?Eڗ#@◅Q@Q} addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503884 s, deltaX: 0.200000 m, approachRate: 0.396916 m/s, rangeRepo size: 4 Q Added new target pos. range: 7.950104 m, bearing: 175.746895 deg, lat: 36.779419 deg, lon: -121.859496 deg, deltaT: 1.008068 s, deltaX: 0.596252 m, approachRate: 0.591480 m/s, posRepo size: 4 QBNOT Ignoring new targets: 7.95 m.RJbZB:2Ҕڔڒ’ @P? ">S@w;) 3>i9)3p5ii- =IIE EE$E"E:;*E>:VE4ZEBE.>]DDAT read: Rx Time:21:35:08.9808 ]TRx dataTimestamp_ set to:1761514510.289123mPDAT read: Bearing 347.8, 10.0 (Local) m~Local bearing/azimuth received: Bearing 347.8, 10.0 (Local) }DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 DAT read: 21:35:08.9808 LVL= 12976, 10209, 16178, 28147, AGC= 61, IDX= 3,-0.14,-3.139,-1.505, 2.916,-2.551, PHS=-0.486, 1.090,-0.860, RAW= 340.4, 2.9, CAL= 339.9, 0.1, ROT= 170.1, -0.1 Ygot valid direction response: 21:35:08.9808 LVL= 12976, 10209, 16178, 28147, AGC= 61, IDX= 3,-0.14,-3.139,-1.505, 2.916,-2.551, PHS=-0.486, 1.090,-0.860, RAW= 340.4, 2.9, CAL= 339.9, 0.1, ROT= 170.1, -0.1 T#Rx 18: Read range and direction messages.^direction in FSK: [-0.985108,0.171929,0.001745]Fpublishing direction and range infoyY]fᅴ }?n p\?Y]fAY]2]']2? ]m)]=I]i]?](\]@]4QO=]ֽ@ ]:)]>@I]亩YY]WU迧X Mѩ? ]b)]9NI]>@i]亩YYchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.1105039 .@,-?A@@ jn>ntC1UŀGSkA2Ϳ9SkAYAchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.346120YBy~#I==aiMb@Mb@Mb@ 9K?Mb`?{GztY^>y;ף A@ GA)YA@AbDWVD 4y%$=ٔQ->9Y=HFy  E >Q 5=b5듢?Q 9=b5)BY=b>Q E=:yE>>Q IE@EIm;i;Cb5yMBɮMAIJR?AAA`Q@ۍSr 4?õ0ل֍?fᅴ }?n p\?>@—xMNa Ӱ%NRX m"x+jqrmZuڟ?bHAzBꗩ {BڗA◭Q@Q addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503862 s, deltaX: 0.400000 m, approachRate: 0.793867 m/s, rangeRepo size: 4 Q  Added new target pos. range: 8.347609 m, bearing: 187.445073 deg, lat: 36.779419 deg, lon: -121.859496 deg, deltaT: 0.503862 s, deltaX: 0.397504 m, approachRate: 0.788915 m/s, posRepo size: 4 Q BNOT Ignoring new targets: 8.35 m.R J b Z B:21Ҕ9ڔ=Bڒ9’9= @EG? }b>}b>}D;"}>>) \>i9)页z5iiu =IIԉE EE%E"E=-;*E:VE 4ZEa@a@a@a@i@i @i@i@iIIO>BBBz#IBBBBBBP;BLE DDAT read: Rx Time:21:35:09.4808  TRx dataTimestamp_ set to:1761514510.793120 PDAT read: Bearing 347.4, 9.8 (Local)  ~Local bearing/azimuth received: Bearing 347.4, 9.8 (Local)  DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 Թ  DAT read: 21:35:09.4808 LVL= 30032, 19217, 32754, 32755, AGC= 60, IDX= 500,-0.47, 2.114,-2.534, 1.890, 2.710, PHS=-0.494, 1.084,-0.864, RAW= 340.3, 3.1, CAL= 339.8, 0.4, ROT= 170.2, -0.4  Ygot valid direction response: 21:35:09.4808 LVL= 30032, 19217, 32754, 32755, AGC= 60, IDX= 500,-0.47, 2.114,-2.534, 1.890, 2.710, PHS=-0.494, 1.084,-0.864, RAW= 340.3, 3.1, CAL= 339.8, 0.4, ROT= 170.2, -0.4  T#Rx 19: Read range and direction messages. ^direction in FSK: [-0.985384,0.170205,0.006981] Fpublishing direction and range infoy  j+CSJ?a|?Y Pu K  ) <I i ? /] 3@ k]= ǽ@ ;) >@I 仩 ^*G0? ) }9]I >@i 仩 M checking for new query: numPingsReceived=19, elapsed TxPingTime=11.624251i@,+?AYn܄Bynj#IbDzQVDz4y%=ٔQ-"?9Y=HFy!E%"?)Q 5-b5-?Q 95b5-)-BY1y1Q I5@-EI-;i-;-b5ԙyɮ AJRz²?AuQ@s Ȥ>??or֭?j+CSJ?a|?>@—V- ^}'x񿛼n0\!{0.wjriZDZ埊?b5zÄBꗹHAÄBڗA◽Q@Q] addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503997 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Qm Added new target pos. range: 8.347594 m, bearing: 187.515740 deg, lat: 36.779419 deg, lon: -121.859495 deg, deltaT: 0.503997 s, deltaX: -0.000014 m, approachRate: -0.000028 m/s, posRepo size: 4 QBNOT Ignoring new targets: 8.35 m.RJbZB:2Ҕڔڒ’@? ")  =i9)ii!!%X =I)II9@ @@/@checking for new query: numPingsReceived=19, elapsed TxPingTime=11.852401^A =I I) O5 >E  E )E #E "E F;*E 0;VE 3ZE BE ^6w:ٱ6 lȽ >AHRS rotation from veh to nav: [[0.955048,-0.295192,-0.027293],[0.296446,0.950429,0.093833],[-0.001759,-0.097706,0.995214]]6H?mҿ?i?@u?\C?i6=I6^;4Y^քBybc#IbDjRVDj4yr_%rM=ٔrڥQ-v>9tYt=vHFytzg8Ez>|Q 5b5~\?Q 9b5~|)~BYy>Q I@~EI~;i~;~#b5yɮ=AeDDAT read: Rx Time:21:35:09.9810 eTRx dataTimestamp_ set to:1761514511.300351mPDAT read: Bearing 347.7, 10.3 (Local) u~Local bearing/azimuth received: Bearing 347.7, 10.3 (Local) DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 DAT read: 21:35:09.9810 LVL= 25072, 16225, 29074, 32755, AGC= 60, IDX= 501, 0.06,-1.568, 0.041,-1.805,-0.993, PHS=-0.474, 1.079,-0.856, RAW= 340.8, 2.9, CAL= 340.2, 0.0, ROT= 169.8, -0.0 Ygot valid direction response: 21:35:09.9810 LVL= 25072, 16225, 29074, 32755, AGC= 60, IDX= 501, 0.06,-1.568, 0.041,-1.805,-0.993, PHS=-0.474, 1.079,-0.856, RAW= 340.8, 2.9, CAL= 340.2, 0.0, ROT= 169.8, -0.0 T#Rx 20: Read range and direction messages.QBNOT Ignoring new targets: 8.35 m.RJbZB:2Ҕڔڒ’^direction in FSK: [-0.984196,0.177085,0.000000]Fpublishing direction and range infoyaeR҇~QU?Ye3 Aaeaea?eq a)aIe!ie?e"[eV@e4QO=e@ e)e=@IeaaeC;7̌#o^/u? e͍)ewLIe=@ieaa`ff!@?checking for new query: numPingsReceived=20, elapsed TxPingTime=12.153600 "E>w:) 8=i9)+2ii'=II!9@ @@@ )Q DDAT read: Rx Time:21:35:10.4811  TRx dataTimestamp_ set to:1761514511.551683% checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359824^A =Ia I O >y C@,5?A2=2|ݙ>2*u:ٱ2ý :AHRS rotation from veh to nav: [[0.955183,-0.294750,-0.027349],[0.296015,0.950800,0.091405],[-0.000938,-0.095404,0.995438]]2Hې?/ҿ`|@?l?Qf?N@kl ?i2=I2^;2CYBʄByBT#IiuMb@Mb@Mb@qqqq q9uʡE?{Gz:vYu->yu#uTu Au@ uA)uAqYu=AE EE(E"EU,;*E>:VEc44ZEa@a@a@a@bDZVD%4yrh%<=ٔQ->9Y=HFyE>Q 5b5?Q 9b5)BYR>Q E:y>Q I@EIF;iE;!b5yBɮAFEJR8?AT AT AP@ޜzn!B?QR҇~QU?=@—r(!O~%ЬbA3z/o~ZjrC Z 쟊?bzBꗑ5Bڗ+ A◕Q@B>BBg#IBڄBBP =BBBP;B[EQ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.507231 s, deltaX: 0.300000 m, approachRate: 0.591447 m/s, rangeRepo size: 4 Q% Added new target pos. range: 8.645722 m, bearing: 187.064126 deg, lat: 36.779419 deg, lon: -121.859495 deg, deltaT: 0.507231 s, deltaX: 0.298128 m, approachRate: 0.587756 m/s, posRepo size: 4 Q-BNOT Ignoring new targets: 8.65 m.R)J)bIZIBQ:Q2QҔQڔUxBڒY’YY]`W? R>R>b@"ݿ>*u:) #>i)9)o3iib =IIUPDAT read: Bearing 348.8, 11.1 (Local) ]~Local bearing/azimuth received: Bearing 348.8, 11.1 (Local) mDAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.5 DAT read: 21:35:10.4811 LVL= 25360, 17297, 30706, 31443, AGC= 62, IDX= 502,-0.27, 2.461,-2.207, 2.192, 2.993, PHS=-0.430, 1.128,-0.845, RAW= 341.5, 1.7, CAL= 341.0, -1.2, ROT= 169.0, 1.2 Ygot valid direction response: 21:35:10.4811 LVL= 25360, 17297, 30706, 31443, AGC= 62, IDX= 502,-0.27, 2.461,-2.207, 2.192, 2.993, PHS=-0.430, 1.128,-0.845, RAW= 341.5, 1.7, CAL= 341.0, -1.2, ROT= 169.0, 1.2 T#Rx 21: Read range and direction messages.`direction in FSK: [-0.981412,0.190767,-0.020942]Fpublishing direction and range infoyIMgk?_2qYMfAIMcMCMw Mz)M>IM(ܾiMNb?MQXMƺ@M  DDAT read: Rx Time:21:35:10.9813 % TRx dataTimestamp_ set to:1761514512.0558755 PDAT read: Bearing 348.3, 13.4 (Local) = ~Local bearing/azimuth received: Bearing 348.3, 13.4 (Local) M checking for new query: numPingsReceived=21, elapsed TxPingTime=12.867482A,z?A=s>:ٱt =AHRS rotation from veh to nav: [[0.955421,-0.293878,-0.028397],[0.295246,0.951178,0.089947],[0.000577,-0.094321,0.995542]]H`ϒ?ҿ`N? p??ZB?`i%@z?i=I< _;CYMĄByMM#IbDQVD4ԩyNҼ%;=ٔbQ->9Y=HFyE>Q 5b5Ϣ?Q 9b5~)BYyZ>Q I@EI;i;%b5yɮAJyR}U3?A} A} A}B"P@}Sޓ/\!Rڑ?nǿ}gk?_2q}Z<@}<—}YU?!wb'|/HNֿ}:Q׶d=CE56t[-j}|yr} Z}U럊?b}m(z}B}U럊?}}Bڗ} A},Q@QM addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.499657 s, deltaX: 0.200000 m, approachRate: 0.400274 m/s, rangeRepo size: 4 Q] Added new target pos. range: 8.844455 m, bearing: 186.331082 deg, lat: 36.779419 deg, lon: -121.859493 deg, deltaT: 0.499657 s, deltaX: 0.198732 m, approachRate: 0.397738 m/s, posRepo size: 4 QeBNOT Ignoring new targets: 8.84 m.RaJabaZaBa:a2Ҕڔڒ’!@? "Z>:) X>i  9)  43 T9 %A,?AYBy8#IDDAT read: Rx Time:21:35:11.4814 TRx dataTimestamp_ set to:1761514512.559784PDAT read: Bearing 349.2, 14.1 (Local) ~Local bearing/azimuth received: Bearing 349.2, 14.1 (Local) checking for new query: numPingsReceived=22, elapsed TxPingTime=13.371312 iMb@Mb@Mb@ 9x&1?Q롿y\t@ )AYfAbDnVDpJ4yW%-=ٔQ->9Y=HFyE>Q 5 b5ࢊ?Q 9 b5W})BY >Q E :y _>Q I @EI;iM;)b5yBɮ}nA}GEJRur?AHAHA4qM@t!Mr}<@ vlĿ~n: "6?W7) ߑ:@5<—]73X:"t4IHaH׿~ Y│X~y+}_jrZ?bōzBꗅDZ埊?ڗ+A◅=Q@Q  addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503853 s, deltaX: 0.300000 m, approachRate: 0.595412 m/s, rangeRepo size: 4 1QE Added new target pos. range: 9.142583 m, bearing: 183.921423 deg, lat: 36.779418 deg, lon: -121.859493 deg, deltaT: 0.503853 s, deltaX: 0.298128 m, approachRate: 0.591697 m/s, posRepo size: 4 QEBNOT Ignoring new targets: 9.14 m.RAJAbAZIBI:I2IҔQڔUgBڒq’`ff"@`Q? >>@"_>) >i9)4ai=>bE=ǻ 4jE=4rE=/E EE'E"E1;*Eg:VE'4ZEa@a@a@a@BA<BBBH#IBBBBBBP;BlEBUȾCBUȾCBQBUO =BUO =CUq49@ @@!0@a m DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4  DAT read: 21:35:11.4814 LVL= 32752, 17073, 32754, 32755, AGC= 63, IDX= 505,-0.07,-2.888,-1.362, 3.026,-2.439, PHS=-0.347, 1.122,-0.862, RAW= 344.5, 1.0, CAL= 344.0, -2.0, ROT= 166.0, 2.0  Ygot valid direction response: 21:35:11.4814 LVL= 32752, 17073, 32754, 32755, AGC= 63, IDX= 505,-0.07,-2.888,-1.362, 3.026,-2.439, PHS=-0.347, 1.122,-0.862, RAW= 344.5, 1.0, CAL= 344.0, -2.0, ROT= 166.0, 2.0  T#Rx 23: Read range and direction messages. `direction in FSK: [-0.969705,0.241774,-0.034899] Fpublishing direction and range infoyY ] B#<30^w?XޡY] AY ] ] B]  Y )Y I] i] ?] \] g@] 5<] 7 @ ] 5)] }l9@I] 5=Y Y ] p-{nhk6? ] Q_)] KI] }l9@i] 5=Y Y  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.627021ԑ ^A <I I O >ӄ A,8?AjNU=j˜>jٱj! rAHRS rotation from veh to nav: [[0.955819,-0.292605,-0.028139],[0.293953,0.951800,0.087571],[0.001159,-0.091974,0.995761]]jH@?` ҿpМ? %u?k?@R?@E?ijNU=Ij_;jCYBy$#I==bDdVD 84yԽ%=ٔQ-?9Y=HFyNE?Q 5 b5u좊?Q 9 b5|)BY y J^>Q I@EII:i:,b5yɮAJ!R%3?A%A%A%L@%2!@TŃ0@}4|Կ%B#<30^w?Xޡ%}l9@%5=—%*k"C%ῆ[oi/%YUw7⯭n >j%. r%_Z%I䟊?b%Gɣz%B!%m(%Bڗ% A%UP@Q addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503922 s, deltaX: 0.100000 m, approachRate: 0.198444 m/s, rangeRepo size: 4 Q Added new target pos. range: 9.241949 m, bearing: 183.329651 deg, lat: 36.779418 deg, lon: -121.859492 deg, deltaT: 0.503922 s, deltaX: 0.099366 m, approachRate: 0.197186 m/s, posRepo size: 4 QEBNOT Ignoring new targets: 9.24 m.RAJAbAZIBI:I2QҔQڔYڒY’ae"@m@;? "ZJ^>=)9 E=iE9)AEE;*E] :VE] FA4ZEY BE] QA,@S?A&DAT read: 21:35:11.9816 LVL= 25584, 16817, 28994, 30947, AGC= 63, IDX= 508,-0.43,-2.483,-0.955,-2.893,-2.074, PHS=-0.307, 1.164,-0.863, RAW= 345.4, 0.1, CAL= 344.9, -2.9, ROT= 165.1, 2.9 *Ygot valid direction response: 21:35:11.9816 LVL= 25584, 16817, 28994, 30947, AGC= 63, IDX= 508,-0.43,-2.483,-0.955,-2.893,-2.074, PHS=-0.307, 1.164,-0.863, RAW= 345.4, 0.1, CAL= 344.9, -2.9, ROT= 165.1, 2.9 *Z#Rx 25: Read direction message, but no range..`direction in FSK: [-0.965139,0.256803,-0.050593]yK[%juwo?|rQ穿cABq x)I/i?\b@:@ 4QO)!k8@I4QO=Kxd6I*a1а(S? [)EI!k8@i4QO=>checking for new query: numPingsReceived=25, elapsed TxPingTime=14.127694Mʡ=M>MeٱMF eAHRS rotation from veh to nav: [[0.956183,-0.291437,-0.027888],[0.292765,0.952268,0.086453],[0.001361,-0.090830,0.995865]]MH ?ҿ ?x?!?LV?@@!?iMʡ=IM`;MCY=By="#IbDU]VDU'+4yݻ%6=ٔQ->9Y=HFy5E>Q 5b5`?Q 9b5t{)BYy]>Q I@EIy:i-:0b5yBɮ AHEJ!R%`D?A%A%A%~K@%ef e) =i.9)3urnA,go?AB B B"#IBBB B B BBQ;BEb=bRf>bȺٱb0` zAHRS rotation from veh to nav: [[0.956597,-0.290100,-0.027658],[0.291412,0.952764,0.085559],[0.001530,-0.089906,0.995949]]bH`p?@ҿMR|? }?7?UY? ?ib=Iba;bCYBy#IiMb@Mb@Mb@ 9M?p= ף~jtxYn>yĻA GA)^AYAbD\VDP)4yڔ%D=ٔ}չQ->9Y=HFy^E>Q 5b5 ?Q 9b5z)Y>Q E:y >Q I@EI:i:)4b5yɮA-DAT read: 21:35:12.4817 LVL= 26032, 17025, 30386, 32755, AGC= 64, IDX= 508, 0.12,-1.855,-0.418,-2.333,-1.477, PHS=-0.276, 1.104,-0.900, RAW= 347.7, 0.8, CAL= 347.3, -2.2, ROT= 162.7, 2.2 =Ygot valid direction response: 21:35:12.4817 LVL= 26032, 17025, 30386, 32755, AGC= 64, IDX= 508, 0.12,-1.855,-0.418,-2.333,-1.477, PHS=-0.276, 1.104,-0.900, RAW= 347.7, 0.8, CAL= 347.3, -2.2, ROT= 162.7, 2.2 =Z#Rx 27: Read direction message, but no range.E`direction in FSK: [-0.954057,0.297156,-0.038388]y  ޤa|?.  e B v ) @I Oi O? fff <1@ d<  @ nF) ּ5@I nF=  Y~ah,:翜>Y? -) jI ּ5@i nF=]checking for new query: numPingsReceived=27, elapsed TxPingTime=14.632193aJRd?AAAH@L3"0z&@Z_ 4׿ޤa|?.ּ5@nF=—T^Eo#&'?0Uߩ'k-]?$j<rzZ7ן?b5]zzGB?GɣBڗAAM@Q- addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.506054 s, deltaX: 0.200000 m, approachRate: 0.395214 m/s, rangeRepo size: 4 Q= Added new target pos. range: 9.738840 m, bearing: 179.895976 deg, lat: 36.779418 deg, lon: -121.859486 deg, deltaT: 0.506054 s, deltaX: 0.198763 m, approachRate: 0.392770 m/s, posRepo size: 4 QeBNOT Ignoring new targets: 9.74 m.RaJabaZaBa:i2iҔiڔm,Bڒq’qu#@u@? >> @" >Ⱥ) L>iA9)3 HP"A,5?A2쬚=2X>2ٱ2& :AHRS rotation from veh to nav: [[0.957195,-0.288230,-0.026494],[0.289442,0.953595,0.082949],[0.001356,-0.087067,0.996202]]2HV?\rҿ F!7?؃?)9XYX=ZHFyX^E^>`Q 5fb5b?Q 9fb5bGz)`Ydyfg >Q If@bEIb:ib:ba7b5ynBɮnArIEQ  addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.501878 s, deltaX: 0.400000 m, approachRate: 0.797006 m/s, rangeRepo size: 4 QBNOT Ignoring new targets: 9.74 m.RJbZB:2Ҕڔڒ!’!%`ff$@% FϽ? AAA"Eg >U) C>iB9)顝=3} 9 $}(A,К?ANDDAT read: Rx Time:21:35:13.4820 RTRx dataTimestamp_ set to:1761514514.576431bPDAT read: Bearing 349.6, 16.6 (Local) f~Local bearing/azimuth received: Bearing 349.6, 16.6 (Local) vDAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 }Z#Rx 30: Read range message, but no direction.yPYPPchecking for new query: numPingsReceived=30, elapsed TxPingTime=15.4118122=Xr>?ٱ AHRS rotation from veh to nav: [[0.957701,-0.286579,-0.026091],[0.287761,0.954176,0.082104],[0.001366,-0.086139,0.996282]]H`}?MWҿ@j? ??`bV?5 ?i2=Ir)b;CYBy"Iԁi=Mb@Mb@Mb@9999 99=Mb?EԸMb?Y=>y=ƽ=<=A=@ 9)=A9Y=AbDmjVDmC4y}-%=ٔȟQ->9Y=HFyWE>Q 5b5})?Q 9b5z)BYV>Q E;y8=Q I@EI";i3;B!B%#IB%BB%O =B!B!B%iQ;B%EQUDNOT Ignoring new targets: 10.14 m.RQJQbQZYBY:Y2YҔaڔe+Bڒa’aam@:?ԑ V>V>@"8=}?)y }.>i}9)顅34C0A,v?A>5k=>>>ٱ>_= JAHRS rotation from veh to nav: [[0.958493,-0.283929,-0.025989],[0.285113,0.954941,0.082447],[0.001408,-0.086435,0.996256]]>H?+ҿ@I??`?C?@W? @U?i>5k=I>~a;>CYNByR#IbDZlVDZF4yb<%bq=ٔbQ-b?9dYd=fHFydjEj?pQ 5b5rm4?Q 9b5ry)rBYy-=Q I@rEIrI;ir;r>b5y5Bɮ=AA)]DDAT read: Rx Time:21:35:13.9823 mTRx dataTimestamp_ set to:1761514515.094683PDAT read: Bearing 349.8, 14.8 (Local) ~Local bearing/azimuth received: Bearing 349.8, 14.8 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 DAT read: 21:35:13.9823 LVL= 22320, 16209, 20898, 26771, AGC= 68, IDX= 2,-0.09, 2.435,-2.287, 2.025, 2.857, PHS=-0.320, 1.184,-0.876, RAW= 345.1, 0.1, CAL= 344.7, -2.8, ROT= 165.3, 2.8 Q]DNOT Ignoring new targets: 10.14 m.RYJYbYeYgot valid direction response: 21:35:13.9823 LVL= 22320, 16209, 20898, 26771, AGC= 68, IDX= 2,-0.09, 2.435,-2.287, 2.025, 2.857, PHS=-0.320, 1.184,-0.876, RAW= 345.1, 0.1, CAL= 344.7, -2.8, ROT= 165.3, 2.8 eT#Rx 32: Read range and direction messages.m`direction in FSK: [-0.966113,0.253455,-0.048850]uFpublishing direction and range infoyaee* 8?s!DYe3+Aae0WaeQ eh)eDIe ףieP?eA`e~@e:eM@ e+H)eR8@Ie+H=aae$-~(d濕8Q;ʬ桓b? ec)eIeR8@ie+H=aachecking for new query: numPingsReceived=32, elapsed TxPingTime=15.940693ZYB:2Ҕڔڒ’`ff%@@٧? III"M-=) 7>i9)顥X_4ԩ f6A,?A2o=2;ɒ>2jٱ2l :AHRS rotation from veh to nav: [[0.959184,-0.281633,-0.025476],[0.282780,0.955690,0.081800],[0.001309,-0.085665,0.996323]]2H?`GҿE??? sU?(?i2o=I2߉a;2CYBByB"I DDJ=J=bDNWVDN 4yV*1%VM=ٔV)9Q-Z>9XYX=ZHFyX^ǻE^>`Q 5fb5bA?Q 9fb5by)bBYdyf#=Q If@bEIb:ib:buBb5ylɮnAlJRI?A!*A!*AaNK@r7$t@EH-e* 8?s!DR8@+H=—832%se׿#C'a[;9t硿n:yWj`r)ZAbğ?b[zBꗝ7ן?[3Bڗ%A◝@[K@QM addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.518252 s, deltaX: 0.500000 m, approachRate: 0.964782 m/s, rangeRepo size: 4 Թ-?91Y5 AQ] Added new target pos. range: 10.633234 m, bearing: 182.009149 deg, lat: 36.779417 deg, lon: -121.859483 deg, deltaT: 0.518252 s, deltaX: 0.496890 m, approachRate: 0.958781 m/s, posRepo size: 4 QmDNOT Ignoring new targets: 10.63 m.RJbZB:2Ҕڔڒ’@9_? !!!"%#=j) f3>i9)[4mB B "IB yBB B B B hQ;B E^A <I) I9 OE > D2$ٱ2ɮ :AHRS rotation from veh to nav: [[0.959702,-0.279895,-0.025126],[0.281017,0.956239,0.081463],[0.001225,-0.085241,0.996360]]2H?ѿ@0??ڴ? T? Wҵ-?i2x=I2Ya;2Cbchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.654413YnByn"IEonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.87, 81.14, 80.80 aM@aM aM@aM aM@aM aM@aM bDU`VDU04y#%<=ٔJ9Q->9Y=HFyyE>Q 5b5O?Q 9b5y)BQ A+:YQ E:y =Q I@EI;i>Eb5yɮ%AJR?A L@[m$zG@B;' ؿkN0! 1?(א¢9@Q =—X4%' @axֽk Zn0tu{jr)Z+qҟ?bXpzGBIG՟?ڗ)AZK@Q addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.507558 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q- Added new target pos. range: 10.633225 m, bearing: 182.742423 deg, lat: 36.779417 deg, lon: -121.859483 deg, deltaT: 0.507558 s, deltaX: -0.000009 m, approachRate: -0.000017 m/s, posRepo size: 4 Q-DNOT Ignoring new targets: 10.63 m.R)J1b1Z1B:2Ҕڔڒ’C?$) .>i9)%4i=>@ @@0@@=@=^A፨<IIOB>߁߅<DDAT read: Rx Time:21:35:14.9825 TRx dataTimestamp_ set to:1761514516.106347PDAT read: Bearing 349.1, 14.7 (Local) ~Local bearing/azimuth received: Bearing 349.1, 14.7 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 DAT read: 21:35:14.9825 LVL= 27888, 22913, 32754, 32755, AGC= 69, IDX= 500,-0.00, 0.252, 1.810,-0.161, 0.689, PHS=-0.335, 1.166,-0.894, RAW= 345.2, 0.7, CAL= 344.7, -2.3, ROT= 165.3, 2.3 Ygot valid direction response: 21:35:14.9825 LVL= 27888, 22913, 32754, 32755, AGC= 69, IDX= 500,-0.00, 0.252, 1.810,-0.161, 0.689, PHS=-0.335, 1.166,-0.894, RAW= 345.2, 0.7, CAL= 344.7, -2.3, ROT= 165.3, 2.3 T#Rx 34: Read range and direction messages.`direction in FSK: [-0.966489,0.253553,-0.040132]Fpublishing direction and range infoy\ytjE8:?.='Y0AlY )EIi/d@+H<M@ l$)R8@Il$=]}ۊOCC/uEe ? )EIR8@il$= checking for new query: numPingsReceived=34, elapsed TxPingTime=16.927721i %yCA,X?A0:=:>:sٱ:RA BAHRS rotation from veh to nav: [[0.960125,-0.278460,-0.024914],[0.279569,0.956724,0.080751],[0.001350,-0.084496,0.996423]]:H@W?@Kѿ$ w?{?? V?@?i:=I:# c;:CER ERER$EP"ER1A;*ER:VER4ZEPBER9pYp=vHFytv&Ev>xQ 5~b5z\?Q 9~b5zgy)zBQ A~ :YQ E:y=Q I@zEIz/;izP?zGb5y  Bɮ  A JEJRd?A.A.A K@3^K!%Ugg,@SC|ܿ\ytjE8:?.='R8@l$=—*%nr+"տXrT~l← 󙟿@jry.Zfmş?bPGz(B+qҟ?PG(Bڗ,AK@Q addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504106 s, deltaX: 0.300000 m, approachRate: 0.595113 m/s, rangeRepo size: 4 Q Added new target pos. range: 10.931354 m, bearing: 181.771959 deg, lat: 36.779416 deg, lon: -121.859482 deg, deltaT: 0.504106 s, deltaX: 0.298128 m, approachRate: 0.591400 m/s, posRepo size: 4 QDNOT Ignoring new targets: 10.93 m.RJbZB:2Ҕڔڒ’&@N?s) 8>i9)顭34  DDAT read: Rx Time:21:35:15.4825  TRx dataTimestamp_ set to:1761514516.606756 PDAT read: Bearing 349.0, 15.4 (Local)  ~Local bearing/azimuth received: Bearing 349.0, 15.4 (Local)  DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.5  DAT read: 21:35:15.4825 LVL= 28656, 19697, 32754, 32755, AGC= 68, IDX= 500, 0.20, 1.892,-2.862, 1.461, 2.314, PHS=-0.320, 1.152,-0.898, RAW= 345.9, 0.7, CAL= 345.4, -2.2, ROT= 164.6, 2.2  Ygot valid direction response: 21:35:15.4825 LVL= 28656, 19697, 32754, 32755, AGC= 68, IDX= 500, 0.20, 1.892,-2.862, 1.461, 2.314, PHS=-0.320, 1.152,-0.898, RAW= 345.9, 0.7, CAL= 345.4, -2.2, ROT= 164.6, 2.2  T#Rx 35: Read range and direction messages. `direction in FSK: [-0.963385,0.265360,-0.038388] Fpublishing direction and range infoy  ;` {ĩ?.Y o L ) DI ףi t? Te /@ b@ nF) '7@I nF= TʯG| 4? ) PI '7@i nF=  checking for new query: numPingsReceived=35, elapsed TxPingTime=17.428019DIA,vl(?A`˃=I>沺ٱu AHRS rotation from veh to nav: [[0.960368,-0.277657,-0.024479],[0.278731,0.957076,0.079462],[0.001365,-0.083136,0.996537]]H V?#ѿ? ^?W? \V?`iH?i˃=Iqd;YBy "IY]AE EE&E"E=;*EV:VE4ZEa@a@a@a@aa aa aa aa iMb@Mb@Mb@ 9Cl?Ky^t<VA@ )AYfAB>BBBBBBBQQ;BEbD[VDy'4y=%==ٔ=gQ-E>9AYA=eHFyamܺEm>qQ 5}b5ul?Q 9}b5u.y)uBQ A}T:Y}Q>Q E ;y1=Q I@uEIuq:iu:u>Lb5yɮ0AJR&?A0J@Y%D4@BR:ڿ;` {ĩ?.'7@nF=—1˹W%m0Tȿpή'&Y9gjEr.Zb՟?b>~z*Bڗ?/AAK@Q= addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.500409 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 10.931351 m, bearing: 181.010705 deg, lat: 36.779416 deg, lon: -121.859482 deg, deltaT: 0.500409 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 QDNOT Ignoring new targets: 10.93 m.RJbZB:2Ҕڔ6Bڒ’@>!? Q>Q>C@"i1=-沺)1 5>i59)15<45>PA,EB?AN$t=NT >Nt˺ٱN<짽 jAHRS rotation from veh to nav: [[0.960686,-0.276578,-0.024225],[0.277632,0.957495,0.078252],[0.001553,-0.081902,0.996639]]NH ?@rѿ|Θ?̣? X?MpY?w?iN$t=INe;LYBy #IEDDAT read: Rx Time:21:35:15.9827 ETRx dataTimestamp_ set to:1761514517.109224MPDAT read: Bearing 349.3, 16.2 (Local) U~Local bearing/azimuth received: Bearing 349.3, 16.2 (Local) eDAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.5 DAT read: 21:35:15.9827 LVL= 32032, 21153, 32754, 32755, AGC= 68, IDX= 502, 0.47,-1.517,-0.017,-1.976,-1.125, PHS=-0.290, 1.153,-0.895, RAW= 346.7, 0.3, CAL= 346.3, -2.6, ROT= 163.7, 2.6 Ygot valid direction response: 21:35:15.9827 LVL= 32032, 21153, 32754, 32755, AGC= 68, IDX= 502, 0.47,-1.517,-0.017,-1.976,-1.125, PHS=-0.290, 1.153,-0.895, RAW= 346.7, 0.3, CAL= 346.3, -2.6, ROT= 163.7, 2.6 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.958817,0.280378,-0.045363]Fpublishing direction and range infoyAEr͘eL?99YE4AAE }ERA A)AIEziE?EeEB@E;Ei@ E9)E6@IE9=AAECuMDļJU6nmy?bD5iVD5=A4yL=%f=ٔh Q->9Y=HFy Eq)Ek˻IE6@iE9=AAchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.938362xUE>Q 5b5Ix?Q 9b5y)BYy,=Q I@EI:i:\Ob5y% Bɮ%A-KEJAREF?AE3AE3AE%I@E2k%&0 @T MEr͘eL?99E6@E9=—EBg&{B(peEB2EbU@iձjElrE<3ZE6Mȟ?bE1iyzEBE6Mȟ?AAڗER3AEK@Q addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.502468 s, deltaX: 0.300000 m, approachRate: 0.597053 m/s, rangeRepo size: 4 Q Added new target pos. range: 11.229478 m, bearing: 180.073959 deg, lat: 36.779415 deg, lon: -121.859482 deg, deltaT: 0.502468 s, deltaX: 0.298127 m, approachRate: 0.593326 m/s, posRepo size: 4 QDNOT Ignoring new targets: 11.23 m.RJIbIZIBI:I2IҔQڔQڒQ’Q]&@] ? "i,=t˺) +>i9)49 VA,\!\?A>j{=> >>[ٱ>{ FAHRS rotation from veh to nav: [[0.961178,-0.274864,-0.024202],[0.275921,0.958043,0.077594],[0.001859,-0.081259,0.996691]]>H`? _ѿ@kȘ`? J?2ݳ?@jt^? lʹ?i>j{=I>e;>CYNByN#IbDVIVDVX4y^=%^r=ٔbnmQ-b?9`Y`=fHFydfEf?hQ 5vb5jւ?Q 9vb5jx)j BYxyzZ%=Q Iz@jEIj};ije;jDRb5y ɮ A QUDNOT Ignoring new targets: 11.23 m.RQJQbZB:2Ҕڔڒ’)? ")Z%=[) 6>i9)c4ê9 .\A,u?A2u=2f>2 ٱ2 :AHRS rotation from veh to nav: [[0.961569,-0.273501,-0.024130],[0.274554,0.958511,0.076655],[0.002164,-0.080334,0.996766]]2H,?`ѿL? ?`?a? ?i2u=I27y`<@ )CAY\AbDaVD24y=%:=ٔ6Q->9Y=HFySE>Q 5b5?Q 9b5x)BY3>Q E;y==Q I@EI|;i;Vb5yɮAJRUNg?AH@R=}R%DcW @ɢbXCY߿8B̃8_ z ?GU36@¸2=— J@|h&a?>w○@o?[#/Xvj3=r@3Z2ޟ?bKgwzBꗍ+qҟ?>~ڗ5A◍HJ@Q addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 11.229484 m, bearing: 179.776433 deg, lat: 36.779416 deg, lon: -121.859481 deg, deltaT: 0.504932 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 QDNOT Ignoring new targets: 11.23 m.RJbZB:2ҔڔkBڒ’/? ]3>]3>] @"]== ) T=i-9)顕4@ ]Pwּ)]07@I]Pw>cA,؏?A06t=6>>6T#ٱ6"\EB EBEB&E@"EB0;*EB:VEB4ZE@BEB9tYt=vHFytzUEz>|Q 5b5~b?Q 9b5~Bx)~BYyF=Q I @~EI~:i~ :~^Yb5y BɮALEJR~?Aq8Aq8A%I@['&53+i @rOӿi~?P!Κ07@Pw<—i'ئR"𨏿P!pNDrrUibJ氩jG}r58ZU3ϟ?bZxzmBꗍU3ϟ?1iyڗ58A◍DNI@Q} addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502963 s, deltaX: 0.300000 m, approachRate: 0.596466 m/s, rangeRepo size: 4 Q Added new target pos. range: 11.527612 m, bearing: 180.076933 deg, lat: 36.779416 deg, lon: -121.859479 deg, deltaT: 0.502963 s, deltaX: 0.298128 m, approachRate: 0.592744 m/s, posRepo size: 4 QDNOT Ignoring new targets: 11.53 m.RJbZB:2Ҕڔڒ’@33'@B? "F=T#) h=i)9)5 m DDAT read: Rx Time:21:35:17.4830 m TRx dataTimestamp_ set to:1761514518.621163u PDAT read: Bearing 348.4, 15.2 (Local) } ~Local bearing/azimuth received: Bearing 348.4, 15.2 (Local)  DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.2  DAT read: 21:35:17.4830 LVL= 30176, 22081, 32754, 32755, AGC= 68, IDX= 505, 0.20,-0.962, 0.556,-1.393,-0.529, PHS=-0.331, 1.130,-0.908, RAW= 345.9, 1.2, CAL= 345.5, -1.8, ROT= 164.5, 1.8  Ygot valid direction response: 21:35:17.4830 LVL= 30176, 22081, 32754, 32755, AGC= 68, IDX= 505, 0.20,-0.962, 0.556,-1.393,-0.529, PHS=-0.331, 1.130,-0.908, RAW= 345.9, 1.2, CAL= 345.5, -1.8, ROT= 164.5, 1.8  T#Rx 39: Read range and direction messages. `direction in FSK: [-0.963155,0.267107,-0.031411] Fpublishing direction and range infoyi m B=>ٱBa JAHRS rotation from veh to nav: [[0.961999,-0.271996,-0.024011],[0.273038,0.959153,0.073999],[0.002903,-0.077743,0.996969]]BH?ahѿ]`uy?`a??g?泿+?iBLVo=IBOe;BCYRByV"#I\iEMb@Mb@Mb@AAAA A9ES?:vV-?YE>yETE9Y=HFy4E>Q 5 b5??Q 9b5w) BY>Q E,;y=Q I@EI\&>@"T==>) #=i79)5$pA,V?A=,,i==Ҍ>=ujٱ= AHRS rotation from veh to nav: [[0.962407,-0.270517,-0.024374],[0.271590,0.959623,0.073238],[0.003578,-0.077105,0.997017]]=H?'Pѿ}a?@:?@?`Nm?@#`?i=,,i=I=@d;=CYBy%#II%=)C=bD\VDP)4y)<%Z=ٔ5Q->9Y=HFyE>Q 5b5ٮ?Q 9b5w)&BYy=Q I@EIS:=%=DDAT read: Rx Time:21:35:17.9831 %TRx dataTimestamp_ set to:1761514519.125508-PDAT read: Bearing 348.4, 15.4 (Local) -~Local bearing/azimuth received: Bearing 348.4, 15.4 (Local) =DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 eDAT read: 21:35:17.9831 LVL= 29120, 21793, 32754, 32755, AGC= 70, IDX= 507,-0.38, 2.950,-1.842, 2.522,-2.912, PHS=-0.319, 1.115,-0.892, RAW= 346.1, 1.1, CAL= 345.6, -1.9, ROT= 164.4, 1.9 mYgot valid direction response: 21:35:17.9831 LVL= 29120, 21793, 32754, 32755, AGC= 70, IDX= 507,-0.38, 2.950,-1.842, 2.522,-2.912, PHS=-0.319, 1.115,-0.892, RAW= 346.1, 1.1, CAL= 345.6, -1.9, ROT= 164.4, 1.9 uT#Rx 40: Read range and direction messages.u`direction in FSK: [-0.962633,0.268772,-0.033155]}Fpublishing direction and range infoy!%ID3?B3Y%f>A!%q%!U! !)%FI%Si%R?%Zd%xL@%nF<%@ %)%7@I%=!!%{0  g? %)%`BI%7@i%=!!checking for new query: numPingsReceived=40, elapsed TxPingTime=19.958647i:`b5yɮAAJ!R%S?A%6=A%6=A%~qI@%u6Q&!!som @*ٿ%ID3?B3%7@%=—%mœ'h!ЈX%RwnNju^xD]nLj%r%<Z%s˟?b%cYyz%IB%U3ϟ?%cYy%IBڗ%Ii>E EE!E"E:;*E:VEc3ZEBE. wA,h?AJd=J4=>JoٱJk ZAHRS rotation from veh to nav: [[0.962714,-0.269405,-0.024548],[0.270490,0.959999,0.072361],[0.004072,-0.076303,0.997076]]JH?=ѿ9#O?P?=?p? ?iJd=IJgc;JCYdydbDzXVDz!4yM %MS=ٔU7Q-U>9QYQ=UHFyQm:@Em>qyQ 5}b5uҸ?Q 9b5u'w)u-BYy0=Q I@uEIu(;iu(;udb5yBɮPAQDNOT Ignoring new targets: 11.83 m.RJbZB:2Ҕڔڒ’a?   " t0=5o)9 =1=i=s9)AM< 5M[E  E E %E "E y>;*E VE 4ZE a @a @a @a @B B B #IB BB P =B B B DQ;B E S0}A,UQ?A2'1c=2v>2⑻ٱ2͙ :AHRS rotation from veh to nav: [[0.962799,-0.269103,-0.024546],[0.270183,0.960185,0.071039],[0.004452,-0.075028,0.997171]]2H ??8ѿ"J? չ?/?UABchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.6868022CY^By^/#IiEMb@Mb@Mb@AAAA A9EI +? rh{Gz?YE9>yEC E#9Y=HFyWLE>Q 55b5ģ?Q 95b5yv)0BY5">Q E=;y=7>Q I=@EI5">5@"57>e⑻)a m\=im9)im'5mD0LᅧL?a|Y=3CA9=pr=Y9 9)9I=Mi=d;?=fff=I@=¸2==C@ =)=f;@I=;99=.Œ翙ϵ忨`YG? =x)=0I=f;@i=;99checking for new query: numPingsReceived=42, elapsed TxPingTime=20.954813^A x/<I I O >Y hA, ?AE2 E2E2&E0"E2=-;*E24:VE24ZE0BE2m\_=>>>fٱ>! FAHRS rotation from veh to nav: [[0.963049,-0.268189,-0.024745],[0.269282,0.960504,0.070142],[0.004956,-0.074214,0.997230]]>H@K?`*ѿ`V;?r?? Lt?`O?i>\_=I>b;>CY^By^*#If@AdbDjWVDj 4yr %rU=ٔrQ-v>9tYt=vHFytzvEz>|Q 5b5~У?Q 9b5~u)~3BYy6>Q I @~EI~M:i~:~kb5yBɮ7AMEJqRue?AuAAuAAu,M@us*'+B*@gʗ]uAQ>LᅧL?a|uf;@u;—u/R0( Wu\׈K"տu!Snl$䛿ju7GruAZu9uԟ?bunNzuBquq#zugBڗuAAuJ@Qu addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503337 s, deltaX: 0.500000 m, approachRate: 0.993370 m/s, rangeRepo size: 4 Q% Added new target pos. range: 12.123884 m, bearing: 183.681494 deg, lat: 36.779416 deg, lon: -121.859479 deg, deltaT: 0.503337 s, deltaX: 0.496881 m, approachRate: 0.987173 m/s, posRepo size: 4 Q%DNOT Ignoring new targets: 12.12 m.R!J!b!Z)B):)2)Ҕ)ڔ11ڒQ’qu`ff(@u@i? "6>f) }=i9)5 oC-kAas9kAY A^AqԑIIO >M DDAT read: Rx Time:21:35:19.4833 M TRx dataTimestamp_ set to:1761514520.637131U PDAT read: Bearing 348.2, 11.8 (Local) ] ~Local bearing/azimuth received: Bearing 348.2, 11.8 (Local) m DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0  DAT read: 21:35:19.4833 LVL= 23056, 20865, 30706, 32755, AGC= 66, IDX= 509, 0.22, 1.081, 2.695, 0.767, 1.590, PHS=-0.407, 1.150,-0.867, RAW= 342.6, 1.4, CAL= 342.1, -1.5, ROT= 167.9, 1.5  Ygot valid direction response: 21:35:19.4833 LVL= 23056, 20865, 30706, 32755, AGC= 66, IDX= 509, 0.22, 1.081, 2.695, 0.767, 1.590, PHS=-0.407, 1.150,-0.867, RAW= 342.6, 1.4, CAL= 342.1, -1.5, ROT= 167.9, 1.5 Թ  T#Rx 43: Read range and direction messages. `direction in FSK: [-0.977448,0.209547,-0.026177] Fpublishing direction and range infoyI M B_AGwem?P!ΚYI I M ZM QM w I )M BIM NbоiM 33?M ]M X@M +nٱnx ~AHRS rotation from veh to nav: [[0.963245,-0.267459,-0.025006],[0.268569,0.960766,0.069279],[0.005495,-0.073449,0.997284]]nH? ѿ`=0??F?`Tv?Ͳ?inU\=Ina;nCYBy3#Iԑi5Mb@Mb@Mb@1111 195/$?{Gzy&1?Y5>y5ף5`e<5l A5@ 5tA)5A1Y5AbDEhBYBYB]"#IB]BB]O =BYBYB]WQ;B]EEu EuEu"Eq"Eu3;*Eu:VEu(3ZEqBEu<2Eu<JEu =<:Eu =<VDEf?4yB<%%=ٔQ->9Y=HFybúE>Q 5b5ܣ?Q 9b5u)7BY+>Q E,;y1W>Q I@EI:i:Yob5yɮAJyR}(?Ayy}M@}r';R@lZnOԿ}B_AGwem?P!Κ}͋;@}Pw<—}D̳D,(X1C*q '.}euoŴ˘ ũj}Cr}bAZ}J⟊?b}+Fz}B}9uԟ?}Ы yڗ}DA} L@Q addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503379 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 12.123896 m, bearing: 183.616046 deg, lat: 36.779417 deg, lon: -121.859483 deg, deltaT: 0.503379 s, deltaX: 0.000011 m, approachRate: 0.000023 m/s, posRepo size: 4 QDNOT Ignoring new targets: 12.12 m.RJbZB:2ҔڔBڒ’ B? =+>=+>=0@"=z1W>m)q uu=iu9)qu-5u;iqiyy/ ! )A,D?AZ= >fƻٱͲ %AHRS rotation from veh to nav: [[0.963335,-0.267110,-0.025276],[0.268235,0.960932,0.068265],[0.006055,-0.072542,0.997347]]H?Rѿ♿ *?`?y?x?@@D?iZ=Ia;CY5By5.#IbDETVDE4ye%mx=ٔmi޺Q-m?9qYq=uHFyq}E}?Q 5b5䣊?Q 9b5st):BYyV>Q I@EI:iW:;rb5yɮAQDNOT Ignoring new targets: 12.12 m.RJbZB:2Ҕڔڒ’?=DDAT read: Rx Time:21:35:19.9834 =TRx dataTimestamp_ set to:1761514521.149173MPDAT read: Bearing 348.2, 13.4 (Local) M~Local bearing/azimuth received: Bearing 348.2, 13.4 (Local) ]DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 DAT read: 21:35:19.9834 LVL= 24752, 19217, 30514, 32755, AGC= 65, IDX= 511, 0.28,-3.045,-1.491, 2.870,-2.576, PHS=-0.366, 1.131,-0.880, RAW= 344.2, 1.3, CAL= 343.8, -1.6, ROT= 166.2, 1.6 Ygot valid direction response: 21:35:19.9834 LVL= 24752, 19217, 30514, 32755, AGC= 65, IDX= 511, 0.28,-3.045,-1.491, 2.870,-2.576, PHS=-0.366, 1.131,-0.880, RAW= 344.2, 1.3, CAL= 343.8, -1.6, ROT= 166.2, 1.6 T#Rx 44: Read range and direction messages.`direction in FSK: [-0.970756,0.238441,-0.027922]Fpublishing direction and range infoy9= n8?|p}Y=HA9=`=K=2w 9)=AI=Zdi=Đ?=Ga=<@=޹<=@ =)=9@I=<99=E1xs濼|fƻ) W=i9):53;ii!% checking for new query: numPingsReceived=44, elapsed TxPingTime=22.206238RA,ȷ^?AFOY=FI׊>FٻٱFf RAHRS rotation from veh to nav: [[0.963436,-0.266719,-0.025532],[0.267857,0.961115,0.067164],[0.006625,-0.071548,0.997415]]FHw?ѿ$$?s?@1?`"{?P@?iFOY=IF.Ea;FCYVByZ/#IIZp<)Zp;bD~`VD~04y S;% Q=ٔ ྺQ- >9Y=HFy E>!Q 5%b5%?Q 9-b5%s)%>BY)y-UV>Q I-@%EI!i%:%ub5y9ɮ=A9JqRu I?AuFAuFAu(K@u/z(@អ&2ֿu n8?|p}u9@u<—ueF(=F@ڿ[thu9UɑGIju*оrubFZuRٟ?bu-}~zufBuRٟ?qqڗuFAu?L@Q addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.512042 s, deltaX: 0.300000 m, approachRate: 0.585890 m/s, rangeRepo size: 4 Q Added new target pos. range: 12.422025 m, bearing: 181.878093 deg, lat: 36.779417 deg, lon: -121.859483 deg, deltaT: 0.512042 s, deltaX: 0.298129 m, approachRate: 0.582236 m/s, posRepo size: 4 QDNOT Ignoring new targets: 12.42 m.RJbZB:2Ҕڔڒ’)@'? "UV>ٻ)  ^=i9)!%5%~i)i9AE<BQ BU (#IBU BBQ BQ BQ BU uQ;BU E^Am H<Iy E  E E (E "E 8;*E ]:VE c44ZE BE Տj{A,Hx?A2X=2`>2 ٱ2 :AHRS rotation from veh to nav: [[0.963518,-0.266376,-0.026020],[0.267548,0.961215,0.066964],[0.007173,-0.071483,0.997416]]2H#?@M ѿ@?E?$?@a}?@L?i2X=I2`;2C<Rchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.710152YzByz!#IiMb@Mb@Mb@ 9Q?~jtY>yD@ )AYAbD[VDy'4yW%@=ٔQ->9Y=HFyDE>Q 5b5V?Q 9b5r)Y>Q E ;y:p>Q I@EI ;i;_yb5yBɮANEJRi?AI@L( @ ˿X8t?W7) ߑ!k8@5<—(cÿ0a cIBU4{zWޥjrFZb䟊?bK wzBꗍJ⟊?BڗMGA◍gL@Q addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 12.422046 m, bearing: 180.720232 deg, lat: 36.779418 deg, lon: -121.859483 deg, deltaT: 0.505846 s, deltaX: 0.000021 m, approachRate: 0.000041 m/s, posRepo size: 4 QDNOT Ignoring new targets: 12.42 m.RJbZB: 2 Ҕ1ڔ=Bڒ9’AAE!r? >>@"Z:p>ԩ ) L=iw9)#5ii} qcA,h?AE& E&3E&#E$"E&<;*E&t ;VE&3ZE$a*@a*@a*@a*@>?U=>OU>>ٱ>x FAHRS rotation from veh to nav: [[0.963694,-0.265700,-0.026403],[0.266899,0.961404,0.066835],[0.007626,-0.071455,0.997415]]>H`?8ѿ@M @???`(<?J ?i>?U=I> x`;>CYRByR#IbDZhVDZf?4yv(%vY=ٔv0Q-v>9xYx=zHFyxzbE~>|Q 5 b5?Q 9 b5,r)?BYyo>Q I@EI:i:|b5yɮAJR ?AWHAWHAK@`xP({|@BοB)uLԆ?]~9@nF<—s)K6zؿkwJU,;3mŠ䟿QjǾrHZQ柊?bln|zBꗉ-}~ڗIA◍JrK@Q  addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502082 s, deltaX: 0.100000 m, approachRate: 0.199171 m/s, rangeRepo size: 4 Q= Added new target pos. range: 12.521422 m, bearing: 181.786479 deg, lat: 36.779418 deg, lon: -121.859481 deg, deltaT: 0.502082 s, deltaX: 0.099377 m, approachRate: 0.197929 m/s, posRepo size: 4 QEDNOT Ignoring new targets: 12.52 m.RAJAbAZABA:A2IҔIڔIڒI’Qu@33)@u`? "*o>) <=i~9)%5iinԉ m DDAT read: Rx Time:21:35:21.4836 m TRx dataTimestamp_ set to:1761514522.661157u PDAT read: Bearing 347.8, 14.5 (Local) } ~Local bearing/azimuth received: Bearing 347.8, 14.5 (Local)  DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.2  DAT read: 21:35:21.4836 LVL= 31776, 25185, 32754, 32755, AGC= 66, IDX= 498,-0.36, 1.891,-2.865, 1.479, 2.342, PHS=-0.349, 1.120,-0.908, RAW= 345.5, 1.5, CAL= 345.0, -1.4, ROT= 165.0, 1.4  Ygot valid direction response: 21:35:21.4836 LVL= 31776, 25185, 32754, 32755, AGC= 66, IDX= 498,-0.36, 1.891,-2.865, 1.479, 2.342, PHS=-0.349, 1.120,-0.908, RAW= 345.5, 1.5, CAL= 345.0, -1.4, ROT= 165.0, 1.4  T#Rx 47: Read range and direction messages. `direction in FSK: [-0.965637,0.258742,-0.024432] Fpublishing direction and range infoyi m ` 爀t:?{JYi i m |m abm  m )i Im !im )\?m rhm @m Pw,ٱT %AHRS rotation from veh to nav: [[0.963890,-0.264949,-0.026795],[0.266173,0.961652,0.066156],[0.008239,-0.070899,0.997449]]H@0?п`p?`? ?߀?r& ?i+R=I2`;CY5By5#IB>BB#IBBBBBB|Q;BEBBBBBCF4bE4jE¶4rE'0EU EUEU$EQ"EU9;*EU:VEU4ZEQBEUfyEE:EAA A)AAYEAbD}MVD} 4ԉy!F%=ٔQ->9Y=HFyE>Q 5b5t?Q 9b5Fq)@BY>Q E&;yP>Q I@ EIt;i;Fb5yBɮAOEJReP?AI@ ѧ.(7 @k6Eӿ` 爀t:?{JN8@+<—8Th) |aM >₩^^I}jrHZdW?b*tzMBꗝb䟊?ln|Bڗ?KA◝2K@Q addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 12.521391 m, bearing: 180.563549 deg, lat: 36.779418 deg, lon: -121.859480 deg, deltaT: 0.504056 s, deltaX: -0.000031 m, approachRate: -0.000062 m/s, posRepo size: 4 QDNOT Ignoring new targets: 12.52 m.RJbZB:2ҔڔsBڒ’ Ǻ? ->->-X@"-P>e,)a eu=ie9)imU*5mZiiiqqu;IqIqchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.718395l>i>ԱQ@Q @Y@]/@Y ^A <I I O >ߵA,,?A:-TR=:>:"&ٱ:4 FAHRS rotation from veh to nav: [[0.963876,-0.264987,-0.026918],[0.266210,0.961724,0.064952],[0.008676,-0.069771,0.997525]]:H?@п@I ?@r? ?ā?ܱ@?i:-TR=I:-2`;:CYJByN #IbDVqVDVO4y^%^=ٔb!ĺQ-b?9`Y`=fHFydf 9Ef?hQ 5vb5j&?Q 9vb5jp)jABYtyvQ>Q Iv@j EIjbp;ijq;j҃b5y|ɮ~A|Q%DNOT Ignoring new targets: 12.52 m.R!J!b!Z!B):)2)Ҕ)ڔ)ڒ1’199=l? YYY"]Q>m"&)i u^=iu9)y}+-5}Ƅiyi(;IIDDAT read: Rx Time:21:35:21.9837 TRx dataTimestamp_ set to:1761514523.165256PDAT read: Bearing 348.4, 14.1 (Local) ~Local bearing/azimuth received: Bearing 348.4, 14.1 (Local) DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 DAT read: 21:35:21.9837 LVL= 30192, 19025, 32754, 32755, AGC= 65, IDX= 499,-0.20, 2.158,-2.583, 1.758, 2.600, PHS=-0.341, 1.145,-0.887, RAW= 345.0, 0.9, CAL= 344.6, -2.0, ROT= 165.4, 2.0 Ygot valid direction response: 21:35:21.9837 LVL= 30192, 19025, 32754, 32755, AGC= 65, IDX= 499,-0.20, 2.158,-2.583, 1.758, 2.600, PHS=-0.341, 1.145,-0.887, RAW= 345.0, 0.9, CAL= 344.6, -2.0, ROT= 165.4, 2.0 uT#Rx 48: Read range and direction messages.}`direction in FSK: [-0.967120,0.251916,-0.034899]}Fpublishing direction and range infoyJ{}ϣc?XޡYLAuQJ )AIi\?oc2@<v@ 5)8@I5=s,濉F] ~? )I8@i5=checking for new query: numPingsReceived=48, elapsed TxPingTime=24.002724%9@) @)@-3@)a^A[R;I I!O-->E EE#E"EU,;*Ed:VE3ZEa@a @a @a @ԑM checking for new query: numPingsReceived=48, elapsed TxPingTime=24.222204 +޷A,?A2O=2s>2!ٱ2` :AHRS rotation from veh to nav: [[0.964032,-0.264383,-0.027277],[0.265632,0.961878,0.065043],[0.009041,-0.069949,0.997510]]2HY? п`? ? ?'? +豿@?i2O=I2n`;2CYNByR#IbDZcVDZ264ye%m@=ٔu`ԡQ->9Y=HFyE>YQ 5b5]&?Q 9b5]p)]BBYydP>Q I@]EI]5!)1 56=i=T9)y}05ii];II1@1 @1@50@1@9@9ByByB}#IB}BB}P =ByByB}Q;B}EE EEE"EO6;*E:VEZEBECR9A,Ψ?AYbByb#IIf<)f<ԙiMb@Mb@Mb@ 9> ףp=?Mbp?Y>y̼;CA@ A)AY3AbDfVD;4yB%;=ٔQ->9Y= HFy  E >Q 5b5/?Q 9b5so)DBY%~>Q E%9;y%:>Q I%@EI:i:Yb5y-Bɮ-A5EEJR(?A8I@&@Aj(˿? @) ֿ]x\{,?|p}'7@<—of)~՟#yq>$F΃￐2$MdnGo:jr6KZ{?bx Hpz"BꗅdW?uMBڗMA◅~>C@":>) =i9)465Լii;IIM9@Q @Q@]4@a]DDAT read: Rx Time:21:35:22.9840 eTRx dataTimestamp_ set to:1761514524.173192mPDAT read: Bearing 347.9, 14.8 (Local) m~Local bearing/azimuth received: Bearing 347.9, 14.8 (Local) }DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 DAT read: 21:35:22.9840 LVL= 31904, 20657, 32754, 32755, AGC= 67, IDX= 501, 0.05,-2.576,-1.061,-3.000,-2.139, PHS=-0.335, 1.122,-0.906, RAW= 345.8, 1.3, CAL= 345.4, -1.6, ROT= 164.6, 1.6 Ygot valid direction response: 21:35:22.9840 LVL= 31904, 20657, 32754, 32755, AGC= 67, IDX= 501, 0.05,-2.576,-1.061,-3.000,-2.139, PHS=-0.335, 1.122,-0.906, RAW= 345.8, 1.3, CAL= 345.4, -1.6, ROT= 164.6, 1.6 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.963720,0.265453,-0.027922]Fpublishing direction and range infoyY]]x\{,?|p}Y]3SAY]|]PY Y)YI]i]?]g]!@]޹ E  E E $E "E >T;*E u:VE 4ZE a @a @a @a @A,ly?A2\H=2>2@!ٱ2L :AHRS rotation from veh to nav: [[0.964511,-0.262578,-0.027790],[0.263861,0.962410,0.064375],[0.009842,-0.069423,0.997539]]2H E?`п@t?`?z?(? ű`?i2\H=I2_;2CYwBy"IbDiVD=A4y%z%%H=ٔ%Q-->9)Y)=-HFy)5RE5>YQ 5eb5]9?Q 9eb5]n)]FBYaye9>Q Im@]EI]W:i]N:]b5yBɮOAFEchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.230417JR ?AQAQAI@ֆH)y-Y @`p׿]x\{,?|p}—nw1*3jꂓh @^ZvD0RcjWrQZ韊?bozBꗑ*t"BڗOA◕J@Qe addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503932 s, deltaX: 0.400000 m, approachRate: 0.793757 m/s, rangeRepo size: 4 Q Added new target pos. range: 13.117618 m, bearing: 180.035069 deg, lat: 36.779420 deg, lon: -121.859476 deg, deltaT: 0.503932 s, deltaX: 0.397503 m, approachRate: 0.788803 m/s, posRepo size: 4 QDNOT Ignoring new targets: 13.12 m.RJbZB:2Ҕڔڒ’`ff*@-X? !!!"%9>e@!) =i9)顕:5ii;II!@ @@4@Q DDAT read: Rx Time:21:35:23.4840  TRx dataTimestamp_ set to:1761514524.681271 PDAT read: Bearing 347.4, 14.3 (Local)  ~Local bearing/azimuth received: Bearing 347.4, 14.3 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.3 ^A 0;I I OU >y  DAT read: 21:35:23.4840 LVL= 31408, 20785, 32754, 32755, AGC= 66, IDX= 501, 0.21, 2.288,-2.470, 1.879, 2.748, PHS=-0.358, 1.110,-0.914, RAW= 345.4, 1.8, CAL= 344.9, -1.1, ROT= 165.1, 1.1 = Ygot valid direction response: 21:35:23.4840 LVL= 31408, 20785, 32754, 32755, AGC= 66, IDX= 501, 0.21, 2.288,-2.470, 1.879, 2.748, PHS=-0.358, 1.110,-0.914, RAW= 345.4, 1.8, CAL= 344.9, -1.1, ROT= 165.1, 1.1 E T#Rx 51: Read range and direction messages.M `direction in FSK: [-0.966198,0.257085,-0.019197]M Fpublishing direction and range infoy  5t?]~Y z 1Q ) BIA,U/?AIKi{?ib@=@ nF)!k8@InF<][sH!V濐ڢz.? pT)|I!k8@inF<-checking for new query: numPingsReceived=51, elapsed TxPingTime=25.583626]wF=]R|>]&ٱ]쌽 mAHRS rotation from veh to nav: [[0.964629,-0.262130,-0.027899],[0.263414,0.962580,0.063656],[0.010169,-0.068753,0.997582]]]H`>?`пo?`u?K?@:ӄ?Ι0?i]wF=I]p^_;YYkBy"IBBB"IByBBO =BBB]Q;BEQEe EeEe'Ea"Ee3;*Ee]:VEe'4ZEaBEey%\%t<%l A%@ !)%tA!Y%\AbD]hVD]f?4ymU%u7=ٔu?Q-u>9yYy=}HFyy}E}>Q 5b5B?Q 9b5n)IBY{>Q EX;yO>Q I@EI;i];Вb5y ɮ A JR+?ArI@s5Y)+0 @@п5t?]~!k8@nF<—$z^4*0»5 !69~ ⧿j޽rQZmhx?bDcqz2BDcqڗ:QAI@Q addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.508079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 13.117639 m, bearing: 180.474166 deg, lat: 36.779420 deg, lon: -121.859475 deg, deltaT: 0.508079 s, deltaX: 0.000021 m, approachRate: 0.000041 m/s, posRepo size: 4 QDNOT Ignoring new targets: 13.12 m.RJbZB:2Ҕڔ=Bڒ’~? M{>M{>M{@"MO>ԁ]&) T=i@9)額@5ii✤;IIchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.734350I)iAy@y @y@}S3@y@=@=ԩ^A C;I I O >0A, 0I?A2D=2S>>2u?)ٱ2J :AHRS rotation from veh to nav: [[0.964752,-0.261686,-0.027815],[0.262957,0.962758,0.062859],[0.010330,-0.067958,0.997635]]2H @? vп{@J???'?`e?i2D=I2_;2CYReByR"I TTbDZTVDZ4yb -%f=ٔfQ-f ?9hYh=jHFyhjúEj ?lQ 5rb5n I?Q 9vb5nGn)nKBYtyv>Q Iv@nEInd:in:nb5yxɮzA|4=a=-DDAT read: Rx Time:21:35:23.9842 -TRx dataTimestamp_ set to:1761514525.181490=PDAT read: Bearing 348.8, 13.4 (Local) =~Local bearing/azimuth received: Bearing 348.8, 13.4 (Local) MDAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 uDAT read: 21:35:23.9842 LVL= 29904, 20209, 32754, 32755, AGC= 66, IDX= 504,-0.43, 0.352, 1.925,-0.029, 0.798, PHS=-0.344, 1.172,-0.872, RAW= 344.4, 0.5, CAL= 343.9, -2.5, ROT= 166.1, 2.5 Ygot valid direction response: 21:35:23.9842 LVL= 29904, 20209, 32754, 32755, AGC= 66, IDX= 504,-0.43, 0.352, 1.925,-0.029, 0.798, PHS=-0.344, 1.172,-0.872, RAW= 344.4, 0.5, CAL= 343.9, -2.5, ROT= 166.1, 2.5 T#Rx 52: Read range and direction messages.`direction in FSK: [-0.969793,0.239999,-0.043619]Fpublishing direction and range infoy)- kruK?GUY-XA)-t-N) )))I- i-?-d;_-hY@-5<-@ -¸2)-9@I-¸2=))-LS 濏Cp)dU? -ou)- I-9@i-¸2=))%checking for new query: numPingsReceived=52, elapsed TxPingTime=26.019196Q] addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.500219 s, deltaX: 0.300000 m, approachRate: 0.599738 m/s, rangeRepo size: 4 Q]DNOT Ignoring new targets: 13.12 m.RYJYbYZYBa:a2aҔaڔiڒi’im+@m$? Ա">u?)) =i<9)  6E5 i i115;I1I99@ @@/@Em EmEm#Ei"Em1A;*Em:VEm3ZEia}@a}@a}@a}@checking for new query: numPingsReceived=52, elapsed TxPingTime=26.238457 ^A- ;I1 II OU > SkA - 95 SkAY5 A9 /^A,c?Au@=uÇ>u{*ٱuF AHRS rotation from veh to nav: [[0.964997,-0.260793,-0.027720],[0.262055,0.963035,0.062382],[0.010427,-0.067463,0.997667]]uH@?@հпb`? .??Z?9E?iu@=Iu_;uCY\By"IbDeVD94y%7=ٔ cQ- >9Y=HFyf E>Q 5-b5DR?Q 95b5m)OBY9yE=Q IE@EI;i<{b5yBɮ4A%GE=DDAT read: Rx Time:21:35:24.4842 =TRx dataTimestamp_ set to:1761514525.686670MPDAT read: Bearing 348.3, 13.5 (Local) M~Local bearing/azimuth received: Bearing 348.3, 13.5 (Local) ]DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.2 DAT read: 21:35:24.4842 LVL= 31632, 20289, 32754, 32755, AGC= 67, IDX= 504,-0.23,-1.301, 0.256,-1.683,-0.849, PHS=-0.350, 1.150,-0.878, RAW= 344.5, 0.9, CAL= 344.1, -2.1, ROT= 165.9, 2.1 Ygot valid direction response: 21:35:24.4842 LVL= 31632, 20289, 32754, 32755, AGC= 67, IDX= 504,-0.23,-1.301, 0.256,-1.683,-0.849, PHS=-0.350, 1.150,-0.878, RAW= 344.5, 0.9, CAL= 344.1, -2.1, ROT= 165.9, 2.1 T#Rx 53: Read range and direction messages.`direction in FSK: [-0.969221,0.243451,-0.036644]Fpublishing direction and range infoy9=AᅭLk)?(א¢Y99={=AO9 9)=CI=33i=33?=`=g@=<=.@ =Q )=O9@I=Q =99=en 濾O{p濁GG8? =Q)=.wI=O9@i=Q =99-checking for new query: numPingsReceived=53, elapsed TxPingTime=26.523153JQRUK?AUVAUVAUJ@Ua*+ @nHb'۹U kruK?GUU9@U¸2=—Uh*Ql+ ֿcUI│Y}߱jUrUVZU7=ꟊ?bUHwzU}BUmhx?QUBڗUTAU[I@Q addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.505180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 1QE Added new target pos. range: 13.415767 m, bearing: 181.478121 deg, lat: 36.779420 deg, lon: -121.859475 deg, deltaT: 0.500219 s, deltaX: 0.298128 m, approachRate: 0.595995 m/s, posRepo size: 4 QEDNOT Ignoring new targets: 13.42 m.RAJAbIZIBI:I2IҔQڔQڒq’yy}`ղ? "t={*) v=i9)I5ii#{;IIe>i>B>BB"IBeBBBBBFQ;BEEu EuEu'Eq"Eu1;*Eu:VEu'4ZEqBEuX A,?A6/k==6Z>6%/ٱ6 >AHRS rotation from veh to nav: [[0.965204,-0.260020,-0.027769],[0.261281,0.963283,0.061794],[0.010681,-0.066900,0.997703]]6H ?+пnoѸ?6?`?`)?T -?i6/k==I6P_;4YbTByf"IiUMb@Mb@Mb@QQQQ Q9UDl? ףp= Mb`YUO>yUQ8UUAQ Q)UAQYUAbDmSVDm4y} %}B=ٔQ->9Y=HFyE>Q 5b5\?Q 9b5m)Y.>Q E=;y%=Q I@EI;i;'b5yɮwAJaRegk?AaaeyhJ@eIn* @U,)hv߿eAᅭLk)?(א¢eO9@eQ =—eiҚ*3\شҿ!ef.Vq~ZvPv-je-re,VZew?beeuzeBaaaڗeVAeI@aQDNOT Ignoring new targets: 13.42 m.RJ b Z B:29ҔIڔM+BڒQ’y#? .>.>@"%==%/)9 =أ=i=B9)9EN5AiAiAIM{R;IIIIԉ9@ @@/@5DDAT read: Rx Time:21:35:24.9844 5TRx dataTimestamp_ set to:1761514526.189222EPDAT read: Bearing 348.9, 13.0 (Local) E~Local bearing/azimuth received: Bearing 348.9, 13.0 (Local) UDAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 DAT read: 21:35:24.9844 LVL= 28432, 23153, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.104, 1.480,-0.472, 0.344, PHS=-0.347, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.5, -2.7, ROT= 166.5, 2.7 Ygot valid direction response: 21:35:24.9844 LVL= 28432, 23153, 32754, 32755, AGC= 67, IDX= 506,-0.12,-0.104, 1.480,-0.472, 0.344, PHS=-0.347, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.5, -2.7, ROT= 166.5, 2.7 T#Rx 54: Read range and direction messages.`direction in FSK: [-0.971290,0.233186,-0.047106]Fpublishing direction and range infoy159eᅥb ?P7VY5\A15o5qZ1 1)1I5i5+?5(\57 @5;5ؿ@ 5A)5w9@I5A=115ȠqC翸8gyt? 5)5lˣI5w9@i5A=11checking for new query: numPingsReceived=54, elapsed TxPingTime=27.013636Թ^A r;I I O >Eu  Eu Eu &Eq "Eu O6;*Eu u:VEu 4ZEq a} @a} @a} @a} @ A,d͘?A2A_<=2;9>20ٱ2 >AHRS rotation from veh to nav: [[0.965269,-0.259795,-0.027599],[0.261034,0.963412,0.060818],[0.010789,-0.065910,0.997767]]2H|?yпB@ƴ?`E? |#??`s߰?i2A_<=I2_;2CYBQByF"IIJ<)J; LN<bDPVDPyVeb%ZZ=ٔZKQ-Z>9XY\=^HFy\^2Eb>`Q 5fb5bd?Q 9fb5bRm)bPBYhyj=Q Ij@bEIb:ib:bmb5ylɮrApJyR}7?A}k[A}k[A}K@}bgZ* C @/P}9eᅥb ?P7V}w9@}A=—}rbIW+L;ۿfN6}?q_AJzFj}޾r}ZZ}Y?䟊?b}=rxz}RB}7=ꟊ?}eu}Bڗ}YA}oJ@Q- addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.502552 s, deltaX: 0.300000 m, approachRate: 0.596954 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=54, elapsed TxPingTime=27.246538Q Added new target pos. range: 13.713855 m, bearing: 181.824292 deg, lat: 36.779419 deg, lon: -121.859477 deg, deltaT: 1.007732 s, deltaX: 0.298088 m, approachRate: 0.295801 m/s, posRepo size: 4 QDNOT Ignoring new targets: 13.71 m.RJbZB:2Ҕڔڒ’+@}? 999"==m0) <=i.9)顝R5iiZI;IIi@i @i@m.0@i^Au 7;IIO>1 } DDAT read: Rx Time:21:35:25.4845  TRx dataTimestamp_ set to:1761514526.698541 PDAT read: Bearing 349.1, 12.0 (Local)  ~Local bearing/azimuth received: Bearing 349.1, 12.0 (Local)  DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.1 5 DAT read: 21:35:25.4845 LVL= 30112, 21793, 32754, 32755, AGC= 68, IDX= 506,-0.01,-0.744, 0.894,-1.078,-0.270, PHS=-0.372, 1.209,-0.852, RAW= 342.8, 0.2, CAL= 342.4, -2.8, ROT= 167.6, 2.8 = Ygot valid direction response: 21:35:25.4845 LVL= 30112, 21793, 32754, 32755, AGC= 68, IDX= 506,-0.01,-0.744, 0.894,-1.078,-0.270, PHS=-0.372, 1.209,-0.852, RAW= 342.8, 0.2, CAL= 342.4, -2.8, ROT= 167.6, 2.8 E T#Rx 55: Read range and direction messages.M `direction in FSK: [-0.975506,0.214479,-0.048850]U Fpublishing direction and range infoy  X77 t?s!DY `A u !U ) DI vi ? Z t@ d; t;@ +H) 6;@I +H= /*t翼֬$WBg? !0) :I 6;@i +H=  checking for new query: numPingsReceived=55, elapsed TxPingTime=27.547497Y A,?AB2>B0B2"IB2PBB2Q =B0B0B2aQ;B2E>- :=>>>F/ٱ>7 JAHRS rotation from veh to nav: [[0.965418,-0.259239,-0.027608],[0.260486,0.963524,0.061391],[0.010686,-0.066460,0.997732]]>H@?`п`FEͫ?/?n??}`k?i>- :=I>o_;>CYRBByR"IE= E=E=#E9"E=%;*E=|:VE=3ZE9BE=)yPA@ A)AYAbD=PVD=:4yM%U2=ٔui9Q-u>9qYq=uHFyq}/E}>Q 5b5o?Q 9b5 m)QBY>Q E>;y =Q I@EI;i:;ub5yɮAJR崬?A^A^AML@Mqq$+(4@k!{)X77 t?s!D6;@+H=—oAC+EeusWIwn}"xԩR r{˲j3r]Zߟ?bƒz7BꗩHw}Bڗ[A◭J@Qu addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.509319 s, deltaX: 0.200000 m, approachRate: 0.392681 m/s, rangeRepo size: 4 Q} Added new target pos. range: 13.912536 m, bearing: 182.899582 deg, lat: 36.779419 deg, lon: -121.859478 deg, deltaT: 0.509319 s, deltaX: 0.198681 m, approachRate: 0.390091 m/s, posRepo size: 4 QDNOT Ignoring new targets: 13.91 m.RJbZB:2ҔڔBڒ’,@q? >>Q,@"t =5F/)1 5\=i59)15W59i9i9Ae1);IaIaqchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.7504439@ @@/0@@ =@ =Yԉ ^A9 II IY Oe >] DDAT read: Rx Time:21:35:25.9846 e TRx dataTimestamp_ set to:1761514527.197078m PDAT read: Bearing 348.5, 12.1 (Local) m ~Local bearing/azimuth received: Bearing 348.5, 12.1 (Local) } DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3  DAT read: 21:35:25.9846 LVL= 31504, 17633, 32482, 32755, AGC= 71, IDX= 507, 0.11,-0.455, 1.142,-0.782, 0.025, PHS=-0.378, 1.162,-0.851, RAW= 343.0, 0.7, CAL= 342.5, -2.2, ROT= 167.5, 2.2  Ygot valid direction response: 21:35:25.9846 LVL= 31504, 17633, 32482, 32755, AGC= 71, IDX= 507, 0.11,-0.455, 1.142,-0.782, 0.025, PHS=-0.378, 1.162,-0.851, RAW= 343.0, 0.7, CAL= 342.5, -2.2, ROT= 167.5, 2.2  T#Rx 56: Read range and direction messages.Ա  `direction in FSK: [-0.975576,0.216280,-0.038388] Fpublishing direction and range infoyY ] ,7q֯?.Y] aAY ] {] D] ~ Y )] GI] 7i] j?] #Y] =@] +H<] I@ ] nF)] k;@I] nF=Y Y ] 1#BhSf䘛? ] > )] PTI] k;@i] nF=Y Y  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.018524\A,?AB=|5=B\>B2/ٱB JAHRS rotation from veh to nav: [[0.965708,-0.258155,-0.027644],[0.259411,0.963789,0.061784],[0.010693,-0.066836,0.997707]]BH`?`пN.?[?%? %?/6?iB=|5=IB_;@YE8ByM"IbD]mVD]H4ymK%mM=ٔmnQ-u>9Y=HFy4E>Q 5b5'y?Q 9b5l)RBYyڠ=Q I@EI;i>;b5yBɮ`AHEJR?A0`A0`AL@lV+ B}v>@ץ"]6,7q֯?.k;@nF=—Yg+0 <w+T~LC￞Ԗ")-j(r~_Z]?b$~zsBY?䟊?=rxsBڗ^A&K@Q addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.498537 s, deltaX: 0.100000 m, approachRate: 0.200588 m/s, rangeRepo size: 4 Q Added new target pos. range: 14.011911 m, bearing: 182.699183 deg, lat: 36.779418 deg, lon: -121.859478 deg, deltaT: 0.498537 s, deltaX: 0.099376 m, approachRate: 0.199335 m/s, posRepo size: 4 QDNOT Ignoring new targets: 14.01 m.RJbZB:!2!Ҕ!ڔ)ڒ)’)5@33,@5Q?E EE"E"EC;*E4:VE(3ZEa@a@a@a@ "ڠ=2/) PM=i9) [5ii:II9@ @@l1@iIAchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.254993) ^A 2;I I O >qdA,d?A Y~;By~"I  %>%=bDUVDn4y-,[<%5C=ٔ=Q-E>9IYI=UHFyYeEm>DDAT read: Rx Time:21:35:26.4846 TRx dataTimestamp_ set to:1761514527.705865PDAT read: Bearing 348.7, 11.9 (Local) ~Local bearing/azimuth received: Bearing 348.7, 11.9 (Local) Q 55b5?Q 95b5l)TBY9y9Q I=@ EIT;*E:VE4ZEBE\LB,F@?AP>;/=>ۤ>>12ٱ> ZAHRS rotation from veh to nav: [[0.966069,-0.256810,-0.027548],[0.258054,0.964198,0.061081],[0.010876,-0.066117,0.997753]]>H ?oп 5?@?E?F? ?i>;/=I>p^;>CYb8Byb"IieMb@Mb@Mb@aaaa a9ex&1?Zd;y&1|?Ye>yeye`;ae@ e^A)etAaYe AbD}dVD} 84yL%6=ٔAֹQ->9Y=HFy-OE>Q 5b5?Q 9b5l)WBYK>Q EK;ykRd\ jg*rp_ZF?b~zZB~ZBڗbAtL@Q addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.508787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q% Added new target pos. range: 14.011915 m, bearing: 182.728941 deg, lat: 36.779418 deg, lon: -121.859481 deg, deltaT: 0.508787 s, deltaX: 0.000004 m, approachRate: 0.000007 m/s, posRepo size: 4 Q%DNOT Ignoring new targets: 14.01 m.R!J)b)Z)B):)2)Ҕ1ڔ5Bڒ1’19= }? ]K>]K>]}@"]kvB,a?A2,=2H>2tZ2ٱ2⥆ :AHRS rotation from veh to nav: [[0.966250,-0.256144,-0.027406],[0.257376,0.964404,0.060689],[0.010886,-0.065695,0.997780]]2H? dпm x?d??1K?`Ѱ ?i2,=I2d^;2CYN=ByR"IbDZzVDZ`4yzc<%z= checking for new query: numPingsReceived=58, elapsed TxPingTime=29.2634629ٔmQ-m ?9qYq=HFyaE?9Q 5Eb5=y?Q 9Eb5=ol)=YBYAyEB B "IB 7BB O =B B B Q;B E^A :I E  E E $E "E m+;*E :VE 4ZE BE ܄ B,6?AR[*=R>R1ٱR?h nAHRS rotation from veh to nav: [[0.966408,-0.255572,-0.027177],[0.256786,0.964586,0.060297],[0.010805,-0.065250,0.997810]]RH`? K[пaԛ-o?? ?߮? ?= ?iR[*=IRm^;RCYv8Byv"I|~AiUMb@Mb@Mb@QQQQ Q9U/$?p= ףyUUt9Y=HFyE>Q 5b5Ҟ?Q 9b5]l)]BYF>Q EA;y6F>d@"Q6<1) u=i9)q5ii\II@ @@/@1Y ^A ጹ DDAT read: Rx Time:21:35:27.9850  TRx dataTimestamp_ set to:1761514529.213076 PDAT read: Bearing 347.7, 2.4 (Local)  ~Local bearing/azimuth received: Bearing 347.7, 2.4 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 E DAT read: 21:35:27.9850 LVL= 31728, 23713, 32754, 32755, AGC= 71, IDX= 512,-0.47, 0.298, 1.698, 0.336, 0.860, PHS=-0.460, 0.883,-0.568, RAW= 333.9, 2.1, CAL= 332.9, -0.7, ROT= 177.1, 0.7 M Ygot valid direction response: 21:35:27.9850 LVL= 31728, 23713, 32754, 32755, AGC= 71, IDX= 512,-0.47, 0.298, 1.698, 0.336, 0.860, PHS=-0.460, 0.883,-0.568, RAW= 333.9, 2.1, CAL= 332.9, -0.7, ROT= 177.1, 0.7 M T#Rx 60: Read range and direction messages.U `direction in FSK: [-0.998645,0.050589,-0.012217]U Fpublishing direction and range infoy   ~R?I:Y 3kA { \ ) GI i J b? sh %|@ Q = +@ +H) E@I +H< f\t:T7?ܖ? E#) &I E@i +H< u checking for new query: numPingsReceived=60, elapsed TxPingTime=30.033741I I O >B,F]P?A%U&=%>%2ٱ%F 5AHRS rotation from veh to nav: [[0.966624,-0.254756,-0.027161],[0.255968,0.964817,0.060080],[0.010900,-0.065027,0.997824]]9%H ?Mп)Лa??®?R?,?i%U&=I%)^;%CY2By"IbDcVD264y*%W=ٔlQ->9Y=HFyE%>!Q 5-b5%?Q 9-b5%Nl)%`BYQyU/i>iPExceeded connect timeout, disconnecting.e9@a @a@e/@a@m=@m=mchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.271202ԑ^A "I I O > _B,6j?A>G$=>^F>>1ٱ>1 JAHRS rotation from veh to nav: [[0.966756,-0.254271,-0.027006],[0.255470,0.964968,0.059773],[0.010861,-0.064685,0.997847]]>H@?`Eп`Y???]>?/\?i>G$=I>,^;9Y=HFyꞺE> DAT read: 21:35:28.4850 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 511, 0.47, 2.940,-1.748, 2.616,-2.816, PHS=-0.425, 1.114,-0.895, RAW= 342.9, 2.3, CAL= 342.5, -0.6, ROT= 167.5, 0.6 Q 5b5`?Q 9b5=l)dBYy֬=iE9)AEx5AiAiIIU!ϺIQIQE EE'E"E%.;*E:VE'4ZEBE6 B,m?AYyhu<CA@ ^A)tAYAAAbDbVD[44y@=%5=ٔQ->9Y=HFyE>Q 5b5칤?Q 9b5Nl)hBY_>Q ES;yμQ I@+EI:i:#b5yɮUAQDNOT Ignoring new targets: 14.61 m.RJbZB:2!Ҕ!ڔ%Bڒ!’))-d? M_>M_>Mۿ@"MA@Y)Y e\>ie9)ae;5aiaiiiuX@ƺIqIqDDAT read: Rx Time:21:35:28.9852 TRx dataTimestamp_ set to:1761514530.222053PDAT read: Bearing 349.0, 11.4 (Local) ~Local bearing/azimuth received: Bearing 349.0, 11.4 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 @ @@0@!EDAT read: 21:35:28.9852 LVL= 32752, 29553, 27122, 31859, AGC= 73, IDX= 2,-0.49, 2.602,-2.061, 2.298, 3.085, PHS=-0.381, 1.182,-0.831, RAW= 342.3, 0.3, CAL= 341.8, -2.6, ROT= 168.2, 2.6 MYgot valid direction response: 21:35:28.9852 LVL= 32752, 29553, 27122, 31859, AGC= 73, IDX= 2,-0.49, 2.602,-2.061, 2.298, 3.085, PHS=-0.381, 1.182,-0.831, RAW= 342.3, 0.3, CAL= 341.8, -2.6, ROT= 168.2, 2.6 UT#Rx 62: Read range and direction messages.]`direction in FSK: [-0.977860,0.204286,-0.045363]Fpublishing direction and range infoyeJ￟qY&?99YpAqsi s|)IIoþiK?jT'-@;@ 9);@I9=nZ&ɈBZyw? ()콻I;@i9=checking for new query: numPingsReceived=62, elapsed TxPingTime=31.058950IE % E E &E "E O];*E :VE 4ZE a @a @a @a @^A% NJκI1 IA OU > nManaging dock network, ignoring radio surface power offy #'B,?Achecking for new query: numPingsReceived=62, elapsed TxPingTime=31.279051 TVdCR =Rƃ>Rm5-ٱR% GAY?9Y A AHRS rotation from veh to nav: [[0.967008,-0.253373,-0.026429],[0.254528,0.965266,0.058960],[0.010572,-0.063742,0.997910]]RH?A7п@.J?`v?0?@?@fQ?iR =IR;^;RCyYu?maAQYayabDoVDHL4y+%H=ٔ8:Q->9 Y=HFy%5E->AQ 5]b5E¤?Q 9]b5Eal)EmBYaymH׼Q Im@E-EIE;iE;Eb5yɮWAJ R 6?A nA nA PL@ ,'- "x\@;e eJ￟qY&?99 ;@ 9=— b-nY,鿌P"^ -wᅤK׫ӏj Or mZ fߟ?b #z 0B ,䟊? # ڗ mA L@Q addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.497925 s, deltaX: 0.300000 m, approachRate: 0.602501 m/s, rangeRepo size: 4 Q Added new target pos. range: 14.906337 m, bearing: 183.124482 deg, lat: 36.779418 deg, lon: -121.859482 deg, deltaT: 0.497925 s, deltaX: 0.298113 m, approachRate: 0.598710 m/s, posRepo size: 4 QDNOT Ignoring new targets: 14.91 m.RJbZB:2!Ҕ!ڔ!ڒ)’)-.@- ?y "8@m5-) >i (9)  %5 i iII!@ @@/@@@jA=DDAT read: Rx Time:21:35:29.4852 ETRx dataTimestamp_ set to:1761514530.737490ePDAT read: Bearing 348.4, 10.6 (Local) m~Local bearing/azimuth received: Bearing 348.4, 10.6 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 Աm DAT read: 21:35:29.4852 LVL= 30416, 21025, 32754, 32755, AGC= 70, IDX= 497, 0.40, 3.117,-1.495, 2.834,-2.638, PHS=-0.426, 1.188,-0.856, RAW= 341.5, 1.0, CAL= 341.0, -1.9, ROT= 169.0, 1.9 u Ygot valid direction response: 21:35:29.4852 LVL= 30416, 21025, 32754, 32755, AGC= 70, IDX= 497, 0.40, 3.117,-1.495, 2.834,-2.638, PHS=-0.426, 1.188,-0.856, RAW= 341.5, 1.0, CAL= 341.0, -1.9, ROT= 169.0, 1.9 } T#Rx 63: Read range and direction messages. `direction in FSK: [-0.981087,0.190704,-0.033155] Fpublishing direction and range infoy9=CYe˺h?B3Y99=v=!R= =)=FI=ھi=b?="[=ƺ@=5<=Is@ =)=Z<@I==99=u>ǰ64忥jW:? =Z)=tؑI=Z<@i==99 checking for new query: numPingsReceived=63, elapsed TxPingTime=31.596375B B B "IB 7BB B B B Q;B E E $ E E E "E g\;*E :VE ZE BE --B,h?Ab=b>bW&ٱbDǀ zAHRS rotation from veh to nav: [[0.967138,-0.252943,-0.025775],[0.254049,0.965439,0.058200],[0.010163,-0.062835,0.997972]]bH? 60пdWB??Z̭?`Є?@c?ib=Ib];bCYGBy"Ii5Mb@Mb@Mb@1111 195RQ?L7A`尿~jt?Y5>y5+5D<5VA55@ 5tA)5A1Y5AbD]jVD]C4y}Q=%}E=ٔ\:Q->9Y=HFyE>checking for new query: numPingsReceived=63, elapsed TxPingTime=31.790382Q 5b5ˤ?Q 9b5\l)qBY>Q EI;y;Q I@.EIi;ih;[b5yɮA JR 3?A]M@[?-VwC۽@dY߿CYe˺h?B3Z<@=—.F-Q5I,ZA4 ￵(/*0|.jrmZ _蟊?bkzBꗭ _蟊?ڗmA◭ L@Qu addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.515437 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 14.906356 m, bearing: 183.851050 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.515437 s, deltaX: 0.000019 m, approachRate: 0.000037 m/s, posRepo size: 4 QDNOT Ignoring new targets: 14.91 m.RJbZB:2Ҕڔ#Bڒ’J? >>@"D;-W&)1 5\=i5#9)15Y51i1i9AEQt4IAIA!9@ @@0@A^A= IA e DDAT read: Rx Time:21:35:29.9853 e TRx dataTimestamp_ set to:1761514531.237230u PDAT read: Bearing 347.4, 11.6 (Local) u ~Local bearing/azimuth received: Bearing 347.4, 11.6 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2  DAT read: 21:35:29.9853 LVL= 32752, 26513, 32754, 32755, AGC= 71, IDX= 498, 0.27,-2.203,-0.603,-2.514,-1.681, PHS=-0.420, 1.124,-0.877, RAW= 342.6, 1.9, CAL= 342.1, -1.0, ROT= 167.9, 1.0  Ygot valid direction response: 21:35:29.9853 LVL= 32752, 26513, 32754, 32755, AGC= 71, IDX= 498, 0.27,-2.203,-0.603,-2.514,-1.681, PHS=-0.420, 1.124,-0.877, RAW= 342.6, 1.9, CAL= 342.1, -1.0, ROT= 167.9, 1.0  T#Rx 64: Read range and direction messages. `direction in FSK: [-0.977634,0.209587,-0.017452] Fpublishing direction and range infoya e ּHjb?W7) ߑYe 3sAa e e ga a )e GIe = ׾ie ;ߏ?e `e X@e =e @ e 5)e ͋;@Ie 5 e })e Ie ͋;@ie 59Y=HFyE>Q 5b5$Ԥ?Q 9b5Wl)tBYyQ I@0EI:i:b5yBɮAJEE EEE"E9;*E1:VEZEa%@a%@a%@a-@JR.?AqAqAzL@%I׈-z#aS @f(пּHjb?W7) ߑ͋;@5<—h}&.a żV Oh1ᅮh_aj5r7qZLݟ?bNUzBꗥ,䟊?BQڗWpA◥L@Q addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.499740 s, deltaX: 0.200000 m, approachRate: 0.400208 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.105107 m, bearing: 182.698403 deg, lat: 36.779418 deg, lon: -121.859482 deg, deltaT: 0.499740 s, deltaX: 0.198751 m, approachRate: 0.397710 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.11 m.RJbZB:2Ҕڔڒ’`ff.@_C? 111"1A)A ET=iE<9)IM5IiIiqquh0IqIy%9@) @)@-4@)ԁchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.295135Ա^Am "5Iy I O > ռ:B,p ?AEDDAT read: Rx Time:21:35:30.4853 UTRx dataTimestamp_ set to:1761514531.745367uPDAT read: Bearing 347.8, 11.6 (Local) }~Local bearing/azimuth received: Bearing 347.8, 11.6 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 ԱDAT read: 21:35:30.4853 LVL= 30768, 19121, 32754, 32755, AGC= 70, IDX= 498, 0.14,-2.581,-0.976,-2.890,-2.069, PHS=-0.409, 1.139,-0.865, RAW= 342.5, 1.5, CAL= 342.0, -1.4, ROT= 168.0, 1.4 Ygot valid direction response: 21:35:30.4853 LVL= 30768, 19121, 32754, 32755, AGC= 70, IDX= 498, 0.14,-2.581,-0.976,-2.890,-2.069, PHS=-0.409, 1.139,-0.865, RAW= 342.5, 1.5, CAL= 342.0, -1.4, ROT= 168.0, 1.4 T#Rx 65: Read range and direction messages.`direction in FSK: [-0.977856,0.207850,-0.024432]Fpublishing direction and range infoyIMT:J_К?{JYIIM0xMJI I)MFIMshѾiMʑ?Mp]MI@MPwBB"IBABBO =BBBQ;BEY HBy "IE- E-E-"E)"E-0;*E-:VE-(3ZE)BE-ymqm99Y=HFyE>Q 5b5ݤ?Q 9b5fl)|BYY>Q Ey;yQ I@2EIh;i.;Pb5yɮAJIRM?AIIM6L@M[ѐ-QH @ p׿MT:J_К?{JMf;@M+<—MLye#.Upg0 Mte, .=]BjM,>rMqZMϰ矊?bMzMڂBIMMڂBڗMrAM4L@Q addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.508137 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.105129 m, bearing: 182.822086 deg, lat: 36.779418 deg, lon: -121.859481 deg, deltaT: 0.508137 s, deltaX: 0.000022 m, approachRate: 0.000043 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.11 m.RJbZB:2ҔڔBڒ’? =Y>=Y>=@"= p@I)Q Uأ=iU9)q}5yiyiIII)iAiIchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.799545 9@  @ @ 0@ @ =@ =9 ^A I I O>BB, ?A:=: >:Bٱ: FAHRS rotation from veh to nav: [[0.967344,-0.252274,-0.024566],[0.253308,0.965621,0.058401],[0.008988,-0.062717,0.997991]]:H`{?@%п'16?^?? Bh?8?i:=I:a[];:CYNQByN"IbDVfVDV;4y^l=%^=ٔ^;Q-b?9`Y`=bHFy`f(Ef?hQ 5nb5j⤊?Q 9nb5jol)jBYlynͥQ In@j3EIjh:ij:jb5ytɮvAtQDNOT Ignoring new targets: 15.11 m.RJbZB:2Ҕڔ!ڒ!’!!%fH? AIAA"E j@]B)a e<=ie 9)ae15iiiiiqu`IqIquDDAT read: Rx Time:21:35:30.9854 }TRx dataTimestamp_ set to:1761514532.246132PDAT read: Bearing 347.7, 11.3 (Local) ~Local bearing/azimuth received: Bearing 347.7, 11.3 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 DAT read: 21:35:30.9854 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 500, 0.05,-0.680, 0.947,-0.983,-0.154, PHS=-0.423, 1.146,-0.873, RAW= 342.2, 1.7, CAL= 341.8, -1.2, ROT= 168.2, 1.2 @ @@/@-Ygot valid direction response: 21:35:30.9854 LVL= 32752, 22945, 32754, 32755, AGC= 69, IDX= 500, 0.05,-0.680, 0.947,-0.983,-0.154, PHS=-0.423, 1.146,-0.873, RAW= 342.2, 1.7, CAL= 341.8, -1.2, ROT= 168.2, 1.2 5T#Rx 66: Read range and direction messages.=`direction in FSK: [-0.978653,0.204451,-0.020942]=Fpublishing direction and range infoyy}&mQ v+?_2qY}tAy}}Yy y)}EI}uؾi}!?}|_}@}<}@ })};@I}ԡ checking for new query: numPingsReceived=66, elapsed TxPingTime=33.302254 HB,Eb$ ?A-b=-y>-Dٱ-|} MAHRS rotation from veh to nav: [[0.967174,-0.252966,-0.024130],[0.253965,0.965496,0.057613],[0.008723,-0.061850,0.998047]]-H`?`0п`@? X?@z?y݁?Ӫ?i-b=I-؍];-CY]^By]"IiibDqVDqyco=%?=ٔ!:Q->9Y=HFyT:E>Q 5b5ꤊ?Q 9b5{l)BYyQ I@4EI~:i2:b5ԱyɮSAJR ?AEsAEsAjL@/?-V_@ `Կ&mQ v+?_2q;@<—o, W.]zxRpyd:n'Sͪn\jKrrZq(쟊?bjzBꗵϰ矊?jڗsA◵gL@Q  addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.500765 s, deltaX: 0.100000 m, approachRate: 0.199695 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.204506 m, bearing: 183.003621 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.500765 s, deltaX: 0.099377 m, approachRate: 0.198450 m/s, posRepo size: 4 QDNOT Ignoring new targets: 15.20 m.RJbZB:2Ҕڔڒ’.@s}?   " n@D)! %=i%9)!k5ii0IIDDAT read: Rx Time:21:35:31.4854 TRx dataTimestamp_ set to:1761514532.754039PDAT read: Bearing 347.7, 11.5 (Local) ~Local bearing/azimuth received: Bearing 347.7, 11.5 (Local) 9@ @ @ @5DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 21:35:31.4854 LVL= 32160, 20865, 32754, 32755, AGC= 69, IDX= 500,-0.01,-2.491,-0.883,-2.794,-1.972, PHS=-0.418, 1.134,-0.867, RAW= 342.4, 1.7, CAL= 341.9, -1.2, ROT= 168.1, 1.2 Ygot valid direction response: 21:35:31.4854 LVL= 32160, 20865, 32754, 32755, AGC= 69, IDX= 500,-0.01,-2.491,-0.883,-2.794,-1.972, PHS=-0.418, 1.134,-0.867, RAW= 342.4, 1.7, CAL= 341.9, -1.2, ROT= 168.1, 1.2 T#Rx 67: Read range and direction messages.BBB"IBPBBBBBQ;BEBBBBO =BO =CVL4`direction in FSK: [-0.978294,0.206159,-0.020942]Fpublishing direction and range infoyi0NQhc?_2qY}Q )I־i&?]t;@@ );@I :>%׋5lS ? )qkI;@ichecking for new query: numPingsReceived=67, elapsed TxPingTime=33.662338bE -4jE ( 4rE /E  E E $E "E ;;*E :VE 4ZE BE 9 NB,8> ?A:+} =:>:-C ٱ:z FAHRS rotation from veh to nav: [[0.967046,-0.253500,-0.023640],[0.254463,0.965403,0.056981],[0.008378,-0.061119,0.998095]]:H ? Z9п.5 I??`,?X(?Je?i:+} =I:p];:CYN\ByN"Inchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.806232iMb@Mb@Mb@ 9!rh?Mby@t<5@ A)AYQAbD`VD04y %H=ٔ]:Q->9Y=HFy:E>Q 5b5t?Q 9b5Xl)BYl>Q Ee;y`=Q I@6EI ;i ;>b5y BɮlAKEJR-B0 ?AGVL@<̿-Ο @k7`Կi0NQhc?_2q;@—R_W.ⓣ迠I,(s**2*YjFrrZ?b5ȀzB _蟊?5ȀBڗCuANL@Q5 addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.507907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 QE Added new target pos. range: 15.204534 m, bearing: 182.932009 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.507907 s, deltaX: 0.000028 m, approachRate: 0.000054 m/s, posRepo size: 4 QMDNOT Ignoring new targets: 15.20 m.RIJIbIZIBI:Q2QҔYڔeMBڒi’qy}"? }l>}l>}&@"}i`=-C ) i}>A@ @@/@iDDAT read: Rx Time:21:35:31.9856 TRx dataTimestamp_ set to:1761514533.253161PDAT read: Bearing 348.1, 11.3 (Local) ~Local bearing/azimuth received: Bearing 348.1, 11.3 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 DAT read: 21:35:31.9856 LVL= 29616, 21105, 32754, 32755, AGC= 68, IDX= 502,-0.10,-1.618, 0.009,-1.917,-1.100, PHS=-0.416, 1.154,-0.861, RAW= 342.1, 1.4, CAL= 341.6, -1.5, ROT= 168.4, 1.5 Ygot valid direction response: 21:35:31.9856 LVL= 29616, 21105, 32754, 32755, AGC= 68, IDX= 502,-0.10,-1.618, 0.009,-1.917,-1.100, PHS=-0.416, 1.154,-0.861, RAW= 342.1, 1.4, CAL= 341.6, -1.5, ROT= 168.4, 1.5 T#Rx 68: Read range and direction messages.`direction in FSK: [-0.979240,0.201009,-0.026177]Fpublishing direction and range infoyA 0U￉?P!ΚYyAsqR )DIԾiF?j\@+<ɾ@ Pwּ)<@IPw<'^"S翨)v忩ŽG? )%D¼I<@iPw< checking for new query: numPingsReceived=68, elapsed TxPingTime=34.104458^A% "5I) IA Oe >ԙ ʼUB,X ?AE" E"E"'E "E"<;*E"&:VE"'4ZE a&@a&@a&@a&@>,ԃ>>ٱ>x FAHRS rotation from veh to nav: [[0.967003,-0.253704,-0.023244],[0.254639,0.965373,0.056684],[0.008058,-0.060732,0.998122]]>H@?<пT͗L?V??? J?i>,'f];>CYNaByN"IbDVgVDV=4y^O<%b[=ٔb_:Q-b>9dYd=fHFydf :Ef>hQ 5nb5j?Q 9nb5j8l)jBYpyrqa=Q Ir@j7EIj;ij;jb5ytɮvIAxJR3P ?A xA xAijL@@CA]\.@x1ٿA 0U￉?P!Κ<@Pw<—g.(j+쿋}]t8 R;L;j_ar`wZ=⟊?bb`zBϰ矊?ڗvANL@QE addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.499122 s, deltaX: 0.300000 m, approachRate: 0.601056 m/s, rangeRepo size: 4 QU Added new target pos. range: 15.502662 m, bearing: 183.258943 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.499122 s, deltaX: 0.298128 m, approachRate: 0.597305 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 15.50 m.RQJYbYZYBY:Y2YҔaڔaڒa’ae@33/@m`? ")qa=) @=i9)5ii   I1I9qchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.3105779@ @@/@ԡ^A?BɺII1O=> DDAT read: Rx Time:21:35:32.4856  TRx dataTimestamp_ set to:1761514533.761842 PDAT read: Bearing 347.9, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 347.9, 11.8 (Local)  E DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.3 [B,q ?A-DAT read: 21:35:32.4856 LVL= 27568, 21985, 32754, 32755, AGC= 69, IDX= 502,-0.20,-2.625,-1.042,-2.937,-2.124, PHS=-0.399, 1.127,-0.858, RAW= 342.7, 1.5, CAL= 342.3, -1.4, ROT= 167.7, 1.4 BBB"IBUBBBBBQ;B"=d>Pٱ&xYgot valid direction response: 21:35:32.4856 LVL= 27568, 21985, 32754, 32755, AGC= 69, IDX= 502,-0.20,-2.625,-1.042,-2.937,-2.124, PHS=-0.399, 1.127,-0.858, RAW= 342.7, 1.5, CAL= 342.3, -1.4, ROT= 167.7, 1.4 T#Rx 69: Read range and direction messages.`direction in FSK: [-0.976754,0.212967,-0.024432]Fpublishing direction and range infoydA B?{JYkU )EII̾iA?[Yf@Pw<'-@ +ȼ)R;@ AHRS rotation from veh to nav: [[0.966922,-0.254037,-0.022971],[0.254954,0.965298,0.056559],[0.007806,-0.060545,0.998135]]H?@#Bпઅ@)Q?? Y??@?i"=I];CI+<x_|=W'ӷ忻E!5#? L)#ѼIR;@i+<Uchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.662823YgBy"IEM EM(EM$EI"EM[I;*EM;VEM4ZEIBEMy--D<-l A) -tA)-A)Y-AbDVVDE4yA<%=ٔ9Q->9Y=HFy?:E=>IQ 5}b5M?Q 9}b5Mk)MBYZ>Q Ey;y=Q I@M9EIM8?checking for new query: numPingsReceived=69, elapsed TxPingTime=34.814350 5Z>5Z>5(@"5ԇ=EP)A EL=iM9)im5iiiiqquH5IqIy 9@  @ @ /@ I i ^Ae eIq I O >ocB,j ?A2m$=2;>2ٱ2v :AHRS rotation from veh to nav: [[0.966808,-0.254503,-0.022588],[0.255394,0.965196,0.056304],[0.007472,-0.060204,0.998158]]2H?IпA!`aX??Ӭ?`0~?Ү`?i2m$=I2'\;2CYBhByB"IbDniVDn=A4yr6;%r=ٔv:Q-v?9xYx=zHFyxzM:E~?|Q 5b5~?Q 9 b5~k)~BY y l=%=a=DDAT read: Rx Time:21:35:32.9858 %TRx dataTimestamp_ set to:1761514534.261517-PDAT read: Bearing 347.7, 11.7 (Local) -~Local bearing/azimuth received: Bearing 347.7, 11.7 (Local) =DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 eDAT read: 21:35:32.9858 LVL= 30704, 18417, 32754, 32755, AGC= 68, IDX= 504,-0.42,-1.032, 0.574,-1.347,-0.516, PHS=-0.414, 1.135,-0.876, RAW= 342.7, 1.7, CAL= 342.2, -1.2, ROT= 167.8, 1.2 mYgot valid direction response: 21:35:32.9858 LVL= 30704, 18417, 32754, 32755, AGC= 68, IDX= 504,-0.42,-1.032, 0.574,-1.347,-0.516, PHS=-0.414, 1.135,-0.876, RAW= 342.7, 1.7, CAL= 342.2, -1.2, ROT= 167.8, 1.2 mT#Rx 70: Read range and direction messages.u`direction in FSK: [-0.977202,0.211278,-0.020942]}Fpublishing direction and range infoyV"+ԑ FiB,c) ?A2w(=2ń>2Nٱ2|s :AHRS rotation from veh to nav: [[0.966540,-0.255550,-0.022221],[0.256412,0.964969,0.055570],[0.007242,-0.059408,0.998208]]2H ?Zп/ i?@? s?©}?jP?i2w(=I2n];0Y^fByb"IbDjUVDjn4yrӻ%rL=ٔrQ:Q-r>9tYt=vHFytv+;Ez>xQ 5b5z?Q 9b5zk)zBYyz=Q I@z;EIz;iz;zyb5y Bɮ&AQDNOT Ignoring new targets: 15.80 m.RJbZB:2Ҕڔڒ’ '? "z=N) E=i9)o5ii   CIIq9@ @@U1@=DDAT read: Rx Time:21:35:33.4857 =TRx dataTimestamp_ set to:1761514534.765946UPDAT read: Bearing 347.9, 12.0 (Local) ]~Local bearing/azimuth received: Bearing 347.9, 12.0 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 ԩDAT read: 21:35:33.4857 LVL= 30336, 22001, 32754, 32755, AGC= 68, IDX= 503, 0.33,-0.719, 0.886,-1.048,-0.212, PHS=-0.405, 1.143,-0.880, RAW= 343.0, 1.6, CAL= 342.5, -1.3, ROT= 167.5, 1.3 BaBaBe"IBe`BBaBaBaBeQ;BeEYgot valid direction response: 21:35:33.4857 LVL= 30336, 22001, 32754, 32755, AGC= 68, IDX= 503, 0.33,-0.719, 0.886,-1.048,-0.212, PHS=-0.405, 1.143,-0.880, RAW= 343.0, 1.6, CAL= 342.5, -1.3, ROT= 167.5, 1.3 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.976045,0.216384,-0.022687]Fpublishing direction and range infoy9=AO>;ҥx?NGY;Y=|A9=v=U9 9)9I=)\Ͼi=M?=Ga==@=<=I@ =޹)=k;@I=޹<99=ntgkD͸ ? =<)=gI=k;@i=޹<99checking for new query: numPingsReceived=71, elapsed TxPingTime=35.656929^ANJκIE= E=E9E9"E=0;*E=&:VE9ZE9BE= checking for new query: numPingsReceived=71, elapsed TxPingTime=35.822300 R|pB,p ?A2P)=2~>2Rٱ2]s :AHRS rotation from veh to nav: [[0.966485,-0.255785,-0.021932],[0.256630,0.964908,0.055615],[0.006937,-0.059379,0.998211]]2Hq?^п`sul?`? y?Kj|?@fY?i2P)=I2P\;0YRdByR"IiMb@Mb@Mb@ 9(\?~jtyt<A )AYAbDdVD 84y5%.=ٔ'*:Q->9Y=HFyB9E>Q 5b5?Q 9b5k)BYK>Q E;yO=Q I@=EI:i:b5y ɮ ;AJiRmB ?Am8{Am8{AmtK@ms.M%. @?[ֿmAO>;ҥx?NGY;mk;@m޹<—mhֿX/忝Uk<mWKjjm,rmzZm˨5?bm=>}zmBimcPmBڗm{Amt L@Q] addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504429 s, deltaX: -0.099999 m, approachRate: -0.198243 m/s, rangeRepo size: 4 Qm Added new target pos. range: 15.701407 m, bearing: 182.464025 deg, lat: 36.779419 deg, lon: -121.859481 deg, deltaT: 0.504429 s, deltaX: -0.099363 m, approachRate: -0.196982 m/s, posRepo size: 4 QuDNOT Ignoring new targets: 15.70 m.RqJqbqZqBq:y2yҔyڔ}EBڒ’/@E_? K>K>9@"tO=R) u=i9)顽5ii III)9@ @@K1@@@iAEDDAT read: Rx Time:21:35:33.9858 ETRx dataTimestamp_ set to:1761514535.269136MPDAT read: Bearing 347.6, 12.1 (Local) U~Local bearing/azimuth received: Bearing 347.6, 12.1 (Local) eDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 DAT read: 21:35:33.9858 LVL= 28000, 21665, 32754, 32755, AGC= 68, IDX= 504, 0.12,-0.184, 1.411,-0.512, 0.327, PHS=-0.410, 1.129,-0.883, RAW= 343.0, 1.8, CAL= 342.5, -1.1, ROT= 167.5, 1.1 Ygot valid direction response: 21:35:33.9858 LVL= 28000, 21665, 32754, 32755, AGC= 68, IDX= 504, 0.12,-0.184, 1.411,-0.512, 0.327, PHS=-0.410, 1.129,-0.883, RAW= 343.0, 1.8, CAL= 342.5, -1.1, ROT= 167.5, 1.1 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.976116,0.216400,-0.019197]Fpublishing direction and range infoyAEhƮW<[[?]~YEf~AAE`mETA A)AIEѾiE?EJ bAE=A EnF)AIEnFEE  EE EE %EA "EE 1;*EE :VEE 4ZEA aM @aM @aM @aM @Q vB, ?AB,*=B>B<ٱBӨs rAHRS rotation from veh to nav: [[0.966422,-0.256027,-0.021874],[0.256868,0.964840,0.055702],[0.006843,-0.059451,0.998208]]BH@?`bп`fp??@? |?RpQ?iB,*=IB]\;@Y9y9bDUaVDU24ymz:%me=ٔu9Q-u>9yYy=}HFyy}>4:E>Q 5b5?Q 9b5`k)BYyҏ=Q I@>EIf;ir;b5yɮ9A%ԀG=kAQchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.3262609kAYAJiRm9 ?Am|Am|AmLK@mDtQ.o:Z @?ciӿmhƮW<[[?]~imnF<—mq/@`'XmY Fᅤ|iNѣjm-rmc|Zm쟊?bm<@}zm+Bim~C~iڗm|AmK@Q addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503190 s, deltaX: 0.099999 m, approachRate: 0.198731 m/s, rangeRepo size: 4 Q Added new target pos. range: 15.800782 m, bearing: 182.466974 deg, lat: 36.779419 deg, lon: -121.859481 deg, deltaT: 0.503190 s, deltaX: 0.099375 m, approachRate: 0.197490 m/s, posRepo size: 4 )Q5DNOT Ignoring new targets: 15.80 m.R1J1b1Z1B1:129Ҕ9ڔ9ڒ9’AE/@E ǁ? "ҏ=m<)q uw=i}9)y顥5ii譹IIY9@ @@2@ԁ m =m < DDAT read: Rx Time:21:35:34.4858  TRx dataTimestamp_ set to:1761514535.782471 PDAT read: Bearing 347.6, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 347.6, 11.8 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 ^A} eI I O- >BY BY BY BY BY BY BY B] Q;B] E|B, ?AbDAT read: 21:35:34.4858 LVL= 27984, 19585, 32754, 32755, AGC= 69, IDX= 504,-0.05, 3.102,-1.583, 2.784,-2.665, PHS=-0.414, 1.127,-0.878, RAW= 342.8, 1.8, CAL= 342.3, -1.1, ROT= 167.7, 1.1 fYgot valid direction response: 21:35:34.4858 LVL= 27984, 19585, 32754, 32755, AGC= 69, IDX= 504,-0.05, 3.102,-1.583, 2.784,-2.665, PHS=-0.414, 1.127,-0.878, RAW= 342.8, 1.8, CAL= 342.3, -1.1, ROT= 167.7, 1.1 fT#Rx 73: Read range and direction messages.j`direction in FSK: [-0.976865,0.212991,-0.019197]r]*=r >rFٻٱr"|t=Fpublishing direction and range infoyDo{B KC?]~YPmL )EIӾiA?`t@'-@ )R;@IWыz]]k? I)cIR;@iUchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.692871 zAHRS rotation from veh to nav: [[0.966404,-0.256106,-0.021724],[0.256941,0.964806,0.055950],[0.006631,-0.059652,0.998197]]rH? dп >q?`?r?({?@@;?ir]*=Ir];rCYeeBye"IE EE(E"E);*E:VEc44ZEBEKy,;@ A)AYAbD]VD'+4yw;%2=ٔJ9Q->9Y=HFy *9EM>QQ 5eb5U%?Q 9eb5U=ki)UBYNQ>Q E;y^=Q I@U?EIU4 NQ> ,p@" i^=%Fٻ)! %L=i%9))-15)i)i115I1I9checking for new query: numPingsReceived=73, elapsed TxPingTime=36.832386ԙ@ @@%5@! ^A] 8Ia I O >ƃB, ?A2-=2O>2ѻٱ2>t :AHRS rotation from veh to nav: [[0.966274,-0.256615,-0.021497],[0.257435,0.964675,0.055946],[0.006382,-0.059593,0.998202]]2H? clпmy??夬?#z? F?i2-=I2\;2CYB_ByB"IbDJkVDJD4PyV%Vy=ٔVF:Q-Z?9XYX=ZHFyX^Z:E^? DDAT read: Rx Time:21:35:34.9860  TRx dataTimestamp_ set to:1761514536.281039PDAT read: Bearing 348.1, 11.6 (Local) ~Local bearing/azimuth received: Bearing 348.1, 11.6 (Local) -DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 MDAT read: 21:35:34.9860 LVL= 28912, 19361, 32754, 32755, AGC= 68, IDX= 506,-0.25,-2.634,-1.027,-2.945,-2.127, PHS=-0.405, 1.145,-0.862, RAW= 342.5, 1.3, CAL= 342.1, -1.6, ROT= 167.9, 1.6 UYgot valid direction response: 21:35:34.9860 LVL= 28912, 19361, 32754, 32755, AGC= 68, IDX= 506,-0.25,-2.634,-1.027,-2.945,-2.127, PHS=-0.405, 1.145,-0.862, RAW= 342.5, 1.3, CAL= 342.1, -1.6, ROT= 167.9, 1.6 UT#Rx 74: Read range and direction messages.e`direction in FSK: [-0.977402,0.209537,-0.027922]eFpublishing direction and range infoy  FH?|p}Y A  p K  ) DI )\Ͼi \? \ I@ ޹< @ ) ͋;@I <   T~u=᳡忙0Y+_x/= @ӂܿ FH?|p} ͋;@ <— 8$w0dK@% Biᅣd"0dۧj _Rr {Z x⟊?b Ŀz ނB  =~ ڗ XA L@QU addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.498568 s, deltaX: 0.300001 m, approachRate: 0.601726 m/s, rangeRepo size: 4 Qe Added new target pos. range: 16.098907 m, bearing: 182.929111 deg, lat: 36.779419 deg, lon: -121.859481 deg, deltaT: 0.498568 s, deltaX: 0.298129 m, approachRate: 0.597971 m/s, posRepo size: 4 QeDNOT Ignoring new targets: 16.10 m.RaJibiZiBi:2Ҕڔڒ’@330@ ? "`=ѻ) @=i9)[5ii!!%$MB9I!IIE EE'E"E /;*E-:VE'4ZEa@a@a@a@9@ @@/@checking for new query: numPingsReceived=74, elapsed TxPingTime=37.338242) ^AE 0:ĺI I O >)B,_) ?A2j-=2Z>2(ɻٱ2]u :AHRS rotation from veh to nav: [[0.966254,-0.256706,-0.021335],[0.257518,0.964638,0.056202],[0.006154,-0.059800,0.998191]]2H`?mп ؕ,{?O?Ƭ?z4y? /?i2j-=I2!];2CYBTByB"IbDNlVDNF4yR}I%VJ=ٔV:Q-V>9XYX=ZHFyXZ\9E^>\Q 5bb5^Y2?Q 9fb5^k)^BYdyf`=Q If@^BEI^2:i^:^b5yj BɮjAnLE|QDNOT Ignoring new targets: 16.10 m.RJ b Z B : 2 Ҕڔڒ’`? "`=(ɻ) Z9)ҡ5ii   I I1@ @@/@)5DDAT read: Rx Time:21:35:35.4859 =TRx dataTimestamp_ set to:1761514536.789322EPDAT read: Bearing 347.5, 12.1 (Local) M~Local bearing/azimuth received: Bearing 347.5, 12.1 (Local) ]DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 mDAT read: 21:35:35.4859 LVL= 27616, 20641, 32754, 32755, AGC= 68, IDX= 505, 0.37,-1.146, 0.446,-1.474,-0.633, PHS=-0.412, 1.124,-0.885, RAW= 343.0, 1.9, CAL= 342.5, -1.0, ROT= 167.5, 1.0 Ygot valid direction response: 21:35:35.4859 LVL= 27616, 20641, 32754, 32755, AGC= 68, IDX= 505, 0.37,-1.146, 0.446,-1.474,-0.633, PHS=-0.412, 1.124,-0.885, RAW= 343.0, 1.9, CAL= 342.5, -1.0, ROT= 167.5, 1.0 T#Rx 75: Read range and direction messages.B>BB"IB[BBBBBQ;BE`direction in FSK: [-0.976147,0.216407,-0.017452]Fpublishing direction and range infoy15Do=<→xm7?W7) ߑY5̀A15k5P1 1)1I5Ҿi5;ߏ?5\b5=@5=5I@ 55)5k;@I55<115AbH'y3W4? 5&)5_ I5k;@i55<11checking for new query: numPingsReceived=75, elapsed TxPingTime=37.682201Q^A9IE EE(E"EO6;*Er:VEc44ZEBECԁ  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.842281LݐB,0C ?AY[-=X>0Ļٱjv AHRS rotation from veh to nav: [[0.966259,-0.256694,-0.021257],[0.257504,0.964621,0.056557],[0.005987,-0.060123,0.998173]]H?mпvĕ z?`,?? x? pȮ?i[-=I];CYSBy"IiMb@Mb@Mb@ 9&1?S㥫YP>y/]A A)AYzAbDdVD 84y㖻%.=ٔW9Q->9Y=HFy"E>Q 5b5:?Q 9b5k)BYX>Q E{;y ;Q I@CEI;i;5b5yɮAJYR]@2 ?A]A]A]K@]_ZzRxH’j]2r]Z]?b]+^}z]*B]˨5?]+^}]*Bڗ]΀A]K@Q- addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.508283 s, deltaX: -0.100000 m, approachRate: -0.196742 m/s, rangeRepo size: 4 Q= Added new target pos. range: 15.999512 m, bearing: 182.500420 deg, lat: 36.779419 deg, lon: -121.859480 deg, deltaT: 0.508283 s, deltaX: -0.099396 m, approachRate: -0.195552 m/s, posRepo size: 4 Q=DNOT Ignoring new targets: 16.00 m.R9J9b9ZABA:A2AҔIڔMIBڒI’IU0@U@$ ? uX>uX>u@"u ;0Ļ)  E  E "E "E "E 8;*E ;VE (3ZE a @a @a @a @B,o] ?AF.=F섅>F/»ٱF=v ZAHRS rotation from veh to nav: [[0.966172,-0.257022,-0.021228],[0.257829,0.964531,0.056606],[0.005926,-0.060164,0.998171]]FH?@sп@ϼ@G?o?@y?Ex? ͮ ?iF.=IF\;DY~RBy~"I bD eVD 94y%%%h=ٔ%59Q-%>9!Y)=-HFy)-z:E->1Q 5=c55@?Q 9=c55k)5BYAyE6;Q IE@5EEI5l:i5l:5Jc5yIɮMAIJQRUR ?AUaAUaAU7L@U+=o/v4 @jlԿU KEm@i ?]~U5o;@UnF<—UXp*D0?G*GշU - DDAT read: Rx Time:21:35:36.4861 5 TRx dataTimestamp_ set to:1761514537.793036= PDAT read: Bearing 348.2, 11.5 (Local) = ~Local bearing/azimuth received: Bearing 348.2, 11.5 (Local) M DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3  DAT read: 21:35:36.4861 LVL= 27744, 19697, 32754, 32755, AGC= 68, IDX= 507,-0.03, 3.068,-1.602, 2.762,-2.706, PHS=-0.407, 1.150,-0.858, RAW= 342.4, 1.3, CAL= 341.9, -1.6, ROT= 168.1, 1.6 A  Ygot valid direction response: 21:35:36.4861 LVL= 27744, 19697, 32754, 32755, AGC= 68, IDX= 507,-0.03, 3.068,-1.602, 2.762,-2.706, PHS=-0.407, 1.150,-0.858, RAW= 342.4, 1.3, CAL= 341.9, -1.6, ROT= 168.1, 1.6  T#Rx 77: Read range and direction messages. `direction in FSK: [-0.978128,0.206124,-0.027922] Fpublishing direction and range infoy) - dLHAb?|p}Y) B >B B "IB PBB B B B Q;B EBBBBB.B,Iw ?ACս34Y]`l]LY Y)YI]Nbоi]33?][]t;@]޹<]@ ])];@I]eûٱe:vbEEJ4jEArEES}0E EE#E"EL;*E:VE3ZEBEڡyu A A)tAYAbDbVD[44yD% $=ٔ PƸQ- >9Y=HFyQ :E>Q 5Ec5J?Q 9Ec5k)BYMh>Q EMi;yMһQ IM@FEI;i%;c5yQɮUAYJYR]r ?AYY] L@]`/! @pdݿ]dLHAb?|p}];@]<—]cҬScA0쿓a ]ݭ!5$FPj]ffr] Z]ޒ?b]z]̂B]ޒ?]L!]Bڗ]3A]7L@Q addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503758 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 16.297642 m, bearing: 183.169008 deg, lat: 36.779420 deg, lon: -121.859481 deg, deltaT: 0.503758 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 QDNOT Ignoring new targets: 16.30 m.RJbZB!:!2!Ҕ)ڔ-3Bڒ)’))5`?A mh>mh>m9@"m3@checking for new query: numPingsReceived=77, elapsed TxPingTime=38.850380û) L=i9)顭ؤ5iis9/:II@ @@0@iԡ ^AQ Ia Iq O} >I+B,| ?A2i/=2>2%ƻٱ2v >AHRS rotation from veh to nav: [[0.966129,-0.257177,-0.021322],[0.257989,0.964497,0.056450],[0.006047,-0.060039,0.998178]]2H@?uпPՕ ?)?@?@x?@^?i2i/=I2\;0YBLByB"IbDNmVDNH4yV%%V=ٔVBQ-V?^DDAT read: Rx Time:21:35:36.9863 bTRx dataTimestamp_ set to:1761514538.297294fPDAT read: Bearing 348.0, 11.1 (Local) f~Local bearing/azimuth received: Bearing 348.0, 11.1 (Local) nDAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 DAT read: 21:35:36.9863 LVL= 29552, 18929, 32754, 32755, AGC= 68, IDX= 509,-0.22,-2.566,-0.948,-2.856,-2.043, PHS=-0.421, 1.140,-0.857, RAW= 342.0, 1.5, CAL= 341.5, -1.4, ROT= 168.5, 1.4  Ygot valid direction response: 21:35:36.9863 LVL= 29552, 18929, 32754, 32755, AGC= 68, IDX= 509,-0.22,-2.566,-0.948,-2.856,-2.043, PHS=-0.421, 1.140,-0.857, RAW= 342.0, 1.5, CAL= 341.5, -1.4, ROT= 168.5, 1.4 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.979632,0.199308,-0.024432]Fpublishing direction and range infoy`b%%Yr?{JYbA`bpsbI` `)`IbP׾ib?bZd[bC@bPw &OB,d= ?A6/=6+>6`WŻٱ69Y=HFy WE >Q 5%c5+X?Q 9%c5k)BY)y-ػQ I-@IEI:;i8; c5y9ɮ=A9Q}DNOT Ignoring new targets: 16.60 m.RyJybyZB:2Ҕڔڒ’|? "@`WŻ) U=i9)Ч5iiVb:III)hAԹ%=DDAT read: Rx Time:21:35:37.4862 TRx dataTimestamp_ set to:1761514538.802260PDAT read: Bearing 347.6, 11.3 (Local) ~Local bearing/azimuth received: Bearing 347.6, 11.3 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.1 )@) @)@-4@)@=@=@=@=UDAT read: 21:35:37.4862 LVL= 29680, 19569, 32754, 32755, AGC= 68, IDX= 509,-0.48, 2.985,-1.685, 2.684,-2.771, PHS=-0.425, 1.131,-0.872, RAW= 342.3, 1.8, CAL= 341.8, -1.1, ROT= 168.2, 1.1 eYgot valid direction response: 21:35:37.4862 LVL= 29680, 19569, 32754, 32755, AGC= 68, IDX= 509,-0.48, 2.985,-1.685, 2.684,-2.771, PHS=-0.425, 1.131,-0.872, RAW= 342.3, 1.8, CAL= 341.8, -1.1, ROT= 168.2, 1.1 mT#Rx 79: Read range and direction messages.u`direction in FSK: [-0.978687,0.204458,-0.019197]uFpublishing direction and range infoysUgQH#+?]~YAsqL )IپiĐ?d;_'-@=@ nF);@InF<ן8(qP}? )"I;@inF<checking for new query: numPingsReceived=79, elapsed TxPingTime=39.630413B>BB"IBFBBBBB R;BEE EEE"E/;*E:VEZEBELj  DDAT read: Rx Time:21:35:37.9863  TRx dataTimestamp_ set to:1761514539.057453 checking for new query: numPingsReceived=79, elapsed TxPingTime=39.8655899 :B,( ?A .= > m˻ٱ Ht %AHRS rotation from veh to nav: [[0.966167,-0.257028,-0.021382],[0.257841,0.964558,0.056088],[0.006208,-0.059704,0.998197]] H?%sп3啿w??@?my?@z:?i .=I r\; CY>By"IieMb@Mb@Mb@aaaa a9eA`"?lMbp?YeY>yee;el AeK@ a)eAaYabD}hVD}f?4y?%3=ٔ'չQ->9Y=HFy(E>Q 5c5`?Q 9c5Bk)BYe>Q El;yQ I@KEI ;i3;c5yɮAJ R :X ?A -A -A L@ r0 0Ͻ @::c%Կ sUgQH#+?]~ ;@ nF<— }\0Orq~PSߥ s]e>]P@"]7@mm˻)i mL=im9)qu5qiqiyy}9IyI9@ @@4@!I1IAOM1>1PDAT read: Bearing 348.2, 11.2 (Local) ~Local bearing/azimuth received: Bearing 348.2, 11.2 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.8 DAT read: 21:35:37.9863 LVL= 28512, 21153, 32754, 32755, AGC= 68, IDX= 509, 0.34,-2.438,-0.815,-2.735,-1.920, PHS=-0.416, 1.150,-0.858, RAW= 342.1, 1.4, CAL= 341.6, -1.5, ROT= 168.4, 1.5 Ygot valid direction response: 21:35:37.9863 LVL= 28512, 21153, 32754, 32755, AGC= 68, IDX= 509, 0.34,-2.438,-0.815,-2.735,-1.920, PHS=-0.416, 1.150,-0.858, RAW= 342.1, 1.4, CAL= 341.6, -1.5, ROT= 168.4, 1.5 %T#Rx 80: Read range and direction messages.-`direction in FSK: [-0.979240,0.201009,-0.026177]-Fpublishing direction and range infoyA 0U￉?P!ΚYA`oR )IԾi33?[@+<ɾ@ Pwּ)<@IPw<r }r翩 uІqTZ?  )zļI<@iPw<Echecking for new query: numPingsReceived=80, elapsed TxPingTime=40.124592a D zD AAE  E E #E "E 77;*E :VE 3ZE a @a @a @a @qB,*6 ?A2-=2_>2^λٱ2_t >AHRS rotation from veh to nav: [[0.966243,-0.256740,-0.021442],[0.257556,0.964640,0.055993],[0.006308,-0.059625,0.998201]]2Hu?lnп {?S? ?y?3C?i2-=I2\;2CYNKByR"IbDZkVDZD4y9=%e=ٔ FQ- >9 Y =HFy6XE>!Q 5%c5%g?Q 9-c5%jk)%BY)y-EQ I-@%LEI%l:i%B:%c5y1ɮ=A9JRs ?AĄAĄAL@UU@0c, @JۿA 0U￉?P!Κ<@Pw<—b_Œ0*i$=ZWELH^fJ4Bj}rfZP&?b $z҂B^ԀBڗAԖL@Q addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501665 s, deltaX: 0.200001 m, approachRate: 0.398674 m/s, rangeRepo size: 4 -DDAT read: Rx Time:21:35:38.4863 =TRx dataTimestamp_ set to:1761514539.559042Echecking for new query: numPingsReceived=80, elapsed TxPingTime=40.367142Q Added new target pos. range: 16.595839 m, bearing: 183.430190 deg, lat: 36.779420 deg, lon: -121.859483 deg, deltaT: 0.501665 s, deltaX: 0.198753 m, approachRate: 0.396187 m/s, posRepo size: 4 QDNOT Ignoring new targets: 16.60 m.RJbZB:2Ҕڔڒ’@30@?Q "Ų@^λ) =iQ9)5ii+9II 9@ @@1@IIOK>yԡ  PDAT read: Bearing 347.4, 11.6 (Local)  ~Local bearing/azimuth received: Bearing 347.4, 11.6 (Local)  DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 - DAT read: 21:35:38.4863 LVL= 31632, 21793, 32754, 32755, AGC= 69, IDX= 493, 0.21, 2.591,-2.082, 2.281, 3.121, PHS=-0.428, 1.125,-0.885, RAW= 342.5, 2.1, CAL= 342.0, -0.8, ROT= 168.0, 0.8 5 Ygot valid direction response: 21:35:38.4863 LVL= 31632, 21793, 32754, 32755, AGC= 69, IDX= 493, 0.21, 2.591,-2.082, 2.281, 3.121, PHS=-0.428, 1.125,-0.885, RAW= 342.5, 2.1, CAL= 342.0, -0.8, ROT= 168.0, 0.8 5 T#Rx 81: Read range and direction messages.= `direction in FSK: [-0.978052,0.207891,-0.013962]= Fpublishing direction and range infoy  |#G4L.?4Y { !U ) EI "۾i ? \b I@ Q = C@ d) f;@I d< OJ^UԌ~n<â? ) I f;@i d< ] checking for new query: numPingsReceived=81, elapsed TxPingTime=40.632477B] >BY B] "IB] ABB] N =BY BY B] Q;B] EB,)$ ?A8:s-=:'b>:ӻٱ:x/s FAHRS rotation from veh to nav: [[0.966237,-0.256753,-0.021521],[0.257572,0.964654,0.055672],[0.006467,-0.059335,0.998217]]:Hj?`nп |?q?@?|z?@3a e?i:s-=I:N];:CY5?By5"I 99Em EmEm%Ei"Em9;*Em1:VEm 4ZEiBEmfy--94<-A-1A ))))Y-AbDehVDef?4yuD%u(=ٔ}$Q-}>9yԡY=HFy8E>Q 5c5Q Ex;y{Q I@NEI;i;Bc5yBɮANEJRг ?A-gL@?kM;08^ @ZJըͿ|#G4L.?4f;@d<—i}0h~lhquO}ᅬQճ#Xj]rZb?bjz*BP&?ڗlAL@Q addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 16.595894 m, bearing: 182.991110 deg, lat: 36.779420 deg, lon: -121.859483 deg, deltaT: 0.503925 s, deltaX: 0.000055 m, approachRate: 0.000110 m/s, posRepo size: 4 QDNOT Ignoring new targets: 16.60 m.RJbZB : 2=DDAT read: Rx Time:21:35:38.9865 ETRx dataTimestamp_ set to:1761514540.064051]PDAT read: Bearing 346.6, 11.3 (Local) e~Local bearing/azimuth received: Bearing 346.6, 11.3 (Local) uchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.876556ҔڔBڒ’d? NZ>NZ>ܽ@"M@ӻ) \=i9)5ii!-b9IIII]e>i]>9@ @@4@II O > ɂB, ?A2-,=2]J>29ٻٱ2ҽr :AHRS rotation from veh to nav: [[0.966283,-0.256570,-0.021650],[0.257397,0.964709,0.055527],[0.006639,-0.059227,0.998222]]2H@?kпK+/y??`n?z1{?S@p?i2-,=I2\;2CJDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.4 ZDAT read: 21:35:38.9865 LVL= 32480, 20721, 32754, 32755, AGC= 70, IDX= 511, 0.16,-2.886,-1.285, 3.098,-2.332, PHS=-0.452, 1.092,-0.897, RAW= 342.3, 2.9, CAL= 341.8, -0.0, ROT= 168.2, 0.0 lrYgot valid direction response: 21:35:38.9865 LVL= 32480, 20721, 32754, 32755, AGC= 70, IDX= 511, 0.16,-2.886,-1.285, 3.098,-2.332, PHS=-0.452, 1.092,-0.897, RAW= 342.3, 2.9, CAL= 341.8, -0.0, ROT= 168.2, 0.0 rT#Rx 82: Read range and direction messages.v`direction in FSK: [-0.978867,0.204496,-0.000000]zFpublishing direction and range infoy@B RCeF,?YBA@B~BP@ @)BFIBliBƋ?BˡeB'-@B4QO=B@ B)B;@IB@@Bݯ¢vWw念t? B)BMIB;@iB@@ checking for new query: numPingsReceived=82, elapsed TxPingTime=41.135376YHBy"IbD5mVD5H4yme]=%mt=ٔmzQ-m?9qYq=uHFyq. E?Q 5c5Kv?Q 9c5k)BYy᰽Q I@OEI%:i:9c5yɮ9AJ@RB ?AB&AB&ABLL@Bv DAT read: 21:35:39.4865 LVL= 30704, 18721, 32754, 32755, AGC= 69, IDX= 511, 0.19, 0.904, 2.563, 0.626, 1.457, PHS=-0.450, 1.151,-0.874, RAW= 341.4, 1.9, CAL= 341.0, -1.0, ROT= 169.0, 1.0  Ygot valid direction response: 21:35:39.4865 LVL= 30704, 18721, 32754, 32755, AGC= 69, IDX= 511, 0.19, 0.904, 2.563, 0.626, 1.457, PHS=-0.450, 1.151,-0.874, RAW= 341.4, 1.9, CAL= 341.0, -1.0, ROT= 169.0, 1.0  T#Rx 83: Read range and direction messages. `direction in FSK: [-0.981478,0.190780,-0.017452]% Fpublishing direction and range infoyQU)ICh9zk?W7) ߑYQQUwU!IQ Q)UEIUffiUS?Uw_Uy@U=UIs@ U5)UZ<@IU5By~"I9bDVDyM/>%ML=ٔMQ-M>9QYQ=UHFyQ}E}>Q 5c5\}?Q 9c5l)BYyQ I@PEI:i:c5yɮAJR`$ ?AM@ě[Ô0(L @?<ҿ)ICh9zk?W7) ߑZ<@5<—ʯ>00ʡ p,hfk2αx}2 jfrZT?bwzBꗁBڗA◅BL@Q- addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.256527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q} Added new target pos. range: 16.894022 m, bearing: 183.990681 deg, lat: 36.779420 deg, lon: -121.859483 deg, deltaT: 0.256527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 QDNOT Ignoring new targets: 16.89 m.RJbZB:2Ҕڔڒ’ "? ") x=i E9))-.5)i)i115@8I1I9checking for new query: numPingsReceived=83, elapsed TxPingTime=41.622402qBBB"IB i9 I9 E DDAT read: Rx Time:21:35:39.9867 M TRx dataTimestamp_ set to:1761514541.069005U DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 ] Z#Rx 84: Read range message, but no direction.yA YE fAA ] checking for new query: numPingsReceived=84, elapsed TxPingTime=41.877998B,F ?AY]FBy]"IIe=)e<ԹiMb@Mb@Mb@ 9Cl?T㥛 ~jt?YO>yD< A5@ A)tAYzAbDgVD=4y=%>=ٔQ->9Y=HFy!E%>)Q 55c5-?Q 95c5-l)-BY5Y>Q E=y;y=Q I=@-QEI-] ;i-D;-f!c5yAɮELAAQu addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.500599 s, deltaX: 0.299999 m, approachRate: 0.599281 m/s, rangeRepo size: 4 Q}DNOT Ignoring new targets: 16.89 m.RyJybyZyBy:y2Ҕڔ;Bڒ’L1@&? Y>Y>n@"g@Y)Y e9 E]  E] E] (EY "E] C;*E] :VE] c44ZEY ae @ae @ae @ae @&B,y` ?A:ae*=:>:ٱ:Br BAHRS rotation from veh to nav: [[0.966437,-0.255953,-0.022065],[0.256803,0.964880,0.055300],[0.007136,-0.059110,0.998226]]:H?aп&wo?L?7P?j:}?Cw?i:ae*=I:\;:CYJHByJ"IbDRkVDRD4yZ_E<%Zd=ٔ^wQ-^>9`Y`=bHFy`bߺEb>dQ 5jc5f_?Q 9jc5f+l)fBYlynQQ In@fSEIf:if;f$c5ypɮr:AtQ DNOT Ignoring new targets: 16.89 m.RJbZB:2Ҕڔڒ’!!%k? AAA"E7@e)i mPq߭ =߭ < checking for new query: numPingsReceived=85, elapsed TxPingTime=42.630566B >B B "IB ABB O =B B B }Q;B Eԡ B,kz ?A^B+=^>^bٱ^ٶp rAHRS rotation from veh to nav: [[0.966383,-0.256161,-0.022055],[0.257007,0.964848,0.054910],[0.007214,-0.058733,0.998248]]^H ?dпr? ?9?/}?8 ?i^B+=I^r];^CY~RBy~"IE EE'E"EI@;*Eg:VE'4ZEBEy/] A1A A)AYAbD-nVD-pJ4y=.=%=3=ٔE3Q-E>9AYA=EHFyAM9EM>QQ 5]c5U?Q 9]c5U%l)UBY]e\>Q Eev;yee\>@"<b) iJ9)iimII9@ @@5@DDAT read: Rx Time:21:35:40.9869 -TRx dataTimestamp_ set to:1761514542.080668MPDAT read: Bearing 346.9, 10.9 (Local) U~Local bearing/azimuth received: Bearing 346.9, 10.9 (Local) ԙ}DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.4 DAT read: 21:35:40.9869 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 3, 0.36, 0.431, 2.068, 0.142, 0.992, PHS=-0.459, 1.121,-0.894, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 Ygot valid direction response: 21:35:40.9869 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 3, 0.36, 0.431, 2.068, 0.142, 0.992, PHS=-0.459, 1.121,-0.894, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.980601,0.195943,-0.005236]Fpublishing direction and range infoy!%a^?sNruY%̌A!%%! !)%JI% i%|?%/d%@%9=%-@ %)%p<@I%;!!%ET[pR1 ئ? %oT)%6I%p<@i%;!!Echecking for new query: numPingsReceived=86, elapsed TxPingTime=42.956039^AΒ{IIO> B,3 ?A2checking for new query: numPingsReceived=86, elapsed TxPingTime=43.1341556R,=67>6Ɲٱ6n BAHRS rotation from veh to nav: [[0.966316,-0.256420,-0.021964],[0.257258,0.964806,0.054482],[0.007221,-0.058297,0.998273]]6H@? 0iп }v?@??৓}?٭?i6R,=I6];6CY SBy "I==AAbD%cVD%264y5;%5^=ٔ5Q-5>99Y9==HFy9E8:EE>IQ 5Mc5MF?Q 9Uc5M l)MBYQyUA&Lj],r]Z]y۟?b]!/Wz]B]T?] $]*Bڗ]A]L@Q addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507951 s, deltaX: 0.300001 m, approachRate: 0.590610 m/s, rangeRepo size: 4 Q Added new target pos. range: 17.490194 m, bearing: 183.642062 deg, lat: 36.779420 deg, lon: -121.859484 deg, deltaT: 1.512262 s, deltaX: 0.596172 m, approachRate: 0.394226 m/s, posRepo size: 4 QDNOT Ignoring new targets: 17.49 m.RJbZB:2Ҕڔڒ’1@O? "< Ɲ)  i )iiwII!@ @@3@E E;EE"EUS;*E ;VEZEa@a@a@a@^A95DDAT read: Rx Time:21:35:41.4869 =TRx dataTimestamp_ set to:1761514542.584374UPDAT read: Bearing 347.3, 10.0 (Local) ]~Local bearing/azimuth received: Bearing 347.3, 10.0 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 Z#Rx 87: Read range message, but no direction.y1Y11checking for new query: numPingsReceived=87, elapsed TxPingTime=43.406937I) I O >Q JB, ?A>,=>H>>Qٱ>ѵm FAHRS rotation from veh to nav: [[0.966282,-0.256544,-0.022022],[0.257382,0.964791,0.054159],[0.007353,-0.058001,0.998289]]>H?6kпx???`~?@?i>,=I>_];9dYd=fHFydjp9Ej>lQ 5rc5nU?Q 9rc5nl)nÂBYpyrSBB"IBFBBBBBaQ;BEBaBaBaBaBaCeė5ԁbEǞ4jE24rEg/E EE(E"E%;*Ex:VEc44ZEBE~ԡ = DDAT read: Rx Time:21:35:41.9870 E TRx dataTimestamp_ set to:1761514543.088306] PDAT read: Bearing 346.4, 10.5 (Local) m ~Local bearing/azimuth received: Bearing 346.4, 10.5 (Local)  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 B,` ?A2*-=2R>2 sٱ2in :AHRS rotation from veh to nav: [[0.966262,-0.256611,-0.022126],[0.257457,0.964760,0.054354],[0.007399,-0.058216,0.998277]]2H@?OlпI`+z?@P?9ԫ?`ON~?έ?i2*-=I2\;2C@jDAT read: 21:35:41.9870 LVL= 32752, 25649, 32754, 32755, AGC= 72, IDX= 500, 0.30,-0.703, 0.946,-0.980,-0.121, PHS=-0.480, 1.112,-0.903, RAW= 341.5, 3.0, CAL= 341.0, 0.2, ROT= 169.0, -0.2 %Ygot valid direction response: 21:35:41.9870 LVL= 32752, 25649, 32754, 32755, AGC= 72, IDX= 500, 0.30,-0.703, 0.946,-0.980,-0.121, PHS=-0.480, 1.112,-0.903, RAW= 341.5, 3.0, CAL= 341.0, 0.2, ROT= 169.0, -0.2 %T#Rx 89: Read range and direction messages.-^direction in FSK: [-0.981621,0.190808,0.003491]-Fpublishing direction and range infoyqupiQtAdl?QC1ml?YuAquu1dq q)uHIuY]LBy]"IiuV?u+guƺ@uPwV=uIs@ ud;)uZ<@Iudqqu}v`*$Ğ? u)uUIuZ<@iudqqchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.979572iMb@Mb@Mb@ 9n? ףp= yQ8t< A A)AYGAbDdVD 84ym% +=ٔ hʸQ-->91Y1=5HFy1=p'9E=>9Q 5Ec5=?Q 9Mc5=k)=ɂBYM[>Q Emw;ymcZ=Q Iu@=YEI=;i=;=[3c5yyɮ} AyԩJqRuΦ ?AuAuAu]rM@u5*D1ȨȄ @V~o?upiQtAdl?QC1ml?uZ<@ud—usN%݋1{aPC,пu] Ǣ!|juru^Zusd㟊?buzuƃBu6 韊?u!/WuBڗuAuu%M@Q addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503932 s, deltaX: 0.100000 m, approachRate: 0.198440 m/s, rangeRepo size: 4 Q% Added new target pos. range: 17.589554 m, bearing: 183.925481 deg, lat: 36.779419 deg, lon: -121.859485 deg, deltaT: 1.007638 s, deltaX: 0.099360 m, approachRate: 0.098606 m/s, posRepo size: 4 QEDNOT Ignoring new targets: 17.59 m.RIJIbIZIBI:I2IҔQڔU\BڒQ’Q]@31@]? [>[>F@"icZ= s) i9)r ii>9IIchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.142529@ @@@ ^A !9I I O >E  E E %E "E P;*E :VE 4ZE a @a @a @a @ B,L ?A2#J.=2v>2 ٱ2Qo :AHRS rotation from veh to nav: [[0.966191,-0.256871,-0.022194],[0.257721,0.964680,0.054516],[0.007407,-0.058393,0.998266]]2H@ ?`pп ~???`V~?孿?i2#J.=I2i\;2CYZUByZ"IIfa=)fa=hpjAbD XVD !4y=9H=%Em=ٔMQ-M?9YYY=eHFyauP:Eu?Q 5c5i%>9@ @@@9 checking for new query: numPingsReceived=90, elapsed TxPingTime=44.646191a ^A 8I B B B "IB KBB B B B TQ;B EI O >:B, ?A `/= X> Fzٱ <6p %AHRS rotation from veh to nav: [[0.966122,-0.257119,-0.022317],[0.257977,0.964601,0.054706],[0.007461,-0.058610,0.998253]] Hy?`tп`7ږ??x? 6~?)`?i `/=I ]; 1Y=QBy="IE EE#E"E4;*EVE3ZEBEy94D< A)YAbDvVD)Y4yf%>=ٔQ- >9 Y =HFy":E>Q 5%c5򶥊?Q 9%c5jk)ЂBY%PE>Q E-;y-hT>Q I-@[EI;i ;:c5y1ɮ5A1J)R- ?A-A-A-4M@-mZ&1%qC;j @woY˿-9`Z:H?I:-p<@-+H<—-ubq1!cX-57ᅮ ך8Bj-r-Z-?b-%z-PE>;@"JhT>5Fza)9 uƣiu9)y顝}iiDDAT read: Rx Time:21:35:42.9871  TRx dataTimestamp_ set to:1761514544.096737-PDAT read: Bearing 346.3, 10.1 (Local) 5~Local bearing/azimuth received: Bearing 346.3, 10.1 (Local) Y]':IaIi}DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.3 =DAT read: 21:35:42.9871 LVL= 32752, 20561, 32754, 32755, AGC= 71, IDX= 502, 0.02,-0.052, 1.612,-0.318, 0.540, PHS=-0.489, 1.117,-0.902, RAW= 341.1, 3.0, CAL= 340.7, 0.2, ROT= 169.3, -0.2 EYgot valid direction response: 21:35:42.9871 LVL= 32752, 20561, 32754, 32755, AGC= 71, IDX= 502, 0.02,-0.052, 1.612,-0.318, 0.540, PHS=-0.489, 1.117,-0.902, RAW= 341.1, 3.0, CAL= 340.7, 0.2, ROT= 169.3, -0.2 MT#Rx 91: Read range and direction messages.^direction in FSK: [-0.982607,0.185665,0.003491]Fpublishing direction and range infoyq￙?QC1ml?Y3AQP )GI5^i?yf@PwV=dH@ d;)$=@Id忙ƀϪ?U9@Q @Q@Q@Q@Y@Yԩ )&VI$=@idchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.994835 ^Au 9I I O >zC,x ?A&checking for new query: numPingsReceived=91, elapsed TxPingTime=45.1503336Z0=6㯅>6(ٱ6@q FAHRS rotation from veh to nav: [[0.966078,-0.257277,-0.022409],[0.258144,0.964537,0.055049],[0.007451,-0.058966,0.998232]]6H ?:wп@I`l?|?@c/? ~?0?i6Z0=I6(];4YRPByR"IbDZoVDZHL4yr%r_=ٔrr7Q-v>9tYt=vHFytz9Ez>|Q 5%c5~?Q 9%c5~kQ =%tI)~҂BY!y%T>Q I-@~\EI~!;i~;~J=c5y1ɮ5A1ԹJ9R=0 ?A=NA=NA=M@=AFz1k @ek6Ϝʯ?=q￙?QC1ml?=$=@=d—= gf1Hgh+Zdп=;fh*oҖ %Gj=[r=Z=R柊?b=Սz=ɃB=R柊?=w9ڗ=:A=mM@Q addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503776 s, deltaX: 0.299999 m, approachRate: 0.595501 m/s, rangeRepo size: 4 Q5 Added new target pos. range: 17.788280 m, bearing: 184.266085 deg, lat: 36.779418 deg, lon: -121.859486 deg, deltaT: 0.503776 s, deltaX: 0.298126 m, approachRate: 0.591783 m/s, posRepo size: 4 Q=DNOT Ignoring new targets: 17.79 m.R9J9b9Z9B9:A2AҔAڔAڒI’IM`f1@M? "zT>() i9)ii=:IIE E(E&E"EO;*E;VE4ZEa@a@a@a@@ @@/@%DDAT read: Rx Time:21:35:43.4871 5TRx dataTimestamp_ set to:1761514544.602687]PDAT read: Bearing 347.1, 10.9 (Local) m~Local bearing/azimuth received: Bearing 347.1, 10.9 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.3 DAT read: 21:35:43.4871 LVL= 31312, 20529, 32754, 32755, AGC= 70, IDX= 502,-0.25,-0.277, 1.366,-0.567, 0.279, PHS=-0.454, 1.132,-0.890, RAW= 341.8, 2.3, CAL= 341.3, -0.5, ROT= 168.7, 0.5  Ygot valid direction response: 21:35:43.4871 LVL= 31312, 20529, 32754, 32755, AGC= 70, IDX= 502,-0.25,-0.277, 1.366,-0.567, 0.279, PHS=-0.454, 1.132,-0.890, RAW= 341.8, 2.3, CAL= 341.3, -0.5, ROT= 168.7, 0.5  T#Rx 92: Read range and direction messages.^A "9I I) O= >E `direction in FSK: [-0.980577,0.195939,-0.008727]E Fpublishing direction and range infoy)-'B`ӲO?B7߁Y))-Pz-1P) ))-FI-ri-`?- c-@-l$=--@ -5)-p<@I-5<))-b.nRFtͤ? -X)- {&I-p<@i-5<)) checking for new query: numPingsReceived=92, elapsed TxPingTime=45.494366A 0I C,!V/ ?A63=6#>6'ٱ6Wq >AHRS rotation from veh to nav: [[0.965850,-0.258124,-0.022478],[0.258993,0.964313,0.054989],[0.007481,-0.058933,0.998234]]6H>?п`fU?`?'?@~?y,@?i63=I6^];6CY^QBy^"I ``f=f=bDjaVDj24yr;%rJ=ٔvQ-v>9tYt=vHFyxzr;Ez>|Q 5c5~'å?Q 9c5~j)~ՂBY y U>Q I @~]EI~:i~:~@c5yɮAJYR]l& ?AYY]BM@]UZq1mE @Zcÿ]'B`ӲO?B7߁]p<@]5<—]? H1KEt&?j߿],H#WXİ Aj] r]Z]`럊?b]Az]VBY]!/WYڗ]ώA]@M@Qe addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.505950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Qu Added new target pos. range: 17.788280 m, bearing: 183.756766 deg, lat: 36.779418 deg, lon: -121.859485 deg, deltaT: 0.505950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 Q}DNOT Ignoring new targets: 17.79 m.RyJybyZyBy:y2Ҕڔڒ’? "JU>') ઼i9)ղii.:IIUchecking for new query: numPingsReceived=92, elapsed TxPingTime=45.654476q@q @q@u1@qB>BBBBBBBRQ;BEAE EE#E"E1A;*EL:VE3ZEBEi% DDAT read: Rx Time:21:35:43.9872 - TRx dataTimestamp_ set to:1761514545.104756M PDAT read: Bearing 347.0, 11.8 (Local) U ~Local bearing/azimuth received: Bearing 347.0, 11.8 (Local) m DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1  DAT read: 21:35:43.9872 LVL= 30160, 21233, 32754, 32755, AGC= 70, IDX= 503, 0.33,-2.853,-1.251, 3.112,-2.321, PHS=-0.430, 1.116,-0.894, RAW= 342.7, 2.3, CAL= 342.3, -0.6, ROT= 167.7, 0.6 ԙ  Ygot valid direction response: 21:35:43.9872 LVL= 30160, 21233, 32754, 32755, AGC= 70, IDX= 503, 0.33,-2.853,-1.251, 3.112,-2.321, PHS=-0.430, 1.116,-0.894, RAW= 342.7, 2.3, CAL= 342.3, -0.6, ROT= 167.7, 0.6  T#Rx 93: Read range and direction messages. `direction in FSK: [-0.976992,0.213019,-0.010472] Fpublishing direction and range infoy) - ACᅲ3D?/;rY- A) - u- R) ) )) I- (ܾi- َ?- /d- Yf@) - '-@ - +)- R;@I- +<) ) - 7}|cΚP)? - S)- '%I- R;@i- +<) ) - checking for new query: numPingsReceived=93, elapsed TxPingTime=45.943886N1C,H2I ?Abr7=b>b̲ٱbHq jAHRS rotation from veh to nav: [[0.965612,-0.259011,-0.022528],[0.259880,0.964079,0.054905],[0.007498,-0.058871,0.998237]]bH`J?п??`}?F~? e$?ibr7=IbI];bCYrWByr"IqiMb@Mb@Mb@ 9?{Gz{Gz?YL>y##<$ AK@ A)YGAbD^VD,4yR<%.=ٔ0Q->9Y=HFy;E >Q 5c5ʥ?Q 9c5j)؂BY%OM>Q E%;y%"]>Q I%@_EI;i;Dc5yiɮmAqJYR]SF ?A]A]A]'5L@]%?y1Q[{@Gnǿ]ACᅲ3D?/;r]R;@]+<—]`e1bZ>LZ]X1Xp$ j]`r]܎Z]3Sꟊ?b].z]AB]3Sꟊ?]A]VBڗ]-A]MM@Q addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.502069 s, deltaX: 0.100000 m, approachRate: 0.199177 m/s, rangeRepo size: 4 Q- Added new target pos. range: 17.887642 m, bearing: 182.816178 deg, lat: 36.779419 deg, lon: -121.859485 deg, deltaT: 0.502069 s, deltaX: 0.099361 m, approachRate: 0.197904 m/s, posRepo size: 4 Q5DNOT Ignoring new targets: 17.89 m.R1J1b1Z1B1:129Ҕ9ڔ=fBڒ9’AE2@E? OM>OM>v@":"]>̲) i9)顽) ii';IIԩechecking for new query: numPingsReceived=93, elapsed TxPingTime=46.158401y@y @y@}00@@=@=^Ae [R:Ii I O >E * E &E &E "E a;*E ;VE 4ZE a @a @a @a @M Ge kAq 9 kAY A bmC,Xc ?ADDAT read: Rx Time:21:35:44.4872 TRx dataTimestamp_ set to:1761514545.609173PDAT read: Bearing 346.6, 12.0 (Local) ~Local bearing/azimuth received: Bearing 346.6, 12.0 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 QU:=>nٱYCq %AHRS rotation from veh to nav: [[0.965428,-0.259689,-0.022587],[0.260561,0.963896,0.054878],[0.007520,-0.058866,0.998238]]H?п!@?@=? ?~?#?iQU:=I,-];C5DAT read: 21:35:44.4872 LVL= 28816, 20625, 32754, 32755, AGC= 68, IDX= 503, 0.07, 2.151,-2.544, 1.826, 2.691, PHS=-0.437, 1.093,-0.908, RAW= 343.0, 2.8, CAL= 342.5, -0.1, ROT= 167.5, 0.1 =Ygot valid direction response: 21:35:44.4872 LVL= 28816, 20625, 32754, 32755, AGC= 68, IDX= 503, 0.07, 2.151,-2.544, 1.826, 2.691, PHS=-0.437, 1.093,-0.908, RAW= 343.0, 2.8, CAL= 342.5, -0.1, ROT= 167.5, 0.1 ET#Rx 94: Read range and direction messages.M`direction in FSK: [-0.976294,0.216439,-0.001745]MFpublishing direction and range infoyYMGByU"IbDe]VDe'+4yuל%uO=ٔumQ-u>9yYy=}HFyy:E>Q 5c5_ѥ?Q 9c5i)ۂBYy]>Q I@`EI6;i;^Hc5D=T0I?n p\YpP )DIw߾im?rh=@+H=I@ ԩyBɮ^APE)k;@I:H_翋 'K~$? ()q n)  vi /9)cLii6;IIm9@i @i@us0@q M checking for new query: numPingsReceived=94, elapsed TxPingTime=46.662487Ba Ba Ba Ba Be P =Ba Ba Be QQ;Be E^A ] ;I 9 IQ O >C,w~ ?An56?=n>n*ٱnooEz EzEz$Ex"EzCJ;*Ez:VEz4ZExBEzytD; A5@ A)tAYAbDfVD;4y޼%N=ٔ9Q->9Y=HFyVD;E>Q 5c5Fإ?Q 9c5%i)܂BYHX>Q E{;yld>Q I@aEIU:i:Kc5yɮ A ԡQ-DNOT Ignoring new targets: 17.89 m.R)J1b1Z1B9:Y2aҔiڔu=Bڒy’ ?]DDAT read: Rx Time:21:35:44.9874 eTRx dataTimestamp_ set to:1761514546.112572mPDAT read: Bearing 346.7, 11.8 (Local) m~Local bearing/azimuth received: Bearing 346.7, 11.8 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 DAT read: 21:35:44.9874 LVL= 30048, 19921, 32754, 32755, AGC= 67, IDX= 505,-0.15, 2.114,-2.566, 1.793, 2.655, PHS=-0.439, 1.107,-0.906, RAW= 342.8, 2.6, CAL= 342.3, -0.3, ROT= 167.7, 0.3 Ygot valid direction response: 21:35:44.9874 LVL= 30048, 19921, 32754, 32755, AGC= 67, IDX= 505,-0.15, 2.114,-2.566, 1.793, 2.655, PHS=-0.439, 1.107,-0.906, RAW= 342.8, 2.6, CAL= 342.3, -0.3, ROT= 167.7, 0.3 T#Rx 95: Read range and direction messages.`direction in FSK: [-0.977032,0.213028,-0.005236]Fpublishing direction and range infoyaeB'C)Ύ|D?sNruYefAae`ueMa a)eCIeie-?eget@e9=e'-@ e)eR;@Ie;aaeOs翺 HX> @" jld>ie;aa5checking for new query: numPingsReceived=95, elapsed TxPingTime=46.946037E*)A M;iM\9)IMGIiIiQQ]`y;IYIYIa)eiA@  @ @ 5@  ^A- yb];I9 II OU > %= 4= checking for new query: numPingsReceived=95, elapsed TxPingTime=47.166561) Ӫ%C,3ŗ ?ARXC=Rj>RٱRm ZAHRS rotation from veh to nav: [[0.964853,-0.261836,-0.022360],[0.262685,0.963366,0.054065],[0.007385,-0.058039,0.998287]]RH ?п@喿?`?@o??~?@?iRXC=IR\;RCY`yb"IbDjYVDj#4yrc;%r\=ٔvm7Q-v>9tYt=zHFyxz^2;Ez>|Q 5c5~ޥ?Q 9c5~h)~݂BY y se>Q I @~cEI~6:i~ :~Oc5yɮAJRa4 ?A|A|A_L@兟1xg(@ai!U`B'C)Ύ|D?sNruR;@;—ü[6'2ON%H@(ܿރ_YyȔfjpr?Z_䟊?bolz[Bꗥ3Sꟊ?ol[BڗA◥bL@Qe addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503399 s, deltaX: 0.299999 m, approachRate: 0.595947 m/s, rangeRepo size: 4 Qu Added new target pos. range: 18.185747 m, bearing: 182.965074 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.503399 s, deltaX: 0.298105 m, approachRate: 0.592185 m/s, posRepo size: 4 QuDNOT Ignoring new targets: 18.19 m.RyJybyZyBy:y2Ҕڔڒ’L2@ ? ":se>E)I M;iMg9)IMAIiIiYae;IaIaE EE(E"E%.;*Er:VEc44ZEa%@a%@a%@a%@I@I @I@M/@IAmDDAT read: Rx Time:21:35:45.4873 mTRx dataTimestamp_ set to:1761514546.614031}PDAT read: Bearing 346.1, 11.8 (Local) }~Local bearing/azimuth received: Bearing 346.1, 11.8 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 21:35:45.4873 LVL= 30544, 21745, 32754, 32755, AGC= 68, IDX= 504, 0.46, 2.198,-2.480, 1.878, 2.753, PHS=-0.453, 1.096,-0.919, RAW= 342.7, 3.1, CAL= 342.3, 0.3, ROT= 167.7, -0.3 Ygot valid direction response: 21:35:45.4873 LVL= 30544, 21745, 32754, 32755, AGC= 68, IDX= 504, 0.46, 2.198,-2.480, 1.878, 2.753, PHS=-0.453, 1.096,-0.919, RAW= 342.7, 3.1, CAL= 342.3, 0.3, ROT= 167.7, -0.3 T#Rx 96: Read range and direction messages.^direction in FSK: [-0.977032,0.213028,0.005236]Fpublishing direction and range infoyimB'C)Ύ|D?sNru?YmAimPwmTi i)mDImimI?mCkmYf@mk]=i m;)iImiimIbu翨$[4(N? mKL)m̋ZIiimiichecking for new query: numPingsReceived=96, elapsed TxPingTime=47.435356^AIIO>ԉ +C,ۣ ?A0:cG=:͙>:oٱ:3l BAHRS rotation from veh to nav: [[0.964594,-0.262799,-0.022246],[0.263637,0.963128,0.053668],[0.007322,-0.057632,0.998311]]:H`?п`ǖo??Pz?@}? *?i:cG=I:];:CY^=By^"IbDjiVDj=A4yrWۼ%rK=ٔr"9Q-r>9tYt=vHFytvU ;Ez>xQ 5~c5z奊?Q 9c5z0h)zނBYytf>Q I@zdEIz;iz;zRc5y ɮAJRIL ?AAAgfL@Xńī1o/ٺ@?*;>?B'C)Ύ|D?sNru?—/Y2,M+&qпiX(W`q3j\qrzZ?bxzBꗝ`럊?.ڗlA◝hL@Q] addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.501459 s, deltaX: -0.099998 m, approachRate: -0.199415 m/s, rangeRepo size: 4 Qm Added new target pos. range: 18.086372 m, bearing: 182.988398 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.501459 s, deltaX: -0.099375 m, approachRate: -0.198171 m/s, posRepo size: 4 QuDNOT Ignoring new targets: 18.09 m.RqJqbqZyBy:y2yҔڔڒ’@332@ ? ":tf>o) iJ9)iiE;IIchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.670933=9@9 @9@=/@9ԉB>BB"IBABBBBB]Q;BEE5 E5E5'E1"E5g5;*E5:VE5'4ZE1BE5{ ia Ia u DDAT read: Rx Time:21:35:45.9874 u TRx dataTimestamp_ set to:1761514547.117440} PDAT read: Bearing 344.3, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 344.3, 11.8 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2  DAT read: 21:35:45.9874 LVL= 32752, 27697, 32754, 32755, AGC= 69, IDX= 505, 0.11, 2.661,-2.042, 2.346,-3.041, PHS=-0.479, 1.044,-0.940, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1  Ygot valid direction response: 21:35:45.9874 LVL= 32752, 27697, 32754, 32755, AGC= 69, IDX= 505, 0.11, 2.661,-2.042, 2.346,-3.041, PHS=-0.479, 1.044,-0.940, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1  T#Rx 97: Read range and direction messages. ^direction in FSK: [-0.976016,0.214591,0.036644] Fpublishing direction and range infoyq u Q%;■q|w?(א¢?Yu fAq u u 1lq q )u EIu }?iu ˡ?u ףpu t@u Q =u t;@ u Q =)u 6;@Iu Q q q u 8{g1忤֧wҲ? u k9)u Iu 6;@iu Q q q  checking for new query: numPingsReceived=97, elapsed TxPingTime=47.958641i2C, ?A2["J=2>2ٱ2ik >AHRS rotation from veh to nav: [[0.964417,-0.263446,-0.022278],[0.264284,0.962963,0.053454],[0.007370,-0.057440,0.998322]]2H?@MпЖ??@b^?p0~?h@?i2["J=\I2\;2CYf1Byf"I hhiMb@Mb@Mb@ 9&1?yK@ A)AYGAbD-hVD-f?4y]Z%]4=ٔe5޸Q-e>9aYa=mHFyim:Em>qQ 5}c5uP?Q 9}c5ug)qYQ>Q E;y=d>Q I@ufEIuE:iuM:uVc5yɮAJR# ?A|A|A8L@~E1_AS8@TqMS?Q%;■q|w?(א¢?6;@Q —Eޭ4)2\"X ^?K C-s5x?jerIZ>$?b!@zτBꗥ0?xBڗőA◥erL@Q= addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503409 s, deltaX: 0.099998 m, approachRate: 0.198643 m/s, rangeRepo size: 4 Qm Added new target pos. range: 18.185762 m, bearing: 182.828720 deg, lat: 36.779419 deg, lon: -121.859482 deg, deltaT: 0.503409 s, deltaX: 0.099390 m, approachRate: 0.197434 m/s, posRepo size: 4 QuDNOT Ignoring new targets: 18.19 m.RqJqbqZqBq:q2yҔyڔ}@Bڒy’L2@!? Q>Q>@"=d>) i9)ii%7;II]>i>9@ @@/@checking for new query: numPingsReceived=97, elapsed TxPingTime=48.176361^A ϩ;I I O >E-  E- E- (E) "E- 77;*E- :VE- c44ZE) a5 @a5 @a5 @a5 @A :8C,Zd ?A~L=~>>~]~ٱ~͂k  AHRS rotation from veh to nav: [[0.964262,-0.264018,-0.022227],[0.264852,0.962804,0.053489],[0.007278,-0.057465,0.998321]]~H;?п`–W?K?b?`}?k??i~L=I~\;~CY%#By%"IEDDAT read: Rx Time:21:35:46.4874 ETRx dataTimestamp_ set to:1761514547.625157MPDAT read: Bearing 346.7, 11.5 (Local) U~Local bearing/azimuth received: Bearing 346.7, 11.5 (Local) eDAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 DAT read: 21:35:46.4874 LVL= 29936, 19281, 32754, 32755, AGC= 67, IDX= 505,-0.15,-0.158, 1.456,-0.466, 0.390, PHS=-0.445, 1.111,-0.900, RAW= 342.4, 2.6, CAL= 342.0, -0.3, ROT= 168.0, 0.3 Ygot valid direction response: 21:35:46.4874 LVL= 29936, 19281, 32754, 32755, AGC= 67, IDX= 505,-0.15,-0.158, 1.456,-0.466, 0.390, PHS=-0.445, 1.111,-0.900, RAW= 342.4, 2.6, CAL= 342.0, -0.3, ROT= 168.0, 0.3 T#Rx 98: Read range and direction messages.`direction in FSK: [-0.978134,0.207909,-0.005236]Fpublishing direction and range infoyAEԋLC?sNruYAAEtEQKA A)ECIE iE?5?EfffEt;@E9=EC@ E)Ef;@IE;AAE## Eh忍ܹ*? E)Ef9IEf;@iE;AAchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.446457bDkVDD4yC~%G=ٔzk9Q->9Y=HFy$:E>Q 5c53?Q 9c5)g)Yyd>Q I@gEI$J9AljErE0ZE?bE„vzEABE>$?AAڗE'AEҀL@AQ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.507717 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q Added new target pos. range: 18.185762 m, bearing: 183.392935 deg, lat: 36.779420 deg, lon: -121.859482 deg, deltaT: 0.507717 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.19 m.RJbZB:2Ҕڔ!ڒ!’!!%` O? aaa"ed>u]~)y HciT9)顝ii;IIqu9@q @y@}/@ychecking for new query: numPingsReceived=98, elapsed TxPingTime=48.682320B >B B "IB 2BB O =B B B Q;B EBiBiBiBiBiCmɝ4Ա ^A I I O >?C,A ?AbEajEeT4rEe30En EnEn)El"EnB;*En:VEnFA4ZElBEnsmAoٱm lq AHRS rotation from veh to nav: [[0.964211,-0.264200,-0.022246],[0.265037,0.962739,0.053753],[0.007215,-0.057725,0.998306]]mH?п ǖ\??w?`׍}? ` ?imTM=ImL%];mCYBy~"Ii Mb@Mb@Mb@     9 Fx?Mb`Y K>y ̼  $ A  ) tA Y bDUbVDU[44y)%<=ٔ9Q->9Y=HFyA9E>Q 5%c5?Q 9-c5f)Y-cM>Q E-;y-V>Q I-@hEIv;i:^c5y1ɮ=A9MDDAT read: Rx Time:21:35:46.9875 eTRx dataTimestamp_ set to:1761514548.129980PDAT read: Bearing 344.1, 11.8 (Local) ~Local bearing/azimuth received: Bearing 344.1, 11.8 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 ԡDAT read: 21:35:46.9875 LVL= 32752, 23665, 32754, 32755, AGC= 69, IDX= 506, 0.49, 2.441,-2.253, 2.130, 3.029, PHS=-0.486, 1.046,-0.944, RAW= 342.7, 4.3, CAL= 342.3, 2.2, ROT= 167.7, -2.2 Ygot valid direction response: 21:35:46.9875 LVL= 32752, 23665, 32754, 32755, AGC= 69, IDX= 506, 0.49, 2.441,-2.253, 2.130, 3.029, PHS=-0.486, 1.046,-0.944, RAW= 342.7, 4.3, CAL= 342.3, 2.2, ROT= 167.7, -2.2 T#Rx 99: Read range and direction messages.^direction in FSK: [-0.976325,0.212873,0.038388]Fpublishing direction and range infoyQU7A>5o??.?YUAQUJQRUQ ?AUAUAU_`L@U4a1~3AO@{[n?U7A>5o??.?UR;@UnF—UFgAG[2>ѩr7EX?U c_x<)r?jUsrUڒZU?bUzUτBQQUBڗUAUL@Uq\Q Q)UEIUiUT?UqUYf@U`=U'-@ UnF=)UR;@IUnFQQUbtFL ą$3? U_)UIUR;@iUnFQQ5checking for new query: numPingsReceived=99, elapsed TxPingTime=48.964039QE addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504823 s, deltaX: 0.200001 m, approachRate: 0.396180 m/s, rangeRepo size: 4 QU Added new target pos. range: 18.384516 m, bearing: 182.967316 deg, lat: 36.779420 deg, lon: -121.859482 deg, deltaT: 0.504823 s, deltaX: 0.198753 m, approachRate: 0.393709 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 18.38 m.RQJQbQZYB:2Ҕڔ,Bڒ’  2@ u? McM>McM>M@"MV>Ao) i9)@ii;II@ @@/@  checking for new query: numPingsReceived=99, elapsed TxPingTime=49.186287^A X;I I O >DNFC,r ?A2(N=2mr>2ٱ29km BAHRS rotation from veh to nav: [[0.964159,-0.264400,-0.022143],[0.265232,0.962672,0.053992],[0.007041,-0.057930,0.998296]]2Hc?@п ?5? Τ?C|? ?i2(N=I20];2CYRByRt"IIZ<)Z=bDffVDf;4yr0<%rr=ٔvS:Q-v?19iYi=uHFyquo:Eu?yQ 5c5}o?Q 9c5}f)yYy>Q I@}iEI}Y;i};}ac5yɮAQDNOT Ignoring new targets: 18.38 m.RJbZB:2Ҕ ڔ ڒ ’r? QQQ"Uڋ>) :iE9)顭&ii;IIEM EMEM&EI"EMm+;*EM:VEM4ZEIaU@aU@aU@aU@a9@ @@Z0@DDAT read: Rx Time:21:35:47.4875 TRx dataTimestamp_ set to:1761514548.633229PDAT read: Bearing 346.6, 11.9 (Local) ~Local bearing/azimuth received: Bearing 346.6, 11.9 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 DAT read: 21:35:47.4875 LVL= 31312, 20785, 32754, 32755, AGC= 68, IDX= 506, 0.22, 1.116, 2.712, 0.799, 1.656, PHS=-0.438, 1.101,-0.901, RAW= 342.8, 2.7, CAL= 342.3, -0.2, ROT= 167.7, 0.2 Ygot valid direction response: 21:35:47.4875 LVL= 31312, 20785, 32754, 32755, AGC= 68, IDX= 506, 0.22, 1.116, 2.712, 0.799, 1.656, PHS=-0.438, 1.101,-0.901, RAW= 342.8, 2.7, CAL= 342.3, -0.2, ROT= 167.7, 0.2  V#Rx 100: Read range and direction messages.`direction in FSK: [-0.977040,0.213029,-0.003491]Fpublishing direction and range infoy̏C*D?QC1mlYPz1Q )DIAi?ft@A= d)Id;lx忈)z? =L)=Iid;5checking for new query: numPingsReceived=100, elapsed TxPingTime=49.454376ԉ^A[R;IIO>Ա rLC,{34 ?A2ϜM=2`>2Eٱ2An :AHRS rotation from veh to nav: [[0.964195,-0.264269,-0.022142],[0.265103,0.962690,0.054299],[0.006966,-0.058225,0.998279]]2H@? п\t?[?ͫ?|? ϭ@?i2ϜM=I22];2CYNByRw"IbDZhVDZf?4yv@<%vJ=ٔv0C9Q-v>9xYx=zHFyxzE~>Q 5c5?Q 9 c5Ff)Y y h>Q I @kEI:iy:qdc5yɮAJRӆ( ?AML@hj_1t1'T@rm̏C*D?QC1mld;—hRZ2dmسڿiqDf8=j~rҒZ|X?bgszAB?gsڗAL@Qm addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԹQ Added new target pos. range: 18.384516 m, bearing: 183.103449 deg, lat: 36.779420 deg, lon: -121.859482 deg, deltaT: 0.503249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.38 m.RJbZB:2Ҕڔڒ ’   ?checking for new query: numPingsReceived=100, elapsed TxPingTime=49.690495 III"Mh>}E)  'i9)顅"QiiBBB"IBBBP =BBBQ;BE;II!@ @@`4@@@E E@E$E"E0;*EM;VE4ZEBE DDAT read: Rx Time:21:35:47.9876  TRx dataTimestamp_ set to:1761514549.137098 PDAT read: Bearing 345.3, 11.9 (Local)  ~Local bearing/azimuth received: Bearing 345.3, 11.9 (Local)  DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3  DAT read: 21:35:47.9876 LVL= 30320, 21025, 32754, 32755, AGC= 69, IDX= 508, 0.02, 1.794,-2.892, 1.476, 2.361, PHS=-0.464, 1.075,-0.929, RAW= 342.8, 3.5, CAL= 342.3, 1.0, ROT= 167.7, -1.0  Ygot valid direction response: 21:35:47.9876 LVL= 30320, 21025, 32754, 32755, AGC= 69, IDX= 508, 0.02, 1.794,-2.892, 1.476, 2.361, PHS=-0.464, 1.075,-0.929, RAW= 342.8, 3.5, CAL= 342.3, 1.0, ROT= 167.7, -1.0 % V#Rx 101: Read range and direction messages.- ^direction in FSK: [-0.976897,0.212998,0.017452]- Fpublishing direction and range infoy  =lBᅰ}C?W7) ߑ?Y fA pv !R ) EI hi ? m 5z= 5<) I 5 8n \忡Y,? >) *}I i 5 M checking for new query: numPingsReceived=101, elapsed TxPingTime=49.9582679 ZSC,N ?A2^M=21Y>2oٱ2o :AHRS rotation from veh to nav: [[0.964211,-0.264210,-0.022143],[0.265046,0.962693,0.054525],[0.006910,-0.058443,0.998267]]2H? п ? a?@?`M|?5쭿@?i2^M=I2 ];2CYBByBp"IimMb@Mb@Mb@iiii i9mS?v/Mb`Ym/]>ymxiim Ai m-A)mAiYmAbDeVD94yL%<=ٔ9Q->9Y=HFyq E> Q 55c5 &?Q 95c5 @f) ߂BY=d>Q E=m;y=O&$?bABڗΔAwL@Q addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503869 s, deltaX: 0.299999 m, approachRate: 0.595391 m/s, rangeRepo size: 4 Q Added new target pos. range: 18.682627 m, bearing: 183.033497 deg, lat: 36.779420 deg, lon: -121.859481 deg, deltaT: 0.503869 s, deltaX: 0.298111 m, approachRate: 0.591644 m/s, posRepo size: 4 QDNOT Ignoring new targets: 18.68 m.RJ b Z B :I2IҔQڔU*BڒQ’Q]2@]6? d>d>B@"O&<o) Lig9)ii!IMW;IIII-=-<5checking for new query: numPingsReceived=101, elapsed TxPingTime=50.195442A@ @@5@iEu  Eu Eu &Eq "Eu m+;*Eu :VEu 4ZEq a} @a} @a} @a} @^A I I O >ԙ YC,g ?A2K=2(>2ӥۻٱ2ep :AHRS rotation from veh to nav: [[0.964310,-0.263859,-0.021989],[0.264689,0.962774,0.054828],[0.006703,-0.058692,0.998254]]2H?п@,? ?s?t{? ?i2K=I2\;2CFDDAT read: Rx Time:21:35:48.4876 JTRx dataTimestamp_ set to:1761514549.641238NPDAT read: Bearing 346.1, 11.5 (Local) N~Local bearing/azimuth received: Bearing 346.1, 11.5 (Local) VDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1 jDAT read: 21:35:48.4876 LVL= 29792, 21329, 32754, 32755, AGC= 69, IDX= 508,-0.10,-0.750, 0.851,-1.051,-0.191, PHS=-0.458, 1.086,-0.904, RAW= 342.3, 3.1, CAL= 341.9, 0.3, ROT= 168.1, -0.3 nYgot valid direction response: 21:35:48.4876 LVL= 29792, 21329, 32754, 32755, AGC= 69, IDX= 508,-0.10,-0.750, 0.851,-1.051,-0.191, PHS=-0.458, 1.086,-0.904, RAW= 342.3, 3.1, CAL= 341.9, 0.3, ROT= 168.1, -0.3