*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="lineCaptureHoming" *n code=0068 name="lineCaptureHoming:Science" *n code=0069 name="lineCaptureHoming:Science:A" *n code=006A name="lineCaptureHoming:Science:B" *n code=006B name="lineCaptureHoming:Science:C" *n code=006C name="lineCaptureHoming:Science:D" *n code=006D name="lineCaptureHoming:Science:E" *n code=006E name="lineCaptureHoming:Science:F" *n code=006F name="lineCaptureHoming:Science:Read_Oil" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent" *n code=0071 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0075 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0076 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0077 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0078 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=007A name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=007B name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=007C name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=007D name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007E name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007F name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0080 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=0081 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=0082 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0083 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0084 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0085 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0086 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0087 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0088 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0089 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=008A name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=008B name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=008C name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=008D name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=008E name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=008F name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0090 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=0091 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=0092 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=0093 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0094 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0095 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0096 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0097 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0098 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=009B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=009C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=009D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00A0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00A1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00A4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00A5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00AA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00AD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00AE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00B6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00BA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00BB name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BC name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00BD name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00BF name="lineCaptureHoming:StandardEnvelopes" *n code=00C0 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C1 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C3 name="lineCaptureHoming:C" *n code=00C4 name="lineCaptureHoming:D" *n code=00C5 name="lineCaptureHoming:E" *n code=00C6 name="lineCaptureHoming:NeedComms" *n code=00C7 name="lineCaptureHoming:NeedComms:A" *n code=00C8 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C9 name="lineCaptureHoming:NeedComms:C" *n code=00CA name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CB name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CC name="lineCaptureHoming:NeedComms:D" *n code=00CD name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:E" *n code=00D0 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:G" *n code=00D3 name="lineCaptureHoming:H" *n code=00D4 name="lineCaptureHoming:MicromodemComms" *n code=00D5 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D6 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D7 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D8 name="lineCaptureHoming:J" *n code=00D9 name="lineCaptureHoming:LineCapture" *n code=00DA name="lineCaptureHoming:LineCapture:A" *n code=00DB name="lineCaptureHoming:LineCapture:B" *n code=00DC name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00DD name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00DE name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E0 name="lineCaptureHoming:LineCapture:D" *n code=00E1 name="lineCaptureHoming:LineCapture:E" *n code=00E2 name="lineCaptureHoming:LineCapture:F" *n code=00E3 name="lineCaptureHoming:LineCapture:G" *n code=00E4 name="lineCaptureHoming:LineCapture:H" *n code=00E5 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E6 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E7 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0115 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0116 name="lineCaptureHoming:LineCapture:M" *n code=0117 name="lineCaptureHoming:L" *n code=0118 name="lineCaptureHoming:M" *n code=0119 name="lineCaptureHoming:N" *n code=011A name="lineCaptureHoming:O" *n code=011B name="lineCaptureHoming:P" *n code=011C name="lineCaptureHoming:Q" *n code=011D name="lineCaptureHoming:U" *n code=011E name="lineCaptureHoming:TrackAC." *n code=011F name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0120 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0121 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0139 name="lineCaptureHoming:restartDHCP" *n code=013A name="lineCaptureHoming:restartDHCP:A" *n code=013B name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013C name="lineCaptureHoming:StartingMission" *n code=013D name="lineCaptureHoming:Z" *n code=013E name="lineCaptureHoming:BA.Execute" *n code=013F name="lineCaptureHoming:InitialDive" *n code=0140 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0141 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0142 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0143 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0144 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0146 name="lineCaptureHoming:RepeatHack" *n code=0147 name="lineCaptureHoming:RepeatHack:A" *n code=0148 name="lineCaptureHoming:Lap" *n code=0149 name="lineCaptureHoming:Lap:A" *n code=014A name="lineCaptureHoming:Lap:B" *n code=014B name="lineCaptureHoming:Lap:C" *n code=014C name="lineCaptureHoming:Lap:D" *n code=014D name="lineCaptureHoming:Lap:E" *n code=014E name="lineCaptureHoming:Lap:Docked" *n code=014F name="lineCaptureHoming:Lap:Docked:A" *n code=0150 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0151 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0152 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0154 name="lineCaptureHoming:Lap:Docked:C" *n code=0155 name="lineCaptureHoming:Lap:Docked:D" *n code=0156 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0157 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0158 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0159 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=015D name="lineCaptureHoming:Lap:Docked:Detach" *n code=015E name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=015F name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0161 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0162 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0163 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0166 name="lineCaptureHoming:Lap:Docked:Drift" *n code=0167 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0168 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n 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ĿAm?i:@I:`;8YJ?yJoFbDV8VDV7y^,>%^I=ٔb։Q-b>9`I`=bCyfpVAfx<Ef>hQ 5n?4j\-?Q 9n?4j)j?Ylyra2Q Ir?j&AIj;ij;j0?4yvƽBɮvBv|EjjjjjZ!Z!Z!Z%@ɢ1)1 5Ai1)999i=>}~=AIA57:YIiIO>Em EiEm:Ei"Em:*EiVEmg6ZEiBEm;a}2Em;a}JEmv;a}:Emv;a}y I I ԩ V<,h?A%rG=ٔryUQ-v>9tIt=vCyvZAz-)Ez>|Q 5?4~!-?Q 9?4~)~?Yy3Q I ?~AI~:i~ :~,??4yɮ}Bj)j)j)j)j)ZQZQZQZU>@ɢa)e -= eoAii)iiiim9}=qIq5:ԩIIO!>Eu EuEu+Eq"Eu:*Eu*5:VEu[6ZEqa}@a}@a}@a}@ C,i?A2î@2オ@2ٱ2!_޽ :AHRS rotation from veh to nav: [[0.680754,0.614550,-0.398624],[-0.469487,0.783771,0.406553],[0.562277,-0.089614,0.822079]]2H? e?ٿ@ ޿??,?`xN?i2î@I2a;0YB?yBOFbDJD<VDJ7yRi>%RO=ٔV\Q-V>9TIT=ZCyZ~^AZ"EZ>\Q 5b?4^R,-?Q 9b?4^)^D?Ydyf6Q If?^AI^:i^:^L?4yhɮjOBhljtjxjxjxjxZZZZ@ɢ) Ai)i|=I hAB>BBHFB@BBBB6<BE-4: {=9AUfAzAUfAIIO>a E  E E -E "E C:*E 3:VE u]6ZE BE L;a 2E M;a JE ;a :E ;a gI,ͫ)i?A6<@6 @6@ٱ6n >AHRS rotation from veh to nav: [[0.680544,0.610895,-0.404558],[-0.475977,0.788367,0.389773],[0.557051,-0.072698,0.827290]]6H ?@s?@Hٿgv޿M:? ?\?@O)y?i6<@I6Ha;4YF?yFFyRQ?X9v?K7>>I  9J +?K?T㥛 ?Y>y^:>>{BB C)/BYB9bD59VD57yUN>%U@=ٔUk9I=CybAtE>Q 5?4O5-?Q 9?4)?Y>Q E;yf>Q I?ȅAI Z2>Z@ZC@ɢ) @i)i{=I2:iw=I IO-->ԑIM >)M > fP,rCi?A6@6|@6 5ٱ6jҽ >AHRS rotation from veh to nav: [[0.682835,0.615876,-0.392980],[-0.476657,0.783214,0.399217],[0.553655,-0.085283,0.828368]]6H`?`A?&ٿ޿@?Č??յ?i6@I6a;6CYR?yRFbDZ5VDZ7yvb>%vQ=ٔv,19xIx=zCyzfAz;E~>Q 5 ?4=-?Q 9 ?4.)@Y y >Q I ?AI|:i1:i?4yɮBj)j1j1j1j1ZIZIZIZM C@ɢa)a ea@ii)iiiimz=qIqԙE= E=xE=.E9"E=U:*E=:VE=C^6ZE9aE@aE@aM@aM@u\1:5+,=IIO=BqAu<B>BQCB@FBb@BBBB_<BƬE ;W,[a]i?A2,@2@2Wٱ2H :AHRS rotation from veh to nav: [[0.682459,0.623179,-0.381966],[-0.471393,0.774634,0.421581],[0.558604,-0.107655,0.822418]]2H`??!rؿM+޿?/??N?Q?i2,@I2: a;0YB @yBFbDJ4VDJͿ7yn>%nK=ٔrwrQ-r>9pIp=vCyvjAvII<Ev>xQ 5~?4zuE-?Q 9~?4zu)z@Yy>Q I?z^AIz;iz;zw?4y ɮ չB j!j!j!j!j)ZAZAZAZEA@ɢQ)Y ]?iY)YYaiey=aIiIu?)u>5;0:!EM EM}EM(EI"EMa:*EMk&:VEMnY6ZEIBEM};aU2EM~;aUJEMˀ;a]:EMˀ;a]AA>QIIO>y b+],%VN=ٔVQǼQ-V>9TIX=ZCyZnAZEZ>\Q 5b?4^M-?Q 9b?4^)^ @YdyfW>Q If?^0AI^:i^d:^y?4yhɮjBhjtjtjtjtjxZiZiZiZm{@@ɢ) ?i)idx=IQ.:IIO$>ԁbEu]6jEdz]6rEb1EU EU{EQEQ"EU:*EU5":VEQZEQae@ae@ae@ae@ԩ I I Bd,i?AY~o @y~FbD )5VD 7y%K>%%C=ٔ%Q-%>9)I)=-Cy-rA5E5>1Q 5=?45V-?Q 9E?45)5@YAyAQ IE?5 AI5;i5;5"?4yMBɮUBU~EjjjjjB%>B%RCB%pFB%\!@B%=B!B!B%<B%LEBRCBRCBCB=B=CK5ZZZZɢ) 9?iԱ)iw=Ia-:I1IiOu> Ee  Ee }Ee Ea "Ee a:*Ee k&:VEe J6ZEa BEa am 2Ea au JEa au :Ea au 9 y>= :C)rBY=BbDV5VDP7yJ>%>=ٔ/9I=eCye*wAeEm>iQ 5u?4mi-?Q 9}?4m)mw@Y}?Q E}:y}ݾQ I}?mAIm; ;ima;m?4yɮeBjjjjjZ>Z>Z+@Z.?ɢ) >i)iv=I+:IQIaOq9i 6%q,i?A 6 1@6+@6ٱ6-. >AHRS rotation from veh to nav: [[0.682596,0.648897,-0.336149],[-0.488942,0.747373,0.449855],[0.543138,-0.142712,0.827426]]6H??xտ J߿ {?k?@ca?_D¿Fz?i6 1@I6`;6CYF@yFFbDN<3VDN7yV>%Va=ٔZi-=Q-Z>9XIX=^Cy^zA^,E>Q 5%?4_y-?Q 9%?4)@Y!y%Q I-?AIj;i:=?4y5 Bɮ5GB5EjijijijqjqZZZZeK?ɢ) v>i)顩iDv=IE% E%E%2E!"E%U:*E%,:VE%|a6ZE!a-@a-@a-@a-@*:I1IIOU=iԙAA@AB%>B%NCB%FB%>1@B%=B!B%HDB%<B%E SOw,i?A2@2^@2dٱ2<@ :AHRS rotation from veh to nav: [[0.683680,0.656317,-0.319107],[-0.493200,0.737824,0.460836],[0.537899,-0.157681,0.828131]]2H`??@@lԿ߿A?@T~?`x6?`.Ŀ ?i2@I2`;2CYB@yB0FbDJ0VDJ7PyVWr>%VJ=ٔV|9XIX=ZCyZ~A^EE^>`Q 5f?4bB-?Q 9f?4b)b@YdyfQ If?b~AIb :ib:b?4ylɮnBljxjxjxjxjxZZZZK?ɢ) >i)顉iu=Iu):II O= mGMA˽9YAD%=D!E- E-E-"E)"E-%:*E-.:VE-T6ZE)BE-;a52E-;a=JE-;a=:E-;a=Q y},i?A2aǭ@22´@2Jٱ2C :AHRS rotation from veh to nav: [[0.678072,0.664533,-0.314029],[-0.499060,0.729934,0.467050],[0.539591,-0.159975,0.826590]]2Hò?C?@ Կ߿ [?&?`SD?` zĿks?i2aǭ@I2ж`;2CYBE&@yBzFDF=bDJ.VDJY7yR>%RK=ٔVQ-V>9TIT=ZCyZpAZEZ>\Q 5b?4^~-?Q 9b?4^` )^Z@YdyfQ If?^SAI^;i^:^?4yj$BɮjBjEjtjtjtjtjxzB*** querying acoustic contact ***ix ix-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.9ZIZIZIZM"t?ɢa)a e=ia)iiiimu=qIq':IAI IO-,>qE5 E5sE5E1"E5:*E5Z:VE5F6ZE1aE@aE@aE@aE@&DAT read: user:8> BDAT read: Tx time:00:15:37.5500 $Ping request sent. BAHRS rotation from veh to nav: [[0.667518,0.676421,-0.311248],[-0.510257,0.719984,0.470384],[0.542271,-0.155174,0.825750]]:H`N\?%bH=ٔfQ-f>9dIh=jCyjzAn6Er>Q 5?4-?Q 9?4@)@Yy%Q I%?4AIC`;iV;~?4y1ɮ5B1jQjQjYjYjayZZZZ?B>BMCBFBA@B=BDBBd<BEɢ) 4=i)iht=IU!&:Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254406ԩAII!O-N> D9 zD= @AEE  EE EE EA "EE :*EE ;J:VEE aQ6ZEA BEE Z;aU 2EE [;aU JEE ;aU :EE ;aU  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502918,B?,j?AB@B@BeٱB 8 RAHRS rotation from veh to nav: [[0.659764,0.686475,-0.305717],[-0.522399,0.711421,0.470085],[0.540196,-0.150439,0.827984]]BH@?@?ߐӿ@}??@HI?Aÿ~?iB@IB.`;BCY-3@y5BFy333333?Zd;O?Zd;O?9?j<=~j> 9-?y&1?MbX9?Y?5?y`e=!>gBB=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932 C)OBYBbDu{+VDu 7y">%=ٔ2;Q->9I=CyAY߼E>Q 5?4-?Q 9?4n)(@Y B:?Q E:yQ I?ϔAI,Jj?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854jXb@j)]@j1ٱj%C =AHRS rotation from veh to nav: [[0.658891,0.694574,-0.288843],[-0.530712,0.701344,0.475879],[0.533112,-0.160260,0.830728]]jH?@9?f|ҿ`iq?@t???gĿR?ijXb@Ij*`;jCYM+>@yMFbDe>(VDe7!y '?%x=ٔ9I=CyaAE>Q 5?4-?Q 9?4)4@YyLQ I?NAIB}JCB}LGB}FR@B}=ByB}FDB}5<B}lEjjjjjQZqZqZqZu߄@ɢ) ,~dj?A0vU@vO@vPٱvJ AHRS rotation from veh to nav: [[0.654984,0.698578,-0.288071],[-0.529312,0.696225,0.484871],[0.539283,-0.165103,0.825782]]vH`?Z?oҿ@zG??`A?"ſl?ivU@Ivnx`;vCYD@y*FbD&VD!7y5>%5Z=ٔ=GQ-=>99I9=ECyE#AEwEE>IE EqEE"E:*E$ :VEK6ZEBE;a2E;aJEU;a:EU;a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511361ԑQ 5@4M2-?Q 9@4MA)Mh?@YyQ I?MȗAIML=iML=M@4yɮ4BjjjjjԹZZZZV@I>)>ɢ) ;i)iDr= I  !:5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764910I I  O >,k j?A2@2@2՞ٱ2_J NAHRS rotation from veh to nav: [[0.646204,0.705498,-0.291022],[-0.530648,0.689434,0.493046],[0.548483,-0.164178,0.819886]]2H?o?@ҿ ??+?ſ%fU=ٔfZQ-f>9hIh=jCyjAnEn>pQ 5r@4r-?Q 9v@4r)rK@YtyvQ Iv?r`AIr;ir;r;@4y|ɮ~B|jjjjjZ)Z)Z)Z-<ӭ@ɢA)A E(;iA)AIIiMq=QIQ :A?A>I I!O-=E E{E&E"E1:*E5":VEW6ZEa%@a%@a%@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895Iԁ B >B HCB  GB Ue@B =B B DDB <B E,,`j?A(-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269250YuT@yuGbDw$VD77y>%9=ٔQ->9I=CyGA-E->AQ 5]@4E-?Q 9e@4E)E}Z@YyQ I?E>AIEԩE- E)E-E)"E-:*E)VE-L6ZE)BE-8;a52E-9;a=JE-Nz;a=:E-Oz;a=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251 P,]j?AJqC@JB>@J3ٱJ)C ZAHRS rotation from veh to nav: [[0.628213,0.722116,-0.289650],[-0.543346,0.673640,0.500983],[0.556887,-0.157344,0.815549]]JHQ?@?ҿc@v? ?@?#Ŀ?iJqC@IJ`;`HYj]@yjhGyl?}?5^I?:v?>Mb>< 9V-?Dl?Mb?Y>yO >>  C)YuBbD6#VD7y>%L=ٔ}ϼQ->9I=CyBAE>Q 5@4M.?Q 9@4)Rd@Y>Q E:y=Q I? AI};i;3@4yɮBjjjjj!Z=>Z=>Z=v@Z=y9@ɢI)I U":iQ)QQQi]hp=YIaU:IIO>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898 YYA bER6jEdS6rE͗2EA  EE oEE -EA "EA *EE :VEE u]6ZEA aU @aU @aU @aU @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963u9,8j?A2}@2N߱@2ٱ2cE :AHRS rotation from veh to nav: [[0.622393,0.730342,-0.281473],[-0.551052,0.664258,0.505077],[0.555850,-0.159250,0.815886]]2H`? ^?ҿ6A?)?@? ObĿ?i2}@I2m`;0Ye@y%h GbD5!VD5v7yE>%ET=ٔE"T;Q-M>9III=MCyM0AUGEU>YQ 5e@4].?Q 9e@4])]n@Yaye=Q Ie?]ڜAI]:i]:]A@4yuBɮuVBuEjjjjjZZZZ8@ɢ) 9i)iIo=I:I!I9OU=AAiAmAABu->Bu>CBu GBuy@Bu=BqBu=DBu<BuEB5JCB5ICB5ęCB5Ĩ=B5Ĩ=C55=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274824ԑԹ b,]j?A2@2@2ٱ2M :AHRS rotation from veh to nav: [[0.618086,0.738246,-0.270115],[-0.557081,0.653776,0.512091],[0.554644,-0.166040,0.815353]]2H\??Iѿ`? c??@ſ_?i2@I2k`;2CYR1l@yR;G TTbDZ% VDZl7ybl>%bS=ٔf,u;Q-f>9dId=fCyj!Aj&Ej>lQ 5=@4n7.?Q 9=@4n_)nw@Y9y=w=Q IE?nAIn;in;nN@4yIɮM$BIjajajajajaZZZZ6@ɢ)ԙ <9i)顡irn=IE EsEE"EO:*EZ:VEZM6ZEBEѺ;a 2EҺ;a JE0];a :E0];a checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527487:A%؟AI)I9OM0>M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778931 J,8k?A2;@2 @2>ٱ2X :AHRS rotation from veh to nav: [[0.617170,0.742578,-0.260152],[-0.558952,0.646475,0.519271],[0.553781,-0.175066,0.814051]]2Hۿ?`2?Uп@?`ޝ?`? hƿ ?i2;@I2X`;2CY^u@ybGbDj@VDj f7yr>%rH=ٔr&;Q-v>9v"?Iv"?=vCyv4Az6Ez>|Q 5@4~G".?Q 9@4~4)~@Yyv=Q I?~AI~;i~W:~\@4yɮضBj)j)j)j)j)ZZZZ 4@ɢ) 8i)idm= I :E  E yE +E "E :*E :VE [6ZE a@a@a@a@!AAIIIYOm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030879IY)]>QBm >Bm 9CBm $GBm h@Bm =Bm DBm 9DBm <Bm wEy ƚ,uXk?A~checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285111]D@]@]c-ٱ]"` AHRS rotation from veh to nav: [[0.619190,0.742255,-0.256244],[-0.556936,0.645167,0.523051],[0.553558,-0.181156,0.812869]]]Hg??Nfпk@4?ռ?? !0ǿ@?i]D@I]%h`;YY}@yG1yMbX9?Cl?+ǿ!>d;>v> 9x&1?y&1?q= ףpYA>y`e>B B T C)rBYkBbDVD{b7ys~>%/=ٔl:Q->9I=CyA;E>Q 5@4..?Q 9@4v)y@Y2>Q E(;yQ I?AIX ;im ;:m@4yɮBjjjjjZ=Z=Z7dl?Z~y?ɢ) .8i)il=II ?) (?:a jG)a9YAAIIO5r>E ErEE"E:*E?:VESI6ZEBE7;a 2E8;a JEY;a :EY;achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535466ԩԹ 4̚,4k?AFβ@F@F+ٱF}a RAHRS rotation from veh to nav: [[0.619246,0.741653,-0.257847],[-0.555002,0.645723,0.524419],[0.555434,-0.181639,0.811480]]FH??п`é? ???ǿ`?iFβ@IFp`;FCYV@yV!GIZ%=)Z<^=\bDb3VDbO^7yj>%jq=ٔn>ڻQ-n?9lIp=rCyrOAr;Er?tQ 5z@4v7.?Q 9z@4v)v(@Yxy~kQ I~?vAIv;iv ;vy@4yBɮeBEjjjj!j!Z9Z9Z9Z=Syz?ɢI)Q U7iQ)QQQi]'k=YIa:Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.787218AIIO (> E%  E% uE% E! "E% :*E% :VE% L6ZE! a- @a- @a- @a- @ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0392391 ȆӚ,Nk?A2@2@2`ٱ2ba :AHRS rotation from veh to nav: [[0.617282,0.743066,-0.258487],[-0.555162,0.644203,0.526115],[0.557456,-0.181259,0.810177]]2H?@2? п @P???@3ǿ?i2@I2K`;2CYB@yB%GbDJVDJ=\7yR>%RM=ٔV|ȻQ-V>9TIX=ZCyZUAZEZ>\Q 5b@4^B.?Q 9b@4^)^@YdyfQ If?^AI^:i^Q:^@4yhɮj2Bhj)j)j)j)j1ZiZiZiZmz?ɢ) )7i)顡isk=Iq:B%>B%5CB%/GB%@B%=B!B%6DB%a<B%EAIIO >9 Y]AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290939i ٚ,hk?A 2@2}@2Uٱ2rc >AHRS rotation from veh to nav: [[0.615041,0.746240,-0.254657],[-0.557782,0.640041,0.528419],[0.557318,-0.182957,0.809891]]2H`j?`3?@KLпY6{?@?@?kǿ@?i2@I2e`;2CYB@yF)GbDNVDNZ7yV>%VJ=ٔV9Q-V>9XIX=ZCyZdA^'(E^>`Q 5f@4bL.?Q 9f@4b)b~@Ydyf2Q If?bAIb:ib:b@4ylɮnBljtjxjxjxjxZ Z Z Z gOy?ɢ!)! %6i!))))i-*(j=1I1E} EoEE"E݉:*E:VEN6ZEBEh;a2Ei;aJEN;a:EN;a}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543423:AzAiAIIO$>ԙ - checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794900,k?A2^@2PY@2>ٱ2-f :AHRS rotation from veh to nav: [[0.614317,0.749110,-0.247889],[-0.562091,0.635938,0.528806],[0.553775,-0.185518,0.811736]]2H}?? ѺϿ@Y? ?@?ǿ@?i2^@I2I`;2CYB@yB-G DDLbDJDVDJpW7yVr>%VJ=ٔZ,9XIX=ZCyZsA^2E^>`Q 5f@4bVW.?Q 9f@4b^)b~@Ydyj꠽Q Ij?bAIb:ibp:b?@4ynBɮnBnEjxjxjxjxjxZZZZgqv?ɢ!)! -]6i)))))i-?Qi=1I1:AAIIIaOm>E~ ErE(E"E:*E?:VEnY6ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046948B >B 3CB :GB ԗ@B B DB 5DB <B ʫE! ,kk?Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.301118umQ@u>L@u<ٱuh AHRS rotation from veh to nav: [[0.617100,0.749351,-0.240126],[-0.566449,0.634855,0.525447],[0.546189,-0.188234,0.816238]]uHH??rοZ P?u?az?`ȿ ?iumQ@Iu`;uCYې@y$2GyU@5^I ?Cl绿x&UbP?U;߽U7Q Q9U%C? rh?MbؿYUZ>yUC >UþU+CUB UC)QQYUB ep=e=bDmVDmT7y}I>%}0=ٔ}|9I=Cy΢AaE>Q 5@4i.?Q 9@4!Q =tI)N{@Y%?Q E:y)Q I?ȥAIM;i0;s@4yɮBjjjjjZ ?Z ?ZLx#@Zط?ɢ) 5i)iD~h=I7:)AQI]>)]>IaIqOZ>QDzDE EqE3E"E:*E$ :VEJb6ZEBE;a2E;a JEU;a :EU;a checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552593y ,6k?A2(d@2^@2ٱ2Qi :AHRS rotation from veh to nav: [[0.623653,0.746338,-0.232456],[-0.569842,0.637625,0.518377],[0.535104,-0.190824,0.822952]]2H? ? Ϳ@&<kg?? ?lȿ`U?i2(d@I2%`;0YN@yR 7GbDZVDZQ7yb>%bl=ٔb=Q-f?9dId=fCyfAj;Ej?lQ 55@4nSw.?Q 9=@4n*%)ny@Y9y=|)Q I=?nmAIn#XԱ E  E kE %E "E ~:*E :VE W6ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054885,k?A2@2ᅱ@2 ٱ2Yg :AHRS rotation from veh to nav: [[0.632534,0.740673,-0.226504],[-0.572469,0.644059,0.507412],[0.521708,-0.191289,0.831402]]2H=?`?̿ Q"? %VL=ٔV[!=Q-V>9TIX=ZCyZAZHB<EZ>\Q 5b@4^*.?Q 9b@4^()^>v@Ydyf'Q If?^SAI^:i^:^@4yhɮjYBhjtjtjtjtjxZ Z Z Z }?ɢ)%U= %5i!)!!!i-g=)I1Թx:B>BB|DGBş@B=BBBU<BEIIO>%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3071579 ,k?A2K@2@2ٱ2(` :AHRS rotation from veh to nav: [[0.641697,0.733253,-0.224866],[-0.574348,0.653731,0.492708],[0.508281,-0.187018,0.840639]]2HLj?v?h̿@a\??`C?@2ǿ`?i2K@I2`;2CYB@yB>GbDJ*VDJTO7yRُ>%RJ=ٔV=Q-V>9TIT=ZCyZAZ_<EZ>\Q 5b@4^?.?Q 9b@4^,)^)s@Ydyf.%Q If?^%D=ٔK=Q->9I9==Cy=ʪAEӟ;EE>IQ 5U@4M.?Q 9U@4M0)Mo@YQy]"Q I}?M8AIM;iM;Mn@4yBɮBEjjjjjZZZZ?ɢ1)9 =+4i9)999i=+g=AIA IMhAq :IIO=bEU+P6jEUR6rEU2E~ EwEE"E:*E:VEK6ZEa@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062801ԡB >B 2CB NGB @B =B B 4DB <B EBu3CBu4CBuɕCBuɷ=Buɶ=CuY[6 M,Wl?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314914Ȫ@ñ@jٱE AHRS rotation from veh to nav: [[0.651684,0.722951,-0.229454],[-0.580917,0.670239,0.461860],[0.487691,-0.167694,0.856759]]H@?j"?`^Ϳߖ r??`U6? vſj?iȪ@I`;Y%@y%FG ))-A-Ay1Zd?%>=ٔ9I=CyA]E>Q 5@4}.?Q 9@4S8)y@Y{?Q EX:y([Q I?RAI ;i.:L@4yBɮB Ejjjjj!Z=>Z=>Z=L>Z=Ѳ@ɢQ)Ub{= U3iQ)QQYi]#g=YIa :E EqE=E"E:*E$ :VEXj6ZEBE;a 2E;a JEU;a:EU;aп8=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566873IIO>! t: ,{7l?A2+ͪ@2DZ@2Pٱ2)7 >AHRS rotation from veh to nav: [[0.654958,0.718427,-0.234290],[-0.583218,0.677732,0.447812],[0.480506,-0.156656,0.862886]]2H`k? [?5Ϳ@???M ĿĜ?i2+ͪ@I2J`;2CYF@yF MGbDNVDND7yV>%V`=ٔZg9XIX=ZCyZծA^μ:E^>`Q 5fA4b.?Q 9fA4b>)b @YdyfmZQ Ij?bAIb:ib:bA4ylɮnBljxjxjxjxjxZZZZT@ɢ!)! %(3i)))))i-h=1I1u:U8R=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.819151IiIyO9>I]>)]>yԩ E  E kE 5E "E ~:*E :VE c6ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070947h2,cQl?A0Y=!@yEOGbDe<VDeA7yu.>%:=ٔQ->9I=CyAE>Q 5A4Y.?Q 9A4F)@YyQ I?8AI:iN:vA4yBɮBEjjjjjZZZZɢ!)! %2i!))))i-Hdh=1I1B1A1B=>B=0CB=YGB=@B==B9B=3DB=#<B=nEԑ:checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322827|=A?A>I I O > u wi>q zG liA E 9E liAYE AM,z4kl?AN@N@NٱN( ZAHRS rotation from veh to nav: [[0.659607,0.710729,-0.244508],[-0.580908,0.688495,0.434190],[0.476933,-0.144358,0.867004]]NH?I?LϿ˖`'???`Qz¿~?iN@IN|.`;NCYfN@yf!UGpbDvVDv/=7y>%W=ٔ 0/9I=CyAPl<E>!Q 55A4%.?Q 95A4%M)%a@Y1y=rXQ I=?%AI%`J;i%N;%"A4yM3BɮM^BMEjajajajijiZZZZ @E~ EqE!E"E:*E$ :VES6ZEBE;a2E;aJEU;a:Eaɢ) V2i)ih=IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.575603: IIOj>A checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826886a 4!,Al?A2 @2@2 ٱ2 :AHRS rotation from veh to nav: [[0.658550,0.708052,-0.254898],[-0.577731,0.692740,0.431669],[0.482222,-0.137013,0.865268]]2H`?]? @Pп@|*?v??F?i2 @I2u3`;2CYNɱ@yRZGR8Not Powering down - fast GPS)RIViVVVVVV V)VIViZZZZZ Z9bDEVDE67yU*>%UE=ٔUnQ-U>9YIY=]Cy]Ae;Ee>iQ 5uA4m/?Q 9uA4m6U)m@YqyuWQ I}?mAIm ;im;m*1A4yɮBEjjjjjZZZZ_@ɢ) 1i)i[h=I:II)O5=iE EuEE"E:*E:VEK6ZEa@a@a@a@EBQ BU dGBU "@BU =BQ BQ BU <BU E _',xl?A2@2@2Zٱ2 :AHRS rotation from veh to nav: [[0.654353,0.708001,-0.265626],[-0.575202,0.694047,0.432945],[0.490883,-0.130510,0.861395]]2Hu??@ѿ h5?_?j? ?i2@I2h`;0YR@yRQ_GyeZd;?Zd;O?Mb?e>eja a9eK7A`?y&17A`?Ye+?ye`弙e>e9BeB eB)etBaYe.BbD}VD}.7y>%G=ٔżQ->9I=Cy3AԙoE>Q 5A4/?Q 9A44X)͖@Y:?Q E:y/Q I?xAI:i; ;?A4yMBɮBEjjjjjZ>Z>Zy@Zl@ɢ)  M1i )   i#i=I 4:AzAdAIIO=E EoE'E"E~:*E:VEX6ZEBE;a2E;aJEN;a:EN;a F-,iƸl?A2 @2@2ٱ2y :AHRS rotation from veh to nav: [[0.651842,0.706042,-0.276780],[-0.571582,0.697273,0.432555],[0.498393,-0.123754,0.858073]]2H?`?ŶѿgJP?@??_Uu?i2 @I2H`;2CYNH@yRcGbDZVDZ&7yb>%bX=ٔbQ-f>9dId=fCyf AjIT;Ej>lQ 5rA4ni%/?Q 9rA4nZ)n@Ypyr/Q Iv?nǾAIn;in;nLA4yxɮzBxj j j j j Z)Z)Z)Z-G@ɢ9)9 =0iA)AAAiE{)i=III :IIO=!QE  E jE lE "E :*E 9VE 6ZE a @a @a @a @y p4,Ǡl?AZ/@Z*@Z1ٱZV jAHRS rotation from veh to nav: [[0.652230,0.701441,-0.287362],[-0.566848,0.703022,0.429469],[0.503269,-0.117222,0.856142]]ZH?3r?`$dҿ #(?i|??@=e?iZ/@IZ.Y`;ZCYvk@yvgGbD VD l7y%5q>%%D=ٔ-s]Q-->9)I1=5Cy5?A5-<E5>9Q 5EA4=1/?Q 9EA4=])=Υ@YIyM/Q IM?=5AI=:i=F:=S[A4yUfBɮUBUEjijijijijqZZZZ@ɢ) r0i)顡iGi=IQuc:B>B/CBԁI]>)]>ԩ _:,Il?A>O@>J@>Wٱ> NAHRS rotation from veh to nav: [[0.652962,0.697213,-0.295862],[-0.563046,0.708119,0.426083],[0.506576,-0.111632,0.854938]]>H?O? hҿx? D?5?@`[?i>O@I><`;>CY~`@y~lGbD VD 7yל>%K=ٔ%Q-%>9!I!=-Cy-MA-<E->1=nManaging dock network, ignoring radio surface power offQ 5EA45AA>AI IO-,> 1 'A,Wm?A2j@2e@2ٱ2N :AHRS rotation from veh to nav: [[0.654061,0.693465,-0.302174],[-0.560206,0.712489,0.422527],[0.508303,-0.107078,0.854495]]2H@?@0?@Vӿ5?@ ?D?@}iX?i2j@I2e`;2CYB@yBpGIF=)Fp;bDJVDJ7yR\>%VR=ٔVQ-V>9XIX=ZCyZGAZp <EZ>\Q 5bA4^G/?Q 9bA4^c)^ִ@Ydyf0Q If?^AI^6:i^:^vA4yhɮj)BnEjtjtjtjxjxZZZZ!$@ɢ) /i)顡ih=I9Eu EnEE"Ev:*E:VE >6ZEa@a@a@a@AIIO (>9B>B.CB{GB@BBBB;BEi 8G,2 m?A 6@6]z@6 ٱ6$ >AHRS rotation from veh to nav: [[0.655339,0.691529,-0.303839],[-0.558456,0.714444,0.421542],[0.508584,-0.106572,0.854391]]6H?!?rӿ@?@? RF?NH,W?BBDAT read: Response Not Received F*response not receivedFEO>E9A A9EI +?/$?p= ף?YE9>yE&1>E>EIBE_B E8B)EjBAYEBAAbD;VD 7y >% 6=ٔ=Q->9QIQ=UCy]A];E]>aQ 5mA4e}Q/?Q 9mA4ec)er@Ym>Q Em:yud >Q I?eAIe;ie;eA4yBɮBEjjjjjZ>Z>Z1U@Z89@ɢ)! %.i!)!!!i%*h=)IQq-9 YYAyIԙIO_>DzDAAEv EfEE"EVz:*E9VEq<6ZEBEa2EaJE-;a:E-;a M,#:m?A6@6n@6Kٱ6v BAHRS rotation from veh to nav: [[0.656945,0.690949,-0.301683],[-0.557466,0.714566,0.422644],[0.507598,-0.109476,0.854611]]6H?A?Nӿ ?@ ? >>?`X?i6@I6}U`;6CYJ@yJzGLbDVoVDV7yZ>%^c=ٔ^O;Q-^>9`I`=bCybgAf;Ef>dQ 5jA4fY/?Q 9nA4fb)f@YlynM >Q In?fAIfw;if;fQA4ytɮvBtj|jjjjZ!Z!Z!Z%D9@ɢ1)1 5}.i9)999i=h=AIA59AIIO>! bE-6V6jE-ʤZ6rE-4E | E jE E "E :*E 9VE /R6ZE a @a @a @a @[T,Sm?AFˡ@F@FٱFe ZAHRS rotation from veh to nav: [[0.658781,0.690749,-0.298117],[-0.556651,0.714099,0.424503],[0.506110,-0.113707,0.854941]]FH? ?Zӿ`?+? 2?@[?iFˡ@IFs(`;FCYb@ybdG ddbDjVDj)7yr>%vG=ٔv;Q-v>9tIx=zCyz}A|z;E~>Q 5 A4c/?Q 9 A4Xb)@Y y  >Q I?AI:i:A4yɮBj1j1j1j1j9ZQZQZQZU B9@ɢa)a e .ii)iiiimh=qIqB>B-CB@GBs@B=BB1DBI;BEBe/CBe/CBe”CBeµ=Beµ=Ce6B9!AI IO%,>߭=߭4=Qy Z,mm?A6@6毲@6uٱ6q >AHRS rotation from veh to nav: [[0.660681,0.690751,-0.293877],[-0.555596,0.713222,0.427349],[0.504791,-0.119065,0.854991]]6HL$??ҿq?Y??'?{\?i6@I6`;6CYF@yFGbDRVDR7yV|>%ZN=ٔZ|;Q-Z>9\I\=^Cy^Abn;Eb>`Q 5fA4bCl/?Q 9jA4ba)b@Yhyj>Q Ij?byAIbK:ib :bA4ypɮrRBpEe EegEe"Ea"Ee~:*Ee&9VEeT6ZEaBEe;am2Ee;amJEe1;au:Ee1;auqjjjjjZZZZ8@ɢ )  -i ) ivh=1I9 9ԁAYIiIyO9>I]>)]>Ա a,ܡm?A2ī@2@2,ٱ2 :AHRS rotation from veh to nav: [[0.662175,0.691396,-0.288956],[-0.554691,0.711520,0.431344],[0.503828,-0.125344,0.854662]]2H0?`? C~ҿ?$?`[?`D @cY?i2ī@I2=#`;2CYB@yB'GbDNTVDN6yV:>%VK=ٔVQ5;Q-V>9XIX=ZCyZAZě;E^>`Q 5bA4bu/?Q 9fA4ba)bq@Ydyf>Q If?baAIb>:ib:bA4yjBɮn,BnEjtjtjxjxjxZ Z Z Z w8@ɢ!)! %"-i!)!))i-ih=)I1I=?)=$?Թ9AE.AIQIaEm} EmbEm Ei"Em݉:*Em9VEmB6ZEiau@a}@a}@a}@O>Bw>B*CBGB@B=BB.DB;BHE9 _g,zm?A:mЫ@:?˲@: ٱ:q> BAHRS rotation from veh to nav: [[0.663374,0.692828,-0.282709],[-0.554090,0.708724,0.436686],[0.502911,-0.133040,0.854038]]:H[:?@+?`ҿݭ???qHT?i:mЫ@I: `;:CYR@yRaGIV<)Vy- W>-Sc-iB-B -]B)-B)Y-BbDE.VDE6yU?>%U@=ٔU{#;Q-U>9] ?I] ?=]Cy]Ae[;Ee>iQ 5uA4m/?Q 9uA4myc)mH@Yu?Q Eu:y}岾Q I}?mAImC ;im ;myA4yɮBjjjjjZi>Zi>Zȇ$@Zm?ɢ) ,i)i\h=I;9e2G}jA9jAYAA؟AIIO&>AE} E}hE}Ey"E}O:*E}]9VE}76ZEyBE}к;a2E}Ѻ;aJE}%5;a:E}&5;aԉԹ y%n,Um?A2N֫@2 Ѳ@2jٱ2\) :AHRS rotation from veh to nav: [[0.664502,0.695226,-0.274038],[-0.554224,0.704480,0.443333],[0.501271,-0.142717,0.853440]]2HC?K??Չѿ4?_?h ? 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QӿY߿֕??b??'f?i63@I6hb_;6CYJAyJ;IHbDRVDR:5yZ>>%Ze=ٔ^"Q-^>9\I`=b Dyb|VBb Eb>dQ 5jG4f 6?Q 9jG4f)f!AYhyn9Q In?fQBIfl:iff;fG4yrBɮrBrVEj|j|j|j|jZZZZ@ɢ))1 5_i1)111i= =9IAԙER EFEE"Es9*E;J9VEZEa @a @a @a @A I!I9OM>9 6, x?A2)@2@2ٱ2B$ :AHRS rotation from veh to nav: [[0.713331,0.630451,-0.306089],[-0.499435,0.763695,0.409065],[0.491654,-0.138927,0.859637]]2H ? ,?ӿ߿ 1p?.?@Bw? \@%?i2)@I2_;2CYBAyBbJHDDbDJpVDJ5yVՔ>%VK=ٔVQ-Z>9XIX=Z DyZWB^E^>Q 5%G4p6?Q 9%G4 )CAY!y%(Q I-?RRBI:i:?G4y1ɮ5\B1jIjIjIjIjIZiZiZiZm@ɢy) oi)顁i=IAII!A)A)B5>B5@CB5KHB5AB5=B1B1B5;B5EOM>AEQ E?EFE"E29*E?9VE 5ZEBE:a 2E:aJE89a:E=9a Mg>MCG5@91Y=0Aiԙ 6 =,ܹx?A@2)u@2o@2ٱ2) :AHRS rotation from veh to nav: [[0.710479,0.634463,-0.304428],[-0.500028,0.759545,0.416009],[0.495169,-0.143343,0.856890]]2H>?M?{ӿ92N??@ٰ?Y¿k?i2)u@I2_;0YbAybKH jp=hbDj]VDj-5yr>%vF=ٔv Q-v>9xIx=z DyzXBzV»Ez>|Q 5G4~6?Q 9 G4~\)~]AY y Q I ?~SBI~R:i~:~=G4yBɮԡD =D <E  E BE E "E *E (9VE ZE a% @a% @a% @a% @ *C,Sy?A2c@2^@2Eٱ2c* :AHRS rotation from veh to nav: [[0.707556,0.636882,-0.306181],[-0.500214,0.757445,0.419600],[0.499150,-0.143734,0.854511]]2H@L?Ua?vӿ`%RO=ٔV>Q-V>9TIT=Z DyZYBZXEZ>\Q 5bH4^46?Q 9bH4^))^wAYdyf Q If?^TBI^:i^:^ H4yjBɮj$BjaEjtjtjxjxjx~B*** querying acoustic contact ***i| i|ZZZZ̈́@ɢ!)) -+i)))))i-%=1I1AIIQIiOu=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) B- >B) B- rNHB- ݧAB- =B) B- zDB- ;B- EE% N E% aE% CE! "E% m9*E% 9VE% 5ZE! BE% p:a- 2E% p:a- JE% ;a- :E% ;a5 = &DAT read: user:9> E BDAT read: Tx time:00:16:38.0499 E $Ping request sent.M %%(=ٔ-*Q-->9)I1=5 Dy5ZB5ĺE5>9Q 5EH4=6?Q 9EH4=T)=AYMW?Q EM{:yM)Q IM?=VBI= ;i= ;= H4yQɮ]՜BYijqjqjqjqjyZF@>ZF@>Z\>Z`@ɢ)= i)!!!i%e=IIIA]gAzA]gAIaIqOY>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778 Q,'KDy?A2Rg@2&b@2rٱ2) :AHRS rotation from veh to nav: [[0.703498,0.637528,-0.314083],[-0.496894,0.757189,0.423982],[0.508120,-0.142205,0.849465]]2H?f?Կ߿ :?@"?B?3¿.?i2Rg@I2_;2CPYRAyROHXZ@AbD^2VD^I5y >% t=ٔ Q- ?9I= Dy[Bb;E?!Q 5-H4%46?Q 9-H4%)%AY)y5(Q I5?%VBI%B:i%9:%&H4y=Bɮ=B=bEjQjQjQjQjQZqZqZqZu'@ɢ) i)顉i=IDzDAAEW EAEFE"E :*E 9VE 5ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909IIO>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754892l0W,J'^y?A2}@2x@2 ٱ2& :AHRS rotation from veh to nav: [[0.702491,0.635052,-0.321272],[-0.493274,0.759866,0.423421],[0.513017,-0.138974,0.847053]]2Hz?WR?ාԿ̑߿P?S?j??i2}@I2n_;2CYBgAyBQHbDJVDJ:u5yR>%RQ=ٔVYnQ-V>9TIX=Z DyZ\BZ;EZ>\Q 5bH4^@ 7?Q 9bH4^)^AYdyfM(Q If?^XBI^:i^*:^k4H4yhɮjeBljtjtjtjxjx|ZZZZ+H@ɢ!)) -i)))))i-=1I1IIO=B<A<B>B?CBQHBAB=BBBB;BE)EV E?EIE"E=:*E?9VEe5ZEBE:a2E:aJE99a:E>9a checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007686Qԁ Z],xy?A2ޠ@2@2$M ٱ2^[" :AHRS rotation from veh to nav: [[0.702279,0.631097,-0.329424],[-0.488675,0.763851,0.421578],[0.517687,-0.135084,0.844838]]2Hy?1?GտtF߿wq?"?`?qJ`?i2ޠ@I2̘_;2CYfeAyfRH hhbDrVDre5yv/>%vF=ٔz XQ-z>9xI|=~ Dy~]B~(<E>Q 5 H4@7?Q 9 H4K$)_AYyu'Q I?YBI:i:BH4y$Bɮ%KB%cEj1j1j1j9j9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965iZQZQZQZUt@ɢy) i)顁i7ԓ=Iԁ=A >A >IIO]>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511882EE R EE DEE GEA "EE s9*EE a99VEE 5ZEA aM @aM @aM @aM @ &Bd,jܑy?A2 ̮@2Ƶ@20 ٱ2U :AHRS rotation from veh to nav: [[0.702465,0.626026,-0.338577],[-0.483329,0.768806,0.418724],[0.522432,-0.130495,0.842636]]2H@z?`g? >տ޿?`?÷?@?i2 ̮@I2_;2CY^AybSTH ddbDjVDj\5yre>%rK=ٔvbQ-v>9tIt=v Dyv^BzV<Ez>|Q 5]H4~,7?Q 9]H4~q()~AYYyef&Q Ie?~!ZBI~;i~a;~PH4yiɮmBijjjjjZZZZܩ@Թɢ) Zi)i'=I<=IQIiO}=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765026B >B B UHB AB =B B B ;B E9 i! I% A- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016081mj,4y?AE>V E>?E>@E<"E>=:*E>?9VE>4ZE<BE>:aF2E>:aJJEB vB)WBYBbD VD W5y%a>%%8=ٔ%;Q-->9)I)=- Dy-_B5am<E5>9Q 5EH4=;7?Q 9EH4=*)=AYE"?Q EM:yMQ IM?=ZBI=:i=:=`H4yUJBɮU˛B]dEjijijijijqZ'>Z'>Z@Z{W@ɢ) i)顩iXn=IA{=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266916qA! I1 IA OM >ԙ Tq,y?A6;@65@6u)ٱ6P BAHRS rotation from veh to nav: [[0.704778,0.613008,-0.357084],[-0.470983,0.780717,0.410679],[0.530531,-0.121257,0.838948]]6H??wֿ`$޿?H?@?@ ?i6;@I6ʢ_;4YF,AyFoWHLLbDRVDRV5yZv>%Ze=ٔZ=KQ-^>9\I\=^ Dyb`Bb<Eb>dQ 5jH4f H7?Q 9jH4f,)fAYhyjQ In?f[BIf:if1:flH4ypɮrBpj|j|j|j|jZZZZX@ɢ))1 5i1)111i59=9IAAAIIychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522259EmP EmAEm?Ei"Em9*Em 9VEm^4ZEia}@a}@a}@a}@ԡA1IAIQO]v> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770799 R~w,ny?A2uq@2Il@2ٱ2 :AHRS rotation from veh to nav: [[0.706386,0.606631,-0.364716],[-0.465297,0.786253,0.406578],[0.533402,-0.117500,0.837661]]2H@?i?W׿@kݿ (?@a??}?i2uq@I2_;2CYBOAyBXHbDJVDJR5yrY>%rG=ٔvYQ-v>9tIt=z DyzaBz<Ez>|Q 5H4~U7?Q 9H4~.)~sAY y Q I ?~R\BI~I:i~:~K{H4ypBɮ\BeEj)j)j)j)j1ZIZIZIZMB}AHRS rotation from veh to nav: [[0.708139,0.601018,-0.370563],[-0.460195,0.790905,0.403348],[0.535499,-0.115095,0.836656]]2H ?`;?`M׿sݿ O? s?@"?v`?i2"@I2_;2CYBAyFXZHbDNVDNO5yV>%VN=ٔV%ͻQ-V>9XIX=Z DyZbB^<E^>`Q 5fH4bxc7?Q 9fH4b0)bAYdyfQ If?b]BIbg:ib:b&H4ynBɮnBnnEjtjxjxjxjxEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274816ZiZiZiZmY@ɢ) ui)顑i=IA >A iII O>ԙiIABDAT read: Rx Time:00:16:41.2278  TRx dataTimestamp_ set to:1761524200.189183 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529485EM Q EM AEM :EI "EM 29*EM  9VEM (4ZEI aU @aU @aU @aU @ T,S$z?A2MЯ@2!˶@2ٱ2 :AHRS rotation from veh to nav: [[0.710057,0.596370,-0.374382],[-0.456016,0.794588,0.400849],[0.536534,-0.113902,0.836156]]2Hɸ? v?׿ \/ݿCm??`I+?(@?i2MЯ@I2_;2CPYRuAyRy[H TTXZAbD^VD^H5yf>%fH=ٔfDQ-f>9hIh=j DyjcBnhX<En>pQ 5vH4r[q7?Q 9vH4r2)r[AYtyvPQ Iv?r]BIrW:ir:rjH4y~Bɮ~ B~oEj jjjjZ1Z1Z1Z5sY@ɢA)A EiI)IIIiMg=QIQIIO==echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781145Bu >Bu 6CBu \HBu ABu =Bq Bu sDBu ;Bu "E! G  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032008- P9) Y- A,h-z?AE.S E.?E.=E,"E.9*E.?9VE.|4ZE,BE.:ab2E.:afJE.;9aj:E.@9aj@@eٱ AHRS rotation from veh to nav: [[0.712022,0.593207,-0.375673],[-0.452579,0.796786,0.400381],[0.536840,-0.115058,0.835802]]H@??` ؿܿD?ן?-? st`?i@I'_;CY-γAy-!]Hy-$C?~jt?ʡE-:?-<--) )9-'1Z?ʡE?T㥛 Y-?y->--B-B ))))Y)bDEVDEI5yUݰ>%U'=ٔ]BQ-]>9YIa=e DyeeBe[<Ee>iQ 5uH4m 7?Q 9uH4m4)m'AY} ?Q E}:y}|Q I}?m^BIm:im:mwH4yɮBjjjjjZ>Z>ZO%@Z?ɢ) 1i)i=I!U%=U4=DAT read: 00:16:41.2278 LVL= 21488, 12273, 12658, 20963, AGC= 74, IDX= 96,-0.04,-1.422, 0.250, 1.128, 0.229, PHS=-1.549, 0.066, 0.855, RAW= 251.2, 6.0, CAL= 248.9, 5.6, ROT= 261.1, -5.6 Ygot valid direction response: 00:16:41.2278 LVL= 21488, 12273, 12658, 20963, AGC= 74, IDX= 96,-0.04,-1.422, 0.250, 1.128, 0.229, PHS=-1.549, 0.066, 0.855, RAW= 251.2, 6.0, CAL= 248.9, 5.6, ROT= 261.1, -5.6 PDAT read: Bearing 135.3, -66.5 (Local) ~Local bearing/azimuth received: Bearing 135.3, -66.5 (Local) DAT read: Range 11 to 50 : 580.3 m (Round-trip 773.8 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.153972,-0.983245,0.097583]Fpublishing direction and range infoa % yUNa  UX>XÿEvA_1?a ! YUDa  U2USU/Ur1 UQ)UJIUEƿiU+=UHZ?UK@UPw=U@ U+=)Ueӑ@IU+ȽU UUfPfnm?g͙o? U@)UavսIUܿiU+ȽUv=AhAzAjAIi I O > ,Fz?A2P@2$@2=ٱ2\M :AHRS rotation from veh to nav: [[0.714214,0.591320,-0.374486],[-0.449745,0.797677,0.401798],[0.536310,-0.118546,0.835655]]2H??׿ܿ??`s)? Y?i2P@I2_;2CYfAyf^HbDnVDnF5y%0>%-v=ٔ-:Q--?9)I1=5 Dy5eB5P<E5?9Q 5EH4=w7?Q 9EH4=5)=AYIyMˉQ IM?=d_BI=:i=:=H4yUBɮUB]pEjijijijqjqi2icXÿEvA_1?Ziܿbi+Ƚi dzIx!P@zi('K翑;&ᙠvVO?2i :i&"i?*iՐBiQBZZZZC?ɢ) i)   iґ=IE] EDE?E"E:*Ea99VE^4ZEa@a@a@a@_=II!O- >!Qy o̗,`z?A27@22@2 ٱ2Ž :AHRS rotation from veh to nav: [[0.716573,0.590173,-0.371778],[-0.447509,0.797836,0.403972],[0.535032,-0.123101,0.835815]]2H*??@7׿ܿއ?@?? ?i27@I2_;2CYB*AyB `HF=F=bDJVDJ3M5yR߳>%RS=ٔV;Q-V>9TIX=Z DyZfBZ<EZ>\Q 5bH4^'7?Q 9bH4^07)^QAYdyfQ If?^*`BI^ :i^:^H4yhɮjBBhjtjtjtjtjxZZZZ?ɢ) i)顡i>=IYBA<B>B(CB`HBAB=B'DBgDB;BEԁES EAE;E"E9*E 9VE4ZEBE:a2E:aJE:a:E:az=AIIYIiOu>Ա ,%zz?A;ɰ;2-Q@2L@2Jٱ2V :AHRS rotation from veh to nav: [[0.718935,0.589583,-0.368137],[-0.445901,0.797496,0.406415],[0.533203,-0.128033,0.836243]]2H`??׿`ܿ ?@??cc@?i2-Q@I2_;2CYBOAyBqaHbDNVDNM5yV#>%VJ=ٔVK;Q-V>9XIX=Z DyZgBZ;E^>`Q 5bH4b7?Q 9fH4b8)bAYdyfQ If?b`BIbp:ib$:bH4yjBɮnBnqEjtjtjxjxjxZ Z Z Z  E?ɢ1)1 5i1)111i=P=9IAIIIIԱAA>A1I9IQOmx>EQ E?E=E"E29*E?9VE|4ZEa@a@a@a@ 1 ޤ,@lz?A6e@6_@6.ٱ6H/" BAHRS rotation from veh to nav: [[0.721404,0.589672,-0.363130],[-0.445017,0.796501,0.409324],[0.530600,-0.133689,0.837013]]6H??=׿`({ܿ@|?@[2?`?  ?i6e@I6_;6CYFAyJbHbDRVDRI5yZi>%ZJ=ٔZ;Q-Z>9\I\=^ Dy^hBb;Eb>dQ 5jH4f7?Q 9jH4f9)fAYhyjQQ Ij?faBIf6:ifd:fH4ypɮrәBpjxj|j|j|j|ZZZZ?ɢ))) -~i1)111i5\=9I9AII =4===OU>9B >B CB dHB }AB =B (DB [DB 3;B Ei E S E E ?E "E 9*E VE ^4ZE BE :a 2E :a JE 19a :E 69a ,Hz?A2]p@21k@2kXٱ2:) :AHRS rotation from veh to nav: [[0.723495,0.590608,-0.357405],[-0.444924,0.794794,0.412729],[0.527824,-0.139590,0.837805]]2H`&? B?@ֿyܿn?(j?@?`K?i2]p@I2_;0LY~Ay~=dH   y+?~jthI +_?D94 9HzG?{Gz?&1ʿY=*?yף=PBB B)BYBbDVDHL5y>%;=ٔ;Q->9I= DyjBP;E>Q 5H4#7?Q 9H4=)2AY>3?Q E:yQ I?bBI a;i;'H4yBɮB rEjjjj!j!ZN>ZN>Z:0@Ze@ɢ) ii)iՐ=IAAIIIYOu7>! f, "z?A2w@2{r@21{ ٱ2v. :AHRS rotation from veh to nav: [[0.725405,0.591366,-0.352242],[-0.445209,0.793386,0.415124],[0.524954,-0.144311,0.838807]]2H6?w?#ֿ O~ܿjc?b?@l?x¿@?i2w@I2(_;2CYB޺AyBeH J=HbDNVDNK5yVx>%V]=ٔV89XI\=^ Dy^ kBb;Eb>hQ 5rH4j7?Q 9rH4j@)jAYtyvQ Iv?jcBIjr;ijCd;j-H4Ayyɮ}bByjjjjjZ)Z)Z)Z- *@ɢA)A E!iA)AAIiM=IIQDqzDu@AE}R E}CE}>Ey"E}s9*E}09VE}4ZEya@a@a@a@iAIIO (>ԑ ,rz?A2z@2ju@2N ٱ2<2 :AHRS rotation from veh to nav: [[0.727116,0.592048,-0.347537],[-0.445901,0.792200,0.416643],[0.521991,-0.147980,0.840016]]2H`D?`?` >ֿܿ`Y?E?&?¿i?i2z@I2'_;2CYBAyBYgHbDJVDJ(B5yRs>%RK=ٔV9 9TIX=Z DyZlBZvi:EZ>\Q 5bI4^a8?Q 9bI4^D)^7AYdyfQ If?^eBI^:i^*:^3I4yj@Bɮj9BnsEjtjtjtjxjxZ Z Z Z @ɢ!)! %i!))))i-~=1I1ԙAABy>BCBgHBnAB=B)DBYDB;BREAiIqIO=EW EHE]E"E :*E[9VEW5ZEBE:a2E:aJEP:a:EQ:a D,Zz?A6~@6iy@6 ٱ6k3 BAHRS rotation from veh to nav: [[0.728873,0.591398,-0.344951],[-0.446490,0.792547,0.415351],[0.519028,-0.148721,0.841720]]6HR? ?ֿ Jܿ\? ??L ÿ]?i6~@I6ũ_;6CYF=AyFhHIJR=)JC=bDRVDRI5yZ>%ZJ=ٔZ9 9\I\=b DybmBfJ:Ef>dQ 5jI4f8?Q 9nI4fyG)fAYlynQ In?f.fBIfH;ifT;fgI4yvgBɮvBvtE=j j j j jZ)Z)Z)Z-(@ɢA)Q Uia)aaaieX=iIyAe.AIqIO>!QER ECE=E"Es9*E09VE|4ZEa@a@a@a@y ,Ş,_{?A2@2~@2 ٱ21 :AHRS rotation from veh to nav: [[0.730597,0.590027,-0.343651],[-0.446897,0.793718,0.412668],[0.516247,-0.147917,0.843569]]2H a?@?@aտܿ#f?%i??¿@?i2@I2_;2CYByAyBAjHHJAAbDNVDNLF5yv!>%vG=ٔv9z ?Iz ?=z Dyz nB~:E~>!Q 5-I4%*8?Q 9-I4%J)%EAY)y5UQ I5?%PgBI%:i%:%$I4y9ɮ=ɘB9jQjQjQjQjQZZZZtZ@ɢ) i)项i7=IYAI9IYOm>ԁBh>BCBZkHB^AB=BBXDB/;B~EBuCBu CBuȢCBu=Bu=Cuә7bE-˴4jE-˭4rE-%2E  E BE AE "E *E (9VE A4ZE BE k:a 2E p:a JE F+:a :E H+:a V˞, /{?A2@2у@2 ٱ2C/ :AHRS rotation from veh to nav: [[0.732346,0.588374,-0.342763],[-0.447339,0.795226,0.409273],[0.513379,-0.146398,0.845583]]2H`o??տ1ܿ}r?1?`m?,¿ ?i2@I2<_;2CYNAyRkHy}S?)\(T㥛 ?}O?}G}=y y9}/$?{Gz&1Y}L?y}ף}н}B} B }B)}%ByY}zBbDVDA5y0>%?=ٔ 9I= Dy2oB:E>Q 5I4?8?Q 9I4O)`AYM?Q E:yOQ I?hBI:ij:3I4yBɮBuEjjjjjZ @>Z @>Z M?Z 4=ɢ!)! %Zi!))))i-=)I1Ae؟AIqIO>) ?Ҟ,kI{?ANV@N*@N2 ٱN+ ZAHRS rotation from veh to nav: [[0.734141,0.585957,-0.343061],[-0.447532,0.797545,0.404521],[0.510639,-0.143445,0.847745]]NH~?(?տ[ܿ}?@?'W?h\¿@ ?iNV@INe~_;NCYfAyf+mH ppbDvVDv(B5y~>%~V=ٔ9"?I"?=  Dy +pB ;E >Q 5I4[S8?Q 9I4S)]AY!y%Q I%?iBI ;i;AI4y-Bɮ-B5EjjjjjZ!Z!Z!Z%/=ɢ1)9 ='i9)999i=|=AIAE]Q E]<E]9EY"E]29*E]8VE]4ZEYae@ae@ae@ae@IAIIO>yԡ h؞,Dc{?A6]@62@6`ٱ6&@ >AHRS rotation from veh to nav: [[0.736032,0.583052,-0.343959],[-0.447572,0.800339,0.398920],[0.507875,-0.139671,0.850032]]6H`?\?nֿܿa??@? @w3?i6]@I6 _;6CYJAyJnH Rp=PbDVVDVC5yZ>%^O=ٔ^>9`I`=b Dyb,qBf6;Ef>dQ 5jI4fg8?Q 9nI4fX)faAYlynxQ In?fjBIf;if;fNI4ytɮvGBtj|jjjjZAZAZAZE-=ɢY)Y ]iY)aaaie=iIiB]<AYB]W>B]CB]nHB]9ABYBYB]VDB]F;B]}E f>ԱA.AIIO>5GQiCA9Y/1AEmX Em@Em@Ei"Em~ :*Em9VEm4ZEiBEm:au2Em:auJEm':a}:Em*:a} Òޞ,}{?A6@6n@6ٱ6 $! >AHRS rotation from veh to nav: [[0.738237,0.579377,-0.345439],[-0.447158,0.803758,0.392458],[0.505031,-0.135261,0.852437]]6H@?A?ֿ:ܿ`b??6)?=P )G?i6@I65}_;4pY~8AypHbD5VD5@5yE>%EB=ٔE.9M ?IM ?=M DyM:rBM$;EU>QQ 5eI4Uf}8?Q 9eI4U\)UsAYayeQ Ie?UlBIU ;iU|:U]I4yuBɮu"BuEjjjjjZZZZ}>ɢ) i)i=I A)I1IAOM>1EuQ Eu?EuAEq"Eu29*Eu?9VEuA4ZEqa}@a}@a@a@iߑIߑa z,{?A2@2ײ@2ٱ2 :AHRS rotation from veh to nav: [[0.740509,0.575156,-0.347624],[-0.446509,0.807652,0.385135],[0.502271,-0.129979,0.854885]]2H??g?x?ֿܿH?@ ??"8[?i2@I2_;2CYR{AyRqHIV=)V4%fR=ٔf9dIh=j Dyj3sBj;Ej>pQ 5 I4r8?Q 9I4r`)roAYyQ I?r>mBIrs;irީ;Yr7kI4y}BɮBEjjjjjZZZZ>ɢ1)9 =iA)AIIiu=IԁA=؟AIAIQOeU>ԱBUL>BUCBU{rHBU)ABU=BQBQBU;BU@|E E  E BE <E "E *E (9VE 4ZE BE :a 2E :a JE F+:a :E H+:a j,԰{?Aɰp;B5˰@B Ʒ@BٱB JAHRS rotation from veh to nav: [[0.742805,0.570574,-0.350266],[-0.445522,0.811772,0.377540],[0.499751,-0.124387,0.857191]]BH? $B?jֿpܿ?`)??׿n?iB5˰@IBR|_;@YRAyRsHyMʡE?/$(\µ?M=?M,M=I I9MS?MbK?YMO?yMM^=MBMvB MB)M~BIYM¼BaeBAbDmVDm75Թyu>%@=ٔ;Q->9"?I"?= DyRtB];E>Q 5I48?Q 9I4d)%AY P?Q E :y Q I ?dnBIL:iv:zI4yɮBj)j)j)j)j1ZML=ZML=ZM:>ZMlǽ@ɢa)e= ehia)aiiim=iIqA!I)I9OM1>]PExceeded connect timeout, disconnecting.9 ,{?A:@:ܷ@:wKٱ: FAHRS rotation from veh to nav: [[0.745161,0.566114,-0.352492],[-0.444135,0.815568,0.370936],[0.497473,-0.119853,0.859160]]:H \? ?@9ֿlܿ!?h??૮=~?i:@I:j_;:CYbAybtHbDrVDro35yz>%zS=ٔz;Q-z>9|I|=~Dy~EuB;E> Q 5 I4 V8?Q 9I4 Sh) AYyQ I? _oBI ):i Y; I4y%@Bɮ%B%Ej1j9j9j9j9ZYZYZYZ]ؽ@ɢi)i m.ii)qqqiu"=yIyE9 E9E=:E9"E9*E9VE=(4ZE9aE@aE@aE@aE@AIIO=Aiԙ ȶ,{?A2@2_@2ٱ2 :AHRS rotation from veh to nav: [[0.747731,0.561013,-0.355194],[-0.442253,0.819787,0.363815],[0.495288,-0.114951,0.861090]]2Hi??`~ֿMܿ;?@H?Ͳ?em` ?i2@I2^_;2CYvAyvuHz8Not Powering down - fast GPS)xIzizxxz~~ ~)~I~i~~~    bDVD75y%ѵ>%%G=ٔ%;Q-->9)I)=-Dy-PvB5<E5>9Q 5EI4=~8?Q 9EI4=l)=,AYAyEiQ IE?=rpBI=:i=:=I4yUBɮUBQjijijijijiZZZZ@ɢ) i)顡iy=IAAB :>B CB uHB AB B B TDB ;B ${EyIIO% >EMT EMDEIEI"EM9*EMa99VEIZEIBEM:aU2EM:aUJEMdH:a]:EMgH:a]ԡ ] XRadio surface powered OFF, will not connect.] nManaging dock network, ignoring radio surface power offS,o~{?AJ{:@JP5@JٱJ# RAHRS rotation from veh to nav: [[0.752917,0.551744,-0.358742],[-0.437793,0.826902,0.352946],[0.491380,-0.108684,0.864137]]JH??@ֿܿu??r?һ?iJ{:@IJZ_;JCY^3Ay^rwH f=dbDjVDj05yr,>%rN=ٔrp99tIt=vDyvSwBv<Ez>|Q 5~I4~38?Q 9I4~o)~AYyQ I?~~qBI~:i~-:~ңI4yBɮcBEjjjjjZZZZ#@ɢ))1 5i1)111i5! =9I9=AgAzAhAI I!O->DE=DAEMN EM;EIEI"EMm9*EM8VEIZEIaU@aU@a]@a]@! 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D9 zD= AAEE R EE DEA EA "EE s9*EE a99VEA ZEA aM @aM @aM @aM @C,憮?AFW8@F.3@FٱFu NAHRS rotation from veh to nav: [[0.823890,0.391793,-0.409516],[-0.290919,0.912470,0.287689],[0.486385,-0.117888,0.865755]]FH@O]?!?@5ڿ lҿ2?i? ?@-C?iFW8@IF^;FCYZrBy^H ddbDfsVDfS4ynt>%nG=ٔr릻Q-r>9pIt=zDyzB(<E>Q 5O4A?Q 9O4^E)BYyQ I?BIN:i:ZO4yBɮBEjjjjjZ)Z)Z)Z-R@ɢa)i m4*im8)iiqiu=yIy)AIIO (>A=@AA=@ABE>BECBEHBEBBABABABET;BEaEQԁ E-,?ABY@BqT@BٱBf JAHRS rotation from veh to nav: [[0.823985,0.385269,-0.415471],[-0.287195,0.916067,0.279892],[0.488433,-0.111306,0.865473]]BH`^?=?ڿ iaҿ lP??`}B?~ ?iBY@IB3^;@YRByRUHbDZmVDZH4yb>%fL=ٔjQ-r>9xIx=~Dy~mB~%<E~>Q 5 O4A?Q 9 O4-G)&BYyQ I?@BIW:i:̦O4yBɮԆB%Ej1j1j1j9j9YZYZYZYZ]h@ɢi)i m'iu̒8)qiנ=IEP E=EE"E9*E8VEZEBE=:a2EB:a%JE9a%:E9a%A.AIIO>ԁԱ ;Yơ,?A}f@}=@}lٱ}hԹ AHRS rotation from veh to nav: [[0.823498,0.377117,-0.423832],[-0.280638,0.920059,0.273375],[0.493044,-0.106181,0.863500]]}H Z? "?@ ۿ ѿ q?@~?` ?.`ˡ?i}f@I}^;}CY-By-HI5=)5p<====y?Mb?:v?@?=T< 97A`?S㥫?%5)=ٔ=3Q-=>9E ?IE ?=EDyMBMkl<EU>QQ 5]O4UqA?Q 9eO4UH)UBYe7?Q Ee:ye&dQ Im?UѲBIU;iU ;UO4yqɮuBqjjjj j ZEz=ZEz=ZE}@ZE]TR@ɢY)Y ]&i]E8)顁i=I4=4=EV EEE4E"E=:*EA9VE4ZEa @a @a @a @A؟AIIOj> 1 B= >B9 B= HB= F BB= : =B9 B9 B= e;B= `E̡,em4?AɰY By HbD%aVD%24y5>%5r=ٔ5Q-5?9E"?IE"?=EDyEuBMEM?QQ 5]O4UA?Q 9]O4UI)U|BYYyYQ Ie?U7BIU^;iU;U]O4ym Bɮm{BmEjjjjjZZZZɢ) #i̒8)项iJ=IA%.AI1IIOU>AiE U E ;E 1E "E :*E 8VE -4ZE BE :a 2E :a JE 9a% :E 9a% ԙ \gӡ,FN?A2(@2@2ٱ2l :AHRS rotation from veh to nav: [[0.822787,0.375627,-0.426529],[-0.277959,0.920540,0.274491],[0.495743,-0.107291,0.861817]]2HET?C ?@>Lۿѿu?D???gw`?i2(@I2a^;2CY^BybIHbDjiVDj=A4yra>%rP=ٔr4Q-r>9v ?Iv ?=vDyvBz;Ez>xQ 5O4zB?Q 9O4zPK)z BYy aQ I?zBIzr;izn;zO4y >BɮqBEjjjjjZZZZ]R@ɢ) !iձ8)iĨ=IyiIIMAAYIaIqO>ԡ E% Q E% =E% 4E! "E% 29*E% 8VE% 4ZE! a- @a- @a- @a- @#١,m h?ANз@Nʾ@NdٱN VAHRS rotation from veh to nav: [[0.821158,0.373567,-0.431447],[-0.272957,0.921002,0.277938],[0.501193,-0.110464,0.858256]]NH`F??՜ۿ xѿx?? ?cGv?iNз@IN^;NCY^ By^H ``dfAbDj^VDj,4yr>%rJ=ٔv~Q-v>9tIt=vDyvtBzE<Ez>|Q 5O4~r&B?Q 9O4~L)~BYy ![Q I ?~(BI~;i~ :~4O4yɮ9Bj)j)j)j)j)ZIZIZIZMYR@ɢY)a eief8)aaaie¨=iIiA)I1IIOU>B>BCBHB!BB; =BBDB;B=_E) z,.?AR]@R4۾@RT/ٱR; ZAHRS rotation from veh to nav: [[0.820225,0.372973,-0.433731],[-0.270837,0.921049,0.279849],[0.503864,-0.112068,0.856482]]RHG???`?ۿfUѿ`%vJ=ٔv,Q-v>9xIx=zDyzBz;Ez>|Q 5O4~:B?Q 9 O4~M)~wBY y XQ I ?~BI~:i~6:~[O4yrBɮB Ej)j)j)j1j1ZIZIZIZM'OR@ɢa)a e]iew8)iiiim=iIqES E?E1E"E9*E?9VE-4ZEBEڶ:a2E߶:aJE9a:E9a)A؟AIIO=Yԁ f,`䛇?A0m2@m @mٱm+ }AHRS rotation from veh to nav: [[0.819273,0.372982,-0.435518],[-0.268990,0.920768,0.282545],[0.506395,-0.114331,0.854689]]mH|7? ? ۿ"7ѿv?5?b4?D Y?im2@Im^;mCY0!By?HyHzG?T㥛 ?p= ף?=J?== 9 ףp= ?S㥛?&1?YQ8?y$>P=ĩBJB B)}BY BbDMVD 4y>%/=ٔͻQ->9"?I"?=DyBl;E>Q 5O4RRB?Q 9O4N)4BY;?Q E:y7½Q I?5BI:i:O4yBɮB Ejjjjj!ZE=ZE=ZES@ZEU?ɢQ)Q U<i]&8)YYYi]h=aIaԉER EE4E"Es9*EVE4ZEa@a@a@a@AqIyIO]>Ա B m>B CB pHB "BB < =B 3DB DB Ӥ;B ]^EBˢCBˡCB˕CB< =B; =CB]5,?AB4@B @BjٱB( JAHRS rotation from veh to nav: [[0.818388,0.372979,-0.437182],[-0.267592,0.920583,0.284467],[0.508563,-0.115818,0.853200]]BH;0?? ۿ: ѿ ju?4? %F?`AjM?iB4@IB^;BCYR!ByRHIV%=)Vp;Z=Z=`bD^VVD^E4yj>%jr=ٔjjQ-j?9lIl=nDynBr,m;Er?tQ 5zP4vcB?Q 9zP4v0O)vBYxyz᾽Q Iz?vBIv:iv<:i!I%Av| P4yaɮeBajqjqjjjZZZZ G?ɢ)XƢ= i8)i=IAe.AIyIO>bEuȞ4jEu{4rEuS}/ET EHE2E"E9*E[9VE4ZEBEc:a 2Eh:a JEJ:a :EK:a A ,χ?A;ɰ;:9@:@:5 ٱ:& BAHRS rotation from veh to nav: [[0.817299,0.373608,-0.438679],[-0.266903,0.920177,0.286421],[0.510672,-0.117007,0.851777]]:HO'?3?Qܿѿr?`T?@lW?%A?i:9@I:^;:CYJS"ByJHRAAPbDVUVDVn4y^>%^K=ٔ^ǻQ-^>9b ?Ib ?=bDyb|Bbp:Ef>dQ 5jP4fxB?Q 9nP4fO)f_BYlynTQ In?fBIf7;if";fP4yrBɮvBv Ej|j|jjjZ!Z!Z!Z%?ɢ9)9 =i=8)99AiE=AIII IO5 >Aqԙ E P E AE E "E 9*E  9VE ZE a @a @a @a @,Ym釮?A:@:Y@:ܶ ٱ:5X RAHRS rotation from veh to nav: [[0.816312,0.375864,-0.438589],[-0.266659,0.918787,0.291072],[0.512374,-0.120652,0.850245]]:H`;?%?ܿѿ f??@]e? 㾿45?i:@I:^;:CYZ"ByZHHbDbdVDb 84yj6>%jI=ٔnQ-n>9pIp=rDyrBr`Er>tQ 5zP4vB?Q 9zP4vfP)vBY|y~Q I~?vBIv ;iv ;v%P4y Bɮ B Ej)j)j)j1j1ZaZaZaZe?yɢ) i8)顉iq=I QCzG1q>9Y.AԡAAAABX>BCBHBR$BB? =BBDB2;B]EIIOE> ,E?A2@2w@2h, ٱ2 :AHRS rotation from veh to nav: [[0.815083,0.379179,-0.438022],[-0.267457,0.916953,0.296080],[0.513913,-0.124178,0.848807]]2H(?vD?@ܿѿ`W??q? $ʿ m)?i2@I2}_;2CYBe#ByBH DDDFAbDNTVDN4yV/>%VM=ٔVQ-V>9XIX=ZDyZ~BZZE^>`Q 5bP4bTB?Q 9fP4bP)bBYdyfQ If?bBIbB:ib9:b3P4yj"BɮnoBnEj)j)j)j1j1ZiZiZiZmp}?ɢ) ki8)顩iU=IEU E?E1E"E:*E?9VE-4ZEBE:a2E:aJE9a:E9a*=IaIqOY>1a ,4?A<<l@Cܾ@ ٱ* %AHRS rotation from veh to nav: [[0.813957,0.383171,-0.436638],[-0.268651,0.914706,0.301894],[0.515073,-0.128425,0.847471]]H ??@ۿ1ѿDE?:R?`y{?5D<1 195S?|?5^?QY5:?y5=5u5B5B 5&B)5B1Y5kB AEa=bDMSVDM4y]]>%]1=ٔ]_@Q-]>9aIa=eDyeBmvEm>qQ 5}P4u&B?Q 9}P4uIR)uKBY}Am>IIO'>Y2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D=DES EE3E"E9*EVE4ZEa@a@a@a@ԁB} ?>B} CB} HB} %BB} D =By B} DB} ߣ;B} 7]EԱ  ,H6?AFͷ@FhȾ@F ٱF NAHRS rotation from veh to nav: [[0.812775,0.387576,-0.434951],[-0.270447,0.912290,0.307548],[0.515999,-0.132336,0.846305]]FH@? ?`;ۿOѿy1?ޮ??d?iFͷ@IF)_;FCYn$Byn|HbDzHVDz4(DAT read: user:10>  BDAT read: Tx time:00:17:38.2498  $Ping request sent. %b=ٔ%CQ-%>9!I!=%Dy-B-gۻE->1Q 5=P45B?Q 9=P45OS)5BY9yE'+Q IE?5/BI5;i5;5iPP4yIɮMBIjajajajajaZZZZ$@ɢ) u i8)顙i=IԑIIOA>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250827E E@E1E"E*E9VE-4ZEBE׶:a2Eܶ:aJE:a:E:a ,P?A2@2԰@2 ٱ2u$ :AHRS rotation from veh to nav: [[0.811740,0.392644,-0.432330],[-0.272701,0.909439,0.313935],[0.516442,-0.136937,0.845302]]2H`?`!?Jۿ sѿ??? ) ?i2@I2^;2CYv%ByvHIz<)z<bDcVD264y >%K=ٔsQ->9I=DyB%9E%>!Q 5-P4%OB?Q 95P4%yT)%\BY1y5d.Q I5?%BI%:i%:%{^P4yEBɮEBEEjQjQjYjYjYZyZyZyZ}1ʈ@ɢ)  i49)顑iA=II1IIOU=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502888I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756627E [ E AE E "E a:*E  9VE ZE a @a @a @a @-,ݱj?A 6 @6@6 ٱ6+ BAHRS rotation from veh to nav: [[0.810758,0.398747,-0.428570],[-0.275343,0.905844,0.321921],[0.516583,-0.142997,0.844212]]6H ?@? mۿ6ѿ@?[? ؇? M¿`?i6 @I6_;6CYN%ByNHXXbD^VVD^E4yj>%jN=ٔj ٹQ-n>9lIp=rDyrBvEv>xQ 5~P4zB?Q 9P4zU)zBYy12Q I ?z8BIzO/;iz*;z\lP4yBɮBEjjjjjZZZZ(@ɢ) F i9)i֧=IiAIIYIiOu>B-1>B-CB-HB-$'BB-G =B)B-DB-;B-\Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006850 !,7?A2Ԅ@2@2 ٱ22 :AHRS rotation from veh to nav: [[0.810314,0.404030,-0.424442],[-0.277644,0.902557,0.329096],[0.516048,-0.148827,0.843531]]2H@??*ۿ ѿ?@?v? ÿ5?i2Ԅ@I2^;2CPYR%&ByRWHbDXVDXyv>%vI=ٔv/:Q-v>9xIx=zDyzBzڻE~>Q 5P4C?Q 9 P4V){ BY y s5Q I ?BI:i:zP4yɮBj)j1j1j1j1ZQZQZQZU2`@ɢa)a ekim 9)iiiimm=qIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259191ER EJE2E"Es9*Ek9VE4ZEBEL:a2EQ:aJE؏:a:Eُ:a=Ǖ8A؟AIIO>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108871 aD',z?AxYU&ByU H YYyMb?K?Q롿C?^=\ 9333333?MbX9? ףp= Y9?yʡ=Q8#BB B)gwBYעBbDZVD%4y>%8=ٔQ->9"?I%"?=%Dy%B%E%>)Q 55P4-f'C?Q 95P4-X)-!BY= ;?Q E=:y=\dQ I=?-TBI-':i-:- P4yEBɮEBMEjYjYjYjYjaZ}$=Z}$=Z}7"]@Z}Q@ɢ) 'i$9)顙iƕ=I8!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763112EV EEE.E"E=:*EA9VEـ4ZEa@a@a@a@IIOH>Iy B >B CB FHB (BB B 4DB DB N;B ~\Ei-,B?A2Q@2L@2_ ٱ2t? :AHRS rotation from veh to nav: [[0.809397,0.414569,-0.415943],[-0.282979,0.895952,0.342335],[0.514586,-0.159382,0.842495]]2H`?L?ΞڿRҿ`??}w?fĿ?i2Q@I2q_;2CYBT'ByBH HHbDNMVDN 4yf>%fc=ٔf";Q-f>9hIh=jDyj BnEn>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015035Q 5 P4:C?Q 9 P4Y)!BY y lQ I ?κBI-:i:ɖP4y-BɮB9jIjQjQjQjQYZZZZfP@ɢ) iU9)iz=IP8A>A>ԁI IO-,>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267602E[ ECE1E"Ea:*E09VE-4ZEBE ;a2E ;aJE9:a:E9:a Q4,҈?A2r6@2I1@2+ ٱ2GC :AHRS rotation from veh to nav: [[0.808840,0.418978,-0.412596],[-0.285815,0.893318,0.346832],[0.513895,-0.162605,0.842301]]2H??gڿ@Jҿ?2?q?@Ŀ "?i2r6@I2^;2CYb'BybjHbDjQVDj4yr>%rI=ٔr;Q-v>9tIt=vDyvBz3Ez>|Q 5UP4~PC?Q 9UP4~[)~ "BYQy]oQ I]?~UBI~NA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893E U E EE 0E "E :*E A9VE 4ZE a @a @a @a @{:,눮?AZ@Z_@Z ٱZME fAHRS rotation from veh to nav: [[0.808603,0.422357,-0.409605],[-0.288390,0.891340,0.349778],[0.512828,-0.164706,0.842544]]ZH??@6ڿtҿ`ۅ?b?i?@ſ?iZ@IZ _;ZCYnh(Byr HIv=)va=z%>z=bD~dVD~ 84y >% H=ٔ &G;Q->9I=DyBE>!Q 5-P4%fC?Q 9-P4%E])%"BY)y-"sQ I5?%߻BI%:i%:%,P4y9ɮ=.B9jQjQjQjQjQZZZZTP@ɢ) i)9)   i F=I1B>BCBHB)BBM =BBDB;B.\EBĖCBĕCBėCBG =BF =CT6A=Ǖ8IIOchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022882qԙ cA, ?Aɰp;6r@6I@6q ٱ6.E BAHRS rotation from veh to nav: [[0.808320,0.424690,-0.407746],[-0.291082,0.890284,0.350236],[0.511752,-0.164415,0.843254]]6H?.?`ڿҿ 5}?Ej?E`? ſ?i6r@I6^;6CYJ)ByJHPPbDVRVDV4yZ>%^P=ٔ^P;Q-^>9`I`=bDybBbEf>dQ 5jP4f{C?Q 9jP4f^)f#BYlynJvQ In?fcBIfw;if;fP4yrBɮvBvEj|j|jjjZ!Z!Z!Z%P@ɢ1)1 5i5!9)999i=q0=AIA^8]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274835bE-4jEˆ4rE§/Ey E}FEyEy"Ey*E};J9VEyZEyBE}:a2E}:aJE}re:a:E}ue:aԑIIO=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529374 iG,?A6 @6@6) ٱ6XE NAHRS rotation from veh to nav: [[0.808100,0.427294,-0.405457],[-0.293837,0.888987,0.351230],[0.510524,-0.164690,0.843945]]6H?X?ٿ:ҿ@r?z?6V?ſ?i6 @I6 _;4Yn)BynHyep= ף?Mb?#~j?eE?e=e=a a9ew/?Mb`Q?YeF?yeeu%==ٔY;Q->9I=Dy#BE>Q 5P4`C?Q 9P4pa)#BYF?Q E:y۱Q I?BI:iE:P4yBɮBEjjjjjZ=Z=Z-@Zg@ɢB)  i 99)  i=IiIIO >eBDAT read: Rx Time:00:17:41.4579 mTRx dataTimestamp_ set to:1761524260.672140mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779923EY EHE/E"E:*E[9VEJ4ZEa@a@a@a@eG}jA9jAY*AA B >B CB HB Y+BB P =B B DB ;B [EM,i9?A 2nж@2E˽@2ٱ2\E >AHRS rotation from veh to nav: [[0.807815,0.429928,-0.403233],[-0.296820,0.887739,0.351876],[0.509247,-0.164563,0.844740]]2H??ٿ ҿ\h?@#?@K?gſ?i2nж@I2^;2CYB$*ByFBH HHHJAbDNYVDN#4yV>%VZ=ٔZ~;Q-Z>9XIX=^Dy^Bbchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030950f!Ef>hQ 5nP4jC?Q 9nP4jc)jf$BY9y=Q I=?juBIj}hEV EFE.E"E=:*E;J9VEـ4ZEBEo:a2Et:aJEa:Ete:aDAT read: 00:17:41.4579 LVL= 28128, 19729, 18818, 28883, AGC= 76, IDX= 229,-0.12, 2.801,-1.424,-1.580,-1.726, PHS=-1.654, 0.346, 0.102, RAW= 276.4, 12.7, CAL= 275.5, 18.7, ROT= 234.5, -18.7 Ygot valid direction response: 00:17:41.4579 LVL= 28128, 19729, 18818, 28883, AGC= 76, IDX= 229,-0.12, 2.801,-1.424,-1.580,-1.726, PHS=-1.654, 0.346, 0.102, RAW= 276.4, 12.7, CAL= 275.5, 18.7, ROT= 234.5, -18.7 PDAT read: Bearing 258.6, -80.4 (Local) ~Local bearing/azimuth received: Bearing 258.6, -80.4 (Local) DAT read: Range 11 to 50 : 603.0 m (Round-trip 804.0 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.5 `direction in FSK: [-0.550048,-0.771139,0.320613]5 Fpublishing direction and range infoyquR꩎῾+C.j?YuDqumuMuI up)uLIuFӿiu&>u`=u^@ub>uDޙ@ u>)u2@Iuqqu_ \ i?[+? u.@)u:cIuQ/ iuqq >T,gS?A2@2`@2aٱ2CC :AHRS rotation from veh to nav: [[0.807620,0.431724,-0.401702],[-0.299649,0.887137,0.350997],[0.507899,-0.163102,0.845835]]2H`? ^?|ٿ`r-ӿmc?@v?`@?@Ŀ?i2@I2s _;2CLYR*ByRH XXbD^iVD^=A4yv>%vG=ٔvly;Q-v>9xIx=zDyz$BzE~>Q 5P4C?Q 9 P4*f)%BY y :Q I ?BI:i:P4yBɮBEj)j)j1j1j1ii.9K?AJiODRiODjid@iOTtX -|T2rh@riR꩎῾+C.j?ZiQ/ biiMv4#፰neѬQ@ziC?t&2ڿ޴1n}?2it:i+"i3?p?*i}BiBZZZZ2@ɢ5 )9 =Zi=F,9)999i=ԭ=AII=8A.AIIO>! E ] E OE 0E "E :*E 9VE 4ZE a @a @a @a @Z,Hm?AR鞶@R@R*ٱR A ZAHRS rotation from veh to nav: [[0.807518,0.433448,-0.400046],[-0.302264,0.886495,0.350376],[0.506508,-0.162016,0.846877]]RH1?@?Xٿ IXӿ*^?l?Q5?Ŀ ?iR鞶@IR+_;PYbG+BybHbDj`VDj04yr_>%rJ=ٔr;Q-v>9v ?Iv ?=vDyvBzEz>||Q 5P4~C?Q 9 P4~h)~%BY y Q I ?~BI~:i~:~P4yBmCBmsHBm,BBmR =BiBmDBm:;Bm[E=8QA؟AIIO>ԁ a,i?A2@2@2tٱ2*> :AHRS rotation from veh to nav: [[0.807337,0.434626,-0.399133],[-0.304802,0.886323,0.348608],[0.505275,-0.159788,0.848036]]2H??`eٿ`ށӿ\?O?`6+?`sĿ`#?i2@I2-^;0Yf+ByfPHIj<)jC=j=j=bDrfVDr;4yzE>%zJ=ٔzIg;Q-z>9~"?I~"?=~Dy~)BE> Q 5Q4 C?Q 9Q4 k) a&BYy3Q I? 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D?i2 @I2^;2CYBFByB4HytV?ˡE?y&12?'=` 9^I +?V-?y&1?YX9?yh=`e<ّBKB B)lBYbD-EVD-3y5w>%=c=ٔ=ҐBBHBFBB{ =BBҺDB;B"MEA]؟AIaIqOY> ,̏?A6Y@61@6aGٱ6 BAHRS rotation from veh to nav: [[0.912192,0.389616,-0.126906],[-0.361208,0.910801,0.199926],[0.193481,-0.136531,0.971558]]6H@0?`w?`x>׿H%?+?`?@y`?i6Y@I6^;6CYJFByJkHbDR?VDR3yZ=%ZS=ٔZ'q9^"?I^"?=^"Dy^Bb.Eb>dQ 5jT4f'NI?Q 9jT4f)f~DBYhyjQ Ij?fBIf6:if:fAtT4yrBɮrBvuEj|j|j|jjZZZZ8?ɢ5r)1 5֢i5+9)119i=xJ=AIA5c 9A.AIIO>!4=4=E1 E5E5,E1"E1*E5a9:VE5g4ZE1BE5;aE2E5;aEJE5';aE:E5';aEQy 3,揮?A2Z@22@2Aٱ2; :AHRS rotation from veh to nav: [[0.912721,0.390103,-0.121491],[-0.362706,0.910486,0.198644],[0.188107,-0.137242,0.972512]]2H5?q?6׿`"?-m??`!`?i2Z@I2^;0YVGByZH XX\^AbDb=VDb3yj9,>%jH=ٔn[9r ?Ir ?=r"Dyr_BrCEr>tQ 5zT4veI?Q 9zT4v)vDBY|y~Q I?v+BIvP#;iv*$;vT4y #Bɮ B vEj!j!j!j!j!ZAZAZAZEτ6?ɢUn)Y ]Ri]9)YYYieM*H=aIia 9A؟AIIO (>ԁԩEE  EE EA EA "EE :*EE .:VEA ZEA aM @aM @aM @aM @B >B `CB hHB GBB B B B y;B LE ,s?A2.@2@2rC<ٱ2 :AHRS rotation from veh to nav: [[0.913198,0.390810,-0.115489],[-0.364209,0.909824,0.198926],[0.182817,-0.139597,0.973186]]2H8??3O׿G?hv?f?LV$?i2.@I2P^;2CYB5GByBHbDJ;VDJ)3yR=>%VM=ٔV]9Z"?IZ"?=Z"DyZBZLEZ>\Q 5bT4^|I?Q 9fT4^)^DBYdyfrQ If?^BI^:i^1:^qT4yj`BɮjŀBnwEjijijijijiZZZZ5?ɢS_) Ji9)i 9 DG,\U?AEb EbEb-E`"Ebغ:*EbA:VEbt4ZE`BEb9 I = "Dy BE>Q 5%T4I?Q 9%T4)EBY%9?Q E%:y%UQ I-?{BI ;i ;iT4y5Bɮ5B1jIjIjIjIjIZ\=Z\=Z+?Zm>ɢ3).y; i%9)!!!i%+B=)I)99AQIaIyO>a o , *4?A,Y~GBy~HI<) = p=bD;VD)3y%<5>%%=ٔ)Q--?9)I)=-"Dy5B1E5?9Q 5ET4=I?Q 9ET4=)=9EBYAyIQ IM?=BI=:i=:==T4yQɮUʀBQjijijijijiZZZZɢ) iq9)顩ir5A=I9qE EE+E"E:*EVE [4ZEa@a@a@a@B}|>ByB}HB}HBB}} =ByByB}/;B}LEA%.AI)I9OM1>ԙ W,%N?Aɰ2ܵ@2Y׼@2+,ٱ2C :AHRS rotation from veh to nav: [[0.914874,0.391246,-0.099665],[-0.367427,0.909137,0.196129],[0.167344,-0.142814,0.975500]]2HF?, ?׿??@k?G¿K7?i2ܵ@I2 ^;2CPYRGByRHXXbD^EVD^3yf >%fP=ٔf$=Q-f>9j ?Ij ?=j"DyjjBnȻEn>pQ 5vT4rTI?Q 9vT4r)rXEBYtyvQ Iz?r~BIrd:ir:rT4y~Bɮ}B}xEjjjjjZZZZڶk>ɢ%) ( i%9)!!!i%>=)I)9Ae؟AIyIO=>Ee EeEaEa"Ee:*EeF:VEaZEaBEe}9V"?IV"?=Z"DyZBZeEZ>\Q 5bT4^vI?Q 9bT4^d)^uEBYdyf잾Q If?^BI^;i^(:^T4yjBɮjBjyEjtjtPvjxjxzNCompleted lineCaptureHoming:InitialDiveOzzjAggregate::uninitialize lineCaptureHoming:InitialDive1Pz zUninitialize.qPz~Uninitialize.Q~| ~dAggregate::initialize lineCaptureHoming:RepeatHackQZZZZZk>ɢ5c:)1 51FEu  Eu Eu ,Eq "Eu :*Eu k:VEu g4ZEq a} @a} @a} @a} @Bm {>Bi Bm HBm HBBm { =Bi Bi Bm Ȕ;Bm @LEB-`CB-`CB-ʓCB-{ =B-{ =C- 5ԉ i ,w?A6Ե@6μ@6!ٱ6˲ >AHRS rotation from veh to nav: [[0.915993,0.390849,-0.090526],[-0.368970,0.909295,0.192466],[0.157540,-0.142897,0.977119]]6HO??,3׿??B*?nJ¿`D?i6Ե@I6^;4YFHHByFUH HHHJAbDRFVDR4yZ >%ZI=ٔZG9\I\=^"Dy^pBbںEb>dQ 5jT4fI?Q 9jT4f)fEBYhyjHQ Ij?fBIf:ifW:fT4yrVBɮr2BrzEQz zhAggregate::uninitialize lineCaptureHoming:RepeatHackQ~1R~ ~VAggregate::initialize lineCaptureHoming:LapqR~ZZZZZk>i-p:)--)i-1I5Y10;ԉAe.AIiIyO9>Ա &,?ADzDAAbE%g4jE%j4rE%/E EE)E"Em:*ErN:VEFA4ZEBE[2E[JEZ;aB:EZ;aF9=@Ա Ƶ@ h@ ٱ  5AHRS rotation from veh to nav: [[0.916785,0.390904,-0.081847],[-0.371049,0.909482,0.187522],[0.147741,-0.141548,0.978845]] HMV??@E׿z?`?@.?=¿R?i Ƶ@I s^; YEfHByEzHyʡE?{Gz?{Gz-2?ף=# 9+?Mbp?A`"Yv>?y;Y"BB цB)BYB a=bDeVD94y%x=%%(=ٔ-]9- ?I5 ?=5"Dy5 B5_E5>9Q 5ET4="J?Q 9ET4=[)=EBYM>?Q EM:yMfǾQ IM?=aBI=q ;i= ;= T4yQɮU#BY kuXqRuRu uZAggregate::initialize lineCaptureHoming:Lap:BZ=Z=ZҨ@Z@i)iI9  jb;A zA A A  PG) Y b9 Y A9 A I I O >-,?A4Z@ZƵ@ZXٱZ+ fAHRS rotation from veh to nav: [[0.916925,0.391538,-0.077114],[-0.372622,0.909207,0.185730],[0.142833,-0.141566,0.979570]]ZH@sW?? ½ ׿9?@? [H?¿X?iZ@IZ^;XYrHByrHbDELVDE 4yUI>%UM=ٔ]K9]I]=e"DyaeIiEe>iQ 5uT4mA%J?Q 9uT4mT)mEBYqy}ȾQ I}?mBIm:imN:mT4E EE,E"EO:*Ee:VEg4ZEa@a@a@a@yBɮ9B{Eq6lfAggregate::initialize lineCaptureHoming:LineCapture17 nAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesq7nJInitialize AltitudeEnvelopeComponent.7 oDInitialize DepthEnvelopeComponent.7oJInitialize OffshoreEnvelopeComponent.819q9rxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass99sInitialize.1: tAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:tBe_CBeDHBe IBBe~ =Be9DBeѺDBe5;BeKEԑe9aaiii߱ Iߵ A I I) O= >&q4,Ґ?A2@2v@2vٱ25 :AHRS rotation from veh to nav: [[0.916085,0.393829,-0.075418],[-0.376105,0.909130,0.178963],[0.139046,-0.135580,0.980961]]2HP?@}4?N@ؿ?B?@??Z@d?i2@I2^;0YBHByBHIF<)Fp<bDJEVDJ3yRf >%VX=ٔV%9TIX=Z#DyXZEZ>`Q 5fU4b<;J?Q 9fU4b/ )bEBYhyjɾQ Ij?bBIbW:i`b>U4lyrBɮr]Br|E1M~ ~Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM~ Entering Terminal tracking update period 2.000000 s sec at 603.000000 m (mode 0.000000 count ).qM M dddjdZd&>@b% Q@6%18%Z9Z9Z9Z=@iI)IIQiQQIY E EE-E"E>:*EP:VEt4ZEBE1a :,쐮?Aɰ49|I|=~#Dy|dE> Q 5 U4 !SJ?Q 9U4 J ) EBYy&ʾQ I? 'BI :i ; U4y%Bɮ%B%}Ejj5@M59M=EB*** querying acoustic contact ***iA iAdIdIdIjdIZdM>@BdU@18Uq8UZqZqZqZu͎@i)顁iIu(9IIO%=aԑE EE,E"E*E[:VEg4ZEa@a@a@a@52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.AmAAAiBup>Bu^CBuHBupIBBu =BqBqBud;BuJEԹ A,W?A22@2 @2ٱ2 :AHRS rotation from veh to nav: [[0.916710,0.393340,-0.070192],[-0.378642,0.911309,0.161700],[0.127570,-0.121654,0.984340]]2H`U?|,?;ؿq)? ? 6T?$?i22@I2f^;2CYB>IByBHbDJaVDJ24y~=%I=ٔ{9 I = #Dy  ۺE>Q 5U4jJ?Q 9%U4Y)EBY!y%JʾQ I%?BIU;i@;U4y-Bɮ-_B5ErjE@ME1NMdIdQdQjdQZdU>@JdUQ@q8]8]ZyZyZyZ}R@i)顉iIԙ(DAT read: user:11> BDAT read: Tx time:00:18:13.5997 $Ping request sent.E  E E /E "E m:*E e:VE J4ZE BE [?yu'uļuxBuDB uB)u-BqYuaBbDAVD?3y=%A=ٔDŽ9I=#DyMҺE>Q 5U4J?Q 9U4)FBY??Q E:yQ I?cBI ;i ;.U4y=BɮBEzj1NrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminaldddjdZdd?@Rd8:  u Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence: u Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1;  v Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq; v Initialize.vdInitializing internal variables to default values.< yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Initialize.q>|Initialize.1=A Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceA%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqC%%Initialize.C% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC%%Initialize.1D%qD%1B-ZE=ZE=ZE1@ZEʰ@iY)YYYiYaIaU9IaIO=!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934Qy M,(:?A@>@>@>ٱ>f޽ FAHRS rotation from veh to nav: [[0.917961,0.391695,-0.062634],[-0.380110,0.913749,0.143454],[0.113422,-0.107877,0.987673]]>H@_??Sؿo=?\?6 ?@ӝ?i>@I>S~^;>CYZ|IByZH b=b=bDfXVDf!4y~<%~T=ٔ9I=#Dy  E >Q 5U4?J?Q 9U4?)6FBYy%Q I%?BI:i:] |]Uninitialize.q>]:]veInitialize.vedInitializing internal variables to default values.vmPDetached from dock at depth 50.371563 m.zemEu EuEqEq"Eu>:*Eu[:VEqZEqa}@a}@a}@a@beijeZeddchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754990Bm>BB>HBIBBBBкDB;BIEIdjdZd?@ZZZZư@i1)5)119i99IA MhAI9IiIyO>qԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006867 )T,S?A2@2|@2ؽٱ2Ͻ :AHRS rotation from veh to nav: [[0.918599,0.390863,-0.058332],[-0.380803,0.914924,0.133802],[0.105667,-0.100697,0.989290]]2H )e? ?ݭ`_ؿG?j ? ?Jǹ`C?i2@I2 ^;2CYZIByZHbDbJVDb04yj>%jN=ٔnˠ9pIp=r#Dypr^Er>tQ 5zU4vJ?Q 9zU4v)vNFBY|y~Q I~?vBIv ;iv ;vJU4yɮ B Re-ze)be)je)Ze)d)d)d1jd1Zd5@Z@@ZQZQZQZU@ii)i)iiiiqqIy9IIO=E EE-E"E:*EV:VEt4ZEBE}f=bDj;VDj)3y:=%?=ٔ9I=#DyE>Q 5U4J?Q 9U4Q)eFBYySQ I?1BI:i: YU4yBɮʁBEB*** querying acoustic contact ***i iRezebejeZedddjdZd M@@Z!Z!Z!Z%@i9)9)999i9AIA9 4Initializing EZServoServo.qԙ 8Initializing DockingStepper.IIOh>E EE*E"E:*EX:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788B%l>B!B%HB%'JBB!B!B!B%ؑ;B%9IE $a,񞇑?Aɰ;2w@2q@2KUٱ2x :AHRS rotation from veh to nav: [[0.919538,0.390115,-0.047527],[-0.382583,0.916254,0.118782],[0.089885,-0.091041,0.991782]]2Hl?? hU<|ؿQ?xh?`?|N ?i2w@I2^;2CPYRJByRyHXXbD^cVD^264yf=%fW=ٔf9hIh=j#DyhnqEn>pQ 5vU4r8J?Q 9vU4r!)rwFBYtyvsQ Iv?rBIr:ir:r2fU4y~Bɮ~B~ERezebeje!Ze!d!d!d!jd!Zd- }@@ZZZZ@i) )   i I"9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0151225ϩ;IIIYOew>) E  E E -E "E O:*E rN:VE t4ZE BE AHRS rotation from veh to nav: [[0.920010,0.389702,-0.041403],[-0.383328,0.916830,0.111720],[0.081497,-0.086913,0.992877]]6H p??2qؿV?`?ݴ???i6r@I6kr^;6CY^0JBybH|yMX9v?Mb?{GzM>M=M#I I9M9yIy=#DyE>Q 5U4J?Q 9U4%)FBY 4?Q E:yQ I?YBI ;i ;uU4y8Bɮ BERezebejeZedddjdZd!@@Z3x>Z3x>Z߀@Z@i))iI,$9)IIO">checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851Qԁ e%n,;U?A2No@2'j@2ȕٱ2Ω :AHRS rotation from veh to nav: [[0.920442,0.389280,-0.035321],[-0.383989,0.917409,0.104471],[0.073072,-0.082596,0.993901]]2HBt?@?` Eؿ@i[??ִ?%?i2No@I2^;2CYBDJByBH DDJAHbDN8VDN3yv2N=%vT=ٔv>9xIx=z#DyxzE~>|Q 5U4~K?Q 9 U4~F()~FBY y Q I ?~BI~:i~g:~U4yɮBRe9ze9be9je9Ze9d9dAdAjdAZdE }@@Ee EeEe/Ea"Eem:*EeR:VEeJ4ZEaam@am@am@am@qZZZZ @i))顙iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771013Bj>BBHBnJBBBBB;BlHEB^CB^CBB =B =CW5P$9ԉԹIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022904 u,8.Ց?A6p@6k@6ٱ6 >AHRS rotation from veh to nav: [[0.921079,0.388325,-0.028598],[-0.384037,0.918115,0.097882],[0.064266,-0.079175,0.994787]]6Hyy?R? Hؿ`2a?@?`s?DK?i6p@I6vp^;4YFwJByFH Np=NR=bDRFVDR4yZW>%ZN=ٔZ:9\I\=^$Dy\b:Eb>dQ 5jU4fK?Q 9jU4f+)fFBYhyjQ Ij?fqBIfW:if :fpU4yrwBɮr;BrEReyzebejeZedddjdZdzA@ԹZZZZ@i1)Y)aaaiaiIm&9IIO=bEt4jEv4rEn/Eu EqEu-Eq"Eu:*EqVEut4ZEqBEu19I=$Dy 3E >Q 5%U4E3K?Q 9%U4H/)FBY!y%Q I-?BIGD;iE;U4y5Bɮ5mB5EMB*** querying acoustic contact ***iI iIReYzeYbeYjeYZeadadadajdaZdm QA@ZZZZ@i))顙iI(9IIO>AE} E}E},Ey"E}:*E}L_:VE}g4ZEya@a@a@a@A@AABB]CBDHBJBBBBB^;BGEBDAT read: Rx Time:00:18:16.8347 TRx dataTimestamp_ set to:1761524295.996289checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780110qԙ ,?A2o@2j@2e>ٱ2 :AHRS rotation from veh to nav: [[0.921938,0.387098,-0.013634],[-0.384541,0.918935,0.087673],[0.046467,-0.075586,0.996056]]2H?7?"싿Qؿg? q?~ʧ?Y?i2o@I2kt^;2CYfJByfCHIj=)jn=lbDrYVDr#4yzم=%z]=ٔz9|I|=$DyK9E> Q 5U4 FK?Q 9U4 ^2) GBYyQ I? BI ;i ; U4y%Bɮ%xB%EReAzeAbeAjeAZeIdIdIdIjdIZdU΀A@ZiZiZiZm2@i))顁iIqIIO=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030848ԡD zD @AE  E E -E "E m:*E [:VE t4ZE BE [ қ@ nF= @  k) ˁ@I k=   &4?cxʣ?  v1@) ]I Ӈi k=  u T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode. J,i"?Aɰ4<2yr@2Rm@2ٱ2٘ :AHRS rotation from veh to nav: [[0.922408,0.386172,-0.005850],[-0.384390,0.919412,0.083218],[0.037515,-0.074512,0.996514]]2H ^? ?w`ٙؿ`k?M?(5?<q?i2yr@I29_^;2CYbJBybnHy5Cl?5t=5D1 195X9v?Zd;OS㥫?Y5?y5j5/]=5B5B 5|B)51Y5̆BIIbDU;VDU)3yb=%2=ٔ9I=$Dy7:E>Q 5U4\K?Q 9U4v5Q =tI),GBY?Q E:yپQ I?(BIj;i;.U4y BɮBEi1i5?AJi54DRi54Dji5lj@i5D wTH~WL]Ari5`~㿩W5O`8.yZi5Ӈbi5k=i5 =рhJQs@Xk*zi5\Y =h=߿Ƽɕ2i5:i5"i5zԳ/?*i5}?Bi5BRezebejeZedddjdx@Zd˶?ZNY>ZNY>ZX@Zki@iI)Q)QQQiYYIe*9I)IAOER>e(DAT read: user:12> mBDAT read: Tx time:00:18:18.1497 m$Ping request sent.mAHRS rotation from veh to nav: [[0.922924,0.384979,0.001801],[-0.383936,0.920057,0.078025],[0.028381,-0.072703,0.996950]]2H??B]?`gؿq?v?@?@?i2w@I2i^;0YbJBybHbDjXVDj!4yr=%rk=ٔvBm^CBmHBmJBBm~ =BiBiBm;BmGEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697jdYZd^?Z1Z1Z1Z5v@iA)I)IIIiIQIyU+9IaIqO=ԉԹii Ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976 r[,BxV?A6|@6w@6ٱ6Q >AHRS rotation from veh to nav: [[0.923374,0.383782,0.009545],[-0.383415,0.920673,0.073169],[0.019293,-0.071222,0.997274]]6HH??@'?ؿ'v?@0?`?;?i6|@I6W^;6CYFJByFH HHNALbDRFVDR4yZ<%ZN=ٔZF`9`I`=b$Dy`f:Ef>hQ 5vU4jK?Q 9vU4jj:)jaGBYxyz`پQ Iz?jBIjx;ij=m;jU4y LBɮ ՂB EReIzeIbeIjeIZeIdQdQdQjdYZd]?ZZZZ_@i))顱iI-S-9 =&Changing to mode: 3EU EUEQEQ"EU:*EU&p:VEQZEQBEUI ~,Sp?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068236@6@6$ٱ6 BAHRS rotation from veh to nav: [[0.923873,0.382288,0.017726],[-0.382567,0.921347,0.069014],[0.010051,-0.070541,0.997458]]6H ^?iw?&?{ؿ{?ު?`?`-?i6@I6kP_;6CYJKByJH xzp=bD~;VD~)3y-=%-C=ٔ5}91I1==$Dy9=w;E=>AQ 5MU4EK?Q 9MU4E4=)E|GBYQyUؾQ IU?EBIE:iEN:EU4y]Bɮ]BeEReyzebejeZedddjdZdU?ZZZZ@i))iIw-9M 8@I @I@M3@QQIqIO>B]<A]<BYBYB]HB]KBBYBYBYB];B]eFEqE EE/E"E :*E|:VEJ4ZEBES"<2ET"<JEd;:Ed;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772ԡ `m,<.?A2囵@2@2fٱ2' :AHRS rotation from veh to nav: [[0.924991,0.379157,0.025136],[-0.379989,0.922809,0.063497],[0.000880,-0.068285,0.997665]]2H ?@D?E?Qؿ?`UA?L?@({ ?i2囵@I2u`;2CY^.KBybHbDj>VDj43yr=%rO=ٔr9tIt=v$Dytz;Ez>xQ 5UU4z?K?Q 9UU4z?)zGBYYy]׾Q I]?zBIzVEm  Em Em .Ei "Em :*Em L;VEm ـ4ZEi au @au @au @au @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762962 —,t ?A2@2ʰ@2<ٱ2f :AHRS rotation from veh to nav: [[0.926162,0.375712,0.032614],[-0.377033,0.924379,0.058053],[-0.008336,-0.066063,0.997781]]2H`?@ ?Ȳ?M!ؿ?)?鰿?i2@I2`;2CYBSKByBHIF=)F>y V-?Dl? > O >   9 Mb?l?Mb?Y ?y = @= ݏB TB )  Y BbD%IVD%X4y5(=%5E=ٔ599I9=E$DyAE;EE>IQ 5UV4M]K?Q 9UV4MA)MGBYU?Q E:yQ I?MBIMZR>Z&@Z5G@i))顩iI19%/3@! @!@%P0@!I1IIOU2>i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0150761Y ,佒?A:ʵ@:ż@:<ٱ: BAHRS rotation from veh to nav: [[0.927009,0.372799,0.040936],[-0.374629,0.925568,0.054566],[-0.017547,-0.065919,0.997671]]:H@???׿@@??@ి ?i:ʵ@I:DI`;8YJNKByJ HPRAAbDTVDTyZH%^S=ٔ^9`I`=b$Dy`b;Ef>dQ 5jV4feK?Q 9jV4fC)fGBYlynQ In?fBIf;if;fV4ypɮv#BtBBBHB%KBBBBB;BEEE% E%E%/E!"E%:*E%[:VE%J4ZE!BE%aԉU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518734 y,ג?AJ޵@Jټ@J5<ٱJz rAHRS rotation from veh to nav: [[0.927728,0.369987,0.049293],[-0.372290,0.926719,0.050922],[-0.026840,-0.065593,0.997485]]JH?ܭ?@HbD]VD'+4y-6=%-C=ٔ-۵91I1=5%Dy1=;E=>AQ 5MV4EK?Q 9MV4ED)EGBYIyMQ IM?ETBIE:iE:E,V4y] Bɮ]OB]EReyzeybeyjeyZeydddjdZd@^@ZZZZ@i))项iIԑ49?i?E5 E5E5?E1"E5:*E5P:VE5^4ZE1a=@a=@a=@a=@M_.@I @I@M4@IIYIiO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770779 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022767ٻ,ճ?A2@2@2BQ=ٱ2 :AHRS rotation from veh to nav: [[0.928248,0.367463,0.057681],[-0.370220,0.927715,0.047767],[-0.035958,-0.065695,0.997192]]2H4??Q?@׿ׯ?@t? $i\Ѱ`?i2@I2V1_;2CYBKByBZH DDDDbDNLVDN 4yVh=%VR=ٔV9XIX=Z%DyX^ ;E^>`Q 5fV4bK?Q 9fV4b]F)bGBYdyfyQ If?bBIbU;ib+;b+V4ylɮnDBlReizeibeijeqZeqdqdqdqjdyZd} @ZZZZM@i))iI59=+@9 @9@E5@AIQIaOm>Bh>BBHB/KBBBBB+;B}EEBBBB~ =B~ =C?5E5 E5E5.E1"E5:*E5g:VE5ـ4ZE1BE5AHRS rotation from veh to nav: [[0.928695,0.364980,0.065687],[-0.368103,0.928751,0.043842],[-0.045005,-0.064896,0.996877]]2H@߷?[?`а?׿S?r?` j?i2@I2^;0YFKByFVH Ja=Ja=bDNJVDN04yV%VK=ٔZ9XIX=^%Dy\^;E^>`Q 5fV4bK?Q 9fV4bG)bGBYhyjoQ Ij?b%BIb6:ib:b9V4ynJBɮnBrEzB*** querying acoustic contact ***ix ixRezebejeZed d d jd Zd ߵ @Z)Z)Z)Z-@i9)A)AAAiAIIIV69checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526734q-o)@) @)@- 5@)I9IIO]>ePExceeded connect timeout, disconnecting.ԙ bEـ4jEɔ4rE51EM  EM EI EI "EM :*EM 1]:VEI ZEI a] @a] @a] @a] @ BDAT read: Rx Time:00:18:21.3800  TRx dataTimestamp_ set to:1761524300.532162 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779880Ȥ,rR%?A6@6 @69S\=ٱ6> >AHRS rotation from veh to nav: [[0.929014,0.362657,0.073575],[-0.366118,0.929693,0.040361],[-0.053764,-0.064433,0.996473]]6H@{?5?ղ?`{n׿ ?B?~?i6@I6^;4LYRKByRgHy-> ףp=?{Gz?#~j->-#=-㥽) )9- rh?Zd;O?I +Y->y-j<=-9-%B-BB -wB)))Y-BbDEPVDE:4yU=%U@=ٔU 9YIY=]%DyYej;Ee>iQ 5uV4mv L?Q 9uV4mfI)mGBYu>Q Eu:yu؎Q I}?mBIm2 ;im ;mHV4yɮ~BRezebejeZedddjdZd`׍@Z=Z=ZtD=Z{@i))iIM89Y&@ @@o1@II O*>GhAA9hAY|A%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030790) Ϥ,Z,??ABPBPBRHBR9KBBR} =BPBPBR;BRFEEE EE-E"E:*EV:VEt4ZEBEbDm[VDmy'4}=}<DAT read: 00:18:21.3800 LVL= 27792, 32753, 29826, 32755, AGC= 69, IDX= 377, 0.30, 0.524, 2.396, 1.868, 1.938, PHS=-1.312, 0.503,-0.114, RAW= 289.5, 11.5, CAL= 287.1, 16.6, ROT= 222.9, -16.6 Ygot valid direction response: 00:18:21.3800 LVL= 27792, 32753, 29826, 32755, AGC= 69, IDX= 377, 0.30, 0.524, 2.396, 1.868, 1.938, PHS=-1.312, 0.503,-0.114, RAW= 289.5, 11.5, CAL= 287.1, 16.6, ROT= 222.9, -16.6 PDAT read: Bearing 310.6, -39.4 (Local) ~Local bearing/azimuth received: Bearing 310.6, -39.4 (Local) DAT read: Range 11 to 50 : 619.6 m (Round-trip 826.2 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.702012,-0.652350,0.285688]Fpublishing direction and range infoy Cv濢x WԷH?YDlt )EI刺i?x齩@M>X@ V>)Px@IV!V? ? ]=@)8NIe$iVyu5-%H=ٔQ->9I=%DyE> T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q 5V4 ^L?Q 9%V4 J) GBY)y)Q I-? BI r;i ; WV4y5Bɮ=B=EiiEIB?AJiUDRiUDjik`@iN{k+y?ܽ f@ri Cv濢x WԷH?Zie$biViۯjl@zi[ńZ/տ@+CS?2iP:i"i8Û?*i7mBiCRezebe)jeZe1d1d9d9jd=\@Zd=?ZZZZi))iIa=:9Y#@ @@P0@IIO>5 (DAT read: user:13> 5 BDAT read: Tx time:00:18:22.6997 = $Ping request sent.= !Y?A>-@>(@>A=ٱ>ȁ JAHRS rotation from veh to nav: [[0.929259,0.358541,0.089035],[-0.362542,0.931374,0.033242],[-0.071007,-0.063169,0.995474]]>H`|?@T?˶?@3׿? ?|-+?i>-@I>ȸ^;9dIh=j%Dyhj <Ej>lQ 5rV4n'L?Q 9rV4nL)nGBYtyvQ Iv?nDBIn:in`:n_dV4yxɮzB|IRezebejeZedddjdZd`G8?ZZZZ@i ) )   iIE:9E  E E E "E :*E 1]:VE ZE a@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251063ԉy!@ @@@IIO (>ԩ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502794#ܤ,r?A>w7@>P2@>m8=ٱ>K} FAHRS rotation from veh to nav: [[0.929118,0.357105,0.096002],[-0.361219,0.932030,0.028983],[-0.079126,-0.061607,0.994959]]>H U???6׿`1?֭?A銯?i>w7@I>^;VDV43y^%^K=ٔb9`I`=f%DydfYA;Ef>hQ 5nV4j6L?Q 9nV4jYM)jxGBYpyrBQ Ir?jBIj;ij;jhrV4yvBɮvBvERe ze be jeZedddjdZd`Su?Z9Z9Z9Z=@iI)I)IIQiQQIYԱU<9IefA)efA@ @@@IIO >B<A<BBBHB/KBB| =BBB;B4EEE EE,E"E:*EVEg4ZEBE}9\I`=b%Dy`b;Eb>dQ 5jV4f#EL?Q 9jV4fN)f]GBYlyn7Q In?fBIf:if3;fzV4ypɮrBpB*** querying acoustic contact ***i iRe ze be je Ze d ddjdZd`a,?Z1Z1Z1Z5@iA)I)IIIiIQIQU==9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007582@ @@O0@IIO>aԑE-  E- E- /E) "E- :*E- T:VE- J4ZE) a5 @a5 @a5 @a5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258842 3,$?A@2"Q@2K@2=ٱ2Lm :AHRS rotation from veh to nav: [[0.928908,0.353656,0.109807],[-0.357791,0.933590,0.019900],[-0.095477,-0.057773,0.993754]]2H?N?I? ֿ@?`?)qb?i2"Q@I2W^;2CY^KBy^xHy}(\?T㥛 ?#~j}>}=yy y9}+? rh?ktY}>y}C<} }B}֏B }xB)yyY}pB p=bDNVD4yLC%<=ٔ9I=%DyB;E>Q 5V4SL?Q 9V4HP)$GBY3>Q E:y߭Q I?aBI:i:V4y$BɮQBERezebejeZedddjdZd ?Z%=Z%=Z%E@Z%H@i1)9)999i9AIAԑ55?9@ @@5@II O*>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510892 ,Cu?AB&g>B$B&HB&%KBB&} =B$B$B&;B& EEB \@BV@Bk=ٱB$h JAHRS rotation from veh to nav: [[0.928631,0.352122,0.116850],[-0.356264,0.934248,0.015994],[-0.103535,-0.056481,0.993021]]BH@Y?)?@?ֿ\?@`?@E"묿?iB \@IB^;BCYRKByRHbDZQVDZ4yb =%bZ=ٔb9dId=f&Dydjh;Ej>Er ErEr.Ep"Er,:*Er1]:VErـ4ZEpBErAHRS rotation from veh to nav: [[0.927438,0.352762,0.124171],[-0.357022,0.934003,0.013169],[-0.111331,-0.056545,0.992173]]6H?`?`ɿ?sֿZ?_?0`?i6R@I6/a;6CYFKByFHIJC>)J>bDNOVDNc4yV<%VK=ٔZ9XIX=^&Dy\^G:E^>`Q 5fV4b%nL?Q 9fV4b+S)bFBYhyjQ Ij?b BIb:ib:bҪV4ylɮnHBpvZDetected possible detachment. Starting timer.zebejeZeddd jd Zd G@Z)Z)Z)Z-3@@i9)A)AAAiAIIIvA9i@ @@@5@IIO=E EE1E"E:*EVL:VE-4ZEa@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518824 p,*?A2.M@2H@2==ٱ2\ :AHRS rotation from veh to nav: [[0.926395,0.353387,0.130036],[-0.357337,0.933945,0.007621],[-0.118753,-0.053527,0.991480]]2H?`?? ֿ?7?fg@4?i2.M@I2:na;2CPYnKBynqHv@Av@AbDz_VDz.4yof%E=ٔ 9 I =&DyԺE>Q 5%V4|L?Q 9%V4T)FBY)y-Q I-?dBI:i:PV4y5dBɮ5B5EzeQbeQjeQZeydydydyjdZd=@ZZZZ4@i1)9)99AiAAIIC9%a@! @!@%`0@!I1IIOm5>A9A=AABEf>BE]CBEHBEKBBABABABE;BEDEDDE EEE"Em:*E[:VEZEBE[ٱ2Q :AHRS rotation from veh to nav: [[0.925443,0.353659,0.135941],[-0.357277,0.933995,0.002383],[-0.126125,-0.050774,0.990714]]2H`;?Y? f?ֿ J?$c?$ ?i2J@I2H`;2CYRKByRHbDZ[VDZy'4y%x=%%H=ٔ-9)I)=-&Dy)59E5>9Q 5EV4=҉L?Q 9EV4=6V)=DFBYIyMgQ IM?=BI=:i=:=V4yQɮUBQmB*** querying acoustic contact ***ii iizeybeyjeyZeydyddjdZd @ZZZZ2,@i))项iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023058m#D9q)`@ @@O0@I IO5->YE  E E /E "E :*E T:VE J4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274736ԉ ށ ,a'?A2G@2A@2' >ٱ2]R :AHRS rotation from veh to nav: [[0.924386,0.353721,0.142799],[-0.357361,0.933966,-0.000166],[-0.133429,-0.050877,0.989752]]2H`?@]?@@G?@ֿ@ ?%0@ ?i2G@I2`;2CYRKByRtH TTy-?y&1|?~jtx->-`;-Ļ) )9-)\(?S㥫RQY-G>y-/]-½-\B-jB -LrB)))Y-BYbDeVD94y1%A=ٔc9I=&Dy E>Q 5V46L?Q 9V4X)FBY>Q E:yQ I?BImG;i=;kV4yBɮՄBEze1be9je9Ze9d9dAdAjdAZdM J @Zu>Zu>Zu@Zu@i))顑iIuF9ԉb@ @@R4@IIO>>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526858Թ BA BE ^CBE HBE JBBE | =BA BA BE o;BE DEBB j,ǼA?AB1B5} =B5} =C5o4ND@Ns?@N3>ٱN U ZAHRS rotation from veh to nav: [[0.923345,0.353551,0.149788],[-0.357271,0.933998,-0.002212],[-0.140684,-0.051473,0.988716]]NH ??`C,?@ֿP?2b`¿ Z?iND@IN؉_;D`zDbAAEf EfEf*Ed"Ef:*Ef1]:VEf(N4ZEdBEf#9I=&DyKE>!Q 5-V4%&L?Q 9-V4%Z)%EBY)y-Q I-?%mBI%y:i%:%V4EBDAT read: Rx Time:00:18:25.9320 ETRx dataTimestamp_ set to:1761524305.068271Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780063y9ɮMӄBQzeibeqjeqZeqdqdqdyjdyZd}(@ZZZZJ@i))顱i1I99H9`@ @@5@IIO>!Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030832y ,^[?A5@@5:@5>ٱ5T EAHRS rotation from veh to nav: [[0.922182,0.353768,0.156296],[-0.357416,0.933932,-0.005076],[-0.147765,-0.051182,0.987697]]5H?$??ֿ?t¿4`7?i5@@I5^;5CYUKByUuHbDmdVDm 84y}8%}C=ٔ}9I=&DyWE>Q 5V4CL?Q 9V4\)EBYy)Q I?BI;i;QV4yBɮBEzebejeZedddjdZd@ZZZZ Q@i))   i IIm]H9bEUA{4jEU44rEUí<0E EE-E"E:*EX:VEt4ZEa@a@a@a@I)gA}DAT read: 00:18:25.9320 LVL= 32752, 23329, 25218, 32755, AGC= 70, IDX= 445,-0.31,-2.209,-0.301,-0.720,-0.820, PHS=-1.287, 0.565, 0.057, RAW= 285.4, 8.1, CAL= 283.5, 7.6, ROT= 226.5, -7.6 Ygot valid direction response: 00:18:25.9320 LVL= 32752, 23329, 25218, 32755, AGC= 70, IDX= 445,-0.31,-2.209,-0.301,-0.720,-0.820, PHS=-1.287, 0.565, 0.057, RAW= 285.4, 8.1, CAL= 283.5, 7.6, ROT= 226.5, -7.6 PDAT read: Bearing 321.4, -38.8 (Local) ~Local bearing/azimuth received: Bearing 321.4, -38.8 (Local) DAT read: Range 11 to 50 : 621.1 m (Round-trip 828.2 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.682308,-0.719002,0.132256]Fpublishing direction and range infoyAEU w7E>) ?YEFDAEE![Eb A)EFIEjiEף?Exi=Ee@E>EV@ E>)E}@IEAAEa&J{?ȑ"? E;8@)E1KIEiEAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ya@ @@25@IIO?>ԩ WCq jA MA 9 jAY B  (DAT read: user:14>  BDAT read: Tx time:00:18:27.1997  $Ping request sent. @2|9@2)>ٱ2_L :AHRS rotation from veh to nav: [[0.921117,0.353885,0.162201],[-0.357181,0.933988,-0.009364],[-0.154807,-0.049309,0.986713]]2Hy?` ??@ ֿ;?-@ÿ@?'?i2>@I2^;2CY^KBy^HIbp<)b9I=&DyٹE>Q 5W41L?Q 9W4#_)AEBYy2Q I?"BIy:i-:W4yɮBiyi}d?AJi}DRi}Dji}ޢf@i} czS?X{Wc vT@ri}U w7E>) ?Zi}bi}i}krᨀȋ_p>e@zi}PK8éuۿ1Fa?2i}„:i}G"i}|A?*i}內Bi}ZCzeibeqjeZedddjdh@ZdR?ԱZZZZ#@i )1)111i19I9MUJ9`@ @@0@IBBBHBJBBBBBU;BDEIO-N>E EE,E"E>:*Ec:VEg4ZEBEٱ69/D >AHRS rotation from veh to nav: [[0.920106,0.353836,0.167946],[-0.356711,0.934113,-0.013760],[-0.161749,-0.047248,0.985700]]6H@q???@?`[ֿA? .2Ŀ0 ۊ?i69\I\=^&Dy`bJ9Eb>dQ 5jW4fL?Q 9jW4f"a)fEBYhyj)Q In?frBIf:iff;f W4yrBɮr"Bp~B*** querying acoustic contact ***i| i|ze be je Ze d d djdZd 5{?Z1Z1Z1Z5@iA)A)IIIiIQIQK9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503222@ @@W1@IIO>Ii E  E E /E "E [:*E VL:VE J4ZE a @a @a @a @m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853l),)?A2nD@2G?@2A->ٱ2$> :AHRS rotation from veh to nav: [[0.919258,0.353193,0.173835],[-0.355712,0.934431,-0.017509],[-0.168621,-0.045740,0.984619]]2H@j??`=@?`ֿ?@푿aſHk?i2nD@I2.^;0LYjKByjhHym㥛 ?V-m>m̽mmi i9mw/?/$L7A`堿Ym>ymm+mMBmB m{wB)iiYm=BbDTVD4yĢ%<=ٔ9I=&Dy:E>Q 5W4L?Q 9W4c)DBY}>Q E:yQ I?BIdE;iD;W4y0BɮdBEze!be!je!Ze!d!d)d)jd)Zd@I?Z8=Z8=Z 3>Zio=i))i I1 L9?iG>@ @@J0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895IOD>A B B B ]HB JBB B B B M;B DE0,Ô?A2G@2B@2#b4>ٱ2 ; :AHRS rotation from veh to nav: [[0.918326,0.352658,0.179748],[-0.354917,0.934672,-0.020531],[-0.175246,-0.044941,0.983498]]2Hb???ֿ ?unƿ`x?i2G@I2:r^;2CER ERER+EP"ER:*ERP:VER [4ZEPBER9tIt=v'Dytz:Ez>?=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259077)|Q 5}W4~L?Q 9}W4~;f)~DBYyQ I?~,BI~Uqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862ԡ 6,ܔ?A2pK@2IF@2;>ٱ2l: :AHRS rotation from veh to nav: [[0.917406,0.352000,0.185640],[-0.354094,0.934930,-0.022882],[-0.181615,-0.044741,0.982351]]2Hc[?`+? ?wֿ`?n@(?ǿU覿 lo?i2pK@I2J^;2CYBKByBaH Jp=Jp=bDNhVDNf?4yVU;%VN=ٔV9XIX=Z'DyX^:E^>`Q 5fW4bOL?Q 9fW4bh)bDBYdyfQ If?bBIb:ib:b7W4ylɮllze|be|je|Ze|dddjdZd?Z!Z!Z!Z%g=i1)9)999i9AIAyCO9E EE1E"EO:*EVE-4ZEa@a@a@a@@ @@@IIO >5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798 =,s?Av+P@vK@v]A>ٱv;  AHRS rotation from veh to nav: [[0.916500,0.351125,0.191675],[-0.353136,0.935245,-0.024724],[-0.187945,-0.045028,0.981147]]vH`S?x?҈?Ǚֿ?DQ ȿ e?iv+P@IvR^;vCYKBy%dHbD5RVD54yEa;%EA=ٔE6y9III=M'DyIU:EU>QQ 5eW4UL?Q 9eW4UYk)UMDBYayeQ Ie?UBIUg:iU:UFW4yuqBɮuBuEzebejeZedddjdZd̰@ZZZZ=f=i))i19I9`Q9i@i @i@m 5@qIIO>AAABBB8HBJBB{ =BBBF;BDEE EE,E"Em:*E1]:VEg4ZEBE[ٱ2PA :AHRS rotation from veh to nav: [[0.915632,0.349977,0.197824],[-0.352100,0.935614,-0.025525],[-0.194021,-0.046282,0.979905]]2H`L?`f?OR?ֿ̈?P#ȿHa[?i2U@I2'8^;2CYBKByBgHIF0>)F;bDJeVDJ94yr;%rP=ٔvB9tIx=z'Dyxz :Ez>|Q 5W4~> M?Q 9W4~m)~DBY y qQ I ?~ABI~:i~:~{TW4yɮB-B*** querying acoustic contact ***i1 i1ze9be9je9Ze9dAdAdAjdAZdE@@ZaZaZaZeig=iq)y)yyyiyIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518738YS9)@) @)@-/5@)IaIqO}>ԡE  E E E "E O:*E [:VE ZE a @a @a @a @M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770703 8J,*p*?A4<ɰ2^@2Y@21N>ٱ2A :AHRS rotation from veh to nav: [[0.914904,0.348629,0.203490],[-0.350641,0.936112,-0.027290],[-0.200004,-0.046384,0.978697]]2HF?O? ?pֿ? ɿ`{Q?i2^@I2O^;2CY^KBy^ZHy@5^I ?Mbp ףp= ?b>Q8= 9/$?&1J +?Y1>yPH=B֚B xB)Y BbDYVD#4y¼%;=ٔid9I='Dy(;E>Q 5 W4&M?Q 9 W4o)DBYp>Q E;yZQ I?BI ;i ;cW4yBɮ%B%EzeAbeAjeAZeAdAdAdIjdIZdMT @Zm<=Zm<=Zm@ZmG@iy))顁iIS9@ @@0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022965IOF>) B B B HB JBB B B B 9;B DEQ,"OD?A6i@6vd@6&T>ٱ6> >AHRS rotation from veh to nav: [[0.914262,0.347304,0.208578],[-0.349016,0.936644,-0.029765],[-0.205701,-0.045584,0.977553]]EB EBEB.E@"EB:*EBV:VEBـ4ZE@BEB9hIh=j'DyhjSk;En>lQ 5rW4n M?Q 9vW4nq)nDBYtyvQ Iv?nBIn:in:npW4yzBɮzBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274898Eze!be!je!Ze)d)d)d)jd)Zd5jF @ZIZIZIZMrO@i))iIU9IgA)fAQA@I @I@M0@IIYIiOu>yiߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527070ԩ -0W,B&^?A64}@6 x@6#Z>ٱ6;@ FAHRS rotation from veh to nav: [[0.913954,0.344969,0.213740],[-0.346397,0.937543,-0.031969],[-0.211419,-0.044821,0.976367]]6H???[?\+ֿZ?E^˿f>?i64}@I6P^;6CYHyJ[H PPbDVVVDVE4y^%^K=ٔb0n9`I`=b'Dydf;Ef>hQ 5nW4j,M?Q 9nW4js)jCBYlyrQ Ir?j6BIj;ij&;j~W4ytɮttze be je Ze dddjdZd@z@Z1Z1Z1Z5_@iI)I)IIIiQQIQUU9E EE-E"E*Ei:VEt4ZEa@a@a@a@ԩ_@ @@^0@IIO>BDAT read: Rx Time:00:18:30.4333 TRx dataTimestamp_ set to:1761524309.604203checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779955  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031643\], x?AB9@B@B_>ٱBN> JAHRS rotation from veh to nav: [[0.913744,0.342096,0.219185],[-0.343511,0.938574,-0.032854],[-0.216961,-0.045272,0.975130]]lBH@d=??B?տ?=Ҡ]˿`-C4?iB9@IB*4^;BCYvKByv^H ||bDbVD[44y ;%E=ٔ_9I='Dy;E%>1Q 5MW45%9M?Q 9UW45u)5CBYYye:Q Ie?5BI5.;i5q;56W4y BɮEBEzebejeZeddd jdZd`}@ZZZZ~s@i1)9)999i9AIA EW9B-e>B)B-HB-xJBB)B)B)B-;B-kDEBBBB{ =B{ =CĶ5`@ @@@0@IIOC>D%=DR=E EE.E"E:*EA:VEـ4ZEBEǝ@ =)~@IjS?,Sz? 7@)a IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑԹ zBd,ݑ?A2@2ۤ@2Se>ٱ2W^> :AHRS rotation from veh to nav: [[0.913616,0.339243,0.224098],[-0.340566,0.939607,-0.033953],[-0.222082,-0.045300,0.973975]]2HW9xIx=z'Dyxz;E~>Q 5W4DM?Q 9 W4w)CBY y Q I ?BI:i :W4yɮJBiIԙiM3݆?AJiMDRiMDjiMJi@iM$ٲyX|>b 'S@riM;?s쎐NviA7X?ZiMbiMiMY/#-当q/og@ziMc$KݿZ?2iM:iM"iMI?*iM8RBiM[nCzebejeZedddjdq@Zd6?Z1Z1Z1Z5@iI(DAT read: user:15> BDAT read: Tx time:00:18:31.7496 $Ping request sent.i>Q@Q @Q@]3@YIIO J>bE1jE5y4rE5/E  E E E "E :*E V:VE ZE a @a @a @a @- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2485609 mj,E?AFȶ@Fý@Fj>ٱF3a: ZAHRS rotation from veh to nav: [[0.913793,0.335718,0.228637],[-0.336733,0.940920,-0.035776],[-0.227140,-0.044298,0.972854]]FH=? h|? C?տ? ,QͿA!?iFȶ@IF<^;FCYbzKBybCHIj<)j4e>ea a)eMb@Mb@Mb@Ieie‰eeeB evB)aeYeuBbD}RVD}4y%@=ٔG9I='Dyr<E>Q 5W4zQM?Q 9W4y)CBQ A+:YQ E:yQ I?1BI~ ;i> W4yOBɮBEUB*** querying acoustic contact ***iQ iQzeYbeajeaZeadadadajdiZdm@b?PGhA AEB9EhAYExAi))顱iIcZ9Ai߁I߁checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501786]a@Y @Y@]/5@YIiIyO[>iB! B! B% HB% ZJBB! B! B! B% ;B% :DEԙ &Tq,ŕ?AE2 E2E2*E0"E2:*E2R:VE2(N4ZE0BE21@>o@>/mo>ٱ>4 JAHRS rotation from veh to nav: [[0.914128,0.332107,0.232539],[-0.332699,0.942272,-0.037864],[-0.231690,-0.042753,0.971850]]>H @?;A?@?Jտ'?b`Ϳ㥿`d?i>@I>-^;>Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752699Y-aKBy-%H9=@AbDEGVDE4yUu%UN=ٔUiA9YIY=](DyYe%<Ee>iQ 5mW4m8]M?Q 9uW4m{)mCBQ Au :YqQ Eu:yuQ Iu?mBIm7 ;imR?m5W4yɮBzebejeZedddjdZd?i))iIq\9M`@I @I@M5@IIYIiO}>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005576 J~w,mߕ?A2] @26@2s>ٱ2}~3 :AHRS rotation from veh to nav: [[0.914513,0.328073,0.236714],[-0.328576,0.943693,-0.038500],[-0.236016,-0.042570,0.970816]]2H C?`&? L?@bտ 2?:`5ο˥ ?i2] @I2P^;0Y^qKByb8HbDjXVDj!4yr=%rQ=ٔv:9tIt=z(Dyxz<-<Ez>QQ 5UW4U iM?Q 9]W4Ud})UCBQ A]9YYQ E]:yeQ Ie?UBIU? ;iU?UW4yiɮmBizebejeZedddjdZd`\?i))iI\9E EE/E"EO:*Ec:VEJ4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257326i@i @i@m05@iIyIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509572W},L?A2j-@2C(@2dx>ٱ25 >AHRS rotation from veh to nav: [[0.914968,0.323860,0.240723],[-0.324452,0.945126,-0.038323],[-0.239925,-0.043039,0.969837]]2HlG??@?Կ@x>?`ٵο1 ?i2j-@I25^;2CYBeKByB*H DDJAJAbDNKVDN 4yV%VN=ٔZ &9XIX=Z(Dy\^l+<E^>`Q 5fW4btM?Q 9fW4b0)bCBQ Af9YhQ Ejf:yjQ Ij?b BIb:ib"?bwW4ynBɮn݆BrEzebejeZed d d jd Zd `~'?i1)9)999i9AIA5^9)@ @@@IIO>BBBHB;JBBBBB;B4DEaE EEE"E:*Ez:VEZEBEٱ:։5@ FAHRS rotation from veh to nav: [[0.915500,0.319825,0.244073],[-0.320397,0.946502,-0.038477],[-0.243322,-0.042975,0.968993]]:HK?`x?=?aԿI?= +%Ͽ?i:0O@I:K^;:CYNnKByN4H TVa=bDZXVDZ!4ybL<%bI=ٔb/ 9dId=f(Dydf`&<Ej>hQ 5nW4jM?Q 9rW4j)jCBQ Ar9YpQ Er::yrQ Ir?jrBIj/;ij@jiW4ytɮzنBxzebejeZedddjdZd%@iI)I)IIIiQQIQ=a9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029Ա_@ @@0@I)IO>E  E E .E "E O:*E g:VE ـ4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264582 ,-?AF=o@Fj@F~>ٱF3 NAHRS rotation from veh to nav: [[0.916058,0.316092,0.246827],[-0.316574,0.947773,-0.038824],[-0.246208,-0.042574,0.968281]]FHXP?:? ?BԿ'T?ࣿ@ϿL̥`)?iF=o@IF0^;FCYV`KByV$Hla5a5 a=a= a=a= a=a= a=@a= a=@aE aE@aE aE@aE y=L7A`?Pn?J +=+>=>=Ƚ9 9)=Mb@Mb@Mb@I9i999= =yB)99Y=zBbD]RVD]4ym%m@=ٔm ;Q-m>9qIq=u(Dyq}i<E}>Q 5W4pM?Q 9W4)pCBQ Ao9YQ E:yQ I?BI:iS@W4yɮ߆BzebejeZedddjdZd@!;@i)i)qqqiqyIyIIQ)UgA @ @@G0@IIO]3>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5176631a B B B HB 'JBB z =B 8DB B ;B BDEE,YF?AE  E"E"*E "E *E"R:VE"(N4ZE BE" @>@>>ٱ>Q 3 JAHRS rotation from veh to nav: [[0.916683,0.312284,0.249340],[-0.312730,0.949045,-0.038890],[-0.248780,-0.042326,0.967635]]>H`xU? v?@]?Կ`^?n飿 Ͽ?i>@I>M^;>CYNdKByR(HIR!>)RbDZ`VDZ04b>b%=fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7690369y<%I=ٔ;Q->9I=(Dy<E>Q 5W4M?Q 9W4܄)\CBQ AB9YQ E9yQ I?BI:i_6@W4yBɮBEB*** querying acoustic contact ***i izebejeZedddjdZdR}@i ) )iIBc9i@ @@?0@IIO>ԙuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020679 Η,E`?A;ɰ2$@2@2f́>ٱ2J1 :AHRS rotation from veh to nav: [[0.917229,0.309102,0.251291],[-0.309490,0.950102,-0.039021],[-0.250813,-0.041981,0.967125]]2H`Y?T? &?ӿ;g?@R п~?i2$@I21^;2CYBNKByB HHJAAbDNWVDN 4yVqo%VY=ٔZ;Q-Z>9XIX=Z(DyX^<E^>`Q 5fW4bM?Q 9fW4b)bJCBQ Af9YdQ Ej9yj+Q Ij?bfBIb:ib~N@bPW4ylɮn*Blze|bejeZedddjd Zd  @i1)1ԑ)iIe9EU EUEU.EQ"EU :*EU1]:VEUـ4ZEQae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272922E`@A @A@I@IIYIiO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524590,kz?AB÷@B@B绂>ٱB2 NAHRS rotation from veh to nav: [[0.917724,0.306090,0.253163],[-0.306575,0.951065,-0.038551],[-0.252574,-0.042234,0.966655]]BH`]??3?ӿ o? -*п` ?iB÷@IB#^;@YRJKByVHbD^CVD^3yf%fG=ٔfܐ;Q-f>9hIh=j(Dyhnc;En>pQ 5vW4r7M?Q 9vW4rg)r5CBQ Av8YtQ Ev9yvQ Iv?rBIr:irh@ryW4y~Bɮ~mB~EzebejeZed!d!d!jd!Zd- @iQ)Q)QQQiYYIaQ]>i]>_@ @@@0@IIO>BIAM4=BQBQBU|HBUJBBQBQBQBU;BUEDEEE EAEE0EA"EE>:*EAVEE4ZEABEEٱ2W%3 :AHRS rotation from veh to nav: [[0.918102,0.303865,0.254469],[-0.304393,0.951776,-0.038305],[-0.253837,-0.042291,0.966322]]2H`a?`r?6I?+{ӿ@t?>п`#`?i2iַ@I2D6^;2CYf8KByjH ppbD~EVD~3y1%G=ٔpP;Q-%>9!I)=-(Dy)5Y;E5>9Q 5MW4=M?Q 9UW4==)= CBQ AU8YQQ EU9yUwQ IU?= BI=9;i=@=9W4yiɮmvBizebejeZedddjdZdD@i))iIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033300g9u`@y @@5@IIO%+>ԉԩEu  Eq Eu *Eq "Eu :*Eq VEu (N4ZEq a} @a} @a} @a} @5 DAT read: 00:18:34.9844 LVL= 32752, 29585, 31698, 32755, AGC= 79, IDX= 455,-0.28, 1.282, 3.017, 2.650, 2.480, PHS=-1.096, 0.582, 0.126, RAW= 285.2, 5.2, CAL= 283.5, 0.0, ROT= 226.5, -0.0 = Ygot valid direction response: 00:18:34.9844 LVL= 32752, 29585, 31698, 32755, AGC= 79, IDX= 455,-0.28, 1.282, 3.017, 2.650, 2.480, PHS=-1.096, 0.582, 0.126, RAW= 285.2, 5.2, CAL= 283.5, 0.0, ROT= 226.5, -0.0 E PDAT read: Bearing 332.3, -31.9 (Local) E ~Local bearing/azimuth received: Bearing 332.3, -31.9 (Local) U DAT read: Range 11 to 50 : 623.0 m (Round-trip 830.7 ms) speed -0.4 m/s U R#Rx 1: Read range and direction messages.] `direction in FSK: [-0.688355,-0.725374,0.000000]] Fpublishing direction and range infoy  `L$濜=WD6Y D   s {  ) I Ii ? %> &I@ ޹= V@  ) }@I    ?/fgAB>?oE?  8@) `mI i   } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode. o ,J?A>@>޾@>>ٱ>3 FAHRS rotation from veh to nav: [[0.918374,0.302242,0.255420],[-0.302820,0.952288,-0.038055],[-0.254736,-0.042397,0.966081]]>HPc?W? X? faӿ $y?|@Mп @"?i>@I>(^;>CY^5KBy^Haa aa aa aa y|?5^?t<ʽ 9Zd;O?I +?jtĿY~j>y9< BQB yB)YQB p=bDRVD4y»%;=ٔ ;Q->9I=%(Dy!%u;E%>)Q 5UW4- M?Q 9UW4-)-BBQ A]T:Y]>Q E]>;y]qQ I]?-5BI-;i-F;-gW4yaɮexBaԱi1i5m?AJi5.DRi5.Dji5~ j@i5Ƃwzg!$|ri5`L$濜=WD6Zi5bi5i5U-M郀|(f0r)_@zi5K"ն>뿲5WK޿sC4a?2i5:i5"i5(eb͟?*i5MBi52Ci5|A?i58Ri5ZCi5Di5wh@zebejeZe dddjdx@Zd@8?ZU=ZU=ZU>ZU >ia)i)顩iIh9m(DAT read: user:16> uBDAT read: Tx time:00:18:36.2996 u$Ping request sent.} Bm g>Bi Bm WHBm IBBm y =Bi Bi Bm ;Bm [DEB)B)B)B-z =B-z =C-)51 ,"Ȗ?AE EEE"ED:*EVEZEBE1@>@>K>ٱ>8 JAHRS rotation from veh to nav: [[0.918612,0.300866,0.256185],[-0.301742,0.952677,-0.036865],[-0.255153,-0.043437,0.965925]]>HFe?dA?Te?`OӿS|?@ߢ`kTпp=?i>@I>>^;>Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249659Y~0KBy~HbDVVDE4yEN%EY=ٔE:Q-E>9III=M)DyIME;EU>QQ 5}W4UM?Q 9W4U%)UqBBYypQ I?UXBIU;iU:UW4yɮzBB*** querying acoustic contact ***i izebejeZedddjdZd@n?Z9Z9Z9Z=m>iI)Q)顑iIm)j9q@ @@2@IIO&>9iqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502256i ,zᖮ?A2@2f@25>ٱ2-< :AHRS rotation from veh to nav: [[0.918650,0.300267,0.256752],[-0.301449,0.952813,-0.035722],[-0.255362,-0.044581,0.965817]]2He?@7?n?`Jӿq}?)JWп`Ӧ ?i2@I2,^;2C@YBKByBHIF=)F=bDN`VDN04yf4%fR=ٔfS:Q-f>9hIh=j)DyhnJ:En>pQ 5vW4rqM?Q 9vW4r)rBBYtyvqQ Iv?r|BIr6:ir:r)W4yxɮ~B|zebejeZedddjdZd?ZZZZŇ>i) )   i I"l9bEt4jE¨o4rE@o0E= E=E=,E9"E=:*E=c:VE=g4ZE9aM@aM@aM@aM@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754379_@ @@1@IIO%> Ec>ELCGliAw˿9liAYA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005811D,?A2[@25@2U2>ٱ2{= :AHRS rotation from veh to nav: [[0.918650,0.300255,0.256767],[-0.301472,0.952810,-0.035592],[-0.255337,-0.044711,0.965818]]2H e?b7?n? SKӿ l}?@)9 rWпg䦿?i2[@I2?^;2CYBKByBHJ@AHbDNWVDN 4yV]T=%VL=ٔVeQ-Z>9XIX=Z)DyX^tE^>`Q 5fX4bfM?Q 9fX4b)bABYdyfqQ Ij?bBIb:ib9:b$X4ynTBlɮnɇBrEzebejeZedd d jd Zd g%?Z)Z)Z)Z-uL>i9)A)AAAiAIIIjl9`@ @@0@IIO= Bf>BB>HBIBBBBB;BgDEDE=DE4=EM EMEIEI"EMa:*EM&p:VEIZEIBEM(ٱR8 bAHRS rotation from veh to nav: [[0.918776,0.300533,0.255988],[-0.301472,0.952774,-0.036541],[-0.254881,-0.043600,0.965989]]RHf?;?b?RKӿ }?@OпRa?iR@IRI^;RCYn%KBynHbD~\VD~P)4y=%D=ٔQ-%>9!I!=%)Dy!-8E->1Q 55X45M?9Q 9=X45~)5lABYAyEpQ IE?5BI5*;i5+;5X4yIɮMBQzeibeqjeqZeqdqdqdqjdyZd}?ZZZZH>i))顱iIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511047n9I)fAim_@i @i@uN0@qIIO>ԑEU  EU EU .EQ "EU :*EU x:VEU ـ4ZEQ a] @a] @a] @a] @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761817 V˥,/?A2@2@2D>ٱ2U3 :AHRS rotation from veh to nav: [[0.918792,0.301338,0.254984],[-0.301949,0.952577,-0.037725],[-0.254260,-0.042331,0.966209]]2Hf?`I?Q?"Sӿ`{?P@Eп[/?i2@I22^;0YNKByRH TTy])\(?~jt?V-]G=]D<]hY Y9]K7?ʡEL7A`Y]>y]-]+]B]B ]BzB)]NCYY]GBbDuWVDu 4y0O%C=ٔɺQ->9I=)Dyԙ[E>Q 5X4=M?Q 9X4>)ABY>Q E*;yK4Q I?BI:i:c%X4yɮ̇BzebejeZedddjdZd C@Z I>Z I>Z =@Z @i))!!i!!I)p9`@ @@?0@IIO">iAIEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014165B g>B B HB IBB B B B ;B BDE j>ҥ,DiI?AE& E&E&*E$"E&:*E&e:VE&(N4ZE$BE&#ٱBU1 JAHRS rotation from veh to nav: [[0.918801,0.301978,0.254191],[-0.302497,0.952392,-0.038031],[-0.253574,-0.041949,0.966406]]BH`f? S?D?\ӿy?`x:п`Zz`?iB@IB^;@Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266006YVJByVH ^a=^a=bDbaVDb24yjH'%jW=ٔjQ-n>9lIl=r)DyprϷEr>tQ 5zX4v=M?Q 9zX4v֏)v@BYxyzU4Q I~?vCIvW:iv :v2X4yɮԇBze!be!je!Ze)d)d)d)jd)Zd5N@ZIZIZIZM̽@ia)a)aaaiiiIip9 _@  @ @ 70@ II1O= >!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517770Yy hإ,Dc?A6@6@6܂>ٱ6l4 BAHRS rotation from veh to nav: [[0.918934,0.301996,0.253691],[-0.302732,0.952353,-0.037114],[-0.252812,-0.042695,0.966573]]6Hg?`S?z9\I\=b)Dy`bEb>dQ 5jX4fM?Q 9jX4f)f@BYhyjh4Q In?f/CIf:if:f@X4yrpBɮrBrơE~B*** querying acoustic contact ***i| i|ze be je Ze d d djdZd`@Z1Z1Z1Z5<@iA)A)IIIiIIIQ5s9YEe EeEe,Ea"Ee:*EeL_:VEeg4ZEaa@a@a@a@`@ @@00@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775781O>ԁԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025834 ޥ,B!}?A2@2ݾ@2kY>ٱ2A7 :AHRS rotation from veh to nav: [[0.919061,0.302193,0.252993],[-0.303149,0.952256,-0.036178],[-0.251847,-0.043445,0.966791]]2Hh? W? 1?fӿ@x?녢Cпd>`?i2@I2$^;0YR KByRHIV4>)V=bDXVDXyd%E=ٔ Q- >9 I = )DyWhE>Q 5%X4M?Q 9%X4A)/@BY)y-4Q I-?JCI9:i:#OX4y5Bɮ5-B5ǡEzeQbeQjeQZeQdYdYdajdaZde` @ZZZZ@i))顙iI,s9ԹBf>BB HBIBBBBB;BDE _@  @ @ 3@I!I1O=>Ee EeEe.Ea"Ee:*Ee]t:VEeـ4ZEaBEe+ٱB8 JAHRS rotation from veh to nav: [[0.919290,0.302328,0.251999],[-0.303364,0.952205,-0.035709],[-0.250751,-0.043620,0.967068]]BHj?@WY? ?Qjӿ`wx?H N пcU@9?iB@IB^;@YRKByRHZAAXbD^TVD^4yb%fN=ٔf;Q-f>9hIh=j)DyhjEn>lQ 5rX4nbM?Q 9vX4n딩)n?BYtyv{4Q Iv?ncCIn:in :n]X4y|ɮ~/BzeybeyjeZedddjdZd@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532258ZZZZ`@i)!)!iImu99]`@a @a@e05@iIIOe>a Eu  Eu Eq Eq "Eu :*Eu k:VEq ZEq a} @a} @a} @a} @% DAT read: 00:18:39.5415 LVL= 32752, 26609, 28210, 32755, AGC= 73, IDX= 495, 0.40, 0.834, 2.714, 2.275, 2.106, PHS=-1.171, 0.653, 0.125, RAW= 286.3, 4.9, CAL= 284.6, -0.2, ROT= 225.4, 0.2 5 Ygot valid direction response: 00:18:39.5415 LVL= 32752, 26609, 28210, 32755, AGC= 73, IDX= 495, 0.40, 0.834, 2.714, 2.275, 2.106, PHS=-1.171, 0.653, 0.125, RAW= 286.3, 4.9, CAL= 284.6, -0.2, ROT= 225.4, 0.2 = BDAT read: Rx Time:00:18:39.5415 E TRx dataTimestamp_ set to:1761524318.694385E @DAT read: $Low SNR acquisition M 2Received low SNR in chirp X#Rx 1: Read direction message, but no range. bdirection in FSK: [-0.702149,-0.712022,-0.003491]y9 = xUqQC1ml9 9 = g= 2n 9 )= II= T㕿i= +'?= >= l@= %== \@ = d)= 3{@I= d;9 = B A&0 ?P5'͵? = 9@)= _I= Yi= d; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsen,ٰ?A 6@6x@6M)>ٱ6i3 RAHRS rotation from veh to nav: [[0.919712,0.302257,0.250540],[-0.303033,0.952283,-0.036446],[-0.249601,-0.042402,0.967420]]6H@Hn?-X?? dӿ y?`@Ͽ?i6@I6^;6CYVJByVHy ףp= ?:vMbpQ8>T 9Cl?)\(Zd;OYߏ>yGὙjBB 9I= )Dy  y:E >Q 5X4N?Q 9X4 )?BY%>Q E%/;y%6Q I%?CIv:i:~lX4y-Bɮ-6B)zebejeZedddjdZd@Z =Z =Z a@Z @Թi))iIw9MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse9@9 @9@E]1@AIQIaOmW>B e>B B B B B B B ;B DE ,6ʗ?AE EE-E"E:*E]t:VEt4ZEBE.@>@>X>ٱ>y( JAHRS rotation from veh to nav: [[0.920325,0.302210,0.248335],[-0.302437,0.952404,-0.038197],[-0.248059,-0.039952,0.967921]]>HNs?iW?`r? [ӿ@z?eϿ@t4?i>@I> ^;>CR%=R<RT****** received valid address query ******VR****** received valid ping request ******Vreceived new query, but waiting for acoustic response period to elapseYVKByVH XXbDbSVDb4yjR=%j`=ٔjώQ-j>9lIll=r*Dypr ;Er>tQ 5zX4vZ N?Q 9zX4v)v?BY|y~5Q I~?vCIvU;iva;vHyX4yɮ/B ze!be)je)Ze)d)d)d)jd1Zd5 ;@Z Z Z Z @i9)A)AAAiAIII1 _@ @@2@IIO#>9UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsea -,l䗮?A23@2 @2>ٱ2 :AHRS rotation from veh to nav: [[0.921123,0.301481,0.246255],[-0.301308,0.952716,-0.039327],[-0.246468,-0.037974,0.968407]]2Hy?xK?@L?Hӿ@|?@"@ϿPq 0?i23@I2*^;2CY^ KBy^H fp=dbDj]VDj'+4yr<%rI=ٔr`Q-r>9tIt=v*DytzU\;Ez>xQ 5X4zN?Q 9X4z)zt?BYye5Q I?zCIz:izp:zuX4y BɮnBȡE-B*** querying acoustic contact ***i) i)ze1be19je1Ze9d9dAdAjdAZdEy@ZaZaZaZe @iq)y)yyyiyIuy9EE EEEE.EA"EEs:*EEx:VEEـ4ZEAaU@aU@aU@aU@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse`@ @@1@IIO- >iԑԹ ] T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse,g?ARr@RL@Ry}>ٱR" ^AHRS rotation from veh to nav: [[0.922032,0.299642,0.245093],[-0.299707,0.953276,-0.037956],[-0.245014,-0.038459,0.968756]]RH@J?W-?3_?`d.ӿ9)I)=-*Dy)5;E5>1Q 5eX45N?Q 9eX45)5O?BYaye4Q Ie?5CI5;i5w:5ڕX4yqɮukBqԙzebejeZedddjdZd<@Z!Z!Z!Z%[@i1)1)QQQiYYIY5z9I9)=gAAaAaBiBiBiBiBiBiBiBm;BmDEB!B!B!B%y =B%y =C%Su4_@ @@_0@II O*>EE EEEE*EA"EE:*EE n:VEE(N4ZEABEEv%ٱ23) >AHRS rotation from veh to nav: [[0.923097,0.297330,0.243901],[-0.297924,0.953935,-0.035343],[-0.243175,-0.040039,0.969156]]2H?r?`)8?0ӿ?Y ϿS?i2@I2A^;2CY^KBy^HIb=)b=f=f=bDjXVDj!4yrdͼ%rN=ٔvڜQ-v>9tIt=z*Dyxz;Ez>yQ 5X4}8!N?Q 9X4} )}+?BYyL4Q I?}CI}:<}HX4-T****** received valid address query ******-R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseyBɮEuBAzebejeZeddd!jd!Zd%]V@ZaZaZaZe0@i))iI/|9)}`@y @y@}/0@yIIO_>IbEjErE/EU  EU EU -EQ "EU :*EU x:VEU t4ZEQ ae @am @am @am @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey V ,WA2?AɰG&jA.MAFa9FjAYFA^X*@^2%@^gy>ٱ^n+ jAHRS rotation from veh to nav: [[0.924257,0.295049,0.242269],[-0.295958,0.954613,-0.033503],[-0.241158,-0.040736,0.969630]]^H???@ҿ1?Z'@GοOۤ`6?i^X*@I^.^;^CYnKBynHyeq= ףp?X9v?I +e=eye/ݼe,=eBeB e{B)eBaYeGBbDYVD#4y-<%-7=ٔ-Q-5>91I1==*Dy9Eç;AEM>QQ 5eX4U+N?Q 9eX4US)U?BYm>Q Em4;ymʾQ Iu?UCIUJj;iUh;UsX4yɮoBzebejeZedddjdZd@ZnD>ZnD>Z Ҿ@Z+@i))iI]L~9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq_@ @@@IIOM>ԙBE g>BA BA BA BE x =BA BE ѺDBE ڌ;BE -DE EM  EM EM /EI "EM :*EM k:VEM J4ZEI BEM 'ٱF( NAHRS rotation from veh to nav: [[0.925664,0.292306,0.240214],[-0.293182,0.955490,-0.032920],[-0.239145,-0.039954,0.970161]]FH@ ?`%? Y?`}ҿ@_?ڠ`Oοt ?iFED@IF^;DYvKByvHbDbVD[44y:%]=ٔQ->9I=*DyE <EE>IQ 5MX4M3N?Q 9UX4Mk)M?BYQyU9ɾQ IU?M6CIM:iMp:MhX4ye;BɮeBeɡEzebejeZedddjdZd *d@ZZZZɵ@i)!)!!!i!)I)ԙ~9>i>`@ @@00@II O%+>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ,e?A2b@2]@2Au>ٱ2R0( :AHRS rotation from veh to nav: [[0.927231,0.288859,0.238333],[-0.289892,0.956541,-0.031503],[-0.237075,-0.039880,0.970672]]2H@?|??ҿ`? 5!@{Xο"k?i2b@I22(^;2CYBKByBH DDbDNTVDN4yz%zN=ٔz Q-~>9|I|=~*Dy<E> Q 5X4 9i E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse 0,?A02$@2}@2or>ٱ2B/ >AHRS rotation from veh to nav: [[0.928928,0.284755,0.236658],[-0.286390,0.957698,-0.028200],[-0.234677,-0.041580,0.971184]]2H`ǹ?m9? J?6Tҿ`v? ο` J?i2$@I2^;2CYNKByRH TV=bDZWVDZ 4yb=%bM=ٔfʻQ-f>9dId=f*Dydj"<Ej>lQ 5rX4nEN?Q 9rX4n)n>BYpyv'žQ Iv?nrCIny:in :n X4yxɮzBxzebejeZedYdYdYjdYZde@ZZZZ @i))顱iIg9Bf>BBHBIBBy =BBкDBӌ;B$DEԉ@ @@@IIO >D=D<E% E%E%+E!"E%:*E%҆:VE% [4ZE!BE%D8ٱFT5` vAHRS rotation from veh to nav: [[0.930650,0.280805,0.234602],[-0.282977,0.958799,-0.025078],[-0.231978,-0.043048,0.971768]]FH?`?@n?Kҿz?sͿb @?iF⢸@IFz,^;DYJByH T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsebDm^VDm,4yet%2=ٔĻQ->9I=*Dy! <E>Q 5X4APN?Q 9X4 )>BYy þQ I?CI;i;7X4y}BɮBʡEzebejeZed!d!d!jd!ZdK~@ZZZZ.@i!))))))i)1I1y9@ @@/5@IIOb>E-  E- E) E) "E- :*E- x:VE) ZE) 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 A,,e?A6Ÿ@6쿿@6~l>ٱ6d5 >AHRS rotation from veh to nav: [[0.932461,0.276917,0.232019],[-0.279282,0.959927,-0.023278],[-0.229167,-0.043093,0.972433]]6H@??˲? ѿ?/֗ZUͿB@+?i6Ÿ@I6$^;6CYFKByFHIJ4=)J<yMkt?K7?MbM 0>MI >MI I9M r?Q?~jt?YMC>yMu=M9I=*Dy7<E>Q 5X4VN?Q 9X4)>BYM>Q E;y>qBg>BB%HBIBBx =BBB;BDEԡ D9 zD= @AEE  EE EE (EA "EE :*EE xv:VEE c44ZEA BEE >ٱ6 =0 BAHRS rotation from veh to nav: [[0.934325,0.272884,0.229282],[-0.275148,0.961134,-0.022681],[-0.226560,-0.041895,0.973096]]6H?v?Y?ѿ?9`̿Is#?i6@I67D^;6CY~KBy~H @A @AbDUVDn4yE3%EO=ٔM2޻Q-M>9III=M+DyQU*@<EU>yQ 5Y4.]N?Q 9Y4)>BYyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse S9,瘮?A2 @2@2f>ٱ2) :AHRS rotation from veh to nav: [[0.936145,0.269256,0.226128],[-0.271354,0.962220,-0.022363],[-0.223607,-0.040426,0.973841]]2H? ~;??]ѿ?2斿`#̿ò )?i2 @I2+^;2CYBKByBHbDJZVDJ%4yRÜ%RU=ٔVrQ-V>9TIX=Z+DyXZ5<EZ>\Q 5bY4^cN?Q 9bY4^褩)^>BYdyf:1% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseY +;@,+?AJ/@J)@Jnc>ٱJ & RAHRS rotation from veh to nav: [[0.937930,0.265689,0.222926],[-0.267753,0.963248,-0.021491],[-0.220443,-0.039532,0.974598]]JH? ?و?@"ѿ?@@{7̿=/?iJ/@IJ'O^;JCYZKByZH \\bA`bDfPVDf:4yn=%nG=ٔr]Q-r>9pIp=r+Dypv!<Ev>xQ 5~Y4zqjN?Q 9~Y4zפ)z>BY|y~N=Q I?zCIzo;iz;z"Y4y ɮ B Re-ze)be)je)Ze)d1d1d1jd1Zd5`s"@ZQZQZQZU@i))iI1BBB>HBIBBBBѺDB;BDEȄ9 &Changing to mode: 1a`@ @@i1@IIO>>E EEE"E2:*E~:VEZEBE)*ٱ}y& AHRS rotation from veh to nav: [[0.939654,0.262004,0.220011],[-0.264258,0.964251,-0.019665],[-0.217298,-0.039662,0.975299]]}H? ?N)?@п%?#i˿@N5?i}.O@I}-^;}CT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseYKByHԉy-sh|??J +?!rh-)>-H>-l) )9-kt?RQ?KY- 0>y-=-^--2B -{}B)-wB)Y-uB AE=bDMWVDM 4yULh%](=ٔ]?ٻQ-]>9YIa=e+DyaeG<Em>iQ 5uY4mDqN?Q 9}Y4m:)m>BY}]>Q E}u;y}>Q I}?mCIm/:im8:m3Y4yBɮ4BˡERezebejeZedddjdZdE#@Z =Z =Z@Zֱ@i))顑iI49-!@1 @1@5/0@1IAIQOew>E  E E *E "E :*E :VE (N4ZE 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 /L,u4?ANt@Nho@N3\>ٱN&+ ZAHRS rotation from veh to nav: [[0.941530,0.257457,0.217340],[-0.260156,0.965424,-0.016607],[-0.214101,-0.040906,0.975955]]NH@!?`+z??`gп@? g˿@@;?iNt@IN+`;NCY*KByHbD5[VD5y'4yEh=%Et=ٔEN Q-E?9III=M+DyIM_<EU?QQ 5]Y4UuN?Q 9eY4Ụ)UZ>BYaye>Q Ie?UCIU ;iU ;Uj?Y4yiɮu*BqRezebejeZedddjdZdt$@ZZZZFӑ@i))iI9-@) @)@-~0@)I9IIO]>ٱ:p1 FAHRS rotation from veh to nav: [[0.943497,0.252431,0.214692],[-0.255611,0.966688,-0.013296],[-0.210897,-0.042333,0.976591]]:H1? '?@{?[п?:ʿ`<@?i:@I:`;:CYJ KByNHIP)R4<bDVIVDVX4y^%^S=ٔb Q-b>9`I`=f+Dydf@T<Ef>hQ 5nY4jg{N?Q 9nY4jL)j'>BYpyr>Q Ir?jCIj;ij;jLY4ytɮv/BtRe ze be jeZedddjdZd;%@ZZZZ@i))   i I1 9q@ @@N0@IIO>ԙ2Acoustic response timeout 1Y,ch?A4<ɰ2@2x@2U>ٱ21 :AHRS rotation from veh to nav: [[0.945044,0.249379,0.211429],[-0.252695,0.967476,-0.011637],[-0.207454,-0.042429,0.977324]]2H=?`??(,п ?MՇۍʿH@=F?i2@I2B`;0YB%KByBHHJAAPbDNkVDND4yZUA<%ZK=ٔZMQ-^>9\I\=^+Dy`b<Eb>dQ 5jY4fN?Q 9jY4fƢ)f=BYhyj>Q Ij?f,CIf`:ifW:f[Y4ypɮr-Bp~B*** querying acoustic contact ***i| i|Reze be je Ze d d djdZd y &@Z1Z1Z1Z5 @iA)A)IIIiIIIQ9bEe|a4jEe|a4rEe‡ 0E EE.E"E:*E~:VEـ4ZEa@a@a@a@U2Acoustic response timeout?"@ @@O0@IIO > ud>uBĆGliAAMr9MliAYM[A1a  2Acoustic response timeout`,>?A6ӹ@6d@6cR>ٱ6$c, >AHRS rotation from veh to nav: [[0.946568,0.246613,0.207824],[-0.249773,0.968238,-0.011324],[-0.204016,-0.041189,0.978101]]6H@IJ???Ͽ?81 /ʿL?i6ӹ@I6;_;6CYb4KBybHbDjPVDj:4yr=%rG=ٔvB Q-v>9tIt=v+DyxzF<Ez>|Q 5Y4~ۆN?Q 9Y4~<)~=BYy є>Q I ?~>CI~:i~:~\iY4yɮ%BRe1ze1be1je1Ze19d9dAdAjdAZdE&@ZaZaZaZeK@iq)y)yyyiyIB=<A=<BEh>BABEWHBEIBBABABABE.;BEDE)9M$@I @I@M90@IIYiIqO}>E EE2E"E:*E:VE4ZEBE"5ٱM\) eAHRS rotation from veh to nav: [[0.947785,0.244610,0.204621],[-0.247713,0.968774,-0.010719],[-0.200853,-0.040528,0.978783]]MHAT?`O?@1? Ͽ2?ɿ/R?iM@IMh_;IYm+KByuH yyԑ2Acoustic response timeouty y&1?ʡE󽿁Cl绿 `=  ;߽  9 ʡE?y&1|?/$ÿY >y `;  ݟB B vB)  B Y BbD%XVD%!4y5%56=ٔ=SQ-=>99I9==+Dy9E;EE>IQ 5Y4M?N?Q 9Y4M)Mi=BYh^>Q Et;yQ I?MLCIMДZn >ZoB?Zw:?i))顡iI;95'@1 @9@=00@9IIIYOeV>E EE+E"E:*E:VE [4ZEa@a@a@a@m 2Acoustic response timeout l,a?A "@B@B@BK>ٱB) JAHRS rotation from veh to nav: [[0.948752,0.243320,0.201654],[-0.246489,0.969098,-0.009640],[-0.197768,-0.040559,0.979409]]BH.\? %??Ͽ@?RtPɿ(ĤRW?iB@IB4_;@YR.KByRH XZ=bD^bVD^[44yf;%fe=ٔf^Q-f>9hIh=j+Dyhn;En>pQ 5vY4rŎN?Q 9vY4rݢ)r'=BYtyv~Q Iv?rWCIr:ir:rY4y|ɮ~(BReze!be!je!Ze!d!d!d)jd)Zd-w(@ZZZZy=?i))iI gAfAI9E*@A @A@E/0@IIYIiO>2Acoustic response timeoutB1B1B5cHB5IBB5w =B1B1B5S;B5DEIy E  E E -E "E *E Ar:VE t4ZE BE L-Tx time:00:18:48.7496 *ٱF - }AHRS rotation from veh to nav: [[0.949495,0.242810,0.198755],[-0.246192,0.969189,-0.007904],[-0.194550,-0.041427,0.980017]]FH`Bb?c?@p?4Ͽ?/ȿ5@M\?iF@IFB^;FCY#KByHbD[VDy'4yո%9=ٔQ->9I=,Dy:E>Q 5 Y4,N?Q 9 Y47)i߱IߵADAT read: 2Acoustic response timeoutԉԹ =y,陮?A6@6@6kE>ٱ6kb0 BAHRS rotation from veh to nav: [[0.950128,0.242363,0.196259],[-0.245937,0.969265,-0.006333],[-0.191761,-0.042250,0.980532]]6H@rg? ??zϿ8??yȿ@ס `?i6@I6^;6CY^$KBybHIb=)bpfp=bDjTVDj4yvD:%v\=ٔvQ-z>9xIx=~,Dy|e:E> Q 5Y4 ՖN?Q 9Y4 )   2Acoustic response timeout9 R׀,?A2n@2H@2B>ٱ21 :AHRS rotation from veh to nav: [[0.950494,0.242992,0.193688],[-0.246607,0.969099,-0.005601],[-0.189064,-0.042441,0.981047]]2H`sj?@]??@ҐϿ?v?3ȿ`ລd?i2n@I2_;0YB)KByBHJAAJ@AbDNaVDN24yVD<%VN=ٔVQ-V>9XIX=Z,DyXZ^E^>|Q 5Y4~ښN?Q 9 Y4~ӣ)~GD<D=E EE/E"E:*E$:VEJ4ZEBE6-= -) )9-Mb? rhX9vY-@>y-C--B-ޤB -{B)-B)Y-BbDEJVDE04yU %U2=ٔ]Q-]>9YIY=e,DyaeEe>iQ 5uY4mN?Q 9uY4m')mQ E}a;y}-Q I}?mCIm:imj:mſY4yɮrBReze)be)je)Ze)d)d1d1jd1Zd5+@ZuX=ZuX=Zuvd?Zu6?ԁi))顩iIQ9?i?UR4@Q @Q@U54@QIaIyOZ>ԱE EE.E"E2:*EAr:VEـ4ZEa@a@a@a@E 2Acoustic response timeout t+,<7?A2x@2R@2G=>ٱ2JI& :AHRS rotation from veh to nav: [[0.950949,0.245715,0.187935],[-0.248828,0.968521,-0.007223],[-0.183794,-0.039895,0.982155]]2H-n?@s???Ͽ`?Օ}`ǿm m?i2x@I2!_;2CYB8KByBH DDbDJIVDJX4yR=%Rk=ٔV|Q-V?9TIT=Z,DyXZ.ûEZ?`\Q 5fY4^,N?Q 9fY4^,)^;BYdyf-Q If?^CI^d:i^:^Y4ylɮneBlRe|ze|be|je|Ze|dddjdZd{,@Z)Z)Z)Z-75?i9)9)99AiAAII59P6@ @@/0@IIO>iI2Acoustic response timeoutBg>BBHBJBBBBB^;BDEA D zD AAE  E E *E "E :*E x:VE (N4ZE BE 3ٱV[$ jAHRS rotation from veh to nav: [[0.951248,0.246432,0.185470],[-0.249452,0.968360,-0.007249],[-0.181388,-0.039370,0.982623]]VH@p? ?w?Ͽ?װ}`7ǿX(`q?iV@IV^;TYn+KBynH tva=bDzQVDz4y%D=ٔ Q- >9 I =,Dy E>!Q 5-Y4%N?Q 9-Y4%g)%;BY)y-c-Q I-?%CI%:i%:%}Y4y9ɮ=lB9ReYzeYbeYjeYZeYdadadajdaZdm@T-@ZZZZ5?i))iqIyMˍ9I8@ @@ 0@II O-,>q2Acoustic response timeoutԡ ^=,j?A6Pٹ@6*@68>ٱ6г' FAHRS rotation from veh to nav: [[0.951422,0.247149,0.183614],[-0.250336,0.968140,-0.005988],[-0.179244,-0.040269,0.982980]]6H r??`?п?Zxxƿt?i6Pٹ@I6^;4YN3KByrHbD~XVD~!4y<%I=ٔ鯻Q->9!I!=%,Dy!-E->1Q 5EY45խN?Q 9EY45)5H;BYIyM-Q IM?5CI51;i5+;5Y4yYɮ]hBYy}B*** querying acoustic contact ***iy iyRezebejeZedddjdZd('.@ZZZZ4?i))iIE EE.E"E:*E:VEـ4ZEa@a@a@a@=2Acoustic response timeout-9@) @)@-/0@-I9IQO]>ԩ 2Acoustic response timeout %,τ?A2dѹ@2>@26>ٱ2Z+ :AHRS rotation from veh to nav: [[0.951485,0.247992,0.182142],[-0.251337,0.967887,-0.004856],[-0.177497,-0.041158,0.983260]]2Hr?0?jP?п ?s7ƿ`v?i2dѹ@I2_;2CYN1KByRHIV>)V=bDZTVDZ4yv%vM=ٔvQ-v>9xIx=z,Dyx~_EU>QQ 5]Y4UN?Q 9eY4Uϩ)U;BYaye-Q Ie?UCIUy:iU :UY4ymDBɮuBu̡EBf>BBHBJBBx =BBкDBW;BDEBABABABEw =BACE4v4Docking module at standby.zebejeZedddjdZd.@ZZZZK4?i!)!)!!!i))I159@ @@4@IIO">E EE*E"E%;*E:VE(N4ZEBEKٱ2Av+ :AHRS rotation from veh to nav: [[0.951270,0.250183,0.180263],[-0.253508,0.967322,-0.004730],[-0.175556,-0.041199,0.983607]]2Hp?`?@?y9пL?_s@xƿy?i2w@I2Ea;0YB.KByBHy /$?~jtI + > D 9  9 ?Ky ^ t B B {B) DB Y 8B!%AAbD%SVD%4y5%5E=ٔ=ڛQ-=>99I9=E,DyAEEE>I2Acoustic response timeoutQ 5Z4MN?Q 9Z4MG)M:BYd>Q En;y5Q I?MCIM;ԁbE5A{4jE5v4rE5sq0E EE,E"EV:*E:VEg4ZEa@a@a@a@M 2Acoustic response timeout G jA MA 9 jAY BԱ y,j?A6$@6@6 2>ٱ61( BAHRS rotation from veh to nav: [[0.951085,0.252203,0.178412],[-0.255365,0.966830,-0.005399],[-0.173856,-0.040426,0.983941]]6HIo? $?6?WпD?v`@ƿq|?i6$@I6w`;6CYR?KByRHbDZVVDZE4yb1=%bR=ٔbQ-f>9dId=f,DydjϝEj>lQ 5rZ4n_N?Q 9rZ4n)n:BYpyrQ6Q Iv?nCIn;in;nZ4yxɮzBxxHTransitioning to midcourse guidance.1<q<dddjdZdE0@Z9Z9Z9Z=q@iq)qqqiyyIqI})}}i}ԑBDAT read: Rx Time:00:18:51.9997 TRx dataTimestamp_ set to:1761524331.0361372Acoustic response timeoutI)I9OMR>ByByB}HB}'JBByByByB}M;B}DEE  E E E "E :*E ~:VE ZE BE L-ٱ2$ :AHRS rotation from veh to nav: [[0.951123,0.253148,0.176864],[-0.256153,0.966617,-0.006017],[-0.172483,-0.039581,0.984217]]2Ho?`3?`z?@dп?xƿ@C`~?i2婹@I27`;2CYBHKByBH DDbDNZVDN%4yV <%VK=ٔV3cQ-V>99I9=E-DyAMdEM>YQ 5eZ4]N?Q 9eZ4]>)]:BYiyup6Q Iu?]CI]G;i]W;]e!Z4yyɮBe@q<vCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1; vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideuCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockdddjdZdȳ0@Z!Z!Z!Z%@i1)111i19I9,9II1O==PExceeded connect timeout, disconnecting.DAT read: 00:18:51.9997 LVL= 20640, 17585, 19490, 28435, AGC= 79, IDX= 19,-0.48, 0.639, 2.333, 1.975, 1.662, PHS=-0.921, 0.716, 0.269, RAW= 285.3, -0.9, CAL= 284.4, -6.1, ROT= 225.6, 6.1 Ygot valid direction response: 00:18:51.9997 LVL= 20640, 17585, 19490, 28435, AGC= 79, IDX= 19,-0.48, 0.639, 2.333, 1.975, 1.662, PHS=-0.921, 0.716, 0.269, RAW= 285.3, -0.9, CAL= 284.4, -6.1, ROT= 225.6, 6.1 PDAT read: Bearing 341.1, -34.7 (Local) ~Local bearing/azimuth received: Bearing 341.1, -34.7 (Local) eDAT read: Range 11 to 50 : 634.4 m (Round-trip 845.9 ms) speed 0.0 m/s mRDAT read: user:19>Tx time:00:18:53.0996 uR#Rx 1: Read range and direction messages.}bdirection in FSK: [-0.695702,-0.710427,-0.106264]}Fpublishing direction and range infoymj0C7 һO4YDPD"L o)OIkiK7?^>qW@֞@ ^ ڽ)d{@I^ =2~Oa8?B˝ 8@)|ٱN' ZAHRS rotation from veh to nav: [[0.951387,0.252833,0.175894],[-0.255983,0.966669,-0.004927],[-0.171277,-0.040339,0.984397]]NHq?`j.??bп?-tdſK-?iNԫ@IN[_;LY~\KBy~H bD5aVD524yED=%EA=ٔM=Q-M>9III=U-DyQU<:EU>YQ 5eZ4]N?Q 9eZ4])]:BYiym[6Q Im?]1CI]:i]d:]x/Z4yqɮuBqiiٖ⚮?AJiDRiDji5k@iY${{,v~|%Primj0C7 һO4ZiQ bi^ =i.Ź=t5GO;@zi^/-АϦBZJ!?2i:i"iΛ?*i~DBiNBiiiiDio/h@< yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Initialize.q>|Initialize.1=<q>ee1>eq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange={rTransitioning to terminal guidance at range 623.000000 m ==zNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1=> }:Initialize WaypointComponent.=}ZNavigating to waypoint: 36.779130,-121.859630dddjd@3Ӄ@Zd`I?E} E}EyEy"E}:*E}:VEyZEya@a@a@a@ZZZZ賞@\KBɢ8L7) 2= <9i)io:IADAT read: 2Acoustic response timeoutQ b9IQIiO>yԩ  2Acoustic response timeouts,?A2\@26@2P/>ٱ2- :AHRS rotation from veh to nav: [[0.951690,0.252207,0.175149],[-0.255625,0.966771,-0.003142],[-0.170122,-0.041783,0.984537]]2H@?t? ($?`Jk?)\п`?i ſ`dS?i2\@I2<^;2C@YzQKByzHA!A%@AB%e>B!B%HB%;JBB!B!B!B%@;B%DEbDE^VDE,4yU%UI=ٔ]\=Q-]>9YIY=e-Dyae*:Ee>iQ 5uZ4mN?Q 9uZ4m2)m:BYyy}?6Q I}?mGCIm;im;m=Z4ybBɮB֡EB*** querying acoustic contact ***i i}ZNavigating to waypoint: 36.779130,-121.859630"ff.'*fSW?2f2eeee@=zCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangedddjdZdR?ZZZZ@ɢU) @7i)H iv: Zɧ ~ 1iʜ)> (kpHeading = 0.400000I: (kiHeading = 0.001000iL= (kdHeading = 0.050000%*Aٱ2p0 :AHRS rotation from veh to nav: [[0.952185,0.250805,0.174474],[-0.254362,0.967107,-0.002035],[-0.169246,-0.042442,0.984660]]2HLx?/ ?-U?xGп ?`٩ſ@躥T?i2@I2~^;2CYBgKByB,HIF=)Fyt94<BBoB u}B)/BY(BbDZVD%4y{Y=%E=ٔS Q->9I=-DyW;E>Q 5Z4N?Q 9Z4Ⱪ)w:BY8>Q E;yQ I?ZCIH:i:'LZ4yBɮBסE1I ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1IA Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCInitialize.C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCInitialize.1D qD 1B A qD g h71Dfh7C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC1CqCfffB$Terminal guidance.1BD% %Initialize. %dInitializing internal variables to default values.%ZTransitioning guidance mode to: UNINITIALIZED:h!-DRollout timeout set to 300.00 sec.-VIIR filter is initialized with decay: 0.00.5bTransitioning guidance mode to: TERMINAL_GUIDANCE:h5?<5 y5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<5y5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1>5 |=Uninitialize.q>=>= }=>Uninitialize WaypointComponent.d9d9d9jdAZdE?Zeu>Zeu>Zefl@ZeD@ugKBud%.>)} }@iy)}X y} 1E EE/E"E:*E:VEJ4ZEa@a@a@a@- 2Acoustic response timeouta [ͦ,19?A2@2@2->ٱ2/ :AHRS rotation from veh to nav: [[0.952371,0.250354,0.174105],[-0.253896,0.967229,-0.001987],[-0.168897,-0.042313,0.984725]]2Hy?`?I??п?$F``jſ@ ނ?i2@I2;^;2CYNlKByN2HV@AV@AbDbYVDb#4yMK<%U=ٔ rQ- >9 I = -Dy:E>Q 5%Z4[N?Q 9%Z4)p:BY)y-|Q I-?lCI :i:YZ4y19ɮ5B9m addTargetRange:: Added new target pos. range: 634.400024 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhuZhu Added new target pos. range: 632.086304 m, bearing: 210.571367 deg, lat: 36.779346 deg, lon: -121.859206 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 632.09 m.RhqZhq ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.166382 m, bearing: 207.845477 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 345.043508 deg, new cmd heading: 207.845477 deg. HeadingCmd: 3.627588 target range: 632.086304 and range: 634.40 m.hg*h@h*h;"hL? hgfffdddjdZd`]?ZZZZH@9ɢ="d9)=I4= =@;iAa2Acoustic response timeout)E~顉iw:iJ)L? (kpHeading = 0.800000I; (kiHeading = 0.0040000=Ig*h@IAI-?)?}9BBBHBOJBBBBBB;BDEԑ "5;I I O >Թ D zD ?AE  E E .E "E :*E :VE ـ4ZE BE >9I=-Dy  E >Q 5Z4N?Q 9Z4=)h:BYy!Q I%?CI;i:hZ4y)ɮ-B)jhIFNOT Ignoring new targets: 632.09 m.RhfZh ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.218201 m, bearing: 207.840004 deg, approach rate: 0.119336 m/s, LOS rate: nan deg/s, cmd heading: 207.845484 deg, new cmd heading: 207.840004 deg. HeadingCmd: 3.627492 target range: 632.086304 and range: 634.40 m.h(h@h*h"h hgfffdddjdZd?Z Z Z Z hKBɢ̼h:) %I ڦ,,m?AYnsKByr:H tttvAbDzgVDz=4yE%EW=ٔAQ-M>9III=M-DyIQEU>YQ 5eZ4]N?Q 9eZ4]޳)]`:BYayaQ Im?]CI]:i]:] vZ4yqɮuBqjhFNOT Ignoring new targets: 632.09 m.RhKfZh ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.263489 m, bearing: 207.835217 deg, approach rate: 0.119061 m/s, LOS rate: nan deg/s, cmd heading: 207.840006 deg, new cmd heading: 207.835217 deg. HeadingCmd: 3.627409 target range: 632.086304 and range: 634.40 m.hw'h@h*h"h hgfffdddjdZd @ZZZZɢD:) %Iw'h@IE] E]E]-EY"E]:*E]:VE]t4ZEYae@ae@ae@ae@2Acoustic response timeout9d= 4Initializing EZServoServo.! 8Initializing DockingStepper.Q^AmNJN<II O > 2Acoustic response timeouty |,F]?ANm@NG@NgO*>ٱNM- VAHRS rotation from veh to nav: [[0.954231,0.245553,0.170725],[-0.249069,0.968485,-0.000848],[-0.165553,-0.041713,0.985318]]NH`?@Hn? Q?Ͽ?K0ſ@x[`?iNm@IN$=`;NCB`B`BbHBbnJBB`B`B`Bb(;BbyDEYnKByn]H tvp=bDzJVDz04yY=%O=ٔq Q- >9 I = -Dy W<E>Q 5%Z4N?Q 9%Z4)Y:BY!y%ѴQ I%?CI;it:߃Z4y1ɮ5܉B1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 632.09 m.RhedZhau ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.310913 m, bearing: 207.830264 deg, approach rate: 0.119745 m/s, LOS rate: nan deg/s, cmd heading: 207.835212 deg, new cmd heading: 207.830264 deg. uHeadingCmd: 3.627322 target range: 632.086304 and range: 634.40 m.h} &h@hy*hy"hy hygyfffdddjdZd@ZZZZAs@iKBɢ/;) =i)208i;T;i" }z>I &h@QIY59De=De<Em EmEm(Ei"Em&:*Em:VEmc44ZEiBEmg; ,q8?AB@B@B(>ٱBS6 NAHRS rotation from veh to nav: [[0.954807,0.243856,0.169936],[-0.247776,0.968815,0.001920],[-0.164169,-0.043940,0.985453]]BHƍ?6?z? Ͽ@?|v_?{ſDՈ?iB@IB`;BCYVKByVJHe2Acoustic response timeoutym333333?S㥛?)\(m=m$>mGai i9mV-?I +?:vYmh>ym94=mTm>BmB mo}B)mBiYmfBbD_VD.4y%A=ٔMYQ->9I=-DyN[;E>Q 5Z4N?Q 9Z4n)I:BY>Q E;yR=Q I?CIh;im ;Z4yɮBjhFNOT Ignoring new targets: 632.09 m.RhиZh ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.366272 m, bearing: 207.827852 deg, approach rate: 0.130857 m/s, LOS rate: nan deg/s, cmd heading: 207.830266 deg, new cmd heading: 207.827852 deg.  HeadingCmd: 3.627280 target range: 632.086304 and range: 634.40 m.h \%h@h *h "h  hgfffdddjd!Zd%qb@ZE=ZE=ZE˫@ZE‥@UjKBɢ]":)Y ]Im\%h@Iim950=@EhA@EhA^A5K=Eu EuEu,Eq"Eu;*Eu:VEug4ZEqa@a@a@a@IIO> 2Acoustic response timeout1 Q ,?AJa@J;@J~'>ٱJ*=< RAHRS rotation from veh to nav: [[0.955452,0.241980,0.168986],[-0.246158,0.969222,0.003904],[-0.162841,-0.045327,0.985611]]JH? 3?@X?Ͽ?Po?Ŀ'5@?iJa@IJua;JCYnKBynhHIr?>)r=bDvDVDvJ3y~|=%T=ٔ=eQ->9I = -Dy  %;E >Q 5Z4PN?Q 9%Z4Z)::BY!y%X=Q I%?CI]:i<:Z4y-Bɮ-B5ءEjhQ]FNOT Ignoring new targets: 632.09 m.Rh]ϸZhYm ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.416748 m, bearing: 207.825665 deg, approach rate: 0.131195 m/s, LOS rate: nan deg/s, cmd heading: 207.827849 deg, new cmd heading: 207.825665 deg. uHeadingCmd: 3.627242 target range: 632.086304 and range: 634.40 m.hu$h@hq*hq"hq hqgyfyfyfydddjdZd>v @ZZZZҐ@EkKBɢEN;)A E3=iA)MG8IIiMx;iUW8QQI]$h@IY11iiIim2Acoustic response timeoutYBBBHBJBBBBB ;B^DEByByByB}x =ByC}om4m;6=ԉ E} # E} E} +Ey "E} [;*E} k:VE} [4ZEy BE} iW ,gbٛ?A2x@2R @2&>ٱ29; :AHRS rotation from veh to nav: [[0.955932,0.240757,0.168019],[-0.244902,0.969539,0.004082],[-0.161918,-0.045051,0.985775]]2H`? !?ࣁ?XϿ w?p?Ŀx?i2x@I2Ra;0YBKByBoHJAAJAAbDN[VDNy'4yR/G<%V1=ٔVQ-V>9I=.Dy%:;E%>)Q 55Z4-N?Q 95Z4-A)-':BY1y=H^=Q I=?-CI-" ;i- ;-Z4yAɮEBAjhiiuFNOT Ignoring new targets: 632.09 m.Rhu@ϸZhy ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.479126 m, bearing: 207.822971 deg, approach rate: 0.131089 m/s, LOS rate: nan deg/s, cmd heading: 207.825663 deg, new cmd heading: 207.822971 deg. HeadingCmd: 3.627195 target range: 632.086304 and range: 634.40 m.h#h@h*h"h hgfffdddjdZd KF@ZZZZI@lKBɢV;) D=i)$9iaL;i"PI#h@I 9  ԙ]2Acoustic response timeout^A]=IIO > Ge> A T1,#?AbE5^n4jE5^n4rE5S)0E EE/E"El;*E:VEJ4ZEa"@a"@a"@a&@:hAn2Acoustic response timeoutvADο9hAYA@@t%>ٱ8 AHRS rotation from veh to nav: [[0.956444,0.239510,0.166884],[-0.243586,0.969871,0.004089],[-0.160876,-0.044561,0.985968]]H/?F? r\?-Ͽ. ?\p?Ŀ@Ц ?i@Iba;CYmKBymcHbDCVD3y%#=ٔ Q->9I=.Dy>;E>Q 5Z4O?Q 9Z4'):BYyc=Q I?CI:ij:Z4yɮBjh FNOT Ignoring new targets: 632.09 m.RhθZh% ProNav pure pursuit: ac range: 632.086304 m, nav range: 610.543213 m, bearing: 207.820212 deg, approach rate: 0.131258 m/s, LOS rate: nan deg/s, cmd heading: 207.822972 deg, new cmd heading: 207.820212 deg. %HeadingCmd: 3.627147 target range: 632.086304 and range: 634.40 m.h%-#h@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=l@ZYZYZYZ]m@mnKBɢu&;)q u=iq)u=89yyi}ʙ;i}mkI-#h@Ie!9@u=@u >^A=~>9DAT read: 00:18:56.3383 LVL= 32752, 28257, 30530, 32755, AGC= 76, IDX= 319, 0.08,-1.643, 0.211,-0.421,-0.400, PHS=-1.141, 0.656,-0.065, RAW= 293.5, 7.1, CAL= 291.2, 5.8, ROT= 218.8, -5.8 Ygot valid direction response: 00:18:56.3383 LVL= 32752, 28257, 30530, 32755, AGC= 76, IDX= 319, 0.08,-1.643, 0.211,-0.421,-0.400, PHS=-1.141, 0.656,-0.065, RAW= 293.5, 7.1, CAL= 291.2, 5.8, ROT= 218.8, -5.8 PDAT read: Bearing 326.4, -29.6 (Local) ~Local bearing/azimuth received: Bearing 326.4, -29.6 (Local) DAT read: Range 11 to 50 : 625.9 m (Round-trip 834.6 ms) speed -0.1 m/s BDAT read: Tx time:00:18:57.3996 $Ping request sent.]J+hg޹?YuyDquuanuBw u)uLIuJ iu'?uu@u=u@ u4Q=)uft@Iu4QϽqqu@^9¬-՗ʼ?< ? u2A@)uIuϸiu4QϽqq:publishing transmit ping timeFpublishing direction and range infoyqu3+:#>]J+hg޹?Yqqqqq q)qIqiqqqqq q)qIqqqu@^9¬-՗ʼ?< ? q)qIqiqqqA AI I) O5 >B B B 8HB JBB w =B B B ;B @DEa , ?AYnKBynuH ppbDz`VDz04yu0=%uw=ٔQ-?9>I>=.Dy=BE?Q 5Z4O?Q 9Z4):BYyQ I?CI;i`;Z4yɮBii ?AJiDRiDjite@1iGV8~ک-LxO@ri3+:#>]J+hg޹?Ziϸbi4QϽir_-0pZPtc@zif|YSޔڿQ ]E#?2i:iC"i ]?*iQ,QBi(PCiii(PCiDi"h@ addTargetRange:: Added new target pos. range: 625.900024 m, deltaT: 4.534868 s, deltaX: -8.500000 m, approachRate: -1.874365 m/s, rangeRepo size: 2  Added new target pos. range: 623.617981 m, bearing: 205.417114 deg, lat: 36.779346 deg, lon: -121.859206 deg, deltaT: 4.534868 s, deltaX: -8.468323 m, approachRate: -1.867380 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 623.62 m.RhZh-ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 205.417114 deg.HeadingCmd: 3.585205 target range: 623.617981 and range: 625.90 m.hte@h*h"h hgfffd d dAjdM@3@Zdu`?ZZZZ-pKBɢ-3v;)1 5M=i1)5XTa911i5;i=%99IEte@IAEm EiEm*Ei"Em:*EiVEm(N4ZEiBEm<IiIԉO>Թ F ,m&?A2F1@2 ,@2H$>ٱ2%i :AHRS rotation from veh to nav: [[0.957307,0.234850,0.168549],[-0.240925,0.970408,0.016245],[-0.159746,-0.056159,0.985559]]2H@B??@?ο ?@?rĿ?i2F1@I2b;2CY^KBy^cHyE> ףp=?~jtsh|?EQ>EEA A9E`"?Q?V-YE=yEu=EhAEȝB A)E BAYEB YYbDeBVDe3ym%uJ=ٔu;Q-u>9yIy=}.Dy}wB};E>Q 5Z4O?Q 9Z4ɳ)9BY?>Q E;ym>Q I?CI Ii Iy O > R+,@?A26,@2'@2%#>ٱ2B4 :AHRS rotation from veh to nav: [[0.957329,0.232979,0.171002],[-0.241559,0.969893,0.030918],[-0.158650,-0.070906,0.984786]]2Hp?A?`a?jο] ?@?NĿ`&]?i26,@I2c;2CYBKByBHbDJ\VDJP)4yr̐=%rT=ٔr=Q-r>9tIt=v.DyvBvҺEz>xQ 5~Z4z O?Q 9Z4z)z9BYy e>Q I?z CIzL;izY;zZ4y ɮBjh9=FNOT Ignoring new targets: 623.62 m.RhEfZhEfU ProNav: ac range: 623.617981 m, nav range: 610.678955 m, bearing: 207.816054 deg, approach rate: 0.125468 m/s, LOS rate: -0.003153 deg/s, cmd heading: 205.413705 deg, new cmd heading: 205.410322 deg. BhU ]HeadingCmd: 3.585086 target range: 623.617981 and range: 625.90 m.h]re@hY*hY"ha hagafafifidididijdiZdup?ZZZZi@颥sKBɢ;) t=i)"J9顩i;i%Ire@Ie(DAT read: user:20> mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003143B9@@^Au6>IIO>BQBQBU]HBUJBBQBQBUѺDBUɌ;BUDEQ E  E E 'E "E *E :VE '4ZE BE @ٱ2Hs :AHRS rotation from veh to nav: [[0.957102,0.233205,0.171963],[-0.243641,0.968955,0.042008],[-0.156828,-0.082103,0.984207]]2H@???/Ͽ? ?Ŀ `~?i2@I2c;2CY^KBybHIb8>)bf?bDjWVDj 4yr%rJ=ٔvQ-v>9tIt=v.DyvBz Ez>|Q 5Z4~O?Q 9Z4~>)~9BYy \>Q I ?~CI~:i~a:~Z4yɮBjh9EFNOT Ignoring new targets: 623.62 m.RhE\ZhE\U ProNav: ac range: 623.617981 m, nav range: 610.725830 m, bearing: 207.814834 deg, approach rate: 0.115827 m/s, LOS rate: -0.003015 deg/s, cmd heading: 205.410317 deg, new cmd heading: 205.406656 deg. BhUkHeadingCmd: 3.585022 target range: 623.617981 and range: 625.90 m.hqe@h*h"h hgfffdddjd Zd @,?Z)Z)Z)Z-@]uKBɢ]Ÿ;)a eP\=ia)eq*9aaie;im iqIuqe@IԑP9 &Changing to mode: 1E9@A @A@E5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509305^A I I O >[,ѐt?A";ɰ";J@Jk@J>>ٱJ RAHRS rotation from veh to nav: [[0.956775,0.235524,0.170616],[-0.246351,0.968134,0.045035],[-0.154572,-0.085119,0.984308]]JH?%??kϿ? ? ÿbʵ`s?iJ@EV EVEV.ET"EV:*EVz:VEVـ4ZETaZ@aZ@aZ@aZ@jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761295lIJVpc;HYMKByMHY]@AbDeVVDeE4yuG<%uA=ٔulQ-u>9yIy=}.Dy})B}ӻE>Q 5[4O?Q 9[4)m9BYyV>Q I?#CI`:i:[4y)BɮPB١EjhFNOT Ignoring new targets: 623.62 m.RhaZha ProNav: ac range: 623.617981 m, nav range: 610.775024 m, bearing: 207.813529 deg, approach rate: 0.116201 m/s, LOS rate: -0.003082 deg/s, cmd heading: 205.406656 deg, new cmd heading: 205.402741 deg. BhbHeadingCmd: 3.584954 target range: 623.617981 and range: 625.90 m.hoe@h*h"h hgfffdddjdZd`X?ZZZZT@-wKBɢ5H;)1 5Dc=i1)5x911i=dB1 A5 <B9 B9 B= HB= JBB= x =B9 B9 B= ߌ;B= /DEQ f#,D?A6 @6@6+>ٱ6쪽 >AHRS rotation from veh to nav: [[0.956309,0.239585,0.167545],[-0.249784,0.967373,0.042397],[-0.151920,-0.082394,0.984952]]6H`??`r?Ͽ?? rÿ?i6 @I6Շc;4YFKByFHbDRcVDR264yZqa%ZY=ٔZ7Q-Z>9\I\=^.Dy^`Bb7Eb>`Q 5f[4bO?Q 9j[4b)bI9BYhyjS>Q Ij?b/CIb~:ib:b[4ylɮrSBpjh FNOT Ignoring new targets: 623.62 m.Rh cZh c% ProNav: ac range: 623.617981 m, nav range: 610.818848 m, bearing: 207.812354 deg, approach rate: 0.116165 m/s, LOS rate: -0.003113 deg/s, cmd heading: 205.402735 deg, new cmd heading: 205.399212 deg. Bh%-HeadingCmd: 3.584893 target range: 623.617981 and range: 625.90 m.h-ne@h)*h)"h) h)g1f1f1f19d9dAdAjdAZdE@ZiZiZiZm7m@}zKBɢ}};)y E=i)9顁i.< @]>iԙ^AQA ڗAI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517176͑),6#?A:ȹ@:@:D>ٱ:P BAHRS rotation from veh to nav: [[0.955738,0.244284,0.163985],[-0.253633,0.966538,0.038395],[-0.149119,-0.078287,0.985715]]:Hf?D? w?;п?t?Rÿ ?i:ȹ@I:\c;8YJKByJH LLy%)\(?(\µ?~jt%G>%=%! !9%> ףp=?y&1|Zd;OY%Q>y%`廙%j%B%B %B)%yB!Y%#BbD=QVD=4yM+Y=%MA=ٔM!ۻQ-M>9U?IU?=U.DyUB]ME]>aQ 5m[4eBO?Q 9m[4ei)e9BYm3f>Q Eml;ymZQ Im?eDCIe:ief:e![4ԹyɮGBEB*** querying acoustic contact ***iA iAjhyFNOT Ignoring new targets: 623.62 m.RhG_ZhG_ ProNav: ac range: 623.617981 m, nav range: 610.873657 m, bearing: 207.806842 deg, approach rate: 0.121319 m/s, LOS rate: -0.012200 deg/s, cmd heading: 205.399211 deg, new cmd heading: 205.382675 deg. BhHeadingCmd: 3.584604 target range: 623.617981 and range: 625.90 m.h'je@h*h"h hgfffd d d jdZd7@Z>Z>Zu@Zd@]}KBɢ](;)Y ]=iY)eU9aaiei}>E EE*E"E:*E:VE(N4ZEa@a@a@a@>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7695389@ @@N0@A ^AY A 0AI I O > *1,Ĝ?A2@2Ȝ@2U">ٱ2mq :AHRS rotation from veh to nav: [[0.954985,0.249231,0.160899],[-0.258189,0.965383,0.037066],[-0.146091,-0.076940,0.986275]]2H 9?I?=/DyiB u-E > Q 5[4 $O?Q 9[4 $) 8BYyPQ I? YCI :i : 61[4y!ɮ-JB)jhIeFNOT Ignoring new targets: 623.62 m.RheZhe} ProNav: ac range: 623.617981 m, nav range: 610.930298 m, bearing: 207.801106 deg, approach rate: 0.137912 m/s, LOS rate: -0.013966 deg/s, cmd heading: 205.382682 deg, new cmd heading: 205.365475 deg. Bh}ZHeadingCmd: 3.584304 target range: 623.617981 and range: 625.90 m.h;ee@h*h"h hgfffdddjdZd l@ZZZZ{d@KBɢ0;) x=i)H%:i}BBHBJBBw =BBB;BCDE9A@A @A@Eo0@ADzDE EE.E"E*E:VEـ4ZEBE"5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2743169 A ڗAI I O >O7,ޜ?A:v@:nq@:%>ٱ:6 FAHRS rotation from veh to nav: [[0.954033,0.253962,0.159136],[-0.263358,0.963840,0.040678],[-0.143051,-0.080718,0.986418]]:H`p?@@?^?п?Ӥ?O¿充?i:v@I:^0c;:CYNKByNHbDVXVDV!4y^.%^N=ٔbQ-b>9b?Ib?=b/DyfBfk[Ef>hQ 5n[4j*O?Q 9n[4jϴ)j8BYlyrాQ Ir?jlCIj;ij;j?[4ytɮvRBtjh%FNOT Ignoring new targets: 623.62 m.Rh%pZh%p5 ProNav: ac range: 623.617981 m, nav range: 610.981018 m, bearing: 207.795896 deg, approach rate: 0.128124 m/s, LOS rate: -0.013159 deg/s, cmd heading: 205.365470 deg, new cmd heading: 205.349842 deg. Bh5=HeadingCmd: 3.584031 target range: 623.617981 and range: 625.90 m.h=`e@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU`ʒ @ZZZZ9=d@额KBɢYXa;) (=i):顡i ԡ E  E E ,E "E :*E g:VE g4ZE a @a @a @a @A I! I9 OE > BDAT read: Rx Time:00:19:00.6681  TRx dataTimestamp_ set to:1761524339.864214 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778363+z=,?A2ZC@24>@2>ٱ29 :AHRS rotation from veh to nav: [[0.952775,0.259525,0.157690],[-0.269433,0.961980,0.044719],[-0.140089,-0.085094,0.986476]]2H"}? ?`1/?e>ѿ?@_?qȵ@5?i2ZC@I2J c;2CYBKByBHbDJeVDJ94yRA<%RL=ٔVdQ-V>9TIX=Z/DyZ_BZ_EZ>9Q 5E[4=%1O?Q 9E[4=)=|8BYAyMQ IM?=CI=N:i=[:=M[4yUkBɮUBQyjhFNOT Ignoring new targets: 623.62 m.RhpZhp ProNav: ac range: 623.617981 m, nav range: 611.034302 m, bearing: 207.790340 deg, approach rate: 0.126059 m/s, LOS rate: -0.013144 deg/s, cmd heading: 205.349842 deg, new cmd heading: 205.333175 deg. BhSHeadingCmd: 3.583740 target range: 623.617981 and range: 625.90 m.h[e@h*h"h hgfffdddjd!Zd%@ZaZaZaZe:c@颵KBɢab;) L.=i)O:项i(DEBYBYBYB]w =B]w =C]W)4^A A gAzA hA A AI! I1 OE >XD,O;?A6J @6$@6 >ٱ6(K NAHRS rotation from veh to nav: [[0.951382,0.265656,0.155886],[-0.275833,0.960038,0.047358],[-0.137075,-0.088054,0.986639]]6Hq???@>ѿ@?`R??@`?i6J @I6Yb;6CYZKByZ}HhhbDnKVDn 4y~%~F=ٔ~Q-~>9c?I c?= /Dy BE>!Q 55[4%%7O?Q 95[4%>)%K8BY9y=Q I=?%CI%@;i%;%[[4E EEE"Es:*Ex:VEZEBEn0vkg￰j?2? W'?@)ICilMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse颽KBɢm2;) \=i)o!:iE10y Ay I I O >,K,a.?AxY~KBy~xHyQ?~jt~jth(\>D 9zG? ףp= MbY >yQ8B o}B)YBbDRVD4yh%.=ٔQ->9I=/DyvBijA9jAY^AE>Q 5[45BO?Q 9[4)8BYB>Q E-;yQ I ?CI';i$;Am[4y)ɮ-B)bEajEe7i4rEesq0Em EmEm.Ei"EmD:*Em:VEmـ4ZEia}@a}@a}@a}@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.Rh\˹Zh\˹ ProNav: ac range: 623.617981 m, nav range: 611.170654 m, bearing: 207.773888 deg, approach rate: 0.171983 m/s, LOS rate: -0.022224 deg/s, cmd heading: 205.317139 deg, new cmd heading: 205.283824 deg. BhtHeadingCmd: 3.582879 target range: 623.617981 and range: 625.90 m.hMe@h*h"h hgfffdddjdZd  '@!ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseZU=ZU=ZUD@ZUT@mKBɢm ;)i mؿ@N>Iԁ ^AU 1>i I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseBU e>BQ BQ BQ BQ BQ BQ BU ;BU 3DEAa Iq I O >FR,7OK?AJܔ@J@Ja>ٱJ3ǽ VAHRS rotation from veh to nav: [[0.948028,0.279015,0.152951],[-0.290034,0.955448,0.054764],[-0.130857,-0.096279,0.986715]]JH>V?b?@?ҿ?` ?+?iJܔ@IJc;JCYZKBy^uH ``bDf[VDfy'4yn%nC=ٔr#vQ-r>9pIp=v/DyvBvEv>xQ 5~[4zmJO?Q 9~[4zC)z7BYyQ I?zCIzN:iz$:zz[4y ɮ Bjh15FNOT Ignoring new targets: 623.62 m.Rh=ӹZh=ӹM ProNav: ac range: 623.617981 m, nav range: 611.233643 m, bearing: 207.765475 deg, approach rate: 0.173440 m/s, LOS rate: -0.023162 deg/s, cmd heading: 205.283822 deg, new cmd heading: 205.258587 deg. BhMT~UHeadingCmd: 3.582438 target range: 623.617981 and range: 625.90 m.hUFe@hQ*hY"hY hYgYfYfafadadadajdiZdm@ZZZZٹ@额KBɢj;) ؔԡ Aq I I O >X,e?A@2T@2N@2O>ٱ2NԽ >AHRS rotation from veh to nav: [[0.946098,0.285874,0.152231],[-0.297654,0.952740,0.060737],[-0.127673,-0.102776,0.986477]]2HoF?K?K|?@ ӿ |?@?WO 8?i2T@I2b;@2CYFKByFUH N=N=bDRYVDR#4yZ%ZN=ٔZQ-Z>9\I\=^/Dy^vBbTEb>dQ 5j[4fSO?Q 9j[4f)f7BYhyjbQ Ij?fCIfW:ifp:f^[4yrBɮrBrڡEjh  FNOT Ignoring new targets: 623.62 m.Rhy̹Zhy̹T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 623.617981 m, nav range: 611.298828 m, bearing: 207.756603 deg, approach rate: 0.164197 m/s, LOS rate: -0.022346 deg/s, cmd heading: 205.258591 deg, new cmd heading: 205.231977 deg. Bh_uHeadingCmd: 3.581974 target range: 623.617981 and range: 625.90 m.h?e@h*h"h hgfffdddjdZd`?@Z Z Z Z  r@=KBɢ=n)A E7iA)E;(:AAiMBE5 T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse A .AI I O% >"_,~?A>@> @>V=ٱ>,\ FAHRS rotation from veh to nav: [[0.944001,0.293218,0.151279],[-0.305672,0.949816,0.066446],[-0.124204,-0.108967,0.986255]]>HA5??]? ӿd??˿?廿`g?i>@I>>c;>CYLyLbDVbVDV[44ٔ^b Q-b>9b ?Ib ?=b/DybBfEf>hQ 5n[4j[O?Q 9n[4pj!)j7BYpyr,Q Ir?jCIj$5;ij5;j[4ytɮxxjhFNOT Ignoring new targets: 623.62 m.Rh͹Zh%͹- ProNav: ac range: 623.617981 m, nav range: 611.364563 m, bearing: 207.747478 deg, approach rate: 0.162121 m/s, LOS rate: -0.022503 deg/s, cmd heading: 205.231981 deg, new cmd heading: 205.204608 deg. Bh5w5HeadingCmd: 3.581496 target range: 623.617981 and range: 625.90 m.h5;7e@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@ZiZiZiZm @}KBɢd) si)?%:顉iKBBBBx =BBкDB̌;BDE1^Aa A I I O >Ee  Ee Ee *Ea "Ee :*Ee ga:VEe (N4ZEa BEe L-9!I!=%/Dy%B-7E->1Q 5=[45fO?Q 9=[45潩)5u7BY9y=|Q I=?55CI5:i59:5^[4yIɮMBijhFNOT Ignoring new targets: 623.62 m.Rh̹Zh̹ ProNav: ac range: 623.617981 m, nav range: 611.441895 m, bearing: 207.736535 deg, approach rate: 0.158074 m/s, LOS rate: -0.022367 deg/s, cmd heading: 205.204605 deg, new cmd heading: 205.171778 deg. BhuHeadingCmd: 3.580923 target range: 623.617981 and range: 625.90 m.h-e@h*h"h hgfffdddjdZd@f@iZiZiZiZm@颅KBɢ\ź)  i)\:i TiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@1@ԩ ^A} ;>A I I O >Fl,>ϵ?A2Y@23|@2=ٱ2 >AHRS rotation from veh to nav: [[0.939487,0.309013,0.147904],[-0.322348,0.943548,0.076219],[-0.116002,-0.119283,0.986060]]2HF???YԿ 1?`?LV΍?i2Y@I2b;0YBKByFJHEN ENEN)EL"EN:*EN~:VENFA4ZELaR@aR@aR@aR@y%x&?:vMbp%7>%T%! !9%x&1?~jt rhY%>y%%C%"B%B %#zB)%vB!Y%QB9=AAbDEPVDE:4yUKE<%UO=ٔU3Q-U>9YIY=]/Dy]B]Ee>aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ 5[4ehqO?Q 9[4e)e_7BY>Q E ;yv߾Q I?e[CIes,Н?A64@6/@6M =ٱ6 JAHRS rotation from veh to nav: [[0.936955,0.317611,0.145738],[-0.331314,0.939997,0.081469],[-0.111118,-0.124618,0.985963]]6H ?S? ?@4տt?%۴?7r濿?i64@I6@b;6CYRhKByR-HbDZUVDZn4ybRi%bK=ٔbRHQ-f>9dId=j0DyjBjEj>lQ 5r[4n|O?Q 9r[4nE)nH7BYpyrLQ Iv?nCIn:in:n9[4y|ɮ~#z,sꝮ?A2@2@2=ٱ2 :AHRS rotation from veh to nav: [[0.934424,0.326008,0.143422],[-0.340017,0.936409,0.086757],[-0.106018,-0.129834,0.985852]]<2H?Q?@[?տ ?5? $ f?i2@I2gb;2CYJ\KByJHPRAbDZXVDZ!4yf`%fJ=ٔfOQ-j>9lIl=n0DynBr᷼Er>tQ 5~[4v~O?Q 9~[4v é)v37BYyQ I?vCIvmG;ivH;vg[4yɮBBjhFNOT Ignoring new targets: 623.62 m.RhZh = ProNav: ac range: 623.617981 m, nav range: 611.712646 m, bearing: 207.702537 deg, approach rate: 0.211472 m/s, LOS rate: -0.027062 deg/s, cmd heading: 205.104461 deg, new cmd heading: 205.069805 deg. Bh=MHeadingCmd: 3.579143 target range: 623.617981 and range: 625.90 m.hme@hi*hq"hq hqgqfqfyfydydydyjdZd཮@ZZZZK @KBɢL) Ri)9i|f A I I O >,J?A:@:͘@:=ٱ: FAHRS rotation from veh to nav: [[0.931740,0.334602,0.141075],[-0.348884,0.932615,0.092250],[-0.100701,-0.135172,0.985692]]:H ?@ j??Tֿ`??ǹNM Ɋ?i:@I:b;8YJUKByNH Va=Va=bDV_VDV.4y^v%^L=ٔbFZQ-b>9`Id=f0DyfBfyEf>hlQ 5n[4jדO?Q 9r[4jĩ)j7BYpyrQ Iv?jCIju*;ij+;j][4yz3BɮzBzܡEjhFNOT Ignoring new targets: 623.62 m.Rh% Zh% 5 ProNav: ac range: 623.617981 m, nav range: 611.800537 m, bearing: 207.691080 deg, approach rate: 0.235702 m/s, LOS rate: -0.030720 deg/s, cmd heading: 205.069805 deg, new cmd heading: 205.035439 deg. Bh55HeadingCmd: 3.578543 target range: 623.617981 and range: 625.90 m.h=e@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@Y @ZiZiZiZmv @颅KBɢȻ) ,i)9顉ipvkEU  EU EU ,EQ "EU O:*EU 1]:VEU g4ZEQ BEU 4,8?AVM@VG@V~=ٱV nAHRS rotation from veh to nav: [[0.928788,0.343695,0.138657],[-0.358274,0.928391,0.098640],[-0.094825,-0.141293,0.985416]]VH`?@??ֿ`?@|@?xF ¿?iVM@IVmb;VCY-;KBy-H1yx&1?V-?S㥛A></ݼ 9ʡE?~jt?MbpY>y<gBB i}B)BY\BbDUVDn4yk%8=ٔTZQ->9I=0Dy!BpE>Q 5[4'O?Q 9[4]Ʃ) 7BYm >Q Em:ymQ Im?CIjԹ A) I9 II EQ  EQ EQ EQ "EQ *EQ VEQ ZEQ a] @a] @ae @ae @Om >j,E8?AJI@J#@J{=ٱJw VAHRS rotation from veh to nav: [[0.925482,0.353524,0.136028],[-0.368308,0.923744,0.105103],[-0.088499,-0.147371,0.985114]]JH?#? ^i?\׿ O??ڧ ¿?iJI@IJb;HYZ2KByZHIb<)b%=bDf_VDf.4ynм%n[=ٔnQ-r>9pIp=r0DyrBvEv>xQ 5~[4T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezO?Q 9[4zǩ)z6BY y mQ I ?z)CIz2`;iz a;z[4yɮB5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 623.62 m.RhE ZhM ] ProNav: ac range: 623.617981 m, nav range: 612.045044 m, bearing: 207.667400 deg, approach rate: 0.309932 m/s, LOS rate: -0.030354 deg/s, cmd heading: 204.997036 deg, new cmd heading: 204.964416 deg. Bh]eHeadingCmd: 3.577304 target range: 623.617981 and range: 625.90 m.hed@ha*ha"ha hagafafifidididqjdqZduƳ!@yZZZZC@颭KBɢ ) i)lH9顱iBvT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBU e>BQ BU HBU JBBU w =BQ BQ BU ;BU CEBBBBx =BCɮ4Ae ؟AIi Iy O > 7Q,R?AN@NZ@N=ٱN rAHRS rotation from veh to nav: [[0.922064,0.363360,0.133293],[-0.378312,0.918857,0.112173],[-0.081718,-0.153857,0.984708]]NH?JA?`?@B6ؿ Fg?`_? w봿`ÿຂ?iN@INsb;NCY%KByH%@A%@AbD-NVD-4y=%=D=ٔEQ-E>9E"?IE"?=E0DyM BMмEM>QQ 5]\4UEO?Q 9]\4UEɩ)U6BYYyeQ Ie?UWCIU;iUY;Ul \4ymvBɮmBmݡEjhFNOT Ignoring new targets: 623.62 m.RhZh ProNav: ac range: 623.617981 m, nav range: 612.167725 m, bearing: 207.655127 deg, approach rate: 0.296324 m/s, LOS rate: -0.029639 deg/s, cmd heading: 204.964415 deg, new cmd heading: 204.927603 deg. BhHeadingCmd: 3.576661 target range: 623.617981 and range: 625.90 m.hd@h*h"h hgfffdddjdZdՊ"@ZZZZ<@-KBɢ-&)) -i))5 ֈ811i5NQ{:*EVE(N4ZEBEA I I O% >Y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse|,k?AZB@Z<@Z=ٱZƇ% jAHRS rotation from veh to nav: [[0.918200,0.373949,0.130652],[-0.389013,0.913456,0.119443],[-0.074680,-0.160498,0.984207]]ZHa??7? ؿ;?`ӓ?34Ŀ~?iZB@IZ\b;ZCYrKByrHbD~[VD~y'4y % M=ٔWQ->9I=0DyBe7Ee>iQ 5u\4m6O?Q 9u\4mʩ)m6BYyy}رQ I}?mCImL;im;m\4yɮBjhFNOT Ignoring new targets: 623.62 m.RhZh ProNav: ac range: 623.617981 m, nav range: 612.286499 m, bearing: 207.642975 deg, approach rate: 0.287787 m/s, LOS rate: -0.029438 deg/s, cmd heading: 204.927600 deg, new cmd heading: 204.891152 deg. BhHeadingCmd: 3.576025 target range: 623.617981 and range: 625.90 m.hd@h*h"h hgfffddd jd Zd D[#@Z)Z)Z)Z-@1EKBɢEPX)A EBiI)M6"IIiM"U4CPG9)U3տ9YY]Ay?*AabE [4jEY4rEŅ0E EE+E"Em:*EL_:VE [4ZEa@a@a@a@=9@9 @9@E 0@A@I@M]>%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseԉ^A ;>Թ A .AI I O >,?A2@2ۻ@2"=ٱ2c, :AHRS rotation from veh to nav: [[0.914002,0.384922,0.128199],[-0.400072,0.907615,0.127190],[-0.067397,-0.167541,0.983559]]2H???@h? ǚٿ. ?G?@qſ@Py?i2@I2uQb;2CYBJByBHbDJbVDJ[44yR%ϼ%VG=ٔVБQ-V>9V ?IZ ?=Z0DyZ$BZ3EZ>\Q 5b\4^O?Q 9b\4^s̩)^6BYdyfQ If?^CI^M;i^I;^&\4yjBɮj=BjޡEjh!%FNOT Ignoring new targets: 623.62 m.Rh- Zh- = ProNav: ac range: 623.617981 m, nav range: 612.401794 m, bearing: 207.630895 deg, approach rate: 0.288070 m/s, LOS rate: -0.030178 deg/s, cmd heading: 204.891154 deg, new cmd heading: 204.854919 deg. Bh=EHeadingCmd: 3.575393 target range: 623.617981 and range: 625.90 m.hEia9@ @@0@)aE  E E ,E "E :*E [:VE g4ZE BE }ߥ %=ߥ 4= DAT read:  2Acoustic response timeoutAe ؟AIi ԁ I O >ņ,?A2~@2y@2Uv=ٱ23 :AHRS rotation from veh to nav: [[0.909569,0.396019,0.125908],[-0.411191,0.901499,0.134989],[-0.060048,-0.174554,0.982815]]2H@1?^X??@Pڿ?@UG?Wƿ 8s?i2~@I2b;2CYRJByRHyT㥛 ?~jthyT<ļB9B SB)BYB ==bD>VD43yUü%<=ٔQ->9"?I"?=0DyBE>Q 5\4vO?Q 9\4Ω)6BY}>Q E:yϾQ I?CII;i;5\4yɮBBjh  FNOT Ignoring new targets: 623.62 m.Rh3Zh3% ProNav: ac range: 623.617981 m, nav range: 612.528870 m, bearing: 207.616277 deg, approach rate: 0.294950 m/s, LOS rate: -0.033922 deg/s, cmd heading: 204.854913 deg, new cmd heading: 204.811069 deg. Bh%=-HeadingCmd: 3.574627 target range: 623.617981 and range: 625.90 m.h-d@h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE%@Ze3=Ze3=ZeJ%0@Ze@q}KBɢ}6)}[ = }.ci)G顁i\L뭧,9c?A>2Acoustic response timeoutV@V@VFV=ٱV\: bAHRS rotation from veh to nav: [[0.904573,0.408083,0.123353],[-0.423088,0.894874,0.142115],[-0.052390,-0.180743,0.982134]]VHB?@ ?@ ?ۿ`Ϣ?0?Ҫ "ǿm?iV@IV?b;VCYjJByjzHbDrHVDr4yVl%V=ٔQ-%>9% ?I% ?=%0Dy%,B- E->1Q 5=\45O?Q 9=\45oЩ)56BY9y=־Q I=?5CI5d:i59:58C\4yMBɮMBMEeB*** querying acoustic contact ***ia iajhq}FNOT Ignoring new targets: 623.62 m.Rh}CZh}C ProNav: ac range: 623.617981 m, nav range: 612.638611 m, bearing: 207.603310 deg, approach rate: 0.287242 m/s, LOS rate: -0.033935 deg/s, cmd heading: 204.811063 deg, new cmd heading: 204.772168 deg. BhPHeadingCmd: 3.573949 target range: 623.617981 and range: 625.90 m.hd@h*h"h hgfffdddjdZd 0%@ZZZZ/@KBɢÑ) ji)Z&iBBjHBJBBBBкDBV;BCEA ^A A I I O >qѴ,n5Ԟ?A 68@6@6@6=ٱ6? BAHRS rotation from veh to nav: [[0.899213,0.420611,0.120426],[-0.435234,0.888025,0.148267],[-0.044578,-0.185737,0.981588]]6HZ?I?9Ծ?ۿ j?j? Ҧ;ǿ*i?i68@I6a;6CYFJByFpHbDRPVDR:4yVV%ZR=ٔZbQ-Z>9\I\=^1Dy^Bb Eb>dQ 5U\4fP?Q 9U\4fmҩ)f6BYYy]ݾQ I]?f@CIfǚd,힮?Aɰ49"?I"?=1Dy 0B  E >Q 5\4kP?Q 9\4ԩ)t6BYy%Q I%?qCI;i;@_\4y-_Bɮ-B-EjhQUFNOT Ignoring new targets: 623.62 m.Rh]`'Zh]`'m ProNav: ac range: 623.617981 m, nav range: 612.863403 m, bearing: 207.575606 deg, approach rate: 0.292828 m/s, LOS rate: -0.036583 deg/s, cmd heading: 204.732011 deg, new cmd heading: 204.689073 deg. BhmȺuHeadingCmd: 3.572498 target range: 623.617981 and range: 625.90 m.huУd@hq*hq"hq hqgqfyfyfdddjdZd`b'@ZZZZl@颽KBɢx) i)liAç,g ?A6A@6;@6%.<ٱ6 `Q >AHRS rotation from veh to nav: [[0.879965,0.461164,0.113972],[-0.474601,0.863781,0.169226],[-0.020406,-0.203004,0.978965]]6H(??`K-?@_޿ ?/?e唿`ɿS?i6A@I6Jpb;6CYFJByFcHbDNFVDN4yVo%V-=ٔZ Q-Z>9\I\=^1Dy^B^FE^>`Q 5f\4b#P?Q 9f\4bAש)bc6BYhyjQ Ij?bCIbw;ib;bo\4ylɮnBpjhԱFNOT Ignoring new targets: 623.62 m.RhZh ProNav: ac range: 623.617981 m, nav range: 612.989319 m, bearing: 207.558832 deg, approach rate: 0.257435 m/s, LOS rate: -0.034289 deg/s, cmd heading: 204.689076 deg, new cmd heading: 204.638762 deg. BhBHeadingCmd: 3.571620 target range: 623.617981 and range: 625.90 m.hmd@h*h"h hgff)f1d9d9dAjdZd"m(@ZAZAZAZEjz @UKBɢUDh)] < ]ϓi)Z顁iTx time:00:19:09.8496 }a%DAT read: -2Acoustic response timeout^AԑAE.AIYIqO?_̧,3?A]@]v@]U`I<ٱ]ٜV uAHRS rotation from veh to nav: [[0.872412,0.475730,0.112154],[-0.488617,0.854636,0.175646],[-0.012291,-0.208036,0.978044]]]H?[r??E߿,Y?{? +ʿ"L?i]@I]a;]CYJByYH aU@a9U aU@a] a]@a] a]@a] a]@a] a]@a] a]@a] a]@a] a]@a] iUMb@Mb@Mb@U©UUU Q)UMb@Mb@Mb@IUiU‰UUU U)UUIUbDuEVDu3yXH%<ٔ-FQ->9 ?Y ?=1DyBf¼E>Q 5\4:P?Q 9\4$۩)M6BQ A+:YQ E:yQ I?CIj:iE,?\4yBɮDBEjhFNOT Ignoring new targets: 623.62 m.Rh(Zh(Eu EuEu-Eq"Eu:*EuR:VEut4ZEqa@a@a@a@ ProNav: ac range: 623.617981 m, nav range: 613.164368 m, bearing: 207.534714 deg, approach rate: 0.267645 m/s, LOS rate: -0.036866 deg/s, cmd heading: 204.638765 deg, new cmd heading: 204.566431 deg. BhgʺHeadingCmd: 3.570358 target range: 623.617981 and range: 625.90 m.hd@h*h"h hgfffdddjdZdP)@E2Acoustic response timeoutMKBɢUL)Q UiQ)ULYYi]A؟AIIO?hէ,#Y?A:@:y@:.iٱ:b BAHRS rotation from veh to nav: [[0.855834,0.505352,0.110308],[-0.517239,0.834659,0.189230],[0.003558,-0.219006,0.975717]]:Hb?+?-=?9?8?%m?_̿@9?i:@I:"a;:CYJJByJNHbDRZVDR%4yZ%Z=ٔ^xQ-^>9^"?Yb"?=b1DybJBbEb>dQ 5j\4fLP?Q 9j\4f\ީ)f@6BQ An :YlQ En:ynQ In?f7CIfT ;if?f\4ypɮrIBtB*** querying acoustic contact ***i iDIzDMAAEU EQEU,EQ"EUO:*EQVEUg4ZEQBEU nu 9ˡE?:vZd;OY?yTjѴBކB iB)$BYQBbD6VD3y% =ٔLLQ->9I=1Dy BE>Q 5\4bP?Q 9\4 )86BQ AT:Y?Q E:y7Q I?CIb;iT:\4yBɮBEjhFNOT Ignoring new targets: 623.62 m.RhNZhN} ProNav: ac range: 623.617981 m, nav range: 613.445129 m, bearing: 207.489433 deg, approach rate: 0.261672 m/s, LOS rate: -0.045152 deg/s, cmd heading: 204.508855 deg, new cmd heading: 204.430625 deg. Bh}HeadingCmd: 3.567987 target range: 623.617981 and range: 625.90 m.hYd@h*h"h hgfffdddjdZd@+@Z\*>Z\*>Zn?Z1> LBɢJƼ) i)$iAi Iq I ԉ O >~z,{?A2y@2S@2[&ٱ2m >AHRS rotation from veh to nav: [[0.837044,0.535869,0.110460],[-0.546825,0.812534,0.201920],[0.018450,-0.229418,0.973153]]2H`?%?@!G?  G?`? ?`]Ϳ$?i2y@I2a;2CYnJByn;HbDz>VDz43yF<%W=ٔ ΠQ- >9 I=1DyB>E>Q 5%\4pP?Q 9%\4)46BY)y-Q I-?CI:i[:ڰ\4y5)Bɮ5׍B=EjhYeFNOT Ignoring new targets: 623.62 m.Rhe JZhe Ju ProNav: ac range: 623.617981 m, nav range: 613.538025 m, bearing: 207.472714 deg, approach rate: 0.245398 m/s, LOS rate: -0.044159 deg/s, cmd heading: 204.430622 deg, new cmd heading: 204.380473 deg. Bhuq}HeadingCmd: 3.567112 target range: 623.617981 and range: 625.90 m.h}Kd@hy*h"h hgfffdddjdZdT,@ZZZZuT>LBɢk) 2i)5i{P ܤ,ְ?A2O@2)@2Ӽٱ23q BAHRS rotation from veh to nav: [[0.826952,0.551326,0.110405],[-0.561682,0.801006,0.207130],[0.025761,-0.233299,0.972064]]2Hdv?v?@C?Kס?9 I!=E1DGi9YAyE BEL&EE>IQ 5U\4MP?Q 9U\4M)M16BYQyUi!Q I]?MCIM ;iM;MO\4yaɮe܍BajhFNOT Ignoring new targets: 623.62 m.Rh\KZh\K ProNav: ac range: 623.617981 m, nav range: 613.642639 m, bearing: 207.453048 deg, approach rate: 0.236485 m/s, LOS rate: -0.044448 deg/s, cmd heading: 204.380475 deg, new cmd heading: 204.321487 deg. BhHeadingCmd: 3.566083 target range: 623.617981 and range: 625.90 m.h:d@h*h"h hgfffdddjdZd -@Z9Z9Z9Z=J>mLBɢueY)q uiq)u+Lyyi}^,f˟?A6]n@67i@6-ٱ6BKs >AHRS rotation from veh to nav: [[0.816854,0.566362,0.109469],[-0.575904,0.789872,0.210798],[0.032922,-0.235235,0.971381]]6H@#? ?'?`mF?`q?۠?/ο ?i6]n@I6a;6CYFJByF6HbDN[VDNy'4yZ?<%ZI=ٔZTQ-Z>9\I\=^2Dy^B^wCEb>dQ 5f\4fʍP?Q 9j\4f)dYhyj%Q Ij?f* CIf6:if-:f\4ylɮrٍBBve>BtBvvHBvJBBtBtBvѺDBv;Bv3DEp-2Acoustic response timeoutjh)5FNOT Ignoring new targets: 623.62 m.Rh5EJZh5EJM ProNav: ac range: 623.617981 m, nav range: 613.726135 m, bearing: 207.436649 deg, approach rate: 0.225118 m/s, LOS rate: -0.044210 deg/s, cmd heading: 204.321489 deg, new cmd heading: 204.272297 deg. BhMUHeadingCmd: 3.565224 target range: 623.617981 and range: 625.90 m.hU,d@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZdeK.@ZZZZ> LBɢXA) 9< JiQ)]^YiO:*E}rN:VE}J4ZEyBE}A I I O% >,埮?ABfޭ@B@ٴ@Bh#ٱBg"u NAHRS rotation from veh to nav: [[0.806403,0.581283,0.108741],[-0.590020,0.778447,0.214237],[0.039884,-0.236920,0.970710]]BH ?@ޙ?kֻ?q?l?k?iSο?iBfޭ@IBa;@YRJByV3HymK7?v/?L7A`?m ?mxi=m+=i i9m|?5^?9I=2DyB&E>Q 5\4P?Q 9\4)G6BY ?Q E:y'Q I?g CI ;i:*\4yBɮ?BEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.RhNZhN ProNav: ac range: 623.617981 m, nav range: 613.827515 m, bearing: 207.416520 deg, approach rate: 0.226902 m/s, LOS rate: -0.045043 deg/s, cmd heading: 204.272298 deg, new cmd heading: 204.211923 deg. BhLHeadingCmd: 3.564170 target range: 623.617981 and range: 625.90 m.h^d@h*h"h hgfffdddjdZd2/@QZe=Ze=Ze@ZeK)@)LBɢd) ži)ʣuiCE  E E -E "E :*E T:VE t4ZE a @a @a @a @ 2Acoustic response timeout AI IY Ii Ou >}O,fM?AYzJByzAHbDBVD3y<%A=ٔQ->9I=%2Dy%B%E%>)Q 5E\4-iP?Q 9M\4-^)-]6BYIyIQ IM?- CI-;i-><-\4yɮ:BjhFNOT Ignoring new targets: 623.62 m.RhXZhX ProNav: ac range: 623.617981 m, nav range: 613.927185 m, bearing: 207.396753 deg, approach rate: 0.238993 m/s, LOS rate: -0.047391 deg/s, cmd heading: 204.211919 deg, new cmd heading: 204.152627 deg. BhHeadingCmd: 3.563136 target range: 623.617981 and range: 625.90 m.hj d@h*h"h hgfffd d d jd Zd!0@Z1Z1Z1Z1E1LBɢE )A EKľiA)MIIiMÌA gAzA gAAQ Ia Iq O} > t,?A>翬@>@> [ٱ>x FAHRS rotation from veh to nav: [[0.784781,0.610286,0.108024],[-0.617463,0.754858,0.221198],[0.053452,-0.240293,0.969228]]>H?v?p?B'? :P? ^?ο?i>翬@I>#a;9`Id=f2Dyf%Bf߶Ef>hQ 5n\4j}P?Q 9n\4j)jt6BYpyr/Q Ir?j CIj;ij;j\4yvBɮvBvEjhFNOT Ignoring new targets: 623.62 m.E% E!E%+E!"E%>:*E!VE% [4ZE!BE!a-2E!a5JE%Ш;a5:E%Ш;a5Rh5`Zh5`U ProNav: ac range: 623.617981 m, nav range: 614.012390 m, bearing: 207.378219 deg, approach rate: 0.225741 m/s, LOS rate: -0.049098 deg/s, cmd heading: 204.152633 deg, new cmd heading: 204.097038 deg. BhU]HeadingCmd: 3.562165 target range: 623.617981 and range: 625.90 m.h]c@ha*ha"ha hagafafifidididqjdqZdue0@ZZZZ@颥8LBɢ) ʾi)C顩i3><2Acoustic response timeouti1%.Ic@IK9!<9@ @@5@I u 2Acoustic response timeoutq ^A AIIO >G ,:?A61@6Y,@6 vٱ6pz FAHRS rotation from veh to nav: [[0.773640,0.624377,0.107868],[-0.630775,0.742787,0.224476],[0.060035,-0.241703,0.968491]]6H??8?O/ ?`?׼?#ο`?i61@HI6da;4YRJByREHbD^4VD^f3yb<%f%=ٔfZQ-f>9hIh=j2DyjBnEn>lQ 5r]4nP?Q 9v]4n)n6BYtyvh4Q Iv?n CIn:inB:n ]4yxɮ~|BjhAMFNOT Ignoring new targets: 623.62 m.RhMWZhMW] ProNav: ac range: 623.617981 m, nav range: 614.115723 m, bearing: 207.354665 deg, approach rate: 0.206788 m/s, LOS rate: -0.047128 deg/s, cmd heading: 204.097035 deg, new cmd heading: 204.026386 deg. Bh]_eHeadingCmd: 3.560932 target range: 623.617981 and range: 625.90 m.hePc@ha*hi"hi higiE} E}E},Ey"E}:*E}[:VE}g4ZEya@a@a@a@fiffdddjdZd`b0@ZZZZ2d@CLBɢ) ˾i2Acoustic response timeout)MԔIIiMAB) B- HB- KBB- v =B) B) B- ;B- XDE^A  2Acoustic response timeout! I I O >H,HkT?A2@2͛@2vٱ2| :AHRS rotation from veh to nav: [[0.762073,0.638346,0.108444],[-0.644059,0.730103,0.228337],[0.066582,-0.243854,0.967524]]2Hb?Sm? û?!]?":? ? 6Ͽ@?i2@I2{a;0YBJByBVHbDJBVDJ3yR4=%RM=ٔVQ-V>9TIT=V2DyVHBZ5EZ>\Q 5b]4^P?Q 9b]4^o)^6BY`yf8Q If?^X CI^;i^&;^]4yjBɮjBjE jhFNOT Ignoring new targets: 623.62 m.Rh.SZh.S ProNav: ac range: 623.617981 m, nav range: 614.195251 m, bearing: 207.335605 deg, approach rate: 0.192623 m/s, LOS rate: -0.046157 deg/s, cmd heading: 204.026384 deg, new cmd heading: 203.969213 deg. BhkHeadingCmd: 3.559934 target range: 623.617981 and range: 625.90 m.hc@h*h"h hgfffdddjdZdO1@ZyZyZyZ}ˆ@颍LLBɢ) ,ɾi)o顑iE:*EV:VEZEBEa2EaJE;a:E;a=2Acoustic response timeoutQN>i>- 9@)  @) @- ?0@) ԁ  2Acoustic response timeout^AU 1>Ա I)I9OM?,t}t?A6u@6o@6pٱ6 BAHRS rotation from veh to nav: [[0.737324,0.666082,0.112646],[-0.670903,0.702508,0.237426],[0.079010,-0.250634,0.964852]]6H'?P? ^ּ?@ x z?c?:?d п?i6u@I6ea;4YJJByJYHLNAye㥛 ?I +?Qe>e99I=2DyBE>Q 5]4P?Q 9]4)6BY|?Q E:y3Q I? CI ;i ;l*]4yɮBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.Rh\kZh\k ProNav: ac range: 623.617981 m, nav range: 614.312805 m, bearing: 207.309258 deg, approach rate: 0.229563 m/s, LOS rate: -0.051442 deg/s, cmd heading: 203.969215 deg, new cmd heading: 203.890189 deg. Bh7  HeadingCmd: 3.558555 target range: 623.617981 and range: 625.90 m.h ^c@h *h "h  hgfffdddjdZd% f1@ZE,>ZE,>ZE@ZEh@UWLBɢUh)]`; ]|;iY)]횳YYie6Ii Iy O > B1 A5 4=B= e>B9 B= HB= /KBB9 B9 B9 B= ;B= \DEg#,sH?A:'@:ް@:ꬽR2Acoustic response timeoutٱ:A ^AHRS rotation from veh to nav: [[0.724936,0.679126,0.115135],[-0.683635,0.688896,0.240969],[0.084332,-0.253398,0.963679]]:H2?@f?y?U`o ?? ˖?7пu?i:'@I:Ba;:CYbJByfeHbDn:VDn{3yv<%vV=ٔv,eQ-z>9xIx=z2DyzqB~8?E~>Q 5 ]4P?Q 9 ]4j )6BY y 7Q I? CI:ip:7]4yYBɮBEjhAEFNOT Ignoring new targets: 623.62 m.RhMxdZhMxd] ProNav: ac range: 623.617981 m, nav range: 614.393738 m, bearing: 207.290210 deg, approach rate: 0.212197 m/s, LOS rate: -0.049936 deg/s, cmd heading: 203.890190 deg, new cmd heading: 203.833053 deg. Bh] eHeadingCmd: 3.557558 target range: 623.617981 and range: 625.90 m.hec@ha*ha"ha hagifififidqdqdqjdyZdP22@ZIZIZIZM6ޱ@颅`LBɢi ) 0;i)Y顉iWy }),!?A2M@2H@2Nvٱ2% :AHRS rotation from veh to nav: [[0.712038,0.692301,0.117133],[-0.696418,0.675083,0.243443],[0.089461,-0.254914,0.962816]]2H?U'?`o? IH?$)??Pп@d?i2M@I2-a;2CYBJByBrHbDJGVDJ4yR7<%RO=ٔRUQ-V>9TIT=V2DyVBZ=EZ>\Q 5b]4^ Q?Q 9b]4^j )^7BYdyf:E  E E -E "E >:*E ga:VE t4ZE a @a @a @a @e 2Acoustic response timeout ^y0, ?Aɰ;2Q@2+@2WGٱ2 :AHRS rotation from veh to nav: [[0.698811,0.705100,0.120403],[-0.709072,0.660661,0.246462],[0.094234,-0.257605,0.961644]]2H\? .?@Ҿ?`#$???@|п ?i2Q@I2a;0YZJByZHbDfBVDf3yn=%nG=ٔr>Q-r>9tIt=v3DyvxBv6Ev>xQ 5~]4z>Q?Q 9]4z)z47BYy@Q I?zU CIzD;iz/;zS]4y Bɮ IBEjh15FNOT Ignoring new targets: 623.62 m.Rh=|pZh=|pM ProNav: ac range: 623.617981 m, nav range: 614.552673 m, bearing: 207.249638 deg, approach rate: 0.200439 m/s, LOS rate: -0.052562 deg/s, cmd heading: 203.773681 deg, new cmd heading: 203.711355 deg. BhMJUHeadingCmd: 3.555434 target range: 623.617981 and range: 625.90 m.hU;c@hQ*hQ"hQ hYgYfYfafadadadajdiZdmj3@ZZZZw@额rLBɢ( ) þi)Hһ顡idBBHBXKBBw =BBB;BMDEBBBBBCL42Acoustic response timeoutm8,ᠮ?A(B~@BY@B,ʽٱB_ NAHRS rotation from veh to nav: [[0.684795,0.718128,0.123885],[-0.721987,0.645497,0.249135],[0.098944,-0.260050,0.960512]]BH ??趿???eT?п?iB~@IB6&a;BCYRJByRHy-S㥛?rh|?~jtx-$>-{>-Ļ) )9-&1?{Gz?~jtxY-?y-ף<-Ļ)-fB -B)-B)Y-BbDE;VDE)3ys<%=ٔQ->9I=3Dy"BDE>Q 5]4*Q?Q 9]4)L7BY?Q E:yGQ I? CI:i:/f]4yɮEBjhFNOT Ignoring new targets: 623.62 m.RhdZhd- ProNav: ac range: 623.617981 m, nav range: 614.643982 m, bearing: 207.223519 deg, approach rate: 0.174906 m/s, LOS rate: -0.050025 deg/s, cmd heading: 203.711362 deg, new cmd heading: 203.633016 deg. Bh5S 5HeadingCmd: 3.554067 target range: 623.617981 and range: 625.90 m.h5uc@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM#3@Zm>Zm>Zmn;@ZmV5@}~LBɢi<) Mži) A I I O >^%>,U?A:}@:x@:ӽٱ:3 FAHRS rotation from veh to nav: [[0.670555,0.731079,0.126012],[-0.734631,0.630717,0.250029],[0.103313,-0.260230,0.960003]]:H@0u?@e?&!?.?y?r?п Y?i:}@I:`;:CYJ KByNHbDV4VDVf3y^ y=%^]=`ٔbKBQ-b>9dId=f3DyfBfSEj>hQ 5n]4j(7Q?Q 9r]4j)j^7BYpyrLQ Ir?j CIj;ij;js]4yvBɮz~BzE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 623.62 m.Rh%fZh%f5 ProNav: ac range: 623.617981 m, nav range: 614.704956 m, bearing: 207.204894 deg, approach rate: 0.164597 m/s, LOS rate: -0.050271 deg/s, cmd heading: 203.633020 deg, new cmd heading: 203.577151 deg. Bh5 =HeadingCmd: 3.553092 target range: 623.617981 and range: 625.90 m.h=ec@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM3@ZiZiZiZm퐑@颅LBɢ ) @i)X}顉i\B1 B5 JHB5 KBB1 B1 B1 B5 Ԍ;B5 $DE- 2Acoustic response timeoutA ^A5 ;>A= ?A= ?y AiIqIO>,F,?A>ܦ@>׭@>ר۽ٱ>ᇾ FAHRS rotation from veh to nav: [[0.655750,0.743872,0.129020],[-0.747350,0.615344,0.250637],[0.107050,-0.260778,0.959445]]>H??ඃ?@K?m ?g?пƳ?i>ܦ@I>`;9`I`=b3Dyf6Bf(Ef>hQ 5n]4jFQ?Q 9n]4j= )jw7BYpyrQQ Ir?j CIj:ijn:j̓]4ytɮvxBxjhFNOT Ignoring new targets: 623.62 m.Rh%HgZh%Hg5 ProNav: ac range: 623.617981 m, nav range: 614.778625 m, bearing: 207.180752 deg, approach rate: 0.154270 m/s, LOS rate: -0.050551 deg/s, cmd heading: 203.577149 deg, new cmd heading: 203.504729 deg. Bh5 =HeadingCmd: 3.551828 target range: 623.617981 and range: 625.90 m.h=%Qc@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdU-_4@ZqZqZqZu@颅LBɢ) \i) 顉iC{AIIԹO>BM,8?A:m8@:H3@: ٱ:*# BAHRS rotation from veh to nav: [[0.640387,0.756545,0.132457],[-0.760107,0.599524,0.250614],[0.110189,-0.261171,0.958983]]:H@ ~?`5?X?RN/? ?^5? п?i:m8@I:`;:CYN=KByRHbDXVDXyb=%b(=ٔbLջQ-f>9dIh=n3DynBzC(Ez>xQ 5~]4z,VQ?Q 9]4z%)z7BYyVQ I?zb CIz:iz-:z]4y-GBɮ=B=EjhaFNOT Ignoring new targets: 623.62 m.RheZhe ProNav: ac range: 623.617981 m, nav range: 614.848816 m, bearing: 207.155905 deg, approach rate: 0.142017 m/s, LOS rate: -0.050267 deg/s, cmd heading: 203.504735 deg, new cmd heading: 203.430202 deg. Bh HeadingCmd: 3.550527 target range: 623.617981 and range: 625.90 m.h;c@h*h"h hgfffddd!jd!ZdE@4@ZZZZ?@颽LBɢ) xi!)o!!i%^vi >y 9@  @ @ +0@ B B B HB KBB v =B B B Œ;B DE 2Acoustic response timeoutԩ ^A 1>AIIO?=V,-Z?A6@6ܫ@6'ٱ6Y >AHRS rotation from veh to nav: [[0.607726,0.781614,0.140533],[-0.785771,0.566192,0.248979],[0.115037,-0.261737,0.958259]]6H@}r??`? % ??@? s? Nп?i6@I6O`;6CYDyvHbD~>VD~43y%KT%-=ٔ5Q-=>9IIQ=U3DyUBe%Em>yQ 5]4}kfQ?Q 9]4}+)}7BYyaQ I?} CI};i};}]4yɮE EE-E"E2:*E:VEt4ZEBE)*i I % 2Acoustic response timeoutԩ A I I O- >m\,~u?A>.@>)@>8*ٱ>] JAHRS rotation from veh to nav: [[0.590273,0.794150,0.144581],[-0.798680,0.548633,0.247210],[0.116999,-0.261395,0.958115]]>H?`i??Ȏ g???`п ?i>.@I>a`;>CYNuKByR=Hy%Mb?Q+%?%%! !9%Q?~jthX9vY%(?y%D%%YB%B %KB)%B!Y%BbDE?VDE3yM>%U;=ٔUŔQ-U>9YIY=]3Dy]B]OEe>aQ 5m]4e)sQ?Q 9u]4e`1)e7BYu]?Q Eu:yusQ Iu?e CIe ;ie ;e]4y}BɮBEjhFNOT Ignoring new targets: 623.62 m.Rh͑Zh͑ ProNav: ac range: 623.617981 m, nav range: 614.951477 m, bearing: 207.104274 deg, approach rate: 0.099966 m/s, LOS rate: -0.063736 deg/s, cmd heading: 203.347477 deg, new cmd heading: 203.275330 deg. Bh.HeadingCmd: 3.547824 target range: 623.617981 and range: 625.90 m.hc@h*h"h hgfffdddjdZd T5@Z=Z=Zz>Za@ԩLBɢ) i) ivkc,?AB2Acoustic response timeoutZ w@Zq@Z}ٱZ)W nAHRS rotation from veh to nav: [[0.572081,0.806527,0.149121],[-0.811566,0.530320,0.245197],[0.118676,-0.261294,0.957936]]ZH|N?@?g?@Y@a?@b? a? п`i?iZ w@IZJ`;XYM}KByMFHbD]AVD]?3ym<%mA=ٔuQ-u>9qIy=}3Dy}B}XE}>Q 5]4`Q?Q 9]46)7BYyyQ I?4 CI;i;q]4yɮBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.RhʀZhʀ ProNav: ac range: 623.617981 m, nav range: 614.983154 m, bearing: 207.080391 deg, approach rate: 0.074677 m/s, LOS rate: -0.056299 deg/s, cmd heading: 203.275336 deg, new cmd heading: 203.203692 deg. BhHeadingCmd: 3.546573 target range: 623.617981 and range: 625.90 m.hb@h*h"h hgfffdddjdZd`?6@ZZZZ~@5LBɢ5\)1 5:i1)5W99i=3gE EE*E"E:*ErN:VE(N4ZEBE}9 Jj,vp?A2<@2@2[ٱ2燾 :AHRS rotation from veh to nav: [[0.553129,0.818879,0.153252],[-0.824388,0.511480,0.242431],[0.120136,-0.260434,0.957988]]2H ;?@A4??`ca ^??`;?п֧?i2<@I2Ѳ`;2CYBKByBiH HHHHbDVJVDV04yb=%bW=ٔb|Q-f>9dIh=j3DyjBnZwEn>pQ 5z]4rQ?Q 9z]4r&<)r7BY|y~xQ I~?rp CIrJ;irK;r]4y ɮ BjhIMFNOT Ignoring new targets: 623.62 m.RhUZhUu ProNav: ac range: 623.617981 m, nav range: 615.006531 m, bearing: 207.058781 deg, approach rate: 0.060447 m/s, LOS rate: -0.055877 deg/s, cmd heading: 203.203688 deg, new cmd heading: 203.138861 deg. BhucHeadingCmd: 3.545442 target range: 623.617981 and range: 625.90 m.hb@h*h"h hgfffd d d jd Zd  6@ZIZIZIZM@颅LBɢ&)k i)顉iUb<i5/7/99I=b@II2Acoustic response timeout-}99@ @@@9i ^A E  E E (E "E >:*E VE c44ZE a @a @a @a @E 2Acoustic response timeoutA I I O >q,jKġ?A Y~KBy~HbD=VD3y%O=%%D=ٔ%Q-%>9)I)=-4Dy-B-E5>1Q 5u]45Q?Q 9u]45A)57BYyyyQ I}?5 CI5 A9 IA IY Oe > 4w,r6ޡ?APEY E]E]-EY"EY*E]X:VE]t4ZEYBE]9I=4DyC(սE>Q 5]4iQ?Q 9]4zH)8BY(?Q E:y]Q I? CI ;i: ;7]4yɮ BjhFNOT Ignoring new targets: 623.62 m.Rh oZh o ProNav: ac range: 623.617981 m, nav range: 615.051331 m, bearing: 207.007638 deg, approach rate: 0.043230 m/s, LOS rate: -0.061826 deg/s, cmd heading: 203.068709 deg, new cmd heading: 202.985436 deg. Bh)%HeadingCmd: 3.542764 target range: 623.617981 and range: 625.90 m.h%b@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=7@Z]=Z]=Z]m ?Z]a@ LBɢ ߼)  i)iWA I I O >},P?A2y@2pt@2"ٱ2툁< >AHRS rotation from veh to nav: [[0.493586,0.855263,0.157793],[-0.860918,0.454779,0.228028],[0.123263,-0.248399,0.960783]]2H@? P^?2?` ? 0?@+?Ͽ`?i2y@I2;2CYFKByFHIJ<)J=bDr?VDr3yz<=%za=ٔ~Q-~>9|I|=~4Dy~TCEE> Q 5]4 HQ?Q 9]4 M) 48BYyKQ I? :CI H;i ; ]4y!ɮ%B!jhIMFNOT Ignoring new targets: 623.62 m.RhUZhUe ProNav: ac range: 623.617981 m, nav range: 615.061462 m, bearing: 206.985461 deg, approach rate: 0.027865 m/s, LOS rate: -0.060992 deg/s, cmd heading: 202.985436 deg, new cmd heading: 202.918904 deg. Bhen'mHeadingCmd: 3.541603 target range: 623.617981 and range: 625.90 m.hmb@hi*hi"hi higqfqfqfqdydydyjdyZd}7@ZZZZR@颵LBɢ<) xi)u项ie7S) A.AIIO>轅,<?A>c@>>@>ٱ>~G FAHRS rotation from veh to nav: [[0.473334,0.866093,0.160745],[-0.872154,0.435148,0.223592],[0.123703,-0.246028,0.961336]]>H`K??`K?w?? ?@}ϿD?i>c@I>܀a;>CYR LByRHbDZ6VDZ3yb1=%b+=ٔf\sQ-f>9f ?If ?=f4DyjCjGEj>lQ 5r^4nQ?Q 9r^4n4U)nW8BYtyvGQ Iv?nCIn:in:n^4yz\BɮzVB~EB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 623.62 m.Rh%kZh-k= ProNav: ac range: 623.617981 m, nav range: 615.067627 m, bearing: 206.956280 deg, approach rate: 0.012875 m/s, LOS rate: -0.060945 deg/s, cmd heading: 202.918910 deg, new cmd heading: 202.831370 deg. Bh=N'EHeadingCmd: 3.540075 target range: 623.617981 and range: 625.90 m.hEb@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU'X8@ZqZqZqZu@颍LBɢ̼)ԑ Fqi) (!顑iL Aq Iy I O >㋨,^1?AFBDAT read: Response Not Received F*response not receivedJRDAT read: user:23>Tx time:00:19:22.2996 J9I=4DyCKE>Q 5^4vQ?Q 9^4y\){8BY y HQ I ?CI:i:'^4y9ɮ=HB9jhyFNOT Ignoring new targets: 623.62 m.RhFZhF ProNav: ac range: 623.617981 m, nav range: 615.066650 m, bearing: 206.927443 deg, approach rate: -0.002032 m/s, LOS rate: -0.060008 deg/s, cmd heading: 202.831374 deg, new cmd heading: 202.744861 deg. Bh$HeadingCmd: 3.538565 target range: 623.617981 and range: 625.90 m.hwb@h*h"h hgfffdddjdZdG8@ZQZQZQZUVf@ MBɢż) Pdi)S$idvFAu>Au>2Acoustic response timeoutII O%?,W?AVJq@V%l@VٱVmt nAHRS rotation from veh to nav: [[0.409913,0.896916,0.165873],[-0.903764,0.374817,0.206696],[0.123217,-0.234637,0.964242]]VH9I=4DyDCLE>Q 5^4Q?Q 9^47e)8BYyfQ I?6CI:i:2^4y Bɮ xB E)jhYmFNOT Ignoring new targets: 623.62 m.Rh} Zh  ProNav: ac range: 623.617981 m, nav range: 615.048340 m, bearing: 206.893588 deg, approach rate: -0.032400 m/s, LOS rate: -0.059907 deg/s, cmd heading: 202.744863 deg, new cmd heading: 202.643296 deg. Bh]t$eHeadingCmd: 3.536793 target range: 623.617981 and range: 625.90 m.heZb@ha*ha"ha hagafafifidididqjdqZdukq9@E EE+E"Em:*EVE [4ZEBE[ԩ - 2Acoustic response timeoutI I O >J,t?AB@B멣@B pٱB`t JAHRS rotation from veh to nav: [[0.388432,0.905444,0.171150],[-0.913368,0.353728,0.201581],[0.121979,-0.234624,0.964403]]BH?e?@??P:@{?f? :?$ο`c?iB@IB`;@YRLByRHy-q= ףp?bX9ȶ?X9v?->-E=-<) )9-ʡE?:v? ףp= ?Y-?y-T<-Q8=-B-~B -B)-)Y-WBbDEEVDE3yUA=%U8=ٔU)8;Q-]>9YIY=]4Dy]CeZEe>iQ 5u^4mQ?Q 9u^4mk)m8BYu&?Q Eu:y}Q I}?mzCImP ;im ;mA^4yɮ\BjhFNOT Ignoring new targets: 623.62 m.Rh冺Zh冺 ProNav: ac range: 623.617981 m, nav range: 615.040710 m, bearing: 206.868815 deg, approach rate: -0.018160 m/s, LOS rate: -0.058968 deg/s, cmd heading: 202.643298 deg, new cmd heading: 202.568978 deg. Bh!HeadingCmd: 3.535496 target range: 623.617981 and range: 625.90 m.hEb@h*h"h hgfffdddjdZda9@ ZE2>ZE2>Z@Z@*MBɢ|C)  i)P*iB9ԑ 'w,?AB`A`Bfg>BdBf&HBfMBBdBdBdBf;BfCEYLBy%HbD=1VD=[3yUJ=%]K=ٔeQ-e>9iIi=m4DymCuE>Q 5^4Q?Q 9^4q) 9BY y Q I ?CI|:i:P^4y5Bɮ5wB5%E}2Acoustic response timeoutyjhFNOT Ignoring new targets: 623.62 m.Rh|Zh| ProNav: ac range: 623.617981 m, nav range: 615.033447 m, bearing: 206.844993 deg, approach rate: -0.016855 m/s, LOS rate: -0.055283 deg/s, cmd heading: 202.568972 deg, new cmd heading: 202.497505 deg. BhHeadingCmd: 3.534248 target range: 623.617981 and range: 625.90 m.h1b@h*h"h hgfffdddjdZd=:@ZZZZ6MBɢE) i),i3 2Acoustic response timeoutI! I9 OE >} PExceeded connect timeout, disconnecting. +,c?AF%@F @FTٱFy RAHRS rotation from veh to nav: [[0.344306,0.920129,0.186590],[-0.931299,0.309553,0.191989],[0.118896,-0.239874,0.963496]]FH@ ?`q?.?2 ??o?2ο ?iF%@IFp`;DYZLByZHI^J>)^l>bDf>VDf43yjM=%nS=ٔn9pIp=r4Dyr CvEv>xQ 5z^4zQ?Q 9~^4zw)z49BY|y~ȖQ I~?zCIz ;iz;z]^4y Bɮ uB %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 623.62 m.Rh=PZh=PM ProNav: ac range: 623.617981 m, nav range: 615.016479 m, bearing: 206.824145 deg, approach rate: -0.047071 m/s, LOS rate: -0.057839 deg/s, cmd heading: 202.497501 deg, new cmd heading: 202.434954 deg. BhMUHeadingCmd: 3.533156 target range: 623.617981 and range: 625.90 m.hU<b@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm:@ZZZZo.@颭AMBɢ$) Li)g9.项i /Q ,I¢?AE" E E",E "E":*E VE"g4ZE a&@a&@a&@a&@>c@>^@>Iٱ>s} FAHRS rotation from veh to nav: [[0.322200,0.926387,0.194921],[-0.939406,0.287416,0.186836],[0.117059,-0.243309,0.962859]]>H`??+?e???@?$Ͽ`?i>c@I>`;>CY^LBy^Hn?n%=n2Acoustic response timeoutbDf;VDf)3yzE=%zH=ٔz;Q-z>9|I|=~5Dy~KC9nE> Q 5 ^4 vQ?Q 9^4 )}) c9BYyʙQ I? 5CI ;i ; k^4y%Bɮ%B%&EjhAMFNOT Ignoring new targets: 623.62 m.RhMZhMe ProNav: ac range: 623.617981 m, nav range: 614.992126 m, bearing: 206.801182 deg, approach rate: -0.059789 m/s, LOS rate: -0.056379 deg/s, cmd heading: 202.434950 deg, new cmd heading: 202.366058 deg. BheeHeadingCmd: 3.531954 target range: 623.617981 and range: 625.90 m.hm b@hi*hi"hi higififfdddjdZd@_;@Z9Z9Z9Z=r@mOMBɢu)q u&iq)uW/yyi}K)ԁ 0,ܢ?A4u@uc@u'ٱu AHRS rotation from veh to nav: [[0.300028,0.931998,0.203378],[-0.946975,0.265294,0.181269],[0.114987,-0.246979,0.962174]]uH3??@F?M@?3? o?Ͽ!?iu@Iu`;uCYMBy5HyQ? ףp= ?Zd;O?(>Q8=j< 9$C?V-?VD43y=%.=ٔz;Q->9I=5DyCME> Q 5^4 Q?Q 9^4 ) 9BY?Q E:yԙQ I? |CI n:i : /|^4y!ɮ-B)EU EUEQEQ"EU>:*EU;J:VEQZEQBEUZc1>Z@ZK@]MBɢ(ȁ) i)71i#<2Acoustic response timeoutin*0IFa@II/?)@?r9IfA)gA%nManaging dock network, ignoring radio surface power off]9@Y @a@e0@a@i@iԹ ^A 6> 2Acoustic response timeoutA ؟AI I! ! O- >BK,L?AY~#MBy~NH bD9VD3y%_=%%\=ٔ%Q-%>9-"?I-"?=-5Dy-C5E5>1Q 5E^45R?Q 9E^45w)59BYAyAQ IE?5CI5;i5:5.^4yQɮUBQjhFNOT Ignoring new targets: 623.62 m.RhMsZhMs ProNav: ac range: 623.617981 m, nav range: 614.942871 m, bearing: 206.754679 deg, approach rate: -0.056210 m/s, LOS rate: -0.053177 deg/s, cmd heading: 202.288210 deg, new cmd heading: 202.226542 deg. Bh HeadingCmd: 3.529519 target range: 623.617981 and range: 625.90 m.h a@h *h "h  h g fffdddjdZd`n;@Z9Z9Z9Z9UiMBɢU)Q U iY)]M1YYi]A A @AB B B HB MBB B B B ;B CET4Ĩ,s?A ^&#@^@^Uٱ^E5 jAHRS rotation from veh to nav: [[0.255528,0.942869,0.213783],[-0.960465,0.222293,0.167611],[0.110513,-0.248160,0.962395]]^H Z?+?:]? t?Jt?J?@Ͽ?i^&#@I^`;^CYr9 I = 5DyC@E>Q 5%^4R?Q 9%^4o)9BY)y-џQ I-?CI[:i:2^4y1ɮ5}B9jhY]FNOT Ignoring new targets: 623.62 m.RheZheu ProNav: ac range: 623.617981 m, nav range: 614.908447 m, bearing: 206.732626 deg, approach rate: -0.089114 m/s, LOS rate: -0.057095 deg/s, cmd heading: 202.226547 deg, new cmd heading: 202.160382 deg. }2Acoustic response timeoutBh}HeadingCmd: 3.528364 target range: 623.617981 and range: 625.90 m.ha@h*h"h hgfffdddjdZd@<@ZZZZ͜@vMBɢnt)Q UPiiQ)U2QQiU:*ErN:VEg4ZEBEa2EaJEZ;a:E[;a5 BDAT read: Rx Time:00:19:25.5566 = TRx dataTimestamp_ set to:1761524364.576829= 2Acoustic response timeout^AE 1> Aq I I O >]ʨ,Wz+?AJh@Jc@JܽٱJAVP vAHRS rotation from veh to nav: [[0.233695,0.947460,0.218417],[-0.966327,0.201438,0.160110],[0.107701,-0.248479,0.962631]]JH?Q??&?@~~?C?+Ͽ?iJh@IJ`;HY_MByHbD%8VD%3y5=%5G=ٔ5X;Q-=>99I9==5Dy=WCEIQ 5U^4M)R?Q 9U^4M)M:BYQy]Q I]?M1CIM+;iM&;M^4ye-Bɮae/E}B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.RhzZhz ProNav: ac range: 623.617981 m, nav range: 614.867798 m, bearing: 206.710172 deg, approach rate: -0.099152 m/s, LOS rate: -0.054772 deg/s, cmd heading: 202.160376 deg, new cmd heading: 202.093011 deg. Bh\HeadingCmd: 3.527189 target range: 623.617981 and range: 625.90 m.hua@h*h"h hgfffdddjdZdA<@ZZZZ@MBɢZ) i)3i1 A I I1 Oe >E  E E +E "E :*E T:VE [4ZE a% @a% @a% @a% @zѨ,UF?ADAT read: 00:19:25.5566 LVL= 32752, 32209, 18850, 32755, AGC= 78, IDX= 283, 0.04, 1.095, 1.549, 2.924, 1.315, PHS=-0.118, 0.279, 1.565, RAW= 223.1, -21.8, CAL= 222.6, -26.8, ROT= 287.4, 26.8 Ygot valid direction response: 00:19:25.5566 LVL= 32752, 32209, 18850, 32755, AGC= 78, IDX= 283, 0.04, 1.095, 1.549, 2.924, 1.315, PHS=-0.118, 0.279, 1.565, RAW= 223.1, -21.8, CAL= 222.6, -26.8, ROT= 287.4, 26.8 8DAT read: $Error in header "*Received a bad header@RX#Rx 1: Read direction message, but no range.V`direction in FSK: [0.266919,-0.851741,-0.450878]yNm-5?Q?~CwA뿲j-ܿ}I )NIiَ>Q?4y@¾x@ |)@I|>iLʿe}?H#׿ {1?)>I0i|>b2Acoustic response timeout @ ݥ@ ؽٱ ~ EAHRS rotation from veh to nav: [[0.211295,0.952585,0.218946],[-0.971736,0.180600,0.152029],[0.105279,-0.244880,0.963820]] H ?{?i?u`?`u??@=XϿ?i @I S`; CYMMByMHIU=)Up<bDe>VDe43yuv=%u?=ٔu;Q-}>9I=5DyC[E>Q 5^4R?Q 9^4),:BYyQ I?sCI% A II Iq O ><ר,`?A2@2@2ҽٱ2{ >AHRS rotation from veh to nav: [[0.188968,0.957043,0.219908],[-0.976588,0.159714,0.144110],[0.102797,-0.241992,0.964817]]2H@0??%? 5@q? 5r?`P?ο?i2@I2Z`;2CYBMByBHLyv/?MbZd;Ox>j 9gfffff? rhY3?yCBB AB)/BYBbD-2VD- 3y==%=I=ٔ=k;Q-E>9AIA=E5DyECMQjEM>QQ 5]^4U6R?Q 9]^4U)UF:BY]C?Q E]:y]IQ Ie?UCIUz:iU@:U^4yiɮmBiDzDAAE EE-E"E>:*EP:VEt4ZEBEa2EaJE,;a:E,;ajh)5FNOT Ignoring new targets: 623.62 m.Rh5BdZh5BdE ProNav: ac range: 623.617981 m, nav range: 614.750610 m, bearing: 206.666152 deg, approach rate: -0.167441 m/s, LOS rate: -0.049890 deg/s, cmd heading: 202.022215 deg, new cmd heading: 201.960947 deg. BhEU2Acoustic response timeoutmHeadingCmd: 3.524884 target range: 623.617981 and range: 625.90 m.hma@hq*hq"hq hqgqfqfyfydydydjdZd@=@Z>Z>Z>Zr@MBɢy0) !;i)D3i D  C^AU 6>  2Acoustic response timeout `9 Y A Aq Iy I O >ݨ, z?A2U/@20*@290νٱ2x :AHRS rotation from veh to nav: [[0.166129,0.961022,0.220993],[-0.980969,0.138219,0.136369],[0.100508,-0.239442,0.965694]]2H@C??@}I? d`'?@t? 㺹?ο ?i2U/@I2M*`;2CYjMByjHbDrFVDr4yz|=%zO=|ٔ<;Q->9I=5DyC DrE >Q 5^4R?Q 9^4)_:BYy%HQ I%?CI;i;s^4y)ɮ-B)jhQUFNOT Ignoring new targets: 623.62 m.Rh]hsZh]hsm ProNav: ac range: 623.617981 m, nav range: 614.678101 m, bearing: 206.646195 deg, approach rate: -0.193271 m/s, LOS rate: -0.053201 deg/s, cmd heading: 201.960948 deg, new cmd heading: 201.901070 deg. Bhm uHeadingCmd: 3.523839 target range: 623.617981 and range: 625.90 m.hua@hq*hq"hq hqgyfyfyfydddjdZd`=@ZZZZ9S@颽MBɢF) ,l?Ab2Acoustic response timeoutY~MBy~+H bD;VD)3y%=%%G=ٔ%Q-%>9)I)=-5Dy-aC5E5>1Q 5E^45R?Q 9E^45 )5y:BYAyAQ IE?5#CI5H;i5:5^4yQɮUBQԙjhFNOT Ignoring new targets: 623.62 m.Rh^Zh^ ProNav: ac range: 623.617981 m, nav range: 614.603271 m, bearing: 206.625550 deg, approach rate: -0.176580 m/s, LOS rate: -0.048722 deg/s, cmd heading: 201.901075 deg, new cmd heading: 201.839134 deg. Bh HeadingCmd: 3.522758 target range: 623.617981 and range: 625.90 m.h ta@h *h"h hgfffddd!jd!Zd%;P>@ZAZAZAZA]MBɢ]m)Y ]! @ ,'N?A:A@:@:HĽٱ:?cx FAHRS rotation from veh to nav: [[0.120994,0.966321,0.227122],[-0.988030,0.095178,0.121400],[0.095695,-0.239092,0.966270]]:Hq??U?`]?@?s?ο?i:A@I:a;:CYNMByNSHbDVAVDV?3y^=%bQ=ٔfJ9hIh=n5DynCr0Ev>|Q 5 ^4~ZR?Q 9 ^4~)~:BYy(Q I?~^CI~p3;i~2`;~^4y%Bɮ-B-9E]B*** querying acoustic contact ***iY iYjhq}FNOT Ignoring new targets: 623.62 m.RhgZhg ProNav: ac range: 623.617981 m, nav range: 614.520935 m, bearing: 206.605843 deg, approach rate: -0.211777 m/s, LOS rate: -0.050695 deg/s, cmd heading: 201.839139 deg, new cmd heading: 201.780010 deg. Bh* HeadingCmd: 3.521725 target range: 623.617981 and range: 625.90 m.hca@h*h"h1 hQgQfQfYfYdYdYdajdaZde ֹ>@ZZZZا@MBɢr) 3=i)1i;i»0Ica@I12Acoustic response timeout 9)9@ @@0@I^Ae 1>E  E E +E "E :*E V:VE [4ZE a @a @a @a @IA IQ O] >} 2Acoustic response timeoutԁ ,"ȣ?A2 @2@2Mٱ29XIX=Z6DyZCZmEZ>\Q 5b^4^R?Q 9f^4^)^:BYdyfQ If?^CI^:i^ :^o^4yhɮj|Bljh|FNOT Ignoring new targets: 623.62 m.RheZhe ProNav: ac range: 623.617981 m, nav range: 614.433838 m, bearing: 206.586322 deg, approach rate: -0.224121 m/s, LOS rate: -0.050239 deg/s, cmd heading: 201.780003 deg, new cmd heading: 201.721431 deg. Bh HeadingCmd: 3.520703 target range: 623.617981 and range: 625.90 m.h3Sa@h*h"h hgfffdddjdZdS?@ZZZZ@%MBɢ%/)) -[=QiY)]O1YYi]bG;ie0aaIe3Sa@Ii gAm#9ByByB}HB}fNBByByByB};B}CE9@ @@ @ ԁ2Acoustic response timeout^A- ,>I I O= > ,~ᣮ?A26@2h1@2Dٱ2`6w >AHRS rotation from veh to nav: [[0.074509,0.969911,0.231776],[-0.993031,0.050883,0.106303],[0.091311,-0.238081,0.966943]]2H ? ?ժ?@K ?@6?+`?ryο`3?i26@I2`;2CYZNByZHI^4<)^y=Fx?Q롿S㥛= ?=\=/ݼ9 99=Cl?~jt ףp= Y=;?y==Q8=+B=B =B)=9Y=BbDU<VDU3ye=%e?=ٔmO;Q-m>9iIq=u6Dyu(Cu*dEu>E EE-E"E:*EP:VEt4ZEBE}Zʝ@MBɢ])  [=i ) -0))i5t;i5099I=?a@I99@ @@@ ^A 1> 2Acoustic response timeoutI I O- >9 D,?A:m@:h@:Aٱ:v BAHRS rotation from veh to nav: [[0.050162,0.970960,0.233926],[-0.994735,0.027615,0.098687],[0.089361,-0.237645,0.967233]]:H`ڮ??J? G?C?]?%kο?i:m@I:6`;:CYJCNByJHbDRAVDR?3yZ=%ZV=ٔ^5;Q-^>9`I`=b6DybfCb|Ef>dQ 5j_4fe R?Q 9j_4f6Ǫ)f:BYlynȿQ In?fCIf& ;ifC ;f_4ypɮvbBtjh FNOT Ignoring new targets: 623.62 m.RhnZhn% ProNav: ac range: 623.617981 m, nav range: 614.215515 m, bearing: 206.543843 deg, approach rate: -0.276801 m/s, LOS rate: -0.052151 deg/s, cmd heading: 201.653057 deg, new cmd heading: 201.593961 deg. Bh-)-HeadingCmd: 3.518478 target range: 623.617981 and range: 625.90 m.h-.a@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE?@ZaZaZaZe[@uMBɢ})y }=iy)}i/顁i;i0I.a@IU99@ @@@E EE'E"E*E[:VE'4ZEa@a@a@a@E2Acoustic response timeout9^A;>IQIiOu>i Aa Ae AABq Bq Bu &HBu NBBq Bq Bq Bu ;Bu CE,,?A 2륐@2Ơ@25ٱ2w >AHRS rotation from veh to nav: [[0.025884,0.971089,0.237309],[-0.995842,0.004306,0.090999],[0.087347,-0.238678,0.967163]]2H p?)?@'`?@nq? K?X\?@ο?i2륐@I2`;2CYFYNByFHR2Acoustic response timeoutbDN=VDN3yZ [=%ZJ=ٔ^;Q-^>9`I`=b6DybCbgwEf>dQ 5j_4fR?Q 9j_4fͪ)f:BYlyn˿Q In?fYCIf;if;f$_4ypɮrWBtjhIMFNOT Ignoring new targets: 623.62 m.RhU#gZhU#g ProNav: ac range: 623.617981 m, nav range: 614.098267 m, bearing: 206.523036 deg, approach rate: -0.284619 m/s, LOS rate: -0.050519 deg/s, cmd heading: 201.593962 deg, new cmd heading: 201.531529 deg. Bh HeadingCmd: 3.517389 target range: 623.617981 and range: 625.90 m.ha@h*h"h hgfffdddjdZd`)@@ZZZZ9@NBɢM{)I M=iI)U".qqiu;i}1yyI}a@II+?)"?UC9y9@ @@@@@V>ԙE EE.E"Em:*EL_:VEـ4ZEBE[IQ Ia Om > V ,Ɏ/?ATfُ@fԖ@fٱf'^v zAHRS rotation from veh to nav: [[0.001065,0.971218,0.238190],[-0.996348,-0.019305,0.083171],[0.085375,-0.237409,0.967651]]fHqsQ?7?@}?ēJ?(۵?lcο?ifُ@If-_;fCY NBy H A !%a=bD!VD!y5t=%5B=ٔ=';Q-=>9AIA=E6DyECErEM>IQ 5U_4MR?Q 9U_4MԪ)M:BYYy]οQ I]?MCIM ;iM ;M3_4yeBɮmUBmCEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.RhlZhl ProNav: ac range: 623.617981 m, nav range: 613.970642 m, bearing: 206.501663 deg, approach rate: -0.309181 m/s, LOS rate: -0.051789 deg/s, cmd heading: 201.531534 deg, new cmd heading: 201.467402 deg. Bh+HeadingCmd: 3.516269 target range: 623.617981 and range: 625.90 m.h a@h*h"h hgfffdddjdZd`\@@ZZZZp@NBɢG) f=i)-i;i '1  I  a@Iuv92Acoustic response timeout9@ @@@ ^AM ,>! E  E E ,E "E :*E rN:VE g4ZE a @a @a @a @e =e <e 2Acoustic response timeoutAy I I O >>,@jI?A2 @2@2"=ٱ2Bw :AHRS rotation from veh to nav: [[-0.024113,0.970138,0.241353],[-0.996215,-0.043486,0.075267],[0.083515,-0.238625,0.967514]]2H``^ ??@CD?`Ba?`@ο ?i2 @I2 `;2CYBNByBHbDJ9VDJ3yR j=%VT=ٔV;Q-V>9TIX=Z6DyZ+CZFEZ>`Q 5f_4bR?Q 9f_4b ۪)b:BYdyf(ҿQ If?bCIb:ib:b A_4ylɮnJBl|jhFNOT Ignoring new targets: 623.62 m.Rh [eZh [e} ProNav: ac range: 623.617981 m, nav range: 613.848145 m, bearing: 206.482310 deg, approach rate: -0.317243 m/s, LOS rate: -0.050130 deg/s, cmd heading: 201.467399 deg, new cmd heading: 201.409329 deg. Bh} HeadingCmd: 3.515256 target range: 623.617981 and range: 625.90 m.h`@h*h"h hgfffdddjdZd[@@ZZZZ@-#NBɢ-L')) -=i1)5+QQiUT\;i]%1YYI]`@Ia9)BBBqHBNBBBBB;BCE9@ @@@2Acoustic response timeoutQ^A1>ԉ A I I! O5 >h,Dc?A23@2.@2`6ٱ2&v :AHRS rotation from veh to nav: [[-0.050264,0.969026,0.241790],[-0.995360,-0.068491,0.067575],[0.082043,-0.237271,0.967973]]2H@*B?@?@`L? ?^ο?i23@I2_;2CYBNByB'HyErh|?{GzMb`E?E#EA A9E#~j?X9v?:vYE%?yE:*EeR:VEet4ZEaBEe9I=6DyrC#xE>Q 5_4-R?Q 9_4o):BY6&?Q E:yʿQ I?"CI:i:)P_4yɮDBjhFNOT Ignoring new targets: 623.62 m.RhvZhv ProNav: ac range: 623.617981 m, nav range: 613.719543 m, bearing: 206.458999 deg, approach rate: -0.297514 m/s, LOS rate: -0.053940 deg/s, cmd heading: 201.409329 deg, new cmd heading: 201.339382 deg. BhHeadingCmd: 3.514035 target range: 623.617981 and range: 625.90 m.h`@h*h"h hg f f f dd2Acoustic response timeoutdjd!Zd%@@Z{=Z{=ZuO?Z0*@3NBɢƾ?) =i))iq;i91I`@I  ԑ9@ @@0@@hA@Ա^A 6>i I  2Acoustic response timeout A I I O >,}?A:^@:Y@:ٱ:Hw FAHRS rotation from veh to nav: [[-0.076117,0.966682,0.244401],[-0.993861,-0.093293,0.059472],[0.080291,-0.238373,0.967849]]:Hh|?H?` ⷿs??ο@?i:^@I:`;:CYNNByNVHIR<)Rp;bDV?VDV3y^F=%bX=ٔbI;Q-b>9dId=f6DyfCf،Ej>hQ 5n_4j\R?Q 9r_4j)j:BYpyr"οQ Ir?jaCIj ;ij;j\]_4ytɮv1BxjhFNOT Ignoring new targets: 623.62 m.Rh%rZh%r5 ProNav: ac range: 623.617981 m, nav range: 613.601746 m, bearing: 206.438924 deg, approach rate: -0.311518 m/s, LOS rate: -0.053100 deg/s, cmd heading: 201.339387 deg, new cmd heading: 201.279150 deg. Bh5=HeadingCmd: 3.512984 target range: 623.617981 and range: 625.90 m.h=`@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM @@ZiZiZiZmU@颅ANBɢ`) C >i)n(顉i;iJ1I`@IԹu99@ @@0@Eq EuEu,Eq"Eq*EuV:VEug4ZEqa@a@a@a@-2Acoustic response timeout^AB A B B B HB OBB u =B B B ;B CEBBBBBC\#4Aq I I O >9 z%,?A2≌@2@2o3ٱ2y :AHRS rotation from veh to nav: [[-0.101940,0.963543,0.247372],[-0.991678,-0.118084,0.051289],[0.078630,-0.240085,0.967562]]2H`X??ӻ:B?!?`οD?i2≌@I2`;2CB2Acoustic response timeoutYFNByF^HbDR*VDR3yV<%ZK=ٔZۇ;Q-Z>9\I\=^6Dy^CbgEb>`Q 5f_4bR?Q 9j_4b)b:BYhyjyѿQ Ij?bCIb:ibp:bjk_4ylɮr.Bpjh  FNOT Ignoring new targets: 623.62 m.RhoZho ProNav: ac range: 623.617981 m, nav range: 613.470520 m, bearing: 206.417854 deg, approach rate: -0.326317 m/s, LOS rate: -0.052404 deg/s, cmd heading: 201.279145 deg, new cmd heading: 201.215924 deg. BhHeadingCmd: 3.511880 target range: 623.617981 and range: 625.90 m.h`@h*h"h hgfffdddjdZd@+A@ZZZZj~@QNBɢG޺)1 5=i9)=~&99i=m;iE]1AAIE`@IIU99@ @@0@AE} E}EyEy"E}m:*E}T:VEyZEyBE}[ԙ ٦+,ް?AJr@JM@JOٱJz RAHRS rotation from veh to nav: [[-0.127994,0.959893,0.249445],[-0.988754,-0.143118,0.043390],[0.077350,-0.241086,0.967416]]JHbq??`ߣQ¿>7?`8ͳ?ο ?iJr@IJ_;JCYZNByZHbDb>VDb43yj^=%jH=ٔn~M;Q-n>9n ?Ir ?=r6Dyr2CrEr>tQ 5z_4vR?Q 9z_4v)v:BY|y~ԿQ I~?vCIva;iv;vy_4yBɮ2BLE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 623.62 m.Rh5lZh=lE ProNav: ac range: 623.617981 m, nav range: 613.330994 m, bearing: 206.396741 deg, approach rate: -0.340932 m/s, LOS rate: -0.051603 deg/s, cmd heading: 201.215925 deg, new cmd heading: 201.152569 deg. BhM MHeadingCmd: 3.510775 target range: 623.617981 and range: 625.90 m.hM`@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde]A@iqп9YAZZZZ~@颽bNBɢH2)  >i),$iء;i,o1I`@II0?)>2Acoustic response timeout9IgA)9@A @A@A@A@I@MR>ԙ^A bE g4jE ʣf4rE ʲ0E  E E E "E :*E [:VE ZE a @a @a @a @E 2Acoustic response timeoutA ؟AI I O >2,ʤ?AB؊@Bӑ@B ٱB%y JAHRS rotation from veh to nav: [[-0.154231,0.955918,0.249866],[-0.985095,-0.168267,0.035690],[0.076161,-0.240637,0.967623]]BHսÿ@? ?@@ƉſE?B?2ο?iB؊@IB`;BCYR OByRH TTbD^9VD^3yfb=%fK=ٔfB;Q-j>9j"?Ij"?=j7DyjtCn_En>pQ 5v_4rAR?Q 9v_4r)r:BYtyv>ؿQ Iv?r*CIr:ir :rƇ_4y|ɮ~#B|jh!%FNOT Ignoring new targets: 623.62 m.Rh-hZh-h= ProNav: ac range: 623.617981 m, nav range: 613.188110 m, bearing: 206.376327 deg, approach rate: -0.355644 m/s, LOS rate: -0.050824 deg/s, cmd heading: 201.152568 deg, new cmd heading: 201.091311 deg. Bh= EHeadingCmd: 3.509706 target range: 623.617981 and range: 625.90 m.hE`@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`GA@ZqZqZqZu[ҧ@颍pNBɢ +:) >i)u"顑ir;i1I`@I9Bh>BBHBPOBBv =BBB;BCEM9@I @I@M0@IiߙIߙ2Acoustic response timeout^Aq9 A I I O >Y 8,Y䤮?A2@2@21ٱ2y :AHRS rotation from veh to nav: [[-0.179780,0.951216,0.250733],[-0.980864,-0.192703,0.027768],[0.074731,-0.240943,0.967658]]2Hǿ\p? ?@=cȿMo?!?9ο ?i2@I2&_;0YJ/OByJHyCl?I +Q?d?94\= 9Q?333333?X9v?Y(?y=<TC {B)BY#BD1zD5@AE= E=E=-E9"E=:*E=V:VE=t4ZE9BE=9qIy=7DyCxE>2Acoustic response timeoutYQ 5m_4]R?Q 9m_4])] ;BYm?Q Em:ymrϿQ Iu?]rCI]};i];]_4yyɮ}ByjhFNOT Ignoring new targets: 623.62 m.RhdZhd ProNav: ac range: 623.617981 m, nav range: 613.052246 m, bearing: 206.353625 deg, approach rate: -0.298908 m/s, LOS rate: -0.049956 deg/s, cmd heading: 201.091315 deg, new cmd heading: 201.023194 deg. Bh# HeadingCmd: 3.508517 target range: 623.617981 and range: 625.90 m.h`@h*h"h hgfffdddjdZd@~A@Z=Z=Z?Z@ NBɢ ::)  D,>i)p ib;i,1I`@aI]99@ @@@ԑ 2Acoustic response timeout ^A1 Ai Iq I O >?,?A,>3@>t.@>9ٱ>7| FAHRS rotation from veh to nav: [[-0.204699,0.945510,0.253196],[-0.976087,-0.216515,0.019402],[0.073166,-0.243170,0.967220]]>H3ʿA?^4?<࿶˿.ޓ?@?`1 Ͽ x?i>3@I>`;>CYN9dId=f7DyfCf'Ef>hQ 5n_4jR?Q 9r_4j )j;BYpyrҿQ Ir?jCIj:ij|:jI_4ytɮv BxjhFNOT Ignoring new targets: 623.62 m.RhaZha- ProNav: ac range: 623.617981 m, nav range: 612.939270 m, bearing: 206.335811 deg, approach rate: -0.312722 m/s, LOS rate: -0.049317 deg/s, cmd heading: 201.023191 deg, new cmd heading: 200.969741 deg. Bh-b5HeadingCmd: 3.507584 target range: 623.617981 and range: 625.90 m.h5@|`@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdMA@ZiZiZiZm9@}NBɢ}.;) Z+>i)u顁i3;iu1I@|`@I m9ԉ9@ @@0@E EE,E"E>:*EL_:VEg4ZEa%@a%@a%@a%@2Acoustic response timeoutԱ^A A zA Ai Am @ABu g>Bu _CBu FHBu OBBu u =Bq Bq Bu ;Bu CE A I! I1 Om >E,?A2Acoustic response timeout6f@6]a@6ٱ6@& BAHRS rotation from veh to nav: [[-0.229089,0.938842,0.257088],[-0.970739,-0.239886,0.011006],[0.072004,-0.247044,0.966325]]6H RͿ@ ?@ t?Jο.?n?!Ͽ@#?i6f@I6`_;4YJ@OByJHbDR7VDRp3yZ& <%ZL=ٔZ;>;Q-^>`9\I`=b7Dyb:CfEf>dQ 5j_4fR?Q 9n_4f)f5;BYlynտQ In?fCIf;if+;fS_4yvBɮvBvUEjh FNOT Ignoring new targets: 623.62 m.Rh3^Zh3^ ProNav: ac range: 623.617981 m, nav range: 612.808533 m, bearing: 206.316302 deg, approach rate: -0.325375 m/s, LOS rate: -0.048566 deg/s, cmd heading: 200.969738 deg, new cmd heading: 200.911196 deg. BhRHeadingCmd: 3.506562 target range: 623.617981 and range: 625.90 m.hk`@h*h"h hgfffdddjdZd@/B@Z!Z!Z!Z%#@颵NBɢph:) r>i)eP项i ;i21Ik`@I&9%9@! @!@%0@!E EE)E"E:*ET:VEFA4ZEBE}L,נ2?A:)@:@:1ٱ:x FAHRS rotation from veh to nav: [[-0.253369,0.932446,0.257584],[-0.964773,-0.263064,0.003298],[0.070836,-0.247674,0.966250]]:H17п`?@@|? k@ пk?W"?`ȳϿ?i:)@I:q`;8YJeOByJHbDTVDTy^i=%^J=ٔ^l=;Q-b>9`I`=b7Dyb|Cf}Ef>hQ 5n_4jR?Q 9n_4j)jL;BYlynٿQ Ir?j)CIj];ijH;jt_4yvxBɮvƏBvTEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.Rh%ZZh%Z5 ProNav: ac range: 623.617981 m, nav range: 612.671814 m, bearing: 206.296978 deg, approach rate: -0.337851 m/s, LOS rate: -0.047763 deg/s, cmd heading: 200.911189 deg, new cmd heading: 200.853205 deg. Bh5=HeadingCmd: 3.505550 target range: 623.617981 and range: 625.90 m.h=Z`@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM aB@ZiZiZiZm X@颅NBɢ oJ;) k2>i)#顉ieRu;i1IZ`@Iu89i9I9E2Acoustic response timeout 9@  @ @ 0@Iԁ^AIE-  E- E- ,E) "E- :*E- [:VE- g4ZE) a5 @a5 @a5 @a5 @Ia Iq O >  BDAT read: Response Not Received  *response not received 9IIQ=U7DyUCemEe>ԡqQ 5%_4u R?Q 9%_4uO)uc;BY)y-AܿQ I-?ulCIu-iI)M.IIiMb;iU1QYI]I`@IYIe-?)eI?%X9)MDAT read: UBDAT read: Tx time:00:19:34.7495 U$Ping request sent.U IA IQ Oe >,Y,zf?A2@2 @2ʌٱ2 :AHRS rotation from veh to nav: [[-0.299443,0.919148,0.255931],[-0.951638,-0.307032,-0.010758],[0.068691,-0.246776,0.966635]]2H`*ӿ i?.a? sjӿ?XϿ?i2@I2_;2CY@yB9HDDEj EjEj.Eh"Ej:*EjV:VEjـ4ZEhBEj-E-<) ))-Mb@Mb@Mb@I-i-‰--- -)--I-bDE/VDE3yU :%UH=ٔ]1;Q-]>9YIY=e7Dye CelEe>qQ 5}_4uR?Q 9}_4u$)uy;BQ A}+:YyQ E}:y}B߿Q I?uCIuP:iu>u_4ߍ%=ߍ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249852y)ɮ))jhIUFNOT Ignoring new targets: 623.62 m.RhUYZhUY ProNav: ac range: 623.617981 m, nav range: 612.375854 m, bearing: 206.258206 deg, approach rate: -0.372203 m/s, LOS rate: -0.047572 deg/s, cmd heading: 200.793259 deg, new cmd heading: 200.736857 deg. BhHeadingCmd: 3.503519 target range: 623.617981 and range: 625.90 m.h9`@h*h"h hgfffdddjdZd@B@uNBɢ}?;) Z+>i)顁i]T;i 1I9`@I}9-9@) @1@50@19E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501558^AU ,>I I O >i l `,/?A:pP@:KK@:!ٱ:)k FAHRS rotation from veh to nav: [[-0.321600,0.911593,0.256069],[-0.944457,-0.328143,-0.017978],[0.067638,-0.247628,0.966491]]:H@Կ+? nc?8Lտh P?CϿ@?i:pP@I:g_;8YJOByNUHbDVEVDV3y^Ml=%^V=ٔb4;Q-b>9`I`=f7DyfA Cf5zEf>hQ 5n_4j>R?Q 9n_4j*)j;BQ An :YpQ Erb:yr?Q Ir?jCIj ;ij J?j_4ytɮvBtjhFNOT Ignoring new targets: 623.62 m.Rh[Zh[- ProNav: ac range: 623.617981 m, nav range: 612.233521 m, bearing: 206.240856 deg, approach rate: -0.393898 m/s, LOS rate: -0.048025 deg/s, cmd heading: 200.736855 deg, new cmd heading: 200.684794 deg. Bh-5HeadingCmd: 3.502610 target range: 623.617981 and range: 625.90 m.h5*`@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM@B@uNBɢu ;)q u3>iy)}*yyi}G;i1I*`@IQ]g9E EE+E"Ea:*E1]:VE [4ZEa@a@a@a@9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962ԁ^A6>ԱIIO>B <A <B B B HB OBB B B B ;B ,DE ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005487;f,p%?A2衄@2Ü@2%=ٱ2u遾 :AHRS rotation from veh to nav: [[-0.341674,0.903747,0.257878],[-0.937465,-0.347144,-0.025502],[0.066474,-0.250465,0.965841]]2Hտ ~? ?``7ֿ'm? п+?i2衄@I2R`;2CYBOByBZHbDJ?VDJ3yR(<%RK=ٔV>;Q-V>9TIT=V7DyV CZXEZ>\Q 5b_4^Q?Q 9b_4^!1)^;BQ Ab9Y`Q Ef7:yfQ If?^&CI^3:i^?^_4yjBɮjBj]Ejh|~FNOT Ignoring new targets: 623.62 m.RhLZhL ProNav: ac range: 623.617981 m, nav range: 612.079041 m, bearing: 206.222824 deg, approach rate: -0.383667 m/s, LOS rate: -0.044796 deg/s, cmd heading: 200.684796 deg, new cmd heading: 200.630685 deg. BhHeadingCmd: 3.501666 target range: 623.617981 and range: 625.90 m.hL`@h*h"h h!g!f!f!f!d)d)d)jdZd1C@NBɢ  ;) g%>i)>i]p8;i i2IIIML`@IQ Y]bAԩE99@ @@0@@gA@cAE EE-E"E>:*E[:VEt4ZEBE AQ IY Ii O} >) e`l,6鳥?A2@2@2ٱ2s :AHRS rotation from veh to nav: [[-0.362209,0.896204,0.256169],[-0.929780,-0.366759,-0.031556],[0.065672,-0.249611,0.966117]]2Hn.׿@?e?x׿ (@ϰ??Ͽm?i2@I2`;2CY^OBy^uHIbJ>)bo?bDf8VDf3ynW=%rG=ٔrZ;Q-r>9tIt=v7Dyv Cv[Ev>xQ 5~_4zQ?Q 9~_4z7)z;BQ A9YQ E:yQ I?zgCIz ;iz?z-_4y ɮB-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 623.62 m.RhE'IZhE'IU ProNav: ac range: 623.617981 m, nav range: 611.917603 m, bearing: 206.204787 deg, approach rate: -0.393410 m/s, LOS rate: -0.043965 deg/s, cmd heading: 200.630687 deg, new cmd heading: 200.576563 deg. BhUbUHeadingCmd: 3.500721 target range: 623.617981 and range: 625.90 m.h] `@hY*hY"hY hYgafafafadadidijdiZdmdC@额OBɢJ;) *>i)顡i-\*;i2I `@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510078! 9@  @ @ 0@9^AM1>i E  E E ,E "E :*E X:VE g4ZE a @a @a @a @II IY Oe > ? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7620286Hs,ͥ?A 2@@2b;@2ٱ26 >AHRS rotation from veh to nav: [[-0.381825,0.888244,0.255407],[-0.921962,-0.385423,-0.037898],[0.064777,-0.249946,0.966091]]2Hoؿ}l?X?@êؿ NgB?:Ͽ6?i2@@I2`;2CYbOBybHbDr@VDr3y=%H=ٔ ;Q- >9 I =8Dy C%YSE%>!Q 5=_4%:Q?Q 9=_4%=)%;BQ AE9YAQ EE9yEQ IE?%CI%"w;i%@%._4yYɮ]Bajh  FNOT Ignoring new targets: 623.62 m.Rhv<Zh5v<E ProNav: ac range: 623.617981 m, nav range: 611.751892 m, bearing: 206.187036 deg, approach rate: -0.384434 m/s, LOS rate: -0.041192 deg/s, cmd heading: 200.576565 deg, new cmd heading: 200.523297 deg. BhE(MHeadingCmd: 3.499792 target range: 623.617981 and range: 625.90 m.hM_@hI*hI"hI hIgQfqfyfydydydyjdZd VC@Bf>BBIB%PBBBBB;BfDEByByByB}u =B}u =C} 4 OBɢ dD;q) 3>i) 5 顑iO;i#2I_@I99@ @!@%0@!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014699ԙ ^A ;>IY Iq O} >y,祮?A2*@2@2iٱ2 :AHRS rotation from veh to nav: [[-0.401378,0.879673,0.255090],[-0.913665,-0.404049,-0.044273],[0.064123,-0.250837,0.965903]]2H@-ٿH&?cS?<ٿYj? п?9I=8DyO C GE> Q 5`4 Q?Q 9`4 0C) ;BQ A%T:Y%?Q E%:y%Q I%? CI 2I;i yH; `4y5GBɮ=aB=\EjhFNOT Ignoring new targets: 623.62 m.Rh%Zh-= ProNav: ac range: 623.617981 m, nav range: 611.573669 m, bearing: 206.174462 deg, approach rate: -0.404818 m/s, LOS rate: -0.028569 deg/s, cmd heading: 200.523303 deg, new cmd heading: 200.485570 deg. Bh=ٜ=HeadingCmd: 3.499133 target range: 623.617981 and range: 625.90 m.hE_@hA*hA"hA hagififyfydԩddjdZdC@Z-ы=Z-ы=Z-v @Z-zG>e0OBɢe :)i m>ii)m iiimE ;iu-2qyI}_@II3?):? e>9Yy9YA9@ @@4@@Y>@Y>i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517938 ^A 1>I I1 O= >a,p?A2(߁@2ڈ@2ٱ2e :AHRS rotation from veh to nav: [[-0.421255,0.870520,0.254440],[-0.904698,-0.423062,-0.050405],[0.063765,-0.251425,0.965774]]2H ڿK?`H?HqۿΩR?@Xп?i2(߁@I2$'`;0YBOByBH DDHJAbDN;VDN)3yV+=%Vc=ٔV:Q-Z>9XIX=Z8DyZ C^>yE^>`Q 5f`4bQ?Q 9f`4bjG)b;BYdyfQ Ij?bCIb;ib;b`4ylɮnRBltjh FNOT Ignoring new targets: 623.62 m.Rh Zh  ProNav: ac range: 623.617981 m, nav range: 611.425842 m, bearing: 206.164489 deg, approach rate: -0.439891 m/s, LOS rate: -0.029685 deg/s, cmd heading: 200.485573 deg, new cmd heading: 200.455646 deg. Bh%HeadingCmd: 3.498611 target range: 623.617981 and range: 625.90 m.h%>_@h!*h)"h) h)g)f1f1f1d1d9d9jd9Zd= C@ZYZYZYZ]V1>>OBɢ;) +>i)BiZ[:iw62I>_@IbEIjEIrEMç/E EE,E"E:*E&p:VEg4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7697439@ @@0@IAAAABBBIBDPBBBBB0;B|DE^AIA IQ Oe >q 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021537,V?A2-@2'@2:ٱ2 :AHRS rotation from veh to nav: [[-0.440828,0.861350,0.252480],[-0.895339,-0.441882,-0.055750],[0.063546,-0.250631,0.965995]]2H6ܿ`.?`(?` Gܿ?D?W пm?i2-@I2~C`;2CYBOByBHbDJ6VDJ3y~@=%~F=ٔ^ :Q->9I= 8Dy  C WE >Q 5`4Q?Q 9`4:L);BY!y%JQ I%?ECI;i;s `4y)ɮ-HB)jhQUFNOT Ignoring new targets: 623.62 m.YRheZheu ProNav: ac range: 623.617981 m, nav range: 611.252808 m, bearing: 206.153340 deg, approach rate: -0.419771 m/s, LOS rate: -0.027054 deg/s, cmd heading: 200.455643 deg, new cmd heading: 200.422187 deg. Bhu}HeadingCmd: 3.498027 target range: 623.617981 and range: 625.90 m.h}_@hy*hy"hy hygfffdddjdZd3D@ZZZZ>QOBɢX+d;) I->i)iP:i@2I_@I9-9@) @)@-0@)ԑE EEE"EO:*EV:VEZEBE l,{05?A2js@2En@2pٱ2 :AHRS rotation from veh to nav: [[-0.460999,0.851545,0.249701],[-0.885111,-0.461430,-0.060502],[0.063699,-0.248904,0.966431]]2Hݿ??`2? RݿN?Ͽ?i2js@I2!_;2CYN PByRHbDZ0VDZ3yb3<%bN=ٔb3˹Q-b>9dId=f8Dyf CjMjEj>hQ 5r`4j3Q?Q 9r`4jP)jEdOBɢELG;)A E&>iA)MIIiM:iUH2qqIu_@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526532-9@) @)@-0@)@1@5hA^AIIIO>E  E E +E "E :*E L_:VE [4ZE a @a @a @a @ BDAT read: Rx Time:00:19:38.0024  TRx dataTimestamp_ set to:1761524377.180112 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7786059 蘓,O?AY5"PBy5HI==)=bDM:VDM{3y]#a=%]@=ٔeQ-e>9aIa=e8DyeS CmEm>qQ 5}`4uQ?Q 9}`4uU)ui!)%s!!i%:i-pR211I5E_@I1BBB&IBbPBBBBB,;BxDE9@ @@0@9iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030364^Ae6>) A I I O >ſ,h?ADR?AzDPEV EVEV-ET"EV:*EVR:VEVt4ZETBEV}A@ e¸2=)e`7@Ie¸2ae9qIq=}8Dy} CyE}>Q 5`4Q?Q 9`4z[Q =tI)%iA)EAAiEn:iM]2IIIU_@IQԁ9@ @@4@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ ^A A)I1IAOU> ,g?A2S|@2$@2惽ٱ2~ :AHRS rotation from veh to nav: [[-0.523005,0.817286,0.241887],[-0.849896,-0.521500,-0.075596],[0.064361,-0.245116,0.967355]]2Hu4'?(?Y2 AZ@y?`_Ͽ?i2S|@I2|g_;0YBDPByBIbDJ1VDJ[3yR=%Rm=ٔRQ-V?9TIT=V8DyV CZTEZ?\Q 5b`4^Q?Q 9b`4^F_)^1i)_kiW:i5d2AAIE_@IAuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse%9@! @!@%0@!Bm<Am<BqBqBu?IBuPBBqBqBuҺDBu=;BuDE ^AE;>AM>AM>% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseAy I I O >1 Χ,I?A2Sz@2Y@2҄ٱ2| :AHRS rotation from veh to nav: [[-0.543966,0.804362,0.238963],[-0.836601,-0.541879,-0.080411],[0.064809,-0.243657,0.967694]]2H*h@U?@U?`oWЕ@Y?)0ϿX?i2Sz@I2_;2CY^>PBy^I ``bDf:VDf{3yrp%rG=ٔrcQ-r>9tIt=v8Dyv CvwEz>xQ 5~`4zQ?Q 9`4zc)z?i9)=99i=e:iM{l2QQIU:_@IQ ]]I])]E EE,E"E:*Ee:VEg4ZEBE= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseAAIIIYOm??,A ?A6_aw@6@6(ٱ68y NAHRS rotation from veh to nav: [[-0.587018,0.775378,0.232808],[-0.806891,-0.583751,-0.090339],[0.065855,-0.240881,0.968318]]6H??@ n ۰?/οu?i6_aw@I6_;6CYVYPByV IbDbAVDb?3yjLZ=%j"=ٔjQ-j>9lIl=n9Dynr Cr|սEr>pQ 5v`4rQ?Q 9z`4rh)rPi)K顙ilf9iu2I_@Iԉ-9@) @)@-4@)E EE*E"E[:*EX:VE(N4ZEa@a@a@a@}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԱ^A 6>I I! O- >Ba Ba Be RIBe PBBa Ba Be ѺDBe 8;Be DE 5e,ڦ?AB2u@Bρ@BꇽٱB_xy JAHRS rotation from veh to nav: [[-0.608415,0.759429,0.230432],[-0.790844,-0.604430,-0.096076],[0.066317,-0.240689,0.968334]]BH@"x>M?`~?@N~Wn'?@ο?iB2u@IBg_;BCYRdPByR'IbDZGVDZ4zT****** received valid address query ******zR****** received valid ping request ******~received new query, but waiting for acoustic response period to elapseyk<%G=ٔ%Q-%>91I1==9Dy= CMEM>aQ 5`4e̓Q?Q 9`4e.m)e_i9)='9AiEh8im{2iiImԣ_@Iq@ @@3@!E EEE"E:*Ega:VEZEBEa2EaJE;a:E;aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq ^A A zA jAI I O >,?A 2s@2@2ٱ2Q} >AHRS rotation from veh to nav: [[-0.629911,0.741578,0.230813],[-0.773786,-0.624797,-0.104330],[0.066843,-0.244319,0.967388]]2H ;(? J?V@]`?EϿ?i2s@I2z_;2CYBxPByF3IIJ<)J49I=9Dy CME>Q 5`4|Q?Q 9`4r)QZ5 '>Z5?Z5@MOBɢMf>8;)I M>iI)U7QQiUi]L2YYI]i_@IaiԉT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse @  @ @ 4@ ԙ^A5,>IIO> E  E E -E "E O:*E V:VE t4ZE 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[yé,:?APr@ @ ٱA EAHRS rotation from veh to nav: [[-0.651172,0.723312,0.229770],[-0.755936,-0.645031,-0.111789],[0.067350,-0.246485,0.966803]]H`g_%?i?07=?ՌϿ ?ir@I5X_;YPByBIbDBVD3yp=%F=ٔ͡Q->9I=9Dy< CIE>Q 5`4xQ?Q 9`4x)Di)ctii/2I_@IA AAA BBBkIBPBBBBҺDB%;BpDEBBBBBCS^4@ @@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A1>II IY Om >! cɩ,d(?A2Qp@2G~@2ٱ2ꀀ :AHRS rotation from veh to nav: [[-0.672196,0.704462,0.227785],[-0.737261,-0.665083,-0.118787],[0.067815,-0.247785,0.966439]]2Hࠂ@?@ (?\H@hL\?kϿ?i2Qp@I2@_;2CYBPByB?IbDJ<VDJ3yRcz%R^=ٔV쥺Q-V>9TIT=V9DyZx CZEZ>\Q 5b`4^kQ?Q 9b`4^})^8:*ER:VE [4ZEBEI I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ Щ,>B?A2~n@2gt|@2"Ëٱ2$r :AHRS rotation from veh to nav: [[-0.692926,0.684733,0.225818],[-0.717777,-0.684735,-0.126232],[0.068190,-0.249557,0.965956]]2Hs,`U?@?@Y`a(t?zϿ?i2~n@I2$@_;0YnPBynZIbDz=VDz3y=%E=ٔwmQ->9 I = 9Dy  C }E>Q 5`4\Q?Q 9%`4.)*i)/i7Kia2IU~_@IQ@Q @Q@U4@Q@]hA@YbE1jE57i4rE55/E EE-E"E:*Eg:VEt4ZEa@a@a@a@eT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^AIIO>B B B IB QBB B B B ;B QDE P֩,\?Ampl@m'z@msٱm肾T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse -AHRS rotation from veh to nav: [[-0.712499,0.664832,0.224374],[-0.698319,-0.703091,-0.134212],[0.068527,-0.252311,0.965217]]mH@NF?I?`X`-?%п@?impl@Im$_;mCY=PBy=hIbDU;VDU)3ye A=%e6=ٔeDQ-e>9iIi=m9DymCu@|Eu>yQ 5`4} LQ?Q 9`4})}i)ݻi4iV2I^u_@ID@AzDE EEE"E:*Ee:VEZEBEA zA gAԉA-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseI1IAOU?fީ,P~?ARj@Rx@R=̌ٱRXւ ^AHRS rotation from veh to nav: [[-0.731334,0.645342,0.220646],[-0.678551,-0.721071,-0.140091],[0.068695,-0.252172,0.965241]]RHg?@>?`@}@?@#п A?iRj@IR6_;RCYbPBynoIbDz?VDz3y%T<%-%=ٔ-Q-->91I1=59Dy5UC5bE=>9aQ 5m`4=9Q?Q 9m`4=6)= B A B B B IB .QBB B B B Ɍ;B DEI) I9 OM >,n?A2(Ci@28w@2jٱ2>̓ :AHRS rotation from veh to nav: [[-0.749214,0.625470,0.217867],[-0.658775,-0.737750,-0.147445],[0.068509,-0.253993,0.964777]]2H??@z¿@Љ?@mAп@s?i2(Ci@I2P_;2CYBPByByIbDz5VDz3y=%M=ٔT9Q->9 I = 9Dy CE>Q 5%`4Z)Q?Q 9%`4);BY!y%Q I%?CI:i1:`4y5Bɮ5B5rEjhY]FNOT Ignoring new targets: 623.62 m.Rhe=Zhe=u ProNav: ac range: 623.617981 m, nav range: 608.138489 m, bearing: 206.010740 deg, approach rate: -0.639528 m/s, LOS rate: -0.020572 deg/s, cmd heading: 200.018265 deg, new cmd heading: 199.994240 deg. Bhua}HeadingCmd: 3.490558 target range: 623.617981 and range: 625.90 m.h}Me_@hy*hy"hy hygyfffdddjdZd-G@ZZZZ=@pPBɢP;) Z=i)?ֻiȺih2IMe_@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-9@) @)@50@1@=V>@=R>)D D <E  E E +E "E m:*E ga:VE [4ZE BE [Y I I! O- >T,(?A:|g@:4uu@:ٱ:< FAHRS rotation from veh to nav: [[-0.767098,0.604974,0.213466],[-0.637882,-0.754709,-0.153366],[0.068322,-0.253813,0.964837]]:H[?R?i&}ÿ@}?v>п?i:|g@I:Vs_;8YNPByNIbDV7VDVp3y^o=%^A=ٔb9Q-b>9`I`=f9DyfCfsEf>hQ 5n`4j5Q?Q 9n`4j!)j;BYpyrQ Ir?jCIj:ij:jd`4ytɮvBtjhFNOT Ignoring new targets: 623.62 m.RhfZhf- ProNav: ac range: 623.617981 m, nav range: 607.871704 m, bearing: 206.002919 deg, approach rate: -0.631174 m/s, LOS rate: -0.018512 deg/s, cmd heading: 199.994236 deg, new cmd heading: 199.970762 deg. Bh-GK5HeadingCmd: 3.490148 target range: 623.617981 and range: 625.90 m.h5^_@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEcG@QZiZiZiZmd]@}PBɢ7:) =i)5&ӻ顁i pi2I^_@I 9@  @ @ 0@ y%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^A6>A>A>IQIaOuy>ԩ E  E E -E "E :*E X:VE t4ZE a% @a% @a% @a% @8,˂ͧ?ABT****** received valid address query ******FR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseVBe@Vs@VCٱV< fAHRS rotation from veh to nav: [[-0.783413,0.585042,0.209738],[-0.617776,-0.769930,-0.159879],[0.067948,-0.254823,0.964598]]VH@? ?CvĿ`e?`Oп?iVBe@IV_;VCY=QBy=IbDMBVDM3Թy% U=%%6=ٔ%[:Q-%>9)I)=-:Dy-$C-mE5>9Q 5=`4=Q?Q 9E`4=T)=;BYAyEbQ IE?=RCI=$:i=:=`4yMBɮUEBUqEmB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 623.62 m.Rh=Zh= ProNav: ac range: 623.617981 m, nav range: 607.586243 m, bearing: 205.995309 deg, approach rate: -0.623781 m/s, LOS rate: -0.016637 deg/s, cmd heading: 199.970768 deg, new cmd heading: 199.947927 deg. Bh6HeadingCmd: 3.489750 target range: 623.617981 and range: 625.90 m.hX_@h*h"h hgfffddd)jd1Zd5 G@ZqZqZqZuK@颅PBɢ( ]:) =i)ϻ顩ii2ɯ:k>IX_@IBBBIB`QBBBBB;BCE9@ @@ 0@EI I O- >9 b,B]秮?A61d@6&r@6tٱ6 BAHRS rotation from veh to nav: [[-0.799084,0.565428,0.204342],[-0.597467,-0.784737,-0.164989],[0.067066,-0.253928,0.964895]]6H?'?`s@\ſ4+?Z@пl?i61d@I6ml_;6CYJ'QByJInonly read 0 of 4 data items for beam range. Device response is::RA, 0+242.66, +3.35, 94.08, 0.00 an@ar ar@ar ar@ar ar@ar bDv3VDv3y~P{=%~_=ٔ;Q->9I=:Dy_C E >Q 5`4P?Q 9`4s);BQ A+:YQ E%:y%Q I%?CI;i>p`4y)ɮ-9B)jhQUFNOT Ignoring new targets: 623.62 m.Rh]Zh]m ProNav: ac range: 623.617981 m, nav range: 607.351746 m, bearing: 205.989658 deg, approach rate: -0.655844 m/s, LOS rate: -0.015811 deg/s, cmd heading: 199.947928 deg, new cmd heading: 199.930968 deg. Bhm-uHeadingCmd: 3.489454 target range: 623.617981 and range: 625.90 m.hu5S_@hq*hq"hq hqgyfyfyfdddjdZdsG@颵PBɢ #;) |=i)ͻ项iB8i2sу:[un>I5S_@IyE EEE"E:*ErN:VEZEBE'I I1IOM1>iE 2Acoustic response timeoutԙ J,9?A2b@2]p@2}ٱ2ג :AHRS rotation from veh to nav: [[-0.814024,0.545233,0.200214],[-0.577056,-0.798403,-0.171929],[0.066110,-0.255489,0.964549]]2H} r?? >wƿ`? Yп?i2b@I2E_;0Yf8QByfIbDr?VDr3y%`(=%-G=ٔ-6;Q-->9)I1=5:Dy5C5}E5>9Q 5Ea4=?P?Q 9Ea4=릫)=;BQ AM :YIQ EMR:yMQ IM?=CI=:i=,G?=a4yUBɮ]B]pEjhyFNOT Ignoring new targets: 623.62 m.Rhi~Zhi~ ProNav: ac range: 623.617981 m, nav range: 607.087646 m, bearing: 205.983962 deg, approach rate: -0.644344 m/s, LOS rate: -0.013902 deg/s, cmd heading: 199.930961 deg, new cmd heading: 199.913868 deg. BhHeadingCmd: 3.489155 target range: 623.617981 and range: 625.90 m.hRN_@h*h"h hgfffdddjdZdG@PBɢX :) =i)ʻi)id2p:NZ>IRN_@Iq9@ @@0@ԡE EE*E"E:*Eg:VE(N4ZEa@a@a@a@2Acoustic response timeout^A2g>I1IIOU>A @AA B B B IB QBB B B B ;B CE t,?Aɰ4<2`@28n@2M̅ٱ2΃ :AHRS rotation from veh to nav: [[-0.828191,0.525643,0.194422],[-0.556631,-0.811882,-0.176094],[0.065285,-0.254061,0.964982]]2H ??@Cƿ ~?Bп"?i2`@I2L,_;0YBGQByBIbDJAVDJ?3yR=%VS=ٔV ;Q-V>9XIX=Z:DyZCZEZ>\Q 5ba4^P?Q 9fa4^)^;BQ Af9YdQ Ef*:yf=Q If?^CI^ :i^3?^ a4yhɮnBljh|FNOT Ignoring new targets: 623.62 m.RhcZh c ProNav: ac range: 623.617981 m, nav range: 606.836609 m, bearing: 205.979157 deg, approach rate: -0.647754 m/s, LOS rate: -0.012404 deg/s, cmd heading: 199.913872 deg, new cmd heading: 199.899450 deg. Bh5%HeadingCmd: 3.488904 target range: 623.617981 and range: 625.90 m.h%2J_@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd51H@2Acoustic response timeoutPBɢ D:)  =i ) hWǻ id-i2 : F>I2J_@I9@ @@0@^A9Uy>!AIIOj>Q  2Acoustic response timeoutEE  EE EE ,EA "EE :*EE Ar:VEE g4ZEA BEE v%AHRS rotation from veh to nav: [[-0.841704,0.506327,0.187528],[-0.536126,-0.824937,-0.179022],[0.064055,-0.251222,0.965808]]2H=3??@'@e`1ƿe?п@?i2Kf_@I2 _;2CYFbQByFIbDN7VDNp3y~=%E=ٔvB;Q->9I = :Dy %C rE >Q 5a4lP?Q 9a4C);BQ A%9Y!Q E% :y% Q I%?]CI ;iW?Ga4y-=Bɮ5B1jhQUFNOT Ignoring new targets: 623.62 m.Rh]GZh]Gm ProNav: ac range: 623.617981 m, nav range: 606.566589 m, bearing: 205.974626 deg, approach rate: -0.650670 m/s, LOS rate: -0.010923 deg/s, cmd heading: 199.899447 deg, new cmd heading: 199.885848 deg. BhmuHeadingCmd: 3.488666 target range: 623.617981 and range: 625.90 m.huOF_@hq*hy"hy hygyfyffdddjdZdfH@颵PBɢp$:) =i)ftĻ项iş;if2Z;φ3>IOF_@II)Qu9@q @q@uA1@q@}C>@}=^AM]> 2Acoustic response timeoutAyyIIO^>ԩ r,N?Ai4I4:2Acoustic response timeout<EZ EZEZ)EX"EZ:*EZR:VEZFA4ZEXa^@a^@a^@a^@YuQByuIbDCVD3y=%A=ٔQ->9I=:DyjCE>Q 5a4RP?Q 9a4);BQ A9YQ E9yQ I?CI` ;iR@sa4y BɮLBxEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 623.62 m.RhGZhG ProNav: ac range: 623.617981 m, nav range: 606.290527 m, bearing: 205.969989 deg, approach rate: -0.650148 m/s, LOS rate: -0.010926 deg/s, cmd heading: 199.885855 deg, new cmd heading: 199.871936 deg. Bh HeadingCmd: 3.488423 target range: 623.617981 and range: 625.90 m.h TB_@h*h"h hgfffdddjd!Zd%H@MQBɢU ;)Q U=iQ)Ug*QYi]^Ji]a2ep@(;er$7>IeTB_@Iaԩ%9@! @!@%0@!Be>BBIBQBBBBB;BCEBQBQBQBQBQCUW04%2Acoustic response timeout^AZ> A I Iq O >&,h?ABI\@BB?j@B|ٱB} NAHRS rotation from veh to nav: [[-0.866910,0.467466,0.173040],[-0.494656,-0.849618,-0.182932],[0.061503,-0.244181,0.967777]]BH`?`+&?o߿0UjǿY}? TAϿ ?iBI\@IBLp_;BCYVQByVIla5a5 a5a5 a5a5 a5a5 y=&1?(\ſ9qIq=u:DyuC}oE}>Q 5a4֝P?Q 9a4P);BQ AT:Y ?Q E:y[(Q I?CIU;iU;`!a4yɮ>BD?AzD?AjhFNOT Ignoring new targets: 623.62 m.Rh@Zh@M ProNav: ac range: 623.617981 m, nav range: 606.080261 m, bearing: 205.968839 deg, approach rate: -0.481139 m/s, LOS rate: -0.002632 deg/s, cmd heading: 199.871935 deg, new cmd heading: 199.868484 deg. BhM>縝uBDAT read: Response Not Received }*response not received}RDAT read: user:26>Tx time:00:19:47.1995 Z-@>Z-#?Z-]@=!QBɢ=;)A E"=iA)E݁aiimYim^2u:o=;uf >IuWA_@Iq d>C9AY@9 @iuMA@m0@qa9YA1^AM>A I I O >q % DAT read: % 2Acoustic response timeout ,8?A2mZ@2%h@2fuٱ2@| :AHRS rotation from veh to nav: [[-0.878001,0.448512,0.167185],[-0.474884,-0.859992,-0.186812],[0.059991,-0.243415,0.968065]]2Hk?Sf?d޿ uǿ`? 8(Ͽc?i2mZ@I2w`;0YBQByBIbDN-VDN3yV{<%VW=ٔV;Q-V>9XIX=Z:DyZCZvuE^>`Q 5fa4bP?Q 9fa4bȸ)b;BYdyf)Q If?bCIb:ib:b.a4yjBɮnBnwEjh|FNOT Ignoring new targets: 623.62 m.RhZh  ProNav: ac range: 623.617981 m, nav range: 605.880188 m, bearing: 205.968176 deg, approach rate: -0.589250 m/s, LOS rate: -0.001951 deg/s, cmd heading: 199.868479 deg, new cmd heading: 199.866492 deg. BhW%HeadingCmd: 3.488328 target range: 623.617981 and range: 625.90 m.h%@_@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5ZI@yZZZZI6@%4QBɢ%w.;)) -<=i))-))i-"diU2U]J;]bo=I]@_@IYm>im> 9@  @ @ C1@ @@^A.9>bEIjEMd4rEM/E} E}E},Ey"E}:*E}L_:VE}g4ZEya@a@a@a@2Acoustic response timeoutA.AI!I1O=r>B A <B f>B B IB QBB B B B ܌;B %DE9 &,[[?A6zdY@62Zg@6toٱ6} >AHRS rotation from veh to nav: [[-0.888554,0.429115,0.162272],[-0.455036,-0.869393,-0.192606],[0.058428,-0.244981,0.967766]]6H o`v?Q? PݿSȿ:?[Ͽ?i6zdY@I6_;6CY^QBybIbDjAVDj?3yr_<%rG=ٔrwy;Q-v>9v ?Iv ?=v:Dyv*CzA`Ez>xQ 5a4z~P?Q 9a4zZ)z+Q I?zECIz;iz3;zAzAfAyEM  EM EM /EI "EM :*EM |:VEM J4ZEI BEM ԁ ,,a6?A4<ɰ2W@2e@2ogٱ27~ >AHRS rotation from veh to nav: [[-0.898373,0.410302,0.156776],[-0.435579,-0.878164,-0.197734],[0.056544,-0.245928,0.967638]]2H xcB?;?ۿ@\Oɿ`Y?zϿ?i2W@I2~_;2CYBQByFIbDN#VDNӀ3yVZ=%VN=ٔV;Q-V>9XIX=Z:DyZjCZyaE^>Q 5%a4nP?Q 9%a4̽)C2Acoustic response timeoutA]؟AIaIqOY> EU  EU EU +EQ "EU :*EU V:VEU [4ZEQ ae @ae @ae @ae @3,b0Ш?A2Acoustic response timeout69V@6d@6!u_ٱ6 BAHRS rotation from veh to nav: [[-0.907335,0.391954,0.152040],[-0.416858,-0.885683,-0.204439],[0.054528,-0.248874,0.967000]]6H`?v?̭ڿW+ʿ@?Ͽ?i69V@I6 }_;6CYZQByZI^=^=b@A`bDb*VDb3yj=<%nF=ٔn;Q-n>9n"?Ir"?=r;DyrCrNEr>tQ 5za4v]P?Q 9za4v)vkBIBM3IBMRBBIBIBIBM;BM-DEe9@a @a@e2@a^A5ω>AaII2Acoustic response timeoutO>9 V9,p騮?A:jU@:V`c@:.Xٱ:J FAHRS rotation from veh to nav: [[-0.915381,0.374918,0.146680],[-0.399118,-0.892854,-0.208605],[0.052754,-0.249495,0.966938]]:H J? e?@(ٿBʿ?uϿ (?i:jU@I:^j_;:CYJQByJIyES?&1ʿE/?EPE̼A A9E"~?ʡEy&1|YE?yEE`E9I=;DyCW<E>Q 5a4IP?Q 9a4)~Zd*>Z3 @Z@QBɢAIIO>ԩ  2Acoustic response timeout@, ?A2BT@2r8b@2*Pٱ2~ :AHRS rotation from veh to nav: [[-0.922527,0.359713,0.139825],[-0.382559,-0.900137,-0.208333],[0.050921,-0.245684,0.968012]]2HV`?@?{ؿ``ʿb?rϿ?i2BT@I2=_;2C@YzQByzIbD EVD 3y}=%Q=ٔ;Q->9!I!=%;Dy%1C-w=E->)Q 55a4-d7P?Q 9=a4-kë)- A- AAA) B1 B1 B5 LIB5 @RBB1 B1 B1 B5 ;B5 CEG,?A26S@2d,a@2Hٱ2x :AHRS rotation from veh to nav: [[-0.928751,0.346223,0.132481],[-0.367451,-0.907049,-0.205530],[0.049008,-0.239567,0.969642]]2HS(?&?O׿Nʿ?οO?i26S@I2_;2CY^QBybIbDj<VDj3lyr<%vM=ٔv;Q-v>9tIx=z;DyzrCz(Ez>|Q 5a4~y$P?Q 9a4~ī)~9D=DE EE+E"E:*EVE [4ZEBEa2EaJE;a:E;au 2Acoustic response timeouta :M, ~7?A2ER@2:`@2U@ٱ2o :AHRS rotation from veh to nav: [[-0.934161,0.334297,0.124856],[-0.353751,-0.913535,-0.200782],[0.046939,-0.231730,0.971647]]2He?@?ֿۣ;`7ɿr?WͿ`?i2ER@I2^;2CYBRByB-IbDJ6VDJ3yn=%rK=ٔrS;Q-r>9tIt=v;DyvCvEv>xQ 5~a4z=P?Q 9a4zMƫ)zԑ2Acoustic response timeoutԱ E  E E .E "E :*E L_:VE ـ4ZE a @a @a @a @L#T,[Q?A2Acoustic response timeoutɰ;6kQ@6a_@69ٱ6oi BAHRS rotation from veh to nav: [[-0.938846,0.323316,0.118469],[-0.341363,-0.919038,-0.197078],[0.045159,-0.225467,0.973204]]6H `4?S?տ h 9ɿ?̿{$?i6kQ@I6^;6CYPyPbDZ;VDZ)3ٔ&;Q->9I = ;Dy C E >Q 5a4O?Q 9a4ǫ)J=IIO>9 LZ,H4k?ABP@BY^@By1ٱBRb NAHRS rotation from veh to nav: [[-0.942620,0.314292,0.112638],[-0.331042,-0.923637,-0.193146],[0.043332,-0.219351,0.974683]]BH`)[?ռ?/տoȿ/?̿0?iBP@IB^;BCYv#RByv:Iyn?{GzQ6?#u 9333333?~jt/$Y?yDmB~B )=BYBbDCVD3yj<%<ٔ4;Q->9!I!=%;Dy%>C%̼E%>)E} E}E}-Ey"E}:*E}Ar:VE}t4ZEyBE}}ɫ)-Z` >Z+^@Z/rI?MRBɢMc)Q Ui>A9@9 @9@=0@A@M>@M>^AB<IyIO>qu DAT read: 00:19:50.4436 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 374, 0.44, 0.353,-1.403, 0.113,-0.174, PHS= 0.629,-1.184, 0.243, RAW= 138.3, 3.8, CAL= 138.3, 4.6, ROT= 11.7, -4.6 } Ygot valid direction response: 00:19:50.4436 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 374, 0.44, 0.353,-1.403, 0.113,-0.174, PHS= 0.629,-1.184, 0.243, RAW= 138.3, 3.8, CAL= 138.3, 4.6, ROT= 11.7, -4.6  PDAT read: Bearing 12.3, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 12.3, 12.6 (Local)  DAT read: Range 11 to 50 : 630.0 m (Round-trip 840.0 ms) speed 0.7 m/s ԙ  BDAT read: Tx time:00:19:51.5026  $Ping request sent. {@ ԇ= {@ l=) Q>I l QN?R?k_? >) f_I Q>i l 5 :publishing transmit ping time 5 Fpublishing direction and range infoy  5@;??zꇴ?Y ) I i ) I QN?R?k_? ) I i :5a,?A2a5P@2+^@2O)ٱ2ҟ] :AHRS rotation from veh to nav: [[-0.945300,0.307878,0.107789],[-0.323565,-0.926917,-0.190081],[0.041389,-0.214560,0.975833]]2H? E? ?@HԿM@Tȿ0?v˿:?i2a5P@I2^;2CYRBy6IbD50VD53ye灼%eV=ٔe_;Q-e>9iIi=m;Dym|CmEu>qQ 5a4uO?Q 9a4uʫ)ubili}Nk!Vt܂^G@ziA6^LXX@/F?2i:i"iӟ?*i|v:BiBi(eb͟?iMi2CiDig@] addTargetRange:: Added new target pos. range: 630.000000 m, deltaT: 53.956035 s, deltaX: 4.099976 m, approachRate: 0.075987 m/s, rangeRepo size: 3 m Added new target pos. range: 627.717834 m, bearing: 211.325726 deg, lat: 36.779416 deg, lon: -121.859351 deg, deltaT: 53.956035 s, deltaX: 4.099854 m, approachRate: 0.075985 m/s, posRepo size: 3 jhiquFNOT Ignoring new targets: 627.72 m.RhZh ProNav: ac range: 627.717834 m, nav range: 602.478943 m, bearing: 207.426904 deg, approach rate: 0.000000 m/s, LOS rate: 0.012823 deg/s, cmd heading: 199.953542 deg, new cmd heading: 199.968027 deg. BhHeadingCmd: 3.490100 target range: 627.717834 and range: 630.00 m.h]_@h*h"h hgfffdddjd@Zd'?Z!Z!Z!Z%SF?URBɢU)Y ]iY)e!#顉im&i2y;=HI]_@IE9@A @A@E5@AE EE)E"E:*E[:VEFA4ZEa@a@a@a@ԡ^AqZ;AU.AIYIiOu>B A B B B eIB iRBB B B B Q;B CEBBBBBCE3 |bg,D?A2#O@2]@2O!ٱ2"Y :AHRS rotation from veh to nav: [[-0.947320,0.303125,0.103440],[-0.317859,-0.929457,-0.187285],[0.039372,-0.210298,0.976844]]2HrPdf? {? WԿǿ@(? ʿNB?i2#O@I2J^;2CYN)RByN>IbDVKVDV 4yr <%rR=ٔr8;Q-v>9v ?Iv ?=v;DyvCzbEz>|Q 5a4~yO?Q 9a4~˫)~ hA A ۭ9 hAY Am,eŸ?ABO@B]@BٱB/?S NAHRS rotation from veh to nav: [[-0.948673,0.300211,0.099461],[-0.313995,-0.931652,-0.182844],[0.037771,-0.204689,0.978098]]BH[`6?@?v?|Կogǿ V?@C3ʿ L?iBO@IB^;@YR"RByR:IXZAbD^&VD^ދ3yf%fL=ٔfH;Q-j>9hIh=j;DyjCn'En>pQ 5va4rO?Q 9va4rDͫ)rpԩ bE% [4jE%Ye4rE%ˍH0E  E E /E "E :*E ga:VE J4ZE a @a @a @a @tt,ްҩ?A2bO@2X]@2 ٱ2pK :AHRS rotation from veh to nav: [[-0.949570,0.298711,0.095335],[-0.311451,-0.933711,-0.176584],[0.036268,-0.197371,0.979658]]2H@b ?g?ӿPƿ?wCɿ[Y?9!I!=%1Q 5=a45ΘO?Q 9=a45Ϋ)5Zz,쩮?A*;ɰ*4<^PO@^]F]@^]ٱ^FCp vAHRS rotation from veh to nav: [[-0.949958,0.298611,0.091715],[-0.310412,-0.935265,-0.170068],[0.034994,-0.190027,0.981155]]^H f`s?z?`ӿ@@ſ?Rȿ@e?i^PO@I^D^;^CY9RByGIyjt?V-?~jt ?<D 9l?{Gz?MbXY?y#<ʽB B)BYLBbD=VD3y-x;%-5=ٔ-8;Q-->95"?I5"?=5AQ 5Ma4EуO?Q 9Ma4EЫ)E7 %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742056Z-=Z-=Z-I$h@Z-ڐ?E~RBɢE@!)A EPiA)MII i ;ai2el;I-q_@I9@ @@5@1^A a V? 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992620Aq Iy I O >,?A:sQO@:*G]@:F` ٱ:| ; FAHRS rotation from veh to nav: [[-0.949990,0.299691,0.087772],[-0.310474,-0.936604,-0.162416],[0.033533,-0.181545,0.982811]]:HQf$.? 9x?`ӿ`@Ŀ5+? <ǿ/s?i:sQO@I:^;:CYNIRByNQIIR=)R>bDV,VDV3y^7=%^_=ٔb;Q-b>9`I`=fhQ 5nb4jGrO?Q 9nb4jeҫ)jB) B- wIB- RBB) B) B) B- 3;B- xCEII Ia Om >y ͇,غ ?A2zfO@21\]@2Sٱ2Ih2 :AHRS rotation from veh to nav: [[-0.949634,0.301851,0.084151],[-0.311708,-0.937480,-0.154823],[0.032156,-0.173256,0.984352]]2HfcQ?? ӿ`Aÿ`v?`B-ƿ ?i2zfO@I2ݓ^;2CYBPRByBVIbDN9VDN3yV<%VL=ٔVva;Q-V>9XIX=Z\Q 5bb4^#_O?Q 9fb4^Fԫ)^;BYdyf5Q If?^!CI^:i^:^b4yjVBɮj-BnxEjh|FNOT Ignoring new targets: 627.72 m.RhB49ZhB49 ProNav: ac range: 627.717834 m, nav range: 601.069336 m, bearing: 207.457068 deg, approach rate: -0.586674 m/s, LOS rate: 0.009850 deg/s, cmd heading: 200.046733 deg, new cmd heading: 200.058544 deg. BhP9HeadingCmd: 3.491680 target range: 627.717834 and range: 630.00 m.h%w_@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5&@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496120YZaZaZaZe?}RBɢ}A)y }Ziy)顁iFi2e;-Iw_@I9@ @@r4@@@@@ԁA=>A=>ԱE5 E5E5+E1"E5:*E5L_:VE5 [4ZE1BE5} ,:?A2x}O@2/s]@2xٱ2R) :AHRS rotation from veh to nav: [[-0.949243,0.304151,0.080189],[-0.313055,-0.938309,-0.146874],[0.030570,-0.164523,0.985899]]2H`2`7w?C? Կ ¿@M?`ſ}?i2x}O@I2^;2CYBVRByBYIbDJGVDJ4yRu<%RJ=ٔV;Q-V>9TIT=ZQ 5b4UKO?Q 9b4=֫);BY!y%]5Q I%?"CI;i;Gb4y-Bɮ-B-wEjhQUFNOT Ignoring new targets: 627.72 m.Rh])19Zh])19m ProNav: ac range: 627.717834 m, nav range: 600.826294 m, bearing: 207.461080 deg, approach rate: -0.586142 m/s, LOS rate: 0.009680 deg/s, cmd heading: 200.058549 deg, new cmd heading: 200.070591 deg. Bhm9uHeadingCmd: 3.491891 target range: 627.717834 and range: 630.00 m.hu#{_@hq*hq"hy hygyfyffdddjdZdOx@ZZZZG?ԹRBɢV`W) i)ii26b;}I#{_@IU9@Q @Q@UY3@QIIO>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000198EE  EE EE .EA "EE m:*EE g:VEE ـ4ZEA aM @aM @aM @aM @Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251854ߔ,nT?A2ZO@2]@2Fٱ26! :AHRS rotation from veh to nav: [[-0.948719,0.306747,0.076409],[-0.314802,-0.938800,-0.139838],[0.028838,-0.156721,0.987222]]2H[ ??`%Կ `4̇?@lĿ@R?i2ZO@I2s^;2CYN_RByR_I PPbDZ>VDZ43yb<%bH=ٔf2;Q-f>9dId=flQ 5rb4nj8O?Q 9rb4n#ث)n;BYpyv*5Q Iv?nM"CIn1:in:n#-b4yxɮzߋBx B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 627.72 m.Rh%-9Zh%-95 ProNav: ac range: 627.717834 m, nav range: 600.593872 m, bearing: 207.464850 deg, approach rate: -0.585320 m/s, LOS rate: 0.009497 deg/s, cmd heading: 200.070598 deg, new cmd heading: 200.081911 deg. Bh59}HeadingCmd: 3.492088 target range: 627.717834 and range: 630.00 m.h}_~_@hy*hy"hy hgfffdddjdZd @ZZZZBBB~IBRBBBBBC;BCE9@ @@g3@II)IOm5>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503987iԙ ,Sn?A:O@:o]@:޼ٱ: FAHRS rotation from veh to nav: [[-0.948428,0.308610,0.072414],[-0.315822,-0.939549,-0.132302],[0.027207,-0.148349,0.988561]]:H YD??@o6Կ I`ܛ?¿ J?i:O@I:^;:CYJoRBNPExceeded connect timeout, disconnecting.yjhIy}-?Zd;O}?5?}j<}y y9}+?EԸ?A`"Y}?y}=}Y}B}B }YB)}'ByY}8BbD9VD3y=%==ٔv;Q->9I=Q 5b4#O?Q 9b4X۫);BY;"?Q E:y+Q I?"CI:i:KZUI2>ZU@ZU@eRBɢe*t)  i)?顉iGi2[;I~_@Iԙ9@ @@5@I9IQO]U>e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007987 ,$?Aɰ;2nO@2%]@2{Ҽٱ2AD :AHRS rotation from veh to nav: [[-0.947852,0.311065,0.069393],[-0.317670,-0.939674,-0.126878],[0.025740,-0.142306,0.989488]]2HT{?ñ?TԿ=[? 7¿?i2nO@I2 ^;2CYBcRByBbIbDJ8VDJ3yRh%V\=ٔV;Q-V>9XIX=Z\Q 5bb4^O?Q 9fb4^ޫ)^;BYdyf_+Q If?^"CI^:i^:^BIb4yhɮnBljhY]FNOT Ignoring new targets: 627.72 m.Rhe7Zhe7u ProNav: ac range: 627.717834 m, nav range: 600.085571 m, bearing: 207.465667 deg, approach rate: -0.618448 m/s, LOS rate: 0.000912 deg/s, cmd heading: 200.083329 deg, new cmd heading: 200.084367 deg. BhuI 8HeadingCmd: 3.492131 target range: 627.717834 and range: 630.00 m.h_@h*h"h hgfffdddjdZd_@ZIZIZIZM@颭SBɢL) 0i)hûiBi2 X; LI_@IE EE*E"E:*EVE(N4ZEa@a@a@a%@9@ @@5@-DAT read: 00:19:54.7443 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 157,-0.08, 2.195, 0.175, 1.974, 1.443, PHS= 0.854,-1.224, 0.487, RAW= 140.5, -1.2, CAL= 140.5, -1.0, ROT= 9.5, 1.0 =Ygot valid direction response: 00:19:54.7443 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 157,-0.08, 2.195, 0.175, 1.974, 1.443, PHS= 0.854,-1.224, 0.487, RAW= 140.5, -1.2, CAL= 140.5, -1.0, ROT= 9.5, 1.0 EPDAT read: Bearing 4.4, 10.8 (Local) E~Local bearing/azimuth received: Bearing 4.4, 10.8 (Local) UDAT read: Range 11 to 50 : 628.1 m (Round-trip 837.5 ms) speed 0.0 m/s UBDAT read: Tx time:00:19:55.8026 }$Ping request sent.}@@ 5))>I5<cUd?(b?)`i5<:publishing transmit ping timeyFpublishing direction and range infoyk?ڀt?W7) ߑY )Ii )IcUd?(b?BBIBRBBBBBs;BCE) ^A% ೼AY Y Ia Iy O >2,b?A>O@>m]@>(Ǽٱ>\ FAHRS rotation from veh to nav: [[-0.947434,0.312981,0.066427],[-0.319028,-0.939885,-0.121812],[0.024309,-0.136601,0.990328]]>H `Q?X?jԿ/ c?!| İ?i>O@I>ڕ^;9dIh=jlQ 5rb4ngN?Q 9rb4n1)nv;BYtyv>+Q Iz?n#CInhL;inSM;nWb4y~Bɮ~@BuEii5?AJitDRitDji4h@ij+I@KҗY@X? %rik?ڀt?W7) ߑZi)>bi5<ivHY tIrUx#ziV?'HEݿۿ. <2iO:iF "i+혊?*i jBi*BiΛ?i jiBiDih@M addTargetRange:: Added new target pos. range: 628.099976 m, deltaT: 4.284421 s, deltaX: -1.900024 m, approachRate: -0.443473 m/s, rangeRepo size: 4 ] Added new target pos. range: 625.823242 m, bearing: 207.881185 deg, lat: 36.779307 deg, lon: -121.859530 deg, deltaT: 4.284421 s, deltaX: -1.894592 m, approachRate: -0.442205 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 625.82 m.RheZhau ProNav: ac range: 625.823242 m, nav range: 618.025635 m, bearing: 208.262412 deg, approach rate: 0.000000 m/s, LOS rate: 0.000912 deg/s, cmd heading: 200.084368 deg, new cmd heading: 200.085481 deg. Bhq}HeadingCmd: 3.492150 target range: 625.823242 and range: 628.10 m.h}d_@hy*h"h hgfffdddjd̠@Zd@t?ZZZZ@M-SBɢM)I U,iQ)U0ǻQQiU߼i]P2]#V;]I]d_@I1MmQ}nManaging dock network, ignoring radio surface power off9@ @@!3@D<D<E EE,E"E,:*EV:VEg4ZEBE,iW?A6wP@6.]@6C걼ٱ6Ra >AHRS rotation from veh to nav: [[-0.946850,0.315686,0.061780],[-0.320940,-0.940069,-0.115181],[0.021716,-0.128887,0.991421]]6H L24?`?IԿ |9v ?Iz ?=z=DyzCz;Ez>|Q 5b4~N?Q 9b4~)~];BY y +Q I ?~_#CI~;i~F;~8hb4y9BɮBtEjh9EFNOT Ignoring new targets: 625.82 m.RhEI7ZhEI7U ProNav: ac range: 625.823242 m, nav range: 617.727478 m, bearing: 208.263089 deg, approach rate: -0.638009 m/s, LOS rate: 0.001450 deg/s, cmd heading: 200.085474 deg, new cmd heading: 200.087507 deg. BhU~8]HeadingCmd: 3.492186 target range: 625.823242 and range: 628.10 m.h]_@hY*ha"ha hagaifafifqdqdqdqjdqZd}z?ZZZZ̲@颭JSBɢl) Mi)Oͻ顱iF+i2XS;qI_@Iԑ9@ @@0@E  E E 0E "E :*E R:VE 4ZE a @a @a @a @ ^AM AU >AU >B B B IB RBB B B ѺDB ;B CEBqBqBqBqBqCu4A I I !OA<,Zު?A||UP@Ur^@U*٦ٱU7 eAHRS rotation from veh to nav: [[-0.946637,0.316770,0.059461],[-0.321658,-0.940186,-0.112191],[0.020366,-0.125331,0.991906]]UH J@E?q? Կ ڔ? ?iUP@IUs^;QYuRByusIyK7A`?)\(~jt+?G 9y&1? ףp= ?/$?Y`%?yQ=<{BB )VBYBbD;VD)3y%o;%% =ٔ--;Q-->9)I)=-=Dy-C5:E5>Q 5b45N?Q 9b4)i;BY'?Q E:y +Q I?#CI:i":zb4yBɮBsEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 625.82 m.Rh7Zh 7T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5 ProNav: ac range: 625.823242 m, nav range: 617.384705 m, bearing: 208.263862 deg, approach rate: -0.650809 m/s, LOS rate: 0.001468 deg/s, cmd heading: 200.087509 deg, new cmd heading: 200.089828 deg. Bh58=HeadingCmd: 3.492226 target range: 625.823242 and range: 628.10 m.h=_@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUD?ZuR>ZuR>Zu?ZuQŤ@颅mSBɢd) Eli)jջ顉i$i24$P;`yI_@I!IA)EhA9@ @@0@Q E  E E /E "E m:*E k:VE J4ZE BE [  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489138 CQ m jAy b9 jAY 6Aԁ ^A vA؟AII O>Ǿ,?A2!P@2^@2ٱ2T :AHRS rotation from veh to nav: [[-0.946317,0.317895,0.058530],[-0.322658,-0.939853,-0.112106],[0.019372,-0.124973,0.991971]]2H;H@fX?@?lԿ@G`/֓?7 :?i2!P@I2Eh^;2CYBRByBI DDHbDN=VDN3yV7>=%V7=ٔZ;Q-Z>9^"?I^"?=^=Dy^1C^;Eb>`Q 5fb4bN?Q 9jb4b()bs;BYhyj*Q Ij?b#CIb;ib";bb4ylɮrBpjh FNOT Ignoring new targets: 625.82 m.Rh 7Zh 7 ProNav: ac range: 625.823242 m, nav range: 617.103943 m, bearing: 208.264468 deg, approach rate: -0.653694 m/s, LOS rate: 0.001413 deg/s, cmd heading: 200.089832 deg, new cmd heading: 200.091652 deg. Bh4x8%HeadingCmd: 3.492258 target range: 625.823242 and range: 628.10 m.h%(_@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=?ZYZYZYZ]oͤ@SBɢغ) ri)Xܻik¼i2 M;~kI(_@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.741671@ @@o0@^AoM AQ bEg4jE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992545Ū,f?A|Y RBy }IbD%"VD%Jz3y59%5C=ٔ5Q-5>99I9===Dy=uCEEE>IQ 5Mb4MN?Q 9Ub4Mj)M|;BYQyQQ IU?MD$CIM:iM[:MIb4yeBɮebBerEjhFNOT Ignoring new targets: 625.82 m.Rh7Zh7BBBIBRBBBBB;BCE ProNav: ac range: 625.823242 m, nav range: 616.830688 m, bearing: 208.265059 deg, approach rate: -0.652216 m/s, LOS rate: 0.001410 deg/s, cmd heading: 200.091648 deg, new cmd heading: 200.093421 deg. Bhw8HeadingCmd: 3.492289 target range: 625.823242 and range: 628.10 m.h_@h*h"h hgfffdddjdZd#@ZZZZ SBɢ μ) i)i~i 2%:K;%gnI%_@I!9@ @@0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244651Y^AmAfAzAhAA! I9 II Om >ԁ >˪,1?Aɰ4<6CP@6@9^@6Ïٱ6 BAHRS rotation from veh to nav: [[-0.945685,0.320002,0.057255],[-0.324609,-0.939052,-0.113178],[0.017549,-0.125616,0.991924]]6HCz?P?fԿ 79\I\=^=DybCb$;Eb>dQ 5jb4fN?Q 9jb4fq)f;BYhyj*Q Ij?f$CIf;if;fۥb4yrBɮriBr{Ejh  FNOT Ignoring new targets: 625.82 m.Rh`7Zh`7E% E%E%+E!"E%:*E%ga:VE% [4ZE!BE%v% Ҫ,6vK?A6#SP@6H^@6ٱ6l JAHRS rotation from veh to nav: [[-0.945387,0.320900,0.057147],[-0.325514,-0.938559,-0.114663],[0.016840,-0.127003,0.991759]]6H@ࡉ?TB?7ԿZ >?A~?i6#SP@I6,^;6CYZRByZIIb>)b<bDj9VDj3yU<%UA=ٔe:Q-e>9aIi=m=DymCm;Em>qQ 5}b4u|N?Q 9}b4u)u;BYy*Q I?u$CIu;iu;ub4yyBɮBzEjhԹFNOT Ignoring new targets: 625.82 m.Rh7Zh7 ProNav: ac range: 625.823242 m, nav range: 616.300049 m, bearing: 208.266081 deg, approach rate: -0.652097 m/s, LOS rate: 0.001229 deg/s, cmd heading: 200.094927 deg, new cmd heading: 200.096496 deg. BhW8HeadingCmd: 3.492343 target range: 625.823242 and range: 628.10 m.h_@h*h"h hgfffdddjdZdh@Z Z Z Z 1@%SBɢ%~ڼ)! %Ði))-e))i-*'i5*25:G;5 hGI5_@I99@ @@0@E5 E5E5,E1"E5:*E5[:VE5g4ZE1a=@a=@a=@a=@i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005051Bb>BBIBRBBBBB;BCE^A5ONA I I O >9 ت,7Qe?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256709:^P@:S^@:ٱ:U BAHRS rotation from veh to nav: [[-0.945176,0.321550,0.056986],[-0.326144,-0.938299,-0.115004],[0.016491,-0.127285,0.991729]]:H>E?K-?Կp?J>?i:^P@I:S^;:CY\y`yE%C?ʡEƿy&1?EZ$?E-2E`e=A A9E\(\?{Gz?y&1?YE?yEף9I==Dy>CR:E>Q 5 b4hN?Q 9 b4=);BY ?Q E :y 0Q I ?%CIC:in:xb4y2Bɮ%ՉB%yE=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 625.82 m.RhU8ZhU8e ProNav: ac range: 625.823242 m, nav range: 616.046631 m, bearing: 208.268838 deg, approach rate: -0.598981 m/s, LOS rate: 0.006518 deg/s, cmd heading: 200.096498 deg, new cmd heading: 200.104771 deg. Bhe'9mHeadingCmd: 3.492487 target range: 625.823242 and range: 628.10 m.hm_@hi*hi"hi higifqfqfydydydyjdyZd@e @ZZZB/?Zq@颵SBɢ) ޞi)项i[ʸi˚2E;AI_@I9@ @@0@AD9zD=?AEA EEEE.EA"EA*EEV:VEEـ4ZEABEEԙ ߪ,w,?A2lP@2a^@2]ٱ2  >AHRS rotation from veh to nav: [[-0.944903,0.322376,0.056853],[-0.326952,-0.937981,-0.115299],[0.016157,-0.127534,0.991703]]2H<С?@? Կ7? S?i2lP@I2a^;0YFRByFI HJR=bDNCVDN3yVŻ%V<ٔZRp:Q-Z>9XIX=Z=DyZzC^;E^>`Q 5fb4bWN?Q 9fb4b^)b;BYdyj0Q Ij?bF%CIb:ib:b+b4ylɮn؉BljhFNOT Ignoring new targets: 625.82 m.Rh U8Zh U8 ProNav: ac range: 625.823242 m, nav range: 615.828369 m, bearing: 208.271196 deg, approach rate: -0.602482 m/s, LOS rate: 0.006511 deg/s, cmd heading: 200.104776 deg, new cmd heading: 200.111853 deg. Bh9HeadingCmd: 3.492611 target range: 625.823242 and range: 628.10 m.h_@h*h"h hgfffdddjdZd 4 @ZQZQZQZUxx@eTBɢmo)i mii)miqqiu%(i}Ƙ2}&C;8I_@I}BDAT read: Rx Time:00:19:59.0407 }TRx dataTimestamp_ set to:1761524398.100889checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762715M9@I @I@M=1@Iԡ^Am*AEM  EM EM ,EI "EM :*EM e:VEM g4ZEI aU @aU @a] @a] @A I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012592 ,?A68}P@6r^@6͙ٱ6VK BAHRS rotation from veh to nav: [[-0.944564,0.323384,0.056760],[-0.327946,-0.937591,-0.115647],[0.015820,-0.127850,0.991667]]6H 9R??Կ ` 3?d]?i68}P@I6l];4YJRByJI LLPRAbDV>VDV43y^ =%^I=ٔ^Y:Q-b>9`I`=b=DybCfW);Ef>hQ 5nb4jQDN?Q 9nb4j)j;BYlyn0Q Ir?j%CIj;ij;j]b4yvBɮvBvxEjh FNOT Ignoring new targets: 625.82 m.Rh8Zh8- ProNav: ac range: 625.823242 m, nav range: 615.584412 m, bearing: 208.273809 deg, approach rate: -0.600628 m/s, LOS rate: 0.006437 deg/s, cmd heading: 200.111852 deg, new cmd heading: 200.119695 deg. Bh-[9-HeadingCmd: 3.492748 target range: 625.823242 and range: 628.10 m.h5-_@h1*h1"h1 h1BABABEIBERBBABABABE;BECEgQfYfYfYdYdadajdaZde {@ZZZZr@额*TBɢm& ) ȳi)>顡iEhi2xA;j,I-_@Im9@i @i@m5@iDAT read: 00:19:59.0407 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 152,-0.16, 1.873, 0.172, 1.698, 1.496, PHS= 0.479,-1.279, 0.158, RAW= 140.1, 8.0, CAL= 139.7, 8.8, ROT= 10.3, -8.8 Ygot valid direction response: 00:19:59.0407 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 152,-0.16, 1.873, 0.172, 1.698, 1.496, PHS= 0.479,-1.279, 0.158, RAW= 140.1, 8.0, CAL= 139.7, 8.8, ROT= 10.3, -8.8 PDAT read: Bearing 15.0, 9.7 (Local) ~Local bearing/azimuth received: Bearing 15.0, 9.7 (Local) }DAT read: Range 11 to 50 : 625.4 m (Round-trip 833.9 ms) speed 0.4 m/s BDAT read: Tx time:00:20:00.1041 $Ping request sent.iF!>C~@5> @ nF>)X8>^A:InFve?MЇ?)? \޳>)qjIX8>inF :publishing transmit ping time Fpublishing direction and range infoy6l?$z?8C ?Y ) )Ii )Ive?MЇ?)? )IiA I I) O5 >!,Ძ?A2P@28^@2;|ٱ2 :AHRS rotation from veh to nav: [[-0.944002,0.325017,0.056782],[-0.329579,-0.936950,-0.116200],[0.015435,-0.128408,0.991601]]2HC5@??տ~O U?o2?i2P@I2W];2C@YRRByRIbDZ<VDZ3yb#=%bJ=ٔf7y:Q-f>9dIh=j=DyjCj;Ej>lQ 5rb4n'1N?Q 9rb4n')n;BYtyv0Q Iv?n%CIn7:in:nb4yxɮzB|D~=D|E EE-E"E:*Ec:VEt4ZEBE1binFiڥ'Ǟs&`ӊoV@zi>sA뿹MEc7o?2i:i"isN|?*i=@BirCii~DiiDiMi@ addTargetRange:: Added new target pos. range: 625.400024 m, deltaT: 4.288462 s, deltaX: -2.699951 m, approachRate: -0.629585 m/s, rangeRepo size: 4  Added new target pos. range: 623.131653 m, bearing: 210.603320 deg, lat: 36.779307 deg, lon: -121.859611 deg, deltaT: 4.288462 s, deltaX: -2.691589 m, approachRate: -0.627635 m/s, posRepo size: 4 jh5FNOT Ignoring new targets: 623.13 m.Rh=Zh9M ProNav: ac range: 623.131653 m, nav range: 618.792786 m, bearing: 208.864981 deg, approach rate: 0.000000 m/s, LOS rate: 0.006437 deg/s, cmd heading: 200.119693 deg, new cmd heading: 200.127975 deg. BhIuHeadingCmd: 3.492892 target range: 623.131653 and range: 625.40 m.hu_@hq*hq"hq hygyfyfyfdddjd@3@Zd~?ZZZZ@HTBɢh) Mi) i]i*22?;I_@IԱ9@ @@1@^AM0AUgAzAUgA A .AI I O > ,&̫?A ɰ R(P@Rް^@R}uٱR ZAHRS rotation from veh to nav: [[-0.943329,0.326940,0.056922],[-0.331519,-0.936154,-0.117096],[0.015005,-0.129331,0.991488]]RH/`?$?7տĺ?D?iR(P@IRt];RCYfRByfIlbDrGVDr4yv؅%zG=ٔz:Q-z>9~ ?I~ ?=~>Dy~?C;E>Q 5 b4N?Q 9b4);}I}_@Iy1EE EEEE)EA"EEO:*EE1]:VEEFA4ZEAaM@aM@aM@aM@Q@Q @Q@U5@QB9B9B=IB=RBB9B9B9B=;B=CEY^AMXy A I I O >4,F櫮?A:;P@:^@:rٱ: BAHRS rotation from veh to nav: [[-0.942681,0.328751,0.057227],[-0.333366,-0.935409,-0.117799],[0.014804,-0.130124,0.991387]]:Hq*A ? L?Uտ(Q?q?i:;P@I:N];:CYJRByJIIN<)N=y%w/?K7ɿMb?%&?%I%VD=43yMx{=%ME=ٔM9Q-U>9QIQ=U>DyUCY]Q;Ee>aQ 5mc4eN?Q 9uc4e)e3ZG>Z8?Z@ETBɢM) پi)顑itYi.2<;λI_@Iԁ9@ @@J0@D1zD5AAE= E=E9E9"E=2:*E=k:VE9ZE9BE=**3,?A2`Q@2^@2nٱ2 :AHRS rotation from veh to nav: [[-0.941865,0.331010,0.057649],[-0.335676,-0.934470,-0.118692],[0.014583,-0.131144,0.991256]]2H#C/? /? {տ`-`bݍ?O^?i2`Q@I2(h];2CYBRByBIbDJ/VDJ3PyV-<%VC=ٔV :Q-Z>9Z"?IZ"?=Z>DyZC^;E^>`Q 5fc4b/M?Q 9fc4b`)bY  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730666A) I1 IA I OU >A% @AA% @AB- c>B) B- IB- RBB) B) B) B- ;B- CE,p\?AB1B1B1B1B1C536m*Q@6# _@6@kٱ6 BAHRS rotation from veh to nav: [[-0.941065,0.333207,0.058050],[-0.337921,-0.933551,-0.119549],[0.014358,-0.132120,0.991130]]6H4BS?ø?~տ`ƚg?NU?i6m*Q@I6G];6CYFRByJIbD )VD 3y^<%E=ٔ% :Q-%>9!I!=->Dy- C-;E->19Q 5Ec45}M?Q 9Ec45)5~0 ,C9?A6MQ@6RC_@6U+hٱ6  >AHRS rotation from veh to nav: [[-0.940340,0.335181,0.058438],[-0.339942,-0.932715,-0.120340],[0.014170,-0.133025,0.991011]]6H`Cs??`տξ+?`]?i6MQ@I6,T];6CYFRByFI HHbDR@VDR3yVߝ;%Z7=ٔ^B9Q-^>9\I`=b>DybSCb;Eb>dQ 5c4fM?Q 9c4fh )fߵR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486345^A *: A .AI I O >e,S?A2sQ@2h_@2heٱ2j :AHRS rotation from veh to nav: [[-0.939564,0.337267,0.058913],[-0.342088,-0.931812,-0.121253],[0.014002,-0.134078,0.990872]]2Hʕ?)?տgi ج?x)8?i2sQ@I29&];2C`YrRByrIbDzCVDz3yռ%F=ٔ 9Q- >9  ?I ?=>DyC';E>Q 5%c4M?Q 9%c4 )BIBMIBMRBBIBIBIBM{;BMCEQ@Q @Y@]0@Y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990015! ^A} qQ A ؟AI IO>D,(q?Aɰ6.Q@6_@6Baٱ6 >AHRS rotation from veh to nav: [[-0.938809,0.339286,0.059347],[-0.344163,-0.930909,-0.122311],[0.013748,-0.135252,0.990716]]6H ܶ?b?ֿ`O(?O?i6.Q@I6n8];6CYFRByFIy57A`?HzG9m"?Im"?=m>DymCm$;E>Q 5c4M?Q 9c4)%",g򊬮?AntQ@n*_@njaٱn>%  AHRS rotation from veh to nav: [[-0.938045,0.341271,0.060052],[-0.346240,-0.930013,-0.123265],[0.013782,-0.136421,0.990555]]nH v`c?+?@(ֿ S9?@>v?intQ@In ];lY5RBy5IIEt>)E49qIq=}>Dy}#C};E>Q 5c4M?Q 9c4)Bi8]i%t2%u:;-9];I-_@IQ9@ @@;0@E EE)E"E:*EL_:VEFA4ZEa@a@a@a@BDAT read: Rx Time:00:20:03.3383 TRx dataTimestamp_ set to:1761524402.384193checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747149BqAu<Ba>BBBBv =BBB@;BCE^A] ;) I I O >Q (,֤?AY~RByIbD8VD3y%%%O=ٔ-Q-->9)I)=->Dy5dC5E5>9Q 5Ec4=kM?Q 9Ec4=[)==BYAyIQ IM?=;(CI=:i=:=qc4yUBɮUBU{Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.998086jh FNOT Ignoring new targets: 623.13 m.Rh߁9Zh߁9% ProNav: ac range: 623.131653 m, nav range: 616.373047 m, bearing: 208.907448 deg, approach rate: -0.603804 m/s, LOS rate: 0.014193 deg/s, cmd heading: 200.237815 deg, new cmd heading: 200.255414 deg. Bh-:-HeadingCmd: 3.495116 target range: 623.131653 and range: 625.40 m.h5_@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@?.@ZaZaZaZauPUBɢ}f)y }riy)}'Iyi) io2R:;/;;I_@I19@ @@0@Y^Ar;A%>A%>E EE,E"E*ET:VEg4ZEBE} ۚ@ = E@ 0 >) J4>I 0 \??&}ѿ? >) 4I J4>i 0  :publishing transmit ping time  Fpublishing direction and range infoy  )r%4?m;?yjȗ?Y ) I i ) I \??&}ѿ? ) I i ) I I O% >y.,2?A|Y=RBy=IbDMHVDM4y}<%}E=ٔQ->9I=?DyCE>Q 5c4UM?Q 9c4))=BYyQ I?(CI!;i:c4yɮBii\ʸ?AJiDRiDjil@i4{Ы@ͦo0Z@!OU@ri)r%4?m;?yjȗ?ZiJ4>bi0 ic4 kǩ̏th1?S@zi"RW|*8࿠u*'?2i:i^"i\W]?*iBiCisN|?i=@iCi~DiOk@ addTargetRange:: Added new target pos. range: 622.500000 m, deltaT: 4.283108 s, deltaX: -2.900024 m, approachRate: -0.677084 m/s, rangeRepo size: 4  Added new target pos. range: 620.240845 m, bearing: 211.350118 deg, lat: 36.779407 deg, lon: -121.859782 deg, deltaT: 4.283108 s, deltaX: -2.890808 m, approachRate: -0.674932 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 620.24 m.RhZh ProNav: ac range: 620.240845 m, nav range: 613.975830 m, bearing: 210.661535 deg, approach rate: 0.000000 m/s, LOS rate: 0.014193 deg/s, cmd heading: 200.255409 deg, new cmd heading: 200.272965 deg. BhHeadingCmd: 3.495423 target range: 620.240845 and range: 622.50 m.h_@h*h"h hgfffdddjdt@ZdS?ZaZaZaZa颕pUBɢd) :$i):S顙i9ij2f9;j+;I_@II))e9@a @a@e@0@aQ^A Β{;I I O >ԑ E  E E -E "E >:*E [:VE t4ZE a @a @a @a @_5,<ج?Ai$I$Y=RBy=I AAibDU7VDUp3y@%J=ٔQ->9I=?DyCE>Q 5c4?M?Q 9c4)'=BY B5b>B1B5IB5SBB1B1B1B5;B5?CEyQ I?(CI<,]?A )R@ `@ ?ٱ  =AHRS rotation from veh to nav: [[-0.935630,0.346613,0.066750],[-0.352534,-0.927107,-0.127252],[0.017777,-0.142592,0.989622]] H@.??ֿ۪I)4?v@¿?i )R@I }]; CYMRByMIԹDzD@AE EE/E"E :*ET:VEJ4ZEBES"?+= 9m?ˡE~jtY.?y'BB )BY#BbD6VD3y{;%6=ٔQ->9I=?Dy2C&v<E>Q 5c4'M?Q 9c4F)&=BY.?Q E:y6Q I ?)CI:i':ec4yBɮByEjh9=FNOT Ignoring new targets: 620.24 m.RhE+9ZhE+9] ProNav: ac range: 620.240845 m, nav range: 613.424561 m, bearing: 210.675076 deg, approach rate: -0.751997 m/s, LOS rate: 0.017067 deg/s, cmd heading: 200.293726 deg, new cmd heading: 200.313607 deg. Bh]g;:eHeadingCmd: 3.496132 target range: 620.240845 and range: 622.50 m.he_@ha*ha"ha hagififqfqdqdqdqjdyZd}J5?Z'>Z'>Zi@Z@颭UBɢ9Ԇ) 5i){e顱iPi_2s:;E9 B,< ?A$ɰ&;fH5R@f*`@fIƙٱfw nAHRS rotation from veh to nav: [[-0.935368,0.347104,0.067862],[-0.353177,-0.926877,-0.127137],[0.018770,-0.142888,0.989561]]fH 6?m_?@uֿ F 8?$J¿{?ifH5R@If];dYvRByvI|~AAbD@VD3y q% m=ٔ=Q-?9I=?DyjC% ;E%?!Q 5-c4%M?Q 95c4%)!Y1y56Q I5?%N)CI%:i%I:%oc4yAɮE$BA]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 620.24 m.Rhu9Zhu9 ProNav: ac range: 620.240845 m, nav range: 613.195740 m, bearing: 210.680257 deg, approach rate: -0.663770 m/s, LOS rate: 0.015034 deg/s, cmd heading: 200.313602 deg, new cmd heading: 200.329150 deg. Bh%:HeadingCmd: 3.496403 target range: 620.240845 and range: 622.50 m.h_@h*h"h hgfffdddjdZd@?ZZZZ@UBɢTj)Q UAiQ)]P!nYYi]:ieZ2e ;;eUE EE,E"E:*E[:VEg4ZEa@a@a@a@eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.AABBBIB SBBu =BBBۋ;BCEiԙ I,{&?AB>R@BA4`@BϡٱB NAHRS rotation from veh to nav: [[-0.935151,0.347489,0.068881],[-0.353699,-0.926717,-0.126860],[0.019751,-0.142996,0.989526]]BH @B=?5?ֿ`<9?M¿2?iB>R@IBL3^;BCYRRByVIIZ=)Z>bD^VVD^E4yfv=%fO=ٔj"Q-j>9hIh=j?DynCns:En>pQ 5vc4rL?Q 9vc4r.)r'=BYxyz5Q Iz?r)CIr:ir:r@c4y~?Bɮ~҆BxEjhaeFNOT Ignoring new targets: 620.24 m.RhmІ9ZhmІ9 ProNav: ac range: 620.240845 m, nav range: 612.933105 m, bearing: 210.686193 deg, approach rate: -0.651528 m/s, LOS rate: 0.014733 deg/s, cmd heading: 200.329148 deg, new cmd heading: 200.346965 deg. Bh!:HeadingCmd: 3.496714 target range: 620.240845 and range: 622.50 m.h*_@h*h"h hgfffdd(DAT read: user:30> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753319djdZd`#I?ZZZZ@-UBɢ-)) -Bi1)5yxQQiUxi]U2];;]W >O,|??AFER@Fw;`@FWٱF! ^AHRS rotation from veh to nav: [[-0.934975,0.347719,0.070091],[-0.354103,-0.926547,-0.126971],[0.020792,-0.143534,0.989427]]FHQ`A?x?ֿF @J?O_¿b?iFER@IF՗^;FCYfRBydbDn?VDn3yvP;%vH=ٔz='Q-z>9xIx=z?Dy~CM:EM>QQ 5]c4UL?Q 9]c4Ud)QYaye5Q Ie?U)CIU;iUn;Uc4ymBɮmBmwEjhFNOT Ignoring new targets: 620.24 m.Rh9Zh9 ProNav: ac range: 620.240845 m, nav range: 612.655334 m, bearing: 210.692465 deg, approach rate: -0.677695 m/s, LOS rate: 0.015310 deg/s, cmd heading: 200.346961 deg, new cmd heading: 200.365787 deg. Bh(:HeadingCmd: 3.497043 target range: 620.240845 and range: 622.50 m.h_@h*h"h hgfffdddjdZd`O[@ZZZZq@VBɢ) Ii)+_iEni )P2 f<; E  E E +E "E :*E [:VE [4ZE a @a @a @a @m&V,Y?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512288@ttBc>BBIBSBBBBҺDBҋ;BCEBBBBBC4PR@MF`@u⵼ٱWM MAHRS rotation from veh to nav: [[-0.934712,0.348018,0.072084],[-0.354711,-0.926167,-0.128042],[0.022201,-0.145251,0.989146]]H *@E?t?ֿ`)c@Ի?¿?iPR@I|^;YRByIԩyZd;O?DlMb`~J?O 9S?{Gzt?L7A`堿Y/?yף;+=}B )YQB a=p=bD5VD3yS%=ٔ?/Q->9I=?DyCCɧ:E>Q 5c4'L?Q 9c4")=BYO/?Q E:y1Q I?7*CIy;i ;c4yBɮTBvEjh FNOT Ignoring new targets: 620.24 m.Rh ]I9Zh ]I9 ProNav: ac range: 620.240845 m, nav range: 612.307007 m, bearing: 210.698153 deg, approach rate: -0.673495 m/s, LOS rate: 0.011003 deg/s, cmd heading: 200.365785 deg, new cmd heading: 200.382857 deg. Bh9-HeadingCmd: 3.497341 target range: 620.240845 and range: 622.50 m.h-n_@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=@B@Ze>Ze>ZeV"@ZeE@u(VBɢu6)q uXZiy)}yyi}aiFK2bX=;] %=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761682 ^A 1 i m C jA A)I9IQUu9UjAYUrAO>j],|Ex?AE& E&E&,E$"E&>:*E&X:VE&g4ZE$BE&9tIx=z?Dyz|Cz:Ez>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012739 Q 5c4  L?Q 9c4 $) =BYy1Q I? u*CI ; Qd,i?A2]R@2R`@2bżٱ2W :AHRS rotation from veh to nav: [[-0.934400,0.348387,0.074318],[-0.355408,-0.925871,-0.128249],[0.024128,-0.146249,0.988954]]2HK?|?ֿ`zj ?L¿?i2]R@I2:_;0YBRByBIbDJ>VDJ43yvK%vJ=ٔv`+Q-z>9xIx=z?DyzC~:E~>Q 5 c4UL?Q 9 c4')=BY y 1Q I?*CI:i:_c4ymBɮBuE5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 620.24 m.RhMX9ZhMX9] ProNav: ac range: 620.240845 m, nav range: 611.796387 m, bearing: 210.706475 deg, approach rate: -0.724325 m/s, LOS rate: 0.011804 deg/s, cmd heading: 200.394554 deg, new cmd heading: 200.407835 deg. Bh]:eHeadingCmd: 3.497777 target range: 620.240845 and range: 622.50 m.he_@ha*ha"hi higififqfqdqdqdqjdyZd} @ZZZZK@颭aVBɢt) 3bi)_项iKi$D2>;YBBBBBBѺDB;B1CE^AU <A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768621 `j,[?A$ɰ$fjgR@f!]`@fϼٱf rAHRS rotation from veh to nav: [[-0.934149,0.348727,0.075860],[-0.355987,-0.925564,-0.128858],[0.025277,-0.147378,0.988757]]fH Q?k?|ֿ8n~K?J¿?ifjgR@IfV`;fCYvRByzIbD8VD3y{*%E=ٔ5Q->9I=?DyC.:E%>!Q 55d4%L?Q 95d4%3*)% =BY1y51Q I5?%+CI%};i%;%d4yE'BɮEBEtEjhaFNOT Ignoring new targets: 620.24 m.RhH9ZhH9 ProNav: ac range: 620.240845 m, nav range: 611.516602 m, bearing: 210.711020 deg, approach rate: -0.675128 m/s, LOS rate: 0.010972 deg/s, cmd heading: 200.407832 deg, new cmd heading: 200.421473 deg. Bh9HeadingCmd: 3.498015 target range: 620.240845 and range: 622.50 m.hy_@h*h "h  h g f ffdddjdZd`!@ZYZYZYZ]P@uVBɢu)q }kiy)}yyi}Mv>i=@2ۤ?;%<A%> AQ IY Ii O} >cq,ŭ?A2mR@2c`@2w׼ٱ2A >AHRS rotation from veh to nav: [[-0.933986,0.348889,0.077117],[-0.356340,-0.925389,-0.129135],[0.026309,-0.148090,0.988624]]2H63T?`齳?`Hֿ`ʜ`~ ?¿΢?i2mR@I2X`;2CYBRByFIIJ=)J=bDN;VDN)3yVu%%VT=ٔZ/Q-Z>9XIX=Z@Dy^@C^Z:E^>`Q 5fd4b4xL?Q 9fd4b,)b=BYhyj1Q Ij?bH+CIb:ib:bUd4ylɮnŅBljhFNOT Ignoring new targets: 620.24 m.Rh H9Zh H9 ProNav: ac range: 620.240845 m, nav range: 611.256653 m, bearing: 210.715239 deg, approach rate: -0.674823 m/s, LOS rate: 0.010956 deg/s, cmd heading: 200.421478 deg, new cmd heading: 200.434140 deg. Bh9HeadingCmd: 3.498236 target range: 620.240845 and range: 622.50 m.h_@h*h"h hgfffdddjdZd\ @checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272836ZZZZ(T@VBɢ) Uwi)J]QQYi]:1ie<2m'@;mB99IA=E@DyECErEM>IQ 5Ud4Mu[L?Q 9]d4M0)M9HeadingCmd: 3.498458 target range: 620.240845 and range: 622.50 m.h_@h*h"h hgfffd!d!d!jd!Zd%Y@Ze[>Ze[>Ze'?Ze@颽VBɢgݤ) 逿i)$i"i82ƘA;-9AIA=M@DyMCMEM>Q 5d4>L?Q 9 d44)B B B B B B B ;B \CE9 ^A <AIIO%>j䉫,})?A:ecR@:Y`@:"ٱ:~W NAHRS rotation from veh to nav: [[-0.934064,0.347298,0.083121],[-0.355691,-0.925510,-0.130053],[0.031762,-0.151044,0.988017]]:H@ #:?@eG?@ֿ ȝC?dUÿ ՝?i:ecR@I:qa;8YVRByZIbDnAVDn?3y~jJ%'=ٔ *Q- >%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7859119)I)=-@Dy5@C=]E=>AQ 5]d4E%L?Q 9]d4E7)E:*EV:VEg4ZEBE4Ȑ,GC?Aɰ4<2`R@2U`@2/ ٱ2 :AHRS rotation from veh to nav: [[-0.934062,0.346734,0.085460],[-0.355473,-0.925653,-0.129636],[0.034157,-0.151467,0.987872]]2H@0? ?ֿ}?Dcÿ?i2`R@I2~a;2CYBRBy@HHLbDN.VDNP3yV%VP=ٔZmȻQ-Z>9XIX=^@Dy^C^ E^>`Q 5fd4biL?Q 9fd4b:)bA>A! ! I1 IA OM >E5  E5 E5 *E1 "E5 :*E5 n:VE5 (N4ZE1 a= @a= @a= @a= @ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540610,#2]?ABZb>BXBXBXBXBXBXBZ;BZTCE|kbR@!X`@Cٱ'k AHRS rotation from veh to nav: [[-0.933930,0.346381,0.088286],[-0.355577,-0.925529,-0.130234],[0.036601,-0.153022,0.987545]]H@+?@ꙶ?ֿ@V?6ÿ?ikbR@Ia;CYRByIy+?v//$?v?x,= 9kt?{Gz?I +Y 0?y#=9PxB ) BYBbDDVDJ3yl<%+=ٔxQ->9I=@DyCߝ9E>Q 5 d4K?Q 9 d4F>)Z8>Z$?Zn@颭\WBɢǽ) i)\ʼ顱i+̺iU,2D;Ia_@I!]9@Y @Y@]0@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793247Q^A} 0;y A I I O >,v?AYRByIbD-@VD-3y= <%Ek=ٔEQ-E?9III=M@DyM CMEM?QYQ 5ed4UK?Q 9ed4U@)U/,RԐ?A2XR@2M`@2h;-ٱ2" >AHRS rotation from veh to nav: [[-0.933944,0.344781,0.094206],[-0.354910,-0.925773,-0.130323],[0.042280,-0.155149,0.986986]]2H ?`?ֶֿ kƥ?`ÿc?i2XR@I2"a;2CY@yDbDN7VDNp3ٔV[rQ-V>9TIX=Z@DyZE CZֺEZ>\Q 5bd4^K?Q 9bd4^C)^Y @0,˻?AVKOR@VE`@Vw9ٱVz jAHRS rotation from veh to nav: [[-0.934013,0.343765,0.097191],[-0.354361,-0.926009,-0.130134],[0.045265,-0.155988,0.986721]]VHn=?? حֿޡ ?,?jÿ8?iVKOR@IVK`;TYrRByvIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.801092  bDMVD 4y5%5<ٔ=4Q-=>9AIA=E@DyE CMVEM>Q 5d4K?Q 9d4F)Q1,Ů?A2FR@2<`@2AHRS rotation from veh to nav: [[-0.934056,0.342877,0.099870],[-0.353833,-0.926408,-0.128724],[0.048384,-0.155573,0.986639]]2H? ?3ֿ#z`Ũ?@ÿ?i2FR@I2j`;2CYFRByDbDN5VDN3yV%VP=ٔV^Q-Z>9XIX=ZADyZ C^aE^>`Q 5fd4bK?Q 9fd4bI)bbEYjE]k4rE]d/E  E E E "E :*E 1]:VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558298 S,ޮ?ABBBIBSBBBBB ;BOCExɰxma;R@m1`@mSٱm: AHRS rotation from veh to nav: [[-0.934159,0.341776,0.102642],[-0.353118,-0.926835,-0.127611],[0.051518,-0.155454,0.986499]]mH ?F? }ֿU`?ÿf?ima;R@Im`;mCYRByIy5w/?~jt?:v?5&?5<5<1 195(\?i|?5?{Gz?Y5.?y5q=5#<5B5=B 5B)11Y5=BIM@AbDM>VDM43y]1=%]3=ٔeQ-e>9aIa=mADym!CmʺEu>qQ 5}d4uK?Q 9}d4u+M)uA >Q A I I O >ݽ,(?A2/R@2x%`@2ŝ_ٱ2 :AHRS rotation from veh to nav: [[-0.934258,0.340585,0.105658],[-0.352398,-0.927137,-0.127405],[0.054567,-0.156263,0.986207]]2Hq&?@a ?ֿ`N*? nĿ?i2/R@I2Yg`;2CYBRByBIIF=)Fp;bDN7VDNp3yR+=%V[=ٔVGQ-V>9XIX=ZADyZQ!C^E^>\Q 5bd4^zK?Q 9fd4^P)^=BYdyfY,Q If?En ElEn+El"En:*ElVEn [4ZElBEn ī,`?A:'R@:_`@:nlٱ:@" FAHRS rotation from veh to nav: [[-0.934272,0.339563,0.108778],[-0.351876,-0.927335,-0.127411],[0.057610,-0.157313,0.985867]]:H f?@ػ?`#ֿO~?`"Ŀ8?i:'R@I:3`;:CYJSByNIbDV=VDV3y^t<%^J=ٔbQ-b>9`I`=bADyb!Cf$Ef>hQ 5nd4jeK?Q 9nd4j5S)j=BYlyra,Q Ir?j.CIj;ijz;jd4yvBɮv]BtjhFNOT Ignoring new targets: 620.24 m.Rh8Zh8- ProNav: ac range: 620.240845 m, nav range: 607.708862 m, bearing: 210.753318 deg, approach rate: -0.716809 m/s, LOS rate: 0.006002 deg/s, cmd heading: 200.541539 deg, new cmd heading: 200.548438 deg. Bh-҃95HeadingCmd: 3.500231 target range: 620.240845 and range: 622.50 m.h5`@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE@ "@ZaZaZaZe@}e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816911i "ʫ,c-?A2R@2i`@2axٱ2# >AHRS rotation from veh to nav: [[-0.934336,0.338373,0.111895],[-0.351186,-0.927605,-0.127347],[0.060703,-0.158280,0.985526]]2H ?"?yֿL ?BĿn?i2R@I2t`;2CYBSByFIbDN<VDN3yVP=%VJ=ٔVQ-V>9XIX=ZADyZ!C^غE^>\Q 5fd4^PK?Q 9fd4^XV)^#=BYdyfl,Q If?^!/CI^;i^;^d4ylɮnUBl5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 620.24 m.RhMl8ZhMl8] ProNav: ac range: 620.240845 m, nav range: 607.434326 m, bearing: 210.755635 deg, approach rate: -0.664543 m/s, LOS rate: 0.005612 deg/s, cmd heading: 200.548438 deg, new cmd heading: 200.555394 deg. Bh]v9eHeadingCmd: 3.500352 target range: 620.240845 and range: 622.50 m.h`@h*h"h hgfffdddjdZd#@ZZZZڌ@ _XBɢ P)  éi )i9i2G;i;I`@IA9@ @@@AE EEE"E>:*EV:VEZEBE)ѫ,G?A06y R@60`@6􌂽ٱ6 $ >AHRS rotation from veh to nav: [[-0.934080,0.338032,0.115018],[-0.351336,-0.927574,-0.127163],[0.063702,-0.159190,0.985191]]6H@R?q?J|ֿF`N? Y`Ŀ`?i6y R@I6n`;6CYFSByFI HHbDRFVDR4yZ<%ZK=ٔZQ-Z>9\I\=^ADy^"Cb;:Eb>dQ 5fd4fBy By B} IB} HSBBy By By B} ;B} JCEY׫,lza?A6.R@6`@6ٱ6$ BAHRS rotation from veh to nav: [[-0.934034,0.337139,0.117972],[-0.350910,-0.927764,-0.126951],[0.066651,-0.159974,0.984869]]6H`?n3?Muֿ>?`?zĿ ?i6.R@I6T`;4\Y`y`yM> ףp=?VDe43yu˃:%u?=ٔuQ-u>9yIy=}ADy}\"CjE>Q 5d4\&K?Q 9d4`\)Y=BYh(?Q E:y/Q I?/CI ;i: ;d4yTBɮȂB}EjhFNOT Ignoring new targets: 620.24 m.Rh9Zh9 ProNav: ac range: 620.240845 m, nav range: 606.883911 m, bearing: 210.761374 deg, approach rate: -0.646860 m/s, LOS rate: 0.008022 deg/s, cmd heading: 200.562290 deg, new cmd heading: 200.572610 deg. Bh-9HeadingCmd: 3.500653 target range: 620.240845 and range: 622.50 m.h `@h*h"h hgffqfqdqdydyjdyZd}o%@Zd=Zd=Zut?Zu@XBɢ0) ki)cbiVt:i2UG;T;I `@I @ @@0@@=@=%2Acoustic response timeout^Ar;Q Ay I I O >b%ޫ,.U{?Aɰ2*R@2`@2Gٱ2M& :AHRS rotation from veh to nav: [[-0.933816,0.336563,0.121301],[-0.350891,-0.927743,-0.127152],[0.069741,-0.161300,0.984438]]2H@ ?? ?@uֿF@ڱ?@zĿ?i2*R@I2`;2CYB'SByBIHHbDN?VDN3yV{=%VX=ٔZQ-Z>9XIX=ZADy^"C^%9Eb EbEb-E`"Eb:*Eb~:VEbt4ZE`BEb#pQ 5vd4r K?Q 9vd4r^)rz=BYtyv /Q Iv?r/CIr:irV:r]d4y|ɮ~B|jh!%FNOT Ignoring new targets: 620.24 m.Rh-9Zh-9= ProNav: ac range: 620.240845 m, nav range: 606.636475 m, bearing: 210.764439 deg, approach rate: -0.646101 m/s, LOS rate: 0.008008 deg/s, cmd heading: 200.572617 deg, new cmd heading: 200.581818 deg. Bh=߯9EHeadingCmd: 3.500813 target range: 620.240845 and range: 622.50 m.hES `@hA*hI"hI hIgIfIfQfQdQdQdQ2Acoustic response timeoutjdZd3&@ZZZZ6n@ XBɢ D )  i)11i5J:i=b2=G;=7>R;IES `@IA@ @@ 0@Iy^AqZ;A>A>m 2Acoustic response timeoutAe .AIi Iy O >ԡ ] ,0?A2!R@2`@2)ٱ2& :AHRS rotation from veh to nav: [[-0.933487,0.336398,0.124255],[-0.351151,-0.927753,-0.126363],[0.072770,-0.161591,0.984171]]2H` ?+Ͽ?Cyֿ`&,@?ĿT~?i2!R@I2`;2CYR2SByRIIV%=)V;bDZEVDZ3yr<%vG=ٔvQ-v>9z ?Iz ?=zADyz"Czne:Ez>YQ 5ee4]J?Q 9ee4]a)]=BYiym/Q Im?]40CIYi]:] e4yuBɮuvByu|EjhFNOT Ignoring new targets: 620.24 m.Rh9Zh9 ProNav: ac range: 620.240845 m, nav range: 606.364929 m, bearing: 210.767797 deg, approach rate: -0.645243 m/s, LOS rate: 0.007981 deg/s, cmd heading: 200.581824 deg, new cmd heading: 200.591901 deg. BhH9HeadingCmd: 3.500989 target range: 620.240845 and range: 622.50 m.h5`@h*h"h hgfffdddjdZd@'@ZZZZh@XBɢ ) ji)y!!i%h:i%2-G;-=^;I-5`@I)@ @@/0@E EE*E"E:*E[:VE(N4ZEa@a@a@a@2Acoustic response timeoutԱB <A <B B B IB qSBB B B B ;B 1CE^AcU;I I O > Y ] R=] 2Acoustic response timeoutG=,-$?A29TIT=ZADyZ#CZ;E^>\Q 5be4^mJ?Q 9be4^pd)^=BYdyf.Q If?^u0CI^:i^M:^e4ynBɮn.Bn{EzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 620.24 m.Rh 9Zh 9 ProNav: ac range: 620.240845 m, nav range: 606.115967 m, bearing: 210.770854 deg, approach rate: -0.647705 m/s, LOS rate: 0.007956 deg/s, cmd heading: 200.591905 deg, new cmd heading: 200.601080 deg. Bh9%HeadingCmd: 3.501149 target range: 620.240845 and range: 622.50 m.h%`@h!*h!"h! h!g)f)f1f1d1d1d1jd9Zd='@ZYZYZYZ]i@mYBɢ U)  i )6ic&:i 2G;ڃ;I`@I!9@ @@@0@DD<E EE-E"EO:*EV:VEt4ZEBE 9hIl=]BDy]\#Ce:Ee>qQ 5e4uJ?Q 9e4uVg)u=BYy.Q I?u0CIu;iu%;u_(e4yɮBjhFNOT Ignoring new targets: 620.24 m.Rh9Zh9- ProNav: ac range: 620.240845 m, nav range: 605.840820 m, bearing: 210.774217 deg, approach rate: -0.634900 m/s, LOS rate: 0.007765 deg/s, cmd heading: 200.601085 deg, new cmd heading: 200.611180 deg. Bh-91=HeadingCmd: 3.501326 target range: 620.240845 and range: 622.50 m.h=`@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM_(@ZqZqZqZug@BDAT read: Response Not Received *response not received(DAT read: user:31> %I,⯮?AZMR@ZxC`@ZjٱZ% fAHRS rotation from veh to nav: [[-0.931993,0.337920,0.131147],[-0.353494,-0.927369,-0.122591],[0.080195,-0.160614,0.983754]]ZH`|? j?টֿ!b`?Ŀz?iZMR@IZa;ZCYjdSBynI ppye rh?Mb`A`"?eCK?eeY=a a9eK7A`?+)\(?Ye+?yeeGa=ePBePxB eB)eƆBaYeBbD/VD3y <% 7=ٔ8Q->9I=BDy#C0*;E>!Q 5-e4%^J?Q 9-e4%i)%>BY-+?Q E5:y54Q I5?%1CI%X;i% ;%J7e4y=Bɮ=ԁBEzEjhamFNOT Ignoring new targets: 620.24 m.RhmN~9ZhmN~9} ProNav: ac range: 620.240845 m, nav range: 605.565186 m, bearing: 210.780031 deg, approach rate: -0.658489 m/s, LOS rate: 0.013896 deg/s, cmd heading: 200.611180 deg, new cmd heading: 200.628630 deg. Bh:HeadingCmd: 3.501630 target range: 620.240845 and range: 622.50 m.h`@h*h"h hgfԑffdddjdZd{)@Z|>Z|>Z{W[@ZJ$?NYBɢ) Ci)F'iP:i2L]H;Z;I`@IY@Y @Y@]o0@a%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.230157^AM ; Y ] C ܁GI I  O- >= 99 Y= lA s,?A2eR@2m[`@20ٱ2 & :AHRS rotation from veh to nav: [[-0.931300,0.338889,0.133546],[-0.354790,-0.926966,-0.121890],[0.082485,-0.160897,0.983518]]2H 6Y? ? ֿ`54?HĿ`x?i2eR@I2l`;2CDPzDPEV EVEV-ET"EV:*EVV:VEVt4ZETBEV19)I)=-BDy-#C5!;E5>9Q 5Ee4=J?Q 9Me4=k)=G>BYIyM4Q IM?=C1CI=A:i=:=aDe4yUBBɮUB]yEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.482187jhFNOT Ignoring new targets: 620.24 m.Rhw9Zhw9 ProNav: ac range: 620.240845 m, nav range: 605.323303 m, bearing: 210.785102 deg, approach rate: -0.643665 m/s, LOS rate: 0.013501 deg/s, cmd heading: 200.628624 deg, new cmd heading: 200.643845 deg. Bh?:HeadingCmd: 3.501896 target range: 620.240845 and range: 622.50 m.h`@h*h"h hgfffdddjdZd;*@ZZZZ$?nYBɢמ) Vi)+i:i2H;D0;I `@I  9@  @ @ \1@^A];IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734090I ^[,w?A4<ɰ;6}R@66s`@6&ٱ6o$ >AHRS rotation from veh to nav: [[-0.930610,0.340048,0.135395],[-0.356075,-0.926733,-0.119899],[0.084703,-0.159790,0.983510]]6H`X?T?`ֿ`̧ ?`tĿ`x?i6}R@I6U_;6CYFuSByF IbDNBVDN3yVZ;%VR=ٔVͻQ-V>9XIX=ZBDyZ$C^t;E^>`Q 5fe4bJ?Q 9fe4bm)bv>BYdyf4Q If?b1CIbt:ibk:bQe4ylɮnBljhFNOT Ignoring new targets: 620.24 m.Rh yw9Zh yw9 ProNav: ac range: 620.240845 m, nav range: 605.072876 m, bearing: 210.790325 deg, approach rate: -0.648122 m/s, LOS rate: 0.013522 deg/s, cmd heading: 200.643842 deg, new cmd heading: 200.659517 deg. Bh|:HeadingCmd: 3.502169 target range: 620.240845 and range: 622.50 m.h#`@h*h"h hgfffdddjdZd` +@ZZZZ%?YBɢ) ÿi)UG1i;i*1GI;s3;I#`@IQbE5|a4jE5|a4rE5ú/E EEE"E>:*EVEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9862079@ @@1@AAAABc>BB?IBSBBBBҺDBŋ;BCEy^AX;A>A>ԩ A ؟AI I O- >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238092. ,Q0?A@Y=SBy=IIE=)Ep;bDU8VDU3ye׎=%e?=ٔeQ-e>9m"?Im"?=mBDymc$CuEu>qQ 5e4urJ?Q 9e4u+p)u>BYyQ I?u1CIu";iu:u`e4yBɮFBEB*** querying acoustic contact ***i ijhIMFNOT Ignoring new targets: 620.24 m.RhUNl9ZhUNl9e ProNav: ac range: 620.240845 m, nav range: 604.797058 m, bearing: 210.796082 deg, approach rate: -0.618413 m/s, LOS rate: 0.012912 deg/s, cmd heading: 200.659510 deg, new cmd heading: 200.676787 deg. Bhe :mHeadingCmd: 3.502471 target range: 620.240845 and range: 622.50 m.hm{(`@hi*hi"hi higqfqfyfydddjdZdU+@ZZZZ颽YBɢ!R)3< TĿi)R6i;i;1I;O5;I{(`@IԩM9@I @I@M5@QE EE/E"E :*Ei:VEJ4ZEBES"9I=BDy$C$<E>!Q 5-e4%jJ?Q 9-e4%Zr)%>BY1y5O4Q I5?%2CI%9:i%1:%ne4y=Bɮ=BEEjhaeFNOT Ignoring new targets: 620.24 m.Rhm~9Zhm~9} ProNav: ac range: 620.240845 m, nav range: 604.542664 m, bearing: 210.801302 deg, approach rate: -0.678120 m/s, LOS rate: 0.013921 deg/s, cmd heading: 200.676791 deg, new cmd heading: 200.692459 deg. Bh}:HeadingCmd: 3.502744 target range: 620.240845 and range: 622.50 m.h,`@h*h"h hgfffdddjdZd?,@ZZZZ&?YBɢ0") ǿi)-;i;i1`J;l&B B XIB SBB B B B ;B BEOE >, d?A@2R@2`@2hٱ2TN :AHRS rotation from veh to nav: [[-0.928010,0.345334,0.139796],[-0.361420,-0.925546,-0.112872],[0.090409,-0.155272,0.983726]]2H A?`? !׿5弿%? ÿz?i2R@I2P_;2CY^SByb6I9yMCl?y&1|=ٔQ->9I=BDy$CP;E>Q 5e4SJ?Q 9e4}t) ?BY/?Q E:y6Q I?Z2CI ;i ;}e4y Bɮ B jh)5FNOT Ignoring new targets: 620.24 m.Rh=K9Zh=K9M ProNav: ac range: 620.240845 m, nav range: 604.260742 m, bearing: 210.808261 deg, approach rate: -0.656271 m/s, LOS rate: 0.016206 deg/s, cmd heading: 200.692459 deg, new cmd heading: 200.713345 deg. BhM1:MHeadingCmd: 3.503109 target range: 620.240845 and range: 622.50 m.hU2`@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde -@Z=Z=Z@Z?额YBɢW<) ǿi)@顡i-;i1K;Z7,}?AEB EBEB+E@"EB:*EB[:VEB [4ZE@BEB9qIq=uBDyu)%C};E}>Q 5e4=J?Q 9e4rv)7?BYy6Q I?2CI:i:De4ԙyBɮBEjhFNOT Ignoring new targets: 620.24 m.Rh9Zh9 ProNav: ac range: 620.240845 m, nav range: 604.004761 m, bearing: 210.814532 deg, approach rate: -0.655704 m/s, LOS rate: 0.016072 deg/s, cmd heading: 200.713346 deg, new cmd heading: 200.732169 deg. Bhz0:HeadingCmd: 3.503437 target range: 620.240845 and range: 622.50 m.hQ8`@h*h"h hgfffdddjdZd2J.@Z!Z!Z!Z%?5ZBɢ5n#)9 =ɿi9)=E99i=x;;iEd1ECL;E[P',0֝?A2Y$S@2a@22ٱ2 :AHRS rotation from veh to nav: [[-0.926191,0.349145,0.142364],[-0.365240,-0.924538,-0.108762],[0.093647,-0.152731,0.983821]]2H[fX?@8?@`׿ѕ׻D?ÿu{?i2Y$S@I2_;2CYBSByBGIbDJAVDJ?3EV EVETET"EV:*EVL_:VETZETaZ@aZ@a^@a^@y^<%^+=ٔb_Q-b>9b ?If ?=fBDyfu%Cf;Ef>hQ 5ne4j#J?Q 9ne4jx)jn?BYpyr6Q Ir?j2CIj;ij;je4yvBBɮvUBz~EjhFNOT Ignoring new targets: 620.24 m.Rhr9Zhr9- ProNav: ac range: 620.240845 m, nav range: 603.691406 m, bearing: 210.822154 deg, approach rate: -0.657671 m/s, LOS rate: 0.016004 deg/s, cmd heading: 200.732170 deg, new cmd heading: 200.755046 deg. Bh-/:5HeadingCmd: 3.503837 target range: 620.240845 and range: 622.50 m.h5>`@h1*h1"h1 h9g9f9f9fAdAdAdAjdIZdM@=/@BiBiBmxIBm(TBBiBiBiBm;BmBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002233Z!Z!Z!Z%=(?=JZB9ɢ]LY)Y ].οia)e~@LaaieeJ;im1mN;m>e`@Iq=u<9@ @@0@iԙ^A /C<E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255277Ae ؟AIi Iy O > :-,~?Aɰ2AS@27a@2K½ٱ2H :AHRS rotation from veh to nav: [[-0.925409,0.350747,0.143511],[-0.366863,-0.924082,-0.107165],[0.095028,-0.151820,0.983829]]2Hr?^?z׿(oS?`nÿ{?i2AS@I2'`;2CYBSByBPIHJAAbDN<VDN3yV&=%VM=ٔV)dQ-V>9Z"?IZ"?=ZBDyZ%C^;E^>`Q 5fe4b J?Q 9fe4bz)b?BYdyf6Q If?b63CIbF:ib:bܩe4ynBɮnBlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 620.24 m.Rh ;9Zh ;9 ProNav: ac range: 620.240845 m, nav range: 603.429749 m, bearing: 210.828479 deg, approach rate: -0.656221 m/s, LOS rate: 0.015872 deg/s, cmd heading: 200.755051 deg, new cmd heading: 200.774037 deg. BhG.:HeadingCmd: 3.504168 target range: 620.240845 and range: 622.50 m.hJD`@h*h"h hgfffdddjdZd0@Z1Z1Z1Z5I?MnZBɢM#()I MпiI)U!QQԱQi-@%Y;i5j15 OP;=y5,vPװ?A20[S@2Pa@2Žٱ2c NAHRS rotation from veh to nav: [[-0.924724,0.351866,0.145175],[-0.368243,-0.923527,-0.107215],[0.096348,-0.152604,0.983580]]2HV??I׿sr@C?@ÿ@|y?i20[S@I2wU`;0YVSByV[IIX)Z<bDb?VDb3yf=%j#=ٔn,Q-n>9lIp=rCDyr&CrH;Er>tQ 5ze4v;,*?A:DAT read: 00:20:20.0717 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 278,-0.03, 2.702, 0.976, 2.480, 2.142, PHS= 0.662,-1.120, 0.294, RAW= 138.7, 2.0, CAL= 138.8, 2.7, ROT= 11.2, -2.7 >Ygot valid direction response: 00:20:20.0717 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 278,-0.03, 2.702, 0.976, 2.480, 2.142, PHS= 0.662,-1.120, 0.294, RAW= 138.7, 2.0, CAL= 138.8, 2.7, ROT= 11.2, -2.7 BPDAT read: Bearing 4.3, 16.3 (Local) B~Local bearing/azimuth received: Bearing 4.3, 16.3 (Local) JDAT read: Range 11 to 50 : 612.4 m (Round-trip 816.6 ms) speed 0.7 m/s J(DAT read: user:32> NBDAT read: Tx time:00:20:21.1995 N$Ping request sent.R"@\"5=" @ "A=)"+H>I"A "I QتI?[V?U5? "NK>)"I"+H>i"A f:publishing transmit ping timeLfFpublishing direction and range infoy ""M[??P7V?Y ) I i ) I "I QتI?[V?U5? ) I i pS@ ofa@ Ƚٱ  AHRS rotation from veh to nav: [[-0.924107,0.352744,0.146959],[-0.369405,-0.923053,-0.107299],[0.097802,-0.153443,0.983306]] HI[??`U׿` w@ ?ÿ`=w?i pS@I fa; CY !TBy tIy rh?-ƿ~jt?C+??5= 9B`"?MbI +Yy94B~B B)YfB a=bD+VDE3y=%"=ٔ>Q->9I=CDy Y&C $*;E >Q 5e4EI?Q 9e4)?BY%/?Q E%:y%6Q I%?3CI:iU: e4yMBɮM<BU}Ei i"?AJi"DRi"Dji"UMn@i"T*@{]@TT<@ri""M[??P7V?Zi"+H>bi"Ai"sȒjZt=Z$Q@zi"<꿃b5yż?2i":i"D"i"?*i"DBi"6Bi"ӟ?i"i"6Bi"aDi"5l@ addTargetRange:: Added new target pos. range: 612.400024 m, deltaT: 16.887891 s, deltaX: -10.099976 m, approachRate: -0.598060 m/s, rangeRepo size: 4  Added new target pos. range: 610.181274 m, bearing: 213.339114 deg, lat: 36.779416 deg, lon: -121.859861 deg, deltaT: 16.887891 s, deltaX: -10.059570 m, approachRate: -0.595668 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 610.18 m.RhZh ProNav: ac range: 610.181274 m, nav range: 605.518433 m, bearing: 211.466565 deg, approach rate: 0.000000 m/s, LOS rate: 0.015812 deg/s, cmd heading: 200.797876 deg, new cmd heading: 200.823055 deg. BheHeadingCmd: 3.505023 target range: 610.181274 and range: 612.40 m.heNR`@ha*ha"ha hagafififididqdqjdu@3#@Zdu ?Z>Z>ZH?ZH@ZBɢ3m) _տi)_iy;ih1T;̉C,ڨ?A@6(S@6va@6Mѽٱ6 BAHRS rotation from veh to nav: [[-0.923315,0.353002,0.151257],[-0.370163,-0.922943,-0.105622],[0.102316,-0.153512,0.982835]]6H ̋?a\?׿@@ `h1?Jÿ@cs?i6(S@I63d;6CYFTByJdIbDr)VDr3y )% L=ٔC9Q->9 ?I ?=CDy&C%;E>!Q 5-e4%^I?Q 9-e4%)%@BY1y56Q I5?%+4CI%;i%T;%e4y=kBɮ=~BE|EjhaeFNOT Ignoring new targets: 610.18 m.Rhm9Zhm9} ProNav: ac range: 610.181274 m, nav range: 605.256897 m, bearing: 211.473236 deg, approach rate: -0.702305 m/s, LOS rate: 0.017922 deg/s, cmd heading: 200.823052 deg, new cmd heading: 200.843074 deg. Bh}D:HeadingCmd: 3.505373 target range: 610.181274 and range: 612.40 m.hX`@h*h"h hgfffdddjdZd/?ԱZZZZj,@ZBɢA) Mܿi)"di;i19V;:*EuR:VEu'4ZEqa@a@a@a@^ABBBIBTBBBBB̋;B CEBBBBBCǕ4Ia Iy O >9 v J,y*?ANS@Nh|a@N׽ٱNh$ ^AHRS rotation from veh to nav: [[-0.922925,0.352698,0.154318],[-0.370369,-0.922829,-0.105898],[0.105059,-0.154890,0.982330]]NH?@?@׿ Ї )?qÿ>o?iNS@INke;NCYfATByjI llbDv.VDvP3y >% K=ٔ _Q->9I=CDy&C%[:E%>)Q 5e4-I?Q 9e4-)-4@BYy6Q I?-r4CI-kE  E E 1E "E *E H:VE -4ZE BE 9`I`=bCDyb'CfEf>hQ 5je4jvI?Q 9ne4j )jQ@BYlyn6Q In?j4CIj;ij;je4ytɮv~BtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 610.18 m.Rh9Zh9- ProNav: ac range: 610.181274 m, nav range: 604.732544 m, bearing: 211.486632 deg, approach rate: -0.686690 m/s, LOS rate: 0.017591 deg/s, cmd heading: 200.863460 deg, new cmd heading: 200.883282 deg. Bh-(A:5HeadingCmd: 3.506075 target range: 610.181274 and range: 612.40 m.h5c`@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdMU?ZiZiZiZm @}1[Bɢ};) Jݿi)Eo顁iے;i/1Y;' 14W,7^?A>;ɰ>4<bEg4jEf4rE0E= E=E=,E9"E=m:*E=e:VE=g4ZE9aM@aM@aM@aM@e$nS@eca@eK%ٱex# uAHRS rotation from veh to nav: [[-0.922912,0.349919,0.160594],[-0.368758,-0.923296,-0.107432],[0.110684,-0.158371,0.981156]]eH`~e?[?@׿ @U?EĿe?ie$nS@Ie9 g;eCYZTByIBBBIBTBBBBB;B;CEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752662y5On?)\(?{Gz?58?5Ga=5ף<1 195M?{Gz?~jtY5n2?y5#<5D5TB5yB 5B)5!B1Y5BBbDM4VDMf3y]"=%]2=ٔ]˻Q-]>9aIa=eCDyec'CmźE > Q 5f4 YzI?Q 9f4 S) _@BY2?Q E:y0Q I?  5CI :i : f4y-Bɮ-o}B-zEjhiuFNOT Ignoring new targets: 610.18 m.RhuF9ZhuF9 ProNav: ac range: 610.181274 m, nav range: 604.403015 m, bearing: 211.491872 deg, approach rate: -0.683073 m/s, LOS rate: 0.010869 deg/s, cmd heading: 200.883281 deg, new cmd heading: 200.899011 deg. Bh9HeadingCmd: 3.506349 target range: 610.181274 and range: 612.40 m.hh`@h*h"h hgfffdddjdZd /?Z%=Z%=Z%)@Z%?=_[Bɢ=.)9 =i9)eRvaaie;im1m[;mz~Y],w?A2mXS@2#Na@2(ٱ2$ >AHRS rotation from veh to nav: [[-0.923094,0.348119,0.163435],[-0.367413,-0.923837,-0.107394],[0.113601,-0.159183,0.980691]]2HG?r?׿4~?`Ŀa?i2mXS@I236g;2CYFzTByFIIJ?>)J>bDN:VDN{3yV=%Vk=ٔZN Q-Z?9XIX=ZCDyZ'C^yE^?`Q 5ff4bshI?Q 9ff4b)bi@BYhyj0Q Ij?bF5CIb:ibw:bf4yrBɮr|BryEjh FNOT Ignoring new targets: 610.18 m.Rh L9ZhL9% ProNav: ac range: 610.181274 m, nav range: 604.177307 m, bearing: 211.495495 deg, approach rate: -0.696361 m/s, LOS rate: 0.011182 deg/s, cmd heading: 200.899004 deg, new cmd heading: 200.909877 deg. Bh%9-HeadingCmd: 3.506539 target range: 610.181274 and range: 612.40 m.h-"k`@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=@ZaZaZaZeL?u{[BɢuL)q u&i)\Q{iૡ;i1\;ԩ Bd,@ܑ?A2=S@23a@2ٱ2p% :AHRS rotation from veh to nav: [[-0.923398,0.346053,0.166085],[-0.365803,-0.924449,-0.107617],[0.116296,-0.160127,0.980222]]2H y%?BB?`Ri׿ČŽ? Ŀ]?i2=S@I2uOg;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508656DYJTByJI za=xbD*VD3y=%D=ٔ/ջQ->9I=CDy'C%Y~E%>)Q 55f4-QI?Q 95f4-h)-w@BY1y50Q I5?-5CI-e:i- ;-!f4yAɮE|BAjhamFNOT Ignoring new targets: 610.18 m.RhmL9ZhuL9 ProNav: ac range: 610.181274 m, nav range: 603.890625 m, bearing: 211.500149 deg, approach rate: -0.688379 m/s, LOS rate: 0.011181 deg/s, cmd heading: 200.909878 deg, new cmd heading: 200.923847 deg. Bh9HeadingCmd: 3.506783 target range: 610.181274 and range: 612.40 m.h!o`@h*h"h hgfffdddjdZds@ZZZZy?[Bɢ_=) 9i)fi;i14^;QBBIBTBBBBB;BTCE^AII)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760720OE> mj,?ABNS@Ba@B ٱBal' RAHRS rotation from veh to nav: [[-0.923878,0.343354,0.168991],[-0.363673,-0.925197,-0.108407],[0.119128,-0.161613,0.979638]]BH h`?@?mF׿6`+?@Ŀ0Y?iBNS@IBg;@YZTByZIlbDj6VDj3yz?K=%zL=ٔ~ Q-~>9I=CDy(C KE >Q 5f4;I?Q 9%f4 )@BY!y%0Q I%?5CIH%;iC&;/f4y-pBɮ5C|B5EjhQFNOT Ignoring new targets: 610.18 m.Rh4O9Zh4O9 ProNav: ac range: 610.181274 m, nav range: 603.614502 m, bearing: 211.504696 deg, approach rate: -0.687186 m/s, LOS rate: 0.011322 deg/s, cmd heading: 200.923852 deg, new cmd heading: 200.937501 deg. Bh9HeadingCmd: 3.507021 target range: 610.181274 and range: 612.40 m.h5s`@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@ZZZZ?m[Bɢm <)i uiq)uqqiuT;i}1}Z_;}0%Tq,ű?A6R@6y`@6MQٱ6) >AHRS rotation from veh to nav: [[-0.924327,0.340584,0.172113],[-0.361601,-0.925834,-0.109891],[0.121921,-0.163812,0.978928]]6H??y$׿n!;6?ĿaS?i6R@I6"f;4YRTByRI TTbDZ1VDZ[3ybf<%bM=ٔfQ-f>9f"?Ij"?=jDDyj^(Cj#Ej>lQ 5rf4n&I?Q 9rf4n͓)n@BYtyv1Q Iv?n6CIn:inQ:nx=f4yz-Bɮz{BzEB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 610.18 m.Rh%/R9Zh-/R95 ProNav: ac range: 610.181274 m, nav range: 603.341736 m, bearing: 211.509253 deg, approach rate: -0.687150 m/s, LOS rate: 0.011485 deg/s, cmd heading: 200.937499 deg, new cmd heading: 200.951176 deg. Bh=89EHeadingCmd: 3.507260 target range: 610.181274 and range: 612.40 m.hEv`@hA*hA"hA hIgIfIfIfQdQdQdQjdQZd]@Y @yZyZyZyZ}-?颕[BɢuM) i)顙i>;iĨ11`;( /w,z߱?Ab'R@b`@bٱb~* nAHRS rotation from veh to nav: [[-0.924759,0.338069,0.174726],[-0.359520,-0.926645,-0.109883],[0.124761,-0.164433,0.978466]]bH ?k]?@`׿ S!Q?`& ſO?ib'R@Ibf;`YrTByrIE EE-E"E:*EVEt4ZEa%@a-@a-@a-@B9B9B=IB=UBB9B9B9B=;B=9I=DDy(CvE>BDAT read: Rx Time:00:20:24.4150 TRx dataTimestamp_ set to:1761524423.556200checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769736Q 5 f4 I?Q 9 f4n)@BY 2?Q E:y*Q I?n6CID;i;Lf4yBɮ{BEjhAEFNOT Ignoring new targets: 610.18 m.RhMͿ8ZhMͿ8 ProNav: ac range: 610.181274 m, nav range: 603.037903 m, bearing: 211.511567 deg, approach rate: -0.687780 m/s, LOS rate: 0.005240 deg/s, cmd heading: 200.951173 deg, new cmd heading: 200.958118 deg. Bh*f9HeadingCmd: 3.507381 target range: 610.181274 and range: 612.40 m.hx`@h*h"h hg f f fdddjdZd@@Z]=Z]=Z]W@Z]rl@\Bɢ\>) i)KiN;iɦ1`;\#;Ix`@I9@ @@^1@)^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021393a I I O >T},H?AXɰZ;m{R@m1`@myAٱm ,  AHRS rotation from veh to nav: [[-0.925285,0.334884,0.178047],[-0.357083,-0.927410,-0.111365],[0.127829,-0.166622,0.977700]]mH`n?@B? qֿ@Xg \?@Sſ QI?im{R@Im_f;iYTByIbD-4VD-f31yE_K=%ED=ٔEQ-E>9III=MDDyM(CUûEU>YQ 5ef4]\H?Q 9ef4]ܚ)]@BYaye&+Q Ie?]6CI]1:i]:]g[f4yiɮuzBqjhFNOT Ignoring new targets: 610.18 m.Rh8Zh8 ProNav: ac range: 610.181274 m, nav range: 602.749573 m, bearing: 211.513836 deg, approach rate: -0.693054 m/s, LOS rate: 0.005457 deg/s, cmd heading: 200.958113 deg, new cmd heading: 200.964924 deg. Bho9HeadingCmd: 3.507500 target range: 610.181274 and range: 612.40 m.hz`@h*h"h hgfffdddjdZd @ZZZZL@<\BɢyK) i),i;i%֤1%M`;%P;I%z`@I)E5 E5E5+E1"E5:*E5L_:VE5 [4ZE1BE5# BDAT read: Tx time:00:20:25.4995 $Ping request sent. E@ Q = y(@ ) K6>I    gUc?᛿?+? :>) hI K6>i   :publishing transmit ping timeFpublishing direction and range infoy  Y{u?SE?P7V?Y      ) I i      ) I    gUc?᛿?+? ) I i   ԑ^Ar;IQ Ia Ou >Թ ,&?A60R@6`@6oٱ6AHRS rotation from veh to nav: [[-0.925547,0.332288,0.181516],[-0.355284,-0.927913,-0.112922],[0.130909,-0.169004,0.976883]]6H 6D?;? ֿ@vm輿?@ſ`B?i60R@I6f;6CY^TBy^IIb<)bp;bDj9VDj3yr E=%rd=ٔr Q-r>9tIt=vDDyv$)CzEz>xQ 5f4zH?Q 9f4z̝)z@BYyF+Q I?z6CIz;iz]:zgf4yBɮYzB~Ei9i=p?AJi=DRi=Dji=]al@i=z{g@+;Z@4w<@ri=Y{u?SE?P7V?Zi=K6>bi9i=#ͩsI8(hU@zi=-h꿾}}Bwbp?2i=@:i=m"i=}p7?*i=Bi= Ci=\W]?i=i=Ci=8Di=sQl@] addTargetRange:: Added new target pos. range: 608.500000 m, deltaT: 4.284355 s, deltaX: -3.900024 m, approachRate: -0.910294 m/s, rangeRepo size: 4 m Added new target pos. range: 606.295105 m, bearing: 211.618668 deg, lat: 36.779431 deg, lon: -121.859856 deg, deltaT: 4.284355 s, deltaX: -3.886169 m, approachRate: -0.907061 m/s, posRepo size: 4 jhquFNOT Ignoring new targets: 606.30 m.RhZh ProNav: ac range: 606.295105 m, nav range: 600.887756 m, bearing: 211.563024 deg, approach rate: 0.000000 m/s, LOS rate: 0.005457 deg/s, cmd heading: 200.964929 deg, new cmd heading: 200.970843 deg. Bh  HeadingCmd: 3.507603 target range: 606.295105 and range: 608.50 m.h |`@h *h"h hg1f1f9f9d9d9dAjdE@ZdE ?ZZZZ`2@ԡ颵`\BɢN) hi)项i;i#1`;aj;I|`@Im9@i @i@m4@iE9 E=E=,E9"E9*E=g:VE=g4ZE9aE@aE@aE@aE@BU^>BQBU9IBUcUBBUt =BQBUѺDBU;BU'CE^A;I I) O= > Ļ,-?ABoR@Bd`@B ٱB{0 JAHRS rotation from veh to nav: [[-0.925848,0.329779,0.184528],[-0.353321,-0.928635,-0.113140],[0.134048,-0.169948,0.976293]]BH?? ќֿ@a {(?ſ=?iBoR@IB~f;BCYRTByRI XXbDZ2VDZ 3yb"<%fL=ٔf}Q-f>9dIh=jDDyje)CjEj>lQ 5rf4nH?Q 9vf4n)n@BYtyvf+Q Iv?n>7CIn:in:nuf4yxɮzOzB|jh%FNOT Ignoring new targets: 606.30 m.Rh%8Zh%85 ProNav: ac range: 606.295105 m, nav range: 600.610840 m, bearing: 211.565339 deg, approach rate: -0.697403 m/s, LOS rate: 0.005833 deg/s, cmd heading: 200.970844 deg, new cmd heading: 200.977793 deg. Bh=9=HeadingCmd: 3.507724 target range: 606.295105 and range: 608.50 m.h=~`@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUx?ZqZqZqZu@%\Bɢ-Q)) -i))-11i5;i=(1=`;=8:I=~`@IA@ @@4@@=@PExceeded connect timeout, disconnecting.^A Β{;AgAzAIIO>A EM  EM EM /EI "EM :*EM k:VEM J4ZEI BEM 1AHRS rotation from veh to nav: [[-0.926037,0.327636,0.187378],[-0.351661,-0.929273,-0.113076],[0.137078,-0.170606,0.975758]]6H ??ֿ ‹?jſh9?i6XTR@I6\f;4YFUByFIbDN:VDN{3yV5=%VL=ٔZyQ-Z>9XIX=ZDDyZ)C^хE^>`Q 5ff4bH?Q 9ff4bQ)bABYdyj+Q Ij?b7CIb:ib:bf4yndBɮnyB%}EuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 606.30 m.Rhi8Zhi8 ProNav: ac range: 606.295105 m, nav range: 600.334656 m, bearing: 211.567694 deg, approach rate: -0.654803 m/s, LOS rate: 0.005585 deg/s, cmd heading: 200.977797 deg, new cmd heading: 200.984864 deg. BhKu9HeadingCmd: 3.507848 target range: 606.295105 and range: 608.50 m.h`@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5?ZZZZn@\Bɢ/N)  iQ)L顑i&;i!1_`;}:I`@IE9@A @A@E4@A}4>}%=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ^AM ?B:ԩ I I O >̗,N`?A2Br\CBr_IBrUBBrw =BpBpBr;BrCEBB]CE EE.E"Ea:*Ega:VEـ4ZEBE(<2E(<JE;:E;BBBCR5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496034y +?ClɿZd;O?6?Oj< 9ʡE?T㥛 ?:v?Y-2?y=<B1}B B)BY(BbD <VD 3y=;=%=3=ٔE}ܻQ-E>9AIA=MDDyM)CMNEM>QQ 5]f4UH?Q 9]f4U)U5ABYe3?Q Ee:ye+Q Ie?U7CIU:iU:Uܓf4ym"Bɮm yBm|EjhFNOT Ignoring new targets: 606.30 m.Rh8Zh8 ProNav: ac range: 606.295105 m, nav range: 600.021545 m, bearing: 211.570479 deg, approach rate: -0.705057 m/s, LOS rate: 0.006276 deg/s, cmd heading: 200.984860 deg, new cmd heading: 200.993221 deg. Bh҉9%HeadingCmd: 3.507993 target range: 606.295105 and range: 608.50 m.h%`@h!*h!"h) h)g)f)fQfQdQdQdQjdYZd]z?ԩZ>Z>Zܵ?Z/Σ@\BɢO) i)᭙i?;i1_; 3I`@I9@ @@5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747802 C^A 9 nManaging dock network, ignoring radio surface power off Ge jA} MA 09 jAY AA I I O >I,{?A2.R@2$`@2ٱ20 >AHRS rotation from veh to nav: [[-0.926068,0.324791,0.192114],[-0.349254,-0.930498,-0.110430],[0.142895,-0.169363,0.975140]]2H`Z``?3?+Zֿ@*E`dJ?@ſW4?i2.R@I2f;2CYFbUByF9ILLbDN2VDN 3yV<=%VZ=ٔZ0Q-Z>9XI\=^DDy^-*C^nE^>`Q 5ff4buH?Q 9ff4b)b`ABYhyj+Q Ij?b8CIb;ib/;bf4ylɮnxBpjhFNOT Ignoring new targets: 606.30 m.Rh a8Zh a8 ProNav: ac range: 606.295105 m, nav range: 599.764587 m, bearing: 211.572788 deg, approach rate: -0.706305 m/s, LOS rate: 0.006349 deg/s, cmd heading: 200.993220 deg, new cmd heading: 201.000149 deg. Bhm9%HeadingCmd: 3.508114 target range: 606.295105 and range: 608.50 m.h%`@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=?ZZZZģ@ \Bɢ ])  i)i%;iÚ1H_;BI`@I!DizDm@AEq EuEqEq"Eq*Euxv:VEqZEqa@a@a@a@ԉ9@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999975Ա^A%q AQ Ia Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252091,,򳕲?Aɰp;2&)R@2`@2ٱ2/ :AHRS rotation from veh to nav: [[-0.925781,0.324046,0.194740],[-0.348774,-0.930828,-0.109158],[0.145897,-0.168977,0.974762]]2H`+?@:?PRֿX``?ſ @1?i2&)R@I2Af;2CYBUByBTIbDJ%VDJ03yR=%VK=ٔVEQ-V>9TIX=ZDDyZo*CZeEZ>``Q 5ff4bx|H?Q 9ff4b1)bABYdyj+Q Ij?b_8CIbt:ib(:bf4ynBɮ1xB!jhy}FNOT Ignoring new targets: 606.30 m.Rhb8Zhb8 ProNav: ac range: 606.295105 m, nav range: 599.488220 m, bearing: 211.575281 deg, approach rate: -0.661069 m/s, LOS rate: 0.005966 deg/s, cmd heading: 201.000146 deg, new cmd heading: 201.007629 deg. Bh9HeadingCmd: 3.508245 target range: 606.295105 and range: 608.50 m.h`@h*h"h hgfffdddjdZd@Z1Z1Z1Z5V@颽"]BɢjT) i)vği;im1uS^;ujIu`@Iq9@ @@/@BQAU<B]T>BYB]IB]UBB]x =BYB]кDB]Ջ;B] CEbE|a4jEƁj4rE./E EE+E"E :*ER:VE [4ZEBES"V,a?A>$R@>`@> ٱ>N#/ FAHRS rotation from veh to nav: [[-0.925453,0.323442,0.197285],[-0.348373,-0.931160,-0.107595],[0.148903,-0.168303,0.974424]]>HP@E?@?Kֿ[A?`ſ{.?i>$R@I>\f;>CYNUByNZIIR >)R<bDZ*VDZ3ybJ<%bI=ٔbQ-b>9dId=fDDyf*Cf-)Ej>hQ 5nf4jJgH?Q 9rf4jq)jABYpyr+Q Ir?j8CIjL;ijY;j3f4yvBɮzwBzEjhFNOT Ignoring new targets: 606.30 m.Rh%8Zh%85 ProNav: ac range: 606.295105 m, nav range: 599.209473 m, bearing: 211.577805 deg, approach rate: -0.713493 m/s, LOS rate: 0.006463 deg/s, cmd heading: 201.007631 deg, new cmd heading: 201.015206 deg. Bh59=HeadingCmd: 3.508377 target range: 606.295105 and range: 608.50 m.h=A`@h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU@@ZqZqZqZu@颅F]BɢV_) i)峢顉i;iu1];BIA`@I߽>߹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.75715759@1 @1@50@1I^AU ԁI1 IA OU >E  E E -E "E :*E 1]:VE t4ZE a @a @a @a @m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007876ԡ ?,Hoɲ?AJ#R@J`@J3ٱJ. ZAHRS rotation from veh to nav: [[-0.925078,0.323049,0.199674],[-0.348170,-0.931402,-0.106154],[0.151684,-0.167721,0.974095]]JH=Ԭ? ?`jHֿ ,cj?wſ+?iJ#R@IJe;JCYbUByb|I jp=jp=bDj5VDj3yr: >%vH=ٔv#Q-v>9xIx=zEDyz*Cz3Ez>|Q 5f4~QH?Q 9 f4~)~ABY y +Q I ?~8CI~:i~f:~f4yyɮwBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 606.30 m.Rh:8Zh:8 ProNav: ac range: 606.295105 m, nav range: 598.928467 m, bearing: 211.580352 deg, approach rate: -0.657574 m/s, LOS rate: 0.005962 deg/s, cmd heading: 201.015213 deg, new cmd heading: 201.022857 deg. Bh9HeadingCmd: 3.508511 target range: 606.295105 and range: 608.50 m.hq`@h*h"h hgfffddd jd Zd =< @Z)Z)Z)Z-賣@Ep]BɢEN W)A MiI)M IIiMk#;iUD1U&];UI]q`@IY 9@  @ @ 0@ ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259878^AM}UIIO> BE R>BA BE IBE 8VBBA BA BA BE ы;BE CEh,E㲮?AE& E&E&(E$"E&:*E&c:VE&c44ZE$BE&#9iIi=mEDym8+Cu:Eu>Q 5%f4:H?Q 9%f4ѷ)ABBY%5?Q E%:y%_/Q I-?<9CI:i:f4y5lBɮ=vB=EjhyFNOT Ignoring new targets: 606.30 m.Rh89Zh89 ProNav: ac range: 606.295105 m, nav range: 598.629883 m, bearing: 211.584663 deg, approach rate: -0.698867 m/s, LOS rate: 0.010097 deg/s, cmd heading: 201.022863 deg, new cmd heading: 201.035804 deg. Bh9HeadingCmd: 3.508737 target range: 606.295105 and range: 608.50 m.h$`@h*h"h hgff1f1d9d9dAjdAZdE` @Z!>Z!>Zq @Z@]BɢHW) i)bidY Ғ,2 ?A23R@2r)`@2~& ٱ23`. :AHRS rotation from veh to nav: [[-0.924148,0.323348,0.203464],[-0.348841,-0.931356,-0.104336],[0.155760,-0.167399,0.973507]]2H @? ?hSֿ ʵ?Qmſ&?i23R@I2g;2CY^VBybI ``bDj+VDjE3yr >%rS=ٔr2Q-v>9tIt=vEDyvw+Cz߭:Ez>|Q 5f4~&H?Q 9f4~h)~BBYyV/Q I ?~}9CI~;i~;~f4y*Bɮ@vBEjhFNOT Ignoring new targets: 606.30 m.Rh-9Zh-9 ProNav: ac range: 606.295105 m, nav range: 598.380920 m, bearing: 211.588250 deg, approach rate: -0.658782 m/s, LOS rate: 0.009494 deg/s, cmd heading: 201.035799 deg, new cmd heading: 201.046563 deg. Bh9HeadingCmd: 3.508924 target range: 606.295105 and range: 608.50 m.h8`@h*h"h hgfffdddjd!Zd% N@9ZQZQZQZU@e]Bɢeog)i mii)mwiiimJԹ  DAT read: 00:20:28.7045 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 343,-0.16,-2.823, 1.909,-3.011, 3.055, PHS= 0.507,-1.100, 0.174, RAW= 138.7, 5.8, CAL= 138.5, 6.6, ROT= 11.5, -6.6  Ygot valid direction response: 00:20:28.7045 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 343,-0.16,-2.823, 1.909,-3.011, 3.055, PHS= 0.507,-1.100, 0.174, RAW= 138.7, 5.8, CAL= 138.5, 6.6, ROT= 11.5, -6.6  PDAT read: Bearing 6.6, 19.0 (Local) % ~Local bearing/azimuth received: Bearing 6.6, 19.0 (Local) - DAT read: Range 11 to 50 : 600.7 m (Round-trip 801.0 ms) speed 0.0 m/s 5 (DAT read: user:34> = BDAT read: Tx time:00:20:29.7994 = $Ping request sent.= zŬ,?A @ 4Q= @ =) M>I 뽩 e&X)?ȱd?!%? >) ͽI M>i 뽩 J:publishing transmit ping timeiJFpublishing direction and range infoy  mfW&?Y?NZl?Y ) I i ) I e&X)?ȱd?!%? ) I i ]9R@]5/`@]E"ٱ]}+ uAHRS rotation from veh to nav: [[-0.923641,0.323844,0.204971],[-0.349021,-0.931684,-0.100741],[0.158344,-0.164587,0.973570]]]Hvݹ?y9I=EDy+CԱT:Em>qQ 5}f4u/ H?Q 9}f4uս)uBBYyT/Q I?u9CIu:iuI:uf4yBɮuBEi i ?AJi DRi Dji Hjn@i X4@7 ]@8s2Q@ri mfW&?Y?NZl?Zi M>bi i ?S'Z~z?G t`va@zi 1'y~%ῈNw\?2i Z:i "i B $2?*i uBi AACi }p7?i i Ci RDi etl@ addTargetRange:: Added new target pos. range: 600.700012 m, deltaT: 4.283790 s, deltaX: -7.799988 m, approachRate: -1.820815 m/s, rangeRepo size: 4  Added new target pos. range: 598.505310 m, bearing: 213.440346 deg, lat: 36.779442 deg, lon: -121.859861 deg, deltaT: 4.283790 s, deltaX: -7.789795 m, approachRate: -1.818435 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 598.51 m.RhZh- ProNav: ac range: 598.505310 m, nav range: 597.294250 m, bearing: 211.685219 deg, approach rate: 0.000000 m/s, LOS rate: 0.009494 deg/s, cmd heading: 201.046564 deg, new cmd heading: 201.060883 deg. Bh)5HeadingCmd: 3.509174 target range: 598.505310 and range: 600.70 m.h5P`@h1*h1"h1 h1g9f9f9f9dAddjdł@Zd5#?ZZZZ@]Bɢ*RAABBBIBVBBBBB΋;BCE) )i!)%j!!i%}̬,4?Adɰf4<KR@A`@$ٱ* AHRS rotation from veh to nav: [[-0.922931,0.324695,0.206813],[-0.349944,-0.931502,-0.099218],[0.160432,-0.163944,0.973337]]H @?x?yeֿWf? Ŀ%?iKR@Iii;CY%NVBy%IbD=)VD=3yMP=%M6=QٔUΙQ-U>9YIY=]EDy],C].$;Ee>aQ 5g4eG?Q 9g4e)e CBYyB/Q I?e:CIe>wӬ,N?ANKSR@NI`@N='ٱNh* VAHRS rotation from veh to nav: [[-0.922444,0.324824,0.208776],[-0.350229,-0.931508,-0.098146],[0.162596,-0.163654,0.973026]]NH`?.?&jֿ! ?@Ŀ#?iNKSR@INj;LY^VBy^IIb<)b=bDj;VDj)3yr =%rR=ٔr!Q-r>9v ?Iv ?=vEDyvE,Czq:Ez>xQ 5g4zkG?Q 9g4zfì)zfCBYy;/Q I?z\:CIzj;iz3;z*g4yBɮtBE-B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 598.51 m.RhED>9ZhED>9U ProNav: ac range: 598.505310 m, nav range: 596.761414 m, bearing: 211.692931 deg, approach rate: -0.718732 m/s, LOS rate: 0.010396 deg/s, cmd heading: 201.072614 deg, new cmd heading: 201.084024 deg. BhUR9eHeadingCmd: 3.509578 target range: 598.505310 and range: 600.70 m.he`@ha*ha"ha hagafififididqdqjdqZdu1?ZZZZA@颭:^Bɢtn) xi) f顱ic<Թiǂ1Y;CI`@Iq@q @q@u0@qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A?BɺB Q>B B -IB VBB y =B B B ;B BEA9 II IY Oe >E  E E +E "E :*E e:VE [4ZE BE a 2E a JE _;a :E `;a 9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248309٬,nh?AnZR@n]P`@nC)ٱn* AHRS rotation from veh to nav: [[-0.921984,0.325046,0.210453],[-0.350528,-0.931526,-0.096899],[0.164546,-0.163109,0.972790]]nH??oֿ@`θ?Ŀ@!?inZR@InÕj;nCY%VBy%Iyq= ףp?7A`¿EԸ?K?= 9@5^I ?QˡE?Yb0?y=\B1}B )܁BYWB a=R=bD,VD3yr>%9=ٔQ->9 I =EDy,Cф:E%>)Q 55g4-G?Q 9=g4-Ŭ)-CBY=1?Q E=:yEY3Q IE?-:CI-P;i-O;-#g4yUdBɮU tBUEjh FNOT Ignoring new targets: 598.51 m.Rh[v9Zh[v9% ProNav: ac range: 598.505310 m, nav range: 596.472778 m, bearing: 211.698955 deg, approach rate: -0.644737 m/s, LOS rate: 0.013461 deg/s, cmd heading: 201.084020 deg, new cmd heading: 201.102099 deg. Bh%:MHeadingCmd: 3.509894 target range: 598.505310 and range: 600.70 m.hM`@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@^?Zd">Zd">Z^@Zr@颵i^Bɢ[) _i)项im߈,>?A00NdlR@Nb`@N+ٱN' fAHRS rotation from veh to nav: [[-0.921339,0.326248,0.211415],[-0.351425,-0.931477,-0.094076],[0.166236,-0.160972,0.972858]]NH@{A? ?}ֿ`[6G?Ŀ!?iNdlR@INj;LYnVBynIbDvFVDv4y~ʅ=%~]=ٔQ->9"?I"?= EDy ,C @;E >Q 5g4G?Q 9g4!Ȭ) DBY!y%L3Q I%?:CIH;iD;0g4y)ɮ-sB)jhQUFNOT Ignoring new targets: 598.51 m.Ee EeEe.Ea"Ee :*Eec:VEeـ4ZEaam@am@am@am@Rhu~z9Zhu~z9 ProNav: ac range: 598.505310 m, nav range: 596.233643 m, bearing: 211.703929 deg, approach rate: -0.657709 m/s, LOS rate: 0.013687 deg/s, cmd heading: 201.102093 deg, new cmd heading: 201.117023 deg. BhL:HeadingCmd: 3.510154 target range: 598.505310 and range: 600.70 m.h^`@h*h"h hgfffdddjdZd ?ZZZZv@^Bɢs) i)ͼim checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020348 %,?A:R@:hu`@:,ٱ:$,& FAHRS rotation from veh to nav: [[-0.920669,0.327461,0.212458],[-0.352413,-0.931344,-0.091674],[0.167851,-0.159274,0.972861]]:H`v?1?ֿ@w'|?cĿ`!?i:R@I: [k;8YJWByJ8I LLbDV6VDV3y^=%^O=ٔbQ-b>9`I`=bEDyb-Cf2C;Ef>hQ 5ng4jG?Q 9ng4jqʬ)j\DBY9y==3Q IE?j*;CIj}hg4yM"BɮMEsBM~EjhFNOT Ignoring new targets: 598.51 m.Rh m9Zh m9 ProNav: ac range: 598.505310 m, nav range: 595.976440 m, bearing: 211.709260 deg, approach rate: -0.624749 m/s, LOS rate: 0.012953 deg/s, cmd heading: 201.117024 deg, new cmd heading: 201.133022 deg. Bh;:HeadingCmd: 3.510433 target range: 598.505310 and range: 600.70 m.h`@h*h"h hgfffdddjdZd@J@ZZZZi|@^Bɢe) i)/igQ l,?Ar܁GnJR@|n`@nr.ٱn$%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524491!U9QYUA eAHRS rotation from veh to nav: [[-0.920120,0.328161,0.213751],[-0.353014,-0.931296,-0.089826],[0.169588,-0.158107,0.972750]]nHq`?1\?ȗֿ- `? <Ŀ ?inJR@InFk;nCYmWBymIIAAbDVDy=%==ٔ\Q->9I=EDyO-C:E>Q 5g4ÌG?Q 9g4̬)DBYy33Q I?s;CI%f ,ϳ?A4ɰ6;LV R@V֑`@V.0ٱV# bAHRS rotation from veh to nav: [[-0.919518,0.329032,0.214999],[-0.353803,-0.931159,-0.088124],[0.171203,-0.157098,0.972630]]VHl?@?തֿC?@Ŀ?iV R@IVk;VCYfPWByfiIbDr0VDr3yzq>%zV=ٔz~Q-z>9|I|=~FDy~-C%;E> Q 5g4 xG?Q 9g4 9Ϭ) EBYy%3Q I? ;CI u;i ; Zg4y!ɮ%rrB!=B*** querying acoustic contact ***iA iAjhIMFNOT Ignoring new targets: 598.51 m.RhU9ZhU9e ProNav: ac range: 598.505310 m, nav range: 595.446655 m, bearing: 211.720202 deg, approach rate: -0.676953 m/s, LOS rate: 0.013964 deg/s, cmd heading: 201.150492 deg, new cmd heading: 201.165869 deg. BheV:mHeadingCmd: 3.511007 target range: 598.505310 and range: 600.70 m.hmV`@hi*hi"hq hqgqfqfyfydydydyjdZd՟@Z9Z9Z9Z=@u_Bɢu2r)q uiy)}ƽyyi}+B O>B [CB IB WBB B B B b;B BE! bE g4jE d4rE 0E  E E -E "E 2:*E n:VE t4ZE BE )*)Mp;y--?K7{Gz?-?5?-I -ף<) )9-X9v?9YIY=]FDy]-C]!7;Ee>aQ 5g4e@`G?Q 9g4eѬ)e[EBY4?Q E:y3Q I?e:,O?AžR@{`@}b3ٱ!M" 5AHRS rotation from veh to nav: [[-0.918263,0.330899,0.217481],[-0.355551,-0.930780,-0.085045],[0.174286,-0.155419,0.972353]]H jb`s-?@k?Zֿ`zŵN?ÿ ?D1zD1E= E9E9E9"E=:*E9VE9ZE9aM@aM@aM@aM@QižR@Iqj;CYeWByeI up=up=bD}7VD}p3y=%X=ٔW{Q->9I=FDy.C*;E>Q 5g4KG?Q 9 g4Ԭ)EBY y 3Q I ?G 7, C?AYWByIQbDm1VDm[3yG=%B=ٔQ->9I=FDyY.CE>Q 5g43G?Q 9g4֬)EBYyQ I?BBIB XBBBBBn;BBE- ProNav: ac range: 598.505310 m, nav range: 594.601196 m, bearing: 211.738621 deg, approach rate: -0.716541 m/s, LOS rate: 0.015615 deg/s, cmd heading: 201.202319 deg, new cmd heading: 201.221161 deg. Bh-u+:5HeadingCmd: 3.511972 target range: 598.505310 and range: 600.70 m.h5%`@h1*h9"h9 h9g9f9fafadadidijdiZdm@@ZZZZE EEE"E:*E]t:VEZEBE+ mBDAT read: Tx time:00:20:34.0994 u$Ping request sent.uIE| >AAEwl?ҤY ?{7:% EW>)E >IE¸2>iE| >AA:publishing transmit ping timeqFpublishing direction and range infoyAESb8 ?w ?p ĿYAAAAA A)AIAiAAAAA A)AIAAAEwl?ҤY ?{7:% A)AIAiAAAԡ^A Ae .AIq I O >~ ,g8?A.=.4=:R@:L`@:D\6ٱ:W" FAHRS rotation from veh to nav: [[-0.916790,0.333138,0.220262],[-0.357932,-0.930037,-0.083165],[0.177147,-0.155083,0.971889]]:HWV@!R?1?[ֿ`FJ? ÿ?i:R@I:i;:CYNWByNI PPbDV0VDV3y^ =%bV=ٔblQ-b>9b ?If ?=fFDyf.Cf;Ef>hQ 5ng4jB G?Q 9ng4jج)j?FBYpyr3Q Ir?jbi5| >i5Ei1U( [rDYqzi5Jc֋,Do߿ZpIy2i5:i5"i5LU?*i5#iBi5HBi1i1i5Ci5Di5l@= addTargetRange:: Added new target pos. range: 603.599976 m, deltaT: 4.301157 s, deltaX: 2.899963 m, approachRate: 0.674229 m/s, rangeRepo size: 4 M Added new target pos. range: 601.391724 m, bearing: 209.647685 deg, lat: 36.779442 deg, lon: -121.859861 deg, deltaT: 4.301157 s, deltaX: 2.886414 m, approachRate: 0.671078 m/s, posRepo size: 4 qjhFNOT Ignoring new targets: 601.39 m.RhZh ProNav: ac range: 601.391724 m, nav range: 594.365051 m, bearing: 211.743703 deg, approach rate: 0.000000 m/s, LOS rate: 0.015615 deg/s, cmd heading: 201.221157 deg, new cmd heading: 201.237930 deg. Bh-HeadingCmd: 3.512264 target range: 601.391724 and range: 603.60 m.h-`@h)*h)"h) h)g1f1f1f1d9d9d9jd=܂@Zd= ?ZyZyZyZ}$֥@颕_Bɢ) i)顙i!`,5]R?A>$ S@>a@> 7ٱ>}Q" JAHRS rotation from veh to nav: [[-0.915897,0.334691,0.221619],[-0.359618,-0.929440,-0.082566],[0.178347,-0.155320,0.971632]]>H`Ok?]? ׿#?ÿ ?i>$ S@I>g;>CYNXByRITV@AbDZ'VDZ3ybtq=%bK=ٔfCFQ-f>9f"?If"?=fFDyf.Cj;Ej>lQ 5rg4n{ G?Q 9rg4n۬)nFBYpyv3Q Iv?n=CInH;in3;ng4yzBɮzoBzE B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 601.39 m.Rh%Ă9Zh%Ă95 ProNav: ac range: 601.391724 m, nav range: 594.097778 m, bearing: 211.749407 deg, approach rate: -0.669246 m/s, LOS rate: 0.014291 deg/s, cmd heading: 201.237932 deg, new cmd heading: 201.255053 deg. Bh5:=HeadingCmd: 3.512563 target range: 601.391724 and range: 603.60 m.h=`@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU ?ZqZqZqZu@颅_Bɢ) i)顉i`A}>1BL>BB'IBXBBBBBa;BBEAi Iq I O >E  E E E "E a:*E :VE ZE BE (9I=FDy#/Cq;E>Q 5g4F?Q 9g4ݬ)FBY1?Q E:yH6Q I?g=CIL:i:.g4yɮoBjhq}FNOT Ignoring new targets: 601.39 m.Rh}ɕ9Zh}ɕ9 ProNav: ac range: 601.391724 m, nav range: 593.791931 m, bearing: 211.757280 deg, approach rate: -0.635577 m/s, LOS rate: 0.016369 deg/s, cmd heading: 201.255048 deg, new cmd heading: 201.278679 deg. Bh3:HeadingCmd: 3.512976 target range: 601.391724 and range: 603.60 m.h`@h*h"h hgfffdddjdZd@?ZE=ZE=Zp@Z]Y@`Bɢ/) Zi)!!!i%ZE9dId=jFDyjt/Cj;Ej>lQ 5rg4nF?Q 9rg4n)nGBYtyv 6Q Iv?n=CIn:in:ng4yzBɮznB~Ejh!%FNOT Ignoring new targets: 601.39 m.Rh-9Zh-9= ProNav: ac range: 601.391724 m, nav range: 593.465576 m, bearing: 211.765568 deg, approach rate: -0.678343 m/s, LOS rate: 0.017237 deg/s, cmd heading: 201.278681 deg, new cmd heading: 201.303559 deg. Bh=F=:EHeadingCmd: 3.513410 target range: 601.391724 and range: 603.60 m.hE`@hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]N\?ZyZyZyZ}%@颍:`Bɢv) i)顑i>B B fIB XBB B B B K;B sBEԑ A I I O >E=  E= E= +E9 "E= ;*E= x:VE= [4ZE9 BE= O7pS@>ea@>R|<ٱ> $ FAHRS rotation from veh to nav: [[-0.912884,0.339291,0.226987],[-0.364886,-0.927517,-0.081063],[0.183030,-0.156826,0.970518]]>HY6?` ?JZ׿ 7 m?Ŀ |?i>7pS@I>c;>CYNXByN7I Va=V4=bDZ6VDZ3yb%>%bK=ٔba6Q-b>9dId=fFDyf/Cf:Ej>hQ 5rg4jF?Q 9rg4j7)jUGBYpyv6Q Iv?j>CIj;(;ij+?;jg4yyiBɮ2nBEjh  FNOT Ignoring new targets: 601.39 m.Rh59Zh59E ProNav: ac range: 601.391724 m, nav range: 593.201416 m, bearing: 211.772263 deg, approach rate: -0.610649 m/s, LOS rate: 0.015483 deg/s, cmd heading: 201.303556 deg, new cmd heading: 201.323649 deg. BhE*:MHeadingCmd: 3.513761 target range: 601.391724 and range: 603.60 m.hMt`@hI*hI"hI hIgIfqfqfqdydydyjdyZd}@ZZZZo@-h`Bɢ5%P)1 5i1)199i= 1ExZ;E{!9`I`=bGDyb 0Cb):Ef>dQ 5jg4fF?Q 9ng4f)fGBYlyn5Q In?f]>CIf@;if+;fwg4yr)BɮrmBvEjh  FNOT Ignoring new targets: 601.39 m.Rh39Zh39% ProNav: ac range: 601.391724 m, nav range: 592.865051 m, bearing: 211.780775 deg, approach rate: -0.700093 m/s, LOS rate: 0.017726 deg/s, cmd heading: 201.323651 deg, new cmd heading: 201.349200 deg. Bh%B:-HeadingCmd: 3.514206 target range: 601.391724 and range: 603.60 m.h-`@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE|@ZaZaZaZe@Ա`Bɢ d) i)i B ZCB IB QYBB z =B B ϺDB A;B cBEB}[CB}[CByB}y =B}y =C}}4A%.AI1IIO}>ԁs9,贮?AF[tS@Fja@F̼<ٱFk#EJ EJEJ+EH"EJ:*EJi:VEJ [4ZEHBEJ+9 ?I ?=GDy_0CNE>Q 5g4=F?Q 9g4)GBY1?Q E:y3Q I?>CI1;i;Mg4yBɮlBE!5B*** querying acoustic contact ***i1 i1jh9eFNOT Ignoring new targets: 601.39 m.Rhm9Zhm9u ProNav: ac range: 601.391724 m, nav range: 592.503296 m, bearing: 211.788599 deg, approach rate: -0.659929 m/s, LOS rate: 0.014282 deg/s, cmd heading: 201.349196 deg, new cmd heading: 201.372682 deg. Bh}:}HeadingCmd: 3.514616 target range: 601.391724 and range: 603.60 m.h}y`@h*h"h hgfffdddjdZd4@Z?=Z?=Z)@ZVx@颅`Bɢ) .i)顉i# A,}?A2DgS@2\a@2<ٱ2,C# :AHRS rotation from veh to nav: [[-0.913161,0.339025,0.226274],[-0.364418,-0.927738,-0.080637],[0.182585,-0.156093,0.970720]]2H8??R׿^? ÿ#?i2DgS@I2>b;0YBYByBIbDJ0VDJ3yRw>%R[=ٔV:Q-V>9TIT=ZGDyZ0CZEZ>\Q 5bh4^DrF?Q 9bh4^E)^GBYdyf3Q If?^>CI^;i^;^ h4yhɮjlBhjhFNOT Ignoring new targets: 601.39 m.Rh9Zh95 ProNav: ac range: 601.391724 m, nav range: 592.258484 m, bearing: 211.793918 deg, approach rate: -0.681878 m/s, LOS rate: 0.014822 deg/s, cmd heading: 201.372678 deg, new cmd heading: 201.388642 deg. Bh5":=HeadingCmd: 3.514895 target range: 601.391724 and range: 603.60 m.h= `@h9*h9"h9 h9gAfAfIfIdIdIdIjdQZdU+ @ZqZqZqZur@5`Bɢ5)1 =ni9)aaaie /G,S%?A;ɰ; 6 [S@6Pa@6G;ٱ6O$ >AHRS rotation from veh to nav: [[-0.913553,0.338123,0.226040],[-0.363790,-0.927831,-0.082378],[0.181873,-0.157488,0.970629]]6H`; ͣ?? VH׿ʰ``G?(Ŀc?i6 [S@I6l]b;6CYZ1YByZIb,>b=bDf.VDfP3yn =%nH=ٔr:Q-r>9pIp=rGDyr0Cv-Ev>xQ 5~h4z[F?Q 9h4z)zHBYy3Q I?zD?CIzƼ;izL;zKh4y%Bɮ-!lB-~EjhQUFNOT Ignoring new targets: 601.39 m.Rh]9Zh]9m ProNav: ac range: 601.391724 m, nav range: 591.984802 m, bearing: 211.799893 deg, approach rate: -0.670002 m/s, LOS rate: 0.014635 deg/s, cmd heading: 201.388647 deg, new cmd heading: 201.406581 deg. Bhm :uHeadingCmd: 3.515208 target range: 601.391724 and range: 603.60 m.hu+`@hq*hq"hq hqgyfyffdddjdZd@ZZZZFo@颽%aBɢ;1 ) i)i ByB}IB}YBB}{ =ByByB}I;B}iBE9@ @@ 0@bEm [4jEmĞ]4rEmϚ/E EE*E"Ea:*Ek:VE(N4ZEBE(8ZM, 8?A2IS@2?a@2o:ٱ2% :AHRS rotation from veh to nav: [[-0.914056,0.337169,0.225430],[-0.362882,-0.928110,-0.083238],[0.181159,-0.157888,0.970697]]2H?.??u9׿O`80?`5Ŀ ?i2IS@I2gb;0YBcYByBI HJa=bDLPVDLyV=%VM=ٔZ:Q-Z>9Z"?IZ"?=^GDy^1C^<,Eb>`Q 5fh4bFF?Q 9fh4b )bFHBYhyj3Q Ij?b?CIb:ibk:b8h4yniBɮnokBr}EjhFNOT Ignoring new targets: 601.39 m.DAT read: Range 11 to 50 : 600.9 m (Round-trip 801.2 ms) speed 0.7 m/s (DAT read: user:36> BDAT read: Tx time:00:20:38.3994 $Ping request sent.,BT,Q?A26S@2,a@29ٱ2np% :AHRS rotation from veh to nav: [[-0.914648,0.336167,0.224525],[-0.361886,-0.928416,-0.084158],[0.180162,-0.158228,0.970827]]2H D?>?#)׿ c?@Ŀ?i26S@I2b;0YBYByBIbDJ6VDJ3yR=%RK=ٔV$;Q-V>9TIT=ZGDyZ]1CZC=EZ>\Q 5bh4^/F?Q 9bh4^g)^lHBYdyf3Q If?^?CI^k:i^:^K-h4yj5BɮjjBjE  addTargetRange:: Added new target pos. range: 600.900024 m, deltaT: 4.286952 s, deltaX: -2.699951 m, approachRate: -0.629807 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 601.39 m.Rh%9Zh%95 ProNav: ac range: 601.391724 m, nav range: 591.447205 m, bearing: 211.811736 deg, approach rate: -0.675216 m/s, LOS rate: 0.014929 deg/s, cmd heading: 201.424205 deg, new cmd heading: 201.442127 deg. Bh5#:=HeadingCmd: 3.515828 target range: 601.391724 and range: 600.90 m.h=Ua@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU?ZqZqZqZu`@}aBɢ)  i )   i ^B YCB IB ZBB B B B `;B ~BEI I O >ԉ E  E E E "E a:*E ]t:VE ZE BE a 2E a JE ;a :E ;a mZ,ϼk?A@@jWS@j a@j8ٱjS% AHRS rotation from veh to nav: [[-0.915497,0.334381,0.223731],[-0.360118,-0.929016,-0.085113],[0.179389,-0.158491,0.970927]]jHK}f?@5?`. ׿``ɵ8?@lIĿ?ijWS@Ij̻b;jCY%YBy-I 11Yy> ףp=?T㥛 Mb?1?< 97A`?+?L7A`堿Y6?y=+BCxB B)yBY(BbD-VD3yEā=%E3=ٔEN:Q-E>9III=MGDyM1CMEU>YQ 5eh4] F?Q 9eh4])]HBYe6?Q Em:ym.Q Im?]$@CI]:i]:]H=h4yqɮujBqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 601.39 m.Rhw'9Zhw'9 ProNav: ac range: 601.391724 m, nav range: 591.125671 m, bearing: 211.815926 deg, approach rate: -0.701795 m/s, LOS rate: 0.009151 deg/s, cmd heading: 201.442127 deg, new cmd heading: 201.454705 deg. Bh9HeadingCmd: 3.516048 target range: 601.391724 and range: 600.90 m.ha@h*h"h hgfffdddjdZd`W?Z61>Z61>Z>'?Zp@ aBɢ "+ )  i)i Ta,?A2R@2`@27ٱ2& :AHRS rotation from veh to nav: [[-0.916225,0.332751,0.223179],[-0.358712,-0.929390,-0.086949],[0.178488,-0.159722,0.970892]]2H`Q@K?@!?#ֿ@EB?qĿ?i2R@I2%b;0YBYByBIJAAJ@AbDN4VDNf3yV>%Vi=ٔV*;Q-V>9XIX=ZGDyZ1C^?E^>`Q 5fh4bF?Q 9fh4b)bHBYdyf0.Q If?bc@CIb_:ib:bIh4ynBɮn jBnEԹDzD?AE EE-E"Es:*E n:VEt4ZEa@a@a@a@jh=FNOT Ignoring new targets: 601.39 m.Rh==9Zh==9M ProNav: ac range: 601.391724 m, nav range: 590.878845 m, bearing: 211.819186 deg, approach rate: -0.637965 m/s, LOS rate: 0.008428 deg/s, cmd heading: 201.454708 deg, new cmd heading: 201.464491 deg. BhM9UHeadingCmd: 3.516219 target range: 601.391724 and range: 600.90 m.hU a@hQ*hY"hY hYgYfYfafadadadajdiZdm?ZZZZ.d@颽aBɢ4) i)i#a;i1=^;;I a@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2571029@ @@0@^A"5;I I! O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5089559 ^g,S?A6R@6L`@66ٱ6Ԛ& BAHRS rotation from veh to nav: [[-0.917183,0.330901,0.221990],[-0.356731,-0.930104,-0.087462],[0.177533,-0.159410,0.971118]]6H`Y{-?-j?ֿhcc? gĿf?i6R@I6(c;4YF ZByJIbDR2VDR 3yZ=%ZG=ٔ^H;Q-^>9`I`=bGDyb#2Cb%Ef>dQ 5jh4f|E?Q 9jh4f)fHBYlyvT.Q Iv?f@CIf;ifb;fWh4yzBɮzbiB~Ejh%FNOT Ignoring new targets: 601.39 m.Rh%<9Zh%<95 ProNav: ac range: 601.391724 m, nav range: 590.590942 m, bearing: 211.823055 deg, approach rate: -0.766696 m/s, LOS rate: 0.010310 deg/s, cmd heading: 201.464489 deg, new cmd heading: 201.476103 deg. Bh5i9EHeadingCmd: 3.516421 target range: 601.391724 and range: 600.90 m.hE a@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU`?ZZZZ+V@ bBɢ #_)  i)111i5];i=1=m^;E̷IE a@IABA<B8>BBSIBmZBBBBκDBl;BBE9@ @@0@E EEE"E:*Ex:VEZEBE"5A- >I I O >y [m,H?A4<ɰ4<:AR@:`@:5ٱ:^' FAHRS rotation from veh to nav: [[-0.918155,0.328733,0.221191],[-0.354703,-0.930722,-0.089122],[0.176570,-0.160285,0.971150]]:Ha ?`O?tֿ yж ڙ? 6Ŀ?i:AR@I:ac;:CYJ6ZByN1IbDTVDTy^G=%^L=ٔb;Q-b>9`I`=bGDybe2CfEf>hQ 5nh4jE?Q 9nh4j)jHBYpyrz.Q Ir?j@CIj=;ij>;jeh4yxɮz6iBxjh!-FNOT Ignoring new targets: 601.39 m.Rh-/9Zh-/9E ProNav: ac range: 601.391724 m, nav range: 590.309692 m, bearing: 211.826903 deg, approach rate: -0.701209 m/s, LOS rate: 0.009599 deg/s, cmd heading: 201.476101 deg, new cmd heading: 201.487651 deg. BhE9EHeadingCmd: 3.516623 target range: 601.391724 and range: 600.90 m.hMZa@hI*hI"hI hIgIfIfQfQdQdQdYjdaZde!@ZZZZ#E@颕+bBɢ`checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012984) i)顩i;iZ1"v];~IZa@Iyu9@q @q@uN1@qԡ^AE EE.E"E:*E|:VEـ4ZEa@a@a@a@II!O->U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264909 Kt,-$ӵ?A2R@2q`@2Y4ٱ2f( :AHRS rotation from veh to nav: [[-0.919207,0.326538,0.220072],[-0.352563,-0.931389,-0.090631],[0.175378,-0.160898,0.971264]]2H$j?Q+?fֿ3 r?KĿ?i2R@I2esc;0YbNZByb@I hhbDj#VDjӀ3yrDi=%rG=ٔvA;Q-v>9tIt=zHDyz2CzEz>iQ 5uh4mfE?Q 9uh4m)m%IBYqyu.Q Iu?mCACIm;im;mth4ywBɮhBEjhFNOT Ignoring new targets: 601.39 m.Rhm49Zhm49 ProNav: ac range: 601.391724 m, nav range: 590.012329 m, bearing: 211.831048 deg, approach rate: -0.706937 m/s, LOS rate: 0.009859 deg/s, cmd heading: 201.487657 deg, new cmd heading: 201.500098 deg. Bh9HeadingCmd: 3.516840 target range: 601.391724 and range: 600.90 m.ha@h*h"h hgfffdddjdZd`fm@ZZZZw4@YbBɢ9 ) i)i;i% 1%Sy\;%9I%a@I)9@ @@ 2@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520773 ^Au B 4>B XCB IB ZBB } =B B ͺDB Q;B fBE) A I I O >E  E E ,E "E 2:*E z:VE g4ZE BE )*]`:L?Ŀ?iVnR@IVLc;VCYfZByjaIymʡE?{GzJ +?m]?m#mH=i i9mS?S㥫?Mb?Ym/=?ym/]=m=ٔ6;Q->9I=HDy2C4E>Q 5h4YE?Q 9h4@)^IBY=?Q E:y,Q I?ACI@:i:,h4y7BɮgBEjhFNOT Ignoring new targets: 601.39 m.Rh9Zh9} ProNav: ac range: 601.391724 m, nav range: 589.711792 m, bearing: 211.834398 deg, approach rate: -0.723807 m/s, LOS rate: 0.008072 deg/s, cmd heading: 201.500102 deg, new cmd heading: 201.510157 deg. Bh}F9HeadingCmd: 3.517016 target range: 601.391724 and range: 600.90 m.ha@h*h"h hgfffdddjdZd`@Z>Z>Z/+@Zy@bBɢ )1 =Wi9)999i= ;iE1E4[;E2IEa@III)hA9@ @@_0@@=@=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020995q ^A 3A fAzA hAA= .AIA IY Ou >پ,7R?AVKTR@VJ`@V1ٱV' vAHRS rotation from veh to nav: [[-0.920788,0.323938,0.217286],[-0.349665,-0.932371,-0.091751],[0.172870,-0.160460,0.971786]]VHw`h??@`ֿ@|@ ?Ŀ?iVKTR@IVc;VCY~ZBy~IIMAbDU0VDU3yeo=%eK=ٔe(\;Q-m>9m ?Im ?=mHDym.3CuEu>yE EE0E"E*E]t:VE4ZEa@a@a@a@Q 5h4}E?Q 9h4})}IBYy,Q I?}ACI};i};}:h4yɮgBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 601.39 m.Rh9Zh9 ProNav: ac range: 601.391724 m, nav range: 589.420654 m, bearing: 211.837693 deg, approach rate: -0.717894 m/s, LOS rate: 0.008129 deg/s, cmd heading: 201.510156 deg, new cmd heading: 201.520046 deg. Bh9HeadingCmd: 3.517188 target range: 601.391724 and range: 600.90 m.ha@h*h"h hgfffdddjd Zd * @Z)Z)Z)Z-@=bBɢ=)A EiA)AAAiE;iM1MpY;M>zIMa@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273363Y9@ @@5@ԁ^A#2Ա A ؟AI I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524849ۇ, ?A2:8R@2-`@2^0ٱ2' :AHRS rotation from veh to nav: [[-0.921579,0.322618,0.215892],[-0.348160,-0.932898,-0.092120],[0.171685,-0.160061,0.972062]]2H }@ĥ?V?@AHֿL*?|Ŀ"?i2:8R@I2?c;2CLYbZBybIz@AxbD~7VD~p3y =% R=ٔ6J;Q->9"?I"?=HDym3CE>!Q 5-h4%N}E?Q 9-h4% )%IBY1y5-Q I5?%%BCI%_:i%:%۞h4yEBɮEgBEEjhimFNOT Ignoring new targets: 601.39 m.Rhu9Zhu9 ProNav: ac range: 601.391724 m, nav range: 589.138306 m, bearing: 211.840940 deg, approach rate: -0.729368 m/s, LOS rate: 0.008390 deg/s, cmd heading: 201.520046 deg, new cmd heading: 201.529790 deg. BhC9HeadingCmd: 3.517358 target range: 601.391724 and range: 600.90 m.hfa@h*h"h hgfffdddjdZd ( @ZZZZ@bBɢT) i)i;iN1PvX; Ifa@I A@AA@AB/>BWCBIB8[BB~ =BBB;B'BEBeYCBeYCBe”CBe{ =Be| =Ce’59@ @@4@E EE*E"E:*Ez:VE(N4ZEBE3%5H=ٔ5Q-5>9AIA=EHDyE3CEEM>IQ 5Uh4MfE?Q 9Uh4echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.028954M)MJBYayaQ Im?MqBCIMOe;iMf;M)h4yuBɮu^fBuEjhFNOT Ignoring new targets: 601.39 m.Rh59Zh59 ProNav: ac range: 601.391724 m, nav range: 588.842102 m, bearing: 211.844350 deg, approach rate: -0.722039 m/s, LOS rate: 0.008317 deg/s, cmd heading: 201.529786 deg, new cmd heading: 201.540022 deg. Bh9=HeadingCmd: 3.517537 target range: 601.391724 and range: 600.90 m.h=Sa@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM?@ZZZZEcBɢEѨ)A EMiA)AIIiM;iuc1urV;uK IuSa@Iy))@) @1@55@1@Q@UhAQE EE+E"E2:*E]t:VE [4ZEa@a@a@a@M DAT read: 00:20:41.6005 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398,-0.12, 1.496,-0.085, 1.317, 1.047, PHS= 0.552,-1.086, 0.226, RAW= 139.2, 4.2, CAL= 139.1, 4.9, ROT= 10.9, -4.9 U Ygot valid direction response: 00:20:41.6005 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398,-0.12, 1.496,-0.085, 1.317, 1.047, PHS= 0.552,-1.086, 0.226, RAW= 139.2, 4.2, CAL= 139.1, 4.9, ROT= 10.9, -4.9 e PDAT read: Bearing 2.2, 20.0 (Local) e ~Local bearing/azimuth received: Bearing 2.2, 20.0 (Local) m DAT read: Range 11 to 50 : 597.7 m (Round-trip 797.0 ms) speed 0.5 m/s u (DAT read: user:37> } BDAT read: Tx time:00:20:42.6994 } $Ping request sent.} A > \direction in FSK: [0.978370,0.188404,0.085417] :publishing transmit ping timey  Fpublishing direction and range infoy  P}N?Gm+?b$ݵ?Y lD ) OI O ?i  lg> |@ Q = O`@ %=) B>I % %?\k?R? @>) =I B>i % - :publishing transmit ping timey 5 Fpublishing direction and range infoy  P}N?Gm+?b$ݵ?Y ) I i ) I %?\k?R? ) I i ԁ A I I O >, T?AR[R@R`@R-ٱR\% ZAHRS rotation from veh to nav: [[-0.922684,0.321621,0.212635],[-0.346528,-0.933553,-0.091638],[0.169033,-0.158237,0.972825]]RH@p? 7?-ֿ`u?@AĿ`b!?iR[R@IRjc;RCYr7[ByvIIza=)z<bD!VDr3y-w=%-K=ٔ5;Q-5>91I1Y=]HDy]3CegEe>iQ 5uh4mOE?Q 9uh4mU)m:JBYqy)-Q I?mBCIm;imy;mhh4yBɮeBEi9i=M?AJi=DRi=Dji=>m@i=4@`z2 \@"^nI@ri=P}N?Gm+?b$ݵ?Zi=B>bi=%i=|~(+tsj4F`@zi=v6]꿡T࿯sb?2i=:i=S"i=-Tͣ?*i=9_ Bi=9Ci=?i=9_ i= Ci=Di=m@U addTargetRange:: Added new target pos. range: 597.700012 m, deltaT: 4.283956 s, deltaX: -3.200012 m, approachRate: -0.746976 m/s, rangeRepo size: 4 e Added new target pos. range: 595.477722 m, bearing: 212.391990 deg, lat: 36.779506 deg, lon: -121.859870 deg, deltaT: 8.570908 s, deltaX: -5.914001 m, approachRate: -0.690009 m/s, posRepo size: 4 jhamFNOT Ignoring new targets: 595.48 m.RhmZhi ProNav: ac range: 595.477722 m, nav range: 582.875183 m, bearing: 212.281437 deg, approach rate: 0.000000 m/s, LOS rate: 0.008317 deg/s, cmd heading: 201.540017 deg, new cmd heading: 201.550563 deg. BhHeadingCmd: 3.517721 target range: 595.477722 and range: 597.70 m.hW"a@h*h"h hgfffd d d jd5@Zd=(C?ZZZZ@@cBɢI ) %iI)QQYi]K;ԉi^06T;,IW"a@I@ @@5@ԱB'>BVCBIB[BB =B:DB̺DB;BAEbEM|a4jEMg4rEMT0E  E E E "E :*E xv:VE ZE BE .8,Fq?A>R@>5`@>I,ٱ>"D JAHRS rotation from veh to nav: [[-0.923145,0.321917,0.210174],[-0.346067,-0.933925,-0.089565],[0.167455,-0.155416,0.973553]]>H gH??%ֿ@ 'o?ÿW'?i>R@I>c;>CYRT[ByRIy-ʡE?y&1̿Mb?-/?-`e-=) )9-9] ?I] ?=]HDy]94CeEe>iQ 5uh4m09E?Q 9uh4m)mJBYu5?Q E}:y})Q I}?m CCImz:im:mh4yɮeBjhFNOT Ignoring new targets: 595.48 m.Rh8Zh8E ProNav: ac range: 595.477722 m, nav range: 582.571289 m, bearing: 212.283592 deg, approach rate: -0.712366 m/s, LOS rate: 0.005054 deg/s, cmd heading: 201.550563 deg, new cmd heading: 201.557032 deg. BhE]9MHeadingCmd: 3.517834 target range: 595.477722 and range: 597.70 m.hM1$a@hI*hI"hI hIgIfQfQfQdYdYdjdZdjJ?ZԜ>ZԜ>Z?Ze@ ncBɢ ()  i)i@1;i]0]R;]%3Ie1$a@IaԱ@ @@4@IMa=^A 0 AE ؟AIY Iq O} >,}?AE6 E6E6,E4"E6:*E6]t:VE6g4ZE4a:@a:@a:@a:@N R@Nm`@N*ٱNy VAHRS rotation from veh to nav: [[-0.923451,0.322243,0.208322],[-0.345939,-0.934062,-0.088622],[0.166027,-0.153905,0.974037]]NH ?G?#ֿa@?(ÿO+?iN R@INNc;NCY^[By^IbDf(VDf:3yn=>%rT=ٔru;Q-r>9r"?Iv"?=vHDyvx4CvEv>x|Q 5h4zx%E?Q 9h4zh)zJBYy)Q I ?zOCCIz*;iz+;z_h4yHBɮdB-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 595.48 m.RhE8ZhE8U ProNav: ac range: 595.477722 m, nav range: 582.306580 m, bearing: 212.285482 deg, approach rate: -0.684384 m/s, LOS rate: 0.004887 deg/s, cmd heading: 201.557038 deg, new cmd heading: 201.562709 deg. BhUV9]HeadingCmd: 3.517933 target range: 595.477722 and range: 597.70 m.h]%a@hY*hY"ha hagafafafidididijdiZduQ?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Z Z Z Z h@EcBɢE)A EeiA)IIIiM;iU0}0Q;0!7I%a@I)M9@I @I@M4@I@U=@U=Q^Am4u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247204ԁ A .AI I O >ֶ,Ό?A8:@vR@vj`@v5J)ٱvrB!A%4=B5$>B1B5MIB5\BB5 =B1B1B5ڊ;B5AEY mAHRS rotation from veh to nav: [[-0.923553,0.323005,0.206682],[-0.346362,-0.933954,-0.088115],[0.164570,-0.152966,0.974432]]vHྍ?t?*ֿ?`ÿ.?ivR@IvCc;vCY[ByIbD/VD3y=%1=ٔ=R;Q->9 ?I ?=HDy4CP:E>Q 5h4 E?Q 9h4W)KBYy)Q I?CCI#!,\¶?AJ0-R@J"`@J!M&ٱJ& RAHRS rotation from veh to nav: [[-0.923395,0.325197,0.203933],[-0.348135,-0.933298,-0.088069],[0.161691,-0.152318,0.975016]]JHs?y?Gֿ@`G?*ÿS3?iJ0-R@IJUic;JCYZ[ByZ:IbAA`bDf-VDf3y%>>%%C=ٔ%;Q-->9-"?I-"?=5IDy55C52;E5>9Q 5Eh4=D?Q 9Eh4=)=fKBYAyE)Q IM?=CCI= ;i= ;=h4yQɮU-dBQjhy}FNOT Ignoring new targets: 595.48 m.Rh8Zh8 ProNav: ac range: 595.477722 m, nav range: 581.703125 m, bearing: 212.289736 deg, approach rate: -0.712527 m/s, LOS rate: 0.004970 deg/s, cmd heading: 201.569469 deg, new cmd heading: 201.575481 deg. BhMZ9HeadingCmd: 3.518156 target range: 595.477722 and range: 597.70 m.hw)a@h*h"h hgfffdddjdZd@?ZZZZք@cBɢ) 9i)i;i>0\M;Iw)a@I9@ @@ 3@E EE,E"E*E:VEg4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002503)^AY A I I O >,ܶ?A$}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256984u?R@*5`@%ٱV EAHRS rotation from veh to nav: [[-0.923181,0.326670,0.202545],[-0.349230,-0.932988,-0.087012],[0.160548,-0.151063,0.975400]]H@'??Yֿ mFҌ?`Vÿy6?iu?R@Ic;CYU\ByU[Iy+?Onÿ㥛 ?v>?= 9&1?Zd;Ol?Y0?yj=LB]sB )vBYBbD6VD3y=%0=ٔ#;Q- >9 I = IDy Q5C;E>Q 5%i4D?Q 9%i4")KBY%2?Q E%:y%3Q I-?:DCI:i:Ii4y5Bɮ5{cB5EqjhFNOT Ignoring new targets: 595.48 m.Rh{9Zh{9- ProNav: ac range: 595.477722 m, nav range: 581.400085 m, bearing: 212.296381 deg, approach rate: -0.626709 m/s, LOS rate: 0.013749 deg/s, cmd heading: 201.575480 deg, new cmd heading: 201.595424 deg. Bh5:5HeadingCmd: 3.518504 target range: 595.477722 and range: 597.70 m.h5+/a@h9*h9"h9 h9g9f9fAfAdAdidijdiZdm@@Z >Z >Z?Zo@颽1dBɢG*) gi)   i \;i0XK;I+/a@B]>B]UCB]IB]i\BBYBYB]˺DB]֊;B]AEIԙ9@ @@5@E EE-E"E:*Ez:VEt4ZEBE>A > AIIQIaOu>뽭,c?A;ɰ;2UNR@2 D`@2f#ٱ2" :AHRS rotation from veh to nav: [[-0.923074,0.327952,0.200951],[-0.350148,-0.932718,-0.086221],[0.159154,-0.149951,0.975800]]2H Ӊ+?? hֿ`@'_?1ÿ9?i2UNR@I2_b;2CYBT\ByBIbDN9VDN3yRC>%VN=ٔVi;Q-V>9TIX=ZIDyZ5CZD;E^>\Q 5bi4^D?Q 9fi4^ %)^ LBYdyf2Q If?^}DCI^k:i^A:^i4yjBɮnbBnEjhFNOT Ignoring new targets: 595.48 m.Rh 9Zh 9Ա ProNav: ac range: 595.477722 m, nav range: 581.140991 m, bearing: 212.302045 deg, approach rate: -0.688105 m/s, LOS rate: 0.015050 deg/s, cmd heading: 201.595424 deg, new cmd heading: 201.612424 deg. BhB%:HeadingCmd: 3.518801 target range: 595.477722 and range: 597.70 m.h4a@h*h"h hgfffdddjdZd '@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758500ZaZaZaZe#z@`dBɢ) %i!))))i-;iM0MI;MD IM4a@IQ9@ @@5@E EE*E"Es:*E|:VE(N4ZEa@a@a@a@^Ai I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011324I I O% >1 ĭ,)?A:iR@:_`@:7N"ٱ: % FAHRS rotation from veh to nav: [[-0.922683,0.329895,0.199561],[-0.351770,-0.932179,-0.085444],[0.157839,-0.149038,0.976153]]:H@?5?gֿ h@ߵ4?ÿ@9`I`=fIDyf5Cfv;Ef>hQ 5ni4jUD?Q 9ni4jz')jVLBYpyr2Q Ir?jDCIj;ij;jJ#i4ytɮvbBt B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 595.48 m.RhJ9ZhJ9- ProNav: ac range: 595.477722 m, nav range: 580.875610 m, bearing: 212.307811 deg, approach rate: -0.655106 m/s, LOS rate: 0.014239 deg/s, cmd heading: 201.612431 deg, new cmd heading: 201.629735 deg. Bh-Y:5HeadingCmd: 3.519103 target range: 595.477722 and range: 597.70 m.h58a@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM ! @ZiZiZiZm@颅dBɢ s) {i)顉iF;i0^H;;]I8a@IU9@Q @Q@U0@QAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262416^A= ԉI A1 A5 AAB= >B= TCB= IB= \BB= =B9 B9 B= ;B= AEIa O} >ԙ E  E E +E "E V:*E VE [4ZE BE 9?i2ӃR@I2$b;2CYB\ByBIbDJ9VDJ3yRK=%RL=ٔV2U;Q-V>9TIT=ZIDyZ6CZف;EZ>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514474\Q 5ji4^ D?Q 9ji4^))^LBYhyj2Q Ij?^ECI^:i^:^M1i4yrOBɮrbBrEjh FNOT Ignoring new targets: 595.48 m.Rh 9Zh9% ProNav: ac range: 595.477722 m, nav range: 580.612976 m, bearing: 212.313480 deg, approach rate: -0.652666 m/s, LOS rate: 0.014094 deg/s, cmd heading: 201.629739 deg, new cmd heading: 201.646753 deg. Bh%:-HeadingCmd: 3.519400 target range: 595.477722 and range: 597.70 m.h-=a@h)*h)"h) h)g)f1f1f1d1ddjdZdr @ZZZZ@dBɢY) i)iG;i%0%8G;%'ѻI%=a@I!q 9@  @ @ /@ ԡ^A5zA=gAzA=fAuBDAT read: Rx Time:00:20:45.8964 }TRx dataTimestamp_ set to:1761524444.996220}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767517IIO> +ѭ,G?AB_R@B`@BڦٱB JAHRS rotation from veh to nav: [[-0.921863,0.333498,0.197350],[-0.355044,-0.930951,-0.085291],[0.155279,-0.148695,0.976616]]BHX?@B? ֿ Yյ /?oÿo@?iB_R@IBb;BCYb\BybIbDn0VDn3yv=%vF=ٔv%L;Q-v>9xIx=zIDyzX6C~;E~>Q 5 i4D?Q 9 i4f,)LBY y 2Q I ?OECIR:iI:?i4yBɮiaBEjhAEFNOT Ignoring new targets: 595.48 m.RhM9ZhM9] ProNav: ac range: 595.477722 m, nav range: 580.341919 m, bearing: 212.319285 deg, approach rate: -0.658236 m/s, LOS rate: 0.014105 deg/s, cmd heading: 201.646760 deg, new cmd heading: 201.664185 deg. Bh]:eHeadingCmd: 3.519704 target range: 595.477722 and range: 597.70 m.heBa@ha*ha"ha hagafififididqdqjdqZd}@ZZZZu@颭dBɢy) i)顱i ;i0%F;gܩIBa@IEu EuEu*Eq"Eu:*Eu:VEu(N4ZEqa@a@a@a@M9@I @I@M0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019306^A`ԻI!I ) O] > DAT read: 00:20:45.8964 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 404,-0.37,-2.443, 2.133,-2.668,-2.969, PHS= 0.628,-1.137, 0.256, RAW= 138.5, 3.2, CAL= 138.5, 3.9, ROT= 11.5, -3.9  Ygot valid direction response: 00:20:45.8964 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 404,-0.37,-2.443, 2.133,-2.668,-2.969, PHS= 0.628,-1.137, 0.256, RAW= 138.5, 3.2, CAL= 138.5, 3.9, ROT= 11.5, -3.9  PDAT read: Bearing 0.7, 20.0 (Local)  ~Local bearing/azimuth received: Bearing 0.7, 20.0 (Local)  DAT read: Range 11 to 50 : 594.6 m (Round-trip 792.9 ms) speed 0.5 m/s  (DAT read: user:38>  BDAT read: Tx time:00:20:46.9994  $Ping request sent. @d=@ 'g=)M>I'g(@)N?yH[$>?rb `? >)9cIM>i'gv:publishing transmit ping time9zFpublishing direction and range infoy4it!H?3ru?,::si?Y )Ii )I(@)N?yH[$>?rb `? )IiER@E`@EyٱE/ }AHRS rotation from veh to nav: [[-0.921452,0.335461,0.195940],[-0.356603,-0.930474,-0.083982],[0.154145,-0.147258,0.977013]]EH|/x??ֿp `?X¿C?iER@IE$b;ECY\ByIB>BSCBIB*]BB =BBʺDB;BAEBUCBUCBB =B‚ =C6yEZd;O?EȿbX9ȶ?Ej9I=IDy6CW;E>Q 5i4oD?Q 9i4.)DMBY-?Q E:y7Q I?ECI;i:Qi4yBɮ`BEii `?AJiDRiDjiEn@iʻ@1f!t]@owv$D@ri4it!H?3ru?,::si?ZiM>bi'gi#Wc~z5ws [@ziDGBΎ4 ?2iß:i"ihc?*ißBi&Ci-Tͣ?ii&CiDiLm@ addTargetRange:: Added new target pos. range: 594.599976 m, deltaT: 4.285223 s, deltaX: -3.100037 m, approachRate: -0.723425 m/s, rangeRepo size: 4 = Added new target pos. range: 592.352295 m, bearing: 213.312310 deg, lat: 36.779525 deg, lon: -121.859870 deg, deltaT: 4.285223 s, deltaX: -3.125427 m, approachRate: -0.729350 m/s, posRepo size: 4 jh9eFNOT Ignoring new targets: 592.35 m.E EEE"E&:*E:VEZEBEf;ZE>ZEx@ZEذ@U(eByɢ]) i)顁iS;i0D;ZϋI.Ia@IiIA9@ @@4@ԩ C PG ) ] B9Y Y] xA^A] I I O >zޭ,5|?A>R@>H`@>m2ٱ>5 JAHRS rotation from veh to nav: [[-0.920765,0.337877,0.195013],[-0.358900,-0.929591,-0.083972],[0.152910,-0.147309,0.977199]]>H v`Ɵ?3?8ֿ53?¿`7E?i>R@I> b;>CYR]ByRIbDZ%VDZ03ybJ >%b{=ٔb{;Q-f ?9dId=fIDyf6CjV;Ej ?lQ 5ri4n<^D?Q 9ri4n30)n{MBYpyr7Q Ir?nECInp:in:nj\i4yzBɮz`BzEjhFNOT Ignoring new targets: 592.35 m.Rh%Ծ9Zh%Ծ95 ProNav: ac range: 592.352295 m, nav range: 578.023376 m, bearing: 212.447808 deg, approach rate: -0.695164 m/s, LOS rate: 0.020854 deg/s, cmd heading: 201.686388 deg, new cmd heading: 201.704867 deg. Bh5d:=HeadingCmd: 3.520414 target range: 592.352295 and range: 594.60 m.h=wNa@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU e?ZqZqZqZu @颅FeBɢ5)BF< ,i)顉i;i?0VLD;hIwNa@I!e9@a @a@e0@aI^A3DzDE EEE"E:*Ez:VEZEa@a@a@a@y A I! I1 O= >r[,Bx?Aɰ4<06oS@6$`@6 ٱ6+ >AHRS rotation from veh to nav: [[-0.920277,0.339929,0.193751],[-0.360643,-0.928995,-0.083093],[0.151748,-0.146344,0.977525]]6Hr d??׿ TE`xl?@e¿G?i6oS@I6pc;6CYF]ByFIbDN+VDNE3yV%VM=ٔZ@;Q-Z>9XIX=ZIDy^7C^;E^>`Q 5fi4bHD?Q 9fi4b2)bMBYdyj7Q Ij?bFCIb:ib:b`ji4yeBɮe0`BeEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 592.35 m.Rh9Zh9 ProNav: ac range: 592.352295 m, nav range: 577.771301 m, bearing: 212.455326 deg, approach rate: -0.603948 m/s, LOS rate: 0.018019 deg/s, cmd heading: 201.704871 deg, new cmd heading: 201.727433 deg. BhE:HeadingCmd: 3.520808 target range: 592.352295 and range: 594.60 m.hTa@h*h"h hgfffdddjdZd ?ZZZZ@weBɢ0S) Zi)i;i 0 5C; I Ta@I ԑ@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ^ANJκBU<AU<Be >BaBeAIBe]BBaBaBaBe;BewAE A I I) O9 bEʙT4jEY4rEn/E-  E- E- (E) "E- ;*E- :VE- c44ZE) BE- A%ZJ=ٔ^u3;Q-^>\9`I`=bIDyba7Cf#;Ef>hQ 5ni4j43D?Q 9ni4j3)jNBYlyrb7Q Ir?jaFCIj;ij;jxi4ytɮv_Btjh FNOT Ignoring new targets: 592.35 m.Rh)9Zh)9- ProNav: ac range: 592.352295 m, nav range: 577.515137 m, bearing: 212.462918 deg, approach rate: -0.660320 m/s, LOS rate: 0.019579 deg/s, cmd heading: 201.727438 deg, new cmd heading: 201.750225 deg. Bh-V:5HeadingCmd: 3.521206 target range: 592.352295 and range: 594.60 m.h5o[a@h1*h1"h1 h1g1fffdddjdZd?ZZZZr@eBɢ") i)!!i%P;i-G0-am,A.ʷ?A2o?S@2$5a@2ٱ2R :AHRS rotation from veh to nav: [[-0.919212,0.343990,0.191624],[-0.364245,-0.927692,-0.081940],[0.149581,-0.145119,0.978042]]2H/j?#?O׿@@ |%?>¿L?i2o?S@I2c;2CYBw]ByB2IbDJ/VDJ3yR`=%VK=ٔVD0;Q-V>9XIX=ZJDyZ7CZ;EZ>\Q 5bi4^D?Q 9fi4^5)^FNBYdyfG7Q If?^FCI^k:i^:^i4yj`BɮjH_BnEjhFNOT Ignoring new targets: 592.35 m.Rhx9Zhx9 ProNav: ac range: 592.352295 m, nav range: 577.261292 m, bearing: 212.470399 deg, approach rate: -0.605881 m/s, LOS rate: 0.017864 deg/s, cmd heading: 201.750223 deg, new cmd heading: 201.772677 deg. Bh)D:HeadingCmd: 3.521598 target range: 592.352295 and range: 594.60 m.haa@h*h"h hgfffdddjdZd Sp?E EE.E"E:*E:VEـ4ZEa@a@a@a@ZZZZ)*@eBɢI)  i )   i;iڽ0_B;z:Iaa@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746067I;y@ @@/@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998006^A 9I I O >i,c{緮?AB2>B2RCB2yIB2]BB2 =B0B2ɺDB2K;B28AEV_S@V{Ua@VȄٱVL bAHRS rotation from veh to nav: [[-0.918658,0.345709,0.191188],[-0.366125,-0.926828,-0.083321],[0.148394,-0.146542,0.978011]]VHe ?@x?n׿T?¿K?iV_S@IV^#c;VCYf]Byj?I lllnAy?MbXɿS㥫?L?J/]= 9gfffff?ʡE~jt?Y33?y-D<BpB B)qBYkBbD(VD:3y *=%#=ٔi;Q->9I=JDy7C*;E >Q 5i4hD?Q 9%i4;8)NBY-4?Q E-:y-8Q I-?FCIT;iS;i4y= Bɮ=^B=Ejhy}FNOT Ignoring new targets: 592.35 m.Rh9Zh9 ProNav: ac range: 592.352295 m, nav range: 576.930054 m, bearing: 212.480910 deg, approach rate: -0.677360 m/s, LOS rate: 0.021506 deg/s, cmd heading: 201.772681 deg, new cmd heading: 201.804232 deg. Bh'l:HeadingCmd: 3.522148 target range: 592.352295 and range: 594.60 m.hja@h*h"h hgfEM EMEM+EI"EM&:*EMxv:VEM [4ZEIBEMf;Z>Zv@Z@fBɢ)=#: =si9)9AAiEPS;iEӴ0MB;M;IMja@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250099 /C<5 9@9  @9 @= 5@9 9 U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501967a ^A]rg:Ae>Ae>II O%>,;9?AN;}S@Nra@NٱN1 VAHRS rotation from veh to nav: [[-0.918128,0.347579,0.190341],[-0.367828,-0.926186,-0.082955],[0.147458,-0.146176,0.978207]]NHMa>?]?`}׿Q<? ¿xM?iN;}S@INV c;NCY^]By^UIddbDjVDj{U3ynD=%r1=ٔr;Q-r>9tIt=vJDyv?8Cz;Ez>xQ 5~i4znC?Q 9i4zb:)zNBYyw8Q I?zOGCIz1:iz:z-i4yBɮ^BijhFNOT Ignoring new targets: 592.35 m.Rh9Zh9 ProNav: ac range: 592.352295 m, nav range: 576.626099 m, bearing: 212.490505 deg, approach rate: -0.645832 m/s, LOS rate: 0.020397 deg/s, cmd heading: 201.804236 deg, new cmd heading: 201.833036 deg. Bh_:HeadingCmd: 3.522651 target range: 592.352295 and range: 594.60 m.hsa@h*h"h hgfffddd!jd)Zd-Dv@ZZZZ:@JfBɢ)  i)AAAiEh;iM0MB;M>rK;IMsa@IQE EE*E"E:*E~:VE(N4ZEa@a@a@a@e 7;ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7539799@ @@3@^A ] ;Iy I O > , ?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006050NS@Nsa@NٱN VAHRS rotation from veh to nav: [[-0.917585,0.349440,0.189552],[-0.369464,-0.925607,-0.082143],[0.146746,-0.145406,0.978429]]NH`\;]?;C?@N׿N@? ¿IO?iNS@IN c;LY^]By^qIbDf6VDf3yn=%nK=ٔrV:Q-r>9pIp=vJDyv8Cvэ;Ev>xQ 5~i4zC?Q 9~i4zG<)zNBYy[8Q I?zGCIz;iz;z:i4y ɮ ]B -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 592.35 m.Rh=9Zh=9M ProNav: ac range: 592.352295 m, nav range: 576.360046 m, bearing: 212.498860 deg, approach rate: -0.688509 m/s, LOS rate: 0.021633 deg/s, cmd heading: 201.833033 deg, new cmd heading: 201.858110 deg. BhMm:UHeadingCmd: 3.523089 target range: 592.352295 and range: 594.60 m.hUIza@hY*hY"hY hYgYfYfafadadadijdiZdm@|@ZZZZ@额ufBɢ!) n i)顡i3m;im0B;NZ;IIza@Ip==QAAB>BQCBIB=^BB =BBB ;BAEԁ0::E EE)E"Ef;*E|:VEFA4ZEBEW ,:?A>S@>Чa@>_ٱ> FAHRS rotation from veh to nav: [[-0.917092,0.350795,0.189433],[-0.370852,-0.925029,-0.082407],[0.146323,-0.145826,0.978429]]>HX ks?V?? ׿ՙ@`?m¿`KO?i>S@I>*c;)Rp=bDZ.VDZP3yb=%bL=ٔbC:Q-b>9dId=fJDyf8Cfs;Ej>hQ 5ni4j"C?Q 9ri4j,>)j,OBYpyrB8Q Ir?jGCIj;ij;j4i4yvBɮzI]BzEjhFNOT Ignoring new targets: 592.35 m.Rh9Zh%9- ProNav: ac range: 592.352295 m, nav range: 576.095337 m, bearing: 212.507140 deg, approach rate: -0.662640 m/s, LOS rate: 0.020736 deg/s, cmd heading: 201.858113 deg, new cmd heading: 201.882963 deg. Bh5c:5HeadingCmd: 3.523522 target range: 592.352295 and range: 594.60 m.h5da@h1*h9"h9 h9g9fAfAfAdAdIdIjdIZdM` @ZqZqZqZu@颅fBɢ)  i)顉i;iR0!C;*];Ida@IԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510142)9@ @@0@ E  E E -E "E ;*E :VE t4ZE a @a @a @a @ BDAT read: Rx Time:00:20:50.1930  TRx dataTimestamp_ set to:1761524449.280081 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762976^A r;9 Ai Iy I O >,PW?A2}S@22a@2ٱ2F :AHRS rotation from veh to nav: [[-0.916637,0.352126,0.189167],[-0.372256,-0.924403,-0.083089],[0.145609,-0.146581,0.978423]]2H@U9?6?@ ׿`@REN?`*¿`>O?i2}S@I2/b;0YB!^ByBI HHbDN7VDNp3yV =%V9=ٔV:Q-V>9XIX=ZJDyZ 9C^a\;E^>`Q 5fi4b%C?Q 9fi4bH@)beOBYdyf)8Q If?b-HCIb:ib=:bi4yniBɮn\BrEjhFNOT Ignoring new targets: 592.35 m.Rh 9Zh 9 ProNav: ac range: 592.352295 m, nav range: 575.802185 m, bearing: 212.516268 deg, approach rate: -0.661563 m/s, LOS rate: 0.020611 deg/s, cmd heading: 201.882961 deg, new cmd heading: 201.910360 deg. BhQb:%HeadingCmd: 3.524001 target range: 592.352295 and range: 594.60 m.h%:a@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=o:@ZZZZ|@efBɢ r)  i)AIIiU\;i{0ZC;;I:a@Iy%=%4=-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014946@ @@/@)BU>BQBUIBU^BBU =BQBUȺDBU;BU@E^A] ϩ;Y E  E E *E "E :*E :VE (N4ZE BE < - BDAT read: Tx time:00:20:51.2994 - $Ping request sent.- ^@ |= %@ >) PwV>I  +P1?ƺ i?>߽? >) mI PwV>i  u :publishing transmit ping time) u Fpublishing direction and range infoy  PHk?Ha?) ?Y ) I i A I I O >ne,Ts?A)I+P1?ƺ i?>߽? )Ii:S@:a@:[ٱ:: RAHRS rotation from veh to nav: [[-0.916242,0.353261,0.188962],[-0.373426,-0.923898,-0.083461],[0.145098,-0.147034,0.978431]]:H@Qԛ? /?`4׿@]?@¿NO?i:S@I:.b;:CYZ6^BxyZIyMb?)\(:v?c?G< 9`"?y&1I +Y7?y`e9BiB )YpBbD$VD3y%=%e=ٔe{:Q-m>9iIi=mJDyma9Cu;Eu>yQ 5i4}IC?Q 9i4}PC)}OBYs8?Q E:y5Q I?}HCI};i}F;}qi4y,Bɮ#\BEiit$r?AJiuDRiuDjip@iF[ ߁@c^@=}S@riPHk?Ha?) ?ZiPwV>biiv$}HFNtl9ޭa@zif7L9.b*/4?2i/:i&"i\V)?*ijBiDCihc?iui9CiTDin@ addTargetRange:: Added new target pos. range: 592.099976 m, deltaT: 4.282800 s, deltaX: -2.500000 m, approachRate: -0.583730 m/s, rangeRepo size: 4  Added new target pos. range: 589.839478 m, bearing: 215.480787 deg, lat: 36.779541 deg, lon: -121.859940 deg, deltaT: 4.282800 s, deltaX: -2.512817 m, approachRate: -0.586723 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 589.84 m.RhZh  ProNav: ac range: 589.839478 m, nav range: 577.318481 m, bearing: 213.144346 deg, approach rate: 0.000000 m/s, LOS rate: 0.020611 deg/s, cmd heading: 201.910364 deg, new cmd heading: 201.945055 deg. Bh5HeadingCmd: 3.524606 target range: 589.839478 and range: 592.10 m.h=&a@h9*h9"h9 h9g9f9fAfAdAdAdIjdM̀@ZdM?Z5<>Z5<>ZD5@Z6=!gBɢ) i)ia&;i0 D;;I&a@I)9@ @@4@Y ^A X;E5  E5 E1 E1 "E5 :*E5 :VE1 ZE1 a= @a= @a= @a= @ԙ A .AI I O >$,K?A@6OS@6a@6 ٱ6# BAHRS rotation from veh to nav: [[-0.916098,0.353846,0.188567],[-0.374177,-0.923457,-0.084963],[0.144069,-0.148392,0.978378]]6HP`h?"?׿@*p?¿N?i6OS@I6b;4YJq^ByJIbDV!VDVr3y^>%^X=ٔ^7;Q-^>9b ?Ib ?=bJDyb9Cf;Ef>hQ 5ji4jlC?Q 9ni4jhE)jOBYlyn5Q In?jHCIj:ij:jei4yvBɮvo[BvEjhFNOT Ignoring new targets: 589.84 m.Rh.9Zh.9 ProNav: ac range: 589.839478 m, nav range: 577.063293 m, bearing: 213.151437 deg, approach rate: -0.704464 m/s, LOS rate: 0.019582 deg/s, cmd heading: 201.945061 deg, new cmd heading: 201.966341 deg. BhW:HeadingCmd: 3.524978 target range: 589.839478 and range: 592.10 m.hBE <AE <BM >BM PCBM  IBM ^BBI BI BI BM ;BM @EBQCBQCBBˇ =Bˇ =C˦5<*,𪸮?A:S@:{a@:{ٱ:r zAHRS rotation from veh to nav: [[-0.916160,0.353706,0.188527],[-0.374232,-0.923307,-0.086340],[0.143529,-0.149654,0.978265]]:H /Q`?!?l׿d+_?@'ÿM?i:S@I:b;:CY]x^By]IquAAbD/VD3yv<%==ٔå:Q->9I=JDy9C8E>Q 5j4SC?Q 9j4G)OBYyQ I?"ICI:i:j4yɮh[BE] E]E],EY"E] ;*E]:VE]g4ZEYBE]Re =e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248659A ؟AI I O >|1,G:Ƹ?AV,S@Va@VٱVH fAHRS rotation from veh to nav: [[-0.916249,0.353677,0.188148],[-0.374295,-0.923185,-0.087365],[0.142796,-0.150471,0.978247]]VHQ`?`<?@r׿`]`&G? Bÿ M?iV,S@IV b;TY ^By IbD!VD!y5=%5G=ٔ55:Q-5>9="?I="?==KDy=$:C=z8EE>AQ 5Mj4EY7,ฮ?A ,ɰ,NS@Na@N6ٱN VAHRS rotation from veh to nav: [[-0.916479,0.353219,0.187893],[-0.373921,-0.923253,-0.088244],[0.142303,-0.151131,0.978217]]NHS#? ? S׿I,6?BXÿM?iNS@INb;LY^^By^Ib=b=yEy&1?Onÿ?E`E?EEL=A A9EZd;?Mb`~jtYE>?yEEEҶBEgB EB)EqnBAYEBbD]0VD]3ym[=%mG=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760440ٔ2:Q->9 ?I ?=KDyh:C>E>Q 5 j4#C?Q 9 j4DM)-PBY  ??Q E:y0Q I?ICI;i ;j4ywBɮ0ZBEjhFNOT Ignoring new targets: 589.84 m.Rh79Zh79 ProNav: ac range: 589.839478 m, nav range: 576.173462 m, bearing: 213.173756 deg, approach rate: -0.712705 m/s, LOS rate: 0.014230 deg/s, cmd heading: 202.014757 deg, new cmd heading: 202.033329 deg. BhB:HeadingCmd: 3.526147 target range: 589.839478 and range: 592.10 m.hda@h*h"h hgfff)d)d1d1jd9Zd=`R'?iZ>(>Z>(>Zԟ?Z@gBɢȂ) xi)iP{;iRs0E; );I da@I Bm>BiBm; IBm&_BBm =BiBmǺDBm;Bm_@Eԑ"5;bEijEirEm/E EE+E"E;*E?:VE [4ZEBE4N9f"?If"?=jKDyj:Cj8?Ej>lQ 5rj4naC?Q 9rj4nP)nYPBYpyv0Q Iv?nJCInR:zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264528inI:n0j4yFBɮYBEjh!-FNOT Ignoring new targets: 589.84 m.Rh5 9Zh5 9E ProNav: ac range: 589.839478 m, nav range: 575.816589 m, bearing: 213.180902 deg, approach rate: -0.736561 m/s, LOS rate: 0.014758 deg/s, cmd heading: 202.033335 deg, new cmd heading: 202.054786 deg. BhE ":MHeadingCmd: 3.526521 target range: 589.839478 and range: 592.10 m.hMa@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]Q@ZyZyZyZ}@颕hBɢ) Qi)顙i^;i/m0E;S;Ia@I9F,?A0>1S@>a@>Rٱ> FAHRS rotation from veh to nav: [[-0.916931,0.352011,0.187952],[-0.373139,-0.923285,-0.091174],[0.141439,-0.153732,0.977937]]>HW X??@׿,W?ÿ@CK?i>1S@I>vb;>CYN_ByN1 IbDV)VDV3y^>%bK=ٔbS:Q-b>9`Id=fKDyf:CffEf>hQ 5nj4jB?Q 9nj4jS)j}PBYpyr0Q Ir?jgJCIj<;ijj;j>j4ytɮvvYBxjhFNOT Ignoring new targets: 589.84 m.Rh:9Zh:9- ProNav: ac range: 589.839478 m, nav range: 575.525085 m, bearing: 213.186763 deg, approach rate: -0.729237 m/s, LOS rate: 0.014669 deg/s, cmd heading: 202.054781 deg, new cmd heading: 202.072373 deg. Bh-!:5HeadingCmd: 3.526828 target range: 589.839478 and range: 592.10 m.h5a@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM ڃ@ZiZiZiZm@}OhBɢ}+U%) i)顁im;i(h01F;<;Ia@Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768518AAB>BOCBg IBn_BB =BBBO;B)@E9@ @@4@ EE  EE EE *EA "EE ;*EE ~:VEE (N4ZEA BEE @$M, 7?A2dS@2a@2nٱ2R! >AHRS rotation from veh to nav: [[-0.917185,0.351066,0.188478],[-0.372472,-0.923416,-0.092564],[0.141547,-0.155101,0.977705]]2HYw? ?@׿J 6?[ÿ]I?i2dS@I2|b;2CYB6_ByBE IbDN:VDN{3yR0=%V?=ٔVQ-V>9XIX=ZKDyZ?;C^ܺE^>\Q 5bj4^MB?Q 9fj4^V)^PBYdyf0Q If?^JCI^ ;i^;^Mj4yn BɮnXBnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 589.84 m.Rh -9Zh -9 ProNav: ac range: 589.839478 m, nav range: 575.214539 m, bearing: 213.193036 deg, approach rate: -0.725492 m/s, LOS rate: 0.014663 deg/s, cmd heading: 202.072376 deg, new cmd heading: 202.091206 deg. Bh!:%HeadingCmd: 3.527157 target range: 589.839478 and range: 592.10 m.h%a@h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=~@ZZZZ@hBɢ ) i)i8;ib0 F; AH;I a@I !9@ @@0@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272304Q^AqZ;A>A>y I I O >T,P?AE EE,E"EV:*E|:VEg4ZEa@a@a@a@0>S@>a@>=ٱ>" FAHRS rotation from veh to nav: [[-0.917241,0.350459,0.189331],[-0.372204,-0.923381,-0.093980],[0.141889,-0.156672,0.977405]]>H Zm?S@I>b;9tIt=vKDyv;Cz.Ez>|Q 5j4~B?Q 9j4~Y)~PBYy 0Q I ?~KCI~;i~;~*\j4yBɮ>XBi߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524751jhFNOT Ignoring new targets: 589.84 m.Rh9Zh9 ProNav: ac range: 589.839478 m, nav range: 574.917542 m, bearing: 213.199054 deg, approach rate: -0.699200 m/s, LOS rate: 0.014174 deg/s, cmd heading: 202.091200 deg, new cmd heading: 202.109262 deg. Bh:HeadingCmd: 3.527472 target range: 589.839478 and range: 592.10 m.ha@h*h"h hgff!f!d!d!d)jd)Zd-f @ZiZiZiZm@]hBɢ])a eia)aaaie9;ԉi]0 F;~,;Ia@IA@A @A@A@A^A- [RS;u BDAT read: Rx Time:00:20:54.4897 u TRx dataTimestamp_ set to:1761524453.572182} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777478I I O >B >B B IB _BB =B B B ?;B @E-Z,j?A2+S@2a@2Hsٱ2|# >AHRS rotation from veh to nav: [[-0.917241,0.350000,0.190180],[-0.371959,-0.923423,-0.094531],[0.142531,-0.157447,0.977187]]\2H` Z`ff? W?-׿43@s>?`;'ĿE?i2+S@I2]a;2CY o_By h IyS?MbZd;?/]?@y= 9Gz?Mb?:v?Yp=?y@=<жBcB ~B)vnBYBbD9VD3y=%;=ٔºQ->9I=KDy;C E>Q 5j4_B?Q 9j4q])PBY=?Q E:y+Q I?XKCI:i:nkj4yBɮWBEjhFNOT Ignoring new targets: 589.84 m.Rh &9Zh &9 ProNav: ac range: 589.839478 m, nav range: 574.600464 m, bearing: 213.203027 deg, approach rate: -0.723680 m/s, LOS rate: 0.009073 deg/s, cmd heading: 202.109259 deg, new cmd heading: 202.121185 deg. Bh@9HeadingCmd: 3.527680 target range: 589.839478 and range: 592.10 m.ha@h*h"h hgfffdddjdZd@ZQ#>ZQ#>Z@Z@-hBE5 E5E53E1"E5;*E5:VE54ZE1BE5A JBDAT read: Tx time:00:20:55.5994 R$Ping request sent.Rc@+<nF@ =)l$>IZ݇?[}Z??!1ɰ5p; >)ǼIl$>i:publishing transmit ping timeLFpublishing direction and range infoyW,?DRZEt?B3?Y )Ii )IZ݇?[}Z?? )IiY_By II=)=bD VDk3yk=%8=ٔQ->9!I!=%KDy%qQ 5}j4uMB?Q 9}j4uDa)u8QBYyyQ I?uKCIu:iu:u?{j4yWBɮWBEIiiӄ?AJiDRiDjiQl@i j@}+KvW@!y3@riW,?DRZEt?B3?Zil$>biiw@~SsU@zi3}Wa%w?2i:iz"ih?*iϞBiCi-Tͣ?i9_ i&CiDium@ addTargetRange:: Added new target pos. range: 589.599976 m, deltaT: 4.291947 s, deltaX: -2.500000 m, approachRate: -0.582486 m/s, rangeRepo size: 4   Added new target pos. range: 587.334229 m, bearing: 211.561708 deg, lat: 36.779525 deg, lon: -121.859870 deg, deltaT: 4.291947 s, deltaX: -2.505249 m, approachRate: -0.583709 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 587.33 m.RhZhM ProNav: ac range: 587.334229 m, nav range: 572.378296 m, bearing: 212.585908 deg, approach rate: 0.000000 m/s, LOS rate: 0.009073 deg/s, cmd heading: 202.121185 deg, new cmd heading: 202.133812 deg. BhIMHeadingCmd: 3.527900 target range: 587.334229 and range: 589.60 m.hUa@hQ*hQ"hQ hQgQfQfYfYdYddjdl@Zd@~?ZZZZ -iBɢ )  Oi )iw;iV0EE EEEE-EA"EE;*EE:VEEt4ZEAaM@aM@aM@aM@E;U) ;IUa@IQI)yU9@Q @Q@U+4@Qԡ ^Au ;I I O >!g,?A2S@2şa@2ٱ2&$ :AHRS rotation from veh to nav: [[-0.917573,0.348215,0.191847],[-0.370523,-0.923938,-0.095140],[0.144125,-0.158382,0.976802]]2H\(I?n?`׿@` [r?EĿ@A?i2S@I2<`;2CYB_ByB IbDN%VDN03yR=%Vm=ٔV昻Q-V?9XIX=ZKDyZIBB IB`BBBBB ;B?E)E EE+E"E&:*E:VE [4ZEBEf;a m,?A2S@2a@2nٱ2$ :AHRS rotation from veh to nav: [[-0.917481,0.348048,0.192593],[-0.370482,-0.923950,-0.095179],[0.144819,-0.158677,0.976652]]2H@\@kF?ߦ?@׿@@]n?`OĿ@?i2S@I2_;0Yf_Byj IbDr.VDrP3yzN=%zF=ٔz޺Q-~>9~ ?I~ ?=~KDy Q 5j4 dB?Q 9j4 g) QBYyQ I? 9LCI :i +; lj4y%Bɮ%]VB%E9EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 587.33 m.Rh]9Zh]9m ProNav: ac range: 587.334229 m, nav range: 571.834167 m, bearing: 212.592246 deg, approach rate: -0.725655 m/s, LOS rate: 0.008460 deg/s, cmd heading: 202.142358 deg, new cmd heading: 202.152836 deg. Bhm̹9uHeadingCmd: 3.528233 target range: 587.334229 and range: 589.60 m.hua@hq*hq"hq hqgyfyfyfdddjdZd#?ZZZZ@颽iBɢ$s/) mi)i;i$Q0PE;X7:Ia@Im9@q @q@u0@qiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AI I!O5P>ԙ E  E E )E "E V:*E :VE FA4ZE a @a @a @a @vt,ӹ?A2S@2ta@2pٱ2k$ :AHRS rotation from veh to nav: [[-0.917571,0.347493,0.193165],[-0.369980,-0.924176,-0.094936],[0.145529,-0.158577,0.976563]]2H\ R=?@?`׿`ڒM`?BLĿ@@?i2S@I2a_;2CYb `Byb I ppbDv4VDvf3checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249298y $=% G=ٔ Q- >9I=LDy!Q 5-j4%NB?Q 9-j4%k)%QBY)y-,Q I-?%LCI%:i%_:%ȣj4y5Bɮ=UB=EjhYeFNOT Ignoring new targets: 587.33 m.Rhe29Zhm29ԙu ProNav: ac range: 587.334229 m, nav range: 571.535767 m, bearing: 212.595742 deg, approach rate: -0.728155 m/s, LOS rate: 0.008535 deg/s, cmd heading: 202.152836 deg, new cmd heading: 202.163329 deg. Bho9HeadingCmd: 3.528416 target range: 587.334229 and range: 589.60 m.ha@h*h"h hgfffdddjdZd`q?Z1Z1Z1Z5ѡ@iBɢr$) i)iU^;i%N0D;8Ia@Iu9@q @y@}0@yA؟AI!I1O=r>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501686B B B  IB l`BB =B B B È;B ?EBOCBOCBʓCBʉ =Bʉ =CF4 Qz,0F?AY+`By Iyw/?V-¿!rh?F?hl= 91Zd?9"?I"?=LDy=CE>Q 5j46B?Q 9j4~n)RBYZ=B>Z=n?Z=$@uiBɢ ,) Gi)顱i;iJ0{D;Ia@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753540A QUCi@i @i@m0@i"GjA MA595jAY5EAAIIO>iPExceeded connect timeout, disconnecting.ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006395#,?AN͚S@Na@NsٱN& VAHRS rotation from veh to nav: [[-0.917609,0.346736,0.194342],[-0.369543,-0.924260,-0.095820],[0.146399,-0.159743,0.976243]]NH ]0?6?׿ઇ0?@wrĿa=?iN͚S@IN$_;NCY^T`By^ IbDf%VDf03ynH=%r[=ٔr>Q-r>9tIt=vLDyvO=CvєEv>xQ 5~j4z"B?Q 9j4zq)zSRBYyq,Q I?zMCIz];iz7;zj4y Bɮ UBEjh15FNOT Ignoring new targets: 587.33 m.Rh= 9Zh= 9M ProNav: ac range: 587.334229 m, nav range: 570.968201 m, bearing: 212.602699 deg, approach rate: -0.712048 m/s, LOS rate: 0.008749 deg/s, cmd heading: 202.174433 deg, new cmd heading: 202.184213 deg. BhM&9UHeadingCmd: 3.528780 target range: 587.334229 and range: 589.60 m.hUa@hQ*hY"hY hYgYfYfafadadadijdiZdm}@ZZZZɁ@额jBɢ;) wi)顡i;i-H0D;+Ia@Iqm9@q @q@u]0@qE EE,E"E;*EVEg4ZEa@a@a@a@ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257637^Au_;A I I O > ۇ, ?A2S@2ka@2ٱ2% :AHRS rotation from veh to nav: [[-0.917492,0.346781,0.194810],[-0.369621,-0.924260,-0.095522],[0.146930,-0.159647,0.976179]]2H\@1?`?ݧ׿ (t`? OoĿ9XIX=ZLDyZ=CZ9EZ>`Q 5bj4b B?Q 9fj4bt)bRBYdyfo,Q If?baMCIb:ib:bj4yjvBɮnhTBnEjhy}FNOT Ignoring new targets: 587.33 m.Rh9Zh9 ProNav: ac range: 587.334229 m, nav range: 570.685974 m, bearing: 212.606164 deg, approach rate: -0.683228 m/s, LOS rate: 0.008394 deg/s, cmd heading: 202.184214 deg, new cmd heading: 202.194615 deg. BhU9HeadingCmd: 3.528962 target range: 587.334229 and range: 589.60 m.ha@h*h"h hgfffdddjdZd@ZaZaZaZe@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509864%UjBɢ%%)) -i))iiiiu;iu2E0}]C;yI}a@IyAA@AB>BB; IB`BBBBB;Bp?EA@A @A@E0@IbE%g4jE%^n4rE%k0E EE*E"E:*EVE(N4ZEBE!5E,:?A2SS@2a@2 ٱ2B% NAHRS rotation from veh to nav: [[-0.917509,0.346584,0.195082],[-0.369342,-0.924457,-0.094688],[0.147527,-0.158929,0.976206]]2H;\@p.?n?@K׿'x=+?WĿ=?i2SS@I2 _;2CYV`ByV I \\bDb)VDb3yj=%jI=ٔjºQ-n>9n ?In ?=nLDyn=Cr,Er>tQ 5zj4vA?Q 9zj4vxQ =ztI)vRBYxy~t,Q I~?vMCIv* ;iv6;vj4yɮZTBB*** querying acoustic contact ***i! i!jh)-FNOT Ignoring new targets: 587.33 m.Rh5&9Zh5&9E ProNav: ac range: 587.334229 m, nav range: 570.397156 m, bearing: 212.609724 deg, approach rate: -0.738598 m/s, LOS rate: 0.009107 deg/s, cmd heading: 202.194609 deg, new cmd heading: 202.205293 deg. BhE9MHeadingCmd: 3.529148 target range: 587.334229 and range: 589.60 m.hMa@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde@I@ZZZZ|@额jBɢC>) i)顡i.;i%B0!C;J}Ia@ImnManaging dock network, ignoring radio surface power offIM9@I @I@M5@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013799q^Aԙ A ؟AI I O >E  E E +E "E ;*E :VE [4ZE a @a @a @a @+ޔ,jT?A:S@:sa@:cٱ:_F%@ FAHRS rotation from veh to nav: [[-0.917441,0.346382,0.195757],[-0.369212,-0.924534,-0.094447],[0.148270,-0.158925,0.976094]]:H@[+??)׿Ǖ-@?WĿ(9b"?Ib"?=bLDyf>Cf8}Ef>hQ 5nj4jA?Q 9nj4jT{)jSBYpyrv,Q Ir?jMCIjY;ijD;jj4yv;BɮvSBvEjhFNOT Ignoring new targets: 587.33 m.Rh 9%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265415Zh% 95 ProNav: ac range: 587.334229 m, nav range: 570.113098 m, bearing: 212.613231 deg, approach rate: -0.711344 m/s, LOS rate: 0.008786 deg/s, cmd heading: 202.205292 deg, new cmd heading: 202.215817 deg. Bh=9EHeadingCmd: 3.529332 target range: 587.334229 and range: 589.60 m.hEa@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU %K @ZqZqZqZux@jBɢ !/)  i )   i ț;i"?0VB;ÙIa@Iԩ9@ @@5@^Argchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518649 AA IQ Ia Om >B >B B s IB #aBB =B B B };B P?E,Gn?ApY`ByI I !!yOn?i|?5㥛 ?X?q= 9-?V-?Y?5?y=BiB WB)-kBYBbD%VD03y m=% 7=ٔQ->9I=LDy[>CE>!Q 5-j4%A?Q 9-j4%3~)%~SBY527?Q E5:y51Q I5?%CNCI% ;i% ;%`j4y=Bɮ=$SBEEjhaeFNOT Ignoring new targets: 587.33 m.RhmH9ZhmH9E} E}E}*Ey"E}:*E}x:VE}(N4ZEyBE}>Z;>Z\;@Z>jBɢD-) !i)i;i90FA;㽺Ia@II) i1I1=BDAT read: Rx Time:00:20:58.7698 ETRx dataTimestamp_ set to:1761524457.861396Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771901m9@q @y@}5@y9^AMNJκa A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021318o,2"?A2S@2ȓa@2ٱ2m% :AHRS rotation from veh to nav: [[-0.917116,0.346576,0.196936],[-0.369557,-0.924425,-0.094157],[0.149420,-0.159132,0.975884]]2HYO.?55?@Ԧ׿@`4 ?p^Ŀ r:?i2S@I2^;2CYB aByBf IHHbDN'VDN3yV>%Vd=ٔVTQ-V>9XIX=ZLDyZ>CZ:E^>`Q 5fk4bA?Q 9fk4b)bSBYdyf1Q Ij?bNCIb(:ib:bk4ylɮnRBl9jhYeFNOT Ignoring new targets: 587.33 m.Rhew9Zhmw9u ProNav: ac range: 587.334229 m, nav range: 569.572632 m, bearing: 212.624517 deg, approach rate: -0.648739 m/s, LOS rate: 0.013542 deg/s, cmd heading: 202.234634 deg, new cmd heading: 202.249694 deg. Bh:HeadingCmd: 3.529923 target range: 587.334229 and range: 589.60 m.hBa@h*h"h hgfffdddjdZd`m@ZZZZ>%kBɢ-O9)) -1!i)))11i5;i]r50]kA;]FI]Ba@Ia9@ @@4@@E=@E=qE EE+E"E*E:VE [4ZEa@a@a@a@mDAT read: 00:20:58.7698 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 243, 0.06, 1.475,-0.272, 1.285, 1.137, PHS= 0.440,-1.364, 0.104, RAW= 139.9, 9.9, CAL= 139.4, 10.8, ROT= 10.6, -10.8 uYgot valid direction response: 00:20:58.7698 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 243, 0.06, 1.475,-0.272, 1.285, 1.137, PHS= 0.440,-1.364, 0.104, RAW= 139.9, 9.9, CAL= 139.4, 10.8, ROT= 10.6, -10.8 }PDAT read: Bearing 7.0, 17.3 (Local) }~Local bearing/azimuth received: Bearing 7.0, 17.3 (Local) DAT read: Range 11 to 50 : 574.7 m (Round-trip 766.3 ms) speed 0.5 m/s (DAT read: user:41> ԑBDAT read: Tx time:00:20:59.8994 $Ping request sent.i====E@=;0>=@ =A>)=q=>I=A99=N҂?RJy?N ? =>)=0I=q=>i=A99:publishing transmit ping timeFpublishing direction and range infoy9=vd?U ?0i?Y99999 9)9I9i99999 9)9I999=N҂?RJy?N ? 9)9I9i999^AMvтA I I O 2,?A2S@2Pa@2ٱ2M$ :AHRS rotation from veh to nav: [[-0.916666,0.347673,0.197096],[-0.370517,-0.924154,-0.093036],[0.149801,-0.158311,0.975960]]2H@TUD@?t:?׿`:ѷ,?CĿ;?i2S@I2_;0YN,aByRy IbDZ6VDZ3yrk=%vF=ٔvuQ-v>9xIx=zLDyz>Cz*;E~>Q 5%k4>A?Q 9-k4/)$TBY)y-1Q I-?NCI:i:tk4y5Bɮ]aRBYԙiiim9B?AJimDRimDjimĻo@im~ F@oQyY@B܆Z@rimvd?U ?0i?Zimq=>bimAim~N|P$#fs^pce@zimCA!鿻(&jYfN!?2im1:im"img?*imlgBimjcCimhc?imlgim9CimiDimfm@m addTargetRange:: Added new target pos. range: 574.700012 m, deltaT: 4.287995 s, deltaX: -14.899963 m, approachRate: -3.474809 m/s, rangeRepo size: 4  Added new target pos. range: 572.489624 m, bearing: 214.620558 deg, lat: 36.779541 deg, lon: -121.859908 deg, deltaT: 4.287995 s, deltaX: -14.844604 m, approachRate: -3.461899 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 572.49 m.RhZh ProNav: ac range: 572.489624 m, nav range: 569.651184 m, bearing: 213.017616 deg, approach rate: 0.000000 m/s, LOS rate: 0.013542 deg/s, cmd heading: 202.249688 deg, new cmd heading: 202.267446 deg. BhHeadingCmd: 3.530233 target range: 572.489624 and range: 574.70 m.hVa@h*h"h hg fffdddjd@Zd??ZZZZW>ZkBɢ2+) "i)i[;i_00@;IVa@I BIAM<BQBQBU IBU~aBBU =BQBQBUV;BU'?E@ @@5@E EE*E"E;*E:VE(N4ZEBED,׻?A26S@2a@2^ٱ2R$ :AHRS rotation from veh to nav: [[-0.916170,0.348630,0.197714],[-0.371462,-0.923854,-0.092252],[0.150497,-0.157962,0.975909]]2HBQ`O?@N?׿5ҝ|C?`8Ŀ:?i26S@I2^;2CYBSaByB IIF<)F9XIX=ZLDyZ?C^1;E^>`Q 5fk4b$A?Q 9fk4b)bwTBYdyf1Q Ij?bOCIb1:ibI:b&"k4ynBɮnQBnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 569.388855 m, bearing: 213.023231 deg, approach rate: -0.699125 m/s, LOS rate: 0.014969 deg/s, cmd heading: 202.267446 deg, new cmd heading: 202.284296 deg. Bh^$:HeadingCmd: 3.530527 target range: 572.489624 and range: 574.70 m.h(a@h*h"h hgfffdddjdZd /]?ZAZAZAZE>UkBɢU A)Y ]`#iY)YYYie;ie+0eĈ@;mf/8Im(a@Ii}p>i}>-9@) @)@-/@)!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AQQII IY Om >y D =D E  E E ,E "E *E $:VE g4ZE a @a @a @a @,,պ?A:PS@:a@:fٱ:e# FAHRS rotation from veh to nav: [[-0.915572,0.349954,0.198145],[-0.372658,-0.923506,-0.090900],[0.151177,-0.157066,0.975949]]:H\L`e?@\?׿[@E Y?Ŀ:?i:PS@I:_;:CYJjaByJ I PPbDV!VDVr3y^b=%^I=ٔbݺQ-b>9`Id=fMDyf[?CfY;Ef>hQ 5nk4jItA?Q 9nk4jX)jTBYpyr1Q Ir?jVOCIj;ij;jW0k4ytɮvQBtchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992556jh!%FNOT Ignoring new targets: 572.49 m.Rh-f9Zh-f95 ProNav: ac range: 572.489624 m, nav range: 569.116943 m, bearing: 213.029020 deg, approach rate: -0.694634 m/s, LOS rate: 0.014797 deg/s, cmd heading: 202.284303 deg, new cmd heading: 202.301680 deg. Bh=z":EHeadingCmd: 3.530830 target range: 572.489624 and range: 574.70 m.hE a@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU L?ZqZqZqZuj>%kBɢ-"n9)) -,%i))))1i5);i=&0=@@;=nm:I= a@I9q@ @@0@ԡ^A59checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245131I I O >BM >BI BM IBM aBBM =BI BI BM #;BM >E Y,ԛﺮ?AYzaBy~ Iy}$C?M¿X9v?}:?}n}9I=MDy?CE>Q 5k4[A?Q 9k4䊭)UBYY8?Q E:y4Q I ?OCI:ij:?k4yRBɮQBEjh9=FNOT Ignoring new targets: 572.49 m.RhE9ZhE9EU EUEU)EQ"EU:*EU҆:VEUFA4ZEQBEU6a ߵ ?ߵ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748735>®,'j ?A 2T@2a@2Nٱ2" >AHRS rotation from veh to nav: [[-0.914409,0.352365,0.199238],[-0.375037,-0.922688,-0.089411],[0.152329,-0.156480,0.975864]]2HB%??@ؿ`㶿?Ŀ@F:?i2T@I2_;2CYFaByF I HHHJAbDPVDPyVY>%Za=ٔZRQ-Z>9XI\=^MDy^?C^;Eb>`Q 5fk4bKGA?Q 9fk4b)bbUBYhyj~4Q Ij?bOCIbd:ib:bLk4y=Bɮ=pPBEEjhFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 568.572876 m, bearing: 213.043401 deg, approach rate: -0.646259 m/s, LOS rate: 0.017002 deg/s, cmd heading: 202.325476 deg, new cmd heading: 202.344850 deg. Bh::HeadingCmd: 3.531584 target range: 572.489624 and range: 574.70 m.hxb@h*h"h hgfffdddjdZd@$?Z9Z9Z9Z=v@M'lBɢM=)I UU&iQ)i8;i=0?;,;Ixb@I q9@ @@/@Ei EmEm(Ei"Ei*Emx:VEmc44ZEia}@a}@a}@a}@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000542^A+:IQ Ia Om > hȮ,D#?A6F#T@6b@6,Wٱ6 BAHRS rotation from veh to nav: [[-0.913568,0.354466,0.199369],[-0.376789,-0.922212,-0.086922],[0.153049,-0.154530,0.976062]]6H;?@?Qؿ@?ÿ;?i6F#T@I6`;4YFaByF IPPPbDV*VDV3yfN)=%jH=ٔjQ-n>9pIp=vMDyv!@Czל;Ez>|Q 5 k4~e0A?Q 9k4~d)~UBYyb4Q I?~0PCI~D;i~9;~Zk4y)ɮ-_PB)jhiuFNOT Ignoring new targets: 572.49 m.Rh}9Zh}9 ProNav: ac range: 572.489624 m, nav range: 568.295471 m, bearing: 213.050649 deg, approach rate: -0.692589 m/s, LOS rate: 0.018105 deg/s, cmd heading: 202.344846 deg, new cmd heading: 202.366601 deg. BhF:HeadingCmd: 3.531964 target range: 572.489624 and range: 574.70 m.h b@h*h"h hgfffdddjdZd@ZZZZ@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252343}ZlBɢ}f>) y(i)顁ih;i0B?;v;I b@IAA9@ @@0@B%>B%NCB%T IB%bBB!B!B!B%;B%>EBBBBBCE4^AM &;Eu EuEqEq"Eu&:*Eu|:VEqZEqBEuf;- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5044219 G  ۴9 Y ХAǒή, =?A2BT@28b@2Dٱ2 :AHRS rotation from veh to nav: [[-0.912759,0.356146,0.200080],[-0.378524,-0.921546,-0.086446],[0.153596,-0.154639,0.975959]]2H`Q5?:?9ؿ N}N!?`7ÿ` ;?i2BT@I2l`;0YRaByR IbDZ"VDZJz3yb=%bK=ٔf2Q-f>9dIh=jMDyjb@CjI;Ej>lQ 5rk4n A?Q 9rk4n)nUBYtyvB4Q Iv?nwPCInt:in(:nhk4yzBɮzOBzE|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 572.49 m.Rh-E9Zh-E9 ProNav: ac range: 572.489624 m, nav range: 568.025452 m, bearing: 213.057657 deg, approach rate: -0.683030 m/s, LOS rate: 0.017734 deg/s, cmd heading: 202.366607 deg, new cmd heading: 202.387639 deg. BhB:HeadingCmd: 3.532331 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgfffdddjdZd`G@ZQZQZQZU@颅lBɢ8) )i)顉i;i0)@;oޤ;Ib@I)@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756898Q^Avт;ԁ A I! I9 OU >E  E E *E "E :*E ҆:VE (N4ZE a @a @a @a @zծ,V?A2]T@2Rb@2Pٱ2 b :AHRS rotation from veh to nav: [[-0.912053,0.357812,0.200323],[-0.379936,-0.921147,-0.084484],[0.154297,-0.153164,0.976081]]2H/e?,?Pؿz `?ݚÿ` )f=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008571bDj)VDj3y O=% F=ٔJQ->9I=MDy@C|;E>!Q 5-k4%&A?Q 9-k4%))%DVBY)y5+4Q I5?%PCI%:i!%Lwk4Yy}Bɮ}OB}EjhFNOT Ignoring new targets: 572.49 m.Rho9Zho9 ProNav: ac range: 572.489624 m, nav range: 567.746521 m, bearing: 213.064857 deg, approach rate: -0.657665 m/s, LOS rate: 0.016986 deg/s, cmd heading: 202.387644 deg, new cmd heading: 202.409257 deg. Bh::HeadingCmd: 3.532708 target range: 572.489624 and range: 574.70 m.hb@h*h"h h g f1f9f9d9d9d9jdAZdE`@Z!Z!Z!Z%d@ԉ颭lBɢo2) :+i)顱iB B IB bBB B B B χ;B >E^A ;A I I O >tܮ,K>t?AbE%(N4jE%P4rE%/EN ENEN-EL"EN:*EN|:VENt4ZELBENC89 I=MDy@CE>Q 5%k4@?Q 9%k4薭)VBY-k:?Q E-:y-5Q I-?QCI;i ;ck4y5^Bɮ5NB=EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512615jhimFNOT Ignoring new targets: 572.49 m.Rhu߷9Zhu߷9 ProNav: ac range: 572.489624 m, nav range: 567.409119 m, bearing: 213.074467 deg, approach rate: -0.705085 m/s, LOS rate: 0.020094 deg/s, cmd heading: 202.409255 deg, new cmd heading: 202.438101 deg. Bh\:HeadingCmd: 3.533211 target range: 572.489624 and range: 574.70 m.h# b@h*h"h hgfffdddjdZd N @Z[s=Z[s=Zܽ?ZqF@mBɢ?) (-i)i{VW,?A2T@2rb@2` ٱ2i :AHRS rotation from veh to nav: [[-0.910622,0.360698,0.201655],[-0.382779,-0.920131,-0.082704],[0.155718,-0.152501,0.975959]]2H#?@?@rؿq,?&ÿ ;?i2T@I2$`;2C@YBebByF: IbDN VDNk3yV >%Vd=ٔVQ-V>9XIX=ZMDyZ0AC^ <E^>`Q 5fk4bM@?Q 9fk4b)bVBYdyf5Q If?b\QCIbw:ib:bk4ylɮnVNBljhFNOT Ignoring new targets: 572.49 m.Rh β9Zh β9 ProNav: ac range: 572.489624 m, nav range: 567.161743 m, bearing: 213.081436 deg, approach rate: -0.693379 m/s, LOS rate: 0.019541 deg/s, cmd heading: 202.438105 deg, new cmd heading: 202.459020 deg. BhV:%HeadingCmd: 3.533576 target range: 572.489624 and range: 574.70 m.h%&b@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5`v(@ZQZQZQZU\@7mBɢH) -i)icH,৻?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.268474lY=bBy=K I AAIMAbDU<VDU3ye|=%e?=ٔmQ-u>9 ?I ?=MDytACE>Q 5k4c@?Q 9k4c)VBYyQ I?QCI:i:k4y%BɮMBEjhFNOT Ignoring new targets: 572.49 m.Rh D9Zh D9% ProNav: ac range: 572.489624 m, nav range: 566.863098 m, bearing: 213.089855 deg, approach rate: -0.686834 m/s, LOS rate: 0.019373 deg/s, cmd heading: 202.459019 deg, new cmd heading: 202.484290 deg. Bh%T:5HeadingCmd: 3.534018 target range: 572.489624 and range: 574.70 m.h5X-b@h1*h1"h9 h9g9f9fAfAdAdIdIjdIZdU W@BBB IB3cBBBBB;B>EZ Z Z Z UrmBɢU]9)Y ]/iY)YYYi]i}> 9@ @@ 0@E EE)E"E:*E:VEFA4ZEBE6i,?A2T@2sb@2!ٱ2Y :AHRS rotation from veh to nav: [[-0.909094,0.363463,0.203576],[-0.385798,-0.918913,-0.082206],[0.157190,-0.153272,0.975602]]2HKB??ؿ@gx ?mÿ`!8?i2T@I2_;2CYBbByB] IHJAAbDN VDNk3yV=%VW=ٔVbQ-V>9Z"?IZ"?=ZNDyZACZR<E^>!Q 5-k4%@?Q 9-k4%)%!WBY)y5M5Q I5?%QCI%(:i%:%k49yEBɮE:MBMEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 566.595215 m, bearing: 213.097317 deg, approach rate: -0.678344 m/s, LOS rate: 0.018905 deg/s, cmd heading: 202.484291 deg, new cmd heading: 202.506688 deg. BhO:HeadingCmd: 3.534409 target range: 572.489624 and range: 574.70 m.h3b@h*h"h hgfffdddjd Zd @ZAZAZAZE4r@}mBɢ}K)y }e0i)顁iw checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0245402,ۻ?ANbT@Nb@NW"ٱNK rAHRS rotation from veh to nav: [[-0.908554,0.364374,0.204357],[-0.386789,-0.918526,-0.081874],[0.157874,-0.153430,0.975466]]NH Q?`[(?`(ؿ@d@`75?@ÿ7?iNbT@INm_;NCYbByp IbD$VD3y-=%54=ٔ]źQ-]>9aIa=eNDyeACmB";Em>iQ 5k4me@?Q 9k4m-)m\WBYy:5Q I?mERCIm:imA:m2k4yBɮLBjhFNOT Ignoring new targets: 572.49 m.RhB9ZhB9- ProNav: ac range: 572.489624 m, nav range: 566.286621 m, bearing: 213.105882 deg, approach rate: -0.685708 m/s, LOS rate: 0.019043 deg/s, cmd heading: 202.506694 deg, new cmd heading: 202.532405 deg. Bh-Q:uHeadingCmd: 3.534857 target range: 572.489624 and range: 574.70 m.hu;b@hq*hy"hy hygyfyffdddjdZd@@ZQZQZQZUx@mBɢ7)) -^2i))111i5 B B IB zcBB =B B B Ї;B >E^A &<ԁ E  E E -E "E :*E |:VE t4ZE BE a 2E a JE d;a :E d;a AM .AIY Iy O >Nb,"?A6T@6b@6$ٱ6x >AHRS rotation from veh to nav: [[-0.908014,0.364885,0.205837],[-0.387394,-0.918352,-0.080968],[0.159486,-0.153260,0.975231]]6H@tFZ?X?@ؿ#cX j?ÿ5?i6T@I6'^;4YFbBixIxzchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.528840 y5 II=<)=p;E=Ea=yGz?!rhi|?5?p=?lq= 9T㥛 ?{GzYA?yף̼_B )gBYpBbD/VD3y_=%;=ٔxQ->9 ?I ?=NDyBBC?:E>Q 5k4p@?Q 9 k4B)WBY 2A?Q E :y F1Q I ?RCI;i!;Dk4yɮ|LBjhFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 565.970825 m, bearing: 213.112567 deg, approach rate: -0.733166 m/s, LOS rate: 0.015527 deg/s, cmd heading: 202.532403 deg, new cmd heading: 202.552467 deg. Bh*:HeadingCmd: 3.535208 target range: 572.489624 and range: 574.70 m.h@b@h*h"h hgfffd d d jd ZdNt@Zu >Zu >Zu?ZuJ@颍nBɢ[D) 3i)顑i ZB,D?A>T@>4b@>$ٱ>+ FAHRS rotation from veh to nav: [[-0.908018,0.364413,0.206653],[-0.387093,-0.918454,-0.081248],[0.160194,-0.153769,0.975035]]>H@|R?s? ؿc̴:?@ÿ|3?i>T@I>L^;>CYNcByN I TTbDZVDZ3yb=%b`=ٔbQ-b>9f"?If"?=fNDyf}BCfJEj>hQ 5nk4jZ@?Q 9rk4jܥ)jWBYpyrK1Q Ir?jRCIj;ij;jk4yv{BɮzKBzEjhFNOT Ignoring new targets: 572.49 m.Rh% 9Zh% 95 ProNav: ac range: 572.489624 m, nav range: 565.704041 m, bearing: 213.118229 deg, approach rate: -0.757257 m/s, LOS rate: 0.016078 deg/s, cmd heading: 202.552470 deg, new cmd heading: 202.569463 deg. Bh50:5HeadingCmd: 3.535504 target range: 572.489624 and range: 574.70 m.h=Eb@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@@ZiZiZiZm@@y颅InBɢ\)n< 94i)顉i0  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284451m ,+?AA0A2AANT@Nb@N6p%ٱN! ZAHRS rotation from veh to nav: [[-0.907931,0.363922,0.207900],[-0.387022,-0.918361,-0.082623],[0.160859,-0.155477,0.974654]]NH J?@v?ؿ 7c@&?@ÿ`^0?iNT@IN`^;LYf!cByf IbDvVDv\3yǂ=%F=ٔ պQ- >9 I =NDyBCVE>B>BB IBcBB =B;DBB;B>E1Q 5=k456B@?Q 9=k45ը)5WBYAyEL1Q IE?5-SCI5;i5;5k4yMCBɮMdKBMEjhFNOT Ignoring new targets: 572.49 m.Rh9Zh9  ProNav: ac range: 572.489624 m, nav range: 565.399353 m, bearing: 213.124705 deg, approach rate: -0.703715 m/s, LOS rate: 0.014966 deg/s, cmd heading: 202.569464 deg, new cmd heading: 202.588903 deg. Bh V$:5HeadingCmd: 3.535843 target range: 572.489624 and range: 574.70 m.h5BKb@h1*hq"hq hqgqfqfyfydydydjdZd@ZZZZ2@]nBɢ]@)Y ]N6iY)aaaie U,hE?ABT@Bvb@B :&ٱB" JAHRS rotation from veh to nav: [[-0.907869,0.363659,0.208627],[-0.386850,-0.918447,-0.082479],[0.161619,-0.155587,0.974511]]BHC @1F?K? %ؿc`U?Iÿ2/?iBT@IB{Z^;@YR4cByR I TTXZAbD\VD\yfH=%fN=ٔfQ-f>9hIh=jNDyjCCnEE>AQ 5Mk4EW*@?Q 9Uk4E)EXBYQyUO1Q IU?E{SCIE;iE;Ek4ye BɮeJBeE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 565.101868 m, bearing: 213.131038 deg, approach rate: -0.762791 m/s, LOS rate: 0.016248 deg/s, cmd heading: 202.588902 deg, new cmd heading: 202.607912 deg. Bhi2:HeadingCmd: 3.536175 target range: 572.489624 and range: 574.70 m.hPb@h*h"h hgfffdddjdZd@}@ZZZZ)@nBɢn%U) 48i)i} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051169 Y, _?AVLT@Vb@Vr&ٱV" bAHRS rotation from veh to nav: [[-0.908289,0.362317,0.209135],[-0.385689,-0.918872,-0.083171],[0.162034,-0.156205,0.974343]]VH30?`? ؿ gg J?ÿ-?iVLT@IV>d^;VCYfocByf IyU+?y&1?Zd;?Uv^?U`e%8=ٔ?xQ->9 ?I ?=NDyHCC7E>Q 5 l4@?Q 9 l49)/XBY @?Q E:y-Q I?SCIz:i:l4y!ɮ%JB)yjhyFNOT Ignoring new targets: 572.49 m.Rh6Q9Zh6Q9 ProNav: ac range: 572.489624 m, nav range: 564.783508 m, bearing: 213.136038 deg, approach rate: -0.727482 m/s, LOS rate: 0.011432 deg/s, cmd heading: 202.607918 deg, new cmd heading: 202.622926 deg. Bh9HeadingCmd: 3.536437 target range: 572.489624 and range: 574.70 m.hTb@h*h"h hgfffdddjdZd @Z>Z>Z)E@Z> nBɢmXs=)i m8ii)qqqiu9hBBB IBdBBB:DBB;B>EBNCBNCBBBC^4x/<% 9@)  @) @- 0@) @1 @5 =Ee  Ee Ee )Ea "Ee :*Ee :VEe FA4ZEa BEe 69 Y wAyM ?] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552524M A^A ͢!<1A=؟AIIIYOm ? ,?A2T@2Nb@2j 'ٱ2% >AHRS rotation from veh to nav: [[-0.908684,0.360587,0.210408],[-0.384568,-0.919110,-0.085700],[0.162486,-0.158790,0.973850]]2H? ?œؿ`Yig W?:SĿ)?i2T@I2O^;2CYBcByB IIJ<)J<bDN"VDNJz3yV$=%V$=ٔZ.qQ-Z>9Z"?IZ"?=^NDy^CC^uE^>`Q 5fl4b??Q 9fl4b;)bdXBYhyj-Q Ij?b,TCIb ;ib ;b5l4ynBɮn+JBnEjhFNOT Ignoring new targets: 572.49 m.Rh8P9Zh8P9  ProNav: ac range: 572.489624 m, nav range: 564.416931 m, bearing: 213.141851 deg, approach rate: -0.717097 m/s, LOS rate: 0.011378 deg/s, cmd heading: 202.622930 deg, new cmd heading: 202.640379 deg. Bh 9HeadingCmd: 3.536742 target range: 572.489624 and range: 574.70 m.hYb@h*h"h hgfffd!d!dAjdAZdM@ZZZZm>额9oBɢ<) :i)iM checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056486&,񛼮?A2xT@2-b@2'ٱ2r& >AHRS rotation from veh to nav: [[-0.909261,0.358664,0.211197],[-0.382973,-0.919652,-0.087013],[0.163019,-0.160001,0.973563]]2HW?`?ؿmF?zĿ@m'?i2xT@I2a^;2CYFcByF IbDN2VDN 3yV=%VJ=ٔVQ-Z>9XIX=^NDy^CC^fE^>`Q 5fl4b??Q 9fl4by)bXBYdyj.Q Ij?byTCIb;ib;bP(l4ynBɮnIBnEjhFNOT Ignoring new targets: 572.49 m.Rh Ad9Zh Ad9 ProNav: ac range: 572.489624 m, nav range: 564.119507 m, bearing: 213.146627 deg, approach rate: -0.776236 m/s, LOS rate: 0.012472 deg/s, cmd heading: 202.640375 deg, new cmd heading: 202.654711 deg. Bh:%HeadingCmd: 3.536992 target range: 572.489624 and range: 574.70 m.h%^b@h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=9 @ZYZYZYZ] >mioBɢ [)  9;i )i.BBt IBddBBB;DBƺDB;B>E^A r; A gAzA hAbE [4jEY4rEb/Em  Em Ei Ei "Em :*Em :VEi ZEi BEm 3ۼ-,Þ?A2T@2bwb@2:(ٱ2_' :AHRS rotation from veh to nav: [[-0.909766,0.356756,0.212253],[-0.381370,-0.920233,-0.087907],[0.163961,-0.160922,0.973253]]2H`?+?\hؿ r?Ŀ $?i2T@I2{'^;2ChYncByn I va=tbDz+VDzE3yw+=%,=ٔQ->9  ?I  ?= NDy 'DCOjE>Q 5%l4??Q 9%l4E)XBY!y%0.Q I%?TCI:i:8l4=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560550y=mBɮ=IBEEjhaeFNOT Ignoring new targets: 572.49 m.RhmZ9ZhmZ9} ProNav: ac range: 572.489624 m, nav range: 563.769714 m, bearing: 213.152312 deg, approach rate: -0.734440 m/s, LOS rate: 0.011945 deg/s, cmd heading: 202.654704 deg, new cmd heading: 202.671771 deg. Bh}*:HeadingCmd: 3.537290 target range: 572.489624 and range: 574.70 m.hbb@h*h"h hgfffdddjdZd-!@ZZZZ>oBɢB) =i)iD-`5,ּ?A2hgT@2]b@2$,*ٱ2=( :AHRS rotation from veh to nav: [[-0.910151,0.354871,0.213754],[-0.379817,-0.920818,-0.088507],[0.165420,-0.161743,0.972870]]2H`6?M\?Nؿ@Ww k|,? Ŀ!?i2hgT@I2^;0YBcByB) I DDDFAbDN1VDN[3yV=%V9=ٔV \Q-V>9Z"?IZ"?=ZODyZnDC^YnE^>`Q 5bl4ba??Q 9fl4bȽ)bXBYdyfJ.Q If?b(UCIb1:ib:En EnEn,El"En:*Eną:VEng4ZElar@ar@ar@ar@bMHl4yv6BɮvHBzE B*** querying acoustic contact ***i  i jhq}FNOT Ignoring new targets: 572.49 m.Rh}V9ZhV9 ProNav: ac range: 572.489624 m, nav range: 563.445251 m, bearing: 213.157648 deg, approach rate: -0.713976 m/s, LOS rate: 0.011747 deg/s, cmd heading: 202.671766 deg, new cmd heading: 202.687781 deg. Bh:HeadingCmd: 3.537569 target range: 572.489624 and range: 574.70 m.hgb@h*h"h hgfffdddjdZd M"@Z)Z)Z)Z-&>}oBɢ} F) ?i)顁iv<checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067165iM./U I;]e;I]gb@Iy@y @y@}0@yA ^A vт; checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316997BU >BU MCBU IBU dBBU =BQ BQ BU և;BU >EA I I! O5 >;,S?AY~%dBy~M Iy1Zd?~jtkt?";? 0= 9MbX?kt?/$?YJ?y 0=<~Bt\B )_BYBbD.VDP3y>%:=ٔQ->9I=ODyDCE>Q 5l4u??Q 9l4)3YBYK?Q E:y+Q I?UCI:i:Wl4yBɮGBEjhFNOT Ignoring new targets: 572.49 m.Rh%;9Zh%;95 ProNav: ac range: 572.489624 m, nav range: 563.105591 m, bearing: 213.161974 deg, approach rate: -0.802049 m/s, LOS rate: 0.010222 deg/s, cmd heading: 202.687776 deg, new cmd heading: 202.700763 deg. Bh5|9=HeadingCmd: 3.537796 target range: 572.489624 and range: 574.70 m.h=?kb@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM"@Zm=Zm=Zm$K?ZmmD@颅pBɢ%gT) r?i)顉i'A=>ԩ A .AI I O >vmB,. ?A2a:T@20b@2/-ٱ2u , :AHRS rotation from veh to nav: [[-0.910689,0.351144,0.217586],[-0.377106,-0.921699,-0.090893],[0.168632,-0.164828,0.971800]]2H ]$$y??"ؿ~ D ?@ſ?i2a:T@I24^;2C@YBFdByFa IbDN,VDN3yr=%rZ=ٔrBQ-r>9v ?Iv ?=vODyvDCzEz>xQ 5l4zJy??Q 9l4zŭ)zkYBYy*,Q I?zUCIz";iz?;zdl4yɮGBjh1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.820562EFNOT Ignoring new targets: 572.49 m.RhM89ZhM89] ProNav: ac range: 572.489624 m, nav range: 562.815552 m, bearing: 213.165751 deg, approach rate: -0.773726 m/s, LOS rate: 0.010082 deg/s, cmd heading: 202.700767 deg, new cmd heading: 202.712105 deg. Bh]j9eHeadingCmd: 3.537994 target range: 572.489624 and range: 574.70 m.he}nb@ha*ha"ha hagifififidqdqdqjdqZd}#@ZZZZH @颭MpBɢ~1^) t@i)顱i SH,$?AN.T@N$b@Nf.ٱN- bAHRS rotation from veh to nav: [[-0.910730,0.349951,0.219330],[-0.376377,-0.921896,-0.091911],[0.170035,-0.166257,0.971312]]NH$ e??ؿ,@?Gſ@?iN.T@INT^;NClYjddByrt IIv=)vC=v%>v=bDz3VDz3y=%H=ٔ dQ- >9 "?I"?=ODy5ECE>Q 5%l4a??Q 9%l4ȭ)YBY)y-5,Q I-?VCI:i: sl4y5Bɮ=*GB9jhFNOT Ignoring new targets: 572.49 m.Rh29Zh29 ProNav: ac range: 572.489624 m, nav range: 562.498962 m, bearing: 213.169901 deg, approach rate: -0.744058 m/s, LOS rate: 0.009758 deg/s, cmd heading: 202.712105 deg, new cmd heading: 202.724562 deg. BhN9HeadingCmd: 3.538211 target range: 572.489624 and range: 574.70 m.h rb@h*h"h hg!f!f!f!d)d)d)jd)Zd-`ˊ$@ZZZZT@pBɢ$M) ;Bi) i BLCB IBeBB =BBźDB·;B>E1^AqE  E E -E "E V:*E :VE t4ZE BE 9 2Acoustic response timeoutN,=?A2#T@2b@20ٱ2|. >AHRS rotation from veh to nav: [[-0.910696,0.348797,0.221300],[-0.375643,-0.922144,-0.092432],[0.171830,-0.167307,0.970816]]2Hk$ R?S?@ ؿ`3`?Njſ?i2#T@I2M^;0Y^dByb IbDjVDj4d3yr%=%rM=ٔrQ-v>9tIt=vODyvvECzݺEz>|Q 5l4~I??Q 9l4~Ṋ)~YBYy?,Q I?~lVCI~;i~a;~l4yBɮFBEjh19EFNOT Ignoring new targets: 572.49 m.RhEqB9ZhEqB9U ProNav: ac range: 572.489624 m, nav range: 562.190918 m, bearing: 213.173964 deg, approach rate: -0.805063 m/s, LOS rate: 0.010625 deg/s, cmd heading: 202.724563 deg, new cmd heading: 202.736760 deg. BhUU9]HeadingCmd: 3.538424 target range: 572.489624 and range: 574.70 m.h]ub@hY*ha"ha hagafafifidididijdqZdu M%@ZZZZ @颥pBɢf) Ci)顩i<" U,W?A2rT@2&b@2A2ٱ2ew- :AHRS rotation from veh to nav: [[-0.910639,0.348128,0.222582],[-0.374878,-0.922628,-0.090689],[0.173789,-0.166026,0.970687]]2H`#G?@}?`׿+@i7 >? Y@ſ?i2rT@I2i^;2CYBdByB IbDJ*VDJ3yV*>%VN=ٔVFQ-V>9XIX=ZODyZECZ4E^>Eb EbEb,E`"EbD:*Eb:VEbg4ZE`aj@aj@aj@aj@hQ 5rl4j1??Q 9rl4jϭ)j$ZBYpyrK,Q Ir?jVCIhij;jl4yxɮz^FBx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 572.49 m.Rh%;9Zh%;95 ProNav: ac range: 572.489624 m, nav range: 561.882080 m, bearing: 213.178064 deg, approach rate: -0.771532 m/s, LOS rate: 0.010248 deg/s, cmd heading: 202.736762 deg, new cmd heading: 202.749068 deg. Bh5 9ԙHeadingCmd: 3.538639 target range: 572.489624 and range: 574.70 m.hyb@h*h"h hgfffdddjdZdH%&@ZZZZu@2Acoustic response timeoutpBɢYP)! %Bi!)QQYiey#B B ) IB eBB =B B B և;B >E! A I I O >m\, tr?AYzdByz I ||ԑyV-?X9vMb?|??= A9rh|?9I=ODyFCE>Q 5l4q??Q 9l4ӭ){ZBYZ!>Z?ZwS@颕%qBɢY) Ei)顙i=% Ob,?:?A2T@2 b@25ٱ2>X, :AHRS rotation from veh to nav: [[-0.910310,0.347714,0.224569],[-0.374453,-0.922989,-0.088755],[0.176413,-0.164885,0.970408]]2HA!@??`׿@ࢸ?ſ ?i2T@I2_;2CYV eByV Ib2Acoustic response timeoutbDfVDfF3yn>%n\=ٔrnQ-r>9pIp=rODyr=FCv?Ev>xQ 5~l4zl??Q 9~l4z֭)zZBY|y+Q I?zRWCIzv;iza;zl4y -Bɮ OEB Ejh15FNOT Ignoring new targets: 572.49 m.Rh=#9Zh=#9M ProNav: ac range: 572.489624 m, nav range: 561.298950 m, bearing: 213.185412 deg, approach rate: -0.707968 m/s, LOS rate: 0.008943 deg/s, cmd heading: 202.761173 deg, new cmd heading: 202.771126 deg. BhMf9UHeadingCmd: 3.539024 target range: 572.489624 and range: 574.70 m.hU^b@hQ*hQ"hQ hQgQfYfYfYdadadajdaZdm'@ZZZZJ@额UqBɢ.d) Di)顡i&(i!>59@1 @1@50@1!DyzD}@AE EEE"E:*E:VEZEa@a@a@a@^Ae2Qu2Acoustic response timeoutIq I O >y i,?A2T@2~b@2ش7ٱ2?+ :AHRS rotation from veh to nav: [[-0.909816,0.348025,0.226081],[-0.374691,-0.923067,-0.086913],[0.178440,-0.163785,0.970224]]2H@7 F?7?׿ ĉ?`?Ŀ@ ?i2T@I29`;2CYB6eByB IHHbDJ#VDJӀ3yR=%RN=ٔV嗢Q-V>9TIX=ZODyZ}FCZՈ:EZ>\Q 5bl4^>?Q 9bl4^٭)^[BYdyf+Q If?^WCI^:i^:^l4yjBɮjDBjEjh|~FNOT Ignoring new targets: 572.49 m.Rh\#9Zh\#9 ProNav: ac range: 572.489624 m, nav range: 561.017883 m, bearing: 213.188955 deg, approach rate: -0.707827 m/s, LOS rate: 0.008926 deg/s, cmd heading: 202.771132 deg, new cmd heading: 202.781765 deg. Bh 9HeadingCmd: 3.539209 target range: 572.489624 and range: 574.70 m.hhb@h*h"h! h!g!f!f)f)d)d)d)jd)Zd5Y(@ZZZZI@qBɢDY) AEi)i)BKCBh IBeBB =BBĺDBه;B>EB LCB LCB ĔCB ċ =B ċ =C n5@ @@@ԉ^AiԩII O= >} ܁GE  E E 'E "E :*E :VE '4ZE BE >9 Y &vA BDAT read: Response Not Received  *response not received (DAT read: user:42>  BDAT read: Tx time:00:21:12.3494  $Ping request sent. 9III=MPDyMFCMEU>QQ 5]l4U'>?Q 9el4Uuݭ)Uc[BYayaQ Ie?UWCIUv;iU:Ull4yiɮuDBqjhFNOT Ignoring new targets: 572.49 m.Rha#9Zha#9 ProNav: ac range: 572.489624 m, nav range: 560.718140 m, bearing: 213.192737 deg, approach rate: -0.707258 m/s, LOS rate: 0.008927 deg/s, cmd heading: 202.781759 deg, new cmd heading: 202.793110 deg. Bh9HeadingCmd: 3.539407 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgfffdddjdZd Zg)@Z9Z9Z9Z9]qBɢ]&Y)a eFia)aiiԱim+9 &v,ٽ?AE& E&E&+E$"E&:*E&:VE& [4ZE$a*@a*@a*@a*@YveBy IbDE%VDE03yu=%G=ٔ Q- >9!I!=-PDy-GCiAIEAechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505877E>Q 5l4>?Q 9l40)[BYIyIQ IM?:XCIZB JCB IB `fBB =B B B ;B >E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754097^A "5I I O >P|,Φ?A Y~eBy~G Iyi|?5?MbV-?Q?@h= 9Gz?%G=ٔQ->9I=PDyHGCE>Q 5l4>?Q 9l4) \BY1?Q E:y/Q I?yXCI:i" ;'l4yBɮXCBEjh FNOT Ignoring new targets: 572.49 m.Rh o9Zh o9 ProNav: ac range: 572.489624 m, nav range: 560.156555 m, bearing: 213.201316 deg, approach rate: -0.697695 m/s, LOS rate: 0.013103 deg/s, cmd heading: 202.805228 deg, new cmd heading: 202.818867 deg. Bh:%HeadingCmd: 3.539857 target range: 572.489624 and range: 574.70 m.h%b@h!*h)"h) h)g)f)f1f1d9dAdIjdZd`K+@Z* >Z* >ZP6@Zʼ=%*rBɢ%nYk)) -Fi)))bE|a4jEwX4rE).0EU EUEU,EQ"EUT;*EU:VEUg4ZEQBEUGf8,ǁ ?A "@RI?R\?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258282TYeBy] IbD-+VD-E3yE=%ER=ٔAQ-E>9M ?IM ?=MPDyMGCIEU>QQ 5]l4U>?Q 9el4UU)UZ\BYayaQ Ie?UXCIU;iU/;Ul4yiɮu5CBqjhFNOT Ignoring new targets: 572.49 m.Rh`9Zh`9 ProNav: ac range: 572.489624 m, nav range: 559.901978 m, bearing: 213.206100 deg, approach rate: -0.653477 m/s, LOS rate: 0.012286 deg/s, cmd heading: 202.818861 deg, new cmd heading: 202.833220 deg. Bh:5HeadingCmd: 3.540107 target range: 572.489624 and range: 574.70 m.h=b@hA*hA"hI hIgIfIfQfQdqdqdyjdyZd}f+@ZZZZ\rBɢ{`) Gi)i1b,O]'?A2 T@2b@2mAٱ2e# :AHRS rotation from veh to nav: [[-0.905520,0.354840,0.232641],[-0.380393,-0.921810,-0.074614],[0.187975,-0.156059,0.969696]]2H?/? ]Xؿw?ÿ`?i2 T@I2O`;2CYBfByB} IbDJ!VDJr3yRz>%VU=ٔVμQ-V>9Z"?IZ"?=ZPDyZGCZޕ<E^>\Q 5bm4^ԅ>?Q 9fm4^)^\BYdyf5/Q If?^XCI^=:i^:^8m4yjTBɮnBBnE|jhFNOT Ignoring new targets: 572.49 m.Rh rX9Zh rX9 ProNav: ac range: 572.489624 m, nav range: 559.651062 m, bearing: 213.210656 deg, approach rate: -0.651029 m/s, LOS rate: 0.011827 deg/s, cmd heading: 202.833218 deg, new cmd heading: 202.846893 deg. Bh:HeadingCmd: 3.540346 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgfffdddjdZd,@ZZZZ#=rBɢف^) Gi!)!!!i%=3BB IBfBBBBúDB;B>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762163)@ @@0@Q^A yb]Eu  Eu Eu )Eq "Eu ;*Eu $:VEu FA4ZEq BEu 4NlJ,&8A?AY~3fBy I%@A!bD-"VD-Jz3yUǙ=%U@=YٔeQ-e>9iIq=uPDyu HCuEu>Q 5m4o>?Q 9m4) ]BYyQ I?FYCIMu;iv;<m4yBɮ BBjhFNOT Ignoring new targets: 572.49 m.RhT9ZhT9- ProNav: ac range: 572.489624 m, nav range: 559.370911 m, bearing: 213.215750 deg, approach rate: -0.638437 m/s, LOS rate: 0.011613 deg/s, cmd heading: 202.846892 deg, new cmd heading: 202.862180 deg. Bh-9MHeadingCmd: 3.540613 target range: 572.489624 and range: 574.70 m.hMgb@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde`K-@ZZZZrBɢZW) 2Ii)iA4 t,[?AE EE+E"E:*E:VE [4ZEa"@a"@a"@a"@YdfBy II?>)<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520337bD] VD]k3y"=%8=ٔQ->9I=PDyTHCE>Q 5m4X>?Q 9m4)j]BYyQ I?YCI;i[;m4yɮAB=B*** querying acoustic contact ***i9 i9jhImFNOT Ignoring new targets: 572.49 m.RhuY9ZhuY9 ProNav: ac range: 572.489624 m, nav range: 559.080933 m, bearing: 213.221027 deg, approach rate: -0.653510 m/s, LOS rate: 0.011900 deg/s, cmd heading: 202.862178 deg, new cmd heading: 202.878019 deg. Bh:HeadingCmd: 3.540890 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgfffdddjdZd].@ZQZQZQZQ颵rBɢ\) iIi)i%5Bu ICBu 6IBu ?gBBu =Bq Bq Bu ̇;Bu x>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770047^A ] ;A% fAzA% hAA I I O >,‰v?AY~fBy IQy/$?5^I ˿~jt?,?XD= 9K?p= ף~jt?Y^:?y=~B_B UB)Y8BbDVD4d3ye=%K=ٔQ->9I=PDyHCE>Q 5m4B>?Q 9m4K)]BYZ-">Z-d.?Z-JV@E,sBɢEd)a eIii)iiiimq7  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274001y䣯,S?A2@-U@2"c@2Gٱ29! :AHRS rotation from veh to nav: [[-0.900697,0.363247,0.238319],[-0.388707,-0.918802,-0.068629],[0.194039,-0.154451,0.968759]]2H@n??@@?@ؿ fD? ÿ?i2@-U@I2y`;2CYBfByB IbDJ'VDJ3yR>%R_=ٔV7Q-V>9TIT=VPDyVHCZ<EZ>\Q 5bm4^;.>?Q 9bm4^~)^^BY`yf3Q If?^ZCI^;i^;^9m4ynBɮr@BvEԹjhFNOT Ignoring new targets: 572.49 m.RhY9ZhY9 ProNav: ac range: 572.489624 m, nav range: 558.562317 m, bearing: 213.234725 deg, approach rate: -0.642823 m/s, LOS rate: 0.016649 deg/s, cmd heading: 202.899853 deg, new cmd heading: 202.919136 deg. Bh6:HeadingCmd: 3.541607 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgff f d d d jdZd/@ZZZZ^@]sBɢr3d) Ii)i8AHRS rotation from veh to nav: [[-0.899401,0.365494,0.239777],[-0.391011,-0.917907,-0.067504],[0.195420,-0.154468,0.968478]]6H Ad?? Sٿ~_ G?ÿ`?i6-YU@I6J`;6CYRfByR I TTXZAbDr#VDrӀ3yz=%~E=ٔ~@^Q->9I = PDy IC);E>Q 5%m4>?Q 9-m4)y^BY)y53Q I5?eZCI6;i7;Hm4yAɮE@BAjhyFNOT Ignoring new targets: 572.49 m.Rh9Zh9 ProNav: ac range: 572.489624 m, nav range: 558.279480 m, bearing: 213.241973 deg, approach rate: -0.706259 m/s, LOS rate: 0.018108 deg/s, cmd heading: 202.919142 deg, new cmd heading: 202.940897 deg. BhF:HeadingCmd: 3.541987 target range: 572.489624 and range: 574.70 m.hb@h*h"h hgfffdddjdZdZ0@ZZZZOØ@B]>BYB]{IB]gBBYBYBYB];B]N>Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778249usBɢ}])y }4Kiy)yyi9E EE*E"E;*E:VE(N4ZEBED%%G=ٔ%ػQ-->9)I)=-QDy-VIC5Z<E5>9Q 5Em4=f>?Q 9Em4=)=^BYAyEB3Q IM?=ZCI=:i=:=UVm4yUBɮU?BUEjhy}FNOT Ignoring new targets: 572.49 m.RhN9ZhN9 ProNav: ac range: 572.489624 m, nav range: 558.002625 m, bearing: 213.248914 deg, approach rate: -0.685360 m/s, LOS rate: 0.017191 deg/s, cmd heading: 202.940903 deg, new cmd heading: 202.961736 deg. Bh<:HeadingCmd: 3.542351 target range: 572.489624 and range: 574.70 m.hߵb@h*h"h hgfffdddjdZd&0@ZZZZ@sBɢzEq) 3Ji)i; =BDAT read: Tx time:00:21:16.6494 =$Ping request sent.=ZB@A=^@ s=)BR>Is0`?.Z?m@ ? >)u@IBR>ise:publishing transmit ping time9eFpublishing direction and range infoy袨[D?!!?Cg]?Y )Ii )I0`?.Z?m@ ? )IiԱ^AII)O5> E  E E E "E ;*E :VE ZE a @a @a @a @%,Uݾ?APY 7gBy 1Iyx&1?Dl+?a?O = 9'1Z?Zd;O?YB?yj<Bt\B )0YBYGBbD!VDr3yx=%.=ٔ%Q-%>9)I)=5QDy5IC=E=>AQ 5Um4E&=?Q 9]m4E;)E3_BY]VD?Q E]:y]5Q I]?E[CIE^;iEnZ;Efm4ymRBɮml?BmEiiGWо?AJiHDRiHDjitq@i c&P@ n?]@}K@@ri袨[D?!!?Cg]?ZiBR>bisiؤK*|Ӆ ȯt1t_@zixX)\z⿱O=?2i~:iV"i-܊?*i?Bi7Ci-܊?ißi7CiDino@ addTargetRange:: Added new target pos. range: 575.400024 m, deltaT: 16.891910 s, deltaX: 0.700012 m, approachRate: 0.041441 m/s, rangeRepo size: 4  Added new target pos. range: 573.138550 m, bearing: 216.294549 deg, lat: 36.779682 deg, lon: -121.859975 deg, deltaT: 16.891910 s, deltaX: 0.648926 m, approachRate: 0.038416 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 573.14 m.RhZhm ProNav: ac range: 573.138550 m, nav range: 547.997864 m, bearing: 214.675336 deg, approach rate: 0.000000 m/s, LOS rate: 0.017191 deg/s, cmd heading: 202.961735 deg, new cmd heading: 202.986378 deg. BhiuHeadingCmd: 3.542781 target range: 573.138550 and range: 575.40 m.hub@hq*hq"hq hqgqfyffdddjd@3@Zd`p[?Z`>Z`>Zb1@ZR=5sBɢ=dK)=Fy8< =GLi9)AAAiE;BMHCBMIBMhBBIBIBMºDBM;BM0>EB ICB ICB B Ȑ =B ȏ =C 5 ^AU u<   Y } G hAA .AI I A t9 hAY AO >,K=?AJU@J8c@J~NٱJ! RAHRS rotation from veh to nav: [[-0.894974,0.372984,0.244754],[-0.398629,-0.914920,-0.063378],[0.200292,-0.154287,0.967512]]JH ?T?`!ٿ@G`9 *?ÿ?iJU@IJq`;EX EZEZ+EX"EX*EZ1:VEZ [4ZEXBEZA9~ ?I~ ?=~QDyIC<E> Q 5m4 *=?Q 9m4 w) _BYy5Q I? Q[CI =:i : Ctm4y%Bɮ%>B-EEB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 573.14 m.RhU9Zh]9m ProNav: ac range: 573.138550 m, nav range: 547.725281 m, bearing: 214.684263 deg, approach rate: -0.719148 m/s, LOS rate: 0.023566 deg/s, cmd heading: 202.986378 deg, new cmd heading: 203.013175 deg. Bhmb:uHeadingCmd: 3.543248 target range: 573.138550 and range: 575.40 m.hub@hq*hq"hq hqgqfyfyfydyddjdZd`v?ZZZZi0`=颽'tBɢ t)XO<  Li)i+D=į, ?A6 V@6Oc@6sOٱ6{" >AHRS rotation from veh to nav: [[-0.894028,0.374368,0.246094],[-0.400177,-0.914273,-0.062962],[0.201426,-0.154771,0.967199]]6H`??~ٿA`FV?ÿJ?i6 V@I6`;6CYFgByFdIPbDR-VDR3yZ=%ZP=ٔ^@Q-^>9^"?Ib"?=bQDyb!JCb;Eb>dQ 5jm4f=?Q 9jm4f)f_BYlyn5Q In?f[CIf;if;fm4yr$Bɮr>Bpjh  FNOT Ignoring new targets: 573.14 m.Rh9Zh9% ProNav: ac range: 573.138550 m, nav range: 547.446533 m, bearing: 214.693346 deg, approach rate: -0.709715 m/s, LOS rate: 0.023136 deg/s, cmd heading: 203.013180 deg, new cmd heading: 203.040440 deg. Bh% ~:-HeadingCmd: 3.543724 target range: 573.138550 and range: 575.40 m.h-ab@h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdE`?ZaZaZaZecg=uWtBɢumg)y }Liy)yyiu>! '˯,.?AB6>B6GCB6IB6hBB6 =B4B4B6;B6>E>V@>d@>oPٱ>! JAHRS rotation from veh to nav: [[-0.893403,0.375325,0.246904],[-0.401028,-0.913984,-0.061718],[0.202502,-0.154155,0.967072]]>H`– S?@?`qٿ \?@`?ZÿA?i>V@I>\a;%bI=ٔb|1Q-b>9dId=fQDyfcJCjq*;Ej>hQ 5rm4j~=?Q 9rm4j")j`BYpyr5Q Ir?j[CIj;ij;j+m4yzBɮz >BzE|%?%?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500744jhFNOT Ignoring new targets: 573.14 m.Rh9Zh9 ProNav: ac range: 573.138550 m, nav range: 547.159119 m, bearing: 214.702686 deg, approach rate: -0.707886 m/s, LOS rate: 0.023017 deg/s, cmd heading: 203.040446 deg, new cmd heading: 203.068482 deg. Bh|:HeadingCmd: 3.544214 target range: 573.138550 and range: 575.40 m.heb@h*h"h hgfffdddjdZd?Z)Z)Z)Z-)j=etBɢe+Z)a ehKia)iiiim,?-lӯ,ZN?A@2~+V@22!d@2Rٱ2>" :AHRS rotation from veh to nav: [[-0.892776,0.375993,0.248156],[-0.401834,-0.913656,-0.061332],[0.203669,-0.154473,0.966777]]2HC? ?ٿ<f?@ÿ?i2~+V@I22b;0YBgByBI DDHJAbDN#VDNӀ3yV =%V'=ٔV<Q-Z>9XIX=ZQDy^JC^v;E^>`Q 5fm4b;=?Q 9fm4b)b}`BYdyf5Q Ij?bF\CIb:ib+;bPm4ynBɮn=BnEjhFNOT Ignoring new targets: 573.14 m.Rh 9Zh 9 ProNav: ac range: 573.138550 m, nav range: 546.811279 m, bearing: 214.713963 deg, approach rate: -0.709973 m/s, LOS rate: 0.023033 deg/s, cmd heading: 203.068477 deg, new cmd heading: 203.102330 deg. Bh|:%HeadingCmd: 3.544804 target range: 573.138550 and range: 575.40 m.h%b@h!*h!"h! h!g)f)f)f)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004267dddjdZd2@ZZZZ}n=tBɢ @R)-=< -Mi))111i5?"گ,ol?AZ\?V@Z5d@ZHSٱZv$ fAHRS rotation from veh to nav: [[-0.892059,0.376387,0.250126],[-0.402814,-0.913144,-0.062522],[0.204869,-0.156528,0.966192]]ZH ??ٿz8 u$9? Ŀ` ?iZ\?V@IZ6b;ZCYn$hBynIa}@a a@a a@a a@a a@a y} ףp= ?X9vMb?}QX?}}=y y)}Mb@Mb@Mb@I}i}‰}}} y)}}I}AAAAB>BBCIBhBB =BBBb;B>EbDVD03y=%!=ٔQ->9I=QDyKC;E>YQ 5em4]a=?Q 9em4])]`BQ Am+:YiQ Em`:yml5Q Im?]\CI]:i]S?]m4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508491yuBɮi>m9@i @i@m1@i@u=@u=ԁE= E=E=+E9"E=V:*E=x:VE= [4ZE9BE=9Ts,w?APYz]hByzIbD $VD 3yEz>%MU=ٔMQ-M>9QIQ=UQDyUDKCUEU>YQ 5em4]$K=?Q 9em4]D )].aBQ Am :YiQ Em5:yiQ Im?]\CI]:i]d?]m4yuTBɮ}JEe  Ee Ee *Ea "Ee l;*Ee :VEe (N4ZEa am @am @am @am @ ,1?A4<ɰ;>oBV@>#8d@>Vٱ>S( JAHRS rotation from veh to nav: [[-0.891465,0.375209,0.253983],[-0.402747,-0.913013,-0.064824],[0.207568,-0.160079,0.965034]]>Hm?BA?ٿ@g7F?w}Ŀ?i>oBV@I>~b;>CYNhByRIbDZ'VDZ3ybM=%bQ=ٔb;Q-b>9f ?If ?=fQDyfKCj9Ej>hpvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265049Q 5zm4j3=?Q 9zm4j )j}aBQ Az9YxQ Ez:yzg5Q I~?j9]CIj;ij ?jοm4y1ɮ5(BBIBdiBBBBB3;B=EBDAT read: Rx Time:00:21:19.8077 TRx dataTimestamp_ set to:1761524478.784839checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518473^Aa A I I! O- >,ѹ?A:2V@:g(d@:Wٱ:M) FAHRS rotation from veh to nav: [[-0.891547,0.373854,0.255689],[-0.401753,-0.913417,-0.065302],[0.209137,-0.160944,0.964551]]:H:?4]?Sٿ:`?ΙĿ@?i:2V@I:>b;:CYNhByNI Va=Va=bDZ*VDZ3y^<=%bL=ٔbaQ-b>9dId=fQDyfKCfEEj>hQ 5nm4j=?Q 9rm4j)jaBQ Ar9YpQ Er9yrw5Q Ir?j]CIj ;ij?jm4yv Bɮz;BzEjh-FNOT Ignoring new targets: 573.14 m.Rh59Zh59M ProNav: ac range: 573.138550 m, nav range: 545.619873 m, bearing: 214.752545 deg, approach rate: -0.765952 m/s, LOS rate: 0.024914 deg/s, cmd heading: 203.190492 deg, new cmd heading: 203.218127 deg. BhMɈ:MHeadingCmd: 3.546825 target range: 573.138550 and range: 575.40 m.hU0b@hQ*hQ"hQ hQYgYfYfafadadadajdiZdmK @颕uBɢ6s) Ni)顙iAo,4׿?A JV@JDd@J_YٱJ+ VAHRS rotation from veh to nav: [[-0.891834,0.371826,0.257639],[-0.400303,-0.913956,-0.066649],[0.210689,-0.162574,0.963940]]JH@?)}?ٿ ?@`?8Ŀ ?iJV@IJ b;JCYZhBy^ IbDf-VDf3y5=%/=ٔ^Q->9I=RDy LC%~NE%>)Q 55m4-:=?Q 95m4-)-.bBQ A59Y1Q E=9y=5Q I=?-]CI- ;i- @-m4yEBɮE7;BEEjhimFNOT Ignoring new targets: 573.14 m.Rhu9Zhu9 ProNav: ac range: 573.138550 m, nav range: 545.289246 m, bearing: 214.763359 deg, approach rate: -0.707153 m/s, LOS rate: 0.023142 deg/s, cmd heading: 203.218127 deg, new cmd heading: 203.250587 deg. Bh~:HeadingCmd: 3.547392 target range: 573.138550 and range: 575.40 m.hxc@h*h"h hgfffdddjdZd@i@uBɢ Y)E=< Pi)i֪A BDAT read: Tx time:00:21:20.8994 $Ping request sent.@|٠=W@ ¸=)>I¸$JIP?+$n6/(?u|'? |>)fI>i¸=:publishing transmit ping time=Fpublishing direction and range infoyy?v?O?Y )Ii )I$JIP?+$n6/(?u|'? )Ii9@ @@1@ԡ ^A '<A >A >B >B B IB iBB B B DB ;B =E M =M 4=Ii I O >{E,Sx?AYziByzLI ||a}a} a}a} aa aa a@a a@a a@a a@a aa yMbX?&1Mb?j?н )Mb@Mb@Mb@IiVB )HYBYWBbD$VD3y>%0=ٔQ->9I=RDyWLCE>Q 5m4bi¸iO 7ښ|?ުD&rl%c@zigXsKcq$ȓg?2i2:i"i=?*i"BinSCiilgiDCifDi;To@- addTargetRange:: Added new target pos. range: 565.500000 m, deltaT: 4.289431 s, deltaX: -9.900024 m, approachRate: -2.308004 m/s, rangeRepo size: 4 = Added new target pos. range: 563.258179 m, bearing: 212.394672 deg, lat: 36.779682 deg, lon: -121.859908 deg, deltaT: 4.289431 s, deltaX: -9.880371 m, approachRate: -2.303422 m/s, posRepo size: 4 jh9EFNOT Ignoring new targets: 563.26 m.RhEZhAi ProNav: ac range: 563.258179 m, nav range: 541.599365 m, bearing: 214.258482 deg, approach rate: 0.000000 m/s, LOS rate: 0.023142 deg/s, cmd heading: 203.250584 deg, new cmd heading: 203.283064 deg. BhHeadingCmd: 3.547959 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgff!f)d)d)d)jd-@Zd5C?}vBɢ}SsP)y }Oi)顡iA,r?AY$iBy`I11bD=1VD=[3yE=%M:=QٔYQ-]>9YIY=]RDy]LCaEe>Q 5m4 ,?*?A>ǵU@>{c@>^ٱ>- FAHRS rotation from veh to nav: [[-0.893261,0.364691,0.262839],[-0.394360,-0.916381,-0.068750],[0.215788,-0.165065,0.962387]]>HW?[?0=ٿR? ſ@?i>ǵU@I>a;%jS=ٔn]Q-n>9pIp=vRDyvLC*E >Q 5%m4;i\@.m4y9ɮ=9B9jhq}FNOT Ignoring new targets: 563.26 m.Rhn9Zhn9 ProNav: ac range: 563.258179 m, nav range: 541.009216 m, bearing: 214.277542 deg, approach rate: -0.699459 m/s, LOS rate: 0.022887 deg/s, cmd heading: 203.313626 deg, new cmd heading: 203.340276 deg. BhQ{:HeadingCmd: 3.548957 target range: 563.258179 and range: 565.50 m.h"c@h*h"hԱ hgfffdddjdZd ?fvBɢ2Ab) Pi)iABECBIBNjBB =BBDB ;B=EBGCBGCBB’ =B’ =CH5#E  E E *E "E :*E :VE (N4ZE BE <bDMVDM3y]E*>%]B=ٔ]=VQ-]>9aIa=eRDyeMCmSϻEm>iQ 5}m4mEAuU?u^?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727445iԙ !,p]?AEr ErEr+Ep"Er:*Er:VEr [4ZEpa@a @a @a @Y5iBy=Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980161a]a] a]a] aeae aeae ae@ae ae@ae ae@ae ae@ae yeʡE?T㥛 :v?eO?eeT9I=RDylMCE>Q 5m4})cBQ A8YQ E9yQ I?|_CIm ;i@bm4y-Bɮu8BEjhFNOT Ignoring new targets: 563.26 m.Rh9Zh9 ProNav: ac range: 563.258179 m, nav range: 540.380432 m, bearing: 214.298334 deg, approach rate: -0.705661 m/s, LOS rate: 0.023363 deg/s, cmd heading: 203.369306 deg, new cmd heading: 203.402697 deg. BhE:HeadingCmd: 3.550047 target range: 563.258179 and range: 565.50 m.h3c@h *h "h  h g f ffdddjdZd@Ct@EvBɢMS)I MMNiI)IQQiUAB DCB hIB jBB =B ,4x?AN0U@Nc@NEkcٱN 1 VAHRS rotation from veh to nav: [[-0.896258,0.353943,0.267293],[-0.384972,-0.920076,-0.072503],[0.220268,-0.167882,0.960884]]NH & ?S?_ؿCq@@1?%}ſ?iN0U@INa;NCY^jBy^IbDf(VDf:3ynI>%rv=ٔr^Q-r?9v"?Iv"?=vRDyvMCvhEv?xQ 5~m4zj u$,(?A >T@>Tb@>i(dٱ>h2 FAHRS rotation from veh to nav: [[-0.896665,0.352113,0.268345],[-0.383620,-0.920524,-0.073972],[0.220971,-0.169270,0.960479]]>H z?,?`9ؿtﲿH?`ſ=?i>T@I>a;>CYNPjByNI PPTT^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735322bDZ VDZk3yf >%fK=ٔj@Q-j>9lIl=nRDynMCnhjEr>pQ 5vm4r Rmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.987195 9 *,?ABpT@B$b@B0dٱBF2 RAHRS rotation from veh to nav: [[-0.896693,0.351674,0.268826],[-0.383102,-0.920793,-0.073300],[0.221756,-0.168715,0.960396]]BHՁ?q4?ؿ#w ò |b?rſ?iBpT@IBa;BCYZxjByZ1I``bDbVDb 83yjg=%jI=ٔnQ-n>9lIp=rRDyr%NCrZEr>tQ 5zm4v9B-CCB-IB-VkBB- =B)B)B-׆;B-Z=EIyKc@Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2399299@ @@0@)^A?BɹEe  Ee Ee (Ea "Ee &:*Ee ~:VEe c44ZEa BEe e;u BDAT read: Rx Time:00:21:24.0680 u TRx dataTimestamp_ set to:1761524483.072173} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492280ۃ1,Z?A,>T@>b@>'eٱ>1 FAHRS rotation from veh to nav: [[-0.896497,0.351700,0.269444],[-0.383111,-0.920834,-0.072743],[0.222529,-0.168441,0.960265]]>H@A?>? ؿ`xw@L{?wſ@}?i>T@I>a;>CY^jBy^YIbDf#VDfӀ3yn>%rK=ٔrQ-r>9tIt=vSDyvgNCv c9Ev>xQ 5Mm4z!7,@?AE EE*E"E*E:VE(N4ZEa@a@a@a@JT@Jqb@JyfٱJp1 RAHRS rotation from veh to nav: [[-0.896321,0.351702,0.270027],[-0.383092,-0.920884,-0.072202],[0.223270,-0.168161,0.960142]]JH@H? H?ؿ w{?@Nſ@{?iJT@IJi`;HYZjByZI\I`)b9I=SDyNC8E> Q 5 m4 B5BCB5IB5kBB1B1B5DB5Ɇ;B5F=E DAT read: 00:21:24.0680 LVL= 26816, 29649, 27522, 31187, AGC= 84, IDX= 34,-0.23,-0.752,-2.517,-0.841,-1.017, PHS= 0.367,-1.455, 0.132, RAW= 143.2, 11.1, CAL= 142.7, 12.1, ROT= 7.3, -12.1  Ygot valid direction response: 00:21:24.0680 LVL= 26816, 29649, 27522, 31187, AGC= 84, IDX= 34,-0.23,-0.752,-2.517,-0.841,-1.017, PHS= 0.367,-1.455, 0.132, RAW= 143.2, 11.1, CAL= 142.7, 12.1, ROT= 7.3, -12.1 % 8DAT read: $Error in header % *Received a bad header9 } X#Rx 1: Read direction message, but no range. \direction in FSK: [0.969858,0.124242,0.209619]y  3xt" ?6sLο?9h? h s k y) TI m>i q= +> aF> e@ @X>) w>I @X &s%3?|y?Dy}k? <>) GI w>i @X T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A] ] i A I I O >>,0?A2U@2wb@2y:gٱ2a1 >AHRS rotation from veh to nav: [[-0.895838,0.352490,0.270603],[-0.383857,-0.920615,-0.071566],[0.223895,-0.167984,0.960027]]2H1?@Q?ؿu&R?ſ ?i2U@I22`;2CYB2kByBI Jp=HbDNVDNJ2yVK.>%Vm=ٔVYQ-Z?9XIX=ZSDy^NC^-;E^?`Q 5fm4bP;?Q 9fm4bb+)beBQ Af7YdQ Ef8yf6Q Ij?b@aCIb ;ib]@bvm4yn2Bɮn15BnEjhFNOT Ignoring new targets: 563.26 m.Rh 9Zh 9 ProNav: ac range: 563.258179 m, nav range: 538.701538 m, bearing: 214.355836 deg, approach rate: -0.719430 m/s, LOS rate: 0.024685 deg/s, cmd heading: 203.550634 deg, new cmd heading: 203.575287 deg. Bh:%HeadingCmd: 3.553059 target range: 563.258179 and range: 565.50 m.h%Rec@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=@E EE,E"E*E~:VEg4ZEBEa2EaJEa:EawBɢt)! %Ji!)!!!i%BnAߕ =ߕ = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse`kE,?A6U@6c@6gٱ60 >AHRS rotation from veh to nav: [[-0.895164,0.354277,0.270499],[-0.385274,-0.920155,-0.069845],[0.224157,-0.166739,0.960183]]6H.z?O?Sؿq`W᱿-?Wſ ҹ?i6U@I6.`;4YF[kByFIbDN"VDNJz3yV=%VK=ٔV/Q-V>9XIX=ZSDyZ2OC^;E^>`Q 5fm4bQ;?Q 9fm4b-)bHfBQ Af7YdQ Ef7yf6Q Ij?baCIb:ib?@bm4ylɮn 5BlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 563.26 m.Rh Z9Zh Z9 ProNav: ac range: 563.258179 m, nav range: 538.418640 m, bearing: 214.365496 deg, approach rate: -0.701639 m/s, LOS rate: 0.023971 deg/s, cmd heading: 203.575291 deg, new cmd heading: 203.604286 deg. Bh:HeadingCmd: 3.553565 target range: 563.258179 and range: 565.50 m.hmc@h*h"h hgfffdddjdZdc{@%xBɢ%b)! -NKi)))))i-R.AK,0?A2@U@25c@25hٱ2.. :AHRS rotation from veh to nav: [[-0.894220,0.356453,0.270759],[-0.387134,-0.919510,-0.068033],[0.224715,-0.165657,0.960240]]2H@t "?`T?ؿl@jz?<4ſ@I?i2@U@I2O`;2CBB>B@BBiIBBslBBB =B@B@BB;BB'=ELYRkByRIbD^VD^2yD>%C=ٔ%eQ-%>9!I!=%SDy-vOC-);E->1Q 5=m45f;?Q 9=m45/)5fBQ A=7YAQ EE7yEm6Q IE?5aCI5;i5@5.m4yMBɮMS4BMEjhquFNOT Ignoring new targets: 563.26 m.Rh}9Zh}9 ProNav: ac range: 563.258179 m, nav range: 538.124573 m, bearing: 214.375478 deg, approach rate: -0.703423 m/s, LOS rate: 0.023891 deg/s, cmd heading: 203.604292 deg, new cmd heading: 203.634255 deg. Bh+:HeadingCmd: 3.554088 target range: 563.258179 and range: 565.50 m.h.vc@h*h"h hgfffdddjdZd@m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse!}R,PpJ?A2kU@2Sac@2hٱ2- :AHRS rotation from veh to nav: [[-0.893079,0.359166,0.270942],[-0.389459,-0.918683,-0.065909],[0.225237,-0.164383,0.960337]]2H ?`W?ؿ en߰ ? ſ?i2kU@I2H`;2CY^kBy^IbDjVDj3lyr >%vN=ٔvҰQ-v>9xIx=zSDyzOCz#;Ez>|Q 5m4~Ħ;?Q 9m4~,2)~fBQ A w7Y Q E 7y C6Q I ?~&bCI~:i~Y@~om4yBɮ3BEjh9EFNOT Ignoring new targets: 563.26 m.RhE9ZhE9U ProNav: ac range: 563.258179 m, nav range: 537.845215 m, bearing: 214.384888 deg, approach rate: -0.703180 m/s, LOS rate: 0.023699 deg/s, cmd heading: 203.634249 deg, new cmd heading: 203.662494 deg. BhU:HeadingCmd: 3.554581 target range: 563.258179 and range: 565.50 m.hB~c@h*h"h hgfffdddjdZd@@颽lxBɢiZ) sHi)i+@7X,IKd?A2ޝU@2c@2}5iٱ2R- :AHRS rotation from veh to nav: [[-0.891765,0.361971,0.271535],[-0.392145,-0.917631,-0.064616],[0.225779,-0.164103,0.960257]]2HW*?`?ٿ;]`W?Vſ m?i2ޝU@I2l`;2CYn.lByn>I%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse9auau auau aua} a}a} a}@a} a}@a} a}@a} a}@a} a}@a} y} rh?(\¿#~j?}L?}z}=y y)}Mb@Mb@Mb@Iyiyyy} y)}yI}bDVDP)3ye*>%?=ٔ:Q->9I=SDyOC;E>Q 5m4O;?Q 9m44)TgBQ AH7YQ E7y6Q I?vbCIC:iAm4yBɮ%3BEjhFNOT Ignoring new targets: 563.26 m.Rh9Zh9 ProNav: ac range: 563.258179 m, nav range: 537.543762 m, bearing: 214.394947 deg, approach rate: -0.703586 m/s, LOS rate: 0.023490 deg/s, cmd heading: 203.662499 deg, new cmd heading: 203.692692 deg. Bh:HeadingCmd: 3.555108 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffdddjdZdx@xBɢ:W) Fi!)!!!i%m/?BACBIBmBBBBB;B =EBMBCBMCCBIBMƘ =BMƘ =CM|5ԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AM ] ; U d>U C jA MA5 95 jAY5 $|AA I I O >M^,B&~?A;ɰ4<2U@2wc@2iٱ2(7+ :AHRS rotation from veh to nav: [[-0.890308,0.365649,0.271391],[-0.395199,-0.916527,-0.061616],[0.226207,-0.162111,0.960495]]2Hf}@f?x^?Jٿ/T@ `\? Ŀ_?i2U@I2Z`;2CYBclByB_IbDJVDJJ2yR>%V\=ٔVQ-V>9XIX=ZSDyZ9PCZ5<EZ>Q 5%m4v;?Q 9%m46)gBQ A%"7Y!Q E-T7y-5Q I-?bCIq:i) Am4y1ɮ52B1jhy}FNOT Ignoring new targets: 563.26 m.Rh9Zh9 ProNav: ac range: 563.258179 m, nav range: 537.273865 m, bearing: 214.403856 deg, approach rate: -0.696988 m/s, LOS rate: 0.023019 deg/s, cmd heading: 203.692688 deg, new cmd heading: 203.719429 deg. Bh|:ԙHeadingCmd: 3.555575 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgff f d ddjd9ZdE@xBɢ__) eFi)i!><E EE(E"ED:*Ez:VEc44ZEBE1Am >) A I I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO e,C?AbV@bc@b5gjٱb+ jAHRS rotation from veh to nav: [[-0.889061,0.368123,0.272132],[-0.397592,-0.915571,-0.060416],[0.226915,-0.161911,0.960361]]bH0s@R?j? %rٿ[L ?`~ĿH?ibV@Ib`;bCYrlByruIbDzVDz:3yy=% B=ٔ Q- >9I=SDy~PCy;E>Q 5%m4W^;?Q 9-m4)9)gBQ A-7Y)Q E-+7y-5Q I-? cCIC:iAm4y5xBɮ=j2B=EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 563.26 m.Rhm9Zhm9 ProNav: ac range: 563.258179 m, nav range: 536.985901 m, bearing: 214.413279 deg, approach rate: -0.711147 m/s, LOS rate: 0.023284 deg/s, cmd heading: 203.719435 deg, new cmd heading: 203.747721 deg. Bh:HeadingCmd: 3.556069 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffdddjdZd @ExBɢEUb)A EFiA)IIIiM?>Y Uk,ܱ?AB>BBCBIBmBB =BBBm;B%bQ=ٔbZQ-f>9dId=fSDyfPCj<Ej>lQ 5rm4n0G;?Q 9rm4nr;)nThBQ Ar6YpQ Er 7yv{5Q Iv?nVcCIn ;inAnm4yzGBɮz1BxjhFNOT Ignoring new targets: 563.26 m.Rht9Zht9 ProNav: ac range: 563.258179 m, nav range: 536.710205 m, bearing: 214.422212 deg, approach rate: -0.706130 m/s, LOS rate: 0.022890 deg/s, cmd heading: 203.747726 deg, new cmd heading: 203.774537 deg. BhY{:HeadingCmd: 3.556537 target range: 563.258179 and range: 565.50 m.hLc@h*h"h hgfffdddjdZd/@QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse额"yBɢa^) Ei)顩i×= dr,?A6QaV@6Wd@6^kٱ6R( BAHRS rotation from veh to nav: [[-0.886556,0.373767,0.272611],[-0.402543,-0.913661,-0.056420],[0.227986,-0.159757,0.960469]]6H^ ?sr?Bٿ<@㬿 .?rĿ )?i6QaV@I6`;6CYJmByJI LLbDRVDR 3yZ>%ZK=ٔ^ߴQ-^>9\I`=bTDybPCb;Eb>dQ 5jm4f^/;?Q 9jm4f=)fhBQ An6YlQ En6ynS5Q In?fcCIf ;ifeAf&m4yrBɮr-1BvEjh  FNOT Ignoring new targets: 563.26 m.Rh9Zh9% ProNav: ac range: 563.258179 m, nav range: 536.426147 m, bearing: 214.431345 deg, approach rate: -0.705603 m/s, LOS rate: 0.022699 deg/s, cmd heading: 203.774541 deg, new cmd heading: 203.801955 deg. Bh%?y:-HeadingCmd: 3.557015 target range: 563.258179 and range: 565.50 m.h-#c@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@mLyBɢmzb)q uDiq)qqyi}w'=E  E E &E "E :*E :VE 4ZE a @a @a @a @1 x,?A2/V@2vd@2\lٱ2`) :AHRS rotation from veh to nav: [[-0.885603,0.375350,0.273533],[-0.404189,-0.912971,-0.055816],[0.228777,-0.159990,0.960242]]2H V??<ٿ`7@蓬@H?@zĿL?i2/V@I2<`;2CYB3mByBIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaa aa aa aa aa y!rh?/$ſI +?lG?,94= 9+?p= ףS㥛?Y??y/<,BRB ~B)QBYB5@A5@AbD=VD=\3y=%8=ٔQ->9I=TDyGQC;E>Q 5%m4;?Q 9%m4@) iBQ A-T:Y-@?Q E-:y-2Q I-?cCIw;i;m4yQɮ]0BYjhFNOT Ignoring new targets: 563.26 m.Rh|9Zh|9 ProNav: ac range: 563.258179 m, nav range: 536.113525 m, bearing: 214.440069 deg, approach rate: -0.686807 m/s, LOS rate: 0.019178 deg/s, cmd heading: 203.801958 deg, new cmd heading: 203.828145 deg. BhR:HeadingCmd: 3.557472 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffddd jd ZdUH @Zs=Zs=ZW?Z?Z@yBɢ H)+; Di))i-:B-@CB-uIB-(nB9B- =B)B-DB-8;B-',?ABeV@Bd@B&mٱBu( JAHRS rotation from veh to nav: [[-0.884770,0.376773,0.274271],[-0.405586,-0.912401,-0.054987],[0.229527,-0.159892,0.960079]]BH@P??ٿd2O' (a?TwĿ?iBeV@IB5a;@YRmByRIbDZVDZf?3ybR>%b]=ٔfQ-f>9dIh=jTDyjQCjQ;Ej>lQ 5vm4n;?Q 9zm4nC)nYiBYxyz2Q I~?n8dCInHv;in~;nm4yBɮK0BEjhY]FNOT Ignoring new targets: 563.26 m.Rhe 9Zhe 9} ProNav: ac range: 563.258179 m, nav range: 535.858032 m, bearing: 214.447158 deg, approach rate: -0.700953 m/s, LOS rate: 0.019458 deg/s, cmd heading: 203.828144 deg, new cmd heading: 203.849421 deg. Bh}U:HeadingCmd: 3.557844 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffdddjdZdK!@E EE,E"EV:*E:VEg4ZEBEa2EaJE;a:E;aZZZZe@yBɢc) Bi)i: T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,4L®?AɰLY5mBy5'IbDE VDEk3yU?=%UB=ٔ]Q-]>9YIY=eTDyeQCeEe>iQ 5un4m:?Q 9un4mE)miBYqyyQ I}?mdCIm+;im;m8 n4yBɮ/BEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 563.26 m.Rh!9Zh!9 ProNav: ac range: 563.258179 m, nav range: 535.563904 m, bearing: 214.455328 deg, approach rate: -0.712267 m/s, LOS rate: 0.019794 deg/s, cmd heading: 203.849427 deg, new cmd heading: 203.873950 deg. Bh[Y:HeadingCmd: 3.558272 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffdddjdZd !@ZZZZyBɢ*^) Bi)i9A >! AA II IY Om >A AAA B% |>B! B% IB% nBB% =B! B% DB% ;B% t%ZS=ٔZNQ-^>9\I\=bTDybRCb;Eb>dQ 5jn4f:?Q 9jn4fJH)fjBYhyn2Q In?fdCIf:lif:fn4ytɮv/Btjh FNOT Ignoring new targets: 563.26 m.Rh9Zh9- ProNav: ac range: 563.258179 m, nav range: 535.292847 m, bearing: 214.462819 deg, approach rate: -0.699336 m/s, LOS rate: 0.019338 deg/s, cmd heading: 203.873948 deg, new cmd heading: 203.896434 deg. Bh-XT:-HeadingCmd: 3.558664 target range: 563.258179 and range: 565.50 m.h5'c@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@U"@ZaZaZaZep@uyBɢGn\) Ai)i8 J,Q®?A2EV@2d@2enٱ2x' :AHRS rotation from veh to nav: [[-0.883744,0.378604,0.275056],[-0.406937,-0.911964,-0.052189],[0.231082,-0.158052,0.960011]]2H`G ;??@ ڿ.u`? ;Ŀh?i2EV@I2b;2CYB nByBdIbDJVDJ{U3yR=%R+=ٔVrOQ-V>9XIX=ZTDyZTRCZ9E^>\Q 5bn4^R:?Q 9bn4^bK)^kjBYdyf2Q If?^%eCI^;i^;^h*n4yjBɮn.BnEjh|FNOT Ignoring new targets: 563.26 m.Rhi9Zhi9 ProNav: ac range: 563.258179 m, nav range: 534.959595 m, bearing: 214.472038 deg, approach rate: -0.700461 m/s, LOS rate: 0.019388 deg/s, cmd heading: 203.896433 deg, new cmd heading: 203.924105 deg. BhT:HeadingCmd: 3.559147 target range: 563.258179 and range: 565.50 m.hc@h*h!"h! h!g!f!f)f)d1d1d1jd1Zd5*#@ZQZQZQZUp@3zBɢG) tBi)i6l,k®?A@ eV@ d@ >oٱ & EAHRS rotation from veh to nav: [[-0.883572,0.378855,0.275261],[-0.407062,-0.911948,-0.051488],[0.231517,-0.157542,0.959990]] H9F)??ߝ?@N ڿ.@\Z?R*Ŀ%U3=ٔU7Q-U>9] ?I] ?=]TDy]RCe9Ee>aQ 5mn4e:?Q 9un4eN)ejBYu;?Q Eu:yu/Q Iu?eyeCIeX;ie ;e\:n4yTBɮM.BEԑjhFNOT Ignoring new targets: 563.26 m.Rh9Zh9 ProNav: ac range: 563.258179 m, nav range: 534.640503 m, bearing: 214.479274 deg, approach rate: -0.697810 m/s, LOS rate: 0.015834 deg/s, cmd heading: 203.924109 deg, new cmd heading: 203.945830 deg. Bh-:HeadingCmd: 3.559526 target range: 563.258179 and range: 565.50 m.hGc@h*h"h hgfffdddjdZd w$@Z=Z=Z?Z#@ezBɢI) @i)!i%MS4BB$IBDoBB =BBB;BM,aƊ®?A2V@2d@2v8oٱ2&8 >AHRS rotation from veh to nav: [[-0.883937,0.378037,0.275216],[-0.406283,-0.912278,-0.051792],[0.231495,-0.157597,0.959986]]2H5I1?%?ڿ b1@{ ? ,Ŀ 5?i2V@I20a;2CYBnByFIbDNVDNP)3yVt=%V==ٔV`8Q-Z>9Z"?IZ"?=^TDy^RC^>E^>`Q 5fn4b:?Q 9fn4bQ)bjBYdyj/Q Ij?beCIb&;ib";bpIn4yn0Bɮn-BnEjhFNOT Ignoring new targets: 563.26 m.Rh *9Zh *9 ProNav: ac range: 563.258179 m, nav range: 534.338989 m, bearing: 214.486150 deg, approach rate: -0.700019 m/s, LOS rate: 0.015973 deg/s, cmd heading: 203.945829 deg, new cmd heading: 203.966469 deg. Bhf/:%HeadingCmd: 3.559886 target range: 563.258179 and range: 565.50 m.h%.c@h!*h!"h! h!g)f)f)f1d1d1d1jd9Zd=@S%@ZZZZ@zBɢ&BL) @i)iS2E  E E (E "E :*E :VE c44ZE a @a @a @a% @䶨, ®?AJʏV@J~d@JnٱJi& RAHRS rotation from veh to nav: [[-0.884780,0.376553,0.274540],[-0.404767,-0.912921,-0.052329],[0.230929,-0.157424,0.960151]]JHPr??ٿ6ʪ ?y&Ŀ?iJʏV@IJ`;JCYZnByZIbDb!VDbr3yj=>%jH=ٔn:Q-n>l9pIp=rTDyr&SCvEv>xQ 5~n4z.o:?Q 9~n4zT)zBkBY|y~0Q I?zfCIzn;izj;zWn4y Bɮ *-B %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 563.26 m.Rh=(9Zh=(9M ProNav: ac range: 563.258179 m, nav range: 534.053589 m, bearing: 214.492724 deg, approach rate: -0.697857 m/s, LOS rate: 0.016082 deg/s, cmd heading: 203.966469 deg, new cmd heading: 203.986200 deg. BhM0:UHeadingCmd: 3.560231 target range: 563.258179 and range: 565.50 m.hUc@hQ*hQ"hQ hQgYfYfafadadadajdiZdm@$&@ZZZZ@额zBɢ9PW) >i)顡i}'1B?CBvIBoBBBBB;B"i 聿9 Y 3nAH⮰,zm®?Aɰp;2rV@2hd@2mٱ2 ' :AHRS rotation from veh to nav: [[-0.885698,0.374677,0.274146],[-0.403294,-0.913444,-0.054534],[0.229985,-0.158862,0.960141]]2HW??ٿ`:뫿@#p? UĿx?i2rV@I2n`;0YBnByBIbDNVDN2yV=%VM=ٔV;Q-V>9XIX=ZUDyZgSCZǑE^>`Q 5bn4bY:?Q 9fn4bW)bkBYdyf00Q If?b[fCIb:ib=:ben4yjxB9ɮn-BYjhFNOT Ignoring new targets: 563.26 m.Rh9Zh9  ProNav: ac range: 563.258179 m, nav range: 533.775635 m, bearing: 214.499188 deg, approach rate: -0.652220 m/s, LOS rate: 0.015177 deg/s, cmd heading: 203.986195 deg, new cmd heading: 204.005599 deg. Bh &:HeadingCmd: 3.560569 target range: 563.258179 and range: 565.50 m.h^c@h*h!"h! h!g!f)f)f)d1d9d9jdAZdE`-'@ZaZaZaZeg@E EE'E"E&:*EVE'4ZEBEe;i)顙ic/A >Թ A .AI I1 O= >,®?A2PV@2dFd@2$lٱ2H) :AHRS rotation from veh to nav: [[-0.886726,0.372539,0.273737],[-0.401535,-0.914087,-0.056692],[0.229099,-0.160185,0.960132]]2H` ??ٿ4@S?Ŀg?i2PV@I2`;2CYB9oByBI HJp=bDNVDNN3yVg>%VL=ٔV;Q-Z>9Z ?IZ ?=^UDy^SC^੻E^>`Q 5fn4bB:?Q 9fn4b_Z)bkBYdyjR0n2Acoustic response timeoutQ Ij?bfCIbj[;ib\;bsn4yrHBɮrV-BvEjh FNOT Ignoring new targets: 563.26 m.Rh49Zh49% ProNav: ac range: 563.258179 m, nav range: 533.495361 m, bearing: 214.505778 deg, approach rate: -0.748920 m/s, LOS rate: 0.017617 deg/s, cmd heading: 204.005593 deg, new cmd heading: 204.025372 deg. Bh-rA:-HeadingCmd: 3.560915 target range: 563.258179 and range: 565.50 m.h-c@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE`þ'@ԱZ!Z!Z!Z% @颕{Bɢ*U) =ii)iqqiu\6.,)®?AY~oBy~JIBs>BBIBLpBBBBB;BytV?y&1?Dl?R?`e<O= 9Cl?{Gz?~jth?Yyף<D;BDTB |B)LBYBbDVD!3y >%5=ٔQ->9"?I"?= UDy SC E >Q 5n4F*:?Q 9n4^)lBY%v;?Q E%:y%,Q I%?fCIq:i:fn4y-Bɮ-,B5EjhQUFNOT Ignoring new targets: 563.26 m.Rh]eP9Zh]eP9m ProNav: ac range: 563.258179 m, nav range: 533.177673 m, bearing: 214.510890 deg, approach rate: -0.707158 m/s, LOS rate: 0.011387 deg/s, cmd heading: 204.025373 deg, new cmd heading: 204.040720 deg. Bhm9uHeadingCmd: 3.561182 target range: 563.258179 and range: 565.50 m.huic@hq*hq"hy hygyfyffdddjdZd@(@ZU=ZU=ZU'D@ZU>颵H{BɢHBDAT read: Response Not Received *response not received(DAT read: user:46> BDAT read: Tx time:00:21:33.3493 $Ping request sent.°, î?A@RV@Rd@RjٱR, ^AHRS rotation from veh to nav: [[-0.888716,0.368094,0.273296],[-0.398089,-0.915264,-0.061783],[0.227396,-0.163704,0.959944]]RH@\p@ڎ?@}? Kzٿ`IS?>Ŀ۷?iRV@IR`;PYboBybkIbDnVDnJ2yr >%vY=ٔv;Q-v>9z ?Iz ?=zUDyz-TC~0E~>|Q 5n4~:?Q 9 n4~&a)~SlBY y K,Q I ?~颥n{Bɢ4^) y;i)顱i+ )@) @1@50@19checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501922^Am;AugAzAufAaA ؟AI I O >ԑ E  E E ,E "E V:*E :VE g4ZE a @a @a @a @!$ɰ,6W&î?A2eU@2c@2c$jٱ20/ :AHRS rotation from veh to nav: [[-0.889348,0.366513,0.273363],[-0.397091,-0.915517,-0.064395],[0.226667,-0.165820,0.959753]]2Hut?~?iٿK 2| n?`9ſK?i2eU@I2Z`;2CYBoByBIJAAJBAbDN#VDNӀ3yV}=%VO=ٔV:Q-Z>9Z"?IZ"?=ZUDyZmTC^`GE^>`Q 5fn4bx:?Q 9fn4b\d)blBYdyf_,Q Ij?bgCIb:ib:ban4ynBɮn+BnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 563.26 m.Rh kW9Zh kW9 ProNav: ac range: 563.258179 m, nav range: 532.633545 m, bearing: 214.519942 deg, approach rate: -0.704002 m/s, LOS rate: 0.011771 deg/s, cmd heading: 204.053923 deg, new cmd heading: 204.067884 deg. Bh@:HeadingCmd: 3.561656 target range: 563.258179 and range: 565.50 m.h.c@h*h"h hgfffdddiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754272jdZdo=*@ZAZAZAZE>y颅{Bɢw^L) )BBIBpBBBBB…;B# а,Q2@î?ABU@Bc@BxwiٱB0 RAHRS rotation from veh to nav: [[-0.889833,0.365454,0.273205],[-0.396371,-0.915709,-0.066087],[0.226025,-0.167097,0.959683]]BHy c?1|?&^ٿ|M밿``?ncſ ?iBU@IBJ`;BCYZ&pBy^IbDlVDlyzp<>%zF=ٔ~:Q->9 ?I ?= UDy TC E>yQ 5n4}K9?Q 9n4}g)}lBYym,Q I?}gCI}:i}4:}Sn4yBɮI+BEjhFNOT Ignoring new targets: 563.26 m.RhWW9ZhWW9 ProNav: ac range: 563.258179 m, nav range: 532.332092 m, bearing: 214.525014 deg, approach rate: -0.699055 m/s, LOS rate: 0.011767 deg/s, cmd heading: 204.067884 deg, new cmd heading: 204.083106 deg. Bh4:HeadingCmd: 3.561922 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgf!f!f!d!d)d)jd)Zd-+@E} E}E})Ey"E}:*E}]t:VE}FA4ZEyBE}3{BɢJ) :i)  iK(9n"?In"?=rUDyrTCri9Er>tQ 5zn4v[9?Q 9zn4vj)vmBY|y~k,Q I~?vhCIv7;ivT;vҺn4yɮ+BjhFNOT Ignoring new targets: 563.26 m.RhA9ZhA91u ProNav: ac range: 563.258179 m, nav range: 532.059814 m, bearing: 214.529595 deg, approach rate: -0.628710 m/s, LOS rate: 0.010584 deg/s, cmd heading: 204.083102 deg, new cmd heading: 204.096852 deg. Bh}n9HeadingCmd: 3.562162 target range: 563.258179 and range: 565.50 m.hwc@h*h"h hgfffdddjdZd +@Z1Z1Z1Z55>e{Bɢe?E)i mh:ii)iiiiuK&ʜܰB N>B ;CB vIB iqBB =BB DB ;B %2=ٔQ->9I=%UDy%;UC%E%>)Q 55n4-9?Q 95n4-n)-xmBY54?Q E=:y=)Q I=?-ihCI- ;i- ;-n4yEBɮEx*BEEjhFNOT Ignoring new targets: 563.26 m.Rh.9Zh.9 ProNav: ac range: 563.258179 m, nav range: 531.749512 m, bearing: 214.533531 deg, approach rate: -0.749607 m/s, LOS rate: 0.009514 deg/s, cmd heading: 204.096858 deg, new cmd heading: 204.108673 deg. Bh9HeadingCmd: 3.562368 target range: 563.258179 and range: 565.50 m.hc@h*h"h hgfffdddjdZd`,@Z=Z=Zľ@Z'O@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014064 |Bɢ  T)  d8i )iwW% w,î?A02V@2 d@2Pgٱ2;3 >AHRS rotation from veh to nav: [[-0.889222,0.367456,0.272508],[-0.398898,-0.914424,-0.068614],[0.223975,-0.169716,0.959704]]2Htg?p?ٿ B@9? Dſ?i2V@I2'w`;0YBpByFIbDNVDN{U3yVU6>%Vg=ٔV_w;Q-V>9XIX=ZUDyZuUC^;E^>`Q 5fn4b%9?Q 9fn4bq)bmBYdyf)Q If?bhCIb:ib:bEn4yneBɮn)B]EjhyFNOT Ignoring new targets: 563.26 m.Rh9Zh9 ProNav: ac range: 563.258179 m, nav range: 531.510254 m, bearing: 214.536503 deg, approach rate: -0.654988 m/s, LOS rate: 0.008139 deg/s, cmd heading: 204.108674 deg, new cmd heading: 204.117593 deg. Bh9HeadingCmd: 3.562524 target range: 563.258179 and range: 565.50 m.hed@h*h"h hgfffdddjdZd{-@ZZZZBTO@H|BɢN) 6i)i$D9 zD9 EE  EE EE ,EA "EE a:*EE |:VEE g4ZEA aU @aU @aU @aU @=,cî?AN6AV@N6d@NfٱN21 VAHRS rotation from veh to nav: [[-0.888349,0.370342,0.271446],[-0.401259,-0.913523,-0.066836],[0.223220,-0.168294,0.960130]]NH [m?^_?:ٿ@; 0v?ſc?iN6AV@IN`;NCY^qBy^AI\bDjVDj2yr>%rG=ٔr':Q-r>9tIt=vUDyvUCzR;Ez>xQ 5n4za9?Q 9n4zB%6CB%IB%qBB% =B%=DB%DB%;B%;E^A5;IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021861A ),Pî?A:dV@:Zd@:Qeٱ:W/ BAHRS rotation from veh to nav: [[-0.887629,0.373070,0.270063],[-0.403266,-0.912809,-0.064464],[0.222466,-0.166128,0.960682]]:Htg_?@H?@ٿ5y?`Cſ?i:dV@I: `;:CYJJqByJcIbDn VDnf2yr=>%rI=ٔv:Q-v>9tIx=zVDyzUCz;E~>|Q 5n4~9?Q 9n4~x)~XnBY y )Q I ?~5iCI~:i~1:~n4y6Bɮ")BEjhAEFNOT Ignoring new targets: 563.26 m.RhM9ZhM9] ProNav: ac range: 563.258179 m, nav range: 530.958313 m, bearing: 214.543157 deg, approach rate: -0.675498 m/s, LOS rate: 0.008077 deg/s, cmd heading: 204.127730 deg, new cmd heading: 204.137571 deg. Bh]`9eHeadingCmd: 3.562873 target range: 563.258179 and range: 565.50 m.hed@ha*ha"ha hagifififidqdqdqjdqZd}/@ZZZZO@颭|Bɢ`*J) 4i)顱i!ԙ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525831,vî?Ay5V@5Nd@5dٱ5O- eAHRS rotation from veh to nav: [[-0.886858,0.375696,0.268953],[-0.405378,-0.911992,-0.062767],[0.221702,-0.164693,0.961106]]5H#ag ?6? ٿ /`|`?@ſ`a?i5V@I5`;5CYuqBy}Iyujt?MbX9Ŀ㥛 ?u@?u!u=q q9uCl?~jt?kt?Yud;?yu9I=VDyJVCN;E>Q 5o4g9?Q 9o4|)nBY;?Q E:yC+Q I?iCI7:i:o4yBɮ(BjhFNOT Ignoring new targets: 563.26 m.Rh?9Zh?9  ProNav: ac range: 563.258179 m, nav range: 530.614685 m, bearing: 214.548283 deg, approach rate: -0.699618 m/s, LOS rate: 0.010443 deg/s, cmd heading: 204.137566 deg, new cmd heading: 204.152953 deg. Bh T9HeadingCmd: 3.563141 target range: 563.258179 and range: 565.50 m.h d@h*h"h hgfffd!d!d!jd)Zd-`0@ZM9>ZM9>ZM~-?ZM@]|Bɢ]6)] e,4ia)aԡaiB% ">B% 4CB% IB% {rBB% =B! B% DB% ;B% ;EB;CB:CB˘CB˞ =Bˢ =C56,î?Aɰ;YbqBybIIf=)fp=bDnVDn2yv\>%v=ٔvQ-v ?9xIx=zVDyz~VCzE~ ?Q 5o4V9?Q 9 o4e)nBY y Q I ?iCI:i8:o4yɮY(Bjh9EFNOT Ignoring new targets: 563.26 m.RhE/?9ZhM/?9U ProNav: ac range: 563.258179 m, nav range: 530.394104 m, bearing: 214.551578 deg, approach rate: -0.699134 m/s, LOS rate: 0.010447 deg/s, cmd heading: 204.152947 deg, new cmd heading: 204.162835 deg. Bh]l9eHeadingCmd: 3.563314 target range: 563.258179 and range: 565.50 m.heU d@ha*ha"ha hagafififididqdqjdqZduxX0@ZZZZ颥|Bɢ';b)< Y3i)顱iزE EE)E"E*Ee:VEFA4ZEBEa%2Ea%JE^;a%:E^;a-1 DAT read: 00:21:36.5007 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 273, 0.30,-2.879, 1.799,-3.090, 2.812, PHS= 0.694,-0.968, 0.337, RAW= 138.2, -0.8, CAL= 138.5, -0.3, ROT= 11.5, 0.3  Ygot valid direction response: 00:21:36.5007 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 273, 0.30,-2.879, 1.799,-3.090, 2.812, PHS= 0.694,-0.968, 0.337, RAW= 138.2, -0.8, CAL= 138.5, -0.3, ROT= 11.5, 0.3  PDAT read: Bearing 355.0, 23.8 (Local)  ~Local bearing/azimuth received: Bearing 355.0, 23.8 (Local)  DAT read: Range 11 to 50 : 560.4 m (Round-trip 747.3 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.979911,0.199365,-0.005236]E Fpublishing direction and range infoy   n[?}̄?sNruY  D    ) SI 1?i w D> ^@ d @ ) M>I ; Y d?7C?l9v \>) pi ; m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.,Į?ABV@Btd@BFbٱB- NAHRS rotation from veh to nav: [[-0.884969,0.381153,0.267493],[-0.410613,-0.909682,-0.062255],[0.219605,-0.164930,0.961547]]BHQd?@?}Gڿ ߯? jſ@?iBV@IBI`;BCYbqByfIbDVD 83y>%==ٔJ;Q->9I=VDyVCW<E> 1Q 5=o4 ?9?Q 9=o4 ) WoBYAyE*Q IE? jCI ;i 3; [o4yMBɮM'BMEiih> Į?AJi DRi Djiq@iu@[@ l_ri n[?}̄?sNruZiM>bi;ix{̼Xta1D.%X@zi<]º1< ?2iŢ:i$"i0?*imEBijCi0?ii7CiDiEo@ addTargetRange:: Added new target pos. range: 560.400024 m, deltaT: 16.646551 s, deltaX: -5.099976 m, approachRate: -0.306368 m/s, rangeRepo size: 4   Added new target pos. range: 558.017456 m, bearing: 216.355027 deg, lat: 36.779631 deg, lon: -121.859908 deg, deltaT: 16.646551 s, deltaX: -5.240723 m, approachRate: -0.314823 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 558.02 m.RhZh- ProNav: ac range: 558.017456 m, nav range: 534.804565 m, bearing: 214.208647 deg, approach rate: 0.000000 m/s, LOS rate: 0.010447 deg/s, cmd heading: 204.162837 deg, new cmd heading: 204.177248 deg. Bh)uHeadingCmd: 3.563565 target range: 558.017456 and range: 560.40 m.hutd@hq*hq"hq hqgqfyfyfydyddjd@3@Zd?ZZZZv@}Bɢ9)ƹ Y2i)E/i$ 5BDAT read: Tx time:00:21:37.8493 5$Ping request sent.5* ,*Į?A2W@2Ye@2Yaٱ2&* BAHRS rotation from veh to nav: [[-0.883895,0.385044,0.265462],[-0.413391,-0.908676,-0.058442],[0.218716,-0.161396,0.962348]]2HH? S?@uڿ쭿 ?Ŀ?i2W@I2`;0YJ-rByNIbDZVDZF3yfe>%fR=ٔj;Q-j>9n ?In ?=nVDynWCzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246712z;E~>Q 5o4V+9?Q 9o4\)oBYy*Q I?[jCIA;iY;,o4y-Bɮ-%'B5E B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 558.02 m.Rh='9Zh='9M ProNav: ac range: 558.017456 m, nav range: 534.534424 m, bearing: 214.212224 deg, approach rate: -0.691278 m/s, LOS rate: 0.009159 deg/s, cmd heading: 204.177249 deg, new cmd heading: 204.187987 deg. BhM$9UHeadingCmd: 3.563753 target range: 558.017456 and range: 560.40 m.hUd@hQ*hQ"hY hYgYfYfafadadadijdiZdm@?ZZZZS;@C}BɢOO) U1i)7JiABQBUvIBU sBBU =BQBQBU;BU;E]r;ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498946@ @@@@=@=ԡ ^A v<A zA bEU(N4jEUL4rEUͭ<0E  E E -E "E a:*E &p:VE t4ZE BE (9r"?Ir"?=rVDyrUWCv!<Ev>tQ 5~o4v9?Q 9~o4v)v pBY|y~l*Q I~?vjCIv;iv;v>o4y ɮ &B jh)5FNOT Ignoring new targets: 558.02 m.Rh5-9Zh=-9E ProNav: ac range: 558.017456 m, nav range: 534.178772 m, bearing: 214.216762 deg, approach rate: -0.740485 m/s, LOS rate: 0.009453 deg/s, cmd heading: 204.187986 deg, new cmd heading: 204.201607 deg. BhM9MHeadingCmd: 3.563990 target range: 558.017456 and range: 560.40 m.hUkd@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde@!{?ZZZZu@颕r}BɢV?) 1i)~r顙i\,njĮ?A 2W@2Ȇe@2^ٱ2~! >AHRS rotation from veh to nav: [[-0.881579,0.394401,0.259358],[-0.420167,-0.906048,-0.050370],[0.215125,-0.153379,0.964467]]2H5=?R? ڿ X"ʩ5?ÿ?i2W@I2`;2CYFrByJ@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254698y\(\??~jt??<= 9v?Mb`/$?Y8?y,=BxJB )EBY܃BbD VD2y~3>%=ٔ `;;Q- >9 I = VDy WC1;E>Q 5%o48?Q 9%o4厮)upBY-%9?Q E-:y-,,Q I-?kCI:i:Po4y5{Bɮ=D&B=EjhYeFNOT Ignoring new targets: 558.02 m.RheF9ZheF9u ProNav: ac range: 558.017456 m, nav range: 533.817017 m, bearing: 214.222462 deg, approach rate: -0.688290 m/s, LOS rate: 0.010853 deg/s, cmd heading: 204.201606 deg, new cmd heading: 204.218719 deg. Bh}[9}HeadingCmd: 3.564289 target range: 558.017456 and range: 560.40 m.h}Pd@h*h"h hgfffdddjdZdU?Z =Z =Z@ZyV@}Bɢ5) V/i)n(iB2CBIBsBB =BBDB;B;Eԡ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506008 ^A R5< E EE-E"Ea:*Ek:VEt4ZEBEa%2Ea-JEԼ;a-:EԼ;a-AIIQIaOu>'",4Į?A2W@2e@2I\ٱ2 :AHRS rotation from veh to nav: [[-0.881292,0.396194,0.257594],[-0.421610,-0.905405,-0.049870],[0.213469,-0.152555,0.964965]]2H`3 <[?m|?ڿ`@R?ÿ?i2W@I2 a;2CYBrByBmIbDJVDJk2yRn*>%R?=ٔR;Q-V>9TIT=VVDyVWCZC_;EZ>\Q 5bo4^78?Q 9bo4^T)^pBY`yf,Q If?^akCI^g:i^=:^_o4ynYBɮn%BnEjh|FNOT Ignoring new targets: 558.02 m.RhD9Zh D9 ProNav: ac range: 558.017456 m, nav range: 533.521790 m, bearing: 214.227075 deg, approach rate: -0.688605 m/s, LOS rate: 0.010764 deg/s, cmd heading: 204.218722 deg, new cmd heading: 204.232567 deg. Bhd9%HeadingCmd: 3.564531 target range: 558.017456 and range: 560.40 m.h%E!d@h!*h!"h! h!g!f)f)f)ԩdddjdZd6@ZZZZRW@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758139=}Bɢ=6xD)9 =-i9)=]PAAiEI1 i:(,킢Į?A2eW@2e@2hZٱ2Qt :AHRS rotation from veh to nav: [[-0.881248,0.397323,0.256002],[-0.422607,-0.904916,-0.050302],[0.211674,-0.152517,0.965367]]2H`.3@m?Wb?@ ۿ= $?ÿ`H?i2eW@I2a;2CYBDsByBIIF4>)F>bDN VDN2yV4>%VK=ٔV6;Q-V>9XIX=ZVDyZ2XCZ;E^>`Q 5bo4b8?Q 9fo4b)bqBYdyf,Q If?bkCIb:ib(:bmo4yj+Bɮn%BnEjhYeFNOT Ignoring new targets: 558.02 m.Rhe>9Zhe>9u ProNav: ac range: 558.017456 m, nav range: 533.243652 m, bearing: 214.231397 deg, approach rate: -0.670672 m/s, LOS rate: 0.010427 deg/s, cmd heading: 204.232560 deg, new cmd heading: 204.245533 deg. Bhu9HeadingCmd: 3.564757 target range: 558.017456 and range: 560.40 m.h$d@h*h"h hgfffdddjdZdF@ZZZZ"W@DzD@AE EE0E"E:*EVE4ZEa@a@a@a@}BɢJ) +i)*IuitBu /CBu IBu tBBu =Bq Bu DBu F;Bu N;EA I I O% >Թ wd.,]Į?A2zW@2-e@2Xٱ2u :AHRS rotation from veh to nav: [[-0.881587,0.397821,0.254052],[-0.422775,-0.904845,-0.050174],[0.209917,-0.151639,0.965888]]2H5u?aB?ۿ|[?hÿ?i2zW@I2'a;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514142YrsByrIbDzVDzN3y '>% D=ٔ z;Q- >9I=VDyvXCI7E>!Q 5%o4%8?Q 9-o4%꘮)%mqBY)y-,Q I-?%kCI%:i%R:%|o4y1ɮ=$B9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 558.02 m.RhmAJ9ZhmAJ9} ProNav: ac range: 558.017456 m, nav range: 532.956421 m, bearing: 214.235867 deg, approach rate: -0.709802 m/s, LOS rate: 0.011052 deg/s, cmd heading: 204.245537 deg, new cmd heading: 204.258954 deg. Bh}9HeadingCmd: 3.564991 target range: 558.017456 and range: 560.40 m.h(d@h*h"h hgfffdddjdZd@\n@ZZZZ#W@$~Bɢ!T) )i)[iC L5,9Į?A2W@2e@2Vٱ2 :AHRS rotation from veh to nav: [[-0.881788,0.398024,0.253033],[-0.423171,-0.904568,-0.051802],[0.208267,-0.152755,0.966070]]2H 7;y?1?=ۿ7@`?vÿ ?i2W@I2"a;2CYBsByBIbDJ VDJ2yRY=%RQ=ٔVK;Q-V>9TIT=VWDyZXCZK9:EZ>\Q 5bo4^K8?Q 9bo4^)^qBYdyf,Q If?^9lCI^:i^:^-o4yjBɮjG$BjEjh|~FNOT Ignoring new targets: 558.02 m.RhD9ZhD9 ProNav: ac range: 558.017456 m, nav range: 532.686523 m, bearing: 214.240061 deg, approach rate: -0.691125 m/s, LOS rate: 0.010746 deg/s, cmd heading: 204.258952 deg, new cmd heading: 204.271542 deg. Bh9HeadingCmd: 3.565211 target range: 558.017456 and range: 560.40 m.hk,d@h*h"h hg!f!f!f!d)d)d)jd)Zd-`ƍ @ZIZIZIZM*W@eJ~BɢeS)i m})ii)mE iiiuJiy@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020025@=@>^AE EE+E"Ea:*Eą:VE [4ZEa@a@a@a@I A! I1 IA Om >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270036v;,<Į?A2W@2`e@2@Uٱ2l! >AHRS rotation from veh to nav: [[-0.882190,0.397671,0.252188],[-0.423077,-0.904502,-0.053691],[0.206753,-0.154060,0.966188]]2H@:qs?#?@ۿ@_}v?Aÿ`?i2W@I2_a;2CY^sBy^I ``dfAyx?Mb`~jt?K7?D= 91Zd? rhV-?Y";?yC <B B)CBYQ~BbDVDN3y7=%:=ٔg;Q->9I=WDyXCE>Q 5o4=8?Q 9o4J) rBY|;?Q E:y/Q I?lCIm ;i ;o4yBɮ#Bjh FNOT Ignoring new targets: 558.02 m.Rh „9Zh„9% ProNav: ac range: 558.017456 m, nav range: 532.381409 m, bearing: 214.246421 deg, approach rate: -0.695572 m/s, LOS rate: 0.014508 deg/s, cmd heading: 204.271547 deg, new cmd heading: 204.290639 deg. Bh%O:-HeadingCmd: 3.565544 target range: 558.017456 and range: 560.40 m.h-1d@h)*h)"h) h)g)f)f1f1d9d9d9jd9Zd=] @Z]Y$=Z]Y$=Z]Ҥ@Z]$@uv~BɢuJJ)q u)iy)}yyi} BBvIBtBB =BBDB݄;B:EQ @  @ @ /@ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.522035^A1ԩ A I I O >E  E E E "E :*E &p:VE ZE BE Q" ?u??uۿ #@FC?`ÿ?i2{W@I2a;0\Yr+tByr(IbDzVDz!3y+7>%U=ٔP;Q->9I=%WDy%)Q 55o4-(q8?Q 95o4-)-TrBY1y=/Q I=?-lCI-;i-;-o4yAɮEt#BAjhimFNOT Ignoring new targets: 558.02 m.RhuG9ZhuG9 ProNav: ac range: 558.017456 m, nav range: 532.114136 m, bearing: 214.252010 deg, approach rate: -0.696264 m/s, LOS rate: 0.014565 deg/s, cmd heading: 204.290644 deg, new cmd heading: 204.307417 deg. Bh:HeadingCmd: 3.565837 target range: 558.017456 and range: 560.40 m.h6d@h*h"h hgfffdddjdZd8@ZZZZ@~Bɢ|V)Y$< 'i)>liH,u#Ů?A2W@2e@2Rٱ2 :AHRS rotation from veh to nav: [[-0.883126,0.397290,0.249500],[-0.422353,-0.904810,-0.054186],[0.204223,-0.153230,0.966858]]2HB 1m??`ۿ4@D`#? ÿ`?i2W@I2a;2CYBStByBAIbDJVDJ 3yR=%RR=ٔV!$;Q-V>9TIT=VWDyV{YCZcEZ>\Q 5bo4^[8?Q 9bo4^)^rBYdyf"/Q If?^mCI^;i^:^o4yjBɮj"BnEljhaeFNOT Ignoring new targets: 558.02 m.Rhe9Zhm9 ProNav: ac range: 558.017456 m, nav range: 531.843079 m, bearing: 214.257707 deg, approach rate: -0.673091 m/s, LOS rate: 0.014154 deg/s, cmd heading: 204.307419 deg, new cmd heading: 204.324519 deg. Bhk:HeadingCmd: 3.566136 target range: 558.017456 and range: 560.40 m.h;d@h*h"h hgfffdddjdZdw@E EE(E"E:*E:VEc44ZEa@a@a@a@ZZZZ@~Bɢ$M) 0'i)y/Ҽi<^A>A A @AB B 0CB IB .uBB =B B B ;B :EB0CB1CBȕCBȰ =Bȯ =CȔB6i A II G jAI 9 jAY CAO >N,H=Ů?AFW@Fe@F#mQٱF# RAHRS rotation from veh to nav: [[-0.883623,0.396112,0.249610],[-0.421856,-0.904840,-0.057463],[0.203095,-0.156075,0.966640]]FH FY?5?ڿ`sk`?Aÿ ?iFW@IF`;FCYV~tByV[IIZC=)Z<bDbVDb2yj<=%jG=ٔj%8;Q-j>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5421639tIt=vWDyvYCv׺Ez>xQ 5~o4z#E8?Q 9o4z)zrBYy*/Q I?z`mCIz;iz];zo4ytBɮk"B%EAmB*** querying acoustic contact ***ii iijhyFNOT Ignoring new targets: 558.02 m.Rh9Zh9 ProNav: ac range: 558.017456 m, nav range: 531.556396 m, bearing: 214.263755 deg, approach rate: -0.702626 m/s, LOS rate: 0.014831 deg/s, cmd heading: 204.324522 deg, new cmd heading: 204.342676 deg. Bh":HeadingCmd: 3.566453 target range: 558.017456 and range: 560.40 m.h@d@h*h"h hgfffdddjdZd`N@ZZZZ6@ ~Bɢ lN)  9'i )Rig8|U,XŮ?A>W@>6e@>Pٱ>?e( FAHRS rotation from veh to nav: [[-0.883819,0.395296,0.250210],[-0.422058,-0.904451,-0.061932],[0.201821,-0.160340,0.966209]]>H>HL?o?ۿ`CC?Ŀ.?i>W@I>Ɛ`;%bG=ٔbiO;Q-b>9f ?If ?=fWDyfYCjQ9Ej>hQ 5no4j.8?Q 9ro4j)j5sBYpyr%/Q Ir?jmCIj:ij:j;o4yzGBɮz!BzEjhFNOT Ignoring new targets: 558.02 m.Rh9Zh9- ProNav: ac range: 558.017456 m, nav range: 531.271179 m, bearing: 214.269768 deg, approach rate: -0.713022 m/s, LOS rate: 0.015041 deg/s, cmd heading: 204.342676 deg, new cmd heading: 204.360726 deg. Bh5)%:5HeadingCmd: 3.566767 target range: 558.017456 and range: 560.40 m.h=Ed@h9*h9"h9 h9g9f9fAfAdAdAdIjdIIZdU@ZqZqZqZu@颥BɢSi) m%i)1顩iNN\,tŮ?A2W@2Qe@2hNٱ2:.8 >AHRS rotation from veh to nav: [[-0.884043,0.394057,0.251369],[-0.422172,-0.903992,-0.067602],[0.200597,-0.165885,0.965527]]2HJ<8?o?ۿ eN`&?@;ſ?i2W@I2V`;0YBtByBIy ~jt?x&?&1? D? 7= P=  9 K?Mb`?I +?Y ^:?y ; 94< B GB ) BB Y hBbD%VD%J2B=>B9B=IB=uBB= =B9B9B=S;B=]:EyU=%U1=ٔ]0;Q-]>9YIY=]WDy]JZCeai7Ee>iQ 5 o4m8?Q 9o4mʮ)msBYc:?Q E:y4,Q I?mmCIm9lIl=rWDyrZCr-:Er>tQ 5zo4v7?Q 9zo4v޲)vsBY|y~',Q I~?vYnCIv@;iv];vo4y&Bɮ/!BEjhyFNOT Ignoring new targets: 558.02 m.Rh.Q9Zh.Q9 ProNav: ac range: 558.017456 m, nav range: 530.594360 m, bearing: 214.280573 deg, approach rate: -0.716794 m/s, LOS rate: 0.011430 deg/s, cmd heading: 204.376349 deg, new cmd heading: 204.393161 deg. Bh9HeadingCmd: 3.567334 target range: 558.017456 and range: 560.40 m.h2Od@h*h"h hgfffdddjdZd@@ZQZQZQZU>?mqBɢ{\K) ,%i)Gy顑i`k,9}Ů?A4EW@E3e@EMٱE[5 UAHRS rotation from veh to nav: [[-0.883833,0.393268,0.253336],[-0.423058,-0.903071,-0.074065],[0.199653,-0.172637,0.964539]]EH`\HN+?6?``ۿ`:?ƿ?iEW@IE*`;ECYZuByIbDVD 3y'>%1=ٔ.Q->9I=WDyZC%:E%>)Q 55p4-7?Q 95p4-)-tBY1y5#,Q I5?-nCI-[:i-1:-p4yeBɮe BeEjhFNOT Ignoring new targets: 558.02 m.RhN9ZhN9 ProNav: ac range: 558.017456 m, nav range: 530.269165 m, bearing: 214.285754 deg, approach rate: -0.708116 m/s, LOS rate: 0.011287 deg/s, cmd heading: 204.393165 deg, new cmd heading: 204.408715 deg. Bh9HeadingCmd: 3.567605 target range: 558.017456 and range: 560.40 m.hSd@h*h"h hgfffdddjdZd@ByA}<B>B1CBdIB,vBB =BBDB-;B;:EԙZZZZ?Bɢ'O) =$i) >n  i ]mr,0.Ů?AE EE)E"Ea:*EVEFA4ZEBE(՚W@>e@>P@Nٱ>0 JAHRS rotation from veh to nav: [[-0.884214,0.393321,0.251921],[-0.422069,-0.903837,-0.070266],[0.200058,-0.168458,0.965194]]>H{K*,?@x?`,ۿ: ? ſ?i>՚W@I>_;>CpY uBy IbD%VD%3y-T >%5[=ٔ5Q-5>99I9==XDy=[CE=EE>AQ 5Mp4E7?Q 9Up4E)ETtBYQyU6,Q IU?EnCIE1:iE(:Ep4yeBɮe BeE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 558.02 m.RhGS9ZhGS9 ProNav: ac range: 558.017456 m, nav range: 530.007080 m, bearing: 214.289965 deg, approach rate: -0.718047 m/s, LOS rate: 0.011545 deg/s, cmd heading: 204.408711 deg, new cmd heading: 204.421352 deg. Bh9HeadingCmd: 3.567826 target range: 558.017456 and range: 560.40 m.hAWd@h*h"h hgfffdddjdZd8@ZZZZ[?Bɢn) ~"i)`imi>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810795@ @@1@@@@@ AIIO>y  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062557x, Ů?A2W@2de@2џNٱ2/ :AHRS rotation from veh to nav: [[-0.884589,0.392558,0.251794],[-0.421112,-0.904340,-0.069524],[0.200415,-0.167533,0.965281]]2HN@?b?ڿZ Ḻ 3?qſ?i2W@I2U_;2CYBuByB%IIF4=)F=qyrh|?~jtMb?;?ļ@= 9n?~jtx?{Gz?Y6?y;#<4FB /B)DBYjBbD VD2y=%@=ٔ`Q->9I=XDyc[CZ!E>Q 5p4c7?Q 9p4)tBY 6?Q E:y+Q I?=oCIX;i\ ;p4yBɮBjh)5FNOT Ignoring new targets: 558.02 m.Rh5HD9Zh=HD9E ProNav: ac range: 558.017456 m, nav range: 529.714905 m, bearing: 214.294522 deg, approach rate: -0.687369 m/s, LOS rate: 0.010725 deg/s, cmd heading: 204.421346 deg, new cmd heading: 204.435023 deg. BhM9MHeadingCmd: 3.568064 target range: 558.017456 and range: 560.40 m.hM*[d@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde@ZX=ZX=Zkd@Z@额BɢZ) "i)K2(顡iȽ%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313929ԱB >B B IB vBB =B B B ;B :E ~,Ů?A2_tW@2je@2"Oٱ242 :AHRS rotation from veh to nav: [[-0.885056,0.390763,0.252943],[-0.419922,-0.904728,-0.071642],[0.200850,-0.169623,0.964825]]2H`aR@?70?ڿWq?6ſ?i2_tW@I2f_;0}%=}C=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566952YvByKIԹbD VD2y(>%F=ٔQ->9!I!=%XDy%[C%NE%>)Q 5=p4-7?Q 9=p4-g)-tBY9y=,Q IE?-oCI-v";i-r#;-I-p4yMBɮM;BMEjhiuFNOT Ignoring new targets: 558.02 m.Rh}aF9Zh}aF9 ProNav: ac range: 558.017456 m, nav range: 529.431213 m, bearing: 214.298989 deg, approach rate: -0.687980 m/s, LOS rate: 0.010840 deg/s, cmd heading: 204.435020 deg, new cmd heading: 204.448430 deg. Bh9HeadingCmd: 3.568298 target range: 558.017456 and range: 560.40 m.h_d@h*h"h hgfffdddjdZd`r@ZZZZύ@BɢYH])  i){0i}5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.8179839 ,˿Ʈ?A67iW@6^e@6/Oٱ65 BAHRS rotation from veh to nav: [[-0.885237,0.389202,0.254712],[-0.419270,-0.904790,-0.074623],[0.201418,-0.172852,0.964133]]6HS?5M?Pڿ y? ƿ .?i67iW@I6e_;4YJ;vByJmIbD%!VD%r3y->%5Z=ٔ5˺Q-5>9="?I]"?=]XDy][C]Ee>aQ 5mp4e7?Q 9up4enî)euBYqyu ,Q Iu?eoCIe:ieR:e:p4ysBɮBjhaeFNOT Ignoring new targets: 558.02 m.Rhmj;9Zhmj;9 ProNav: ac range: 558.017456 m, nav range: 529.171021 m, bearing: 214.303110 deg, approach rate: -0.646216 m/s, LOS rate: 0.010241 deg/s, cmd heading: 204.448435 deg, new cmd heading: 204.460805 deg. Bh9HeadingCmd: 3.568514 target range: 558.017456 and range: 560.40 m.hbd@h*h"h hgfff dddjdZd༏ @ZZZZ@UBɢ]RX)Y eia)e9achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.071092aiREU  EU EQ EQ "EU a:*EU e:VEQ ZEQ a] @a] @a] @a] @ԙ i9 I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322231Ӌ,A1Ʈ?A2\W@2Qe@2VfPٱ2^7 :AHRS rotation from veh to nav: [[-0.885443,0.387936,0.255921],[-0.418498,-0.905028,-0.076050],[0.202113,-0.174441,0.963702]]2H U`?a?ڿx ? Tƿ?i2\W@I2[_;2CYBXvByBI DDbDNVDN1y~Z=%M=ٔQ->9I = XDy #\C E >Q 5p4 y7?Q 9p4Ʈ)NuBY!y%,Q I%?pCIv:i:EHp4y)ɮ-B)jhQUFNOT Ignoring new targets: 558.02 m.Rh%V9Zh%V95 ProNav: ac range: 558.017456 m, nav range: 528.900574 m, bearing: 214.307421 deg, approach rate: -0.733343 m/s, LOS rate: 0.011695 deg/s, cmd heading: 204.460811 deg, new cmd heading: 204.473750 deg. Bh5j:=HeadingCmd: 3.568740 target range: 558.017456 and range: 560.40 m.h==fd@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU}Q!@ZiqZiZiZmƍ@颍,Bɢn)  i)z@顑iYB=2CB=IB= wBB9B9B=DB=;B=:E-9@) @1@564@1ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.575276^Am<A I I O > ,sKƮ?AE EE*E"E:*E&p:VE(N4ZEBEI-9AIA=EXDyEf\CE\FEE>IQ 5Up4Mdc7?Q 9Up4Mɮ)MuBYYy],,Q I]?MYpCIM;iM;MVp4yeGBɮeBmEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 558.02 m.RhJ9ZhJ9 ProNav: ac range: 558.017456 m, nav range: 528.618164 m, bearing: 214.311966 deg, approach rate: -0.685810 m/s, LOS rate: 0.011042 deg/s, cmd heading: 204.473748 deg, new cmd heading: 204.487389 deg. Bh9HeadingCmd: 3.568978 target range: 558.017456 and range: 560.40 m.h$jd@h*h"h hgfQffdddjdZd%"@ZZZZ/@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826037]@Bɢ]^)Y ]ia)eIaaie($1 ߥ =ߥ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078230l昱,eTeƮ?A25W@2*e@2Oٱ25u< >AHRS rotation from veh to nav: [[-0.886524,0.384582,0.257239],[-0.416429,-0.905521,-0.081354],[0.201648,-0.179244,0.962917]]2Hg^?v? ǦڿӴ@?`{ƿ7?i25W@I2K_;0YBvByFIybX9?ˡE?{Gz?E6?'=#= 9"~?~jt?I +?Y3?y<94<EB B)@BY iBbDVD:2y=%B=ٔJ`:Q->9I=XDy\C0E>Q 5p4M7?Q 9p4Lͮ)uBY4?Q E:y+Q I?pCIm ;i:]ep4yBɮ{BEjhFNOT Ignoring new targets: 558.02 m.Rh09Zh09- ProNav: ac range: 558.017456 m, nav range: 528.330933 m, bearing: 214.316025 deg, approach rate: -0.682260 m/s, LOS rate: 0.009647 deg/s, cmd heading: 204.487394 deg, new cmd heading: 204.499578 deg. Bh-95HeadingCmd: 3.569191 target range: 558.017456 and range: 560.40 m.h5md@h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM`"@Zm=Zm=Zm^@Zm4?}QBɢ}``k) ii)gQ顁ilvB1 B5 EIB5 wBB5 =B1 B1 B5 ;B5 9EB1CBBȓCBȬ =Bȭ =C5 d> C G- jAQ 9 jAY gpAA .AI I O >,+Ʈ?A$ɰ&4%N=ٔb)8Q->9 ?I ?=XDy\CE>Q 5p497?Q 9p4Ю) vBYy#+Q I?pCI(:i:8sp4y'Bɮ_BEjhFNOT Ignoring new targets: 558.02 m.Rh29Zh29 ProNav: ac range: 558.017456 m, nav range: 528.060669 m, bearing: 214.319898 deg, approach rate: -0.682096 m/s, LOS rate: 0.009781 deg/s, cmd heading: 204.499579 deg, new cmd heading: 204.511205 deg. Bh9HeadingCmd: 3.569394 target range: 558.017456 and range: 560.40 m.hpd@h*h"h hgfffdd d jd Zd #@ZZZZ?颽dBɢv5d) i)Yi؈,(Ʈ?A2QV@2d@2Oٱ2{@ >AHRS rotation from veh to nav: [[-0.888054,0.380281,0.258354],[-0.413202,-0.906579,-0.085895],[0.201554,-0.183032,0.962224]]2H@jV?߈?qڿ@;?@mǿ@?i2QV@I2A_;2CYBwByBIbDZVDZ2yb=%bV=ٔbZ9Q-b>9dIh=jXDyj']Cj˥En>lQ 5rp4nW%7?Q 9rp4nӮ)nEvBYtyvB+Q Iv?n,qCIn;ina;np4yzBɮ~B~E jh!%FNOT Ignoring new targets: 558.02 m.Rh-159Zh-159= ProNav: ac range: 558.017456 m, nav range: 527.800415 m, bearing: 214.323687 deg, approach rate: -0.679683 m/s, LOS rate: 0.009901 deg/s, cmd heading: 204.511204 deg, new cmd heading: 204.522577 deg. Bh=n9EHeadingCmd: 3.569592 target range: 558.017456 and range: 560.40 m.hE4td@hA*hA"hA hAgIfIfIfQdQdQdQjdQZd]}$@ZyZyZyZ}t? uBɢ Co)  i )ai ԑ  2Acoustic response timeout!,Ʈ?A2$V@2d@2%Oٱ2DB :AHRS rotation from veh to nav: [[-0.888807,0.378310,0.258658],[-0.411695,-0.907062,-0.088017],[0.201321,-0.184718,0.961951]]2Hq<6?؍?4Yڿ@H?@פǿL?i2$V@I2e'_;2CY^QwBy^IbDfVDf\3yn>%rJ=ٔr:Q-r>9tIt=vXDyvh]CvEz>xQ 5~p4zZ7?Q 9p4z֮)zvBYy^+Q I?zsqCIzQ;iz;zp4y ɮBjh1=FNOT Ignoring new targets: 558.02 m.yRhu89Zhu89 ProNav: ac range: 558.017456 m, nav range: 527.524414 m, bearing: 214.327762 deg, approach rate: -0.682384 m/s, LOS rate: 0.010079 deg/s, cmd heading: 204.522583 deg, new cmd heading: 204.534814 deg. BhZ9HeadingCmd: 3.569806 target range: 558.017456 and range: 560.40 m.hwd@h*h"h hgfffdddjdZd V%@ZIZIZIZM:1?BAB>B1CBIBxBBBBBƒ;B9EBɢ/c) i)[iii=>ԡ9@ @@@}2Acoustic response timeout^A<I I! O5 > bEFA4jEC4rE˳/E]  E] EY EY "E] a:*E] x:VEY ZEY BEY am 2EY am JE] ;au :E] ;au ,Ʈ?A2qV@2$d@2Oٱ2X? :AHRS rotation from veh to nav: [[-0.889842,0.376938,0.257098],[-0.409690,-0.908107,-0.086578],[0.200838,-0.182372,0.962499]]2Hy?@Jt?\8ڿ6 * ?`Wǿ`?i2qV@I2#H_;0Y%wBy%6IbD= VD=:2yE-=%MA=ٔM-:Q-M>9IIQ=UYDyU]C]E]>YQ 5ep4]r6?Q 9mp4]Oڮ)]vBYiym+Q Im?]qCI]g:i]:]}p4yuBɮ}B}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 558.02 m.RhR;9ZhR;9Ա ProNav: ac range: 558.017456 m, nav range: 527.236816 m, bearing: 214.332086 deg, approach rate: -0.680339 m/s, LOS rate: 0.010236 deg/s, cmd heading: 204.534809 deg, new cmd heading: 204.547790 deg. Bh9HeadingCmd: 3.570032 target range: 558.017456 and range: 560.40 m.hi{d@h*h"h hgfffdddjdZd %&@ZZZZ_?Bɢ pj) Ai)qie 2Acoustic response timeout1 C,Ʈ?A2ƅV@2y{d@2ϯNٱ2?: :AHRS rotation from veh to nav: [[-0.891147,0.375618,0.254495],[-0.407021,-0.909675,-0.082618],[0.200475,-0.177210,0.963539]]2H@G ? I?@ ڿs&(?ήƿN?i2ƅV@I24_;2CYJwByJfIy% rh? rhˡE?%CK?%C %'=! !9%zG?Mb`?~jth?Y% 7?y%;%D;%B%DB !)%AB!Y%G{BbD= VD=2yMC>%MJ=ٔMqp:Q-U>9QIQ=UYDyU]CtE>Q 5p46?Q 9p4ݮ)wBY 7?Q E:yi-Q I?rCI:in:p4yBɮyBEjhFNOT Ignoring new targets: 558.02 m.Rh%g9Zh%g95 ProNav: ac range: 558.017456 m, nav range: 526.947937 m, bearing: 214.337387 deg, approach rate: -0.689557 m/s, LOS rate: 0.012659 deg/s, cmd heading: 204.547787 deg, new cmd heading: 204.563697 deg. Bh5 :EHeadingCmd: 3.570310 target range: 558.017456 and range: 560.40 m.hEd@hA*hA"hA hAgIfIfQfQdYdYdYjdYZde&@Z=Z=Z_-@Zib =颭Bɢd) i)*y项i B2CBIBxBBBBB;B9EI1 IA OM >ԙ ,,Ǯ?A:PV@:UFd@:Nٱ:t8 VAHRS rotation from veh to nav: [[-0.892470,0.373089,0.253578],[-0.404132,-0.911021,-0.081961],[0.200436,-0.175626,0.963836]]:H?`:?Lٿ '_?zƿ`?i:PV@I:A_;:CY^wBybvIbDjVDj4d3yrb=%rQ=ٔr8Q-r>9tIt=vYDyv+^Cvv Ez>xQ 5~p4z6?Q 9p4zi)z9wBYy-Q I?zLrCIzj;iz:zԡE} E}E})Ey"E}:*E}g:VE}FA4ZEyBE}3\_;2CYb&xBybIf=f=bDjVDj3yr>%vJ=ٔv:Q-v>9xIx=zYDyzl^CzEz>|Q 5p4~$6?Q 9 p4~~)~vwBY y -Q I ?~rCI~$:i~=:~bp4yɮBjhFNOT Ignoring new targets: 558.02 m.Rhg9Zhg9 ProNav: ac range: 558.017456 m, nav range: 526.409790 m, bearing: 214.347542 deg, approach rate: -0.665651 m/s, LOS rate: 0.012657 deg/s, cmd heading: 204.578263 deg, new cmd heading: 204.594188 deg. Bh :%HeadingCmd: 3.570842 target range: 558.017456 and range: 560.40 m.h%d@h!*h)"h) h)g1fqfyfydyddjdZd$(@ZyZyZyZ}<颵ӀBɢ\`) i)项idz#  BDAT read: Tx time:00:21:50.2993  $Ping request sent. u̱,B4Ǯ?A2 V@2cd@2BPNٱ2@ >AHRS rotation from veh to nav: [[-0.894198,0.367496,0.255650],[-0.400454,-0.911904,-0.089825],[0.200118,-0.182698,0.962587]]2H`D?\?@ ٿ@P.t?bǿ?i2 V@I2AQ_;2CYFGxByFIbDVVDV{U3y%O=%%H=ٔ%T9Q-%>9-"?I-"?=-YDym^Cu%Eu>yQ 5p4}6?Q 9p4})}wBYy-Q I?}rCI}t:i}:}p4yOBɮVBjhFNOT Ignoring new targets: 558.02 m.Rh%t9Zh%t9U ProNav: ac range: 558.017456 m, nav range: 526.122253 m, bearing: 214.353072 deg, approach rate: -0.695501 m/s, LOS rate: 0.013384 deg/s, cmd heading: 204.594191 deg, new cmd heading: 204.610791 deg. BhU:]HeadingCmd: 3.571132 target range: 558.017456 and range: 560.40 m.h]md@hY*hY"hY hYgYfafaAiAm@ABu>BqBu,IBuyBBu =BqBqBu;Bu9EfadddjdZdl)@ZZZZ><Bɢr)%"< %#i!)-ӈ))i-@%ԙ Wӱ,NǮ?AE6 E4E4E4"E6:*E4VE4ZE4BE6'TZ U@Zc@ZMٱZEF vAHRS rotation from veh to nav: [[-0.894669,0.365124,0.257393],[-0.399575,-0.911703,-0.095585],[0.199766,-0.188365,0.961568]]ZH!0^?@!y?ٿ,Hx`?@Zȿ`)?iZ U@IZU_;ZCY~xBy~IbD- VD-2yM0>%MH=ٔM g:Q-M>9U ?IU ?=UYDyU^CU&E]>aQ 5mp4e?6?Q 9mp4e)ewBYiym-Q Im?e'sCIe:ie:ep4y}$Bɮ}B}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 558.02 m.Rh{9Zh{9 ProNav: ac range: 558.017456 m, nav range: 525.846985 m, bearing: 214.358402 deg, approach rate: -0.710433 m/s, LOS rate: 0.013762 deg/s, cmd heading: 204.610789 deg, new cmd heading: 204.626786 deg. Bh:HeadingCmd: 3.571411 target range: 558.017456 and range: 560.40 m.hd@h*h"h hgfffdddjdZd-*@ZZZZ)x= Bɢ Au)  i)g顑i='uٱ,gǮ?A2U@2c@2XMٱ2G :AHRS rotation from veh to nav: [[-0.894779,0.364765,0.257521],[-0.399616,-0.911491,-0.097422],[0.199192,-0.190080,0.961349]]2HPX?7{?Pٿ@*`?Tȿ@_?i2U@I2_;2CYBxByBI DDHJA|y-uV?+ηMb-r(?-v-) )9-rh|?S㥛?~jth?Y-;?y-/<)-ӕB-7AB -)-=B)Y-cBbDE VDE2yMy=%UJ=ٔU:Q-U>9I=YDy3_CE>Q 5p4Cw6?Q 9p47).xBYZ]>Z] ̀?Z]s@Eu EuEu%Eq"Eu:*Eu&p:VEu 4ZEqa}@a}@a}@a}@颍 Bɢsh) }i)CÐ顑id(Bu1CBuwIBuyBBu =BqBuDBuƒ;Bu9E^A yԁ A1 IA IQ O] >/o,VҁǮ?A>hU@>c@>Mٱ>˄F FAHRS rotation from veh to nav: [[-0.894797,0.364928,0.257228],[-0.399459,-0.911695,-0.096147],[0.199427,-0.188784,0.961556]]>H-Z?mv?ٿ,``Ն?*ȿ?i>hU@I>Z^;>CYRxByVIbD^ VD^2yfU6>%fS=ٔfX"Q-j>9lIl=nYDynn_CnعEr>pQ 5vp4rc6?Q 9zp4rS)rexBYxyz+Q Iz?rsCIr ;ir;rp4yBɮ)BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258134jh15FNOT Ignoring new targets: 558.02 m.Rh=O9Zh=O9M ProNav: ac range: 558.017456 m, nav range: 525.281067 m, bearing: 214.367232 deg, approach rate: -0.726485 m/s, LOS rate: 0.011354 deg/s, cmd heading: 204.640869 deg, new cmd heading: 204.653291 deg. QBhMX9]HeadingCmd: 3.571874 target range: 558.017456 and range: 560.40 m.h]d@hY*hY"hY hYgafafafadididijdiZdu}+@ZZZZt@颥BɢpS}) i)顩i=*D,{Ǯ?A,V V@Vd@VmMٱVKC jAHRS rotation from veh to nav: [[-0.894399,0.366737,0.256037],[-0.400428,-0.911590,-0.093067],[0.199270,-0.185763,0.962176]]VHx?b?@ٿ`+5ӷ@? ǿ@&?iV V@IV ^;VCYv"yByv6IbD VD :3ye >%e/=ٔmij9Q-m>9u"?Iu"?=uYDyu_Cu;E}>yQ 5q4}I6?Q 9q4}>)}xBYy+Q I?}tCI}9:i}u;}q4yBɮBEjhFNOT Ignoring new targets: 558.02 m.RhcK9ZhcK9 ProNav: ac range: 558.017456 m, nav range: 524.947998 m, bearing: 214.372402 deg, approach rate: -0.715580 m/s, LOS rate: 0.011113 deg/s, cmd heading: 204.653286 deg, new cmd heading: 204.668804 deg. Bh9HeadingCmd: 3.572145 target range: 558.017456 and range: 560.40 m.hd@h*h"h hgfffdddjdZd,@ZZZZf@%-Bɢ-oe)) -|i))5et11i5 :,i->ԁ@ @@3@ԱEE EEEE'EA"EE2:*EE n:VEE'4ZEAaM@aM@aM@aM@^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014101A .AI I O >i,BǮ?A;ɰ6(V@6d@6>Mٱ6@ BAHRS rotation from veh to nav: [[-0.893719,0.369183,0.254894],[-0.402030,-0.911209,-0.089836],[0.199096,-0.182763,0.962787]]6HW ? .P?@ܺٿ (|`{? dǿ&?i6(V@I6V^;6CYFYyByFXIN=N=bDRVDRk2yZr>%ZW=ٔZ9Q-Z>9^ ?`B`Ab4=Bf>BdBfIBfzBBf =BdBdBf;Bf9EBBBB =B =C5I^ ?=vYDyv_Cv;Ez>xQ 5~q4z46?Q 9q4z|)zxBYy+Q I?zVtCIz;iz;ztq4y ɮ]Bjh1=FNOT Ignoring new targets: 558.02 m.Rh=lH9Zh=lH9M ProNav: ac range: 558.017456 m, nav range: 524.673096 m, bearing: 214.376619 deg, approach rate: -0.713589 m/s, LOS rate: 0.010952 deg/s, cmd heading: 204.668804 deg, new cmd heading: 204.681461 deg. BhM9UHeadingCmd: 3.572366 target range: 558.017456 and range: 560.40 m.hUd@hQ*hY"hY hYgYfYfafadadadijdiZdm@w-@ZZZZ哒@A]jAie=Bɢ}tڣ9jAYϕA) )i)顱i-.-`,Ǯ?A6|TV@6/Jd@6-Mٱ6{< ZAHRS rotation from veh to nav: [[-0.892636,0.372564,0.253767],[-0.404460,-0.910507,-0.085956],[0.199033,-0.179366,0.963439]]6H`x?=?ٿ"4y?uƿ }?i6|TV@I6^;6CYbyByb|IbDjVDj{U3yrE=%r*=ٔvQ 9Q-v>9v"?Iv"?=zZDyzE`C~l;E~>Q 5 q46?Q 9 q4)(yBY y m+Q I ?tCI:i; .q4yBɮBE=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 558.02 m.RhMLD9ZhULD9e ProNav: ac range: 558.017456 m, nav range: 524.334473 m, bearing: 214.381716 deg, approach rate: -0.712099 m/s, LOS rate: 0.010726 deg/s, cmd heading: 204.681467 deg, new cmd heading: 204.696769 deg. Bhe9eHeadingCmd: 3.572633 target range: 558.017456 and range: 560.40 m.hmd@hi*hi"hi higifqfqfqdqdydyjdyZd}5k.@ZZZZ@颵RBɢDe) i)x项i /=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770299^AԁA I I O >Ա D- %=D- R=E5  E5 E1 E1 "E5 a:*E5 ]t:VE1 ZE1 aE @aE @aE @aE @,TǮ?A2V@2Od@2Mٱ2W6 :AHRS rotation from veh to nav: [[-0.890951,0.377946,0.251719],[-0.408236,-0.909408,-0.079500],[0.198868,-0.173592,0.964530]]2HC0?@*?@ ڿ#Zt?B8ƿm?i2V@I2^;2CYByByBIye}?5^I?{Gz??eMB?eף=e%A=ٔ9Q->9I=ZDy`C#<E>Q 5q46?Q 9q4H)lyBYK9?Q E:y )Q I?tCIT ;i ;B0CBIBzBB =B>DBB;B9EM9@I @Q@Q@Q^A 9A fAzA fAM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285959A I I  O% >Xm,. Ȯ?A2WV@2 d@2JMٱ2t*0 :AHRS rotation from veh to nav: [[-0.889068,0.383593,0.249830],[-0.412290,-0.908136,-0.072846],[0.198937,-0.167768,0.965546]]2H=sɌ?q?bڿr v? kyſ?i2WV@I2^;0YB zByBIbDJVDJ2yR#>%VZ=ٔVBQ-V>9XIX=ZZDyZ`CZG<EZ>\Q 5bq4^/5?Q 9fq4^)^yBYdyf(Q If?^>uCI^:i^k:^Iq4yhɮjBljh|FNOT Ignoring new targets: 558.02 m.Rh9Zh9 ProNav: ac range: 558.017456 m, nav range: 523.772705 m, bearing: 214.387745 deg, approach rate: -0.704163 m/s, LOS rate: 0.007382 deg/s, cmd heading: 204.706575 deg, new cmd heading: 204.714862 deg. Bh9HeadingCmd: 3.572948 target range: 558.017456 and range: 560.40 m.h0d@h*h"h hgfffdddjdZd 0@ZZZZ?evBɢm'u)i m ii)m iqbEjE:4rENU0E EE)E"E*Eg:VEFA4ZEBE(v,5 $Ȯ?A>GCW@>8e@>3Mٱ>`+ FAHRS rotation from veh to nav: [[-0.886642,0.389997,0.248532],[-0.417425,-0.906230,-0.067112],[0.199054,-0.163248,0.966296]]>H@__??ڿ@H.@z?RĿ ?i>GCW@I>^;>CYN@zByNIbDZVDZ:2yb=%bI=ٔb&Q-b>9dId=fZDyf aCf)i<Ej>hQ 5nq4j5?Q 9rq4jX)jyBYpyrf(Q Ir?juCIj;ij];j)Xq4yv]BɮzzBzEBDAT read: Rx Time:00:21:53.4263  TRx dataTimestamp_ set to:1761524512.596276 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791254jh)-FNOT Ignoring new targets: 558.02 m.Rh5[8Zh5[8E ProNav: ac range: 558.017456 m, nav range: 523.486206 m, bearing: 214.390569 deg, approach rate: -0.699099 m/s, LOS rate: 0.006895 deg/s, cmd heading: 204.714867 deg, new cmd heading: 204.723343 deg. BhEj9MHeadingCmd: 3.573097 target range: 558.017456 and range: 560.40 m.hMd@hI*hI"hI hQgQfQfQfQdYdadajdaZde`j0@ZZZZAY?额BɢDx)  i)4s顡ig5A A B >B 1CB kIB {BB =B =DB DB a;B h9E,=Ȯ?APNW@Ne@NU\MٱNݔ# bAHRS rotation from veh to nav: [[-0.883826,0.397862,0.246085],[-0.423284,-0.904105,-0.058515],[0.199206,-0.155881,0.967480]]NHLH@v??ۿn`?ÿ@?iNW@IN^;NCYnfzBynIbD~VD~2y,=%E=ٔ%ZùQ-%>9)I)=-ZDy-NaC5H<E=>AQ 5Mq4E]5?Q 9Mq4E1 )E+zBYQyU'Q IU?EuCIEI:iE:Efq4y]3Bɮ]BajhFNOT Ignoring new targets: 558.02 m.Rh8Zh8 ProNav: ac range: 558.017456 m, nav range: 523.191467 m, bearing: 214.393266 deg, approach rate: -0.708984 m/s, LOS rate: 0.006491 deg/s, cmd heading: 204.723350 deg, new cmd heading: 204.731445 deg. Bh9HeadingCmd: 3.573238 target range: 558.017456 and range: 560.40 m.hd@h*h"h hgfffdddjdZd00@ZYZYZYZ]}K?mBɢA[o)  i)ViH7i…y&>ZB@ =%@ =)PwV>I佩lHsE?]?Oe1? c>)6ŽIPwV>i佩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@@^A/C<A>A>E  E E 'E "E m:*E [:VE '4ZE BE Y (DAT read: user:49>  BDAT read: Tx time:00:21:54.7493  $Ping request sent.  :AHRS rotation from veh to nav: [[-0.881354,0.405519,0.242422],[-0.428149,-0.902489,-0.046918],[0.199757,-0.145144,0.969036]]2H 4??fۿ1?¿@W?i2/ X@I2S^;2CYRzByR(IbDZ VDZ2|yEr(>%EG=ٔMhQ-M>9III=MZDyUaCU_<EU>yQ 5q4})5?Q 9q4})}lzBYy'Q I?}vCI}:i} :}$uq4yɮBiAiEjFȮ?AJiEDRiEDjiEt@iEe@2T[@)OfN@riE7- ?ȩidr? -V:?ZiEPwV>biEiE_)yt^U]b@ziEdE[snk?2iE:iEO"iE(?*iE.BiEQCiE-܊?iEmEiEQCiE1DiEVr@] addTargetRange:: Added new target pos. range: 542.099976 m, deltaT: 16.908965 s, deltaX: -18.300049 m, approachRate: -1.082269 m/s, rangeRepo size: 4  Added new target pos. range: 539.773560 m, bearing: 219.178314 deg, lat: 36.779682 deg, lon: -121.860188 deg, deltaT: 16.908965 s, deltaX: -18.243896 m, approachRate: -1.078948 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 539.77 m.)RhMZhI] ProNav: ac range: 539.773560 m, nav range: 532.776428 m, bearing: 216.952717 deg, approach rate: 0.000000 m/s, LOS rate: 0.006491 deg/s, cmd heading: 204.731451 deg, new cmd heading: 204.740209 deg. BhYeHeadingCmd: 3.573391 target range: 539.773560 and range: 542.10 m.heod@ha*ha"ha hagfffdddjd@Zd?ZZZZ%?EBɢE.f)A M iI)MIIiM8:*E= e:VE= 4ZE9 aM @aM @aM @aM @A5 .AI9 II O] >U,sȮ?A(2fX@2Y\f@2ZNٱ2} >AHRS rotation from veh to nav: [[-0.878795,0.412200,0.240439],[-0.432986,-0.900572,-0.038634],[0.200608,-0.138058,0.969895]]2H}a?? ۿ`}ǣ?`a ?i2fX@I2-_;0YBzByFCIyT㥛 ?l?/$?!?=,= 9X9v?9 ?I ?=ZDyaC_H<E >Q 5q4p5?Q 9q4)zBYY4?Q E:y'Q I%?mvCI:i:q4y-Bɮ-SB5EMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 539.77 m.Rh]}69Zh]}69u ProNav: ac range: 539.773560 m, nav range: 532.468201 m, bearing: 216.956885 deg, approach rate: -0.737036 m/s, LOS rate: 0.009972 deg/s, cmd heading: 204.740207 deg, new cmd heading: 204.752717 deg. Bhu9uHeadingCmd: 3.573609 target range: 539.773560 and range: 542.10 m.h}d@hy*hy"hy hygyfyffdddjdZdXR?Zۨ=Zۨ=Z@ZG@Bɢ±~)  i) 䶽  i ;BM.CBMIBM{BBIBM>DBMDBMQ;BMH9Eԁ9@! @!@%/@!^A፨<ԱIIO >E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758890 {8#,Ȯ?A6X@6f@6(Pٱ6@ >AHRS rotation from veh to nav: [[-0.876746,0.417380,0.238977],[-0.436531,-0.899151,-0.031131],[0.201883,-0.131615,0.970526]]6HNY?͖?`ۿN?`?i6X@I6l^;6CYF{ByFkIbDRVDR3yZ/>%Z`=ٔZiQ-^>`9`I`=bZDybbCf:<Ef>hQ 5jq4j}5?Q 9nq4jL)j{BYlyr'Q Ir?jvCIjW;ij;jq4yvBɮvBvEjhFNOT Ignoring new targets: 539.77 m.RhR"9ZhR"9- ProNav: ac range: 539.773560 m, nav range: 532.223999 m, bearing: 216.960088 deg, approach rate: -0.675759 m/s, LOS rate: 0.008869 deg/s, cmd heading: 204.752720 deg, new cmd heading: 204.762335 deg. Bh-95HeadingCmd: 3.573777 target range: 539.773560 and range: 542.10 m.h5ød@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM@-q?ZiZiZiZm*QG@}́Bɢ}E}) i) 顁i =iEE EEEE)EA"EEO:*EE:VEEFA4ZEABEE A ] ?] Y?e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263067\i),yȮ?A2X@2f@2Qٱ2 :AHRS rotation from veh to nav: [[-0.874568,0.422531,0.237905],[-0.440181,-0.897588,-0.023998],[0.203401,-0.125709,0.970992]]2H@u ?@s?+ܿ ` ?>]?i2X@I2^v^;2CYBP{ByBIbDJVDJ 3yR1 >%RJ=ٔVp{Q-V>9TIX=ZZDyZTbCZ/<E^>\Q 5bq4^t5?Q 9bq4^)^Q{BYdyfI'Q If?^vCI^:i^: ;^ӟq4ylɮnBljh|FNOT Ignoring new targets: 539.77 m.Rh99Zh99 ProNav: ac range: 539.773560 m, nav range: 531.951538 m, bearing: 216.963548 deg, approach rate: -0.676281 m/s, LOS rate: 0.008591 deg/s, cmd heading: 204.762337 deg, new cmd heading: 204.772720 deg. Bh%9%HeadingCmd: 3.573958 target range: 539.773560 and range: 542.10 m.h%d@h)*h)"h) h)gfffdddjdZd@9?Z!Z!Z!Z%ƍG@]ށBɢeo)a i)ǽ顉i>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514916BE >BE +CBE IBE |BBE =BA BE DBE k;BE Q9Eԑ J0,8Ȯ?A2a1Y@2'g@2Sٱ2\ :AHRS rotation from veh to nav: [[-0.872514,0.426965,0.237531],[-0.443391,-0.896150,-0.017850],[0.205242,-0.120893,0.971216]]2HeS?`ig?`ܿC0G`E?3?i2a1Y@I2(^;2CYb|{BybIbDjVDj2yr=%rG=ٔv>Q-v>9tIt=v[DyvbCz<Ez>|Q 5q4~F`5?Q 9q4~)~{BYy 'Q I ?~:wCI~v:i~{:~&q4yBɮ BEjh1yFNOT Ignoring new targets: 539.77 m.RhX9ZhX9 ProNav: ac range: 539.773560 m, nav range: 531.674744 m, bearing: 216.966957 deg, approach rate: -0.675529 m/s, LOS rate: 0.008324 deg/s, cmd heading: 204.772719 deg, new cmd heading: 204.782951 deg. Bhж9HeadingCmd: 3.574137 target range: 539.773560 and range: 542.10 m.hd@h*h"h  h g f f fdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766950Z)Z)Z)Z-G@额Bɢo) Fi)顡iY@I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018843 9I=[DybCז;E>Q 5q4I5?Q 9q4 ){BYy&Q I?wCI qEe  Ee Ee (Ea "Ee :*Ee V:VEe c44ZEa am @am @au @au @ԙ <,Ȯ?A2dY@2Zg@2)Wٱ2 :AHRS rotation from veh to nav: [[-0.870373,0.428816,0.242007],[-0.445752,-0.894990,-0.017290],[0.209180,-0.122923,0.970120]]2Hq??1ܿ]e?`w : ?i2dY@I2=y^;2CYB{ByBIIF]>)F%I=ٔQ->9I=[DycCt5;E>Q 5q4O75?Q 9q4#)8|BY/?Q E:y)Q I?wCI,;i,;6q4yɮEBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 539.77 m.RhoN9ZhoN9 ProNav: ac range: 539.773560 m, nav range: 531.121277 m, bearing: 216.974836 deg, approach rate: -0.665742 m/s, LOS rate: 0.011280 deg/s, cmd heading: 204.794206 deg, new cmd heading: 204.806604 deg. Bh9HeadingCmd: 3.574550 target range: 539.773560 and range: 542.10 m.hld@h*h"h hg!f!f!f!d)d)d)jd)Zd-@ b@yZ[:=Z[:=Z9 @Z!X@B>B)CBXIB|BB =BBDB;Bl9EB.CB-CB–CB­ =B® =C6 ]d>]ݑC܁GBɢ' 9YٌA) %&i!)%YȽ!!i%CRC,/lɮ?A2 uY@2jg@2Yٱ2 :AHRS rotation from veh to nav: [[-0.869547,0.426941,0.248211],[-0.446417,-0.894465,-0.025368],[0.211185,-0.132864,0.968374]]2HTS? ^?ܿu ? ?i2 uY@I2^;2CYB|ByBIbDLVDLyRʨ=%VV=ٔVQ-V>9Z"?IZ"?=Z[DyZYcC^);E^>\Q 5bq4^{$5?Q 9fq4^')^{|BYdyf)Q If?^ xCI^;i^;^q4ynqBɮnBnEjh|FNOT Ignoring new targets: 539.77 m.RhI9ZhI9 ProNav: ac range: 539.773560 m, nav range: 530.870972 m, bearing: 216.979040 deg, approach rate: -0.655742 m/s, LOS rate: 0.011019 deg/s, cmd heading: 204.806610 deg, new cmd heading: 204.819228 deg. Bh9HeadingCmd: 3.574770 target range: 539.773560 and range: 542.10 m.h%d@h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5@Kp @E EE'E"E:*E[:VE'4ZEBEz checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278794 I,+)ɮ?A2$sY@2hg@2}\ٱ2e :AHRS rotation from veh to nav: [[-0.869213,0.424053,0.254260],[-0.446112,-0.894350,-0.033488],[0.213197,-0.142537,0.966556]]2H`#?E?`ܿ X%J?>¿?i2$sY@I28^;0YBS|ByB-IbDJ#VDJӀ3yR^'>%RK=ٔVۧQ-V>9TIT=V[DyVcCZ$EZ>\Q 5bq4^5?Q 9bq4^L*)^|BY`yf)Q If?^NxCI^(:i^I:^q4yhɮjBhjhx~FNOT Ignoring new targets: 539.77 m.RhH9ZhH9 ProNav: ac range: 539.773560 m, nav range: 530.608582 m, bearing: 216.983441 deg, approach rate: -0.653588 m/s, LOS rate: 0.010968 deg/s, cmd heading: 204.819232 deg, new cmd heading: 204.832441 deg. Bh9HeadingCmd: 3.575001 target range: 539.773560 and range: 542.10 m.hd@h*h"h! h!g!f!f)f)d1d1d1jdZd@ @ZZZZqX@-1Bɢ-:Ow)) -iQ)UνQQi]FB*CBIB}BB =BBDB;By9EI A I I O >&P,Cɮ?A2hsY@2ig@25^ٱ2 >AHRS rotation from veh to nav: [[-0.868794,0.421795,0.259394],[-0.445916,-0.894204,-0.039469],[0.215303,-0.149959,0.964965]]2H*??ܿRV5@?1ÿ?i2hsY@I2=_;0Y^g|By^9I ``bDjVDj!3yrMA=%rF=ٔrQ-r>9tIt=v[DyvcCz %8Ez>xQ 5q4z4?Q 9q4z-)z }BYy)Q I?zxCIz:iz:zq4yIBɮ+BEjh1=FNOT Ignoring new targets: 539.77 m.Rh=PH9Zh=PH9M ProNav: ac range: 539.773560 m, nav range: 530.339478 m, bearing: 216.987948 deg, approach rate: -0.653168 m/s, LOS rate: 0.010945 deg/s, cmd heading: 204.832442 deg, new cmd heading: 204.845970 deg. BhM`9UHeadingCmd: 3.575237 target range: 539.773560 and range: 542.10 m.h]d@hY*hY"hY hYgYfYfafadadadijdiZdm@ZZZZNX@@Bɢw|) %i!)%Tҽ!!i%;bHA5>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037339A I I Oe >GV,\ɮ?A@mZY@m3Pg@m`ٱmd AHRS rotation from veh to nav: [[-0.869032,0.419486,0.262326],[-0.444370,-0.894902,-0.041067],[0.217529,-0.152258,0.964105]]mH@??pܿ@`?3}ÿ?imZY@Im_;mCY|By^IyuMb?X9v?uC?uLu%0=ٔQ->9I=[Dy)dCVE>Q 5r44?Q 9r4g1)M}BY*0?Q E:y+Q I?xCI ;i* ;<r4y,BɮBEjhFNOT Ignoring new targets: 539.77 m.Rhi9Zhi9 ProNav: ac range: 539.773560 m, nav range: 530.031494 m, bearing: 216.993872 deg, approach rate: -0.663903 m/s, LOS rate: 0.012778 deg/s, cmd heading: 204.845966 deg, new cmd heading: 204.863748 deg. BhN :HeadingCmd: 3.575547 target range: 539.773560 and range: 542.10 m.ԡhd@h*h"h hgfffdddjdZd@Z=Z=ZB#@ZE@-TBɢ-m)1 5Di1)5nֽ11i5{*Ii񂿉v>Q @q=@ 4Q=)=I4QϽ}1F?8+?8ci}? >)/I=i4QϽT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A = E  E E 'E "E *E e:VE '4ZE a- @a- @a- @a- @A) I9 II O] >N],:vɮ?A>q*Y@>$ g@>bٱ>ܭ! FAHRS rotation from veh to nav: [[-0.869926,0.416244,0.264518],[-0.441613,-0.896220,-0.042053],[0.219562,-0.153398,0.963463]]>Hn??aCܿխ?`ÿ ?i>q*Y@I>׋_;>CYN|ByNIbDVVDV3y^>%bp=ٔbOȻQ-b?9`Id=f[DyfadCf Ef?hlQ 5rr4n4?Q 9rr4n 4)n}}BYpyr5+Q Iv?nyCIn:in:n,r4yz+Bɮz}Bx(DAT read: user:50> BDAT read: Tx time:00:21:59.2993 %$Ping request sent.%Bu-CBuIBu}BBu =BqBuDBu;Buw9EHeadingCmd: 3.575791 target range: 543.892517 and range: 546.30 m.hd@h*h"h hgfffdddjd`f@Zd@?ZZZZ@ cBɢ}I) i) ٽiJiU>9@ @@@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250571^A =Y A .A PExceeded connect timeout, disconnecting.I I O >c,ɮ?A,ɰ,JFX@Jf@J#dٱJ*' RAHRS rotation from veh to nav: [[-0.870916,0.411744,0.268278],[-0.438700,-0.897412,-0.046842],[0.221469,-0.158489,0.962202]]JH`Z?v+?ܿY?@\IĿ\?iJFX@IJY_;HYZ|ByZI `bp=bDfVDf02yn=%nI=ٔnQ-r>9r ?Ir ?=r[DyrdCvEv>xQ 5zr4z4?Q 9~r4zW7)z}BY|y~j+Q I?zdyCIzj;iz;zWr4y Bɮ B E%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 543.89 m.9RhE}9ZhE}9U ProNav: ac range: 543.892517 m, nav range: 530.814819 m, bearing: 216.899739 deg, approach rate: -0.702994 m/s, LOS rate: 0.013869 deg/s, cmd heading: 204.877753 deg, new cmd heading: 204.893658 deg. BhUI:]HeadingCmd: 3.576069 target range: 543.892517 and range: 546.30 m.h]Pd@hY*hY"hY hYgafafafadididijdiZdmL?ZZZZ@颥qBɢh-) Ai)۽顩i=Lԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754702cj,pɮ?AY%}ByIbD=VD=kyU=%UC=ٔUQ-]>9aIa=e[DyedCmEm>ԱqQ 5r4u4?Q 9r4u:)u}BYyQ I?uyCIu+BYB]FIB]~BB] =BYBYB];B]9E^A =A ؟AI! I9 9 OM >q,Jɮ?A>X@>̀f@>fٱ>PF FAHRS rotation from veh to nav: [[-0.873361,0.396967,0.282238],[-0.432726,-0.898359,-0.075492],[0.223583,-0.188063,0.956370]]>Hg?`/?DZۿ[nS_?tȿ`?i>X@I>\4_;>CY^d}BybIbDjVDj:2yrB!>%rR=ٔrQ-r>9v"?Iv"?=v\Dyv$eCvHEz>xQ 5~r4z4?Q 9r4z=)z+~BYy+Q I?zyCIze;izP;z;r4y ɮSBjh1=FNOT Ignoring new targets: 543.89 m.Rh=~9Zh=~9M ProNav: ac range: 543.892517 m, nav range: 530.279053 m, bearing: 216.910525 deg, approach rate: -0.676730 m/s, LOS rate: 0.013922 deg/s, cmd heading: 204.910183 deg, new cmd heading: 204.926030 deg. BhM:UHeadingCmd: 3.576634 target range: 543.892517 and range: 546.30 m.hUd@hQ*hY"hY hYgYfYfafadadadijdiZdm`?ZZZZ@额BɢM) i)Hf顡i;HNߝ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260154m9@q @q@u0@qAnManaging dock network, ignoring radio surface power off^AJ<E EE)E"E>:*E1]:VEFA4ZEBEM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933 4w,z9ɮ?ALL-%=6=ٔ="Q-=>9AIA=E\DyEneCEEE>IQ 5Ur4Me~4?Q 9]r4MA)M`~BY]8?Q E]:y]>(Q I]?MBzCIM:iMG:MOKr4yeBɮmBmEjhFNOT Ignoring new targets: 543.89 m.Rh89Zh89ԩ ProNav: ac range: 543.892517 m, nav range: 529.961365 m, bearing: 216.915064 deg, approach rate: -0.706770 m/s, LOS rate: 0.010103 deg/s, cmd heading: 204.926029 deg, new cmd heading: 204.939653 deg. Bh9HeadingCmd: 3.576872 target range: 543.892517 and range: 546.30 m.hwd@h*h"h hgfffdddAjdAZdM 0?Z>5=Z>5=ZI@Z+@额Bɢ֬p) Ji)iN4-/j; Һ{a},ɮ?A2.X@2q$f@2Ufٱ2Ɖ] NAHRS rotation from veh to nav: [[-0.875897,0.385654,0.289958],[-0.427850,-0.898601,-0.097267],[0.223045,-0.209254,0.952084]]2H@Y??aۿV渿`?@ʿxw?i2.X@I2Q_;2CYR}ByVIbD^ VD^f2yf=%fd=ٔj:Q-j>9hIh=j\DyneCnZEn>pQ 5vr4rk4?Q 9vr4zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863rE)r~BY|y~|(Q I~?rzCIrhg;irBh;rWr4yBɮ IB Ejh)5FNOT Ignoring new targets: 543.89 m.Rh5=9Zh5=9E ProNav: ac range: 543.892517 m, nav range: 529.708435 m, bearing: 216.918787 deg, approach rate: -0.703654 m/s, LOS rate: 0.010364 deg/s, cmd heading: 204.939648 deg, new cmd heading: 204.950825 deg. BhE9MHeadingCmd: 3.577067 target range: 543.892517 and range: 546.30 m.hMd@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde A@ZZZZ+@颕Bɢn탾) di)@顙iRP;BABEIBE~BBE =BABABE;BE{9EE9@A @I@M5@I)^Ae<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267907Y A I I O >B,Hʮ?A 6W@6e@6R6eٱ6{_ >AHRS rotation from veh to nav: [[-0.877621,0.382138,0.289399],[-0.424863,-0.899667,-0.100455],[0.221975,-0.211116,0.951923]]6H`xt?? 0ۿ f@i?˿&v?i6W@I6_;6CYF ~ByF;IbDNVDN 83yVN>%VM=ٔV4;Q-V>9XIX=Z\DyZeC^[E^>`Q 5fr4bV4?Q 9fr4bH)b~BYdyf(Q If?bzCIb:ib:ber4ylɮn B9uB*** querying acoustic contact ***iq iqE EE)E"E:*Ega:VEFA4ZEBEI-m,׽+ʮ?Aɰ;FBW@Fe@F&dٱFZP VAHRS rotation from veh to nav: [[-0.879154,0.380947,0.286300],[-0.422254,-0.901221,-0.097480],[0.220885,-0.206591,0.953168]]FH`"oa?R?4ۿ`uE?qʿ[?iFBW@IF ^;FCYbJ~BybbIj=jp= ln=bDrVDr:y~m>%~E=ٔ0;Q->9  ?I  ?= \Dy +fCE>Q 5%r4@4?Q 9%r4{L)~BY!y%(Q I%?{CI:i:@tr4y5eBɮ5B5EjhFNOT Ignoring new targets: 543.89 m.RhM9ZhM9  ProNav: ac range: 543.892517 m, nav range: 529.133667 m, bearing: 216.927584 deg, approach rate: -0.727086 m/s, LOS rate: 0.011249 deg/s, cmd heading: 204.963595 deg, new cmd heading: 204.977222 deg. Bh  95HeadingCmd: 3.577528 target range: 543.892517 and range: 546.30 m.h56d@h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdM@ZZZZ*@тBɢv|) ,i)]!idRBBIB/BBBBBk;BY9EB-CB,CBǔCBǮ =Bǯ =C :6GjA^A- <A5 hAzA5 hA= 9E jAYM BA! I! I1 OE >T,dEʮ?A2W@2be@24'cٱ2wP :AHRS rotation from veh to nav: [[-0.880631,0.381123,0.281486],[-0.419623,-0.903243,-0.089829],[0.220014,-0.197224,0.955351]]2H .Sd? ? ڿ]n)? >ɿ@=?i2W@I2x^;2CYBs~ByB{IbDN VDN:2yVl=%VP=ٔV;Q-V>9XIX=Z\DyZjfCZE^>`Q 5fr4b,4?Q 9fr4bP)bBYdyf)Q If?b`{CIbP:ib:br4ynHBɮnBnE|jhFNOT Ignoring new targets: 543.89 m.Rh .V9Zh .V9 ProNav: ac range: 543.892517 m, nav range: 528.856689 m, bearing: 216.931946 deg, approach rate: -0.742705 m/s, LOS rate: 0.011703 deg/s, cmd heading: 204.977228 deg, new cmd heading: 204.990322 deg. Bh:HeadingCmd: 3.577756 target range: 543.892517 and range: 546.30 m.hd@h*h"h hgfffdddjdZd @Z9Z9Z9Z=+@MBɢM n~)I MiI)U^}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872QyiS,_ʮ?AjW@e`e@-bٱG -AHRS rotation from veh to nav: [[-0.881689,0.381610,0.277484],[-0.417687,-0.904806,-0.082842],[0.219456,-0.188943,0.957152]]H6`Ll?@M?cڿ`,`%5#?F/ȿ?ijW@I^;CY=~By=IQa@a a@a a@a a@a yK7A?:v?X9v? B?T<}= )Mb@Mb@Mb@Ii‰9B )5BYz7BbDeVDe\3yu =%u0=ٔ}^:Q-}>9yI=\DyfC E>Q 5r44?Q 9r4.T)MBQ A+:YQ En:y*)Q I?{CIz:i>r4yɮ Bjh  FNOT Ignoring new targets: 543.89 m.RhK9ZhK9E ProNav: ac range: 543.892517 m, nav range: 528.528503 m, bearing: 216.937184 deg, approach rate: -0.694902 m/s, LOS rate: 0.011097 deg/s, cmd heading: 204.990315 deg, new cmd heading: 205.006037 deg. BhM9MHeadingCmd: 3.578030 target range: 543.892517 and range: 546.30 m.hMsd@hI*hQ"hQ hQgQfQfYfYdYdYdjdZd@)@mBɢmJq)i mgiq)uևqqiuTi>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7795129@ @!@%74@!ԡ^A5 G8<I I D =D E  E E *E "E m:*E ga:VE (N4ZE a @a @a @a @O > `,Hyʮ?A2LW@2Ae@2HTbٱ2NB BAHRS rotation from veh to nav: [[-0.882514,0.381218,0.275394],[-0.416062,-0.905869,-0.079329],[0.219229,-0.184590,0.958053]]2H=e?@?@àڿN?@ǿ@^?i2LW@I2^;2Czchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.032578Ye~ByeIB>B,CB@IBBB =BBDB[;BA9EAAU@AU@AbD]VD] 83y'#>%E=ٔ:Q->9I=\DyfCE>Q 5%r4O3?Q 9%r4W)~BQ A% :Y!Q E-@:y-C)Q I-?|CIC:ic?r4yU!BɮUU BUEjhFNOT Ignoring new targets: 543.89 m.RhP9ZhP9 ProNav: ac range: 543.892517 m, nav range: 528.231934 m, bearing: 216.941975 deg, approach rate: -0.705539 m/s, LOS rate: 0.011404 deg/s, cmd heading: 205.006038 deg, new cmd heading: 205.020419 deg. Bhq9HeadingCmd: 3.578281 target range: 543.892517 and range: 546.30 m.he@h*h"h hgff)f)d)d)d1jd1Zd5@颽BɢhYy) i)   i U&I@¸2=\@ 4QO=) >I4QOSfyn?"7?l&OD? >)22I >i4QO T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A X<A >A >I I O >Y ,U.ʮ?A2>W@2<4e@29bٱ2A :AHRS rotation from veh to nav: [[-0.882878,0.380731,0.274899],[-0.415341,-0.906248,-0.078787],[0.219130,-0.183736,0.958239]]2H @]??ڿ@@a+v ?ǿ?i2>W@I2^;2CY^By^IbDf VDf2yn>%nq=ٔr9Q-r?9pIp=v\Dyv-gCvz"Ev?xQ 5~r4z3?Q 9~r4zZ)zBQ A9YQ E:yP)Q I?z>|CIz ;izT?zr4y Bɮ  B Eii8ʮ?AJiDRiDjin@i{dAɀ@tF(R@pvv;@ri)ߌ鼫?6 ?|rQ?Zi >bi4QOi4*|q{DM2rBQ7V`@ziƀӍ-)z]?2i:i"iB`?*i>DBiyBCi0?i]iiDip@bEFA4jEmF4rES}/E} E}EyEy"E}:*E}1]:VEyZEyBE} BDAT read: Tx time:00:22:03.7993 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249622Թ Ȼ,ʮ?AJx:W@J+0e@J/bٱJA RAHRS rotation from veh to nav: [[-0.882989,0.380610,0.274710],[-0.415125,-0.906367,-0.078551],[0.219091,-0.183399,0.958313]]JHsA [?ڔ? iڿ , ?yǿ ?iJx:W@IJܗ^;JCYZDByZIbDb VDbf2yjκ=%jK=ٔn8Q-n>9lIp=r\DyrngCr{!Er>tQ 5zr4vU3?Q 9zr4v^)vBQ A~9YQ E9y T)Q I ?v|CIvP;iv]?vr4y)ɮ- B)MB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 542.82 m.Rh].9Zh].9m ProNav: ac range: 542.817871 m, nav range: 519.629822 m, bearing: 214.964448 deg, approach rate: -0.753252 m/s, LOS rate: 0.009544 deg/s, cmd heading: 205.032566 deg, new cmd heading: 205.043422 deg. Bhm9uHeadingCmd: 3.578683 target range: 542.817871 and range: 545.20 m.h$ e@h*h"h hgfffdddjdZd ?ԑ颕Bɢ) ޿i)ѵ顙iJXB*CBIBBB =BBDB=;B9E^A r;II O > Ӣ,ʮ?A2*NW@2Ce@2 bٱ2u> :AHRS rotation from veh to nav: [[-0.882510,0.382565,0.273533],[-0.416196,-0.906138,-0.075459],[0.218990,-0.180437,0.958898]]2H={?@?`ڿ MQ`?ǿ`K?i2*NW@I2C^;2CYBByB#IIF<)F=J=J=bDNVDN02yV>%VM=ٔVׇ9Q-V>9XIX=Z]DyZgC^E;E^>`Q 5fr4bI3?Q 9fr4bb)bBQ Af9YdQ Ef9yf=)Q Ij?b|CIb:ibl@bߩr4ynBɮn$ BnEjhFNOT Ignoring new targets: 542.82 m.Rh19Zh19 ProNav: ac range: 542.817871 m, nav range: 519.347412 m, bearing: 214.967983 deg, approach rate: -0.685805 m/s, LOS rate: 0.008589 deg/s, cmd heading: 205.043426 deg, new cmd heading: 205.054037 deg. Bh9HeadingCmd: 3.578868 target range: 542.817871 and range: 545.20 m.h- e@h*h"h hgfffdddjdZd?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753563颕-Bɢy) ڿi)lH顙iZ̷,ʮ?A6jW@6`e@6/bٱ66 BAHRS rotation from veh to nav: [[-0.881761,0.386161,0.270883],[-0.417728,-0.906010,-0.068184],[0.219093,-0.173277,0.960194]]6H b7ݶ?%V? ڿ @t`; ?`-ƿ?i6jW@I6^;6CYzByzAIa}a} a}a} a}a} a}a} y}~jt?+I +?}$?}}99I=]DygC-;E>Q 5r43?Q 9r4Tf)+BQ AT:Y)9?Q E:y[%Q I?}CI{;i;r4yBɮ BEjhFNOT Ignoring new targets: 542.82 m.RhZ8ZhZ8 ProNav: ac range: 542.817871 m, nav range: 519.043396 m, bearing: 214.969743 deg, approach rate: -0.727738 m/s, LOS rate: 0.004217 deg/s, cmd heading: 205.054040 deg, new cmd heading: 205.059326 deg. Bh999HeadingCmd: 3.578960 target range: 542.817871 and range: 545.20 m.h% e@h!*h!"h! h!g!f!f)f)d)d)d1jdZd@?Z.>Z.>Z ?ZX@,ʮ?A>$W@>ye@>Jb@ٱ>, JAHRS rotation from veh to nav: [[-0.881093,0.390149,0.267319],[-0.419081,-0.906032,-0.058965],[0.219195,-0.163982,0.961802]]>H`11??:ڿ6@0?_Ŀ`?i>$W@I>^;>CYNByRpInchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512108bDrVDr1yzI>%zW=ٔzݏQ-~>9~"?I~"?=]Dy1hC;E> Q 5r4 3?Q 9r4 j) QBYyI%Q I? c}CI :i j; nr4y!ɮ%Z B!BU>BU+CBUIBU]BBQBQBUDBU;BU8EjhIMFNOT Ignoring new targets: 542.82 m.RhuC8ZhuC8 ProNav: ac range: 542.817871 m, nav range: 518.778137 m, bearing: 214.971249 deg, approach rate: -0.641253 m/s, LOS rate: 0.003641 deg/s, cmd heading: 205.059327 deg, new cmd heading: 205.063845 deg. Bh9HeadingCmd: 3.579039 target range: 542.817871 and range: 545.20 m.he@h*h"h hgfffdddjdZdE?ZZZZP@5KBɢ5[x)9 =ҿi9)=P!99i=L\IJ,mˮ?A>W@>qe@>labٱ>y% ZAHRS rotation from veh to nav: [[-0.880292,0.393763,0.264646],[-0.420718,-0.905709,-0.051843],[0.219278,-0.156979,0.962951]]>H Y+i3? ? ڿ2 P?Ŀ~?i>W@I>^;%zJ=ٔz^Q-z>9|I|=~]Dy~shC;E>Q 5 r4t3?Q 9r4m)xBYy0%Q I?}CI:iR:r4yBɮ% B%EjhAMFNOT Ignoring new targets: 542.82 m.RhM!8ZhM!8Ee EeEe'Ea"Ee:*Eec:VEe'4ZEaBEe6a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265945˲,.ˮ?AJW@Je@JaٱJ$ RAHRS rotation from veh to nav: [[-0.878816,0.397423,0.264078],[-0.424115,-0.904191,-0.050639],[0.218652,-0.156502,0.963171]]JHBbo?@?@$ۿ`"b ?BĿ@L?iJW@IJ)_;JCYZ7ByZIbDfVDf1yjl=%nJ=ٔn1:Q-n>9pIp=r]DyrhCv<Ev>tQ 5zr4v^p3?Q 9~r4vq)vBY|y~$Q I~?v}CIv7;ivv;vr4y Bɮ  B E!-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 542.82 m.Rh=ց8ZhEց8M ProNav: ac range: 542.817871 m, nav range: 518.215210 m, bearing: 214.974236 deg, approach rate: -0.694739 m/s, LOS rate: 0.003547 deg/s, cmd heading: 205.068507 deg, new cmd heading: 205.072822 deg. BhU9UHeadingCmd: 3.579196 target range: 542.817871 and range: 545.20 m.hUe@hY*hY"hY hYgYfYfafadadadijdiZdm@Z Z Z Z @]hBɢ]u)a eM̿ia)e|aaie_^:*E]ga:VE]c44ZEYae@ae@ae@ae@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517331A!A%?AB5>B5*CB54IB5BB5 =B1B5DB5ւ;B58Eԙ^A4|E<I I! O5 > Ѳ,l$Hˮ?AB=W@Be@Bj[aٱB $ NAHRS rotation from veh to nav: [[-0.878437,0.398660,0.263475],[-0.425080,-0.903789,-0.049724],[0.218303,-0.155677,0.963384]]BH@'??4ۿ @eu[?:ÿ` ?iB=W@IBo>_;BCYVRByVIbD^ VD^2yf >%fM=ٔfj:Q-j>9hIh=j]DyjhCn.;En>pQ 5vr4r\3?Q 9vr4ru)rǀBYtyv$Q Iv?r:~CIrR:ir(:rr4y~kBɮu2 BuEjhFNOT Ignoring new targets: 542.82 m.Rh^v8Zh^v8 ProNav: ac range: 542.817871 m, nav range: 517.937317 m, bearing: 214.975625 deg, approach rate: -0.673184 m/s, LOS rate: 0.003366 deg/s, cmd heading: 205.072823 deg, new cmd heading: 205.076991 deg. Bh9ԹHeadingCmd: 3.579269 target range: 542.817871 and range: 545.20 m.he@h*h"h hgfffdddjdZd`@ZZZZ)@vBɢw)  ɿi )   i _i)M>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7726839@ @@4@E} E}E}&Ey"E}:*E}T:VE}4ZEyBEya2E}7A /ز,aˮ?ABX@BHe@B؊aٱBU! NAHRS rotation from veh to nav: [[-0.877951,0.400372,0.262498],[-0.425992,-0.903521,-0.046689],[0.218480,-0.152813,0.963802]]BH, ??tCۿ秿 $?^ÿw?iBX@IBjh_;BCYRiByVIIZ;>)Z49I=]Dy=iC;E>Q 5r4AG3?Q 9r4y)BYc1?Q E:yE(Q I?~CI;i;r4yEBɮ BEjh)-FNOT Ignoring new targets: 542.82 m.Rh59Zh59E ProNav: ac range: 542.817871 m, nav range: 517.648499 m, bearing: 214.978769 deg, approach rate: -0.682708 m/s, LOS rate: 0.007437 deg/s, cmd heading: 205.076990 deg, new cmd heading: 205.086428 deg. BhER9MHeadingCmd: 3.579433 target range: 542.817871 and range: 545.20 m.hMpe@hI*hI"hI hIgQfQfYfYdYdYdYjdaZdew @Z}=Z}=Zn@Z d@颕Bɢlt) Iǿi)P顙i0`D <D <E  E E (E "E :*E X:VE c44ZE a @a @a @a @ԙ D޲,{ˮ?A *d>*CZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527317Bv>Bv(CBvIBvBBv =BtBvDBvł;Bv8EB*CB*CBB =B =CP 6)Ai 9YAyG?fAqW@}e@ bٱp AHRS rotation from veh to nav: [[-0.878065,0.400248,0.262303],[-0.425267,-0.903988,-0.044195],[0.219430,-0.150355,0.963973]]H @??7ۿxĠD?@>ÿ?iW@I^;CYByIbDVD2y%>%9=ٔQ->9I=]DyiCպE> Q 5s4 13?Q 9s4 ^}) !BYyS(Q I? ~CI ;i ; Os4y!ɮ%p B!jhAMFNOT Ignoring new targets: 542.82 m.RhU79ZhU79e ProNav: ac range: 542.817871 m, nav range: 517.357178 m, bearing: 214.981972 deg, approach rate: -0.661586 m/s, LOS rate: 0.007279 deg/s, cmd heading: 205.086429 deg, new cmd heading: 205.096045 deg. Bheܟ9mHeadingCmd: 3.579601 target range: 542.817871 and range: 545.20 m.hm0e@hi*hi"hi higqfqfqfqdydydyjdyZd}d@ZZZZ_@Bɢ op) /¿i)A iDa Z1,Ǖˮ?A>W@>e@>cٱ>)r! FAHRS rotation from veh to nav: [[-0.878240,0.398439,0.264463],[-0.424304,-0.904320,-0.046604],[0.220590,-0.153142,0.963269]]>H@?@?'ۿ/nܧ NW@I> _;%^u=ٔb?jQ-b?9`Id=f]DyfiCfH>Ef?hQ 5ns4j!3?Q 9ns4j6)jCBYpyr_(Q Ir?jCIj:ij:js4yv BɮvBvEE= E=E=+E9"E=:*E=ga:VE= [4ZE9BE=.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281793Z,ˮ?A 6W@6e@6dٱ6]~' BAHRS rotation from veh to nav: [[-0.878196,0.396393,0.267665],[-0.423884,-0.904244,-0.051621],[0.221573,-0.158792,0.962128]]6H`.@^?n!? ۿn\?LSĿ?i6W@I61_;6CYJByJPI LLbDRVDR3yZ~=%^K=ٔ^#Q-^>9`I`=b]DybiCb pEf>dQ 55s4f 3?Q 95s4f)flBY9y=^(Q I=?fLCIfdBBIB)BB =BBB;B8E^Amu<IIO>ԡ !?,Dlˮ?A2W@2xe@2z/fٱ2- :AHRS rotation from veh to nav: [[-0.878082,0.394146,0.271332],[-0.423423,-0.904144,-0.056885],[0.222902,-0.164838,0.960803]]2H ?@9?`]? \ۿ` ?@iſ?i2W@I2_;2C9xIx=z^Dyz?jCzoEz>|Q 5s4~2?Q 9 s4~#)~BY y \(Q I ?~CI~:i~I:~V7s4yɮSBjh9EFNOT Ignoring new targets: 542.82 m.RhE( 9ZhE( 9U ProNav: ac range: 542.817871 m, nav range: 516.601379 m, bearing: 214.990355 deg, approach rate: -0.680304 m/s, LOS rate: 0.007549 deg/s, cmd heading: 205.112206 deg, new cmd heading: 205.121203 deg. BhUɥ9]HeadingCmd: 3.580040 target range: 542.817871 and range: 545.20 m.h]be@ha*ha"ha hagafafifidididqjdqZduV@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785522ZZZZ;@颕Bɢr) i)*? 顡ibd4rE 0E] E]E])EY"E]>:*E]R:VE]FA4ZEYBE]h,Eˮ?A2W@27e@2gٱ2<5 :AHRS rotation from veh to nav: [[-0.878031,0.391295,0.275589],[-0.422787,-0.904004,-0.063458],[0.224302,-0.172234,0.959179]]2H` ? >?@ۿ>? ƿ?i2W@I2^;2CYBByBIlyEʡE? rh/$?E=?EC E%mB=ٔm_Q-m>9qIq=u^DyujC}E}>Q 5s42?Q 9s4)BY/?Q E:y*Q I?CIL:i:Fs4yBɮBEjhFNOT Ignoring new targets: 542.82 m.Rh39Zh39 ProNav: ac range: 542.817871 m, nav range: 516.323669 m, bearing: 214.994481 deg, approach rate: -0.660301 m/s, LOS rate: 0.009815 deg/s, cmd heading: 205.121209 deg, new cmd heading: 205.133593 deg. Bh9HeadingCmd: 3.580257 target range: 542.817871 and range: 545.20 m.h"e@h*h"h hgfffdddjdZda@ZG=ZG=Z5@Z@-̓Bɢ-u)) -zi1)5b11i5eEm  Em Em +Ei "Em :*Em L_:VEm [4ZEi au @au @au @au @y ,g'ˮ?ABF>BF*CBF.IBFkBBF =BDBFDBF;BF8E^checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548240jW@jde@jtiٱj+D vAHRS rotation from veh to nav: [[-0.877593,0.387307,0.282530],[-0.422786,-0.903101,-0.075236],[0.226014,-0.185476,0.956303]]jH@>??ۿ@4B?ǿ ?ijW@Ij _;jCY~By~II<)<  R=bD VD 3y_=%%O=ٔ%Q-%>9)I)=-^Dy-jC-:E5>99Q 5Es4=92?Q 9Es4=)=ہBYAyMx*Q IM?=CI=:i=:=Ss4yQɮUBQjhFNOT Ignoring new targets: 542.82 m.RhE,9ZhE,9  ProNav: ac range: 542.817871 m, nav range: 516.062500 m, bearing: 214.998353 deg, approach rate: -0.634655 m/s, LOS rate: 0.009413 deg/s, cmd heading: 205.133599 deg, new cmd heading: 205.145220 deg. Bh59=HeadingCmd: 3.580460 target range: 542.817871 and range: 545.20 m.h=@&e@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMk@ZZZZ@颽܃BɢnYr) >i)i+eԹ z, ̮?A2>W@2e@2W@I2^;2CYB&ByBIbDJVDJ2yR >%VS=ٔV撻Q-V>9XIX=Z^DyZkCZ ;EZ>\Q 5bs4^2?Q 9fs4^א)^BYdyfh*Q If?^/CI^:i\^fas4yjBɮj(BnEjhFNOT Ignoring new targets: 542.82 m.Rh 99Zh 99 ProNav: ac range: 542.817871 m, nav range: 515.806641 m, bearing: 215.002121 deg, approach rate: -0.689224 m/s, LOS rate: 0.010157 deg/s, cmd heading: 205.145223 deg, new cmd heading: 205.156535 deg. Ee EeEe*Ea"Ee:*EeR:VEe(N4ZEaBEe.  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305382Ф ,o0̮?A2W@2ye@2Imٱ2QoO :AHRS rotation from veh to nav: [[-0.876440,0.384504,0.289843],[-0.423357,-0.902114,-0.083427],[0.229393,-0.195825,0.953431]]2H ? Ȍ? Hۿ@t[ \?@ɿ`?i2W@I2B_;2CYB4ByBIbDJ VDJf2yR=%RJ=ٔVtQ-V>9TIT=Z^DyZEkCZ :EZ>\Q 5bs4^ة2?Q 9bs4^)^BYdyfc*Q If?^RCI^;i^:^os4yjBɮjBjEzB*** querying acoustic contact ***ix ixjh|FNOT Ignoring new targets: 542.82 m.Rhe19Zhe19 ProNav: ac range: 542.817871 m, nav range: 515.540405 m, bearing: 215.006038 deg, approach rate: -0.658433 m/s, LOS rate: 0.009693 deg/s, cmd heading: 205.156534 deg, new cmd heading: 205.168292 deg. Bh9HeadingCmd: 3.580862 target range: 542.817871 and range: 545.20 m.h,e@h*h"h hgfffdddjdZd@@ZZZZx@%Bɢ%t)! -հi))-))i-yf @  @ @ 1@ Em EmEm4Ei"Emm:*EmV:VEm4ZEia}@a}@a}@a}@!AAAAB>BBIBBB =BBB܂;B8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.557447^Ajby ,J̮?A2W@2_e@2Tmٱ2O :AHRS rotation from veh to nav: [[-0.876076,0.384598,0.290819],[-0.423636,-0.901992,-0.083325],[0.230269,-0.196201,0.953143]]2HB?`Ɯ?ۿ@T`wy? ɿ%?i2W@I2 ^;2CYBWByBI DDDFAbDN VDN2yv**>%vF=ٔzQ-z>9xI|=~^Dy~kC~l:E>Q 5 s4C2?Q 9 s4q)CBYy\*Q I?uCI:i:}s4yɮ%|B!jhAMFNOT Ignoring new targets: 542.82 m.RhM19ZhM19] ProNav: ac range: 542.817871 m, nav range: 515.267517 m, bearing: 215.010045 deg, approach rate: -0.660706 m/s, LOS rate: 0.009706 deg/s, cmd heading: 205.168296 deg, new cmd heading: 205.180322 deg. Bh]'9eHeadingCmd: 3.581072 target range: 542.817871 and range: 545.20 m.heI0e@ha*hi"hi higififqfqdqdqdqjdyZd}(@ZZZZ@颭Bɢ4>t) _i)顱i{fA]>E} E}E}&Ey"E}:*E}X:VE}4ZEyBE}ԹE checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071871 ,d̮?A2W@2e@2\nٱ2ЩM :AHRS rotation from veh to nav: [[-0.875664,0.385589,0.290747],[-0.424045,-0.902024,-0.080860],[0.231082,-0.194096,0.953377]]2H p}??#ۿ b>@?#ȿ?i2W@I2^;2CY^qByb5Iy}X9v?S㥫MbP}?}/]}y y9}&1?/$?:vY}0?y},=}Լ}B}2B }-B)yyY}fBbD VD2yN=%?=ٔ"Q->9I=^DykC:E>Q 5s42?Q 9s4#)^BYX1?Q E:y(Q I?CI*:iU:s4ypBɮBEjhFNOT Ignoring new targets: 542.82 m.Rhj9Zhj9 ProNav: ac range: 542.817871 m, nav range: 514.978149 m, bearing: 215.013510 deg, approach rate: -0.676972 m/s, LOS rate: 0.008110 deg/s, cmd heading: 205.180317 deg, new cmd heading: 205.190716 deg. Bh9HeadingCmd: 3.581254 target range: 542.817871 and range: 545.20 m.hB3e@h*h"h! h!g!f!f)f)d)d)d)jd1Zd5C@ZU>ZU>ZU/,3?ZUE@eBɢeSo)i m}ii)miiimf9 `,r~̮?AB>B+CBIBBB =BBB;B8EV"W@Ve@VoٱV F bAHRS rotation from veh to nav: [[-0.875563,0.387131,0.288996],[-0.423682,-0.902758,-0.074310],[0.232126,-0.187505,0.954442]]VH ?~?@ۿd@M?-ȿɊ?iV"W@IVs^;TYfByj[Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.573576bDvVDv02y~B>%~U=ٔ`7Q->9I = ^Dy  lC gFE >Q 5s4l2?Q 9s4s)wBY!y%(Q I%?CIR:i:Gs4y-KBɮ-xB-EjhQUFNOT Ignoring new targets: 542.82 m.Rh]9Zh]9m ProNav: ac range: 542.817871 m, nav range: 514.718811 m, bearing: 215.016616 deg, approach rate: -0.677239 m/s, LOS rate: 0.008117 deg/s, cmd heading: 205.190713 deg, new cmd heading: 205.200037 deg. BhmB9uHeadingCmd: 3.581416 target range: 542.817871 and range: 545.20 m.hu5e@hq*hq"hy hygyfyfyfdddjdZd@f@ZZZZS@颽 Bɢs) i)i,f%,B̮?Aɰ 6wW@6*e@6%fN=ٔfQ-f>9hIh=j^DyjMlCjPEn>lQ 5rs4nX2?Q 9vs4nߡ)nBYtyv(Q Iv?nހCIn=:in:n#s4yxɮ~CB|jh%FNOT Ignoring new targets: 542.82 m.Rh%9Zh%95 ProNav: ac range: 542.817871 m, nav range: 514.450378 m, bearing: 215.019862 deg, approach rate: -0.676760 m/s, LOS rate: 0.008186 deg/s, cmd heading: 205.200043 deg, new cmd heading: 205.209784 deg. Bh5ɳ9E EE(E"E:*EVL:VEc44ZEBE{ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329445 ,,@̮?A2W@2e@2Eqٱ2$84 >AHRS rotation from veh to nav: [[-0.876367,0.388643,0.284494],[-0.421289,-0.904826,-0.061688],[0.233443,-0.173916,0.956691]]2H3 `?'5?eڿU@x?Bƿ`6?i2W@I2^;2CYFƁByFIbDR VDR2yZ >%ZI=ٔZQ-Z>9\I\=^^Dy^lCbaSEb>`Q 5js4b D2?Q 9js4ba)bBYhyj(Q Ij?bCIb;ib:b_s4yr'BɮrBrE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 542.82 m.Rh9Zh9% ProNav: ac range: 542.817871 m, nav range: 514.174866 m, bearing: 215.023227 deg, approach rate: -0.675412 m/s, LOS rate: 0.008254 deg/s, cmd heading: 205.209782 deg, new cmd heading: 205.219884 deg. Bh%F9-HeadingCmd: 3.581763 target range: 542.817871 and range: 545.20 m.h-;e@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdEO!@ZaZaZaZea@;BɢG,p) 6i)(i>fB)CB. IB;BB =BBDB;Bt8EBBBBů =BCI6-|9)Y-gAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.581309^ANJN< A) I9 II OU >m2,:̮?A2ȱW@2{e@2qٱ25 :AHRS rotation from veh to nav: [[-0.876883,0.387974,0.283818],[-0.420078,-0.905497,-0.060073],[0.233690,-0.171903,0.956994]]2H`l ?*?ڿ?ƿಟ?i2ȱW@I2=^;0YBByBIbDJVDJF3lyr >%rH=ٔv"Q-v>9tIt=v_DyvlCzYEz>|Q 5s4~/2?Q 9s4~㨯)~ǂBYy )Q I ?~%CI~:i~:~s4yBɮ?BEjh1=FNOT Ignoring new targets: 542.82 m.RhEr9ZhEr9U ProNav: ac range: 542.817871 m, nav range: 513.898743 m, bearing: 215.026641 deg, approach rate: -0.677701 m/s, LOS rate: 0.008385 deg/s, cmd heading: 205.219877 deg, new cmd heading: 205.230126 deg. BhU#9]HeadingCmd: 3.581941 target range: 542.817871 and range: 545.20 m.h]>e@hY*hY"hY hYgafafafadididijdiZdm`"@ZZZZ[@颥HBɢ8n) Fi)顩iTfe@II)]=]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.838295U9@Q @Y@Y@Y 9^Au2D<E EE+E"E:*ER:VE [4ZEBEa 9,+̮?A2W@2e@2eqٱ2*O6 :AHRS rotation from veh to nav: [[-0.877089,0.387238,0.284187],[-0.419466,-0.905760,-0.060397],[0.234017,-0.172180,0.956865]]2H@@?0?ڿL쮿`F? ƿ?i2W@I2^;2CYRByRI TVAXZA9yME?I +MbP?M&?M94M:I I9M"~?+?9I=_DymC!źE> Q 5s4 2?Q 9s4 ) BY5?Q E:y%Q I? LCI ;i  ; s4y!ɮ% B!jhIMFNOT Ignoring new targets: 542.82 m.RhU8ZhU8e ProNav: ac range: 542.817871 m, nav range: 513.595337 m, bearing: 215.028556 deg, approach rate: -0.691293 m/s, LOS rate: 0.004365 deg/s, cmd heading: 205.230123 deg, new cmd heading: 205.235870 deg. Bhe?9mHeadingCmd: 3.582042 target range: 542.817871 and range: 545.20 m.hm,@e@hi*hi"hi higifqfqfqdydydyjdyZd#@Z=Z=Za?Zm@WBɢV`i) Ei),ifE  E E E "E :*E X:VE ZE a @a @a @a @B >B B IB BB =B B DB ;B V8E>?,k̮?A2(W@2ېe@2c6rٱ2b_5 :AHRS rotation from veh to nav: [[-0.877322,0.386794,0.284073],[-0.418800,-0.906118,-0.059637],[0.234336,-0.171291,0.956946]]2H:??.? ڿ@@͈?`ſM?i2(W@I2c^;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.593464Y5By5 IbDEVDE3yU>%UL=ٔ]VQ-]>9YIa=e_DyeXmCe)Ee>iQ 5us4m2?Q 9us4mȰ)mBYyy}%Q I}?mnCIm;im;mbs4yBɮBEԙjhFNOT Ignoring new targets: 542.82 m.Rh8Zh8 ProNav: ac range: 542.817871 m, nav range: 513.329712 m, bearing: 215.030254 deg, approach rate: -0.690839 m/s, LOS rate: 0.004418 deg/s, cmd heading: 205.235874 deg, new cmd heading: 205.240970 deg. BhB9HeadingCmd: 3.582131 target range: 542.817871 and range: 545.20 m.hAe@h*h"h hgfffdddjdZdk#@ZZZZi@}cBɢ}k}m)y }ɑiy)顁iae &F,ͮ?A2W@2}e@2+rٱ2T4 :AHRS rotation from veh to nav: [[-0.877737,0.385964,0.283918],[-0.417734,-0.906658,-0.058899],[0.234684,-0.170300,0.957038]]2Hk?+?&ڿ`X@ ( ?@gſ ?i2W@I2n[^;2CYB=ByB0 IbDJVDJ:2yR~*>%RV=ٔVuQ-V>9TIT=V_DyVmCZIEZ>\Q 5bs4^1?Q 9bs4^n)^BY`yf%Q If?^CI^;i^ :^s4yhɮjWBhjh|~FNOT Ignoring new targets: 542.82 m.Rh8Zh8 ProNav: ac range: 542.817871 m, nav range: 513.066101 m, bearing: 215.031974 deg, approach rate: -0.692745 m/s, LOS rate: 0.004523 deg/s, cmd heading: 205.240969 deg, new cmd heading: 205.246133 deg. BhF9HeadingCmd: 3.582221 target range: 542.817871 and range: 545.20 m.hCe@h*h"h hgfffddd jd Zd $@bET4jE [4rE#1EU EUEU-EQ"EUm:*EUL_:VEUt4ZEQBEUXi>Աy } < 2Acoustic response timeout =QL,3ͮ?A2qW@2fe@2bsٱ2[46 :AHRS rotation from veh to nav: [[-0.878151,0.384058,0.285221],[-0.416431,-0.907143,-0.060634],[0.235449,-0.172021,0.956542]]2Hf?@A?ΦڿQl 3#? ƿ?i2qW@I2$^;2CYNOByRG IIVR=)V=V=V=bDZVDZ2yv˯=%vF=ٔv Q-v>9xIx=z_DyzmCz8]E~>|Q 5s4~J1?Q 9 s4~`)~>BY y %Q I ?~CI~:i~:~$s4yBɮBE5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 542.82 m.RhMU8ZhMU8] ProNav: ac range: 542.817871 m, nav range: 512.780518 m, bearing: 215.033886 deg, approach rate: -0.690721 m/s, LOS rate: 0.004626 deg/s, cmd heading: 205.246133 deg, new cmd heading: 205.251871 deg. Bh]2K9eHeadingCmd: 3.582321 target range: 542.817871 and range: 545.20 m.heDe@ha*ha"ha hagifififidqdqdqjdqZd'd%@Z1Z1Z1Z5Q@E~BɢMj)I MiI)MQqiudB+CB IBĂBB =BBDB~;BY8EIaIqO}Y>2Acoustic response timeout 1 8S,Mͮ?A2,jW@2_e@2]jtٱ2; :AHRS rotation from veh to nav: [[-0.878112,0.382010,0.288075],[-0.415958,-0.907050,-0.065107],[0.236427,-0.176998,0.955392]]2H~r?o?ڿ`ت=C?ƿ ?i2,jW@I2}^;2CYBmByBl IbDHVDHyRb>%RO=ٔV&Q-V>9TIT=Z_DyZnCZEZ>\Q 5bt4^1?Q 9bt4^$)^[BYdyf%Q If?^ׁCI^t:i^I:^ t4yjBɮjfBjEjh|~FNOT Ignoring new targets: 542.82 m.Rh8Zh8 ProNav: ac range: 542.817871 m, nav range: 512.507324 m, bearing: 215.035735 deg, approach rate: -0.692139 m/s, LOS rate: 0.004687 deg/s, cmd heading: 205.251870 deg, new cmd heading: 205.257420 deg. BhM9HeadingCmd: 3.582418 target range: 542.817871 and range: 545.20 m.hUFe@h*h"h hgfffdddjdZd3.&@Z Z Z Z Y@@%Bɢ%h)! %Qi!)-))i-GdE EE)E"E2:*EX:VEFA4ZEBE'*%=A=ٔEdQ-E>9AII=M_DyM^nCMU:EM>QQ 5]t4U<1?Q 9]t4U")UBYe 2?Q Ee:ye>%Q Ie?UCIU;iU\ ;Ut4yiɮm#BqjhFNOT Ignoring new targets: 542.82 m.Rh8Zh8 ProNav: ac range: 542.817871 m, nav range: 512.221985 m, bearing: 215.037390 deg, approach rate: -0.673529 m/s, LOS rate: 0.003909 deg/s, cmd heading: 205.257416 deg, new cmd heading: 205.262384 deg. Bh+9HeadingCmd: 3.582505 target range: 542.817871 and range: 545.20 m.hGe@h*h"h hgfffdddjdZd&@Z(\=Z(\=Z@ZQv5@颅Bɢe)"< >i) 顱i_ncAII O > E  E E (E "E :*E VE c44ZE a% @a% @a% @a% @B >B ,CB .!IB BB =B B DB ;B e8EJ`,8ͮ?AR2Acoustic response timeoutlYBy I !%AbD5 VD5:2yE>%EJ=ٔEQ-E>9III=M_DyMnCUEU>QQ 5et4U1?Q 9et4Uï)UBYayaQ Ie?UCIUV:iU:U't4yu}BɮuBuEjhFNOT Ignoring new targets: 542.82 m.RhW8ZhW8 ProNav: ac range: 542.817871 m, nav range: 511.949493 m, bearing: 215.038972 deg, approach rate: -0.674093 m/s, LOS rate: 0.003916 deg/s, cmd heading: 205.262389 deg, new cmd heading: 205.267138 deg. Bh,9HeadingCmd: 3.582587 target range: 542.817871 and range: 545.20 m.hIe@h*h"h hgfffdddjdZd '@ZZZZBɢJf) }i) j  i b9U%=U%=U2Acoustic response timeouta tf,ͮ?A64W@6e@6Ovٱ6dG NAHRS rotation from veh to nav: [[-0.876070,0.381571,0.294796],[-0.418994,-0.904986,-0.073786],[0.238632,-0.188159,0.952707]]6H`k??ڿ`㲿@{? ȿ|?i64W@I6=^;6CYZǂByZ IbDnVDnkyzk>%zP=ٔ~Q-~>9I= _Dy nCs;E>1yE EE)E"E[:*ER:VEFA4ZEBE% e BDAT read: Response Not Received e *response not receivedm (DAT read: user:52> m BDAT read: Tx time:00:22:16.2493 u $Ping request sent.u %}B=ٔ@}Q->9I=_Dy%oCV;E>Q 5t4|1?Q 9t4˯)BYy$Q I?eCI;i#:fDt4yZBɮBEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 542.82 m.Rh%8Zh%8] ProNav: ac range: 542.817871 m, nav range: 511.399902 m, bearing: 215.041912 deg, approach rate: -0.692381 m/s, LOS rate: 0.003622 deg/s, cmd heading: 205.271555 deg, new cmd heading: 205.275963 deg. Bh]9eHeadingCmd: 3.582741 target range: 542.817871 and range: 545.20 m.heKe@ha*ha"ha hagafififididqdjdZdx)@ZZZZ5@Bɢ?b) #mi ) iko`BM)CBM!IBMWBBM =BIBMDBM;BM|8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252876Um9v ?Iv ?=v`DyvsoCvV;Ez>xQ 5~t4ze1?Q 9t4zUЯ)zBYy$Q I?zCIz:iz:z}Ut4y @BɮBEjh1=FNOT Ignoring new targets: 542.82 m.Rh=W~8Zh=W~8M ProNav: ac range: 542.817871 m, nav range: 511.070557 m, bearing: 215.043577 deg, approach rate: -0.686522 m/s, LOS rate: 0.003474 deg/s, cmd heading: 205.275967 deg, new cmd heading: 205.280967 deg. BhU9UHeadingCmd: 3.582829 target range: 542.817871 and range: 545.20 m.h]Me@hY*hY"hY hYgYfYfafadadadijdiZdm@i*@ZZZZR5@额̈́Bɢ\) gi)X 顡i^Ա G{,%@=ٔQ->9I=`DyoC;E>Q 5t4Q1?Q 9t4ԯ)ZM>ZM̽?ZMa@]ڄBɢ] \)Y ]Wia)eҢ!aaieW]ؑCE% E%E!E!"E%,:*E%T:VE!ZE!a5@a5@a5@a5@1UliAmA9@ @@1@%9liAYhAB>BB!IBBB =BBDB;B8EB)CBBBBǮ =CS6 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258155^A hW<A >A > A ؟AI I O>,Z ή?A2U X@2f@2\owٱ2- :AHRS rotation from veh to nav: [[-0.872803,0.395513,0.285980],[-0.425388,-0.903714,-0.048425],[0.239291,-0.163918,0.957011]]2H `P? ~M?9ۿ::˨?`FĿ֟?i2U X@I2^;2CYBFByBw!IbDJVDJ2yR=%R==ٔV/9Q-V>9V"?IV"?=Z`DyZoCZx;EZ>\Q 5bt4^<1?Q 9bt4^ׯ)^dBY`yfQ&Q If?^ׂCI^:i^g:^nst4yjBɮj\AnEjh|~FNOT Ignoring new targets: 542.82 m.Rhl8Zhl8 ProNav: ac range: 542.817871 m, nav range: 510.512329 m, bearing: 215.047935 deg, approach rate: -0.651486 m/s, LOS rate: 0.005039 deg/s, cmd heading: 205.287510 deg, new cmd heading: 205.294041 deg. BhO]9HeadingCmd: 3.583057 target range: 542.817871 and range: 545.20 m.hPe@h*h!"h! h!g!f!f)f)d)1d1d1jd1Zd=`/!,@ZYZYZYZ]{@mBɢZ) Pi)["in[Ա i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7623553,&ή?AY~pBy~!I   bD VDf2yEE>%MA=ٔMQ-M>9IIQ=U`DyUBpCUEU>YQ 5et4](1?Q 9et4]ۯ)]BYiyiQ Im?]CI]:i]:]8t4yuBɮu)A}EԙjhFNOT Ignoring new targets: 542.82 m.Rhs8Zhs8 ProNav: ac range: 542.817871 m, nav range: 510.236603 m, bearing: 215.050068 deg, approach rate: -0.650918 m/s, LOS rate: 0.005039 deg/s, cmd heading: 205.294040 deg, new cmd heading: 205.300444 deg. BhV]9HeadingCmd: 3.583169 target range: 542.817871 and range: 545.20 m.hRe@h*h"h hgfffdddjdZd`,@ZZZZ Bɢ W)  BBi )@#i Z Dy zDy E  E E )E "E :*E g:VE FA4ZE a @a @a @a @B] >B] 'CB] A"IB] BB] =B] ?DB] DB] ׂ;B] 8E(,@ή?ANGX@NG=f@NvٱN$ VAHRS rotation from veh to nav: [[-0.871956,0.400250,0.281943],[-0.427563,-0.903088,-0.040275],[0.238500,-0.155667,0.958585]]NH? \ ?2]ۿ@잤&?ÿ ?iNGX@IN2&^;NCY^By^!IbDjVDj2ynE=%rO=ٔrv;Q-r>9v ?Iv ?=v`DyvpCz;Ez>xQ 5~t4z;1?Q 9t4z1߯)zBYy.&Q I?zCIzr;izL;zt4yɮA-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 542.82 m.RhE88ZhE88U ProNav: ac range: 542.817871 m, nav range: 509.979706 m, bearing: 215.051996 deg, approach rate: -0.651975 m/s, LOS rate: 0.004896 deg/s, cmd heading: 205.300446 deg, new cmd heading: 205.306234 deg. BhUW9]HeadingCmd: 3.583270 target range: 542.817871 and range: 545.20 m.h]KTe@hY*hYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266097"h hgfffdddjdZd-@Z1Z1Z1Z5l@eBɢeYIW)i ma E,jOZή?A2RX@2uHf@2;vٱ2" NAHRS rotation from veh to nav: [[-0.871741,0.401529,0.280789],[-0.428196,-0.902875,-0.038267],[0.238152,-0.153592,0.959006]]2HM@?q?`gۿZ—{?ÿ@.?i2RX@I2m^;2CYZBy^!IbDrVDr0y}#>%B=ٔV^:Q->9"?I"?=`DypCS:E >bEc44jE54rE/EM EMEIEIy"EM:*EMP:VEIZEIBEIa2EIaJEM+;a:EM+;aQ 5t41?Q 9t4K)ڄBYy$&Q I?BCI;i ;t4y Bɮ A EjhyFNOT Ignoring new targets: 542.82 m.Rh8Zh8 ProNav: ac range: 542.817871 m, nav range: 509.680084 m, bearing: 215.054228 deg, approach rate: -0.630854 m/s, LOS rate: 0.004701 deg/s, cmd heading: 205.306238 deg, new cmd heading: 205.312936 deg. BhxN9HeadingCmd: 3.583387 target range: 542.817871 and range: 545.20 m.h5Ve@h*h"h hgfffdddjdZd׺.@Z1Z1Z1Z5j@}Bɢ}R)y }2iy)}NN$顁iFV,;uή?A2pNX@2#Df@2rvٱ2z! :AHRS rotation from veh to nav: [[-0.871882,0.401563,0.280303],[-0.427980,-0.903007,-0.037580],[0.238025,-0.152729,0.959176]]2H`t4?@z?dۿ`n=w?ÿ?i2pNX@I2@^;2CYBŃByB"IIFN>)FpJ=y T㥛 ?+/$ A?    9 Fx?Mb?I +?Y +?y = 94< "B .B ϊB) Y%B Y p[BbD-VD-:2y=>%=F=ٔ=T9Q-=>9AIA=E`DyE qCM).EM>IQ 5t4M0?Q 9t4Me)MBY+?Q E:y(Q I?MaCIMB&CB"IB2BB =BBDB;B8E9@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274202ԩ^A9 I9 II Oe >7,75ή?A2DX@2:f@2vٱ2# :AHRS rotation from veh to nav: [[-0.872150,0.400424,0.281096],[-0.427485,-0.903146,-0.039807],[0.237931,-0.154881,0.958854]]2H@?x?@[ۿ@at?'ÿ@?i2DX@I2h^;2CYBރByB1"IbDNVDN!3yRs>%VS=ٔVׂ9Q-V>9XIX=Z`DyZHqC^úE^>\Q 5bt4^#0?Q 9ft4^)^BYdyf(Q If?^CI^;i^;^t4ylɮn\Aljh|FNOT Ignoring new targets: 542.82 m.Rh#9Zh #9 ProNav: ac range: 542.817871 m, nav range: 509.187775 m, bearing: 215.060040 deg, approach rate: -0.683109 m/s, LOS rate: 0.008095 deg/s, cmd heading: 205.321456 deg, new cmd heading: 205.330376 deg. Bhı9HeadingCmd: 3.583691 target range: 542.817871 and range: 545.20 m.h2[e@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`0@ZQZQZQZU@e%Bɢm)KY)i ms#ii)muJ%qqiuESA>I I O >U BDAT read: Rx Time:00:22:19.3538 ] TRx dataTimestamp_ set to:1761524538.576073] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779116! ,2ή?A2-:X@2/f@2 uٱ2=' :AHRS rotation from veh to nav: [[-0.872474,0.398964,0.282164],[-0.426932,-0.903263,-0.042947],[0.237734,-0.157935,0.958404]]2H@O??`Rۿ@*n?87Ŀ??i2-:X@I2'^;2CYNByRR"IbDZVDZf?3yb>%bJ=ٔb-:Q-b>9dId=f`DyfqCf%պEj>hQ 5rt4j0?Q 9rt4j)j=BYpyr(Q Ir?jCIj~ ;ij;jt4yzBɮziAzEjhFNOT Ignoring new targets: 542.82 m.Rhh 9Zh%h 9- ProNav: ac range: 542.817871 m, nav range: 508.925812 m, bearing: 215.063165 deg, approach rate: -0.647425 m/s, LOS rate: 0.007727 deg/s, cmd heading: 205.330376 deg, new cmd heading: 205.339756 deg. Bh595HeadingCmd: 3.583855 target range: 542.817871 and range: 545.20 m.h5]e@h9*h9"h9 h9gAfAfIfIdIdQdQjdQZdU@ց0@Z!Z!Z!Z%z@E2BɢE&!P)A M~iI)M%IIiu3Qi E  E E E "E :*E VE ZE a @a @a @a @B >B 'CB "IB yBB =B B DB ܂;B 8EK,ή?A 2=*X@2f@2uٱ2) >AHRS rotation from veh to nav: [[-0.872912,0.397588,0.282751],[-0.426094,-0.903564,-0.044905],[0.237630,-0.159676,0.958142]]2H`r??!Eۿ j?FpĿ?i2=*X@I25^;2CYBByF"I HHHJAbDN VDN2yV?>%VL=ٔZ$9Q-Z>9XI\=^aDy^qC^Eb>`Q 5ft4bm0?Q 9ft4bO)b_BYhyj(Q Ij?bŃCIbt:ibk:bt4MDAT read: 00:22:19.3538 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 144,-0.11, 1.723, 0.138, 1.573, 1.058, PHS= 0.767,-0.875, 0.471, RAW= 140.3, -4.8, CAL= 140.3, -5.5, ROT= 9.7, 5.5 UYgot valid direction response: 00:22:19.3538 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 144,-0.11, 1.723, 0.138, 1.573, 1.058, PHS= 0.767,-0.875, 0.471, RAW= 140.3, -4.8, CAL= 140.3, -5.5, ROT= 9.7, 5.5 ]PDAT read: Bearing 347.1, 24.1 (Local) e~Local bearing/azimuth received: Bearing 347.1, 24.1 (Local) mDAT read: Range 11 to 50 : 525.2 m (Round-trip 700.3 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.981165,0.167714,-0.095846]}Fpublishing direction and range infoy!%|g)e?]w?aVXY%LD!!!! !)%QI%ZD?i%`%&>%t@%%t@ % Ľ)%-\->I% =!!%L6)%=I%-\->i% =!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yBɮA¢Ei!i%<ή?AJi%DRi%Dji%o@i%r2@"UXU@ڼIri%|g)e?]w?aVXZi%-\->bi% =i%A?zHRyrM@zi%{_#a  "k4R?2i%ʓ:i%"i%?*i%OOBi%Bi!i%OOi%yBCi%LCi%cp@ addTargetRange:: Added new target pos. range: 525.200012 m, deltaT: 16.904129 s, deltaX: -20.000000 m, approachRate: -1.183143 m/s, rangeRepo size: 4 - Added new target pos. range: 522.872803 m, bearing: 214.684035 deg, lat: 36.779631 deg, lon: -121.860007 deg, deltaT: 16.904129 s, deltaX: -19.945068 m, approachRate: -1.179893 m/s, posRepo size: 4 jh)yFNOT Ignoring new targets: 522.87 m.RhZh ProNav: ac range: 522.872803 m, nav range: 510.601349 m, bearing: 215.374596 deg, approach rate: 0.000000 m/s, LOS rate: 0.007727 deg/s, cmd heading: 205.339761 deg, new cmd heading: 205.350514 deg. BhHeadingCmd: 3.584043 target range: 522.872803 and range: 525.20 m.h`e@h*h"h  h g f ffdddjdi@Zd?ZyZyZyZ}v@颕@Bɢ;K) Bi)a&顙ioN BDAT read: Tx time:00:22:20.7493 $Ping request sent.X׶,ή?AL}X@}f@}^uE EE+E"E :*EF:VE [4ZEBEP"9I=aDyrC SE >Q 5t4$0?Q 9t4)BY(.?Q E:y9'Q I?CI:i:t4y-zBɮ-A-EmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 522.87 m.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250640Rh- 9Zh- 9= ProNav: ac range: 522.872803 m, nav range: 510.282562 m, bearing: 215.377777 deg, approach rate: -0.752686 m/s, LOS rate: 0.007515 deg/s, cmd heading: 205.350512 deg, new cmd heading: 205.360060 deg. Bh= 9HeadingCmd: 3.584209 target range: 522.872803 and range: 525.20 m.hce@h*h"h hgfffdddjdZd`?Zڰ=Zڰ=ZI@Z}l> LBɢ !5M)  d i )&ilnLim>9@ @@@ ^A v<A gAzA IY Ii O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502806,6xή?A2$W@2e@2/,uٱ22 :AHRS rotation from veh to nav: [[-0.874369,0.392080,0.285923],[-0.423368,-0.904309,-0.054625],[0.237145,-0.168813,0.956694]]2H?L?wۿ @Z?ſ=?i2$W@I2y];2CYBNByB"IbDJ VDJ2yR&>%R{=ٔVq:Q-V?9TIT=VaDyVOrCZEZ?|\Q 5=t4^Q0?Q 9Et4^n)^BYAyEW'Q IE?^ CI^B>TBɢsQ) i)+'iOK:*Ez:VEZEa@a@a@a@B->B-(CB-H#IB-BB- =B)B-DB-;B-8E=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834Y^Aa<II)O5>ԁ só,iSϮ?A4<ɰ4%%B=ٔ%Q-%>9)I)=-aDy-rC5E5>1Q 5Eu45y0?Q 9Eu45")5BYAyAQ IE?5-CI5;i5;5u4yIɮUAQYjhFNOT Ignoring new targets: 522.87 m.Rh8Zh8 ProNav: ac range: 522.872803 m, nav range: 509.787445 m, bearing: 215.382829 deg, approach rate: -0.666130 m/s, LOS rate: 0.006803 deg/s, cmd heading: 205.366686 deg, new cmd heading: 205.375227 deg. Bhf9 HeadingCmd: 3.584474 target range: 522.872803 and range: 525.20 m.h he@h *h "h  h g fffdddjdZd ?Z9Z9Z9Z9M`BɢUvH)Q UPiY)]'YYi]H ʳ,.*Ϯ?A6W@6ke@6qtٱ6[< >AHRS rotation from veh to nav: [[-0.876135,0.385784,0.289065],[-0.419847,-0.905314,-0.064303],[0.236887,-0.177701,0.955148]]6HL ୰??ڿT 0vOR? ƿ?i6W@I6^;6CYFByF#IbDRVDR0yZ>%^Q=ٔbi2:Q-b>9`Id=faDyfrCj)Ej>lQ 5ru4nf0?Q 9vu4n)nхBYtyv'Q Iz?nOCIn7;in8;ndu4y6BɮAEjh9EFNOT Ignoring new targets: 522.87 m.RhE9ZhM9e ProNav: ac range: 522.872803 m, nav range: 509.527008 m, bearing: 215.385620 deg, approach rate: -0.682499 m/s, LOS rate: 0.007319 deg/s, cmd heading: 205.375223 deg, new cmd heading: 205.383601 deg. Bhe9mHeadingCmd: 3.584620 target range: 522.872803 and range: 525.20 m.hmjje@hi*hq"hq hqgqfyffdddjdZd@?ԹZZZZE>kBɢRG): {߾i)'ilFA]> jA 09 jAY CAE  E E ,E "E :*E e:VE g4ZE a @a @a @a @A I I O >A! A% @AB- >B- &CB- #IB- BB- =B) B- DB- ;B- 8EB'CB'CBʓCBʴ =Bʳ =C5A г,DϮ?AVW@Voe@VtٱV? ^AHRS rotation from veh to nav: [[-0.877087,0.382993,0.289888],[-0.418069,-0.905858,-0.068113],[0.236511,-0.180935,0.954634]]VH@?? ڿ`oE?`(ǿ[?iVW@IV#^;VCYfByf0#IbDnVDn02yv!>%vG=ٔzSw:Q-z>9xIx=~aDy~sCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855 ?E >Q 5u4R0?Q 9u4%)BYy'Q I%?rCI;i;u4y)ɮ-$A)jhIUFNOT Ignoring new targets: 522.87 m.RhU9Zh]9m ProNav: ac range: 522.872803 m, nav range: 509.254700 m, bearing: 215.388610 deg, approach rate: -0.669393 m/s, LOS rate: 0.007354 deg/s, cmd heading: 205.383597 deg, new cmd heading: 205.392572 deg. Bhm9uHeadingCmd: 3.584777 target range: 522.872803 and range: 525.20 m.hule@hq*hq"hq hqgqff!f!d!d!d!jd)Zd-4n@ZZZZ>uxBɢuC)y }|ʾiy)}D(yyiqC<׳,[^Ϯ?A5qW@5Zge@5sٱ566BEM EMEM*EI"EM:*EM H:VEM(N4ZEIBEM%%5=ٔ-:Q-->9)I1=5aDy5_sC5E5>9AQ 5Mu4E<0?Q 9Mu4E_)EBYMB1?Q EM:yU%Q IU?ECIE:iE.:E{-u4y]Bɮ]A]EjhFNOT Ignoring new targets: 522.87 m.Rh}8Zh}8 ProNav: ac range: 522.872803 m, nav range: 508.950134 m, bearing: 215.390768 deg, approach rate: -0.672417 m/s, LOS rate: 0.004767 deg/s, cmd heading: 205.392572 deg, new cmd heading: 205.399050 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864BhcQ9HeadingCmd: 3.584890 target range: 522.872803 and range: 525.20 m.hne@h*h"h hgfffddd jd Zd  7@ZML=ZML=ZMSg@ZMG|?}Bɢ}Fh@)} }iy)}(顁iD@ݳ,tyϮ?A2o[W@2"Qe@2isٱ2D :AHRS rotation from veh to nav: [[-0.878663,0.378950,0.290426],[-0.415252,-0.906759,-0.073168],[0.235619,-0.184890,0.954096]]2H@?`V?`}ڿ+)`(?@|ǿ?i2o[W@I2F^;0YBByBu#IbDN VDN2yRX=%VZ=ٔV:Q-V>9XIX=ZaDyZsCZXmE^>dQ 5nu4f*0?Q 9ru4f )f*BYtyv%Q Iz?fCIf;if@;f:u4y Bɮ :A E=B*** querying acoustic contact ***i9 i9jhFNOT Ignoring new targets: 522.87 m.Rh 8Zh 8 ProNav: ac range: 522.872803 m, nav range: 508.696320 m, bearing: 215.392609 deg, approach rate: -0.638736 m/s, LOS rate: 0.004636 deg/s, cmd heading: 205.399047 deg, new cmd heading: 205.404574 deg. BhK9eHeadingCmd: 3.584986 target range: 522.872803 and range: 525.20 m.hejpe@ha*ha"ha hagafififididqdqjdqZdu/@ZZZZ[\|?BɢA) bi)(i=>B)CB#IBNBB =B>DBDB;B8E)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785 &%5=ٔ=I:Q-=>9E ?IE ?=EaDyEsCMn͹EM>YQ 5eu4]0?Q 9eu4])]PBYiym%Q Im?]CI]u ;i]` ;]Mu4yqɮ}AyjhFNOT Ignoring new targets: 522.87 m.Rh%8Zh%85 ProNav: ac range: 522.872803 m, nav range: 508.338318 m, bearing: 215.395219 deg, approach rate: -0.707694 m/s, LOS rate: 0.005162 deg/s, cmd heading: 205.404579 deg, new cmd heading: 205.412414 deg. Bh5b9=HeadingCmd: 3.585123 target range: 522.872803 and range: 525.20 m.h=re@h9*hA"hA hAIgAfffdddjdZd V @Z1Z1Z1Z5#M|?eBɢe N;)i mii)m(-)iiim8:v,:=Ϯ?A>eW@>[e@>Rrٱ>b@F FAHRS rotation from veh to nav: [[-0.878617,0.379064,0.290419],[-0.415915,-0.906273,-0.075389],[0.234621,-0.187027,0.953925]]>HB?7?Zڿ0@L?ǿ?i>eW@I>];>CYN*ByN#IbDVVDV2y^2!>%bH=ٔb:Q-b>9f"?If"?=faDyf3tCf;Ef>rBDAT read: Rx Time:00:22:23.8615 rTRx dataTimestamp_ set to:1761524542.860318vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528012tQ 5zu4v'/?Q 9zu4vQ =~tI)vnBY|y~%Q I~?v CIvB;ivO;vb[u4yBɮAƢEjh)5FNOT Ignoring new targets: 522.87 m.Rh=8Zh=8E ProNav: ac range: 522.872803 m, nav range: 508.061920 m, bearing: 215.397212 deg, approach rate: -0.676749 m/s, LOS rate: 0.004882 deg/s, cmd heading: 205.412420 deg, new cmd heading: 205.418402 deg. BhMpV9MHeadingCmd: 3.585227 target range: 522.872803 and range: 525.20 m.hU^te@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde~a@ZZZZۅ|?额Bɢ;) 8zi)T\)顡i7B%(CB%T$IB%BB% =B%?DB!B%;B%8E9@ @@5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779393ԑ ^A y;AAIIIYOm>,yϮ?A(2W@2Yue@2qٱ2]H >AHRS rotation from veh to nav: [[-0.878115,0.380013,0.290695],[-0.417370,-0.905460,-0.077099],[0.233914,-0.189029,0.953704]]2H@"R?࿚?0ڿƼ? 2ȿ ?i2W@I2];2CYBIByF#IbDn VDn2yr>%v+=ٔv:Q-v>9xIx=zbDyztC~W;E~>|Q 5u4~/?Q 9 u4~%)~BY y %Q I ?~4CI~:i~:~ku4y%Bɮ-A5ŢEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033056jhFNOT Ignoring new targets: 522.87 m.RhO8Zh%O8 ProNav: ac range: 522.872803 m, nav range: 507.740540 m, bearing: 215.399478 deg, approach rate: -0.644034 m/s, LOS rate: 0.004544 deg/s, cmd heading: 205.418404 deg, new cmd heading: 205.425206 deg. BhG9HeadingCmd: 3.585346 target range: 522.872803 and range: 525.20 m.hPve@h*h"h hgff!f!d)d)d)jd)Zd5P@ԉZZZZ|?uBɢm6)q upZiy)ƚ)顁ib3i>ԱE EE+E"E:*E?:VE [4ZEBEa2E '@ 5 O`@ 5) B>I 5< ^{E?}O?c# >) ni 5<  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A5 ϩ; AYIiIyO> ,oϮ?A2W@2e@2qٱ2fH :AHRS rotation from veh to nav: [[-0.876938,0.382945,0.290401],[-0.420182,-0.904211,-0.076482],[0.233295,-0.189092,0.953844]]2H,??@DڿK@Y?`(4ȿ?i2W@I2];0YBpByB $I DDyMV-?i|?5?~jt?Mh1?Mq=M BIYMQVBbDeVDe1yu>%}%=ٔ}¨:Q-}>9yI=bDytC;E>Q 5u4/?Q 9u4)BY,2?Q E:yu%Q I?_CI ;i;@}u4yBɮAĢEԱiyi}aϮ?AJi}*DRi}*Dji}Dzq@i}8N8@nlX@itri})kEk?$4 4?B7߁Zi}B>bi}5<i}9~$zKuBs$.PsX@zi}֙Q鿊^,⿛' ?2i}:i}#"i} q?*i}yuBi}$Ci} q?iyiyi}Ci}4Dp@ addTargetRange:: Added new target pos. range: 531.000000 m, deltaT: 4.535871 s, deltaX: 5.799988 m, approachRate: 1.278693 m/s, rangeRepo size: 4   Added new target pos. range: 528.661377 m, bearing: 216.379609 deg, lat: 36.779588 deg, lon: -121.860007 deg, deltaT: 4.535871 s, deltaX: 5.788574 m, approachRate: 1.276177 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 528.66 m.RhZh(DAT read: user:54> BDAT read: Tx time:00:22:25.2493 $Ping request sent.B'CB$IBBB =BBDB;B8E ^A ;e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510351 A .AI I1 O= >, Ю?A2W@2e@2fpٱ2wC :AHRS rotation from veh to nav: [[-0.875950,0.386786,0.288284],[-0.422611,-0.903450,-0.071961],[0.232617,-0.184866,0.954837]]2H`?@@s? ۿ le?ǿ?i2W@I2k];2CYBByBN$IbDNVDNN3yRH>%VZ=ٔV5:Q-V>9Z ?IZ ?=ZbDyZ uC^n;E^>\Q 5bu4^/?Q 9fu4^X)^ՆBYdyfH%Q If?^CI^~ ;i^;^Wu4ylɮnAlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 528.66 m.Rh 8Zh 8 ProNav: ac range: 528.661377 m, nav range: 510.977844 m, bearing: 215.099201 deg, approach rate: -0.686480 m/s, LOS rate: 0.004124 deg/s, cmd heading: 205.431682 deg, new cmd heading: 205.436255 deg. Bh59%HeadingCmd: 3.585539 target range: 528.661377 and range: 531.00 m.h%yye@h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=^?ZYZYZYZ]B@˅Bɢ)2) \ؽi))i/-E  E E E "E :*E T:VE ZE BE a 2E 9lIl=rbDyrOuCr;Er>tQ 5zu4v=/?Q 9zu4v8#)vBY|y~%Q I~?vCIve:iv* ;vu4yxBɮ5AâEjh)-FNOT Ignoring new targets: 528.66 m.Rh58Zh58Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796U ProNav: ac range: 528.661377 m, nav range: 510.701721 m, bearing: 215.100770 deg, approach rate: -0.678408 m/s, LOS rate: 0.003855 deg/s, cmd heading: 205.436258 deg, new cmd heading: 205.440965 deg. BhUT)9UHeadingCmd: 3.585621 target range: 528.661377 and range: 531.00 m.h]ze@hY*hY"hY hYgYfafafadadidijdiZdm8?ZZZZ%@颥օBɢE/) i))顩i6* ,|,?Ю?A20X@2&f@2mٱ2'2 :AHRS rotation from veh to nav: [[-0.874380,0.396473,0.279766],[-0.427248,-0.902366,-0.056523],[0.230042,-0.168952,0.958403]]2H@ _??Xۿ.r?:ſ`%rI=ٔr;Q-v>9tIt=vbDyvuCzp;Ez>xQ 5u4z/?Q 9u4z')zBYy$Q I ?zƅCIzS;iz`;zæu4yɮAjh1AAB>B%CB %IB.BB =BBDB;B8EE EEE"E*EF:VEZEBE2E <JE;:E;5FNOT Ignoring new targets: 528.66 m.Rh=8Zh=8M ProNav: ac range: 528.661377 m, nav range: 510.426666 m, bearing: 215.102266 deg, approach rate: -0.677964 m/s, LOS rate: 0.003691 deg/s, cmd heading: 205.440971 deg, new cmd heading: 205.445463 deg. BhM"9UHeadingCmd: 3.585700 target range: 528.661377 and range: 531.00 m.hU|e@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZdeB2?ZZZZ/ߜ@额Bɢ+,) i)%)顡i& checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510670q $ ,TYЮ?AB$FX@B;f@BkٱBs* JAHRS rotation from veh to nav: [[-0.874204,0.400148,0.275044],[-0.428570,-0.902141,-0.049691],[0.228245,-0.161316,0.960147]]BH z`? R?mۿV)q7?Ŀ`?iB$FX@IBE];@YZBy^$IbDvVDvk2yi=%E=ٔ;Q->9%"?I%"?=-bDy-uC5GL;E5>9Q 5Mu4=s/?Q 9Mu4=+)=7BYQy]$Q Ie?=CI=;i=;=]u4yXBɮA ¢Ejh%FNOT Ignoring new targets: 528.66 m.1RhUi8ZhUi8 ProNav: ac range: 528.661377 m, nav range: 510.143372 m, bearing: 215.103767 deg, approach rate: -0.602844 m/s, LOS rate: 0.003195 deg/s, cmd heading: 205.445465 deg, new cmd heading: 205.449969 deg. BhU 9HeadingCmd: 3.585778 target range: 528.661377 and range: 531.00 m.he}e@h*h"h hgfffdddjdZd`7z?Z)Z)Z)Z-%@eBɢee*)a eia)m)iiimR"E,FysЮ?A2dX@2Zf@2:iٱ2% >AHRS rotation from veh to nav: [[-0.873770,0.403321,0.271767],[-0.430394,-0.901472,-0.045931],[0.226466,-0.157100,0.961266]]2H ? d?ۿ4 ?Ŀ?i2dX@I2];0YB ByF$Iy RQ?Gz?l񢿙 "? p=>   9 (\?x&?{Gz?Y .?y 7= #< }B ^&B B) 9B Y  SBbDmVDm:2y}r>%}B=ٔ ;Q->9I=bDyvCm;E>Q 5u4l/?Q 9u4.)WBY.?Q E:y?%Q I?CI:i:u4y7BɮAEjhFNOT Ignoring new targets: 528.66 m.Rh8Zh8 ProNav: ac range: 528.661377 m, nav range: 509.864441 m, bearing: 215.105432 deg, approach rate: -0.759328 m/s, LOS rate: 0.004535 deg/s, cmd heading: 205.449973 deg, new cmd heading: 205.454971 deg. Bh5G9HeadingCmd: 3.585866 target range: 528.661377 and range: 531.00 m.h~e@h*h"h hgfffdddjdZd  @Z- >Z- >Z-~t@Z-}@=BɢEe&)A EX&=iA)E)AAiMB#CBa%IBuBB =BBDB ;B8EB1B5&CB5ǕCB5dz =B5Dz =C5in6^Aط~<Թ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266622A9 IA IQ Oe >(#,@Ю?A2rX@2hf@2Bgٱ2QW :AHRS rotation from veh to nav: [[-0.873803,0.406084,0.267516],[-0.431334,-0.901270,-0.040779],[0.224545,-0.151022,0.962690]]2H0@G?`?ۿ5@᤿ ? Tÿ`[?i2rX@I2W];2CYB4ByB%IDDHJAAPbDNVDN02yVZ>%VY=ٔZ;Q-Z>9XI\=^bDy^UvC^;Eb>`Q 5fu4bZ/?Q 9fu4b2)buBYhyj2%Q Ij?b.CIb:ib:b-u4ynBɮrArʢE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 528.66 m.Rh <8Zh<8% ProNav: ac range: 528.661377 m, nav range: 509.613983 m, bearing: 215.106905 deg, approach rate: -0.664820 m/s, LOS rate: 0.003913 deg/s, cmd heading: 205.454973 deg, new cmd heading: 205.459395 deg. Bh%+9-HeadingCmd: 3.585943 target range: 528.661377 and range: 531.00 m.h-e@h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdE@ZZZZ@Bɢ|") =i))i>E  E E +E "E I:*E C:VE [4ZE BE 9hIh=jbDyjvCnsEn>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770850|aQ 5mu4efF/?Q 9uu4es6)eBYqyu9%Q Iu?eRCIe(:ie:eu4yȾBɮAɢEjhFNOT Ignoring new targets: 528.66 m.Rhǐ8Zhǐ8 ProNav: ac range: 528.661377 m, nav range: 509.331451 m, bearing: 215.108582 deg, approach rate: -0.666052 m/s, LOS rate: 0.003955 deg/s, cmd heading: 205.459399 deg, new cmd heading: 205.464432 deg. Bh-9HeadingCmd: 3.586031 target range: 528.661377 and range: 531.00 m.he@h*h"h hgfffdddjdZds@ZZZZs@ Bɢ ) V>i)7)i%VL;0,Ю?A2JjX@2_f@2dٱ2+b :AHRS rotation from veh to nav: [[-0.874775,0.407907,0.261498],[-0.431247,-0.901500,-0.036387],[0.220897,-0.144601,0.964518]]2H`''?@`?ۿa ]F?G¿T?i2JjX@I2'];0YBgByBP%IbDJ VDJf2yR>%RM=ٔV ;Q-V>9TIT=ZcDyZvCZjEZ>\Q 5bu4^64/?Q 9bu4^:)^BYdyf<%Q If?^sCI^:i^:^^u4yj۾BɮjAhB|A|B B B %IB BB  =B B B ;B 8Ejh|FNOT Ignoring new targets: 528.66 m.Rh%_8Zh%_85 ProNav: ac range: 528.661377 m, nav range: 509.077087 m, bearing: 215.110099 deg, approach rate: -0.665820 m/s, LOS rate: 0.003972 deg/s, cmd heading: 205.464426 deg, new cmd heading: 205.468978 deg. Bh5r.9=HeadingCmd: 3.586110 target range: 528.661377 and range: 531.00 m.h=Ԃe@h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU5 @YE EE%E"E:*E;J:VE 4ZEBE_ <2E` <JE;:E;ZZZZ@Bɢ() #>i ) y)  i 1iE]>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826@ @@0@@=@=ԑԱ^A<AE .AII IY Om >  BDAT read: Rx Time:00:22:28.3589  TRx dataTimestamp_ set to:1761524547.396376 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528007i6,Ю?AԱY|Byi%II=)===bD% VD%2yU=%]1=ٔeQ-m>9u ?I} ?=cDy#wCE>Q 5u4/?Q 9u4q>)؇BYyQ I?CIt:i(:u4yBɮ AȢEjh!%FNOT Ignoring new targets: 528.66 m.Rh-8Zh-8= ProNav: ac range: 528.661377 m, nav range: 508.760193 m, bearing: 215.111990 deg, approach rate: -0.665915 m/s, LOS rate: 0.003977 deg/s, cmd heading: 205.468974 deg, new cmd heading: 205.474652 deg. Bh=.9EHeadingCmd: 3.586209 target range: 528.661377 and range: 531.00 m.hEte@hA*hA"hI hIgIfIfQfQdQdQdQjdYZd]#P@ZyZyZyZy颍 Bɢf) 7>i)j)顑i" <,Ю?A:8iX@:^f@: `ٱ: JAHRS rotation from veh to nav: [[-0.875578,0.407227,0.259864],[-0.431572,-0.901099,-0.042034],[0.217045,-0.148954,0.964730]]:H??ޞۿ @$?ÿ?i:8iX@I:];8YbByb%I!]=]<DAT read: 00:22:28.3589 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 289, 0.36, 1.946, 0.273, 1.901, 1.455, PHS= 0.593,-1.137, 0.402, RAW= 144.2, 1.8, CAL= 143.8, 2.0, ROT= 6.2, -2.0 Ygot valid direction response: 00:22:28.3589 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 289, 0.36, 1.946, 0.273, 1.901, 1.455, PHS= 0.593,-1.137, 0.402, RAW= 144.2, 1.8, CAL= 143.8, 2.0, ROT= 6.2, -2.0 PDAT read: Bearing 354.9, 18.3 (Local) ~Local bearing/azimuth received: Bearing 354.9, 18.3 (Local) DAT read: Range 11 to 50 : 529.2 m (Round-trip 705.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.993545,0.107934,0.034899]Fpublishing direction and range infoyY]n?/?Xޡ?Y]LDY]]Y ])]JI]?i]7]>]!@]=]K @ ]5=)]k=I]5YY]@Ji~Y+?Z>?^>G? ]q>)]CI]k=i]5YY}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y5Cl?QX9v5?5u51 195 rh?)\(?%,=ٔD9"?I"?=cDyqwCE>Q 5v4I/?Q 9 v4B)BY "-?Q E :y X&Q I ?ÆCI;i;Uv4yBɮAǢEAiYi]Ю?AJi]DRi]Dji]m@i],n[@`bhnL@b2@ri]n?/?Xޡ?Zi]k=bi]5i]!zHͨ^qW ^@zi]!$0s|`~R?2i]:i]/"i]\?*i]0Bi]7>Ci]?i]]i]7>Ci]Ci]o@ addTargetRange:: Added new target pos. range: 529.200012 m, deltaT: 4.284971 s, deltaX: -1.799988 m, approachRate: -0.420070 m/s, rangeRepo size: 4  Added new target pos. range: 526.829285 m, bearing: 212.852154 deg, lat: 36.779533 deg, lon: -121.859969 deg, deltaT: 4.284971 s, deltaX: -1.832092 m, approachRate: -0.427562 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 526.83 m.RhZh ProNav: ac range: 526.829285 m, nav range: 511.553192 m, bearing: 214.413646 deg, approach rate: 0.000000 m/s, LOS rate: 0.003977 deg/s, cmd heading: 205.474657 deg, new cmd heading: 205.480634 deg. BhHeadingCmd: 3.586314 target range: 526.829285 and range: 529.20 m.h*e@h*h"h hgfB>B"CB&IBBBBBBЂ;Bp8Effddd!jd%@Zd%9?ZeO >ZeO >Ze_?Zep_@额-Bɢ$) >i)!%)顡iD  BDAT read: Tx time:00:22:29.5992  $Ping request sent. ? kjĿ?iJsX@IJ9];HY^ȆBy^%IbDf VDf2yn^>%rE=ٔr@.9pIt=vcDyvwCva:Ev>xQ 5~v4z.?Q 9~v4zFF)zBYyN&Q I?zCIz1:iz(:zv4y ɮ dA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809ԱB*** querying acoustic contact ***i  i jhIFNOT Ignoring new targets: 526.83 m.Rh~8Zh~8 ProNav: ac range: 526.829285 m, nav range: 511.285675 m, bearing: 214.415374 deg, approach rate: -0.657400 m/s, LOS rate: 0.004248 deg/s, cmd heading: 205.480640 deg, new cmd heading: 205.485827 deg. Bh:9HeadingCmd: 3.586404 target range: 526.829285 and range: 529.20 m.he@h*h"h hgfffdddjdZd?Z9Z9Z9Z=e@8Bɢ) %>i!)%$(!!i%R2K,{M1Ѯ?A:KwX@:lf@:lYٱ:Л+ FAHRS rotation from veh to nav: [[-0.876446,0.405161,0.260167],[-0.432936,-0.899587,-0.057530],[0.210735,-0.163057,0.963848]]:H `'?`?7ۿktY?@Ŀ?i:KwX@I: ];8YN؆ByN%IbDVVDV02y^U=%^G=ٔb;Q-b>9dId=fcDyfwCfg:Ef>hQ 5nv4jg.?Q 9rv4jI)j6BYpyrL&Q Ir?jCIjN;ijJ;j*v4yzBɮzAzƢEjhFNOT Ignoring new targets: 526.83 m.RhV8ZhV8- ProNav: ac range: 526.829285 m, nav range: 511.015137 m, bearing: 214.417118 deg, approach rate: -0.721330 m/s, LOS rate: 0.004654 deg/s, cmd heading: 205.485831 deg, new cmd heading: 205.491068 deg. Bh5hL95HeadingCmd: 3.586496 target range: 526.829285 and range: 529.20 m.h5%e@h9*h9"h9 h9g9f9fAfAdAdIdIjdIZdM/?ԹZZZZ-f@ABɢZ)9s :>i)h(inB CBh&IBJBB =BBDB;BT8E^A- <D zD @AE  E E $E "E :*E A:VE 4ZE BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709R,JѮ?ANyX@Nxof@NWٱNm. ZAHRS rotation from veh to nav: [[-0.876715,0.404729,0.259932],[-0.433233,-0.899207,-0.061120],[0.208995,-0.166196,0.963691]]NH@ ??ۿM#K`Z?`Eſ?iNyX@IN];LYbByb&IbDjVDj0yrO>%rI=ٔv;Q-v>9v ?Iv ?=zcDyz7xCzb9Ez>|Q 5v4~ .?Q 9v4~M)~SBY y J&Q I ?~*CI~:i~k:~9v4yhBɮAŢEjh9=FNOT Ignoring new targets: 526.83 m.RhE8ZhE8U ProNav: ac range: 526.829285 m, nav range: 510.747070 m, bearing: 214.418845 deg, approach rate: -0.661334 m/s, LOS rate: 0.004262 deg/s, cmd heading: 205.491063 deg, new cmd heading: 205.496246 deg. BhU4;9]HeadingCmd: 3.586586 target range: 526.829285 and range: 529.20 m.h]e@hY*hY"hY hagafafafidididijdiZdu@l?ZZZZf@颥IBɢ) >i)l(顩iqԹ tX,OdѮ?A;ɰp;E6 E6E6*E4"E6:*E6C:VE6(N4ZE4a:@a:@a:@a:@>9X@>f@>Uٱ>2 FAHRS rotation from veh to nav: [[-0.876486,0.405317,0.259788],[-0.434615,-0.898278,-0.064847],[0.207078,-0.169745,0.963486]]>H, ?^?ۿ͙?@6ſ?i>9X@I>9];%==ٔ<;Q->9I=cDy|xC,O;E>Q 5v4.?Q 9v4Q)pBY*?Q E:y%Q I?OCI :i:%Hv4yiBɮ>A΢Ejh1=FNOT Ignoring new targets: 526.83 m.Rh= {8Zh= {8M ProNav: ac range: 526.829285 m, nav range: 510.463776 m, bearing: 214.420339 deg, approach rate: -0.649766 m/s, LOS rate: 0.003429 deg/s, cmd heading: 205.496241 deg, new cmd heading: 205.500726 deg. BhM9UHeadingCmd: 3.586664 target range: 526.829285 and range: 529.20 m.hUe@hY*hY"hY hYgYfYfafadadadijdiZdmM?Z=Z=Zqj?Z@ԑ颥TBɢ؍ ) >i)<(顩i8;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510874i͓,;e ^,q~Ѯ?A2ޝX@2f@2Sٱ2 3 :AHRS rotation from veh to nav: [[-0.876433,0.406014,0.258879],[-0.435499,-0.897736,-0.066410],[0.205442,-0.170945,0.963624]]2H ?z?6ۿA6K?ſ?i2ޝX@I2];2CYv=ByvW&I p=bD VD2y8>%W=ٔ؏;Q->9!I!=%cDy%xC%D;E%>)Q 55v4-֦.?Q 95v4-T)-BY9y=%Q I=?-oCI-T;i-;-uUv4yEMBɮE@AM͢EjhimFNOT Ignoring new targets: 526.83 m.Rhugz8Zhugz8 ProNav: ac range: 526.829285 m, nav range: 510.214539 m, bearing: 214.421633 deg, approach rate: -0.658523 m/s, LOS rate: 0.003421 deg/s, cmd heading: 205.500721 deg, new cmd heading: 205.504605 deg. Bh>9HeadingCmd: 3.586732 target range: 526.829285 and range: 529.20 m.he@h*h"h hgfffdddjdZd+@ZZZZ @]Bɢn) 7>i)'i;i,z;66e,rѮ?A2X@21f@2uRٱ21 >AHRS rotation from veh to nav: [[-0.876245,0.407623,0.256981],[-0.436515,-0.897342,-0.065051],[0.204083,-0.169176,0.964225]]2H@2 }?^r?ۿ@ )@h?`ſ?i2X@I25];2CYFYByJy&IbDbVDb0yn >%nK=ٔra;Q-v>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2681849iIi=ucDyuxC}e;E}>Q 5v4ߒ.?Q 9v4X)BYy%Q I?CIk:i:Vdv4yɮA B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 526.83 m.Rh%p8Zh%p8U ProNav: ac range: 526.829285 m, nav range: 509.936005 m, bearing: 214.423049 deg, approach rate: -0.644892 m/s, LOS rate: 0.003280 deg/s, cmd heading: 205.504601 deg, new cmd heading: 205.508850 deg. BhU 9]HeadingCmd: 3.586806 target range: 526.829285 and range: 529.20 m.h];e@hY*hY"hY hYgafaffdddjdZd h@ZZZZR@gBɢL) n>i)PO'i;!i-{,-{;5A >Iy I O >:l,Ѯ?A,6X@65f@6Qٱ6/ >AHRS rotation from veh to nav: [[-0.876325,0.408705,0.254981],[-0.436956,-0.897233,-0.063582],[0.202791,-0.167134,0.964853]]6H 8(?Q?ۿ`!@F?dſ ?i6X@I69];6CYFkByF&IbDNVDN1yV^=%VN=ٔZXZ;Q-Z>9XIX=^cDy^9yC^}:E^>`Q 5fv4b[.?Q 9fv4b@\)bBYhyj{%Q Ij?bCIb:ibe:bcqv4yn1BɮrAr̢EjhFNOT Ignoring new targets: 526.83 m.Rh u8Zh u8 ProNav: ac range: 526.829285 m, nav range: 509.691528 m, bearing: 214.424282 deg, approach rate: -0.665608 m/s, LOS rate: 0.003359 deg/s, cmd heading: 205.508849 deg, new cmd heading: 205.512550 deg. Bh9%HeadingCmd: 3.586871 target range: 526.829285 and range: 529.20 m.h%Je@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd= s@ZYZYZYZ]@uoBɢuo)q u>iy)}&yyi};il,E;*NBQBU'IBUهBBQBQBQBU;BU"8EB CB!CBȔCBȻ =BȻ =C*6Em  Em Em (Ei "Em :*Em F:VEm c44ZEi BEm = s,Ѯ?AHN>X@Nf@NOٱNI2 VAHRS rotation from veh to nav: [[-0.876193,0.408978,0.254995],[-0.437875,-0.896564,-0.066623],[0.201372,-0.170030,0.964644]]NH `,?Q?`$ܿর.?ſ^?iN>X@IN];NCY^By^&Idf@AbDj VDj2yrq >%rE=ٔrd;Q-r>9tIt=vdDyv{yCz ;Ez>|Q 5v4~m.?Q 9v4~ `)~ՈBYyn%Q I?~ՇCI~[:i~t:~v4yBɮ6AˢEjh9=FNOT Ignoring new targets: 526.83 m.Rh=m8ZhEm8M ProNav: ac range: 526.829285 m, nav range: 509.419647 m, bearing: 214.425630 deg, approach rate: -0.654941 m/s, LOS rate: 0.003248 deg/s, cmd heading: 205.512551 deg, new cmd heading: 205.516596 deg. BhU9]HeadingCmd: 3.586941 target range: 526.829285 and range: 529.20 m.h]re@hY*ha"ha hagafafifidididijdqZduO @ZZZZ@颥yBɢC) ?i)΀&顩ič;iC,A;zy,<Ѯ?A2X@2f@2Mٱ2̾1 >AHRS rotation from veh to nav: [[-0.876234,0.410072,0.253090],[-0.438615,-0.896215,-0.066450],[0.199574,-0.169235,0.965158]]2H >?2?Fܿʭ `?{ſ ?i2X@I2];2CYBByB&IBDAT read: Rx Time:00:22:32.7046 %TRx dataTimestamp_ set to:1761524551.680834-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528829yZd;O?i|?5?MbP?~*?q=: 9?{Gz?~jtxY,?yף=Ļ3mB B tB)FBYQGBbDmVDmy*=%!=ٔl;Q->9I=dDyyC:E>Q 5-v4U.?Q 9-v4e)BY-.?Q E-:y-#Q I-?CI* ;i? ;v4y9ɮ=A9jhYeFNOT Ignoring new targets: 526.83 m.Rhe7Zhm7} ProNav: ac range: 526.829285 m, nav range: 509.075043 m, bearing: 214.426420 deg, approach rate: -0.669643 m/s, LOS rate: 0.001536 deg/s, cmd heading: 205.516595 deg, new cmd heading: 205.518966 deg. Bh}8HeadingCmd: 3.586983 target range: 526.829285 and range: 529.20 m.h e@h*h"h hgfffdddjdZd@Z<Z<Z\,?Ү?A6X@65f@6]Kٱ6ň. >AHRS rotation from veh to nav: [[-0.876696,0.410980,0.249999],[-0.438612,-0.896352,-0.064589],[0.197542,-0.166277,0.966090]]6H@ ~M??9ܿ`I?`Hſ4?i6X@I6];6CYFLJByF'IBN{>BLBNb'IBNBBN =BLBLBNq;BN8EIZ=)ZZ=Z=bDb VDbf2yfP@>%jr=ٔj;Q-j?9n"?In"?=ndDynzCn~%Er?pQ 5vv4rE.?Q 9zv4r6h)rBYxyz#Q Iz?rCIr;ir;rxv4y~BɮAʢEjh15FNOT Ignoring new targets: 526.83 m.Rh=7Zh=7M ProNav: ac range: 526.829285 m, nav range: 508.852936 m, bearing: 214.426933 deg, approach rate: -0.666078 m/s, LOS rate: 0.001541 deg/s, cmd heading: 205.518971 deg, new cmd heading: 205.520513 deg. BhMY8UHeadingCmd: 3.587010 target range: 526.829285 and range: 529.20 m.hUe@hQ*hY"hY hYgYfYfafadadadajdiZdm@E EE(E"E:*E1]:VEc44ZEBE DAT read: 00:22:32.7046 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 394,-0.01,-1.796, 2.888,-1.897,-2.346, PHS= 0.652,-1.004, 0.405, RAW= 142.1, -0.7, CAL= 141.9, -0.5, ROT= 8.1, 0.5  Ygot valid direction response: 00:22:32.7046 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 394,-0.01,-1.796, 2.888,-1.897,-2.346, PHS= 0.652,-1.004, 0.405, RAW= 142.1, -0.7, CAL= 141.9, -0.5, ROT= 8.1, 0.5  PDAT read: Bearing 352.9, 19.4 (Local)  ~Local bearing/azimuth received: Bearing 352.9, 19.4 (Local)  DAT read: Range 11 to 50 : 525.9 m (Round-trip 701.3 ms) speed 0.0 m/s % R#Rx 1: Read range and direction messages.- ^direction in FSK: [0.989986,0.140896,-0.008727]- Fpublishing direction and range infoy  `?M?B7߁Y yD ) NI y&?i  )\> ,@ +H @ 5) >I 5< 00 ?WI-e?̈ d>) fFi 5< E T****** received valid address query ******E R****** received valid ping request ******ᆴ,Ү?ADRQuerying Benthos address 50 with one ping in standard two-way mode.UX@f@0Iٱբ. -AHRS rotation from veh to nav: [[-0.877145,0.411244,0.247980],[-0.438758,-0.896198,-0.065724],[0.195211,-0.166452,0.966533]]H@@Q? ͽ?`ܿ``DӰ ?ONſ ?iUX@I`];CYmBym 'I y}a=bDVDy2=%0=ٔݦ;Q->9I=dDyPzC" E>Q 5 v4/.?Q 9 v4l)"BY)y5#Q I5?FCI;i:;v4y=߽Bɮ=A=ɢEi i jҮ?AJi DRi Dji o@i X72@rl2pR@2!(Fri `?M?B7߁Zi >bi 5<i n tz] ASrȫ U@zi ǫ SI?2i :i "i *'?*i N,Bi kCi B`?i OOi $Ci Di o@ԩ addTargetRange:: Added new target pos. range: 525.900024 m, deltaT: 4.535187 s, deltaX: -3.299988 m, approachRate: -0.727641 m/s, rangeRepo size: 4  Added new target pos. range: 523.519836 m, bearing: 214.576017 deg, lat: 36.779514 deg, lon: -121.860007 deg, deltaT: 4.535187 s, deltaX: -3.309448 m, approachRate: -0.729727 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 523.52 m.RhZh5 ProNav: ac range: 523.519836 m, nav range: 512.268738 m, bearing: 214.596912 deg, approach rate: 0.000000 m/s, LOS rate: 0.001541 deg/s, cmd heading: 205.520515 deg, new cmd heading: 205.522743 deg. Bh1=HeadingCmd: 3.587049 target range: 523.519836 and range: 525.90 m.h=4e@h9*h9"h9 hAgAfAfifidididijdu@3o@Zdu?ZZZZ_@bE}FA4jEyrE}Ć0E EE*E"E:*ErN:VE(N4ZEa@a@a@a@Bɢ.)A Eb$?iA)M$IIiMV0;iU,Uk;U4! eBDAT read: Tx time:00:22:34.0992 e$Ping request sent.e,w9Ү?Aj{X@j-f@jOFٱjj/ zAHRS rotation from veh to nav: [[-0.877554,0.411364,0.246329],[-0.438973,-0.895951,-0.067634],[0.192877,-0.167485,0.966823]]jHS?ඇ?!ܿ࡫zP`.?!pſ7?ij{X@IjT];jCY By F'IbD-VD-y5p>%=M=ٔ=;Q-=>9E ?IE ?=EdDyEzCM87EM>IQ 5Uv4M+.?Q 9]v4Mp)M9BYYy]#Q I]?MgCIM:iM:mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251107Mv4yuBɮuA}ҢEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 523.52 m.Rh8Zh8 ProNav: ac range: 523.519836 m, nav range: 512.006409 m, bearing: 214.597608 deg, approach rate: -0.688804 m/s, LOS rate: 0.001828 deg/s, cmd heading: 205.522742 deg, new cmd heading: 205.524830 deg. Bh8HeadingCmd: 3.587085 target range: 523.519836 and range: 525.90 m.h͒e@h*h"h hgfffdddjdZd@?ZZZZb@ Bɢ )  /?i ) R$iE;i,f;I͒e@I59@1 @1@1@1@=@=@=@=AIAMAABU`>BUCBU'IBUXBBU =BU@DBUDBUS;BU7E E EE-E"E[:*EVEt4ZEBE,%SҮ?A:3X@:f@:Dٱ:m@. BAHRS rotation from veh to nav: [[-0.878202,0.411460,0.243848],[-0.438608,-0.896139,-0.067507],[0.190745,-0.166238,0.967461]]:H;ZU?h6?'ܿ,HXj?KGſq?i:3X@I:'%^;:CYJByJ`'I LLRARAbDVVDV:y^==%^T=ٔ^;Q-b>9b"?Ib"?=bdDybzCfպEf>hQ 5nv4j .?Q 9nv4jEt)jNBYpyr#Q Ir?jCIj*;ij+;jv4yvƽBɮvAzѢEjhFNOT Ignoring new targets: 523.52 m.Rha8Zha8- ProNav: ac range: 523.519836 m, nav range: 511.748230 m, bearing: 214.598311 deg, approach rate: -0.673324 m/s, LOS rate: 0.001836 deg/s, cmd heading: 205.524832 deg, new cmd heading: 205.526943 deg. Bh-B85HeadingCmd: 3.587122 target range: 523.519836 and range: 525.90 m.h5he@h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdMa?ZiZiZiZmg@}Bɢ}R"߽) q6?i)#顁ix;iL,I;!hyԩ E  E E ,E "E :*E VL:VE g4ZE a @a @a @a @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007308,umҮ?A%==ٔ;Q->9 ?I ?=dDy{ChE>Q 5v4X-?Q 9v4x)gBY0?Q E:yr#Q I?CIG;i ;'v4yɮNAjhaeFNOT Ignoring new targets: 523.52 m.RhmV7ZhmV7 ProNav: ac range: 523.519836 m, nav range: 511.454285 m, bearing: 214.598840 deg, approach rate: -0.657525 m/s, LOS rate: 0.001184 deg/s, cmd heading: 205.526949 deg, new cmd heading: 205.528537 deg. BhP8HeadingCmd: 3.587150 target range: 523.519836 and range: 525.90 m.hܓe@h*h"h hgfffdddjdZd`?Zy=Zy=Z?Z@Bɢ)! %0@?i!)%#!!i-Kl;i5ً,5,K;5ߕ?ߕ[?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259107 Bm [>Bm CBm (IBm BBm =Bi Bm DBm *;Bm 7E,ۆҮ?A2cX@2f@2Ru?ٱ25* :AHRS rotation from veh to nav: [[-0.879940,0.411188,0.237969],[-0.437210,-0.896862,-0.066980],[0.185884,-0.162981,0.968961]]2Hx(P?@u?=ۿ %?Ŀ?i2cX@I2 ^;2CEB EBEB(E@"EB[:*EBC:VEBc44ZE@BEB9E"?IM"?=MdDyMS{CMgDEM>QQ 5]v4U-?Q 9]v4Uv|)U}BYaye#Q Ie?UЈCIUz;iU;Uv4ymBɮmAmТEjhFNOT Ignoring new targets: 523.52 m.Rh"7Zh"7 ProNav: ac range: 523.519836 m, nav range: 511.186188 m, bearing: 214.599358 deg, approach rate: -0.710721 m/s, LOS rate: 0.001374 deg/s, cmd heading: 205.528534 deg, new cmd heading: 205.530088 deg. Bh\q8HeadingCmd: 3.587177 target range: 523.519836 and range: 525.90 m.hNe@h*h"h hgfffdddjdZd?ZZZZ4@BɢFн) jG?i)y"i;;i f, [ ; i1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828̧,pҮ?A4<ɰ4<2sX@2%f@2$<ٱ2|( :AHRS rotation from veh to nav: [[-0.880740,0.411117,0.235119],[-0.436606,-0.897174,-0.066746],[0.183502,-0.161440,0.969672]]2H/O?`?Yۿ@@A|?Ŀ?i2sX@I2^;2CYBkByB'IJ=J=bDNVDNyV"2>%VT=ٔVD;Q-V>9XIX=ZdDyZ{C^8E^>`Q 5fv4b-?Q 9fv4bH)bBYdyf#Q If?bCIbF:ib:b\v4ylɮnApjhFNOT Ignoring new targets: 523.52 m.Rh 7Zh 7 ProNav: ac range: 523.519836 m, nav range: 510.923584 m, bearing: 214.599893 deg, approach rate: -0.680746 m/s, LOS rate: 0.001387 deg/s, cmd heading: 205.530091 deg, new cmd heading: 205.531696 deg. Bhs8%HeadingCmd: 3.587205 target range: 523.519836 and range: 525.90 m.h%Ĕe@h!*h)"h) h)g)f)5DReached init depth of 68.209312 m.f1f1d19d9dAjdAZdE@ZZZZ1@†Bɢ׋̽) OT?i)!i`;i,; p,Ү?A^rX@^xhf@^{:ٱ^,' fAHRS rotation from veh to nav: [[-0.881845,0.410159,0.232634],[-0.435300,-0.897773,-0.067217],[0.181283,-0.160541,0.970239]]^H 8 @?`?`ۿ !5`H4?Ŀ 2 ?i^rX@I^ ];^CYnByr'I ttbDzVDz3y=%D=ٔ ;Q- >9 I =dDy{CE>Q 5%w4-?Q 9%w4f)BY)y-#Q I-?CI_:i4:w4y5Bɮ5-A=ϢEUB*** querying acoustic contact ***iQ iQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267003jhimFNOT Ignoring new targets: 523.52 m.Rhu7Zhu7 ProNav: ac range: 523.519836 m, nav range: 510.639771 m, bearing: 214.600526 deg, approach rate: -0.679638 m/s, LOS rate: 0.001516 deg/s, cmd heading: 205.531703 deg, new cmd heading: 205.533603 deg. Bh68HeadingCmd: 3.587238 target range: 523.519836 and range: 525.90 m.hOe@h*h"h hgԑfffdddjdZd@D@ZZZZDp@ˆBɢǽ) 3]?i)!iV;if,r};BCBO(IB׈BB =BBDB;Bx7EE EE)E"E:*E=:VEFA4ZEBE<  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518759 o޴,kҮ?AVWX@VMf@V 8ٱVwF* ^AHRS rotation from veh to nav: [[-0.882967,0.408527,0.231244],[-0.434061,-0.898100,-0.070760],[0.178773,-0.162853,0.970319]]VHEAP%?g?ۿ=`S?[Ŀ ?iVWX@IVF^;VCYBy (IbD]VD]1ym=%mD=ٔm;Q-m>9qIq=ueDyu|CuE>Q 5w4-?Q 9w4)BYy#Q I?;CI:i:w4yvBɮrA΢E9jhFNOT Ignoring new targets: 523.52 m.Rh7Zh7 ProNav: ac range: 523.519836 m, nav range: 510.353058 m, bearing: 214.601222 deg, approach rate: -0.641098 m/s, LOS rate: 0.001558 deg/s, cmd heading: 205.533602 deg, new cmd heading: 205.535692 deg. Bhۈ8-HeadingCmd: 3.587275 target range: 523.519836 and range: 525.90 m.h5e@h1*h1"h9 h9gAfffdddjdZd=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773724ZZZZJ^@iՆBɢѽ) a?i)$ ij́;i͉,E;e|A >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024537A II!O=>,LҮ?A26X@2,f@2L5ٱ2e+ :AHRS rotation from veh to nav: [[-0.884239,0.406733,0.229541],[-0.432472,-0.898635,-0.073643],[0.176321,-0.164388,0.970509]]2H K?a?@ۿ@Fڲ`? ſh?i26X@I2];2CYBByB*(ITyV-?/$?~jth1?,> 9E?/$?Y&?y=cB+B EkB)[BY\ABbD-VD-0y5|>%=1=ٔ=I;Q-=>9AIA=EeDyEd|CMEM>IQ 5Uw4M-?Q 9]w4M֌)M؉BY] (?Q E]:y]#Q I]?MaCIM.:iMX:M w4yiɮmAijh FNOT Ignoring new targets: 523.52 m.Rh7Zh7E ProNav: ac range: 523.519836 m, nav range: 510.056976 m, bearing: 214.601919 deg, approach rate: -0.666990 m/s, LOS rate: 0.001571 deg/s, cmd heading: 205.535692 deg, new cmd heading: 205.537783 deg. BhE8MHeadingCmd: 3.587311 target range: 523.519836 and range: 525.90 m.hMe@hI*hQ"hQ hQgQfQfYf]BdydydjdZdKu @Z|=Z|=Z@ZĬ?݆BɢX)4 km?i)Di!i%q;i%4,-#;-JaȑCAYq9YA^A v<B- B>B- CB- (IB- BB- =B) B- DB- ߁;B- I7EBCBCBȖCB =B =C6) E  E E (E "E :*E =:VE c44ZE BE _ >´, Ӯ?AiIBDAT read: Rx Time:00:22:37.2000  TRx dataTimestamp_ set to:1761524556.220258 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528037YшByH(I)-@AbD-VD-k1y==%EK=ٔEQ-E>9III=MeDyM|CMEU>QQ 5ew4UŁ-?Q 9ew4U)UBYayaQ Ie?UCIU$;iU;U.w4yu_Bɮu6AuעEjhFNOT Ignoring new targets: 523.52 m.Rh!7Zh!7 ProNav: ac range: 523.519836 m, nav range: 509.796448 m, bearing: 214.602533 deg, approach rate: -0.675504 m/s, LOS rate: 0.001592 deg/s, cmd heading: 205.537782 deg, new cmd heading: 205.539624 deg. Bh8HeadingCmd: 3.587343 target range: 523.519836 and range: 525.90 m.he@h*h"h hgfffdddjdZd z@ZZZZ额Bɢ) u?i)E顡iLN_;i,,0;dd6 ɴ,%Ӯ?A2\W@2e@2#0ٱ2!. :AHRS rotation from veh to nav: [[-0.886625,0.403730,0.225608],[-0.429651,-0.899556,-0.078728],[0.171162,-0.166735,0.971032]]2H ;_?@?`gۿ*'@?Wſ?i2\W@I2];2CYBByBf(IbDJVDJ0yR=%RT=ٔVL^9V ?IZ ?=^eDy^|C^E^>`Q 5fw4b p-?Q 9jw4b:)bBYlyn#Q In?bCIbZ;ib\;b 7@K=c@ %=)">I%˽Ap6?Ĭ?,I3#N? ּ>).I">i%˽T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A%8k<A)zA)AU ؟AI I O >  (DAT read: user:57>  BDAT read: Tx time:00:22:38.3992  $Ping request sent. 9Z"?IZ"?=ZeDyZ%}CZkEZ>9Q 5Ew4=\-?Q 9Ew4=)=BYIyM$Q IM?=ʼnCI=V:i=:=Jw4yUEBɮU6AU֢EiQiUx.Ӯ?AJiUDRiUDjiUbiU%˽iU;P8ؑy&rh']^@ziUFF,E@/lCPD\?2iUm:iU"iU똱?*iU^׊BiU>CiU?iUN,iQiUeCiUp@ addTargetRange:: Added new target pos. range: 522.500000 m, deltaT: 4.290623 s, deltaX: -3.400024 m, approachRate: -0.792431 m/s, rangeRepo size: 4  Added new target pos. range: 520.069824 m, bearing: 215.964601 deg, lat: 36.779533 deg, lon: -121.860033 deg, deltaT: 4.290623 s, deltaX: -3.450012 m, approachRate: -0.804082 m/s, posRepo size: 4 jh1=FNOT Ignoring new targets: 520.07 m.Rh=Zh9M ProNav: ac range: 520.069824 m, nav range: 508.791534 m, bearing: 214.964078 deg, approach rate: 0.000000 m/s, LOS rate: 0.001803 deg/s, cmd heading: 205.541730 deg, new cmd heading: 205.544070 deg. BhIuHeadingCmd: 3.587421 target range: 520.069824 and range: 522.50 m.huMe@hq*hq"hy hygyfyfyfdddjdT@Zd~?ZZZZ~B?AA@AB4>BCB(IBLBB =BBDB;B 7EBɢ<貽) ?i)ii:;i g, ; Afi]>19@ @@4@Y ^A5 h%<ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506268AIIO?|״, aӮ?A>TW@>e@>H *ٱ>*. FAHRS rotation from veh to nav: [[-0.888757,0.401907,0.220414],[-0.427538,-0.900232,-0.082425],[0.165297,-0.167492,0.971917]]>Hpظ?6?\ۿ@o(?]pſ?i>TW@I>];%t! !9%(\?sh|??Y%'?y%=!%OcB%B %eB)%!B!Y%>B 11bD=VD=k1yMB=%M=ٔM`;Q-U>9QIQ=UeDy]}}C]q,E]>aQ 5mw4eD-?Q 9mw4e)e.BY)?Q E:yU$Q I?eCIeZ>ZU@ZұH@BɢͶ) ?i)iHu%;i%4,%3;%0 ,޴,.{Ӯ?A>@W@>e@>&ٱ>w0 FAHRS rotation from veh to nav: [[-0.889673,0.400992,0.218376],[-0.426771,-0.900310,-0.085488],[0.162326,-0.169253,0.972113]]>H2x۩?@?5PۿW⵿?ſ?i>@W@I>];%^Q=ٔb;Q-b>9b ?Ib ?=feDyf}Cf`9Ef>hQ 5nw4j}2-?Q 9nw4j)j@BYpyri$Q Ir?jCIj4:ij:jjw4ytɮzAxjhFNOT Ignoring new targets: 520.07 m.RhXV8ZhXV8- ProNav: ac range: 520.069824 m, nav range: 508.192963 m, bearing: 214.966566 deg, approach rate: -0.690843 m/s, LOS rate: 0.002928 deg/s, cmd heading: 205.548287 deg, new cmd heading: 205.551530 deg. Bh-95HeadingCmd: 3.587551 target range: 520.069824 and range: 522.50 m.h5oe@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@z?ZiZiZiZmH@} Bɢ}S) T?i)(顡iah;iE,%;r;Ioe@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006615 B%3>B!B%$)IB%BB% =B!B%DB%a;B%6E1 @  @ @ 1@@=@R=DM=DM<EU EUEU(EQ"EU:*EUrN:VEUc44ZEQBEU^ ,XӮ?AJ6W@Je@JٱJ. RAHRS rotation from veh to nav: [[-0.891065,0.401491,0.211680],[-0.426366,-0.900347,-0.087104],[0.155614,-0.167869,0.973450]]JH@?U?@Iۿ`wL(?|ſ &?iJ6W@IJ ];HYbIByb(InAnAbDzVDzy =% 4=9ٔj9"?I"?=eDy ~C#E>Q 5w4}-?Q 9w4)UBYyz$Q I?9CI;iT;S{w4yBɮ$AԢEjhAEFNOT Ignoring new targets: 520.07 m.Rhm_M8Zhm_M8} ProNav: ac range: 520.069824 m, nav range: 507.882812 m, bearing: 214.967918 deg, approach rate: -0.643023 m/s, LOS rate: 0.002805 deg/s, cmd heading: 205.551524 deg, new cmd heading: 205.555584 deg. Bh}r8HeadingCmd: 3.587622 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZdl?ZZZZ,[Ӯ?AR#W@R՜e@RoٱR- ZAHRS rotation from veh to nav: [[-0.891628,0.402085,0.208154],[-0.426430,-0.900270,-0.087588],[0.152177,-0.166859,0.974166]]RH6?@̤?Jۿ  +lz?[ſ _,?iR#W@IR ];PYbdByb(Ij@AhbDjVDj1yrl>%vM=ٔv9tIx=zeDyzF~CzkEz>|Q 5w4~ -?Q 9 w4~)~fBY y ~$Q I ?~YCI~:i~:~w4yBɮSAӢEjh9EFNOT Ignoring new targets: 520.07 m.RhEV8ZhEV8U ProNav: ac range: 520.069824 m, nav range: 507.635956 m, bearing: 214.969002 deg, approach rate: -0.668345 m/s, LOS rate: 0.002935 deg/s, cmd heading: 205.555581 deg, new cmd heading: 205.558834 deg. BhU9]HeadingCmd: 3.587678 target range: 520.069824 and range: 522.50 m.h]e@ha*ha"ha hagafafifidididijdqZdu[@ԙZZZZH@Bɢ][) '?i)% iU:i/,;x_;Ie@I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014538^AX;B A <B (>B CB b)IB BB =B ADB DB ;B g6EA I I  O- >D1 zD5 AAEE  EE EE &EA "EE y:*EE H:VEE 4ZEA BEE 9I=fDy~C E:E >Q 5w4 ,?Q 9w4g)wBYy%y$Q I%?{CI:i:Ŗw4y)ɮ-A)jhQUFNOT Ignoring new targets: 520.07 m.Rh]Q8Zh]Q8m ProNav: ac range: 520.069824 m, nav range: 507.369019 m, bearing: 214.970166 deg, approach rate: -0.654532 m/s, LOS rate: 0.002857 deg/s, cmd heading: 205.558832 deg, new cmd heading: 205.562328 deg. Bhm8uHeadingCmd: 3.587739 target range: 520.069824 and range: 522.50 m.hue@hq*hq"hq hqgyfyfyfydddjdZd@ZZZZH@颽'Bɢ) Q?i)*i,V:i0,";*;Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2869469@ @@@^AAzAgAIA I) I9 OE >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.540460q Y,%Ӯ?Aɰ6;W@6e@6eٱ6* >AHRS rotation from veh to nav: [[-0.892159,0.404510,0.201056],[-0.427560,-0.899800,-0.086908],[0.145755,-0.163500,0.975717]]6H? 6?%]ۿ`(?? Ŀ9?i6;W@I6'^;6CYFByF3)Iy(\?I +L7A`堿'?94+ 9v/?V-?y&1Yx)?yh=`e^B!B ]B)?BY:BbD%VD%y=%@=ٔ;Q->9I=fDy~Ck:E>Q 5w4,?Q 9w4D)BY{*?Q E:y%Q I?CI:i\:w4yBɮOAۢEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 507.088196 m, bearing: 214.972103 deg, approach rate: -0.659971 m/s, LOS rate: 0.004555 deg/s, cmd heading: 205.562329 deg, new cmd heading: 205.568144 deg. Bh H9HeadingCmd: 3.587841 target range: 520.069824 and range: 522.50 m.h0e@h*h"h hg!f!f!f!d)d1d1jd1Zd5h@IZ]$=Z]$=Z]G?Z]0@m1Bɢujʉ)q u?iq)u!qyi}:i},; ;I0e@II)E EE%E"EO:*EV:VE 4ZEa@a@a@a@9@ @@ 0@ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.794384^A%;ԡAQ Ii Iy O > ,gӮ?A6W@6}e@6^Gٱ6 |) JAHRS rotation from veh to nav: [[-0.892224,0.405917,0.197911],[-0.428567,-0.899242,-0.087715],[0.142365,-0.163079,0.976287]]6H``?@&U?mۿ|t`9?Ŀ@=?i6W@I6 ^;6CYRByRI)IbDZVDZ02yfH=%fZ=ٔf9hIh=jfDyj CjN;En>pQ 5rw4r,?Q 9vw4r)rBYtyv%Q Iv?rCIr=:ir:rw4yxɮ~A|jh%FNOT Ignoring new targets: 520.07 m.Rh%8Zh%85 ProNav: ac range: 520.069824 m, nav range: 506.840088 m, bearing: 214.973792 deg, approach rate: -0.662077 m/s, LOS rate: 0.004508 deg/s, cmd heading: 205.568149 deg, new cmd heading: 205.573217 deg. =Y>==Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.046915Bh5F9MHeadingCmd: 3.587929 target range: 520.069824 and range: 522.50 m.hMe@hI*hI"hQ hQgQfQfYfYdYdYdajdaZdej @ZZZZ7@颕:Bɢvt)  ?i)4顙i t:i,;\BB)IBBB =BBBĀ;B6EE EE*E"E,:*E1]:VE(N4ZEBE9 `,Ԯ?AV_W@Ve@V ?ٱVG) fAHRS rotation from veh to nav: [[-0.892506,0.406489,0.195448],[-0.428942,-0.898917,-0.089199],[0.139433,-0.163447,0.976649]]VHh@?`r?`sۿ@ն?Ŀ@?iV_W@IVT8^;VCYvByzX)IbD VD k1ya=%E=ٔ%;Q-%>9!I!=-fDy-OC- :E->1Q 5=w459,?Q 9=w45x)5BYAyE%Q IE?5CI5D;i5 :5=w4yM˼BɮMtAMڢEjhqFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 506.565582 m, bearing: 214.975656 deg, approach rate: -0.661423 m/s, LOS rate: 0.004495 deg/s, cmd heading: 205.573217 deg, new cmd heading: 205.578814 deg. Bh qE9 HeadingCmd: 3.588027 target range: 520.069824 and range: 522.50 m.hU=e@hY*hY"hY hYgYfYfafadadadajdiZdm @ZZZZ 9@DBɢ) Z?i)P )i-/:i5w},5';1I5=e@I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.551176@ @@`0@9E  E E )E "E :*E T:VE FA4ZE a% @a% @a% @a% @^A- 8 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.805708< ,b2Ԯ?A 6{W@6-e@6Q ٱ6\) >AHRS rotation from veh to nav: [[-0.892597,0.407614,0.192672],[-0.429664,-0.898533,-0.089595],[0.136602,-0.162756,0.977165]]6H&W?u?ۿﶿ*|? /ĿD?i6{W@I6!^;6CYFʼnByFt)IbD~VD~0y5=%5I=ٔ5;Q-5>99I9==fDy=CE :EE>IQ 5Uw4M,?Q 9Uw4M-)MBYQyU%Q IU?MCIMU;iMn;Mpw4yeBɮeAe٢EjhFNOT Ignoring new targets: 520.07 m.Rh 8Zh 8 ProNav: ac range: 520.069824 m, nav range: 506.296783 m, bearing: 214.977466 deg, approach rate: -0.661510 m/s, LOS rate: 0.004454 deg/s, cmd heading: 205.578818 deg, new cmd heading: 205.584248 deg. BhC9HeadingCmd: 3.588122 target range: 520.069824 and range: 522.50 m.hˣe@h*h"h hgfffdddjdZd`|@ZZZZ>@MBɢ4b) ?i)@)iP?9i{,A;+ B CB )IB BB =B B DB {;B 5EBuCBuCBuɔCBu =Bu =CuR5O > E  E E *E "E >:*E 1]:VE (N4ZE BE 9tIt=vfDyvCv6/;Ez>xQ 5~w4z.,?Q 9w4zƾ)zBYy%Q I?z&CIz;iz;z/w4y ɮdAjh1=FNOT Ignoring new targets: 520.07 m.Rh=a8Zh=a8M ProNav: ac range: 520.069824 m, nav range: 506.036469 m, bearing: 214.979188 deg, approach rate: -0.661800 m/s, LOS rate: 0.004382 deg/s, cmd heading: 205.584254 deg, new cmd heading: 205.589425 deg. BhMu@9UHeadingCmd: 3.588212 target range: 520.069824 and range: 522.50 m.hUFe@hQ*hY"hY hYgYfYfafadadadijdiZdm`f@ZZZZH@额VBɢ*a) ?i)h&顡ir89ioz,i;M?M949I=fDy CF:E>Q 5w4,,?Q 9w4°)ƊBY*?Q E:y$Q I?JCI;iu;w4yBɮAآEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 520.07 m.Rhc8Zhc8 ProNav: ac range: 520.069824 m, nav range: 505.754883 m, bearing: 214.980507 deg, approach rate: -0.664147 m/s, LOS rate: 0.003113 deg/s, cmd heading: 205.589432 deg, new cmd heading: 205.593392 deg. Bh9HeadingCmd: 3.588282 target range: 520.069824 and range: 522.50 m.hhe@h*h"h hgfffdddjdZd @Z-=Z-=Z-v@Z-(}@=aBɢ=r!h)A Eߡ?iA)E AAiEiMLy,M;Uԁ ,4Ԯ?AY~By~)II=)4<bDVD:2%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.062599y-+=%-O=ٔ5Q-5>91I1=5fDy5+C=E=>AQ 5Mw4Eq,?Q 9Mw4E~ư)EϊBYIyQQ IU?ElCIE=:iE:Ew4YyaɮekAajhFNOT Ignoring new targets: 520.07 m.Rh|d8Zh|d8 ProNav: ac range: 520.069824 m, nav range: 505.492401 m, bearing: 214.981738 deg, approach rate: -0.665135 m/s, LOS rate: 0.003121 deg/s, cmd heading: 205.593393 deg, new cmd heading: 205.597088 deg. Bh 9HeadingCmd: 3.588346 target range: 520.069824 and range: 522.50 m.hwe@h*h"h hgfffdddjdZd U@ZZZZjBɢ5O) =?i)Cii=x, ;{KBECBE *IBE?BBE =BABEDBE;BEX5E-9@) @)@-/@)ԁE EE'E"EO:*ER:VE'4ZEBE 7&,Ԯ?ABW@Be@B~ٱB& JAHRS rotation from veh to nav: [[-0.893584,0.410767,0.181049],[-0.431304,-0.897440,-0.092616],[0.124437,-0.160848,0.979103]]BH=@J? ,?}ۿ`Էۿ?ĿT?iBW@IB'7^;BCYR ByR)I XZp=bD^VD^N2yfϒ=%fQ=ٔjfy9hIh=jfDyjKCnQEn>pQ 5vx4r_,?Q 9vx4r0ʰ)r׊BYtyz$Q Iz?rCIr:ir=:rwx4y}Bɮ}A}עEjhFNOT Ignoring new targets: 520.07 m.Rhq]8Zhq]8Թ ProNav: ac range: 520.069824 m, nav range: 505.231781 m, bearing: 214.982970 deg, approach rate: -0.639868 m/s, LOS rate: 0.003025 deg/s, cmd heading: 205.597095 deg, new cmd heading: 205.600791 deg. Bh9HeadingCmd: 3.588411 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZdq@ZZZZ@ tBɢ N) X?i)8ii%.w,%R;% bE}-4jE}Ȩ,4rE}(0E  E E %E "E :*E [:VE 4ZE a% @a% @a% @a% @9  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.818506`,,Ԯ?A2W@2e@2:Vٱ2_' :AHRS rotation from veh to nav: [[-0.894283,0.410149,0.178987],[-0.430571,-0.897604,-0.094427],[0.121931,-0.161511,0.979309]]2H???yۿ@+\,@6?`eĿV?i2W@I2^;0YB ByB)IbDJVDJyR~=%RM=ٔVr;Q-V>9TIT=ZfDyZkCZEZ>\Q 5bx4^%L,?Q 9bx4^Ͱ)^ߊBYdyf$Q If?^CI^:i^I:^fx4yjjBɮj&Aj֢Ejh|~FNOT Ignoring new targets: 520.07 m.Rh-v8Zh-v8 ProNav: ac range: 520.069824 m, nav range: 504.966492 m, bearing: 214.984256 deg, approach rate: -0.693478 m/s, LOS rate: 0.003363 deg/s, cmd heading: 205.600797 deg, new cmd heading: 205.604656 deg. Bh9HeadingCmd: 3.588478 target range: 520.069824 and range: 522.50 m.he@h*h"h h!g!f!f!f)d)d)d)jd)Zd5s~@ZQZQZQZUV@~Bɢ@) ?i)ViNTiv,;A>ԉIIO>B- <A- <B5 >B1 B5 =*IB5 hBB5 =B1 B1 B5 ;B5 4Eԙ E  E E )E "E ,:*E V:VE FA4ZE BE 9TIX=ZgDyZCZREZ>\Q 5bx4^8,?Q 9bx4^Ѱ)^BYdyf$Q If?^ҋCI^w:i^:^#x4yjoBɮjAnߢEjhY]FNOT Ignoring new targets: 520.07 m.Rhe q8Zhe q8u ProNav: ac range: 520.069824 m, nav range: 504.697510 m, bearing: 214.985612 deg, approach rate: -0.652687 m/s, LOS rate: 0.003293 deg/s, cmd heading: 205.604663 deg, new cmd heading: 205.608734 deg. Bhu9HeadingCmd: 3.588549 target range: 520.069824 and range: 522.50 m.h˪e@h*h"h hgfffdddjdZd ,@ZZZZ@%Bɢ%<)! %?i!)-s ))i-vi5t,U;U;IU˪e@IYIehA)egAychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.322691@ @@@ԡ^A5r;M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.574525A I I O > Pr9,#Ԯ?A2W@2Qe@2ٱ2( :AHRS rotation from veh to nav: [[-0.896507,0.407412,0.174041],[-0.427519,-0.898607,-0.098659],[0.116200,-0.162855,0.979784]]2H/ ? F? y\ۿbAE?lĿ@cZ?i2W@I2&^;2CYBAByB *Iy -?bX9?{Gzt 5? E6> ף  9 ˡE?v/?Q롿Y '?y x= \ (UB B RB) yB Y p4BAAAAbD%VD%y5"E=%5B=ٔ5';Q-=>99I9=EgDyECEٞEE>IQ 5Ux4M%,?Q 9Ux4Mհ)MBYU*?Q EU:yJ"Q I?MCIMgQ a\@,wծ?A>uW@>ake@>nٱ>) FAHRS rotation from veh to nav: [[-0.897621,0.406006,0.171571],[-0.425972,-0.899081,-0.101001],[0.113249,-0.163745,0.979981]]>HO? ?`CۿF.۹?Ŀ\?i>uW@I>0^;%^R=ٔb;Q-b>9`I`=bgDyf΀CfEf>hQ 5nx4j,?Q 9nx4jٰ)jBYpyrj"Q Ir?jCIj;ij;j?x4ytɮvAtchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.078656jh%FNOT Ignoring new targets: 520.07 m.Rh%Y 7Zh%Y 7= ProNav: ac range: 520.069824 m, nav range: 504.156982 m, bearing: 214.985962 deg, approach rate: -0.715176 m/s, LOS rate: 0.000548 deg/s, cmd heading: 205.609185 deg, new cmd heading: 205.609780 deg. Bh=k7=HeadingCmd: 3.588568 target range: 520.069824 and range: 522.50 m.hEe@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU\@ZqZqZqZu7"@颅Bɢ@) ?i)? 顉iǺit,ݺ;[;Ie@IB>BBo*IBBBBBB~;B4E)m9@i @i@mM0@i@q@qD=D<E EE)E"E:*EP:VEFA4ZEBEIF,LUծ?A4<ɰ4<06DW@6i:e@6C0ٱ6J) BAHRS rotation from veh to nav: [[-0.899149,0.403736,0.168903],[-0.423409,-0.900136,-0.102371],[0.110705,-0.163561,0.980302]]6H?@?@"ۿ 4!W?@Ŀ^?i6DW@I6 ^;6CYFgByJ<*IN=N=bDRVDRk1yZ+=%ZK=ٔ^;Q-^>9\I`=bgDybCb=Eb>dQ 5jx4f,?Q 9jx4fݰ)fBYhyn"Q In?f9CIf:if;fMx4yr@BɮrbArݢEjh  FNOT Ignoring new targets: 520.07 m.RhX7ZhX7% ProNav: ac range: 520.069824 m, nav range: 503.888641 m, bearing: 214.986259 deg, approach rate: -0.669448 m/s, LOS rate: 0.000740 deg/s, cmd heading: 205.609786 deg, new cmd heading: 205.610676 deg. Bh%8-HeadingCmd: 3.588583 target range: 520.069824 and range: 522.50 m.h-Ye@h)*h)"h) h1g1f1f1f1d9d9d9jdAZdE o@ZZZZN"@Bɢ&) :?i)KY ii%[t,%wY;%{WS:I%Ye@I)ԑ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.582622Թ^AqZ;E EE'E"Em:*E;J:VE'4ZEa@a@a@a@A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.834558uL,05ծ?A2JW@2e@2 ޽ٱ2F) :AHRS rotation from veh to nav: [[-0.900440,0.401888,0.166414],[-0.421306,-0.900957,-0.103815],[0.108210,-0.163590,0.980576]]2Hg?M?ڿ`@?Ŀ``?i2JW@I2=^;2C\YvuByvM*IbDVD03y <=%E=ٔ;Q->9I=gDyC%v»E%>)Q 5-x4-+?Q 95x4-)-BY1y5"Q I5?-]CI-F:i-:-z\x4yE)BɮEAEܢEjhamFNOT Ignoring new targets: 520.07 m.Rhm7Zhm7 ProNav: ac range: 520.069824 m, nav range: 503.611542 m, bearing: 214.986644 deg, approach rate: -0.666456 m/s, LOS rate: 0.000926 deg/s, cmd heading: 205.610674 deg, new cmd heading: 205.611828 deg. Bh"8HeadingCmd: 3.588603 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZdS @ZZZZIn"@颅Bɢ?") &?i)!' 顉iwit,; ~Ie@IM9@I @I@M2@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.086437!^Am9AAAAB>BB*IBBB =BBB*~;BL4EA A I I O >D zD E  E E (E "E P;*E i:VE c44ZE BE 9hIh=jgDyj1CnfȻEn>pQ 5vx4r8+?Q 9vx4r)rBYtyv"Q Iz?r~CIr:irZ:rHjx4y|ɮ~A|jh!-FNOT Ignoring new targets: 520.07 m.Rh-7Zh-7E ProNav: ac range: 520.069824 m, nav range: 503.348297 m, bearing: 214.987084 deg, approach rate: -0.665356 m/s, LOS rate: 0.001113 deg/s, cmd heading: 205.611835 deg, new cmd heading: 205.613155 deg. BhE}C8EHeadingCmd: 3.588627 target range: 520.069824 and range: 522.50 m.hMe@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd](!@ZZZZO>"@Bɢk) ?i) iis,;;%cKI%e@I!}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3386919@ @@4@@@=Iy^AΒ{A->A->- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590540Aa Ii Iy O >ԩ qY,hծ?A2V@2d@2KԽٱ2, :AHRS rotation from veh to nav: [[-0.902954,0.397738,0.162723],[-0.417094,-0.902304,-0.108995],[0.103474,-0.166288,0.980633]]2H@t??૱ڿ绿J}?HſXa?i2V@I2^;2CYBByB|*I DDyUS?5^I ?~jtxU/?UX>UĻQ Q9U"~j?Q?:vYUS#?yU=UԼURBQ UNB)U:BQYU3BybDuVDuk1y=%>=ٔ^;Q->9I=gDyTCE>Q 5x4+?Q 9x4)BYS&?Q E:y"Q I?CIR6;i;;Wyx4yBɮAۢEB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 520.07 m.Rh%5Zh-5E ProNav: ac range: 520.069824 m, nav range: 503.068451 m, bearing: 214.987131 deg, approach rate: -0.642556 m/s, LOS rate: 0.000108 deg/s, cmd heading: 205.613160 deg, new cmd heading: 205.613301 deg. BhE6MHeadingCmd: 3.588629 target range: 520.069824 and range: 522.50 m.hMe@hI*hIE EE)E"E,:*ErN:VEFA4ZEa@a@a@a@"h hgfffdddjdZd"@Z% =Z% =Z%Q @Z%y@uŇBɢu)y }?iy)}kyyi}(A is,fc;JIe@IԩE9@A @A@E4@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.842628^Am yb] Q ] ÑC G  1 E 9A YE iAAy I I O >7`,ծ?Ar%=r%=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.094735YBy*IbD5 VD52yE>%EP=ٔEQ-E>9III=MgDyMtCMEU>QQ 5]x4UI+?Q 9ex4U)UBYayaQ Ie?UÌCIU;iU;U x4yiɮmaAqjhFNOT Ignoring new targets: 520.07 m.Rh|6Zh|6 ProNav: ac range: 520.069824 m, nav range: 502.813965 m, bearing: 214.987173 deg, approach rate: -0.658291 m/s, LOS rate: 0.000111 deg/s, cmd heading: 205.613296 deg, new cmd heading: 205.613425 deg. Bha6HeadingCmd: 3.588631 target range: 520.069824 and range: 522.50 m.h"e@h*h"h hgfffdddjdZd "@ZZZZB}>ByB}*IB}؊BB} =ByByB}};B}4EBECBECBE“CBE =BE =CEH5χBɢ)) ?i)i/is,L;I"e@I9@ @@0@ D<DE EE'E"E:*ET:VE'4ZEBEY rf,ծ?AY~By~*IbD VD k1y5<%5K=ٔ9Q-=>9AIA=EgDyECAEM>IQ 5Ux4M3+?Q 9Ux4M)MBYYyYQ I]?MCIM;iMT;Mx4yeBɮeAmEjhFNOT Ignoring new targets: 520.07 m.Rh5Zh5 ProNav: ac range: 520.069824 m, nav range: 502.552246 m, bearing: 214.987217 deg, approach rate: -0.649334 m/s, LOS rate: 0.000109 deg/s, cmd heading: 205.613419 deg, new cmd heading: 205.613551 deg. Bhj6HeadingCmd: 3.588634 target range: 520.069824 and range: 522.50 m.h,e@h*h"h hgfffdddjdZdr#@ZZZZ؇Bɢdȼ) y?i)xicz?is,; ^I ,e@I 9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598752a^AԑE EE+E"E:*ER:VE [4ZEa@a@a@a@A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850507Թ l,xծ?A*;ɰ(J0V@Jd@JŽٱJԎ. RAHRS rotation from veh to nav: [[-0.905040,0.395300,0.156975],[-0.414262,-0.902899,-0.114717],[0.096385,-0.168853,0.980917]]JH L??Eڿ^?ſc?iJ0V@IJZ^;JCYZˊByZ*IbDjVDj1yz`=%zO=ٔ~n9 I = gDy C E>!Q 5-x4%G+?Q 9-x4%)% BY1y5P"Q I=?%CI%dh;i%i;% x4yAɮMAIjhFNOT Ignoring new targets: 520.07 m.Rhj6Zhj6= ProNav: ac range: 520.069824 m, nav range: 502.293549 m, bearing: 214.987369 deg, approach rate: -0.640073 m/s, LOS rate: 0.000376 deg/s, cmd heading: 205.613556 deg, new cmd heading: 205.614012 deg. Bh=?7=HeadingCmd: 3.588641 target range: 520.069824 and range: 522.50 m.hEMe@hA*hA"hA hAgAfAfIfIdIdIdQԑjdZdRk$@ZZZZ'Y@Bɢ) 4?i),顑i"Niis,;yIMe@Ie9@a @a@a@a ]s, Sծ?A2V@2Lxd@28ٱ2/, :AHRS rotation from veh to nav: [[-0.905648,0.395080,0.153992],[-0.413432,-0.903411,-0.113675],[0.094207,-0.166615,0.981511]]2HH??uڿ`?Sſ`h?i2V@I23^;0YB݊ByB*I HJa=bDN VDN2y=%H=ٔ%;Q-%>9% ?I% ?=%hDy%ցC-"E->1Q 5=x45+?Q 9=x45)5BY9yE^"Q IE?5'CI5n;i5;5;x4yMBɮM4AMEjhquFNOT Ignoring new targets: 520.07 m.Rh}e7Zh}e7 ProNav: ac range: 520.069824 m, nav range: 502.029816 m, bearing: 214.987550 deg, approach rate: -0.658967 m/s, LOS rate: 0.000452 deg/s, cmd heading: 205.614007 deg, new cmd heading: 205.614550 deg. Bh7HeadingCmd: 3.588651 target range: 520.069824 and range: 522.50 m.hue@h*h"h hgfffdddjdZdJ*%@ZZZZK@Bɢ\;) ?i)i]i@s, ;ސ Iue@I]2Acoustic response timeoutu9@q @q@q@q^AMz!A؟AII O-p>I  2Acoustic response timeout z,Z,ծ?A6tV@6Sjd@6޻ٱ6B+ BAHRS rotation from veh to nav: [[-0.906221,0.394863,0.151148],[-0.412760,-0.903686,-0.113928],[0.091605,-0.165632,0.981924]]6H oE?X?jڿZ*@ks?j3ſk?i6tV@I6^;6CYJByJ*IyEx?RQ?L7A`堿EK?E=E+A A9E+?S㥻?~jtYE?yE/=EDEPBEOB EFKB)EeBAYE0BbDmVDm02y=%D=ٔc;Q->9"?I"?=hDyCE>Q 5x4}m+?Q 9x4)BY%"?Q E5:y5#Q I5?ICIiZ}@颵Bɢ4;) l?i)a项i#lir,;]Ie@Iu2Acoustic response timeout@! @!@!@!@-=@-=ԩ ^A A I I O >?,<֮?A2Acoustic response timeout:kV@:aad@:ٱ:+ BAHRS rotation from veh to nav: [[-0.906691,0.394821,0.148414],[-0.412377,-0.903698,-0.115215],[0.088632,-0.165667,0.982191]]:H@D?9?bdڿ~ ?4ſn?i:kV@I:6^;:CYJByJ*I LLbDR VDR2yZ=%ZN=ٔ^;Q-^>9\I\=^hDy^CbEb>dQ 5jx4f\+?Q 9jx4f.)fBYhyn #Q In?fiCIf:ifo:fx4ypɮrjApjh  FNOT Ignoring new targets: 520.07 m.Rh7Zh7% ProNav: ac range: 520.069824 m, nav range: 501.514923 m, bearing: 214.988585 deg, approach rate: -0.683108 m/s, LOS rate: 0.001397 deg/s, cmd heading: 205.616124 deg, new cmd heading: 205.617659 deg. Bh%|u8-HeadingCmd: 3.588705 target range: 520.069824 and range: 522.50 m.h-Xe@h)*h)"h) h1g1f1f1f1d9d9d9jd9ZdE`&@ZaZaZaZe+@uBɢu8>])q }?iy)}+yyi}XzB>B CB$+IB$BB =BBDB:|;BI3Ei%^r,%;% I%Xe@I)99@ @@ 0@E EE)E"E:*ErN:VEFA4ZEBE _,֮?A2cV@2\Yd@2%ٱ2* :AHRS rotation from veh to nav: [[-0.907152,0.395019,0.145037],[-0.412051,-0.903786,-0.115693],[0.085382,-0.164714,0.982639]]2H cG??@ _ڿ`۵?`Zſ q?i2cV@I20^;2CTYZ ByZ+I``bDfVDfkyj_=%nI=ٔn9pIp=rhDyr9CvEv>tQ 5zx4v J+?Q 9~x4v)vBY|y~(#Q I~?vCIv;iv;vx4y Bɮ A Ejh15FNOT Ignoring new targets: 520.07 m.Rh=i7Zh=i7M ProNav: ac range: 520.069824 m, nav range: 501.258148 m, bearing: 214.989124 deg, approach rate: -0.632242 m/s, LOS rate: 0.001328 deg/s, cmd heading: 205.617654 deg, new cmd heading: 205.619272 deg. BhMJi8UHeadingCmd: 3.588733 target range: 520.069824 and range: 522.50 m.hUέe@hQ*hQ"hQ hQgQfYfYfYdadadajdaZdm '@ZZZZ@额Bɢ|) ?i)x顡i %iq,6;y'Iέe@IU2Acoustic response timeoutY@Y @Y@]_0@Y^A5!E EE*E"E:*E;J:VE(N4ZEa%@a%@a%@a%@I1 IQ Ou >1  2Acoustic response timeoutW,8֮?AJGcV@JXd@JٱJ%A( RAHRS rotation from veh to nav: [[-0.907422,0.395761,0.141275],[-0.412148,-0.903768,-0.115487],[0.081975,-0.163022,0.983211]]JH @&T?@O?`ڿ@ K?Ŀ wv?iJGcV@IJw6^;JCYZByZ+IbDb VDb2yj@=%nJ=ٔnk 9pIp=rhDyrZCrTrEv>tQ 5zx4v'8+?Q 9Ux4v)v#BYYy]'#Q I]?vCIveB CBP+IBHBB =BBDB{;B!3E^Am h%Aq zAq I I O >ԁ E%  E% E% &E! "E% [:*E% rN:VE% 4ZE! BE% 9pIp=vhDyv{Cv3:Ev>xQ 5~x4zC&+?Q 9~x4zx )z'BYy"#Q I?zˍCIz;iz;zx4y Bɮ A Ejh15FNOT Ignoring new targets: 520.07 m.Rh=7Zh=7M ProNav: ac range: 520.069824 m, nav range: 500.746338 m, bearing: 214.990189 deg, approach rate: -0.659419 m/s, LOS rate: 0.001363 deg/s, cmd heading: 205.620878 deg, new cmd heading: 205.622464 deg. BhMuo8UHeadingCmd: 3.588789 target range: 520.069824 and range: 522.50 m.hUe@hQ*hQ"hQ hQYgYfafafadadidijdiZdm8)@ZZZZr@颥Bɢ`<) .?i)1顩i֑ip,;BDAT read: Response Not Received *response not received(DAT read: user:58> BDAT read: Tx time:00:22:50.8492 $Ping request sent.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249291 ,'l֮?AB9kV@B`d@BlٱB% ^AHRS rotation from veh to nav: [[-0.907732,0.397595,0.133941],[-0.412820,-0.903385,-0.116086],[0.074845,-0.160668,0.984167]]BH% 1r?`$?kڿ@˷)?ŐĿ K~?iB9kV@IB`^;BCYf/Byf2+IyU)\(?v/?L7A`堿UGA?Uxi=QQ Q9U+?+?{GztYQyU=UףUMBUB UeFB)UBQYUQ.B imp=bDmVDmky}.=%@=ٔ]9I=hDyC9E>Q 5y4 +?Q 9y4")-BY ?Q E:y%Q I?CIX:i:y4yBɮAEԱB*** querying acoustic contact ***iE EE)E"Em:*EC:VEFA4ZEa@a@a@a@ ijhFNOT Ignoring new targets: 520.07 m.RhY8ZhY8  ProNav: ac range: 520.069824 m, nav range: 500.479706 m, bearing: 214.992093 deg, approach rate: -0.620961 m/s, LOS rate: 0.004435 deg/s, cmd heading: 205.622462 deg, new cmd heading: 205.628176 deg. Bh B9HeadingCmd: 3.588889 target range: 520.069824 and range: 522.50 m.hZe@h*h"h hgff!f!d!d!d)jd)Zd- w*@Z >Z >Z>@ZBt>#Bɢy) ?i)piniMZo,Mh;Mn$IUZe@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5014869@ @@5@ ^AA I I O >9 ,GW֮?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7533406lV@6bd@6gٱ6# BAHRS rotation from veh to nav: [[-0.907911,0.398414,0.130243],[-0.413013,-0.903339,-0.115753],[0.071536,-0.158886,0.984702]]6H `?ͫ? nڿ@'*P?`^VĿ?i6lV@I6R^;4YFHByFP+IbDR VDR2yVe>%ZY=ٔZ+9\I\=^hDy^Cb9Eb>`Q 5fy4b+?Q 9jy4bb)b3BYhyj%Q Ij?b CIb$:ib_:b&y4y=Bɮ=GAEEB>B CB|+IBkBB =BBB{;B2EjhFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 500.243225 m, bearing: 214.993779 deg, approach rate: -0.595783 m/s, LOS rate: 0.004250 deg/s, cmd heading: 205.628173 deg, new cmd heading: 205.633233 deg. Bh:9HeadingCmd: 3.588977 target range: 520.069824 and range: 522.50 m.ẖe@h*h"h hgf f f d ddjd1Zd5@*@ZZZZ*t>,Bɢ]) ?i)-qN11i5i=m,=O;=$I=̱e@I9D=DE EE%E"E>:*E1]:VE 4ZEBE ,2֮?ABxV@B]nd@BٱB3" JAHRS rotation from veh to nav: [[-0.907801,0.399686,0.127077],[-0.413750,-0.903043,-0.115432],[0.068619,-0.157367,0.985153]]BH@ v? D?zڿ@ ?$Ŀ@`?iBxV@IBZ^;BCYRRByR]+IbDZ VDZ:2ybL=%bI=ٔf;Q-f>9f ?If ?=jhDyj݂Cj:Ej>lQ 5ry4n*?Q 9ry4n)n8BYtyv%Q Iv?n-CIn:in:nZ"y4yzBɮzAzEjhFNOT Ignoring new targets: 520.07 m.Rh%8Zh%85 ProNav: ac range: 520.069824 m, nav range: 499.988373 m, bearing: 214.995576 deg, approach rate: -0.666470 m/s, LOS rate: 0.004703 deg/s, cmd heading: 205.633227 deg, new cmd heading: 205.638621 deg. Bh5N9=HeadingCmd: 3.589071 target range: 520.069824 and range: 522.50 m.h=We@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMy+@ZqZqZqZuu>颅4Bɢ`#) ?i)顉i:i^l,f; IWe@Iq=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257564=9@9 @9@E/@Aԡ^AQE EE(E"E:*E H:VEc44ZEa@a@a@a@AM ؟AIQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509343! [׭, ֮?A2V@2od@2ٱ2k :AHRS rotation from veh to nav: [[-0.907484,0.401460,0.123706],[-0.414882,-0.902713,-0.113936],[0.065930,-0.154719,0.985756]]2H `?2?lڿ`@*? ÿP?i2V@I2P9^;0Y^^By^l+IbDjVDj1yr=j=%rH=ٔr;Q-v>9v"?Iv"?=vhDyvCz ;;Ez>|Q 5y4~B*?Q 9y4~k)~=BYy%Q I ?~MCI~?;i~L ;~0y4yɮAjhFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 499.732544 m, bearing: 214.997346 deg, approach rate: -0.603568 m/s, LOS rate: 0.004177 deg/s, cmd heading: 205.638623 deg, new cmd heading: 205.643934 deg. Bhz79HeadingCmd: 3.589164 target range: 520.069824 and range: 522.50 m.hܴe@h*h"h hgfffdddjdZdZ},@ZZZZ;w>-=Bɢ- >)) 5K?i1)=mC9AiEimj,}W; Iܴe@܁GIliAA=Y~9EliAYEgAE9@A @A@A@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761305B<A<B>B CB+IBBB =BBDB?{;B2EBE CBE CBEǔCBE =BE =CEc6^A- Q D zD @AE  E E &E "E *E h:VE 4ZE BE ,֮?AFV@F^d@F0ٱF RAHRS rotation from veh to nav: [[-0.907173,0.402976,0.121025],[-0.415941,-0.902286,-0.113458],[0.063478,-0.153266,0.986144]]FH` [?{?Ǟڿ @?`4ÿ~?iFV@IF4^;FCYZfByZu+IbDbVDb3yj=%jK=ٔnQ;Q-n>9n ?In ?=riDyrCrV2;Er>tQ 5zy4v*?Q 9zy4v)vBBYxy~%Q I~?vnCIv:iv;v>y4yoBɮ$AEjh)-FNOT Ignoring new targets: 520.07 m.Rh58Zh58E ProNav: ac range: 520.069824 m, nav range: 499.480194 m, bearing: 214.999061 deg, approach rate: -0.653324 m/s, LOS rate: 0.004442 deg/s, cmd heading: 205.643937 deg, new cmd heading: 205.649084 deg. BhEC9MHeadingCmd: 3.589254 target range: 520.069824 and range: 522.50 m.hMUe@hI*hI"hI hIgQfQfQfQdYdYdYjdaZde`UB-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013434Z!Z!Z!Z%x>eFBɢmŻ)i m?ii)uPqi5i`i,b;IUe@IQ9@ @@@@@fAy^AzAfAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271262ԩ A ؟AI I O% >,֮?Aɰ;2ϳV@2d@42|ٱ2j >AHRS rotation from veh to nav: [[-0.906724,0.404643,0.118813],[-0.417218,-0.901776,-0.112820],[0.061491,-0.151867,0.986486]]2H @?j? ڿZ Ἷ@{?bpÿK?i2ϳV@I2C^;2CYFjByFz+Iy|?5^?{Gz?Mb2?ף= 9 r?Mb?:vY#?y=TuJBB @B)BY+BbD-VD-y=R<%=C=ٔ=S;Q-E>9E"?IE"?=MiDyM@CMR;EM>QQ 5]y4Uw*?Q 9]y4Ux!)UEBY]o$?Q Ee:yeX'Q Ie?UCIU ;iU ;UXMy4yiɮmAqE EE(E"E:*EL_:VEc44ZEa@a@a@a@%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 520.07 m.Rh=8Zh=8m ProNav: ac range: 520.069824 m, nav range: 499.211365 m, bearing: 215.001658 deg, approach rate: -0.610030 m/s, LOS rate: 0.005897 deg/s, cmd heading: 205.649087 deg, new cmd heading: 205.656883 deg. Bhm9uHeadingCmd: 3.589390 target range: 520.069824 and range: 522.50 m.hue@hq*hq"hq hqgyfyffdddjdZd (.@Z+=Z+=ZY@Z;3?OBɢ ) %?i!)%!!i%qi-%g,-hv;-%}I-e@I1ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647@ @@@^A A! I1 IA OM >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769214,׮?A2V@2d@2sٱ2n :AHRS rotation from veh to nav: [[-0.906018,0.406628,0.117411],[-0.419043,-0.900796,-0.113887],[0.059453,-0.152384,0.986532]]2H@`1?@?ڿ`Q'p?@Rÿ?i2V@I2)^;2CYB{ByB+IbDNVDNyRI=%VU=ٔV>;Q-V>9XIX=ZiDyZ_C^;E^>`Q 5fy4b*?Q 9fy4b$)bHBYdyf8'Q If?hbCIb,;ibd.;bZy4ynZBɮryArEjh FNOT Ignoring new targets: 520.07 m.Rh 8Zh 8B=>B= CB=+IB=BB= =B9B9B=z;B=2E ProNav: ac range: 520.069824 m, nav range: 498.965607 m, bearing: 215.003980 deg, approach rate: -0.675050 m/s, LOS rate: 0.006382 deg/s, cmd heading: 205.656887 deg, new cmd heading: 205.663856 deg. Bh%9HeadingCmd: 3.589511 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZd`.@ZZZZ/4?mWBɢm:)i m?ii)urqqiu֛i}&e,}ߺ;}=I}e@I}9@y @y@y@E EEE"E:*Ega:VEZEBE,8ǵ,y!׮?A2V@2gd@2wlٱ2 :AHRS rotation from veh to nav: [[-0.905597,0.407865,0.116362],[-0.420181,-0.900116,-0.115063],[0.057809,-0.153094,0.986519]]2Hv?ɽ??ڿ`t?`ÿ?i2V@I2k9^;2CYBByB+IbDJ VDJ:2yRz=%VK=ٔV);Q-V>9TIX=ZiDyZCZE;EZ>\Q 5by4^*?Q 9by4^-()^KBYdyf%'Q If?^юCI^g:i^:^hy4yhɮjGAh9jhFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 498.708252 m, bearing: 215.006380 deg, approach rate: -0.616695 m/s, LOS rate: 0.005752 deg/s, cmd heading: 205.663853 deg, new cmd heading: 205.671054 deg. Bh|9HeadingCmd: 3.589637 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZd@/@ZZZZ;}4?_Bɢi9) -?i)iûic, ;Ie@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2746679@ @@/0@i^ASԡbE]c44jE]14rE]ǖ/E EE)E"E:*Ei:VEFA4ZEa@a@a@a@A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526252 }%ε,U;׮?A2V@2d@2eٱ2J :AHRS rotation from veh to nav: [[-0.905113,0.409254,0.115251],[-0.421453,-0.899378,-0.116176],[0.056109,-0.153725,0.986519]]2H51??ڿE?Eÿ?i2V@I2-%^;2CY^Byb+IbDjVDj1yr<%rG=ٔr;Q-r>9v ?Iv ?=viDyvCzX;Ez>xQ 5y4z*?Q 9y4z+)zNBYy'Q I?zCIz ;iz;z2wy4yEBɮAEjh1ԙFNOT Ignoring new targets: 520.07 m.Rh8Zh8 ProNav: ac range: 520.069824 m, nav range: 498.444885 m, bearing: 215.008796 deg, approach rate: -0.665353 m/s, LOS rate: 0.006109 deg/s, cmd heading: 205.671052 deg, new cmd heading: 205.678307 deg. Bh)9HeadingCmd: 3.589764 target range: 520.069824 and range: 522.50 m.he@h*h"h hgfffdddjdZd:D0@Z!Z!Z!Z%4?5hBɢ=@tӺ)9 =?i9)=ILAAiEߌɻiEa,M-^;MoIMe@II9@ @@0@%BDAT read: Rx Time:00:22:53.9366 -TRx dataTimestamp_ set to:1761524573.128071-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778305A9A=?ABE>BE CBE+IBEBBE =BABEDBEhz;BEN2E^A3Aa Ii Iy O >E  E E (E "E *E &p:VE c44ZE BE 9I=iDyăCE>Q 5y4j*?Q 9 y4z/)QBY y Q I ?CI9:i:y4y0BɮpAEjh9EFNOT Ignoring new targets: 520.07 m.RhE8ZhE8] ProNav: ac range: 520.069824 m, nav range: 498.162018 m, bearing: 215.011395 deg, approach rate: -0.640612 m/s, LOS rate: 0.005889 deg/s, cmd heading: 205.678306 deg, new cmd heading: 205.686107 deg. Bh]U9]HeadingCmd: 3.589900 target range: 520.069824 and range: 522.50 m.hee@ha*ha"ha hagafafifidididqjdqZdu `0@ZZZZ颽pBɢ) ?i)Fݽiϻi^, ;v=Ie@I 9@ @@ <0@ 1= DAT read: 00:22:53.9366 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 272, 0.35, 2.410, 0.819, 2.290, 2.018, PHS= 0.494,-1.154, 0.228, RAW= 141.3, 5.7, CAL= 141.0, 6.4, ROT= 9.0, -6.4 E Ygot valid direction response: 00:22:53.9366 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 272, 0.35, 2.410, 0.819, 2.290, 2.018, PHS= 0.494,-1.154, 0.228, RAW= 141.3, 5.7, CAL= 141.0, 6.4, ROT= 9.0, -6.4 M PDAT read: Bearing 357.9, 10.7 (Local) U ~Local bearing/azimuth received: Bearing 357.9, 10.7 (Local) ] DAT read: Range 11 to 50 : 512.4 m (Round-trip 683.3 ms) speed 1.0 m/s ] R#Rx 1: Read range and direction messages.e \direction in FSK: [0.981533,0.155460,0.111469]m Fpublishing direction and range infoy  5ݷh?ԞH? -V:?Y D ) QI >i F xi> h@ %= @ =) | >I 佩 ?A30?.c? Ҿ>) s˽I | >i 佩  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A _a I I O >c۵,gp׮?ABW@Bd@B`]ٱB RAHRS rotation from veh to nav: [[-0.905066,0.410156,0.112369],[-0.421826,-0.899393,-0.114696],[0.054021,-0.151208,0.987025]]BHM@@?@?ļ?0ڿ\@?`Zÿ?iBW@IB"^;BCE~ E~E|E|"E~:*E~1]:VE|ZE|a@a@a@a@YUByU+IԱy%+?Mb?Mb%?%@=%! !9%"~j?Q?:vY%S#?y%\=%Լ%`FB! %?B)%B!Y%3*BbDEVDEk1y|=%9=ٔ;Q->9I=iDyC9T:E>Q 5y4jV*?Q 9y4L3)Yq$?Q E:y&Q I?;CI;i ;y4y8BɮZAEii@ih׮?AJiCRiCji p@ibx$G@Sch)S@J3kL@ri5ݷh?ԞH? -V:?Zi| >bii# y9rdiQ@ziCCdm-S!dk?2iv:i"i= ?*i?\7Bi Ci*'?i?\7iiOCip@  addTargetRange:: Added new target pos. range: 512.400024 m, deltaT: 16.905290 s, deltaX: -10.099976 m, approachRate: -0.597445 m/s, rangeRepo size: 4  Added new target pos. range: 509.895660 m, bearing: 214.906473 deg, lat: 36.779480 deg, lon: -121.860070 deg, deltaT: 16.905290 s, deltaX: -10.174164 m, approachRate: -0.601833 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 509.90 m.Rh%Zh!5 ProNav: ac range: 509.895660 m, nav range: 504.618896 m, bearing: 214.931253 deg, approach rate: 0.000000 m/s, LOS rate: 0.005889 deg/s, cmd heading: 205.686106 deg, new cmd heading: 205.693981 deg. Bh1=HeadingCmd: 3.590037 target range: 509.895660 and range: 512.40 m.h=+e@h9*h9"h9 hAgAfIfQfQdYdYdajdm@3@ZdmR@?Z<Z<Z?Zs̓@zBɢ`yb)  ?i)ڽisջ(DAT read: user:59> BDAT read: Tx time:00:22:55.2992 $Ping request sent.,_׮?AB>BCB+IBNjBB =BBDBDBz;B2EBW@Bd@BIZٱB JAHRS rotation from veh to nav: [[-0.905199,0.409941,0.112082],[-0.421636,-0.899322,-0.115943],[0.053268,-0.152210,0.986912]]BHdz9dId=jiDyjCj$+Ej>lQ 5ry4n!F*?Q 9ry4nT6)nPBYtyv&Q Iv?nXCInt:in:nOy4yzBɮzA~EB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 509.90 m.Rh%[8Zh-[8= ProNav: ac range: 509.895660 m, nav range: 504.394470 m, bearing: 214.933092 deg, approach rate: -0.647628 m/s, LOS rate: 0.005310 deg/s, cmd heading: 205.693975 deg, new cmd heading: 205.699495 deg. Bh=:i9EHeadingCmd: 3.590133 target range: 509.895660 and range: 512.40 m.hEe@hA*hA"hA hAgAfIfIfIdIdQdjdZd(?ZZZZʓ@%Bɢ%H,<)) -?i))mZؽiiiu ۻiuZ,}V;}MI}e@IyIgA)E EE)E"EO:*EL_:VEFA4ZEBE q ,J׮?A2 W@2d@2Wٱ2J :AHRS rotation from veh to nav: [[-0.904975,0.410487,0.111898],[-0.422200,-0.898938,-0.116869],[0.052616,-0.153007,0.986823]]2H lE?`\?Qۿ  뽿@?ÿ?i2 W@I2kX^;2CYvByv+I ~p=~R=bDVDf?3y ;%F=ٔF:Q->9I=iDy%C%:E%>!Q 5-y4%2*?Q 95y4%9)!Y1y5&Q I5?%zCI%$:i%:%y4yAɮEAAjhamFNOT Ignoring new targets: 509.90 m.Rhm'8Zhm'8 ProNav: ac range: 509.895660 m, nav range: 504.130188 m, bearing: 214.935243 deg, approach rate: -0.641300 m/s, LOS rate: 0.005222 deg/s, cmd heading: 205.699493 deg, new cmd heading: 205.705950 deg. Bhbe9HeadingCmd: 3.590246 target range: 509.895660 and range: 512.40 m.he@h*h"h hgfffdddjdZd`!?ZZZZzΓ@Bɢ`;) E?i)սiiY,; mIe@Ii9I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7535679@ @@0@E EEE"E:*E&p:VEZEa@a@a@a@^AIQIiOu>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006586Q ,/׮?A2W@2d@21Sٱ2 :AHRS rotation from veh to nav: [[-0.905173,0.410567,0.109983],[-0.421893,-0.899309,-0.115106],[0.051650,-0.150592,0.987246]]2H- F?@'?Kۿ#wq?Fÿ`?i2W@I2X^;2CYBByF+IbDNVDNkyV<%VQ=ٔV!;Q-V>9XIX=ZjDyZDC^rE^>`Q 5fy4b *?Q 9fy4bJ=)bOBYdyf&Q If?bCIbR:ibI:bgy4ynBɮn1AnEjhFNOT Ignoring new targets: 509.90 m.Rh 8Zh 8 ProNav: ac range: 509.895660 m, nav range: 503.879364 m, bearing: 214.937293 deg, approach rate: -0.640637 m/s, LOS rate: 0.005238 deg/s, cmd heading: 205.705955 deg, new cmd heading: 205.712107 deg. Bh f9%HeadingCmd: 3.590353 target range: 509.895660 and range: 512.40 m.h%Ze@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@g?ZYZYZYZ]ʓ@mBɢm;)i mJ?ii)udӽqqivi[W,D ;aIZe@I19@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257164BAB%>B%CB%+IB%֋BB% =B!B%DB%y;B%1EY^A?BIA>A>IYIqO}>ԁ E  E E $E "E m:*E c:VE 4ZE BE V99I9=EjDyEfCEEE>IQ 5Uy4M& *?Q 9Uy4M@)MNBYYy]&Q I]?MCIM;iM;M#y4yeߺBɮeAeEjhFNOT Ignoring new targets: 509.90 m.Rha8Zha8 ProNav: ac range: 509.895660 m, nav range: 503.609283 m, bearing: 214.939530 deg, approach rate: -0.634130 m/s, LOS rate: 0.005256 deg/s, cmd heading: 205.712102 deg, new cmd heading: 205.718818 deg. Bhf9HeadingCmd: 3.590471 target range: 509.895660 and range: 512.40 m.hFe@h*h"h hgfffdddjdZd?Z1Z1Z1Z5?“@%Bɢ5$)9 =?iA)EнIQiUl{iepU,>;ԑ6IFe@Ii@q @q@u/@qUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761266^A 3 I I! O5 >A,U׮?A6V@6ud@650Oٱ6 BAHRS rotation from veh to nav: [[-0.905901,0.408853,0.110374],[-0.420460,-0.899453,-0.119151],[0.050562,-0.154347,0.986722]]6H $ *?~A?`ڿ`R 2?ÿ`:?i6V@I6x^;6CEb EbEb'E`"Eb,:*Eb1]:VEb'4ZE`af@af@af@af@hYnByn+Iyex&?q= ףp?:v?e7 ?ek>eT9I=jDyC?ѺE>Q 5y4K)?Q 9y4D)JBY_#?Q E:y%Q I?ߏCI*:i:y4yɮAjhYeFNOT Ignoring new targets: 509.90 m.Rheu8Zheu8 ProNav: ac range: 509.895660 m, nav range: 503.345062 m, bearing: 214.940962 deg, approach rate: -0.619734 m/s, LOS rate: 0.003359 deg/s, cmd heading: 205.718823 deg, new cmd heading: 205.723119 deg. Bh9HeadingCmd: 3.590546 target range: 509.895660 and range: 512.40 m.he@h*h"h hgfffdddjd!Zd%*@ZI6>ZI6>Z@Z>%@颥Bɢ8w;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013337) ?i)$ͽii5T,!r;e!Ie@I@ @@@ IMCGjAMA%9%jAY%A!^A A ia Ia e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265559A ؟AI I O >B% >B! B% ,IB% BB% =B! B! B% y;B% 1EBCB CB˕CB =B =Cͮ6b, خ?AYEByE+IbDUVDU:3ye4f<%mL=ٔmQ-m>9u"?Iu"?=ujDyuCuE}>yQ 5y4})?Q 9y4}8H)}GBYyQ I?}CI}:i}:}y4y̺BɮDAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 509.90 m.Rh8Zh8 ProNav: ac range: 509.895660 m, nav range: 503.090424 m, bearing: 214.942343 deg, approach rate: -0.663249 m/s, LOS rate: 0.003599 deg/s, cmd heading: 205.723126 deg, new cmd heading: 205.727271 deg. Bh9HeadingCmd: 3.590618 target range: 509.895660 and range: 512.40 m.he@h*h"h hgfffdddjdZd@ZZZZ-Bɢ-q<)) -?i))5˽11i5}i=S,=;9I=e@IAE EE(E"E:*EX:VEc44ZEBExԡ ,%خ?A4<ɰ4<6V@6[d@6Jٱ6' BAHRS rotation from veh to nav: [[-0.905952,0.408119,0.112647],[-0.420477,-0.898410,-0.126719],[0.049487,-0.162167,0.985522]]6H`?pּ?ڿ ǿT8@YV?`Ŀd?i6V@I6m^;6CYJByJ+IN=Na=bDRVDRyZԝ<%ZV=ٔ^8;Q-^>9\I`=bjDybDŽCbDEb>dQ 5jy4f)?Q 9jy4fK)fCBYhyn%Q In?fCIf!;if";fy4ytɮv5AtjhFNOT Ignoring new targets: 509.90 m.Rh%8Zh%85 ProNav: ac range: 509.895660 m, nav range: 502.847473 m, bearing: 214.943679 deg, approach rate: -0.634644 m/s, LOS rate: 0.003493 deg/s, cmd heading: 205.727265 deg, new cmd heading: 205.731276 deg. Bh5g9=HeadingCmd: 3.590688 target range: 509.895660 and range: 512.40 m.h=e@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM @ZiZiZiZm-%@y颅Bɢ6<) ?i)&/ɽ顉iiQ,n;@׻Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7693209@ @@0@ԡE EE%E"E:*Ee:VE 4ZEa@a@a@a@^AQA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021278 ,n?خ?A2HV@2d@2Iٱ2) >AHRS rotation from veh to nav: [[-0.906256,0.407235,0.113398],[-0.419854,-0.898335,-0.129295],[0.049216,-0.164786,0.985101]]2H @"?@?ڿ(2? ſ ?i2HV@I2 ^;2CYFŋByF+IbDNVDN1yb*<%bJ=ٔbc/:Q-b>9dId=fjDyfCjEj>hQ 5rz4jS)?Q 9rz4j>O)j?BYpyr-%Q Ir?j@CIj;ij ;jz4yzBɮzѻAzEjhFNOT Ignoring new targets: 509.90 m.Rhz8Zhz8 ProNav: ac range: 509.895660 m, nav range: 502.589355 m, bearing: 214.945127 deg, approach rate: -0.640024 m/s, LOS rate: 0.003592 deg/s, cmd heading: 205.731281 deg, new cmd heading: 205.735627 deg. Bh9HeadingCmd: 3.590764 target range: 509.895660 and range: 512.40 m.he@h*h"h hgfffdddjdZd Bh @ZIZIZIZM%@eBɢe;)a ev?ia)mN|ƽiiim!iuP,0;ӻIe@Ie9@i @i@m 0@i-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273689AAAAAAB>BCB,IBBB =BBDBDy;B1E1^AIE  E E )E "E :*E VE FA4ZE BE a 2E a JE ];a :E ];a A I I O >a ,QLYخ?A:OV@:d@:,Hٱ:+BBDAT read: Rx Time:00:22:58.3815 FTRx dataTimestamp_ set to:1761524577.412224Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526393 NAHRS rotation from veh to nav: [[-0.906319,0.406930,0.113989],[-0.419750,-0.898094,-0.131293],[0.048946,-0.166840,0.984768]]:H% ?g.?/ڿ.3u?[ſ8?i:OV@I:^;:CYVӋByV+IbD^VD^ 3yf]=%fJ=ٔf.:Q-j>9hIh=jjDyj CnśEn>pQ 5z4rձ)?Q 9 z4rR)r:BY y 2%Q I?raCIr;irE;rFz4yBɮzAEjhAEFNOT Ignoring new targets: 509.90 m.RhM8ZhM8] ProNav: ac range: 509.895660 m, nav range: 502.330627 m, bearing: 214.946588 deg, approach rate: -0.631455 m/s, LOS rate: 0.003568 deg/s, cmd heading: 205.735625 deg, new cmd heading: 205.740011 deg. Bhe9}HeadingCmd: 3.590841 target range: 509.895660 and range: 512.40 m.h}Ue@h*h"h hgfffdddjdZd@9ZZZZ%@Bɢ`;) ?i)ýiAiaO,E;i׻IUe@Iaq@q @q@u)0@q@}=@}=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777181ԑ^Am [RӻAu >Au >A Թ I I O >e1,$sخ?A2;V@2d@2{Fٱ2:, :AHRS rotation from veh to nav: [[-0.906267,0.407092,0.113830],[-0.419922,-0.897898,-0.132080],[0.048439,-0.167499,0.984681]]2H" ?@#? ڿ@̨?pſ?i2;V@I2'^;0YF؋ByF,IbE)jE-*4rE- 0ER ERER%EP"ER:*ERP:VER 4ZEPaZ@aZ@aZ@aZ@y-{Gz?/$?~jt-?-,=-D) )9-}?5^I?X9v?MbY-M"?y-=-@-`FB-j B ))-B)Y-((BbDEVDENyU'<%UB=ٔU:Q->9I=jDy,C9E>)Q 5Uz4ԙ-)?Q 9z4-(W)-2BY%?Q E:ye"Q I?-CI-ec@=Rhm6Zhm6} ProNav: ac range: 509.895660 m, nav range: 502.043213 m, bearing: 214.946776 deg, approach rate: -0.577283 m/s, LOS rate: 0.000377 deg/s, cmd heading: 205.740010 deg, new cmd heading: 205.740574 deg. Bh}7HeadingCmd: 3.590850 target range: 509.895660 and range: 512.40 m.h~e@h*h)@ Q =)6&>IQ -O3?Ox?Vӆ? >)蹀"h hgfffdddjd@3@ZdIc?I6&>iQ T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Z%>Z%>Z?Z@UȈBɢU ;)Q U ?iY)]YYi]z im6O,m[;mһIm~e@IiIy)}hA9@ @@'0@^A% cջU (DAT read: user:60> ] BDAT read: Tx time:00:22:59.5991 ] $Ping request sent.] B B 1,IB BB =B B DB y;B 1E AU .AIY Ii O} >#,dخ?AbV@bd@b.Dٱb֝- zAHRS rotation from veh to nav: [[-0.906214,0.407180,0.113929],[-0.420080,-0.897663,-0.133172],[0.048045,-0.168541,0.984523]]bH =?t*?ڿ X?Òſ@6?ibV@Ibt^;bCYߋBy ,IbD=VD=yE=%E:=ٔMk:Q-M>9u ?Iu ?=ujDyuOCu9E}>yQ 5z4})?Q 9z4}5[)}+BYyd"Q I?}CI};i}M ;}}1z4yBɮAEiiJzخ?AJiCRiCjio@iȧ:#@HZeT@VB@riA~?r6??Zi6&>biQ i&aqy7LqEaXWG@ziw,Z!),$5/0?2i:i"ihHA?*i1mBi>Bi= ?iikCiCipp@= addTargetRange:: Added new target pos. range: 508.700012 m, deltaT: 4.285708 s, deltaX: -3.700012 m, approachRate: -0.863337 m/s, rangeRepo size: 4 m Added new target pos. range: 506.196777 m, bearing: 214.771508 deg, lat: 36.779477 deg, lon: -121.860070 deg, deltaT: 4.285708 s, deltaX: -3.698883 m, approachRate: -0.863074 m/s, posRepo size: 4 jhquFNOT Ignoring new targets: 506.20 m.Rh}ZhyD=D<E EE+E"E :*E n:VE [4ZEBEN"o),}خ?A2aV@2d@2>Cٱ2>- :AHRS rotation from veh to nav: [[-0.906348,0.406992,0.113535],[-0.419836,-0.897749,-0.133362],[0.047649,-0.168539,0.984543]]2H& ?`?ڿ[we?`ſ_?i2aV@I2^;2CYBۋByB,IbDJVDJk1yR%RS=ٔV,:Q-V>9TIT=VjDyZmC^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500716b=Eb>dQ 5jz4fy)?Q 9jz4f^)f#BYhynh"Q In?fȐCIf ;if;f>z4ypɮrȺApB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 506.20 m.Rh%6Zh-6E ProNav: ac range: 506.196777 m, nav range: 501.816071 m, bearing: 214.923813 deg, approach rate: -0.668432 m/s, LOS rate: 0.000423 deg/s, cmd heading: 205.740994 deg, new cmd heading: 205.741465 deg. BhE7MHeadingCmd: 3.590866 target range: 506.196777 and range: 508.70 m.hMe@hI*h"h hgfffdddjdZd-N?ZiZiZiZm@}ՈBɢ}<) d?i)顁iiN,Խ;.FٻIe@I-9@) @)@-4@)@5iA@5iA9E} E}E})Ey"E}:*E}]t:VE}FA4ZEya@a@a@a@^A [RӻAhAzAhAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753138yA I! I1 OE >ԑ q0,Dخ?A2V@2`d@22Aٱ2- :AHRS rotation from veh to nav: [[-0.906436,0.406973,0.112905],[-0.419695,-0.897862,-0.133039],[0.047230,-0.167977,0.984659]]2H ?@P?@GڿJkx.?BſS?i2V@I2];0YZByZ,IbDbVDbyj?=%jH=ٔjĆ:Q-j>9lIl=nkDynCr-ԹEr>tQ 5zz4vg)?Q 9zz4vb)vBYxyzj"Q I~?vCIvF:iv:v'Mz4y{Bɮ>AEjh)-FNOT Ignoring new targets: 506.20 m.Rh576Zh576E ProNav: ac range: 506.196777 m, nav range: 501.553253 m, bearing: 214.923983 deg, approach rate: -0.649447 m/s, LOS rate: 0.000419 deg/s, cmd heading: 205.741458 deg, new cmd heading: 205.741966 deg. BhE!7MHeadingCmd: 3.590875 target range: 506.196777 and range: 508.70 m.hMe@hI*hI"hI hIgQfQfQfQdYdYdYjdYZde?ZZZZ7@颕܈Bɢ<) ?i)顙iEiN,;t޻Ie@I]>i>y9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005401B5>B5CB5D,IB5BB5 =B1B1B5x;B5f1Eԡ^A9E EE(E"E:*E[:VEc44ZEBEx checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258360) L6,;خ?A)V@d@M?ٱ5- AHRS rotation from veh to nav: [[-0.906141,0.407644,0.112850],[-0.420397,-0.897389,-0.134014],[0.046640,-0.168877,0.984533]]H @?@?ڿh]'1? Ýſ`K?i)V@I];CYBy,Iy=NbX9?Mb`{Gz=%?==#9 99=RQ?`"?~jtY="?y===99 9)= B9Y='B Ua=Ua=bD]VD]k2ym%m2=ٔm:Q-m>9qIq=ukDyuCuC:E}>yQ 5z4}6S)?Q 9z4}Mg)}BY%?Q E:y "Q I?}CI}: ;i} ;}$]z4yɮTAjhFNOT Ignoring new targets: 506.20 m.RheZheu ProNav: ac range: 506.196777 m, nav range: 501.257324 m, bearing: 214.923976 deg, approach rate: -0.646935 m/s, LOS rate: -0.000014 deg/s, cmd heading: 205.741963 deg, new cmd heading: 205.741944 deg. Bhu"}HeadingCmd: 3.590874 target range: 506.196777 and range: 508.70 m.h}e@hy*h"h hgfffdddjdZdY?Z>Z>Z?Z]@颽Bɢ`;) h?i)iiN,;ǻIe@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508800@ @@4@9 ^A ybݻA >A >E  E E %E "E :*E Ar:VE 4ZE a @a @a @a @q A5 ؟AI9 II O] >Ԥ=,9خ?A2V@23d@2<ٱ26X- :AHRS rotation from veh to nav: [[-0.905590,0.409020,0.112288],[-0.421643,-0.896872,-0.133559],[0.046079,-0.168296,0.984659]]2Hc-?㾼?`3ڿ,z?ſS?i2V@I2];0YBByB ,IbDJVDJ1yRh=%VW=ٔV:Q-V>9Z"?IZ"?=ZkDyZхCZEk;EZ>\Q 5bz4^@B)?Q 9fz4^k)^BYdyf!Q If?^/CI^;i^;^jjz4yjiBɮnAnEjh|FNOT Ignoring new targets: 506.20 m.Rh Zh  ProNav: ac range: 506.196777 m, nav range: 501.011566 m, bearing: 214.923931 deg, approach rate: -0.646907 m/s, LOS rate: -0.000120 deg/s, cmd heading: 205.741950 deg, new cmd heading: 205.741813 deg. Bh!HeadingCmd: 3.590872 target range: 506.196777 and range: 508.70 m.he@h*h-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760692"h! h)g1f1f1f1d9d9d9jd9Zd=u#@ZZZZ*j@ Bɢ8<) ?i)-ri9iUN,Ur;UMIUe@Im9@q @q@u/@qi^A[Rӻԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013138B% >B! B% V,IB% BB% =B! B% DB% ,x;B% !1EA .AI I O > D,]ٮ?A2W@2e@2uV:ٱ2) :AHRS rotation from veh to nav: [[-0.904829,0.411241,0.110295],[-0.423339,-0.896612,-0.129887],[0.045477,-0.164218,0.985375]]2H\Q?H9r ?Ir ?=rkDyrCr;Ev>tQ 5zz4v0)?Q 9zz4vn)v BY|y~!Q I~?vQCIv;iv;vxz4yɮ A jh)5FNOT Ignoring new targets: 506.20 m.Rh5Zh5E ProNav: ac range: 506.196777 m, nav range: 500.748138 m, bearing: 214.923815 deg, approach rate: -0.647099 m/s, LOS rate: -0.000285 deg/s, cmd heading: 205.741813 deg, new cmd heading: 205.741465 deg. BhEHMHeadingCmd: 3.590866 target range: 506.196777 and range: 508.70 m.hMe@hI*hQ"hQ hQgQfQEe EeEe'Ea"Ee:*Ee&p:VEe'4ZEaBEe' checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5169389 |J,-ٮ?AF7W@Fl-e@F}6ٱF+$ NAHRS rotation from veh to nav: [[-0.904145,0.413405,0.107789],[-0.424886,-0.896473,-0.125729],[0.044653,-0.159476,0.986192]]FH@9u??U1ۿ@@ܦ?iĿ?iF7W@IF];FCYVByVH,I\^AAbDb VDbf2yj=%jH=ٔn;Q-n>9lIl=rkDyrCr;Er>tQ 5zz4v)?Q 9zz4vs)vBY|y~!Q I~?vsCIv;iv;vz4yPBɮAE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 506.20 m.Rh5Zh5E ProNav: ac range: 506.196777 m, nav range: 500.483612 m, bearing: 214.923633 deg, approach rate: -0.646323 m/s, LOS rate: -0.000443 deg/s, cmd heading: 205.741458 deg, new cmd heading: 205.740915 deg. BhEMHeadingCmd: 3.590856 target range: 506.196777 and range: 508.70 m.hMe@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde@=@ZZZZ@Bɢ<) H?i)Q_i i%O,%!P;%I%e@II9@ @@0@EE EEEE)EA"EE:*EEe:VEEFA4ZEAaU@aU@aU@aU@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768630^Ayb]A fAzA gA- XGE jAA Y t9 jAY AA ؟AI I O >Q,Fٮ?A 2GW@2=e@20ٱ2 >AHRS rotation from veh to nav: [[-0.903783,0.415163,0.103996],[-0.425809,-0.896729,-0.120682],[0.043154,-0.153353,0.987229]]2H ??@v@ۿ @ 徿`:?ÿ`?i2GW@I2;];2CY@yFG,IbDNVDN:yV%VP=ٔVz;Q-Z>9Z"?IZ"?=ZkDyZ3C^%;E^>`Q 5fz4be )?Q 9fz4bv)bBYdyj!Q Ij?bCIb:ib_:bz4yn?BɮnAnEjhFNOT Ignoring new targets: 506.20 m.Rh #Zh # ProNav: ac range: 506.196777 m, nav range: 500.228973 m, bearing: 214.923414 deg, approach rate: -0.647529 m/s, LOS rate: -0.000558 deg/s, cmd heading: 205.740912 deg, new cmd heading: 205.740253 deg. Bh>ķ%HeadingCmd: 3.590845 target range: 506.196777 and range: 508.70 m.h%ge@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5`; @ZZZZn@Bɢ Ȏ<)  ?i ) 8٬ia$iNO,ع;T'Ige@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021451B>BCBi,IB,BB =BBBw;B0EBCBCB”CBB =C5q@ @@@ԙ^A#2E EE'E"ED:*EAr:VE'4ZEBE1 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160% nManaging dock network, ignoring radio surface power offʽW,:x`ٮ?A2fWW@2Me@2jA*ٱ2r :AHRS rotation from veh to nav: [[-0.903443,0.416643,0.100997],[-0.426690,-0.896715,-0.117633],[0.041554,-0.149369,0.987908]]2H@F?ڹ?`Nۿ/F? ÿ@?i2fWW@I2];2CLYRByRQ,IIVt>)V=yugfffff?K7A?:v?u3?u >u9 ?I ?=kDyVC ;E>Q 5z4x(?Q 9z46{)BYs)?Q E:y3"Q I?CIq:i :z4yɮAjhFNOT Ignoring new targets: 506.20 m.RhL6ZhL6  ProNav: ac range: 506.196777 m, nav range: 499.941071 m, bearing: 214.923490 deg, approach rate: -0.661791 m/s, LOS rate: 0.000175 deg/s, cmd heading: 205.740256 deg, new cmd heading: 205.740484 deg. Bh 6HeadingCmd: 3.590849 target range: 506.196777 and range: 508.70 m.hxe@h*h"h hgff!f!d!d!d!jd)Zd-H @ZM=ZM=ZM~N@ZMAU@mBɢm`<)i m?iq)u59qqiuO'i}=O,}h;} *I}xe@II)gA-9@) @)@-0@)BDAT read: Rx Time:00:23:02.6793 TRx dataTimestamp_ set to:1761524581.696958checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526477^A?Bɺ! AE ؟AII IY Ou >E  E E )E "E :*E :VE FA4ZE a @a @a @a @],Nzٮ?A2!kW@2`e@2[#ٱ2)' :AHRS rotation from veh to nav: [[-0.902990,0.418096,0.099018],[-0.427807,-0.896278,-0.116903],[0.039871,-0.147923,0.988195]]2HK?CY?`2aۿO`[ j?@$¿J?i2!kW@I2];2CYn%Byr`,I tv%=bDzVDz|y ^=% T=ٔ w;Q- >9"?I"?=kDyuC$M;E>%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776660)Q 55z4-(?Q 95z4-)-BY9y="Q I=?-ّCI-a;i-L ;-fz4yE.BɮE#AMEjhimFNOT Ignoring new targets: 506.20 m.Rhu5Zhu5 ProNav: ac range: 506.196777 m, nav range: 499.685303 m, bearing: 214.923520 deg, approach rate: -0.661872 m/s, LOS rate: 0.000078 deg/s, cmd heading: 205.740488 deg, new cmd heading: 205.740579 deg. Bh'[6HeadingCmd: 3.590851 target range: 506.196777 and range: 508.70 m.he@h*h"h hgfffdddjdZd0@ZZZZ]U@ Bɢ܋<)So l?i)1ȧiS+i6O,;(B9Ie@I9@ @@0@)Q^AΒ{A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031182B- >B- CB- ,IB- ABB- =B) B- DB- w;B- 0EA .AI I O >ԁ d,)ٮ?A64}W@6re@6zٱ63 >AHRS rotation from veh to nav: [[-0.902582,0.419259,0.097817],[-0.428834,-0.895617,-0.118202],[0.038050,-0.148635,0.988160]]6H "? ?`rۿB;{?wÿ`?i64}W@I6];6CYF(ByFd,IbDR VDR2yZj<%ZP=ٔZ%;Q-Z>9^ ?I^ ?=^kDy^Cb8;Eb>dQ 5jz4f(?Q 9jz4f)fBYhyj "Q Ij?fCIf:if=:fz4ypɮrApjh%FNOT Ignoring new targets: 506.20 m.Rh-0yZh-0yY] ProNav: ac range: 506.196777 m, nav range: 499.426361 m, bearing: 214.923519 deg, approach rate: -0.658322 m/s, LOS rate: -0.000003 deg/s, cmd heading: 205.740584 deg, new cmd heading: 205.740580 deg. BhemHeadingCmd: 3.590851 target range: 506.196777 and range: 508.70 m.hqhq*hq"hy hygyfyffdddjdZd@ZZZZfU@E EE'E"E:*E:VE'4ZEBEG-i5!5w=5@5Ulx>5@ 5V>)5>I5V1156J2?',uE?lU? 5t>)5)xI5>i5V11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա^Aq9A I I O > (DAT read: user:61>  BDAT read: Tx time:00:23:04.1491  $Ping request sent. 9I=kDyCԹN;E>Q 5z4(?Q 9z4P)BYy!Q I?CI:i1:Rz4yBɮAEiaieٮ?AJie>CRie>Cjiep@ieȦ\,~@'0P@+/'vm`@rieG{ ?T $X?QfJ0?Zie>bieVie`Px 3q'+a@zie^V:૗0Em?2ie:ie"ieGz?*ieýhBietOCie*'?iaiaielCiep@ addTargetRange:: Added new target pos. range: 507.000000 m, deltaT: 4.535072 s, deltaX: -1.700012 m, approachRate: -0.374859 m/s, rangeRepo size: 4  Added new target pos. range: 504.485168 m, bearing: 215.382310 deg, lat: 36.779480 deg, lon: -121.860070 deg, deltaT: 4.535072 s, deltaX: -1.711609 m, approachRate: -0.377416 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 504.49 m.RhZh5 ProNav: ac range: 504.485168 m, nav range: 498.845428 m, bearing: 214.946905 deg, approach rate: 0.000000 m/s, LOS rate: -0.000003 deg/s, cmd heading: 205.740584 deg, new cmd heading: 205.740579 deg. Bh1=HeadingCmd: 3.590851 target range: 504.485168 and range: 507.00 m.h9h9*h9"hA hAgAfAfIfIdIdidijdu@ZduH?ZZZZpU@Bɢ<) -'?i))-;G11i522iE6O,E|;E;IIp>i!>bE-4jE14rE/E EE&E"E2:*EAr:VE4ZEa@a@a@a@@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250730^A ;9 A ؟AI I) O= > Sr,ӿٮ?A2PW@2e@2ٱ2s :AHRS rotation from veh to nav: [[-0.901792,0.421817,0.094027],[-0.430897,-0.894281,-0.120784],[0.033138,-0.149438,0.988216]]2H{ ?$?ѓۿ`@뾿f?` ÿ`v?i2PW@I2];2CYB0ByBn,IhhbDnVDn:2yr><%vH=ٔv`;Q-v>9z"?Iz"?=zlDyzنC~;E~>|Q 5z4~U(?Q 9 z4~d)~BY y !Q I ?~ACI~$:i~:~z4y BɮpAE1=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 504.49 m.RhM+ZhU+e ProNav: ac range: 504.485168 m, nav range: 498.575409 m, bearing: 214.946849 deg, approach rate: -0.700985 m/s, LOS rate: -0.000146 deg/s, cmd heading: 205.740584 deg, new cmd heading: 205.740415 deg. BheOͶeHeadingCmd: 3.590848 target range: 504.485168 and range: 507.00 m.hmse@hi*hi"hi hiB>BCB,IBPBB =BBB/w;B0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505846gif ffdddjdZd`?ZZZZ{U@EBɢM<)I M4?iI)MD 9(\?K?{Gzt?Y'?y^=ף; AB- B 5B)BYp$BbDVD0yu!=%=ٔ9 ?I] ?=]lDy]CeW;Ee>iQ 5uz4m(?Q 9uz4m֐)mBY}K)?Q E}:y}#Q I}?mqCIm :im:mbz4yBɮ,AEjhFNOT Ignoring new targets: 504.49 m.Rhl 8Zhl 8 ProNav: ac range: 504.485168 m, nav range: 498.200836 m, bearing: 214.947910 deg, approach rate: -0.662188 m/s, LOS rate: 0.001877 deg/s, cmd heading: 205.740420 deg, new cmd heading: 205.743606 deg. Bh8HeadingCmd: 3.590903 target range: 504.485168 and range: 507.00 m.h\e@h*h"h hgfffdddjdZd?Zi>Zi>Z*@Z7~6@'Bɢh<) ?i)ki^8i%XN,-?/;-T;I-\e@I)%qڼy9@ @@?0@EQ EUEU%EQ"EQ*EU:VEU 4ZEQae@ae@ae@ae@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261853^A yb]; A ؟AI I O >0%,ڮ?AY~@By~,IbDVD:2y%<%%V=ٔ%Q-%>9-"?I-"?=-lDy-$C-E5>1Q 5=z45'(?Q 9Ez45S)5BYAyAQ IE?5CI5;i5;5z4yMBɮUضAUEjhq}FNOT Ignoring new targets: 504.49 m.Rh}` 8Zh}` 8 ProNav: ac range: 504.485168 m, nav range: 497.960846 m, bearing: 214.948591 deg, approach rate: -0.661287 m/s, LOS rate: 0.001877 deg/s, cmd heading: 205.743603 deg, new cmd heading: 205.745646 deg. Bhڤ8HeadingCmd: 3.590939 target range: 504.485168 and range: 507.00 m.he@h*h"h hgfffdddjdZd?ԹZZZZ-Bɢ=) ?i)!i&;iM,;{;Ie@I  B5>B1B5,IB5_BB5 =B1B5DB5v;B5f0Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514058U9@Q @Y@]/0@YD <D =E  E E &E "E :*E k:VE 4ZE BE ?8_,"ڮ?A2W@2\e@2Ѽٱ21%< >AHRS rotation from veh to nav: [[-0.900451,0.426314,0.086277],[-0.434202,-0.892706,-0.120597],[0.025608,-0.146054,0.988945]]2H@H?E?`ۿ q߾@9?¿`p?i2W@I27^;2CYFMByF,I NR=Np=bDRVDRN2yZs=%Z8=ٔZ ;Q-^>9\I\=^lDy^HCb{;Eb>dQ 5f{4fn(?Q 9j{4f)fBYhyj~#Q Ij?fCIf<;ifH;f {4yrBɮraArEjhFNOT Ignoring new targets: 504.49 m.Rh7Zh7 ProNav: ac range: 504.485168 m, nav range: 497.667877 m, bearing: 214.949365 deg, approach rate: -0.637854 m/s, LOS rate: 0.001686 deg/s, cmd heading: 205.745652 deg, new cmd heading: 205.747975 deg. Bh#8HeadingCmd: 3.590980 target range: 504.485168 and range: 507.00 m.he@h*h"h hgfffdddjdZd@ZZZZ6@颕4Bɢ *<) o?i)*顙i ?iM,;F:;Ie@Iԡ=9@A @A@E5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017909^AAAYA]> Ay E  E E )E "E D:*E ~:VE FA4ZE a @a @a @a @I I O >D,;ڮ?A:W@:e@:kٱ: FAHRS rotation from veh to nav: [[-0.900096,0.427466,0.084262],[-0.435067,-0.892186,-0.121329],[0.023313,-0.145868,0.989029]]:H [?/?@%ۿɌ@r_ߗ?`˫¿ ?i:W@I:0V^;:CYJTByJ,IbDVVDV2y^S=%^J=ٔb;Q-b>9`Id=flDyfiCfd;Ef>hlQ 5r{4j[(?Q 9r{4j~)jBYpyro#Q Iv?jؒCIjl,;ijW-;j{4yxɮzFAxjhFNOT Ignoring new targets: 504.49 m.Rh%7Zh%75 ProNav: ac range: 504.485168 m, nav range: 497.400604 m, bearing: 214.950043 deg, approach rate: -0.687519 m/s, LOS rate: 0.001746 deg/s, cmd heading: 205.747974 deg, new cmd heading: 205.750010 deg. Bh5V85HeadingCmd: 3.591015 target range: 504.485168 and range: 507.00 m.h=1e@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270351hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]7@ZyZyZyZ}76@颍9Bɢ=) ?i)V顙i$BiL,#;HR;I1e@IU9@Q @Q@U3@Q 9^AuX;B>BB,IBnBB =BBDBv;B@0EiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523235Ai Iq I O >a u,,-Uڮ?ARHW@Re@R)ٱR fAHRS rotation from veh to nav: [[-0.899712,0.428617,0.082501],[-0.435988,-0.891505,-0.123021],[0.020822,-0.146653,0.988969]]RH`ptn??8ۿ4@J~ @R?¿?iRHW@IRY$^;RCYpytbD VD :3ٔ%$;Q-%>9!I)=-lDy-C-;E->1EE EEEE&EA"EEa:*EEą:VEE4ZEABEE(w,gpڮ?AY\By,I1yS?p= ף?:v/?>Լ 9!rh?X9v?MbPYl'?y}=>B B 2B)jBY"BBAbDVDk1yy<%<ٔQ->9I=lDyCE>Q 5{43(?Q 9{4o)BY,(?Q E:y6&Q I? CI:iX:8{4yɮAjhFNOT Ignoring new targets: 504.49 m.Rh]8Zh]8- ProNav: ac range: 504.485168 m, nav range: 496.838623 m, bearing: 214.952879 deg, approach rate: -0.687562 m/s, LOS rate: 0.005201 deg/s, cmd heading: 205.752018 deg, new cmd heading: 205.758524 deg. Bh-pd95HeadingCmd: 3.591164 target range: 504.485168 and range: 507.00 m.h5e@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE @Zm=Zm=Zm.@Zm:?}EBɢ}| =)y }?i)[顁i?HiJ,U;F;Ie@IE EE%E"E:*E:VE 4ZEa@a@a@a@a@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277866 =d>9ԉ܁G!9^A0;ۭ9YAym \?m AI I O >Թ ~m,.ڮ?A;ɰ2X@2vf@2 ٱ22 >AHRS rotation from veh to nav: [[-0.899276,0.430321,0.078270],[-0.437098,-0.890631,-0.125388],[0.015753,-0.146970,0.989016]]2H`b? ? iۿ` o!?¿?i2X@I2a^;0YRdByV,IIZ8>)Z;bD^VD^0yf!=%f\=ٔj_9hIh=jlDyṅCnMQ;En>pQ 5v{4r8"(?Q 9v{4rŧ)pYxyz#&Q Iz?r?CIr$:ir_:rE{4y~ƹBɮ~A~Ejh!%FNOT Ignoring new targets: 504.49 m.Rh-t8Zh-t8= ProNav: ac range: 504.485168 m, nav range: 496.594482 m, bearing: 214.954693 deg, approach rate: -0.655804 m/s, LOS rate: 0.004876 deg/s, cmd heading: 205.758520 deg, new cmd heading: 205.763965 deg. Bh=%V9EHeadingCmd: 3.591259 target range: 504.485168 and range: 507.00 m.hE/e@hA*hA"hA hIgIfIfIfIdQdQdQjdQԙBBCB,IBxBB =BBBv;B0EBCBCBCB =B =C5Zd@@Z9Z9Z9Z=?MKBɢM\6$=)Q]BDAT read: Rx Time:00:23:07.2247 eTRx dataTimestamp_ set to:1761524586.236309echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531126 UJ?i)֌顑i'KiH,y; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781871 , ڮ?A2{X@2- f@2[ٱ2d :AHRS rotation from veh to nav: [[-0.899074,0.431113,0.076203],[-0.437591,-0.890264,-0.126272],[0.013403,-0.146874,0.989064]]2H@7\?@?~ܿ@ } )r?`¿`j?i2{X@I2=^;2CYB]ByB,IbDJVDJ02yR %VM=ٔV;Q-V>9XIX=ZlDyZCZ:EZ>|Q 5{4~(?Q 9{4~m)|Y y &Q I ?~aCI~:i~:~S{4yBɮeAEjhY]FNOT Ignoring new targets: 504.49 m.Rhea8Zhea8u ProNav: ac range: 504.485168 m, nav range: 496.327515 m, bearing: 214.956662 deg, approach rate: -0.649163 m/s, LOS rate: 0.004792 deg/s, cmd heading: 205.763970 deg, new cmd heading: 205.769882 deg. BhutR9HeadingCmd: 3.591362 target range: 504.485168 and range: 507.00 m.he@h*h"h hgfffdddjdZd@Z Z Z Z ?%PBɢ-D =)) -(?i))-X11i5PMiF,;; E  E E ,E "E &:*E :VE g4ZE a @a @a @a @y T®,uڮ?A.X@.Cf@.:8ٱ. :AHRS rotation from veh to nav: [[-0.898935,0.431720,0.074386],[-0.437936,-0.889960,-0.127213],[0.011281,-0.146933,0.989082]].HM?@ ?&ܿ@zH G?@¿?i.X@I.^;,vDAT read: 00:23:07.2247 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 392,-0.01,-0.739,-2.359,-0.823,-1.118, PHS= 0.481,-1.197, 0.251, RAW= 142.7, 6.0, CAL= 142.3, 6.6, ROT= 7.7, -6.6 zYgot valid direction response: 00:23:07.2247 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 392,-0.01,-0.739,-2.359,-0.823,-1.118, PHS= 0.481,-1.197, 0.251, RAW= 142.7, 6.0, CAL= 142.3, 6.6, ROT= 7.7, -6.6 PDAT read: Bearing 359.1, 7.0 (Local) ~Local bearing/azimuth received: Bearing 359.1, 7.0 (Local)  DAT read: Range 11 to 50 : 503.5 m (Round-trip 671.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.984416,0.133098,0.114937]Fpublishing direction and range infoy`ba_fU?\ ?NZl?YbC```` `)`IbE>ibL7b>be@bPw=b\@ b=)b >Ib뽩``by)~Z?`?ʋ? b/>)bԽIb >ib뽩``5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Y][By],I ma=ma=bDuVDu1yE_ %E3=ٔEX;Q-E>9III=MmDyMCMJU:QEU>Q 5{4\'?Q 9{4)BYy&Q I?CI:i:c{4yɮmAi`ibrڮ?AJibCRibCjibīo@ib_~@먫P@$(L@riba_fU?\ ?NZl?Zib >bibibЖ~ky&q#:\J@zib~r:4#95 4d?2ibT:ib#"ib<젊?*ibBibBib= ?i`ib Cib(Cibp@ addTargetRange:: Added new target pos. range: 503.500000 m, deltaT: 4.539129 s, deltaX: -3.500000 m, approachRate: -0.771073 m/s, rangeRepo size: 4  Added new target pos. range: 500.999786 m, bearing: 214.564597 deg, lat: 36.779477 deg, lon: -121.860070 deg, deltaT: 4.539129 s, deltaX: -3.485382 m, approachRate: -0.767853 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 501.00 m.RhZh ProNav: ac range: 500.999786 m, nav range: 496.320251 m, bearing: 214.935289 deg, approach rate: 0.000000 m/s, LOS rate: 0.004792 deg/s, cmd heading: 205.769885 deg, new cmd heading: 205.776694 deg. BhHeadingCmd: 3.591481 target range: 500.999786 and range: 503.50 m.he@h*h"h hgfffddd)jd-x@Zd-?ZiZiZiZm?}WBɢ}g<)  ?i)`顩iePiD,=۸; BCB,IB~BB =BBDBu;B/Eu(DAT read: user:62> }BDAT read: Tx time:00:23:08.6491 }$Ping request sent.} ,ڮ?A2X@2Bf@2!ٱ2D :AHRS rotation from veh to nav: [[-0.898981,0.431990,0.072235],[-0.437891,-0.889947,-0.127459],[0.009224,-0.146214,0.989210]]2Hs?@}?fܿ`rzP,?'¿?i2X@I2];2CYB_ByB,I DDbDRVDRE\ E^E^$E\"E\*E^~:VE^4ZE\BE^a;9lIl=nmDyn/Crg3Er>pQ 5v{4r'?Q 9z{4r)rBYxyz&Q Iz?rCIrj;irv;ro{4yBɮAE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 501.00 m.Rh5 8Zh5 8E ProNav: ac range: 500.999786 m, nav range: 496.090942 m, bearing: 214.936963 deg, approach rate: -0.695559 m/s, LOS rate: 0.005083 deg/s, cmd heading: 205.776688 deg, new cmd heading: 205.781715 deg. BhE?_9MHeadingCmd: 3.591568 target range: 500.999786 and range: 503.50 m.hMBe@hQ*hQ"hQ hQgQfQfYfYdYdYdYjdaZde@B?ZZZZ&?M[BɢU`=)Y ]?ia)_v顉i` SԩisC,;DX } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502781) (Ի,ڮ?A:iX@:f@:kٱ:  RAHRS rotation from veh to nav: [[-0.899027,0.432149,0.070693],[-0.437835,-0.889733,-0.129133],[0.007093,-0.147046,0.989104]]:H S?`?~ܿx`qo }? i¿ས?i:iX@I:V ^;:CYlylym+?&1?y&1|m?mP>m`i i9m"~j?㥛 ?YmS#?ym=m̼m=ٔ;Q->9I=mDyRC,E>Q 5{4='?Q 9{4)BY$?Q E:y6%Q I?ȓCI;i;~{4yBɮwAjhuFNOT Ignoring new targets: 501.00 m.Rh}s8Zh}s8 ProNav: ac range: 500.999786 m, nav range: 495.817017 m, bearing: 214.938534 deg, approach rate: -0.640400 m/s, LOS rate: 0.003673 deg/s, cmd heading: 205.781715 deg, new cmd heading: 205.786429 deg. BhW!9HeadingCmd: 3.591651 target range: 500.999786 and range: 503.50 m.he@h*h"h hgfffdddjdZd6?ZE)>ZE)>ZE4@ZE4H@uaBɢu =)q u?iy)}yyi}-UiB,!.;i ¶,v ۮ?A 2;"X@2f@2.Ȝٱ2 >AHRS rotation from veh to nav: [[-0.898857,0.432717,0.069368],[-0.438215,-0.889201,-0.131489],[0.004785,-0.148588,0.988888]]2H@p?@±? ܿ Uts? ÿ?i2;"X@I2$^;2CYB[ByF,IHJ@AbDNVDN02yVk%VZ=ٔV;Q-Z>9Z ?IZ ?=ZmDyZpC^:E^>`Q 5f{4b'?Q 9f{4b޹)bBYdyf0%Q Ij?bCIb:ib:b{4ynBɮnGAnEjhFNOT Ignoring new targets: 501.00 m.Rh C8Zh C8 ProNav: ac range: 500.999786 m, nav range: 495.576752 m, bearing: 214.939903 deg, approach rate: -0.643385 m/s, LOS rate: 0.003668 deg/s, cmd heading: 205.786428 deg, new cmd heading: 205.790537 deg. B>BCBBB =BBDBSu;B/EBh!9HeadingCmd: 3.591722 target range: 500.999786 and range: 503.50 m.he@h*h"h hgfffdddjdZd?i9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124ZZZZ^O@颕fBɢ7=) p?i)d顙ifXi@,Z;&  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781ȶ,Q%ۮ?Aɰ;2 #X@2f@2+9ٱ2j :AHRS rotation from veh to nav: [[-0.898842,0.432959,0.068039],[-0.438263,-0.888931,-0.133143],[0.002837,-0.149493,0.988759]]2H`P ?k?@ ܿ r `=g?"ÿ ?i2 #X@I2^;2CPYnWByn,IbDzVDz:2y%E=ٔə;Q->9 I = mDy C 8E>Q 5%{4'?Q 9%{4)BY!y!Q I%? CID;ia;z{4y1ɮ5YA1jhQ]FNOT Ignoring new targets: 501.00 m.Rh]8Zhe8m ProNav: ac range: 500.999786 m, nav range: 495.310913 m, bearing: 214.941419 deg, approach rate: -0.641026 m/s, LOS rate: 0.003658 deg/s, cmd heading: 205.790540 deg, new cmd heading: 205.795091 deg. Bhu 9uHeadingCmd: 3.591802 target range: 500.999786 and range: 503.50 m.hue@hy*hy"hy hygfffdddjdZdAG?ZZZZP@jBɢ.=) ?i),+|iPZi?,օ;b E  E E )E "E :*E :VE FA4ZE a @a @a @a @! ϶,,?ۮ?A20X@2w&f@2)[ٱ2 :AHRS rotation from veh to nav: [[-0.898478,0.433829,0.067311],[-0.439017,-0.888310,-0.134795],[0.001315,-0.150661,0.988585]]2H T?`I;? ܿ`m@dU?Hÿ |?i20X@I2i^;0YB^ByB,IbDJVDJk2Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762814yZ=%ZO=ٔZ.};Q-^>9^"?I^"?=^mDybCb1 ;Eb>dQ 5j{4f'?Q 9j{4f!)fBYhyj#%Q In?f*CIfo:if:fA{4yrBɮrArE|jh FNOT Ignoring new targets: 501.00 m.Rh8Zh8- ProNav: ac range: 500.999786 m, nav range: 495.058228 m, bearing: 214.942839 deg, approach rate: -0.639639 m/s, LOS rate: 0.003596 deg/s, cmd heading: 205.795089 deg, new cmd heading: 205.799351 deg. Bh-9-HeadingCmd: 3.591876 target range: 500.999786 and range: 503.50 m.h5Me@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE K@ZZZZ^@pBɢM'=) ?i)=wi%\i%i>,%;-B}CByByB} =ByB}DB}t;B}Y/E^A<A>A>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015125I I O >ԁ ն,sYۮ?A2 9X@2.f@2sٱ2@ :AHRS rotation from veh to nav: [[-0.898256,0.434399,0.066577],[-0.439472,-0.888007,-0.135310],[0.000342,-0.150802,0.988564]]2H@@3?3 ?`M ܿjQpn6?{MÿP?i2 9X@I2^;2CYB\ByB,IER ERER+EP"ER:*ER&p:VER [4ZEPBER69dId=fmDyf҈Cj:Ej>QYQ 5e{4]'?Q 9e{4]ı)]ۊBYaym%Q Im?]LCI]:i]=:] {4yuBɮ}ɴA}EMB*** querying acoustic contact ***iI iIjhFNOT Ignoring new targets: 501.00 m.RhHp8ZhHp8} ProNav: ac range: 500.999786 m, nav range: 494.787079 m, bearing: 214.944349 deg, approach rate: -0.589334 m/s, LOS rate: 0.003282 deg/s, cmd heading: 205.799351 deg, new cmd heading: 205.803881 deg. Bh+9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266822HeadingCmd: 3.591955 target range: 500.999786 and range: 503.50 m.he@h*h"h hgfffdddjdZd :@ZQZQZQZU&g@ԁ颍vBɢ=) ?i)2|q顑i^i=,5 ;X@24f@23Z:ٱ2ի :AHRS rotation from veh to nav: [[-0.898098,0.434836,0.065860],[-0.439795,-0.887685,-0.136369],[-0.000835,-0.151438,0.988466]]2H 8Z?4ܰ? %ܿg@t ^KObÿ`?i2>X@I2|_;2CYF`ByF,I llppyZd;?K?I +9?^:>94 9p= ף?+η?Y%?yv=LP:BB -B)BY\BbDVD 3y <% /=ٔD%;Q->9I=mDyCI:E>!Q 5m{4%w'?Q 9m{4%1ɱ)%̊BYmQ'?Q Eu:yu#Q Iu?%rCI%T%Z>ZCV~@ZF6? zBɢ 2=)  ?i )li`ie<,(P;>],qۮ?A2$;X@20f@2|;ٱ2B>>B<B>,IB>xBB<B<B<B>mt;B>,/E JAHRS rotation from veh to nav: [[-0.898199,0.434843,0.064428],[-0.439586,-0.887826,-0.136122],[-0.001991,-0.150586,0.988595]]2H w?`U~?@+"ܿipl@O`@fFÿ?i2$;X@I2_;2CYRSByR,IbDZVDZ2ybՔ%ba=ٔfP;Q-f>9dIh=jmDyjCj'En>lQ 5r{4nf'?Q 9v{4ṉ)nBYtyv#Q Iv?nCIn:in ;ns{4yzBɮ~A~Ejh%FNOT Ignoring new targets: 501.00 m.Rh%c 8Zh%c 85 ProNav: ac range: 500.999786 m, nav range: 494.258514 m, bearing: 214.945850 deg, approach rate: -0.672501 m/s, LOS rate: 0.001918 deg/s, cmd heading: 205.806372 deg, new cmd heading: 205.808390 deg. Bh=w8=HeadingCmd: 3.592034 target range: 500.999786 and range: 503.50 m.h=e@hA*hA"hA hAgAfAfIfIdIdQdQjdQZd]@. @uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822yZZZZ"%?~Bɢ'G=) ?i)%h!!i%A ciM;,M݅;MF6iY9@ @@/@ԙE EEE"E:*E:VEZEBE3% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692 ,rۮ?A2o;X@2!1f@2`XT;ٱ2M :AHRS rotation from veh to nav: [[-0.898188,0.435119,0.062690],[-0.439600,-0.887933,-0.135376],[-0.003240,-0.149152,0.988809]]2H@@?t ?h"ܿi T j`fÿR?i2o;X@I2y`;2CY^UByb,IbDj VDj2y<<%F=ٔ F;Q->9!I!=%mDy%7C-58E->)Q 55{4-S'?Q 9={4-б)-BY9y=#Q I=?-CI-v;i-;-{4yM{BɮMAMEjhiuFNOT Ignoring new targets: 501.00 m.Rhu8Zhu8 ProNav: ac range: 500.999786 m, nav range: 493.990082 m, bearing: 214.946610 deg, approach rate: -0.650156 m/s, LOS rate: 0.001843 deg/s, cmd heading: 205.808394 deg, new cmd heading: 205.810677 deg. Bh8HeadingCmd: 3.592074 target range: 500.999786 and range: 503.50 m.he@h*h"h hgfffdddjdZdH @ZZZZ?Bɢ%IC/=)! %?i!)-!c))i-E6ei=+;,=:ź;=rE5  E5 E1 E1 "E5 =;*E5 :VE1 ZE1 a= @a= @a= @a= @Y G jA 5 ۷95 jAY5 A= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778739j, ۮ?A4<ɰ4<2.X@2#f@2~Ԍ;ٱ2{ :AHRS rotation from veh to nav: [[-0.898544,0.434613,0.061084],[-0.438863,-0.888393,-0.134750],[-0.004298,-0.147886,0.988995]]2H?XF?Vܿm {?@q¿ ٥?i2.X@I2`;2CYBQByB,IbDNVDN1yVg%VR=ٔV1;Q-V>9XIX=ZnDyZWC^ E^>`Q 5f{4bA'?Q 9f{4b4Ա)bBYdyf#Q If?bӔCIb:ib(:b{4ynlBɮnmAnEjh|FNOT Ignoring new targets: 501.00 m.Rh 8Zh  8 ProNav: ac range: 500.999786 m, nav range: 493.736572 m, bearing: 214.947349 deg, approach rate: -0.650148 m/s, LOS rate: 0.001896 deg/s, cmd heading: 205.810675 deg, new cmd heading: 205.812893 deg. Bh8%HeadingCmd: 3.592113 target range: 500.999786 and range: 503.50 m.h%,e@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5L@ZZZZH?Bɢx0=) R?i)o_i=gi:,%;%S BCB,IBnBB =BBDB t;B/EBECBECBEƔCBE =BE =CEƔ6iߑIߑDAT read: 00:23:11.7208 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401, 0.09,-1.925, 2.606,-1.925,-2.512, PHS= 0.689,-1.119, 0.544, RAW= 145.9, -1.3, CAL= 145.4, -1.7, ROT= 4.6, 1.7 Ygot valid direction response: 00:23:11.7208 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401, 0.09,-1.925, 2.606,-1.925,-2.512, PHS= 0.689,-1.119, 0.544, RAW= 145.9, -1.3, CAL= 145.4, -1.7, ROT= 4.6, 1.7 PDAT read: Bearing 351.1, 4.3 (Local) ~Local bearing/azimuth received: Bearing 351.1, 4.3 (Local) ^AQUDAT read: Range 11 to 50 : 500.7 m (Round-trip 667.6 ms) speed 0.4 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.996340,0.080164,-0.029666]eFpublishing direction and range infoyq/R?څ{? `YYCԑIIO> )PINb0?id;C ?"@޹i"@ )l=I<Lw?I?~6 >)a BDAT read: Tx time:00:23:12.9491 $Ping request sent.-@-;B) -Z+B)-+B)Y-BbDEVDEN2y]<%]&=ٔ];Q-e>9aIa=enDyeCmEEm>qQ 5}|4u+'?Q 9}|4ulٱ)uBY}+?Q E:yQ I?uCIuC:iu:u|4y^BɮAEiiϤۮ?AJiCRiCji1j@i~2@YOC@ B-riq/R?څ{? `Zil=bi<iZp@Bɢa=) :?i)__Yiii9,(; ;Ie@I @ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250787^A 8< A! A% >Ae.AIqIO>,d!ۮ?A2 X@2f@2m);ٱ2w :AHRS rotation from veh to nav: [[-0.899470,0.433155,0.057707],[-0.436933,-0.889507,-0.133664],[-0.006566,-0.145441,0.989345]]2H@uѸ?ԋ?`ۿv!zѝ¿?i2 X@I2Va;2CYBLByB,I HJp=bDNVDN02yR V%VR=ٔVA;Q-V>9V ?IZ ?=ZnDE^ E^E^*E\"E^V:*E^:VE^(N4ZE\ab@ab@ab@ab@dyZCj,Ej>lQ 5r|4nH'?Q 9r|4nݱ)nBYpyrQ Ir?nCInF:in:ni|4yxɮzFAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 498.20 m.Rh}Zh} ProNav: ac range: 498.202789 m, nav range: 494.218414 m, bearing: 214.639591 deg, approach rate: -0.686474 m/s, LOS rate: -0.003469 deg/s, cmd heading: 205.815852 deg, new cmd heading: 205.811898 deg. Bh`HeadingCmd: 3.592095 target range: 498.202789 and range: 500.70 m.he@h*h"h hgfffdddjd Zd @Vb?ZIZIZIZMp@额BɢPy@=) ?i)7U顡iki:,<;G;Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633Y@a @a@e0@a ^Ar;BE >BA BE ,IBE iBBE =BA BA BE s;BE .EY A I I O >} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754839,ܮ?A2W@2e@2;ٱ2 :AHRS rotation from veh to nav: [[-0.899809,0.432633,0.056318],[-0.436213,-0.889830,-0.133864],[-0.007801,-0.145019,0.989398]]2H =`B?լ?ۿ}yu" ¿@&?i2W@I20a;0YBBByB,IPRAbDXVDXyj>%jH=ٔjF;Q-n>99I9=EnDyECMzEM>QQ 5|4U'?Q 9|4U)UvBYyQ I?UBCIU;iU2;U |4yOBɮ4AEjhFNOT Ignoring new targets: 498.20 m.RhtZh t= ProNav: ac range: 498.202789 m, nav range: 493.939697 m, bearing: 214.638205 deg, approach rate: -0.670148 m/s, LOS rate: -0.003333 deg/s, cmd heading: 205.811891 deg, new cmd heading: 205.807732 deg. Bh=j=HeadingCmd: 3.592023 target range: 498.202789 and range: 500.70 m.hEe@hA*hA"hA hAgAfAfIfIdIdIdQjdqZd} h?ZZZZ:p@Bɢ{(=) ?i)uP顑ili<,K;;Ie@ID%=D%=E EE$E"ED:*E:VE4ZEBE1 ,&-ܮ?A2"W@2e@2<ٱ2y >AHRS rotation from veh to nav: [[-0.900033,0.432323,0.055106],[-0.435726,-0.889977,-0.134475],[-0.009093,-0.145044,0.989383]]2H`/?6?ۿz@|6 ɐ¿?i2"W@I2b;2CYFLByF,IbDNVDNk1yV(C=%VM=ٔZST;Q-Z>9XIX=ZnDyZ߉C^E^>`Q 5f|4bF&?Q 9f|4b)bhBYdyjQ Ij?bcCIb|:ib1:b*|4ylɮn AljhFNOT Ignoring new targets: 498.20 m.Rh sxZh sxy ProNav: ac range: 498.202789 m, nav range: 493.683289 m, bearing: 214.636944 deg, approach rate: -0.689844 m/s, LOS rate: -0.003394 deg/s, cmd heading: 205.807738 deg, new cmd heading: 205.803954 deg. BhHeadingCmd: 3.591957 target range: 498.202789 and range: 500.70 m.he@h*h"h hgfffdddjdZd`9?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259078ZZZZp@Bɢ4=) r?i)?Lini=,Q;w;Ie@I)ԡ@ @@ 0@bEe:4jEeFA4rEeƲd0E EE,E"E:*E:VEg4ZEa@a@a@a@^A [R;A gAzA gA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922 A= ؟AIA IY O >,Gܮ?A2W@2e@2 +<ٱ28 :AHRS rotation from veh to nav: [[-0.900635,0.431278,0.053438],[-0.434449,-0.890571,-0.134674],[-0.010491,-0.144508,0.989448]]2H@` ?@F\?`ۿ`< j|`@¿?i2W@I2~b;0YbRByf,IbDnVDnk2yv\<%vF=ٔvD^;Q-v>9z"?Iz"?=znDyzC~n`E~>Q 5 |4&?Q 9 |4h)XBY y Q I ?CI:i:8|4yABɮAEjh9EFNOT Ignoring new targets: 498.20 m.RhEghZhMgh] ProNav: ac range: 498.202789 m, nav range: 493.408997 m, bearing: 214.635637 deg, approach rate: -0.665460 m/s, LOS rate: -0.003175 deg/s, cmd heading: 205.803954 deg, new cmd heading: 205.800029 deg. Bh]q eHeadingCmd: 3.591888 target range: 498.202789 and range: 500.70 m.hee@ha*ha"ha hagafififididqdqjdqZduB?ZZZZp@颭Bɢ"M=) ?i)7H顱ipi5>,=G;;Ie@Im9@i @i@m 5@qB>BB,IBdBB =BBB.s;B.EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762900^A#2;)E  E E &E "E ;*E ?:VE 4ZE BE @a #,}aܮ?A2 W@2e@2b!J<ٱ2;} >AHRS rotation from veh to nav: [[-0.900880,0.430824,0.052967],[-0.433892,-0.890319,-0.138094],[-0.012337,-0.147388,0.989002]]2H ? ?ۿ}}@D¿?i2 W@I2b;0R/?R=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015052YVUByV,IIZ=)Z>y=+?Q?~jth=?=u==D9 99=Zd;O?333333?Zd;OY=~*?y=>=j=9B=B =)B)99Y=BbDUVDUN2y:B<%;=ٔf;Q->9I=nDy$CPE>Q 5 |4 &?Q 9 |4:)MBY.?Q E:yQ I?CIm ;i ;0H|4yɮA!1jhIMFNOT Ignoring new targets: 498.20 m.RhUFZhUFe ProNav: ac range: 498.202789 m, nav range: 493.111908 m, bearing: 214.633601 deg, approach rate: -0.678625 m/s, LOS rate: -0.004652 deg/s, cmd heading: 205.800034 deg, new cmd heading: 205.793924 deg. BheTLmHeadingCmd: 3.591782 target range: 498.202789 and range: 500.70 m.hme@hi*hi"hi higqfqfyfydydydyjdZd>@Z|=Z|=Zu,?Zl@颵BɢP-=) ?i)aCi>Nri?,U3;;Ie@Ia9@ @@k1@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850ԉ^A u;Թ A1 I9 IQ O] >>*,i{ܮ?A:,W@:޿e@:7k<ٱ:3n JAHRS rotation from veh to nav: [[-0.901117,0.430355,0.052751],[-0.433338,-0.889908,-0.142413],[-0.014344,-0.151190,0.988401]]:H`?/?`лۿ z:¿`@0Zÿ?EN ENEN)EL"EN:*EN~:VENFA4ZELaR@aR@aV@aV@i:,W@I:b;:CYZRBy^,IbDfVDf0yn|R%n]=ٔnֱ;Q-r>9pIp=rnDyrBCvqպEv>xQ 5~|4zP&?Q 9~|4zL)zBBY|y~Q I~?z̕CIzk:iz:zU|4y 0Bɮ uA E%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 498.20 m.Rh=iZh=iM ProNav: ac range: 498.202789 m, nav range: 492.860657 m, bearing: 214.631902 deg, approach rate: -0.679925 m/s, LOS rate: -0.004601 deg/s, cmd heading: 205.793928 deg, new cmd heading: 205.788827 deg. BhMJUHeadingCmd: 3.591693 target range: 498.202789 and range: 500.70 m.hUKe@hQ*hQ"hY hYgYfYfYfadadadajdaZdm@@ZZZZL@额BɢGO=) ?i))W?顡itikA,;(;IKe@IԉE9@I @I@M3@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518951Ա^A ;A>A>A9 II IY Oe >B >B CB ,IB _BB B B DB r;B `.E] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833 Y#%,ܮ?A^W@^e@^<ٱ^ fAHRS rotation from veh to nav: [[-0.901260,0.430177,0.051760],[-0.432986,-0.889802,-0.144139],[-0.015949,-0.152319,0.988203]]^H`?Q?` ۿ`Ay`)s¿T`,ÿ`[?i^W@I^b;^CYnOByn,IbDvVDvy~^%~F=ٔ~~;Q->9I=nDydC pE >Q 5|4&?Q 9|4)6BYyQ I%?CI[:iF:c|4y-"Bɮ-JA-EjhQUFNOT Ignoring new targets: 498.20 m.Rh]Zh]m ProNav: ac range: 498.202789 m, nav range: 492.580048 m, bearing: 214.630016 deg, approach rate: -0.680771 m/s, LOS rate: -0.004578 deg/s, cmd heading: 205.788832 deg, new cmd heading: 205.783171 deg. BhmIMHeadingCmd: 3.591594 target range: 498.202789 and range: 500.70 m.hMe@hQ*hQ"hQ hQgQfQfYfYdaddjdZd 8 @ZZZZ@EBɢE'=)A M&?iI)Ma:IIiMyuiUC,U`;Uʁ;IUe@IYE EE(E"E:*E:VEc44ZEBE?8k7+, ܮ?AYbQByb,I ddbDnVDnkyv;%vN=ٔvQ-z>9xIx=znDyzC~E~>Q 5 |4&?Q 9 |44)+BY y Q I?CI:i:bq|4yɮDAjhAEFNOT Ignoring new targets: 498.20 m.RhM{ZhM{] ProNav: ac range: 498.202789 m, nav range: 492.310760 m, bearing: 214.628204 deg, approach rate: -0.679599 m/s, LOS rate: -0.004576 deg/s, cmd heading: 205.783177 deg, new cmd heading: 205.777737 deg. Bh]HeHeadingCmd: 3.591499 target range: 498.202789 and range: 500.70 m.hee@ha*ha"ha hagafififididqdqjdqZdu @ZZZZ颭Bɢ+c]=) ?i)6顱iNwiD,;Dž;Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274819QY@Y @Y@]/@ayE EE)E"Es:*E:VEFA4ZEa@a@a@a@^AIq I O >ԩ  BDAT read: Rx Time:00:23:16.0173  TRx dataTimestamp_ set to:1761524595.056159 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527915X2,ܮ?A6W@6e@6ӓ<ٱ6 >AHRS rotation from veh to nav: [[-0.901881,0.429385,0.047316],[-0.431522,-0.890434,-0.144622],[-0.019967,-0.150850,0.988355]]@6H@6@ {?`9?ۿo~`¿`!rOÿ?i6W@I6c;6CYJWByJ,IbDV VDV:2yZg<%^N=ٔ^%9`I`=boDybCfႻEf>dQ 5j|4f&?Q 9n|4f)fBYlynQ In?f5CIf;if";fF|4yvBɮvAvEjh FNOT Ignoring new targets: 498.20 m.RhvZhv- ProNav: ac range: 498.202789 m, nav range: 492.040649 m, bearing: 214.626429 deg, approach rate: -0.679407 m/s, LOS rate: -0.004466 deg/s, cmd heading: 205.777740 deg, new cmd heading: 205.772413 deg. Bh-'D-HeadingCmd: 3.591406 target range: 498.202789 and range: 500.70 m.h-e@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE<@ZaZaZaZe^@uBɢ}LI=)y }F?iy)J2顁ixiF,n;/;Ie@I@ @@@ԩB>BCB,IBZBB =BBBr;B8.E-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778873^Aه;AzAIyIO~>E  E E E "E :*E :VE ZE BE .F@F5=F2+@ Fl=)FQ >IFlDDFp5'?t4A?21? Fx >)FkIFQ >iFlDDT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.W@Fe@<ٱ AHRS rotation from veh to nav: [[-0.902092,0.429045,0.046380],[-0.430991,-0.890272,-0.147183],[-0.021857,-0.152762,0.988021]]H``xu?@#?`Yۿ} ¿ a ÿޝ?iW@Id;CY[By,Iyq= ףp?)\(? rh ?Ga=C  9E?T㥛 ?Mb?Y&?y><8B 'B)YBbDVD2yD<% =ٔr;Q-%>9!IA=EoDyEΊCM⏺EM>QQ 5e|4UVq&?Q 9e|4U)UBYm)?Q Em:ymQ Q Im?UbCIUN;iUM;Uv|4yyɮAiDiFܮ?AJiFCRiFCjiFo@iFXb~@lh R@kr5C@riF`u?ʳm?zꇴ?ZiFQ >biFliF(ku}yGozqhܫ1@ziFgX꿱?6 u_%?2iFU:iF"iF`&?*iF9vBiFzBiF<젊?iDiF>BiFCCiFo@ addTargetRange:: Added new target pos. range: 498.000000 m, deltaT: 4.285340 s, deltaX: -2.700012 m, approachRate: -0.630058 m/s, rangeRepo size: 4  Added new target pos. range: 495.500305 m, bearing: 214.526568 deg, lat: 36.779446 deg, lon: -121.860053 deg, deltaT: 4.285340 s, deltaX: -2.702484 m, approachRate: -0.630635 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 495.50 m.RhZh ProNav: ac range: 495.500305 m, nav range: 492.526794 m, bearing: 214.558425 deg, approach rate: 0.000000 m/s, LOS rate: -0.004466 deg/s, cmd heading: 205.772412 deg, new cmd heading: 205.765016 deg. BhHeadingCmd: 3.591277 target range: 495.500305 and range: 498.00 m.h |e@h *h "h  h g f ffd1d9d9jd= @Zd=`?Z >Z >Z?Z@颵Bɢn=)ۖ  ?i)q,项iyi9H,tg;aG!;I|e@I1i1I1=(DAT read: user:64> =BDAT read: Tx time:00:23:17.1991 E$Ping request sent.E>,a8ܮ?A2cW@2e@2i<ٱ2 s< >AHRS rotation from veh to nav: [[-0.902092,0.429216,0.044761],[-0.430910,-0.890295,-0.147279],[-0.023364,-0.152148,0.988082]]2H`Dx?@?ۿK} ¿엿@yÿ@]?i2cW@I2d;2CYFYByF,IIJ<)J=N=N=bDR VDR:2yZk%Z=ٔ^;Q-^ ?9\I\=^oDybCbsEb?dQ 5j|4 %d>%CfUc&?Q 9M|4Gf2 )fBYjAyR Q I?f|CIfBB,IB_BB =BBDBKr;B.EBCBCBB =B =C6^A 2; IA IQ Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503913KE,ݮ?A2wW@2)e@2<ٱ2 >AHRS rotation from veh to nav: [[-0.902130,0.429401,0.042145],[-0.430731,-0.890593,-0.145995],[-0.025157,-0.149859,0.988387]]2H`? P{?`?@ۿ¿@™@.ÿ@ޠ?i2wW@I2~@d;2CYFKByF,IbDPVDPyVM%ZK=ٔZ;Q-Z>9XI\=^oDy^ C^WEb>`Q 5f|4bCQ&?Q 9f|4b] )bBYhyjT Q Ij?bCIb:ib:bn|4lypɮrApjh  FNOT Ignoring new targets: 495.50 m.Rh6RZh6R% ProNav: ac range: 495.500305 m, nav range: 492.053741 m, bearing: 214.556586 deg, approach rate: -0.739150 m/s, LOS rate: -0.002872 deg/s, cmd heading: 205.762604 deg, new cmd heading: 205.759498 deg. Bh%A-HeadingCmd: 3.591181 target range: 495.500305 and range: 498.00 m.h-e@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdEvZ?ZZZZȮ@EBɢEpEY=)A Mp?iI)MP$IIiM |iI, ;YR;Ie@ID=D<E EEE"E;*E?:VEZEBEAA>AA IQ a Iq O} >?K,M1ݮ?A2W@2;e@2,<ٱ2 :AHRS rotation from veh to nav: [[-0.901956,0.429971,0.040001],[-0.430991,-0.890573,-0.145352],[-0.026873,-0.148342,0.988571]]2H@?{?`Yۿ¿¿_?i2W@I2d;2CYBXByF,IbDNVDN2ynυ=%nG=ٔr=;Q-r>9pIt=voDyv*CvE:Ev>xQ 5~|4z>&?Q 9~|4z)zBYyN Q I?zCIz];iz7;z|4y Bɮ yA  EAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011475jhFNOT Ignoring new targets: 495.50 m.Rhz9Zhz9 ProNav: ac range: 495.500305 m, nav range: 491.782379 m, bearing: 214.555520 deg, approach rate: -0.644837 m/s, LOS rate: -0.002534 deg/s, cmd heading: 205.759503 deg, new cmd heading: 205.756305 deg. Bh޸HeadingCmd: 3.591125 target range: 495.500305 and range: 498.00 m.he@h*h"h hgfffdddjdZd?Z1Z1Z1Z5 @Bɢ/H=) ?i)H i~iJ,ӹ;0;Ie@IiE EE)E"E:*E:VEFA4ZEa@a@a@a@̼ԙ@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262281 ^A ; B>BCB,IBZBBBBB@r;B.EIIO5>Q9T,_Qݮ?A6W@6AHRS rotation from veh to nav: [[-0.901745,0.430708,0.036710],[-0.431228,-0.890431,-0.145517],[-0.029988,-0.147050,0.988674]]6H?@ˢ?<ۿi~N¿¿8?i6W@I6 e;4YFRByF,I LLLNAbDRVDR1yZ%Z&=ٔ^;;Q-^>9\I\=boDybRCb":Eb>dQ 5j|4f(&?Q 9j|4f)fBYlynH Q In?fCIf;if;f|4yrBɮr]Ar Ejh  FNOT Ignoring new targets: 495.50 m.Rh]EZh]E% ProNav: ac range: 495.500305 m, nav range: 491.456268 m, bearing: 214.554224 deg, approach rate: -0.678084 m/s, LOS rate: -0.002696 deg/s, cmd heading: 205.756307 deg, new cmd heading: 205.752417 deg. Bh%-HeadingCmd: 3.591057 target range: 495.500305 and range: 498.00 m.h-e@h)*h)"h) h1g1f1f1f1d9d9d9jd9ZdE`?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514381 Z1Z1Z1Z5?@uĉBɢuL1=)q u}?iq)}":yyi})~iK,뜹;,C;Ie@IE5 E5E1E1"E5T;*E5:VE1ZE1BE5G<[,kqݮ?AYUBy,Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018736yK7A`?K7?~jt ?I> 9MbX?kt?~jtx?Y*?y =;8BqB &B)Y3BbDVDy5 <%5=ٔ=Q-=>9AIAԩ=oDyCE>Q 5|4&?Q 9|4 )BY,,?Q E:yN$Q I?CIp;i;|4yݸBɮ A EjhFNOT Ignoring new targets: 495.50 m.Rh%%8Zh%%85 ProNav: ac range: 495.500305 m, nav range: 491.078125 m, bearing: 214.555493 deg, approach rate: -0.671553 m/s, LOS rate: 0.002254 deg/s, cmd heading: 205.752414 deg, new cmd heading: 205.756222 deg. Bh58=HeadingCmd: 3.591124 target range: 495.500305 and range: 498.00 m.h=e@h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU@ZuT,>ZuT,>Zu@Zuy8@颅ɉBɢ`'=)  ?i)D顑iǞiJ,8_;<;Ie@IbEjE64rE(/E] E]E]'EY"E]:*E]|:VE]'4ZEYam@am@am@am@@ @@0@ ߅ ?߅ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2699421 ^A I I O > c,Όݮ?A>W@>e@>*=ٱ>w FAHRS rotation from veh to nav: [[-0.901156,0.432043,0.035445],[-0.432262,-0.889420,-0.148597],[-0.032675,-0.149231,0.988262]]>H E`?@%?-ۿ!v:ÿ ºÿ؟?i>W@I>c;>CYNRByN,IbDZVDZyb?%bW=ٔb;Q-b>9dId=foDyfCfW;Ej>lQ 5n|4n%?Q 9r|4n)nBYpyr:$Q Ir?n:CIn:in:nI|4ytɮz-Ax B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 495.50 m.Rh%M8Zh%M85 ProNav: ac range: 495.500305 m, nav range: 490.834991 m, bearing: 214.556276 deg, approach rate: -0.671222 m/s, LOS rate: 0.002162 deg/s, cmd heading: 205.756225 deg, new cmd heading: 205.758575 deg. Bh58=HeadingCmd: 3.591165 target range: 495.500305 and range: 498.00 m.h=e@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdUlt@ZqZqZqZuӼ8@颅ˉBɢpj=) ?i)顉idiJ,C;;Ie@IBBBBB =BBBHr;B.EI @  @ @  0@^A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522704IqIO>yԡD=DE EE&E"E:*E҆:VE4ZEBE5˼W@>}e@>/j =ٱ>W FAHRS rotation from veh to nav: [[-0.901049,0.432315,0.034848],[-0.432400,-0.889147,-0.149824],[-0.033786,-0.150067,0.988098]]>H`d?ס? pۿ@sp-ÿ nLg5ÿ?i>˼W@I>b;>CYnUByn,Iv=v=bDzVDzy9!I!=%oDy%C-(9E->1Q 5=|45 %?Q 9=|45#)5BY9y=8$Q IE?5^CI5&;i5";5|4yMиBɮMAM EjhiuFNOT Ignoring new targets: 495.50 m.Rh}8Zh}8 ProNav: ac range: 495.500305 m, nav range: 490.556702 m, bearing: 214.557167 deg, approach rate: -0.672266 m/s, LOS rate: 0.002155 deg/s, cmd heading: 205.758574 deg, new cmd heading: 205.761251 deg. BhW8HeadingCmd: 3.591211 target range: 495.500305 and range: 498.00 m.hhe@h*h"h hgfffdddjdZd,@ZZZZ,8@ΉBɢV=) ?i)ݩ i䀼iNI,$;I-;Ihe@IԱ@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025714^A2;IqIO> E  E E )E "E :*E VE FA4ZE a @a @a @a @9 p,tݮ?A2W@2ee@2ko=ٱ2 :AHRS rotation from veh to nav: [[-0.900915,0.432643,0.034223],[-0.432600,-0.888906,-0.150675],[-0.034767,-0.150550,0.987991]]2H`Ln??ۿq PIÿ@͡;Eÿ?i2W@I2a;2CY@yB,IbDNVDN:2yV;%VR=ٔV.%;Q-V>9XIX=ZpDyZߋC^~ :E^>`Q 5f}4b%?Q 9f}4bX')bBYdyf4$Q If?bCIb:ib:bc}4ylɮnAljhFNOT Ignoring new targets: 495.50 m.Rh C8Zh C8 ProNav: ac range: 495.500305 m, nav range: 490.294983 m, bearing: 214.557999 deg, approach rate: -0.670965 m/s, LOS rate: 0.002135 deg/s, cmd heading: 205.761252 deg, new cmd heading: 205.763750 deg. Bh8HeadingCmd: 3.591255 target range: 495.500305 and range: 498.00 m.he@h*h"h hgfffdddjdZd @ZQZQZQZU8@e҉BɢmU=)i m?ii)mP iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277996iu_iH,;;Ie@I@ @@/0@9B5>B1B5,IB5UBB5 =B1B1B5[r;B5.E^A;I I! O5 >i U BDAT read: Rx Time:00:23:20.2638 U TRx dataTimestamp_ set to:1761524599.344990] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532225Ev,7Oݮ?A FW@Fe@F=ٱF 8 RAHRS rotation from veh to nav: [[-0.900880,0.432743,0.033899],[-0.432591,-0.888633,-0.152301],[-0.035783,-0.151869,0.987753]]FH ?3[?ۿ o~ÿ3R@rpÿ?iFW@IF#a;FCYrQByv,IbDmVDmy%:=ٔo;Q->9I=pDyC-7E=>IQ 5m}4M%?Q 9m}4DyzD}AAE EE(E"E;*E:VEc44ZEBED;IEe@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782475@ @!@!@!ԙ ^AE 2;A .AI I O > 7|,Fݮ?A BDAT read: 00:23:20.2638 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 420,-0.36, 2.431, 0.998, 2.354, 2.114, PHS= 0.418,-1.072, 0.196, RAW= 142.0, 6.6, CAL= 141.7, 7.3, ROT= 8.3, -7.3 FYgot valid direction response: 00:23:20.2638 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 420,-0.36, 2.431, 0.998, 2.354, 2.114, PHS= 0.418,-1.072, 0.196, RAW= 142.0, 6.6, CAL= 141.7, 7.3, ROT= 8.3, -7.3 JPDAT read: Bearing 0.7, 4.9 (Local) N~Local bearing/azimuth received: Bearing 0.7, 4.9 (Local) RDAT read: Range 11 to 50 : 495.4 m (Round-trip 660.6 ms) speed 0.6 m/s RR#Rx 1: Read range and direction messages.Z\direction in FSK: [0.981505,0.143186,0.127065]^Fpublishing direction and range infoy(*cXr}h?7$S?i*L7*9H>*@*=*G@ *w>)*V>I*w((*h6Gu?l,G?IlV? *\(>)*yI*V>i*w((jT****** received valid address query ******jR****** received valid ping request ******jQuerying Benthos address 50 with one ping in standard two-way mode.W@9e@T=ٱ AHRS rotation from veh to nav: [[-0.900819,0.432778,0.035055],[-0.432677,-0.887992,-0.155758],[-0.036281,-0.155477,0.987173]]H??ۿ@njÿ@_ÿ?iW@IGa;CYy!y]bX9?v/?9 ?I ?=pDy*Ce_9E>Q 5}4Q%?Q 9}460)ՉBY 8*?Q E :y $Q I ?ϗCIn;i;'}4yBɮA=Ei(i*Aݮ?AJi*sCRi*sCji*7p@i*/<~@J]Q@9PO@ri*cXr}h?7$S?bi*wi*}W{ 1yE%q@@zi*T*"d `Jo1K?2i*:i*"i*~?*i*v[#Bi*Bi(i(i*Bi*Ci*o@ addTargetRange:: Added new target pos. range: 495.399994 m, deltaT: 4.286699 s, deltaX: -2.600006 m, approachRate: -0.606529 m/s, rangeRepo size: 4 E EE&E"E%;*E:VE4ZEa@a@a@a@ Added new target pos. range: 492.904541 m, bearing: 214.954347 deg, lat: 36.779446 deg, lon: -121.860053 deg, deltaT: 4.286699 s, deltaX: -2.595764 m, approachRate: -0.605539 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 492.90 m.RhZh  ProNav: ac range: 492.904541 m, nav range: 489.670746 m, bearing: 214.560410 deg, approach rate: 0.000000 m/s, LOS rate: 0.002035 deg/s, cmd heading: 205.766675 deg, new cmd heading: 205.769570 deg. Bh 5HeadingCmd: 3.591357 target range: 492.904541 and range: 495.40 m.h5e@h9*h9"h9 h9g9f9fAfAdAdAdIjdM`f~@ZdM?Z=Z=Z&@ZQ@؉BɢBB=) :?i)}iiF,ȸ; ݄;I e@II)hAI@ @@0@@=@= (DAT read: user:65>  BDAT read: Tx time:00:23:21.4991 $Ping request sent.Bi Bi Bi Bm =Bi Bi Bm Qr;Bm .EAI!I1OE>,Wyޮ?ABkW@Be@B=ٱBT" RAHRS rotation from veh to nav: [[-0.900897,0.432555,0.035793],[-0.432504,-0.887751,-0.157602],[-0.036396,-0.157463,0.986854]]BH%`?`oS? 'ۿth K,Ŀ@'ĿN?iBkW@IBa;BCY^BBy^,IbDrVDr:2yeۜ%eR=ٔe9Q-m>9iIiiqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251168=}pDy}JCYE>ԑQ 5}4 %?Q 9}43)ˉBYy$Q I?CIZ4;i$5;4}4yɮͱAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 492.90 m.Rhe8Zhe8 ProNav: ac range: 492.904541 m, nav range: 489.414307 m, bearing: 214.561575 deg, approach rate: -0.689675 m/s, LOS rate: 0.003137 deg/s, cmd heading: 205.769571 deg, new cmd heading: 205.773070 deg. Bh 9HeadingCmd: 3.591418 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd ?Z)Z)Z)Z-Q@=ډBɢ=t=)9 Eՙ?iA)EPAAiE0iME,Mr;Uy;IUe@IQ9@ @@5@ԹE EE'E"EV:*E:VE'4ZEBE9! /ˊ,E-ޮ?AYEBy,IbD- VD-2y=<%=M=ٔEQ-E>9E"?IE"?=MpDyMjCMEM>QQ 5]}4UV%?Q 9]}4U7)U‰BYayaQ Ie?UCIU;iU;UuB}4ymBɮmAmEjhFNOT Ignoring new targets: 492.90 m.Rh]8Zh]8 ProNav: ac range: 492.904541 m, nav range: 489.151764 m, bearing: 214.562770 deg, approach rate: -0.664958 m/s, LOS rate: 0.003027 deg/s, cmd heading: 205.773068 deg, new cmd heading: 205.776654 deg. Bh9HeadingCmd: 3.591480 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd\?ZZZZm݉Bɢu"c=)q u#?iy)顩iW%iD,;w;Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755433)9@ @@4@IE  E E &E "E s:*E :VE 4ZE a% @a% @a% @a% @^AM ; liA A 09 liAY AA] .AIa Iq y O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067610,Gޮ?Aɰ4<2W@2e@2=ٱ2O# :AHRS rotation from veh to nav: [[-0.901083,0.432162,0.035848],[-0.432086,-0.887762,-0.158681],[-0.036752,-0.158474,0.986679]]2H @?Z?Mۿ`hOĿ`ѢHĿߒ?i2W@I2$`;2CYB9ByBy,IbDLVDLyV}%VT=ٔVRr:Q-V>9Z ?IZ ?=ZpDyZCZE^>`Q 5f}4b's%?Q 9f}4b;)bBYdyf$Q If?b2CIb:ib:bO}4ylɮnA9jhyFNOT Ignoring new targets: 492.90 m.RhV8ZhV8 ProNav: ac range: 492.904541 m, nav range: 488.896637 m, bearing: 214.563947 deg, approach rate: -0.636038 m/s, LOS rate: 0.002935 deg/s, cmd heading: 205.776647 deg, new cmd heading: 205.780180 deg. Bh9HeadingCmd: 3.591542 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd?QZZZZR@BɢP=) m?i)iiC,g;X;Ie@I9@ @@4@B1B1B5,IB5PBB5 =B1B1B5r;B5-EBCBCBœCB =B =CŦ5ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822^Aϩ;A>A>ԱA I I1 O] > E%  E% E% 'E! "E% :*E% :VE% '4ZE! BE% <U̼Q Q9U rh?Cl? rhYUC+?yU;=UC U8BUB U#B)QQYU=BbDmVDmN2yu%}>=ٔ}׺Q-}>9I=pDyCE>Q 5}4^%?Q 9}4i?)BY-?Q E:y"Q I?XCI ;i ;^}4yBɮAEjhimFNOT Ignoring new targets: 492.90 m.RhG6ZhG6 ProNav: ac range: 492.904541 m, nav range: 488.606323 m, bearing: 214.564106 deg, approach rate: -0.668342 m/s, LOS rate: 0.000368 deg/s, cmd heading: 205.780185 deg, new cmd heading: 205.780664 deg. Bh*7HeadingCmd: 3.591550 target range: 492.904541 and range: 495.40 m.he@h*h"hԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511007 hg1f1f1f1d9d9d9jd9Zd=Y_?Z=Z=ZO-@Z*hK@BɢK=) ߔ?i)s ii%C,M1;e+;Iee@I9@ @@!@! ^A ] ;iߡ Iߥ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631039 AU ؟AIa Iq O} >,A({ޮ?A2gW@2e@2=ٱ2 :AHRS rotation from veh to nav: [[-0.902044,0.430149,0.035903],[-0.430212,-0.889163,-0.155906],[-0.035139,-0.156080,0.987119]]2H?a?ۿtÿlÿ{?i2gW@I2|_;2CYB5ByBt,IbDJVDJ1yR%RV=ٔVQ-V>9V"?IV"?=ZpDyZʌCZ<_E^>\Q 5b}4^L%?Q 9b}4^:C)^BYdyf"Q If?^yCI^F:i^=:^Rl}4yjBɮjnAnEjhY]FNOT Ignoring new targets: 492.90 m.Rhe 7Zhe 7 ProNav: ac range: 492.904541 m, nav range: 488.348297 m, bearing: 214.564285 deg, approach rate: -0.689327 m/s, LOS rate: 0.000477 deg/s, cmd heading: 205.780663 deg, new cmd heading: 205.781199 deg. Bh7HeadingCmd: 3.591559 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd@ @ZZZZHSK@%Bɢ%x=)! -B?ii)m}ټiiimiuC,u0;} :I}e@IyE EEE"EV:*E~:VEZEa@a@a@a@]9@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808^AA A .AI I O >B >B B ,IB FBB =B B B q;B -Es,fޮ?A$$VW@V~e@V\ =ٱV ! ^AHRS rotation from veh to nav: [[-0.902398,0.429336,0.036723],[-0.429536,-0.889477,-0.155979],[-0.034303,-0.156529,0.987077]]VH q ?z?f͢?}ۿv ÿ)' Ŀ`#?iVW@IV\`;VCYf9~ ?I~ ?=~pDy~C5E> Q 5 }4 9%?Q 9}4 WG) BYy"Q I? CI ;i ; z}4y!ɮ%RA!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266871MB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 492.90 m.Rh]y7Zhey7m ProNav: ac range: 492.904541 m, nav range: 488.069855 m, bearing: 214.564504 deg, approach rate: -0.691152 m/s, LOS rate: 0.000545 deg/s, cmd heading: 205.781196 deg, new cmd heading: 205.781854 deg. Bhu^7}HeadingCmd: 3.591571 target range: 492.904541 and range: 495.40 m.h}Le@hy*hy"hy hygyfffdddjdZd@=@ZZZZFK@Bɢi=) {?i).ҼiYiiC,٭;u:ILe@IIm9@i @i@m0@qE EE(E"E:*E$:VEc44ZEBE>',ɮޮ?A65}W@6re@6` =ٱ6l!@ >AHRS rotation from veh to nav: [[-0.902728,0.428559,0.037673],[-0.428903,-0.889698,-0.156457],[-0.033533,-0.157397,0.986966]]6H`%m?I?`&sۿhxĿ@I+%Ŀ9?i65}W@I6A`;6CYJ1ByJo,IbDRVDRk2yZ[h%ZN=ٔ^Q-^>9`I`=bpDyb CbUEb>dQ 5j}4f&%?Q 9j}4fIK)f{BYlyn"Q In?fCIf;if;f}4yrBɮpv Ejh  FNOT Ignoring new targets: 492.90 m.Rh*/7Zh*/7% ProNav: ac range: 492.904541 m, nav range: 487.802673 m, bearing: 214.564740 deg, approach rate: -0.678353 m/s, LOS rate: 0.000598 deg/s, cmd heading: 205.781852 deg, new cmd heading: 205.782559 deg. Bh%37-HeadingCmd: 3.591583 target range: 492.904541 and range: 495.40 m.h-e@h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdEd@ZaZaZaZef;K@uBɢudld=)y }?iy)}ʼ顁i:i6C,X;#9Ie@I@ @@/@ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933^A=rg:bE]Ȁ'4jE](4rE]Ȓ/E EE'E"EV:*E~:VE'4ZEa@a@a@a@A ؟A I I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022705,¥ޮ?AlYr'Byrb,IbDzVDz1y%F%-C=ٔ-Q-->95"?I5"?=5qDy5-C5E5>9Q 5E}4=6%?Q 9E}4=tO)=kBYIyIQ IM?=CI= :i=$:=7}4yQɮU|AjhFNOT Ignoring new targets: 492.90 m.Rhi)7Zhi)7 ProNav: ac range: 492.904541 m, nav range: 487.520233 m, bearing: 214.564989 deg, approach rate: -0.655324 m/s, LOS rate: 0.000579 deg/s, cmd heading: 205.782562 deg, new cmd heading: 205.783310 deg. BhK7HeadingCmd: 3.591596 target range: 492.904541 and range: 495.40 m.he@h*h"h hgff f d d djdZdw @Z1Z1Z1Z1EBɢMS=)I M?iI)M'¼IQiUH0i]B,]B;].9I]e@IY9@ @@0@B>BCB|,IBE  E E %E "E :*E z:VE 4ZE BE 6u 9x&?/$?~jtY7)?y1>ļ6BB #B) BYQBbD5VD5N2yEn<%E,=ٔM/4Q-M>9III=UqDyUTCUEU>YQ 5e}4X#Rx 1: Read direction message, but no range.\direction in FSK: [0.989925,0.105792,0.094108]yC$UEw?7?|ӄ{? )PIJ ?i휿 ף>E/!@%= @ =)^ =I5\ ?)/E?WӸuIǵ? Rk>)EpI^ =iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsea]$?Q 9}4]gT)][BY,?Q E:y Q I?] CI]|A=i]0B=]ǧ}4yxBɮ7AEjhFNOT Ignoring new targets: 492.90 m.RhZh ProNav: ac range: 492.904541 m, nav range: 487.202179 m, bearing: 214.563891 deg, approach rate: -0.603150 m/s, LOS rate: -0.002084 deg/s, cmd heading: 205.783313 deg, new cmd heading: 205.780017 deg. BhHeadingCmd: 3.591539 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd=@Z5=Z5=Z5a@Z5F@}BɢJ6=) #?i)Ҹ顁iAu > A.AIIO>c,ӡ߮?AE EE'E"ED:*E]t:VE'4ZEa@a@a@a@j.W@j|$e@j* =ٱjҲ$ vAHRS rotation from veh to nav: [[-0.904768,0.424205,0.038009],[-0.424577,-0.891310,-0.159066],[-0.033598,-0.160055,0.986536]]jH+&?`u?C,ۿC\Ŀ3 |Ŀ ?ij.W@Ij^;jCY~By~W,IbD VD yn%E=ٔ%w:Q-%>9% ?I% ?=-qDy-uC-ӻE->1Q 5=}45$?Q 9=}45X)5MBYAyE Q IE?5/CI59:i5R:5I}4yMmBɮM=AUEjhquFNOT Ignoring new targets: 492.90 m.Rh}h6Zh}h6 ProNav: ac range: 492.904541 m, nav range: 486.923584 m, bearing: 214.563021 deg, approach rate: -0.797492 m/s, LOS rate: -0.002492 deg/s, cmd heading: 205.780021 deg, new cmd heading: 205.777410 deg. BhڸHeadingCmd: 3.591493 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZdf@ZZZZF@Bɢ3 }=) ?i)۲i5iD,;cqIe@IAE%=EC=MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse@ @@0@^A?BɺqA!I)I9OMt>B%>B!B%o,IB%1BB!B!B!B%Wq;B%-Eԡ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse Ʒ,m߮?A6y&W@6+e@63 =ٱ64% BAHRS rotation from veh to nav: [[-0.904968,0.423813,0.037627],[-0.424110,-0.891431,-0.159631],[-0.034112,-0.160419,0.986459]]6H ?C?`$ۿ`nĿ@(wĿ@?i6y&W@I6^;6CYFByJN,IbDRVDR0yZ%ZR=ٔZ:Q-^>9\I\=^qDy^Cb檺Eb>dQ 5j}4f$?Q 9j}4f\)f?BYhyj Q In?fPCIf;if;f}4ypɮrZAp}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 492.90 m.RhZh ProNav: ac range: 492.904541 m, nav range: 486.662384 m, bearing: 214.562220 deg, approach rate: -0.643790 m/s, LOS rate: -0.001974 deg/s, cmd heading: 205.777412 deg, new cmd heading: 205.775009 deg. BhoHeadingCmd: 3.591451 target range: 492.904541 and range: 495.40 m.hWe@h *h "h  h g fffdddjdZd2@ZYZYZYZ]4F@ԩ Bɢ U=) W?i)pii^E,o7;D!D%=E- E-E-%E)"E-:*E-҆:VE- 4ZE)BE-'1 W̷,U45߮?A >W@>e@>;=ٱ>a" VAHRS rotation from veh to nav: [[-0.905298,0.423257,0.035903],[-0.423356,-0.892132,-0.157701],[-0.034718,-0.157966,0.986834]]>H3 ?`a?Bۿ`Y/Ŀơ<8Ŀ$?i>W@I>^;9r"?Ir"?=rqDyrCvQEv>xQ 5~}4z$$?Q 9~}4za)z1BY|y~ Q I?ztCIz;izj;z$}4y bBɮ  A jh)5FNOT Ignoring new targets: 492.90 m.Rh=2Zh=2M ProNav: ac range: 492.904541 m, nav range: 486.388672 m, bearing: 214.561401 deg, approach rate: -0.699250 m/s, LOS rate: -0.002093 deg/s, cmd heading: 205.775008 deg, new cmd heading: 205.772550 deg. BhMշUHeadingCmd: 3.591408 target range: 492.904541 and range: 495.40 m.hUe@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde@@ZZZZ}tF@额Bɢxl=) ?i)Ѥ顡iFiF,գ;3Ie@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsem9@i @i@u5@q@}=@}=9EE EEEE*EA"EE:*EE n:VEE(N4ZEAaU@aU@aU@aU@^Avтm T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseq A I I O >ӷ, O߮?A 6 W@6e@6ִ=ٱ6 ! >AHRS rotation from veh to nav: [[-0.905614,0.422687,0.034623],[-0.422630,-0.892656,-0.156683],[-0.035321,-0.156527,0.987042]]6HO ??`] ۿ@,Ŀ @ Ŀٕ?i6 W@I6^;6CYDyDbDNVDN02yV'%VM=ٔZ:Q-Z>9XIX=^qDy^֍C^qE^>`Q 5f}4b$?Q 9f}4b!e)b#BYhyj Q Ij?bCIb$:ib_:b}4ylɮn!ApjhFNOT Ignoring new targets: 492.90 m.Rh Zh  ProNav: ac range: 492.904541 m, nav range: 486.121460 m, bearing: 214.560623 deg, approach rate: -0.645073 m/s, LOS rate: -0.001880 deg/s, cmd heading: 205.772549 deg, new cmd heading: 205.770212 deg. Bh0HeadingCmd: 3.591368 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddB>BBc,IB'BB =BBBq;B-EjdZdH@Z9Z9Z9Z=RgF@5Bɢ=`Z=)9 =a?i9)=J9AiEȈiEF,Muڳ;M$IMe@iIqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@4@ԡ^A- mDQ zDU @AE]  E] E] (EY "E] a:*E] |:VE] c44ZEY BE] (pٷ,h߮?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsePj W@je@j=ٱjj! vAHRS rotation from veh to nav: [[-0.905562,0.422854,0.033955],[-0.422663,-0.892516,-0.157390],[-0.036248,-0.156878,0.986953]]jH\`? b? ۿ }@Z%Ŀ @Ŀ?ij W@IjB^;jCYzByzD,IyT㥛 ?+η?y&1|??v=`; 9(\?Zd;?MbY'?y= 8BoB ) BYBbDVD1ylP%9=ٔm ;Q->9I=qDyCk8E>QQ 5e}4U $?Q 9e}4Ui)UBYe*?Q Em:ym!Q Im?UCIU*;iU);U}4yXBɮ$AEjhFNOT Ignoring new targets: 492.90 m.RhᢷZhᢷ ProNav: ac range: 492.904541 m, nav range: 485.819000 m, bearing: 214.560125 deg, approach rate: -0.674980 m/s, LOS rate: -0.001113 deg/s, cmd heading: 205.770213 deg, new cmd heading: 205.768718 deg. BhuC5HeadingCmd: 3.591342 target range: 492.904541 and range: 495.40 m.h5e@h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdM @Zm2>Zm2>ZmKB>Zmp@BɢM=) ?i)Vmi b4i)G,(;Ie@I9@ @@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A ! I! I1 = jAU MAE]  E] E] )EY "E] :*E] z:VE] FA4ZEY am @am @am @am @Om >,߮?A& 9&jAY*A*;ɰ(pYBy9,IbDVDJ2y%A%%T=ٔ-Q-->9)I)=-qDy-C5E5>9Q 5E}4=0$?Q 9E}4=|m)=BYAyAQ IM?=ܙCI=z;i=;=}4yUMBɮU AUEjhq}FNOT Ignoring new targets: 492.90 m.RhoZho ProNav: ac range: 492.904541 m, nav range: 485.572571 m, bearing: 214.559718 deg, approach rate: -0.680616 m/s, LOS rate: -0.001123 deg/s, cmd heading: 205.768724 deg, new cmd heading: 205.767504 deg. BhREHeadingCmd: 3.591321 target range: 492.904541 and range: 495.40 m.h2e@h*h"h hgfffdddjdZdm@ZZZZBɢex=) l?i)ڽiiG,L;I2e@I%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse@ @@/@@hA@hAAB>BCBV,IBBB =BBBq;B-EBCBCBB =B =Cǩ5^A3IIO>a i I A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,ퟜ߮?A:& W@:e@:=ٱ:" BAHRS rotation from veh to nav: [[-0.905540,0.422995,0.032761],[-0.422537,-0.892212,-0.159437],[-0.038212,-0.158220,0.986664]]:H .Y?@Ơ? ۿrhĿ}@Ŀ ?i:& W@I: ^;:CYJByJ<,I PRa=bDVVDVNyZI<%^S=ٔ^S;Q-^>9`I`=bqDyb9CfEf>dQ 5j~4f|$?Q 9n~4ffq)fBYlyn!Q In?fCIf;if;fx ~4yvKBɮv AvEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 492.90 m.RhힷZhힷ- ProNav: ac range: 492.904541 m, nav range: 485.315338 m, bearing: 214.559297 deg, approach rate: -0.663450 m/s, LOS rate: -0.001086 deg/s, cmd heading: 205.767508 deg, new cmd heading: 205.766246 deg. Bh->5HeadingCmd: 3.591299 target range: 492.904541 and range: 495.40 m.h5e@h1*h1"h1 h1Ygfffdd!d!jd!Zd%@]@ZZZZp@颽BɢZ=) ?i)ꗈi)iG,ͱ;Ie@IE EE%E"E:*Ex:VE 4ZEBE6 ,-x߮?A2]W@2 e@2O =ٱ2$ :AHRS rotation from veh to nav: [[-0.905244,0.423627,0.032773],[-0.423087,-0.891609,-0.161343],[-0.039129,-0.159920,0.986354]]2H? Ǡ? ۿ`Ŀ@FxĿ6?i2]W@I2^;2CYfByf.,IbDnVDnyvW%vG=ٔz;Q-z>9xIx=zqDy~ZC~:E~>Q 5 ~4i$?Q 9 ~4u)BYy!Q I? CI[:i:~4yABɮAEjhAEFNOT Ignoring new targets: 492.90 m.RhMZhM] ProNav: ac range: 492.904541 m, nav range: 485.042694 m, bearing: 214.558833 deg, approach rate: -0.664789 m/s, LOS rate: -0.001134 deg/s, cmd heading: 205.766252 deg, new cmd heading: 205.764857 deg. Bh]0GeHeadingCmd: 3.591274 target range: 492.904541 and range: 495.40 m.hepe@ha*ha"ha higifififidqdqdqjdqZd}x4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZZZZp@Թ颽Bɢ+h=) ?i)jiiDH,#2;7Ipe@Iq@q @q@u/@qE% E%E%'E!"E%:*E%:VE%'4ZE!a-@a-@a-@a5@^A3AzAfAII O>M T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse9 h,;S߮?A2 $W@2e@2#=ٱ2 # :AHRS rotation from veh to nav: [[-0.904840,0.424550,0.031965],[-0.423887,-0.891316,-0.160859],[-0.039802,-0.159102,0.986460]]2Hs@+?]? ۿ@ Ŀ``q]Ŀ?i2 $W@I2_;2CY^Byb,,IbDjVDj1yr/%rK=ٔrI:Q-r>9tIt=vrDyv{Cv;Ez>xQ 5]~4znW$?Q 9]~4zy)zBYayez!Q Ie?zBCIzgnԙ ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse,NE߮?AVz,W@V+"e@Vu%=ٱV$ AHRS rotation from veh to nav: [[-0.904601,0.425243,0.029426],[-0.424342,-0.891844,-0.156680],[-0.040384,-0.154220,0.987211]]VH},7?!?k(ۿ Ŀ@1wÿ;?iVz,W@IV`_;VCY5By5+,Iy"~?n?{Gzt??V>ף; 9!rh?|?5^?91I9==rDy=C=h:E=>AQ 5M~4EB$?Q 9U~4E})E߈BYU)?Q EU:yUY#Q IU?EhCIE;iE;E6~4y]6BɮeAeEijhFNOT Ignoring new targets: 492.90 m.Rh7Zh7 ProNav: ac range: 492.904541 m, nav range: 484.480011 m, bearing: 214.558832 deg, approach rate: -0.695866 m/s, LOS rate: 0.001141 deg/s, cmd heading: 205.763397 deg, new cmd heading: 205.764851 deg. BhH8HeadingCmd: 3.591274 target range: 492.904541 and range: 495.40 m.hoe@h*h"h hgfffdddjdZd@Z>Z>Z@Z'@Bɢdb=) ^~?i)iiYOiFH,; `I oe@I @ @@@ԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A_A I I) O= > bE-4jE9TIX=ZrDyZCZ;EZ>\Q 5b~4^p2$?Q 9b~4^[)^ՈBYdyfI#Q If?^CI^:i^:^B~4yhɮj>Ahjh|~FNOT Ignoring new targets: 492.90 m.Rh7Zh7 ProNav: ac range: 492.904541 m, nav range: 484.247406 m, bearing: 214.559187 deg, approach rate: -0.661802 m/s, LOS rate: 0.001010 deg/s, cmd heading: 205.764845 deg, new cmd heading: 205.765910 deg. Bhv18HeadingCmd: 3.591293 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZdH @ZZZZı'@%Bɢ%@Oc=)! %t?i!)-V]))i-i5G,UHn;U3IUe@IYT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@0@@@@@BBB1,IBBB =BBBrq;B-EA>A>) A I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ ",?A2>W@23e@2 *=ٱ2 :AHRS rotation from veh to nav: [[-0.904102,0.426482,0.026692],[-0.425296,-0.892003,-0.153146],[-0.041504,-0.149812,0.987843]]2H`g{K?EU?8ۿJFÿ@-ÿi?i2>W@I2^;2CYBByB,IID)F=bDJVDJ2yR'=%VJ=ٔV^:Q-V>9TIX=ZrDyZݎCZ:EZ>Q 5~4<$?Q 9%~4_)ȈBY!y%C#Q I%?CI:iw:fQ~4y--Bɮ5A5EMB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 492.90 m.Rhey7Zhey7u ProNav: ac range: 492.904541 m, nav range: 483.973053 m, bearing: 214.559595 deg, approach rate: -0.658426 m/s, LOS rate: 0.000980 deg/s, cmd heading: 205.765910 deg, new cmd heading: 205.767135 deg. Bhu+,8}HeadingCmd: 3.591314 target range: 492.904541 and range: 495.40 m.h}e@hy*hy"hy hygfffdddjdZd@GW!@ZZZZT'@Bɢhc=) hw?i)PiiG,;.Ie@IE EEE"E;*E:VEZEBEm=4=%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseYԁ "L ,7?A,2HW@2o>e@2+=ٱ2R >AHRS rotation from veh to nav: [[-0.903809,0.427069,0.027225],[-0.425875,-0.891399,-0.155044],[-0.041946,-0.151725,0.987532]]2H@U?@?Aۿ@Wzÿykÿݙ?i2HW@I20^;2CYFByF ,I LNp=bDRVDR:3yVl%ZJ=ٔZ@:Q-Z>9XI\=^rDy^Cb:Eb>`Q 5f~4b $?Q 9j~4b-)bBYhyj:#Q Ij?bʚCIb:ib1:b&_~4yr#BɮrArEjh FNOT Ignoring new targets: 492.90 m.Rh 7Zh 7% ProNav: ac range: 492.904541 m, nav range: 483.713593 m, bearing: 214.559964 deg, approach rate: -0.660149 m/s, LOS rate: 0.000940 deg/s, cmd heading: 205.767140 deg, new cmd heading: 205.768248 deg. Bh%%8%HeadingCmd: 3.591333 target range: 492.904541 and range: 495.40 m.h-he@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= "@ZYZYZYZ]x'@mBɢu0_=)q}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse up?i)CD顁inYiMG,m; Ihe@Iԉ@ @@ 5@E EE&E"E2:*EVE4ZEa @a @a @a @AyIIO]>Թ- T****** received valid address query ******- R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse 2,kQ?A2MW@2>Ce@2,=ٱ2O :AHRS rotation from veh to nav: [[-0.903675,0.427269,0.028498],[-0.426136,-0.890733,-0.158124],[-0.042177,-0.155037,0.987008]]2H`^X?@.?Eۿ@`j=Ŀ@> Bÿ?i2MW@I2 ^;0YN؋ByR,I`bDf VDf2yH?%D=BM>BIBM$,IBMBBIBIBIBMq;BM-Eٔl:Q->9I=rDy!C0:E>Q 5~4#?Q 9~4g)BYy8#Q I?CIK(;ii);kn~4yɮ-Ajh9=FNOT Ignoring new targets: 492.90 m.RhE+7ZhE+7u ProNav: ac range: 492.904541 m, nav range: 483.425507 m, bearing: 214.560370 deg, approach rate: -0.650022 m/s, LOS rate: 0.000916 deg/s, cmd heading: 205.768246 deg, new cmd heading: 205.769464 deg. Bhu!8}HeadingCmd: 3.591355 target range: 492.904541 and range: 495.40 m.h}e@hy*hy"hy hygfffdddjdZd#@ZZZZ'@ɢ]I=) k?i ) 7  i 􎌼iuF,u߭;u/Iue@IyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@9 @9@M5@QAizAmgAI9IQO]v>E  E E 'E "E s:*E :VE '4ZE BE i09AIA=ErDyEDCM{9:EM>QQ 5]~4U*#?Q 9]~4U)UBY],?Q E]:y]`#Q Ie?UCIU0;iU:U#}~4ymBɮmAmEjhFNOT Ignoring new targets: 492.90 m.Rhv7Zhv7 ProNav: ac range: 492.904541 m, nav range: 483.143585 m, bearing: 214.560850 deg, approach rate: -0.679402 m/s, LOS rate: 0.001157 deg/s, cmd heading: 205.769462 deg, new cmd heading: 205.770903 deg. BhZK8HeadingCmd: 3.591380 target range: 492.904541 and range: 495.40 m.h*e@h*h"h hgfffdddjdZd#@Z=Z=ZSA?Z.3@BɢX=) jh?i)+i3Ռi F,  k; 8WI*e@II@ @@4@qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ayb]ԡ I I O >E  E E &E "E :*E ]t:VE 4ZE a- @a- @a- @a- @D!,Q?A2SW@2EIe@2#B/=ٱ2+$ :AHRS rotation from veh to nav: [[-0.903496,0.427552,0.029913],[-0.426457,-0.889827,-0.162301],[-0.042775,-0.159395,0.986288]]2Ho ]??KۿwyGĿ`楿 gĿ?i2SW@I2S^;0YB֋ByB+IHHbDNVDN1yV<%Vh=ٔVb:Q-V>9XIX=ZrDyZ`C^O9E^>`Q 5f~4b#?Q 9f~4b)bBYdydQ If?b1CIb:ib:bw~4ylɮnAljh|FNOT Ignoring new targets: 492.90 m.Rh7Zh 7 ProNav: ac range: 492.904541 m, nav range: 482.907440 m, bearing: 214.561252 deg, approach rate: -0.669507 m/s, LOS rate: 0.001141 deg/s, cmd heading: 205.770896 deg, new cmd heading: 205.772103 deg. BhmH8%HeadingCmd: 3.591401 target range: 492.904541 and range: 495.40 m.h%e@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5`w$@yZZZZ3@Bɢg=)  i?i ) f  i .+i=4F,= ;9I=e@IABMCBM ,IBMBBM =BIBIBMq;BM-E^A5?BɺIIO> DAT read:  2Acoustic response timeout n',,?A6yOW@6+Ee@6`H/=ٱ6# >AHRS rotation from veh to nav: [[-0.903602,0.427332,0.029834],[-0.426231,-0.889946,-0.162242],[-0.042781,-0.159318,0.986300]]6H O jY?@Ҍ?^GۿqzYĿU祿`dĿď?i6yOW@I6|^;6CY^ˋByb+IbDhVDhyrN%rG=ٔrr7Q-r>9tIt=vrDyvCvEz>xQ 5~4zW#?Q 9~4z)z|BYyd#Q I?zTCIz;iz;zӗ~4y  BɮAE-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 492.90 m.RhEͩ7ZhEͩ7U ProNav: ac range: 492.904541 m, nav range: 482.632477 m, bearing: 214.561729 deg, approach rate: -0.668547 m/s, LOS rate: 0.001160 deg/s, cmd heading: 205.772098 deg, new cmd heading: 205.773529 deg. BhUK8]HeadingCmd: 3.591426 target range: 492.904541 and range: 495.40 m.h]e@hY*hY"hY hYgafafafadididijdiZdm#_%@ZZZZ1@颡ɢr]=) gd?i)$x顩i7uiE,…;-Ie@IE EE(E"E2:*E n:VEc44ZEBE$*Am>IIO>1Y И-,?A2HW@2X>e@2 Z/=ٱ2b$ :AHRS rotation from veh to nav: [[-0.903779,0.426944,0.030034],[-0.425854,-0.890016,-0.162851],[-0.042797,-0.159971,0.986193]]2H`S?>?2Aۿ{`JĿ饿 yĿ?i2HW@I2z^;2CYBByB+IbDJ VDJf2yR q%RN=ٔV628Q-V>9TIX=ZrDyZCZEZ>\Q 5b~4^#?Q 9b~4^ܜ)^kBYdyfl#Q If?^vCI^:i^:^~4yjBɮjAjEjh|~FNOT Ignoring new targets: 492.90 m.Rh7Zh7 ProNav: ac range: 492.904541 m, nav range: 482.367004 m, bearing: 214.562205 deg, approach rate: -0.670312 m/s, LOS rate: 0.001202 deg/s, cmd heading: 205.773533 deg, new cmd heading: 205.774960 deg. BhS8HeadingCmd: 3.591451 target range: 492.904541 and range: 495.40 m.hTe@h*h"h! h!g!f!f!f)d)d)d)jd)Zd5)&@ZQZQZQZU`.@e2Acoustic response timeoutBɢQ=) -^?i) 8  i ibE,1;=I=Te@I9IMhA)I@ @@/@@Ep=@E=]܁Gqi{9YfAaE EE)E"ED:*E:VEFA4ZEa@a@a@a@^A1ԑIIO> 2Acoustic response timeoutԹ 4,?A^YDW@^ :e@^,.=ٱ^;%Bv>BvCBv+IBvыBBv =BtBtBvq;Bv-EBCBCBB =B =C!5  AHRS rotation from veh to nav: [[-0.903897,0.426670,0.030375],[-0.425620,-0.890050,-0.163276],[-0.042630,-0.160513,0.986113]]^HN?? \=ۿI{8ĿӥĿ@9III=MsDyMŏCU4"EU>YQ 5e~4]Ϛ#?Q 9e~4])]YBYayeq#Q Ie?]CI]=:i]:]~4yqɮuAqjhFNOT Ignoring new targets: 492.90 m.Rha7Zha7 ProNav: ac range: 492.904541 m, nav range: 482.083038 m, bearing: 214.562724 deg, approach rate: -0.668988 m/s, LOS rate: 0.001225 deg/s, cmd heading: 205.774967 deg, new cmd heading: 205.776527 deg. BhBW8HeadingCmd: 3.591478 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd`/'@ZZZZ0,@ɢ:X=) 1^?i) rF  i ԑiD,{;-Ie@IE9@I @I@M/@I2Acoustic response timeout^A-*IIO>D?AzD?AE EE*E"E:*E:VE(N4ZEBE6MM4BM;B M3!B)M BIYM\BbDeVDeN2yu~%uG=ٔuk]Q-u>9yIy=}sDy}CnE>Q 5~4̇#?Q 9~4U)FBY/?Q E:y Q I?CIX;i ;~4yBɮ!AEjhFNOT Ignoring new targets: 492.90 m.Rh!Zh! ProNav: ac range: 492.904541 m, nav range: 481.803864 m, bearing: 214.561820 deg, approach rate: -0.680609 m/s, LOS rate: -0.002206 deg/s, cmd heading: 205.776524 deg, new cmd heading: 205.773809 deg. BhHeadingCmd: 3.591430 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd`'@Z=P=Z=P=Z=a>Z= Fs@BɢCH=) ~W?i)iD$iEE,M/;M2o7IMe@II9@ @@@u2Acoustic response timeoutQ ^A 7A zA jAE  E E (E "E :*E :VE c44ZE a @a @a @a @AU .AIa Iq O} >ԁ A,V?AF:W@Fy0e@F.=ٱF" NAHRS rotation from veh to nav: [[-0.904146,0.426243,0.028942],[-0.425092,-0.890807,-0.160500],[-0.042630,-0.157419,0.986611]]FHG??@4ۿ|DĿӥ@J&Ŀ R?iF:W@IF];DYVByV+IbD\VD\yf<%fS=ٔjj9Q-j>9n ?In ?=nsDynCnqEn>pQ 5v~4ru#?Q 9v~4ro)r4BYxyz Q Iz?rCIr7;ir";ri~4y|ɮ~ Ajh!%FNOT Ignoring new targets: 492.90 m.Rh- Zh- = ProNav: ac range: 492.904541 m, nav range: 481.539490 m, bearing: 214.560969 deg, approach rate: -0.681218 m/s, LOS rate: -0.002194 deg/s, cmd heading: 205.773806 deg, new cmd heading: 205.771251 deg. Bh=EHeadingCmd: 3.591386 target range: 492.904541 and range: 495.40 m.hEDe@hA*hA"hI hIgIfIffdddjdZd`8(@ZZZZTIs@颉ɢc=) AZ?i)̻顑iYuiqF,Ja;1JIDe@2Acoustic response timeoutIY>i>!Y@Y @Y@e0@a@a@a@m@mQB>BB+IB‹BBBBDBq;B-Ey AQ iY IY e BDAT read: Response Not Received m *response not receivedm RDAT read: user:67>Tx time:00:23:33.9491 u G, ?A06/W@6M%e@6n/=ٱ6y! >AHRS rotation from veh to nav: [[-0.904428,0.425670,0.028547],[-0.424472,-0.891129,-0.160349],[-0.042817,-0.157142,0.986647]]6H@ ->?V;?*ۿ!SĿ쥿7Ŀ?i6/W@I6];6CYVByZ+I`bAAbDbVDbk1yj;%jK=ٔnF9Q-n>9lIp=rsDyr%CrݺEr>tQ 5z~4vc#?Q 9z~4v)v"BY|y~ Q I~?vCIv:iv];v~4yBɮAE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 492.90 m.Rh5Zh5E ProNav: ac range: 492.904541 m, nav range: 481.264832 m, bearing: 214.560105 deg, approach rate: -0.680260 m/s, LOS rate: -0.002141 deg/s, cmd heading: 205.771251 deg, new cmd heading: 205.768658 deg. BhM MHeadingCmd: 3.591341 target range: 492.904541 and range: 495.40 m.hMe@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZdej)@ZZZZ?s@频ɢ ;c=) Z?i)_c顡iƎi.G,"٩;nIe@IE EEE"E:*E|:VEZEBE>Թ M,:?A2|4W@2-*e@2R!2=ٱ2` :AHRS rotation from veh to nav: [[-0.904276,0.426057,0.027579],[-0.424729,-0.891119,-0.159723],[-0.043475,-0.156147,0.986777]]2H@ D?=?.ۿ `qĿ`^Bÿ?i2|4W@I2=];2CdYfByf+I2Acoustic response timeoutbDrVDry-q%5D=ٔ5:Q-5>99I9==sDy=GCE;:EE>AQ 5M~4EO#?Q 9U~4E)EBYQyU Q IU?E(CIAiE;E ~4yeBɮeAe$EjhFNOT Ignoring new targets: 492.90 m.RhZh ProNav: ac range: 492.904541 m, nav range: 480.981659 m, bearing: 214.559200 deg, approach rate: -0.681560 m/s, LOS rate: -0.002180 deg/s, cmd heading: 205.768656 deg, new cmd heading: 205.765939 deg. BhyHeadingCmd: 3.591293 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd w?*@ZZZZJs@ɢT=) dS?i)⠻iiG,OE;&VIe@I u9@q @q@u4@qbE-c44jE-14rE-8/E EE'E"E:*EVE'4ZEa@a@a@a@IIOF>2Acoustic response timeoutA T,lT?Aɰ4<A0A0B6>B6CB6+IB6BB6 =B4B4B6cq;B6-EJ3W@J0)e@Jy4=ٱJ RAHRS rotation from veh to nav: [[-0.904274,0.426192,0.025448],[-0.424662,-0.891661,-0.156855],[-0.044159,-0.152646,0.987294]]JHF? ?`-ۿ@|Ŀ `ÿ ?iJ3W@IJ];JCYZByZ+IbDf VDf:2yj,<%jP=ٔn:Q-n>9pIp=rsDyrfCv!Ev>tQ 5z~4v=#?Q 9~~4v9)vBY|y~ Q I~?vJCIv;iv3;v~4y ɮ A jh15FNOT Ignoring new targets: 492.90 m.Rh Zh  ProNav: ac range: 492.904541 m, nav range: 480.714325 m, bearing: 214.558336 deg, approach rate: -0.679755 m/s, LOS rate: -0.002197 deg/s, cmd heading: 205.765937 deg, new cmd heading: 205.763345 deg. BhHeadingCmd: 3.591248 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd +@ZaZaZaZes\s@颙ɢZW=) U?i)뉻顡i;iH,;,[Ie@IE2Acoustic response timeoutQe9@i @i@m4@qIIO^>qE EE)E"E:*E:VEFA4ZEBE5MxiI I9MK7?@5^I ?MbYMI,?yMb>MM2BMA M B)M BIYMQB ae%=bDeVDekyu %uA=yٔ}T:Q->9I=sDyC9E>Q 54)#?Q 94Ϻ)BY 0?Q E:yQ I?oCI? ;i" ; 4y޷Bɮ۰A#EjhFNOT Ignoring new targets: 492.90 m.Rh@jZh@j ProNav: ac range: 492.904541 m, nav range: 480.423584 m, bearing: 214.556980 deg, approach rate: -0.685429 m/s, LOS rate: -0.003200 deg/s, cmd heading: 205.763342 deg, new cmd heading: 205.759270 deg. Bh HeadingCmd: 3.591177 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffd d djdZd|+@Ze)=Ze)=Zet.@Ze]@ɢ$[=) tQ?i)ϐh i ui5I,5D;5kTI5e@I1ԩ9@ @@4@=2Acoustic response timeout^ANJκIQ Ia Om > E  E E E "E :*E z:VE ZE a @a @a @a @ra,>"?AF*W@F> e@F:=ٱF NAHRS rotation from veh to nav: [[-0.904447,0.426051,0.021374],[-0.424140,-0.892772,-0.151868],[-0.045621,-0.146422,0.988170]]FH`:`jD??%ۿgpÿ@[¿ ?iF*W@IF^;FCYVByV+IbDbVDb1yj]%jU=ٔjN:Q-n>9lIl=nsDyrCrͺEr>tQ 5z4vA#?Q 9z4v)vBYxyzQ I~?vCIvp:ivU;v4yɮްAjh)-FNOT Ignoring new targets: 492.90 m.Rh5gZh5gE ProNav: ac range: 492.904541 m, nav range: 480.161591 m, bearing: 214.555770 deg, approach rate: -0.684861 m/s, LOS rate: -0.003163 deg/s, cmd heading: 205.759271 deg, new cmd heading: 205.755641 deg. BhE MHeadingCmd: 3.591113 target range: 492.904541 and range: 495.40 m.hMe@hI*hI"hI hIgQfQfQfQdQdYdYjdYZde ֥,@ZZZZR\@频ɢe=) 4Q?i)e@顙i䷏iJ,;I,wIe@I2Acoustic response timeout@ @@/@ Be>BeCBe+IBeBBe =BaBaBemq;Be-E^AUyIIO>1M 2Acoustic response timeoutY h,L?A2}.W@2/$e@2G>=ٱ2  :AHRS rotation from veh to nav: [[-0.904311,0.426393,0.020274],[-0.424342,-0.892763,-0.151356],[-0.046438,-0.145476,0.988271]]2HJ?”?i(ۿ`_ÿƧ¿@?i2}.W@I2];0YBByB+IDFAbDJ VDJ2yREU%VM=ٔVw;Q-V>9XIX=ZsDyZǐCZc:EZ>\Q 5b4^#?Q 9f4^<ò)^هBYdyfQ If?^CI^:i^:^$4yjշBɮnAn"EzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 492.90 m.Rh hZh h ProNav: ac range: 492.904541 m, nav range: 479.888885 m, bearing: 214.554500 deg, approach rate: -0.682895 m/s, LOS rate: -0.003182 deg/s, cmd heading: 205.755638 deg, new cmd heading: 205.751825 deg. Bh% %HeadingCmd: 3.591047 target range: 492.904541 and range: 495.40 m.h%e@h!*h)"h) h)g)f)f1f1d1d1d1jdZd@z-@ZZZZZ\@ ɢ U=)  L?i1)\99i=]iEK,E;E+5aIEe@IIE} E}E}'Ey"E}:*E}xv:VE}'4ZEyBE}3Թ Dn,0ػ?A2[1W@2 'e@2E@=ٱ2 :AHRS rotation from veh to nav: [[-0.904216,0.426611,0.019918],[-0.424490,-0.892639,-0.151669],[-0.046924,-0.145596,0.988231]]2HU M?Le? *ۿiÿ{¿?i2[1W@I2x];2CYZByZ+I`bBAbDf VDf:2yj<%nG=ٔn:Q-n>9pIp=rsDyrCr9Ev>tQ 5z4v"?Q 9~4vDz)v̇B2Acoustic response timeoutY y Q I ?v؜CIvv;ivw;v<34yɮװAjh9EFNOT Ignoring new targets: 492.90 m.RhEljZhEljU ProNav: ac range: 492.904541 m, nav range: 479.608185 m, bearing: 214.553185 deg, approach rate: -0.683281 m/s, LOS rate: -0.003202 deg/s, cmd heading: 205.751826 deg, new cmd heading: 205.747880 deg. BhU ]HeadingCmd: 3.590978 target range: 492.904541 and range: 495.40 m.h]e@ha*ha"ha hagafafifidididijdqZduD.@ZZZZ\@颥Bɢ1b=) N?i)ʖֺ顩ii M,v;VIe@IԑM9@Q @Q@U0@QE EE(E"Es:*E:VEc44ZEa@a@a@a@^AuqZA}>A}>2Acoustic response timeoutA ؟AI I O > B] >BY B] +IB] BB] =BY B] DB] q;B] -E8;u,?A2.W@2d$e@2?=ٱ2} :AHRS rotation from veh to nav: [[-0.904290,0.426374,0.021554],[-0.424346,-0.892162,-0.154844],[-0.046792,-0.149170,0.987704]]2H@I?&?@|(ۿ@ÿ!ÿE?i2.W@I2C];2CYBByB+IbDHVDHyR%RL=ٔVQ-V>9V"?IV"?=VtDyZCZ9ԹEZ>\Q 5b4^V"?Q 9b4^˲)^BYdyfQ If?^CI^;i^v;^@A4yjͷBɮjAj!Ejh|~FNOT Ignoring new targets: 492.90 m.Rh>jZh>j ProNav: ac range: 492.904541 m, nav range: 479.333649 m, bearing: 214.551908 deg, approach rate: -0.687346 m/s, LOS rate: -0.003200 deg/s, cmd heading: 205.747878 deg, new cmd heading: 205.744044 deg. Bh HeadingCmd: 3.590911 target range: 492.904541 and range: 495.40 m.h|e@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 Z/@ZQZQZQZU\@ɢU=) F?i ) Y  i =i9N,0;^I|e@I 2Acoustic response timeoutq@q @q@}/@yE} E}E}+Ey"E}V:*E}:VE} [4ZEyBE}9 2Acoustic response timeoutV{,?AF 3W@F(e@FL@=ٱF" NAHRS rotation from veh to nav: [[-0.904172,0.426616,0.021739],[-0.424583,-0.891943,-0.155457],[-0.046931,-0.149789,0.987603]]FH``M?@B? `,ۿˊÿML,ÿr?iF 3W@IFc];FCYVByV+IIZR>)Z;y5Cl?:v? rh?5;??5T=5C =1 195w/?&1? rh?Y5&?y5=5C<5w/B5B 5$B)5a B1Y5BbDaVDay̓;%?=ٔo9Q->9 ?I ?=tDy+C!:E>Q 5=4"?Q 9=40в)BYE(?Q EE:yE"Q IM?CIiY@Y @Y@Y@aԑ-BDAT read: Rx Time:00:23:36.9993 -TRx dataTimestamp_ set to:1761524615.97774152Acoustic response timeout C\G% jAA m t9m jAYm VAԱ ^AA E  E E (E "E ;*E :VE c44ZE a @a @a @a @Au ؟AIy I O >~b, ?AYBy+I !%R=bD-VD-0y]%]H=ٔeQ-e>9e"?Ie"?=etDymLCmEm>qQ 5}4u׹"?Q 9}4u%Բ)uBYyyQ I?uACIu:iu1:u^4yɮӰAjhFNOT Ignoring new targets: 492.90 m.Rh"7Zh"7 ProNav: ac range: 492.904541 m, nav range: 478.781494 m, bearing: 214.552342 deg, approach rate: -0.705562 m/s, LOS rate: 0.000555 deg/s, cmd heading: 205.744709 deg, new cmd heading: 205.745341 deg. Bh7HeadingCmd: 3.590934 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd`^0@52Acoustic response timeoutZZZZɢc=) E?i)®9!!i%玐i-M,-<;-rSI-e@I1a@ @@0@B>BCB+IBBB =BBDBq;B-EBBCBŔCB =B =Cnc5ԑ^AeAzAgAԹ  2Acoustic response timeoutA1 IY I O >,G#?A21W@2v'e@2@=ٱ28 :AHRS rotation from veh to nav: [[-0.904202,0.426441,0.023792],[-0.424512,-0.891189,-0.159913],[-0.046991,-0.154694,0.986844]]2H9J?\?2+ۿ xĿ`0ÿ:?i21W@I2z];0YBByB+IbDJVDJN2PyV%VW=ٔV2&9Q-Z>9XIX=ZtDyZkC^WE^>`Q 5f4b^"?Q 9f4bײ)bBYdyf"Q Ij?bbCIb4:ibM:bk4ynBɮnAe(E}B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 492.90 m.Rh7Zh7 ProNav: ac range: 492.904541 m, nav range: 478.530914 m, bearing: 214.552541 deg, approach rate: -0.629816 m/s, LOS rate: 0.000501 deg/s, cmd heading: 205.745338 deg, new cmd heading: 205.745935 deg. Bh7HeadingCmd: 3.590944 target range: 492.904541 and range: 495.40 m.he@h*h"h hgfffdddjdZd`0@ZZZZ@ Bɢ |zc=)  ??i )^g:E EE*E"E&:*E:VE(N4ZEBEa;Tx time:00:23:38.0991 =R#Rx 1: Read range and direction messages.e\direction in FSK: [0.977975,0.170684,0.120137]mFpublishing direction and range infoyAEs6K?%g3?rjƹI?YE@CAEprAA A)AIE>iE7EG>E@Ek=EC~@ EϢ=)E;0>IEϢAAE>SM\? 7?? EL>)EݽIE;0>iEϢAAU2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^Ayb]A% .AI) I9 OM >Q ,=?A62W@6(e@6V?=ٱ6@! BAHRS rotation from veh to nav: [[-0.904186,0.426395,0.025182],[-0.424578,-0.890758,-0.162121],[-0.046697,-0.157279,0.986450]]6H@J?Hə? J,ۿ``_Ŀ觿 !Ŀ?i62W@I6];6CiPIRARDAT read: V2Acoustic response timeoutYVByZ+I \\\^AbDbVDbk1yjO%jH=ٔn9r ?Ir ?=rtDyrCr,9Ev>tQ 5z4v"?Q 9z4v۲)vBY|y~"Q I~?vCIv`;iv};vz4yɮ A iqiu.?AJiu CRiu Cjiu=q@iuTbw}@UbiuϢiu;\x,ҭqԏ,6@ziuܼ2`x̜Ō?2iun:iu"iu I?*iu^?BiuٷBiqiu9viuٷBiuCiuo@e addTargetRange:: Added new target pos. range: 484.500000 m, deltaT: 16.883633 s, deltaX: -10.899994 m, approachRate: -0.645595 m/s, rangeRepo size: 4 u Added new target pos. range: 482.093079 m, bearing: 215.970105 deg, lat: 36.779446 deg, lon: -121.860067 deg, deltaT: 16.883633 s, deltaX: -10.811462 m, approachRate: -0.640352 m/s, posRepo size: 4 jhquFNOT Ignoring new targets: 482.09 m.Rh}Zhy ProNav: ac range: 482.093079 m, nav range: 478.997406 m, bearing: 214.680504 deg, approach rate: 0.000000 m/s, LOS rate: 0.000501 deg/s, cmd heading: 205.745939 deg, new cmd heading: 205.746535 deg. BhHeadingCmd: 3.590955 target range: 482.093079 and range: 484.50 m.h3e@h*h"h hgfffdddjdH~@Zd`kD?ZZZZݠ@ɢI]=) ??i) :ibiM,l;VI3e@I-9@) @)@-4@)YE- E-E-'E)"E-:*E-:VE-'4ZE)a5@a5@a5@a5@qU2Acoustic response timeout^AucUI ԡ I O >B >B CB +IB BB =B B B q;B -E ,~W?A2;W@2v1e@212?=ٱ2je$ :AHRS rotation from veh to nav: [[-0.903957,0.426811,0.026340],[-0.425070,-0.890132,-0.164260],[-0.046662,-0.159680,0.986065]]2H 7P??X4ۿ@{wſ` 䧿gpĿ؍?i2;W@I2Z^;2CYBpByB+IHJAAbDNVDN3yV柽%VM=ٔV_Q-V>9XIX=ZtDyZC^в:E^>`Q 5f4b5"?Q 9f4b߲)bBYhyj"Q Ij?bCIbI:ib:b 4ynBɮrAr'Ejh FNOT Ignoring new targets: 482.09 m.Rh A7Zh A7 ProNav: ac range: 482.093079 m, nav range: 478.734375 m, bearing: 214.680764 deg, approach rate: -0.667182 m/s, LOS rate: 0.000660 deg/s, cmd heading: 205.746540 deg, new cmd heading: 205.747320 deg. Bh%7%HeadingCmd: 3.590968 target range: 482.093079 and range: 484.50 m.h%le@h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=?yZZZZ@ Bɢ S=)  7?i)!;9i=iHM,6(;j8Ile@I2Acoustic response timeoutԩ@ @@4@@@@@E= E9E=&E9"E=;*E9VE=4ZE9BE=8CAIq I O > e 2Acoustic response timeoutě,\Yq?AYkBy|+Iy㥛 ?(\µ?Q?= 9?p= ף?MbPYf&?y=1BA B)YbD VD:2y%9=ٔQ->9I=tDyϑCE>Q 54bn"?Q 94)BY:'?Q E:y&Q I?˝CI;i ;w4yBɮA&Ejh)-FNOT Ignoring new targets: 482.09 m.Rh58Zh58 ProNav: ac range: 482.093079 m, nav range: 478.447327 m, bearing: 214.683084 deg, approach rate: -0.650560 m/s, LOS rate: 0.005260 deg/s, cmd heading: 205.747318 deg, new cmd heading: 205.754281 deg. Bh g9HeadingCmd: 3.591090 target range: 482.093079 and range: 484.50 m.hje@h*h"h hgfffdddjdZdA?Z]7=Z]7=Z]|@Z]W@颩ɢK=) 5?i)5t1;顱i,iKK,|;5EIje@I9@ @@4@I!I1OEQ>2Acoustic response timeout1bEjEA84rEͰ/EE  EE EE (EA "EE :*EE :VEE c44ZEA aU @aU @aU @aU @Y ,4?A2nW@2ade@2@=ٱ2 $ :AHRS rotation from veh to nav: [[-0.902618,0.429607,0.026797],[-0.427871,-0.888691,-0.164789],[-0.046981,-0.160207,0.985965]]2H?~?p? 9XIX=ZtDyZCZ9 <E^>\Q 5b4^']"?Q 9f4^)^BYdyfp&Q If?^CI^:i^_:^A4yhɮjAljh|FNOT Ignoring new targets: 482.09 m.RhԷ8ZhԷ8 ProNav: ac range: 482.093079 m, nav range: 478.209259 m, bearing: 214.684921 deg, approach rate: -0.650538 m/s, LOS rate: 0.005022 deg/s, cmd heading: 205.754285 deg, new cmd heading: 205.759799 deg. Bh\9%HeadingCmd: 3.591186 target range: 482.093079 and range: 484.50 m.h%e@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`?ZQZQZQZULW@Bɢ%`=) 1?i)nQ;iyZ2Acoustic response timeout1iI,=#A;=,AI=e@IAII)MfA9@ @@/@IIO>aB>BCB+IBzBB =BBDBq;B-Eԉi I  2Acoustic response timeoutԹ ֨,?A26W@2e@2H'C=ٱ2(% :AHRS rotation from veh to nav: [[-0.901634,0.431678,0.026638],[-0.429869,-0.887667,-0.165105],[-0.047627,-0.160315,0.985916]]2H 0@?@F?ۿg*"ſ@b4Ŀ ?i26W@I2;];2CYfZByfg+I lnp=bDrVDrJ2yz9 %zF=ٔz :Q-~>9|I|=tDy C;E> Q 54 I"?Q 94 ) BYyK&Q I?  CI ;i ; 4y%Bɮ%A%%EEB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 482.09 m.RhU8ZhU8e ProNav: ac range: 482.093079 m, nav range: 477.940155 m, bearing: 214.686927 deg, approach rate: -0.650121 m/s, LOS rate: 0.004850 deg/s, cmd heading: 205.759804 deg, new cmd heading: 205.765827 deg. BheU9mHeadingCmd: 3.591291 target range: 482.093079 and range: 484.50 m.hme@hi*hq"hq hqgqfqfyfydydydjdZdUY?ZZZZ>sW@颱ɢ7R=) -?i)et;项isiG,;G&:Ie@IE EEE"E=;*E1:VEZEBE|I-2Acoustic response timeout +,?AB2Acoustic response timeoutY~HBy~P+IbD VD 1y%3%%G=ٔ%Q-%>9)I)=-uDy-.C-E5>1Q 5=45r6"?Q 9E45")5~BYAyAQ IE?5.CI5 ;i5 ;54yIɮUgAQjhq}FNOT Ignoring new targets: 482.09 m.Rh}8Zh}8 ProNav: ac range: 482.093079 m, nav range: 477.673737 m, bearing: 214.688916 deg, approach rate: -0.651205 m/s, LOS rate: 0.004864 deg/s, cmd heading: 205.765828 deg, new cmd heading: 205.771798 deg. BhU9HeadingCmd: 3.591395 target range: 482.093079 and range: 484.50 m.hle@h*h"h hgfffdddjdZdr@ZZZZɢG=) $?i);iziJF,m;l:Ile@I)@ @@/@E  E E &E "E V:*E h:VE 4ZE a@a@a@a@52Acoustic response timeout^A- yb]Q Be >Be CBe u+IBe fBBa Ba Be DBe q;Be -EA ؟AI I O >\絸,?A6W@6be@6E=ٱ6C BAHRS rotation from veh to nav: [[-0.899858,0.435480,0.024759],[-0.433512,-0.886633,-0.161088],[-0.048199,-0.155690,0.986629]]6H ?@NZ?৾ۿ@L_Ŀ@@ÿw?i6W@I6];6CYFFByJN+IbDRVDRyZY%ZR=ٔZ:Q-Z>9^"?I^"?=^uDy^NC5$<E5>IQ 5U4Mc#"?Q 9U4M)MuBYQyU&Q IU?MPCIM(:iM;M94yeBɮeBAe-EjhFNOT Ignoring new targets: 482.09 m.Rh/8Zh/8 ProNav: ac range: 482.093079 m, nav range: 477.409302 m, bearing: 214.690760 deg, approach rate: -0.650654 m/s, LOS rate: 0.004540 deg/s, cmd heading: 205.771798 deg, new cmd heading: 205.777333 deg. BhkG9HeadingCmd: 3.591492 target range: 482.093079 and range: 484.50 m.he@h*h"h hgff fdd!d!jd)Zd5 @Y2Acoustic response timeoutZZZZW@ɢ==) #?i)3;  i kiD,?;Θ;Ie@I!i%%>Y@Y @a@a@aԁE EE(E"E=;*EZ:VEc44ZEBEa%2Ea%JE$;a-:E$;a-ԩ ^A rg:E 2Acoustic response timeoutA I I O >c,Q?A2W@2e@2+E=ٱ2 :AHRS rotation from veh to nav: [[-0.899453,0.436303,0.024973],[-0.434341,-0.886171,-0.161398],[-0.048288,-0.156016,0.986573]]2H`Ra??`=ۿ[ Ŀ/Xÿ?i2W@I2`];0YZAByZG+Iy=Zd;O?9iIi=muDyurCuj ;Eu>yQ 54}a"?Q 94})}cBY%?Q E:yN&Q I?}sCI}z:i}:}M4yBɮ9A,EjhFNOT Ignoring new targets: 482.09 m.RhA8ZhA8 ProNav: ac range: 482.093079 m, nav range: 477.132538 m, bearing: 214.692837 deg, approach rate: -0.641333 m/s, LOS rate: 0.004815 deg/s, cmd heading: 205.777330 deg, new cmd heading: 205.783564 deg. BhS9HeadingCmd: 3.591601 target range: 482.093079 and range: 484.50 m.he@h*h"h hgfffdddjdZd`' @Z=Z=Z@Z7G^@颹ɢ;#L=)  ?i)9T;iuiB,w;;Ie@I @ @@0@^A];Ae>Ae>2Acoustic response timeout9AIIO>a E  E E %E "E l;*E M:VE 4ZE a @a @a @a @Hø, ?A Y~-By~0+IbD VD y,ý%O=ٔ%Q-%>9!I)=-uDy-C-E->1Q 5=45!?Q 9=45Q =EtI)5RBYAyAQ IE?5CI5 ;i5;54yIɮMAQeBDAT read: Rx Time:00:23:41.1456 eTRx dataTimestamp_ set to:1761524620.260304m2Acoustic response timeoutjh=FNOT Ignoring new targets: 482.09 m.RhE8ZhE8 ProNav: ac range: 482.093079 m, nav range: 476.879822 m, bearing: 214.694736 deg, approach rate: -0.610315 m/s, LOS rate: 0.004588 deg/s, cmd heading: 205.783559 deg, new cmd heading: 205.789258 deg. BhI9HeadingCmd: 3.591700 target range: 482.093079 and range: 484.50 m.hje@h*h"h hgfffdddjdZd ħ @ZAZAZAZAiyɢ} <=)y }K?iy);顁i'fiKA,; ;Ije@IBu>BuCBuV+IBuMBBu =BqBuDBuq;Bu-Ea@a @a@e0@i@mhA@miAԙ 2Acoustic response timeout^A ϩ; A I I O >/rɸ,'?ATEU EUEU'EQ"EU;*EU$:VEU'4ZEQBEU8C9I=uDyC%;E%>)Q 554-t!?Q 954-)-?BY9y=$&Q I=?-CI-S;i->;-n4yEBɮEAAeB*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 482.09 m.RhͰ8ZhͰ8 ProNav: ac range: 482.093079 m, nav range: 476.579681 m, bearing: 214.696900 deg, approach rate: -0.669379 m/s, LOS rate: 0.004830 deg/s, cmd heading: 205.789256 deg, new cmd heading: 205.795753 deg. Bh*T9 HeadingCmd: 3.591814 target range: 482.093079 and range: 484.50 m.h Fe@h *h "h  hgfffdddjdZd%@ZaZaZaZepm^@m%=m%=DAT read: 00:23:41.1456 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 398, 0.26,-1.934, 2.760,-2.056,-2.272, PHS= 0.439,-1.206, 0.171, RAW= 141.3, 7.8, CAL= 140.9, 8.6, ROT= 9.1, -8.6 Ygot valid direction response: 00:23:41.1456 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 398, 0.26,-1.934, 2.760,-2.056,-2.272, PHS= 0.439,-1.206, 0.171, RAW= 141.3, 7.8, CAL= 140.9, 8.6, ROT= 9.1, -8.6 PDAT read: Bearing 1.3, 4.7 (Local) ~Local bearing/azimuth received: Bearing 1.3, 4.7 (Local) DAT read: Range 11 to 50 : 481.7 m (Round-trip 642.3 ms) speed 0.4 m/s RDAT read: user:69>Tx time:00:23:42.2491 R#Rx 1: Read range and direction messages.\direction in FSK: [0.976312,0.156380,0.149535]Fpublishing direction and range infoyime$ =?@N@?S&r#?YmCimii i)iIm>im5^m/>mh@m'g >mc@ m`>)m">Im`iim*쑙?O)?w6%iz? m* >)mwC Im">im`ii!ɢ%W-=)) -?i))-T;))i54i5p?,=̡;=P;}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.I=Fe@I1@1 @1@5/@9! % DAT read: - 2Acoustic response timeout^AU ; >G5 hAM AQ 9 hAY hAA.AIIO>Ѹ,OxF?A2X@24 f@2F=ٱ2( :AHRS rotation from veh to nav: [[-0.898103,0.439070,0.025059],[-0.437120,-0.884949,-0.160596],[-0.048337,-0.155185,0.986702]]2HC`??ۿQgĿ@ÿ`?i2X@I2p];2CYBByB+I HJR=bDNVDN1yV%VH=ٔZ@Q-Z>9Z ?IZ ?=ZuDyZْC^:E^>`Q 5f4b!?Q 9f4b)b.BYdyj&Q Ij?b۞CIbz;ibv;bC4ylɮnAli9i=0?AJi=CRi=Cji=q@i=Fһ ?}@ΟR@3 OQ@ri=e$ =?@N@?S&r#?Zi=">bi=`i=x(qst ;B@zi=Ñνxɴkz?2i=1:i="i=ꢊ?*i={lBi=Bi=~?i=v[#i9i=Ci=!p@- addTargetRange:: Added new target pos. range: 481.700012 m, deltaT: 4.032411 s, deltaX: -2.799988 m, approachRate: -0.694371 m/s, rangeRepo size: 4 = Added new target pos. range: 479.294067 m, bearing: 216.219581 deg, lat: 36.779448 deg, lon: -121.860098 deg, deltaT: 4.032411 s, deltaX: -2.799011 m, approachRate: -0.694128 m/s, posRepo size: 4 jh9EFNOT Ignoring new targets: 479.29 m.RhEZhAU ProNav: ac range: 479.294067 m, nav range: 477.696320 m, bearing: 214.977447 deg, approach rate: 0.000000 m/s, LOS rate: 0.004830 deg/s, cmd heading: 205.795758 deg, new cmd heading: 205.801655 deg. BhY]HeadingCmd: 3.591917 target range: 479.294067 and range: 481.70 m.h]e@hY*ha"ha hagafaE EE&E"E;*E:VE4ZEa@a@a@a@ff d d d jd @3~@Zd`?ZQZQZQZUv^@颁ɢV==)  ?i);顉i'i=,;;Ie@I@ @@o0@!2Acoustic response timeoutB >B CB 7+I!B 3BB  =B B DB Fr;B .EBCBBB =B =Cc6^AE0;AAzAEhAI9 IQ O >Q 4׸,pC`?A>2Acoustic response timeout:i"X@:f@:D=ٱ:'! JAHRS rotation from veh to nav: [[-0.897829,0.439570,0.026110],[-0.437726,-0.884461,-0.161634],[-0.047956,-0.156549,0.986505]]:H@`!??ܿMkĿ Ŀs?i:i"X@I:u];:CYNByR+IyeʡE?~jt?Zd;Oe?eD=ej9I=uDyC:E>Q 54!?Q 94)BY,?Q E:y"Q I?CI;i; 4yBɮA+EjhFNOT Ignoring new targets: 479.29 m.Rh(5Zh(5 ProNav: ac range: 479.294067 m, nav range: 477.409149 m, bearing: 214.977490 deg, approach rate: -0.671298 m/s, LOS rate: 0.000100 deg/s, cmd heading: 205.801659 deg, new cmd heading: 205.801787 deg. Bh6HeadingCmd: 3.591919 target range: 479.294067 and range: 481.70 m.he@h*h"h h g f ffdddjdZd@?)ZE=ZE=ZEx?ZED@QɢUv1=)Q ]?iY)]X;YYi]ie=,e;e.;Iee@Iy@ @@4@@ =@ =E EE'E"E*E:VE'4ZEBE@Ա <ݸ,g z?A2(X@22f@2-C=ٱ2+! :AHRS rotation from veh to nav: [[-0.897680,0.439853,0.026464],[-0.438066,-0.884317,-0.161498],[-0.047633,-0.156566,0.986518]]2Hʹ&?B?G ܿSLĿ`[cY Ŀ?i2(X@I2[];2CYZByZ +I \\bDfVDfNyn>=%nW=ٔn^Q-n>9pIp=ruDyrCv7:Ev>xQ 5z4zx!?Q 9~4z)zBY|y~ "Q I~?z CIz&;izD;zs4y yBɮ A *Ejh)5FNOT Ignoring new targets: 479.29 m.Rh55Zh=5M ProNav: ac range: 479.294067 m, nav range: 477.156189 m, bearing: 214.977516 deg, approach rate: -0.665748 m/s, LOS rate: 0.000070 deg/s, cmd heading: 205.801782 deg, new cmd heading: 205.801862 deg. BhM|D6UHeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.hUe@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde7?ZZZZY@颙ɢj:=) I?i){;顡ii=,~G;1E EEE"ED:*E:VEZEa%@a%@a%@a%@M ?M r?U 2Acoustic response timeout 0,?A2,X@2"f@27@=ٱ2c8! :AHRS rotation from veh to nav: [[-0.897588,0.440008,0.027010],[-0.438314,-0.884231,-0.161298],[-0.047090,-0.156618,0.986536]]2H )?@{?V ܿKkĿ` Ŀ?i2,X@I2];0YBByB*IHJ@AbDNVDNk2yV%VM=ٔZ$Q-Z>9XIX=ZuDyZ9C^W-:E^>`Q 5f4b*!?Q 9f4b )bBYdyj"Q Ij?bBCIb:ib:bh4ylɮn AljhFNOT Ignoring new targets: 479.29 m.Rh l5Zh l5 ProNav: ac range: 479.294067 m, nav range: 476.891174 m, bearing: 214.977536 deg, approach rate: -0.665386 m/s, LOS rate: 0.000051 deg/s, cmd heading: 205.801864 deg, new cmd heading: 205.801925 deg. Bh6%HeadingCmd: 3.591921 target range: 479.294067 and range: 481.70 m.h% e@h!*h!"h) h)g)f)f)f1d1d1d1jd1B>BCB+IBBB =BBDBor;B=.EZd`?ZZZZء@%Bɢ-ua'=)) ->i))-i<11i5zΐi]=,];]^I D =D <E%  E% E! E! "E% :*E% :VE! ZE! BE% 5AHRS rotation from veh to nav: [[-0.897197,0.440790,0.027229],[-0.439226,-0.884192,-0.159011],[-0.046014,-0.154624,0.986901]]6Hֵ5? ? Iܿ@MKxZĿ0ÿ౔?i6=X@I6b];4YFByJ*IbDR VDRf2yZ%ZJ=ٔZD.Q-Z>9\I=uDy ZC ;E >Q 54#!?Q 94)ΆBY!y%!Q I%?fCI;i;!4y-oBɮ-A-2EMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 479.29 m.Rh]ZZheZm ProNav: ac range: 479.294067 m, nav range: 476.615540 m, bearing: 214.977517 deg, approach rate: -0.664739 m/s, LOS rate: -0.000047 deg/s, cmd heading: 205.801919 deg, new cmd heading: 205.801861 deg. BhmuHeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.hue@hy*hy"hy hygyfyffdddjdZd'@ZZZZ;@ɢ+=) >i)z <i޳2Acoustic response timeouti=,\;  2Acoustic response timeout 8,E?Aɰ2|6X@2.,f@2C9=ٱ2\+ :AHRS rotation from veh to nav: [[-0.897407,0.440350,0.027456],[-0.438882,-0.884574,-0.157834],[-0.045215,-0.153691,0.987084]]2H.??ܿ nN3Ŀ o&`)ÿ0?i2|6X@I2,];2CYBByB*IbDNPVDNyZ8%ZJ=ٔZQ-Z>9\I\=^vDy^zCbEb>dQ 5j4fx!?Q 9j4f)fBYhyj!Q Ij?fCIf:ifA:f(4ypɮrApjh  FNOT Ignoring new targets: 479.29 m.RhϴZhϴ% ProNav: ac range: 479.294067 m, nav range: 476.352997 m, bearing: 214.977508 deg, approach rate: -0.666122 m/s, LOS rate: -0.000022 deg/s, cmd heading: 205.801864 deg, new cmd heading: 205.801838 deg. Bh%]y-HeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.h-e@h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdE*@ZaZaZaZe7@qɢu\y'=)q uZ>bEe'4jEe(4rEe/E EE*E"E:*E:VE(N4ZEa@a@a@a@iq)7]<i$i=,%;%& BB*IBBB =BBBr;BN.E^Ah%<IYIiO}>1 ,t}?A22Acoustic response timeout6R2X@6(f@64=ٱ6 RAHRS rotation from veh to nav: [[-0.897569,0.440007,0.027643],[-0.438679,-0.885090,-0.155487],[-0.043949,-0.151687,0.987451]]6H )?@N?OܿRÿu|jÿ2?i6R2X@I6];6CYVByZ*I|yE#~j?Q?Mb`?E%?E\>E;A A9Ev/?(\?~jtYAyE.>EDEh-BEA EB)EBAYEB QUa=bD]VD]1ymV%m?=ٔm BQ-u>9qIq=}vDy}C}E}>Q 54;e!?Q 94)BYf/?Q E:yQ I?CI&:i.:04yhBɮA1EjhFNOT Ignoring new targets: 479.29 m.RhZh ProNav: ac range: 479.294067 m, nav range: 476.063995 m, bearing: 214.974590 deg, approach rate: -0.675166 m/s, LOS rate: -0.006822 deg/s, cmd heading: 205.801837 deg, new cmd heading: 205.793076 deg. BhҕHeadingCmd: 3.591767 target range: 479.294067 and range: 481.70 m.he@h*h"h hgfffdddjdZdU@Zu=Zu=Zu,?Z֕@ɢSk=) z>i)<i9qi3@,>;co L%,T?A:z X@:,f@:/=ٱ:^b BAHRS rotation from veh to nav: [[-0.898089,0.438992,0.026869],[-0.437722,-0.886196,-0.151841],[-0.042846,-0.148128,0.988040]]:H %r??ܿ[oÿ勵@¿@?i:z X@I:];:CYJ݊ByJ*IbDVVDVJ2yZ>%^W=ٔ^>Q-^>9`I`=bvDybCfj;Ef>dQ 5j4fT!?Q 9n4f)fBYpyrQ Ir?f͟CIf.;ifO/;f64ytɮv+AxjhFNOT Ignoring new targets: 479.29 m.RhuZhu- ProNav: ac range: 479.294067 m, nav range: 475.806824 m, bearing: 214.972014 deg, approach rate: -0.674483 m/s, LOS rate: -0.006761 deg/s, cmd heading: 205.793081 deg, new cmd heading: 205.785347 deg. Bh-y5HeadingCmd: 3.591632 target range: 479.294067 and range: 481.70 m.h5Le@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM`ޣ @YZiZiZiZmeؕ@颁ɢX+)=) h>i)<顉igihB,yh;T;ILe@I9@ @@@@=@=u2Acoustic response timeoutԉ^A=P;ԱE EE(E"E:*E]t:VEc44ZEa@a@a@a@II O > - BDAT read: Rx Time:00:23:45.2918 5 TRx dataTimestamp_ set to:1761524624.293131= 2Acoustic response timeout ,2?A2W@2re@2w+=ٱ2Wp :AHRS rotation from veh to nav: [[-0.899053,0.437082,0.025749],[-0.435836,-0.887766,-0.148049],[-0.041850,-0.144326,0.988645]]2H@ (?^?ۿhB¿amGy¿`?i2W@I2m ^;2CY^ފByb*IbDj VDj2yrY;%rH=ٔrwQ-r>9tIt=vvDyvܓCzEz>xQ 54zB!?Q 94z")zxBY y Q I ?zCIz#;iz$;z=4yaBɮ A0EBe>BaBe*IBeBBe =BaBaBer;BeS.EԹjhFNOT Ignoring new targets: 479.29 m.RhNZhN ProNav: ac range: 479.294067 m, nav range: 475.530334 m, bearing: 214.969300 deg, approach rate: -0.643482 m/s, LOS rate: -0.006320 deg/s, cmd heading: 205.785349 deg, new cmd heading: 205.777203 deg. BhȊHeadingCmd: 3.591490 target range: 479.294067 and range: 481.70 m.he@h*h"h hg!f!f!f!d)d)d)jd)Zd- @ZZZZՕ@ɢ1=) >i)ɂ!<iWOiD,~;w;Ie@Im9@i @i@m0@i@u@u@u@uiyIy2Acoustic response timeoutIqIO>E  E E )E "E :*E &p:VE FA4ZE BE .9XIX=ZvDyZC^E^>`Q 5f4b0!?Q 9f4b;')bdBYdyfQ Ij?bCIb:ib:bD4ylɮnAlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 479.29 m.Rh%Zh-2Acoustic response timeout- ProNav: ac range: 479.294067 m, nav range: 475.261932 m, bearing: 214.966755 deg, approach rate: -0.710903 m/s, LOS rate: -0.006744 deg/s, cmd heading: 205.777207 deg, new cmd heading: 205.769569 deg. BhUmHeadingCmd: 3.591357 target range: 479.294067 and range: 481.70 m.hme@hi*h"h hgff)f)dyddjdZda@Z)Z)Z)Z-0ȕ@9ɢE]=)A EO>iA)'<顉i9iF,h;ob;Ie@IAy@y @y@@IIOn>i DAT read: 00:23:45.2918 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411, 0.23, 2.426, 1.130, 2.386, 2.412, PHS= 0.115,-1.238,-0.070, RAW= 142.7, 18.4, CAL= 142.1, 19.8, ROT= 7.9, -19.8  Ygot valid direction response: 00:23:45.2918 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411, 0.23, 2.426, 1.130, 2.386, 2.412, PHS= 0.115,-1.238,-0.070, RAW= 142.7, 18.4, CAL= 142.1, 19.8, ROT= 7.9, -19.8  PDAT read: Bearing 11.8, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 11.8, 2.2 (Local)  DAT read: Range 11 to 50 : 479.0 m (Round-trip 638.7 ms) speed 0.5 m/s  BDAT read: Tx time:00:23:46.3521  $Ping request sent. ,@ ;>) 0 >I ;ﰾ 1?C~?W)? 5Z>) 9I 0 >i ;ﰾ  :publishing transmit ping time  Fpublishing direction and range infoy  uȌ?tЅ?<?Y ) I i ) I 1?C~?W)? ) I i ԙ ,`H?A2 W@2ѕe@2߹(=ٱ2 :AHRS rotation from veh to nav: [[-0.901554,0.431935,0.025162],[-0.430703,-0.890407,-0.147210],[-0.041181,-0.143555,0.988785]]2H`Ѥ?Ù? ۿ`6~ ¿`¿ ?i2 W@I2^;2CYN؊ByR*IbDZVDZ1yfZ %fH=ٔfQ-j>9hIh=jvDyjCn7ԻE~>Q 5 4!?Q 9 4+)OBY y )Q I?7CI:i:K4y=ZBɮ=AE/EiiFC?AJiNCRiNCjikq@iW{@-CN@)!6|H.d@riuȌ?tЅ?<?Zi0 >bi;ﰾiaKCws;Jpײޏ`@zi/YJ迟Ew?2i:i"iOg?*iDBiICi I?E EE(E"E:*E:VEc44ZEa@a@a@a@iiBiCilp@ addTargetRange:: Added new target pos. range: 479.000000 m, deltaT: 4.283552 s, deltaX: -2.700012 m, approachRate: -0.630321 m/s, rangeRepo size: 4 5 Added new target pos. range: 476.611389 m, bearing: 216.132085 deg, lat: 36.779484 deg, lon: -121.860098 deg, deltaT: 4.283552 s, deltaX: -2.682678 m, approachRate: -0.626274 m/s, posRepo size: 4 jh1=FNOT Ignoring new targets: 476.61 m.Rh=Zh9M ProNav: ac range: 476.611389 m, nav range: 471.752228 m, bearing: 215.239050 deg, approach rate: 0.000000 m/s, LOS rate: -0.006744 deg/s, cmd heading: 205.769571 deg, new cmd heading: 205.760778 deg. BhIq}HeadingCmd: 3.591203 target range: 476.611389 and range: 479.00 m.h}Ee@hy*hy"hy hygfffdddjd}@Zd`Ll?ZZZZ@颹ɢ&=) >i)$-<i5iqI,6;8:IEe@Iԡ9@ @@00@IAIQOeU>B]>B]CB]*IB]݊BB] =BYB]DB]Tr;B]6.E L,Nb?A6v{W@6'qe@6g(=ٱ6 >AHRS rotation from veh to nav: [[-0.902518,0.429798,0.027092],[-0.428686,-0.890614,-0.151773],[-0.041103,-0.148592,0.988044]]6Hnс??`oۿ@Omÿy ÿ`?i6v{W@I6`^;6CYNɊByN*IIR<)R>%D! !9%/$?oʡ?Y%,?y%->%%*B%A %B)%LB!Y%fBbD=VD=N2yM%MB=ٔMBQ-M>9QIQ=]vDy]>C]E]>aQ 5m4e !?Q 9m4e0)eDBYuc1?Q Eu:yu Q Iu?e\CIe;ie;eBS4y}PBɮ}A7Ejh!%FNOT Ignoring new targets: 476.61 m.Rh-Zh-] ProNav: ac range: 476.611389 m, nav range: 471.464752 m, bearing: 215.236504 deg, approach rate: -0.701843 m/s, LOS rate: -0.006219 deg/s, cmd heading: 205.760774 deg, new cmd heading: 205.753131 deg. Bh]eHeadingCmd: 3.591070 target range: 476.611389 and range: 479.00 m.hee@ha*ha"ha hagafiffdddjdZd?Z=Z=Z @ZY@ɢJ=) G>i) 2<i:(iK,;|Ie@II))-gAE EEE"E:*E:VEZEBE6! r,|?A6MW@6Ce@6~(=ٱ6! >AHRS rotation from veh to nav: [[-0.903706,0.427076,0.030376],[-0.426175,-0.890446,-0.159628],[-0.041125,-0.157202,0.986710]]6H (4U?@?`rFۿ~nĿX 1Ŀ ?i6MW@I64^;6CYFʊByF*I NR=N%=bDRVDRk1yV;%ZU=ٔZo8Q-Z>9\I\=^vDy^\CbEb>dQ 5f4f ?Q 9j4f5)f9BYhyj>Q Ij?f~CIf:if:fY4ypɮvAtjhimFNOT Ignoring new targets: 476.61 m.RhuظZhuظ ProNav: ac range: 476.611389 m, nav range: 471.200775 m, bearing: 215.234263 deg, approach rate: -0.694969 m/s, LOS rate: -0.005904 deg/s, cmd heading: 205.753138 deg, new cmd heading: 205.746410 deg. BhHeadingCmd: 3.590952 target range: 476.611389 and range: 479.00 m.h*e@h*h"h hgfffdddjdZd ?Z!Z!Z!Z%kY@1ɢU"=)Y ]>iY)]6́GMliAQyɤ9liAYAA9@ @@4@yE EE'E"Ea:*Ex:VE'4ZEa@a@a@a@^A;ԩ AI Ia Iy O >Z%,u?A2?W@2 e@2)=ٱ2* :AHRS rotation from veh to nav: [[-0.905085,0.423929,0.033246],[-0.423207,-0.890401,-0.167580],[-0.041439,-0.165744,0.985298]]2H u@!? ?ۿ)~?sſ@77ſ@?i2?W@I2];2C@YFɊByF*IbDNVDN:2yV%VJ=ٔZL:Q-Z>9XIX=^vDy^}C^E^>`Q 5f4bw ?Q 9f4b9)b-BYhyjxQ Ij?bCIb:ib:ba4ynIBɮnAr6EB>BCB*IBӊBB =BBDB/r;B(.EBBCBB =B =C"6jhFNOT Ignoring new targets: 476.61 m.RhƸZhƸ ProNav: ac range: 476.611389 m, nav range: 470.922668 m, bearing: 215.232020 deg, approach rate: -0.670667 m/s, LOS rate: -0.005410 deg/s, cmd heading: 205.746417 deg, new cmd heading: 205.739686 deg. BhmHeadingCmd: 3.590835 target range: 476.611389 and range: 479.00 m.h=e@h*h"h hgf f f d ddjdZd5?ZZZZ?Y@AɢE =)A E>iA)E< D D a=E  E E E "E :*E n:VE ZE BE ?89qIq=uvDyuCuE}>yQ 54} ?Q 94}>)}!BYyQ I?}ǠCI}_:i}:}{h4yɮAB*** querying acoustic contact ***i iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jhFNOT Ignoring new targets: 476.61 m.Rh̸Zh̸ ProNav: ac range: 476.611389 m, nav range: 470.627716 m, bearing: 215.229738 deg, approach rate: -0.722531 m/s, LOS rate: -0.005595 deg/s, cmd heading: 205.739682 deg, new cmd heading: 205.732831 deg. BhuHeadingCmd: 3.590715 target range: 476.611389 and range: 479.00 m.hGe@h*h"h hgf f f d ddjdZd;i?Z1Z1Z1Z5+!Y@IɢM#=)I M>iI)MaOA u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005816i A ؟AI I O% >Vm2,.?AY~ɊBy~*IbDVDk2y5%<%=M=9ٔEQ-E>9E"?IE"?=MwDyMCMEM>QQ 5]4U ?Q 9]4U$C)UBYayaQ Ie?UCIU;iU+;Uqo4ymCBɮmAm5EjhFNOT Ignoring new targets: 476.61 m.E EE)E"E>:*Eg:VEFA4ZEa@a@a@a@RhŸZhŸ ProNav: ac range: 476.611389 m, nav range: 470.353180 m, bearing: 215.227611 deg, approach rate: -0.696744 m/s, LOS rate: -0.005402 deg/s, cmd heading: 205.732825 deg, new cmd heading: 205.726439 deg. BhCmHeadingCmd: 3.590604 target range: 476.611389 and range: 479.00 m.hte@h*h"h hgfffdddjdZdb@ZZZZɢ&"=) >i)FoF<i%䏼i%BS,- d;-@,ϻI-te@I)@ @@@i^ArA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259900AIIB>BB*IBΊBB =BBB;r;B/.EOMs>ԑ 8,x ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5129986ؠV@6d@63=ٱ6> BAHRS rotation from veh to nav: [[-0.908051,0.417121,0.038129],[-0.416556,-0.889772,-0.186512],[-0.043872,-0.185246,0.981712]]6H`??`ۨڿy ǿ[v ǿ 0j?i6ؠV@I6Z];4YFNJByJ*IyNbX9?V-?%?|?>̼ 9v/?!rh?S㥛?Yx)?yl=/<%0BA lB)YBbD VD:2yԙ%D=ٔmt;Q->9I=wDyC@E>Q 54 ?Q 94PG)BY,?Q E:yl"Q I?CI ;i ;v4y=BɮձA4EjhFNOT Ignoring new targets: 476.61 m.RhȄ7ZhȄ7  ProNav: ac range: 476.611389 m, nav range: 470.073730 m, bearing: 215.227988 deg, approach rate: -0.671384 m/s, LOS rate: 0.000907 deg/s, cmd heading: 205.726445 deg, new cmd heading: 205.727578 deg. Bh W8HeadingCmd: 3.590624 target range: 476.611389 and range: 479.00 m.he@h*h"h hgff!f!d!d!d)jd)Zd-`@ZM»=ZM»=ZM<2@ZM@Yɢe !=)a e>ia)eDK;a:E?;achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765584^A[RӻAE .AII IY Om > >,?A4<ɰ;2V@2\yd@26=ٱ2GC :AHRS rotation from veh to nav: [[-0.908760,0.415508,0.038845],[-0.414924,-0.889660,-0.190638],[-0.044653,-0.189361,0.980892]]2H`஗?m?@ڿxfȿܦ<ȿvc?i2V@I2];0YBĊByF*IIJ>)J;bDNVDN2yVb%V[=ٔVT ;Q-Z>9Z ?IZ ?=ZwDyZC^bE^>`Q 5f4b8 ?Q 9f4b K)b BYdyf"Q Ij?b/CIb:ib:b=}4ylɮnAljhFNOT Ignoring new targets: 476.61 m.Rh ٙ7Zh ٙ7 ProNav: ac range: 476.611389 m, nav range: 469.822937 m, bearing: 215.228380 deg, approach rate: -0.671753 m/s, LOS rate: 0.001051 deg/s, cmd heading: 205.727579 deg, new cmd heading: 205.728756 deg. Bh88%HeadingCmd: 3.590644 target range: 476.611389 and range: 479.00 m.h%e@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5`@ZQZQZQZU@iɢm&=)i mi>ii)uiPZ;5DIe@I!]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018045@ @@@@=@=^A0:D!A؟AIIOj>bEEc44jEEBTBV*IBVɊBBV =BTBVDBVr;BV .EY~By~*IbDVDJ2y]ϼ%e?=ٔe*;Q-e>9m"?Im"?=mwDym"CmbfEu>qQ 5}4uI ?Q 94uPO)uBYy"Q I?uSCIu~ ;iuQ:u4y7BɮA3EjhFNOT Ignoring new targets: 476.61 m.Rh|7Zh|7 ProNav: ac range: 476.611389 m, nav range: 469.536194 m, bearing: 215.228880 deg, approach rate: -0.671585 m/s, LOS rate: 0.001171 deg/s, cmd heading: 205.728754 deg, new cmd heading: 205.730254 deg. BhM8HeadingCmd: 3.590670 target range: 476.611389 and range: 479.00 m.he@h*h"h hgfffdddjdZd @Z Z Z Z @ɢ=)! %>i!)%KUD =D =E  E E 'E "E :*E a9:VE '4ZE BE e9 ?I ?=%wDy%BC%㎺E%>)Q 554-w ?Q 954-@S)-BY9y="Q I=?-uCI-P;i-~ ;-4yE4BɮEAE=EeB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 476.61 m.Rhu[7Zhu[7 ProNav: ac range: 476.611389 m, nav range: 469.270966 m, bearing: 215.229356 deg, approach rate: -0.670727 m/s, LOS rate: 0.001205 deg/s, cmd heading: 205.730257 deg, new cmd heading: 205.731685 deg. BhS8HeadingCmd: 3.590695 target range: 476.611389 and range: 479.00 m.he@h*h"h hgfffdddjdZd@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773189ZZZZ@ɢZ=) `>i)/Z<i6iQ,d;-\Ie@Iԩ@ @@1@^AlX  DAT read: 00:23:49.3923 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 158,-0.13,-0.330,-2.144,-0.466,-0.888, PHS= 0.660,-1.211, 0.379, RAW= 142.0, 2.0, CAL= 141.7, 2.4, ROT= 8.3, -2.4  Ygot valid direction response: 00:23:49.3923 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 158,-0.13,-0.330,-2.144,-0.466,-0.888, PHS= 0.660,-1.211, 0.379, RAW= 142.0, 2.0, CAL= 141.7, 2.4, ROT= 8.3, -2.4  PDAT read: Bearing 352.6, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 352.6, 4.9 (Local)  DAT read: Range 11 to 50 : 477.0 m (Round-trip 636.1 ms) speed 0.7 m/s  BDAT read: Tx time:00:23:50.4552  $Ping request sent. m @m 5=m G@ m +=)m V>Im +i i m |sq&?x;?VΡ? m >)m zIm V>im +i i  :publishing transmit ping time  Fpublishing direction and range infoyi m ?OWv? ۷p?Yi i i i i i )i Ii ii i i i i i )i Ii i i m |sq&?x;?VΡ? i )i Ii ii i i A ؟AI) I9 OE >1 .R,xK?A2*YV@2Nd@2QG=ٱ2hJ :AHRS rotation from veh to nav: [[-0.909663,0.413635,0.037663],[-0.412488,-0.889062,-0.198550],[-0.048643,-0.196149,0.979367]]2H@y?H?`5fڿ@2s jɿ@稿@hɿ@V?i2*YV@I2];2CYBByB*IbDJVDJ1yb<%fO=ٔfi;Q-f>9j"?Ij"?=jwDyjbCjFܺEn>lQ 5r4nne ?Q 9v4n.W)nBYtyv"Q Iv?nCIn:in:n|4yz.Bɮ~ٱAbi+ikxJ> %pP?0zi1X|}wWknF2i/:i"iCg@s?*i8jBiHRBiiiiCiip@E EEE"E[:*E=:VEZEa@a@a@a@ addTargetRange:: Added new target pos. range: 477.000000 m, deltaT: 4.036456 s, deltaX: -2.000000 m, approachRate: -0.495484 m/s, rangeRepo size: 4  Added new target pos. range: 474.645020 m, bearing: 213.003757 deg, lat: 36.779484 deg, lon: -121.860098 deg, deltaT: 4.036456 s, deltaX: -1.966370 m, approachRate: -0.487152 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 474.65 m.RhZh  ProNav: ac range: 474.645020 m, nav range: 469.006439 m, bearing: 215.229852 deg, approach rate: 0.000000 m/s, LOS rate: 0.001205 deg/s, cmd heading: 205.731691 deg, new cmd heading: 205.733172 deg. Bh HeadingCmd: 3.590721 target range: 474.645020 and range: 477.00 m.h`e@h*h"h hgfff!d!d!d!jd%}@Zd-7? Z)Z)Z)Z-@ɢ}=) >i)_<iߎiUQ,h~;fI`e@I@ @@0@@hA@hA9B>B CB*IBĊBB =BADBDBq;B.Eq ^A cA I! I1 O= >X,l#e?A,6IjV@6_d@6yM=ٱ6pO NAHRS rotation from veh to nav: [[-0.909164,0.414648,0.038567],[-0.413408,-0.887519,-0.203480],[-0.050144,-0.200940,0.978319]]6H`??Fuڿ f@ ʿthɿ@dN?i6IjV@I6];6CYjByj*Iy]B`"?{Gzt?{Gzt]?]ף;]ףY Y9]S㥛?&1?y&1|?Y]$?y]P=]`;]54B]A ]rB)]BYY]GBu@AuAAbDuVDu2yh%@=ٔg;Q->9I=wDyC ;E>Q 546Q ?Q 94Z)BYc%?Q E:y(Q I?CIq ;i ;Ꙁ4yɮ AjhFNOT Ignoring new targets: 474.65 m.Rh["9Zh["9 ProNav: ac range: 474.645020 m, nav range: 468.733673 m, bearing: 215.233480 deg, approach rate: -0.666680 m/s, LOS rate: 0.008871 deg/s, cmd heading: 205.733166 deg, new cmd heading: 205.744055 deg. Bh9HeadingCmd: 3.590911 target range: 474.645020 and range: 477.00 m.h}e@h*h"h hgff fdddjdZdY?Z]?=Z]?=Z]y>Z]HS@yɢ}n=ԉ) 1>i)c<顩iGi8N,R;RYI}e@IDzDE EE)E"Eغ:*E H:VEFA4ZEBE_,~?A:ӎV@:d@:\=S=ٱ:i/R FAHRS rotation from veh to nav: [[-0.908175,0.416781,0.038887],[-0.415405,-0.885924,-0.206344],[-0.051549,-0.203550,0.977707]]:H??ڿ@}Yviʿd ʿ`_I?i:ӎV@I:];:CYJByN*IbDVVDVk1y^Rż%^Y=`ٔb]t;Q-b>9dId=fwDyfCf;Ej>hQ 5r4jO? ?Q 9r4j])jBYpyr(Q Ir?j١CIjG;ij;j4yv'BɮzAz;EjhFNOT Ignoring new targets: 474.65 m.Rh 9Zh% 9- ProNav: ac range: 474.645020 m, nav range: 468.491791 m, bearing: 215.236634 deg, approach rate: -0.641317 m/s, LOS rate: 0.008367 deg/s, cmd heading: 205.744054 deg, new cmd heading: 205.753521 deg. Bh595HeadingCmd: 3.591076 target range: 474.645020 and range: 477.00 m.h52e@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@?ZiZiZiZmff@yɢX=) >i)g<顁ip@iK,%n;;I2e@I9@ @@/@^A1E EE&E"E:*E|;:VE4ZEa@a@a@a@Ay I I O >A e,Ř?A;ɰB6>B6CB6*IB6BB6 =B4B6DB6q;B6.EFV@Fnd@FFX=ٱF4P RAHRS rotation from veh to nav: [[-0.907127,0.419189,0.037426],[-0.417534,-0.885249,-0.204940],[-0.052777,-0.201533,0.978059]]FH@0@? q)?޸ڿ`Su;ʿ`ɿ BL?iFV@IF];FCYZByZx*IbDbVDb2yj%jI=ٔj@F;Q-n>9lIl=rwDyrĕCrU;Er>tQ 5z4v, ?Q 9z4v,a)vBYxyzZ(Q I~?vCIv:ivG;v4y"Bɮ'A:Ejh)5FNOT Ignoring new targets: 474.65 m.Rh59Zh=9M ProNav: ac range: 474.645020 m, nav range: 468.230865 m, bearing: 215.239962 deg, approach rate: -0.640483 m/s, LOS rate: 0.008175 deg/s, cmd heading: 205.753520 deg, new cmd heading: 205.763511 deg. BhM9UHeadingCmd: 3.591251 target range: 474.645020 and range: 477.00 m.hU e@hQ*hQ"hQ hQgQfQfYfYdadadajdaZde`?ZZZZdy@颙ɢo=) d>i)k<顡iƍiH,)t;I e@I@ @@@@=@=Iq^A1A I I) O5 >ԡ E  E E 'E "E *E a9:VE '4ZE BE 9 I = wDy C;E>Q 5%4 ?Q 9%4d)܅BY!y%,(Q I-?CI:i:Ʈ4y1ɮ11MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 474.65 m.Rhe9Zhe9u ProNav: ac range: 474.645020 m, nav range: 467.967896 m, bearing: 215.243230 deg, approach rate: -0.641814 m/s, LOS rate: 0.007981 deg/s, cmd heading: 205.763506 deg, new cmd heading: 205.773316 deg. BhuE9yHeadingCmd: 3.591422 target range: 474.645020 and range: 477.00 m.he@h*h"h hgfffdddjdZd$?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZZZZ@ɢ =) i)$o<iCiuE,uM;uIue@Iyԩ@ @ @ @ GjA MAU9]jAY]A^Am (DAT read: user:71> u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004572A  I I O- >r,{?A2 W@2e@2 b=ٱ2]C :AHRS rotation from veh to nav: [[-0.904763,0.424787,0.030985],[-0.422307,-0.885272,-0.194809],[-0.055322,-0.189342,0.980352]]2H/??ۿ@%Tȿ -S X<ȿ@ _?i2 W@I2];2CYBByBq*IbDJVDJ1yR_e%R<ٔVif;Q-V>9TIT=ZxDyZCZ3;EZ>\Q 5b4^ ?Q 9b4^g)^ԅBYdyf(Q If?^=CI^:i^:^4yjBɮj(Aj9Ejh|E EE*E"EI:*E*:VE(N4ZEa@a@a@a@FNOT Ignoring new targets: 474.65 m.Rh9Zh9 ProNav: ac range: 474.645020 m, nav range: 467.716278 m, bearing: 215.246279 deg, approach rate: -0.642960 m/s, LOS rate: 0.007795 deg/s, cmd heading: 205.773314 deg, new cmd heading: 205.782466 deg. Bh19HeadingCmd: 3.591582 target range: 474.645020 and range: 477.00 m.hye@h*h"h hgfffdd!d!jd!Zd-s@ZZZZ|@ɢ± =) >i)عs<iiUBmCBm*IBmBBm =BiBmDBmr;Bm<.EB% CB% CB%ƖCB% =B% =C%;61^A a A I) I9 OE >{y,"7?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508021:4W@:)e@:9f=ٱ:#: BAHRS rotation from veh to nav: [[-0.903704,0.427314,0.026865],[-0.424433,-0.885821,-0.187559],[-0.056349,-0.180900,0.981886]]:H%@Y??)ۿ`Xȿ ٬'ǿ k?i:4W@I:];:CYJByJg*I LLy-S?}?5^I? rh-/?-Mb>-C ) )9-p= ף?J +?ˡEY-%?y-H=-'-2B-rA -B)-B)Y-BbDEVDE0yU|%UA=ٔU;Q-U>9YIY=]xDy](Ceͷ;Ee>aQ 54e?Q 94eSk)e…BY%?Q E:y(Q I?e`CIe=;iex;e 4y ɮ IA jh15FNOT Ignoring new targets: 474.65 m.Rh=w9Zh=w9Am ProNav: ac range: 474.645020 m, nav range: 467.445587 m, bearing: 215.250030 deg, approach rate: -0.612717 m/s, LOS rate: 0.008495 deg/s, cmd heading: 205.782466 deg, new cmd heading: 205.793725 deg. Bhm9uHeadingCmd: 3.591778 target range: 474.645020 and range: 477.00 m.hue@hq*hq"hq hqgqfyfyfydyddjdZd@Z4>Z4>ZJ@Z}?Qɢ]f =)y }t>i)Tw<顁i] i@,6;}Ie@IE EE)E"E:*E|;:VEFA4ZEBE- >,^?A2YW@2NOe@2Zj=ٱ23 :AHRS rotation from veh to nav: [[-0.902690,0.429653,0.023446],[-0.426484,-0.886138,-0.181304],[-0.057122,-0.173661,0.983148]]2H@n??Kۿ>[4ǿ`?:ƿu?i2YW@I2];2CYBByB^*IJAAHbDNVDNkyV%VW=ٔVi;Q-V>9XIX=ZxDyZGCZL;E^>`Q 5f4b?Q 9f4bqn)bBYdyf(Q If?bCIb:ibk:bÀ4ynBɮnOAn8EjhFNOT Ignoring new targets: 474.65 m.Rh %9Zh %9 ProNav: ac range: 474.645020 m, nav range: 467.202454 m, bearing: 215.253317 deg, approach rate: -0.669533 m/s, LOS rate: 0.009055 deg/s, cmd heading: 205.793723 deg, new cmd heading: 205.803587 deg. Bh9%HeadingCmd: 3.591950 target range: 474.645020 and range: 477.00 m.h%e@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@@ZQZQZQZUW?iɢmp=)i m`>ii)u.zA}>E EE(E"E:*E?:VEc44ZEa@a@a@a@ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2639309 &,-?AB>BCBo*IBBB =BBDB'r;BW.E>CW@>we@>l=ٱ>- JAHRS rotation from veh to nav: [[-0.901594,0.432072,0.021005],[-0.428705,-0.885974,-0.176807],[-0.057784,-0.168413,0.984021]]>H ?@A? oۿYƿڕſ@}?i>CW@I>E];>CYnqBynH*IbDvVDv0yUb%U@=ٔ]:Q-]>9YIY=exDyejCe;Ee>iQ 5u4m?Q 9u4mq)mBYyy}(Q I}?mCIm;im;m!ˀ4yBɮyA@EjhFNOT Ignoring new targets: 474.65 m.Rhg9Zhg9 ProNav: ac range: 474.645020 m, nav range: 466.930389 m, bearing: 215.256901 deg, approach rate: -0.631769 m/s, LOS rate: 0.008328 deg/s, cmd heading: 205.803585 deg, new cmd heading: 205.814344 deg. Bh9HeadingCmd: 3.592138 target range: 474.645020 and range: 477.00 m.he@h*h"h hgfffdddjdZd` @Z!Z!Z!Z%?9ɢ=<)9 =xb>iA)EM}D =D <E  E E &E "E [:*E VE 4ZE BE AHRS rotation from veh to nav: [[-0.900745,0.434039,0.016363],[-0.430390,-0.886831,-0.168214],[-0.058501,-0.158561,0.985615]]6HL?i?ۿ` ſ`KĿ'?i66W@I6^];6CYboBybE*IbDj VDj:2yr!%rO=ٔv:Q-v>9tIt=zxDyzCzE;Ez>|Q 54~5?Q 94~2u)~BY y \(Q I ?~âCI~:i~:~Ҁ4yɮA5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 474.65 m.RhE,9ZhM,9U ProNav: ac range: 474.645020 m, nav range: 466.678772 m, bearing: 215.260137 deg, approach rate: -0.646189 m/s, LOS rate: 0.008315 deg/s, cmd heading: 205.814350 deg, new cmd heading: 205.824063 deg. Bh]9eHeadingCmd: 3.592308 target range: 474.645020 and range: 477.00 m.he^e@hi*hi"hqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768026 hqgfffdddjdZdP@ZZZZVM?9ɢ=<)9 =~^>i9)EM @M 5=M &I@ M |٠=)M A>IM |٠I I M d?`%?'P1ڱ? M 0>)M <IM A>iM |٠I I  :publishing transmit ping time  Fpublishing direction and range infoyI M o'E/?@y?]o?5;?YI I I I I I )I II iI I I I I I )I II I I M d?`%?'P1ڱ? I )I II iI I I A I I! O- >H,?M?AB+W@Bܨe@Bq=ٱB JAHRS rotation from veh to nav: [[-0.900249,0.435242,0.010804],[-0.431365,-0.888320,-0.157519],[-0.058962,-0.146467,0.987457]]BH``?= ?@|ۿ`m)Ŀ`B0n¿ ??iB+W@IB];BCLYeBy9*IbDVD02y9%?=ٔ:Q->9I=xDyCQ%;E>Q 5%4?Q 9%4x)zBY!y%;(Q I-?CI;io;ـ4bE'4jE-4rE/E5 E5E1E1"E5y:*E5E7:VE1ZE1aE@aE@aE@aE@yU BɮUAU?Eiyi}gG?AJi}CRi}Cji}n@i})VYj}@N62?N@n {B@ri}o'E/?@y?]o?5;?Zi} A>bi}|٠i}[H]x\GGp5?zi}ZۖkvIl8?2i}=:i}J"i}JeTj?*i} )l<Bi}Biyi}Di}ٷBi}Ci}3p@ addTargetRange:: Added new target pos. range: 473.399994 m, deltaT: 4.031919 s, deltaX: -3.600006 m, approachRate: -0.892877 m/s, rangeRepo size: 4 - Added new target pos. range: 471.140289 m, bearing: 213.564230 deg, lat: 36.779484 deg, lon: -121.860072 deg, deltaT: 4.031919 s, deltaX: -3.504730 m, approachRate: -0.869246 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 471.14 m.Rh=Zh9M ProNav: ac range: 471.140289 m, nav range: 465.117950 m, bearing: 215.039540 deg, approach rate: 0.000000 m/s, LOS rate: 0.008315 deg/s, cmd heading: 205.824062 deg, new cmd heading: 205.835548 deg. BhIuHeadingCmd: 3.592508 target range: 471.140289 and range: 473.40 m.hue@hq*hq"hq hqgqfyfyfydyddjd`f}@Zd r?ZZZZ*f?ɢZ<) J>i)ۘ<ii 4,P;-ݱ:I-e@I)@ @@4@B>BCBP*IBwBB =BBDBr;B.E^A "9A zA gA! A .AI I O > v,Ѯg?A2W@2e@2{r=ٱ27 :AHRS rotation from veh to nav: [[-0.901053,0.433660,0.006544],[-0.429644,-0.890445,-0.150047],[-0.059242,-0.138012,0.988657]]2Hl? z? Jۿ~4ÿUc`?i2W@I2X^;2CYVDByZ*Ixye&1?I +?L7A`尿e?e94=e+a a9e/$?MbX?MbYe1(?ye=ee(BeA eSB)eBaYeBbD}VD}y $%K=ٔA7:Q->9 ?I ?=xDy͖CE>Q 54f?Q 94|)bBY*?Q E:y#Q I?CI ;i. ;4yɮAjhFNOT Ignoring new targets: 471.14 m.Rh@8Zh@8 ProNav: ac range: 471.140289 m, nav range: 464.858490 m, bearing: 215.040514 deg, approach rate: -0.701152 m/s, LOS rate: 0.002636 deg/s, cmd heading: 205.835551 deg, new cmd heading: 205.838477 deg. Bh8HeadingCmd: 3.592559 target range: 471.140289 and range: 473.40 m.h}e@h*h"h hgfffdddjdZd@o?Z=Z=ZW, ?Zt-@QɢUk}<)Y ]>iY)]!pύ,R?A2\|W@2 re@25r=ٱ2 RAHRS rotation from veh to nav: [[-0.901679,0.432374,0.005230],[-0.428348,-0.891500,-0.147467],[-0.059098,-0.135209,0.989053]]2H`?Mlu? jۿ*4¿B@NR?i2\|W@I2V];2CYjOByj*I llbDvVDvkxy~ ^=%M=ٔQ->9"?I "?= xDy C gmE >Q 54?Q 94T)KBY!y%#Q I%?)CI:i:z4y-Bɮ-ٲA5>EjhQ]FNOT Ignoring new targets: 471.14 m.Rh]<8Zh]<8m ProNav: ac range: 471.140289 m, nav range: 464.596710 m, bearing: 215.041535 deg, approach rate: -0.658524 m/s, LOS rate: 0.002570 deg/s, cmd heading: 205.838474 deg, new cmd heading: 205.841539 deg. Bhm8uHeadingCmd: 3.592613 target range: 471.140289 and range: 473.40 m.hu]e@hq*hy"hy hygyfyffdddjdZd8?ZZZZ?"@颹ɢ <) >i)\<i.iY2,D;}I]e@I9@ @@/@@@!^Ae"A.AIIOe>QE EE'E"E7:*EVE'4ZEa@a@a@a@] ?] p=y B >B CB **IB YBB =B B DB js;B .E!,?A2mW@2Mce@2%t=ٱ2}B :AHRS rotation from veh to nav: [[-0.902039,0.431618,0.005575],[-0.427524,-0.891551,-0.149533],[-0.059571,-0.137268,0.988741]]2H@?tv?`\ۿ`#ÿ@`ģ?i2mW@I2];2CYB7ByB*IbDZVDZk1yf%fN=ٔj:Q-j>9j ?Ij ?=nxDyn CnEn>pQ 5v4rm?Q 9v4r)r3BYxyz$Q Iz?rKCIr:ir:rh4y~Bɮ~%A=Ejh!%FNOT Ignoring new targets: 471.14 m.Rh-B8Zh-B8Y ProNav: ac range: 471.140289 m, nav range: 464.336182 m, bearing: 215.042589 deg, approach rate: -0.657077 m/s, LOS rate: 0.002658 deg/s, cmd heading: 205.841534 deg, new cmd heading: 205.844696 deg. Bh8HeadingCmd: 3.592668 target range: 471.140289 and range: 473.40 m.hDe@h*h"h hgfffdddjdZdB?ZZZZ@颡ɢ<) =i)!<顩1i5xi=r1,=Ē;=NI=De@IAԉqԹ 9@  @ @ 4@ D) D) E  E E &E "E Ʊ:*E a9:VE 4ZE BE B;a 2E C;a JE %;a :E %;a  ^A yb]I I!O->H,?A6TUW@6Ke@6||t=ٱ6> RAHRS rotation from veh to nav: [[-0.902667,0.430283,0.006954],[-0.426184,-0.891596,-0.153048],[-0.059654,-0.141115,0.988194]]6H?{|?@Fۿ`@ÿ`ꊮ` ¿I?i6TUW@I6];6CYZ1ByZ)IbDbVDb:yj%j$=ٔnx.9Q-n>9lIl=nxDyr5Cr&CEr>tQ 5z4vrV?Q 9z4vƈ)vBYxy~$$Q I~?vtCIv;ivD;v4yɮE  E E E "E g:*E F:VE ZE a @a @a @a @ ,,t?A4<ɰ4<6=W@63e@6t=ٱ6o >AHRS rotation from veh to nav: [[-0.903270,0.429030,0.005985],[-0.424895,-0.892449,-0.151655],[-0.059723,-0.139529,0.988415]]6H :u?x? {1ۿ qiÿ  ?i6=W@I6 ];6CYF&ByF)IbDN VDN:2yVY%VM=ٔZ79Q-Z>9XIX=^yDy^UC^jE^>`Q 5f4bC?Q 9f4b)bBYhyj8$Q Ij?bCIb:ib(:b4ynBɮnUAr mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256737jd9Zd<@ZZZZG@ ɢ <)  =i)-c<i]FLi]>/,eʼn;e-Iexe@IaiiqB}>ByB} *IB}?BB} =ByByB}:t;B}C/Eq19@ @@4@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507961I ^A yI I O% >Q^,?AZ)W@Ze@Z|t=ٱZ  nAHRS rotation from veh to nav: [[-0.903817,0.427882,0.005654],[-0.423740,-0.893072,-0.151219],[-0.059654,-0.139071,0.988484]]ZH@ib?&)w?`ۿ '[ÿ`?iZ)W@IZm];XYzByz)IE EEE"E:*EE7:VEZEBEe ' ?%B A IB) B Y zBbD!VD!y5a%53=ٔ=KQ-=>99I9=EyDyEyCE7EE>IQ 5U4M/?Q 9U4Mo)MBY]-?Q E]:y]Q I]?MCIM2:iM:M4yeBɮmtAmEEjhFNOT Ignoring new targets: 471.14 m.RhЋZhЋ ProNav: ac range: 471.140289 m, nav range: 463.442383 m, bearing: 215.043412 deg, approach rate: -0.669528 m/s, LOS rate: -0.003820 deg/s, cmd heading: 205.852394 deg, new cmd heading: 205.847168 deg. Bh'HeadingCmd: 3.592711 target range: 471.140289 and range: 473.40 m.he@h*h"h hgfffdddjdZdw@ZU=ZU=Z#V?Ze<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761213}9@y @y@}/@yi^A CI) m ܁G jAI 9 jAY 9AO > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012026>¹,@j ?A@Y By )I AbD!VD!y-O%5^=ٔ5Q-5>99I9==yDy=CEEE>AQ 5M4E?Q 9U4Eh)EӄBYQyQQ IU?EݣCIE:iE:Ex 4yYɮeAajhFNOT Ignoring new targets: 471.14 m.Rh؋Zh؋ ProNav: ac range: 471.140289 m, nav range: 463.195618 m, bearing: 215.042003 deg, approach rate: -0.668958 m/s, LOS rate: -0.003821 deg/s, cmd heading: 205.847162 deg, new cmd heading: 205.842934 deg. Bh'HeadingCmd: 3.592637 target range: 471.140289 and range: 473.40 m.he@h*h"h hgfffdddjdZd@ZZZZɢՠ<) 7=i)<i70i1,7;[úIe@I Ա@ @@@E5 E5E5)E1"E5:*E50:VE5FA4ZE1aE@aE@aE@aE@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264496^A%&tB>BB)IB!BB =BBBu;B/EB= CB= CB=ȕCB= =B= =C= 6IIO> hȹ,D#?A:iW@: e@:C3v=ٱ:  BAHRS rotation from veh to nav: [[-0.904249,0.426953,0.006749],[-0.422760,-0.892921,-0.154812],[-0.060071,-0.142841,0.987921]]:H@1S?o{?}ۿΒÿ H¿` ?i:iW@I:iN];:CYJByJ)IbDR VDRf2yZޚ%ZR=ٔ^ :Q-^>9`I`=byDybCf5Ef>dQ 5j4f ?Q 9n4f)fBlYlyrQ Ir?fCIf7;if'8;fB4yvBɮvAzDEjhFNOT Ignoring new targets: 471.14 m.RhZh- ProNav: ac range: 471.140289 m, nav range: 462.935516 m, bearing: 215.040562 deg, approach rate: -0.668830 m/s, LOS rate: -0.003709 deg/s, cmd heading: 205.842927 deg, new cmd heading: 205.838601 deg. Bh-"5HeadingCmd: 3.592561 target range: 471.140289 and range: 473.40 m.h5e@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM@/ @ZiZiZiZm*@yɢ}H%<) @~A]>IIO>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768041גι,G =?A2,W@2e@2_v=ٱ2. :AHRS rotation from veh to nav: [[-0.904050,0.427356,0.007745],[-0.423189,-0.892394,-0.156664],[-0.060040,-0.144909,0.987622]]2H@Y?Ҹ?ۿ~ Ŀ c¿?i2,W@I2Y];0YbByb)IbDjVDj02yrܬ%rG=ٔvnQ-v>9tIt=vyDyzחCz:Ez>9QQ 5]4Ud?Q 9e4U)UBYaye Q Ie?U!CIUj;iU3;Uk4yiɮmAqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 471.14 m.Rh5Zh5 ProNav: ac range: 471.140289 m, nav range: 462.661377 m, bearing: 215.039031 deg, approach rate: -0.651419 m/s, LOS rate: -0.003639 deg/s, cmd heading: 205.838597 deg, new cmd heading: 205.834002 deg. BhHeadingCmd: 3.592481 target range: 471.140289 and range: 473.40 m.h6e@h*h"h hgfffdddjdZd/@ZZZZ-@ɢ><) ;i ) 8+<  i i4,4̎;ŻI6e@I@ @@~0@qDAT read: 00:23:57.5876 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 414, 0.44,-1.097,-2.698,-1.168,-1.434, PHS= 0.439,-1.219, 0.221, RAW= 143.1, 7.2, CAL= 142.7, 7.9, ROT= 7.3, -7.9 Ygot valid direction response: 00:23:57.5876 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 414, 0.44,-1.097,-2.698,-1.168,-1.434, PHS= 0.439,-1.219, 0.221, RAW= 143.1, 7.2, CAL= 142.7, 7.9, ROT= 7.3, -7.9 %PDAT read: Bearing 356.3, 2.9 (Local) -~Local bearing/azimuth received: Bearing 356.3, 2.9 (Local) 5DAT read: Range 11 to 50 : 471.2 m (Round-trip 628.3 ms) speed 0.4 m/s =BDAT read: Tx time:00:23:58.6505 =$Ping request sent.Ei1Mb> @>e@ 0 >)w>I0 ˩.6?@R?KEA? _>)TIw>i0 m:publishing transmit ping time9mFpublishing direction and range infoy{p?R#?yjȗ?Y )Ii )I˩.6?@R?KEA? )Iiԑ^A`ԻAA II IY Em  Em Em (Ei "Em :*Em VL:VEm c44ZEi au @au @au @au @O > {չ,V?A2P(W@2e@2v=ٱ2h :AHRS rotation from veh to nav: [[-0.903803,0.427866,0.008445],[-0.423688,-0.891850,-0.158405],[-0.060244,-0.146745,0.987338]]2H@(b?K? ۿ` FĿPخ ¿@F?i2P(W@I2=];2CYNByR)IIV<)V4V>bDZVDZ2yv%vJ=ٔv:Q-v>9xIx=zyDyzCz:E~>iQ 5u4m?Q 9u4m~)mBYqyuQ I}?mECIm3;im;m!4yBɮųACEԙiipI?AJisCRisCji mn@iE+Y|@M@cP@ri{p?R#?yjȗ?Ziw>bi0 it2*ixp p۹,q?A";ɰ";F&W@FZe@Fu=ٱF` NAHRS rotation from veh to nav: [[-0.903860,0.427738,0.008787],[-0.423603,-0.891865,-0.158548],[-0.059980,-0.147028,0.987312]]FHk `?? Pۿ (NKĿ¿?iF&W@IFR];FCYVByV)IE  E E E "E ,:*E F:VE ZE BE ^=D= 9x&?On?~jtx?Y7)?y>;A )BY BbDVD02y%<=ٔQ->9I=yDyC`tE>Q 54?Q 94)BYw-?Q E:yQ I?iCIN;iM;)4yɮAjhFNOT Ignoring new targets: 468.90 m.RhZh- ProNav: ac range: 468.898895 m, nav range: 468.125519 m, bearing: 213.552480 deg, approach rate: -0.679241 m/s, LOS rate: -0.006166 deg/s, cmd heading: 205.829526 deg, new cmd heading: 205.821821 deg. Bh-j5HeadingCmd: 3.592268 target range: 468.898895 and range: 471.20 m.h5e@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM;2?Zd]>Zd]>ZӍ>Zu@ɢ jv<) %i!)%a ,?A2&W@2Pe@2Mfv=ٱ25 >AHRS rotation from veh to nav: [[-0.903853,0.427748,0.009009],[-0.423597,-0.891728,-0.159331],[-0.060120,-0.147828,0.987184]]2H]@7`?^s?@8ۿ `dĿ`Ȯ ¿ ?i2&W@I2A];0Y^By^)IbDfVDf2yn%n[=ٔr9Q-r>9pIp=vyDyv7CvֶEv>xQ 5~4z ?Q 9~4z )z}BYyQ I?zCIz ;izB;z/4y Bɮ A BEjh15FNOT Ignoring new targets: 468.90 m.Rh=Zh=M ProNav: ac range: 468.898895 m, nav range: 467.874512 m, bearing: 213.550200 deg, approach rate: -0.675171 m/s, LOS rate: -0.006135 deg/s, cmd heading: 205.821822 deg, new cmd heading: 205.814980 deg. BhMUHeadingCmd: 3.592149 target range: 468.898895 and range: 471.20 m.hUe@hQ*hQ"hQ hQgYfYfafadadadajdiZdm ?ZZZZu@颙ɢPc<) i)҅<顡ixi9,ٌ;ﴻIe@IQ59@1 @9@=/@9bEc44jE14rEg/E5 E5E5*E1"E5:*E5VL:VE5(N4ZE1a=@aE@aE@aE@ԁ^AUXһIIO>B>BCB)IBBB =BBDBv;B0EԱ ,.?A2@8W@2-e@2u=ٱ2Rm :AHRS rotation from veh to nav: [[-0.903409,0.428636,0.011137],[-0.424575,-0.890617,-0.162900],[-0.059906,-0.151894,0.986580]]2H @n?φ?>,ۿĿCqÿ?i2@8W@I2ps];2CY^By^)I ``fAdbDjVDjN2yr%vJ=ٔv Q-v>9tIx=zyDyzXCz.;Ez>|Q 54~Ҳ?Q 94~)~qBY y Q I ?~CI~:i~:~64yɮ$Ajh9EFNOT Ignoring new targets: 468.90 m.RhEGZhEGU ProNav: ac range: 468.898895 m, nav range: 467.601471 m, bearing: 213.547685 deg, approach rate: -0.673639 m/s, LOS rate: -0.006209 deg/s, cmd heading: 205.814978 deg, new cmd heading: 205.807428 deg. BhU]]HeadingCmd: 3.592017 target range: 468.898895 and range: 471.20 m.h]e@ha*ha"ha hagafafifidididijdqZdu@?Z Z Z Z u@aɢeI<)a epia)mh,f?A$&@bFW@bh9I=zDyyC ;E>AQ 5E4EN?Q 9M4E )EeBYIyMQ IM?EФCIE=:iE:E=4yUBɮ].A}JEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 468.90 m.RhZh ProNav: ac range: 468.898895 m, nav range: 467.323883 m, bearing: 213.545099 deg, approach rate: -0.659651 m/s, LOS rate: -0.006149 deg/s, cmd heading: 205.807424 deg, new cmd heading: 205.799661 deg. Bh HeadingCmd: 3.591882 target range: 468.898895 and range: 471.20 m.hde@h*h"h hgfffdddqjdqZd}?ZZZZu@ɢ9=<) 䋽i)<i7osiQ>,%;%pI%de@I!Q@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y^A3A >A ?Iq I O >ԩ EM  EM EM (EI "EM I:*EM ?:VEM c44ZEI aU @aU @aU @aU @7,y@?A@J_W@J]Ue@JR,q=ٱJs( VAHRS rotation from veh to nav: [[-0.902441,0.430456,0.017532],[-0.426775,-0.887684,-0.172861],[-0.058846,-0.163480,0.984790]]JH??@FPۿgR ƿ!Ŀf?iJ_W@IJ];JCYZىByZ)IbDfVDfkyj1%nN=ٔnEQ-r>9pIp=rzDyrCvz;Ev>xQ 5~4z?Q 9~4zX)zZBY|y~Q I?zCIzY;izv;zD4y Bɮ 1A IE%(DAT read: user:73> -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257197jhAEFNOT Ignoring new targets: 468.90 m.RhMZhMB5>BCB)IBBB =B@DBDBv;B0E ProNav: ac range: 468.898895 m, nav range: 467.058807 m, bearing: 213.542582 deg, approach rate: -0.683728 m/s, LOS rate: -0.006496 deg/s, cmd heading: 205.799665 deg, new cmd heading: 205.792109 deg. Bh=mHeadingCmd: 3.591750 target range: 468.898895 and range: 471.20 m.hu;e@hq*hy"hy hygfffdddjd!Zd%e@ԱZ)Z)Z)Z-u@AɢE6<)A EЛiA)m`5,0?A>W@>ue@>jm=ٱ>sO) FAHRS rotation from veh to nav: [[-0.901648,0.432050,0.019050],[-0.428572,-0.886755,-0.173182],[-0.057931,-0.164313,0.984706]]>HM?Á?mۿ K`*ƿ`8ſ@?i>W@I>];>CYN։ByN)IIR=)RhE~ E~E~)E|"E~:*E~R:VE~FA4ZE|BE~ En>Ej9yIy=}zDy}C};E>Q 54<{?Q 94y)UBY3(?Q E:y"Q I?CI ;iP ;*L4yɮ;AjhFNOT Ignoring new targets: 468.90 m.RhMZhM] ProNav: ac range: 468.898895 m, nav range: 466.780090 m, bearing: 213.542141 deg, approach rate: -0.660229 m/s, LOS rate: -0.001045 deg/s, cmd heading: 205.792111 deg, new cmd heading: 205.790787 deg. Bh]7eHeadingCmd: 3.591727 target range: 468.898895 and range: 471.20 m.hee@ha*ha"ha higfffdddjdZdP@Z!>Z!>Zr@ZAS@ ɢ %<) pi)<iWni@,݊;.I%e@I!5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7613409@ @@0@)^A% *:Y I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012395,H ?Aɰ4<6^W@6e@6}i=ٱ6`$ >AHRS rotation from veh to nav: [[-0.900978,0.433480,0.018252],[-0.430107,-0.886861,-0.168776],[-0.056974,-0.159914,0.985485]]6H"??ކۿ*auſ+xĿ?i6^W@I6 ];6CYjByjp)IbDrVDr:2yzcԽ%zS=ٔ~<"Q-~>9I=zDy٘C;E > Q 54 i?Q 94 @) QBYy"Q I? 6CI ;i ; R4y%Bɮ-A-HE9jhQUFNOT Ignoring new targets: 468.90 m.Rh]Zh]m ProNav: ac range: 468.898895 m, nav range: 466.525665 m, bearing: 213.541689 deg, approach rate: -0.655740 m/s, LOS rate: -0.001165 deg/s, cmd heading: 205.790786 deg, new cmd heading: 205.789430 deg. BhmLuHeadingCmd: 3.591703 target range: 468.898895 and range: 471.20 m.huwe@hq*hq"hq hqgyfyfyfdddjdZd@ZZZZlS@ɢ|T;) i)!*<iki>A,;/:I we@IE EE&E"E[:*ET:VE4ZEa%@a%@a%@a%@-9@) @)@-/@)i=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264576ԑBB>BCB)IBՉBB =BBDBv;B0E^AmጹAufAzAqIIO>  ,%?A2W@2e@2qe=ٱ27 >AHRS rotation from veh to nav: [[-0.900279,0.434962,0.017509],[-0.431699,-0.886906,-0.164419],[-0.055987,-0.155581,0.986235]]2H`k??ۿa ſaÿ =?i2W@I2];2CYFƉByFu)IbDN VDNf2yV<%VO=ٔV5$Q-Z>9XIX=ZzDyZC^Ő;E^>`Q 5f4bW?Q 9f4bij)bMBYdyf"Q Ij?bXCIb:ibI:bY4ylɮnpAljhFNOT Ignoring new targets: 468.90 m.Rh ]Zh ] ProNav: ac range: 468.898895 m, nav range: 466.266693 m, bearing: 213.541177 deg, approach rate: -0.657794 m/s, LOS rate: -0.001300 deg/s, cmd heading: 205.789433 deg, new cmd heading: 205.787898 deg. Bhod-HeadingCmd: 3.591676 target range: 468.898895 and range: 471.20 m.h-e@h1*h1"h1 h9gAfAfIfIdIdIdIjdQZdU# @ZqZqZqԙZuިS@ɢc<) i ) g<  i ]iiUA,Ug{;U;I]e@IYBDAT read: Rx Time:00:24:01.6794 TRx dataTimestamp_ set to:1761524640.676479checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517891 9@  @ @ /0@ E EE)E"E:*EF:VEFA4ZEBE= M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768464 /,??A2W@2e@2_=ٱ2% :AHRS rotation from veh to nav: [[-0.899797,0.435935,0.018086],[-0.432882,-0.886774,-0.162002],[-0.054585,-0.153598,0.986625]]2H "@[??Vۿ`t`|Ŀ`ÿn?i2W@I2^];2CY^Bybg)I ``bDjVDjy%R%%C=ٔ-_[Q-->9)I)=5zDy5C5bG;E5>9Q 5E4=gD?Q 9E4=7ȳ)=JBYIyM}"Q IM?={CI=:i=4:=)a4yU߶BɮUAUGEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 468.90 m.GRhʷZhʷjA=9=jAY=oAM ProNav: ac range: 468.898895 m, nav range: 465.991058 m, bearing: 213.540591 deg, approach rate: -0.649717 m/s, LOS rate: -0.001383 deg/s, cmd heading: 205.787903 deg, new cmd heading: 205.786143 deg. BhMrUHeadingCmd: 3.591646 target range: 468.898895 and range: 471.20 m.hUe@hY*hY"hY hYgYfYfafadadadajdiZdmh@Z)Z)Z)Z-߹S@颩ɢ+;)  i)(i<顱iӌfi0B, a; ԉH;I e@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0279319@ @@ 0@Y^A ] ;E-  E- E- 'E) "E- I:*E- A:VE- '4ZE) a5 @a5 @a5 @a5 @I I O >y ,3Y?A@6\W@6e@6X=ٱ6p >AHRS rotation from veh to nav: [[-0.898991,0.437488,0.020483],[-0.434763,-0.885789,-0.162353],[-0.052884,-0.154859,0.986520]]6H@@??(ۿbXĿ@lÿ?i6\W@I6t];4YFByF`)IbDR VDR:2yV%ZR=ٔZ~Q-Z>9XI\=bzDyb:Cf;Ej>pQ 5v4r2?Q 9z4r̳)rFBYxyz["Q Iz?rCIr:ir:rh4yɮAB}:>B}CB}o)IB}BB} =ByB}DB}&w;B}0EB%CB%CB%CB% =B% =C%F7YDAT read: 00:24:01.6794 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 410,-0.26, 1.714,-0.035, 1.653, 1.205, PHS= 0.611,-1.195, 0.405, RAW= 144.0, 2.1, CAL= 143.6, 2.4, ROT= 6.4, -2.4 jhYgot valid direction response: 00:24:01.6794 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 410,-0.26, 1.714,-0.035, 1.653, 1.205, PHS= 0.611,-1.195, 0.405, RAW= 144.0, 2.1, CAL= 143.6, 2.4, ROT= 6.4, -2.4 FNOT Ignoring new targets: 468.90 m.Rh=ʷZh=ʷUPDAT read: Bearing 350.2, 3.0 (Local) U~Local bearing/azimuth received: Bearing 350.2, 3.0 (Local) ]DAT read: Range 11 to 50 : 468.6 m (Round-trip 624.8 ms) speed 0.6 m/s eRDAT read: user:74>Tx time:00:24:02.7490  ProNav: ac range: 468.898895 m, nav range: 465.732880 m, bearing: 213.539975 deg, approach rate: -0.579803 m/s, LOS rate: -0.001384 deg/s, cmd heading: 205.786141 deg, new cmd heading: 205.784293 deg. BhsHeadingCmd: 3.591614 target range: 468.898895 and range: 471.20 m.he@h*h"h hgfffdR#Rx 1: Read range and direction messages.\direction in FSK: [0.992896,0.111371,0.041876]Fpublishing direction and range infoyH?sт? ۷p?YLC )SIj?i)\>| @Q =g @ +=)=I+=5?np?-? S>)PI=i+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ddjdI}@Zd`?Z)Z)Z)Z-4S@9ɢE;)A EiQ)Uae,is?A2X@2 f@2UR=ٱ2! >AHRS rotation from veh to nav: [[-0.898063,0.439257,0.023177],[-0.436863,-0.884540,-0.163526],[-0.051329,-0.156982,0.986267]]2H@?ǻ? ۿ%N`hĿGĿ`?i2X@I2];0YFByFI)IEn ElEn+El"En:*ElVEn [4ZElBEn 9I=zDy]C;E>Q 54^?Q 94ϳ)@BY)?Q E:ye'Q I?CIP ;i ;o4yܶBɮAFEii[?AJi6CRi6Cjim@iF|@bI@zy 3@riH?sт? ۷p?Zi=bi+iAxGʢnoއR)zi{WWP'w@SXN̛2iu{:iP"ik4ߜ?*i0Bi`BiܧW?i b%iBiCiin@ addTargetRange:: Added new target pos. range: 468.600006 m, deltaT: 4.287976 s, deltaX: -2.600006 m, approachRate: -0.606348 m/s, rangeRepo size: 4 % Added new target pos. range: 466.422485 m, bearing: 212.637228 deg, lat: 36.779376 deg, lon: -121.859989 deg, deltaT: 4.287976 s, deltaX: -2.476410 m, approachRate: -0.577524 m/s, posRepo size: 4 jh!%FNOT Ignoring new targets: 466.42 m.iRhZh ProNav: ac range: 466.422485 m, nav range: 465.146667 m, bearing: 213.438150 deg, approach rate: 0.000000 m/s, LOS rate: -0.001384 deg/s, cmd heading: 205.784297 deg, new cmd heading: 205.782698 deg. BhHeadingCmd: 3.591586 target range: 466.422485 and range: 468.60 m.he@h*h"h hgfffdddjdZd@@L?Z5p=Z5p=Z5@Z5qi@iɢm\ ;)i m0;ii)may~H#, ƍ?A2AHRS rotation from veh to nav: [[-0.897053,0.441195,0.025348],[-0.439089,-0.883349,-0.164000],[-0.049965,-0.158247,0.986135]]2H 9I=zDy}C;E>Q 54 ?Q 94yӳ):BYy='Q I?CIg:i:v4yݶBɮAOEjh9EFNOT Ignoring new targets: 466.42 m.RhE8ZhE8 ProNav: ac range: 466.422485 m, nav range: 464.878296 m, bearing: 213.439975 deg, approach rate: -0.654653 m/s, LOS rate: 0.004455 deg/s, cmd heading: 205.782699 deg, new cmd heading: 205.788178 deg. BhC9HeadingCmd: 3.591681 target range: 466.422485 and range: 468.60 m.he@h*h"h hgfffdddjdZd@?ZZZZܿi@ɢd:) NQi){<i^iA,x͊; B9B=V)IB=BB= =B9B=DB=8w;B= 1E^A;1 A I I O% >3r),?A4<ɰ;FJ_X@FTf@FFF=ٱF ^AHRS rotation from veh to nav: [[-0.896177,0.443003,0.024787],[-0.441050,-0.883348,-0.158653],[-0.048388,-0.153114,0.987023]]FH{*Z?a?(:ܿcDNĿUƨ:ÿ?iFJ_X@IFB];FCYfByf4)IbDVD0yC%R=ٔ鄻Q->9I=zDyC;E>Q 54?Q 94ֳ)5BYy'Q I?CIG;i;}4yɮ0AjhAEFNOT Ignoring new targets: 466.42 m.RhM78ZhM78echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.537245} ProNav: ac range: 466.422485 m, nav range: 464.615143 m, bearing: 213.441699 deg, approach rate: -0.651288 m/s, LOS rate: 0.004268 deg/s, cmd heading: 205.788177 deg, new cmd heading: 205.793350 deg. Bh}u;9HeadingCmd: 3.591772 target range: 466.422485 and range: 468.60 m.he@h*h"h hgfffdddjdZdQ?QZZZZi@ɢ0-:) @]i)Nx<i8\iU @,Ul9;U'0,u?A2CdX@2Yf@2eA=ٱ2c" :AHRS rotation from veh to nav: [[-0.896094,0.443216,0.023960],[-0.441347,-0.883975,-0.154278],[-0.047199,-0.148822,0.987737]]2H ά]?@툘??ܿI cÿ`n* ÿ`?i2CdX@I2a];0YBByB$)IbDNVDN2yR͂%RF=ٔV&=Q-V>9Z"?IZ"?=Z{DyZCZbG:E^>\Q 5b4^s?Q 9b4^ڳ)^/BYdyf'Q If?^'CI^j;i^;^4yj۶Bɮn]AnNEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 466.42 m.Rh 8Zh 8 ProNav: ac range: 466.422485 m, nav range: 464.351257 m, bearing: 213.443420 deg, approach rate: -0.685143 m/s, LOS rate: 0.004473 deg/s, cmd heading: 205.793354 deg, new cmd heading: 205.798522 deg. BhwD9%HeadingCmd: 3.591862 target range: 466.422485 and range: 468.60 m.h%e@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd=b?ZYZYZYZ]i@ɢ`O) ,돋;@&6,?AB";>B B"=)IB"BB" =B B"DB"mw;B" 1EJ>J%=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.308616XjpX@ff@@<=ٱ) %AHRS rotation from veh to nav: [[-0.895819,0.443632,0.026433],[-0.442037,-0.883294,-0.156191],[-0.045943,-0.151603,0.987373]]H@@vd?.?VJܿCÿ ㅧ`gÿ?ijpX@I_];CYU}ByU)I YYaeAy  ףp= ?9E ?IE ?=E{DyECM:EM>QQ 5]4U?Q 9]4U޳)U!BY](?Q E]:y](Q Ie?UPCIU<;iUa;U54ymٶBɮmpAmMEjhFNOT Ignoring new targets: 466.42 m.Rh@8Zh@8 ProNav: ac range: 466.422485 m, nav range: 464.032898 m, bearing: 213.446427 deg, approach rate: -0.654157 m/s, LOS rate: 0.006181 deg/s, cmd heading: 205.798517 deg, new cmd heading: 205.807542 deg. Bh9HeadingCmd: 3.592019 target range: 466.422485 and range: 468.60 m.he@h*h"h hgfffdddjdZd@l@Z@=Z@=ZQ:@ZUF@ɢ) i)q<顁iVi<,&;c/fO=,?A(6xX@6mf@697=ٱ6 >AHRS rotation from veh to nav: [[-0.895662,0.443746,0.029652],[-0.442482,-0.882436,-0.159740],[-0.044718,-0.156193,0.986714]]6HCVf?]?@Qܿ <XrĿA妿"ÿ(?i6xX@I6];6CYFpByF )IbDNVDN1yVٓ%Vp=ٔZkQ-Z?9^"?I^"?=^{Dy^C^:Eb?`Q 5f4bu?Q 9f4bp)bBYhyj(Q Ij?bmCIb;ib;b+4ylɮrApjhFNOT Ignoring new targets: 466.42 m.Rh8Zh8 ProNav: ac range: 466.422485 m, nav range: 463.809814 m, bearing: 213.448528 deg, approach rate: -0.624843 m/s, LOS rate: 0.005889 deg/s, cmd heading: 205.807547 deg, new cmd heading: 205.813855 deg. BhW9HeadingCmd: 3.592129 target range: 466.422485 and range: 468.60 m.hse@h*h"h hgfffdddjdZd@ZQZQZQZUF@颩ɢb) ]i)+n<顱i:nTiA:, x;.4A>  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064459A I I O >2D,_?A2j|X@2rf@24=ٱ23% :AHRS rotation from veh to nav: [[-0.895571,0.443733,0.032454],[-0.442731,-0.881568,-0.163788],[-0.044067,-0.161052,0.985962]]2H f?@ߝ?Uܿ5Ŀ@]Ŀ@?i2j|X@I2];2CYJ`ByN(IbDVVDV:2y^%^J=lٔwκQ->9 I = {Dy "C Q':E>Q 54?Q 9%4) BY!y%(Q I%?CI;i;c4y-׶Bɮ5۵A5LEjhQUFNOT Ignoring new targets: 466.42 m.Rh]8Zh]8m ProNav: ac range: 466.422485 m, nav range: 463.539642 m, bearing: 213.451075 deg, approach rate: -0.680582 m/s, LOS rate: 0.006418 deg/s, cmd heading: 205.813858 deg, new cmd heading: 205.821502 deg. Bhm9uHeadingCmd: 3.592263 target range: 466.422485 and range: 468.60 m.hue@hq*hy"hy hygyfyffdddjdZd`@ZZZZKF@颹ɢ|)29 i)j<i2Qi8,;r5BB$)IBBB =BBDBw;Bb1E%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3165801^A9<A I I O >a ]J,{+?ABkX@Baf@B_1=ٱBi% RAHRS rotation from veh to nav: [[-0.896047,0.442752,0.032735],[-0.441836,-0.882129,-0.163183],[-0.043373,-0.160683,0.986053]]BHi V? ? Gܿf:0Ŀ 5EĿ ?iBkX@IB];BCYZVBy^(IIb?>)b4=f=f=bDnVDn2yzIJ%zG=ٔ~-Q-~>9I={DyCC $E >9}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568449Q 54?Q 94I)BYy(Q I?CI;cDQ,PE?A;ɰ>PX@>bFf@>.=ٱ>& JAHRS rotation from veh to nav: [[-0.896812,0.441108,0.033947],[-0.440370,-0.882672,-0.164207],[-0.042469,-0.162212,0.985842]]>H@;?ta?/ܿ@>ſ`]Ŀ?i>PX@I>];>CYRQByR(IbDZVDZ0ybֱ%bM=ٔbQ-f>9f ?If ?=f{DyfcCjˈEj>lQ 5r4nЀ?Q 9r4n)nBYpyv(Q Iv?nҦCInv;in?;n^4yzնBɮzAzKE B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 466.42 m.Rh%Z9Zh%Z95 ProNav: ac range: 466.422485 m, nav range: 463.016388 m, bearing: 213.456135 deg, approach rate: -0.732999 m/s, LOS rate: 0.007177 deg/s, cmd heading: 205.829089 deg, new cmd heading: 205.836698 deg. Bh59=HeadingCmd: 3.592528 target range: 466.422485 and range: 468.60 m.h=e@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU @ZqZqZqZu-F@颁ɢ`$C) Ui)ja<顉iPLi3,ԙA;n^  A} @AAy B A>B B (IB eBB =B B B x;B 1EnW,A,_?ADAT read: 00:24:05.7743 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 405,-0.14, 2.286, 0.712, 2.221, 1.904, PHS= 0.484,-1.147, 0.273, RAW= 143.2, 5.1, CAL= 142.8, 5.7, ROT= 7.2, -5.7 "Ygot valid direction response: 00:24:05.7743 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 405,-0.14, 2.286, 0.712, 2.221, 1.904, PHS= 0.484,-1.147, 0.273, RAW= 143.2, 5.1, CAL= 142.8, 5.7, ROT= 7.2, -5.7 &PDAT read: Bearing 353.4, 4.0 (Local) *~Local bearing/azimuth received: Bearing 353.4, 4.0 (Local) .DAT read: Range 11 to 50 : 465.8 m (Round-trip 621.1 ms) speed 0.5 m/s N3X@N(f@RRDAT read: user:75>Tx time:00:24:06.8490 VR#Rx 1: Read range and direction messages.Z\direction in FSK: [0.987209,0.124714,0.099320]ZFpublishing direction and range infoyim=s.7?$]9?hܸm?YmCiiii i)mQIm>imВmƋ>m@mK=mW@ m%=)m>Im%˽iim D!M?f\~?{ul? m0 >)mNIm>im%˽iifT****** received valid address query ******fR****** received valid ping request ******jQuerying Benthos address 50 with one ping in standard two-way mode.N)=ٱN9+ vAHRS rotation from veh to nav: [[-0.897645,0.439213,0.036396],[-0.438768,-0.882859,-0.167460],[-0.041419,-0.166289,0.985207]]NH@?o?ܿ`a@ Uoſ4 HſІ?iN3X@IN];NCY~:By~(Ia5@a95 a5@a5 a5@a5 a5@a5 i5Mb@Mb@Mb@5©555 195q= ףp?333333?ktY5+?y5=5 05&B5A 5B)5MA1Y5 BbDMVDM:y}ɽ%1=ٔQ->9Y={DyCzE>Q 54xj?Q 94)BY,?Q E:y%Q I?CI;:i":4yԶBɮhAJEiiim_^?AJimCRimCjimjo@imG&W|@[*9L@ w5G@rim=s.7?$]9?hܸm?Zim>bim%˽imŨ}w1h9pINd0@zimxw7}:7&3ڋ?2imˁ:im"im{t?*imBimѪBiiiiiiimZCimon@ addTargetRange:: Added new target pos. range: 465.799988 m, deltaT: 4.047870 s, deltaX: -2.800018 m, approachRate: -0.691726 m/s, rangeRepo size: 4  Added new target pos. range: 463.639038 m, bearing: 214.073779 deg, lat: 36.779376 deg, lon: -121.859989 deg, deltaT: 4.047870 s, deltaX: -2.783447 m, approachRate: -0.687633 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 463.64 m.RhZh ProNav: ac range: 463.639038 m, nav range: 462.704620 m, bearing: 213.457273 deg, approach rate: 0.000000 m/s, LOS rate: 0.007177 deg/s, cmd heading: 205.836698 deg, new cmd heading: 205.847232 deg. Bh)-HeadingCmd: 3.592712 target range: 463.639038 and range: 465.80 m.h5e@h1*h1"h1 h1g1f1f9f9d9d9dAjdE}@ZdEN?ɢ2+) ži)][<i.Hi0, ͍; WB;I e@I 9iߡIߥADAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579109Y6.E 9@A  @I @M /@I y E  E E 'E "E :*E T:VE '4ZE BE P"9iYq=u{DyuCuލEu>yQ 54}P?Q 94})}ʃBYy%Q I?}(CI}3;i}/;}4yڶBɮӶASEjhFNOT Ignoring new targets: 463.64 m.RhL8ZhL8 ProNav: ac range: 463.639038 m, nav range: 462.349701 m, bearing: 213.458685 deg, approach rate: -0.702605 m/s, LOS rate: 0.002798 deg/s, cmd heading: 205.847230 deg, new cmd heading: 205.851470 deg. Bh8HeadingCmd: 3.592786 target range: 463.639038 and range: 465.80 m.h4e@h*h"h hgfffdddjdZda?ɢi)! %ھi!)%T<))i- cEi-/,5I;5r;I54e@I19ԡy@y @y@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081285^A} r;I I O >E  E E -E "E :*E ?:VE t4ZE a @a @a @a @ @f,&U?AY~By~(IbD VD:2B%G>B%CB%(IB%LBB% =B!B!B%xy;B%-2EBCBCBCB =B =COf5yU;%U^=ٔeQ-m>9Y={DyКCE>Q 54>?Q 94Lchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.334814)BY!y!Q I-?HCIqA >IQIaOu>m,?A6W@6He@6=ٱ6= BAHRS rotation from veh to nav: [[-0.900525,0.432173,0.047761],[-0.433285,-0.882773,-0.181593],[-0.036318,-0.184223,0.982213]]6H?t?@ۿ`?@s>ǿ@DǿJn?i6W@I6];6CYF!ByF(Iaa aa aa aa yp= ף?EԸ?9I={DyCE>Q 54P(?Q 94)BY.?Q E:y<#Q I?qCI;i%;ȁ4yضBɮܶAQEjh  FNOT Ignoring new targets: 463.64 m.RhyCZhyC% ProNav: ac range: 463.639038 m, nav range: 461.775055 m, bearing: 213.459411 deg, approach rate: -0.760194 m/s, LOS rate: -0.000668 deg/s, cmd heading: 205.854484 deg, new cmd heading: 205.853637 deg. Bh%-HeadingCmd: 3.592824 target range: 463.639038 and range: 465.80 m.h-e@h)*h)"h1 h1g1f1f1f9d9d9d9jd9ZdE t?Z=Z=Z}>Z]o@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836527ɢ1) ޾i) H<i* ?i%.,%Ǎ;IM!:IMe@II9@ @@Z0@y^A Ii Iy O >ԩ iߡ Iߥ A )f>f=f=bDnVDn:yru%vY=ٔvQ-v>9xIx=z|DyzCzoE~>|Q 54~w?Q 9 4~)~BY y G#Q I ?~CI~:i~:~?ρ4yɮ1A5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 463.64 m.RhMZhM] ProNav: ac range: 463.639038 m, nav range: 461.520111 m, bearing: 213.459208 deg, approach rate: -0.675722 m/s, LOS rate: -0.000538 deg/s, cmd heading: 205.853637 deg, new cmd heading: 205.853028 deg. Bh]*eHeadingCmd: 3.592813 target range: 463.639038 and range: 465.80 m.hee@ha*ha"ha hagifififididqdqjdqZdu?ZZZZjo@颩ɢbʿ) i)yB<顱iWB P>B CB (IB 2BB B B DB @z;B 2E2Acoustic response timeout z,H?A:W@:e@:d=ٱ:A FAHRS rotation from veh to nav: [[-0.900963,0.430649,0.052982],[-0.432709,-0.882749,-0.183078],[-0.032073,-0.187873,0.981670]]:H ?l ?@ۿy?oǿ@k5 ȿ`i?i:W@I:}^;:ClYrByr(IbD VD 02y%%%F=ٔ%AQ-->91I1=5|Dy=6C=CgEE>Ie2Acoustic response timeoutQ 5m4M?Q 9u4M)MBYyN#Q I?MCIMUa ు,?A6W@6e@6_<ٱ6? >AHRS rotation from veh to nav: [[-0.900920,0.430588,0.054201],[-0.432960,-0.883169,-0.180438],[-0.029826,-0.186027,0.982092]]6H`U Ž?-?ۿB`ǿ@Њ@ǿKm?i6W@I6];6CY^Byb}(IbDhVDhyr>%rO=ٔrhQ-r>9tIt=v|DyvVCv/#:Ez>xQ 5~4z??Q 94z)zqBYyH#Q I?zاCIz;iz ;zX݁4y ɮlAjh1=FNOT Ignoring new targets: 463.64 m.9RhE$ZhE$U ProNav: ac range: 463.639038 m, nav range: 460.974274 m, bearing: 213.458791 deg, approach rate: -0.712843 m/s, LOS rate: -0.000562 deg/s, cmd heading: 205.852394 deg, new cmd heading: 205.851765 deg. BhUŷ]HeadingCmd: 3.592791 target range: 463.639038 and range: 465.80 m.h]Je@ha*ha"ha hagafafifidididqjdqZdue@ZZZZro@颡ɢjѼ) i)MI5<顩i 6ik/,G;J:IJe@Im9@q @q@u/@q@@@@u2Acoustic response timeoutyԙbEc44jENJ94rE0E EEE"E*EVEZEa@a@a@a@A ؟AI I O > B `>B CB (IB BB =B B DB z;B 2E 2Acoustic response timeout?܇, ?A2W@2e@2<ٱ2: >AHRS rotation from veh to nav: [[-0.900876,0.430718,0.053884],[-0.433199,-0.884216,-0.174643],[-0.027577,-0.180675,0.983156]]2H??ۿ`K@Zƿ=W ǿ v?i2W@I2^;2CYBByF|(I HJAHJAa@a9 a@a a@a a@a iMb@Mb@Mb@© 9q= ףp?HzG? rhY+?y= >C'BCA B)YbD- VD-2y=%ED=ٔE>Q-E>9E"?YM"?=M|DyMxCM[:EM>ԙQQ 54U?Q 94U0 )UdBY/?Q E:y Q I?UCIUY! E  E E (E "E :*E T:VE c44ZE BE 9tYt=v|DyvCz:Ez>xQ 54z ?Q 94zc)zYBYy Q I?zCIz&;iz;zw4y߶BɮAWEjh1=FNOT Ignoring new targets: 463.64 m.Rh=|ZhE|M ProNav: ac range: 463.639038 m, nav range: 460.424713 m, bearing: 213.454928 deg, approach rate: -0.709247 m/s, LOS rate: -0.005040 deg/s, cmd heading: 205.845851 deg, new cmd heading: 205.840167 deg. BhUb]UHeadingCmd: 3.592589 target range: 463.639038 and range: 465.80 m.hUe@hQ*hY"hY hYgYfYfafadadadijdiZdm @颙ɢѱ) i)Z'<顡ia1i2,;Ȋ4;Ie@I2Acoustic response timeoutU9@Q @Q@U/@QA>A?)A.AIIOI>Q 2Acoustic response timeouty ,dT?A21W@2e@2v<ٱ2N:+ :AHRS rotation from veh to nav: [[-0.900528,0.431660,0.052151],[-0.434207,-0.886557,-0.159628],[-0.022670,-0.166394,0.985799]]2HP?@~? ۿ`^nĿ`6@cLſ?i21W@I2];2CYBByBp(IJ@AHbDJVDJyby%bL=ٔf=ѻQ-f>9f ?Yj ?=j|DyjCjIf:Ej>aQ 54eշ?Q 94e)eMBYyQ I?eCCIe|:*EUP:yVEQZEQa@a@a@a@-B*** querying acoustic contact ***i) i)jhY]FNOT Ignoring new targets: 463.64 m.Rhe"Zhe" ProNav: ac range: 463.639038 m, nav range: 460.140503 m, bearing: 213.452881 deg, approach rate: -0.599502 m/s, LOS rate: -0.004320 deg/s, cmd heading: 205.840168 deg, new cmd heading: 205.834023 deg. Bh=HeadingCmd: 3.592481 target range: 463.639038 and range: 465.80 m.h7e@h*h"h hgfffdddjdZd`@ɢ2ü) +i)SL<i .i%~4,%;-)I;I57e@I9BZ>BB(IBBB =BBB_{;B/3Eԡ2Acoustic response timeout9@ @@/@AM؟AIYIiOu> .,n?A ɰ NW@Ne@Ny]<ٱN% bAHRS rotation from veh to nav: [[-0.900421,0.431902,0.051979],[-0.434545,-0.887418,-0.153817],[-0.020307,-0.161087,0.986731]]NH`@I??ۿ`e`BÿQ˔`}ĿM?iNW@IN^;NCYnBynm(IIr=)r<=2Acoustic response timeoutimMb@Mb@Mb@iiii i9mS?T㥛 ?y&1|?Ym/?ym>m`;mE'BmA mB)m9AiYm= BbD VD2y%9=ٔӮQ->9"?Y"?=|DyܛC-O:E> Q 54 ?Q 94 w) GBY2?Q E:y Q I? iCI G;i  ; 54y!ɮ%A!jhIMFNOT Ignoring new targets: 463.64 m.RhUꬸZhUꬸe ProNav: ac range: 463.639038 m, nav range: 459.844727 m, bearing: 213.451135 deg, approach rate: -0.799817 m/s, LOS rate: -0.004724 deg/s, cmd heading: 205.834021 deg, new cmd heading: 205.828780 deg. BheOmHeadingCmd: 3.592390 target range: 463.639038 and range: 465.80 m.hme@hi*hi"hi hqgqfqfqfydydydyjdyZdM@颩ɢ^) )i)' <顱i+i5,ی;|`;Ie@I@ @@/@EM EMEM'EI"EM:*EMrN:VEM'4ZEIBEM},Va?A6W@6e@6e<ٱ6" >AHRS rotation from veh to nav: [[-0.900303,0.432040,0.052871],[-0.434896,-0.887896,-0.150019],[-0.017870,-0.158056,0.987269]]6HH??Wۿ@i3ÿ@uL,;Ŀ ?i6W@I6];6CYZByZj(IbDfVDf:2yjS%n^=ٔnٻQ-n>9pYp=r|DyrCvn:Ev>tQ 5z4vU?Q 9~4vm)vCBY|y~ Q I~?vCIv;iv;v4y ɮ ǷA jh)5FNOT Ignoring new targets: 463.64 m.Rh5Zh5M ProNav: ac range: 463.639038 m, nav range: 459.589844 m, bearing: 213.449616 deg, approach rate: -0.694498 m/s, LOS rate: -0.004142 deg/s, cmd heading: 205.828775 deg, new cmd heading: 205.824214 deg. BhM5UHeadingCmd: 3.592310 target range: 463.639038 and range: 465.80 m.hUie@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde@@频ɢ) a i)<顙is)iL7,Ҍ;x;Iie@IQ]9@Y @a@eC0@aU2Acoustic response timeoutԁ^A}q;AhAzAhAEm EmEm)Ei"Em:*EmVL:VEmFA4ZEia@a@a@a@A ԩ I I O >B N>B CB (IB BB =B B DB {;B h3E 2Acoustic response timeout0,W[?A2W@2e@2h0}<ٱ2 8 >AHRS rotation from veh to nav: [[-0.900154,0.432164,0.054377],[-0.435298,-0.888121,-0.147504],[-0.015453,-0.156446,0.987566]]2H?`C׫? ۿ@|kg¿mĿ@#?i2W@I2w];2CYFByFc(IiMb@Mb@Mb@ 9Dl?Cl?Q?YO-?y;=<;%BXA )Yf BbD%VD%Ny5Ӽ%=C=ٔ=fQ-=>9AYA=E|DyECEŅ:EE>QQ 5]4U~?Q 9]4U")QY]/?Q E]:y]!Q I]?UCIU:iU:U4yiɮm޷AmVEjhFNOT Ignoring new targets: 463.64 m.Rh;Zh;M ProNav: ac range: 463.639038 m, nav range: 459.302856 m, bearing: 213.448503 deg, approach rate: -0.659994 m/s, LOS rate: -0.002561 deg/s, cmd heading: 205.824213 deg, new cmd heading: 205.820871 deg. BhMUHeadingCmd: 3.592252 target range: 463.639038 and range: 465.80 m.hUte@hQ*hQ"hQ hQgQfYfYfYdYdadajdZd@ɢ) % i)' <i&iEA8,Elό;M;IMte@IIԡ9@ @@90@@hA@hAM2Acoustic response timeout^Av; A I I1 O= >EU  EU EU (EQ "EU :*EU T:VEU c44ZEQ BEU 9xYx=z|Dyz;Cz:E~>YQ 5e4]{k?Q 9m4]&)]DBYiym!Q Im?]ҨCI]:i]b:]4yqɮ}A}UEjhFNOT Ignoring new targets: 463.64 m.RhOZhO ProNav: ac range: 463.639038 m, nav range: 459.025574 m, bearing: 213.447402 deg, approach rate: -0.715153 m/s, LOS rate: -0.002840 deg/s, cmd heading: 205.820866 deg, new cmd heading: 205.817562 deg. Bh~HeadingCmd: 3.592194 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffdddjdZd@o@ɢ) i) <  i $i29,Ռ;U$;Ie@I2Acoustic response timeout9@ @@5@\GjAMAE؏9EjAYEA1^Amr;} 2Acoustic response timeoutԁ A .AI I O >*<,?A2X@2e@2t,<ٱ2+s" :AHRS rotation from veh to nav: [[-0.899625,0.432578,0.059594],[-0.436536,-0.887650,-0.146677],[-0.010551,-0.157969,0.987388]]2H \? ?5ۿ`gP¿@ԛT8Ŀ ?i2X@I2^;2CYB߈ByBZ(IbDNVDN2ynd%nK=ٔr Q-r>9r ?Yr ?=v}Dyv\Cv:Ez> Q 54 X?Q 94 +) EBY!y%!Q I%? CI #;i ; 4y)ɮ-A)jhQUFNOT Ignoring new targets: 463.64 m.YRhetKZhetK ProNav: ac range: 463.639038 m, nav range: 458.755829 m, bearing: 213.446307 deg, approach rate: -0.684111 m/s, LOS rate: -0.002779 deg/s, cmd heading: 205.817560 deg, new cmd heading: 205.814272 deg. Bh%HeadingCmd: 3.592137 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffd Eu EuEqEq"Eum:*EuP:VEqZEqa@a@a@a@ddjdZd`'@颱ɢ) i)H;项iP"i#:,;7;Ie@I BIAM<BUU>BUCBU{(IBUBBU =BQBUDBUC|;BU3EBCBCBĔCBĽ =BĽ =CJ6ԉ9@ @@4@2Acoustic response timeoutԱ^A ϩ;A >A > A ؟AI I! O5 >TX,?A:X@:f@:<ٱ:q# FAHRS rotation from veh to nav: [[-0.899329,0.432833,0.062151],[-0.437197,-0.887417,-0.146114],[-0.008089,-0.158576,0.987314]]:H@N?;ү? ۿe ٳ¿:LĿ?i:X@I:];:CYJByNg(IiMb@Mb@Mb@ 9sh|??l?/$?Y)?y=,=1#B OB)AY B=2Acoustic response timeoutbDVD2yHI=%>=ٔ^Q->9"?Y"?=}DyC:E>Q 54D?Q 94./)JBY_+?Q E:yu$Q I?CI;i;Z4yBɮַATEB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 463.64 m.Rh5P7Zh5P7E ProNav: ac range: 463.639038 m, nav range: 458.469299 m, bearing: 213.446729 deg, approach rate: -0.669767 m/s, LOS rate: 0.000986 deg/s, cmd heading: 205.814268 deg, new cmd heading: 205.815533 deg. BhE--8MHeadingCmd: 3.592159 target range: 463.639038 and range: 465.80 m.hMe@hI*hI"hI hIgQfQfQfQdYdYdYjdYZdeY@颉ɢ)  i)C;顑i] i9,6;6>;Ie@I-9@) @)@-;2@)@5=@5=EE EEEE+EA"EE:*EErN:VEE [4ZEABEEzY w>º,{i ?A6X@6f@6;ٱ6t# BAHRS rotation from veh to nav: [[-0.898970,0.433232,0.064518],[-0.437970,-0.887106,-0.145689],[-0.005883,-0.159227,0.987225]]6H`] ?`=?ܿ ,c¿@xaĿX?i6X@I6,^;6CYJByJ^(IIN=)N=N=N=bDVVDVNyZ1#%^^=ٔ^!ĻQ-^>9`Y`=b}DybCf;Ef>dQ 5j4f03?Q 9n4f2)fOBYlynf$Q In?f8CIf ;if ;f#4yvBɮvAv]Ejh FNOT Ignoring new targets: 463.64 m.Rh7Zh7- ProNav: ac range: 463.639038 m, nav range: 458.223175 m, bearing: 213.447064 deg, approach rate: -0.669704 m/s, LOS rate: 0.000912 deg/s, cmd heading: 205.815538 deg, new cmd heading: 205.816544 deg. Bh-7 85HeadingCmd: 3.592176 target range: 463.639038 and range: 465.80 m.h58e@h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdE@@qɢu+ )q u[iy)}'A;yyi}`si}9,M";M;I8e@I9@ @@/@U2Acoustic response timeouta^AX;Eu EuEu)Eq"Eu:*EuT:VEuFA4ZEqa@a@a@a@ԱA) IQ I O >Bm F>Bm CBi Bi Bm =Bi Bm DBm |;Bm 3EԹ  2Acoustic response timeouthȺ,VE#?A2Q5X@2+f@2_;ٱ2 #$ :AHRS rotation from veh to nav: [[-0.898351,0.434125,0.067084],[-0.439265,-0.886601,-0.144861],[-0.003412,-0.159604,0.987175]]2H@K`?b,?ܿ _Ί¿qk`mĿ?i2Q5X@I2^;2CYBByB](Ii Mb@Mb@Mb@     9 v/?~jt? ףp= ?Y x)?y D= Q8= $B A B) A Y  BbD%VD%y5gJ%5C=ٔ=Q-=>9AYA=E}DyECE_;EE>IQ 5U4M?Q 9U4Mr6)MWBYN*?Q E:y&Q I?M\CIMκ,3=?AY By [(IbD VD2y-e%-J=ٔ5Q-5>99Y9==}Dy=C=EE>AQ 5M4E ?Q 9M4E:)E^BYQyQQ IU?E~CIEL;iEz;E024yYɮ]'Ae[EjhFNOT Ignoring new targets: 463.64 m.Rh8Zh8 ProNav: ac range: 463.639038 m, nav range: 457.676086 m, bearing: 213.450266 deg, approach rate: -0.698742 m/s, LOS rate: 0.004095 deg/s, cmd heading: 205.821440 deg, new cmd heading: 205.826156 deg. Bh39HeadingCmd: 3.592344 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffdddjdZd@ɢt) vi) ;ii6, ;o;Ie@I2Acoustic response timeout@ @@@@@^A8պ,W?A2pkX@2"af@2ٱ22( >AHRS rotation from veh to nav: [[-0.896900,0.436070,0.073581],[-0.442232,-0.884932,-0.146035],[0.001432,-0.163519,0.986539]]2Hg ?.ֲ?`Mܿ ]QH¿wW?@.Ŀ?i2pkX@I2^;2CYFByFa(I HHLNAbDRVDRyZR<%ZR=ٔZFLQ-Z>9\Y\=^}Dy^CbO <Eb>`Q 5j4b?Q 9j4b=)beBYhyjw&Q Ij?bCIb;ib;b84ypɮrApjh FNOT Ignoring new targets: 463.64 m.Rh8Zh8% ProNav: ac range: 463.639038 m, nav range: 457.418304 m, bearing: 213.451663 deg, approach rate: -0.662655 m/s, LOS rate: 0.003593 deg/s, cmd heading: 205.826152 deg, new cmd heading: 205.830346 deg. Bh%9-HeadingCmd: 3.592417 target range: 463.639038 and range: 465.80 m.h-*e@h1*h1"h1 h1g1f1f9f9d9d9d9jdAZdE ^@bEjE64rE8/E% E%E%&E!"E% :*E%L_:VE%4ZE!aU@aU@aU@aU@频ɢ=i ) # i)-ޯ;ii5,7;,BCBBB =BBBq};B%4E9@9 @9@9@A2Acoustic response timeouti^A 0;ԙ I I O >ۺ,p?A2ݑX@2f@2ٱ2p* :AHRS rotation from veh to nav: [[-0.895854,0.437615,0.077064],[-0.444331,-0.883767,-0.146715],[0.003902,-0.165677,0.986172]]2H@֪@?@{?oܿ`G¿o?4ſ@?i2ݑX@I2(^;0@YFByF^(IiMb@Mb@Mb@ %2Acoustic response timeout9?{Gz?X9v?Yf&?yף<<;%B ZB)Y BbD5 VD52y"%;=ٔQ->9Y=}Dy#CU;E>Q 54?Q 94A)lBY&?Q E:y%)Q I?ĩCIq ;i ;@4yBɮ!AZEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 463.64 m.Rh8Zh8- ProNav: ac range: 463.639038 m, nav range: 457.135864 m, bearing: 213.454685 deg, approach rate: -0.647952 m/s, LOS rate: 0.006936 deg/s, cmd heading: 205.830346 deg, new cmd heading: 205.839416 deg. Bh-R95HeadingCmd: 3.592576 target range: 463.639038 and range: 465.80 m.h5e@h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM@A @qɢu[)y }?iy)}&;yyi}Li2,x;j&GA%>2Acoustic response timeout I I! O- >,?A2OX@2f@2һٱ2) :AHRS rotation from veh to nav: [[-0.894579,0.439785,0.079478],[-0.446863,-0.882779,-0.144963],[0.006409,-0.165197,0.986240]]2Hdp%?X?gܿ@?$¿Q@z?)%ſF?i2OX@I2A9^;0YVوByVR(IbDb VDb2yjT%jZ=ٔjۻQ-j>9lYll=r}DyrACr;Er>tQ 5z4v?Q 9z4v4D)vrBY|y~(Q I~?vCIvS;iv`;v%G4yɮ IA jh)5FNOT Ignoring new targets: 463.64 m.Rh58Zh58E ProNav: ac range: 463.639038 m, nav range: 456.892792 m, bearing: 213.457202 deg, approach rate: -0.648673 m/s, LOS rate: 0.006721 deg/s, cmd heading: 205.839417 deg, new cmd heading: 205.846972 deg. BhE9MHeadingCmd: 3.592707 target range: 463.639038 and range: 465.80 m.hMe@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde@5u!@ɢ) 9i)Б;ihi0,;ilB K>B CB B B B B B };B :4Ea  2Acoustic response timeoutO,?A2"X@2f@2Fٱ2( :AHRS rotation from veh to nav: [[-0.893226,0.442141,0.081599],[-0.449518,-0.881845,-0.142418],[0.008989,-0.163891,0.986437]]2HN L? ?@ܿ@8:¿h? dĿ@?i2"X@I2(^;0Yb׈BybO(IId)f;f=f=YiMb@Mb@Mb@ 9?Zd;O?{Gz?Yyj<#<$BA B)AY BbDVDy#%==ٔûQ->9Y=}DyeC;E>Q 54?Q 94G)uBY&?Q E:y(Q I?CIK ;i ;N4yBɮVAYEjh FNOT Ignoring new targets: 463.64 m.Rh8Zh8% ProNav: ac range: 463.639038 m, nav range: 456.612305 m, bearing: 213.460032 deg, approach rate: -0.648363 m/s, LOS rate: 0.006547 deg/s, cmd heading: 205.846971 deg, new cmd heading: 205.855467 deg. Bh%Ə9-HeadingCmd: 3.592856 target range: 463.639038 and range: 465.80 m.h-Ye@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdER"@qɢu)q uTiq)} ;yyi}lOi[.,/;=و EE  EE EE %EA "EE ;*EE i:VEE 4ZEA BEE AAHRS rotation from veh to nav: [[-0.891949,0.444399,0.083282],[-0.451971,-0.881325,-0.137795],[0.012162,-0.160547,0.986953]]2Hيq?`Q?ܿ3`F v?`ЌĿ?i2rY@I2^;2CYFЈByFF(IbDNVDN02yV%V]=ٔV Q-Z>9XYX=Z~DyZC^;E^>`Q 5f4b`?Q 9f4bJ)bwBYdyf(Q Ij?b&CIb|:ib:b-U4ynBɮnxAnXEjhyFNOT Ignoring new targets: 463.64 m.Rh)8Zh)8ԙ ProNav: ac range: 463.639038 m, nav range: 456.372223 m, bearing: 213.462375 deg, approach rate: -0.621706 m/s, LOS rate: 0.006070 deg/s, cmd heading: 205.855468 deg, new cmd heading: 205.862499 deg. BhL9HeadingCmd: 3.592978 target range: 463.639038 and range: 465.80 m.h\e@h*h"h hgfffdddjdZd#@aɢen)a eia)m7c;iiim"2Acoustic response timeoutiX,,ؐ;M 2Acoustic response timeout ,B?A:LY@:DBg@:r|ٱ:u# FAHRS rotation from veh to nav: [[-0.890634,0.446554,0.085795],[-0.454460,-0.880528,-0.134670],[0.015408,-0.158932,0.987169]]:H X?? ݿI- < ?@WĿ?i:LY@I:];:CY^߈BybY(IbDjVDj1yr=%rG=ٔrQ-r>9tYt=v~DyvCv;Ez>xQ 54z?Q 94zDN)z{BYyy(Q I?zHCIz;izF;zX\4yɮ;Ajh1=FNOT Ignoring new targets: 463.64 m.RhE8ZhE8U ProNav: ac range: 463.639038 m, nav range: 456.106171 m, bearing: 213.464880 deg, approach rate: -0.674453 m/s, LOS rate: 0.006354 deg/s, cmd heading: 205.862503 deg, new cmd heading: 205.870022 deg. BhU9UHeadingCmd: 3.593110 target range: 463.639038 and range: 465.80 m.hUe@hY*hY"hY hYgYfafafadadidijdiZdmE#@颙ɢl) Xi)dG;顡iJi3*,Gڑ;<BBBB =BBB};BI4EM9@I @Q@U3@Q@Y@]iA!ߥ=ߡ2Acoustic response timeoutQ^Am}<IIO>y ,?A2~Y@2ltg@2jٱ2(" :AHRS rotation from veh to nav: [[-0.889189,0.448904,0.088472],[-0.457160,-0.879560,-0.131834],[0.018636,-0.157671,0.987316]]2H@=tغ??Bݿ Z%D?.Ŀ`?i2~Y@I2U^;2CYBՈByBM(I DDHJA2Acoustic response timeoutimMb@Mb@Mb@iiii i9m(\?/$?{GzYm'?ym%?=ٔnQ->9Y=~DyǝC;E>Q 54 ?Q 94Q)xBY'?Q E:y(Q I?lCIm ;i ;c4yBɮA`EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 463.64 m.Rh8Zh8  ProNav: ac range: 463.639038 m, nav range: 455.826813 m, bearing: 213.467777 deg, approach rate: -0.652757 m/s, LOS rate: 0.006775 deg/s, cmd heading: 205.870016 deg, new cmd heading: 205.878714 deg. Bh ǔ9HeadingCmd: 3.593261 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfff!d!d!d!jd!Zd-d$@QYɢ]X)Y ]oia)e2';aaieGim',m';ma^Aubި<2Acoustic response timeout́G jA! e p9m jAYm jAAa Ii Iy O > , ?AY~̈By~B(IbD%VD%N2y54%=Q=ٔEQ-E>9IYI=M~DyMCUEU>aQ 5m4eo?Q 9u4eU)evBYqyyQ I}?eCIeIW;ieX;ej4yBɮAjhFNOT Ignoring new targets: 463.64 m.Rh8Zh8 ProNav: ac range: 463.639038 m, nav range: 455.569061 m, bearing: 213.470454 deg, approach rate: -0.646856 m/s, LOS rate: 0.006721 deg/s, cmd heading: 205.878718 deg, new cmd heading: 205.886751 deg. Bh9HeadingCmd: 3.593402 target range: 463.639038 and range: 465.80 m.hKe@h*h"h hgfffdddjdZdq%@)ɢ-*$)) -i))57;11Աi5i5k%,5t;=!<AE >B S>B CB u(IB BB =B B DB };B S4EBuCBuCBuɓCBu =Bu =Cu5A .AI I  2Acoustic response timeoutO >9  ,%?AYrՈByrM(Ii}Mb@Mb@Mb@yyyy y9}w/?Zd;O?ktY}&?y}j<=} 0}#B}CA }B)}AyY} BbDVD 3yM-=%C=ٔQ->9 ?Y ?=~DyCE>Q 547\?Q 94X)nBY'?Q E:y&Q I?CI:i*:q4yɮAjhFNOT Ignoring new targets: 463.64 m.Rh8Zh8 ProNav: ac range: 463.639038 m, nav range: 455.297668 m, bearing: 213.472167 deg, approach rate: -0.660175 m/s, LOS rate: 0.004171 deg/s, cmd heading: 205.886750 deg, new cmd heading: 205.891893 deg. Bh.79HeadingCmd: 3.593492 target range: 463.639038 and range: 465.80 m.he@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5[&@aɢeNn)a eSia)mt:iiim iu#,u옕;uVE%  E% E% &E! "E% :*E% X:VE% 4ZE! BE% AHRS rotation from veh to nav: [[-0.886551,0.452646,0.095597],[-0.461744,-0.878546,-0.122269],[0.028642,-0.152539,0.987882]]2H^ (? y?4ݿ @MOT?@dÿ?i2SY@I22^;2CYFˆByF6(IIJ<)J4<bDRVDR1yVɽ%V\=ٔZHܼQ-Z>9Z"?Y^"?=^~Dy^'C^}h<Eb>`Q 5f4bJ?Q 9f4b\)bhBYhyj&Q Ij?bϪCIb:ib:bzx4ynBɮr߸Ar_Ejh  FNOT Ignoring new targets: 463.64 m.Rh8Zh8% ProNav: ac range: 463.639038 m, nav range: 455.054352 m, bearing: 213.473532 deg, approach rate: -0.653022 m/s, LOS rate: 0.003664 deg/s, cmd heading: 205.891900 deg, new cmd heading: 205.895996 deg. Bh% 9-HeadingCmd: 3.593563 target range: 463.639038 and range: 465.80 m.h-e@h)*h)"h1 h1g1f1f9fdddjdZd "#'@)ɢ-;-)) -i1}=}4=}2Acoustic response timeout)53:顁i i",;iX,eY?A64Y@6g@6Jٱ6 >AHRS rotation from veh to nav: [[-0.886186,0.452565,0.099296],[-0.462233,-0.878289,-0.122270],[0.031875,-0.154251,0.987517]]6H[@?pk?8ݿ@MQ? ÿ?i64Y@I6Z^;6CYFByF4(ILbDRVDR 83yZ?%ZJ=ٔ^Q-^>9b ?Yb ?=b~DybGCb :Ef>dQ 5j4fs7?Q 9j4f_)fbBYlyn~&Q In?fCIf;if;f4ypɮvAtjh FNOT Ignoring new targets: 463.64 m.Rh,8Zh,8- ProNav: ac range: 463.639038 m, nav range: 454.789490 m, bearing: 213.475003 deg, approach rate: -0.654425 m/s, LOS rate: 0.003638 deg/s, cmd heading: 205.895998 deg, new cmd heading: 205.900416 deg. Bh-95HeadingCmd: 3.593640 target range: 463.639038 and range: 465.80 m.h53e@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM8'@qɢuH4)y }Giy)}5$:yyi}L i!,;BuCBqBqBqBqBqBu};Bua4E^A<2Acoustic response timeoutAIIOn>!I SA,fs?A2Y@2gg@2@ٱ28 :AHRS rotation from veh to nav: [[-0.885920,0.452153,0.103454],[-0.462473,-0.878156,-0.122311],[0.035546,-0.156203,0.987085]]2HuY?{?)ݿ O 3?`tÿ3?i2Y@I2^;2CrBDAT read: Response Not Received r*response not receivedv(DAT read: user:76> vBDAT read: Tx time:00:24:19.2990 z$Ping request sent.z9Y=~DyjCuI:E>Q 542#?Q 94c)XBY(?Q E:y#Q I?CI:in:34yBɮA^E B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 463.64 m.Rh35Zh35 ProNav: ac range: 463.639038 m, nav range: 454.501495 m, bearing: 213.475029 deg, approach rate: -0.617017 m/s, LOS rate: 0.000056 deg/s, cmd heading: 205.900410 deg, new cmd heading: 205.900488 deg. Bh>6HeadingCmd: 3.593642 target range: 463.639038 and range: 465.80 m.h9e@h*h"h hgf!f!f!d!d)d)jdIZdM@(@颙ɢ) ii)b8顡i i{!,BN;\#,w?ARY@REg@R=kٱR" bAHRS rotation from veh to nav: [[-0.885454,0.452190,0.107213],[-0.463115,-0.877776,-0.122608],[0.038667,-0.158216,0.986647]]RHU@?Rr? ݿ@Cc $̣?`m@Ŀ?iRY@IR.^;RCYnByr1(I xxbD VD yed~%eR=ٔmSQ-m>9iYq=u~DyuC};E}>yQ 54}?Q 94}g)}PBYԑy#Q I?}7CI}d.;i}-/;}4yBɮAjhFNOT Ignoring new targets: 463.64 m.Rh4Zh4 ProNav: ac range: 463.639038 m, nav range: 454.244385 m, bearing: 213.475035 deg, approach rate: -0.710926 m/s, LOS rate: 0.000014 deg/s, cmd heading: 205.900492 deg, new cmd heading: 205.900508 deg. Bh"5HeadingCmd: 3.593642 target range: 463.639038 and range: 465.80 m.h:e@h*h"h hgfffdddjdZd)@!ɢ%@)) - i))-%̹11i5 i5|!,=q;= ]B CB B B =B B DB };B c4EAU ؟AQ Ia Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754109fC),^ڦ?AY~By'(IiMb@Mb@Mb@ 9ˡE?S㥻?V-Y'?y/=mCA )AY BbDVD2y%F=ٔQ->9"?Y"?=~DyCE> Q 54 ?Q 94 k) EBY*?Q E:y Q I? ZCI  ;i  ; `4y%Bɮ-A-]E9jhamFNOT Ignoring new targets: 463.64 m.RhmZhu ProNav: ac range: 463.639038 m, nav range: 453.964508 m, bearing: 213.473457 deg, approach rate: -0.661216 m/s, LOS rate: -0.003729 deg/s, cmd heading: 205.900506 deg, new cmd heading: 205.895770 deg. Bh#HeadingCmd: 3.593559 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffdddjdZd`l*@ɢT6) $i) ֻv  ic i",%Rb;%۔:*E- L_:VE- 4ZE) BE- 6+0,=?A2Y@2Rg@2-9ٱ2! :AHRS rotation from veh to nav: [[-0.885401,0.451004,0.112514],[-0.462609,-0.878589,-0.118632],[0.045350,-0.157087,0.986543]]2H5UA?ͼ?dݿg@^8?jĿ‘?i2Y@I2G];2CYBɈByB>(IbDJVDJ0yR=%R]=ٔVQ-V>9V ?YZ ?=ZDyZɞCZEZ>\Q 5%4^?Q 9%4^o)^=BY!y- Q I-?^yCI^=:i^:^4y5Bɮ5A5\EjhY]FNOT Ignoring new targets: 463.64 m.RheZheu ProNav: ac range: 463.639038 m, nav range: 453.724548 m, bearing: 213.472114 deg, approach rate: -0.648852 m/s, LOS rate: -0.003634 deg/s, cmd heading: 205.895766 deg, new cmd heading: 205.891734 deg. Bhu}HeadingCmd: 3.593489 target range: 463.639038 and range: 465.80 m.h}e@hy*hy"hy hygfffdddjdZd (+@颹ɢ<) hi)jMi\ i#,Ȟ;#i) I) - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510542 nU6,Ő?AYnʈByr@(IIv4>)v>v=tbDzVDz1yE;%EA=ٔMQ-M>9M"?YM"?=UDyUCUEU>YQ 5e4]a?Q 9e4]s)]4BYiyiQ Im?]CI]:i]I:]4yuBɮu͸AueEjhFNOT Ignoring new targets: 463.64 m.RhZh ProNav: ac range: 463.639038 m, nav range: 453.442047 m, bearing: 213.470531 deg, approach rate: -0.684861 m/s, LOS rate: -0.003840 deg/s, cmd heading: 205.891736 deg, new cmd heading: 205.886984 deg. Bh(HeadingCmd: 3.593406 target range: 463.639038 and range: 465.80 m.h\e@h*h"h hgfffdddjdZd@,+@E EE*E"E[:*EP:VE(N4ZEa@a@a@a@ɢ 1) i)O/!!i%x i%Y%,-Lf;-,B-CB)B)B- =B)B-DB-B~;B-y4E@ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762445^A5Gv<,k?A:lY@:g@:i7Tٱ:|! BAHRS rotation from veh to nav: [[-0.886509,0.447489,0.117710],[-0.459804,-0.880429,-0.115864],[0.051787,-0.156838,0.986266]]:HG^`?@"? omݿy,@Gリ?GĿ|?i:lY@I:^;:CYJЈByJG(Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014318i-Mb@Mb@Mb@)))) )9-uV?@5^I ?&1Y-r(?y-b>-P)-1A ))))Y- BbDMVDMN2yUz<%]I=ٔ]恼Q-]>9aYa=eDye CeEm>iQ 5u4m]?Q 9}4mlx)m,BY},?Q E}:y}Q I}?mCIm ;imm ;m24yBɮAdEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 463.64 m.RhU Zh] e ProNav: ac range: 463.639038 m, nav range: 453.169464 m, bearing: 213.467408 deg, approach rate: -0.669903 m/s, LOS rate: -0.007680 deg/s, cmd heading: 205.886982 deg, new cmd heading: 205.877607 deg. BhmmHeadingCmd: 3.593242 target range: 463.639038 and range: 465.80 m.hme@hq*hq"h hgfffdddjdZd ,@ɢ-) i),ij i%(,%;%0biC, P?AĿ@Z?iF5Y@IF8^;FCYV͈ByVC(IbD~VD~ky i% O=ٔ Q- >9Y=Dy,C2E>!Q 5-4%Զ?Q 9-4%|)%$BY)y-Q I-?%CI%$:i%:%4y9ɮ=ĸA9jhYeFNOT Ignoring new targets: 463.64 m.Rhe Zhm } ProNav: ac range: 463.639038 m, nav range: 452.904510 m, bearing: 213.464439 deg, approach rate: -0.672306 m/s, LOS rate: -0.007537 deg/s, cmd heading: 205.877611 deg, new cmd heading: 205.868700 deg. Bh}HeadingCmd: 3.593087 target range: 463.639038 and range: 465.80 m.h"e@h*h"h hgfffdddjdZdj-@ɢ#?) Ni) 9ig i*,;H:*E n:VE4ZEa@a@a@a@B- >B- CB- {(IB- BB- =B- ADB- DB- ~;B- 4E ^Au < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771242) Iy I O >:5J,*?A6sY@6wig@6 kٱ6wT% BAHRS rotation from veh to nav: [[-0.888185,0.442503,0.123766],[-0.455893,-0.882289,-0.117167],[0.057350,-0.160490,0.985370]]6H@l`Q?? X-ݿ; ]?Ŀ&?i6sY@I6OE^;6CYN؈ByRP(I TT\\iMb@Mb@Mb@ 9q= ףp?'1Z?MbY+?y">V BA  B)AYf BbD5VD5y=2=%=(=ٔE䠻Q-E>9IYI=MDyMTCMEU>QQ 5]4U;?Q 9]4Uk)U BYey0?Q Ee:yeQ Ie?U CIU;iUx;U4yqɮuAucEjhFNOT Ignoring new targets: 463.64 m.Rh2Zh2 ProNav: ac range: 463.639038 m, nav range: 452.572510 m, bearing: 213.459700 deg, approach rate: -0.684278 m/s, LOS rate: -0.009775 deg/s, cmd heading: 205.868704 deg, new cmd heading: 205.854477 deg. BhֹHeadingCmd: 3.592838 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffdddjdZd'.@ɢ}32$)y i)^顁iāi.,ϡ;~hNQ,zE?AeFY@e;g@erٱev' AHRS rotation from veh to nav: [[-0.889356,0.439456,0.126194],[-0.453364,-0.883359,-0.118900],[0.059223,-0.162956,0.984854]]eHu@ ?'?`ݿzD9p R? Ŀ ?ieFY@Ie^^;eC%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.321589YEByE](IbDUVDU0ye<=%mB=ٔmQ-m>9iYq=uDyuvCuػEu>yQ 54}g?Q 94}M)}BYyQ I?}2CI}:i}(:}4yBɮtAbEjhԹFNOT Ignoring new targets: 463.64 m.Rh.Zh. ProNav: ac range: 463.639038 m, nav range: 452.283752 m, bearing: 213.455684 deg, approach rate: -0.685577 m/s, LOS rate: -0.009541 deg/s, cmd heading: 205.854470 deg, new cmd heading: 205.842414 deg. BhѹHeadingCmd: 3.592628 target range: 463.639038 and range: 465.80 m.he@h*h"h hgfffdddjdZde/@AɢE*+)A EiA)Mo}IIiMziU2,U;UA >IA IQ B} 7>B} CB} (IB} BB} =B} @DB} DB} I~;B} 4EB=CB=CB=͖CB= =B= =C=66O > NX,Nb?Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778219Y@ g@uٱI+ -AHRS rotation from veh to nav: [[-0.890599,0.436463,0.127806],[-0.450841,-0.884239,-0.121914],[0.059800,-0.166197,0.984278]]H ?[?ܿ K5 (?Eſ4?iY@I^;CY=By=j(IiMb@Mb@Mb@ 9K7?@5^I ?QY)?yb>uBA B)SAYBbD5VD52y=T2=%=(=ٔEқQ->9Y=DyCE>Q 54Jx?Q 94Ɍ)Y-?Q E:yQ I?]CI* ;i ;ɂ4yɮIAjhFNOT Ignoring new targets: 463.64 m.Rh Zh  ProNav: ac range: 463.639038 m, nav range: 451.949890 m, bearing: 213.451971 deg, approach rate: -0.675098 m/s, LOS rate: -0.007514 deg/s, cmd heading: 205.842408 deg, new cmd heading: 205.831261 deg. BhHeadingCmd: 3.592433 target range: 463.639038 and range: 465.80 m.hme@h*h"h hgfffdddjd Zd ]10@AɢE)A M} iI)M*IIiUi]H5,]bߦ;]i َ o> = Pw=) I Pwֽ ׺E?$O ?ęj? G>) *ýI i Pwֽ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I O > t^,s|?A2UX@2f@2ptٱ2- :AHRS rotation from veh to nav: [[-0.891749,0.433942,0.128370],[-0.448584,-0.885045,-0.124374],[0.059643,-0.168495,0.983896]]2H4? pn?ܿ@IR@ֿ`v?@=ſ|?i2UX@I2_^;2CYBByB|(IIF=)FC=bDNVDN0yf=%f}=ٔf:Q-j ?9hYh=~Dy~C&E ?Q 5 4i?Q 94Q)YyCQ I?yCI$:i=:'ς4yEBɮEAEjEE EEE"Em:*E;J:VEZEBEW 5BDAT read: Tx time:00:24:23.5490 5$Ping request sent.5Y \[e,w?A2dX@2f@2;pٱ2&- :AHRS rotation from veh to nav: [[-0.893107,0.431556,0.126961],[-0.445997,-0.886304,-0.124705],[0.058709,-0.167999,0.984037]]2H U?A@?6ܿ\쿿?`ſ <}?i2dX@I2vT^;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250750YJByJ(IbDR VDR2yZ=%ZL=ٔ^;Q-^>9\Y`=bDybٟCbEb>dQ 5j4f)X?Q 9j4f)dYlynsQ In?fCIf;if;fւ4ypɮrApB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 452.97 m.RhZh% ProNav: ac range: 452.971344 m, nav range: 451.763153 m, bearing: 213.553932 deg, approach rate: -0.734190 m/s, LOS rate: -0.007486 deg/s, cmd heading: 205.823338 deg, new cmd heading: 205.815148 deg. Bh-d-HeadingCmd: 3.592152 target range: 452.971344 and range: 455.10 m.h-e@h1*h1"h1 h1g1f1ffdddjdZd n?ɢ8)) i) w1  i i9,f7;%csBuCBu(IBu#BBu =BqBuDBu};Bu\4Eԉ^A <AzAfA=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502958IAIQOe>ԩ k,`?A2!X@2Ӆf@2viٱ2/ :AHRS rotation from veh to nav: [[-0.894449,0.428985,0.126223],[-0.443516,-0.887072,-0.128047],[0.057038,-0.170514,0.983703]]2HT|t?(?bܿ@b c4?dſ~z?i2!X@I2L^;2CYB ByB(Ii Mb@Mb@Mb@     9 Zd;O?Mb?y&1|?Y ~*?y > `; ,"B  FB) A Y  B a=a=bD%VD%y5|=%5B=ٔ=*;Q-=>99Y9=EDyECEۻEE>IQ 5U4ME?Q 9U4M8)M!BY]-?Q E]:y]Q I]?MCIM ;iMT ;Mo݂4yaɮeAeiEjh1=FNOT Ignoring new targets: 452.97 m.Rh=Zh=m ProNav: ac range: 452.971344 m, nav range: 451.478363 m, bearing: 213.551628 deg, approach rate: -0.643384 m/s, LOS rate: -0.005210 deg/s, cmd heading: 205.815142 deg, new cmd heading: 205.808224 deg. BhmduHeadingCmd: 3.592031 target range: 452.971344 and range: 455.10 m.hue@hy*hy"hy hygyfyffdddjdԩZdd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881颡ɢ ) i!)5S19i=/iE;,M+ը;MPr,Q?A2(`X@2Uf@2`ٱ2pY2 :AHRS rotation from veh to nav: [[-0.895856,0.426410,0.124967],[-0.440950,-0.887826,-0.131634],[0.054818,-0.173030,0.983390]]2H٪`NJ??`8ܿ ie"?%ƿ@w?i2(`X@I2an^;2CY@y@ DDbDrVDrk1yz%zL=ٔz$;Q-~>9 ?Y ?=DyC E>!Q 554%2?Q 9=4%)%&BY9yEQ IE?%CI%d;i%/;%{4yaɮmAijhFNOT Ignoring new targets: 452.97 m.RhaŸZhaŸ ProNav: ac range: 452.971344 m, nav range: 451.205444 m, bearing: 213.549521 deg, approach rate: -0.698093 m/s, LOS rate: -0.005393 deg/s, cmd heading: 205.808230 deg, new cmd heading: 205.801905 deg. BhlHeadingCmd: 3.591921 target range: 452.971344 and range: 455.10 m.he@h*h"h hgfffd d d jd Zd ?ɢ8%) i)|»ic~ie=,mG/;mc+B= CB= (IB= 7BB= =B9 B= DB= };B= ,4EO] >%x,J?A7X@|-f@,mUٱ2 AHRS rotation from veh to nav: [[-0.897071,0.424575,0.122472],[-0.438806,-0.888587,-0.133649],[0.052082,-0.173634,0.983432]]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512922H`δ@>,?KZ?gܿ Noi?`9ƿFx?i7X@IT^;CY%$By%(IIiMb@Mb@Mb@ 9Zd;O?S㥻?Q?Yy/=u<!BA lB)MAYBbDVDy=%=ٔr;Q->9"?Y"?=DyHCoE>Q 54!?Q 943).BY,?Q E:y!Q I?CI:i:4yɮyAyjhFNOT Ignoring new targets: 452.97 m.Rh?Zh? ProNav: ac range: 452.971344 m, nav range: 450.834778 m, bearing: 213.548024 deg, approach rate: -0.646159 m/s, LOS rate: -0.002610 deg/s, cmd heading: 205.801905 deg, new cmd heading: 205.797413 deg. BhOHeadingCmd: 3.591842 target range: 452.971344 and range: 455.10 m.he@h*h"h hg!f1f9f9d9dAdAjdAZdE?aɢeL)a e۾ia)m,ӻiiimiu>,u;uyAm? AIIO ?BƁ,Lq?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014774FW@F9e@Fxy<ٱF3 RAHRS rotation from veh to nav: [[-0.898895,0.422350,0.116659],[-0.435744,-0.889612,-0.136813],[0.045998,-0.173814,0.983704]]FH?Yݽ? :ۿw@??ƿ z?iFW@IF ^^;DYZ7ByZ(II^?>)^=bDbVDbyj)=%nN=ٔn"|9pYp=rDyrhCrHEv>tQ 5z4v?Q 9~4v<)v4BY|y~!Q I~?v5CIv;iv;v4yɮ +A hEjh)5FNOT Ignoring new targets: 452.97 m.Rh5=AZh5=AE ProNav: ac range: 452.971344 m, nav range: 450.568481 m, bearing: 213.547070 deg, approach rate: -0.736020 m/s, LOS rate: -0.002640 deg/s, cmd heading: 205.797411 deg, new cmd heading: 205.794546 deg. BhEMHeadingCmd: 3.591792 target range: 452.971344 and range: 455.10 m.hMe@hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde`a@频ɢ$) Ⱦi)"ۻ顙ivi?,q;+;Ie@IiM9@I @I@M4@Iԙ^A<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768A I I O > E5  E5 E5 'E1 "E5 :*E5 T:VE5 '4ZE1 a= @a= @aE @aE @뇻,9!?A2jW@2e@21ٱ2|3 :AHRS rotation from veh to nav: [[-0.899216,0.422273,0.114441],[-0.435350,-0.889569,-0.138342],[0.043385,-0.174221,0.983750]]2H_?L?ۿXw/6?Lƿz?i2jW@I2N^;2CBF >BFCBF(IBFQBBF =BFADBFDBFa};BF3EYR;ByR(IbDZVDZ3yrk<%rJ=ٔv;Q-v>9tYt=zDyzCzkEz>|Q 54~?Q 9 4~^)~9BYy!Q I%?~XCI~0;i~;~4y9ɮEAA}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 452.97 m.Rh y&Zh y& ProNav: ac range: 452.971344 m, nav range: 450.295563 m, bearing: 213.546108 deg, approach rate: -0.645036 m/s, LOS rate: -0.002274 deg/s, cmd heading: 205.794542 deg, new cmd heading: 205.791656 deg. BhǸHeadingCmd: 3.591742 target range: 452.971344 and range: 455.10 m.he@h*h"h hgff)f1d9dAdIjdqZdu@W&@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519121ɢ) ľi)֏i|1i@,C;u;Ie@II9@ @@+3@) ^A% ;E >E =E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897a Aq Iy I O >:,&;?A2W@2e@2;)ٱ2o3 :AHRS rotation from veh to nav: [[-0.899414,0.422351,0.112581],[-0.435146,-0.889503,-0.139398],[0.041266,-0.174366,0.983816]]2H?Ҽ?lۿv` ?`Qƿ@k{?i2W@I2n^;2CYBNByB(Ii Mb@Mb@Mb@     9 Q?9Y=DyC1!E>Q 54,?Q 94t)@BY*?Q E:y%Q I?}CI: ;i:4yBɮ˶AgEjh  FNOT Ignoring new targets: 452.97 m.Rh)8Zh)8% ProNav: ac range: 452.971344 m, nav range: 450.004089 m, bearing: 213.546972 deg, approach rate: -0.691582 m/s, LOS rate: 0.002051 deg/s, cmd heading: 205.791660 deg, new cmd heading: 205.794254 deg. Bh%28-HeadingCmd: 3.591787 target range: 452.971344 and range: 455.10 m.h-e@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE@# @iɢux)q u5iq)uqyi}Ĝi}?,Z;];Ie@IE EE(E"E*EX:VEc44ZEBEy,rU?A>X@>e@>֗ٱ>B2 FAHRS rotation from veh to nav: [[-0.899050,0.423774,0.110112],[-0.436110,-0.889079,-0.139094],[0.038953,-0.173073,0.984138]]>H?E0?@9ۿ@Us`?@D'ƿ~?i>X@I>q`^;>CYNJByN(IbDZVDZk2ybg%b\=ٔb,;Q-b>9dYd=fDyfˠCf:5;Ej>hQ 5n4j?Q 9r4j겴)jFBYpyr%Q Ir?jCIj;ij;j> 4ytɮzݶAzoEjhFNOT Ignoring new targets: 452.97 m.Rh 8Zh 8- ProNav: ac range: 452.971344 m, nav range: 449.757690 m, bearing: 213.547672 deg, approach rate: -0.663799 m/s, LOS rate: 0.001886 deg/s, cmd heading: 205.794255 deg, new cmd heading: 205.796356 deg. Bh-85HeadingCmd: 3.591824 target range: 452.971344 and range: 455.10 m.h5re@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM@ @qɢ})y }iy)}顁ipiC?,ᷩ;);Ire@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276232@ @@/@QE EE)E"E>:*E[:VEFA4ZEa@a@a@a@A9A=@ABE>BABE)IBEjBBE =BABABE|;BE3Eԁ^A5ϩ;iy Iy  BDAT read: Rx Time:00:24:26.5299  TRx dataTimestamp_ set to:1761524665.648688 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535349 A I I O% >G,Mo?A2 X@27f@2Mٱ2. :AHRS rotation from veh to nav: [[-0.898799,0.425045,0.107222],[-0.436781,-0.889101,-0.136824],[0.037175,-0.169810,0.984775]]2H` 3?@r?`:ۿsr?SſG?i2 X@I2z^;2C@Y^XByb(Ii}Mb@Mb@Mb@yyyy y9}ˡE??{Gzt?Y}'?y}L=}ף;}B}hA }]B)}AyY}BbDVDyj}=%==ٔ;Q->9Y=DyCP:E>Q 54?Q 94)JBYm(?Q E:y:'Q I?CI:i:4yɮAjhFNOT Ignoring new targets: 452.97 m.Rh 8Zh 8 ProNav: ac range: 452.971344 m, nav range: 449.473389 m, bearing: 213.549734 deg, approach rate: -0.655405 m/s, LOS rate: 0.004757 deg/s, cmd heading: 205.796359 deg, new cmd heading: 205.802550 deg. BhP9HeadingCmd: 3.591932 target range: 452.971344 and range: 455.10 m.h7e@h!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@aɢe|)a e맾ia)eiiimRLim~=,u0թ;u;Iu7e@Iyԩ)@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779521^Au0;E EE*E"E:*ER:VE(N4ZEBE C} >G A .AI I O > % 9! Y% CA5/,|)?A*DAT read: 00:24:26.5299 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 128, 0.15, 2.826, 1.148, 2.809, 2.768, PHS= 0.160,-1.575,-0.003, RAW= 145.1, 16.8, CAL= 144.8, 18.4, ROT= 5.2, -18.4 .Ygot valid direction response: 00:24:26.5299 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 128, 0.15, 2.826, 1.148, 2.809, 2.768, PHS= 0.160,-1.575,-0.003, RAW= 145.1, 16.8, CAL= 144.8, 18.4, ROT= 5.2, -18.4 2PDAT read: Bearing 4.7, 3.6 (Local) 2~Local bearing/azimuth received: Bearing 4.7, 3.6 (Local) 6DAT read: Range 11 to 50 : 432.6 m (Round-trip 576.9 ms) speed 0.6 m/s :R#Rx 1: Read range and direction messages.>\direction in FSK: [0.944971,0.085999,0.315649]>Fpublishing direction and range infoydwHo3=? ? \ 3?YLC )LI #>iɿD "@Q >?!@ l>)޹=IlrA?e+?e"? ]z>)'6I޹=ilNT****** received valid address query ******NR****** received valid ping request ******NQuerying Benthos address 50 with one ping in standard two-way mode.lm"X@mf@mٱm", }AHRS rotation from veh to nav: [[-0.898261,0.426667,0.105269],[-0.437976,-0.888838,-0.134696],[0.036097,-0.167098,0.985279]]mHN??@ܿ ]q@=R{?vcſh?im"X@Im[^;mCY^By(IAAbDVD1yU<%]2=ٔ];Q-]>9e ?Ye ?=eDyeCe:;Ee>Q 54?Q 94)OBYy$'Q I?CI :i{:4yBɮAnE iim?AJiDCRiDCjiuo@i}t5my@scEMB@;St`@ridwHo3=? ? \ 3?Zi޹=biliTʗt*Tqlra@zih\03xp v_*?2ige:i"i{??*iLBiSCi{t?i b%imBiCiϘn@-]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 432.600006 m, deltaT: 4.283941 s, deltaX: -22.500000 m, approachRate: -5.252173 m/s, rangeRepo size: 4jhY]FNOT Ignoring new targets: 452.97 m.Rhe8Zhe8 ProNav: ac range: 452.971344 m, nav range: 449.168549 m, bearing: 213.551897 deg, approach rate: -0.634602 m/s, LOS rate: 0.004505 deg/s, cmd heading: 205.802547 deg, new cmd heading: 205.809039 deg. BhE9HeadingCmd: 3.592045 target range: 452.971344 and range: 455.10 m.he@h*h"h hgfffdddjd {@Zd`'?ɢ\)A EiA)EAIiMiM;,U ;UC BDAT read: Tx time:00:24:27.7989 $Ping request sent.A >E  E E ,E "E m:*E c:VE g4ZE a @a @a @a @BE >BA BE )IBE ~BBA BA BE DBE |;BE 3EBCBCB̕CB =B =CJ6A) I9 II OU >ڨ,#?A0ɰ0j4X@j*f@jٱjI( ]AHRS rotation from veh to nav: [[-0.897808,0.428131,0.103177],[-0.438968,-0.888803,-0.131668],[0.035333,-0.163504,0.985910]]jHֺf?@i?ܿq{@)?Ŀ?ij4X@IjTv^;jCY_By(IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253239bDVDy;%E=ٔb:Q->9Y=Dy4C?,;E>Q 5 4?Q 9 4Z)SBYy'Q I? CI-k i#i:, CG; h6",:?A22CX@28f@2n ٱ2II$ >AHRS rotation from veh to nav: [[-0.897447,0.429414,0.100960],[-0.439764,-0.888884,-0.128424],[0.034595,-0.159653,0.986567]]2H @{?ع? %ܿq@6p f?oĿ?i22CX@I2^;2CYFXByF(IDj=Dj4=El EnEn)El"El*EnR:VEnFA4ZElBEnW9"?Y"?=DyUCG;E>Q 54x{?Q 94)TBY$+?Q E:y (Q I?-CI ;i ;(4yɮAjh%FNOT Ignoring new targets: 452.97 m.Rh-z8Zh-z8= ProNav: ac range: 452.971344 m, nav range: 448.632172 m, bearing: 213.556154 deg, approach rate: -0.714152 m/s, LOS rate: 0.006379 deg/s, cmd heading: 205.814678 deg, new cmd heading: 205.821822 deg. Bh=9EHeadingCmd: 3.592268 target range: 452.971344 and range: 455.10 m.hEe@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU?颁ɢ%)) -i))-|3))i-5i57,5;=R5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971F,P?A RNX@RDf@R ٱRa! ZAHRS rotation from veh to nav: [[-0.897146,0.430413,0.099360],[-0.440418,-0.888898,-0.126063],[0.034062,-0.156857,0.987034]]RHl?@o?/ܿq" p? ĿǕ?iRNX@IR,m^;RCYbfByb)IbDjVDj1yr=%v[=ٔvK:Q-v>9tYx=zDyzsCz:Ez>|Q 54~/i?Q 94~Ŵ)|Y y 'Q I ?~MCI~:i~:~.4yBɮ^AlEjh9EFNOT Ignoring new targets: 452.97 m.RhE8ZhE8U ProNav: ac range: 452.971344 m, nav range: 448.383209 m, bearing: 213.558354 deg, approach rate: -0.667143 m/s, LOS rate: 0.005896 deg/s, cmd heading: 205.821822 deg, new cmd heading: 205.828423 deg. BhU}9]HeadingCmd: 3.592384 target range: 452.971344 and range: 455.10 m.h]e@hY*ha"ha hagafafifidididijdqZdud?颙ɢV) i)顡iPai6,Bƪ;o,*?A2\X@2VRf@2 ٱ2dz! :AHRS rotation from veh to nav: [[-0.896785,0.431171,0.099341],[-0.441169,-0.888514,-0.126144],[0.033876,-0.156951,0.987025]]2Hu`O?nn?@<ܿn@%>X?Ŀ?i2\X@I2I^;2CYBmByB )IPiMMb@Mb@Mb@IIII I9M/$?Mb?y&1YM1(?yM@=M`MBM/A MMB)MAIYMBbDeVDe1yu?=%uB=ٔu9Q-}>9yYy=}DyCt;E>Q 54T?Q 94ȴ)QBY(?Q E:y'Q I?pCI ;i ;54yɮAAjhFNOT Ignoring new targets: 452.97 m.Rh8Zh8 ProNav: ac range: 452.971344 m, nav range: 448.105743 m, bearing: 213.560652 deg, approach rate: -0.657556 m/s, LOS rate: 0.005451 deg/s, cmd heading: 205.828420 deg, new cmd heading: 205.835320 deg. Bhko9HeadingCmd: 3.592504 target range: 452.971344 and range: 455.10 m.he@h*h"h hgfffdddjdZd`?1ɢ5j)1 =i9)=99i=iE4,EF;El$) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762816Yû, ?A6^X@6TTf@6 ٱ6! BAHRS rotation from veh to nav: [[-0.896723,0.431194,0.099794],[-0.441274,-0.888416,-0.126468],[0.034126,-0.157444,0.986938]]6H `??=ܿ`m0 y?'Ŀ@?i6^X@I6];4YJuByJ)IbDRVDR3yZ=%ZW=ٔ^\,Q-^>9\Y`=bDybCb9Eb>dQ 5j4fB?Q 9j4f˴)fOBYlyn'Q In?fCIf;if;f<4yrBɮr AvkE|jhFNOT Ignoring new targets: 452.97 m.Rh8Zh8- ProNav: ac range: 452.971344 m, nav range: 447.855652 m, bearing: 213.562724 deg, approach rate: -0.656140 m/s, LOS rate: 0.005437 deg/s, cmd heading: 205.835318 deg, new cmd heading: 205.841536 deg. Bh-n95HeadingCmd: 3.592613 target range: 452.971344 and range: 455.10 m.h5]e@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdMY@qɢ}.)y }iy)}b0yiiX2,vo;(bE:4jEɊ94rET0E  E E E "E O:*E VE ZE a @a @a @a @B- >B) B- =)IB- BB- =B) B) B- {;B- 03Eԙ ɻ,'?A EiX@ ^f@ * ٱ "ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269354 AHRS rotation from veh to nav: [[-0.896431,0.431686,0.100289],[-0.441853,-0.888073,-0.126855],[0.034302,-0.158030,0.986838]] H@?@?@RGܿk <`?`R:Ŀ.?i EiX@I 5]; CYqBy )IiMMb@Mb@Mb@IIII I9Mw/?x&?Q롿YM&?yM7=M\M#BI MB)MhAIYMfBe@Ae@AbDeVDek1y} W%}%=ٔ}lQ-}>9Y=DyݡCB:E>Q 54E+?Q 94qд)IBY(?Q E:y%Q I?CI:ie:BE4yBɮ#AsEB*** querying acoustic contact ***i ijhIUFNOT Ignoring new targets: 452.97 m.RhU:R8Zh]:R8m ProNav: ac range: 452.971344 m, nav range: 447.531769 m, bearing: 213.564186 deg, approach rate: -0.635603 m/s, LOS rate: 0.002872 deg/s, cmd heading: 205.841534 deg, new cmd heading: 205.845924 deg. BhmF8uHeadingCmd: 3.592689 target range: 452.971344 and range: 455.10 m.hue@hq*hq"hq hqgqfyfyfydyddԩjdZd@ɢdڼ) Bi)iti%1,-;-0jл,C?A2,oX@2df@2[ٱ2" >AHRS rotation from veh to nav: [[-0.896258,0.431946,0.100716],[-0.442169,-0.887952,-0.126596],[0.034749,-0.157997,0.986828]]2H%`?ȹ?Lܿ@j@P4@ʡ?=9Ŀ@?i2,oX@I2.];2CYBpByF )IIJ8>)JR=J=J=bDRVDR2yVtλ%Vo=ٔZQ-Z?9\Y\=^Dy^C^C:Eb?`Q 5f4b/?Q 9f4bӴ)bEBYhyj%Q Ij?b֮CIb;ib;b9K4ylɮr'Ap1jhFNOT Ignoring new targets: 452.97 m.RhW8ZhW8 ProNav: ac range: 452.971344 m, nav range: 447.307892 m, bearing: 213.565188 deg, approach rate: -0.656508 m/s, LOS rate: 0.002939 deg/s, cmd heading: 205.845919 deg, new cmd heading: 205.848925 deg. Bh9HeadingCmd: 3.592741 target range: 452.971344 and range: 455.10 m.hze@h*h"h hgfffdddjdZd ¿@!ɢ%/)! -\i))-!)IiMiU<0,U{9;]4Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022771׻,c]?A6lX@6ybf@6iٱ6*" BAHRS rotation from veh to nav: [[-0.896307,0.431785,0.100973],[-0.442031,-0.888100,-0.126045],[0.035250,-0.157608,0.986872]]6H\?\ٹ?:JܿPk;"E ?~,Ŀ`u?i6lX@I6];6CYJrByJ)IbDVVDV2yZ.<%^J=ٔ^Q-^>9`Y`=bDybCfxEf>dQ 5j4f#?Q 9n4f.״)fABYlyn%Q In?fCIf;if;fJR4yvBɮvAtjh FNOT Ignoring new targets: 452.97 m.Rh`8Zh`8% ProNav: ac range: 452.971344 m, nav range: 447.042755 m, bearing: 213.566379 deg, approach rate: -0.682707 m/s, LOS rate: 0.003070 deg/s, cmd heading: 205.848924 deg, new cmd heading: 205.852501 deg. Bh-9-HeadingCmd: 3.592804 target range: 452.971344 and range: 455.10 m.h-e@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE @iɢu])q u'iqԹ)dw$ii5/, ; 1BCBC)IBBB =BBDB{;B3Ee9@i @i@m3@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276743^Am*:<IIO>9 l+ݻ,9Y=Dy=CE>Q 54_?Q 94X۴)9BY&?Q E:y #Q I?CIi:i:Y4yɮABDAT read: Rx Time:00:24:30.8041 TRx dataTimestamp_ set to:1761524669.928253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527959jhFNOT Ignoring new targets: 452.97 m.Rh2<Zh2< ProNav: ac range: 452.971344 m, nav range: 446.759766 m, bearing: 213.566087 deg, approach rate: -0.621863 m/s, LOS rate: -0.000643 deg/s, cmd heading: 205.852503 deg, new cmd heading: 205.851626 deg. BhHeadingCmd: 3.592789 target range: 452.971344 and range: 455.10 m.h@e@h*h"h hgff f d d1d1jd1Zd5 3@颁ɢt) i)(顉i]iv/,q;1ԡ ?,?A2|X@24rf@2=ٱ2'$ :AHRS rotation from veh to nav: [[-0.895844,0.432272,0.102975],[-0.442872,-0.887522,-0.127154],[0.036428,-0.159515,0.986523]]2H`W?\?Xܿ@f F?jĿ?i2|X@I2];0YbkByf)I bD VD :2qy}Q%}>=ٔ}c3Q-}>9Y=Dy`C;;E>Q 54?Q 94xߴ)1BYy#Q I?@CIf;i:ia4yBɮ,ArEjhFNOT Ignoring new targets: 452.97 m.RhbZhb ProNav: ac range: 452.971344 m, nav range: 446.479828 m, bearing: 213.565769 deg, approach rate: -0.682673 m/s, LOS rate: -0.000775 deg/s, cmd heading: 205.851629 deg, new cmd heading: 205.850676 deg. BhHeadingCmd: 3.592772 target range: 452.971344 and range: 455.10 m.he@h*h"h hgfffdddjdZdS@1ɢ5)1 5;i1)=U,99i=}iE/,EYh;E@= @;= @ԡ d<)'>Idې!?o?xaVy? ;>) ʻI'>idT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.B>BCBBB =BBDBw{;B2EE  E E (E "E :*E X:VE c44ZE BE O"<2E O"<JE r;:E r;^A! I I O > 'D,E?A>(DAT read: user:79> NBDAT read: Tx time:00:24:32.0989 R$Ping request sent.R9Y=DyC118E>Q 54?Q 94)+BY'?Q E:y3!Q I?fCI0;ii:3i4yBɮAqEi9i=R?AJi=PCRi=PCji==p@i=l2{@nfPR@5}!@ri=^6?ʿW?4?Zi='>bi=di=22v$({"]pPl%@zi=YĈK7G0l⿂x:?2i=:i="i=,k?*i=Bi=LBi=,k?i=i=ѪBi=Ci=o@m addTargetRange:: Added new target pos. range: 450.799988 m, deltaT: 8.569815 s, deltaX: -4.300018 m, approachRate: -0.501763 m/s, rangeRepo size: 4  Added new target pos. range: 448.626190 m, bearing: 215.716781 deg, lat: 36.779447 deg, lon: -121.860040 deg, deltaT: 8.569815 s, deltaX: -4.345154 m, approachRate: -0.507030 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 448.63 m.RhZh ProNav: ac range: 448.626190 m, nav range: 441.875549 m, bearing: 214.506322 deg, approach rate: 0.000000 m/s, LOS rate: -0.000775 deg/s, cmd heading: 205.850673 deg, new cmd heading: 205.849608 deg. BhHeadingCmd: 3.592753 target range: 448.626190 and range: 450.80 m.he@h*h"h hgfffdddjd,|@Zd@?aɢeR)a e|ia)m0iiimw3iu0,}?;}ݰ?,3?A2vX@2kf@2I$ٱ2p# :AHRS rotation from veh to nav: [[-0.895972,0.431734,0.104115],[-0.442493,-0.887820,-0.126393],[0.037867,-0.159315,0.986501]]2H`ͫ@?@H?Qܿi@-@Yc?`kdĿ`k?i2vX@I2RW^;2CYBbByB(IHJAAbDjVDj1yr%ra=ٔvfQ-v>9tYx=zDyzCzE~>|Q 54~?Q 94~)~%BY y 9!Q I ?~CI~:i~:~o4yɮJA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 448.63 m.RhM ZhM ] ProNav: ac range: 448.626190 m, nav range: 441.637115 m, bearing: 214.505696 deg, approach rate: -0.676815 m/s, LOS rate: -0.001776 deg/s, cmd heading: 205.849607 deg, new cmd heading: 205.847730 deg. Bh] eHeadingCmd: 3.592721 target range: 448.626190 and range: 450.80 m.he#e@ha*ha"ha hagifififidqdqdqjdqZd}X?ԑ颱ɢ ) i)3checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496565iXi0,8?;b9 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747051 , ?A2{nX@2,df@23"ٱ2͉" :AHRS rotation from veh to nav: [[-0.896111,0.431208,0.105091],[-0.442050,-0.888321,-0.124407],[0.039709,-0.157938,0.986650]]2H``? C?`Jܿ !m`*ٿT?S7Ŀ`?i2{nX@I2 _;2CYBuByB)IIFC=)F=J=J=bDNVDNN2yVG=%VO=ٔV͘Q-Z>9XYX=ZDyZ¢C^E^>`Q 5f4bĪ?Q 9f4b)bBYdyf?!Q If?bCIb:ib=:bwv4ynBɮnAnpEB>BBI)IBBB =BBDBz;B2EBCBCBCB =B =C16jh!-FNOT Ignoring new targets: 448.63 m.Rh-Zh-EE EEEE(EA"EEa:*EER:VEEc44ZEABEE(y +F,?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251210YsBy)IiMb@Mb@Mb@ 9 r?X9v?Zd;OY#?y=jIA wB)YBbDVDy%7=ٔQ->9Y=DyCE> Q 54 ?Q 94 ) BY&?Q E:yw Q I? ˯CI ;i  ; C~4y%Bɮ%A%yEjhIMFNOT Ignoring new targets: 448.63 m.QRhUHZh]He ProNav: ac range: 448.626190 m, nav range: 441.088135 m, bearing: 214.503818 deg, approach rate: -0.656852 m/s, LOS rate: -0.002743 deg/s, cmd heading: 205.845728 deg, new cmd heading: 205.842095 deg. BhmuHeadingCmd: 3.592622 target range: 448.626190 and range: 450.80 m.hue@hq*hq"hq hqgqfyfyfydyddjdZdY?颱ɢ~)  i);项inli/2,;D6 |,,J?A2\X@2Rf@2k+ٱ2n! :AHRS rotation from veh to nav: [[-0.896504,0.430098,0.106286],[-0.441052,-0.889106,-0.122328],[0.041886,-0.156545,0.986782]]2H(@?5?0:ܿsP r? Ŀ@?i2\X@I2`;2CYZxByZ)I ``bDfVDf2yj@<%j^=ٔns»Q-n>9pYp=rDyrCr>Ev>tQ 5z4v؆?Q 9z4v)vBY|y~ Q I~?vCIv3;iv/;v4yBɮ ڵA xEjh)5FNOT Ignoring new targets: 448.63 m.Rh5@Zh5@E ProNav: ac range: 448.626190 m, nav range: 440.849365 m, bearing: 214.502851 deg, approach rate: -0.650031 m/s, LOS rate: -0.002634 deg/s, cmd heading: 205.842094 deg, new cmd heading: 205.839192 deg. BhMYMHeadingCmd: 3.592572 target range: 448.626190 and range: 450.80 m.hMe@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde!7?频ɢ) fi)#>顙ii3,U;& M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982A Z ,/?ADDbuNX@b&Df@b0ٱbm jAHRS rotation from veh to nav: [[-0.896845,0.429239,0.106881],[-0.440234,-0.889699,-0.120952],[0.043175,-0.155528,0.986888]]bH@@x?`\?,ܿjx@? Wÿ@?ibuNX@Ib n`;bCYrByr)I ttiMb@Mb@Mb@ 9#~j?x&?QY%?y7 >uA B)AYBbDVDy =%;=ٔAQ->9Y=Dy(CE>Q 54s?Q 94r)BYp)?Q E:y3Q I?CI ;i ;P4yɮAjh!%FNOT Ignoring new targets: 448.63 m.Rh-Zh-= ProNav: ac range: 448.626190 m, nav range: 440.560791 m, bearing: 214.500901 deg, approach rate: -0.660858 m/s, LOS rate: -0.004469 deg/s, cmd heading: 205.839198 deg, new cmd heading: 205.833344 deg. Bh=GDEHeadingCmd: 3.592469 target range: 448.626190 and range: 450.80 m.hEe@hA*hA"hI hIgIfIfQfQdQdQdYjdYZd] @颁ɢ3) i)@B顑ii4,E;DY DY Ee  Ee Ee *Ea "Ee :*Ee :VEe (N4ZEa am @am @am @am @>,iI?A 68X@6-f@66ٱ6 >AHRS rotation from veh to nav: [[-0.897395,0.427841,0.107857],[-0.438984,-0.890364,-0.120604],[0.044433,-0.155577,0.986824]]6Hva??Qܿ }߾鿦?ÿ?i68X@I6`;6CYfByf")IbDr VDr2yvO<%zZ=ٔ~(\Q->9 Y = Dy GCgmE>!Q 5=4%b?Q 9=4%s)%BYAyEIQ IE?%.CI%>i;i%Qt;%4yUBɮ]A]wEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 448.63 m.RhAZhA ProNav: ac range: 448.626190 m, nav range: 440.310455 m, bearing: 214.499252 deg, approach rate: -0.647707 m/s, LOS rate: -0.004269 deg/s, cmd heading: 205.833338 deg, new cmd heading: 205.828388 deg. Bh;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515787HeadingCmd: 3.592383 target range: 448.626190 and range: 450.80 m.he@h*h"h hgfffddd jd Zd P>@1ɢ57)1 =zi9)=hE99i=iE6,E;E h,Dc?A2 X@2f@2o:ٱ2% :AHRS rotation from veh to nav: [[-0.897974,0.425803,0.111056],[-0.437689,-0.890345,-0.125359],[0.045500,-0.161177,0.985876]]2H5[@?1n?@ܿ }` K?sĿL?i2 X@I2`;2CYBByF()IbDNBV>BVCBVV)IBVBBV =BTBVDBVy;BV2E\VDNyf<%fM=ٔf/Q-j>9hYh=jDyjgCnjEn>pQ 5v4r5Q?Q 9v4r)rBYtyvfQ Iz?rPCIr=:ir:rՙ4bEjE<4rE(0E! E%E%)E!"E!*E%c:VE%FA4ZE!BE%#A>! A  PExceeded connect timeout, disconnecting.I I O >0,d}?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271077lY=By=*)IIE;>)Ep9 Y = Dy C E>Q 5%4F=?Q 9%4A)BY%(?Q E%:y% Q I-?vCI ;iL ;4y5Bɮ5A5vEjhY]FNOT Ignoring new targets: 448.63 m.RhegZhegu ProNav: ac range: 448.626190 m, nav range: 439.754456 m, bearing: 214.496116 deg, approach rate: -0.701583 m/s, LOS rate: -0.003508 deg/s, cmd heading: 205.823393 deg, new cmd heading: 205.818971 deg. Bhu}HeadingCmd: 3.592219 target range: 448.626190 and range: 450.80 m.h}e@hy*hy"hy hygfffdddjdZd@ @颹ɢ) mi)Ki3l!i8,<-;;Ie@IE EEE"E :*E1]:VEZEa%@a%@a%@a%@1@ @@/@YBDAT read: Rx Time:00:24:35.0995 TRx dataTimestamp_ set to:1761524674.218968checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962^Amr;ԁ A I I O >>%,9XYX=ZDyZC^\:E^>`Q 5f4b@-?Q 9f4b)bBYdyj Q Ij?bCIb:ibo:b4ynBɮreAruEjh FNOT Ignoring new targets: 448.63 m.Rh sZh s% ProNav: ac range: 448.626190 m, nav range: 439.517426 m, bearing: 214.494916 deg, approach rate: -0.657604 m/s, LOS rate: -0.003330 deg/s, cmd heading: 205.818967 deg, new cmd heading: 205.815366 deg. Bh%F-HeadingCmd: 3.592156 target range: 448.626190 and range: 450.80 m.h-e@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=@ԙɢ) bi)zNiG"i59,=Y;=BCBb)IBBB =BBDB{y;B1EE5 E5E5(E1"E5>:*E5T:VE5c44ZE1BE5A  DAT read: 00:24:35.0995 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 392, 0.10,-0.362,-1.850,-0.428,-0.664, PHS= 0.403,-1.141, 0.192, RAW= 142.7, 7.6, CAL= 142.3, 8.3, ROT= 7.7, -8.3  Ygot valid direction response: 00:24:35.0995 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 392, 0.10,-0.362,-1.850,-0.428,-0.664, PHS= 0.403,-1.141, 0.192, RAW= 142.7, 7.6, CAL= 142.3, 8.3, ROT= 7.7, -8.3  PDAT read: Bearing 356.2, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 356.2, 8.8 (Local)  DAT read: Range 11 to 50 : 447.3 m (Round-trip 596.4 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.M \direction in FSK: [0.980603,0.132583,0.144356]C+,(?A}Fpublishing direction and range infoy_sa?TXyy?'ЌCz?YC )HIV>iJ D>e@>\@ V>) >IVaɰ@?`H8? ? c>)I >iVZT****** received valid address query ******ZR****** received valid ping request ******ZQuerying Benthos address 50 with one ping in standard two-way mode.}X@}Cf@}I<ٱ}x^' AHRS rotation from veh to nav: [[-0.897986,0.425503,0.112109],[-0.437610,-0.890239,-0.126379],[0.046029,-0.162547,0.985627]]}H`M`o;?1?`ܿ|`3-@'?WĿ@?i}X@I}_;}CYBy4)IiuMb@Mb@Mb@qqqq q9u/$?y&1?Yu1(?yu`=quBq u>B)uAqYuB bDVD1y <%"=ٔwQ->9Y=DyңC E>Q 54?Q 94-)BY*?Q E:MnManaging dock network, ignoring radio surface power offye`!Q Ie?CImbiVizve@I%vo򷊗uR@zix 걸 ;?2i{:iֳ"i/ð?*iϝBiCi{NI?i&@i8CiCip@5 addTargetRange:: Added new target pos. range: 447.299988 m, deltaT: 4.287587 s, deltaX: -3.500000 m, approachRate: -0.816310 m/s, rangeRepo size: 4 9m Added new target pos. range: 445.160889 m, bearing: 214.983286 deg, lat: 36.779456 deg, lon: -121.860072 deg, deltaT: 4.287587 s, deltaX: -3.465302 m, approachRate: -0.808217 m/s, posRepo size: 4 jhimFNOT Ignoring new targets: 445.16 m.RhuZhq ProNav: ac range: 445.160889 m, nav range: 439.930908 m, bearing: 214.879372 deg, approach rate: 0.000000 m/s, LOS rate: -0.003330 deg/s, cmd heading: 205.815361 deg, new cmd heading: 205.809958 deg. BhHeadingCmd: 3.592062 target range: 445.160889 and range: 447.30 m.hVe@h*h"h hgfffdddjd{@Zd@+?)ɢ-~Ӽ)) -"^i1=(DAT read: user:80> EBDAT read: Tx time:00:24:36.4489 E$Ping request sent.E3,:?A00N}%X@N.f@Nk=ٱNEA(T ZAHRS rotation from veh to nav: [[-0.897817,0.425688,0.112757],[-0.437929,-0.889995,-0.126995],[0.046293,-0.163398,0.985474]]NHy>? ݼ?@ܿ@z`]A³?7Ŀ?iN}%X@IN\_;LYbByb>)IbDjVDj0yr6@=%r^=ٔv;Q-v>9tYt=zDyzCz:Ez>|Q 54~T?Q 94~)~BY y [!Q I ?~ްCI~;i~";~84yBɮ-A~E5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 445.16 m.RhEvZhEvU ProNav: ac range: 445.160889 m, nav range: 439.688141 m, bearing: 214.879002 deg, approach rate: -0.729460 m/s, LOS rate: -0.001110 deg/s, cmd heading: 205.809965 deg, new cmd heading: 205.808857 deg. BhUB]HeadingCmd: 3.592042 target range: 445.160889 and range: 447.30 m.h]e@hY*hY"ha hagafafifidididqjdqZdup?颙ɢ) nLi)dT顩ip$i;,;U1 B A 4=B >B CB o)IB BB B B B ly;B 1EEu  Eu Eu (Eq "Eu >:*Eu [:VEu c44ZEq BEq a} 2Eq a} JEu D;a} :Eu D;a} M9,9d?A21X@2>'f@2>ٱ2rX' :AHRS rotation from veh to nav: [[-0.897485,0.426412,0.112665],[-0.438585,-0.889809,-0.126027],[0.046511,-0.162521,0.985608]]2H 3SJ?@׼?ܿPy!AЧ?@{Ŀ?i21X@I2^;2CYRByR;)IbDZ VDZ:2ybg%bN=ٔbQ-f>9dYd=fDyfCj:Ej>lQ 5r4n2?Q 9r4n)n BYpyrN!Q Iv?nCIn;in;n(4yxɮz8Axjh%FNOT Ignoring new targets: 445.16 m.Rh%wZh%w5 ProNav: ac range: 445.160889 m, nav range: 439.423553 m, bearing: 214.878573 deg, approach rate: -0.667087 m/s, LOS rate: -0.001082 deg/s, cmd heading: 205.808858 deg, new cmd heading: 205.807570 deg. Bh5(>HeadingCmd: 3.592020 target range: 445.160889 and range: 447.30 m.he@h*h"h hgfffdddjdZd ?颉ɢdܼ) .Ri)TLW项i%i<,; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006651ԩ @,??A2$2X@2'f@2p>ٱ2%% :AHRS rotation from veh to nav: [[-0.897471,0.426689,0.111725],[-0.438618,-0.890060,-0.124128],[0.046478,-0.160406,0.985956]]2H N??Rܿ^{ ƿ˧?@,Ŀ ?i2$2X@I2ŗ^;2CYBByBD)I ))ԁ\GliA9liAYAiMb@Mb@Mb@ 9uV?S㥻?~jtxYr(?y/=ĻBA wB)YBbDVD1EM EMEM)EI"EM :*EM:VEMFA4ZEIaU@aU@aU@aU@y]<%]3=ٔe8Q-e>9aYa=mDym5Cm\8Em>Q 54z?Q 94)"BY*?Q E:y!Q I?)CI:i:kƃ4y Bɮ A }EjhFNOT Ignoring new targets: 445.16 m.RhZh ProNav: ac range: 445.160889 m, nav range: 439.108276 m, bearing: 214.878369 deg, approach rate: -0.651810 m/s, LOS rate: -0.000423 deg/s, cmd heading: 205.807574 deg, new cmd heading: 205.806961 deg. BhHeadingCmd: 3.592009 target range: 445.160889 and range: 447.30 m.hze@h*h"h hgfffdddjdZd 9?ɢԼ) Di)Zi&i;<,U.;[ ƳF,z?A2B;X@20f@2ڮ>ٱ2O$ :AHRS rotation from veh to nav: [[-0.897224,0.427267,0.111497],[-0.439116,-0.889927,-0.123314],[0.046537,-0.159600,0.986084]]2H` XX??`{ܿHz | ӧ?`mĿ?i2B;X@I2)7^;0YBByBI)IIF=)F=J=J=bDNVDNyV<%Vk=ٔV1Q-Z?9XYX=ZDyZRC^U:E^?`Q 5f4b6?Q 9f4b)b#BYdyf!Q If?bECIb:ib=:b:̃4ynBɮnAn|EjhFNOT Ignoring new targets: 445.16 m.Rh sZh s ProNav: ac range: 445.160889 m, nav range: 438.886627 m, bearing: 214.878208 deg, approach rate: -0.689300 m/s, LOS rate: -0.000500 deg/s, cmd heading: 205.806960 deg, new cmd heading: 205.806477 deg. Bh%HeadingCmd: 3.592001 target range: 445.160889 and range: 447.30 m.h%We@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870ɢ*_) ;i)f \iҋ'i^<,%c;-BqBu)IBuЉBBu =BqBuDBu@y;Bu1EB5CB1B1B5 =B1C5ĺ]6EM EMEM'EI"EM:*EMV:VEM'4ZEIBEMH-% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765280a `L,j5?A2JX@2?f@2@ٱ2" :AHRS rotation from veh to nav: [[-0.896807,0.428200,0.111275],[-0.439918,-0.889789,-0.121443],[0.047010,-0.157863,0.986341]]2Hg?|?'ܿ&y``?4Ŀ?i2JX@I2AX^;0Y^By^Y)Ii}Mb@Mb@Mb@yyyy y9}E?MbX?{GzY}&?y}=}ף}B}A }B)}AyY}AbDVD1ys=%<=ٔQ->9Y=DyuC!;E>Q 54H?Q 94U")"BY(?Q E:y"Q I?jCI :i:Ӄ4yɮôAjh%FNOT Ignoring new targets: 445.16 m.Rh%TU7Zh-TU71E ProNav: ac range: 445.160889 m, nav range: 438.600098 m, bearing: 214.878529 deg, approach rate: -0.650299 m/s, LOS rate: 0.000729 deg/s, cmd heading: 205.806481 deg, new cmd heading: 205.807444 deg. BhE7MHeadingCmd: 3.592017 target range: 445.160889 and range: 447.30 m.hMe@hI*hI"hI hIgQfQfYfYdYdYdYjdaZde c@颉ɢBļ)I U!iQ)U3R^QQiU(i]<,]ظ;]+?$Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266732,S,9O?AYByS)I )-4=bD5VD5kyEƼ%EQ=ٔEQ-E>9IYI=MDyMCMEU>QQ 5]4UU?Q 9e4U*&)U!BYayaQ Ie?UCIU;iU;Uڃ4ym޶BɮuδAu{EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 445.16 m.RhP[7ZhP[7 ProNav: ac range: 445.160889 m, nav range: 438.341980 m, bearing: 214.878819 deg, approach rate: -0.667773 m/s, LOS rate: 0.000749 deg/s, cmd heading: 205.807438 deg, new cmd heading: 205.808306 deg. Bh8UHeadingCmd: 3.592033 target range: 445.160889 and range: 447.30 m.h]e@hY*hY"hY hYgYfYfafadadadijdiZdm@L@ԑɢxHμ) *i)`i*i;,>;w~"Bq Bu )IBu ډBBu =Bq Bq Bu y;Bu 1EAY Em  Em Ei Ei "Em &:*Em e:VEi ZEi BEm b; JY,Ti?A2hX@2h^f@2Eٱ2]! :AHRS rotation from veh to nav: [[-0.895927,0.429778,0.112273],[-0.441567,-0.889181,-0.119903],[0.048300,-0.157000,0.986417]]2Hoz??Bܿ*t񱾿?Ŀ๐?i2hX@I2B^;2CYBByB[)I DDbDV VDV2y~=% N=ٔTQ->9Y=5Dy5CE~;EE>IQ 5}4M?Q 9}4M*)IYy"Q I?MCIM`,Ҍ?A2UnX@2df@2UJٱ2W! >AHRS rotation from veh to nav: [[-0.895729,0.429962,0.113150],[-0.441851,-0.889141,-0.119147],[0.049377,-0.156719,0.986408]]2H ϩ?d?HGܿslH?\Ŀ?i2UnX@I2&_;2CYFByFh)IiMb@Mb@Mb@ 9MbX?"~j?Q롿Y*?yS=\>BdA iB)AY\AbD}VD}02yM=%B=ٔ'Q->9Y=DyؤCU:E>Q 54Q?Q 94j.)BYU-?Q E:y!Q I?ѱCI;i; 4yܶBɮAzEjh FNOT Ignoring new targets: 445.16 m.Rh ܶZh ܶDzDE EEE"E:*Ec:VEZEa%@a%@a%@a%@= ProNav: ac range: 445.160889 m, nav range: 437.792511 m, bearing: 214.878901 deg, approach rate: -0.715502 m/s, LOS rate: -0.000376 deg/s, cmd heading: 205.809009 deg, new cmd heading: 205.808561 deg. Bh==HeadingCmd: 3.592037 target range: 445.160889 and range: 447.30 m.hEe@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUQI @颁ɢ) Ni)Yd顉i,i;,5β;$@Pg,a?A2jX@2G`f@2+Nٱ2 :AHRS rotation from veh to nav: [[-0.895788,0.429776,0.113387],[-0.441625,-0.889460,-0.117595],[0.050313,-0.155414,0.986567]]2HK u?@?Cܿ tv©? ÿ`?i2jX@I2"h_;2C@YFByFl)INAALbDR VDR2yVt<%ZY=ٔZ$Q-Z>9\Y\=^Dy^CE>Q 5%4}p?Q 9%4T2)BY)y-!Q I-?CI:iw:4y1ɮ5xA5EEBDAT read: Rx Time:00:24:39.4462 ETRx dataTimestamp_ set to:1761524678.500218Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527885jhqFNOT Ignoring new targets: 445.16 m.RhGȶZhGȶ ProNav: ac range: 445.160889 m, nav range: 437.533905 m, bearing: 214.878769 deg, approach rate: -0.672521 m/s, LOS rate: -0.000342 deg/s, cmd heading: 205.808558 deg, new cmd heading: 205.808163 deg. BhUpHeadingCmd: 3.592030 target range: 445.160889 and range: 447.30 m.he@h*h"h hgfffdddjdZd@d_@ɢ d) i)ei .i ;, 0;  <BCB)IBBB =BBDBy;B1EbEĀ'4jE-4rEĈ/E- E-E)E)"E-:*E-L_:VE)ZE)BE--A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778945A I! IA Om >w+m,%Q8!! %B)%+A!Y%fAbD=VD=:3yM'<%MA=ٔUQ-U>9aYi=uDyuCmE>Q 54>]?Q 946)BYZ-?Q E:y Q I?CI;i;4yڶBɮgAEjhFNOT Ignoring new targets: 445.16 m.RhZh ProNav: ac range: 445.160889 m, nav range: 437.251160 m, bearing: 214.877942 deg, approach rate: -0.680195 m/s, LOS rate: -0.001991 deg/s, cmd heading: 205.808162 deg, new cmd heading: 205.805679 deg. Bh㮸HeadingCmd: 3.591987 target range: 445.160889 and range: 447.30 m.he@h*h"h hgfffdddjdZd@}@ }DAT read: 00:24:39.4462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.32, 1.720, 0.112, 1.631, 1.263, PHS= 0.559,-1.106, 0.324, RAW= 142.5, 2.9, CAL= 142.2, 3.3, ROT= 7.8, -3.3 Ygot valid direction response: 00:24:39.4462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.32, 1.720, 0.112, 1.631, 1.263, PHS= 0.559,-1.106, 0.324, RAW= 142.5, 2.9, CAL= 142.2, 3.3, ROT= 7.8, -3.3 PDAT read: Bearing 351.6, 10.1 (Local) ~Local bearing/azimuth received: Bearing 351.6, 10.1 (Local) DAT read: Range 11 to 50 : 444.9 m (Round-trip 593.2 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.989105,0.135491,0.057564]Fpublishing direction and range infoyIMP\Ɇ?W?`8.y?YMsCIIII I)IIM?iMhMT>M,@M4QO=M@ Mk=)M'g >IMkIIMsZ?ow?[_rԩ? M!>)M NIM'g >iMkIIT****** received valid address query ******R****** received valid ping request ******ɢt)ᔼ @i))gi/i<,;=  BDAT read: Tx time:00:24:40.6489  $Ping request sent. t,?AjE9X@j.f@j")ZٱjT" rAHRS rotation from veh to nav: [[-0.896977,0.426424,0.116599],[-0.438860,-0.890681,-0.118698],[0.053237,-0.157640,0.986061]]jH@J?@jٽ?Iܿ ub`A?-Ŀύ?ijE9X@Ij_;jCYzĉByzr)IbDVD 3y0_<%8=ٔQ->9Y!=%Dy%=C%ۻE->)Q 554-H?Q 954-O;)- BY9y= Q I=?-bi ki  |vDΕo~C@zi M*ST0>?2i x:i #"i U_?*i Bi Bi i i i zCi 'p@ addTargetRange:: Added new target pos. range: 444.899994 m, deltaT: 4.282661 s, deltaX: -2.399994 m, approachRate: -0.560398 m/s, rangeRepo size: 4  Added new target pos. range: 442.777679 m, bearing: 214.317661 deg, lat: 36.779456 deg, lon: -121.860072 deg, deltaT: 4.282661 s, deltaX: -2.383209 m, approachRate: -0.556479 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 442.78 m.RhZh ProNav: ac range: 442.777679 m, nav range: 436.953949 m, bearing: 214.877197 deg, approach rate: 0.000000 m/s, LOS rate: -0.001991 deg/s, cmd heading: 205.805675 deg, new cmd heading: 205.803026 deg. BhHeadingCmd: 3.591940 target range: 442.777679 and range: 444.90 m.hZe@h*h"h hgfffdddjd`f{@Zd [?ɢP>) %i!)%6[i!!i%g1i-[=,-;-BB)IBBB =BBDBy;B1EQ E  E E E "E :*E P:VE ZE BE yz,?A 6 X@6Yf@6}_ٱ6%" >AHRS rotation from veh to nav: [[-0.898158,0.423631,0.117680],[-0.436276,-0.891907,-0.119015],[0.054541,-0.158235,0.985894]]6Hල?? ?ۿ@w ? AĿq?i6 X@I6^;6CYFƉByFv)I LLbDRVDRyZnZ<%ZS=ٔZ\Q-Z>9\Y\=^Dy^\CbEEb>dQ 5j4f7?Q 9j4fY?)fBYhyj!Q Ij?f^CIfR:if:f}4ypɮrHAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 442.78 m.RhշZhշ% ProNav: ac range: 442.777679 m, nav range: 436.691467 m, bearing: 214.876638 deg, approach rate: -0.683477 m/s, LOS rate: -0.001456 deg/s, cmd heading: 205.803025 deg, new cmd heading: 205.801348 deg. Bh%-HeadingCmd: 3.591911 target range: 442.777679 and range: 444.90 m.h-e@h)*h)"h) h1g1f1f1echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500826f1dddjdZdR?Yɢ] @)a eDia)m#j顑i 3i=,;C;Ie@Iԁ9@ @!@!@ԙ^A<AgAzAhA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754169 A I! I9 OE >+с,?A2 W@2e@2`cٱ29) :AHRS rotation from veh to nav: [[-0.899217,0.420499,0.120790],[-0.433971,-0.892301,-0.124370],[0.055483,-0.164254,0.984856]]2H@br?`?-ۿ`ֿTh?Iſ?i2 W@I2H!_;2CYBډByB)IER EREPEP"ER:*ERL_:VEPZEPaZ@aZ@aZ@aZ@XiMb@Mb@Mb@ 9K7?iB+A 0B)AYAbDVD02y=%7=ٔ Q->9Y= Dy CE>!Q 554%C"?Q 9=4%=D)%BY=0?Q E=:y=Q IE?%CI%;i%;%Q 4y׶BɮAEjh FNOT Ignoring new targets: 442.78 m.RhBB)IBBB =BBBy;B1EIIIYOm?A,'?A2)W@2ڱe@2ogٱ21 :AHRS rotation from veh to nav: [[-0.900142,0.417400,0.124590],[-0.431921,-0.892338,-0.131058],[0.056473,-0.171784,0.983515]]2H@?@&?ۿ ?ſx?i2)W@I2+ _;2CYB׉ByB)IEN ENEN&EL"EN:*ENAr:VEN4ZELBEN#9dYd=fDyjCjEj>lQ 5r4n ?Q 9r4nGI)nBYtyvQ Iv?nCIn1:in(:nj4yzնBɮzAzEjh%FNOT Ignoring new targets: 442.78 m.Rh-?pZh-?p ProNav: ac range: 442.777679 m, nav range: 436.063904 m, bearing: 214.873661 deg, approach rate: -0.720522 m/s, LOS rate: -0.003282 deg/s, cmd heading: 205.796769 deg, new cmd heading: 205.792409 deg. Bh%HeadingCmd: 3.591755 target range: 442.777679 and range: 444.90 m.hQe@h*h"h hg!f!f!f!d9d9dAjdAZdE@u? ɢ ۟)  䢽i ),mip7id@,˳;jF;IQe@I(AiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509535]9@Y @Y@Y@Yy^A vт;ԙ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760826i,A?AJtW@J%e@JNjٱJ6 VAHRS rotation from veh to nav: [[-0.901141,0.414485,0.127071],[-0.429717,-0.892761,-0.135358],[0.057340,-0.176581,0.982615]]JH%`?C?}ۿ~eS[?2ƿ q?iJtW@IJ_;JCYZByZ)Ii=Mb@Mb@Mb@9999 99=K7?S?Q롿Y9y=>=\=>B=A =iB)=A9Y=AQQbD]VD]kyeJ]=%mA=ٔmFQ-m>9qYq=uDyuɥCuyyE>G=jAMMA}9}jAY}AQ 54?Q 94 N)BY0?Q E:yHQ I?ղCIP)FR=bDNVDN02yVp=%V*=ٔVQ-V>9XYX=ZDyZC^tE^>`Q 5b4b?Q 9f4bB5CB5)IB5BB1B1B5DB5x;B51EBCBCBCB =B =C5iɢmsO)q u`iq)uSnqqiuUq E,{?A2MW@2Ce@2Gmٱ27 >AHRS rotation from veh to nav: [[-0.902945,0.410345,0.127696],[-0.425820,-0.894390,-0.136912],[0.058029,-0.177999,0.982318]]2H`C?[X?@ۿ מR`?ƿ@&o?i2MW@I2 _;0YNByR)Ii]Mb@Mb@Mb@YYYY Y9]/$?~jt?/$Y],?y]>]]B]~A ]B)YYY]=AbDuVDuJ2yp=%>=ٔ Q->9Y=DyCfE>Q 54 ?Q 94W)BYu0?Q E:y7Q I?$CI:i :,4yնBɮKAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 442.78 m.Rh Zh  ProNav: ac range: 442.777679 m, nav range: 435.143646 m, bearing: 214.868371 deg, approach rate: -0.714264 m/s, LOS rate: -0.004263 deg/s, cmd heading: 205.781838 deg, new cmd heading: 205.776528 deg. BhC;HeadingCmd: 3.591478 target range: 442.777679 and range: 444.90 m.he@h*h"h hgfff d d d jd Zd`@9ɢ=h)A E;iA)EFCnAAiM>iMD,M;QU I]e@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768768 @  @ @ 0@ ԁD?AzD@AE EE)E"Es:*EVEFA4ZEa@a@a@a@Ա^AΒ{I1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020816 +,>?A:K0W@:%e@:Plٱ:{6 BAHRS rotation from veh to nav: [[-0.903738,0.408916,0.126674],[-0.424194,-0.895231,-0.136461],[0.057601,-0.177059,0.982513]]:H k+?6?%ۿ w}?`ƿp?i:K0W@I:1I_;:CYJ ByJ)I PRa=bDVVDV02yZ`=%^X=ٔ^۔:Q-^>9`Y`=bDyb2CbEf>dQ 5j4f?Q 9j4f$\)fBYlynSQ In?fFCIf7;if;fY34ypɮv Atjh FNOT Ignoring new targets: 442.78 m.RhZh- ProNav: ac range: 442.777679 m, nav range: 434.883453 m, bearing: 214.866877 deg, approach rate: -0.689401 m/s, LOS rate: -0.003962 deg/s, cmd heading: 205.776524 deg, new cmd heading: 205.772039 deg. Bh-.-HeadingCmd: 3.591400 target range: 442.777679 and range: 444.90 m.h5~e@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEr @qɢuO)q uB=>B=CB=)IB=&BB= =B9B=DB=x;B=1E E  E E E "E :*E &p:VE ZE BE -9)Y)=-Dy-TC5E5>EBDAT read: Rx Time:00:24:43.6290 ETRx dataTimestamp_ set to:1761524682.784238Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525980IQ 5U4M,?Q 9U4M`)MBYYy]nQ I]?MkCIM ;iM ;M:4yeӶBɮmAmEjhFNOT Ignoring new targets: 442.78 m.RhZh ProNav: ac range: 442.777679 m, nav range: 434.593903 m, bearing: 214.865273 deg, approach rate: -0.688534 m/s, LOS rate: -0.003816 deg/s, cmd heading: 205.772044 deg, new cmd heading: 205.767230 deg. Bh'HeadingCmd: 3.591316 target range: 442.777679 and range: 444.90 m.he@h*h"h hgfffdddjdZd Z`@ɢ\;) 6=i)UmiXWCiG,];2Ie@I 9@ @@5@9^Avт=R=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777401ԉ Aa Ii Iy O >A,!x?A5EW@5d@5yeٱ5F!3 ]AHRS rotation from veh to nav: [[-0.904905,0.407294,0.123521],[-0.421913,-0.896614,-0.134437],[0.055995,-0.173768,0.983193]]5H@?? ۿ 95`g?`>ƿ Rv?i5EW@I5_;5CYm"Bym)IE EE$E"E:*E:VE4ZEa@a@a@a@iUMb@Mb@Mb@QQQQ Q9UHzG?㥛 ?MbpYU=*?yU>UUiBUEA U0B)U~AQYUAbDmVDm:2y}X=%}6=ٔ}K:Q->9Y=DyyC&E>Q 54?Q 94e)BYL.?Q E:yQ I?CIP:iz:~B4yɮIJAjhFNOT Ignoring new targets: 442.78 m.RhZh ProNav: ac range: 442.777679 m, nav range: 434.290222 m, bearing: 214.863688 deg, approach rate: -0.680263 m/s, LOS rate: -0.003553 deg/s, cmd heading: 205.767235 deg, new cmd heading: 205.762477 deg. Bh HeadingCmd: 3.591233 target range: 442.777679 and range: 444.90 m.he@h*h"h hgfffdddjdZd W@1ɢ5vH")9 ==i9)=cVl99i=X FiEH,Mە;MDuIMe@IIqDAT read: 00:24:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 262,-0.02,-1.897, 2.732,-2.045,-2.375, PHS= 0.580,-1.131, 0.286, RAW= 140.8, 3.4, CAL= 140.6, 4.0, ROT= 9.4, -4.0 Ygot valid direction response: 00:24:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 262,-0.02,-1.897, 2.732,-2.045,-2.375, PHS= 0.580,-1.131, 0.286, RAW= 140.8, 3.4, CAL= 140.6, 4.0, ROT= 9.4, -4.0 PDAT read: Bearing 351.6, 11.9 (Local) ~Local bearing/azimuth received: Bearing 351.6, 11.9 (Local) DAT read: Range 11 to 50 : 431.9 m (Round-trip 575.9 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.984169,0.162928,0.069756]Fpublishing direction and range infoyIM]O~? ?&k۱?YMCIIII I)MLIMz?iMĐMn>MnF@Ms=M= @ M5=)M'>IM5IIMer?X?O~nZ8? Mt>)MqIM'>iM5IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@4@ԑ^Ae A I I O > (DAT read: user:82>  BDAT read: Tx time:00:24:44.9489  $Ping request sent. B CB *IB?BB =BBBx;B1EbDVDN2y%ۛ=%%Q=ٔ%Q-%>9)Y)=-Dy-C5E5>YQ 5e4]?Q 9e4]i)]BYayaQ Ie?]CI]_:i]V:]iI4yuҶBɮuAEiim?AJiCRiCji"p@i !pz@}݀ӁQ@Ncq=@ri]O~? ?&k۱?Zi'>bi5iF uBWnp}D@ziAVlB"C j?2iJu:iG"i ?*iBi0Bi/ð?ii0Bi*Cio@ addTargetRange:: Added new target pos. range: 431.899994 m, deltaT: 4.284473 s, deltaX: -13.000000 m, approachRate: -3.034212 m/s, rangeRepo size: 4 U Added new target pos. range: 429.812469 m, bearing: 214.981300 deg, lat: 36.779467 deg, lon: -121.860059 deg, deltaT: 4.284473 s, deltaX: -12.965210 m, approachRate: -3.026092 m/s, posRepo size: 4 jhQ]FNOT Ignoring new targets: 429.81 m.RheZha ProNav: ac range: 429.812469 m, nav range: 432.334320 m, bearing: 214.826032 deg, approach rate: 0.000000 m/s, LOS rate: -0.003553 deg/s, cmd heading: 205.762481 deg, new cmd heading: 205.758093 deg. BhHeadingCmd: 3.591156 target range: 429.812469 and range: 431.90 m.he@h*h"hbEjE*4rEg/EM EMEM(EI"EMa:*EMxv:VEMc44ZEIBEM(Q A .AI IO> 0,?A2bV@2d@2̍Yٱ2,", :AHRS rotation from veh to nav: [[-0.905407,0.407809,0.118028],[-0.421213,-0.897652,-0.129619],[0.053089,-0.167073,0.984514]]2H`?7?'ڿ`Ws.?bſ$?i2bV@I2=^;2CYB3ByB)I~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503059iUMb@Mb@Mb@QQQQ Q9U rh?i|?5?I +?YUC+?yU=U949 ?Y ?=DyCfE>Q 544o?Q 94Sn)BY-?Q E:y!Q I?ڳCIq:i:Q4yɮxAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 429.81 m.RhdZhd ProNav: ac range: 429.812469 m, nav range: 432.038208 m, bearing: 214.825929 deg, approach rate: -0.703879 m/s, LOS rate: -0.000243 deg/s, cmd heading: 205.758096 deg, new cmd heading: 205.757790 deg. Bh*HeadingCmd: 3.591151 target range: 429.812469 and range: 431.90 m.hke@h*h"h hgfffd d d jdZd`U?iIɢM8G)Q U=iQ)UiQQiU\Ki]JJ,];] BƻIeke@Ia9@ @@ P4@ ԙE EE*E"E:*EM:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944^A% SA1 I9 II O] > kUƼ,?A>V@>d@>ORٱ>* FAHRS rotation from veh to nav: [[-0.905372,0.408479,0.115957],[-0.421506,-0.897581,-0.129159],[0.051322,-0.165814,0.984821]]>H $?a?ڿ@GF?a9ſ?i>V@I>+^;9dYd=fDyfڦCf-B:Ej>hQ 5n4jy]?Q 9r4j3r)jBYpyr!Q Ir?jCIj;ij;jW4yvֶBɮzWAzEjhFNOT Ignoring new targets: 429.81 m.Rh㘶Zh㘶- ProNav: ac range: 429.812469 m, nav range: 431.781403 m, bearing: 214.825831 deg, approach rate: -0.679957 m/s, LOS rate: -0.000261 deg/s, cmd heading: 205.757796 deg, new cmd heading: 205.757500 deg. Bh-w75HeadingCmd: 3.591146 target range: 429.812469 and range: 431.90 m.h5Ue@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMm?qɢ}3)y }>iy)h顁i~Mi_J,ei;XIUe@I59@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007436B%>B!B%0*IB%^BB!B!B%DB% y;B%1E^A#2Eq EuEu$Eq"Eq*Eue:VEu4ZEqBEu' checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982Q ̼,Kv4?AY~OBy~*IbD% VD%:2y=Ј=%=B=ٔ=Q-E>9AYA=EDyECMEM>QQ 54UI?Q 94Uv)UBYyQ I?UCIUߔii)meiiiuPiuxJ,};}I}=e@IyI)cA@ @@/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912ԁ ^A E]  E] E] )EY "E] :*E] ~:VE] FA4ZEY ae @ae @ae @ae @A ؟AI I O >XgӼ,FN?A0Y~^By~0*I  iMb@Mb@Mb@ 9K7A`?Mb?I +?Y+?y=B A Z B) AYAbDVDy)=%D=ٔQ->9"?Y"?=DyCE>Q 545?Q 94z)BY,?Q E:y+$Q I?DCI:i.:Kf4yɮޱAjhFNOT Ignoring new targets: 429.81 m.Rh ^8Zh ^8 ProNav: ac range: 429.812469 m, nav range: 431.214355 m, bearing: 214.826896 deg, approach rate: -0.729456 m/s, LOS rate: 0.003044 deg/s, cmd heading: 205.757167 deg, new cmd heading: 205.760694 deg. Bh9%HeadingCmd: 3.591202 target range: 429.812469 and range: 431.90 m.h%?e@h!*h!"h) h)g)f)f)f1d1d1d9jd9Zd=`@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763022!ɢ%)! %<>i))- Yc))i-Si}uI,Ӭ;˓I?e@ԉI)@) @)@-/@)Թ^A) - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980AY Ia Iy O >A A B% >B% CB% P*IB% wBB% =B! B% DB% *y;B% 1Eټ,"h?AJ7W@Jd@J5ٱJ2& VAHRS rotation from veh to nav: [[-0.905515,0.410364,0.107905],[-0.421992,-0.897519,-0.127990],[0.044325,-0.161432,0.985888]]JH@@fC??ۿzaන? ѩĿd?iJ7W@IJ^;JCYZiBy^=*I`bDhVDhyv`=%vX=ٔz*9Y=Dy=C ق:E >!Q 5-4%#?Q 9-4%?~)%BY1y5%$Q I=?%eCI%k;i%_;%l4yMնBɮMAMEjhFNOT Ignoring new targets: 429.81 m.RhqH8ZhqH8E EE&E"E:*EAr:VE4ZEBEG-iI)Ml`IiimPgUiuH,u;u#I})e@Iy%9@! @!@%0@!@-@-@-@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923Q A .AI I O% >]y, ?A2W@2d@2*ٱ2-' :AHRS rotation from veh to nav: [[-0.905520,0.410868,0.105925],[-0.422255,-0.897115,-0.129945],[0.041636,-0.162395,0.985847]]2H@K??@9ۿ@*_Q?@\Ŀ?i2W@I2 _;2CYBmByBC*Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983iMMb@Mb@Mb@IIII I9MuV?MbX9?Mb`YMr(?yMʡ=MM BMA M B)MAIYMAbDeVDe0yu<%uB=ٔ};Q-> 9 ?Y ?=Dy_C}:E>GjAB9jAYAQ 54?Q 948) BY)?Q E:y%Q I?CIi9)=>R]99i=TWiF,H;LsIe@I9@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771850AM ؟AIQ Ia Ou >ԡ ,k؛?A2W@2|e@24jٱ2( :AHRS rotation from veh to nav: [[-0.905146,0.412147,0.104143],[-0.423339,-0.896209,-0.132643],[0.038666,-0.164149,0.985677]]2H`?@#?ۿọ? ſ`?i2W@I2[_;2CYBuByBM*IIF;>)Fp9Z"?YZ"?=ZDyZ}C^J;E^>`Q 5f4b?Q 9f4b)b BYdyf%Q Ij?bCIb1:ibI:bz4ylɮnAljhFNOT Ignoring new targets: 429.81 m.Rh 8Zh 8 ProNav: ac range: 429.812469 m, nav range: 430.429474 m, bearing: 214.831721 deg, approach rate: -0.729397 m/s, LOS rate: 0.005156 deg/s, cmd heading: 205.770090 deg, new cmd heading: 205.775178 deg. Bhrb9%HeadingCmd: 3.591454 target range: 429.812469 and range: 431.90 m.h%ce@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5} @yɢ;) j>i) [  i ĭYiRE,Ϫ;BI5ce@I99@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025453B>BBo*IBBB =BBBy;B1EB CB CBŔCB =B =C%6A1IIO>E EE)E"E2:*Eh:VEFA4ZEBE%*9 Y = Dy C Af:E>Q 54%?Q 9%4\)BY!y%%Q I%?˴CI;i;$4y)ɮ5OA5EjhFNOT Ignoring new targets: 429.81 m.Rh8Zh8 ProNav: ac range: 429.812469 m, nav range: 430.155029 m, bearing: 214.833649 deg, approach rate: -0.651542 m/s, LOS rate: 0.004578 deg/s, cmd heading: 205.775172 deg, new cmd heading: 205.780957 deg. BhI9HeadingCmd: 3.591555 target range: 429.812469 and range: 431.90 m.h e@h*h"h hgfffdddjdZdD @ԁ颁ɢ\0g;) b>i)_`Wiw\iC,;SI e@Iԡ9@ @@<1@BDAT read: Rx Time:00:24:47.9402 %TRx dataTimestamp_ set to:1761524687.071971-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532151A II)O5>D <D R=E%  E% E% &E! "E% :*E% ]t:VE% 4ZE! a5 @a5 @a5 @a5 @ ,?AY~By~k*IiMb@Mb@Mb@ 9(\?T㥛 ?Zd;OY'?y=j> B  B)YA p=bD VD2yk=%?=ٔQ->9Y=Dy§CE>Q 54?Q 94) BY(?Q E:y['Q I?CI ;ia:4yɮAjh FNOT Ignoring new targets: 429.81 m.Rh9Zh9- ProNav: ac range: 429.812469 m, nav range: 429.874023 m, bearing: 214.836700 deg, approach rate: -0.666295 m/s, LOS rate: 0.007240 deg/s, cmd heading: 205.780964 deg, new cmd heading: 205.790124 deg. Bh-95HeadingCmd: 3.591715 target range: 429.812469 and range: 431.90 m.h5e@h1*h1"h9 h9gAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781105fifqfqdqdydyjdyZd}~%@颩ɢhx;) >i) S顱i(^i A,}{;f+Ie@II9@ @@5@ԁԡ 5 DAT read: 00:24:47.9402 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 39,-0.01,-2.437, 2.443,-2.498,-2.647, PHS= 0.312,-1.148, 0.105, RAW= 142.5, 10.7, CAL= 142.0, 11.6, ROT= 8.0, -11.6 = Ygot valid direction response: 00:24:47.9402 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 39,-0.01,-2.437, 2.443,-2.498,-2.647, PHS= 0.312,-1.148, 0.105, RAW= 142.5, 10.7, CAL= 142.0, 11.6, ROT= 8.0, -11.6 E PDAT read: Bearing 358.7, 7.9 (Local) E ~Local bearing/azimuth received: Bearing 358.7, 7.9 (Local) M DAT read: Range 11 to 50 : 440.4 m (Round-trip 587.3 ms) speed 0.8 m/s U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.970042,0.136331,0.201078]] Fpublishing direction and range infoy  B괕 ?hFRGs?o?Y 3C     ) PI w>i 񒿉 = = ,@ t;?> @  4QO>) 5>I 4QO   4wp?ɷZ ?_M?  6>) *?I 5>i 4QO  u T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.^A yb]B <A B >B CB *IB BB =B B DB x;B 1E A .AI! I9 OM >_,?AEr EpEr$Ep"ErD:*EpVEr4ZEpBEr19 ?Y ?=DyC:E>Q 554?Q 954쐵) BY9y=R'Q I=?CI%bi=4QOi=괍A'un n7mV@zi=Hvb5^LƯ#4?2i=Xu:i="i=롊?*i=[`Bi=Ci9i9i9i=Ci=wo@ԩ addTargetRange:: Added new target pos. range: 440.399994 m, deltaT: 4.283410 s, deltaX: 8.500000 m, approachRate: 1.984400 m/s, rangeRepo size: 4  Added new target pos. range: 438.252686 m, bearing: 214.885296 deg, lat: 36.779467 deg, lon: -121.860059 deg, deltaT: 4.283410 s, deltaX: 8.440216 m, approachRate: 1.970443 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 438.25 m.RhZh% ProNav: ac range: 438.252686 m, nav range: 429.585358 m, bearing: 214.839818 deg, approach rate: 0.000000 m/s, LOS rate: 0.007240 deg/s, cmd heading: 205.790130 deg, new cmd heading: 205.800139 deg. Bh!MHeadingCmd: 3.591890 target range: 438.252686 and range: 440.40 m.hMe@hI*hI"hI hIgIfQfQfQdQdYdYjd]`f{@Zd]?ɢxY;) B>i)Oi/*`i->,U;߭Ie@Im(DAT read: user:83> mBDAT read: Tx time:00:24:49.1988 u$Ping request sent.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507641 D,Q?AYzByze*IiMb@Mb@Mb@ 9!rh?9Y=DyCE>Q 54]?Q 94x)BY(?Q E:y&Q I?6CI;if;T4yɮIAE%B*** querying acoustic contact ***i! i!jhFNOT Ignoring new targets: 438.25 m.Rh8Zh8  ProNav: ac range: 438.252686 m, nav range: 429.321777 m, bearing: 214.842369 deg, approach rate: -0.656908 m/s, LOS rate: 0.006362 deg/s, cmd heading: 205.800143 deg, new cmd heading: 205.807801 deg. Bh 95HeadingCmd: 3.592024 target range: 438.252686 and range: 440.40 m.h5e@h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM?颱ɢ&;) >i)gL项iai;,;aIe@D@AzDE EE&E"E:*E:VE4ZEa@a@a@a@I@ @@3@@@@@A}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502742y Ay I I O >n,4,?A 2%W@2e@27ټٱ2" >AHRS rotation from veh to nav: [[-0.905193,0.415179,0.090845],[-0.424174,-0.895884,-0.132169],[0.026513,-0.158172,0.987055]]2HVI?`A?%ۿ`)&?>Ŀ`?i2%W@I2^;2CYFByFn*IJ@AHbDNVDNkyV=%V^=ٔZ;Q-Z>9XYX=^Dy^#C^9E^>`Q 5f4bϛ?Q 9f4b)bBYhyj&Q Ij?bUCIb:ib:b4ylɮn,Aljh15FNOT Ignoring new targets: 438.25 m.Rh=y8Zh=y8M ProNav: ac range: 438.252686 m, nav range: 429.080200 m, bearing: 214.844706 deg, approach rate: -0.684477 m/s, LOS rate: 0.006625 deg/s, cmd heading: 205.807806 deg, new cmd heading: 205.814821 deg. BhM{9UHeadingCmd: 3.592146 target range: 438.252686 and range: 440.40 m.hUe@hQ*hQ"hQ hQgQfffdddjdZd E?1ɢ5' <)Q U5>iQ)]IYYi]jcie9,e~;e䛻Iee@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754971q 9@  @ @ /@Bu>Bu CBu*IBuBBu =BqBqBu{x;Bu]1EI)IAOUT>ԙbEƞ4jEƣ#4rE(90E EE%E"E&:*Eą:VE 4ZEBEb;9QYY=eDyeECu!E}>Q 54H?Q 94)BYy&Q I?zCI;i#;E4yɮ AEjhQ]FNOT Ignoring new targets: 438.25 m.Rh]?8Zh]?8 ProNav: ac range: 438.252686 m, nav range: 428.797821 m, bearing: 214.847481 deg, approach rate: -0.595313 m/s, LOS rate: 0.005853 deg/s, cmd heading: 205.814814 deg, new cmd heading: 205.823144 deg. Bh9HeadingCmd: 3.592292 target range: 438.252686 and range: 440.40 m.he@h*h"h hgfffdddjdZd9?9ɢE;)A E>iA)M'~DIIiMaeiU7,UL;UIUe@IY_?^?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259644]9@Y @Y@]/@aIyIO>E  E E 'E "E 2:*E xv:VE '4ZE a @a @a @a @! ,R?A2 W@2d@2f#ٱ2_$ :AHRS rotation from veh to nav: [[-0.905998,0.414078,0.087790],[-0.422679,-0.896106,-0.135412],[0.022598,-0.159790,0.986892]]2H@B?fy?+ ۿ,U#?sĿ`?i2 W@I2D^;0YBByB|*I|i5Mb@Mb@Mb@1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511811111 195v/?B`"۹?T㥛 Y5x)?y5=515A 5B)5A1Y5AbDVD02yz<%A=ٔ;Q->9Y=DyfCuɺE>Q 54s?Q 94u)BY0,?Q E:y$Q I?CI:i:4yɮAjh!%FNOT Ignoring new targets: 438.25 m.Rh-\8Zh-\8= ProNav: ac range: 438.252686 m, nav range: 428.520660 m, bearing: 214.848867 deg, approach rate: -0.760503 m/s, LOS rate: 0.003807 deg/s, cmd heading: 205.823147 deg, new cmd heading: 205.827310 deg. Bh=;'9EHeadingCmd: 3.592364 target range: 438.252686 and range: 440.40 m.hELe@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]N?颁ɢ5<) >i)A顉i "gii6,G;һILe@I)M9@I @I@M/@IIIO$>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762718Aa Aa Bm >Bi Bm *IBm BBm =Bi Bi Bm x;Bm 1Eԁ &,vl?AJXW@J d@J|ٱJA%Ef EfEdEd"Ef:*Efx:VEdZEdBEf59!Y!=%Dy-C-猺E->1Q 5=45xa?Q 9=45)5؂BYAyE$Q IE?5CI5a;i5L ;504yMܶBɮMAMEYjhq}FNOT Ignoring new targets: 438.25 m.Rh}Kx8ZhKx8 ProNav: ac range: 438.252686 m, nav range: 428.265045 m, bearing: 214.850165 deg, approach rate: -0.667954 m/s, LOS rate: 0.003392 deg/s, cmd heading: 205.827314 deg, new cmd heading: 205.831207 deg. Bh9HeadingCmd: 3.592432 target range: 438.252686 and range: 440.40 m.hie@h*h"h hgfffdddjdZdu@ɢB+<) z>i),=i"hiL5,?G;U޻Iie@I9@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014885ԉԱ^A5yb]AAzAAII) O] >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266784ܒ!,?A2V@2d@2hٱ2>$ :AHRS rotation from veh to nav: [[-0.906351,0.413988,0.084509],[-0.422094,-0.896168,-0.136822],[0.019092,-0.159679,0.986984]]2H~? b?ۿg_`ƌ?^pĿ `?i2V@I2^;2CYRByVw*I XXi5Mb@Mb@Mb@1111 195J +?Dl?Zd;Y5(?y5O >5y5YB5VA 5,B)5lA1Y5AbDMVDMԹy%ڼ%%;=ٔ%r;Q-->9QYQ=]Dy]C]E]>aQ 5m4eM?Q 9m4e)eȂBYu-?Q E:y!Q I?eCIe-;ie;e컄4yɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 438.25 m.RhLڷZhLڷ ProNav: ac range: 438.252686 m, nav range: 427.967285 m, bearing: 214.849493 deg, approach rate: -0.660784 m/s, LOS rate: -0.001491 deg/s, cmd heading: 205.831207 deg, new cmd heading: 205.829191 deg. Bh%%HeadingCmd: 3.592397 target range: 438.252686 and range: 440.40 m.h%e@h)*h)"h) h)gIfIfQfQdQdYdYjdYZd]!@颩E EEE"E:*EVEZEa@a@a@a@ɢ<) >i)8IiMVjiM5,UU;UIUe@IQ9@ @@ 0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723^A rI) I9 OM >9 7',q?ARW@Rd@Ra>ٱR($ ZAHRS rotation from veh to nav: [[-0.906146,0.414941,0.082000],[-0.422662,-0.895659,-0.138389],[0.016020,-0.160059,0.986978]]RH %e?? ۿ =໶ g?`|ĿQ?iRW@IR _;RCYbByb*IbDjVDj1yrd=%va=ٔv~ 9tYx=zDyzŨCz:Ez>|Q 54~<?Q 94~b)~BY y !Q I ?~CI~:i~b:~.„4yɮAjh9EFNOT Ignoring new targets: 438.25 m.RhEPZhEPU ProNav: ac range: 438.252686 m, nav range: 427.726685 m, bearing: 214.848930 deg, approach rate: -0.689153 m/s, LOS rate: -0.001614 deg/s, cmd heading: 205.829185 deg, new cmd heading: 205.827494 deg. BhUɍ]HeadingCmd: 3.592367 target range: 438.252686 and range: 440.40 m.h]Ye@hY*ha"ha hagafafifidididijdqZdu @颙ɢ U<) >i)k15顡iki\6,B;KѻIYe@I߽>߽=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.77200959@1 @1@54@1B>BB*IBBB =BBBrw;B0EAE EE%E"Es:*Ez:VE 4ZEBEi0m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022827ԙ -,9hYl=nDynCnsC;Er>pQ 5v4rI*?Q 9v4r)rBYxyz Q Iz?r%CIr:irk:r0Ʉ4y ݶBɮAEyjhFNOT Ignoring new targets: 438.25 m.Rh۷Zh۷ ProNav: ac range: 438.252686 m, nav range: 427.457123 m, bearing: 214.848244 deg, approach rate: -0.589052 m/s, LOS rate: -0.001500 deg/s, cmd heading: 205.827491 deg, new cmd heading: 205.825432 deg. BhHeadingCmd: 3.592331 target range: 438.252686 and range: 440.40 m.he@h*h"h hgfffdddjdZd @ɢ<) 9>i)Y/i~3mi6,$ܢ;Ie@Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763vGjA)]9@Y @a@e1@a09jAYAE  E E E "E :*E g:VE ZE a @a @a @a @^A [RӻA >A > A ؟AI I O >$5,?Aɰ2+W@2i!e@29Mٱ26 >BDAT read: Rx Time:00:24:52.1847 >TRx dataTimestamp_ set to:1761524691.352236Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527919 FAHRS rotation from veh to nav: [[-0.905288,0.417641,0.077652],[-0.424613,-0.895038,-0.136423],[0.012526,-0.156474,0.987603]]2H@??,ۿ&Lv`?@VĿp?i2+W@I2!_;2CYNByN*IiMb@Mb@Mb@ 9MbX?(\?y&1Y*?yz>`e?A B)VAY\AbD=VD=02yEC=%E9=ٔMM;Q-M>9U"?YU"?=UDyU CU ;E]>YQ 5e4]?!Q 9-4]@)]BY-S/?Q E-:y-G Q I-?]LCI]i))-+))i-s{ni57,5E;5XI5e@I99@ @@4@Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778790ԉ^A #2B] <AY Bm >Bi Bm *IBm ĊBBm =Bi Bi Bm w;Bm 0EB% CB% CB%ɓCB% =B% =C%5A- .AIq I Ա O >vF;,J?AE EE*E"E:*E]t:VE(N4ZEBE?4ÿ ۝?iB08W@IB_;BCYBy *IbDVDk1y-%-M=ٔ-P|;Q-5>95 ?Y5 ?=5Dy5)C=:E=>AQ 5M4E?Q 9M4E)EBYIyM6 Q IU?EnCIE:iEb:Eׄ4y]Bɮ]A]EjhFNOT Ignoring new targets: 438.25 m.RhxYZhxY ProNav: ac range: 438.252686 m, nav range: 426.885345 m, bearing: 214.845977 deg, approach rate: -0.734009 m/s, LOS rate: -0.002971 deg/s, cmd heading: 205.821918 deg, new cmd heading: 205.818625 deg. Bh{HeadingCmd: 3.592213 target range: 438.252686 and range: 440.40 m.he@h*h"h hgfffdddjdZd @ɢj<) >i)'ioi8,";*ÂIe@IԑDAT read: 00:24:52.1847 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 386, 0.24,-1.874, 2.971,-1.910,-2.173, PHS= 0.401,-1.095, 0.219, RAW= 143.6, 6.8, CAL= 143.2, 7.4, ROT= 6.8, -7.4 Ygot valid direction response: 00:24:52.1847 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 386, 0.24,-1.874, 2.971,-1.910,-2.173, PHS= 0.401,-1.095, 0.219, RAW= 143.6, 6.8, CAL= 143.2, 7.4, ROT= 6.8, -7.4 PDAT read: Bearing 353.4, 6.3 (Local) ~Local bearing/azimuth received: Bearing 353.4, 6.3 (Local) DAT read: Range 11 to 50 : 436.3 m (Round-trip 581.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.984695,0.117418,0.128796]Fpublishing direction and range infoy?Q?OZ_|?Y&C )NIO>i(A`>g @=@  A>)=I A3'J|?SOq?2WB2? [>)b"I=i A T****** received valid address query ****** 9@  @ @ /@=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.^A3AE ؟AII IY Om >E (DAT read: user:84> M BDAT read: Tx time:00:24:53.4988 M $Ping request sent.M e@%ٱ% UAHRS rotation from veh to nav: [[-0.904571,0.420065,0.072771],[-0.426221,-0.894796,-0.132946],[0.009270,-0.151276,0.988448]]%H?Y?$?5Gۿ ,``?`]ÿ]?i%HW@I%6"_;%CYeBye*Ii%Mb@Mb@Mb@!!!! !9%HzG?#~j?y&1Y%=*?y%%>%`%,B%A %B)%?A!Y%QA 15a=bD=VD=2yMO=%M9=ٔUR;Q-U>9U"?YU"?=UDy]MC];E]>aQ 5m4e?Q 9m4eq)eBYm]/?Q Eu:yu'Q Iu?eCIe ;ie ;e߄4y}Bɮ}A}Eii?AJiCRiCjin@i)lz@܌?^}I@P%QK@ri?Q?OZ_|?Zi=bi Ai_v^hmI@zi)O#`!WqPFYa?2iEk:i"i?O?*iBiBii[`iBiFCio@E- E-E-)E)"E-:*E-k:VE-FA4ZE)a5@a5@a5@a=@M addTargetRange:: Added new target pos. range: 436.299988 m, deltaT: 4.284327 s, deltaX: -4.100006 m, approachRate: -0.956978 m/s, rangeRepo size: 4 U Added new target pos. range: 434.171295 m, bearing: 213.075424 deg, lat: 36.779467 deg, lon: -121.860058 deg, deltaT: 4.284327 s, deltaX: -4.081390 m, approachRate: -0.952633 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 434.17 m.RheZh ProNav: ac range: 434.171295 m, nav range: 426.548676 m, bearing: 214.836693 deg, approach rate: 0.000000 m/s, LOS rate: -0.002971 deg/s, cmd heading: 205.818626 deg, new cmd heading: 205.814541 deg. BhHeadingCmd: 3.592141 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdD{@Zd`o?ɢU<)9 E#>iA)E%"AAiEqiM:,M;MMIMe@IQIy)}hA9@ @@/@@hA@hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251586A ^A _AM .AIQ Ia ԁ O >rxH,#?A@2WW@21Me@2Fbٱ27 :AHRS rotation from veh to nav: [[-0.904195,0.421476,0.069205],[-0.427052,-0.894982,-0.128969],[0.007580,-0.146167,0.989231]]2H*t?l?Tۿ@@5 ?@¿`ǧ?i2WW@I2_;0YBByB*IHJAbDNVDN1yrϮ%r`=ٔr;Q-r>9v ?Yv ?=vDyvjCz$;Ez>xQ 54z,?Q 94z)z{BYyQ I?zCIz;iz3;z4yɮA-B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 434.17 m.RhE߸ZhE߸U ProNav: ac range: 434.171295 m, nav range: 426.300110 m, bearing: 214.834559 deg, approach rate: -0.711986 m/s, LOS rate: -0.006116 deg/s, cmd heading: 205.814541 deg, new cmd heading: 205.808135 deg. BhUQ]HeadingCmd: 3.592030 target range: 434.171295 and range: 436.30 m.h]e@hY*hY"ha hagafafifidididijdqZdu@=?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5028329ɢUt<)q u6>iq)}tyyi}ri;,,;iIe@IB>B CB*IBΊBB =BBDBv;B0EM9@Q @Q@U/@QE EE+E"E:*E&p:VE [4ZEBEa2EaJEv;a:Ew;a9^Am?BIii Ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755135q A I I O >N,c_=?A NUW@N[Ke@N;ٱN  VAHRS rotation from veh to nav: [[-0.904253,0.422023,0.064982],[-0.426956,-0.895737,-0.123951],[0.005897,-0.139827,0.990158]]NH l?? >Sۿ ;q'x?`?iNUW@INI2_;NCY^By^*IbDj VDj:2yvg=%zJ=ٔ~;Q->9 Y=DyC-ꎹE5>AQ 5e4E?Q 9m4E'Ƶ)EqBYqyu Q I}?EٶCIEF;iEN;E04yBɮAEjhFNOT Ignoring new targets: 434.17 m.RhwĸZhwĸ  ProNav: ac range: 434.171295 m, nav range: 426.017731 m, bearing: 214.832117 deg, approach rate: -0.620281 m/s, LOS rate: -0.005368 deg/s, cmd heading: 205.808134 deg, new cmd heading: 205.800804 deg. Bh k5HeadingCmd: 3.591902 target range: 434.171295 and range: 436.30 m.h5e@hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde@1k?q颱ɢp<) >i) 项i Tsi=,"; Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008231i@i @i@i@iԙD =D <E  E E *E "E :*E ]t:VE (N4ZE a @a @a% @a% @^A NJκ A I I O >!U,ףBA sB)YAAAbDVDNy=%>=ٔ#};Q->9Y=DyCk׺E>Q 54U?Q 94ʵ)lBYz0?Q E:yEQ I?CI6;i ;4yɮsAjh  FNOT Ignoring new targets: 434.17 m.RhZh% ProNav: ac range: 434.171295 m, nav range: 425.728149 m, bearing: 214.829749 deg, approach rate: -0.763593 m/s, LOS rate: -0.006249 deg/s, cmd heading: 205.800799 deg, new cmd heading: 205.793690 deg. Bh%:-HeadingCmd: 3.591778 target range: 434.171295 and range: 436.30 m.h-e@h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdEK?iɢuȓ<) b>i)Kit|ti@,8;Z-DIe@I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511983^AyAAAAB>B CBBB =BBBwv;Bk0E) A ؟AI) I9 OM >bEc44jE64rEXQ0E%  E% E% +E! "E% &:*E% |:VE% [4ZE! BE% b;9v"?Yv"?=vDyv̩CzϺEz>||Q 54~&?Q 9 4~ϵ)~gBY y OQ I ?~ CI~,;i~g:~"4yBɮAEjh9EFNOT Ignoring new targets: 434.17 m.RhE˸ZhE˸U ProNav: ac range: 434.171295 m, nav range: 425.468903 m, bearing: 214.827648 deg, approach rate: -0.686407 m/s, LOS rate: -0.005566 deg/s, cmd heading: 205.793695 deg, new cmd heading: 205.787389 deg. BhUwt]HeadingCmd: 3.591667 target range: 434.171295 and range: 436.30 m.h]e@ha*ha"ha hagafafifidididqjdqZduU?ɢ<)! %>i!)%W!!i%cui-A,-$;5^I5e@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763041)i@i @i@m 0@ia^Ajbԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018648A I I) O5 >b,?A2B?W@24e@2Qٱ2 :AHRS rotation from veh to nav: [[-0.904852,0.421402,0.060523],[-0.425726,-0.895728,-0.128173],[0.000200,-0.141744,0.989903]]2H`@@?`??ۿΩg`/*?`$¿I?i2B?W@I2`_;0YVϊByZ*IQiMb@Mb@Mb@ 9sh|??Pn?Mb?Y)?y><BA A)(AYAbDVD2y6=%/=DzDE EEE"E:*E:VEZEa@a@a@a@ٔ;Q->9Y=DyCc$E>Q 54?Q 94Ե)fBY5-?Q E:y Q I?HCI:i:Y4yBɮAEjh9=FNOT Ignoring new targets: 434.17 m.RhE(ZhE(U ProNav: ac range: 434.171295 m, nav range: 425.151031 m, bearing: 214.826567 deg, approach rate: -0.677391 m/s, LOS rate: -0.002305 deg/s, cmd heading: 205.787384 deg, new cmd heading: 205.784139 deg. BhUxʸ]HeadingCmd: 3.591611 target range: 434.171295 and range: 436.30 m.h]e@hY*hY"hY hYgYfafafadadidijdiZdul@颙ɢe<) @>i)wE 顡iviMB,M;M\IMe@IQԑ9@ @@*0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267680Ա^A _ A1 I9 II O] >"h,?AYxyz*I a=p=bD VD ky!;%j=ٔQ->9!Y!=%Dy%C%E-?)Q 5}4-?Q 9}4-׵))YyyyQ I}?-fCI-~)ByB}*IB}؊BB} =ByB}DB}u;B}'0Eaɢx<) >i)m顩iwirC,;ZIDe@I9@ @@ 5@@ @ E EE(E"E*E&p:VEc44ZEBE'n,Ū?AB9M ?YU ?=UDy]/CmjEm>Q 54o?Q 94ܵ)eBYy Q I?CI;i=;4yBɮAEjh5FNOT Ignoring new targets: 434.17 m.Rh=sZhEsu ProNav: ac range: 434.171295 m, nav range: 424.637054 m, bearing: 214.824823 deg, approach rate: -0.631106 m/s, LOS rate: -0.002137 deg/s, cmd heading: 205.781742 deg, new cmd heading: 205.778899 deg. Bhu}HeadingCmd: 3.591519 target range: 434.171295 and range: 436.30 m.h}te@hy*hy"hy hygyfffdddjdZd @ɢb<) >i)^Wi׆xi-AD,-l;-UbI5te@I1߭)>߭4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023203I9@ @@5@iD=D4=E EE+E"EV:*Exv:VE [4ZEa @a @a @a @^A yb]ԙ A5 ؟AIA IQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275035Om >u,?A2SBW@28e@2;ٱ2M"# >AHRS rotation from veh to nav: [[-0.904759,0.421294,0.062637],[-0.425889,-0.892943,-0.145850],[-0.005515,-0.158635,0.987322]]2H` z??Aۿ@`4¿wv'NĿ$?i2SBW@I2V _;2CYFԊByF*IiMb@Mb@Mb@ 9K7?A`"? rh?Y)?y=C<A `A)AYAbD)VD)y= =%=H=ٔ=H;Q-E>9"?Y"?=DyQC+K:E>Q 54[?Q 94B)dBY+?Q E:y"Q I?CIX ;i" ;4y ɮ vA jh)5FNOT Ignoring new targets: 434.17 m.Rh5V7Zh5V7M ProNav: ac range: 434.171295 m, nav range: 424.354797 m, bearing: 214.825101 deg, approach rate: -0.743396 m/s, LOS rate: 0.000733 deg/s, cmd heading: 205.778901 deg, new cmd heading: 205.779736 deg. BhM8MHeadingCmd: 3.591534 target range: 434.171295 and range: 436.30 m.hUe@hQ*hQ"hQ hQgQfQfYfYadadadajdiZdm@ @频ɢs<) V>i)顡i,\yiD,';qOIe@I1@1 @1@=/@9ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527121^ABaAe<Bm>BiBm*IBm݊BBiBiBiBmbu;Bm/EԹA) I9 II O] > E  E E &E "E :*E :VE 4ZE BE 39TYT=VDyZoCZc;EZ>\Q 5b4^K?Q 9b4^)^cBYdyf"Q If?^ͷCI^;i^ :^K4yjBɮjAjEjh|FNOT Ignoring new targets: 434.17 m.Rh 7Zh  7 ProNav: ac range: 434.171295 m, nav range: 424.111755 m, bearing: 214.825300 deg, approach rate: -0.671572 m/s, LOS rate: 0.000549 deg/s, cmd heading: 205.779734 deg, new cmd heading: 205.780330 deg. Bh7HeadingCmd: 3.591544 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZdX@ɢ\д<)! %>i!)%V!!i-zi-C,-;5I5e@IQ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779844@ @@/@@=@=^AA%>A%> A M Cԁ G jA9 u9 jAY GAI  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032330I O >wꂽ,: ?A25wW@2le@22<ٱ2.- >AHRS rotation from veh to nav: [[-0.903354,0.424061,0.064220],[-0.428795,-0.889718,-0.156644],[-0.009289,-0.169042,0.985565]]2HF#?p?`qۿx ĿK-ſ?i25wW@I2$_;2CYF؊ByF*IIJ=)J=a=@a= a=@a= a=@a= a=@a= bDEVDENyU =%U@=ٔUc;Q-]>9YYY=eDyeCee;Ee>iQ 5u4m;7?Q 9u4m()maBQ Au+:YqQ E}:y}l"Q I}?mCIm ;imV>mU$4yɮmAjhFNOT Ignoring new targets: 434.17 m.Rh6Zh6 ProNav: ac range: 434.171295 m, nav range: 423.825256 m, bearing: 214.825458 deg, approach rate: -0.671622 m/s, LOS rate: 0.000371 deg/s, cmd heading: 205.780335 deg, new cmd heading: 205.780810 deg. Bh?7HeadingCmd: 3.591553 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZd @ ɢ <)  >i)e޻i7ziC,(;%I%e@I!E EE'E"ED:*Ex:VE'4ZEa@a@a@a@Q9@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283281y^Am?BɺI I ԩ O >~,&?A6W@6e@6^1<ٱ6!+ >AHRS rotation from veh to nav: [[-0.902454,0.426301,0.062005],[-0.430651,-0.889157,-0.154721],[-0.010826,-0.166332,0.986010]]@6H@H? $?ɏۿ@sÿ`+ZJſe?i6W@I68D_;6CYJՊByJ*IbDVVDV2y^[J%^U=ٔbނ;Q-f>9dYd=jDyjCj];Ej>lQ 5r4nL%?Q 9r4n)n_BQ Av :YtQ EvO:yvJ"Q Iv?nCIn.:inXP?n(4yzBɮz}AzEjhFNOT Ignoring new targets: 434.17 m.Rh%cV6Zh%cV65 ProNav: ac range: 434.171295 m, nav range: 423.566376 m, bearing: 214.825528 deg, approach rate: -0.671693 m/s, LOS rate: 0.000183 deg/s, cmd heading: 205.780814 deg, new cmd heading: 205.781025 deg. Bh57UHeadingCmd: 3.591556 target range: 434.171295 and range: 436.30 m.hUe@hQ*hQ"hY hYgafafifidq߅=߅=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536016dqdjdZd *@B%>B% CB%*IB%BB% =B!B%DB%/u;B%/EB CB CBB =B =Co6颉ɢ<) >i)һ项ii{iC,;a:Ie@Iԩ9@ @@@E EE&E"E:*E:VE4ZEBE65 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786984 >,??A2AHRS rotation from veh to nav: [[-0.901882,0.427997,0.058546],[-0.431814,-0.889425,-0.149868],[-0.012070,-0.160444,0.986971]]2H7Ld? ?֢ۿ +v.ÿ`_lĿD?i29pYp=rDyvҪCvP;Ev>xQ 5~4za?Q 9~4z")z^BQ A~9YQ E(:y5"Q I?z6CIz ;izE?z,4yBɮ%A-EMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 434.17 m.Rhe75Zhe75u ProNav: ac range: 434.171295 m, nav range: 423.293030 m, bearing: 214.825555 deg, approach rate: -0.663970 m/s, LOS rate: 0.000064 deg/s, cmd heading: 205.781018 deg, new cmd heading: 205.781098 deg. BhuB46}HeadingCmd: 3.591558 target range: 434.171295 and range: 436.30 m.h}e@h*h"h hgfffdddjdZdn@)ɢU,(<)Y ]>ia)e}ǻii{iC,;;Ie@I checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0398619@ @@@@@1E EEE"E:*Ez:VEZEa@a@a@a@^A [R:A gAzA I1 IA OM >a = checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290973&,}Y?A:W@:8e@:JY<ٱ:! FAHRS rotation from veh to nav: [[-0.901438,0.429240,0.056230],[-0.432704,-0.889399,-0.147436],[-0.013275,-0.157235,0.987472]]:H`x?$ʬ?kۿ@u/¿/@I Ŀ^?i:W@I:^;8YNԊByN*I PPa%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%Zd;O?~jt?MbpY%~*?y%=%%B%A %3A)%(A!Y%=A9bDAVDAyU<%UC=ٔU;;Q-]>9YYY=]DyeCeg;Ee>iQ 5u4mO?Q 9u4m Q =utI)mXBQ AuT:Y%+?Q E%:y%K%Q I%?mZCImEi)𮼻iy|iB,;i9;Ie@Iim9@i @q@u/0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543570ԩA!A%@AB=>B= CB=*IB=BB= =B9B=DB=Fu;B=/E^A?B:I1 II O] > E  E E (E "E *E xv:VE c44ZE BE 59tYt=vDyvCvڡ;Ev>xQ 5~4z?Q 94z)zSBYy,%Q I?z{CIz;iz;z:4y Bɮ AEjh15FNOT Ignoring new targets: 434.17 m.Rh=8Zh=8M ProNav: ac range: 434.171295 m, nav range: 422.752167 m, bearing: 214.829078 deg, approach rate: -0.710265 m/s, LOS rate: 0.004538 deg/s, cmd heading: 205.786688 deg, new cmd heading: 205.791676 deg. BhMQG9UHeadingCmd: 3.591742 target range: 434.171295 and range: 436.30 m.hUe@hQ*hQ"hQ hYgYfYfafadadadajdiZdm@2@频ԙɢ<) y>i)顡i|i@,늛;I;Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795850m9@q @q@u5@q^AqZ;IIO%> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047303 8,I?A2aX@2e@2{<ٱ2^# :AHRS rotation from veh to nav: [[-0.899506,0.433336,0.055764],[-0.436640,-0.887123,-0.149524],[-0.015325,-0.158847,0.987184]]2H@Ż??`ۿPc#ÿb UĿ?i2aX@I22^;2CY^ԊByb*IiuMb@Mb@Mb@qqqq q9uMbX?ˡE?QYu*?yu=uu]Bq uA)uAqYuAbD VD2y <%?=ٔY;Q->9Y=Dy7Ci;E>Q 54E?Q 94)HBY5,?Q E:y$Q I?CIG;i:%B4yɮAjhFNOT Ignoring new targets: 434.17 m.Rh8Zh8 ProNav: ac range: 434.171295 m, nav range: 422.465027 m, bearing: 214.830717 deg, approach rate: -0.669867 m/s, LOS rate: 0.003827 deg/s, cmd heading: 205.791674 deg, new cmd heading: 205.796595 deg. Bh(9HeadingCmd: 3.591828 target range: 434.171295 and range: 436.30 m.he@h*h"h h!g!f!f!f)d)d)d)jd)Zd5@Yɢ]<#<)a e>ia)er?aaie`}im3?,m;u;Iue@IqE= E=E9E9"E= :*E= :VE9ZE9aM@aM@aM@aM@ 9@  @ @4@@=@! checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299499^Avт;QA I I! O- >y e,@j?A4<ɰ;2P(X@2f@2=<ٱ2$ BAHRS rotation from veh to nav: [[-0.898584,0.435462,0.054039],[-0.438494,-0.886506,-0.147750],[-0.016434,-0.156461,0.987547]]2H2??KܿA^t¿Ӑ@Ŀ?i2P(X@I2_;2CYRɊByR*II^%=)^=bDfVDf:2yrfh%rW=ٔv>;Q-z>9|Y|=~Dy~VCp;E>Q 54?Q 9%4d)=BY!y-$Q I-?CIi;ij;H4y=Bɮ=ڰAEEechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551884jhFNOT Ignoring new targets: 434.17 m.B>BB*IBBB =BBBu;B/ERh5D8Zh5D8M ProNav: ac range: 434.171295 m, nav range: 422.207916 m, bearing: 214.832109 deg, approach rate: -0.656974 m/s, LOS rate: 0.003559 deg/s, cmd heading: 205.796591 deg, new cmd heading: 205.800770 deg. QBhmR9}HeadingCmd: 3.591901 target range: 434.171295 and range: 436.30 m.h}e@hy*hy"hy hygfffdddjdZd .e@iɢmn<)q u>iq)uqqi}=}i}>,}iٛ; J,8?A2WXX@2Nf@2F<ٱ2j" :AHRS rotation from veh to nav: [[-0.897271,0.438218,0.053576],[-0.441115,-0.884959,-0.149216],[-0.017977,-0.157520,0.987352]]2Hp` ?@n? :;ܿ Qÿ h)Ŀc?i2WXX@I2 ^;2CYzÊByz*IbD VD y%G=ٔw;Q->9!Y!=%Dy%wC-%;E->)Q 554-?Q 9=4-F)-2BY9y=$Q I=?-CI-&;i-D;-O4yIɮMAIB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 434.17 m.Rhx8Zhx8 ProNav: ac range: 434.171295 m, nav range: 421.935089 m, bearing: 214.833481 deg, approach rate: -0.675046 m/s, LOS rate: 0.003397 deg/s, cmd heading: 205.800771 deg, new cmd heading: 205.804890 deg. Bh49HeadingCmd: 3.591973 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZd@Թɢ-@<)1 =>i9)EbAIi]}i<,1;) checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3068519 9u,?A6X@6vf@6h%<ٱ6  BAHRS rotation from veh to nav: [[-0.896152,0.440847,0.050656],[-0.443328,-0.884485,-0.145420],[-0.019304,-0.152775,0.988073]]6HF 6?@?|_ܿ M@¿\ē !ÿ@J?i6X@I6_;6CYDyHiMb@Mb@Mb@ 9?Mb?{GzY,?y=#vA A)AY(A -a=-p=bD-VD-y=׈%EH=ٔET;Q-E>9IYI=MDyMCM;EM>QQ 54U$?Q 94US)U$BY.?Q E:yv#Q I?UCIUiy)}}yyi}V~i(<,;HB >B CB *IB ӊBB =B B DB v;B 40Eԁ E]  E] E] )EY "E] ;*E] &p:VE] FA4ZEY BE] D?kܿP¿@pcI¿`?i2ҎX@I2^;0YBByF*IbDN VDNf2yV %VO=ٔV*;Q-Z>9XYX=ZDyZC^ ;E^>`Q 5f4bN?Q 9f4b@ )bBYdyfa#Q If?b*CIb+;ibH;b^4ynBɮnAnEjh|FNOT Ignoring new targets: 434.17 m.Rh*8Zh *8 ProNav: ac range: 434.171295 m, nav range: 421.388550 m, bearing: 214.834954 deg, approach rate: -0.707655 m/s, LOS rate: 0.001846 deg/s, cmd heading: 205.807219 deg, new cmd heading: 205.809323 deg. Bh28HeadingCmd: 3.592050 target range: 434.171295 and range: 436.30 m.h'e@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5 @aɢ<) Ŀ>i)W~i3~i;, $;Py M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065400Ký,?ALY~By~*IiMb@Mb@Mb@ 9HzG?Zd;?ktY=*?y= 0`A )YAbDVDk1yp%@=ٔQ->9Y=Dy۫CE>Q 54w?Q 94)BYn-?Q E:y Q I?OCI :i:ye4yɮCAjhFNOT Ignoring new targets: 434.17 m.Rh Zh  ProNav: ac range: 434.171295 m, nav range: 421.101624 m, bearing: 214.834060 deg, approach rate: -0.673117 m/s, LOS rate: -0.002099 deg/s, cmd heading: 205.809323 deg, new cmd heading: 205.806639 deg. BhY%HeadingCmd: 3.592004 target range: 434.171295 and range: 436.30 m.h%ce@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd=B @ɢK<) >i)ji!~iR<,;O! Zɽ,(?ANӃX@Nyf@N܅<ٱNd bAHRS rotation from veh to nav: [[-0.895986,0.442048,0.042458],[-0.443440,-0.885455,-0.139035],[-0.023865,-0.143401,0.989377]]NH`J??Raܿ`U`#p@Z¿?iNӃX@IN_;LYfByj*I bD%VD%1y-%5R=ٔ5;=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567074Q-E>9AYA=EDyMCM`EM>QQ 5m4Ue?Q 9m4U)UBYiyu Q Iu?UpCIUH;iUC;UKl4y BɮAEjhFNOT Ignoring new targets: 434.17 m.RhZh ProNav: ac range: 434.171295 m, nav range: 420.838928 m, bearing: 214.833249 deg, approach rate: -0.663178 m/s, LOS rate: -0.002047 deg/s, cmd heading: 205.806645 deg, new cmd heading: 205.804213 deg. BhճHeadingCmd: 3.591961 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffddd jd Zd@!@Qɢ]F*<)Y ]>iY)e/Yaaie}B>BB*IBĊBBBBDB v;B/0Ei =, b(; kFy -н,F~B?AB-lX@Baf@B<ٱB# JAHRS rotation from veh to nav: [[-0.896601,0.441041,0.039872],[-0.442134,-0.886461,-0.136763],[-0.024974,-0.140251,0.989801]]BH`:? j?@Kܿ@]@w@ s?iB-lX@IB^;@YRByR*IbDZ VDZ:2yb<%bR=ٔfl:;Q-f>9dYd=jDyjCjsEj>lQ 5r4nT?Q 9r4n)nBYtyv Q Iv?nCInQ:in:ns4yxɮzAxB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 434.17 m.Rh%Zh%5 ProNav: ac range: 434.171295 m, nav range: 420.577850 m, bearing: 214.832484 deg, approach rate: -0.682186 m/s, LOS rate: -0.002002 deg/s, cmd heading: 205.804214 deg, new cmd heading: 205.801915 deg. Bh5گ=HeadingCmd: 3.591921 target range: 434.171295 and range: 436.30 m.h= e@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU`s"@Y颁ɢ <) >i)&I顉iĺ}i=,;n2 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322959ֽ,[\?A2ZIX@2 ?f@2<ٱ2 :AHRS rotation from veh to nav: [[-0.897524,0.439258,0.038783],[-0.440220,-0.887418,-0.136729],[-0.025642,-0.139791,0.989849]]2H` ?iۣ?,ܿ eVA ׬?i2ZIX@I2^;2CYBByB*IVonly read 0 of 1 data item for BIT error. Device response is::TS,00050304131958,35.0, +11.1, .0, 0 aV@aZ aZ@aZ aZ@aZ aZ@aZ bD\VD\yf%fJ=ٔf:Q-f>9j ?Yj ?=jDyj;CnEn>yQ 54}@?Q 94}=)}ׁBQ A+:YQ E}:y Q I?}CI}:i}y>}y4yBɮAEjhFNOT Ignoring new targets: 434.17 m.RhZh5 ProNav: ac range: 434.171295 m, nav range: 420.291809 m, bearing: 214.831725 deg, approach rate: -0.661234 m/s, LOS rate: -0.001756 deg/s, cmd heading: 205.801919 deg, new cmd heading: 205.799640 deg. Bh5>=HeadingCmd: 3.591881 target range: 434.171295 and range: 436.30 m.h=be@h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU fS#@颹ɢ<) s>i)6i'O}iS>,ߞ;"B CB*IBBB =BBBu;B 0EBm CBm CBiBm =Bm =Cm5A I I O >ԙ E=  E= E= 'E9 "E= D:*E= ]t:VE= '4ZE9 BE= 19XYX=ZDyZ[CZ»E^>\Q 5b4^/?Q 9f4^, )^ȁBQ Af :YdQ EfM:yf!Q If?^׹CI^.:i^xN?^q}4ynBɮn۱AnEjh|FNOT Ignoring new targets: 434.17 m.RhZh  ProNav: ac range: 434.171295 m, nav range: 420.036224 m, bearing: 214.831131 deg, approach rate: -0.687440 m/s, LOS rate: -0.001599 deg/s, cmd heading: 205.799638 deg, new cmd heading: 205.797854 deg. Bhs%HeadingCmd: 3.591850 target range: 434.171295 and range: 436.30 m.h%e@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5$@ɢ"<) >i)ò'i|i>,m ;;Ie@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.827977@ @@4@@@ԡ^AH<AhAzAhAA% ؟AIQ u ,?AY~By~{*I aa aa aa aa iMb@Mb@Mb@ 9v/?+? rhYx)?y>CA^A QA)AYfAbDVD02yUC;%;=ٔQ->9"?Y"?=DyCE>Q 54?Q 94%)BQ AT:Y+.?Q E:yQ I?CI;i;4yɮرAjh  FNOT Ignoring new targets: 434.17 m.RhZh ProNav: ac range: 434.171295 m, nav range: 419.740204 m, bearing: 214.828219 deg, approach rate: -0.676288 m/s, LOS rate: -0.006656 deg/s, cmd heading: 205.797848 deg, new cmd heading: 205.789107 deg. Bh.HeadingCmd: 3.591697 target range: 434.171295 and range: 436.30 m.h_e@h*h"h hgfffdddjdZd~$@E EE,E"E*Exv:VEg4ZEa@a@a@a@)ɢMڑ<) E>i);顱i\|iWA,(A;0;I_e@I9@ @@4@2Acoustic response timeout) ^A r;A .AI I O >Y K,m?A2W@2`e@2$<ٱ2 :AHRS rotation from veh to nav: [[-0.901841,0.430402,0.037899],[-0.431284,-0.891454,-0.138941],[-0.026016,-0.141648,0.989575]]2H`@? ug?@&ۿ ʆ`Σ!¿?i2W@I2u^;2CYBByBi*IbDNVDNyR%V\=ٔV&9Q-V>9Z ?YZ ?=ZDyZC^E^>`Q 5j4b ?Q 9j4b6))bBYlyn Q In?bCIbxL;ibBM;b4yvBɮvAvE%=<2Acoustic response timeoutjhAMFNOT Ignoring new targets: 434.17 m.RhqոZhqո ProNav: ac range: 434.171295 m, nav range: 419.488525 m, bearing: 214.826003 deg, approach rate: -0.661993 m/s, LOS rate: -0.005831 deg/s, cmd heading: 205.789105 deg, new cmd heading: 205.782454 deg. BhHeadingCmd: 3.591581 target range: 434.171295 and range: 436.30 m.hxe@h*h"h h B >B  CB *IB BB  =B B B B #0Eg)f)f)f1d1d1d1jd9Zd=%@颁ɢHM<) :>i)+i|i,?A02b|W@2re@2<ٱ2$ >AHRS rotation from veh to nav: [[-0.902950,0.427742,0.041456],[-0.428953,-0.891220,-0.147400],[-0.026102,-0.150878,0.988208]]2H`?9? sۿ`߄`¿ Oÿe?i2b|W@I2_;2CYFByFp*IHJ@AbDNVDN03yV{<%VK=ٔZa9Q-Z>9Z"?YZ"?=ZDy^C^ һE^>`Q 5f4b?Q 9f4b-)bBYdyj=Q Ij?b@CIbg:ib=:b4ylɮnAlzB*** querying acoustic contact ***i| i|jhFNOT Ignoring new targets: 434.17 m.Rh˸Zh˸ ProNav: ac range: 434.171295 m, nav range: 419.216064 m, bearing: 214.823718 deg, approach rate: -0.663458 m/s, LOS rate: -0.005570 deg/s, cmd heading: 205.782453 deg, new cmd heading: 205.775591 deg. BhtHeadingCmd: 3.591462 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZd`&@ԑɢ<)E2Acoustic response timeout ‘>i)>顩i{i3E,;#Ie@I@ @@Q1@^A?BI:E  E E %E "E :*E :VE 4ZE a% @a- @a- @a- @ A I I! O5 > 2Acoustic response timeout,f?Aɰ4<2VW@2sLe@2R<ٱ2&& :AHRS rotation from veh to nav: [[-0.903924,0.425279,0.045379],[-0.426874,-0.890539,-0.157221],[-0.026451,-0.161487,0.986520]]2H`7?@;?Qۿ LĿ@Ŀ?i2VW@I2k_;2C\YByh*IiMb@Mb@Mb@ 9Q?jt?MbPY(?y >A $A)AYGAbDVDky%;=ٔP:Q->9Y=DyC߫E>Q 54u?Q 942)BY-?Q E:yQ I?fCI;i;E4yBɮ?AEjh  FNOT Ignoring new targets: 434.17 m.RhZh% ProNav: ac range: 434.171295 m, nav range: 418.920441 m, bearing: 214.821122 deg, approach rate: -0.701601 m/s, LOS rate: -0.006164 deg/s, cmd heading: 205.775595 deg, new cmd heading: 205.767804 deg. Bh%_-HeadingCmd: 3.591326 target range: 434.171295 and range: 436.30 m.h-He@h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE\'@ɢk<) -W>i1)5jzԺ11i5!{i=lG,=F;=+I=He@IA @  @ @ /@ BAE2Acoustic response timeoutB>BBu*IBBB =BBDBv;B40E^A 9I AY Ia Iq O >bEjErEDN0E-  E- E) E) "E- s:*E- ?:VE) ZE) BE- j09XYX=ZDyZCZ"E^>`Q 5f4b?Q 9f4b6)bBYdyf.Q If?bCIb4:ibM:b4yhɮn`Aljh|FNOT Ignoring new targets: 434.17 m.Rh=ӸZh =Ӹ ProNav: ac range: 434.171295 m, nav range: 418.670471 m, bearing: 214.818989 deg, approach rate: -0.675871 m/s, LOS rate: -0.005771 deg/s, cmd heading: 205.767809 deg, new cmd heading: 205.761405 deg. Bh}}%HeadingCmd: 3.591214 target range: 434.171295 and range: 436.30 m.h%se@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= P(@ɢ<) (>i)Ti zi%AI,%ʝ;->^I-se@I)2Acoustic response timeout9@ @@/@Iq^AeI I) ] 2Acoustic response timeoutԩ O >",Y?AY~By~Z*IyiMb@Mb@Mb@ 9!rh?(\?I +?Yl'?yz>94<+ArA A)AYA bDVD0yN%7=ٔQ->9Y=Dy#CE>Q 5 4?Q 9 4f;)BY+?Q E:yQ I?CIy;i ;4yBɮ%sA!jhAMFNOT Ignoring new targets: 434.17 m.RhMZhMe ProNav: ac range: 434.171295 m, nav range: 418.372620 m, bearing: 214.816949 deg, approach rate: -0.668286 m/s, LOS rate: -0.004581 deg/s, cmd heading: 205.761402 deg, new cmd heading: 205.755277 deg. Bhe7IeHeadingCmd: 3.591107 target range: 434.171295 and range: 436.30 m.hme@hi*hi"hi higififqfqdqdydyjdyZd}A(@颩ɢ_<) G>i)gf顱iziK,+>;_3LIe@IE EE*E"E:*E:VE(N4ZEa@a@a@a@ԩ%9@! @!@%0@)@)@)BDAT read: Response Not Received *response not received(DAT read: user:85> BDAT read: Tx time:00:25:05.9488 $Ping request sent.M ,a4+?A>+W@>@!e@>%<ٱ>U?0 bAHRS rotation from veh to nav: [[-0.905028,0.422585,0.048445],[-0.424480,-0.890006,-0.166449],[-0.027222,-0.171205,0.984859]]>H ?ͨ?*ۿz/Nſ"ſ?i>+W@I>U^;>CYnByn\*ItvA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249539bD~VD~:y%<%%X=ٔ-j:Q-->91Y1=5Dy5BC=\4EE>IQ 5U4M ?Q 9U4M|?)MBYQB]>B] CB]o*IB]BB] =BYB]DB]"v;B]60Ey] Q Iu?MͺCIM3;iM;M*4yyɮ}lAyjhFNOT Ignoring new targets: 434.17 m.RhZh ProNav: ac range: 434.171295 m, nav range: 418.118561 m, bearing: 214.815244 deg, approach rate: -0.663230 m/s, LOS rate: -0.004453 deg/s, cmd heading: 205.755282 deg, new cmd heading: 205.750165 deg. BhCHeadingCmd: 3.591018 target range: 434.171295 and range: 436.30 m.hi)qڅiӆyiyL,;BI PExceeded connect timeout, disconnecting.a 4,E?A6?%W@6e@6<ٱ6d, BAHRS rotation from veh to nav: [[-0.905187,0.422427,0.046824],[-0.424130,-0.890697,-0.163623],[-0.027413,-0.167968,0.985411]]6HI ?I?@$ۿĿ@ſ}?i6?%W@I67^;6~CYJuByJM*IbDRVDRyZ~%ZR=ٔZ:Q-^>9\Y\=^DybbCbEb>dQ 5j4f?Q 9j4fC)fBYhyjQ In?fCIf:if:f﵅4yrBɮrArEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 434.17 m.RhZh% ProNav: ac range: 434.171295 m, nav range: 417.859528 m, bearing: 214.813515 deg, approach rate: -0.673083 m/s, LOS rate: -0.004495 deg/s, cmd heading: 205.750160 deg, new cmd heading: 205.744970 deg. Bh%oE-HeadingCmd: 3.590927 target range: 434.171295 and range: 436.30 m.h-e@h)*h1"h1 h1g1f1fAfAdIdIdQjdQZdU`*@9iɢuCt<)q }Tk>iy)}Yyyi}`xiM,Q;ǨIe@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756058U9@Q @Y@]5@Yaԑ^AyDD<E EEE"E:*EVEZEa@a@a@a@I I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004470 _,^?A28W@2e@26w<ٱ2) :AHRS rotation from veh to nav: [[-0.905328,0.422358,0.044672],[-0.423790,-0.891410,-0.160595],[-0.028007,-0.164323,0.986009]]2Hq ?Lߦ? ^ۿnbĿ񭜿@ſb?i28W@I2];2CYBrByBI*Ii Mb@Mb@Mb@     9 S㥛?i|?5? rh?Y $&?y = C< A A bA) A Y AyybDVDNy.U%==ٔ_:Q->9Y=DyC-_E>Q 54.?Q 94H)zBY(?Q E:yi!Q I?CI:i ;|4y!BɮAEjhFNOT Ignoring new targets: 434.17 m.RhrZhr ProNav: ac range: 434.171295 m, nav range: 417.574554 m, bearing: 214.813048 deg, approach rate: -0.659917 m/s, LOS rate: -0.001082 deg/s, cmd heading: 205.744969 deg, new cmd heading: 205.743567 deg. Bh#> HeadingCmd: 3.590903 target range: 434.171295 and range: 436.30 m.h Ye@h *h "h  h g fffdddjdZdd+@IɢMv<)I Me>iQ)Ue*QQiU*xi][N,]T|;]fQIeYe@Iaԑ9@ @@4@AAAA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256823B->B)B-b*IB-BB- =B)B)B-Qv;B-N0E^AIyIO>E  E E *E "E s:*E i:VE (N4ZE BE i09!Y!=%Dy%C%\9E->)Q 554-y?Q 954-K)-vBY9y=h!Q I=?-4CI-T;i-a;-Gą4yAɮMʲAIjhiuFNOT Ignoring new targets: 434.17 m.RhuZhu ProNav: ac range: 434.171295 m, nav range: 417.318207 m, bearing: 214.812624 deg, approach rate: -0.659602 m/s, LOS rate: -0.001091 deg/s, cmd heading: 205.743562 deg, new cmd heading: 205.742290 deg. Bh?HeadingCmd: 3.590880 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZd@b+,@ɢct<) ]>i)jiwwiN,;epIe@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240U9@Q @Q@U/@QnManaging dock network, ignoring radio surface power off iiG }耿9yY}kA^A鑻y?AI9IIOU>I = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762527p$,蠒?A 2=W@2e@2<ٱ2& >AHRS rotation from veh to nav: [[-0.905371,0.422475,0.042628],[-0.423609,-0.891728,-0.159298],[-0.029286,-0.162281,0.986310]]2H ?_ӥ?@jۿ cĿ DĿُ?i2=W@I2^;0YFlByFB*Ii Mb@Mb@Mb@     9 ?+η? rh?Y f&?y v=  IA 1A ;A) A Y fAbD%VD%1y5d-%5H=ٔ:Q->9Y=DyǭC#E>Q 54f?Q 94O)rBY&(?Q E:y#Q I?WCIe:i:˅4y#BɮܲAEjhFNOT Ignoring new targets: 434.17 m.RhR(8Zh R(8 ProNav: ac range: 434.171295 m, nav range: 417.040833 m, bearing: 214.813595 deg, approach rate: -0.656316 m/s, LOS rate: 0.002299 deg/s, cmd heading: 205.742291 deg, new cmd heading: 205.745207 deg. Bh8%HeadingCmd: 3.590931 target range: 434.171295 and range: 436.30 m.h%e@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd=`-@aɢeg<)a e0Y>ii)miiim۠viuM,uA;uI}e@IyDzD?AE EEE"E:*E n:VEZEa@a@a@a@q9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012649ԙ^A Aa Ii I O > *,?APV*W@V e@V\<ٱVӜ% bAHRS rotation from veh to nav: [[-0.905526,0.422302,0.041044],[-0.423205,-0.892051,-0.158563],[-0.030349,-0.160953,0.986495]]VH?? ۿKĿ`Ŀ^?iV*W@IV6E^;VCYfhByj=*Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264687 vR=v%=bDzVDz0B~>B~ CB~P*IB~wBB~ =B|B|B~v;B~h0EB CBBBBC5y%%L=ٔ%3;Q-%>9)Y)=-Dy-C-HE->1Q 5=452T?Q 9E45S)5oBYAyE#Q IE?5xCI5;i5v;5j҅4yM(BɮMAUEjhq}FNOT Ignoring new targets: 434.17 m.Rh}t+8Zh}t+8 ProNav: ac range: 434.171295 m, nav range: 416.787170 m, bearing: 214.814500 deg, approach rate: -0.656543 m/s, LOS rate: 0.002342 deg/s, cmd heading: 205.745201 deg, new cmd heading: 205.747916 deg. Bh8HeadingCmd: 3.590979 target range: 434.171295 and range: 436.30 m.he@h*h"h hgfffdddjdZd`-@频ɢk<) P>i)顙iuiM,ޙ;Ie@IM9@I @I@M0@I@Q@UgAE EE)E"E:*E]t:VEFA4ZEBE.1,*W?A2kW@2d@23<ٱ2f% :AHRS rotation from veh to nav: [[-0.906040,0.421280,0.040187],[-0.422049,-0.892531,-0.158948],[-0.031093,-0.160974,0.986469]]2H`G??n?ۿ dXĿ֟ʚĿ'?i2kW@I2P;^;2CYJaByJ4*IbD^ VD^:2yj%jO=ٔr :Q-r>9pYp=vDyvCzsQEz>| Q 54 A?Q 94 ]W) kBYy%#Q I%? CI lj;i i; _م4y5+Bɮ5'A5EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 434.17 m.Rh*8Zh*8  ProNav: ac range: 434.171295 m, nav range: 416.525940 m, bearing: 214.815478 deg, approach rate: -0.623224 m/s, LOS rate: 0.002334 deg/s, cmd heading: 205.747919 deg, new cmd heading: 205.750855 deg. Bh 8HeadingCmd: 3.591030 target range: 434.171295 and range: 436.30 m.hUoe@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdmཤ.@>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7726421ɢyK<) B>i!)E7AAiEtiMGL,MZ;MλIUoe@IQ@ @@/@YE EE(E"E:*E&p:VEc44ZEa@a@a@a@ԉ ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021057A I I Ա O >$`8,-!?AYZBy,*IiMb@Mb@Mb@ 9!rh?ʡE?I +?Yl'?y=94<AA A)AY=AbD VD2yQּ%+=ٔQ->9Y=Dy.CE>Q 54_+?Q 94[)fBY(?Q E:y%Q I?CI:i7:4y-BɮIAEjh!5FNOT Ignoring new targets: 434.17 m.Rh=8Zh=8U ProNav: ac range: 434.171295 m, nav range: 416.213623 m, bearing: 214.817770 deg, approach rate: -0.683378 m/s, LOS rate: 0.005020 deg/s, cmd heading: 205.750856 deg, new cmd heading: 205.757739 deg. Bh]|\9eHeadingCmd: 3.591150 target range: 434.171295 and range: 436.30 m.hege@ha*hi"hi higqfqfyfydyddjdZdW/@1QɢUE<)Q U5>iQ)]6C9YYi]sieNJ,ed ;eͻIege@IiB<A<@ @@/@BU>BQBU=*IBUhBBU =BQBQBUSv;BUT0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273275I^A] Xһԁ E  E E 'E "E :*E e:VE '4ZE BE '>,m?A(2V@2d@27=ٱ2* >AHRS rotation from veh to nav: [[-0.906587,0.420022,0.041010],[-0.420786,-0.892233,-0.163886],[-0.032245,-0.165833,0.985627]]2H?@M?(ڿ -7Ŀ@k :ſ@?i2V@I2+^;2CYFOByF*ILNAAbDNVDN3yVgx%Z]=ٔZK;Q-Z>9XY\=^Dy^LC^YsE^>`Q 5f4b?Q 9f4b_)baBYhyj%Q Ij?bCIbQ;ib];b%4ylɮnwApzBDAT read: Rx Time:00:25:08.9213 ~TRx dataTimestamp_ set to:1761524707.984233~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525709jhFNOT Ignoring new targets: 434.17 m.Rh%8Zh%85 ProNav: ac range: 434.171295 m, nav range: 415.970276 m, bearing: 214.819605 deg, approach rate: -0.657619 m/s, LOS rate: 0.004962 deg/s, cmd heading: 205.757741 deg, new cmd heading: 205.763250 deg. Bh5Y9=HeadingCmd: 3.591246 target range: 434.171295 and range: 436.30 m.h=e@h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdU#0@yɢ}fD<)y >i)$9顁iri H, S;  I e@Iԁ@ @@@@=@=ԩ^A[RӻA>A?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779009 A I IA Om >kE,ع?A6V@6rd@6=ٱ6>, >AHRS rotation from veh to nav: [[-0.907080,0.418877,0.041818],[-0.419729,-0.892363,-0.165881],[-0.032167,-0.168019,0.985259]]6H?i?ڿ<;ſ`:x@ſ=?i6V@I6];6CYFAByF *IIJ=)J=\i%Mb@Mb@Mb@!!!! !9%!rh?S㥫?{GztY!y%/]=%ף%bA%A %A)%A!Y% AEE EEEAEA"EE:*EEAr:VEAZEAaM@aM@aM@aM@bD=VD=k2y]N%e@=ٔe$@Q-e>9aYi=uDyunC!3E>Q 54/?Q 94b)ZBY'?Q E:y3(Q I?CIni ƛ Fs> @ V= ,@ >)  >I    hP2eK?;.2?Ӎ>) iI  >i   T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.颹ɢw<)U >i)R9i.qiE,sA;I+Ie@I@ @@0@A ^A ΒB] >B] CB] $*IB] TBBY BY B] DB] v;B] 60E߽ =߽ < (DAT read: user:86>  BDAT read: Tx time:00:25:10.1488  $Ping request sent. K,{.2?A,bV@bVd@b=ٱb0 jAHRS rotation from veh to nav: [[-0.907396,0.418033,0.043370],[-0.419061,-0.892096,-0.168974],[-0.031946,-0.171501,0.984666]]bH c `?4?ڿ@ ſG[@ſa?ibV@Ib ^;b~CYr=Byr*IbD~VD~!3y % D=ٔ  Q- >9Y=DyC E>!Q 5-4%Y?Q 9-4%1f)%RBY)y-A(Q I-?%'CI%:i%:%4y9ɮ=ȳA9iyi}b1?AJi}CRi}Cji}Zn@i}ʵSz@i?(wK@鴀J@ri}U`y?87[?cK ?Zi} >bi}i}$[v'ALm4$CS=@zi}~[f$ ݱ?2i}h:i}"i}q?*i}1^`SBi}rBi}U_?i}i}0Bi}-Ci}(o@ addTargetRange:: Added new target pos. range: 426.299988 m, deltaT: 16.631745 s, deltaX: -10.000000 m, approachRate: -0.601260 m/s, rangeRepo size: 4  Added new target pos. range: 424.236633 m, bearing: 213.383674 deg, lat: 36.779404 deg, lon: -121.860041 deg, deltaT: 16.631745 s, deltaX: -9.934662 m, approachRate: -0.597331 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 424.24 m.RhZh ProNav: ac range: 424.236633 m, nav range: 420.351990 m, bearing: 214.107118 deg, approach rate: 0.000000 m/s, LOS rate: 0.007631 deg/s, cmd heading: 205.774243 deg, new cmd heading: 205.782575 deg. BhHeadingCmd: 3.591583 target range: 424.236633 and range: 426.30 m.he@h*h"h hgfffdddjd̤z@Zd`?ɢ<) =i)5:ipi3C,~;4hIe@IbEFA4jE?4rEb/E EE*E"E>:*Eg:VE(N4ZEBER,K?A2V@2ƻd@2=ٱ2q5 :AHRS rotation from veh to nav: [[-0.907527,0.417481,0.045863],[-0.418815,-0.891397,-0.173220],[-0.031434,-0.176410,0.983815]]2Hv ?k{? ڿ S,ƿƿh{?i2V@I2`];2CYB/ByB)I HJp=bDJVDJk1yR%VQ=ٔV0Q-V>9XYX=ZDyZCZ;EZ>\Q 5b4^?Q 9f4^}i)^KBYhtynG(Q Iz?^HCI^L;i^;^4y~1Bɮ AEB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 424.24 m.Rh579Zh579checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505294= ProNav: ac range: 424.236633 m, nav range: 420.097015 m, bearing: 214.110013 deg, approach rate: -0.650473 m/s, LOS rate: 0.007389 deg/s, cmd heading: 205.782576 deg, new cmd heading: 205.791264 deg. Bh=C9HeadingCmd: 3.591735 target range: 424.236633 and range: 426.30 m.he@h*h"h hg fIfqfqdqdqdqjdyZd}t?ɢ;) D=i)׏:iMni@, i;EIe@I 9@ @@p0@@@hAE EE&E"E:*Ei:VE4ZEa@a@a@a@9u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754733^A A fAzA gAa I I O >Y,e?A2V@2sd@2<ٱ29 :AHRS rotation from veh to nav: [[-0.907628,0.417018,0.048030],[-0.418638,-0.890816,-0.176604],[-0.030861,-0.180398,0.983109]]2HJ `j?s? ڿ@ƿ왟Hǿu?i2V@I2X^;2CYr*Byr)I xxAiMb@Mb@Mb@ 9Q? rh?Zd;OY(?yC=jzAA (A)-AY\AbDVDN2y%8=ٔܨQ->9Y=DyԮCE>Q 54?Q 9 4cm)?BY )?Q E :y S'Q I ?mCI:i:x4yu4Bɮu&AuEAA@AB>BCB*IB:BB =BBDBu;B0EjhIMFNOT Ignoring new targets: 424.24 m.RhU8ZhU8e ProNav: ac range: 424.236633 m, nav range: 419.803253 m, bearing: 214.112751 deg, approach rate: -0.579995 m/s, LOS rate: 0.005409 deg/s, cmd heading: 205.791264 deg, new cmd heading: 205.799483 deg. Bhem9iHeadingCmd: 3.591879 target range: 424.236633 and range: 426.30 m.hWe@h*h"h hgchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006731fffdddjd!Zd%`Y?ɢQ;) ̩=i);/:ie mi]>,lJ; {~$I We@I ԑE  E E E "E O:*E e:VE ZE BE 9pYp=rDyrCv9Ev>xQ 5~4zI?Q 9~4zq)z0BY|y~U'Q I~?zCIz1:iz(:zx4y 9Bɮ A EjhFNOT Ignoring new targets: 424.24 m.Rh 8Zh 8 ProNav: ac range: 424.236633 m, nav range: 419.463226 m, bearing: 214.115931 deg, approach rate: -0.732676 m/s, LOS rate: 0.006859 deg/s, cmd heading: 205.799487 deg, new cmd heading: 205.809036 deg. Bh9HeadingCmd: 3.592045 target range: 424.236633 and range: 426.30 m.he@h*h"h hgfffdddjdZd~?ɢuc;) '=i)sz8:i"ki;,9;9%Ie@Im4?mm?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511990ԁ 9@ @@0@ԩDAzDE@AEM EIEM'EI"EM:*EIVEM'4ZEIaU@aU@aU@a]@^A & I9 IQ O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762653Lh,Ϣ?A:{V@:-d@:<ٱ:t= FAHRS rotation from veh to nav: [[-0.907327,0.417285,0.051291],[-0.419422,-0.889978,-0.178955],[-0.029027,-0.183884,0.982519]]:H ʴ?B?ڿzƿ Nǿ`p?i:{V@I:];:C\YfByf)IiUMb@Mb@Mb@QQQQ Q9Uv/?+?X9vYUx)?yU=UUVAQ UA)QQYUQAbDmVDm2y}%}A=ٔ}Q->9Y=Dy!C:E>Q 54?Q 94u)"BY*?Q E:y&Q I?CI:i:4y;BɮߴAEjhFNOT Ignoring new targets: 424.24 m.Rh,8Zh,8 ProNav: ac range: 424.236633 m, nav range: 419.182159 m, bearing: 214.118060 deg, approach rate: -0.689008 m/s, LOS rate: 0.005223 deg/s, cmd heading: 205.809036 deg, new cmd heading: 205.815428 deg. Bhhe9HeadingCmd: 3.592157 target range: 424.236633 and range: 426.30 m.he@h*h"h hgff fd!d!d)jdZd@'@1ɢ5b:)1 5@;i1)=q::99i=iiE9,ED;E IIEe@IiqqqqBe>BaBe)IBe!BBe =BaBaBeu;Be0E}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146229@ @@/@@@@@9 E]  E] E] )EY "E] :*E] k:VE] FA4ZEY BE] G-A >I I O >n,?:?A4<ɰ,6V@6Wd@6T<ٱ6s9 >AHRS rotation from veh to nav: [[-0.907025,0.417975,0.051027],[-0.420167,-0.890424,-0.174944],[-0.027686,-0.180118,0.983255]]6H@X?B ?ڿ Z~dƿYǿv?i6V@I63];6|CYFByF)IbDRVDRyV;%ZK=ٔZqZQ-Z>9\Y\=^Dy^ACb;Eb>`Q 5f4b?Q 9j4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266659bSy)bBYQyUn&Q IU?b߼CIbԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520874 Gu,?A2oV@2 d@2<ٱ23 :AHRS rotation from veh to nav: [[-0.906700,0.418845,0.049629],[-0.420943,-0.891240,-0.168814],[-0.026475,-0.173955,0.984398]]2H \?i?ڿ` ſb)Dƿ/?i2oV@I2L];2~C\YbByb)IiMMb@Mb@Mb@IIII I9MDl?zG?lYMO-?yM =MMbAMA M5AE EEE"E:*EVEZEa@a@a@a@)IIYM\A R=bDVDk1y%9=ٔm3Q->9Y=DyeC\:E>Q 54Ps?Q 94})BY /?Q E :y $Q I ?CIL:iU:$4yɮHA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 424.24 m.RhM8ZhM8] ProNav: ac range: 424.236633 m, nav range: 418.613403 m, bearing: 214.120800 deg, approach rate: -0.720590 m/s, LOS rate: 0.001800 deg/s, cmd heading: 205.821385 deg, new cmd heading: 205.823646 deg. Bh]8eHeadingCmd: 3.592300 target range: 424.236633 and range: 426.30 m.he@e@ha*ha"ha hagafififididqdqjdqZdu @颡ɢ3 ) $i)*3:顩iM giu7, ;E I@e@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785I@I @I@MP4@IAII!O=r>A B >B CB )IB BB =B B DB u;B 0EBuCBuCBuʔCBu =Bu =CuFg6 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022634S{,?AY%By%)IbD5VD5yE%EU=ٔEQ-M>9IYI=MDyMCUEU>YQ 5e4]`?Q 9e4]i)]BYayaQ Im?]'CI]:i](:]U+4yu@BɮuhAuEjhFNOT Ignoring new targets: 424.24 m.RhA7ZhA7 ProNav: ac range: 424.236633 m, nav range: 418.352020 m, bearing: 214.121453 deg, approach rate: -0.683678 m/s, LOS rate: 0.001709 deg/s, cmd heading: 205.823653 deg, new cmd heading: 205.825613 deg. Bh'8HeadingCmd: 3.592335 target range: 424.236633 and range: 426.30 m.he@h*h"h hgfffdddjdZdr @1ɢ5:)9 =Pi9)=':99iEmqeiE6,EȞ;M IMe@IIE EEE"E:*Ec:VEZEBE ԡ 6˂,з ?A2W@2Td@2i<ٱ2* :AHRS rotation from veh to nav: [[-0.906069,0.420372,0.048230],[-0.422413,-0.892008,-0.160899],[-0.024615,-0.166158,0.985792]]2H`?? ۿU`SĿ@4Dſ@?i2W@I2I];0YBމByB)IbDJVDJk2yr-%rQ=ٔrQ-r>9tYt=vDyvCzم;Ez>xQ 54zN?Q 94zA)zBYy#Q I?zJCIzj;ize;z,24yBBɮAEjh1=FNOT Ignoring new targets: 424.24 m.Rh=7ZhE7M ProNav: ac range: 424.236633 m, nav range: 418.085022 m, bearing: 214.122041 deg, approach rate: -0.681830 m/s, LOS rate: 0.001502 deg/s, cmd heading: 205.825620 deg, new cmd heading: 205.827384 deg. BhU8UHeadingCmd: 3.592366 target range: 424.236633 and range: 426.30 m.hUQe@hY*hY"hY hYgYfafafadadidijdiZdm@R @y颙ɢ*D) i):顡idic6,R;HIQe@IBDAT read: Rx Time:00:25:13.1023 TRx dataTimestamp_ set to:1761524712.268709checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528611Y@a @a@e/@iԱE EE'E"E:*EL_:VE'4ZEa@a@a@a@^A]PiA IE AM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778904Aa Ii Iy O > ,Ǻ%?AYӉBy)IiMb@Mb@Mb@ 9|?5^?ʡE?QY-?y=A¶A AA)EAYpAbDVDy<%.=ٔQ->9Y=Dy˯CE>Q 547?Q 94 )ـBY0?Q E:y"Q I?sCI(S;iRQ;d:4yɮAjhIUFNOT Ignoring new targets: 424.24 m.RhUIsZh]Isu ProNav: ac range: 424.236633 m, nav range: 417.762054 m, bearing: 214.121942 deg, approach rate: -0.680119 m/s, LOS rate: -0.000208 deg/s, cmd heading: 205.827382 deg, new cmd heading: 205.827086 deg. Bhu}HeadingCmd: 3.592360 target range: 424.236633 and range: 426.30 m.h;e@h*h"h hgfffdddjdZd@ɢ.) i):i:bB=>B9B=)IB=BB= =B9B9B=u;B=0Eiuz6,u;upIu;e@IyDAT read: 00:25:13.1023 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 392, 0.07, 0.145,-1.476, 0.037,-0.337, PHS= 0.584,-1.094, 0.330, RAW= 141.9, 2.3, CAL= 141.7, 2.8, ROT= 8.3, -2.8 Ygot valid direction response: 00:25:13.1023 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 392, 0.07, 0.145,-1.476, 0.037,-0.337, PHS= 0.584,-1.094, 0.330, RAW= 141.9, 2.3, CAL= 141.7, 2.8, ROT= 8.3, -2.8 PDAT read: Bearing 349.9, 6.4 (Local) ~Local bearing/azimuth received: Bearing 349.9, 6.4 (Local) DAT read: Range 11 to 50 : 412.0 m (Round-trip 549.4 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.988344,0.144184,0.048850]Fpublishing direction and range infoygVs?CS؝t?s!D?YC )KI?i1>@l$=G@ +H=)V>I+Hn? 7ܳa?bȤ? >)N&IV>i+HT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.1@1 @1@5/@1^AU 8E  E E *E "E :*E x:VE (N4ZE BE 4,gC@?AN(DAT read: user:87> RBDAT read: Tx time:00:25:14.4488 R$Ping request sent.V9iY=DyC;E>Q 54%?Q 94Ӎ)̀BYy"Q I?CIg:if<@4yDBɮ͵AEiqiui1?AJiuCRiuCjiun@iu>26Sy@LBM@%4@riugVs?CS؝t?s!D?ZiuV>biu+Hiu"Pu RwUtl;?ziu&S꿖 ҃NlZ?2iuc:iu"iuqZ㠊?*iuAyBiuBiuqZ㠊?iu1^`Siqiu Ciut6o@ addTargetRange:: Added new target pos. range: 412.000000 m, deltaT: 4.284646 s, deltaX: -14.299988 m, approachRate: -3.337496 m/s, rangeRepo size: 4  Added new target pos. range: 410.026703 m, bearing: 213.722627 deg, lat: 36.779445 deg, lon: -121.860009 deg, deltaT: 4.284646 s, deltaX: -14.209930 m, approachRate: -3.316477 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 410.03 m.RhZh ProNav: ac range: 410.026703 m, nav range: 412.106750 m, bearing: 214.154350 deg, approach rate: 0.000000 m/s, LOS rate: -0.000208 deg/s, cmd heading: 205.827081 deg, new cmd heading: 205.826837 deg. BhEHeadingCmd: 3.592356 target range: 410.026703 and range: 412.00 m.hM)e@hI*hI"hQ hQgQfQfYfYdYdadjdy@Zd`B?aɢe.)a eĺia)m99iiimT`iu6,u{L;uIûIu)e@Iyq@q @q@y@y)]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252430^A A >A >Q A I I O >,[?AE. E.E.(E,"E.:*E.T:VE.c44ZE,a2@a2@a2@a6@V-W@V#e@VΩ<ٱVt* bAHRS rotation from veh to nav: [[-0.905077,0.422215,0.050688],[-0.424662,-0.891139,-0.159790],[-0.022296,-0.166147,0.985849]]VHd?@?`-ۿ`6@sĿԖQDſ?iV-W@IV];VCYfɉByfy)IIn<)nC=i]Mb@Mb@Mb@YYYY Y9]S?Mb?:vY]/?y]>]T]A]A ]ZA)]jAYY]GAqbDu VDu2y%==ٔBʺQ->9Y=Dy C;E>Q 54]?Q 94[)€BY,2?Q E:y|!Q I?CIn:i ;^H4yIBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 410.03 m.Rh&Zh& ProNav: ac range: 410.026703 m, nav range: 411.809814 m, bearing: 214.153429 deg, approach rate: -0.734434 m/s, LOS rate: -0.002280 deg/s, cmd heading: 205.826835 deg, new cmd heading: 205.824070 deg. BhCȸHeadingCmd: 3.592308 target range: 410.026703 and range: 412.00 m.h_e@h*h"h hgfffdddjdZd` ?ɢ) ڽichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858)9 i 5#_i V7,.;&#I_e@Iԡ@ @@/@^A% ?BɻB- >B) B- )IB- ډBB- =B) B) B- u;B- )0E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755056 A .AI I O >,qu?A2:W@20e@23<ٱ2F& :AHRS rotation from veh to nav: [[-0.904759,0.423001,0.049813],[-0.425386,-0.891545,-0.155546],[-0.021385,-0.161921,0.986572]]2Hp??`9ۿ`ÿ@敿@׹Ŀ@?i2:W@I2];2~CYBByBl)I HJa=bDNVDNyVb%VZ=ٔVDQ-V>9Z ?YZ ?=ZDyZ*C^_ ;E^>!Q 5-4%?Q 9-4%v)%BY)y-l!Q I5?%ܽCI%:i%w:%"O4y=KBɮ=4A=EjhaeFNOT Ignoring new targets: 410.03 m.Rhm%Zhm%} ProNav: ac range: 410.026703 m, nav range: 411.540985 m, bearing: 214.152557 deg, approach rate: -0.695019 m/s, LOS rate: -0.002255 deg/s, cmd heading: 205.824076 deg, new cmd heading: 205.821459 deg. Bh}ƸHeadingCmd: 3.592262 target range: 410.026703 and range: 412.00 m.he@h*h"h hgfffdddjdZd?ɢ) i)29i]i8,\*;Ie@IQ@Q @Q@U?0@QbE-4jE14rEϚ/E EE'E"E :*Ec:VE'4ZEBEO"Y 北,4M?A2N5W@2*e@2#<ٱ2q :AHRS rotation from veh to nav: [[-0.904926,0.423009,0.046619],[-0.425089,-0.893260,-0.146240],[-0.020218,-0.152154,0.988150]]2H`&?sާ?@4ۿ@¿yÿ?i2N5W@I2q];0YBByBb)IbDJVDJkyR&%RJ=ٔV=Q-V>9TYT=ZDyZJCZ\EZ>\Q 5b4^K?Q 9b4^)^BYdyfj!Q If?^CI^:i^:^U4yjNBɮj`AjEjh|~FNOT Ignoring new targets: 410.03 m.Rh%Zh% ProNav: ac range: 410.026703 m, nav range: 411.269653 m, bearing: 214.151672 deg, approach rate: -0.694517 m/s, LOS rate: -0.002266 deg/s, cmd heading: 205.821453 deg, new cmd heading: 205.818797 deg. BhǸHeadingCmd: 3.592216 target range: 410.026703 and range: 412.00 m.he@h*h"h h!g!f!f!f!d)d)d)jd)Zd5O?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588721AɢE )A E^iI)M<9IIiM\i8,;?Ie@II!)%dA@ @@o0@aE EE"E"E:*Eg:VE(3ZEa@a@a@a@ԉ^A񖻝 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511914A ؟AIA IY Om >Թ Щ,*?A:2W@:g(e@:Ѕ<ٱ:[- FAHRS rotation from veh to nav: [[-0.905010,0.422970,0.045306],[-0.424954,-0.894129,-0.141234],[-0.019228,-0.147071,0.988939]]:H`?i2? t2ۿ¿j`9¿c?i:2W@I:-];:|CYJByNh)I PPi%Mb@Mb@Mb@!!!! !9%m?Dl?Y%.?y%O >%%A%A %SA)%fA!Y%AbDMVDM1y]^<%e?=ٔeQ-m>9m"?Ym"?=uDyumCuE}>Q 54?Q 94F)BY!2?Q E:yP Q I?%CIN;i=N;x]4yVBɮnAjhFNOT Ignoring new targets: 410.03 m.RhƎZhƎ} ProNav: ac range: 410.026703 m, nav range: 410.971313 m, bearing: 214.149980 deg, approach rate: -0.687424 m/s, LOS rate: -0.003901 deg/s, cmd heading: 205.818803 deg, new cmd heading: 205.813724 deg. Bh}T+HeadingCmd: 3.592127 target range: 410.026703 and range: 412.00 m.hie@h*h"h hgfԑffdddjdZd]?B>BCB{)IBˉBB =BBBu;B=0Eɢ &S)  0 i))5d711i5pZi=M:,=;=̤I=ie@IAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762616@ @@?0@E  E E 'E "E :*E i:VE '4ZE BE .|,Ӡ?A22W@2u(e@2c)<ٱ2$ >AHRS rotation from veh to nav: [[-0.905028,0.422739,0.047063],[-0.424967,-0.893954,-0.142304],[-0.018085,-0.148790,0.988703]]2H)??2ۿ`D7¿@ꄒ@ ÿu?i22W@I2];2}CYFByFG)ILN@AbDRVDRyV%VI=ٔZI8Q-Z>9\Y\=^Dy^C^ 7Eb>`Q 5f4b?Q 9f4b)bBYhyjQ Q Ij?bICIb;ib;bd4yvYBɮvAvEjhFNOT Ignoring new targets: 410.03 m.RhjZhj ProNav: ac range: 410.026703 m, nav range: 410.690094 m, bearing: 214.148386 deg, approach rate: -0.666408 m/s, LOS rate: -0.003782 deg/s, cmd heading: 205.813721 deg, new cmd heading: 205.808934 deg. Bh&HeadingCmd: 3.592044 target range: 410.026703 and range: 412.00 m.h e@h*h"h hgfffd d djdZd@y@)yɢ?T) F>i)o 顡i}Xi;,B;I e@IA@A @A@E4@AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266656ԙ^AU A I I Ա O >E  E E (E "E a:*E xv:VE c44ZE a @a @a @a @?,g?ANU>W@N4e@NG<ٱN/ VAHRS rotation from veh to nav: [[-0.904752,0.423010,0.049861],[-0.425617,-0.893300,-0.144451],[-0.016564,-0.151914,0.988255]]NH`?@\? M=ۿ a}¿@qÿȟ?iNU>W@IN];N|CY^By^V)IiEMb@Mb@Mb@AAAA A9Em?`"?{Gz?YAyE=E#9qYq=uDyuC}:E}>Q 54?Q 94*)BYV1?Q E:y!Q I?oCI:i:l4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 410.03 m.RhZh ProNav: ac range: 410.026703 m, nav range: 410.394653 m, bearing: 214.147579 deg, approach rate: -0.727794 m/s, LOS rate: -0.001988 deg/s, cmd heading: 205.808940 deg, new cmd heading: 205.806519 deg. BhHeadingCmd: 3.592001 target range: 410.026703 and range: 412.00 m.hZe@h*h"h hgfffdiIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519225ԑddjdZdU@AɢE}7)A E%iA)M3IIiM4Wi[<,;IZe@I!@! @)@-4@)B>BCBh)IBBB =BBDBv;BM0E^AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771332A I) I9 OE > i,5C?A2YW@2zOe@2v<ٱ2{ :AHRS rotation from veh to nav: [[-0.904059,0.424236,0.051971],[-0.427142,-0.892504,-0.144868],[-0.015074,-0.153169,0.988085]]2H &??KVۿc@ ¿ߎÿd?i2YW@I2% ^;2~CYBByBI)IF=F=bDJVDJ02yRn%VX=ٔVŀQ-V>9XYX=ZDyZаCZ;EZ>\Q 5b4^?Q 9f4^))^BYdyf!Q If?^CI^g:i^:^r4yjaBɮjAljh|FNOT Ignoring new targets: 410.03 m.RhZh ProNav: ac range: 410.026703 m, nav range: 410.132202 m, bearing: 214.146801 deg, approach rate: -0.693759 m/s, LOS rate: -0.002058 deg/s, cmd heading: 205.806522 deg, new cmd heading: 205.804187 deg. BhǴHeadingCmd: 3.591961 target range: 410.026703 and range: 412.00 m.he@h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5[* @Yɢe9?j)a eQľ,?A2sW@2ie@2e<ٱ2 >AHRS rotation from veh to nav: [[-0.903392,0.425501,0.053209],[-0.428586,-0.891879,-0.144450],[-0.014008,-0.153300,0.988080]]2Hi;?7>?mۿ`EX}¿  UÿZ?i2sW@I2@];B%=BC=Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2806162}CYbBybE)IbDjVDj1yvip%vF=ٔv})Q-v>9z ?Yz ?=zDyzCz|;E~>Q 54?Q 9 4)BY y v!Q I ?CI:it:y4yiBɮ,AEjh9EFNOT Ignoring new targets: 410.03 m.RhE!ZhE!U ProNav: ac range: 410.026703 m, nav range: 409.846741 m, bearing: 214.145891 deg, approach rate: -0.691969 m/s, LOS rate: -0.002209 deg/s, cmd heading: 205.804186 deg, new cmd heading: 205.801453 deg. BhU¸]HeadingCmd: 3.591913 target range: 410.026703 and range: 412.00 m.h]e@ha*ha"ha hagafafifidididqjdqZdu`v @ɢD^) BBi)iebTi=,J܇;ȺIe@Iau9@y @y@/@E EE(E"E2:*Exv:VEc44ZEa@a@a@a@y^A<EBDAT read: Rx Time:00:25:17.3992 MTRx dataTimestamp_ set to:1761524716.554077Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529809ԩ A I I O% >&|ʾ,"+?A@F4W@Fe@FU<ٱF VAHRS rotation from veh to nav: [[-0.902425,0.427458,0.053940],[-0.430651,-0.891126,-0.142950],[-0.013038,-0.152230,0.988259]]FHx[??@Ǐۿ-L¿`I|ÿ`џ?iF4W@IF];DYbBybB)IiMb@Mb@Mb@ 9B`"??Q?Y.?y=u<AȵA `A)YAbDVD0y5%>=B >BCB\)IBBB =BBDB_v;Bu0EBCBCBCB =B =CU5ٔQ->9Y=DyC;E>Q 54v?Q 94)BY0?Q E:y(#Q I?۾CI;i;n4y ɮ 6A jh15FNOT Ignoring new targets: 410.03 m.Rh=I6Zh=I6M ProNav: ac range: 410.026703 m, nav range: 409.546478 m, bearing: 214.146046 deg, approach rate: -0.689970 m/s, LOS rate: 0.000356 deg/s, cmd heading: 205.801454 deg, new cmd heading: 205.801919 deg. BhMy7UHeadingCmd: 3.591921 target range: 410.026703 and range: 412.00 m.hU e@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdm@QɢU-])Q U GiQ)],>YYi]Rie=,e;e @9Ie e@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778812ԱA@A @A@E/@AE EE'E"E:*Ee:VE'4ZEBE'iE ĿE =E E/!@E 5z>E K @ E ܸ>)E k=IE ܸA A E ;KM?N?W ϱ ? E x>)E zIE k=iE ܸA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.O >cѾ,|E?ApW@Ze@G<ٱ %AHRS rotation from veh to nav: [[-0.901262,0.429849,0.054371],[-0.433102,-0.890253,-0.140966],[-0.012190,-0.150596,0.988520]]H $?|֫?ۿ`|@0 ¿SFÿ ?iW@I];zCYUByU?)IbDeVDeyT#%==ٔQ->9Y=Dy6C;E>Q 54fa?Q 94H)BYy"Q I?CI# BDAT read: Tx time:00:25:18.6987 $Ping request sent.6׾,`?A2W@2;e@2wa6<ٱ2So :AHRS rotation from veh to nav: [[-0.899977,0.432434,0.055152],[-0.435794,-0.889224,-0.139153],[-0.011131,-0.149269,0.988734]]2H``?9Y=DyTC<E>Q 54hO?Q 94뼶)BY-?Q E:yG$Q I?"CIX;i ;u4ypBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 407.74 m.Rh7checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252712Zh7 ProNav: ac range: 407.744263 m, nav range: 406.919037 m, bearing: 213.713086 deg, approach rate: -0.708395 m/s, LOS rate: 0.001360 deg/s, cmd heading: 205.802397 deg, new cmd heading: 205.803862 deg. Bh n8HeadingCmd: 3.591955 target range: 407.744263 and range: 409.70 m.he@h*h"h hgfffdd!d!jd!Zd%w?ɢ#) %ai!)):顉iOi=,r;Σ;Ie@IA9@ @@@iB>BBO)IBBB =BBBv;B0E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504636^A 2;I I ԙ O >ݾ,%y?A2&$X@2f@2Į&<ٱ25& :AHRS rotation from veh to nav: [[-0.898770,0.434904,0.055421],[-0.438303,-0.888387,-0.136601],[-0.010173,-0.147064,0.989075]]2H @v?`?@& ܿ m"|Մ`¿?i2&$X@I2=^;2|CYBByB")IbDJVDJkyR %R[=ٔV'Q-V>9TYX=ZDyZrCZ ;EZ>\Q 5b4^z=?Q 9b4^)^BYdyf$Q If?^BCI^$:i^:^4yhɮjAhjh|~FNOT Ignoring new targets: 407.74 m.Rhh7Zhh7 ProNav: ac range: 407.744263 m, nav range: 406.665100 m, bearing: 213.713474 deg, approach rate: -0.680573 m/s, LOS rate: 0.001041 deg/s, cmd heading: 205.803859 deg, new cmd heading: 205.805024 deg. Bh68yHeadingCmd: 3.591975 target range: 407.744263 and range: 409.70 m.he@h*h"h hgfffdddjdZdb?E] E]E]'EY"E]:*E]e:VE]'4ZEYBE] A >I I O > ,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0084916EX@6;f@6V<ٱ6 BAHRS rotation from veh to nav: [[-0.897873,0.436746,0.055474],[-0.440156,-0.887857,-0.134061],[-0.009298,-0.144787,0.989419]]6H `? g?+ܿRi ( a¿`R?i6EX@I60];6{CYFByJ,)IbD~VD~:2y =% D=ٔ  Q- >9Y=DyC;E>!Q 5%4%)?Q 9-4%Ķ)%BY)y-#Q I-?%gCI%1:i%:%E4y5sBɮ=A=EjhYeFNOT Ignoring new targets: 407.74 m.Rhev7Zhmv7u ProNav: ac range: 407.744263 m, nav range: 406.382141 m, bearing: 213.713825 deg, approach rate: -0.678665 m/s, LOS rate: 0.000842 deg/s, cmd heading: 205.805020 deg, new cmd heading: 205.806073 deg. Bh}8}HeadingCmd: 3.591994 target range: 407.744263 and range: 409.70 m.h9e@h*h"h hgfffdddjdZdi?ɢ) ji)MFiMi|<,.߇;;Y ,?A6%ZX@6Of@6(n<ٱ6h< BAHRS rotation from veh to nav: [[-0.897331,0.437888,0.055240],[-0.441267,-0.887538,-0.132514],[-0.008998,-0.143284,0.989641]]6H]? wH?=ܿf5m$W¿"?i6%ZX@I6/^;6zCYJByJ!)IBE>BECBEC)IBEBBE =BABABEw;BE0EimMb@Mb@Mb@iiii i9mK7?㥛 ?Ym)?ym=mmAmεA mrA)mAiYm=A a=R=bD VD2y'%B=ٔ:Q->9Y=DyC?;E>Q 54?Q 94ȶ)BY*?Q E:y$Q I?CI ;it;4yɮ÷AjhFNOT Ignoring new targets: 407.74 m.Rh 8Zh 8 ProNav: ac range: 407.744263 m, nav range: 406.100769 m, bearing: 213.714731 deg, approach rate: -0.666343 m/s, LOS rate: 0.002145 deg/s, cmd heading: 205.806072 deg, new cmd heading: 205.808789 deg. Bh t8 HeadingCmd: 3.592041 target range: 407.744263 and range: 409.70 m.h e@h *h"h hgfffddd!jd!Zd%?1QɢU䖼)Y ]{iY)]bֺYYieKie;,e;;mU% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764576 ,k?AYUyByU)IbDeVDe02yu0%}L=ٔ}Q-}>9yY=DyձCE>Q 54?Q 94`̶)BYyQ I?CI ;i: ;4yvBɮAEjh-FNOT Ignoring new targets: 407.74 m.Rh5j8Zh5j8E ProNav: ac range: 407.744263 m, nav range: 405.833679 m, bearing: 213.715591 deg, approach rate: -0.667006 m/s, LOS rate: 0.002150 deg/s, cmd heading: 205.808790 deg, new cmd heading: 205.811373 deg. BhE8MHeadingCmd: 3.592086 target range: 407.744263 and range: 409.70 m.hMe@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]@ԉ频ɢ주) i)顙ij Ji:,;E  E E #E "E :*E n:VE 3ZE a @a @a @a @ ,8?A6zX@6tpf@6 <ٱ6b >AHRS rotation from veh to nav: [[-0.896453,0.439692,0.055160],[-0.443054,-0.886880,-0.130948],[-0.008657,-0.141827,0.989854]]6H`#?=?`ZܿQa f'¿@?i6zX@I6^;6|CYFoByF )IimMb@Mb@Mb@iiii i9mv/?V-?{GztYmx)?ymh=mףm(Am۴A mfA)mAiYmAbDVDyC%I=ٔ3\Q->9Y=DyC^;E>Q 546?Q 94.ж)BYr*?Q E:y$Q I?ϿCI;iN;4y~BɮBIBM6)IBMBBIBIBMDBMtw;BM0E^A- ,?AY~mBy~ )I  AAbDVD0yE>׻%EP=ٔEQ-E>9IYI=MDyMCUEU>QQ 5]4U?Q 9e4UӶ)U}BYayaQ Ie?UCIU&;iU<:U4yiɮuAAqjhFNOT Ignoring new targets: 407.74 m.Rh0+8Zh0+8 ProNav: ac range: 407.744263 m, nav range: 405.301270 m, bearing: 213.717448 deg, approach rate: -0.669637 m/s, LOS rate: 0.002339 deg/s, cmd heading: 205.814200 deg, new cmd heading: 205.816942 deg. Bhm8HeadingCmd: 3.592183 target range: 407.744263 and range: 409.70 m.hUe@h*h"h hgfffdddjdZd@>h@ɢi) i)}ihFi`9, ~u; 3ԩ ,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024730:z{X@:+qf@:d+<ٱ:@ FAHRS rotation from veh to nav: [[-0.896432,0.439803,0.054623],[-0.443092,-0.886935,-0.130441],[-0.008921,-0.141134,0.989950]]:H%?? [ܿaI\E`¿ ?i:z{X@I:G];:zCY^jByb)IbDjVDjNyr}%rQ=ٔr1:Q-r>9tYt=vDyv4Cv8Ez>xQ 54z?Q 94z׶)zyBYy$Q I?zCIzY;izT;zz4y Bɮ]A£Ejh1=FNOT Ignoring new targets: 407.74 m.Rh=)8Zh=)8M ProNav: ac range: 407.744263 m, nav range: 405.040680 m, bearing: 213.718356 deg, approach rate: -0.665121 m/s, LOS rate: 0.002320 deg/s, cmd heading: 205.816945 deg, new cmd heading: 205.819672 deg. BhM8UHeadingCmd: 3.592231 target range: 407.744263 and range: 409.70 m.hUe@hQ*hY"hY hYgYfYfafadadadijdiZdm @aɢmCԸ)i mƕii)m&qqi:Ei8,_;h3:*EMk:VEM4ZEIa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276523^A- ȿ<A5 >A1 I I O > ' ,O.?A2+}X@2rf@2Z.<ٱ2 :AHRS rotation from veh to nav: [[-0.896381,0.439873,0.054893],[-0.443182,-0.886613,-0.132313],[-0.009532,-0.142930,0.989687]]2H'@&??]ܿ"_ළK¿?i2+}X@I2#];2{CYB`ByF(IBr>BrCBr$)IBrBBr =BpBrDBrw;Br 1E|ieMb@Mb@Mb@aaaa a9eFx?K?{GzYe+?ye^=e#eAAa eA)eAaYeAbD}VD}y.;%@=ٔ4:Q->9Y=DyWC:~9E>Q 54Ե?Q 94۶)sBY^-?Q E:yD#Q I?7CI :i:dž4yɮAjhFNOT Ignoring new targets: 407.74 m.RhiZhi ProNav: ac range: 407.744263 m, nav range: 404.752563 m, bearing: 213.718271 deg, approach rate: -0.676446 m/s, LOS rate: -0.000199 deg/s, cmd heading: 205.819677 deg, new cmd heading: 205.819423 deg. Bh* HeadingCmd: 3.592227 target range: 407.744263 and range: 409.70 m.h e@h*h"h hgf f f d ddjdZd ' @ɢKż) i) 7iECU=U<]BDAT read: Rx Time:00:25:21.6591 ]TRx dataTimestamp_ set to:1761524720.840587echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530126i8,c; A5q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781883 MG- jAI ),DH?AB9BjAYFAԁ@rX@gf@)<ٱV AHRS rotation from veh to nav: [[-0.896669,0.439203,0.055552],[-0.442581,-0.886399,-0.135718],[-0.010367,-0.146280,0.989189]]H@?Bq??Sܿ`]`4_@:; N¿o?i@rX@I];YYBy(I 4=bDVDk1y-%-@=ٔ-;Q-5>91Y1=5Dy=yC=ͺE=>AQ 5M4E?Q 9M4E߶)ElBYIyMP#Q IU?E\CIE;iE`;EWφ4y]Bɮ]A]EjhFNOT Ignoring new targets: 407.74 m.RhZh ProNav: ac range: 407.744263 m, nav range: 404.465210 m, bearing: 213.718218 deg, approach rate: -0.676385 m/s, LOS rate: -0.000125 deg/s, cmd heading: 205.819418 deg, new cmd heading: 205.819258 deg. Bh5HeadingCmd: 3.592224 target range: 407.744263 and range: 409.70 m.he@h*h"h hgfffdddjdZd @aɢeμ)a e]ia)mIiiNAi8,I׊;L+e @e:eJ @ e;)eV=IeaaekC?-(U?3}Oa? e6>)eIeV=ieaa T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A x/< De <Da Em  Em Em (Ei "Em a:*Em i:VEm c44ZEi a} @a} @a} @a} @AU ؟AIY Iq O} >ÿd?i2AiX@I2^;0YBVByB(Ii Mb@Mb@Mb@     9 sh|??&1?I +Y )?y = 94 MA A )  Y \AbD (DAT read: user:89> BDAT read: Tx time:00:25:22.9987 $Ping request sent.9"?Y"?=DyCE> Q 54  ?Q 94 ) eBY,?Q E%:y%B"Q I%? ~CI =R;i P; [ֆ4y5Bɮ=ĸA=EiiimU?AJimCRimCjimߙm@imᳫHBy@g8 G@52d@rimj:?пq?sNru?ZimV=bimimeu۾2 l7E"zim=Ie"Iῂ;M2imP`:im"imO?*im TKBimlBim?O?im TKimrBimCimm@ addTargetRange:: Added new target pos. range: 417.200012 m, deltaT: 4.288240 s, deltaX: 7.500000 m, approachRate: 1.748969 m/s, rangeRepo size: 4 e Added new target pos. range: 415.190735 m, bearing: 212.711527 deg, lat: 36.779367 deg, lon: -121.859966 deg, deltaT: 4.288240 s, deltaX: 7.446472 m, approachRate: 1.736487 m/s, posRepo size: 4 jhamFNOT Ignoring new targets: 415.19 m.RhmZhq} ProNav: ac range: 415.190735 m, nav range: 411.437958 m, bearing: 213.039674 deg, approach rate: 0.000000 m/s, LOS rate: -0.000125 deg/s, cmd heading: 205.819254 deg, new cmd heading: 205.819099 deg. BhyHeadingCmd: 3.592221 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdddjd@3z@Zd?)ɢ-oѼ)1 5>i1)5?\99i=9?ie8,ec?;mi$BCB )IBoBB =BBDBw;B1EBBBƔCBB =C6 M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249451^A= 0<A9 zA= fAA Am .AIq I O >,4}?ABlX@Bbf@B<<ٱBו NAHRS rotation from veh to nav: [[-0.896799,0.438785,0.056732],[-0.442288,-0.885755,-0.140782],[-0.011522,-0.151345,0.988414]]BH? ?@pNܿ`X!¿ט`D_ÿ ?iBlX@IB/_;B|CYRGByV(IbD^VD^:yf%fY=ٔf:Q-f>9j ?Yj ?=jDyjCn$:En>pQ 5v4r}?Q 9v4r)r_BYtyv>"Q Iv?rCIr:irL;r܆4y|ɮ~A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 415.19 m.Rh-QZh-Q= ProNav: ac range: 415.190735 m, nav range: 411.186981 m, bearing: 213.038629 deg, approach rate: -0.687140 m/s, LOS rate: -0.002863 deg/s, cmd heading: 205.819104 deg, new cmd heading: 205.815966 deg. Bh=EHeadingCmd: 3.592166 target range: 415.190735 and range: 417.20 m.hE e@hA*hA"hA hIgIfIfQfQdQdQdQjdYZd]?颁ɢI) i)al顉ib=i9,#;*q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753397z%,?A2gX@2]f@2E<ٱ2 :AHRS rotation from veh to nav: [[-0.896929,0.438566,0.056379],[-0.442010,-0.885800,-0.141371],[-0.012060,-0.151720,0.988350]]2H@v?@ݬ?IܿxX`u¿kÿ?i2gX@I2_;2zCYB9Z"?YZ"?=ZDy^زC^IE^>`Q 5f4bk?Q 9f4b)bXBYhyjD"Q Ij?bCIb:ib:b4ynBɮn9ArEjhaeFNOT Ignoring new targets: 415.19 m.RhmDZhmD ProNav: ac range: 415.190735 m, nav range: 410.919250 m, bearing: 213.037524 deg, approach rate: -0.651735 m/s, LOS rate: -0.002690 deg/s, cmd heading: 205.815962 deg, new cmd heading: 205.812646 deg. BhQHeadingCmd: 3.592108 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdddjdZd`}.?Qaɢ@) þi)ŀiy;i:,;%By B} (IB} `BBy By B} DB} w;B} 1EO >M+,Hk?A2QX@2qGf@2~wK<ٱ2w :AHRS rotation from veh to nav: [[-0.897524,0.437331,0.056507],[-0.440791,-0.886162,-0.142896],[-0.012418,-0.153160,0.988123]]2H9?y?`5ܿ`q[ gJ¿nÿഞ?i2QX@I2/_;2xCYB7ByB(Ii Mb@Mb@Mb@     9 V-?q= ףp?~jtxY -?y = Ļ ;A A A) A Y (AbDVD02y%8=ٔS:Q->9 ?Y ?=DyCHE>Q 54FV?Q 94l)PBY 0?Q E:yK!Q I?CI ;i ;4yBɮdAȣEjhFNOT Ignoring new targets: 415.19 m.RhZh ProNav: ac range: 415.190735 m, nav range: 410.615509 m, bearing: 213.035626 deg, approach rate: -0.705417 m/s, LOS rate: -0.004413 deg/s, cmd heading: 205.812642 deg, new cmd heading: 205.806942 deg. BhA HeadingCmd: 3.592009 target range: 415.190735 and range: 417.20 m.h ye@h *h"h hgfffdddjd!Zd%p?IɢUF)Q UȾiQ)U\YYi]8i]=<,eQ;eA>A ؟AI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017 2,A?Aɰ49%"?Y%"?=%Dy%C-E->)Q 5=4-D?Q 9=4-)-JBY9y9Q I=?- CI-z;i-;-b4yMBɮMrAMǣEjhiuFNOT Ignoring new targets: 415.19 m.RhudZh}d ProNav: ac range: 415.190735 m, nav range: 410.349304 m, bearing: 213.033959 deg, approach rate: -0.686521 m/s, LOS rate: -0.004300 deg/s, cmd heading: 205.806946 deg, new cmd heading: 205.801944 deg. Bh<HeadingCmd: 3.591922 target range: 415.190735 and range: 417.20 m.h e@h*h)"h1 h1g1f1f1f9d9d9d9jd9ZdE2}? ɢ <)  Qɾi)itJ6i=,;) E  E E *E "E :*E c:VE (N4ZE a @a @a @a @8,?AV X@Ve@V M<ٱV) jAHRS rotation from veh to nav: [[-0.899654,0.432853,0.057105],[-0.436423,-0.887800,-0.146103],[-0.012543,-0.156364,0.987620]]VH@ݳ?9Y=Dy=C|;E>Q 54/?Q 94)EBYh2?Q E:y!Q I?0CI :i:4yBɮAƣEjhFNOT Ignoring new targets: 415.19 m.RheZhe ProNav: ac range: 415.190735 m, nav range: 410.053436 m, bearing: 213.032549 deg, approach rate: -0.658633 m/s, LOS rate: -0.003141 deg/s, cmd heading: 205.801946 deg, new cmd heading: 205.797713 deg. Bh HeadingCmd: 3.591848 target range: 415.190735 and range: 417.20 m.he@h*h"h hgf!f!f!1d)didqjdqZdu@@aɢs)(7 Ͼi)*Pie3i>,8;A;Ie@IB<A<B>BB(IBLBB =BBBw;BY9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265422AIIO>ԉ ?,?A0:W@:he@:hQH<ٱ:$ FAHRS rotation from veh to nav: [[-0.900837,0.430176,0.058663],[-0.433985,-0.888417,-0.149575],[-0.012226,-0.160202,0.987009]]:H``? ?hۿmE%ÿ  {Ŀ?i:W@I:^;:zCYN"ByN(IbDVVDVk2y^댽%^]=ٔb1`Q-b>9`Y`=bDyf[CfEf>hQ 5n4j?Q 9r4j)jABYpyr)"Q Ir?jQCIje";ij #;jH4ytɮvιAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 415.19 m.Rh%nZh%n5 ProNav: ac range: 415.190735 m, nav range: 409.795563 m, bearing: 213.031419 deg, approach rate: -0.743106 m/s, LOS rate: -0.003259 deg/s, cmd heading: 205.797711 deg, new cmd heading: 205.794319 deg. Bh5=HeadingCmd: 3.591789 target range: 415.190735 and range: 417.20 m.h=e@h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdM;t@bE=c44jE=-4rE=:0Ee EaEe)Ea"Ee:*EaVEeFA4ZEaBEe-Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773535|E,?A2 W@2e@27A<ٱ2t(+ >AHRS rotation from veh to nav: [[-0.902127,0.427098,0.061270],[-0.431309,-0.888770,-0.155113],[-0.011793,-0.166358,0.985995]]2H9U?^?ۿ`p ÿ&5Kſ@E?i2 W@I2 ^;2xCYNByR(I\bDZVDZ2yf%fI=ٔjԋQ-j>9hYl=nDyn}CnEr>pQ 5v4r ?Q 9v4r)riiimP.iu@,}w;}T:Ie@IE EE'E"E:*EVE'4ZEa@a@a@a@9@ @@@)i9I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025644^AU*:<I) I9 A OM >B >B CB (IB 9Y=DyCbE>Q 54?Q 94)8BY2?Q E:y"Q I?CI:i":4yɮAjhFNOT Ignoring new targets: 415.19 m.Rh{Zh{ ProNav: ac range: 415.190735 m, nav range: 409.214600 m, bearing: 213.028889 deg, approach rate: -0.724753 m/s, LOS rate: -0.003436 deg/s, cmd heading: 205.790963 deg, new cmd heading: 205.786726 deg. BhHeadingCmd: 3.591656 target range: 415.190735 and range: 417.20 m.he@h*h"h hgff f d d djdchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277434Zd@v @ɢ) bi){Ļi2,iB,;oIe@IIUܪ&I]fA)]gAE EEE"E:*ErN:VEZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536459 'R,|L?A2gPW@2Fe@21+<ٱ2S3 :AHRS rotation from veh to nav: [[-0.904357,0.421758,0.065259],[-0.426649,-0.889710,-0.162439],[-0.010449,-0.174745,0.984558]]2H}@?`ɴ?@9Nۿ x@Ŀ"f ^ƿ@?i2gPW@I2^;2zCYBByB(IbDJVDJk1yRk%RZ=ٔVQ-V>9TYX=ZDyZCZEZ>\Q 5b4^g?Q 9b4^ )^5BYdyf-"Q If?^CI^g:i^:^i4yjBɮj6AjģEjh|~FNOT Ignoring new targets: 415.19 m.Rh,_Zh,_ ProNav: ac range: 415.190735 m, nav range: 408.952942 m, bearing: 213.027746 deg, approach rate: -0.697931 m/s, LOS rate: -0.003049 deg/s, cmd heading: 205.786729 deg, new cmd heading: 205.783300 deg. BhHeadingCmd: 3.591596 target range: 415.190735 and range: 417.20 m.he@h*h"h! h!g!f!f!f)d)d)d)jd)Zd5`@ԙɢQ&) i)ftϻi)iB,J;jRaIe@I1yb]9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789414^AA>A>IQ Iq O >E  E E &E "E ,:*E VL:VE 4ZE a @a @a @a @A V&Y,x`f?AN!W@N6e@N<ٱN)7 VAHRS rotation from veh to nav: [[-0.905584,0.418821,0.067130],[-0.424064,-0.890470,-0.165024],[-0.009338,-0.177911,0.984002]]NH?t/?`#ۿ@~ſ`ƿ`|?iN!W@IN];NxCY^ By^(I=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041497iUMb@Mb@Mb@QQQQ Q9UM?"~j?/$?YUn2?yUS=U9Y=DyC9ٻE>Q 542?Q 94)3BY4?Q E:y"Q I?CIi);i(;4yBɮYAãEjhFNOT Ignoring new targets: 415.19 m.Rh Zh  ProNav: ac range: 415.190735 m, nav range: 408.648346 m, bearing: 213.026798 deg, approach rate: -0.704351 m/s, LOS rate: -0.002196 deg/s, cmd heading: 205.783300 deg, new cmd heading: 205.780451 deg. BhHeadingCmd: 3.591546 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdddjdZdd@Yɢ])Y eqia)eOݻaiiu&iC,;pIe@I9A@AA@AB8>BCB(IB-BB =BBDBw;B21E9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.294368E 9@A  @A @M /@I @U =@U =ԙ ^Am jbE  E E )E "E >:*E F:VE FA4ZE BE \`,?A2RW@2d@2#<ٱ2; >AHRS rotation from veh to nav: [[-0.906323,0.416769,0.069880],[-0.422510,-0.890534,-0.168626],[-0.008048,-0.182354,0.983200]]2H @W?@?`g ۿA ſ8{`aWǿ_v?i2RW@I2 ^;2yCYF ByF(IbDNVDNk2yV/;%V>=ٔZDQ-Z>|9Y=DyC=|E=>AQ 5u4E:?Q 9u4E)E2BYyy}"Q I}?E CIEwyBɮjAͣE-GEjAY9jAYIAiߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.545753B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 415.19 m.RhZh= ProNav: ac range: 415.190735 m, nav range: 408.333221 m, bearing: 213.025890 deg, approach rate: -0.639290 m/s, LOS rate: -0.001842 deg/s, cmd heading: 205.780445 deg, new cmd heading: 205.777721 deg. Bh=̡mHeadingCmd: 3.591499 target range: 415.190735 and range: 417.20 m.hme@hi*hi"hi higqfqfqfqdydydyjdyZd}^N@ɢ>) i)IiN$iD,;Ie@I!9999Ia @a  @a @a @a e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.797966y ^Ae #2ԩ D zD ?AE% E%E%(E!"E%[:*E%c:VE%c44ZE!aM@aM@aM@aM@IIO?ٱh,w?AfV@fd@f;ٱfIF AHRS rotation from veh to nav: [[-0.906634,0.414911,0.076571],[-0.421883,-0.889187,-0.177089],[-0.005390,-0.192859,0.981212]]fH&?"? ۿ@9t٪ƿMvȿ f?ifV@Ifl];d)YmBym(Ii-Mb@Mb@Mb@)))) )9-i|?5?EԸ?Zd;O?Y-1?y-=-j<- A-9A ))-A)Y-3AbDEVDEkyUSǼ%U=ٔ]?Q-]>echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.0494899iYi=mDym2CuEu>yQ 54}֜?Q 94}B)yY|3?Q E:y$Q I?}>CI} ;i}C ;}l.4yBɮẠEjhFNOT Ignoring new targets: 415.19 m.Rh"WZh"W ProNav: ac range: 415.190735 m, nav range: 407.945099 m, bearing: 213.025797 deg, approach rate: -0.766488 m/s, LOS rate: -0.000184 deg/s, cmd heading: 205.777726 deg, new cmd heading: 205.777447 deg. BhHeadingCmd: 3.591494 target range: 415.190735 and range: 417.20 m.h e@hY*hY"hY hYgYfafafadididijdqZdu Z@!ɢ-3)) -i)Q)]/YYi] !ieD,m;m2Im e@Iq 9@  @ @ 0@ Bg>BCB(IBBB =B?DBDBmw;B?1EBMCBMCBMƙCBIBM =CMƉ?7y checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301978^AE AI zAM hAԱ I) I9 OM >n,8?A2 W@23d@2;ٱ2qG :AHRS rotation from veh to nav: [[-0.906233,0.415612,0.077513],[-0.422750,-0.888712,-0.177405],[-0.004844,-0.193539,0.981081]]2Ha?׳?`WۿUp0ƿs@ȿ`e?i2 W@I2M];0YBByB(IbDNVDN:yVt%Vk=ٔVͺQ-V?9XYX=ZDyZOC^4;E^?`Q 5f4b?Q 9f4b)`Ydyf$Q If?b]CIb:ibI:bx44ynBɮnAnˣEjh|FNOT Ignoring new targets: 415.19 m.RhZh ԑ ProNav: ac range: 415.190735 m, nav range: 407.702454 m, bearing: 213.025707 deg, approach rate: -0.701226 m/s, LOS rate: -0.000263 deg/s, cmd heading: 205.777453 deg, new cmd heading: 205.777180 deg. Bh8HeadingCmd: 3.591489 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdddjdZd@Eu EuEu&Eq"Eu:*EuR:VEu4ZEqBEuz 1u,u?A2$W@2e@2 ;ٱ2ND :AHRS rotation from veh to nav: [[-0.905531,0.417140,0.077509],[-0.424262,-0.888545,-0.174615],[-0.003969,-0.191003,0.981581]]2Hm?׳?'ۿ`nYƿAp rȿ`i?i2$W@I2K];2vCYBByFs(IbDNVDN:2yVI%VK=ٔVcQ-V>9XYX=ZDyZoC^;E^>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.8054971Q 5M45w?Q 9M45)53BYQyU#Q IU?5CI5 x;i5x;5;4y]Bɮ]ߺAajhFNOT Ignoring new targets: 415.19 m.RhdZhd ProNav: ac range: 415.190735 m, nav range: 407.409546 m, bearing: 213.025529 deg, approach rate: -0.697690 m/s, LOS rate: -0.000424 deg/s, cmd heading: 205.777180 deg, new cmd heading: 205.776646 deg. BhHeadingCmd: 3.591480 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdddjdZdY@ɢr<) i)m iL;iD,X;yIe@I@ @@B4@)D=D%=E EE)E"E:*EA:VEFA4ZEa@a@a@a@^A[RӻII)O5>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.057417ԁ ]{,?A;ɰB"<A"<B&b>B$B&(IB&BB& =B$B$B&w;B&U1EBmPW@BFe@B}VI;ٱB;A JAHRS rotation from veh to nav: [[-0.904401,0.419621,0.077309],[-0.426672,-0.888105,-0.170942],[-0.003072,-0.187586,0.982243]]BH?@ʳ? NۿZk@mſ*iȿn?iBmPW@IB,];BwCYRByRm(IiMb@Mb@Mb@ 9/$?Mb?I +?Y&1?y=9<A A)ԴAYAbDVD02y顼%;=ٔ{Q->9Y=DyC};E>Q 54Gb?Q 94:$)Y2?Q E:y#Q I?CI":i:&C4yBɮAʣEjhFNOT Ignoring new targets: 415.19 m.Rh Zh  ProNav: ac range: 415.190735 m, nav range: 407.114532 m, bearing: 213.025407 deg, approach rate: -0.701895 m/s, LOS rate: -0.000290 deg/s, cmd heading: 205.776647 deg, new cmd heading: 205.776282 deg. BhK%HeadingCmd: 3.591474 target range: 415.190735 and range: 417.20 m.h%e@h!*h!"h! h)g)f)f)f1qd1ddjdZd$@Yɢe%4)a e)ia)eiiim qiuE,u^;u 8Iue@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.3095189@ @@3@ԡE EEE"E :*EVL:VEZEBEP"A ?I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561363 (˂, ?AFÁW@Ftwe@F:ٱF 9 RAHRS rotation from veh to nav: [[-0.903115,0.422685,0.075633],[-0.429395,-0.888278,-0.163039],[-0.001731,-0.179719,0.983716]]FHQD ?@\?`4{ۿlsĿZ\ ǿz?iFÁW@IF];FvCYVByZs(IbDbVDbyj><%jY=ٔjiQ-n>9lYl=rDyrCr<Er>tQ 5z4vO?Q 9z4v()v4BYxyz#Q I~?vCIv:iv];vI4yBɮAɣE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 415.19 m.Rh5)Zh5)E ProNav: ac range: 415.190735 m, nav range: 406.851654 m, bearing: 213.025189 deg, approach rate: -0.698094 m/s, LOS rate: -0.000580 deg/s, cmd heading: 205.776278 deg, new cmd heading: 205.775623 deg. BhE˷MHeadingCmd: 3.591462 target range: 415.190735 and range: 417.20 m.hMe@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde@颉ɢ|G) i)顙i *i2E,;ӴIe@I59@1 @1@5/@1@==@==checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813367^Au 7IIO>) E  E E E "E :*E VE ZE a @a @a @a @,%?AnrW@n#e@ng8ٱn0 vAHRS rotation from veh to nav: [[-0.901916,0.425552,0.073849],[-0.431912,-0.888605,-0.154381],[-0.000074,-0.171135,0.985248]]nH~<9Y=DyմC;E>Q 54$:?Q 94,)6BYs/?Q E:y:&Q I?CI:i:`Q4y ɮ A Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.065442jhFNOT Ignoring new targets: 415.19 m.Rh3c8Zh3c8 ProNav: ac range: 415.190735 m, nav range: 406.551666 m, bearing: 213.026546 deg, approach rate: -0.685458 m/s, LOS rate: 0.003104 deg/s, cmd heading: 205.775623 deg, new cmd heading: 205.779698 deg. BhR9HeadingCmd: 3.591533 target range: 415.190735 and range: 417.20 m.he@h*h"h hgfffdIdQdQjdQZd]i@ɢ4)! %D i!)-N!))i-bi5D,5$;5F8:I5e@I1@ @@/@BER>BECBE(IBEBBE =BE@DBEDBEx;BE1Eqԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317350^A 9AQ IY Iq O} >n5,:??A(6"W@6e@6 2ٱ6 * >AHRS rotation from veh to nav: [[-0.900441,0.428689,0.073706],[-0.434974,-0.888202,-0.147970],[0.002032,-0.165299,0.986241]]6Hho?b޲?`ۿ&l¿@C`? (ſ J?i6"W@I6];6wCYFByF`(I HHLNAbDR VDR2yZ>%Z\=ٔ^乻Q-^>9\Y\=^Dy^Cb<Eb>dQ 5j4f'?Q 9j4f/)f8BYlyn&Q In?fCIf;ifO;fW4yrBɮrBArȣEjh  FNOT Ignoring new targets: 415.19 m.RhK8ZhK8% ProNav: ac range: 415.190735 m, nav range: 406.297302 m, bearing: 213.027580 deg, approach rate: -0.684875 m/s, LOS rate: 0.002785 deg/s, cmd heading: 205.779693 deg, new cmd heading: 205.782797 deg. Bh%8-HeadingCmd: 3.591587 target range: 415.190735 and range: 417.20 m.h-e@h)*h)"h) h1g1f1f1f1d9d9d9jd9ZdE@(@ɢįX)  i)DH'iv0i$C,R;x;Ie@IbE:4jEc44rET/E5 E5E5*E1"E5:*E5P:VE5(N4ZE1BE5,&Y?A6 X@6f@6(ٱ6 BAHRS rotation from veh to nav: [[-0.899450,0.431016,0.072210],[-0.437002,-0.888662,-0.138959],[0.004277,-0.156542,0.987662]]6HKĕ?b|?@ۿo@e q? Ŀ`?i6 X@I6];6xCYJڈByJS(IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.821479bDZ VDZf2\ybI%fJ=ٔfQ-f>9dYh=jDyjCj;Ej>lQ 5r4n?Q 9r4nk3)n;BYtyv%Q Iv?n4CIn:in_:n^4yzBɮzA~ѣEjh%FNOT Ignoring new targets: 415.19 m.Rh%;=8Zh%;=85 ProNav: ac range: 415.190735 m, nav range: 406.019745 m, bearing: 213.028626 deg, approach rate: -0.685061 m/s, LOS rate: 0.002585 deg/s, cmd heading: 205.782794 deg, new cmd heading: 205.785936 deg. Bh58=HeadingCmd: 3.591642 target range: 415.190735 and range: 417.20 m.h=we@hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU_2 @yɢ/O) i).顉ii=B,A; ;Iwe@I1@1 @1@50@1@9@9E EE)E"E>:*EVEFA4ZEa@a@a@a@^Au;Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.073456A I I O >A A A AAB% J>B% CB% (IB% BB% =B! B% DB% nx;B% 1E0A,Qfs?A2N X@2f@2+ ٱ2] :AHRS rotation from veh to nav: [[-0.898897,0.432123,0.072483],[-0.438103,-0.889059,-0.132812],[0.007051,-0.151139,0.988487]]2H`? D?@ ܿ`,su|?@Xÿ@?i2N X@I2^;2vCY@y@i Mb@Mb@Mb@     9 B`"?V-?~jt?Y .?y h= D< GA 9A ) A Y GAbD%VD%fٔ5ٻQ-=>99Y9=EDyE6CE.A;EE>IQ 5U4M` ?Q 9U4Mk7)M=BYU/?Q E:yP%Q I?MYCIM ,E?ANR0X@N&f@N,o2ٱN VAHRS rotation from veh to nav: [[-0.898437,0.432586,0.075365],[-0.438967,-0.889090,-0.129722],[0.010891,-0.149630,0.988682]]NH|?"K?`ܿls๚M?'ÿH?iNR0X@IN!^;NuCY^ӈBy^K(IIb<)bb=`bDjVDj02yrH%r<ٔr!Q-r>9tYt=vDyvVCv&$;Ez>|Q 54~9 ?Q 94~);)~>BYy@%Q I?~{CI~:i~:~m4yBɮA-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 415.19 m.RhE%8ZhE%8U ProNav: ac range: 415.190735 m, nav range: 405.464722 m, bearing: 213.029994 deg, approach rate: -0.753688 m/s, LOS rate: 0.001805 deg/s, cmd heading: 205.788108 deg, new cmd heading: 205.790035 deg. BhU8]HeadingCmd: 3.591714 target range: 415.190735 and range: 417.20 m.h]e@hY*hY"hY hagafafafadididijdqZdu!@ԑ颡ɢkk) i)<>顩iY. iA,e;ˆ;Ie@I)@) @)@-5@)Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.829444^AM`;AU>AU>Ay I I O >! G,?AE EE(E"E:*EP:VEc44ZEa.@a2@a2@a2@z'X@z|f@zbٱz AHRS rotation from veh to nav: [[-0.898605,0.431353,0.080270],[-0.438470,-0.889494,-0.128629],[0.015916,-0.150782,0.988439]]zH`_J? ?ܿvv-L? LÿJ?iz'X@IzD^;zvCŸByB(IiMb@Mb@Mb@ 9K7A`?333333?MbpY+?y=A-A A)AY\AbDVD:y %==ٔ+>Q->9Y=DyzCtE>Q 54| ?Q 94@?)=BY,?Q E:y$Q I?CIa:i1;t4yɮԻAjh!%FNOT Ignoring new targets: 415.19 m.Rh-I7Zh-I7=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081942= ProNav: ac range: 415.190735 m, nav range: 405.173645 m, bearing: 213.030524 deg, approach rate: -0.671936 m/s, LOS rate: 0.001225 deg/s, cmd heading: 205.790034 deg, new cmd heading: 205.791626 deg. Bh=%W8mHeadingCmd: 3.591741 target range: 415.190735 and range: 417.20 m.hme@hi*hi"hi higifqfqfqdqdydyjdyZd}`"@ɢeO) i)|Gih i@,;B'CBu(IBBB =B?DBDBx;B1EI checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333448^A 80,X?A2 X@2f@2kٱ2 :AHRS rotation from veh to nav: [[-0.898700,0.429782,0.087325],[-0.438053,-0.889289,-0.131437],[0.021168,-0.156375,0.987471]]2H&@?Z? ܿ@ u@?Ŀ`\?i2 X@I2^;2wCYBÈByB7(IbDJVDJyRE%R_=ٔVNjQ-V>9TYT=VDyZCZEZ>\Q 5b4^ ?Q 9b4^B)\Ydyf%Q If?^CI^:i^t:^{4yjķBɮjAjϣEjh|~FNOT Ignoring new targets: 415.19 m.Rh7Zh7 ProNav: ac range: 415.190735 m, nav range: 404.926758 m, bearing: 213.030993 deg, approach rate: -0.673424 m/s, LOS rate: 0.001281 deg/s, cmd heading: 205.791619 deg, new cmd heading: 205.793028 deg. Bha8HeadingCmd: 3.591766 target range: 415.190735 and range: 417.20 m.h~e@h*h"h hg!f!f!f!d)d)d)jd)Zdi#@i颹ɢmE EE*E"Em:*ET:VE(N4ZEBEXG)G}9YgA di)<Oi =i 7@, ч;b ;I~e@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.586055y9@ @@5@ԡ^A= 0; Ai Iq I O >y,[(?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8372736iX@6f@6tԼٱ6<( BAHRS rotation from veh to nav: [[-0.899094,0.427447,0.094439],[-0.436985,-0.889169,-0.135731],[0.025955,-0.163303,0.986234]]6H@aJ[?.-?@ۿ t_ꓚ? Ŀ;?i6iX@I6T];6xCYFByJ2(ILLbDRVDRyZ%ZE=ٔ^c=Q-^>9\Y\=bDybCbJ3Eb>dQ 5j4f ?Q 9j4fF)dYlyn%Q In?fCIf;if;fJ4ypɮrApjh  FNOT Ignoring new targets: 415.19 m.Rh7Zh7% ProNav: ac range: 415.190735 m, nav range: 404.648529 m, bearing: 213.031574 deg, approach rate: -0.672130 m/s, LOS rate: 0.001405 deg/s, cmd heading: 205.793026 deg, new cmd heading: 205.794770 deg. Bh%v8-HeadingCmd: 3.591796 target range: 415.190735 and range: 417.20 m.h-e@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE>$@ɢͻl)  b iI)MVIIiUiU?,]T;];I]e@IYi9@ @@/@ԡE EE+E"EO:*E n:VE [4ZEa@a@a@a@B <A <B >B 0CB n(IB BB =B >DB DB x;B )2EBeCBe"CBe˜CBe˶ =Be˴ =Ce˷w7 ,?A2W@2e@2rٱ2M1 :AHRS rotation from veh to nav: [[-0.899454,0.424959,0.101946],[-0.435979,-0.888620,-0.142395],[0.030080,-0.172524,0.984546]]2H@S2?`$? ۿo`9¿+͞? Cƿf?i2W@I2*];2yCYBByB)(IiuMb@Mb@Mb@qqqq q9uv/?/$?QYux)?yu=uuuxAq q)uAqYqbD VD2y%==ٔbQ->9Y=DyܵC!E>Q 54 ?Q 94J);BY*?Q E:yx$Q I? CIX;i ;؉4yǷBɮwÿ,?AY~By~ (IbD VD k1y/%U=ٔ%Q-%>9!Y)=-Dy-C-E->1Q 5=45p ?Q 9=45_N)59BYAyAQ IE?5*CI5;i5/;54yMʷBɮMeAMͣEmB*** querying acoustic contact ***ii iijhqFNOT Ignoring new targets: 415.19 m.Rh 7Zh 7= ProNav: ac range: 415.190735 m, nav range: 404.103760 m, bearing: 213.031942 deg, approach rate: -0.666906 m/s, LOS rate: 0.000450 deg/s, cmd heading: 205.795362 deg, new cmd heading: 205.795881 deg. Bh=B7EHeadingCmd: 3.591816 target range: 415.190735 and range: 417.20 m.hEOe@hA*hA"hA hIgIfIfIfIdQdQdQjdYZd]%@颁ɢVt) Z'i)uhh顉i`if?, ;j;IOe@IQI@I @I@M/@Iy2Acoustic response timeout^Aiԩ A I I O >D zD E  E E E "E ,:*E V:VE ZE a @a @a @a @ɿ,q(?A<W@Qe@Cٱ.P -AHRS rotation from veh to nav: [[-0.900039,0.418893,0.120245],[-0.434271,-0.885212,-0.166756],[0.036589,-0.202306,0.978639]]H %?`Ⱦ?ۿSDXſ@ֻ?)ɿQ?iW@I];uCY=By=(IIE%=)Ep=M=M=2Acoustic response timeoutimMb@Mb@Mb@iiii i9m rh?B`"۹?9Y=Dy!CE>Q 54u ?Q 94R)6BYD-?Q E:y@#Q I?QCIP:i:4yѷBɮA֣Ejh  FNOT Ignoring new targets: 415.19 m.Rh~ɷZh~ɷ% ProNav: ac range: 415.190735 m, nav range: 403.794708 m, bearing: 213.031314 deg, approach rate: -0.677082 m/s, LOS rate: -0.001376 deg/s, cmd heading: 205.795881 deg, new cmd heading: 205.793996 deg. Bh%q-HeadingCmd: 3.591783 target range: 415.190735 and range: 417.20 m.h-e@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=@&@ԡɢ1q)  (i ) q  i Ki?,K;a;Ie@IBm>BiBmb(IBmBBm =BiBmDBmy;Bm2E9@ @@/@ 2Acoustic response timeout^A A >A > A1 I9 II O] >2п,XB?A2W@2e@2cٱ2[[ :AHRS rotation from veh to nav: [[-0.900148,0.416811,0.126500],[-0.433866,-0.883728,-0.175456],[0.038659,-0.212821,0.976326]]2H ?`'1?tۿG[uƿ,ˣ?=˿`>?i2W@I2];0YBByB(IbDNVDN:yR'%Rr=ٔVɻQ-V?9TYX=ZDyZE^?\Q 5b4^e ?Q 9f4^>V)^4BYdyfQ#Q If?^nChI^:i^,;^o4ynԷBɮnAnգEjh!-FNOT Ignoring new targets: 415.19 m.Rh5Zh=U ProNav: ac range: 415.190735 m, nav range: 403.566162 m, bearing: 213.030883 deg, approach rate: -0.667510 m/s, LOS rate: -0.001260 deg/s, cmd heading: 205.793996 deg, new cmd heading: 205.792701 deg. BhUh]]HeadingCmd: 3.591760 target range: 415.190735 and range: 417.20 m.h]fe@ha*ha"ha higfffdddjdZd'@E5 E5E5,E1"E5m:*E5F:VE5g4ZE1BE5Yֿ,\?A22Acoustic response timeoutBW@Be@B"ٱBa JAHRS rotation from veh to nav: [[-0.899868,0.416341,0.129991],[-0.434350,-0.882542,-0.180165],[0.039713,-0.218587,0.975009]]BH@S??`eۿ=ǿ`6U?˿`F3?iBW@IB];@YRByR(IbDZVDZk2yb;%bI=ٔf)Q-f>9f ?Yf ?=jDyj]Cj^:Ej>lQ 5r4nR ?Q 9r4nCZ)n1BYtyvM#Q Iv?nCInk:in:n4yxɮzAxjhFNOT Ignoring new targets: 415.19 m.Rh%{Zh%{5 ProNav: ac range: 415.190735 m, nav range: 403.291504 m, bearing: 213.030356 deg, approach rate: -0.684605 m/s, LOS rate: -0.001315 deg/s, cmd heading: 205.792698 deg, new cmd heading: 205.791116 deg. Bh5f9EHeadingCmd: 3.591733 target range: 415.190735 and range: 417.20 m.hEe@hA*hA"hA hAgAfIfIfIdIdIdQjdQZdUF(@颁ɢ(v) u(i)逼顉i i@,t;m};Ie@I1@1 @1@5*1@1iE] EYE])EY"E]>:*EYVE]FA4ZEYa}@a}@a@a@^A]qZ;ԑiIA2Acoustic response timeoutAa Iq I O > Be >Be +CBe h(IBe BBe =Ba Be DBe {;Be O3E\ܿ,Zu?A2W@2e@2e$$ٱ2%Z :AHRS rotation from veh to nav: [[-0.899992,0.416960,0.127115],[-0.434061,-0.884034,-0.173423],[0.040063,-0.211255,0.976610]]2H`z? JE?ۿJ 2ƿ$?`e ˿b@?i2W@I2];0YBByB!(I DDHHi-Mb@Mb@Mb@)))) )9-K7A`?`"?/$Y-+?y-=-- A-jA -A)))Y-AbDEVDE:yU;8<%UB=ٔUYQ-U>ԙ9Y=DyC<E>Q 54> ?Q 94^)-BY-?Q E:y!Q I?CI ;i ;14y׷BɮAԣEjh9=FNOT Ignoring new targets: 415.19 m.RhEZhEM ProNav: ac range: 415.190735 m, nav range: 402.993988 m, bearing: 213.028605 deg, approach rate: -0.674965 m/s, LOS rate: -0.003975 deg/s, cmd heading: 205.791114 deg, new cmd heading: 205.785857 deg. BhU.]HeadingCmd: 3.591641 target range: 415.190735 and range: 417.20 m.h]qe@hY*hY"hY hYgYfafafadadidijdiZdm5()@颙ɢau) >'i)顡i9iDB,;@k;Iqe@I}BDAT read: Response Not Received *response not received(DAT read: user:90> BDAT read: Tx time:00:25:35.4487 $Ping request sent.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2466879 ",Џ?A6W@6He@6p#ٱ6O BAHRS rotation from veh to nav: [[-0.900613,0.416991,0.122537],[-0.432785,-0.886322,-0.164715],[0.039923,-0.201376,0.978700]]6H@?@^?ۿ@\]ſp? ɿQ?i6W@I6];6vCY^Byb.(IbDjVDjyrZ=%rR=ٔr9Q-r>9tYt=vDyvCz`yEz>xQ 54z, ?Q 94zb)z*BYy!Q I?zCIz7;iz";z4yڷBɮwAӣE-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 415.19 m.RhEZhEU ProNav: ac range: 415.190735 m, nav range: 402.740906 m, bearing: 213.027140 deg, approach rate: -0.681575 m/s, LOS rate: -0.003948 deg/s, cmd heading: 205.785854 deg, new cmd heading: 205.781457 deg. BhUe-]HeadingCmd: 3.591564 target range: 415.190735 and range: 417.20 m.h]/e@hY*hY"hY hYgafafafadididijdiZdm`])@颙ɢ|) !i)x顡i_iC,ˇ;b{;I/e@I!9@ @@4@@!@%hAA}%=}R=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498944^AUd;yI1 IA OM >Eu  Eu Eu *Eq "Eu :*Eu ?:VEu (N4ZEq a @a @a @a @ԡ 5,û?A=mW@=e@=m#ٱ==`e=A=A =xA)=-A9Y=AbDUVDUk1yea%e4=ٔeJ'Q-m>i9qYq=uDyu¶C}i(E}>yQ 54}s ?Q 94}mg)}'BY.?Q E:y'!Q I?}CI}_;i};}4yɮAjh9EFNOT Ignoring new targets: 415.19 m.Rhe Zhe u ProNav: ac range: 415.190735 m, nav range: 402.430542 m, bearing: 213.025056 deg, approach rate: -0.658850 m/s, LOS rate: -0.004427 deg/s, cmd heading: 205.781456 deg, new cmd heading: 205.775199 deg. BhusB}HeadingCmd: 3.591455 target range: 415.190735 and range: 417.20 m.h}ee@hy*hy"h hgfffdddjdZd`*@ɢ%Gr)! %Y(i!)-ڭ))i-^i5PE,5i;5?:I5ee@I1B B ,CB B B  =B B DB |;B 3Eԙ9@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003105^A ;IA IQ Oe > !,?AFW@Fee@Fo"ٱF< VAHRS rotation from veh to nav: [[-0.901538,0.417356,0.114211],[-0.430869,-0.890146,-0.148299],[0.039771,-0.182907,0.982325]]FH`e?9Y!=%Dy%߶C%z.E%>9Q 5E4= ?Q 9E4=8k)=%BYAyE0!Q IM?=CI=. ;i=:=4yUݷBɮUAUңEjhy}FNOT Ignoring new targets: 415.19 m.RhZhE EE(E"E:*EC:VEc44ZEBE! I1 IA OM >,x_?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506870NOW@Ne@ND!ٱN6 ZAHRS rotation from veh to nav: [[-0.902188,0.416687,0.111480],[-0.429531,-0.891536,-0.143758],[0.039486,-0.177581,0.983314]]NH ?@?p}ۿvf¿7?ƿ@Nw?iNOW@IN];NuCYnByr&(IbDzVDzN2yjv<%K=ٔ::Q- >9 Y = Dy CsE>Q 5%4 ?Q 9%4do)#BY!y%C!Q I%?BCIv;iP;ȇ4y1ɮ5A1jhQ]FNOT Ignoring new targets: 415.19 m.RheFZheFu ProNav: ac range: 415.190735 m, nav range: 401.911682 m, bearing: 213.021649 deg, approach rate: -0.682730 m/s, LOS rate: -0.004433 deg/s, cmd heading: 205.770268 deg, new cmd heading: 205.764966 deg. BhuBuHeadingCmd: 3.591276 target range: 415.190735 and range: 417.20 m.huxe@hy*hy"hy hygyfffdddjdZdT,@颹ɢ ) @%i)uii>H,';pIxe@IQq@q @q@u/@q@=@=EE EEEE+EA"EE>:*EE H:VEE [4ZEAae@am@am@am@ԁ^A]rg:IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758951ԩ B <A <B >B $CB B B =B ?DB DB };B 4ER,,@?A9Y=Dy!CE>Q 54 ?Q 94s)$BY/?Q E:y!Q I?hCI? ;iz ;pЇ4yBɮAۣEjh %FNOT Ignoring new targets: 415.19 m.Rh%Zh%= ProNav: ac range: 415.190735 m, nav range: 401.618256 m, bearing: 213.019994 deg, approach rate: -0.685707 m/s, LOS rate: -0.003868 deg/s, cmd heading: 205.764968 deg, new cmd heading: 205.760002 deg. Bh=)=HeadingCmd: 3.591189 target range: 415.190735 and range: 417.20 m.hE e@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU0-@颁ɢ{) !i)蚼顉iwiI,6܆;PI e@IU{?U?]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011417ԩA@I @I@M/@I e>qCE= E=E=*E9"E=,:*E=1]:VE=(N4ZE9BE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264823Y,?AFnW@Fce@FE!ٱFD, RAHRS rotation from veh to nav: [[-0.902928,0.416283,0.106907],[-0.427972,-0.893710,-0.134622],[0.039504,-0.167307,0.985113]]FH a?I^?@cۿDG;9? Qjſ ?iFnW@IF];FtCYZByZ2(I \\`bAbDfVDfkynb<%nZ=lٔr?Q-r>9r"?Yv"?=vDyv@CvEv>xQ 5~4z ?Q 9~4zw)z&BYy!Q I?zCIz;iz;zׇ4y Bɮ AڣE-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 415.19 m.Rh=ZhEM ProNav: ac range: 415.190735 m, nav range: 401.360535 m, bearing: 213.018592 deg, approach rate: -0.685208 m/s, LOS rate: -0.003732 deg/s, cmd heading: 205.759995 deg, new cmd heading: 205.755784 deg. BhU#UHeadingCmd: 3.591116 target range: 415.190735 and range: 417.20 m.hUe@hY*hY"hY hYgYfafafadadidijdiZdm m-@颙ɢӆ) F i)i顡iiJ,;oֺIe@IQ@Q @Q@Q@Q echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5146659^A9AfAzAA I I O >a DA zDA EU  EU EU ,EQ "EU :*EU rN:VEU g4ZEQ a] @ae @ae @ae @? ,*?AA^W@lTe@H#ٱq' AHRS rotation from veh to nav: [[-0.903309,0.415876,0.105259],[-0.427122,-0.894756,-0.130302],[0.039991,-0.162661,0.985871]]H@?>?Uۿסy?`ĿA?i^W@I];uCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766837YˆBy5(IiUMb@Mb@Mb@QQQQ Q9UGz?"~j?~jt?YU0?yUS=UD9Y=DyeCE>Q 54 ?Q 94|)+BY2?Q E:y"Q I?CI7:i:߇4yɮAjhFNOT Ignoring new targets: 415.19 m.Rh;Zh;m ProNav: ac range: 415.190735 m, nav range: 401.040771 m, bearing: 213.017419 deg, approach rate: -0.698911 m/s, LOS rate: -0.002566 deg/s, cmd heading: 205.755788 deg, new cmd heading: 205.752266 deg. Bhm^uHeadingCmd: 3.591054 target range: 415.190735 and range: 417.20 m.hue@hq*hq"hq hqgyfyfyfydddjdZdA.@ɢmt) i)ii K, ; I e@IaB>BBn(IBBB =BBDBn;B\5EBu+CBu)CBuĘCBuĤ =BuĦ =CuX7@ @@0@@gA@ԑm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018904^A A I I! O= >2,D?A^8_W@^Te@^(ٱ^_) fAHRS rotation from veh to nav: [[-0.903259,0.415549,0.106970],[-0.427130,-0.894569,-0.131549],[0.041027,-0.164513,0.985521]]^H~`[?@bb? VۿPy?@ſd?i^8_W@I^X^;^sCYnByr1(IbDzVDzy(%h=ٔ@Q->9 Y = Dy C 8E>Q 5%4 ?Q 9%40)/BY!y!Q I%?CI:i:'4y-Bɮ5A5٣EjhQ]FNOT Ignoring new targets: 415.19 m.Rh]<Zhe<u ProNav: ac range: 415.190735 m, nav range: 400.795013 m, bearing: 213.016515 deg, approach rate: -0.698492 m/s, LOS rate: -0.002569 deg/s, cmd heading: 205.752263 deg, new cmd heading: 205.749552 deg. Bhu}HeadingCmd: 3.591007 target range: 415.190735 and range: 417.20 m.h}e@hy*hy"hy hygyfffdddjdZd Ȏ/@E EE*E"E,:*Ec:VE(N4ZEBEQ ?,g^?A"%="4=&BDAT read: Rx Time:00:25:38.3950 &TRx dataTimestamp_ set to:1761524737.484478*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524147>'nW@>ce@>t-ٱ>X* FAHRS rotation from veh to nav: [[-0.902820,0.415999,0.108910],[-0.427930,-0.894075,-0.132306],[0.042335,-0.166054,0.985207]]>H@??`5cۿ D f쬥? EAſц?i>'nW@I>];(IIV>)V;V=V=bDZVDZ:2ybh[=%bO=ٔfYQ-f>9dYh=jDyjCj;Ej>lQ 5r4nw ?Q 9r4nO)n3BYtyvz"Q Iv?nCIn|:inR:n4yxɮzAxjhFNOT Ignoring new targets: 415.19 m.RhCZhC ProNav: ac range: 415.190735 m, nav range: 400.518921 m, bearing: 213.015464 deg, approach rate: -0.698926 m/s, LOS rate: -0.002664 deg/s, cmd heading: 205.749545 deg, new cmd heading: 205.746388 deg. Bh HeadingCmd: 3.590952 target range: 415.190735 and range: 417.20 m.h(e@h*h"h hgfffdddjdZd10@AYɢ]o)Y ]hiY)e0aaieimM,mR;mcIm(e@IqM9@I @I@M5@ID!D%R=E- E-E-&E)"E-:*E-P:VE-4ZE)a5@a5@a5@a5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.775497^A1ԑAa Ii Iy O >A AAA B >B )CB {(IB BB =B B DB M;B 6EԹ S},Kx?AW@ne@ 3ٱ- AHRS rotation from veh to nav: [[-0.901967,0.417244,0.111192],[-0.429590,-0.893131,-0.133300],[0.043690,-0.167999,0.984818]]H @ ?w?@f~ۿ @^? ſ?iW@IO];uCYЈByG(IiiMb@Mb@Mb@ 9i|?5?RQ? rh?Y1?y=C<AA A)^AYAbDVDk1y8=%-=ٔq9Y=DyȷC;E>Q 54>| ?Q 94);BY_3?Q E:y#Q I?CI:i:M4yBɮyAأE}DAT read: 00:25:38.3950 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 274,-0.07,-3.036, 1.875,-3.123, 2.785, PHS= 0.565,-0.865, 0.331, RAW= 141.2, -0.5, CAL= 141.2, -0.1, ROT= 8.8, 0.1 Ygot valid direction response: 00:25:38.3950 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 274,-0.07,-3.036, 1.875,-3.123, 2.785, PHS= 0.565,-0.865, 0.331, RAW= 141.2, -0.5, CAL= 141.2, -0.1, ROT= 8.8, 0.1 PDAT read: Bearing 349.2, 11.2 (Local) ~Local bearing/azimuth received: Bearing 349.2, 11.2 (Local) DAT read: Range 11 to 50 : 406.5 m (Round-trip 542.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.988227,0.152986,-0.001745]Fpublishing direction and range infoyIMFn?N?n p\YM@CIIII I)MJIMף?iMp]Mx>Mϸ@M5Mϸ@ M)MnF>IM:IIMһ?X3/+?y倿 M>)M)iM:IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jh  FNOT Ignoring new targets: 415.19 m.RhAZhAE ProNav: ac range: 415.190735 m, nav range: 400.188843 m, bearing: 213.015152 deg, approach rate: -0.699360 m/s, LOS rate: -0.000661 deg/s, cmd heading: 205.746389 deg, new cmd heading: 205.745453 deg. BhE^MHeadingCmd: 3.590935 target range: 415.190735 and range: 417.20 m.hMe@hI*hI"hI hQgQfQfQfYdYdYdYjdhy@Zdx?ɢDp) i)iiM,;9Ie@I ԙ9@ @@2@@=@=E EE'E"E*ER:VE'4ZEBE  BDAT read: Tx time:00:25:39.6487  $Ping request sent. I$,s?A>ħW@>ue@>:ٱ>/ FAHRS rotation from veh to nav: [[-0.901188,0.418236,0.113747],[-0.431044,-0.892306,-0.134131],[0.045399,-0.169907,0.984414]]>H@c?@?:ۿ@ō0+@>?ſQ?i>ħW@I>];>tCYNԈByNK(IbDV VDV:2y^E<%^f=ٔb|Q-b>9b ?Yb ?=fDyfCf;Ef>hQ 5n4jj ?Q 9n4j)jABYpyr#Q Ir?j?CIj;ij;j4yvBɮvxAvףEii`s?AJi\CRi\Cji[Ho@i-\x@bN@+Q/zriFn?N?n p\ZinF>bi:itſql @zisetu1ῃ)?2ic:iO"iD?*i7BiBiD?iAyiBiCin@= addTargetRange:: Added new target pos. range: 406.500000 m, deltaT: 16.647742 s, deltaX: -10.700012 m, approachRate: -0.642731 m/s, rangeRepo size: 4 M Added new target pos. range: 404.724823 m, bearing: 214.216953 deg, lat: 36.779374 deg, lon: -121.859967 deg, deltaT: 16.647742 s, deltaX: -10.465912 m, approachRate: -0.628669 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 404.72 m.RhUZhQe ProNav: ac range: 404.724823 m, nav range: 399.343506 m, bearing: 213.078137 deg, approach rate: 0.000000 m/s, LOS rate: -0.000661 deg/s, cmd heading: 205.745447 deg, new cmd heading: 205.744733 deg. BhamHeadingCmd: 3.590923 target range: 404.724823 and range: 406.50 m.hme@hi*hi"hq hqgqfqfyfydydydjdZd%?Iɢ>) i)IKiiN,*݄;H:Ie@I9@ @@U4@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250406ԩ^A ?B9D zD @AE  E E &E "E [:*E F:VE 4ZE a @a @a @a @A5 ؟AIA IQ O > *,+Q?A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502322EW@Ee@E@ٱE1 ]AHRS rotation from veh to nav: [[-0.900116,0.419771,0.116547],[-0.433102,-0.891124,-0.135353],[0.047041,-0.172311,0.983919]]EH ? ֽ?@ۿ@ BS`?`Fƿ@C|?iEW@IE^;AYmӈByi qq}AyԩiMb@Mb@Mb@ 9X9v?V-?:v?Y3?yh=T<A )YAbDVD2y%%-)=ٔ-^Q-->95"?Y5"?=5Dy5 C5j;E5>9Q 5M4=GR ?Q 9M4=e)=IBYM4?Q EM:yM%Q IM?=jCI=|;i=;=4y]Bɮ]A]EuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 404.72 m.RhD8ZhD8 ProNav: ac range: 404.724823 m, nav range: 399.002930 m, bearing: 213.079421 deg, approach rate: -0.709548 m/s, LOS rate: 0.002678 deg/s, cmd heading: 205.744737 deg, new cmd heading: 205.748593 deg. BhF8HeadingCmd: 3.590990 target range: 404.724823 and range: 406.50 m.he@h*h"h hgfffdddjdZdT?B>B&CB(IBBB =BBDB;B6EAɢEx)A M5iI)McIIiM(qiUL,Uτ;Ueg;IUe@IY9@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754221 ^A] v;Ae hAzAe hA1 A .AI I O >1,,J?A2QW@2e@2DFٱ2e2 :AHRS rotation from veh to nav: [[-0.899065,0.421501,0.118407],[-0.435134,-0.890147,-0.135263],[0.048386,-0.173133,0.983709]]2H#`?O?<ۿ | NP@ƨ?@<)ƿz?i2QW@I2T];2uCYB؈ByBQ(IbDN VDN:2yR<%Vq=ٔV恻Q-V?9Z ?YZ ?=ZDyZ'C^;E^?\bEQjEUB4rEU<0Ej EjEj+Eh"Ej:*Ej=:VEj [4ZEhBEju checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258182 8,?A2X@2 f@2Kٱ22 :AHRS rotation from veh to nav: [[-0.898134,0.423039,0.119976],[-0.436898,-0.889384,-0.134599],[0.049764,-0.173305,0.983610]]2H??@"ۿu :z?.ƿy?i2X@I2^];2sCYBڈByBS(IbDNVDN:2yV;%VK=ٔV$aQ-V>9XYX=ZDyZHC^;Eb>dQ 5r4f, ?Q 9r4f)fVBYtyv%Q Iz?fCIf;if;f4yBɮA ޣEjhFNOT Ignoring new targets: 404.72 m.Rh8Zh8  ProNav: ac range: 404.724823 m, nav range: 398.479218 m, bearing: 213.081146 deg, approach rate: -0.676091 m/s, LOS rate: 0.002140 deg/s, cmd heading: 205.751061 deg, new cmd heading: 205.753760 deg. Bh 85HeadingCmd: 3.591081 target range: 404.724823 and range: 406.50 m.h5De@h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdM?ɢ\) i)inݻipK,& ;`;IDe@IE EE)E"E*E H:VEFA4ZEa @a @a@a@9@ @@/@!iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510450^A;I Bu >Bu "CBu (IBu BBu =Bq Bu DBu t;Bu 7EA ؟AI I O% >D>,?A6EX@6Y;f@6Pٱ6 >2 BAHRS rotation from veh to nav: [[-0.896750,0.425582,0.121325],[-0.439590,-0.888237,-0.133402],[0.050992,-0.172962,0.983608]]6H-)J>N=N=iMb@Mb@Mb@ 9i|?5? rh?Mb?Y1?yC=<A A)jAY(AbDVD02ya~=%:=ٔ7Q->9"?Y"?=DykC;E>Q 54 ?Q 94ޜ)_BY2?Q E:yx%Q I?CI ;i ;4yɮZAjh  FNOT Ignoring new targets: 404.72 m.Rh%8Zh%8% ProNav: ac range: 404.724823 m, nav range: 398.175232 m, bearing: 213.082076 deg, approach rate: -0.739331 m/s, LOS rate: 0.002263 deg/s, cmd heading: 205.753766 deg, new cmd heading: 205.756557 deg. Bh%8-HeadingCmd: 3.591129 target range: 404.724823 and range: 406.50 m.h-e@h)*h1"h1 h1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762396gAfAfAfAdIdIdIjdIZdU&@yɢ})  i)!¼顁iDܻiJ, ^;Aqԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014974A I I O >,E,?A:rX@:hf@:WWٱ:Ct0@ FAHRS rotation from veh to nav: [[-0.895461,0.428003,0.122321],[-0.442027,-0.887408,-0.130838],[0.052550,-0.171230,0.983829]]:H @hd?@rP?+JܿeP?ſ {?i:rX@I:];8Y^ވBybY(IbDjVDj2yr E%rY=ٔrQ-r>9tYt=vDyvCz;Ez>xQ 54z> ?Q 94z)zgBYyK%Q I?zCIzv;iza;z)4yBɮAjhAMFNOT Ignoring new targets: 404.72 m.RhMI8ZhMI8] ProNav: ac range: 404.724823 m, nav range: 397.912964 m, bearing: 213.082775 deg, approach rate: -0.692836 m/s, LOS rate: 0.001848 deg/s, cmd heading: 205.756553 deg, new cmd heading: 205.758651 deg. BheW8eHeadingCmd: 3.591166 target range: 404.724823 and range: 406.50 m.hee@hi*hi"hi higififqfqdqdqdyjdyZd}*@颩ɢ) i) Ƽ顱i ۻi J,υ;U>4ZK,/?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520663lUnX@Uf@Ue^ٱU/ mAHRS rotation from veh to nav: [[-0.894008,0.430638,0.123693],[-0.444746,-0.886394,-0.128479],[0.054313,-0.169873,0.983968]]UH``?\?vܿV]q`Ϋ?iſ|?iUnX@IU^;UuCY}By}l(IiMb@Mb@Mb@ 9|?5^?v/?Mbp?Y2?yxi=;A A)AYAbDVD02y%=%%7=ٔ-Q-->95 ?Y5 ?=5Dy5C=N;E=>9Q 5E4= ?Q 9M4=Ȥ)=nBYM3?Q EM:yMQ&Q IM?=CI=m ;i= ;=%4y]Bɮ]TA]ݣEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 404.72 m.Rh8Zh8 ProNav: ac range: 404.724823 m, nav range: 397.600098 m, bearing: 213.084332 deg, approach rate: -0.702343 m/s, LOS rate: 0.003498 deg/s, cmd heading: 205.758656 deg, new cmd heading: 205.763331 deg. Bh9HeadingCmd: 3.591248 target range: 404.724823 and range: 406.50 m.B>B%CB(IB#BB =BBDBy;B#7Ehe@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= @颡ɢlr) ~i)ʼ顩i)sڻiH,8;eSR,PI?A>9ABGX@Bf@BeٱBe,EN ENELEL"EN:*EN~:VELZELBEN` 9z"?Yz"?=~Dy~̸C~ ;E~>Q 5 4 ?Q 9 4MQ)uBYQyU*&Q I]??CI04zX,c?AVX@VQf@VkٱV}+ fAHRS rotation from veh to nav: [[-0.891797,0.434654,0.125596],[-0.448764,-0.885089,-0.123401],[0.057527,-0.166412,0.984377]]VH`^?`? ܿR`56t?Lſ?iVX@IVg^;TYrByr|(IbD~VD~ky -=% I=ٔ sQ- >9Y=DyCԱi;E>Q 54q ?Q 94k)|BYy&Q I?fCI& ;i:34yBɮ,AܣEjh FNOT Ignoring new targets: 404.72 m.RhSk8ZhSk8% ProNav: ac range: 404.724823 m, nav range: 397.041809 m, bearing: 213.086826 deg, approach rate: -0.743368 m/s, LOS rate: 0.003215 deg/s, cmd heading: 205.766921 deg, new cmd heading: 205.770820 deg. Bh-2 9-HeadingCmd: 3.591378 target range: 404.724823 and range: 406.50 m.h5$e@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE @qɢuz)y }0iy)}ݮмyyi}dٻiF,e;彏B'CB(IB2BB =BBDBG;B6EB&CB&CBȕCBȭ =Bȯ =Cu6A I I O >9 e^,a}?A2Y@2f@2sٱ2* :AHRS rotation from veh to nav: [[-0.891248,0.435313,0.127201],[-0.449594,-0.884883,-0.121845],[0.059517,-0.165783,0.984365]]2H@)?H?&ܿ P@A1`y?`a8ſ@?i2Y@I2^];0YBByB(I==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778521i5Mb@Mb@Mb@1111 195Cl?X9v?Y5/?y5}=55A5A 5A)5A1Y5AbDMVDM:2y7<%5=ٔQ->9Y=DyC;E>yQ 54}ޮ ?Q 94}̰)}BY-0?Q E-:y5y%Q I5?}CI} @ 5z= nF@ C=) l$>I C ,M? f?E/ij? X>) {{I l$>i C % T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.ԙ ^Au <A.AIIO?Dg,}?Aɰ;YzByz(I~%>~=bD VD y="<%=,=ٔEQ-E>9E ?YE ?=EDyE8CMEM>QQ 5]4UϘ ?Q 9]4U)UBYYyaQ Ie?UCIU-:iU$:UC4yiɮm)Ai(DAT read: user:92> BDAT read: Tx time:00:25:43.9487 $Ping request sent.x@,O@ ;@rimd?t)Bi? M?Ziml$>bimCim#6Bsl<l¡[ D@zimvŶ鿑n⿧,?@?2img:im2"imC=Ĥ?*imMBim5BimqZ㠊?iiiiimCimqn@) addTargetRange:: Added new target pos. range: 392.700012 m, deltaT: 4.284286 s, deltaX: -13.799988 m, approachRate: -3.221071 m/s, rangeRepo size: 4 M Added new target pos. range: 390.969666 m, bearing: 216.558308 deg, lat: 36.779445 deg, lon: -121.859967 deg, deltaT: 4.284286 s, deltaX: -13.755157 m, approachRate: -3.210607 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 390.97 m.RhUZhQ ProNav: ac range: 390.969666 m, nav range: 389.772125 m, bearing: 213.727669 deg, approach rate: 0.000000 m/s, LOS rate: 0.001916 deg/s, cmd heading: 205.773738 deg, new cmd heading: 205.776052 deg. BhHeadingCmd: 3.591470 target range: 390.969666 and range: 392.70 m.he@h*h"h hgfffdddjd@3x@Zd`?QɢU-o)Q UiQ)]ؼYYi}1ٻiE,^X;[B "CB (IB ABB =B B DԱ B U;B 6EA I I O >֝m,?A2"BY@27g@2j䄽ٱ2tR0 :AHRS rotation from veh to nav: [[-0.889154,0.437334,0.134702],[-0.452991,-0.882896,-0.123669],[0.064843,-0.170979,0.983139]]2Hs H? =? ܿ@?ſu?i2"BY@I2:^;2qCYBByB(Ii Mb@Mb@Mb@     9 /$?L7A`?y&1Y ,?y += `e A A ) A Y ¿AbD!VD!y5;%5E=ٔ5RQ-=>99Y9==Dy=YCEg<EE>IQ 54M ?Q 94M)MBY,?Q E:y$Q I?MCIMj%t,?A2OY@2;Eg@2 ٱ2* :AHRS rotation from veh to nav: [[-0.888615,0.438453,0.134619],[-0.453633,-0.883488,-0.116899],[0.067680,-0.164946,0.983978]]2Ho?6;?RݿE|S?`ſ|?i2OY@I2];2pCY@yB(IbDJVDJk1yRz;%VM=ٔV(Q-V>9Z"?YZ"?=ZDyZyCZ3;EZ>\Q 5b4^q ?Q 9f4^ϼ)^BYdyf$Q If?^CI^ ;i^ ;^Q4yjpBɮnAljh|FNOT Ignoring new targets: 390.97 m.Rhd48Zhd48 ProNav: ac range: 390.969666 m, nav range: 389.222687 m, bearing: 213.729613 deg, approach rate: -0.711237 m/s, LOS rate: 0.002464 deg/s, cmd heading: 205.779079 deg, new cmd heading: 205.781882 deg. Bhx8HeadingCmd: 3.591571 target range: 390.969666 and range: 392.70 m.hNe@h*h"h! h!g!f!f)f)d)d)d1jd1Zd5 *?ɢ) i)޼i |ڻ)igC,Ez;EEyԡ E  E E +E "E >:*E T:VE [4ZE a @a @a @a @9 ?Y ?=DyC;E>Q 5 4Z ?Q 9 4W)BYy$Q I?%CI;iS;AZ4y5sBɮ5A5Ejhy}FNOT Ignoring new targets: 390.97 m.Rh 8Zh 8 ProNav: ac range: 390.969666 m, nav range: 388.901611 m, bearing: 213.730671 deg, approach rate: -0.664958 m/s, LOS rate: 0.002194 deg/s, cmd heading: 205.781879 deg, new cmd heading: 205.785056 deg. Bh8HeadingCmd: 3.591627 target range: 390.969666 and range: 392.70 m.h7e@h*h"h hgfffdddjdZd@?9ɢ=V7k)=h6& ={i9)E\AAiE$IܻBiAiBu>Bu#CBu(IBuQBBu =BqBuDBuO;Bu6Ei~B,`;~e,?AYzByz(IiMb@Mb@Mb@ 9uV?MbX9?9"?Y"?=DyCE>Q 5 4H ?Q 94"ŷ)BY)?Q E:y#Q I?FCI6;i ;a4yvBɮ%A%EjhAFNOT Ignoring new targets: 390.97 m.Rh |6Zh |6 ProNav: ac range: 390.969666 m, nav range: 388.641266 m, bearing: 213.730754 deg, approach rate: -0.675021 m/s, LOS rate: 0.000216 deg/s, cmd heading: 205.785062 deg, new cmd heading: 205.785312 deg. Bh7%HeadingCmd: 3.591631 target range: 390.969666 and range: 392.70 m.h%Ie@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=r?AɢEsu)A E*iA)MejIIiMn^ݻiUkB,U/;U9iYi=mDymCuMk;Eu>yQ 5}4}5 ?Q 94}ɷ)}BYy#Q I?}iCI}D;i}a;}Am> B% {>B% CB% (IB% `BB% =B! B% DB% J;B% 6EA .AI I O >x,=?A4<ɰY!By(IiMb@Mb@Mb@ 9/$? ףp= ?~jtY1(?yQ=A̡A A)̡AYzAbDVDy&3=%E=ٔQ->9 ?Y ?=DyCE>Q 54" ?Q 94*ͷ)BY)?Q E:y{"Q I?CI:i:|o4y}yBɮ}`A}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519878B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 390.97 m.RhZh ProNav: ac range: 390.969666 m, nav range: 388.096252 m, bearing: 213.730259 deg, approach rate: -0.624953 m/s, LOS rate: -0.001302 deg/s, cmd heading: 205.785540 deg, new cmd heading: 205.783820 deg. Bh%d5HeadingCmd: 3.591605 target range: 390.969666 and range: 392.70 m.h5e@h1*h1"h1 h9g9f9fAfIQdIdYdajdaZdeb@ɢ.f) U޾i)iQi B, ;  ,b?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024124-\Y@-QRg@-7ٱ-E5 =AHRS rotation from veh to nav: [[-0.887625,0.436141,0.147995],[-0.454022,-0.882585,-0.122101],[0.077365,-0.175573,0.981422]]-H@mg`? ?ݿ">B4γ? .yƿg?i-\Y@I-$/^;-sCYM-ByU(I Y]a=bDe VDe2yu+=%u=ٔ}jKQ-}>9}"?Y"?=Dy0C><E>ԑQ 54q ?Q 94ҷ)BYy"Q I?CIh-;i:ay4y~BɮCAEjhFNOT Ignoring new targets: 390.97 m.Rh÷Zh÷ ProNav: ac range: 390.969666 m, nav range: 387.720703 m, bearing: 213.729536 deg, approach rate: -0.693273 m/s, LOS rate: -0.001336 deg/s, cmd heading: 205.783819 deg, new cmd heading: 205.781648 deg. BhjHeadingCmd: 3.591567 target range: 390.969666 and range: 392.70 m.h=e@h*h"h hgfffdddjdZd @颱ɢp$`) *Ҿi)项i8UixC,i;V:*E)VE-'4ZE)a5@a5@a5@a5@=9@A @A@E/@A-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277686^A% *<A A B `>B CB )IB tBB =B @DB DB W;B 6E AQ I I O >c,}[|?AY~1By~(IiMb@Mb@Mb@ 9/$?kt?{GzYy =ףAXA ^A)XAYQAbDVD:2y<%F=ٔQ->9Y=DyQCE>Q 54d ?Q 94ַ)BY)?Q E:y"Q I?CI:i@:4yɮ3AjhFNOT Ignoring new targets: 390.97 m.Rh%jEZh%jE5 ProNav: ac range: 390.969666 m, nav range: 387.447601 m, bearing: 213.729258 deg, approach rate: -0.662568 m/s, LOS rate: -0.000674 deg/s, cmd heading: 205.781647 deg, new cmd heading: 205.780813 deg. Bh5=HeadingCmd: 3.591553 target range: 390.969666 and range: 392.70 m.h=e@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU @yɢ}3l) /ξi) 顁i*_iC,Ƙ;ef?w {?ε!̿ 7J>)b>IV=iV>mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse! {CGIaܺ9Y٪A@ @@@D5=D5%=EE EEEE)EA"EE:*EET:VEEFA4ZEABEEk,R?A@6?X@6f@6CKٱ6& >AHRS rotation from veh to nav: [[-0.890506,0.433152,0.139205],[-0.448702,-0.886735,-0.111209],[0.075268,-0.161494,0.983999]]6H`¸?x?ܿ`"`@1xD?ԫĿ|?i6?X@I6{'^;6nCYF:ByF(ITVAbDZVDZ02yb=%b7=ٔbɚ;Q-f>9dYd=fDyjvCj_Ej>lQ 5r4n ?Q 9r4n۷)nBYpyrI#Q Iv?nCInF:in:n^4yzBɮzAzEjhFNOT Ignoring new targets: 390.97 m.Rh%3Zh%35 ProNav: ac range: 390.969666 m, nav range: 387.152252 m, bearing: 213.729190 deg, approach rate: -0.664155 m/s, LOS rate: -0.000154 deg/s, cmd heading: 205.780814 deg, new cmd heading: 205.780609 deg. Bh5׶=HeadingCmd: 3.591549 target range: 390.969666 and range: 392.70 m.h=e@h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdU` @ɢfXa) ži){i$i-C,-ٞ;-ԍ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseP,ƾ?APBUr>BUCBU$)IBUBBU =BQBUDBU5;BU6EB% CB% CB!MX@MNf@Md~ٱM & AHRS rotation from veh to nav: [[-0.891794,0.431182,0.137060],[-0.446445,-0.887783,-0.111930],[0.073417,-0.161008,0.984219]]MH{?,?ܿhq@w˲?@Ŀ ~?iMX@IM^;MqCY>By(IB% =B% =C%_6@AAAbDVD:3y `<%+=ٔ~;Q->9Y=DyC?E>!Q 5-4%{ ?Q 9-4%߷)%BY1y5s#Q I5?%-CI%:i%:%4y=Bɮ=AEEjhaeFNOT Ignoring new targets: 390.97 m.RhmO5ZhmO5} ProNav: ac range: 390.969666 m, nav range: 386.835236 m, bearing: 213.729238 deg, approach rate: -0.662734 m/s, LOS rate: 0.000100 deg/s, cmd heading: 205.780609 deg, new cmd heading: 205.780752 deg. Bh}6HeadingCmd: 3.591552 target range: 390.969666 and range: 392.70 m.he@h*h"h hgfffdddjdZd@ީ@ɢ`) [i)|iiC,y;,QD zD AAE  E E )E "E :*E R:VE FA4ZE BE P"%Z{=ٔ^9;Q-^ ?9\Y`=bDybCbD"Eb?dQ 5j4fI ?Q 9j4f)fBYlyn#Q In?fICIf;ifY;fm4ypɮrAt|B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 390.97 m.Rh6Zh6- ProNav: ac range: 390.969666 m, nav range: 386.619049 m, bearing: 213.729370 deg, approach rate: -0.660565 m/s, LOS rate: 0.000404 deg/s, cmd heading: 205.780759 deg, new cmd heading: 205.781156 deg. Bh-75HeadingCmd: 3.591559 target range: 390.969666 and range: 392.70 m.h5e@h1*h1"h1 h9gfffdddjdZdQ @1ɢ=ud)9 =i9)=of9AiEiEC,M;MRu T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseԁ ,ni?A;ɰ4<2PX@2Ef@2&Bٱ2v$ :AHRS rotation from veh to nav: [[-0.895474,0.425097,0.131982],[-0.439670,-0.890978,-0.113355],[0.069406,-0.159535,0.984749]]2H 4??#ܿı?@kĿ@?i2PX@I2p];0YVUByV(IbD^VD^02yf <%fI=ٔj;Q-j>9hYh=nDynغCn4En>pQ 5v4r@ ?Q 9v4r)rBYxyz#Q Iz?rlCIr:ir:r4y~Bɮ~ļAEjh!%FNOT Ignoring new targets: 390.97 m.Rh-z7Zh-z7= ProNav: ac range: 390.969666 m, nav range: 386.348999 m, bearing: 213.729718 deg, approach rate: -0.664493 m/s, LOS rate: 0.000856 deg/s, cmd heading: 205.781155 deg, new cmd heading: 205.782198 deg. Bh=T8EHeadingCmd: 3.591577 target range: 390.969666 and range: 392.70 m.hEee@hA*hA"hA hIgIfIfIfQdQdQYdYjdYZd]`ę@频ɢ5^)9 =Yi9)=tAAiEiMQC,MIQ;uB]CB]6)IB]BB] =BYB]DB];B]6EԹ^AM/C<IIO> ,>?A%%=%%=-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseY]_By](IԹa@a a@a a@a a@a bD% VD%2y5,)=%56=ٔ=Q-=>99YA=EDyECEEE>IQ 5U4M? ?Q 9U4M)MBQ A]+:YYQ E]:yYQ I]?MCIM ;iM;>M飈4yaɮeAajhFNOT Ignoring new targets: 390.97 m.RhMIz7ZhUIz7] ProNav: ac range: 390.969666 m, nav range: 386.051056 m, bearing: 213.730102 deg, approach rate: -0.662751 m/s, LOS rate: 0.000855 deg/s, cmd heading: 205.782193 deg, new cmd heading: 205.783346 deg. Bhe+8eHeadingCmd: 3.591597 target range: 390.969666 and range: 392.70 m.hee@hi*hi"hi higfffdddjdZd+@ɢ+Q)  ֠i ) i_iB,ִ;,?A2&W@2e@2gٱ2U :AHRS rotation from veh to nav: [[-0.899117,0.419559,0.124737],[-0.432915,-0.894457,-0.111942],[0.064606,-0.154649,0.985855]]2H`??@ۿd7@?ÿ@?i2&W@I23];2oCYBbByB(IbDJ VDJ2yz4<%za=ٔ~2Y9Y=DyCUE> Q 54 2 ?Q 94 ~) BQ A :YQ ER:yk$Q I? CI 2;i P? 4y%Bɮ-A-EjhIUFNOT Ignoring new targets: 390.97 m.RhU~7ZhU~7e ProNav: ac range: 390.969666 m, nav range: 385.810333 m, bearing: 213.730678 deg, approach rate: -0.662427 m/s, LOS rate: 0.001588 deg/s, cmd heading: 205.783341 deg, new cmd heading: 205.785072 deg. Bhe~8mHeadingCmd: 3.591627 target range: 390.969666 and range: 392.70 m.hm8e@hi*hq"hq hqgqfqfyfydydydjdZd@颩ɢؿ`) i)项i<9i}B,;?%;I8e@IQ@Q @Q@]4@Y5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseA^AX<I9IQOe>qE EE'E"E*Ec:VE'4ZEa@a@a@a@ԙ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,:6?ABV>BCBI)IBBB =BBDB;Bu6E W@ be@ dHٱ  AHRS rotation from veh to nav: [[-0.900421,0.417520,0.122143],[-0.430537,-0.895497,-0.112794],[0.062285,-0.154149,0.986082]] H@?@D?ۿ`༿?+ÿ?i W@I ^; Y-gBy-)Iiaa aa aa aa iMb@Mb@Mb@ 9V-?MbX9?9IYI=MDyUBCUEU>YQ 5e4]j ?Q 9e4] )]BQ AT:Y.?Q E:yr%Q I?]CI]m'u,R?A2vW@2le@2wٱ2َ :AHRS rotation from veh to nav: [[-0.901758,0.415271,0.119926],[-0.428018,-0.896578,-0.113792],[0.060269,-0.153943,0.986240]]2H 4˓? z? dۿðx!ۮ? kÿF?i2vW@I25^;2lCYBoByB )INAALbDRVDRk1yV8=%V`=ٔZ;Q-Z>9\Y\=^Dy^_C^Eb>`Q 5f4bX ?Q 9f4b{)bB=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseY9y=%Q I=?bCIb| V,Gl?AJ`W@J\Ve@J=oٱJ5o" RAHRS rotation from veh to nav: [[-0.902434,0.413849,0.119760],[-0.426838,-0.896584,-0.118097],[0.058500,-0.157692,0.985754]]JH|??PQۿ`а;@?C/ĿK?iJ`W@IJf^;JnCYZqByZ)IbDfVDfk2yj,<%nG=ٔn1;Q-n>9lYp=rDyrCrXEv>tQ 5z4vD ?Q 9~4v[)v€BY|y~%Q I~?vCIv:iv:v4yBɮ  jh)5FNOT Ignoring new targets: 390.97 m.Rh5P8Zh5P8EM EMEM'EI"EM:*EMrN:VEM'4ZEIaU@aU@aU@aU@e ProNav: ac range: 390.969666 m, nav range: 384.953857 m, bearing: 213.735072 deg, approach rate: -0.717496 m/s, LOS rate: 0.003915 deg/s, cmd heading: 205.793682 deg, new cmd heading: 205.798274 deg. Bhe+9mHeadingCmd: 3.591857 target range: 390.969666 and range: 392.70 m.hme@hi*hi"hi higifqfqfqdqdydyjdyZd} @ԹAɢExR)I M iI)MIIiUfiU>,UW;]I}e@Iy9@ @!@%/@)ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseAABC>BCBV)IBBB =BBDBˀ;B46E!^ANJκA>A>I I O >I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,uW?AfjWW@fMe@f(gٱf)h' rAHRS rotation from veh to nav: [[-0.902784,0.413064,0.119829],[-0.426380,-0.896087,-0.123401],[0.056405,-0.162497,0.985096]]fH o??Iۿ`@2?Ŀ?ifjWW@Ify^;foCYz|Byz)Ii}Mb@Mb@Mb@yyyy y9}V-?/$?I +Y}h1?y}=}9}Ay }A)}rAyY}AbDVD1y G=%?=ٔ0;Q->9Y=DyCE>Q 54s/ ?Q 94|)ÀBY2?Q E:y%Q I?DCI:in:vň4yBɮZAE1jhY]FNOT Ignoring new targets: 390.97 m.Rhey8Zhey8u ProNav: ac range: 390.969666 m, nav range: 384.656036 m, bearing: 213.736569 deg, approach rate: -0.678008 m/s, LOS rate: 0.003411 deg/s, cmd heading: 205.798272 deg, new cmd heading: 205.802766 deg. Bhu9}HeadingCmd: 3.591936 target range: 390.969666 and range: 392.70 m.h}Ge@hy*h"h hgfffdddjdZdQ@ɢbJ)! %ki!)%!!i%-iMm=,Un;U$6IUGe@IQIa)aE} E}EyEy"E}:*E} H:VEyZEyBE}5Թ $,f2?A2OW@2\Ee@2]ٱ2-+ :AHRS rotation from veh to nav: [[-0.903102,0.412548,0.119210],[-0.426008,-0.895657,-0.127736],[0.054074,-0.166143,0.984618]]2H 6/g??Cۿ8Y`?,Dſ?i2OW@I25R^;2nCYB~ByB)I HJp=bDNVDN:2yZ=<%Z[=ٔZ;Q-Z>9\Y\=^Dy^»CbץEb>dQ 5f4f ?Q 9j4f)dYhyj%Q Ij?ffCIf$:if=:fˈ4yAɮERAAjhFNOT Ignoring new targets: 390.97 m.Rho~8Zho~8  ProNav: ac range: 390.969666 m, nav range: 384.395477 m, bearing: 213.737907 deg, approach rate: -0.676576 m/s, LOS rate: 0.003476 deg/s, cmd heading: 205.802766 deg, new cmd heading: 205.806781 deg. Bh 9 HeadingCmd: 3.592006 target range: 390.969666 and range: 392.70 m.hme@h*h"h h1g1f9f9f9d9dAdAjdAZdE; @ԙT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɢ"qM) 4i)i i%H<,%,;%faSI%me@I)a@a @a@e/@aE} E}E}*Ey"E}[:*E}rN:VE}(N4ZEya@a@a@a@^A 7I I O >} T****** received valid address query ******} R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB U>B CB h)I! B BB =B B DB ;B 5EY,?AGW@=e@>Sٱ. -AHRS rotation from veh to nav: [[-0.903419,0.412086,0.118403],[-0.425636,-0.895232,-0.131887],[0.051649,-0.169546,0.984168]]H`_?@O? =ۿ@@q?@ſM~?iGW@Ig^;Y5By=+)IiMb@Mb@Mb@ 9(\?Zd;O?{GzYz4?yj=ףЛA QA)AYAbDVDky O=%8=ٔ;Q->9)Y1=5Dy5C5E5>9Q 5E4= ?Q 9E4=)9YM6?Q Eu:yu%Q I}?=CI=),?A 6=W@62e@64Jٱ6, >AHRS rotation from veh to nav: [[-0.903808,0.412046,0.115538],[-0.425083,-0.895572,-0.131358],[0.049347,-0.167836,0.984579]]6H`^?ߓ?4ۿW`C?@{ſ ?i6=W@I6H^;6oCYRByRD)IbDZVDZyb1=%b_=ٔf:;Q-f>9dYh=jDyjCjeEj>lQ 5r4n ?Q 9r4n1 )lYtyv %Q Iv?nCIn:in:n'ڈ4yxɮzۻAx%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 390.97 m.RhH8ZhH8 ProNav: ac range: 390.969666 m, nav range: 383.819000 m, bearing: 213.740125 deg, approach rate: -0.702516 m/s, LOS rate: 0.002741 deg/s, cmd heading: 205.810457 deg, new cmd heading: 205.813436 deg. Bh8HeadingCmd: 3.592122 target range: 390.969666 and range: 392.70 m.hTe@h*h"h hgff f d d d jdZd4"@颉ɢ)1A) Bi)[项i-Gi`:,({;OITe@Iqm9@i @i@m 0@i@q@qԙ^AvтT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseII O} > ,?A600W@6%e@6ȶBٱ6̞) >AHRS rotation from veh to nav: [[-0.904221,0.411985,0.112488],[-0.424413,-0.896182,-0.129350],[0.047520,-0.164702,0.985198]]6H```]?̼?)ۿ@T?@ſཆ?i600W@I6]^;4YFByF=)ILLPbDV VDV2yZ%^K=ٔ^;Q-^>9`Y`=bDyb%CfEf>dQ 5j4fF ?Q 9n4f4)dYlyn%Q In?fCIf7;if";f.4yvBɮvAvEjh FNOT Ignoring new targets: 390.97 m.Rhp[8Zhp[8% ProNav: ac range: 390.969666 m, nav range: 383.532990 m, bearing: 213.741268 deg, approach rate: -0.749217 m/s, LOS rate: 0.002998 deg/s, cmd heading: 205.813435 deg, new cmd heading: 205.816868 deg. Bh-9-HeadingCmd: 3.592182 target range: 390.969666 and range: 392.70 m.h-Oe@h1*h1"h1 h1g1f1EE EEEE)EA"EE:*EE:VEEFA4ZEAaM@aM@aM@aM@fQfQdQdQdYjdYZd]@"@ɢ\A) Oi)iMi%e9,%;%tI-Oe@I9 @  @ @ 0@=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseBu<Au<Bo>BCB{)IBˉBB =BBDBL;B5EB-CB-CB)B- =B- =C-+6^A-) Ae .AIq I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,?ABNW@Be@Bo=?ٱB"' JAHRS rotation from veh to nav: [[-0.904745,0.411281,0.110830],[-0.423388,-0.896833,-0.128193],[0.046672,-0.162906,0.985537]]BH`oR?U_?ۿ ۲ht?Ŀ@?iBNW@IBH^;BnCYbBybR)IiMMb@Mb@Mb@IIII I9Mx?RQ?I +YMK7?yM=M94MAM/A MA)IIYMzAbDmVDmk2yL=%.=ٔp:Q->9 ?Y ?=DyJCV!E>Q 546 ?Q 94)ŀBY8?Q E:y$Q I?CI ;iK ;]4yBɮͻAEjh  FNOT Ignoring new targets: 390.97 m.Rh-:8Zh-:8% ProNav: ac range: 390.969666 m, nav range: 383.194916 m, bearing: 213.742459 deg, approach rate: -0.721250 m/s, LOS rate: 0.002543 deg/s, cmd heading: 205.816863 deg, new cmd heading: 205.820440 deg. Bh%i8-HeadingCmd: 3.592244 target range: 390.969666 and range: 392.70 m.h-Ue@h)*h)"h1 h1g9f9f9f9dAdAdAjdAZdEn#@qɢu4)y },iy)}4yyi}-i`8, ;ĻIUe@I)EU EUEU*EQ"EU:*EU H:VEU(N4ZEQBEUA5 >ԉ Ay I I OM >X,m!?AY%By%d)IbDE VDE:2yU7=%Ud=ٔ]Q-]>a9YYa=eDyegCmEm>qQ 5}4u ?Q 9}4u)uƀBYyyQ I?u!CIu= B >B "CB )IB ډBB =B ?DB DB ;B 5E,A);?AMV@Md@MG=ٱM# }AHRS rotation from veh to nav: [[-0.906475,0.408209,0.108024],[-0.419726,-0.899037,-0.124748],[0.046195,-0.158421,0.986290]]MH ` ?`v?ڿv￿ Ϧ?`$GĿ?iMV@IMA^;IYByc)Ii Mb@Mb@Mb@     9 gfffff?EԸ?{GzY 33?y = # A ^A ) A Y 3A 5R=54=bDuVDu1yߺ%!=ٔw:Q->9"?Y"?=DyCE>Q 54* ?Q 94)ȀBY4?Q E:y$Q I?OCI ;i? ;4yBɮAEjhFNOT Ignoring new targets: 390.97 m.Rh+8Zh+8 ProNav: ac range: 390.969666 m, nav range: 382.575592 m, bearing: 213.744539 deg, approach rate: -0.721323 m/s, LOS rate: 0.002336 deg/s, cmd heading: 205.823188 deg, new cmd heading: 205.826682 deg. Bh88HeadingCmd: 3.592353 target range: 390.969666 and range: 392.70 m.he@h*h"h hg!f!f!f!d)d)d)jd)Zd5%@Yɢ],)a eia)ev5aaie%wim6,mra;u_Iue@Iq2Acoustic response timeout 9@ @@5@!D zD @AE  E E (E "E m:*E ;J:VE c44ZE BE X!,qrX?ADNV@Nd@N{7ٱNP) VAHRS rotation from veh to nav: [[-0.908518,0.403422,0.108840],[-0.415436,-0.900033,-0.131733],[0.044816,-0.164898,0.985292]]NH `?ܻ?`ڿ` ?\ſ?iNV@INuI^;NoCY^̉By^})IbDjVDjyn=%rr=ٔr;Q-r?9tYt=vDyvCzhEz?xQ 5~4zG ?Q 94z)zɀBYy%Q I?zmCIz;iz;ze4yBɮRAE-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 390.97 m.RhELN8ZhELN8U ProNav: ac range: 390.969666 m, nav range: 382.338806 m, bearing: 213.745484 deg, approach rate: -0.705819 m/s, LOS rate: 0.002818 deg/s, cmd heading: 205.826685 deg, new cmd heading: 205.829521 deg. BhU8]HeadingCmd: 3.592403 target range: 390.969666 and range: 392.70 m.h]e@hY*hY"hY hYgafffdddjdZd`V&@9ɢ=P)')Y ]@νia)edaaieim5,mTY;m8bIme@IqԹ@ @@/@^A"A-2Acoustic response timeoutI1IAOUt>Q E  E E ,E "E I:*E rN:VE g4ZE a @a @a @a @,Tr?AF:nV@Fcd@Fq-6ٱF/ NAHRS rotation from veh to nav: [[-0.909310,0.401149,0.110614],[-0.413738,-0.899979,-0.137325],[0.044462,-0.170636,0.984330]]FHl? ,Q?`zڿ`ܓ æ? eſ?iF:nV@IF5^;FlCYVˉByV|)IbDbVDb2yfS%fM=ٔjh:Q-j>9hYl=nDyn̼CnEr>pQ 5v4r&v ?Q 9v4r")rʀBYxyz5%Q Iz?rCIr:ir:r^4y|ɮUAjh!-FNOT Ignoring new targets: 390.97 m.Rh-I_8Zh-I_8y ProNav: ac range: 390.969666 m, nav range: 382.057007 m, bearing: 213.746699 deg, approach rate: -0.707162 m/s, LOS rate: 0.003050 deg/s, cmd heading: 205.829526 deg, new cmd heading: 205.833173 deg. Bh9HeadingCmd: 3.592467 target range: 390.969666 and range: 392.70 m.he@h*h"h hgfffdddjdZd"'@!ɢ% &)) -нi))-))i-?iU4,];]FuI]e@IYIi)mhA2Acoustic response timeoutAAAA9@ @@/@B>B!CB)IBBB =BBBD;B95E@)@-iAԹ^Au;E =E =M 2Acoustic response timeoutA I I O > ",?ABXV@BMd@B(4ٱB. JAHRS rotation from veh to nav: [[-0.909887,0.400127,0.109561],[-0.412519,-0.900631,-0.136718],[0.043970,-0.169594,0.984533]]BH? 8 ? fڿ@ 7?DſJ?iBXV@IB]^;@YR߉ByV)IieMb@Mb@Mb@aaaa a9e> ףp=?RQ?{Gz?Ye1?ye=e#9Y=DyCYNE>Q 54` ?Q 940')πBY3?Q E:y%Q I?CI;i; 4yBɮAEjhFNOT Ignoring new targets: 390.97 m.Rh/O8Zh/O8 ProNav: ac range: 390.969666 m, nav range: 381.756531 m, bearing: 213.747914 deg, approach rate: -0.699390 m/s, LOS rate: 0.002830 deg/s, cmd heading: 205.833174 deg, new cmd heading: 205.836822 deg. Bh 8 HeadingCmd: 3.592530 target range: 390.969666 and range: 392.70 m.h e@h*h"h hgfffdd!d!jd!Zd%@O'@QɢU@.)Y ]iY)] YYi]@ie3,e;mIme@IibE9jE9rE=0E EE*E"E:*E H:VE(N4ZEBE 1a J ),?A:x6V@:(,d@:2ٱ:<* JAHRS rotation from veh to nav: [[-0.910744,0.398761,0.107400],[-0.410655,-0.901980,-0.133399],[0.043679,-0.165597,0.985226]]:H$@M?~?+Hڿ@:]?`I2ſ?i:x6V@I:2C^;8YRByR)IbDZVDZN2yb<%bX=ٔfI:Q-f>9dYd=jDyjCjpEj>lQ 5r4nM ?Q 9r4n*)nԀBYtyv8%Q Iv?nCIn:int:n|4~2Acoustic response timeouty~BɮAjh!-FNOT Ignoring new targets: 390.97 m.Rh-P_8Zh-P_8= ProNav: ac range: 390.969666 m, nav range: 381.490784 m, bearing: 213.749070 deg, approach rate: -0.700355 m/s, LOS rate: 0.003051 deg/s, cmd heading: 205.836821 deg, new cmd heading: 205.840294 deg. BhE9EHeadingCmd: 3.592591 target range: 390.969666 and range: 392.70 m.hEe@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd](@颁ɢ) bi)8 顑ixi2,e;=Ie@I)M9@Q @Q@U/@QYE EE'E"E:*EC:VE'4ZEa@a@a@a@^A-vԁBDAT read: Response Not Received *response not receivedRDAT read: user:94>Tx time:00:25:56.3986 B $CB )IB BB =B B DB ~;B 4EI O >Թ 1/,?Aɰp;2hV@2d@2F)/ٱ2nT& :AHRS rotation from veh to nav: [[-0.911358,0.398063,0.104750],[-0.409389,-0.903017,-0.130231],[0.042751,-0.161570,0.985935]]2H)y?@к?m3ڿf`s?UĿ nj?i2hV@I2f^;2nCYBByB)IiMb@Mb@Mb@ 9?l?Q?Y,?y=u<AA A)/AYAbD VD:2yv=%8=ٔ ;Q->9 Y = Dy 2COE>Q 547 ?Q 9%4.)ۀBY%-?Q E%:y%&Q I%?CI:iL:=4yqɮuAqԉjhFNOT Ignoring new targets: 390.97 m.Rh8Zh8  ProNav: ac range: 390.969666 m, nav range: 381.190125 m, bearing: 213.751576 deg, approach rate: -0.655629 m/s, LOS rate: 0.005467 deg/s, cmd heading: 205.840291 deg, new cmd heading: 205.847812 deg. Bh "p9HeadingCmd: 3.592722 target range: 390.969666 and range: 392.70 m.h)e@h*h"h hgfffd!d!d!jd!Zd5?)@ɢhU) i)lK iC DAT read:  2Acoustic response timeouti0,%;fI)e@I)Թ@ @@@@=@=E EEE"E:*Eg:VEZEBEX,6,q?A2V@2cd@2+ٱ2$ :AHRS rotation from veh to nav: [[-0.911381,0.398341,0.103487],[-0.409419,-0.903141,-0.129275],[0.041968,-0.160188,0.986194]]2H*@k~?!~? 3ڿ|? Ŀ?i2V@I26^;2mCYBByB)IbDLVDLyV_=%V`=ٔV ;Q-V>9XYX=ZDyZPC^UM8E^>`Q 5f4b% ?Q 9f4b>2)bBYdydQ If?b CIb&;ibe;b!4ynBɮnAnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 390.97 m.Rh *8Zh *8 ProNav: ac range: 390.969666 m, nav range: 380.942841 m, bearing: 213.753638 deg, approach rate: -0.707486 m/s, LOS rate: 0.005906 deg/s, cmd heading: 205.847818 deg, new cmd heading: 205.854010 deg. Bh9%HeadingCmd: 3.592830 target range: 390.969666 and range: 392.70 m.h%e@h!*h!"h! h)g)f)f1f1d1d1d1jd9Zd=MV*@aɢm )i mX:i)J iCi.,C;Ie@I@ @@O0@=> 2Acoustic response timeout^A7ƙ9 A .AI I O >E  E E (E "E ,:*E H:VE c44ZE a @a @a @a @P<,?A2;V@2A1d@2A.ٱ2ek& >AHRS rotation from veh to nav: [[-0.910657,0.399621,0.104915],[-0.410957,-0.902314,-0.130172],[0.042647,-0.161657,0.985925]]2H$c?ۺ?Mڿwե?@0Ŀ?i2;V@I2^;2oCYj Byj)IbDrVDrk1yzE=%zF=ٔ~غQ-~>9 ?Y ?=DyqC6;E> Q 54  ?Q 94 5) BYy&Q I? DCI ;i ; (4y!ɮ%~A)jhIUFNOT Ignoring new targets: 390.97 m.RhU8ZhU8e ProNav: ac range: 390.969666 m, nav range: 380.663574 m, bearing: 213.755899 deg, approach rate: -0.677913 m/s, LOS rate: 0.005492 deg/s, cmd heading: 205.854006 deg, new cmd heading: 205.860793 deg. Bhe:q9mHeadingCmd: 3.592949 target range: 390.969666 and range: 392.70 m.hme@hi*hq"hq hqgqfqfyfydydydjdZd`<)+@颩ɢ_) B!B%)IB%+BB!B!B!B%b~;B%4E=9@9 @A@E4@AYy^AUFΞA ؟AI I Ա O > 2Acoustic response timeout e> % G= liAe A 9 liAY DA8C, ?A2cV@2RYd@28ٱ2 ) :AHRS rotation from veh to nav: [[-0.909550,0.401184,0.108492],[-0.413137,-0.901168,-0.131205],[0.045132,-0.164160,0.985401]]2H ?@%ƻ?pڿ@] R`?-ſ g?i2cV@I2^;2lCLYbByb)IiuMb@Mb@Mb@qqqq q9uv/???Yux)?yuL=u9"?Y"?=DyC;E>Q 54?Q 949)BY*?Q E:y(Q I?hCI` ;i ;>04yBɮcAEjhFNOT Ignoring new targets: 390.97 m.Rh9Zh9 ProNav: ac range: 390.969666 m, nav range: 380.383057 m, bearing: 213.759375 deg, approach rate: -0.660660 m/s, LOS rate: 0.008191 deg/s, cmd heading: 205.860795 deg, new cmd heading: 205.871229 deg. Bh 9 HeadingCmd: 3.593131 target range: 390.969666 and range: 392.70 m.h e@h*h"h hEy E}E}*Ey"Ey*E};J:VE}(N4ZEyBE}A> A I I O% >cI,b'?A6V@6Nd@6Eٱ6( BAHRS rotation from veh to nav: [[-0.907515,0.404866,0.111803],[-0.417234,-0.899580,-0.129122],[0.048298,-0.163828,0.985306]]6H\ U??ڿ@[ `?`RĿ ?i6V@I6y];6mCYFByF)IbDRVDR02yZ~<%ZZ=ٔZ Q-Z>b2Acoustic response timeout9`Y`=fDyfCfWG<Ef>hlQ 5r4j?Q 9r4j<)jBYpyrP(Q Iv?jCIj.;ijp/;j64yzBɮzWAzEjhFNOT Ignoring new targets: 390.97 m.Rh%| 9Zh%| 95 ProNav: ac range: 390.969666 m, nav range: 380.134552 m, bearing: 213.762285 deg, approach rate: -0.659704 m/s, LOS rate: 0.007731 deg/s, cmd heading: 205.871232 deg, new cmd heading: 205.879968 deg. Bh5ȩ9=HeadingCmd: 3.593283 target range: 390.969666 and range: 392.70 m.h=[e@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM,@ɢk)! %p;=i!)% ))i-iu[',}RV;}1CI}[e@I A@I @I@MJ4@IE EE)E"E:*E H:VEFA4ZEa@a@a@a@1u2Acoustic response timeout^AuB >B &CB *IB EBB =B B DB ~;B 5EB$CB$CBBȲ =Bȳ =Czu6a A I II O >JP, 9A?A9YM"ByM)IiMb@Mb@Mb@ 9E?=%7=ٔQ->9Y=DyֽC E >Q 54?Q 94`@)BY&?Q E%:y%)Q I%?CIh;i ;>4y)ɮ-,A)jhQUFNOT Ignoring new targets: 390.97 m.Rh]49Zh]49m ProNav: ac range: 390.969666 m, nav range: 379.846680 m, bearing: 213.766661 deg, approach rate: -0.648466 m/s, LOS rate: 0.009866 deg/s, cmd heading: 205.879974 deg, new cmd heading: 205.893114 deg. Bhm9uHeadingCmd: 3.593513 target range: 390.969666 and range: 392.70 m.hue@hq*hq"hq hygyfyfyfydddjdZd ֦-@颱ɢa) 0=i)t项ii#,,;gQIe@I2Acoustic response timeouti@ @@ /@ ԑE EE(E"E:*EF:VEc44ZEBE  2Acoustic response timeouttV,[?Aɰ;BlW@Bae@BbٱB^ NAHRS rotation from veh to nav: [[-0.902302,0.415568,0.114692],[-0.427544,-0.896723,-0.114428],[0.055294,-0.152285,0.986789]]BH`?@s\?\ۿ.KO?~ÿœ?iBlW@IB_];BlCYV1ByV)IbD^VD^:2yf=%f`=ٔfAQ-j>9hYh=jDyjCn=En>pQ 5v4r?Q 9v4r`C)r BYtyv )Q Iz?rCIrR:ir(:rD4y~Bɮ~A~EB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 390.97 m.Rh-9Zh-9= ProNav: ac range: 390.969666 m, nav range: 379.609985 m, bearing: 213.769852 deg, approach rate: -0.647091 m/s, LOS rate: 0.008727 deg/s, cmd heading: 205.893116 deg, new cmd heading: 205.902692 deg. BhE9EHeadingCmd: 3.593680 target range: 390.969666 and range: 392.70 m.hMe@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]b.@颉ɢZ׼) \=i)m顑idԙi ,;tIe@II)gA1@1 @9@=/@9@U=@U=2Acoustic response timeout^AeNJNIQ Ia Om > E  E E 'E "E I:*E A:VE '4ZE a @a @a @a @'\,ot?AY~:By~*I a= p=bDVD3y%7=%%E=ٔ%Q-->9)Y)=-Dy-C5E5>9Q 5E4=?Q 9E4=F)=BYAyAQ IM?=CI=:i=:=9L4yUBɮU AUEjhFNOT Ignoring new targets: 390.97 m.Rh9Zh9 ProNav: ac range: 390.969666 m, nav range: 379.340790 m, bearing: 213.773485 deg, approach rate: -0.630169 m/s, LOS rate: 0.008511 deg/s, cmd heading: 205.902691 deg, new cmd heading: 205.913598 deg. Bh9HeadingCmd: 3.593870 target range: 390.969666 and range: 392.70 m.hf@h*h"h hgf f f d d djdZd=/@i9I9=2Acoustic response timeoutIɢMм)Q Ud=iQ)UQYi]i],e*;e{Ief@IaBb>BCB0*IB^BB =BBDB;BH5E59@1 @1@9@9)^A=yb]IIOE>I 2Acoustic response timeouty c,Kˎ?A6[@X@6 6f@6ٱ6\ BAHRS rotation from veh to nav: [[-0.896225,0.426785,0.120978],[-0.438973,-0.892546,-0.103267],[0.063905,-0.145657,0.987269]]6H߭`rP?f?!ܿo\?ߤ¿`?i6[@X@I6^;6mCYN@ByR *Ii%Mb@Mb@Mb@!!!! !9%"~j?{Gz?Y%S#?y%ף<%%(A! %XA)%A!Y%AbD=VD=N2yMu<%MH=ٔUQ-U>9QYQ=]Dy]7C]=E]>aQ 5m4e?Q 9m4eI)eBYuh#?Q Eu:yu)Q Iu?eCIe:ie/;e`S4yɮAjh9EFNOT Ignoring new targets: 390.97 m.RhE29ZhE29QDYDYEe EeEaEa"Ee:*EeVL:VEaZEaBEe` i!)%))i-Ki5C,5T;5I I O > i,?A2ƽX@2vf@2iٱ2 :AHRS rotation from veh to nav: [[-0.892532,0.432821,0.126703],[-0.445667,-0.889500,-0.100849],[0.069053,-0.146478,0.986801]]2H@U?7? υܿv5ѹr?ȿ¿`ߓ?i2ƽX@I20^;2jCR2Acoustic response timeoutYnKByn*IbDVDy V=%N=ٔkUQ->9Y=DyWC%C<E%>)Q 554-]?Q 954-$M)-%BY1y5o)Q I5?-/CI-:i-;-LZ4yEBɮEйAEEjhiuFNOT Ignoring new targets: 390.97 m.Rh}09Zh}09 ProNav: ac range: 390.969666 m, nav range: 378.830048 m, bearing: 213.781169 deg, approach rate: -0.666486 m/s, LOS rate: 0.009645 deg/s, cmd heading: 205.925750 deg, new cmd heading: 205.936658 deg. Bh9HeadingCmd: 3.594273 target range: 390.969666 and range: 392.70 m.hf@h*h"h hgfffdddjdZdj0@ɢL)  b>i )  $ ii$,Ճ;ZDAT read: 00:25:59.2958 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 5,-0.17,-2.919, 1.643,-2.959, 3.087, PHS= 0.379,-1.399, 0.194, RAW= 144.6, 9.8, CAL= 144.1, 10.7, ROT= 5.9, -10.7 Ygot valid direction response: 00:25:59.2958 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 5,-0.17,-2.919, 1.643,-2.959, 3.087, PHS= 0.379,-1.399, 0.194, RAW= 144.6, 9.8, CAL= 144.1, 10.7, ROT= 5.9, -10.7 PDAT read: Bearing 359.7, 7.6 (Local) ~Local bearing/azimuth received: Bearing 359.7, 7.6 (Local) DAT read: Range 11 to 50 : 369.7 m (Round-trip 493.0 ms) speed 0.6 m/s RDAT read: user:95>Tx time:00:26:00.3986 B>B CBP*IBwBB =B@DBDB;Bg5ER#Rx 1: Read range and direction messages.\direction in FSK: [0.977408,0.101005,0.185667]Fpublishing direction and range infoyQUrGыF?;){۹? &K{?YUٸCQQQQ Q)UIIUJ >iUoUF>U!@U%/>U @ Ut;?>)UB=IUt;?QQU^ӭ?^sn9?6? Us>)U.IUB=iUt;?QQ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. A Pp,?AYOBy*Ii]Mb@Mb@Mb@YYYY Y9]S㥛?9Y=Dy}CE>Q 5 4 s?Q 9 4P)*BY K&?Q E :y)Q I?VCI;i";[b4yBɮƹAEiyi}Q?AJi}CRi}Cji}o@i})G1{v@8l^9B@ AQ@ri}rGыF?;){۹? &K{?Zi}B=bi}t;?i}42 r_ىiۏwʴU@zi}݆Si&k2?2i}EH:i}("i}'馊?*i}ZBi}Ci}R?i} TKi}5Bi}Ci}2o@DAT read: 2Acoustic response timeout addTargetRange:: Added new target pos. range: 369.700012 m, deltaT: 16.631665 s, deltaX: -23.000000 m, approachRate: -1.382904 m/s, rangeRepo size: 4  Added new target pos. range: 368.036499 m, bearing: 214.053905 deg, lat: 36.779539 deg, lon: -121.859966 deg, deltaT: 16.631665 s, deltaX: -22.933167 m, approachRate: -1.378886 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 368.04 m.RhZh ProNav: ac range: 368.036499 m, nav range: 369.888306 m, bearing: 214.678011 deg, approach rate: 0.000000 m/s, LOS rate: 0.009645 deg/s, cmd heading: 205.936665 deg, new cmd heading: 205.950480 deg. Bh=HeadingCmd: 3.594514 target range: 368.036499 and range: 369.70 m.h= f@h9*hA"hA hAgAfAfIfIdIdIdIjdU@3w@ZdUe?颹ɢ_) >i)Ci i1,~;hGw,\u?A2KY@2@g@2tٱ2 :AHRS rotation from veh to nav: [[-0.888097,0.442730,0.123586],[-0.453065,-0.888497,-0.072840],[0.077558,-0.120681,0.989657]]2HJkU?@Z?`ܿ`n ڳ?@便 E?i2KY@I2H];0YBLByB*IbDJVDJ1yRʕ%Rg=ٔVǼQ-V>9TYT=ZDyZCZ<EZ>\Q 5b4^3b?Q 9b4^S)^/BYdyf[)Q If?^sCI^:i^:^zh4yU¸BɮUٹAUEuB*** querying acoustic contact ***iq iqjhy}FNOT Ignoring new targets: 368.04 m.Rh(J9Zh(J9 ProNav: ac range: 368.036499 m, nav range: 369.662384 m, bearing: 214.681874 deg, approach rate: -0.645643 m/s, LOS rate: 0.011046 deg/s, cmd heading: 205.950475 deg, new cmd heading: 205.962071 deg. Bh9HeadingCmd: 3.594716 target range: 368.036499 and range: 369.70 m.hf@h*h"h hgfffdd d)jd1Zd5?ɢ)  >i)iM+iE,Me;MK3B-'CB-u*IB-BB- =B-?DB-DB-;B-5EIAIaO?A~,?A ɰ499Y9==Dy=ɾCAE;EM>IQ 5U4MF?Q 9]4MX)M5BY]s'?Q E]:y]&Q I]?MCIM:iM:Mr4ymĸBɮmAmEjhFNOT Ignoring new targets: 368.04 m.Rh9Zh9 ProNav: ac range: 368.036499 m, nav range: 369.276031 m, bearing: 214.686135 deg, approach rate: -0.670644 m/s, LOS rate: 0.007404 deg/s, cmd heading: 205.962073 deg, new cmd heading: 205.974870 deg. Bh9HeadingCmd: 3.594940 target range: 368.036499 and range: 369.70 m.h~f@h*h"h hgfffdddjdZd?ɢ8) R=>i)>iei7 ,c؆;s#ԙ E  E E 'E "E I:*E a9:VE '4ZE BE i)顉iEiJ ,͇;+A >IA IQ Oe >Ӌ,1?A2Y@2§g@2屽ٱ2m :AHRS rotation from veh to nav: [[-0.884559,0.447759,0.130639],[-0.458289,-0.886432,-0.064878],[0.086753,-0.117259,0.989305]]2H ON@?@˸?`Tݿ]`ӛy5?`b?i2Y@I2u^;2mCYBuByBM*IbDJVDJ02yR=%VL=ٔVfQ-V>9TYX=ZDyZCZ;EZ>|Q 5%4]#?Q 9%4O_)=BY!y%&Q I-?CII:iI:4y5ŸBɮ5=A5EjhQ]FNOT Ignoring new targets: 368.04 m.Rhe8Zhe8u ProNav: ac range: 368.036499 m, nav range: 368.797211 m, bearing: 214.691204 deg, approach rate: -0.652971 m/s, LOS rate: 0.006856 deg/s, cmd heading: 205.981607 deg, new cmd heading: 205.990089 deg. Bhu9uHeadingCmd: 3.595205 target range: 368.036499 and range: 369.70 m.h}f@hy*hy"hy hygyfffdddjdZd ??E EE*E"Em:*ER:VE(N4ZEa@a@a@a@ɢ9) k>i)ii,$!;B]>BCB*IBBB =B@DBDBZ;B5EYԁ = Gϻ,6wK?A"2Acoustic response timeout2jA:MAFY@Fg@FƶٱF NAHRS rotation from veh to nav: [[-0.883477,0.447230,0.139478],[-0.459919,-0.884650,-0.076608],[0.089127,-0.131830,0.987257]]FHpE@l?f?@Ooݿ OѶ?`?iFY@Z9ZjAYZVAIF`];FlCYbsBybK*IddyiMb@Mb@Mb@ 9uV?~jt? ףp= Yr(?y=Q8^AIA XA)dAYקAbDVDy%9=ٔUQ->9Y=Dy(C{;E>Q 54?Q 94c)?BY)?Q E:yE'Q I?CI;i%;04yƸBɮJA Ejh)-FNOT Ignoring new targets: 368.04 m.Rh5}9Zh5}9E ProNav: ac range: 368.036499 m, nav range: 368.513306 m, bearing: 214.694630 deg, approach rate: -0.658326 m/s, LOS rate: 0.007950 deg/s, cmd heading: 205.990091 deg, new cmd heading: 206.000376 deg. BhE9MHeadingCmd: 3.595385 target range: 368.036499 and range: 369.70 m.hMf@hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde@频ɢ){K Xg>i)顙i/i,; ,/Qe?A6)Y@6g@6ٱ6% BAHRS rotation from veh to nav: [[-0.882099,0.447073,0.148416],[-0.462292,-0.882103,-0.090441],[0.090484,-0.148389,0.984781]]6H':ל?@H?1ݿ0:@(')?@m¿R?i6)Y@I6 ^;6jCYJByJ_*IbDR VDR2yZ=%Z_=ٔ^9sQ-^>9\Y`=bDybFCb;Eb>dQ 5j4f?Q 9j4fNf)f@BYlyn,'Q In?f%CIf;if;f4ypɮrAt B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 368.04 m.Rh-{9Zh-{9= ProNav: ac range: 368.036499 m, nav range: 368.271454 m, bearing: 214.697496 deg, approach rate: -0.656366 m/s, LOS rate: 0.007786 deg/s, cmd heading: 206.000377 deg, new cmd heading: 206.008983 deg. BhE9EHeadingCmd: 3.595535 target range: 368.036499 and range: 369.70 m.hM?f@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]r@颉ɢ$U) C>i)eQ顑i iu,;Q 2Acoustic response timeoutA A B L>B CB *IB ĊBB =B B DB ;B 6EBmCBmCBmʘCBmʺ =Bmʹ =CmʘI7 ,,?AYBy%i*IbDVDk1y=% 7=ٔQ->9!Y)=-Dy5kC=EE>YQ 5u4]&?Q 9}4]Lj)]CBYyQ I?]LCI]i)0顙i@%ij+A;;,"?A2p.Z@2!$h@28Ժٱ2 :AHRS rotation from veh to nav: [[-0.880712,0.449039,0.150701],[-0.464809,-0.880550,-0.092645],[0.091099,-0.151641,0.984229]]2H. ?,J?oݿ x-@ =R? hÿ ~?i2p.Z@I2];0YBByB*IIF>)F;nBDAT read: Rx Time:00:26:03.3250 nTRx dataTimestamp_ set to:1761524762.436195r2Acoustic response timeouti%Mb@Mb@Mb@!!!! !9%q= ףp?Dl?v/Y%+?y%O=%xi%кA%A %A)%ŽA!Y%̦AbD9VD9yM=%MM=ٔ.Q-%>9!Y!=%Dy%C-;E->1Q 5=45<?Q 9=45Qn)5ABY= -?Q E=:yEW$Q IE?5pCI5@:i5:5Ӝ4yIɮMAIjhiuFNOT Ignoring new targets: 368.04 m.Rhux{8Zh}x{8ԉ ProNav: ac range: 368.036499 m, nav range: 367.690674 m, bearing: 214.702448 deg, approach rate: -0.691459 m/s, LOS rate: 0.003435 deg/s, cmd heading: 206.019652 deg, new cmd heading: 206.023844 deg. Bh9HeadingCmd: 3.595794 target range: 368.036499 and range: 369.70 m.h!f@h*h"h hgfffdddjdZd @ɢJ) $>i)CiR)i7+b;XpTx time:00:26:04.3986 R#Rx 1: Read range and direction messages.^direction in FSK: [0.986339,0.122855,-0.109734]Fpublishing direction and range infoy9=r+p:?ms?,=Y=C9999 9)=JI=+G?i=L7i=h ?=@=BW>BCB*IB݊BB =BBDB;B6EIIO?,t?A@ z0)=Iz0= ͙V?х%?8ӷ ]>)Z=I=iz0=22Acoustic response timeout6Querying Benthos address 50 with one ping in standard two-way mode.BHCZ@B8h@BٱBx$ JAHRS rotation from veh to nav: [[-0.880155,0.448988,0.154067],[-0.465948,-0.879170,-0.099758],[0.090661,-0.159590,0.983011]]BH:*8?z?ݿ*"@5?rmĿt?iBHCZ@IBFV^;BlCyYBy*IbDVDNyi;%=ٔ1D:Q->9AYI=UDyUCe ;E>ԡQ 54?Q 94t)?BYyO$Q I?CI*'i)s i(0id++M;DAT read: 2Acoustic response timeoutC ףp=?/$?y&1Y1?y=`edA )YfAbDVD!3y=%=ٔQ->9Y=DyCE>Q 54֙?Q 9 4 z)>BY 3?Q E :y &#Q I ?CI ;i ;4y˸Bɮ-A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 368.04 m.RhMX7ZhMX7] ProNav: ac range: 368.036499 m, nav range: 366.875122 m, bearing: 214.705366 deg, approach rate: -0.732648 m/s, LOS rate: 0.001526 deg/s, cmd heading: 206.030225 deg, new cmd heading: 206.032614 deg. Bh]8eHeadingCmd: 3.595948 target range: 368.036499 and range: 369.70 m.hm$f@hi*hi"hi higqfqfyfydydydjdZd 3?ɢ) 5>i) iU62Acoustic response timeouti+dx;EB CB *IB BB =B B B ;B 6E^A! A.AIIO?,t?A:;Z@:~h@:{ޢٱ:t" FAHRS rotation from veh to nav: [[-0.879002,0.454643,0.143718],[-0.470153,-0.876627,-0.102376],[0.079442,-0.157558,0.984309]]:H` @?We?޿`T `X5QV?`*Ŀu?i:;Z@I:=^;:jCYNŊByN*Ii%Mb@Mb@Mb@!!!! !9%ʡE?S㥻?~jtY%/?y%/=%D%CA%A1 %CA)%A!Y%AbD=VD=2yMV<%U%=ٔU9] ?Y] ?=]Dy]C] <E]>aQ 5m4ed?Q 9u4e)e;BYu42?Q Eu:yu} Q Iu?eCIe ;ie ;e74y}̸BɮAEjhFNOT Ignoring new targets: 368.04 m.RhaZha ProNav: ac range: 368.036499 m, nav range: 366.529968 m, bearing: 214.703841 deg, approach rate: -0.696941 m/s, LOS rate: -0.003082 deg/s, cmd heading: 206.032615 deg, new cmd heading: 206.028036 deg. Bh_HeadingCmd: 3.595868 target range: 368.036499 and range: 369.70 m.h"f@h*h"h hIgIfIfIfQdQdQdQjdQZd]f?iߙIߙ2Acoustic response timeoutɢ<ӻ) >i)iXU;i-+-y;- =I-"f@I1a@ @@0@DIDM<bEjEc44rET/EU EUEU%EQ"EU:*EU H:VEU 4ZEQBEU= ',C!?AJpZ@J6fh@J[ٱJ bAHRS rotation from veh to nav: [[-0.880134,0.454994,0.135446],[-0.469053,-0.877447,-0.100378],[0.073175,-0.151877,0.985687]]JH * ?KV?޿ Z ?pÿ`?iJpZ@IJ;^;HYfڊByj*IbDrVDrk2yz=%zQ=ٔz9~"?Y~"?=~Dy~5Cx|E> Q 54 o?Q 94 ) 9BYy Q I? 'CI e;i ; 4y%͸Bɮ%ʷA%EjhIMFNOT Ignoring new targets: 368.04 m.RhUYZhUYe ProNav: ac range: 368.036499 m, nav range: 366.257629 m, bearing: 214.702676 deg, approach rate: -0.695693 m/s, LOS rate: -0.002977 deg/s, cmd heading: 206.028039 deg, new cmd heading: 206.024543 deg. BhemHeadingCmd: 3.595807 target range: 368.036499 and range: 369.70 m.hm!f@hi*hi"hi higifqfqfqdydydyjdyZd}?ԑ颩ɢp:) >i)项i>i+,;qn=I!f@I9@ @@5@@@=^AeNw =2Acoustic response timeoutA.AIIOa>Ee  Ee Ee )Ea "Ee :*Ee T:VEe FA4ZEa am @am @am @au @ ,8;?A2JZ@2@h@2^ٱ2' :AHRS rotation from veh to nav: [[-0.881641,0.453971,0.128916],[-0.467259,-0.878030,-0.103597],[0.066162,-0.151572,0.986229]]2Hg6 ? Q?`ݿ`P`?fÿ1?i2JZ@I2>b^;2iCYBByB*IID)F>bDNVDNyV=%VO=ٔV!9Z ?YZ ?=ZDyZUCZE^>`Q 5b4b8]?Q 9f4b)b5BYdyf Q If?bJCIb:ibk:blj4yhɮnAl2Acoustic response timeoutjh  FNOT Ignoring new targets: 368.04 m.RhGZhG% ProNav: ac range: 368.036499 m, nav range: 365.983459 m, bearing: 214.701598 deg, approach rate: -0.693713 m/s, LOS rate: -0.002730 deg/s, cmd heading: 206.024542 deg, new cmd heading: 206.021305 deg. Bh%-HeadingCmd: 3.595750 target range: 368.036499 and range: 369.70 m.h- f@h)*h)"h) h)g)f1f1f1d1BEP>BECBE+IBEBBE =BABEDBEǀ;BE76EdQdjdZd5Z@!ɢ%m:)) ->i))-))i5Bi5+=H|;=y ,_T?A2,Z@27"h@2rٱ2 :AHRS rotation from veh to nav: [[-0.882892,0.452954,0.123834],[-0.465828,-0.878095,-0.109334],[0.059215,-0.154215,0.986261]]2H@@`2??@ ݿ ZPfQ?`Uÿs?i2,Z@I2n^;2hCYBByB*Ii Mb@Mb@Mb@     9 ʡE?V-?{GzY y = # A "A ^ADzDE% E%E%-E!"E%:*E%P:VE%t4ZE!BE% 9YYY=]Dy]wCeEe>iQ 5u4m4I?Q 9u4m)m1BYug2?Q Eu:yuQ I?mpCImi9)=SAAiE"FiEa,MK;MS 2Acoustic response timeout ',6n?AB`Y@Bg@BUٱB JAHRS rotation from veh to nav: [[-0.884603,0.451661,0.116105],[-0.463412,-0.879238,-0.110407],[0.052217,-0.151471,0.987082]]BHN? ?ݿ`"C6?@fcÿ,?iB`Y@IBi"^;BiCYRByR*IbDZ VDZf2yb=%bT=ٔf9dYd=fDyjCjEj>lQ 5r4n7?Q 9r4n␸)n-BYtyv) Q Iv?nCInt:in:n։4yzиBɮz;AzE B*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 368.04 m.Rh%Zh%5 ProNav: ac range: 368.036499 m, nav range: 365.418610 m, bearing: 214.698509 deg, approach rate: -0.746375 m/s, LOS rate: -0.003923 deg/s, cmd heading: 206.016264 deg, new cmd heading: 206.012029 deg. Bh5O,=HeadingCmd: 3.595588 target range: 368.036499 and range: 369.70 m.h=f@hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU`%@yɢ<) ?i)顉iHi,1;zBECBE*+IBE)BBE =BABEDBE;BE"6E^A]8<AazAehAIIO> 9 ,?A2$Y@2Ԥg@2Q:ٱ2# :AHRS rotation from veh to nav: [[-0.887071,0.448716,0.108445],[-0.459389,-0.881193,-0.111627],[0.045472,-0.148839,0.987815]]2Hb@? û?fݿ2`#H?`* ÿ/?i2$Y@I2^;0YBByB+I DD f>qCYq9Y3Ai=Mb@Mb@Mb@999yet?mAu2Acoustic response timeout9 99=Cl?T㥛 ? rhY=/?y=>=C =A=A =xA)=QA9Y=AbD VD:2yD=%0=ٔn9Y=DyC$&E>Q 547!?Q 94)(BY3?Q E:y{Q I?CI :i:?މ4yѸBɮAEjhFNOT Ignoring new targets: 368.04 m.RhkZhk ProNav: ac range: 368.036499 m, nav range: 365.093811 m, bearing: 214.696259 deg, approach rate: -0.699021 m/s, LOS rate: -0.004847 deg/s, cmd heading: 206.012029 deg, new cmd heading: 206.005272 deg. BhT%HeadingCmd: 3.595470 target range: 368.036499 and range: 369.70 m.h%/f@h!*h"h hgfffdddjdZd @!ɢ%;)! - ?i))- d11i=ALiM,U}%;U9,?A Y~By~+IbDVDy=w<%=d=ٔ=Q-E>9AYA=EDyECMEM>QQ 5U4Um?Q 9]4U )U$BYYyYQ I]?UCIU;iU;U4yiɮm϶AijhFNOT Ignoring new targets: 368.04 m.RhZh ProNav: ac range: 368.036499 m, nav range: 364.843811 m, bearing: 214.694524 deg, approach rate: -0.698648 m/s, LOS rate: -0.004851 deg/s, cmd heading: 206.005267 deg, new cmd heading: 206.000060 deg. Bh UHeadingCmd: 3.595379 target range: 368.036499 and range: 369.70 m.hf@h*h"h hgfffdddjdZdB @ ɢr<) ?i)T!!i%Ni%,-2;-2Acoustic response timeoutԙ EM  EM EM )EI "EM :*EM g:VEM FA4ZEI aU @aU @aU @aU @c,[?A2%Y@2g@2 ٱ2 :AHRS rotation from veh to nav: [[-0.891305,0.442355,0.099481],[-0.452156,-0.883459,-0.122700],[0.033610,-0.154344,0.987445]]2H@O?w?@ܿKEFi`5?@ÿ&?i2%Y@I2ש^;2jCYB)ByB*+IbDJ VDJf2PyVw=%VT=ٔVK9XYX=ZDyZC^E^>`Q 5f4b:?Q 9f4bF)bBYdyf Q If?bCIb:ib :b=4ylɮnABr->BrCBrC+IBr=BBr =BrADBrDBr};Br5EBCBCBCB =B =C6=DAT read: 00:26:07.3204 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402, 0.07, 2.234, 0.550, 2.169, 1.611, PHS= 0.725,-1.016, 0.514, RAW= 143.6, -2.7, CAL= 143.4, -3.2, ROT= 6.6, 3.2 EYgot valid direction response: 00:26:07.3204 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402, 0.07, 2.234, 0.550, 2.169, 1.611, PHS= 0.725,-1.016, 0.514, RAW= 143.6, -2.7, CAL= 143.4, -3.2, ROT= 6.6, 3.2 MPDAT read: Bearing 347.6, 9.1 (Local) M~Local bearing/azimuth received: Bearing 347.6, 9.1 (Local) ]DAT read: Range 11 to 50 : 388.2 m (Round-trip 517.7 ms) speed 0.5 m/s eRDAT read: user:97>Tx time:00:26:08.3985 eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.991824,0.114758,-0.055822]mFpublishing direction and range infoy  *f?1`?ᢔY C    Ei i ?AJi 0CRi 0Cji m@i #w@Ȗ+F@S-|5ri *f?1`?ᢔZi =bi d=i ';.]Ate 9j臤입.zi @|pAC$4`῜\.82i Q:i  "i $O?*i ,Bi FYB i i i i Ci (o@) II 9?i J ? g @ A - @ d) =I d=   cH?bOQ?cTPO 1>) D=I =i d=  E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode. addTargetRange:: Added new target pos. range: 388.200012 m, deltaT: 8.069231 s, deltaX: 18.500000 m, approachRate: 2.292660 m/s, rangeRepo size: 4  Added new target pos. range: 386.379791 m, bearing: 212.916598 deg, lat: 36.779374 deg, lon: -121.860056 deg, deltaT: 8.069231 s, deltaX: 18.343292 m, approachRate: 2.273239 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 386.38 m.RhZh ProNav: ac range: 386.379791 m, nav range: 384.234619 m, bearing: 214.106918 deg, approach rate: 0.000000 m/s, LOS rate: -0.004851 deg/s, cmd heading: 206.000063 deg, new cmd heading: 205.993788 deg. BhHeadingCmd: 3.595270 target range: 386.379791 and range: 388.20 m.hf@h*h"h hgfffdddjd@3Cx@Zd`B>?!ɢ-4<)1 5?i9)޸޼顉iIQi ,D;,,e?A6X@69f@6ᘿٱ6T( >AHRS rotation from veh to nav: [[-0.894701,0.436734,0.093662],[-0.446052,-0.884589,-0.136161],[0.023386,-0.163602,0.986249]]6Hdt?=?ܿ`Nm?`ĿZ?i6X@I6e^;6iCYF7ByF<+IIJC=)J<5=5=2Acoustic response timeoutԱi%Mb@Mb@Mb@!!!! !9%B`"?Zd;?QY%.?y%=%%A%߉A %A)!!Y%AbD=VD=N2yUX=%U=ٔ]&9m"?Y"?=Dy#CNE>Q 54?Q 94<)BY1?Q E:y Q I?0CI;i";4yIɮUhAUEjhFNOT Ignoring new targets: 386.38 m.RhFZhF ProNav: ac range: 386.379791 m, nav range: 383.850006 m, bearing: 214.104939 deg, approach rate: -0.733700 m/s, LOS rate: -0.003778 deg/s, cmd heading: 205.993793 deg, new cmd heading: 205.987851 deg. Bh%HeadingCmd: 3.595166 target range: 386.379791 and range: 388.20 m.h4f@h*h"h hgfffdd d jd Zd W?qɢ} E<)y }?i)ټiSi,͡;є;1 v,0?A2nX@2df@2]ٱ28/ :AHRS rotation from veh to nav: [[-0.896646,0.433059,0.092121],[-0.442341,-0.885141,-0.144428],[0.018994,-0.170250,0.985218]]2HR@>?@D?@ROܿS|¿?s?ſ`?i2nX@I2e^;2hCYBAByBH+IbDLVDLyf\=%fh=ٔfL9hYh=jDyj?CjJEn?pQ 5v4r ?Q 9v4r֧)rBYtyv!Q Iv?rNCIrX:ir.:r4y|ɮ~AA|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 386.38 m.Rh-blZh-bl= ProNav: ac range: 386.379791 m, nav range: 383.616333 m, bearing: 214.103897 deg, approach rate: -0.723751 m/s, LOS rate: -0.003229 deg/s, cmd heading: 205.987850 deg, new cmd heading: 205.984723 deg. Bh= EHeadingCmd: 3.595112 target range: 386.379791 and range: 388.20 m.hEOf@hA*hA"hA hIgIfIfIfQdQdQdQjdQE EE-E"E:*Ec:VEt4ZEa@a@a@a@ZdA?)ɢ-+D<)) - ?i))5Wּ1QimUig ,;+BuCBuc+IBuWBBu =BqBuDBu=;Bu5E2Acoustic response timeoutI^A5ԙ ] 2Acoustic response timeout8,C ?A2{EX@2+;f@2|qٱ2f8 :AHRS rotation from veh to nav: [[-0.897825,0.430638,0.091981],[-0.440105,-0.884520,-0.154701],[0.014739,-0.179376,0.983670]]2H`??*ܿ`M@ÿL/?`ƿ:z?i2{EX@I2u^;2eCYBJByBR+IieMb@Mb@Mb@aaaa a9eMbX?Q?Zd;OYe*?ye=ejeʲAeA e A)eAaYeAbDyVDyy =%>=nManaging dock network, ignoring radio surface power offٔ!9Y=DybCE>Q 54?Q 94T)BY-?Q E:y!Q I?sCI;i:\4yɮAEjhFNOT Ignoring new targets: 386.38 m.Rh[Zh[ ProNav: ac range: 386.379791 m, nav range: 383.324493 m, bearing: 214.102606 deg, approach rate: -0.677416 m/s, LOS rate: -0.003000 deg/s, cmd heading: 205.984722 deg, new cmd heading: 205.980844 deg. BhHeadingCmd: 3.595044 target range: 386.379791 and range: 388.20 m.h3f@h*h"h hgfffd!d!d!jd!Zd%F?iɢ:<) %?i)ѼiWi ,";%;I%3f@I)I1)5cAE EE*E"E:*E:VE(N4ZEBE- ,!(?A2X$X@2f@2L*ٱ2e< :AHRS rotation from veh to nav: [[-0.898763,0.429229,0.089375],[-0.438312,-0.884476,-0.159952],[0.010394,-0.182933,0.983070]]2H `}x?F? N ܿM OyĿ iI?Yjǿ Pu?i2X$X@I2K^;2iCYBUByB`+I DDbDN VDN2ynXh=%rW=ٔr;9pYt=vDyvCvEv>xQ 5~4z?Q 9~4zD)zBYy7!Q I?zCIz:iz:z4y ոBɮ A  Ejh15FNOT Ignoring new targets: 386.38 m.Rh=KZh=KU ProNav: ac range: 386.379791 m, nav range: 383.067688 m, bearing: 214.101553 deg, approach rate: -0.677680 m/s, LOS rate: -0.002780 deg/s, cmd heading: 205.980842 deg, new cmd heading: 205.977682 deg. BhU8HeadingCmd: 3.594989 target range: 386.379791 and range: 388.20 m.h%Lf@h!*h!"h! h!g)f)f)f1d1d1d9jd9Zd=?颹ɢ"<) *?i)Hͼi 5Yii ,';Ѣ;ILf@IiI2Acoustic response timeout%9@! @)@-Q0@)E EE(E"E:*E]t:VEc44ZEa@a@a@a@^A- <1 B *>B CB +IB pBB =B B DB ;B S5E 2Acoustic response timeoutA I I O >Q ,B?A2SW@2e@2Iٱ2[; :AHRS rotation from veh to nav: [[-0.899785,0.428084,0.084452],[-0.436297,-0.885235,-0.161260],[0.005727,-0.181946,0.983292]]2H e??IۿS-Ŀuw?Iǿ w?i2SW@I2 O^;2gCYBbByBp+IbDJVDJyZ6=%ZM=ٔ~;9Y=DyCE> Q 54 ?Q 94 }) BYyZ!Q I? CI ;i ; 4y!ɮ%˵A)jhIMFNOT Ignoring new targets: 386.38 m.RhUl;ZhUl;e ProNav: ac range: 386.379791 m, nav range: 382.791779 m, bearing: 214.100509 deg, approach rate: -0.676210 m/s, LOS rate: -0.002560 deg/s, cmd heading: 205.977687 deg, new cmd heading: 205.974553 deg. BhemHeadingCmd: 3.594934 target range: 386.379791 and range: 388.20 m.hmgf@hi*hi"hq hqgqfqfyfydydydjdZd@颩ɢr<) I1?i)mɼ项iZiN ,;V7Q;Igf@I1u9@q @y@}4@y2Acoustic response timeoutY^Avт;ԁ A I I O >D zD bEMFA4jEMI4rEM 0E  E E 'E "E m:*E R:VE '4ZE BE W9qYq=uDyuC2Acoustic response timeoutE>Q 54Ά?Q 954)BY=0?Q E=:yE"Q IE?CIA > A .AI I O% >t,wv?Aɰ;>W@>e@>hf;ٱ>4 JAHRS rotation from veh to nav: [[-0.901346,0.426916,0.072920],[-0.433085,-0.887082,-0.159762],[-0.003519,-0.175581,0.984459]]>H @R?ު?ۿbsĿ l oyƿ?i>W@I>C^;>gClYvByv+IbD~VD~1y =% Q=ٔ ?9 ?Y ?=DyCE>!Q 5-4%t?Q 9-4%ɼ)%BY)y5"Q I5?%CI%:i%:%E4y9ɮ=YA9UB*** querying acoustic contact ***iQ iQjhamFNOT Ignoring new targets: 386.38 m.Rhm9Zhm9E EE)E"E:*E;J:VEFA4ZEa@a@a@a@ ProNav: ac range: 386.379791 m, nav range: 382.234406 m, bearing: 214.099958 deg, approach rate: -0.719686 m/s, LOS rate: -0.000632 deg/s, cmd heading: 205.973589 deg, new cmd heading: 205.972909 deg. Bh޷HeadingCmd: 3.594905 target range: 386.379791 and range: 388.20 m.hf@h*h"h hgfffdddjdZd`o@iɢm H=)q u??i)m顑if]i ,;L9If@IAAB!B!B%+IB%BB% =B!B!B%;B%5EM9@I @I@M/@I2Acoustic response timeout1^A?B:i I I O >i9 I9 = 2Acoustic response timeout#,GT?A2W@2pe@21;ٱ21 :AHRS rotation from veh to nav: [[-0.901750,0.426900,0.067848],[-0.432191,-0.887668,-0.158921],[-0.007617,-0.172630,0.984957]]2H"UR?{^? ۿ`gWĿ`2ƿ ń?i2W@I2#^;0YBByB+IAiMb@Mb@Mb@ 9|?5^?Mb? rhY-?y=C A)YAbDVDk1y;%<=ٔ9Y=DyC#E>Q 5 4_?Q 94 )܀BY/?Q E:y $Q I?%CI0;i/;%4y!ɮ%SA-EjhIMFNOT Ignoring new targets: 386.38 m.RhU7ZhU7e ProNav: ac range: 386.379791 m, nav range: 381.937775 m, bearing: 214.100708 deg, approach rate: -0.684251 m/s, LOS rate: 0.001733 deg/s, cmd heading: 205.972906 deg, new cmd heading: 205.975159 deg. Bhe68mHeadingCmd: 3.594945 target range: 386.379791 and range: 388.20 m.hmf@hi*hi"hi hqgfffdddjdZd @iɢr<) 8@?i)0i^i# ,3;If@IiD=D<E EE*E"E:*ErN:VE(N4ZEBE *,.?A2W@2Me@2^9<ٱ2B, :AHRS rotation from veh to nav: [[-0.902170,0.426882,0.062143],[-0.431233,-0.888675,-0.155872],[-0.011314,-0.167421,0.985821]]2H@ R?3ѯ?Pۿpÿ+ nſ׋?i2W@I2sI^;0YBByB+IbDJVDJ2y%ݿ=%%X=ٔ- 91Y1=5Dy=%CԹ+E>Q 54L?Q 94ĸ)ԀBYy$Q I?HCI:i:,4yɮ AEjhaeFNOT Ignoring new targets: 386.38 m.Rhm38Zhm38 ProNav: ac range: 386.379791 m, nav range: 381.664734 m, bearing: 214.101432 deg, approach rate: -0.670756 m/s, LOS rate: 0.001779 deg/s, cmd heading: 205.975160 deg, new cmd heading: 205.977332 deg. Bh=8HeadingCmd: 3.594983 target range: 386.379791 and range: 388.20 m.h2f@h*h"h hgfffdddjdZd 4@52Acoustic response timeoutaɢe*4=)a mII?ii)m Ǵ顉i_i ,Р; I2f@IE EE&E"E:*EF:VE4ZEa@a@a@a@Ѽ1 9@  @ @ 4@ @ @ hAB />B B +IB BB =B B DB ~;B 4E5 DAT read: 00:26:11.3012 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 237, 0.28, 1.415,-0.207, 1.368, 0.935, PHS= 0.582,-1.096, 0.389, RAW= 144.0, 1.6, CAL= 143.6, 1.8, ROT= 6.4, -1.8 E Ygot valid direction response: 00:26:11.3012 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 237, 0.28, 1.415,-0.207, 1.368, 0.935, PHS= 0.582,-1.096, 0.389, RAW= 144.0, 1.6, CAL= 143.6, 1.8, ROT= 6.4, -1.8 U PDAT read: Bearing 350.6, 5.6 (Local) U ~Local bearing/azimuth received: Bearing 350.6, 5.6 (Local) Y e DAT read: Range 11 to 50 : 373.9 m (Round-trip 498.6 ms) speed 0.4 m/s m RDAT read: user:98>Tx time:00:26:12.3985 u R#Rx 1: Read range and direction messages. \direction in FSK: [0.993278,0.111414,0.031411] Fpublishing direction and range infoy  1?ƹɉ?Iz?Y C ) JI ?i I +> | @ < g @ =) =I j)3:?l?.Wr? +>) 9I =i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A "A gAzA hAII!O5>P1,[?A,6W@6Se@6Pj<ٱ6m( VAHRS rotation from veh to nav: [[-0.902529,0.426740,0.057746],[-0.430391,-0.889431,-0.153869],[-0.014301,-0.163725,0.986402]]6H`O?ݐ? ۿ 8vÿI Ŀ?i6W@I6<^;6hCYrByr+IbDVD:3ymM=%m-=%GAAٔF;9YAQ->9Y=Dy-OC-E->1Q 5=454?Q 9=45ɸ)5ɀBY9y=%$Q IE?5tCI5:i5:554yiɮmٴAiԁi9i=q?AJi=CRi=Cji=l@i=]Tw@)=_0D@p``'@ri=1?ƹɉ?Iz?Zi==bi=i==2sN#hP: zjzi=l[xlq῰ZHSW2i=E:i="i=pn?*i=7Bi=Bi=pn?i=,i=Bi=Ci=hn@ addTargetRange:: Added new target pos. range: 373.899994 m, deltaT: 4.039297 s, deltaX: -14.300018 m, approachRate: -3.540225 m/s, rangeRepo size: 4 - Added new target pos. range: 372.147491 m, bearing: 212.101908 deg, lat: 36.779378 deg, lon: -121.859992 deg, deltaT: 4.039297 s, deltaX: -14.232300 m, approachRate: -3.523460 m/s, posRepo size: 4 jh)-FNOT Ignoring new targets: 372.15 m.Rh5Zh1eDAT read: m2Acoustic response timeoutu ProNav: ac range: 372.147491 m, nav range: 377.763336 m, bearing: 213.435823 deg, approach rate: 0.000000 m/s, LOS rate: 0.001779 deg/s, cmd heading: 205.977332 deg, new cmd heading: 205.980082 deg. BhquHeadingCmd: 3.595031 target range: 372.147491 and range: 373.90 m.h}f@hy*hy"hy hygfffdddjd`f^w@Zd?ɢ4<)9 =_O?i9)Er뭼AAiE`iM ,M<;MxpIMf@IQԱDzD@AE EE*E"E:*EP:VE(N4ZEBEa2EaJE*;a:E*;a D- 9@  @ @ 5@ % 2Acoustic response timeout ^A] 9IAIQOe ?I:,J?A26W@2e@2T<ٱ2' :AHRS rotation from veh to nav: [[-0.902710,0.426730,0.054913],[-0.429908,-0.889536,-0.154610],[-0.017129,-0.163176,0.986448]]2H`O?@?ۿwBÿ[Ŀ?i26W@I2H*^;2eCYBByB+Izonly read 1 of 4 data items for water velocity. Device response is::WS,-3278V az@az a~@a~ a~@a~ a~@a~ bD VD N2y%%%=ٔ%b;Q-->91Y1=5Dy5uC=E=>AQ 5 4E.?Q 9 4Eθ)EBQ A +:Y Q Ez:y-$Q I?ECIE8Ee<4yԸBɮ޴AEjhamFNOT Ignoring new targets: 372.15 m.RhmNV7ZhmNV7} ProNav: ac range: 372.147491 m, nav range: 377.439423 m, bearing: 213.436178 deg, approach rate: -0.666616 m/s, LOS rate: 0.000732 deg/s, cmd heading: 205.980078 deg, new cmd heading: 205.981144 deg. Bh}8HeadingCmd: 3.595049 target range: 372.147491 and range: 373.90 m.hIf@h*h"h hgfffdddjdZdY?!ɢ%=)) -N?i))-J))i5?ai5l ,= ;=I=If@I9AAIIe2Acoustic response timeout1E EE%E"E:*ErN:VE 4ZEa@a@a@a@9@ @@@y B A B% 3>B% CB% +IB% BB% =B% @DB! B% ~;B% `4EBCBCBɔCB =B =Cɮ6 2Acoustic response timeoutԉ ^A I I O- >gA,\ ?A2W@2͂e@2m<ٱ2g% :AHRS rotation from veh to nav: [[-0.902641,0.427275,0.051715],[-0.429936,-0.889611,-0.154101],[-0.019837,-0.161332,0.986701]]2H pzX?jz?@ۿ`wÿ@6P@Ŀ` ?i2W@I2%0^;2iCYBByB+IbDJVDJyR2=%RE=ٔV;Q-V>9TYT=VDyVCZy 9EZ>\Q 5b4^, ?Q 9b4^Ҹ)^BQ Ab :Y`Q EfK:yf*$Q If?^CI^X:i^c?^$A4yUBɮUAUEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 372.15 m.RhY7ZhY7 ProNav: ac range: 372.147491 m, nav range: 377.156219 m, bearing: 213.436482 deg, approach rate: -0.691510 m/s, LOS rate: 0.000743 deg/s, cmd heading: 205.981143 deg, new cmd heading: 205.982056 deg. Bh8HeadingCmd: 3.595065 target range: 372.147491 and range: 373.90 m.hf@h*h"h hgfffdddjdZd@F9?aɢeg=ԑ)) 5>S?i9)=*AAiMbi]) ,e;,;mImf@IyI ) 2Acoustic response timeout9@ @@/@@=@=^A E  E E (E "E :*E X:VE c44ZE BE G, ?Av>vC?v2Acoustic response timeoutYEByE+IIM=)M=aa aa aa aa iMb@Mb@Mb@ 9J +?95"?Y5"?=5Dy5C=E=>AQ 5E4E?Q 9M4Eָ)EBQ AMT:YM)?Q EM:yM%Q IM?ECIED;iEo;EI4yYɮ]AYjhyFNOT Ignoring new targets: 372.15 m.Rhl8Zhl8 ProNav: ac range: 372.147491 m, nav range: 376.854797 m, bearing: 213.438017 deg, approach rate: -0.699143 m/s, LOS rate: 0.003563 deg/s, cmd heading: 205.982058 deg, new cmd heading: 205.986667 deg. Bh9HeadingCmd: 3.595145 target range: 372.147491 and range: 373.90 m.hf@h*h"h hgfffdddjdZd@\?ɢʂ=) YT?i)cici,*; If@I@ @@/@2Acoustic response timeout9 ^A "5A I I O- >#M,9 ?A2qW@2uge@2 <ٱ2# >AHRS rotation from veh to nav: [[-0.903256,0.426614,0.046140],[-0.428381,-0.890284,-0.154547],[-0.024854,-0.159361,0.986907]]2Hy@M? ?jۿ4}`2ÿUs eĿྔ?i2qW@I2 '^;2eCEb EbEb+E`"Eb:*EbT:VEb [4ZE`af@aj@aj@aj@YjByj+IbDrVDr1yz =%zb=ٔ~6c9Y=DyCE > Q 54 F?Q 94 ڸ) BYy%Q I? CI ;i ; mO4y!ɮ-ϴA-EjhIUFNOT Ignoring new targets: 372.15 m.RhUY8ZhUY8e ProNav: ac range: 372.147491 m, nav range: 376.615265 m, bearing: 213.439296 deg, approach rate: -0.661188 m/s, LOS rate: 0.003534 deg/s, cmd heading: 205.986662 deg, new cmd heading: 205.990503 deg. Bhe79mHeadingCmd: 3.595212 target range: 372.147491 and range: 373.90 m.hmf@hi*hq"hq hqgqfqfyfydyddjdZd?颱ɢu1=) UW?i)c项idi,2;If@IB 1>B B +IB BB  =B B B b};B  4E=9@A @A@E/@AQ2Acoustic response timeouty^ANJκԱ A IA Ii O >i߹ I߹  2Acoustic response timeoutT,eS ?A@Y|y|iMb@Mb@Mb@ 9!rh?v/?~jthYl'?yxi=DAA A)YAbDVD02y:%?=ٔQ->9Y=DyCE>Q 54?Q 94ݸ)BY(?Q E:yD'Q I?+CI:i@:V4yɮ̴A EjhFNOT Ignoring new targets: 372.15 m.Rh 68Zh 68 ProNav: ac range: 372.147491 m, nav range: 376.335693 m, bearing: 213.441665 deg, approach rate: -0.654903 m/s, LOS rate: 0.005552 deg/s, cmd heading: 205.990500 deg, new cmd heading: 205.997611 deg. Bhs9%HeadingCmd: 3.595336 target range: 372.147491 and range: 373.90 m.h%f@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd=@aɢe =)a erW?ii)miiim"Nei,%;鋀If@IԱE EE%E"E:*EX:VE 4ZEBE .Z,lAm ?AFPW@FEe@FzK<ٱF ! NAHRS rotation from veh to nav: [[-0.904034,0.425472,0.041195],[-0.426471,-0.891183,-0.154644],[-0.029085,-0.157372,0.987111]]FH`:?@~?KKۿ@cÿ\ȝ $Ŀi?iFPW@IF*^;FfCYVByV+IbDbVDbk1yf%jY=ٔj^89hYl=nDlynCr5Er>tQ 5z4v?Q 9z4v)vBYxy~e'Q I~?vKCIv;iv;vx]4yɮдAjh)-FNOT Ignoring new targets: 372.15 m.Rh58Zh58E ProNav: ac range: 372.147491 m, nav range: 376.089111 m, bearing: 213.443833 deg, approach rate: -0.654632 m/s, LOS rate: 0.005759 deg/s, cmd heading: 205.997604 deg, new cmd heading: 206.004111 deg. BhE|9MHeadingCmd: 3.595450 target range: 372.147491 and range: 373.90 m.hMf@hI*hI"hI hIgQfQfQfQdYdYdYjdaZdeC@颉ɢ1=) V?i)R顑iXfi,;%ûIf@I}2Acoustic response timeoutU9@Q @Y@]n1@Y E EE&E"E*Ec:VE4ZEa@a@a@a@Y^AuvтAAB ->B CB +IB BB =B ADB DB |;B 3EA I I O >% >% %=- 2Acoustic response timeoutԁ ӱa, ?A2*5W@2*e@2ư<ٱ28! :AHRS rotation from veh to nav: [[-0.904694,0.424206,0.039731],[-0.424971,-0.891774,-0.155364],[-0.030475,-0.157442,0.987058]]2H@@ 0&?@W?2ۿjÿ4 'Ŀ?i2*5W@I2^;2eCY@yB+IbDN VDN2yV %VM=ٔV{d;Q-V>9XYX=ZDyZ:CZۆE^>`Q 5b4bը?Q 9f4b)bBYdyf'Q If?blCIb:ib:bnd4yjBɮln Ejh|FNOT Ignoring new targets: 372.15 m.Rh8Zh8 ProNav: ac range: 372.147491 m, nav range: 375.828339 m, bearing: 213.446193 deg, approach rate: -0.654667 m/s, LOS rate: 0.005930 deg/s, cmd heading: 206.004106 deg, new cmd heading: 206.011193 deg. Bh=9HeadingCmd: 3.595574 target range: 372.147491 and range: 373.90 m.h%f@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5y @Y ɢ (=)  V?i )Hifi,UV;]I]f@Iiԉ@ @@0@2Acoustic response timeoutԱ^A 0:ĻbE}ɀ'4jE}(g,Ѡ ?AB#W@BCe@B=ٱB$ JAHRS rotation from veh to nav: [[-0.905116,0.423315,0.039608],[-0.423984,-0.891741,-0.158226],[-0.031659,-0.160006,0.986608]]BH``?@G?"ۿ$@Ŀ5`{Ŀ@K?iB#W@IB"?^;BhCYRByR+I%DAT read: 00:26:15.3155 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 78,-0.15, 2.909, 1.284, 2.782, 2.564, PHS= 0.447,-1.235, 0.175, RAW= 141.3, 7.9, CAL= 140.9, 8.7, ROT= 9.1, -8.7 -Ygot valid direction response: 00:26:15.3155 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 78,-0.15, 2.909, 1.284, 2.782, 2.564, PHS= 0.447,-1.235, 0.175, RAW= 141.3, 7.9, CAL= 140.9, 8.7, ROT= 9.1, -8.7 uBDAT read: Rx Time:00:26:15.3155 uTRx dataTimestamp_ set to:1761524774.559722}@DAT read: $Low SNR acquisition }2Received low SNR in chirpX#Rx 1: Read direction message, but no range.\direction in FSK: [0.976053,0.156338,0.151261]yqu=auz;?/!?ni\?qqqq q)uMIu/>iu{u333>uh@u0 >uc@ u|>)u">Iu|qukHE??5!9? u>)u Iu">iu| 2Acoustic response timeouti]Mb@Mb@Mb@YYYY Y9](\?)\(?~jtxY]'?y]Ga=]Ļ]AY ]pA)] AYY]AbDVD:2y;%#=ٔ*;Q->9 ?Y ?=DycC E>Q 54?Q 94)BYF(?Q E:y'Q I?CIz:i:?m4yɮɴA=B*** querying acoustic contact ***i9 i9jhamFNOT Ignoring new targets: 372.15 m.Rhm8Zhm8 ProNav: ac range: 372.147491 m, nav range: 375.497833 m, bearing: 213.449441 deg, approach rate: -0.643971 m/s, LOS rate: 0.006334 deg/s, cmd heading: 206.011196 deg, new cmd heading: 206.020948 deg. Bh9HeadingCmd: 3.595744 target range: 372.147491 and range: 373.90 m.h f@h*h"h hgfffdddjdZd`> @)ɢ-8=)Q UW?iQ)]4YYi]fie +m(;m?Im f@IM9@I @I@M0@I!2Acoustic response timeoutQ ^Am ΒAu >Au >E  E E 'E "E :*E [:VE '4ZE a @a @a @a @A ؟AI I O >n, ?A4<ɰ4BECBABABE =BE@DBEDBE|;BE3EٔeQ-e>9u"?Y}"?=DyCE>Q 54l~?Q 94)BYyQ I?CIj;iVk;s4yBɮA EjhFNOT Ignoring new targets: 372.15 m.Rhy8Zhy82Acoustic response timeout ProNav: ac range: 372.147491 m, nav range: 375.249756 m, bearing: 213.451882 deg, approach rate: -0.667160 m/s, LOS rate: 0.006570 deg/s, cmd heading: 206.020949 deg, new cmd heading: 206.028278 deg. BhH9HeadingCmd: 3.595872 target range: 372.147491 and range: 373.90 m.h"f@h*h"h hgfffdddjdZd)@AɢEBs1=) #R?i)tiMgi+4;I"f@I}9@y @y@}5@y ^A zE 2Acoustic response timeoutQ I I O >Ιu,} ?A2W@2e@2 =ٱ2' :AHRS rotation from veh to nav: [[-0.905302,0.422998,0.038745],[-0.423418,-0.891390,-0.161681],[-0.033854,-0.162775,0.986082]]2H`;g?S֣?FۿDĿ[UĿ ?i2W@I2p^;2gCYBByB+I!iMb@Mb@Mb@ 9"~j?v/?QYS#?yxi=uA ŸA)YfAbD VD2y` %@=ٔ*;Q->9Y=DyCDE>Q 541k?Q 94Q =tI)zBY$?Q E:y'Q I?CI;i;{4y ߸Bɮ  A  Ejh15FNOT Ignoring new targets: 372.15 m.Rh=8Zh=8M ProNav: ac range: 372.147491 m, nav range: 374.987061 m, bearing: 213.454377 deg, approach rate: -0.640214 m/s, LOS rate: 0.006084 deg/s, cmd heading: 206.028285 deg, new cmd heading: 206.035774 deg. BhM9DQzDU?AE] E]E]&EY"E]>:*E]1]:VE]4ZEYBE]{,X ?A2Acoustic response timeoutYBy +IbDVD0yeu;%mR=ٔuQ-u>9qyYq=}Dy}CE>Q 54X?Q 94)qBYyQ I?CI;i ;お4yBɮAEjhFNOT Ignoring new targets: 372.15 m.Rh>8Zh>8 ProNav: ac range: 372.147491 m, nav range: 374.737885 m, bearing: 213.456746 deg, approach rate: -0.638157 m/s, LOS rate: 0.006072 deg/s, cmd heading: 206.035771 deg, new cmd heading: 206.042883 deg. BhX9HeadingCmd: 3.596127 target range: 372.147491 and range: 373.90 m.h&f@h*h"h hgfffdddjdZd`b\@ɢp1=) N?i)m=_iqiuphiu+}o;}NI}&f@Iyԩa@a @a@e/@aEu EuEu(Eq"Eu:*EuVL:VEuc44ZEqa}@a}@a}@a}@B=<A=4<BM/>BMCBM+IBMBBM =BIBIBMI|;BM|3E2Acoustic response timeout^AM AQ zAQ I I O > w e>kC, ; ?A6/G@NMAf9dYfYA%+W@%e!e@%Tx=ٱ%( AHRS rotation from veh to nav: [[-0.904732,0.424447,0.036115],[-0.424352,-0.890621,-0.163462],[-0.037216,-0.163215,0.985888]]%H`"*?`}?(ۿNĿ `7Ŀe?i%+W@I%5^;%eCYBy+IiMb@Mb@Mb@ 9Pn?&1?~jtY$?yP=ļ5A fA)YAbDVD1y> 2Acoustic response timeout%U(=ٔU;Q-U>9YYY=]Dy]C] ;Ee>iQ 5u4mqA?Q 9u4m)mcBY}$?Q E}:y}[(Q I}?m!CIm:im:m4yBɮZAEjhFNOT Ignoring new targets: 372.15 m.Rh9Zh9 ProNav: ac range: 372.147491 m, nav range: 374.418823 m, bearing: 213.460311 deg, approach rate: -0.639214 m/s, LOS rate: 0.007149 deg/s, cmd heading: 206.042888 deg, new cmd heading: 206.053593 deg. Bh9HeadingCmd: 3.596314 target range: 372.147491 and range: 373.90 m.h*f@h*h"h hgfffdddjdZdH@kJTimed out from 2025-10-27T00:16:16.0Z5 j fCompleted lineCaptureHoming:MicromodemComms:CheckInq5 j Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInj VCompleted lineCaptureHoming:MicromodemComms1ɢ5=)1 50F?i1)=S99i=fhiE+Ewt;EIE*f@II9@ @@/@)Eu EqEu)Eq"Eu:*EqVEuFA4ZEqBEu5i߹ I߽ A 2Acoustic response timeoutֈ,f% ?AY~By~+IbD5VD51yUiA%]=ٔ]Q-]?9aYa=eDyeCeEm?iQ 5u4m 3?Q 9}4mq)mZBYyyyQ I}?m:CIm;im;m4yɮyAjhFNOT Ignoring new targets: 372.15 m.Rh9Zh9 ProNav: ac range: 372.147491 m, nav range: 374.223419 m, bearing: 213.462498 deg, approach rate: -0.639794 m/s, LOS rate: 0.007164 deg/s, cmd heading: 206.053598 deg, new cmd heading: 206.060162 deg. BhS9HeadingCmd: 3.596428 target range: 372.147491 and range: 373.90 m.h+f@h*h"h hgfffdddjdZd@15 jnAggregate::initialize lineCaptureHoming:MicromodemCommsq5j~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn5ɢ؟G=) RB?i) Li&hi%+%ϖ;% I-+f@I)19@ @@/@a2Acoustic response timeout^A IqIԉE  E E &E "E :*E H:VE 4ZE a @a @a @a @Թ BE ->BA BE +IBE BBE =BE ADBA BE =|;BE u3EBCBCB͓CB =B =C52Acoustic response timeoutO->+,lD ?AB6+W@B e@B$,=ٱB I NAHRS rotation from veh to nav: [[-0.904573,0.425385,0.028204],[-0.424244,-0.891677,-0.157891],[-0.042015,-0.154789,0.987054]]BHB`9?@?&ۿ@5Ŀ ÿ?iB6+W@IB\^;@YVByV+IbD^ VD^2yf%f*=ٔj0$9hYh=nDyn,Cn]En>pQ 5v4ru?Q 9v4rf)rKBYxyzT(Q Iz?rbCIrj;ir;rT4y~Bɮ~}A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 372.15 m.Rh-G9Zh-G9= ProNav: ac range: 372.147491 m, nav range: 373.916901 m, bearing: 213.465913 deg, approach rate: -0.638459 m/s, LOS rate: 0.007119 deg/s, cmd heading: 206.060168 deg, new cmd heading: 206.070421 deg. Bh=V9EHeadingCmd: 3.596607 target range: 372.147491 and range: 373.90 m.hE.f@hA*hI"hI hIgIfIfQfQdQdQdYjdYZd]Ck@颁ɢ=) SA?i)X0@顑ihi+ƕ;og I.f@I 9@  @ @ @ @=@=^AM2Acoustic response timeoutIqIO}>9 E  E E )E "E :*E ga:VE FA4ZE BE 9Y=DyOC0;E>Q 54W?Q 94);BY "?Q E :y &Q I ?CI:i@:4y%Bɮ%A%EjhIMFNOT Ignoring new targets: 372.15 m.RhUܯ8ZhUܯ8e ProNav: ac range: 372.147491 m, nav range: 373.639893 m, bearing: 213.468026 deg, approach rate: -0.629425 m/s, LOS rate: 0.004805 deg/s, cmd heading: 206.070427 deg, new cmd heading: 206.076771 deg. BheS9mHeadingCmd: 3.596718 target range: 372.147491 and range: 373.90 m.hm0f@hi*hi"hi higqfqfqfydydydyjdZd@.@2Acoustic response timeout颹ɢ=) 9?i)15ihi+ߔ;I0f@II9@ @@0@ԁ^Aԩ m 2Acoustic response timeoutA I I O >y,x ?A2|JW@2,@e@2tM=ٱ2e! :AHRS rotation from veh to nav: [[-0.903423,0.428180,0.022129],[-0.425810,-0.889992,-0.163094],[-0.050139,-0.156766,0.986362]]2HLg?@?v@ۿ`zFĿϫĿG?i2|JW@I2^;2cCTYZ]ByZj+IbDfVDfN2yj%n]=ٔn ;9pYp=rDyrmCvE ;Ev>tQ 5z4vn?Q 9~4v?)v-BY|y~&Q I~?vCIv;iv;vr4y ɮ A jh)5FNOT Ignoring new targets: 372.15 m.Rh5 8Zh5 8E ProNav: ac range: 372.147491 m, nav range: 373.406860 m, bearing: 213.469772 deg, approach rate: -0.634093 m/s, LOS rate: 0.004755 deg/s, cmd heading: 206.076766 deg, new cmd heading: 206.082008 deg. BhMP9MHeadingCmd: 3.596810 target range: 372.147491 and range: 373.90 m.hM!2f@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde@<@颉ɢQ =) .?i)#-顙i|gi+*;`^I!2f@IE} E}E}%Ey"E}:*E}rN:VE} 4ZEya@a@a@a@U9@Y @Y@] 0@YԱAAAAB2>BB+IBBB =B@DBB|;B\3E2Acoustic response timeout^AuA I I O > Oe,o ?Al~eW@~Ze@~p<^=ٱ~v AHRS rotation from veh to nav: [[-0.902536,0.430218,0.018459],[-0.427186,-0.889129,-0.164202],[-0.054230,-0.156084,0.986254]]2Acoustic response timeout~H@ ??`Wۿsſīÿd?i~eW@I~M^;~dCY-[By-h+IiMb@Mb@Mb@ 9)\(?+η?9IYI=MDyMCU l;EU>YQ 5e4]N?Q 9e4]Z)]BYeI#?Q Ee:ye$Q Ie?]CI] :i]Uw;]U4y}߸BɮEjhFNOT Ignoring new targets: 372.15 m.Rh7Zh7 ProNav: ac range: 372.147491 m, nav range: 373.121552 m, bearing: 213.470002 deg, approach rate: -0.629800 m/s, LOS rate: 0.000508 deg/s, cmd heading: 206.082011 deg, new cmd heading: 206.082702 deg. Bh7HeadingCmd: 3.596822 target range: 372.147491 and range: 373.90 m.hT2f@h*h"h hgfffdddjdZd`v@ ɢb =) -?i)m#iQfib+Qb;%kI%T2f@I)9@ @@'0@@@E EE'E"E:*EX:VE'4ZEBE ,= ?AYKByT+I !!bD5VD59yE%E\=ٔMQ-M>9M ?YM ?=MDyUCUEU>YQ 5e4]?Q 9e4] )] BYayiQ Im?]CI]:i]o:]д4yqɮuQAqjhFNOT Ignoring new targets: 372.15 m.RhO7ZhO7 ProNav: ac range: 372.147491 m, nav range: 372.887085 m, bearing: 213.470192 deg, approach rate: -0.635354 m/s, LOS rate: 0.000513 deg/s, cmd heading: 206.082708 deg, new cmd heading: 206.083276 deg. Bh^7HeadingCmd: 3.596832 target range: 372.147491 and range: 373.90 m.h~2f@h*h"h hgfffdddjdZd`@ɢ=) %?i)i}ei 7+ ; gƻI~2f@I@ @@5@-2Acoustic response timeoutiԑ^AJͻE EE)E"E:*Ega:VEFA4ZEa@a@a@a@B 3>B CB o+IB aBB =B B B {;B G3EAA II IY Om >  2Acoustic response timeouts, ?A2ӰW@2e@21z=ٱ2 :AHRS rotation from veh to nav: [[-0.900189,0.435353,0.011326],[-0.431178,-0.887297,-0.163676],[-0.061208,-0.152223,0.986449]]2H@X ?1? jۿdWĿV |ÿ?i2ӰW@I2^;2bCYB:ByB?+IbDNVDN1yV-%VU=ٔV%9XYX=ZDyZCZ6E<E^>`Q 5b4b?Q 9f4b>)bBYdyf#Q If?bCIb:ib:b4yj޸BɮnAnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 372.15 m.Rh 4Zh 4 ProNav: ac range: 372.147491 m, nav range: 372.644562 m, bearing: 213.470200 deg, approach rate: -0.630991 m/s, LOS rate: 0.000020 deg/s, cmd heading: 206.083282 deg, new cmd heading: 206.083305 deg. Bhd5%HeadingCmd: 3.596832 target range: 372.147491 and range: 373.90 m.h%2f@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5`< @aɢeY=)a eD?ii)miiim0diu4+uQ;uԹIu2f@I9@ @@4@]2Acoustic response timeout^AA% ؟AI) I9 OM >9 bE%-4jE!rE%˟/E  E E *E "E *E :VE (N4ZE BE ?iJW@IJ^;JcCY*By++IiMb@Mb@Mb@ 9Mb?i|?5?Zd;OY#?y=j<A+A GA)YAbDVDyu%;=ٔ9"?Y"?=DyC ;E>Q 54{?Q 94)BYC&?Q E:yH!Q I?(CIm ;i ;,Ê4yBɮݶAEjh FNOT Ignoring new targets: 372.15 m.Rh 6Zh 6% ProNav: ac range: 372.147491 m, nav range: 372.363983 m, bearing: 213.468584 deg, approach rate: -0.640980 m/s, LOS rate: -0.003694 deg/s, cmd heading: 206.083309 deg, new cmd heading: 206.078458 deg. Bh%A"-HeadingCmd: 3.596748 target range: 372.147491 and range: 373.90 m.h-1f@h)2Acoustic response timeout*h)"h hgfffdddjdZd'!@IɢM$<)I U?iQ)U QQiU] bi]+];]BM9I]1f@Ia9𕭼I)hAie 9@a  @i @m @0@i @u =@u =E 2Acoustic response timeoutԙ ^A ?BɺE EE)E"E:*Ec:VEFA4ZEa@a@a@a@A.AIIO?B!>BCB7+IB3BB =BADBDB{;B93E\g, ?A2X@2}f@2Š=ٱ2 :AHRS rotation from veh to nav: [[-0.897243,0.441509,0.004926],[-0.436315,-0.884867,-0.163218],[-0.067703,-0.148595,0.986578]]2H7 A?-t?ۿ`PPĿT`,ÿ ?i2X@I2:_;2aCYBByB+IIFC=)F9Z ?YZ ?=^Dy^C^;E^>`Q 5f4b٘?Q 9f4bj)bBYhyj!Q Ij?bQCIbR:ib:bˊ4ylɮn(AljhaeFNOT Ignoring new targets: 372.15 m.RhmޏZhmޏ} ProNav: ac range: 372.147491 m, nav range: 372.047699 m, bearing: 213.466597 deg, approach rate: -0.625263 m/s, LOS rate: -0.003931 deg/s, cmd heading: 206.078460 deg, new cmd heading: 206.072495 deg. Bh},HeadingCmd: 3.596643 target range: 372.147491 and range: 373.90 m.hh/f@h*h"h hgfffdddjdZd!"@2Acoustic response timeout)ɢ-~P<)1 5 ?i1)5511i5V^_i]N+]oё;e 8;Ieh/f@IaU9@ @@4@)Y^A 9 2Acoustic response timeoutA ؟AIA IQ Oe >ԁ (t, ?ABs&X@B#f@B=ٱB JAHRS rotation from veh to nav: [[-0.896547,0.442947,0.000451],[-0.437374,-0.885106,-0.159033],[-0.070045,-0.142778,0.987273]]BH`@Y?=?ۿ R5[Ŀp F¿?iBs&X@IBx_;BcCYR ByR+Ii-Mb@Mb@Mb@)))) )9-q= ףp?ʡE?&1Y-+?y->-P-ףA-|A -A)-A)Y-AbDE VDE:2yUW%UD=ٔ];Q-]>9e"?Ye"?=eDyeiQ 5u4m?Q 9u4m )mYBY}y0?Q E}:y}:Q I}?muCIm ;im. ;mӊ4y߸BɮOAEjhFNOT Ignoring new targets: 372.15 m.Rh'Zh'DDR=u ProNav: ac range: 372.147491 m, nav range: 371.764984 m, bearing: 213.462876 deg, approach rate: -0.696208 m/s, LOS rate: -0.009171 deg/s, cmd heading: 206.072490 deg, new cmd heading: 206.061318 deg. ԡBhgɹHeadingCmd: 3.596448 target range: 372.147491 and range: 373.90 m.h6,f@h*h"h hgfffdddjdZd#@E EE+E"E*Ei:VE [4ZEBE 9= ?Y= ?==Dy=dC=EE>AQ 5M4Eo?Q 9U4E")EBYQyQQ IU?ECIE;iE;Eۊ4y]޸BɮeAeEjhFNOT Ignoring new targets: 372.15 m.Rhm#Zhm# ProNav: ac range: 372.147491 m, nav range: 371.428711 m, bearing: 213.458443 deg, approach rate: -0.676749 m/s, LOS rate: -0.008930 deg/s, cmd heading: 206.061316 deg, new cmd heading: 206.048004 deg. BhĹHeadingCmd: 3.596216 target range: 372.147491 and range: 373.90 m.hh(f@h*h"h hgfffdddjdZd@#@AE EE&E"E:*Ega:VE4ZEa@a@a@a@ɢ<) %>B-(>B)B-+IB- BB- =B)B-DB-~{;B-3EAi)e\aaie4ZimL+m;mO};Imh(f@Iq59@9 @9@=5@9e2Acoustic response timeouti->G9Y[kA^A r;ԙ I I O > ,T ?A@j2Acoustic response timeout9&X@f@ʞ=ٱ AHRS rotation from veh to nav: [[-0.896364,0.443259,-0.007356],[-0.437269,-0.886741,-0.149954],[-0.072992,-0.131197,0.988666]]H Y^?!~`8ۿ .`1ÿ@`%?i9&X@IB_;bCYBy*IiuMb@Mb@Mb@qqqq q9u rh?S?utu̡Aq uA)uSAqYuQA@AbDVDyd%6=ٔ;Q->9Y=DyC$E>Q 54[?Q 94')~BY?2?Q E:yQ I?CIj;i_;4yɮAB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 372.15 m.Rh%jVZh%jV5 ProNav: ac range: 372.147491 m, nav range: 371.121460 m, bearing: 213.453118 deg, approach rate: -0.675500 m/s, LOS rate: -0.011716 deg/s, cmd heading: 206.048011 deg, new cmd heading: 206.032024 deg. Bh==HeadingCmd: 3.595937 target range: 372.147491 and range: 373.90 m.h=#f@hA*hA"hA hAgAfAԩff d d d jdZd$@Yɢea<)i mQ>ii)m׻iiim>(Wiu+u;u;I}#f@IyDzDE EE*E"Ea:*EV:VE(N4ZEBE(+,jn ?AhYBy*IbDVD2yR3%Z=ٔQ->9Y=DyCE>Q 54K?Q 94,)~BY y Q I ?CIi)iͻ项ieUi+;u-;I f@I2Acoustic response timeoutE9@A @I@M/@I)E} EyE}+Ey"E}:*EyVE} [4ZEya@a@a@a@^AA>A>I I A! A! B- '>B- CB- *IB- BB- =B) B) B- ({;B- 2EBCBCBȔCB =B =Cin6OM >Y } 2Acoustic response timeout,] ?A2W@2e@2w=ٱ2Nq :AHRS rotation from veh to nav: [[-0.898327,0.439290,-0.005638],[-0.433396,-0.888229,-0.152373],[-0.071944,-0.134437,0.988307]]2H@@U?1w`ۿ _lÿ@j<5 6?i2W@I2\_;2aCYvيByv*IbDVD3y %V=ٔR4Q->9Y=DyC:E%>!Q 5-4% :?Q 954%0)%~BY1y5Q I5?% CI%*:i%:9%4yEBɮEAMEjhimFNOT Ignoring new targets: 372.15 m.RhuSZhuS ProNav: ac range: 372.147491 m, nav range: 370.604004 m, bearing: 213.444320 deg, approach rate: -0.694872 m/s, LOS rate: -0.011581 deg/s, cmd heading: 206.018682 deg, new cmd heading: 206.005613 deg. BhUHeadingCmd: 3.595476 target range: 372.147491 and range: 373.90 m.hHf@h*h"h hgfffdddjdZd4X&@ɢ<) >i)»iRim,u;9IHf@I@ @@/@i2Acoustic response timeoutԙ^A;I9IIO> E}  E} E} 'Ey "E} >:*E} k:VE} '4ZEy BE}  ף ŸA  A) A Y A !%a=bD%VD%1y57%5H=ٔ=Q-=>99YA=EDyECEEE>IQ 5U4M{'?Q 9U4MM5)Mr~BԙYq4?Q E:yQ I?M/CIMi)nڶiXPit,;LԺIAf@I 9@ @@@^A "9 2Acoustic response timeoutIi Iy O > (d,y\ ?A6nW@6de@6K=ٱ6{ BAHRS rotation from veh to nav: [[-0.901579,0.432611,0.001576],[-0.427396,-0.890135,-0.158092],[-0.066989,-0.143206,0.987423]]6H ?pY?rZۿ {Y<Ŀ@2&T¿`?i6nW@I6^;4YJɊByJ*IbDR VDR:2yZ%ZS=ٔZQ-^>9\Y\=^DybCb!Eb>dQ 5j4f?Q 9j4f9)fN~BYhyj*Q In?fRCIf:if:f4ypɮrZApjh)5FNOT Ignoring new targets: 372.15 m.Rh=8XZh=8XU ProNav: ac range: 372.147491 m, nav range: 370.050476 m, bearing: 213.435348 deg, approach rate: -0.742991 m/s, LOS rate: -0.011815 deg/s, cmd heading: 205.991525 deg, new cmd heading: 205.978671 deg. Bh]eHeadingCmd: 3.595006 target range: 372.147491 and range: 373.90 m.hef@ha*hi"hi higifqfyfydyddjdZdh'@E5 E5E5*E1"E5:*E5i:VE5(N4ZE1a=@a=@a=@a=@颙ɢMo<) >i)iެ顡iOMi! ,K;.B0>BCB*IBɊBB =BBBz;B2EIf@I@ @@@!M2Acoustic response timeoutI^AeAhAzAhAIQ Ia Om >y kN,A ?A^BDAT read: Response Not Received b*response not receivedjBDAT read: Tx time:00:26:24.8485 r$Ping request sent.rף̡AA )SAYAbD-VD-yEN%M=ٔUQ-U>9YYY=]Dy].CeGEm>qQ 54u?Q 94u?)u'~BY6?Q E:y Q I?uCIu|;iu|;u4E EE'E"Em:*EVL:VE'4ZEBEWi1)=蟻99i=;JiE ,EoY;E( IEf@II9@ @@@UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseԩ^A A!I)IAOM>t,= ?A00NV@Nd@N)y=ٱNۧ2 ZAHRS rotation from veh to nav: [[-0.905685,0.423542,0.018642],[-0.419571,-0.889152,-0.182671],[-0.060793,-0.173264,0.982997]]XNH@^P???ڿ`s aǿE -ƿt?iNV@IN?^;NdCY`yb*IbDnVDnk1yvLk%vd=ٔvIQ-v>9xYx=zDyzJC~E~>Q 5 4?Q 9 4C) ~BY y : Q I ?CI:i;)4y۸BɮiAEjh9EFNOT Ignoring new targets: 372.15 m.RhEZhM] ProNav: ac range: 372.147491 m, nav range: 369.426910 m, bearing: 213.429904 deg, approach rate: -0.749800 m/s, LOS rate: -0.006355 deg/s, cmd heading: 205.968726 deg, new cmd heading: 205.962319 deg. Bh]eHeadingCmd: 3.594721 target range: 372.147491 and range: 373.90 m.hef@ha*ha"ha hagafififidqdqdqjdqZdu`)@颡ɢ<) >i)뗻顩T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei,Ii,܉;;If@I9@ @@/0@^AE EE(E"E:*ET:VEc44ZEa @a @a @a @B<A<B8>BCB*IBBB =B@DBDBz;B2E A؟AII)O=q>e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse9 W,d ?AFV@Fd@F4s=ٱF{< NAHRS rotation from veh to nav: [[-0.906125,0.422338,0.023837],[-0.418827,-0.887834,-0.190617],[-0.059342,-0.182706,0.981375]]FH`@?h?ڿ@"i$fȿ bbǿlg?iFV@IFY"^;FcCY By *IbD%VD%1y-%5F=ٔ5cgQ-5>9="?Y="?==Dy=lCE EE>AQ 5M4E?Q 9U4E0H)E}BYQyUO Q IU?ECIE:iEw:E\4yaɮeAajhFNOT Ignoring new targets: 372.15 m.RhָZhָ ProNav: ac range: 372.147491 m, nav range: 369.135101 m, bearing: 213.427487 deg, approach rate: -0.708458 m/s, LOS rate: -0.005874 deg/s, cmd heading: 205.962319 deg, new cmd heading: 205.955061 deg. BhHeadingCmd: 3.594594 target range: 372.147491 and range: 373.90 m.h f@h*h"h hgfffdddjdZd *@ɢf<) >i)ݙiGi,u;PAI f@I9@ @@4@@=@=iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey^A$A>A>bEFA4jEȲ>4rE/E  E E )E "E :*E C:VE FA4ZE BE _ ԡ ,{' ?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapserV@rd@rq=ٱrA zAHRS rotation from veh to nav: [[-0.906068,0.422312,0.026344],[-0.419007,-0.886819,-0.194899],[-0.058946,-0.187630,0.980469]]rH`)??ڿ`rȿ`'.`Aȿ`?irV@Ir<^;r_CYBy*II =) =qiMb@Mb@Mb@ 9B`"?Pn?y&1?Y.?y>`e<3AA~A =A)AYAbDVDN2y<%A=ٔ4uQ->9 ?Y ?=DyC-9E>Q 54?Q 94L)}BY1?Q E:yT!Q I?CIN;iO;4yٸBɮAEjhFNOT Ignoring new targets: 372.15 m.Rh+Zh+ ProNav: ac range: 372.147491 m, nav range: 368.840363 m, bearing: 213.425774 deg, approach rate: -0.653827 m/s, LOS rate: -0.003802 deg/s, cmd heading: 205.955065 deg, new cmd heading: 205.949923 deg. Bh'-HeadingCmd: 3.594504 target range: 372.147491 and range: 373.90 m.h-\ f@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=m+@ɢ*<) е>i)샻iYDiY,o@;O?T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A 7F A ؟AI I O >E  E E (E "E :*E rN:VE c44ZE a @a% @a% @a% @ l,"A ?A;ɰ2V@2d@2Fs=ٱ2? :AHRS rotation from veh to nav: [[-0.905760,0.423040,0.025222],[-0.419596,-0.886850,-0.193485],[-0.059484,-0.185834,0.980779]]2H ?ә?@ڿa@ȿthǿb?i2V@I2r+^;2bCYBByF*IBR:>BPBR*IBRBBPBPBPBRz;BR2EbD^VD^02yf-%f\=ٔfE:Q-f>9j"?Yj"?=jDyjCU:Em>qQ 5}4u?Q 9}4uP)u}BYyI!Q I?uCIu:iu:u#4y޸BɮA$EjhFNOT Ignoring new targets: 372.15 m.RhZh ProNav: ac range: 372.147491 m, nav range: 368.570831 m, bearing: 213.424176 deg, approach rate: -0.741789 m/s, LOS rate: -0.004400 deg/s, cmd heading: 205.949929 deg, new cmd heading: 205.945132 deg. BhFAHeadingCmd: 3.594421 target range: 372.147491 and range: 373.90 m.h f@h*h"h hgfffdddjdZd?&,@ɢ#<)! %>i!)%Bw!!i%Bi-,-gb;51I5 f@I15T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse9@ @@3@^A0:D1A I I! O5 > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea T,[ ?AY=By=*IiMb@Mb@Mb@) 9Dl?Mb??YO-?y=<GA{A A)AYQAbDE VDE2yU<%U4=ٔUQ-U>9YYY=]Dy]C]Ee>aQ 5u4e?Q 9u4eU)e}BYu/?Q Eu:yu-$Q Iu?e6CIeM;ie:e3+4yܸBɮA#EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 372.15 m.RhaZ7ZhaZ7 ProNav: ac range: 372.147491 m, nav range: 368.273254 m, bearing: 213.424502 deg, approach rate: -0.681331 m/s, LOS rate: 0.000746 deg/s, cmd heading: 205.945134 deg, new cmd heading: 205.946111 deg. E- E)E-)E)"E-:*E)VE-FA4ZE)BE-5i )obi`@iq,7;UF4IE f@IY1@1 @1@54@1@=gA@9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁ^AU 9A] fAzA] fAԱ A I I O >,AJv ?A>W@>e@>}=ٱ>K7 FAHRS rotation from veh to nav: [[-0.904261,0.426496,0.020325],[-0.422468,-0.886789,-0.187418],[-0.061909,-0.178062,0.982070]]>H@K?#Д? ۿ`` Tǿƿm?i>W@I>c?^;9dYd=fDyfCj<Ej>lQ 5r4n~?Q 9r4nX)n}BYpyr#Q Ir?nVCIn:inA:n14yzٸBɮzAz"EjhFNOT Ignoring new targets: 372.15 m.Rh6Zh%6- ProNav: ac range: 372.147491 m, nav range: 368.023926 m, bearing: 213.424652 deg, approach rate: -0.684735 m/s, LOS rate: 0.000413 deg/s, cmd heading: 205.946118 deg, new cmd heading: 205.946569 deg. Bh57=HeadingCmd: 3.594446 target range: 372.147491 and range: 373.90 m.h=f f@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`-@]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse颁ɢ<) >i)WS顑ib>iN,놉;If f@I) 9@  @ @ /@ YE EE&E"E:*ET:VE4ZEa@a@a@a@B=C>B=CB9B9B= =B9B=DB=z;B=2E^A 0ԉ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA= .AII IY Oe > I I G 9 Y {AԱ #, ?A:9W@:/e@:D=ٱ:l0 FAHRS rotation from veh to nav: [[-0.903187,0.428922,0.016697],[-0.424587,-0.886990,-0.181589],[-0.063078,-0.171098,0.983233]]:Hus?@?n,ۿ9b`M>ǿ%ſv?i:9W@I:fy^;:^CY^Byb*IbDjVDjyr4 %rI=ٔr<;Q-r>9v ?Yv ?=vDyvCz;Ez>xQ 54zv?Q 94z\)z}BYy#Q I?zyCIzY;izD;z84yɮȸAjh1=FNOT Ignoring new targets: 372.15 m.RhEE6ZhEE6M ProNav: ac range: 372.147491 m, nav range: 367.746063 m, bearing: 213.424720 deg, approach rate: -0.683263 m/s, LOS rate: 0.000168 deg/s, cmd heading: 205.946569 deg, new cmd heading: 205.946774 deg. BhUk6UHeadingCmd: 3.594449 target range: 372.147491 and range: 373.90 m.hUu f@hY*hY"hY hYgYfafafadadidijdiZdm.@颙ɢ`N<) >i)"B顡i_ T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse! ),B ?An~YW@n.Oe@n =ٱn˳' zAHRS rotation from veh to nav: [[-0.902320,0.430882,0.012621],[-0.426300,-0.887619,-0.174358],[-0.063925,-0.162707,0.984601]]nH ?؉?Hۿ_g^Qƿ@h]Ŀځ?in~YW@Inb^;naCY By *IiMb@Mb@Mb@ 9K7?y&1?y&1?Y)?y`e=`<A|A A)AYבAbDVDk1yuჼ%}3=ٔ}!:Q-}>9"?Y"?=Dy4C@;E>Q 54`?Q 94`)}BY{*?Q E:y 'Q I?CI%;i: ;@4y׸Bɮ͸A!EjhFNOT Ignoring new targets: 372.15 m.Rh{8Zh{8 ProNav: ac range: 372.147491 m, nav range: 367.443054 m, bearing: 213.427179 deg, approach rate: -0.664441 m/s, LOS rate: 0.005395 deg/s, cmd heading: 205.946774 deg, new cmd heading: 205.954155 deg. Bhl9HeadingCmd: 3.594578 target range: 372.147491 and range: 373.90 m.h f@h*h"h hgfffdd d jd Zd  1z/@9ɢ=ĕ<)=A9 =>i9)E.AAiED9iM$,M<;M IM f@IQI]fA)]gA9@ @@ @ @=@=}BDAT read: Rx Time:00:26:27.7546 TRx dataTimestamp_ set to:1761524786.900120T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI ^Am `ԻA I I O >E  E E E "E ,:*E VL:VE ZE a @a @a @a @BE H>BA BE *IBE BBE =BA BA BE z;BA BCBC0, ?AB1B5 =B5 =C5g\66kW@6`e@6l=ٱ69" BAHRS rotation from veh to nav: [[-0.901807,0.432030,0.009681],[-0.427246,-0.888012,-0.169985],[-0.064841,-0.157430,0.985399]]6H@_?Ӄ?Wۿ j`ſq&Ŀc?i6kW@I6e^;6`CYFByJ*IIJ=)J<bDRVDRyZ%Zl=ٔZ-;Q-^?9\Y\=bDybQCbK;Eb?dQ 5j4f%P?Q 9j4fc)f}BYhyn&Q In?fCIf{ii)u~qqiuk7i},}u;}I}%f@IiIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ 9@  @ @ 0@ ԁ^Aԩ AA II Iq O} > DAT read: 00:26:27.7546 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 336, 0.27,-2.774, 1.835,-2.850, 3.120, PHS= 0.492,-1.239, 0.270, RAW= 143.2, 5.9, CAL= 142.8, 6.5, ROT= 7.2, -6.5  Ygot valid direction response: 00:26:27.7546 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 336, 0.27,-2.774, 1.835,-2.850, 3.120, PHS= 0.492,-1.239, 0.270, RAW= 143.2, 5.9, CAL= 142.8, 6.5, ROT= 7.2, -6.5  PDAT read: Bearing 355.7, 2.1 (Local)  ~Local bearing/azimuth received: Bearing 355.7, 2.1 (Local) 7, ?A<JDAT read: Range 11 to 50 : 376.5 m (Round-trip 502.0 ms) speed 0.5 m/s nR#Rx 2: Read range and direction messages.r\direction in FSK: [0.985737,0.124528,0.113203]vFpublishing direction and range infoy`K(? ?5?Y@C )HIm>iq=>@B=W@ V=)>IV轩 d??%_z?m.c2R? A>)(ҽI>iV轩MT****** received valid address query ******MR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.m1W@me@mx!=ٱm  AHRS rotation from veh to nav: [[-0.900989,0.433767,0.008125],[-0.428952,-0.887871,-0.166388],[-0.064959,-0.153398,0.986027]]mH ?ˣ?sۿqi/Lſ /ÿ`?im1W@Im^;iYByj*IDzDE EEE"E:*E H:VEZEBE9 Y = Dy zC :r;E>Q 5=4a7?Q 9]4g)z}BYe &?Q Ee:ye)Q Ie?CI"biVi!, sGi6Y%@zi0G:3J~\Zv+?2iN:i"i&n?*iBiBin=2?iiiCi n@ addTargetRange:: Added new target pos. range: 376.500000 m, deltaT: 16.389156 s, deltaX: 2.600006 m, approachRate: 0.158642 m/s, rangeRepo size: 4   Added new target pos. range: 374.757446 m, bearing: 213.535815 deg, lat: 36.779345 deg, lon: -121.859992 deg, deltaT: 16.389156 s, deltaX: 2.609955 m, approachRate: 0.159249 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 374.76 m.RhZhE ProNav: ac range: 374.757446 m, nav range: 370.022614 m, bearing: 213.113446 deg, approach rate: 0.000000 m/s, LOS rate: 0.005017 deg/s, cmd heading: 205.959669 deg, new cmd heading: 205.967332 deg. BhIMHeadingCmd: 3.594808 target range: 374.757446 and range: 376.50 m.hMVf@hQ*hQ"hQ hQgQfYfafadadadajdmw@Zdmi!)% !!i-4i-^,5;UG;8IUVf@IQ9@ @@/@ ^A vтA gAzA hA1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253294A=.AIIIYOe>gI>,B ?AY-By-a*IbDMVDM1ym"%mQ=ٔuQ-}>9} ?Y ?=DyCE>Q 54$?Q 94k)q}BYyQ I?CI/];i]^;~V4yѸBɮ0AEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 374.76 m.Rh s)9Zhs)9 ProNav: ac range: 374.757446 m, nav range: 369.770447 m, bearing: 213.116964 deg, approach rate: -0.663288 m/s, LOS rate: 0.009259 deg/s, cmd heading: 205.967332 deg, new cmd heading: 205.977893 deg. Bh%V9%HeadingCmd: 3.594992 target range: 374.757446 and range: 376.50 m.h%[f@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=S?ɢZ4<) >i)G i1i[ ,";ޫOI[f@IE EEE"E,:*E;J:VEZEa@a@a@a@B<ABD>BBo*IBBBBBBz;B2Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503029$IA @I  @I @M /@I q ^Ae 7checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758529IAIiO?:G,S ?A^W@^˷e@^=ٱ^' rAHRS rotation from veh to nav: [[-0.899503,0.436833,0.008486],[-0.432016,-0.886348,-0.166583],[-0.065247,-0.153508,0.985991]]^H?:a?&ۿ\Rſ %ÿ9Y=DyCO;E>Q 54 ?Q 94Vo)Y}BY!?Q E:ys)Q I?4CI:i:_4yθBɮAEjh  FNOT Ignoring new targets: 374.76 m.Rh;9Zh;9% ProNav: ac range: 374.757446 m, nav range: 369.428497 m, bearing: 213.121434 deg, approach rate: -0.635749 m/s, LOS rate: 0.008318 deg/s, cmd heading: 205.977892 deg, new cmd heading: 205.991314 deg. Bh%9-HeadingCmd: 3.595227 target range: 374.757446 and range: 376.50 m.h-2f@h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdE`EF?E EE+E"E:*EVE [4ZEBEi)i/-i, ;֨I2f@I!9ԑi@i @i@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070Թ^A "5 I9 II OU >L,Wx6 ?A2uW@2%e@24=ٱ2 :AHRS rotation from veh to nav: [[-0.898925,0.438013,0.008855],[-0.433181,-0.885624,-0.167407],[-0.065484,-0.154322,0.985848]]2H`i?"?=ۿ@Wmſ@ðÿ?i2uW@I2ȧ];2`CYBWByB(*IbDNVDNyb%bl=ٔf(3:Q-f?9dYd=jDyjCjv;Ej?lQ 5r4n?Q 9r4nr)nJ}BYtyv^)Q Iv?nPCInZ:in#:n f4yzԸBɮzAz'EjhFNOT Ignoring new targets: 374.76 m.Rh%9Zh%95 ProNav: ac range: 374.757446 m, nav range: 369.210388 m, bearing: 213.124245 deg, approach rate: -0.629202 m/s, LOS rate: 0.008114 deg/s, cmd heading: 205.991320 deg, new cmd heading: 205.999758 deg. Bh549checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259185HeadingCmd: 3.595374 target range: 374.757446 and range: 376.50 m.hf@h*h"h hg f f f dddQjdQZd][?ԑɢX/<) .>i)tкi0!+iU,UV;U9IUf@IYyyBM>BCBI*IBrBB =BBDBP{;B3EE EE%E"E>:*ErN:VE 4ZEBE<2E<JEX;:EY;@ @@/@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511007! ^A 9A >A >Iy I O >T,ZR ?AY^FBy^*IbDfVDf!3yn%r6=ٔrQ-r>9tYt=vDyvCvEv>xQ 5~4z?Q 94zu)z6}BYyQ I?zuCIz:iz:zm4y ѸBɮ *A&Ejh1=FNOT Ignoring new targets: 374.76 m.Rh=9Zh=9M ProNav: ac range: 374.757446 m, nav range: 368.928162 m, bearing: 213.127888 deg, approach rate: -0.629220 m/s, LOS rate: 0.008127 deg/s, cmd heading: 205.999762 deg, new cmd heading: 206.010698 deg. BhMz9UHeadingCmd: 3.595565 target range: 374.757446 and range: 376.50 m.hUf@hQ*hY"hY hYgYfYfafadadadajdiZdmv?颙ɢjB<)  >i)*º顡i(i,ڢ;)8If@ԱIM9@I @I@M1@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763794^A9II O>bEc44jE34rEn/EM EMEM(EI"EMm:*EMV:VEMc44ZEIa]@a]@a]@a]@1 } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0150232Z,l ?AY3By)II%0>)%>%=%=iMb@Mb@Mb@ 9)\(?~jt?MbYG!?yD=zAA 3A)YAbDVD1y%;=ٔQ->9Y=Dy(CE>Q 5 4?Q 9 45y)}BY !?Q E :y 'Q I ?CIx5;iJ4;u4yɮ%zA!jhAMFNOT Ignoring new targets: 374.76 m.RhM8ZhM8] ProNav: ac range: 374.757446 m, nav range: 368.653564 m, bearing: 213.130347 deg, approach rate: -0.626611 m/s, LOS rate: 0.005616 deg/s, cmd heading: 206.010704 deg, new cmd heading: 206.018088 deg. Bhev9eHeadingCmd: 3.595694 target range: 374.757446 and range: 376.50 m.hef@hi*hi"hi higififqfqdqdydyjdyZd}@颩ɢݬ;) P=i)Բ顱iB$i+X;7If@IA9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267075i^A I) I9 OE >A9 A= @ABE Z>BE CBE *IBE OBBE =BA BE DBE m{;BE 03EEa  Ee Ea Ea "Ea *Ee R:VEa ZEa BEe XSſ ֬8ÿൌ?iN'JX@IN=|];N^CYbByb)IbDj VDj2yr%rZ=ٔvQ-v>9tYt=vDyzFCzR<Ez>|Q 54~?Q 94~S|)~}BYy L'Q I ?~CI~:i~:~|4yθBɮݺA-B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 374.76 m.RhE8ZhE8U ProNav: ac range: 374.757446 m, nav range: 368.418518 m, bearing: 213.132201 deg, approach rate: -0.628592 m/s, LOS rate: 0.004961 deg/s, cmd heading: 206.018094 deg, new cmd heading: 206.023659 deg. BhUY9]HeadingCmd: 3.595791 target range: 374.757446 and range: 376.50 m.heq!f@ha*ha"ha hagafafifidididqjdqZduK@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5190819ɢ=/6:)A E9=iA)E'AAiMْ!iMD+Uq;QUYX;Iuq!f@Iq @  @ @ 4@ ԁ^A-!A1zA1IԱIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773211 ig, ?A2%tX@2if@2Bx=ٱ2%$ :AHRS rotation from veh to nav: [[-0.895019,0.445703,0.017028],[-0.441895,-0.880896,-0.169561],[-0.060574,-0.159285,0.985373]]2H@c?o?Hܿ`L0@/ſvcĿ,?i2%tX@I2yZ];2_CY^Byb)Ii}Mb@Mb@Mb@yyyy y9}Zd;?㥛 ?S㥛Y}?y}=}/ݼ}(A}|A y)}AyY}AbDVD02yM%?=ٔFQ->9Y=DyhC;E>Q 54?Q 94)|BY8 ?Q E:y$Q I?CIe:iL:4y˸Bɮ A%EE EE'E"E:*EVE'4ZEa @a @a @a @jhFNOT Ignoring new targets: 374.76 m.Rh7Zh7- ProNav: ac range: 374.757446 m, nav range: 368.152344 m, bearing: 213.132629 deg, approach rate: -0.617653 m/s, LOS rate: 0.000995 deg/s, cmd heading: 206.023654 deg, new cmd heading: 206.024941 deg. Bh-.85HeadingCmd: 3.595814 target range: 374.757446 and range: 376.50 m.h5!f@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEq @qɢu`3F)y }ԩ m, ?A2X@2f@2r=ٱ2jP( :AHRS rotation from veh to nav: [[-0.893930,0.447739,0.020461],[-0.444270,-0.879118,-0.172555],[-0.059272,-0.163342,0.984787]]2H §?@?@nܿ!HƿXgĿ`?i2X@I2AR];2aCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279028TYrByr)I ttxzAbD~ VD~2y 5% T=ٔ$^Q->9Y=DyC;E%>!Q 5-4%?Q 9-4%})%|BY1y5$Q I5?%CI%$:i%t:%J4y9ɮETAAjhquFNOT Ignoring new targets: 374.76 m.Rhc7Zhc7 ProNav: ac range: 374.757446 m, nav range: 367.913208 m, bearing: 213.132927 deg, approach rate: -0.624030 m/s, LOS rate: 0.000778 deg/s, cmd heading: 206.024938 deg, new cmd heading: 206.025833 deg. Bh8HeadingCmd: 3.595829 target range: 374.757446 and range: 376.50 m.h"f@h*h"h hgfffdddjdZdA @颙ɢt1) i)\T顩ii+ ;nE$BCB)IBBBBBDB{;BY3EE EE(E"E:*EF:VEc44ZEBE.A>\G1 Y u9 Y *A I I O >t,Hl ?A2xX@2(f@2m=ٱ2!( :AHRS rotation from veh to nav: [[-0.892869,0.449767,0.022251],[-0.446564,-0.877977,-0.172443],[-0.058023,-0.163906,0.984768]]2Ha`?@ɖ?ܿdƿ7Ŀ8?i2xX@I2=m];2_CYFByF)IbDN VDN2yVؽ%VQ=ٔZGQQ-Z>9XYX=ZDy^C^;E^>`Q 5f4b?Q 9f4b)b|BYhyjh$Q Ij?bCIb9:ib:b!4lyrǸBɮrAr$Ejh  FNOT Ignoring new targets: 374.76 m.Rh7Zh7% ProNav: ac range: 374.757446 m, nav range: 367.669922 m, bearing: 213.133137 deg, approach rate: -0.622055 m/s, LOS rate: 0.000536 deg/s, cmd heading: 206.025826 deg, new cmd heading: 206.026455 deg. Bh%d7-HeadingCmd: 3.595840 target range: 374.757446 and range: 376.50 m.h->"f@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE@iɢm[y)i uyiq)u'qqiuiw+q;EE"f@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783202@ @@/@ IE- E-E-)E)"E-:*E-VL:VE-FA4ZE)a=@a=@a=@a=@^A= &<I) I9 OE >a  DAT read: 00:26:32.0498 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 400,-0.34,-2.735, 1.865,-2.855, 3.112, PHS= 0.539,-1.202, 0.272, RAW= 141.8, 4.9, CAL= 141.5, 5.5, ROT= 8.5, -5.5  Ygot valid direction response: 00:26:32.0498 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 400,-0.34,-2.735, 1.865,-2.855, 3.112, PHS= 0.539,-1.202, 0.272, RAW= 141.8, 4.9, CAL= 141.5, 5.5, ROT= 8.5, -5.5  PDAT read: Bearing 354.9, 4.1 (Local)  ~Local bearing/azimuth received: Bearing 354.9, 4.1 (Local)  DAT read: Range 11 to 50 : 372.9 m (Round-trip 497.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.984463,0.147129,0.095846] Fpublishing direction and range infoya e DƷ?ۯH?aVX?Ye sCa a a a a )e NIe ?ie #ۙe C>e bd@e %=e @ e =)e >Ie Ľa a e S?* ]g?xV>Y? e >)e I譽Ie >ie Ľa a - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.,{,oE ?A9hX@f@Uh=ٱԳ( AHRS rotation from veh to nav: [[-0.891811,0.451790,0.023645],[-0.448824,-0.876969,-0.171703],[-0.056838,-0.163739,0.984865]]H!?M6?ܿ!`_ſ@@gĿ`?ihX@IZ];]CYʉBy{)IiMb@Mb@Mb@ 9'1Z?zG? rhY"?y =C ̡A{A )AYAbD%VD%1yeı%&=ٔ-Q->9Y=DyC[;E>Q 54u?Q 94Ӌ)x|BY?%?Q E:y`!Q I??CI6q@iuv@pBNK@E(A@riDƷ?ۯH?aVX?Zi>bi ĽiRXrD,<@kbM@ziY3鿛7rp$c?2iZ:i."iO{?i*i/BiqBiiiiCin@ addTargetRange:: Added new target pos. range: 372.899994 m, deltaT: 4.286656 s, deltaX: -3.600006 m, approachRate: -0.839817 m/s, rangeRepo size: 4  Added new target pos. range: 371.180603 m, bearing: 215.972397 deg, lat: 36.779345 deg, lon: -121.860046 deg, deltaT: 4.286656 s, deltaX: -3.576843 m, approachRate: -0.834413 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 371.18 m.RhZh  ProNav: ac range: 371.180603 m, nav range: 370.007202 m, bearing: 213.755920 deg, approach rate: 0.000000 m/s, LOS rate: 0.000536 deg/s, cmd heading: 206.026455 deg, new cmd heading: 206.027291 deg. Bh HeadingCmd: 3.595855 target range: 371.180603 and range: 372.90 m.h{"f@h*h"h hgfffd!dAdAjdE`fNw@ZdM?频ɢx) lԽi)ƺ顙iYNi:+vZ; e BDAT read: Tx time:00:26:33.3484 $Ping request sent.B CB )IB BB =B B DB 1|;B 3EBCBCBB =B =Cc6E-  E- E- 'E) "E- I:*E- ;J:VE- '4ZE) BE- {,d"?A26Y@2 g@2kc=ٱ2G' :AHRS rotation from veh to nav: [[-0.890840,0.453650,0.024594],[-0.450915,-0.876261,-0.169832],[-0.055493,-0.162383,0.985166]]2HÁ?@)/?@ܿ@T @ ſiĿ {?i26Y@I2w];0YFByFb)IIJp=)J=J=Ja= Na=LbDRVDR:2yZ%Z=ٔZQ-Z?9\Y\=^Dy^CbJ;Eb?dQ 5j4f h?Q 9j4fߎ)f]|BYhyj9!Q Ij?fXCIfF:ift:fB4yrĸBɮr5Ar#E]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 371.18 m.RhuzZhuzԙ ProNav: ac range: 371.180603 m, nav range: 369.808502 m, bearing: 213.754893 deg, approach rate: -0.662232 m/s, LOS rate: -0.003424 deg/s, cmd heading: 206.027288 deg, new cmd heading: 206.024205 deg. BhhHeadingCmd: 3.595801 target range: 371.180603 and range: 372.90 m.h!f@h*h"h hgfffdddjdZd ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249679yɢ}pmY)y xi)(Ѻ顁ii+E;6 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501619! ,H!?A27Y@2l-g@2^=ٱ2 " :AHRS rotation from veh to nav: [[-0.889999,0.455330,0.024006],[-0.452710,-0.876147,-0.165587],[-0.054364,-0.158240,0.985903]]2Hz`"$??4ܿ f 1ſի@7AĿ@?i27Y@I2B[];2_CY^BybD)Ii}Mb@Mb@Mb@yyyy y9}!rh?V-?X9vY}l'?y}h>}}zAy y)}IAyYybDVD2yݽ%<=ٔ|*Q->9Y=Dy C;E>Q 54U?Q 94)5|BY+?Q E:yQ I?}CI:i7:ۦ4yʸBɮAD<D<E EE(E"E,:*EV:VEc44ZEa@a@a@a@,EjhFNOT Ignoring new targets: 371.18 m.Rhc&Zh%c&- ProNav: ac range: 371.180603 m, nav range: 369.520874 m, bearing: 213.751020 deg, approach rate: -0.674797 m/s, LOS rate: -0.009092 deg/s, cmd heading: 206.024201 deg, new cmd heading: 206.012575 deg. Bh5ǹ=HeadingCmd: 3.595598 target range: 371.180603 and range: 372.90 m.h=Ff@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM A?yɢ}s)y }Bi)di顁i7 ip,̈;y D,o;?A6RY@6iHg@6 B\=ٱ6!Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005594 JAHRS rotation from veh to nav: [[-0.889282,0.456715,0.024288],[-0.454191,-0.875633,-0.164251],[-0.053748,-0.157097,0.986120]]6Ht`:?ߘ?vݿ.,ſۄĿJ?i6RY@I6Y];6]CYRByR-)IbDfVDf1yv̽%vW=ٔzbԺQ-z>9xYx=~Dy~(CK;E > Q 5%4 hD?Q 9%4 Η) |BY)y-Q I-? CI m;i e; 4yEƸBɮEAE+EjhFNOT Ignoring new targets: 371.18 m.Rh %Zh % ProNav: ac range: 371.180603 m, nav range: 369.268097 m, bearing: 213.747544 deg, approach rate: -0.655294 m/s, LOS rate: -0.009018 deg/s, cmd heading: 206.012576 deg, new cmd heading: 206.002139 deg. BhƹHeadingCmd: 3.595416 target range: 371.180603 and range: 372.90 m.hJf@h*h"h hgfffdddjdZdS?Q频ɢ) < ii)顡iRA ik,lj;לBCBh)IBBB =BBDB|;B3EE EE'E"E:*EVE'4ZEBE= ԩIIO> ,,U?A2[Y@2Qg@231Z=ٱ2r" :AHRS rotation from veh to nav: [[-0.889053,0.457115,0.025125],[-0.454698,-0.875306,-0.164589],[-0.053244,-0.157752,0.986042]]2Hs^A?A?ݿ@@ſ B:1Ŀ`?i2[Y@I2z];2^CYFByF)I HHHJAbDRVDRk1yVZ%ZN=ٔZ榺Q-Z>9\Y\=^Dy^HC^:Eb>`Q 5f4b23?Q 9j4b")b{BYhyjQ Ij?bCIb[:ib:bn4ylɮrApjh FNOT Ignoring new targets: 371.18 m.Rh +Zh +% ProNav: ac range: 371.180603 m, nav range: 369.006927 m, bearing: 213.743927 deg, approach rate: -0.674314 m/s, LOS rate: -0.009345 deg/s, cmd heading: 206.002139 deg, new cmd heading: 205.991281 deg. Bh%9͹%HeadingCmd: 3.595226 target range: 371.180603 and range: 372.90 m.h-/f@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= -?iɢm)i mNii)ude qqiu i,V;̠M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7619069 V,o?A2cY@2Yg@2V=ٱ2$' :AHRS rotation from veh to nav: [[-0.888866,0.457295,0.028251],[-0.455153,-0.874278,-0.168742],[-0.052466,-0.162848,0.985255]]2H q@TD??;!ݿ``Vſܪ/Ŀ 6?i2cY@I2k];2_CYFpByF )IiMMb@Mb@Mb@IIII I9Msh|??w/?~jtYM)?yM&>MMŸAI MA)IIYMAbDeVDe02ym%u?=ٔujQ-u>9yYy=}Dy}jC):E>Q 54 ?Q 94){BY/?Q E:yQ I?CI;i:;컋4yøBɮKA*EjhFNOT Ignoring new targets: 371.18 m.RhdZhd ProNav: ac range: 371.180603 m, nav range: 368.717773 m, bearing: 213.738570 deg, approach rate: -0.674358 m/s, LOS rate: -0.012503 deg/s, cmd heading: 205.991279 deg, new cmd heading: 205.975196 deg. BhJ HeadingCmd: 3.594945 target range: 371.180603 and range: 372.90 m.hf@h*h"h hgfffdddjdZd`H@)ɢ-)) -i1)5))11i5hi= ,=Ћ;=A A B Y>B CB 0)IB BB =B B B |;B 3EE%  E! E% *E! "E% :*E! VE% (N4ZE! BE% ,i?A :(RY@:Gg@: P=ٱ:, FAHRS rotation from veh to nav: [[-0.889426,0.455984,0.031610],[-0.454226,-0.874046,-0.172402],[-0.050984,-0.167697,0.984519]]:H@.v .?-/? ݿ.@Hƿ  wſ.?i:(RY@I:];:^CYbeByb(IbDjVDj0yri%rT=ٔr{Q-v>9tYt=vDyvCz7Ez>|Q 54~?Q 94~)~{BYyQ I ?~CI~&;i~";~‹4yBɮhA)E-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 371.18 m.RhE[bZhE[bU ProNav: ac range: 371.180603 m, nav range: 368.457642 m, bearing: 213.733802 deg, approach rate: -0.674278 m/s, LOS rate: -0.012368 deg/s, cmd heading: 205.975201 deg, new cmd heading: 205.960886 deg. BhU]HeadingCmd: 3.594696 target range: 371.180603 and range: 372.90 m.h]~f@hY*hY"hY hagafafafidididijdiZdu@颙ɢż) ݚi)r*顡i48i8,~nj;@,?A0B%Y@Bg@BIH=ٱB0 JAHRS rotation from veh to nav: [[-0.890767,0.453130,0.034752],[-0.451824,-0.874782,-0.174959],[-0.048879,-0.171550,0.983962]]BH)?ˡ?@ܿ7`eƿ@Yſ |?iB%Y@IB¬];B]CYfTByf(IIj>)jiUMb@Mb@Mb@QQQQ Q9U(\?w/?~jtxYU.?yQUĻUzAUxA UA)QQYU̎AbDmVDm2y}%==ٔQ->9Y=DyCлE>bE jE c44rE //E EE'E"E[:*ErN:VE'4ZEa@a@a@a@Q 54g?Q 94){BY3?Q E:y7Q I?,CI;i;3ʋ4yɮAjhFNOT Ignoring new targets: 371.18 m.Rh[Zh[  ProNav: ac range: 371.180603 m, nav range: 368.159149 m, bearing: 213.728580 deg, approach rate: -0.686541 m/s, LOS rate: -0.012021 deg/s, cmd heading: 205.960885 deg, new cmd heading: 205.945206 deg. Bh HeadingCmd: 3.594422 target range: 371.180603 and range: 372.90 m.h f@h*h"h hgfffd!d!d!jd!Zd-~@ɢd̼) ;i)Z7>iD}i,č;*ƍk,3n?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577pe_X@ef@eI>=ٱe 2 AHRS rotation from veh to nav: [[-0.892539,0.449442,0.037101],[-0.448573,-0.876312,-0.175667],[-0.046441,-0.173432,0.983750]]eH??mܿ C|ƿ ǧ3ƿz?ie_X@Ie];e\CYMBy(IbDVDk1yS %H=ٔgûQ->9Y=DyCFE>Q 54?Q 94})t{BYyvQ I?QCI:i:\ы4yBɮAjhFNOT Ignoring new targets: 371.18 m.Rh^XZh^X- ProNav: ac range: 371.180603 m, nav range: 367.875671 m, bearing: 213.723784 deg, approach rate: -0.698316 m/s, LOS rate: -0.011823 deg/s, cmd heading: 205.945203 deg, new cmd heading: 205.930804 deg. Bh-5HeadingCmd: 3.594171 target range: 371.180603 and range: 372.90 m.h5f@h1*h1"h9 h9gAfIffdddjdZd @!ɢ%0޼)! %OiI)MQIIiMkiU,U8z;UBCB(IBeBB =BBDB|;B3EE EE)E"E:*EA:VEFA4ZEBE5>,v2?A>X@>f@>.2=ٱ>2 FAHRS rotation from veh to nav: [[-0.894871,0.444633,0.038834],[-0.444188,-0.878705,-0.174855],[-0.043623,-0.173722,0.983828]]>HǢt? ?`mܿY@aƿ U<ƿ{?i>X@I> ];>^CYNGByN(IbDVVDV3ybD%fD=ٔnRܻQ-r>9tYt=vDyvCz2AEz>|Q 54~?Q 94~i)~X{BYyQ I?~vCI~;i~n;~؋4y¸BɮA2Ejh1=FNOT Ignoring new targets: 371.18 m.Rh=LZhEL] ProNav: ac range: 371.180603 m, nav range: 367.583893 m, bearing: 213.719072 deg, approach rate: -0.692640 m/s, LOS rate: -0.011194 deg/s, cmd heading: 205.930805 deg, new cmd heading: 205.916657 deg. BheuHeadingCmd: 3.593924 target range: 371.180603 and range: 372.90 m.huf@hq*hy"hy hygfffdddjdZd`(@BDAT read: Rx Time:00:26:36.2462 TRx dataTimestamp_ set to:1761524795.473175checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528288频ɢW) Ii)Haeiui,;p,,B$?A6W@6e@6y=ٱ6< >AHRS rotation from veh to nav: [[-0.900049,0.433081,0.048508],[-0.434357,-0.882501,-0.180347],[-0.035296,-0.183391,0.982406]]6H 3?֨?ۿ@s=ǿ Y _yǿo?i6W@I6B];6\CYFJByF(I HHxiMb@Mb@Mb@ 9> ףp=?n?Mb?Y1?yV><ףA =A)AYGAbD5VD5N2yEF<%E#=ٔMQ-M>9U"?YU"?=UDyUCUtE]>YQ 5e4]P?Q 9e4])]C{BYmt5?Q E:yQ I?]CI]@|٠=&I@ K=) A>IK,ADa?Y[?a?? >))I A>iKT****** received valid address query ******R****** received valid ping request ******jh!%FNOT Ignoring new targets: 371.18 m.Rh-mݸZh-mݸ= ProNav: ac range: 371.180603 m, nav range: 367.233276 m, bearing: 213.715918 deg, approach rate: -0.671868 m/s, LOS rate: -0.006050 deg/s, cmd heading: 205.916652 deg, new cmd heading: 205.907181 deg. Bh=ۄeHeadingCmd: 3.593758 target range: 371.180603 and range: 372.90 m.he#f@ha*ha"ha hagafififididqdqjdu@3#w@Zdu ?Querying Benthos address 50 with one ping in standard two-way mode.ɢYм) 0i)%}!!i% ڻi-,-Ǝ;5S:I5#f@I1B=>B= CB=(IB=QBB= =B9B=DB=|;B=3EA@I @Q@U/@QE EEE"E:*EX:VEZEBEG  ʹ9 Y ߩAE *DAT read: user:101> M BDAT read: Tx time:00:26:37.6484 M $Ping request sent.M ,>?A>,W@>܅e@>cu<ٱ>]cJ FAHRS rotation from veh to nav: [[-0.902327,0.427168,0.057738],[-0.429993,-0.882613,-0.190002],[-0.030203,-0.196271,0.980084]]>H V? Ώ?ۿ]>Qȿ xힿfɿ \?i>,W@I>6];9dYd=fDyf8CjFhEn>lQ 5r4n٫?Q 9r4n)n2{BYtyv Q Iv?nCInw:ino:n4yzBɮ~A~0Ei)i-{?AJi-CCRi-CCji-n@i-ori0v@upG@MIa@@ri-қ?UɃk??Zi- A>bi-Ki-q%sYk!,ij|3'@zi-Իi!,q;1 I#e@I@ @@/@^Ae[R;AmgAzAi checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928IqIOa>9E  E E E "E y:*E F:VE ZE a @a @a @a @Y ,.?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021256[W@6Pe@6^Q<ٱ6hZ ZAHRS rotation from veh to nav: [[-0.903845,0.422368,0.068338],[-0.427126,-0.881355,-0.201934],[-0.025061,-0.211706,0.977012]]6HK?~?` Vۿ`4 ɿ{`-˿C?i6[W@I6n];6]CYr0Byr(I9imMb@Mb@Mb@iiii i9mB`"?y&1?y&1?Ym.?ym`=m`=ٔDQ->9Y=Dy[C!E>Q 54O?Q 94¹),{BYT1?Q E:y"Q I?CIm ;i ;4yɮ#AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 368.53 m.Rh0Zh0 ProNav: ac range: 368.528046 m, nav range: 367.593079 m, bearing: 213.614436 deg, approach rate: -0.697934 m/s, LOS rate: -0.002415 deg/s, cmd heading: 205.900192 deg, new cmd heading: 205.897108 deg. Bh*Ը HeadingCmd: 3.593582 target range: 368.528046 and range: 370.20 m.h Ae@h *h"h hgfffdddjdZd 8?ɢ ) JϾi)@iͻit",ԍ;%YI%Ae@I!iA@A @A@E0@Aԙ==checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754599^A- rg: I I O% >B >B -CB (IB GBB =B >DB DB K|;B 3EBuCBu CBu˛CBu =Bu˽ =Cu)V7,G?AE& E&E&&E$"E&غ:*E&=:VE&4ZE$BE&9Y=Dy|CE>Q 54?Q 94Gǹ)&{BYyQ I?CI;i;84y Bɮ A /Ejh15FNOT Ignoring new targets: 368.53 m.Rh=/Zh=/M ProNav: ac range: 368.528046 m, nav range: 367.307129 m, bearing: 213.613446 deg, approach rate: -0.693164 m/s, LOS rate: -0.002402 deg/s, cmd heading: 205.897104 deg, new cmd heading: 205.894131 deg. BhMӸUHeadingCmd: 3.593530 target range: 368.528046 and range: 370.20 m.hUge@hQ*hQ"hQ hQgYfYfYfYdadadajdaZde`?频ɢ*J) ʾi)Ե顙iǻiM#,K;$Ige@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006835 @ @@*0@^AIIIYOe4>% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258084)  ,a?ABW$W@Be@B<ٱB_ JAHRS rotation from veh to nav: [[-0.905420,0.417499,0.076871],[-0.424178,-0.882499,-0.203148],[-0.016976,-0.216541,0.976126]]BH 3N?έ?%ۿ@n=ʿ@b ˿@l9iYi=}Dy}CE>Q 54n?Q 94˹)"{BYyO"Q I?9CI;i:4yBɮA.Ejh FNOT Ignoring new targets: 368.53 m.RhZh% ProNav: ac range: 368.528046 m, nav range: 367.010559 m, bearing: 213.612572 deg, approach rate: -0.685871 m/s, LOS rate: -0.002023 deg/s, cmd heading: 205.894126 deg, new cmd heading: 205.891502 deg. Bh-5HeadingCmd: 3.593485 target range: 368.528046 and range: 370.20 m.h5e@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE݄?DQzDQE] EYEYEY"E]I:*EYVEYZEYae@ae@ae@ae@颉ɢ") Qɾi)"顑iS3»i$,/;:Ie@I!I@I @I@Mn0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510291Q^A- A5 >A5 >I I O >y 5,ݖ{?A2!W@2Qe@2>SY<ٱ2[ :AHRS rotation from veh to nav: [[-0.905541,0.416916,0.078594],[-0.424052,-0.883641,-0.198393],[-0.013264,-0.212981,0.976966]]2H0? ?#ۿFdɿ3* B˿OC?i2!W@I2];2[CYJ3ByJ(IiMb@Mb@Mb@ 9Q?sh|??+?Y\/?y==AtA A)YAbD VDf2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762287y%N=ٔQ->9Y=DyCE>Q 5 4>\?Q 9 4sϹ)'{BY 0?Q E :y $Q I?ZCI:i3:`4yɮAjhAEFNOT Ignoring new targets: 368.53 m.RhMX8ZhMX8Q] ProNav: ac range: 368.528046 m, nav range: 366.746765 m, bearing: 213.613352 deg, approach rate: -0.698488 m/s, LOS rate: 0.002067 deg/s, cmd heading: 205.891504 deg, new cmd heading: 205.893846 deg. Bhe8eHeadingCmd: 3.593525 target range: 368.528046 and range: 370.20 m.heRe@hi*hi"hi higififqfqdqdydyjdyZd}hI@颩ɢ; ) ̾i)ò顱iic#,Eҋ;oxIRe@I9@ @@5@BU>BU1CBQBQBU =BQBUDBU,|;BU3EԁEe EeEe)Ea"Ee:*Ee?:VEeFA4ZEaBEe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014017 ,r?A6+W@6v!e@6!<ٱ6V BAHRS rotation from veh to nav: [[-0.905314,0.417195,0.079721],[-0.424629,-0.884617,-0.192725],[-0.009881,-0.208328,0.978009]]6H`TR? h? -ۿN2ȿ[<`ʿK?i6+W@I6g];6ZCYF*ByJ(I LLRAAPbDRVDRyZO=%Z`=ٔ^ Q-^>9`Y`=bDybCb:Ef>dQ 5j4fYJ?Q 9j4fӹ)f,{BYlyn$Q In?f{CIf+;if;f 4yrBɮr"Av7Ejh  FNOT Ignoring new targets: 368.53 m.Rh8Zh8% ProNav: ac range: 368.528046 m, nav range: 366.494904 m, bearing: 213.614079 deg, approach rate: -0.691014 m/s, LOS rate: 0.001996 deg/s, cmd heading: 205.893840 deg, new cmd heading: 205.896022 deg. Bh%R8-HeadingCmd: 3.593564 target range: 368.528046 and range: 370.20 m.h-e@h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdEX2@iɢm)q uCվiq)uSqqi}i}",.;7`ѻIe@I}PExceeded connect timeout, disconnecting.Ա9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266399^ArII!Oe> Dm =Dm 4=Eu  Eu Eq Eq "Eu y:*Eu A:VEq ZEq a} @a} @a} @a} @9 G,O?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.51826369Y=DyC;E>Q 544?Q 94ֹ):{BY\,?Q E:y'Q I?CI;i ;]4yɮAB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 368.53 m.Rh}8Zh}8 ProNav: ac range: 368.528046 m, nav range: 366.202271 m, bearing: 213.617029 deg, approach rate: -0.670210 m/s, LOS rate: 0.006762 deg/s, cmd heading: 205.896025 deg, new cmd heading: 205.904882 deg. Bh~9HeadingCmd: 3.593718 target range: 368.528046 and range: 370.20 m.hze@h*h"h hgfffdddjdZd@IɢM|,)i m1̾iq)uȻqqiu8ai}; ,}j;}TI}ze@I9@ @@@ 9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770088^ATлAfAzAfAy A I I O% >BE >BE 0CBE (IBE LBBE =BA BA BE X|;BE 4E.,J(?AE EE+E"EI:*EF:VE [4ZEBE9IYQ=UDyUCU^;EU>YQ 5e4]!?Q 9e4]Qڹ)]H{BYiym'Q Im?]CI]:i]:]04yuBɮuA6EjhFNOT Ignoring new targets: 368.53 m.Rh8Zh8 ProNav: ac range: 368.528046 m, nav range: 365.940247 m, bearing: 213.619625 deg, approach rate: -0.657438 m/s, LOS rate: 0.006517 deg/s, cmd heading: 205.904877 deg, new cmd heading: 205.912669 deg. Bh9%HeadingCmd: 3.593854 target range: 368.528046 and range: 370.20 m.h%f@h!*h!"h! h!g!f)f)f)d)d1d1jdyZd}` @颩Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022227ɢmլ)q uM;iq)uwһqqiuxԉi,҉;yIf@I!@! @!@!@!Թ}nManaging dock network, ignoring radio surface power off^A   checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274559Aq I I O >Y,G?A2vW@2le@25R:ٱ2dD >AHRS rotation from veh to nav: [[-0.903398,0.421187,0.080454],[-0.428800,-0.886785,-0.172458],[-0.001292,-0.190297,0.981726]]2H`? ?wqۿ`@ƿ@F*U[ȿLj?i2vW@I2߹];2ZChYn$Byn(IIr>)rR=v=vp=bD VD y=Ґ%EK=ٔU.ǻQ-U>9aYi=mDyu@Ck;E>Q 54 ?Q 94ݹ)W{BYys'Q I?CI;i;b!4yBɮA 5Ejh  FNOT Ignoring new targets: 368.53 m.bEFA4jE²>4rE./E5 E5E5(E1"E5y:*E5rN:VE5c44ZE1aE@aE@aE@aE@RhM18ZhU18e ProNav: ac range: 368.528046 m, nav range: 365.663849 m, bearing: 213.622294 deg, approach rate: -0.625268 m/s, LOS rate: 0.006043 deg/s, cmd heading: 205.912664 deg, new cmd heading: 205.920678 deg. Bhe9mHeadingCmd: 3.593994 target range: 368.528046 and range: 370.20 m.hmf@hi*h"h hgfffdddjdZdb @ɢ< ) ۾i)EAAiEiM,M D;MhBIUf@IQmBDAT read: Rx Time:00:26:40.5442 mTRx dataTimestamp_ set to:1761524799.756771uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528193 @  @@@A ^A 3q A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778585I!I1O=>5,L?A2W@2?e@2(ٱ2= >AHRS rotation from veh to nav: [[-0.902413,0.423309,0.080380],[-0.430871,-0.887038,-0.165873],[0.001085,-0.184319,0.982866]]2H~?œ?eۿ b P;ſQ?×ǿ s?i2W@I2];2\CYR#ByR(IaiMb@Mb@Mb@ 9NbX9?I +??Y%?y9<L=AtwA A)AYzAbDVD:2B<A<B>B2CBBBBBDB|;B<4EyX%=ٔQ->9!Y!=%Dy%kC-&;E->)Q 5=4-?Q 9=4-&)-p{BY=8&?Q E=:y=)Q IE?-CI-X;i- ;-q*4yMBɮM2AIjhiuFNOT Ignoring new targets: 368.53 m.Rh}'<9Zh}'<9 ProNav: ac range: 368.528046 m, nav range: 365.329590 m, bearing: 213.627221 deg, approach rate: -0.696833 m/s, LOS rate: 0.010281 deg/s, cmd heading: 205.920682 deg, new cmd heading: 205.935477 deg. Bh9HeadingCmd: 3.594252 target range: 368.528046 and range: 370.20 m.h:f@h*h"h hgfffdddjdZd@G@E] E]E]+EY"E]m:*E]=:VE] [4ZEYBE]Yh@ϸ@ ;)nF>ImS?Ǩ|??rk0h&F pZ>)41:InF>iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ^AU qZAU >AU > A I I O >,o?A2W@2le@2 qٱ2Pa8 JAHRS rotation from veh to nav: [[-0.901691,0.424783,0.080702],[-0.432365,-0.887405,-0.159914],[0.003686,-0.179086,0.983827]]2H`/?⨴?@ޫۿe`xĿ 3n?@Kƿ{?i2W@I2d];2ZCY By(IbD5VD5k1yMp%Uc=ٔULQ-U>9YYY=]DyeCm&;Em>qQ 5}4uu?Q 9}4u )u{BYyyk)Q I?u.CIu=:iuV:u04yBɮ:A4EiYi]|?AJi]CRi]Cji]ho@i]˓v@ d^L@\ͺ?ri]{;t?S?sNru?Zi]nF>bi]i]7ŗ&r6wi48dQzi]ٔk'g/ ⿹]鸦 2i]O:i]"i]?*i]Ka*Bi]vBi]?i]iYi]jCi]an@ addTargetRange:: Added new target pos. range: 368.700012 m, deltaT: 4.283115 s, deltaX: -1.500000 m, approachRate: -0.350212 m/s, rangeRepo size: 4  Added new target pos. range: 367.143219 m, bearing: 214.330309 deg, lat: 36.779342 deg, lon: -121.860055 deg, deltaT: 4.283115 s, deltaX: -1.384827 m, approachRate: -0.323322 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 367.14 m.RhZh ProNav: ac range: 367.143219 m, nav range: 364.835144 m, bearing: 213.811381 deg, approach rate: 0.000000 m/s, LOS rate: 0.010281 deg/s, cmd heading: 205.935476 deg, new cmd heading: 205.946640 deg. Bh HeadingCmd: 3.594447 target range: 367.143219 and range: 368.70 m.h k f@h *h "h hgfffdddjd@3 w@Zd% ?i*DAT read: user:102> BDAT read: Tx time:00:26:41.8984 $Ping request sent. a ,M05?A2$W@2e@2OԻٱ2H5 :AHRS rotation from veh to nav: [[-0.900636,0.426683,0.082441],[-0.434526,-0.887014,-0.156182],[0.006486,-0.176486,0.984282]]2H N??`Gۿkbÿݐz?@ƿ<?i2$W@I2];2[CYBByB(I DDHJAiMb@Mb@Mb@ 9w/?{Gzt?Q?Y&?yף;\=3AxA )AYAbD-VD-y5#%L=ٔfݻQ->9 ?Y ?=DyC;E>Q 545?Q 949){BY('?Q E:y3+Q I?PCIP:i ;74yBɮFA3EB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 367.14 m.Rh +i9Zh+i9% ProNav: ac range: 367.143219 m, nav range: 364.568115 m, bearing: 213.816592 deg, approach rate: -0.652333 m/s, LOS rate: 0.012741 deg/s, cmd heading: 205.946637 deg, new cmd heading: 205.962283 deg. Bh% :-HeadingCmd: 3.594720 target range: 367.143219 and range: 368.70 m.h-f@h)*h)"h) h)g)f1f1f1d9d9d9jd9Zd=?iɢmZz#)i miq)uڸqqiugi},}d;':If@I1@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502853a^A9B>B1CB(IBGBBBBDB};B4Eԉ E-  E- E- *E) "E- :*E- F:VE- (N4ZE) BE- 7 liA A s9 liAY AX, O?A06 X@6e@6ٱ6%1 >AHRS rotation from veh to nav: [[-0.899688,0.428495,0.083391],[-0.436434,-0.886998,-0.150865],[0.009323,-0.172126,0.985031]]6H@>@tl? Y?`ۿ Ib@Oÿ?;ƿ`_?i6 X@I6];6]CYnByn(IbDzVDzN2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754764y % M=ٔVQ->9"?Y"?=DyC;E>!Q 5-4%h?Q 9-4%2)%{BY1y5+Q I5?%pCI%:i%k:%>4y9ɮ=AAjhaeFNOT Ignoring new targets: 367.14 m.RhmNd9ZhmNd9} ProNav: ac range: 367.143219 m, nav range: 364.319916 m, bearing: 213.821367 deg, approach rate: -0.647976 m/s, LOS rate: 0.012475 deg/s, cmd heading: 205.962278 deg, new cmd heading: 205.976613 deg. Bh}:HeadingCmd: 3.594970 target range: 367.143219 and range: 368.70 m.hf@h*h"h hgfffdddjdZddq?ɢ3) i) i}i ,N;oAF;If@IU9@Q @Q@UH1@Qԑ^Av;AgAzAgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010846A I I O >],Ih?A\Ez EzEz.Ex"Ez[:*Ez;J:VEzـ4ZExa @a @a @a@=X@=8f@=mBٱ=/ AHRS rotation from veh to nav: [[-0.898903,0.429772,0.085255],[-0.437986,-0.886673,-0.148256],[0.011877,-0.170609,0.985267]]=Hc?Mӵ?`ܿ@_ ¿ (S?ſ@O?i=X@I=];=\CYBy(IiuMb@Mb@Mb@qqqq q9uMb?{Gz?I +?Yu#?yu#9Y=DyCEz;E>Q 54?Q 94){BY0#?Q E:y*Q I?CI:iq:F4yBɮmA2EjhiuFNOT Ignoring new targets: 367.14 m.RhuXL9ZhuXL9 ProNav: ac range: 367.143219 m, nav range: 364.031647 m, bearing: 213.826632 deg, approach rate: -0.610917 m/s, LOS rate: 0.011166 deg/s, cmd heading: 205.976608 deg, new cmd heading: 205.992414 deg. Bh79HeadingCmd: 3.595246 target range: 367.143219 and range: 368.70 m.hf@h*h"h hgfffddd checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259034jd ZdH6?ɢ )I MiI)MQQiUi}2,}I;}Ά;I}f@I@ @@0@9 ^A5 yb]; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511380A) I1 IA OU >*!,H?AY By p(II=)p;==B]>BYB](IB]7BB] =BYBYB]4;B]5EB1CB1CBCB =B =C5bD%VD%k2y[½%L=ٔQ->9Y=DyCE>Q 54?Q 94){BYyQ I?CIw:i:M4yBɮپAgO',;?A2I[X@2Pf@2σٱ2,. :AHRS rotation from veh to nav: [[-0.897220,0.432534,0.088938],[-0.441290,-0.885589,-0.144897],[0.016089,-0.169252,0.985441]]2H ?Ķ?@>ܿV ¿@y?@ ſ?i2I[X@I2(];2ZC@YnBynd(IbDzVDz0yD%T=ٔ2Q->9 Y = Dy -C_<E>Q 5%4'?Q 9%4){BY!y%q*Q I%?CIT;i?;RT4y5Bɮ5A5;EjhQ]FNOT Ignoring new targets: 367.14 m.Rh]zM9ZhezM9m ProNav: ac range: 367.143219 m, nav range: 363.534058 m, bearing: 213.835596 deg, approach rate: -0.632851 m/s, LOS rate: 0.011228 deg/s, cmd heading: 206.006319 deg, new cmd heading: 206.019320 deg. Bhu9uHeadingCmd: 3.595716 target range: 367.143219 and range: 368.70 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002hu4 f@h*h"h hgfffdddjdZd,@ɢoF)  i)i5i+j;C=;I4 f@I}9@y @y@1@ԩ@hA@E EE)E"E:*E.:VEFA4ZEa@a@a@a@^Ar;A>A>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267177A ! I9 IQ O] >|y-,0?AlYvވByvY(IiuMb@Mb@Mb@qqqq q9u}?5^I?I +?{Gz?YuM"?yu99Y=DyPCE>Q 54m?Q 94){BYk"?Q E:yr)Q I?CIV;i;[4yBɮA:E-B*** querying acoustic contact ***i) i)jhAEFNOT Ignoring new targets: 367.14 m.RhUx-9ZhUx-9m ProNav: ac range: 367.143219 m, nav range: 363.264709 m, bearing: 213.839711 deg, approach rate: -0.619952 m/s, LOS rate: 0.009479 deg/s, cmd heading: 206.019324 deg, new cmd heading: 206.031678 deg. Bhm*9HeadingCmd: 3.595931 target range: 367.143219 and range: 368.70 m.h#f@h*h"h hgff f d d)d1jd1Zd5]@颙ɢԪ?) i)O%顩!ixi5+5;5<;I5#f@I9ߍ?߉checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5196939@ @@4@9B]>B]/CB](IB]BB] =BYB]DB]c;B]B6EE  E E E "E :*E [:VE ZE BE 7j4,Z?A2X@2<f@2ٱ2- + :AHRS rotation from veh to nav: [[-0.895877,0.434483,0.092887],[-0.443776,-0.885208,-0.139531],[0.021601,-0.166224,0.985851]]2H@?yǷ? fܿS@)? Fſ ?i2X@I2];0YB͈ByBC(I DDDFAHJAAbDNVDN1yVV%VV=ٔVlQ-Z>9XYX=^Dy^oC^;E^>`Q 5f4b?[?Q 9f4b)b{BYdyfD)Q Ij?bCIb:ib:bhb4ylɮn?Alxjh FNOT Ignoring new targets: 367.14 m.Rh  /9Zh  /9% ProNav: ac range: 367.143219 m, nav range: 363.025085 m, bearing: 213.843270 deg, approach rate: -0.643549 m/s, LOS rate: 0.009564 deg/s, cmd heading: 206.031673 deg, new cmd heading: 206.042356 deg. Bh% 9%HeadingCmd: 3.596117 target range: 367.143219 and range: 368.70 m.h-&f@h)*h)"h) h)g)f)ffdddjdZd`@ɢ,2a) ji) (, iBZi+Ո;ԁ D zD @AE  E E +E "E :*E |;:VE [4ZE a @a @a% @a% @z:,:?AfX@ff@f ϼٱfР* nAHRS rotation from veh to nav: [[-0.895465,0.434643,0.096063],[-0.444414,-0.885208,-0.137486],[0.025278,-0.165806,0.985834]]fH @0?? FqܿS (@?"9ſ?ifX@Ifr];f\CYvByv"(IQi}Mb@Mb@Mb@yyyy y9}v/? ףp= ?Mb`Y}x)?y}Q8=}}ŸAy }A)}|AyY} AbD VD:2y%<=ٔ\ Q->9Y=DyC::E>Q 543F?Q 94){BY)?Q E:yS'Q I??mu"޽? ) I >i z 0> t@ Pw= a@ |=) ¸2>I |ゥ /3e? ?s? >) ԽI ¸2>i |}M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseIY Ii O} >A,?ABN>BN0CBN(IBNBBN =BLBNDBN;BN6EFX@FEf@FٱF0* nAHRS rotation from veh to nav: [[-0.895092,0.434486,0.100164],[-0.444887,-0.885270,-0.135547],[0.029779,-0.165888,0.985695]]FH@@?\?yܿ!T Y r~?;ſϊ?iFX@IFW];FZCY By (IbD%VD%02y5P{%5O=ٔ5;Q-5>99Y9==Dy=CE-:EE>AԉQ 54E*3?Q 94Eh)E{BYyI'Q I?E^CIEg G,> ?A:cX@:f@:+ٱ:v) BAHRS rotation from veh to nav: [[-0.894909,0.433786,0.104730],[-0.444850,-0.885757,-0.132449],[0.035310,-0.165119,0.985641]]:H@@'?Ϻ?nxܿX/?"ſ_?i:cX@I:#];:YCYJByJ(IIN=)NC=bDVVDVk1y^I%^S=ٔ^vjQ-b>9`Y`=bDybCf9Ef>hQ 5n4jy ?Q 9n4j)j{BYlyrH'Q Ir?j~CIj;ij;jw4yvBɮvAv8E==T****** received valid address query ******R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsejh!%FNOT Ignoring new targets: 367.14 m.Rh-8Zh-85 ProNav: ac range: 367.143219 m, nav range: 362.219513 m, bearing: 213.851327 deg, approach rate: -0.686861 m/s, LOS rate: 0.006856 deg/s, cmd heading: 206.058871 deg, new cmd heading: 206.066544 deg. Bh=9EHeadingCmd: 3.596540 target range: 367.143219 and range: 368.70 m.hE-f@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`-@颁ɢ) .i)F顉i:Xi+Љ;0QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey M,:?A:X@:f@:T+ٱ:( BAHRS rotation from veh to nav: [[-0.895288,0.431756,0.109754],[-0.443520,-0.886987,-0.128622],[0.041817,-0.163832,0.985602]]:H`3?@?bܿ2bvh?pĿ` ?i:X@I:];:XCYJByJ(Ii}Mb@Mb@Mb@yyyy y9}Zd;O?ʡE?MbY}~*?y}=}y}tA y)}A~AyY}AbDVDy [%;=ٔtQ->9Y=DyCLE>Q 54 ?Q 94 Q){BY]+?Q E]:y]{$Q I]?CIV8HeadingCmd: 3.596586 target range: 367.143219 and range: 368.70 m.hy.f@h*h"h hgff!f!d!d!d!jd)Zd- @qɢ}n)}r }4iy)}QyiZRi<+;0vB5CB\(IBBB =BBDB;B7EE EE*E"E:*E?:VE(N4ZEBE A ?I I O- > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse uT,!T?ABlmX@Bcf@BHٱB- NAHRS rotation from veh to nav: [[-0.895768,0.428561,0.118049],[-0.441808,-0.887634,-0.130046],[0.049051,-0.168646,0.984455]]BH! m?p8?Fܿ~g[@=?2ſ?iBlmX@IBd];BZCYfByf'IbD~VD~ky % S=ٔ Q->9Y=DyC=`E=>AQ 5M4E+?Q 9M4E )E{BYIyM$Q IM?ECIE:iE:E4yyɮ}'AyjhFNOT Ignoring new targets: 367.14 m.Rh*8Zh*8 ProNav: ac range: 367.143219 m, nav range: 361.665405 m, bearing: 213.853097 deg, approach rate: -0.693631 m/s, LOS rate: 0.002329 deg/s, cmd heading: 206.069225 deg, new cmd heading: 206.071863 deg. Bh8HeadingCmd: 3.596632 target range: 367.143219 and range: 368.70 m.h:/f@h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@j@aɢeD)a e"?ia)mZiiim iu{+uF;u;Iu:/f@Iyԙm9@i @i@m2@iԹT****** 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 :*E =:VE FA4ZE a @a @a @a @ [,LTn?AfbX@fXf@fThٱfLD> nAHRS rotation from veh to nav: [[-0.895687,0.424768,0.131595],[-0.441057,-0.886314,-0.141123],[0.056690,-0.184443,0.981207]]fHwd/??@F:ܿ \P¿?ԛǿ f?ifbX@If ^;f[CYtyv'I xxiuMb@Mb@Mb@qqqq q9uuV?~jt?MbpYur(?yu=uufAu`sA uA)u-zAqYuA@AbDVD0y%C=ٔQQ->9Y=Dy7CǺE>Q 54?Q 94){BY<*?Q E:y"Q I?CI.:i:`4yBɮ1A?EuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapsejhyFNOT Ignoring new targets: 367.14 m.Rh;rZh;r ProNav: ac range: 367.143219 m, nav range: 361.389099 m, bearing: 213.852746 deg, approach rate: -0.650005 m/s, LOS rate: -0.000827 deg/s, cmd heading: 206.071862 deg, new cmd heading: 206.070807 deg. BhVHeadingCmd: 3.596614 target range: 367.143219 and range: 368.70 m.h.f@h*h"h hgfffdddjdZdE>@ yɢ-) Z?i)e i 1\}i +Cm;;I.f@I9@ @@k3@9a ^A [R;- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseA I I O >Za,!?AA A"AAB&@>B&:CB&C(IB&͈BB& =B&=DB&DB&-;B&L8E0BlX@Bdbf@BJpٱBL NAHRS rotation from veh to nav: [[-0.895020,0.422089,0.144150],[-0.441390,-0.884659,-0.150178],[0.064135,-0.198039,0.978094]]BH?s??ܿO 9ÿ@&k?YYɿ L?iBlX@IBB];BWCYVvByV'IbD~VD~02yU`%UP=ٔURQ-U>9YYY=]Dy]WCe&:Ee>iQ 5u4m?Q 9u4m)m{BYqyu"Q I}?m CImY;im;m@4yɮ]AjhFNOT Ignoring new targets: 367.14 m.RhZh ProNav: ac range: 367.143219 m, nav range: 361.127625 m, bearing: 213.852407 deg, approach rate: -0.695698 m/s, LOS rate: -0.000902 deg/s, cmd heading: 206.070810 deg, new cmd heading: 206.069792 deg. BhHeadingCmd: 3.596596 target range: 367.143219 and range: 368.70 m.h.f@h*h"h hgfffdddjdZdն@ ɢ ’)  Di)ni.{i+:;;I%.f@I! IQE EE*E"E:*EVL:VE(N4ZEBE Wi,/?AB{X@Bnqf@B/ٱBT VAHRS rotation from veh to nav: [[-0.894212,0.420509,0.153485],[-0.442013,-0.883656,-0.154199],[0.070786,-0.205728,0.976046]]BHa ?`c?IܿFǼÿ?`NUʿ@;?iB{X@IB];BXCY\y^'IbDf VDf2yn4;%n.=ٔnshQ-n>9pYp=rDyr~Cv;Ev>tQ 5~4v?Q 9~4vJ)v|BY|y~"Q I~?v2CIv;iv:vt4y%Bɮ%BA)qjhFNOT Ignoring new targets: 367.14 m.RhdZhd ProNav: ac range: 367.143219 m, nav range: 360.815582 m, bearing: 213.851969 deg, approach rate: -0.648815 m/s, LOS rate: -0.000911 deg/s, cmd heading: 206.069799 deg, new cmd heading: 206.068484 deg. Bh HeadingCmd: 3.596574 target range: 367.143219 and range: 368.70 m.hC.f@h*h"h hgffafadqdydjdZdZ@E= E=E=(E9"E=y:*E=C:VE=c44ZE9ae@ae@am@am@ɢ){) Di)'S|i%ɳ~i%r+%(݊;-D;I-C.f@I)ԡΒ{T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse9@ @@3@^A `; I I O >p,~Q?AF}X@F-f@FXٱFDN bAHRS rotation from veh to nav: [[-0.891877,0.423063,0.159915],[-0.445117,-0.883726,-0.144564],[0.080161,-0.200114,0.976488]]FH@Bv?x?|ܿ@|G¿k?Yɿ`c??iF}X@IFs];DnT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapseYr|Byr'IIv=)v49Y=DyC <E>Q 54?Q 94)|BY1?Q E:y!Q I?ZCIC:i:O4yBɮA>EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 367.14 m.Rh$Zh$ ProNav: ac range: 367.143219 m, nav range: 360.505157 m, bearing: 213.850987 deg, approach rate: -0.707714 m/s, LOS rate: -0.002241 deg/s, cmd heading: 206.068487 deg, new cmd heading: 206.065539 deg. BhĸHeadingCmd: 3.596522 target range: 367.143219 and range: 368.70 m.hk-f@h*h"h hg!f!f!f!d)ddjdZd`y@ɢ) Ai)%!!i%B5L>B5w,Q?A>X@>?f@>Rٱ>,F FAHRS rotation from veh to nav: [[-0.891236,0.424929,0.158536],[-0.445958,-0.884703,-0.135727],[0.082583,-0.191665,0.977980]]>H`2?J?`ܿ}O`_ %$?`zȿK?i>X@I>)^;>WCYNByN'IbDVVDV02y^<%^8=ٔbQ-b>9`Y`=fDyfCf;Ef>hQ 5n4j?Q 9n4j#)j&|BYpyr!Q Ir?jCIjg:ij:j 4ytɮvAtjhFNOT Ignoring new targets: 367.14 m.Rh*Zh*- ProNav: ac range: 367.143219 m, nav range: 360.199402 m, bearing: 213.849956 deg, approach rate: -0.691523 m/s, LOS rate: -0.002334 deg/s, cmd heading: 206.065537 deg, new cmd heading: 206.062441 deg. Bh-͸5HeadingCmd: 3.596468 target range: 367.143219 and range: 368.70 m.h5,f@h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM1)@qɢuF)y }?iy)}j1yyi}i,+ŋ;U>IIIYOe>E EE-E"E:*EA:VEt4ZEa@a@a@a@  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse1 X},P?A2X@2f@2vٱ23? :AHRS rotation from veh to nav: [[-0.890496,0.426563,0.158307],[-0.446965,-0.885194,-0.129050],[0.085085,-0.185676,0.978920]]2H~L?fC?ܿS@ȵ?9ǿPS?i2X@I24^;0YR~ByR'IiMb@Mb@Mb@ 9|?5^?Cl?Q?Y-?y;=u<ApA A)twAYAbD VDf2yA%9=ٔQ->9Y=DyC7;E>Q 54~?Q 94B()>|BY 0?Q E :y  Q I ?CI:i:³4yzBɮA=Ejh9EFNOT Ignoring new targets: 367.14 m.RhE-ZhE-] ProNav: ac range: 367.143219 m, nav range: 359.897034 m, bearing: 213.848255 deg, approach rate: -0.684921 m/s, LOS rate: -0.003857 deg/s, cmd heading: 206.062436 deg, new cmd heading: 206.057328 deg. Bh]i)eHeadingCmd: 3.596379 target range: 367.143219 and range: 368.70 m.he+f@ha*ha"ha hagifififidqdqdqjdyZd}@@颡ɢ ) @i)$顩i<-iu+}g;}dQB9CBBB =BBDB;B9Ei ^A :<E  E E ,E "E >:*E a9:VE g4ZE BE Є,/?A"T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapse$:*Y@:f@:&ٱ:Y9 BAHRS rotation from veh to nav: [[-0.889400,0.429170,0.157420],[-0.448819,-0.885185,-0.122508],[0.086769,-0.179612,0.979903]]:Huw?U&? uܿoS\{6?@ƿ`^[?i:*Y@I:q^^;8YJByJ'IPRAbDVVDV3y^[=%^_=ٔb`Q-b>9`Y`=bDybCfM;Ef>hQ 5n4jm?Q 9n4j",)jR|BYlyn Q Ir?jCIj;ij;j&4yvtBɮvAv ^,.?AD2=D2<E> E<E<E<"E>7:*E<VE<ZE9yYy=}Dy}-C}d:E>Q 54W?Q 940)t|BY 1?Q E:y"Q I?CIl,;i+;1Œ4y|BɮAEEjhFNOT Ignoring new targets: 367.14 m.RhnZhn ProNav: ac range: 367.143219 m, nav range: 359.329620 m, bearing: 213.846378 deg, approach rate: -0.687185 m/s, LOS rate: -0.000815 deg/s, cmd heading: 206.052819 deg, new cmd heading: 206.051692 deg. Bh(MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse]HeadingCmd: 3.596280 target range: 367.143219 and range: 368.70 m.h]u)f@hY*hY"hY hYgYfaffdddjdZdh)!@9ɢ=聽)=n- e6ia)eėaaieDimA+m<֍;uvNu:,%H?ABPBPBRU(IBR܈BBR =BPBPBR-;BRD9Eb Y@bg@bcٱbZ+ jAHRS rotation from veh to nav: [[-0.888933,0.431286,0.154240],[-0.449125,-0.886834,-0.108683],[0.089912,-0.165885,0.982038]]bH$r/?"?vܿ `@һx?@;ſ`l?ib Y@Ib=];`lY=By= (IbDIVDIy}jy=%}Y=ٔ{Q->9Y=DyLCdE>Q 54E?Q 944)|BYy"Q I?CI;i;Ȍ4yVBɮADEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 367.14 m.RhjZhj ProNav: ac range: 367.143219 m, nav range: 359.070953 m, bearing: 213.846077 deg, approach rate: -0.688242 m/s, LOS rate: -0.000802 deg/s, cmd heading: 206.051685 deg, new cmd heading: 206.050781 deg. Bh HeadingCmd: 3.596265 target range: 367.143219 and range: 368.70 m.h3)f@h*h"h hgfffdddjd Zd @!@1ɢ5->)9 =0i9)=̠99iEiE+Ej;Msa ,~a?A2X@2Ff@2Y5ٱ21$ :AHRS rotation from veh to nav: [[-0.889522,0.430474,0.153109],[-0.447480,-0.888492,-0.101702],[0.092256,-0.158980,0.982962]]2Hv`?`?ܿn) ?pYĿlt?i2X@I2^;2WCYzByz(II=)===bD VD yJT=%Q=ٔ%ĻQ-%>9!Y)=-Dy-lC-E->19Q 5E452?Q 9E458)5|BYAyE"Q IM?54CI5F-;i51.;5ό4yQɮUAQjhq}FNOT Ignoring new targets: 367.14 m.Rh0Zh0 ProNav: ac range: 367.143219 m, nav range: 358.801483 m, bearing: 213.845841 deg, approach rate: -0.687377 m/s, LOS rate: -0.000601 deg/s, cmd heading: 206.050784 deg, new cmd heading: 206.050076 deg. BhTӷT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 3.596252 target range: 367.143219 and range: 368.70 m.h(f@h*h"h hgfffdddjdZdӧ"@ɢ) +i)iEi+;"YF,{?ARX@Rf@RĽٱR V ^AHRS rotation from veh to nav: [[-0.891004,0.427294,0.153401],[-0.443770,-0.891021,-0.095652],[0.095812,-0.153301,0.983524]]RH `X? ?fܿ ?| ? _ÿy?iRX@IRk];RXCYfByf*(IiMb@Mb@Mb@ 9|?5^?㥛 ?Mb?Y-?y=ԑ=\A fA)rAY AbDVD2y}=%A=ٔ Q->9Y=DyCE>Q 54?Q 94<)|BY/?Q E:y3$Q I?YCI ;i ;׌4yOBɮ\ACEjh  FNOT Ignoring new targets: 367.14 m.Rh7Zh7% ProNav: ac range: 367.143219 m, nav range: 358.514008 m, bearing: 213.846519 deg, approach rate: -0.679001 m/s, LOS rate: 0.001603 deg/s, cmd heading: 206.050073 deg, new cmd heading: 206.052109 deg. Bh%ӌ8-HeadingCmd: 3.596288 target range: 367.143219 and range: 368.70 m.h-)f@h)*h)"h1 h1g1f1f9f9d9d9d9jdAZdE#@iɢu L)q u#iq)ux_qyi}ِi} +j; B:CBn(IBBB =BBDBQ;Bp9Eq:9@ @@/@Em  Em Em ,Ei "Em :*Em a9:VEm g4ZEi BEm A >IAII1OM?㨦,?AbNsX@bhf@b6νٱb# nAHRS rotation from veh to nav: [[-0.892147,0.422640,0.159531],[-0.440420,-0.892319,-0.098978],[0.100520,-0.158564,0.982218]]bHw ?k?/ܿ V ?`KĿ`Un?ibNsX@Ib^;`YrLjByr;(I ttbD~ VD~2y p=% +=ٔ!Q->9Y=DyCE>!Q 5-4%?Q 9-4%cA)%|BY1y5i$Q I5?%CI%Z4;i%E5;%dߌ4yEHBɮEAEBEjhamFNOT Ignoring new targets: 367.14 m.Rhuo8Zhuo8 ProNav: ac range: 367.143219 m, nav range: 358.189117 m, bearing: 213.847459 deg, approach rate: -0.676991 m/s, LOS rate: 0.001959 deg/s, cmd heading: 206.052109 deg, new cmd heading: 206.054930 deg. Bh8HeadingCmd: 3.596337 target range: 367.143219 and range: 368.70 m.hc*f@h*h"h hgfffdddjdZd xu$@ɢ+t) gi),iiQ+;;Ic*f@I) &ͬ,-?ADAT read: 2Acoustic response timeout:RX@:Gf@:dؽٱ:* BAHRS rotation from veh to nav: [[-0.892559,0.419023,0.166611],[-0.438377,-0.892886,-0.102858],[0.105665,-0.164845,0.980643]]:H֏D?S?]ܿT ?@ſna?i:RX@I:];:VCYJ݈ByJW(IiMb@Mb@Mb@ 9K7?:v?:v?YI,?yT=<A A)KoAY(AbDVD1y=%@=ٔFQ->9 ?Y ?=DyCޛE>Q 54?Q 94>E)&}BY,?Q E:y&Q I?CI:i :4yɮAjhFNOT Ignoring new targets: 367.14 m.Rh%8Zh%85 ProNav: ac range: 367.143219 m, nav range: 357.904053 m, bearing: 213.849792 deg, approach rate: -0.669765 m/s, LOS rate: 0.005487 deg/s, cmd heading: 206.054936 deg, new cmd heading: 206.061943 deg. Bh5q9=HeadingCmd: 3.596459 target range: 367.143219 and range: 368.70 m.h=d,f@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU KO%@ԙYɢ][p)a eWia)mY顉i񍛻iR+K;d;Id,f@I2Acoustic response timeout- 9@)  @) @- 0@) B G>B ;CB (IB BB =B B DB ;B 9E MG =9 Y UlA E  E E +E "E y:*E 0:VE [4ZE BE 9n"?Yr"?=rDyrCrEr>tQ 5z4v?Q 9z4vI)vR}BY|y~&Q I~?vCIvt:iv:v%4yABɮ7A%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 367.14 m.Rh58Zh=8E ProNav: ac range: 367.143219 m, nav range: 357.586426 m, bearing: 213.852566 deg, approach rate: -0.667645 m/s, LOS rate: 0.005835 deg/s, cmd heading: 206.061944 deg, new cmd heading: 206.070272 deg. BhE#9UHeadingCmd: 3.596605 target range: 367.143219 and range: 368.70 m.hU.f@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde B&@频ɢe) +i)=顙is i+.;(;I.f@I 9@ @@0@1^A ;2Acoustic response timeoutA9 IA IQ Y Oe >f,N?AD zD E& E&E&*E$"E&%:*E&.:VE&(N4ZE$a2@a2@a6@a6@<]W@]{e@]dٱ]Il? AHRS rotation from veh to nav: [[-0.894028,0.409060,0.182713],[-0.432998,-0.893637,-0.118008],[0.115007,-0.184616,0.976058]]]H@.?"c?<ۿ5q?@ǿ;?i]W@I]*];]VCYBy5(Ii Mb@Mb@Mb@     9 Zd;O?kt?~jt?Y ~*?y  0= <  A mA \A) mA Y ׉AbD%VD%0U2Acoustic response timeoutye.=%e(=ٔmQ-m>9iYq=uDyu&CuEu>yQ 54}U?Q 94}M)}}}BY*?Q E:ԉy'Q I?}CI}7;i}6;}4y:BɮAAEjhFNOT Ignoring new targets: 367.14 m.Rh 9Zh 9 ProNav: ac range: 367.143219 m, nav range: 357.265381 m, bearing: 213.856205 deg, approach rate: -0.659872 m/s, LOS rate: 0.007487 deg/s, cmd heading: 206.070277 deg, new cmd heading: 206.081205 deg. Bhn9HeadingCmd: 3.596796 target range: 367.143219 and range: 368.70 m.h1f@h*h"h hgafififididqdqjdqZduFD'@ɢ[)O물 i ) Yj  i >i+];T:I1f@IԹ@ @@0@  2Acoustic response timeout^A ] ;B A <B Q>B =CB (IB ,} ?A2bW@2e@2Wٱ2XK :AHRS rotation from veh to nav: [[-0.894114,0.405035,0.191068],[-0.431665,-0.893074,-0.126822],[0.119271,-0.195871,0.973350]]2H?t?fۿ@;?`Kɿ%?i2bW@I2];0YBByB(I JR=HbDNVDNkyR=>%Vk=ٔVlJQ-V?9XYX=ZDyZBC^jE^?\Q 5b4^?Q 9f4^P)^}BYdyf'Q If?^CI^:i^:^4ynCBɮnAnJEjhYeFNOT Ignoring new targets: 367.14 m.Rhe9Zhe9 ProNav: ac range: 367.143219 m, nav range: 357.036041 m, bearing: 213.858847 deg, approach rate: -0.639422 m/s, LOS rate: 0.007371 deg/s, cmd heading: 206.081205 deg, new cmd heading: 206.089137 deg. Bh9HeadingCmd: 3.596934 target range: 367.143219 and range: 368.70 m.h+4f@h*h"h hgfffdddjdZd'@EU EUEU)EQ"EU:*EUR:VEUFA4ZEQBEUi,%?A6W@6de@6'ٱ68)S >AHRS rotation from veh to nav: [[-0.893690,0.402984,0.197285],[-0.431549,-0.892363,-0.132110],[0.122812,-0.203204,0.971404]]6H`}?@?ۿ@=p? ʿ?i6W@I6D];4YF"ByF(IJ2Acoustic response timeoutPPbDVVDV02y^w=%^I=ٔ^Q-^>9`Y`=bDybcCfO9Ef>hQ 5n4jҟ?Q 9n4j>T)j}BYlyn'Q In?j9CIj:ijR:j4yv;BɮveAvIEjhFNOT Ignoring new targets: 367.14 m.Rh39Zh39% ProNav: ac range: 367.143219 m, nav range: 356.767578 m, bearing: 213.861935 deg, approach rate: -0.679886 m/s, LOS rate: 0.007825 deg/s, cmd heading: 206.089142 deg, new cmd heading: 206.098411 deg. Bh-֫95HeadingCmd: 3.597096 target range: 367.143219 and range: 368.70 m.h56f@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE`(@qɢu*])q usݾiq)}%yyi}i+Ԏ;n.I6f@I A%9@! @)@-{4@)DYD]4=E} E}E}*Ey"E}I:*E}C:VE}(N4ZEya@a@a@a@q^A%qUBDAT read: Response Not Received U*response not received]TDAT read: user:104>Tx time:00:26:54.3483 e{,+n??A69IYI=MDyMCU|s;EU>QQ 5e4U?Q 9e4UW)U}BYeE&?Q Ee:ye)Q Ie?U[CIU~ ;iU:U& 4yu4BɮuAuHEjhFNOT Ignoring new targets: 367.14 m.Rh.>9Zh.>9 ProNav: ac range: 367.143219 m, nav range: 356.498962 m, bearing: 213.866288 deg, approach rate: -0.640690 m/s, LOS rate: 0.010392 deg/s, cmd heading: 206.098417 deg, new cmd heading: 206.111488 deg. Bh79HeadingCmd: 3.597324 target range: 367.143219 and range: 368.70 m.h:f@h*h"h hgfffdddjdZd`)@频ɢz~I) ƾi)Ɇ顡iʲi'+3;A:I:f@IDAT read: 2Acoustic response timeoutԹBMV>BIBM )IBMoBBIBIBMDBM_;BM:E Q@Q @Q@U2@Q@]=@]=E} E}E},Ey"E}:*E}rN:VE}g4ZEyBE} ',^?AY OBy (IbDVDk1y-=%5,=ٔ5Q-5>99Y9==Dy=C=EE>AQ 5U4Et?Q 9U4Eb[)E~BYQyQQ I]?ECIE%;iE&;Ev4yaɮeAaB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 367.14 m.Rh79Zh79M ProNav: ac range: 367.143219 m, nav range: 356.194183 m, bearing: 213.871237 deg, approach rate: -0.617793 m/s, LOS rate: 0.010039 deg/s, cmd heading: 206.111490 deg, new cmd heading: 206.126348 deg. BhMw9MHeadingCmd: 3.597584 target range: 367.143219 and range: 368.70 m.hU>f@hQ*hQ"hQ hQgQfQfYfYdYdYdajdZdp*@颉ɢ=7) i)k顑iʻi+G;,:I>f@I2Acoustic response timeout𕭼)@) @)@54@1!E]  E] ~E] *EY "E] غ:*E] (:VE] (N4ZEY am @am @am @am @^A] v;a - 2Acoustic response timeoutIQ Ia Om >^,x?A2X@2=f@2Tٱ2:J RAHRS rotation from veh to nav: [[-0.888608,0.414019,0.197392],[-0.441256,-0.889108,-0.121568],[0.125172,-0.195127,0.972758]]2HzoG?'D?=ܿs? ȿ ?i2X@I2^;0YV^ByZ(II^<)^4<^=^=i=Mb@Mb@Mb@9999 99=E? rh?{Gz?Y=&?y=C<=#<=ŸA=~hA =pA)=~hA9Y9bDVDIyz=%2=ٔQ9Q->9Y=DyC%<E>Q 54^?Q 94 _):~BY&?Q E:y)Q I?CIX;i ;{4y,Bɮ8AGEjhFNOT Ignoring new targets: 367.14 m.Rh%8H9Zh%8H95 ProNav: ac range: 367.143219 m, nav range: 355.899414 m, bearing: 213.876063 deg, approach rate: -0.667586 m/s, LOS rate: 0.010940 deg/s, cmd heading: 206.126353 deg, new cmd heading: 206.140845 deg. Bh5C9=HeadingCmd: 3.597836 target range: 367.143219 and range: 368.70 m.h=Bf@h9*h9"hA hAgAfAfIfIdIdIdQjdQZdUis+@颁ɢR/;) i)¼顉i,ӻi+;B>CBO)IBBB =BBB;B:E 9@  @ @ 54@ E5  E5 E5 +E1 "E5 7:*E5 3:VE5 [4ZE1 BE5 ;aE 2E5 ;aE JE5 ;aE :E5 ;aE ^A=AE>AE>IIO>χ,U2?A&2Acoustic response timeout:X@:f@:)ٱ:[F FAHRS rotation from veh to nav: [[-0.886679,0.419680,0.194086],[-0.445795,-0.887339,-0.117880],[0.122748,-0.191045,0.973876]]:H_??@ܿ@eg-@nl?&tȿ`)?i:X@I:^];:TCYNvByN)IbDVVDV02y^=%^C=ٔb;Q-b>9dYd=fDyfCfA<Ef>hQ 5n4jJ?Q 9n4job)j_~BYpyvf)Q Iv?jCIj,;ij-;j#4yz$BɮzAzFEjhFNOT Ignoring new targets: 367.14 m.Rh%f79Zh%f795 ProNav: ac range: 367.143219 m, nav range: 355.629578 m, bearing: 213.880273 deg, approach rate: -0.641789 m/s, LOS rate: 0.010021 deg/s, cmd heading: 206.140847 deg, new cmd heading: 206.153487 deg. Bh59=HeadingCmd: 3.598057 target range: 367.143219 and range: 368.70 m.h=Ff@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM@vJ,@yɢ}z%-) *i)]ļ  i ۻi$+=S;=:Kԁ2Acoustic response timeoutԩ ٤,ְ?AbE)jE-OS4rE-6/EB EB~EB*E@"EB%:*EB(:VEB(N4ZE@aJ@aJ@aJ@aJ@P ]4Y@  *g@ ;dٱ !< AHRS rotation from veh to nav: [[-0.885019,0.425969,0.187861],[-0.449948,-0.886226,-0.110229],[0.119534,-0.182082,0.975991]] H RC? ?ܿ`[7?`xNǿP;?i ]4Y@I E"^; VCY%By-5)I R=bD VDf2y =%+=ٔ;Q->9Y=DyC\<E>!Q 5-4%4?Q 954%Of)%~BY1y5)Q I5?%CI%;i%;%%,4y9ɮ=JAAjhaeFNOT Ignoring new targets: 367.14 m.u2Acoustic response timeoutRhu/9Zhu/9 ProNav: ac range: 367.143219 m, nav range: 355.323242 m, bearing: 213.884842 deg, approach rate: -0.643863 m/s, LOS rate: 0.009611 deg/s, cmd heading: 206.153482 deg, new cmd heading: 206.167201 deg. Bh9HeadingCmd: 3.598296 target range: 367.143219 and range: 368.70 m.h}Jf@h*h"h hgfffdddjdZd>-@ɢ') \\i) Ƽi4i9+C;h ! % 2Acoustic response timeout,B?ABU>B=CB)IBՉBB =BBB);BY;ER$Y@R~g@Rj+ٱRl1 ^AHRS rotation from veh to nav: [[-0.883048,0.433165,0.180539],[-0.454712,-0.884899,-0.100949],[0.116032,-0.171236,0.978374]]RH A??ݿ@Q׹`B?ſN?iR$Y@IR|^;RTCYfByfG)I|iUMb@Mb@Mb@QQQQ Q9U~jt?:v?9Y=Dy7CCp<E>Q 54i#?Q 94#i)~BY$?Q E:y0)Q I?CI;i :O24yBɮAjhFNOT Ignoring new targets: 367.14 m.Rh/9Zh/9 ProNav: ac range: 367.143219 m, nav range: 355.099091 m, bearing: 213.888229 deg, approach rate: -0.635106 m/s, LOS rate: 0.009601 deg/s, cmd heading: 206.167197 deg, new cmd heading: 206.177363 deg. Bh9HeadingCmd: 3.598474 target range: 367.143219 and range: 368.70 m.heMf@h*h"h hgfffddd jd Zd -@ɢt) =i))ǼiWiP+Mː;.2Acoustic response timeoutYԁ ն,ʌ?A6Y@6g@6%ٱ6L" BAHRS rotation from veh to nav: [[-0.881498,0.439928,0.171537],[-0.458616,-0.884140,-0.089259],[0.112395,-0.157352,0.981126]]6H:5`'??Yݿ J@ٶż?$Ŀae?i6Y@I6^;6SCYJByJ^)IbDPVDPyZ&=%ZX=ٔ^9`Y`=bDybVCb06<Ef>dQ 5j4f?Q 9j4f2l)f~BYlyn(Q In?f.CIf;if;f84ypɮrAtB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 367.14 m.RhP(9ZhP(9- ProNav: ac range: 367.143219 m, nav range: 354.858490 m, bearing: 213.891710 deg, approach rate: -0.635269 m/s, LOS rate: 0.009197 deg/s, cmd heading: 206.177361 deg, new cmd heading: 206.187810 deg. Bh-9-HeadingCmd: 3.598656 target range: 367.143219 and range: 368.70 m.h5bPf@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE.@Yqɢ})y }iy)}h ȼ顁ipiS+ܑ;] ,bh?A2 Z@2h@2F߽ٱ2P >AHRS rotation from veh to nav: [[-0.880059,0.446128,0.162684],[-0.462162,-0.883395,-0.077591],[0.109099,-0.143471,0.983623]]2H@q)@\??@ݿDݳ ?E]¿ y?i2 Z@I2\^;2TCYBĉByFs)IiEMb@Mb@Mb@AAAA A9Ew/?~jth{Gzt?YE&?yEDEף;EAEeA EA)EjdAAYEAQQbD]VD]kymj=%m?=ٔmT;Q-u>9qYq=uDy}yC}<E}>Q 54?Q 94o)~BY&?Q E:yU*Q I?RCI;i;d@4yBɮ?AEEԹjhFNOT Ignoring new targets: 367.14 m.RhT9ZhT9 ProNav: ac range: 367.143219 m, nav range: 354.583435 m, bearing: 213.896682 deg, approach rate: -0.642823 m/s, LOS rate: 0.011629 deg/s, cmd heading: 206.187811 deg, new cmd heading: 206.202738 deg. Bhb9HeadingCmd: 3.598917 target range: 367.143219 and range: 368.70 m.hTf@h*h"h hgfffdddjdZdʏ/@)ɢ-W)1 5i1)5ȼ11i=i=+ET;E28B->CB-)IB-BB)B)B)B-;B-;EAIIOf> %'f>%\C>Gܻ9YëAE  E ~E (E "E :*E (:VE c44ZE BE ';a 2E (;a JE ;a :E ;a 9 ,B?Aɰ"2Acoustic response timeoutJ5Z@J:+h@JٽٱJL VAHRS rotation from veh to nav: [[-0.879194,0.450548,0.154998],[-0.464495,-0.882945,-0.068207],[0.106125,-0.131963,0.985557]]JH["??`JݿAu*?(?iJ5Z@IJW^;HY^ωBy^)IbDfVDfNyn`n=%rT=ٔr;Q-r>9pYt=vDyvCv;Ev>xQ 5~4z=?Q 94zr)zBYy .*Q I ?zrCIzZS;izT;z!G4y%Bɮ%A-MEjhiuFNOT Ignoring new targets: 367.14 m.Rh}M9Zh}M9 ProNav: ac range: 367.143219 m, nav range: 354.335175 m, bearing: 213.901079 deg, approach rate: -0.633814 m/s, LOS rate: 0.011235 deg/s, cmd heading: 206.202742 deg, new cmd heading: 206.215944 deg. Bh9HeadingCmd: 3.599147 target range: 367.143219 and range: 368.70 m.hmXf@h*h"h hgfffdddjdZd-0@ɢo) i)ɼ)i5v i5G+=g;=S`ԙ ,2?AE6 E6E4E4"E6%:*E6,:VE4ZE4a:@a:@a:@a:@BSZ@BIh@BAԽٱB ZAHRS rotation from veh to nav: [[-0.878556,0.453290,0.150558],[-0.466240,-0.882324,-0.064225],[0.103728,-0.126621,0.986513]]BH!?@xE?ݿ ;q@荺?!5@?iBSZ@IB|^;BUCYb݉Byb)IbDnVDn02yv=%vJ=ٔv;Q-v>9xYx=zDyzC~;E~>Q 54?Q 94u)!BY!y-*Q I-?CI;i;7N4yIɮUAYyjh15FNOT Ignoring new targets: 367.14 m.Rh=49Zh=49M ProNav: ac range: 367.143219 m, nav range: 354.073914 m, bearing: 213.905636 deg, approach rate: -0.565104 m/s, LOS rate: 0.009865 deg/s, cmd heading: 206.215938 deg, new cmd heading: 206.229620 deg. BhM9U2Acoustic response timeoutuHeadingCmd: 3.599386 target range: 367.143219 and range: 368.70 m.huW\f@hq*hq"hq hqgyfyfyfydyddjdZd |0@ɢ) M8iI)M%ʼIQiUXi]^+e$;e'B% =CB% )IB% !BB% =B! B! B% ͅ;B% ;EB=CB=CB˓CBˌ =Bˌ =Ct5II IY Oe >6,zL?A2dZ@2Zh@2Eнٱ2 >AHRS rotation from veh to nav: [[-0.878273,0.454460,0.148670],[-0.467259,-0.881724,-0.065060],[0.101519,-0.126608,0.986744]]2H@??ݿ7ɧ@%?4h?i2dZ@I2*^;0YFByF)IiMb@Mb@Mb@ 9x&?I +?y&1|Y7)?y94<`(AjdA A)aAYA %a=%p=bDVDNy=%==ٔ;Q->9Y=DyC;E>Q 54h?Q 94{y)<BY?)?Q E:y(Q I?CIL:i%<U4yM BɮMkAMLEjhquFNOT Ignoring new targets: 367.14 m.Rh}C9Zh}C9 ProNav: ac range: 367.143219 m, nav range: 353.787231 m, bearing: 213.909714 deg, approach rate: -0.751545 m/s, LOS rate: 0.010698 deg/s, cmd heading: 206.229625 deg, new cmd heading: 206.241868 deg. Bh9HeadingCmd: 3.599600 target range: 367.143219 and range: 368.70 m.h_f@h*h"h hgfffdddjdZdG1@Ee EeEe+Ea"EeƱ:*Ee0:VEe [4ZEaBEeI;au2EeJ;auJEe߉;au:Ee߉;au频ɢWټ) 0ؼi):-ʼiD i߿+aM; #33,lf?A6zZ@6Eph@6k˽ٱ6P >AHRS rotation from veh to nav: [[-0.877862,0.455078,0.149204],[-0.468534,-0.880602,-0.070815],[0.099163,-0.132073,0.986267]]6Hr??`wݿ@-` b??i6zZ@I6^;6RCYFByF)I HHbDRVDR:2yV<%ZW=ٔZf;Q-Z>9\Y\=^Dy^Cb]g;Eb>`Q 5f4b,?Q 9j4b|)bRBYhyj(Q Ij?bCIb:ib:bj\4yrBɮrE% E%E%$E!"E%7:*E%=:VE%4ZE!a-@a-@a-@a5@^A<% 2Acoustic response timeout9 AY Ii Iy O > ,2?A 6Z@6h@6ƽٱ6(h >AHRS rotation from veh to nav: [[-0.877243,0.456269,0.149206],[-0.470157,-0.879381,-0.075114],[0.096937,-0.136043,0.985949]]6H``3?.?` ޿# : и?@i?i6Z@I6?^;4YFByF)IiMb@Mb@Mb@ 9Fx?~jt?Zd;OY+?y<jA (A)^AYzAbD-VD-0y@=%>=ٔ ;Q->9Y=DyC;E>Q 54?Q 94m)cBY+?Q E:y'Q I?CIa:i:c4yɮAjhFNOT Ignoring new targets: 367.14 m.Rh 9Zh 9 ProNav: ac range: 367.143219 m, nav range: 353.252441 m, bearing: 213.916411 deg, approach rate: -0.669494 m/s, LOS rate: 0.007524 deg/s, cmd heading: 206.252247 deg, new cmd heading: 206.261970 deg. Bh<9HeadingCmd: 3.599951 target range: 367.143219 and range: 368.70 m.hef@h*h"h hgf!f!f!d!d)d)jd)Zd-1@Yɢ]Pʼ)Y e ia)eJʼaaieأim+mq;mFe=Imef@Iqq-9@) @)@)@)2Acoustic response timeoutAABC>B;CB*IB:BB =BBDB;BA= 2Acoustic response timeouti6&,?APjZ@jfh@j ýٱj6 zAHRS rotation from veh to nav: [[-0.877005,0.456885,0.148726],[-0.470978,-0.878699,-0.077901],[0.095093,-0.138366,0.985805]]jHl=?p ?$޿LLX??ijZ@Ij^;hYBy)I!%AAbD%VD%1y5<%5Q=ٔ=s;Q-=>9AYA=EDyE>CE ;EE>IQ 5U4M?Q 9U4Mރ)MrBYYy]'Q I]?MCIM;iM;Mj4yeBɮeܷAmJEjhFNOT Ignoring new targets: 367.14 m.Rha9Zha9 ProNav: ac range: 367.143219 m, nav range: 352.991272 m, bearing: 213.919317 deg, approach rate: -0.669421 m/s, LOS rate: 0.007452 deg/s, cmd heading: 206.261973 deg, new cmd heading: 206.270695 deg. Bh9HeadingCmd: 3.600103 target range: 367.143219 and range: 368.70 m.hhf@h*h"h hgfffdddjdZdq42@iɢmHļ)i m _,,?AE EE,E"EI:*EA:VEg4ZEa@a@a@a@>Z@>kh@>Yٱ> FAHRS rotation from veh to nav: [[-0.877010,0.456835,0.148847],[-0.471327,-0.878148,-0.081894],[0.093297,-0.141978,0.985463]]>H w@Z@I>*^;9tYt=vDyv^CzML:Ez>A|Q 54~s?Q 94~V)~BYy'Q I?~@CI~=i~=~q4y9ɮEƷAA2Acoustic response timeoutjhamFNOT Ignoring new targets: 367.14 m.Rh8Zh8 ProNav: ac range: 367.143219 m, nav range: 352.728180 m, bearing: 213.922241 deg, approach rate: -0.567303 m/s, LOS rate: 0.006310 deg/s, cmd heading: 206.270688 deg, new cmd heading: 206.279467 deg. Bh9HeadingCmd: 3.600256 target range: 367.143219 and range: 368.70 m.hjf@h*h"h hgf f f dddjdZdi2@iɢa) B 9CB $*IB TBB =B >DB DB d;B |3,?A:Z@:0h@:''ٱ:N BAHRS rotation from veh to nav: [[-0.877518,0.455550,0.149789],[-0.470687,-0.877971,-0.087297],[0.091742,-0.147109,0.984856]]:H`'?`L,?޿VYm|?v¿?i:Z@I:^;:TCHYN#ByN)Ii%Mb@Mb@Mb@!!!! !9%? ףp= ?MbY%,?y%Q8=%%hA%&aA %A)!!Y%~AbD=VD=1yM=%M5=ٔUb;Q-U>9QYQ=UDyUC]E]>aQ 5m4e]?Q 9m4e)eBYm`-?Q Eu:yu%Q Iu?egCIe ;ie: ;ey4y}Bɮ}>AyjhFNOT Ignoring new targets: 367.14 m.Rhb8Zhb8 ProNav: ac range: 367.143219 m, nav range: 352.423187 m, bearing: 213.924270 deg, approach rate: -0.801692 m/s, LOS rate: 0.005338 deg/s, cmd heading: 206.279472 deg, new cmd heading: 206.285564 deg. Bhvj9HeadingCmd: 3.600362 target range: 367.143219 and range: 368.70 m.hVlf@h*h"h hgfffdddjdZd 3@E5 E5E5)E1"E5غ:*E53:VE5FA4ZE1BE59,?A22Acoustic response timeout6Z@6V}h@6ٱ6b BAHRS rotation from veh to nav: [[-0.878258,0.453705,0.151047],[-0.469646,-0.877844,-0.093929],[0.089980,-0.153432,0.984054]]6H ?@U?޿`L ?ÿ^}?i6Z@I6c^;6QCYJ$ByJ)I RR=R%=bDRVDR02yZ;%ZU=ٔ^f;Q-^>9\Y`=bDybCbYEb>dQ 5j4f(K?Q 9j4f)fBYlyn%Q In?fCIf?;if;f74yvBɮvAvIEB*** querying acoustic contact ***i ijh)5FNOT Ignoring new targets: 367.14 m.Rh=8Zh=8U ProNav: ac range: 367.143219 m, nav range: 352.163940 m, bearing: 213.926067 deg, approach rate: -0.668365 m/s, LOS rate: 0.004636 deg/s, cmd heading: 206.285565 deg, new cmd heading: 206.290959 deg. BhUK9eHeadingCmd: 3.600456 target range: 367.143219 and range: 368.70 m.hemf@ha*ha"hi higififqfqdqddjdZd@t3@IɢU))Q u =iq)} 1ɼyyi}A!iӱ+a;|=ԡ @,?AY2By)Iyi]Mb@Mb@Mb@YYYY Y9]B`"?~jt?ktY].?y]=] 0]݌A]\A ]A)]\AYu2Acoustic response timeoutY]{AbDVD1y]]=% =ٔQ->9Y= Dy C E>Q 542?Q 94D)BY%E0?Q E%:y%B#Q I%?CIz:ij:'4B)A-<B52>B58CB5C*IB5mBB5 =B1B1B5;B5CG,|a?A2yZ@2oh@2#xٱ2& :AHRS rotation from veh to nav: [[-0.878956,0.452302,0.151192],[-0.469073,-0.877141,-0.102932],[0.086060,-0.161392,0.983131]]2H@i ?>Z?J޿@`Y ?Ŀu?i2yZ@I2g^;0Y^DByb*IbDjVDjNyr6=%r=ٔrQUi)#Ǽi{)i + A0; .1D] %=D] R=Em  Em Em *Ei "Em :*Em |;:VEm (N4ZEi au @au @au @au @q .M,J7?AJ[Z@JQh@JuٱJ) nAHRS rotation from veh to nav: [[-0.879961,0.450492,0.150753],[-0.467541,-0.877479,-0.106936],[0.084109,-0.164582,0.982771]]JH`(?K?1ݿO `.?ſr?iJ[Z@IJ@^;JRCY KBy *IAE@A2Acoustic response timeout9bD VD kyW=%2=ٔ;Q->9Y=Dy CтE>Q 54 ?Q 94蛺)BYy|#Q I?CI;i;q4yBɮYAPEjhFNOT Ignoring new targets: 367.14 m.Rh%%7Zh%%7U ProNav: ac range: 367.143219 m, nav range: 351.288055 m, bearing: 213.926506 deg, approach rate: -0.692747 m/s, LOS rate: 0.000566 deg/s, cmd heading: 206.291507 deg, new cmd heading: 206.292281 deg. BhU7]HeadingCmd: 3.600480 target range: 367.143219 and range: 368.70 m.h]Bnf@hY*hY"hY hYgYfafafydddajdaZdew4@颩ɢt) F>i)"Ƽ项i-it+; B% 7CB% \*IB% BB! B! B% DB% ;B% =E^A 8<] Gq Թ {~9 Y hAA .AI I O >gT,zR?Aɰ;2BZ@28h@2稽ٱ2M/ >AHRS rotation from veh to nav: [[-0.880803,0.448609,0.151446],[-0.466261,-0.877453,-0.112588],[0.082378,-0.169781,0.982033]]2H/?b?9ݿҼ?eſl?i2BZ@I2Y%^;0YB[ByB-*Ii Mb@Mb@Mb@     9 K7?MbX?Y I,?y = L QA YA ƋA) ZA Y yAbD%VD%fEq EuEqEq"Eq*Eu?:VEqZEqBEu9 ?Y ?=Dy*CtE>!Q 5M4%?Q 9M4%))%BYU.?Q EU:yU!Q IU?%CI%;i%:%4yYɮ]AYjhFNOT Ignoring new targets: 367.14 m.RhkQZhkQ ProNav: ac range: 367.143219 m, nav range: 351.008820 m, bearing: 213.925335 deg, approach rate: -0.681840 m/s, LOS rate: -0.002861 deg/s, cmd heading: 206.292285 deg, new cmd heading: 206.288771 deg. BhMHeadingCmd: 3.600418 target range: 367.143219 and range: 368.70 m.hAmf@h*h"h hgfffdddjdZdZ 5@)ɢ-i7)) -6>i1)5pż11i5Ew1i=u+=y;=s 2Acoustic response timeoutKZ,l?ANOZ@Nh@NٱN2 ZAHRS rotation from veh to nav: [[-0.881950,0.446586,0.150748],[-0.464422,-0.877964,-0.116155],[0.080478,-0.172453,0.981725]]NH8ޔ?K?@ݿGP;?ƿIj?iNOZ@INE^;NTCYbiByb>*IbDjVDj:2yr=%r]=ٔv0;Q-v>9v"?Yv"?=vDyvHCzYEz>|Q 54~@?Q 94~)~BY y !Q I ?~i)>$ļ顁i5iF+J̪;+Ա pa,T?A2Y@2g@2Tٱ2*.4 >AHRS rotation from veh to nav: [[-0.882959,0.444738,0.150306],[-0.462724,-0.878497,-0.118863],[0.079180,-0.174501,0.981468]]2H`3Av?6=?`Fݿm@(E?Vƿ0h?i2Y@I2QK^;2SCYBwByFO*IiEMb@Mb@Mb@AAAA A9Esh|??v/?ktYE)?yEx=E 0AE`WA E$A)E`WAAYEvA ]a=]p=bD]VD]:ym=%mB=ٔuJ;Q-u>9qYq=}Dy}kC}6E>Q 54 ?Q 94p)BY,?Q E:y3 Q I?aCIz:i :g4yɮAjhFNOT Ignoring new targets: 367.14 m.RhZh ProNav: ac range: 367.143219 m, nav range: 350.473389 m, bearing: 213.922226 deg, approach rate: -0.674611 m/s, LOS rate: -0.005125 deg/s, cmd heading: 206.285892 deg, new cmd heading: 206.279433 deg. BhaHeadingCmd: 3.600255 target range: 367.143219 and range: 368.70 m.hjf@h*h"h hgfffdddjdZd|5@)ɢ-|#)) -ln>i))5]¼11i58i=+=b;=rB%3CB%*IB%BB% =B!B%DB%6;B%-=EB8CB8CB–CB˜ =B— =C69@ @@/@E} E}E}'Ey"E}I:*E}=:VE}'4ZEyBE} 3g,2?AYByi*IbD-VD-y==%EM=ٔEQ-E>9IYI=MDyMCMEM>QQ 5]4U?Q 9]4U)UBYayaQ Ie?UCIU;iU3;U[4ymϷBɮm AuNEjhFNOT Ignoring new targets: 367.14 m.Rh廸Zh廸 ProNav: ac range: 367.143219 m, nav range: 350.205109 m, bearing: 213.920186 deg, approach rate: -0.674740 m/s, LOS rate: -0.005133 deg/s, cmd heading: 206.279431 deg, new cmd heading: 206.273308 deg. BhyaHeadingCmd: 3.600148 target range: 367.143219 and range: 368.70 m.hhf@h*h"h hgfffdddjdZd @M6@IɢM1)U>T U>iQ)UQQiU/=i]+]k;]m,m?A 2Acoustic response timeoutgY@g@jٱ^4 AHRS rotation from veh to nav: [[-0.885090,0.441611,0.146955],[-0.459204,-0.880028,-0.121170],[0.075814,-0.174729,0.981693]]H RYC?@k?cݿ 1)h?]ƿ@j?igY@I{^;PCY-By-x*IiMb@Mb@Mb@ 9uV?X9v?{GzYr(?y=#ƋATA A)YGuAbDVD!3y J=% 0=ٔ ;Q- >9Y=DyCE>Q 5%4?Q 9-4)BY-|+?Q E-:y-Q I-?CI ;i` ;t4y5зBɮ=A=WEIjhaeFNOT Ignoring new targets: 367.14 m.RhmϸZhmϸ} ProNav: ac range: 367.143219 m, nav range: 349.895111 m, bearing: 213.917554 deg, approach rate: -0.667766 m/s, LOS rate: -0.005674 deg/s, cmd heading: 206.273311 deg, new cmd heading: 206.265409 deg. Bh};yHeadingCmd: 3.600010 target range: 367.143219 and range: 368.70 m.hff@h*h"h hgfffdddjdZd6@AɢEF)A Ee>iI)MIIiMAiU#+U;UVB 1CB *IB BB =B B DB 3;B =Eԩ ^A] 8<A I I O > u,f?A2Y@29g@2җٱ23 :AHRS rotation from veh to nav: [[-0.886600,0.439320,0.144699],[-0.456568,-0.881327,-0.121694],[0.074064,-0.173958,0.981964]]2H_`?{?@h8ݿ3Q'`?EDƿ`?l?i2Y@I2z^;2RCYBByB*IHJBAbDNVDNyVD=%Vn=EZ EXEZ-EX"EZI:*EXVEZt4ZEXBEXab2EZi)ݦiDi%+E%\;MCA>QAAIIIYOmx>y = 2Acoustic response timeout({,J?A,6SXY@6Ng@6Sٱ62 >AHRS rotation from veh to nav: [[-0.888091,0.437178,0.142022],[-0.453966,-0.882676,-0.121646],[0.072179,-0.172505,0.982360]]6H=k@?@-? ݿ> +$Lz?ƿ o?i6SXY@I6 K^;4YnByn*IIr4=)rC=bDzVDzk1ys=%F=ٔ';Q->9 Y = Dy CLE>Q 5%4?Q 9%4)|BY!y%; Q I%?CI:i4:Ǎ4y5Bɮ5>A5VEMB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 367.14 m.RheZheu ProNav: ac range: 367.143219 m, nav range: 349.388702 m, bearing: 213.913620 deg, approach rate: -0.681396 m/s, LOS rate: -0.005154 deg/s, cmd heading: 206.259815 deg, new cmd heading: 206.253597 deg. Bhu]b}HeadingCmd: 3.599804 target range: 367.143219 and range: 368.70 m.h}2cf@hy*hy"h hgfffdddjdZdυ7@颹ɢp;)  >i)xXiHi+;U߂, ?A.2Acoustic response timeout6Y@6g@6܏ٱ60 >AHRS rotation from veh to nav: [[-0.889776,0.434647,0.139214],[-0.450968,-0.884201,-0.121720],[0.070187,-0.171085,0.982753]]6H yB??ܿ@`K)?ſr?i6Y@I6^^;6PCYFъByF*IBLAN<BR>BR0CBR*IBRBBR =BPBRDBR(;BR=EiMb@Mb@Mb@ 9y&1?A`"?V-Y`%?y=$APA VA)3UAYqAbDVD0yy=%)=ٔ;Q->9Y=DyCE>Q 54w?Q 94X){BY'?Q E:yI!Q I?CI ;i ;Ѝ4yɮдAjhFNOT Ignoring new targets: 367.14 m.Rh%aiZh%ai5 ProNav: ac range: 367.143219 m, nav range: 349.072876 m, bearing: 213.912086 deg, approach rate: -0.655775 m/s, LOS rate: -0.003188 deg/s, cmd heading: 206.253599 deg, new cmd heading: 206.248993 deg. Bh5 =HeadingCmd: 3.599724 target range: 367.143219 and range: 368.70 m.h=af@h9*hA"hA hAgAfAIfIfIdQdYdajdiZdu`M8@IɢM0R;)I M>iQ)UMQQiU7[Mi]Խ+]wӰ;] sb,%?A>X@>f@>ٱ>1 FAHRS rotation from veh to nav: [[-0.891002,0.432653,0.137571],[-0.448859,-0.884965,-0.123948],[0.068120,-0.172188,0.982706]]>H??ܿQ`Ip?`? ƿSr?i>X@I>$;^;>QCYNByN*I TTbDV VDV2y^_%>%b_=ٔbK;Q-b>9f ?Yf ?=fDyf3CflڻEf>hQ 5n4jf?Q 9r4jº)jzBYpyrs!Q Ir?j3CIj:ij:j֍4yvBɮv0AzUEjhFNOT Ignoring new targets: 367.14 m.RhUZhU- ProNav: ac range: 367.143219 m, nav range: 348.832764 m, bearing: 213.911018 deg, approach rate: -0.655344 m/s, LOS rate: -0.002919 deg/s, cmd heading: 206.248996 deg, new cmd heading: 206.245788 deg. Bh-05HeadingCmd: 3.599668 target range: 367.143219 and range: 368.70 m.h5`f@h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdM^8@yɢ}2Z<)y }>iy)R顁ia Qi+{5;C^,A?A>/X@>f@>7ٱ>2 FAHRS rotation from veh to nav: [[-0.892244,0.430614,0.135914],[-0.446708,-0.885714,-0.126343],[0.065976,-0.173442,0.982632]]>HB`/?e? ߖܿW+?`[3ƿq?i>/X@I>S4^;>NCYjByj*I lliMb@Mb@Mb@ 9~jt?Zd;O?~jtY$?yj=ļAOA ?A)TAYoAbDVD02yP=%/=ٔ;Q->9"?Y"?=DyYCE>Q 54oQ?)Q 9]4~ƺ)|BYee&?Q Ee:ye"Q Ie?ZCIi)gi8Ui + ; $BB +IBBB =BBB;B ,^[?A2X@2f@2 0ٱ2"4 :AHRS rotation from veh to nav: [[-0.893428,0.428808,0.133830],[-0.444762,-0.886225,-0.129582],[0.063038,-0.175295,0.982496]]2H`q?`Z!?vܿ@[$`C#?pƿp?i2X@I2G^;2OCY^By^+IbDfVDf뱝TDAT read: user:105>Tx time:00:27:06.7983 DAT read:  2Acoustic response timeoutyI=%J=ٔ#;Q->9Y=DyzC E>Q 54??Q 94`ʺ)Yy"Q I?{CI:iV:4y Bɮ wA TEjhImFNOT Ignoring new targets: 367.14 m.RhuնZhuն ProNav: ac range: 367.143219 m, nav range: 348.266541 m, bearing: 213.910590 deg, approach rate: -0.667849 m/s, LOS rate: -0.000365 deg/s, cmd heading: 206.244939 deg, new cmd heading: 206.244507 deg. BhHeadingCmd: 3.599646 target range: 367.143219 and range: 368.70 m.h`f@h*h"h hgfffdddjdZd@9@ԩɢMlj<) [ ?i)ᬼiyZi+Q̱;ϵ1 ,1u?A2/X@2ނf@2vٱ26 :AHRS rotation from veh to nav: [[-0.894372,0.427466,0.131800],[-0.443277,-0.886481,-0.132882],[0.060036,-0.177270,0.982329]]2H `[? ?@^ܿ ^H? ʰƿ>o?i2/X@I2<^;2QCYB'ByB(+IHJAAbDNVDN1yV=%V^=ٔV9Z ?YZ ?=ZDyZCZE^>\Q 5b4^Q.?Q 9f4^ͺ)\Ydyf#Q If?^CI^:i^b:^-4yjBɮnAnSEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 367.14 m.Rh 8Zh 8E EE*E"E>:*EA:VE(N4ZEa@a@a@a@ ProNav: ac range: 367.143219 m, nav range: 348.026917 m, bearing: 213.910533 deg, approach rate: -0.663433 m/s, LOS rate: -0.000158 deg/s, cmd heading: 206.244501 deg, new cmd heading: 206.244331 deg. BhݶHeadingCmd: 3.599643 target range: 367.143219 and range: 368.70 m.h`f@h*h"h hgfffdddjdZd9@aɢuN!<)y }?iy)Z4顁i^i*+; ;I`f@I2Acoustic response timeoutU9@Q @Q@]/@Y9^A <A>A>i A I I O > 2Acoustic response timeoutA AAA B >B /CB J+IB CBB B B DB ݆;B ߖ,?AvG&hA$.AZp9ZhAYZiAjFiX@j^f@j.|hٱj4y]?e~A uAHRS rotation from veh to nav: [[-0.895515,0.426290,0.127787],[-0.441401,-0.887408,-0.132939],[0.056729,-0.175454,0.982852]]jHWH?S[??ܿe%` ? Iuƿs?ijFiX@Ij2X^;jLCY7By<+Ii Mb@Mb@Mb@     9 %C?Q?Zd;OY Z$?y \= j  MA A) SA Y mAbD%VD%:2y5=%54=ٔ=;Q-=>99Y9==Dy=CE靻EE>IQ 5U4MS?Q 9U4MѺ)IYUn%?Q E]:y]Q%Q I]?MCIM ;iM" ;M4yeBɮeAe]EjhFNOT Ignoring new targets: 367.14 m.Rh8Zh8 ProNav: ac range: 367.143219 m, nav range: 347.733337 m, bearing: 213.912146 deg, approach rate: -0.646488 m/s, LOS rate: 0.003554 deg/s, cmd heading: 206.244324 deg, new cmd heading: 206.249165 deg. Bh9HeadingCmd: 3.599727 target range: 367.143219 and range: 368.70 m.haf@h*h"h hgfffdddjdZd`:@iɢ<) ?i)4顑iqbiǽ+C;;Iaf@II)fAE EEE"E:*E H:VEZEBE` ,?APY-KBy-T+IbDEVDE{U3yUM=%UZ=ٔ]Q-e>9aYa=mDymCmEu>yQ 54}?Q 94}dպ)}}BYyQ I?}CI}5;i}6;}4yBɮ{A\EjhFNOT Ignoring new targets: 367.14 m.Rh8Zh8 ProNav: ac range: 367.143219 m, nav range: 347.489716 m, bearing: 213.913486 deg, approach rate: -0.639925 m/s, LOS rate: 0.003523 deg/s, cmd heading: 206.249160 deg, new cmd heading: 206.253183 deg. Bh9HeadingCmd: 3.599797 target range: 367.143219 and range: 368.70 m.h cf@h *h "h  h g fffdd!d!jd!Zd%@s:@iɢm{<)i m%?ii)u㠼q}2Acoustic response timeoutqi}ԩfi+&;~;Icf@I @  @@/@D=D<E EE+E"E:*E1]:VE [4ZEa@a@a@a@^A;= 2Acoustic response timeoutI IY Iy O >,?AY~_By~m+IiMb@Mb@Mb@ 9jt? ףp= ?/$Y ?yQ8=AhKA A)QAYkA R=bD VD2y=%D=ٔQ->9 Y = Dy C E>Q 54f?Q 9%4غ)BY%E!?Q E%:y%'Q I%?CIq:i:4y)ɮ5)A1jhQ]FNOT Ignoring new targets: 367.14 m.Rh],9Zh],9m ProNav: ac range: 367.143219 m, nav range: 347.223267 m, bearing: 213.916543 deg, approach rate: -0.633758 m/s, LOS rate: 0.007277 deg/s, cmd heading: 206.253189 deg, new cmd heading: 206.262368 deg. Bhmϟ9uHeadingCmd: 3.599957 target range: 367.143219 and range: 368.70 m.h}ef@hy*hy"hy hygyfyffdddjdZd:@颹ɢ) <) /?i)W9iGki+rܱ;In;Ief@II@ @@@Bm>BiBm+IBmpBBiBiBiBms;BmPԩ E  E E ,E "E :*E ;J:VE g4ZE BE 9IYI=UDyUCUn.EU>YQ 5e4]?Q 9e4]ܺ)YYiym'Q Im?] CI]:i]V:]4yuByɮ}ױA}[EjhFNOT Ignoring new targets: 367.14 m.Rh 9Zh 9 ProNav: ac range: 367.143219 m, nav range: 346.984192 m, bearing: 213.919449 deg, approach rate: -0.627173 m/s, LOS rate: 0.007628 deg/s, cmd heading: 206.262369 deg, new cmd heading: 206.271092 deg. Bh9HeadingCmd: 3.600110 target range: 367.143219 and range: 368.70 m.h3hf@h*h"h hgfffdddjdZd@m?;@ɢ =) E5?i ) ͗  i 0oiu+uu;uwY:Iu3hf@Iy 9@  @ @ -0@ @=@=ԡ^A)2Acoustic response timeoutIIO> ,u?A2X@2Mf@2,ٱ22 :AHRS rotation from veh to nav: [[-0.898190,0.424728,0.113402],[-0.437576,-0.888549,-0.137870],[0.042206,-0.173456,0.983937]]2H`@.???ܿn ?3ƿ@i|?i2X@I28^;2MCYBByB+IbD\VD\yf=%fS=ٔf 9hYh=jDyj9CnEn>pQ 5v4r?Q 9v4r4ߺ)rBYtyv'Q Iv?r?CIr:ir=:r4y|ɮ~A| B*** querying acoustic contact ***i  i jhAEFNOT Ignoring new targets: 367.14 m.RhM9ZhM9Eu EuEu%Eq"Eu:*EuVL:VEu 4ZEqa}@a}@a}@a@ ProNav: ac range: 367.143219 m, nav range: 346.740540 m, bearing: 213.922435 deg, approach rate: -0.574208 m/s, LOS rate: 0.007043 deg/s, cmd heading: 206.271098 deg, new cmd heading: 206.280064 deg. Bh9HeadingCmd: 3.600266 target range: 367.143219 and range: 368.70 m.hjf@h*h"h hgfffdddjdZd;@Yɢ]3_=)Y ]8@?iY)eYaaiesim+mPQ;m:Ijf@IiI2Acoustic response timeout %9@1 @1@5O0@91^Am rg:I I O >Be >Be .CBe +IBe BBa Be ?DBa Be ;Be ;Ey  2Acoustic response timeout%,"R?ARX@R`e@R\ٱRz/ ZAHRS rotation from veh to nav: [[-0.899178,0.424634,0.105665],[-0.436163,-0.889180,-0.138278],[0.035238,-0.170423,0.984741]]RH`5-?@ ?@ۿ *t ? nſ?iRX@IR=^;RQCYbByb+IiMMb@Mb@Mb@IIII I9M r?~jt?L7A`堿YM#?yM=M+MʅAM;IA Mp}A)MPAIYMhAY]@AbDeVDe0yu=%u@=ٔ(9Y=Dy]C~E>Q 54%?Q 94)xBY$?Q E:y(Q I?cCI:i::4yַBɮ5AZEjh1=FNOT Ignoring new targets: 367.14 m.Rh= @9ZhE @9M ProNav: ac range: 367.143219 m, nav range: 346.459930 m, bearing: 213.926657 deg, approach rate: -0.696876 m/s, LOS rate: 0.010493 deg/s, cmd heading: 206.280059 deg, new cmd heading: 206.292735 deg. BhUq9Q]HeadingCmd: 3.600487 target range: 367.143219 and range: 368.70 m.h]cnf@hY*ha"ha hagafafifidididijdqZdu ><@颙ɢ(=) lD?i)Ⴭ顡io+wiR+;'&Icnf@IM9@Q @Q@U5@QE! E!E%)E!"E!*E!VE%FA4ZE!BE%> A= ؟AII IY O > ,o.*?Aɰ4?iRW@IRV^;ROCYnByn+IbDz VDz:2y J=% Q=ٔ/9"?Y"?=%Dy%{C%E->1Q 5=457?Q 9E45)5qBYAyE)Q IE?5CI5E;i5@>;54yU˷BɮUİA]YEjhFNOT Ignoring new targets: 367.14 m.Rh/9Zh/9 ProNav: ac range: 367.143219 m, nav range: 346.218445 m, bearing: 213.930331 deg, approach rate: -0.631104 m/s, LOS rate: 0.009608 deg/s, cmd heading: 206.292736 deg, new cmd heading: 206.303765 deg. Bh9HeadingCmd: 3.600680 target range: 367.143219 and range: 368.70 m.hqf@h*h"h hgfffdddjdZdu<@ɢ vT&=)  aM?i ) juiAz]BDAT read: Rx Time:00:27:09.6703 ]TRx dataTimestamp_ set to:1761524828.736045e2Acoustic response timeoutԱi++;PϾIqf@IM9@I @I@M4@I@Q@QE5 E5E5%E1"E5[:*E5 H:VE5 4ZE1a=@a=@a=@a=@^Amq  2Acoustic response timeoutI I O >A ,D?AF W@Fe@FχٱFO>- NAHRS rotation from veh to nav: [[-0.899985,0.424729,0.098139],[-0.435019,-0.889537,-0.139579],[0.028015,-0.168311,0.985336]]FH.?? Zۿw?6ſއ?iF W@IF B^;FQCYVByV+IimMb@Mb@Mb@iiii i9m~jt?Q? rhYm$?ym\=mC mpAmGA myA)mOAiYmdAbDVD0y'=%A=ٔC 9Y=DyCE>Q 54?Q 946)gBY%?Q E:yc)Q I?CI;iy;1%4yɮAjhFNOT Ignoring new targets: 367.14 m.Rh?9Zh?9 ProNav: ac range: 367.143219 m, nav range: 345.948578 m, bearing: 213.934692 deg, approach rate: -0.647593 m/s, LOS rate: 0.010473 deg/s, cmd heading: 206.303760 deg, new cmd heading: 206.316854 deg. Bh9 HeadingCmd: 3.600909 target range: 367.143219 and range: 368.70 m.h Iuf@h*h"h hgfffddd!jd!Zd%<@QɢU"%=)Q UQ?iQ)]悼YYi]~iel+e ;e|IeIuf@Ii @ @@/@B>BB+IBBBBBB;B;EDAT read: 00:27:09.6703 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 227, 0.00, 2.221, 0.782, 2.192, 1.706, PHS= 0.617,-0.879, 0.442, RAW= 143.9, -2.6, CAL= 143.6, -3.0, ROT= 6.4, 3.0 Ygot valid direction response: 00:27:09.6703 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 227, 0.00, 2.221, 0.782, 2.192, 1.706, PHS= 0.617,-0.879, 0.442, RAW= 143.9, -2.6, CAL= 143.6, -3.0, ROT= 6.4, 3.0 PDAT read: Bearing 346.2, 8.8 (Local) ~Local bearing/azimuth received: Bearing 346.2, 8.8 (Local) DAT read: Range 11 to 50 : 350.8 m (Round-trip 467.8 ms) speed 0.1 m/s TDAT read: user:106>Tx time:00:27:10.7483 R#Rx 1: Read range and direction messages.^direction in FSK: [0.992406,0.111316,-0.052336]Fpublishing direction and range infoyaeɶ~7?`7?yoU˪YefCaaaa a)eHIe?ie%aeM>e @e9eg @ ePwV)e=IePwV=aaeOp2nj e3>)e7=Ie=iePwV=aa2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.9^A a I I O >E5  E5 E5 )E1 "E5 :*E5 F:VE5 FA4ZE1 BE5 69pYt=vDyvCvEv>xQ 5~4z?Q 9~4zD)z^BYym)Q I?zCIz;iz ;z+4y Bɮ 4A XEii;UO?AJiCRiCjiPl@i<[Jfu@qC@/G2riɶ~7?`7?yoU˪Zi=biPwV=i2f6rof_8*V0zi8d=T࿎Nx2i6:i"iE񤙊?*i\ Bi[WBizҜ?iii5Cin@ addTargetRange:: Added new target pos. range: 350.799988 m, deltaT: 28.980148 s, deltaX: -17.900024 m, approachRate: -0.617665 m/s, rangeRepo size: 4  Added new target pos. range: 349.302582 m, bearing: 211.559846 deg, lat: 36.779334 deg, lon: -121.860055 deg, deltaT: 28.980148 s, deltaX: -17.840637 m, approachRate: -0.615616 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 349.30 m.RhZh% ProNav: ac range: 349.302582 m, nav range: 346.417725 m, bearing: 213.859382 deg, approach rate: 0.000000 m/s, LOS rate: 0.010473 deg/s, cmd heading: 206.316860 deg, new cmd heading: 206.328906 deg. Bh!-HeadingCmd: 3.601119 target range: 349.302582 and range: 350.80 m.h-xf@h)*h)"h) h)g1fQfQfQdYdYdYjd]u@Zde/?PExceeded connect timeout, disconnecting.ɢs1=) Z?i)h0zidi+P};8Ixf@Iy9@ @@@ԙ2Acoustic response timeout^A A gAzA hAIq I O > N,w?ALVW@V^e@VZ:ٱV[( fAHRS rotation from veh to nav: [[-0.900846,0.424845,0.089353],[-0.433648,-0.890354,-0.138637],[0.020656,-0.163638,0.986304]]VH@0?߶?ۿ}@۾&?Ŀ͏?iVW@IVI^;VOCYrByr+I xx||bD VD N2y-;%-E=ٔ-<D9zD9Q-5>9IYI=UDyUC]E]>aQ 5u4eo?Q 9}4e)eSBYyy}x)Q I}?eCIe=;ieM7;e(34yBɮAWEB*** querying acoustic contact ***i ibEFA4jE:4rEo0E EE(E"E:*EVL:VEc44ZEa@a@a@a@jhFNOT Ignoring new targets: 349.30 m.Rh=9Zh=9 ProNav: ac range: 349.302582 m, nav range: 346.148743 m, bearing: 213.863730 deg, approach rate: -0.640708 m/s, LOS rate: 0.010363 deg/s, cmd heading: 206.328909 deg, new cmd heading: 206.341961 deg. Bh9HeadingCmd: 3.601346 target range: 349.302582 and range: 350.80 m.hv|f@h*h"h hgfffdddjdZd(O?!ɢ%m3=) Z?i)un顩ii>+\ܮ;3qIv|f@I2Acoustic response timeouta@a @i@i@i^A 7I I  O% >B >B -CB +IB ыBB B B DB r;B E;E} 2Acoustic response timeout5,맑?AFW@Fve@FٱFu& RAHRS rotation from veh to nav: [[-0.901276,0.424827,0.084990],[-0.432913,-0.890769,-0.138261],[0.016970,-0.161405,0.986742]]FH@@_0??ٴۿ.`z`?@Ŀd?iFW@IF-=^;FLCYZByZ+I|i=Mb@Mb@Mb@9999 99=NbX9?I +?~jtY=%?y=94===A=DA =tA)=MA9Y==bAbDUVDU0ye;%eG=ٔm9iYi=uDyCE>Q 54[?Q 94)EBYL&?Q E:y(Q I? CI:i::4y ·Bɮ 0A aEjh15FNOT Ignoring new targets: 349.30 m.Rh=5*9Zh=5*9M ProNav: ac range: 349.302582 m, nav range: 345.876190 m, bearing: 213.867609 deg, approach rate: -0.652880 m/s, LOS rate: 0.009301 deg/s, cmd heading: 206.341955 deg, new cmd heading: 206.353602 deg. BhM@9UHeadingCmd: 3.601550 target range: 349.302582 and range: 350.80 m.hUf@hQ*hQ"hQ hQgYfYfYfYdYdadajdaZde?频ɢcA=) Q[?i)c顙ii+E;X۔If@I)e9@a @a@e/@iE EE)E"E[:*E;J:VEFA4ZEBEy 5],[x?ABθW@B~e@B21YٱB5& RAHRS rotation from veh to nav: [[-0.901590,0.424811,0.081677],[-0.432389,-0.890744,-0.140055],[0.013256,-0.161589,0.986769]]BH`0? ?`Bۿ`U %?`Ŀ?iBθW@IBQ^;BMCYZËByZ+IddbDjVDjy=}=%=M=ٔ=9AYA=EDyE CM2кEM>QYQ 5]4UkI?Q 9e4UF)U6BYaye(Q Ie?U*CIU0;iU1;U7A4ymBɮuӯAu`EjhFNOT Ignoring new targets: 349.30 m.Rh)9Zh)9 ProNav: ac range: 349.302582 m, nav range: 345.628815 m, bearing: 213.871161 deg, approach rate: -0.645331 m/s, LOS rate: 0.009271 deg/s, cmd heading: 206.353607 deg, new cmd heading: 206.364268 deg. Bh9HeadingCmd: 3.601736 target range: 349.302582 and range: 350.80 m.hׂf@h*h"h hgfffdddjdZd@??ɢK=) a?i)%Xi_iޜ+ ; 爩I ׂf@I E2Acoustic response timeout9@ @@.0@ԉDU%=DU=E] E]EYEY"E]:*E]C:VEYZEYam@am@am@am@^AԹII)O5> 2Acoustic response timeout G,[?ANW@Ne@NٱN/& VAHRS rotation from veh to nav: [[-0.901466,0.425699,0.078348],[-0.432745,-0.890323,-0.141624],[0.009466,-0.161574,0.986815]]NH@>?`?ۿ} ¿`b?qĿ?iNW@INB^;NLCY^̋By^+IiEMb@Mb@Mb@AAAA A9EHzG?J +?Ա9Y=DyBCf:E>Q 544?)&BY*?Q E:yU(Q I?NCI:i:H4yɮAjh1=FNOT Ignoring new targets: 349.30 m.Rh=!9Zh=!9U ProNav: ac range: 349.302582 m, nav range: 345.345825 m, bearing: 213.874912 deg, approach rate: -0.665472 m/s, LOS rate: 0.008830 deg/s, cmd heading: 206.364262 deg, new cmd heading: 206.375527 deg. BhU9UHeadingCmd: 3.601933 target range: 349.302582 and range: 350.80 m.h]f@hY*hY"hY hYgYfYfafadadadijdiZdm?颙ɢF=) 'f?i)L顡ii+;&}If@IM9@Q @Y@]0@i@gAB>B*CB ,IBBB =BBDB;B:E@gAGjAMA5R95jAY5!AM2Acoustic response timeout ^A #2Eu  Eu Eq Eq "Eu :*Eu a9:VEq ZEq BEu ` 8n,|*?A2CW@2e@2Tsٱ2I@$ :AHRS rotation from veh to nav: [[-0.901457,0.426435,0.074357],[-0.432830,-0.890306,-0.141469],[0.005873,-0.159712,0.987146]]2HJ? ?zۿc}¿`ax?oqĿ?i2CW@I2c^;2MCYBϋByF+IR2Acoustic response timeoutbDNVDNyZ<%ZW=ٔZ9\Y\=bDybaCbf9Eb>dQ 5j4f"?Q 9j4f)fBYhynQ(Q In?fmCIf:if:fO4yrBɮruAr_Ejh  FNOT Ignoring new targets: 349.30 m.Rh-!9Zh-!9 ProNav: ac range: 349.302582 m, nav range: 345.103363 m, bearing: 213.878123 deg, approach rate: -0.664584 m/s, LOS rate: 0.008807 deg/s, cmd heading: 206.375532 deg, new cmd heading: 206.385171 deg. Bhi9HeadingCmd: 3.602101 target range: 349.302582 and range: 350.80 m.h҈f@h*h"h hgfffdddjdZdn@)ɢ-&W=)1 5g?i)y@i*1i+4;rI%҈f@I!9@ @@5@AU2Acoustic response timeoutq^A3A I I O >ԙ ,?Ab0W@be@b0(ٱb" nAHRS rotation from veh to nav: [[-0.901207,0.427541,0.070956],[-0.433382,-0.890004,-0.141681],[0.002577,-0.158435,0.987366]]bH\?1*?ۿ@z@"¿e?GĿ?ib0W@Ib]q^;bNCYrՋByr+I za=xbD~VD~02y S<% D=ٔ E EE(E"E:*EVL:VEc44ZEa%@a-@a-@a-@9Y)=-Dy-C5:E5>9Q 5E4=+?Q 9E4=)=BYAyEE(Q IE?=CI=:i=_:=ZV4yUBɮU4AU^EmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 349.30 m.Rh9Zh9 ProNav: ac range: 349.302582 m, nav range: 344.824921 m, bearing: 213.881783 deg, approach rate: -0.663781 m/s, LOS rate: 0.008732 deg/s, cmd heading: 206.385176 deg, new cmd heading: 206.396165 deg. BhĿ9HeadingCmd: 3.602293 target range: 349.302582 and range: 350.80 m.hf@h*h"h hg!f!f!f!d!d)d)jdIZdUA@i颙ɢڝS=) j?i)3顡iϮi+;fIf@I2Acoustic response timeoutE9@I @I@M4@Iԡ^A-A] .AIa Im JIy O >B A <B >B (CB ,IB BB =B B DB ;B :EBe-CBe,CBeʕCBaBeʩ =CeʛK6] 2Acoustic response timeout ,?A6W@6`e@6I:ٱ6 BAHRS rotation from veh to nav: [[-0.900693,0.429265,0.066960],[-0.434455,-0.889656,-0.140570],[-0.000770,-0.155701,0.987804]]6H zy?H$? ۿx/=I ÿ?i6W@I6H^;6KCYRڋByR,I TTi-Mb@Mb@Mb@)))) )9-#~j?v/?+Y-%?y-xi=--yA-CA -lA)-hKA)Y-]AbDEVDE1yUμ<%UF=ٔU9] ?Y] ?=]DyeCel>;Ee>iQ 5u4m?Q 9u4m.)m~BYu&?Q E}:y}X'Q I}?mCImh;im;m]4yɮ AjhFNOT Ignoring new targets: 349.30 m.Rhj8Zhj8 ProNav: ac range: 349.302582 m, nav range: 344.559448 m, bearing: 213.884636 deg, approach rate: -0.648920 m/s, LOS rate: 0.006978 deg/s, cmd heading: 206.396159 deg, new cmd heading: 206.404723 deg. Bh?9HeadingCmd: 3.602442 target range: 349.302582 and range: 350.80 m.hif@h*h"h hgfffdddjdZd`@颉ɢX_=) m?i)c'顙i iL+;)IxIif@IE5 E5E5)E1"E5:*E5.:VE5FA4ZE1BE5= ͬ ,2,?AFW@Fe@F;ٱF RAHRS rotation from veh to nav: [[-0.899933,0.431476,0.062842],[-0.436002,-0.888922,-0.140426],[-0.004729,-0.153774,0.988095]]FH`@L?i?vۿ r~^s@ۮÿx?iFW@IFPf^;DYZދByZ ,IbDfVDfkyj1<%R=ٔ#9"?Y"?=DyC%;E%>)Q 554-?Q 954-)-~BY1y=9'Q I=?-CI-;i-;-nd4yEBɮEAE]EjhimFNOT Ignoring new targets: 349.30 m.Rhu-8Zhu-8 ProNav: ac range: 349.302582 m, nav range: 344.302490 m, bearing: 213.887320 deg, approach rate: -0.648669 m/s, LOS rate: 0.006780 deg/s, cmd heading: 206.404724 deg, new cmd heading: 206.412782 deg. Bh9HeadingCmd: 3.602583 target range: 349.302582 and range: 350.80 m.hf@h*h"h hgfffdddjdZd @ɢp!l=) ro?i)ijii+y;[!If@IBDAT read: Rx Time:00:27:13.6166 %TRx dataTimestamp_ set to:1761524832.768533%2Acoustic response timeout)9@ @@@YD5=D1E9 E=E=*E9"E9*E= H:VE=(N4ZE9aE@aE@aE@aE@^A_ԁ  2Acoustic response timeoutA I I O% >,yF?A0TX@f@3<ٱbo AHRS rotation from veh to nav: [[-0.899262,0.433449,0.058741],[-0.437332,-0.888403,-0.139576],[-0.008313,-0.151205,0.988468]]H`@?V??ۿ`mq@Zÿ?iTX@I^;MCY݋By,Ii]Mb@Mb@Mb@YYYY Y9]S㥛?V-?+Y]$?y]h=Y]tA]@A ]gA)]QJAYY]YAquAAbDu VDu2yG%2=ٔ9Y=DyCW;E>Q 54?Q 94 )~BY)&?Q E:y%Q I?CI ;i: ;Vl4yɮAjhFNOT Ignoring new targets: 349.30 m.Rh8Zh8 ProNav: ac range: 349.302582 m, nav range: 344.010132 m, bearing: 213.889230 deg, approach rate: -0.646164 m/s, LOS rate: 0.004226 deg/s, cmd heading: 206.412784 deg, new cmd heading: 206.418520 deg. Bh99HeadingCmd: 3.602683 target range: 349.302582 and range: 350.80 m.h[f@h*h"h hԁgfffdddjdZd@@ɢޘR=) n?i ) ՝  i iZ+i;scI[f@IBU>BU%CBU$,IBUBBU =BQBUDBU҄;BUx:EeDAT read: 00:27:13.6166 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398,-0.23, 1.702, 0.070, 1.592, 1.167, PHS= 0.636,-1.052, 0.380, RAW= 141.9, 0.5, CAL= 141.7, 0.8, ROT= 8.3, -0.8 mYgot valid direction response: 00:27:13.6166 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398,-0.23, 1.702, 0.070, 1.592, 1.167, PHS= 0.636,-1.052, 0.380, RAW= 141.9, 0.5, CAL= 141.7, 0.8, ROT= 8.3, -0.8 PDAT read: Bearing 349.9, 7.9 (Local) ~Local bearing/azimuth received: Bearing 349.9, 7.9 (Local) DAT read: Range 11 to 50 : 348.1 m (Round-trip 464.2 ms) speed 0.4 m/s TDAT read: user:107>Tx time:00:27:14.6983 R#Rx 1: Read range and direction messages.\direction in FSK: [0.989429,0.144342,0.013962]Fpublishing direction and range infoy!%R=g?y?4?Y% C!!!! !)%II%"?i%𧆿%\>%@9@ @@/@%5<%G@ %d<)%V>I%d!!%%?#y?0? %~>)%WI%V>i%d!!E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.Ա^A ?BɺA >A > EE  EE EE )EA "EE :*EE F:VEE FA4ZEA BEE ,s`?AɰBDAT read: F2Acoustic response timeoutFJ7X@F,f@F#<<ٱF RAHRS rotation from veh to nav: [[-0.898244,0.435917,0.055976],[-0.439346,-0.887287,-0.140348],[-0.011513,-0.150659,0.988519]]FHj ?`?@=ܿ`d@Hÿ?iFJ7X@IFbi]di]Wq7B avhMQzi]f2fX%L̓2i]C:i]"i]CQ?*i]d*Bi] }BiYi]Ka*i] }Bi]Ci]o@] addTargetRange:: Added new target pos. range: 348.100006 m, deltaT: 4.032351 s, deltaX: -2.699982 m, approachRate: -0.669580 m/s, rangeRepo size: 4 m Added new target pos. range: 346.561035 m, bearing: 214.391147 deg, lat: 36.779334 deg, lon: -121.860101 deg, deltaT: 4.032351 s, deltaX: -2.741547 m, approachRate: -0.679888 m/s, posRepo size: 4 jhiuFNOT Ignoring new targets: 346.56 m.RhuZhq ProNav: ac range: 346.561035 m, nav range: 346.037567 m, bearing: 214.441831 deg, approach rate: 0.000000 m/s, LOS rate: 0.004226 deg/s, cmd heading: 206.418521 deg, new cmd heading: 206.422986 deg. BhHeadingCmd: 3.602761 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdu@Zd{?ɢq#=) v?i)GiBi+;ΐ9If@I-9@) @)@-/@)@5hA@5hA=2Acoustic response timeout^AIA A I I O >,Xz?A6UX@6Jf@6h<ٱ6 BAHRS rotation from veh to nav: [[-0.897413,0.437908,0.053733],[-0.440963,-0.886347,-0.141209],[-0.014211,-0.150417,0.988521]]6H?ڂ?8ܿ\!¿@v`@ÿ?i6UX@I6V^;6KCYFۋByJ,IbDR VDR2yZE%ZL=ٔZW;Q-^>9\Y\=^Dyb$Cb;Eb>dQ 5j4fx?Q 9j4fV)f~BYhyns%Q In?f7CIf;if;fey4yrBɮrAreEE EE(E"E:*E H:VEc44ZEa @a @a @a @B*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 346.56 m.Rh5d8Zh5d8E ProNav: ac range: 346.561035 m, nav range: 345.779449 m, bearing: 214.443745 deg, approach rate: -0.645908 m/s, LOS rate: 0.004792 deg/s, cmd heading: 206.422988 deg, new cmd heading: 206.428733 deg. BhExR9MHeadingCmd: 3.602861 target range: 346.561035 and range: 348.10 m.hMGf@hI*hI"hI hQgQfQfYfYdYdYdYjdaZde`?颉ɢm=) m?i)顑i{in+Xp;:IGf@I)@) @)@5/0@1i߉IߍA2Acoustic response timeoutA^Au9qA ؟AI I O >BE >BE "CBE *,IBE BBE =BA BE DBE τ;BE c:Eԙ M 2Acoustic response timeout$,*?A2vX@2lf@2<ٱ2v :AHRS rotation from veh to nav: [[-0.896460,0.440189,0.050915],[-0.442792,-0.885408,-0.141378],[-0.017152,-0.149285,0.988646]]2Hͯ,?`?@VܿCU¿gÿ?i2vX@I2Cl^;0YBߋByB ,Ii Mb@Mb@Mb@     9 {Gz?ʡE?+Y #?y =  sA t?A eA) ?IA Y zXA bD%VD%N2y5<%5C=ٔ5;yQ->9"?Y"?=DyHCY;E>Q 54?Q 94E)}~BYR%?Q E:y$Q I?[CI;id;4yBɮAjhqFNOT Ignoring new targets: 346.56 m.Rhex8Zhex8 ProNav: ac range: 346.561035 m, nav range: 345.501831 m, bearing: 214.445254 deg, approach rate: -0.623782 m/s, LOS rate: 0.003393 deg/s, cmd heading: 206.428739 deg, new cmd heading: 206.433269 deg. Bh 9HeadingCmd: 3.602940 target range: 346.561035 and range: 348.10 m.hf@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE`Jd?颩ɢf^=) o?i)6ѻ项i(6i#+G;.[;If@IE EE'E"E:*E=:VE'4ZEBE "*,[?A@BX@Bf@Bk<ٱBo JAHRS rotation from veh to nav: [[-0.895859,0.441865,0.046822],[-0.443866,-0.885063,-0.140166],[-0.020494,-0.146351,0.989020]]BH@`G??KhܿpR m ¿?iBX@IB[^;BHCYRByR ,IbDZVDZ1ybu#<%bR=ٔfi 9dYd=jDyjfCjZU;Ej>lQ 5r4n?Q 9r4n)nd~BYtyv$Q Iv?nzCIn:in:n4yzBɮz~AzdEjhFNOT Ignoring new targets: 346.56 m.Rh%>8Zh%>85 ProNav: ac range: 346.561035 m, nav range: 345.259094 m, bearing: 214.446515 deg, approach rate: -0.673945 m/s, LOS rate: 0.003504 deg/s, cmd heading: 206.433274 deg, new cmd heading: 206.437060 deg. Bh59=HeadingCmd: 3.603006 target range: 346.561035 and range: 348.10 m.h=f@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU?yɢ}t=) p?i)z顁i7i +8;{w;If@I2Acoustic response timeoutY9@ @@4@@=@=ԉbEjEƲ>4rEƳ/E- E-E-*E)"E-I:*E-ga:VE-(N4ZE)a=@a=@a=@a=@^AUyb];A I I  2Acoustic response timeoutO > 1,V?AiX@f@į<ٱ -AHRS rotation from veh to nav: [[-0.895580,0.442935,0.041767],[-0.444232,-0.885143,-0.138493],[-0.024373,-0.142586,0.989482]]H Y? b?KnܿS`!V?@¿֩?iiX@Io_;LCY=By=!,IiMb@Mb@Mb@ 9NbX9?bX9ȶ?I +Y%?yE=94qA^>A /aA)YVAbDVD 3y=%8=ٔb9Y=DyC:E>Q 54Fw?Q 94)D~BY'?Q E:y#Q I?CI ;i: ;J4y!ɮ%=A!jhAMFNOT Ignoring new targets: 346.56 m.RhU7ZhU7e ProNav: ac range: 346.561035 m, nav range: 344.970795 m, bearing: 214.447216 deg, approach rate: -0.650050 m/s, LOS rate: 0.001581 deg/s, cmd heading: 206.437058 deg, new cmd heading: 206.439162 deg. Bhe8eHeadingCmd: 3.603043 target range: 346.561035 and range: 348.10 m.hmBf@hi*hi"hi higifqfqfqdqdydyjdyZd}?IɢMt=)I M.y?iI)U*QQiUB?i]s+](;]א;I]Bf@IYBc>BCBBB =B@DBDBЄ;BG:E9@ @@@2Acoustic response timeout^A% ;) E-  E- E- (E) "E- :*E- :VE- c44ZE) BE- i 8,?A2X@2Tf@2;M<ٱ2 >AHRS rotation from veh to nav: [[-0.895690,0.443087,0.037582],[-0.443758,-0.885203,-0.139623],[-0.028597,-0.141736,0.989491]]2H[?=?fܿS'Hg$¿?i2X@I2 J_;2JCB2Acoustic response timeoutYJByJ,IPPbDVVDVN2yZ%Za=ٔ^>9Y=DyClE>!Q 5-4%6f?Q 9-4%s!)%'~BY1y5#Q I5?%CI%(:i%:%ҕ4y=vBɮ=AEcEjhaeFNOT Ignoring new targets: 346.56 m.Rhm^7Zhm^7 ProNav: ac range: 346.561035 m, nav range: 344.727753 m, bearing: 214.447821 deg, approach rate: -0.650340 m/s, LOS rate: 0.001621 deg/s, cmd heading: 206.439162 deg, new cmd heading: 206.440980 deg. Bhk8HeadingCmd: 3.603075 target range: 346.561035 and range: 348.10 m.hǘf@h*h"h hgfffdddjdZdFv@ɢƆ=) w?i)#ti(i+;)|;Iǘf@IQ]9@Y @Y@]/@Yy^Au;A}>A}>=2Acoustic response timeoutIQ Ia Ou >ԩ 4>,?A2X@2>|f@2=ٱ2:@ :AHRS rotation from veh to nav: [[-0.895697,0.443195,0.036131],[-0.443482,-0.884435,-0.145254],[-0.032420,-0.146127,0.988735]]2HP]??bܿJM¿_F¿?i2X@I24_;2MC@YFByF%,IIJ>)J;J=J=bDRVDRyV<%ZK=ٔZi9\Y\=^Dy^Cb&Eb>`Q 5f4bPT?Q 9j4b(%)b~BYhyj#Q Ij?bCIb$:ib:b4DlzDn@AEr ErEpEp"Ery:*ErR:VEpZEpaz@az@az@az@yxɮ~A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 346.56 m.Rh-q7Zh-q7= ProNav: ac range: 346.561035 m, nav range: 344.472900 m, bearing: 214.448481 deg, approach rate: -0.644030 m/s, LOS rate: 0.001670 deg/s, cmd heading: 206.440979 deg, new cmd heading: 206.442961 deg. Bh8HeadingCmd: 3.603109 target range: 346.561035 and range: 348.10 m.hXf@h*h"h hgfffdddjdZde@AɢESF=)A Ez?iI)MV[IIiMKiu]+u;}r;I}Xf@Iy2Acoustic response timeoutԱ @  @ @ /@ ^AMvт;IIO>   fC /G B |>B CB B B =B B DB w;B :E 9 Y AE 2Acoustic response timeout#E,?A2X@2f@2*=ٱ2( :AHRS rotation from veh to nav: [[-0.895186,0.444356,0.034501],[-0.444211,-0.883224,-0.150307],[-0.036318,-0.149878,0.988037]]2H@\@Up?"?mܿ ^C@B=ÿ@9`7/ÿ ?i2X@I2^;2KCYBByB,IhiMb@Mb@Mb@ 9uV?Zd;O?ktYr(?yj= 0&mAG=A ]A)(HAY(TAbD5 VD5f2yUB%U?=ٔ]t9iYi=uDyuCu;Eu>Q 5-4j@?Q 954N))}BY5q*?Q E5:y5`#Q I5?CIjGK,@M/?A21X@2f@2\'=ٱ2V& :AHRS rotation from veh to nav: [[-0.894725,0.445508,0.031459],[-0.444746,-0.882319,-0.153993],[-0.040849,-0.151773,0.987571]]2H6?\? vܿ;ÿꤿKmÿ`.?i21X@I2^;2ICYVByV,I ^R=^4=bDjVDj0yr<%rS=ٔv?9tYt=vDyv Cz:Ez>|Q 54~.?Q 94~-)~}BYy V#Q I ?~#CI~:i~:~誎4y^BɮAaEjh19EFNOT Ignoring new targets: 346.56 m.RhE7ZhE7U ProNav: ac range: 346.561035 m, nav range: 343.934784 m, bearing: 214.449566 deg, approach rate: -0.706562 m/s, LOS rate: 0.001390 deg/s, cmd heading: 206.444722 deg, new cmd heading: 206.446222 deg. BhU8t8]HeadingCmd: 3.603166 target range: 346.561035 and range: 348.10 m.h]Gf@ha*ha"ha hagafafifidididqjdqZdu  @颡ɢvّ=) w?i)b顩iQmim+[;u;IGf@I2Acoustic response timeout59@1 @1@5/@1iDDa=E EE,E"E:*EE7:VEg4ZEa @a @a @a @^AU;ԑIIO> 2Acoustic response timeout 1R,4I?A=X@=˟f@=}9=ٱ=v MAHRS rotation from veh to nav: [[-0.894290,0.446619,0.027877],[-0.445205,-0.881711,-0.156139],[-0.045155,-0.152045,0.987342]]=H@i?ꋜ? ;~ܿ6^ÿ@4vÿ@M?i=X@I=9^;9Y]By] ,IԑiMb@Mb@Mb@ 9/$?|?5^?ˡEY1(?y=';A ZA)YRAIbDVDyn;%%8=ٔ%9!Y)=-Dy-/C5 :E5>9Q 5=4=;?Q 9E4=p1)=}BYE*?Q EE:yE6"Q IE?=ICI=:i=e:=4yUkBɮUAUjEjhy}FNOT Ignoring new targets: 346.56 m.RhT;ZhT; ProNav: ac range: 346.561035 m, nav range: 343.640381 m, bearing: 214.449281 deg, approach rate: -0.659909 m/s, LOS rate: -0.000640 deg/s, cmd heading: 206.446224 deg, new cmd heading: 206.445368 deg. BhHeadingCmd: 3.603151 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdd)d)jd)Zd5z@Bp>BCB$,IBBB =BBDB';B9EB]CB] CB]ÖCB] =B]ý =C]G6颱ɢ.\~=) x?i)oq项ii+;q;If@I 2Acoustic response timeout}9@y @y@@@=@^A ϩ;E  E E *E "E *E a9:VE (N4ZE BE #YX,c?A22Acoustic response timeoutY~By~,IbD VD2y%ﴼ%%\=ٔ-Q-->9)Y)=5Dy5NC5E5>9Q 5E4=A ?Q 9E4=5)=|}BYIyIQ IM?=hCI=:i=k:=-4yU_BɮUɭAUiEjhFNOT Ignoring new targets: 346.56 m.Rhz5Zhz5 ProNav: ac range: 346.561035 m, nav range: 343.395142 m, bearing: 214.449043 deg, approach rate: -0.638328 m/s, LOS rate: -0.000620 deg/s, cmd heading: 206.445364 deg, new cmd heading: 206.444649 deg. Bhٷ HeadingCmd: 3.603139 target range: 346.561035 and range: 348.10 m.h ԙf@h *h "h  hgfffdddjd!Zd%`@IɢM:F=)Q Uv?iQ)]8eYYi]#ie+eN;eh;Ieԙf@Ia @  @ @_0@!^A;%2Acoustic response timeoutQA% .AIQ Ii O} >y ^,U|?A6}X@6,f@6T=ٱ6 BAHRS rotation from veh to nav: [[-0.894580,0.446433,0.020581],[-0.443877,-0.882217,-0.157057],[-0.051958,-0.149635,0.987375]]6Hf]?L? {hܿ;nĿ ?@'ÿ?i6}X@I6E^;6HCYFByJ ,ILLbDRVDR1yZ<%ZR=ٔ^LEb E`Eb'E`"Ebغ:*E`VEb'4ZE`af@aj@aj@aj@9j ?Yj ?=jDyjmCnm\En>pQ 5v4rQ?Q 9v4r9)rX}BYtyvF"Q Iz?rCIr:ir:r4y|ɮ~A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 346.56 m.Rh-c!Zh-c!= ProNav: ac range: 346.561035 m, nav range: 343.136139 m, bearing: 214.448834 deg, approach rate: -0.683082 m/s, LOS rate: -0.000551 deg/s, cmd heading: 206.444653 deg, new cmd heading: 206.444026 deg. Bh=EHeadingCmd: 3.603128 target range: 346.561035 and range: 348.10 m.hEf@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd] @颁ɢ:>=) x?i).k:顉iOi+Q;P;If@IQU9@Q @Q@U5@Q2Acoustic response timeoutԉ^A;ԩA @AA B o>B B ,IB BB =B B B ;B ;9EA ؟AI I O% >% 2Acoustic response timeout je,?A2ϒX@2~f@2^=ٱ2vK :AHRS rotation from veh to nav: [[-0.894513,0.446672,0.018164],[-0.443730,-0.882216,-0.157475],[-0.054315,-0.148923,0.987356]]2H@ڟ`G??fܿ;@#(Ŀ@4ϫÿk?i2ϒX@I2v^;2ICYJByJ$,IiMb@Mb@Mb@ 9S㥛?1Zd?+Y$&?y"=lA:A vXA)$HAYQAbD VD2ymP<%9=ٔ;Q->9"?Y"?=DyCtE>Q 54?Q 94W=)0}BY(?Q E:y!Q I?CI;i ;ǎ4y SBɮ |A hEjh1=FNOT Ignoring new targets: 346.56 m.Rh=зZh=зM ProNav: ac range: 346.561035 m, nav range: 342.849701 m, bearing: 214.448210 deg, approach rate: -0.653053 m/s, LOS rate: -0.001424 deg/s, cmd heading: 206.444025 deg, new cmd heading: 206.442151 deg. BhM@zUHeadingCmd: 3.603095 target range: 346.561035 and range: 348.10 m.hUf@hQ*hY"hY hYgYfYfafadadadajdiZdm@频ɢ=) -z?i):顡iE\i+_ۨ;;If@IԱE EE)E"EI:*EX:VEFA4ZEBE9 Ek,>?A2X@21{f@2 sc=ٱ2t :AHRS rotation from veh to nav: [[-0.894815,0.446078,0.017926],[-0.442974,-0.882165,-0.159872],[-0.055501,-0.150997,0.986975]]2HR ?R[?Yܿ:vĿj SÿL?i2X@I2Ɠ^;2JCYZByZ,IbDb VDb:2yj%j]=ٔn8R;Q-n>9lYp=rDyrCrEr>tQ 5z4v?Q 9z4vA)v }BY|y~!Q I~?vCIv;iv;v-Ύ4yɮA jh)-FNOT Ignoring new targets: 346.56 m.Rh5~Zh5~E ProNav: ac range: 346.561035 m, nav range: 342.607910 m, bearing: 214.447721 deg, approach rate: -0.652919 m/s, LOS rate: -0.001322 deg/s, cmd heading: 206.442153 deg, new cmd heading: 206.440685 deg. BhE1hMHeadingCmd: 3.603070 target range: 346.561035 and range: 348.10 m.hMf@hI*hI"hI hQgQfQfQfQdYdYdYjdaZde @颉ɢr,z?A EX@EY|f@EQf=ٱE AHRS rotation from veh to nav: [[-0.894748,0.446171,0.018894],[-0.443020,-0.881516,-0.163290],[-0.056200,-0.154474,0.986397]]EH`ǡ?X?qZܿ`5 Ŀ@@Ƭÿ?iEX@IE;^;EHCYBy,Ii5Mb@Mb@Mb@1111 195uV?MbX?+Y5r(?y5=1158A 5IVA)5;IA1Y5QA Ma=Mp=bDMVDMy]%]4=ٔe:Q-e>9aYa=mDymCm"9Em>qQ 5}4u?Q 9}4uuE)u|BY*?Q E:y"Q I?uCIu7:iua:u ֎4yGBɮAgEjhFNOT Ignoring new targets: 346.56 m.Rh66Zh66 ProNav: ac range: 346.561035 m, nav range: 342.307495 m, bearing: 214.447823 deg, approach rate: -0.660272 m/s, LOS rate: 0.000224 deg/s, cmd heading: 206.440692 deg, new cmd heading: 206.440998 deg. Bhu7HeadingCmd: 3.603075 target range: 346.561035 and range: 348.10 m.hȘf@h*h"h hgfffdddB5q>B1B5,IB5BB5 =B1B1B5$;B58EijdZd; @ɢ]ҁ=)D s?i)E;ii%+;v;IȘf@I2Acoustic response timeout9@ @@}3@ԙ E  E E (E "E :*E VE c44ZE BE _ x,e?A ,,F~X@Fsf@FbPg=ٱFM6 RAHRS rotation from veh to nav: [[-0.894970,0.445718,0.019089],[-0.442541,-0.881552,-0.164389],[-0.056443,-0.155571,0.986211]]FH@ ??Rܿ5 ſ@欿ÿ ?iF~X@IFhW^;FICYXyXbDb VDb2yj;%j]=ٔnF,:Q-n>9lYp=rDyrCr麺Er>tQ 5z4v?Q 9z4vI)v|BY|y~"Q I~?vCIv;iv;v܎4y:BɮKAfEjh)-FNOT Ignoring new targets: 346.56 m.Rh506Zh506E ProNav: ac range: 346.561035 m, nav range: 342.063049 m, bearing: 214.447931 deg, approach rate: -0.660475 m/s, LOS rate: 0.000292 deg/s, cmd heading: 206.440992 deg, new cmd heading: 206.441317 deg. BhEmM7MHeadingCmd: 3.603081 target range: 346.561035 and range: 348.10 m.hMf@hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde@m@颉ɢ0 =) s?i):o;顑ioiֆ+⎨;lU;If@II9@ @@/@@@=qu2Acoustic response timeout^AoM;ԩ A I I) O= >,8,?AbE5c44jE5:4rE5S)0E EE+E"Ey:*E=:VE [4ZEa@a@a@a@@>|X@>zrf@>h=ٱ>! JAHRS rotation from veh to nav: [[-0.894985,0.445670,0.019523],[-0.442466,-0.881276,-0.166063],[-0.056804,-0.157262,0.985922]]>H`څ?@?\Qܿ@i3 Aſ`o+!Ŀ?i>|X@I>vQ^;9)Y)=-Dy-C-<E5>1Q 5=45?Q 9E45M)5|BYAyE"Q IE?56CI5;i5];54yIɮMhAQmB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 346.56 m.Rh~6Zh~6 ProNav: ac range: 346.561035 m, nav range: 341.790924 m, bearing: 214.448061 deg, approach rate: -0.659587 m/s, LOS rate: 0.000315 deg/s, cmd heading: 206.441320 deg, new cmd heading: 206.441710 deg. Bhd]7HeadingCmd: 3.603088 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdZd@ɢ=) Up?i)JW;iĚi+Zn;If@IiI2Acoustic response timeoutԩ9@ @@/@^A_;BAp<Bs>BCB ,IBBB =BBBx;B7E A% .AI) I9 OM > 2Acoustic response timeout,&?A>uX@>2kf@>^Cj=ٱ>Qj# FAHRS rotation from veh to nav: [[-0.895163,0.445301,0.019760],[-0.442059,-0.881214,-0.167471],[-0.057162,-0.158649,0.985679]]>H,?uX@I>{^;>FCYNByN,Ihi%Mb@Mb@Mb@!!!! !9%Zd;O?sh|??X9vY%~*?y%=%%iA%7A !)%GA!Y%OAqqbD}VD}ܲy<%C=ٔ_:Q->9 ?Y ?=Dy5C؊E>Q 54D?Q 94Q)w|BY+?Q E:yL$Q I?ZCIz ;i ; 4y;BɮdAnEjhFNOT Ignoring new targets: 346.56 m.Rhy[8Zhy[8 ProNav: ac range: 346.561035 m, nav range: 341.511230 m, bearing: 214.449317 deg, approach rate: -0.667157 m/s, LOS rate: 0.002998 deg/s, cmd heading: 206.441716 deg, new cmd heading: 206.445487 deg. Bh9HeadingCmd: 3.603153 target range: 346.561035 and range: 348.10 m.hf@h*h"h hg f f f dddjdZdt@AɢE=)A MSq?iI)M?;IIiMiU+UF;U6;IUf@IYE) E)E-(E)"E)*E)VE-c44ZE)BE- 2Acoustic response timeoutԉ A؟AI)I9O]?,W9?ABqX@B^gf@B^k=ٱB6$ NAHRS rotation from veh to nav: [[-0.895255,0.445110,0.019882],[-0.441844,-0.881172,-0.168252],[-0.057371,-0.159413,0.985544]]BH`|?[?.Gܿ`2@Fſ _gĿ?iBqX@IB _;BICYRߋByV ,IbD^VD^02yfO%f+=ٔf9Q-f>9j"?Yj"?=jDyj\CnEn>pQ 5v4ro?Q 9v4rU)rO|BYtyvP$Q Iz?rCIr:ir:r~4y~/Bɮ~>A~mEjh!%FNOT Ignoring new targets: 346.56 m.Rh-]8Zh-]8= ProNav: ac range: 346.561035 m, nav range: 341.192169 m, bearing: 214.450767 deg, approach rate: -0.666406 m/s, LOS rate: 0.003032 deg/s, cmd heading: 206.445487 deg, new cmd heading: 206.449842 deg. Bh=-9EHeadingCmd: 3.603230 target range: 346.561035 and range: 348.10 m.hEPf@hA*hA"hA hAgIfIfIfIQdQdYdYjdYZd]@颉ɢ-=) o?i)H;顑iaie+;z';IPf@IE- E-E--E)"E-:*E-;J:VE-t4ZE)a=@a=@a=@a=@Ubިԁ9@ @@/@2Acoustic response timeoutԩ^A2; G  = %}99 YE tgAAQ IY Iq O} >B u>B B ,IB ۋBB =B B DB ;B z7EG,$S?A2kX@2:af@2h%k=ٱ2$ >AHRS rotation from veh to nav: [[-0.895421,0.444769,0.020072],[-0.441509,-0.881241,-0.168775],[-0.057377,-0.159986,0.985450]]2HI@w?@Ѝ?Aܿ3gſ`nzĿψ?i2kX@I24_;2ECYB܋ByF,I only read 0 of 1 data item for altitude. Device response is::BD, +111.22, +542 13.00, 0.00 a @a  a @a  a @a  a @a  bDE2Acoustic response timeoutVDԹyFr%;=ٔ\7Q->9Y=DyCo`E>Q 54[?Q 94Y)*|BQ A+:YQ E:yW$Q I?CI7%;i>4yɮKAjhimFNOT Ignoring new targets: 346.56 m.Rh}^8Zh}^8 ProNav: ac range: 346.561035 m, nav range: 340.900360 m, bearing: 214.452116 deg, approach rate: -0.655522 m/s, LOS rate: 0.003033 deg/s, cmd heading: 206.449844 deg, new cmd heading: 206.453895 deg. Bh69HeadingCmd: 3.603300 target range: 346.561035 and range: 348.10 m.hxf@h*h"h hgfffdddjdZdBP @!ɢmU =)i mn?ii)mx;iqiu㧛iu>+}֧;};I}xf@IyEE EEEE(EA"EE:*EE|;:VEEc44ZEABEEg@Y`Ŀ?i6_X@I6B_;6FCYFۋByj,I ppttbDVDN2y%X%%%=ٔ%Q-%>199Y9==Dy=CE*EE>QQ 5]4UB?Q 9e4U^)U{BQ Ae :YiQ EmO:yub$Q I}?UCIU;iU*v?U4y"BɮAlEjhFNOT Ignoring new targets: 346.56 m.Rhf8Zhf8 ProNav: ac range: 346.561035 m, nav range: 340.555115 m, bearing: 214.453754 deg, approach rate: -0.663690 m/s, LOS rate: 0.003152 deg/s, cmd heading: 206.453888 deg, new cmd heading: 206.458807 deg. Bhu 9HeadingCmd: 3.603386 target range: 346.561035 and range: 348.10 m.hf@h*h"h h g f f f dddjdZdD!@ɢ%=)! %m?i!)-PT<))i-ni5Ձ+56;5B!:I5f@I9Y@ @@@E= E=E=%E9"E=:*E=L_:VE= 4ZE9aM@aM@aM@aM@ԉ2Acoustic response timeout^A ] ;Ա A I I9 O >Dͣ,,?AAAAAB d>B CB B B  =B B DB ;B 7EBCBCBCBB =C<5IeeZX@ePf@eci=ٱe $ }AHRS rotation from veh to nav: [[-0.895902,0.443787,0.020304],[-0.440581,-0.881708,-0.168756],[-0.056990,-0.160134,0.985449]]eH:`g?ʔ? {2ܿ`6̙ſ-`IĿˈ?ieeZX@Iec=_;eHCYy,Iaa aa aa aa iMb@Mb@Mb@ 9L7A`?i|?5?y&1Y+'?yq=`hA5A  TA)EAYNAbD-VD-0y=8~:%=6=ٔEQ-E>9AYA=MDyMCM?EM>QQ 5]4U-?Q 9]4Ub)U{BQ A]T:Ye(?Q Ee:ye&Q Ie?UCIU;iU1;Uf4ymBɮmAq2Acoustic response timeoutB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 346.56 m.Rh $8Zh$8M ProNav: ac range: 346.561035 m, nav range: 340.265625 m, bearing: 214.456768 deg, approach rate: -0.600852 m/s, LOS rate: 0.006260 deg/s, cmd heading: 206.458805 deg, new cmd heading: 206.467854 deg. BhM|9yHeadingCmd: 3.603544 target range: 346.561035 and range: 348.10 m.hvf@h*h"h hgfffdddjdZd7F"@QɢUq=)Q Um?iQ)]2+e=;e:Ievf@Iia@a @i@m/@iԡE  E E (E "E :*E a9:VE c44ZE BE 9,?A0JahX@J^f@Jj=ٱJ0\& VAHRS rotation from veh to nav: [[-0.895513,0.444546,0.020844],[-0.441340,-0.881080,-0.170051],[-0.057231,-0.161482,0.985215]]JH rs?@ X?@>ܿ1<ſ`VM sĿ ?iJahX@IJ`u_;JGCY^׋Byb,IbDjVDj:3yr4%rK=ٔru:Q-r>9tYt=vDyvCzG ;Ez>xQ 54z?Q 94z;f)z{BYyz&Q I?zCIz;izE:zj4y$Bɮ5Ajh1FNOT Ignoring new targets: 346.56 m.Rh 9Zh 9 ProNav: ac range: 346.561035 m, nav range: 340.004242 m, bearing: 214.459459 deg, approach rate: -0.736786 m/s, LOS rate: 0.007591 deg/s, cmd heading: 206.467849 deg, new cmd heading: 206.475928 deg. Bh9HeadingCmd: 3.603685 target range: 346.561035 and range: 348.10 m.hŢf@h*h"h hgff f d d d jdZdm"@Yɢe̟=)a ek?ia)e2Au>E  E E *E "E :*E |;:VE (N4ZE a @a @a @a @1 I I O >,W?A2Acoustic response timeout6pX@65ff@6n=ٱ6% >AHRS rotation from veh to nav: [[-0.895240,0.445150,0.019675],[-0.441758,-0.880912,-0.169836],[-0.058271,-0.160735,0.985276]]6H ΥV}?%?Eܿ n0/ſխ@Ŀa?i6pX@I6_;6HCYF΋ByF+IIJ<)J<bDRVDRNyZ)%ZN=ٔZ+;Q-Z>9\Y\=^Dy^Cb:Eb>dQ 5j4f?Q 9j4fi)f{BYhyjq&Q Ij?f4=) {g?i)m'<i[0iz+ڦ;;I  f@I 9@ @@"0@1B^>BCB+IB֋BB =BBDBO;B6EQ2Acoustic response timeout^A] ;I I! O5 >ԁ +,2?A6X@6xf@6Uv=ٱ6& >AHRS rotation from veh to nav: [[-0.894647,0.446385,0.018652],[-0.442713,-0.880125,-0.171422],[-0.060104,-0.161620,0.985021]]ED EFEF%ED"ED*EF H:VEF 4ZEDBEF9Y=Dy3C);E>Q 54l?Q 94m)|{BY(?Q E:y&Q I?`CI: ;i ;4yɮڵAjhFNOT Ignoring new targets: 346.56 m.RhK9ZhK9 ProNav: ac range: 346.561035 m, nav range: 339.462769 m, bearing: 214.465224 deg, approach rate: -0.649261 m/s, LOS rate: 0.007174 deg/s, cmd heading: 206.483872 deg, new cmd heading: 206.493238 deg. Bh9HeadingCmd: 3.603987 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdZd7$@52Acoustic response timeoutaɢmR$=)) -f?i1)5f4<11i5}i=w+=;==;I=f@IAԑ@ @@0@Ա^Ae }U;I  2Acoustic response timeout I O >W׽, ?A2X@2?f@2.=ٱ26% :AHRS rotation from veh to nav: [[-0.893953,0.447862,0.016380],[-0.443775,-0.879511,-0.171827],[-0.062548,-0.160875,0.984991]]2HBé?Ő?`fܿ$pſ`*@Ŀ ?i2X@I2_;0YBՋByB+IbDJVDJNyR*=%R[=ٔV;Q-V>9TYT=VDyZQCZ];EZ>\Q 5b4^?Q 9b4^p)^]{BYdyf&Q If?^CI^;i^8:^t#4yjLBɮj۵AjsEjhq}FNOT Ignoring new targets: 346.56 m.Rh9Zh9 ProNav: ac range: 346.561035 m, nav range: 339.219116 m, bearing: 214.467864 deg, approach rate: -0.659850 m/s, LOS rate: 0.007154 deg/s, cmd heading: 206.493243 deg, new cmd heading: 206.501168 deg. Bh9ԹHeadingCmd: 3.604125 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdZd}c%@颁ɢ=) j?i) @<顉iޝiu+;{;If@II)hAE EE*E"E:*EP:VE(N4ZEa@a@a@a@9@ @@5@@=@E2Acoustic response timeout^Ayb];AzAgAI I! OE >A B A B [>B CB +IB ыBB B B DB ;B 6E,=+?A6߰X@6f@6~Մ=ٱ6' BAHRS rotation from veh to nav: [[-0.893137,0.449516,0.015570],[-0.445091,-0.878297,-0.174611],[-0.064815,-0.162881,0.984514]]6H`?]?^|ܿYƿMĿ`$?i6߰X@I6#_;6FCYJËByJ+I LLiMb@Mb@Mb@ 9S㥛?v/?V-Y$?yxi= QA)DAYMAbD5VD52yE+%E?=ٔḘ;Q-E>9IYI=MDyMtCUvl;EU>QQ 5m4U?Q 9m4Ut)U:{BYu%?Q Eu:yuU&2Acoustic response timeoutQ I]?UCIUZ =iUN =U*4ymBBɮmAmrEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 346.56 m.Rh8Zh8 ProNav: ac range: 346.561035 m, nav range: 338.944580 m, bearing: 214.470603 deg, approach rate: -0.618248 m/s, LOS rate: 0.006174 deg/s, cmd heading: 206.501166 deg, new cmd heading: 206.509391 deg. Bh9HeadingCmd: 3.604269 target range: 346.561035 and range: 348.10 m.hWf@h*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 K&@颱ɢf=) a?i)L<项i i]s+;$;IWf@I!9@ @@%4@!E EE'E"E:*EA:VE'4ZEBE ,[.?A2sX@2"f@2쳉=ٱ29) NAHRS rotation from veh to nav: [[-0.892082,0.451636,0.014622],[-0.446850,-0.876893,-0.177154],[-0.067187,-0.164570,0.984074]]2H?=?@0ܿ@ƿ+3ſ}?i2sX@I2ާ_;2GCYRByV+IbD^VD^1yfE%fO=ٔf;Q-j>9hYh=nDynCnI;En>pQ 5v4r?Q 9v4rx)r{BYtyz5&Q Iz?rCIr;ir ;r14y|ɮ~A|jh!%FNOT Ignoring new targets: 346.56 m.Rh-8Zh-8= ProNav: ac range: 346.561035 m, nav range: 338.691803 m, bearing: 214.473045 deg, approach rate: -0.697613 m/s, LOS rate: 0.006743 deg/s, cmd heading: 206.509390 deg, new cmd heading: 206.516720 deg. Bh=9EHeadingCmd: 3.604397 target range: 346.561035 and range: 348.10 m.hEpf@hA*hA"hA hAgIfIfIfQdQdQdQjdQZd]&@颁ɢ=) `?i)>V<顉iTiFq+衦;;Ipf@I)-9@) @)@-/@)2Acoustic response timeoutY^AM;ԉDq Du <bEjE64rEb0E  E E (E "E *E rN:VE c44ZE a @a @a @a @A I I O >Ա U 2Acoustic response timeout,i5H?A2X@2f@2!=ٱ2N) :AHRS rotation from veh to nav: [[-0.891167,0.453510,0.012254],[-0.448192,-0.875889,-0.178722],[-0.070319,-0.164764,0.983823]]2HqL??.ܿI_ƿ`n ſz{?i2X@I2_;0YBByB+IbDJVDJ:2yR%RM=ٔV9TYT=ZDyZCZ;EZ>\Q 5b4^6?Q 9b4^{)^zBYdyf&Q If?^CI^:i^:^84yj8BɮnAnqEjh|FNOT Ignoring new targets: 346.56 m.Rh~8Zh~8 ProNav: ac range: 346.561035 m, nav range: 338.436127 m, bearing: 214.475447 deg, approach rate: -0.640582 m/s, LOS rate: 0.006024 deg/s, cmd heading: 206.516725 deg, new cmd heading: 206.523939 deg. BhK9HeadingCmd: 3.604523 target range: 346.561035 and range: 348.10 m.hf@h*h!"h! h!g!f!f)f)d)d)d)jdZd'@ɢȕ=) %_?i!)%1bBB+IB‹BB =BBB;BX6EԱ2Acoustic response timeout^Aj;AA>A .AI I O > ,;a?AE EE)E"Ey:*EX:VEFA4ZEBE9e ?Ye ?=eDyeCeEe>iQ 5u4m$?Q 9}4m)mzBY}%?Q E}:y}%Q I}?m CIm;im;m@4yɮAjhFNOT Ignoring new targets: 346.56 m.Rh8Zh8 ProNav: ac range: 346.561035 m, nav range: 338.142365 m, bearing: 214.477815 deg, approach rate: -0.639318 m/s, LOS rate: 0.005157 deg/s, cmd heading: 206.523938 deg, new cmd heading: 206.531046 deg. Bh}b9HeadingCmd: 3.604647 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdZd(@BDAT read: Response Not Received *response not received%TDAT read: user:108>Tx time:00:27:27.1482 %D,I{?A2iY@2 g@2=ٱ2B >AHRS rotation from veh to nav: [[-0.889612,0.456713,0.001746],[-0.450034,-0.875938,-0.173789],[-0.077842,-0.155391,0.984781]]2H`w:?(\?[ܿ`>ƿ tÿ T?i2iY@I2 ~_;2DCYFByF+IbDPVDPyV"%Vj=ٔZ˰9XY\=^Dy^C^@;Eb>`Q 5f4b?Q 9f4b)bzBYhyje%Q Ij?b&CIb:ib_:bF4yn.Bɮr ArpEjh FNOT Ignoring new targets: 346.56 m.Rh ձ8Zh ձ8 ProNav: ac range: 346.561035 m, nav range: 337.918274 m, bearing: 214.479506 deg, approach rate: -0.643260 m/s, LOS rate: 0.004859 deg/s, cmd heading: 206.531042 deg, new cmd heading: 206.536119 deg. BhfU9HeadingCmd: 3.604735 target range: 346.561035 and range: 348.10 m.hf@h*h"h hgfffdddjdZdPt)@AɢE̛=)A E:V?iI)M3yM \C /G liA) I A A @AB! B% CB% +IB% BB% =B! B! B% ;B% 06E ~9 liAY ghAI O >,, ?A@YfByj+I-Monly read 0 of 1 data item for BIT error. Device response is::TS,00050304154474,35.0, +11.1, 0.0,1494.0RA, 0.00, 145.50, 111.50, 129.86, 124.42 a-@a- a-@a- a-@a5 a5@a5 bD=VD=yUe?%]@=ٔeQ-e>9iYi=mDymCu2Acoustic response timeoutE>Q 54cp?Q 94)zBQ A+:YQ E:yQ I?ICI\,;ig>M4yɮ2A-B*** querying acoustic contact ***i) i)jhY]FNOT Ignoring new targets: 346.56 m.RheS8ZheS8 ProNav: ac range: 346.561035 m, nav range: 337.642944 m, bearing: 214.481587 deg, approach rate: -0.615068 m/s, LOS rate: 0.004653 deg/s, cmd heading: 206.536123 deg, new cmd heading: 206.542372 deg. BhdL9HeadingCmd: 3.604844 target range: 346.561035 and range: 348.10 m.hŵf@h*h"h hgfffdddjdZdO*@ɢԑ=) $Q?i)sS<iD3i i+5J;5Z4 V,?AlYpyr+IbDzVDz0y%{U;%-M=ٔ)Q-->91Y1=5Dy57C1E5>9Q 5E4=V^?Q 9M4=)=]zBQ AM :YIQ EMW:yIQ IM?=jCI=:i=GS?=Q4yU%Bɮ]A]oEjhyFNOT Ignoring new targets: 346.56 m.Rh8Zh8 ProNav: ac range: 346.561035 m, nav range: 337.390808 m, bearing: 214.483496 deg, approach rate: -0.670766 m/s, LOS rate: 0.005082 deg/s, cmd heading: 206.542366 deg, new cmd heading: 206.548097 deg. Bh9_9HeadingCmd: 3.604944 target range: 346.561035 and range: 348.10 m.hif@h*h"h hgfffdddjdZd@ +@ɢ==) yQ?i)?<i7)iMh+ÿ;ߍ<2Acoustic response timeout9^A<II O>DI DM 4=EU  EU EU +EQ "EU :*EU H:VEU [4ZEQ a] @a] @a] @ae @ԁ = 2Acoustic response timeout>,j?AY~By~+IbD VD2y%Ҽ%%K=ٔ!Q-%>9)Y)=-Dy-WC)E5>1qQ 5}45K?Q 945)57zBQ A9YQ E.:yQ I?5CI5*BCB+IBBBBBB;B6EBCBCBēCB =B =C޽52Acoustic response timeoutԹ^AmH<IIO> E]  E] E] )EY "E] >:*E] R:VE] FA4ZEY BE] f@2">=ٱ2& :AHRS rotation from veh to nav: [[-0.889127,0.457542,-0.010436],[-0.447755,-0.874375,-0.187039],[-0.094703,-0.161629,0.982297]]2H s]H?\_ܿ@@ǿs>`?Ŀ@n?i2X@I2i_;2ECYBByB+Ia a  a a  a a  a a  i Mb@Mb@Mb@     9  r? ףp= ?y&1Y #?y Q= ` \cA |3A lKA)  Y JAbD%VD%1y5%5G=ٔ=(=Q-=>9AYA=EDyExCEsEM>IQ 5U4M9?Q 9U4M)M zBQ A]T:Y]Z%?Q E]:ԙy"Q I?MCIM 2Acoustic response timeout! ǒ, ?A6$X@6f@6]=ٱ6( BAHRS rotation from veh to nav: [[-0.888545,0.458578,-0.013909],[-0.447842,-0.873529,-0.190748],[-0.099623,-0.163259,0.981541]]6H@nXY?w|rܿnjȿ倹Ŀh?i6$X@I63L_;6CCYJByJ+IIN>)Np;bDZVDZ:2y},%}H=ٔE9Y=DyCDZ:E>Q 54z'?Q 94h)yBYy"Q I?CI:i:c4y#BɮAwEjhFNOT Ignoring new targets: 346.56 m.Rh6Zh6 ProNav: ac range: 346.561035 m, nav range: 336.609894 m, bearing: 214.485690 deg, approach rate: -0.664907 m/s, LOS rate: 0.000283 deg/s, cmd heading: 206.554360 deg, new cmd heading: 206.554693 deg. BhF7HeadingCmd: 3.605059 target range: 346.561035 and range: 348.10 m.hKf@h*h"h hgfffdddjdZd -@ɢ=) @?i)3-<iijf+];dGB B +IB BB =B B B [;B 5EA ؟AII Iq ԡ O >,?AnY@n{f@n=ٱnʓ* vAHRS rotation from veh to nav: [[-0.887905,0.459707,-0.017162],[-0.448040,-0.872626,-0.194384],[-0.104336,-0.164905,0.980775]]nHik?@ܿȿµ ſ b?inY@In?_;nGCY~oBy+Iu2Acoustic response timeoutiMb@Mb@Mb@ 9%C??~jtYZ$?y=gA2A KA)GAYKAbDVDk2yG%F=ٔ;9"?Y"?=DyCL:E>Q 54B?Q 94o)yBYg&?Q E:y!Q I?CI:i:j4yɮͶAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 346.56 m.RhZh- ProNav: ac range: 346.561035 m, nav range: 336.344940 m, bearing: 214.485026 deg, approach rate: -0.647171 m/s, LOS rate: -0.001625 deg/s, cmd heading: 206.554688 deg, new cmd heading: 206.552692 deg. Bh-5HeadingCmd: 3.605025 target range: 346.561035 and range: 348.10 m.h5f@h1*h1"h9 h9g9f9f9fAdAdAdAijdAZd`].@1ɢ5=)1 57?i9)=O<99i=3iEf+eJ;eH , 0?A2Y@2 g@2g=ٱ2'- :AHRS rotation from veh to nav: [[-0.887039,0.461284,-0.019468],[-0.448764,-0.871337,-0.198452],[-0.108506,-0.167298,0.979917]]2H@b?Lܿ fɿǻjſ{[?i2Y@I2R_;2DCY^_By^m+IbDfVDfN2yn%rZ=ٔrR79tYt=vDyvCvO6;Ev>xQ 5~4z?Q 94z)zyBYy!Q I?zCIz];izY;zXq4y Bɮ AvEjh15FNOT Ignoring new targets: 346.56 m.Rh=Zh=M ProNav: ac range: 346.561035 m, nav range: 336.104706 m, bearing: 214.484381 deg, approach rate: -0.642281 m/s, LOS rate: -0.001725 deg/s, cmd heading: 206.552693 deg, new cmd heading: 206.550757 deg. BhMUHeadingCmd: 3.604991 target range: 346.561035 and range: 348.10 m.hU+f@hQ*hQ"hQ hYgYfYfafadadadajdiZdm`/@频ɢ8:=) /?i)<顙iCig+ͨ;A9,^M?A^)Y@^g@^C=ٱ^/ fAHRS rotation from veh to nav: [[-0.886079,0.463025,-0.021716],[-0.449714,-0.870072,-0.201819],[-0.112342,-0.169062,0.979182]]^HZ 4?< ܿ 8ɿ u¼ѣſ`uU?i^)Y@I^J~_;\YnZByrg+I ttbDz VDzf2y;%4=ٔ 9 Y = Dy C:;E>Q 5%4?Q 9%4)ZyBY!y%t!Q I%?3CIt:iI:By4y1ɮ5A1jhQ]FNOT Ignoring new targets: 346.56 m.Rh]Zh]m ProNav: ac range: 346.561035 m, nav range: 335.814392 m, bearing: 214.483536 deg, approach rate: -0.641570 m/s, LOS rate: -0.001867 deg/s, cmd heading: 206.550753 deg, new cmd heading: 206.548218 deg. Bhm uHeadingCmd: 3.604946 target range: 346.561035 and range: 348.10 m.huqf@h *h "h  h gfffdddjdZd%`40@颱ɢ́=) j-?i)mZ<iU,BZ>BBo+IBaBB =BBB;B5EiCh+:;:)9Y=Dy0C d;E%>1Q 5=45?Q 945ߧ)5yBY'?Q E:yQ I?5gCI5IBB=+IB8BB =BBB;Bh5EAIIqIO ?N%,B?A~Y@Rtg@5==ٱ' AHRS rotation from veh to nav: [[-0.883133,0.468231,-0.028916],[-0.454039,-0.868616,-0.198382],[-0.118005,-0.162069,0.979698]]HB?ݿ@dɿ5ĿY?i~Y@I<_;CCY7By;+I1iMb@Mb@Mb@ 9NbX9?v/?MbY%?yx=OiA2A IA)KAYQLAbDVD1y%=ٔz;Q->9Y=Dy_C;E>Q 54?Q 94)xBY2(?Q E:yQ I?CI;i;4yBɮ5AtEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 346.56 m.Rh`Zh`% ProNav: ac range: 346.561035 m, nav range: 335.043762 m, bearing: 214.477787 deg, approach rate: -0.681468 m/s, LOS rate: -0.005283 deg/s, cmd heading: 206.539538 deg, new cmd heading: 206.530951 deg. Bh% h-HeadingCmd: 3.604645 target range: 346.561035 and range: 324.00 m.h-f@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=`0*?ɢLr=) ?i) q<  i 7i5m+ӿ;uv+,4?A2uY@2kg@29=ٱ2Ο :AHRS rotation from veh to nav: [[-0.883488,0.467399,-0.031404],[-0.453621,-0.870326,-0.191730],[-0.116946,-0.155145,0.980945]]2H@E@?<` ݿȿ 3ÿ@c?i2uY@I2LP`;2BCYB ByB+IbDN VDN2yV%Vs=ٔVmOQ-V?9XYX=ZDyZzCZHѺE^?`Q 5b4b.?Q 9f4b3)bxBYdyfQ If?bCIb=:ibw:b4yj BɮnAn|Ejh|FNOT Ignoring new targets: 346.56 m.RhVZhV ProNav: ac range: 346.561035 m, nav range: 334.825134 m, bearing: 214.476103 deg, approach rate: -0.649644 m/s, LOS rate: -0.005009 deg/s, cmd heading: 206.530946 deg, new cmd heading: 206.525889 deg. Bh\%HeadingCmd: 3.604557 target range: 346.561035 and range: 324.00 m.h%f@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5?aɢe1=)a e7?ii)m! mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250001^Av<A .AI I D =D <E  E E ,E "E [:*E ;J:VE g4ZE a @a @a @a @O% > ]2,?A2XY@2Ng@2.=ٱ2 :AHRS rotation from veh to nav: [[-0.884608,0.465436,-0.028939],[-0.452231,-0.871348,-0.190369],[-0.113820,-0.155315,0.981286]]2H@N@?%`Zܿ^ȿ`R#`Zÿf?i2XY@I2Ra;0YV ByZ+Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501419bDfVDf0yn`׽%nG=ٔrQ-r>9r ?Yv ?=vDyvCvSEv>xQ 5~4z8?Q 9~4zj)zxBYyQ I?zCIz;iz;z$4y ɮ  A jh15FNOT Ignoring new targets: 346.56 m.Rh=ЯZh=ЯM ProNav: ac range: 346.561035 m, nav range: 334.558685 m, bearing: 214.474131 deg, approach rate: -0.648684 m/s, LOS rate: -0.004803 deg/s, cmd heading: 206.525892 deg, new cmd heading: 206.519973 deg. BhMRUHeadingCmd: 3.604454 target range: 346.561035 and range: 324.00 m.hU^f@hQ*hY"hY hYgYfYfafadadadijdiZdm`;?频ɢ0o=) (?i)H <顡iiWp+ ;^RG5jA1@9 @9I@E/u9ujAY}A@iBZ>BB+IBBBBBBy;B25E!^Azl<AgAzAgAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753364I A ؟AI I! O1 ؇8,?A2!8Y@2-g@2O=ٱ2 >AHRS rotation from veh to nav: [[-0.885965,0.463029,-0.025869],[-0.450685,-0.872810,-0.187310],[-0.109308,-0.154291,0.981960]]2HY`F?J}ܿ@ǿҿÿ7l?i2!8Y@I2c`;0YFByF*IE~ E~E~)E|"E~m+;*E~A:VE~FA4ZE|BE~߄9"?Y"?=DyCBE>Q 54͈?Q 94)`xBY,?Q E:ye!Q I?CI~:i :4yBɮA{EjhFNOT Ignoring new targets: 346.56 m.RhZh ProNav: ac range: 346.561035 m, nav range: 334.275665 m, bearing: 214.473252 deg, approach rate: -0.659396 m/s, LOS rate: -0.002050 deg/s, cmd heading: 206.519977 deg, new cmd heading: 206.517337 deg. BhHeadingCmd: 3.604408 target range: 346.561035 and range: 324.00 m.hf@h*h"h hg!f!f!f!d!d)d)jd)Zd-g?ɢk=) G?i)<iiq+ 4; v8 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257397R>,Q?A@NX@Nf@N=ٱNu VAHRS rotation from veh to nav: [[-0.888044,0.459161,-0.023434],[-0.447907,-0.875526,-0.181201],[-0.103718,-0.150418,0.983167]]NHjb? ܿ@N 1ǿ`;`@ÿ@v?iNX@INa;NCCYnByn*IbDxVDxy % S=ٔ mQ- >9Y=DyCUE>!Q 5-4%w?Q 9-4%)%9xBY)y-!Q I-?%CI%R:i%:%]4y9ɮ=XA9jhaeFNOT Ignoring new targets: 346.56 m.RhmIZhmI} ProNav: ac range: 346.561035 m, nav range: 334.017853 m, bearing: 214.472600 deg, approach rate: -0.670372 m/s, LOS rate: -0.001696 deg/s, cmd heading: 206.517340 deg, new cmd heading: 206.515384 deg. Bh}HeadingCmd: 3.604373 target range: 346.561035 and range: 324.00 m.hf@h*h"h hgfffdddjdZd@ɢIf=) t>i)Z<i1\iq+U[i;U,B A 4=B [>B B *IB BB B B B 2;B 5EBBBB =B =C4E,?ApX@Bf@=ٱ AHRS rotation from veh to nav: [[-0.890597,0.454396,-0.018993],[-0.444212,-0.878074,-0.177936],[-0.097531,-0.150032,0.983859]]H ?smܿ/ƿ @B4ÿ@{?iX@I`;BCYڊBy*I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761452imMb@Mb@Mb@iiii i9m/$?Zd;O?9Y=DyClE%>!Q 5-4%a?Q 954%=»)% xBY5)?Q E5:y5"Q I5?%ACI%:i%:%4y=BɮEvAEzE]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 346.56 m.Rhu 7Zhu 7 ProNav: ac range: 346.561035 m, nav range: 333.708496 m, bearing: 214.472824 deg, approach rate: -0.655868 m/s, LOS rate: 0.000474 deg/s, cmd heading: 206.515387 deg, new cmd heading: 206.516058 deg. Bh7HeadingCmd: 3.604385 target range: 346.561035 and range: 324.00 m.h?f@h*h"h hgfffdddjdZd1@ɢkQ=) >i)<i덼ivq+og;b;I?f@I }9@y @y@}/@yE EEE"EƱ:*EE7:VEZEBED;a2EE;aJES;a :ET;a 1^Ae 8<Ae >Ae > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013859ԑ A I I O >!K,Y1?A2zX@2pf@2f=ٱ2& :AHRS rotation from veh to nav: [[-0.892773,0.450425,-0.008588],[-0.441243,-0.878101,-0.185048],[-0.090891,-0.161417,0.982692]]2H `?WT=ܿgǿDLĿ`6r?i2zX@I2xs_;2DCYBϊByB*IIF=)F<bDNVDNyR%V|=ٔVQ-V ?9XYX=ZDyZCZ8E^ ?`Q 5f4bR?Q 9f4b`Ż)bwBYdyf#Q If?b\CIb:ibw:bD4ylɮnAljh|FNOT Ignoring new targets: 346.56 m.Rh#7Zh #7 ProNav: ac range: 346.561035 m, nav range: 333.495270 m, bearing: 214.473136 deg, approach rate: -0.658425 m/s, LOS rate: 0.000964 deg/s, cmd heading: 206.516056 deg, new cmd heading: 206.516993 deg. Bh^)8%HeadingCmd: 3.604402 target range: 346.561035 and range: 324.00 m.h%f@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5 Y$ @Yaɢe5%c=)i my>ii)m;5:If@I9@ @@0@^Ar;ԙM%=MR=MBDAT read: Rx Time:00:27:33.9001 UTRx dataTimestamp_ set to:1761524852.944719Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266987AIIO l>ԱE  E E )E "E :*E VL:VE FA4ZE a% @a% @a% @a% @ bR,:K?A2FX@2q9\Y`=bDyb?CbREb>dQ 5j4f??Q 9j4fFɻQ =jtI)fwBYlyn]#Q In?fCIf ;if ;f[4yrBɮrӸAtjhIUFNOT Ignoring new targets: 346.56 m.Rh}X7Zh}X7 ProNav: ac range: 346.561035 m, nav range: 333.228424 m, bearing: 214.473717 deg, approach rate: -0.643627 m/s, LOS rate: 0.001403 deg/s, cmd heading: 206.516999 deg, new cmd heading: 206.518743 deg. Bhjv8HeadingCmd: 3.604432 target range: 346.561035 and range: 324.00 m.hf@h*h"hԱ hgfffdddjdZd @ɢF=)! %@>i!)%BB*IBɊBB =BBB~;B4EDAT read: 00:27:33.9001 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 86,-0.23,-0.791,-2.411,-0.832,-1.224, PHS= 0.535,-1.142, 0.348, RAW= 144.1, 3.3, CAL= 143.7, 3.6, ROT= 6.3, -3.6 Ygot valid direction response: 00:27:33.9001 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 86,-0.23,-0.791,-2.411,-0.832,-1.224, PHS= 0.535,-1.142, 0.348, RAW= 144.1, 3.3, CAL= 143.7, 3.6, ROT= 6.3, -3.6 PDAT read: Bearing 352.9, 0.3 (Local) ~Local bearing/azimuth received: Bearing 352.9, 0.3 (Local) DAT read: Range 11 to 50 : 335.8 m (Round-trip 447.8 ms) speed 0.4 m/s TDAT read: user:110>Tx time:00:27:34.9982 R#Rx 1: Read range and direction messages.^A;AzAfA\direction in FSK: [0.992000,0.109518,0.062791]Fpublishing direction and range infoyQU Qdu?`[ ?֏ ?YUCQQQQ Q)UFIU?iU-U->U @Uk=U @ U=)Uz0=IUQQU&?Z=&?0g? U>)U_kIUz0=iUQQ 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 >9 X,e?A2TX@2 f@2$=ٱ2ēG >AHRS rotation from veh to nav: [[-0.896343,0.443109,0.014986],[-0.436251,-0.875433,-0.208094],[-0.079089,-0.193061,0.977994]]2H֮[??`ۿ Ԣʿ`*?<ȿ K?i2TX@I2#_;0Eb EbEb(E`"Eby:*EbC:VEbc44ZE`BEb9Y=DycCֻE>Q 54s+?Q 94ͻ)wBY+*?Q E:y#Q I?CI:iv:Ə4y Bɮ߸AyEii\?AJi!CRi!Cjiĺm@i?Yt@QLzMB@ 4@ri Qdu?`[ ?֏ ?Ziz0=bii׊qu[2fd_w)zioI//UT}*#ō2i5:iV"iRǚ?*i9hBiDbBiCQ?iivBiCin@ addTargetRange:: Added new target pos. range: 335.799988 m, deltaT: 3.780777 s, deltaX: 11.799988 m, approachRate: 3.121048 m/s, rangeRepo size: 4 % Added new target pos. range: 334.258545 m, bearing: 212.826562 deg, lat: 36.779329 deg, lon: -121.860055 deg, deltaT: 20.176170 s, deltaX: -12.302490 m, approachRate: -0.609753 m/s, posRepo size: 4 jh!-FNOT Ignoring new targets: 334.26 m.RhMZhQe ProNav: ac range: 334.258545 m, nav range: 331.139893 m, bearing: 213.848750 deg, approach rate: 0.000000 m/s, LOS rate: 0.001403 deg/s, cmd heading: 206.518747 deg, new cmd heading: 206.520646 deg. BhHeadingCmd: 3.604465 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgffDAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022770fdddjdt@Zdl?QɢU<=)Q UO>iQ)Ue checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273373ԙ _,h?A:W@:e@:!&=ٱ:O FAHRS rotation from veh to nav: [[-0.897716,0.440051,0.021466],[-0.434110,-0.875177,-0.213575],[-0.075197,-0.201048,0.976691]]:H)?D?tۿr@jV˿ @@ɿ@ A?i:W@I:(_;8YNByNv*I PPTVAbDZVDZybͽ%b]=ٔb,Q-f>9f ?Yf ?=fDyfCjEj>lQ 5r4nE?Q 9r4nѻ)n}wBYpyv#Q Iv?nCIn ;in ;n̏4yzBɮzzAzEjhFNOT Ignoring new targets: 334.26 m.Rh%7Zh%75 ProNav: ac range: 334.258545 m, nav range: 330.895996 m, bearing: 213.849156 deg, approach rate: -0.691915 m/s, LOS rate: 0.001152 deg/s, cmd heading: 206.520646 deg, new cmd heading: 206.521864 deg. Bh5oJ8=HeadingCmd: 3.604486 target range: 334.258545 and range: 335.80 m.h=f@h9*h9"h9 h9g9fAfAfAdIdIdIjdIZdUR?yɢ}D=) I>i)A<i펊i o+ !;  I f@IY9@ @@4@E EE&E"E:*ErN:VE4ZEa@a@a@a@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.525401^AΒ{ԱA I I O >Am AAAm @ABu X>Bq Bu *IBu BBq Bq Bq Bu ~;Bu 4E e,Ԙ?AepW@e e@e,=ٱeրQ AHRS rotation from veh to nav: [[-0.898550,0.438217,0.023967],[-0.432796,-0.875732,-0.213964],[-0.072774,-0.202630,0.976548]]eH ?折?ۿ)c˿Jɿ??iepW@Ie<_;eACYByb*Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.777433iMb@Mb@Mb@ 9K7?(\µ?Zd;OY)?y=jqA2A ;OA)IAY3OAbDVD3yŒ%+=ٔϦQ->9Y=DyC%TE%>)Q 554-?Q 954-ջ)-RwBY57+?Q E5:y5$Q I=?-CI-:i-:-ԏ4yEBɮEAEE]B*** querying acoustic contact ***iY iYjhiuFNOT Ignoring new targets: 334.26 m.RhuB8ZhuB8 ProNav: ac range: 334.258545 m, nav range: 330.579468 m, bearing: 213.850425 deg, approach rate: -0.662229 m/s, LOS rate: 0.002658 deg/s, cmd heading: 206.521862 deg, new cmd heading: 206.525673 deg. Bh}8HeadingCmd: 3.604553 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZd ?ɢD?+=) z>i)<i"in+֩;ͻIf@I9@ @@4@E EE)E"E:*E;J:VEFA4ZEBE A >A I I) O5 >6l,&s?A >W@>e@>ґ=ٱ>5M JAHRS rotation from veh to nav: [[-0.899092,0.437127,0.023512],[-0.431939,-0.877130,-0.209930],[-0.071143,-0.198902,0.977434]]>H`] ?? ۿs@ʿ@i6@uɿ #G?i>W@I>_;>?CYRqByRH*IbDZVDZ02yb:%b|=ٔf䤻Q-f ?9dYd=jDyjCjKEj ?lQ 5r4nt?Q 9r4nػ)n5wBYtyv$Q Iv?nCIn:inV:nڏ4yxɮzA|jhFNOT Ignoring new targets: 334.26 m.Rh%6J8Zh%6J85 ProNav: ac range: 334.258545 m, nav range: 330.364014 m, bearing: 213.851321 deg, approach rate: -0.664127 m/s, LOS rate: 0.002762 deg/s, cmd heading: 206.525673 deg, new cmd heading: 206.528361 deg. Bh58=HeadingCmd: 3.604600 target range: 334.258545 and range: 335.80 m.h=ıf@h9*h9"hA hAgAfAfAfIdIdIdIjdQZdU` ?yɢ-=) c>i)<顁ikim+1;ԡ bEc44jEc44rEɈ0E  E E %E "E :*E H:VE 4ZE a @a @a @a @Wr,`:?A2W@2xe@2؍=ٱ2H :AHRS rotation from veh to nav: [[-0.899108,0.437167,0.022116],[-0.432008,-0.878088,-0.205744],[-0.070524,-0.194540,0.978356]]2H~??ۿL`Uʿ ȿ@N?i2W@I2_;2@C@YFoByFE*IIH)J>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.533452bDNVDN2y^S%^L=ٔbʺQ-b>9`Yd=fDyfCf9Ef>hQ 5n4j?Q 9n4jNܻ)jwBYpyr$Q Ir?j)CIj;ij;j4yv߸Bɮv¹AvEjhquFNOT Ignoring new targets: 334.26 m.RhA8ZhA8 ProNav: ac range: 334.258545 m, nav range: 330.097687 m, bearing: 213.852416 deg, approach rate: -0.643746 m/s, LOS rate: 0.002648 deg/s, cmd heading: 206.528364 deg, new cmd heading: 206.531651 deg. Bh8HeadingCmd: 3.604657 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZd?1ɢ5$=)Q U^>iQ)]VfBUCBUi*IBUBBU =BQBQBU~;BQ^A5[RӻA5fAzA1echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.786944 A I I O% >y,@?A2|W@2+e@2p=ٱ27C :AHRS rotation from veh to nav: [[-0.898813,0.437867,0.020177],[-0.432656,-0.878851,-0.201072],[-0.070311,-0.189456,0.979369]]2H?1?ۿɿ@ȿV?i2|W@I2_;2ACYB\ByB.*IEb EbEb*E`"Eb:*Eb;J:VEb(N4ZE`BEb9Y=DyC:E> Q 54 ?Q 94 ) vBY+?Q E:y_$Q I? OCI /;i .; Y4y-ԸBɮ-A-EjhIUFNOT Ignoring new targets: 334.26 m.Rh]98Zh]98m ProNav: ac range: 334.258545 m, nav range: 329.802765 m, bearing: 213.853314 deg, approach rate: -0.682055 m/s, LOS rate: 0.002079 deg/s, cmd heading: 206.531656 deg, new cmd heading: 206.534354 deg. Bhm8mHeadingCmd: 3.604704 target range: 334.258545 and range: 335.80 m.hmzf@hq*hq"hq hqgqfyfyfydyddjdZd9@ɢ1=) t8>i)A<i8i>,|?AFbW@Fe@Fi=ٱFq> RAHRS rotation from veh to nav: [[-0.898119,0.439379,0.018122],[-0.434072,-0.879162,-0.196613],[-0.070456,-0.184448,0.980314]]FHd??ۿ`"`*ɿc ǿ^?iFbW@IF4_;FCCYZLByZ*IbDbVDb:2yj˦%jS=ٔn9Q-n>9n"?Yn"?=rDyr#Cr;Er>tQ 5z4va?Q 9z4v)vvBYxy~@$Q I~?vnCIv ;iv";v4yɮ "A jh)5FNOT Ignoring new targets: 334.26 m.Rh58Zh589M ProNav: ac range: 334.258545 m, nav range: 329.558746 m, bearing: 213.853978 deg, approach rate: -0.665000 m/s, LOS rate: 0.001811 deg/s, cmd heading: 206.534347 deg, new cmd heading: 206.536341 deg. BhM8UHeadingCmd: 3.604739 target range: 334.258545 and range: 335.80 m.hU f@hQ*hQ"hQ hQgYfYfafadadadajdiZdm@频ɢO=) (>i)P<顙ihgik+L;XI f@I1@1 @1@5 0@1@==@==E EE(E"EI:*EP:VEc44ZEa@a@a@a@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.544241^AU[Rӻ WCԙ 1eQ9aYe'AA .AI I O >BI BI BM =*IBM hBBM =BI BI BM ~;BM 4E j-,?ABhX@Be@Ba]=ٱBl7 fAHRS rotation from veh to nav: [[-0.897452,0.440858,0.014979],[-0.435374,-0.879807,-0.190760],[-0.070919,-0.177720,0.981522]]BH@`7?t? *ۿ`'jȿ' ƿh?iBhX@IB_;B@CY}9 ?Y ?=DyHCL;E>Q 54^?Q 94{)vBYy!$Q I?CI" ;i ;4y4BɮA~E B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 334.26 m.Rh%7Zh%75 ProNav: ac range: 334.258545 m, nav range: 329.247070 m, bearing: 213.854726 deg, approach rate: -0.664491 m/s, LOS rate: 0.001595 deg/s, cmd heading: 206.536342 deg, new cmd heading: 206.538587 deg. Bh5%8=HeadingCmd: 3.604778 target range: 334.258545 and range: 335.80 m.h=f@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU '@yɢY=) =i)p<顁iA?ik+i8;ތIf@I9@ @@0@E EE&E"E*EV:VE4ZEBEA= > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045962 AM ؟AIY Ii Ou >X,3?A2#!X@2f@2=ٱ23 :AHRS rotation from veh to nav: [[-0.896580,0.442693,0.012940],[-0.437030,-0.879620,-0.187813],[-0.071761,-0.174044,0.982120]]2HǰU?Y?Lۿ%@@ ȿ^`Gƿ m?i2#!X@I2_;0YB'ByB)IiEMb@Mb@Mb@AAAA A9EK7A`?zG?V-YE+?yE =EEhAA A)EGAAYELAbDuVDuyν%M=ٔ ;Q->9%"?Y%"?=%Dy%gC-;E->1Q 5=45?Q 9=45K)5yvBY=D-?Q E=:y="Q IE?5CI5:i5 ;54yMi 8,AM?A:OFX@:;f@:ߊ=ٱ:;/Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.549415 JAHRS rotation from veh to nav: [[-0.895540,0.444849,0.010845],[-0.439041,-0.879353,-0.184340],[-0.072467,-0.169845,0.982803]]:HCgx?5?=ܿ#rǿ@1zſs?i:OFX@I:"~_;8Yn$Byn)IbDvVDv3y~Ś%_=ٔ:Q->9 Y = Dy C W;E>Q 54?Q 9%4)VvBY!y%r"Q I%?CI;i; 4y-1Bɮ56A5}EjhQUFNOT Ignoring new targets: 334.26 m.RhexַZhexַu ProNav: ac range: 334.258545 m, nav range: 328.745544 m, bearing: 213.853746 deg, approach rate: -0.670287 m/s, LOS rate: -0.001465 deg/s, cmd heading: 206.537243 deg, new cmd heading: 206.535637 deg. Bhu}HeadingCmd: 3.604727 target range: 334.258545 and range: 335.80 m.h}سf@hy*hy"hy hygfffdddjdZd@颹ɢ݋<) (=i)9X<i;ik+%c;9Iسf@IYm9@q @q@u|4@q@y@}hABX>BCB *IB?BB =BBB~;B4EBBBB =B =CôC5ԁ^A]*:M=M4=]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805811ԱA I I O > b,[]g?A6WX@6Mf@6=ٱ6z) BAHRS rotation from veh to nav: [[-0.895067,0.445853,0.008322],[-0.440000,-0.879976,-0.179005],[-0.072486,-0.163883,0.983813]]6H@d܈?M ?(ܿ(`ƿ w Ŀe{?i6WX@I6_;6BCYFByJ)IIN=)N;ER ERER*EP"ER:*ER=:VER(N4ZEPBER 9iYi=mDymCm(;Eu>qQ 54uo?Q 94uC)u-vBY/?Q E:y!Q I?uCIui:iuL:uP 4y9BɮmAEjhAEFNOT Ignoring new targets: 334.26 m.RhM_ZhM_ ProNav: ac range: 334.258545 m, nav range: 328.462616 m, bearing: 213.852419 deg, approach rate: -0.651010 m/s, LOS rate: -0.003057 deg/s, cmd heading: 206.535631 deg, new cmd heading: 206.531646 deg. BhAԱHeadingCmd: 3.604657 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZd@ @Yɢ]j<)Y ]Pr=iY)e9 J,8?A2moX@2ef@2=ٱ2$ :AHRS rotation from veh to nav: [[-0.894466,0.447080,0.007053],[-0.441302,-0.880147,-0.174910],[-0.071991,-0.159564,0.984559]]2Hw ?|? J>ܿ`**ucƿnlĿ ?i2moX@I2_;2ACYB ByB)IbDJ VDJ2yvZѽ%vR=ٔvYQ-z>9xYx=zDyzC~"r;E~>Q 5 4\?Q 9 4M)vBY y j!Q I?CIg:i:4yɮAjhAEFNOT Ignoring new targets: 334.26 m.RhMZhM] ProNav: ac range: 334.258545 m, nav range: 328.198181 m, bearing: 213.851097 deg, approach rate: -0.712797 m/s, LOS rate: -0.003566 deg/s, cmd heading: 206.531643 deg, new cmd heading: 206.527674 deg. Bh]eHeadingCmd: 3.604588 target range: 334.258545 and range: 335.80 m.hef@ha*ha"ha hagifififidqdqdqjdqZdu@@y@颡ɢ<) t,?A B|X@B+yf@B=ٱB<0 NAHRS rotation from veh to nav: [[-0.893954,0.448128,0.005322],[-0.442411,-0.880529,-0.170122],[-0.071550,-0.154435,0.985409]]BHE@? u?tPܿ`K-ſ!Q`ÿw?iB|X@IBm_;B?CYRByV)IbD^VD^k2yv%zJ=ٔ~⎺Q->9 Y=DyC%C;E->Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.811808Q 5%4EI?Q 9%4E)EuBY1y]Q!Q I]?E@CIE=iE=EQ4y}.BɮݼAEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 334.26 m.Rh2lZh2l% ProNav: ac range: 334.258545 m, nav range: 327.918152 m, bearing: 213.849619 deg, approach rate: -0.610756 m/s, LOS rate: -0.003227 deg/s, cmd heading: 206.527667 deg, new cmd heading: 206.523229 deg. Bh% -HeadingCmd: 3.604510 target range: 334.258545 and range: 335.80 m.h-Lf@hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde@JW@iɢ|<) i)<i~iio+c;#;ILf@II)gA@ @@/@@=@=ԙE EE(E"Ey:*ErN:VEc44ZEBE,[?AJPX@Jf@J=PٱJ ^ zAHRS rotation from veh to nav: [[-0.893734,0.448584,0.003557],[-0.442901,-0.881098,-0.165846],[-0.071262,-0.149797,0.986145]]JHw@?"m?@Xܿ@1o:ſ9>@,ÿ?iJPX@IJ_;JACYBy)I iMb@Mb@Mb@ 9Dl?p= ף?QYO-?y>rdA lKA)YIAbDVD02y %==ٔ/Q->9Y=Dy C٤:E>Q 54!6?Q 94,)uBY0?Q E:yQ I?fCI ;i: ;!4yɮAjh)-FNOT Ignoring new targets: 334.26 m.Rh5Zh5 ProNav: ac range: 334.258545 m, nav range: 327.627899 m, bearing: 213.846983 deg, approach rate: -0.765420 m/s, LOS rate: -0.006958 deg/s, cmd heading: 206.523228 deg, new cmd heading: 206.515312 deg. BhϘHeadingCmd: 3.604372 target range: 334.258545 and range: 335.80 m.h f@h*h"h hgfffdddjdZdA@iɢ̛<)  i)ۑ<顑i|iq+t;BA;I f@I = <checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314609!@) @)@-/@)^Am ] ;D D E  E E )E "E I:*E F:VE FA4ZE a @a @a @a @! I I O >,X?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565465B^X@B f@Bg=ٱBB JAHRS rotation from veh to nav: [[-0.893811,0.448422,0.004427],[-0.442875,-0.881118,-0.165807],[-0.070451,-0.150160,0.986148]]BH`?"r?@Xܿ@2&9ſ t8ÿ?iB^X@IBS_;B@CYRByR)IbD^ VD^:2yfw%f\=ٔfQ-f>9hYh=jDyj)Cn#En>pQ 5v4r%?Q 9v4r()ruBYtyvQ Iv?rCIr:irw:r7(4y~$Bɮ~A|Ejh!-FNOT Ignoring new targets: 334.26 m.Rh-Zh-= ProNav: ac range: 334.258545 m, nav range: 327.375366 m, bearing: 213.844690 deg, approach rate: -0.681391 m/s, LOS rate: -0.006191 deg/s, cmd heading: 206.515318 deg, new cmd heading: 206.508435 deg. Bh=EHeadingCmd: 3.604252 target range: 334.258545 and range: 335.80 m.hEf@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]N@颉ɢh<) 8fi).A<顑iMzis+V;$?;If@IQ@Q @Q@]0@YBZ>BB)IBBB =BBB~;B)a^Ayb];=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819725I I O >ԁ ذ,j?A2X@2]f@2=ٱ2'  :AHRS rotation from veh to nav: [[-0.893958,0.448084,0.007728],[-0.442834,-0.880571,-0.168799],[-0.068831,-0.154322,0.985620]]2HMi??bWܿ@-@6ſ鞱ÿ`3?i2X@I2\^;0EF EFEDED"EF[:*EFC:VEDZEDBEF-̼-bA-2A -KA)-DA)Y)bDE VDE2yUx%UB=Yٔe{Q-e>9iYi=mDymKCu~Eu>Q 5 4?Q 9 4 )guBY5?Q E:y Q I5?CI;i;/4yEBɮEAEEjhFNOT Ignoring new targets: 334.26 m.RhSZhS ProNav: ac range: 334.258545 m, nav range: 327.065308 m, bearing: 213.842523 deg, approach rate: -0.680870 m/s, LOS rate: -0.004763 deg/s, cmd heading: 206.508434 deg, new cmd heading: 206.501927 deg. Bh1QHeadingCmd: 3.604139 target range: 334.258545 and range: 335.80 m.h5f@h*h"h hgfffdddjd Zd %@u % 2Acoustic response timeout,?A6WX@6uf@6=ٱ6I" >AHRS rotation from veh to nav: [[-0.894360,0.447217,0.010824],[-0.442330,-0.880455,-0.170716],[-0.066817,-0.157470,0.985261]]6H4?*?"Oܿ,ſ@ 'ĿA?i6WX@I6b_;6>CYFӉByF)IIJ=)J4=bDRVDRyZg%ZU=ٔZ1Q-Z>9\Y\=^Dy^kCbغEb>dQ 5j4ft?Q 9j4f )fFuBYhyj Q Ij?fCIf9:if1:fI64ypɮrApjh  FNOT Ignoring new targets: 334.26 m.RhZh% ProNav: ac range: 334.258545 m, nav range: 326.808594 m, bearing: 213.840765 deg, approach rate: -0.735623 m/s, LOS rate: -0.005043 deg/s, cmd heading: 206.501931 deg, new cmd heading: 206.496652 deg. Bh%}]-HeadingCmd: 3.604047 target range: 334.258545 and range: 335.80 m.h-f@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE@iɢm<)q uвiq)uD4rE./E EE,E"E:*E?:VEg4ZEa@a@a@a@2Acoustic response timeout^Au2;IIO>B <A B X>B B )IB ډBB B B B ~;B 4E9 ,F[?A2?VX@2Kf@2A=ٱ2Ֆ" :AHRS rotation from veh to nav: [[-0.895606,0.444669,0.012618],[-0.440154,-0.881688,-0.169974],[-0.064457,-0.157783,0.985368]]2Hͨvu?׉?@{+ܿ`6ſ9 ?2Ŀ "?i2?VX@I2Kz_;2?CYBщByB)IbD^VD^kyb-%fI=ٔfQ-f>9hYh=jDyjCj(ʻEn>lQ 5r4n?Q 9v4n`)n uBYtyv Q Iv?nCIn_:in:nd=4yz!Bɮ~@A~E2Acoustic response timeoutjhiFNOT Ignoring new targets: 334.26 m.RhЕZhЕ ProNav: ac range: 334.258545 m, nav range: 326.522034 m, bearing: 213.838929 deg, approach rate: -0.638255 m/s, LOS rate: -0.004093 deg/s, cmd heading: 206.496658 deg, new cmd heading: 206.491145 deg. Bh3%HeadingCmd: 3.603950 target range: 334.258545 and range: 335.80 m.h%f@h!*h!"h! h!g!f)f)f)dIdQdQjdQZdU`Aj@颡ɢf<) i)<顩i|rix+;y 9If@IA9@ @@5@E EE)E"E*EVEFA4ZEBE< ԙ a,@6?AF9X@F0/f@F2V=ٱF.% ZAHRS rotation from veh to nav: [[-0.896482,0.442815,0.015366],[-0.438633,-0.882047,-0.172028],[-0.062623,-0.160960,0.984972]]FH`W?x?ܿ9ƿ`WĿ@?iF9X@IF,_;DYbʼnBybt)IiMMb@Mb@Mb@IIII I9MQ?T㥛 ?MbYM\/?yM>MMcAM1A I)IIYIbDeVDe2yu\%u@=ٔ}Q-}>9yYy=}Dy}CE>Q 54?Q 94)tBYY2?Q E:y Q I?CI: ;i ;D4yɮoAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 334.26 m.Rh˸Zh˸ ProNav: ac range: 334.258545 m, nav range: 326.227142 m, bearing: 213.836788 deg, approach rate: -0.766386 m/s, LOS rate: -0.005568 deg/s, cmd heading: 206.491140 deg, new cmd heading: 206.484713 deg. BhtHeadingCmd: 3.603838 target range: 334.258545 and range: 335.80 m.hIf@h*h"h hgfffdddjdZd0@q颩ɢe<) i)<顱iYpikz+XW;%~IIf@I9@ @@4@@=@2Acoustic response timeoutԙ^A9E  E E E "E :*E VL:VE ZE a @a @a @a @I I O > A,P?A"2Acoustic response timeoutBGLXrƀ9pYrzkA  X@ ef@ |{=ٱ y) %AHRS rotation from veh to nav: [[-0.897727,0.440196,0.017743],[-0.436272,-0.882683,-0.174750],[-0.061263,-0.164619,0.984453]] H@-),?@+?`ۿ> 9^ƿ]:ſ`?i  X@I _; @CY5By5k)I 9999bDMVDMy]/%]L=ٔ]_Q-]>9aYa=eDyeCeڻEm>iQ 5u4m?Q 9}4m@)mtBYyy} Q I}?m=CIm3;im;mK4yBɮaAEjhFNOT Ignoring new targets: 334.26 m.Rh5Zh5E ProNav: ac range: 334.258545 m, nav range: 325.950256 m, bearing: 213.834916 deg, approach rate: -0.692715 m/s, LOS rate: -0.004688 deg/s, cmd heading: 206.484719 deg, new cmd heading: 206.479097 deg. BhEMMHeadingCmd: 3.603740 target range: 334.258545 and range: 335.80 m.hMf@hI*hI"hI hIgqfyfyfdddjdZd@@B=b>B=CB=u)IB=ƉBB= =B9B=DB=~;B=4E颙ɢ<) Pi)<顡imi|+Ȣ;@|PIf@I!@! @!@%/@!2Acoustic response timeout) ^A qA >A >Ia Iy O >b,i?AE6 E6E6+E4"E6:*E6rN:VE6 [4ZE4BE6-:E6Y;a>B@W@Be@BLt=ٱB5- JAHRS rotation from veh to nav: [[-0.898724,0.438047,0.020230],[-0.434423,-0.883107,-0.177199],[-0.059756,-0.168041,0.983967]]BHY@?%?`ۿhBsƿ@^``ſ|?iB@W@IBv_;B>CbnManaging dock network, ignoring radio surface power offY-‰By-p)Ii Mb@Mb@Mb@     9 M?:v?MbpY n2?y =    1A ) CA Y IAbD%VD%:2ym<%m==ٔmaQ-m>9qYq=uDyuC}E}>Q 54v?Q 94)tBYi4?Q E:y"Q I?dCI:i ;S4y Bɮ$AEjhFNOT Ignoring new targets: 334.26 m.RhAZhA ProNav: ac range: 334.258545 m, nav range: 325.642334 m, bearing: 213.834625 deg, approach rate: -0.700926 m/s, LOS rate: -0.000662 deg/s, cmd heading: 206.479091 deg, new cmd heading: 206.478219 deg. BhHeadingCmd: 3.603725 target range: 334.258545 and range: 335.80 m.hmf@h*h"h hgfffdddjdZd @!ɢ-È<)) -i))5(<11i5ki=I|+=-;=6˜I=mf@IAU2Acoustic response timeoutY9@ @@/@y^A jZXIq I O >ԩ  2Acoustic response timeout,*ȃ?A2W@2{e@2ܺl=ٱ2yu1 :AHRS rotation from veh to nav: [[-0.899715,0.435847,0.023448],[-0.432638,-0.883405,-0.180058],[-0.057763,-0.172146,0.983377]]2Hw?? WۿD# ǿ$ ƿw?i2W@I2u_;2=C@YFByFm)IbDNVDNN2yVo%Vg=ٔVQ-Z?9XYX=ZDyZC^E^?`Q 5f4bt?Q 9f4ba#)btBYdyf#Q Ij?bCIb:ib=:bY4ylɮn.AljhFNOT Ignoring new targets: 334.26 m.Rh Zh  ProNav: ac range: 334.258545 m, nav range: 325.398834 m, bearing: 213.834489 deg, approach rate: -0.703127 m/s, LOS rate: -0.000394 deg/s, cmd heading: 206.478217 deg, new cmd heading: 206.477808 deg. BhR%HeadingCmd: 3.603718 target range: 334.258545 and range: 335.80 m.h%Of@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5L!@ɢDV<) 8i)h< i :ii f|+$;ԻIOf@I9IA)EhAE} E}E}(Ey"E}[:*E}T:VE}c44ZEya@a@a@a@ԩ@ @@/@@@e2Acoustic response timeout^ASIyIO>B5 z>B5 CB5 h)IB5 BB5 =B1 B5 DB5 ~;B5 4EBBCBȕCBB =CȎi6 ,ע?A6 W@6e@6f=ٱ6 6 BAHRS rotation from veh to nav: [[-0.900285,0.434495,0.026479],[-0.431644,-0.883199,-0.183420],[-0.056309,-0.176560,0.982678]]6H@"?b?ۿ*CLzǿxԬ ƿ@r?i6 W@I6Zu_;6>CYFByFg)IIJ<)J%=N=N=RAARAAbDVVDV:2yZ=%^I=ٔ^tkQ-^>9`Y`=bDyb0Cf8Ef>dQ 5j4pf?Q 9z4f')ftBY|y&#Q I?fCIf;if;f`4y Bɮ A jh15FNOT Ignoring new targets: 334.26 m.Rh=톶Zh=톶M ProNav: ac range: 334.258545 m, nav range: 325.114105 m, bearing: 213.834395 deg, approach rate: -0.693936 m/s, LOS rate: -0.000230 deg/s, cmd heading: 206.477807 deg, new cmd heading: 206.477523 deg. BhM!eHeadingCmd: 3.603713 target range: 334.258545 and range: 335.80 m.he:f@hi*hi"hi hqgyfffdddjd2Acoustic response timeoutZd$"@qɢ}w^<)y } iy)}ia ;,F~?A2dW@2e@2b=ٱ29 :AHRS rotation from veh to nav: [[-0.900746,0.433412,0.028470],[-0.430807,-0.883136,-0.185679],[-0.055333,-0.179515,0.982198]]2H?@'?WۿB@WǿT`Wƿ@*n?i2dW@I2_;2?CYvByvh)I9iuMb@Mb@Mb@qqqq q9ui|?5?㥛 ?{Gzt?Yu1?yu=uף;ufAu90A uLA)uBAqYuIAbDVDyN;%<=ٔQ->9Y=DySCE>Q 54s?Q 94+)}tBY2?Q E:y%Q I?CI6;i ;9h4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 334.26 m.Rh8Zh8 ProNav: ac range: 334.258545 m, nav range: 324.812653 m, bearing: 213.836511 deg, approach rate: -0.702116 m/s, LOS rate: 0.004933 deg/s, cmd heading: 206.477520 deg, new cmd heading: 206.483874 deg. BhX9HeadingCmd: 3.603823 target range: 334.258545 and range: 335.80 m.h f@h*h"h hgf!f!f!d!d)d)jd)Zd-"@ɢz<) i)H<i5eiz+ϟ;QI f@Ii@ @@0@2Acoustic response timeoutԑ^ArI I! O5 >E  E E (E "E غ:*E ;J:VE c44ZE a @a @a @a @ ",%Y?A2Acoustic response timeoutBRW@Be@Bs`=ٱB\v7 JAHRS rotation from veh to nav: [[-0.900886,0.433132,0.028307],[-0.430599,-0.883592,-0.183985],[-0.054678,-0.177939,0.982521]]BH@q??@ۿaFՌǿƿp?iBRW@IB9{_;B=CYRByRc)IbDZVDZNybj%bY=ٔbQ-f>9dYd=fDyfrCj?-Ej>lQ 5r4na?Q 9r4nP/)nktBYpyr%Q Iv?nCInz;ine;nn4yzBɮzAzEjhFNOT Ignoring new targets: 334.26 m.Rh%8Zh%8- ProNav: ac range: 334.258545 m, nav range: 324.551086 m, bearing: 213.838360 deg, approach rate: -0.697341 m/s, LOS rate: 0.004935 deg/s, cmd heading: 206.483872 deg, new cmd heading: 206.489426 deg. Bh5X95HeadingCmd: 3.603920 target range: 334.258545 and range: 335.80 m.h5f@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM #@yɢ}lp<)y }iy)<顁i=ciy+- ;If@IԙB>B"CBb)IBBB =B?DBDB~;B4E@ @@ 5@ @=@=^Az=2Acoustic response timeout Ai Iq I O > M,6?AE& E&E&)E$"E&,:*E& H:VE&FA4ZE$BE&9 Y = Dy C 9E>qQ 5}4uI?Q 94u73)u`tBY/?Q E:y)Q I?uCIu:iu:uv4yBɮ"AEjhFNOT Ignoring new targets: 334.26 m.Rh*V9Zh*V952Acoustic response timeout= ProNav: ac range: 334.258545 m, nav range: 324.238800 m, bearing: 213.843802 deg, approach rate: -0.670953 m/s, LOS rate: 0.011702 deg/s, cmd heading: 206.489432 deg, new cmd heading: 206.505772 deg. Bh=:EHeadingCmd: 3.604206 target range: 334.258545 and range: 335.80 m.hENf@hA*hA"hA hAgAfIfifidqdqdqjdqZdu!$@ɢy<) 8i!)-<))i-3`i5ht+5S;5z I5Nf@I9!9@ @@ 1@Q^A%  2Acoustic response timeoutԁ Au .AI I O >], ?A2W@2He@2UmY=ٱ273 :AHRS rotation from veh to nav: [[-0.900536,0.433855,0.028367],[-0.431531,-0.883939,-0.180089],[-0.053058,-0.174418,0.983241]]2H`1E?: ?5ۿ:I) ǿ@f*USƿ v?i2W@I2ie_;0YBByBV)IbDNVDNyR%V]=ٔVQ-V>9Z ?YZ ?=ZDyZC^6;E^>\Q 5b4^7?Q 9f4^F6)^WtBYdyf)Q If?^7CI^;i^ ;^ }4ylɮn?Aljh|FNOT Ignoring new targets: 334.26 m.Rh]9Zh]9 ProNav: ac range: 334.258545 m, nav range: 323.994232 m, bearing: 213.848037 deg, approach rate: -0.699097 m/s, LOS rate: 0.012116 deg/s, cmd heading: 206.505770 deg, new cmd heading: 206.518485 deg. Bh :HeadingCmd: 3.604428 target range: 334.258545 and range: 335.80 m.hf@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@e\%@aɢeOF<)a b&i)M<i_ip+B;tIf@IDzD@AE  E E E "E *E |;:VE ZE a%@a%@a%@a%@9@ @@3@12Acoustic response timeout^AzYBA<B>B#CB\)IBBB =BBDB~;B4EA ؟AI I) O= >ԉ F~,m ?A2 W@2e@2cT=ٱ2B0 :AHRS rotation from veh to nav: [[-0.900082,0.434789,0.028483],[-0.432627,-0.884004,-0.177118],[-0.051830,-0.171743,0.983777]]2H@x@?@*?*ۿ`I@̫ƿ@lſ{?i2 W@I2B_;2>CYBByBF)IbDJVDJ!3yR%RL=ٔVHQ-V>9V"?YV"?=VDyZCZA;EZ>\Q 54^#?Q 94^9)^NtBYyo)Q I?^[CI^QW ,H9 ?A2W@2|e@2h!P=ٱ2H. :AHRS rotation from veh to nav: [[-0.899130,0.436742,0.028662],[-0.434724,-0.883539,-0.174279],[-0.050791,-0.169160,0.984279]]2H?@Y?`ۿE@Nƿ`Oſ6?i2W@I2>_;2=CYBByBC)IIF<)Fi Mb@Mb@Mb@     9 n?Mb`?Q?Y V.?y ; u<  90A jNA) BA Y JAbD%VD%ky5'%5B=ٔ5j!Q-=>9Y=DyCK;E>Q 54 ?Q 94,=)EtBYa.?Q E:y+Q I?CIG;i ;4yBɮ AEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 334.26 m.Rh9Zh9% ProNav: ac range: 334.258545 m, nav range: 323.424377 m, bearing: 213.859791 deg, approach rate: -0.716938 m/s, LOS rate: 0.017117 deg/s, cmd heading: 206.532585 deg, new cmd heading: 206.553775 deg. Bh%;:-HeadingCmd: 3.605043 target range: 334.258545 and range: 335.80 m.h-f@h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE t '@iɢm%<)q uDiq)}  2Acoustic response timeoutb,$S ?A0>X@>If@>K=ٱ> * FAHRS rotation from veh to nav: [[-0.898235,0.438580,0.028671],[-0.436715,-0.883256,-0.170702],[-0.049542,-0.165852,0.984905]]>HV? \?$ۿC`ſ] :ſX?i>X@I>^;9Y=DyC%o;E->)Q 5E4-?Q 9E4-9@)-=tBYAyE+Q IE?-CI-e;i-X;-k4yYɮ]kAYjhFNOT Ignoring new targets: 334.26 m.Rh09Zh09 ProNav: ac range: 334.258545 m, nav range: 323.164948 m, bearing: 213.865891 deg, approach rate: -0.664953 m/s, LOS rate: 0.015648 deg/s, cmd heading: 206.553772 deg, new cmd heading: 206.572088 deg. Bh+:HeadingCmd: 3.605363 target range: 334.258545 and range: 335.80 m.hEf@h*h"h hgfffdB=>B9B=O)IB=BB= =B9B9B=c~;B=4EdqdqjdqZd}`'@ɢ2 <) ji ) w<  i VTXԑipa+;,IEf@Ie9@a @a@e/@a2Acoustic response timeout^A u I I O- >EM  EM EM 'EI ,ym ?A"E}:*E} H:VE}'4ZEyBE} `ſ`8ſ?iF22X@IF_;F;CYVByV()I\iMb@Mb@Mb@ 9q= ףp?:v~jtx?Y+?yT;hA 1A MA)-BAYfJAbDVD02yV%?=ٔf[Q->9Y=Dy:C;E>Q 54?Q 94gC)3tBY+?Q E:y-Q I?CIL:i:ޙ4yٸBɮHAEjhFNOT Ignoring new targets: 334.26 m.Rh%9Zh%9- ProNav: ac range: 334.258545 m, nav range: 322.882904 m, bearing: 213.873667 deg, approach rate: -0.671578 m/s, LOS rate: 0.018532 deg/s, cmd heading: 206.572091 deg, new cmd heading: 206.595440 deg. Bh5~K:=HeadingCmd: 3.605771 target range: 334.258545 and range: 335.80 m.h=f@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM (@2Acoustic response timeout!ɢ% #;)) -Dpi))-<))i5f)Vi5Z+=ƕ;=5I=f@I9II)I9@ @@/@@ =@ =^A% vтI I O >A  BDAT read: Response Not Received  *response not received *DAT read: user:111>  BDAT read: Tx time:00:27:47.4481  $Ping request sent. 91Y1=5Dy5YCM@;EM>QQ 5]4U:?Q 9]4ULF)U)tBYaye,Q Ie?UCIU;iU;U4ymθBɮmvAmEjhFNOT Ignoring new targets: 334.26 m.Rh09Zh09 ProNav: ac range: 334.258545 m, nav range: 322.626953 m, bearing: 213.880638 deg, approach rate: -0.662262 m/s, LOS rate: 0.018052 deg/s, cmd heading: 206.595437 deg, new cmd heading: 206.616367 deg. Bh9F:HeadingCmd: 3.606136 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZdo)@ɢ]N;) i)7<iTiT+5; {ZI f@I E EE(E"E:*EF:VEc44ZEa@a@a@a@-9@) @)@-0@)Q qyMGMi{9IYMeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250228yB=>B9B==)IB=BB9B9B9B=d~;B=4E^Am*:IIO>9 q', ?A2wX@2Hmf@2 %:=ٱ2h& :AHRS rotation from veh to nav: [[-0.895647,0.443652,0.031463],[-0.442440,-0.881505,-0.164914],[-0.045430,-0.161625,0.985806]]2H#d?? Pܿ@I5`ſ@BĿ?i2wX@I2_;0YBRByB(IbDN VDN:2yV%VS=ٔVbQ-V>9XYX=ZDyZyCZy;E^>\Q 5b4^?Q 9f4^1I)^!tBYdyf,Q If?^ CI^_:i^:^Z4yhɮnAljh|FNOT Ignoring new targets: 334.26 m.Rh9Zh9 ProNav: ac range: 334.258545 m, nav range: 322.371948 m, bearing: 213.887497 deg, approach rate: -0.662178 m/s, LOS rate: 0.017826 deg/s, cmd heading: 206.616364 deg, new cmd heading: 206.636958 deg. BhC:]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504643HeadingCmd: 3.606495 target range: 334.258545 and range: 335.80 m.hf@h*h"h  h gf9fAfIdQdydjdZd J*@ɢ:) 㭾i)䦿<igQiN+֙;8If@I!E  E E *E "E :*E |;:VE (N4ZE BE Q.,A ?A2 X@2Йf@276=ٱ2% :AHRS rotation from veh to nav: [[-0.894476,0.445945,0.032335],[-0.444890,-0.880487,-0.163757],[-0.044556,-0.160862,0.985971]]2H`\?@+? yܿ ,@ĿЦ!Ŀ@?i2 X@I2_;2:CYBWByB(Ii Mb@Mb@Mb@     9 Q?{Gz{GzY (?y # # rdA  LA) \AA Y HAbD%VD%y5 <%58=ٔ5Q-=>99Y9==Dy=CE;EE>IQ 5U4MC?Q 9U4ML)MtBYU(?Q EU:y],Q I]?M.CIM:iM:M 4ye¸BɮeAeEԡB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 334.26 m.Rh59Zh59e ProNav: ac range: 334.258545 m, nav range: 322.081879 m, bearing: 213.895154 deg, approach rate: -0.623186 m/s, LOS rate: 0.016464 deg/s, cmd heading: 206.636964 deg, new cmd heading: 206.659954 deg. Bhe4:mHeadingCmd: 3.606897 target range: 334.258545 and range: 335.80 m.hmef@hi*hi"hi higqfqfqfqdddjdZd`*+@)ɢ-9)) -̨i1)5cp<1qiuHOi}PH+};}:I}ef@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0094469@ @@0@@@gAEe EeEe.Ea"Ee,:*Ee;J:VEeـ4ZEaam@am@au@au@^A5 9! iI II M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258379Ae .AIi Iy O >.5,0 ?AJKX@Jf@JP2=ٱJ# RAHRS rotation from veh to nav: [[-0.893420,0.448051,0.032426],[-0.447100,-0.879870,-0.161026],[-0.043617,-0.158362,0.986417]]JH ݬ?*?@Jܿ' ĿT@2EĿ ?iJKX@IJHG_;J9r ?Yr ?=rDyrCv;Ev>tQ 5~4v?Q 9~4vmO)vtBY|y~z,Q I~?vOCIv;iv;v4y ɮ A jh)5FNOT Ignoring new targets: 334.26 m.B}>ByB})IB}yBB} =ByByB}~;B}5EB#CB#CBCB =B =Cq5Rhݣ9Zhݣ9 ProNav: ac range: 334.258545 m, nav range: 321.827698 m, bearing: 213.901760 deg, approach rate: -0.688501 m/s, LOS rate: 0.017908 deg/s, cmd heading: 206.659955 deg, new cmd heading: 206.679788 deg. BhD:HeadingCmd: 3.607243 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZd`+@yɢ}g) ¾i)<顁igLiB+;m;If@IA0:Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512118M9@Q @Q@]0@YqE  E E )E "E :*E A:VE FA4ZE BE ` <, ?AZX@ZEf@ZF[/=ٱZ" fAHRS rotation from veh to nav: [[-0.892514,0.449806,0.033074],[-0.448985,-0.879135,-0.159792],[-0.042799,-0.157466,0.986596]]ZHy`?@?@+ܿ!tĿ饿'Ŀ2?iZX@IZ_;Z>CYn%Byn(IiMb@Mb@Mb@ 9/$?Q?~jtY1(?yu<ļ/aAh/A )?AY3GAbDVDy%=ٔ{˺Q->9"?Y"?=DyC;E>Q 54w?Q 94S)sBYY(?Q E:y'*Q I?|CI\ ;i ;(4yʸBɮAEjhFNOT Ignoring new targets: 334.26 m.Rh6h9Zh6h9- ProNav: ac range: 334.258545 m, nav range: 321.483887 m, bearing: 213.908451 deg, approach rate: -0.651292 m/s, LOS rate: 0.012688 deg/s, cmd heading: 206.679789 deg, new cmd heading: 206.699884 deg. Bh-S :5HeadingCmd: 3.607594 target range: 334.258545 and range: 335.80 m.h5f@h1*h1"h1 h9gAfIfYfadididijdiZdu@,@颙ɢD) ھi)q<顡i߇Ii<+;B;If@ԱIe-9@) @)@-u1@)><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014348 ^AM oM;A D zD ?AE  E E (E "E [:*E [:VE c44ZE a @a @a @a @I I O >EC,kJ!?A2Y@2Yf@2+=ٱ2R-# >AHRS rotation from veh to nav: [[-0.891920,0.450861,0.034701],[-0.450261,-0.878402,-0.160234],[-0.041762,-0.158541,0.986469]]2H`?Hġ?@ܿĿaKĿ'?i2Y@I2^;27CYFByF(IbDNVDNJ2yl%%W=ٔ%2Q-%>9)Y)=-Dy-C-r;E->1Q 5=45Ue?Q 9E45V)5sBYAyE*Q IE?5CI5D;i5a;5Ő4yMBɮMAUEjhquFNOT Ignoring new targets: 334.26 m.Rh}e9Zh}e9 ProNav: ac range: 334.258545 m, nav range: 321.235992 m, bearing: 213.913222 deg, approach rate: -0.651854 m/s, LOS rate: 0.012557 deg/s, cmd heading: 206.699884 deg, new cmd heading: 206.714210 deg. Bh :HeadingCmd: 3.607844 target range: 334.258545 and range: 335.80 m.hf@h*h"h hgfffdddjdZd-@ɢ*) i)˴<i^Fi8+7;)I;If@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268876QB>BB(IBQBBBBB;B5EԁE9@A @A@E1@Aԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517995^AE ϩ; A I I O >ˌJ,?,!?A@FY@Fg@Fjg%=ٱF@# jAHRS rotation from veh to nav: [[-0.891387,0.451798,0.036167],[-0.451442,-0.877905,-0.159634],[-0.040371,-0.158623,0.986514]]FH`=C??mܿ`nĿ}MĿ?iFY@IFB_;FAYpEAbD VD2y%ֽ%%(=ٔ-;Q-->9)Y)1=5Dy5.C=W.;E=>AQ 5M4E6N?Q 9M4EJ[)EsBYM,?Q EM:yU$Q IU?ECIE ;iE ;EPΐ4y]Bɮ]˾A]EjhFNOT Ignoring new targets: 334.26 m.Rh`8Zh`8 ProNav: ac range: 334.258545 m, nav range: 320.911011 m, bearing: 213.914715 deg, approach rate: -0.667197 m/s, LOS rate: 0.003068 deg/s, cmd heading: 206.714214 deg, new cmd heading: 206.718696 deg. Bh9HeadingCmd: 3.607922 target range: 334.258545 and range: 335.80 m.h1f@h*h"h hgfffdddjdZd.@ɢQ&) i)m|̰Am > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022138A I I O >`sQ,F!?A2)Y@27g@2=ٱ2# :AHRS rotation from veh to nav: [[-0.891040,0.452359,0.037669],[-0.452268,-0.877643,-0.158734],[-0.038745,-0.158475,0.986602]]2Hf@r?_I? ܿhQĿ`\֣HĿ`??i2)Y@I2.^;2;CYBByB](IbD^ VD^f2yf#%fc=ٔj:Q-j>9hYl=nDynKCn #;Er>pQ 5v4r+=?Q 9v4r^)rsBYxyz$Q Iz?rCIrR:ir(:rԐ4yyɮ}@AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 334.26 m.RhO8ZhO8 ProNav: ac range: 334.258545 m, nav range: 320.671295 m, bearing: 213.915780 deg, approach rate: -0.638530 m/s, LOS rate: 0.002839 deg/s, cmd heading: 206.718694 deg, new cmd heading: 206.721892 deg. Bhf8HeadingCmd: 3.607978 target range: 334.258545 and range: 335.80 m.hf@h*h"h  h g f f fdd1d1jd9Zd=fp/@颁ɢC) i)8<顉id@ԑi6+S;J[;If@ID =D E% E%E%)E!"E%,:*E%VL:VE%FA4ZE!a=@a=@a=@a=@9@ @@/@ BDAT read: Rx Time:00:27:50.2853  TRx dataTimestamp_ set to:1761524869.325439checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276467) ^A5 X;B= >B= $CB= (IB= #BB= =B9 B= DB= Z;B= 6EIA IQ Oe >Q W,_!?AY5ڈBy=S(IbDMVDM 3y]%]A=ٔ]Q-]>9aYa=eDyemCmEm>iQ 5}4m!)?Q 9}4mb)mlsBYyyyQ I}?mCIm;im;mې4yBɮ.AEjhFNOT Ignoring new targets: 334.26 m.Rhb8Zhb8 ProNav: ac range: 334.258545 m, nav range: 320.389496 m, bearing: 213.917034 deg, approach rate: -0.694665 m/s, LOS rate: 0.003094 deg/s, cmd heading: 206.721891 deg, new cmd heading: 206.725656 deg. Bh9HeadingCmd: 3.608043 target range: 334.258545 and range: 335.80 m.h/f@h*h"h hgfffdddjdZd0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526196ɢ괘) i1) P<i=i-5+5`#;5ܼ;I5/f@IyIfA)!@! @!@%/@!YE EE*E"E:*EF:VE(N4ZEBE ) FY],Sy!?A(-w)Y@-'g@-e=ٱ-L }AHRS rotation from veh to nav: [[-0.891253,0.451529,0.042312],[-0.452371,-0.878544,-0.153361],[-0.032074,-0.155825,0.987264]]-H`$??ܿ Yÿk`ÿ`?i-w)Y@I-^;-:CYBy5(II=)4<==iMb@Mb@Mb@ 9n?A`"?YV.?y=L]A.A IA)G=AYDAbD VD2y۽%4=ٔ-nQ->9Y = Dy C W E >Q 54h?Q 9E4jg)BsBYE0?Q EE:yE!Q IE?0CI;iR;4yIɮUAQԁi9i=Qu!?AJi=CRi=Cji=k@i=$#t@8:8@ʸ&ri=@?& ^.?XޡZi=`=bi=5=i=)Y[Kqh?gdzw:Q@9zi=SwcN\࿃2i=U%:i=^"i=?*i=K7dBi=,Bi=Rǚ?i=9hi=DbBi=yCi=m@ addTargetRange:: Added new target pos. range: 324.799988 m, deltaT: 16.381389 s, deltaX: -11.000000 m, approachRate: -0.671494 m/s, rangeRepo size: 4  Added new target pos. range: 323.354828 m, bearing: 210.855152 deg, lat: 36.779279 deg, lon: -121.860018 deg, deltaT: 16.381389 s, deltaX: -10.903717 m, approachRate: -0.665616 m/s, posRepo size: 4 jh=FNOT Ignoring new targets: 323.35 m.Rh=Zh9M ProNav: ac range: 323.354828 m, nav range: 322.946075 m, bearing: 212.859184 deg, approach rate: 0.000000 m/s, LOS rate: 0.003094 deg/s, cmd heading: 206.725661 deg, new cmd heading: 206.730085 deg. BhIUHeadingCmd: 3.608121 target range: 323.354828 and range: 324.80 m.hUsf@hQ*hq"hy hygyfyffdddjdLt@Zd ?ɢc) +i)c<ix:iC4+Q; ;I sf@I ]*DAT read: user:112> eBDAT read: Tx time:00:27:51.4981 e$Ping request sent.eB%%CB%u(IB%BB% =B!B!B%;B%R6EOe?@f,9!?A2sY@2# g@2y<ٱ23u :AHRS rotation from veh to nav: [[-0.891904,0.450033,0.044478],[-0.451264,-0.879283,-0.152391],[-0.029472,-0.155989,0.987319]]2HyV?Ŧ?ܿ #ÿ. qÿ?i2sY@I2J^;29CYBByB1(IbDNVDNyVT%V==ٔVǻQ-V>9XYX=ZDyZC^KDE^>\dQ 5f4^!?Q 9f4^k)^sBYhyj"Q Ij?^VCI^2;i^p3;^y4ynBɮnmAnEjhFNOT Ignoring new targets: 323.35 m.Rh ]Zh ] ProNav: ac range: 323.354828 m, nav range: 322.652649 m, bearing: 212.857270 deg, approach rate: -0.712854 m/s, LOS rate: -0.004654 deg/s, cmd heading: 206.730087 deg, new cmd heading: 206.724339 deg. BhoL%HeadingCmd: 3.608020 target range: 323.354828 and range: 324.80 m.h%f@h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd= ?ɢʼ)  i)€<is7i5+l;;If@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502477-"A9@ @@04@E  E E *E "E :*E :VE (N4ZE BE ʖl,[ʹ!?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.760254bbX@bf@b!<ٱbi h nAHRS rotation from veh to nav: [[-0.892854,0.447949,0.046410],[-0.449552,-0.880412,-0.150925],[-0.026746,-0.155617,0.987455]]bHA@3?`ç? vܿ U,~Qÿ@cc Eÿ;?ibbX@Ib_;b;CYvByv(IimMb@Mb@Mb@iiii i9mmQ8im,A m&KA)m;AiYm(DAbDVDk2y %7=ٔȻQ->9Y=DyCE>Q 54?Q 94 q)rBY 8?Q E:y1Q I?CI:i:D4yBɮǿAEjhFNOT Ignoring new targets: 323.35 m.RhPZhP  ProNav: ac range: 323.354828 m, nav range: 322.335999 m, bearing: 212.851829 deg, approach rate: -0.663460 m/s, LOS rate: -0.011411 deg/s, cmd heading: 206.724336 deg, new cmd heading: 206.707998 deg. Bh HeadingCmd: 3.607735 target range: 323.354828 and range: 324.80 m.h"f@h*h"h hgfffd!d!d)jd)Zd- ?频ɢȹ) (i)C<项i4i:+nq;;I"f@I)-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011019 9@  @ @ 4@ @ =@ =Q E  E E 'E "E ,:*E L_:VE '4ZE a @a @a @a @^A ;ԉ G hAI A d9 hAY AIO>Ndt,k!?A2IX@2f@2<ٱ2o" :AHRS rotation from veh to nav: [[-0.893792,0.445748,0.049449],[-0.447832,-0.881119,-0.151907],[-0.024142,-0.157918,0.987157]]2H` ?@bQ?`Fܿ 2@qÿ6Ŀ@ʖ?i2IX@I2>R_;29CYBy(Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262642 bDVD 3y`%*=ٔ%ֱQ-%>9!Y!=%Dy-C-E->qQ 5}4u?Q 9}4uv)urBYyyVQ I?uCIu:iu,:u4ԉyBɮ̿AB*** querying acoustic contact ***i ijh9EFNOT Ignoring new targets: 323.35 m.RhEaZhEaB>B$CBI(IB҈BB =BBDBۀ;B6E ProNav: ac range: 323.354828 m, nav range: 321.989075 m, bearing: 212.845995 deg, approach rate: -0.732305 m/s, LOS rate: -0.012328 deg/s, cmd heading: 206.707998 deg, new cmd heading: 206.690478 deg. Bh]HeadingCmd: 3.607429 target range: 323.354828 and range: 324.80 m.hf@h*h"h hgff!f!d)d)d)jd)Zd-@?颙ɢL) )i)z<ir1i ?+ Z; |ub;I f@IԹ@ @@/@m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514401^A m; I I9 OE >{,?;!?A6X@6f@6I<ٱ6>$ BAHRS rotation from veh to nav: [[-0.894892,0.443205,0.052316],[-0.445763,-0.882036,-0.152667],[-0.021518,-0.159941,0.986892]]6H`@x]?@-ɪ? aܿ`9ÿxĿ?i6X@I6E__;4Y^By^ (IEf EfEf*Ed"EfI:*Ef;J:VEf(N4ZEdBEfe+ex[Ae-A a)e39AaYe\CAbD}VD}3y(<%D=ٔλQ->9Y=Dy#CE>Q 54O?Q 94{)rBY=?Q E:yQ I?CI:i:4yBɮAEjhFNOT Ignoring new targets: 323.35 m.RhxZhx ProNav: ac range: 323.354828 m, nav range: 321.690948 m, bearing: 212.840692 deg, approach rate: -0.764083 m/s, LOS rate: -0.013605 deg/s, cmd heading: 206.690472 deg, new cmd heading: 206.674547 deg. Bhd HeadingCmd: 3.607151 target range: 323.354828 and range: 324.80 m.h f@h *h "h  h g f ffdddjdZd7?yɢ}) Z'i)<顉i.i#D+3.;+:If@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767175)59@1 @1@5/@1Y^A- t;I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018466ԉ ,"?A2X@23f@2h<ٱ2D& >AHRS rotation from veh to nav: [[-0.895899,0.440841,0.054991],[-0.443852,-0.882913,-0.153166],[-0.018970,-0.161629,0.986669]]2H4 6?@'?hܿ@ÿl EĿ@˒?i2X@I2[_;2:CYFByF(IbDNVDN 3yV%V\=ٔVQ-Z>9XYX=ZDyZAC^:E^>`Q 5f4bA?Q 9f4b)brBYdyf'Q Ij?bCIb:ib:bk 4ynBɮnxArEjhFNOT Ignoring new targets: 323.35 m.Rh hZh h} ProNav: ac range: 323.354828 m, nav range: 321.418823 m, bearing: 212.835958 deg, approach rate: -0.730877 m/s, LOS rate: -0.012727 deg/s, cmd heading: 206.674544 deg, new cmd heading: 206.660328 deg. Bh} HeadingCmd: 3.606903 target range: 323.354828 and range: 324.80 m.hf@h*h"h hgfffdddjdZd@ɢkc) +i ) ō<  i z,iU4H+Uc;U<9I]f@IYԑ9@ @@0@@@fAE EEE"E:*EF:VEZEa%@a%@a%@a%@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270468^A?B:IYIiOu>B>B%CB0(IBBBBBDB;B6EB}$CB}$CByB}ȳ =B}Ȳ =C}!5  ,s!"?A4<ɰBelX@Bbf@B\<ٱB'' JAHRS rotation from veh to nav: [[-0.896756,0.438745,0.057724],[-0.442225,-0.883683,-0.153432],[-0.016308,-0.163118,0.986472]]BH9e??kMܿ@!G੣ÿĿ@-?iBelX@IB_;@YRByR(IXXbD^ VD^2yfu;%fH=ٔfջQ-f>9hYh=jDyjbCjEn>pQ 5r4rl?Q 9v4r)rrrBYtyvHQ Iv?rCIr:ir:r4yxɮ~tA|jh!%FNOT Ignoring new targets: 323.35 m.Rh-dZh-d= ProNav: ac range: 323.354828 m, nav range: 321.120331 m, bearing: 212.830863 deg, approach rate: -0.731734 m/s, LOS rate: -0.012501 deg/s, cmd heading: 206.660323 deg, new cmd heading: 206.645025 deg. Bh=D EHeadingCmd: 3.606636 target range: 323.354828 and range: 324.80 m.hE f@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]@@颁ɢB) s*i))<顉i*iL+;u(I f@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523241U9@Q @Q@U1@QE EE'E"E[:*E?:VE'4ZEBE)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774527Q W7,;"?A6aPX@6Ff@6'G`<ٱ61' >AHRS rotation from veh to nav: [[-0.897546,0.436860,0.059706],[-0.440709,-0.884646,-0.152240],[-0.013688,-0.162955,0.986538]]6H `?ؑ?4ܿO|ÿĿ ?i6aPX@I6_;4Y^By^ (I}only read 0 of 1 data item for altitude. Device response is::BD, +113.81, +563 +1.32, 12.20, 0.00 a}@a} a}@a} a}@a} a}@a} bDVD0y<%>=ٔ3ǻQ->9Y=DyCE>Q 54t?Q 94!)TrBQ A+:YQ Eh:ydQ I?CCI ;i>4y{Bɮ*AEjhFNOT Ignoring new targets: 323.35 m.RhJaZhJa ProNav: ac range: 323.354828 m, nav range: 320.805023 m, bearing: 212.825571 deg, approach rate: -0.732692 m/s, LOS rate: -0.012310 deg/s, cmd heading: 206.645024 deg, new cmd heading: 206.629131 deg. Bh, HeadingCmd: 3.606359 target range: 323.354828 and range: 324.80 m.h f@h *h"h hgfffdddjd!Zd%x_ @IɢU=)Q Uv'iQ)Uԁ E  E E ,E "E :*E H:VE g4ZE a @a @a @a @0,!sU"?A0B[9X@B /f@B|>8<ٱB3& JAHRS rotation from veh to nav: [[-0.898192,0.435320,0.061226],[-0.439460,-0.885584,-0.150386],[-0.011245,-0.161982,0.986730]]BH`F?Y? ܿV?ÿһĿ J?iB[9X@IB_;B9CYRÈByR7(IbDZ bBDAT read: Rx Time:00:27:54.3324 fTRx dataTimestamp_ set to:1761524873.360363fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279790VDZ2yn=%rW=ٔrһQ-r>9tYt=vDyvCvYrEv>xQ 5~4zq?Q 9~4z)z:rBQ A :YQ E<:y{Q I?zgCIz ;izP?z4y ɮAjh15FNOT Ignoring new targets: 323.35 m.Rh=H^Zh=H^M ProNav: ac range: 323.354828 m, nav range: 320.526733 m, bearing: 212.820960 deg, approach rate: -0.732415 m/s, LOS rate: -0.012146 deg/s, cmd heading: 206.629137 deg, new cmd heading: 206.615292 deg. BhM^UHeadingCmd: 3.606117 target range: 323.354828 and range: 324.80 m.hUf@hQ*hQ"hY hYgYfYfafadadadajdiZdmi @颙ɢ) di)<顡i%iU+;מJIf@IIgA)gABe>Be&CBaBaBe =BaBeDBe;Be6E59@1 @1@54@1@==@==ԉ^Au IIO>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530525 G,fMo"?A6,X@6Y"f@6? <ٱ6+% >AHRS rotation from veh to nav: [[-0.898557,0.434272,0.063274],[-0.438776,-0.886232,-0.148555],[-0.008438,-0.161248,0.986878]]6H ? 2?@ܿ\ÿ`G@ɣĿ?i6,X@I6K_;6:CYFByF.(I HHHHEb EbEb(E`"Eb:*EbR:VEbc44ZE`BEb9Y=DyC.E>Q 54\?Q 94b)/rBQ AT:YX4?Q E:y!Q I?CI;i;"4y BɮAEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 323.35 m.Rh Zh-= ProNav: ac range: 323.354828 m, nav range: 320.220520 m, bearing: 212.818114 deg, approach rate: -0.660747 m/s, LOS rate: -0.006146 deg/s, cmd heading: 206.615285 deg, new cmd heading: 206.606740 deg. BhEEHeadingCmd: 3.605968 target range: 323.354828 and range: 324.80 m.hE-f@hI*hI"hI hIgififqfqdqdqdyjdyZd}@DAT read: Range 11 to 50 : 322.5 m (Round-trip 430.1 ms) speed 0.6 m/s X#Rx 1: Read range message, but no direction.yY@CT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢм)  !i ) Ox<i5#iW+;{gI-f@I9@ @@4@^A% _I  *DAT read: user:113>  BDAT read: Tx time:00:27:55.4981  $Ping request sent. S,zÉ"?Ab,X@bA"f@bx;ٱb*#h ~AHRS rotation from veh to nav: [[-0.898576,0.434008,0.064791],[-0.438779,-0.886704,-0.145703],[-0.005786,-0.159354,0.987205]]bH"? ?@ܿ@_a¿`weĿ .?ib,X@Ibl_;b9CY ׈By P(IbDVD0y- >%MP=ٔUbۻQ-U>9QYY=]Dy]C]SrE]>aQ 54eI?Q 94e)e%rBYyQ I?eCIe.;ie;e)4ywBɮ~AE  addTargetRange:: Added new target pos. range: 322.500000 m, deltaT: 4.033961 s, deltaX: -2.299988 m, approachRate: -0.570156 m/s, rangeRepo size: 4 jh FNOT Ignoring new targets: 323.35 m.RhZh% ProNav: ac range: 323.354828 m, nav range: 319.941956 m, bearing: 212.815519 deg, approach rate: -0.740300 m/s, LOS rate: -0.006902 deg/s, cmd heading: 206.606734 deg, new cmd heading: 206.598942 deg. Bh%HeadingCmd: 3.605832 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjd(t@Zd~?E EEE"E:*EC:VEZEa@a@a@a@ɢMּ)  7i ) p<  i `"iY+Wu;[If@I9@ @@*3@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250328)A A @AB>B'CB<(IBȈBB =BBB ;B6E^A jbY A- .AI1 IA O] >',"?A2-X@2y#f@2ȽN;ٱ2 >AHRS rotation from veh to nav: [[-0.898554,0.433890,0.065881],[-0.438851,-0.887270,-0.141991],[-0.003155,-0.156499,0.987673]]2H@?@ݰ?`$ܿd@,¿@i%Ŀ?i2-X@I2%_;28CYFˈByFA(IbDNVDNyVu%VR=ٔVQQ-Z>9Z ?YZ ?=ZDyZC^J9E^>`Q 5f4bg7?Q 9f4bכ)brBYdyf!Q Ij?bCIb;ib;b?04ylɮnAljh|FNOT Ignoring new targets: 323.35 m.Rh 'Zh ' ProNav: ac range: 323.354828 m, nav range: 319.671692 m, bearing: 212.812991 deg, approach rate: -0.718288 m/s, LOS rate: -0.006725 deg/s, cmd heading: 206.598947 deg, new cmd heading: 206.591356 deg. Bh%HeadingCmd: 3.605699 target range: 323.354828 and range: 322.50 m.h%f@h!!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=@~?aɢmʤ)i m0ii)miԩ b,xa"?AYMByMg(IIe<)eR=ԙiMb@Mb@Mb@ 9I +?~jt?:v?Y94?y=T<I\AS+A KA)7AYBAbDVD1y% >%%6=ٔ-Q-->9)Y)=-Dy-+C5E>Q 54 ?Q 94n)rBYM5?Q E:y%Q I?CI;:i*:O84yjBɮAEjhFNOT Ignoring new targets: 323.35 m.Rh7Zh7 ProNav: ac range: 323.354828 m, nav range: 319.344940 m, bearing: 212.813534 deg, approach rate: -0.708079 m/s, LOS rate: 0.001179 deg/s, cmd heading: 206.591352 deg, new cmd heading: 206.592985 deg. Bh/O8HeadingCmd: 3.605728 target range: 323.354828 and range: 322.50 m.h?f@h*h"h hgfffddd jd Zd ?9ɢ=@K)9 = i9)Eua7,m<"?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257763:5X@:a+f@:"ٱ:(~ BAHRS rotation from veh to nav: [[-0.898344,0.433692,0.069926],[-0.439286,-0.887776,-0.137412],[0.002484,-0.154160,0.988043]]:H;@??@BܿhഖYd? ÿ ?i:5X@I:_;:7CYJByJs(IbDVVDV1y^O=%^e=ٔ^#Q-b>9b"?Yb"?=bDybHCfŰ:Ef>hQ 5j4j?Q 9n4jߣ)jrBYpyr$Q Ir?jCIj%;ij3&;jZ>4yv]BɮvAzEjhFNOT Ignoring new targets: 323.35 m.Rhţ7Zhţ7 ProNav: ac range: 323.354828 m, nav range: 319.100067 m, bearing: 212.813922 deg, approach rate: -0.707186 m/s, LOS rate: 0.001119 deg/s, cmd heading: 206.592991 deg, new cmd heading: 206.594153 deg. BhD8HeadingCmd: 3.605748 target range: 323.354828 and range: 322.50 m.hf@h*h"hB>BB\(IBBBBBB7;B6E hgfffdddjd Zd  ?qɢuNFȼ)y }iy)}]c[ԑ ^,"?AE6 E6E6,E4"E6:*E6;J:VE6g4ZE4BE6 BAX@B|7f@BzٱBRc JAHRS rotation from veh to nav: [[-0.898009,0.433945,0.072612],[-0.439944,-0.887670,-0.135981],[0.005447,-0.154057,0.988047]]BH`|?? (ܿ ggXOv?'ÿ?iBAX@IB^;@YrByrz(IiMb@Mb@Mb@ 9@5^I ?Q?y&1?Yb0?y<`e<]A*A )6AYBAbDVD:2y% <%%5=ٔ%׻Q-->9- ?Y- ?=-Dy-lC50:E5>QQ 54 ?Q 94觼)$rBY0?Q E:y(Q I?GCIh;i* ;nF4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 323.35 m.Rh 9Zh 9 ProNav: ac range: 323.354828 m, nav range: 318.782043 m, bearing: 212.817988 deg, approach rate: -0.687131 m/s, LOS rate: 0.008796 deg/s, cmd heading: 206.594153 deg, new cmd heading: 206.606365 deg. Bh*9HeadingCmd: 3.605961 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgf f f dddjdZd@AɢED7)A EiA)MT ,A #?AY By(I !!bD5VD5yE$=%EZ=ٔEQ-E>9M"?YM"?=MDyMCUEU>QQ 5e4U?Q 9e4U)U(rBYayaQ Ie?UgCIU];iUw:UL4yuQBɮuAqjhFNOT Ignoring new targets: 323.35 m.Rh9Zh9  ProNav: ac range: 323.354828 m, nav range: 318.532349 m, bearing: 212.821187 deg, approach rate: -0.667799 m/s, LOS rate: 0.008561 deg/s, cmd heading: 206.606365 deg, new cmd heading: 206.615968 deg. Bh 9HeadingCmd: 3.606129 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgff!f!d!d!d)jd)Zd-`e@Qɢ]Lc)Y ]iY)]'=NE} E}E})Ey"E}:*E}A:VE}FA4ZEya@a@a@a@9@ @@Q2@vG=jAmMA5ɩ95jAY5=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265872BBB(IBBBBBBZ;B7E^A] A I I O >9 ,$#?AY~By~(IbD VDf2y%K=%%L=ٔ!Q-%>9)Y)=-Dy-C)E5>1Q 5E45A?Q 9E45)5.rBYAyAQ IM?5CI5,;i5{;5S4yQɮUAQjhFNOT Ignoring new targets: 323.35 m.Rh%9Zh%9 ProNav: ac range: 323.354828 m, nav range: 318.257294 m, bearing: 212.824716 deg, approach rate: -0.706131 m/s, LOS rate: 0.009068 deg/s, cmd heading: 206.615968 deg, new cmd heading: 206.626565 deg. Bh&9HeadingCmd: 3.606314 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjdZd@<$@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518050ɢLq) bi)XH<ieiQ+";\9If@I @ @@4@AE EE,E"E:*E=:VEg4ZEBE,ũ>#?A$:3YX@:Nf@:Ccٱ:6 FAHRS rotation from veh to nav: [[-0.897306,0.433904,0.081049],[-0.441190,-0.887385,-0.133787],[0.013871,-0.155806,0.987690]]:H ??v<ܿue`Ah?@vÿ(?i:3YX@I: _;:6CYJByN(IiMb@Mb@Mb@ 9K7A`?MbpI +?Y+?y94<YA)A &KA)5AY@AbD5VD5:2yE5%EH=ٔMѨQ-M>9IYQ=UDyUCUd;EU>YQ 5e4]?Q 9e4])]6rBYm+?Q Em:ym,Q Im?]CI]:i]a:]Z4yuYBɮuA}EjhFNOT Ignoring new targets: 323.35 m.Rh9Zh9 ProNav: ac range: 323.354828 m, nav range: 317.986115 m, bearing: 212.830572 deg, approach rate: -0.665621 m/s, LOS rate: 0.014385 deg/s, cmd heading: 206.626569 deg, new cmd heading: 206.644151 deg. Bh:HeadingCmd: 3.606621 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjdZd@ f @颙ɢ)wg Di)A<顡iiL+";If@IIfA)qu9@q @y@}^4@@gA@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021949ԙ^AE  E E )E "E :*E g:VE FA4ZE a @a @a @a @ A .AI I O >m,wX#?A&BDAT read: Rx Time:00:27:58.3298 *TRx dataTimestamp_ set to:1761524877.392751*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275582BhX@B]f@BNٱB" JAHRS rotation from veh to nav: [[-0.896872,0.434229,0.084059],[-0.441991,-0.886922,-0.134218],[0.016272,-0.157530,0.987380]]BH -`g??Iܿ`a . ?`)Ŀ?iBhX@IBX^;B7CPYRByV(IIZx>)Zp;Z=Z=bD^VD^yf<%fR=ٔjʻQ-j>9j ?Yj ?=nDynCn];En>pQ 5v4r?Q 9v4r)r?rBYxyz+Q Iz?rCIr:ir:ra4y~LBɮ~ӼAEBe>BaBe(IBeBBaBaBaBe|;Be07EB%'CB%'CB!B% =B% =C%4v5jhFNOT Ignoring new targets: 323.35 m.Rhs9Zh s9 ProNav: ac range: 323.354828 m, nav range: 317.728455 m, bearing: 212.836100 deg, approach rate: -0.618643 m/s, LOS rate: 0.013284 deg/s, cmd heading: 206.644149 deg, new cmd heading: 206.660747 deg. Bh:%HeadingCmd: 3.606910 target range: 323.354828 and range: 322.50 m.h%f@h!*h!"h! h!g!f)f)f)d)d1d1jdQZdU @颡ɢک) i);<顩iiH+$;!If@I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525810^A?Bɺ! A ؟AIA Ia O >,`r#?AE$ E&E&*E$"E$*E&A:VE&(N4ZE$BE&9e"?Ye"?=mDymCm];Em>qQ 5}4u@?Q 9}4uW)uJrBY})?Q E:y.Q I?uCIu+;iu;uj4y?BɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 323.35 m.Rh 9Zh 9 ProNav: ac range: 323.354828 m, nav range: 317.387604 m, bearing: 212.846115 deg, approach rate: -0.691248 m/s, LOS rate: 0.020333 deg/s, cmd heading: 206.660747 deg, new cmd heading: 206.690824 deg. BhC_:HeadingCmd: 3.607435 target range: 323.354828 and range: 322.50 m.h9f@h*h"h hgfffdddjdZdV@ɢ) i)%I4\,#?ADYzByz(IbDVDP)3yȢ<%{=ٔQ- ?9Y=%Dy%0C%E% ?)Q 554-|?Q 954-)-PrBY9y9Q I=?-CI-;i-;-|p4yAɮE~AAjhimFNOT Ignoring new targets: 323.35 m.Rhuٰ9Zhuٰ9 ProNav: ac range: 323.354828 m, nav range: 317.174347 m, bearing: 212.852392 deg, approach rate: -0.656183 m/s, LOS rate: 0.019327 deg/s, cmd heading: 206.690827 deg, new cmd heading: 206.709670 deg. Bh8T:HeadingCmd: 3.607764 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjdZd s@ɢJ) Ri)\(0<imi:+F;[If@IE EE)E"E:*EVEFA4ZEa@a@a@a@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2823095eB}>B}%CB}(IB}7BB} =ByB}DB};B}K7E@ @@@@=@ ^A Β{1 M =M =U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538920A9IQIaOu>,q#?AJX@Jf@J̯ٱJe& ZAHRS rotation from veh to nav: [[-0.895246,0.436184,0.090980],[-0.445055,-0.885202,-0.135441],[0.021458,-0.161744,0.986600]]JHۥq?pJ? {ܿSV %?`Ŀ 9?iJX@IJ< _;J4CY-By-(I IIIIbD]VD]:2ym%m(=ٔm#ͻQ-u>9qYq=uDyuXC}W;E}>Q 54c?Q 94)[rBYy.Q I??CI:i :x4y2BɮfAEjhFNOT Ignoring new targets: 323.35 m.Rh,9Zh,9 ProNav: ac range: 323.354828 m, nav range: 316.856476 m, bearing: 212.861617 deg, approach rate: -0.610072 m/s, LOS rate: 0.017723 deg/s, cmd heading: 206.709665 deg, new cmd heading: 206.737368 deg. BhB:HeadingCmd: 3.608248 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjdZd@E- E-E-,E)"E-:*E-rN:VE-g4ZE)BE-s%A>IIO ?,#?A6DX@6f@6⫴ٱ62) >AHRS rotation from veh to nav: [[-0.894218,0.437873,0.092961],[-0.447088,-0.883892,-0.137288],[0.022053,-0.164327,0.986159]]6H o?@I̷?ܿH@?ſ ?i6DX@I6^;67CYFByF(IhiMb@Mb@Mb@ 9sh|??~jtMbpY)?yļ(A VJA)1AY ?AbD5VD5yE'<%E=ٔEQ-E>9IYI=MDyMCU;EU>YQ 5e4]G?Q 9e4])]crBYm*?Q E :y -Q I?]nCI]B#CB(IBGBB =BBDBā;Bc7E) 9@  @ @ 0@ Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545083^A% 9ԉ IIO%>[,#?Aԑ5zX@5)f@5xٱ5) AHRS rotation from veh to nav: [[-0.893552,0.439083,0.093652],[-0.448407,-0.883168,-0.137645],[0.022273,-0.164987,0.986044]]E EE+E"EI:*E H:VE [4ZEBE9iYi=mDymCmp+;Eu>qQ 5}4u+?Q 94uRƼ)udrBYP+?Q E:yE,Q I?uCIu ;iu* ;um4yBɮAEjhFNOT Ignoring new targets: 323.35 m.Rh9Zh9 ProNav: ac range: 323.354828 m, nav range: 316.120636 m, bearing: 212.879718 deg, approach rate: -0.700374 m/s, LOS rate: 0.015820 deg/s, cmd heading: 206.766314 deg, new cmd heading: 206.791731 deg. Bh-:HeadingCmd: 3.609197 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgffafadadadajdiZdm`y@颱ɢ) BԹi)<ipi"+-;}I';If@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7940069@ @@5@^A ] ; IY Ii O} >>,i $?A2X@2f@2ٱ2 ' :AHRS rotation from veh to nav: [[-0.893024,0.440384,0.092572],[-0.449472,-0.882924,-0.135721],[0.021965,-0.162810,0.986413]]2H@/?@в? 'ܿ@J_@~?Ŀ?i2X@I2^;24CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.045964YJByJ(IbD5VD5ymA%mJ=ٔmgG:Q-u>9qYq=uDyuC}@;E}>Q 54?Q 94lɼ)erBYy1,Q I?CI;i;}4yɮRAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 323.35 m.Rh9Zh9 ProNav: ac range: 323.354828 m, nav range: 315.852203 m, bearing: 212.885725 deg, approach rate: -0.663662 m/s, LOS rate: 0.014865 deg/s, cmd heading: 206.791736 deg, new cmd heading: 206.809773 deg. Bh9#:HeadingCmd: 3.609511 target range: 323.354828 and range: 322.50 m.h<g@h*h"h hgfffdddjdZd2@!ɢ%׼) i)D<顱iqiy+B;&V;I<g@I1bE(N4jER4rEŝ/E EE*E"E:;*ET:VE(N4ZEa@a@a@a@}9@y @@4@=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297953QB <A 4<B >B !CB B B =B B DB ށ;B t7E^Aa Ai zAm gAI I O >y h,D#$?A2 Y@2g@2ٱ2W% :AHRS rotation from veh to nav: [[-0.892295,0.442042,0.091693],[-0.450941,-0.882371,-0.134440],[0.021479,-0.161308,0.986670]]2H lJ?@)y?6ܿa<R5@?Ŀ͒?i2 Y@I24^;25CYBByB(IbDJVDJ1yRj=%R=ٔV:Q-V?9TYT=ZDyZCZ;EZ?\Q 5b4^?Q 9b4^˼)^frBYdyf,Q If?^CI^ ;i^:^4yj BɮjAjEjh|~FNOT Ignoring new targets: 323.35 m.Rh9Zh9 ProNav: ac range: 323.354828 m, nav range: 315.644165 m, bearing: 212.890324 deg, approach rate: -0.665178 m/s, LOS rate: 0.014713 deg/s, cmd heading: 206.809768 deg, new cmd heading: 206.823573 deg. Bh!:HeadingCmd: 3.609752 target range: 323.354828 and range: 322.50 m.h/g@h*h"h h!g!f!f!f)d)d)d)jd)Zd5@Qqɢ})y }Tiy)} :E+;a E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801900 ˒, =$?AY@g@z±ٱ-R& AHRS rotation from veh to nav: [[-0.891953,0.442639,0.092149],[-0.451608,-0.882005,-0.134599],[0.021697,-0.161672,0.986606]]H`0T??$ܿ`c9`:7?`ĿF?iY@IZ];4CYBy(IiMb@Mb@Mb@ 9MbX?S㥛?I +Y*?y/<9~RAn&A )-AY9Y=DyC:E>Q 54r?Q 94ϼ)`rBY*?Q E:y(Q I?CIC ;iX ;24yBɮٻAjh FNOT Ignoring new targets: 323.35 m.Rh9Zh9% ProNav: ac range: 323.354828 m, nav range: 315.330139 m, bearing: 212.894369 deg, approach rate: -0.665170 m/s, LOS rate: 0.008576 deg/s, cmd heading: 206.823579 deg, new cmd heading: 206.835725 deg. Bh-V95HeadingCmd: 3.609964 target range: 323.354828 and range: 322.50 m.h5 g@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@ ɢU6) Qi)R<i i +%;%-;I% g@I!I]gA)Y9@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054656Q MG  ^A- ;M a9Q YU ~AI I O >EM  EM EM 'EI "EM :*EM A:VEM '4ZEI aU @aU @aU @aU @;z,bV$?A:)Y@:g@:ٱ:$ FAHRS rotation from veh to nav: [[-0.891516,0.443696,0.091283],[-0.452481,-0.881788,-0.133081],[0.021444,-0.159948,0.986893]]:HLe?@P^?sܿ7 ?`,yĿ?i:)Y@I:];:7CYJByNx(IbDVVDVJ2y^%^q=ٔboC:Q-b?9`Y`=fDyf/Cf~<;Ef?hQ 5n4j?Q 9n4jҼ)j\rBYpyr(Q Ir?j!CIj;ij~ ;j!4yvBɮvjAvEjhFNOT Ignoring new targets: 323.35 m.Rh%9Zh%95 ProNav: ac range: 323.354828 m, nav range: 315.103943 m, bearing: 212.897244 deg, approach rate: -0.666324 m/s, LOS rate: 0.008475 deg/s, cmd heading: 206.835723 deg, new cmd heading: 206.844354 deg. Bh595HeadingCmd: 3.610115 target range: 323.354828 and range: 322.50 m.h= g@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`&@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305865ɢ1) i!)%>;!!i%i-+-';-;I- g@I1B>BB(IBA5> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558266Թ A I I O ,p$?A@V|3Y@V+)g@V%°ٱV'$ AHRS rotation from veh to nav: [[-0.891227,0.444269,0.091319],[-0.453044,-0.881565,-0.132641],[0.021575,-0.159584,0.986948]]VH n?@`?ܿ5_@?CmĿ?iV|3Y@IVl];E  E E )E "E :*E ?:VE FA4ZE BE 9Y=DyXC:E>Q 54?Q 94E׼)SrBY-?Q E:y&Q I?MCI ;iL:⯑4yBɮQAEjhFNOT Ignoring new targets: 323.35 m.Rh~8Zh~8 ProNav: ac range: 323.354828 m, nav range: 314.764557 m, bearing: 212.899599 deg, approach rate: -0.678299 m/s, LOS rate: 0.004713 deg/s, cmd heading: 206.844356 deg, new cmd heading: 206.851430 deg. BhN9HeadingCmd: 3.610239 target range: 323.354828 and range: 322.50 m.h&g@h*h"h hgfffdddjdZd @%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813782aɢel˼)i mcii)m;iiimZiu+uC;uU+;I&g@Ii@q @q@u/@q ^A X; checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061830) A I I O >c#,4$?AN8Y@N=.g@NٱNHc" ZAHRS rotation from veh to nav: [[-0.891086,0.444694,0.090622],[-0.453319,-0.881658,-0.131077],[0.021609,-0.157881,0.987222]]NH@ǃ@u?2?@/ݿ`6 ?s5ĿQ?iN8Y@INB];N5CY^Bybh(IbDjVDj0yr;%r_=ٔv۽Q-v>9tYt=zDyzvCz\:Ez>|Q 54~?Q 94~ڼ)~MrBY y &Q I ?~lCI~T;i~;~M4yɮhAjh9=FNOT Ignoring new targets: 323.35 m.RhE̪8ZhE̪8U ProNav: ac range: 323.354828 m, nav range: 314.515778 m, bearing: 212.901311 deg, approach rate: -0.677559 m/s, LOS rate: 0.004666 deg/s, cmd heading: 206.851432 deg, new cmd heading: 206.856572 deg. BhUL9]HeadingCmd: 3.610328 target range: 323.354828 and range: 322.50 m.h]g@hY*hY"hY hYgafafafidididijdiZduq @颙ɢD5 ) ' i);顡ii+X;?H;Ig@IaEm EmEm&Ei"Em:*Em=:VEm4ZEia}@a}@a}@a}@@ @@-0@ԉiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314154B|>B CB(IB-BB =BBDBˁ;B^7EB!CB"CBƔCBƸ =BƷ =CQ6^A፨;ԱAI IQ Ia Ou > h),rާ$?A>F:Y@>/g@>Ueٱ>I! JAHRS rotation from veh to nav: [[-0.891035,0.444813,0.090538],[-0.453411,-0.881695,-0.130508],[0.021775,-0.157338,0.987305]]>H\w?~-?`ݿ 6`} 7L?#Ŀ?i>F:Y@I>R];>4CYRByRa(IbD^ VD^:2yf,%fN=ٔf۹Q-f>9hYh=jDyjCjn9En>pQ 5r4r?Q 9v4r>޼)rFrBYtyv&Q Iv?rCIr:ir:r?4yzBɮ~IA~EB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 323.35 m.Rh-W8Zh-W8= ProNav: ac range: 323.354828 m, nav range: 314.246429 m, bearing: 212.903162 deg, approach rate: -0.676846 m/s, LOS rate: 0.004654 deg/s, cmd heading: 206.856568 deg, new cmd heading: 206.862124 deg. Bh=iL9EHeadingCmd: 3.610425 target range: 323.354828 and range: 322.50 m.hE5g@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@!@颁ɢX*) # i)6;顉i>i+q;ή;I5g@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566679=9@A @A@M5@I E EE'E"E:*E;J:VE'4ZEBE= Y l0,$?AYQyYiMb@Mb@Mb@ 9Q?sh|??y&1Y\/?y=`;OA#A CA)Y8A R=bD  VD f2yz%6=ٔQ-%>9!Y!=%Dy%C-E->1Q 5=45ъ?Q 9=45)5:rBY=0?Q E=:y=#Q IE?5CI5:i5:5ő4yMBɮMAMEjhquFNOT Ignoring new targets: 323.35 m.Rh}㧷Zh}㧷 ProNav: ac range: 323.354828 m, nav range: 313.937347 m, bearing: 212.902649 deg, approach rate: -0.690643 m/s, LOS rate: -0.001147 deg/s, cmd heading: 206.862128 deg, new cmd heading: 206.860589 deg. BhwIHeadingCmd: 3.610398 target range: 323.354828 and range: 322.50 m.hg@h*h"h hgfffdddjdZd="@ɢ) @ i)b;iNi+;;Ig@I19@ @@5@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070061Y^A#2;E  E E +E "E :*E X:VE [4ZE a @a @a @a @ԙ A I) I9 OE >Y6,y$?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321959<BV>BV!CBV(IBVBBV =BTBTBV;BVH7E-:Y@-/g@-}ٱ-|! EAHRS rotation from veh to nav: [[-0.891037,0.444791,0.090629],[-0.453401,-0.881716,-0.130399],[0.021909,-0.157282,0.987311]]-H`@sw?@y3?@ݿ7 @Bo?!Ŀ ?i-:Y@I-A];-5CYMByM_(I QQbDeVDek1yuݻ%uV=ٔuQ-}>9yYy=DyC۷E>Q 54Gx?Q 94)0rBYyQ I?CI2;i-;ˑ4yɮAjhFNOT Ignoring new targets: 323.35 m.RhէZhէ ProNav: ac range: 323.354828 m, nav range: 313.673767 m, bearing: 212.902211 deg, approach rate: -0.689855 m/s, LOS rate: -0.001146 deg/s, cmd heading: 206.860585 deg, new cmd heading: 206.859271 deg. BhfIHeadingCmd: 3.610375 target range: 323.354828 and range: 322.50 m.hdg@h*h"h hgfffdddjdZd C#@)ɢ- )1 5 i1)5;19i=i=Q+E#;AIEdg@IAԑ9@ @@3@Թ^A[R; checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575652 A I I! O- > <,~$?AE* E*E*)E("E*:*E*R:VE*FA4ZE(BE* 9Y=DyCE>Q 5 4Ea?Q 9 4)"rBY 3?Q E :y  Q I?CI;ie:)ԑ4yܷBɮػAEAjh9eFNOT Ignoring new targets: 323.35 m.RhmVZhmV} ProNav: ac range: 323.354828 m, nav range: 313.336456 m, bearing: 212.898785 deg, approach rate: -0.694927 m/s, LOS rate: -0.007067 deg/s, cmd heading: 206.859273 deg, new cmd heading: 206.848982 deg. Bh}4=HeadingCmd: 3.610196 target range: 323.354828 and range: 322.50 m.h=s g@h9*h9"hA hAgAfAfAfIdIdIdIjdIZdUJ$@颹ɢ)  i)6ܡ;iiB+ ǒ;j4;Is g@II)q9@ @@4@@hA@ԙ  A > A%.AI9IQOe>wD,%?AN ,Y@N!g@NٱN! jAHRS rotation from veh to nav: [[-0.891416,0.444026,0.090653],[-0.452630,-0.882228,-0.129611],[0.022425,-0.156570,0.987412]]NH@{j?5?ܿ6;?{ Ŀ?iN ,Y@INC];N3CYrByrk(IbDzVDz1y(=%V=ٔ8Q- >9  ?Y  ?= Dy CwɺE>Q 5%4 O?Q 9%4)rBY!y- Q I-?&CI1:ik:ڑ4E= E=E=&E9"E=:*E=C:VE=4ZE9aE@aE@aE@aE@yMηBɮMAMEjhiuFNOT Ignoring new targets: 323.35 m.Rh}Zh} ProNav: ac range: 323.354828 m, nav range: 313.069244 m, bearing: 212.896093 deg, approach rate: -0.703258 m/s, LOS rate: -0.007091 deg/s, cmd heading: 206.848987 deg, new cmd heading: 206.840904 deg. BhHeadingCmd: 3.610055 target range: 323.354828 and range: 322.50 m.h# g@h*h"h hgfffdddjdZd$@ɢ)  i);;i'i+֒;,#;I# g@Iԑ!@! @!@%/@!mmDAT read: 00:27:58.3298 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424, 0.31, 2.673, 1.172, 2.601, 2.053, PHS= 0.722,-0.836, 0.504, RAW= 142.6, -54> uunknown deviceResponse_: 00:27:58.3298 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424, 0.31, 2.673, 1.172, 2.601, 2.053, PHS= 0.722,-0.836, 0.504, RAW= 142.6, -54> }BDAT read: Tx time:00:28:05.8480 B>BB(IBBB =BBDB;B7E$Ping request sent. %= 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2459421 J,-%?ABY@B; g@B#ٱBܲ ^AHRS rotation from veh to nav: [[-0.891976,0.442911,0.090607],[-0.451512,-0.882846,-0.129307],[0.022720,-0.156249,0.987456]]BHX?1?ܿE@`!C? ÿ >?iBY@IB,];@YfByff(IIj<)j=ln=bDrVDr2yzZ%zL=ٔz@Q-~>9|Y|=Dy?C,LE> Q 54 ;?Q 94 D)  rBYy Q I? JCI ;i ; 4y%TBɮ%A%EEB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 323.35 m.RhUZhU ProNav: ac range: 323.354828 m, nav range: 312.788116 m, bearing: 212.893319 deg, approach rate: -0.704721 m/s, LOS rate: -0.006959 deg/s, cmd heading: 206.840900 deg, new cmd heading: 206.832572 deg. BhӘHeadingCmd: 3.609909 target range: 323.354828 and range: 322.50 m.hg@h*h"h hgf1f9f9d9dAdIjdIZdMw%@颁ɢ) B i)%C;Ee EaEe+Ea"Ee:*EaVEe [4ZEaBEe_ ,'R,I%?A6X@6mf@6żٱ6 >AHRS rotation from veh to nav: [[-0.892739,0.441147,0.091685],[-0.449929,-0.883698,-0.129003],[0.024113,-0.156418,0.987397]]6H`Q;?x?ܿAG`+@?~Ŀ?i6X@I6];4YFByFm(IiMb@Mb@Mb@ 9kt?Q?~jtY 0?y=ļMA A )(AYf6AbDVD02y <%5=ٔIQ->9"?Y"?=DydC~E>Q 54Z&?Q 94,)qBY2?Q E:y Q I?rCIP ;i ;4yCBɮOAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749162jh  FNOT Ignoring new targets: 323.35 m.Rh5Zh5% ProNav: ac range: 323.354828 m, nav range: 312.472656 m, bearing: 212.889969 deg, approach rate: -0.694976 m/s, LOS rate: -0.007388 deg/s, cmd heading: 206.832567 deg, new cmd heading: 206.822507 deg. Bh%?-HeadingCmd: 3.609734 target range: 323.354828 and range: 322.50 m.h-g@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=&@iɢmK)q u)iq)u+o;qqiui}+}˒;}nU;I}g@IԱ9@ @@/@!@%=@%=bEFA4jEFA4rEƲd0E EE,E"E*E;J:VEg4ZEa@a@a@a@^Ar;AzA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001065B ~>B B (IB BB =B B DB J;B 6EA I I O >) IX,b%?A2qX@2 f@24̼ٱ2|E! :AHRS rotation from veh to nav: [[-0.893579,0.439309,0.092324],[-0.448213,-0.884547,-0.129157],[0.024925,-0.156793,0.987317]]2H@3??ܿ5N`6텙?Ŀ?i2qX@I2@];24CYnBynw(IbDvVDv:2y"=%W=ٔ Q->9 Y = Dy C uE>Q 5%4@?Q 9%4K)qBY!y% Q I%?CI;ih;d4y1ɮ50A1jhQ]FNOT Ignoring new targets: 323.35 m.Rh]Zhem ProNav: ac range: 323.354828 m, nav range: 312.207245 m, bearing: 212.887240 deg, approach rate: -0.700344 m/s, LOS rate: -0.007208 deg/s, cmd heading: 206.822513 deg, new cmd heading: 206.814319 deg. BhuIuHeadingCmd: 3.609591 target range: 323.354828 and range: 322.50 m.h}g@hy*hy"hy hygyfyffdddjdZd`u'@颹ɢn ) Ji),~U;ii,+;$:Ig@I1@1 @9@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2535459^A]2;i Ae .AE  E E )E "E :*E A:VE FA4ZE BE s^,$|%?A 6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505161:?X@:f@:rҼٱ:! BAHRS rotation from veh to nav: [[-0.894277,0.437757,0.092936],[-0.446775,-0.885259,-0.129263],[0.025687,-0.157119,0.987246]]:H4?ʷ?ܿ T M?wĿ ?i:?X@I:+^;:2CYJByJ(I LLPPiMb@Mb@Mb@ 9(\?T㥛 ?y&1Yz4?y>`eKA @A)Y5AbDVDJ2ygu=%==ٔQ->9 ?Y ?=DyC;rE>Q 549?Q 94!)qBY_7?Q E:yn Q I?CIz:i :4y 1BɮAEjh1=FNOT Ignoring new targets: 323.35 m.Rh=Zh=M ProNav: ac range: 323.354828 m, nav range: 311.897888 m, bearing: 212.883776 deg, approach rate: -0.714899 m/s, LOS rate: -0.008013 deg/s, cmd heading: 206.814317 deg, new cmd heading: 206.803915 deg. BhMUHeadingCmd: 3.609409 target range: 323.354828 and range: 322.50 m.h]g@hY*hY"hY hYgYfYfafadadadijdiZdm`+S(@颙ɢr) Oi)9;顡i Si%+|c;Ȳ9:Ig@IiM9@I @I@I@Qԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757046^A?B: ! m >G b9 Y !AyE ?E AAm ؟AIy I O >U[e,w%?A2X@2ff@2'ۼٱ2[# :AHRS rotation from veh to nav: [[-0.895000,0.435900,0.094692],[-0.445259,-0.885787,-0.130867],[0.026832,-0.159288,0.986867]]2H֣`?=?ܿ^X@y?cĿk?i2X@I29^;24CY^By^(IbDfVDf1lyrI=%r\=ٔrJQ-v>9v"?Yv"?=vDyvCz1Ez>|Q 54~(?Q 94~D)~qBYy Q I ?~CI~;i~;~q4yBɮ9AEE% E!E%'E!"E%:*E!VE%'4ZE!a-@a-@a-@a-@jhQUFNOT Ignoring new targets: 323.35 m.Rh]7 Zh]7 m ProNav: ac range: 323.354828 m, nav range: 311.632416 m, bearing: 212.880885 deg, approach rate: -0.708149 m/s, LOS rate: -0.007716 deg/s, cmd heading: 206.803921 deg, new cmd heading: 206.795243 deg. BhmuuHeadingCmd: 3.609258 target range: 323.354828 and range: 322.50 m.huf@hq*hq"hq hygyfyffdddjdZd9)@颱ɢ!) $i)";项i(i!+;ahIf@IU9@Q @Q@U0@Q@]gA@]fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010727AAAAB>B"CB(IBBB =BBDB;B6E 9^A}"9A>A>A I I) O= >a - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261446k,S%?A:˜X@:zf@:+{ٱ:@U$ BAHRS rotation from veh to nav: [[-0.895228,0.435293,0.095319],[-0.444764,-0.886005,-0.131071],[0.027399,-0.159734,0.986780]]:H `?`f?wܿ`'Z@@?%rĿ`?i:˜X@I:>^;:2CYJByJ(IbDR VDR2yZ-=%ZM=ٔ^̺Q-^>9\Y`=bDybCb&Ef>hQ 5v4j?Q 9v4j )jqBYxy~ Q I ?jCIj;ij;jn4yɮAAUB*** querying acoustic contact ***iQ iQjhiuFNOT Ignoring new targets: 323.35 m.Rh Zh  ProNav: ac range: 323.354828 m, nav range: 311.346558 m, bearing: 212.877798 deg, approach rate: -0.702855 m/s, LOS rate: -0.007599 deg/s, cmd heading: 206.795247 deg, new cmd heading: 206.785975 deg. Bh ⦹ HeadingCmd: 3.609096 target range: 323.354828 and range: 322.50 m.h nf@h*h"h hgIfQfqfqdydydyjdyZd8)@ɢ,) i);i iUG$+U;UJ?IUnf@IYEM EMEM&EI"EM:*EMP:VEM4iZEIBEM= r,%?A2X@2]f@2|ٱ2~t$ JAHRS rotation from veh to nav: [[-0.895674,0.434248,0.095902],[-0.443820,-0.886497,-0.130946],[0.028154,-0.159848,0.986740]]2H\`?@ ?gܿ/^uԜ? uĿ`?i2X@I2_;0YR"ByR(IIV>)V%=Z=Z=1i5Mb@Mb@Mb@1111 195n?ʡE?{GzY5V.?y5=5#5&KA5A 5?A)5?'A1Y5Q4AbDM VDMf2y]@=%]:=ٔeQ-e>9aYa=mDymCmEm>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765254Q 54?Q 94d)qBY0?Q E:y!Q I?)CI;i ; 4y BɮAEjhFNOT Ignoring new targets: 323.35 m.RhvZhv ProNav: ac range: 323.354828 m, nav range: 311.043732 m, bearing: 212.874904 deg, approach rate: -0.706730 m/s, LOS rate: -0.006761 deg/s, cmd heading: 206.785972 deg, new cmd heading: 206.777281 deg. BhzHeadingCmd: 3.608944 target range: 323.354828 and range: 322.50 m.hf@h*h"h hgfffdddjdZdܾ*@颡ɢ) ݾi)5:ii&+S;%źIf@Iae9@a @a@e4@iE EE,E"Ey:*EC:VEg4ZEa@a@a@a@ԩ^AybݹB >B B (IB -BB B B - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017171B ڀ;B u6EBB!CBȓCBBȹ =Ck%6Թ A I I O >Cx,%?A:X@:`vf@:ٱ:P# FAHRS rotation from veh to nav: [[-0.895945,0.433639,0.096119],[-0.443206,-0.887034,-0.129379],[0.029157,-0.158517,0.986926]]:H???`}]ܿb``A۝?@LJĿ?i:X@I:P_;:.CYN7ByN(IbDV VDV:2y^=%bV=ٔb+Q-b>9`Yd=fDyf'CfEf>hQ 5n4j?Q 9n4jp)jqBYpyr!Q Ir?jKCIj;ij;j4yvBɮvjAzEjhFNOT Ignoring new targets: 323.35 m.Rh=Zh=- ProNav: ac range: 323.354828 m, nav range: 310.780975 m, bearing: 212.872418 deg, approach rate: -0.690381 m/s, LOS rate: -0.006536 deg/s, cmd heading: 206.777284 deg, new cmd heading: 206.769821 deg. Bh-5HeadingCmd: 3.608814 target range: 323.354828 and range: 322.50 m.h5f@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM+@qɢu/߼)y }Ⱦiy)}N:yiT)ԡi(+;WIf@I9@ @@H3@@=@=BDAT read: Rx Time:00:28:08.6707 TRx dataTimestamp_ set to:1761524887.724590checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270621^A AfAzAE  E E 'E "E [:*E F:VE '4ZE BE ! E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521153~,L%?A2yX@2jof@2 ٱ2< :AHRS rotation from veh to nav: [[-0.896101,0.433378,0.095848],[-0.442809,-0.887688,-0.126211],[0.030386,-0.155540,0.987362]]2H۬`w? x?Vܿg 'g?@ÿ`x?i2yX@I2E_;22CYBCByB(Ii]Mb@Mb@Mb@YYYY Y9]Dl?~jt?Y]O-?y]=]]KA]xA ]>A)]n&AYY]3AbDuVDu1yZZ=%>=ٔ;Q->9Y=DyJCE>Q 54?Q 94)qBY /?Q E:y"Q I?qCIC:in:C4yBɮAEjhFNOT Ignoring new targets: 323.35 m.RhaaZhaa ProNav: ac range: 323.354828 m, nav range: 310.487183 m, bearing: 212.871095 deg, approach rate: -0.683302 m/s, LOS rate: -0.003079 deg/s, cmd heading: 206.769825 deg, new cmd heading: 206.765854 deg. Bh:HeadingCmd: 3.608745 target range: 323.354828 and range: 322.50 m.hf@h*h"h hg f f f dddjdZd;^,@AɢE¼)I MiI)Mt:IIiMi*+;z;tjIf@I9@ @@/@!DAT read: 00:28:08.6707 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 352, 0.21,-1.331,-2.738,-1.307,-1.745, PHS= 0.517,-0.948, 0.395, RAW= 145.7, 0.5, CAL= 145.1, 0.5, ROT= 4.9, -0.5 Ygot valid direction response: 00:28:08.6707 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 352, 0.21,-1.331,-2.738,-1.307,-1.745, PHS= 0.517,-0.948, 0.395, RAW= 145.7, 0.5, CAL= 145.1, 0.5, ROT= 4.9, -0.5 PDAT read: Bearing 350.3, 6.6 (Local) ~Local bearing/azimuth received: Bearing 350.3, 6.6 (Local) DAT read: Range 11 to 50 : 313.8 m (Round-trip 418.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996307,0.085414,0.008727]Fpublishing direction and range infoy7?򹐓ݵ?B7߁?YC )IIZ?i!rq=>"@5< "@ 5<)%=I5lҊ?OϮܿ?` R? %>)I%=i5 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Q^A AY Ia y Iy O >؅,&?A2|X@2qf@2ٱ2- :AHRS rotation from veh to nav: [[-0.896007,0.433522,0.096071],[-0.442922,-0.887925,-0.124136],[0.031488,-0.153779,0.987603]]2H@Ծ?? Xܿieǿ$?ÿr?i2|X@I2^;20CER EREPEP"ER:*ERC:VEPZEPaV@aV@aZ@aZ@YnNByn(I pptvAbDzVDz02y%a=%%Q=ٔ-8Q-->9)Y)=-Dy-jC59E5>YQ 5e4]?Q 9e4])]qBYaye"Q Im?]CI]k:i]:],"4yuBɮu{AuEii&?AJi2CRi2Cjik@i4Ass@#!c:@䚶@ri7?򹐓ݵ?B7߁?Zi%=bi5iAp;.JB!CB(IBLBB =BBDB;B6E*DAT read: user:115> BDAT read: Tx time:00:28:09.8980 $Ping request sent.) ޱi)ZY:iHi%++%: ;%RI%f@I)9@ @@/@ԁԩ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251452A= .AIA IQ Oe > R,g2&?Af|X@fsrf@fzٱfuk nAHRS rotation from veh to nav: [[-0.895964,0.433420,0.096932],[-0.442948,-0.887935,-0.123971],[0.032338,-0.154010,0.987540]]fH`@'?и?BYܿ i @?ÿ?if|X@IfN^;f/CYvUByv(IbD~ VD~2y =% L=ٔ Q->9 ?Y ?=DyC 8E>!Q 5-4%x?Q 9-4%)%qBY1y5"Q I5?%CI%:i%_:%)4y9ɮ=]AAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 312.39 m.Rhz߸Zhz߸ ProNav: ac range: 312.390747 m, nav range: 309.411407 m, bearing: 211.514993 deg, approach rate: -0.682139 m/s, LOS rate: -0.006106 deg/s, cmd heading: 206.762093 deg, new cmd heading: 206.754804 deg. BhHeadingCmd: 3.608552 target range: 312.390747 and range: 313.80 m.hf@h*h "h  h g f f1f1d1d1d9jd9Zd=@?ԱE EE(E"E:*EAr:VEc44ZEBE A ?1 A I I) O5 > ],qN&?A2#X@2tf@2 ٱ2>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887 BAHRS rotation from veh to nav: [[-0.895863,0.433647,0.096850],[-0.443060,-0.888297,-0.120941],[0.033586,-0.151257,0.987924]]2H`?&˸? [ܿl``"2?b\ÿ@?i2#X@I2#^;21CYF]ByF(IiuMb@Mb@Mb@qqqq q9u> ףp=?Mb?{Gzt?Yu1?yu=uף;uHAq u>A)u%AqYuf2AbDVDyu=%5=ٔe5Q->9Y=DyC9E>Q 54)b?Q 94*$)qBY2?Q E:y%Q I?CI;i;14yڶBɮA1jh9EFNOT Ignoring new targets: 312.39 m.RhM+0ZhM+0m ProNav: ac range: 312.390747 m, nav range: 309.096313 m, bearing: 211.514926 deg, approach rate: -0.703531 m/s, LOS rate: -0.000150 deg/s, cmd heading: 206.754799 deg, new cmd heading: 206.754596 deg. BhmgӶ}HeadingCmd: 3.608548 target range: 312.390747 and range: 313.80 m.h}uf@hy*hy"h hgfffdddjdZdfA?颉ɢ&) Ӣi)9顑iIiA-+y-;$Iuf@I!Y@ @@/@E EEE"E:*ErN:VEZEa@a@a@a@B>BB)IBjBB =BBB ;B6E-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006930ԁ^A ?BɺԱ AI IQ Ia O >,Th&?A2X@2~f@2ф ٱ2j :AHRS rotation from veh to nav: [[-0.895578,0.434041,0.097720],[-0.443581,-0.888041,-0.120909],[0.034300,-0.151630,0.987842]]2H@T?&? cܿj`?`hÿf?i2X@I26_;20CYBmByB)IIF=)FY?J=J=bDNVDN3yV`=%VX=ٔZQ-Z>9XYX=ZDyZC^|:E^>`Q 5f4b9O?Q 9f4b')bqBYdyj%Q Ij?bCIb;ib<:b74ynǶBɮnhAnEjh|FNOT Ignoring new targets: 312.39 m.Rh Zh  ProNav: ac range: 312.390747 m, nav range: 308.832428 m, bearing: 211.514840 deg, approach rate: -0.714229 m/s, LOS rate: -0.000232 deg/s, cmd heading: 206.754594 deg, new cmd heading: 206.754337 deg. Bh"%HeadingCmd: 3.608544 target range: 312.390747 and range: 313.80 m.h%bf@h!*h!"h! h!g)f)f)f)d)d1d1jd1Zd5?aɢeD)a eii)mR+8iiimiuR-+uݎ;u6yIubf@IyYechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259709@ @@0@ԉ^A DD<E EE*E"Ey:*E=:VE(N4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773 z,&?AY~pBy~ )IiMb@Mb@Mb@ 9X9v?Zd;O?Y3?yj<=A vs<%;=ٔQ->9"?Y"?=DyCE>Q 548?Q 94+)qBY4?Q E:y}'Q I?(CI;:i:??4yɮ[AjhFNOT Ignoring new targets: 312.39 m.Rhs8Zhs8- ProNav: ac range: 312.390747 m, nav range: 308.525574 m, bearing: 211.516290 deg, approach rate: -0.703297 m/s, LOS rate: 0.003327 deg/s, cmd heading: 206.754334 deg, new cmd heading: 206.758689 deg. Bh-#95HeadingCmd: 3.608620 target range: 312.390747 and range: 313.80 m.h5f@h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdM ?qɢ})y }\iy)}9(.yiȼi,+st;If@I @  @ @ E0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762773^A5qA=gAzA=hAY Ay I I O bEec44jEe:4rEe˻0E  E E +E "E :*E R:VE [4ZE a @a @a @a @,؛&?A2X@2f@2ٱ2 >AHRS rotation from veh to nav: [[-0.894647,0.435360,0.100340],[-0.445311,-0.887095,-0.121489],[0.036120,-0.153373,0.987508]]2H?诹? ܿcM~?`ÿ?i2X@I27_;0YnByn)IbDvVDv:2y~=%~X=ٔ`Q->9Y = Dy C ;E >Q 54j%?Q 94_/)rBY!y%]'Q I%?JCIL;iH;E4y-Bɮ-ִA-EjhQUFNOT Ignoring new targets: 312.39 m.AYA]?ABe>Be#CBe*)IBeBBe =BaBeDBe;Be6ERh}"a8Zh}"a8 ProNav: ac range: 312.390747 m, nav range: 308.259064 m, bearing: 211.517455 deg, approach rate: -0.702801 m/s, LOS rate: 0.003075 deg/s, cmd heading: 206.758692 deg, new cmd heading: 206.762190 deg. Bh9HeadingCmd: 3.608681 target range: 312.390747 and range: 313.80 m.hf@h*h"h hgfffdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862ɢ) i)TUi%i++0;O.9If@IQ9@ @@4@y^A?Bɺߍ L?ߍ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267440ԩ A I I O >ͬ,&?A2X@2`f@2ٱ2 :AHRS rotation from veh to nav: [[-0.893987,0.436446,0.101500],[-0.446593,-0.886354,-0.122193],[0.036635,-0.154568,0.987303]]2H?@?ܿ]@H ?@ÿ?i2X@I25_;2/C@Y^Byb!)I ``dfAbDhVDhyrT<%rL=ٔvhQ-v>9tYt=zDyz0Czk;Ez>|Q 54~?Q 94~3)~ rBY y E'Q I ?~nCI~:i~:~L4yBɮAE5B*** querying acoustic contact ***i1 i1jhFNOT Ignoring new targets: 312.39 m.RhK8ZhK8 ProNav: ac range: 312.390747 m, nav range: 307.977081 m, bearing: 211.518615 deg, approach rate: -0.675423 m/s, LOS rate: 0.002781 deg/s, cmd heading: 206.762189 deg, new cmd heading: 206.765672 deg. BhM8HeadingCmd: 3.608742 target range: 312.390747 and range: 313.80 m.hf@h*h"h hgfffdddjdZd f@E EEE"E:*EVEZEBE A > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823A% .AԱ G =99Y=AIIIYOu>bĴ,&?ABX@BCf@B&ٱBa NAHRS rotation from veh to nav: [[-0.893295,0.437603,0.102603],[-0.447944,-0.885554,-0.123046],[0.037015,-0.155877,0.987083]]BHߕ?`0D? ܿuV@?ÿ.?iBX@IB]N_;B0CYVByV.)Ii5Mb@Mb@Mb@1111 195ʡE?~jt?{Gzt?Y5/?y5<5ף;5AFA5A 1)5+#A1Y5z0AbDMVDMy]#*=%]'=ٔeRLQ-e>9e ?Ym ?=mDymWCmK;Eu>qQ 5}4u?Q 9}4uW7)urBY/?Q E:y)Q I?uCIu&:iu.:ukU4yBɮkAEjhFNOT Ignoring new targets: 312.39 m.Rh8Zh8IU ProNav: ac range: 312.390747 m, nav range: 307.642212 m, bearing: 211.521710 deg, approach rate: -0.708732 m/s, LOS rate: 0.006556 deg/s, cmd heading: 206.765672 deg, new cmd heading: 206.774965 deg. BhU9]HeadingCmd: 3.608904 target range: 312.390747 and range: 313.80 m.h]Hf@hY*hY"hY hYgYfYfafadaddjdZdX @ɢ) gi)qOiRi n'+ %͍; :!;I Hf@IE EEE"E:*EF:VEZEa@a@a@a@9@ @@4@BE>BE$CBEI)IBEBBE =BABEDBE;BE6EyiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026980^A0::ԩI I O > ,&&?A2FX@2f@2ٱ2=! >AHRS rotation from veh to nav: [[-0.892855,0.438319,0.103379],[-0.448794,-0.885054,-0.123545],[0.037344,-0.156703,0.986939]]2HCj ?w?@ ܿ\R`?Ŀ ?i2FX@I2-^;22CYFByF2)IHHbDNVDN2yV<%VW=ٔZbQ-Z>9XYX=ZDyZuC^=%;E^>`Q 5f4b?Q 9f4b:)b rBYhyj(Q Ij?bCIb:ib:b\4ynBɮnArEjhFNOT Ignoring new targets: 312.39 m.Rh 8Zh 8 ProNav: ac range: 312.390747 m, nav range: 307.381744 m, bearing: 211.524074 deg, approach rate: -0.685322 m/s, LOS rate: 0.006227 deg/s, cmd heading: 206.774961 deg, new cmd heading: 206.782062 deg. BhÈ9%HeadingCmd: 3.609028 target range: 312.390747 and range: 313.80 m.h%Pf@h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd=8 @eBDAT read: Rx Time:00:28:12.6962 eTRx dataTimestamp_ set to:1761524891.760297mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280007ɢX&) :ai)x  i i5e%+=Z;=)K;I=Pf@IAԱPExceeded connect timeout, disconnecting. 9@  @ @ 2@ E EEE"E:*EVEZEBEa2EaJE;a:E;a^A52; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530714 I) I9 O >1 @,f'?A;ɰ;2X@2df@2ٱ2" :AHRS rotation from veh to nav: [[-0.892348,0.439165,0.104157],[-0.449797,-0.884390,-0.124649],[0.037374,-0.158080,0.986719]]2HG? ?`{ܿ@L 迿"?;Ŀ`3?i2X@I2B^;2-CY`y`iMb@Mb@Mb@ 9-?Zd;O?y&1|Y?5?yj<`CA5A ) AY.AbDVDky:%;=ٔQ->9Y=DyC);E>Q 54?Q 9 4>)(rBYZ5?Q E:y:)Q I%?CIfimm㥛>m"$@m5>m$@ m|>)mk]=Im|iimާT%?>%q?]? m5V>)mfImk]=im|ii}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A9@ @@4@@=@i E  E E -E "E :*E VE t4ZE a @a @a @a @^A qZ;A zA BE <AE <BM >BI BM b)IBM BBM =BI BI BM ݀;BM 6EB #CB "CB ˔CB B ˷ =C '6Ii Iy O > *DAT read: user:116> % BDAT read: Tx time:00:28:13.9480 % $Ping request sent.- g@bٱbs# jAHRS rotation from veh to nav: [[-0.891907,0.439891,0.104874],[-0.450658,-0.883851,-0.125356],[0.037550,-0.159068,0.986553]]bH `+'?غ?@ܿH` 9?@X\Ŀ ؑ?ib Y@Ib^;b0CYBy?)IbD VD2yM;T=%MQ=ٔMQ-U>9QYQ=UDyUC}!;E}>Q 542?Q 94 B).rBYy*)Q I?CI=:i:j4yɮAii<'?AJiCRiCjil@i]]%r@mE s/@y?F@rik?DW^?ni\?Zik]=bi|iS n bv&J@zi7PrFH ZZb?2iV:igw"i0'I?*iPjBi4BiRǚ?ii }BiCil@= addTargetRange:: Added new target pos. range: 295.500000 m, deltaT: 4.036114 s, deltaX: -18.299988 m, approachRate: -4.534061 m/s, rangeRepo size: 4 M Added new target pos. range: 294.185059 m, bearing: 211.285484 deg, lat: 36.779279 deg, lon: -121.859945 deg, deltaT: 4.036114 s, deltaX: -18.205688 m, approachRate: -4.510697 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 294.19 m.RhuZhq ProNav: ac range: 294.185059 m, nav range: 303.861420 m, bearing: 211.869610 deg, approach rate: 0.000000 m/s, LOS rate: 0.006309 deg/s, cmd heading: 206.791285 deg, new cmd heading: 206.798080 deg. BhHeadingCmd: 3.609307 target range: 294.185059 and range: 295.50 m.hf@h*h"h hgfffdddjdxr@Zd_? ɢU)Q UKiQ)UQYi]i] +e讍;e;Ief@Iai9@  @ @ /@ }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995nManaging dock network, ignoring radio surface power off^Ayb];IQ Ia Ou > &,Z;'?AD,zD,E2 E0E2*E0"E2:*E0VE2(N4ZE0BE2 9!Y)=-Dy5CE:EE>YQ 5u4]D?Q 94]E)]5rBYy")Q I?]*CI]7S ,0U'?A@2Y@2 g@2ٱ2! :AHRS rotation from veh to nav: [[-0.891607,0.440593,0.104476],[-0.451207,-0.883880,-0.123160],[0.038081,-0.156951,0.986872]]2H 2?? ܿH@n`J?Ŀt?i2Y@I2Q];2/CYZByZ:)IiEMb@Mb@Mb@AAAA A9Ed;O?Q-u>9qYq=uDyuC}9E}>Q 54?Q 94ZI)9rBY4?Q E:y(Q I?OCI:i@:x4yYBɮ AEjhFNOT Ignoring new targets: 294.19 m.Rhq8Zhq8 ProNav: ac range: 294.185059 m, nav range: 303.290314 m, bearing: 211.874836 deg, approach rate: -0.798399 m/s, LOS rate: 0.005995 deg/s, cmd heading: 206.807268 deg, new cmd heading: 206.813772 deg. Bh9HeadingCmd: 3.609581 target range: 294.185059 and range: 295.50 m.hag@h*h"h hgfffdddjdZd?ɢP) Si)0v׺i!iU+-;;Iag@IEq EuEqEq"Eq*Eu=:VEqZEqa@a@a@a@IB>BBu)IBƉBBBBBր;Bz6E9@ @@ /@ @@gAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928q^A ϩ;A >A >ԡ A9 II Ia Ou >_7,g o'?A2UY@2g@2Dٱ2=! :AHRS rotation from veh to nav: [[-0.891495,0.440712,0.104930],[-0.451391,-0.883806,-0.123020],[0.038521,-0.157037,0.986841]]2H4?ܺ?@ܿ"HE~?Ŀ 4?i2UY@I2aa];2-CYBByB/)IbDJ VDJ2yRD%VX=ٔVzQ-V>9XYX=ZDyZCZ:E^>`Q 5f4bv{?Q 9f4bL)b>rBYdyf'Q If?bqCIb:ibw:bY4yhɮn0Aljh FNOT Ignoring new targets: 294.19 m.Rh\8Zh\8e>eR=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.264006y ProNav: ac range: 294.185059 m, nav range: 303.022552 m, bearing: 211.876838 deg, approach rate: -0.706062 m/s, LOS rate: 0.005283 deg/s, cmd heading: 206.813770 deg, new cmd heading: 206.819781 deg. Bhh9HeadingCmd: 3.609686 target range: 294.185059 and range: 295.50 m.hg@h*h"h hgfffdddjdZd #,3'?A2Y@2Ng@2W ٱ2 ! :AHRS rotation from veh to nav: [[-0.891383,0.440789,0.105555],[-0.451559,-0.883745,-0.122842],[0.039136,-0.157164,0.986797]]2H45??VܿGr ?Ŀ֓?i2Y@I2S];20CYBByB4)Ii Mb@Mb@Mb@     9 I +?ˡE?~jtY 94?y '=  \AA A 7A) A Y ,AbD%VD%:y5<%5A=ٔ=Q-=>9="?Y="?=EDyE9CEa9EE>IQ 5U4Me?Q 9U4MP)M?rBY]4?Q E]:y]'Q I]?MCIM;iM%;M4yeKBɮeAeEjh FNOT Ignoring new targets: 294.19 m.Rh8Zh8% ProNav: ac range: 294.185059 m, nav range: 302.724396 m, bearing: 211.878771 deg, approach rate: -0.705259 m/s, LOS rate: 0.004578 deg/s, cmd heading: 206.819781 deg, new cmd heading: 206.825587 deg. Bh%I9-HeadingCmd: 3.609787 target range: 294.185059 and range: 295.50 m.h-g@h)*hI"hI hIgIfQfQfQdQdYdYjdYZd]B?ɢP) >]i)i$i+΍;c;Ig@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767779@ @@0@)^A E  E E *E "E :*E VE (N4ZE a @a @a @a @A A @AB >B #CB {)IB ˉBB B B DB ݀;B 6EA I I O >Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0187867I,'?AɰB$Y@BQg@B@$ٱB NAHRS rotation from veh to nav: [[-0.891130,0.441283,0.105629],[-0.451978,-0.883810,-0.120815],[0.040042,-0.155404,0.987039]]BH"=?z ?6ܿ*H`?Fÿ@ӕ?iB$Y@IB];B/CYbByfA)IbDnVDn1yQ=%N=ٔQ- >9 Y = Dy ZC:E>Q 5%4BQ?Q 9%4kT)@rBY!y%'Q I-?CI";i:4y1ɮ5A1jhQFNOT Ignoring new targets: 294.19 m.Rh28Zh28 ProNav: ac range: 294.185059 m, nav range: 302.444977 m, bearing: 211.880557 deg, approach rate: -0.705297 m/s, LOS rate: 0.004513 deg/s, cmd heading: 206.825587 deg, new cmd heading: 206.830951 deg. BhԹ zs,'?AE& E&E&+E$"E&y:*E&V:VE& [4ZE$BE&9~ ?Y~ ?=~Dy~zCvV9E> Q 54 E`,~'?AY By =)IiMb@Mb@Mb@ 99"?Y"?=DyCE>Q 54&?Q 94U\)CrBY.4?Q E:y%Q I?CI:i::4y#Bɮ+AE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 294.19 m.Rh%87Zh%875 ProNav: ac range: 294.185059 m, nav range: 301.857758 m, bearing: 211.882628 deg, approach rate: -0.716782 m/s, LOS rate: 0.000632 deg/s, cmd heading: 206.836365 deg, new cmd heading: 206.837167 deg. Bh57=HeadingCmd: 3.609990 target range: 294.185059 and range: 295.50 m.h= g@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdU 3P @yɢ}ꍼ)y 4Ni)"顁i'bE [4jEY4rE?z0EM EMEM0EI"EMD:*EM H:VEM4ZEIa]@a]@a]@a]@im+m;iIm g@IiB>BBBB =BBB;B6E@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029780^AE ;A I9 IQ O] >k,R'?A^1Y@^e'g@^ /ٱ^ nAHRS rotation from veh to nav: [[-0.890669,0.442227,0.105565],[-0.452639,-0.884319,-0.114443],[0.042743,-0.149714,0.987805]]^H \sM?G?ܿ`XL&L f?)ÿ`?i^1Y@I^^;^,CY~By~:)I  bD!VD!MBDAT read: Rx Time:00:28:16.7430 MTRx dataTimestamp_ set to:1761524895.797147Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.281089yUJ%]T=ٔ].Q-]>9aYa=eDyeCm:Em>iQ 5u4m?Q 9}4m`)mFrBYyy}%Q I}?m)CIm;im;m 4yɮ5AjhFNOT Ignoring new targets: 294.19 m.Rh7Zh7 ProNav: ac range: 294.185059 m, nav range: 301.583588 m, bearing: 211.882830 deg, approach rate: -0.704655 m/s, LOS rate: 0.000519 deg/s, cmd heading: 206.837171 deg, new cmd heading: 206.837776 deg. BhT7HeadingCmd: 3.610000 target range: 294.185059 and range: 295.50 m.h> g@h*h"h hgfffdddjdZdm @ɢr) Si)S-i@)iw+;ͭ;I> g@I Y9@ @@@Ee EeEe*Ea"Ee:*Eega:VEe(N4ZEaBEeJm,- (?A:F3Y@:(g@:$h1ٱ:@ FAHRS rotation from veh to nav: [[-0.890604,0.442252,0.106005],[-0.452713,-0.884331,-0.114063],[0.043299,-0.149574,0.987802]]:H M?#?@ܿoL@33 >+?`?%ÿ?i:F3Y@I:];:-CYLyN;)Ii%Mb@Mb@Mb@!!!! !9%bX9?L7A`?~jtY%E6?y%+=%D!! !)%A!Y%(AbD=VD=0yMF ;%MI=ٔMUQ-U>9QYQ=UDyUC]>y9E]>aQ 5m4e?Q 9m4e"d)eIrBYm7?Q Em:ymF%Q Iu?eNCIe:ie:e4y}Bɮ}A}EjhFNOT Ignoring new targets: 294.19 m.Rh?׶Zh?׶E ProNav: ac range: 294.185059 m, nav range: 301.295929 m, bearing: 211.882682 deg, approach rate: -0.714909 m/s, LOS rate: -0.000368 deg/s, cmd heading: 206.837772 deg, new cmd heading: 206.837328 deg. BhE%HeadingCmd: 3.609993 target range: 294.185059 and range: 295.50 m.h g@h*h"h hgfff!d)d1d9jdAZdM`@Թ Gf>RCEG}DAT read: 00:28:16.7430 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 425, 0.05, 2.985, 1.674, 2.907, 2.380, PHS= 0.706,-0.662, 0.483, RAW= 141.2, -8.3, CAL= 141.3, -9.9, ROT= 8.7, 9.9 Ygot valid direction response: 00:28:16.7430 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 425, 0.05, 2.985, 1.674, 2.907, 2.380, PHS= 0.706,-0.662, 0.483, RAW= 141.2, -8.3, CAL= 141.3, -9.9, ROT= 8.7, 9.9 PDAT read: Bearing 341.1, 12.5 (Local) ~Local bearing/azimuth received: Bearing 341.1, 12.5 (Local) DAT read: Range 11 to 50 : 293.1 m (Round-trip 390.9 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.973775,0.149008,-0.171929]Fpublishing direction and range infoyIM =))?Ǫ^?!ƿYMCIIII I)MDIMj4?iMx)MK>Mϸ@MVMh@ M;0)M|>IM;0>IIM"D讁?7RN?]h¿ M>)M>IM|>iM;0>IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-9)Y-eAqɢuLp~)q u.Riq)u (;yyi}5 +i+0;I g@I!@ @@/@Eu  Eu Eu 'Eq "Eu :*Eu F:VEu '4ZEq a} @a} @a} @a} @ B <A <B >B B B B =B B B ;B a6E *DAT read: user:117>  BDAT read: Tx time:00:28:17.9480  $Ping request sent. ,y$(?A8 Z+Y@  !g@ 1ٱ :J %AHRS rotation from veh to nav: [[-0.890818,0.441869,0.105808],[-0.452280,-0.884619,-0.113540],[0.043430,-0.148998,0.987883]] HG?7?@'ܿN`r9Y=DyCZE>Q 54?Q 94]h)MrBYyN%Q I?uCI:i_:z4yBɮAEii*(?AJiCRiCjio@ixbi;0>im>HV(dMEziJ ; 0kԯ`;+ÿ2iF!:i6o"i*?*i={BiAiiiDbBiCiҬl@ addTargetRange:: Added new target pos. range: 293.100006 m, deltaT: 4.036048 s, deltaX: -2.399994 m, approachRate: -0.594640 m/s, rangeRepo size: 4   Added new target pos. range: 291.790863 m, bearing: 213.987895 deg, lat: 36.779279 deg, lon: -121.859945 deg, deltaT: 4.036048 s, deltaX: -2.394196 m, approachRate: -0.593203 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 291.79 m.RhZh% ProNav: ac range: 291.790863 m, nav range: 300.992523 m, bearing: 211.882553 deg, approach rate: 0.000000 m/s, LOS rate: -0.000368 deg/s, cmd heading: 206.837335 deg, new cmd heading: 206.836862 deg. Bh)5HeadingCmd: 3.609984 target range: 291.790863 and range: 293.10 m.h5 g@h1*h1"h1 h1g1f9f9f9d9dAdAjdEQr@ZdE)t?qɢuؚ)q uOiq)}Cyyi}&,i+?;P;I g@Iԡ%9@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251197^AES;IIO> E  E E *E "E :*E H:VE (N4ZE BE (?A2-%Y@2g@2C2ٱ2W :AHRS rotation from veh to nav: [[-0.890982,0.441531,0.105838],[-0.451941,-0.884816,-0.113357],[0.043597,-0.148832,0.987901]]2H@ B?@9?ܿ jPXR? ÿ?i2-%Y@I2{y];2-CYbBybA)IIjC=)j9Y=Dy C E >Q 54&?Q 944l)QrBY!y%T%Q I-?CIV;ic;74yɮ|Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505173jh1=FNOT Ignoring new targets: 291.79 m.Rh=ZhEu ProNav: ac range: 291.790863 m, nav range: 300.716797 m, bearing: 211.882455 deg, approach rate: -0.621404 m/s, LOS rate: -0.000221 deg/s, cmd heading: 206.836856 deg, new cmd heading: 206.836562 deg. Bhu}HeadingCmd: 3.609979 target range: 291.790863 and range: 293.10 m.h} g@hy*hy"hy hygyfyffdddjdZd@? ɢv) Gi)%dSO!!i%-i=+=O;=ߧ;I= g@IY@Y @Y@Y@a9 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754985a ^A ?B;A fAzA I I O- >_,9QYQ=UDyUACUE]>aQ 5e4ey?Q 9m4eap)eVrBYm4?Q Em:ymS$Q Im?eCIe:ie:er4y}Bɮ}/A}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 291.79 m.RhKZhK= ProNav: ac range: 291.790863 m, nav range: 300.424652 m, bearing: 211.881475 deg, approach rate: -0.829295 m/s, LOS rate: -0.002785 deg/s, cmd heading: 206.836556 deg, new cmd heading: 206.833613 deg. Bh=EHeadingCmd: 3.609928 target range: 291.790863 and range: 293.10 m.hE g@hA*hA"hA hAgAfIfIfIdIdQdQjdqZdu@w?E EE+E"E[:*EA:VE [4ZEa@a@a@a@ɢF) BB)IBЉBB =BBB;BY6EBB#CBÓCBõ =Bõ =Ç5i9@ @@P0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007393ԑ^A8;I I) O= > ,hr(?A>Y@> g@>2ٱ>s FAHRS rotation from veh to nav: [[-0.891455,0.439983,0.108271],[-0.450999,-0.884632,-0.118432],[0.043672,-0.154406,0.987042]]>H ͆`(??,ܿNQ'\?ÿؕ?i>Y@I>];>+CYNByN>)I Va=Vp=bDZVDZ:2bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120yf#%fR=ٔjČ8Q-j>9lYl=nDynaCnEr>pQ 5v4r?Q 9v4rLt)r[rBYxyz]$Q Iz?rCIr:ir;r?ƒ4y~ٵBɮAEjh!-FNOT Ignoring new targets: 291.79 m.Rh-'Zh-'= ProNav: ac range: 291.790863 m, nav range: 300.150024 m, bearing: 211.880586 deg, approach rate: -0.706807 m/s, LOS rate: -0.002291 deg/s, cmd heading: 206.833619 deg, new cmd heading: 206.830949 deg. BhE7ɸEHeadingCmd: 3.609881 target range: 291.790863 and range: 293.10 m.hEKg@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]`?颁ɢ) Li)a顑iL0ԙij+W;Pg;IKg@I59@1 @1@54@1E EE(E"EI:*E=:VEc44ZEBE q",:(?A@2BY@2g@2U3ٱ2\# :AHRS rotation from veh to nav: [[-0.891602,0.439208,0.110191],[-0.450688,-0.884314,-0.121939],[0.043887,-0.158383,0.986402]]2H ? |5?ܿ@LL l7Qx?@EĿ?i2BY@I2!)^;2.CYBByBC)Ii Mb@Mb@Mb@     9 |?5^?333333?{GzY 2?y = #  A 1A) dA Y f&AbD%VD%02y5"<%5D=ٔ5sQ-=>9= ?Y= ?==DyECEXEE>IQ 5U4MI?Q 9U4Mux)M_rBYU3?Q EU:y$Q I?MCIMוB B B B =B B B €;B b6E^A A A ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015296ԉ AQ Ia Iq O} >)),l(?ANA Y@Nf@N 4ٱN<# VAHRS rotation from veh to nav: [[-0.891732,0.438844,0.110593],[-0.450412,-0.884388,-0.122418],[0.044085,-0.158976,0.986298]]NH?O?ܿL`VD?RYĿ@?iNA Y@INi5^;N-CY^By^K)IbDfVDf2yn<%nM=ٔrbQ-r>9pYt=vDyvCvIEv>xQ 5~4zm?Q 9~4zq|)zbrBYy$Q I?z*CIz4:izM:z{Ԓ4y ĵBɮ AEjh1=FNOT Ignoring new targets: 291.79 m.Rh=DZh=DM ProNav: ac range: 291.790863 m, nav range: 299.577332 m, bearing: 211.878973 deg, approach rate: -0.755400 m/s, LOS rate: -0.002107 deg/s, cmd heading: 206.828455 deg, new cmd heading: 206.826111 deg. BhMUHeadingCmd: 3.609797 target range: 291.790863 and range: 293.10 m.hUg@hQ*hY"hY hYgYfYfafadadadajdiZdm@频ɢՍ) 8i)Su顙i83i+N;;Ig@)I19@ @@/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266881^Avт;ԉA ؟AI I O% >Ա D zD AAE  E E E "E [:*E A:VE ZE BE 9V"?YZ"?=ZDyZCZEZ>9Q 5E4=o?Q 9E4=)=frBYAyM$Q IM?=OCI=/;i=uI;=ے4yBɮ%AE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521414ԙjh!UFNOT Ignoring new targets: 291.79 m.Rh]Zh] ProNav: ac range: 291.790863 m, nav range: 299.287933 m, bearing: 211.878175 deg, approach rate: -0.621122 m/s, LOS rate: -0.001715 deg/s, cmd heading: 206.826106 deg, new cmd heading: 206.823709 deg. BhHeadingCmd: 3.609755 target range: 291.790863 and range: 293.10 m.h9g@h*h"h hgfffdddjdZd @ɢrv) 63i)V!!i%5im{+uC;}mhx;I9g@I@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944^A r;A gAzA gA1 AI IY Ii Ou >6,eo(?Aɰ49YYY=]Dy]CeEe>iE} E}E}'Ey"E}:*E} H:VE}'4ZEya@a@a@a@Q 54mY?Q 94m)mgrBYk4?Q E:y@$Q I?mwCIm.;im;m|4yBɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 291.79 m.RhQ B5>B1B5)IB5ՉBB5 =B1B1B5;B5_6EZhQ ProNav: ac range: 291.790863 m, nav range: 298.973022 m, bearing: 211.877041 deg, approach rate: -0.794802 m/s, LOS rate: -0.002863 deg/s, cmd heading: 206.823715 deg, new cmd heading: 206.820312 deg. BhHeadingCmd: 3.609695 target range: 291.790863 and range: 293.10 m.h@g@h*h"h hgfffdddjdZd @IɢUzq)Q UiQ)UIYYi]6i]t+eX,;=;I@g@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0237559a] 9@a  @a @e 4@a @i @m =ԑ ߵ =ߵ = BDAT read: Rx Time:00:28:20.7607  TRx dataTimestamp_ set to:1761524899.828380 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276261^AE oM;A}.AIIO?>,=(?A6X@6f@69ٱ6 >AHRS rotation from veh to nav: [[-0.892516,0.437440,0.109821],[-0.448732,-0.885742,-0.118745],[0.045329,-0.155262,0.986833]]6H ~`?`A?`ܿ Xfk5?ÿ@"?i6X@I6];6*CYFByFO)IbDPVDPyZ %Z&=ٔZGQ-Z>9^ ?Y^ ?=^Dy^CbEb>`Q 5j4bA?Q 9j4b)birBYhyjK$Q Ij?bCIb;ib7;b4yrBɮrƯArEE5 E5E5)E1"E5:*E5|;:VE5FA4ZE1BE5= r?A l{*?/;fϿY &C #t) FI Y?i / X9? "@^A- 0:D; PwV Ƈ#@ }) =I }> CIx0?35?BԺʿ 9>) wV>I =i }> e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.A؟AIIO >F,~)?AHJ@ X@ f@ N4;ٱ g AHRS rotation from veh to nav: [[-0.892582,0.437274,0.109948],[-0.448564,-0.885891,-0.118265],[0.045688,-0.154880,0.986876]] H@@L?@%?Fܿ8YFsd?ÿ}?i X@I ]; ,CY-By-_)IbE (N4jE C4rE Ϛ/E EE*E"E:*EF:VE(N4ZEa@a@a@a@B!A%<B->B-%CB-)IB-߉BB- =B)B-DB-;B-P6EiUMb@Mb@Mb@QQQQ Q9Ud;O?9"?Y"?=Dy=C3E>Q 54$?Q 94)lrBY5?Q E:y%Q I?CIr>;i=;4yBɮ@A%EiiX)?AJixCRixCjiOh@ipr@2@q{Rri'>r?A l{*?/;fϿZi=bi}>ipݲaKwpr '~aTޛOzi,뿫X^ݿʖ*ʿ2i :i"ik?*i!BiF@i?iK7di,BiCiApk@ addTargetRange:: Added new target pos. range: 306.299988 m, deltaT: 4.034066 s, deltaX: 13.199982 m, approachRate: 3.272128 m/s, rangeRepo size: 4  Added new target pos. range: 304.941528 m, bearing: 207.976305 deg, lat: 36.779229 deg, lon: -121.859907 deg, deltaT: 4.034066 s, deltaX: 13.150665 m, approachRate: 3.259903 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 304.94 m.RhZh ProNav: ac range: 304.941528 m, nav range: 301.123322 m, bearing: 210.775494 deg, approach rate: 0.000000 m/s, LOS rate: -0.002299 deg/s, cmd heading: 206.816694 deg, new cmd heading: 206.812983 deg. BhHeadingCmd: 3.609567 target range: 304.941528 and range: 306.30 m.h'g@h*h"h hgff f d d d*DAT read: user:118> %BDAT read: Tx time:00:28:21.9979 %$Ping request sent.%A >A-.AI9IIOU?NO, ?)?A2X@2f@2*:ٱ2Q :AHRS rotation from veh to nav: [[-0.893025,0.436602,0.109017],[-0.447688,-0.886521,-0.116861],[0.045624,-0.153165,0.987147]]2H``J??ܿ`^꽿\?`ÿ?i2X@I2H];2+CY@yB^)IDHzDJ?AEN ENEN(EL"EN:*ENA:VENc44ZELBEN` 9j ?Yj ?=jDyjcCjEn>lQ 5r4n ?Q 9r4nG)nnrBYtyv%Q Iv?nCInY;inD;n4yzuBɮ~A~¤Ejh%FNOT Ignoring new targets: 304.94 m.Rh%zZh%z5 ProNav: ac range: 304.941528 m, nav range: 300.788757 m, bearing: 210.773931 deg, approach rate: -0.732500 m/s, LOS rate: -0.003425 deg/s, cmd heading: 206.812978 deg, new cmd heading: 206.808285 deg. Bh5r=HeadingCmd: 3.609485 target range: 304.941528 and range: 306.30 m.h=g@h9*hA"hA hAgAfAfIfIdIdIdQjdQZdU:?ɢj) i)%AAiE :? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754985A I I O >) &U,iX)?A2X@2f@2*8ٱ2 >AHRS rotation from veh to nav: [[-0.893485,0.435815,0.108393],[-0.446837,-0.886873,-0.117443],[0.044947,-0.153368,0.987146]]2Hn`d??ܿ`Ca@ V?`ÿ?i2X@I2];2*CYFȉByFx)IiEMb@Mb@Mb@AAAA A9E7A`?MbX9?I +YE6?yEʡ=E9E7AE A E-A)EzAAYAbD]VD]ym=%mA=ٔu:Q-u>9qYq=}Dy}C}E}>Q 54V?Q 94)Y7?Q E:y$Q I?(CI7:i:4yɮAjhFNOT Ignoring new targets: 304.94 m.RhښZhښ ProNav: ac range: 304.941528 m, nav range: 300.485138 m, bearing: 210.772142 deg, approach rate: -0.717174 m/s, LOS rate: -0.004231 deg/s, cmd heading: 206.808279 deg, new cmd heading: 206.802906 deg. Bh9HeadingCmd: 3.609392 target range: 304.941528 and range: 306.30 m.hFg@h*h"h hgfffdddjdZdR?!ɢ-4F)) -(޽i))-h)1i5֞>i=p+=Tv;={:I=Fg@I9E EE&E"E*E H:VE4ZEa@a@a@a@9@ @@/@B5>B1B5)IB5BB5 =B1B1B5;B1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124I^A?B:q AA II IY Om >1\,4r)?A$:)X@:ٱf@:Y1ٱ: BAHRS rotation from veh to nav: [[-0.893866,0.435304,0.107298],[-0.446224,-0.886996,-0.118839],[0.043442,-0.154105,0.987099]]:H?w?ܿ Eb:l@>?ÿP?i:)X@I:];:,CYHyJw)IR=R=PPbDVVDV2y^.%^V=ٔbp;Q-b>9`Y`=fDyfCftEf>hQ 5n4j?Q 9n4jq)jlrBYpyr$Q Ir?jKCIj;ij;j( 4yv`BɮvbAvE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 304.94 m.RhEZhE- ProNav: ac range: 304.941528 m, nav range: 300.211639 m, bearing: 210.770566 deg, approach rate: -0.716828 m/s, LOS rate: -0.004133 deg/s, cmd heading: 206.802910 deg, new cmd heading: 206.798180 deg. Bh-55HeadingCmd: 3.609309 target range: 304.941528 and range: 306.30 m.h5f@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM?qɢ}IM)y }߽iy)}顁i*@i +:;,9If@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258806Q@Q @Q@Q@QyԙD=Da=E EE)E"E:*EC:VEFA4ZEBEb,tz)?A2X@2af@2M(ٱ2 :AHRS rotation from veh to nav: [[-0.894155,0.434991,0.106159],[-0.445859,-0.886788,-0.121727],[0.041190,-0.156174,0.986870]]2H@?5-?ܿ`x)?ÿ q?i2X@I2];2*CYBՉByB)IPiMMb@Mb@Mb@IIII I9M9v?Zd;O?9}"?Y}"?=}Dy}CꋺE>Q 54?Q 94࠽)krBY6?Q E:y#Q I?rCI. ;i ;4yKBɮ׭AEjhFNOT Ignoring new targets: 304.94 m.RhZh  ProNav: ac range: 304.941528 m, nav range: 299.907440 m, bearing: 210.767698 deg, approach rate: -0.709546 m/s, LOS rate: -0.006697 deg/s, cmd heading: 206.798184 deg, new cmd heading: 206.789571 deg. Bh HeadingCmd: 3.609159 target range: 304.941528 and range: 306.30 m.huf@h*h!"h! h!g!f!f)f)d1d9d9jd9ZdE@7?颉ɢ () i)>iAi@#+%x;%/9I%uf@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764664@ @@@^A9E  E E *E "E y:*E A:VE (N4ZE a @a @a @a @A) A) B5 >B1 B5 )IB5 BB5 =B1 B5 DB5 ;B5 E6EB%CB$CBɔCBɴ =BC5a A9 II IY Oe >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014668)i,n)?AFX@Ff@FeٱF"" RAHRS rotation from veh to nav: [[-0.894231,0.435184,0.104721],[-0.445912,-0.886458,-0.123914],[0.038906,-0.157504,0.986752]]FH@ ?Ϻ? Ӊܿ] ָm?)Ŀ x?iFX@IF~];F+CYV߉ByV)IbDbVDb2yfE=%jT=ٔjo;Q-j>9lYl=nDynCr78Er>tQ 5z4vԑ  p,f2)?A2X@2bf@2ٱ2( :AHRS rotation from veh to nav: [[-0.894450,0.435453,0.101684],[-0.445665,-0.886715,-0.122962],[0.036621,-0.155300,0.987188]]2H Vt??ȅܿ`_jz`?`ÿ ?i2X@I2];2,CEB E@EB(E@"EB:*E@VEBc44ZE@BEB9f ?Yj ?=jDyjCjPEj>lQ 5r4n&?Q 9r4n )ngrBYtyv#Q Iv?nCIn:in:n[!4yz5Bɮz:AzEyjhFNOT Ignoring new targets: 304.94 m.RhZh ProNav: ac range: 304.941528 m, nav range: 299.347382 m, bearing: 210.762419 deg, approach rate: -0.678352 m/s, LOS rate: -0.006393 deg/s, cmd heading: 206.781791 deg, new cmd heading: 206.773712 deg. BhdHeadingCmd: 3.608882 target range: 304.941528 and range: 306.30 m.hf@h*h"h hgfffdddjdZd@iɢu) Di) iDi'+Th;q9If@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061ԩ-9@1 @1@1@1Au؟AIyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770719 5v,A )?A2X@20f@2O ٱ2 :AHRS rotation from veh to nav: [[-0.894558,0.436095,0.097914],[-0.445638,-0.887049,-0.120629],[0.034249,-0.151544,0.987857]]2H@8 ?`?Sܿ`b᾿?eÿ ?i2X@I2];2)CYBByB)Ii Mb@Mb@Mb@     9 $C?MbX?~jtY :?y = D M4A  A *A) A Y \AbD VDf2y=%>=ٔ;Q->9"?Y"?=Dy(C1E>Q 54?Q 94)frBY;?Q E:y#Q I?CI ;i ;(4yɮAjhFNOT Ignoring new targets: 304.94 m.RhZh  ProNav: ac range: 304.941528 m, nav range: 299.032135 m, bearing: 210.759000 deg, approach rate: -0.768175 m/s, LOS rate: -0.008340 deg/s, cmd heading: 206.773718 deg, new cmd heading: 206.763450 deg. Bh (HeadingCmd: 3.608703 target range: 304.941528 and range: 306.30 m.hf@h*h"h hgfffd!d!d!jd!Zd%% @QɢU:λ)Y ]iY)]YYi]3wFie*+e!(;ex9Imf@IiE EEE"E:*E?:VEZEa@a@a@a@B>B$CB)IBBBBBB;Be6E 9@  @ @ O0@ i!I!%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023043AYIaIqOa>1a _`|,)?AY~By~)IbD VD ye<%%R=ٔ%Q-%>9!Y)=-Dy-HC-E->1Q 5=45'}?Q 9=45౽)5erBYAyAQ IE?5CI5;i5?;5/4yM'BɮMAMǤEmB*** querying acoustic contact ***ii iijhqBDAT read: Rx Time:00:28:24.8071 TRx dataTimestamp_ set to:1761524903.860319checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276017FNOT Ignoring new targets: 304.94 m.RhZh ProNav: ac range: 304.941528 m, nav range: 298.747223 m, bearing: 210.755904 deg, approach rate: -0.733297 m/s, LOS rate: -0.007977 deg/s, cmd heading: 206.763446 deg, new cmd heading: 206.754148 deg. Bh-HeadingCmd: 3.608541 target range: 304.941528 and range: 306.30 m.hTf@h*h"h hgfffdddjdZdH @ɢ贻)  i)~џi"Gib-+f; f9I Tf@I Qq@q @q@u1@qԁE EE+E"E:*EF:VE [4ZEBE` ԱM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529006 I,G *?AɰY By)Ii Mb@Mb@Mb@     9 v?(\µ?Mb`Y 8?y =  1A  ?'A)  Y AbD%VD% 3y][=%]8=ٔiQ-u>9Y=DylCE>ԱQ 54e?Q 94)jrBY:?Q E:y$Q I?2CI;i<74y-Bɮ5A5ƤEjhFNOT Ignoring new targets: 304.94 m.Rh;¸Zh;¸] ProNav: ac range: 304.941528 m, nav range: 298.415894 m, bearing: 210.753305 deg, approach rate: -0.675916 m/s, LOS rate: -0.005307 deg/s, cmd heading: 206.754143 deg, new cmd heading: 206.746339 deg. Bh]ieHeadingCmd: 3.608404 target range: 304.941528 and range: 306.30 m.hef@DAT read: 00:28:24.8071 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.35, 2.087, 0.718, 1.989, 1.542, PHS= 0.647,-0.779, 0.403, RAW= 140.8, -4.1, CAL= 140.8, -4.7, ROT= 9.2, 4.7 Ygot valid direction response: 00:28:24.8071 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.35, 2.087, 0.718, 1.989, 1.542, PHS= 0.647,-0.779, 0.403, RAW= 140.8, -4.1, CAL= 140.8, -4.7, ROT= 9.2, 4.7 PDAT read: Bearing 346.5, 11.5 (Local) ~Local bearing/azimuth received: Bearing 346.5, 11.5 (Local) DAT read: Range 11 to 50 : 303.7 m (Round-trip 405.0 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.983817,0.159344,-0.081939]Fpublishing direction and range infoy:m{?K^e?YٗC )GIˡ%?ilGV>nF@CnF@ )l$>I=7.?C?"Oڗ?sA CԹ>)-H=Il$>i=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ha*h"h hgfffdd!d!jd%@3r@Zd% ?颩ɢ[k) B B )IB BB =B B B ;B 6E^A 0::= *DAT read: user:119> E BDAT read: Tx time:00:28:25.9979 E $Ping request sent.E C, +*?A-?X@-f@- ܼٱ-k eAHRS rotation from veh to nav: [[-0.895474,0.435982,0.089706],[-0.444304,-0.887662,-0.121038],[0.026858,-0.148243,0.988586]]-H @ ??@yoܿ g _?@¿?i-?X@I-k];-*CqY}By})IbD VD2y =%==ٔl9 ?Y ?=DyC6vE>Q 54P?Q 94)lrBYy1$Q I?YCI;i;?4yɮAiiB*?AJi,CRi,Cjio@i֏Nr@v/H@dFF)8ri:m{?K^e?Zil$>bi=iPrnB/}e?7zix4꿡xJ2N2i+:iw"i9Л?*iMeBi5Bi9Л?i[i5BiECi m@ addTargetRange:: Added new target pos. range: 303.700012 m, deltaT: 4.029903 s, deltaX: -2.599976 m, approachRate: -0.645171 m/s, rangeRepo size: 4 - Added new target pos. range: 302.349487 m, bearing: 214.777139 deg, lat: 36.779307 deg, lon: -121.859945 deg, deltaT: 4.029903 s, deltaX: -2.592041 m, approachRate: -0.643202 m/s, posRepo size: 4 jh)5FNOT Ignoring new targets: 302.35 m.Rh5Zh1M ProNav: ac range: 302.349487 m, nav range: 292.542145 m, bearing: 212.187592 deg, approach rate: 0.000000 m/s, LOS rate: -0.005307 deg/s, cmd heading: 206.746343 deg, new cmd heading: 206.740114 deg. BhI]HeadingCmd: 3.608296 target range: 302.349487 and range: 303.70 m.h]Qf@ha*ha"ha higqfyffdddjdZd@)>?Yɢ) pR=i)ѝ顉iWKid1+DH;?XIQf@Iԙ=9@9 @9@=4@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251480^A] 9 D zD AAE  E E (E "E :*E ?:VE c44ZE BE = +%,D*?AY~By~)IbD VD k1ye<%%S=ٔ%Q-%>9)Y)=-Dy-C-E->1Q 5E45=D,{^*?ABwX@B\mf@BiٱB JAHRS rotation from veh to nav: [[-0.896346,0.434745,0.086957],[-0.442790,-0.887718,-0.126066],[0.022387,-0.151502,0.988203]]BHݮ`?B?`Vܿ0h"?ldÿ\?iBwX@IB];@YR1ByR)Ii-Mb@Mb@Mb@)))) )9-K?L7A`?y&1|?Y-^:?y-+=-`;-h/A) -n&A)))Y-AbDEVDE:3yU^=%UH=ٔU39]"?Y]"?=]Dy]CeEe>iQ 5u4m&?Q 9u4m&ý)msrBYu$;?Q E}:y}%Q I}?mCIm;im;mL4yBɮӪAjhFNOT Ignoring new targets: 302.35 m.Rh8Zh8 ProNav: ac range: 302.349487 m, nav range: 291.963226 m, bearing: 212.187512 deg, approach rate: -0.741724 m/s, LOS rate: 0.001761 deg/s, cmd heading: 206.737750 deg, new cmd heading: 206.739873 deg. Bh8HeadingCmd: 3.608291 target range: 302.349487 and range: 303.70 m.h?f@h*h"h hgfffdddjdZd?B>B#CB)IB0BBBBDB!;B6EIbE}:4jEyrE}?0E EE.E"EI:*EC:VEـ4ZEBE<2E<JE?;:E@;ɢ B ;)  =i ) »iMiv1+g;I?f@III)MhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0078589@ @@/@@p=@=ԉԩ^A9 Aq Iy I O > 5 ,>5 C>= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2591115j,Dx*?A2jX@2`f@2ٱ2 :AHRS rotation from veh to nav: [[-0.896737,0.434366,0.084792],[-0.442114,-0.887871,-0.127361],[0.019963,-0.151697,0.988225]]2H`?봵? Kܿoi_M$q? jÿ?i2jX@I2p];2)CYB9ByB*IbDN VDN2yVF=%VV=ٔV;Q-V>9XYX=ZDyZCZ"E^>`Q 5f4b?Q 9f4bƽ)bxrBYdyf%Q If?bCIb:ib(:bS4yhɮnAlUB*** querying acoustic contact ***iQ iQjhFNOT Ignoring new targets: 302.35 m.Rh8Zh8 ProNav: ac range: 302.349487 m, nav range: 291.684570 m, bearing: 212.188217 deg, approach rate: -0.700634 m/s, LOS rate: 0.001774 deg/s, cmd heading: 206.739868 deg, new cmd heading: 206.741985 deg. Bh8HeadingCmd: 3.608328 target range: 302.349487 and range: 303.70 m.hf@h*h"h hgfffdddjdZdF?qɢ}N];)y }8=iy)}顁i#Oi0+d ;:If@I)@) @)@-/@)D<D<E EE*E"E:*EVL:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882^Au  A I I O >9 ^Q,?*?A "wf> RG^liAjMAA9liAY\A-p^X@- Tf@->ٱ- EAHRS rotation from veh to nav: [[-0.897112,0.433943,0.082966],[-0.441452,-0.887936,-0.129190],[0.017607,-0.152523,0.988143]]-H$ ?`==?@ܿiL?`ÿޞ?i-p^X@I-];-*CYUEByU*IiMb@Mb@Mb@ 9Q??:v?Y5?yL=T< A #A);AY\AbD] VD]2ymZ=%m1=ٔmP;Q-u>9qYq=}Dy}C}׺E}>Q 54?Q 94W˽)rBY=6?Q E:y+'Q I?CI ;i ;[4yдBɮ,AĤEjhFNOT Ignoring new targets: 302.35 m.Rh*8Zh*8 ProNav: ac range: 302.349487 m, nav range: 291.356323 m, bearing: 212.190296 deg, approach rate: -0.737538 m/s, LOS rate: 0.004676 deg/s, cmd heading: 206.741985 deg, new cmd heading: 206.748229 deg. BhfM9HeadingCmd: 3.608437 target range: 302.349487 and range: 303.70 m.hf@h*h"h hgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909ffdddjdZd$@9ɢ=4;)9 =T >i9)=AAiEhPiE/+M;MgIMf@I@ @@/@9AAB>BB*IBJBB =BBBD;B6EE EE+E"E:*EF:VE [4ZEBE |,*?A FDMX@FBf@FLWٱFo1 nAHRS rotation from veh to nav: [[-0.897604,0.433088,0.082112],[-0.440525,-0.887956,-0.132180],[0.015666,-0.154818,0.987819]]FH@+?F?1ܿ#jF ?ÿ@6?iFDMX@IF];DYzNByz*IbDVD0yoD=%c=ٔ;Q->9!Y!=%Dy%1C%>E%>)Q 554-;?Q 954-ν)-rBY9y=<'Q I=?-CI-";i-?;-a4yEBɮEAMäEjhimFNOT Ignoring new targets: 302.35 m.Rhu8Zhu8 ProNav: ac range: 302.349487 m, nav range: 291.099976 m, bearing: 212.191975 deg, approach rate: -0.711460 m/s, LOS rate: 0.004664 deg/s, cmd heading: 206.748228 deg, new cmd heading: 206.753270 deg. BhL9HeadingCmd: 3.608525 target range: 302.349487 and range: 303.70 m.hf@h*h"h hgfffdddjdZd@ɢ;) >i)o  ilzQi-+R;RJIf@Iqi@i @i@m/@i@uhA@uhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266814ԙ^Avт I I O >D zD @AE  E E 'E "E :*E a9:VE '4ZE a @a @a @a @Tc,[*?A:JX@::@f@:gٱ:I" FAHRS rotation from veh to nav: [[-0.897697,0.432859,0.082299],[-0.440386,-0.887443,-0.136031],[0.014154,-0.158358,0.987280]]:H ?@?G/ܿevi`?EĿ̗?i:JX@I:];:)CYJRByN"*IPbDZVDZNyb<%bP=ٔb|;Q-b>9dYd=fDyfQCjݹEj>hQ 5r4j?Q 9r4jsҽ)jrBYpyr>'Q Ir?j5CIj7;ij;jh4yz´BɮzAz̤EjhFNOT Ignoring new targets: 302.35 m.Rh%8Zh%8- ProNav: ac range: 302.349487 m, nav range: 290.820526 m, bearing: 212.193817 deg, approach rate: -0.711295 m/s, LOS rate: 0.004692 deg/s, cmd heading: 206.753269 deg, new cmd heading: 206.758799 deg. Bh5N95HeadingCmd: 3.608622 target range: 302.349487 and range: 303.70 m.h5f@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`+(@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189179ɢ=;)9 =n%>iA)EAAiEaRiM ,+}C};If@I@ @@/0@^A > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771136IQ Ia Ou >Y ֍,*?AY VBy '*IiMb@Mb@Mb@B>BB7*IBcBBBBDBA;B6EBe#CBaBeCBe =Be =Ceź5 9tV?y&1?y&1?Y2?y`<`e<.AAA Z"A) AYAbD VD2yێ<% 7=ٔ Q- >9Y=DyuCE>!Q 5%4%Ӽ?Q 9-4%_ֽ)%rBY-2?Q E-:y-")Q I-?%]CI%":i%:%p4y=Bɮ=WA=ˤEE] E]E]&EY"E]y:*E]rN:VE]4ZEYBE]i)顡i Si(+Շ;PIf@IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023593a@a @a@e0@aq^A +I I O >ԡ % BDAT read: Rx Time:00:28:28.7608 % TRx dataTimestamp_ set to:1761524907.892055% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275798t,L*?AVUX@VJf@VŸ[ٱV*" bAHRS rotation from veh to nav: [[-0.897422,0.433542,0.081694],[-0.440969,-0.887121,-0.136246],[0.013404,-0.158295,0.987301]]VH@`(??@8ܿKcp`s?CĿ?iVUX@IV];V'CYj]Byj/*Ill rR=rR=bDvVDvN2y~=%~]=ٔ~;Q->9Y=DyC :E >Q 54?Q 94ٽ)rBYy)Q I%?~CI ;i;w4y-Bɮ-A-ʤEEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 302.35 m.Rh]9Zh]9m ProNav: ac range: 302.349487 m, nav range: 290.252106 m, bearing: 212.200865 deg, approach rate: -0.703222 m/s, LOS rate: 0.008688 deg/s, cmd heading: 206.770426 deg, new cmd heading: 206.779967 deg. Bhm;9uHeadingCmd: 3.608991 target range: 302.349487 and range: 303.70 m.huf@hq*hq"h hgfffdddjdZd @QɢuI<)q u:>iq)}ryyi}Ti%+Q;vIf@I9@ @@4@Em EmEm(Ei"Em:*Em H:VEmc44ZEiau@au@au@au@}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526753^A- 3I I O= >A ,v+?AYzSByz#*Ii}Mb@Mb@Mb@yyyy y9}ʡE?9Y=DyCE>Q 54?Q 94(ݽ)rBY/?Q E:y*Q I?CI;iK ;~4yɮ A jh!-FNOT Ignoring new targets: 302.35 m.Rh-`9Zh5`9= ProNav: ac range: 302.349487 m, nav range: 289.957184 m, bearing: 212.206165 deg, approach rate: -0.682984 m/s, LOS rate: 0.012286 deg/s, cmd heading: 206.779961 deg, new cmd heading: 206.795877 deg. BhE:EHeadingCmd: 3.609269 target range: 302.349487 and range: 303.70 m.hECf@hI*hIDAT read: 00:28:28.7608 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 486,-0.22,-2.755, 1.696,-2.683,-2.997, PHS= 0.344,-1.545, 0.270, RAW= 148.0, 10.1, CAL= 147.7, 11.0, ROT= 2.3, -11.0 Ygot valid direction response: 00:28:28.7608 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 486,-0.22,-2.755, 1.696,-2.683,-2.997, PHS= 0.344,-1.545, 0.270, RAW= 148.0, 10.1, CAL= 147.7, 11.0, ROT= 2.3, -11.0  PDAT read: Bearing 1.0, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 1.0, 1.1 (Local) DAT read: Range 11 to 50 : 269.0 m (Round-trip 358.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.%\direction in FSK: [0.980836,0.039394,0.190809]-Fpublishing direction and range infoylͰc?+?P@ml?YC )I >iſq=>MQ%@J4>$@  D>)l$=I D-en?4jʙ?Kb? b_>)4Il$=i DET****** received valid address query ******ER****** received valid ping request ******"hI hAgIfIfIfIdQdQdQjdUp@ZdUG?eQuerying Benthos address 50 with one ping in standard two-way mode.ɢ;) '>i)yi'Vis!+";~ICf@I99@ @@4@BAB>B$CBP*IBwBB =BBDB!;B6EiEu EuEu*Eq"Eu:*Eu[:VEu(N4ZEqBEu  BDAT read: Tx time:00:28:30.0479  $Ping request sent. ,j-+?A5oX@5@ef@5\ٱ5 UAHRS rotation from veh to nav: [[-0.896708,0.435185,0.080799],[-0.442417,-0.886786,-0.133710],[0.013463,-0.155646,0.987721]]5H@ձ?C?@Pܿ``h@?3ÿi?i5oX@I5qX];5(CYVBy&*IbDVDk1y~.<%J=ٔQ->9Y=DyC5 ~;E5>9Q 5E4=~?Q 9E4=)=rBYAyM*Q IM?=CI=&;i=D;=څ4yUBɮUAUɤEaiieP+?AJiCRiCjij@i~R5jp@<%@;ɌI@rilͰc?+?P@ml?Zil$=bi DiU,OZldJň`X.J@zi>QȽ߿x p?2if:ib"ibQ;ԡ?*i9${BiBi0'I?iPjiiCi*k@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 269.000000 m, deltaT: 4.032073 s, deltaX: -34.700012 m, approachRate: -8.605998 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 302.35 m.Rh\[9Zh\[9 ProNav: ac range: 302.349487 m, nav range: 289.672394 m, bearing: 212.211203 deg, approach rate: -0.676900 m/s, LOS rate: 0.011986 deg/s, cmd heading: 206.795875 deg, new cmd heading: 206.811004 deg. Bh:HeadingCmd: 3.609533 target range: 302.349487 and range: 303.70 m.hg@h*h"h hgfffdddjdZdfI?!ɢ%<)! -,>i))-Hq))i-CWi5+5-1;5`I5g@I9@ @@/@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250541^AU 3Eu  Eu Eu )Eq "Eu :*Eu H:VEu FA4ZEq a} @a} @a} @a} @A .AI I O > U,G+?A4<ɰ6րX@6vf@6T`ٱ6AF >AHRS rotation from veh to nav: [[-0.896239,0.436306,0.079962],[-0.443361,-0.886700,-0.131125],[0.013692,-0.152971,0.988136]]6H`@n?_x?`ܿ@_b ?`ÿ Ϟ?i6րX@I6A];4YFHByF*IbDNVDNk2yV~%V`=ٔZ$Q-Z>9Z ?YZ ?=ZDyZC^C;E^>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502583IQ 5U4Mj?Q 9U4M)MrBYYy]*Q I?MCIM7;iMUii)mbhiiimoXiuO+u3;u8Iugg@IyIEfA)A@ @@@@@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754492I ^A qZA zA hAq B >B %CB V*IB |BB =B B B ;B 6EA-؟AI1IIOU>,#e+?AE EE&E"E:*Ega:VE4ZEBE` 9"?Y"?=DyC;E>Q 54Q?Q 94)rBiIIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794Y.?Q Em:ym;+Q Im? DI5i))-_))i5iYi5+5K;="+I= g@ԁI@ @@/@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258952^A= *: I I O >23,+?A2&X@2լf@2jٱ26  :AHRS rotation from veh to nav: [[-0.894756,0.439485,0.079152],[-0.446326,-0.885824,-0.126924],[0.014334,-0.148893,0.988749]]2Hס ?NC?ܿ@X ?Z?`ÿգ?i2&X@I2];0YB?ByB *IbDJVDJ!3yRإ%RX=ٔVa8Q-V>9TYT=ZDyZ=CZ::EZ>\Q 5b4^j>?Q 9b4^)\Ydyf4+Q If?^DI^:i^:^{4yjRBɮjJAlzB*** querying acoustic contact ***Qix ixjhFNOT Ignoring new targets: 302.35 m.Rhk9Zhk9 ProNav: ac range: 302.349487 m, nav range: 288.829559 m, bearing: 212.226897 deg, approach rate: -0.675580 m/s, LOS rate: 0.012894 deg/s, cmd heading: 206.843400 deg, new cmd heading: 206.858147 deg. Bh :HeadingCmd: 3.610356 target range: 302.349487 and range: 303.70 m.hg@h*h"h hgfffdddjdZd@?ɢ;) =i)Zi(Zi%+%";%~}II%g@I)E EE'E"E:*EVL:VE'4ZEa@a@a@a@9@ @@/@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510534Ա^AΒ{I I O > ,Ί+?A2?2I?6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762701:[X@: f@:bٱ: BAHRS rotation from veh to nav: [[-0.894320,0.440137,0.080439],[-0.447214,-0.884884,-0.130310],[0.013825,-0.152512,0.988205]]:HE@5+? ?&ܿP@"P?ÿ_?i:[X@I:];:&CYJ;ByJ*IiMb@Mb@Mb@ 9> ףp=?{Gz?I +Y1?yף<9(ApA A)AYAbD5VD52yE%EA=ٔE:Q-E>9IYI=MDyM_CU?;EU>ԹQQ 54U(?Q 94UB)UrBY2?Q E:y)Q I?U-DIU:iU :Uޢ4y ;Bɮ AǤEjhQ]FNOT Ignoring new targets: 302.35 m.Rh]*?9Zh]*?9m ProNav: ac range: 302.349487 m, nav range: 288.536377 m, bearing: 212.231280 deg, approach rate: -0.697899 m/s, LOS rate: 0.010446 deg/s, cmd heading: 206.858153 deg, new cmd heading: 206.871317 deg. Bhmf9HeadingCmd: 3.610586 target range: 302.349487 and range: 303.70 m.hg@h*h"h hgfffdddjdZd @颉ɢ;) 0=i)jS顑i`[i +޴;ʸIg@IAAAAB>BBP*IBwBBBBB ;B6E9@ @@@bEjEA84rE+/E EE)E"E:*EF:VEFA4ZEBE= A5 >I I O >A A,e+?A2X@2Bf@2Tٱ2 :AHRS rotation from veh to nav: [[-0.894597,0.439466,0.081029],[-0.446685,-0.884663,-0.133582],[0.012978,-0.155696,0.987720]]2H`4 ?K?{ܿ(O`7 a?ÿ@f?i2X@I27X];2'CYB7ByB*IbDNVDNyV%VU=ٔVZ;Q-V>9XYX=ZDyZ~CZ˺E^>\Q 5b4^?Q 9f4^)^rBYdyf)Q If?^>DI^:i^:^4yjDBɮn2AnФEjh|FNOT Ignoring new targets: 302.35 m.RhJ9ZhJ9 ProNav: ac range: 302.349487 m, nav range: 288.269714 m, bearing: 212.235313 deg, approach rate: -0.731828 m/s, LOS rate: 0.011078 deg/s, cmd heading: 206.871322 deg, new cmd heading: 206.883431 deg. BhI9HeadingCmd: 3.610797 target range: 302.349487 and range: 303.70 m.h%Lg@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@2@9ɢ=;)9 E=iA)EknNAAiEw\iMi+Mj;M*yIMLg@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847@ @@0@Aq^A9D zD E  E E *E "E غ:*E VE (N4ZE a @a @a @a @I1 IA OU >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518396ԙ a(,>+?AFfX@Ff@FZ@ٱFj! fAHRS rotation from veh to nav: [[-0.894997,0.438795,0.080249],[-0.445917,-0.884832,-0.135020],[0.011761,-0.156627,0.987588]]FHУ 6?8?`ܿPSHF?Y ĿQ?iFfX@IFqb];DY*By )IbD]VD]1y/%<=ٔ6;Q->9Y=DyC9E>yQ 54? /GQ 94~)rB%jA9uʰ9ujAYuAY!yu)Q I}?SDI0B &CB =*IB hBB =B B DB ;B 6EIa Iq O > EE  EE EA EA "EE :*EE :VEA ZEA BEE )%R=iMb@Mb@Mb@ 9> ףp=?)\(?MbYyGa=(AA A)AYfAbDVDy"%F=ٔQ->9Y=DyCE>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026528Q 5 4?Q 9 4)rBY 2?Q E :y &Q I ?dDI;:iz:m4yBɮԧAΤEjhQ]FNOT Ignoring new targets: 302.35 m.Rhe8Zhe8} ProNav: ac range: 302.349487 m, nav range: 287.679596 m, bearing: 212.241820 deg, approach rate: -0.755996 m/s, LOS rate: 0.004472 deg/s, cmd heading: 206.898178 deg, new cmd heading: 206.902966 deg. Bh}hD9HeadingCmd: 3.611138 target range: 302.349487 and range: 303.70 m.hg@h*h"h hgfffdddjdZdj @ɢ>:) p=i) Ei^i5+5;5I=g@IA9@ @@1@ @ gA@ hA) ߭ =߭ %= BDAT read: Rx Time:00:28:32.8508  TRx dataTimestamp_ set to:1761524911.928800 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280182^AE 7Y A .AI I O >q,,?A2?X@2f@2PPٱ2B :AHRS rotation from veh to nav: [[-0.895948,0.437378,0.077313],[-0.444062,-0.885699,-0.135446],[0.009235,-0.155685,0.987764]]2H?@ʳ?kܿW LV`?yÿ›?i2?X@I2d];2%CYBByB)IbDNVDN03yR%VX=ٔV;Q-V>9Z ?YZ ?=ZDyZC^zE^>\Q 5b4^?Q 9f4^)^rBYdyf'Q If?^uDI^T;i^P;^4ylɮnAlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 302.35 m.Rh l8Zh l8 ProNav: ac range: 302.349487 m, nav range: 287.417023 m, bearing: 212.243480 deg, approach rate: -0.701093 m/s, LOS rate: 0.004438 deg/s, cmd heading: 206.902959 deg, new cmd heading: 206.907945 deg. BhB9%HeadingCmd: 3.611225 target range: 302.349487 and range: 303.70 m.h%Og@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=b @aɢe@8) )=i)TCi v^if+#);}IOg@IDD<E EE+E"EI:*E H:VE [4ZEa@a@a@a@19@ @@73@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530594Q^A"5y A ؟AI! II O >t,,?A*DAT read: 00:28:32.8508 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 336,-0.47, 1.205,-0.307, 1.136, 0.625, PHS= 0.683,-0.887, 0.467, RAW= 142.7, -3.6, CAL= 142.6, -4.1, ROT= 7.4, 4.1 .Ygot valid direction response: 00:28:32.8508 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 336,-0.47, 1.205,-0.307, 1.136, 0.625, PHS= 0.683,-0.887, 0.467, RAW= 142.7, -3.6, CAL= 142.6, -4.1, ROT= 7.4, 4.1 06PDAT read: Bearing 347.0, 8.4 (Local) 6~Local bearing/azimuth received: Bearing 347.0, 8.4 (Local) :DAT read: Range 11 to 50 : 299.1 m (Round-trip 398.8 ms) speed 0.4 m/s >R#Rx 1: Read range and direction messages.R^direction in FSK: [0.989133,0.128466,-0.071497]RFpublishing direction and range infoyu?[ʒq? MYC )MI.?ioc>e@&I@ C) A>IC=Osu?l?= ;>)=I A>iC=rT****** received valid address query ******rR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode.zqX@zff@zaٱz  AHRS rotation from veh to nav: [[-0.896721,0.435998,0.076133],[-0.442527,-0.886251,-0.136852],[0.007806,-0.156409,0.987662]]zH f?r}?\Rܿ+\@[?@3Ŀ`?izqX@IzT];z$CYBy)IiMb@Mb@Mb@ 9|?5^?sh|??X9vY2?y=A A)YAԑbDVD0yi%!=ٔ8;Q->9"?Y"?= Dy  CY\E>Q 54l?Q 9%4)lrBY%`4?Q E%:y%$Q I%?DB)A-<B5>B1B5$*IB5TBB1B1B1B5 ;B56EB%CB%CBĔCBĴ =Bij =Cē5IX:i9i<Ǔ4yBɮAͤEii,?AJiCRiCjiGm@i`۝hr@! C@|hMjJ5riu?[ʒq? MZi A>biC=i,"o/]'*dHT8zia<(iPVῇoL>2iU!:iy"i?*i#TBi31Bi9Л?i={i31Bi%Cim@] addTargetRange:: Added new target pos. range: 299.100006 m, deltaT: 8.072026 s, deltaX: -4.600006 m, approachRate: -0.569870 m/s, rangeRepo size: 4 E EE*E"E:*ErN:VE(N4ZEBE= BDAT read: Tx time:00:28:34.0979 $Ping request sent.9 ?Y ?=Dy+C-E > Q 54 H?Q 94 ) \rBYy$Q I? DI :i =: Γ4y%Bɮ-A-̤EjhQUFNOT Ignoring new targets: 297.78 m.Rh]7Zh]7m ProNav: ac range: 297.782471 m, nav range: 288.009460 m, bearing: 212.630472 deg, approach rate: -0.764234 m/s, LOS rate: 0.000505 deg/s, cmd heading: 206.915171 deg, new cmd heading: 206.915733 deg. Bhm[7uHeadingCmd: 3.611361 target range: 297.782471 and range: 299.10 m.hu g@hq*hq"hq hqgyfyfyfydddjdZd?颱ɢ3() ;i)qB项i^_i,*ݽ;nI g@Ie9@a @a@e/@aE EE(E"E[:*E|;:VEc44ZEa@a@a@a@I^A3checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986A I) II y O >,rU,?ANr/X@N"%f@NRٱN)D' ZAHRS rotation from veh to nav: [[-0.898501,0.432311,0.076179],[-0.438938,-0.886940,-0.143773],[0.005411,-0.162618,0.986674]]NH?v?`ܿa@(g¿S*v?ĿՒ?iNr/X@INQ];LYbByb)IYiMb@Mb@Mb@ 9n?y&1?QY6?y`=(A-A 5A) AYGAbDVDy%@=ٔ8;Q->9Y=DyMC뚻E>Q 54?Q 94@ )IrBYk8?Q E:y"Q I?DI;iX;l֓4yɮAjh  FNOT Ignoring new targets: 297.78 m.RhܩZhܩ% ProNav: ac range: 297.782471 m, nav range: 287.703461 m, bearing: 212.628499 deg, approach rate: -0.718817 m/s, LOS rate: -0.004641 deg/s, cmd heading: 206.915731 deg, new cmd heading: 206.909805 deg. Bh%K-HeadingCmd: 3.611257 target range: 297.782471 and range: 299.10 m.h-g@h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE$?iɢu;WV)q uiq)}Cyyi}._i+; Ig@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753871)@) @)@)@)ԉB=>B9B=*IB=:BB9B9B9B=3;B=6EԹ^AmrE EE)E"Ey:*EP:VEFA4ZEBE9H,Ro,?A~X@~ f@~1ٱ~~)  AHRS rotation from veh to nav: [[-0.899136,0.431026,0.075968],[-0.437648,-0.887169,-0.146273],[0.004349,-0.164767,0.986323]]~H@?r?`kܿ c¿bq?`ſ ?i~X@I~k];~'CY=By=)IbDMVDM0ye<%eO=ٔm0;Q-m>9iYq=uDyumCunE}>yQ 54}F?Q 94}x)}7rBYy"Q I?}DI}t:i}:}Rݓ4yгBɮ9AˤEԱjhFNOT Ignoring new targets: 297.78 m.RhZh ProNav: ac range: 297.782471 m, nav range: 287.419678 m, bearing: 212.626754 deg, approach rate: -0.717887 m/s, LOS rate: -0.004418 deg/s, cmd heading: 206.909803 deg, new cmd heading: 206.904564 deg. Bh BHeadingCmd: 3.611166 target range: 297.782471 and range: 299.10 m.hWg@h*h"h hgfffddqdqjdqZdu%?颉ɢ6-) ;i)IB顑iF_i^+F;CIWg@Ia@a @a@a@a@mhA@miAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257664^A 9 A ؟AI I E  E E E "E :*E ga:VE ZE a @a @a @a @O >.",t(,?A^SW@^e@^8Ԓٱ^{( fAHRS rotation from veh to nav: [[-0.899790,0.429751,0.075441],[-0.436299,-0.887968,-0.145452],[0.004481,-0.163791,0.986485]]^H@ ?P?`Tۿ ;j)¿Zr? ĿH?i^SW@I^3o];^&CY~By~)II=)p; = p=bDVD02ye<%G=ٔQ->9"?Y"?=DyCnE>i߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510020Q 54j?Q 94)$rBYy"Q I?DI;i;4y³BɮAԤE=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 297.78 m.RhMӗZhMӗ ProNav: ac range: 297.782471 m, nav range: 287.122894 m, bearing: 212.625011 deg, approach rate: -0.705415 m/s, LOS rate: -0.004148 deg/s, cmd heading: 206.904557 deg, new cmd heading: 206.899322 deg. Bh16HeadingCmd: 3.611074 target range: 297.782471 and range: 299.10 m.hg@h*h"h hgfffdddjdZd?ɢ%p)I US(,ݶ,?AAAB>B B)IB&BB =B B B];B 7EBW@Be@B4 ٱBs' JAHRS rotation from veh to nav: [[-0.900330,0.428750,0.074700],[-0.435187,-0.888634,-0.144714],[0.004335,-0.162798,0.986650]]BH@p?`?ۿo¿q?@Ŀ?iBW@IB*d];B$CYPyPi-Mb@Mb@Mb@)))) )9-9v?ʡE?{GzY-4?y-=-ף-n&A-A -A)-V A)Y-AbDEVDE0ٔUյ9Q-U>9YYY=]Dy]Ce@Ee>ԡE EE'E"E:*EE7:VE'4ZEBE` .,k,?A2&W@2e@2@ٱ2 & :AHRS rotation from veh to nav: [[-0.901045,0.427421,0.073691],[-0.433707,-0.889507,-0.143790],[0.004090,-0.161522,0.986861]]2H`[Z?mݲ?@ۿv`g¿p?ྫྷĿ\?i2&W@I2͕];2&CYB ByB)I HJ4=bDN VDNf2yV<%V<ٔV ):Q-V>9Z ?YZ ?=ZDyZCZE^>Q 5%4mB?Q 9%4)rBY)y-G"Q I-?DI:iw:4y5BɮUA]ӤEjhFNOT Ignoring new targets: 297.78 m.Rh0Zh0 ProNav: ac range: 297.782471 m, nav range: 286.542816 m, bearing: 212.620663 deg, approach rate: -0.708073 m/s, LOS rate: -0.005196 deg/s, cmd heading: 206.892126 deg, new cmd heading: 206.886265 deg. Bh9dHeadingCmd: 3.610847 target range: 297.782471 and range: 299.10 m.hg@h*h"h hgfffdddjdZd@@aɢeV)i m A?I I O >ԙ 5,9C,?A:W@:ie@:BY|ٱ:|4$ BAHRS rotation from veh to nav: [[-0.901532,0.426592,0.072516],[-0.432694,-0.890239,-0.142304],[0.003851,-0.159669,0.987163]]:HZ HM?c?Cۿ |`7¿ #o?pĿ@ז?i:W@I:N{];:#CYJ ByJ)I LLPRAi%Mb@Mb@Mb@!!!! !9%Q?)\(?{GztY%(9QYQ=UDyUCU-E]>YQ 5e4]-?Q 9m4] )]qBYmB>?Q Em:ym#Q Im?]DI]:i]:]4y}Bɮ}&A}ҤEjhFNOT Ignoring new targets: 297.78 m.Rh Zh  ProNav: ac range: 297.782471 m, nav range: 286.236725 m, bearing: 212.619207 deg, approach rate: -0.757479 m/s, LOS rate: -0.003608 deg/s, cmd heading: 206.886266 deg, new cmd heading: 206.881892 deg. BhvHeadingCmd: 3.610770 target range: 297.782471 and range: 299.10 m.hg@h*h"h hgfffdddjdZd%@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769537y颙ɢgs) 顡i_i+w;~`Ig@Ii@i @i@m~0@iԩB%>B!B%)IB%!BB% =B!B!B%z;B%+7EbEǷG4jE#E4rET/E  E E *E "E I:*E =:VE (N4ZE BE  ;,,?A2W@2e@2dٱ2O" :AHRS rotation from veh to nav: [[-0.902318,0.425159,0.071154],[-0.431058,-0.891249,-0.140940],[0.003494,-0.157844,0.987458]]2H 5?7?`sۿ@P ¿ ўl?84Ŀ`A?i2W@I2];2'CY^By^)IbDjVDj:2yr=%rQ=ٔrGo:Q-r>9tYt=vDyvCz#Ez>xQ 54z?Q 94zV$)zqBYy7#Q I?z"DIz;iz ;z4yɮAjh1=FNOT Ignoring new targets: 297.78 m.Rh=TpZhETpM ProNav: ac range: 297.782471 m, nav range: 285.946564 m, bearing: 212.617926 deg, approach rate: -0.742826 m/s, LOS rate: -0.003283 deg/s, cmd heading: 206.881895 deg, new cmd heading: 206.878048 deg. BhU2UHeadingCmd: 3.610703 target range: 297.782471 and range: 299.10 m.hUg@hY*hY"hY hYgYfafafadadidijdiZdm& @ɢi:) `=i)1<i`i +t;yIg@I @ @@5@BDAT read: Rx Time:00:28:36.8965 TRx dataTimestamp_ set to:1761524915.968946checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279538^Azl) IQ Ia Ou >D =D =E  E E )E "E *E ;J:VE FA4ZE a @a @a @a @PB,' -?A6W@68e@61ٱ6\ >AHRS rotation from veh to nav: [[-0.902753,0.424634,0.068725],[-0.430153,-0.891999,-0.138950],[0.002299,-0.154999,0.987912]]6HZ2-??@ۿ@%b?ÿ?i6W@I6];4YZ"ByZ)I`bBAbDfVDfyn<%nK=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525723ٔvA;Q-v>9tYx=zDyz1Cz"Ez>|Q 54~?Q 94~()~qBY y F#Q I ?~5DI~:i~:~4yBɮsAѤE=B*** querying acoustic contact ***i9 i9jhYeFNOT Ignoring new targets: 297.78 m.RhmdZhmd ProNav: ac range: 297.782471 m, nav range: 285.645996 m, bearing: 212.616652 deg, approach rate: -0.736779 m/s, LOS rate: -0.003127 deg/s, cmd heading: 206.878042 deg, new cmd heading: 206.874215 deg. Bh] HeadingCmd: 3.610636 target range: 297.782471 and range: 299.10 m.hg@h*h"h hgfffdddjdZd v@ ɢ :) =i)(8项i@`i +mr;kIg@I imGCԙ>GQ/9YA!@! @!@-4@)ԁDAT read: 00:28:36.8965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.24, 1.417,-0.200, 1.369, 0.898, PHS= 0.621,-1.053, 0.427, RAW= 143.9, 0.1, CAL= 143.5, 0.2, ROT= 6.5, -0.2 Ygot valid direction response: 00:28:36.8965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.24, 1.417,-0.200, 1.369, 0.898, PHS= 0.621,-1.053, 0.427, RAW= 143.9, 0.1, CAL= 143.5, 0.2, ROT= 6.5, -0.2 PDAT read: Bearing 351.0, 6.5 (Local) ~Local bearing/azimuth received: Bearing 351.0, 6.5 (Local)  DAT read: Range 11 to 50 : 295.8 m (Round-trip 394.5 ms) speed 0.0 m/s - R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.993566,0.113203,0.003491]5 Fpublishing direction and range infoyx蠂J?+?QC1ml?YC )FI?iȆ> @:J @ d;)V=Id^AM +wɒ5y@?H?8CR? >)IV=idu T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.I I O > B A B% >B! B% )IB% +BB% =B! B! B% ;B% V7EVI,%-?AB6W@Bue@BٱB JAHRS rotation from veh to nav: [[-0.903157,0.424260,0.065654],[-0.429310,-0.892647,-0.137387],[0.000318,-0.152268,0.988339]]BH'?`ΰ?`yۿ@4?}ÿ`y?iB6W@IBƬ];B#CLYb(Byb)I=only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 104.02, 94.34, 8WI,-32768,32768,-32768,V a=@a= aE@aE aE@aE aE@aE bDMVDM1y]t<%]B=ٔeњ;Q-e>9aYa=eDyeRCm&Em>qQ 54u?Q 94uJ-)uqBQ A+:YQ Eg:yT#Q I?uIDIu;iu>u 4ygBɮAФEE EE*E"E:*EVE(N4ZEBE  BDAT read: Tx time:00:28:38.1479 $Ping request sent.!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247661zAHRS rotation from veh to nav: [[-0.902960,0.424952,0.063864],[-0.429721,-0.892367,-0.137919],[-0.001619,-0.151979,0.988382]]2H@ @h2?^Y?ۿE`Q cZ tÿ@Ԡ?i2W@I2];2%CYB:ByF*IbDNVDNNyV=%VT=ٔV;Q-Z>9XYX=ZDyZqC^C:E^>`Q 5f4b?Q 9f4bx1)bqBQ Af :YdQ Ef;:yfL#Q Ij?b\DIbn:ibLN?b%4ynqBɮnܤAnڤEpjh FNOT Ignoring new targets: 294.50 m.Rh Zh  ProNav: ac range: 294.496368 m, nav range: 291.272339 m, bearing: 212.234905 deg, approach rate: -0.773597 m/s, LOS rate: -0.004178 deg/s, cmd heading: 206.870160 deg, new cmd heading: 206.865533 deg. Bh%7%HeadingCmd: 3.610485 target range: 294.496368 and range: 295.80 m.h%.g@h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=@1?aɢm;)i mL=ii)me.iqiu`iu +}am;}«I}.g@I9@ @@/@DzDE EE-E"E:*E H:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5005279^AI9IIO]>i *V,Y-?A2W@2xe@2nN;ٱ2  :AHRS rotation from veh to nav: [[-0.903080,0.425039,0.061545],[-0.429460,-0.892681,-0.136690],[-0.003158,-0.149873,0.988700]]2H`3?`܂?F|ۿ`ؐ` *i /ÿn?i2W@I2V];0Yf/Byf)IaUaU aUaU aUaU aUaU YiUMb@Mb@Mb@QQQQ Q9UA`"? rh?V-?YU9?yUC =U9Y=DyCD/E>Q 54?Q 94\5)qBQ AT:Yp9?Q E:yK)Q I?oDI ;i ;4yZBɮA٤EjhFNOT Ignoring new targets: 294.50 m.Rh#-9Zh#-9 ProNav: ac range: 294.496368 m, nav range: 290.962463 m, bearing: 212.238952 deg, approach rate: -0.723484 m/s, LOS rate: 0.009461 deg/s, cmd heading: 206.865530 deg, new cmd heading: 206.877686 deg. Bh9HeadingCmd: 3.610697 target range: 294.496368 and range: 295.80 m.hg@h*h"h hgff f d d djdZd?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751732ɢj;)  =i)`)iܣ`i +ijj;h\Ig@Iԉ@ @@@B>B'CB*IB:BBBBBŁ;Bx7EB&CB&CBœCBŲ =Bű =Cb4ԱE EE(E"E[:*Eg:VEc44ZEBE%A\,#fs-?A2!W@2Ѐe@2;ٱ2-l :AHRS rotation from veh to nav: [[-0.902860,0.425717,0.060078],[-0.429906,-0.892298,-0.137787],[-0.005051,-0.150230,0.988638]]2H9>?®?ۿ t :ÿ`?i2!W@I2^;2#CY^:By^*IbDjVDj2yrqb=%rU=ٔr;Q-r>9tYt=vDyvCz:Ez>xQ 54zS?Q 94z8)zqBYyC)Q I ?zDIzu;iz;zS 4yBBɮAؤEjh1=FNOT Ignoring new targets: 294.50 m.RhE+9ZhE+9U ProNav: ac range: 294.496368 m, nav range: 290.685913 m, bearing: 212.242544 deg, approach rate: -0.722911 m/s, LOS rate: 0.009398 deg/s, cmd heading: 206.877687 deg, new cmd heading: 206.888473 deg. BhUf9UHeadingCmd: 3.610885 target range: 294.496368 and range: 295.80 m.h]g@hY*hY"hY hYgYfafafadadidijdiZdm@?ԹQɢ]r+;)Y ]h=iY)]}#Yaie`ie+mg;mڅImg@Iia@i @i@m/@ie?eY?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255917^A}UIi Iy O >E  E E 0E "E :*E E7:VE 4ZE a @a @a @a @9 (c,A-?A2W@2ke@29;ٱ2w >AHRS rotation from veh to nav: [[-0.902385,0.426793,0.059570],[-0.430870,-0.891284,-0.141294],[-0.007209,-0.153168,0.988174]]2HWP??_ۿ f¿'}ÿ?i2W@I2];0fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507934Y=GByE*IbDeVDey}z=%}A=ٔ;Q->9Y=DyC5&;E>Q 54?Q 94<)qBYy0)Q I?DI ;i ;'4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 294.50 m.Rh)9Zh)9 ProNav: ac range: 294.496368 m, nav range: 290.379730 m, bearing: 212.246458 deg, approach rate: -0.721951 m/s, LOS rate: 0.009239 deg/s, cmd heading: 206.888479 deg, new cmd heading: 206.900234 deg. Bh9HeadingCmd: 3.611090 target range: 294.496368 and range: 295.80 m.hg@h*h"h hgfffdddjd Zd ?颙ɢP;) >i)w/顡ik`i+WKe;Ig@I}9@ @@0@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759563y^AoMIQ Ii Ou >ԙ A A B >B (CB *IB JBB =B B DB Ɂ;B 7E"Si,\-?A2OW@2e@2<ٱ2d :AHRS rotation from veh to nav: [[-0.901697,0.428365,0.058700],[-0.432271,-0.890282,-0.143314],[-0.009132,-0.154600,0.987935]]2H Sj? ? Uۿ1}X¿`ÿ)?i2OW@I2^;2%CYBIByB*Ii Mb@Mb@Mb@     9 x?MbpV-?Y K7?y   +#A A ~A) & A Y A@A@AbD% VD%2y5#!<%5O=E EE+E"E:*EF:VE [4ZEBE= 9Y=DyCiv;E>Q 54?Q 94@)qBYr7?Q E:yg,Q I?DI;i-;.4y*BɮAפEqjhy}FNOT Ignoring new targets: 294.50 m.Rh9Zh9 ProNav: ac range: 294.496368 m, nav range: 290.084351 m, bearing: 212.253199 deg, approach rate: -0.703337 m/s, LOS rate: 0.016067 deg/s, cmd heading: 206.900227 deg, new cmd heading: 206.920470 deg. Bhl0:HeadingCmd: 3.611444 target range: 294.496368 and range: 295.80 m.h!g@h*h"h hgfffdddjd Zd 4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012652QɢU;)Y ]>iY)]aaie`i*Kb;a pI!g@Iԡ9@ @@0@^AA AM fAzAM jAI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263672 ;p,-?A2W@2Fe@2z1<ٱ28 :AHRS rotation from veh to nav: [[-0.900829,0.430451,0.056740],[-0.434040,-0.889565,-0.142423],[-0.010832,-0.152926,0.988178]]2H?@ ?@NۿPw:¿=/ÿ@(?i2W@I2];2#CYBGByB*IbDJVDJyR\%VT=ٔVR;Q-V>9XYX=ZDyZCZy;EZ>\Q 5b4^ m?Q 9f4^C)^rBYdyfH,Q If?^DI^F:i^:^a54yjBɮj*An֤Ejhy}FNOT Ignoring new targets: 294.50 m.Rhg9Zhg9 ProNav: ac range: 294.496368 m, nav range: 289.823822 m, bearing: 212.259056 deg, approach rate: -0.691630 m/s, LOS rate: 0.015562 deg/s, cmd heading: 206.920472 deg, new cmd heading: 206.938058 deg. Bh*:HeadingCmd: 3.611750 target range: 294.496368 and range: 295.80 m.h&g@h*h"h hgfffdddjdZd@颙ɢ<) l>i)c8 顡ir`i*_`;yYI&g@Ii@i @i@m4@iE EE)E"E:*EVEFA4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515638^AmII O >9 Rgv,-?A2W@2e@2{P<<ٱ2Τ >AHRS rotation from veh to nav: [[-0.899993,0.432214,0.056601],[-0.435753,-0.888640,-0.142965],[-0.011494,-0.153331,0.988108]]2H`c??^ۿoL¿`퉇]ÿ?i2W@I2];0YF?ByF *Ii Mb@Mb@Mb@     9 n?L7A`堿Zd;O?Y 6?y + j< #A A )  A Y GAbD-VD-2y5@%=A=ٔ=:Q-=>9AYA=EDyE4CE;EM>IQ 5U4MU?Q 9]4M;F)MrBY]N6?Q E]:y].Q I]?MDIMe ;iM ;M<4yaɮmHAijhFNOT Ignoring new targets: 294.50 m.RhI9ZhI9% ProNav: ac range: 294.496368 m, nav range: 289.526459 m, bearing: 212.268129 deg, approach rate: -0.730956 m/s, LOS rate: 0.022325 deg/s, cmd heading: 206.938053 deg, new cmd heading: 206.965299 deg. Bh%$u:-HeadingCmd: 3.612226 target range: 294.496368 and range: 295.80 m.h-.g@h)*h)5>5==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767999"h) hQgQfQfQfYdYdYdYjdYZde 7@ɢZ;) =i)WSi*`i*O|^;"5HI.g@I99@ @@4@Bm>BiBm**IBmYBBm =BiBmDBm;Bmx7EYE EEE"E:*EP:VEZEBE` ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020815S|, -?A02-X@2:#f@2B<ٱ2 >AHRS rotation from veh to nav: [[-0.898502,0.435159,0.057720],[-0.438809,-0.886812,-0.144955],[-0.011892,-0.155570,0.987753]]2H?j?rܿ`¿Zÿ?i2-X@I2s];2"CY^>By^ *I df%=bDjVDjyr@%rP=ٔr :Q-v>9tYt=vDyvTCz <Ez>|Q 54~P@?Q 94~/I)~rBYy.Q I ?~DI~? ;i~ ;~C4yBɮAդEjh1=FNOT Ignoring new targets: 294.50 m.RhE9ZhE9U ProNav: ac range: 294.496368 m, nav range: 289.250183 m, bearing: 212.276380 deg, approach rate: -0.703946 m/s, LOS rate: 0.021044 deg/s, cmd heading: 206.965305 deg, new cmd heading: 206.990082 deg. BhUg:UHeadingCmd: 3.612659 target range: 294.496368 and range: 295.80 m.h5g@h*h"h hgfffdddjdZd.S @qɢu3;)y }X=iy)}yyi_i*'\;YDI5g@Iԑu9@q @y@}/@@=@=MBDAT read: Rx Time:00:28:40.9217 UTRx dataTimestamp_ set to:1761524919.996704Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273245Թ^AQOA>A> A ؟AE  E E E "E :*E =:VE ZE a @a @a @a @I I O >Yx,.?AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524245\NikX@Naf@NZ><ٱN" ~AHRS rotation from veh to nav: [[-0.896841,0.438350,0.059379],[-0.442200,-0.884879,-0.146455],[-0.011656,-0.157604,0.987434]]NH` ?f?@MܿP ¿߇@_,Ŀ@?iNikX@IN];N$CY 5By )IbDVDk2y-+%-F=ٔ5Q-5>95"?Y5"?==Dy=vC=t<E=>AQ 5M4E)?Q 9M4ESL)ErBYIyUY.Q IU?EDIE:iE:EJ4y]Bɮ]A]ԤE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 294.50 m.Rhֻ9Zhֻ9 ProNav: ac range: 294.496368 m, nav range: 288.958618 m, bearing: 212.284877 deg, approach rate: -0.703706 m/s, LOS rate: 0.020528 deg/s, cmd heading: 206.990085 deg, new cmd heading: 207.015600 deg. Bhha:HeadingCmd: 3.613104 target range: 294.496368 and range: 295.80 m.h=g@h*h"h hgfffdddjdZd@ɢr$;) =i)[iw_i*)g[;iU-¿U{.>U$@Uz0a>U$@ UϢv>)U9=IUϢvQQUj߭?}jd?zhU? U>)U`IU9=iUϢvQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A AA IQ Ia Om >Be >Be )CBa Ba Ba Ba Ba Be ;Be w7E,e(.?A6ϦX@6~f@6$9IYQ=UDyUCU<EU>YQ 5e4]?Q 9m4]O)YYm8?Q Em:ym.Q Im?]DI]q:i]C:]Q4bEjEOS4rEuf0E EE*E"E:*E?:VE(N4ZEBEa2EaJE;a:E;ayɮ٢Aii .?AJiCRiCjik@i p@zJvQ(@˭QuP@ri8W ?te/?iC?Zi9=biϢviyflІŅuaKN@zi=Lг m1n@,?2i :iMf"iLD?*i:ZBiHCi9Л?ii9BiCim@ addTargetRange:: Added new target pos. range: 277.200012 m, deltaT: 4.030232 s, deltaX: -18.599976 m, approachRate: -4.615113 m/s, rangeRepo size: 4 % Added new target pos. range: 275.991150 m, bearing: 211.235925 deg, lat: 36.779307 deg, lon: -121.859990 deg, deltaT: 4.030232 s, deltaX: -18.505219 m, approachRate: -4.591601 m/s, posRepo size: 4 jh!UFNOT Ignoring new targets: 275.99 m.RhUZhQ ProNav: ac range: 275.991150 m, nav range: 283.381927 m, bearing: 212.970968 deg, approach rate: 0.000000 m/s, LOS rate: 0.020528 deg/s, cmd heading: 207.015602 deg, new cmd heading: 207.043117 deg. *DAT read: user:123> BDAT read: Tx time:00:28:42.1479 $Ping request sent.,B.?A2X@2Zf@2<ٱ2h! :AHRS rotation from veh to nav: [[-0.893675,0.444355,0.062393],[-0.448618,-0.881932,-0.144695],[-0.009269,-0.157301,0.987507]]2H @Pp? ?)ܿ`8`¿@@t"Ŀ?i2X@I2o^;0YBByB)IJAAJAAbDNVDN:3yR%VP=ٔVmQ-V>9Z ?YZ ?=ZDyZC^7<E^>\Q 5b4^8?Q 9f4^R)\Ydyf-Q If?^DI^:i^:^X4ynԲBɮnݢAnݤE1jhY]FNOT Ignoring new targets: 275.99 m.RheZ9ZheZ9 ProNav: ac range: 275.991150 m, nav range: 283.101257 m, bearing: 212.979506 deg, approach rate: -0.769309 m/s, LOS rate: 0.023425 deg/s, cmd heading: 207.043114 deg, new cmd heading: 207.068753 deg. Bh:HeadingCmd: 3.614032 target range: 275.991150 and range: 277.20 m.hKLg@h*h"h hgfffdddjdZdgP?ɢ%;)! %e=i!)%!!i-^iMj*UqY;UIIUKLg@IQ9@ @@/@@@hAEE EEEE,EA"EEI:*EE|;:VEEg4ZEAaM@aU@aU@aU@a}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503194ԉ^AuAEhAzAEgÁGhAAR9hAYXAA] ؟AIy I O >Җ,\.?A2"Y@2g@2vB;ٱ2d :AHRS rotation from veh to nav: [[-0.891866,0.447864,0.063188],[-0.452239,-0.880729,-0.140699],[-0.007363,-0.154061,0.988034]]2H+̩? -?@}ܿ . p¿<(~Gÿ ?i2"Y@I2bZ^;2$CYnByn)IIrp<)rp=ieMb@Mb@Mb@aaaa a9ed;O?Mbp?:vYe4?ye;eTe"Ae^A e~A)e? AaYeAbD}VD}N2yy½%==ٔQ->ԙ9"?Y"?=DyC?<E>Q 54K?Q 94>V)rBY4?Q E:y*Q I?)DI ;i ;f`4yBɮϢAܤEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865jhFNOT Ignoring new targets: 275.99 m.Rh9Zh9  ProNav: ac range: 275.991150 m, nav range: 282.797424 m, bearing: 212.985903 deg, approach rate: -0.719373 m/s, LOS rate: 0.015161 deg/s, cmd heading: 207.068755 deg, new cmd heading: 207.087965 deg. Bh z&:HeadingCmd: 3.614367 target range: 275.991150 and range: 277.20 m.hQg@h*h"h hgfffdddjdZd@:?ɢ#=) @wBB*IBOBB =BBB;Bo7E@ @@@EY EYE]*EY"EY*EYVE](N4ZEYBE],!xv.?A6tRY@6$Hg@6ͧ;ٱ66 BAHRS rotation from veh to nav: [[-0.890565,0.450376,0.063685],[-0.454828,-0.880161,-0.135828],[-0.005121,-0.149929,0.988684]]6H@?M?ݿ`F*b@t0ÿK?i6tRY@I6*^;4YFByJ)IbDRVDR2yZW%ZY=ٔZ]ûQ-^>9\Y\=^DybCb;Eb>dQ 5j4fo?Q 9j4fnY)frBYhyj*Q In?f:DIfw:ifo:ff4ypɮr Apjh  FNOT Ignoring new targets: 275.99 m.RhV9ZhV9% ProNav: ac range: 275.991150 m, nav range: 282.533752 m, bearing: 212.991304 deg, approach rate: -0.705363 m/s, LOS rate: 0.014462 deg/s, cmd heading: 207.087962 deg, new cmd heading: 207.104180 deg. Bh%:-HeadingCmd: 3.614650 target range: 275.991150 and range: 277.20 m.h-lVg@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE`C?iɢm*4)i u\iq)uOqqiu^i}H*}X;A;IlVg@I9@ @@2@^A9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262880!IIOA>QDe %=De %=Em  Em Em +Ei "Em :*Em A:VEm [4ZEi au @au @au @au @ԑ ,S.?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108446$XY@6Mg@6;ٱ66 BAHRS rotation from veh to nav: [[-0.890416,0.450800,0.062757],[-0.455142,-0.881209,-0.127737],[-0.002281,-0.142303,0.989821]]6HI~?? !ݿ@2Yb6¿ ?i6$XY@I6 ,^;6"CYJByJ)I LNa=bDR VDR:2yZM%ZJ=ٔ^3Q-^>9\Y\=bDybCb&a:Eb>dQ 5j4f?Q 9j4f\)f rBYhyn*Q In?fLDIf1:if7;fn4yrBɮrТArۤEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 275.99 m.RhE9ZhE9% ProNav: ac range: 275.991150 m, nav range: 282.249847 m, bearing: 212.997102 deg, approach rate: -0.701749 m/s, LOS rate: 0.014346 deg/s, cmd heading: 207.104176 deg, new cmd heading: 207.121588 deg. Bh-:-HeadingCmd: 3.614954 target range: 275.991150 and range: 277.20 m.h-g[g@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE?iɢu))q u( iq)uvi]iM*X;-;Ig[g@IQ9@ @@4@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763339^A ;A>A>IqIO>ԩB >B B )IB 5BB B B B ;B p7EB)CB)CBBʮ =Bʮ =C5 },0..?A@2ZY@2Og@2ٱ2. :AHRS rotation from veh to nav: [[-0.890367,0.450758,0.063752],[-0.455244,-0.881603,-0.124617],[0.000032,-0.139978,0.990155]]2H}7? R?`"ݿ@6@濿?X?i2ZY@I2];2CYnByn)I E- E-E-(E)"E-:*E-g:VE-c44ZE)BE-Q->9ԱY=Dy?C,z9E>Q 54?Q 94Sa)qBY 4?Q E :y )'Q I ?bDI:i:Uv4yBɮwAڤEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014894jhFNOT Ignoring new targets: 275.99 m.Rh8Zh8 ProNav: ac range: 275.991150 m, nav range: 281.914764 m, bearing: 213.000250 deg, approach rate: -0.688529 m/s, LOS rate: 0.006477 deg/s, cmd heading: 207.121593 deg, new cmd heading: 207.131049 deg. Bh;9HeadingCmd: 3.615119 target range: 275.991150 and range: 277.20 m.h^g@h*h"h hgfffdddjd)Zd-@]@yɢ}0%)y i)顁id]i*X;S*;I^g@I}9@y @y@}4@yPExceeded connect timeout, disconnecting. ^A yb]; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267021I I! O5 >9 , .?ABNZY@BOg@BeٱBXR JAHRS rotation from veh to nav: [[-0.890357,0.450382,0.066489],[-0.455259,-0.881406,-0.125946],[0.001880,-0.142406,0.989806]]BH} ?`g?"ݿ`z4^?]:¿~?iBNZY@IB];B CYb܉Byb)IbDjVDj1y䯽%h=ٔ WQ- >9 Y=Dy[C`8E?Q 54T?Q 94d)qBYy*'Q I?rDI);id*;|4yɮAjhFNOT Ignoring new targets: 275.99 m.Rh8Zh8 ProNav: ac range: 275.991150 m, nav range: 281.662903 m, bearing: 213.002626 deg, approach rate: -0.726578 m/s, LOS rate: 0.006860 deg/s, cmd heading: 207.131046 deg, new cmd heading: 207.138181 deg. Bh9HeadingCmd: 3.615243 target range: 275.991150 and range: 277.20 m.h%`g@h*h"h hgfffdddjd Zd @1ɢ5)9 =Či9)=[99iE}*]iE*E®X;M%#;IM%`g@II9@ @@/@D1zD5AAEE EEEE*EA"EEI:*EE;J:VEE(N4ZEAaU@aU@aU@aU@9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518785^A] ;II O >i $,.?AnKY@n.Ag@na<ٱn vAHRS rotation from veh to nav: [[-0.890766,0.449162,0.069207],[-0.454453,-0.881325,-0.129376],[0.002883,-0.146695,0.989178]]nH`'??ݿ3@d g?¿W?inKY@InK];lY~݉By|i}Mb@Mb@Mb@yyyy y9}@5^I ?kt?V-Y}b0?y} =}}EA}@ }A)} AyY}AbDVDNy;%@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770925ٔ_Q->9Y=Dy~C E>aQ 5m4eN}?Q 9u4ei)eqBYu1?Q Eu:yue#Q Iu?eDIe ;ieq ;e#4yqBɮPA٤EjhFNOT Ignoring new targets: 275.99 m.RhZh ProNav: ac range: 275.991150 m, nav range: 281.362976 m, bearing: 213.001862 deg, approach rate: -0.694357 m/s, LOS rate: -0.001772 deg/s, cmd heading: 207.138177 deg, new cmd heading: 207.135881 deg. BhHeadingCmd: 3.615203 target range: 275.991150 and range: 277.20 m.h}_g@h*h"h hgfffdddjdZd}@ ɢ ƥԻ)  i)ɘi/\i8*yX;}:I}_g@I!IUgA)QBu>Bu(CBu)IBuBBu =BqBqBqBuo7E@ @@@@ gA@ E= E=E=(E9"E=>:*E=?:VE=c44ZE9BE=J,o.?A ɰ"4<>L0Y@>%g@>Adٱ> JAHRS rotation from veh to nav: [[-0.891517,0.447346,0.071265],[-0.452973,-0.881599,-0.132658],[0.003483,-0.150548,0.988597]]>H`OO?@g>?@ܿ62l?`'Eÿ@?i>L0Y@I>r];>"CYnωByn)IIr0>)r4<bDzVDzJ2y%V=ٔ)κQ->9 Y = Dy CLE>Q 5%4k?Q 9-4l)qBY)y-#Q I-?DIk8;if9;m4y5XBɮ="A=ؤEjhYeFNOT Ignoring new targets: 275.99 m.Rhe۷Zhe۷u ProNav: ac range: 275.991150 m, nav range: 281.113190 m, bearing: 213.001320 deg, approach rate: -0.692203 m/s, LOS rate: -0.001501 deg/s, cmd heading: 207.135882 deg, new cmd heading: 207.134257 deg. Bhu䃸}HeadingCmd: 3.615175 target range: 275.991150 and range: 277.20 m.h}_g@h*h"h hgfffdddjdZd`)` @颹ɢ g) i)?i=\i*$X;A9I_g@InManaging dock network, ignoring radio surface power offQ@Q @Q@U/@QIBDAT read: Rx Time:00:28:44.9175 TRx dataTimestamp_ set to:1761524924.028160checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275859^A9yAi Iq I O >EM  EM EM +EI "EM :*EM A:VEM [4ZEI aU @aU @aU @aU @ԡ 2,Ț/?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5268836E Y@6g@6Y_ٱ6 BAHRS rotation from veh to nav: [[-0.891960,0.446368,0.071853],[-0.452101,-0.881795,-0.134321],[0.003403,-0.152294,0.988329]]6H@I?d?9ܿ`7n1k?]~ÿe?i6E Y@I6ı^;6 CY^ΉByb)IbDj VDj2yr%rL=ٔrhQ9Q-r>9tYt=vDyvCzB Ez>xQ 54zHX?Q 94zp)zqBYy#Q I?zDIz; ;izG ;zk4ydBɮYAE-B*** querying acoustic contact ***i) i)yjhFNOT Ignoring new targets: 275.99 m.RhƷZhƷ= ProNav: ac range: 275.991150 m, nav range: 280.835663 m, bearing: 213.000779 deg, approach rate: -0.694724 m/s, LOS rate: -0.001356 deg/s, cmd heading: 207.134257 deg, new cmd heading: 207.132631 deg. Bh=MnEHeadingCmd: 3.615146 target range: 275.991150 and range: 277.20 m.hE^g@hA*hA"hA hAgAfIfIfIdIdQdQjdZd@+@ԹɢF) $ǽi) p}  id\i&* W;w]ŹI^g@I@ @@/@@=@=5DAT read: 00:28:44.9175 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395,-0.11,-0.343,-1.907,-0.363,-1.033, PHS= 0.792,-0.829, 0.626, RAW= 144.7, -7.7, CAL= 144.8, -9.1, ROT= 5.2, 9.1 EYgot valid direction response: 00:28:44.9175 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395,-0.11,-0.343,-1.907,-0.363,-1.033, PHS= 0.792,-0.829, 0.626, RAW= 144.7, -7.7, CAL= 144.8, -9.1, ROT= 5.2, 9.1 MPDAT read: Bearing 341.8, 6.7 (Local) M~Local bearing/azimuth received: Bearing 341.8, 6.7 (Local) ]DAT read: Range 11 to 50 : 274.1 m (Round-trip 365.5 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.u^direction in FSK: [0.983350,0.089492,-0.158158]uFpublishing direction and range infoy2mw?}v5?@\~>ĿY C )HIJ?iX9TA ?!@ ?!@ ")޹=I">w~%?-Zgv?r  ]>)8 >I޹=i">T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ba Ae <Bm >Bi Bm )IBm BBm =Bi Bm DBm ;Bm |7E ^A 9A I I)O=>GQ,x//?AE0 E2E2)E0"E0*E2 H:VE2FA4ZE0BE2= UBDAT read: Tx time:00:28:46.1979 U$Ping request sent.U ףp=?`"?I +Y}1?y}=}9}\A}b@ }A)}pAyY} AbDVD1yI%&=ٔ:Q->9Y=DyCE>Q 54@?Q 94 v)qBY4?Q E:y Q I?DI;i;4yKBɮAi)i-"/?AJi-sCRi-sCji-1k@i-]p@Jl8@W>oEri-2mw?}v5?@\~>ĿZi-޹=bi-">i-xslU+aRFzi- **F ࿜ 9qſ2i-:i-g"i-u?*i-%Bi-lAi-u?i-:Zi)i-Ci-|k@ addTargetRange:: Added new target pos. range: 274.100006 m, deltaT: 4.033073 s, deltaX: -3.100006 m, approachRate: -0.768646 m/s, rangeRepo size: 4  Added new target pos. range: 272.899384 m, bearing: 210.557749 deg, lat: 36.779339 deg, lon: -121.859827 deg, deltaT: 4.033073 s, deltaX: -3.091766 m, approachRate: -0.766603 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 272.90 m.RhZh ProNav: ac range: 272.899384 m, nav range: 269.768860 m, bearing: 210.818496 deg, approach rate: 0.000000 m/s, LOS rate: -0.001356 deg/s, cmd heading: 207.132631 deg, new cmd heading: 207.130435 deg. BhHeadingCmd: 3.615108 target range: 272.899384 and range: 274.10 m.h]g@h*h"h hgfffddd!jd%!q@Zd%`?iɢu) ӽi)顙i\i*V;Q5I]g@I-9@) @)@-/@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250837q ^A "ԡ A .AI I O >,J/?AJX@JLf@JnD:ٱJ|" RAHRS rotation from veh to nav: [[-0.893934,0.442673,0.070160],[-0.448198,-0.882651,-0.141583],[-0.000748,-0.158011,0.987437]]JH`@T?? Gܿ`>`¿mH9Ŀ?iJX@IJf^;J"CYvЉByv)I xx|~AbDVDJ2y<%H=ٔ69 ?Y ?=DyC% E%>)Q 554-/-?Q 954-z)-qBY1y5 Q I=?-DI-V;i-_/;-#4yM2BɮUAUEDqzDqjhFNOT Ignoring new targets: 272.90 m.RhIZhI ProNav: ac range: 272.899384 m, nav range: 269.482697 m, bearing: 210.812866 deg, approach rate: -0.778419 m/s, LOS rate: -0.015331 deg/s, cmd heading: 207.130432 deg, new cmd heading: 207.113524 deg. BhW(HeadingCmd: 3.614813 target range: 272.899384 and range: 274.10 m.hYg@h*h"h hgfffdd d jdZd`*}?E EE(E"E*E;J:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826颹ɢk|) hi)$i[i* V;o<IYg@IU9@Y @Y@]/@Y) ^A rg] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914A ؟AI I O% >G,vd/?AF4X@Ff@F};ٱFt" RAHRS rotation from veh to nav: [[-0.894817,0.441123,0.068652],[-0.446428,-0.883408,-0.142453],[-0.002192,-0.158118,0.987418]]FH W\;?,?Fܿ@D`;¿a@5=Ŀ`?iF4X@IF(^;F CYVByZ)Ii5Mb@Mb@Mb@111B>BB)IBBB =BBB;B7E1 195-?T㥛 ?I +Y5?5?y5>59415K@ 5A)5A1Y5 AbD VD2yƢ=%A=ٔE_;Q->9"?Y"?=Dy)C꘻E>Q 54?Q 94S)qBY8?Q E:yv Q I?DI ;i2 ;4yɮBAjh FNOT Ignoring new targets: 272.90 m.RhZh- ProNav: ac range: 272.899384 m, nav range: 269.179565 m, bearing: 210.806615 deg, approach rate: -0.728759 m/s, LOS rate: -0.015047 deg/s, cmd heading: 207.113520 deg, new cmd heading: 207.094744 deg. Bh-9%-HeadingCmd: 3.614485 target range: 272.899384 and range: 274.10 m.h5Sg@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE?qɢ}]ٻ)y }piy)}yik[i*U;:ISg@IQ@ @@/0@@hA@gAbEjE#E4rEa0Ee EeEe&Ea"Ee:*Ee=:VEe4ZEaBEe X,Sz~/?A8:@X@:f@:U0r;ٱ:v # FAHRS rotation from veh to nav: [[-0.895329,0.440285,0.067348],[-0.445391,-0.883750,-0.143575],[-0.003695,-0.158543,0.987345]]:H@-?@=?`Gܿ`G`¿ Fn"KĿT?i:@X@I:d ^;:CYNىByN)IV@ATbDVVDVy^x/%b[=ٔb;Q-b>9b ?Yf ?=fDyfGCf5KEf>)Q 554-?Q 9=4-)-qBY9y= Q I=?-DI-;i-&;-C4yEBɮEAMߤEjhiuFNOT Ignoring new targets: 272.90 m.RhuͅZhuͅ ProNav: ac range: 272.899384 m, nav range: 268.904572 m, bearing: 210.801000 deg, approach rate: -0.715470 m/s, LOS rate: -0.014622 deg/s, cmd heading: 207.094737 deg, new cmd heading: 207.077877 deg. Bh HeadingCmd: 3.614191 target range: 272.899384 and range: 274.10 m.hNg@h*h"h hgfffdddjdZd7?ɢ") $i)GiZi*S;˹INg@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2599139@ @@4@ԱD=D<^AEE EEEE*EA"EEI:*EEF:VEE(N4ZEAaM@aU@aU@aU@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888 BCAA \GI liA t9 liAY ΡAI O >,L/?A2 X@2f@2;ٱ2t%" >AHRS rotation from veh to nav: [[-0.895817,0.439580,0.065433],[-0.444392,-0.884254,-0.143562],[-0.005247,-0.157683,0.987476]]2H"?@>?@pܿK`9`¿`}u`.Ŀg?i2 X@I2];2 CYFByF)IbDNVDN1yV=%VL=ٔZ};Q-Z>9XYX=ZDyZgC^5E^>`Q 5f4b?Q 9f4b)bsqBYdyj Q Ij?bDIbF:ib:b4lypɮrAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 272.90 m.Rh/Zh/% ProNav: ac range: 272.899384 m, nav range: 268.625763 m, bearing: 210.795359 deg, approach rate: -0.713270 m/s, LOS rate: -0.014446 deg/s, cmd heading: 207.077880 deg, new cmd heading: 207.060940 deg. Bh%-HeadingCmd: 3.613895 target range: 272.899384 and range: 274.10 m.h-Jg@h)*h)"h) h)g1f1ffdddjdZds{?9ɢE)i u$iq)}yihYi*zR;,ϻIJg@I 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7640719@ @@4@1AuAAAu@AB}>B})CB})IB}BB} =ByB}DB}';B}7E^A &ta E  E E )E "E :*E R:VE FA4ZE BE ` ,v/?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147126ZX@6 f@6f;ٱ62" BAHRS rotation from veh to nav: [[-0.895988,0.439481,0.063725],[-0.444021,-0.884327,-0.144262],[-0.007047,-0.157552,0.987485]]6H`v ?BP?jܿ@gL-w¿ ]| *Ŀ {?i6ZX@I6W^;6!CYDyHi}Mb@Mb@Mb@yyyy y9}/$?S㥻?MbPY}&1?y}/=}}Ay };A)}AyYybDVDk1y~%9=ٔԅ;Q->9Y=DyCrE>Q 54p?Q 94)iqBYK3?Q E:y!Q I?DI1;i;ǽ4yBɮSAޤEjhFNOT Ignoring new targets: 272.90 m.RhNZhN ProNav: ac range: 272.899384 m, nav range: 268.318115 m, bearing: 210.790399 deg, approach rate: -0.699109 m/s, LOS rate: -0.011284 deg/s, cmd heading: 207.060941 deg, new cmd heading: 207.046044 deg. BhHeadingCmd: 3.613635 target range: 272.899384 and range: 274.10 m.hEg@h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5 @aɢeﭻ)a ex&ia)ծi[IYi*VQ;лIEg@IAy@ @@4@@=@=i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269675^AXһA>A>ԑ A ؟AI I O >,Y/?A2X@2cf@2<ٱ2 JAHRS rotation from veh to nav: [[-0.896054,0.439602,0.061947],[-0.443873,-0.884631,-0.142843],[-0.007994,-0.155492,0.987805]]2H yp"??lhܿNH¿`^)ÿ?i2X@I2@F^;2CYVByV)IbDfVDf:3yr >%vW=ٔz";Q-z>9~"?Y~"?=~Dy~C0޹E>Q 54?Q 9%4)`qBY)y=!Q I=?+DI;i;wĔ4yMBɮUAUEijhE EE*E"Ey:*E|;:VE(N4ZEa@a@a@a@FNOT Ignoring new targets: 272.90 m.Rh KZh K ProNav: ac range: 272.899384 m, nav range: 268.050842 m, bearing: 210.786087 deg, approach rate: -0.687167 m/s, LOS rate: -0.011097 deg/s, cmd heading: 207.046038 deg, new cmd heading: 207.033089 deg. Bh%HeadingCmd: 3.613409 target range: 272.899384 and range: 274.10 m.h%Bg@h!*hA"hA hAgIfIfIfIdQdQdQjdQZdUM@ɢB׺) 7,]/?A@2X@2}f@2 <ٱ2  :AHRS rotation from veh to nav: [[-0.896095,0.439749,0.060289],[-0.443782,-0.885034,-0.140618],[-0.008479,-0.152762,0.988227]]2H Ϭ$?.ޮ?`fܿ1Rr] ÿ`?i2X@I2ޢ^;2 CYB ByB)I DDHHB>B*CB)IBBB =BBDB;;B7EB(CBBCBBC5imMb@Mb@Mb@iiii i9mbX9?l?{Gz?YmE6?ym=m#9Y=DyCsE>Q 54?Q 94 )]qBY%E7?Q E%:y%$Q I%??DI:;i:˔4y)ɮ-A)jhFNOT Ignoring new targets: 272.90 m.RhZh ProNav: ac range: 272.899384 m, nav range: 267.742676 m, bearing: 210.784305 deg, approach rate: -0.712614 m/s, LOS rate: -0.004125 deg/s, cmd heading: 207.033088 deg, new cmd heading: 207.027736 deg. Bh/5HeadingCmd: 3.613316 target range: 272.899384 and range: 274.10 m.h@g@h*h"h hgfffddd!jd!Zd%@P @ɢF)! % iO,M0?A2rX@2!f@2n <ٱ2 :AHRS rotation from veh to nav: [[-0.895569,0.440751,0.060792],[-0.444841,-0.884380,-0.141382],[-0.008551,-0.153660,0.988087]]2H``C5?! ?`Hxܿ`L¿?#ÿ h?i2rX@I2v^;2CYBByB)IbDNVDNk2yRFs=%RT=ٔV$D9Q-V>9TYX=ZDyZCZ I;E^>\Q 5b4^]?Q 9b4^)^ZqBYdyf$Q If?^QDI^:i^$:^Ҕ4yjڱBɮjAnEjh|~FNOT Ignoring new targets: 272.90 m.RhZh ProNav: ac range: 272.899384 m, nav range: 267.466675 m, bearing: 210.782636 deg, approach rate: -0.731119 m/s, LOS rate: -0.004426 deg/s, cmd heading: 207.027733 deg, new cmd heading: 207.022720 deg. BhkBHeadingCmd: 3.613228 target range: 272.899384 and range: 274.10 m.h!?g@h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5U5 @]BDAT read: Rx Time:00:28:48.9865 ]TRx dataTimestamp_ set to:1761524928.064293echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280081ԑɢ7E:) H-=i)iWi * M; I !?g@I9@ @@/@@gA@hAԹD<D<E EE+E"E[:*EC:VE [4ZEa@a@a@a@^A`Ի checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530839AY Ia Iq O > t,0?A2ܯX@2f@2y <ٱ2"  :AHRS rotation from veh to nav: [[-0.895013,0.441971,0.060103],[-0.445957,-0.884094,-0.139641],[-0.008581,-0.151784,0.988376]]2HBI? Ů?ܿ`JmÿǠ?i2ܯX@I2z^;2CYB#ByB)IJAAJ@AbDNVDN0yV=%VK=ٔV8Q-V>9XYX=ZDyZ CZJ;E^>\Q 5b4^ی?Q 9f4^)^VqBYdyf$Q If?^cDI^:i^I:^ٔ4yrBɮrSAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 272.90 m.Rh=bZhEbE ProNav: ac range: 272.899384 m, nav range: 267.178345 m, bearing: 210.780811 deg, approach rate: -0.674388 m/s, LOS rate: -0.004273 deg/s, cmd heading: 207.022720 deg, new cmd heading: 207.017240 deg. BhE;uHeadingCmd: 3.613132 target range: 272.899384 and range: 274.10 m.hu=g@hq*hq"hq hqgyfyfyfydddjdZd`@ɢpS;) D=i)i6tWi%$*%L;%#I%=g@IIDAT read: 00:28:48.9865 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.605,-2.253,-0.609,-1.261, PHS= 0.758,-0.947, 0.608, RAW= 145.5, -5.2, CAL= 145.4, -6.2, ROT= 4.6, 6.2 Ygot valid direction response: 00:28:48.9865 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.605,-2.253,-0.609,-1.261, PHS= 0.758,-0.947, 0.608, RAW= 145.5, -5.2, CAL= 145.4, -6.2, ROT= 4.6, 6.2 PDAT read: Bearing 344.7, 5.1 (Local) ~Local bearing/azimuth received: Bearing 344.7, 5.1 (Local) DAT read: Range 11 to 50 : 288.3 m (Round-trip 384.5 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.990949,0.079730,-0.107999]Fpublishing direction and range infoyy}qڵ?,i?NiإY}&Cyyyy y)}GI}J B?i}nr}?}j"@}޹}i"@ }kݽ)}l=I}k=yy}WI?,b?3  }O]>)}=I}l=i}k=)yy5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@BaAe4=Bu>BqBu)IBu BBqBqBqBu$;Bu7EQE  E E 'E "E y:*E rN:VE '4ZE BE  % BDAT read: Tx time:00:28:50.2494 - $Ping request sent.- Ƣ ,40?Aɰ;BX@Bf@B" <ٱB ZAHRS rotation from veh to nav: [[-0.894387,0.443354,0.059234],[-0.447212,-0.883816,-0.137372],[-0.008553,-0.149354,0.988747]]BHў@_?S?`ܿ7H@jCÿ@У?iBX@IBR^;BCYb.Byb)IiMb@Mb@Mb@ 9X9v?X9v?y&1?Y3?y<`e<A5@ $A)pAY AbD%VD%ky5Y>=%53=ٔ=W~Q-=>99Y9==DyE2CEI;EE>IQQ 5]4UEu?Q 9]4U)UXqBY]3?Q E]:y]g(Q I]?UxDIU:iUn:U4yiɮ(Aii"o$0?AJiCRiCjij@i"9q@96@!M?riqڵ?,i?NiإZil=bik=i21-nYNaHc(p@BziTo<@߿:CDG2i-:iv"i r?*iO2WBiYBi?iO2Wi31BiYCiۗk@ addTargetRange:: Added new target pos. range: 288.299988 m, deltaT: 4.036170 s, deltaX: 14.199982 m, approachRate: 3.518182 m/s, rangeRepo size: 4 M Added new target pos. range: 287.049774 m, bearing: 210.190545 deg, lat: 36.779250 deg, lon: -121.859901 deg, deltaT: 4.036170 s, deltaX: 14.150391 m, approachRate: 3.505896 m/s, posRepo size: 4 jhIMFNOT Ignoring new targets: 287.05 m.RhUZhQe ProNav: ac range: 287.049774 m, nav range: 278.701050 m, bearing: 210.913993 deg, approach rate: 0.000000 m/s, LOS rate: -0.004273 deg/s, cmd heading: 207.017242 deg, new cmd heading: 207.011496 deg. BhHeadingCmd: 3.613032 target range: 287.049774 and range: 288.30 m.h;g@h*h"h hgfffdddjdr@Zd`#?ɢp;) =i)Wi6Wi*ܽK;%IAI%;g@I!y@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811ԡ^A _ A .AI I1 OM >,N0?AEB EBEB(E@"EBI:*EB=:VEBc44ZE@aF@aF@aF@aF@NUX@Nf@NPf<ٱNG VAHRS rotation from veh to nav: [[-0.893857,0.444323,0.059982],[-0.448277,-0.883205,-0.137828],[-0.008264,-0.150087,0.988638]]NH@yo??ܿ`7C \`쀿6ÿ?iNUX@INS^;N CY^6By^)IbDjVDjk1yr.,=%rc=ٔrRQ-r>9v ?Yv ?=vDyvOCvX;Ez>xQ 5~4zb?Q 94z^)zYqBYyS(Q I?zDIze;iz?;z4y BɮAEjh1=FNOT Ignoring new targets: 287.05 m.Rh=̛8Zh=̛8M ProNav: ac range: 287.049774 m, nav range: 278.449066 m, bearing: 210.915449 deg, approach rate: -0.736200 m/s, LOS rate: 0.004257 deg/s, cmd heading: 207.011491 deg, new cmd heading: 207.015861 deg. BhM:9UHeadingCmd: 3.613108 target range: 287.049774 and range: 288.30 m.hU+=g@hQ*hY"hY hYgYfYfafadadadijdiZdm ̦?频ɢ(;) =i)> 顡i Wi*+K;i I+=g@IԱiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504285U9@Q @Q@U1@Q@]=@]=^AuqZ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547299 B] >B] +CB] )IB] +BB] =BY BY B] ,;B] 7E,h0?A2Y@2f@2;ٱ2 :AHRS rotation from veh to nav: [[-0.892750,0.446190,0.062548],[-0.450493,-0.881722,-0.140082],[-0.007353,-0.153235,0.988162]]2Hga??ܿ`7`2`~5ÿ?i2Y@I2)t^;2CYB@ByB *IieMb@Mb@Mb@aaaa a9eQ?Mb`?9Y=DyqC;E>Q 54gL?Q 94)_qBYk/?Q E:y*Q I?DIHv;iY;4yBɮAEjhIUFNOT Ignoring new targets: 287.05 m.Rhe%9Zhe%9 ProNav: ac range: 287.049774 m, nav range: 278.151642 m, bearing: 210.919456 deg, approach rate: -0.670917 m/s, LOS rate: 0.009049 deg/s, cmd heading: 207.015862 deg, new cmd heading: 207.027897 deg. Bh9HeadingCmd: 3.613318 target range: 287.049774 and range: 288.30 m.h@g@h*h!"h! h!g!f!f)f)d)d)dIjdQZdU6?Eu EuEu+Eq"Eu:*Eu H:VEu [4ZEqBEu` i)on顡i5 Wi*J;(I@g@I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774!I ^Am NJκA] ؟AIi Iy O > ,0?A@ 6)Y@6Lg@6t;ٱ68} >AHRS rotation from veh to nav: [[-0.891687,0.448073,0.064230],[-0.452602,-0.880437,-0.141359],[-0.006789,-0.155119,0.987873]]6H`8?^q?mܿ , ¿`{ÿজ?i6)Y@I6"^;6CYFCByF*I HHbDRVDRN2yZ f<%Z^=ٔZȺQ-Z>9^"?Y^"?=^Dy^Cbw;Eb>dQ 5f4f9?Q 9j4f)fdqBYhyj*Q Ij?fDIf:if:f4ypɮrApjh FNOT Ignoring new targets: 287.05 m.Rh &9Zh &9% ProNav: ac range: 287.049774 m, nav range: 277.900726 m, bearing: 210.922719 deg, approach rate: -0.699576 m/s, LOS rate: 0.009105 deg/s, cmd heading: 207.027897 deg, new cmd heading: 207.037693 deg. Bh%9%HeadingCmd: 3.613489 target range: 287.049774 and range: 288.30 m.h-iCg@h)*h)"h) h)g)f)f1f1d1d1=>=C=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072d9jdIZdM/?qɢf<) >i)Ѝi-WiL*lJ; :I iCg@I q9@ @@_4@ԙE EEE"E,:*EC:VEZEa@a@a@a@^Argchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511735 A I I O= >&,[[0?A2 KY@2@g@2X;ٱ2B6 :AHRS rotation from veh to nav: [[-0.890761,0.449960,0.063879],[-0.454420,-0.879690,-0.140170],[-0.006877,-0.153886,0.988065]]2H@&?gZ?`7ݿ l&*|`ÿ9?i2 KY@I29^;2CYBAByB *IbDHPVDHyV%VK=ٔZe9Q-Z>9XYX=ZDy^C^˥;E^>`Q 5f4b$?Q 9f4bU)biqBYhyjm*Q Ij?bDIb:ibk:b4y]kBɮ]A]EuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 287.05 m.Rh9Zh9 ProNav: ac range: 287.049774 m, nav range: 277.624786 m, bearing: 210.926198 deg, approach rate: -0.656892 m/s, LOS rate: 0.008292 deg/s, cmd heading: 207.037691 deg, new cmd heading: 207.048141 deg. Bh9 HeadingCmd: 3.613672 target range: 287.049774 and range: 288.30 m.h fFg@h *h"h9 h9gAfIfqfydddjdZd )i?ɢ;) >i)fiWiO*aJ;G;IfFg@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762810@ @@4@AAAABB*CB *IB?BB =BBB3;B7E^A ] ;bE5(N4jE5JJ4rE55/E  E E E "E :*E ;J:VE ZE BE &,,70?A:iY@:=_g@:F;ٱ: FAHRS rotation from veh to nav: [[-0.889912,0.451601,0.064137],[-0.456077,-0.878769,-0.140568],[-0.007119,-0.154345,0.987991]]:H (z`?@Kk?^0ݿ "(}ÿ ?i:iY@I:^;:CYJFByJ*I|i%Mb@Mb@Mb@!!!! !9%V-?Mby&1?Y%h1?y%%`e<%A%@ !)%ZA!Y%( A15AAbD=VD=:2yMx<%M@=ٔU:Q-U>9QYQ=UDy]C];E]>aQ 5m4e?Q 9m4eQ =mtI)enqBYu}1?Q Eu:yu,Q Iu?eDIe;ie;e4y_BɮbAEjhAEFNOT Ignoring new targets: 287.05 m.RhM^9ZhM^9} ProNav: ac range: 287.049774 m, nav range: 277.331573 m, bearing: 210.931411 deg, approach rate: -0.684392 m/s, LOS rate: 0.012181 deg/s, cmd heading: 207.048142 deg, new cmd heading: 207.063797 deg. Bh}:HeadingCmd: 3.613945 target range: 287.049774 and range: 288.30 m.hJg@h*h"h hgfffdddjdZd@@颡ɢ <)  >i))iWi*AJ;T;IJg@I)e9@a @a@e/@a]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266679a^A yb];ԉ I1 II O] >3,0?AE2 E2E2)E0"E2:*E2a9:VE2FA4ZE0a:@a:@a:@a:@:Y@:1{g@:;ٱ:4h FAHRS rotation from veh to nav: [[-0.889135,0.453050,0.064688],[-0.457596,-0.878070,-0.139994],[-0.006624,-0.154075,0.988037]]:Hs`?`_?BIݿ&U`!{ÿ?i:Y@I:K];8YN)R<bDVVDVNyyL%%M=ٔ%Q-%>9!Y)=-Dy-C-;E->1Q 5=45?Q 9=45봾)5sqBYAyE+Q IE?5DI5;i5;5s 4yIɮMAQYjhy}FNOT Ignoring new targets: 287.05 m.Rhh9Zhh9 ProNav: ac range: 287.049774 m, nav range: 277.056732 m, bearing: 210.936210 deg, approach rate: -0.726951 m/s, LOS rate: 0.012705 deg/s, cmd heading: 207.063796 deg, new cmd heading: 207.078207 deg. Bh :HeadingCmd: 3.614197 target range: 287.049774 and range: 288.30 m.hNg@h*h"h hgfffdddjdZd(@%>G=jAMAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5187459jAYeAɢ;) |=i) 4Pպ  i Wi5*5J;5;I5Ng@I9ԉ9@ @@@Ա^A% vт;I I O- >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772308 B >B +CB $*IB TBB B B DB 2;B 7E9,c0?AY~.By~)IԹiMb@Mb@Mb@ 9@5^I ?:v~jtx?Yb0?yԼ;3A@ A)CAY3 AbD5VD5k1yMw%M9=ٔUQ-U>9YYY=]Dy]C]E]>aQ 5m4er?Q 9m4eV)euqBYu0?Q Eu:yu,Q Iu?eDIe%;ie ;e14y}EBɮZAEjhFNOT Ignoring new targets: 287.05 m.Rhl9Zhl9 ProNav: ac range: 287.049774 m, nav range: 276.752869 m, bearing: 210.942557 deg, approach rate: -0.686848 m/s, LOS rate: 0.014362 deg/s, cmd heading: 207.078208 deg, new cmd heading: 207.097270 deg. Bh:HeadingCmd: 3.614529 target range: 287.049774 and range: 288.30 m.hrTg@h*h"h hgfffdddjdZd~n @ɢ Aݜ;)  =i Eu EuEu*Eq"Eu:*Eu=:VEu(N4ZEqBEu> A >I I1 OE >A @,1?A2Y@2hg@2\;ٱ2 :AHRS rotation from veh to nav: [[-0.888242,0.454715,0.065267],[-0.459348,-0.877653,-0.136838],[-0.004940,-0.151526,0.988441]]2H{l ?V?@eݿ` f9%BDAT read: Rx Time:00:28:53.0357 -TRx dataTimestamp_ set to:1761524932.096236-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275856Y=-Dy55C5;E5>9Q 5E4=6?Q 9E4=,)=wqBYIyM,Q IM?=DI=:i=w:=4yU+BɮUAUEjhy}FNOT Ignoring new targets: 287.05 m.Rh9Zh9 ProNav: ac range: 287.049774 m, nav range: 276.501678 m, bearing: 210.947713 deg, approach rate: -0.686297 m/s, LOS rate: 0.014099 deg/s, cmd heading: 207.097264 deg, new cmd heading: 207.112746 deg. Bh:HeadingCmd: 3.614799 target range: 287.049774 and range: 288.30 m.hXg@h*h"h hgfffdddjdZdw[ @ɢ;) =i)úi(Vi*iK;;IXg@I9@ @@0@AE EE)E"EI:*EC:VEFA4ZEa@a@a@a@^Aϩ;II)OE>qiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962ԙ G,]1?A6ȬY@6wg@6͍;ٱ6_ BAHRS rotation from veh to nav: [[-0.888047,0.454994,0.065978],[-0.459732,-0.877465,-0.136751],[-0.004328,-0.151774,0.988406]]6Hj@??@lݿ 2  qTmÿ ?i6ȬY@I6];6CY^"Byb)I ``dfAbDj VDj2yr%rM=ٔvɺQ-v>9tYt=zDyzUCz:Ez>|Q 54~l?Q 94~=)~zqBY y ,Q I ?~DI~1:i~:~ 4yɮ#A5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 287.05 m.RhE9ZhE9U ProNav: ac range: 287.049774 m, nav range: 276.230103 m, bearing: 210.953273 deg, approach rate: -0.685391 m/s, LOS rate: 0.014047 deg/s, cmd heading: 207.112741 deg, new cmd heading: 207.129439 deg. BhU>:]HeadingCmd: 3.615091 target range: 287.049774 and range: 288.30 m.he]g@ha*ha"ha hagafafifidididqjdqZd}@yɢS;) =i)5y99iE$Vi*K; ;I]g@IeDAT read: 00:28:53.0357 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 185,-0.28,-1.201,-2.979,-1.104,-1.409, PHS= 0.310,-1.525, 0.262, RAW= 148.7, 10.5, CAL= 148.4, 11.5, ROT= 1.6, -11.5 mYgot valid direction response: 00:28:53.0357 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 185,-0.28,-1.201,-2.979,-1.104,-1.409, PHS= 0.310,-1.525, 0.262, RAW= 148.7, 10.5, CAL= 148.4, 11.5, ROT= 1.6, -11.5 uPDAT read: Bearing 1.4, -0.3 (Local) u~Local bearing/azimuth received: Bearing 1.4, -0.3 (Local) DAT read: Range 11 to 50 : 286.6 m (Round-trip 382.2 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.979543,0.027361,0.199368]Fpublishing direction and range infoy15iX??i?Y5LC1111 1)5CI5R>i533ÿ5$>5x&@5f;>5%@ 5M>)5B,CBBB =BBB1;B7EBu+CBu+CBuœCBuŬ =Buū =Cu*-5^Am X;E  E E E "E *E VE ZE BE  *DAT read: user:126>  BDAT read: Tx time:00:28:54.2494  $Ping request sent. 9YYY=]Dy]zC]:Ee>aQ 5m4eˣ?Q 9u4e)evqBY+?Q E:y&+Q I?e*DIe;iel;e_(4yBɮAiaieLm&1?AJieCRieCjieok@ieҷixq@A;_@;@^8rL@rieiX??i?Zie<bieMienIVnNa⺺vK@zie'&꿆KtG 4\SI?2ieZ:iep"ieD f?*ieE{x|BiemBieb,\?iaie9BieqCieT,IR1?A2-Y@2g@2y;ٱ2ь :AHRS rotation from veh to nav: [[-0.887143,0.456115,0.070262],[-0.461491,-0.876115,-0.139459],[-0.002052,-0.156145,0.987732]]2H@yc`0??ݿ`" =`ÿ?i2-Y@I2^;0YBByB)IbDJVDJyRf%RZ=ٔV:Q-V>9V ?YV ?=VDyZCZk;EZ>\Q 5b4^?Q 9b4^ľ)^rqBYdyf+Q If?^:DI^:i^:^.4yhɮj*Aljh|~FNOT Ignoring new targets: 285.36 m.Rh+9Zh+9 ProNav: ac range: 285.363617 m, nav range: 278.633301 m, bearing: 210.597954 deg, approach rate: -0.696780 m/s, LOS rate: 0.009372 deg/s, cmd heading: 207.149078 deg, new cmd heading: 207.159156 deg. Bh9HeadingCmd: 3.615609 target range: 285.363617 and range: 286.60 m.h%fg@h*h!"h! h!g!f!f)f)d)d)djdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503025ɢ)) -EB +CB *IB JBB =B B B -;B 7EI I O > IZ,;l1?A^Y@^g@^l}:ٱ^*+" jAHRS rotation from veh to nav: [[-0.886869,0.456428,0.071678],[-0.462020,-0.875673,-0.140483],[-0.001354,-0.157706,0.987485]]^H:a`6?@xY?ݿY/V/Ŀ`z?i^Y@I^VM^;\YrByr)IIv<)v;z=z=iuMb@Mb@Mb@qqqq q9u|?5^?:v?y&1Yu-?yu9"?Y"?=DyC:E>Q 54S{?Q 94Ⱦ)jqBY-?Q E:y(Q I?MDI!;i:64yBɮڛAEjhFNOT Ignoring new targets: 285.36 m.RhD8ZhD8  ProNav: ac range: 285.363617 m, nav range: 278.338165 m, bearing: 210.599121 deg, approach rate: -0.679202 m/s, LOS rate: 0.002688 deg/s, cmd heading: 207.159159 deg, new cmd heading: 207.162663 deg. Bh 8E EE#E"E:*EA:VE3ZEBE ǒa,_1?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259012:Y@:g@: :ٱ:0 " FAHRS rotation from veh to nav: [[-0.886504,0.457083,0.072013],[-0.462720,-0.875338,-0.140263],[-0.001076,-0.157665,0.987492]]:H=^@?mo?2ݿ@!@Q_.Ŀ?i:Y@I:D^;8YJByJ)IbDVVDVky^p%^Z=ٔ^`BQ-b>9b ?Yb ?=bDybCf ;Ef>hQ 5n4jh?Q 9n4j˾)jbqBYlyn(Q Ir?j]DIj;ij;j=4yvܰBɮvAvEjh FNOT Ignoring new targets: 285.36 m.Rh=8Zh=8- ProNav: ac range: 285.363617 m, nav range: 278.083496 m, bearing: 210.600088 deg, approach rate: -0.679484 m/s, LOS rate: 0.002583 deg/s, cmd heading: 207.162656 deg, new cmd heading: 207.165560 deg. Bh-85HeadingCmd: 3.615721 target range: 285.363617 and range: 286.60 m.h5gg@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE}?qɢuG)q ui)iyVi*NN;A>ԩ AE ؟AII IY Om >g,s1?A2Y@2g@20^:ٱ2k :AHRS rotation from veh to nav: [[-0.886731,0.456723,0.071496],[-0.462284,-0.875777,-0.138952],[-0.000848,-0.156265,0.987715]]2H`:? M?ݿ],KzĿ@\?i2Y@I2+^;2C@YFByF)IbDNVDNk1yV#\%VK=ٔV Q-V>9Z"?YZ"?=ZDyZC^<E^>`Q 5f4bT?Q 9f4brϾ)b[qBYdyf(Q If?bnDIbR:ibk:bD4ylɮnʛAlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 285.36 m.Rh-zA8Zh-zA8= ProNav: ac range: 285.363617 m, nav range: 277.810425 m, bearing: 210.601153 deg, approach rate: -0.677300 m/s, LOS rate: 0.002643 deg/s, cmd heading: 207.165566 deg, new cmd heading: 207.168763 deg. Bh=-8EHeadingCmd: 3.615777 target range: 285.363617 and range: 286.60 m.hEhg@hA*hI"hI hIgIfIfQfQdQdQdQjdZd`z?ɢ%kΌ)) -2mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765129iq)Cٹ顁ԩi+ViѶ*ZO; ^m,O1?A2Y@27g@2#:ٱ2 :AHRS rotation from veh to nav: [[-0.887049,0.456205,0.070858],[-0.461673,-0.876039,-0.139337],[-0.001492,-0.156312,0.987707]]2Hbv2?`#?` ݿ@pXĿK?i2Y@I2];2CYB߉ByB)I DDHJAli]Mb@Mb@Mb@YYYY Y9]> ףp=?Q?QY]1?y]u=]]dA]@ ]l A)]AYY]AbDu VDu2y38%==ٔJ:Q->9Y=DyCкE>Q 54??Q 94Ӿ)IqBY2?Q E:yU%Q I?DI:i:K4yаBɮÛAEjhFNOT Ignoring new targets: 285.36 m.RhZh ProNav: ac range: 285.363617 m, nav range: 277.509155 m, bearing: 210.599649 deg, approach rate: -0.698588 m/s, LOS rate: -0.003491 deg/s, cmd heading: 207.168763 deg, new cmd heading: 207.164246 deg. BhXHeadingCmd: 3.615698 target range: 285.363617 and range: 286.60 m.hgg@h*h"h hgf f f d ddjdZd`@ɢ ) @i)xiUi*ӦO;D;Igg@I @ @@/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668409^AP;a A I I O% >E  E E -E "E [:*E A:VE t4ZE a @a @a @a @t,*1?A2Y@2Cg@2 &;ٱ2r :AHRS rotation from veh to nav: [[-0.887777,0.454973,0.069649],[-0.460266,-0.876705,-0.139797],[-0.002542,-0.156166,0.987728]]2H@hE?Ա?`tݿ `dAÿv?i2Y@I2];2CYB܉ByB)IbDJVDJ:yRܖ%VZ=ٔVg7;Q-V>9TYX=ZDyZ\Q 5b4^\,?Q 9f4^H׾)^9qBYdyfo%Q If?^DI^1:i^:^4R4yjBɮnhAnEjh|FNOT Ignoring new targets: 285.36 m.RhnZhn ProNav: ac range: 285.363617 m, nav range: 277.247528 m, bearing: 210.598425 deg, approach rate: -0.697204 m/s, LOS rate: -0.003264 deg/s, cmd heading: 207.164241 deg, new cmd heading: 207.160566 deg. BhaHeadingCmd: 3.615634 target range: 285.363617 and range: 286.60 m.hfg@h!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518962Aɢe3ջ)a ehii)m5ǺiiimbSUi)*P;;Ifg@I @ @@/@iԑ^A8<AfAzAhA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773341I) Iq B >B ,CB )IB BB B B B L;B 8EO > kz,\1?A6~Y@6-g@6)Q;ٱ6Ym! >AHRS rotation from veh to nav: [[-0.888759,0.453128,0.069153],[-0.458363,-0.877513,-0.140976],[-0.003197,-0.156991,0.987595]]6Hp ??@Uݿ`  ¿@1jEĿ`?i6~Y@I6^;6CYFƉByFv)IiEMb@Mb@Mb@AAAA A9EʡE?ˡE?Zd;OYE-2?yE=EjEAA EV A)EAAYAbDeVDe3ymǽ%m>=ٔu :Q-u>9qYy=}Dy}_C}OE>Q 54E?Q 94۾))qBY3?Q E:y#Q I?DI:ԙi:Y4yɮAjhFNOT Ignoring new targets: 285.36 m.Rh Zh  ProNav: ac range: 285.363617 m, nav range: 276.947357 m, bearing: 210.595139 deg, approach rate: -0.697963 m/s, LOS rate: -0.007648 deg/s, cmd heading: 207.160566 deg, new cmd heading: 207.150699 deg. BhHeadingCmd: 3.615462 target range: 285.363617 and range: 286.60 m.hcg@h*h"h hgfffdddjdZd@Ox @)ɢ-)1 54rEt0E} E}E})Ey"E}:*E};J:VE}FA4ZEyBE} ! ,2?ABDAT read: Rx Time:00:28:57.0313 TRx dataTimestamp_ set to:1761524936.128186checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276004:^uY@: kg@:~;ٱ:# FAHRS rotation from veh to nav: [[-0.889598,0.451497,0.069028],[-0.456727,-0.878062,-0.142857],[-0.003889,-0.158612,0.987333]]:H@w@T?ѫ?@;ݿ@"I¿ogMĿ)R9dYd=fDyf~Cj͝Ej>lQ 5r4n}?Q 9r4n߾)nqBYpyr#Q Ir?nDIn;in;n``4yzBɮzAzEjhFNOT Ignoring new targets: 285.36 m.Rh%Zh%- ProNav: ac range: 285.363617 m, nav range: 276.680389 m, bearing: 210.592317 deg, approach rate: -0.700537 m/s, LOS rate: -0.007412 deg/s, cmd heading: 207.150704 deg, new cmd heading: 207.142230 deg. Bh5Ƣ5HeadingCmd: 3.615314 target range: 285.363617 and range: 286.60 m.h=Nag@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@ @频ɢ7)H H i)c)顡iSig*,dP;`;INag@I@ @@0@!DD<E EEE"EI:*EE7:VEZEa@a@a@a@ )Yqʹ9YߩAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527379Q^A;I1 IA OM >y ,!2?APY@fFg@;;ٱDs% AHRS rotation from veh to nav: [[-0.890616,0.449449,0.069275],[-0.454735,-0.878702,-0.145256],[-0.004413,-0.160869,0.986966]]H@?@?@_ݿS¿rYĿ9?iPY@I];CYEÉByEq)IQbDVD3DAT read: 00:28:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 393,-0.28, 2.799, 1.164, 2.760, 1.846, PHS= 1.055,-0.637, 0.869, RAW= 144.3, -15.8, CAL= 145.2, -18.7, ROT= 4.8, 18.7 Ygot valid direction response: 00:28:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 393,-0.28, 2.799, 1.164, 2.760, 1.846, PHS= 1.055,-0.637, 0.869, RAW= 144.3, -15.8, CAL= 145.2, -18.7, ROT= 4.8, 18.7 PDAT read: Bearing 331.5, 7.1 (Local) ~Local bearing/azimuth received: Bearing 331.5, 7.1 (Local) y(=% =ٔ <:Q- >9Y=DyCE>B%<A%<B->B)B-)IB-BB- =B)B)B-;B-U8EEDAT read: Range 11 to 50 : 283.3 m (Round-trip 377.8 ms) speed 0.4 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.943888,0.079261,-0.320613]UFpublishing direction and range infoy9=zlj-U4?jJ?C.jԿY=C9999 9)=EI== ?i=o#=v^?=E/!@=0=0"@ =)==I=>99=?hxxJ?cjoѿ =>)=qD>I==i=>99uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.Q 54A?Q 94)qBYy#Q I?DI|i=1j*mI:_meTWzi=fįx꿶cܿ'Uտ2i=):i=Wi"i=]>?*i=cBi=1i=]>?i=:Zi=YBi=Ci=lj@5 addTargetRange:: Added new target pos. range: 283.299988 m, deltaT: 4.032643 s, deltaX: -3.300018 m, approachRate: -0.818326 m/s, rangeRepo size: 4 U Added new target pos. range: 282.076813 m, bearing: 208.667991 deg, lat: 36.779260 deg, lon: -121.859827 deg, deltaT: 4.032643 s, deltaX: -3.286804 m, approachRate: -0.815050 m/s, posRepo size: 4 ԉjh9=FNOT Ignoring new targets: 282.08 m.Rh=ZhAM ProNav: ac range: 282.076813 m, nav range: 269.081451 m, bearing: 209.867865 deg, approach rate: 0.000000 m/s, LOS rate: -0.007412 deg/s, cmd heading: 207.142234 deg, new cmd heading: 207.130265 deg. BhQHeadingCmd: 3.615105 target range: 282.076813 and range: 283.30 m.h]g@h*h"h hgfffdddjd̴q@Zd`?9ɢ=]l)9 =di9)EAAiE/RiM*M.P;}:I}]g@IyE EE(E"E*EA:ԡVEc44ZEBE  BDAT read: Tx time:00:28:58.2978  $Ping request sent. A5 >I I O >,{>2?A2<(Y@2g@2J;ٱ2b/& :AHRS rotation from veh to nav: [[-0.891737,0.447238,0.069165],[-0.452533,-0.879699,-0.146094],[-0.004495,-0.161577,0.986850]]2H ?ƴ?`Kܿ&@9¿Uir`Ŀ@F?i2<(Y@I2K];2CYbBybb)IQi Mb@Mb@Mb@     9 㥛 ?&1?y&1Y 5?y = ` MA j@ ? A)  Y \AbD%VD%:2yUJ|%UP=ٔ]Z9Q-]>9YYa=eDyeCe$λEe>iQ 5u4m?Q 9u4m)mpBY}7?Q E}:y}a"Q I}?mDIm:im:m1p4yɮ(AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 282.08 m.RhrZhr- ProNav: ac range: 282.076813 m, nav range: 268.801331 m, bearing: 209.862889 deg, approach rate: -0.745571 m/s, LOS rate: -0.013258 deg/s, cmd heading: 207.130268 deg, new cmd heading: 207.115324 deg. Bh-5HeadingCmd: 3.614844 target range: 282.076813 and range: 283.30 m.h5Yg@h1*h1"h9 h9g9f9fAfAdadadajdiZdm?颱ɢS) xi){项iwRi* 9O; I Yg@I ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2518619@ @@4@ԩ^A ] ;EM  EM EI EI "EM [:*EM c:VEI ZEI aU @aU @aU @aU @Ia Iq O} > ȕ,1CX2?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701:Y@:^f@:/;ٱ:' FAHRS rotation from veh to nav: [[-0.892744,0.445224,0.069171],[-0.450542,-0.880566,-0.147022],[-0.004548,-0.162417,0.986712]]:H [`~?4?ܿ-¿rĿ@$?i:Y@I:Y];:CY^Byb\)I ``dfAbDjVDj1yr%rf=ٔv9Q-v>9tYt=zDyzCzͻEz>|Q 54~?Q 94~)~pBY y "Q I ?~DI~:i~:~hv4yfBɮӚAEԹjhFNOT Ignoring new targets: 282.08 m.RhZZhZ ProNav: ac range: 282.076813 m, nav range: 268.547852 m, bearing: 209.858502 deg, approach rate: -0.689910 m/s, LOS rate: -0.011952 deg/s, cmd heading: 207.115323 deg, new cmd heading: 207.102149 deg. Bh>HeadingCmd: 3.614614 target range: 282.076813 and range: 283.30 m.hUg@h*h"h! h!g!f!f!f)d)d)d)jd)Zd5@'?yɢ})Z) i)=a顁iAQi*TO;ֺIUg@I]+wchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757970!BBB)IB߉BB =BBBӂ;B8EB,CB,CBBȩ =Bȩ =CeJ5u 9@q  @y @} 0@y 9 E]  E] E] .EY "E] :*E] H:VE] ـ4ZEY BE] 9E ?YE ?=DyCTE>Q 54Ϫ?Q 94)pBYR3?Q E:y!Q I? DI:i\(;I4y[Bɮ~AEjhFNOT Ignoring new targets: 282.08 m.RhtZht  ProNav: ac range: 282.076813 m, nav range: 268.154114 m, bearing: 209.850952 deg, approach rate: -0.696377 m/s, LOS rate: -0.013373 deg/s, cmd heading: 207.102155 deg, new cmd heading: 207.079471 deg. Bh HeadingCmd: 3.614218 target range: 282.076813 and range: 283.30 m.h[Og@h*h"h hgYfYfafadadadijdiZdmeU?颱ɢ#) i)i*Pi[*TN;I[Og@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772ԉ= @  @ @ /@ Ա EM  EM EM (EI "EM ,:*EM T:VEM c44ZEI aU @aU @aU @aU @ ^A ?Bɺchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513173A ؟AII)O5?Cצ,S2?A6^X@6 f@6t;ٱ6% >AHRS rotation from veh to nav: [[-0.894233,0.442364,0.068270],[-0.447580,-0.882275,-0.145819],[-0.004272,-0.160953,0.986953]]6H O?&z?(ܿ;@4¿qĿ ?i6^X@I6D];6CYFByFn)IbDRVDRyVΗ<%Z=ٔZ9^"?Y^"?=^Dy^:Cb Eb>`Q 5f4b˒?Q 9j4hb)bpBYlyn"Q In?b DIbB.;ib-/;b4ypɮrjApjh  FNOT Ignoring new targets: 282.08 m.Rh!zZh!z% ProNav: ac range: 282.076813 m, nav range: 267.808075 m, bearing: 209.844442 deg, approach rate: -0.725579 m/s, LOS rate: -0.013667 deg/s, cmd heading: 207.079465 deg, new cmd heading: 207.059910 deg. Bh%-HeadingCmd: 3.613877 target range: 282.076813 and range: 283.30 m.h-Ig@h)*h)"h) h1g1f1f9f9d9d9d9jdAZdE? ɢ/)) i)k.ioCOi*%^PM;%lI%Ig@I!))11Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769359A@AABBB)IBЉB1A@A @A@I@IBBBB;B8Ea ^Au E}  E} E} )Ey "E} :*E} C:VE} FA4ZEy BE} ` sҭ,U2?A6X@6gf@6$;ٱ6% >AHRS rotation from veh to nav: [[-0.894496,0.441898,0.067845],[-0.447053,-0.882592,-0.145513],[-0.004423,-0.160491,0.987027]]6H H?B^? ܿ@2>)¿r Ŀ?i6X@I6p];4YFΉByF)Ii}Mb@Mb@Mb@yyyy y9}gfffff?I +?~jtY}33?y}9=}D}zA}=@ }( A)}AyY}\AbDVD1y`=%'=ٔ9Q->9Y=DybCE>Q 54z?Q 94)pBY4?Q E:y#Q I?6DIv%A! I) I9 A OM >j,2?A2X@2Bf@2d;ٱ2?% >AHRS rotation from veh to nav: [[-0.894254,0.442391,0.067827],[-0.447536,-0.882311,-0.145731],[-0.004626,-0.160675,0.986996]]2H๝"P?@]?oܿ@;O¿ rĿy?i2X@I2(7];0YFˉByF|)IEN ENEN*EL"ENI:*EN;J:VEN(N4ZELaR@aR@aR@aR@ VR=Va=bDZVDZ02ybb%bZ=ٔf;:Q-f>9dYh=jDyjCj:Ej>lQ 5r4nh?Q 9r4n)npBYtyv#Q Iv?nGDInF:in:n 4yz%BɮzhAzEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 282.08 m.Rh/Zh/ ProNav: ac range: 282.076813 m, nav range: 267.200745 m, bearing: 209.836148 deg, approach rate: -0.695621 m/s, LOS rate: -0.009567 deg/s, cmd heading: 207.045888 deg, new cmd heading: 207.035004 deg. BhҹHeadingCmd: 3.613442 target range: 282.076813 and range: 283.30 m.hBg@h*h"h hgfffdddjdZd]@9ɢ=E%)A EѽiA)Ek$aaim?Mim*mjmK;uHIuBg@Iq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523023!=9@9 @9@=5@AI^Aaԉ A .A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777362I Iq O > ,2?A(,.@B:>B8B:)IB:߉BB: =B8B8B:;B:8EZX@ZVf@Z;ٱZe" bAHRS rotation from veh to nav: [[-0.894087,0.442892,0.066745],[-0.447868,-0.882459,-0.143808],[-0.004792,-0.158470,0.987352]]ZH \ YX?6?ݩܿ@=Qh¿s`HĿ`c?iZX@IZW;];XYjىByj)I llprAieMb@Mb@Mb@aaaa a9e9v?X9v?MbYe4?ye}=eeMAa e A)etAaYeAbD}VD}k2y=%?=ٔ9Q->9 ?Y ?=DyCb:E>Q 54(R?Q 94)pBY5?Q E:y%Q I?ZDI;i;4yɮ.AjhY]FNOT Ignoring new targets: 282.08 m.RheΝZheΝu ProNav: ac range: 282.076813 m, nav range: 266.896667 m, bearing: 209.834302 deg, approach rate: -0.709549 m/s, LOS rate: -0.004311 deg/s, cmd heading: 207.035000 deg, new cmd heading: 207.029457 deg. Bhu^=}HeadingCmd: 3.613346 target range: 282.076813 and range: 283.30 m.h}Ag@hy*hy"h hgfffdddjdZd W @ɢ)! %Di!)%())i-Mi-*5qJ;5$4I5Ag@I1ԁE EE+E"E:*ER:VE [4ZEBE> D,Tq3?A2X@2f@23;ٱ2 :AHRS rotation from veh to nav: [[-0.893803,0.443746,0.064852],[-0.448433,-0.882770,-0.140086],[-0.004913,-0.154291,0.988013]]2H`Vf?? !ܿ?T  t̿ÿ͝?i2X@I2l];2CYB߉ByB)I\bDrVDryz<%zU=ٔzʥ9Q-~>9~"?Y~"?=~Dy~C:E> Q 54 >?Q 94 ) pBYy%Q I? kDI ;i ; C4y% Bɮ%A%EjhAMFNOT Ignoring new targets: 282.08 m.RhUKZhUKe ProNav: ac range: 282.076813 m, nav range: 266.624084 m, bearing: 209.832601 deg, approach rate: -0.740431 m/s, LOS rate: -0.004625 deg/s, cmd heading: 207.029454 deg, new cmd heading: 207.024346 deg. Bhe'KeHeadingCmd: 3.613256 target range: 282.076813 and range: 283.30 m.hm?g@hi*hi"hi hi}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278985gyfyffdddjdZdC @颱ɢ) @i)C+项i@oLi* I;=G I?g@Ie9@i @i@m/@iE EE*E"Em:*EF:VE(N4ZEa@a@a@a@ ^A 7AfAzAgA- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531074A I I O% >9 ,8!3?A2X@2f@2;ٱ2 :AHRS rotation from veh to nav: [[-0.893283,0.444865,0.064353],[-0.449470,-0.882505,-0.138426],[-0.004790,-0.152578,0.988280]]2Hŕ`x? hy?ܿ@{= -s@ÿ?i2X@I2ě];2CY^Byb)IbDjVDj2yr =%rL=ٔv졹Q-v>9tYt=vDyvCz=;Ez>|Q 54~%*?Q 94~ )~~pBYy %Q I ?~~DI~=:i~:~D4yBɮ!AjhFNOT Ignoring new targets: 282.08 m.RhlZhl ProNav: ac range: 282.076813 m, nav range: 266.339813 m, bearing: 209.830750 deg, approach rate: -0.680599 m/s, LOS rate: -0.004438 deg/s, cmd heading: 207.024345 deg, new cmd heading: 207.018785 deg. BhBHeadingCmd: 3.613159 target range: 282.076813 and range: 283.30 m.h>g@h *h "h  h gQfQfYfYdYdYdYjdaZde@ɢ3) PFi)-e.11i5KQiu*}JI;}"EI>g@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785335IBAB%>B!B%)IB%BB!B!B!B%;B%8E@ @@@qbEQjEUI4rEUɳ0E  E E )E "E :*E a9:VE FA4ZE BE a 2E a JE &;a :E &;a ԩ ^A= ?Bɺ= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034874A .AI I O >,=3?AFX@Ff@FԘ;ٱF NAHRS rotation from veh to nav: [[-0.893039,0.445348,0.064399],[-0.449956,-0.882315,-0.138060],[-0.004664,-0.152270,0.988328]]FHœ?@||?ܿ;@s}ÿ b?iFX@IF];FCYVByV)IIZ=)Zp<^=^=i5Mb@Mb@Mb@1111 195i|?5?y&1?Mb`?Y51?y5`<5;5 A5&@ 5 A)5@1Y5GAbDM VDM2yQm<%+=ٔ≹Q->9 ?Y ?=Dy C.:E>Q 54?Q 94){pBY1?Q E:y(Q I?DI;i;4yBɮUAEjh!-FNOT Ignoring new targets: 282.08 m.Rh-8Zh-8= ProNav: ac range: 282.076813 m, nav range: 266.007629 m, bearing: 209.831724 deg, approach rate: -0.719288 m/s, LOS rate: 0.002112 deg/s, cmd heading: 207.018785 deg, new cmd heading: 207.021711 deg. BhE8EHeadingCmd: 3.613210 target range: 282.076813 and range: 283.30 m.hE>g@hI*hI"hI hIgIfIfQfUBdQdYdYjdYZd]@颍Bɢk) P)i)0顑iNg@II 9@  @ @@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286780ԁ^A鑺Ա AE ؟AII IY Om > G 1 D} ?AzD} ?AE  E E (E "E :*E F:VE c44ZE a @a @a @a @ 9 Y A,W3?A2Y@2Vg@2;ٱ2c :AHRS rotation from veh to nav: [[-0.892442,0.446503,0.064678],[-0.451139,-0.881717,-0.138017],[-0.004597,-0.152351,0.988316]]2H@?`? xܿ@7`Qr`:ÿH?i2Y@I2^;2ClYrByr)IbD~VD~02yEO=%ES=ٔE5Q-E>9M"?YM"?=MDyM(CMKa;EU>QQ 5e4U?Q 9e4U@)UypBYaye(Q Ie?UDIUh;iUd;U\4yuBɮuAuEB*** querying acoustic contact ***i ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.538924jhFNOT Ignoring new targets: 282.08 m.Rh]8Zh]8 ProNav: ac range: 282.076813 m, nav range: 265.739929 m, bearing: 209.832434 deg, approach rate: -0.691018 m/s, LOS rate: 0.001835 deg/s, cmd heading: 207.021709 deg, new cmd heading: 207.023842 deg. Bh<8HeadingCmd: 3.613248 target range: 282.076813 and range: 283.30 m.hs?g@h*h"h hgfffdddjdZd1@ ɢ i)   Fi )P1i)Ji]C*]aH;]P9Ies?g@Ia@ @@/@ ^A- "A- >A- >u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793927I B B B )IB BB B B B ,;B 8EIa Iy O > ,q3?AY~By~)IiMb@Mb@Mb@ 9X9v?{Gzt?9Y=DyKCE>Q 54?Q 94){pBY3?Q E:y*Q I?DI:iL:Õ4yʯBɮ=AEjhFNOT Ignoring new targets: 282.08 m.Rh%`8Zh%`8E= E=E=)E9"E=y:*E= H:VE=FA4ZE9BE=e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295778,e3?Av):Y@v/g@v ;ٱvg ~AHRS rotation from veh to nav: [[-0.891242,0.448744,0.065700],[-0.453508,-0.880447,-0.138362],[-0.004243,-0.153110,0.988200]]vH 9? Ѱ?`Hݿ@,׵ aq@ÿU?iv):Y@Iv];vCY By )I AbD%VD%:3y5<%5R=ٔ=nQ-=>99Y9==Dy=jCE;EE>IQ 5U4Mo?Q 9U4M")M}pBYQy]\*Q I]?MDIM:iMR:Mʕ4ayiɮm6AijhFNOT Ignoring new targets: 282.08 m.Rhv8Zhv8 ProNav: ac range: 282.076813 m, nav range: 265.171936 m, bearing: 209.837634 deg, approach rate: -0.700313 m/s, LOS rate: 0.006214 deg/s, cmd heading: 207.032200 deg, new cmd heading: 207.039455 deg. Bhz9HeadingCmd: 3.613520 target range: 282.076813 and range: 283.30 m.hCg@h*h"h hgfffdddjdZd``m@ɢO) ϻi)[2iJi*G;;ICg@I y@y @y@}_0@yԉD-=D-=E5 E5E1E1"E5:*E5a9:VE1ZE1a=@a=@a=@a=@^A]9checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546963ԹIIO%> ,Q3?A2EWY@2Lg@2:;ٱ2D >AHRS rotation from veh to nav: [[-0.890435,0.450252,0.066321],[-0.455091,-0.879578,-0.138691],[-0.004111,-0.153678,0.988113]]2Hr~?m?8 ݿ% pÿ ?i2EWY@I27];2CYBByF)IbDN VDN:2yV<%VU=ٔV޴Q-Z>9XYX=ZDyZC^;E^>`Q 5f4bT?Q 9f4bi)bpBYdyf?*Q Ij?bDIb:ibw:b5ѕ4ynBɮnAnEjhFNOT Ignoring new targets: 282.08 m.Rh 8Zh 8 ProNav: ac range: 282.076813 m, nav range: 264.902985 m, bearing: 209.839919 deg, approach rate: -0.702775 m/s, LOS rate: 0.005978 deg/s, cmd heading: 207.039454 deg, new cmd heading: 207.046316 deg. BhF9%HeadingCmd: 3.613640 target range: 282.076813 and range: 283.30 m.h%Eg@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@aɢeB0)a m9ii)mU2iiimũIiu*uG;ul;IuEg@I9AAAAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.809022@ @@5@B5>B1B5)IB5BB5 =B1B5DB5;B58EB)B)B)B-Ī =B-Ī =C-51EU EUEU*EQ"EU,:*EUR:VEU(N4ZEQBEU checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050803Y ,,3?A2]rY@2 hg@2N;ٱ2i :AHRS rotation from veh to nav: [[-0.889682,0.451661,0.066845],[-0.456564,-0.878784,-0.138885],[-0.003986,-0.154082,0.988050]]2H Fx?@?V8ݿSpÿ ?i2]rY@I2];2CYXyXi5Mb@Mb@Mb@1111 195Gz?~jt{Gz?Y50?y55#<5A5@ 5A)5A1Y5AbDMVDM:y]s%e?=ٔeQ-e>9iYi=mDymCm};Em>qQ 54u?Q 94u!)upBY0?Q E:yP,Q I?uDIu;;iu ;;uؕ4yBɮMAEjhFNOT Ignoring new targets: 282.08 m.RhiC9ZhiC9 ProNav: ac range: 282.076813 m, nav range: 264.609100 m, bearing: 209.844485 deg, approach rate: -0.686532 m/s, LOS rate: 0.010678 deg/s, cmd heading: 207.046311 deg, new cmd heading: 207.060023 deg. Bh~9HeadingCmd: 3.613879 target range: 282.076813 and range: 283.30 m.hIg@h*h"h hgfffdddjdZdd@1ɢ4) ̹i!)%[2!!i%AIi-*-%H;g;IIg@I%9@! @!@%4@!a-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303250ԉ^A _;Iq I O >Ee  Ee Ee &Ea "Ee :*Ee ;J:VEe 4ZEa am @am @am @am @Թ ,3?A2|~Y@2+tg@2È;ٱ2 / :AHRS rotation from veh to nav: [[-0.889343,0.452417,0.066241],[-0.457221,-0.878602,-0.137866],[-0.004174,-0.152896,0.988233]]2Hu`e?#?Cݿ@ \qÿ?i2|~Y@I2ۡ];2CYBByF)IIJ<)JJ=bDNVDN0yV^<%VV=ٔZ:Q-Z>9XYX=^Dy^C^:Eb>`Q 5f4b?Q 9f4b$)bpBYhyjD,Q Ij?bDIb:ib:bXߕ4ylɮnBAp~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 282.08 m.Rh B9Zh B9}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554882 ProNav: ac range: 282.076813 m, nav range: 264.346069 m, bearing: 209.848539 deg, approach rate: -0.690086 m/s, LOS rate: 0.010646 deg/s, cmd heading: 207.060026 deg, new cmd heading: 207.072200 deg. Bh9HeadingCmd: 3.614092 target range: 282.076813 and range: 283.30 m.hGMg@h*h"h hgfffdddjdZdF@%Bɢ-7)) -@;i))U"2QQiUHi]n*]"bH;],;I]GMg@Iaԑ9@ @@ 0@^A-;IIO> M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810244B% >B% -CB% )IB% BB% =B! B! B% ;B% 8E !,3?A2+Y@2ڈg@2c;ٱ2t :AHRS rotation from veh to nav: [[-0.888765,0.453503,0.066570],[-0.458344,-0.877981,-0.138098],[-0.004180,-0.153248,0.988179]]2Hp`0? ?Uݿk. )q`ÿ@)?i2+Y@I2];2CYRByR)Ii-Mb@Mb@Mb@)))) )9-> ףp=?Mb{Gzt?Y-1?y--ף;-~A-@ - A)-^A)Y-AbDEVDEN2yU;%UA=ٔU+7Q-U>9Y=DyC<;E>Q 54}?Q 94&()pBY2?Q E:ym-Q I?DIe:i:4ywBɮЕAEE EE'E"E[:*EG;VE'4ZEBEA>ԩ A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311558( , 4?A@RhY@Rg@RF;ٱR ZAHRS rotation from veh to nav: [[-0.888282,0.454432,0.066686],[-0.459278,-0.877443,-0.138410],[-0.004385,-0.153574,0.988127]]RHl`j?Y?dݿ`@jq Tÿ@?iRhY@IRG];PYfByf)IbDlVDlyv*%vQ=ٔv:Q-z>9xYx=zDyzC~6;E~>Q 5 4i?Q 9 4 +)pBY y \-Q I?"DI:i:4y\BɮAjhAEFNOT Ignoring new targets: 282.08 m.RhMs9ZhMs9] ProNav: ac range: 282.076813 m, nav range: 263.780762 m, bearing: 209.859457 deg, approach rate: -0.692927 m/s, LOS rate: 0.013326 deg/s, cmd heading: 207.089901 deg, new cmd heading: 207.104987 deg. Bh]T:eHeadingCmd: 3.614664 target range: 282.076813 and range: 283.30 m.heVg@ha*ha"ha hagifififidqdqdqjdqZd}t@颡ɢ‹) ୼i)2顩i)Hi*%I;n;IVg@Im9@i @i@m/@qԩE% E%E%0E!"E%I:*E%=:VE%4ZE!a5@a5@a5@a5@iߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.563033^Aϩ;A I I! O- >3 ,И&4?A22Y@2g@2˱;ٱ2 :AHRS rotation from veh to nav: [[-0.888063,0.454810,0.067023],[-0.459700,-0.877103,-0.139165],[-0.004507,-0.154398,0.987998]]2Hk?s(?kݿ9)@5vrPÿ?i22Y@I2W];0YBByB)I DDHHbDNVDN2yVcI%VO=ٔV9Q-Z>9XYX=ZDyZ.C^:E^>`Q 5f4b}T?Q 9f4b.)bpBYdyfT-Q Ij?b3DIbR:ib:b4yllɮ]ŕAijhFNOT Ignoring new targets: 282.08 m.Rhg9Zhg9 ProNav: ac range: 282.076813 m, nav range: 263.506775 m, bearing: 209.864702 deg, approach rate: -0.661090 m/s, LOS rate: 0.012670 deg/s, cmd heading: 207.104982 deg, new cmd heading: 207.120735 deg. Bh :HeadingCmd: 3.614939 target range: 282.076813 and range: 283.30 m.h([g@h*h"h hgfffdddjdZd @ɢo3) &i)S4iGi * I; ;I ([g@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.816037B}>ByB})IB}BB} =ByByB};B}8E@ @@/@1^A5X;E= E=E=(E9"E=:*E=;J:VE=c44ZE9BE=`  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066806,\t@4?AY~By~)I9iMb@Mb@Mb@ 9|?5^?:vMbp?Y-?yT; A pA)@YAbD VD:2y%9=ٔQ->9Y=DyRCE>Q 54=?Q 941)pBY-?Q E:y+Q I?FDIP:i:54yRBɮAEjh!%FNOT Ignoring new targets: 282.08 m.Rh-%.9Zh-%.9= ProNav: ac range: 282.076813 m, nav range: 263.207947 m, bearing: 209.868712 deg, approach rate: -0.708357 m/s, LOS rate: 0.009516 deg/s, cmd heading: 207.120733 deg, new cmd heading: 207.132776 deg. Bh=9EHeadingCmd: 3.615149 target range: 282.076813 and range: 283.30 m.hE^g@hA*hA"hA hAgIfIfIfMމBdQdQdQjdQZd] @颅Bɢ,Z׻) 8bi)s 8顉iGi*J;(;I^g@IM9@I @I@I@I@Q@Qy checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319705ԑ^AAzAhAIi Iy O > EE  EE EE )EA "EE :*EE A:VEE FA4ZEA aM @aM @aM @aM @`F,QZ4?A: Y@:g@:`;ٱ:q ! VAHRS rotation from veh to nav: [[-0.887221,0.456330,0.067827],[-0.461316,-0.875919,-0.141254],[-0.005047,-0.156613,0.987647]]:H@d4?`$]?@4ݿ `¿t` Ŀ Κ?i: Y@I:`];:CYZ׉ByZ)IbDdVDdyjY{%n[=ٔnw:Q-n>9pYp=rDyrpCv;Ev>tQ 5z4v*?Q 9~4v4)vpBY|y~+Q I~?vWDIv;iv;v4y 7Bɮ }A E%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 282.08 m.Rh=!9Zh=!9M ProNav: ac range: 282.076813 m, nav range: 262.955048 m, bearing: 209.872011 deg, approach rate: -0.677246 m/s, LOS rate: 0.008843 deg/s, cmd heading: 207.132781 deg, new cmd heading: 207.142687 deg. BhM29UHeadingCmd: 3.615322 target range: 282.076813 and range: 283.30 m.hUoag@hQ*hQ"hQ hQechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.571006gifififidqdqdqjdyZd}`!@ԙ颩ɢ ) li);顱iUFi=G*=]J;= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823174B >B B )IB BB =B B B (;B 8E! 3p,+t4?Aɰ2Y@2g@2H;ٱ2m=# :AHRS rotation from veh to nav: [[-0.886883,0.456880,0.068550],[-0.461961,-0.875251,-0.143277],[-0.005461,-0.158737,0.987306]]2HYa=??Ɛݿ V¿^vQĿ@?i2Y@I2];2CYNωByR)IIV<)V;V=Vp=imMb@Mb@Mb@iiii i9m|?5^?{Gz?y&1|Ym2?ym#9Y=DyC:E>Q 54?Q 94E8)pBY2?Q E:y)Q I?jDIP ;i ;6 4yɮAjhFNOT Ignoring new targets: 282.08 m.bEjEC4rEA0E EE*E"E:*ER:VE(N4ZEBEԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326889W#,4?A2Y@2g@2:;ٱ2{# :AHRS rotation from veh to nav: [[-0.886428,0.457726,0.068787],[-0.462831,-0.874705,-0.143801],[-0.005653,-0.159306,0.987213]]2H]aK? ?@ݿ@h¿H'w#dĿ??i2Y@I2Df];2CYBʉByBz)IbDNVDN:yVټ%V[=ٔVD:Q-V>9XYX=ZDyZCZU,;E^>`Q 5b4b*?Q 9f4b;)bpBYdyfv)Q If?b{DIb:ib:b4yjBɮnGAnEjh|FNOT Ignoring new targets: 282.08 m.Rh8Zh8 ProNav: ac range: 282.076813 m, nav range: 262.394806 m, bearing: 209.875455 deg, approach rate: -0.698941 m/s, LOS rate: 0.004227 deg/s, cmd heading: 207.148299 deg, new cmd heading: 207.153036 deg. Bh99HeadingCmd: 3.615503 target range: 282.076813 and range: 283.30 m.h%edg@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 ?#@ɢ=+) Խi)sFiDi Q* L;|)G9@ @@4@y9YdAym;?mSAE  E E E "E I:*E T:VE ZE a@a@a@a@ԉ}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578724^AM8<AU>AU>ԱIIO -),4?A6Y@6Dg@6@;ٱ6(& BAHRS rotation from veh to nav: [[-0.886415,0.457572,0.069981],[-0.462860,-0.874373,-0.145712],[-0.005484,-0.161552,0.986849]]6H@]H?>? ~ݿ ¿vvĿ@D?i6Y@I6c];4YFByJ`)IbDRVDR2yZ|Ͻ%ZJ=ٔZٹQ-Z>9\Y\=^Dy^Cbˢ8Eb>dQ 5j4f&?Q 9j4f?)fpBYhyhQ Ij?fDIfg:if_:f4yrBɮr-ArEjh FNOT Ignoring new targets: 282.08 m.Rh 8Zh8% ProNav: ac range: 282.076813 m, nav range: 262.111694 m, bearing: 209.877169 deg, approach rate: -0.698668 m/s, LOS rate: 0.004233 deg/s, cmd heading: 207.153040 deg, new cmd heading: 207.158186 deg. Bh%99-HeadingCmd: 3.615592 target range: 282.076813 and range: 283.30 m.h-eg@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=$@uBɢ}[) i)dM顉i3Ciֹ*SL;BB)IBBBBBDB#;B8E9@ @@}1@E EE+E"E*ErN:VE [4ZEBE  9Y=DyC} E>Q 54?Q 945C)wpBY5?Q E:y&Q I?DI ;i2 ;u4yɮiAjh  FNOT Ignoring new targets: 282.08 m.RhVZhV- ProNav: ac range: 282.076813 m, nav range: 261.801758 m, bearing: 209.876302 deg, approach rate: -0.708595 m/s, LOS rate: -0.001985 deg/s, cmd heading: 207.158190 deg, new cmd heading: 207.155584 deg. Bh-h5HeadingCmd: 3.615547 target range: 282.076813 and range: 283.30 m.h5eg@h1*h1"h1 h1g9f9f9f=^BdAdAdAjdAZdE@$@qɢus)y }0iy)}.Wyyi}dBi*M;_D! zD% @AE-  E- E- *E) "E- :*E- F:VE- (N4ZE) a5 @a5 @a5 @a5 @6, 4?A NY@NWg@N;ٱN5& VAHRS rotation from veh to nav: [[-0.886527,0.457307,0.070282],[-0.462648,-0.874503,-0.145608],[-0.005126,-0.161601,0.986843]]NH@n^D??ݿ F¿ t@XĿ7?iNY@INC];LY^By^E)IbDfVDf1yn %rY=ٔr%Q-r>9tYt=vDyvCvEv>xQ 5~4zR?Q 9~4zF)zlpBYyQ I?zDIz;iz;z &4y Bɮ AE-B*** querying acoustic contact ***i) i)jh1E2Acoustic response timeoutEFNOT Ignoring new targets: 282.08 m.RhMnZhMn] ProNav: ac range: 282.076813 m, nav range: 261.535034 m, bearing: 209.875554 deg, approach rate: -0.708324 m/s, LOS rate: -0.001987 deg/s, cmd heading: 207.155580 deg, new cmd heading: 207.153336 deg. Bh]eHeadingCmd: 3.615508 target range: 282.076813 and range: 283.30 m.he{dg@ha*ha"ha higifififqdqdqdqjdqZd} %@颥Bɢ) B.CB{)IBˉBB =B>DBB;B8EB -CB -CB B ɩ =B ɩ =C O5= 2Acoustic response timeout A I I O >H<,s4?A2gY@2g@2>;ٱ2% :AHRS rotation from veh to nav: [[-0.886875,0.456611,0.070418],[-0.461986,-0.874958,-0.144976],[-0.004585,-0.161107,0.986926]]2H`Ha`9??`.ݿ ¿ r*Ŀ`?i2gY@I2D];2CYBByB=)IPi Mb@Mb@Mb@     9 9AYA=EDyE6CMEM>QQ 5]4U?Q 9]4UJ)U\pBY]q4?Q Ee:ye_$Q Ie?UDIU;iUV;UL-4ymɮBɮmAiE EE&E"E:*Ec:VE4ZEBE`  2Acoustic response timeoutC,QM5?A4<ɰ49lYl=nDynVCrAEr>tQ 5z4v?Q 9z4vN)vNpBYxyzs$Q Iz?vDIv :iv:|v 44yɮA jh)5FNOT Ignoring new targets: 282.08 m.Rh5!Zh5!E ProNav: ac range: 282.076813 m, nav range: 260.968079 m, bearing: 209.869167 deg, approach rate: -0.740242 m/s, LOS rate: -0.008258 deg/s, cmd heading: 207.143354 deg, new cmd heading: 207.134159 deg. BhE[MHeadingCmd: 3.615173 target range: 282.076813 and range: 283.30 m.hM^g@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZdeZM'@颍Bɢ葡) l^i)v顙iR,?i*O;;I^g@I59@1 @1@50@1)E EE)E"Ey:*E?:VEFA4ZEa @a @a @a @^AUԁ I, ()5?A2RY@2g@2(:ٱ2'( :AHRS rotation from veh to nav: [[-0.887899,0.454066,0.073888],[-0.460036,-0.875843,-0.145831],[-0.001502,-0.163474,0.986546]]2Hik? W?;qݿ`¿`$XĿɑ?i2RY@I2>];0YBByB.)IbDJVDJ0yRb%VM=ٔVpQ-Z>9\Y\=bDybwCf+Ef>lQ 5v4n ?Q 9z4nR)n?pBYxyz$Q I~?nDaIn4X;inBABE\)IBEBBE =BABABE;BE8Em ProNav: ac range: 282.076813 m, nav range: 260.685333 m, bearing: 209.866080 deg, approach rate: -0.655719 m/s, LOS rate: -0.007166 deg/s, cmd heading: 207.134161 deg, new cmd heading: 207.124891 deg. BhmamHeadingCmd: 3.615011 target range: 282.076813 and range: 283.30 m.huX\g@hq*hy"h hgfffddd2Acoustic response timeoutjdZd`<6(@=BɢE)i u0^iq)}J%顁ԉi#=i]*K9P;j;IX\g@I)1@9 @9@=0@9@E=@E=ԹE EEE"E:*E H:VEZEBE A% >I I) O= >+*Q,D5?AhYnByn-)Ii]Mb@Mb@Mb@YYYY Y9]n?ʡE?~jtY]6?y]-=]]QA]@ Y)]@YY]AbDVD:2yV6%/=ٔQ->9Y=DyCE>Q 54n?Q 94W)/pBYp7?Q E:y #Q I?DI2;i0;AC4yBɮbAEjh FNOT Ignoring new targets: 282.08 m.Rh_Zh_% ProNav: ac range: 282.076813 m, nav range: 260.354401 m, bearing: 209.860782 deg, approach rate: -0.761821 m/s, LOS rate: -0.012212 deg/s, cmd heading: 207.124886 deg, new cmd heading: 207.108970 deg. Bh%HeadingCmd: 3.614733 target range: 282.076813 and range: 283.30 m.hWg@h*h"h hgfff%BdddjdZd )@-Bɢ-)) 5]i1)5A]11i5 BDAT read: Tx time:00:29:10.7477 $Ping request sent.WOW,^5?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2483856-Y@6܇g@6A8ٱ65?) BAHRS rotation from veh to nav: [[-0.888801,0.452066,0.075296],[-0.458294,-0.876679,-0.146288],[-0.000121,-0.164529,0.986372]]6H@q@?F?Tݿ ¿ Fſ\?i6-Y@I6*];6CYJByJ*)I LLLNAbDTVDTyZXQ%^\=ٔ+tQ->9!Y!=%Dy%C%ͧE->)Q 554-[?Q 9=49-[)-"pBYYy].#Q I]?-DI-;i-;-I4yaɮmlAiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 282.08 m.RhFZhF ProNav: ac range: 282.076813 m, nav range: 260.080841 m, bearing: 209.856513 deg, approach rate: -0.694919 m/s, LOS rate: -0.010854 deg/s, cmd heading: 207.108971 deg, new cmd heading: 207.096153 deg. Bh]HeadingCmd: 3.614510 target range: 282.076813 and range: 283.30 m.h!Tg@h*h"h hgfffddd1jd9Zd=`D)@颥BɢM) `i)io顩i;i5*=Q;=;I=!Tg@I9i9@ @@3@B]>B]-CB]O)IB]BB] =B]?DB]DB];B]8Eԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500397^A ;Iq I O > *z], x5?AEr ErEr*Ep"Er:*ErX:VEr(N4ZEpBEr9Y=DyCE>Q 5 4%F?Q 9 4`)pBY g9?Q E :y!Q I?#DI(;i(;|Q4yBɮ%A%EjhAMFNOT Ignoring new targets: 282.08 m.RhM<ZhM<] ProNav: ac range: 282.076813 m, nav range: 259.769989 m, bearing: 209.850348 deg, approach rate: -0.738792 m/s, LOS rate: -0.014670 deg/s, cmd heading: 207.096158 deg, new cmd heading: 207.077640 deg. Bhe!eHeadingCmd: 3.614187 target range: 282.076813 and range: 283.30 m.heNg@hi*hi"hi higififqfu BdqdydyjdyZd}`*@颭Bɢ!) ii)R~顱iB:i*kQ;yQ;INg@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752600%9@! @!@%4@!@)@)^Am ;Aq zAu fAI I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004421) zad,_5?AFXlY@Fbg@FٱFt( NAHRS rotation from veh to nav: [[-0.889857,0.450006,0.075166],[-0.456240,-0.877881,-0.145499],[0.000511,-0.163767,0.986499]]FH`y?>?@ 3ݿ¿@@?`PĿ@f?iFXlY@IFW];FCYVByV%)IbDbVDb:2yf-<%j^=ٔjyQ-j>9lYl=nDynCrͻEr>pQ 5v4r3?Q 9z4rd)r pBYxyz"Q Iz?r4DIr:irR:rW4yɮ Ajh!-FNOT Ignoring new targets: 282.08 m.Rh-Zh-= ProNav: ac range: 282.076813 m, nav range: 259.505035 m, bearing: 209.845216 deg, approach rate: -0.721878 m/s, LOS rate: -0.013997 deg/s, cmd heading: 207.077634 deg, new cmd heading: 207.062222 deg. BhEEHeadingCmd: 3.613918 target range: 282.076813 and range: 283.30 m.hEmJg@hI*hI"hI hIgIfIfQfQdQdQdQjdYZd]ue+@颅Bɢp) ci)$ؘ顑i9iI*Q;t;ImJg@IQ@Q @Q@U/@QE EE)E"E[:*E H:VEFA4ZEa@a@a@a@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256399^A;II O>Qԁ ϋj,;5?AF]Y@F:Sg@FD걹ٱF& RAHRS rotation from veh to nav: [[-0.890268,0.449358,0.074157],[-0.455436,-0.878509,-0.144223],[0.000339,-0.162171,0.986763]]FH} J??%ݿ@u¿H=6?`Ŀ@?iF]Y@IF#];FCY^By^,)IIf=)fS?j=hbDn VDn:2yv<%vI=ٔv99Q-z>9xYx=zDyzCB>B.CBBB =B>DBDB$;B9E~_E>Q 54g?Q 94%i)oBYy,"Q I?HDI:i:]_4ylBɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508536jhFNOT Ignoring new targets: 282.08 m.Rh~Zh~ ProNav: ac range: 282.076813 m, nav range: 259.197540 m, bearing: 209.839304 deg, approach rate: -0.721136 m/s, LOS rate: -0.013882 deg/s, cmd heading: 207.062225 deg, new cmd heading: 207.044467 deg. BhoHeadingCmd: 3.613608 target range: 282.076813 and range: 283.30 m.hYEg@h*h"h hg f f f dddjdZd@@,@EBɢEpכ)A MViI)M(IIiM8Qi]\*]QQ;]W*y;IeYEg@Ia@ @@/@!ԁbEjEFA4rE/E EE'E"E:*EC:VE'4ZEBE> ksq,5?A63LY@6Ag@6bٱ61$ BAHRS rotation from veh to nav: [[-0.890750,0.448635,0.072740],[-0.454494,-0.879371,-0.141926],[0.000293,-0.159481,0.987201]]6H  o??lݿ#*¿@13?iĿ&?i63LY@I6 ];4YJByJ;)IiMb@Mb@Mb@ 9> ףp=?Zd;O?Y1?yj=A -A)@YAbD5VD5k2yEj=%EE=ٔE8Q-E>9M ?YM ?=MDyM?CM/'EU>QQ 5]4U$ ?Q 9e4UFm)UoBYex3?Q Ee:ye"Q Ie?UYDIUm ;iU:UFf4yuQBɮuAuEjhFNOT Ignoring new targets: 282.08 m.RheZhe ProNav: ac range: 282.076813 m, nav range: 258.921173 m, bearing: 209.834341 deg, approach rate: -0.698151 m/s, LOS rate: -0.012550 deg/s, cmd heading: 207.044467 deg, new cmd heading: 207.029563 deg. Bh HeadingCmd: 3.613348 target range: 282.076813 and range: 283.30 m.hAg@h*h"h hgfff5BdddjdZdv -@ԹBɢΏ) ~;i)i07i*Q;M;IAg@I9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012520eGyz9YBeA^Ay;A>A> E  E E ,E "E ,:*E ;J:VE g4ZE a @a @a @a @I I O >9 w,k5?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2645096 =Y@62g@6@ٱ6 BAHRS rotation from veh to nav: [[-0.891170,0.448225,0.070076],[-0.453669,-0.880478,-0.137630],[0.000011,-0.154443,0.988002]]6H w൯??@ݿ,`ܝ`>`ÿ?i6 =Y@I6];6CYFByJ>)IbDzVDz3yC<% N=ٔ 9:Q- >9Y=Dy_CE>Q 5%4?Q 9-4iq)oBY)y-"Q I-?kDI:i :6m4y5dBɮ=,A=EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 282.08 m.RhmcZhmc} ProNav: ac range: 282.076813 m, nav range: 258.643829 m, bearing: 209.829401 deg, approach rate: -0.697792 m/s, LOS rate: -0.012442 deg/s, cmd heading: 207.029563 deg, new cmd heading: 207.014727 deg. Bh}HeadingCmd: 3.613089 target range: 282.076813 and range: 283.30 m.hB0CBV)IBBB =BBDB+;B9E^A 7;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517697i I I O >},d5?A 6,.Y@6#g@67ٱ6 >AHRS rotation from veh to nav: [[-0.891581,0.447623,0.068675],[-0.452860,-0.881263,-0.135249],[-0.000020,-0.151686,0.988429]]6HՇ@ڥ??ܿ@O3Oa rjÿ@5?i6,.Y@I6];4YFByF@)I HHHHEb EbEb)E`"Eb:*Ebe:VEbFA4ZE`BE`aj2E`ajJEb^;aj:Eb^;aji5Mb@Mb@Mb@1111 195(\?Mb?y&1?Y5z4?y5=5`e<5A5\@ 5A)5@1Y5QAbDMVDM1y]P;%]E=ٔ]'8Q-e>9aYa=eDyeCmkEm>qQ 54u?Q 94uu)uoBYA5?Q E:y%Q I?u~DIu1  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020410,r6?A2"Y@2g@2gٱ2*3 :AHRS rotation from veh to nav: [[-0.891895,0.447078,0.068149],[-0.452242,-0.881825,-0.133645],[0.000345,-0.150017,0.988683]]2H`g?3r?@ܿ7I6?3ÿ K?i2"Y@I27];2CYBByBZ)IbDJVDJ2PyVC=%VV=ٔZ{Q-Z>9XYX=ZDyZC^E^>`Q 5f4b?Q 9f4bQy)boBYdyj%Q Ij?bDIb:ib:b {4yn,BɮnAnEjhyFNOT Ignoring new targets: 282.08 m.RhZh ProNav: ac range: 282.076813 m, nav range: 258.080536 m, bearing: 209.824207 deg, approach rate: -0.715072 m/s, LOS rate: -0.006550 deg/s, cmd heading: 207.006546 deg, new cmd heading: 206.999124 deg. Bh֏HeadingCmd: 3.612816 target range: 282.076813 and range: 283.30 m.hb8g@h*h"h hgfffdddjdZd x/@Bɢn) i)mi<5i%R*%?Q;%%:I%b8g@I)E EEE"E:*E?:VEZEa@a@a@a@9@ @@U1@eBDAT read: Rx Time:00:29:13.5186 eTRx dataTimestamp_ set to:1761524952.516147mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512^Ayb:AzAhAIqIO>! ي,{-6?A6 Y@6g@6vٱ6 BAHRS rotation from veh to nav: [[-0.891946,0.446701,0.069932],[-0.452140,-0.881631,-0.135261],[0.001233,-0.152264,0.988339]]6HҊ?`?ܿR6`8P`N5T?@f}ÿ y?i6 Y@I6)];6CYJByJ[)IBR>BPBRh)IBRBBR =BPBRDBR3;BR9EBm.CBm.CBmCBm =Bm =Cm6bDfVDf3yjP;%nG=ٔn Q-n>9pYp=rDyrCvEv>tQ 5z4v?Q 9~4|va})voBYy%Q I?vDIv-/;iv90;vI4y ɮ Ajh15FNOT Ignoring new targets: 282.08 m.Rh=ZZh=ZM ProNav: ac range: 282.076813 m, nav range: 257.790710 m, bearing: 209.821556 deg, approach rate: -0.735032 m/s, LOS rate: -0.006731 deg/s, cmd heading: 206.999128 deg, new cmd heading: 206.991166 deg. BhMϓUHeadingCmd: 3.612677 target range: 282.076813 and range: 283.30 m.hU6g@hQ*hQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524490"h hgfffdddjdZd`$0@5Bɢ= c)9 =i9)=P9AiE4iU*] Q;]=:I]6g@IY1E9@A @A@M5@IE EE-E"EI:*E=:VEt4ZEBE} 4=} %= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779802ԉ {,B]G6?A2Y@2 g@2ٱ2%! :AHRS rotation from veh to nav: [[-0.892306,0.445527,0.072773],[-0.451425,-0.881445,-0.138817],[0.002299,-0.156719,0.987641]]2H@ō`? C?@'ܿ4@@)b=aiMb@Mb@Mb@ 9MbX?~jt?{Gz?Y*?y=ף<AE@ tA)Yf@bD VD2y&<%9=ٔ9Q->9 Y =DyCE>)Q 5=4-S?Q 9=4-R)-oBYE+?Q EE:yE0'Q IE?-DI-q;i-n;- 4yUBɮUoAUEjhy}FNOT Ignoring new targets: 282.08 m.RhʾZhʾ ProNav: ac range: 282.076813 m, nav range: 257.493958 m, bearing: 209.820976 deg, approach rate: -0.665561 m/s, LOS rate: -0.001303 deg/s, cmd heading: 206.991164 deg, new cmd heading: 206.989421 deg. BhdHeadingCmd: 3.612647 target range: 282.076813 and range: 283.30 m.h5g@h*h"h! h!g!f!f!f-Bd)d)dIjdQZdU 0@额BɢP) xݽi)񁶻顡id3i*+P;w:I5g@Iԉ DAT read: 00:29:13.5186 LVL= 28496, 32753, 32754, 26099, AGC= 70, IDX= 291,-0.23, 2.994, 1.485, 2.874, 2.258, PHS= 0.838,-0.728, 0.572, RAW= 140.9, -9.4, CAL= 141.0, -11.2, ROT= 9.0, 11.2 Ygot valid direction response: 00:29:13.5186 LVL= 28496, 32753, 32754, 26099, AGC= 70, IDX= 291,-0.23, 2.994, 1.485, 2.874, 2.258, PHS= 0.838,-0.728, 0.572, RAW= 140.9, -9.4, CAL= 141.0, -11.2, ROT= 9.0, 11.2 %PDAT read: Bearing 340.1, 10.2 (Local) -~Local bearing/azimuth received: Bearing 340.1, 10.2 (Local) =DAT read: Range 11 to 50 : 275.0 m (Round-trip 366.7 ms) speed 0.4 m/s =R#Rx 1: Read range and direction messages.E9@I @I@M4@Iu^direction in FSK: [0.968878,0.153455,-0.194234]uFpublishing direction and range infoy^ ?k?mVѫȿYCPo e)FI+V?i5^:n?c@'@ +H)| >I+H>Y")?r/o5}?MM4Ŀ Sy>)P(>I| >i+H>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա^A- ?B:D @AzD E  E E )E "E ,:*E :VE FA4ZE a @a @a @a @ A] ؟AIa Iy O >,8a6?A*DAT read: user:129> BDAT read: Tx time:00:29:14.9477 $Ping request sent.9f"?Yj"?=jDyjCj4hEj>lQ 5r4n“?Q 9r4n)npBYtyv3'Q Iv?nDIn:in:n\4yxɮziAxii8hQ6?AJiCRiCjin@ia2p@ܪE@JKJJri^ ?k?mVѫȿZi| >bi+H>iZŸ9ykfNbwSC8MziH:zŬkῂ/P˿2i:i#^"it?*iWlBi&AiiO2WilAiMCik@Թ addTargetRange:: Added new target pos. range: 275.000000 m, deltaT: 16.638922 s, deltaX: -8.299988 m, approachRate: -0.498830 m/s, rangeRepo size: 4   Added new target pos. range: 273.831329 m, bearing: 213.864510 deg, lat: 36.779260 deg, lon: -121.859901 deg, deltaT: 16.638922 s, deltaX: -8.245483 m, approachRate: -0.495554 m/s, posRepo size: 4 jh-FNOT Ignoring new targets: 273.83 m.Rh5Zh ProNav: ac range: 273.831329 m, nav range: 260.602264 m, bearing: 211.081367 deg, approach rate: 0.000000 m/s, LOS rate: -0.001303 deg/s, cmd heading: 206.989416 deg, new cmd heading: 206.987997 deg. BhHeadingCmd: 3.612622 target range: 273.831329 and range: 275.00 m.h35g@h*h"h hgfff dddjd0q@Zd@E?eBɢmDQ)q uнiq)u%qqius3i}*}IjP;LlD:I35g@I1@1 @1@53@1B>BB)IBЉBBBBB;B8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995^AM rg:AM >AI A A} .AI I O >,+{6?AER ERER*EP"ER:*ER=:VER(N4ZEPBER 9 ?Y ?=Dy$CE>Q 54}?Q 94/)pBYq1?Q E:y*Q I?DI;i;4yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 273.83 m.Rh.9Zh.9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033= ProNav: ac range: 273.831329 m, nav range: 260.299866 m, bearing: 211.085745 deg, approach rate: -0.656061 m/s, LOS rate: 0.009509 deg/s, cmd heading: 206.987995 deg, new cmd heading: 207.001144 deg. Bh=9EHeadingCmd: 3.612852 target range: 273.831329 and range: 275.00 m.hE8g@hA*hA"hA hAgIfIfifu BdqdqdqjdqZd}u?BɢX) i ) +  i )2i*P;ސ:I8g@IPExceeded connect timeout, disconnecting.I9@ @@/@q^A ?BI: checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829ԙ A1 IA IQ O] >o,6?A2X@2f@2Ⱦٱ2L) :AHRS rotation from veh to nav: [[-0.892841,0.443352,0.079211],[-0.450338,-0.881034,-0.144830],[0.005577,-0.164982,0.986281]]2H '_?+G?Uܿm1`ɉ¿@v? ſ?i2X@I2|];2CYBByBg)I DDbDNVDN2yRuS=%V^=ٔV,ͻQ-V>9XYX=ZDyZAC^E^>`Q 5b4bi?Q 9f4bB)bpBYdyf*Q If?bDIb[:ib:bp4yn٭Bɮn{AnEjhy}FNOT Ignoring new targets: 273.83 m.Rh@9Zh@9 ProNav: ac range: 273.831329 m, nav range: 260.045319 m, bearing: 211.089485 deg, approach rate: -0.713571 m/s, LOS rate: 0.010496 deg/s, cmd heading: 207.001150 deg, new cmd heading: 207.012382 deg. Bh9HeadingCmd: 3.613048 target range: 273.831329 and range: 275.00 m.h, ',ɮ6?AA A B$B$B&)IB&ډBB$B$B$B& ;B&8EZ} Y@Z,g@ZiȻٱZ^y* fAHRS rotation from veh to nav: [[-0.892549,0.443779,0.080105],[-0.450909,-0.880682,-0.145188],[0.006116,-0.165708,0.986156]]ZH@f?@Ɂ?@ܿ.¿ 4 y?5ſ?iZ} Y@IZ];ZCYjByn`)IbDvVDv02y~ ż%~F=ٔ窺Q->9Y=DybC {:E >Q 54T?Q 94)pBYy%*Q I%?DIY;iT;4y)ɮ-A)jhQUFNOT Ignoring new targets: 273.83 m.Rh]@9Zh]@9m ProNav: ac range: 273.831329 m, nav range: 259.759583 m, bearing: 211.093651 deg, approach rate: -0.719224 m/s, LOS rate: 0.010498 deg/s, cmd heading: 207.012379 deg, new cmd heading: 207.024891 deg. Bhm9uHeadingCmd: 3.613266 target range: 273.831329 and range: 275.00 m.hu?g@hq*hq"hq hqgqfyfyfydddjdZdb#?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259020颽BɢRL) Di)i}D2i*EO;~ 8I?g@I@ @@0@E EE+E"Eg:*E|;:VE [4ZEBE;a2E;aJE;a:E;a^A?BɹAzAgA1 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511883Ae ؟AIi Iy O > nManaging dock network, ignoring radio surface power offQ ,6?A6Y@67 g@6Xۻٱ6+ BAHRS rotation from veh to nav: [[-0.892214,0.444252,0.081206],[-0.451563,-0.880240,-0.145835],[0.006694,-0.166786,0.985970]]6H`@n?`ɴ?iܿ*¿ k{?:Yſ?i6Y@I6];6CYNByN^)Ii}Mb@Mb@Mb@yyyy y9}Dl?9"?Y"?=DyCu:E>Q 54d>?Q 94둿)pBYr-?Q E:ymC-Q Iu? DIe(:HeadingCmd: 3.613628 target range: 273.831329 and range: 275.00 m.hEg@h*h"h hgf)f1f5Bd1d1d1jd9Zd=`?-Bɢ-LB)1 5Hi1)5_û11i51i=*=N;=9IEEg@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7648779@ @@/@Yԁ E  E E )E "E غ:*E rN:VE FA4ZE a @a @a @a @^A] 9] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958Ա A I I O >,<6?A2)Y@2Fg@2Wٱ2, :AHRS rotation from veh to nav: [[-0.891685,0.445095,0.082388],[-0.452599,-0.879565,-0.146697],[0.007172,-0.168096,0.985744]]2H`p|?h? cܿd%`¿`:`}?`/ſ8?i2)Y@I2J^;2CYBByB])IIF>)F>J=J=bDVDNy%J=ٔQ->9Y=DyC%=<;E%>)Q 554-p)?Q 954-)-$pBY1y=0-Q I=?-DI-;i-;-34yEBɮE AE EjhFNOT Ignoring new targets: 273.83 m.Rh9Zh9 ProNav: ac range: 273.831329 m, nav range: 259.199127 m, bearing: 211.107052 deg, approach rate: -0.706433 m/s, LOS rate: 0.016831 deg/s, cmd heading: 207.045642 deg, new cmd heading: 207.065135 deg. Bh8:HeadingCmd: 3.613968 target range: 273.831329 and range: 275.00 m.hBKg@h*h"h hgfffdddjdZd @BɢpN) i)Żig1it*{N;L*:IBKg@I 9@ @@0@B>B/CBBB =BBDB;B8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267943^A9A A .AI IA O >bE˷G4jEL4rE˝/E1  E1 E5 'E1 "E1 *E1 VE5 '4ZE1 BE5 AHRS rotation from veh to nav: [[-0.891007,0.446215,0.083661],[-0.453923,-0.878777,-0.147322],[0.007782,-0.169241,0.985544]]2H @Ɏ?j?` ݿr¿?`ſ?i2AY@I2^;2CYFByFN)IiMb@Mb@Mb@ 9 rh?9 ?Y ?=DyCc;E>Q 546?Q 94 ))pBY,?Q E:yE.Q I?1DI;i~ ;4yɮ Am >ԩ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771231 Q Q A ؟AI I \GO > 5 91 Y5 uA,~7?A@JZXY@J Ng@Jv^ ٱJ . VAHRS rotation from veh to nav: [[-0.890380,0.447249,0.084805],[-0.455137,-0.878144,-0.147353],[0.008567,-0.169799,0.985442]]JH@}๟?ȵ? ݿz¿?@ſ?iJZXY@IJ>^;JCYZBy^D)IbDfVDfyn%rP=ٔrC Q-r>9r"?Yv"?=vDyvCvp;Ev>xQ 5~4z?Q 9~4z)z.pBYy/.Q I?zADIz;iz<;z.–4y Bɮ A Ejh9MFNOT Ignoring new targets: 273.83 m.Rh]ϩ9Zheϩ9m ProNav: ac range: 273.831329 m, nav range: 258.663422 m, bearing: 211.121805 deg, approach rate: -0.676464 m/s, LOS rate: 0.018557 deg/s, cmd heading: 207.088931 deg, new cmd heading: 207.109446 deg. BhuK:uHeadingCmd: 3.614742 target range: 273.831329 and range: 275.00 m.huWg@hy*hy"hy hygyfffdddjdZd) @颽ۉBɢLw) `i)2r˻iR1i*[UN;L7;IWg@IE EE&E"E:*EA:VE4ZEa @a @a @a @1@9 @9@=`4@9Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022921^AA I I1 OE >B >B B )IB ЉBB B B B ;B 8E,>Y17?A2uY@2kg@2Eٱ2M- :AHRS rotation from veh to nav: [[-0.889549,0.448785,0.085405],[-0.456737,-0.877624,-0.145490],[0.009660,-0.168428,0.985667]]2H 0w?ݵ?-;ݿ i¿ ȃ? ſ?i2uY@I2_;0YBByB:)I DDHHbDNVDN0yV$%VN=ٔV>4Q-Z>9XYX=ZDyZC^;E^>`Q 5f4bA?Q 9f4b)b3pBYdyf.Q Ij?bRDIb:ib:b ɖ4yn{BrBDAT read: Rx Time:00:29:17.7131 vTRx dataTimestamp_ set to:1761524956.800239vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276031xɮnAzEjh)FNOT Ignoring new targets: 273.83 m.Rh89Zh89 ProNav: ac range: 273.831329 m, nav range: 258.397095 m, bearing: 211.129011 deg, approach rate: -0.662599 m/s, LOS rate: 0.017946 deg/s, cmd heading: 207.109449 deg, new cmd heading: 207.131090 deg. BhE:HeadingCmd: 3.615119 target range: 273.831329 and range: 275.00 m.h^g@h*h"h hgfff!d!d!d!jd!Zd- @}ىBɢ6w) 8i)-ϻ顁i0i*lN;ʸ;I^g@I@ @@0@E EE*E"Ey:*EVE(N4ZEBE!,9K7?A:gY@:g@:]*ٱ:+ FAHRS rotation from veh to nav: [[-0.888774,0.450292,0.085541],[-0.458227,-0.877168,-0.143541],[0.010398,-0.166773,0.985941]]:Hp??Sݿ_¿@K?Xſ@ӌ?i:gY@I:^;:CYJByJ+)IAiMb@Mb@Mb@ 9i|?5?{GztMbY1?yףA@ A)@Y@bDVD02yO%+=ٔʺQ->9Y=Dy.Cf;E>Q 54Z?Q 94)Y1?Q E:y,+Q I ?gDIr;i;uі4yɮďAjh9=FNOT Ignoring new targets: 273.83 m.RhE~Y9ZhE~Y9U ProNav: ac range: 273.831329 m, nav range: 258.067078 m, bearing: 211.134612 deg, approach rate: -0.699398 m/s, LOS rate: 0.011884 deg/s, cmd heading: 207.131087 deg, new cmd heading: 207.147910 deg. BhU:]HeadingCmd: 3.615413 target range: 273.831329 and range: 275.00 m.h]bg@hY*hY"hY hYgafafafëBdididijdiZdu@额։Bɢ) Ri)gӻ顡ixi0iȼ*bN;ߥ;Ibg@IDAT read: 00:29:17.7131 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 384, 0.13, 0.104,-1.367,-0.018,-0.800, PHS= 1.006,-0.521, 0.738, RAW= 140.5, -17.0, CAL= 140.8, -20.4, ROT= 9.2, 20.4 Ygot valid direction response: 00:29:17.7131 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 384, 0.13, 0.104,-1.367,-0.018,-0.800, PHS= 1.006,-0.521, 0.738, RAW= 140.5, -17.0, CAL= 140.8, -20.4, ROT= 9.2, 20.4 PDAT read: Bearing 330.8, 12.3 (Local) ~Local bearing/azimuth received: Bearing 330.8, 12.3 (Local) aDAT read: Range 11 to 50 : 270.9 m (Round-trip 361.3 ms) speed 0.9 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.925225,0.149854,-0.348572]Fpublishing direction and range infoyimI q?th.?<OֿYmsC%9@) @)@-/@)@1@1imii m)mGImĀ?imB`mImK>iim?͏)x?U0ҿ mZ>)mV >Iml$>imK>iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙE  E E &E "E :*E H:VE 4ZE a% @a% @a% @a% @^AM r;AI zAM hA Ay I I O > *DAT read: user:130> % BDAT read: Tx time:00:29:18.9977 % $Ping request sent.% 9Y=DyLC#<E>Q 54,?Q 94)Yy*Q I?xDIX:i:ז4y_BɮAEii}T7?AJi߆CRi߆Cjim@i,v2o@r 6D@λ:WriI q?th.?<OֿZil$>biK>i4,djR]ז)a*Uf$Xzig 鿱`I࿬lֿ2iL :i'S"i=?*i# BiiiE{x|i&AiFCi$l@} addTargetRange:: Added new target pos. range: 270.899994 m, deltaT: 4.048145 s, deltaX: -4.100006 m, approachRate: -1.012811 m/s, rangeRepo size: 4  Added new target pos. range: 269.747345 m, bearing: 213.033316 deg, lat: 36.779260 deg, lon: -121.859917 deg, deltaT: 4.048145 s, deltaX: -4.083984 m, approachRate: -1.008853 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 269.75 m.RhZh ProNav: ac range: 269.747345 m, nav range: 258.548004 m, bearing: 211.407515 deg, approach rate: 0.000000 m/s, LOS rate: 0.011884 deg/s, cmd heading: 207.147917 deg, new cmd heading: 207.161377 deg. BhHeadingCmd: 3.615648 target range: 269.747345 and range: 270.90 m.hfg@h*h"h hgfffdddjd`fp@Zd ?颽ӉBɢ) ,i)6׻i 0i*JO;BU0CBUb)IBUBBQBQBQBU;BU8EB0CB0CBœCBŦ =Bť =Cŗ4}9@y @y@y@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251114^A ϩ;! A EE  EE EE *EA "EE :*EE rN:VEE (N4ZEA BEE ` I,`X7?A;ɰp;Y tBy )II=)4===iMb@Mb@Mb@ 9X9v?:v?QY3?y<l A@ @)j@Y@bDVDy.%E=ٔQ->9Y=DymCE>Q 5 4?Q 9 4V)(pBY 3?Q E:yy(Q I?DI.:i:$ߖ4yBBɮ;AE=B*** querying acoustic contact ***i9 i9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944jhFNOT Ignoring new targets: 269.75 m.Rhy8Zhy8 ProNav: ac range: 269.747345 m, nav range: 258.256592 m, bearing: 211.410037 deg, approach rate: -0.695233 m/s, LOS rate: 0.006024 deg/s, cmd heading: 207.161372 deg, new cmd heading: 207.168947 deg. BhH9HeadingCmd: 3.615780 target range: 269.747345 and range: 270.90 m.hhg@h*h"h hgffYf]yBdYdadajdaZde ?颵ЉBɢ) 9i)>ܻi2/iĶ*O;(0;Ihg@I @ @@/@^A 8<] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755598I I I O >,7?A2 Y@2g@2>ٱ2]% :AHRS rotation from veh to nav: [[-0.886439,0.455049,0.084591],[-0.462698,-0.875832,-0.137218],[0.011647,-0.160776,0.986922]]2H]? ɧ? ٜݿ]Qڇ?`NĿݔ?i2 Y@I2+i^;2CYriByr)IbDzVDzN2ym%\=ٔ TQ- >9 Y = Dy Co;E>Q 5%4}?Q 9%4)pBY)y-`(Q I-?DI:i4:4y1ɮ5gA9jhY]FNOT Ignoring new targets: 269.75 m.Rhes8Zhes8u ProNav: ac range: 269.747345 m, nav range: 257.995239 m, bearing: 211.412212 deg, approach rate: -0.729440 m/s, LOS rate: 0.006078 deg/s, cmd heading: 207.168940 deg, new cmd heading: 207.175473 deg. Bhux9}HeadingCmd: 3.615894 target range: 269.747345 and range: 270.90 m.h}jg@hy*hy"hy hgfffdddjdZd`d?颽ΉBɢo) vJi)k!i)/i*[yP;?ԡI I O >B% >B! B% C)IB% BB% =B! B% DB% ;B% 9E !,7?A2Y@2g@2o:ٱ2ٸ! NAHRS rotation from veh to nav: [[-0.885798,0.456602,0.082930],[-0.463932,-0.875661,-0.134107],[0.011385,-0.157266,0.987491]]2H`tX 8?:?ݿ`j@l*,Q? I!Ŀ ?i2Y@I2^;2CYVXByV(IbD^VD^kyf㢽%fN=ٔj,:Q-j>9hYh=nDynCne;En>pQ 5v4r?Q 9v4rJ)rpBYxyzF(Q Iz?rDIr:ir:r4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262956y}&Bɮ}7AyjhFNOT Ignoring new targets: 269.75 m.Rh8Zh8 ProNav: ac range: 269.747345 m, nav range: 257.716858 m, bearing: 211.414437 deg, approach rate: -0.674936 m/s, LOS rate: 0.005401 deg/s, cmd heading: 207.175470 deg, new cmd heading: 207.182152 deg. Bh5m9HeadingCmd: 3.616011 target range: 269.747345 and range: 270.90 m.hlg@h*h"h hgf f f d ddjd1Zd5?ԑˉBɢ%l)! %>di!)%K!)i-Ɍ.im*ukQ;uu >?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515115^Ae< I I O >9 ,@7?AN(Y@Ng@N&ٱN ZAHRS rotation from veh to nav: [[-0.885829,0.457260,0.078874],[-0.463901,-0.876452,-0.128948],[0.010166,-0.150815,0.988510]]NH XC?1?@ݿ Z҄?Mÿ ߡ?iN(Y@IN^;NCY`yb(I ddddiMMb@Mb@Mb@IIII I9M5^I ?L7A`?V-YM8?yM+=MMV AI M@)M&@IYMQ@bDeVDe2yu%u@=ٔ};;Q-}>9yYy=DyC̸E>Q 544l?Q 94)pBY8?Q E:y$Q I?DI ;i ;4y BɮA EjhFNOT Ignoring new targets: 269.75 m.Rh3cZh3ce ProNav: ac range: 269.747345 m, nav range: 257.409912 m, bearing: 211.413168 deg, approach rate: -0.749907 m/s, LOS rate: -0.003104 deg/s, cmd heading: 207.182150 deg, new cmd heading: 207.178339 deg. BheRmHeadingCmd: 3.615944 target range: 269.747345 and range: 270.90 m.hmkg@hi*hi"hi higifqffDBdddjdZd@xm?ȉBɢᅸ) ^i)Yi-i*%dER;%(c checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0188513,ę7?A$FY@Fwg@FٱF  RAHRS rotation from veh to nav: [[-0.886241,0.456659,0.077712],[-0.463127,-0.876923,-0.128528],[0.009454,-0.149897,0.988656]]FH\9?? ݿs\?/ÿ?iFY@IFH_;FCYZ`ByZ(IbDbVDb1yj&=%jU=ٔn|:Q-n>9lYl=rDyrCrEr>tQ 5z4vX?Q 9z4v)voBYxy~$Q I~?vDIv;ivY;v4yɮAjh)-FNOT Ignoring new targets: 269.75 m.Rh5dQZh5dQM ProNav: ac range: 269.747345 m, nav range: 257.132996 m, bearing: 211.412072 deg, approach rate: -0.721708 m/s, LOS rate: -0.002860 deg/s, cmd heading: 207.178339 deg, new cmd heading: 207.175046 deg. BhMEHeadingCmd: 3.615887 target range: 269.747345 and range: 270.90 m.hjg@h*h"h hgfffdddjdZd% @颥ʼnBɢ᭼) Hi)j顩igL-i*S;BB$)IBBBBBBQ;B99Eԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271002^A H<A zA Iq I O > E  E E (E "E :*E =:VE c44ZE BE =ٔ:Q->9Y=DyC[E>Q 54C?Q 94E)oBY9?Q E:y!Q I?DI:i:;4yBɮA EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 269.75 m.RhEZhE ProNav: ac range: 269.747345 m, nav range: 256.821533 m, bearing: 211.407420 deg, approach rate: -0.722677 m/s, LOS rate: -0.010807 deg/s, cmd heading: 207.175046 deg, new cmd heading: 207.161073 deg. BhWHeadingCmd: 3.615643 target range: 269.747345 and range: 270.90 m.hfg@h*h"h hgfff8Bdddchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523063jdZdR;@BɢX)  Ji)s!i%,ie*mS;myJ,d8?A>޶Y@>g@>Lٱ>1x FAHRS rotation from veh to nav: [[-0.887741,0.453942,0.076499],[-0.460267,-0.878268,-0.129612],[0.008351,-0.150272,0.988609]]>H``hb ?x?uݿ #?` <ÿ ?i>޶Y@I>_;>CYNSByN(IIR,>)R=R=R=bDZ VDZ2ybN%bY=ٔb,:Q-b>9dYd=fDyf/CjEj>lQ 5r4n:0?Q 9r4nf)noBYpyr!Q Ir?nDInw:inM:n41yIɮUĎAQjhFNOT Ignoring new targets: 269.75 m.Rh\9Zh\9 ProNav: ac range: 269.747345 m, nav range: 256.549377 m, bearing: 211.403456 deg, approach rate: -0.694585 m/s, LOS rate: -0.010128 deg/s, cmd heading: 207.161072 deg, new cmd heading: 207.149166 deg. Bho޹HeadingCmd: 3.615435 target range: 269.747345 and range: 270.90 m.hIcg@h*h"h hgfffdddjdZd c< @D=D<E EE*E"E:*EA:VE(N4ZEa@a@a@a@颵Bɢ) BWi),A项iA+il*#T;[;IIcg@Ia@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026921ԉ^A<B <A B >B B )IB yBB B B B Z;B D9EA .A I I O >s ,&:48?A2xY@2'g@2Ŝ ٱ2 :AHRS rotation from veh to nav: [[-0.888367,0.452671,0.076759],[-0.459052,-0.878857,-0.129932],[0.008643,-0.150664,0.988547]]2Hm?r?aݿ@ ?Hÿ-?i2xY@I2^;2CYRVByR(IbD^ VD^2ybu<%fJ=ٔf=Q-f>9j ?Yj ?=jDyjPCn[]En>lQ 5r4n?Q 9v4nĿ)noBYtyv!Q Iv?n DIn:in:n4y~Bɮ~CA~ EBDAT read: Rx Time:00:29:21.7595 %TRx dataTimestamp_ set to:1761524960.852288%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280124jh1=FNOT Ignoring new targets: 269.75 m.Rh=CZh=CM ProNav: ac range: 269.747345 m, nav range: 256.256775 m, bearing: 211.399275 deg, approach rate: -0.747612 m/s, LOS rate: -0.010694 deg/s, cmd heading: 207.149160 deg, new cmd heading: 207.136604 deg. BhMUHeadingCmd: 3.615216 target range: 269.747345 and range: 270.90 m.h]_g@hY*hY"hY hYgYfYfafadadadijdiZdm` V @ԑ额Bɢ") :Ii)顡i<+i*uT;7ͼ;I_g@II@I @I@M/@IbE%(N4jE%FA4rE%/0E EE,E"EI:*E H:VEg4ZEBEAU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530944Ii Iy O > W,BN8?A2†Y@2q|g@2ٱ2N :AHRS rotation from veh to nav: [[-0.889083,0.451253,0.076831],[-0.457655,-0.879647,-0.129509],[0.009143,-0.150306,0.988597]]2H]sR?`*?9Jݿ&@c? 8=ÿ?i2†Y@I2R^;2CYbbByb(IiMb@Mb@Mb@ 9v?!rh?~jtY8?yl=D A@ )@Yp@bDVDkyP=%:=ٔQ->9Y=DysCKiE>Q 5 4?Q 94ɿ)oBY;?Q E:y Q I? DI2;i;4y%ˬBɮ%A% EjhAMFNOT Ignoring new targets: 269.75 m.RhMy  *DAT read: user:131>  BDAT read: Tx time:00:29:22.9977  $Ping request sent. 7ݿ@+}`ރ?b)ÿ L?ijwqY@Ij'];jCYMfByM(I AbDVD2y<%J=ٔQ->9Y=DyC >RE >1Q 5E45?Q 9E45hο)5oBYIyM !Q IM?52 DI5A6;i57;54Yyyɮ}Ay addTargetRange:: Added new target pos. range: 268.200012 m, deltaT: 4.037179 s, deltaX: -2.699982 m, approachRate: -0.668779 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 269.75 m.Rh^Zh^5 ProNav: ac range: 269.747345 m, nav range: 255.637070 m, bearing: 211.388449 deg, approach rate: -0.700902 m/s, LOS rate: -0.012169 deg/s, cmd heading: 207.119640 deg, new cmd heading: 207.104084 deg. Bh5=HeadingCmd: 3.614648 target range: 269.747345 and range: 268.20 m.h=eVg@h9*h9"hA hAgAfAfIfIdIdidijdu@3p@Zdu6?颽Bɢ6)  i)`i)*iQ*T;;IeVg@IBu>Bu1CBu)IBu~BBqBqBuDBuz;Buf9Eԁ@ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935ԩ^A ;I) I9 O] >E  E E E "E :*E [: VE ZE BE ` 9aYa=eDyeCmEm>qQ 5}4u?Q 9}4u ӿ)uoBY}E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755047a&,8?A27Y@2t-g@2z0ٱ2  >AHRS rotation from veh to nav: [[-0.891264,0.446973,0.076570],[-0.453356,-0.882235,-0.126999],[0.010787,-0.147903,0.988943]]2H< 6??`ݿE;A ? ¿k?i27Y@I2n];2CYB|ByF)IbDN VDN2yVP=%Vk=ٔV|LQ-Z?9XYX=ZDyZC^%E^?`Q 5f4b?Q 9f4bֿ)boBYdyf!Q Ij?bV DIb:ib:b,4ynBɮnAnEjhFNOT Ignoring new targets: 269.75 m.Rh  KZh  K ProNav: ac range: 269.747345 m, nav range: 255.078293 m, bearing: 211.379856 deg, approach rate: -0.740268 m/s, LOS rate: -0.011094 deg/s, cmd heading: 207.089765 deg, new cmd heading: 207.078270 deg. Bh%HeadingCmd: 3.614198 target range: 269.747345 and range: 268.20 m.h%Og@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=?eBɢeJK)i mPŽii)m1iiimu)iu*u T;u':IuOg@IEy E}E}'Ey"Ey*E}VL:VE}'4ZEya@a@a@a@Q9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771ԁ^AIYIqO>ԩ Bm >Bm 2CBm 0)IBm BBm =Bi Bi Bm ;Bm 9EB)B-1CB)B-ʥ =B)C-ʦ;5,,r8?A2 0Y@2%g@2Nr5ٱ29 :AHRS rotation from veh to nav: [[-0.891475,0.446235,0.078398],[-0.452934,-0.881995,-0.130138],[0.011074,-0.151524,0.988392]]2H`??`ܿM9`_`+?`%eÿ@?i2 0Y@I2t];2 C@YFByF%)IJ=Ja=bDnVDnk1yv+=%vF=ٔv6Q-v>9xYx=zDyzCzE~>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990 Q 54  ?Q 94 ۿ) oBYy!Q I? j DI e;i ; @34y!ɮ%A!jhIMFNOT Ignoring new targets: 269.75 m.RhUHZhUHe ProNav: ac range: 269.747345 m, nav range: 254.774246 m, bearing: 211.375333 deg, approach rate: -0.735503 m/s, LOS rate: -0.010956 deg/s, cmd heading: 207.078276 deg, new cmd heading: 207.064690 deg. BhemHeadingCmd: 3.613961 target range: 269.747345 and range: 268.20 m.hm!Kg@hi*hi"hq hqgqfqfyfydydydjdZdm?颭BɢdY) i)) 项iw)i*T;ٵ:I!Kg@Iu9@q @q@u,4@qԩE EEE"E:*E=:VEZEBE> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940 K3,R8?A23Y@2m)g@28ٱ2eW :AHRS rotation from veh to nav: [[-0.891371,0.446210,0.079715],[-0.453135,-0.881578,-0.132250],[0.011263,-0.154005,0.988006]]2H`?`,h?(ݿ 5` C?oÿ?i23Y@I2];2CYBByB3)IliMb@Mb@Mb@ 9Cl?l?~jt?Y/?y=D<A K@)Y(@bD-VD-P)3y=Y=%=E=ٔ=Q-=>9AYA=EDyECM:EM>IQ 5]4M?Q 9]4M߿)MoBY]0?Q E]:y]$Q Ie?M| DIM ;iM ;Mx:4ymBɮmAmEjhFNOT Ignoring new targets: 269.75 m.RhZh% ProNav: ac range: 269.747345 m, nav range: 254.488968 m, bearing: 211.373314 deg, approach rate: -0.690594 m/s, LOS rate: -0.004893 deg/s, cmd heading: 207.064684 deg, new cmd heading: 207.058621 deg. Bh%V-HeadingCmd: 3.613855 target range: 269.747345 and range: 268.20 m.h-eIg@h)*hQ"hQ hQgQfQfYf]9BdYdYdajdaZde i[?Bɢ%7) x)i)4 ix)iQ*IT;$:IeIg@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7635759@ @@3@@ =@ =1E EE(E"E:*EC:VEc44ZEa@a@a@a@^A% ] ;A) A- >i A} ؟AI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924O >9,08?AN9U"?Y]"?=]Dy]4C]:Ee>iQ 5}4m ?Q 9}4m)moBYyy#Q I?m DIm@;im9;mA4yqBɮOAEjhFNOT Ignoring new targets: 269.75 m.RhZh ProNav: ac range: 269.747345 m, nav range: 254.207520 m, bearing: 211.371284 deg, approach rate: -0.683854 m/s, LOS rate: -0.004938 deg/s, cmd heading: 207.058619 deg, new cmd heading: 207.052522 deg. BhXHeadingCmd: 3.613748 target range: 269.747345 and range: 268.20 m.hGg@h*h"h hgff f dddjdZd @]Bɢ];)Y ]iY)e aaie)im*m'T;m;ImGg@Iq9@ @@/@B>BBV)IBBBBBB;B9Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898ԑ^A 0::A9 II IY Oe > E  E E E "E *E VE ZE BE 9IYQ=UDyUXCU;EU>YQ 5e4]{x?Q 9e4])]oBYm0?Q Em:ym%Q Im?] Duchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518959I]:i]h;]1I4yɮ:AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 269.75 m.RhZh ProNav: ac range: 269.747345 m, nav range: 253.907211 m, bearing: 211.371109 deg, approach rate: -0.693594 m/s, LOS rate: -0.000404 deg/s, cmd heading: 207.052526 deg, new cmd heading: 207.052001 deg. BhHeadingCmd: 3.613739 target range: 269.747345 and range: 268.20 m.hGg@h*h"h hgfffFBdddjdZd@u@ Bɢ #<)  81F,9?A2aY@2Vg@2u<ٱ2:7% NAHRS rotation from veh to nav: [[-0.890110,0.448067,0.083304],[-0.455600,-0.879450,-0.137826],[0.011506,-0.160634,0.986947]]2H{!?bS?@(ݿt$Kl?Ŀ?i2aY@I2Д];2 CYRByVX)IbD^VD^1yf=%fh=ٔf@9Q-j>9hYh=jDyntCnd;En>pQ 5v4rg?Q 9v4r.)roBYtyv%Q Iz?r DIr;ir;rYO4y~UBɮ~A~Ejh!%FNOT Ignoring new targets: 269.75 m.Rh-.Zh-.= ProNav: ac range: 269.747345 m, nav range: 253.664124 m, bearing: 211.370900 deg, approach rate: -0.694031 m/s, LOS rate: -0.000598 deg/s, cmd heading: 207.052007 deg, new cmd heading: 207.051380 deg. Bh=ѷEHeadingCmd: 3.613728 target range: 269.747345 and range: 268.20 m.hESGg@hA*hA"hA hAgIfIfIfQdQdQdQjdYZd]  @颅BɢEI) `"=i)eE 顉i*ib*2T;R;ISGg@IQEu EqEu)Eq"Euy:*EqVEuFA4ZEqa@a@a@a@)@) @)@-/@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023821^Ame;AqzAugAԩA I I O >B% >B! B% u)IB% ƉBB% =B! B% DB% ؃;B% 9E L,%x69?A2~wY@2-mg@2<ٱ2" :AHRS rotation from veh to nav: [[-0.889487,0.449453,0.082494],[-0.456815,-0.879149,-0.135710],[0.011529,-0.158396,0.987308]]2H v`?`L?@v<ݿ!^?`SFĿ?i2~wY@I22];2CYBByF`)IbDNVDNN2yV=%VM=ٔVsQ-V>9XYX=ZDyZCZ`;E^>`Q 5f4bOS?Q 9f4b)boBYdyf%Q If?b DIb:ib:bOV4ylɮnAlBDAT read: Rx Time:00:29:25.7585  TRx dataTimestamp_ set to:1761524964.884225 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276032jhFNOT Ignoring new targets: 269.75 m.RhlZhl- ProNav: ac range: 269.747345 m, nav range: 253.389130 m, bearing: 211.370577 deg, approach rate: -0.685750 m/s, LOS rate: -0.000806 deg/s, cmd heading: 207.051379 deg, new cmd heading: 207.050409 deg. Bh- 5HeadingCmd: 3.613711 target range: 269.747345 and range: 268.20 m.h5 Gg@h1*h1"h9 hgfffdddjdZdi @Bɢ5υ)9 =}=i9)=l99i=*iE*E uT;E[;IM Gg@IIԹ)@) @)@- 0@)E EE'E"E:*E?:VE'4ZEBEa2EaJE;a:E;a^A5r;ߵC=ߵ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528615 A I I O >9 S,gaP9?A6Y@6Xg@6R Aٱ6 BAHRS rotation from veh to nav: [[-0.888697,0.451112,0.081946],[-0.458342,-0.878694,-0.133489],[0.011787,-0.156191,0.987657]]6H5p?`n?{UݿB+#?ÿ?i6Y@I6>];6 CYFByFm)IIN>)N=iMb@Mb@Mb@ 9K7?Q?Q?Y)?yu<u< Az@ )YbD5VD51yE?=%E@=ٔMWQ-M>9IYI=MDyMCU;EU>YQ 5e4]>?Q 9e4])]oBYe)?Q Em:ym(Q Im?] DI]:i]:]]4yuPBɮuDAuEjhFNOT Ignoring new targets: 269.75 m.Rh%/8Zh%/8U ProNav: ac range: 269.747345 m, nav range: 253.107834 m, bearing: 211.373473 deg, approach rate: -0.641850 m/s, LOS rate: 0.006617 deg/s, cmd heading: 207.050409 deg, new cmd heading: 207.059109 deg. BhUO9]HeadingCmd: 3.613863 target range: 269.747345 and range: 268.20 m.h]Ig@hY*hY"hY hYgYfafafecBdadidijdqZdu@BɢX ) Թ=i)! )i- +i-,*5T;5;I5Ig@I1DAT read: Range 11 to 50 : 267.6 m (Round-trip 356.8 ms) speed 0.9 m/s -X#Rx 1: Read range message, but no direction.y Y ̅C 5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/0@1D?AzD?AE EE+E"E:*EA:VE [4ZEa@a@a@a@^A;a A I1 IA OM > *DAT read: user:132>  BDAT read: Tx time:00:29:27.0476  $Ping request sent. 9 Y = Dy CE>Q 5%4)?Q 9%4")oBY!y!Q I-? DI:i:7e4y54Bɮ5A5Ee addTargetRange:: Added new target pos. range: 267.600006 m, deltaT: 4.030560 s, deltaX: -0.600006 m, approachRate: -0.148864 m/s, rangeRepo size: 4 jhaeFNOT Ignoring new targets: 269.75 m.Rhm'9Zhm'9} ProNav: ac range: 269.747345 m, nav range: 252.824249 m, bearing: 211.376400 deg, approach rate: -0.688309 m/s, LOS rate: 0.007112 deg/s, cmd heading: 207.059111 deg, new cmd heading: 207.067901 deg. Bh}/9HeadingCmd: 3.614017 target range: 269.747345 and range: 267.60 m.h Lg@h*h"h hgfffdddjdp@Zd@?Bɢ_8) <=i)i+i*2IU;;I Lg@IiB >B3CB)IB߉BBBBB;B9Em9@i @i@m4@iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248886^AX;AA> A .AI I! O5 >bE5c44jE5:4rE5˺/E  E E (E "E I:*E F:VE c44ZE BE 9% ?Y% ?=%Dy%CMq;EM>QQ 5]4UU?Q 9]4U)UoBY]#?Q E]:y]*Q I]?U DIU2:iU\:Ul4yɮЉAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 269.75 m.Rh=9Zh=9- ProNav: ac range: 269.747345 m, nav range: 252.542221 m, bearing: 211.381124 deg, approach rate: -0.617590 m/s, LOS rate: 0.010355 deg/s, cmd heading: 207.067894 deg, new cmd heading: 207.082081 deg. Bh-j95HeadingCmd: 3.614264 target range: 269.747345 and range: 267.60 m.h5Pg@h1*h1"h1 h1g9f9f9fenBdadadajdiZdm>?颵Bɢnk) P=i)1iZ,i*V;Vg, 9?A 6_Y@6g@6Fٱ6i! >AHRS rotation from veh to nav: [[-0.886510,0.455134,0.083384],[-0.462551,-0.876407,-0.134008],[0.012086,-0.157368,0.987466]]6HK^ ?X?oݿ *' ?@$Ŀ`R?i6_Y@I6];4YFByFg)I hhbDnVDnk2yv ޼%z_=ٔzaQ-z>9|Y|=~Dy~ D~g;E~>Q 5 4?Q 94M)oBYy*Q I? DI ;i7;Js4yBɮtA%EjhAEFNOT Ignoring new targets: 269.75 m.DU=DUR=E] EYE])EY"E]:*EYVE]FA4ZEYae@ae@ae@ae@RhepE9ZhepE9u ProNav: ac range: 269.747345 m, nav range: 252.312576 m, bearing: 211.384885 deg, approach rate: -0.658138 m/s, LOS rate: 0.010788 deg/s, cmd heading: 207.082088 deg, new cmd heading: 207.093381 deg. Bh}9}HeadingCmd: 3.614461 target range: 269.747345 and range: 267.60 m.h}VSg@h*h"h hgfffdddjdZd0?颽Bɢ@?k9) (=i)dix,i_*V;7"BB)IBBBBBB;Bԙ A I I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256797m,d͹9?A@NY@Ng@NGٱN-" ZAHRS rotation from veh to nav: [[-0.885647,0.456691,0.084038],[-0.464199,-0.875478,-0.134379],[0.012203,-0.158023,0.987360]]NH8W`n:? }?@nݿU3 ?:Ŀ@t?iNY@IN];N CY`y`bDjVDj02yrS%rL=ٔv˘Q-v>9tYt=vDyvDz ;Ez>|Q 54~?Q 94~c)~oBYy *Q I ?~ DI~:i~I:~Kz4yBɮAEjh1=FNOT Ignoring new targets: 269.75 m.RhE:9ZhE:9U ProNav: ac range: 269.747345 m, nav range: 252.057846 m, bearing: 211.388956 deg, approach rate: -0.635361 m/s, LOS rate: 0.010165 deg/s, cmd heading: 207.093385 deg, new cmd heading: 207.105611 deg. BhU=9]HeadingCmd: 3.614675 target range: 269.747345 and range: 267.60 m.h]Vg@hY*hY"hY hYgafafafadadidijdiZdm?额Bɢm9) =i)1顡iI-i*W;VE8  t, 9?A2Z@2th@2Hٱ2i# >AHRS rotation from veh to nav: [[-0.884883,0.458077,0.084545],[-0.465653,-0.874662,-0.134661],[0.012263,-0.158528,0.987278]]2H P#Q?Ĥ? Aݿ;@<?JĿȗ?i2Z@I2];2CYDyDliMb@Mb@Mb@ 9~jt?{Gzt?~jtY$?yף;DAM@ @)@Y@bD-VD- 3ٔ=Q-E>9E"?YE"?=EDyE.DM;EM>QQ 54U?Q 94U)UoBY$?Q E:y)Q I?U) DIUiy)}yyi}G.i**Y;63Kz,o9?AB2Z@BS(h@BKٱBvZ" JAHRS rotation from veh to nav: [[-0.884201,0.459382,0.084593],[-0.466940,-0.874096,-0.133875],[0.012443,-0.157873,0.987381]]BH@`K@f?꧵?@Zݿ`@"{? +5Ŀ ?iB2Z@IBc];B CYRByRT)IIVe>)Vi>Z=Z=bD^VD^yf%f<ٔfQ-f>9j ?Yj ?=jDyj>Dnu;En>pQ 5v4r{?Q 9v4r)roBYtyv)Q Iv?r9 DIr:ir:r\4y~߫Bɮ~шA~Ejh!%FNOT Ignoring new targets: 269.75 m.Rh-N 9Zh-N 95 ProNav: ac range: 269.747345 m, nav range: 251.541046 m, bearing: 211.395789 deg, approach rate: -0.669863 m/s, LOS rate: 0.008759 deg/s, cmd heading: 207.116307 deg, new cmd heading: 207.126126 deg. 9Bh=^9EHeadingCmd: 3.615033 target range: 269.747345 and range: 267.60 m.hE\g@hI*hI"hI hIgIfIfQfQdQdQdQjdYZd] j@颅uBɢ+) @=i)EI顑i.i*HZ;'\E  E E +E "E *E A:VE [4ZE BE ` 95"?Y5"?=5Dy5PD=:E=>AQ 5M4E?Q 9M4E )EoBYM+?Q EM:yU'Q IU?EL DIEX;iE ;E94yYɮ]AYuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 269.75 m.RhB8ZhB8 ProNav: ac range: 269.747345 m, nav range: 251.239624 m, bearing: 211.396987 deg, approach rate: -0.669045 m/s, LOS rate: 0.002662 deg/s, cmd heading: 207.126129 deg, new cmd heading: 207.129726 deg. Bh8HeadingCmd: 3.615096 target range: 269.747345 and range: 267.60 m.h]g@h*h"h! h!g)f)f)f-Bd1d1d1jd1Zd5@o@颥pBɢ) p=i)&顩i}/i*[;MbA  A .AI I O >,9!:?A2=Z@2N3h@2Uٱ2 ! >AHRS rotation from veh to nav: [[-0.883881,0.459994,0.084615],[-0.467529,-0.874001,-0.132434],[0.013035,-0.156615,0.987574]]2HHp?@M?ݿ챊? Ŀ 4?i2=Z@I2];2 CYFByF@)IbDN VDN2yVG%Vg=ٔZTQ-Z>9Z ?YZ ?=^Dy^^D^46E^>`Q 5f4bP?Q 9f4b )boBYhyhQ Ij?b[ DIb:ib:bj4ynëBɮnArEjhFNOT Ignoring new targets: 269.75 m.Rh C8Zh C8 ProNav: ac range: 269.747345 m, nav range: 251.002258 m, bearing: 211.397932 deg, approach rate: -0.670879 m/s, LOS rate: 0.002673 deg/s, cmd heading: 207.129721 deg, new cmd heading: 207.132559 deg. Bh8%HeadingCmd: 3.615145 target range: 269.747345 and range: 267.60 m.h%^g@h!*h)"h) h)g)f)f1f1d1d1d1EA EEEE(EA"EA*EEE7:VEEc44ZEAaM@aM@aM@aM@jd9ZdU`c @kBɢ) |=i)m  i D(0i ,*0];_aByB}{)IB}ˉBByByByB};B}9EԉA ؟AI I O >Թ i I A% BDAT read: Rx Time:00:29:29.8028 % TRx dataTimestamp_ set to:1761524968.916368- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274059u,;:?A2>Z@24h@2#|\ٱ2! :AHRS rotation from veh to nav: [[-0.883839,0.460001,0.085018],[-0.467598,-0.873988,-0.132277],[0.013457,-0.156666,0.987560]]2H@hH@p?õ?@ ݿsM? Ŀ?i2>Z@I2];2 CYBByB,)I DDHJAbDNVDNN2yz%zF=ٔzQ-~>9"?Y"?=%Dy%oD%J9E%>)Q 554-?Q 954-)-oBY1y]'Q I]?-m DI-;i-q;-4yeBɮeӈAeEjhFNOT Ignoring new targets: 269.75 m.Rh?8Zh?8 ProNav: ac range: 269.747345 m, nav range: 250.722809 m, bearing: 211.399042 deg, approach rate: -0.656361 m/s, LOS rate: 0.002609 deg/s, cmd heading: 207.132563 deg, new cmd heading: 207.135895 deg. Bh68HeadingCmd: 3.615203 target range: 269.747345 and range: 267.60 m.h~_g@h*h"h hgfffdddjd!Zd% @mfBɢm@3ԑ) Đ=i)顙i0i7*^;/b ,U:?AJCZ@J8h@JaٱJ# RAHRS rotation from veh to nav: [[-0.883716,0.459941,0.086604],[-0.467821,-0.873528,-0.134512],[0.013783,-0.159385,0.987120]]JHfG@o?+?ݿ 7@F:?fĿ }?iJCZ@IJ];J CY^By^-)IiEMb@Mb@Mb@AAAA A9Ev/?V-?{GzYEx)?yEm=AEAE @ E@)E@AYEf@bDVDyvA;%:=ٔBQ->9Y=DyD:E>Q 54uy?Q 94)oBY2*?Q E:y$Q I? DI\:i:O4yɮЈAjhFNOT Ignoring new targets: 269.75 m.Rh%fZh%f5 ProNav: ac range: 269.747345 m, nav range: 250.433655 m, bearing: 211.397697 deg, approach rate: -0.677495 m/s, LOS rate: -0.003155 deg/s, cmd heading: 207.135896 deg, new cmd heading: 207.131856 deg. Bh5 =HeadingCmd: 3.615133 target range: 269.747345 and range: 267.60 m.h=V^g@h9*h9"h9 hAgAfAfAfE؇BdIdIdIjdQZdU@S@}aBɢ}l) h=i)%顁i+l1DAT read: 00:29:29.8028 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 374, 0.29,-2.254, 2.581,-2.234,-2.971, PHS= 0.819,-0.686, 0.693, RAW= 145.7, -11.4, CAL= 146.3, -13.5, ROT= 3.7, 13.5 Ygot valid direction response: 00:29:29.8028 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 374, 0.29,-2.254, 2.581,-2.234,-2.971, PHS= 0.819,-0.686, 0.693, RAW= 145.7, -11.4, CAL= 146.3, -13.5, ROT= 3.7, 13.5 PDAT read: Bearing 337.2, 6.4 (Local) ~Local bearing/azimuth received: Bearing 337.2, 6.4 (Local) DAT read: Range 11 to 50 : 263.2 m (Round-trip 351.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.970343,0.062749,-0.233445]Fpublishing direction and range infoyk ?]J.V?%EͿYC )CIQ?i/sh1?"@%K.k#@ :Fq) A=I:Fq>%:E?}-?)UחXVɿ i>) L>I A=i:Fq>-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.i`*4`;dg U BDAT read: Tx time:00:29:31.0476 ] $Ping request sent.] Q I,!Yo:?A2$8Z@2-h@2*mٱ2zF& :AHRS rotation from veh to nav: [[-0.884020,0.459058,0.088171],[-0.467224,-0.873576,-0.136256],[0.014475,-0.161649,0.986742]]2HI 4a?c?ݿ`Vp?@Ŀ`d?i2$8Z@I2];2 CYBByB%)IbDJ VDJ2y~P %~X=ٔQ->9Y= Dy D E >Q 5=4g?Q 9=4V)oBYAyE$Q IE? DI.;i:뫗4yMBɮMyAMEiiZ:?AJi CRi Cjii@i^HJo@XiI8Lskrc6_Mzib/뿔D7|޿gP*?̿2i:i^"imN?*iQpBiAiiiAi.zCi!l@BBBh)IBBB =BBB;B:E addTargetRange:: Added new target pos. range: 263.200012 m, deltaT: 4.031567 s, deltaX: -4.399994 m, approachRate: -1.091385 m/s, rangeRepo size: 4 % Added new target pos. range: 262.094513 m, bearing: 209.280183 deg, lat: 36.779260 deg, lon: -121.859917 deg, deltaT: 12.099306 s, deltaX: -7.652832 m, approachRate: -0.632502 m/s, posRepo size: 4 jh)5FNOT Ignoring new targets: 262.09 m.Rh5Zh1E ProNav: ac range: 262.094513 m, nav range: 250.182388 m, bearing: 211.396570 deg, approach rate: 0.000000 m/s, LOS rate: -0.003155 deg/s, cmd heading: 207.131852 deg, new cmd heading: 207.128083 deg. BhAMHeadingCmd: 3.615067 target range: 262.094513 and range: 263.20 m.hMB]g@hQ*hQ"hQ hQgQfQfYfYdYdYdYjde@3sp@Zde`y?\Bɢt) =i) i2is*vZa;]ԁ E%  E% E% )E! "E% غ:*E% [:VE% FA4ZE! BE% =ٔQ->9Y=DyD5E>Q 54S?Q 94)oBY,?Q E:y"Q I? DIG:i:m4yɮȈAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 262.09 m.Rh-Zh- ProNav: ac range: 262.094513 m, nav range: 249.893188 m, bearing: 211.392535 deg, approach rate: -0.679067 m/s, LOS rate: -0.009484 deg/s, cmd heading: 207.128082 deg, new cmd heading: 207.115965 deg. BhIйHeadingCmd: 3.614856 target range: 262.094513 and range: 263.20 m.hYg@h*h"h hgfffBdddjdZd@?=VBɢ=v)9 =T=i9)EYIAaier2im*mb;mPchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753185 Y,u:?A2B Z@2h@2 ٱ2g' :AHRS rotation from veh to nav: [[-0.885246,0.456355,0.089886],[-0.464843,-0.874734,-0.136972],[0.016119,-0.163037,0.986488]]2HS`4??`ݿ@J ? dĿO?i2B Z@I2 ];2C\YbzByb)IbDjEr ErEr,Ep"Er,:*Er H:VErg4ZEpaz@az@az@az@VDj:3y]j>=%]Q=ٔeQ-e>9aYa=mDymDmyEm>qQ 5}4u]A?Q 9}4u )uoBYy3"Q I?u DIu<;iu;u=4yBɮ2AEjhFNOT Ignoring new targets: 262.09 m.Rh/Zh/ ProNav: ac range: 262.094513 m, nav range: 249.630569 m, bearing: 211.388955 deg, approach rate: -0.703198 m/s, LOS rate: -0.009598 deg/s, cmd heading: 207.115965 deg, new cmd heading: 207.105212 deg. BhҹHeadingCmd: 3.614668 target range: 262.094513 and range: 263.20 m.hVg@h*h"h hgfffdddjdZd@t?QBɢL<) Ȣ=i)wbis3i%*%Ƥc;%1?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006207AIIOb>AA@ABB3CBO)IBBB =BBB';B:EA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257278B,޼:?A2Y@2g@2拼ٱ2@) :AHRS rotation from veh to nav: [[-0.886116,0.454414,0.091142],[-0.463150,-0.875468,-0.138013],[0.017077,-0.164508,0.986228]]2H[`?U?`>ݿ `i`|?ſ-?i2Y@I2];0YtytbD VD:2ٔwQ->9Y=DyD%E%>)Q 554-.?Q 954-$)-oBY1y5S"Q I5?- DI-g:i-";-#4yEjBɮEAMEjhimFNOT Ignoring new targets: 262.09 m.Rhu"Zhu" ProNav: ac range: 262.094513 m, nav range: 249.364807 m, bearing: 211.385444 deg, approach rate: -0.672661 m/s, LOS rate: -0.008895 deg/s, cmd heading: 207.105215 deg, new cmd heading: 207.094672 deg. BhWùHeadingCmd: 3.614484 target range: 262.094513 and range: 263.20 m.hSg@h*h"h hgfffdddjdZd [?LBɢ?])  =i)iJ4i*@d;(ԡ l,:?AGjA&MA:9>jAY>uA<<^Y@^g@^bٱ^) ) fAHRS rotation from veh to nav: [[-0.886646,0.453304,0.091509],[-0.462106,-0.876082,-0.137620],[0.017785,-0.164307,0.986249]]^Hh_?m?`%ݿ `M6?ſY?i^Y@I^];^ CYnByn!)I ppprAqiMb@Mb@Mb@ 9Dl?+η?y&1YO-?yv=`e@ )Yz@bDVD:y<%<ٔlֺQ->9Y=DyDs1E>Q 5 4?Q 9 4))oBY .?Q E:y!Q I? DI ;i: ;ȗ4yɮA!jhAEFNOT Ignoring new targets: 262.09 m.RhM18ZhM18] ProNav: ac range: 262.094513 m, nav range: 249.069962 m, bearing: 211.381100 deg, approach rate: -0.682369 m/s, LOS rate: -0.010065 deg/s, cmd heading: 207.094669 deg, new cmd heading: 207.081622 deg. Bh]ݹeHeadingCmd: 3.614256 target range: 262.094513 and range: 263.20 m.heOg@ha*ha"ha higififqfuBdqdqdqjdyZd}|"@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765458mFBɢu@:)q u=iq)uyyi}FX5i}*}{e;V%,:?A:5Y@:g@:!ٱ:͕( FAHRS rotation from veh to nav: [[-0.887385,0.451804,0.091769],[-0.460656,-0.876939,-0.137020],[0.018570,-0.163863,0.986308]]:Hte [?`)~?@a{ݿ`܉?@vĿ`֏?i:5Y@I:S^;: CYNzByN)IbDVVDV1y^)%^`=ٔb Q-b>9`Y`=fDyfDfSEf>hQ 5n4jU ?Q 9n4j,)joBYpyr"Q Ir?j DIjH;ij;jϗ4yvNBɮvQAvEjhFNOT Ignoring new targets: 262.09 m.Rh3Zh3- ProNav: ac range: 262.094513 m, nav range: 248.821350 m, bearing: 211.377522 deg, approach rate: -0.682213 m/s, LOS rate: -0.009828 deg/s, cmd heading: 207.081623 deg, new cmd heading: 207.070879 deg. Bh-׹5HeadingCmd: 3.614069 target range: 262.094513 and range: 263.20 m.h5Lg@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM @uABɢuX:B >BBI)IBBBBBB!;B:E) =i)顙iiH6i* f;( ԁ ˉ,n ;?Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521493-Y@-Lg@-.ʜٱ- v( ]AHRS rotation from veh to nav: [[-0.887897,0.450737,0.092057],[-0.459643,-0.877511,-0.136760],[0.019138,-0.163742,0.986318]]-Hi@? ?`jݿ@X`?Ŀ?i-Y@I-^;)YmBym!)IiMb@Mb@Mb@ 9kt?I +?I +Y 0?y9=94CA@ @)E@Y3@bD VD Yyt=%/=ٔmQ->9Y=DyDE>Q 54ߊ?Q 941)oBY1?Q E:y"Q I? DI ;i: ;;ח4yhBɮA"EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 262.09 m.RhZh ProNav: ac range: 262.094513 m, nav range: 248.497482 m, bearing: 211.373566 deg, approach rate: -0.691796 m/s, LOS rate: -0.008463 deg/s, cmd heading: 207.070872 deg, new cmd heading: 207.058986 deg. Bh ۹ HeadingCmd: 3.613861 target range: 262.094513 and range: 263.20 m.h Ig@h*h"h hgfffBddd!jd!Zd%@U:BɢU! ;)Q U6>iQ)]YYi]z7ie5*eUf;e-;IeIg@Ii9@ @!@%R0@!@->@-=ԉԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777184^AM 8<A I I O > ,J$;?A>Y@>ig@>柼ٱ>z( FAHRS rotation from veh to nav: [[-0.888560,0.449400,0.092198],[-0.458345,-0.878193,-0.136738],[0.019518,-0.163758,0.986307]]>Ho? O?Uݿ (?Ŀԏ?i>Y@I>`^;>CYNByN%)IIRp>)R=bDZVDZEb EbE`E`"Eb:*Eb[:VE`ZE`af@af@af@aj@yj<%jn=ٔn吺Q-n?9pYp=rDyrDrEv?tQ 5z4v0ߊ?Q 9z4v35)voBY|y~"Q I~?v DIv;iv;v=ݗ4yKBɮ A !Ejh)5FNOT Ignoring new targets: 262.09 m.Rh5TZh5TE ProNav: ac range: 262.094513 m, nav range: 248.259323 m, bearing: 211.370730 deg, approach rate: -0.693791 m/s, LOS rate: -0.008269 deg/s, cmd heading: 207.058988 deg, new cmd heading: 207.050472 deg. BhEMHeadingCmd: 3.613713 target range: 262.094513 and range: 263.20 m.hMGg@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde` @颍5Bɢ61;) 4>i)Zbݻ顙i8i*g;j ;IGg@I9@ @@4@ >%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026545B >BBO)IBBBBBB;B :EBE3CBE3CBABABACE4^AΒ;) I I O > BDAT read: Rx Time:00:29:33.8013  TRx dataTimestamp_ set to:1761524972.952191 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278440Q ,/>;?AUփY@Uyg@U.ٱU%+ AHRS rotation from veh to nav: [[-0.889036,0.448284,0.093041],[-0.457430,-0.878280,-0.139215],[0.019308,-0.166327,0.985882]]UH r`?ѷ?`Fݿœ?`5JſW?iUփY@IU^;UCYBy3)IbDVD02yS=%8=ٔ 9Q- >9 Y =5Dy5D=E=>9Q 5E4=ߊ?Q 9M4=9)=oBYIyM"Q IM?= DI=;i=h;=4y]/Bɮ]{A] EjhyFNOT Ignoring new targets: 262.09 m.RhZh ProNav: ac range: 262.094513 m, nav range: 247.949142 m, bearing: 211.367109 deg, approach rate: -0.692423 m/s, LOS rate: -0.008093 deg/s, cmd heading: 207.050477 deg, new cmd heading: 207.039602 deg. BhHeadingCmd: 3.613523 target range: 262.094513 and range: 263.20 m.hCg@h*h"h hgfffdddjdZd @/Bɢ6;) B>i)׻i-,:i*Hwg;X\;ICg@I)E EEE"E:*EA:VEZEBEA>ԁ I I O >,X;?A02n|Y@2rg@2瑟ٱ2+ >AHRS rotation from veh to nav: [[-0.889239,0.447816,0.093348],[-0.457027,-0.878427,-0.139615],[0.019478,-0.166814,0.985796]]2H`t? ?@?ݿ@?)Zſ?i2n|Y@I2^;2CYFByF=)IiMMb@Mb@Mb@IIII I9MI +?ˡE?~jtxYM94?yM=MĻMAM@ MS@)M@IYM=@ ]a=]p=bDeVDeyu!=%uU=ٔuQ-u>9yYy=}Dy}%DۛE>Q 54ߊ?Q 94=)oBYr5?Q E:ys#Q I?0 DIS;i;4yɮ\AjhFNOT Ignoring new targets: 262.09 m.RhZh ProNav: ac range: 262.094513 m, nav range: 247.679932 m, bearing: 211.364604 deg, approach rate: -0.708299 m/s, LOS rate: -0.006598 deg/s, cmd heading: 207.039604 deg, new cmd heading: 207.032080 deg. Bh琹HeadingCmd: 3.613391 target range: 262.094513 and range: 263.20 m.hAg@h*h"h hgfffBdddjdZd<@-)Bɢ- <)5 5R]>i1)=kһ99i=;iE*Eg;Eɿ;IEAg@IIDAT read: 00:29:33.8013 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.13, 2.798, 1.306, 2.777, 1.979, PHS= 0.920,-0.629, 0.753, RAW= 144.4, -14.1, CAL= 145.1, -16.7, ROT= 4.9, 16.7 Ygot valid direction response: 00:29:33.8013 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.13, 2.798, 1.306, 2.777, 1.979, PHS= 0.920,-0.629, 0.753, RAW= 144.4, -14.1, CAL= 145.1, -16.7, ROT= 4.9, 16.7 PDAT read: Bearing 333.5, 8.5 (Local) ~Local bearing/azimuth received: Bearing 333.5, 8.5 (Local) DAT read: Range 11 to 50 : 262.2 m (Round-trip 349.6 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.954322,0.081814,-0.287361]Fpublishing direction and range infoyy}@'Ή?ŅR?gdҿY}Cyyyy y)}EI}k?i}%!}@?}K!@}d{} "@ };)}%=I};>yy}*&HF?U?R$Ͽ }>)}{{>I}%=i};>yyT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԉ@ @@/@@hA@hAԹE EEE"EI:*EVEZEa@a@a@a@^A;IIO> 5 *DAT read: user:134> = BDAT read: Tx time:00:29:35.0976 = $Ping request sent.= 9Y=Dy5D .E > Q 54 Zߊ?Q 94B% >B!B%b)IB%BB% =B!B!B%%;B%:E A) ~oBY9y=x#Q I=? B DI ;i T; ~4yEBɮE҅AMEii2];?AJiCRiCjii@igN%o@] \5@y5Rri@'Ή?ŅR?gdҿZi%=bi;>i8bkW^2U8-Rzi J꿩quݿ ATѿ2i:i["itӉ?*isBi\yiiQpi\yitCij@ addTargetRange:: Added new target pos. range: 262.200012 m, deltaT: 4.036744 s, deltaX: -1.000000 m, approachRate: -0.247724 m/s, rangeRepo size: 4  Added new target pos. range: 261.100037 m, bearing: 209.122934 deg, lat: 36.779260 deg, lon: -121.859855 deg, deltaT: 4.036744 s, deltaX: -0.994476 m, approachRate: -0.246356 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 261.10 m.RhZh ProNav: ac range: 261.100037 m, nav range: 244.599701 m, bearing: 210.266682 deg, approach rate: 0.000000 m/s, LOS rate: -0.006598 deg/s, cmd heading: 207.032077 deg, new cmd heading: 207.024229 deg. BhHeadingCmd: 3.613255 target range: 261.100037 and range: 262.20 m.h?g@h*h"h hgfffdddjd@3cp@Zd? #Bɢ -<)  v>i )X̻i*=i%*]h;;I?g@I!-9@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250056^Aml;IIO>E  E E E "E *E =:VE ZE BE )Ii}Mb@Mb@Mb@yyyy y9}Cl?X9v?Y}/?y}}=}}-A}@ }j@)}@yY}@bDVDk2y%2=ٔQ->9Y=DyGDE>Q 54ďߊ?Q 941F)oBY0?Q E:y%Q I?V DI;i ;4yBɮwAEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 261.10 m.Rh˸Zh˸ ProNav: ac range: 261.100037 m, nav range: 244.282913 m, bearing: 210.264082 deg, approach rate: -0.677107 m/s, LOS rate: -0.005564 deg/s, cmd heading: 207.024236 deg, new cmd heading: 207.016426 deg. BhftHeadingCmd: 3.613118 target range: 261.100037 and range: 262.20 m.hT=g@h*h"h hgfffBdddjdZd@>h?=BAɢ=<) vy>i)Ļ顡i>ib*oh;9^;IT=g@I]9@Y @Y@Y@Yychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753890^A ;ԡ A zA fAI I O >E,;?A2zY@2pg@2iٱ2* :AHRS rotation from veh to nav: [[-0.889293,0.447875,0.092557],[-0.456947,-0.878518,-0.139304],[0.018922,-0.166175,0.985915]]2Hu?ɱ? >ݿ`A`?i)𱽻ii@iu *}2h;}M:;I};g@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485ԩB>BB{)IBˉBB =BBDB7;B0:EM @  @ @ /@ @ =@ = iߙ Iߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258095^A 1E  E E E "E *E =:VE ZE BE a 9Y=DypD%`H9E%>)Q 554-^ߊ?Q 954--O)-oBY5.,?Q E5:y5 (Q I=?- DI-~ ;i- ;- 4yE۪BɮEAEEjhimFNOT Ignoring new targets: 261.10 m.Rhum8Zhum8 ProNav: ac range: 261.100037 m, nav range: 243.610229 m, bearing: 210.263409 deg, approach rate: -0.703802 m/s, LOS rate: 0.002041 deg/s, cmd heading: 207.010589 deg, new cmd heading: 207.014400 deg. BhO8HeadingCmd: 3.613083 target range: 261.100037 and range: 262.20 m.hi)"i)Ci*?i;;IA>E5 E5E5)E1"E5[:*E5C:VE5FA4ZE1aE@aE@aE@aE@ԱIIO?x,;?ANhY@Ng@N|(ٱN $ ^AHRS rotation from veh to nav: [[-0.888799,0.449396,0.089893],[-0.457896,-0.878980,-0.133136],[0.019183,-0.159492,0.987013]]NH q?3?`,Nݿ ?`?jĿ?iNhY@IN#C];LYj‰Byjp)I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013874bDMVDMy]m=%].=ٔ]Q->9Y=DyD&;E>Q 54Gߊ?Q 94NS)oBYy'Q I? DI;i ;4y٪Bɮ]A&EjhFNOT Ignoring new targets: 261.10 m.Rh8Zh8 ProNav: ac range: 261.100037 m, nav range: 243.292313 m, bearing: 210.264259 deg, approach rate: -0.672501 m/s, LOS rate: 0.001800 deg/s, cmd heading: 207.014400 deg, new cmd heading: 207.016953 deg. Bh8HeadingCmd: 3.613127 target range: 261.100037 and range: 262.20 m.h{=g@h*h"h hgfffdddjd Zd @^@5Bɢ5V<)9 =>i9)ETAAiEEiM9*Mi;M;IM{=g@IIQQYYB=>B9B=)IB=߉BB9B9B9B=#;B=:E }9@y @y@}4@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2658461 ^A ;a I I O >,sY@>@g@bEyjE}KJ4rE}A.EB EBEB*E@"EB:*EBA:VEB(N4ZE@BEB؜ٱ># VAHRS rotation from veh to nav: [[-0.888382,0.450278,0.089597],[-0.458723,-0.878544,-0.133171],[0.018750,-0.159407,0.987035]]>Hm@[?@?[ݿ @Q3?`qgĿ ʕ?i>Y@I>];>CY^ȉBy^w)I fR=fa=bDj VDj2yn<%r;=ٔr:Q-r>9tYt=vDyvDzT ;Ez>Q 54N2ߊ?Q 9%4W)oBY!y%'Q I-? DI;iK;4y1ɮ5FA1jhYFNOT Ignoring new targets: 261.10 m.Rhh7Zhh7checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520240 ProNav: ac range: 261.100037 m, nav range: 243.001022 m, bearing: 210.264976 deg, approach rate: -0.666472 m/s, LOS rate: 0.001642 deg/s, cmd heading: 207.016955 deg, new cmd heading: 207.019108 deg. Bh>8HeadingCmd: 3.613165 target range: 261.100037 and range: 262.20 m.h%>g@h!*h)"h) h)gQfYfifidddjdZd f@Bɢq<) >i)4  ixHi5*5!tj;5;I5>g@I99@ @@2@ ug>u3C/GM09IYMA^A r;IQ Ia u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769895O} >A 9,$"Y@>4g@>Dٱ>! FAHRS rotation from veh to nav: [[-0.887973,0.451378,0.088108],[-0.459538,-0.878405,-0.131262],[0.018145,-0.157046,0.987425]]>HEj^?7? iݿ 5?`Ŀ`?i>Y@I>)];>CYNӉByN)Ii%Mb@Mb@Mb@!!!! !9%v/?{Gz?y&1|?Y%x)?y%ף<%`;%A! !)%@!Y%@bD=VD=2yMY=%ME=ٔU:Q-U>9QYQ=UDy]D]J;E]>aQ 5m4e'ߊ?Q 9m4eZ)eoBYu)?Q Eu:yu{(Q Iu?e DIe:ie*:e"4y}Bɮ}A%EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 261.10 m.Rh=]8Zh=]8 ProNav: ac range: 261.100037 m, nav range: 242.727188 m, bearing: 210.266214 deg, approach rate: -0.667613 m/s, LOS rate: 0.003022 deg/s, cmd heading: 207.019113 deg, new cmd heading: 207.022832 deg. Bh9HeadingCmd: 3.613230 target range: 261.100037 and range: 262.20 m.h)?g@h*h"h hgfffB1EM EMEM,EI"EMI:*EM|;:VEMg4ZEIa]@a]@a]@a]@dddjdZd` @Bɢ<) i>i)J i~Ji*k;Z B4CB)IBBBBBB;B:E^A] ;Aa zAe hAԹ I I O >o,/<? Sÿ ?i2Y@I2];2CYB܉ByB)IbDNVDN:2yV\7=%VT=ٔV?_:Q-V>9XYX=ZDyZD^X;E^>\Q 5f4^^ ߊ?Q 9f4^])^oBYdyfm(Q If?^ DI^r;i^;^)4ynBɮnAn$EjhFNOT Ignoring new targets: 261.10 m.Rh Q8Zh Q8 ProNav: ac range: 261.100037 m, nav range: 242.471817 m, bearing: 210.267318 deg, approach rate: -0.662434 m/s, LOS rate: 0.002868 deg/s, cmd heading: 207.022829 deg, new cmd heading: 207.026145 deg. Bh8%HeadingCmd: 3.613288 target range: 261.100037 and range: 262.20 m.h%@g@-BDAT read: Rx Time:00:29:37.8478 5TRx dataTimestamp_ set to:1761524976.9842485checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275005h!*h9"h9 h9g9f9fAfAdAdIdIjdIZdM*A @uBɢ}=)y }*>iy)}%顁izLi* k; ) IO,AEV9Y=DyDE>Q 54ފ?Q 94a)oBY|'?Q E:y(Q I? DI[;iu;14yɮAjh  FNOT Ignoring new targets: 261.10 m.RhR{8ZhR{8% ProNav: ac range: 261.100037 m, nav range: 242.165604 m, bearing: 210.268923 deg, approach rate: -0.654309 m/s, LOS rate: 0.003433 deg/s, cmd heading: 207.026148 deg, new cmd heading: 207.030968 deg. Bh%9-HeadingCmd: 3.613372 target range: 261.100037 and range: 262.20 m.h-}Ag@h)*h)"h) h)g1f1f1f5Bd9d9d9jd9Zd=F@mBɢml<)q u5>iq)uiqqiue5Oi}7*}Ysl;}hTAAEO?mz%?{YiFп E6>)Eh>IE=iEnF>AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A@A @A@A@A@M=@M=1EE  EE EE &EA "EE :*EE H:VEE 4ZEA aU @aU @aU @aU @^Ae  *DAT read: user:135>  BDAT read: Tx time:00:29:39.1476  $Ping request sent. AHRS rotation from veh to nav: [[-0.886552,0.454279,0.087499],[-0.462311,-0.876961,-0.131177],[0.017143,-0.156747,0.987490]]2H@^@?[f?ݿe@?GĿ?i2Y@I2];0Y=ۉBy=)IbDMVDM1y}g;%`=ٔH:Q->9Y=DyD;E>Q 54:ފ?Q 94d)oBYy(Q I? DI:i:584yBɮA#Eiyi}/6_@ΤÈSri}_\D?/Ѯ,)?-JZӿZi}=bi}nF>i}mT6jv z.`u.toSzi}bLl8-@ӿ2i}s:i}Q"i}{ۙ?*i}^ݱBi} i}{ۙ?i}^ݱiyi}qvCi},ul@] addTargetRange:: Added new target pos. range: 259.500000 m, deltaT: 4.031501 s, deltaX: -2.700012 m, approachRate: -0.669729 m/s, rangeRepo size: 4 m Added new target pos. range: 258.415131 m, bearing: 211.687193 deg, lat: 36.779253 deg, lon: -121.859940 deg, deltaT: 4.031501 s, deltaX: -2.684906 m, approachRate: -0.665982 m/s, posRepo size: 4 B}>ByB})IB}BByByByB}*;B}%:EB9B9B9B=¡ =B=¡ =C=C5jhFNOT Ignoring new targets: 258.42 m.RhZh ProNav: ac range: 258.415131 m, nav range: 246.444824 m, bearing: 211.687943 deg, approach rate: 0.000000 m/s, LOS rate: 0.003433 deg/s, cmd heading: 207.030970 deg, new cmd heading: 207.034897 deg. BhHeadingCmd: 3.613441 target range: 258.415131 and range: 259.50 m.hBg@h*h"h hgfffdddjd8p@Zd0,?iuBɢub<)y }>iy)} JPyyi} Qi*bm;3E5  E5 E5 *E1 "E5 :*E5 F:VE5 (N4ZE1 BE5 9XY\=^Dy^D^Eb>`Q 5f4bފ?Q 9f4bh)boBYhyhQ Ij?b DIb1:ibk:b>4ylɮrApjh  FNOT Ignoring new targets: 258.42 m.Rh+9Zh+9% ProNav: ac range: 258.415131 m, nav range: 246.198349 m, bearing: 211.690510 deg, approach rate: -0.682262 m/s, LOS rate: 0.007113 deg/s, cmd heading: 207.034891 deg, new cmd heading: 207.042600 deg. Bh%49-HeadingCmd: 3.613575 target range: 258.415131 and range: 259.50 m.h-Dg@h)*h)"h) h1g1f1f1f1dddjdZd^a?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505593]܈Bɢe=)i >i)6ipATi-*-Un;-'-ݝ(,$9E ?YE ?=EDyEDM8EM>QQ 5]4Uͼފ?Q 9]4Uk)UoBYe&?Q Em:ym'Q I ?U DIUBQBU)IBUBBQBQBQBUD;BU@:EY ^A 0<A ؟AI I O >/,Z|ٱ6&" BAHRS rotation from veh to nav: [[-0.886526,0.454430,0.086977],[-0.462401,-0.876718,-0.132484],[0.016050,-0.157669,0.987362]]6Hk^b?'D?ݿ`?Yo?`.Ŀ@w?i6Y@I6g];6CDYfډByf)I hhbDnVDnJ2yvT̼%vE=ٔz:Q-z>9z"?Yz"?=~Dy~D~\39E~>Q 5 4ފ?Q 9 4'o)oBYy'Q I? DI:iR:M4yLBɮȁA!EjhAEFNOT Ignoring new targets: 258.42 m.RhM8ZhM8] ProNav: ac range: 258.415131 m, nav range: 245.652313 m, bearing: 211.694682 deg, approach rate: -0.707280 m/s, LOS rate: 0.005412 deg/s, cmd heading: 207.048947 deg, new cmd heading: 207.055123 deg. Bh]m9eHeadingCmd: 3.613794 target range: 258.415131 and range: 259.50 m.heeHg@ha*ha"ha hagifififidqdqdqjdqZdu?EΈBɢEZx=)A E#?iA)MKwIIiMYiUQ*Up;QIUeHg@IYԹ9@ @@R4@E EE)E"E:*E?:VEFA4ZEBE ?5,=ٔQ->9 ?Y ?=DyDE>Q 54ފ?Q 94s)oBY-?Q E:yF'Q I?2 DI:i:U4yhBɮ%A+Ejh%FNOT Ignoring new targets: 258.42 m.Rh%8Zh%85 ProNav: ac range: 258.415131 m, nav range: 245.361023 m, bearing: 211.696400 deg, approach rate: -0.678627 m/s, LOS rate: 0.004006 deg/s, cmd heading: 207.055122 deg, new cmd heading: 207.060281 deg. Bh=/9=HeadingCmd: 3.613884 target range: 258.415131 and range: 259.50 m.h=Ig@h9*hA"hA hAgAfAfIfMxBdIdIdIjdQZdU|?}LjBɢ '=)  ?i)3ĺ顉ik\i*Hq;-+% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943!<,9z"?Yz"?=zDyz)D~E~>Q 5 4Oފ?Q 9 4dv)oBY yS'Q I?C DI1:i(:[4yLBɮA*EjhAEFNOT Ignoring new targets: 258.42 m.RhM8ZhM8Be>BaBe)IBeBBe =BaBaBe2;Be0:Ey ProNav: ac range: 258.415131 m, nav range: 245.105728 m, bearing: 211.697956 deg, approach rate: -0.678781 m/s, LOS rate: 0.004143 deg/s, cmd heading: 207.060286 deg, new cmd heading: 207.064961 deg. Bh59HeadingCmd: 3.613965 target range: 258.415131 and range: 259.50 m.h5Kg@h*h"h hgfffdddjdZd@Bɢ=) <?i) i_i*q;E  E E *E "E I:*E VL:VE (N4ZE BE 9XYX=ZDyZ9D^ٺE^>`Q 5f4bmފ?Q 9f4by)boBYdyf]'Q If?bT DIbg:ib:bb4yn0Bɮn/An)Ejh!%FNOT Ignoring new targets: 258.42 m.Rh-ԙ8Zh-ԙ85 ProNav: ac range: 258.415131 m, nav range: 244.837326 m, bearing: 211.699634 deg, approach rate: -0.671610 m/s, LOS rate: 0.004203 deg/s, cmd heading: 207.064957 deg, new cmd heading: 207.069996 deg. Bh=89EHeadingCmd: 3.614053 target range: 258.415131 and range: 259.50 m.hELg@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU] @Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521417UBɢ]n=)a m@?i)}>顉i0bi*ar;"Am > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772265A A .AI I O >3I,c&=?ARԿY@Rg@RhfٱRf# ~AHRS rotation from veh to nav: [[-0.887432,0.452906,0.085673],[-0.460723,-0.877241,-0.134846],[0.014083,-0.159138,0.987156]]RH`e`j??{|ݿZ B׌?^Ŀǖ?iRԿY@IR];PYBy)IE EE(E"E:*E;J:VEc44ZEa@a@a@a@iMb@Mb@Mb@ 9|?5^?Mb?{GzY-?y@=b@(@ @)d@Y@bDVD1y0_%8=ٔB:Q->9 ?Y ?=DyKDE>Q 54Wފ?Q 94~)oBYB.?Q E :y 2&Q I ?g DIz:i:Cj4yɮ;A5B*** querying acoustic contact ***i9 i9jhAEFNOT Ignoring new targets: 258.42 m.RhM)7ZhM)7 ProNav: ac range: 258.415131 m, nav range: 244.535034 m, bearing: 211.700237 deg, approach rate: -0.685051 m/s, LOS rate: 0.001367 deg/s, cmd heading: 207.069998 deg, new cmd heading: 207.071808 deg. Bh1p8HeadingCmd: 3.614085 target range: 258.415131 and range: 259.50 m.h*Mg@h*h "h hgfffWBd!d!d!jd)Zd- @颥Bɢ%=) ?i)Bi=;ei*M_Js;MCBaBaBaBaBaBaBaBe.:Eq^A H<ԙ A1 IA IQ O] >U P,@=?AiI"BDAT read: Rx Time:00:29:41.8956 "TRx dataTimestamp_ set to:1761524981.016489&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276334>Y@>3g@>Vٱ>% FAHRS rotation from veh to nav: [[-0.887846,0.452117,0.085554],[-0.459954,-0.877305,-0.137036],[0.013101,-0.161017,0.986865]]>HY@I>5t^;>CYLyLbDVVDVy^%^^=ٔb./;Q-b>9`Y`=fDyfYDfEf>hQ 5n4jEފ?Q 9n4jw)joBYpyrA&Q Ir?jw DIj:ij:jp4yvBɮv̀Av(EjhFNOT Ignoring new targets: 258.42 m.Rh7Zh7- ProNav: ac range: 258.415131 m, nav range: 244.284882 m, bearing: 211.700791 deg, approach rate: -0.683139 m/s, LOS rate: 0.001514 deg/s, cmd heading: 207.071801 deg, new cmd heading: 207.073464 deg. Bh-8HeadingCmd: 3.614114 target range: 258.415131 and range: 259.50 m.hMg@h*h"h hgfffdddjdZd`n @iuBɢuR,9=)y }?iy)}۰9yyi}=gi*bs;JV,{[=?A88VY@VGg@VfOٱVG' ^AHRS rotation from veh to nav: [[-0.888214,0.451349,0.085791],[-0.459256,-0.877404,-0.138729],[0.012658,-0.162621,0.986607]]VH`?l?j?rdݿ ?ĿI?iVY@IVȘ^;VCYfByf)IhjAiMb@Mb@Mb@ 9K7A`?I +?~jtxY+?y94=Ļx@@ @)Y@bDVD1yڄ<%4=ٔ:Q->9"?Y"?=DylDE>Q 540ފ?Q 94)oBYb+?Q E:yv&Q I? DI:i:x4yɮAjh FNOT Ignoring new targets: 258.42 m.Rh8Zh8- ProNav: ac range: 258.415131 m, nav range: 243.981598 m, bearing: 211.701690 deg, approach rate: -0.669195 m/s, LOS rate: 0.001988 deg/s, cmd heading: 207.073468 deg, new cmd heading: 207.076171 deg. Bh-8-HeadingCmd: 3.614161 target range: 258.415131 and range: 259.50 m.h5jNg@h1*h1"h1 h1g1f1f9f=FBd9d9AdAjdIZdM@uBɢuA`3=)y }!?iy)}Lt:yiS&kiK*ZQt;Y;IjNg@IDAT read: 00:29:41.8956 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.11, 1.963, 0.606, 1.920, 1.046, PHS= 1.020,-0.394, 0.831, RAW= 142.9, -21.2, CAL= 143.8, -23.6, ROT= 6.2, 23.6 %Ygot valid direction response: 00:29:41.8956 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.11, 1.963, 0.606, 1.920, 1.046, PHS= 1.020,-0.394, 0.831, RAW= 142.9, -21.2, CAL= 143.8, -23.6, ROT= 6.2, 23.6 -PDAT read: Bearing 325.7, 10.8 (Local) 5~Local bearing/azimuth received: Bearing 325.7, 10.8 (Local) EDAT read: Range 11 to 50 : 257.8 m (Round-trip 343.8 ms) speed 0.2 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.911003,0.098967,-0.400349]]Fpublishing direction and range infoy *&?RU?^QٿYC )CI\?i^ɾjT?@qK @ BҾ)k=IB>`5{?FwY??agO׿ >)>>Ik=iB>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=9@9 @9@=n0@9yE- E-E-*E)"E-:*E-|;:VE-(N4ZE)a5@a5@a5@a5@^A%P;A)zA-gAԡI9 II OU >ߕ 4=ߕ 4= *DAT read: user:136>  BDAT read: Tx time:00:29:43.1976  $Ping request sent. 9 Y = Dy {D fE>Q 54ފ?Q 9%4)oBY!y%&Q I%? DI ;i ;54y-Bɮ5OA5'Ei!i%a=?AJi%\CRi%\Cji%i@i%K^i%4\˥i\z(S.xYzi%ܧNJ鿧֌P ܿ94ٿ2i%f:i%.M"i%_V?*i%) _Bi%i!i%Qpi% i%oCi%j@} addTargetRange:: Added new target pos. range: 257.799988 m, deltaT: 4.035735 s, deltaX: -1.700012 m, approachRate: -0.421240 m/s, rangeRepo size: 4  Added new target pos. range: 256.723541 m, bearing: 209.312312 deg, lat: 36.779253 deg, lon: -121.859855 deg, deltaT: 4.035735 s, deltaX: -1.691589 m, approachRate: -0.419153 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 256.72 m.RhZh ProNav: ac range: 256.723541 m, nav range: 239.869125 m, bearing: 210.176980 deg, approach rate: 0.000000 m/s, LOS rate: 0.001988 deg/s, cmd heading: 207.076173 deg, new cmd heading: 207.078452 deg. BhHeadingCmd: 3.614201 target range: 256.723541 and range: 257.80 m.hOg@h*h"h hgfffdddjdp@Zdd?uBɢuCpB=)q u8%?iy)}\j:yyi}*ni*Ct;Qd;IOg@IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253818]59@1 @1@50@1 EM  EM EM .EI "EM g:*EM &p:VEM ـ4ZEI BEM ;aU 2EM ;aU JEM x;a] :EM x;a] 9 ^AU ; checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504934IQIqO>5d,$=?A` ɰ ;]*wY@]lg@]rAٱ]% mAHRS rotation from veh to nav: [[-0.889493,0.449164,0.083988],[-0.456796,-0.878800,-0.138014],[0.011818,-0.161128,0.986863]]]Hv?B? %<ݿ!@n`)4? ՟Ŀ@a?i]*wY@I]^;]CY}By})Ii-Mb@Mb@Mb@)))) )9-Zd;O?S㥫?MbY-~*?y-/]=--K@-@ -r@)-7@)Y- @bDEVDE:2yU,%]=ٔ]l:Q-]>9aYa=eDyeDeEe>iQ 5}4mފ?Q 9}4mӍ)moBY}+?Q E:y%Q I?m DIm%-;im<;m^4yܩBɮA&EjhFNOT Ignoring new targets: 256.72 m.Rh?Zh? ProNav: ac range: 256.723541 m, nav range: 239.519028 m, bearing: 210.174831 deg, approach rate: -0.671965 m/s, LOS rate: -0.004132 deg/s, cmd heading: 207.078454 deg, new cmd heading: 207.071995 deg. Bh~5HeadingCmd: 3.614088 target range: 256.723541 and range: 257.80 m.h8Mg@h*h"h hgfff:BdddjdZd`??BɢW/=) h)?i)T ;i%Sqi%}*-.t;-:F;I-8Mg@I)(@ @@d0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754656^A ;A II Ia Om >E  E E +E "E :*E H:VE [4ZE a @a @a @a @Mj,؀=?AN@hY@N]g@ND<ٱN8% VAHRS rotation from veh to nav: [[-0.889912,0.448395,0.083659],[-0.455988,-0.879154,-0.138430],[0.011478,-0.161338,0.986832]]NH)z ? j?.ݿ" 恇?`Ŀ!?iN@hY@IN_;NCY^Byb)IbDjVDj2yrX<%rh=ٔrE}:Q-v>9tYt=vDyvDz)Ez>|Q 54~݊?Q 94~)~oBYy%Q I ?~ DI~D;i~ ;~4yBɮAA0E-B*** querying acoustic contact ***i) i)9jhAEFNOT Ignoring new targets: 256.72 m.RhMZhM] ProNav: ac range: 256.723541 m, nav range: 239.283936 m, bearing: 210.173435 deg, approach rate: -0.669159 m/s, LOS rate: -0.003976 deg/s, cmd heading: 207.071993 deg, new cmd heading: 207.067802 deg. Bh].eHeadingCmd: 3.614015 target range: 256.723541 and range: 257.80 m.heLg@ha*ha"ha hagafififididqdqjdqZdu 3?颥Bɢ[=) U/?i)+*;顩iOti*t;=;=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667ILg@IAIIIIAIAIBQBQBU)IBUBBQBQBQBU{;BUw:EB4CB4CBBBCē4iu9@q @y@}x0@yԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258551 ^A S;A >A >I) IA O] >q,s=?AZ>ZY@ZOg@Z.ٱZ !& bAHRS rotation from veh to nav: [[-0.890310,0.447745,0.082904],[-0.455231,-0.879453,-0.139025],[0.010662,-0.161515,0.986813]]ZHj}@ۧ?/9?@"ݿy$@"օ?Ŀ?iZ>ZY@IZK_;ZCYjByj)IbDrVDryz;%zH=ٔ~*;Q-~>9|Y|=~DyDq E> Q 54 "݊?Q 94 Д) oBYy%Q I?  DI ;i a; 4y%ݩBɮ%A%/EjhIMFNOT Ignoring new targets: 256.72 m.RhUZhUe ProNav: ac range: 256.723541 m, nav range: 239.011627 m, bearing: 210.171871 deg, approach rate: -0.668706 m/s, LOS rate: -0.003845 deg/s, cmd heading: 207.067799 deg, new cmd heading: 207.063102 deg. Bhe(mHeadingCmd: 3.613933 target range: 256.723541 and range: 257.80 m.hmJg@hi*hi"hi higqfqfqfqdydydyjdyZd}C?ԑ颵BɢT=) 3?i)O;项i7xi *u;͓;IJg@IE EE,E"E:*E=:VEg4ZEBE w,8=?A:KY@:iAg@:6:ٱ:LY& BAHRS rotation from veh to nav: [[-0.890723,0.447119,0.081832],[-0.454447,-0.879732,-0.139820],[0.009474,-0.161729,0.986790]]:H̀??ݿ &3g?Ŀȓ?i:KY@I:%r`;8YJByJ)IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740 LLTVAi-Mb@Mb@Mb@)))) )9-/$?ˡE?~jtxY-1(?y-'=-Ļ-5@-@ ))-M@)Y-@bDE VDEf2yU;=%UE=ٔU;;Q-]>9YYY=eDyeDe Ee>iQ 5u4mJ݊?Q 9u4mu)moBYu(?Q E}:y}'Q I}?m DIm;imK ;m䜘4yBɮm~A.EjhFNOT Ignoring new targets: 256.72 m.Rh{qZh{q ProNav: ac range: 256.723541 m, nav range: 238.738419 m, bearing: 210.171529 deg, approach rate: -0.657979 m/s, LOS rate: -0.000825 deg/s, cmd heading: 207.063100 deg, new cmd heading: 207.062072 deg. BhHeadingCmd: 3.613915 target range: 256.723541 and range: 257.80 m.hbJg@h*h"h hgffqf};BdyddjdZd#@zBɢHW=) ~,=?AHYBy)IbD%VD%y5м%53=ٔ5Q-=>99Y9==Dy=DEEE>IQ 5U4Mm݊?Q 9U4Mx)MoBYQyQQ I]?M DIM;iM;M⤘4yaɮe~Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266466jh15FNOT Ignoring new targets: 256.72 m.Rh=JgZh=Jgm ProNav: ac range: 256.723541 m, nav range: 238.437424 m, bearing: 210.171152 deg, approach rate: -0.628650 m/s, LOS rate: -0.000790 deg/s, cmd heading: 207.062075 deg, new cmd heading: 207.060941 deg. Bhm uHeadingCmd: 3.613895 target range: 256.723541 and range: 257.80 m.huJg@hq*hq"hq hqgqfyfyfydyddjdZdZ@UrBɢ]V=)Y ]=?iY)eV;aaieim*mt;m[Y;ImJg@Iq9@ @@/@E= E=E=(E9"E=:*E=|;:VE=c44ZE9BE=_؅,<>?A21Y@2'g@2 ԰ٱ2& :AHRS rotation from veh to nav: [[-0.891464,0.446276,0.078288],[-0.453059,-0.880052,-0.142291],[0.005396,-0.162316,0.986724]]2H ʏ?` ?ܿ@b)`6¿@zv? Ŀ`>?i21Y@I2db;0YbByb)I|iMMb@Mb@Mb@IIII I9MˡE??y&1|YM'?yML=M`MK@M@ M\@)IIYMf@bDVDN2y6%@=ٔ9Y=DyDqE>Q 5 4.݊?Q 94J)oBYn(?Q E:yF&Q I? DI ;i ;W4y%Bɮ%}A%-EjhAMFNOT Ignoring new targets: 256.72 m.RhMBOZhMBO ProNav: ac range: 256.723541 m, nav range: 238.156754 m, bearing: 210.170006 deg, approach rate: -0.692715 m/s, LOS rate: -0.002831 deg/s, cmd heading: 207.060941 deg, new cmd heading: 207.057500 deg. BhHeadingCmd: 3.613835 target range: 256.723541 and range: 257.80 m.hIg@h*h"h hgfff8BdddjdZd@f@颭jBɢ?i=) l@?i);ii*t;:IIg@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771017@ @@@@=@=YEQ  EU EU *EQ "EQ *EU VL:VEU (N4ZEQ ae @ae @ae @ae @^A yb];ԉ I I O >g,^2>?A2>2%=6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022935B/Y@BW%g@B۩#ٱB& JAHRS rotation from veh to nav: [[-0.891538,0.446596,0.075580],[-0.452940,-0.879945,-0.143325],[0.002497,-0.162013,0.986785]]BH z?`/Y?ܿ(|X¿:ud?׼Ŀ ?iB/Y@IBb;BCYnByn)IIr=)rbDz VDz2ya*=%[=ٔ";Q- >9 Y = Dy DùE>Q 5%4u݊?Q 9%4)oBY!y-H&Q I-? DI:i:޲4y5Bɮ5}A1MB*** querying acoustic contact ***iI iIYjhaeFNOT Ignoring new targets: 256.72 m.RhmCZhmC} ProNav: ac range: 256.723541 m, nav range: 237.911072 m, bearing: 210.169008 deg, approach rate: -0.655760 m/s, LOS rate: -0.002665 deg/s, cmd heading: 207.057499 deg, new cmd heading: 207.054503 deg. Bh}!HeadingCmd: 3.613783 target range: 256.723541 and range: 257.80 m.h8Hg@h*h"h hgfffdddjdZdQ @B=>B9B9B9B9B9B9B=w;B=t:E%cBɢ%,!{=)) -G?i))-ay;)QiU$i]}*](ot;] ;I]8Hg@IYIi)mgAԉ@  @ @ /@ ԱBDAT read: Rx Time:00:29:45.9150 TRx dataTimestamp_ set to:1761524985.052254%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763^AM ?B:AM >AM > I! I9 OE >E]  E] EY EY "E] y:*E] ?:VEY ZEY BE] ?A2+Y@2 g@2K:ٱ2% :AHRS rotation from veh to nav: [[-0.891666,0.446860,0.072435],[-0.452693,-0.879975,-0.143923],[-0.000573,-0.161122,0.986934]]2H`\??ܿ(l¿@B@Ŀ@?i2+Y@I2yb;2CRPExceeded connect timeout, disconnecting.YBy)IbDVDky-;%-F=ٔ-;Q-->91Y1=5Dy5D=0E=>AQ 5M4E|݊?Q 9]4ER)EzoBYiymL&Q Iu?E) DIE;iE;E4yBɮ]|A,EԙjhFNOT Ignoring new targets: 256.72 m.Rh%?Zh%? ProNav: ac range: 256.723541 m, nav range: 237.639648 m, bearing: 210.167920 deg, approach rate: -0.650731 m/s, LOS rate: -0.002611 deg/s, cmd heading: 207.054507 deg, new cmd heading: 207.051240 deg. Bh`HeadingCmd: 3.613726 target range: 256.723541 and range: 257.80 m.hIGg@h*h"h hgfffdddjdZd@/ @ ]Bɢ [=) K?i)x;]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526609aieil*l.t;j:IIGg@I9@  @ @ /@ ^AE ] ;I I O >5 DAT read: 00:29:45.9150 LVL= 32752, 32753, 32754, 28147, AGC= 70, IDX= 136,-0.14,-1.057,-2.623,-1.174,-2.074, PHS= 1.119,-0.504, 0.856, RAW= 141.3, -19.0, CAL= 141.8, -22.0, ROT= 8.2, 22.0 = Ygot valid direction response: 00:29:45.9150 LVL= 32752, 32753, 32754, 28147, AGC= 70, IDX= 136,-0.14,-1.057,-2.623,-1.174,-2.074, PHS= 1.119,-0.504, 0.856, RAW= 141.3, -19.0, CAL= 141.8, -22.0, ROT= 8.2, 22.0 E PDAT read: Bearing 326.3, 11.4 (Local) E ~Local bearing/azimuth received: Bearing 326.3, 11.4 (Local) U DAT read: Range 11 to 50 : 234.9 m (Round-trip 313.3 ms) speed 0.7 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.917705,0.132243,-0.374607]a e Fpublishing direction and range infoy  ]?`I >   v.?i2?9Xţ<Կ  ~>) >I C>i >  } T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.,Cf>?A>Y@4g@I;ٱu" AHRS rotation from veh to nav: [[-0.891101,0.448990,0.065931],[-0.453756,-0.879397,-0.144106],[-0.006723,-0.158329,0.987363]]H`B??T ݿ$r¿0{#DĿ@{?i>Y@Ib;CY-By-)IԩE EE)E"E:*E H:VEFA4ZEa%@a-@a-@a-@iMb@Mb@Mb@ 9{Gz?J +?MbY#?yH= @)7@Y@bDUVDU2ye %m!=ٔmE9Y=DyD;E>Q 54Fe݊?Q 94ȫ)ooBYU$?Q E:y7&Q I?> DI7;i6;˜4ydBɮ{A+EiIiMDc>?AJiMiCRiMiCjiM-l@iMnmj@ۀ3>@bD2UriM]?`biM >iM鸚f^ [hh&7WziM 鿡ڧm޿Fhٿ2iM:iM.7"iM ?*iMN-BiM:iIiMsiIiMlCiMAxj@-UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 234.899994 m, deltaT: 4.031958 s, deltaX: -22.899994 m, approachRate: -5.679621 m/s, rangeRepo size: 4jhQ]FNOT Ignoring new targets: 256.72 m.Rh]pHZh}pH ProNav: ac range: 256.723541 m, nav range: 237.312317 m, bearing: 210.166500 deg, approach rate: -0.630155 m/s, LOS rate: -0.002738 deg/s, cmd heading: 207.051242 deg, new cmd heading: 207.046976 deg. BhHeadingCmd: 3.613652 target range: 256.723541 and range: 257.80 m.hFg@h*h"h hԹgfff"Bdddjd\m@Zdo?=SBɢ=b=)9 EK?iA)E3;AAiE&eiM*M t;MN D;IMFg@IQ*DAT read: user:137> BDAT read: Tx time:00:29:47.1975 $Ping request sent.BIBM)IBMBBM =BIBMDBMN;BMM:E ^A1 I I O >q/,ƀ>?AY~By~)I bD VD 2y=1=%=ٔ%Q-%?9!Y!=-Dy-&D-E-?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250614Q 54xV݊?Q 94)ioBYyQ I?L DI;i ;Ș4yɮ{AjhFNOT Ignoring new targets: 256.72 m.RhEWVZhEWV] ProNav: ac range: 256.723541 m, nav range: 237.106934 m, bearing: 210.165607 deg, approach rate: -0.672698 m/s, LOS rate: -0.002928 deg/s, cmd heading: 207.046980 deg, new cmd heading: 207.044299 deg. Bh]eHeadingCmd: 3.613605 target range: 256.723541 and range: 257.80 m.heMEg@ha*ha"ha higififqfqdqdqdqjdyZd}`J2?ԑ颭MBɢy=) Q?i)8A;项iAih*s; >;IMEg@I]9@Y @Y@]y0@YbEE(N4jEE(N4rEET0E EEE"Ey:*E;J:VEZEBEa2EaJE;a:E;aUnManaging dock network, ignoring radio surface power off - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832^A A gAzA fAIA Ii  MGM (hAm AO > d9 (hAY A1 U,>?A:DY@:q:g@:<ٱ:9!Y)=-Dy-6D-k:E->1Q 5=45D݊?Q 9=45)5`oBQ AE+:YAQ EE:yE0&Q IE?5[ DI5G;i5>5Θ4yMfBɮM{AU4EjhquFNOT Ignoring new targets: 256.72 m.Rh}^QZh}^Q ProNav: ac range: 256.723541 m, nav range: 236.857819 m, bearing: 210.164497 deg, approach rate: -0.641218 m/s, LOS rate: -0.002860 deg/s, cmd heading: 207.044303 deg, new cmd heading: 207.040970 deg. Bh=HeadingCmd: 3.613547 target range: 256.723541 and range: 257.80 m.hYDg@h*h"h hgfffdddjdZd=?GBɢcQ=) YR?i):<i**i]*s;W;IYDg@I)@) @)@-4@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754961A^AqE EEE"E:*E|;:VEZEa@a@a@a@II O >i = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006719,>?AY~By~)IbD VD 1yÊ<%H=ٔ%Q-%>9!Y)=-Dy-GD-E->1Q 5=451݊?Q 9=45)5WoBQ AE :YAQ EEY:yAQ IE?5l DI5;i5sL?5Ҙ4yIɮM{AIBe>Be5CBe)IBeBBaBaBaBe;;Be;:EB*** querying acoustic contact ***i ijhEFNOT Ignoring new targets: 256.72 m.RhEHZhEH] ProNav: ac range: 256.723541 m, nav range: 236.596039 m, bearing: 210.163328 deg, approach rate: -0.611319 m/s, LOS rate: -0.002732 deg/s, cmd heading: 207.040970 deg, new cmd heading: 207.037459 deg. Bh] ]HeadingCmd: 3.613485 target range: 256.723541 and range: 257.80 m.heXCg@ha*ha"ha hagafafifidididqjdqZdu 6?颥?Bɢ=) W?i)f<顩i`Ŋi^*3s;IXCg@IIm9@i @i@m2@i@u=@u=yiqIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259094^Ayb];ԩ I I O >E  E E .E "E :*E rN:VE ـ4ZE BE ?A6cY@6Yg@6k<ٱ64\ nAHRS rotation from veh to nav: [[-0.890002,0.452348,0.057250],[-0.455730,-0.878560,-0.142975],[-0.014377,-0.153339,0.988069]]6HzE?O? *ݿ*L¿sq ÿ@C?i6cY@I6n9QYY=]Dy]WDeӘ;Ee>aQ 5m4e݊?Q 9m4e)eMoBQ Au9YqQ Eu/:yu&Q Iu?e} DIev:ie??e֘4yJBɮzA3EjhFNOT Ignoring new targets: 256.72 m.Rh3uZh3u ProNav: ac range: 256.723541 m, nav range: 236.335388 m, bearing: 210.162036 deg, approach rate: -0.674789 m/s, LOS rate: -0.003350 deg/s, cmd heading: 207.037459 deg, new cmd heading: 207.033578 deg. BhHeadingCmd: 3.613418 target range: 256.723541 and range: 257.80 m.h×,6<>?AJnY@J~dg@J'<ٱJy RAHRS rotation from veh to nav: [[-0.889622,0.453755,0.051757],[-0.456289,-0.878310,-0.142728],[-0.019305,-0.150590,0.988408]]JHwR ??@3ݿ@D¿`ēFÿ` ?iJnY@IJ %a;JCYZByZ)IaEaE aEaE aEaE aEaE iEMb@Mb@Mb@AAAA A9E#~j?&1? rhYE%?yEP=ECE@E@ E@)EM@AYE@bD]VD]2ymHO<%mH=ٔu4E9qYq=}Dy}hD}:E}>Q 5 4 ݊?Q 9 4)=oBQ AT:Yu&?Q E:y&Q I? DI BqBqBqBu =BqBqBqBu=:EBABABABEǠ =BEǠ =CEǾK5^A ;I I O% >ԑ _y,??AFVhY@F^g@F<ٱF NAHRS rotation from veh to nav: [[-0.889761,0.453751,0.049353],[-0.455916,-0.878436,-0.143149],[-0.021601,-0.149869,0.988470]]FH`xB ?D?@-ݿ$R¿ r.ÿ?iFVhY@IF-8a;DYVByV)IbDvVDvky~,%S=ٔ;Q->9Y = Dy xD zE >Q 54܊?Q 9%43).oBY!y%&Q I%? DIq ;iK ;x4y)ɮ-yA1jhQUFNOT Ignoring new targets: 256.72 m.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266921Rhm털Zhm털y} ProNav: ac range: 256.723541 m, nav range: 235.817886 m, bearing: 210.159380 deg, approach rate: -0.712394 m/s, LOS rate: -0.003632 deg/s, cmd heading: 207.029454 deg, new cmd heading: 207.025602 deg. BhHeadingCmd: 3.613278 target range: 256.723541 and range: 257.80 m.h?g@h*h"h hgfffdddjdZd 9@+Bɢ=) b?i)76<i'i*/ft;;I?g@Iq@q @q@u/@q@}gA@yԩE EE,E"Ey:*E?:VEg4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518730) ,I??ANLY@NoBg@NP6<ٱN VAHRS rotation from veh to nav: [[-0.890487,0.452637,0.046394],[-0.454397,-0.879371,-0.142234],[-0.023583,-0.147739,0.988745]]NH~@??ݿ#4¿@7&@¿̣?iNLY@INa;NCY^By^)I ``dfAiEMb@Mb@Mb@AAAA A9EK7?A`"?:vYE)?yEY=ETE@E@ E@)El@AYE@bD]VD]:2yml<%mC=ٔub;Q-u>9qYy=}Dy}D}σE}>Q 54܊?Q 94)oBYM*?Q E:y%Q I? DI~:i` ;4yBɮxA1EjhFNOT Ignoring new targets: 256.72 m.RhXZhX} ProNav: ac range: 256.723541 m, nav range: 235.539948 m, bearing: 210.157922 deg, approach rate: -0.664022 m/s, LOS rate: -0.003488 deg/s, cmd heading: 207.025602 deg, new cmd heading: 207.021222 deg. Bh}4HeadingCmd: 3.613202 target range: 256.723541 and range: 257.80 m.h>g@h*h"h hgfffBdddjdZd]@#Bɢ=)  #h?i ) SC< i4\i*6mt;s;I>g@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771571IU9@Q @Q@Q@QqE EE(E"E:*EVL:VEc44ZEa@a@a@a@^A ϩ;I I O >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022748,5??AB/0Y@B%g@B<ٱB NAHRS rotation from veh to nav: [[-0.891253,0.451270,0.044978],[-0.452831,-0.880131,-0.142525],[-0.024731,-0.147394,0.988769]]BH%@?]?/ܿ*@F>¿ S`¿@?iB/0Y@IBb;BCYVByV)IbD^VD^!3yfJ%fU=ٔjD;Q-j>9hYh=nDynDnEn>pQ 5v4rL܊?Q 9v4r~)roBYxyz&Q Iz?r DIr:ir:r|4y|ɮ yAB!A!B)B)B-)IB-BB)B)B)B-O;B-Q:EjhFNOT Ignoring new targets: 256.72 m.Rh]Zh] ProNav: ac range: 256.723541 m, nav range: 235.285217 m, bearing: 210.156690 deg, approach rate: -0.625619 m/s, LOS rate: -0.003030 deg/s, cmd heading: 207.021217 deg, new cmd heading: 207.017516 deg. BhHeadingCmd: 3.613137 target range: 256.723541 and range: 257.80 m.h=g@h*h!"h! h!g!f!f)f)d)d)d)jd1ZdU ~ @q颥Bɢ=) j?i)wO<顩ii*Ht;.;I=g@Ii@i @i@m?0@iԡ}BDAT read: Rx Time:00:29:49.9381 }TRx dataTimestamp_ set to:1761524989.084051checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275741^Ayb];I) I9 O >E  E E E "E *E *5:VE ZE BE ?@U?aܿ@0 2¿š 3¿*?i6Y@I6b;4YJByJ)IbDRVDR02yZ<%ZK=ٔ^d;Q-^>9\Y\=^Dy^DblEb>dQ 5j4f܊?Q 9j4f )foBYhyn4&Q In?f DIf@;if];f4yrBɮrxAr0E~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 256.72 m.RhfZhf% ProNav: ac range: 256.723541 m, nav range: 235.018494 m, bearing: 210.155498 deg, approach rate: -0.705004 m/s, LOS rate: -0.003152 deg/s, cmd heading: 207.017515 deg, new cmd heading: 207.013937 deg. Bh%t -HeadingCmd: 3.613075 target range: 256.723541 and range: 257.80 m.h-E Ygot valid direction response: 00:29:49.9381 LVL= 29776, 31169, 31826, 24371, AGC= 69, IDX= 162, 0.34, 2.661, 1.196, 2.609, 1.988, PHS= 0.775,-0.747, 0.577, RAW= 143.1, -8.5, CAL= 143.3, -10.1, ROT= 6.7, 10.1 M PDAT read: Bearing 337.8, 6.9 (Local) M ~Local bearing/azimuth received: Bearing 337.8, 6.9 (Local) e DAT read: Range 11 to 50 : 252.3 m (Round-trip 336.5 ms) speed 0.0 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.977780,0.114863,-0.175367]} Fpublishing direction and range infoy  dI?cug?:ujrƿY L|C Pt y R| 3_) EI ffF?i d;? F? @  Q @ J4) |=I J4> q ?z+?Cn¿ >) ز>I |=i J4>  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.m,.qi??A V.X@Vf@V<ٱVz %AHRS rotation from veh to nav: [[-0.892982,0.448201,0.041214],[-0.449261,-0.882028,-0.142094],[-0.027335,-0.145404,0.988995]]VHOR??ܿ`9%0¿@ ¿`إ?iV.X@IV>c;VCYBy)II=)p===E} E}EyEy"E}:*E}F:VEyZEya@a@a@a@IiUMb@Mb@Mb@QQQQ Q9Uv/?{Gz?I +YUx)?yU#=U94U@U@ U@)UV@QYUG@bDVDk1y%#=ٔ;Q->9Y=DyDcE>Q 54܊?Q 94)nBY)?Q E:y'Q I? DI:ih;\4y-ۨBɮ-SwA5/Eii!e??AJi@{CRi@{Cji l@ivbn@w<@&FridI?cug?:ujrƿZi|=biJ4>iIWFj˓ 2`p>Kzi%;꿍=a࿁nvB˿2i:iBP"i8=?*ivBigAiiiijCiVtj@ addTargetRange:: Added new target pos. range: 252.300003 m, deltaT: 8.068693 s, deltaX: -5.499985 m, approachRate: -0.681645 m/s, rangeRepo size: 4  Added new target pos. range: 251.251160 m, bearing: 211.886828 deg, lat: 36.779253 deg, lon: -121.859842 deg, deltaT: 8.068693 s, deltaX: -5.472382 m, approachRate: -0.678224 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 251.25 m.RhZh- ProNav: ac range: 251.251160 m, nav range: 234.065338 m, bearing: 209.894524 deg, approach rate: 0.000000 m/s, LOS rate: -0.003152 deg/s, cmd heading: 207.013936 deg, new cmd heading: 207.008987 deg. Bh)5HeadingCmd: 3.612988 target range: 251.251160 and range: 252.30 m.h54;g@h1*h1"h1 h1g1f9fYf]Bdadadajdeo@Zde ?颵 Bɢ=) *r?i)&k<ii*As;?I4;g@I*DAT read: user:138> BDAT read: Tx time:00:29:51.2475  $Ping request sent. B!B!B!B% =B!B!B%o;B%p:E9@ @@O0@ԡ ^A rg:A >A >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252257A.AII1OM>,zr??AZX@Zf@Z<ٱZ bAHRS rotation from veh to nav: [[-0.893326,0.447517,0.041191],[-0.448473,-0.881799,-0.145953],[-0.028994,-0.148857,0.988434]]ZH @ ??dzܿ7¿ ÿ??iZX@IZlc;ZCYjByn)IbDvVDvy~<%~X=ٔ~;Q->9 ?Y ?=DyD [E >Q 54u܊?Q 94)nBYy'Q I%? DI:i:4y-Bɮ-!xA-9EjhQUFNOT Ignoring new targets: 251.25 m.Rh]Zh]m ProNav: ac range: 251.251160 m, nav range: 233.817307 m, bearing: 209.894476 deg, approach rate: -0.694239 m/s, LOS rate: -0.000136 deg/s, cmd heading: 207.008991 deg, new cmd heading: 207.008845 deg. Bhm˿uHeadingCmd: 3.612986 target range: 251.251160 and range: 252.30 m.hu);g@hq*hq"hq hqgyfyfyfydddjdZd\?ԩ颽BɢU=) w?i)Ju<iEi*dr;쫺I);g@IE EE)E"E:*EVEFA4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899 1 ,8??A6X@6.f@6Nz<ٱ6] BAHRS rotation from veh to nav: [[-0.893393,0.447472,0.040221],[-0.448260,-0.881773,-0.146760],[-0.030205,-0.149144,0.988354]]6H`c?@◤?Jܿ|7 ¿`@'ÿ?i6X@I6Wc;6CYHyJ)IiMb@Mb@Mb@ 9/$?~jt?Mbp?Y1(?y<;j@@ @)z@Y@ ))bD5VD5Ny %@=ٔ:;Q->9"?Y"?=DyDE>Q 54Ԁ܊?Q 94U)nBYN(?Q E:y(Q I?DI:iU:T4yߨBɮFwA8EjhFNOT Ignoring new targets: 251.25 m.RhAh8Zh Ah85 ProNav: ac range: 251.251160 m, nav range: 233.538071 m, bearing: 209.895823 deg, approach rate: -0.656611 m/s, LOS rate: 0.003173 deg/s, cmd heading: 207.008841 deg, new cmd heading: 207.012888 deg. Bh5Z 9EHeadingCmd: 3.613056 target range: 251.251160 and range: 252.30 m.hEQBA BE )IBE BBA BA BA BE ;BE :EA .AI I O > ,{??AY=By=)IbDMVDM2y]<%eO=ٔeQ-e>9m ?Ym ?=mDymDmEu>qQ 5}4um܊?Q 94u)unBYyQ I?uDIu ;iu;u94yèBɮ\vA7EjhFNOT Ignoring new targets: 251.25 m.Rhh8Zhh8 ProNav: ac range: 251.251160 m, nav range: 233.278915 m, bearing: 209.897077 deg, approach rate: -0.656713 m/s, LOS rate: 0.003180 deg/s, cmd heading: 207.012884 deg, new cmd heading: 207.016649 deg. Bh 9HeadingCmd: 3.613122 target range: 251.251160 and range: 252.30 m.he=g@h*h"h hgfffdddjdZd K?ԑuBɢuڭ=)q u?iy)}2߈9b"?Yb"?=bDybDfAEf>hQ 5n4j[܊?Q 9n4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510991m>GjA/9jAYƙAj)jnBYy)Q I?j)DIj7=ijC=j4yɮXvA B*** querying acoustic contact ***i  i jhyFNOT Ignoring new targets: 251.25 m.Rh9\8Zh9\8u ProNav: ac range: 251.251160 m, nav range: 233.027283 m, bearing: 209.898366 deg, approach rate: -0.586480 m/s, LOS rate: 0.003008 deg/s, cmd heading: 207.016654 deg, new cmd heading: 207.020527 deg. Bh}"9HeadingCmd: 3.613190 target range: 251.251160 and range: 252.30 m.h>g@h*h"h hgfffddd!jd!Zd%@c?Bɢ =) ρ?i)[g<i%yi5*i[p;&h,I >g@I !9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763125I ^A ?Bɺy E  E E *E "E :*E H:VE (N4ZE a @a @a @a @A I I O >|,U/??A2vX@2$f@2 =ٱ2W'" :AHRS rotation from veh to nav: [[-0.893930,0.446331,0.040968],[-0.446957,-0.880880,-0.155821],[-0.033460,-0.157604,0.986935]]2H `??@ܿ+0ÿ!],Ŀ?i2vX@I26id;0YBByB)Ia^@a^ a^@a^ a^@a^ a^@a^ b@A`bDdVDdyn$<%n>=ٔn]H;Q-n>9pYp=rDyrDr^)Ev>xQ 5~4z3F܊?Q 9~4z\)znBQ A~+:Y|Q E~:y~)Q I~?z;DIz;iz>z$4y Bɮ kuA 6Ejh15FNOT Ignoring new targets: 251.25 m.Rh=W8Zh=W8M ProNav: ac range: 251.251160 m, nav range: 232.744934 m, bearing: 209.899835 deg, approach rate: -0.735911 m/s, LOS rate: 0.003834 deg/s, cmd heading: 207.020520 deg, new cmd heading: 207.024934 deg. BhMi(9HeadingCmd: 3.613267 target range: 251.251160 and range: 252.30 m.h?g@h*h"h hgfffdddjdZd`@-Bɢ5D=)1 5?i1)5\<99i=ޛi=*Eio;Eh8IE?g@IiԡMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015889B%>B!B%)IB%BB!B!B!B%;B%:E9@9 @9@=/@9@E=@E=^A}0 A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864O >) L], @?A*4<ɰ(RX@Rf@R=ٱR" ZAHRS rotation from veh to nav: [[-0.894037,0.446240,0.039578],[-0.446628,-0.880942,-0.156413],[-0.034932,-0.157516,0.986898]]RH3?C? ܿ0TĿ@⡿ x)Ŀ ?iRX@IRLJd;RCYbByb)If=f=bDjVDj2yr"%vJ=ٔvn;Q-v>9xYx=zDyzDzT^Ez>|Q 54~2܊?Q 9 4~)~nBQ A  :Y Q E S:y  )Q I ?~LDI~ ;i~U?~(4yɮuAjh9EFNOT Ignoring new targets: 251.25 m.RhE*8ZhM*8U ProNav: ac range: 251.251160 m, nav range: 232.479568 m, bearing: 209.901242 deg, approach rate: -0.656940 m/s, LOS rate: 0.003486 deg/s, cmd heading: 207.024933 deg, new cmd heading: 207.029157 deg. BhU9eHeadingCmd: 3.613340 target range: 251.251160 and range: 252.30 m.he@g@ha*ha"ha hagafafifidididqjdqZdu`@@颥Bɢr=) B?i)L<顩iQi*n;OI@g@I1E EE+E"E:*E=:VE [4ZEBE ,#@?A 6X@6f@6u=ٱ6! BAHRS rotation from veh to nav: [[-0.893985,0.446502,0.037778],[-0.446609,-0.880982,-0.156242],[-0.036481,-0.156550,0.986996]]6H`@{?W?`?ܿ 1ÿ@ Ŀx?i6X@I6d;6CYFByJ)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771582aa aa aa aa iMb@Mb@Mb@ 9q= ףp?{Gz{Gzt?Y+?y#ף;@@ @)@Y3@bDVD:2y( %:=ٔg;Q->9Y=Dy1D97E> Q 54 H܊?Q 94 ) nBQ AT:Y+?Q E:yG,Q I? _DI [;i `; K04y%Bɮ- uA-5EjhIUFNOT Ignoring new targets: 251.25 m.RhULZ9ZhULZ9e ProNav: ac range: 251.251160 m, nav range: 232.186569 m, bearing: 209.906466 deg, approach rate: -0.668097 m/s, LOS rate: 0.011928 deg/s, cmd heading: 207.029154 deg, new cmd heading: 207.044847 deg. Bhe:mHeadingCmd: 3.613614 target range: 251.251160 and range: 252.30 m.hmuEg@hi*hq"hq hqgqfqfyf}BdydydjdZdd@iMއBɢuVA=)q u5?iq)}GB) B- )IB- BB) B) B) B- ;B- :EB 5CB 5CB B B C ʚ5A I I O >,=@?A2޽X@2f@20=ٱ2. >AHRS rotation from veh to nav: [[-0.894010,0.446651,0.035350],[-0.446411,-0.881231,-0.155400],[-0.038258,-0.154710,0.987219]]2H`?n?ܿ 3`)ÿÿK?i2޽X@I2d;2CYFByF)I NR=N4=`bDv VDvf2y~<%~\=ٔ;Q->9Y=Dy @D E >Q 54_ ܊?Q 94)nBY!y%J,Q I%?oDIj;i;64y-qBɮ-tA-4EjhQUFNOT Ignoring new targets: 251.25 m.Rh]v[9Zh]v[9m ProNav: ac range: 251.251160 m, nav range: 231.938049 m, bearing: 209.910921 deg, approach rate: -0.668318 m/s, LOS rate: 0.011992 deg/s, cmd heading: 207.044849 deg, new cmd heading: 207.058227 deg. Bhm:uHeadingCmd: 3.613848 target range: 251.251160 and range: 252.30 m.huHIg@hq*hq"hq hqgyfyfyfydddjdZd ] @颵؇Bɢ,1=) ?i).L<项i;im*l; vIHIg@Iu9@q @q@u5@qBDAT read: Rx Time:00:29:53.9866 TRx dataTimestamp_ set to:1761524993.120193checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276008^AjZXAfAzAE  E E )E "E :*E VL:VE FA4ZE BE a A ,$~W@?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526993:(X@:׵f@:5"=ٱ: FAHRS rotation from veh to nav: [[-0.893898,0.446974,0.034065],[-0.446512,-0.881093,-0.155892],[-0.039666,-0.154562,0.987187]]:HК 8?p?ܿ@1Cÿ` O@ÿ`?i:(X@I:md;8YbByb)IbDjVDj:2yv%vK=ٔvf;Q-v>9xYx=zDyzPDzն9E~>|Q 5 4~ۊ?Q 9 4~)~nBY y H,Q I ?~DI~;i~;~=4yɮFtA!=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 251.25 m.RhUZ9ZhZ95 ProNav: ac range: 251.251160 m, nav range: 231.669785 m, bearing: 209.915731 deg, approach rate: -0.666066 m/s, LOS rate: 0.011957 deg/s, cmd heading: 207.058223 deg, new cmd heading: 207.072670 deg. BhUJ:mHeadingCmd: 3.614100 target range: 251.251160 and range: 252.30 m.hujMg@h*h"h hgfffdddjdZd%@QЇBɢzݲ=)  ޅ?i)۲<i~ˡiJ*k;yIjMg@Ia9@ @@h0@yDAT read: 00:29:53.9866 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 121, 0.23, 0.378,-1.387, 0.474, 0.155, PHS= 0.326,-1.497, 0.275, RAW= 148.6, 10.0, CAL= 148.3, 10.9, ROT= 1.7, -10.9 Ygot valid direction response: 00:29:53.9866 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 121, 0.23, 0.378,-1.387, 0.474, 0.155, PHS= 0.326,-1.497, 0.275, RAW= 148.6, 10.0, CAL= 148.3, 10.9, ROT= 1.7, -10.9 PDAT read: Bearing 357.3, -2.0 (Local) ~Local bearing/azimuth received: Bearing 357.3, -2.0 (Local) %DAT read: Range 11 to 50 : 251.1 m (Round-trip 334.9 ms) speed 1.2 m/s -R#Rx 1: Read range and direction messages.M\direction in FSK: [0.981527,0.029131,0.189095]MFpublishing direction and range infoyAKh?+ԝ?oG4?Y{C )GIy>ǐ>%@¸2>%@ B>))2IW,s@?A(2X@2f@2z)=ٱ2$ >AHRS rotation from veh to nav: [[-0.893686,0.447463,0.033192],[-0.446791,-0.880658,-0.157540],[-0.041263,-0.155621,0.986955]]2H=?}?:ܿZ.C*Ŀf @bÿ!?i2X@I2Fd;2CYDyDiMb@Mb@Mb@ 9/$?~jt~jtx?Y1(?yD;=@ l@)@Y@bD- VD-:2y=w:%=5=ٔ=g;Q-=>9AYA=EDyEcDE*H:EM>Q 54ۊ?Q 94|)nBY:(?Q E:yt,Q I?DIG:iq:E4 < <*DAT read: user:139> BDAT read: Tx time:00:29:55.2975 $Ping request sent.BB)IBBB =BBB;B:Eiig@?AJizCRizCjij@i.n@Չ;#@.RXlG@riAKh?+ԝ?oG4?Zi<biBiޮ%yjlMȀ^K`A@ziiXsf߿Z=?2i :iV"i@?*igՋBiBiigՋiikCiel@U addTargetRange:: Added new target pos. range: 251.100006 m, deltaT: 4.031662 s, deltaX: -1.199997 m, approachRate: -0.297643 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 250.056641 m, bearing: 209.934504 deg, lat: 36.779253 deg, lon: -121.859933 deg, deltaT: 4.031662 s, deltaX: -1.194519 m, approachRate: -0.296285 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 250.06 m.RhZh ProNav: ac range: 250.056641 m, nav range: 235.518387 m, bearing: 211.633732 deg, approach rate: 0.000000 m/s, LOS rate: 0.011957 deg/s, cmd heading: 207.072676 deg, new cmd heading: 207.090877 deg. Bh%HeadingCmd: 3.614418 target range: 250.056641 and range: 251.10 m.h%Rg@h!*h!"h! h!g)f)f)f- Bd1d1d1jd5@3co@Zd= ?ɇBɢcս=) ?i)<iPi*Uj;QIURg@IYԱ9@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250580 ^A ~ A .AI E  E E -E "E I:*E rN:VE t4ZE BE $,2@?A2X@2f@2"1=ٱ2" >AHRS rotation from veh to nav: [[-0.893063,0.448740,0.032720],[-0.447850,-0.879589,-0.160479],[-0.043233,-0.157971,0.986497]]2H)??ܿ %Ŀ"h8Ŀa?i2X@I2d;2CYBՉByB)IJAAHbDNVDN02yVP%V9=ٔVM;Q-Z>9Z ?YZ ?=ZDy^tD^5;E^>`Q 5f4b\ۊ?Q 9f4b)bnBYdyj`,Q Ij?bDIbd;ibp;bmM4ynZBɮn!tAn checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754520ԩ h=*,@?A;ɰp;:X@:jf@:9=ٱ:! bAHRS rotation from veh to nav: [[-0.892519,0.449964,0.030701],[-0.448724,-0.879090,-0.160771],[-0.045352,-0.157267,0.986514]]:H6? p?ܿ!#Ŀk8T!Ŀ ?i:X@I:e;:CYjBynk)IiMb@Mb@Mb@ 9NbX9?Mb`?Y%?y;@@ d@)@Y@bDVDyr߽%<=ٔ;Q->9"?Y"?=DyD};E>Q 543ۊ?Q 94)~nBY%?Q E:y +Q I?DI:i ; U4yɮtAjh FNOT Ignoring new targets: 250.06 m.Rh Op9Zh Op9ԑ ProNav: ac range: 250.056641 m, nav range: 234.959839 m, bearing: 211.646504 deg, approach rate: -0.644059 m/s, LOS rate: 0.013131 deg/s, cmd heading: 207.112072 deg, new cmd heading: 207.129229 deg. Bh/:HeadingCmd: 3.615087 target range: 250.056641 and range: 251.10 m.h]g@h*h"h hgfff̆BdddjdZdM@?E EE)E"E:*Ega:VEFA4ZEa@a@a@a@-Bɢ-dF=)) M?iQ)UrBB)IBډBB =BBB{;B{:E^A 7I I O > F%1,@?ANX@N:f@N7A=ٱN " fAHRS rotation from veh to nav: [[-0.892066,0.450954,0.029323],[-0.449439,-0.878555,-0.161694],[-0.047155,-0.157420,0.986405]]NH ͋l??ܿ` @aĿ$W&Ŀ?iNX@IN}e;NCY-By-[)IbD= VD=f2yMƀ%MQ=ٔU;Q-U>9QYQ=UDy]D] ;E]>aQ 5m4e.ۊ?Q 9m4e)eqnBYqyu*Q Iu?eDIe:ie:e[4y}>Bɮ}ntA;EjhFNOT Ignoring new targets: 250.06 m.Rhrn9Zhrn9 ProNav: ac range: 250.056641 m, nav range: 234.707581 m, bearing: 211.651600 deg, approach rate: -0.644244 m/s, LOS rate: 0.013029 deg/s, cmd heading: 207.129230 deg, new cmd heading: 207.144535 deg. Bh:HeadingCmd: 3.615354 target range: 250.056641 and range: 251.10 m.hag@h*h"h hgfffddchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628djdZd5?Bɢ=) |?i) <i.i%*%I;h;%tI-ag@I)9@ @@/@D=D<E  E E E "E :*E |;:VE ZE BE > R7,=@?A E Y@Eg@EfH=ٱEU9 uAHRS rotation from veh to nav: [[-0.891453,0.452304,0.027072],[-0.450455,-0.878178,-0.160916],[-0.049009,-0.155644,0.986597]]EH`Ȇ??`Aܿ`@Ŀ"ÿ@3?iE Y@IEe;ECY}ByD)IiMb@Mb@Mb@ 9 r? rh?:vY#?yC<T@@ M@)Y@ a=bD%VD%2y5Q%5<=ٔ5';Q-5>99Y9==Dy=DE2;EE>AQ 5U4Eۊ?Q 9U4Ev)E]nBYU#?Q EU:yU)Q IU?EDIE? ;iE ;Evc4ye#Bɮe-tAe:E}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 250.06 m.Rh.9Zh.9 ProNav: ac range: 250.056641 m, nav range: 234.431534 m, bearing: 211.655746 deg, approach rate: -0.635833 m/s, LOS rate: 0.009560 deg/s, cmd heading: 207.144529 deg, new cmd heading: 207.156981 deg. Bh9HeadingCmd: 3.615571 target range: 250.056641 and range: 251.10 m.heg@h*h"h hgfffBdddjdZdu!?i}Bɢ}=)y }fv?iy)<顡i]i/*Ѐg;AIeg@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763246]9@Y @a@a@aԙE  E E &E "E :*E C:VE 4ZE a @a @a @a @^A < I I O% >ty=,@?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609BTBV4CBVb)IBVBBV =BTBTBVt;BVu:E\bkY@b g@bvO=ٱb- jAHRS rotation from veh to nav: [[-0.891170,0.452948,0.025583],[-0.450822,-0.877856,-0.161644],[-0.050758,-0.155586,0.986517]]bH`v?2?`Cܿ`eĿ<ÿ ?ibkY@Ibe;bCYvByv0)IbD~ VD~2y % _=ٔל;Q->9Y=DyD#:E>!Q 5-4%Jzۊ?Q 9-4%\)%KnBY1y5)Q I5?%DI%F:i%:%i4y9ɮ=tAAjhaeFNOT Ignoring new targets: 250.06 m.Rhmg.9Zhmg.9} ProNav: ac range: 250.056641 m, nav range: 234.198547 m, bearing: 211.659226 deg, approach rate: -0.637332 m/s, LOS rate: 0.009530 deg/s, cmd heading: 207.156987 deg, new cmd heading: 207.167439 deg. Bh}H9HeadingCmd: 3.615754 target range: 250.056641 and range: 251.10 m.hhg@h*h"h hgfffdddjdZd@}@Bɢ=) tq?i)<iiqi2*Uf;UgI]hg@IYIa)efA 9@  @ @ 0@ iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267259^A5?BɺIIO>! bEFA4jEKJ4rEm0E  E E .E "E :*E g:VE ـ4ZE BE 79dYd=fDyfDj:Ej>lQ 5r4ngۊ?Q 9r4n|)n7nBYpyv)Q Iv?nDIn";in:np4yzBɮz.tAz9EjhFNOT Ignoring new targets: 250.06 m.RhC%9ZhC%9 ProNav: ac range: 250.056641 m, nav range: 233.947601 m, bearing: 211.662939 deg, approach rate: -0.609613 m/s, LOS rate: 0.009030 deg/s, cmd heading: 207.167438 deg, new cmd heading: 207.178590 deg. BhQ9HeadingCmd: 3.615948 target range: 250.056641 and range: 251.10 m.hkg@h*h"h hgfffdddjdZdj@=BɢE=)A En?iA)Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770492vJ,>,A?AFLY@Fg@Fe\=ٱFW fAHRS rotation from veh to nav: [[-0.890780,0.453896,0.022119],[-0.451231,-0.877682,-0.161445],[-0.053865,-0.153792,0.986634]]FH E@ ?f?@ܿ  7ĿAxÿ@?iFLY@IFbe;DYnsByn)IYimMb@Mb@Mb@iiii i9m#~j?ʡE?MbYm%?ym=mm@m@ ml@)m@iYm@y}BAbD VD2y%>=ٔ`;Q->9Y=DyDE>Q 54Sۊ?Q 94)nBYA'?Q E:y$Q I? DI ;i ;Gx4yɮtAjhFNOT Ignoring new targets: 250.06 m.RhZh ProNav: ac range: 250.056641 m, nav range: 233.668167 m, bearing: 211.661144 deg, approach rate: -0.675221 m/s, LOS rate: -0.004342 deg/s, cmd heading: 207.178584 deg, new cmd heading: 207.173193 deg. Bh> HeadingCmd: 3.615854 target range: 250.056641 and range: 251.10 m.h (jg@h *h "h  h gfffBdddjdZd%@. @E EE,E"E:*EF:VEg4ZEa@a@a@a@=BɢE)=)A Ej?iA)EA> A I I O% >uQ,FA?AB`Y@Bg@BMb=ٱBV NAHRS rotation from veh to nav: [[-0.891099,0.453360,0.020164],[-0.450442,-0.878213,-0.160758],[-0.055173,-0.152335,0.986788]]BH`?? ܿ SĿ ?ÿÓ?iB`Y@IBe;BCYV]ByV(IbD^VD^2yf%fX=ٔjb;Q-j>9hYh=nDynDnEn>pQ 5v4rBۊ?Q 9v4r )rmBYxyz$Q Iz?rDIrR:ir(:r~4y~Bɮ~{tA8Ejh!%FNOT Ignoring new targets: 250.06 m.Rh-Zh-E ProNav: ac range: 250.056641 m, nav range: 233.422379 m, bearing: 211.659606 deg, approach rate: -0.648515 m/s, LOS rate: -0.004062 deg/s, cmd heading: 207.173189 deg, new cmd heading: 207.168570 deg. BhEj2MHeadingCmd: 3.615774 target range: 250.056641 and range: 251.10 m.hMhg@hI*hI"hI hIgIfQfQfQdYdYdYjdYZd] ]! @BDAT read: Rx Time:00:29:58.0049 TRx dataTimestamp_ set to:1761524997.152122checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275582Bɢ =)  2c?i ) <11i5vi=߶*='/e;=ǺI=hg@I99@ @@5@E EE)E"E:*E;J:VEFA4ZEBE 9 W,`A?AY@f@{`h=ٱ AHRS rotation from veh to nav: [[-0.891254,0.453117,0.018731],[-0.449945,-0.878342,-0.161447],[-0.056702,-0.152319,0.986704]]H'?;.?@ܿ@`MĿ``,ÿ`?iY@I.e;CYPBy(I iMb@Mb@Mb@ 9?|?5^?9)Y)=-Dy-D5E5>AQ 5M4E,ۊ?Q 9M4E)EmBYU(?Q EU:yU!Q IU?E.DIE;iEL:ES4y]ҧBɮ] tAY}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 250.06 m.Rh8Zh8 ProNav: ac range: 250.056641 m, nav range: 233.108170 m, bearing: 211.654739 deg, approach rate: -0.650678 m/s, LOS rate: -0.010093 deg/s, cmd heading: 207.168571 deg, new cmd heading: 207.153950 deg. BhݹHeadingCmd: 3.615519 target range: 250.056641 and range: 251.10 m.hdg@h*h"h hgfff_BdddjdZd`@颅Bɢl=) `?i)<顉i`iIDAT read: 00:29:58.0049 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 110, 0.08,-2.809, 2.105,-2.818, 2.890, PHS= 0.686,-0.740, 0.531, RAW= 144.3, -7.1, CAL= 144.4, -8.4, ROT= 5.6, 8.4 Ygot valid direction response: 00:29:58.0049 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 110, 0.08,-2.809, 2.105,-2.818, 2.890, PHS= 0.686,-0.740, 0.531, RAW= 144.3, -7.1, CAL= 144.4, -8.4, ROT= 5.6, 8.4 PDAT read: Bearing 338.0, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 338.0, 3.8 (Local) DAT read: Range 11 to 50 : 227.4 m (Round-trip 303.3 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.984551,0.096536,-0.146083]%Fpublishing direction and range infoy p?%^?/8ٲ¿YfcC )EI/?ip=?E/!@K!@ Q )+=IQ >ch+?Aۚ&?ߞE H>)=9iE *EKVd;E`2ۺIEdg@III+=iQ >]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@K1@iE EE+E"E:*E|;:VE [4ZEa@a@a@a@^A ybݹԑ } *DAT read: user:140>  BDAT read: Tx time:00:29:59.2975  $Ping request sent. B 5CB (IB `BB B B B ;B :EBQBQBQBU̡ =BQCU#J5  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008487A- .AI1 IA OU >I^,{A?AY5BBy5(I ER=AbDE VDE2yU%]X=ٔ]Q-]>9e ?Ye ?=eDye DeEe>qQ 54ۊ?Q 94)mBYyQ I?>DIV:i:4yBɮuAAEiiujA?AJitbCRitbCji\k@iʏk@O)f5@^@ri p?%^?/8ٲ¿Zi+=biQ >iQvS\g+e\7{wNHziZJpji"IʑWz˿2i[:il="ir?*iBi"Ai_V?iigAibCij@-5addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 227.399994 m, deltaT: 4.032567 s, deltaX: -23.700012 m, approachRate: -5.877153 m/s, rangeRepo size: 4jh1=FNOT Ignoring new targets: 250.06 m.Rh=4Zh=4u ProNav: ac range: 250.056641 m, nav range: 232.860245 m, bearing: 211.650889 deg, approach rate: -0.632770 m/s, LOS rate: -0.009836 deg/s, cmd heading: 207.153955 deg, new cmd heading: 207.142393 deg. BhuعuHeadingCmd: 3.615317 target range: 250.056641 and range: 251.10 m.h}Zag@hy*hy"hy hygyfyffdddjdll@Zd 0?Bɢ=) \?i)k:<iDi [* c; 忺I Zag@Iԡ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249592^A 7E  E E )E "E غ:*E ?:VE FA4ZE BE ByZ(I \\bDf VDf:2yj2%nQ=ٔn;Q-r>9pYp=rDyrDvEv>xQ 5z4zl ۊ?Q 9~4zl)zmBY|y~!Q I~?zNDIz;izz;z4y קBɮ tA @Ejh)5FNOT Ignoring new targets: 250.06 m.Rh5:>Zh5:>M ProNav: ac range: 250.056641 m, nav range: 232.608414 m, bearing: 211.647005 deg, approach rate: -0.673244 m/s, LOS rate: -0.010394 deg/s, cmd heading: 207.142398 deg, new cmd heading: 207.130734 deg. BhMFMHeadingCmd: 3.615113 target range: 250.056641 and range: 251.10 m.hU^g@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde`al?Թ Bɢؿ=)4=R=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501982 0^?i1)=<99i=ciE*Ec;EIE^g@IA-9@) @)@5/@1y^A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755961Iq I O >9 Vk,ڎA?AY~9By~(IiMb@Mb@Mb@ 9/$?/$?+Y1(?y1>@@ 7@)@Y@bDVDE EEE"E:*Ea9:VEZEa@a@a@a@yN%==ٔQ->9Y=Dy+DE>Q 54Eڊ?Q 94 )YmBY+?Q E:yQ I?aDI[;i;F4yɮtAjh)-FNOT Ignoring new targets: 250.06 m.Rh51Zh=M ProNav: ac range: 250.056641 m, nav range: 232.322968 m, bearing: 211.639614 deg, approach rate: -0.660445 m/s, LOS rate: -0.017123 deg/s, cmd heading: 207.130732 deg, new cmd heading: 207.108530 deg. BhM<UHeadingCmd: 3.614726 target range: 250.056641 and range: 251.10 m.hUWg@hQ*hQ"hQ hQgYfYfYf]NBdadadajdaZde?颕{Bɢ=) E_?i)E=顙ii *lb;IWg@I9@ @@@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006336A]@AA]AABe>BaBe(IBeABBe =BaBaBe;Be:EԁԱ^A"5I1 IA OM > >r,iA?ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257614Y2By(I)-AAbD5VD5f?3yE3%ET=ٔAQ-E>9IYI=MDyM;DIEU>QQ 5]4U4ڊ?Q 9e4U$ )U2mBYayaQ Ie?UqDIU;iUv;U4ymBɮuTtAu?EjhFNOT Ignoring new targets: 250.06 m.Rh+Zh+ ProNav: ac range: 250.056641 m, nav range: 232.068604 m, bearing: 211.633012 deg, approach rate: -0.661062 m/s, LOS rate: -0.017176 deg/s, cmd heading: 207.108534 deg, new cmd heading: 207.088707 deg. Bh<HeadingCmd: 3.614380 target range: 250.056641 and range: 251.10 m.hRg@h*h"h hgfffdddjdZdR?颕sBɢs=) _?i) =顙iy఼i*#a;beIRg@IԱ9@ @@/@E EEE"EU:*E3:VEZEBE;a2E;aJE;a:E;a]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509748^A?Bɺ IQ Ia Om >9 elx,TA?A%_X@% f@%f=ٱ% }AHRS rotation from veh to nav: [[-0.893293,0.449350,0.010640],[-0.444998,-0.880813,-0.161697],[-0.063286,-0.149178,0.986783]]%H`ڕ$?ʅ?zܿ/|Ŀ3Aÿ ?i%_X@I%4e;%CY;By(IIY>)>iMb@Mb@Mb@ 9HzG?Mb?Zd;OY=*?y>j@@ M@)@Y(@bD5VD51yE1=%E:=ٔM 9QYQ=UDyULDUk3EU>YQ 5e4]]ڊ?Q 9e4]$)] mBYmw-?Q Em:ymQ Im?]DI];i]-;]4yyɮ}tAyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 250.06 m.RhZh ProNav: ac range: 250.056641 m, nav range: 231.774979 m, bearing: 211.626151 deg, approach rate: -0.668248 m/s, LOS rate: -0.015634 deg/s, cmd heading: 207.088713 deg, new cmd heading: 207.068104 deg. Bh+HeadingCmd: 3.614020 target range: 250.056641 and range: 251.10 m.hLg@h*h"h  hgAfIfIfMdBdQdQdQjdQZdUM @颥lBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761690ɢr=) g?i)j=ii*ߝ`;/ILg@II)}9@y @y@}/@y1E EE*E"Ey:*E|;:VE(N4ZEa@a@a@a@a ^A Β{I I O% >B= %>B= 6CB= (IB= (BB9 B9 B9 B= ;B= :E] {?] <] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013951R~,5aA?A RX@Rf@R=ٱRb ^AHRS rotation from veh to nav: [[-0.894010,0.447966,0.008544],[-0.443351,-0.881723,-0.161259],[-0.064705,-0.147955,0.986875]]RHx??_ܿ7"Ŀ|`3¿@{?iRX@IRA#e;RCY=By(IbDVDky7#<%Q=ٔn;Q->9Y=Dy\DE>Q 54ڊ?Q 94()lBYyQ I?DI:ig:~4yBɮsA>EjhFNOT Ignoring new targets: 250.06 m.Rh%GZh%G5 ProNav: ac range: 250.056641 m, nav range: 231.513565 m, bearing: 211.620139 deg, approach rate: -0.670525 m/s, LOS rate: -0.015439 deg/s, cmd heading: 207.068099 deg, new cmd heading: 207.050042 deg. Bh5)=HeadingCmd: 3.613705 target range: 250.056641 and range: 251.10 m.h=Fg@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU@}eBɢ}=) k?i)g4 =顁i8i*~_;%ʻIFg@Iq59@1 @9@=%0@9^ASIiIyO8>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265595ԡ D zD E  E E ,E "E *E C:VE g4ZE BE 9hYh=jDyjjDj͒En>pQ 5r4rڊ?Q 9v4r,)rlBYtyvQ Iv?rDIr:ir :r귙4yxɮ~ sA|jhFNOT Ignoring new targets: 250.06 m.RhVZhV ProNav: ac range: 250.056641 m, nav range: 231.267410 m, bearing: 211.614553 deg, approach rate: -0.641446 m/s, LOS rate: -0.014572 deg/s, cmd heading: 207.050040 deg, new cmd heading: 207.033265 deg. Bh HeadingCmd: 3.613412 target range: 250.056641 and range: 251.10 m.h%Bg@h*h"h hgfffdddjdZdP @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517732^Bɢ=) Ho?i)-W=11i5`i=*=P ^;=pI=%Bg@I99@ @@0@!^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770327IQ Ii i O} >Ǥ,I0B?A2UX@2xKf@2=ٱ2 :AHRS rotation from veh to nav: [[-0.895475,0.445100,0.003189],[-0.440058,-0.884210,-0.156591],[-0.066879,-0.141627,0.987658]]2H|? j?)ܿsK, Ŀ  ¿?i2UX@I2d;0YBDByB(I9iMMb@Mb@Mb@IIII I9MQ?q= ףp?y&1|YM(?yM=M`M@M@ MV@)M7@IYM@bDaVDayu =%u@=ٔ}\;Q-}>9yY=Dy{DE>Q 54ڊ?Q 94E EE'E"E:*ErN:VE'4ZEa@a@a@a@?1)lBY+?Q E:y Q I?DI@;i;\4yBɮsAGEjhFNOT Ignoring new targets: 250.06 m.RhtjZhtj ProNav: ac range: 250.056641 m, nav range: 230.984207 m, bearing: 211.609267 deg, approach rate: -0.685546 m/s, LOS rate: -0.012811 deg/s, cmd heading: 207.033265 deg, new cmd heading: 207.017388 deg. Bh HeadingCmd: 3.613135 target range: 250.056641 and range: 251.10 m.h=g@h*h"h h g f f fxBdddjdZdf @EXBɢE>=)I M.v?iI)M e=IIiMxi*}\;> I=g@Ii9@ @@4@BA<B'>BBBB =BBDB̄;B:E-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021738ԑ^A- Β I! I9 OE >ʓ,[JB?A2L5X@2*f@2N=ٱ2p>BDAT read: Rx Time:00:30:02.0298 >TRx dataTimestamp_ set to:1761525001.184222Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274753 FAHRS rotation from veh to nav: [[-0.896270,0.443506,0.001588],[-0.438244,-0.885075,-0.156794],[-0.068134,-0.141226,0.987630]]2H >hb?Z? 2 ܿ@R`Ŀ3q¿@?i2L5X@I2Dd;2CYNRByN(IbDVVDV2y^ё=%^V=ٔbW;Q-b>9`Y`=bDybDf Ef>hQ 5n4j8ڊ?Q 9n4j*5)jlBYlyr!Q Ir?jDIj:ij:j ƙ4yvBɮvqAvFEjhFNOT Ignoring new targets: 250.06 m.Rh_Zh_- ProNav: ac range: 250.056641 m, nav range: 230.730133 m, bearing: 211.604637 deg, approach rate: -0.670119 m/s, LOS rate: -0.012224 deg/s, cmd heading: 207.017392 deg, new cmd heading: 207.003488 deg. Bh-:5HeadingCmd: 3.612892 target range: 250.056641 and range: 251.10 m.h59g@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE n @uRBɢ}=)y }$?iy)}a=顁iawi*EZ;M{%IM9g@II9@ @@/@D=DbE%ķG4jE%ĔK4rE%/E EE*E"E:*E*5:VE(N4ZEBEa Q },QdB?A]SX@]f@]5=ٱ]. mAHRS rotation from veh to nav: [[-0.896840,0.442354,0.000672],[-0.436898,-0.885539,-0.157928],[-0.069266,-0.141930,0.987450]]]HO?HF?$ۿTV6Ŀ`c*¿1?i]SX@I]+d;]CYZBy(I)iEMb@Mb@Mb@AAAA A9E/$?y&1?9qYy=}Dy}D}PE>Q 54;uڊ?Q 94G9)~lBY(?Q E:y&Q I?DI8;iC:Ι4yɮqAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 250.06 m.Rh8Zh8  ProNav: ac range: 250.056641 m, nav range: 230.425964 m, bearing: 211.605543 deg, approach rate: -0.654914 m/s, LOS rate: 0.001952 deg/s, cmd heading: 207.003486 deg, new cmd heading: 207.006206 deg. Bh }8HeadingCmd: 3.612940 target range: 250.056641 and range: 251.10 m.hh:g@h*h"h hgfffBdd!d!jd!Zd-T@]JBɢ]O=)Y e?ia)em=iiim#iuL*uX;u8I}h:g@IyDAT read: 00:30:02.0298 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188, 0.13,-1.754,-3.046,-1.736,-2.508, PHS= 0.857,-0.492, 0.728, RAW= 145.0, -16.7, CAL= 146.2, -19.7, ROT= 3.8, 19.7 Ygot valid direction response: 00:30:02.0298 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188, 0.13,-1.754,-3.046,-1.736,-2.508, PHS= 0.857,-0.492, 0.728, RAW= 145.0, -16.7, CAL= 146.2, -19.7, ROT= 3.8, 19.7 ]PDAT read: Bearing 327.1, 3.0 (Local) e~Local bearing/azimuth received: Bearing 327.1, 3.0 (Local) uDAT read: Range 11 to 50 : 246.1 m (Round-trip 328.2 ms) speed 0.3 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.939401,0.062395,-0.337095]Fpublishing direction and range infoy?q O:?MտYvC )HIZd[?im5^:?p!@;N#@ x )ԇ=Ix >o8?]u#?K_ҿ >)<>Iԇ=ix >T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y9@A @A@M4@IE EE)E"E:*EE7:VEFA4ZEa@a@a@a@ԉ^A] &I I B ->B 7CB (IB 2BB =B B B ׄ;B :EO >= *DAT read: user:141> E BDAT read: Tx time:00:30:03.3475 E $Ping request sent.E 9Y=DyD:E>Q 54cڊ?Q 94<)llBYy~&Q I?DI$;i%;ԙ4yrBɮpAEEiilB?AJiuCRiuCjig@iml@МI.@gh]wTri?q O:?MտZiԇ=bix >iY{h+E  E E +E "E :*E VE [4ZE BE AHRS rotation from veh to nav: [[-0.896236,0.443577,-0.000304],[-0.437739,-0.884552,-0.161098],[-0.071728,-0.144249,0.986938]]2Hc?3ܿ?NܞĿ\v¿?i2.X@I2~c;0YF[ByF(IbDNVDN:2yV%V[=ٔVl;Q-Z>9XYX=ZDyZD^:E^>`Q 5f4bQڊ?Q 9f4b?)b[lBYdyfu&Q Ij?bDIb:ibI:b&ۙ4ylɮnpA9jhyFNOT Ignoring new targets: 245.08 m.Rh'Zh' ProNav: ac range: 245.084061 m, nav range: 229.032455 m, bearing: 209.418050 deg, approach rate: -0.638102 m/s, LOS rate: -0.004348 deg/s, cmd heading: 207.008403 deg, new cmd heading: 207.003383 deg. Bh>HeadingCmd: 3.612890 target range: 245.084061 and range: 246.10 m.h9g@h*h"h hgfffdddjdZd""?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503065->Bɢ-p=)) -H?i))5=11i5]i=*=RHU;='I=9g@IA9@ @@/@!^A9IqIO>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755738,B?A2xCX@2&9f@2A=ٱ2 >AHRS rotation from veh to nav: [[-0.895594,0.444871,-0.001290],[-0.438874,-0.883987,-0.161112],[-0.072815,-0.143725,0.986935]]2H@x?#UܿIRĿe¿`?i2xCX@I2>b;2CYFbByF(IiMb@Mb@Mb@ 9S㥛?~jthZd;O?Y$&?yDj<b@@ d@)r@Y@ %R=%a=bD-VD-E EE(E"Eغ:*EC:VEc44ZEa@a@a@a@y=<%B=ٔ";Q->9Y=DyD!C;E>Q 54F<ڊ?Q 945C)PlBY@&?Q E:y+Q I? DI@;i;4y XBɮ oA DEjhFNOT Ignoring new targets: 245.08 m.Rh*9Zh*9 ProNav: ac range: 245.084061 m, nav range: 228.748550 m, bearing: 209.422125 deg, approach rate: -0.648158 m/s, LOS rate: 0.009316 deg/s, cmd heading: 207.003376 deg, new cmd heading: 207.015619 deg. Bh9HeadingCmd: 3.613104 target range: 245.084061 and range: 246.10 m.h=g@h*h"h hQgfffÆBdddjdZdx?6Bɢ-=)) -Ċ?i))5&4#=11i5йi=*=TS;= I==g@IAAA@AB0>BB(IBGBB =BBDB;B;EB]6CB]6CB]ĔCB]Ğ =B]Ğ =C]5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007463@ @@/@yԩ ^A ܪ&A5 ؟AIA IQ Om >,W&B?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590254Y[By (I bD VDf2y-%-J=ٔ5Q-5>95"?Y5"?=5Dy5D=E=>AQ 5M4E/)ڊ?Q 9M4E"F)EFlBYIyIQ IU?EDIEn;iE:E4y]=Bɮ] oA]CEjhy FNOT Ignoring new targets: 245.08 m.Rh%+29Zh-+29} ProNav: ac range: 245.084061 m, nav range: 228.496643 m, bearing: 209.425750 deg, approach rate: -0.675793 m/s, LOS rate: 0.009735 deg/s, cmd heading: 207.015616 deg, new cmd heading: 207.026503 deg. Bh}9HeadingCmd: 3.613294 target range: 245.084061 and range: 246.10 m.h6@g@h*h"h hgfffdddjdZdb?1Bɢ=) ?i)r&=imi~*PQ;nI6@g@IIfA)bAԙE} E}E})Ey"E}:*E}|;:VE}FA4ZEyBE}a ,BB?AlyX@of@꣙=ٱ AHRS rotation from veh to nav: [[-0.893988,0.448077,-0.003618],[-0.441779,-0.882715,-0.160141],[-0.074949,-0.141566,0.987087]]H`K?|mFܿ3?Ŀ/¿`8?iyX@I2a;CY_By(IiMb@Mb@Mb@ 9q= ףp?ˡE:v?Y+?y'<x@V@ @)@Y=@bDVD 83y;<%3=ٔ;Q->9Y=DyD;E>Q 54hڊ?Q 94NI)=lBY+?Q E:y4/Q I?0DI(;iK;4yɮnA=B*** querying acoustic contact ***i9 i9jhQUFNOT Ignoring new targets: 245.08 m.Rh]9Zh]9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763685% ProNav: ac range: 245.084061 m, nav range: 228.191605 m, bearing: 209.434176 deg, approach rate: -0.660233 m/s, LOS rate: 0.018261 deg/s, cmd heading: 207.026503 deg, new cmd heading: 207.051814 deg. Bh%H:-HeadingCmd: 3.613736 target range: 245.084061 and range: 246.10 m.h-sGg@h)*h)"h) h1g1f1f1f=Bd9d9dYjdaZdea@颭*Bɢ8)=) Z?i)*=顱iiC*0P;IsGg@I9@ @@0@@=@=)E EE*E"Eg:*EC:VE(N4ZEa@a@a@a@Y B 1>B 8CB (IB LBB B B B ;B ;E^A z% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396A) I1 IA OU >p,=C?A2X@2f@2g=ٱ2( >AHRS rotation from veh to nav: [[-0.892938,0.450163,-0.003767],[-0.443710,-0.881490,-0.161544],[-0.076042,-0.142577,0.986858]]2H@@z?n@eܿ*5wĿ |w`?¿X?i2X@I2;Aa;2CYFWByF(IbDNVDNkyV-%V_=ٔVC;Q-Z>9XYX=ZDy^D^;E^>`Q 5f4bhي?Q 9f4bK)b6lBYdyj/Q Ij?b@DIbj;ib;b4yr"BɮvXnAxjhIUFNOT Ignoring new targets: 245.08 m.Rh]9Zh]9 ProNav: ac range: 245.084061 m, nav range: 227.947571 m, bearing: 209.440793 deg, approach rate: -0.658935 m/s, LOS rate: 0.017886 deg/s, cmd heading: 207.051816 deg, new cmd heading: 207.071689 deg. BhgD:HeadingCmd: 3.614083 target range: 245.084061 and range: 246.10 m.h"Mg@h*h"h) h)g)f)f)f1d1d1d1jd1Zd=*N@颅$Bɢ=) ?i)'-=顩i;i*O;ѸI"Mg@Ii]9@Y @Y@e5@a}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266878ԉ^ArE  E E (E "E I:*E A:VE c44ZE BE ܓ,C?A6X@6gf@6=ٱ6 >AHRS rotation from veh to nav: [[-0.891739,0.452534,-0.003774],[-0.445948,-0.880119,-0.162854],[-0.077019,-0.143540,0.986643]]6H P?nhܿ@) dĿ_¿`?i6X@I6T`;6CYFLByF(IIJR>)J=PbDVVDV02yZZ%^J=ٔ^;Q-^>9`Y`=bDybDbf;Ef>z>x~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522237Q 5 4ي?Q 9 4N).lBYy.Q I?QDI:i:'4yBɮmA%BEjhAMFNOT Ignoring new targets: 245.08 m.RhM9ZhM9] ProNav: ac range: 245.084061 m, nav range: 227.673157 m, bearing: 209.448070 deg, approach rate: -0.683613 m/s, LOS rate: 0.018151 deg/s, cmd heading: 207.071692 deg, new cmd heading: 207.093550 deg. Bh]OG:eHeadingCmd: 3.614464 target range: 245.084061 and range: 246.10 m.hebSg@ha*hi"hi higififqfqdqdqdqjdyZd}T@颥Bɢi =) _?i)^H1=顩i_ViS*7N;;IbSg@Im9@q @q@u2@q^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771235A I I O >! ,.r5C?AE2 E2E2*E0"E27:*E2E7:VE2(N4ZE0a:@a:@a:@a:@|Y9Y=Dy DE>Q 54ي?Q 9 4 BDAT read: Rx Time:00:30:06.0775  TRx dataTimestamp_ set to:1761525005.218265 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278191,'MOC?A2*Y@2g@2=ٱ2a :AHRS rotation from veh to nav: [[-0.888921,0.458048,-0.003274],[-0.451231,-0.876877,-0.165762],[-0.078798,-0.145872,0.986160]]2H r@P?j`ܿ@`@7ſ,¿ ?i2*Y@I2[`;2CYBByB(IbDRVDR1yf#%f^=ٔf;Q-j>9hYh=jDyj/DnaQ 5m4eي?Q 9m4exS)elBYqyu2Q Iu?etDIe:ie:e| 4y}Bɮ}oAJEjhFNOT Ignoring new targets: 245.08 m.Rh+9Zh+9 ProNav: ac range: 245.084061 m, nav range: 227.146652 m, bearing: 209.471018 deg, approach rate: -0.635591 m/s, LOS rate: 0.027230 deg/s, cmd heading: 207.130759 deg, new cmd heading: 207.162466 deg. Bh: HeadingCmd: 3.615667 target range: 245.084061 and range: 246.10 m.h gg@h *h "h  h g ff1f1d9d9d9jd9Zd=@ @颍Bɢz=) ?i)x8=ipi*L;79Igg@I!Eu EuEu(Eq"Eu:*Eu H:VEuc44ZEqBEuh,8iC?A<<ԱYBy(I DAT read: 00:30:06.0775 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 132, 0.08, 1.321,-0.525, 1.509, 1.167, PHS= 0.256,-1.647, 0.298, RAW= 151.1, 11.4, CAL= 150.9, 12.5, ROT= 359.1, -12.5 Ygot valid direction response: 00:30:06.0775 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 132, 0.08, 1.321,-0.525, 1.509, 1.167, PHS= 0.256,-1.647, 0.298, RAW= 151.1, 11.4, CAL= 150.9, 12.5, ROT= 359.1, -12.5  PDAT read: Bearing 357.9, -7.1 (Local) ~Local bearing/azimuth received: Bearing 357.9, -7.1 (Local) DAT read: Range 11 to 50 : 244.4 m (Round-trip 325.9 ms) speed 0.5 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.976176,-0.015335,0.216440]-Fpublishing direction and range infoyqimMb@Mb@Mb@iiii i9mS㥛?iuҿuu>u(@u%K>u(@ uf_>bD VD y%=ٔQ->9!Y!=%Dy%DD-E->1Q 5545Sي?Q 9=45uV)5 lBY=%?Q E=:y=1)u-@Iuf_qqux?Jwi2?nt3? u` ?)u JIuQ I?5DI5i - BDAT read: Tx time:00:30:07.4474 - $Ping request sent.- A5 >AaaIqIO>,^؇C?A2NY@2g@2?=ٱ2W :AHRS rotation from veh to nav: [[-0.884865,0.465838,-0.003148],[-0.458737,-0.872513,-0.168172],[-0.081088,-0.147366,0.985753]]2HPH?@i[ݿ ſ&´¿H?i2NY@I2Q_;0YFByFb(IbDLVDLyV9%V_=ٔZs;Q-Z>9XYX=ZDyZSD^<E^>`Q 5f4bي?Q 9f4bX)blBYdyj`1Q Ij?bDIbR:ib:b4ylɮnwpAlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 243.39 m.Rh 9Zh 9 ProNav: ac range: 243.394058 m, nav range: 228.550995 m, bearing: 209.512368 deg, approach rate: -0.686693 m/s, LOS rate: 0.025133 deg/s, cmd heading: 207.204744 deg, new cmd heading: 207.230504 deg. Bh%:%HeadingCmd: 3.616855 target range: 243.394058 and range: 244.40 m.h%zg@h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=;?eBɢm=)i mo?ii)m/6?=iqiu 8¼iu)*}1L;}2;I}zg@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251723@ @@/@!DAzDE?AbEFA4jEC4rE(/E] E]E]*EY"E]y:*E]E7:VE](N4ZEYBE]-C^A9\G=(hAUAʶ9(hAYĥAy5 ?= AQ I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854O,BzC?A 2Y@2g@2=ٱ2  >AHRS rotation from veh to nav: [[-0.883793,0.467867,-0.003291],[-0.460686,-0.871414,-0.168542],[-0.081723,-0.147440,0.985689]]2HH@?j{ݿ ǒſ`봿`Q¿Ê?i2Y@I2!_;2CYFByF4(IHJBAbDNVDNkyV=%VL=ٔZ:Q-Z>9XYX=ZDyZcD^;Eb>`Q 5f4bT~ي?Q 9j4b2[)bkBYhyj;1Q Ij?bDI`ib:b#4yeۦBɮepAeHEjhFNOT Ignoring new targets: 243.39 m.Rh9Zh9 ProNav: ac range: 243.394058 m, nav range: 228.294144 m, bearing: 209.521633 deg, approach rate: -0.604871 m/s, LOS rate: 0.021843 deg/s, cmd heading: 207.230508 deg, new cmd heading: 207.258333 deg. Bho:=HeadingCmd: 3.617340 target range: 243.394058 and range: 244.40 m.h=g@h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdM^?颽Bɢ1=) _?i)8]B=im¼i4*ԿL;;Ig@IQԑ9@ @@0@^A[R;mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755169ԙII O> Eu  Eq Eu +Eq "Eu :*Eq VEu [4ZEq a} @a @a @a @c%,2UC?Aɰ4<2mY@2g@2=ٱ2 :AHRS rotation from veh to nav: [[-0.882912,0.469524,-0.003725],[-0.462255,-0.870579,-0.168559],[-0.082386,-0.147100,0.985685]]2H @ ?tnݿ``Uſ 8`0¿`?i2mY@I2t `;2CYBByB(IAPAPBV2>BTBV\(IBVBBTBTBTBV;BV+;EpiMb@Mb@Mb@ 9NbX9?+9Y=DyuD>;E>Q 54{hي?Q 94;^)kBY%?Q E:yI.Q I?DIe:i:A+4yBɮpAjh%FNOT Ignoring new targets: 243.39 m.Rh%9Zh-9= ProNav: ac range: 243.394058 m, nav range: 228.011734 m, bearing: 209.528529 deg, approach rate: -0.679010 m/s, LOS rate: 0.016602 deg/s, cmd heading: 207.258334 deg, new cmd heading: 207.279049 deg. Bh=L6:EHeadingCmd: 3.617702 target range: 243.394058 and range: 244.40 m.hEmg@hA*hA"hA hAgAfIfIfMRBdIdQdQjdZd Z?BɢH=) hW?i)N=E=  i یüi5I*5kM;5:WI S ,0C?A6aZ@6h@6h=ٱ6Y >AHRS rotation from veh to nav: [[-0.882153,0.470944,-0.004098],[-0.463571,-0.869811,-0.168910],[-0.083112,-0.147104,0.985623]]6H:@#?Zp%ݿ~ ՞ſF@Q¿`9?i6aZ@I6`;6CYFByF'IbDRVDR02yZg%Z^=ٔZ;Q-Z>9\Y\=^Dy^Dby;Eb>dQ 5f4f3Vي?Q 9j4f`)fkBYhyj0.Q Ij?fDIf:ifI:f14ypɮrrApjh  FNOT Ignoring new targets: 243.39 m.Rh9Zh9E) E-E)E)"E)*E-;J:VE)ZE)BE-h?=) tD?i)L{G=顙iļib*N;ܜԩ m7, C?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7637746Z@6h@6÷=ٱ6݆ BAHRS rotation from veh to nav: [[-0.881862,0.471481,-0.005112],[-0.464011,-0.869714,-0.168198],[-0.083748,-0.145955,0.985740]]6H58,?t\ݿ ſp¿.?i6Z@I6_;6CYJaByJ'IiMb@Mb@Mb@ 9MbX??y&1Y*?y<`b@ )@Y@ ))bD5yVD5k2yA%<=ٔq:Q->9Y=DyD:E>Q 54@ي?Q 94d)kBY+?Q E:y(Q I?DIq:i:]94yBɮ)rAGEjhY]FNOT Ignoring new targets: 243.39 m.RheW7ZheW7 ProNav: ac range: 243.394058 m, nav range: 227.484360 m, bearing: 209.534222 deg, approach rate: -0.650660 m/s, LOS rate: -0.000010 deg/s, cmd heading: 207.296159 deg, new cmd heading: 207.296146 deg. BhܴHeadingCmd: 3.618000 target range: 243.394058 and range: 244.40 m.hQg@h*h"h hgfffBdddjdZd@颽Bɢh)=) 8?i)JJ=iqļic* 7O; BB'IBBBBBB.;BC;EBe8CBe8CBeƓCBeƜ =BeƜ =CeL4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014681^A <IQ Ii O} > [",D?A2UZ@2 h@2=ٱ2 >AHRS rotation from veh to nav: [[-0.881931,0.471348,-0.005374],[-0.463794,-0.869721,-0.168763],[-0.084220,-0.146345,0.985642]]2H8*?vͮݿ@ſkm¿ a?i2UZ@I2!_;2CYBGByF'IbDNVDN2yV %V[=ٔV<:Q-Z>9XYX=ZDy^D^E^>`Q 5f4b.ي?Q 9f4bg)bukBYdyf(Q Ij?bDIb:ib:b?4ynBɮn'rAnFEzB*** querying acoustic contact ***i| i|jhFNOT Ignoring new targets: 243.39 m.Rh 5Zh 5 ProNav: ac range: 243.394058 m, nav range: 227.240036 m, bearing: 209.534234 deg, approach rate: -0.676844 m/s, LOS rate: 0.000031 deg/s, cmd heading: 207.296146 deg, new cmd heading: 207.296179 deg. Bh5%HeadingCmd: 3.618001 target range: 243.394058 and range: 244.40 m.h%Sg@h!*h!"h) h)g)f)f)f1d1d9d9jd9Zd=`R@mBɢmT=)i m5.?ii)u^ L=qqiumļi}b*}$O;}A>E= E9E='E9"E=y:*E9VE='4ZE9BE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777Q I,Y"D?A>Y@>g@>f=ٱ>XR NAHRS rotation from veh to nav: [[-0.882550,0.470190,-0.005149],[-0.462577,-0.870123,-0.170026],[-0.084424,-0.147675,0.985426]]>H=@?uݚݿ fſԜ¿?i>Y@I>/^;>CY^)By^y'IbDrVDr:2yz%~F=ٔ :Q->9Y = Dy DXE>Q 54ي?Q 94dkQ =tI)OkBYy-(Q I?DI ;i;PG4yɮsAjhFNOT Ignoring new targets: 243.39 m.Rhn6Zhn6 ProNav: ac range: 243.394058 m, nav range: 226.955688 m, bearing: 209.534349 deg, approach rate: -0.662407 m/s, LOS rate: 0.000271 deg/s, cmd heading: 207.296173 deg, new cmd heading: 207.296521 deg. Bh>7HeadingCmd: 3.618007 target range: 243.394058 and range: 244.40 m.hmg@h*h"h hgfffdddjdZd@e@5B1ɢ5ⶾ=)9 =!?i9)=XN=AAiEFżiEG*MK}P;MDԹ |,BBBBBK;B`;EBvY@B$g@BVS=ٱBg< JAHRS rotation from veh to nav: [[-0.883653,0.468119,-0.004776],[-0.460448,-0.870925,-0.171690],[-0.084531,-0.149515,0.985139]]BHF?Џs wݿſ`̣O#ÿ@C?iBvY@IBߠ^;@YR ByRS'Ii-Mb@Mb@Mb@)))) )9- rh?&1?~jtY-C+?y-=-D-@-@ -@)-@)Y-p@9=AAbDE VDEf2yU%UC=ٔ] 9Q-]>9YYY=eDyeDegEe>iQ 5u4mي?Q 9}4mo)mkBY}-?Q E}:y}P!Q I}?mDIm:im:mWN4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831y%rBɮ%?sA-EEjhimFNOT Ignoring new targets: 243.39 m.RhuڙZhuڙԁ ProNav: ac range: 243.394058 m, nav range: 226.688507 m, bearing: 209.527194 deg, approach rate: -0.627023 m/s, LOS rate: -0.016814 deg/s, cmd heading: 207.296528 deg, new cmd heading: 207.275035 deg. Bh8HeadingCmd: 3.617632 target range: 243.394058 and range: 244.40 m.hHg@h*h"h hgfffDžBdddjdZd`5 @m߆Bɢm,7=)q u?iq)usP=qyi{:żil*,Q;;IHg@I@ @@@ԹE BDAT read: Rx Time:00:30:10.1733 E TRx dataTimestamp_ set to:1761525009.252233M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889^A 8<A I I O >Z[,wVD?A2ҥY@2g@2g=ٱ2j :AHRS rotation from veh to nav: [[-0.885046,0.465476,-0.005070],[-0.457701,-0.872145,-0.172835],[-0.084873,-0.150646,0.984938]]2H`KR]?t Jݿvƿ9aHÿ?i2ҥY@I2^;2CYBByB<'IF=F=bDN VDN2yVŽ%VW=ٔVm:Q-V>9XYX=ZDyZD^OE^>`Q 5f4bF؊?Q 9f4b]s)bjBYdyf!Q If?bDIb:ibF:bT4ynBɮntAE EE,E"E[:*E=:VEg4ZEBE';Ig@IM9@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526857!^A;AzAQ A I I O5 > DAT read: 00:30:10.1733 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399,-0.08,-0.818,-2.342,-0.849,-1.460, PHS= 0.744,-0.837, 0.567, RAW= 144.1, -6.4, CAL= 144.1, -7.6, ROT= 5.9, 7.6  Ygot valid direction response: 00:30:10.1733 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399,-0.08,-0.818,-2.342,-0.849,-1.460, PHS= 0.744,-0.837, 0.567, RAW= 144.1, -6.4, CAL= 144.1, -7.6, ROT= 5.9, 7.6 ԑ  PDAT read: Bearing 338.8, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 338.8, 2.2 (Local)  DAT read: Range 11 to 50 : 241.2 m (Round-trip 321.7 ms) speed 1.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.985965,0.101890,-0.132256] Fpublishing direction and range infoyY ] \sn=? 7o?) Y] 3qCY Y Y Y Y )] DI] v>?i] EV] &?]  @] ]  @ ] )] B=I] >Y Y ] B?e?)ej ] }>)] =I] B=i] >Y Y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.,x}qD?AYEByE 'IE EE*E"E:*E H:VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9J +?ʡE?ˡEY(?y>'@ @)Y@bDVDy%=ٔQ->9Y=DyDE>Q 54؊?Q 94Iy)jBY-?Q E:yeQ I?6DIP:i:$^4y{BɮtAMEii&WpD?AJi4pCRi4pCjil@iفm@pVty8@p0?ri\sn=? 7o?) ZiB=bi>is4gh:M$?_jKziyʄbH%YͿ2i:iF"iAꭗ?*i6_=BiMAiAꭗ?iii5cCi=i@M addTargetRange:: Added new target pos. range: 241.199997 m, deltaT: 4.031891 s, deltaX: -3.199997 m, approachRate: -0.793671 m/s, rangeRepo size: 4 ] Added new target pos. range: 240.205475 m, bearing: 212.102852 deg, lat: 36.779194 deg, lon: -121.859854 deg, deltaT: 4.031891 s, deltaX: -3.188583 m, approachRate: -0.790841 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 240.21 m.RheZha ProNav: ac range: 240.205475 m, nav range: 227.209763 m, bearing: 209.345142 deg, approach rate: 0.000000 m/s, LOS rate: -0.017475 deg/s, cmd heading: 207.255328 deg, new cmd heading: 207.228665 deg. BhHeadingCmd: 3.616822 target range: 240.205475 and range: 241.20 m.hzg@h*h"h hgfffBdddjd`f&n@Zd}[?颕҆Bɢ֭=) {?i)]T=顙iFcżi*nQ;u;Izg@B2>B8CB6'IBBBBBB;B;EI 5*DAT read: user:143> =BDAT read: Tx time:00:30:11.3974 =$Ping request sent.={#,0D?A>CY@>f9g@>;=ٱ>s FAHRS rotation from veh to nav: [[-0.887688,0.460422,-0.004579],[-0.452352,-0.873901,-0.177975],[-0.085945,-0.155916,0.984024]]>Hgw?rVܿ`ƿ | ÿ }?i>CY@I>)^;9b ?Yf ?=fDyfDf>Ef>hQ 5n4jH؊?Q 9n4jB})jjBYpyrQ Ir?jEDIj:ij:jYd4ytɮvuAt~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249789B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 240.21 m.Rh-| Zh-| = ProNav: ac range: 240.205475 m, nav range: 226.976700 m, bearing: 209.334479 deg, approach rate: -0.660938 m/s, LOS rate: -0.030269 deg/s, cmd heading: 207.228663 deg, new cmd heading: 207.196643 deg. Bh=/EHeadingCmd: 3.616264 target range: 240.205475 and range: 241.20 m.hEpg@hA*hA"hI hIgIfIfQfQdQdQdQjdYZd]?颅͆BɢM=) >i)U=顑ixżiٮ*%Q;6nIpg@IԹ 9@  @ @ /@ E EE+E"Ey:*ER:VE [4ZEBE1 O),AdD?A2Y@2\g@2Ѱ=ٱ2[# :AHRS rotation from veh to nav: [[-0.888714,0.458444,-0.003997],[-0.450279,-0.874459,-0.180471],[-0.086231,-0.158587,0.983572]]2HYp@%W?^p^ܿ@@ǿ7@LĿly?i2Y@I2Z_;2CYBByF&IbDNVDNyVAֽ%VL=ٔZ;:Q-Z>9Z"?YZ"?=ZDy^ D^齻E^>`Q 5f4b؊?Q 9f4b)bQjBYhyjQ Ij?bVDI`ib:bYk4ynaBɮneuAljhFNOT Ignoring new targets: 240.21 m.Rh Zh  ProNav: ac range: 240.205475 m, nav range: 226.713654 m, bearing: 209.322594 deg, approach rate: -0.659886 m/s, LOS rate: -0.029851 deg/s, cmd heading: 207.196643 deg, new cmd heading: 207.160945 deg. Bh䣺%HeadingCmd: 3.615641 target range: 240.205475 and range: 241.20 m.h%fg@h!*h!"h! h)g)f)f)f)d1d1d1jd1Zd=GI?edžBɢerg=)i m>ii)mEW=iiimpżiu*uP;ҕIfg@I 9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753840^AqA>A>AA.AI9IQOew>E EE*E"E:*EE7:VE(N4ZEa%@a%@a%@a%@ԱA! A! B- 1>B) B- &IB- BB) B) B) B- ;B- ;E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005594 0,VED?A2X@2if@2x=ٱ2% FAHRS rotation from veh to nav: [[-0.889941,0.456058,-0.003928],[-0.447837,-0.875462,-0.181682],[-0.086296,-0.159927,0.983350]]2H fz 0?pZܿ@YAǿ|xĿw?i2X@I24`;2CYVByTiMb@Mb@Mb@ 9/$?+?+Y,?yv>>A@ )\@YQ@bD VDf2ys%8=ٔ9Q->9 ?Y ?=DyDʻE>Q 54؊?Q 94)jBY2?Q E:yQ I?iDI*:i:s4y GBɮtALEjh1=FNOT Ignoring new targets: 240.21 m.Rh=K*ZhEK*M ProNav: ac range: 240.205475 m, nav range: 226.415955 m, bearing: 209.306096 deg, approach rate: -0.670756 m/s, LOS rate: -0.037220 deg/s, cmd heading: 207.160949 deg, new cmd heading: 207.111391 deg. BhUZ̺]HeadingCmd: 3.614776 target range: 240.205475 and range: 241.20 m.h]|Xg@hY*hY"hY hYgYfafafeBdadidijdiԩZd-`?颕Bɢxy=) %>i)$Y=顙iZżi9*O;Ӛ+I|Xg@I9@ @@0@i)I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260401 ^AE " G hAD D 4=bEʙT4jEL4rEI"0E%  E% E% )E! "E% غ:*E% |;:VE% FA4ZE! BE% 6,|D?ABX@Bjf@Bȱ=ٱB}& NAHRS rotation from veh to nav: [[-0.891001,0.453984,-0.004037],[-0.445647,-0.876266,-0.183183],[-0.086700,-0.161417,0.983071]]BH@?p{ܿ_ rǿ1@OĿ`Pu?iBX@IB:`;@YPyR&IbD^ VD^2yf!%f[=ٔfэ:Q-j>9hYh=jDyj+DnջEn>pQ 5r4r؊?Q 9v4r)riBYtyvQ Iz?rzDIr;ir&;ry4y|ɮ~tA|jh%FNOT Ignoring new targets: 240.21 m.Rh%(Zh%(= ProNav: ac range: 240.205475 m, nav range: 226.165009 m, bearing: 209.292325 deg, approach rate: -0.671386 m/s, LOS rate: -0.036885 deg/s, cmd heading: 207.111389 deg, new cmd heading: 207.070029 deg. Bh=ʺ=HeadingCmd: 3.614054 target range: 240.205475 and range: 241.20 m.hELg@hA*hA"hA hAgAfAffdddjdZdZ?Bɢ%=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509913)! UQ>iQ)UZ=QQiUBjżi]*]N;]IeLg@Ia!%9@! @!@%5@!I^Ae"5ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762216IY Ii O} >w<,4D?A;ɰ0:X@:f@:=ٱ:,& FAHRS rotation from veh to nav: [[-0.891876,0.452254,-0.004938],[-0.443789,-0.877184,-0.183303],[-0.087231,-0.161292,0.983044]]:H? ?N:tgܿyvǿT 7Ŀu?i:X@I:@_;:CYNByN&Ii%Mb@Mb@Mb@!!!! !9%Dl?bX9?I +Y%O-?y%E6>%9%A! %@)%@!Y%@bD5 VD5f2yEj%MC=ٔMz:Q-M>9QYQ=UDyU<DUEU>YQ 5e4]؊?Q 9m4])]iBYmJ3?Q Em:ymkQ Im?]DI]:i]:]4yuQBɮ}tA}TEjhFNOT Ignoring new targets: 240.21 m.Rh!Zh!E EE*E"E7:*E?:VE(N4ZEa @a @a @a @ ProNav: ac range: 240.205475 m, nav range: 225.881714 m, bearing: 209.277616 deg, approach rate: -0.677353 m/s, LOS rate: -0.035213 deg/s, cmd heading: 207.070025 deg, new cmd heading: 207.025843 deg. BhUT]HeadingCmd: 3.613283 target range: 240.205475 and range: 241.20 m.h]@g@hY*hY"ha hagafafafmBdididijdiZdu^@]Bɢ]J=)Y ]>ia)ef\=aaie#hżim*ԉB2>BB&IBBBBBBօ;B;EM;I@g@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013833m9@q @q@q@q^A A fAzA I I O >:C,E?A2X@2f@2U=ٱ2wZ& >AHRS rotation from veh to nav: [[-0.892414,0.451178,-0.005888],[-0.442564,-0.877770,-0.183457],[-0.087940,-0.161114,0.983010]]2H?x@Rܿ {ǿCdĿt?i2X@I2z_;0YBByF&IbDNVDN:2yVs<%VU=ٔV:Q-Z>9XYX=ZDyZKDbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265873dfdEf>hQ 5n4jx؊?Q 9n4j)jiBYpyrQ Ir?jDIj;ij;j4ytɮvtAt B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 240.21 m.Rhp Zhp - ProNav: ac range: 240.205475 m, nav range: 225.619705 m, bearing: 209.264069 deg, approach rate: -0.677436 m/s, LOS rate: -0.035067 deg/s, cmd heading: 207.025848 deg, new cmd heading: 206.985160 deg. Bh-5HeadingCmd: 3.612572 target range: 240.205475 and range: 241.20 m.h5c4g@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM M@uBɢ}0=)y }y?iy)}t]=顁iżiR*-L;sޱIc4g@I9@ @@/@DzDE  E E (E "E ,:*E =:VE c44ZE BE uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517718A I,)E?A2X@29XYX=ZDyZ[D^"E^>`Q 5f4bKf؊?Q 9f4bޙ)b`iBYhyjQ Ij?bDIbv";ib#;b4yr8BɮrrsAvSE9jhFNOT Ignoring new targets: 240.21 m.RhZh  ProNav: ac range: 240.205475 m, nav range: 225.347549 m, bearing: 209.250030 deg, approach rate: -0.638845 m/s, LOS rate: -0.032994 deg/s, cmd heading: 206.985154 deg, new cmd heading: 206.942986 deg. Bh & HeadingCmd: 3.611836 target range: 240.205475 and range: 241.20 m.h T(g@h*h"h hgfffd!d)dqjdyZd y@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773409i颅Bɢ=) -?i)p7`=iPżi%a*%TK;% I-T(g@I99@ @@s4@ԙE EEE"E:*E?:VEZEa%@a%@a%@a%@B A <B B B &IB BB B B B ;B A >Ia Iq  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021972O >KP,CE?A44f{X@fqf@fa=ٱf\# rAHRS rotation from veh to nav: [[-0.892865,0.450240,-0.008659],[-0.441356,-0.878741,-0.181711],[-0.089422,-0.158422,0.983314]]fH`Z?,?ܿQBǿ@c䶿.GĿNw?if{X@IfT^;fCYzˇByz'IԑiMb@Mb@Mb@ 9sh|??K7?MbY)?yI >@  @)Y=@bDVD02y";%8=ٔR:Q->9Y=DymD(E>Q 54rR؊?Q 94)7iBY-?Q E:yQ I?DI:i3:u4y ɮ hsA jh15FNOT Ignoring new targets: 240.21 m.Rh=Zh=M ProNav: ac range: 240.205475 m, nav range: 225.052750 m, bearing: 209.238743 deg, approach rate: -0.703732 m/s, LOS rate: -0.026979 deg/s, cmd heading: 206.942984 deg, new cmd heading: 206.909078 deg. BhM UHeadingCmd: 3.611245 target range: 240.205475 and range: 241.20 m.hUg@hQ*hQ"hQ hQgYfYfYf]ՅBdadadajdaZde @颕Bɢ=) ?i)a=顙iżi+coJ;ŭIg@IE9@A @A@E/@ABDAT read: Rx Time:00:30:14.1205 TRx dataTimestamp_ set to:1761525013.284139checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274790^Am#2IIO >E  E E E "E g:*E ;J:VE ZE BE ;a- 2E ;a- JE ;a- :E ;a5 1 W,H]E?A2,vX@2kf@2=ٱ2[! :AHRS rotation from veh to nav: [[-0.892956,0.450029,-0.010148],[-0.441014,-0.879140,-0.180611],[-0.090202,-0.156802,0.983502]]2H H?Ȅ9ܿ!?ǿw Ŀx?i2,vX@I2^;2CYnׇByn'Itv@AbDzVDz1y1=%Y=ٔ t;Q- >9 Y = Dy |DrE>Q 5%4A؊?Q 9%4)iBY!y-Q I-?DI:i:4y5Bɮ55rA5REjhQ]FNOT Ignoring new targets: 240.21 m.Rhe|Zhe|u ProNav: ac range: 240.205475 m, nav range: 224.803085 m, bearing: 209.229177 deg, approach rate: -0.665255 m/s, LOS rate: -0.025516 deg/s, cmd heading: 206.909079 deg, new cmd heading: 206.880351 deg. Bhu}HeadingCmd: 3.610743 target range: 240.205475 and range: 241.20 m.h}kg@hy*hy"hy hygfffdddjdZd@颽Bɢ=) ?i)$c=i ƼiK + ^direction in FSK: [0.967177,0.032085,-0.252069] Fpublishing direction and range infoy  dw?ycm?!пY oC     ) EI S?i FS l? l$@ k] m%@  w) =I w>   8?64G?$Y˿  A>) ]>I =i w>  M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.y ;],=wE?A>X@>6vf@>=ٱ>H VAHRS rotation from veh to nav: [[-0.892598,0.450701,-0.011704],[-0.441539,-0.879114,-0.179450],[-0.091168,-0.155009,0.983697]]>H *`I?J-Bܿ!:ƿ@VXÿsz?i>X@I>'_;>CYbۇByb'IiMb@Mb@Mb@ 9J +?ˡE?{Gz?Y(?y=#<E EE)E"Ey:*E|;:VEFA4ZEa@a@a@a@A@ z@)@Y@bDVD2y "<%:=Qٔ];Q-]>9]"?Y]"?=eDyeDeD:Ee>iQ 54m,؊?Q 94m )mhBY*?Q E:y#Q I?mDIm);im;mפ4yץBɮoABU1>BQBU&IBUBBQBQBQBQBU i-M_-iCfchXL?NTzi-j=|x =ڿr)cտ2i-C:i-kI"i-ߕ?*i-p Bi-Ti)i-i-MAi-`Ci-yri@m addTargetRange:: Added new target pos. range: 239.100006 m, deltaT: 4.034975 s, deltaX: -2.099991 m, approachRate: -0.520447 m/s, rangeRepo size: 4 } Added new target pos. range: 238.113724 m, bearing: 205.860341 deg, lat: 36.779194 deg, lon: -121.859843 deg, deltaT: 4.034975 s, deltaX: -2.091751 m, approachRate: -0.518405 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 238.11 m.RhZh ProNav: ac range: 238.113724 m, nav range: 224.005173 m, bearing: 208.992766 deg, approach rate: 0.000000 m/s, LOS rate: -0.025516 deg/s, cmd heading: 206.880351 deg, new cmd heading: 206.842382 deg. BhHeadingCmd: 3.610080 target range: 238.113724 and range: 239.10 m.h g@h*h"h! h!g!f!f)f--Bd)d)d1jd5@3m@Zd5 ?M*DAT read: user:144> MBDAT read: Tx time:00:30:15.4474 U$Ping request sent.U!e,8E?A4<ɰ;6X@6Hf@6=ٱ6 >AHRS rotation from veh to nav: [[-0.891884,0.452082,-0.012878],[-0.442886,-0.878802,-0.177648],[-0.091628,-0.152738,0.984010]]6HO`?_=Xܿ% -ƿtÿ }?i6X@I6*_;6CYFByF%'IbDR VDR2yV(+=%ZA=Xٔ^:Q-^>9^ ?Yb ?=bDybDbq;Eb>dQ 5m4f؊?Q 9m4f )fhBYiym#Q I?fDIfc9 Ik,KYE?AZX@Zͣf@Zټ=ٱZ AHRS rotation from veh to nav: [[-0.891291,0.453203,-0.014422],[-0.443984,-0.878737,-0.175215],[-0.092081,-0.149765,0.984425]]ZHt@E?K:jܿ@tmƿ}+ÿg?iZX@IZmL_;ZCchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759556YMByM('IiEMb@Mb@Mb@AAAA A9E rh?Mb?Zd;O?YEC+?yE9}"?Y}"?=}Dy}Dz&;E>Q 54؊?Q 947)hBYj+?Q E:y)Q I? DIu;i;鴚4yBɮpAQEAjhIMFNOT Ignoring new targets: 238.11 m.RhU{E8ZhU{E8e ProNav: ac range: 238.113724 m, nav range: 223.394318 m, bearing: 208.988417 deg, approach rate: -0.704575 m/s, LOS rate: 0.002698 deg/s, cmd heading: 206.825450 deg, new cmd heading: 206.829318 deg. Bhe8mHeadingCmd: 3.609853 target range: 238.113724 and range: 239.10 m.hmg@hi*hi"hi higqfqfqfuSBdydydyjdyZd@c?颭Bɢs=) ?1?i)Fk=顱i6Ƽi+F;vIg@IE EE+E"E:*E|;:VE [4ZEa@a@a@a@=9@9 @9@9@9AQAUAABYBYB]&IB]BBYBYBYB]ޅ;qB];EA.AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012057ԙ .r,g(E?A28X@2f@2ͽ=ٱ2 :AHRS rotation from veh to nav: [[-0.890870,0.453995,-0.015455],[-0.444731,-0.878613,-0.173935],[-0.092545,-0.148080,0.984636]]2HA?`zvܿCƿ`H¿ #?i28X@I2_;2CYBByB/'IbDJVDJ02yRe=%V=ٔV:Q-V?9Z ?YZ ?=ZDyZDZ4;EZ?\Q 5b4^׊?Q 9f4^)^hBYdyf)Q If?^DI^:i^:^-4yj BɮnqAnZEjhY]FNOT Ignoring new targets: 238.11 m.Rhe-8Zhe-8u ProNav: ac range: 238.113724 m, nav range: 223.193024 m, bearing: 208.989147 deg, approach rate: -0.654700 m/s, LOS rate: 0.002375 deg/s, cmd heading: 206.829316 deg, new cmd heading: 206.831507 deg. Bhu8yHeadingCmd: 3.609891 target range: 238.113724 and range: 239.10 m.hsg@h*h"h hgfffdddjdZd?Bɢy=)! %%6?i!)%-m=!!i%FǼi-C+-Y9F;-,I5sg@I19@ @@5@A>A>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262923A؟AIIO-N>E  E E )E "E %:*E ?:VE FA4ZE BE ;a 2E ;a JE ;a% :E ;a%  [x, E?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5155115BX@5f@5y=ٱ5 EAHRS rotation from veh to nav: [[-0.890400,0.454878,-0.016567],[-0.445586,-0.878489,-0.172364],[-0.092958,-0.146091,0.984894]]5H'~?{ܿ@ƿ@ ̷¿`@?i5BX@I5,^;5CYUBy]5'IbDmVDm:3y}<%}==ٔ}N|:Q-}>9"?Y"?=DyD;E>Q 54*׊?Q 94M)hBYy)Q I?,DI;i ;4yBɮpAYEjhFNOT Ignoring new targets: 238.11 m.Rh*8Zh*8 ProNav: ac range: 238.113724 m, nav range: 222.904907 m, bearing: 208.990125 deg, approach rate: -0.686634 m/s, LOS rate: 0.002335 deg/s, cmd heading: 206.831502 deg, new cmd heading: 206.834441 deg. Bh8HeadingCmd: 3.609942 target range: 238.113724 and range: 239.10 m.hJ g@h*h"h hgfffdd d jd Zd N/?颵zBɢe=) ;?i)o=iǼil+XE;HIJ g@I9@ @@4@ iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7702811^A- I! I1 O= >Y E  E E E "E 7:*E |;:VE ZE a% @a% @a% @a% @~,E?A>X@>Wf@>ſ=ٱ> FAHRS rotation from veh to nav: [[-0.889717,0.456190,-0.017167],[-0.446834,-0.877941,-0.171925],[-0.093502,-0.145294,0.984960]]>Hx 62?Kܿ ƿ﷿¿˄?i>X@I>^;>CYLyLB3>BB 'IBχBBBBB;B;E1echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020421i5Mb@Mb@Mb@1111 195 rh?~jtZd;O?Y5,?y515A5l@ 5@)5&@1Y5@AAbDVD2ٔ :Q->9Y=DyD3;E>!Q 5-4%׊?Q 9-4%)%hBY-,?Q E-:y5.Q I5?%BDI%%;i%7:%ʚ4y=Bɮ=oA=XEjhYamFNOT Ignoring new targets: 238.11 m.RhmB9ZhuB9} ProNav: ac range: 238.113724 m, nav range: 222.555466 m, bearing: 208.998363 deg, approach rate: -0.672322 m/s, LOS rate: 0.015874 deg/s, cmd heading: 206.834439 deg, new cmd heading: 206.859191 deg. BhO.:HeadingCmd: 3.610374 target range: 238.113724 and range: 239.10 m.h^g@h*h"h hgfffqBdddjdZd`@rBɢp=) ??i)r=iȼiW+KE;%9I^g@I]9@Y @Y@]4@Yԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270897^A 9  PExceeded connect timeout, disconnecting. ! ! GI I O >z+,F?AjANMAVwX@V&f@fɧ9fjAYfhAV=ٱV, nAHRS rotation from veh to nav: [[-0.889028,0.457535,-0.017032],[-0.448108,-0.877138,-0.172708],[-0.093959,-0.145910,0.984826]]VH`rBH?p`˭ܿGƿ `*¿?iVwX@IV^;VCYvByv/'IbD VD2y v0% <ٔ:Q- ?9Y=Dy%D%&;E% ?)Q 554-G׊?Q 954-W)-hBY1y=n.Q I=?-PDI-;i-r;-tК4yAɮEoAAbEFA4jEmF4rE/E] E]EYEY"E]:*E]E7:VEYZEYBE]hԙ S,ij3F?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777735qY@7 g@Dy=ٱ AHRS rotation from veh to nav: [[-0.888324,0.458918,-0.016587],[-0.449526,-0.876391,-0.172813],[-0.093843,-0.146057,0.984815]]H&m^? ܿf ƿ`¿?iY@I^;CYBy''IIC>);ieMb@Mb@Mb@aaaa a9eK7?i|?5{Gz?YeI,?yeqeף9Y=DyDob;E>Q 54׊?Q 94k)zhBY-?Q E:yW0Q I?dDI;i:ؚ4yӥBɮdoAWEjh)-FNOT Ignoring new targets: 238.11 m.Rh59Zh59E ProNav: ac range: 238.113724 m, nav range: 222.029510 m, bearing: 209.013014 deg, approach rate: -0.676615 m/s, LOS rate: 0.021072 deg/s, cmd heading: 206.874368 deg, new cmd heading: 206.903198 deg. BhEbg:MHeadingCmd: 3.611142 target range: 238.113724 and range: 239.10 m.hMg@hI*hI"hI hIgQfQfQfUBdYdYdYjdYZd] @颍gBɢfK=) ??i)w=顑iɼi+D;;Ig@IEm EmEm*Ei"Em:*Em*5:VEm(N4ZEia}@a}@a}@a}@ԡE9@A @A@A@AB4>BB'IBԇBBBBBЅ;B;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028115^A% ] ;I I O > 8,kMF?A:2Y@:(g@:5=ٱ:I BAHRS rotation from veh to nav: [[-0.887511,0.460504,-0.016117],[-0.451112,-0.875476,-0.173319],[-0.093925,-0.146552,0.984734]]:H}fx? @ܿ@S/ƿp 7¿?i:2Y@I:_^;:CY^هByb'I df%=bDjVDjk2yrO%rp=ٔv|9Q-v?9tYt=vDyvDzu;Ez?|Q 54~׊?Q 94~)~nhBYy 90Q I ?~sDI~:i~:~qޚ4yBɮoAjh1=FNOT Ignoring new targets: 238.11 m.RhE9ZhE9U ProNav: ac range: 238.113724 m, nav range: 221.801575 m, bearing: 209.020012 deg, approach rate: -0.670676 m/s, LOS rate: 0.020612 deg/s, cmd heading: 206.903191 deg, new cmd heading: 206.924207 deg. BhUUb:]HeadingCmd: 3.611509 target range: 238.113724 and range: 239.10 m.h]"g@hY*hY"hY hYgafafafadididijdiZdm` @额bBɢ=) ";?i)y=顡iɼi*E;rd;I"g@I]BDAT read: Rx Time:00:30:18.1682 eTRx dataTimestamp_ set to:1761525017.321191mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.281102@ @@/@MnManaging dock network, ignoring radio surface power off!DqDuR=E} E}E}+Ey"E}[:*E}=:VE} [4ZEyBE} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530970y b,]gF?AY~̇By~'IbD VD  3yu%%G=ٔ%Q-%>9)Y)=-Dy5%DE>!YQ 5}4%n׊?Q 94%)%^hBYyQ I?%DI%imÿmm>m(@m| >maU(@ m-\->)mū@Im-\-iimt? tsST?)E? mc ?)mzx ImD+Him-\-iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ^A vт;A >A >Ii Iy E  E E E "E I:*E ?:VE ZE a @a @a @a @O >B B B &IB ćBB B B B ;B ;EBABABABABACEl4 J,6F?A2yY@2Vog@2=ٱ2w :AHRS rotation from veh to nav: [[-0.885544,0.464319,-0.014803],[-0.454938,-0.873222,-0.174685],[-0.094036,-0.147957,0.984513]]2H`Vg?Qݿ o\ƿ@?¿!?i2yY@I2^;2CYRByR&I \\==*DAT read: user:145> BDAT read: Tx time:00:30:19.4974 $Ping request sent.9IYI=MDyM7DM:)<EU>YQ 5e4]hX׊?Q 9e4])]FhBYe3?Q Ee:ye50Q Ie?]DI]:i]7:]X4yqɮuoAqii(tF?AJillCRillCjiGh@iS m@"9.C@riMG?FRV?ZiD+Hbi-\-i~jKg[71@zit^0쿪vݿYƵ1?2i:iCP"iENʒ?*i%J Bi3Biߕ?i iibCi<i@Ա addTargetRange:: Added new target pos. range: 237.399994 m, deltaT: 4.035216 s, deltaX: -1.700012 m, approachRate: -0.421294 m/s, rangeRepo size: 4  Added new target pos. range: 236.422318 m, bearing: 207.945829 deg, lat: 36.779145 deg, lon: -121.859854 deg, deltaT: 4.035216 s, deltaX: -1.691406 m, approachRate: -0.419161 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 236.42 m.RhZh ProNav: ac range: 236.422318 m, nav range: 226.523224 m, bearing: 208.593269 deg, approach rate: 0.000000 m/s, LOS rate: 0.019273 deg/s, cmd heading: 206.951590 deg, new cmd heading: 206.973788 deg. BhHeadingCmd: 3.612374 target range: 236.422318 and range: 237.40 m.h#1g@h*h"h hgfff}Bddd jd ̬m@Zd `?VBɢT=) m4?i)^~=imsʼiM*M^eE;M;IM#1g@IQ9@ @@/@@hA@hA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251570^A oM;A9 9 IA IY Oe >{,U2F?A2Y@2g@2=ٱ2R >AHRS rotation from veh to nav: [[-0.884652,0.466042,-0.013967],[-0.456687,-0.872154,-0.175457],[-0.093952,-0.148840,0.984388]]2HO?ǚ`\:ݿ``uƿ9 / ÿ@?i2Y@I2];0YFByF&Iln@AbDrVDr:3yzm:%za=ٔzsQ-z>9|Y|=~Dy~FD;E>Q 54D׊?Q 94)1hBYy0Q I?DI;ia;4y%Bɮ%KoA%UED)zD-@AE1 E5E5*E1"E1*E5=:VE5(N4ZE1BE5Y ,F?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755162$Y@g@C=ٱ AHRS rotation from veh to nav: [[-0.883159,0.468886,-0.013283],[-0.459468,-0.870429,-0.176753],[-0.094439,-0.149998,0.984166]]HB`8?P4gݿ` ٟƿ+-`!3ÿH~?iY@I|t];YBy&IiMb@Mb@Mb@ 9x&?/$MbY7)?y,- A@ @)bAY\@bDVD:2yǽ%0=ٔ:Q->9Y=DyYDp;E>Q 54,׊?Q 94U)hBY)?Q E:y.Q I?DI:i@:4ynBɮ:oA TEjh)5FNOT Ignoring new targets: 236.42 m.Rh5&9Zh=&9M ProNav: ac range: 236.422318 m, nav range: 225.964996 m, bearing: 208.606798 deg, approach rate: -0.663001 m/s, LOS rate: 0.014223 deg/s, cmd heading: 206.994757 deg, new cmd heading: 207.014427 deg. BhM-:UHeadingCmd: 3.613083 target range: 236.422318 and range: 237.40 m.hUB)B-&IB-BB)B)B)B)B-;EE9@A @A@E 3@Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004840^Ae X;Aq zAu aA A .AI I O >,F?APYnBy&IbD-VD-0y=R %Ei=ٔEQ-M>9] ?Ye ?=mDymgDuEu>yQ 54}׊?Q 94})}gBYyQ I?}DI}:i}M:} 4yɮoAjh%FNOT Ignoring new targets: 236.42 m.Rh%y9Zh%y95 ProNav: ac range: 236.422318 m, nav range: 225.731018 m, bearing: 208.611822 deg, approach rate: -0.635256 m/s, LOS rate: 0.013656 deg/s, cmd heading: 207.014428 deg, new cmd heading: 207.029517 deg. Bh5:=HeadingCmd: 3.613347 target range: 236.422318 and range: 237.40 m.h=Ag@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU?}GBɢv=) n?i)kO=顁i`˼i*G;'Ͱ,AHRS rotation from veh to nav: [[-0.882705,0.469730,-0.013638],[-0.460267,-0.870049,-0.176544],[-0.094794,-0.149559,0.984198]]6H`?@ ?n@uݿr ƿ oD$ÿ ~?i6Y@I6e];6CYV[ByV|&IbDbVDb2yf%jR=ٔjo:Q-j>9n"?Yn"?=nDynvDr ;Er>pQ 5v4rJ׊?Q 9z4r)rgBYxyzs.Q Iz?rDIr :irz:r4|y}Bɮ qA ]Ejh1MFNOT Ignoring new targets: 236.42 m.Rh]9Zh]9u ProNav: ac range: 236.422318 m, nav range: 225.478302 m, bearing: 208.617202 deg, approach rate: -0.675605 m/s, LOS rate: 0.014397 deg/s, cmd heading: 207.029522 deg, new cmd heading: 207.045678 deg. Bhu:HeadingCmd: 3.613629 target range: 236.422318 and range: 237.40 m.hEg@h*h"h hgfffdddjdZd?BBɢ=) t ?i),=iY˼i*H; L$B! B! B% &IB% iBB! B! B! B% ;B% _@3ÿ }?iRY@IR޽];PYj?ByjY&IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012853iMb@Mb@Mb@ 9x&?~jtx?/$Yy; A@ @)Y@bD VD2y5%56=ٔ5`o:Q-=>99Y9==Dy=DEM:EE>IQ 5u4ML֊?Q 9u4M#)MgBYuN)?Q Eu:yu*Q I}?MDIM;iMl;M4yɮqAjhFNOT Ignoring new targets: 236.42 m.Rh+8Zh+8 ProNav: ac range: 236.422318 m, nav range: 225.183273 m, bearing: 208.618271 deg, approach rate: -0.646536 m/s, LOS rate: 0.002346 deg/s, cmd heading: 207.045683 deg, new cmd heading: 207.048894 deg. Bh 8HeadingCmd: 3.613685 target range: 236.422318 and range: 237.40 m.hFg@h*h"h hgfffBdddjdZd@.@颍=Bɢp=) ?i)=顑i3˼i*-I;'A > A1 I9 II Oe >,G?AE  E E +E "E 7:*E ?:VE  [4ZE BE ;a2E ;aJE ;a:E ;aY%%By%9&IbD5VD5yE %MY=ٔMQ-M>9IYQ=UDyUDUEU>YQ 5e4]֊?Q 9m4]*)]gBYiyiQ Im?]DI]u ;i] ;]14yudBɮuqA}\Eԡ-B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 236.42 m.RhM)8ZhM)8] ProNav: ac range: 236.422318 m, nav range: 224.936493 m, bearing: 208.619167 deg, approach rate: -0.635230 m/s, LOS rate: 0.002310 deg/s, cmd heading: 207.048893 deg, new cmd heading: 207.051585 deg. Bh]8eHeadingCmd: 3.613732 target range: 236.422318 and range: 237.40 m.hebGg@ha*ha"ha hagifififidqdqdqjdqZdu`P@8Bɢ\7=) >i)Մ=iݷ˼iT*_tJ;Е&l,<6G?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774828YBy&Ii5Mb@Mb@Mb@1111 195S㥛?A`"?/$Y5$&?y5Y=15 A5@ 5@)5A1Y5@bDMVDMk1y]%].=ٔaQ-e>9e ?Ye ?=mDymDiEu>qQ 5}4u6֊?Q 9}4ub)uogBY&?Q E:yc%Q I?uDIu:iu:uh4yKBɮIrA[EjhFNOT Ignoring new targets: 236.42 m.Rh[6Zh[6E- E-E-(E)"E-غ:*E-V:VE-c44ZE)a5@a=@a=@a=@m ProNav: ac range: 236.422318 m, nav range: 224.633728 m, bearing: 208.614692 deg, approach rate: -0.673185 m/s, LOS rate: -0.009964 deg/s, cmd heading: 207.051584 deg, new cmd heading: 207.038140 deg. BhmڹuHeadingCmd: 3.613497 target range: 236.422318 and range: 237.40 m.huCg@hq*hq"hq hqgyfyfyf}BB<A<BBB<&IB'BBBBBԅ;B;EdddjdZd@Du @52Bɢ5Zk=)1 ==>i9)="=9A9iΔ˼i+*K;Sq*,"TG?A:њY@:g@:=ٱ:x'# BAHRS rotation from veh to nav: [[-0.884423,0.466537,-0.011758],[-0.456627,-0.870290,-0.184626],[-0.096368,-0.157919,0.982738]]:H2M@?`9ݿjӡǿ6Ŀr?i:њY@I:3];:CYZ܆ByZ%IbDfVDfk2~BDAT read: Rx Time:00:30:22.2131 TRx dataTimestamp_ set to:1761525021.356276checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277855y=% L=ٔ ?;Q- >9"?Y"?=DyD3E>Q 5%4֊?Q 9-4)IgBY)y-%Q I-?"DIt:i;f&4y9ɮ=xsA9jhaeFNOT Ignoring new targets: 236.42 m.RhmO ZhuO } ProNav: ac range: 236.422318 m, nav range: 224.375900 m, bearing: 208.611184 deg, approach rate: -0.643127 m/s, LOS rate: -0.008760 deg/s, cmd heading: 207.038142 deg, new cmd heading: 207.027607 deg. Bh_HeadingCmd: 3.613313 target range: 236.422318 and range: 237.40 m.h@g@h*h"h hgfffdddjdZdh @.Bɢ|=]\Gq) >i)$=/9YA顩i5o˼i.*nL;;I@g@I a9@ @@/@bEęT4jEĔK4rE60E EE+E"E:*EA:VE [4ZEBEh;,.nG?AP Y@ g@ =ٱ 55# AHRS rotation from veh to nav: [[-0.884803,0.465803,-0.012268],[-0.455802,-0.870675,-0.184849],[-0.096785,-0.157964,0.982690]] H@OP?`+ݿ$ǿƸ'8Ŀ2r?i Y@I ]; CY-ІBy-%IbD=VD=0yM}c%MF=ٔU-:Q-U>9YYY=]Dy]D]Ee>aQ 5m4e֊?Q 9m4e)e#gBYqyu%Q Iu?e3DIe;ie;e-4y}2BɮsAZEjhFNOT Ignoring new targets: 236.42 m.RhtZht ProNav: ac range: 236.422318 m, nav range: 224.110352 m, bearing: 208.607624 deg, approach rate: -0.645179 m/s, LOS rate: -0.008658 deg/s, cmd heading: 207.027610 deg, new cmd heading: 207.016919 deg. Bh%HeadingCmd: 3.613127 target range: 236.422318 and range: 237.40 m.hx=g@h*h"h hgfffdddjdZd @ )Bɢ =)  æ>i )y=i*3˼i=*L;c;Ix=g@I!9@ @@0@iI^A0;EDAT read: 00:30:22.2131 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.34, 1.857, 0.246, 1.853, 1.100, PHS= 0.859,-0.809, 0.709, RAW= 145.3, -9.5, CAL= 145.7, -11.3, ROT= 4.3, 11.3 Ygot valid direction response: 00:30:22.2131 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.34, 1.857, 0.246, 1.853, 1.100, PHS= 0.859,-0.809, 0.709, RAW= 145.3, -9.5, CAL= 145.7, -11.3, ROT= 4.3, 11.3 PDAT read: Bearing 335.3, 0.7 (Local) ~Local bearing/azimuth received: Bearing 335.3, 0.7 (Local) DAT read: Range 11 to 50 : 233.7 m (Round-trip 311.7 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.977854,0.073525,-0.195946]Fpublishing direction and range infoy@9J?Ҳ?>x_ɿYiC )CIm[?iO5?:M"@)"@ I)`=II>?X?6U1ſ Al>)^V*>I`=iI>MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.AIIOn>E EE.E"Ey:*EVEـ4ZEa@a@a@a%@BBB%IBBBB=DBB;B;EA  *DAT read: user:146>  BDAT read: Tx time:00:30:23.5473  $Ping request sent. 9qYy=}Dy}D}1E}>Q 54֊?Q 94)fBY'?Q E:yg"Q I?EDI ;i ;L54yBɮesAYEiIiM&wG?AJiMhCRiMhCjiM1j@iMirl@}1@CKFriM@9J?Ҳ?>x_ɿZiM`=biMI>iMO|vUhEqy[dl3gQziM@;sf8޿ %ӿ2iM:iM@"iMr ?*iM62BiM!iIiM%J iIiM`CiMi@ addTargetRange:: Added new target pos. range: 233.699997 m, deltaT: 4.036242 s, deltaX: -3.699997 m, approachRate: -0.916694 m/s, rangeRepo size: 4  Added new target pos. range: 232.736740 m, bearing: 209.661583 deg, lat: 36.779145 deg, lon: -121.859878 deg, deltaT: 4.036242 s, deltaX: -3.685577 m, approachRate: -0.913121 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 232.74 m.Rh Zh  ProNav: ac range: 232.736740 m, nav range: 224.829147 m, bearing: 209.064405 deg, approach rate: 0.000000 m/s, LOS rate: -0.008658 deg/s, cmd heading: 207.016914 deg, new cmd heading: 207.005361 deg. Bh%HeadingCmd: 3.612925 target range: 232.736740 and range: 233.70 m.h%*:g@h!*h!"h! h)g)f)f1f5Bd1d1d1jd=`f6m@Zd=i?e$Bɢe(=)i m>ii)mX.=qqiuʼiu*}L;};I}*:g@IyI @  @ @ /0@ %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251064q^A- X;A5 >A5 >ԩ A .AI! I9 OE >EM  EM EM *EI "EM :*EM a9:VEM (N4ZEI BEM > 9M ?YM ?=MDyMDM*EU>qQ 54T֊?Q 94n)fBYyi"Q I?UDI;i;;4yɮ1tAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 232.74 m.Rh撹Zh撹 ProNav: ac range: 232.736740 m, nav range: 224.590775 m, bearing: 209.058508 deg, approach rate: -0.648228 m/s, LOS rate: -0.016054 deg/s, cmd heading: 207.005357 deg, new cmd heading: 206.987647 deg. BhG0HeadingCmd: 3.612616 target range: 232.736740 and range: 233.70 m.h5g@h*h"h hgfffdddjdZd*?- Bɢ-&=)1 5Ne>i1)5惇=11i=oʼi=*Et;M;E.;IE5g@IA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5035769@ @@4@ԩ^A ;- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948A9 II Iy O > V,$G?AYByu%I !!iMb@Mb@Mb@ 9sh|??Q?MbY)?y= A @ /@)Y@bDVDy(%B=ٔQ->9Y=DyDE>Q 54l֊?Q 94B9B9B=%IB=BB9B9B9B=;B=;EBBBBBC4E EE)E"Eg:*E*5:VEFA4ZEBE;2E;JE;:E;)fBY,?Q E:yQ I?fDIv =i=C4yBɮsAXEjhAmFNOT Ignoring new targets: 232.74 m.RhuŹZhuŹ ProNav: ac range: 232.736740 m, nav range: 224.316223 m, bearing: 209.048745 deg, approach rate: -0.606236 m/s, LOS rate: -0.021584 deg/s, cmd heading: 206.987653 deg, new cmd heading: 206.958329 deg. BhmHeadingCmd: 3.612104 target range: 232.736740 and range: 233.70 m.h,g@h*h"h hgfffBdddjdZdK?5Bɢ=X=)9 =T>i9)=r=9Aieɼi*VM;x;I,g@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484]9@Y @Y@Y@Y)^A Y A ؟AI I O >,PG?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258930VrY@V?hg@V?=ٱV_% ^AHRS rotation from veh to nav: [[-0.885349,0.464742,-0.013160],[-0.454353,-0.870868,-0.187488],[-0.098594,-0.160013,0.982179]]VHT@S? ݿ&@ǿy=`P{Ŀn?iVrY@IV];VCYffByfN%IppbDrVDr2yz%~M=ٔ~M';Q-~>9"?Y"?=Dy D?E> Q 54 Z֊?Q 94 ) jfBYyQ I? wDI a;i * ; J4y%)Bɮ%vA-bEjhIUFNOT Ignoring new targets: 232.74 m.RhUZhUe ProNav: ac range: 232.736740 m, nav range: 224.054672 m, bearing: 209.039439 deg, approach rate: -0.726662 m/s, LOS rate: -0.025885 deg/s, cmd heading: 206.958325 deg, new cmd heading: 206.930374 deg. BhemHeadingCmd: 3.611616 target range: 232.736740 and range: 233.70 m.hu$g@hq*hq"hq hqgqfqfyfydydydjdZd?ԑ颵Bɢw =) >i)!=项ikɼi*N;4B;I$g@I@ @@/@ԹE5 E5E5'E1"E5:*E5C:VE5'4ZE1a=@a=@a=@a=@^AM#2;AUgAzAUeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904Ay I I O > j,G?A2mY@2cg@2U=ٱ2$ :AHRS rotation from veh to nav: [[-0.885430,0.464566,-0.013876],[-0.454081,-0.871041,-0.187346],[-0.099122,-0.159581,0.982196]]2H`pUt?k@ݿ@ǿ``@(mĿ&n?i2mY@I2];2CYBYByB>%IbDJVDJk1yR %RP=ٔV:Q-V>9TYX=ZDyZ DZ;EZ>\Q 5b4^LI֊?Q 9b4^ )^i!)%0]=!!i%Gȼi-+-N;-lS;I-g@I1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7651579@ @@/@)B7>BBB%IB\BBBBB;B;EYE EE&E"E:*EE7:VE4ZEBE/t, H?AY~FBy~'%IiMb@Mb@Mb@ 9?HzG?QY,?y= >AM@ r@)AY@bDVDy%;=ٔQ->9Y=Dy/ DE>Q 545֊?Q 94)fBYc0?Q E:yQ I?DIs;i:X4yɮOvAjhFNOT Ignoring new targets: 232.74 m.Rh Zh Q ProNav: ac range: 232.736740 m, nav range: 223.502640 m, bearing: 209.018282 deg, approach rate: -0.669971 m/s, LOS rate: -0.027323 deg/s, cmd heading: 206.902713 deg, new cmd heading: 206.866828 deg. BhHeadingCmd: 3.610507 target range: 232.736740 and range: 233.70 m.hg@h*h"h hgfffBdddjdZd7@% Bɢ%㴗=)! %h=i))-=))iKȼi) +(O;A;Ig@Iԁ@ @@@@=@=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267241ԩ^A l; E  E E )E "E I:*E =:VE FA4ZE a @a @a @a @A I! I1 O= >,$H?AYz>Byz%I %=bD VD J2ye%eP=ٔiQ-m>9iYq=uDyu? DqEu>yQ 54}#֊?Q 94}B)}eBYyQ I?}DI}N:i}:}]_4yBɮuA`EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 232.74 m.RhZhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967 ProNav: ac range: 232.736740 m, nav range: 223.239670 m, bearing: 209.007545 deg, approach rate: -0.669980 m/s, LOS rate: -0.027388 deg/s, cmd heading: 206.866827 deg, new cmd heading: 206.834578 deg. Bh]HeadingCmd: 3.609944 target range: 232.736740 and range: 233.70 m.hT g@h*h"h hgfffdddjdZd4@- Bɢ5g7=)1 5=i1)5=19i=muǼi=b+EO;ES;IET g@IAIUfA)Q9@ @@/@^AP;A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771837A I I O > ,l>H?A22Y@25(g@2j=ٱ2 >AHRS rotation from veh to nav: [[-0.886937,0.461509,-0.018759],[-0.450798,-0.873769,-0.182506],[-0.100619,-0.153415,0.983026]]2Ha ^?s5@ܿ`@[\ǿ(¹@ÿ`t?i22Y@I25r];2CYV3ByV%Ii5Mb@Mb@Mb@1111 195oʡ?x&?~jtY5-?y57 >5ļ11 5@)11Y5\@bDM VDM2Be:>Be9CBe %IBe.BBe =BaBaBe;Be;EyX%H=ٔp;Q->9Y=DyP D_E>Q 54@֊?Q 94)eBY0?Q E:yQ I?DID;i{;f4yɮ!vAjhE EE+E"E:*E|;:VE [4ZEBEh99YA=EDyEe DMEEM>YQ 5m4]Պ?Q 9u4]q )]meBYqy}Q I}?]DI];i]r;]o4yߤBE EEE"EI:*E H:VEZEa@a@a@a@ɮuA_EjhFNOT Ignoring new targets: 232.74 m.RhEZhEU ProNav: ac range: 232.736740 m, nav range: 222.615280 m, bearing: 208.982685 deg, approach rate: -0.695101 m/s, LOS rate: -0.027636 deg/s, cmd heading: 206.801285 deg, new cmd heading: 206.759886 deg. BhU]HeadingCmd: 3.608641 target range: 232.736740 and range: 233.70 m.h]f@hY*ha"ha hagfffdddjdZd @Bɢ=)  =i ) V=  i Pżi++W*P;L;If@I=<%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527258)E@ @@/@Y  DAT read: 00:30:26.2599 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.37,-0.172,-1.677,-0.176,-0.875, PHS= 0.805,-0.757, 0.655, RAW= 145.0, -9.5, CAL= 145.3, -11.2, ROT= 4.7, 11.2  Ygot valid direction response: 00:30:26.2599 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.37,-0.172,-1.677,-0.176,-0.875, PHS= 0.805,-0.757, 0.655, RAW= 145.0, -9.5, CAL= 145.3, -11.2, ROT= 4.7, 11.2 % PDAT read: Bearing 335.9, 0.6 (Local) % ~Local bearing/azimuth received: Bearing 335.9, 0.6 (Local) ԙ = DAT read: Range 11 to 50 : 231.3 m (Round-trip 308.4 ms) speed 0.4 m/s U R#Rx 1: Read range and direction messages.^A ; ^direction in FSK: [0.977657,0.080378,-0.194234] Fpublishing direction and range infoy  XFuH?9=?mVѫȿY LgC ) GI {N?i A '? p!@ :M"@ +H) =I +H> O3?dH ?ih2ſ w>) (>I =i +H> T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IIԱO?BBB$IB BBBBB˅;B;E_v ,|H?ADF=DF<E EEE"Eg:*E*5:VEZEBE;a 2E;aJE;a:E;aY#By$Ii5Mb@Mb@Mb@1111 195Q?K7A?~jtY5\/?y5 >5D5(A5@ 5@)5A1Y5A}*DAT read: user:147> BDAT read: Tx time:00:30:27.6473 $Ping request sent.9Y=Dy~ DE>Q 54Պ?Q 94 )/eBY_2?Q E:yQ I?DI:i:z4yBɮcvAgEiYi],yH?AJi]YfCRi]YfCji]fj@i]+=\u&l@hSsԃ2@f^Fri]XFuH?9=?mVѫȿZi]=bi]+H>i] 6gtR[UdQzi]:AQzu꿄8Y]޿Tӿ2i]:i]v>"i]-,?*i]|jLBi]y i]r ?i]62i]!i]s[Ci]j@} addTargetRange:: Added new target pos. range: 231.300003 m, deltaT: 4.031591 s, deltaX: -2.399994 m, approachRate: -0.595297 m/s, rangeRepo size: 4   Added new target pos. range: 230.348602 m, bearing: 209.847541 deg, lat: 36.779176 deg, lon: -121.859885 deg, deltaT: 4.031591 s, deltaX: -2.388138 m, approachRate: -0.592356 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 230.35 m.RhZh% ProNav: ac range: 230.348602 m, nav range: 219.451706 m, bearing: 209.571170 deg, approach rate: 0.000000 m/s, LOS rate: -0.027636 deg/s, cmd heading: 206.759880 deg, new cmd heading: 206.708957 deg. BhIMHeadingCmd: 3.607752 target range: 230.348602 and range: 231.30 m.hUhf@hQ*hQ"hQ hQgQfQfYf]BdYdYdajdel@Zde`R ?Bɢu=) `=i):I=i yļiM:+ ВP; 3ʬ;I hf@I 1 Gg> 3C- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251028U 9@Q  @Q @U x2@Q @q @u = G 09 Y AY ^AM;ԉbEAjEErO4rEEsq0E EE-E"E7:*ErN:VEt4ZEa@a@a@a@IAIYOe?Z(),hH?A6AX@6f@6yl=ٱ6 fAHRS rotation from veh to nav: [[-0.888637,0.458178,-0.019910],[-0.447216,-0.875359,-0.183697],[-0.101594,-0.154336,0.982781]]6HoR?/c/ܿ@_ǿ` Fÿr?i6AX@I6~];6CYrByr$IIv<)vp;bD=VD=3yMv%M&=ٔMx:Q-M>Q9YYY=]Dy] D] Ee>aQ 5m4}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502943eՊ?Q 9}4eq)edBYyQ I?eDIe1l;ieNm;e4yפBɮuAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 230.35 m.Rh.ݹZh.ݹ ProNav: ac range: 230.348602 m, nav range: 219.113922 m, bearing: 209.559586 deg, approach rate: -0.703716 m/s, LOS rate: -0.024171 deg/s, cmd heading: 206.708954 deg, new cmd heading: 206.674147 deg. BhHeadingCmd: 3.607144 target range: 230.348602 and range: 231.30 m.htf@h*h"h hgfffdddjdZd?Bɢώ=) ,=i!)%o=!!i%;üi-BD+-P;-i;I5tf@I19@ @@/@ԁԩ^A;I1IAOM>- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800 0,H2H?A6gX@6f@6.=ٱ68! FAHRS rotation from veh to nav: [[-0.888680,0.458084,-0.020177],[-0.447111,-0.875472,-0.183412],[-0.101682,-0.153973,0.982829]]6Hp@?Q?Cyܿ` zǿ@eÿUs?i6gX@I6];4YZByZ$IBdBdBf$IBfBBdBdBdBf݅;Bf;EDzDAAE EE,E"EI:*E*5:VEg4ZEBE9Y=Dy DeE>Q 54+Պ?Q 94)dBY5?Q E:y!Q I?DI4;i4;4yBɮ]uAfEjhFNOT Ignoring new targets: 230.35 m.RhZh ProNav: ac range: 230.348602 m, nav range: 218.753815 m, bearing: 209.550133 deg, approach rate: -0.700771 m/s, LOS rate: -0.018425 deg/s, cmd heading: 206.674148 deg, new cmd heading: 206.645744 deg. BhPJHeadingCmd: 3.606649 target range: 230.348602 and range: 231.30 m.hUf@h*h"h hgfffBd d d jd Zd  ?Bɢ=) =i)W=iۉ¼i_L+yP;;IUf@I@ @@4@9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262011^A qZ;I9 II OU >6,,H?ANX@Nf@N =ٱNH VAHRS rotation from veh to nav: [[-0.888775,0.457912,-0.019895],[-0.446985,-0.875536,-0.183418],[-0.101408,-0.154125,0.982834]]NH@plN?g_eܿ cAzǿ]ÿ`_s?iNX@INx];NCY^By^$IbDfVDf3yn%n=ٔrhQ-r?9pYp=rDyv DvEv?xQ 5~4z1Պ?Q 9~4z? )zdBYy!Q I?z*DIz1:iz:z,4y ɮ {uA jh1=FNOT Ignoring new targets: 230.35 m.RhE7ZhE7U ProNav: ac range: 230.348602 m, nav range: 218.537186 m, bearing: 209.544442 deg, approach rate: -0.698993 m/s, LOS rate: -0.018383 deg/s, cmd heading: 206.645748 deg, new cmd heading: 206.628656 deg. BhUI]HeadingCmd: 3.606350 target range: 230.348602 and range: 231.30 m.h]rf@hY*hY"hY hYgafafafadididijdiZdu@~?额Bɢٕ=) =i)`=顡i¼iDQ+KP;;Irf@Ie9@i @i@m/@iE EEE"Eغ:*E|;:VEZEa@a@a@a@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759y^Ar;IQIiO}>ԙ C<,H?A2X@2Yf@24=ٱ2 >AHRS rotation from veh to nav: [[-0.888680,0.458139,-0.018882],[-0.447266,-0.875188,-0.184389],[-0.101001,-0.155418,0.982672]]2H@p%R?Uܿ@ǿ 4۹ÿ` r?i2X@I2]I];2CYFByF$I HHbDNVDN:2yV%VN=ٔZQQ-Z>9XYX=ZDyZ D^C:E^>`Q 5f4bՊ?Q 9f4b{$)b~dBYdyj!Q Ij?b<DIbg:ib:b4ynBɮntAneEjhFNOT Ignoring new targets: 230.35 m.Rh <Zh  $C,I?A2X@2f@2>e=ٱ2$Z! :AHRS rotation from veh to nav: [[-0.888491,0.458536,-0.018117],[-0.447730,-0.874854,-0.184847],[-0.100609,-0.156123,0.982600]]2Hn`X?<@ܿ`@ ǿ {ÿvq?i2X@I24];2CY^Byb$Ii}Mb@Mb@Mb@yyyy y9}|?5^?333333?9Y=Dy D:E>Q 54vՊ?Q 94()UdBY3?Q E:y$Q I?ODI:iz:4yBɮtAjhFNOT Ignoring new targets: 230.35 m.Rh:Zh : ProNav: ac range: 230.348602 m, nav range: 217.956863 m, bearing: 209.532684 deg, approach rate: -0.695011 m/s, LOS rate: -0.010198 deg/s, cmd heading: 206.606679 deg, new cmd heading: 206.593334 deg. Bh߹%HeadingCmd: 3.605734 target range: 230.348602 and range: 231.30 m.h%Xf@h!*h!"h! h!g!f)f)f-…Bd)d1d1jd1Zd5 h@eBɢeT=)a e=ii)m=iiim#liu^[+udQ;uͭ;IuXf@Iy)@) @1@5/@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267082^AqyA}fAzA}gAE  E E E "E :*E L_:VE ZE a @a @a @a @A .AI I O >y ,I,֪)I?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762>lX@>f@>R=ٱ>" JAHRS rotation from veh to nav: [[-0.888570,0.458420,-0.017145],[-0.447738,-0.874789,-0.185136],[-0.099869,-0.156830,0.982563]]>H@+oV?ܿ@E`ǿĿ(q?i>lX@I>];>CYRByPbDZVDZ2yb%bZ=ٔbQ-f>9f ?Yf ?=fDyf Dj.Ej>lQ 5r4ncՊ?Q 9r4n,)n3dBYtyv$Q Iv?n`DIn2;in)G;nD4y~Bɮ~tAdE%B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 230.35 m.RhE`9ZhM`9e ProNav: ac range: 230.348602 m, nav range: 217.695755 m, bearing: 209.528852 deg, approach rate: -0.689386 m/s, LOS rate: -0.010129 deg/s, cmd heading: 206.593333 deg, new cmd heading: 206.581823 deg. Bhes޹mHeadingCmd: 3.605533 target range: 230.348602 and range: 231.30 m.hm f@hi*hq"hq hqgqfyfyfdddjdZd w@Qm߅Bɢmz=)i m<=ii)u=qi#i^+Q;>1;I f@IM9@I @I@U0@Qԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770837^A;ԱI I O >B <A p<B 9>B B $IB ݅BB B B B ;B )V4=i-Mb@Mb@Mb@)))) )9-> ףp=?x&?{GztY-1?y-7=-ף-A-@ -@)-- A)Y-AbDEVDEk1yU%UA=ٔU(Q-U>9Y=Dy D$E>Q 54ENՊ?Q 940) dBY2?Q E:y)%Q I?sDI;i[;4yBɮ%tA%mEjhamFNOT Ignoring new targets: 230.35 m.Rhm'Zhm' ProNav: ac range: 230.348602 m, nav range: 217.392044 m, bearing: 209.525203 deg, approach rate: -0.686402 m/s, LOS rate: -0.008259 deg/s, cmd heading: 206.581817 deg, new cmd heading: 206.570854 deg. BhbHeadingCmd: 3.605341 target range: 230.348602 and range: 231.30 m.hf@h*h"h hgfԱffBdddjdZd7 @uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023028ۅBɢ,@=) =i))=i-羼ia+.R;(;If@I@ @@0@ ^A S;- BDAT read: Rx Time:00:30:30.3585 - TRx dataTimestamp_ set to:1761525029.4205115 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276404I I O >9 #W,]I?AJ!X@Jf@JJ=ٱJ4# VAHRS rotation from veh to nav: [[-0.888843,0.457952,-0.015430],[-0.447515,-0.874835,-0.185455],[-0.098428,-0.157936,0.982532]]JH@gq`O? ܿ``ǿ 2@=7Ŀ p?iJ!X@IJ];JCY^By^$I fR=fp=bDfVDf1ynV%rM=ٔr`պQ-r>9pYt=vDyv DvHEv>xQ 5~4z`;Պ?Q 9~4zy4)zcBYy*%Q I?zDIz:izM:z4y ɮ tAjh1=FNOT Ignoring new targets: 230.35 m.Rh=Zh=M ProNav: ac range: 230.348602 m, nav range: 217.127518 m, bearing: 209.522021 deg, approach rate: -0.708034 m/s, LOS rate: -0.008528 deg/s, cmd heading: 206.570848 deg, new cmd heading: 206.561290 deg. BhMGHeadingCmd: 3.605175 target range: 230.348602 and range: 231.30 m.h.f@h*h"h hgfffdddjdZd @颅ׅBɢU=) =i)kH=顩i+Iid+'KR;jH;I.f@IEU EUEU+EQ"EU:*EUc:VEU [4ZEQae@ae@ae@ae@M9@I @I@M5@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526797^AM ;AM>AM>IIO>! M],wI?AX@f@)=ٱq# AHRS rotation from veh to nav: [[-0.889247,0.457191,-0.014713],[-0.446899,-0.875189,-0.185270],[-0.097581,-0.158176,0.982577]]H t B?!`ܿ@ǿ@@?Ŀ Fq?iX@I];CY%By-$IbD9VD9yMX%MD=ٔMQ-M>9QYQ=UDyU D]E]>aQ 5m4e&Պ?Q 9m4e8)ecBYiym7%Q Im?eDIe:ie:e軛4y}Bɮ}AtA}lEDAT read: 00:30:30.3585 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.10, 1.876, 0.346, 1.651, 1.109, PHS= 0.869,-0.718, 0.498, RAW= 137.1, -9.1, CAL= 137.2, -10.5, ROT= 12.8, 10.5 Ygot valid direction response: 00:30:30.3585 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.10, 1.876, 0.346, 1.651, 1.109, PHS= 0.869,-0.718, 0.498, RAW= 137.1, -9.1, CAL= 137.2, -10.5, ROT= 12.8, 10.5 5PDAT read: Bearing 337.9, 8.5 (Local) 5~Local bearing/azimuth received: Bearing 337.9, 8.5 (Local) EDAT read: Range 11 to 50 : 230.3 m (Round-trip 307.1 ms) speed 0.6 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.958820,0.217839,-0.182236]UFpublishing direction and range infoy} ? |#?m~SǿYLfC )?Iv^?i7>f$@"@@ f;)d>If;>ii{I?AJiZeCRiZeCjivs@i}k@[H@QDri} ? |#?m~SǿZid>bif;>i*euBG`%nzQzi.X1Nt⿼1ӿ2iB:i,"iP?*iiBiN\iiiy iXCij@O %4?O?42N+Ŀ %>) ">QId>if;>}T****** received valid address query ******}R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. addTargetRange:: Added new target pos. range: 230.300003 m, deltaT: 4.030103 s, deltaX: -1.000000 m, approachRate: -0.248133 m/s, rangeRepo size: 4 B5<>B1B5$IB5؅BB1B1B1B5;B5 ] BDAT read: Tx time:00:30:31.6473 ] $Ping request sent.] d,vI?A>/X@>f@>y=ٱ># FAHRS rotation from veh to nav: [[-0.889397,0.456925,-0.013848],[-0.446777,-0.875258,-0.185237],[-0.096760,-0.158562,0.982596]]>Hu`D>?u\`ܿ۵ǿ`JŸ@KĿmq?i>/X@I>];9QYQ=]Dy]' D]lֹE]>aQ 5m4edՊ?Q 9m4ek<)ecBYmq.?Q Eu:yu"'Q Iu?eDIe~ ;ie ;ewÛ4yyɮ}ftAyjhFNOT Ignoring new targets: 229.35 m.RhpZhp ProNav: ac range: 229.351944 m, nav range: 216.545135 m, bearing: 209.517431 deg, approach rate: -0.831201 m/s, LOS rate: -0.003290 deg/s, cmd heading: 206.548541 deg, new cmd heading: 206.545059 deg. BhHeadingCmd: 3.604891 target range: 229.351944 and range: 230.30 m.hf@h*h"h hgfffBdddjdZd`6?颥ЅBɢ^=) =i)=i꼼i+i+R;`.;If@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250961e9@a @a@e3@a^A;E EE*E"E:*EF:VE(N4ZEa@a@a@a@! I) IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501924j,@I?AJX@Jf@J\0=ٱJQ# VAHRS rotation from veh to nav: [[-0.889648,0.456444,-0.013606],[-0.446413,-0.875597,-0.184517],[-0.096135,-0.158081,0.982735]]JHw`6?n݋ܿ@ǿL`<Ŀr?iJX@IJP];JCYZ߅By^$Idf@AbDfVDf0ynbڽ%nR=ٔrӺQ-r>9pYt=vDyv7 DvEv>xQ 5~4z;Ԋ?Q 9~4z?)zcBYy)'Q I?zDIz;iz&;zAʛ4y iBɮ PtA kE-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 229.35 m.Rh=>ZhE>M ProNav: ac range: 229.351944 m, nav range: 216.281693 m, bearing: 209.516417 deg, approach rate: -0.677249 m/s, LOS rate: -0.002608 deg/s, cmd heading: 206.545057 deg, new cmd heading: 206.542013 deg. BhUUHeadingCmd: 3.604838 target range: 229.351944 and range: 230.30 m.hUf@hY*hY"hY hYgYfYfafadadadijdiZdmR?5ͅBɢ5dƏ=)9 =H=i9)=`=99iEAiE j+MR;MЗ;IMf@IIQ-9@) @)@-/@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753806^AU;AmgAzAiII O= > AQ AU AABm =>Bi Bm $IBm ͅBBm =Bi Bi Bm ;Bm "9Y=DyH D&!E>Q 54Ԋ?Q 94C)qcBYm+?Q E:y|(Q I?DI~ ;i ;ћ4yQBɮbsAjEjh FNOT Ignoring new targets: 229.35 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005795RhuA7ZhuA7 ProNav: ac range: 229.351944 m, nav range: 215.993942 m, bearing: 209.516889 deg, approach rate: -0.666811 m/s, LOS rate: 0.001095 deg/s, cmd heading: 206.542011 deg, new cmd heading: 206.543428 deg. BhN@8HeadingCmd: 3.604863 target range: 229.351944 and range: 230.30 m.hf@h*h"h hgfff BdddjdZdp?5ɅBɢ5J=)1 5]=i1)==99i=􎻼iEi+E(S;EՐ;IEf@IA9@ @@@^Ay; G% hAE A 9 hAY *A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261457I I I) O5 >w,*I?A^X@^f@^LC=ٱ^r# nAHRS rotation from veh to nav: [[-0.889756,0.456259,-0.012735],[-0.446398,-0.875669,-0.184209],[-0.095199,-0.158216,0.982805]]^Hx`W3?ɑܿ`z*ǿ ^`n@Ŀ"s?i^X@I^M];^CYvՅByv$IIzR=)zJ?bDVD02y%U=ٔݗQ->9!Y!=%Dy%W D% :E->)Q 554-6Ԋ?Q 9=4-F)-XcBY9y=y(Q I=?-DI-+;i-;-؛4yAɮEsAIjhimFNOT Ignoring new targets: 229.35 m.Rhuv7Zhuv7 ProNav: ac range: 229.351944 m, nav range: 215.737823 m, bearing: 209.517296 deg, approach rate: -0.667108 m/s, LOS rate: 0.001062 deg/s, cmd heading: 206.543432 deg, new cmd heading: 206.544655 deg. Bh:8HeadingCmd: 3.604884 target range: 229.351944 and range: 230.30 m.hmf@h*h"h hgfffdddjdZdR?ƅBɢ=bE(N4jEmF4rEz:0EU EUEU(EQ"EU7:*EU H:VEUc44ZEQae@ae@ae@ae@)i mԙ %~,(I?A6&X@6f@6w=ٱ6U%" BAHRS rotation from veh to nav: [[-0.889838,0.456091,-0.012993],[-0.446317,-0.875979,-0.182925],[-0.094812,-0.156974,0.983041]]6Hy0?Ssܿjǿ@EĿu?i6&X@I6];6CYF҅ByJ$IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761672 TV%=bDZ VDZf2ybBF%bP=ٔbPQ-b>9dYd=fDyfg Dj"Ej>hQ 5r4jԊ?Q 9r4j?J)j?cBYpyr{(Q Ir?jDIj;ij;j_ߛ4yz:Bɮz:sAziEjhFNOT Ignoring new targets: 229.35 m.Rh%7Zh%75 ProNav: ac range: 229.351944 m, nav range: 215.476166 m, bearing: 209.517721 deg, approach rate: -0.666646 m/s, LOS rate: 0.001084 deg/s, cmd heading: 206.544661 deg, new cmd heading: 206.545937 deg. Bh5c>8=HeadingCmd: 3.604907 target range: 229.351944 and range: 230.30 m.h=ʶf@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMM@y颅ÅBɢ=) PB B $IB ÅBB B B B ;B &Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013642 ,J?AY~хBy~$IiMb@Mb@Mb@ 9B`"?:v?Mb`?Y.?yT<;Ar@ @) AYAbDVDk1y%;=ٔQ->9Y=Dyy DE>Q 54ԬԊ?Q 94M)"cBY.?Q E:y*Q I?DI5;i:4y"BɮrAhEjh%FNOT Ignoring new targets: 229.35 m.Rh%8Zh-8= ProNav: ac range: 229.351944 m, nav range: 215.179596 m, bearing: 209.520164 deg, approach rate: -0.677559 m/s, LOS rate: 0.005589 deg/s, cmd heading: 206.545931 deg, new cmd heading: 206.553270 deg. Bh=yu9EHeadingCmd: 3.605035 target range: 229.351944 and range: 230.30 m.hEf@hA*hA"hA hAgAfIfIfM7BdIdQdQjdQZdUy@颅Bɢd=) H=i)Պ=顉iif+MS;Ҧ;If@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266377-9@) @)@5O0@11^AMr;Eu EuEu*Eq"EuI:*Eua9:VEu(N4ZEqa@a@a@a@IIO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518288q -,.J?AJX@Jf@Jk=ٱJ^# VAHRS rotation from veh to nav: [[-0.889615,0.456555,-0.011944],[-0.446800,-0.875431,-0.184363],[-0.094628,-0.158676,0.982786]]JH@w08?u_ܿ`4ǿ9|OĿr?iJX@IJ ];JCYZBy^$I ``bDfVDfk2ynCԽ%nZ=ٔrQ-r>9pYp=vDyv Dv:Ev>xQ 5~4z͙Ԋ?Q 9~4zQ)z cBYy *Q I?zDIz;iz;z4y KBɮ ptA rE-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 229.35 m.RhE8ZhE8U ProNav: ac range: 229.351944 m, nav range: 214.924515 m, bearing: 209.522234 deg, approach rate: -0.681490 m/s, LOS rate: 0.005537 deg/s, cmd heading: 206.553267 deg, new cmd heading: 206.559484 deg. BhU2s9UHeadingCmd: 3.605143 target range: 229.351944 and range: 230.30 m.hUf@hY*hY"hY hYgYfafafadadidijdiZdm@额Bɢ̊=) i)Պ=顡i츼i e+S;>;If@I99@ @@4@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769601^AIIIO>ԑB A <B >>B B m$IB BB =B B B ;B =5ܿ ǿ$ cĿhr?i2X@I2];2CY^Byb^$Ii}Mb@Mb@Mb@yyyy y9}w/?{Gzt?{Gzt?Y}&?y}ף;}ף;}hA}@ }A)}p AyY}zAbD VD2yT%>=ٔ@Q->9Y=Dy D59E>Q 54Ԋ?Q 94]T)bBY&?Q E:y*Q I?#DI:i:4y4BɮtAqEjhFNOT Ignoring new targets: 229.35 m.Rh9Zh9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021783 ProNav: ac range: 229.351944 m, nav range: 214.645691 m, bearing: 209.525272 deg, approach rate: -0.649418 m/s, LOS rate: 0.007086 deg/s, cmd heading: 206.559482 deg, new cmd heading: 206.568609 deg. Bh%9-HeadingCmd: 3.605302 target range: 229.351944 and range: 230.30 m.h-Ff@h)*h)"h) h)g)f)f1f5Bd9d9d9jd9Zd=@> @mBɢmS=)i m>iq)u=qqiui}pb+} T;};I}Ff@Iԑ 9@  @ @ 4@^A;AfAzAfAIYIiOu> BDAT read: Rx Time:00:30:34.3543  TRx dataTimestamp_ set to:1761525033.452128 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274722! *,)AbJ?A6X@6Af@6z=ٱ6,6& >AHRS rotation from veh to nav: [[-0.889240,0.457321,-0.010491],[-0.447609,-0.874628,-0.186203],[-0.094331,-0.160884,0.982455]]6Ht@D?g|ܿ ǿ &՗ĿEp?i6X@I6n|];6CYFByFL$IbDRVDR:3yV<%Z[=ٔZ@8Q-Z>9\Y\=^Dy  D :E >Q 54ArԊ?Q 9%4[W)bBY!y%*Q I%?3DI];i&;4y)ɮ-tA1jhQUFNOT Ignoring new targets: 229.35 m.Rh]F8Zh]F8m ProNav: ac range: 229.351944 m, nav range: 214.397278 m, bearing: 209.527938 deg, approach rate: -0.649247 m/s, LOS rate: 0.006974 deg/s, cmd heading: 206.568608 deg, new cmd heading: 206.576613 deg. Bhm*9uHeadingCmd: 3.605442 target range: 229.351944 and range: 230.30 m.huf@hy*hy"hy hygyfffdddjdZd@K @颽Bɢ s=) 4i)=iIi%`+jMT;s;If@IE= E=E=*E9"E=I:*E=A:VE=(N4ZE9aE@aE@aE@aE@Q@Q @Q@U/@Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525968^A=vт;I A ؟AI I O >6T,|J?A2Y@2f@2y=ٱ2& >AHRS rotation from veh to nav: [[-0.888838,0.458106,-0.010260],[-0.448388,-0.874161,-0.186520],[-0.094415,-0.161186,0.982398]]2H ]qQ?F`eܿ@!`ǿ@+Ŀ o?i2Y@I28x];i@IBAZDAT read: 00:30:34.3543 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 90, 0.17, 2.025, 0.272, 2.208, 1.834, PHS= 0.293,-1.517, 0.330, RAW= 151.0, 9.8, CAL= 150.7, 10.7, ROT= 359.3, -10.7 ^Ygot valid direction response: 00:30:34.3543 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 90, 0.17, 2.025, 0.272, 2.208, 1.834, PHS= 0.293,-1.517, 0.330, RAW= 151.0, 9.8, CAL= 150.7, 10.7, ROT= 359.3, -10.7 bPDAT read: Bearing 356.9, -7.6 (Local) b~Local bearing/azimuth received: Bearing 356.9, -7.6 (Local) jDAT read: Range 11 to 50 : 227.1 m (Round-trip 302.9 ms) speed 0.4 m/s jR#Rx 1: Read range and direction messages.n^direction in FSK: [0.982539,-0.012005,0.185667]rFpublishing direction and range infoy@Blp?O";.ᕈ &K{?YBcC@@@@ @)BIIB>iB-¿B>B+(@B%/>BaU(@ Bt;?>)Bū@IBt;?@@BJ ?w>?/? B ?)BZ@/IBD+HiBt;?@@0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y5zBy5-$IIU=)U===YB=>BBB$IBBBBBB#;BH9u"?Yu"?=uDyu D}d:E}>Q 54*WԊ?Q 94[)bBYy*Q I?JDIb:i{:z4yBɮuApEi@iB*}J?AJiB*bCRiB*bCjiBd"h@iBhk@itzdD@riBlp?O";.ᕈ &K{?ZiBD+HbiBt;?iBeh3$6QFZ4@ziB,<.L1ԓݿg*n!p?2iB2:iB0G"iBB Œ?*iB"(BiBBi@i@iB!iB VCiB j@y addTargetRange:: Added new target pos. range: 227.100006 m, deltaT: 4.032298 s, deltaX: -3.199997 m, approachRate: -0.793591 m/s, rangeRepo size: 4  Added new target pos. range: 226.166641 m, bearing: 207.817471 deg, lat: 36.779176 deg, lon: -121.859885 deg, deltaT: 4.032298 s, deltaX: -3.185303 m, approachRate: -0.789947 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 226.17 m.RhZh ProNav: ac range: 226.166641 m, nav range: 214.035889 m, bearing: 209.531741 deg, approach rate: 0.000000 m/s, LOS rate: 0.006974 deg/s, cmd heading: 206.576613 deg, new cmd heading: 206.588622 deg. Bh HeadingCmd: 3.605652 target range: 226.166641 and range: 227.10 m.h f@h *h "h hgff9f9d9d9d9jdE@3cl@ZdE$A?颍Bɢ%sz=) i)9_=项i\i\+UT;&;If@I=*DAT read: user:149> =BDAT read: Tx time:00:30:35.5973 E$Ping request sent.E9} ?Y ?=Dy D9;E>Q 54BԊ?Q 94^)bBYg&?Q E:yW+Q I?\DI;i:; 4yBɮvuAoEjh  FNOT Ignoring new targets: 226.17 m.Rh%9Zh%99M ProNav: ac range: 226.166641 m, nav range: 213.765778 m, bearing: 209.535441 deg, approach rate: -0.660606 m/s, LOS rate: 0.009060 deg/s, cmd heading: 206.588620 deg, new cmd heading: 206.599734 deg. BhM9UHeadingCmd: 3.605846 target range: 226.166641 and range: 227.10 m.hU-f@hQ*hQ"hQ hQgyfyfyf}BdddjdZd?E EE-E"E,:*E=:VEt4ZEa@a@a@a@mBɢ eb=) "6i)=i紼iY+DU;1;I-f@Ii9@ @@4@ߥ=ߥ<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503457ԑ ^A X; A ؟AI I) OE >,^J?AB 7Y@B,g@B=ٱB & NAHRS rotation from veh to nav: [[-0.887424,0.460864,-0.009138],[-0.451352,-0.872792,-0.185784],[-0.093597,-0.160744,0.982548]]BH e~?ܿǿCĿq?iB 7Y@IB?];BCYV2ByV#IbD^VD^:2yf;%fU=ٔfQ-j>9j"?Yj"?=nDyn DnC;En>pQ 5v4rC0Ԋ?Q 9v4ra)rbBYtyv5+Q Iz?rkDIr7;irD;rl4y|ɮ~vA|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 226.17 m.Rh-F9Zh5F9E ProNav: ac range: 226.166641 m, nav range: 213.519958 m, bearing: 209.538678 deg, approach rate: -0.660014 m/s, LOS rate: 0.008703 deg/s, cmd heading: 206.599740 deg, new cmd heading: 206.609464 deg. BhE!9EHeadingCmd: 3.606015 target range: 226.166641 and range: 227.10 m.hMf@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]?颍Bɢ{G=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819) zi)ع=iJ糼i%V+%U;%\ 1 l,$J?A2RY@2XHg@2O=ٱ2% :AHRS rotation from veh to nav: [[-0.886688,0.462289,-0.008584],[-0.452862,-0.872052,-0.185582],[-0.093278,-0.160667,0.982591]]2H@_@#?>ܿ*ǿ᷿ Ŀ cq?i2RY@I2 v];2CYBByF#IHJAiMb@Mb@Mb@ 9p= ף?/$?MbY%?y<A@ A)(AY AbD-VD-:3y=N%=D=ٔECIQ-E>9AYA=EDyE DM;EM>QQ 54UԊ?Q 94U.e)UgbBYB%?Q E:y)Q I?U|DIU ,J?A Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514826VmY@Vcg@Va=ٱV)$ bAHRS rotation from veh to nav: [[-0.885959,0.463678,-0.008848],[-0.454342,-0.871631,-0.183933],[-0.092998,-0.158937,0.982899]]VHY`?ݿg` ǿ`η`XĿ`s?iVmY@IVp];TYfByj#IbDrVDr:yz5 %zO=ٔz:Q-~>9|Y|=~Dy Dl;E> Q 54  Ԋ?Q 94 ch) GbBYy(Q I? DI D;i a; !4y%֣Bɮ%vA%mEjhIMFNOT Ignoring new targets: 226.17 m.RhUK18ZhUK18e ProNav: ac range: 226.166641 m, nav range: 212.999786 m, bearing: 209.540663 deg, approach rate: -0.674875 m/s, LOS rate: 0.002422 deg/s, cmd heading: 206.612703 deg, new cmd heading: 206.615429 deg. Bhe8mHeadingCmd: 3.606120 target range: 226.166641 and range: 227.10 m.hmf@hi*hi"hi higqfqfqfqdydydyjdyZd?颭Bɢ-=) i)Un=QQiUai] U+]IW;]3B A>B B #IB BB B B B ;B %9Y=Dy D>;E>Q 54ӊ?Q 94.l)bBY%?Q E:yK&Q I?DI:ij:8)4yɮwAjhAMFNOT Ignoring new targets: 226.17 m.RhM?ZhM?] ProNav: ac range: 226.166641 m, nav range: 212.720779 m, bearing: 209.538584 deg, approach rate: -0.638150 m/s, LOS rate: -0.004761 deg/s, cmd heading: 206.615435 deg, new cmd heading: 206.609191 deg. Bh]QeHeadingCmd: 3.606011 target range: 226.166641 and range: 227.10 m.hef@hi*hi"hi higififqfuBdqdqdyjdyZd}@eBɢep'=)i m ľii)m =iiim导iuV+uX;uREA#CM /Gu jA MA 9 jAY A^A #2?< ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271218A) IA IY Ou >,!K?AN;ɰLhrwY@rmg@rػ=ٱrK zAHRS rotation from veh to nav: [[-0.885796,0.463973,-0.009707],[-0.454946,-0.872311,-0.179161],[-0.091593,-0.154284,0.983772]]rH`qX ?Aჿ ݿƿrÿ`{?irwY@Ir];rCYDŽByP#IbDVD1y%%%U=ٔ-/#Q-->9)Y1=5Dy5! D5E5>9Q 5E4=ӊ?Q 9E4=o)=aBYIyMP&Q IM?=DI=:i=;=/4yUBɮUwAYjhy}FNOT Ignoring new targets: 226.17 m.RhcZhc ProNav: ac range: 226.166641 m, nav range: 212.474640 m, bearing: 209.536765 deg, approach rate: -0.643739 m/s, LOS rate: -0.004764 deg/s, cmd heading: 206.609193 deg, new cmd heading: 206.603727 deg. BhCQHeadingCmd: 3.605915 target range: 226.166641 and range: 227.10 m.hQf@h*h"h hgfffdddjdZd t @颭Bɢz=) ޾i)yS=顱ilidX+:Y;:A >Y I I O >,,F:K?A2dY@2OZg@2Ϻ=ٱ2{ :AHRS rotation from veh to nav: [[-0.886371,0.462871,-0.009842],[-0.453926,-0.873032,-0.178231],[-0.091090,-0.153511,0.983939]]2H&]?' ݿGƿQCÿn|?i2dY@I2];2CYBByB'#IbDNVDNk2yVu*%VS=ٔV+Q-V>9XYX=ZDyZ1 D^3GE^>`Q 5f4bӊ?Q 9f4br)baBYdyfc&Q If?bDIb:ib:b64ynBɮnzA9nvEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 226.17 m.RhZh ProNav: ac range: 226.166641 m, nav range: 212.226807 m, bearing: 209.535005 deg, approach rate: -0.603401 m/s, LOS rate: -0.004289 deg/s, cmd heading: 206.603728 deg, new cmd heading: 206.598443 deg. Bhg<HeadingCmd: 3.605823 target range: 226.166641 and range: 227.10 m.hf@h*h"h hgfffdddjdZd6@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775111]Bɢe̍<)a eia)e%=aaim׬imY+B:CBZ#IBτBB =BBDB;B$91Y1==Dy=H D= E=>AQ 5M4Eӊ?Q 9M4E=x)EaBYU(?Q EU:yU"Q I]?EDIE\;iE~b;EX@4yuѣBɮuwzA}uEjhFNOT Ignoring new targets: 226.17 m.RhZh ProNav: ac range: 226.166641 m, nav range: 211.869415 m, bearing: 209.526578 deg, approach rate: -0.666537 m/s, LOS rate: -0.015743 deg/s, cmd heading: 206.598442 deg, new cmd heading: 206.573118 deg. Bh,HeadingCmd: 3.605381 target range: 226.166641 and range: 227.10 m.h f@h *h "h  h g f ff:BdddjdZd^ @-Bɢ-C=)) -i))U":=qqiuBi}$a+}e\;}7",vK?AFn;Y@F1g@F %=ٱFY? RAHRS rotation from veh to nav: [[-0.887615,0.460484,-0.009704],[-0.451749,-0.874498,-0.176569],[-0.089793,-0.152341,0.984240]]FHWgx?߃ uܿΙƿ@ÿ~?iFn;Y@IF];FCYZfByZ"IbDbVDbk2yj2%nS=ٔnQ-n>9lYp=rDyrW Dr`Er>tQ 5z4vӊ?Q 9z4v{)vpaBY|y~"Q I~?vDIv;iv;vG4yBɮzA tEjh)-FNOT Ignoring new targets: 226.17 m.Rh5匹Zh5匹E ProNav: ac range: 226.166641 m, nav range: 211.619415 m, bearing: 209.520755 deg, approach rate: -0.660259 m/s, LOS rate: -0.015398 deg/s, cmd heading: 206.573116 deg, new cmd heading: 206.555625 deg. BhE)MHeadingCmd: 3.605076 target range: 226.166641 and range: 227.10 m.QhUf@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdm`@UBɢU<)Q UiQ)]S=YYi]ie%f+el\;eH~?O4YELaCAAAA A)ECIE"?iEF3Et>E,@E޹E,@ E^ ڽ)E0 >IE^ =AAE(l ?4L+?DS\ Ej>)E0)=IE0 >iE^ =AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BC>BB"IBBB =BBB;B1  BDAT read: Tx time:00:30:39.6473  $Ping request sent. ,TK?A2+Y@2b!g@2%#=ٱ2  :AHRS rotation from veh to nav: [[-0.888126,0.459510,-0.009107],[-0.450937,-0.875043,-0.175944],[-0.088817,-0.152153,0.984358]]2H@kh?Ŧ%ܿY@Sƿyÿ?i2+Y@I2^;2CYBOByB"IԹiEMb@Mb@Mb@AAAA A9EK7A?x&?{GzYE "?yE7 >E#EAA E1A)AAYE3 AbD]VD]0ymxν%m4=ٔms Q-m>9qYq=uDyuj D}k E}>Q 54ӊ?Q 94):aBY%?Q E:y;Q I?DI ;i ; O4yɮY{Aiyi}rK?AJi}``CRi}``Cji}n@i}i۟k@ F&>@7ri}zfO?k>H~?O4Zi}0 >bi}^ =i}mf\)^EGzi} gK鿡m0upΈ9ge?˿2i}:i}5"i}T?*i}&vKBi}!Ai}-,?i}|jLiyi}xSCi}FXj@ addTargetRange:: Added new target pos. range: 225.300003 m, deltaT: 4.035625 s, deltaX: -1.800003 m, approachRate: -0.446028 m/s, rangeRepo size: 4  Added new target pos. range: 224.376083 m, bearing: 213.904146 deg, lat: 36.779180 deg, lon: -121.859897 deg, deltaT: 4.035625 s, deltaX: -1.790558 m, approachRate: -0.443688 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 224.38 m.RhZh ProNav: ac range: 224.376083 m, nav range: 211.470398 m, bearing: 209.796393 deg, approach rate: 0.000000 m/s, LOS rate: -0.015398 deg/s, cmd heading: 206.555630 deg, new cmd heading: 206.534433 deg. BhHeadingCmd: 3.604706 target range: 224.376083 and range: 225.30 m.hf@h*h!"h! h!g!f!f)f-Bd)d)d1jd5)l@Zd5 ?]Bɢe썫<)a eX&ia)em#=iiim/iu6l+u\|];u:>9 E  E E E "E :*E ?:VE ZE a @a @a @a @, /K?A2Y@2 g@2ɲ=ٱ2w :AHRS rotation from veh to nav: [[-0.888904,0.458036,-0.007284],[-0.449720,-0.875572,-0.176425],[-0.087187,-0.153549,0.984287]]2Hq`tP?}6ܿ` ƿ Q}ÿG?i2Y@I2/^;2CYB3ByB"IIF%=)Fp<bDNVDN1yV9%Vk=ٔZ?Q-Z?9\Y\=bDybx DbEf?hQ 5n4jDžӊ?Q 9r4jT)jaBYpyrVQ Iv?jDIjH;ijH;j#U4yzBɮ~{A~sEjh15FNOT Ignoring new targets: 224.38 m.RhEMZhEM ProNav: ac range: 224.376083 m, nav range: 211.250153 m, bearing: 209.787515 deg, approach rate: -0.631854 m/s, LOS rate: -0.025496 deg/s, cmd heading: 206.534429 deg, new cmd heading: 206.507768 deg. BhHeadingCmd: 3.604240 target range: 224.376083 and range: 225.30 m.hf@h*h"h hgfffdddjdZd`be?%Bɢ%G<)) -3i))-=))i5=i5s+=:^;=Bu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755942ԙ m, K?AA0A0B6D>B4B6"IB6ABB4B4B4B6;B6,! JAHRS rotation from veh to nav: [[-0.889654,0.456610,-0.004666],[-0.448587,-0.875840,-0.177973],[-0.085351,-0.156242,0.984024]]BH x 9?s`ܿ@ƿٵÿ` }?iBX@IB}^;BCYR/ByR"IbD^VD^ 3yf%fI=ٔfUQ-f>9hYh=jDyj DjZEn>pQ 5v4rtӊ?Q 9v4r)r`BYtyvqQ Iv?rDIr=:ir:r9\4y|ɮ~{AYuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 224.38 m.Rh:ܹZh%:ܹy ProNav: ac range: 224.376083 m, nav range: 210.994064 m, bearing: 209.777287 deg, approach rate: -0.601879 m/s, LOS rate: -0.024067 deg/s, cmd heading: 206.507764 deg, new cmd heading: 206.477044 deg. Bh#DzD@AE EE'E"E:*Ea9:VE'4ZEBEa2EaJE&;a :E';a=HeadingCmd: 3.603704 target range: 224.376083 and range: 225.30 m.h=f@h9*hA"hA hIgqfqffdddjdZd@m?Bɢ<) {3i)+À=)i-*i5|+5ˢ^;5w;I5f@I9ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007054@ @@3@^A Β;A >A > AQ Ia Iq O >:<,XK?A2X@2mf@2|=ٱ2|$ :AHRS rotation from veh to nav: [[-0.890444,0.455089,-0.001772],[-0.447342,-0.875987,-0.180369],[-0.083636,-0.159816,0.983597]]2H~@/ ?]>ܿ@Vǿ@+itĿ@y?i2X@I2^;2CYB#ByB"Izchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259605imMb@Mb@Mb@iiii i9mPn?S㥛? rhYm$?ym$>mC mAm=@ mA)mAiYm AbD VD 3y2R%4=ٔ%xQ-%>9!Y!=-Dy- D-;TE->1Q 5=45aӊ?Q 9=45)5`BYEj)?Q EE:yEQ IE?5*DI5q ;i5 ;5*d4yMBɮME{AMrEjhquFNOT Ignoring new targets: 224.38 m.Rh}OZh}O ProNav: ac range: 224.376083 m, nav range: 210.702698 m, bearing: 209.762590 deg, approach rate: -0.676337 m/s, LOS rate: -0.034164 deg/s, cmd heading: 206.477042 deg, new cmd heading: 206.432889 deg. BhHeadingCmd: 3.602934 target range: 224.376083 and range: 225.30 m.hwf@hԙ*h"h hgfffBdddjdZd`' ?Bɢx'<) <8i) R=i]i?+# _;$;Iwf@I9@ @@/@E EE+E"Ey:*E3:VE [4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511201^A r;AA II IY O} >! oZ,K?A2:X@2f@2\s=ٱ2Hz& :AHRS rotation from veh to nav: [[-0.891549,0.452925,-0.000189],[-0.445411,-0.876834,-0.181030],[-0.082159,-0.161313,0.983477]]2H ?(ܿ@,ǿ XĿx?i2:X@I2!^;2CYB ByBk"I DDHJBAbDNVDN2yVH%Vg=ٔVnQ-Z>9XYX=ZDyZ D^λE^>!Q 5-4%3Rӊ?Q 9-4%)%`BY)y-7Q I5?%9DI%:i%V:%j4y=Bɮ=E}A=|EjhaeFNOT Ignoring new targets: 224.38 m.RhmZhm} ProNav: ac range: 224.376083 m, nav range: 210.467880 m, bearing: 209.750874 deg, approach rate: -0.641678 m/s, LOS rate: -0.032051 deg/s, cmd heading: 206.432892 deg, new cmd heading: 206.397705 deg. Bh}HeadingCmd: 3.602319 target range: 224.376083 and range: 225.30 m.hgf@h*h"h hgfffdddjdZd?Bɢ ;) KBi) }=iiN+J_; ;Igf@IU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7643169BIBIBMm"IBMBBM =BIBIBM;BM( checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930vB,L?A 6X@6f@6S=ٱ6\( >AHRS rotation from veh to nav: [[-0.892696,0.450657,0.001562],[-0.443386,-0.877663,-0.181978],[-0.080639,-0.163144,0.983301]]6H@?Y?o`ܿ@@Kǿ@Ŀ`4w?i6X@I6>t^;6CYFByFb"IiMb@Mb@Mb@ 9?oʡ?QYf&?y->IAj@ A)Y AbD-VD-3y=. %=A=ٔEmlQ-E>9AYA=EDyE DMEM>QQ 5]4U@ӊ?Q 9]4UE)UU`BY],?Q Ee:yeQ Ie?UJDIU ;iUG ;Uq4ymBɮm|Am{Ejh FNOT Ignoring new targets: 224.38 m.Rh=Zh=M ProNav: ac range: 224.376083 m, nav range: 210.200668 m, bearing: 209.737003 deg, approach rate: -0.627053 m/s, LOS rate: -0.032591 deg/s, cmd heading: 206.397703 deg, new cmd heading: 206.356037 deg. BhMﲺMHeadingCmd: 3.601592 target range: 224.376083 and range: 225.30 m.hU}f@hQ*hq"hq hqgqfyfyf}BdyddjdZd @Bɢč <) mDi)QKz=ii%7+%Yh_;%UF;I%}f@I)q@ @@/@ ԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267392^A- ;A) zA- hA A= .AIA IY Oe >E  E E 'E "E :*E *5:VE '4ZE a @a @a @a @l ,ظ+L?AFRqX@Fgf@Fޡ=ٱF'Z)P VAHRS rotation from veh to nav: [[-0.893943,0.448171,0.003020],[-0.441172,-0.878754,-0.182096],[-0.078956,-0.164116,0.983276]]FH-@֮?4h?`(<ܿ@Nǿ@x6ſ`v?iFRqX@IFT8^;DYbBybS"IbDrVDr1yz[%zO=ٔe=Q-m>9m ?Ym ?=mDym Du˻Eu>yQ 54}X/ӊ?Q 94})}(`BYyQ I?}\DI}:i}:}x4yBɮx|AzEjhFNOT Ignoring new targets: 224.38 m.Rh`Zh` ProNav: ac range: 224.376083 m, nav range: 209.933762 m, bearing: 209.723314 deg, approach rate: -0.678363 m/s, LOS rate: -0.034835 deg/s, cmd heading: 206.356038 deg, new cmd heading: 206.314920 deg. BhAHeadingCmd: 3.600875 target range: 224.376083 and range: 225.30 m.htf@h*h"h hgfffdddjdZd @Bɢp;)! %`Ii!)%"w=!!i%i-+-cS_;5N%;I5tf@I1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957@ @@/0@^A-vт;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7716539 Ae ؟AIq I O >B9 B9 B= G"IB= BB= =B9 B9 B= ;B= +)f%=f=dbDnVDnk1yv8=%vK=ٔvmQ-v>9z"?Yz"?=zDyz DzܻE~>|Q 5 4ӊ?Q 9 4H)_BYy"Q I?lDIi:4yɮ.|A!=B*** querying acoustic contact ***i9 i9jhI]FNOT Ignoring new targets: 224.38 m.RhmZhm ProNav: ac range: 224.376083 m, nav range: 209.680023 m, bearing: 209.710464 deg, approach rate: -0.651329 m/s, LOS rate: -0.033026 deg/s, cmd heading: 206.314921 deg, new cmd heading: 206.276323 deg. BhRHeadingCmd: 3.600201 target range: 224.376083 and range: 225.30 m.hif@h*h"h hgfffdddjdZd/ @E EE*E"E:*E1]:VE(N4ZEBE> ,x_L?ArBDAT read: Rx Time:00:30:42.3467 vTRx dataTimestamp_ set to:1761525041.521116~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277572j*X@jM f@jٚ=ٱj}+  AHRS rotation from veh to nav: [[-0.896076,0.443857,0.006192],[-0.437426,-0.880547,-0.182468],[-0.075537,-0.166214,0.983192]]jH(h?]y? ۿq-[ǿjVFſOv?ij*X@IjE^;jCYByd"Ii=Mb@Mb@Mb@9999 99="~j?ףp= ?QY=S#?y=>=u=!A9 =tA)=VA9Y==AbDU VDU:2yeݳ<%e4=ٔe|Q-e>9iYi=mDym DuvEu>yQ 54} ӊ?Q 94}1)}_BY(?Q E:yQ I?}DI}:i}:}4yqBɮP{AyEjhFNOT Ignoring new targets: 224.38 m.Rh9 Zh9  ProNav: ac range: 224.376083 m, nav range: 209.389938 m, bearing: 209.696942 deg, approach rate: -0.642540 m/s, LOS rate: -0.029993 deg/s, cmd heading: 206.276330 deg, new cmd heading: 206.235708 deg. BhHeadingCmd: 3.599492 target range: 224.376083 and range: 225.30 m.h^f@h*h"h hgfff5BdididijdiZdm@, @Bɢ.<<) >i)%rr=!iGȗi+ҍ^;v9I^f@IbE jE ŷG4rE Ł/E EE)E"Eg:*E*5:VEFA4ZEa@a@a@a@e9@i @i@m0@i@y@y)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526933^A rg:A >A >Y IA IY Oe >,syL?A:iX@:f@:֗=ٱ:wb+ FAHRS rotation from veh to nav: [[-0.896900,0.442175,0.007142],[-0.435985,-0.881409,-0.181755],[-0.074072,-0.166130,0.983318]]:H@h@L? A}? /ۿ4Cǿ gCſ Ww?i:iX@I:^;8YN ByNh"IbDVVDV 3y^<%^h=ٔ^҈Q-b>9`Y`=bDyb DfEf>hQ 5n4jҊ?Q 9n4j)j_BYlyn/Q Ir?jDIj1:ijk:j4ytɮv7{AtjhFNOT Ignoring new targets: 224.38 m.RhZh- ProNav: ac range: 224.376083 m, nav range: 209.164154 m, bearing: 209.686499 deg, approach rate: -0.641812 m/s, LOS rate: -0.029717 deg/s, cmd heading: 206.235704 deg, new cmd heading: 206.204341 deg. Bh-(5HeadingCmd: 3.598945 target range: 224.376083 and range: 225.30 m.h5Uf@h1*h1"h1 h1g9f9f9f9dAdAdAjdIZdMv@uBɢu i:)y }%)PR>I =i5z>eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.IBA>BB;"IBBB =BBDB;B#߉ ߍ 4= *DAT read: user:151>  BDAT read: Tx time:00:30:43.6972  $Ping request sent. 9yYy=}Dy} DͺE>Q 54,Ҋ?Q 94)_BY,)?Q E:y Q I?DI ;i ;4yfBɮ3sAxEi!i%׆L?AJi%\CRi%\Cji%i%Z5fQCJYbS5Qzi%-m_{j~RZݿ:ַԿ2i%W:i%6"i%Ж?*i%Bi%i!i!i%y i%PCi%:6j@] addTargetRange:: Added new target pos. range: 221.500000 m, deltaT: 4.032486 s, deltaX: -3.800003 m, approachRate: -0.942347 m/s, rangeRepo size: 4 m Added new target pos. range: 220.589996 m, bearing: 208.995425 deg, lat: 36.779180 deg, lon: -121.859897 deg, deltaT: 4.032486 s, deltaX: -3.786087 m, approachRate: -0.938897 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 220.59 m.RhZh ProNav: ac range: 220.589996 m, nav range: 208.865585 m, bearing: 209.677331 deg, approach rate: 0.000000 m/s, LOS rate: -0.029717 deg/s, cmd heading: 206.204340 deg, new cmd heading: 206.161966 deg. BhHeadingCmd: 3.598205 target range: 220.589996 and range: 221.50 m.hHf@h*h"h hgfff8Bdddjdk@ZdD?-Bɢ-X6<)1 5Z?i1)5wm=11i5;i=+=0];=IHf@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513969@ @@4@) E  E E +E "E :*E ?:VE [4ZE a @a @a @a @^A ybݹY Ii Iy O >O*,L?A6W@6e@6N=ٱ6) BAHRS rotation from veh to nav: [[-0.897878,0.440155,0.008856],[-0.434475,-0.882686,-0.179156],[-0.071039,-0.164708,0.983781]]6Hk`+?O#?nۿ >ƿ/ )ſ!{?i6W@I6v_;4YJ ByJi"IbDRVDRk1yZ w=%Zd=ٔ^Q-^>9 Y =Dy Dy@E>Q 5%4Ҋ?Q 9%4_)v_BY)y- Q I-?DIk:i:4y5Bɮ5sA=EjhYeFNOT Ignoring new targets: 220.59 m.RheZheu ProNav: ac range: 220.589996 m, nav range: 208.626877 m, bearing: 209.670052 deg, approach rate: -0.686307 m/s, LOS rate: -0.020952 deg/s, cmd heading: 206.161965 deg, new cmd heading: 206.140103 deg. Bh}f}HeadingCmd: 3.597824 target range: 220.589996 and range: 221.50 m.hBf@h*h"h hgfffdddjdZd ?颽|Bɢz:) 8i)8k=iOi+i];&IBf@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502637Q@Q @Q@U/@Q^Au"IIO>I i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886A A B B B A"IB BB B B B ;B *9)Y)=-Dy-. D-E->1Q 545Ҋ?Q 945)5X_BYyQ I?5DI5_h7,?L?AɰBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258595D:W@:e@:V=ٱ:Y& NAHRS rotation from veh to nav: [[-0.898825,0.438184,0.010435],[-0.433108,-0.884252,-0.174686],[-0.067317,-0.161531,0.984569]]:H ,4 ?^?@ ۿK@\ƿ;Ŀ?i:W@I:G`;:CYVByVz"IZ=Zp=i5Mb@Mb@Mb@1111 195"~j?{Gz?y&1?Y5S#?y5ף=5`e<5!A5@ 5- A)5lA1Y5A Ea=ER=bDM VDMf2y]<%]F=ٔeJQ-e>9aYa=eDym> Dm߂Em>qQ 5}4uҊ?Q 9}4uL)uF_BY$?Q E:y4$Q I?uDIu ;iuu:uk4yɮrAjhFNOT Ignoring new targets: 220.59 m.RhBZhB ProNav: ac range: 220.589996 m, nav range: 208.097198 m, bearing: 209.657694 deg, approach rate: -0.662449 m/s, LOS rate: -0.010646 deg/s, cmd heading: 206.115725 deg, new cmd heading: 206.102993 deg. BhUHeadingCmd: 3.597176 target range: 220.589996 and range: 221.50 m.hU!8f@hQ*hY"hY hYgYfYfafepBdadadajdiZdm j0?uBɢ;) &.i)'f=i)vi+[;iI!8f@I Ա9@ @@/@E- E)E-*E)"E-غ:*E)VE-(N4ZE)a=@a=@a=@a=@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510550^AE  A= .AIA IQ Om >>,L?A2W@2~e@2=ٱ2& :AHRS rotation from veh to nav: [[-0.898867,0.438062,0.011812],[-0.433245,-0.884286,-0.174179],[-0.065856,-0.161681,0.984643]]2H@5 ?0?`Gۿ LKƿ ۰ Ŀ`2?i2W@I2a;0YfByfp"IlbDpVDpyz%zQ=ٔ~uQ-~>9 ?Y ?=DyN Dˌ9E> Q 54 +Ҋ?Q 94 ) 6_BYy2$Q I? DI ;i  ; ?4y%_Bɮ%prA-EjhIMFNOT Ignoring new targets: 220.59 m.RhUE=ZhUE=e ProNav: ac range: 220.589996 m, nav range: 207.846878 m, bearing: 209.653660 deg, approach rate: -0.640994 m/s, LOS rate: -0.010342 deg/s, cmd heading: 206.102994 deg, new cmd heading: 206.090877 deg. Bhe mHeadingCmd: 3.596964 target range: 220.589996 and range: 221.50 m.hm4f@hi*hi"hq hqgqfqfyfydydydjdZd,?颭rBɢ;) 0i)Od=项i:i +3[;ѺI4f@Iq@q @q@uc0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764549 BM@>BM9CBMT"IBMBBIBIBIBM;BM,a E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014570YD,M?AY~By~"I9iMb@Mb@Mb@ 9(\?Q? rh?Y'?y<C<#AA  A)YAbDVD:3yU=%>=ٔQ->9"?Y"?=Dy` DE>Q 54KҊ?Q 94o)(_BY'?Q E:y')Q I?DI:i:Ÿ4yKBɮqqAEjh!%FNOT Ignoring new targets: 220.59 m.Rh-}{8Zh-}{8= ProNav: ac range: 220.589996 m, nav range: 207.564865 m, bearing: 209.655139 deg, approach rate: -0.654155 m/s, LOS rate: 0.003435 deg/s, cmd heading: 206.090877 deg, new cmd heading: 206.095320 deg. Bh=9EHeadingCmd: 3.597042 target range: 220.589996 and range: 221.50 m.hE5f@hA*hA"hI hIgIfIfIfUBdQdQdYjdYZd] @颅oBɢ30<) )i)ubb=顉ipi+|Z;9I5f@IM9@I @I@M1@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683ԑ^Am?BɺA I I O >EM  EM EM (EI "EM 7:*EM E7:VEM c44ZEI a] @a] @a] @a] @'K,.M?A2?W@2e@2)=ٱ2& :AHRS rotation from veh to nav: [[-0.898119,0.439502,0.014837],[-0.435212,-0.883506,-0.173228],[-0.063026,-0.162037,0.984770]]2Hd ?b? ۿEV,ƿt"Ŀ`9Y=Dyo D%;E%>)Q 5-4-yҊ?Q 954-)-_BY1y5)Q I5?-DI-I:i-:-m4yAɮEaqAAjhamFNOT Ignoring new targets: 220.59 m.Rhm`8Zhm`8 ProNav: ac range: 220.589996 m, nav range: 207.315308 m, bearing: 209.656306 deg, approach rate: -0.656109 m/s, LOS rate: 0.003072 deg/s, cmd heading: 206.095316 deg, new cmd heading: 206.098822 deg. Bh9HeadingCmd: 3.597103 target range: 220.589996 and range: 221.50 m.h6f@h*h"h hgfffdԙddjdZd`@lBɢ<) &i) [`=ii+Z;tl89I6f@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518727u9@q @q@u4@q@}=@y^ANJκAzAgA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770592A I I O > BA AE <BM A>BM :CBM f"IBM BBI BI BI BM ;BM =9tYt=vDyv DzՊ;Ez>xQ 54zfҊ?Q 94z)z_BYy(Q I?zDIz;iz;z`Ɯ4y7BɮpA~E-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 220.59 m.RhEJ8ZhEJ8U ProNav: ac range: 220.589996 m, nav range: 207.054642 m, bearing: 209.657409 deg, approach rate: -0.654620 m/s, LOS rate: 0.002772 deg/s, cmd heading: 206.098827 deg, new cmd heading: 206.102139 deg. BhU8HeadingCmd: 3.597161 target range: 220.589996 and range: 221.50 m.h7f@h*h"h hgfffdddjdZdd @E EE*E"Ey:*Ea9:VE(N4ZEBEa 2Ea JE&;a :E';a EiBɢM;<)Y ]$ia)e^=ii`i+-Y;-:I-7f@I1J><5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.02683299@ @@4@Q^Am 9ԁ A .AI I O >9X,bM?A6BDAT read: Rx Time:00:30:46.3958 6TRx dataTimestamp_ set to:1761525045.552278:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275813FEX@F;f@F0v=ٱF'$ RAHRS rotation from veh to nav: [[-0.896289,0.443144,0.017016],[-0.439384,-0.882177,-0.169426],[-0.060069,-0.159331,0.985396]]FHey\?l?ܿ:ſ`YdĿ ]?iFEX@IF7c;FCYVByZu"Ii5Mb@Mb@Mb@1111 195v/?9e ?Ye ?=eDym Dmz;Em>qQ 5}4uyQҊ?Q 9}4u )u_BY)?Q E:y,Q I?u'DIuK;iu;u͜4yɮ qAjhQFNOT Ignoring new targets: 220.59 m.Rh]o9Zheo9m ProNav: ac range: 220.589996 m, nav range: 206.777603 m, bearing: 209.662897 deg, approach rate: -0.660547 m/s, LOS rate: 0.013104 deg/s, cmd heading: 206.102133 deg, new cmd heading: 206.118621 deg. Bhu:HeadingCmd: 3.597449 target range: 220.589996 and range: 221.50 m.h c^,W[|M?A4<ɰ4<2nX@2:df@2o=ٱ2/" :AHRS rotation from veh to nav: [[-0.895280,0.445143,0.017943],[-0.441643,-0.881508,-0.167017],[-0.058530,-0.157451,0.985791]]2H!9}?_?`CܿP5`ſ`['Ŀ?i2nX@I2d;2CYBByBw"IbDN VDN:2yV&<%VV=ٔVQ-V>9Z"?YZ"?=ZDyZ DZ ;E^>`Q 5f4bO>Ҋ?Q 9f4b)b^BYdyfY,Q If?b7DIb1:ibI:b_Ԝ4yn"Bɮn\pAljhyFNOT Ignoring new targets: 220.59 m.Rh^9Zh^9 ProNav: ac range: 220.589996 m, nav range: 206.525833 m, bearing: 209.667728 deg, approach rate: -0.633564 m/s, LOS rate: 0.012170 deg/s, cmd heading: 206.118621 deg, new cmd heading: 206.133130 deg. Bh:HeadingCmd: 3.597702 target range: 220.589996 and range: 221.50 m.h@f@h*h"h hgf f fd1d1d9jd9Zd=@颭cBɢB;)Ա &i)Y=i醼i+*Y;Z;I@f@II-gA))DAT read: 00:30:46.3958 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.21,-0.268,-1.891,-0.320,-1.447, PHS= 1.280,-0.400, 1.083, RAW= 143.8, -23.6, CAL= 144.9, -25.5, ROT= 5.1, 25.5 Ygot valid direction response: 00:30:46.3958 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.21,-0.268,-1.891,-0.320,-1.447, PHS= 1.280,-0.400, 1.083, RAW= 143.8, -23.6, CAL= 144.9, -25.5, ROT= 5.1, 25.5 PDAT read: Bearing 320.1, 5.6 (Local) ~Local bearing/azimuth received: Bearing 320.1, 5.6 (Local) DAT read: Range 11 to 50 : 220.8 m (Round-trip 294.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.899012,0.080235,-0.430511]Fpublishing direction and range infoyqu/Ҵ?>8B? Wv~ۿYu\Cqqqq q)uDIu ף?iu̾u?uK @uBҾu!@ u)uK=Iu>qquO?i`DVI?ٿ u>)uR>IuK=iu>qqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@@@@BC>BBm"IBBBBBDB*;BV - BDAT read: Tx time:00:30:47.7472 - $Ping request sent.- 9 fLe,&9M?AY= By=k"I =/GQiEMb@Mb@Mb@AAaAA A9Ew/?Q:v?YE&?Q9YhAyEET9Y=Dy DE>Q 54&Ҋ?Q 941)^BY'?Q E:yp.Q I?KDI:i:ܜ4yBɮ pA}EiiڍM?AJi[CRi[Cji 9g@ifUh@0vD1@@Wri/Ҵ?>8B? Wv~ۿZiK=bi>iGZjZeUB`Zzi*siUٿ~FZV߿2i:i*"iP뙊?*i]Bi&iT?i"(iN\i.LCij@= addTargetRange:: Added new target pos. range: 220.800003 m, deltaT: 4.031678 s, deltaX: -0.699997 m, approachRate: -0.173624 m/s, rangeRepo size: 4 U Added new target pos. range: 219.893890 m, bearing: 207.001719 deg, lat: 36.779194 deg, lon: -121.859881 deg, deltaT: 4.031678 s, deltaX: -0.696106 m, approachRate: -0.172659 m/s, posRepo size: 4 jhQUFNOT Ignoring new targets: 219.89 m.Rh]ZhYm ProNav: ac range: 219.893890 m, nav range: 204.180038 m, bearing: 209.554012 deg, approach rate: 0.000000 m/s, LOS rate: 0.012170 deg/s, cmd heading: 206.133128 deg, new cmd heading: 206.149943 deg. BhiuHeadingCmd: 3.597995 target range: 219.893890 and range: 220.80 m.huEf@hq*hq"hq hygyfyfyfBdddjdk@Zd@ ?额`Bɢ(l<) )i)7W=iii &+f/Z;#;IEf@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2518179@ @@@i bEʙT4jER4rE0E-  E- E- 'E) "E- 7:*E- X:VE- '4ZE) aE @aE @aE @aE @^A] ϩ;ԑ Am .AIy I O >l,|M?A2X@2@f@2]_e=ٱ2?_ :AHRS rotation from veh to nav: [[-0.892698,0.450250,0.019107],[-0.447166,-0.879724,-0.161640],[-0.055970,-0.152839,0.986665]]2H` ?? _ܿ&Ŀ >ÿ ’?i2X@I2c;2CYBByBR"INchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962bDRVDR!3yZԽ%ZX=ٔ^ݻQ-^>9^ ?Y^ ?=^Dyb Db<Eb>dQ 5j4fҊ?Q 9j4f)f^BYlyn.Q In?fZDIf;ifz;f<4yr5BɮrqArEjh  FNOT Ignoring new targets: 219.89 m.Rhi9Zhi9% ProNav: ac range: 219.893890 m, nav range: 203.934113 m, bearing: 209.560514 deg, approach rate: -0.658174 m/s, LOS rate: 0.017421 deg/s, cmd heading: 206.149944 deg, new cmd heading: 206.169472 deg. Bh%K?:-HeadingCmd: 3.598336 target range: 219.893890 and range: 220.80 m.h-$Kf@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE ?1 ]Bɢ5B:)9 =w2i9)=&U=99i=4iE+EZ;E8'B B `"IB BB =B B B ;;B iԱ r,{M?A2X@2}f@2^=ٱ2> :AHRS rotation from veh to nav: [[-0.891702,0.452204,0.019492],[-0.449342,-0.879238,-0.158215],[-0.054407,-0.149839,0.987212]]2Hш?@?ܿ"b@Ŀ6۫-ÿ >?i2X@I2,]c;2CYBByB="IDDHJAAER ERER*EP"ERg:*ER3:VER(N4ZEPBER;aZ2ER;aZJER;aZ:ER;aZbDNVDN02y % E=ٔ xQ- >9"?Y"?=Dy D;E=>QQ 54Uъ?Q 94U)U^BYy-Q I?UlDIUfy,HnM?AY ӃBy $"IiMb@Mb@Mb@ 9RQ?ˡEMb`?Y"?y';^"A )YGAbDVDN2y%8=ٔQ->9Y=Dy DE>Q 54ъ?Q 94)^BY"?Q E:y=/Q I?~DIj;i;74y BɮqAEjh!%FNOT Ignoring new targets: 219.89 m.Rh-9Zh59E ProNav: ac range: 219.893890 m, nav range: 203.384811 m, bearing: 209.576371 deg, approach rate: -0.725272 m/s, LOS rate: 0.023135 deg/s, cmd heading: 206.190680 deg, new cmd heading: 206.217116 deg. BhM ~:UHeadingCmd: 3.599168 target range: 219.893890 and range: 220.80 m.hUXf@hY*hY"hY hYgYfafafebBqdqdqdyjdyZd} D?E5 E5E5&E1"E5:*E5E7:VE54ZE1a=@a=@a=@a=@UXBɢU C)Q UBiQ)]O=YYi]ie+e{];9. K,;N?A2Y@2: g@2T=ٱ2 :AHRS rotation from veh to nav: [[-0.891031,0.453424,0.021699],[-0.450965,-0.878706,-0.156544],[-0.051913,-0.149271,0.987433]]2HR?@U8?ܿ`\@ Ŀc@Mÿ@ ?i2Y@I2c;2CYv˃Byv"IbDVD1y W0%V=ֻٔQ->9Y=Dy D%;E%>!Q 5-4%3ъ?Q 954%5)%^BY1y5!/Q I5?%DI%:i%;%4yAɮErAAjhamFNOT Ignoring new targets: 219.89 m.Rhm9Zhm9 ProNav: ac range: 219.893890 m, nav range: 203.143799 m, bearing: 209.583948 deg, approach rate: -0.635635 m/s, LOS rate: 0.020005 deg/s, cmd heading: 206.217112 deg, new cmd heading: 206.239869 deg. Bh[:HeadingCmd: 3.599565 target range: 219.893890 and range: 220.80 m.hE_f@h*h"h hgfffchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762954dddjdZd#$@VBɢ) Ei)M=ikip+^;Dv,N?Aɰ6!Y@6g@6/O=ٱ6: >AHRS rotation from veh to nav: [[-0.890772,0.453863,0.023111],[-0.451610,-0.878381,-0.156512],[-0.050735,-0.149854,0.987406]]6H4 ?@_?`-ܿĿf.ÿӘ?i6!Y@I6b;6CYFByF!IIJR>)J>iMb@Mb@Mb@ 9ˡE?Mb9AYA=EDyE DM:EM>QQ 5]4Uъ?Q 9]4U<)U^BY](?Q Ee:ye,Q Ie?UDIU ;iU* ;U 4ymBɮmcrAmEjhnManaging dock network, ignoring radio surface power off5FNOT Ignoring new targets: 219.89 m.Rh=Dx9ZhEDx9 ProNav: ac range: 219.893890 m, nav range: 202.876190 m, bearing: 209.589499 deg, approach rate: -0.653102 m/s, LOS rate: 0.013566 deg/s, cmd heading: 206.239871 deg, new cmd heading: 206.256546 deg. Bh:HeadingCmd: 3.599856 target range: 219.893890 and range: 220.80 m.h df@h*h"h hgfff-BdddjdZd@5SBɢ5+)1 5/Si1)=>J=99i='|iE+EK_;EOH] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518784x,5N?A8N,5Y@N*g@NJ=ٱN ZAHRS rotation from veh to nav: [[-0.890294,0.454716,0.024679],[-0.452685,-0.877820,-0.156550],[-0.049522,-0.150548,0.987362]]NHJ}?yE?ܿ Ŀ@Z&Eÿ`w?iN,5Y@INb;LYbByb!IbDjVDj02yr%rP=ٔvJQ-v>9tYt=vDyz DzC;Ez>|Q 54~"ъ?Q 94~')~^BYy ,Q I ?~DI~$:i~_:~4yBɮ}rAjh9=FNOT Ignoring new targets: 219.89 m.RhEu9ZhEu9U ProNav: ac range: 219.893890 m, nav range: 202.618744 m, bearing: 209.594767 deg, approach rate: -0.653565 m/s, LOS rate: 0.013392 deg/s, cmd heading: 206.256550 deg, new cmd heading: 206.272375 deg. BhU :]HeadingCmd: 3.600132 target range: 219.893890 and range: 220.80 m.h]hf@hY*hY"hY hYgafafafadididijdiZdu؎@额QBɢy)Z: ]i)H=顡iyi-$+-d`;-TU.,NN?AE EE*E"E7:*EE7:VE(N4ZEBE;a2E;aJET;a:EU;a>HY@>=g@>F=ٱ> RAHRS rotation from veh to nav: [[-0.889818,0.455563,0.026182],[-0.453732,-0.877228,-0.156839],[-0.048483,-0.151437,0.987277]]>Hcy'?[Ϛ?@ ݿ@IĿ`Ҩ@Lbÿ Ɨ?i>HY@I>Zb;9xYx=zDyz% DzI;;E~>aQ 54ejъ?Q 94e=)e^BYy,Q I?eDIeՙ,y@iN?AxYzmBy~!IiMb@Mb@Mb@ 9Cl?Zd;O? rhY;?yj<C"AA A)AYAbD%VD%:2y=l%=3=ٔEQ-E>9AYI=MDyM8 DMEU>QQ 5]4Uъ?Q 9]4U)U^BYef?Q Ee:ye(Q Ie?UDIUe:iUi ;U4ymҡBɮu$sAuEjhFNOT Ignoring new targets: 219.89 m.Rh78Zh78 ProNav: ac range: 219.893890 m, nav range: 202.071182 m, bearing: 209.601238 deg, approach rate: -0.700202 m/s, LOS rate: 0.002501 deg/s, cmd heading: 206.288870 deg, new cmd heading: 206.291826 deg. Bh8HeadingCmd: 3.600471 target range: 219.893890 and range: 220.80 m.h nf@h*h"h hgfffBdddjdZdjr @E EE-E"E:*EVL:VEt4ZEa@a@a@a@颕LBɢ) Koi)uA=顙iqi+Rc;^g,?N?A2>VY@2Kg@2;=ٱ2z[ :AHRS rotation from veh to nav: [[-0.889538,0.455828,0.030707],[-0.454562,-0.876327,-0.159451],[-0.045773,-0.155796,0.986728]]2Hw@I,?q?ݿ hĿ o`!ÿF?i2>VY@I2wb;2CYBSByB!IbDJVDJ1yR%Vi=ٔVQ-V>9TYX=ZDyZF DZq";EZ>\Q 5%4^ uъ?Q 9%4^)^w^BY!y-(Q I-?^DI^@;i^;^4y1ɮ5sA1mDAT read: 00:30:50.4434 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 95, 0.17,-0.691,-2.383,-0.513,-0.861, PHS= 0.272,-1.477, 0.305, RAW= 150.9, 10.2, CAL= 150.6, 11.1, ROT= 359.4, -11.1 uYgot valid direction response: 00:30:50.4434 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 95, 0.17,-0.691,-2.383,-0.513,-0.861, PHS= 0.272,-1.477, 0.305, RAW= 150.9, 10.2, CAL= 150.6, 11.1, ROT= 359.4, -11.1 }PDAT read: Bearing 355.9, -4.8 (Local) ~Local bearing/azimuth received: Bearing 355.9, -4.8 (Local) DAT read: Range 11 to 50 : 219.0 m (Round-trip 292.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.ԙ^direction in FSK: [0.981239,-0.010276,0.192522]Fpublishing direction and range infoyAE0jOf?iT M?YE[CAAAA A)EFIEC>iEVE(>E(@EK6>E8(@ EaF>)E@IEaFAAEy3 ?y>F/?qn? EU/ ?)E6IED+iEaFAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iAiEN?AJiEZCRiEZCjiE$h@iEXDSj@n$ai0D@riE0jOf?iT M?ZiED+biEaFiE<(Ggφ\ǀYA?@ziEڙ@"Sk<ݿFH$?2iE:iE>"iE ᒊ?*iExȽdBiELBiEЖ?iAiE!AiE'LCiEi@BABABE!IBEBBABABABE%;BET=in BDAT read: Tx time:00:30:51.7472 $Ping request sent.+N,բN?A6)LY@6Ag@6,2=ٱ6# >AHRS rotation from veh to nav: [[-0.889901,0.454889,0.033945],[-0.454057,-0.876230,-0.161410],[-0.043680,-0.159052,0.986303]]6Hz?Fa?Gݿ Ŀ3]`[Ŀ@̏?i6)LY@I6H c;6CYF;ByFi!IiUMb@Mb@Mb@QQQQ Q9U/$?㥛 ?9Y=Dy\ D&E>Q 54\ъ?Q 94r)N^BYz)?Q E:yf$Q I?DId;i;F%4yBɮtAEjhFNOT Ignoring new targets: 218.10 m.RhQeZhQe ProNav: ac range: 218.102005 m, nav range: 203.807114 m, bearing: 209.230007 deg, approach rate: -0.710033 m/s, LOS rate: -0.012530 deg/s, cmd heading: 206.294744 deg, new cmd heading: 206.276442 deg. Bh HeadingCmd: 3.600203 target range: 218.102005 and range: 219.00 m.hif@h*h"h hg f ff˄BdddjdZd"?EFBɢE۾ԑ) i)jo:=isji+idf;#f s,N?A;ɰ:9Y@:7/g@::.=ٱ:L% BAHRS rotation from veh to nav: [[-0.890461,0.453654,0.035730],[-0.453068,-0.876490,-0.162769],[-0.042524,-0.161128,0.986017]]:H@~?2K?ܿ5 Ŀ ťӟĿs?i:9Y@I:lb;:CYJ$ByJM!IbDVVDVJ2yZA%ZZ=ٔ^IQ-^>9`Y`=bDybk DfEEj>pQ 5~4rJъ?Q 94r)r1^BY y {$Q I ?rDIrc;ir;r+4yѡBɮeuA%EjhaeFNOT Ignoring new targets: 218.10 m.Rhu LZhu L ProNav: ac range: 218.102005 m, nav range: 203.558365 m, bearing: 209.225703 deg, approach rate: -0.643587 m/s, LOS rate: -0.011149 deg/s, cmd heading: 206.276439 deg, new cmd heading: 206.263512 deg. BhHeadingCmd: 3.599977 target range: 218.102005 and range: 219.00 m.hff@h*h"h hgfffd1d9d9jd9Zd=?颍CBɢ) i)6=顱ifi+g;XBiBm!IBmWBBiBiBmDBm;BmMM %=] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010407^Am a,N?AY%By-=!Ie>G}hAt9hAYAiUMb@Mb@Mb@QQQQ Q9U)\(?ʡE?9Y=Dy DԉE>Q 546ъ?Q 94) ^BYK$?Q E:yQ I?DI~:i:[44yɮuAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 218.10 m.Rh޹Zh޹ ProNav: ac range: 218.102005 m, nav range: 203.252945 m, bearing: 209.214121 deg, approach rate: -0.640546 m/s, LOS rate: -0.024326 deg/s, cmd heading: 206.263517 deg, new cmd heading: 206.228720 deg. BhHeadingCmd: 3.599370 target range: 218.102005 and range: 219.00 m.h\f@h*h"h hgf!f)f-Bd1d1d1jd9Zd=xM?@Bɢcϼ) i)%2=!)i-YbiE+EHi;EDd9TYX=ZDyZ D^E^>\Q 5b4^"ъ?Q 9f4^)^]BYdyf Q If?^-DI^:i^:^w<4yBɮvAqjhFNOT Ignoring new targets: 218.10 m.RhZh ProNav: ac range: 218.102005 m, nav range: 202.959885 m, bearing: 209.203306 deg, approach rate: -0.570960 m/s, LOS rate: -0.021102 deg/s, cmd heading: 206.228724 deg, new cmd heading: 206.196231 deg. BhgHeadingCmd: 3.598803 target range: 218.102005 and range: 219.00 m.hRf@h*h"h h!g)f)f)f)d1d1d1jd1Zd=@}?额 ,\wO?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016893UX@Uf@U=ٱU+ AHRS rotation from veh to nav: [[-0.893286,0.447513,0.042103],[-0.447955,-0.878592,-0.165568],[-0.037102,-0.166760,0.985299]]UH`̕ ??KܿlR1ſ@`Xſ`?iUX@IUrb;UCYBy!IiEMb@Mb@Mb@AAAA A9EK7?ʡE?I +YE)?yE>E94E$AEA E A)EAAYEpAbD]VD]NymȻ%u%=ٔusQ-u>9qYy=}Dy} D}\E}>Q 5 4{ ъ?Q 9 45)]BY.?Q E:yQ I?CDI:i":dE4yBɮquA%EjhAMFNOT Ignoring new targets: 218.10 m.RhM$ZhM$] ProNav: ac range: 218.102005 m, nav range: 202.619720 m, bearing: 209.186726 deg, approach rate: -0.736860 m/s, LOS rate: -0.035976 deg/s, cmd heading: 206.196226 deg, new cmd heading: 206.146402 deg. BheźeHeadingCmd: 3.597934 target range: 218.102005 and range: 219.00 m.heDf@hi*hi"hi higififqfuBdqdqdyjdyZd}a@颥8Bɢ/) ,.O?A2=X@2f@2R=ٱ2,, :AHRS rotation from veh to nav: [[-0.894632,0.444616,0.044161],[-0.445451,-0.879872,-0.165526],[-0.034739,-0.167756,0.985216]]2H Ӡ t?@M?@Fܿ'/ſUɡ yſ ?i2=X@I2b;0YBByB !IbDnVDn2yv %vo=ٔvQ-v?9xYx=~Dy~ D~+E~?Q 5 4Њ?Q 9 4)]BY E EE,E"Eg:*E*5:VEg4ZEa%@a%@a%@a%@y%Q I-?QDI;i4;K4y1ɮ5uA1jhY]FNOT Ignoring new targets: 218.10 m.RheHZheHu ProNav: ac range: 218.102005 m, nav range: 202.402634 m, bearing: 209.176306 deg, approach rate: -0.660853 m/s, LOS rate: -0.031754 deg/s, cmd heading: 206.146406 deg, new cmd heading: 206.115114 deg. BhuV}HeadingCmd: 3.597387 target range: 218.102005 and range: 219.00 m.h};f@hy*hy"hy hygfffdddjdZd@6Bɢ$C@) hi)x&=i<[Vi+yl;ӡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770746) ,aHO?AB<ABE>BB(!IBBB =BBB;B@9xYx=zDyz D~ԱE~>Q 5 4Њ?Q 9 4P )n]BYyQ I?bDI:i: R4yBɮ~uAEjhFNOT Ignoring new targets: 218.10 m.Rh Zh  ProNav: ac range: 218.102005 m, nav range: 202.134033 m, bearing: 209.163580 deg, approach rate: -0.638939 m/s, LOS rate: -0.030313 deg/s, cmd heading: 206.115110 deg, new cmd heading: 206.076881 deg. Bh%m%HeadingCmd: 3.596720 target range: 218.102005 and range: 219.00 m.h%0f@h)*h)"h) h)g)f)f1f1dQdYdYjdYZd] @颭2Bɢ7) i))"=顱izcRi +l;I;I0f@IE5 E5E5)E1"E5:*E5=:VE5FA4ZE1BE5*,AbO?A 2iX@2_f@2y<ٱ20 >AHRS rotation from veh to nav: [[-0.896546,0.440151,0.049730],[-0.441953,-0.881338,-0.167092],[-0.029717,-0.171784,0.984686]]2H@n+?3v?Hܿ3 Ccſ` n ſ?i2iX@I2$c;0YFByF!IIJ?>)JC=J=J=imMb@Mb@Mb@iiii i9mE?K7A`? rhYm&?ym+>mC m%AmA mnA)iiYm=AbDVDyG<%@=ٔͻQ->9 ?Y ?=Dy DgE>Q 54Њ?Q 94 )J]BYE,?Q E:yfQ I?uDIu ;i ;Y4yɮiuAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 218.10 m.Rh%+Zh%+  ProNav: ac range: 218.102005 m, nav range: 201.854416 m, bearing: 209.148411 deg, approach rate: -0.688592 m/s, LOS rate: -0.037407 deg/s, cmd heading: 206.076875 deg, new cmd heading: 206.031306 deg. Bh _ͺHeadingCmd: 3.595925 target range: 218.102005 and range: 219.00 m.h#f@h*h"h hgff!f%Bd!d!d)jd)Zd-% @}BDAT read: Rx Time:00:30:54.4387 }TRx dataTimestamp_ set to:1761525053.616191checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275854/Bɢ)) i) =imNi+m; l;I #f@I)I=fA)=hAi9@ @@5@@gA@ԙE= E=E=-E9"E=:*E=?:VE=t4ZE9aE@aE@aE@aE@^Ar; - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527358A ؟AI I O X,)|O?APLJX@?f@l<ٱ6t1 AHRS rotation from veh to nav: [[-0.897463,0.438022,0.051932],[-0.440254,-0.882285,-0.166583],[-0.027148,-0.172365,0.984659]]H??-ܿ;Rſ̛ƿS?iLJX@I$c;ߑCYBy !IbD VD2y B=% C=ٔȻQ->9"?Y"?=Dy DӖE>!Q 5-4%Њ?Q 9-4%)%(]BY1y5Q I5?%DI%;i%;%`4y=Bɮ=uA=EjhaeFNOT Ignoring new targets: 218.10 m.Rhm!Zhm!} ProNav: ac range: 218.102005 m, nav range: 201.579071 m, bearing: 209.133599 deg, approach rate: -0.657287 m/s, LOS rate: -0.035407 deg/s, cmd heading: 206.031304 deg, new cmd heading: 205.986806 deg. Bh}eºHeadingCmd: 3.595148 target range: 218.102005 and range: 219.00 m.hf@h*h"h hgfffdddjdZd~@,BɢFW) ǎi)M=iKi,Gm;+;If@I9@ @@4@DAT read: 00:30:54.4387 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 92, 0.03, 2.142, 0.441, 2.258, 1.873, PHS= 0.371,-1.387, 0.340, RAW= 149.1, 7.8, CAL= 148.6, 8.4, ROT= 1.4, -8.4 Ygot valid direction response: 00:30:54.4387 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 92, 0.03, 2.142, 0.441, 2.258, 1.873, PHS= 0.371,-1.387, 0.340, RAW= 149.1, 7.8, CAL= 148.6, 8.4, ROT= 1.4, -8.4 PDAT read: Bearing 353.1, -1.7 (Local) ~Local bearing/azimuth received: Bearing 353.1, -1.7 (Local) DAT read: Range 11 to 50 : 215.5 m (Round-trip 287.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.988977,0.024170,0.146083]Fpublishing direction and range infoy%?N6i7{>ۋ&@'g >%@B%C>B!B%!IB%BB!B!B!B% ;B%;)+ @,KO?Az*DAT read: user:154>  BDAT read: Tx time:00:30:55.7972 -$Ping request sent.-511 1)11Y1m@AibDuVDuk2y}P<%5=ٔxQ->9Y=Dy DrE>Q 54Њ?Q 94) ]BY-?Q E:yQ I?DIO?*ingBi{BiixȽdiihJCi19j@M addTargetRange:: Added new target pos. range: 215.500000 m, deltaT: 4.032312 s, deltaX: -3.500000 m, approachRate: -0.867988 m/s, rangeRepo size: 4 } Added new target pos. range: 214.614716 m, bearing: 208.870562 deg, lat: 36.779170 deg, lon: -121.859907 deg, deltaT: 4.032312 s, deltaX: -3.487289 m, approachRate: -0.864836 m/s, posRepo size: 4 jhyFNOT Ignoring new targets: 214.61 m.RhZh ProNav: ac range: 214.614716 m, nav range: 202.406998 m, bearing: 209.687701 deg, approach rate: 0.000000 m/s, LOS rate: -0.035407 deg/s, cmd heading: 205.986812 deg, new cmd heading: 205.934848 deg. BhHeadingCmd: 3.594241 target range: 214.614716 and range: 215.50 m.h f@h*h"h hgfffBdddjdj@Zd "?]'Bɢe )a e]ia)e~=iiim\Gim,5Fm;5!;I5 f@I9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2430099@ @@3@ԙ ^A S;A hAzA hAEU  EU EU (EQ "EU :*EU a9:VEU c44ZEQ ae @ae @ae @ae @ A=.AIAIYOe?,JO?A2>X@2f@2H{<ٱ2U2 :AHRS rotation from veh to nav: [[-0.899053,0.434174,0.056544],[-0.437292,-0.883946,-0.165578],[-0.021908,-0.173590,0.984574]]2H@ ?``?@ۿ HI`1ſ`n`18ƿ?i2>X@I2b;2CYBByB'!I DDbDNVDNkyV=%VG=ٔVлQ-V>9Z ?YZ ?=ZDyZ D^߆E^>`Q 5f4bЊ?Q 9f4b)b\BYdyfQ Ij?bDnchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.494384Ib:ibSd;bo4yrBɮrtAtjh  FNOT Ignoring new targets: 214.61 m.RhZh% ProNav: ac range: 214.614716 m, nav range: 202.135544 m, bearing: 209.674596 deg, approach rate: -0.723029 m/s, LOS rate: -0.034951 deg/s, cmd heading: 205.934848 deg, new cmd heading: 205.895482 deg. Bh-俺-HeadingCmd: 3.593554 target range: 214.614716 and range: 215.50 m.ԑh-e@h*h"h hgfffdddjdZd #?颍$Bɢ-M() i)d=顑iMMDi",m;m;Ie@IԹ9@ @@4@i߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746673^A ;A @AA @AB B>B B !IB BB =B B B ;B F,O?A2W@2le@2<ٱ2"1 :AHRS rotation from veh to nav: [[-0.899672,0.432713,0.057875],[-0.436134,-0.884955,-0.163222],[-0.019411,-0.172088,0.984890]]2H?ա?ۿQsĿƿ8?i2W@I2gb;0Y^By^4!IbDfVDfN2ynS=%rG=ٔrǻQ-r>9tYt=vDyvDvREz>xE EE*E"E*E0:VE(N4ZEBEj;a2Ek;aJE߉;a:E߉;aQ 54zЊ?Q 94z5!)z\BY!y%/Q I%?zDIz;iz;z#w4y-Bɮ-sA-EjhQUFNOT Ignoring new targets: 214.61 m.Rh]Zh]m ProNav: ac range: 214.614716 m, nav range: 201.862579 m, bearing: 209.661483 deg, approach rate: -0.663284 m/s, LOS rate: -0.031908 deg/s, cmd heading: 205.895479 deg, new cmd heading: 205.856085 deg. Bhm/uHeadingCmd: 3.592866 target range: 214.614716 and range: 215.50 m.hue@hq*hq"hq hqgyfyfyfydddjdZd?颵 Bɢ) i)Q'=项iMcAi/.,m;0o;Ie@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002062)^Avт;QIq I O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250296,[O?A4<ɰ;YBy:!IiMb@Mb@Mb@ 9J +?Zd;?~jtxYy=Ļr&AA A)?AY\A p=bD  VD :2yG<%8=ٔQ->9!Y!=%Dy%+D%E->)Q 554-QzЊ?Q 9=4-%)-\BY=+?Q E=:y= Q I=?-DI-m ;i- ;-~4yAɮMjsAIQmB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 214.61 m.RhŹZhŹ ProNav: ac range: 214.614716 m, nav range: 201.567429 m, bearing: 209.651983 deg, approach rate: -0.668276 m/s, LOS rate: -0.021541 deg/s, cmd heading: 205.856082 deg, new cmd heading: 205.827540 deg. Bh-l5HeadingCmd: 3.592368 target range: 214.614716 and range: 215.50 m.h5]e@h1*h9"h9 h9g9f9fAfEBdAdAdAjdIZdMdH?Bɢ/) i)46 =iA>E EEE"E*E3:VEZEa@a@a@a@i%X6,%ݭm;e6;Im]e@Iiԁ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502322ԩ^A yb];A >A >I I O > ,%P?A6nW@6e@6kx<ٱ6j#. BAHRS rotation from veh to nav: [[-0.900544,0.430594,0.060084],[-0.434501,-0.886541,-0.158918],[-0.015162,-0.169219,0.985462]]6H@A؎?^î? ۿ@^`jWĿ$ @ſ`?i6nW@I6 c;4Y^-By^X!IIb>)bt>bDhVDhyrz>%r`=ٔv>Q-v>9tYt=vDyv:DzCEz>|Q 54~iЊ?Q 94~))~\BY y  Q I ?~DI~:i~:~D4yoBɮ rAEjh9=FNOT Ignoring new targets: 214.61 m.RhE¹ZhE¹U ProNav: ac range: 214.614716 m, nav range: 201.324905 m, bearing: 209.644280 deg, approach rate: -0.666752 m/s, LOS rate: -0.021202 deg/s, cmd heading: 205.827546 deg, new cmd heading: 205.804410 deg. BhUh]HeadingCmd: 3.591964 target range: 214.614716 and range: 215.50 m.h]e@hY*hY"ha hagafafifidididijdqZdu -?颽BɢU%) ui)L =i;i<,m;W5;Ie@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754340BBB;!IBBB =BBB;BB1 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008763 gg> ] Gu jA ܺ9 jAY ٪AY , P?ANW@Ne@No[<ٱNl- ^AHRS rotation from veh to nav: [[-0.900761,0.429971,0.061275],[-0.434108,-0.886973,-0.157574],[-0.013403,-0.168537,0.985604]]NH@?@u_?mۿ`bc+Ŀr ſ?iNW@INye;NCYj=Bynk!Ieonly read 0 of 1 data item for altitude. Device response is::BD, +123.63, + -0.18, .00 ae@ae ae@ae ae@ae am@am bDiVDiy}|=%&=ٔjQ->9Y=DyNDoE>Q 54BSЊ?Q 94.)\BQ A+:YQ E:y Q I?DIX;i>94yɮqAjhFNOT Ignoring new targets: 214.61 m.RhZh ProNav: ac range: 214.614716 m, nav range: 200.998016 m, bearing: 209.633910 deg, approach rate: -0.665630 m/s, LOS rate: -0.021151 deg/s, cmd heading: 205.804405 deg, new cmd heading: 205.773244 deg. Bh@hHeadingCmd: 3.591421 target range: 214.614716 and range: 215.50 m.he@h*h"h hgfffdd d jd Zd @=Bɢ=UѼ)9 =li9)E =AAiEW9iME,Mtm;MG;IMe@IQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258887@ @@@Iԙ bEjEU4rEɟ/E  E E E "E y:*E [:VE ZE a- @a- @a- @a- @^A- 2;I I O >X; ,7P?A@bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510286Y~KBy~|!I AA AAbDVD1y%=%%|=ٔ%Q-% ?9)Y)=-Dy-[D5E5 ?1Q 5E45sDЊ?Q 9E452)5\BQ AE :YAQ EEO:yAQ IE?5DI5u:i5SQ?54yUBɮUqAUEjhFNOT Ignoring new targets: 214.61 m.Rh̾Zh̾ ProNav: ac range: 214.614716 m, nav range: 200.782150 m, bearing: 209.627043 deg, approach rate: -0.654794 m/s, LOS rate: -0.020851 deg/s, cmd heading: 205.773246 deg, new cmd heading: 205.752624 deg. BhdHeadingCmd: 3.591061 target range: 214.614716 and range: 215.50 m.he@h*h"h hgfffdddjdZdnu@颽BɢW ) ci)CR=im#7iK,zm;$ ];Ie@I ԩ@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762364B<A<BD>BBf!IB9BB =BBB;BA",!YQP?A2[W@2 e@2c<ٱ2* :AHRS rotation from veh to nav: [[-0.900690,0.429789,0.063557],[-0.434363,-0.887660,-0.152933],[-0.009312,-0.165351,0.986191]]2H`s`? BE?ۿgKÿ@<*ſߎ?i2[W@I2Լg;0YB[ByB!I DDbDNVDN02yV=%VR=ٔV,Q-V>9Z"?YZ"?=ZDyZjD^/:E^>`Q 5f4b2Њ?Q 9f4b 6)b\BQ Af9YdQ Ef(:yf Q Ij?bDIbX:ibf?b4ynXBEp ErEpEp"Ep*Er;J:VEpZEpBEr BDAT read: Rx Time:00:30:58.4867  TRx dataTimestamp_ set to:1761525057.648196 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267432L,3kP?AFW@F?e@FD;ٱF>( RAHRS rotation from veh to nav: [[-0.900461,0.430057,0.064965],[-0.434877,-0.887761,-0.150873],[-0.007210,-0.164107,0.986416]]FH?`?ۿhOÿ}`tſ?iFW@IFsh;DY^^By^!IYaa aa aa aa iMb@Mb@Mb@ 9?Q?I +?Y,?y<9<%AA A)YbDVD3y<%8=ٔQ->9Y=Dy}Dj:E>Q 5 4qЊ?Q 9 49)\BQ AT:Y-?Q E:y)Q I?'DI;i:;U4yEBɮ5oA!=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 214.61 m.RhM8ZhU8e ProNav: ac range: 214.614716 m, nav range: 200.222610 m, bearing: 209.620309 deg, approach rate: -0.707404 m/s, LOS rate: 0.003625 deg/s, cmd heading: 205.727770 deg, new cmd heading: 205.732395 deg. Bhe39eHeadingCmd: 3.590708 target range: 214.614716 and range: 215.50 m.hm(e@hi*hi"hi higififqfu0BdqdydyjdyZd}q @颭 Bɢ@ݼ) Vi)5:<11i5R3i=Q,=m;=;I=(e@IAE EE,E"E:*E|;:VEg4ZEa@a@a @a @ԉ9@ @ @ 5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518259Ա^A- r; A I I O >4!,gP?A;ɰ2W@2ve@2";ٱ2s' :AHRS rotation from veh to nav: [[-0.899774,0.431318,0.066114],[-0.436322,-0.887453,-0.148493],[-0.005375,-0.162457,0.986701]]2H@??ۿf`ÿPvgĿ ?i2W@I2v~i;2CYBmByB!I JR=HbDNVDN02yz}=%z[=ٔ~yQ-~>9|Y=DyDɌ;E> Q 5-4  Њ?Q 954 =) \BY9yE)Q IE? 7DI ;i ; ס4yM2BɮM(nAMEjhquFNOT Ignoring new targets: 214.61 m.Rh}me8Zh}me8 ProNav: ac range: 214.614716 m, nav range: 199.970932 m, bearing: 209.621488 deg, approach rate: -0.668407 m/s, LOS rate: 0.003134 deg/s, cmd heading: 205.732401 deg, new cmd heading: 205.735941 deg. Bh 9HeadingCmd: 3.590770 target range: 214.614716 and range: 215.50 m.h+e@h*h"h hgfffdddjdZd= @Թ Bɢ) Mi)<i1iP,m;;I+e@IB]E>BYB]!IB]\BBYBYB]DB];B]5b >)?I¸=ih?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-:*E-3:VE-FA4ZE)BE-  BDAT read: Tx time:00:30:59.8472  $Ping request sent. b',eP?A-"X@-f@-K:ٱ-y$ ]AHRS rotation from veh to nav: [[-0.898849,0.432860,0.068574],[-0.438254,-0.887088,-0.144945],[-0.001910,-0.160336,0.987061]]-H_@?? [ ܿ`c`¿@~I_ Ŀ?i-"X@I-.i;-ߑCYmpBy!II=)= iMMb@Mb@Mb@IIII I9M~jt?Mb?YM$?yMM9yYy=DyD;E>Q 54ϊ?Q 94B@)\BY$?Q E:y3-Q I?JDI :i:ǩ4yɮnAii"ƊP?AJiUCRiUCji d@i``78f@-:/@=]ri}$Ez? 갲?nĪyZi¸=bih?iՒ,!ddu'RX:j]zi`0Z|ֿ-2i:i !"i8H?*iBiOiiii#FCivEi@ addTargetRange:: Added new target pos. range: 213.899994 m, deltaT: 4.048563 s, deltaX: -1.600006 m, approachRate: -0.395203 m/s, rangeRepo size: 4  Added new target pos. range: 213.022308 m, bearing: 204.927701 deg, lat: 36.779170 deg, lon: -121.859871 deg, deltaT: 4.048563 s, deltaX: -1.592407 m, approachRate: -0.393327 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 213.02 m.RhZhE ProNav: ac range: 213.022308 m, nav range: 198.139206 m, bearing: 208.835355 deg, approach rate: 0.000000 m/s, LOS rate: 0.003134 deg/s, cmd heading: 205.735939 deg, new cmd heading: 205.740399 deg. BhAMHeadingCmd: 3.590847 target range: 213.022308 and range: 213.90 m.hMqe@hI*hI"hI hIgIfQfQfULBdQdYdYjd]̼j@Zd? Bɢ )  Ji)`<i:09iCO,in;;Iqe@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.24882759@1 @1@54@1iE  E E E "E I:*E E7:VE ZE a @a @a @a @^AU ;ԑ u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498191A .AI I O >E.,ܻP?AB8X@B6.f@B9:ٱB r# JAHRS rotation from veh to nav: [[-0.898271,0.433927,0.069409],[-0.439442,-0.886818,-0.142982],[-0.000490,-0.158938,0.987288]]BHs?ı?ܿ`|9 ?Y ?= Dy DV;E>Q 5-4ϊ?Q 9-4'C)\BY1y5-Q I5?[DIĭ;i;ذ4y}BɮmAEjhq}FNOT Ignoring new targets: 213.02 m.Rh,]9Zh,]9 ProNav: ac range: 213.022308 m, nav range: 197.879745 m, bearing: 208.840371 deg, approach rate: -0.624293 m/s, LOS rate: 0.012085 deg/s, cmd heading: 205.740393 deg, new cmd heading: 205.755461 deg. Bh:HeadingCmd: 3.591110 target range: 213.022308 and range: 213.90 m.he@h*h"h hgfffdddjdZd  ?]Bɢ]_;)Y ]LiY)eBB!IBBBBBB;B,5,}P?AF6VX@FKf@FUSٱF" NAHRS rotation from veh to nav: [[-0.897473,0.435395,0.070522],[-0.441069,-0.886218,-0.141690],[0.000807,-0.158268,0.987396]]FH@? ?x:ܿ["¿` qJ?BĿ`?iF6VX@IFi;FݑCYVsByV!IbDbVDbNyfK=%fL=ٔjTQ-j>9j"?Yj"?=nDynDn;En>pQ 5v4r5ϊ?Q 9v4rE)r\BYxyz-Q Iz?rkDIr:irw:rķ4y~ Bɮ~lAEjh!%FNOT Ignoring new targets: 213.02 m.Rh-t9Zh-t9= ProNav: ac range: 213.022308 m, nav range: 197.625458 m, bearing: 208.845168 deg, approach rate: -0.706045 m/s, LOS rate: 0.013336 deg/s, cmd heading: 205.755460 deg, new cmd heading: 205.769869 deg. Bh=p:EHeadingCmd: 3.591362 target range: 213.022308 and range: 213.90 m.hEe@hA*hA"hI hIgIfIfIfQdQdQdQjdQYZd]m?%Bɢ-b)) -ZFi))-0<11i5o-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005276iF,֯o;"9qYy=}Dy}D}-y;E>Q 54ϊ?Q 94H)\BY%?Q E:y0Q I?|DI:i:/4yɮlAԹB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 213.02 m.Rhl9Zhl9 ProNav: ac range: 213.022308 m, nav range: 197.352875 m, bearing: 208.854758 deg, approach rate: -0.640311 m/s, LOS rate: 0.022559 deg/s, cmd heading: 205.769872 deg, new cmd heading: 205.798681 deg. Bhw:HeadingCmd: 3.591865 target range: 213.022308 and range: 213.90 m.he@h*h"h hgfffdddjdZd`>?5Bɢ5Q-ͼ)1 5RAi9)=<99i=8,iE>,Erp;E (A>I I O >A >B, j Q?A6kX@6f@6h?Sٱ62"BFJ>BF;CBF!IBFBBF =BDBDBFȅ;BF;E RAHRS rotation from veh to nav: [[-0.895787,0.438454,0.072961],[-0.444471,-0.884804,-0.139884],[0.003223,-0.157735,0.987476]]6H`J? ?6rܿ`PPgj?0Ŀg?i6kX@I6ܑg;6CYVlByV!IbDb VDb2yj$%jU=ٔj6Q-j>9lYl=nDynDr;Er>tQ 5z4vXϊ?Q 9z4v&K)v\BYxyzk0Q Iz?vDIv,:iv:vŝ4yBɮdlAE%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758216jh15FNOT Ignoring new targets: 213.02 m.Rh=9ZhE9M ProNav: ac range: 213.022308 m, nav range: 197.106186 m, bearing: 208.863301 deg, approach rate: -0.641629 m/s, LOS rate: 0.022248 deg/s, cmd heading: 205.798681 deg, new cmd heading: 205.824343 deg. BhULt:UHeadingCmd: 3.592313 target range: 213.022308 and range: 213.90 m.hUse@hQ*hY"hY hYgYfYfafadadadijdiZdm2@额Bɢ) Gi)=1<顡i*iC7,q;eA hH,D#Q?A2dX@2f@2uٱ2y)% :AHRS rotation from veh to nav: [[-0.895135,0.439460,0.074893],[-0.445780,-0.883790,-0.142108],[0.003739,-0.160591,0.987014]]2H  ?`),?ܿ`H0¿`>n?CĿ@?i2dX@I2Zf;2ܑCY^mByb!IiEMb@Mb@Mb@AAAA A9Ex&1?+Mb?YE!?yEE9Y=DyD,\;E>Q 54ϊ?Q 94M)\BY!?Q E:yB/Q I?DI:i:͝4yBɮkAEjh%FNOT Ignoring new targets: 213.02 m.Rh%ݩ9Zh-ݩ9= ProNav: ac range: 213.022308 m, nav range: 196.832306 m, bearing: 208.871349 deg, approach rate: -0.630838 m/s, LOS rate: 0.018563 deg/s, cmd heading: 205.824349 deg, new cmd heading: 205.848527 deg. Bh=K:EHeadingCmd: 3.592735 target range: 213.022308 and range: 213.90 m.hE]e@hA*hA"hA hAgAfIfIfM?BdIdQdQjdQZdU@ޫ@颅Bɢ+Ѽ) -Ei)><顉i1)iX0,Խr;M  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5141229 ÔN,V(=Q?A~X@~f@~c=ٱ~KN'  AHRS rotation from veh to nav: [[-0.894626,0.440203,0.076588],[-0.446794,-0.883042,-0.143566],[0.004432,-0.162657,0.986673]]~H Ơ K,?H?@GܿA_`¿'r?`ĿҒ?i~X@I~e;~ߑCYZBy!II%4>)%=-=-=bD5VD502yEۿ%ES=ٔEQ-M>9IYI=MDyMDU@;EU>YQ 5e4] {ϊ?Q 9e4]P)]\BYaye//Q Im?]DI]t:i]:]Gԝ4yu BɮumAuEjhFNOT Ignoring new targets: 213.02 m.Rhӧ9Zhӧ9 ProNav: ac range: 213.022308 m, nav range: 196.588684 m, bearing: 208.878442 deg, approach rate: -0.629169 m/s, LOS rate: 0.018341 deg/s, cmd heading: 205.848528 deg, new cmd heading: 205.869833 deg. BhdI:HeadingCmd: 3.593107 target range: 213.022308 and range: 213.90 m.hue@h*h"h hgfffdddjdZd7@Bɢ}) DMi)<i T(i A*, s; WBBBB =BBB;B;E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766216^ANJN<AfAzAgAII!O5>a E}  E} E} +Ey "E} I:*E} C:VE} [4ZEy BE} X@>=f@>O"ٱ>;) JAHRS rotation from veh to nav: [[-0.893842,0.441440,0.078603],[-0.448353,-0.881982,-0.145216],[0.005223,-0.165042,0.986273]]>HY@?@W? ϱܿ`29o¿Cdu? ſ?i>X@I>/le;>ݑCYNNByR!IbDZVDZN2yb{%bS=ٔbQ-f>9dYd=fDyfDj;Ej>lQ 5r4nhϊ?Q 9r4nS)n\BYpyr/Q Iv?nDIn;in;n ۝4yzBɮzPmAzEjh%FNOT Ignoring new targets: 213.02 m.Rh%9Zh%95 ProNav: ac range: 213.022308 m, nav range: 196.345428 m, bearing: 208.885414 deg, approach rate: -0.628063 m/s, LOS rate: 0.018022 deg/s, cmd heading: 205.869838 deg, new cmd heading: 205.890778 deg. Bh5E:=HeadingCmd: 3.593472 target range: 213.022308 and range: 213.90 m.hEre@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU\ @-GAYu9YҦAuBɢ) /Ri)Jj<顉BDAT read: Rx Time:00:31:02.4712 TRx dataTimestamp_ set to:1761525061.445582checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022038i+&iB$,5eu;=ak[,pQ?A:KX@:f@:лٱ:R+ FAHRS rotation from veh to nav: [[-0.893432,0.441944,0.080406],[-0.449153,-0.881451,-0.145965],[0.006365,-0.166524,0.986017]]:HH?t?ܿ`4¿`Qz?Pſ s?i:KX@I:~Ae;8YNFByNv!IPi%Mb@Mb@Mb@!!!! !9%ףp= ?I +y&1|Y%?y%9%`%$A%`A %A)!!Y% AbD=VD= 3yM%MB=ٔM1Q-U>9QYQ=UDyU"D] ;E]>aQ 5m4eTϊ?Q 9m4eU)aYm?Q Eu:yu-Q Iu?eDIe;ie;eh4yyɮ}mAyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 213.02 m.Rhly9Zhly9 ProNav: ac range: 213.022308 m, nav range: 196.084473 m, bearing: 208.891156 deg, approach rate: -0.618577 m/s, LOS rate: 0.013629 deg/s, cmd heading: 205.890780 deg, new cmd heading: 205.908028 deg. Bh:HeadingCmd: 3.593773 target range: 213.022308 and range: 213.90 m.haf@h*h"h hgfffBdddjdZd= @bEG4jEK4rE@o/E= E=E=(E9"E=:*E=a9:VE=c44ZE9aM@aM@aM@aM@颅BɢJ) Ui)Yq<顉iAt%iS,Av;ʹqb,Q?ABBB!IBBB =BBB;B%ioÿ>'@K6> &@ aF>)+H9Y=Dy3D/:E>Q 54?ϊ?Q 94X)\BY y -Q I ?DI:i :4y5Bɮ5mA=EiiiÌQ?AJi9$CRi9$Cjii@i<($d@|ƅ>?>׾?@riȜ3J&f?ܔf?M?Zi+H<biaFiJݿ+a7ԚS?k>Z@@zi]b]bs޿*!??2i:iq "i?*iyrBiTBiP뙊?i]i{Bi5Cif@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 164.899994 m, deltaT: 4.031084 s, deltaX: -49.000000 m, approachRate: -12.155540 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 213.02 m.Rhl9Zhl9 ProNav: ac range: 213.022308 m, nav range: 195.822311 m, bearing: 208.896887 deg, approach rate: -0.591174 m/s, LOS rate: 0.012941 deg/s, cmd heading: 205.908033 deg, new cmd heading: 205.925249 deg. Bh%:%HeadingCmd: 3.594074 target range: 213.022308 and range: 213.90 m.h%Mf@h)*h)"h) h)g)fifqfqdqdqdyjd}̜d@Zd}д? Bɢ  )  b]i)/<i#ih,zx;Xv BDAT read: Tx time:00:31:03.8471 $Ping request sent.|i,Q?A2QX@2f@2ٱ2- :AHRS rotation from veh to nav: [[-0.892836,0.442462,0.084088],[-0.450290,-0.880722,-0.146859],[0.009078,-0.168985,0.985577]]2H``LQ?`ņ?ܿ.G¿@? Mſ`؉?i2QX@I2d;2ڑCYB ByBH!Ii Mb@Mb@Mb@     9 +?:v?I +Y v?y < 9  A A) A Y AbD%VD%k2y5 %5J=ٔ5iQ-5>99Y9==Dy=CD=:EE>AIQ 5U4M-ϊ?Q 9U4M[)M\BY]?Q E]:y](Q I]?MDIM:iM:M4yeӠBɮmmAmEjh  FNOT Ignoring new targets: 213.02 m.Rh6Zh6E ProNav: ac range: 213.022308 m, nav range: 195.574219 m, bearing: 208.897022 deg, approach rate: -0.626138 m/s, LOS rate: 0.000341 deg/s, cmd heading: 205.925245 deg, new cmd heading: 205.925650 deg. BhEo7MHeadingCmd: 3.594081 target range: 213.022308 and range: 213.90 m.hMkf@hI*hI"hI hIgQfQfQfUބBdYdydyjdZdu7?BɢJ@() ei)b<i 'L"iI,y;ZWo,rkQ?A24<ɰ249tYt=vDyvSDv :Ez>xQ 5~4zϊ?Q 94z_)z\BYy(Q I?zDIz;iz;z4y ɮinAjh15FNOT Ignoring new targets: 213.02 m.Rh=76Zh=76M ProNav: ac range: 213.022308 m, nav range: 195.332657 m, bearing: 208.897110 deg, approach rate: -0.646470 m/s, LOS rate: 0.000238 deg/s, cmd heading: 205.925655 deg, new cmd heading: 205.925921 deg. BhM'7UHeadingCmd: 3.594085 target range: 213.022308 and range: 213.90 m.hUf@hQ*hQ"hY hYgYfYfafadadadijdiZdmY?颕Bɢg3C) ri)̴<顡i i6,b{; ̃E  E E (E "E غ:*E *5:VE c44ZE BE 9tYt=zDyzdDz9Ez>|Q 54~9 ϊ?Q 94~3b)~\BY y (Q I ?~DI~1:i~:~4yBɮ1nAEjh9=FNOT Ignoring new targets: 213.02 m.RhECX6ZhECX6U ProNav: ac range: 213.022308 m, nav range: 195.081482 m, bearing: 208.897185 deg, approach rate: -0.619608 m/s, LOS rate: 0.000185 deg/s, cmd heading: 205.925928 deg, new cmd heading: 205.926152 deg. Bh]7]HeadingCmd: 3.594089 target range: 213.022308 and range: 213.90 m.h]f@ha*ha"ha hagafafifidididijdqZdu?额Bɢ;) vi)d<顱iqi',*}; ҄Q-E>9AYA=MDyMuDMEM>QQ 5]4UΊ?Q 9]4Ue)U\BYee!?Q Ee:yeV$Q Ie?UDIUq ;iU ;U4yiɮm`nAiB*** querying acoustic contact ***i ijhE EE'E"E*EF:VE'4ZEa@a@a@a@FNOT Ignoring new targets: 213.02 m.Rh0kZh0k ProNav: ac range: 213.022308 m, nav range: 194.821243 m, bearing: 208.891857 deg, approach rate: -0.626842 m/s, LOS rate: -0.012851 deg/s, cmd heading: 205.926146 deg, new cmd heading: 205.910141 deg. Bh HeadingCmd: 3.593810 target range: 213.022308 and range: 213.90 m.hf@h*h"h hgffYf]BdYdYdYjdaZde ?颭Bɢp6Ա) xi)i<ii,~;ךB B B f!IB 9BB B B B [;B 9IYI=MDyMDMEU>QQ 5]4UΊ?Q 9e4Ui)U\BYayea$Q Ie?U/DIU;iU:U 4ymBɮunAuEjhFNOT Ignoring new targets: 213.02 m.RhjZhj ProNav: ac range: 213.022308 m, nav range: 194.567337 m, bearing: 208.886699 deg, approach rate: -0.628591 m/s, LOS rate: -0.012787 deg/s, cmd heading: 205.910136 deg, new cmd heading: 205.894641 deg. Bhh HeadingCmd: 3.593539 target range: 213.022308 and range: 213.90 m.he@h*h"h hgfffdddjdZd%@Bɢ9Q) |i)B<ii '#, 0; ]C,8&R?A0Y~قBy~ I   AiMb@Mb@Mb@ 9Gz? rh?lYp?yC >$A A)YAbDVD2y㘽%:=ٔQ->9Y=DyDE>Q 549Ί?Q 94m)\BY!?Q E:yQ I?@DI ;i ;d4yɮnAjh!-FNOT Ignoring new targets: 213.02 m.Rh- Zh- E ProNav: ac range: 213.022308 m, nav range: 194.305481 m, bearing: 208.873645 deg, approach rate: -0.619979 m/s, LOS rate: -0.030947 deg/s, cmd heading: 205.894646 deg, new cmd heading: 205.855433 deg. BhE驺MHeadingCmd: 3.592855 target range: 213.022308 and range: 213.90 m.hMVe@hQ*hQ"hQ hQgYfYfafe}BdadadijdiZdm@@颭Bɢ5bL)1 5݁i1)='<99i=iE`.,M;M㻅<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259533I}Ve@Iyԉ%9@! @!@-4@)ԹE EE(E"E:*E?:VEc44ZEa@a@a@a@^AI I I - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512157O5 >Q+,@R?A2~X@2,f@2ܒٱ2( :AHRS rotation from veh to nav: [[-0.894258,0.438565,0.089235],[-0.447192,-0.883586,-0.138907],[0.017927,-0.164124,0.986277]]2HÝq?ض? ʞܿ VFT[?ſ`?i2~X@I2>i;2ܑCYVڂByX\bDfVDf02yjQ:%n[=ٔnQ-n>9pYp=rDyrDvEv>tQ 5z4vΊ?Q 9~4vq)v\BY|y~CQ I~?vODIvj;ive;v4y Bɮ .oA Ejh)5FNOT Ignoring new targets: 213.02 m.Rh5 Zh= M ProNav: ac range: 213.022308 m, nav range: 194.074280 m, bearing: 208.862294 deg, approach rate: -0.620638 m/s, LOS rate: -0.030509 deg/s, cmd heading: 205.855427 deg, new cmd heading: 205.821330 deg. BhMUHeadingCmd: 3.592260 target range: 213.022308 and range: 213.90 m.hUe@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde5@颕߄Bɢc) Gi):<顙imLi8,; fBIBMA!IBMBBM =BIBIBMc;BMA E  E E *E "E :*E a9:VE (N4ZE BE a 2E a JE &;a :E ';a U,ZR?Aɰ!Y-͂By- IbDIVDIyef%mB=ٔmQ-m>9qYq=}Dy}DE>Q 54Ί?Q 94v)m\BYyQ I?`DIe;iQ;O"4yɮoABDAT read: Rx Time:00:31:06.4988 TRx dataTimestamp_ set to:1761525065.477898checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018259jhFNOT Ignoring new targets: 213.02 m.RhZh%- ProNav: ac range: 213.022308 m, nav range: 193.811188 m, bearing: 208.849343 deg, approach rate: -0.606563 m/s, LOS rate: -0.029898 deg/s, cmd heading: 205.821330 deg, new cmd heading: 205.782427 deg. Bh5%=HeadingCmd: 3.591581 target range: 213.022308 and range: 213.90 m.h=ve@h9*h9"h9 h9g9fAfIfQdYdadijdiZdm [ @M܄BɢUS)Y eia)m豌<顑i]i@C, v;/v,ktR?A2X@2^f@2bٱ2@' :AHRS rotation from veh to nav: [[-0.895638,0.435342,0.091156],[-0.444279,-0.885386,-0.136778],[0.021163,-0.163002,0.986399]]2H?V?oܿU@ث?@Ŀ?i2X@I2Si;2ّCYBԂByB IIF8>)Fp;iEMb@Mb@Mb@AAAA A9Ex&1?sh|??L7A`堿YEA ?yE)>E+AEA A)EZ AAYEAbD]VD]1ym<%mJ=ٔu0Q-u>9qYq=uDyE EE+E"E:*Ei:VE [4ZEa@a@a@a@yDE>Q 54AΊ?Q 94z)Z\BY&?Q E:yQ I?qDI.:i:j)4yBɮnAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 213.02 m.Rh 6Zh 6 ProNav: ac range: 213.022308 m, nav range: 193.553650 m, bearing: 208.833540 deg, approach rate: -0.647853 m/s, LOS rate: -0.039807 deg/s, cmd heading: 205.782426 deg, new cmd heading: 205.734953 deg. BhںHeadingCmd: 3.590752 target range: 213.022308 and range: 213.90 m.he@h*h"h  h g f ffYBdddjdZdl @EڄBɢM`a)I MiI)M,BA BA BE "!IBE BBA BA BA BE X;BE 9xYx=zDyzD~E~>Q 5 4NΊ?Q 94~)H\BYyQ I?DI=:i:"04y!ɮ% oA!  addTargetRange:: Added new target pos. range: 185.600006 m, deltaT: 8.063006 s, deltaX: -28.299988 m, approachRate: -3.509856 m/s, rangeRepo size: 4 jh  FNOT Ignoring new targets: 213.02 m.Rh5&Zh5&E ProNav: ac range: 213.022308 m, nav range: 193.310074 m, bearing: 208.818697 deg, approach rate: -0.597223 m/s, LOS rate: -0.036440 deg/s, cmd heading: 205.734956 deg, new cmd heading: 205.690369 deg. BhEȺMHeadingCmd: 3.589974 target range: 213.022308 and range: 185.60 m.hM#e@hI*hI"hI hQgqfyfyfydyddjd@33g@Zd?ׄBɢ{\) ꂿi)~<i$i%],%;%E BDAT read: Tx time:00:31:07.8471 $Ping request sent.ԙ ,"R?AY~͂By~ IiMb@Mb@Mb@ 9S㥛?S㥛?L7A`堿Y$&?y$>#A lA)YAbDVD02y#<%==ٔQ->9Y=DyDE>Q 54l~Ί?Q 9 4)5\BY c+?Q E :y Q I?DI=;i);74yBɮ%enA%EjhYeFNOT Ignoring new targets: 213.02 m.Rheh1Zheh1y ProNav: ac range: 213.022308 m, nav range: 193.024490 m, bearing: 208.802618 deg, approach rate: -0.687702 m/s, LOS rate: -0.038776 deg/s, cmd heading: 205.690368 deg, new cmd heading: 205.642061 deg. BhԺHeadingCmd: 3.589131 target range: 213.022308 and range: 185.60 m.hSe@h*h"h hgfffXBdddjdZdu?ԄBɢFe) i)p<i!ick,';UVy,R?A28X@2I.f@2Լٱ2U% :AHRS rotation from veh to nav: [[-0.897965,0.429979,0.093682],[-0.439298,-0.888421,-0.133136],[0.025984,-0.160705,0.986660]]2H "ń?? vܿm@ l? Ŀ?i28X@I2f;2ܑCYBՂByB I DDbDNVDNk2yVG$=%V_=ٔV Q-Z>9XYX=ZDyZD^?#E^>`Q 5f4bnΊ?Q 9f4b)b%\BYdyfQ If?bDIbF:ib:b>4ynBɮnmA]EjhFNOT Ignoring new targets: 213.02 m.RhF ZhF  ProNav: ac range: 213.022308 m, nav range: 192.785370 m, bearing: 208.789373 deg, approach rate: -0.631676 m/s, LOS rate: -0.035031 deg/s, cmd heading: 205.642065 deg, new cmd heading: 205.602282 deg. BhTHeadingCmd: 3.588437 target range: 213.022308 and range: 185.60 m.he@h*h"h hgfffdddjdZd`ft?҄Bɢm) Z~i)d<iEiv, ԍ; iO&BB!IBBBBBBF;ByD zD AAbEMFA4jEMC4rEM/E  E E ,E "E I:*E ?:VE g4ZE BE 9 ?Y% ?=%Dy%D-E5>Q 54[Ί?Q 94)\BYy7Q I?DI;i;E4yɮ0mAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006961jhFNOT Ignoring new targets: 213.02 m.RhY,ZhY, ProNav: ac range: 213.022308 m, nav range: 192.502609 m, bearing: 208.773828 deg, approach rate: -0.684180 m/s, LOS rate: -0.037669 deg/s, cmd heading: 205.602286 deg, new cmd heading: 205.555582 deg. BhκHeadingCmd: 3.587622 target range: 213.022308 and range: 185.60 m.he@h*h"h hgfffd d d jd Zd U?=τBɢ=:Y)A EviA)EQWͼ,R?A;ɰ06X@6e@6 ٱ62& >AHRS rotation from veh to nav: [[-0.899418,0.426444,0.095884],[-0.436168,-0.889904,-0.133524],[0.028387,-0.161915,0.986396]]6H`J?ԋ?+ۿz@S@a?`Ŀ?i6X@I6Ef;6ڑCYFByF!IiMMb@Mb@Mb@IIII I9M?+?MtM^"AEe EeEe+Ea"Eeغ:*EeP:VEe [4ZEaam@am@am@am@MA MA)M AIYMAbD}VD}1yA=%C=ٔBQ->9"?Y"?=DyD\E>Q 54JΊ?Q 94) \BY/+?Q E:yQ I?DI:i :L4yBɮmmAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 213.02 m.Rhx!Zhx! ProNav: ac range: 213.022308 m, nav range: 192.235336 m, bearing: 208.759552 deg, approach rate: -0.659822 m/s, LOS rate: -0.035292 deg/s, cmd heading: 205.555581 deg, new cmd heading: 205.512694 deg. BhHeadingCmd: 3.586873 target range: 213.022308 and range: 185.60 m.hTe@h *h "h  h g f ffRBdddjdZd?M̄BɢM%X)I MpiI)U K<i0 ib,J;L},qS?A4??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631666W@6ee@6Iٱ6W& BAHRS rotation from veh to nav: [[-0.900354,0.424283,0.096676],[-0.434158,-0.890892,-0.133488],[0.029491,-0.162159,0.986324]]6H@u'?¿?=ۿ@/ # 2?Ŀ?i6W@I6ee;6ّCYJByJ#!IIN=)N>bDVVDVk2yZd=%^Y=ٔ^@`Q-b>9`Yd=fDyf)DfkEf>hQ 5n4jo9Ί?Q 9n4j-)j\BYpyrQ Ir?jDIja;ij;jQS4ytɮvlAtjhFNOT Ignoring new targets: 213.02 m.Rh}Zh ProNav: ac range: 213.022308 m, nav range: 191.986816 m, bearing: 208.746414 deg, approach rate: -0.658779 m/s, LOS rate: -0.034872 deg/s, cmd heading: 205.512688 deg, new cmd heading: 205.473222 deg. BhuHeadingCmd: 3.586184 target range: 213.022308 and range: 185.60 m.h e@h*h"h hgfffdddjdZd@=ɄBɢ={O)9 =Dci9)=}?,i)S?A2W@2e@2Hٱ2"( :AHRS rotation from veh to nav: [[-0.901109,0.422395,0.097900],[-0.432514,-0.891566,-0.134322],[0.030548,-0.163382,0.986090]]2H?@?@Pۿ` x1G?Ŀ ?i2W@I2e;2ڑCYBByB3!IieMb@Mb@Mb@aaaa a9esh|??V-?Mb`Ye)?ye=ee/#Ae@ eA)eZ AaYeAbDVD:2yl=%==ٔQ->9Y=Dy:D刻E>Q 54V%Ί?Q 94)[BY,?Q E:y!Q I?DI|O;iW;Z4yBɮkAEjh!%FNOT Ignoring new targets: 213.02 m.Rh-ZӹZh-Zӹ ProNav: ac range: 213.022308 m, nav range: 191.696228 m, bearing: 208.736302 deg, approach rate: -0.662701 m/s, LOS rate: -0.023098 deg/s, cmd heading: 205.473223 deg, new cmd heading: 205.442839 deg. Bh}HeadingCmd: 3.585654 target range: 213.022308 and range: 185.60 m.h[{e@h*h"h hgfffBdddjdZd@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054ńBɢ7) [i)2<  i  iZ,;;I[{e@II9@ @@@qE EEE"EI:*E;J:VEZEa@a@a@a@^A ;ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518845A I) I9 OE >,%CS?A2W@2e@2uٱ2( :AHRS rotation from veh to nav: [[-0.901944,0.420398,0.098808],[-0.430676,-0.892512,-0.133943],[0.031877,-0.163363,0.986051]]2H?tK? 1ۿ u %`9R? Ŀ?i2W@I23`e;0YB&ByBP!IHJ@AbDNVDNJ2yVK=%V\=ٔZjQ-Z>9XYX=ZDyZID^E^>`Q 5f4b1Ί?Q 9f4bk)`Ydyj!Q Ij?bDIb3;ibP;b\a4ylɮnkAljhFNOT Ignoring new targets: 213.02 m.Rh ԹZh Թ ProNav: ac range: 213.022308 m, nav range: 191.448639 m, bearing: 208.727813 deg, approach rate: -0.677944 m/s, LOS rate: -0.023274 deg/s, cmd heading: 205.442842 deg, new cmd heading: 205.417343 deg. Bh%HeadingCmd: 3.585209 target range: 213.022308 and range: 185.60 m.h%te@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5u@ԉÄBɢGLQ) "Ni))<i i,lх; ;Ite@I@ @@/@@=@=B<A<BG>B:CBG!IB BBBBBn;BE  E E 'E "E *E =:VE '4ZE BE 9Y=%Dy%ZD%rE%>)Q 554-Ί?Q 954-)-\BY9y=!Q I=?- DI-;i-;-h4yEtBɮEjAEEjhimFNOT Ignoring new targets: 213.02 m.RhuйZhuй ProNav: ac range: 213.022308 m, nav range: 191.170120 m, bearing: 208.718373 deg, approach rate: -0.669830 m/s, LOS rate: -0.022735 deg/s, cmd heading: 205.417338 deg, new cmd heading: 205.388979 deg. BhyHeadingCmd: 3.584714 target range: 213.022308 and range: 185.60 m.hke@h*h"h hgfffdddjdZd`. @BDAT read: Rx Time:00:31:10.5328 TRx dataTimestamp_ set to:1761525069.508240checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024020Bɢ4) Ei)u<ivi³,܅;X;Ike@I@ @@0@)^A፨;Im =m <u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275642A .AI I Oe >y  ,AvS?A2 pW@2ee@2k ٱ2E+ :AHRS rotation from veh to nav: [[-0.903047,0.417205,0.102209],[-0.428165,-0.893336,-0.136477],[0.034368,-0.167007,0.985357]]2Hz?W*?@ gۿ 5x@? }`ſ` ?i2 pW@I2(e;2ؑCYBHByBz!Ii=Mb@Mb@Mb@9999 99=S? rh?9 ?Y ?=DykD<E>Q 547͊?Q 94) \BY/?Q E:yT&Q I?DI\ ;i ;o4ybBɮhAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 213.02 m.RhwZhw ProNav: ac range: 213.022308 m, nav range: 190.883926 m, bearing: 208.714810 deg, approach rate: -0.685714 m/s, LOS rate: -0.008550 deg/s, cmd heading: 205.388979 deg, new cmd heading: 205.378274 deg. Bh»HeadingCmd: 3.584527 target range: 213.022308 and range: 185.60 m.hhe@h*h"h hgfffÄBd d d jd Zd  @=Bɢ="')A E:iA)EB B !IB MBB =B B DB ;B ,S?A*DAT read: 00:31:10.5328 LVL= 27472, 28001, 28386, 22515, AGC= 67, IDX= 260, 0.04,-1.900,-2.988,-1.985,-2.999, PHS= 1.201, 0.056, 0.970, RAW= 139.0, -36.9, CAL= 140.4, -36.2, ROT= 9.6, 36.2 .Ygot valid direction response: 00:31:10.5328 LVL= 27472, 28001, 28386, 22515, AGC= 67, IDX= 260, 0.04,-1.900,-2.988,-1.985,-2.999, PHS= 1.201, 0.056, 0.970, RAW= 139.0, -36.9, CAL= 140.4, -36.2, ROT= 9.6, 36.2 2PDAT read: Bearing 307.2, 15.2 (Local) 2~Local bearing/azimuth received: Bearing 307.2, 15.2 (Local) :DAT read: Range 11 to 50 : 211.1 m (Round-trip 281.5 ms) speed 0.1 m/s :R#Rx 1: Read range and direction messages.>^direction in FSK: [0.795660,0.134576,-0.590606]BFpublishing direction and range infoy# H v?Af9?@=YSCPkamn W)CI^?iB`e=Qx?C@$ @ ?!)+>I?!?"3+2?2Ku?basa6 Щ>)M$?I+>i?!?NT****** received valid address query ******NR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode.lɰn;eW@Ze@gٱJ. AHRS rotation from veh to nav: [[-0.903302,0.416225,0.103935],[-0.427548,-0.893365,-0.138205],[0.035328,-0.169278,0.984935]]H`m?{?\ۿ s` v?@ſ@?ieW@I"e;Y-[By-!I Y]R=bDaVDaymڦ=%u<=ٔMQ->9"?Y"?=Dy}DƺE>Q 54Աl͊?Q 94)\BYy_&Q I?1DI;i;w4yɮ;hAiiېS?AJi;RCRi;RCjing@ixv)d@}J<@; _ri# H v?Af9?@=Zi+>bi?!?i Jcc]Sj#K^zivW+~l7=ؿb䦴q2iC:i:"io?*i:<Bi]i8H?i:<ii-CiLg@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 211.100006 m, deltaT: 4.032063 s, deltaX: 25.500000 m, approachRate: 6.324306 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 213.02 m.Rh5Zh5 ProNav: ac range: 213.022308 m, nav range: 190.582291 m, bearing: 208.711105 deg, approach rate: -0.662631 m/s, LOS rate: -0.008153 deg/s, cmd heading: 205.378270 deg, new cmd heading: 205.367136 deg. Bh HeadingCmd: 3.584333 target range: 213.022308 and range: 185.60 m.hee@h*h"h hgfffdddjd@3cj@Zdy?Eu EqEu-Eq"Euغ:*EqVEut4ZEqBEu BDAT read: Tx time:00:31:11.8971 $Ping request sent.w,S?Ae*fW@e[e@e ٱe'/ uAHRS rotation from veh to nav: [[-0.903233,0.415994,0.105450],[-0.427586,-0.893316,-0.138407],[0.036623,-0.170103,0.984746]]eHG??`]ۿ R L?ſ ?ie*fW@Ieod;eّCYqBy!IIa=)4<==YiuMb@Mb@Mb@qqqq q9uE?/$?S㥛?Yu&?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250730yu9 ?Y ?=DyDu9E>Q 5%4͊?Q 9%4&)(\BY-&?Q E-:y-F*Q I-?DDI:i:P4yUPBɮUfAYjhFNOT Ignoring new targets: 213.02 m.Rh8Zh8 ProNav: ac range: 213.022308 m, nav range: 190.294922 m, bearing: 208.712840 deg, approach rate: -0.662294 m/s, LOS rate: 0.004005 deg/s, cmd heading: 205.367136 deg, new cmd heading: 205.372350 deg. Bh/9HeadingCmd: 3.584424 target range: 213.022308 and range: 185.60 m.h3ge@h*h"h hgfffBd d d jd Zd Z?BɢR )f "i)%ύ4,36S?A:voW@:$ee@:.ٱ:/ FAHRS rotation from veh to nav: [[-0.902952,0.416272,0.106749],[-0.428080,-0.893089,-0.138342],[0.037748,-0.170613,0.984615]]:H3?S?eۿ 0`3S?ſ?i:voW@I:Dc;:ؑCYNByN!IbDVVDV1y^^=%^\=ٔbFQ-b>9b"?Yf"?=fDyfDf%:Ef>hQ 5n4j͊?Q 9n4j)j9\BYpyr<*Q Ir?jSDIjt:ij:j4yvaBɮvfAvEjhFNOT Ignoring new targets: 213.02 m.Rh78Zh78- ProNav: ac range: 213.022308 m, nav range: 190.055984 m, bearing: 208.714244 deg, approach rate: -0.664940 m/s, LOS rate: 0.003913 deg/s, cmd heading: 205.372355 deg, new cmd heading: 205.376573 deg. Bh-+95HeadingCmd: 3.584497 target range: 213.022308 and range: 185.60 m.h5hhe@h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdMU?uBɢ})y }iy)};yi6iN,…;«;Ihhe@ԑIAiAmAAByByB}!IB}BB} =ByByB};B}+=E 9@  @ @ 4@ @@@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754643ԹE EE+E"EI:*EE7:VE [4ZEBEG liA ɦ9 liAY AI O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006624,S?A@2W@2Oe@2Gٱ2J. :AHRS rotation from veh to nav: [[-0.902219,0.417758,0.107141],[-0.429567,-0.892579,-0.137025],[0.038388,-0.169650,0.984756]]2H`?m?~ۿ `?ſ?i2W@I2b;2ڑCYRByR!IbDZVDZk2yb7<%bK=ٔb-кQ-f>9dYd=fDyfDj;Ej>lQ 5r4n͊?Q 9r4nD)nM\BYpyr"*Q Iv?ndDIn;in;nȌ4yzBɮz_AxjhFNOT Ignoring new targets: 213.02 m.Rhu8Zhu8% ProNav: ac range: 213.022308 m, nav range: 189.793930 m, bearing: 208.715660 deg, approach rate: -0.618749 m/s, LOS rate: 0.003347 deg/s, cmd heading: 205.376576 deg, new cmd heading: 205.380828 deg. Bh%9]HeadingCmd: 3.584572 target range: 213.022308 and range: 185.60 m.h]ie@ha*ha"hi higfffdddjdZdU@?=Bɢ=ľ)A E*iA)EB;Ai2i,څ;6;Iie@II fA) bA)9@ @@4@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258564QA I I! O5 >y E  E E )E "E :*E VL:VE FA4ZE a @a @a @a @F,S?ARW@Re@R!ٱR. fAHRS rotation from veh to nav: [[-0.901572,0.418959,0.107893],[-0.430840,-0.892132,-0.135934],[0.039304,-0.169038,0.984825]]RH9?ܞ?ۿ@X@Ef ? ſ?iRW@IRb;RؑCYrByr!I xxiMb@Mb@Mb@ 9p= ף?QL7A`?Y%?y+=/#A@ A) AYAbDVD3y=%8=ٔ`Q->9Y=DyDS;E> Q 54 x͊?Q 94 ?) j\BY%?Q E:y.Q I? vDI  ;i C ; 4y%wBɮ%^A%EEB*** querying acoustic contact ***iA iAjhIQUFNOT Ignoring new targets: 213.02 m.Rh]9Zh]9m ProNav: ac range: 213.022308 m, nav range: 189.509705 m, bearing: 208.723645 deg, approach rate: -0.670648 m/s, LOS rate: 0.018871 deg/s, cmd heading: 205.380824 deg, new cmd heading: 205.404817 deg. Bhm7O:uHeadingCmd: 3.584990 target range: 213.022308 and range: 185.60 m.hu{pe@hq*hq"hq hygyfyfyf}BdddjdZd ?iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510715UBɢUKS)Q U iY)];YYi]9 ie:,e;e ;Ie{pe@IyuNJκByByB}!IB}BByByByB};B} =Eԩ 9@  @ @ z3@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763173A I! I1 OE > },,NT?A>hW@>e@>#ٱ>%, FAHRS rotation from veh to nav: [[-0.900669,0.420877,0.107974],[-0.432664,-0.891578,-0.133755],[0.039973,-0.167186,0.985115]]>H`G`?`.? ðۿχLw?Wfſ`?i>hW@I>`b;>֑CYNByN!IbDVVDVyb.=%ba=ٔbQ-b>9dYd=fDyfDfY;Ej>hQ 5n4j_s͊?Q 9r4j)j\BYpyr.Q Ir?jDIj;ij;j嚞4ytɮz^AxjhFNOT Ignoring new targets: 213.02 m.Rh*9Zh*9- ProNav: ac range: 213.022308 m, nav range: 189.276428 m, bearing: 208.730081 deg, approach rate: -0.641629 m/s, LOS rate: 0.017722 deg/s, cmd heading: 205.404812 deg, new cmd heading: 205.424141 deg. Bh-B:5HeadingCmd: 3.585328 target range: 213.022308 and range: 185.60 m.h5ve@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@@uBɢ}$)y }iy)~;顁ir i,%;K;Ive@IDu=Du4=bET4jEOS4rE 0E} E}E}(Ey"E}:*E};J:VE}c44ZEyBE}1 QW ,d/T?Aɰ:NW@:e@:%ٱ:* BAHRS rotation from veh to nav: [[-0.899672,0.422958,0.108147],[-0.434682,-0.890859,-0.131994],[0.040516,-0.165761,0.985333]]:H??`ۿ`.`~?7ſه?i:NW@I:OOb;:בCYJByJ!IiMb@Mb@Mb@ 9T㥛 ?y&1V-?Y!?y`e<"A@ A)- AYQAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266677bD5VD51yU;%UA=ٔUQ-U>9YYY=]Dy]De;Ee>iQ 5u4mx^͊?Q 9u4m<)m\BYu!?Q Eu:yud1Q I}?mDIm ;im ;mH4yvBɮVAEjhFNOT Ignoring new targets: 213.02 m.Rh+9Zh+9] ProNav: ac range: 213.022308 m, nav range: 189.012726 m, bearing: 208.740660 deg, approach rate: -0.623373 m/s, LOS rate: 0.025044 deg/s, cmd heading: 205.424141 deg, new cmd heading: 205.455924 deg. Bh]:eHeadingCmd: 3.585882 target range: 213.022308 and range: 185.60 m.hee@ha*hi"hi higififfBdddjdZd@BɢB) i1); i 2 i ,;˘ByB}"IB}̃BByByB}DB};B})NR=bDRVDR 3y^!<%^=ٔ^ ҺQ-^>9`Y`=bDybDb\;Ef>hQ 5j4jD͊?Q 9n4j_)j\BYlynG1Q In?jDIj:ij:ji4yrgBɮvUAtjh FNOT Ignoring new targets: 213.02 m.Rh9Zh9% ProNav: ac range: 213.022308 m, nav range: 188.686996 m, bearing: 208.753591 deg, approach rate: -0.623792 m/s, LOS rate: 0.024807 deg/s, cmd heading: 205.455929 deg, new cmd heading: 205.494789 deg. Bh-2:5HeadingCmd: 3.586561 target range: 213.022308 and range: 185.60 m.h56e@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE`@Bɢ+0̼) ^i)%c;!!i%N i},};}t),\qT?A,Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274581YBy!IiMb@Mb@Mb@ 9?Zd;y&1?Y ?yy`e<"A@ A) AYAAAbDVD2yZ;%=ٔQ- >9 Y = Dy  DE>Q 5%4*͊?Q 9%4o)\BY% ?Q E%:y-2Q I-?DIM;i2:4y5WBɮ5MUA5EjhY]FNOT Ignoring new targets: 213.02 m.Rhe9Zhe9u ProNav: ac range: 213.022308 m, nav range: 188.359467 m, bearing: 208.767883 deg, approach rate: -0.619612 m/s, LOS rate: 0.027084 deg/s, cmd heading: 205.494793 deg, new cmd heading: 205.537742 deg. Bhu:}HeadingCmd: 3.587310 target range: 213.022308 and range: 185.60 m.h}~e@hy*hy"hy hygfff BdddjdZdǺ @颽BɢVμ) i)c;ib i8,[;W",4T?A@2uX@2kf@2/ٱ22& :AHRS rotation from veh to nav: [[-0.895797,0.430776,0.109454],[-0.442395,-0.887901,-0.126168],[0.042834,-0.161442,0.985952]]2H]ב?+?4Pܿ`i`B&]?$Ŀ?i2uX@I2a;0`YfByf!IbDnVDn1yv%v^=ٔv Q-z>9xYx=zDyzD~*<E~>Q 5 4q͊?Q 9 4)\BY y1Q I?DIt:i(:4yɮUA5B*** querying acoustic contact ***i1 i1jhAMFNOT Ignoring new targets: 213.02 m.RhM9ZhM9BeG>BaBe5"IBeBBe =BaBaBes;BeiVI>'@f;> &@ M>)+HA?E EE,E"E:*E*5:VEg4ZEBEa A  *DAT read: user:159>  BDAT read: Tx time:00:31:15.9471  $Ping request sent. 9Y=Dy-DE>qQ 5}4u͊?Q 9}4uu)u]BYyQ I?uDIu]$;iu%;uÞ4yGBɮcUAEiiT?AJi4CRi4CjiERi@iI:#f@iO@'_Z$B@riНүZ?` ۣ?i?Zi+H<biMir9cs4U!MbE@zi8V9뿳ޙ0,T?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5027176#X@6~f@6wj1ٱ6UH# BAHRS rotation from veh to nav: [[-0.895258,0.432064,0.108785],[-0.443440,-0.887782,-0.123308],[0.043301,-0.158632,0.986388]]6H ?`\ٻ?Qaܿh+?@ NĿ@}?i6#X@I6w^a;6֑CYFByF!IiuMb@Mb@Mb@qqqq q9uGz?A`"MbP?Yup?yuYu:uv Aq ulA)u AqYu3A C=%=bDVDk1yp%@=ٔQ->9Y=Dy>D=8;E>Q 54̊?Q 94)]BY?Q E:y 1Q I?DI:i:ʞ4y8BɮUAEjhFNOT Ignoring new targets: 180.76 m.Rhi9Zhi9  ProNav: ac range: 180.756363 m, nav range: 170.910873 m, bearing: 207.322190 deg, approach rate: -0.652860 m/s, LOS rate: 0.022339 deg/s, cmd heading: 205.605810 deg, new cmd heading: 205.631479 deg. BhKu:HeadingCmd: 3.588946 target range: 180.756363 and range: 181.50 m.hLe@h*h"h hgff!f%τBd!d!d!jd)Zd 9'?Bɢ)  i)'_;iZiin,%zh;-idjBB."IB܃BB =BBBk;B6,8T?A(ɰ*49xYx=zDy~ND~ϝ:E~>Q 5 4̊?Q 9 4$)#]BY y1Q I?DI:i:Pў4yɮUAjhAEFNOT Ignoring new targets: 180.76 m.RhM9ZhM9] ProNav: ac range: 180.756363 m, nav range: 170.677582 m, bearing: 207.330148 deg, approach rate: -0.612969 m/s, LOS rate: 0.020937 deg/s, cmd heading: 205.631478 deg, new cmd heading: 205.655383 deg. Bh]e:eHeadingCmd: 3.589364 target range: 180.756363 and range: 181.50 m.he"e@ha*ha"hi higifififqdqdqdjdZdl?EBɢE)A EQ iI)MD;IIiM<iUg,U8 ;UW jԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258856<,yT?A2;X@2f@2z2ٱ2C % :AHRS rotation from veh to nav: [[-0.895032,0.432290,0.109741],[-0.443879,-0.887366,-0.124714],[0.043468,-0.160335,0.986105]]2H?@?hܿMe`BcA?مĿ,?i2;X@I2B`;2בC@YFsByF!IIJa=)J49AYA=EDyE^DM8EM>QQ 5]4Ů?Q 9]4U)U(]BY]?Q Ee:ye,Q Ie?UDIU ;iU ;U؞4ym(BɮmUAmEjh FNOT Ignoring new targets: 180.76 m.Rh=j9Zh=j9M ProNav: ac range: 180.756363 m, nav range: 170.422867 m, bearing: 207.333322 deg, approach rate: -0.592922 m/s, LOS rate: 0.007399 deg/s, cmd heading: 205.655384 deg, new cmd heading: 205.664920 deg. Bhu9HeadingCmd: 3.589530 target range: 180.756363 and range: 181.50 m.hܺe@h*h"h hgfffBdddjdZdQ?Em EmEiEi"Em7:*Em;J:VEiZEiau@a}@a}@a}@颍Bɢ) Oi)<^#;顑i.id,Ê;ahB B B "IB ̃BB =B B B i;B ?spܿb~ R?Ŀ?iB&X@IBR_;BՑCYRhByR!IXXbD^VD^1yfY%fR=ٔfհQ-j>9hYh=jDyjnDn6:En>lpQ 5v4r̊?Q 9z4r)r-]BYxyz,Q Iz?r!DIr:ir:r\ߞ4y~GBɮVAEB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 180.76 m.Rh59Zh59E ProNav: ac range: 180.756363 m, nav range: 170.182556 m, bearing: 207.336283 deg, approach rate: -0.641660 m/s, LOS rate: 0.007917 deg/s, cmd heading: 205.664919 deg, new cmd heading: 205.673815 deg. BhE9MHeadingCmd: 3.589685 target range: 180.756363 and range: 181.50 m.hMge@hI*hI"hI hIgQfQfQfQdYdYdYjdYZde@@颍Bɢ[/) i);顑i7iNb,_U;n checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014814a J,*9*U?A<<9;X@f@0ٱb( AHRS rotation from veh to nav: [[-0.894609,0.432840,0.111013],[-0.444758,-0.886512,-0.127620],[0.043175,-0.163544,0.985591]]H?@Zk?vܿN^U?Ŀ?i;X@Ix_;֑CYYBy!Ii}Mb@Mb@Mb@yyyy y9}rh|?:v?X9vY}?y}T=}}3A}S@ }A)}AyY} AbDVDky"%/=ٔn:Q->9Y=DyDCs:E>Q 54$̊?Q 94)']BY?Q E:y&Q I?3DI;i;{4y8BɮVAEjhy}FNOT Ignoring new targets: 180.76 m.RhZZhZ ProNav: ac range: 180.756363 m, nav range: 169.898575 m, bearing: 207.330540 deg, approach rate: -0.590541 m/s, LOS rate: -0.011961 deg/s, cmd heading: 205.673812 deg, new cmd heading: 205.656556 deg. BhVHeadingCmd: 3.589384 target range: 180.756363 and range: 181.50 m.hxe@h*h"h hgfffTBdddjdZd@@=Baɢ) pi)qw:顩ihi=g,;;OyA >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762A I I O >XQ,EU?AhYzAByzp!I ||bD VD 1y=.%=V=ٔEQ-E>9AYA=MDyMDMEM>QQ 5]4U3̊?Q 9]4U)U"]BYayaQ Ie?UBDIU:iU:U*4ym(Bɮm9WAuEjhFNOT Ignoring new targets: 180.76 m.RhmZhm ProNav: ac range: 180.756363 m, nav range: 169.665039 m, bearing: 207.325804 deg, approach rate: -0.637882 m/s, LOS rate: -0.012956 deg/s, cmd heading: 205.656559 deg, new cmd heading: 205.642329 deg. BhBHeadingCmd: 3.589136 target range: 180.756363 and range: 181.50 m.hfe@h*h"h hgfffdddjdZd@uBɢu0z9)q })iy)}1w:yyi}#yiNk,;1|BiBm!IBmBBiBiBiBmr;Bm5<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710629^Ae q!~W,7m_U?A2LX@2f@22ٱ2o) :AHRS rotation from veh to nav: [[-0.894542,0.432794,0.111733],[-0.444866,-0.886347,-0.128390],[0.043468,-0.164556,0.985409]]2H`?@?`xܿ\o@iA?/ſ`y?i2LX@I2G_;2ԑCYB7ByBd!I JR=HbDNVDNy%cG%%M=ٔ-@Q-->9)Y)=-Dy-D59E5>9AQ 5E4Ez}̊?Q 9M4E)E]BYIyM&Q IM?ERDIE:iE:E(4yQɮ]WAYjhyFNOT Ignoring new targets: 180.76 m.RhcZhc ProNav: ac range: 180.756363 m, nav range: 169.420685 m, bearing: 207.320829 deg, approach rate: -0.610744 m/s, LOS rate: -0.012453 deg/s, cmd heading: 205.642325 deg, new cmd heading: 205.627378 deg. BhHeadingCmd: 3.588875 target range: 180.756363 and range: 181.50 m.h e@h*h"h hgfffdddjdZd @BɢHM) -i)9i)io,;M BDAT read: Rx Time:00:31:18.6256 M TRx dataTimestamp_ set to:1761525077.828082U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275857 f],HyU?Aɰ2X@2Ċf@2C2ٱ2v!( :AHRS rotation from veh to nav: [[-0.894926,0.432161,0.111106],[-0.444089,-0.886888,-0.127338],[0.043508,-0.163299,0.985617]]2H@;?nq?kܿbaLF?@Ŀ`,?i2X@I2>^;2ӑCYb(BybQ!IԙiMb@Mb@Mb@ 9NbX9?A`"?Zd;OY%?y=j<A=@ )AY AbD  VD :2E EE)E"E%:*E=:VEFA4ZEa%@a-@a-@a-@y5#%5:=ٔ=Q-=>99Y9=EDyEDEsEE>IQ 5U4Mi̊?Q 9U4MK)M ]BY]@(?Q E]:y]"Q I]?MeDIM" ;iM ;M4yeBɮeWAeEjhFNOT Ignoring new targets: 180.76 m.RhQZhQ ProNav: ac range: 180.756363 m, nav range: 169.135620 m, bearing: 207.307985 deg, approach rate: -0.650507 m/s, LOS rate: -0.029358 deg/s, cmd heading: 205.627380 deg, new cmd heading: 205.588785 deg. Bh.HeadingCmd: 3.588201 target range: 180.756363 and range: 181.50 m.he@h*h"h hgfff BdddjdZd @Bɢm6nA)i u84iq)uqqiuEi}z,}m;}̌~Bq Bu !IBu BBq Bq Bu DBu o;Bu +d,#U?A2+X@2؀f@2<2ٱ2Ka( :AHRS rotation from veh to nav: [[-0.895195,0.431598,0.111128],[-0.443547,-0.887118,-0.127624],[0.043501,-0.163539,0.985577]]2HoM?@r?cܿ EcUE?Ŀى?i2+X@I2X=^;2ՑCYb&BybP!IIf=)fp;bDj VDj2yrR%rb=ٔvG7Q-v>9tYt=zDyzDzۺEz>-DAT read: 00:31:18.6256 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261, 0.26,-0.931,-2.069,-1.117,-2.082, PHS= 1.252, 0.058, 0.921, RAW= 134.4, -36.4, CAL= 135.9, -35.7, ROT= 14.1, 35.7 5Ygot valid direction response: 00:31:18.6256 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261, 0.26,-0.931,-2.069,-1.117,-2.082, PHS= 1.252, 0.058, 0.921, RAW= 134.4, -36.4, CAL= 135.9, -35.7, ROT= 14.1, 35.7 EPDAT read: Bearing 306.9, 19.4 (Local) E~Local bearing/azimuth received: Bearing 306.9, 19.4 (Local) MDAT read: Range 11 to 50 : 205.8 m (Round-trip 274.5 ms) speed 1.0 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.787617,0.197836,-0.583541]]Fpublishing direction and range infoyɍ(4?Z kR?^YMC )IIA?ihm=k?Q @"@@ W)d{>IW?J5?U"?2  >)"?Id{>iW?uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.Q 54hX̊?Q 94)]BYy"Q I?tDIe ;i ;n4yɮWAii&7U?AJiLCRiLCji2Nn@i ڣ-d@CeMFD@d.c]riɍ(4?Z kR?^Zid{>biW?iፉa%>bW\^]ziS1g*kܿZ,/W2i:iL "ii)?*i^BiOio?iiOi&Cig@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 205.800003 m, deltaT: 4.034156 s, deltaX: 24.300003 m, approachRate: 6.023566 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 180.76 m.RhZh  ProNav: ac range: 180.756363 m, nav range: 168.889130 m, bearing: 207.296899 deg, approach rate: -0.643269 m/s, LOS rate: -0.028975 deg/s, cmd heading: 205.588790 deg, new cmd heading: 205.555481 deg. Bh-5HeadingCmd: 3.587620 target range: 180.756363 and range: 181.50 m.h5e@h1*h9"h9 h9g9f9fAfAdAdAdAjdMi@ZdM+?颽BɢME) 3i)hEIIiM"im#,u0:;qIue@Iy!E5 E1E5+E1"E5:*E1VE5 [4ZE1BE5> BDAT read: Tx time:00:31:19.9970 $Ping request sent.+k,ڮU?AnDpX@nef@n2ٱn' zAHRS rotation from veh to nav: [[-0.895919,0.430178,0.110797],[-0.442075,-0.887887,-0.127384],[0.043578,-0.163107,0.985646]]nH^` ?6]? JܿiN O?`Ŀh?inDpX@Inv^;nԑCY ByH!IqiMb@Mb@Mb@ 9L7A`?'1Z?MbY+'?y">@@ A)AY A@AbDVDyϼ%2=ٔ.Q->9 ?Y ?=DyDiE>Q 54D̊?Q 94)\BYx,?Q E:ygQ I?DI:i:( 4y BɮFWAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 180.76 m.RhWZhW- ProNav: ac range: 180.756363 m, nav range: 168.598206 m, bearing: 207.276264 deg, approach rate: -0.663628 m/s, LOS rate: -0.047151 deg/s, cmd heading: 205.555486 deg, new cmd heading: 205.493475 deg. Bh-oHeadingCmd: 3.586538 target range: 180.756363 and range: 181.50 m.h։e@h*h"h hgfffBdddjdZdq?-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923mBɢu? M)q u5iq)u(qyi}Ui},;Twr,U?A>RX@>vHf@>WB4ٱ>^& FAHRS rotation from veh to nav: [[-0.896697,0.428673,0.110340],[-0.440454,-0.888866,-0.126164],[0.043994,-0.161731,0.985854]]>H༱`o?>??f0ܿ q$&@n? Ŀ@?i>RX@I>];9dYd=fDyfDjEj>hQ 5r4j4̊?Q 9r4j)j\BYpyrQ Ir?jDIj3;ij?;j4yxɮzWAxjhFNOT Ignoring new targets: 180.76 m.Rh%NUZh%NU- ProNav: ac range: 180.756363 m, nav range: 168.353592 m, bearing: 207.259001 deg, approach rate: -0.659665 m/s, LOS rate: -0.046621 deg/s, cmd heading: 205.493481 deg, new cmd heading: 205.441618 deg. Bh55HeadingCmd: 3.585633 target range: 180.756363 and range: 181.50 m.h5{e@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM?}Bɢ}"j)y }\B9B=!IB=bBB9B9B=DB=f;B=A}>1IY Iy O >Eu  Eu Eu (Eq "Eu 7:*Eu ;J:VEu c44ZEq BEu ;a 2Eu ;a JEu ;a :Eu ;a Y 9x,xU?A2*X@2{ f@25ٱ2$ :AHRS rotation from veh to nav: [[-0.897753,0.426659,0.109547],[-0.438257,-0.890178,-0.124552],[0.044375,-0.159827,0.986147]]2H`ebN?G ?h ܿV|⿿@U?`6uĿ`?i2*X@I2];0YBByBC!I DDbDNVDN1yV>X=%VL=ٔV5yQ-V>9XYX=ZDyZD^uǻE^>`Q 5f4b"̊?Q 9f4b)b\BYdyfQ If?bDIb:ib:b4ynBɮnWAnEjhFNOT Ignoring new targets: 180.76 m.Rh 8SZh 8S ProNav: ac range: 180.756363 m, nav range: 168.089401 m, bearing: 207.240510 deg, approach rate: -0.658550 m/s, LOS rate: -0.046166 deg/s, cmd heading: 205.441613 deg, new cmd heading: 205.386052 deg. Bhw%HeadingCmd: 3.584663 target range: 180.756363 and range: 181.50 m.h%ke@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5>?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942Bɢ%hP)! %5i!)%x !)i- a i-,5;5V<1nManaging dock network, ignoring radio surface power offI5ke@I@ @@o0@qԑ^Au<I1 IA U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258976O] >Թ >e~,aU?ABW@Be@B5ٱB$ JAHRS rotation from veh to nav: [[-0.899087,0.423896,0.109333],[-0.435517,-0.891417,-0.125303],[0.044346,-0.160274,0.986076]]BH S@!?C?ۿ| ?`߃Ŀ?iBW@IB^;BӑCYR'ByVP!IE% E%E%)E!"E%:*E%|;:VE%FA4ZE!a-@a-@a-@a-@iEMb@Mb@Mb@AAAA A9Ex&?Cl?+YE7)?yEd;>EE AE@ E A)AAYE= A ]a=]a=bDeVDekymI=%u>=ٔu*8Q-u>9yYy=}Dy}D}E>Q 54 ̊?Q 94)\BY/?Q E:yQ I?DI ;i ;* 4yɮWAjhFNOT Ignoring new targets: 180.76 m.Rh|wZh|w ProNav: ac range: 180.756363 m, nav range: 167.802704 m, bearing: 207.217307 deg, approach rate: -0.667241 m/s, LOS rate: -0.054092 deg/s, cmd heading: 205.386056 deg, new cmd heading: 205.316330 deg. Bh}HeadingCmd: 3.583446 target range: 180.756363 and range: 181.50 m.h.We@h*h"h hgffqfuՃBdqdqdqjdyZd}?ԑBɢ@sI) .i);Gi i,#;_>B1 B5 !IB5 RBB1 B1 B1 B5 \;B5  ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801Q,NV?Aɰ;6W@6he@67ٱ6S_# VAHRS rotation from veh to nav: [[-0.900289,0.421487,0.108759],[-0.432976,-0.892838,-0.123980],[0.044848,-0.158707,0.986306]]6H*@?׻?ۿ!`a?PĿҏ?i6W@I6N];6ԑCY^8By^e!IbDf VDf2yn=%nS=ٔr|Q-r>9pYp=vDyvDvEv>xQ 5~4z ˊ?Q 9~4z)z\BYyQ I?zDIz:iz_:z&4y  Bɮ VAEjh15FNOT Ignoring new targets: 180.76 m.Rh=uZh=uM ProNav: ac range: 180.756363 m, nav range: 167.544601 m, bearing: 207.196599 deg, approach rate: -0.667965 m/s, LOS rate: -0.053676 deg/s, cmd heading: 205.316333 deg, new cmd heading: 205.254112 deg. BhMY]HeadingCmd: 3.582360 target range: 180.756363 and range: 181.50 m.h]cEe@hY*hY"hY hYgYfafafadadidijdiZdm@额BɢO) 2%i)>f顡i iR,;'A Xy, 0V?A }W@*e@:ٱsx# AHRS rotation from veh to nav: [[-0.901585,0.418641,0.109014],[-0.430201,-0.894161,-0.124114],[0.045517,-0.158797,0.986261]]H`?Z?gۿſN?wSĿ t?i}W@Ix];ґCY%5By%a!II->)-p=iMb@Mb@Mb@ 9p= ף?V-?~jtY%?y|?>ļA@ p A)AY AbDVD2yp%9=ٔ"ƺQ->9Y=Dy%DE%>!Q 5-4%-ˊ?Q 954%?)%\BY5,?Q E5:y5Q I5?%DI% ;i%u ;%.4yEBɮE%VAEE]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 180.76 m.Rhu}Zhu} ProNav: ac range: 180.756363 m, nav range: 167.256210 m, bearing: 207.172091 deg, approach rate: -0.651007 m/s, LOS rate: -0.055419 deg/s, cmd heading: 205.254110 deg, new cmd heading: 205.180460 deg. Bh"HeadingCmd: 3.581074 target range: 180.756363 and range: 181.50 m.hS0e@h*h"h hgfffӃBdddjdZd@u @Bɢ}@) k%i)wޅiԼ ic,Q;O&^,_IV?ALYSBy!I))bD5VD5yE>%EY=ٔEQ-E>9M"?YM"?=MDyM5DMEU>QQ 5]4Uˊ?Q 9e4U)U\BYayaQ Ie?UDIU;iU:U;54yiɮu5UAqjhFNOT Ignoring new targets: 180.76 m.RhZh ProNav: ac range: 180.756363 m, nav range: 167.010757 m, bearing: 207.151164 deg, approach rate: -0.652830 m/s, LOS rate: -0.055741 deg/s, cmd heading: 205.180454 deg, new cmd heading: 205.117581 deg. BhHeadingCmd: 3.579977 target range: 180.756363 and range: 181.50 m.hXe@h*h"h hgfffdddjdZd @BG>BB!IBWBB =BBBl;B) i)<6ip i\-;M$,cV?A2~*W@2+ e@2?ٱ2pB( :AHRS rotation from veh to nav: [[-0.904400,0.411929,0.111245],[-0.424113,-0.896446,-0.128503],[0.046791,-0.163398,0.985450]]2H ]?z?$ۿ@r?<Ŀ`Έ?i2~*W@I2fm];2ԑCYBfByB!IbDNVDN0yV=%VU=ٔVeYQ-V>9XYX=ZDyZDDZE^>|Q 5%4ˊ?Q 9%41)\BY)y-Q I-?DI:i:*<4y5Bɮ5TA=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022938jhFNOT Ignoring new targets: 180.76 m.RhsZhs ProNav: ac range: 180.756363 m, nav range: 166.751831 m, bearing: 207.129689 deg, approach rate: -0.639553 m/s, LOS rate: -0.053127 deg/s, cmd heading: 205.117575 deg, new cmd heading: 205.053049 deg. BhHeadingCmd: 3.578851 target range: 180.756363 and range: 181.50 m.h e@h*h"h hgfffdddjdZd  @)myBɢm|H)q u iq)u.pqqiuE i-5Ò;A >Ee  Ee Ea Ea "Ee I:*Ee =:VEa ZEa am @am @am @au @Ա A .AII!O5>^,V?A2V@2d@2Aٱ2) :AHRS rotation from veh to nav: [[-0.905552,0.409182,0.112009],[-0.421587,-0.897422,-0.129993],[0.047328,-0.164937,0.985168]]2HG 0??Iڿ୷`g;?ſ~?i2V@I2"];2ґCYB|ByB!I DDiUMb@Mb@Mb@QQQQ Q9US㥛?S㥛?~jtxYU$&?yU$>UĻU~AU@ U A)QQYUp AbDmVDm1y}=%}&=ٔ}cQ-}>9 ?Y ?=DyXD$E>Q 54ˊ?Q 94v )\BY/+?Q E:yQ I?DIC:iL:D4yɮmSAjhFNOT Ignoring new targets: 180.76 m.RhuUZhuU ProNav: ac range: 180.756363 m, nav range: 166.437408 m, bearing: 207.107696 deg, approach rate: -0.665738 m/s, LOS rate: -0.046655 deg/s, cmd heading: 205.053043 deg, new cmd heading: 204.986939 deg. BhHeadingCmd: 3.577697 target range: 180.756363 and range: 181.50 m.hd@h*h"h hgfffBdddjdZd  $@5wBɢ5n)*)9 =zi9)=z99i= iE&-E;Ey;IMd@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526984Ա 9@ @@/@^AE;BBB!IB{BBBBBj;B  DAT read: 00:31:22.6709 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 388,-0.16,-2.689, 2.222,-2.776, 2.287, PHS= 1.410,-0.019, 1.176, RAW= 141.2, -34.4, CAL= 142.4, -34.3, ROT= 7.6, 34.3  Ygot valid direction response: 00:31:22.6709 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 388,-0.16,-2.689, 2.222,-2.776, 2.287, PHS= 1.410,-0.019, 1.176, RAW= 141.2, -34.4, CAL= 142.4, -34.3, ROT= 7.6, 34.3  PDAT read: Bearing 308.2, 13.9 (Local)  ~Local bearing/azimuth received: Bearing 308.2, 13.9 (Local)  DAT read: Range 11 to 50 : 202.3 m (Round-trip 269.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.818841,0.109257,-0.563526] Fpublishing direction and range infoyY ] Gr3?Ϩ@?ʩgY] LJCY Y Y Y Y )] GI] z?i] 㥛] +?] ϸ@] `] @ ] @)] >I] @?Y Y ] f04?r=Hn?xB ] >)] g?I] >i] @?Y Y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 Շ,,dV?AfV@fd@fWDٱfa) ~AHRS rotation from veh to nav: [[-0.906401,0.407264,0.112132],[-0.419692,-0.898354,-0.129689],[0.047916,-0.164611,0.985194]]fH`<@??<ڿPख़`x?ſ?ifV@Ifv];fԑCY By !I %C=%4=bD%VD%yUM'>%]M=ٔ]-Q-]>9e"?Ye"?=eDyehDeEe>iQ 54m`ˊ?Q 94m)iYyQ I?m&DIm%bi@?i#)cpmpR<Zzi8YxmC׿?2i:iL"imW.?*iճBi 'iii 'i $CiӾg@ addTargetRange:: Added new target pos. range: 202.300003 m, deltaT: 8.066139 s, deltaX: 20.800003 m, approachRate: 2.578681 m/s, rangeRepo size: 4  Added new target pos. range: 201.470535 m, bearing: 205.854925 deg, lat: 36.779305 deg, lon: -121.859738 deg, deltaT: 8.066139 s, deltaX: 20.714172 m, approachRate: 2.568041 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 201.47 m.RhZh ProNav: ac range: 201.470535 m, nav range: 164.053452 m, bearing: 207.469279 deg, approach rate: 0.000000 m/s, LOS rate: -0.046655 deg/s, cmd heading: 204.986941 deg, new cmd heading: 204.927194 deg. BhHeadingCmd: 3.576654 target range: 201.470535 and range: 202.30 m.hd@h*h "h h)g)f)f)f)d1d1d1jd5Ii@Zd=g?颽sBɢ&) վi)(ciki7-;+Q;Id@I@ @@/@*DAT read: user:161> BDAT read: Tx time:00:31:24.0470 $Ping request sent.P,0V?Aɰ BV@Bd@BY[FٱB( JAHRS rotation from veh to nav: [[-0.906965,0.406033,0.112036],[-0.418416,-0.899068,-0.128858],[0.048408,-0.163747,0.985314]]BH@r?@l?Rڿ +`g~ Ȩ?Ŀ ?iBV@IBM];@YnByn"I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249270iuMb@Mb@Mb@qqqq q9uS㥛?:v?~jt?Yqyu=uD%F=ٔQ->9Y=DyyDV^E>Q 54wˊ?Q 94)\BYJ(?Q E:y*#Q I?8DI. ;i ;R4yɮQAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 201.47 m.RhZh ProNav: ac range: 201.470535 m, nav range: 163.784729 m, bearing: 207.458641 deg, approach rate: -0.699711 m/s, LOS rate: -0.027745 deg/s, cmd heading: 204.927190 deg, new cmd heading: 204.895224 deg. BhTHeadingCmd: 3.576096 target range: 201.470535 and range: 202.30 m.hd@h*h"h hgf!f)f-SBdQdYdayjdZd[?pBɢ) `i)ǻiYi-@-- ;-';I-d@I1EU EUEU)EQ"EUy:*EU|;:VEUFA4ZEQae@ae@ae@ae@@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501060 ^A jb;I I O >,, V?A2V@2Vd@2 8Hٱ2' :AHRS rotation from veh to nav: [[-0.907464,0.404961,0.111876],[-0.417279,-0.899732,-0.127905],[0.048862,-0.162752,0.985456]]2H` @?@裼?ڿ-_@t?Ŀۈ?i2V@I2u];0YBփByB("IIF<)Fp;bDN BTBTBV!IBVBBTBTBTBVv;BV%EP=ٔEQ-M>9IYI=MDyMDUSOEU>YQ 5e4]hˊ?Q 9e4])]\BYaye?#Q Im?]HDI]t:i]I:]Y4yuBɮuPAuEjhFNOT Ignoring new targets: 201.47 m.RhoZho ProNav: ac range: 201.470535 m, nav range: 163.528244 m, bearing: 207.448567 deg, approach rate: -0.654020 m/s, LOS rate: -0.025729 deg/s, cmd heading: 204.895225 deg, new cmd heading: 204.864955 deg. BhBHeadingCmd: 3.575568 target range: 201.470535 and range: 202.30 m.hd@h*h"h hgfffdddjdZd?nBɢ5) i)λiAi I- g; o;I d@Iu9@q @q@}r2@y5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753647^A2;II O>EU EUEU+EQ"EUƱ:*EUa9:VEU [4ZEQBEUH;ae2EUI;aeJEU&;ae:EU';aeA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005203,%V?A2JV@2d@28Iٱ2& >AHRS rotation from veh to nav: [[-0.907717,0.404470,0.111597],[-0.416700,-0.900137,-0.126947],[0.049106,-0.161734,0.985612]]2H  ?@?5ڿ@?|$?Ŀ!?i2JV@I2];0YFByFP"ILNAAbDNVDN2yV*>%VT=ٔZ&Q-Z>9XYX=^Dy^D^n׺E^>`Q 5f4bmˊ?Q 9f4bI)b\BYhyjI#Q Ij?bXDIb:ib:bO`4ynٝBɮnOArEjhFNOT Ignoring new targets: 201.47 m.Rh AZh A% ProNav: ac range: 201.470535 m, nav range: 163.276917 m, bearing: 207.438720 deg, approach rate: -0.652389 m/s, LOS rate: -0.025600 deg/s, cmd heading: 204.864954 deg, new cmd heading: 204.835367 deg. Bh%-HeadingCmd: 3.575052 target range: 201.470535 and range: 202.30 m.h-d@h)*h)"h) h)g1f1f1f1dddjdZdS?%kBɢ%3)) -hi))-Ի)1iUi]R-e<;e;Ied@Ii=9@9 @AQ@E4@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257136q^A0::I I O5 >ԡ Ee  Ee Ee *Ea "Ee y:*Ee 0:VEe (N4ZEa am @am @am @am @>,W?A2ګV@2d@2Iٱ2-& :AHRS rotation from veh to nav: [[-0.907544,0.404854,0.111609],[-0.417061,-0.900028,-0.126527],[0.049226,-0.161377,0.985664]]2H ? b?` ڿ@ 2"4?@Ŀ?i2ګV@I2];0YBByBe"Ii Mb@Mb@Mb@     9 #~j?~jt?~jt?Y %?y = < A  Z A) y Y AbDVD:y6=%<=ٔQ->9Y=DyD|p:E>Q 54Xˊ?Q 94 )\BYI&?Q E:yf)Q I?kDIn:i:g4yɮNAjhFNOT Ignoring new targets: 201.47 m.Rh Zh  ProNav: ac range: 201.470535 m, nav range: 162.994217 m, bearing: 207.437149 deg, approach rate: -0.647405 m/s, LOS rate: -0.003605 deg/s, cmd heading: 204.835365 deg, new cmd heading: 204.830643 deg. BhT%HeadingCmd: 3.574969 target range: 201.470535 and range: 202.30 m.h%Kd@h!*h!"h) h)g)f)f)f5Bd1d1d9jd9Zd= ?eiBɢm)i m@ii)mٻiqiuLi}iS-};};I}Kd@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511954 9@  @ @ 4@ ԩBBBT"IBBBBBBg;BM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761174 ,wW?A2%V[=ٔVߵQ-V>9XYX=ZDyZD^%;E^>`Q 5f4bFˊ?Q 9f4b#)b\BYdyfW)Q If?bzDIb:ib:bkn4ynʝBɮn6MAnEjhFNOT Ignoring new targets: 201.47 m.RhZh  ProNav: ac range: 201.470535 m, nav range: 162.754013 m, bearing: 207.435733 deg, approach rate: -0.647762 m/s, LOS rate: -0.003824 deg/s, cmd heading: 204.830639 deg, new cmd heading: 204.826385 deg. Bh'%HeadingCmd: 3.574895 target range: 201.470535 and range: 202.30 m.h%d@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5/@efBɢeL")a eii)mrܻiiimiuT-u@;uIY;E EE+E"E:*EC:VE [4ZEBE 9Y=DyDE>Q 541ˊ?Q 94&)\BY ?Q E :y ]/Q I ?DIW;i;%v4yɮLA!ԱB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 201.47 m.Rh9Zh9- ProNav: ac range: 201.470535 m, nav range: 162.482773 m, bearing: 207.443144 deg, approach rate: -0.575036 m/s, LOS rate: 0.015739 deg/s, cmd heading: 204.826390 deg, new cmd heading: 204.848662 deg. Bh-,:UHeadingCmd: 3.575284 target range: 201.470535 and range: 202.30 m.hUrd@hQ*hQ"hQ hQgQfYfYf]ЄBdYdadajdaZde@@cBɢ|U) tƽi)Ji1iCN-;t 9;Ird@I)E5 E5E5*E1"E5غ:*E5a9:VE5(N4ZE1aE@aE@aE@aE@9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517167^A jb;A  I! I9 OE >,/PW?A4<ɰ4<B(A(B.H>B,B."IB.%f]=ٔfQ-f>9hYh=jDyjDn<En>lQ 5r4nK ˊ?Q 9v4n()n]BYtyv,/Q Iv?nDInz;in;n|4y~Bɮ~sKA~Ejh%FNOT Ignoring new targets: 201.47 m.Rh%09Zh%095 ProNav: ac range: 201.470535 m, nav range: 162.257187 m, bearing: 207.449088 deg, approach rate: -0.667574 m/s, LOS rate: 0.017615 deg/s, cmd heading: 204.848657 deg, new cmd heading: 204.866514 deg. Bh=lA:=HeadingCmd: 3.575595 target range: 201.470535 and range: 202.30 m.h=d@hA*hA"hA hAgAfAfIfd d d jd Zd@=aBɢ=c")9 E'iA)EpAaie im(I-mq;mz;Iud@Iq-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769912@ @@/@@=@=)EI EMEM)EI"EI*EM;J:VEMFA4ZEIBEM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021135e,iW?A RW@Rue@RPPMٱRx# jAHRS rotation from veh to nav: [[-0.904583,0.411253,0.112253],[-0.423343,-0.897559,-0.123158],[0.050104,-0.158928,0.986018]]RHWQ?@? ۿθEI?WĿu?iRW@IRy_;RґCYvUByv"IIzG>)z=bD VD 1y%3=%%E=ٔ-{Q-->91Y1=5Dy5D=L;EE>IQ 5U4M ˊ?Q 9]4M+)M.]BYaye.Q Ie?MDIMj;iMbU;Mԃ4yuBɮuJAqjhFNOT Ignoring new targets: 201.47 m.Rh,9Zh,9 ProNav: ac range: 201.470535 m, nav range: 162.002045 m, bearing: 207.455563 deg, approach rate: -0.606973 m/s, LOS rate: 0.015428 deg/s, cmd heading: 204.866511 deg, new cmd heading: 204.885966 deg. Bhh):HeadingCmd: 3.575935 target range: 201.470535 and range: 202.30 m.hd@h*h"h hgfffddqdqjdyZd} F @_BɢЮ)  `i ) v  i gi]C-]n;]@;I]d@IYq)@) @1@50@9ԙ=BDAT read: Rx Time:00:31:26.7195 ETRx dataTimestamp_ set to:1761525085.892080Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274162^AM ϩ; Ee  Ee Ee +Ea "Ee :*Ee VL:VEe [4ZEa am @am @am @am @Ay I I O >t,ƃW?APY~[By~"IiMb@Mb@Mb@ 9$C?X9vX9v?Y?y}<~A@  A)AY A@AbDVD0y˿<%A=ٔQ->9Y=DyDE>Q 54Rʊ?Q 94-Q =tI)M]BY!?Q E:y 3Q I?DI;i@;74yBɮuJAjhFNOT Ignoring new targets: 201.47 m.Rh%:Zh%:5 ProNav: ac range: 201.470535 m, nav range: 161.749924 m, bearing: 207.467703 deg, approach rate: -0.602800 m/s, LOS rate: 0.029072 deg/s, cmd heading: 204.885963 deg, new cmd heading: 204.922441 deg. Bh5:=HeadingCmd: 3.576571 target range: 201.470535 and range: 202.30 m.h=d@h9*h9"hA hAgAfAfIfMBdIdIdIjdQZdU*@}]Bɢ}?) }i)顁ii*9-7A;5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544409\;Iud@IqBeI>Be;CBe"IBeoBBaBaBaBeF;BeuIE 0"?A A E o?T&?G. E >)E $?IE >iE 0"?A A u T****** received valid address query ******u R****** received valid ping request ****** -C} Querying Benthos address 50 with one ping in standard two-way mode.  ) ] B9Y Y] A^A Β;Q Eu EuEu,Eq"EuI:*EuAr:VEug4ZEqBEu?Eÿo?iVW@IVK_;TYvRByv"I bD-VD-y]+%]&=ٔ]Q-e>9aYa=eDyeDmM<Em>qQ 5}4uʊ?Q 9}4u0)uq]BYyy~2Q I?uDIu:iu:uϓ4yBɮ#KAEiaie^MW?AJie`HCRie`HCjiebf@ied@$zxq=4@vibie0"?iePm]b>y`R ![zieL eedz׿q 2ie:ie "ie4gљ?*ie Bie,7ie޶a?iaie,7ie%Cieg@= addTargetRange:: Added new target pos. range: 201.199997 m, deltaT: 4.031873 s, deltaX: -1.100006 m, approachRate: -0.272828 m/s, rangeRepo size: 4 M Added new target pos. range: 200.377197 m, bearing: 206.252379 deg, lat: 36.779268 deg, lon: -121.859738 deg, deltaT: 4.031873 s, deltaX: -1.093338 m, approachRate: -0.271174 m/s, posRepo size: 4 jhimFNOT Ignoring new targets: 200.38 m.RhuZhq ProNav: ac range: 200.377197 m, nav range: 165.097061 m, bearing: 206.825741 deg, approach rate: 0.000000 m/s, LOS rate: 0.029072 deg/s, cmd heading: 204.922436 deg, new cmd heading: 204.966723 deg. Bh*DAT read: user:162> BDAT read: Tx time:00:31:28.0970 $Ping request sent.%,jW?A2W@2e@2 Sٱ2 :AHRS rotation from veh to nav: [[-0.899754,0.421734,0.112177],[-0.433348,-0.893780,-0.115616],[0.051502,-0.152638,0.986939]]2H??ۿ`ؙ`|^?ÿ?i2W@I2z_;0YB^ByB"IXEU EUEU*EQ"EU:*EUF:VEU(N4ZEQa]@a]@a]@a]@ieMb@Mb@Mb@aaaa a9eK7A?MbX9y&1|?Ye "?yeʡe`;eAe@ ep A)eAaYabD} VD}2y/O=%<=ٔQ->9 ?Y ?=Dy"D;;E>Q 54ʊ?Q 942)]BYP#?Q E:y4Q I?DI;i;j4yBɮNJAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 200.38 m.RhU:ZhU: ProNav: ac range: 200.377197 m, nav range: 164.823090 m, bearing: 206.839234 deg, approach rate: -0.652766 m/s, LOS rate: 0.032202 deg/s, cmd heading: 204.966723 deg, new cmd heading: 205.007270 deg. BhͰ: HeadingCmd: 3.578052 target range: 200.377197 and range: 201.20 m.h d@h *h "h  hgfffBdddjdZd% VT?MXBɢM`ǻ)Q U`=BB #IBBB =BBB\;Be,wIW?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755653vSW@ve@v8Rٱv AHRS rotation from veh to nav: [[-0.898774,0.423805,0.112222],[-0.435400,-0.892815,-0.115365],[0.051301,-0.152549,0.986964]]vH??ۿ @D?`ÿ4?ivSW@Iv _;vБC!Y5FBy5"I MC=IbDUVDUkye%eN=ٔm:Q-m>9m"?Ym"?=mDym2Du;Eu>yQ 54}ʊ?Q 94}5)}]BYy3Q I?}DI}b:i}:}Y4yɮKAjhFNOT Ignoring new targets: 200.38 m.Rh :Zh : ProNav: ac range: 200.377197 m, nav range: 164.573074 m, bearing: 206.851385 deg, approach rate: -0.631191 m/s, LOS rate: 0.030723 deg/s, cmd heading: 205.007267 deg, new cmd heading: 205.043776 deg. Bh:HeadingCmd: 3.578689 target range: 200.377197 and range: 201.20 m.h> e@h*h"h hgfffdddjdZd@\?额VBɢ@)  i)顡i<%iw-k; e@IIbEÙT4jEÙT4rE÷8/Eu EuEu,Eq"Eu:*Eua9:VEug4ZEqBEua E1,#W?A>aX@>f@>9Oٱ> FAHRS rotation from veh to nav: [[-0.897874,0.425725,0.112159],[-0.437338,-0.891765,-0.116152],[0.050571,-0.153342,0.986878]]>Hb??@v?Wۿ V*`a?ÿ?i>aX@I>-_;>ӑCYV8ByV"IIb=)bi?bDjVDj 3yr%rS=ٔro:Q-v>9v ?Yv ?=vDyvBDz;Ez>|Q 54~ʊ?Q 94~,7)~]BYy 3Q I ?~DI~;i~;~4yBɮ%KA%EԁjhFNOT Ignoring new targets: 200.38 m.Rh]:Zh]: ProNav: ac range: 200.377197 m, nav range: 164.329178 m, bearing: 206.863087 deg, approach rate: -0.604469 m/s, LOS rate: 0.029046 deg/s, cmd heading: 205.043782 deg, new cmd heading: 205.078940 deg. Bhx:echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259817}HeadingCmd: 3.579303 target range: 200.377197 and range: 201.20 m.h}Le@hy*hy"hy hygyfffdddjdZdj?ETBɢEq,)A E`iI)Mk5IQiU'imh -m\;mwA/,l[ X?A6B7X@6,f@6ZIٱ6e >AHRS rotation from veh to nav: [[-0.897220,0.427217,0.111725],[-0.438842,-0.890791,-0.117939],[0.049138,-0.154847,0.986716]]6H``W??@ܿ[A1(?ÿ,?i6B7X@I68_;6БCYF;ByF"IiMb@Mb@Mb@ 9/$?I +9AYA=EDyESDMl;EM>ԩQ 54Mʊ?Q 949)]BY?Q E:y0Q I?DI:i:4yBɮlJABBBBBBBBf;B1 R ,m'X?A>+DX@>9f@>pEBٱ>1l! FAHRS rotation from veh to nav: [[-0.896949,0.427940,0.111133],[-0.439585,-0.890100,-0.120362],[0.047412,-0.156811,0.986490]]>Hͳ^c?@3s? *"ܿ{о`YF?_ĿS?i>+DX@I>z^;>ёCYN)ByN"ITVAAbDZVDZ2yb%bS=ٔbt;Q-b>9dYd=fDyfbDj;Ej>hQ 5r4jb|ʊ?Q 9r4j<)j]BYpyr0Q Ir?jDIjr;ij ;j:4yxɮzJAxjhFNOT Ignoring new targets: 200.38 m.Rh9Zh%9- ProNav: ac range: 200.377197 m, nav range: 163.835907 m, bearing: 206.878104 deg, approach rate: -0.625686 m/s, LOS rate: 0.019012 deg/s, cmd heading: 205.103245 deg, new cmd heading: 205.124062 deg. Bh5P:5HeadingCmd: 3.580090 target range: 200.377197 and range: 201.20 m.h53 e@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`@uPBɢ}|R)y }蝽iy) 顁i%+i,;bʖq] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267986ԙ :,@X?A2s?X@2 5f@2Y<ٱ2 " :AHRS rotation from veh to nav: [[-0.897132,0.427809,0.110153],[-0.439355,-0.890056,-0.121519],[0.046055,-0.157415,0.986458]]2HN7a? 2?cܿW{@?*&Ŀ?i2s?X@I2^;2ϑCYFByFv"IiMb@Mb@Mb@ 9MbX9?Mb?9Y=DytD*E>Q 5 44gʊ?Q 9 4K?)]BY"?Q E:y+Q I?1DI;i ;4y%zBɮ%!KA%E=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 200.38 m.RhUm%8ZhUm%8e ProNav: ac range: 200.377197 m, nav range: 163.555618 m, bearing: 206.879104 deg, approach rate: -0.632239 m/s, LOS rate: 0.002260 deg/s, cmd heading: 205.124064 deg, new cmd heading: 205.127069 deg. Bhe8mHeadingCmd: 3.580143 target range: 200.377197 and range: 201.20 m.hm!e@hi*hi"hi higqqfyfyf}*BdyddjdZd E@颵NBɢn) i)L项i",i,?;r ] >] 4=e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771397q,1[X?A^/X@^u%f@^7ٱ^m# fAHRS rotation from veh to nav: [[-0.897603,0.426968,0.109575],[-0.438522,-0.890190,-0.123532],[0.044798,-0.158934,0.986272]]^H*qS?@ ?ܿp|П@?WĿ ?i^/X@I^i^;^͑CYnByn_"IbDz VDz2y~B%Y=ٔZ;Q->9 Y = Dy D _&E>Q 54.Uʊ?Q 9%4B)]BY!y%+Q I%?@DI;i3;ş4y)ɮ5KA1jhQ]FNOT Ignoring new targets: 200.38 m.Rh]b78Zheb78m ProNav: ac range: 200.377197 m, nav range: 163.317184 m, bearing: 206.880045 deg, approach rate: -0.633907 m/s, LOS rate: 0.002505 deg/s, cmd heading: 205.127069 deg, new cmd heading: 205.129896 deg. Bhu8uHeadingCmd: 3.580192 target range: 200.377197 and range: 201.20 m.hu!e@hy*hy"hy hygyfyffdddjdZd`-@颵MBɢOB) i)iQ.i,Ʒ; ,tX?A 2 X@2f@2]1ٱ2& >AHRS rotation from veh to nav: [[-0.898057,0.426045,0.109449],[-0.437732,-0.890121,-0.126786],[0.043407,-0.161770,0.985873]]2H@SD??@ܿ{:a9?@Ŀ F?i2 X@I2$_;2ϑCYbByb["I xz4=bD~ VD~2y 0% K=ٔ Gc;Q- >9Y=DyD`E>!Q 5-4%Aʊ?Q 9-4%E)%]BY)y-+Q I-?%PDI%:i%:%̟4y=jBɮ=QKA=EjhFNOT Ignoring new targets: 200.38 m.Rh68Zh68=BDAT read: Rx Time:00:31:30.6971 MTRx dataTimestamp_ set to:1761525089.929299]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282995q} ProNav: ac range: 200.377197 m, nav range: 163.062805 m, bearing: 206.881148 deg, approach rate: -0.575251 m/s, LOS rate: 0.002498 deg/s, cmd heading: 205.129897 deg, new cmd heading: 205.133211 deg. Bhu8HeadingCmd: 3.580250 target range: 200.377197 and range: 201.20 m.h"e@h*h"h hgfffdddjdZd`We @MJBɢM҈)Q UiQ)U \QQiU0/i],]ک;] #,裏X?A ;ɰ6lX@6e@6++ٱ6,( BAHRS rotation from veh to nav: [[-0.898766,0.424757,0.108634],[-0.436418,-0.890448,-0.129001],[0.041939,-0.163352,0.985676]]6H7/?uϻ?Gۿ~@y?Ŀ?i6lX@I6M_;6ёCYFByJG"IB=K>B9B="IB=UBB= =B9B9B=z;B=9Y=DyDI\E>Q 54.ʊ?Q 94H)]BYK ?Q E:y%Q I?bDI:ia:Uԟ4y[Bɮ^KAEjhFNOT Ignoring new targets: 200.38 m.RhZh- ProNav: ac range: 200.377197 m, nav range: 162.785858 m, bearing: 206.873015 deg, approach rate: -0.685646 m/s, LOS rate: -0.020167 deg/s, cmd heading: 205.133216 deg, new cmd heading: 205.108778 deg. Bh-s]5HeadingCmd: 3.579823 target range: 200.377197 and range: 201.20 m.h5e@h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdE b@颅IBɢ"l) v2i)i 1i-W;h/i/x>~%@q=>4%@ 4QO>)Q =I4QO۶??-h? %>)A=IQ =i4QOeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.q^A<ԡ E  E E E "E غ:*E VL:VE ZE BE ),iX?A6W@6Ke@6&ٱ6'@ FAHRS rotation from veh to nav: [[-0.899895,0.422760,0.107066],[-0.434200,-0.891470,-0.129426],[0.040729,-0.162958,0.985792]]6H ?h?`ۿ |ڤ?Ŀ?i6W@I6W_;6ΑCYNByN5"IbDVVDV2y^ɝ%^]=ٔbDV;Q-b>9`Yd=fDyfDf^ܻEf>hQ 5n4j_ʊ?Q 9n4j L)j]BYpyr%Q Ir?jqDIj;ij;jڟ4ytɮvKAt*DAT read: user:163>  BDAT read: Tx time:00:31:32.0970 $Ping request sent. 0,FEX?A2ٲW@2e@2"ٱ2& :AHRS rotation from veh to nav: [[-0.901120,0.420588,0.105298],[-0.431760,-0.892655,-0.129420],[0.039562,-0.162087,0.985983]]2H??ۿ@ِ|A? CĿ`,?i2ٲW@I2^;2ёCE@ EBEB*E@"E@*EB|;:VEB(N4ZE@aJ@aJ@aJ@aJ@YNփByN("Ili}Mb@Mb@Mb@yyyy y9}x&1?/$?&1Y}!?y}>}P}A}@ }A)}@yYybDVDy?%<=ٔ0;Q->9Y=DyDλE>Q 54 ʊ?Q 94P)]BY&?Q E:yIQ I?DI:i :a4yhBɮLAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 200.38 m.RhVZh V ProNav: ac range: 200.377197 m, nav range: 162.278946 m, bearing: 206.846707 deg, approach rate: -0.656863 m/s, LOS rate: -0.046970 deg/s, cmd heading: 205.088956 deg, new cmd heading: 205.029722 deg. Bh%HeadingCmd: 3.578444 target range: 200.377197 and range: 201.20 m.h%9e@h!*h!"h! h!g!f)f)f-ǃBd)d1d1jd1Zd5>?eDBɢes)a e[ia)m'iiim&2i|-v;g_MBABE"IBE-BBE =BABABEw;BEAU>IIO>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753910A 6,(X?AhAA2192hAY2#Ar W@rxe@rٱrF<& zAHRS rotation from veh to nav: [[-0.902423,0.418236,0.103499],[-0.429151,-0.893864,-0.129753],[0.038246,-0.161509,0.986130]]rH`a? ~?6wۿ@? SĿ `?ir W@Ir^;rБCYуBy""IbDVD1y%Ѽ%%S=ٔ-Q^;Q-->9)Y)=5Dy5D95JE=>AQ 5M4EɊ?Q 9M4ET)E~]BYIyMwQ IM?EDIE_:iEV:E,4yYɮ]LAYjhFNOT Ignoring new targets: 200.38 m.Rh2NZh2N ProNav: ac range: 200.377197 m, nav range: 162.031403 m, bearing: 206.829235 deg, approach rate: -0.637556 m/s, LOS rate: -0.045068 deg/s, cmd heading: 205.029725 deg, new cmd heading: 204.977230 deg. BhoHeadingCmd: 3.577528 target range: 200.377197 and range: 201.20 m.h6d@h*h"h hgfffdddjdZdU?BBɢI) ai)Vi3i)-|ޛ;2Թ H=,DX?A2MW@2LCe@2Pzٱ2Op& :AHRS rotation from veh to nav: [[-0.903869,0.415521,0.101804],[-0.426231,-0.895093,-0.130906],[0.036729,-0.161714,0.986154]]2H}??`\Gۿ@4΢?` Ŀ?i2MW@I2%^;2͑CYRكByV+"IbDfVDfyvW=%vN=ٔv{;Q-z>9xYx=zDyzD~E~>Q 5 4Ɋ?Q 9 4X)i]BY yQ I?DIYv;i;4yEXBɮMKAUEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260387jhFNOT Ignoring new targets: 200.38 m.Rh%2Zh%2U ProNav: ac range: 200.377197 m, nav range: 161.779434 m, bearing: 206.811697 deg, approach rate: -0.560901 m/s, LOS rate: -0.039103 deg/s, cmd heading: 204.977228 deg, new cmd heading: 204.924531 deg. BhUֺ]HeadingCmd: 3.576608 target range: 200.377197 and range: 201.20 m.h]$d@hY*hY"hY hYgafafafadiddjdZd??Bɢ ) rLi)qi84i58-58;5D,Y?A2W@2e@2ٱ2b( :AHRS rotation from veh to nav: [[-0.905252,0.412712,0.100932],[-0.423402,-0.896050,-0.133512],[0.035338,-0.163597,0.985894]]2Hi?ֹ?ۿp ?Ŀq?i2W@I2^;0YBByB:"IB~K>B|B~m"IB~BB|B|B|B~m;B~ 0A@ ^A)@Y\A R=a=bDVD03yb=%>=ٔZT;Q->9"?Y"?=DyDAE>Q 54AɊ?Q 94])T]BY,?Q E:yQ I?DI ;i ;4yɮKAjhFNOT Ignoring new targets: 200.38 m. Rh،Zh،% ProNav: ac range: 200.377197 m, nav range: 161.498032 m, bearing: 206.788584 deg, approach rate: -0.748308 m/s, LOS rate: -0.061568 deg/s, cmd heading: 204.924526 deg, new cmd heading: 204.855068 deg. Bh%)%HeadingCmd: 3.575395 target range: 200.377197 and range: 201.20 m.h-Gd@h)*h)"h) h)g)f1f1f5Bd1d9d9jd9Zd=ࢌ?=Bɢ X)  /i ) ziN5imL-2f;h;IGd@I9@ @@/@@=@=9^A}<AyzA}dAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767168IqIO}>abE-ɷG4jE-I4rE-S}/E  E E +E "E Ʊ:*E C:VE [4ZE BE H;a 2E I;a JE @;a :E @;a ԑ -J,*Y?A2V@2d@2* ٱ2) >AHRS rotation from veh to nav: [[-0.906606,0.409955,0.100008],[-0.420600,-0.897034,-0.135741],[0.034063,-0.165127,0.985684]]2H)n>r=r=bDz VDz2 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018693y%%%U=ٔ-X;Q-->91Y1=5Dy5D=!E=>AQ 5U4EcɊ?Q 9U4Eb)E@]BYYy]Q I]?EDIE>;iEuI;EY4ymIBɮmPKAmEjhFNOT Ignoring new targets: 200.38 m.RhqZhq ProNav: ac range: 200.377197 m, nav range: 161.244598 m, bearing: 206.768006 deg, approach rate: -0.650124 m/s, LOS rate: -0.052871 deg/s, cmd heading: 204.855063 deg, new cmd heading: 204.793233 deg. Bh#HeadingCmd: 3.574316 target range: 200.377197 and range: 201.20 m.hd@h*h"h hgfffdddjdZd`b@:Bɢx) .7i)  i =5i ^-z;`;Id@qI@ @@/@ԡ^AH<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273475I I O% > Q,DY?AE2 E2E2)E0"E2:*E2*5:VE2FA4ZE0a:@a:@a:@a:@>.V@>ܬd@>)ٱ>|* FAHRS rotation from veh to nav: [[-0.907867,0.407470,0.098721],[-0.417970,-0.898072,-0.136993],[0.032838,-0.165633,0.985641]]>H`? ?E?@ڿ`Р? y3ſ^?i>.V@I>^;}yy }A)}=@yY}AbDVD:2yk=%B=ٔ?;Q->9Y=DyDE>Q 54>Ɋ?Q 94f).]BY-?Q E:yQ I?DI:i:4yɮJAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 200.38 m.RhZh ProNav: ac range: 200.377197 m, nav range: 160.969238 m, bearing: 206.743885 deg, approach rate: -0.661224 m/s, LOS rate: -0.058022 deg/s, cmd heading: 204.793237 deg, new cmd heading: 204.720748 deg. BhGHeadingCmd: 3.573051 target range: 200.377197 and range: 201.20 m.h%߬d@h!*h!"h! h!g!f!f)f-Bd)d)d1jd1Zd5W@e8Bɢe))a eia)m iiimƾ6iur-uz;u;Iu߬d@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522097-9@) @)@-0@1BA<BL>BB`"IBBB =BBB|;B)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773970@W,j^Y?AFV@Fd@FOٱF7) RAHRS rotation from veh to nav: [[-0.908861,0.405589,0.097308],[-0.415855,-0.899147,-0.136379],[0.032180,-0.164415,0.985866]]FH d ,?(?@`ڿt`y? ſ@7?iFV@IF^;FБCYVByVT"IbDbVDbyjv=%jY=ٔj:Q-j>9lYl=nDyn&DrʻEr>tQ 5v4vɊ?Q 9z4vSk)v]BYxyzQ Iz?vDIv:iv:vC 4y:BɮIAEjh!-FNOT Ignoring new targets: 200.38 m.Rh-CZh-CE ProNav: ac range: 200.377197 m, nav range: 160.721375 m, bearing: 206.722305 deg, approach rate: -0.658041 m/s, LOS rate: -0.057380 deg/s, cmd heading: 204.720755 deg, new cmd heading: 204.655914 deg. BhEEHeadingCmd: 3.571919 target range: 200.377197 and range: 201.20 m.hMTd@hI*hI"hI hIgIfIfQfQdQdYdYjdaZde|@颍5Bɢ) i)VJ顙i(7ib-Wk;-o;ITd@II)gA1E} E}E}*Ey"E}:*E}a9:VE}(N4ZEyBE}ԁ i],BxY?A2vV@2Sld@2ٱ2'@ NAHRS rotation from veh to nav: [[-0.909542,0.404361,0.096054],[-0.414407,-0.899943,-0.135537],[0.031637,-0.163082,0.986105]]2H@ ??@ڿTIY2?@Ŀ`,?i2vV@I2^;2ΑCYZ ByZf"I dddfAbDvVDv2y3=%F=ٔ:Q->9Y=Dy7DoE> Q 5E4 Ɋ?Q 9M4 gp)  ]Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.281389YQyQ I? DI Qd,Y?A2]V@2Sd@2iٱ2Q(& :AHRS rotation from veh to nav: [[-0.910187,0.403246,0.094619],[-0.413037,-0.900732,-0.134471],[0.031001,-0.161474,0.986390]]2H? `?8?1oڿ V6?1Ŀ?i2]V@I20^;2ϑCYB$ByB"IBVM>BTBVs"IBVBBTBTBVDBV;BVףA@ GA)j@YbD VD2yf>%A=ٔ:Q->9Y=DyHDxE>Q 54~Ɋ?Q 94t)]BY $?Q E:yQ I? DI ;i ;4yɮ IAjh  FNOT Ignoring new targets: 200.38 m.RhhZhh% ProNav: ac range: 200.377197 m, nav range: 160.182861 m, bearing: 206.679279 deg, approach rate: -0.706172 m/s, LOS rate: -0.050823 deg/s, cmd heading: 204.580353 deg, new cmd heading: 204.526616 deg. Bh% -HeadingCmd: 3.569663 target range: 200.377197 and range: 201.20 m.h-[ud@h)*h)"h) h)g1f1f9f=܃Bd9d9d9jdAZdE m@m/Bɢu3x+)q u iq)}]yyi}9iZ-;;H;I[ud@I59@1 @1@54@1DAT read: 00:31:34.7274 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233,-0.24, 0.469,-1.088, 0.565, 0.388, PHS= 0.183,-1.431, 0.133, RAW= 148.5, 13.9, CAL= 148.4, 15.4, ROT= 1.6, -15.4 Ygot valid direction response: 00:31:34.7274 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233,-0.24, 0.469,-1.088, 0.565, 0.388, PHS= 0.183,-1.431, 0.133, RAW= 148.5, 13.9, CAL= 148.4, 15.4, ROT= 1.6, -15.4 PDAT read: Bearing 358.8, 0.5 (Local) ~Local bearing/azimuth received: Bearing 358.8, 0.5 (Local) DAT read: Range 11 to 50 : 169.6 m (Round-trip 226.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.963720,0.026919,0.265556]Fpublishing direction and range infoyP?|ɯ?<?Y)C )DIZd;>i+'1>H%@Ulx>%@ >)) xID =D <E  E E ,E "E غ:*E =:VE g4ZE BE  zBDAT read: Tx time:00:31:36.0970 z$Ping request sent.z9)Y1=5Dy5XD57E5>9AQ 5M4EunɊ?Q 9M4Ex)E]BYIyMQ IU?EDIE(:iE:E!4y]6Bɮ]GA]ťEiiY?AJi(CRi(Cjih@iXd@q/@h46_mF@riP?|ɯ?<?Zi<bii>r~aMSMm8H@zint{AݿZ?2il:i3"i`@O?*iKwlgBiBi`@O?iiiCif@ addTargetRange:: Added new target pos. range: 169.600006 m, deltaT: 8.068072 s, deltaX: -31.599991 m, approachRate: -3.916672 m/s, rangeRepo size: 4  Added new target pos. range: 168.907684 m, bearing: 208.500448 deg, lat: 36.779274 deg, lon: -121.859726 deg, deltaT: 8.068072 s, deltaX: -31.469513 m, approachRate: -3.900500 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 168.91 m.RhZh ProNav: ac range: 168.907684 m, nav range: 158.840805 m, bearing: 206.459053 deg, approach rate: 0.000000 m/s, LOS rate: -0.050823 deg/s, cmd heading: 204.526613 deg, new cmd heading: 204.467073 deg. BhHeadingCmd: 3.568624 target range: 168.907684 and range: 169.60 m.hTdd@h*h"h hgfffdddjd@33e@Zd g?%,Bɢ%,`޻)! %cq,AY?Aɰ;E& E&E&)E$"E&:*E&.:VE&FA4ZE$a*@a*@a*@a*@>dDV@>:d@>kٱ>=" FAHRS rotation from veh to nav: [[-0.910867,0.402416,0.091556],[-0.411641,-0.901770,-0.131765],[0.029538,-0.157709,0.987044]]>H%.? 2p?TXڿ M -??@/Ŀܕ?i>dDV@I>_;>ΑCYNQByN"Ii%Mb@Mb@Mb@!!!! !9%!rh?S㥻?MbpY%l'?y%/=%%VA! %1A)%S@!Y%AbD=VD=2yM=%MH=ٔMy:Q-U>9U ?YU ?=UDyUhDԙE>Q 54ZɊ?Q 94|)]BY)?Q E:y#Q I?.DI":i:)4yɮ+GA=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 168.91 m.RhMZhM} ProNav: ac range: 168.907684 m, nav range: 158.561615 m, bearing: 206.446552 deg, approach rate: -0.656726 m/s, LOS rate: -0.029458 deg/s, cmd heading: 204.467068 deg, new cmd heading: 204.429497 deg. BhHeadingCmd: 3.567968 target range: 168.907684 and range: 169.60 m.hYd@h*h"h hgfffBdddjdZd ?)Bɢl) Ȟ=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501780)Qi8VBB"IBߥ =? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754422I I O >w,Y?A2@V@2k6d@2uٱ2#! :AHRS rotation from veh to nav: [[-0.910972,0.402382,0.090660],[-0.411444,-0.901970,-0.131011],[0.029056,-0.156649,0.987227]]2H&?5?`Uڿ ? Ŀ\?i2@V@I2_;0Y^aBy^"IbDj VDj2yrb=%rQ=ٔr:Q-r>9v"?Yv"?=vDyvxDzEz>xQ 54zHIɊ?Q 94z8)z]BYy#Q I?z>DIz;izr;z/4y'Bɮ/FAĥEjh1FNOT Ignoring new targets: 168.91 m.RhZh ProNav: ac range: 168.907684 m, nav range: 158.315659 m, bearing: 206.435518 deg, approach rate: -0.666227 m/s, LOS rate: -0.029933 deg/s, cmd heading: 204.429502 deg, new cmd heading: 204.396350 deg. BhWHeadingCmd: 3.567389 target range: 168.907684 and range: 169.60 m.hPd@h*h"h hgfff!d!d!d!jd!Zd-[?额'Bɢ^) p=i) 顡iB=i-;hi;IPd@EU EUEU'EQ"EUƱ:*EUa9:VEU'4ZEQBEUH;ae2EUI;aeJEU&;ae:EU';aeI !@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623A.AI)I9OM>Qy >},͓Y?AV?V@V5d@V{ٱVۑ ^AHRS rotation from veh to nav: [[-0.911010,0.402658,0.089032],[-0.411406,-0.902273,-0.129027],[0.028377,-0.154173,0.987636]]VH&`'?ʶ?{Tڿ l?ÿ?iV?V@IVg_;V̑CYfvByf"IllbDrVDryv&=%zI=ٔzB:Q-z>9~ ?Y~ ?=~Dy~D~fE>Q 5 4Z6Ɋ?Q 9 4!)\BYy#Q I?ODI:i;64yɮ%EA!jhamFNOT Ignoring new targets: 168.91 m.RhmDZhmD ProNav: ac range: 168.907684 m, nav range: 158.048279 m, bearing: 206.423482 deg, approach rate: -0.650825 m/s, LOS rate: -0.029346 deg/s, cmd heading: 204.396348 deg, new cmd heading: 204.360179 deg. BhHeadingCmd: 3.566758 target range: 168.907684 and range: 169.60 m.hEd@h*h"h hgfffdddjdZd ?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259884y颵$Bɢy$;) $>i)Q 项iHi?i-D;&;IEd@Iy@ @@@A>A?ԡEe EeEe)Ea"Eeg:*Ee*5:VEeFA4ZEaam@am@am@am@A؟AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509751 柄,eZ?A@B&Q>B&%?=ٔ:Q->9"?Y"?=DyD:E>Q 54"Ɋ?Q 94) ]BY%?Q E:y(Q I?aDI*:i:(>4yBɮCAåEjhFNOT Ignoring new targets: 168.91 m.RhtGZhtG ProNav: ac range: 168.907684 m, nav range: 157.772339 m, bearing: 206.418882 deg, approach rate: -0.652641 m/s, LOS rate: -0.010899 deg/s, cmd heading: 204.360175 deg, new cmd heading: 204.346351 deg. BhXHeadingCmd: 3.566517 target range: 168.907684 and range: 169.60 m.h%Ad@h!*h!"h! h!g!f!f)f-BBd)d)d1jd1Zd= ?U!BɢUQ<)Y ]p>iY)]aaie'PAi-ݛ;I;IAd@I Y]#CjA MA=c9=jAY=A59@A @A@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764607IAIQO]v>) Eq  Eu Eq Eq "Eq *Eu ?:VEq ZEq BEu ;a} 2Eu ;a} JEu ;a} :Eu ;a N͊,N-Z?A >rTV@>Jd@>}ܼٱ>D JAHRS rotation from veh to nav: [[-0.910531,0.404049,0.087623],[-0.412564,-0.901755,-0.128950],[0.026912,-0.153563,0.987772]]>H#`?`sn?tgڿ-m㎛?ÿԛ?i>rTV@I>_;9dYd=fDyfDj0;Ej>nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017832pQ 5v4r Ɋ?Q 9z4rȊ)r]BYxyz(Q Iz?rqDIrD;ir/;rD4yɮCAjh!-FNOT Ignoring new targets: 168.91 m.Rh-zJZh-zJ ProNav: ac range: 168.907684 m, nav range: 157.528641 m, bearing: 206.414717 deg, approach rate: -0.646239 m/s, LOS rate: -0.011064 deg/s, cmd heading: 204.346351 deg, new cmd heading: 204.333835 deg. BhHeadingCmd: 3.566298 target range: 168.907684 and range: 169.60 m.h;>d@h*h"h hgfffdddjdZd`i)=TAAiE8CIiz-\;;;I;>d@I=9@9 @9@=0@9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272116^A ;ԡ A fAzA hAI9 IQ O] >۱,GZ?AE EE,E"E*E0:VEg4ZEa@a@a@a@@VeV@V[d@VtռٱV bAHRS rotation from veh to nav: [[-0.910112,0.405029,0.087449],[-0.413539,-0.901138,-0.130138],[0.026094,-0.154604,0.987632]]VH?c?@nwڿ ^g?ÿ ?iVeV@IV$_;VΑCYjByj8#IiUMb@Mb@Mb@QQQQ Q9U?:v~jt?YUf&?yUTU9Y=DyD";E>Q 54Ȋ?Q 94)"]BY&?Q E:y.Q I?DI;i;.L4yBɮBA¥EB*** querying acoustic contact ***i ijhQ]FNOT Ignoring new targets: 168.91 m.Rh]O9Zh]O9m ProNav: ac range: 168.907684 m, nav range: 157.252853 m, bearing: 206.419723 deg, approach rate: -0.623970 m/s, LOS rate: 0.011346 deg/s, cmd heading: 204.333838 deg, new cmd heading: 204.348883 deg. Bhm-9HeadingCmd: 3.566561 target range: 168.907684 and range: 169.60 m.hBd@h*h"h hgfffMBdddjdZd@%Bɢ-7L<)) -h>iI)ULQQiU#SEi]--];];I]Bd@Iaԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521909@ @@0@BAAE<BMR>BIBM"#IBMBBM =BIBIBM;BM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773652!ܗ,{`Z?A2wV@2md@2{ͼٱ2K" :AHRS rotation from veh to nav: [[-0.909679,0.405885,0.087986],[-0.414554,-0.900202,-0.133348],[0.025081,-0.157779,0.987156]]2H?>?`ڿsͮ?2Ŀǖ?i2wV@I2J1_;2͑CYBÄByBL#IIF=)F4<bDN VDNf2yV=%VY=ٔVL0;Q-V>9XYX=ZDyZD^?;E^>`Q 5f4bȊ?Q 9f4bD)b1]BYdyf.Q If?bDIbg:ib:bR4ynBɮnBA|n˥EjhyFNOT Ignoring new targets: 168.91 m.RhS9ZhS9 ProNav: ac range: 168.907684 m, nav range: 157.008301 m, bearing: 206.424069 deg, approach rate: -0.649882 m/s, LOS rate: 0.011567 deg/s, cmd heading: 204.348878 deg, new cmd heading: 204.361936 deg. Bh9HeadingCmd: 3.566789 target range: 168.907684 and range: 169.60 m.hDFd@h*h"h hgfffdddjdZd`@BɢO<) >i)ՒigWGi r- ; c;I DFd@bEFA4jErEp/E5 E1E5)E1"E5غ:*E1VE5FA4ZE1BE5ԁ d,1zZ?A2V@28d@2aƼٱ2 " :AHRS rotation from veh to nav: [[-0.909100,0.407256,0.087638],[-0.415875,-0.899480,-0.134104],[0.024214,-0.158360,0.987084]]2HX |?`uo?ڿ Q*˘?&EĿ 2?i2V@I26_;2̑CYB΄ByBY#IbDJVDJ 3yRV=%VJ=ٔV ;Q-V>9XYX=ZDyZDZ j;EZ>\Q 5b4^Ȋ?Q 9f4^ )^@]BYdyf.Q If?^DI^:i^:^Y4yhɮj(BAlYjhFNOT Ignoring new targets: 168.91 m.RhL9ZhL9 ProNav: ac range: 168.907684 m, nav range: 156.746368 m, bearing: 206.428598 deg, approach rate: -0.646195 m/s, LOS rate: 0.011193 deg/s, cmd heading: 204.361937 deg, new cmd heading: 204.375549 deg. Bh9HeadingCmd: 3.567026 target range: 168.907684 and range: 169.60 m.h(Jd@h*h"h hgfffdddjdZd$ @%Bɢ-/B<)1 =>i9)E,IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279963iUIi-kO;;I(Jd@Iԉ9@ @@4@EE EEEAEA"EE:*EE*5:VEAZEAaU@aU@aU@aU@Ա^A 0;A >A >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532178Ii I O >BE Q>BA BE a#IBE ԄBBE =BA BA BE ;BE AHRS rotation from veh to nav: [[-0.908795,0.407982,0.087418],[-0.416606,-0.898839,-0.136120],[0.023040,-0.160124,0.986828]]6H`? a?ڿ I elΗ?~Ŀ ?i6V@I6_;6ˑCYFԄByF`#IiMb@Mb@Mb@ 9Mb?{Gz{Gz?Y#?y#ף<VA A)YA%@A%@AbD- VD-2y=<%=A=ٔE5;Q-E>9AYA=MDyMDM>:EM>QQ 5]4UmȊ?Q 9]4U)UQ]BYey#?Q Ee:ye21Q Ie?UDIU;iU ;U6a4ymBɮm~AAmʥEԹjhIuFNOT Ignoring new targets: 168.91 m.Rh}9Zh9 ProNav: ac range: 168.907684 m, nav range: 156.477905 m, bearing: 206.437310 deg, approach rate: -0.625082 m/s, LOS rate: 0.020318 deg/s, cmd heading: 204.375543 deg, new cmd heading: 204.401722 deg. Bh_:HeadingCmd: 3.567483 target range: 168.907684 and range: 169.60 m.hQd@h*h"h hgfffxBdddjdZd@颵Bɢ1<) '>i)k项iKi- ;GIe'?aaeǯ?k?^b eDb>)e:+?Ie>ie'?aa-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.EU  EU EQ EQ "EU y:*EU .:VEQ ZEQ BEU A 7,Z?A24V@2d@2Wٱ2.b' :AHRS rotation from veh to nav: [[-0.908184,0.409234,0.087917],[-0.417983,-0.897808,-0.138679],[0.022180,-0.162693,0.986427]]2H 0??`;ڿ ׺ 9p?#Ŀ А?i24V@I2A_;0YB߄ByBm#I DDHJAbDNVDN2yVW=%VT=ٔVR;Q-Z>9XYX=ZDyZD^2;E^>b*DAT read: user:165> fBDAT read: Tx time:00:31:40.1469 f$Ping request sent.fbi'?iya_P$4#>]zi,ോ7kֿ>i))-nEٻ))i-JNi5-5D˜;5]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842 BAHRS rotation from veh to nav: [[-0.907549,0.410694,0.087666],[-0.419401,-0.897030,-0.139423],[0.021378,-0.163301,0.986345]]2H H?@q?@yڿ y6?Ŀ"?i2V@I2A_;0YJ݄ByJl#Ii}Mb@Mb@Mb@yyyy y9}#~j?&1{Gzt?Y}%?y}P}ף;}?A}@ }A)}S@yY}GAbD VD2yܛ%=ٔ:Q->9Y=DyD:;E>Q 54:Ȋ?Q 94>)q]BYg&?Q E:y=2Q I?DI ;i: ;{q4yBɮ@@AȥEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 168.91 m.Rh9Zh 9 ProNav: ac range: 168.907684 m, nav range: 155.881226 m, bearing: 206.458641 deg, approach rate: -0.672195 m/s, LOS rate: 0.026084 deg/s, cmd heading: 204.426906 deg, new cmd heading: 204.465838 deg. Bh5:HeadingCmd: 3.568602 target range: 168.907684 and range: 169.60 m.hcd@h!*h!"h! h!g!f)f)f-mBd)d1d1jd1Zd5@h?iAAAABBB#IBBBBBB;Bi) e̻  i -Pi-P); D zD ?AE  E E *E "E :*E VL:VE (N4ZE BE <2E <JE ;:E ;Ϲ,&Z?AR V@Rd@R ٱRZ7' ZAHRS rotation from veh to nav: [[-0.907350,0.411337,0.086707],[-0.419872,-0.896874,-0.139011],[0.020585,-0.162538,0.986488]]RH XS?`s2?@/ڿ1@??` Ŀ`N?iR V@IRe_;PYbۄBybi#IbDjVDjyr(%rX=ٔv ;Q-v>9tYt=zDyz DzB:Ez>|Q 54~{Ȋ?Q 94~)~{]BY y 52Q I ?~DI~=:i~:~x4yɮP@AjhFNOT Ignoring new targets: 168.91 m.Rh9Zh9- ProNav: ac range: 168.907684 m, nav range: 155.637070 m, bearing: 206.468085 deg, approach rate: -0.611221 m/s, LOS rate: 0.023678 deg/s, cmd heading: 204.465838 deg, new cmd heading: 204.494213 deg. Bh5:]HeadingCmd: 3.569097 target range: 168.907684 and range: 169.60 m.h]ld@ha*ha"ha hagafafifidididqjdqZd}`ʕ?Bɢz<) >i)u»qqiujSi}-}{;}.lF,Y[?AFV@Fd@FٱF& NAHRS rotation from veh to nav: [[-0.907085,0.412145,0.085635],[-0.420482,-0.896696,-0.138317],[0.019782,-0.161474,0.986679]]FH``?4? .ڿ bA?@,Ŀ@ߒ?iFV@IFs_;FɑCYVфByV]#IieMb@Mb@Mb@aaaa a9e?Mb~jthYe ?ye@eDeVAa eA)e@aYeAbD}VD}:y,%1=ٔ:Q->9Y=Dy3D:E>Q 54eȊ?Q 94,)]BYt ?Q E:y2Q I?DE EE&E"Eg:*E,:VE4ZEa@a@a@a@I:if;&4y֜Bɮ%@AjhFNOT Ignoring new targets: 168.91 m.Rh9Zh9 ProNav: ac range: 168.907684 m, nav range: 155.349380 m, bearing: 206.479026 deg, approach rate: -0.649923 m/s, LOS rate: 0.024764 deg/s, cmd heading: 204.494211 deg, new cmd heading: 204.527096 deg. Bh:HeadingCmd: 3.569671 target range: 168.907684 and range: 169.60 m.h~ud@h*h"h hgf!f!f%kBd!d)d)jd)Zd- z?ԉ Bɢ<) >i)  i fUi8-rѝ;=|ByB}#IB}BByByByB};B} n,E,[?A>_V@> d@>ٱ>% FAHRS rotation from veh to nav: [[-0.906907,0.412677,0.084953],[-0.420900,-0.896489,-0.138387],[0.019050,-0.161261,0.986728]]>H bMi?y? ڿ `灓?`0ĿF?i>_V@I>G_;>̑CYNτByNZ#IbDZVDZk1ybM%bX=ٔb:Q-b>9dYd=fDyfCDf:Ej>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762819Q 5v4j_RȊ?Q 9v4j])j]BYtyz 2Q Iz?j DIjc;ijd;j4y|ɮ~9@A|jh!%FNOT Ignoring new targets: 168.91 m.Rh-9Zh-9= ProNav: ac range: 168.907684 m, nav range: 155.114120 m, bearing: 206.487965 deg, approach rate: -0.625710 m/s, LOS rate: 0.023808 deg/s, cmd heading: 204.527091 deg, new cmd heading: 204.553946 deg. Bh=:EHeadingCmd: 3.570140 target range: 168.907684 and range: 169.60 m.hE,}d@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@d?@颅 Bɢo9<) >i)G顉i`Wi-;I,}d@IU9@Q @Q@U0@QDD4=E EE*E"Ey:*E.:VE(N4ZEBE~,p 9[?A VV@Vd@V{ٱVA% ^AHRS rotation from veh to nav: [[-0.906730,0.413238,0.084116],[-0.421322,-0.896261,-0.138578],[0.018124,-0.161092,0.986773]]VH@}r?`?`ڿ+`0? Ŀ?iVV@IVXq_;VˑCYf̄ByfV#IbDnVDnJ2yv`%vG=ٔz ;Q-z>9xYx=~Dy~SD~k:E~>Q 5 4>Ȋ?Q 9 4)]BYy2Q I? DIN:i:ꍠ4yǜBɮ?AǥEjhFNOT Ignoring new targets: 168.91 m.Rhg9Zhg9 ProNav: ac range: 168.907684 m, nav range: 154.858429 m, bearing: 206.497666 deg, approach rate: -0.602147 m/s, LOS rate: 0.022884 deg/s, cmd heading: 204.553948 deg, new cmd heading: 204.583100 deg. BhH{:HeadingCmd: 3.570649 target range: 168.907684 and range: 169.60 m.hd@h*h"h hgfffdddjdZdi@M BɢMܩ<)I M>iQ)UOQQiUYi]2-]m;] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518700,PR[?A>V@P>d@>Nٱ>S& ZAHRS rotation from veh to nav: [[-0.906380,0.414088,0.083702],[-0.422111,-0.895761,-0.139411],[0.017249,-0.161691,0.986691]]>H`l?m?ۿ8 ?IĿ`?i>V@I>><_;>ɑCYbByb@#IB!A%<B)B)B-#IB-BB)B)B)B-~;B-9 ?Y ?=DydD;E>Q 54)Ȋ?Q 94|)YM?Q E:y.Q I?- DIi)i[i-iў;%%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969^A <) E  E E E "E غ:*E VE ZE BE ,x%m[?A^vW@^#d@^ٱ^߽&d jAHRS rotation from veh to nav: [[-0.906175,0.414637,0.083209],[-0.422584,-0.895434,-0.140073],[0.016429,-0.162093,0.986639]]^H@b`h?,M? ۿeҐ? xĿ`?i^vW@I^_;\YrByr:#I xz4=bD~VD~k1y)% P=ٔ ;Q- >9"?Y"?=DytD":E>Q 5%4Ȋ?Q 9-4)]BY)y-.Q I-?< DI];iY;24y1ɮ=@A9jhYeFNOT Ignoring new targets: 168.91 m.Rhen9Zhn9 ProNav: ac range: 168.907684 m, nav range: 154.353729 m, bearing: 206.507838 deg, approach rate: -0.647939 m/s, LOS rate: 0.013038 deg/s, cmd heading: 204.599027 deg, new cmd heading: 204.613664 deg. Bh*:HeadingCmd: 3.571182 target range: 168.907684 and range: 169.60 m.h ?d@h *h "h  h g f ffdddjdZd2 @-BDAT read: Rx Time:00:31:42.7368 -TRx dataTimestamp_ set to:1761525101.7763045checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975颅BɢU<) K>i)ɐ顑ih,:"[?AB W@Bd@BٱB(% JAHRS rotation from veh to nav: [[-0.906378,0.414432,0.082005],[-0.422179,-0.895698,-0.139604],[0.015596,-0.161155,0.986806]]BH  ?O?@ۿ@` ?`Ŀ?iB W@IB0_;@YRByR&#Ii-Mb@Mb@Mb@)))) )9-V-?~jt? rhY-|?y-D<-C-A-d@ ))-=@)Y-QAbDMVDM02E] E]E],EY"E]7:*E] H:VE]g4ZEYam@am@am@am@ymY%mC=ٔuK;Q-u>9yYy=}DyDE>Q 54Ȋ?Q 94 )]BY?Q E:y:,Q I?M DI;i;4yBɮ@AťEjhFNOT Ignoring new targets: 168.91 m.Rh N8Zh N8 ProNav: ac range: 168.907684 m, nav range: 154.089432 m, bearing: 206.509030 deg, approach rate: -0.622883 m/s, LOS rate: 0.002815 deg/s, cmd heading: 204.613657 deg, new cmd heading: 204.617240 deg. Bh?8 HeadingCmd: 3.571244 target range: 168.907684 and range: 169.60 m.h Ed@h *h "h  hgfffBdddjdZd& @Bɢ \x<)  3>i)iB_io-I};ձ i5sh5^I>5m%@5@X>54%@ 5k>)5Q =I5k115a˷mڗ?t6뒆?|؝\? 5u>)5yWI5Q =i5k11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BS>BBz#IBBBBBB;B ,#[?A:V@:d@:Svٱ:K%B*DAT read: user:166> FBDAT read: Tx time:00:31:43.9469 F$Ping request sent.F)^p9pYp=rDyvDvEv>xQ 5~4zNJ?Q 9~4zï)z]BYy<,Q I?z] DIz;iz;z?4y ɮ @A iiimx [?AJim CRim Cjim԰i@imޘ-`@fċ@0??@rimo3"?%D? :?ZimQ =bimkimh]sqPnȟ<@@zim1F'뿒L3Q]޿Z?2im:imF"im[7?*im>qBimBim`@O?imӋimBimCimf@] addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 7.818531 s, deltaX: -30.400009 m, approachRate: -3.888200 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 138.634079 m, bearing: 209.210821 deg, lat: 36.779274 deg, lon: -121.859706 deg, deltaT: 7.818531 s, deltaX: -30.273605 m, approachRate: -3.872032 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 138.63 m.RhZh ProNav: ac range: 138.634079 m, nav range: 153.061966 m, bearing: 205.910418 deg, approach rate: 0.000000 m/s, LOS rate: 0.002815 deg/s, cmd heading: 204.617236 deg, new cmd heading: 204.620479 deg. BhHeadingCmd: 3.571301 target range: 138.634079 and range: 139.20 m.h2d@h*h"h hgfffdddjd`ffa@Zd@ ?Bɢp<) 7>i)iai - "ϟ; N7,غ[?A26V@2d@2jٱ2q$ :AHRS rotation from veh to nav: [[-0.906726,0.414053,0.080051],[-0.421478,-0.896161,-0.138755],[0.014286,-0.159552,0.987086]]2H ?0~?}ڿX@0B?3lĿ5?i26V@I2^;2ˑCY^By^#IfAAdbDjVDj:2yrB½%rJ=ٔr:Q-v>9v ?Yv ?=vDyvDzF׺Ez>yQ 54} NJ?Q 94}Ų)}]BYyF,Q I?}m DI} :i}:}4yBɮAAΥEjhFNOT Ignoring new targets: 138.63 m.Rh(7Zh(7 ProNav: ac range: 138.634079 m, nav range: 152.799072 m, bearing: 205.910658 deg, approach rate: -0.629300 m/s, LOS rate: 0.000576 deg/s, cmd heading: 204.620474 deg, new cmd heading: 204.621196 deg. Bhx7HeadingCmd: 3.571314 target range: 138.634079 and range: 139.20 m.hgd@h*h"h hgfffdddjdZd Zr?%Bɢ%<)! %>i))-q))i-bi5M-5n;5rE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754983ԁ ,u[?A2{V@2(d@2gٱ2@$ >AHRS rotation from veh to nav: [[-0.906798,0.413858,0.080240],[-0.421327,-0.896106,-0.139561],[0.014145,-0.160361,0.986957]]2H}|?`?ڿ`$?Ŀ '?i2{V@I2^;2̑CA@AB@ABDBDBFZ#IBFτBBDBDBDBF;BF9"?Y"?=DyDQE>Q 54NJ?Q 94p)w]BYp ?Q E:yI'Q I? DI);i;Y4yBɮ@AͥEB*** querying acoustic contact ***i! i!jh)UFNOT Ignoring new targets: 138.63 m.RhUZhUe ProNav: ac range: 138.634079 m, nav range: 152.522812 m, bearing: 205.902805 deg, approach rate: -0.612943 m/s, LOS rate: -0.017455 deg/s, cmd heading: 204.621198 deg, new cmd heading: 204.597596 deg. Bhe?HeadingCmd: 3.570902 target range: 138.634079 and range: 139.20 m.h d@h *h "h  h g fff܃BdddjdZd` ?Bɢ^<) V>i)  `  i Xdi-q;O,r[?A@2+V@2d@23]ٱ2;$ >AHRS rotation from veh to nav: [[-0.907122,0.413327,0.079312],[-0.420649,-0.896472,-0.139253],[0.013544,-0.159682,0.987076]]2H %s?M?`ڿ μ?wpĿ?i2+V@I2^;2ʑCYBByF"IHJAbDNVDN0yjH%jb=ٔnU:Q-n>9n ?Yn ?=nDynDrwEr>tQ 5z4vhNJ?Q 9z4vn)vm]BYxy~T'Q I~?v DIv:ivV:v4yɮAAjh)-FNOT Ignoring new targets: 138.63 m.Rh5Zh5E ProNav: ac range: 138.634079 m, nav range: 152.297348 m, bearing: 205.896436 deg, approach rate: -0.640050 m/s, LOS rate: -0.018109 deg/s, cmd heading: 204.597593 deg, new cmd heading: 204.578456 deg. BhEFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263005HeadingCmd: 3.570568 target range: 138.634079 and range: 139.20 m.h.d@h*h"h hgfffdddjdZda?amBɢm<)q ur>iq)uUqqiu1ei}-}@; h., & \?A2}V@2*d@2]Qٱ2(X# >AHRS rotation from veh to nav: [[-0.907405,0.412921,0.078177],[-0.420062,-0.896811,-0.138844],[0.012778,-0.158827,0.987224]]2Hv Mm?j?Lڿଲ`+?tTĿV?i2}V@I2^;2ǑCYF{ByF"IEr ErEr'Ep"Ery:*Er|;:VEr'4ZEpav@av@az@az@iMb@Mb@Mb@ 9+?RQ?Zd;OY?y=j7@ @)&@Y@ R=bDVDy%<=ٔ:Q->9Y=DyDĺE>Q 54 NJ?Q 94])_]BY!?Q E:y#$Q I? DI~ ;i ;@Ǡ4yBɮ@A ̥Ejh)-FNOT Ignoring new targets: 138.63 m.Rh5Zh ProNav: ac range: 138.634079 m, nav range: 152.025375 m, bearing: 205.883561 deg, approach rate: -0.625409 m/s, LOS rate: -0.029660 deg/s, cmd heading: 204.578454 deg, new cmd heading: 204.539760 deg. BhעHeadingCmd: 3.569892 target range: 138.634079 and range: 139.20 m.hyd@h*h"h hgfffBdddjdZd;8?颕BɢJ[[<) {>i)IF顙i $gi-;\B!B%;#IB%BB!B!B!B%;B%Y,#\?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018987:xV@:%d@:Hٱ:kG" ZAHRS rotation from veh to nav: [[-0.907873,0.412092,0.077115],[-0.419067,-0.897373,-0.138219],[0.012242,-0.157801,0.987395]]:HK _?ͽ?ڿH%Z?2Ŀ?i:xV@I:y^;8Y^yByb"IbDjVDj1yr*%r[=ٔrp:Q-v>9v"?Yv"?=vDyvDz9AEz>|Q 54~iNJ?Q 94~)~T]BYy4$Q I?~ DI~;i~:~͠4yɮ@Ajh1FNOT Ignoring new targets: 138.63 m.Rh-Zh- ProNav: ac range: 138.634079 m, nav range: 151.791840 m, bearing: 205.872561 deg, approach rate: -0.626331 m/s, LOS rate: -0.029545 deg/s, cmd heading: 204.539755 deg, new cmd heading: 204.506706 deg. Bh6HeadingCmd: 3.569315 target range: 138.634079 and range: 139.20 m.hod@h*h"h hgfffdddjdZd@UBɢ] v<)Y ]z>iY)];Yaiethie -me3;mdw !,a<\?A8Y=uBy="IIEt>)E=M=M=bDU VDU:2ye%eB=ٔeQ-m>9iYi=mDymDuEu>yQ 54}NJ?Q 94})}G]BYyQ I?} DI}:i}:}ՠ4yBɮx@A˥EjhFNOT Ignoring new targets: 138.63 m.RhZh ProNav: ac range: 138.634079 m, nav range: 151.528656 m, bearing: 205.860124 deg, approach rate: -0.626416 m/s, LOS rate: -0.029653 deg/s, cmd heading: 204.506710 deg, new cmd heading: 204.469335 deg. Bh΢HeadingCmd: 3.568663 target range: 138.634079 and range: 139.20 m.hdd@h*h"h hgfffdddjdZd`K@Bɢg<) Pu>i)% .!!i%ii---z;- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774929B <A <B! B! B% #IB% BB! B! B! B% ;B%  A @)@Y@AAbD VD 2y%?=ٔ6\;Q->9!Y!=%Dy% D-ĶE->)Q 5=4-nNJ?Q 9=4-)-4]BY=l*?Q E=:y=!Q I=?- DI-\ ;i- ;-ܠ4yMuBɮM @AMʥEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh1/Zh1/- ProNav: ac range: 138.634079 m, nav range: 151.248322 m, bearing: 205.842981 deg, approach rate: -0.625000 m/s, LOS rate: -0.038291 deg/s, cmd heading: 204.469335 deg, new cmd heading: 204.417810 deg. Bh-;ҺUHeadingCmd: 3.567764 target range: 138.634079 and range: 139.20 m.hU>Vd@hQ*hQ"hQ hQgQfYfYf]BdYdadajdaZdey @BɢZ<) Bv>i)" iHkiw-;<I>Vd@I=9@9 @9@=4@AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028078E  E E -E "E غ:*E C:VE t4ZE BE Љ,0ep\?ANV@Nd@N+ٱN  ZAHRS rotation from veh to nav: [[-0.909331,0.409481,0.073778],[-0.415942,-0.899101,-0.136413],[0.010475,-0.154732,0.987901]]NH<4? !?̞ڿ@p`u&t?Eÿ@?iNV@IN^;NƑCYbuByb"IbDnVDn3yrQ0<%rb=ٔvo:Q-v>9tYt=zDyzDz@E~>|Q 54~x]NJ?Q 94~r)~%]BY y !Q I ?~ DI~:i~(:~4yɮ?A1jhAEFNOT Ignoring new targets: 138.63 m.RhMBZhMB] ProNav: ac range: 138.634079 m, nav range: 151.010956 m, bearing: 205.828508 deg, approach rate: -0.694671 m/s, LOS rate: -0.042423 deg/s, cmd heading: 204.417808 deg, new cmd heading: 204.374321 deg. Bh]eHeadingCmd: 3.567005 target range: 138.634079 and range: 139.20 m.heId@ha*ha"ha hagifififidqdqdqjdqZd}, @颥Bɢe<) P}>i)xQ顩checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279009ixli-ߡ;;IId@I9@ @@/@@=@=aԉ^A P;IqIO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531053Թ Ap",P:\?ARtV@Rid@RQO&ٱR1 ^AHRS rotation from veh to nav: [[-0.910016,0.408056,0.073220],[-0.414449,-0.899766,-0.136575],[0.010151,-0.154632,0.987920]]RH@??Uڿ`L{Ʉ?ÿ ?iRtV@IRf];RɑCYfwByf"I hhEr ErEr+Ep"Er:*Er=:VEr [4ZEpav@av@av@av@ԑiMb@Mb@Mb@ 9p= ף?M?S㥛Y%?yn>/ݼ A @ )@Y(@bDVDk2y;%:=ٔ#B:Q->9Y=Dy*DuE > Q 54 INJ?Q 94 ) ]BYE)?Q E:yP Q I?  DI :i : 4y%}Bɮ-4@A-ӥEjhIUFNOT Ignoring new targets: 138.63 m.RhUTZhUTe ProNav: ac range: 138.634079 m, nav range: 150.726669 m, bearing: 205.808185 deg, approach rate: -0.649324 m/s, LOS rate: -0.046507 deg/s, cmd heading: 204.374327 deg, new cmd heading: 204.313243 deg. BheVmHeadingCmd: 3.565939 target range: 138.634079 and range: 139.20 m.hmW8d@hq*hq"hq hqgqfqfyf}BdydydjdZdw@mBɢmp<)q uf>iq)u*qqiuemi}_-} ;};IW8d@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783606]9@Y @a@a@aBBB#IBBBBBBɆ;B=E  Cu G ^A ; 9 Y ҡAI I O% > (,]\?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.037614J_V@JRUd@J#ٱJ VAHRS rotation from veh to nav: [[-0.910533,0.406953,0.072928],[-0.413316,-0.900254,-0.136795],[0.009984,-0.154699,0.987911]]JH@# ?@j?sڿ`@r?@-ÿ?iJ_V@IJ];JƑCY^By^"I fa=f%=bDfVDf:yn+E=%n^=ٔr9Q-r>9pYt=vDyv9Dv]Ev>xQ 54zf9NJ?Q 94z)z]BYye Q I?z!DIz:iz:z4yɮ?Ajh1=FNOT Ignoring new targets: 138.63 m.Rh=iSZhEiSM ProNav: ac range: 138.634079 m, nav range: 150.487976 m, bearing: 205.791179 deg, approach rate: -0.647530 m/s, LOS rate: -0.046208 deg/s, cmd heading: 204.313238 deg, new cmd heading: 204.262139 deg. BhU]HeadingCmd: 3.565047 target range: 138.634079 and range: 139.20 m.h])d@hY*hY"hY hYgYfafafadadidijdiZdmO@5Bɢ5\<)9 =<>i9)=c99iEEoiE-E.;MZf;IM)d@IID%=DR=E EE(E"Ey:*Ea9:VEc44ZEBEq 2.,\?A:9`Y`=bDybIDbEf>dQ 554f}'NJ?Q 954f)f\BY1y= Q I=?f!DIfai)T)Ӻi1pi.A;;Id@II5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5401149@ @@0@ԁE EE-E"EƱ:*EVEt4ZEa@a@a@a@^Ar;IIIaOm>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790849A A AAB T>B B B B B B B ;B 5,\?AR4<ɰR4 ?5Ŀ ?iz?V@Iz];zȑCYBy#IiMb@Mb@Mb@ 9ˡE?㥛 ?Zd;OY'?y>jp A7@ bA)@Y@bDVDysv=%7=ٔy9Q->9 Y = Dy [D E>Q 5%4*NJ?Q 9%4)\BY%%,?Q E%:y% Q I%?'!DI:iU:4y1ɮ5>A1jhY]FNOT Ignoring new targets: 138.63 m.Rhe[Zhe[u ProNav: ac range: 138.634079 m, nav range: 149.934631 m, bearing: 205.752071 deg, approach rate: -0.677778 m/s, LOS rate: -0.048020 deg/s, cmd heading: 204.207111 deg, new cmd heading: 204.144598 deg. Bhu}HeadingCmd: 3.562995 target range: 138.634079 and range: 139.20 m.h}d@hy*hy"hy hygyfffȃBdddjdZd @Ա颽BɢL<) Ŧ>i) iri.F;5;Id@I9@ @@/0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.042911^A;A>A> E  E E *E "E :*E VE (N4ZE BE i9 ;,\?A2U@2c@2eٱ2S! :AHRS rotation from veh to nav: [[-0.913310,0.400737,0.072627],[-0.407154,-0.902589,-0.139854],[0.009508,-0.157301,0.987505]]2H9??`ڿ`x?n"Ŀ?i2U@I2];2ƑCYnByn#Itv@AbDzVDzyM=%\=ٔRF:Q- >9 Y = Dy kDԻE>Q 5%48NJ?Q 9%4`)\BY!y% Q I-?7!DIo:i8:>4y5_Bɮ5>A5ѥEMB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 138.63 m.Rhe~SZhe~Su ProNav: ac range: 138.634079 m, nav range: 149.689789 m, bearing: 205.734933 deg, approach rate: -0.659333 m/s, LOS rate: -0.046226 deg/s, cmd heading: 204.144601 deg, new cmd heading: 204.093103 deg. Bhu}HeadingCmd: 3.562097 target range: 138.634079 and range: 139.20 m.h}dc@hy*hy"h hgfffdddjdZd-@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295104Bɢ=<) b>i)i0tiQ&.n8;z;Idc@I9@ @@5@9^AU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547469i A I I O >uB,J ]?AbE=T4jE=T4rE=20EZ EXEXEX"EZغ:*EXVEXZEXab@ab@ab@ab@rU@rlc@rtٱr+# ~AHRS rotation from veh to nav: [[-0.914356,0.398342,0.072635],[-0.404803,-0.903410,-0.141370],[0.009305,-0.158665,0.987289]]rHhBp~?-?Kٿ@`j¿?%OĿ@ޗ?irU@IrX];rǑCY By 2#IiMb@Mb@Mb@ 9?Q?MbY,?y\> A @)@Y(@bD  VD 2y9=%9=ٔ9Q->9!Y!=%Dy%|D-;E->1Q 5=45DƊ?Q 9=45)5\BY=0?Q E=:y=!Q IE?5J!DI5:i5 ;5 4yMOBɮM=AMХEjhquFNOT Ignoring new targets: 138.63 m.Rh}EHZh}EH ProNav: ac range: 138.634079 m, nav range: 149.389526 m, bearing: 205.715648 deg, approach rate: -0.680173 m/s, LOS rate: -0.043772 deg/s, cmd heading: 204.093101 deg, new cmd heading: 204.035131 deg. BhSHeadingCmd: 3.561085 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfff؃BdddjdZdy@Bɢ<) !>i)I?i)vi6.x;r*;Ic@II)gAY]9@Y @Y@e4@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799166ByByB}"#IB}BByByByB};B}M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050913H,@j%]?A2U@2c@2Aٱ2A& >AHRS rotation from veh to nav: [[-0.915262,0.396095,0.073509],[-0.402749,-0.903911,-0.144006],[0.009405,-0.161409,0.986843]]2H IY?@zѲ?`ٿ`n¿C? Ŀ@7?i2U@I2 ];0YBByBB#IHHJAbDPVDPyV1=%Ze=ٔZ Q-Z>9\Y\=^Dy^DbλEb>`Q 5f4bOƊ?Q 94b)b\BYy!Q I?bZ!DIb+Zh> ProNav: ac range: 138.634079 m, nav range: 149.146881 m, bearing: 205.700236 deg, approach rate: -0.652757 m/s, LOS rate: -0.041528 deg/s, cmd heading: 204.035127 deg, new cmd heading: 203.988816 deg. BhHeadingCmd: 3.560277 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffdddjdZd`Zv@颵Bɢڣ<) C>i)й项i'xi#D.ء;e:Ic@IE EE-E"E7:*EP:VEt4ZEBE;a2E;aJE+;a:E,;a9@ @@T4@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302893^A= ;! I9 II OU >O,A,?]?A:U@:vc@:%ٱ:W2' FAHRS rotation from veh to nav: [[-0.916072,0.394218,0.073511],[-0.400907,-0.904528,-0.145268],[0.009225,-0.162547,0.986658]]:HvP:?Ѳ?wٿ`@!¿? SĿ@?i:U@I:T];:ƑCYNЄByN[#I VR=Va=bDVVDV:2y^=%bJ=ٔb9Q-b>9dYd=fDyfDfEf>hQ 5n4jƊ?Q 9n4j)j\BYpyr!Q Ir?jl!DIj<;ij7;jE4yv@Bɮv;AzϥE|jhFNOT Ignoring new targets: 138.63 m.Rh%*KZh%*K5 ProNav: ac range: 138.634079 m, nav range: 148.872101 m, bearing: 205.682947 deg, approach rate: -0.704442 m/s, LOS rate: -0.044405 deg/s, cmd heading: 203.988818 deg, new cmd heading: 203.936855 deg. Bh5=HeadingCmd: 3.559370 target range: 138.634079 and range: 139.20 m.h=c@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU`@}Bɢf8 =) >i)`顁i/ziS.;:Ic@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.555186Q@Q @Q@U/@Q)E EE*E"E:*E0:VE(N4ZEa@a@a@a@Y^Arg:Iq I O >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806963B <A B R>B B A#IB BB B B B ;B 9yYy=DyD=E>Q 54GƊ?Q 94)\BYf-?Q E:y%Q I?~!DI|;i;"4yWBɮ;A٥EjhFNOT Ignoring new targets: 138.63 m.RhZh ProNav: ac range: 138.634079 m, nav range: 148.583435 m, bearing: 205.671175 deg, approach rate: -0.673080 m/s, LOS rate: -0.027502 deg/s, cmd heading: 203.936854 deg, new cmd heading: 203.901469 deg. BhHeadingCmd: 3.558752 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffBdddjdZdj@5Bɢ5p =)1 5Q>i9)=$999i=|iE].ED;E9IEc@II9@ @@@@hA@hAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.058846^Aq:ԱI)I9OM>E  E E (E "E غ:*E E7:VE c44ZE BE 9hYh=jDyjDjaEn>pQ 5v4rǡƊ?Q 9v4r{)r\BYtyv%Q Iv?r!DIr=:ir:rj)4yzHBɮ~:A~إEB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 138.63 m.Rh-@Zh-@= ProNav: ac range: 138.634079 m, nav range: 148.326996 m, bearing: 205.660870 deg, approach rate: -0.673934 m/s, LOS rate: -0.027130 deg/s, cmd heading: 203.901473 deg, new cmd heading: 203.870504 deg. Bh=EHeadingCmd: 3.558212 target range: 138.634079 and range: 139.20 m.hEc@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]9@iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.311292颕Bɢe@ =)  ' ?i)nG:顙i~ie.;Ic@IԹ@ @@/@^A5"IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562959A c,Jό]?AEV EVEV*ET"EVƱ:*EVa9:VEV(N4ZETaj@aj@aj@aj@e1U@e&c@e ٱe}'* AHRS rotation from veh to nav: [[-0.918022,0.389700,0.073283],[-0.396439,-0.905968,-0.148520],[0.008514,-0.165397,0.986190]]eHo`?²?@_ٿ`ÿ`o?+ſ ߎ?ie1U@Ie^;eƑCYBy#I i-Mb@Mb@Mb@)))) )9-#~j?㥛 ?MbP?Y-%?y-=-:- A- @ -S@)-&@)Y-(@AEAAbDEVDE1yU<%]3=ٔ]_9Q-]>9aYa=eDyeDem{Ee>Q 54-Ɗ?Q 94)\BY&?Q E:y'Q I ?!DIB;i;14y8Bɮ9AץEjh9=FNOT Ignoring new targets: 138.63 m.Rh=ZhEU ProNav: ac range: 138.634079 m, nav range: 148.018967 m, bearing: 205.652428 deg, approach rate: -0.650802 m/s, LOS rate: -0.017873 deg/s, cmd heading: 203.870505 deg, new cmd heading: 203.845127 deg. BhUAD]HeadingCmd: 3.557769 target range: 138.634079 and range: 139.20 m.h]{c@hY*hY"hY hYgYfafafe#BdididijdiZdm@| @额Bɢ=)  ?i)>:顡i;ြi9m.`;I{c@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.8161999B5O>B5;CB5s#IB5BB5 =B1B1B5;B5ԑ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0669364i,5]?A>!U@>.c@>'zٱ>* NAHRS rotation from veh to nav: [[-0.918401,0.388821,0.073195],[-0.395565,-0.906217,-0.149329],[0.008269,-0.166097,0.986075]]>H`c`s??Pٿ 4ÿ@8?Bſ?i>!U@I>];>đCYV ByV#IbD^VD^fyf=%fh=ٔf6:Q-j>9hYh=jDyjDnJ1En>pQ 5v4r1{Ɗ?Q 9v4rY)r\BYtyv'Q Iz?r!DIr$:ir:r74y|ɮ~l9A|jh!%FNOT Ignoring new targets: 138.63 m.Rh-ʡZh-ʡ= ProNav: ac range: 138.634079 m, nav range: 147.801224 m, bearing: 205.646522 deg, approach rate: -0.650828 m/s, LOS rate: -0.017681 deg/s, cmd heading: 203.845124 deg, new cmd heading: 203.827378 deg. Bh=%BEHeadingCmd: 3.557459 target range: 138.634079 and range: 139.20 m.hEhc@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@ @颅߃Bɢ1>=) ?i)`o:顉iiNr.2;H&Ihc@Iq9@ @@u1@@ =@ E EE-E"E:*E|;:VEt4ZEBEj;a2Ek;aJE;a:E;anManaging dock network, ignoring radio surface power offԡ^A5] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319210IIO> p,*t]?A2U@2c@2Yٱ2+ :AHRS rotation from veh to nav: [[-0.918464,0.388668,0.073217],[-0.395425,-0.906104,-0.150379],[0.007895,-0.167070,0.985913]]2H`d?`\?`Nٿ`?ÿ1+?`bſ@?i2U@I2^;2ǑCYB$ByB#I DDHJAbDNVDN2yV=%VL=ٔV5u:Q-V>9XYX=ZDyZD^ɹE^>Q 54gƊ?Q 9 4)\BY y 'Q I ?!DI:iA:>4y)Bɮ$8A=֥EjhyFNOT Ignoring new targets: 138.63 m.RhžZhž ProNav: ac range: 138.634079 m, nav range: 147.536026 m, bearing: 205.639321 deg, approach rate: -0.637878 m/s, LOS rate: -0.017350 deg/s, cmd heading: 203.827379 deg, new cmd heading: 203.805740 deg. Bh>HeadingCmd: 3.557081 target range: 138.634079 and range: 139.20 m.h8c@h*h"h hgfffdddjdZd!@E݃BɢEa;=)A E#?iA)MD8;IIiMiU}x.y;bI8c@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.571121E EE,E"EI:*E?:VEg4ZEa@a@a@a@}U9@ @@/@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822975AA AE @ABQ BQ BU #IBU BBQ BQ BQ BU ;BU w,ǁ]?A2U@2c@26ٱ2=g- :AHRS rotation from veh to nav: [[-0.918469,0.388644,0.073280],[-0.395424,-0.905845,-0.151937],[0.007331,-0.168526,0.985670]]2Hd?@x²?`Nٿ rÿ~?@Fſ?i2U@I2^;0YB.ByB#IXieMb@Mb@Mb@aaaa a9ev/?L7A`?MbP?Yex)?ye+=ae Ae7@ e@)e@aYa qu4=bD}VD}N2y!=%=ٔ֏:Q->9Y=DyD!E>Q 54XNƊ?Q 94)Y)?Q E:y+Q I?!DIu;i;G4yBɮU7AjhFNOT Ignoring new targets: 138.63 m.Rh!Zh! ProNav: ac range: 138.634079 m, nav range: 147.200668 m, bearing: 205.638224 deg, approach rate: -0.673309 m/s, LOS rate: -0.002208 deg/s, cmd heading: 203.805741 deg, new cmd heading: 203.802442 deg. Bh¸HeadingCmd: 3.557024 target range: 138.634079 and range: 139.20 m.hFc@h*h"h hg f ffWBdddjdZd"@EۃBɢE/s7=)I M)?iI)M;;IQiU_>iUny.];YI]Fc@IYe&ּchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.0771349@ @@0@ EU EUEU*EQ"EU:*EUA:VEU(N4ZEQBEUhm checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332362},]?A2'U@2Hc@2R\ѻٱ2I- :AHRS rotation from veh to nav: [[-0.918266,0.389253,0.072588],[-0.395912,-0.905545,-0.152453],[0.006389,-0.168731,0.985641]]2Hob?#?`Vٿ9`ÿ~+z? ſ`?i2'U@I24F^;0YB9Z ?YZ ?=ZDyZD^\:E^>`Q 5f4bN;Ɗ?Q 9f4b)`Ydyf+Q Ij?b!DIb;ib;b$N4ylɮn6Alx~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 138.63 m.RhG)ZhG)% ProNav: ac range: 138.634079 m, nav range: 146.948975 m, bearing: 205.637345 deg, approach rate: -0.661224 m/s, LOS rate: -0.002312 deg/s, cmd heading: 203.802436 deg, new cmd heading: 203.799795 deg. Bh%"˸-HeadingCmd: 3.556978 target range: 138.634079 and range: 139.20 m.h-c@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd= ~Q#@ڃBɢ1Y=)  1?i)Q^;ii/z.z;%Ic@I ?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583520I9@ @@"0@@@EM  EM EM -EI "EM g:*EM 3:VEM t4ZEI am @am @am @am @y ^A eԡ A ؟AII1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.836282O]>BM>BB#IB:BBBBB;B9"?Y"?=Dy'DQH:E>Q 54C!Ɗ?Q 94 )\BY$?Q E:y80Q I?!DI:i :3W4y Bɮ5AեE!jh)5FNOT Ignoring new targets: 138.63 m.Rh59Zh59M ProNav: ac range: 138.634079 m, nav range: 146.615631 m, bearing: 205.645080 deg, approach rate: -0.643310 m/s, LOS rate: 0.014962 deg/s, cmd heading: 203.799799 deg, new cmd heading: 203.823057 deg. BhMI$:MHeadingCmd: 3.557384 target range: 138.634079 and range: 139.20 m.hU,c@hQ*hQ"hQ hQgQfQfYf]BdYdYdajdaZde@Z$@颕؃Bɢ@ I=) ;?i);顙iis.;.I,c@IQM*,kH6^?AF9HU@F=c@FQٱFuq+Lb2Acoustic response timeout ZAHRS rotation from veh to nav: [[-0.917490,0.391698,0.069169],[-0.397745,-0.904877,-0.151643],[0.003191,-0.166643,0.986012]]FH\ ? ? tٿ iÿ`#j?@Tſ`i?iF9HU@IF {^;FȑCYnVByr$IbD VD:2y% =%%8=ٔ-z;Q-->9)Y1=5Dy=9DEHj;EE>AQ 5M4E Ɗ?Q 94E )E\BYy0Q I?E"DIEbEjEwX4rE0E-  E- E- (֓,HP^?AEY"E]:*E]*5:VE]c44ZEYa@a@a@a@jhU@j]c@jZ⎺ٱj/& rAHRS rotation from veh to nav: [[-0.916720,0.394071,0.065829],[-0.399530,-0.904637,-0.148351],[0.001090,-0.162297,0.986741]]jH@U`u8?`$ڰ?ٿ+¿KQ?`$Ŀb?ijhU@IjI^;jÑCYzZByz$I9i}Mb@Mb@Mb@yyyy y9}{Gz?l:v?Y}#?y}}T<}p A} @ }S@)yyY}@bDVD2yD<%B=ٔ٣;Q->9Y=DyJD;E>Q 54Ŋ?Q 94F)\BY%$?Q E:y12Q I? "DI:i:Of4yɮ4AjhFNOT Ignoring new targets: 138.63 m.Rh89Zh89 ProNav: ac range: 138.634079 m, nav range: 146.061661 m, bearing: 205.661086 deg, approach rate: -0.660281 m/s, LOS rate: 0.023520 deg/s, cmd heading: 203.842611 deg, new cmd heading: 203.871164 deg. Bh!:HeadingCmd: 3.558223 target range: 138.634079 and range: 139.20 m.hc@h!*h!"h! h!g!f!f)f-~Bd)d)djdZd@k&@ՃBɢi=) sB?i);iI䋼ie.0;HO9Ic@I2Acoustic response timeoutBABK>BB $IB^BB =BBB;BԹ } 2Acoustic response timeout,i^?AYRBy#I ))bD= VD=2yU&%UP=ٔ]Q-]>9aYa=eDyeZDmEm>qQ 54uŊ?Q 94u)u\BYyQ I?u0"DIuD;iu6;u3m4ԙyBɮx5AܥEjhFNOT Ignoring new targets: 138.63 m.Rh 9Zh 9 ProNav: ac range: 138.634079 m, nav range: 145.809982 m, bearing: 205.670067 deg, approach rate: -0.629916 m/s, LOS rate: 0.022516 deg/s, cmd heading: 203.871161 deg, new cmd heading: 203.898150 deg. Bh>w:HeadingCmd: 3.558694 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffdddjdZd?&@E EE)E"Eg:*EE7:VEFA4ZEBEa2EaJET;a:EU;aԃBɢ6o=) >?i);iqi^.iޜ;^Ic@IE9@A @I@M/@I2Acoustic response timeout^A- "9I I O > ,ǃ^?A2U@2c@2E`;ٱ2h" :AHRS rotation from veh to nav: [[-0.915150,0.398537,0.060573],[-0.403100,-0.903451,-0.145901],[-0.003422,-0.157939,0.987443]]2H H?`u?bٿ¿`l U7Ŀ "?i2U@I2^;2đCYBVByB$IbDJVDJN2yR<%VV=ٔVA9XYX=ZDyZjDZ'<EZ>\Q 5b4^Ŋ?Q 9f4^)^\BYdyf1Q If?^@"DI^:i^:^s4yjBɮj4AlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 138.63 m.Rh g9Zh g9 ProNav: ac range: 138.634079 m, nav range: 145.567017 m, bearing: 205.678402 deg, approach rate: -0.646886 m/s, LOS rate: 0.022228 deg/s, cmd heading: 203.898154 deg, new cmd heading: 203.923200 deg. Bht:%HeadingCmd: 3.559131 target range: 138.634079 and range: 139.20 m.h%c@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5'@ӃBɢV{=)  5A?i ) J;  i ێ=2Acoustic response timeoutiEV.EZ;EM;IEc@II@ @@@)E EE&E"E:*EA:VE4ZEa@a@a@a@^A9QIqIO> 2Acoustic response timeoutB J>B B $IB mBB B B B ;B 9aYa=mDym{Dm9;Em>qQ 5}4uعŊ?Q 94u@)u\BY?Q E:y`2Q I?uQ"DIu;iu;uP{4yɮ<5AjhFNOT Ignoring new targets: 138.63 m.Rh)9Zh)9 ProNav: ac range: 138.634079 m, nav range: 145.306656 m, bearing: 205.688049 deg, approach rate: -0.609900 m/s, LOS rate: 0.022639 deg/s, cmd heading: 203.923207 deg, new cmd heading: 203.952200 deg. Bhx:HeadingCmd: 3.559637 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffBdddjdZd|(@Q频ɢdm=) ;?i)-L;顙iBiN.;;Ic@IM9@I @I@M/@I@Q@QM2Acoustic response timeoutԁ^Amyb];ԩIIE EE'E"E*E;J:VE'4ZEBE =,^?ARBDAT read: Response Not Received R*response not receivedV*DAT read: user:167> VBDAT read: Tx time:00:31:56.3968 Z$Ping request sent.Z9Y=DyD;E>!Q 5-4%ŦŊ?Q 9-4%y)%\BY1y562Q I5?%`"DI%:i%:%44y=Bɮ=FAEۥEjhamFNOT Ignoring new targets: 138.63 m.Rhm39Zhm39} ProNav: ac range: 138.634079 m, nav range: 145.066101 m, bearing: 205.696750 deg, approach rate: -0.609912 m/s, LOS rate: 0.022097 deg/s, cmd heading: 203.952194 deg, new cmd heading: 203.978341 deg. Bh}r:HeadingCmd: 3.560094 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffdddjdZdF)@҃Bɢm=) 6?i);i%i"G.Ɯ;X;Ic@IԱ9@ @@0@^Aϩ;]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250700 A .AI) I9 OE >E  E E +E "E a:*E 3:VE [4ZE a= @a= @a= @a= @I &,h^?AzYV@z d@zB.<ٱzI AHRS rotation from veh to nav: [[-0.912367,0.406129,0.051440],[-0.409235,-0.901565,-0.140380],[-0.010636,-0.149129,0.988761]]zH2?TV?0ڿ@ȅÿ@?izYV@Iz^;zÑCY)By#IiMb@Mb@Mb@ 9S?~jty&1|Y/?yļ` A &@)&@Y3@bD VDf2yν%?=ٔ);Q->9 ?Y ?=-Dy-D5v;E5>9Q 5E4=Ŋ?Q 9E4=)=\BYEP?Q EE:yE0Q IM?=q"DI=:i=};=䉡4yyɮ}sGA jhFNOT Ignoring new targets: 138.63 m.RhU79ZhU79AA?ABH>B:CB$IBhBBBBDB;B,,]^?A2;V@261d@2/TW<ٱ2 :AHRS rotation from veh to nav: [[-0.911408,0.408541,0.049279],[-0.411293,-0.900563,-0.140797],[-0.013142,-0.148592,0.988811]]2H B* %?!;?Rڿ@j¿ Sꊿ@ ÿW?i2;V@I2[^;2đCYVByV#IbD^VD^:yf\ν%f?=ٔj;Q-j>9lYl=nDynDns;Er>pQ 5v4r}Ŋ?Q 9v4rE~ E~E~*E|"E~7:*E~=:VE~(N4ZE|BE~;a2E~;a JE~ʔ;a :E~ʔ;a )r\BY y0Q I?r"DIr;ir;r,4yBɮkGAڥEjhAEFNOT Ignoring new targets: 138.63 m.Rh]9Zh]9} ProNav: ac range: 138.634079 m, nav range: 144.540924 m, bearing: 205.710525 deg, approach rate: -0.637596 m/s, LOS rate: 0.016488 deg/s, cmd heading: 203.999924 deg, new cmd heading: 204.019746 deg. Bh 5:HeadingCmd: 3.560816 target range: 138.634079 and range: 139.20 m.hjc@h*h"h hgfffdddjdZdd+@ԱЃBɢh=) E!?i)u<i+ܓiL;.^,;1 ,_?A2vZV@2#Pd@2^~<ٱ2$N :AHRS rotation from veh to nav: [[-0.910599,0.410583,0.047226],[-0.412998,-0.899704,-0.141298],[-0.015525,-0.148170,0.988840]]2H#F?.?nڿ `@ ¿ˏ;¿?i2vZV@I2e^;2őCYBByB#I DDHJAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266215bDN VDN2yZa%ZL=ٔ^T;Q-^>9`Y`=bDybDb;Ef>dQ 5j4frjŊ?Q 9j4f )f\BYlynd0Q In?f"DIf;if;f(4yrBɮr GAv٥EB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 138.63 m.Rh9Zh9- ProNav: ac range: 138.634079 m, nav range: 144.295837 m, bearing: 205.716690 deg, approach rate: -0.618425 m/s, LOS rate: 0.015582 deg/s, cmd heading: 204.019745 deg, new cmd heading: 204.038270 deg. Bh-+:-HeadingCmd: 3.561140 target range: 138.634079 and range: 139.20 m.h5c@h1*h1"h1 h1gAfIfYfadadidijdiZdm+@I颱ɢO=) ?i)J<项iؔi5.;#BB#IBIBB =BBB;B ] Gu liA AA ؟AI I O > 9 liAY AԹ 9,c"_?A20nV@2cd@2<ٱ2{[ :AHRS rotation from veh to nav: [[-0.910068,0.411965,0.045403],[-0.414079,-0.899065,-0.142203],[-0.017763,-0.148215,0.988796]]2H`F]???Dڿ#3¿c0@¿6?i20nV@I2 ^;0YBByB#Ii Mb@Mb@Mb@     9 %C?y&1?~jtY Z$?y `e< ļ  A 7@ @) =@ Y @bDMVDMN2yU\%@=ٔg;Q->9"?Y"?=DyD+4;E>Q 54 UŊ?Q 94<#)\BY$?Q E:y,Q I?"DI:i:П4yɮGAjhimFNOT Ignoring new targets: 138.63 m.Rh7Zh7ԙ ProNav: ac range: 138.634079 m, nav range: 144.014832 m, bearing: 205.717338 deg, approach rate: -0.626415 m/s, LOS rate: 0.001447 deg/s, cmd heading: 204.038268 deg, new cmd heading: 204.040216 deg. Bh6~8HeadingCmd: 3.561174 target range: 138.634079 and range: 139.20 m.hEc@h*h"h hgfffBdddjdZd ,@σBɢF=) ?i)x"<顉iip5.B;|n2A5 >AY Ia Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027193 c,}[<_?AJV@J,ud@J؞<ٱJr^ VAHRS rotation from veh to nav: [[-0.909602,0.413134,0.044095],[-0.415028,-0.898527,-0.142833],[-0.019389,-0.148221,0.988764]]JHvp??`ЏڿXH¿ړ¿?iJV@IJ^;J‘CY^ԄBy^`#IbDfVDfkyn %nS=ٔr1;Q-r>9pYp=rDyvDv8;Ev>xQ 5~4zBŊ?Q 9 4z%)z\BYy,Q I%?z"DIz;izc;z[4y5ҝBɮ5GA5إEjhY]FNOT Ignoring new targets: 138.63 m.RheѴ7ZheѴ7u ProNav: ac range: 138.634079 m, nav range: 143.774536 m, bearing: 205.717792 deg, approach rate: -0.651638 m/s, LOS rate: 0.001235 deg/s, cmd heading: 204.040222 deg, new cmd heading: 204.041588 deg. BhuX8}HeadingCmd: 3.561198 target range: 138.634079 and range: 139.20 m.h}c@hy*hy"hy hygfffdddjdZd`ll-@颹ɢmB=) r?i)ɽ(<i[i 5.NT;:@CL,8V_?AYmBymB#IIue>)uC=BBB#IBBBBBB;B9iYi=uDyuDuE}>yQ 54}#-Ŋ?Q 94}))}|\BY'?Q E:yS'Q I?}"DI}:i}a:}N4yBɮGAץEjhFNOT Ignoring new targets: 138.63 m.Rh Zh  ProNav: ac range: 138.634079 m, nav range: 143.478439 m, bearing: 205.708521 deg, approach rate: -0.658471 m/s, LOS rate: -0.020660 deg/s, cmd heading: 204.041588 deg, new cmd heading: 204.013718 deg. BhbHeadingCmd: 3.560711 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfIffƃBdddjdZd8].@΃Bɢ.'&=) >i)*/<  i Pi=.;vEz,%p_?A2>}V@2rd@2<ٱ2IJ< >AHRS rotation from veh to nav: [[-0.909599,0.413397,0.041619],[-0.414875,-0.898261,-0.144937],[-0.022532,-0.149101,0.988565]]2H@p@u?@O?Oڿ I¿ÿS?i2>}V@I2K}_;2CYFByF#IbDNVDNk1yV6%Vj=ٔZEv EvEv,Et"Ev:*Ev0:VEvg4ZEtBEv> i)4<iriC.V;H],_?ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286009lYrByr#IbDz VDz:2y%pS%-C=ٔ-Q-->91Y1=5Dy5D5E5>9Q 5E4=Ŋ?Q 9M4=0)=K\BYIyIQ IM?="DI=:i=:=4yUBɮUHAEB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 138.63 m.Rh%ͷZh%ͷ5 ProNav: ac range: 138.634079 m, nav range: 142.979080 m, bearing: 205.692834 deg, approach rate: -0.637170 m/s, LOS rate: -0.020087 deg/s, cmd heading: 203.990963 deg, new cmd heading: 203.966583 deg. Bh=\=HeadingCmd: 3.559888 target range: 138.634079 and range: 139.20 m.hE6c@hA*hA"hA hAgAfAfIfIdIdIdQjdYZd] ;/@颅̓Bɢ =) >i)9<顉i4ۗi~J.ӟ;N,]¨_?A6uAV@6"7d@6#<ٱ6q >AHRS rotation from veh to nav: [[-0.911009,0.410471,0.039688],[-0.411509,-0.898583,-0.152341],[-0.026869,-0.155116,0.987531]]6H@&@)E?@Q?*Vڿ 2@ÿÿ ڙ?i6uAV@I6`;6‘CYF{ByF"I lllnA prR=bDvVDv02y~޻%~,=ٔ~l9 ?Y ?=Dy#DQE >Q 54Ċ?Q 944)*\BYy'Q I?"DIR:ik:ġ4y!ɮ-IA)]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790406jhaeFNOT Ignoring new targets: 138.63 m.RhmZhu ProNav: ac range: 138.634079 m, nav range: 142.669449 m, bearing: 205.683558 deg, approach rate: -0.676837 m/s, LOS rate: -0.020320 deg/s, cmd heading: 203.966579 deg, new cmd heading: 203.938691 deg. Bh!_HeadingCmd: 3.559402 target range: 138.634079 and range: 139.20 m.h=c@h*h"h hgfffdddjdZd i0@̃Bɢ| =) H>i)>< i iwR.8;dԉ *,9~_?A2V@2d@2e<ٱ29 >AHRS rotation from veh to nav: [[-0.911877,0.408670,0.038329],[-0.409527,-0.899515,-0.152186],[-0.027717,-0.154471,0.987608]]2H.'?˟?5ڿzÿ`aÿ}?i2V@I2 a;2CYFkByF"IbDNVDNkyVX%VP=ٔZ ;Q-Z>9XYX=ZDy^3D^ȴE^>`Q 5f4bDĊ?Q 9f4b7)b\BYhyj'Q Ij?b #DIb:ib_:bʡ4ynBɮnLIAnߥEjh FNOT Ignoring new targets: 138.63 m.Rh Zh % ProNav: ac range: 138.634079 m, nav range: 142.414062 m, bearing: 205.676095 deg, approach rate: -0.653612 m/s, LOS rate: -0.019134 deg/s, cmd heading: 203.938698 deg, new cmd heading: 203.916269 deg. Bh%R%HeadingCmd: 3.559010 target range: 138.634079 and range: 139.20 m.h-c@h)*h)"h) h)g)f)f1f1d1d1d9jdZd(0@!ɢ%b=)) -/>i))-&C<))i-<8iUX.Ux;] ԡIIOb>E EE(E"E*ErN:VEc44ZEB- F>B) B- (#IB- BB- =B) B) B) B- 9Y=DyDDE>Q 54VĊ?Q 94;)[BQ A+:YQ E:y'Q I?#DI ;it>ѡ4y}BɮHAޥEjh FNOT Ignoring new targets: 138.63 m.Rh Zh % ProNav: ac range: 138.634079 m, nav range: 142.128845 m, bearing: 205.668023 deg, approach rate: -0.651474 m/s, LOS rate: -0.018474 deg/s, cmd heading: 203.916268 deg, new cmd heading: 203.892003 deg. Bh%J-HeadingCmd: 3.558587 target range: 138.634079 and range: 139.20 m.h-c@h)*h1"h1 h1gfffdddjdZdB@1@ ˃Bɢ-=)1 52>i1)5QG<19i=Oi=_.E`;E#;IEc@IA9@ @@0@}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798279^A<I I! ) OE >E  E E )E "E :*E C:VE FA4ZE BE 91Y1=5Dy5TD58E=>9Q 5E4=Ċ?Q 9E4=>)=[BQ AM :YIQ EMT:yM(Q IM?=-#DI=;i=T?=ա4yYɮ]IAYjhFNOT Ignoring new targets: 138.63 m.RhZh ProNav: ac range: 138.634079 m, nav range: 141.874451 m, bearing: 205.661100 deg, approach rate: -0.637710 m/s, LOS rate: -0.017386 deg/s, cmd heading: 203.892007 deg, new cmd heading: 203.871200 deg. Bh>HeadingCmd: 3.558224 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgff f d)d)d)jd1Zd5P1@额ʃBɢI=) >i)TJ<checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050178顡i`ie.;?;Ic@I9@ @@x0@1^A`;I) I9 OA a e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301965,7Q`?A 6U@6c@6@<ٱ6D >AHRS rotation from veh to nav: [[-0.915097,0.401688,0.035285],[-0.402072,-0.902320,-0.155426],[-0.030594,-0.156417,0.987217]]6HxHA??`ٿ@ÿ'T xĿH?i6U@I6b;6CYFSByF"IbDRVDRN2yZ %ZS=ٔZ ;Q-Z>9\Y\=^Dy^dDbTEb>dQ 5f4fĊ?Q 9j4f:B)f[BQ Aj9YhQ Ej,:yjB(Q Ij?f=#DIf:if?f)١4yEfBɮEHAAEu EuEu,Eq"Eu:*Eu=:VEug4ZEqa@a@a@a@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.RhZhe ProNav: ac range: 138.634079 m, nav range: 141.622131 m, bearing: 205.654491 deg, approach rate: -0.628844 m/s, LOS rate: -0.016502 deg/s, cmd heading: 203.871202 deg, new cmd heading: 203.851338 deg. Bhe35HeadingCmd: 3.557877 target range: 138.634079 and range: 139.20 m.hBc@h*h"h hgfffd d1d9jdAyZdM 2@=ɃBɢ=,<)Eۖ E>iA)EON ,G*`?A2.oU@2dc@2O=ٱ2h! >AHRS rotation from veh to nav: [[-0.916083,0.399539,0.034073],[-0.399725,-0.903153,-0.156636],[-0.031809,-0.157112,0.987068]]2H P` ?r?@ٿ` Ŀ=I >Ŀ?i2.oU@I2b;2CYDyF"IHchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.806714aeae aeae aeae aeam imMb@Mb@Mb@iiii i9m"~?> ףp=?:vYm3?ymQ>mTm Am@ i)m&@iYm@bD-VD-y=w:;%=3=ٔ=.;Q-=>9AYA=EDyEvDmzEm>qQ 5}4u7Ċ?Q 9}4uG)u[BQ A}T:Y};?Q E}:y}gQ I}?uR#DIu;iu;u24yOBɮGAݥEjhFNOT Ignoring new targets: 138.63 m.RhZh ProNav: ac range: 138.634079 m, nav range: 141.297195 m, bearing: 205.623022 deg, approach rate: -0.740887 m/s, LOS rate: -0.071917 deg/s, cmd heading: 203.851340 deg, new cmd heading: 203.756717 deg. BhlEHeadingCmd: 3.556226 target range: 138.634079 and range: 139.20 m.h3c@h*h"h hgfffDBdddjdZdSy2@ȃBɢK=) O>i)CRW,9 D`?ABKDU@B9c@B=ٱB# JAHRS rotation from veh to nav: [[-0.917086,0.397299,0.033261],[-0.397309,-0.903790,-0.159090],[-0.033145,-0.159114,0.986704]]BH XYm??`mٿ]Ŀq]Ŀ?iBKDU@IB;c;B‘CYRZByR"I TT XZp=bD^VD^2yf\=%ff=ٔfv;Q-f>9j"?Yj"?=jDyjDn3En>pQ 5v4r|~Ċ?Q 9v4rK)rc[BYtyvQ Iv?rc#DIr|:ir:rV4y||ɮ~GAjh!-FNOT Ignoring new targets: 138.63 m.Rh-Zh-= ProNav: ac range: 138.634079 m, nav range: 141.048859 m, bearing: 205.599168 deg, approach rate: -0.706651 m/s, LOS rate: -0.067996 deg/s, cmd heading: 203.756714 deg, new cmd heading: 203.685027 deg. Bh=:EHeadingCmd: 3.554974 target range: 138.634079 and range: 139.20 m.hEc@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]92@颍ǃBɢ =) >i)kU<顑iji.~!;[:Ic@I59@1 @1@5/@15checking for new query: numPingsReceived=0, elapsed TxPingTime=6.3102451^A] ;YE EE*E"E7:*EA:VE(N4ZEa@a@a@a@I I O >ԁ B A B H>B B "IB [BB =B B B ;B Z A @ @)j@Y@bDVD02yC2=%7=ٔ;Q->9Y=DyDeŻE%>!Q 5-4%)iĊ?Q 954%nQ)%6[BY5$=?Q E5:y5/Q I5?%x#DI%. ;i% ;%#4y=@BɮEFAEEjhamFNOT Ignoring new targets: 138.63 m.Rhm⡺Zhu⡺} ProNav: ac range: 138.634079 m, nav range: 140.731186 m, bearing: 205.567681 deg, approach rate: -0.712336 m/s, LOS rate: -0.070765 deg/s, cmd heading: 203.685025 deg, new cmd heading: 203.590350 deg. BhBBHeadingCmd: 3.553322 target range: 138.634079 and range: 139.20 m.hic@h*h"h hgfffiBdddjdZdcE3@ƃBɢM4 =)I M>iI)M#Z checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066265II O>/,Ŏ}`?A2FT@2b@2d=ٱ2Gn$ :AHRS rotation from veh to nav: [[-0.919093,0.392887,0.030118],[-0.392394,-0.905599,-0.160992],[-0.035977,-0.159784,0.986496]]2H6i%?!מ?ٿ@_Ŀk@sĿ`?i2FT@I2"Hd;2CYBsByB"IbDHVDHyR=%R7=ٔV;Q-V>9TYX=ZDyZDZؿEZ>\Q 5b4^SĊ?Q 9%4^V)^ [BY)y-YQ I-?^#DI^fi)ܟ_S&BBB "IB UBB =BBB v;B mm Am @ m@)m@iYm3@@AbDVDy=%)=ٔp;Q->9Y=DyD^mE>Q 54;Ċ?Q 94\)ZBY=v9?Q E=:y="Q I=?#DIi)ue<顙iKdi..;tI;c@I1Y9@ @@@% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823478ԉ De =De <Em  Em Ei Ei "Em :*Em a9:VEi ZEi BEm hS-,h`?A>qT@>b@>I=ٱ># FAHRS rotation from veh to nav: [[-0.920394,0.390064,0.026942],[-0.389114,-0.907045,-0.160811],[-0.038289,-0.158493,0.986617]]>H@s ?ʖ? >ؿ tĿIĿ^?i>qT@I>d;>‘CYNByN#IbDZVDZky^N=%b==ٔb-;Q-b>9dYd=fDyfDj Ej>hQ 5n4j%Ċ?Q 9r4j`)jZBYpyr"Q Ir?j#DIj:ij:j4yzBɮzCAxjhFNOT Ignoring new targets: 138.63 m.Rh[Zh[- ProNav: ac range: 138.634079 m, nav range: 139.760391 m, bearing: 205.494370 deg, approach rate: -0.748583 m/s, LOS rate: -0.048078 deg/s, cmd heading: 203.429138 deg, new cmd heading: 203.369897 deg. Bh55HeadingCmd: 3.549474 target range: 138.634079 and range: 139.20 m.h5*c@h9*h9"h9 h9g9f9fAfAdAdIdIjdIZdM24@}ƒBɢ}j3=)y }>iy)}Kj<顁i*i. ;+̺I*c@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.0748299@ @@/@ ^A-"A5hAzA5hAIIO>9 u checking for new query: numPingsReceived=0, elapsed TxPingTime=8.32597624,|`?A2T@2b@2!=ٱ2M >AHRS rotation from veh to nav: [[-0.920787,0.389271,0.024868],[-0.388063,-0.907749,-0.159368],[-0.039464,-0.156395,0.986906]]2H w?@v? ؿH /fĿ4 Ŀ?i2T@I2%d;2CYFByF5#IbDNVDN:yV=%VM=ٔVGA;Q-V>9XYX=ZDyZD^8E^>`Q 5f4bĊ?Q 9f4bd)bZBYdyf"Q If?b#DIb:ibA:b 4ylɮn CAljh|FNOT Ignoring new targets: 138.63 m.RhPZh P ProNav: ac range: 138.634079 m, nav range: 139.476151 m, bearing: 205.476195 deg, approach rate: -0.712740 m/s, LOS rate: -0.045668 deg/s, cmd heading: 203.369893 deg, new cmd heading: 203.315257 deg. Bh%HeadingCmd: 3.548521 target range: 138.634079 and range: 139.20 m.h%c@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5 :5@E EE)E"E:*E H:VEFA4ZEa@a@a@a@颵Bɢ0>=) H>i)qq<1i5Yiu/u ;}cںI}c@IAqAu@AB}R>B};CB}"IB}oBB} =ByB}DB}A;B}u\:,u`?A@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.829932YM„ByMJ#I QQQQiMb@Mb@Mb@ 9 rh?RQ?~jtx?Y,?y=;A @)bAY@ a=bDVD:3y\=%7=ٔQ->9Y=Dy D E >Q 54Ê?Q 94i)ZBY%A.?Q E%:y%&Q I%?#DI6;i:4y-Bɮ-AA-EjhQUFNOT Ignoring new targets: 138.63 m.Rh]Zh]m ProNav: ac range: 138.634079 m, nav range: 139.173553 m, bearing: 205.464438 deg, approach rate: -0.676716 m/s, LOS rate: -0.026349 deg/s, cmd heading: 203.315252 deg, new cmd heading: 203.279906 deg. BhmuHeadingCmd: 3.547904 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffBddd!jd!Zd%5@额BɢF=) "?i)x<顡iԩi/i;pIc@IbEjEĔK4rEϚ/E EE+E"Ey:*E|;:VE [4ZEBEDA,Qa?A28T@2b@2*=ٱ2 :AHRS rotation from veh to nav: [[-0.920726,0.389585,0.022062],[-0.387982,-0.907975,-0.158277],[-0.041630,-0.154289,0.987148]]2Hv?? ؿ!hBĿP@ÿ?i28T@I2c;2‘CYB̄ByBW#IbDNVDNNyVf=%Vc=ٔV;Q-V>9Z ?YZ ?=ZDyZDZE^>`Q 5b4bÊ?Q 9f4b_l)bZBYdydQ If?b#DIb:ibV:b4yjBɮn@AnEljhFNOT Ignoring new targets: 138.63 m.Rh Zh  ProNav: ac range: 138.634079 m, nav range: 138.929443 m, bearing: 205.454918 deg, approach rate: -0.675606 m/s, LOS rate: -0.026396 deg/s, cmd heading: 203.279912 deg, new cmd heading: 203.251300 deg. Bh쐺%HeadingCmd: 3.547404 target range: 138.634079 and range: 139.20 m.h%c@h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd=B5@eBɢee=)i m?ii)mǔ~A}>E EE)E"E:*EE7:VEFA4ZEa@a@a@a@A ؟AI I1 OU >B K>B B #IB BB =B B B =;B n9"?Y"?=DyDE>Q 54Ê?Q 94o)ZBY,?Q E:y-Q I?#DIh;i;#4yɮ"@AB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 138.63 m.Rh8Zh8% ProNav: ac range: 138.634079 m, nav range: 138.634445 m, bearing: 205.456893 deg, approach rate: -0.674300 m/s, LOS rate: 0.004524 deg/s, cmd heading: 203.251294 deg, new cmd heading: 203.257232 deg. Bh%F9-HeadingCmd: 3.547508 target range: 138.634079 and range: 139.20 m.h-_ c@h)*h)"h) h)g)f1ffBdddjdZd[K6@EBɢEY=)A E?iI)ME  E E E "E :*E [:VE ZE BE 79)Y)=-Dy- D5|;E5>9Q 5E4=Ê?Q 9E4=pr)=ZBYAyE-Q IE?=$DI=:i=:=k*4yUלBɮUR?AUEjhq}FNOT Ignoring new targets: 138.63 m.Rh}ԝ8Zhԝ8 ProNav: ac range: 138.634079 m, nav range: 138.374298 m, bearing: 205.458550 deg, approach rate: -0.675384 m/s, LOS rate: 0.004312 deg/s, cmd heading: 203.257236 deg, new cmd heading: 203.262219 deg. Bhe=9HeadingCmd: 3.547595 target range: 138.634079 and range: 139.20 m.h c@h*h"h hgfffdddjdZdة6@uBɢ}w=)y }?iy)}y T,;Ra?A2^T@2 b@2y3=ٱ2 :AHRS rotation from veh to nav: [[-0.919757,0.391983,0.019921],[-0.390031,-0.907147,-0.157985],[-0.043856,-0.153078,0.987241]]2H`nA?@+f?FؿY8ĿWt@ÿy?i2^T@I2b;2CYBByB#IbDNVDNN2yV0=%VR=ٔV:Q-V>9XYX=ZDyZ0DZl;E^>`Q 5b4b}Ê?Q 9f4bQu)bZBYdyf-Q If?b!$DIb:ib:b614yjBɮni>AnEjh|FNOT Ignoring new targets: 138.63 m.Rh׏8Zh׏8 ProNav: ac range: 138.634079 m, nav range: 138.112228 m, bearing: 205.460075 deg, approach rate: -0.674294 m/s, LOS rate: 0.003930 deg/s, cmd heading: 203.262222 deg, new cmd heading: 203.266804 deg. Bh,9HeadingCmd: 3.547675 target range: 138.634079 and range: 139.20 m.h c@h!*h!"h! h!g)f)f1f1dddjdZd7@QE} E}E}+Ey"E}y:*E}V:VE} [4ZEya@a@a@a@ɢo=)1 5?i9)=HB59CB5H#IB5BB5 =B1B5DB5#;B5K Z,Hla?A2Acoustic response timeoutY%By%#IiMb@Mb@Mb@ 9p= ף?Mb~jt?Y%?y<(A @)xAY@bDVDJ2y<=%9=ٔ%Q-%>9!Y!=-Dy-CD-E->1Q 5=45nÊ?Q 9=45x)1YEo%?Q EE:yE)2Q IE?53$DI5~:i57:594yIɮM>AQjhquFNOT Ignoring new targets: 138.63 m.Rh}9Zh}9 ProNav: ac range: 138.634079 m, nav range: 137.821167 m, bearing: 205.470573 deg, approach rate: -0.643652 m/s, LOS rate: 0.023264 deg/s, cmd heading: 203.266799 deg, new cmd heading: 203.298358 deg. Bhs:HeadingCmd: 3.548226 target range: 138.634079 and range: 139.20 m.h!c@h*h"h hgԹfff^BdddjdZd7@Bɢv=) @!?i) H<  i #욼i /%; 9I!c@I9@ @@/@EE EEEE-EA"EE:*EEE7:VEEt4ZEABEE1 a,a?A2T@2b@2]8=ٱ2> :AHRS rotation from veh to nav: [[-0.918312,0.395377,0.019515],[-0.393292,-0.905647,-0.158506],[-0.044996,-0.153233,0.987165]]2H@bM??`+ٿ IĿ $ÿ@ۖ?i2T@I2!a;2CYBByB#I DDbDNVDNfyV%V_=ٔVQ;Q-V>9XYX=ZDyZQDZW$<E^>`Q 5b4bLÊ?Q 9f4b%z)`Ydyf1Q If?bB$DIb:ibk:bT?4yjBɮn=AnEjh|FNOT Ignoring new targets: 138.63 m.Rh9Zh9 ProNav: ac range: 138.634079 m, nav range: 137.591949 m, bearing: 205.478527 deg, approach rate: -0.644173 m/s, LOS rate: 0.022392 deg/s, cmd heading: 203.298354 deg, new cmd heading: 203.322258 deg. Bhu:HeadingCmd: 3.548643 target range: 138.634079 and range: 139.20 m.hc@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5%7@Bɢԁ=)! %?i!)%gq B- L>B- :CB- m#IB- ߄BB- =B) B- DB- ;B- B1 >G  2Acoustic response timeout % 6~9! Y% nhAg,sa?A y6n?6GAZ'U@Zc@Z6;=ٱZP fAHRS rotation from veh to nav: [[-0.917523,0.397196,0.019667],[-0.395030,-0.904585,-0.160239],[-0.045856,-0.154792,0.986882]]ZHY\k?#?-Hٿ\@Ŀkz7ÿ ?iZ'U@IZ(s`;ZCYnByn#Ia]@a] i]Mb@Mb@Mb@YYYY Y9]Mb?Q~jt?Y]#?y]u]9Y=DycD̐;E>Q 54'lÊ?Q 94m|)ZBY#?Q E:y4Q I?T$DI\:i:F4yBɮ=AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh:Zh: ProNav: ac range: 138.634079 m, nav range: 137.317459 m, bearing: 205.493063 deg, approach rate: -0.634155 m/s, LOS rate: 0.033650 deg/s, cmd heading: 203.322260 deg, new cmd heading: 203.365956 deg. Bh:HeadingCmd: 3.549406 target range: 138.634079 and range: 139.20 m.hv)c@h*h"h hg f f f dddjdZd`7O8@Bɢs=) 5?i)[<ii>.қ;C~;Iv)c@Iq9@ @@@ԙ=2Acoustic response timeout^Ayb];A>AI1 IA OU > E  E E )E "E :*E P:VE FA4ZE BE > =ٱ2 :AHRS rotation from veh to nav: [[-0.916620,0.399279,0.019590],[-0.397047,-0.903607,-0.160770],[-0.046490,-0.155144,0.986797]]2HTʍ?? 8iٿ@Z Ŀͧÿ ؓ?i2dCU@I2_;2CYBByB}#IbDJVDJPyV%VY=ٔVy:Q-V>9XYX=ZDyZrD^;E^>`Q 5f4bXÊ?Q 9f4bk~)bZBYdyf4Q If?bc$DIb_:ib:bsM4ylɮn6=Aljh|FNOT Ignoring new targets: 138.63 m.Rh6:Zh 6: ProNav: ac range: 138.634079 m, nav range: 137.078720 m, bearing: 205.505528 deg, approach rate: -0.636098 m/s, LOS rate: 0.033268 deg/s, cmd heading: 203.365959 deg, new cmd heading: 203.403418 deg. Bh:%HeadingCmd: 3.550059 target range: 138.634079 and range: 139.20 m.h%,4c@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5@ 8@ɢ =) }?i),C<im%i.~֛;k;I,4c@I2Acoustic response timeout9@ @@0@^Ar;A .AI I! ) O5 >E %=E =M BDAT read: Response Not Received M *response not receivedU *DAT read: user:168> U 9U ?Y} ?=}Dy}D}k;E>Q 54BÊ?Q 94)Yye4Q I?u$DIN:i;T4y|BɮB]{,Ca?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2502716U@6Yc@6C=ٱ6! BAHRS rotation from veh to nav: [[-0.914615,0.403823,0.020155],[-0.401512,-0.901252,-0.162886],[-0.047612,-0.157071,0.986439]]6HD=ٔ]Tp:Q-e>9Y=DyDw;E>Q 54n,Ê?Q 94)yZBY!?Q E:y 5Q I ?$DI;i;\4yeBɮ,8 b?A2U@2_c@2E=4ٱ2,! >AHRS rotation from veh to nav: [[-0.913413,0.406544,0.019983],[-0.404182,-0.900116,-0.162566],[-0.048104,-0.156567,0.986495]]2H:?Vv?@ٿĿ `` Ŀ^?i2U@I2^;2CYFByF;#IbDNVDN:yZ̽%^K=ٔf:Q-j>9hYl=nDynDn;En>pQ 5v4rÊ?Q 9v4r܄)rsZBYxyza5Q Iz?r$DIr:irw:ruc4y|ɮ~|=Ajh!%FNOT Ignoring new targets: 138.63 m.Rh-W):Zh-W):= ProNav: ac range: 138.634079 m, nav range: 136.287476 m, bearing: 205.550161 deg, approach rate: -0.631978 m/s, LOS rate: 0.037012 deg/s, cmd heading: 203.495214 deg, new cmd heading: 203.537575 deg. Bh=5:EHeadingCmd: 3.552401 target range: 138.634079 and range: 139.20 m.hEZc@hA*hA"hI hIgIfIfIfQdQdQdQjdQZd]u9@Bɢm=) R>i ) m<  i `䜼i,. k;ByB}s#IB}BB} =ByByB};B}=",J$b?A2U@2=c@2dG=ٱ2ݓ! :AHRS rotation from veh to nav: [[-0.912452,0.408695,0.020016],[-0.406281,-0.899074,-0.163097],[-0.048661,-0.156951,0.986407]]2H2(??@ڿ7^Ŀ꨿@Ŀ@?i2U@I2 w^;2ClYvByv.#I xxxxiuMb@Mb@Mb@qqqq q9ux&1?kt:vYu!?yu 0uTuAu@ u@)qqYuAbD VD2y<%==ٔ:Q->9"?Y"?=DyD(;E>Q 54Ê?Q 94I)cZBY!?Q E:y2Q I?$DIX;i ;j4yOBɮ=AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh%9Zh%9  ProNav: ac range: 138.634079 m, nav range: 136.018921 m, bearing: 205.561233 deg, approach rate: -0.627375 m/s, LOS rate: 0.025916 deg/s, cmd heading: 203.537575 deg, new cmd heading: 203.570856 deg. Bh I:HeadingCmd: 3.552982 target range: 138.634079 and range: 139.20 m.h dc@h*h"h hgfff6BdddjdZd'_:@ɢV=) j>i)+<ixi.؜; M4!ю,%>b?A>U@>c@>{H=ٱ>  ZAHRS rotation from veh to nav: [[-0.911906,0.409979,0.018579],[-0.407473,-0.899077,-0.160082],[-0.048926,-0.153550,0.986929]]>HT.=?^? ڿ<@}Ŀ ÿ?i>U@I>H^;>CYbByb #IbDnVDnyv%vV=ٔv6:Q-v>9xYx=zDyzD~a;E~>Q 5 4qŠ?Q 9 4t)TZBY y 2Q I ?$DIg:i:q4yɮ=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510375IjhQUFNOT Ignoring new targets: 138.63 m.Rh]$9Zh]$9m ProNav: ac range: 138.634079 m, nav range: 135.779236 m, bearing: 205.571014 deg, approach rate: -0.625932 m/s, LOS rate: 0.025588 deg/s, cmd heading: 203.570851 deg, new cmd heading: 203.600246 deg. Bhm|:uHeadingCmd: 3.553495 target range: 138.634079 and range: 139.20 m.huulc@hq*hq"hq hqgqfyfyfydddjdZd@:@颱ɢT=)1 5@>i1)= q<99i=iE@.EA;E_=A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762207AA II Ia Om > E]  E] E] )EY "E] :*E] E7:VE] FA4ZEY ae @am @am @am @ĕ,H1Xb?AJ$V@Jd@JI=ٱJ VAHRS rotation from veh to nav: [[-0.910969,0.412109,0.017364],[-0.409521,-0.898614,-0.157437],[-0.049278,-0.150531,0.987376]]JH@&_?@Ǒ?5ڿ@q &Ŀ:`Dÿ`?iJ$V@IJB^;JCYZ{ByZ"IbDfVDf3yjĽ%nJ=ٔnd:Q-n>9pYp=rDyrDu;E}>ԁyQ 54}PŠ?Q 94})}DZBYy2Q I?}$DI});i}:}x4y8Bɮ=AEB%V>B!B%H#IB%BB!B!B%DB%;B%&iI)M~K,vb?A0J'V@Jd@J'K=ٱJ RAHRS rotation from veh to nav: [[-0.910860,0.412389,0.016415],[-0.409731,-0.898784,-0.155907],[-0.049540,-0.148735,0.987635]]JH % d?2ϐ?9ڿ@ÿ \]@ ÿ?iJ'V@IJw2^;JCYZQByZ"IIbG>)bp9Y=DyDG9E>Q 5%4Š?Q 9%4E)%ZBY-B"?Q E-:y-A-Q I-?$DI" ;i ;z4y5"Bɮ=>A=EjhYeFNOT Ignoring new targets: 138.63 m.Rheo8Zheo8u ProNav: ac range: 138.634079 m, nav range: 135.206680 m, bearing: 205.583211 deg, approach rate: -0.640883 m/s, LOS rate: 0.003276 deg/s, cmd heading: 203.632214 deg, new cmd heading: 203.636916 deg. Bhu9}HeadingCmd: 3.554135 target range: 138.634079 and range: 139.20 m.h}vc@hy*h"h hgfffBdddjdZd[;@颹ɢ,=) (>i)<iim3œiuĨ.uv;uJTţ,Ϗb?A2 V@2ad@2=K=ٱ2 :AHRS rotation from veh to nav: [[-0.911037,0.411987,0.016684],[-0.409331,-0.898814,-0.156787],[-0.049598,-0.149669,0.987491]]2H7']?@?y2ڿĿ dV(ÿ?i2 V@I2""^;2CYB7ByB"IbDJ VDJ2yR#%Vd=ٔV*9Q-V>9Z ?YZ ?=ZDyZDZ[EZ>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770250ddQ 5j4fŠ?Q 9n4fɑ)fZBYlynI-Q In?f$DIf;if;fƇ4yr+Bɮv?AvEjhFNOT Ignoring new targets: 138.63 m.Rhk8Zhk8 ProNav: ac range: 138.634079 m, nav range: 134.979416 m, bearing: 205.584422 deg, approach rate: -0.603823 m/s, LOS rate: 0.003222 deg/s, cmd heading: 203.636913 deg, new cmd heading: 203.640550 deg. Bh 9HeadingCmd: 3.554198 target range: 138.634079 and range: 139.20 m.hwc@h*h"h hgfffddd!jd!Zd%<@颹ɢJ=) ~>i)Y<iqi.;M,b?A2V@2d@2"YK=ٱ2 :AHRS rotation from veh to nav: [[-0.911500,0.410941,0.017161],[-0.408294,-0.899019,-0.158304],[-0.049625,-0.151301,0.987241]]2H+L?? !ڿ`KCĿxh ]ÿ {?i2V@I2(^;2CYBByB"IiMb@Mb@Mb@ 9x&1?v/?Q롿YA ?yxi=\p A S@)AYQAbDVDk1y%9=ٔ|8Q->9"?Y"?=Dy D'E>Q 54 Š?Q 94L)YBY+!?Q E:y(Q I ?$DI";i%;4yBɮ?A5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 138.63 m.RhE.ZhE.U ProNav: ac range: 138.634079 m, nav range: 134.702774 m, bearing: 205.577784 deg, approach rate: -0.646298 m/s, LOS rate: -0.015538 deg/s, cmd heading: 203.640546 deg, new cmd heading: 203.620594 deg. Bh]*]HeadingCmd: 3.553850 target range: 138.634079 and range: 139.20 m.h]Frc@ha*ha"ha hagafafifmBdidqdqjdqZduGs<@颡ɢҟ=) K>i)my X#Rx 1: Read direction message, but no range. \direction in FSK: [0.973059,0.015286,0.230050]yy } ;L#?e3GN?gz}"Er?y y y y y )} JI} ˡ>i} ο} k>} r&@y } ۋ&@ } ,m>)} 95 ?Y5 ?=5Dy5D]E]>aQ 5m4eKŠ?Q 9m4eT)eYBYiyu)Q Iu?e %DIeR:ie:e:4yyBɮ?AEjhFNOT Ignoring new targets: 138.63 m.Rh Zh  ProNav: ac range: 138.634079 m, nav range: 134.463089 m, bearing: 205.572221 deg, approach rate: -0.611237 m/s, LOS rate: -0.014213 deg/s, cmd heading: 203.620589 deg, new cmd heading: 203.603869 deg. Bh HeadingCmd: 3.553558 target range: 138.634079 and range: 139.20 m.h ~mc@h *h"h hg1f1f9f9d9d9dAjdAZdE<@颉ɢ&=) >i) <项iگi7.П;-A! A! B- U>B) B- "IB- FBB) B) B) B- Յ;B- 95"?Y5"?==Dy=.D=N[E=>AQ 5M4EAuŠ?Q 9M4E?)EYBQ AU+:YQQ EU:yU!)Q IU?E%DIEG;iE?EG4yYɮ]@AYjhFNOT Ignoring new targets: 138.63 m.Rh%Zh% ProNav: ac range: 138.634079 m, nav range: 134.152145 m, bearing: 205.565228 deg, approach rate: -0.635817 m/s, LOS rate: -0.014332 deg/s, cmd heading: 203.603868 deg, new cmd heading: 203.582841 deg. Bh`HeadingCmd: 3.553191 target range: 138.634079 and range: 139.20 m.h{gc@h*h"h hgfffdddjdZdT=@ɢo<) 0=i) K<ii:.2;"A A I I O >,'b?AE EE+E"EI:*EVE [4ZEBE ?i?@ٿ hſ sMĿ؊?iR)U@IRk^;PY̓By"IbD5VD5k2yE$%Eu=ٔE f7Q-E?9IYI=MDyM<DUEU?YQ 5]4]eŠ?Q 9e4]ܞ)]YBQ Ae :YaQ Ee]:yeJ)Q Ie?]-%DI]:i]gU?]4yuBɮu@A}EjhFNOT Ignoring new targets: 138.63 m.RhuZhu ProNav: ac range: 138.634079 m, nav range: 133.943863 m, bearing: 205.560746 deg, approach rate: -0.623462 m/s, LOS rate: -0.013436 deg/s, cmd heading: 203.582845 deg, new cmd heading: 203.569379 deg. BhHeadingCmd: 3.552956 target range: 138.634079 and range: 139.20 m.hcc@h*h"h hgfffdddjdZd_=@!频ɢǸ<) 6=i),<顙iyi.0c;ԑ 5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapsePq,<c?A2U@2wc@2MXI=ٱ2^O' :AHRS rotation from veh to nav: [[-0.914981,0.402959,0.020810],[-0.400493,-0.900682,-0.168454],[-0.049137,-0.162466,0.985490]]2H G?9O?ٿdſq(`Ŀ "?i2U@I2K^;2CYBByB"IIF<)F49XYX=ZDyZLD^E^>`Q 5f4bTŠ?Q 9f4b١)brYBQ Af9YdQ Ef3:yjy)Q Ij?b<%DI`ibЛ?b4ypɮr4AApjhFNOT Ignoring new targets: 138.63 m.Rh VZh V] ProNav: ac range: 138.634079 m, nav range: 133.704269 m, bearing: 205.555874 deg, approach rate: -0.575853 m/s, LOS rate: -0.011731 deg/s, cmd heading: 203.569376 deg, new cmd heading: 203.554733 deg. Bh]eHeadingCmd: 3.552700 target range: 138.634079 and range: 139.20 m.heq_c@ha*ha"ha hagafififididqqdjdZd>@BɢT<) p o,,c?AVVU@VLc@VH=ٱVJ* bAHRS rotation from veh to nav: [[-0.916034,0.400517,0.021642],[-0.398095,-0.901249,-0.171087],[-0.049018,-0.165337,0.985018]]VH%P?f)?`dzٿ*ſ`)ſE?iVVU@IVc=^;VCYfByf"IaUaU aUa] a]a] a]a] i]Mb@Mb@Mb@YYYY Y9]!rh?7A`?/$Y]l'?y]>],]AY Y)]1AYY]pAbDu VDuf2y%==ٔ=Q->9Y=Dy]DƻE>Q 54P@Š?Q 94:)GYBQ AT:Y+?Q E:yn!Q I?N%DI;i;54yћBɮ@AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh^sZh^s ProNav: ac range: 138.634079 m, nav range: 133.421677 m, bearing: 205.534645 deg, approach rate: -0.706577 m/s, LOS rate: -0.053192 deg/s, cmd heading: 203.554732 deg, new cmd heading: 203.490910 deg. BhHeadingCmd: 3.551586 target range: 138.634079 and range: 139.20 m.h1Mc@h*h"h hgfffOBdddjdZd>@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!ɢ% <)) -`Q j,RaFc?AYBy!IbDVD02y%ʽ%%P=ٔ-Q-->9)Y)=5Dy5mD5E5>9Q 5E4=j.Š?Q 9E4=6)= YBYIyIQ IM?=_%DI=:i=o:=4yUBɮU@A]Ejhy}FNOT Ignoring new targets: 138.63 m.RhbZhb ProNav: ac range: 138.634079 m, nav range: 133.164795 m, bearing: 205.515270 deg, approach rate: -0.656412 m/s, LOS rate: -0.049606 deg/s, cmd heading: 203.490911 deg, new cmd heading: 203.432671 deg. Bh-HeadingCmd: 3.550570 target range: 138.634079 and range: 139.20 m.h@Bɢ<<) i)W<iei*.;;IB S>B B "IB ̃BB =B B B e;B 55A5@ 5=@)5A1Y5AbDMVDMyU%]*=ٔ]M9Q-]>a9YYa=mDymDm--Em>qQ 5}4uŠ?Q 9}4uA)uXBY-?Q E:y> Q I?ut%DIug;iu;uz4yɮ@AjhFNOT Ignoring new targets: 138.63 m.Rh|Zh| ProNav: ac range: 138.634079 m, nav range: 132.848724 m, bearing: 205.488705 deg, approach rate: -0.656271 m/s, LOS rate: -0.055289 deg/s, cmd heading: 203.432677 deg, new cmd heading: 203.352793 deg. BhHeadingCmd: 3.549176 target range: 138.634079 and range: 139.20 m.h%c@h*h"h hgfffFBdddjdZdZ?@ɢ.<) i)%L=,zc?A2T@2bb@2*J=ٱ2*)8 >AHRS rotation from veh to nav: [[-0.918990,0.393791,0.019656],[-0.391185,-0.904406,-0.170363],[-0.049311,-0.164251,0.985185]]2H]h3? ?. ٿwſF?`.ſ@?i2T@I2y^;2CYFByF!IbDNVDNkyVt%V=ٔZ9Q-5 ?91Y1=5Dy5D=^E=?AQ 5M4E\ Š?Q 9M4EIJ)EXBYIyUd Q IU?E%DIE;iE ;EY4y]Bɮ]@A]EjhFNOT Ignoring new targets: 138.63 m.Rh0{Zh0{ ProNav: ac range: 138.634079 m, nav range: 132.627899 m, bearing: 205.470295 deg, approach rate: -0.657460 m/s, LOS rate: -0.054901 deg/s, cmd heading: 203.352791 deg, new cmd heading: 203.297471 deg. BhHeadingCmd: 3.548210 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffdddjdZd?@Bɢl<) ;i)m <i˖i /g'; u{:I c@I ԡ9@ @@/@@@%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^A] ;A>A>IqIO\>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,zc?AbӻT@bb@bwK=ٱb?*l vAHRS rotation from veh to nav: [[-0.919734,0.392049,0.019685],[-0.389390,-0.904855,-0.172086],[-0.049654,-0.165938,0.984885]]bHunS?5(? ؿ ƿ@Fls=ſ@.?ibӻT@Ib3d^;bCY~By~!IbD  VD 2y<%D=ٔW:Q-%>9!Y!=%Dy%D-잻E->1Q 545 ?Q 945)5XBYy Q I?5%DI5VRBqBu!IBuBBqBqBqBu;Buy ,Fc?A68T@6b@6M=ٱ6+ >AHRS rotation from veh to nav: [[-0.920151,0.391084,0.019383],[-0.388335,-0.905100,-0.173175],[-0.050182,-0.166874,0.984700]]6Hq ?ٓ?@yؿ @*ƿ`\ſ`?i68T@I6o^;4Y\y`If=)fp;f=f=iMMb@Mb@Mb@IIII I9MS㥛?M?YM$&?yMn>M̼MlAM@ Mj@)MAIYYMAbDeVDe yu%uE=ٔ}:Q-}>9yY=DyDh3E>Q 540?Q 94)XBY?*?Q E:y$"Q I?%DIm ;i ;Ϣ4yBɮ?AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh[Zh[ߑߕ=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 138.634079 m, nav range: 132.094086 m, bearing: 205.429089 deg, approach rate: -0.667796 m/s, LOS rate: -0.048027 deg/s, cmd heading: 203.231883 deg, new cmd heading: 203.173598 deg. BhHeadingCmd: 3.546048 target range: 138.634079 and range: 139.20 m.htb@h*h"h hgfff^BdddjdZdNE@@颥BɢId<) i)<iiB-/;`SH:Itb@Iԉ9@ @@/@E  E E -E "E y:*E F:VE t4ZE BE  ^,!c?A2T@2Vb@2P=ٱ2j* :AHRS rotation from veh to nav: [[-0.920563,0.390168,0.018230],[-0.387281,-0.905697,-0.172415],[-0.050760,-0.165779,0.984856]]2H@Au?ڪ?6ؿwƿ7 ?8ſ ?i2T@I2n^;2CYBBy@bDNVDNk2yVŖ%VX=ٔV:Q-V>9XYX=ZDyZD^DE^>`Q 5f4b?Q 9f4b;)beXBYdyf5"Q If?b%DIb:ibi:b7֢4ylɮn?AljhFNOT Ignoring new targets: 138.63 m.Rh UZh U ProNav: ac range: 138.634079 m, nav range: 131.847931 m, bearing: 205.411466 deg, approach rate: -0.651991 m/s, LOS rate: -0.046766 deg/s, cmd heading: 203.173594 deg, new cmd heading: 203.120625 deg. Bha%HeadingCmd: 3.545124 target range: 138.634079 and range: 139.20 m.h%Nb@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5,q@@ԹBɢ<)  i)Y< i iigE  E E 'E "E I:*E VL:VE '4ZE a @a @a @a @Aa Ae AABm O>Bm ;CBm !IBm BBm =Bi Bm DBm ʆ;Bm =E9 ,c?A T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseu T@uub@uQ=ٱuM) AHRS rotation from veh to nav: [[-0.921074,0.389016,0.016993],[-0.386000,-0.906449,-0.171330],[-0.051247,-0.164367,0.985067]]uH@py`?f? ;ؿ %ſ@ = ſ?iu T@Iuc^;uCYBy!Ii Mb@Mb@Mb@     9 L7A`?1Zd?y&1Y +'?y "= `e A @ @) A Y 3AbD!VD!y5ʀ=%5'=ٔ5 :Q-5>99Y9==Dy=DEx9EE>IQ 5U4M?Q 9U4M@)MEXBYUo)?Q E]:y]%Q I]?M%DIM\:iMC:Mޢ4yeBɮe>AeEjhFNOT Ignoring new targets: 138.63 m.RhgZhg ProNav: ac range: 138.634079 m, nav range: 131.528595 m, bearing: 205.396000 deg, approach rate: -0.654616 m/s, LOS rate: -0.031781 deg/s, cmd heading: 203.120619 deg, new cmd heading: 203.074109 deg. Bh|HeadingCmd: 3.544312 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfff}BdddjdZd@@颭Bɢ<) i)ԑ E  E E +E "E :*E R:VE [4ZE BE S|T@>qb@>S=ٱ>t& FAHRS rotation from veh to nav: [[-0.921140,0.388921,0.015563],[-0.385782,-0.906930,-0.169263],[-0.051715,-0.161919,0.985448]]>Hy?ߏ? ؿkſpzùĿ@ʈ?i>S|T@I>o^; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse $/,nd?A:T@:iub@:U=ٱ:# ^AHRS rotation from veh to nav: [[-0.921039,0.389214,0.014134],[-0.385965,-0.907289,-0.166907],[-0.052139,-0.159183,0.985871]]:H`&y?#?ؿ1]ſ`Ŀ@B?i:T@I:W^;8YbByf "IbDnVDn02yv7p=%vM=ٔvNj:Q-z>9z"?Yz"?=~Dy~D~8 :E~>Q 5 4J?Q 9 4)XBY y %Q I?%DI:i:4yYɮ]p=AYjhFNOT Ignoring new targets: 138.63 m.RhKZhK ProNav: ac range: 138.634079 m, nav range: 131.048569 m, bearing: 205.372593 deg, approach rate: -0.665794 m/s, LOS rate: -0.032631 deg/s, cmd heading: 203.042072 deg, new cmd heading: 203.003757 deg. Bh'HeadingCmd: 3.543084 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffd!d!d!jd!Zd%`^A@DzD@AE EE*E"E:*E;J:VE(N4ZEa@a@a@a@Bɢm<) h=i)I<ii%]/% u;%:IMb@IIYBN>BBB 9=CBBBBφ;GB=E%}9 Y tgA 9@ @@/@A>A>-T****** received valid address query ******-R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseAQIyIO>! V ,X/d?AY~ƃBy~"IiMb@Mb@Mb@ 9x&1?Dl?Mb`?YA ?yO=;A@ @)AYAbDVDk2y=%?=ٔQ->9Y=DyDE>Q 54{?Q 94])XBY:!?Q E:y(Q I?%DI:i:4yWBɮ75,BId?A;ɰ;2T@2vb@2fZ=ٱ2>$ :AHRS rotation from veh to nav: [[-0.920951,0.389453,0.013216],[-0.386016,-0.907134,-0.167631],[-0.053296,-0.159482,0.985761]]2Hox ?4?{ؿ@=tſIiĿ[?i2T@I2bE^;2CYBӃByB$"IHbDNVDN02yV=%V]=ٔZLM;Q-Z>9\Y\=^Dy^D^\e9Eb>`Q 5f4b_t?Q 9j4bS)bWBYhyj(Q Ij?b&DIb;ib;b{4ynbBɮrxB% :CB% !IB% BB% =B! B% DB% ц;B% @Y,Gcd?A9QYQ=UDyU%DUE]>YQ 5e4]\?Q 9e4])]WBYm'!?Q Em:ymR-Q Im?]&DI];i]G;]4y}LBɮ};A}EjhFNOT Ignoring new targets: 138.63 m.Rh :8Zh :8 ProNav: ac range: 138.634079 m, nav range: 130.241989 m, bearing: 205.359955 deg, approach rate: -0.628720 m/s, LOS rate: 0.002541 deg/s, cmd heading: 202.962049 deg, new cmd heading: 202.965768 deg. Bh>8HeadingCmd: 3.542421 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffƒBdddjdZdA@IBɢ:<) =i)T<i菼ih/ ;ʝ; :I b@IIA)EhA9@ @@/@q2Acoustic response timeoutԡ ^A z:A hAzA hAE-  E- E- ,E) "E- [:*E- H:VE- g4ZE) BE- ,~d?A2hT@2b@2#a=ٱ2$ :AHRS rotation from veh to nav: [[-0.919862,0.392050,0.012239],[-0.388358,-0.905931,-0.168723],[-0.055060,-0.159955,0.985587]]<2HoZ?? ؿb ſ0 kyĿ?i2hT@I2@^;2CYBByF7"IbDNVDN2yV!0=%Vi=ٔVä;Q-V>9XYX=ZDyZ3D^;E^>`Q 5f4bL?Q 9f4b+)bWBYdyf(-Q If?b*&DIb:ib4:b$4yn6Bɮn:AnEjhFNOT Ignoring new targets: 138.63 m.Rha7Zha7 ProNav: ac range: 138.634079 m, nav range: 130.020889 m, bearing: 205.360597 deg, approach rate: -0.594669 m/s, LOS rate: 0.001731 deg/s, cmd heading: 202.965765 deg, new cmd heading: 202.967695 deg. Bh8HeadingCmd: 3.542454 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgff f dddjdZdA@eBɢe<)a e= 2Acoustic response timeoutia)Zȷ<iSi"h/̸;G;Ib@I!ԡ9@ @@0@@hA@hA^A [R:  2Acoustic response timeoutA1 I9 II O] >%,Řd?AlYByF"I -C=-%=bD5 VD52E EE*E"E*ER:VE(N4ZEa@a@a@a@y]ST=%]2=ٔeQ-e>9aYa=eDymFDmEm>Q 545?Q 94f)WBYyQ I?=&DIE:i:94yɮ7:AB8>B8CB"IBƒBB =BBDB߆;B=EB;CB:CB”CB™ =Bš =Cµ6jhFNOT Ignoring new targets: 138.63 m.Rh` 8Zh` 8- ProNav: ac range: 138.634079 m, nav range: 129.729950 m, bearing: 205.361446 deg, approach rate: -0.646637 m/s, LOS rate: 0.001890 deg/s, cmd heading: 202.967691 deg, new cmd heading: 202.970242 deg. Bh- 8UHeadingCmd: 3.542499 target range: 138.634079 and range: 139.20 m.hUNb@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde`B@ MBɢM4=)Q U >iQ)UҸ`,,d?Av2Acoustic response timeoutY By B"IiMb@Mb@Mb@ 9Pn?MbMb?Y$?y<$A/@ bA)AYpAbDVDP)3y⁼%;=ٔQ->9Y=DyWDE>Q 54 ?Q 94)WBY2$?Q E:y0Q I?N&DI:in:4y Bɮ9AE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 138.63 m.Rh%Ǩ9Zh%Ǩ95 ProNav: ac range: 138.634079 m, nav range: 129.453217 m, bearing: 205.369269 deg, approach rate: -0.651088 m/s, LOS rate: 0.018445 deg/s, cmd heading: 202.970245 deg, new cmd heading: 202.993764 deg. Bh5J:=HeadingCmd: 3.542910 target range: 138.634079 and range: 139.20 m.h=b@h9*h9"h9 h9gAfAfAfEBdIdIdIjdIZdU`QB@}Bɢ}[=) >i)^<顁ibEjEY4rEò0EU EUEQEQ"EU:*EUZ:VEQZEQBEU> A% >Ai Iy I O >3,gd?A,2U@2b@2mn=ٱ2: >AHRS rotation from veh to nav: [[-0.917613,0.397384,0.008556],[-0.393195,-0.904369,-0.165874],[-0.058177,-0.155572,0.986110]]2H ]n??*ٿY;ſ@lɭÿ`6?i2U@I2^;2CYFByF5"IbDNVDNNyV`%VX=ٔVg9XYX=^Dy^gD^wg<E^>`Q 5f4b3 ?Q 9f4b{)bWBYdyf{0Q Ij?b^&DIbY!;ibP#;b_4yn BɮrJ9Apjh FNOT Ignoring new targets: 138.63 m.Rh 9Zh 9 ProNav: ac range: 138.634079 m, nav range: 129.211807 m, bearing: 205.375560 deg, approach rate: -0.640236 m/s, LOS rate: 0.016716 deg/s, cmd heading: 202.993769 deg, new cmd heading: 203.012677 deg. Bh7:HeadingCmd: 3.543240 target range: 138.634079 and range: 139.20 m.hpb@h*h"h hgff f dddjdZd%B@2Acoustic response timeoutBɢ<) =i)|<im<ԁiE[/ຝ;BB("IBփBB =BBB;Bq:,-d?A2xU@2$c@2vs=ٱ2 NAHRS rotation from veh to nav: [[-0.916865,0.399137,0.006923],[-0.394768,-0.903978,-0.164263],[-0.059305,-0.153340,0.986392]]2H Vx?i[|?Cٿ@c@ſ`>]ÿ?i2xU@I2^;`0YByG"II%=)%p<-=-=iMb@Mb@Mb@ 9x&1?)\({Gz?YA ?yGaף<\@ A)- AYAbD VDf2y=%6=ٔ$;Q->9Y=%Dy%yD%f~;E%>)Q 54-?Q 94-)-WBY ?Q E:yD4Q I?-p&DI-{vi9)=u<99i=MiEN/E;E BDAT read: Tx time:00:32:21.2967 $Ping request sent.E5  E5 E5 *E1 "E5 V:*E5 A:VE5 (N4ZE1 BE5 9U@23c@2rAw=ٱ2c :AHRS rotation from veh to nav: [[-0.916070,0.400972,0.006094],[-0.396455,-0.903254,-0.164182],[-0.060328,-0.152818,0.986411]]2HqP`?x?_ٿtſ``㮿 ÿ ?i2>U@I2^;0YfByf;"IbDnVDn0yvJ%v_=ٔz7;Q-z>9xYx=~Dy~D~ ;E~>Q 5 4G?Q 9 4)WBYy&4Q I?&DIp:ig:,4%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249814)y5Bɮ5s8A5EjhQ]FNOT Ignoring new targets: 138.63 m.Rh]h:Zheh:m ProNav: ac range: 138.634079 m, nav range: 128.702774 m, bearing: 205.402227 deg, approach rate: -0.643113 m/s, LOS rate: 0.033530 deg/s, cmd heading: 203.057057 deg, new cmd heading: 203.092838 deg. Bhu:uHeadingCmd: 3.544639 target range: 138.634079 and range: 139.20 m.h}\b@hy*hy"hy hygyfyffdddjdZdjB@颽Bɢ=) f>i)!2<i?܋iYD/2;ԡ E=  E= E= +E9 "E= :*E= rN:VE= [4ZE9 aE @aM @aM @aM @ G,e?A2[aU@2Wc@2wz=ٱ2_ :AHRS rotation from veh to nav: [[-0.915167,0.403028,0.006079],[-0.398407,-0.902179,-0.165363],[-0.061161,-0.153757,0.986214]]2H I@7?x?ٿ*ſ@P@Oÿ?i2[aU@I2^;2CBR4>BR7CBR."IBR܃BBPBPBPBRt;BR9tYt=vDyvDv;Ez>xQ 5~4z?Q 94z)zWBYy4Q I?z&DIz ;iz ;z34y ɮ9AyjhFNOT Ignoring new targets: 138.63 m.Rh :Zh : ProNav: ac range: 138.634079 m, nav range: 128.451645 m, bearing: 205.415096 deg, approach rate: -0.598189 m/s, LOS rate: 0.030714 deg/s, cmd heading: 203.092834 deg, new cmd heading: 203.131517 deg. Bh:HeadingCmd: 3.545314 target range: 138.634079 and range: 139.20 m.hlb@h*h"h hgfffd!d!d!jd!Zd%@ C@频ɢ1<) p=i)̼<顙iiJ9/;{,  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005832JM,7e?AYЃBy "I  A=PExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 9~jt?)\(9Y=DyDE>Q 54˹?Q 94Q)WBY9%?Q E:y 4Q I?&DIP:i::;4yߚBɮv8AEB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 138.63 m.Rh-:Zh-:= ProNav: ac range: 138.634079 m, nav range: 128.173630 m, bearing: 205.429474 deg, approach rate: -0.670988 m/s, LOS rate: 0.034775 deg/s, cmd heading: 203.131520 deg, new cmd heading: 203.174745 deg. Bh=:EHeadingCmd: 3.546068 target range: 138.634079 and range: 139.20 m.hEb@hA*hA"hA hAgIfIfIfMBdQdQdQjdYZd]3UC@E EE.E"E,:*EF:VEـ4ZEBEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2582781Y 2T,=Qe?A2jU@2c@2R=ٱ20! :AHRS rotation from veh to nav: [[-0.913612,0.406531,0.006748],[-0.401786,-0.900158,-0.168176],[-0.062295,-0.156359,0.985734]]2H`O<?£{?޶ٿ ʆſ寿Ŀ!?i2jU@I2sD^;0YRByR"IbDZVDZ2y~%X=ٔ)D;Q- >9Y=DyD%' <E%>!Q 54%??Q 94%l)%WBYy3Q I?%&DI%A>E EE*E"E:*E?:VE(N4ZEa @a @a @a @I!I1BA<B5>B8CB("IBփBBBBBI;BiliA5AeR9eliAYeAԉiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762069_Z,(ke?A\jζU@jzc@jQ3=ٱjm# zAHRS rotation from veh to nav: [[-0.912998,0.407892,0.007694],[-0.403140,-0.899148,-0.170327],[-0.062557,-0.158610,0.985358]]jH`G7?Ӄ? ٿIſ`WMĿ ?ijζU@Ij ^;jCYBy "IiMb@Mb@Mb@ 9+?MbY?y@A A)YAbD VD2yv%>=ٔ :Q->9Y=DyDE\;EE>IQ 5U4ML?Q 9]4M)MWBY]2 ?Q E]:y]43Q I]?M&DIM:iM :MI4yaɮm8AijhFNOT Ignoring new targets: 138.63 m.Rh :Zh : ProNav: ac range: 138.634079 m, nav range: 127.654800 m, bearing: 205.454416 deg, approach rate: -0.664196 m/s, LOS rate: 0.030743 deg/s, cmd heading: 203.211542 deg, new cmd heading: 203.249723 deg. Bhʨ:HeadingCmd: 3.547377 target range: 138.634079 and range: 139.20 m.h9c@h*h"h hgfffڃBdddjdZd@pC@Bɢ<) =i)t<i"i{/O;Trb,Ae?A0ɰ0Y5By5!I====AE@AbDeVDey} %-=ٔQ->9 ?Y ?=DyDE>Q 54y?Q 94_)WBYyQ I?&DIp:i:Q4yBɮ8AEjh9EFNOT Ignoring new targets: 138.63 m.RhEq:ZhEq:] ProNav: ac range: 138.634079 m, nav range: 127.370651 m, bearing: 205.467598 deg, approach rate: -0.603788 m/s, LOS rate: 0.028073 deg/s, cmd heading: 203.249723 deg, new cmd heading: 203.289357 deg. Bh]!:]HeadingCmd: 3.548069 target range: 138.634079 and range: 139.20 m.hec@ha*ha"ha hagafafifididqdqjdqZduC@颡ɢ<) ؼi)A<顩i݆i( /;cIAE  E E ,E "E ,:*E T:VE g4ZE a @a @a @a @BE 4>BE 7CBE "IBE BBE =BA BA BE &;BE F9)Y)=-Dy-D)E5>IQ 5e4Mf?Q 9m4M)M{WBYiyiQ Im?M&DIMe;iML;MwX4yuBɮu8A}EjhFNOT Ignoring new targets: 138.63 m.Rh:Zh:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769966 ProNav: ac range: 138.634079 m, nav range: 127.126053 m, bearing: 205.478993 deg, approach rate: -0.639806 m/s, LOS rate: 0.029863 deg/s, cmd heading: 203.289352 deg, new cmd heading: 203.323602 deg. Bh:HeadingCmd: 3.548666 target range: 138.634079 and range: 139.20 m.hYc@h*h"h hgfffdddjdZd+D@Qɢ m<) h,i)\r<顩i7i]/1;A9iYi=mDymDu;Eu>yQ 54} K?Q 94}5)}XWBY'?Q E:y.Q I?}&DI}:i}L:}a4ybBɮ_/AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh;9Zh;9u ProNav: ac range: 138.634079 m, nav range: 126.776390 m, bearing: 205.484485 deg, approach rate: -0.651106 m/s, LOS rate: 0.010255 deg/s, cmd heading: 203.323598 deg, new cmd heading: 203.340119 deg. Bhu49}HeadingCmd: 3.548954 target range: 138.634079 and range: 139.20 m.h}"c@hy*hy"hy hygfff̓BdddjdZdnsD@ɢa<) i)<ie/im.mɡ;myjijĿZd>%@4QO>%@ d>))JOI O >IB4B6!IB6BB4B4B6DB6;B6$9IYI=MDyMDUEU>YQ 54] 7?Q 94])]?WBYy.Q I?] 'DI]A:i]:]h4yɮ)0AjhFNOT Ignoring new targets: 138.63 m.Rh%69Zh%695 ProNav: ac range: 138.634079 m, nav range: 126.517746 m, bearing: 205.488574 deg, approach rate: -0.630847 m/s, LOS rate: 0.009995 deg/s, cmd heading: 203.340114 deg, new cmd heading: 203.352407 deg. Bh59Q]HeadingCmd: 3.549169 target range: 138.634079 and range: 139.20 m.h]%c@ha*ha"ha hagafafifidididijdqZduD@颹ɢzY<) N i)kȻ<ii.'Y;b T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse },\e?A2U@2Qc@2ɒv=ٱ2&* :AHRS rotation from veh to nav: [[-0.912224,0.409489,0.012926],[-0.405251,-0.897252,-0.175244],[-0.060162,-0.165100,0.984440]]2H05?y?`ٿIdnƿ`ͮ"ſ?i2U@I2Q];2CYRIByRz!Ii]Mb@Mb@Mb@YYYY Y9]p= ף?/$?y&1Y]%?y],=]`]A]r@ Y)]- AYY]AbDuVDuk2y%F=ٔ? Q->9Y=Dy$DٺE>Q 54,#?Q 94) WBY%?Q E:y*Q I?'DI:i:p4yRBɮG0AEjhFNOT Ignoring new targets: 138.63 m.Rh'Zh' ProNav: ac range: 138.634079 m, nav range: 126.252563 m, bearing: 205.484906 deg, approach rate: -0.661539 m/s, LOS rate: -0.009170 deg/s, cmd heading: 203.352408 deg, new cmd heading: 203.341381 deg. BhaɹHeadingCmd: 3.548977 target range: 138.634079 and range: 139.20 m.ho"c@h*h"h hgfff Bd d d jd ZdD@AɢEVo(<)A E4iA)M۪A>IIO>) , f?A^~U@^*c@^ds=ٱ^I, jAHRS rotation from veh to nav: [[-0.912688,0.408407,0.014270],[-0.404314,-0.897363,-0.176832],[-0.059414,-0.167162,0.984138]]^H`4V#?9?Hٿ2mƿukeſ ~?i^~U@I^N~];^CYn9Byrf!IIv=)v<bDz VDz2yu%S=ٔQ- >9 Y = Dy 3D1E>Q 5%4?Q 9%4)WBY!y-*Q I-?,'DI;i :v4y1ɮ50A1jhQ]FNOT Ignoring new targets: 138.63 m.Rhe}Zhe}u ProNav: ac range: 138.634079 m, nav range: 126.003815 m, bearing: 205.481583 deg, approach rate: -0.642891 m/s, LOS rate: -0.008606 deg/s, cmd heading: 203.341384 deg, new cmd heading: 203.331395 deg. Bhu}HeadingCmd: 3.548802 target range: 138.634079 and range: 139.20 m.h}c@hy*hy"hy hygfffdddjdZd E@颹ɢ4<) Si)l[<i_i!/:c;RPBaBe!IBelBBaBaBaBeۅ;Be;Ey^AhW<I9IIOU>ԩ i I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse[ߊ,=-f?A9!Y!=-Dy-ED-ZE->1Q 5=45?Q 9=45)5VBYE%?Q EE:yE$'Q IE?5>'DI5:i5:5~4yMABɮM0AQjhq}FNOT Ignoring new targets: 138.63 m.Rh} Zh  ProNav: ac range: 138.634079 m, nav range: 125.721397 m, bearing: 205.470580 deg, approach rate: -0.638218 m/s, LOS rate: -0.024921 deg/s, cmd heading: 203.331398 deg, new cmd heading: 203.298315 deg. Bh҈%HeadingCmd: 3.548225 target range: 138.634079 and range: 139.20 m.h-c@h)*h)"h) h)g1f1f9fEBdididqjdqZduEE@ԡBɢ ;) yi)v<i }i /;eD,/Gf?A>tU@> c@>am=ٱ>f- FAHRS rotation from veh to nav: [[-0.914052,0.405297,0.015601],[-0.401450,-0.898551,-0.177324],[-0.057850,-0.168347,0.984029]]>H@?a??[ٿƿ`dſ)}?i>tU@I>W];9b"?Yb"?=bDybSDf:Ef>nT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapsehQ 5r4j^뿊?Q 9r4j)jVBYtyv?'Q Iv?jM'DIjk:ij:j4xy~1Bɮ~0A~Ejh!%FNOT Ignoring new targets: 138.63 m.Rh-߹Zh-߹= ProNav: ac range: 138.634079 m, nav range: 125.494980 m, bearing: 205.461897 deg, approach rate: -0.636274 m/s, LOS rate: -0.024445 deg/s, cmd heading: 203.298313 deg, new cmd heading: 203.272217 deg. Bh=5EHeadingCmd: 3.547770 target range: 138.634079 and range: 139.20 m.hEc@hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]oE@颁ɢ@j9) i)U<顉i{i /#D;3y E  E E ,E "E *E C:VE g4ZE a @a @a @a @ܗ,b`f?AB2>BBf!IB9BB =BBB;B;EBuU@BZkc@Bck=ٱB, JAHRS rotation from veh to nav: [[-0.914875,0.403447,0.015287],[-0.399630,-0.899534,-0.176449],[-0.057437,-0.167538,0.984191]]BH@F?N?`ٿ@ƿRh@qſ ~~?iBuU@IBs];BCYRByR'!I TTTVAbDZ VDZ2y=t%=C=ٔE|Q-E>9AYI=MDyMdDM:EM>QYQ 5e4U׿?Q 9e4Uq)UVBYaye_'Q Ie?U^'DIUz%;iUT&;U4yqɮu`1AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh2ݹZh2ݹ ProNav: ac range: 138.634079 m, nav range: 125.226738 m, bearing: 205.451810 deg, approach rate: -0.641438 m/s, LOS rate: -0.024173 deg/s, cmd heading: 203.272222 deg, new cmd heading: 203.241895 deg. BhHeadingCmd: 3.547240 target range: 138.634079 and range: 139.20 m.hc@h*h"h hgfffdddjdZd@PE@ɢ~:) ki)P<iwi/ ˚; 6  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse(,5zf?A^IUU@^Jc@^(h=ٱ^, nAHRS rotation from veh to nav: [[-0.915705,0.401543,0.015743],[-0.397839,-0.900342,-0.176375],[-0.056648,-0.167771,0.984197]]^HtM??@1vٿ@wƿyſ~?i^IUU@I^];\YvByv"!IiuMb@Mb@Mb@qqqq q9u{Gz?Cl?Q롿Yu#?yu;=u\qu@ uA)u AqYuAbDVD02y%D=ٔQ->9 ?Y ?=DyuDE>Q 5=4Ŀ?Q 9=4< )vVBY=p&?Q E=:y=$Q IE?o'DILԁ 0,f?A67U@6,c@6e=ٱ6- NAHRS rotation from veh to nav: [[-0.916472,0.399777,0.016061],[-0.396160,-0.901097,-0.176301],[-0.056008,-0.167938,0.984205]]6HS`?er? Zٿ ƿ`@~ſ~?i67U@I6];6CYVByV!IbD^VD^3yf#E%fY=ٔf޺Q-f>9j"?Yj"?=jDyjDnEn>pQ 5v4rr?Q 9v4r)rTVBYtyv$Q Iv?r'DIr:ir:r홣4y|ɮ~I1A|jh!%FNOT Ignoring new targets: 138.63 m.Rh-*-Zh-*-5 ProNav: ac range: 138.634079 m, nav range: 124.719635 m, bearing: 205.422980 deg, approach rate: -0.668404 m/s, LOS rate: -0.037848 deg/s, cmd heading: 203.196188 deg, new cmd heading: 203.155226 deg. Bh=ϺEHeadingCmd: 3.545727 target range: 138.634079 and range: 139.20 m.hE3b@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU F@颁ɢxB) i)<顉i ri2/;Aa Iq I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,f?A<ɰ>4<5U@5c@5lb=ٱ5 . ]AHRS rotation from veh to nav: [[-0.917399,0.397621,0.016633],[-0.394101,-0.901874,-0.176942],[-0.055355,-0.168882,0.984081]]5HT[r?X?8ٿ@& ƿwW ſ}?i5U@I5GP^;1YmBym!II<)=ԩiMb@Mb@Mb@ 9V-?S㥛?Zd;OY|?y$>j~A 1A)C AYbDVD0yF%+=ٔQ-U>9QYY=]Dy]D]E]>aQ 5m4e?Q 9m4eF)e,VBYu#?Q Eu:yuT"Q Iu?e'DIe:ie:eq4y}"Bɮ}q1AEjhFNOT Ignoring new targets: 138.63 m.RhVZhV ProNav: ac range: 138.634079 m, nav range: 124.415558 m, bearing: 205.400170 deg, approach rate: -0.623566 m/s, LOS rate: -0.046891 deg/s, cmd heading: 203.155221 deg, new cmd heading: 203.086622 deg. BhHeadingCmd: 3.544530 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffnBdddjdZd`9IF@ Bɢ x^)  Pi )v<i,{niF/@;S;Ib@I!eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse9@ @@0@E EE,E"EI:*ErN:VEg4ZEBE1 ,cf?A2T@2b@2@_=ٱ2x. :AHRS rotation from veh to nav: [[-0.918545,0.394946,0.017099],[-0.391544,-0.902969,-0.177033],[-0.054478,-0.169308,0.984056]]2H@dF?}?` ٿ ƿ䫿ſc}?i2T@I2B^;2CYBByB!IbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsebDNVDNyU %]k=ٔ]$Q-]?9aYa=eDyeDmEm?iQ 5u4m:?Q 9}4mw)mVBYyy}"Q I}?m'DIm3;imr;m\4yBɮL1AjhFNOT Ignoring new targets: 138.63 m.RhSZhS ProNav: ac range: 138.634079 m, nav range: 124.204170 m, bearing: 205.384532 deg, approach rate: -0.624328 m/s, LOS rate: -0.046264 deg/s, cmd heading: 203.086618 deg, new cmd heading: 203.039626 deg. BhHeadingCmd: 3.543710 target range: 138.634079 and range: 139.20 m.h%b@h*h"h hgfffdddjdZdtF@Bɢ ϻ)p16: 5i)+ <iki%S/%I;%K;I%%b@I)-9@) @)@-5@)9^AM;T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei A I I O >E  E E (E "E :*E VE c44ZE a @a @a @a @A A @AB! B! B% !IB% BB% =B! B! B% ;B% ;EI*,K?f?A 6CT@6b@6\=ٱ6(0 >AHRS rotation from veh to nav: [[-0.919459,0.392772,0.018045],[-0.389501,-0.903610,-0.178265],[-0.053712,-0.170935,0.983817]]6H4l /#?@pz?ؿ`_@_ƿ6ſn{?i6CT@I6_;6CY^By^!IbDj VDj2yr#<%rR=ٔr~Q-r>9tYt=vDyvDvEz>xQ 5~4z%~?Q 94z)zUBYy"Q I?z'DIz;iz ;z&4y ɮ<1AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.RhHZhH ProNav: ac range: 138.634079 m, nav range: 123.961578 m, bearing: 205.366792 deg, approach rate: -0.599216 m/s, LOS rate: -0.043906 deg/s, cmd heading: 203.039626 deg, new cmd heading: 202.986301 deg. BhHeadingCmd: 3.542779 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgff!f!d!d!d!jd)Zd-jF@颽Bɢ0ua) ^i)b<i hib/B;;Ib@IyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@4@ԡ^AM ;AM gAzAM hA Ay  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI I O >V,F$f?ALnT@nʍb@n}X=ٱnb1 vAHRS rotation from veh to nav: [[-0.920430,0.390451,0.018888],[-0.387321,-0.904391,-0.179053],[-0.052829,-0.172122,0.983658]]nH)t$?uW?ؿ6ƿf ƿ z?inT@In:_;nCY~By~ !I   AiMb@Mb@Mb@ 9-??MbY5?y> A@ A)Z AY AbDVD1ypv<%>=ٔ@Q->9Y=DyDwE>Q 549k?Q 9M4)UBYev!?Q Em:ym4#Q Im?'DIb<,g?A2ȅT@2t{b@2V=ٱ273 :AHRS rotation from veh to nav: [[-0.920883,0.389339,0.019754],[-0.386299,-0.904533,-0.180538],[-0.052422,-0.173885,0.983370]]2Hw?@a:? ؿ@ǿ תAƿw?i2ȅT@I2р_;2CYBByB!IbDNVDN0yVҼ%V]=ٔVtQ-V>9XYX=ZDyZD^~FE^>|Q 5 4Z?Q 9 4!)UBYyH#Q I?'DI:iV:M4y9ɮ=0AAjhFNOT Ignoring new targets: 138.63 m.RhZLZhZL ProNav: ac range: 138.634079 m, nav range: 123.459518 m, bearing: 205.331995 deg, approach rate: -0.644671 m/s, LOS rate: -0.044665 deg/s, cmd heading: 202.930453 deg, new cmd heading: 202.881694 deg. Bh9HeadingCmd: 3.540954 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffdddjdZdG@ɢP&)! %i!)%B8CB!IBBBBBBT;Bu;EBBBBş =Bş =C4E EE(E"E:*E?:VEc44ZEBEa <2Ea <JE;:E;Ym9@q @q@u4@q T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԁ ^A "5;Թ A II)O5>,5g?A2wT@2lb@2aT=ٱ2j4 :AHRS rotation from veh to nav: [[-0.921257,0.388399,0.020756],[-0.385485,-0.904631,-0.181782],[-0.051828,-0.175469,0.983120]]2Hz?@?`ɫؿ@Dǿ, uƿu?i2wT@I2_;0YBByB!IiMb@Mb@Mb@ 9K7A?RQ?MbpY "?y= A@ GA)Y AbD%VD%k1y5c2=%==ٔ=2Q-=>99YA=EDyEDEEE>IQ 5U4MBC?Q 9U4M%)MUBY]#?Q E]:y]Z&Q I]?M'DIM:iM:M+ƣ4yeBԩɮe/AEjh)-FNOT Ignoring new targets: 138.63 m.Rh5%Zh5%mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsem ProNav: ac range: 138.634079 m, nav range: 123.137466 m, bearing: 205.316927 deg, approach rate: -0.620400 m/s, LOS rate: -0.029101 deg/s, cmd heading: 202.881699 deg, new cmd heading: 202.836379 deg. BhmƟuHeadingCmd: 3.540163 target range: 138.634079 and range: 139.20 m.hub@hq*hy"hy hygyfyffBdddjdZd@RG@BɢRu) *i9)E2I9lYl=nDynDn>En>pQ 5v4r,?Q 9v4r8*)rUBYxyzd&Q Iz?r'DIrn;ir;rΣ4y~Bɮ~T/AEjh!%FNOT Ignoring new targets: 138.63 m.Rh- Zh- = ProNav: ac range: 138.634079 m, nav range: 122.823799 m, bearing: 205.302266 deg, approach rate: -0.661692 m/s, LOS rate: -0.031008 deg/s, cmd heading: 202.836374 deg, new cmd heading: 202.792277 deg. Bh=>EHeadingCmd: 3.539393 target range: 138.634079 and range: 139.20 m.hEjb@hA*hA"hI hIgQfQfQfQdYdYdYjdYZd]B7CB IBBBBBB?;B_;EE EE*E"E:*EA:VE(N4ZEBE <2E <JEn;:En; 9@  @ @ 4@ a T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^AQ ԙ A I I O >M,sg?AVeT@V7[b@VjN=ٱV8 ^AHRS rotation from veh to nav: [[-0.921738,0.387123,0.023115],[-0.384527,-0.904563,-0.184132],[-0.050373,-0.178610,0.982630]]VH~`?@h?`ؿ.ǿ wʩ@ƿq?iVeT@IV1`;VC|YBy!IiMb@Mb@Mb@ 9V-?v/?MbP?Y|?yxi=:A@ A)p AY3 AbDVD0y%(=ٔQ->9Y=DyDƋE>Q 54?Q 94-)mUBY' ?Q E:y)Q I? (DI:i;Pף4yɮ_/AB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 138.63 m.RhjZhj% ProNav: ac range: 138.634079 m, nav range: 122.520088 m, bearing: 205.296032 deg, approach rate: -0.622840 m/s, LOS rate: -0.012816 deg/s, cmd heading: 202.792278 deg, new cmd heading: 202.773529 deg. Bh- -HeadingCmd: 3.539066 target range: 138.634079 and range: 139.20 m.h-b@h1*h1"h1 h1g1f1f9f=ƒBd9dAdAjdAZdE G@BɢU) 'i)@<iэXi/Q; sR;I b@I m DAT read: m 2Acoustic response timeout(,@g?ABT@BU{b@BI=ٱB}7 NAHRS rotation from veh to nav: [[-0.921037,0.388712,0.024357],[-0.386356,-0.903975,-0.183187],[-0.049188,-0.178133,0.982776]]BH #y@?)? ؿ^rǿ:/ ƿ@r?iBT@IB)3`;BCY~By!IbDVD:2y%`<%%V=ٔ%jKQ-%>9)Y)=-Dy-#D-?;E5>91Q 5E45?Q 9E450)5]UBYIyM)Q IM?5(DI5-;i5.;5ݣ4yUBɮUK/AUEjhy}FNOT Ignoring new targets: 138.63 m.Rh6vZh6v ProNav: ac range: 138.634079 m, nav range: 122.281998 m, bearing: 205.290904 deg, approach rate: -0.623427 m/s, LOS rate: -0.013453 deg/s, cmd heading: 202.773536 deg, new cmd heading: 202.758122 deg. BhHeadingCmd: 3.538797 target range: 138.634079 and range: 139.20 m.h{b@h*h"h hgfffdddjdZdrG@ɢP|) i)ge<iVi/;;I{b@I9@ @@/@i2Acoustic response timeoutԑ^A"5;A I I O >B- 4>B- 8CB- !IB- BB) B) B) B- `;B- ;EE  E E 'E "E :*E :VE '4ZE BE ڧT@>b@>D=ٱ>C5 FAHRS rotation from veh to nav: [[-0.920282,0.390450,0.025076],[-0.388300,-0.903591,-0.180959],[-0.047997,-0.176271,0.983171]]>H r #??`ؿ8 )ǿ ƿ"v?i>ڧT@I>_;9dYd=fDyf3Df ;Ej>lQ 5n4n?Q 9r4n3)nMUBYpyr)Q Ir?n,(DIng:in=:n4ytɮz(/AxjhFNOT Ignoring new targets: 138.63 m.RhZh- ProNav: ac range: 138.634079 m, nav range: 122.036804 m, bearing: 205.285359 deg, approach rate: -0.624967 m/s, LOS rate: -0.014162 deg/s, cmd heading: 202.758127 deg, new cmd heading: 202.741459 deg. ԑBhHeadingCmd: 3.538506 target range: 138.634079 and range: 139.20 m.hvb@h*h"h hgfffdddjdZd X2H@%Bɢ%)! %X52Acoustic response timeouti))M^ L?,} g?A2bT@2b@2V4?=ٱ263 :AHRS rotation from veh to nav: [[-0.919377,0.392531,0.025793],[-0.390600,-0.903144,-0.178224],[-0.046664,-0.173929,0.983652]]2Hk@9?@_i?ؿ@ƿR䧿`PCƿz?i2bT@I2`;2CYBByB!IE) E-E-*E)"E)*E-rN:VE-(N4ZE)a5@a5@a5@a5@iUMb@Mb@Mb@QQQQ Q9UX9v?I +?y&1|?YU?yU99 ?Y ?=DyDDh;E>Q 54ݾ?Q 946)BUBY?Q E:y,Q I?<(DI:i:U4yҘBɮ.AEjhFNOT Ignoring new targets: 138.63 m.Rh_Q7Zh_Q7 ProNav: ac range: 138.634079 m, nav range: 121.772781 m, bearing: 205.285664 deg, approach rate: -0.616673 m/s, LOS rate: 0.000715 deg/s, cmd heading: 202.741461 deg, new cmd heading: 202.742380 deg. Bh?7HeadingCmd: 3.538522 target range: 138.634079 and range: 139.20 m.h%wb@h*h"h hgfffԃBd d d jdZd fH@=Bɢ=Pt)A EiA)E<IA= ؟AIA IQ Om >y Se,og?A6T@6b@6d48=ٱ6n. BAHRS rotation from veh to nav: [[-0.918410,0.394766,0.026123],[-0.393067,-0.902967,-0.173635],[-0.044957,-0.169736,0.984464]]6HcC??(ٿ@9ƿ@ſเ?i6T@I69_;4YFByJ!IR2Acoustic response timeoutbDVVDV0y^y`<%^X=ٔbQ-b>9b"?Yb"?=bDyfSDf;Ef>hQ 5n4j˾?Q 9n4j9)j9UBYpyr,Q Ir?jK(DIjn;ijj;j4yv˜Bɮvf.AvEjhFNOT Ignoring new targets: 138.63 m.Rhc^Zhc^- ProNav: ac range: 138.634079 m, nav range: 121.539505 m, bearing: 205.285646 deg, approach rate: -0.617215 m/s, LOS rate: -0.000047 deg/s, cmd heading: 202.742377 deg, new cmd heading: 202.742323 deg. Bh-n5HeadingCmd: 3.538521 target range: 138.634079 and range: 139.20 m.h5!wb@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM`ݖH@uBɢu)q }ğiy)}IOBB!IBBBBBDB;B;EE5 E5E5,E1"E5:*E5A:VE5g4ZE1BE5a ,,g?AF"U@Fc@F1=ٱF, RAHRS rotation from veh to nav: [[-0.917557,0.396692,0.026920],[-0.395235,-0.902615,-0.170516],[-0.043344,-0.167097,0.984987]]FH\hc?萛?Kٿ8tſ@+1 scſ?iF"U@IF)`;FCYZByZ !II\)\b=b=i=Mb@Mb@Mb@9999 99=jt?~jth~jth?Y= ?y=D=D;9=@ =A)=A9Y= AbDUVDU1ye%e@=ٔm6xQ-m>9m ?Ym ?=mDymdDu#;Eu>yQ 54},?Q 94}B<)}.UBY ?Q E:yH/Q I?}](DI}:i}a:}d4yɮ.AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.RhQ9ZhQ9 ProNav: ac range: 138.634079 m, nav range: 121.272041 m, bearing: 205.290513 deg, approach rate: -0.626364 m/s, LOS rate: 0.011423 deg/s, cmd heading: 202.742322 deg, new cmd heading: 202.756955 deg. Bh9HeadingCmd: 3.538776 target range: 138.634079 and range: 139.20 m.hP{b@h*h"h hgfffBdddjdZdH@ԩ2Acoustic response timeout颭Bɢ) ?i)<顱iKie/E; /TTx time:00:32:33.7466 m ,%h?A GU@ 9Y=DyvD;E>Q 54?Q 94$?)$UBYy#/Q I?n(DI:i_:$4y Bɮ +.A Ejh15FNOT Ignoring new targets: 138.63 m.Rh=EF9Zh=EF9IM ProNav: ac range: 138.634079 m, nav range: 120.993858 m, bearing: 205.295302 deg, approach rate: -0.627872 m/s, LOS rate: 0.010834 deg/s, cmd heading: 202.756952 deg, new cmd heading: 202.771352 deg. BhU9UHeadingCmd: 3.539028 target range: 138.634079 and range: 139.20 m.h]nb@hY*hY"hY hYgYfYfafadadadijdiZdmPI@颙ɢֻ) i)<顡iHiF/Ҏ;JnB B B B =B B B ;B ;EE  E E *E "E غ:*E 0:VE (N4ZE BE  ,)h?AY܂By I 5R=5p=bD=VD=N2yU%US=e2Acoustic response timeoutٔ]Q-m>9qYq=uDyuD}E}>Q 54?Q 94A)UBYyQ I?~(DImG;iH;4yBɮ..AjhQ]FNOT Ignoring new targets: 138.63 m.Rh]=9Zh]=9m ProNav: ac range: 138.634079 m, nav range: 120.749847 m, bearing: 205.299521 deg, approach rate: -0.599001 m/s, LOS rate: 0.010378 deg/s, cmd heading: 202.771350 deg, new cmd heading: 202.784033 deg. Bhm9uHeadingCmd: 3.539249 target range: 138.634079 and range: 139.20 m.hub@hy*hy"hy hygyfyffdddjdZdZ:I@Ա颽Bɢ) ﶾi)I<i8Fi/);Jg9 ,Ch?AE& E&E&(E$"E&g:*E&,:VE&c44ZE$a*@a*@a*@a*@>U@>,uc@>9=ٱ> ! FAHRS rotation from veh to nav: [[-0.915515,0.401225,0.029161],[-0.400564,-0.902508,-0.158201],[-0.037156,-0.156516,0.986976]]>HK@?kܝ?բٿ Y?Ŀ Ŀ@O?i>U@I>_;>CYNтByN Ii}Mb@Mb@Mb@yyyy y9}Pn?y&1|y&1|Y}$?y}`廙}`}MA}&@ y)}p AyY}( AbDVDy^%E=ٔ,Q->9Y=DyDW <E>Q 54Iz?Q 94^D)UBY$?Q E:yw/Q I?(DIe:i:4yɮ.AjhFNOT Ignoring new targets: 138.63 m.Rh6s9Zh6s9 ProNav: ac range: 138.634079 m, nav range: 120.487022 m, bearing: 205.304727 deg, approach rate: -0.669475 m/s, LOS rate: 0.013290 deg/s, cmd heading: 202.784027 deg, new cmd heading: 202.799679 deg. Bh:HeadingCmd: 3.539522 target range: 138.634079 and range: 139.20 m.hb@h*h"h h!g!f!f!f-Bd)d)d)jd)Zd5`lI@Yɢ] )a e ¾ia)eيAu>IIO>y  2Acoustic response timeout,]h?A(>U@>c@>v=ٱ>" FAHRS rotation from veh to nav: [[-0.915280,0.401634,0.030858],[-0.401293,-0.902476,-0.156528],[-0.035018,-0.155650,0.987191]]>HI^?*?Ǯٿ  Ŀ Sÿ?i>U@I>a_;9dYd=fDyfDfI;Ej>hQ 5r4jg?Q 9r4jF)jUBYpyrj/Q Ir?j(DIjr;ij ;j4yzBɮz6.AzEjhFNOT Ignoring new targets: 138.63 m.Rh%'e9Zh%'e9- ProNav: ac range: 138.634079 m, nav range: 120.247284 m, bearing: 205.309407 deg, approach rate: -0.640139 m/s, LOS rate: 0.012521 deg/s, cmd heading: 202.799682 deg, new cmd heading: 202.813750 deg. Bh5~ :5HeadingCmd: 3.539768 target range: 138.634079 and range: 139.20 m.h5b@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMI@yɢ}J<)y }EǾiy)u<顁iAi'/a;+B:CB!IBBB =BBDBH;Bw;EB8CB8CB”CBBž =C¬R59@ @@/@EU EUEU-EQ"EUغ:*EU3:VEUt4ZEQBEQae2EQaeJEU;am:EU;amqԙ^A]<2Acoustic response timeoutIIO> ;,A~wh?A2U@2=c@2I=ٱ2Z :AHRS rotation from veh to nav: [[-0.915279,0.401478,0.032851],[-0.401464,-0.902474,-0.156099],[-0.033023,-0.156062,0.987195]]2HIб?Ѡ?ٿ ÿ r蠿ÿ?i2U@I2_;2CYBȂByB I\iMb@Mb@Mb@ 9w/?~jthQY&?yDu A A) AY A!!bD- VD-:2y}%C=ٔ閻Q->9Y=DyD 9E>Q 54Q?Q 94I)TBY&?Q E:y /Q I?(DI:i:>4yɮQ.AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh P9Zh P9 ProNav: ac range: 138.634079 m, nav range: 119.965050 m, bearing: 205.314332 deg, approach rate: -0.649971 m/s, LOS rate: 0.011369 deg/s, cmd heading: 202.813752 deg, new cmd heading: 202.828562 deg. Bh9%HeadingCmd: 3.540026 target range: 138.634079 and range: 139.20 m.h%ʏb@h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd=@(I@eBɢe6')i mTʾii)m$A  2Acoustic response timeout"$,}Yh?AɰVbU@Vc@V5<ٱVB! fAHRS rotation from veh to nav: [[-0.915372,0.401051,0.035375],[-0.401426,-0.902423,-0.156495],[-0.030839,-0.157451,0.987045]]VHJ Ӫ??ٿĿ`^\'Ŀߕ?iVbU@IV_;VCYrByv IbD VD 2!y-"%-K=ٔ5Q-=>9AYA=EDyEDEbBEE>IQ 5U4M'>?Q 9U4McL)MTBYYy]"/Q I]?M(DIM;iM%;M %4yeBɮm.AmEjhFNOT Ignoring new targets: 138.63 m.RhQ9ZhQ9 ProNav: ac range: 138.634079 m, nav range: 119.711586 m, bearing: 205.318788 deg, approach rate: -0.651419 m/s, LOS rate: 0.011474 deg/s, cmd heading: 202.828560 deg, new cmd heading: 202.841954 deg. Bh9HeadingCmd: 3.540260 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffdddjdZdJ@ɢz) iq)u4ׂB=CB IB݂BB =BBDB;B?;E^A ]<A fAzA gAEu  Eu Eu ,Eq "Eu I:*Eu E7:VEu g4ZEq BEu ԩ L*,D4h?A>U@>Jzc@> <ٱ>a$ NAHRS rotation from veh to nav: [[-0.915652,0.400134,0.038396],[-0.400964,-0.902421,-0.157681],[-0.028444,-0.159777,0.986743]]>HM˛??fٿ.Ŀ@` sĿf?i>U@I>t_;>CYVByZ IbDf VDf2y=%EI=ٔE^Q-M>9IYI=UDyUDUѬEU>YQ 5e4])?Q 9e4] O)]TBYiym,/Q Im?](DI]:i]:]$,4yurBɮuD.Ay}E2Acoustic response timeoutjhFNOT Ignoring new targets: 138.63 m.Rh3U9Zh3U9 ProNav: ac range: 138.634079 m, nav range: 119.447289 m, bearing: 205.323528 deg, approach rate: -0.648120 m/s, LOS rate: 0.011650 deg/s, cmd heading: 202.841947 deg, new cmd heading: 202.856199 deg. Bh9HeadingCmd: 3.540509 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffdddjdZd%:J@ ɢ .) fi)<iU:i/%(;%x 41,h?AE EE'E"Eg:*Ea9:VE'4ZEa@a@a@a@YBy IiMb@Mb@Mb@ 9S㥛?Mb?QY$?y<7A=@  A)p AYQ A C=bDVDky%B=ٔQ->9"?Y"?=DyDE>Q 54?Q 94R)TBY$?Q E:yP-Q I?(DI;i ;34yBɮ^/AEjh)-FNOT Ignoring new targets: 138.63 m.Rh5z?8Zh5z?8E ProNav: ac range: 138.634079 m, nav range: 119.175911 m, bearing: 205.324624 deg, approach rate: -0.645976 m/s, LOS rate: 0.002616 deg/s, cmd heading: 202.856195 deg, new cmd heading: 202.859491 deg. BhE8MHeadingCmd: 3.540566 target range: 138.634079 and range: 139.20 m.hMb@hI*hI"hI hIgIfQffBdddjdZd`qJ@)ɢ-C)) -iI)Ux] BDAT read: Rx Time:00:32:36.3334 e TRx dataTimestamp_ set to:1761525155.484097e 2Acoustic response timeouth7,h?AYBy IbDVDN2y%%%T=ٔ)Q-->9)Y1=5Dy5D1E5>9Q 5E4=?Q 9E4=T)=TBYIyIQ IM?=(DI= ;i=;=::4yUtBɮUI/AYjhy}FNOT Ignoring new targets: 138.63 m.Rh?8Zh?8 ProNav: ac range: 138.634079 m, nav range: 118.928680 m, bearing: 205.325627 deg, approach rate: -0.643566 m/s, LOS rate: 0.002617 deg/s, cmd heading: 202.859487 deg, new cmd heading: 202.862503 deg. Bh8HeadingCmd: 3.540619 target range: 138.634079 and range: 139.20 m.hb@h*h"h hgfffdddjdZdJ@ɢ)!!AAAABMU>BIBM IBMĂBBM =BIBIBM;BM ;E e^ia)eRSrA- .AIa Ա I O% >M=,h?A:BU@:8c@:z<ٱ:~,( BAHRS rotation from veh to nav: [[-0.917403,0.395390,0.045149],[-0.397356,-0.903852,-0.158617],[-0.021907,-0.163456,0.986307]]:H`][ N?`?Inٿ`[MĿ`nĿԏ?i:BU@I:#_;:CYJ~ByJ IiUMb@Mb@Mb@QQQQ Q9U? ףp= ?{GzYU,?yUQ8=UףUAUS@ U A)UZ AQYU AbDm VDm:2y}R%}E=ٔQ->9 ?Y ?=DyDE>Q 54?Q 94/X)TBYB-?Q E:y+Q I?)DI:iX:uA4ydBɮ3/AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.63 m.Rh;%Zh;% ProNav: ac range: 138.634079 m, nav range: 118.649284 m, bearing: 205.321896 deg, approach rate: -0.674495 m/s, LOS rate: -0.009028 deg/s, cmd heading: 202.862506 deg, new cmd heading: 202.851286 deg. BhFƹHeadingCmd: 3.540423 target range: 138.634079 and range: 139.20 m.hJb@h*h"h hgfffdBdd d jd Zd `J@=Bɢ=ɼ)9 = i9)E2(kiɿ>R&@ D>x&@ PwV>)޹ vD,Vi?AFU!U@Fc@F<ٱFM) NAHRS rotation from veh to nav: [[-0.918256,0.393157,0.047268],[-0.395490,-0.904558,-0.159253],[-0.019855,-0.164929,0.986106]]FH`Yb })? 3?@Oٿ`$`hbĿ Tfſ@-?iFU!U@IFX_;FCYj}Byj Ir@ArAAbDr VDr2y~ڵ%~S=ٔ~Q-~>9Y=DyDcE > Q 54 Pٽ?Q 94 I[) TBYy#+Q I? )DI 1:i : :H4y!ɮ%;/A)i9i=@h?AJi=qCRi=qCji=f@i= ^`@CR;9@DU:^<@ri=93J?y3^b?hٜ?Zi=޹<bi=PwVi=RJlG]&zJNM8@zi=^$m+8'ܿiД J?2i=p:i="i=Z?*i=."Bi=#Bi9i9i9i=Bi=We@u addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 53.706381 s, deltaX: -2.199997 m, approachRate: -0.040963 m/s, rangeRepo size: 4  Added new target pos. range: 136.442963 m, bearing: 206.577023 deg, lat: 36.779274 deg, lon: -121.859706 deg, deltaT: 53.706381 s, deltaX: -2.191116 m, approachRate: -0.040798 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 136.44 m.Rh Zh  ProNav: ac range: 136.442963 m, nav range: 118.387642 m, bearing: 205.318655 deg, approach rate: 0.000000 m/s, LOS rate: -0.009028 deg/s, cmd heading: 202.851291 deg, new cmd heading: 202.840700 deg. Bh%HeadingCmd: 3.540238 target range: 136.442963 and range: 137.00 m.h%Cb@h!*h!"h) h)g)f1f1f1d1d9d9jd= a@Zd=@!?ɢ) - i)c<isu0ir/l;`!<BMM>BM;CBM IBMBBM =BIBMDBM;BM*;EEE  EE EE ,EA "EE :*EE ?:VEE g4ZEA BEE h9 "?Y "?= Dy (D E>Q 54Ľ?Q 9%4^)TBY!y%F+Q I%?')DI:iI:IO4y-TBɮ5C/A5EjhQ]FNOT Ignoring new targets: 136.44 m.Rh]Zh]m ProNav: ac range: 136.442963 m, nav range: 118.114792 m, bearing: 205.315540 deg, approach rate: -0.682482 m/s, LOS rate: -0.007809 deg/s, cmd heading: 202.840704 deg, new cmd heading: 202.831338 deg. Bhm}uHeadingCmd: 3.540075 target range: 136.442963 and range: 137.00 m.hb@h*h"h hgfffdddjdZd?}Bɢ}Fܼ) Xi){h\<顉i%.i/ᆳ;2c$ ! тQ,mVFi?AE EE)E"Eg:*EC:VEFA4ZEa@a@a@a@Y%fBy%c IiMb@Mb@Mb@ 9|?5^?Zd;?~jtY-?yy=ļA&@  A) AYz AbD VD2yX¼%;=ٔ Q- >9  ?Y  ?=Dy9DE>Q 5%4?Q 9%4,b)tTBY-.?Q E-:y-)Q I-?:)DI:i:V4y5DBɮ=.A=EjhYeFNOT Ignoring new targets: 136.44 m.RheZheu ProNav: ac range: 136.442963 m, nav range: 117.817490 m, bearing: 205.308973 deg, approach rate: -0.679745 m/s, LOS rate: -0.015053 deg/s, cmd heading: 202.831333 deg, new cmd heading: 202.811582 deg. BhuI%}HeadingCmd: 3.539730 target range: 136.442963 and range: 137.00 m.h}b@hy*h"h hgfff\BdddjdZd ?颹ɢvۼ) i)uT<i+iƔ/E;a-bW,j3`i?A2:T@2b@2]<ٱ2=3 :AHRS rotation from veh to nav: [[-0.920800,0.386050,0.055621],[-0.389801,-0.905894,-0.165563],[-0.013529,-0.174132,0.984629]]2H0w ? Vz?ؿ`-1ſ@ Iƿ?i2:T@I2z_;2CYZcByZ` I bR=b%=bDfVDf1ynu%n_=ٔrHQ-r>9r"?Yr"?=rDyvHDv=Ev>xQ 5~4z?Q 9~4z6e)zdTBYy,*Q I?zJ)DIz;izO;zR]4y ɮ /A jh15FNOT Ignoring new targets: 136.44 m.Rh=xZh=xM ProNav: ac range: 136.442963 m, nav range: 117.568619 m, bearing: 205.304007 deg, approach rate: -0.680092 m/s, LOS rate: -0.013600 deg/s, cmd heading: 202.811580 deg, new cmd heading: 202.796650 deg. BhMUUHeadingCmd: 3.539469 target range: 136.442963 and range: 137.00 m.hUb@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm ?y额Bɢ7E) i)mM<顡i)i /7; ;Ib@IBA<BO>BB IBBBBBB&;B];EE5 E5E5,E1"E5:*E5R:VE5g4ZE1BE5 ],!zi?A00R^T@R b@R8<ٱR5 ZAHRS rotation from veh to nav: [[-0.921416,0.384162,0.058417],[-0.388415,-0.906204,-0.167119],[-0.011263,-0.176676,0.984205]]RH`=|??ؿ@&dſ#@Pƿ~?iR^T@IR_;PYbaByb] IddiMb@Mb@Mb@ 9HzG?Q? rhY=*?y\=C )Z AYQ AbD VD:2yT%==ٔQ->9Y=DyZDeE>Q 54?Q 94h)TTBY<+?Q E:y4)Q I?\)DIM7;is6;d4y4Bɮ.AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.RhhZhh- ProNav: ac range: 136.442963 m, nav range: 117.280258 m, bearing: 205.296091 deg, approach rate: -0.664850 m/s, LOS rate: -0.018295 deg/s, cmd heading: 202.796649 deg, new cmd heading: 202.772845 deg. Bh5H5HeadingCmd: 3.539054 target range: 136.442963 and range: 137.00 m.h=b@h9*h9"h9 h9g9f9fAfERBdAdAdIjdIZdM?}Bɢ}Z4)y }iy)E<顁ib'T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i%ڟ/-tM;-;I-b@I)9@ @@@E= E=E9E9"E=:*E=3:VE9ZE9aE@aE@aE@aE@!^A .<A >A > *DAT read: user:173>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235057Y A .AI I O >1d,i?A6T@6Zb@6<ٱ6<<7 >AHRS rotation from veh to nav: [[-0.922021,0.382350,0.060706],[-0.387034,-0.906715,-0.167550],[-0.009020,-0.177980,0.983993]]6H`2 nx??@,ؿ@`Irſ-y ƿ`|?i6T@I6 _;6CY^ZBybT IbDjVDj02yr$%rY=ٔvAûQ-v>9v ?Yv ?=vDyviDz)Ez>|Q 54~s?Q 94~k)~FTBYy N)Q I ?~l)DI~:i~:~tk4yɮ.Ajh1=FNOT Ignoring new targets: 136.44 m.RhEZhEU ProNav: ac range: 136.442963 m, nav range: 117.029182 m, bearing: 205.289362 deg, approach rate: -0.669589 m/s, LOS rate: -0.017985 deg/s, cmd heading: 202.772839 deg, new cmd heading: 202.752608 deg. BhU{E]HeadingCmd: 3.538701 target range: 136.442963 and range: 137.00 m.h]zb@hY*hY"hY hYgafafafadididijdiZdm@@颙ɢH) i)=<顡i`%i/Q;;Izb@I99@ @@1@@%=@%=^A;achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.485894A؟AI!I9OEQ>BuP>Bu9v"?Yv"?=vDyvyDz'Ez>|Q 54~_?Q 94~\o)~8TBYy_)Q I ?~~)DI~:i~:~r4y%Bɮ .Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.737914jhFNOT Ignoring new targets: 136.44 m.Rh Zh M ProNav: ac range: 136.442963 m, nav range: 116.759682 m, bearing: 205.282241 deg, approach rate: -0.631518 m/s, LOS rate: -0.016725 deg/s, cmd heading: 202.752608 deg, new cmd heading: 202.731196 deg. BhM7}HeadingCmd: 3.538327 target range: 136.442963 and range: 137.00 m.h}sb@hy*hy"h hgfԑffdddjdZd @Bɢ8) i)%D4 q,i?AbEg4jEwX4rEXQ0E" E"E"-E "E":*E"L_:VE"t4ZE a*@a*@a*@a*@,ɰ.;JiT@J~_b@J#Ք;ٱJUC5 VAHRS rotation from veh to nav: [[-0.922800,0.379974,0.063715],[-0.385253,-0.908081,-0.164222],[-0.004542,-0.176090,0.984364]]JHQ?O?`ؿ@6ſ rƿ ?iJiT@IJ_;JCY^gBy^d IiEMb@Mb@Mb@AAAA A9EE?Dl?9qYq=uDyuDuE}>Q 54K?Q 94r).TBY'?Q E:y@)Q I?)DI":i:y4y'Bɮ.A Ejh9EFNOT Ignoring new targets: 136.44 m.RhE8ZhE8u ProNav: ac range: 136.442963 m, nav range: 116.484573 m, bearing: 205.274683 deg, approach rate: -0.663574 m/s, LOS rate: -0.018274 deg/s, cmd heading: 202.731189 deg, new cmd heading: 202.708460 deg. BhuHHeadingCmd: 3.537930 target range: 136.442963 and range: 137.00 m.hrmb@h*h"h hgfffbBdddjdZdh @Bɢ) ci)-<i!iC/A;H;Irmb@I1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2426939@ @@4@!^A5 ;Y A I I O >M DAT read: 00:32:39.9367 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 221,-0.47,-2.753, 1.875,-2.687,-2.895, PHS= 0.245,-1.467, 0.165, RAW= 147.6, 12.6, CAL= 147.4, 13.8, ROT= 2.6, -13.8 w,yi?AYgot valid direction response: 00:32:39.9367 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 221,-0.47,-2.753, 1.875,-2.687,-2.895, PHS= 0.245,-1.467, 0.165, RAW= 147.6, 12.6, CAL= 147.4, 13.8, ROT= 2.6, -13.8 PDAT read: Bearing 0.9, -0.1 (Local) ~Local bearing/azimuth received: Bearing 0.9, -0.1 (Local) DAT read: Range 11 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.8 m/s "BDAT read: Tx time:00:32:40.9966 "$Ping request sent."iMƻM(>M$@Mz0a>M$@ MϢv>)M9=IMϢvIIMo3?)M`IM9=iMϢvII6:publishing transmit ping time 6Fpublishing direction and range infoyIM8W ?te/?iC?YIIIII I)IIIiIIIII I)IIIIIMo3?B%;CB%y IB%xBB% =B!B%DB%;B%9Y=DyDE>Q 545?Q 94v)#TBYyQ I?)DI:i:Ł4E= E=E=*E9"E=Ʊ:*E=0:VE=(N4ZE9BE=H;aE2E=I;aEJE=߉;aE:E=߉;aMyIQɮM-AiiIiM]i?AJiMBRiMBjiMg@iM/vX@NQ@C R48@riM8W ?te/?iC?ZiM9=biMϢviMyT#UpCYFG6@ziMͪf-뿞Pܿ0qw?2iM7:iM8"iMT ^?*iM|(/BiMBiIiM?iM#BiMBiMe@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 101.900002 m, deltaT: 3.527011 s, deltaX: -35.099998 m, approachRate: -9.951769 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 136.44 m.Rh%>Zh%>U ProNav: ac range: 136.442963 m, nav range: 116.189278 m, bearing: 205.266529 deg, approach rate: -0.636593 m/s, LOS rate: -0.017621 deg/s, cmd heading: 202.708458 deg, new cmd heading: 202.683936 deg. BhU}A]HeadingCmd: 3.537502 target range: 136.442963 and range: 137.00 m.h]ofb@hY*hY"hY hYgafafafdddjdyY@Zd@?-Bɢ-ټ)1 5i1)5$<19i=ŧieF/e>:;e.;Imofb@Iiԁ9@ @@4@@%gA@%hA ^Ae ; A .AI I O >~,}i?A2_kT@2 ab@2@|:ٱ23 NAHRS rotation from veh to nav: [[-0.922772,0.379631,0.066116],[-0.385344,-0.908525,-0.161532],[-0.001255,-0.174534,0.984650]]2HYK?`? xؿ@ĿT#Wƿ`A?i2_kT@I2_;0YVnByVm Ii5Mb@Mb@Mb@1111 195Mb?Q?Mb`Y5#?y5\=55z A5&@ 5 A)5C A1Y5G A AER=bDMVDM2ye<%eH=ٔeQ-m>9m ?Ym ?=uDyuDur9Eu>yQ 54}"?Q 94}y)}TBY $?Q E:y(Q I?})DI}a:i}:}؈4yBɮK-A EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 115.930504 m, bearing: 205.258609 deg, approach rate: -0.685953 m/s, LOS rate: -0.021041 deg/s, cmd heading: 202.683938 deg, new cmd heading: 202.660124 deg. Bh gHeadingCmd: 3.537086 target range: 136.442963 and range: 137.00 m.h_b@h*h"h hgfff~BdddjdZd?)颽Bɢ) n i)<ii/V;;;I_b@IE EE+E"E:*E=:VE [4ZEa@a@a@a@9@ @@/@Yԁ 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= >Ա Aȅ,@j?A>kT@>`b@>u6ٱ>ܞ. JAHRS rotation from veh to nav: [[-0.922781,0.379625,0.066023],[-0.385323,-0.909443,-0.156334],[0.000696,-0.169703,0.985495]]>HmK? ?@"ؿ`'ĿF? иſ-?i>kT@I>_;>CYRmByRl I TTbDZVDZ:2ybG޻%bV=ٔf,Q-f>9dYd=jDyjDjuEj>lQ 5r4nq?Q 9r4n|)nTBYtyv(Q Iv?n)DIn:in4:n4yxɮzU-AxjhFNOT Ignoring new targets: 136.44 m.Rh%Zh%5 ProNav: ac range: 136.442963 m, nav range: 115.686165 m, bearing: 205.251089 deg, approach rate: -0.640400 m/s, LOS rate: -0.019752 deg/s, cmd heading: 202.660127 deg, new cmd heading: 202.637519 deg. Bh5X=HeadingCmd: 3.536692 target range: 136.442963 and range: 137.00 m.h=)Yb@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU?}Bɢ}B)  i)\<顁iAi/@; ;I)Yb@Iԙ@ @@/@m*DAT read: user:174> uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992913BU>B% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244540) D,#2j?AJ_zT@J pb@Jٽ ٱJX, RAHRS rotation from veh to nav: [[-0.922418,0.380400,0.066645],[-0.386188,-0.909525,-0.153700],[0.002148,-0.167513,0.985868]]JH r`xX??`Lؿpÿ@a?qſ :?iJ_zT@IJ_;JCYZwByZx IbDb VDb:2yj;H=%jI=ٔniQ-n>9pYp=rDyrDr;Ev>tQ 5z4v5?Q 9z4v:)vTBY9y=(Q I=?v)DIv&E  E E 'E "E y:*E 0:VE '4ZE a @a @a @a @ڒ,DKj?A6jT@6|b@6X}ٱ6( >AHRS rotation from veh to nav: [[-0.922129,0.381026,0.067062],[-0.386864,-0.909855,-0.150003],[0.003862,-0.164266,0.986409]]6Hb?*?`_ؿ M3ÿॢo?ſ?i6jT@I6_;6CYF}ByF IiEMb@Mb@Mb@AAAA A9E}?5^I?Zd;?~jthYEM"?yEy=EDEAA E A)AAYE AU@AUAAbD]VD]ym<%mA=ٔuڄQ-u>9qYq=}Dy}D}:E}>Q 540鼊?Q 94) TBY#?Q E:y)Q I?)DI:i:4yBɮ+A EjhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 115.156952 m, bearing: 205.236151 deg, approach rate: -0.654839 m/s, LOS rate: -0.016510 deg/s, cmd heading: 202.612958 deg, new cmd heading: 202.592606 deg. BhJ5HeadingCmd: 3.535908 target range: 136.442963 and range: 137.00 m.hQLb@h*h"h hgfffBdddjdZd?%Bɢ-*)) -i))- <11i5sid/Y;O=;IQLb@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749519Qi@i @i@m0@iy^A[R;AfAzAfAII O >ԩ jA MAM d9M jAYM A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000298,ej?AB"<A"<B$B$B& IB&BB& =B$B$B&f;B&)Z>E EE*E"EI:*Ea9:VE(N4ZEBE9Y=DyDT:E>ԩQ 54Ѽ?Q 94) TBYy)Q I?)DIk:iA:4yɮx+AjhFNOT Ignoring new targets: 136.44 m.Rh!Zh!- ProNav: ac range: 136.442963 m, nav range: 114.831985 m, bearing: 205.227827 deg, approach rate: -0.634430 m/s, LOS rate: -0.016297 deg/s, cmd heading: 202.592604 deg, new cmd heading: 202.567561 deg. Bh-25HeadingCmd: 3.535471 target range: 136.442963 and range: 137.00 m.h5(Eb@h1*h1"h1 h1g9f9f9f9dAdAdIjdIZdUn@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252401-Bɢ-?)1 5i1)5<11i=#ie/eɮ;e#. /,7ǀj?A,6@T@6b@6ٱ6wZ$ >AHRS rotation from veh to nav: [[-0.921644,0.381958,0.068416],[-0.387973,-0.910258,-0.144596],[0.007047,-0.159809,0.987123]]6H ~q??`ؿ ¿ |?`tĿ`?i6@T@I6R`;4YFByF I^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504300iMb@Mb@Mb@ 9jt?/$?MbPY ?y,=dA@  A)YbDVD02y%P=ٔ(Q->9Y=DyD`:E>Q 54i?Q 94 )TBY !?Q E:y[+Q I ?*DI:i:4yBɮ+AE5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 136.44 m.RhE ZhE U ProNav: ac range: 136.442963 m, nav range: 114.624947 m, bearing: 205.225363 deg, approach rate: -0.630824 m/s, LOS rate: -0.007521 deg/s, cmd heading: 202.567565 deg, new cmd heading: 202.560159 deg. BhU-]HeadingCmd: 3.535342 target range: 136.442963 and range: 137.00 m.h] Cb@hY*ha"ha hagafafifmBdididqjdqZdu@额Bɢ;) %i) $;顩iDi/]; V,Oj?A2T@2hb@2$ٱ2# :AHRS rotation from veh to nav: [[-0.921216,0.382705,0.069987],[-0.388951,-0.910058,-0.143218],[0.008882,-0.159156,0.987213]]2Hz >~??ؿ2T¿0?8_Ŀ@?i2T@I2_;2C\YbByb I jC=ja=bDj VDj:2yr=%vZ=ٔvqQ-v>9v"?Yz"?=zDyzDz<;Ez>|Q 54~ӯ?Q 9 4~͌)|Y y J+Q I ?~*DI~t:i~I:~.4yٗBɮ*AEjh9EFNOT Ignoring new targets: 136.44 m.RhEJZhEJU ProNav: ac range: 136.442963 m, nav range: 114.391541 m, bearing: 205.222449 deg, approach rate: -0.630178 m/s, LOS rate: -0.007884 deg/s, cmd heading: 202.560161 deg, new cmd heading: 202.551400 deg. BhU%]HeadingCmd: 3.535189 target range: 136.442963 and range: 137.00 m.h]@b@hY*ha"ha hagafafifidididijdqZdu@额Bɢbؼ) i);顩iOi+/A;2'A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260571,kj?AJT@Jeb@J=0ٱJ! RAHRS rotation from veh to nav: [[-0.921199,0.382565,0.070973],[-0.388943,-0.910457,-0.140681],[0.010798,-0.157199,0.987508]]JHuz {?@A+?oؿ`w" ¿+?`Ŀ?iJT@IJ_;JCYZByXbDfVDf2yjT%nK=ٔnAQ-n>9pYp=rDyrDvEv>tQ 5z4vǜ?Q 9~4vɏ)vTBY|y~I+Q I~?v&*DIv;iv;v44yɮ "*A jh15FNOT Ignoring new targets: 136.44 m.Rh=Zh=M ProNav: ac range: 136.442963 m, nav range: 114.138710 m, bearing: 205.219276 deg, approach rate: -0.628166 m/s, LOS rate: -0.007902 deg/s, cmd heading: 202.551405 deg, new cmd heading: 202.541864 deg. BhMUHeadingCmd: 3.535022 target range: 136.442963 and range: 137.00 m.hU=b@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm @颕Bɢϼ) _i)$;顡iI3i/;I=b@I59@1 @1@5/@1Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512835^AU&$<ԁA .AI I O >EM  EM EM *EI "EM :*EM |;:VEM (N4ZEI a] @a] @a] @a] @ԡ bg,Fj?A2T@2åb@2Mٱ2f :AHRS rotation from veh to nav: [[-0.921076,0.382641,0.072145],[-0.389180,-0.910633,-0.138874],[0.012559,-0.155990,0.987679]]2Hty0}?x?Sؿ`#@d?~ÿ`?i2T@I2_;2CYBByB IiUMb@Mb@Mb@QQQQ Q9UNbX9?~jt?=ٔ݅Q->9 ?Y ?=Dy0D!:E>Q 54?Q 94)TBY%?Q E:y+Q I?7*DIj;iRl;4yݗBɮ)AEmDAT read: 00:32:43.5776 LVL= 32752, 32577, 32754, 22003, AGC= 73, IDX= 100, 0.01,-1.680,-2.732,-1.754,-2.912, PHS= 1.333, 0.225, 1.114, RAW= 139.2, -42.9, CAL= 141.1, -41.2, ROT= 8.9, 41.2 uYgot valid direction response: 00:32:43.5776 LVL= 32752, 32577, 32754, 22003, AGC= 73, IDX= 100, 0.01,-1.680,-2.732,-1.754,-2.912, PHS= 1.333, 0.225, 1.114, RAW= 139.2, -42.9, CAL= 141.1, -41.2, ROT= 8.9, 41.2 }PDAT read: Bearing 306.7, 13.6 (Local) }~Local bearing/azimuth received: Bearing 306.7, 13.6 (Local) DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.9 ms) speed 0.7 m/s TDAT read: user:175>Tx time:00:32:44.6465 R#Rx 1: Read range and direction messages.^direction in FSK: [0.743356,0.116406,-0.658689]Fpublishing direction and range infoy9=4?/j+̽?ZxY=C99=A9 =U)=II=?i=fff>=?=|@=֭?=7@ =X8)=>I=X8?99=/ ?NM[?x: =>)=/??I=>i=X8?99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.= addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 7.307147 s, deltaX: -4.399994 m, approachRate: -0.602149 m/s, rangeRepo size: 4 jhAEFNOT Ignoring new targets: 136.44 m.RhMZhM} ProNav: ac range: 136.442963 m, nav range: 113.858337 m, bearing: 205.217103 deg, approach rate: -0.596331 m/s, LOS rate: -0.004632 deg/s, cmd heading: 202.541870 deg, new cmd heading: 202.535337 deg. Bh}nKHeadingCmd: 3.534909 target range: 136.442963 and range: 132.60 m.h;b@h*h"h hgfffBdddjd@3`@Zdi?颅Bɢ5v) ݾi);顑i'i/^;2X-B B IB BB =B B B ;B ,Nj?A2ҪT@2~b@2cٱ2 :AHRS rotation from veh to nav: [[-0.921185,0.382146,0.073368],[-0.388877,-0.910824,-0.138471],[0.013909,-0.156088,0.987645]]2H`Xz@u?:Ȳ?\ؿx%`hX|?ÿ ʚ?i2ҪT@I2_;0YBByB IJAAHbDNVDNk2yR^%VW=ٔVhQ-V>9XYX=ZDE^ E^E^-E\"E^:*E^?:VE^t4ZE\BE^hlQ 5r4nt?Q 9r4n)nTBYpyv+Q Iv?nG*DIn(:in:npȤ4yxɮz)A|i!i%j?AJi%CRi%Cji%c@i%>X@[qӾ.@ޏ*Uri%4?/j+̽?ZxZi%>bi%X8?i%8@ VTCDNFUzi%E c`rӿfv2i% :i%"i%?*i%{Bi% i%?i%>qi%Bi%Bi%g@ԑjhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 113.610741 m, bearing: 205.215217 deg, approach rate: -0.678085 m/s, LOS rate: -0.005178 deg/s, cmd heading: 202.535340 deg, new cmd heading: 202.529667 deg. Bhqc5HeadingCmd: 3.534810 target range: 136.442963 and range: 132.60 m.h5R:b@h1*h1"h1 h1g9f9fAfAdAdIdijdiZdu@?ɢhҼ) ޾i)Rf;iid/YK;l)',sk?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5203176T@6Mb@6~~ٱ6I" BAHRS rotation from veh to nav: [[-0.921215,0.381658,0.075504],[-0.388744,-0.910733,-0.139438],[0.015546,-0.157804,0.987348]]6Hzm?7T?/ؿ$@֏?`2Ŀ[?i6T@I6`;6CYZByZ II^%=)^=b=b=i=Mb@Mb@Mb@9999 99="~j?Q?MbPY=S#?y=\===A=S@ = A)= A9Y= AbDUVDU0ye%e==ٔmxQ-m>9qYq=uDyuPDu[Eu>yQ 54} `?Q 94} Q =tI)}TBY#?Q E:yM,Q IM?}Y*DI}Q ],ǜk?A6oT@6b@6늼ٱ6y|" BAHRS rotation from veh to nav: [[-0.921364,0.381038,0.076800],[-0.388331,-0.910960,-0.139105],[0.016957,-0.157990,0.987295]]6H`{`b?(?iؿ&@2?]?9Ŀ?i6oT@I6`;6CYJByJ IbDRVDR1yZ7<%ZW=ٔ^vsQ-^>9`Y`=bDyb`DbvEf>dQ 5j4fM?Q 9j4fٛ)fTBYlyn,Q In?fh*DIf;if;f֤4yrBɮr(AvEjh  FNOT Ignoring new targets: 136.44 m.RhZh% ProNav: ac range: 136.442963 m, nav range: 113.093834 m, bearing: 205.211839 deg, approach rate: -0.691163 m/s, LOS rate: -0.004456 deg/s, cmd heading: 202.524207 deg, new cmd heading: 202.519511 deg. Bh%C-HeadingCmd: 3.534632 target range: 136.442963 and range: 132.60 m.h-j7b@h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdEO?m~Bɢm)q u۾iq)utv;qyi}&i}L/};F$B =CB  IB BB  =B B DB ;B aE EE*E"E7:*EL_:VE(N4ZEBE;a2E;aJE;a:E;a^A5 &<A=>A=>IIO>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276216Թ ,!x6k?A2T@2hb@2wٱ2$ :AHRS rotation from veh to nav: [[-0.921544,0.380130,0.079110],[-0.387830,-0.910923,-0.140734],[0.018566,-0.160373,0.986882]]2H I}` T?@?6ؿI&@¿@?Ŀ?i2T@I2DSa;2CYRByR I VR=VR=bDZVDZk2ybe<%bI=ٔf΁Q-f>9dYd=jDyjpDjEj>1Q 5=45o9?Q 9E45)5TBYAyE,Q IE?5y*DI5P;i5* ;5ݤ4yIɮU(AQjhq}FNOT Ignoring new targets: 136.44 m.Rh}ؐZh}ؐ ProNav: ac range: 136.442963 m, nav range: 112.827194 m, bearing: 205.210191 deg, approach rate: -0.638803 m/s, LOS rate: -0.003957 deg/s, cmd heading: 202.519508 deg, new cmd heading: 202.514552 deg. Bh-HeadingCmd: 3.534546 target range: 136.442963 and range: 132.60 m.h5b@h*h"h hgfffdddjdZd?}Bɢ¼) ׾i);ii/ 2;~jE  E E E "E g:*E 1]:VE ZE a @a @a @a @ l,LSPk?ANT@Nb@NтٱNc( bAHRS rotation from veh to nav: [[-0.921701,0.379224,0.081580],[-0.387386,-0.910715,-0.143287],[0.019959,-0.163671,0.986313]]NH ~5E?p?ؿ$7W¿ p?(Ŀ?iNT@INa;NCYnBy Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.780371iMb@Mb@Mb@ 9K7?y&1?~jtxY)?y`<ĻA=@  A)- AY( AbD VD2yZ@<%9=ٔNQ->9Y=DyDˋE>Q 5 4#?Q 9 4)TBY )?Q E :y -Q I ?*DIz:i :a4yBɮ5(A EjhAEFNOT Ignoring new targets: 136.44 m.RhMB7ZhMB7] ProNav: ac range: 136.442963 m, nav range: 112.541870 m, bearing: 205.210476 deg, approach rate: -0.663517 m/s, LOS rate: 0.000665 deg/s, cmd heading: 202.514549 deg, new cmd heading: 202.515406 deg. Bh]7eHeadingCmd: 3.534561 target range: 136.442963 and range: 132.60 m.he>6b@ha*ha"ha hagafififmBdidqdjd1Zd5 !@}|Bɢό) Ծi) ;顉iViv/<~;t46b@Ie9@i @i@mK0@i@u=@u=!Q u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032811^A $<B <A <B ^>B B IB ĂBB B B B ;B A ؟AI I O >o,-jk?AEB E@E@E@"EB:*E@VE@ZE@BEB T@>Gb@>^<ٱ>) VAHRS rotation from veh to nav: [[-0.921755,0.378689,0.083440],[-0.387183,-0.910661,-0.144172],[0.021389,-0.165197,0.986029]]>H  rT@I>;b;>CYfByf IbDVDP)3y%%%G=ٔ%dQ-->9-"?Y-"?=-Dy-D5E5>9Q 5E4=?Q 9E4=#)= TBYAyE -Q IM?=*DI=:i=:=4yUBɮU'AU Ejhy}FNOT Ignoring new targets: 136.44 m.RhZ7ZhZ7 ProNav: ac range: 136.442963 m, nav range: 112.268913 m, bearing: 205.210782 deg, approach rate: -0.663704 m/s, LOS rate: 0.000747 deg/s, cmd heading: 202.515409 deg, new cmd heading: 202.516331 deg. Bh;8HeadingCmd: 3.534577 target range: 136.442963 and range: 132.60 m.h6b@h*h"h hgfffdddjdZd@a@ɢ<Ҽ) ־i)b;iyi3/Ĺ;,k?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.536185lYpypiMb@Mb@Mb@ 9ˡE?Zd;O?{GzY'?yj<#A  A)AYz AbDVD 3yo%Q=ٔQ->9Y=DyDE>Q 54?Q 94)Y(?Q E:y-Q I?*DI:iL:j4yɮ'AB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 136.44 m.Rh%P}8Zh-P}8= ProNav: ac range: 136.442963 m, nav range: 112.011642 m, bearing: 205.212137 deg, approach rate: -0.655667 m/s, LOS rate: 0.003460 deg/s, cmd heading: 202.516325 deg, new cmd heading: 202.520398 deg. Bh=9EHeadingCmd: 3.534648 target range: 136.442963 and range: 132.60 m.hE7b@hA*hA"hA hAgAfAfIfMBdIdIdQjdQZdU@颅{BɢhѼ) }־i)2;顉iIi /;@Qf ,k?AYB  y IAIE,>)E4=q 9YYAbD VD:2y<%G=ٔQ->9 Y = Dy D E >Q 54l滊?Q 9%4) TBY!y!Q I%?*DI:i:4y-Bɮ-o'A1jhQ]FNOT Ignoring new targets: 136.44 m.Rh]V8Zh]V8m ProNav: ac range: 136.442963 m, nav range: 111.741463 m, bearing: 205.213566 deg, approach rate: -0.657727 m/s, LOS rate: 0.003488 deg/s, cmd heading: 202.520395 deg, new cmd heading: 202.524694 deg. Bhm49uHeadingCmd: 3.534723 target range: 136.442963 and range: 132.60 m.hu8b@hy*hy"hy hygyfyffdddjdZd` @颱ɢ;м) mؾi)_q;ii/'5;tTx time:00:32:48.3465 E R#Rx 1: Read range and direction messages.M ^direction in FSK: [0.654584,0.073423,-0.752415]M Fpublishing direction and range infoy  ޗ[? b? C~@ Le g @ ^ Z) =I ^ Z? C?Y?|?ő jγ>) e?I =i ^ Z? m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.I O >GK,a·k?A^8T@^b@^lμٱ^:* -AHRS rotation from veh to nav: [[-0.921753,0.377849,0.087183],[-0.386958,-0.910865,-0.143487],[0.025196,-0.165996,0.985804]]^H .?@Q?@ؿ%]¿̙?@[?ſോ?i^8T@I^\c;^CY}By} IbDVDԙy?j<%P=ٔ Q->9Y=DyD$ E>Q 54}һ?Q 94ĭ) TBYy-Q I?*DIM:iE:4yɮX'Aiik?AJi:%CRi:%CjiH]@iP [@ ]C(@:`u_riޗ[?Am >E  E E )E "E %:*E C:VE FA4ZE ! A} .AI I O >4,]k?AYrByr IieMb@Mb@Mb@aaaa a9e/$?{Gz?9 ?Y ?=DyDE>Q 54?Q 94ϰ)Y(?Q E:y+Q I?*DI&:ie:4yBɮ'AEjhFNOT Ignoring new targets: 136.44 m.RhøZhø  ProNav: ac range: 136.442963 m, nav range: 111.218384 m, bearing: 205.212938 deg, approach rate: -0.686841 m/s, LOS rate: -0.005345 deg/s, cmd heading: 202.528947 deg, new cmd heading: 202.522809 deg. BhjHeadingCmd: 3.534690 target range: 136.442963 and range: 132.60 m.h\8b@h*h"h hgf!f!f%xBd!d)d)jd)Zd-j?ɢ) i)C;iziY/6; ^,{k?AE6 E6E6+E4"E6:*E6*5:VE6 [4ZE4BE6i2E6iJE6;a>:E6;aBZT@ZJb@Z,ٱZ' jAHRS rotation from veh to nav: [[-0.921702,0.377669,0.088493],[-0.386897,-0.911460,-0.139827],[0.027850,-0.163117,0.986214]]ZH ~+?@~?ؿ@*@`?Ŀ?iZT@IZVc;ZCYvByv I ||bD VD 1y%~>%-Q=ٔ-޻Q-->91Y1=5Dy5D=ŸE=>9Q 5E4=4?Q 9M4=ų)= TBYIyIQ IM?=*DI==:i=:=O4yBɮ'AEjhFNOT Ignoring new targets: 136.44 m.Rh%eZh%eYe ProNav: ac range: 136.442963 m, nav range: 110.962326 m, bearing: 205.210936 deg, approach rate: -0.625657 m/s, LOS rate: -0.004901 deg/s, cmd heading: 202.522813 deg, new cmd heading: 202.516796 deg. BhmFWHeadingCmd: 3.534585 target range: 136.442963 and range: 132.60 m.h6b@h*h"h hgfffdddjdZd;~?}yBɢ}) i)DT*;顁ini/;U ?U Y?] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552461ZK,ml?A2AT@2b@2Ϣٱ2% bAHRS rotation from veh to nav: [[-0.921546,0.378031,0.088579],[-0.387204,-0.911677,-0.137542],[0.028760,-0.161050,0.986527]]2H M}1??ؿu,@Os?EĿ?i2AT@I22tc;2CYjByj Ii]Mb@Mb@Mb@YYYY Y9]Q?A`"?9Y=DyDbX:E>Q 54?Q 94) TBY)?Q E:y*Q I?+DIX:iL:4yɮO'AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.RhUZhU ProNav: ac range: 136.442963 m, nav range: 110.686584 m, bearing: 205.206306 deg, approach rate: -0.694490 m/s, LOS rate: -0.011691 deg/s, cmd heading: 202.516789 deg, new cmd heading: 202.502864 deg. Bh_HeadingCmd: 3.534342 target range: 136.442963 and range: 132.60 m.h2b@h*h"h hgfffsBdddjdZd ?ԡɢ) ܾi);ii  / #+; /,&$l?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.0562200:T@:Rb@:PFٱ:<$ BAHRS rotation from veh to nav: [[-0.921319,0.378470,0.089066],[-0.387664,-0.911745,-0.135786],[0.029814,-0.159630,0.986727]]:H q{`8?Ͷ?{ؿ-@sa?nĿC?i:T@I:wc;:CYJByJ IPPbDVVDV1y^G%^/=ٔ^=Q-^>9b"?Yb"?=bDyb Db":Ef>dQ 5n4fZ?Q 9n4fź)fTBYlyn*Q In?f+DIf-;if;f4yvwBɮv 'Atjh FNOT Ignoring new targets: 136.44 m.RhPZhP% ProNav: ac range: 136.442963 m, nav range: 110.378174 m, bearing: 205.201009 deg, approach rate: -0.662680 m/s, LOS rate: -0.011414 deg/s, cmd heading: 202.502869 deg, new cmd heading: 202.486933 deg. Bh--HeadingCmd: 3.534064 target range: 136.442963 and range: 132.60 m.h5.b@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE?B`>BBBB =BBB͆;B=EMxBɢMpۼ)Q UiQ)U.:QQiUwi]/];]S'P, Dl?A~checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562810YerT@eb@e 4ٱe5! uAHRS rotation from veh to nav: [[-0.921282,0.378506,0.089293],[-0.387635,-0.912237,-0.132525],[0.031295,-0.156706,0.987149]]eH#{ r9?۶?`ؿ 1?Ŀ?ierT@Ie c;aYBy II?>)>==iMb@Mb@Mb@ 9uV?V-?Zd;OYr(?ym=jA@ Z A)tAY3 AbDVDky]%<%=ٔ.Q->9Y=Dy D.E>Q 54c?Q 94:)TBY4)?Q E:y^*Q I?.+DI;i);p(4yhBɮ|&AEjh)-FNOT Ignoring new targets: 136.44 m.Rh5{Zh5{E ProNav: ac range: 136.442963 m, nav range: 110.011292 m, bearing: 205.193410 deg, approach rate: -0.660256 m/s, LOS rate: -0.013721 deg/s, cmd heading: 202.486928 deg, new cmd heading: 202.464054 deg. BhEMHeadingCmd: 3.533664 target range: 136.442963 and range: 132.60 m.hM'b@hI*hI"hI hIgQfQfQfUeBdYdYdYjdYZd]@@颍wBɢl`ͼ) ߾i):顑ii%/];+A >IIO>o,_cl?A6őT@6qb@6Iٱ6К! JAHRS rotation from veh to nav: [[-0.921398,0.378067,0.089947],[-0.387308,-0.912354,-0.132674],[0.031904,-0.157083,0.987070]]6H|B2??`ؿ@2@v`U?@JĿ?i6őT@I6a;6CYRByR IbDZVDZ1yb{%bB=ٔfBQ-f>9dYd=jDyj. DjVEj>lQ 5r4nO?Q 9r4n)nSBYpyvd*Q Iv?n@+DInF:in_:n/4yzYBɮz&AzEjhFNOT Ignoring new targets: 136.44 m.Rh%=zZh%=z5 ProNav: ac range: 136.442963 m, nav range: 109.732315 m, bearing: 205.187651 deg, approach rate: -0.660698 m/s, LOS rate: -0.013673 deg/s, cmd heading: 202.464060 deg, new cmd heading: 202.446739 deg. Bh5$=HeadingCmd: 3.533362 target range: 136.442963 and range: 132.60 m.h="b@h9*h9"h9 h9gAfAfAfAdIdIUBqBu IBuɂBBu =BqBqBuʆ;Bu =EB5=CB5=CB1B5— =B5– =C5¼5a@a @a@e0@aE EE)E"EI:*E;J:VEFA4ZEBEԡ BDAT read: Rx Time:00:32:50.8772  TRx dataTimestamp_ set to:1761525169.848155 2Acoustic response timeout N,}l?A2iT@2b@2#ٱ2x" >AHRS rotation from veh to nav: [[-0.921285,0.378224,0.090443],[-0.387568,-0.912127,-0.133476],[0.032011,-0.158022,0.986917]]2H`+{@4?>'?ؿ$0`c?:ĿҔ?i2iT@I2`;0YFByF IbDNVDN:2yVݼ%VM=ٔZ Q-Z>9XYX=ZDyZ> D^9:E^>`Q 5f4bM;?Q 9f4b)bSBYdyj`*Q Ij?bP+DIb:ib:b64ylɮn<&AljhFNOT Ignoring new targets: 136.44 m.RhrZhr ProNav: ac range: 136.442963 m, nav range: 109.468742 m, bearing: 205.182150 deg, approach rate: -0.634566 m/s, LOS rate: -0.013275 deg/s, cmd heading: 202.446739 deg, new cmd heading: 202.430196 deg. BhHeadingCmd: 3.533073 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfffdddjdZd~ @Թ}2Acoustic response timeout颍uBɢn) ]i):顑ii0켴;&3 2Acoustic response timeout9 z%,l?A5T@5b@5lٱ5(" EAHRS rotation from veh to nav: [[-0.921474,0.377686,0.090775],[-0.387094,-0.912298,-0.133680],[0.032325,-0.158321,0.986859]]5H |,?=?@%ؿ 1`k@׌?CĿ`X?i5T@I5`;5CYBy IiMb@Mb@Mb@ 9sh|?? rh?Y)?yC=̼A@ p A)^AY AbDVDN2yNɼ% =ٔ52Q-5>99Y9==Dy=S DEEE>QQ 5]4U{!?Q 9]4U#)USBY]*?Q Ee:ye)Q Ie?Ug+DIU;:iU":U?4ymJBɮm%AmEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 109.121490 m, bearing: 205.172487 deg, approach rate: -0.687481 m/s, LOS rate: -0.019191 deg/s, cmd heading: 202.430196 deg, new cmd heading: 202.401116 deg. BhRHeadingCmd: 3.532566 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfffHBdddjdZd W @tBɢ)) i)E9i i & 0 G; 2 BDAT read: Tx time:00:32:51.9465 $Ping request sent.?#?Y}Byyyy y)yI}q=>i}ɿ}Zd;>}$@}k]>}$@ }s>)}9=I}syy}d?bJi?({Ā? }>)}]I}9=i}syy:publishing transmit ping timeFpublishing direction and range infoyy}3]?`6h>?#?Yyyyyy y)yIyiyyyyy y)yIyyy}d?bJi?({Ā? y)yIyiyyyBY>BB IBBB =BBDB;B +,۰l?A bT@bLJb@bٱb# jAHRS rotation from veh to nav: [[-0.921375,0.377825,0.091197],[-0.387321,-0.912105,-0.134342],[0.032424,-0.159101,0.986730]]bH{H.?@X?`ؿ`/2`љ?@o]Ŀ J?ibT@IbR_;`YBy IbDVDkyEt%E=ٔMOQ-M?9IYI=UDyU` DUJR:Eu?yQ 54} ?Q 94})}SBYy)Q I?}t+DI}:i}:}VE4yɮ &Aii0l?AJiԼBRiԼBjig@iąV@{@f mk36@ri3]?`6h>?#?Zi9=bisi! 7T£$EPl[_78@zi='hR ܿb@Oj?2i%):i"i&_s?*i_$BiBii_$iiBif@--addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 94.800003 m, deltaT: 7.308049 s, deltaX: -37.800003 m, approachRate: -5.172379 m/s, rangeRepo size: 4jh)-FNOT Ignoring new targets: 136.44 m.RhUZhUe ProNav: ac range: 136.442963 m, nav range: 108.913834 m, bearing: 205.166657 deg, approach rate: -0.640930 m/s, LOS rate: -0.018029 deg/s, cmd heading: 202.401113 deg, new cmd heading: 202.383589 deg. BheEmHeadingCmd: 3.532260 target range: 136.442963 and range: 132.60 m.hmb@hi*hi"h hgfffdddjd@3W@Zd@]k?ɢ;) Ti)iQi%)0%n;%x};ߍ =ߍ <2,yl?APY~By~ IE EEE"E:*E?:VEZEa@a@a@a@iMb@Mb@Mb@ 9 r?9Y=Dyq DE>Q 542?Q 94")SBY$?Q E:y(Q I?+DI|;i;L4yPBɮ&A Ejh)-FNOT Ignoring new targets: 136.44 m.Rh59͹Zh59͹E ProNav: ac range: 136.442963 m, nav range: 108.645569 m, bearing: 205.157597 deg, approach rate: -0.662405 m/s, LOS rate: -0.022428 deg/s, cmd heading: 202.383587 deg, new cmd heading: 202.356338 deg. BhEDvMHeadingCmd: 3.531784 target range: 136.442963 and range: 132.60 m.hMb@hI*hI"hQ hQgQfQfYf]BdYdYdajdaZde/?=rBɢ=w )A EniA)Miqiui}0}ڵ;}|A׶8,Ҍl?A2T@2zb@2ٱ2G/! >AHRS rotation from veh to nav: [[-0.921661,0.377213,0.090834],[-0.386576,-0.912778,-0.131889],[0.033161,-0.156671,0.987094]]2H?~B$?@@?ؿz5`p? ĿF?i2T@I2`^;2CYBByF IJ=HbDNVDN 3yVg=%V_=ٔZQ-Z>9XYX=ZDyZ D^E^>`Q 5f4b캊?Q 9f4b)bSBYdyj(Q Ij?b+DIb:ib:b S4ynABɮmj%AuEjhFNOT Ignoring new targets: 136.44 m.Rh>Zh> ProNav: ac range: 136.442963 m, nav range: 108.410477 m, bearing: 205.149704 deg, approach rate: -0.611394 m/s, LOS rate: -0.020572 deg/s, cmd heading: 202.356334 deg, new cmd heading: 202.332604 deg. BhaHeadingCmd: 3.531370 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfffdddjdZd7i?qBɢL) iݾi):Xii0 2; :BB IBBBBBDB;Bԡ x>,el?AZrT@Z@hb@ZR ٱZ` rAHRS rotation from veh to nav: [[-0.922074,0.376362,0.090173],[-0.385528,-0.913649,-0.128893],[0.033876,-0.153614,0.987550]]ZH Q?? ؿ<0X?ÿ?iZrT@IZw^;ZCYzByz IbD% VD%2y5%%5B=ٔ=޺Q-]>9YYY=eDye Dep-Ee>iQ 5u4mغ?Q 9u4m)mSBYqyy(Q I?m+DIms;imQt;mxZ4yɮ%APExceeded connect timeout, disconnecting.jh]FNOT Ignoring new targets: 136.44 m.Rhe˹Zhe˹ ProNav: ac range: 136.442963 m, nav range: 108.137367 m, bearing: 205.140632 deg, approach rate: -0.668761 m/s, LOS rate: -0.022270 deg/s, cmd heading: 202.332606 deg, new cmd heading: 202.305323 deg. BhtHeadingCmd: 3.530894 target range: 136.442963 and range: 132.60 m.h+a@h*h!"h! h!g)fQfafadiddjdZd`P?ԩEpBɢ])a eia)mL.iiimEiu%0u;u1cF,jm?A(2neT@2[b@2 ٱ2M >AHRS rotation from veh to nav: [[-0.922359,0.375559,0.090599],[-0.384778,-0.914046,-0.128316],[0.034622,-0.153214,0.987586]]2H`* ?1?5ؿ?l? ÿN?i2neT@I2Eu^;2CYFByF IiUMb@Mb@Mb@QQQQ Q9UNbX9?9Y=Dy DE>Q 54º?Q 94X)SBY&?Q E:y(Q I?+DI:i:xb4y3Bɮ$AEjhFNOT Ignoring new targets: 136.44 m.RhƹZhƹ ProNav: ac range: 136.442963 m, nav range: 107.839844 m, bearing: 205.130760 deg, approach rate: -0.652328 m/s, LOS rate: -0.021704 deg/s, cmd heading: 202.305326 deg, new cmd heading: 202.275629 deg. BhTnHeadingCmd: 3.530376 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfff#BdddjdZd >?颭oBɢx) վi)zͺ顱iai.0;v/B>CBBB =BBDBBǭL,-5m?A>[T@>EQb@>0ٱ>b FAHRS rotation from veh to nav: [[-0.922569,0.374849,0.091404],[-0.384216,-0.914212,-0.128818],[0.035275,-0.153962,0.987447]]>H ?@9f?ؿ:A@}`?@ÿ@*?i>[T@I>^^;>CYNByN I PPTTbDZVDZ:2`yb=%fW=ٔfuQ-f>9hYh=jDyj DjκEj>lQ 5r4n@?Q 9v4nx)nSBYtyv)Q Iv?n+DIn:in:ni4yxɮzN$A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 136.44 m.Rh-|ĹZh-|Ĺ= ProNav: ac range: 136.442963 m, nav range: 107.592796 m, bearing: 205.122605 deg, approach rate: -0.648991 m/s, LOS rate: -0.021473 deg/s, cmd heading: 202.275629 deg, new cmd heading: 202.251107 deg. ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Bh=k]HeadingCmd: 3.529948 target range: 136.442963 and range: 132.60 m.h]a@hY*hY"ha hagafafafidididijdiZdup1@额mBɢ!) 5ľi)+顡ii 50$C;#`-Y E]  E] E] +EY "E] m:*E] X:VE] [4ZEY am @am @am @am @S,8Om?ANPT@NFb@N5ٱN ^AHRS rotation from veh to nav: [[-0.922808,0.374055,0.092245],[-0.383605,-0.914293,-0.130063],[0.035688,-0.155409,0.987205]]NH?Z? ؿA@E?nÿ/?iNPT@IN)_;NCYjByn I iMb@Mb@Mb@ 9MbX?L7A`?{GzY*?y+=#@ )YG AbD VD:2y~<%7=ٔ #rQ- >9  ?Y  ?= Dy  DKE>Q 5%4󙺊?Q 9%4,)SBY%+?Q E-:y-)Q I-?+DI;i ;p4y5$Bɮ5#A5EjhY]FNOT Ignoring new targets: 136.44 m.Rhe/Zhe/u ProNav: ac range: 136.442963 m, nav range: 107.293434 m, bearing: 205.114512 deg, approach rate: -0.669937 m/s, LOS rate: -0.018161 deg/s, cmd heading: 202.251108 deg, new cmd heading: 202.226762 deg. BhulG}HeadingCmd: 3.529523 target range: 136.442963 and range: 132.60 m.h}a@hy*hy"hy hygfff:BdddjdZd ܽ@}kBɢ}/ۼ)y }xiy)3顁i8i<0ʡ;mg* BDAT read: Rx Time:00:32:54.4741  TRx dataTimestamp_ set to:1761525173.628150 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012785{Y,hm?AB$B$B& IB&ĂBB& =B$B&DB&;B&Ŀ?ibBT@Ib{_;bCYuByu IybDVD2yo;%Q=ٔ}MQ->9"?Y"?=Dy D~ E>Q 54e?Q 94j)SBYy)Q I?+DID;iE;w4y5Bɮ5K#A9jhimFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 107.031006 m, bearing: 205.107511 deg, approach rate: -0.650017 m/s, LOS rate: -0.017383 deg/s, cmd heading: 202.226766 deg, new cmd heading: 202.205712 deg. Bh>HeadingCmd: 3.529155 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffdddjdZdE @E EE(E"E:*EP:VEc44ZEBE `,Gm?Aɰ4<2X3T@2)b@2ٱ2% NAHRS rotation from veh to nav: [[-0.923468,0.371759,0.094884],[-0.381931,-0.914277,-0.135005],[0.036561,-0.160912,0.986291]]2H ?TJ?qؿAG!?ĘĿ?i2X3T@I2_;2CYRByR IZ=XbD^VD^kyf=%fN=ٔfQ-j>9hYh=jDyn DntEr>1xQ 54zr?Q 94z)zSBYy)Q I?z+DIzt/iw(\>$@aF>O$@ @X>)4QO=I@X|z?x ;(D?)Х? &>)kFI4QO=i@XT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsegfffdddjdZdv @hBɢмa)a e䭾ia)m8iiimLiuH0u9;uA >I I O >rg,:>m?A:/T@:$b@:ٱ:' BAHRS rotation from veh to nav: [[-0.923549,0.371243,0.096101],[-0.381683,-0.914121,-0.136753],[0.037079,-0.162978,0.985933]]:H r?@ ?~mؿ z@?tĿŒ?i:/T@I:_;:CYJɂByJ Ixi%Mb@Mb@Mb@!!!! !9%Fx?I +?MbpY%+?y%94=%%~A%@ !)%A!Y%p AbD=VD=yM=%M:=ٔM[Q-M>9QYQ=UDyU D]E]>aQ 5m4eN\?Q 9m4e)eSBYm%,?Q Em:ym+Q Iu?e,DIe;ie;e\4y}Bɮ}!A}EjhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 106.470955 m, bearing: 205.097775 deg, approach rate: -0.793154 m/s, LOS rate: -0.007474 deg/s, cmd heading: 202.184760 deg, new cmd heading: 202.176431 deg. Bh&HeadingCmd: 3.528644 target range: 136.442963 and range: 132.60 m.hOa@h*h"h hgfff^BdddjdZd@颅fBɢϼ)  i)~qG顩i~ifJ0t;IOa@I!e9@a @a@e5@aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB B B  IB ӂBB  =B B B dž;B  =EB>CBBBBė =C&5I^A<E EE-E"E:*E1]:VEt4ZEBE7ԑ i1 I1 5 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse m,m?A2%T@2Gb@26/ٱ2ܡ' :AHRS rotation from veh to nav: [[-0.923759,0.370679,0.096261],[-0.381144,-0.914371,-0.136583],[0.037390,-0.162859,0.985941]]2H`o4?@?`dؿB{@$?@Ŀ`ӌ?i2%T@I2"h_;2CYBڂByB IbDJVDJ0yR=%RV=ٔVbUQ-V>9TYT=ZDyZ!DZƺEZ>\Q 5b4^H?Q 9b4^)^SBYdyf+Q If?^!,DI^:i^,:^ 4yjBɮj AjEzB*** querying acoustic contact ***ix ixjh|FNOT Ignoring new targets: 136.44 m.Rh#Zh # ProNav: ac range: 136.442963 m, nav range: 106.214172 m, bearing: 205.095429 deg, approach rate: -0.671692 m/s, LOS rate: -0.006151 deg/s, cmd heading: 202.176427 deg, new cmd heading: 202.169373 deg. BhHeadingCmd: 3.528521 target range: 136.442963 and range: 132.60 m.h%Ka@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@aN@YeBɢ)  i ) 6U  i ɞikL05';5u E  E E *E "E :*E =:VE (N4ZE a @a @a @a @t,m?ABhT@Bb@B6ٱBUT) JAHRS rotation from veh to nav: [[-0.923918,0.370079,0.097044],[-0.380735,-0.914322,-0.138047],[0.037641,-0.164492,0.985660]]BH@^?@׸?]ؿBE?ſ?iBhT@IBx5_;@YzۂBy~ IAiMb@Mb@Mb@ 9uV?y&1?y&1|?Yr(?y`<`; A@  A)1AYzAbDVDy;%;=ٔQ->9Y=Dy!DԹE>Q 542?Q 94A)SBY(?Q E:y?-Q I?3,DI:ir<4y]Bɮ]!A]EjhFNOT Ignoring new targets: 136.44 m.Rh_7Zh_7 ProNav: ac range: 136.442963 m, nav range: 105.926140 m, bearing: 205.095955 deg, approach rate: -0.635271 m/s, LOS rate: 0.001164 deg/s, cmd heading: 202.169378 deg, new cmd heading: 202.170961 deg. BhrL8HeadingCmd: 3.528549 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffQBT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsedddjdZd /)@颵cBɢ) ᇾi)Pd项iiK0;  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA AAA AAB `>B =CB !IB BB =B B B ކ;B =E9 z,m?Az!T@zxb@zMٱzl* AHRS rotation from veh to nav: [[-0.923830,0.370123,0.097711],[-0.380922,-0.914114,-0.138904],[0.037907,-0.165544,0.985474]]zH@??aؿk@@h?@0ſ ?iz!T@IzP"_;zCYBy !IbD%VD%k1yE=%EQ=ٔM 2Q-U>9Y=Dy)!DG:E>Q 54?Q 94/)TBYy;-Q I?D,DIP;il;4yBɮ AE5 E5E5,E1"E5[:*E5A:VE5g4ZE1BE5ԙ ,n?AF)T@Fb@FٱF+ ZAHRS rotation from veh to nav: [[-0.923655,0.370394,0.098339],[-0.381333,-0.913789,-0.139908],[0.038040,-0.166727,0.985269]]FH@?,?`gؿ=y?NWſS?iF)T@IFB_;FCYrByr!IbD%VD%:2uT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseyb.=%I=ٔOQ->9Y=Dy9!D :E>yQ 54?Q 94V) TBYy4-Q I?W,DI/:i{:@4yBɮAEjh)5FNOT Ignoring new targets: 136.44 m.Rh5ґ7Zh=ґ7E ProNav: ac range: 136.442963 m, nav range: 105.377510 m, bearing: 205.096833 deg, approach rate: -0.668708 m/s, LOS rate: 0.000996 deg/s, cmd heading: 202.172329 deg, new cmd heading: 202.173599 deg. BhM.8HeadingCmd: 3.528595 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffdddjdZd@!y@ `BɢR) xRi)%*|!IiMֱi]4K0]a;ee CAy I I G jAO >,o!n?AMA ɰ";6z96jAY6dAY5By5!IiMb@Mb@Mb@ 9L7A`?I +?Y+'?y94<A )YAbDVD:yO%8=ٔQ->9Y=DyK!DE>Q 54R?Q 94)TBY1'?Q E:y/Q I?h,DIa:i:Y4y ɮA)jh9=FNOT Ignoring new targets: 136.44 m.RhE'9ZhE'9U ProNav: ac range: 136.442963 m, nav range: 105.112938 m, bearing: 205.103134 deg, approach rate: -0.664343 m/s, LOS rate: 0.015863 deg/s, cmd heading: 202.173599 deg, new cmd heading: 202.192551 deg. BhU/.:]HeadingCmd: 3.528926 target range: 136.442963 and range: 132.60 m.h]a@hY*hY"hY hYgafaff\Bdd d jd Zd <@颅^BɢL) Qi)舃顑i4iE0z;8B B .!IB  BB B B B Ն;B =E9@9 @9@=/@9aE EE,E"E:*EF:VEg4ZEBEA >u T****** received valid address query ******u R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseԩ A I I! O5 >5, ;n?A20T@2%b@2ٱ2- :AHRS rotation from veh to nav: [[-0.923491,0.370636,0.098957],[-0.381725,-0.913435,-0.141150],[0.038076,-0.168126,0.985030]]2H>?AU?@-nؿ@:7¿~?@#ſ]?i20T@I2^;2CYrByr!IbDz VDz:2y%=%-X=ٔ-BĸQ-->91Y1=5Dy5[!D5Ւ:E5>9Q 5E4=Ṋ?Q 9M4=)=*TBYIyM/Q IM?=w,DI=w:i=,:=4yUBɮUAA}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.Rh9Zh9 ProNav: ac range: 136.442963 m, nav range: 104.865952 m, bearing: 205.108985 deg, approach rate: -0.638190 m/s, LOS rate: 0.015153 deg/s, cmd heading: 202.192546 deg, new cmd heading: 202.210139 deg. Bhc&:HeadingCmd: 3.529233 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgf f f d ddjd1Zd5,@颅]Bɢ@) jBi)2顉iIԑi@0Ϲ; ,GrUn?AY~By~"!IiMb@Mb@Mb@ 9p= ף?9Y=Dyl!DE>Q 54˹?Q 94F)8TBY"%?Q E:y/Q I?,DI:i:a4yՖBɮAEjhFNOT Ignoring new targets: 136.44 m.Rh% 9Zh% 9=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse5 ProNav: ac range: 136.442963 m, nav range: 104.593048 m, bearing: 205.115554 deg, approach rate: -0.656705 m/s, LOS rate: 0.015851 deg/s, cmd heading: 202.210141 deg, new cmd heading: 202.229902 deg. BhE .:EHeadingCmd: 3.529578 target range: 136.442963 and range: 132.60 m.hMa@hI*hI"hI hIgIfIfQfUhBdQdYdYjdYZd]` <@颍[Bɢ3) 3i)Hی顑ii;0;mB B G!IB BB B B B B =EA I I O >.I,Von?A$$f;T@fa1b@fٱf, / rAHRS rotation from veh to nav: [[-0.923223,0.371100,0.099724],[-0.382381,-0.912887,-0.142905],[0.038005,-0.170066,0.984700]]fH` @?@?`xؿ^6J¿`mu?ſ?if;T@If];fCYzByz!IE EE)E"EI:*E?:VEFA4ZEBE9Q-=>99Y9==Dy=|!DE:EE>IQ 5U4M?Q 9U4M)METBYQy]/Q I]?M,DIM3;iM/;M4yaɮeAajhFNOT Ignoring new targets: 136.44 m.Rht9Zht9 ProNav: ac range: 136.442963 m, nav range: 104.344727 m, bearing: 205.121462 deg, approach rate: -0.643709 m/s, LOS rate: 0.015350 deg/s, cmd heading: 202.229908 deg, new cmd heading: 202.247672 deg. Bh(:HeadingCmd: 3.529888 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffdddjdZd@ZBɢa) 9ii)ukqqiui}60}@;}x[[/,*n?A^T****** received valid address query ******^R****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsehJCT@JU9b@Jk2ٱJ/ AHRS rotation from veh to nav: [[-0.923033,0.371459,0.100143],[-0.382828,-0.912622,-0.143402],[0.038125,-0.170703,0.984585]]JH |@???ؿ24[¿@?ſ?iJCT@IJu];JCYBy(!IiMb@Mb@Mb@ 9S㥛?9Y=Dy!D:E>E EE*E"Ey:*E=:VE(N4ZEa@a@a@a@Q 5%4🹊?Q 9%4)PTBY-$?Q E-:y- /Q I-?,DIa;i* ;ǥ4y5ǖBɮ5A=EjhY]FNOT Ignoring new targets: 136.44 m.Rhe;O9Zh;O9 ProNav: ac range: 136.442963 m, nav range: 104.027481 m, bearing: 205.127063 deg, approach rate: -0.639394 m/s, LOS rate: 0.011323 deg/s, cmd heading: 202.247666 deg, new cmd heading: 202.264521 deg. Bh9HeadingCmd: 3.530182 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgf!f!f%^Bd)d)d)jd)Zd-@额XBɢk) #i)ꖻiH i510S;{n,mn?A2GT@29j ?Yj ?=nDyn!Dn):En>pQ 5v4r_?Q 9v4r)rXTBYxyz /Q Iz?r,DIr:irA:r@Υ4y~Bɮ~A|jh!%FNOT Ignoring new targets: 136.44 m.Rh-Q9Zh-Q9= ProNav: ac range: 136.442963 m, nav range: 103.787704 m, bearing: 205.131292 deg, approach rate: -0.648809 m/s, LOS rate: 0.011470 deg/s, cmd heading: 202.264523 deg, new cmd heading: 202.277240 deg. Bh=9EHeadingCmd: 3.530404 target range: 136.442963 and range: 132.60 m.hE#a@hA*hA"hI hIgIfIfIfQdQdQdQjdQZd] @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBBԡ J,6n?A4<ɰ4<5UT@52Kb@5ٱ5d0- EAHRS rotation from veh to nav: [[-0.922602,0.372652,0.099679],[-0.383829,-0.912600,-0.140841],[0.038482,-0.168200,0.985001]]5H??ؿ4¿?`ſ!?i5UT@I5*];1YUByU !IIe<)e<bDuVDu3yŻ%?=ٔ/Q->9Y=Dy!D ;E>Q 54Jx?Q 94m )aTBYy.Q I?,DI;i;ե4yɮAB*** querying acoustic contact ***i ijhq}FNOT Ignoring new targets: 136.44 m.Rh}A9Zh}A9 ProNav: ac range: 136.442963 m, nav range: 103.515350 m, bearing: 205.135984 deg, approach rate: -0.613286 m/s, LOS rate: 0.010593 deg/s, cmd heading: 202.277241 deg, new cmd heading: 202.291353 deg. Bh9ԑHeadingCmd: 3.530650 target range: 136.442963 and range: 132.60 m.h,a@h*h"h hgfffdddjdZd!@VBɢ߂)! %,i!)%˲!!i%"i-)0-;}"N,_n?AFXT@F*Nb@F\aٱFJ- NAHRS rotation from veh to nav: [[-0.922526,0.372780,0.099902],[-0.383993,-0.912530,-0.140849],[0.038657,-0.168298,0.984978]]FHV? %?Wؿr3W¿@ʣ?͊ſ ?iFXT@IF];DYVByV&!IiMb@Mb@Mb@ 9M?~jtxy&1|?Yn2?yĻ`;QAr@ A)AYAbD VD2y+<%<=ٔ yӹQ- >9 "?Y"?=Dy!D9E>Q 5%4`?Q 9%4o )qTBY-r2?Q E-:y-@0Q I-?,DI;i;>ݥ4y5Bɮ=1A=EԉjhFNOT Ignoring new targets: 136.44 m.Rh9Zh9 ProNav: ac range: 136.442963 m, nav range: 103.213188 m, bearing: 205.144558 deg, approach rate: -0.709050 m/s, LOS rate: 0.020180 deg/s, cmd heading: 202.291352 deg, new cmd heading: 202.317151 deg. Bh]:HeadingCmd: 3.531101 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgffAfM=BdIdIdIjdQZdU!@颽UBɢ#~)  i)2i '$i("0%Z;?BBf!IB9BBBBB;B/=EB=CBBBǘ =BǙ =C4^A h%<D =D 4=E  E E -E "E :*E A:VE t4ZE BE > ͼ,ln?ANYT@N2Ob@NBٱNV- VAHRS rotation from veh to nav: [[-0.922495,0.372799,0.100123],[-0.384048,-0.912514,-0.140803],[0.038872,-0.168342,0.984962]]NH@@?ਡ?=ؿ P3@¿ ? >ſ΄?iNYT@IN"];LY^By` fR=f=bDjVDj2yr~%r`=ٔrQ-v>9tYt=vDyv!Dz49Ez>|Q 54~L?Q 94~)~~TBYy?0Q I ?~,DI~Y;i~:~4yBɮAEjh1=FNOT Ignoring new targets: 136.44 m.RhE9ZhE9U ProNav: ac range: 136.442963 m, nav range: 102.959114 m, bearing: 205.151798 deg, approach rate: -0.719608 m/s, LOS rate: 0.020557 deg/s, cmd heading: 202.317156 deg, new cmd heading: 202.338930 deg. BhUa:UHeadingCmd: 3.531481 target range: 136.442963 and range: 132.60 m.h]b@hY*hY"hY hYgYfafafadadidijdiZdmI"@额TBɢዼ) i)顡i%i0㌻;>Mm T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapsea,&o?ADDEu EuEu,Eq"Euغ:*Eu3:VEug4ZEqa}@a}@a}@a}@YBy!Ii Mb@Mb@Mb@     9 ?Mb?I +Y f&?y < 94 A E@ A) xA Y AbD!VD!y5 M%56=ٔ=Q-=>99Y9==DyE!DEEE>IQ 5U4MW6?Q 9U4M)MTBYUy&?Q E]:y]q.Q I]?M-DIM:iMn:My4yeBɮeA Ejh  FNOT Ignoring new targets: 136.44 m.RhY9ZhY9 ProNav: ac range: 136.442963 m, nav range: 102.667313 m, bearing: 205.155557 deg, approach rate: -0.627504 m/s, LOS rate: 0.008106 deg/s, cmd heading: 202.338931 deg, new cmd heading: 202.350239 deg. Bh%9MHeadingCmd: 3.531678 target range: 136.442963 and range: 132.60 m.hMb@hI*hI"hI hIgIfQfQfUBdQdYdYjdYZd]`#@a颭SBɢ8) 3i)顱i|&i0һ;Qo,/)o?A2ZT@2Pb@2;!ٱ2- :AHRS rotation from veh to nav: [[-0.922445,0.372781,0.100649],[-0.384119,-0.912485,-0.140799],[0.039353,-0.168541,0.984909]]2H?#Ĺ?gؿ 3`¿#&?ſ_?i2ZT@I2"];0Y@yB!IHbDNVDN02yṾ%Vg=ٔZ+Q-Z>9XY\=^Dy^!D^uz9E^>`Q 5f4b$?Q 9f4b)bTBYhyjp.Q Ij?b-DIbj;ib;b4ynBɮnvApBABE`!IBE4BBE =BABABE܆;BE=EQBɢeъ)i mX1ii)uhqqiu&'i}#0}m ;,xECo?A2WT@2=Mb@2"ٱ2:, :AHRS rotation from veh to nav: [[-0.922512,0.372647,0.100530],[-0.383926,-0.912722,-0.139785],[0.039665,-0.167549,0.985065]]2H7t?N?=ؿ`5y@N??rſ?i2WT@I2];2CYBByB!IJAAHbDJVDJyz3%zG=ٔ~F|Q-~>9Y=Dy"D E >Q 54?Q 94\)TBYys.Q I%?$-DI;i4y-Bɮ-CA-EEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 136.44 m.Rh]9Zh]9m ProNav: ac range: 136.442963 m, nav range: 102.169289 m, bearing: 205.162027 deg, approach rate: -0.650572 m/s, LOS rate: 0.008524 deg/s, cmd heading: 202.359176 deg, new cmd heading: 202.369703 deg. Bhm09uHeadingCmd: 3.532018 target range: 136.442963 and range: 132.60 m.hu b@hq*hq"hq hygyfyfyfdddjdZd$@颵PBɢ ) =i)}项i(i 0L:;ԁ  2Acoustic response timeout,y ]o?A;ɰ2{PT@2'Fb@2׬#ٱ2#+ :AHRS rotation from veh to nav: [[-0.922667,0.372344,0.100225],[-0.383522,-0.913089,-0.138489],[0.039949,-0.166218,0.985280]]2H@}}?_?ؿ@8` 6t?Fſh?i2{PT@I2->];2CYBByB!Ii Mb@Mb@Mb@     9 Zd;O?/$?~jtY ~*?y ,=  ;A /@ tA) A Y bD%VD%k1y5c=%5F=Yٔ=4Q->9Y=Dy"DӅE>Q 54~?Q 94)Y*?Q E:y.,Q I?6-DI?;iS+<C4%=G9Qyizt9Y_Aɮ}AjhFNOT Ignoring new targets: 136.44 m.RhaZha ProNav: ac range: 136.442963 m, nav range: 101.886520 m, bearing: 205.160100 deg, approach rate: -0.625230 m/s, LOS rate: -0.004272 deg/s, cmd heading: 202.369708 deg, new cmd heading: 202.363911 deg. Bh; HeadingCmd: 3.531917 target range: 136.442963 and range: 132.60 m.h  b@h)*h)"h1 h1g1f1f9f=Bd9d9d9jdAZdE _%@颭NBɢ=) "i)k顱i)i0#s; E  E E *E "E غ:*E 3:VE (N4ZE BE ?,6wo?A>BT@>8b@>$ٱ>U* FAHRS rotation from veh to nav: [[-0.922980,0.371653,0.099905],[-0.382758,-0.913511,-0.137819],[0.040043,-0.165444,0.985406]]>H@+?c? ؿz;?D-ſr?i>BT@I>.];>CYNByN!IbDVVDVy^S%bM=ٔbxQ-b>9`Yd=fDyf""Df^ Ef>hQ 5n4j渊?Q 9r4j)jTBYpyr;,Q Ir?jG-DIj:ij:j4yvBɮvAzEjhFNOT Ignoring new targets: 136.44 m.RhZh- ProNav: ac range: 136.442963 m, nav range: 101.628738 m, bearing: 205.158450 deg, approach rate: -0.721989 m/s, LOS rate: -0.004634 deg/s, cmd heading: 202.363916 deg, new cmd heading: 202.358953 deg. Bh-K5HeadingCmd: 3.531830 target range: 136.442963 and range: 132.60 m.h5 b@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM&@q}MBɢ}) J-i)fh顁i<*i40;m 2Acoustic response timeout &,Yjo?AFO9Y=Dy4"DqE>Q 54и?Q 94!)TBY_)?Q E:y+Q I?Y-DI ;i" ;4yɮAjh!%FNOT Ignoring new targets: 136.44 m.Rh-8ظZh-8ظ= ProNav: ac range: 136.442963 m, nav range: 101.338753 m, bearing: 205.155867 deg, approach rate: -0.661372 m/s, LOS rate: -0.005907 deg/s, cmd heading: 202.358957 deg, new cmd heading: 202.351187 deg. Bh=EHeadingCmd: 3.531694 target range: 136.442963 and range: 132.60 m.hEHb@hA*hA"hI hIgIfIfQfUBdQdQdYjdYZd]`}'@颅KBɢ"2)  *i )P4ûiH,im0ͻ;_L,1o?A((V\8T@V.b@V$ٱV)f2Acoustic response timeout jAHRS rotation from veh to nav: [[-0.923227,0.371127,0.099584],[-0.382162,-0.913842,-0.137277],[0.040057,-0.164795,0.985514]]VH@?S~?Wuؿ1>`H`S?ſU?iV\8T@IV];VCYzByx AbDVD1y-%-U=ٔ5.9Q-5>9AYA=EDyED"DM$EM>QQ 5]4U?Q 9]4U$)UTBYaye+Q Ie?Uj-DIU;iU;Ub4ym~BɮmHAmEBX>BBBBBBB;B BDAT read: Tx time:00:33:04.3964 $Ping request sent.Թ \7,o?A2P;T@20b@2|#ٱ2) :AHRS rotation from veh to nav: [[-0.923164,0.371297,0.099537],[-0.382331,-0.913740,-0.137486],[0.039903,-0.164978,0.985490]]2H` T?A{?@xؿ[=`'`n?ſ!?i2P;T@I2 ];2CYBByB !IbDnVDn2yvQ=%vN=ٔz(9Q-z>9|Y|=~Dy~T"D~*9E~>Q 5 4?Q 9 4')TBYy+Q I?z-DIR:i-;H4yqBɮ%A%E=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 136.44 m.RhUZhUe ProNav: ac range: 136.442963 m, nav range: 100.823441 m, bearing: 205.151283 deg, approach rate: -0.702292 m/s, LOS rate: -0.006314 deg/s, cmd heading: 202.344436 deg, new cmd heading: 202.337393 deg. BhemHeadingCmd: 3.531454 target range: 136.442963 and range: 132.60 m.hmVb@hi*hi"hi higifqfqfqdydydyjdyZd} )@颭GBɢ∼) i) ˻顱i4.i_0;} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159 :_,o?AYBy!IiMb@Mb@Mb@ 9L7A`?)\(?{GzY+'?yGa=#$A@ tA)AYAbDVDyl%<=ٔQ->9 ?Y ?=Dye"DE>Q 54?Q 94D+)TBY'?Q E:y*Q I?-DI;i: ;#4y ɮ A jh15FNOT Ignoring new targets: 136.44 m.Rh=oiZh=oiM ProNav: ac range: 136.442963 m, nav range: 100.539375 m, bearing: 205.145773 deg, approach rate: -0.655816 m/s, LOS rate: -0.012755 deg/s, cmd heading: 202.337387 deg, new cmd heading: 202.320813 deg. BhM UHeadingCmd: 3.531164 target range: 136.442963 and range: 132.60 m.hUa@hQ*hQ"hQ hQgYfYfYf]BdadadajdaZdmr)@颕EBɢ⌼) \%i)۠ϻ顙ip/i!0+;pB]=CB]Z!IB]/BB] =BYB]DB];B],o?A02%T@2wb@2f"ٱ2' >AHRS rotation from veh to nav: [[-0.923675,0.370336,0.098367],[-0.381122,-0.914487,-0.135868],[0.039638,-0.162988,0.985832]]2H@?@.? MdؿyC d xK? Ŀ?i2%T@I2F1];2CYnByn)!Iv=v=bDzVDz0y=%Y=ٔ_8:Q- >9 Y = Dy t"DdE>Q 5%4#?Q 9%46.)TBY)y-*Q I-?-DI:i:o*4y5cBɮ5A1jhY]FNOT Ignoring new targets: 136.44 m.RheaZheau ProNav: ac range: 136.442963 m, nav range: 100.292969 m, bearing: 205.141146 deg, approach rate: -0.654819 m/s, LOS rate: -0.012328 deg/s, cmd heading: 202.320817 deg, new cmd heading: 202.306901 deg. Bhu]}HeadingCmd: 3.530921 target range: 136.442963 and range: 132.60 m.h}a@hy*hy"hy hygfffdddjdZd *@颽CBɢz^u) i)_һi$1i%0D;|);Ia@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006202ԑ9@ @@-0@Թ^AA>A>A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258272 I O >tt,hp?A\bE(N4jErO4rE/E~ E~E~*E|"E~:*E~ H:VE~(N4ZE|a @a @a @a @YuByu5!IiMb@Mb@Mb@ 9HzG?v/?y&1|Y=*?yxi=`A@ GA)bAY(AbD VD2y%v4=%%9=ٔ%Q-%>9)Y)=-Dy-"D5E5>9Q 5E4= l?Q 9E4=1)=TBYE*?Q EE:yE*Q IE?=-DI=Q;i=:='24yUoBɮUAU$Ejhy}FNOT Ignoring new targets: 136.44 m.RhvZhv ProNav: ac range: 136.442963 m, nav range: 99.998360 m, bearing: 205.135203 deg, approach rate: -0.667072 m/s, LOS rate: -0.013495 deg/s, cmd heading: 202.306897 deg, new cmd heading: 202.289018 deg. Bh.HeadingCmd: 3.530609 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffBddAdIjdIZdM +@额ABɢN) i)lջ顱i2i4*0Ci;>;Ia@II)cAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510219]9@Y @Y@e 0@a^A ;9 A ؟AI I O% >k ,|,p?ARJ?RE?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763536fT@fdb@BrW>BrBBr =BpBrDBrÆ;Br9"?Y"?=Dy"DnEE>Q 54X?Q 944)TBYy*Q I?-DI0;i$1;84yɮAjhFNOT Ignoring new targets: 136.44 m.RhcZhc ProNav: ac range: 136.442963 m, nav range: 99.740135 m, bearing: 205.130140 deg, approach rate: -0.632342 m/s, LOS rate: -0.012432 deg/s, cmd heading: 202.289016 deg, new cmd heading: 202.273785 deg. BhHeadingCmd: 3.530344 target range: 136.442963 and range: 132.60 m.h&a@h*h"h hgfffd ddjdZdzb,@]?Bɢe6)a eia)e׻ii>4i.0l|;';I&a@IE EE)E"E:*EX:VEFA4ZEBE,WFp?A:T@:Jb@:4ٱ:Ej( FAHRS rotation from veh to nav: [[-0.924231,0.369209,0.097377],[-0.379888,-0.914832,-0.136994],[0.038504,-0.163606,0.985774]]:H@L??PؿMFǶ? Ŀ v?i:T@I:!];:CYN$ByNM!IPRAbDVVDVy^p=%^Y=ٔb:Q-b>9`Yd=fDyf"DfPEf>hQ 5n4jE?Q 9r4j7)jTBYpyr*Q Ir?j-DIj;ij;ju?4yvbBɮvAz#E B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 136.44 m.Rh%}Zh%}5 ProNav: ac range: 136.442963 m, nav range: 99.490456 m, bearing: 205.125247 deg, approach rate: -0.706173 m/s, LOS rate: -0.013872 deg/s, cmd heading: 202.273785 deg, new cmd heading: 202.259071 deg. Bh5R5HeadingCmd: 3.530087 target range: 136.442963 and range: 132.60 m.h=a@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMK-@y}=Bɢ') 0Ei)2ػ顁i5i20;;Ia@I1@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267586ԱE= E=E=,E9"E=:*E=VL:VE=g4ZE9a]@a]@a]@a]@^A0;I I O- > e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181013,2`p?A2T@2Sb@2aٱ2( :AHRS rotation from veh to nav: [[-0.924242,0.369251,0.097112],[-0.379895,-0.914795,-0.137219],[0.038169,-0.163716,0.985769]]2H`cϡ?Sܸ?`3PؿF eꊣ?Ŀk?i2T@I2?];2CYB3ByB_!IiEMb@Mb@Mb@AAAA A9ES㥛?{Gz?Mb?YE$?yE#=E9iYq=uDyu"Du36Eu>yQ 54}1?Q 94};)}TBY1%?Q E:y ,Q I?}-DI} :i}:}F4yɮwAjhFNOT Ignoring new targets: 136.44 m.RhɸZhɸ ProNav: ac range: 136.442963 m, nav range: 99.215942 m, bearing: 205.122910 deg, approach rate: -0.645341 m/s, LOS rate: -0.005510 deg/s, cmd heading: 202.259072 deg, new cmd heading: 202.252041 deg. BhrHeadingCmd: 3.529964 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffBdddjdZd}-@%:Bɢ%._)- -ci))-ػ))i-77i540=;=Z;I=a@I99@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771158BABBB!IBRBB =BBBȆ;B=E^A9I I O >E-  E- E) E) "E- غ:*E- C:VE) ZE) BE- ſ`܊?i2T@I2P];2CYB1ByB]!IbDJVDJyR]%RX=ٔV޿:Q-V>9TYT=VDyV"DZq:EZ>\Q 5b4^?Q 9b4^=)^TBY`yf,Q If?^-DI^;i^;^M4yjUBɮjAj"Ejh|~FNOT Ignoring new targets: 136.44 m.RhjиZhjи ProNav: ac range: 136.442963 m, nav range: 98.971687 m, bearing: 205.120758 deg, approach rate: -0.644763 m/s, LOS rate: -0.005694 deg/s, cmd heading: 202.252037 deg, new cmd heading: 202.245566 deg. BhzHeadingCmd: 3.529851 target range: 136.442963 and range: 132.60 m.ha@h*h"h hg!f!f!f!d)d)d)jd)Zd-@.@]8Bɢ])a eVia)eػaaie8im60ml;m!;Iua@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0223511M9@I @I@I@Ia^AIԉIIO> > R= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274604Թ $,#p?AEv EvEv)Et"Ev7:*Ev.:VEvFA4ZEtaz@az@az@az@%T@%e b@%ٱ%v) =AHRS rotation from veh to nav: [[-0.924108,0.369690,0.096710],[-0.380306,-0.914455,-0.138343],[0.037293,-0.164623,0.985651]]%HK`?¸?Vؿ7C`7`?``ſ`t?i%T@I%];%CYEBByEq!IIMi>)M;U=U=iMb@Mb@Mb@ 9"~j?V-?y&1|?YS#?y<`;A ^A)YAbDVD1y=%6=ٔ;:Q->9Y=Dy"D յE >Q 54?Q 94A)TBY#?Q E:y-Q I%?.DI;i;]U4y-HBԉɮ-/AjhFNOT Ignoring new targets: 136.44 m.Rh=7Zh=7% ProNav: ac range: 136.442963 m, nav range: 98.685219 m, bearing: 205.120987 deg, approach rate: -0.610657 m/s, LOS rate: 0.000489 deg/s, cmd heading: 202.245562 deg, new cmd heading: 202.246251 deg. Bh-7-HeadingCmd: 3.529863 target range: 136.442963 and range: 132.60 m.h-Fa@h1*h1"h1 h1g1f1f9f=#Bd9d9dAjdAZdE=/@6Bɢ)  @*,ǭp?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779540B:X>B8B:!IB:lBB: =B8B8B:;B:9Y=Dy"D_ E>Q 54?Q 94C)TBYy$-Q I?.DI ;i ;0\4yɮAjhFNOT Ignoring new targets: 136.44 m.Rh}7Zh}7 ProNav: ac range: 136.442963 m, nav range: 98.435982 m, bearing: 205.121307 deg, approach rate: -0.673081 m/s, LOS rate: 0.000867 deg/s, cmd heading: 202.246245 deg, new cmd heading: 202.247209 deg. BhT8 HeadingCmd: 3.529880 target range: 136.442963 and range: 132.60 m.h a@h *h"h hgfffddd!jd!Zd%k.0@U4BɢU)Q U(}=iQ)]ֻYYi]bR2,p?A>T@>a@>bٱ>) FAHRS rotation from veh to nav: [[-0.924468,0.368948,0.096104],[-0.379488,-0.914729,-0.138778],[0.036707,-0.164766,0.985649]]>H>֜?@D?IؿvE`|Hˢ?`ſp?i>T@I>B0];>CYNTByN!I TV4=bDVVDV0y^O;%^H=ٔb:Q-b>9`Yd=fDyf"Dfm2Ef>hQ 5n4j᷊?Q 9r4jF)jTBYpyr%-Q Ir?j$.DIj:ij:jWc4yv;Bɮv2Az!E B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 136.44 m.Rh%!y7Zh%!y75 ProNav: ac range: 136.442963 m, nav range: 98.174713 m, bearing: 205.121655 deg, approach rate: -0.637468 m/s, LOS rate: 0.000851 deg/s, cmd heading: 202.247215 deg, new cmd heading: 202.248261 deg. Bh5z8=HeadingCmd: 3.529898 target range: 136.442963 and range: 132.60 m.h=a@h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdMK0@}2Bɢ}8)y }D=i)Ի顁iB>i50z;y;Ia@IQ]+wchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2826199@ @@/@^AX;ԁIIE EE+E"E:*EVE [4ZEa=@a=@a=@aE@O]T>ԡE checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534095 Lx8,p?A2T@2 b@2ٱ2r+ :AHRS rotation from veh to nav: [[-0.924195,0.369440,0.096840],[-0.380166,-0.914165,-0.140625],[0.036575,-0.166780,0.985315]]2H?ʸ?Tؿ@¿@?Yſ ?i2T@I2S];2CYBcByB!Ii=Mb@Mb@Mb@9999 99=ˡE?Mb?~jth?Y='?y=<=D;9=@ 9)=@9Y=\AbDUVDUye=%mA=ٔm9Q-m>9iYq=uDyu #Du+:Eu>yQ 54}I̷?Q 94}I)}TBY'?Q E:y.Q I?}6.DI}.:i}X:}j4y.BɮTA EjhFNOT Ignoring new targets: 136.44 m.Rh$9Zh$9 ProNav: ac range: 136.442963 m, nav range: 97.896538 m, bearing: 205.125461 deg, approach rate: -0.656181 m/s, LOS rate: 0.009005 deg/s, cmd heading: 202.248267 deg, new cmd heading: 202.259719 deg. Bh9HeadingCmd: 3.530098 target range: 136.442963 and range: 132.60 m.h a@h*h"h hgfff5BdddjdZd@1@%0Bɢ%@9)! %=i!)-`һ))i-P@i5205Q;5;I5 a@I9ԱAaAe@ABu`>Bu=CBu!IBuBBu =BqBuDBu;BuE@,Pq?A2 T@2b@2ٱ2B, :AHRS rotation from veh to nav: [[-0.924070,0.369805,0.096639],[-0.380509,-0.913953,-0.141075],[0.036153,-0.167136,0.985271]]2H`?X?DZؿ?¿? dſV?i2 T@I2/];0YVgByV!IbDbVDbyf<%f1=hٔno:Q-n>9lYl=rDyr#DrN:Er>tQ 5z4v괷?Q 9z4vL)vTBY|y~y.Q I~?vI.DIv ;iv;vr4yɮ2Ajh)-FNOT Ignoring new targets: 136.44 m.Rh5#9Zh5#9E ProNav: ac range: 136.442963 m, nav range: 97.593513 m, bearing: 205.129568 deg, approach rate: -0.655621 m/s, LOS rate: 0.008912 deg/s, cmd heading: 202.259714 deg, new cmd heading: 202.272072 deg. BhE9MHeadingCmd: 3.530314 target range: 136.442963 and range: 132.60 m.hMa@hI*hI"hI hIgQfQfQfYdYdYdYjdYZde@0z1@颕-BɢZ:) =i)λ顙i˒Bi /08;q;Ia@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.2912079@ @@@1E  E E -E "E :*E L_:VE t4ZE a5 @a5 @a5 @a= @Y ^A I I O >G,sq?A:|"T@:'b@:kٱ:Ӻ+ FAHRS rotation from veh to nav: [[-0.923888,0.370371,0.096212],[-0.380991,-0.913783,-0.140880],[0.035739,-0.166813,0.985341]]:H|)?a?)bؿ=Y¿qL?"Zſ?i:|"T@I:w:];:CHYNxByN!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542189i5Mb@Mb@Mb@1111 195ˡE?Mb?~jth?Y1y115lA5@ 5A)5@1Y5 AAEAAbDMVDM1y]=%]9=ٔeru:Q-e>9aYa=mDym/#Dm:Em>qQ 5}4u?Q 9}4uO)uTBYyp.Q I?u\.DIut:iu:uz4y!BɮEAEjhFNOT Ignoring new targets: 136.44 m.Rhx 9Zhx 9 ProNav: ac range: 136.442963 m, nav range: 97.303917 m, bearing: 205.133428 deg, approach rate: -0.655803 m/s, LOS rate: 0.008768 deg/s, cmd heading: 202.272077 deg, new cmd heading: 202.283693 deg. Bh9uHeadingCmd: 3.530516 target range: 136.442963 and range: 132.60 m.hua@hq*hq"hq hqgqfyfyf}@BdyddjdZd`P1@+Bɢj;) >i)ʻikDi+0[;m;I%a@I)9@ @@_0@Bu^>BqBu!IBuBBqBqBqBu;Bu E5  E1 E5 *E1 "E5 >:*E1 VE5 (N4ZE1 BE5 7q?A4<ɰp;2&T@2Lb@2ٱ2[+ :AHRS rotation from veh to nav: [[-0.923812,0.370734,0.095538],[-0.381233,-0.913700,-0.140761],[0.035109,-0.166459,0.985423]]2Hޏ`?6u? fؿ=t¿?Nſ?i2&T@I2{];0YB}ByB!IbDNVDNN2|y5<%5M=ٔ=:Q-=>9AYA=EDyE?#DE&:EM>IQ 5U4My?Q 9U4MR)MUBYYy]l.Q I]?Ml.DIMe;iM;M4ye/BɮmAm(EjhFNOT Ignoring new targets: 136.44 m.Rhz9Zhz9 ProNav: ac range: 136.442963 m, nav range: 97.043015 m, bearing: 205.136887 deg, approach rate: -0.655549 m/s, LOS rate: 0.008714 deg/s, cmd heading: 202.283688 deg, new cmd heading: 202.294093 deg. Bh`9HeadingCmd: 3.530698 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffdddjdZd &Q2@*Bɢ;) '>i)ƻiFi(0w;,r;Ia@I 9@ @@4@@@gA5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0462231Y^A0;IQIiOu>ԁ %= a= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298410JT,Qq?A25T@2+b@2 ٱ2* :AHRS rotation from veh to nav: [[-0.923487,0.371801,0.094530],[-0.382106,-0.913400,-0.140342],[0.034164,-0.165724,0.985580]]2H@4?3? ltؿ:}?q6ſ߉?i25T@I2P];2CY^Byb!IbDjVDj0yr<%rP=ٔr;Q-r>9tYt=vDyvO#DzP;Ez>xYQ 54zv?Q 94zrU)zUBYy].Q I?z}.DIzii)m$iiiu{tIiu%0}.;} p=Z,jq?AY|By!IԹB!A%<B-Y>B-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8022069Y=Dyb#DE>Q 54`?Q 94X)UBY_#?Q E:y|.Q I?.DI ;iC ;g4y#Bɮ6A'EjhFNOT Ignoring new targets: 136.44 m.Rh+9Zh+9 ProNav: ac range: 136.442963 m, nav range: 96.492119 m, bearing: 205.144277 deg, approach rate: -0.668760 m/s, LOS rate: 0.009373 deg/s, cmd heading: 202.304001 deg, new cmd heading: 202.316335 deg. Bh9HeadingCmd: 3.531086 target range: 136.442963 and range: 132.60 m.hQa@h*h"h hg f f f DBdddjdZd33@%&Bɢ%>9;)) -P+>i))-Ļ))i5ʴKi5e"0=Ѿ;=a,q?A2XT@2BNb@2>ٱ2s( :AHRS rotation from veh to nav: [[-0.922733,0.374217,0.092331],[-0.384085,-0.912782,-0.138952],[0.032280,-0.163678,0.985986]]2H,??ڔؿ5+?iĿ1?i2XT@I2iP];2CYBByB!IbDNVDNN2yV8=%VY=ٔẒ;Q-Z>9XY\=^Dy^q#D^;E^>`Q 5f4bM?Q 9f4b[)bUBYhyjY.Q Ij?b.DIb ;ib;b4ynBɮnfAn&EjhFNOT Ignoring new targets: 136.44 m. Rh 9Zh9% ProNav: ac range: 136.442963 m, nav range: 96.252678 m, bearing: 205.147338 deg, approach rate: -0.638742 m/s, LOS rate: 0.008185 deg/s, cmd heading: 202.316337 deg, new cmd heading: 202.325542 deg. Bh%ó9-HeadingCmd: 3.531247 target range: 136.442963 and range: 132.60 m.h-a@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=3@ %Bɢ i\<) H>i)riۊMi0;%*d"M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558034g,̠q?A2cT@2oYb@28ٱ2& :AHRS rotation from veh to nav: [[-0.922500,0.375143,0.090896],[-0.384727,-0.912700,-0.137711],[0.031299,-0.162009,0.986293]]2H W?D?\ؿ`4m?`Ŀ?i2cT@I2r|];2CY@y@ieMb@Mb@Mb@aaaa a9euV?Mb?~jthqYer(?ye9Y=Dy#D:E>Q 547?Q 94^)&UBYv(?Q E:y /Q I?.DI ;i ;4yɮ`AjhFNOT Ignoring new targets: 136.44 m.Rhj9Zhj9 ProNav: ac range: 136.442963 m, nav range: 95.968307 m, bearing: 205.152861 deg, approach rate: -0.656534 m/s, LOS rate: 0.012790 deg/s, cmd heading: 202.325544 deg, new cmd heading: 202.342163 deg. Bhq : HeadingCmd: 3.531537 target range: 136.442963 and range: 132.60 m.h b@h *h "h hgfff8BdddjdZd%`o3@$Bɢ<) L>i)iOi0Q;:.$B=CB!IBBB =BBDBr;BD zD @AE  E E (E "E [:*E T:VE c44ZE BE hT@>c^b@>ٱ>Q $ bAHRS rotation from veh to nav: [[-0.922414,0.375806,0.089008],[-0.385018,-0.912865,-0.135787],[0.030222,-0.159521,0.986732]]>H@j4 ?3ɶ?#ؿ 16va?@1kĿN?i>hT@I>p];>CYhyhttbDvVDv02ٔ8;Q->9 ?Y ?=Dy#D N:E >Q 54$?Q 94`),UBYy%/Q I%?.DIL;iH;94y- Bɮ-A-%EjhQUFNOT Ignoring new targets: 136.44 m.Rh]i9Zh]i9m ProNav: ac range: 136.442963 m, nav range: 95.716118 m, bearing: 205.157739 deg, approach rate: -0.658572 m/s, LOS rate: 0.012772 deg/s, cmd heading: 202.342169 deg, new cmd heading: 202.356841 deg. Bhm= :uHeadingCmd: 3.531793 target range: 136.442963 and range: 132.60 m.hub@hq*hq"hq hqgqfyfyfydddjdZdr\4@颵#Bɢ*<)1 5*O>i1)=쬻99i=QiE0E;AIEb@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.0623139@ @@/@A^A checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314445A ؟AI! I9 OE >ԁ jt,kq?Aɰ4<2hT@2^b@2ٱ2E" :AHRS rotation from veh to nav: [[-0.922433,0.376117,0.087484],[-0.385038,-0.913078,-0.134292],[0.029370,-0.157560,0.987073]]2H`K?@Xe?@xؿ7y08?@*Ŀ ?i2hT@I2];2CYjByj!IbD VD y <%<ٔ ;Q->9%"?Y%"?=%Dy%#D%7E->)Q 554-??Q 954-}c)-3UBY9y9Q I=?-.DI-Y;i-;-Y4yEBɮM|AIB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.E EE)E"E:*EC:VEFA4ZEa%@a%@a%@a-@iRhRd9ZhRd9m ProNav: ac range: 136.442963 m, nav range: 95.448105 m, bearing: 205.162947 deg, approach rate: -0.640192 m/s, LOS rate: 0.012476 deg/s, cmd heading: 202.356840 deg, new cmd heading: 202.372509 deg. Bhm:HeadingCmd: 3.532067 target range: 136.442963 and range: 132.60 m.ha b@h*h"h hgfffdddjdZd4@!Bɢ <) nY>i!)MFIIiMT TiUS0U_;U p AU .AIa I O >D2{,q?AA4A6AAB:X>B:9 ?Y ?=Dy#DE:E>!Q 5-4%8?Q 9-4%f)%7UBY51?Q E5:y5U/Q I5?%.DI%C:i%L:%%4ayaɮeAajhFNOT Ignoring new targets: 136.44 m.Rh\9Zh\9 ProNav: ac range: 136.442963 m, nav range: 95.138512 m, bearing: 205.169884 deg, approach rate: -0.696996 m/s, LOS rate: 0.015667 deg/s, cmd heading: 202.372508 deg, new cmd heading: 202.393385 deg. Bh,:HeadingCmd: 3.532431 target range: 136.442963 and range: 132.60 m.hYb@h*h"h hgfff'BdddjdZd%j;5@颍 Bɢ#<) @Z>i)顑iVi]\ 0e-(;aIeYb@IaE EE.E"Em:*Ei:VEـ4ZEBEYZ,r?A0^mT@^\cb@^5ٱ^u& fAHRS rotation from veh to nav: [[-0.922372,0.376275,0.087450],[-0.385329,-0.912227,-0.139154],[0.027414,-0.162049,0.986402]]^H ?#c?<ؿ0 ?Ŀ?i^mT@I^z];^CYlyl v4=va=bDzVDz2yu%3=ٔd:Q->9 "?Y"?=Dy%#D-ڶE=>AQ 5E4E޶?Q 9M4Ei)E;UBYIyMV/Q IM?E.DIE:iE:E 4y]Bɮ]!A]$EjhyFNOT Ignoring new targets: 136.44 m.Rh9Zh9 ProNav: ac range: 136.442963 m, nav range: 94.821800 m, bearing: 205.177040 deg, approach rate: -0.707217 m/s, LOS rate: 0.016033 deg/s, cmd heading: 202.393381 deg, new cmd heading: 202.414921 deg. Bh 0:HeadingCmd: 3.532807 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfffddchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.322232djdZd[5@mBɢm_<)q u\>iq)uXqqiu=Xi30h;~,'r?A2kT@2ab@2ݼٱ22P& :AHRS rotation from veh to nav: [[-0.922426,0.376273,0.086887],[-0.385230,-0.912299,-0.138951],[0.026984,-0.161643,0.986480]]2H@ ?@A>?`ؿ1@"?`Ŀ??i2kT@I2\];0YBByB!IPi5Mb@Mb@Mb@1111 195v/?~jt?{GzY5x)?y5=15?A1 1)5=@1Y5pAbDMVDM1yF<%?=ٔ:Q->9 ?Y ?=Dy#D1E>Q 54Cɶ?Q 94(m)Y)?Q E:yG,Q I? /DI=N;iL;æ4y BɮA#EjhIUFNOT Ignoring new targets: 136.44 m.Rh]ŖZh]Ŗu ProNav: ac range: 136.442963 m, nav range: 94.540100 m, bearing: 205.175277 deg, approach rate: -0.656166 m/s, LOS rate: -0.004119 deg/s, cmd heading: 202.414924 deg, new cmd heading: 202.409618 deg. Bhu4}HeadingCmd: 3.532714 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfff$BdddjdZd@\6@}Bɢ9)<) Bc>i)iaZi0ګ;BBBB =BBB;Bi,Ar?AiIAbT@>SXb@>-ټٱ>% FAHRS rotation from veh to nav: [[-0.922654,0.375859,0.086258],[-0.384718,-0.912524,-0.138894],[0.026508,-0.161336,0.986543]]>Ha ??`6ؿf3 H`$? ĿÑ?i>bT@I>B];9m"?Ym"?=mDym#DmüEu>qQ 54u?Q 94up)ui)i4\i 0;,[r?AU1ST@UHb@UKͼٱU%a mAHRS rotation from veh to nav: [[-0.923051,0.375217,0.084788],[-0.383861,-0.912795,-0.139483],[0.025058,-0.161297,0.986588]]UHࡉ@?`?-ؿ5`?]Ŀ ?iU1ST@IU^;UCY}By}!IiMb@Mb@Mb@ 9ʡE? ףp= ?y&1Y/?yQ8=`e(Az@ A)j@YA@AbDVDy-s=%->=ٔ-R];Q-5>95 ?Y5 ?=5Dy5#D=E=>AQ 5M4EL?Q 9M4Es)E:UBYU0?Q EU:yU+Q IU?E0/DIE":iE :EѦ4y]Bɮ]Aa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 136.44 m.RhZh ProNav: ac range: 136.442963 m, nav range: 93.986389 m, bearing: 205.170840 deg, approach rate: -0.699697 m/s, LOS rate: -0.006883 deg/s, cmd heading: 202.404993 deg, new cmd heading: 202.396271 deg. Bh*HeadingCmd: 3.532481 target range: 136.442963 and range: 132.60 m.h-b@h*h"h hgfffBdddjdZd`6@=2Acoustic response timeout颅Bɢ:<) l>i)n顉iB^i 0^ ;) ,81ur?AYrByv!IbDVDk2y-K-=%-^=ٔ-Q-5>95"?Y5"?=5Dy5$D=E=>AQ 5M4E)?Q 9M4Etv)E9UBYIyIQ IU?E@/DIEt:iE:EJئ4y]Bɮ]|A]+EjhFNOT Ignoring new targets: 136.44 m.RhFZhF ProNav: ac range: 136.442963 m, nav range: 93.733589 m, bearing: 205.168346 deg, approach rate: -0.688564 m/s, LOS rate: -0.006810 deg/s, cmd heading: 202.396277 deg, new cmd heading: 202.388776 deg. BhHeadingCmd: 3.532351 target range: 136.442963 and range: 132.60 m.hb@h*h"h hgfffdddjdZdH7@ɢ o<) h}>i)4˂iz`i 02; a v,x%r?A2xGT@2#=b@2ļٱ2% :AHRS rotation from veh to nav: [[-0.923349,0.374742,0.083639],[-0.383210,-0.913036,-0.139699],[0.024015,-0.161042,0.986655]]2H@?]i?ؿ7@@C?Ŀ`?i2xGT@I2_;0Y@y@bDRVDRٔf .;Q-j>9j ?Yj ?=jDyj$DnEn>pQ 5v4rw?Q 9v4ry)r7UBYtyv+Q Iz?rQ/DIr ;ir ;r(ߦ4y|ɮ||jh!%FNOT Ignoring new targets: 136.44 m.Rh-MZh-M= ProNav: ac range: 136.442963 m, nav range: 93.463402 m, bearing: 205.165784 deg, approach rate: -0.687286 m/s, LOS rate: -0.006538 deg/s, cmd heading: 202.388778 deg, new cmd heading: 202.381067 deg. Bh=EHeadingCmd: 3.532216 target range: 136.442963 and range: 132.60 m.hEb@hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU@/7@颅Bɢ a<) ~>i)x2Acoustic response timeout)顉IiMhbiM0UY;Uԩ ,r?A65T@60+b@6ùٱ6% BAHRS rotation from veh to nav: [[-0.923797,0.373936,0.082284],[-0.382210,-0.913355,-0.140347],[0.022674,-0.161102,0.986677]]6H ?? "vؿ 5:`7?Ŀ@ܒ?i65T@I6>`;6CYZByZ!Ii=Mb@Mb@Mb@9999 99=oʡ??9Y=Dy)$D(E>Q 54a?Q 94|)6UBY-?Q E:ym+Q I?d/DIN;i N;4yޕBɮA*EjhFNOT Ignoring new targets: 136.44 m.ԙRh-Zh- ProNav: ac range: 136.442963 m, nav range: 93.173965 m, bearing: 205.161550 deg, approach rate: -0.646150 m/s, LOS rate: -0.009482 deg/s, cmd heading: 202.381073 deg, new cmd heading: 202.368331 deg. Bh;йHeadingCmd: 3.531994 target range: 136.442963 and range: 132.60 m.h/ b@h*h"h hgfffBd d d jd)Zd5#8@}Bɢ}V<)y >i)bi顁i]4dBW>BBBB =BBB;B V, r?A2Acoustic response timeout "@VT@Vhb@VIٱV>% ^AHRS rotation from veh to nav: [[-0.924491,0.372774,0.079729],[-0.380663,-0.913912,-0.140931],[0.020330,-0.160639,0.986804]]VH@m@?i?`\ؿ>  ¿ Kє?ЏĿ?iVT@IVsa;VCYfByf!IbDrVDrkyv)<%zT=ٔz2;Q-z>9|Y|=~Dy~8$D.E>Q 5 49N?Q 94)5UBYy+Q I?u/DIe:i:U4yҕBɮA)EjhFNOT Ignoring new targets: 136.44 m.Rh*Zh* ProNav: ac range: 136.442963 m, nav range: 92.913559 m, bearing: 205.157988 deg, approach rate: -0.680492 m/s, LOS rate: -0.009333 deg/s, cmd heading: 202.368328 deg, new cmd heading: 202.357614 deg. Bh̹HeadingCmd: 3.531807 target range: 136.442963 and range: 132.60 m.h b@h*h"h hgff f d d d jdZdā8@=BɢE"<)A Eƈ>iA)EPL\IIiMeiM0Uiz;UD*;IU b@IY@ @@/@BDAT read: Response Not Received *response not received*DAT read: user:180> BDAT read: Tx time:00:33:16.8464 $Ping request sent.Q EM  EM EM +EI "EM :*EM ҆:VEM [4ZEI aU @aU @aU @a] @Զ,zr?AT@Wa@eٱ $ AHRS rotation from veh to nav: [[-0.924928,0.371964,0.078435],[-0.379650,-0.914358,-0.140763],[0.019359,-0.159974,0.986932]]H@?R?@0LؿlB¿ғ?zĿ`?iT@Ia;Y-ByU!I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248782IiMb@Mb@Mb@ 9?~jt?Mb`?Yf&?yD=;(Ad@ bA)S@YAAA@AbD VD2y0<%"=ٔ :Q->9 Y = Dy L$D /E >Q 54k5?Q 94)9UBY%&?Q E%:y%r+Q I%?/DI: ;i. ;&4y)ɮ5aA1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 136.44 m.Rhe6Zhe6u ProNav: ac range: 136.442963 m, nav range: 92.584724 m, bearing: 205.153171 deg, approach rate: -0.676845 m/s, LOS rate: -0.009950 deg/s, cmd heading: 202.357618 deg, new cmd heading: 202.343116 deg. Bhuڹ}HeadingCmd: 3.531554 target range: 136.442963 and range: 132.60 m.h}b@hy*hy"hy hygyfff BdddjdZd :8@5Bɢ=mj<)y }z>iy)TI顁i)hi0mr;u;Ib@IyU9@Q @Y@]/@Yԡ A A B U>B ;CB "IB ƒBB B B B ;B e,wr?A@rS@rKa@rrٱr=O# zAHRS rotation from veh to nav: [[-0.925319,0.371333,0.076787],[-0.378752,-0.914823,-0.140165],[0.018199,-0.158780,0.987146]]rH6?W?z=ؿ@:F`ʢ?RĿ?irS@IrEb;pY%By%!IbD= VD=2y]=%]=ٔeo;Q-e ?9aYa=eDymY$Dm{JEm ?qQ 5}4u%?Q 9}4uO)u;UBYy+Q I?u/DIu ;iu ;u4yǕBɮ@AjhFNOT Ignoring new targets: 136.44 m.Rh")Zh") ProNav: ac range: 136.442963 m, nav range: 92.378181 m, bearing: 205.150252 deg, approach rate: -0.652467 m/s, LOS rate: -0.009242 deg/s, cmd heading: 202.343111 deg, new cmd heading: 202.334334 deg. BhʹHeadingCmd: 3.531400 target range: 136.442963 and range: 132.60 m.hwb@h*h"h hgfffdddjdZd:O9@D=D<E EE*E"E&:*Ez:VE(N4ZEBEe;i9)=i?99i=iiE>0Ee;EL;IEwb@IIԱ9@ @@1@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752593^Am;IIO> ,3Ts?A&;ɰ$FS@FBa@FGٱF! NAHRS rotation from veh to nav: [[-0.925709,0.370739,0.074937],[-0.377854,-0.915347,-0.139161],[0.017001,-0.157137,0.987430]]FH@h0?/?.ؿ J`h?Ŀ?iFS@IFa;FCYVByV!IbD^ VD^2yf=%fT=ٔfK;Q-j>9hYh=jDyjh$Dlne&Er>pQ 5v4r?Q 9z4rA)r=UBYxyz+Q Iz?r/DIr:ir:rq4yɮAjh!-FNOT Ignoring new targets: 136.44 m.Rh-"Zh-"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004762 ProNav: ac range: 136.442963 m, nav range: 92.126450 m, bearing: 205.146828 deg, approach rate: -0.651721 m/s, LOS rate: -0.008889 deg/s, cmd heading: 202.334341 deg, new cmd heading: 202.324041 deg. Bh6ùHeadingCmd: 3.531221 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffdddjdZdC9@EBɢE<)I M>iI)MQ/IIiMkiU/ 0] I;]%;I]a@IY  9@ @@4@@@gAE  E E +E "E :*E :VE  [4ZE a@a@a@a@9^A;AA> 9=CIIGhA AO5 >5 iu95 hAY5 +_AU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256628a ,>@*s?A9S@:a@lٱB1" eAHRS rotation from veh to nav: [[-0.925978,0.370220,0.074180],[-0.377237,-0.915459,-0.140096],[0.016042,-0.157709,0.987355]]H ?s?@$ؿpK`em?`/Ŀ j?iS@IɌa;CYBy!IBMX>BM9Y=Dy|$DE>Q 54X?Q 94)iI)UFqqiu]mi}!0}f;}ʦq;I}+a@IԉD zD E EE'E"E:*Ex:VE'4ZEBEJ-,AHRS rotation from veh to nav: [[-0.926473,0.368960,0.074269],[-0.376040,-0.915623,-0.142224],[0.015527,-0.159695,0.987044]]2H@` ?J? ؿ Li4¿ ̏?@pĿݕ?i2US@I2?a;2CYFByF "IbDNVDNNyVgT=%V_=ٔV+:Q-Z>9XYX=^Dy^$D^igE^>`Q 5f4bI赊?Q 9f4b)`Ydyj,Q I5?b/DIbei)) iwoi_"0{;J(;I Va@I 9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012612A؟AI!I1O=Q>9 EM  EM EM )EI "EM :*EM :VEM FA4ZEI aU @aU @aU @aU @H ,@as?A@6S@68a@6Rlٱ6 % >AHRS rotation from veh to nav: [[-0.926552,0.368911,0.073521],[-0.375889,-0.915509,-0.143357],[0.014424,-0.160464,0.986936]]6H@Q9"?Y"?=Dy$DȹE> Q 554 ҵ?Q 954 ) >UBY= ?Q E=:y=z-Q I=? /DI ;i m; R4yEΕBɮEcAE0EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.44 m.Rhg8Zhg8 ProNav: ac range: 136.442963 m, nav range: 91.287621 m, bearing: 205.145660 deg, approach rate: -0.642084 m/s, LOS rate: 0.003164 deg/s, cmd heading: 202.316405 deg, new cmd heading: 202.320533 deg. Bh 9HeadingCmd: 3.531159 target range: 136.442963 and range: 132.60 m.ha@h*h"h hgfffBdddjdZd ;@IuBɢuכ<)q u">iq)}8yyi} qi0!0U;%;Ia@I%9@! @)@)@)AmfAzAmgAyBu<Au<B}W>ByB}."IB}܃BByByByB};B}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516639ԩ E]  E] E] *EY "E] 2:*E] ]t:VE] (N4ZEY BE] (*\ٱR& ZAHRS rotation from veh to nav: [[-0.926662,0.368710,0.073146],[-0.375655,-0.915326,-0.145128],[0.013442,-0.161962,0.986705]]RH7?? ؿYJ¿?*Ŀ@?iRPS@IRݵ`;RCYbɃByb"IhjAAbDnVDn 3yv=%vR=ٔvl,;Q-v>9z ?Yz ?=zDyz$D~5E~>Q 5 4?Q 9 4?)?UBY y ~-Q I ?/DI:i:4yÕBɮAjh9EFNOT Ignoring new targets: 136.44 m.RhEq8ZhMq8U ProNav: ac range: 136.442963 m, nav range: 91.053368 m, bearing: 205.146857 deg, approach rate: -0.642759 m/s, LOS rate: 0.003293 deg/s, cmd heading: 202.320530 deg, new cmd heading: 202.324131 deg. Bh]9eHeadingCmd: 3.531222 target range: 136.442963 and range: 132.60 m.hea@ha*ha"ha hagafififidididqjdqZdu`;@颥BɢR<) >i)ͺ顩iPsi) 0z;;Ia@Iu9@q @q@u/@qԩ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768723A؟AIIOF>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020534,zrs?A2S@2-a@2Lٱ2Y' :AHRS rotation from veh to nav: [[-0.926830,0.368418,0.072495],[-0.375274,-0.915314,-0.146180],[0.012501,-0.162689,0.986598]]2H`@'? ?`~ؿAJ`¿@?`Ŀ 6?i2S@I2f`;2CYB΃ByB"IbDNVDNyV<%VP=ٔVZ;Q-V>9Z"?YZ"?=ZDyZ$DZъE^>`Q 5b4b?Q 9f4b)b@UBYdyf-Q If?b/DI`ib:b&4yjBɮnOAn/EljhFNOT Ignoring new targets: 136.44 m.Rh lx8Zh lx8 ProNav: ac range: 136.442963 m, nav range: 90.807228 m, bearing: 205.148187 deg, approach rate: -0.626341 m/s, LOS rate: 0.003394 deg/s, cmd heading: 202.324137 deg, new cmd heading: 202.328138 deg. Bh 9%HeadingCmd: 3.531292 target range: 136.442963 and range: 132.60 m.h%b@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5\;@%Bɢ%Ү<)! -ͼ>i))-))i-Pui0;5;:Ib@IE EE,E"E:*Ei:VEg4ZEa5@a5@a5@a=@9@ @@/@!Q]BDAT read: Rx Time:00:33:19.3518 eTRx dataTimestamp_ set to:1761525198.576168echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273716q^AU;ԡ A I I O >G,Ms?A6lS@6a@6F8ٱ6/c( BAHRS rotation from veh to nav: [[-0.926731,0.368810,0.071757],[-0.375558,-0.914978,-0.147553],[0.011237,-0.163690,0.986448]]6Hǧ? ^?$ ؿG¿?Ŀ?i6lS@I6`;6CYJփByJ'"IN=N=B!B!B%A"IB%BB% =B!B!B%s;B%9iYi=mDym$Dm7:Em>yqQ 54uʙ?Q 94uǚ)uAUBYO?Q E:y5.Q I?u 0DIu=3;iu2;u).4yɮAjh9=FNOT Ignoring new targets: 136.44 m.RhE9ZhE9M ProNav: ac range: 136.442963 m, nav range: 90.543114 m, bearing: 205.151416 deg, approach rate: -0.595489 m/s, LOS rate: 0.007301 deg/s, cmd heading: 202.328139 deg, new cmd heading: 202.337854 deg. BhUW9}HeadingCmd: 3.531462 target range: 136.442963 and range: 132.60 m.h}xb@hy*hy"hy hygyfff2BdddjdZd`7<@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524671Bɢ-<)9 =G>iA)M9mIQiU}nwԱi=0;p;Ixb@IE- E-E--E)"E-:*E-V:VE-t4ZE)BE-/ie ˿e +>e S$@e Ulx>e $@ e ܸ>)e 9=Ie ܸa a e 6?3* ?f? e N>)e xIe 9=ie ܸa a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A 0::I A I I O >,$s?A\ES@Ea@E&ٱE' AHRS rotation from veh to nav: [[-0.926728,0.369033,0.070638],[-0.375596,-0.914956,-0.147595],[0.010163,-0.163311,0.986522]]EH`=?R? ؿQGa¿kЄ? cĿ ?iES@IE`;ECY܃By/"I !%%=bD-VD-y=<%=+=ٔEW;Q-E>9AYA=mDym$Dm8Em>qQ 5}4u؂?Q 9}4u)qYy4.Q I?u0DIu:iu:u64yBɮA.Ei1i5s?AJi5.BRi5.Bji5og@i5 5R@s+u @uI3@ri5GGi+? g?&K?Zi1bi5ܸi5A K7P&C@Z\3@zi5)mU,v뿒<7ܿe?2i5O:i5"i5[(?*i5 Bi5Bi5[(?i5 i5Bi5ܑBi5og@= addTargetRange:: Added new target pos. range: 75.900002 m, deltaT: 35.783844 s, deltaX: -56.700005 m, approachRate: -1.584514 m/s, rangeRepo size: 4 m Added new target pos. range: 75.591034 m, bearing: 207.191998 deg, lat: 36.779426 deg, lon: -121.859650 deg, deltaT: 43.090991 s, deltaX: -60.851929 m, approachRate: -1.412173 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 75.59 m.RhuZhq ProNav: ac range: 75.591034 m, nav range: 72.930717 m, bearing: 207.192201 deg, approach rate: 0.000000 m/s, LOS rate: 0.007301 deg/s, cmd heading: 202.337852 deg, new cmd heading: 202.348397 deg. BhHeadingCmd: 3.531646 target range: 75.591034 and range: 75.90 m.h|b@h*h"h hgfffdddjdR@ZdZ?1ɢ=<)9e*DAT read: user:181> mBDAT read: Tx time:00:33:20.7463 m$Ping request sent.miy)};; 顙ibyi:0D;:I|b@IU9@Q @Q@U/@Q@]p=@]=bEQjEUOS4rEUǟ/E EE+E"E:*Ec:VE [4ZEa@a@a@a@^A% ] ;A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251062Am .AIq I O >(,Dks?ANS@NKa@NpٱNG' VAHRS rotation from veh to nav: [[-0.926793,0.369125,0.069294],[-0.375465,-0.915041,-0.147398],[0.008999,-0.162625,0.986647]]NHI ?F?@ؿH¿n?Ŀ?iNS@IN `;NCY^By^;"IhiEMb@Mb@Mb@AAAA A9E ףp= ?~jtx?~jthYEQ?yE;EDE(AEM@ E@)AAYE@bD]VD]ymW=%mT=ٔuF;Q-u>9u ?Yu ?=}Dy}$D}wȹE}>Q 545q?Q 94C)BUBYT?Q E:y/Q I?.0DI;i1;>=4yBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 75.59 m.RhM4:ZhM4:] ProNav: ac range: 75.591034 m, nav range: 72.704788 m, bearing: 207.206573 deg, approach rate: -0.618307 m/s, LOS rate: 0.039455 deg/s, cmd heading: 202.348398 deg, new cmd heading: 202.391649 deg. Bh]:eHeadingCmd: 3.532401 target range: 75.591034 and range: 75.90 m.heb@ha*h"h hgfffGBdddjdZd9k?]Bɢ] <) >i)`顑i{i 0_P;:Ib@IAyAyBJ>B:CBN"IBBBBBDBu;BA,Bt?A2/S@2ڰa@2 ٱ2Np& :AHRS rotation from veh to nav: [[-0.926835,0.369278,0.067897],[-0.375387,-0.915122,-0.147093],[0.007816,-0.161818,0.986790]]2H`A?a?Wؿ H¿?tĿȓ?i2/S@I2`;2CYBByB9"I DDbDN VDN2yR%VZ=ٔVN;Q-V>9XYX=ZDyZ$D^vE^>\Q 5b4^_?Q 9f4^)\Ydyf/Q If?^<0DI^:i^:^C4yjBɮn An-EQjhDNOT Ignoring new targets: 75.59 m.Rh%:Zh%: ProNav: ac range: 75.591034 m, nav range: 72.482445 m, bearing: 207.220820 deg, approach rate: -0.564223 m/s, LOS rate: 0.036263 deg/s, cmd heading: 202.391646 deg, new cmd heading: 202.434517 deg. Bh:HeadingCmd: 3.533149 target range: 75.591034 and range: 75.90 m.hb@h*h"h hgfffdddjdZd[?ɢ<) U>i)ة8i\\}i 0 ;89Ib@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7553249@ @@4@ԁԩ^Aq:A9 IA IQ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006773Om > &,ht?A2S@2*a@2dлٱ2# :AHRS rotation from veh to nav: [[-0.926792,0.369799,0.065618],[-0.375522,-0.915365,-0.145226],[0.006360,-0.159235,0.987220]]2H`G ɪ?R̰?ؿ@JŖ¿ z?aĿN?i2S@I2g`;2CYBByB:"IJ@AJ@AbDNVDNyV;%VK=ٔVl;Q-V>9XYX=ZDyZ%D^9E^>`Q 5f4b1M?Q 9f4b)`Ydyf/Q If?bL0DIb:ib8:bJ4ynBɮno An,Ejh|DNOT Ignoring new targets: 75.59 m.RhM8:Zh M8: ProNav: ac range: 75.591034 m, nav range: 72.243416 m, bearing: 207.236203 deg, approach rate: -0.623839 m/s, LOS rate: 0.040282 deg/s, cmd heading: 202.434513 deg, new cmd heading: 202.480816 deg. Bh):%HeadingCmd: 3.533957 target range: 75.591034 and range: 75.90 m.h%Z,b@h!*h!"h! h!g!f)f)f)d)d)d1jd1Zd5?E EE+E"E:*EP:VE [4ZEa@a@a@a@Թɢ5N'<)9 =>i9)=999i=4iE[/E;M4v>IMZ,b@II 9@  @@4@@MhA@MeAiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962^A5?B9II IY Oi 9 B A>B 9CB Z"IB BB =B B DB ^;B "I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862iuMb@Mb@Mb@qqqq q9u$C?Zd;O?~jtxYu?yuj9Y=Dy!%D!:E>Q 549?Q 94)?UBY;?Q E:y.Q I?\0DI ;i" ;nR4yɮX AjhDNOT Ignoring new targets: 75.59 m.Rh9Zh9 ProNav: ac range: 75.591034 m, nav range: 71.981987 m, bearing: 207.247368 deg, approach rate: -0.574966 m/s, LOS rate: 0.024645 deg/s, cmd heading: 202.480821 deg, new cmd heading: 202.514438 deg. BhN:HeadingCmd: 3.534544 target range: 75.591034 and range: 75.90 m.h5b@h*h"h hgfffIBdddjdZd@%?MBɢeR<)i m>ii):Q:顉i6i/-;(3`I5b@IDzD?AE EE*E"E:*EL_:VE(N4ZEBEt%:,Mt?A24<ɰ0N{S@N&a@NX}ٱN C! VAHRS rotation from veh to nav: [[-0.926391,0.371325,0.062594],[-0.376543,-0.915162,-0.143850],[0.003869,-0.156831,0.987618]]NH`? 0?IؿIi¿űo? Ŀ?iN{S@IN5`;LY^By^<"IbDj VDj:2yri'%rW=ٔroQ;Q-r>9tYt=vDyv0%Dvߙ:Ez>|Q 5~4~l'?Q 94~:)~b@hY*hY"hY hYgYfYfafadadadijdiZdm`Em@颙ɢ]=) >i):顡iviW/-ٽ;ùI_>b@Iqm9@i @i@m/@i5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015221ԙE EE)E"E:*Eg:VEFA4ZEa@a@a@a@^AጹI1IIOU>M \G jA MA B9 jAY A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801 c, _gt?A2S@2a@2i)M:IIiU#biU/]n;]#9I]Gb@IY@ @@ /@ @=@=BE<AE<BM?>BIBIBIBIBIBIBM?;BMfD =D %=E  E E +E "E :*E |:VE [4ZE BE .AHRS rotation from veh to nav: [[-0.925865,0.373108,0.059693],[-0.377851,-0.914811,-0.142653],[0.001383,-0.154633,0.987971]]2H??.ؿ`!F`vB¿̦V?`ÿu?i2S@I2,`;0YFByF5"IbDNVDNJ2yV%VZ=ٔVVD;Q-Z>9XYX=ZDyZP%D^D:E^>`Q 5f4b^?Q 9f4bq)b6UBQ Af :YdQ Efg:yj-Q Ij?b0DIbX:iboM?bhc4yn~Bɮn An+EjhDNOT Ignoring new targets: 75.59 m.Rh j9Zh j9 ProNav: ac range: 75.591034 m, nav range: 71.271187 m, bearing: 207.277401 deg, approach rate: -0.602234 m/s, LOS rate: 0.025399 deg/s, cmd heading: 202.576239 deg, new cmd heading: 202.604825 deg. Bhs:%HeadingCmd: 3.536121 target range: 75.591034 and range: 75.90 m.h%Ob@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5 @ɢ=) >i)Q:i,/i/; p8I Ob@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771241Q@ @@0@ԁ^A9AfAzAI)I9OE> M BDAT read: Rx Time:00:33:23.2488 U TRx dataTimestamp_ set to:1761525202.356172U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866t&,t?A2S@2a@2?$ٱ2o :AHRS rotation from veh to nav: [[-0.925559,0.374002,0.058853],[-0.378604,-0.914372,-0.143467],[0.000157,-0.155069,0.987904]]2H@-? "? ;ؿ B]¿ৗ$?Mÿ ?i2S@I2Q`;2C@Yn݃Byn1"IbDzVDz0y%E=ٔA;Q->9 Y = Dy a%D v;E>Q 5%4/ﴊ?Q 9%4&)2UBQ A%9Y!Q E%;:y%-Q I%?0DIg;iڛ?Bg4y5Bɮ5 A53EjhQEe EeEe,Ea"Ee:*Ee:VEeg4ZEaam@am@am@am@uDNOT Ignoring new targets: 75.59 m.Rhu"9Zh}"9 ProNav: ac range: 75.591034 m, nav range: 71.021683 m, bearing: 207.287798 deg, approach rate: -0.601428 m/s, LOS rate: 0.025150 deg/s, cmd heading: 202.604830 deg, new cmd heading: 202.636131 deg. Bh:HeadingCmd: 3.536668 target range: 75.591034 and range: 75.90 m.hXb@h*h"h hgfffdddjdZd- @ɢd<) &>i) ;ibi/;`{9IXb@Iu9@y @y@}@0@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872^A9I!IIOe> BE D>BA BE T"IBE BBE =BA BA BE ;BE 8iPǿ >#@b>_#@ Ulx>)5z=IUlxS?nמ?}? >))bI5z=iUlxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aa aa aa aa iMb@Mb@Mb@ 9V-?y&1?:vY|?y`<Tp A@ j@)S@Y@ AA bDQVDQye./;%e)=ٔm;Q-m>9iYq=uDyut%Du:Eu>yQ 54}"ش?Q 94}s)})UBQ AT:Y?Q E:y-Q I?}0DI}|;i};}o4yɮ Aiit?AJi˒BRi˒Bji=h@iЍTQ@_e@ǡ1@rivF?KoW?ؼʿ?Zi5z=biUlx i__DOss@pIBM0@zi2@CX0-ݿX?2i:i|"iC ?*i2I%Bi?BiC ?ii?BiBilg@E addTargetRange:: Added new target pos. range: 73.699997 m, deltaT: 3.780405 s, deltaX: -2.200005 m, approachRate: -0.581949 m/s, rangeRepo size: 4 Em EmEm)Ei"Ems:*Em|:VEmFA4ZEiBEml0i)u &;顱iꄼi//H;9Icb@I9u9@y @y@}/@y@@hA*DAT read: user:182> BDAT read: Tx time:00:33:24.5463 $Ping request sent.)f4,ust?A>S@>5a@>K;ٱ> FAHRS rotation from veh to nav: [[-0.925311,0.375100,0.055681],[-0.379205,-0.914476,-0.141202],[-0.002046,-0.151770,0.988414]]>H$@?-?@DؿbC ¿`0mÿ?i>S@I>'`;>CYNByN4"IbDVVDVk1y^<<%^Z=ٔbC;;Q-b>9b"?Yf"?=fDyf%DfEf>hQ 5n4jCƴ?Q 9n4j)j"UBYpyr-Q Ir?j0DIj:ij:j;v4yvBɮvG AtjhDNOT Ignoring new targets: 73.40 m.Rh9Zh9- ProNav: ac range: 73.396744 m, nav range: 70.766884 m, bearing: 207.191224 deg, approach rate: -0.651796 m/s, LOS rate: 0.023447 deg/s, cmd heading: 202.673774 deg, new cmd heading: 202.698932 deg. Bh-:5HeadingCmd: 3.537764 target range: 73.396744 and range: 73.70 m.h5jb@h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdM~?uBɢu4=)y }>iy)} X7;yyi}Pi/;IIjb@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925ԩ-9@) @)@-4@)E EE*E"EV:*Eą:VE(N4ZEa@a@a@a@^A]9 I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5025691 č:,Dt?A";ɰ R-S@Ra@R_E;ٱR> fAHRS rotation from veh to nav: [[-0.925455,0.374922,0.054457],[-0.378844,-0.914672,-0.140897],[-0.003015,-0.151025,0.988525]]RHT?@?>ؿ D@¿` hTÿ?iR-S@IR`;RCYrكByr,"IiMb@Mb@Mb@ 9"~j?A`"?~jtYS#?yY=DAz@ @)@YAbDVDy%;=ٔ9;Q->9Y=Dy%DhE>Q 546?Q 94T)UBY#?Q E:y!+Q I?0DIe:i;}4yɮ} AB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 73.40 m.Rh-ă8Zh-ă8= ProNav: ac range: 73.396744 m, nav range: 70.487030 m, bearing: 207.192794 deg, approach rate: -0.639080 m/s, LOS rate: 0.003600 deg/s, cmd heading: 202.698937 deg, new cmd heading: 202.703666 deg. Bh=9EHeadingCmd: 3.537846 target range: 73.396744 and range: 73.70 m.hElb@hA*hA"hA hAgIfIfIfU@BdQdQdQjdQZd] ?颁ɢJ3<) G>i)J N;顉i^i/i;Ilb@I A1A1B=T>B=;CB=N"IB=BB= =B9B=DB=Å;B=;E%9@) @)@-4@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7581329^AIE EE(E"E&:*E?:VEc44ZEBEe;psA,u?A 2 S@2a@2t;ٱ2` >AHRS rotation from veh to nav: [[-0.925548,0.374865,0.053267],[-0.378610,-0.914808,-0.140645],[-0.003994,-0.150341,0.988626]]2H? E?`#;ؿF ¿k\pa>ÿ@Ӣ?i2 S@I2`;2CYF݃ByF1"I NR=Np=bDRVDR0yV<%V^=ٔZ.;Q-Z>9XY\=^Dy^%Dbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006600~I0E~>Q 5 4"?Q 9 4-)UBYy%+Q I?0DI:iV:p4yBɮ A%2EjhaeDNOT Ignoring new targets: 73.40 m.Rhm8Zhm8 ProNav: ac range: 73.396744 m, nav range: 70.246704 m, bearing: 207.194198 deg, approach rate: -0.633995 m/s, LOS rate: 0.003714 deg/s, cmd heading: 202.703663 deg, new cmd heading: 202.707887 deg. Bh%#9HeadingCmd: 3.537920 target range: 73.396744 and range: 73.70 m.hHmb@h*h"h hgfffdddjdZdX?nManaging dock network, ignoring radio surface power off5BɢU {=)Q ]>iY)]b;YYi](ien/ey;e/_FIeHmb@Iiq9@ @@3@ԙuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258670^A?BIAgAzAIq I O > bEe(N4jEe˼P4rEe/E  E E )E "E *E ą:VE FA4ZE a @a @a @a @G, u?A2TS@2a@2ɛ;ٱ2[ :AHRS rotation from veh to nav: [[-0.925607,0.374869,0.052190],[-0.378455,-0.914961,-0.140066],[-0.004754,-0.149398,0.988766]]2H??8ؿ\G@/yswÿ?i2TS@I2`;2CLYRՃByR'"IbDZVDZ1yb %fI=ٔf:Q-f>9dYh=jDyj%DjtٹEj>tQ 54vڋ?Q 94v6)vUBY y '+Q I ?v0DIv#;ivNm;vo4yuBɮ A1EjhDNOT Ignoring new targets: 73.40 m.Rh8Zh8] ProNav: ac range: 73.396744 m, nav range: 69.990471 m, bearing: 207.195733 deg, approach rate: -0.616341 m/s, LOS rate: 0.003705 deg/s, cmd heading: 202.707884 deg, new cmd heading: 202.712505 deg. Bhe"9HeadingCmd: 3.538001 target range: 73.396744 and range: 73.70 m.hnb@h*h"h hgfff d1d9d9jdAZdM?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510792!ɢ%*r<)! %>i!)mNz;iiim7҇iu/u;ufzIunb@Iy=9@9 @A@E3@A@U@U@U@UB5 ^>B5  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762557M,W9u?A2(S@2a@2km;ٱ2 :AHRS rotation from veh to nav: [[-0.925816,0.374482,0.051262],[-0.377936,-0.915237,-0.139663],[-0.005384,-0.148676,0.988871]]2H`I???0ؿ@I@x` v`ÿդ?i2(S@I2`;2CYbByb?"IfAfAimMb@Mb@Mb@iiii i9mNbX9?+?~jtYm%?ym=im Ai mS@)mj@iYm@bDVD2yR=%>=ٔ:Q->9Y=Dy%DE>Q 54Bw?Q 94)TBY&?Q E:y(Q I?1DI\ ;i ;쒧4yɮ] AjhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 69.711563 m, bearing: 207.189110 deg, approach rate: -0.681506 m/s, LOS rate: -0.016247 deg/s, cmd heading: 202.712501 deg, new cmd heading: 202.692555 deg. Bhe2 HeadingCmd: 3.537652 target range: 73.396744 and range: 73.70 m.h hb@h *h "h  h g fE EE&E"E*E:VE4ZEBEa2EaJEO;a:EO;aff"BdddjdZd@EBɢE=)A M>iI)MD;iiж/',;Ihb@II9@ @@/@I!I1OEQ>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014564qԡ T,PSu?A2KS@2a@2;ٱ2_ :AHRS rotation from veh to nav: [[-0.925880,0.374367,0.050948],[-0.377773,-0.915245,-0.140048],[-0.005799,-0.148914,0.988833]]2H@Ϡ ??n-ؿI@ow ÿ`?i2KS@I2?`;2CYBByB6"IHHbDNVDNk2yV%VZ=ٔV#:Q-V>9XYX=ZDyZ%D^E^>`Q 5f4bBe?Q 9f4b)bTBYdyf(Q If?b1DIb1:ib:bw4ynkBɮnI An0EyjhYDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 69.467812 m, bearing: 207.183315 deg, approach rate: -0.630958 m/s, LOS rate: -0.015052 deg/s, cmd heading: 202.692557 deg, new cmd heading: 202.675112 deg. BhH%HeadingCmd: 3.537348 target range: 73.396744 and range: 73.70 m.hcb@h*h"h hgfffdddjdZd@ @ɢ%t =)! %>i!)%?;!)i-8i-ͻ/5˹;5$=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266739IUcb@IY9@ @@/@A%>A%>IIԡO>E EE+E"E;*E҆:VE [4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520980 Z,ۅmu?A>S@>Ra@>jF;ٱ>  FAHRS rotation from veh to nav: [[-0.925962,0.374223,0.050517],[-0.377566,-0.915305,-0.140216],[-0.006234,-0.148908,0.988831]]>H zG?Qݩ? *ؿ-J``ˆy`jÿ?i>S@I>N`;>CYNByNB"Ii%Mb@Mb@Mb@!!!! !9%K7A`?Dl?I +Y%+?y%O=%94% A! !)!!Y%p@bD=VD=kyM*=%M@=ٔML:Q-U>9QYQ=UDyU%D] E]>aQ 5m4eP?Q 9m4eZ)eTBYm+?Q Eu:yu)Q Iu?e!1DIe/;ieD;e㠧4yyɮ} AyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.RhuZhu ProNav: ac range: 73.396744 m, nav range: 69.182747 m, bearing: 207.180453 deg, approach rate: -0.689573 m/s, LOS rate: -0.006952 deg/s, cmd heading: 202.675113 deg, new cmd heading: 202.666491 deg. BhHeadingCmd: 3.537198 target range: 73.396744 and range: 73.70 m.hrab@h*h"h hgfff)BdddjdZdWM@颍Bɢ0 =) >i)L;顙iiB/S;-ЏIrab@IB<Ap<BB=CBG"IBBB =BBB;B;E-9@) @)@)@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770627Au.AIIO^>)E EEE"E;*E:VEZEBEA)Fa=J=J=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022735bDNVDN:2yZӼ%ZT=ٔ^,.:Q-^>9~ ?Y ?=Dy%D*`E> Q 54 ai9)=a;9AiEiE/Mٸ;MhIM6_b@IIfA)gAE9@A @A@E0@AiUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274490ԑ^Am 9A ؟AI I E  E E )E "E ;*E VE FA4ZE a @a @a @a @ O >g,8u?A 6g>6 C2S@2Ta@2;ٱ26fGp|  AHRS rotation from veh to nav: [[-0.926003,0.374113,0.050584],[-0.377452,-0.915009,-0.142440],[-0.007004,-0.150993,0.988510]]2HСu? ?@+(ؿ`G };¿ࣰ|Sÿߡ?i2S@-쬿91Y=AI2n_;0YBy:"I 4=4=bDVDy <% 7=ٔE:Q->9-"?Y-"?=5Dy=&DE9EE>aQ 54e&?Q 94ԙeI)eTBYy)Q I?eF1DIe4iA)E͵;AAiEiM/M3N;MvIM\b@IQ@ @@/@B]>B)o,u?A2-S@2a@2I ;ٱ2' :AHRS rotation from veh to nav: [[-0.926081,0.373970,0.050209],[-0.377254,-0.915077,-0.142529],[-0.007356,-0.150935,0.988516]]2Ht ? ?@$ؿNHb>¿`w!~`Qÿ?i2-S@I2A_;0YBByBQ"IEN ENEN,EL"ENl;*EN:VENg4ZELBEN]F9Y=Dy&DeE>Q 54?Q 94)TBY,?Q E:y)Q I?Y1DI7:i:d4yoBɮ A7EjhDNOT Ignoring new targets: 73.40 m.Rh=Zh=- ProNav: ac range: 73.396744 m, nav range: 68.316978 m, bearing: 207.171385 deg, approach rate: -0.747077 m/s, LOS rate: -0.008592 deg/s, cmd heading: 202.649582 deg, new cmd heading: 202.639170 deg. Bh55HeadingCmd: 3.536721 target range: 73.396744 and range: 73.70 m.h5Yb@h9*h9"h9 h9g9f9fAfE:BdAdAdjdZd@ Bɢ=) >i)i;iQ@i/%;%+I%Yb@IIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030708@ @@a1@@hA@hAi^A qԙ A5 .AI9 II O] >u,Pu?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282716VS@VWa@V;ٱVV bAHRS rotation from veh to nav: [[-0.926436,0.373108,0.050065],[-0.376377,-0.915359,-0.143035],[-0.007540,-0.151356,0.988450]]VH ]?*?ؿ@JN¿ ~_ÿb?iVS@IVM^;VCYfByjK"I hhnAnAbDpVDpyzμ%zY=ٔ~9Q-~>9 ?Y ?=Dy*&Dx$E > Q 54 ?Q 94 #) TBYy)Q I? i1DI H;i T; 4y!ɮ- A)jhIUDNOT Ignoring new targets: 73.40 m.RhUZhUe ProNav: ac range: 73.396744 m, nav range: 68.062752 m, bearing: 207.168654 deg, approach rate: -0.674490 m/s, LOS rate: -0.007272 deg/s, cmd heading: 202.639172 deg, new cmd heading: 202.630950 deg. BhemHeadingCmd: 3.536577 target range: 73.396744 and range: 73.70 m.hmHWb@hi*hq"hq hqgqfqyfyfydddjdZd`N@颵Bɢd=) >i)d;项iil/f|;IHWb@IE EE+E"E;*E҆:VE [4ZEa@a@a@a@9@ @@4@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.536874^AAe ؟AIi Iy O > |,ܠu?A29S@2a@2hY;ٱ24 :AHRS rotation from veh to nav: [[-0.926399,0.373069,0.051031],[-0.376464,-0.914888,-0.145788],[-0.007701,-0.154270,0.987999]]2H [? ?ؿF0¿ÿ?i29S@I2^;2CYBByBO"IAPAR?ABV_>BTBVZ"IBVBBV =BTBTBV;BV;Ei}Mb@Mb@Mb@yyyy y9}Dl?:v?MbP?Y}O-?y}T=}:}A}z@ y)}@yY}@bDVD1yG<%@=ٔI9Q->9"?Y"?=Dy;&Di9E>Q 54泊?Q 94)TBY-?Q E:y~+Q I?|1DI:iL:mŧ4yfBɮ A6EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.Rh w9Zh w9 ProNav: ac range: 73.396744 m, nav range: 67.773499 m, bearing: 207.171640 deg, approach rate: -0.677091 m/s, LOS rate: 0.007020 deg/s, cmd heading: 202.630949 deg, new cmd heading: 202.639945 deg. Bh)9%HeadingCmd: 3.536734 target range: 73.396744 and range: 73.70 m.h%Yb@h!*h!"h! h!g)f)f)f-WBd1d1d1jd1Zd=@@Bɢ=) !>i) !=;  i ƍi/7;IYb@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.7866639@ @@2@E EE,E"E;*E5:VEg4ZEBE$dY ,ׄ v?AJ=S@Ja@J"S<ٱJ  VAHRS rotation from veh to nav: [[-0.926258,0.373433,0.050926],[-0.376803,-0.914657,-0.146362],[-0.008076,-0.154758,0.987919]]JH@T? ?ؿD¿Xÿ ?iJ=S@IJH^;JCYXy\bDfVDf:yn;%nX=ٔnׁ:Q-r>9pYp=rDyrK&Dv}:Ev>xQ 5~4zeӳ?Q 9~4z)zTBY|yy+Q I?z1DIzS;izO;z ̧4y ɮ } A jh15DNOT Ignoring new targets: 73.40 m.Rh=8Zh=8M ProNav: ac range: 73.396744 m, nav range: 67.516441 m, bearing: 207.174236 deg, approach rate: -0.680557 m/s, LOS rate: 0.006899 deg/s, cmd heading: 202.639951 deg, new cmd heading: 202.647769 deg. BhM9UHeadingCmd: 3.536871 target range: 73.396744 and range: 73.70 m.hU\b@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdei@颕BɢT=) n>i)E_;顙ii/&;ɺI\b@I1M9@I @I@M/@Q@U=@U=Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290749^AuNJκԉIi Iy O >E  E E +E "E ;*E :VE [4ZE a @a @a @a @Ա +$,`W&v?A*4<ɰ( S@ Va@ <ٱ [checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544982 AHRS rotation from veh to nav: [[-0.926385,0.373192,0.050391],[-0.376487,-0.914879,-0.145787],[-0.008304,-0.154026,0.988032]] H a?̩?^ؿ F %¿`#ÿ?i S@I |^; CYBy%]"I-=)ԙiMb@Mb@Mb@ 9x&?Zd;O?Mb?Y7)?yj<<A )YAbDVDN2y7=%#=ٔ9Q->9Y=Dy_&D2E>Q 54񹳊?Q 94)TBYT)?Q E:y .Q I?1DIT:i:ԧ4y]Bɮ Ajh)-DNOT Ignoring new targets: 73.40 m.Rh5:Zh5:E ProNav: ac range: 73.396744 m, nav range: 67.185738 m, bearing: 207.188924 deg, approach rate: -0.660083 m/s, LOS rate: 0.029461 deg/s, cmd heading: 202.647765 deg, new cmd heading: 202.692045 deg. BhE:MHeadingCmd: 3.537644 target range: 73.396744 and range: 73.70 m.hMhb@hI*hI"hI hIgQfQfQfUhBdYdYdYjdYZd]R@Bɢ =) 6>i)2;idi/j۵;)Ihb@I!)Ba>BBf"IB BB =BBB;B;E9@ @@@m =m 4=u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794788^A [RӺA zA fAI I O% >  ,2@v?A2"S@2a@2s<ٱ2;v :AHRS rotation from veh to nav: [[-0.926233,0.373506,0.050855],[-0.376851,-0.914407,-0.147792],[-0.008699,-0.156055,0.987710]]2H ? ?`UؿB ¿Ёÿ@R?i2"S@I2Fw^;2CEB EBEB/E@"EBm+;*EB8:VEBJ4ZE@BEBiY)];YYi]!ieF/e*o;e'Ieopb@Ii@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046594!^AeI9IIOU>I 76, Zv?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298638:S@:a@:S<ٱ:w! BAHRS rotation from veh to nav: [[-0.925980,0.374120,0.050940],[-0.377462,-0.913990,-0.148811],[-0.009114,-0.157024,0.987553]]:H` ??U(ؿ h?`< ÿ_ ]Ŀ@?i:S@I:ke^;8YJ ByJg"IbDVVDVJ2yZʸ<%^K=ٔ^L:Q-^>9`Y`=bDyb|&Db1:Ef>dQ 5j4f?Q 9n4f))fTBYlyn-Q In?f1DIfi ;if ;f#4ytɮvQ Atjh DNOT Ignoring new targets: 73.40 m.Rh :Zh :% ProNav: ac range: 73.396744 m, nav range: 66.719063 m, bearing: 207.209582 deg, approach rate: -0.699277 m/s, LOS rate: 0.030999 deg/s, cmd heading: 202.718908 deg, new cmd heading: 202.754241 deg. Bh-1:-HeadingCmd: 3.538729 target range: 73.396744 and range: 73.70 m.h-zb@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEZ@EBɢE$=)I M8>iI)Mԩ =`,sv?AB"<A"<B&l>B&>CB&s"IB&BB$B$B&DB&;B&;EB 9Y = Dy &D%:E>Q 5%4?Q 9%43)Y%$?Q E%:y-.Q I-?1DI":iL:4y5KBɮ5` A54EMB*** querying acoustic contact ***iI iIjhYeDNOT Ignoring new targets: 73.40 m.Rhe:Zhe:u ProNav: ac range: 73.396744 m, nav range: 66.432426 m, bearing: 207.224643 deg, approach rate: -0.641375 m/s, LOS rate: 0.033845 deg/s, cmd heading: 202.754247 deg, new cmd heading: 202.799624 deg. Bh}ѹ:}HeadingCmd: 3.539521 target range: 73.396744 and range: 73.70 m.h}b@h*h"h hgfffVBdddjdZd>$@5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802681MBɢM=) >i)` <顑ii0/K;k;Ib@IԩIgA)a@a @a@e0@aE  EE*E"ED;*EZ:VE(N4ZEBEњ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055139Ay I I O >H,Ív?A:S@:,a@:&<ٱ: FAHRS rotation from veh to nav: [[-0.925566,0.375331,0.049547],[-0.378450,-0.913750,-0.147771],[-0.010189,-0.155523,0.987780]]:H <j?;^?8ؿ@q=@(¿!ބ+ÿ`?i:S@I:k`^;8YNByN\"IbDV VDVf2y^T<%b_=ٔb:Q-b>9dYd=fDyf&DfX:Ej>hlQ 5r4jm?Q 9r4j)jTBYpyv.Q Iv?j1DIj+;ij,;jE4yzBBɮz Az3EjhDNOT Ignoring new targets: 73.40 m.Rh%:Zh%:5 ProNav: ac range: 73.396744 m, nav range: 66.199738 m, bearing: 207.236843 deg, approach rate: -0.642138 m/s, LOS rate: 0.033787 deg/s, cmd heading: 202.799627 deg, new cmd heading: 202.836357 deg. Bh5:=HeadingCmd: 3.540162 target range: 73.396744 and range: 73.70 m.h=b@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM$@} Bɢ}W+=)y }>i)QU<顁iwi/ֳ;Ib@I59@1 @1@54@1 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.3065319^AU"5A I I E  E E E "E y>;*E :VE ZE a @a @a @a @O >a u,v?AFT@F6a@F0<ٱF nAHRS rotation from veh to nav: [[-0.925212,0.376258,0.049119],[-0.379297,-0.913375,-0.147920],[-0.010792,-0.155488,0.987779]]FHV`?+&?eFؿ^:@ ¿ÿ`?iFT@IFډ^;FCY By ["I9checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562255iMMb@Mb@Mb@IIII I9MMbX9?~jt?{Gzt?YM!?yMD9yYy=}Dy}&D}:E>Q 54U?Q 94)TBY!?Q E:y.Q I?1DI:i:4ydBɮ" A=EjhDNOT Ignoring new targets: 73.40 m.Rhi':Zhi': ProNav: ac range: 73.396744 m, nav range: 65.888611 m, bearing: 207.254814 deg, approach rate: -0.630502 m/s, LOS rate: 0.036590 deg/s, cmd heading: 202.836360 deg, new cmd heading: 202.890527 deg. Bh:HeadingCmd: 3.541108 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffpBdddjdZd@-#Bɢ5d=)1 5>i1)5CO<19i=Ji=2~/E(;E>IEb@IAi9@ @@5@@=@=BEp>BABABABE =BABABE;BE;EԉM checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810550^A5 < I9 II OU >[^,v?AE. E.E.,E,"E.C;*E.:VE.g4ZE,BE.@ia)m U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314621#,ȗv?A>*$T@>b@>pRR<ٱ> JAHRS rotation from veh to nav: [[-0.924363,0.378622,0.046890],[-0.381298,-0.912700,-0.146936],[-0.012837,-0.153701,0.988034]]>Ha`V;?@?@0gؿ4¿Jyÿ?i>*$T@I>^;>CYRByRN"IbDZVDZyb%bU=ٔf;Q-f>9dYd=fDyf&Dj;Ej>lQ 5r4nu2?Q 9r4n)nTBYpyv.Q Iv?n2DInY;ink:n4yxɮz2 AxjhDNOT Ignoring new targets: 73.40 m.Rh%P$:Zh%P$:5 ProNav: ac range: 73.396744 m, nav range: 65.432373 m, bearing: 207.281023 deg, approach rate: -0.630758 m/s, LOS rate: 0.035914 deg/s, cmd heading: 202.928759 deg, new cmd heading: 202.969427 deg. Bh5-:=HeadingCmd: 3.542485 target range: 73.396744 and range: 73.70 m.h=b@h9*h9"h9 h9gAfAfAfAdIdIdIjdQZd]3;!@&BɢB=) >i)S<iig/ ; I b@E] E]E](EY"E];;*E]#:VE]c44ZEYae@ae@ae@am@I\Gs9Y^A 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570227q^A II IY Om >y A AAA AAB! B! B% m"IB% BB! B! B! B% d;B% ;EЮ,2v?AF2T@FH(b@Fb<ٱFo NAHRS rotation from veh to nav: [[-0.924014,0.379583,0.045988],[-0.382108,-0.912352,-0.146994],[-0.013839,-0.153397,0.988068]]FH`K??`utؿ1¿Wÿ @?iF2T@IFC_;FCYTyTi5Mb@Mb@Mb@1111 195x&1?{Gz?Y5A ?y5#<55(A5@ 5@)11Y5AbDMVDMN2ٔ;Q->9Y=Dy&Dc;E>Q 54?Q 94)TBYF ?Q E:y.Q I?#2DI;i`; 4ySBɮ A;EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.Rh,:Zh,: ProNav: ac range: 73.396744 m, nav range: 65.167709 m, bearing: 207.296927 deg, approach rate: -0.623336 m/s, LOS rate: 0.037608 deg/s, cmd heading: 202.969426 deg, new cmd heading: 203.017330 deg. Bh{:q}HeadingCmd: 3.543321 target range: 73.396744 and range: 73.70 m.h}b@hy*hy"hy hygfffdddjdZd "@(BɢVj=) >i)$<iDiY/checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818764;Ib@I!@ @@@@@ԡE EE,E"Em+;*E:VEg4ZEBEAIQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071034 R, w?AY~By~6"I   AbD VD:2ym26%m<ٔuQ-u>9qYy=}Dy}&D}E>Q 54v ?Q 94)TBYyQ I?32DI-:i$:4yJBɮ@ A:EjhDNOT Ignoring new targets: 73.40 m.Rh.:Zh.: ProNav: ac range: 73.396744 m, nav range: 64.916527 m, bearing: 207.312141 deg, approach rate: -0.625902 m/s, LOS rate: 0.038056 deg/s, cmd heading: 203.017333 deg, new cmd heading: 203.063150 deg. Bh:HeadingCmd: 3.544121 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd"@%*Bɢ%=)) ->i))-tA)<))i-ҕi5L/=$;=FI=b@I9I@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322603^AIqIO>9 E  E E 'E "E 4;*E :VE '4ZE a @a @a @a @,x(w?AB\T@BRb@B~|<ٱB JAHRS rotation from veh to nav: [[-0.923004,0.382143,0.045051],[-0.384481,-0.911232,-0.147752],[-0.015410,-0.153697,0.987998]]BH@ u?`? Uؿ@(¿Wÿ?iB\T@IBN_;BCYR܃ByV0"IbDfVDf1y% Q=ٔ0;Q-%>91Y9=EDyE'DU;E]>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577522Q 5=4/?Q 9E4)TBYIyM.Q Iu?D2DIi)f.<iZi?/;Ib@I@ @@0@B5k>B5=CB5Z"IB5BB1B1B1B5q;B5;EY- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826601ԁ ^A AQ IY Ii O} >,7Cw?AD zD@AE EE+E"E8;*E:VE [4ZEBEُ9Y=Dy'DE%>!Q 554%Ⲋ?Q 954%)%TBY58?Q E5:y5.Q I5?%T2DI%Z;i%;%!4yEBBɮE% AE9EjhaDNOT Ignoring new targets: 73.40 m.Rhx:Zhx: ProNav: ac range: 73.396744 m, nav range: 64.403885 m, bearing: 207.339851 deg, approach rate: -0.644445 m/s, LOS rate: 0.031795 deg/s, cmd heading: 203.109486 deg, new cmd heading: 203.146606 deg. Bh:HeadingCmd: 3.545577 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffXBdddjdZd`:$@a颅/Bɢ5"=) >i)2<顉i;ۖi4/;-8 Ib@Im 2Acoustic response timeout,\w?A;ɰ2T@2wb@2އ<ٱ2 :AHRS rotation from veh to nav: [[-0.922111,0.384434,0.043831],[-0.386569,-0.910478,-0.146949],[-0.016585,-0.152447,0.988172]]2H ?q?ؿ"7¿ `ÿ?i2T@I2G_;2CYB̃ByB"IbDNPVDN2yV&%Ve=ٔZaW;Q-Z>9XY\=^Dy^ 'D=D;E=>AQ 5M4EzѲ?Q 9M4E)ETBYIyU-Q IU?Eb2DIE$:iE:E(4yYɮ] AYjhDNOT Ignoring new targets: 73.40 m.Rh~:Zh~: ProNav: ac range: 73.396744 m, nav range: 64.177719 m, bearing: 207.350583 deg, approach rate: -0.598940 m/s, LOS rate: 0.028522 deg/s, cmd heading: 203.146601 deg, new cmd heading: 203.178911 deg. Bh:HeadingCmd: 3.546141 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjd1Zd=@S%@颥1Bɢ>}=)  >i)6<顩iZCi+/;*Ib@IE= E=E=(E9"E=L;*E=:VE=c44ZE9aE@aE@aE@aE@m9@i @i@m4@i2Acoustic response timeout^Ay! A I I O >B A <B B B ;"IB BB =B B B ;B ;E ,Qvw?A2PT@2b@2<ٱ2P :AHRS rotation from veh to nav: [[-0.921527,0.385859,0.043593],[-0.387927,-0.909782,-0.147677],[-0.017322,-0.152999,0.988074]]2H&}@?Q?ؿ¿@{ÿ`N?i2PT@I2^;2CYBByB"I|iMb@Mb@Mb@ 9S?:v?~jtY?yT=A@ =@)AYQAbDVD0y%:=ٔ:Q->9Y=Dy2'De;E>Q 54_?Q 94 )TBYE?Q E:yn*Q I?s2DI ;iP ;o/4y:Bɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.RhAJZhAJ- ProNav: ac range: 73.396744 m, nav range: 63.922302 m, bearing: 207.350295 deg, approach rate: -0.610438 m/s, LOS rate: -0.000691 deg/s, cmd heading: 203.178908 deg, new cmd heading: 203.178041 deg. Bh-HeadingCmd: 3.546126 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfff+BdddjdZd +&@2Acoustic response timeout54Bɢ=<)9 =>i9)=,:,w?A: T@:ʧb@:<ٱ:'N JAHRS rotation from veh to nav: [[-0.920953,0.387261,0.043290],[-0.389262,-0.909188,-0.147824],[-0.017887,-0.152990,0.988066]]:Hrx?(*?@ؿ@ ¿Q 1ÿ 9tYt=vDyvB'Dv)};Ez>xQ 54zY?Q 94z)zrTBYyV*Q I?z2DIzD;izr;z64y 2Bɮ A8Ejh1=DNOT Ignoring new targets: 73.40 m.Rh=ٷZhEٷM ProNav: ac range: 73.396744 m, nav range: 63.694538 m, bearing: 207.349738 deg, approach rate: -0.606223 m/s, LOS rate: -0.001488 deg/s, cmd heading: 203.178047 deg, new cmd heading: 203.176370 deg. BhUUHeadingCmd: 3.546097 target range: 73.396744 and range: 73.70 m.hU?b@hQY*hY"ha hagafafafidididijdiZduW&@额6Bɢ=) 6>i)K=<顡i藼iw,/+;&:I?b@I9@ @@/@@@ԉ2Acoustic response timeoutԱ^A9bEșT4jER4rEȐ'0E]  E] E] ,EY "E] I@;*E] :VE] g4ZEY am @am @am @au @Aa Ii Iy O > ,ow?AU2Acoustic response timeoutYBy!IԹ bDVDy=%=6=ٔEQ-M>9Y=DyU'DE>Q 5 4?Q 954\ )`TBY1y1Q I5?2DIW;i;>>4y=LBɮE AAjhaeDNOT Ignoring new targets: 73.40 m.RhmٷZhmٷ} ProNav: ac range: 73.396744 m, nav range: 63.409176 m, bearing: 207.349035 deg, approach rate: -0.600007 m/s, LOS rate: -0.001486 deg/s, cmd heading: 203.176367 deg, new cmd heading: 203.174247 deg. Bh}HeadingCmd: 3.546060 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd'@8Bɢy<)  j>i)@<i -i-/;:Ib@IBj>BB"IB̃BBBBB;B;EB}=CB}>CByB}Ş =B}Ş =C}5y@y @y@y@<2Acoustic response timeout^A ] ;9 DY zD] AAEe r Ee Ee /Ea "Ee ;*Ee :VEe J4ZEa BEe Ph,w?AVT@Vb@V<ٱVs ^AHRS rotation from veh to nav: [[-0.920077,0.389588,0.040979],[-0.391268,-0.908813,-0.144805],[-0.019172,-0.149265,0.988611]]VHEq?@8? ٿ¿`¡@ÿ@?iVT@IV/_;VCYfByf!IQi]Mb@Mb@Mb@YYYY Y9]V-?p= ף?/$Y]|?y]=]]AY ]j@)]xAYYYbDuVDu2y0 ;%I=ٔP;Q->9Y=Dyd'D_;E>Q 54R?Q 94a)OTBYq ?Q E:y)Q I?2DI:i@:D4yDBɮ A7EjhDNOT Ignoring new targets: 73.40 m.RhnZhnu ProNav: ac range: 73.396744 m, nav range: 63.169918 m, bearing: 207.344110 deg, approach rate: -0.631956 m/s, LOS rate: -0.013056 deg/s, cmd heading: 203.174249 deg, new cmd heading: 203.159420 deg. Bh}]HeadingCmd: 3.545801 target range: 73.396744 and range: 73.70 m.hfb@h*h"h hgfffBdddjdZd@(@U:BɢU<)Q Uf>iQ)]C U BDAT read: Tx time:00:33:36.9962 ] $Ping request sent.] H,Sw?A~!T@~b@~t<ٱ~c 5AHRS rotation from veh to nav: [[-0.919968,0.389930,0.040167],[-0.391496,-0.908812,-0.144193],[-0.019721,-0.148379,0.988734]]~H@ap?ɐ?@Gٿ`@t¿1¿`?i~!T@I~{_;|YEByE!IbDUVDUkyed%eL=ԩٔ:Q->9Y=Dyu'D :E>Q 549s?Q 94)=TBYy )Q I?2DIK;i%L;&L4y iBɮ GA @EEM EMEM*EI"EMs!;*EM:VEM(N4ZEIaU@a]@a]@a]@jhDNOT Ignoring new targets: 73.40 m.Rh~iZh~i ProNav: ac range: 73.396744 m, nav range: 62.911701 m, bearing: 207.338683 deg, approach rate: -0.604549 m/s, LOS rate: -0.012758 deg/s, cmd heading: 203.159414 deg, new cmd heading: 203.143066 deg. Bh HeadingCmd: 3.545515 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd`x)@MiQ)UFB >CB !IB BB =B B B ;B ;E) A .AI I O >,7w?AYBy!II%C=)%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5002609] ?Y] ?=]Dy]'DeEe>aQ 5m4e{`?Q 9u4e?)e*TBYu?Q Eu:yu%Q Iu?e2DIeB;ie~ ;e}S4yfBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.RhKZhK ProNav: ac range: 73.396744 m, nav range: 62.651115 m, bearing: 207.320682 deg, approach rate: -0.641240 m/s, LOS rate: -0.044480 deg/s, cmd heading: 203.143063 deg, new cmd heading: 203.088835 deg. Bh6HeadingCmd: 3.544569 target range: 73.396744 and range: 73.70 m.h7b@h*h"h hgfffBdddjdZd"D*@ >Bɢ <) >i)SH<i9i}E/;%;I%7b@I!@ @@/@AEm EmEm+Ei"EmO;*Em:VEm [4ZEiBEm8ԡ B,#gx?A2T@2_b@2o<ٱ2% :AHRS rotation from veh to nav: [[-0.919730,0.390464,0.040427],[-0.392030,-0.908327,-0.145790],[-0.020205,-0.149936,0.988489]]2H@nnZ?@Բ?ٿ@=¿ 1ÿ@?i2T@I2iJ_;2CYBByB!IbDNVDN1yVE%V_=ٔV:Q-V>9Z"?YZ"?=ZDyZ'DZ:E^>`Q 5f4bP?Q 9f4bA)bTBYdyf%Q If?b2DIb:ib:bY4yhɮnAljh|DNOT Ignoring new targets: 73.40 m.RhGZhG ProNav: ac range: 73.396744 m, nav range: 62.433987 m, bearing: 207.305467 deg, approach rate: -0.621302 m/s, LOS rate: -0.043690 deg/s, cmd heading: 203.088831 deg, new cmd heading: 203.043026 deg. BhHeadingCmd: 3.543769 target range: 73.396744 and range: 73.70 m.h%b@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 *@e@Bɢe\P<)a eV >ia)m[ J4= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004423ԡ AEC^Aϩ;GhAA5|95hAY5eAEu EuEu,Eq"EuC;*Eu:VEug4ZEqa}@a@a@a@A .AI I O > ,P-x?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256332YBy!IbDE VDE2y;%/=ٔQ->9 ?Y ?=Dy'DE>Q 54iI)McLBB!IBBB =BBB;B;E-9@) @)@-4@)@1@5dAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508193! ^AE ;A} ؟AE  E E 5E "E E;*E :VE 4ZE BE Q +,l%Gx?A2T@2wb@2]<ٱ2J :AHRS rotation from veh to nav: [[-0.919930,0.389863,0.041675],[-0.391591,-0.908241,-0.147498],[-0.019653,-0.152007,0.988184]]2H p`?cV?@ٿN4¿tÿ 4?i2T@I2ϵ^;2CYBByB!Ii Mb@Mb@Mb@     9 Mb?Cl?~jtY  ?y ;= D A  ) A Y bD% VD%2y5<%5c=ٔ&ºQ->9"?Y"?=Dy'DܨE>Q 54+?Q 94 )SBY"?Q E:y$Q I?2DI;i;Rh4y5VBɮ=\A=>EjhDNOT Ignoring new targets: 73.40 m.RhnZhn ProNav: ac range: 73.396744 m, nav range: 61.907013 m, bearing: 207.264342 deg, approach rate: -0.597755 m/s, LOS rate: -0.052216 deg/s, cmd heading: 202.981474 deg, new cmd heading: 202.919129 deg. BhWHeadingCmd: 3.541607 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffBddd)jd Zd5,@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760442-CBɢ-vs<)) 5<>i1)5 N<11i5ʘi=v/=4;=;IEb@Ia9@ @@4@Yԉ ^A X;% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012292AQ IY Ii O} >s,Lax?AY5By5!IbDEVDE:yU%]F=ٔ]Q-]>9YYa=eDye'DeEe>iQ 5u4m:?Q 9u4m;$)mSBYyyyQ I}?m3DImn;im4:mBo4yɮAjhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 61.655926 m, bearing: 207.242319 deg, approach rate: -0.670410 m/s, LOS rate: -0.059042 deg/s, cmd heading: 202.919128 deg, new cmd heading: 202.852790 deg. Bh"HeadingCmd: 3.540449 target range: 73.396744 and range: 73.70 m.E EE)E"E9;*E:VEFA4ZEa@a@a@a@hb@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@y-@颽EBɢ0<) =i)O<i֘i/;K- Bi Bm !IBm BBm =Bi Bi Bm ;Bm ;EA I I1 O= >,{x?A2T@2b@2 d<ٱ2 :AHRS rotation from veh to nav: [[-0.920253,0.388971,0.042854],[-0.390871,-0.908383,-0.148529],[-0.018845,-0.153435,0.987979]]2Hr ??`ٿxÿ6Lÿ`?i2T@I24];2CYB~ByB!IP߽>߽R=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516519i Mb@Mb@Mb@     9 (\?V-?9IYI=MDyM'DM9EM>QQ 5]4U?Q 9e4UP()USBYeZ*?Q Ee:ye$Q Ie?U3DIU:iUP:Uv4ymOBɮuAu=EB*** querying acoustic contact ***i ijh1=DNOT Ignoring new targets: 73.40 m.Rh=Zh= ProNav: ac range: 73.396744 m, nav range: 61.369991 m, bearing: 207.216736 deg, approach rate: -0.630545 m/s, LOS rate: -0.056679 deg/s, cmd heading: 202.852793 deg, new cmd heading: 202.775687 deg. BhHeadingCmd: 3.539103 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffBdddjdZd|`.@额FBɢz<) =i)'Q<iiޘi /\;@z%,Zx?A2cT@2 b@2><ٱ2$ :AHRS rotation from veh to nav: [[-0.920684,0.387820,0.044010],[-0.389895,-0.908650,-0.149458],[-0.017973,-0.154763,0.987788]]2H@>v ?`z? ؿ`s!ÿgGÿ?i2cT@I2@];2CYBzByB!IJ=Jp= NR=N%=bDLVDLyV%VQ=ٔ FQ- >9Y=Dy'D-E>Q 5%4?Q 9%4,)SBY)y-$Q I-?'3DI;i;}4y1ɮ=A9jhYeDNOT Ignoring new targets: 73.40 m.RheZheu ProNav: ac range: 73.396744 m, nav range: 61.104496 m, bearing: 207.193055 deg, approach rate: -0.696330 m/s, LOS rate: -0.062380 deg/s, cmd heading: 202.775681 deg, new cmd heading: 202.704328 deg. Bh}>+}HeadingCmd: 3.537858 target range: 73.396744 and range: 73.70 m.h}Dlb@hy*h"h hgfffdddjdZd/@颽GBɢNm<) =i)^JR<i옼iq/;{3iQ IU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272475θ+,I*x?AYMByM!IBj>B=CB!IBBBBBB;B;EiMb@Mb@Mb@ 9K7?ʡE?y&1Y)?y=`e?A@ @)bAYGAbDVDy- :=%-(=ٔ-Q-5>91Y1=5Dy5'D=E=>AQ 5M4Eb۱?Q 9M4E0)ESBYMc,?Q EM:yU$Q IU?E<3DIE>;iE;E4y]nBɮ]@A]FEajhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 60.787979 m, bearing: 207.164450 deg, approach rate: -0.667442 m/s, LOS rate: -0.060633 deg/s, cmd heading: 202.704332 deg, new cmd heading: 202.618072 deg. Bhr&HeadingCmd: 3.536352 target range: 73.396744 and range: 73.70 m.hSb@h*h"h hgfffBdddjdZd0@IBɢ}<) 4=i)$T<ii / ; X&2,x?AdY-By-!IbD=VD=k1yM=%Uq=ٔQQ-U?9YYY=]Dy] (DYE]?aQ 5m4e/˱?Q 9u4e3)eSBYqyqQ Iu?eJ3DIe";ie;e 4y}fBɮ}AEEjhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 60.560658 m, bearing: 207.143721 deg, approach rate: -0.671025 m/s, LOS rate: -0.061420 deg/s, cmd heading: 202.618067 deg, new cmd heading: 202.555646 deg. Bh(HeadingCmd: 3.535263 target range: 73.396744 and range: 73.70 m.hAb@h*h"h hgfffdddjdZd^0@ JBɢ Ļ<) >i)U<ii/:;af5A%> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028284I I O >1 Ƕ8,x?A2ΗT@2xb@2<<ٱ2o'' :AHRS rotation from veh to nav: [[-0.921605,0.385107,0.048349],[-0.387794,-0.908454,-0.155969],[-0.016141,-0.162491,0.986578]]2H }`? >? ؿ ÿd Ŀ ?i2ΗT@I27];2CY\yb!I ``bDjVDjk2yrY%rS=ٔrQ-v>9tYt=vDyv(DzEz>bE|a4jE7i4rE!1E  EE-E"ED;*EI:VEt4ZEa@a@a@a@|Q 5%4~?Q 9%4~7)~SBY!y%$Q I-?~[3DI~S;i~%-;~Ւ4y1ɮ5A1jhQDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 60.300900 m, bearing: 207.120509 deg, approach rate: -0.662131 m/s, LOS rate: -0.059421 deg/s, cmd heading: 202.555639 deg, new cmd heading: 202.485705 deg. Bh#HeadingCmd: 3.534042 target range: 73.396744 and range: 73.70 m.h-b@h*h"h hgff!f!d!d!d!jd)Zd-@0@}KBɢT<) <>i)MW<顁iYDi/ŋ;i"CBBBBȟ =C'5Iq I O >ԡ u>,7nx?A2T@2_b@2<ٱ2?) :AHRS rotation from veh to nav: [[-0.921826,0.384421,0.049572],[-0.387285,-0.908309,-0.158070],[-0.015739,-0.164911,0.986183]]2H@\?~a?Eؿ`@;Ŀ`ſ`ώ?i2T@I2];0YBByB!IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.532251iMb@Mb@Mb@ 9V-?|?5^?{GzY-?y=# )xAYpAbD5VD52yE'̻%ED=ٔE}Q-E>9IYI=MDyM*(DMϮEU>YQ 5e4]?Q 9e4]n;)]tSBYe/?Q Ee:ye;&Q Ie?]m3DI]C:i]X:]4yu_BɮuAuDEyB*** querying acoustic contact ***i ijh9=DNOT Ignoring new targets: 73.40 m.RhEbLZhEbLu ProNav: ac range: 73.396744 m, nav range: 60.016319 m, bearing: 207.101227 deg, approach rate: -0.656161 m/s, LOS rate: -0.044671 deg/s, cmd heading: 202.485712 deg, new cmd heading: 202.427589 deg. BhuB}HeadingCmd: 3.533028 target range: 73.396744 and range: 73.70 m.h}!b@hy*hy"h hgfffBdddjdZd!41@LBɢn<) =i)[X<i Emi 0;+;*E:VEg4ZEBEU UE,(Ey?A2T@2Rb@28^~<ٱ2( >AHRS rotation from veh to nav: [[-0.921948,0.384144,0.049446],[-0.387002,-0.908552,-0.157360],[-0.015525,-0.164213,0.986303]]2HЕ?P?`ؿ]$Ŀ@sˏ@ſʏ?i2T@I2];2CYVByV!IbDbVDb02yf,=%jR=ٔjQ-j>9lYl=nDyn:(DruOEr>pQ 5v4rڐ?Q 9z4r?)rfSBYxyz@&Q Iz?r~3DIr$:ir:r꠨4yɮcAjh!-DNOT Ignoring new targets: 73.40 m.Rh-bZh-b= ProNav: ac range: 73.396744 m, nav range: 59.750381 m, bearing: 207.083113 deg, approach rate: -0.722319 m/s, LOS rate: -0.049418 deg/s, cmd heading: 202.427587 deg, new cmd heading: 202.373004 deg. BhEEHeadingCmd: 3.532075 target range: 73.396744 and range: 73.70 m.hE b@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]J1@颅MBɢ,$<)  >i)+Z<顑ii007;151e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288134i K,*2y?A]zT@]2pb@]y<ٱ]( AHRS rotation from veh to nav: [[-0.922309,0.383272,0.049481],[-0.386152,-0.908958,-0.157106],[-0.015238,-0.164007,0.986341]]]H@?U?ؿ. Ŀ 15.Ŀ?i]zT@I]C];]CYBy!II=)a=1iMb@Mb@Mb@ 9!rh?ˡE?MbpYl'?y=VA@ @)AYAbDVD3y<Bm>B>CB!IBBBBBB;B;;E%E0=ٔMQ-M>9QYQ=UDyUN(DU]EU>YQ 5e4]vy?Q 94]:C)]XSBY(?Q E:y'Q I?]3DI];i]:;]e4yXBɮAjhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 59.431160 m, bearing: 207.068961 deg, approach rate: -0.646886 m/s, LOS rate: -0.028833 deg/s, cmd heading: 202.373000 deg, new cmd heading: 202.330315 deg. BhMHeadingCmd: 3.531330 target range: 73.396744 and range: 73.70 m.hPb@h*h"h h!g!f!f)f-@Bd)d)d1jd1Zd52@NBɢ熷<) >i) +\<  i kٙie0j;j*1;*E5 u:VE1 ZE1 BE1 a= 2E1 a= JE5 $<SMS,My?A2zT@2Zpb@2z<ٱ2e( >AHRS rotation from veh to nav: [[-0.922305,0.383300,0.049338],[-0.386161,-0.909003,-0.156822],[-0.015262,-0.163690,0.986394]]2H @?B?`ܶؿ ĿA@Ŀ?i2zT@I2Ϙ];2CYFByF!IbDnVDn:2yv;T=%vZ=ٔv98Q-v>9xYx=zDyz\(D~-7E~>Q 5 4Wh?Q 9 4FF)NSBY y Q I ?3DI;iv;4yQBɮ~ ACE=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792365jhIUDNOT Ignoring new targets: 73.40 m.RhU ZhU e ProNav: ac range: 73.396744 m, nav range: 59.197453 m, bearing: 207.058499 deg, approach rate: -0.670398 m/s, LOS rate: -0.030129 deg/s, cmd heading: 202.330311 deg, new cmd heading: 202.298801 deg. BhekmHeadingCmd: 3.530780 target range: 73.396744 and range: 73.70 m.hmMa@hq*hq"hq hqgqfqfyfydydydyjdZdg2@ԩ颵OBɢ?X<) R%>i)w^<项iih'0$;'r:e G} jA MA ۴9 jAY \A1 HsY,3gy?AE EE(E"E77;*E-:VEc44ZEa@a@a@a@mpT@mxfb@mly<ٱm** AHRS rotation from veh to nav: [[-0.922538,0.382660,0.049940],[-0.385605,-0.908964,-0.158408],[-0.015223,-0.165395,0.986110]]mH`o}?@?ؿ; FĿO-+ſ6?impT@Imf];mCYBy!IbDVD02y;%/=ٔQ->9 ?Y ?=Dyo(DE>Q 54Q?Q 94IJ)ASBYy 'Q I ?3DIq ;i\ ;ŷ4yɮt AjhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 58.889996 m, bearing: 207.044803 deg, approach rate: -0.634269 m/s, LOS rate: -0.028401 deg/s, cmd heading: 202.298797 deg, new cmd heading: 202.257495 deg. BhHeadingCmd: 3.530059 target range: 73.396744 and range: 73.70 m.h~a@h*h"h hgfffdddjdZd2@-PBɢ5C<)1 5V&>i1)5Ma<19i=]i=730Ev;Eo:AM >ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548323Aq Iy I O >.~`,<y?A2RlT@2ab@2Y|<ٱ2_+ :AHRS rotation from veh to nav: [[-0.922641,0.382384,0.050159],[-0.385351,-0.908868,-0.159571],[-0.015429,-0.166555,0.985911]]2HFx?k?`ؿ@slĿyQſ ?i2RlT@I2z];2CYBByB!I DDiuMb@Mb@Mb@qqqq q9up= ף?S㥫?Yu%?yu/]=uqu@ uA)uAqYuAbD VD2y"d%[=ٔF:Q->9Y=Dy~(DAE>Q 54??Q 941M):SBY%?Q E:yw*Q I?3DI:i:B4yJBɮC ABEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.RhZh ProNav: ac range: 73.396744 m, nav range: 58.649715 m, bearing: 207.043392 deg, approach rate: -0.680746 m/s, LOS rate: -0.004015 deg/s, cmd heading: 202.257501 deg, new cmd heading: 202.253250 deg. BhV0HeadingCmd: 3.529985 target range: 73.396744 and range: 73.70 m.hGa@h*h"h hgff!f%ZBd!d!d)ijdiZdu@3@颹ɢg<) #>iE EE-E"E;;*E:VEt4ZEBE f,k؛y?A2hT@2^b@2SX<ٱ2B, :AHRS rotation from veh to nav: [[-0.922718,0.382178,0.050317],[-0.385161,-0.908798,-0.160429],[-0.015584,-0.167411,0.985764]]2H``u?,é?zؿ`Ŀꏿmſa?i2hT@I2U];2CYBByB!IbDJVDJyrr=%rW=ٔr9Q-r>9tYt=vDyv(Dz} Ez>xQ 54z-?Q 94z(P)z2SBYy{*Q I?z3DIz/;iz ;zĨ4ykBɮ AKEjh1=DNOT Ignoring new targets: 73.40 m.Rh=ZhEM ProNav: ac range: 73.396744 m, nav range: 58.404720 m, bearing: 207.041993 deg, approach rate: -0.647834 m/s, LOS rate: -0.003715 deg/s, cmd heading: 202.253253 deg, new cmd heading: 202.249039 deg. BhU'#UHeadingCmd: 3.529912 target range: 73.396744 and range: 73.70 m.hUa@hY*hY"hY hYgYfafafadadadijdiZdm3@额QBɢ6<) $9>i)Sae<顡i6㚼i50D&;6) - checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304238l,Cȵy?AEvT@Elb@E<ٱE/- ]AHRS rotation from veh to nav: [[-0.922384,0.382950,0.050569],[-0.385944,-0.908247,-0.161664],[-0.015980,-0.168633,0.985549]]EH@+`@?@9?@Mؿ`[iĿ]ƕſ?iEvT@IEk];ECYeBye!IBn>B>CB!IBBBBBB;B0;EiMb@Mb@Mb@ 9~jt?99YA=EDyE(DEn:EE>IQ 5U4M?Q 9]4MyS)M+SBY]$?Q E]:y]+,Q I]?M3DIM:iM:M̨4yaɮm(AijhDNOT Ignoring new targets: 73.40 m.Rho9Zho9 ProNav: ac range: 73.396744 m, nav range: 58.115585 m, bearing: 207.047849 deg, approach rate: -0.643283 m/s, LOS rate: 0.013093 deg/s, cmd heading: 202.249032 deg, new cmd heading: 202.266687 deg. Bh:HeadingCmd: 3.530220 target range: 73.396744 and range: 73.70 m.ha@h*h"h hgfffnBdddjd!Zd"4@RBɢ<) N(>i)g<i8)i00e;e5?s,Py?A0inAIlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.808350YvByv!IIz=)xbDVDk2yE0=%E\=ٔMQ-M>9IYQ=UDyU(DUEU>YQ 5e4]h?Q 9e4]9V)]$SBYiyiQ Im?]3DI]F:i]:]9Ө4yueBɮu A}JEjhDNOT Ignoring new targets: 73.40 m.Rhq9Zhq9 ProNav: ac range: 73.396744 m, nav range: 57.876163 m, bearing: 207.052742 deg, approach rate: -0.644296 m/s, LOS rate: 0.013222 deg/s, cmd heading: 202.266681 deg, new cmd heading: 202.281422 deg. Bh0:HeadingCmd: 3.530477 target range: 73.396744 and range: 73.70 m.hUa@h*h"h hgfffdddjdZd`vq4@SBɢ*$<) 6>i )  i<  i lia,0f;[:checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060411 E  E E )E "E I@;*E :VE FA4ZE a- @a- @a- @a- @Ry,Zhy?AVCT@V~b@Vnr<ٱV-` fAHRS rotation from veh to nav: [[-0.921943,0.384075,0.050083],[-0.386974,-0.907850,-0.161430],[-0.016533,-0.168210,0.985613]]VH@??,ؿ ࿩Ŀ@ſ@#?iVCT@IVb];TYvByv!IbDVD0y5<%5L=ٔ=:Q-=>99YA=EDyE(DM6;EM>QQ 5e4U?Q 9e4U4Y)USBYaym,Q Im?U4DIUCE;iU`F;UCڨ4yɮ AjhAMDNOT Ignoring new targets: 73.40 m.RhMEZ9ZhMEZ9} ProNav: ac range: 73.396744 m, nav range: 57.616959 m, bearing: 207.057795 deg, approach rate: -0.609024 m/s, LOS rate: 0.011927 deg/s, cmd heading: 202.281421 deg, new cmd heading: 202.296649 deg. Bh:HeadingCmd: 3.530743 target range: 73.396744 and range: 73.70 m.ha@h*h"h hgfffdddjdZd [4@-TBɢ-<) <>i)ql<iPi(0ev;BB "IBBB =BBDB;B3;E^Am 1<I I O >A ߝ =ߝ C= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564458ǀ,(Ez?AYBy!IiMb@Mb@Mb@ 9Mb?9Y=Dy(DE>Q 54ݰ?Q 94\)SBY ?Q E:y-Q I?4DI ;i ;4y^Bɮ} AIE B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 73.40 m.Rh:Zh:- ProNav: ac range: 73.396744 m, nav range: 57.353580 m, bearing: 207.069275 deg, approach rate: -0.661744 m/s, LOS rate: 0.028975 deg/s, cmd heading: 202.296652 deg, new cmd heading: 202.331249 deg. Bh-:5HeadingCmd: 3.531347 target range: 73.396744 and range: 73.70 m.h=b@h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdM D5@}UBɢ}<)y }2>i)n<顁ii0Ӵ;P=,y z?AY~By~!IbD VD 1y&%%U=ٔ!Q-%>9-"?Y-"?=-Dy-(D)E->1Q 5=45˰?Q 9E45^)5SBYAyAQ IE?5'4DI5;i5;5O4yMXBɮM\ AUHEjhquDNOT Ignoring new targets: 73.40 m.ԹRh 9Zh 9 ProNav: ac range: 73.396744 m, nav range: 57.113018 m, bearing: 207.079853 deg, approach rate: -0.627827 m/s, LOS rate: 0.027722 deg/s, cmd heading: 202.331254 deg, new cmd heading: 202.363120 deg. Bh%4:%HeadingCmd: 3.531903 target range: 73.396744 and range: 73.70 m.h% b@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= 5@]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068308uWBɢu<)y }V,>iy)} qi0-3;+v69 , 7z?ABMj>BM=CBIBIBM =BIBMDBM ;BMK;EBBBB =BC5T@b@;<ٱ' AHRS rotation from veh to nav: [[-0.921032,0.386601,0.047333],[-0.389084,-0.907726,-0.156991],[-0.017728,-0.163010,0.986465]]H@y?9 ?Y ?=Dy(D;E>Q 54봰?Q 94a)SBY?Q E:y/Q I?:4DI:i:c4y ɮ  Ajh15DNOT Ignoring new targets: 73.40 m.Rh=&?:Zh=&?:M ProNav: ac range: 73.396744 m, nav range: 56.827126 m, bearing: 207.099072 deg, approach rate: -0.618379 m/s, LOS rate: 0.041779 deg/s, cmd heading: 202.363124 deg, new cmd heading: 202.421071 deg. BhMa:UHeadingCmd: 3.532914 target range: 73.396744 and range: 73.70 m.hUDb@hQ*hQ"hY hYgYfYfYfeqBdaddjdZd`!6@UXBɢUT:<)Q ]>iY)]Ls,Pz?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824418Y~By~!IbD VD 1y%%l=ٔ%Q-%?9)Y)=-Dy-(D-E-?1Q 545R?Q 945c)5SBYyQ I?5G4DI5Xci9)=t 3,mjz?A,ɰ.;EZ EZEZ-EX"EZO6;*EZL:VEZt4ZEXab@ab@ab@ab@VT@VXb@V U<ٱV\$ rAHRS rotation from veh to nav: [[-0.920552,0.387914,0.045910],[-0.390190,-0.907641,-0.154726],[-0.018350,-0.160347,0.986890]]VH(u@??ؿe ÿ^ʒ`>Ŀ?iVT@IV^;TY~By~!IbDVDy-%-I=ٔ5J:Q-5>99Y9==Dy=)DEA;EE>QQ 5]4U?Q 9]4Uf)USBYaye.Q Ie?UW4DIUo7;iU8;U4yqɮu AyjhDNOT Ignoring new targets: 73.40 m.RhC:ZhC: ProNav: ac range: 73.396744 m, nav range: 56.360226 m, bearing: 207.130573 deg, approach rate: -0.634582 m/s, LOS rate: 0.042819 deg/s, cmd heading: 202.464757 deg, new cmd heading: 202.515976 deg. Bh:HeadingCmd: 3.534570 target range: 73.396744 and range: 73.70 m.hg6b@h*h"h hgIfIfIfIdQdQdQjdQZd]6@颥[Bɢ<) >i)5v<iÜiO/_};Cu 2Acoustic response timeout,Pz?A>VT@>b@>i<ٱ>܃% JAHRS rotation from veh to nav: [[-0.920076,0.389032,0.045975],[-0.391291,-0.907063,-0.155330],[-0.018726,-0.160905,0.986792]]>H@Dq?@?@ ٿÿ,`Ŀ`͓?i>VT@I>_];>CYRByR!Ii-Mb@Mb@Mb@)))) )9-Gz?~jthMb`?Y-p?y-D-;-pA- @ -A)-A)Y)bDEVDE:yMw%UI=ٔUlr:Q-U>9QYY=]Dy])D]A;Ee>aQ 5m4eW}?Q 9u4ei)eSBYuq?Q Eu:yu/Q Iu?eg4DIe:ie:e4yLBɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.Rh[:Zh[: ProNav: ac range: 73.396744 m, nav range: 56.111694 m, bearing: 207.149821 deg, approach rate: -0.615500 m/s, LOS rate: 0.047878 deg/s, cmd heading: 202.515969 deg, new cmd heading: 202.573967 deg. Bho;HeadingCmd: 3.535583 target range: 73.396744 and range: 73.70 m.hFb@h*h"h hgfqfyf\BdddD%=D=jdZd@-M7@QE EE,E"E1A;*Ej:VEg4ZEBE?,Ugz?A2T@2b@2s<ٱ2i% :AHRS rotation from veh to nav: [[-0.919603,0.390172,0.045792],[-0.392384,-0.906575,-0.155426],[-0.019128,-0.160898,0.986786]]2Hbm`?r?@ٿ`@ÿ ``NĿ?i2T@I26];2C@YFByF!IbDNVDN1yr %rQ=ٔv:Q-v>9tYt=vDyv/)DzH;Ez>|Q 54~j?Q 94~k)~ SBYy /Q I ?~w4DI~;i~:~y 4yFBɮ(AFEjh1=DNOT Ignoring new targets: 73.40 m.RhEX:ZhEX:U ProNav: ac range: 73.396744 m, nav range: 55.872471 m, bearing: 207.168215 deg, approach rate: -0.614085 m/s, LOS rate: 0.047421 deg/s, cmd heading: 202.573971 deg, new cmd heading: 202.629392 deg. BhU-;]HeadingCmd: 3.536550 target range: 73.396744 and range: 73.70 m.h]Vb@hY*hY"hY hYgafafafadadidijdiZdm d7@额]BɢA<) h=i)x<顡i✼i/P;CI 2Acoustic response timeout Wm,@Qz?AB~l>B|B~!IB~BB~ =B|B|B~7;B~x;EyT@ob@f<ٱ7W% AHRS rotation from veh to nav: [[-0.919335,0.390832,0.045534],[-0.392994,-0.906319,-0.155373],[-0.019457,-0.160734,0.986806]]H1kc?1P?&ٿCÿ@p쓿Ŀ?iT@I];CYpBy!I !!iMb@Mb@Mb@ 9Cl?Mb`?MbpY;?y;A @ A)5AYAbDVD:2y-ʏ%-*=ٔ5`3:Q-5>91Y1==Dy=B)D=:E=>AQ 54ES?Q 94En)ESBY<?Q E:y/Q I?E4DIEm,Dz?A,F0U@Fb@F<ٱF& NAHRS rotation from veh to nav: [[-0.918985,0.391601,0.045987],[-0.393801,-0.905762,-0.156575],[-0.019662,-0.162000,0.986595]]FHTh?? 4ٿ` ĿK"hĿ/?iF0U@IFit];FCYVZByV!IbDbVDb02yj%jZ=ٔj:Q-n>9n"?Yn"?=nDynQ)Dr;Er>tQ 5z4vA?Q 9z4vq)vRBYxy~/Q I~?v4DIv;iv;vk4yiBɮuAOEjh!-DNOT Ignoring new targets: 73.40 m.Rh5R:Zh5R:E ProNav: ac range: 73.396744 m, nav range: 55.341946 m, bearing: 207.205449 deg, approach rate: -0.654688 m/s, LOS rate: 0.046055 deg/s, cmd heading: 202.692503 deg, new cmd heading: 202.741634 deg. BhE:MHeadingCmd: 3.538509 target range: 73.396744 and range: 73.70 m.hMvb@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]Y8@颍`Bɢj<) ;i)%y<顑iiŨ/B3;UCE ( E &E ,E "E `;*E ;VE g4ZE a @a @a @a @8,z?A2U@2 c@2j<ٱ2' >AHRS rotation from veh to nav: [[-0.918582,0.392489,0.046474],[-0.394739,-0.905213,-0.157385],[-0.019703,-0.162916,0.986443]]2He?l˧?hCٿ/%Ŀ-nĿ`?i2U@I2i];2CYBMByF!IbDNVDN1yV%VM=ٔV 8Q-V>9XYX=ZDyZb)D^g(;E^>\`Q 5f4be.?Q 9f4bs)bRBYhyj.Q Ij?b4DIb:ib:b`!4yncBɮnArNEjhDNOT Ignoring new targets: 73.40 m.Rh>:Zh>: ProNav: ac range: 73.396744 m, nav range: 55.094822 m, bearing: 207.222649 deg, approach rate: -0.596422 m/s, LOS rate: 0.041699 deg/s, cmd heading: 202.741639 deg, new cmd heading: 202.793473 deg. Bh:HeadingCmd: 3.539414 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd 8@=2Acoustic response timeoutaBɢdN<) i)x<i{|i/;AFB>CB!IB{BB =BBDB;Be;EAzAgA BDAT read: Response Not Received  *response not received *DAT read: user:184>  BDAT read: Tx time:00:33:49.4461  $Ping request sent. ],{?A)Y58By5e!IE} E})E}+Ey"E}&U;*E}0;VE} [4ZEyBE}9AYA=MDyMt)DMEM>QQ 5]4U?Q 9]4Uw)URBYe&?Q Ee:ye,Q Ie?U4DIU:iU:UT)4yiɮm[AiB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.Rh9Zh9 ProNav: ac range: 73.396744 m, nav range: 54.798634 m, bearing: 207.229764 deg, approach rate: -0.673863 m/s, LOS rate: 0.016273 deg/s, cmd heading: 202.793466 deg, new cmd heading: 202.814925 deg. Bh2:HeadingCmd: 3.539788 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffBdddjdZd`^9@bBɢ2<) li) vw<i4i ѓ/ ; IW@qԡ -J, "{?A2#-U@2"c@2[<ٱ2Q+ >AHRS rotation from veh to nav: [[-0.917984,0.393615,0.048704],[-0.396157,-0.904072,-0.160352],[-0.019085,-0.166495,0.985858]]2H `0??Zٿ ) iĿOſ@%?i2#-U@I2];0YFByFF!IR=R>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501007bDVVDV1y %g=ٔܺQ->9% ?Y% ?=%Dy%)D-y;E->)Q 554-?Q 9=4-y)-RBY9y=,Q I=?-4DI-;i-;-/4yM^BɮMAMMEjhiuDNOT Ignoring new targets: 73.40 m.yRh}9Zh}9 ProNav: ac range: 73.396744 m, nav range: 54.560009 m, bearing: 207.235203 deg, approach rate: -0.651784 m/s, LOS rate: 0.014922 deg/s, cmd heading: 202.814927 deg, new cmd heading: 202.831316 deg. Bh#:HeadingCmd: 3.540074 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd Ѽ9@cBɢJ;) `i)u<iߛi"/;tTUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752729 B} >B} @CB} !IB} RBB} =By By B} ;B} X;Ev,<{?Ac)U@ c@<ٱ* -AHRS rotation from veh to nav: [[-0.918077,0.393425,0.048504],[-0.395948,-0.904267,-0.159773],[-0.018998,-0.165889,0.985961]]H``-?ը?`5Wٿ`psĿ3t;ſ?ic)U@I.];CY=By9iMb@Mb@Mb@ 9L7A`?L7A`?L7A`堿Y+'?y+=+A @ |A)AY AbDVD2y%8=ٔmETQ-m>9qYq=uDyu)Du Eu>yQ 54}-?Q 94}})}RBY;(?Q E:y+)Q I?}4DI}y;i};}74yɮAjh9=DNOT Ignoring new targets: 73.40 m.RhE-ZhE-u ProNav: ac range: 73.396744 m, nav range: 54.267166 m, bearing: 207.228090 deg, approach rate: -0.631780 m/s, LOS rate: -0.015428 deg/s, cmd heading: 202.831319 deg, new cmd heading: 202.809865 deg. Bhuj)}HeadingCmd: 3.539700 target range: 73.396744 and range: 73.70 m.h}qb@hy*hy"hy hygfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004924ffBdddjdZdn6:@dBɢ;) 4 i)s<顡ixiC/O;!TAm>E= E=E=-E9"E=N;*E=g:VE=t4ZE9BE=p] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256619a [,zV{?A2#U@2c@2G<ٱ2BK* >AHRS rotation from veh to nav: [[-0.918215,0.393095,0.048559],[-0.395641,-0.904479,-0.159327],[-0.018710,-0.165508,0.986031]]2Hb`y(? ܨ?/Rٿ~dĿ(_/ſ?i2#U@I2$];2CYFByF%!IHHLLbDRVDRyV%Va=ٔZ PQ-Z>9XY\=^Dy^)DXvE>Q 5%4ޯ?Q 9%4t)RBY)y-0)Q I-?4DI:i:=4y5YBɮ5A5LEjhaeDNOT Ignoring new targets: 73.40 m.Rhm2Zhm2} ProNav: ac range: 73.396744 m, nav range: 54.032642 m, bearing: 207.222416 deg, approach rate: -0.684485 m/s, LOS rate: -0.016633 deg/s, cmd heading: 202.809859 deg, new cmd heading: 202.792762 deg. Bh}6HeadingCmd: 3.539401 target range: 73.396744 and range: 73.70 m.hb@h*h"h hgfffdddjdZd:@eBɢn8) Ai)q<ii(/:w;SbEEg4jEEʣf4rEE/EM  EM EI EI "EM sH;*EM :VEI ZEI ae @ae @ae @ae @Թ ,Sp{?A:U@:c@:/ė<ٱ:) BAHRS rotation from veh to nav: [[-0.918481,0.392501,0.048320],[-0.395030,-0.904875,-0.158594],[-0.018525,-0.164754,0.986161]]:H@3d?^? +HٿLĿ>ſࠎ?i:U@I:b];8Y^By^*!IbDjVDjyr(<%rG=ٔr+Q-r>9tYt=vDyv)DzںEz>xQ 54zv˯?Q 94z)zRBYy:)Q I?z4DIz;iz;zD4yTBɮ_AKEjh1=DNOT Ignoring new targets: 73.40 m.Rh=7ZhE7M ProNav: ac range: 73.396744 m, nav range: 53.771431 m, bearing: 207.216210 deg, approach rate: -0.655566 m/s, LOS rate: -0.015651 deg/s, cmd heading: 202.792756 deg, new cmd heading: 202.774048 deg. BhU+UHeadingCmd: 3.539075 target range: 73.396744 and range: 73.70 m.hU3b@hY*hY"hY hYgYfafafadadadijdiZdm@:@颙ɢ:) P;i)BPo<顡ii/|;NB%?CB%T!IB%*BB% =B!B!B%;B%];EBBBĔCBĠ =BĠ =Cg5^A=LM<A ؟AI I O > > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012988! o,"8{?AN U@Nc@N<ٱNWa( VAHRS rotation from veh to nav: [[-0.918718,0.392031,0.047644],[-0.394473,-0.905276,-0.157688],[-0.018687,-0.163665,0.986339]]NH@"f?@d? ?ٿ@ /Ŀ"Ŀ?iN U@IN];LY^By^!IE~ E~E~/E|"E~M;*E~:VE~J4ZE|BE~9"?YM"?=MDyM)DU_EU>QQ 5]4Ur?Q 9e4U)UtRBYe.?Q Ee:ye/&Q Ie?U5DIUX:iU:UL4yqɮu AqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.40 m.RhiZhi ProNav: ac range: 73.396744 m, nav range: 53.466698 m, bearing: 207.193329 deg, approach rate: -0.676965 m/s, LOS rate: -0.051119 deg/s, cmd heading: 202.774041 deg, new cmd heading: 202.705008 deg. BhT HeadingCmd: 3.537870 target range: 73.396744 and range: 73.70 m.hulb@h*h"h hgfffӂBdddjdZdXd;@)EfBɢE3Ź)A EgiA)mk,p {?A06T@6b@66<ٱ6_&Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516807 FAHRS rotation from veh to nav: [[-0.919152,0.391084,0.047036],[-0.393464,-0.905928,-0.156465],[-0.018580,-0.162322,0.986563]]6Hi? ?.ٿ@\ ĿĿ@?i6T@I6c];6CYRByR !IV=V= XZp=bDZVDZyb T%f_=ٔfQ-f>9hYh=jDyj)DjJEj>lQ 5r4n ?Q 9v4n/)n[RBYtyv?&Q Iv?n 5DIn :in{:nR4yzOBɮzA|jhDNOT Ignoring new targets: 73.40 m.Rh8_Zh8_ ProNav: ac range: 73.396744 m, nav range: 53.225937 m, bearing: 207.175325 deg, approach rate: -0.649495 m/s, LOS rate: -0.048789 deg/s, cmd heading: 202.705002 deg, new cmd heading: 202.650745 deg. BhHeadingCmd: 3.536923 target range: 73.396744 and range: 73.70 m.h\b@h*h"h hgfffdddjdZd&;@颡ɢ!) Tmi)9 i<iPi/;$;UB B .!IB BB B B B ;B V;EA9 IA Ii O >,{?A`5|T@5&b@5수<ٱ5% EAHRS rotation from veh to nav: [[-0.919549,0.390239,0.046302],[-0.392535,-0.906535,-0.155273],[-0.018619,-0.160957,0.986786]]5Hl??LٿVÿ@ 9Ŀ?i5|T@I5`^;1YUByU!IiMb@Mb@Mb@ 9d;O?T㥛 ?lY4?y>A A)1AYAbD} VD}2yj%1=ٔz8Q->9Y=Dy)DE>Q 54?Q 94):RBY7?Q E:y$Q I?65DI ;iP ;Z4yJBɮJEjhDNOT Ignoring new targets: 73.40 m.Rh(Zh( ProNav: ac range: 73.396744 m, nav range: 52.896854 m, bearing: 207.141144 deg, approach rate: -0.736801 m/s, LOS rate: -0.077005 deg/s, cmd heading: 202.650743 deg, new cmd heading: 202.547564 deg. BhcSHeadingCmd: 3.535122 target range: 73.396744 and range: 73.70 m.hp?b@h*h"h hg f f f ǂBdddjdZd 5<@EgBɢE)I MwiI)Me checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288764,{?A2HT@2b@2Ƈ<ٱ2# >AHRS rotation from veh to nav: [[-0.919982,0.389329,0.045343],[-0.391512,-0.907230,-0.153794],[-0.018740,-0.159240,0.987062]]2H~p ? #7? ٿ@ÿ 0aĿ@?i2HT@I2^;0YFByF IbDNVDN02yV %Vo=ٔZA9Q-Z?9XY\=^Dy^)D^TEb?`Q 5f4b8{?Q 9f4bX)b"RBYhyj$Q Ij?bE5DIb|:ibt:b`4ynsBɮrmArSEjh DNOT Ignoring new targets: 73.40 m.Rh Zh 9 ProNav: ac range: 73.396744 m, nav range: 52.653324 m, bearing: 207.115834 deg, approach rate: -0.711463 m/s, LOS rate: -0.074286 deg/s, cmd heading: 202.547566 deg, new cmd heading: 202.471283 deg. BhKHeadingCmd: 3.533791 target range: 73.396744 and range: 73.70 m.h)b@h*h"h hgfffdddjdZd<@ɢ) %>i!)% b ,^{?A6T@6]b@6]<ٱ6/" >AHRS rotation from veh to nav: [[-0.920638,0.387889,0.044369],[-0.389962,-0.908116,-0.152495],[-0.018859,-0.157695,0.987308]]6H u*?? $ؿ IÿO\/Ŀ@?i6T@I6p^;6CYN߂ByR IbDZ VDZ2y%%%C=ٔ%k9Q-%>9)Y)=-Dy-*D-уE5>1Q 5=45e?Q 9E45)5RBYAyE$Q IE?5X5DI5;i5:59h4yMnBɮUxAUREjhq}DNOT Ignoring new targets: 73.40 m.Rh} Zh}  ProNav: ac range: 73.396744 m, nav range: 52.355579 m, bearing: 207.085080 deg, approach rate: -0.711722 m/s, LOS rate: -0.073930 deg/s, cmd heading: 202.471286 deg, new cmd heading: 202.378502 deg. BhJHeadingCmd: 3.532171 target range: 73.396744 and range: 73.70 m.ԙhb@h*h"h hgfffdddjdZd_<@ɢ)) i)<_<i ×i0 ;cB>CB!IBBBBBDB.;Bt;E^Ajb<A I I - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044766O5 > ,>v |?A2T@2b@2<ٱ2q >AHRS rotation from veh to nav: [[-0.921392,0.386187,0.043552],[-0.388179,-0.909091,-0.151230],[-0.018810,-0.156248,0.987539]]2H |G?rL? ؿE@[ÿCÿ?i2T@I2z^;2CYFByF !IDn=Dn<Er4 Er1Er/Ep"Erj;*Erf;VErJ4ZEpBEr-C-A- @ -|A)-5A)Y-AbDM VDM:2yU?=%UG=ٔXQ->9Y=Dy*DE>Q 54P?Q 94)QBYM6?Q E:y"Q I?l5DI;iS;o4y!ɮ%A!eB*** querying acoustic contact ***ia iajhiuDNOT Ignoring new targets: 73.40 m.Rh;ܺZh;ܺ ProNav: ac range: 73.396744 m, nav range: 52.054646 m, bearing: 207.043374 deg, approach rate: -0.690638 m/s, LOS rate: -0.096270 deg/s, cmd heading: 202.378505 deg, new cmd heading: 202.252661 deg. Bh#HeadingCmd: 3.529975 target range: 73.396744 and range: 73.70 m.ha@h*h"h hgfffƂBdddjdZd`i=@UhBɢU)Q UlqiQ)Ue[,Q%|?A> qT@>fb@><ٱ>R JAHRS rotation from veh to nav: [[-0.922476,0.383654,0.042994],[-0.385594,-0.910194,-0.151211],[-0.018880,-0.156067,0.987566]]>H`ɍ?`N? ؿN @Zÿ@FU@ÿ $?i> qT@I>(^;>CYPyPbDZVDZ1yb%bT=ٔbE9Q-b>9dYd=fDyf&*Dj5Ej>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.548881Q 5v4j>?Q 9v4j)jQBYxyz"Q Iz?j}5DIjk;ijl;j v4y~iBɮ~Ajh!%DNOT Ignoring new targets: 73.40 m.Rh-Zh-= ProNav: ac range: 73.396744 m, nav range: 51.794842 m, bearing: 207.007790 deg, approach rate: -0.717987 m/s, LOS rate: -0.098831 deg/s, cmd heading: 202.252666 deg, new cmd heading: 202.145379 deg. Bh=EHeadingCmd: 3.528102 target range: 73.396744 and range: 73.70 m.hEna@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]r=@颁ɢXۑ) ri)X<顉iiFS0;SXB >B ?CB !IB BB =B B DB Q;B ;E ,xA?|?AMN;T@M0b@M <ٱM$ ]AHRS rotation from veh to nav: [[-0.923733,0.380700,0.042248],[-0.382565,-0.911492,-0.151083],[-0.019009,-0.155723,0.987618]]MH@8@e]?@x?{ؿ@* Vÿ wÿ?iMN;T@IM];MCYmBym!IIq)up=iMb@Mb@Mb@ 9ʡE?L7A`?tpA7@ A)AY(AbDVD2yԍ<%6=ٔ%Y9Q-%>9!Y)==Dy=8*D=E=>AQ 5M4E'?Q 9M4E)EQBYU]5?Q EU:yU1$Q IU?E5DIE ;iE: ;E~4y]eBɮ]AeQEԩjh%DNOT Ignoring new targets: 73.40 m.Rh-Zh-= ProNav: ac range: 73.396744 m, nav range: 51.476948 m, bearing: 206.970607 deg, approach rate: -0.681791 m/s, LOS rate: -0.080238 deg/s, cmd heading: 202.145377 deg, new cmd heading: 202.033141 deg. Bh=D\EHeadingCmd: 3.526144 target range: 73.396744 and range: 73.70 m.hEVa@hA*hi"hi hqgyfyffނBdddjdZd?>@==checking for new query: numPingsReceived=0, elapsed TxPingTime=5.053131颁ɢ@º) ji)NU<顉i(i_s0; FV,uZ|?ABT@B9hYh=jDyjH*DnEn>pQ 5v4r?Q 9v4rY)rQBYtyvi$Q Iv?r5DIr:ir(:r4y|ɮ~VA|jh!%DNOT Ignoring new targets: 73.40 m.Rh-3Zh-3= ProNav: ac range: 73.396744 m, nav range: 51.208572 m, bearing: 206.939891 deg, approach rate: -0.734056 m/s, LOS rate: -0.084455 deg/s, cmd heading: 202.033143 deg, new cmd heading: 201.940511 deg. Bh=gEHeadingCmd: 3.524527 target range: 73.396744 and range: 73.70 m.hEّa@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]N>@ɢ?) B[i)R<  i )pi܍0F\;/ },kt|?A2VS@2a@2y<ٱ2y# :AHRS rotation from veh to nav: [[-0.926470,0.373933,0.042739],[-0.375907,-0.913736,-0.154210],[-0.018612,-0.158937,0.987113]]2H ?`?ؿR=%ÿ XĿn?i2VS@I2h];2CY^Byb1!IbDj VDj2yr=%rI=ٔrQ-r>9tYt=vDyvX*DzmEz>xQ 5]4zv?Q 9]4zk)zQBYYy]$Q Ie?z5DIzP]BACB"!IBBB =BBDBV;B;E9@ @@!4@^Aܪ&<A>A> U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.060811A I I O- >9 E]  E] E] -EY "E] 2;*E] :VE] t4ZEY BE] %!I ``iEMb@Mb@Mb@AAAA A9E|?5^?J +?Mb`?YE-?yE=E;EAE/@ EA)EGAAYEAbD] VD]:2ymrC=%m@=ٔuݿQ-u>9qYq=}Dy}j*D}FE>Q 54*뮊?Q 94B)QBY/?Q E:y'Q I?5DIX:i:<4yBɮiAYEPExceeded connect timeout, disconnecting.mB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 73.40 m.Rh;Zh; ProNav: ac range: 73.396744 m, nav range: 50.631042 m, bearing: 206.890226 deg, approach rate: -0.666873 m/s, LOS rate: -0.041053 deg/s, cmd heading: 201.844494 deg, new cmd heading: 201.790673 deg. BhdHeadingCmd: 3.521912 target range: 73.396744 and range: 73.70 m.hga@h*h"h hgfffBdddjdZd@Jv?@Yɢ]4;)Y ]iY)e3N),|?A=<checking for new query: numPingsReceived=0, elapsed TxPingTime=6.569025 JTS@JIa@J͋<ٱJγ, ^AHRS rotation from veh to nav: [[-0.929073,0.366974,0.046400],[-0.369502,-0.914966,-0.162190],[-0.017065,-0.167832,0.985668]]JH@~|??׿fGĿky@{ſ?iJTS@IJ_];JCYjByjF!IbDz VDz2y<%J=ٔQ->9Y=Dyz*D E>Q 54֮?Q 94)QBYy'Q I?5DIض;iw;S4yɮ6Ajh!%DNOT Ignoring new targets: 73.40 m.Rh=>Zh=>m ProNav: ac range: 73.396744 m, nav range: 50.353321 m, bearing: 206.874064 deg, approach rate: -0.712746 m/s, LOS rate: -0.041708 deg/s, cmd heading: 201.790672 deg, new cmd heading: 201.741917 deg. BhmuHeadingCmd: 3.521061 target range: 73.396744 and range: 73.70 m.huYa@hy*hy"hy hygyfffdddbEA{4jEv4rEn/E EE,E"E*;*E*:VEg4ZEa-@a-@a-@a-@jdIZdU?@qɢX;;) (i)BBL<i2i01;ĝ;IYa@I9@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.820735B >B B A!IB BB =B B DB F;B ;EBU?CBU@CBQBUɟ =BUɟ =CUɗK6^A X; I I O >ؑ0,c|?A8n*S@ni a@n!<ٱn5 vAHRS rotation from veh to nav: [[-0.930015,0.364134,0.049783],[-0.367165,-0.914585,-0.169483],[-0.016184,-0.175901,0.984275]]nH M?/}?׿GD@ſtƿ.?in*S@In];nCY~1By~\!IiMb@Mb@Mb@ 9n?L7A`?Mb?YV.?y+=<;AE@ A)^AYAbDVDy=%?=ٔ=Q->9Y=Dy*D%E%>)Q 554-?Q 954-d)-QBY5*/?Q E5:y5*Q I=?-5DI- :i-v:-š4yEBɮEAEXEjhimDNOT Ignoring new targets: 73.40 m.RhusZhus ProNav: ac range: 73.396744 m, nav range: 50.061821 m, bearing: 206.872677 deg, approach rate: -0.694946 m/s, LOS rate: -0.003326 deg/s, cmd heading: 201.741918 deg, new cmd heading: 201.737732 deg. BhHeadingCmd: 3.520988 target range: 73.396744 and range: 73.70 m.hWa@h*h"h hgfffTBdddjdZd!@@fBɢk;) ׽i)aJ<ixԓi0q;:;IWa@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.090345ԡ@ @@@E EE)E"E%;*En:VEFA4ZEBE~ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3408666,|?A2S@2 a@2 |<ٱ25> :AHRS rotation from veh to nav: [[-0.930494,0.362377,0.053526],[-0.365985,-0.913555,-0.177405],[-0.015388,-0.184664,0.982681]]2H`-1?g?Ll׿;`2ƿ ΃ǿ r?i2S@I2];2CY^?Bybm!IIb<)b<bDjVDj:pyv@=%va=ٔvaQ-v>9xYx=zDyz*Dz^eE~>YQ 5e4]?Q 9e4]v)]QBYiym*Q Im?]5DI]:i]A:]T4yu}BɮuAuWEjhDNOT Ignoring new targets: 73.40 m.Rh$Zh$ ProNav: ac range: 73.396744 m, nav range: 49.805008 m, bearing: 206.871833 deg, approach rate: -0.681160 m/s, LOS rate: -0.002250 deg/s, cmd heading: 201.737738 deg, new cmd heading: 201.735193 deg. BhŸHeadingCmd: 3.520943 target range: 73.396744 and range: 73.70 m.h#Wa@h*h"h hgfffdddjdZdR@@1ɢ5;)1 =`i9)=+J<99i=iE0E]6;Ex;IE#Wa@IIIQ)Q@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.593358A^A2;IyIO>E  E E -E "E O;*E :VE t4ZE a @a @a @a @a Y<,M|?A2S@2@ a@2m<ٱ29D :AHRS rotation from veh to nav: [[-0.930491,0.361898,0.056719],[-0.366030,-0.912435,-0.182988],[-0.014470,-0.191029,0.981478]]2H`T)?T ?@m׿ 2 $lǿ`u@sȿCh?i2S@I2];2CYBCByBs!IbDNVDNk1yV<%VN=ٔVQ-V>9XYX=ZDyZ*DZ8E^>`Q 5b4b?Q 9f4b)b{QBYdydQ If?b 6DIb:ib:b 4yhɮnAljh|DNOT Ignoring new targets: 73.40 m.Rh'Zh' ProNav: ac range: 73.396744 m, nav range: 49.542271 m, bearing: 206.870961 deg, approach rate: -0.687182 m/s, LOS rate: -0.002293 deg/s, cmd heading: 201.735197 deg, new cmd heading: 201.732567 deg. Bhnɸ%HeadingCmd: 3.520897 target range: 73.396744 and range: 73.70 m.h%bVa@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5݂@@9checking for new query: numPingsReceived=0, elapsed TxPingTime=7.844803 eBɢ Z;) i1)5V#I<99i=oi=R0E;E?n;IEbVa@IAAAAAB%>B!B%f!IB%9BB% =B!B!B%;B%t;E 9@  @ @ 0@ iԙ^AM0::IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=8.096754 E  E E )E "E E;*E #:VE FA4ZE BE 9Y=Dy*De;E>Q 54:?Q 94)}QBY"?Q E:y1/Q I?6DI ;i ;¶4yzBɮAVEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 73.40 m.Rh-[:Zh-[:= ProNav: ac range: 73.396744 m, nav range: 49.262222 m, bearing: 206.892102 deg, approach rate: -0.633215 m/s, LOS rate: 0.048075 deg/s, cmd heading: 201.732560 deg, new cmd heading: 201.796346 deg. BhE;EHeadingCmd: 3.522011 target range: 73.396744 and range: 73.70 m.hEha@hI*hI"hI hIgIfIfQfUBdQdYdYjdYZd]}@@颉ɢ><) (i ) FH<iHi0; ;Iha@I9@ @@N0@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.350639 ^A ] ;Iq I O >  \G) A m 9i Ym )iA9 I,)}?A,6checking for new query: numPingsReceived=0, elapsed TxPingTime=8.601817.@Z`AS@Z 7a@ZK<ٱZiLF bAHRS rotation from veh to nav: [[-0.929558,0.363826,0.059611],[-0.368469,-0.911374,-0.183381],[-0.012390,-0.192428,0.981233]]ZHH?b?׿)@yǿ&`@{ȿBf?iZ`AS@IZ];ZCYjCByjr!ItvAAbDzVDz:y $% S=ٔJQ->9Y=Dy*D%҆;E%>)Q 5=4-q?Q 9=4-)-QBYAyE/Q IE?-.6DI-iD;i-5;-h4yQɮUAQjhDNOT Ignoring new targets: 73.40 m.RhgS:ZhgS:] ProNav: ac range: 73.396744 m, nav range: 49.020992 m, bearing: 206.910071 deg, approach rate: -0.617280 m/s, LOS rate: 0.046205 deg/s, cmd heading: 201.796341 deg, new cmd heading: 201.850511 deg. Bh]:eHeadingCmd: 3.522956 target range: 73.396744 and range: 73.70 m.hexa@ha*ha"hi higififqfqdqdqdyjdyZd} @@dBɢrb;) liEH E3E,E"E};*Et ;VEg4ZEa@a@a@a@)%dG<iC'i0G;2;Ixa@I%9@! @!@%=4@!@-=@-=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.852704iB B B !IB RBB =B B DB ;B =;E^Ae ;A ԩ I I) OU >-P,C}?AimS@ca@};<ٱ)C -AHRS rotation from veh to nav: [[-0.928574,0.366266,0.059988],[-0.370970,-0.910944,-0.180451],[-0.011447,-0.189816,0.981753]]Hp? ö?׿s&ǿ qKȿ@j?iimS@Ir];YKBy}!IiMb@Mb@Mb@ 9T㥛 ?I +9IYQ=UDyU*DU;EU>YiQ 5}4]^[?Q 9}4])]QBY#!?Q E:y2Q I?]@6DI]A;i];]+ũ4yvBɮTAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.105466jhDNOT Ignoring new targets: 73.40 m.Rhs:Zhs: ProNav: ac range: 73.396744 m, nav range: 48.743477 m, bearing: 206.949802 deg, approach rate: -0.599454 m/s, LOS rate: 0.086312 deg/s, cmd heading: 201.850518 deg, new cmd heading: 201.970391 deg. Bhl;HeadingCmd: 3.525048 target range: 73.396744 and range: 73.70 m.hda@h*h"h hgfffBdddjdZdA)A@AɢEDz<)I MDiI)MF E-E-E"Es;*EK;VEt4ZEBEcW,;^}?A2{S@2%a@2 0<ٱ2 v? :AHRS rotation from veh to nav: [[-0.927512,0.369006,0.059637],[-0.373639,-0.910651,-0.176378],[-0.010776,-0.185876,0.982514]]2H-`̝?? ׿ $ƿǿp?i2{S@I2];2CYJFByNv!IbD^VD^0yf`%fW=ٔjQ-r>9pYp=vDyv*Dv;Ev>QQ 5]4UG?Q 9]4U)UQBYYy]2Q Ie?UP6DIU:iU:U ̩4ymrBɮmdAmUEjhDNOT Ignoring new targets: 73.40 m.Rh:Zh: ProNav: ac range: 73.396744 m, nav range: 48.497528 m, bearing: 206.984574 deg, approach rate: -0.675721 m/s, LOS rate: 0.096018 deg/s, cmd heading: 201.970388 deg, new cmd heading: 202.075234 deg. Bh˃;HeadingCmd: 3.526878 target range: 73.396744 and range: 73.70 m.h_a@h*h"h hgfffdddjdZdRWA@ɢ;) hoi)>F<iZiVg02;ۄ;I_a@ I9@ @@/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.609657^Ar;E5, E5/E5.E1"E5c;*E5Y;VE5ـ4ZE1aE@aE@aE@aE@aA I! I1 OE >ԑ ʉ],x}?Aɰ4=ٔQ->9Y=Dy*DE>Q 543?Q 94!)QBYyQ I?a6DIu ;i ;Lө4yɮAjhDNOT Ignoring new targets: 73.40 m.BA4<B>BB!IB\BB =BBDBĄ;B;ERhZ:ZhZ:- ProNav: ac range: 73.396744 m, nav range: 48.238216 m, bearing: 207.021623 deg, approach rate: -0.624939 m/s, LOS rate: 0.089766 deg/s, cmd heading: 202.075231 deg, new cmd heading: 202.186974 deg. Bh-lv;-HeadingCmd: 3.528828 target range: 73.396744 and range: 73.70 m.h-Sa@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE A@qqɢ}D;)y }EU 1 EU #EU +EQ "EU 2h;*EU ;VEU [4ZEQ BEU a9Y=Dy+D<E>Q 54 ?Q 94)Y?Q E:y2Q I?r6DIf;i;۩4yoBɮATEUB*** querying acoustic contact ***iQ iQjhYeDNOT Ignoring new targets: 73.40 m.Rhe:Zhe:u ProNav: ac range: 73.396744 m, nav range: 47.974358 m, bearing: 207.060546 deg, approach rate: -0.585410 m/s, LOS rate: 0.086832 deg/s, cmd heading: 202.186973 deg, new cmd heading: 202.304384 deg. Bh}]n;}HeadingCmd: 3.530878 target range: 73.396744 and range: 73.70 m.h}a@hy*h"h hgfffBdddjdZd *A@i)I-A52Acoustic response timeoutmcBɢmS;)i m칽ii)uClj,ᷭ}?AT@eb@UF<ٱ( AHRS rotation from veh to nav: [[-0.920971,0.386018,0.052937],[-0.389443,-0.907770,-0.155847],[-0.012105,-0.164147,0.986362]]Hx??@ؿ@s ÿʈ@ſ`F?iT@IE];CY%+By-V!IbD=VD=:Ee% EeEe-Ea"EeO];*Ee:VEet4ZEaau@au@au@au@y}(L%}V=ٔ;Q->9 ?Y ?=Dy +D-<E>Q 54 ?Q 94)QBYy}2Q I?6DI;i";4ylBɮASEjhDNOT Ignoring new targets: 73.40 m.Rh:Zh: ProNav: ac range: 73.396744 m, nav range: 47.747261 m, bearing: 207.093296 deg, approach rate: -0.609438 m/s, LOS rate: 0.088307 deg/s, cmd heading: 202.304384 deg, new cmd heading: 202.403102 deg. Bhjr;HeadingCmd: 3.532601 target range: 73.396744 and range: 73.70 m.h!b@h*h"h hgfffdddjdZd `A@5dBɢ5s;)1 =i9)=fB<9AiEiE 0Mʾ;MƮZA>2Acoustic response timeoutAIIO%o>Be>BaBe!IBeRBBe =BaBeDBe΄;Be";E! hq,m}?AbVT@bb@bRY<ٱb! nAHRS rotation from veh to nav: [[-0.919702,0.389467,0.049632],[-0.392392,-0.907518,-0.149797],[-0.013299,-0.157244,0.987470]]bH2n?Si?ٿc @,ÿ< Ŀ@[?ibVT@Ib];`Y~(By~Q!I only read 2 of 4 data items for bottom velocity. Device response is::BS, -11, +632, a@a a@a a@a a@a bDVD1y<%G=ٔ}>;Q->=4=2Acoustic response timeout9iYi=mDyu1+Du;Eu>yQ 54}}?Q 94})}QBQ A+:YQ E:yI2Q I?}6DI}G;i}>}4yBɮkA]EjhDNOT Ignoring new targets: 73.40 m.Rh:Zh: ProNav: ac range: 73.396744 m, nav range: 47.489902 m, bearing: 207.129802 deg, approach rate: -0.596383 m/s, LOS rate: 0.085055 deg/s, cmd heading: 202.403107 deg, new cmd heading: 202.513219 deg. Bh}i;HeadingCmd: 3.534523 target range: 73.396744 and range: 73.70 m.h5b@h*h"h hgfffdddjdZd`-B@ !ɢ%};)! %Li))-@<))i-#Ki5/5`;5iw,e8}?A B~U@B(b@BSs<ٱBN JAHRS rotation from veh to nav: [[-0.918982,0.391691,0.045279],[-0.394019,-0.907930,-0.142871],[-0.014851,-0.149137,0.988705]]BH`Mh`u?.?7ٿ I¿6jÿx?iB~U@IB<];BCYvByv3!IbDVDy .%W=ٔ;Q->9"?Y"?=Dy@+D%3;E%>!Q 5-4%q歊?Q 9-4%)%QBQ A5 :Y1Q E5g:y5-2Q I5?%6DI%:i%J?%4yEBɮEAE\EjhamDNOT Ignoring new targets: 73.40 m.Rhm:Zhm:} ProNav: ac range: 73.396744 m, nav range: 47.275421 m, bearing: 207.160082 deg, approach rate: -0.596775 m/s, LOS rate: 0.084634 deg/s, cmd heading: 202.513224 deg, new cmd heading: 202.604476 deg. BhUh;HeadingCmd: 3.536115 target range: 73.396744 and range: 73.70 m.hOb@h*h"h hgfffdddjdZd [B@ɢ8) )i){><i]i/6߿;Oj~,}?AN2Acoustic response timeoutPRRU@Rc@RMׄ<ٱRC ZAHRS rotation from veh to nav: [[-0.918509,0.393174,0.041886],[-0.395067,-0.908229,-0.137997],[-0.016215,-0.143299,0.989547]]RHmd`)? r?Hٿ`5๚ W¿]?iRRU@IR)^;RCYbByb*!IbDjVDjyr%vM=ٔv`;Q-v>9xYx=zDyzP+Dz<;Ez>|Q 54~ӭ?Q 9 4~,)~QBQ A 9Y Q E ;:y 2Q I ?~6DI~:i~?~4yɮPAAAB%>B%@CB%f!IB%9BB% =B!B!B%;B%<;EBACBACBCB =B =C@06jhDNOT Ignoring new targets: 73.40 m.Rh% :Zh% :- ProNav: ac range: 73.396744 m, nav range: 47.037380 m, bearing: 207.193691 deg, approach rate: -0.557678 m/s, LOS rate: 0.079137 deg/s, cmd heading: 202.604475 deg, new cmd heading: 202.705812 deg. Bh5>Y;uHeadingCmd: 3.537884 target range: 73.396744 and range: 73.70 m.h}lb@hy*hy"hy hygyfyffdddjdZd`B@1ɢ=W)9 =8i9)=_(<<9AiEUqiM/M0u;Md6a),~?ABU@BXc@B<ٱB JAHRS rotation from veh to nav: [[-0.918466,0.393487,0.039857],[-0.395138,-0.908638,-0.135068],[-0.016931,-0.139804,0.990034]]BH d`.?0h?Iٿ` I|V\?iBU@IB];BCYRByR !IIV<)Vp;xamam amam auau auau iuMb@Mb@Mb@qqqq q9uT㥛 ?Q?S㥛Yu!?yu\=u/ݼuAur@ uA)uGAqYuGAbDVD1y%?=ٔL:Q->9Y=Dyb+D3K9E>Q 54&?Q 94J)oQBQ AT:Yk!?Q E:y+Q I?6DI;i8;4yBɮA[EjhDNOT Ignoring new targets: 73.40 m.Rh9Zh9 ProNav: ac range: 73.396744 m, nav range: 46.768074 m, bearing: 207.200038 deg, approach rate: -0.671655 m/s, LOS rate: 0.015918 deg/s, cmd heading: 202.705808 deg, new cmd heading: 202.724956 deg. Bh.:HeadingCmd: 3.538218 target range: 73.396744 and range: 73.70 m.h*rb@h*h"h hgf!f!f%Bd!d)d)jd)Zd-B@Yɢ]ܴ)Y ]kia)e"G9i>BDAT read: Response Not Received *response not received*DAT read: user:185> BDAT read: Tx time:00:34:01.8961 $Ping request sent.Y ] =e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248945',.~?AZU@ZHc@Ze<ٱZZ bAHRS rotation from veh to nav: [[-0.918662,0.392992,0.040207],[-0.394687,-0.908747,-0.135649],[-0.016771,-0.140485,0.989941]]ZHe&??@Bٿt@\,f@?iZU@IZ];ZCYjByj IbDvVDvNyza%~V=ٔ~۹Q-~>9 ?Y ?=Dyq+D ˨E > Q 54 ?Q 94 ) _QBYy+Q I? 6DI ;i ; 4y-Bɮ-RA-ZEEB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 73.40 m.YEe EeEe-Ea"Ee%;*Ee˭:VEet4ZEaau@au@au@au@Rhu9Zhu9 ProNav: ac range: 73.396744 m, nav range: 46.527878 m, bearing: 207.205916 deg, approach rate: -0.629600 m/s, LOS rate: 0.015487 deg/s, cmd heading: 202.724960 deg, new cmd heading: 202.742685 deg. Bh*:HeadingCmd: 3.538527 target range: 73.396744 and range: 73.70 m.hB9B=4!IB=BB9B9B9B=;B=>;EԱ^AMa<A ؟AI  I! OM >,H~?A%T@%b@%o<ٱ%5) 5AHRS rotation from veh to nav: [[-0.919387,0.391196,0.041155],[-0.393038,-0.909400,-0.136060],[-0.015800,-0.141267,0.989845]]%H`k\ ?C?`'ٿfj-¿`Ь?i%T@I% ];!YEɂByE IiMb@Mb@Mb@ 9v/?ˡE?I +Yx)?y=94lA A)AYAbDVD0yܽ%:=ٔqQ->9"?Y"?=Dy+D҆E >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752059Q 5%4?Q 9%4)AQBY%#+?Q E-:y-'Q I-?6DIt;i;s4y1ɮ5A9jhYeDNOT Ignoring new targets: 73.40 m.RheZheu ProNav: ac range: 73.396744 m, nav range: 46.235722 m, bearing: 207.190675 deg, approach rate: -0.664828 m/s, LOS rate: -0.034901 deg/s, cmd heading: 202.742691 deg, new cmd heading: 202.696680 deg. Bhu}HeadingCmd: 3.537724 target range: 73.396744 and range: 73.70 m.h}jb@hy*h"h hgfffԂBdddjdZd#.C@9ɢ=)A EiA)]1A > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365Y A I I O >9,b~?AZT@ZRb@Zn<ٱZ"O %AHRS rotation from veh to nav: [[-0.920229,0.388902,0.043983],[-0.391112,-0.909598,-0.140228],[-0.014528,-0.146244,0.989142]]ZH r?@? ٿl!¿ ?iZT@IZ@];MGZCeliA}AYƂB6~9liAYgAy I bDVDk1yg%N=ٔQQ->9Y=Dy+D1E>Q 545?Q 94G)'QBYy$(Q I?6DI;i;_ 4yBɮjh!-DNOT Ignoring new targets: 73.40 m.Rh-Zh-9E ProNav: ac range: 73.396744 m, nav range: 45.972404 m, bearing: 207.177605 deg, approach rate: -0.665389 m/s, LOS rate: -0.033217 deg/s, cmd heading: 202.696683 deg, new cmd heading: 202.657247 deg. BhE_MHeadingCmd: 3.537036 target range: 73.396744 and range: 73.70 m.hM^b@hI*hI"hQ hQgfffddd jd Zd @cC@ɢJ.) ѝi)d-<iݎi/5;O2Y,-|~?A2T@2Fb@2S<ٱ2CNchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507943Bj<Aj<Bn>BlBn !IBnBBn =BlBlBn;Bn<;E AHRS rotation from veh to nav: [[-0.921345,0.385769,0.048015],[-0.388533,-0.909695,-0.146618],[-0.012882,-0.153741,0.988027]]2H`{`r?m?ؿ@9c¿a̭ÿ ?i2T@I2r];2CYÂBy IbDVD:2ymc%mB=ٔuQ-u>9u ?Yu ?=uDyu+D}ڻE}>Q 54o?Q 94Q =tI) QBYy](Q I?7DI ;i ;4yBɮAYEԩjhq}DNOT Ignoring new targets: 73.40 m.Rh}Zh} ProNav: ac range: 73.396744 m, nav range: 45.692436 m, bearing: 207.164758 deg, approach rate: -0.630138 m/s, LOS rate: -0.029091 deg/s, cmd heading: 202.657245 deg, new cmd heading: 202.618470 deg. BhHeadingCmd: 3.536360 target range: 73.396744 and range: 73.70 m.hSb@h*h"h hgfffdddjdZdC@ ɢ ?r8) /i)')<i4i/p;%V,KZ~?A2T@2Vub@2M7<ٱ2K' >AHRS rotation from veh to nav: [[-0.922237,0.382989,0.052897],[-0.386462,-0.909215,-0.154837],[-0.011206,-0.163239,0.986523]]2H?]? ̻ؿJ@ÿ Ŀ`?i2T@I2/];2CYBByF IiMb@Mb@Mb@ 9K7?Zd;?ˡEY)?y='VA\@ A)GAYzAbD-VD-k1y=%=T=ٔ=Q-=>9E"?YE"?=EDyE+DME>Q 54\\?Q 94)PBY,?Q E:y$Q I?7DI ;i;4yɮTAjhDNOT Ignoring new targets: 73.40 m.Rh%zZh%z5 ProNav: ac range: 73.396744 m, nav range: 45.422779 m, bearing: 207.133141 deg, approach rate: -0.709646 m/s, LOS rate: -0.083701 deg/s, cmd heading: 202.618477 deg, new cmd heading: 202.523061 deg. Bh5e=HeadingCmd: 3.534694 target range: 73.396744 and range: 73.70 m.h=n8b@h9*h9"h9 h9gAfAfAfMBdIdIdIjdIZdU OC@a颁ɢ`) Ci)%<顉iiF/L; l,~?A24<ɰ0ZcT@ZnYb@ZU;<ٱZa1Eb/ EbGEb+E`"Ebaf;*Eb;VEb [4ZE`aj@aj@aj@aj@ nAHRS rotation from veh to nav: [[-0.922911,0.380638,0.057886],[-0.384898,-0.908444,-0.163045],[-0.009474,-0.172756,0.984919]]ZH{ _\?I? *ؿĿWg ƿu?iZcT@IZ-];ZCYvByv IbDVDNy T<% N=ٔQ->9Y=Dy+DE%>!Q 5-4%6J?Q 9-4%J)%PBY1y5$Q I5?%&7DI%:i%:%f!4y=BɮEAEXE]B*** querying acoustic contact ***iY iYjhamDNOT Ignoring new targets: 73.40 m.RhmjZhuj ProNav: ac range: 73.396744 m, nav range: 45.168961 m, bearing: 207.103876 deg, approach rate: -0.668876 m/s, LOS rate: -0.077554 deg/s, cmd heading: 202.523059 deg, new cmd heading: 202.434771 deg. BhTHeadingCmd: 3.533153 target range: 73.396744 and range: 73.70 m.h/b@h*h"h hgfffdddjdZd`C@ɢ#OV) i)!<i9 i]0]d;]BABE IBEӂBBE =BABABEƄ;BE;E^AM<) A I I O >p,!?~?AZAT@Z6b@Z[<ٱZ7 rAHRS rotation from veh to nav: [[-0.923732,0.378217,0.060584],[-0.382949,-0.908473,-0.167412],[-0.008280,-0.177845,0.984024]]ZH64?`?`>ؿ5@mſ ƿ@}?iZAT@IZ];XYzBy I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768238iMb@Mb@Mb@ 9?@5^I ?lY,?yb>A/@ A)^AYGAbD VD2y%:=ٔ2Q->9Y=Dy+DE > Q 54 5?Q 94 ) PBY0?Q E:y#Q I? 97DI q:i : )4y-Bɮ-gA-aEjhIUDNOT Ignoring new targets: 73.40 m.RhUZh]e ProNav: ac range: 73.396744 m, nav range: 44.869656 m, bearing: 207.060321 deg, approach rate: -0.683279 m/s, LOS rate: -0.100093 deg/s, cmd heading: 202.434772 deg, new cmd heading: 202.303238 deg. BhebmHeadingCmd: 3.530858 target range: 73.396744 and range: 73.70 m.hua@hq*hq"hq hqgqfqfyf}΂BdydydjdZd 2D@-cBɢ5B)1 52i1)5<19i=ti=$&0EN;Eո, ~?A@~* T@~b@~X;ٱ~6 AHRS rotation from veh to nav: [[-0.924504,0.376319,0.060628],[-0.381092,-0.909302,-0.167149],[-0.007772,-0.177635,0.984066]]~H@ ? ? cؿ``$eſV@ƿ`w}?i~* T@I~9];~CY%łBy% IbD5VD52yE*<%EW=ٔMQ-M>9IYI=UDyU+DUWEU>yQ 54}x"?Q 94})}PBYy#Q I?}J7DI}A >U DAT read: 00:34:04.3632 LVL= 26256, 32497, 27442, 32755, AGC= 71, IDX= 497,-0.18,-2.946, 1.586,-2.796,-3.103, PHS= 0.259,-1.549, 0.264, RAW= 150.1, 11.3, CAL= 150.0, 12.4, ROT= 0.0, -12.4 ] Ygot valid direction response: 00:34:04.3632 LVL= 26256, 32497, 27442, 32755, AGC= 71, IDX= 497,-0.18,-2.946, 1.586,-2.796,-3.103, PHS= 0.259,-1.549, 0.264, RAW= 150.1, 11.3, CAL= 150.0, 12.4, ROT= 0.0, -12.4 e PDAT read: Bearing 359.2, -3.2 (Local) m ~Local bearing/azimuth received: Bearing 359.2, -3.2 (Local) u DAT read: Range 11 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.7 m/s u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.976672,0.000000,0.214735] Fpublishing direction and range infoy  VF:@?h`r|?Y fi Eƿ +> ϩ'@ I> 6'@  k]>) I k]   "?BF ?nU%?  O?) {JI i k]   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A AAA B ~>B ?CB IB ΂BB B B DB ;B :E1 A9 IA I O > r,U?AYɂBy IbDVDN2yw<%-=ٔQ->9Y=Dy+DE>Q 5-4 ?Q 9-4,)|PBY)y1Q I5?_7DIH:i:74y=Bɮ=A=`EԡiiHo~?AJi;BRi;Bji[d@i֒ BDAT read: Tx time:00:34:05.6461 $Ping request sent.95 ?Y5 ?=5Dy5 ,D=E=>AQ 5M4Er?Q 9M4E&)EfPBYM41?Q EU:yUE%Q IU?Ev7DIE:iE :E@4yYɮ]iAYjh!%DNOT Ignoring new targets: 46.91 m.bh)-Powering the camera and arming the capture device at range: 47.10 m.2h1Rh5úZh=úm ProNav: ac range: 46.911266 m, nav range: 43.932663 m, bearing: 206.934425 deg, approach rate: -0.733803 m/s, LOS rate: -0.085520 deg/s, cmd heading: 202.060259 deg, new cmd heading: 201.936089 deg. BhujHeadingCmd: 3.524450 target range: 46.911266 and range: 47.10 m.ha@h*h"h h2hgfffBdddjdZd`2G?}aBɢ}s) @i)<顁ibΊi0;5T,<?A 6aS@6 a@6<ٱ6$- >AHRS rotation from veh to nav: [[-0.927346,0.370210,0.054533],[-0.374092,-0.913580,-0.159459],[-0.009213,-0.168274,0.985697]]6H`Ѭ ??׿ <`&iĿkނ`ſԊ?i6aS@I6_;4Yf݂Byf IbDrVDryvĜ<%vb=ٔz?;Q-z>9z"?Yz"?=~Dy~,D~!E>Q 5 4ଊ?Q 9 4)VPBYy|%Q I?7DI:io:GG4y%Bɮ%:A%_E=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 46.91 m.bhIUPowering the camera and arming the capture device at range: 47.10 m.2hQRhUEechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933Zh]Eu ProNav: ac range: 46.911266 m, nav range: 43.683865 m, bearing: 206.906359 deg, approach rate: -0.686907 m/s, LOS rate: -0.077929 deg/s, cmd heading: 201.936086 deg, new cmd heading: 201.851409 deg. BhuU}HeadingCmd: 3.522972 target range: 46.911266 and range: 47.10 m.h}^xa@hy*h"h h2hgfffdddjdZd B>CB IB݂BB =BBDB;B:EB@CB@CBCB =B =C 6`Bɢ/SM) )i)%W <idiX0;:;I^xa@Iq}5@y @y@}/@yAgAzAA.AIIIO}Y>ԡ >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078 Ee 1 Ee 2Ee ,Ea "Ee 2h;*Ee ;VEe g4ZEa BEe a9 ?Y ?=Dy-,D޻E>Q 54ʬ?Q 94i)KPBY3?Q E:y(Q I?7DI.:i:N4yBɮbA^EjhQUDNOT Ignoring new targets: 46.91 m.bhQ]Powering the camera and arming the capture device at range: 47.10 m.2hYRh]Zhem ProNav: ac range: 46.911266 m, nav range: 43.387314 m, bearing: 206.891423 deg, approach rate: -0.683714 m/s, LOS rate: -0.034670 deg/s, cmd heading: 201.851406 deg, new cmd heading: 201.806293 deg. BhmYHeadingCmd: 3.522184 target range: 46.911266 and range: 47.10 m.hxka@h*h"h h2hgfffBdddjdZd`G?_Bɢ<1)! %Ri!)%O !  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791cf,o?AFUS@FKa@F16<ٱFf& RAHRS rotation from veh to nav: [[-0.929109,0.366445,0.049750],[-0.369640,-0.916201,-0.154732],[-0.011120,-0.162152,0.986703]]FHAs?x? .׿Q@ÿ ƆgĿ?iFUS@IFD_;FCYTyXbDbVDb2yj<%jV=ٔjC;Q-n>9n"?Yn"?=rDyr<,Dr0Er>tQ 5z4v?Q 9z4v )v@PBYxy~(Q I~?|v7DIv/;iv1;vVU4y ɮ dA jh)5DNOT Ignoring new targets: 46.91 m.bh15Powering the camera and arming the capture device at range: 47.10 m.2h1Rh=!Zh=!M ProNav: ac range: 46.911266 m, nav range: 43.119061 m, bearing: 206.878385 deg, approach rate: -0.723626 m/s, LOS rate: -0.035389 deg/s, cmd heading: 201.806299 deg, new cmd heading: 201.766943 deg. BhMKºUHeadingCmd: 3.521497 target range: 46.911266 and range: 47.10 m.hU7`a@hQ*hQ"hQ hY2hYgYfYfafadadadijdiZdm ?频ɢb) Qi)<顡iІi~00; ;I7`a@IE: E$EE"E\p;*E;VEZEa-@a-@a-@a-@m0@q @q@u/@q)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763442^A<B<A<Br>BB!IBBB =BBB;B:EA I I O >ԁ GP,1?AF?S@F~5a@F5G<ٱFY# VAHRS rotation from veh to nav: [[-0.929595,0.365527,0.047361],[-0.368382,-0.917149,-0.152095],[-0.012158,-0.158834,0.987230]]FH>d???׿@HY`wÿ{房TĿ`d?iF?S@IF^;FCYEByE%M5=ٔ};Q-}>9Y=DyO,D>E>Q 54枬?Q 94 )4PBYy(Q I?7DIR:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015026i:q]4yBɮOA]Ejh DNOT Ignoring new targets: 46.91 m.bh  Powering the camera and arming the capture device at range: 47.10 m.2h RhZh% ProNav: ac range: 46.911266 m, nav range: 42.793491 m, bearing: 206.862891 deg, approach rate: -0.700509 m/s, LOS rate: -0.033593 deg/s, cmd heading: 201.766944 deg, new cmd heading: 201.720105 deg. Bh%o-HeadingCmd: 3.520680 target range: 46.911266 and range: 47.10 m.h-Ra@h)*h1"h1 h12h1g1f1f9f9d9d9dAjdAZdE@B@u]Bɢum)q }>iy)}CA- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439 AQ Ia Iq O >x,?A2X3S@2)a@2 Y<ٱ2 :AHRS rotation from veh to nav: [[-0.929863,0.365102,0.045342],[-0.367668,-0.917738,-0.150255],[-0.013246,-0.156387,0.987607]]2H o]?7?@׿^;ÿ Ŀz?i2X3S@I2$^;2C DFCYZ#By^L!IrG x|xz9YAԹy?$AiMb@Mb@Mb@ 9ʡE?~jt?{Gzt?Y/?yD=ף;;A\@ A)^AY=AbD VD2yo=%?=ٔ (;Q->9Y=Dy`,D%E%>!Q 554%?Q 954%=)%/PBY5 0?Q E5:y5y,Q I=?%7DI%;i% ;%d4yEǕBɮE"AEfEjhamDNOT Ignoring new targets: 46.91 m.bhquPowering the camera and arming the capture device at range: 47.10 m.2hqRh}9Zh}9 ProNav: ac range: 46.911266 m, nav range: 42.506424 m, bearing: 206.871468 deg, approach rate: -0.689870 m/s, LOS rate: 0.020753 deg/s, cmd heading: 201.720102 deg, new cmd heading: 201.746009 deg. Bhc:HeadingCmd: 3.521132 target range: 46.911266 and range: 47.10 m.h;Za@h*h"h h2hgfffQBdddjdZd@v@\Bɢ Y9) i)K<iƈiz0;T?`;I;Za@I+@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520487E55 E5%E5*E1"E5k;*E5;VE5(N4ZE1aE@aE@aE@aE@^A ;9 A I I O >,c?A2:S@2o0a@2*j<ٱ2@" :AHRS rotation from veh to nav: [[-0.929682,0.365607,0.044963],[-0.368085,-0.917300,-0.151903],[-0.014292,-0.157772,0.987372]]2H`f?m?׿Z`qÿ E1Ŀ`?i2:S@I25^;2CYB&ByBO!IbDN VDNf2yVҌ<%Vz=ٔVQ;Q-V?9XYX=ZDyZm,D^:E^ ?Q 5%4vw?Q 9%4)*PBY)y-r,Q I-?7DI=:i:j4y1ɮ5 AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7709751Be{>Be?CBe;!IBeBBaBaBeDBe;Be:E}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 46.91 m.bhPowering the camera and arming the capture device at range: 47.10 m.2hRhQ9ZhQ9 ProNav: ac range: 46.911266 m, nav range: 42.274654 m, bearing: 206.878338 deg, approach rate: -0.675908 m/s, LOS rate: 0.020143 deg/s, cmd heading: 201.746016 deg, new cmd heading: 201.766737 deg. Bh.]:HeadingCmd: 3.521494 target range: 46.911266 and range: 47.10 m.h(`a@h*h"h h2hgfffdddjdZd{T@[BɢH8) սi)P!<i%ui0Ԃ;4eo;I(`a@I o)@ @@4@@fA@gAI^A"5;ԁBDAT read: Rx Time:00:34:08.1096 TRx dataTimestamp_ set to:1761525247.252157checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023904AE .AII IY Om >DI zDI EU . EU 4EU +EQ "EU ye;*EU ;VEU [4ZEQ BEU 9 ?Y ?=Dy,D ;E>Q 54a?Q 94)Y)?Q E:y.Q I?7DI ;i ;r4yŕBɮAeEjhDNOT Ignoring new targets: 46.91 m.bhPowering the camera and arming the capture device at range: 47.10 m.2hRh}:Zh}: ProNav: ac range: 46.911266 m, nav range: 41.995289 m, bearing: 206.901247 deg, approach rate: -0.671294 m/s, LOS rate: 0.055416 deg/s, cmd heading: 201.766739 deg, new cmd heading: 201.835924 deg. Bh  ; HeadingCmd: 3.522702 target range: 46.911266 and range: 47.10 m.h sa@h*h"hq h2hgfff[BdddjdZd @ZBɢ;) i)<iXi%ī0%S;%2A];I%sa@I)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275281&@ @@4@ԡ^A- ~;A5 fAzA1 AY Ia Iq O >- DAT read: 00:34:08.1096 LVL= 32160, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.42,-3.019, 1.472,-2.842, 3.050, PHS= 0.316,-1.533, 0.347, RAW= 150.8, 9.4, CAL= 150.4, 10.1, ROT= 359.6, -10.1 = Ygot valid direction response: 00:34:08.1096 LVL= 32160, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.42,-3.019, 1.472,-2.842, 3.050, PHS= 0.316,-1.533, 0.347, RAW= 150.8, 9.4, CAL= 150.4, 10.1, ROT= 359.6, -10.1 = 8DAT read: $Error in header = *Received a bad header,?A"X#Rx 1: Read direction message, but no range.&^direction in FSK: [0.984479,-0.006873,0.175367]y)-Hڀ?&|:ujr?)-}-- ))-DI-ʡ>i-X9Ŀ->-q(@-'>-'@ -J4>)-@I-J4)-C)@?о,-?q0? -' ?)-,h'I-i-J42T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseTɰTr]S@rFSa@rU}<ٱr\?$ zAHRS rotation from veh to nav: [[-0.928881,0.367644,0.044918],[-0.370054,-0.916153,-0.154024],[-0.015474,-0.159692,0.987046]]rH@e`y?@?׿` Q ÿװ pĿ?ir]S@Irb^;pYE5ByEb!IbDUVDU02yC=%K=ٔ3:Q->9Y=Dy,DvC;E>Q 54L?Q 94))PBYy.Q I?8DI:i:y4yĕBE E$E,E"E*E;VEg4ZEa @a @a @a @ɮ tA jhQDNOT Ignoring new targets: 46.91 m.bhPowering the camera and arming the capture device at range: 47.10 m.2hRhq:Zhq: ProNav: ac range: 46.911266 m, nav range: 41.726192 m, bearing: 206.923159 deg, approach rate: -0.645095 m/s, LOS rate: 0.052867 deg/s, cmd heading: 201.835929 deg, new cmd heading: 201.902088 deg. Bh!;HeadingCmd: 3.523856 target range: 46.911266 and range: 47.10 m.h܆a@h*h"h h2hg!f!f!f!d)d)d)jdIZdU@2@额YBɢF^G;) ؏i);;顡izi٘0'; b;I܆a@I$@ @@4@9]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseA@AA?AB|>BBZ!IB/BB =BBB;B:Ei ^A yb];A I I O- >7, ?A 2iS@2_a@2k<ٱ2$ >AHRS rotation from veh to nav: [[-0.928592,0.368444,0.044348],[-0.370751,-0.915857,-0.154108],[-0.016164,-0.159545,0.987058]]2H ?@´? a׿ N˹ÿ3`kĿ@?i2iS@I2X^;2CYR1ByV\!IbD^VD^:yf밼%fW=ٔf:Q-j>9hYh=jDyj,Dn;En>pQ 5v4r9?Q 9v4rA)pYtyz.Q Iz?r8DIr:irk:r4y ɮAjhYmDNOT Ignoring new targets: 46.91 m.bhiPowering the camera and arming the capture device at range: 47.10 m.2hRh4f:=<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZh4f:- ProNav: ac range: 46.911266 m, nav range: 41.477089 m, bearing: 206.943437 deg, approach rate: -0.614394 m/s, LOS rate: 0.050315 deg/s, cmd heading: 201.902086 deg, new cmd heading: 201.963286 deg. Bh5 ;5HeadingCmd: 3.524924 target range: 46.911266 and range: 47.10 m.h=\a@h9*h9"h9 h92h9g9fAfAfAdAdIdIjdIiZduU;@颽XBɢp;) 蜽i)U;ik]iZ0;[N;I\a@ID%=D4=E9 E&E*E"Eso;*E;VE(N4ZEBEb,$?A:@S@:a@:U-<ٱ:$ FAHRS rotation from veh to nav: [[-0.927779,0.370504,0.044200],[-0.372744,-0.914898,-0.154996],[-0.016989,-0.160277,0.986926]]:H\W?Q?@ ׿F@ÿse@Ŀ?i:@S@I:8 _;8YN5ByNb!IPi%Mb@Mb@Mb@!!!! !9%uV?:v~jth?Y%r(?y%T%D;%A%@ %5A)%A!Y%AbD=VD=2yMX<%MB=ٔM;Q-U>9U"?YU"?=UDyU,D]Χ;E]>aQ 5u4e#?Q 9u4e)e&PBY{(?Q E:y1Q I?e%8DIe;ieF;e4y•BɮeAdEjhDNOT Ignoring new targets: 46.91 m.bhPowering the camera and arming the capture device at range: 47.10 m.2hRhu:Zhu: ProNav: ac range: 46.911266 m, nav range: 41.202087 m, bearing: 206.984512 deg, approach rate: -0.708383 m/s, LOS rate: 0.106512 deg/s, cmd heading: 201.963284 deg, new cmd heading: 202.087332 deg. Bh2;HeadingCmd: 3.527089 target range: 46.911266 and range: 47.10 m.hջa@h*h"h h2hgfffBdddjdZd@-WBɢ56@;)1 5i1)=%;99i=miEc0E;IImջa@Iq@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEF E%E,E"E>{;*E;VEg4ZEa%@a%@a%@a%@^A A >A >) A9 IA IY Oe >,ũ>?A@2S@2a@2ݣ<ٱ2# :AHRS rotation from veh to nav: [[-0.927084,0.372345,0.043291],[-0.374426,-0.914316,-0.154377],[-0.017899,-0.159330,0.987063]]2H`?@J*?׿B`ÿ;T@dĿ`?i2S@I2u_;2CY@yBa!I DDbDNVDNkyV]\%VU=ٔV;Q-V>9XYX=ZDyZ,D^;E^>`Q 5f4b?Q 9f4b5!)b#PBYdyf1Q If?b58DIb#:ib:b4ylɮnjAlzB*** querying acoustic contact ***ix ix|jh  DNOT Ignoring new targets: 46.91 m.bh  Powering the camera and arming the capture device at range: 47.10 m.2hRh2:Zh2:%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseB5{>B1B5f!IB59BB1B1B1B5DŽ;B5;E ProNav: ac range: 46.911266 m, nav range: 40.951187 m, bearing: 207.021829 deg, approach rate: -0.666611 m/s, LOS rate: 0.099753 deg/s, cmd heading: 202.087334 deg, new cmd heading: 202.199969 deg. Bh;HeadingCmd: 3.529055 target range: 46.911266 and range: 47.10 m.h a@h*h"h h2hgfffdddjdZd7:@ɢDQ7;) ܇i)z;idi%C0% ;%jE;I% a@I!AM`@I @I@U/@QYT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Aԉ D zD AAE% - E% 'E% +E! "E% d;*E% ";VE% [4ZE! BE% >,8X?A2rS@2a@2+B<ٱ2# >AHRS rotation from veh to nav: [[-0.926629,0.373529,0.042837],[-0.375518,-0.913837,-0.154556],[-0.018585,-0.159302,0.987055]]2H`??{ؿ(>|ÿ`dĿ@?i2rS@I2_;2CYn/ByrZ!IYimMb@Mb@Mb@iiii i9my&1?Mby&1|Ym`%?ymm`m?Amz@ mA)mxAiYmAbD VD2yaܼ%<=ٔO:Q->9 ?Y ?=Dy,D2;E>Q 54?Q 94#)PBYe%?Q E:yP1Q I?G8DI;iS;L4yBɮAcEjhDNOT Ignoring new targets: 46.91 m.bhPowering the camera and arming the capture device at range: 47.10 m.2hRh:Zh:  ProNav: ac range: 46.911266 m, nav range: 40.672539 m, bearing: 207.061433 deg, approach rate: -0.643916 m/s, LOS rate: 0.092146 deg/s, cmd heading: 202.199964 deg, new cmd heading: 202.319590 deg. Bh |; HeadingCmd: 3.531143 target range: 46.911266 and range: 47.10 m.h?a@h*h"h h2hgffflBdddjdZdG@VBɢ( ;) ̜i)vH;i/iu!0 8\; ;I ?a@II5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseԉ@ @@ 0@ Թ^A"5; A= ؟AII IY Oe > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,_r?AY]*By]S!IbDm VDm2y}ʼ%}L=ٔQ->9"?Y"?=Dy,DE>Q 54嫊?Q 94Y&)PBYyQ I?W8DI;i;O4yBɮAbEԹbEajEe^4rEe.E1 E%E,E"E2h;*E;VEg4ZEa-@a-@a-@a-@jhQ]DNOT Ignoring new targets: 46.91 m.bhY]Powering the camera and arming the capture device at range: 47.10 m.2hYRhe:Zhe:u ProNav: ac range: 46.911266 m, nav range: 40.414768 m, bearing: 207.098558 deg, approach rate: -0.617088 m/s, LOS rate: 0.089442 deg/s, cmd heading: 202.319588 deg, new cmd heading: 202.431673 deg. Bhu;HeadingCmd: 3.533099 target range: 46.911266 and range: 47.10 m.hLb@h*h"h h2hgfffdddjdZd@@=UBɢ=(x:)9 =i9)E;AAiEiMj0M};:ILb@IEN@A @A@E0@EBA<B%}>B!B!B!B!B!B!B%ք;B%!;EB?C=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseB>CBƓCBƢ =Bƣ =CƁ5^A- ;A1 zA5 gAA .AI) IA A OU >{",:?A2sT@2b@2أ<ٱ2$ :AHRS rotation from veh to nav: [[-0.924712,0.378267,0.042671],[-0.380141,-0.911726,-0.155721],[-0.020000,-0.160218,0.986879]]2H>`5?٥?@9Tؿ,ÿ@zĿ@?i2sT@I2i&b;0YBByB4!IIF<)F4<bDNVDNk1yV%VY=ٔVu;Q-V>9Z ?YZ ?=ZDyZ,D^Y<E^>`Q 5f4bҫ?Q 9f4b()b PBYhyn0Q Ir?bg8DIbF;ibƟ;b梪4y|ɮ~vA|jh!%DNOT Ignoring new targets: 46.91 m.bh!%Powering the camera and arming the capture device at range: 47.10 m.-lFinal approach. Armed for intercept at range: 47.10 m.-\Transitioning guidance mode to: FINAL_APPROACH:h-@Rh5&:Zh5&:M ProNav: ac range: 46.911266 m, nav range: 40.172356 m, bearing: 207.132163 deg, approach rate: -0.664955 m/s, LOS rate: 0.092738 deg/s, cmd heading: 202.431671 deg, new cmd heading: 202.533095 deg. BhU~;mHeadingCmd: 3.534869 target range: 46.911266 and range: 47.10 m.hmM;b@hq*hq"hq hgfff1d9dAdIjdqZd}R/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaɢej)i m4 ii) a;顉i7$ig/i;v;IM;b@IIfA)fAE5" E5!E5-E1"E5Z;*E5:VE5t4ZE1BE5 ),?A>HT@>>b@>'<ٱ>U$ FAHRS rotation from veh to nav: [[-0.923386,0.381499,0.042636],[-0.383325,-0.910421,-0.155549],[-0.020525,-0.159975,0.986908]]>H``yj?`^ԥ? dؿ+"ÿ` zĿ?i>HT@I>Z~d;>CYb Byb-!IiMb@Mb@Mb@ 9x&1?Mbp? rhYA ?y;CA@ GA)AY3AbDVDyϼ%8=ٔd:Q->9"?Y"?=Dy-D;E>Q 5u4?Q 9}4+)OBY}Q ?Q E}:y}/Q I}?y8DIT;*E1VE5 [4ZE1aE@aE@aE@aE@^A r;A I I  O% >>/,𿀯?A2`T@2 }b@2<ٱ2# :AHRS rotation from veh to nav: [[-0.921906,0.385088,0.042379],[-0.386833,-0.909021,-0.155052],[-0.021186,-0.159337,0.986997]]2HA`H??@ؿ`ÿ`@*eĿz?i2`T@I2e;2CBb{>B`BbM!IBb%BB`B`B`Bb;Bb:ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseYBy!IbDVD3y<%L=ٔ:Q->9Y=Dy-D<E>Q 54?Q 94.)OBYy/Q I?8DIx;iR;4yBɮA B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 46.91 m.bhRh:Zh%:- ProNav: ac range: 46.911266 m, nav range: 39.646713 m, bearing: 207.190227 deg, approach rate: -0.653281 m/s, LOS rate: 0.071210 deg/s, cmd heading: 202.626905 deg, new cmd heading: 202.708448 deg. Bh5|C;=HeadingCmd: 3.537930 target range: 46.911266 and range: 47.10 m.h=qmb@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@d@颱ɢ>)u 4i):;iރiE/V;D;Iqmb@IQ@Q @Y@]/@Y^Am;A}>A}>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI A I I O >EE 0 EE (EE *EA "EE Jg;*EE ;VEE (N4ZEA BEE AHRS rotation from veh to nav: [[-0.920476,0.388493,0.042400],[-0.390206,-0.907671,-0.154512],[-0.021541,-0.158769,0.987081]]6Ht?x? ؿ ÿRĿ@*?i6iT@I6Zd;6CYFByF!I HHiMMb@Mb@Mb@IIII I9M ףp= ?Zd;O?{GzYMQ?yMj<=MףM$AM@ MA)MtAIYMAbDeVDeyuO%uO=ٔ}l:Q-}>9yY=Dy"-D<E>Q 54?Q 940)OBY?Q E:y*Q I?8DI6;i~ ;4yBɮAjEjhDNOT Ignoring new targets: 46.91 m.bhRh)8Zh)8 ProNav: ac range: 46.911266 m, nav range: 39.411240 m, bearing: 207.191132 deg, approach rate: -0.596837 m/s, LOS rate: 0.002309 deg/s, cmd heading: 202.708444 deg, new cmd heading: 202.711177 deg. Bh8HeadingCmd: 3.537977 target range: 46.911266 and range: 47.10 m.h9nb@h*h"h hgfff7BdddjdZd@)ɢ5NŻ)1 5H=i1)=kr;99i=v'iE/E ;E%QO@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse\GjAMA59jAYAy^A ;ԩ AA II IY Om > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseP<,7?A@VT@V3b@V )<ٱV7! ^AHRS rotation from veh to nav: [[-0.919228,0.391450,0.042273],[-0.393132,-0.906638,-0.153150],[-0.021624,-0.157399,0.987298]]VHPj ?Τ?@)ٿ-lÿ $%Ŀ?iVT@IVCWc;VCYBy!IbD-VD-1y=函%EN=ٔE$[9Q-E>9IYI=MDyM2-DM^<EM>QQ 5]4UG?Q 9e4U3)UOBYaye*Q Ie?U8DIU;iU;Uw4ymBɮmAuiEjhDNOT Ignoring new targets: 46.91 m.bhRhZh ProNav: ac range: 46.911266 m, nav range: 39.174824 m, bearing: 207.190930 deg, approach rate: -0.595869 m/s, LOS rate: -0.000512 deg/s, cmd heading: 202.711176 deg, new cmd heading: 202.710567 deg. BhٳHeadingCmd: 3.537967 target range: 46.911266 and range: 47.10 m.h nb@h*h"h hgfffdddjdZd :@E8 E*E)E"En;*E;VEFA4ZEa @a @a @a @USBɢu!)q }:Wiy)}<;yyi}5^i/Dv;YM8C,4 ?A2b"U@2 c@2ư<ٱ2_# :AHRS rotation from veh to nav: [[-0.918198,0.393750,0.043287],[-0.395535,-0.905391,-0.154335],[-0.021578,-0.158832,0.987070]]2Ha53?)?@pPٿ CÿmTĿ?i2b"U@I2_Lb;2CYBւByB IbDJ VDJ:2yR@%RU=ٔVMQ-V>9TYT=ZDyZB-DZ;EZ>\Q 5b4^%u?Q 9b4^6)^OBYdyf}*Q If?^8DI^:i^:^.ƪ4yhɮjiAhljhDNOT Ignoring new targets: 46.91 m.bhRh JZh J- ProNav: ac range: 46.911266 m, nav range: 38.945850 m, bearing: 207.189874 deg, approach rate: -0.594659 m/s, LOS rate: -0.002760 deg/s, cmd heading: 202.710562 deg, new cmd heading: 202.707373 deg. Bh-yHeadingCmd: 3.537911 target range: 46.911266 and range: 47.10 m.h#mb@h*h"h hg!f)fQfYdadiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsedijdZdة @RBɢ~%) wi)è;i$ti/U;6o9IYI=MDyMX-DT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsea<E>Q 547\?Q 94#;)OBYi?Q E:y&Q I?8DI":in:3Ъ4y Bɮ AhEjhQUDNOT Ignoring new targets: 46.91 m.bhYRh]7Zh]7 ProNav: ac range: 46.911266 m, nav range: 38.602100 m, bearing: 207.157584 deg, approach rate: -0.596026 m/s, LOS rate: -0.056485 deg/s, cmd heading: 202.707379 deg, new cmd heading: 202.609648 deg. BhHeadingCmd: 3.536206 target range: 46.911266 and range: 47.10 m.h1Qb@h*h"h hgfffBdddjdZd Z!@QBɢ^) li)M;!!i%siM/Mj;;M9BB!IBBB =BBBl;B:Em T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse O@  @ @ 1@ @ =@ = 1 ^AHu<A1IY%T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseIIO}?T,taT?AkU@c@<ٱ %AHRS rotation from veh to nav: [[-0.915397,0.400134,0.044053],[-0.402038,-0.903210,-0.150261],[-0.020336,-0.155259,0.987664]]H@J˛??ٿ ;ÿҔÿ?ikU@I>`;Y5ÂBy5 IiMb@Mb@Mb@ 9zG?zG?X9vY ?y =VAz@ A)Y\AbDVD2yG% =ٔXQ->9Y=Dyp-D\;E>E* E E0E"Ea;*E:VE4ZEBE9)Y)=-Dy--D-L;E5>9Q 5=4=.?Q 9E4=hD)=bOBYAyE#Q IE?=8DI=I:i=A:=4E]  E]E]-EY"E]X;*E]A:VE]t4ZEYae@ae@ae@ae@yeBɮeAmgEjhDNOT Ignoring new targets: 46.91 m.bhRhZh ProNav: ac range: 46.911266 m, nav range: 37.963341 m, bearing: 207.054303 deg, approach rate: -0.601631 m/s, LOS rate: -0.099455 deg/s, cmd heading: 202.438515 deg, new cmd heading: 202.297186 deg. BhHeadingCmd: 3.530752 target range: 46.911266 and range: 47.10 m.ha@h*h"h hgfffdddjdZd'#@ieOBɢ-u) i)n;顑in|i'0l;?BB IBɂBB =BBBX;B:ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAIIO> ;c,xЏ?A2U@2Zc@2<ٱ2 9 :AHRS rotation from veh to nav: [[-0.914396,0.402357,0.044590],[-0.404349,-0.902459,-0.148558],[-0.019533,-0.153871,0.987898]]2HB`8?@Ԧ?`ٿÿ ` ÿۜ?i2U@I2b`;2CYBByB IbDNVDNyVp%VS=ٔVeQ-V>9XYX=ZDyZ-DZ|;E^>`Q 5f4b?Q 9f4bG)bKOBYdyf#Q If?b9DIb:ib=:b4yhɮnAljh!%DNOT Ignoring new targets: 46.91 m.bh!Rh-Zh-= ProNav: ac range: 46.911266 m, nav range: 37.733334 m, bearing: 207.015494 deg, approach rate: -0.591111 m/s, LOS rate: -0.100348 deg/s, cmd heading: 202.297185 deg, new cmd heading: 202.180046 deg. Bh=EHeadingCmd: 3.528708 target range: 46.911266 and range: 47.10 m.hEXa@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU`5$@ ;qQ i,?A2cU@2 c@2q<ٱ2h :AHRS rotation from veh to nav: [[-0.913994,0.403291,0.044398],[-0.405285,-0.902409,-0.146291],[-0.018932,-0.151703,0.988245]]2Hp?`?`^?@1ٿ¿@ckÿ?i2cU@I2`;2CYBByB IieMb@Mb@Mb@aaaa a9e㥛 ?T㥛 ?Ye?ye>e̼eAe@ eA)exAaYeAbDVD1yR%;=ٔQQ->9Y=Dy-D;E>Q 54 ?Q 94K)3OBY?Q E:yG!Q I?9DIN;i-N;l4yߕBɮAfEjhAEDNOT Ignoring new targets: 46.91 m.bhARhMxZhMx] ProNav: ac range: 46.911266 m, nav range: 37.475571 m, bearing: 206.955901 deg, approach rate: -0.583910 m/s, LOS rate: -0.135924 deg/s, cmd heading: 202.180047 deg, new cmd heading: 202.000040 deg. Bh]eHeadingCmd: 3.525566 target range: 46.911266 and range: 47.10 m.heߢa@ha*ha"ha hagifififuBdqdqdqjdqZd}o%@颥MBɢ~i) )i)-{;11i5cxi=|0=D;==I=ߢa@I9mp>im!>2Acoustic response timeout M@  @ @ /@ ^A&lԁ B v>B >CB IB BB =B B DB 5;B |:EBB?CBBBˢ =C:5#p,YÁ?A22Acoustic response timeout4BU@Bgc@B|n<ٱB NAHRS rotation from veh to nav: [[-0.913793,0.403711,0.044716],[-0.405754,-0.902242,-0.146023],[-0.018606,-0.151578,0.988270]]BH=g?@?ٿ`+¿ @fÿ?iBU@IB&`;BCY By  II=)=bD%VD%y-%5R=ٔ5[Q-5>99Y9==Dy=-DEX:EE>IQ 5M4M?Q 9U4MJO)MOBYQyU?!Q IU?M#9DIM|:iM1:M14yaɮeAajhDNOT Ignoring new targets: 46.91 m.bhRh"Zh" ProNav: ac range: 46.911266 m, nav range: 37.247513 m, bearing: 206.902296 deg, approach rate: -0.600832 m/s, LOS rate: -0.142090 deg/s, cmd heading: 202.000044 deg, new cmd heading: 201.838245 deg. BhûHeadingCmd: 3.522742 target range: 46.911266 and range: 47.10 m.hta@h*h"h hgfffdd!d)jd)Zd- M&@LBɢv) ꨾i)~;ivi0;+=Ita@IԑJ@ @@@Թ-2Acoustic response timeout^A +O< D zD @AE ) E %E E "E `;*E ;VE ZE BE w,9_݁?A2:U@2c@2t<ٱ2 >AHRS rotation from veh to nav: [[-0.913702,0.403900,0.044858],[-0.405946,-0.902020,-0.146859],[-0.018853,-0.152396,0.988140]]2H =??ٿY I¿PN`ÿ מ?i2:U@I2_;2CYFByF I`iMb@Mb@Mb@ 9ʡE?p= ף?I +Y?y>9(A )YAbD-VD-:y=<%=I=ٔE:Q-E>9AYA=MDyM-DM :EM>QQ 54U몊?Q 94U+S)UOBYD!?Q E:yu!Q I?U39DIUA % 2Acoustic response timeout02},%Y?A2U@2c@2<ٱ2 :AHRS rotation from veh to nav: [[-0.913709,0.403973,0.044063],[-0.405924,-0.902259,-0.145448],[-0.019001,-0.150783,0.988384]]2H =`?\? ٿ@M` ¿u`Lÿؠ?i2U@I2 _;2CYBByB IbDJVDJ:2yR8<%RS=ٔV9Q-V>9TYX=ZDyZ-DZ;xEZ>\Q 5b4^ڪ?Q 9b4^V)^NBYdyft!Q If?^C9DI^:i^t:^4yhɮjAljh|~DNOT Ignoring new targets: 46.91 m.bhRh5Zh5 ProNav: ac range: 46.911266 m, nav range: 36.755978 m, bearing: 206.787034 deg, approach rate: -0.668899 m/s, LOS rate: -0.159006 deg/s, cmd heading: 201.661322 deg, new cmd heading: 201.490159 deg. Bh?ڻ%HeadingCmd: 3.516667 target range: 46.911266 and range: 47.10 m.h%a@h!*h!"h! h!g)f)E5  E5E1E1"E5X;*E5:VE1ZE1a=@a=@aE@aE@fAfAdIdIdIjdIZdU '@}IBɢ}6)y i);顁iri-1- ;-0(=I-a@I19L@ @@0@9B}r>ByB} IB}BByByByB} ;B}Q:Eu2Acoustic response timeoutq^A!AQ IY Iq O} >ԑ ,n?A2U@2Gc@2~<ٱ2 >AHRS rotation from veh to nav: [[-0.913930,0.403652,0.042398],[-0.405405,-0.902873,-0.143064],[-0.019468,-0.147939,0.988805]]2H`>`o?3?)ٿ UO¿p¿J?i2U@I2f `;2CYBByF I HHbDLVDLyV=%VK=ٔV:Q-Z>9XYX=ZDyZ-D^|E^>Q 5%4 ɪ?Q 9%4Z)NBY!y%z!Q I-?S9DIn;i7;C 4y5Bɮ5A5nEyjhyDNOT Ignoring new targets: 46.91 m.bhRh(Zh( ProNav: ac range: 46.911266 m, nav range: 36.499199 m, bearing: 206.725708 deg, approach rate: -0.614286 m/s, LOS rate: -0.147740 deg/s, cmd heading: 201.490157 deg, new cmd heading: 201.304886 deg. BhʻHeadingCmd: 3.513433 target range: 46.911266 and range: 47.10 m.h`@h*h"h hgf2Acoustic response timeoutffd ddjd!Zd-@(@HBɢ]v) i)c;ipiC1; 71=I `@I EU" EU%EU'EQ"EUZ;*EU;VEU'4ZEQBEUTx time:00:34:18.0960  ^A O$=E G M 9I YU wAI I O >=,Q*?AJUU@Jc@J<ٱJ" fAHRS rotation from veh to nav: [[-0.914148,0.403182,0.042165],[-0.404882,-0.902915,-0.144273],[-0.020097,-0.148959,0.988639]]JH @??ٿw¿Cÿ?iJUU@IJd`;JCY-By5 IiMb@Mb@Mb@ 9v?i|?5?91Y1=5Dy5-D=ʣE=>AQ 5M4Ew?Q 9M4E^)ENBYM?Q EM:yM&"Q IU?Ee9DIE. ;iE ;E4yYɮ]AYjhDNOT Ignoring new targets: 46.91 m.bhRhZh ProNav: ac range: 46.911266 m, nav range: 36.233242 m, bearing: 206.665775 deg, approach rate: -0.606892 m/s, LOS rate: -0.137767 deg/s, cmd heading: 201.304881 deg, new cmd heading: 201.123762 deg. BhHeadingCmd: 3.510272 target range: 46.911266 and range: 47.10 m.hK`@h*h"h hgfff BdddjdZd )@eFBɢe*)i m1i);顩iVnijw1&f;aO:=IK`@IDAT read: 2Acoustic response timeout eM@a @a@e4@aE] E]#E])EY"E]Q;*E];VE]FA4ZEYae@ae@ae@ae@1^A- +,=I I O% >Y B n>B =CB IB BB =B B DB ;B 4:EH%,D?A"2Acoustic response timeout:žU@:nc@:<ٱ:gV ^AHRS rotation from veh to nav: [[-0.914397,0.402597,0.042357],[-0.404288,-0.902823,-0.146500],[-0.020739,-0.151083,0.988303]]:HB'?կ?`ٿ ¿<`Vÿ.?i:žU@I:^`;8YdydbDrVDrk2yvi;%za=ٔz:Q-z>9|Y|=~Dy~.DgE>Q 5 4/?Q 94/b)NBYy2"Q I?s9DI:ig:X4y%KBɮ%A-mEjhDNOT Ignoring new targets: 46.91 m.bhRhZh ProNav: ac range: 46.911266 m, nav range: 36.014641 m, bearing: 206.616101 deg, approach rate: -0.584766 m/s, LOS rate: -0.133685 deg/s, cmd heading: 201.123758 deg, new cmd heading: 200.973834 deg. Bh~HeadingCmd: 3.507655 target range: 46.911266 and range: 47.10 m.hl}`@h*h"h hgfffdddjdZd@&T*@Q颭EBɢ׆) i)t;项iCliI1;@=Il}`@II)C@ @@/@ԁ2Acoustic response timeoutԱ^A8=Ii I O >Em " Em Em -Ei "Em Z;*Em :VEm t4ZEi BEi au 2Ei au JEm @O9AYA=EDyE.DEEM>Q 54?Q 94e)NBYm?Q E:y%Q I?9DI;i:"4yɮA-B*** querying acoustic contact ***i) i)jhY]DNOT Ignoring new targets: 46.91 m.bhaRhepȺZhepȺ ProNav: ac range: 46.911266 m, nav range: 35.749199 m, bearing: 206.578770 deg, approach rate: -0.618417 m/s, LOS rate: -0.087619 deg/s, cmd heading: 200.973836 deg, new cmd heading: 200.861011 deg. BhpHeadingCmd: 3.505686 target range: 46.911266 and range: 47.10 m.h)]`@h*h"h hgfffBdddԱjdZdR2+@U2Acoustic response timeoutuCBɢu%o)y } iy)}-me;yyi}ji1; D=I)]`@Ii@@! @!@!@! ^Ae l;=I I O > 2Acoustic response timeout9 y,x?A6U@6jc@6<ٱ6E BAHRS rotation from veh to nav: [[-0.914987,0.401199,0.042872],[-0.402880,-0.902637,-0.151442],[-0.022061,-0.155840,0.987536]]6HG??H?ٿftbÿ`ÿ ?i6U@I6`;6CYJɂByJ IbDV VDV2yZ=%^S=ٔ^:Q-^>9`Y`=bDyb).DfEf>dQ 5j4f?Q 9n4fi)fNBYlyn%Q In?f9DIfH;if";fW)4yvIBɮvAvlEjh DNOT Ignoring new targets: 46.91 m.bhRhͺZhͺE% E%E%(E!"E%V;*E%:VE%c44ZE!a-@a-@a-@a5@e ProNav: ac range: 46.911266 m, nav range: 35.521290 m, bearing: 206.546578 deg, approach rate: -0.630670 m/s, LOS rate: -0.089654 deg/s, cmd heading: 200.861015 deg, new cmd heading: 200.763818 deg. BhevmHeadingCmd: 3.503990 target range: 46.911266 and range: 47.10 m.hm^A`@hi*hq"hq hqgqfqfyfydydydjdZd +@颭ABɢ]h)  qi)~Z;项iTNiiW1;G=I^A`@IUD@Q @Q@Q@QB!A%p<B-v>B->CB- IB-BB- =B)B-DB-ƒ;B-:E9e2Acoustic response timeout^Aum C=II)O=>i ba,l_?A.ЗU@.zc@.u<ٱ. % :AHRS rotation from veh to nav: [[-0.915315,0.400330,0.043980],[-0.402095,-0.902216,-0.155968],[-0.022759,-0.160444,0.986783]].HBJ`??ٿ ÿ@9NjĿ?i.ЗU@I.Ӳ_;,@YBByB IbDJVDJkyR{%VK=ٔV :Q-V>9TYX=ZDyZ9.DZ EZ>`Q 5f4bq?Q 9f4bol)bNBYdyf%Q If?b9DIb:ib:b^04ylɮneAljhDNOT Ignoring new targets: 46.91 m.bhRh ȺZh Ⱥ5 ProNav: ac range: 46.911266 m, nav range: 35.273594 m, bearing: 206.511497 deg, approach rate: -0.615948 m/s, LOS rate: -0.087847 deg/s, cmd heading: 200.763821 deg, new cmd heading: 200.657841 deg. Bh5'qEHeadingCmd: 3.502140 target range: 46.911266 and range: 47.10 m.hE#`@hI*hI"hI hIgIfIfQfQdQdQ2Acoustic response timeoutdQjdZd`W,@Աm?Bɢ8d) $iE5# E5E5+E1"E5[;*E5:VE5 [4ZE1BE5hie>}@@y @y@y@ym 2Acoustic response timeout ^A <H=I I O >ժ,p?A$^ڇU@^}c@^<ٱ^T/ jAHRS rotation from veh to nav: [[-0.915689,0.399089,0.047333],[-0.401196,-0.900851,-0.165862],[-0.023554,-0.170867,0.985012]]^HTM ?`;?@0ٿ:ſſ8?i^ڇU@I^x_;\YnłByr I ttimMb@Mb@Mb@iiii i9mQ?Zd;?Ym(?ymy=mmAm@ mA)mAiYm(AbDVDy' =%4=ٔ:Q->9Y=DyK.D E>Q 54i]?Q 94p)NBY?Q E:yX(Q I?9DI:i:F84ydBɮAuEjhDNOT Ignoring new targets: 46.91 m.bhRh2`Zh2` ProNav: ac range: 46.911266 m, nav range: 34.996742 m, bearing: 206.489492 deg, approach rate: -0.611667 m/s, LOS rate: -0.049002 deg/s, cmd heading: 200.657844 deg, new cmd heading: 200.591307 deg. Bh HeadingCmd: 3.500979 target range: 46.911266 and range: 47.10 m.h  `@h *h "h  h gfff1BdddjdZd-@=BɢlzU) lpi)>;i$ei21;=5L=I `@I!y=Z?=R=E2Acoustic response timeoutA@ @@/@E, E*EE"Ec;*E;VEZEa@a@a@a@Թ^AG= B }>B ?CB IB ɂBB =B B DB ;B 9EI I O > 2Acoustic response timeoutm,&ǂ?A\vxU@vmnc@v<ٱv4 AHRS rotation from veh to nav: [[-0.916056,0.398059,0.048894],[-0.400351,-0.900433,-0.170118],[-0.023691,-0.175413,0.984210]]vHTPy??Xٿ@X pſBsƿ~?ivxU@Iv_;vCYтBy IbD%VD%y=}=%=Q=ٔ=B9Q-=>9AYA=EDyE[.DEEM>IQ 5U4MK?Q 9]4Ms)MNBYYy]h(Q I]?M9DIM;iM;M?4yebBɮmAmtEjhDNOT Ignoring new targets: 46.91 m.bhRh^Zh^ ProNav: ac range: 46.911266 m, nav range: 34.758026 m, bearing: 206.470631 deg, approach rate: -0.612019 m/s, LOS rate: -0.048690 deg/s, cmd heading: 200.591304 deg, new cmd heading: 200.534330 deg. BhHeadingCmd: 3.499984 target range: 46.911266 and range: 47.10 m.h_@h*h"h hgfffdddjdZdc.@颭D zD AAE  E E *E "E *E x:VE (N4ZE BE v9Y=Dym.DE>Q 54!9?Q 94+v)NBY??Q E:y)Q I?9DI ;i ;zF4yɮAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 46.91 m.bh)Rh5Zh5BDAT read: Rx Time:00:34:20.5493 TRx dataTimestamp_ set to:1761525259.6040232Acoustic response timeout ProNav: ac range: 46.911266 m, nav range: 34.506779 m, bearing: 206.459742 deg, approach rate: -0.593598 m/s, LOS rate: -0.025913 deg/s, cmd heading: 200.534327 deg, new cmd heading: 200.501422 deg. BhFHeadingCmd: 3.499410 target range: 46.911266 and range: 47.10 m.h U_@h *h "h  hQgQfYfYfefBdadadajdiZdO/@:BIɢKF)Q UdiQ)U&;QQiU 2ai]_)2]:5;e&O=IeU_@Ia%H@! @!@%l0@!q^A A >A ?II IY m 2Acoustic response timeoutO >ԡ -,J?A ɰ bE [4jE T4rE 20EB. EB(EB.E@"EBye;*EB;VEBـ4ZE@aJ@aJ@aJ@aJ@RmU@Rcc@RѾ<ٱR7; ZAHRS rotation from veh to nav: [[-0.916331,0.397080,0.051631],[-0.399745,-0.899643,-0.175634],[-0.023291,-0.181578,0.983101]]RH`Ri?ko?kٿ@*{ƿ@ٗ=ǿu?iRmU@IRCl_;RCYfЂByf IbDnVDn1yv<=%vZ=ٔz݋Q-z>9xYx=~Dy~|.D~wE~>Q 5 4(?Q 9 4x)xNBYy)Q I?9DIR:i: M4y_BɮwA!yjhDNOT Ignoring new targets: 46.91 m.bhRhZh ProNav: ac range: 46.911266 m, nav range: 34.283787 m, bearing: 206.450204 deg, approach rate: -0.570633 m/s, LOS rate: -0.024565 deg/s, cmd heading: 200.501419 deg, new cmd heading: 200.472620 deg. Bh߆HeadingCmd: 3.498907 target range: 46.911266 and range: 47.10 m.h_@h*h"h hg f f f ddd1jd1Zd= 0@颅9BɢڄP) XPi)I;顉i}_i12; N=I_@IJ@ @ @ 4@ AYA]AAԩB|>BB IBӂBBBBBɃ;B:EB>CB>CBBBģ =Cڝ5DAT read: 00:34:20.5493 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 340,-0.31, 1.854, 0.096, 2.243, 1.761, PHS= 0.194,-1.620, 0.437, RAW= 156.2, 10.2, CAL= 156.1, 11.1, ROT= 353.9, -11.1 -Ygot valid direction response: 00:34:20.5493 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 340,-0.31, 1.854, 0.096, 2.243, 1.761, PHS= 0.194,-1.620, 0.437, RAW= 156.2, 10.2, CAL= 156.1, 11.1, ROT= 353.9, -11.1 5PDAT read: Bearing 358.7, -9.6 (Local) 5~Local bearing/azimuth received: Bearing 358.7, -9.6 (Local) DAT read: Range 11 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.5 m/s TDAT read: user:189>Tx time:00:34:21.6460 R#Rx 1: Read range and direction messages.^direction in FSK: [0.975737,-0.104276,0.192522]Fpublishing direction and range infoyhX;9?,رM?Y3B )EIF>i)\Ͽw>!z.@K6>].@ aF>)@IaFҜj?wRߦ?t+s? S!?)e5Ii ڽiaF2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AudO=IIO> T,?ABbU@BWc@B0<ٱB= NAHRS rotation from veh to nav: [[-0.916626,0.396210,0.053052],[-0.399092,-0.899447,-0.178100],[-0.022848,-0.184424,0.982581]]BHU[?@)?ٿE`ƿze2ǿ Nq?iBbU@IB!_;BCYrȂByr IbDxVDx==%DAT read: %2Acoustic response timeouty!%?=ٔ臺Q->9Y=Dy.DۺE>Q 54?Q 94 |)qNBYy)Q I?9DI:i:T4yɮAiDD<E- EIE,E"Ed;*E ;VEg4ZEBE>@>Q2Acoustic response timeout^A y Ai Iy I O >8,,1?A2"aU@2Vc@2<ٱ2@ :AHRS rotation from veh to nav: [[-0.916658,0.395934,0.054531],[-0.399041,-0.898985,-0.180533],[-0.022456,-0.187247,0.982056]]2HCUV?`?ٿ|`ǿǿm?i2"aU@I2R_;2CYBByB IiMMb@Mb@Mb@IIII I9M +?Mb?Mb`YM?yM=MMAM@ MtA)M AIYM AbDeVDeܲyu%u:=ٔ}iQ-}>9yYy=Dy.DE>Q 54?Q 94)gNBY?Q E:yi+Q I?:DI;i ;,\4y]Bɮ1AsEqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 36.799999 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 36.65 m.bhRhZh ProNav: ac range: 36.652264 m, nav range: 33.771069 m, bearing: 206.438698 deg, approach rate: -0.690579 m/s, LOS rate: -0.002170 deg/s, cmd heading: 200.437365 deg, new cmd heading: 200.434926 deg. BhHeadingCmd: 3.498249 target range: 36.652264 and range: 36.80 m.hQ_@h*h"h hgf f f yBdddjdZdS?E6BɢE1)A2Acoustic response timeout Mn}i ) ;  iJ[id<2; O=IQ_@IAA@ @@/@Ea Ee,Ee*Ea"Ea*Ee;VEe(N4ZEaau@au@au@au@iB {>B B B B B B B ˃;B :E^A% XM=A) zA- gA 2Acoustic response timeoutԩ Aq Iy I O >D,J?A>w]U@>!Sc@><ٱ>2C JAHRS rotation from veh to nav: [[-0.916753,0.395522,0.055903],[-0.398838,-0.898565,-0.183054],[-0.022169,-0.190111,0.981512]]>H@ V@=P?@Y?ٿ@ Lnǿ|Uȿ`h?i>w]U@I>d_;>CYRĂByR IbDZ VDZ:2yb=%bW=ٔfEQ-f>9dYd=jDyj.DjXEj>lQ 5r4n1?Q 9r4n)n_NBYtyvm+Q Iv?n:DIn:int:nb4yxɮzAxi ^@I 1J jh%DNOT Ignoring new targets: 36.65 m.bh!Rh%Zh-5 ProNav: ac range: 36.652264 m, nav range: 33.546928 m, bearing: 206.438090 deg, approach rate: -0.592959 m/s, LOS rate: -0.001619 deg/s, cmd heading: 200.434920 deg, new cmd heading: 200.433084 deg. Bh=>EHeadingCmd: 3.498217 target range: 36.652264 and range: 36.80 m.hE_@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUl?y颅4Bɢyd) `i)1:顉iYi<2PD;UN=I_@IUC@Q @Q@Q@Qԡ2Acoustic response timeout^A}dO=DqzDu@AE% EE)E"EO];*E:VEFA4ZEBE ,td?AF/XU@FMc@Fc<ٱFaDfGrhAA]2Acoustic response timeout}9}hAY}A AHRS rotation from veh to nav: [[-0.916887,0.395153,0.056316],[-0.398545,-0.898609,-0.183480],[-0.021896,-0.190675,0.981409]]FH`$W/J?xլ?ٿfB|ǿk@hȿg?iF/XU@IF_;FCYBy IiUMb@Mb@Mb@QQQQ Q9UM?I +?~jtxYUn?yU99Y=Dy.Do7E>Q 54&ݩ?Q 94)TNBY?Q E:y,Q I?":DIL:i:j4y[BɮMAMrEi1JqJB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 36.65 m.bhRḧ́9Zḧ́9 ProNav: ac range: 36.652264 m, nav range: 33.283318 m, bearing: 206.445185 deg, approach rate: -0.534973 m/s, LOS rate: 0.014513 deg/s, cmd heading: 200.433090 deg, new cmd heading: 200.454544 deg. Bh\:%HeadingCmd: 3.498592 target range: 36.652264 and range: 36.80 m.hM_@hI*hQ"hQ hQgQfYfYf]\BdYdadajdaZdmk?颵3Bɢ3y) oi):项iAWi62k;L=I_@I=@@A @A@E/@A) 2Acoustic response timeout^Ae M=Y E * E E +E "E a;*E O:VE [4ZE a @a @a @a @AU .AIY Ii O} >r,)?AYBy IbDVDk1y]<%]\=ٔ]Q-]>9e ?Ye ?=eDye.DmEm>qQ 5}4u̩?Q 9}4u)uLNBYyyyQ I}?u/:DIu :iu:u_q4yYBɮdAqEjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhDNOT Ignoring new targets: 36.65 m.bhRhI9ZhI9 ProNav: ac range: 36.652264 m, nav range: 33.070564 m, bearing: 206.450994 deg, approach rate: -0.625521 m/s, LOS rate: 0.017189 deg/s, cmd heading: 200.454550 deg, new cmd heading: 200.472089 deg. Bh<:HeadingCmd: 3.498898 target range: 36.652264 and range: 36.80 m.h_@h*h"h hgfffdddjdZd@5 ? 2Bɢ) %˅i!)%:!!i%Ui-12-% ;-K=I5_@I1BA<BBB IB΂BB =BBBՃ;B:E?@ @@0@M2Acoustic response timeout1^A%JM=A->A->aA} ؟AI I O >ԉ  2Acoustic response timeout,LƘ?AFMU@FNCc@F׹<ٱFQC RAHRS rotation from veh to nav: [[-0.917153,0.394574,0.056059],[-0.397959,-0.899148,-0.182106],[-0.021449,-0.189328,0.981680]]FH`PY@?@? 'xٿ`BOǿ@;ȿ@i?iFMU@IF_;FCYZByZ II^!>)^=bDjVDjk2y o%P=ٔQ-%>95"?Y5"?==Dy=.DMӺEU>E5& E5E5/E1"E58^;*E5:VE5J4ZE1BE5°^8,SA?A2FU@2M9aYi=mDym.DmׅEu>qQ 5}4u?Q 9}4u)u4NBY?Q E:y+Q I?uM:DIuX:iu:u4yWBɮApEjhDNOT Ignoring new targets: 36.65 m.bhRhZh ProNav: ac range: 36.652264 m, nav range: 32.601608 m, bearing: 206.454995 deg, approach rate: -0.640514 m/s, LOS rate: -0.008025 deg/s, cmd heading: 200.492840 deg, new cmd heading: 200.484186 deg. Bh>HeadingCmd: 3.499109 target range: 36.652264 and range: 36.80 m.hg_@h*h"h hgfffmBdddjdZd @m2Acoustic response timeoutԁ颵0Bɢ) |i)oEr:项ir"QiM.2\<H=Ig_@I@ @@0@@=@=E# EE,E"E[;*E:VEg4ZEa@a@a@a@Թ^AG=Bx>B>CB IBBBBBDB܃;B$:EE BDAT read: Rx Time:00:34:24.0964 M TRx dataTimestamp_ set to:1761525263.137554U 2Acoustic response timeoutA I I OE > ,I̓?A2GU@2=c@2γ<ٱ2 A >AHRS rotation from veh to nav: [[-0.917282,0.394459,0.054743],[-0.397634,-0.899617,-0.180487],[-0.021947,-0.187325,0.982053]]2H^Z>?7?`rٿ` 5ǿ`eyEǿl?i2GU@I2SH_;2CYBByF IbDNVDNyV%VW=ٔV:Q-V>9XYX=ZDyZ/D^[X9E^>`Q 5f4b?Q 9f4b+)b'NBYdyf +Q If?b[:DIbt:ib:bI4ylɮnPAljh|DNOT Ignoring new targets: 36.65 m.bhRh Zh  ProNav: ac range: 36.652264 m, nav range: 32.382484 m, bearing: 206.452191 deg, approach rate: -0.576551 m/s, LOS rate: -0.007429 deg/s, cmd heading: 200.484179 deg, new cmd heading: 200.475709 deg. Bh%%HeadingCmd: 3.498961 target range: 36.652264 and range: 36.80 m.h%_@h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=f @e/BɢeM)i mii)mI6:iiiudOiu02u<},I=I}_@IyL@ @@4@}=}<}2Acoustic response timeout^A<H=AzAfAE  E E *E "E W;*E j:VE (N4ZE BE FA G,惯?A$UDAT read: 00:34:24.0964 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.10,-0.990,-2.678,-0.634,-1.020, PHS= 0.132,-1.613, 0.343, RAW= 155.6, 12.2, CAL= 155.8, 13.6, ROT= 354.2, -13.6 ]Ygot valid direction response: 00:34:24.0964 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.10,-0.990,-2.678,-0.634,-1.020, PHS= 0.132,-1.613, 0.343, RAW= 155.6, 12.2, CAL= 155.8, 13.6, ROT= 354.2, -13.6 ePDAT read: Bearing 0.4, -9.7 (Local) m~Local bearing/azimuth received: Bearing 0.4, -9.7 (Local) uDAT read: Range 11 to 50 : 34.7 m (Round-trip 46.3 ms) speed 0.4 m/s }TDAT read: user:190>Tx time:00:34:25.1959 R#Rx 1: Read range and direction messages.^direction in FSK: [0.966985,-0.098223,0.235142]Fpublishing direction and range infoyR.?L-{%#?Y B )BI+>ivο>-@^ Z>.@ s>)@Is k?g7a9?xB? $=?)3ZI)QϽis2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.{FU@$??`{qٿ9ǿᯖ ǿl?i{FU@Io^;CYBy I ai%Mb@Mb@Mb@!!!! !9%i|?5?)\(?{GzY%?y%Ga=%ף%QA! %xA)%G A!Y% AbD=VD=yK%=ٔA9Q->9Y=Dy/DE.E>Q 54l?Q 94)NBYn?Q E:y=)Q I?o:DI:i":4yqBɮnAyEii(郯?AJi= BRi= Bji_@iD @@<&!+( hc@ @riR.?L-{%#?Zi)QϽbisiu1?8Hf'`K@zi ?6)տV+?2i2;:ii"ih?*i BiDBi;M?iiBiBic@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 3.535673 s, deltaX: -2.099998 m, approachRate: -0.593946 m/s, rangeRepo size: 4  Added new target pos. range: 34.560375 m, bearing: 200.345512 deg, lat: 36.779402 deg, lon: -121.859639 deg, deltaT: 3.535673 s, deltaX: -2.091888 m, approachRate: -0.591652 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.56 m.bhRhZh  ProNav: ac range: 34.560375 m, nav range: 33.747818 m, bearing: 203.273028 deg, approach rate: 0.000000 m/s, LOS rate: -0.007429 deg/s, cmd heading: 200.475710 deg, new cmd heading: 200.463420 deg. Bh HeadingCmd: 3.498747 target range: 34.560375 and range: 34.70 m.hw_@h*h!"h! h!g!f!f)f-FBd)d)d1jduYA@Zdu@W?ԑ.Bɢ5) i)d9iOKi?42e<J=Iw_@IB@ @@0@DAT read: BDAT read: Tx time:00:34:25.2959 $Ping request sent.BB IBBBBBBރ;B':EO>w,((?AJq9iYq=uDyu&/DuyкEu>yQ 54}Sr?Q 94})}MBYyF)Q I?}}:DI}:i}1:iߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193}K4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 34.56 m.bhRhҺZhҺ ProNav: ac range: 34.560375 m, nav range: 33.531429 m, bearing: 203.239487 deg, approach rate: -0.590101 m/s, LOS rate: -0.092055 deg/s, cmd heading: 200.463416 deg, new cmd heading: 200.362146 deg. Bh|HeadingCmd: 3.496979 target range: 34.560375 and range: 34.70 m.h_@h*h"h hgfffdddjdZdm?1ɢ5:)5b59 5i1)=899i=IiE4Q2E͵D =D <E & E E ,E "E 8^;*E :VE g4ZE BE °9Y=Dy7/D%E%>)Q 554-`?Q 954-)-MBY5?Q E=:y=&Q I=?-:DI- ;i-u ;-4yEoBɮEUAExEjhimDNOT Ignoring new targets: 34.56 m.bhiRhuZhu ProNav: ac range: 34.560375 m, nav range: 33.293579 m, bearing: 203.184866 deg, approach rate: -0.561610 m/s, LOS rate: -0.129892 deg/s, cmd heading: 200.362151 deg, new cmd heading: 200.197118 deg. BhIHeadingCmd: 3.494099 target range: 34.560375 and range: 34.70 m.hQ_@h*h"h hgfff"BdddjdZd*&?-Bɢtܼ) Ⱦi)-8iFie2.=< W=IQ_@IMA@I @I@M/@Q@U@U@]@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754976A>A>IYIqO}> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752V ,9?Aɰ65"U@6c@6՝<ٱ6rh> >AHRS rotation from veh to nav: [[-0.918183,0.392623,0.052801],[-0.395516,-0.900936,-0.178554],[-0.022534,-0.184829,0.982512]]6H`a ? ?#Pٿwƿ:`wǿp?i65"U@I6];6CYF^ByFY IbDNVDNyVf%V\=ٔzA :Q-z>9|Y|=~Dy~F/DE> Q 554 Q?Q 954 ) MBYIyU&Q IU? :DI ^By>BB IBBBBBB݃;B&:EBBBBţ =BC-64checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879Aq ,S?A2U@2[b@2Q<ٱ2 = :AHRS rotation from veh to nav: [[-0.918819,0.391253,0.051894],[-0.394029,-0.901797,-0.177490],[-0.022646,-0.183529,0.982753]]2H f`H ?ۑ?7ٿƿ@h0@}ǿ@r?i2U@I2j];2CYlypbDzVDz0yIL%F=ٔ9Q- >9 Y = Dy W/DE>Q 5%4hA?Q 9%4О)MBY!y-&Q I-?:DI:i4::4y5mBɮ5yA1jhY]DNOT Ignoring new targets: 34.56 m.bhYRheZheu ProNav: ac range: 34.560375 m, nav range: 32.861702 m, bearing: 203.084878 deg, approach rate: -0.569358 m/s, LOS rate: -0.132814 deg/s, cmd heading: 200.053509 deg, new cmd heading: 199.895189 deg. BhuL}HeadingCmd: 3.488829 target range: 34.560375 and range: 34.70 m.h}H_@hy*hy"h hgfffdddjdZdo?颽+BɢL) ;i)iiAi2# <`=IH_@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940uPExceeded connect timeout, disconnecting.DizDiԁE  EE*E"EX;*E:VE(N4ZEBEԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820 ,{m?ABT@B[b@BK<ٱBC= JAHRS rotation from veh to nav: [[-0.919494,0.389675,0.051807],[-0.392459,-0.902439,-0.177706],[-0.022495,-0.183731,0.982719]]BH ln?@g? ٿ@ƿ`@ǿ@or?iBT@IBo];BCYRIByR? Ii-Mb@Mb@Mb@)))) )9-On?/$?Y-?y-=-̼-A-@ -tA)-C A)Y- AbDEVDEN2yMƽ%UE=ٔUQ-U>9YYY=]Dy]h/De<Ee>aQ 5m4ea/?Q 9u4e$)eMBYu7?Q Eu:yu&Q Iu?e:DIe ;ieP ;ew4ykBɮ AwEjhDNOT Ignoring new targets: 34.56 m.bhRhvZhv ProNav: ac range: 34.560375 m, nav range: 32.615360 m, bearing: 203.027935 deg, approach rate: -0.594830 m/s, LOS rate: -0.138538 deg/s, cmd heading: 199.895185 deg, new cmd heading: 199.723064 deg. Bh'HeadingCmd: 3.485825 target range: 34.560375 and range: 34.70 m.h_@h*h"h hgffQfUBdQdYdYjdYZd] (@颭*Bɢ) 9iԱ) i>i3 <c0e=I_@IΒ{%@@! @!@!@!A1zA5hAIIOA>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869Eu EuEqEq"EuV;*Eu4:VEqZEqa}@a}@a@a@ B <A B w>B B l IB nBB B B B σ;B :E9 %!,=d?ARlT@Rb@R<ٱRb< ZAHRS rotation from veh to nav: [[-0.920028,0.388486,0.051266],[-0.391210,-0.903123,-0.176987],[-0.022457,-0.182889,0.982877]]RHp??? ٿaƿhǿs?iRlT@IRcc];RCYfOByfG I hhhhbDr VDr:2yv<%zP=ٔz>˸Q-z>9|Y|=~Dy~x/D.cE>Q 5 4L?Q 94H)MBYy&Q I?}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266891:DI9IYI=UDyU/DUûEU>YQ 5e4]?Q 9e4])]{MBYm?Q Em:ym%Q Im?]:DI]:i] :]ī4yuiBɮuAuvEjhDNOT Ignoring new targets: 34.56 m.bhRh)>Zh)> ProNav: ac range: 34.560375 m, nav range: 32.000397 m, bearing: 202.869594 deg, approach rate: -0.602060 m/s, LOS rate: -0.166253 deg/s, cmd heading: 199.559358 deg, new cmd heading: 199.243150 deg. Bh2HeadingCmd: 3.477449 target range: 34.560375 and range: 34.70 m.h^@h*h"h hgfffBdddjdZdf @'Bɢּ) ھi)   i V7i03B B Z IB ^BB B B B ;B .:E^AUc=A]>A]>iߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275354II O?]\3,΄?A:kvT@:lb@:̡<ٱ:= BAHRS rotation from veh to nav: [[-0.922333,0.382719,0.053176],[-0.385890,-0.905329,-0.177393],[-0.019750,-0.184136,0.982702]]:H v~?9?mؿ`tϴƿ@H9ǿ`Lr?i:kvT@I:$];:CYJOByJF IbDRVDR1y^;%^8=ٔ^EQ-^>9`Y`=bDyb/DbٌEf>dQ 5j4f見?Q 9n4f4)feMBYlyn%Q In?f:DIf;if;f}̫4yrgBɮvAvuEjh DNOT Ignoring new targets: 34.56 m.bhRh8Zh8- ProNav: ac range: 34.560375 m, nav range: 31.742025 m, bearing: 202.798597 deg, approach rate: -0.583462 m/s, LOS rate: -0.161633 deg/s, cmd heading: 199.243148 deg, new cmd heading: 199.028424 deg. Bh-ݻ5HeadingCmd: 3.473701 target range: 34.560375 and range: 34.70 m.h5Q^@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM] @u&Bɢ}hx)y }׾iy)}R>%yyis5i3<?w=IQ^@I @@  @ @ /@ A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526856q^Anp=IQIqE EE+E"EP;*Ej:VE [4ZEBEԙ т9,\焯?A>VT@>Kb@>R<ٱ>m> JAHRS rotation from veh to nav: [[-0.923119,0.380620,0.054585],[-0.384082,-0.906014,-0.177821],[-0.018227,-0.185115,0.982548]]>H@1\??˔ؿƿ ֱǿ@q?i>VT@I>];>CYRFByR; IV=V=i-Mb@Mb@Mb@)))) )9-"~?Cl?MbY-?y-;=--MAychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778882-@ ))-Z A)Y- AbDVDy%8=ٔ aQ->9Y=Dy/D sE >Q 5%4Tݨ?Q 9%4)PMBY-?Q E-:y-g$Q I-?;DI >;iD=;Eԫ4yEBɮEAEEjhyDNOT Ignoring new targets: 34.56 m.bhRhSZhS ProNav: ac range: 34.560375 m, nav range: 31.484941 m, bearing: 202.715926 deg, approach rate: -0.571409 m/s, LOS rate: -0.185251 deg/s, cmd heading: 199.028420 deg, new cmd heading: 198.778382 deg. BhEHeadingCmd: 3.469337 target range: 34.560375 and range: 34.70 m.h ^@h*h"h hgfffBdddjdZd-U@额$Bɢ ) ޾i)8@顡i1iM4M E  E E (E "E >T;*E :VE c44ZE a @a @a @a @i@,?AJ:T@J/b@J<ٱJB RAHRS rotation from veh to nav: [[-0.923805,0.378531,0.057438],[-0.382515,-0.906112,-0.180671],[-0.016344,-0.188876,0.981865]]JHΏ9?@h?"{ؿ`> ǿ-ȿok?iJ:T@IJ9];JCYnEByn: IbDzVDzky%[=ٔQ->9 Y = Dy /DE>Q 5%4ͨ?Q 9%4)>MBY!y%$Q I%?;DI; ;iG ;ګ4y5Bɮ5A5~EjhQ]DNOT Ignoring new targets: 34.56 m.bhYRheYZheYu ProNav: ac range: 34.560375 m, nav range: 31.270607 m, bearing: 202.646742 deg, approach rate: -0.585194 m/s, LOS rate: -0.190186 deg/s, cmd heading: 198.778381 deg, new cmd heading: 198.569408 deg. BhuuHeadingCmd: 3.465690 target range: 34.560375 and range: 34.70 m.h}]@hy*hy"hy hygyfffdddjdZd`@颽#Bɢ=) ޾i)޺Si,/iQ4m<n=I]@IYA}@AA}@AB}>B?CBM IBTBB =BBDB;B>:EM@@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282998ԁ^Am|=AufAzAqԩIIO> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534694՛F,?A2T@2b@2r<ٱ2#F >AHRS rotation from veh to nav: [[-0.924460,0.376519,0.060063],[-0.380992,-0.906104,-0.183905],[-0.014820,-0.192896,0.981107]]2H@,??+bؿ/ǿ Zаȿ ;e?i2T@I2;'];2CY@y@bDN VDNf2yVm:%VO=ٔV|Q-Z>9XYX=ZDyZ/D^E^>`Q 5b4br?Q 9f4bM)b,MBYdyf$Q If?b;DIbj;ib;b4ylɮnAlzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 34.56 m.bhRh QWZh QW ProNav: ac range: 34.560375 m, nav range: 31.042427 m, bearing: 202.572860 deg, approach rate: -0.577143 m/s, LOS rate: -0.188246 deg/s, cmd heading: 198.569404 deg, new cmd heading: 198.346130 deg. Bh1%HeadingCmd: 3.461793 target range: 34.560375 and range: 34.70 m.h%]@h!*h!"h! h)g)f)f1f1d1d1d1jd9Zd=`Q@e"Bɢey ) ݾi ) )j  i -i4Z<.=I]@IEY E]E],EY"EY*E] :VE]g4ZEYBE]#) +L,r5?AY~HBy~> I   iMb@Mb@Mb@ 9n?/$?~jtY?y=D;#A@  A)^ AY AbDVD:3ya<%:=ٔQ->9Y=Dy/DE>Q 54?Q 94)MBY?Q E:yW'Q I?/;DI;i2 ;U4y~BɮA}Ejh!-DNOT Ignoring new targets: 34.56 m.bh)Rh-@(Zh-@(= ProNav: ac range: 34.560375 m, nav range: 30.785049 m, bearing: 202.508809 deg, approach rate: -0.586181 m/s, LOS rate: -0.147097 deg/s, cmd heading: 198.346125 deg, new cmd heading: 198.152366 deg. BhEɻEHeadingCmd: 3.458411 target range: 34.560375 and range: 34.70 m.hEV]@hI*hI"hI hIgIfIfQfUHBdQdYdYjdYZd]\@颍!Bɢ|c) ~پi)oO顑i`*i4c<E=IV]@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039485MI@I @I@U1@QEm Em Em)Ei"EmW;*Em:VEmFA4ZEiau@au@au@au@9^Am8=B{>BBBB =BBB˃;B:Ei  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290821A I I O >S,9tYt=vDyv/DzEz>|Q 54~i?Q 94~)~MBYy'Q I?~=;DI~;i~;~4yɮAjh1=DNOT Ignoring new targets: 34.56 m.bh9RhEJ&ZhEJ&U ProNav: ac range: 34.560375 m, nav range: 30.566061 m, bearing: 202.454881 deg, approach rate: -0.586164 m/s, LOS rate: -0.145382 deg/s, cmd heading: 198.152367 deg, new cmd heading: 197.989425 deg. BhUǻ]HeadingCmd: 3.455567 target range: 34.560375 and range: 34.70 m.h](]@hY*hY"hY hYgafafafadididijdiZdmё@颙ɢ=) ۾i)Ӌ顡i(i42<[=I(]@I@ @@4@i%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542954ԡ^A==AE>AE>E  EE-E"EX;*EA:VEt4ZEBEY,(i?AɰPY~HBy~> Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795508iMb@Mb@Mb@ 9> ףp=?Q?~jthY?yu=D$"A@  A)Y AbDVDy^<%8=ٔ%Q-%>9)Y)=-Dy- 0D5E5>AQ 5M4Ej?Q 9M4E)EMBYM?Q EM:yU)Q IU?EM;DIE3&;iEz%;E4y]|Bɮ]A]|EjhDNOT Ignoring new targets: 34.56 m.bhRhtZht ProNav: ac range: 34.560375 m, nav range: 30.311842 m, bearing: 202.407761 deg, approach rate: -0.569386 m/s, LOS rate: -0.106423 deg/s, cmd heading: 197.989426 deg, new cmd heading: 197.846880 deg. BhHeadingCmd: 3.453079 target range: 34.560375 and range: 34.70 m.hA\@h*h"h hgfffMBdddjdZd$[@e Bɢe7)i mؾii)7顱i߂%is 5<P=IA\@IN@ @@4@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047018^Am p,=! bEjEY4rE30E ( E *E )E "E `;*E ;VE FA4ZE a @a @a @a @A I I O >۷`,%?A2yS@2"a@29;ٱ2GR :AHRS rotation from veh to nav: [[-0.926948,0.368578,0.070125],[-0.375122,-0.906911,-0.191821],[-0.007104,-0.204114,0.978921]]2H`Ɩ??ؿjȿ }g ʿSS?i2yS@I2Y];2CYrCByr8 IIv=)v%=z=z=|bD~VD~ky%]=ٔk%Q->9Y=Dy0D%nE%>)Q 5-4-w?Q 954-d)-LBY1y5)Q I5?-[;DI-:i-:-4yAɮEAAjhamDNOT Ignoring new targets: 34.56 m.bhiRhuZhu ProNav: ac range: 34.560375 m, nav range: 30.101889 m, bearing: 202.369642 deg, approach rate: -0.570907 m/s, LOS rate: -0.104375 deg/s, cmd heading: 197.846879 deg, new cmd heading: 197.731727 deg. BhCHeadingCmd: 3.451070 target range: 34.560375 and range: 34.70 m.hS\@h*h"h hgfffdddjdZd@ Bɢ )B5x>B5>CB5S IB5YBB5 =B1B5DB5;B5:EBB?CBB =B =Ci5 ۾i)顑is#ibA5R^<7g=IS\@I)M@@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299028Y^AMĎ=A ԉ I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550894Of,ߜ?A23S@2ܗa@2u;ٱ2m8S :AHRS rotation from veh to nav: [[-0.927422,0.367063,0.071784],[-0.373979,-0.907369,-0.191889],[-0.005300,-0.204807,0.978788]]2Hq@}?@s`?E׿* ͏ȿu!7ʿ;R?i23S@I2F];2CYBKByBA IbDNVDN:2yV=%VQ=ٔV+Q-V>9XYX=ZDyZ(0D^OE^>`Q 5f4bg?Q 9f4b#)bLBYdyf*Q If?bi;DIb:ib:b4ynzBɮnyAlzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 34.56 m.bhRh Zh  ProNav: ac range: 34.560375 m, nav range: 29.878973 m, bearing: 202.329126 deg, approach rate: -0.569763 m/s, LOS rate: -0.104330 deg/s, cmd heading: 197.731723 deg, new cmd heading: 197.609268 deg. Bh3%HeadingCmd: 3.448932 target range: 34.560375 and range: 34.70 m.h%O\@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=Gd@ԙBɢoa ) Ӿi)i`!igd5lE <뼐=IO\@ID5%=D5%=E= E=E=,E9"E=>T;*E=g:VE=g4ZE9BE=# ) m,?AYbIByb? IiMMb@Mb@Mb@IIII I9MtV?I +?=ٔuQ-}>9yYy=}Dy90DE>Q 54ST?Q 94)LBY#?Q E:y+Q I?y;DI;i: ;m 4yɮAjhDNOT Ignoring new targets: 34.56 m.bhRhZh ProNav: ac range: 34.560375 m, nav range: 29.632700 m, bearing: 202.297930 deg, approach rate: -0.573564 m/s, LOS rate: -0.073259 deg/s, cmd heading: 197.609271 deg, new cmd heading: 197.514905 deg. BhIHeadingCmd: 3.447285 target range: 34.560375 and range: 34.70 m.hS\@h*h"h hgfffSBdddjdZd @颱checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054998ɢ| ) Kվi)۸i:i b5 "B?CBZ IB^BBBBBɃ;B:Ea^A Ď= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306934I I O >y ms,lЅ?A2`eS@2 [a@2:ٱ2ԴQ :AHRS rotation from veh to nav: [[-0.928816,0.363137,0.073712],[-0.370538,-0.909272,-0.189542],[-0.001806,-0.203363,0.979102]]2H۸=? ޲?׿`BȿS]ʿT?i2`eS@I2Q];2CY^JBy^@ I ``bDjVDjyrv;%rT=ٔrQ-r>9tYt=vDyvI0DzEz>xQ 54zC?Q 94z)zLBYy+,Q I?z;DIz;iz ;z)4yxBɮnA{Ejh1DNOT Ignoring new targets: 34.56 m.bhRhZh ProNav: ac range: 34.560375 m, nav range: 29.411808 m, bearing: 202.271092 deg, approach rate: -0.573452 m/s, LOS rate: -0.070198 deg/s, cmd heading: 197.514905 deg, new cmd heading: 197.433785 deg. Bh@HeadingCmd: 3.445870 target range: 34.560375 and range: 34.70 m.h!\@h*h"h hgfffdddjd Zd غ@Q颵Bɢ ) Ӿi)û项iGi5bu$<S=I!\@II)gAeC@i @i@m/@i@u=@u >ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558799Ee Ee Ee*Ea"EeW;*Ee:VEe(N4ZEaBEeF G 5 MA] 9Y Y} HsA z,oꅯ?AY|yA IiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.811820a@a iMb@Mb@Mb@ 99Y=Dy[0DE>Q 5 4B0?Q 9 4[)LBY ?Q E:y,Q I?;DI:i ;4yɮkAԱjhDNOT Ignoring new targets: 34.56 m.bhRhzZhz ProNav: ac range: 34.560375 m, nav range: 29.159315 m, bearing: 202.246174 deg, approach rate: -0.550943 m/s, LOS rate: -0.054843 deg/s, cmd heading: 197.433790 deg, new cmd heading: 197.358387 deg. Bh%HeadingCmd: 3.444554 target range: 34.560375 and range: 34.70 m.h%s\@h!*h!"h! h!g!f)f)f)dddjdZdF @ɢ=)A EҾiA)EMл顡i+i$5&<|=Is\@I]?@Y @Y@a@a checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0628299 ^A x=I! I9 OE >Ee  Ee Ee +Ea "Ee V;*Ee :VEe [4ZEa am @am @am @am @i ,J?A"4<ɰ"p<AABt>B>CB` IBdBB =BBB܃;B#:E6S@|,a@ҺٱHR AHRS rotation from veh to nav: [[-0.929865,0.359831,0.076635],[-0.367898,-0.910367,-0.189431],[0.001602,-0.204339,0.978899]]H tx?Q?@׿!G?ȿ~@Z? 'ʿ#S?i6S@IH\];CYABy6 IbD- VD-2y=+%=E=ٔ=Q-=>9AYA=EDyEl0DE"EM>IQ 5U4M?Q 9]4M)MLBYYy](-Q I]?M;DIM?;iMm ;M "4yeBɮmwAmEjhDNOT Ignoring new targets: 34.56 m.bhRhDZhD ProNav: ac range: 34.560375 m, nav range: 28.920969 m, bearing: 202.223613 deg, approach rate: -0.605856 m/s, LOS rate: -0.057819 deg/s, cmd heading: 197.358384 deg, new cmd heading: 197.290146 deg. BhHeadingCmd: 3.443363 target range: 34.560375 and range: 34.70 m.h`\@h*h"h hgfffdddjdZd:!@ɢL) 8۾i)ʡڻiki5(<=I`\@Iiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315081]A@Y @Y@]0@aԹ ^A =I! I9 OE >% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5668040,)?AJ S@J a@J0ٱJ*Q VAHRS rotation from veh to nav: [[-0.930575,0.357974,0.076718],[-0.366092,-0.911432,-0.187798],[0.002696,-0.202846,0.979207]]JH`D ?`ã?`n׿`s* ȿ`f?ɿU?iJ S@IJM];JCYZJByZ@ I\bDfVDf02yn5=%rc=ٔrGQ-r>9tYt=vDyvz0DvEv>xQ 5~4z&?Q 94zN)zLBYyG-Q I?z;DIz* ;iz ;zU(4y Bɮ$A-B*** querying acoustic contact ***i) i)jh9=DNOT Ignoring new targets: 34.56 m.bh9RhEtZhEtU ProNav: ac range: 34.560375 m, nav range: 28.713419 m, bearing: 202.204450 deg, approach rate: -0.575644 m/s, LOS rate: -0.053535 deg/s, cmd heading: 197.290151 deg, new cmd heading: 197.232244 deg. BhU]HeadingCmd: 3.442352 target range: 34.560375 and range: 34.70 m.h]O\@hY*hY"hY hYgafafafadididijdiZdm`տ!@额Bɢt) Ҿi)]顡ii65C*<V=IO\@IE( E E)E"E`;*E:VEFA4ZEBESA 7Z,8?A2yR@2"`@2 uٱ2a@P :AHRS rotation from veh to nav: [[-0.931386,0.355808,0.076944],[-0.364013,-0.912474,-0.186777],[0.003753,-0.201970,0.979384]]2H`??`K׿2Oǿn?(ɿ W?i2yR@I2j];2CY^=ٔ Q->9Y=Dy0D䩻E>Q 54r?Q 94)LBY*?Q E:y-Q I?;DI ;i ;/4yɮAjh DNOT Ignoring new targets: 34.56 m.bh Rh |[Zh |[% ProNav: ac range: 34.560375 m, nav range: 28.469545 m, bearing: 202.183989 deg, approach rate: -0.566946 m/s, LOS rate: -0.047972 deg/s, cmd heading: 197.232244 deg, new cmd heading: 197.170338 deg. Bh%%HeadingCmd: 3.441272 target range: 34.560375 and range: 34.70 m.h-=\@h)*h)"h) h)g)f)f1f5[Bd1d9d9jd9Zd=#"@iɢmy")i m3ii)uqqiusi}5}GR,<}G=I}=\@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070754 @@  @ @ /@IE- E- E-(E)"E-W;*E-:VE-c44ZE)a5@a5@a5@a5@yBo>B=CBBB =BBDB;BD:E^Ax=A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322828ԡ -B,Q?A2R@2`@2qٱ23N :AHRS rotation from veh to nav: [[-0.932213,0.353739,0.076463],[-0.361881,-0.913709,-0.184871],[0.004469,-0.200010,0.979784]]2H ?@?)׿@=שǿ,Nr?ɿ`cZ?i2R@I2X];0YZ:ByZ, IbDfVDfk1yja%nY=ٔnpQ-n>9pYp=rDyr0DvƻEv>tQ 5z4v맊?Q 9~4vN)vLBY|y~-Q I~?v;DIvz;iv;vo64y Bɮ A Ejh)5DNOT Ignoring new targets: 34.56 m.bh1Rh5RZh5RM ProNav: ac range: 34.560375 m, nav range: 28.256241 m, bearing: 202.166775 deg, approach rate: -0.566705 m/s, LOS rate: -0.046079 deg/s, cmd heading: 197.170336 deg, new cmd heading: 197.118304 deg. BhMUHeadingCmd: 3.440363 target range: 34.560375 and range: 34.70 m.hU.\@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde\#@y频ɢJ") i)&顡i,i5.<ߏ=I.\@IUA@Q @Q@U/@Qԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574854^A=EM EMEM+EI"EMV;*EM:VEM [4ZEIBEM} m,k?ABR@BÓ`@BٱB"N RAHRS rotation from veh to nav: [[-0.933243,0.351032,0.076375],[-0.359210,-0.914767,-0.184850],[0.004977,-0.199945,0.979795]]BH`!Nw? S? Lֿ`E)ǿct?`ɗɿzZ?iBR@IB];BCY^8By^* I dddfA=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826745iMb@Mb@Mb@ 9n?Q?{GzY?y<#~ A@  A)Y AbDVDy3%9=ٔQ->9Y= Dy 0D YԻE >Q 54ק?Q 94 )LBY%;?Q E%:y%.Q I%?;DI.:i:)>4y)ɮ-A1jhQ]DNOT Ignoring new targets: 34.56 m.bhYRh]Zh]m ProNav: ac range: 34.560375 m, nav range: 27.996964 m, bearing: 202.152311 deg, approach rate: -0.586298 m/s, LOS rate: -0.033011 deg/s, cmd heading: 197.118303 deg, new cmd heading: 197.074508 deg. Bhu=uHeadingCmd: 3.439599 target range: 34.560375 and range: 34.70 m.h}d"\@hy*hy"hy hygyfyffBBdddjdZd (?$@qɢu)y }iy)}yyi6iQ5-40<-nD=I-d"\@I1@@ @@@)2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A EE 0 EE EE (EA "EE Jg;*EE :VEE c44ZEA aU @aU @aU @aU @a A I I1 O= >NI,4e?ArUwR@rl`@r(ٱrܳN AHRS rotation from veh to nav: [[-0.934089,0.348764,0.076423],[-0.357000,-0.915515,-0.185426],[0.005297,-0.200487,0.979682]]rH@(R?w?ֿKǿ`u?ɿ Y?irUwR@Irf];rCY?By%3 IbDEVDEyU=%]W=ٔ]\Q-]>9aYa=eDye0DeL̻Ee>Bu<Au<B}r>ByByByB} =ByB}DB}';B}l:EiQ 54mŧ?Q 94md)mLBYy.Q I?m;DImM:im:mD4yBɮYAEjh)-DNOT Ignoring new targets: 34.56 m.bh1Rh5uZh5uE ProNav: ac range: 34.560375 m, nav range: 27.774515 m, bearing: 202.140779 deg, approach rate: -0.562399 m/s, LOS rate: -0.029388 deg/s, cmd heading: 197.074508 deg, new cmd heading: 197.039636 deg. BhEYImHeadingCmd: 3.438990 target range: 34.560375 and range: 34.70 m.hmk\@hi*hq"hq hqgqfqfyfydydydyjdZd %@ ɢ |") ݾi) iiJ61<%О=I%k\@I!m*DAT read: user:191> uBDAT read: Tx time:00:34:35.5958 }$Ping request sent.}A>A .AI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249174n,,-?A;ɰ4<:GR@:=`@:ҕٱ:]N FAHRS rotation from veh to nav: [[-0.935117,0.346000,0.076420],[-0.354291,-0.916527,-0.185622],[0.005816,-0.200653,0.979645]]:Hz$?F?`ֿ 1T rǿw? ɿ@Y?i:GR@I:[];:CYN:ByN, IbDVVDV0y^Լ%^V=ٔbDZQ-b>9b ?Yb ?=bDyf0DfEf>hQ 5n4j?Q 9n4j)jLBYlyr.Q Ir?j;DIj&;ij";j{K4ytɮvAt B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 34.56 m.bhRhZh%- ProNav: ac range: 34.560375 m, nav range: 27.549841 m, bearing: 202.130300 deg, approach rate: -0.612120 m/s, LOS rate: -0.028783 deg/s, cmd heading: 197.039633 deg, new cmd heading: 197.007940 deg. Bh55HeadingCmd: 3.438437 target range: 34.560375 and range: 34.70 m.h5[\@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM%@Bɢ)) i)>i;i[6~3< ^Հ=I [\@I E E E,E"E>T;*E:VEg4ZEBE#9 ٘,?A2R@2`@2 Ȼٱ2L :AHRS rotation from veh to nav: [[-0.936340,0.342903,0.075400],[-0.351042,-0.918088,-0.184073],[0.006105,-0.198824,0.980016]]2H~ ?qM?ywֿ `@ǿy? sɿK\?i2R@I2}];2CYB/ByB IIF<)F9yYy=}Dy}0D-E>Q 54?Q 946)LBY?Q E:y/Q I?B>CBZ IB^BB =BBB;;B:EBABE>CBABEǣ =BEǣ =CE05^Ap=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005684A ؟AI! I9 OE >,҆?A 2Q@2+_@2ٱ2K >AHRS rotation from veh to nav: [[-0.937476,0.339834,0.075181],[-0.347982,-0.919456,-0.183055],[0.006917,-0.197771,0.980224]]2Hؿ?`??WEֿ.lVnǿmU|?Pɿ`]?i2Q@I2k];2CYF)ByF IbDNVDN1yVK%VW=ٔZZ Q-Z>9Z"?YZ"?=^Dy^0D^ E^>`Q 5f4bڐ?Q 9f4bb)bLBYhyj/Q Ij?b,솯?AF Q@F_@FLٱFcdK ^AHRS rotation from veh to nav: [[-0.938787,0.336146,0.075392],[-0.344402,-0.920909,-0.182523],[0.008075,-0.197315,0.980307]]FH j?L? ֿ@x\ǿ?@Aɿ^?iF Q@IF܎];FCYf&Byf IlEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509308ieMb@Mb@Mb@aaaa a9e"~?Q?{GzYe?ye9Y=Dy0DlE>Q 54k}?Q 94)LBY0?Q E:y/Q I?,EE  EE EE )EA "EE :;*EE Z:VEE FA4ZEA aM @aM @aM @aM @֒,?Aj4fQ@j[_@jٱjL rAHRS rotation from veh to nav: [[-0.939881,0.332801,0.076596],[-0.341369,-0.921825,-0.183594],[0.009508,-0.198704,0.980013]]jH L?`ʛ?տ ǿx?%oɿE\?ij4fQ@Ijkx];jCYz+Byz IAAB%>B%@CB%M IB%TBB% =B!B%DB%F;B%:E9bDMVDMy]غ<%]M=ٔekQ-e>9aYa=mDym1DmEm>qQ 54uk?Q 94uG)uLBYy/Q I?u: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265246ټ,Gt ?A29Q@2k/_@2<:ٱ2M :AHRS rotation from veh to nav: [[-0.940786,0.329867,0.078167],[-0.338811,-0.922651,-0.184178],[0.011367,-0.199756,0.979780]]2H??տ['ǿyG?`ɿ[Z?i29Q@I29q];2CYB&ByB IbDNVDNk1yVռ%VW=ٔVQ-V>9XYX=ZDyZ1DZtE^>9Q 5E4=Y?Q 9M4=)=LBYIyM/Q IM?=IA >IAiIqIO>,>?Aɰ2~ Q@2'^@2f^ٱ2rN>checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769317 BAHRS rotation from veh to nav: [[-0.941754,0.326653,0.079984],[-0.336029,-0.923585,-0.184595],[0.013574,-0.200720,0.979554]]2H" ?y?տ Рǿ̋?3ɿX?i2~ Q@I2u];2CYJ%ByJ IiMb@Mb@Mb@ 9d;O?{Gz?{GzY?yף<$"A@  A) AYz AbDVD:3y]% =ٔQ->9Y=Dy31DܼE>Q 54 C?Q 94Z)LBY?Q E:y01Q I?[BACBG IBOBB =BBDB=;B:Eigi%O6%<<%BF=I%f\@I)1@ @@f2@5DDAT read: Rx Time:00:34:38.2607 5TRx dataTimestamp_ set to:1761525277.252762EPDAT read: Bearing 0.4, -5.6 (Local) E~Local bearing/azimuth received: Bearing 0.4, -5.6 (Local) UDAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 }DAT read: 00:34:38.2607 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.20,-0.070,-1.726, 0.164,-0.042, PHS= 0.073,-1.639, 0.162, RAW= 152.5, 15.8, CAL= 153.0, 17.8, ROT= 357.0, -17.8 Ygot valid direction response: 00:34:38.2607 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.20,-0.070,-1.726, 0.164,-0.042, PHS= 0.073,-1.639, 0.162, RAW= 152.5, 15.8, CAL= 153.0, 17.8, ROT= 357.0, -17.8 R#Rx 2: Read range and direction messages.^direction in FSK: [0.950825,-0.049831,0.305695]Fpublishing direction and range infoy15'm?.ռeќ?Y5A1111 1)5EI5=i5ѿ5T%>5X*@50>5*@ 5>)5b@I5115}6?B1m?ixc? 5|D?)5⌾I5QwVi511checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037686a ^A} dO=ԑ A I I O >,,Y?A2lP@2^@2iٱ2,R :AHRS rotation from veh to nav: [[-0.942603,0.323542,0.082587],[-0.333541,-0.924009,-0.186968],[0.015819,-0.203783,0.978888]]2H@)?k$?Xտ{@ǿ2?`ʿ S?i2lP@I2|];2CY@y@IF8>)DJ=J=bDNVDNyVY%VS=ٔZ5Q-Z>9XY\=^Dy^B1D^޻E^>`Q 5f4b^1?Q 9f4b~)bLBYhyj]1Q Ij?bj9  DDAT read: Rx Time:00:34:38.7605  TRx dataTimestamp_ set to:1761525277.756690 PDAT read: Bearing 2.1, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 2.1, -5.0 (Local)  DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 m DAT read: 00:34:38.7605 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.575,-0.042, 1.773, 1.636, PHS= 0.041,-1.634, 0.093, RAW= 151.5, 17.3, CAL= 152.1, 19.6, ROT= 357.9, -19.6 u Ygot valid direction response: 00:34:38.7605 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.575,-0.042, 1.773, 1.636, PHS= 0.041,-1.634, 0.093, RAW= 151.5, 17.3, CAL= 152.1, 19.6, ROT= 357.9, -19.6 } R#Rx 3: Read range and direction messages. ^direction in FSK: [0.941425,-0.034520,0.335452] Fpublishing direction and range infoy  ?4B& ?+g* x?Y fA ) DI '=i &ѿ v= %:)@ #> )@ %>) @I % rG ?C̸?" ? 4 ?) %I Q i % = checking for new query: numPingsReceived=3, elapsed TxPingTime=3.574602Q,s?A2ʺP@2t^@20ٱ2-S >AHRS rotation from veh to nav: [[-0.943291,0.321025,0.084534],[-0.331478,-0.924676,-0.187339],[0.018026,-0.204736,0.978651]]2Ho/@?@ ?@6տ`ǿu?`4ʿ@Q?i2ʺP@I2];2CYNByN IiMb@Mb@Mb@ 9"~?L7A`?~jtY?y+=D!A@ A) AY AbD9VD9yM%M3=ٔMQ-u>9qYq=uDyuU1D}E}>Q 54?Q 94')LBY=?Q E:y"0Q I?{<ZF5=I\@I-checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778113y@@ @@@E EE/E"EW;*E:VEJ4ZEa@a@a@a@ԡ Be <Aa Bu >Bu BCBu : IBu EBBu =Bq Bu DBu 9;Bu :E^A A gAzA hAA I I O > ,9펇?A68P@6^@6 ٱ66ZT >AHRS rotation from veh to nav: [[-0.943735,0.319258,0.086241],[-0.330110,-0.925040,-0.187958],[0.019769,-0.205852,0.978383]]6H3`n?? տ@ȿk>?[YʿN?i68P@I6k];6CYFByF ILLbDRVDR2yZk %Z[=ٔZQ-Z>9\Y\=^Dy^d1D^zEb>`nDDAT read: Rx Time:00:34:39.2604 nTRx dataTimestamp_ set to:1761525278.260823rPDAT read: Bearing 2.5, -4.8 (Local) v~Local bearing/azimuth received: Bearing 2.5, -4.8 (Local) ~DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.6 DAT read: 00:34:39.2604 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 503,-0.13, 2.609, 0.981, 2.798, 2.679, PHS= 0.033,-1.653, 0.076, RAW= 151.2, 17.7, CAL= 151.9, 20.1, ROT= 358.1, -20.1 -Ygot valid direction response: 00:34:39.2604 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 503,-0.13, 2.609, 0.981, 2.798, 2.679, PHS= 0.033,-1.653, 0.076, RAW= 151.2, 17.7, CAL= 151.9, 20.1, ROT= 358.1, -20.1 -R#Rx 4: Read range and direction messages.5^direction in FSK: [0.938578,-0.031136,0.343660]5Fpublishing direction and range infoylnf?Ӷp⟿"??YnAllll l)nEIn+=inӿn㥛=n[(@n2+>n)@ n>)n3@InllQ 5M4b ?Q 9M4bG)bLBYQyU:0Q IU?b|? n ?)ndIninllchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.065431ilinS?AJinARinAjin\a@inr2Sf8@ֆ6,!@rinf?Ӷp⟿"??Zinbinin%]\ʃ6酽X!"@zinpexܶ뿃&Jֿd?2in:in"inq?*inWBinߔBinut?ililinAin?_@] addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504133 s, deltaX: -0.199999 m, approachRate: -0.396718 m/s, rangeRepo size: 4  Added new target pos. range: 25.996462 m, bearing: 201.755609 deg, lat: 36.779406 deg, lon: -121.859627 deg, deltaT: 0.504133 s, deltaX: -0.198744 m, approachRate: -0.394229 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.00 m.bhRhZh ProNav: ac range: 25.996462 m, nav range: 24.581251 m, bearing: 200.266815 deg, approach rate: 0.000000 m/s, LOS rate: 0.018227 deg/s, cmd heading: 197.006589 deg, new cmd heading: 197.027970 deg. BhHeadingCmd: 3.438787 target range: 25.996462 and range: 26.10 m.h\@h*h"h hgfffdd d jd :@Zd g?颭"Bɢ@/I) i)YL顱ii 6?</=I\@IB@ @@@1checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281462Y ^A 3=E  E E .E "E &U;*E :VE ـ4ZE BE d,樇?A5P@5,^@5Eٱ5T AHRS rotation from veh to nav: [[-0.943957,0.318183,0.087777],[-0.329366,-0.925366,-0.187659],[0.021516,-0.206052,0.978304]]5H4`]?x?@Uտ 2ȿI?_ʿDN?i5P@I5o];1YEByE Ii%Mb@Mb@Mb@!!Y!! !9%&1?Q?{GzY%?y%\=%#%"A%@ %t A)!!Y!bD} VD}f2y%$=ٔ*eQ->9Y=Dyx1Dy˺E>DDAT read: Rx Time:00:34:39.7601 TRx dataTimestamp_ set to:1761525278.764836PDAT read: Bearing 2.2, -5.0 (Local) ~Local bearing/azimuth received: Bearing 2.2, -5.0 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 DAT read: 00:34:39.7601 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.813, 0.172, 2.017, 1.885, PHS= 0.030,-1.668, 0.088, RAW= 151.7, 17.6, CAL= 152.3, 20.0, ROT= 357.7, -20.0 %Ygot valid direction response: 00:34:39.7601 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.813, 0.172, 2.017, 1.885, PHS= 0.030,-1.668, 0.088, RAW= 151.7, 17.6, CAL= 152.3, 20.0, ROT= 357.7, -20.0 -R#Rx 5: Read range and direction messages.5^direction in FSK: [0.938936,-0.037711,0.342020]5Fpublishing direction and range infoy6 ?hhNKj?YA )I*@ ¸>)@I¸W?B?߇Y? "| ?)ABIQl$i¸checking for new query: numPingsReceived=5, elapsed TxPingTime=4.557447Q 54?Q 94!)LBY2?Q E:y/Q I?B@CBA IBJBB =BBDB<;B:EAI)I9OE?, ˇ?Aɰ6̋P@6u^@6.żٱ6tEO BAHRS rotation from veh to nav: [[-0.944115,0.317525,0.088456],[-0.328729,-0.926708,-0.182072],[0.024161,-0.200975,0.979298]]6H@16RR??@ տ%Nǿ?`ɿiV?i6̋P@I6Ј];6CYFByJ IbDRVDRyZ<%z:=ٔzxQ-~>9|Y|=~Dy~1DNE> Q 554 ⦊?Q 954 ) LBY1y5/Q I=? )@5> ?>)I?c ?N9?? D?)mIi?mchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.053249qIn\@Iq=@@9 @9@9@9ԑ^A} -|,=  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293111A I II O} >*,B凯?A@EE EEEE)EA"EEQ;*EE:VEEFA4ZEABEEʥ<%6=ٔpQ->9Y=Dy1DE>Q 5 4Φ?Q 9 42)LBY y 0Q I?տN.~?2i:i"i7p?*iPBi0BԙiiiiAip`@= addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503926 s, deltaX: -0.200001 m, approachRate: -0.396885 m/s, rangeRepo size: 4 M Added new target pos. range: 25.398031 m, bearing: 200.636843 deg, lat: 36.779410 deg, lon: -121.859630 deg, deltaT: 0.503926 s, deltaX: -0.200018 m, approachRate: -0.396919 m/s, posRepo size: 4 jhImDNOT Ignoring new targets: 25.40 m.bhqRhuZhq ProNav: ac range: 25.398031 m, nav range: 23.466848 m, bearing: 201.166223 deg, approach rate: 0.000000 m/s, LOS rate: -0.034782 deg/s, cmd heading: 197.015195 deg, new cmd heading: 196.963859 deg. BhHeadingCmd: 3.437668 target range: 25.398031 and range: 25.50 m.h\@h*h"h hgfffdddjd9@ZdT?)ɢ- ;)1 5<i1)5c11i5kNi=6=uC<=.=IE\@IADDAT read: Rx Time:00:34:40.7597 TRx dataTimestamp_ set to:1761525279.772927PDAT read: Bearing 358.5, -3.5 (Local) ~Local bearing/azimuth received: Bearing 358.5, -3.5 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 5DAT read: 00:34:40.7597 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 496, 0.27, 2.501, 0.805, 2.705, 2.467, PHS= 0.136,-1.617, 0.194, RAW= 151.6, 14.3, CAL= 151.9, 16.0, ROT= 358.1, -16.0 EYgot valid direction response: 00:34:40.7597 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 496, 0.27, 2.501, 0.805, 2.705, 2.467, PHS= 0.136,-1.617, 0.194, RAW= 151.6, 14.3, CAL= 151.9, 16.0, ROT= 358.1, -16.0 ER#Rx 7: Read range and direction messages.U^direction in FSK: [0.960733,-0.031871,0.275637]UFpublishing direction and range infoyOS?oVQ ?YA )DIC >iοF>V)@r>)@ 5>)3@I5kdg?5@?3? ZA ?)Ii5checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563978B@ @@@ ^A5 ,= Aq  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793650I I O >$t,!?AN|P@Nr^@NDҼٱN'J ZAHRS rotation from veh to nav: [[-0.944378,0.316843,0.088101],[-0.327860,-0.927990,-0.177036],[0.025665,-0.196074,0.980253]]NH`W8&G?Ѝ?ԿƿG? ɿ <^?iN|P@IN];NCYn#Byr I=ԡbEt4jEm4rE x0E EE*E"EUS;*E1:VE(N4ZEa @a @a @a @iMb@Mb@Mb@ 9> ףp=?y&1?{GzY?y`<!A@  A) AY AbD-VD-0y=j<%=&=ٔEQ-E>9AYA=EDyE1DMEM>QQ 5]4U?Q 9]4U)ULBY]?Q Ee:ye0Q Ie?UB?CBBB =BBDB1;B}:EB@CB@CBÔCBß =Bß =C@6ji_@i8@+e~L6@riOS?oVQ ?Zibi5iN(S6A͵ G}_@zimXjcտ:E?2i:i"ir-_?*iʮBi1Biiii~Ai`@U addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504165 s, deltaX: -0.400000 m, approachRate: -0.793390 m/s, rangeRepo size: 4 e Added new target pos. range: 24.999632 m, bearing: 200.516246 deg, lat: 36.779410 deg, lon: -121.859630 deg, deltaT: 0.504165 s, deltaX: -0.398399 m, approachRate: -0.790216 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 25.00 m.bhiRhZh ProNav: ac range: 24.999632 m, nav range: 23.186947 m, bearing: 201.159712 deg, approach rate: 0.000000 m/s, LOS rate: -0.034782 deg/s, cmd heading: 196.963859 deg, new cmd heading: 196.916714 deg. BhHeadingCmd: 3.436845 target range: 24.999632 and range: 25.10 m.hE[@h*h"h hgfffBdddjd9@Zdf?-$Bɢ-BB)I MJiQ)UfKkQQiUi]p*6]D<]R0=I]E[@Ia-@@) @)@)@)DDAT read: Rx Time:00:34:41.2595 TRx dataTimestamp_ set to:1761525280.277025PDAT read: Bearing 1.3, -4.7 (Local) ~Local bearing/azimuth received: Bearing 1.3, -4.7 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 DAT read: 00:34:41.2595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510, 0.45, 2.524, 0.890, 2.740, 2.575, PHS= 0.051,-1.640, 0.121, RAW= 152.0, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 Ygot valid direction response: 00:34:41.2595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510, 0.45, 2.524, 0.890, 2.740, 2.575, PHS= 0.051,-1.640, 0.121, RAW= 152.0, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 %R#Rx 8: Read range and direction messages.-^direction in FSK: [0.945111,-0.042917,0.323917]-Fpublishing direction and range infoy WZ>?`'>?Y3A )I`P=iѿ=)@;>t*@ [>)@I[䨾NYn?>?tbk? m?)GxI9i[䨾Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.070717^Am r.=! A I I O >+W,?A2sP@2i^@2Ҽٱ2}G :AHRS rotation from veh to nav: [[-0.944555,0.316552,0.087240],[-0.327344,-0.928625,-0.174647],[0.025728,-0.193521,0.980759]]2H 9dB?TU?4ԿKZƿ`tX?Hȿ@`b?i2sP@I2ý];0YB&ByB IbDNVDNkyVQ<%V_=ٔV4Q-V>9XYX=ZDyZ1D^ºE^>`Q 5b4b??Q 9f4b)`Ydyf0Q Ij?b?`'>?ZiM9biM[䨾iM ELy5!l, . `!@uchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.297287ԉziMկ쿺+Կ\3jk?2iMd:iM3"iM0cJ}?*iM׸BiMBiM0cJ}?iMʮiMBiM]AiMO`@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504098 s, deltaX: -0.200001 m, approachRate: -0.396750 m/s, rangeRepo size: 4  Added new target pos. range: 24.799974 m, bearing: 200.374473 deg, lat: 36.779407 deg, lon: -121.859630 deg, deltaT: 0.504098 s, deltaX: -0.199657 m, approachRate: -0.396069 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.80 m.bhRhZh ProNav: ac range: 24.799974 m, nav range: 23.295559 m, bearing: 200.813871 deg, approach rate: 0.000000 m/s, LOS rate: -0.034782 deg/s, cmd heading: 196.916717 deg, new cmd heading: 196.877986 deg. BhHeadingCmd: 3.436169 target range: 24.799974 and range: 24.90 m.h2[@h*h"h hgfAfIfQdddjd`f8@Zd @w?E= E=E=.E9"E=,K;*E=g:VE=ـ4ZE9BE=M- X*@- Ð>- +@ - l>)- T@I- l) ) -  ?(W2?_? - g0?)- /I- Q]i- l) )  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570223 ^A 3=A.AI!I19OE>z,9 ?Y ?=Dy1D=E>Q 54ے?Q 94)LBY ?Q E:y0Q I?Bu>CBuG IBuOBBu =BqBuDBu';Bul:E@@ @@/@y ] DDAT read: Rx Time:00:34:42.2592 ] TRx dataTimestamp_ set to:1761525281.287674e PDAT read: Bearing 1.8, -4.7 (Local) m ~Local bearing/azimuth received: Bearing 1.8, -4.7 (Local) } DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 ^A ·3=M DAT read: 00:34:42.2592 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.02, 1.237,-0.397, 1.453, 1.300, PHS= 0.039,-1.652, 0.109, RAW= 152.0, 17.1, CAL= 152.6, 19.4, ROT= 357.4, -19.4 ] Ygot valid direction response: 00:34:42.2592 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.02, 1.237,-0.397, 1.453, 1.300, PHS= 0.039,-1.652, 0.109, RAW= 152.0, 17.1, CAL= 152.6, 19.4, ROT= 357.4, -19.4 ] T#Rx 10: Read range and direction messages.m ^direction in FSK: [0.942252,-0.042787,0.332161]m Fpublishing direction and range infoyY ] j&?8\@9西` B?Y] AY Y Y Y Y )] DI] w=i] tӿ] d;=] )@] Θ>] t*@ ] -\>)] @I] -\Y Y ]  ?‡=6?h$? ] m?)] k옾I] 9i] -\Y Y  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.128611ԩ I I O- >S,UX?AbohP@b^^@b:"ռٱbVw@ ~AHRS rotation from veh to nav: [[-0.944779,0.316436,0.085213],[-0.326675,-0.930042,-0.168241],[0.026014,-0.186787,0.982056]]bH;~@?@е?@>Կſ@?`ǿm?ibohP@Ibl];`Y .By  I 119=AbDEVDE0yuw(=%u>=ٔuN$Q-}>9yYy=}Dy}1D E>Q 548?Q 94)LBYy0Q I?5 @rij&?8\@9西` B?Zi9bi-\iBT\5H*.Tm!@ziߨ~GúԿWԚ?2i:i"i[x?*isBiBiisiiжAi_@u addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.506927 s, deltaX: -0.100000 m, approachRate: -0.197268 m/s, rangeRepo size: 4 } Added new target pos. range: 24.401070 m, bearing: 200.303379 deg, lat: 36.779406 deg, lon: -121.859628 deg, deltaT: 0.506927 s, deltaX: -0.100111 m, approachRate: -0.197486 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.40 m.bhԩRhZh ProNav: ac range: 24.401070 m, nav range: 22.852009 m, bearing: 200.234054 deg, approach rate: 0.000000 m/s, LOS rate: -0.034782 deg/s, cmd heading: 196.828498 deg, new cmd heading: 196.782316 deg. BhHeadingCmd: 3.434499 target range: 24.401070 and range: 24.50 m.h[@h*h"h hgfffdddjd8@Zd [?qɢuC)q uiq)} yyi}8&iP6YG<h5=I[@Ichecking for new query: numPingsReceived=10, elapsed TxPingTime=7.305802eA@a @i@m 0@qyuGE EE*E"EV;*E4:VE(N4ZEBEI I O >,r?ADDAT read: Rx Time:00:34:42.7589 TRx dataTimestamp_ set to:1761525281.788796PDAT read: Bearing 1.7, -4.2 (Local) "~Local bearing/azimuth received: Bearing 1.7, -4.2 (Local) &DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 @JDAT read: 00:34:42.7589 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504, 0.17, 1.656, 0.016, 1.860, 1.710, PHS= 0.047,-1.650, 0.106, RAW= 151.7, 17.0, CAL= 152.3, 19.357.7, -19.3 b!unknown deviceResponse_: 00:34:42.7589 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504, 0.17, 1.656, 0.016, 1.860, 1.710, PHS= 0.047,-1.650, 0.106, RAW= 151.7, 17.0, CAL= 152.3, 19.357.7, -19.3 bZ#Rx 11: Read range message, but no direction.yYAfchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.578288lɰl5ZP@O^@GּٱP; mAHRS rotation from veh to nav: [[-0.945058,0.315978,0.083801],[-0.325853,-0.931060,-0.164155],[0.026154,-0.182443,0.982869]]H@=`8?s?Կ`> ſ@(Ț?`IZǿs?i5ZP@Iս];Yy Ii Mb@Mb@Mb@     9 ʡE?y&1?{GztY ?y  ף dA  Z A) A Y  AԩbDUVDUyl:%*=ٔVQ->9Y=Dy1DxE> Q 54 j?Q 94  ) LBY?Q E:y0Q I?  =DI :i n: ̬4yMBɮMAMEeB*** querying acoustic contact ***ia ia addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.501122 s, deltaX: -0.500000 m, approachRate: -0.997761 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 24.40 m.bhRh40Zh40 ProNav: ac range: 24.401070 m, nav range: 22.579353 m, bearing: 200.215863 deg, approach rate: -0.570348 m/s, LOS rate: -0.038513 deg/s, cmd heading: 196.782313 deg, new cmd heading: 196.727079 deg. BhrӺHeadingCmd: 3.433535 target range: 24.401070 and range: 24.00 m.h [@h*h"h hgAfAfIfM BdIdIdIjdU8@ZdU`Q?Yɢ]@)a eVia)eXŃaaimEim`6u@IB =CB M IB TBB =B B DB 0;B s:E^A 04=I I) 1 O= >-P#,午?A>FP@><^@>׼ٱ>]: FAHRS rotation from veh to nav: [[-0.945440,0.314990,0.083209],[-0.324736,-0.931689,-0.162794],[0.026246,-0.180933,0.983145]]>H A(?`-M?zԿeoĿN?(ǿu?i>FP@I>];>CYN(ByN I VC=V=bDZ VDZ:2y^$%bv=ٔbU;*@U5>U*@ U?>)Ub@IU?QQU$V3?) ?D1c? U?)UŽIUQwViU?QQchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.077587)Wi+ik6J<R3=I[@I1@@ @@4@I^A;6=I! I1 O= >y  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313274q),?AE EE*E"EV;*E:VE(N4ZEBE}9Y=Dy2DE>Q 54I?Q 94)LBYyQ I?(=DI:i:ڬ4yBɮAEiin?AJi9ARi9AjiȻ^@iL_6@2|v󿾌UL@ri_?GSx\?ZiQwVbi?i$2+55xAB9 @zi'nKdT7ӿEY ?2i:i"i%~N?*iU8BipBii׸iBi7Aiu_@% addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 23.902916 m, bearing: 199.401421 deg, lat: 36.779406 deg, lon: -121.859628 deg, deltaT: 1.005199 s, deltaX: -0.498154 m, approachRate: -0.495577 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 23.90 m.bhARhMZhIm ProNav: ac range: 23.902916 m, nav range: 22.152327 m, bearing: 200.169632 deg, approach rate: 0.000000 m/s, LOS rate: -0.037865 deg/s, cmd heading: 196.690706 deg, new cmd heading: 196.641542 deg. BhiHeadingCmd: 3.432042 target range: 23.902916 and range: 24.00 m.h[@h*h"h hgff9fAdIdqdyjdZd`9?ԑ#Bɢ<=)! %i!)- ))i-~i5 y65EWK<5і7=I5[@I1mDDAT read: Rx Time:00:34:43.7586 uTRx dataTimestamp_ set to:1761525282.796806}PDAT read: Bearing 1.8, -4.4 (Local) ~Local bearing/azimuth received: Bearing 1.8, -4.4 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 DAT read: 00:34:43.7586 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.18,-0.295,-1.913,-0.086,-0.234, PHS= 0.041,-1.633, 0.104, RAW= 151.8, 17.1, CAL= 152.5, 19.4, ROT= 357.5, -19.4 Ygot valid direction response: 00:34:43.7586 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.18,-0.295,-1.913,-0.086,-0.234, PHS= 0.041,-1.633, 0.104, RAW= 151.8, 17.1, CAL= 152.5, 19.4, ROT= 357.5, -19.4 T#Rx 13: Read range and direction messages.^direction in FSK: [0.942325,-0.041143,0.332161]Fpublishing direction and range infoyqu]='?zt(֬` B?Yu̼Aqqqq q)uCIu'=iu%ѿu=u)@uΘ>uX*@ u-\>)ui@Iu-\qqud9|?Kjj ?Ų? u`:?)uIuѸ2iu-\qqEchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.593195]M@Y @Y@]5@a ^A} 3=I I O >Z0,y?Abchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.817204dY}2By# IE5" E51E5/E1"E5Z;*E5f;VE5J4ZE1aE@aE@aE@aE@iEMb@Mb@Mb@AAAA A9E|?5^?S㥛?MbpYE?yE/9yYy=}Dy})2DyE}>Q 544?Q 94Z)LBY?Q E:y1Q I?9=DI ;i ;.4yBɮAEii?AJi ARi Aji_@iO&6@2ъig:@ri]='?zt(֬` B?ZiѸ2bi-\i2qn4g @׋. @zi0$U sԿ*#[?2i:iä"i.Hm?*iEEBiBiiiBiAi_@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503933 s, deltaX: -0.400000 m, approachRate: -0.793756 m/s, rangeRepo size: 4 Bus>BqBuS IBuYBBu =BqBuDBu_;Bu:E Added new target pos. range: 23.504534 m, bearing: 200.163000 deg, lat: 36.779406 deg, lon: -121.859628 deg, deltaT: 0.503933 s, deltaX: -0.398382 m, approachRate: -0.790546 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.50 m.bhRhZh ProNav: ac range: 23.504534 m, nav range: 21.884382 m, bearing: 200.152938 deg, approach rate: 0.000000 m/s, LOS rate: -0.037865 deg/s, cmd heading: 196.641542 deg, new cmd heading: 196.588095 deg. BhHeadingCmd: 3.431109 target range: 23.504534 and range: 23.60 m.hL[@h*h"h hgfffBdddjd7@Zd@t?颉ɢ{I) Ci)'U顑i ii6xL<;=IL[@I]A@Y @Y@]4@Y}DDAT read: Rx Time:00:34:44.2585 TRx dataTimestamp_ set to:1761525283.300895PDAT read: Bearing 359.7, -5.0 (Local) ~Local bearing/azimuth received: Bearing 359.7, -5.0 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 DAT read: 00:34:44.2585 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.04, 2.768, 1.106, 3.021, 2.796, PHS= 0.074,-1.644, 0.181, RAW= 153.0, 15.5, CAL= 153.5, 17.5, ROT= 356.5, -17.5 Ygot valid direction response: 00:34:44.2585 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.04, 2.768, 1.106, 3.021, 2.796, PHS= 0.074,-1.644, 0.181, RAW= 153.0, 15.5, CAL= 153.5, 17.5, ROT= 356.5, -17.5 T#Rx 14: Read range and direction messages.^direction in FSK: [0.951938,-0.058223,0.300706]Fpublishing direction and range infoyy}5Fv?O1gϭ->?Y}3Ayyyy y)}EI}P=i}nҿ}X9>}*@}c>}v+@ }a>)}o@I}ayy}8?L?彆E? }k?)}FI}5zi}ayychecking for new query: numPingsReceived=14, elapsed TxPingTime=9.085913A ^A} ;6=q A ؟AI I O >tE7,ވ?A2 1P@2&^@2NԼٱ29 >AHRS rotation from veh to nav: [[-0.945880,0.313840,0.082554],[-0.323480,-0.932155,-0.162630],[0.025914,-0.180533,0.983227]]2HD? F"? Կ 6Ŀ ?ǿv?i2 1P@I2)];2CYF:ByF- ILLbDRVDRk1yZ3=%Za=ٔ^o:Q-^>9^"?Y^"?=^Dy^82DboEb>dQ 5j4f6$?Q 9j4f^)fLBYhyn1Q In?fF=DIfw;ifr;f4yrBɮr`ArEi)i-Aӈ?AJi-qARi-qAji-O]@i-r/6@TXBG@ri-5Fv?O1gϭ->?Zi-5zbi-ai-˲4\4u@zi-Dbd(Z˄3]ӿ-8́,?2i-:i-"i-UH?*i-uBi-Bi-.Hm?i-U8i-Bi-SAi- _@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504089 s, deltaX: -0.200001 m, approachRate: -0.396757 m/s, rangeRepo size: 4  Added new target pos. range: 23.305450 m, bearing: 198.700350 deg, lat: 36.779406 deg, lon: -121.859626 deg, deltaT: 0.504089 s, deltaX: -0.199083 m, approachRate: -0.394937 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.31 m.bhRh Zh  ProNav: ac range: 23.305450 m, nav range: 21.665565 m, bearing: 199.674099 deg, approach rate: 0.000000 m/s, LOS rate: -0.037865 deg/s, cmd heading: 196.588089 deg, new cmd heading: 196.545548 deg. Bh%HeadingCmd: 3.430367 target range: 23.305450 and range: 23.40 m.h%"[@h!*h!"h!mchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.324672 h!gyfffdddjd%`ff7@Zd-?E( EE*E"E`;*EO:VE(N4ZEBESi {ο G> )@ r> )@  ޏ>) @I ޏ  ^A C;= v%\?:Q?i?   ?) %I Q i ޏ  - checking for new query: numPingsReceived=15, elapsed TxPingTime=9.610741Q A! I1 IA OM >=,_?AB)P@B^@BмٱB"; JAHRS rotation from veh to nav: [[-0.946031,0.313386,0.082556],[-0.323076,-0.932006,-0.164280],[0.025460,-0.182085,0.982953]]BHE?`c"?EԿ@ ſ?NǿZt?iB)P@IBд];BCYR4ByR% IiMb@Mb@Mb@ 99v?V-?Mb`Y?y<@ ))tAY3 AbDUVDU:2yeм%e&=ٔxo:Q->9Y=DyL2DRcE>Q 54S ?Q 943)LBY-?Q E:y0Q I?Y=DI:i:M4yBɮAEiAiE?AJiEAARiEAAjiE0_@iEm5@1ʪbjh@riEֲj?u/?ZiEQ biEޏiE-b4כ6)@ziE#[ï쿞;MԿF k?2iE:iEH"iEJ?*iEBiEBiE%~N?iEsiEpBiE2AiE#_@u addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503827 s, deltaX: -0.400000 m, approachRate: -0.793923 m/s, rangeRepo size: 4  Added new target pos. range: 22.907068 m, bearing: 199.811126 deg, lat: 36.779402 deg, lon: -121.859628 deg, deltaT: 0.503827 s, deltaX: -0.398382 m, approachRate: -0.790712 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.91 m.bhRhZh ProNav: ac range: 22.907068 m, nav range: 21.774836 m, bearing: 199.764121 deg, approach rate: 0.000000 m/s, LOS rate: -0.037865 deg/s, cmd heading: 196.545551 deg, new cmd heading: 196.489546 deg. BhHeadingCmd: 3.429389 target range: 22.907068 and range: 23.00 m.h{[@h*h"h hgfffBdddjd7@ZdV?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827971a颵"Bɢ$I) }i)%ߓ!!i%Tۻi56uNB>CBZ IB^BB =BBB\;B:E A@  @ @ v4@@=@=ԉԱ  DDAT read: Rx Time:00:34:45.2582 % TRx dataTimestamp_ set to:1761525284.309121- DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 5 Z#Rx 16: Read range message, but no direction.y! Y% fA! = checking for new query: numPingsReceived=16, elapsed TxPingTime=10.081535^AM п8=AI!IO->2?F,3?A6P@6A ^@6ͼٱ6Q? >AHRS rotation from veh to nav: [[-0.946440,0.311981,0.083184],[-0.321901,-0.931765,-0.167908],[0.025124,-0.185692,0.982287]]6H 9\Y\=^Dy^^2D^W;E^>`Q 5f4b?Q 9j4b)bLBYhyj0Q Ij?bi=DIb;ib;b4ylɮnAp~B*** querying acoustic contact ***i| i| addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504399 s, deltaX: -0.200001 m, approachRate: -0.396513 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 22.91 m.bhRhfZhf ProNav: ac range: 22.907068 m, nav range: 21.523884 m, bearing: 199.743284 deg, approach rate: -0.598522 m/s, LOS rate: -0.050275 deg/s, cmd heading: 196.489543 deg, new cmd heading: 196.426304 deg. Bh HeadingCmd: 3.428286 target range: 22.907068 and range: 22.80 m.h i[@h*h"h hgfffddd jd 6@Zd :Z?u!Bɢ}yM)y }Niy)}iIٻi6O<:=I i[@I!}B@ @@/@DDAT read: Rx Time:00:34:45.7579 TRx dataTimestamp_ set to:1761525284.564128PDAT read: Bearing 1.3, -4.6 (Local) ~Local bearing/azimuth received: Bearing 1.3, -4.6 (Local) checking for new query: numPingsReceived=16, elapsed TxPingTime=10.339959ID=DE > E $E /E "E s;*E ;VE J4ZE BE ] DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 } DAT read: 00:34:45.7579 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.07,-0.892,-2.516,-0.676,-0.836, PHS= 0.046,-1.636, 0.116, RAW= 152.0, 16.9, CAL= 152.6, 19.1, ROT= 357.4, -19.1  Ygot valid direction response: 00:34:45.7579 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.07,-0.892,-2.516,-0.676,-0.836, PHS= 0.046,-1.636, 0.116, RAW= 152.0, 16.9, CAL= 152.6, 19.1, ROT= 357.4, -19.1  T#Rx 17: Read range and direction messages. ^direction in FSK: [0.943976,-0.042866,0.327218] Fpublishing direction and range infoyI M 4"y 5?w|򥿩#e#?YM 3AI I I I I )M CIM j<=iM shѿM h=M )@M >M t*@ M 㭪>)M @IM 㭪I I M ?Q-E>9aYi=mDymq2Dml;Em>qQ 5}4u㥊?Q 9}4u`)uLBY?Q E:y0Q I?u{=DIuO;iu;u14yBɮAEii3?AJiyARiyAjitF_@i!`|E5@9NF3@ri4"y 5?w|򥿩#e#?Zi9bi㭪i}ˠ3 j5cf󸺁@zim2d'62^Կ噘?2i3:i"iޮm?*if= BiBiif= iBiƩAi^@= addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.502200 s, deltaX: -0.400000 m, approachRate: -0.796495 m/s, rangeRepo size: 4 m Added new target pos. range: 22.309519 m, bearing: 199.886360 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 1.006599 s, deltaX: -0.597549 m, approachRate: -0.593632 m/s, posRepo size: 4 jhqDNOT Ignoring new targets: 22.31 m.bhRhZh ProNav: ac range: 22.309519 m, nav range: 21.221861 m, bearing: 199.545843 deg, approach rate: 0.000000 m/s, LOS rate: -0.050275 deg/s, cmd heading: 196.426309 deg, new cmd heading: 196.351718 deg. BhHeadingCmd: 3.426984 target range: 22.309519 and range: 22.40 m.hS[@h*h"h hgfffBdddjd`ff6@ZdB =CB B B B B DB ?;B :EBE=CBE=CBEʓCBEʤ =BEʤ =CEcS5A I I) O5 >S,N?A,^O@^N]@^Cμٱ^A jAHRS rotation from veh to nav: [[-0.947221,0.309483,0.083626],[-0.319592,-0.932087,-0.170513],[0.025176,-0.188239,0.981800]]^HO? h?2tԿ@\ſ`Ǚ? :ȿj?i^O@I^];^CY3By%$ I-=-=bDuVDu0y=%O=ٔQ->9Y=Dy2D%3E%>)Q 5u4-ѥ?Q 9u4-))Yqyu0Q Iu?-=DI-3#iͿM>)@}>P*@ q>)M@IqIW?1`?:@aq? Uf?)$~IFiqchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.097862ii/T?AJiARiAji^@i\̤?5@*RL3ʅ+:@rimO ? ' 碿ψ.?ZiFbiqi$b3hb@`@zi' .I>eqԿ 5?ԁ2i:i"i BBG?*ibBixBiJ?ibiBigAi^@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504049 s, deltaX: -0.199999 m, approachRate: -0.396785 m/s, rangeRepo size: 4 M Added new target pos. range: 22.110189 m, bearing: 199.565052 deg, lat: 36.779402 deg, lon: -121.859628 deg, deltaT: 0.504049 s, deltaX: -0.199329 m, approachRate: -0.395456 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 22.11 m.bhQRhQZhQ ProNav: ac range: 22.110189 m, nav range: 21.050581 m, bearing: 199.604162 deg, approach rate: 0.000000 m/s, LOS rate: -0.050275 deg/s, cmd heading: 196.351724 deg, new cmd heading: 196.288984 deg. BhHeadingCmd: 3.425889 target range: 22.110189 and range: 22.20 m.hA[@h*h"h hgfffdddjd=@336@Zd= 1z?颅 Bɢ>L) i)c5顉iZӻi6kR<0A;=IA[@IԱMA@Q @Q@U/@Q@Y@Y ] DDAT read: Rx Time:00:34:46.7575 m TRx dataTimestamp_ set to:1761525285.572048 PDAT read: Bearing 359.2, -3.6 (Local)  ~Local bearing/azimuth received: Bearing 359.2, -3.6 (Local)  DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4  Z#Rx 19: Read range message, but no direction.ya Ye fAa  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.389190^A A hAzA fAE ! E !E -E "E Y;*E :VE t4ZE BE ׬Z,Z.m?ANO@N]@NϼٱN.A fAHRS rotation from veh to nav: [[-0.947578,0.308401,0.083574],[-0.318519,-0.932448,-0.170549],[0.025331,-0.188228,0.981799]]NH R@ؼ? e?bԿſm?ȿj?iNO@INV];LYn%Byn IbDz VDz2yy%:=ٔQ- >9 Y = Dy 2D(E>Q 5u4ֽ?Q 9}4 )LBYy0Q I?=DI}V)@}ԇ>})@ }>)}3@I}闾y} P?Ћ*?=/ʽ? } ?)}恇I}i}闾checking for new query: numPingsReceived=20, elapsed TxPingTime=11.598993HeadingCmd: 3.424440 target range: 22.110189 and range: 21.80 m.h*[@h*h"h hgfffdddjd5@Zd?uBɢ}d~W)y }iy)}顁iϻi6NS<<=I*[@Ie?@a @i@i@i@m@m@u@uI U DDAT read: Rx Time:00:34:47.2574 e TRx dataTimestamp_ set to:1761525286.077663 PDAT read: Bearing 358.4, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 358.4, -4.2 (Local)  DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.5 A I I O >Ea,?AEn En En)El"EnmR;*En:VEnFA4ZElar@ar@ar@ar@vDAT read: 00:34:47.2574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504, 0.42, 1.038,-0.649, 1.265, 1.025, PHS= 0.115,-1.629, 0.196, RAW= 152.2, 14.6, CAL= 152.6, 16.4, ROT= 357.4, -16.4 ~O@~]@~[,Ѽٱ~DUYgot valid direction response: 00:34:47.2574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504, 0.42, 1.038,-0.649, 1.265, 1.025, PHS= 0.115,-1.629, 0.196, RAW= 152.2, 14.6, CAL= 152.6, 16.4, ROT= 357.4, -16.4 UT#Rx 21: Read range and direction messages.]^direction in FSK: [0.958326,-0.043517,0.282341]eFpublishing direction and range infoyV1?yJGIx?Y̬A )DI=iп9H> uAHRS rotation from veh to nav: [[-0.948097,0.306653,0.084118],[-0.316955,-0.932610,-0.172567],[0.025531,-0.190271,0.981399]]~HV 5? ?HԿƿ $?Zȿg?i~O@I~'i];~CY}3By$ IԩBA<Bq>BBS IBYBBBBB);Bl:EP*@w>t*@ C>)@IC"/?,*?ӏf(? q?)HI9iCchecking for new query: numPingsReceived=21, elapsed TxPingTime=11.954965i=Mb@Mb@Mb@9999 99=㥛 ?/$?I +Y9y=,==94=A=@ = A)= A9Y=( AbDVDk2yW=%!=̹ٔQ->9Y=Dy2DRE>Q 54s?Q 9%4#)LBY%?Q E%:y%"0Q I%?=DIF;i;4y-Bɮ5OA5Eiin?AJiARiAjis^@i4@g89"\KK@riV1?yJGIx?Zi9biCi؀R3m|Ѽ.d@zij쿬Yӿ-'X^?2i:i"iQL4J?*iĘBiBiQL4J?if= iBiAiE^@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.505615 s, deltaX: -0.199999 m, approachRate: -0.395556 m/s, rangeRepo size: 4  Added new target pos. range: 21.512674 m, bearing: 199.149023 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 0.762293 s, deltaX: -0.597515 m, approachRate: -0.783839 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.51 m.bhRhZh- ProNav: ac range: 21.512674 m, nav range: 20.485775 m, bearing: 199.403122 deg, approach rate: 0.000000 m/s, LOS rate: -0.060711 deg/s, cmd heading: 196.205940 deg, new cmd heading: 196.120549 deg. Bh)5HeadingCmd: 3.422949 target range: 21.512674 and range: 21.60 m.h5[@hQ*hQ"hY hYgYfYfYfeBdadadajdm5@Zdmw?BɢTL) i)*iͻi7 T<8r<=I[@I%checking for new query: numPingsReceived=21, elapsed TxPingTime=12.094567B@ @@/@ I I O >1 F h,8?A2?O@2]@2 wѼٱ2'D :AHRS rotation from veh to nav: [[-0.948344,0.305911,0.084033],[-0.316211,-0.932842,-0.172674],[0.025567,-0.190327,0.981388]]2H`X ?/? <Կ@/ƿ`&.?\ȿg?i2?O@I2 Z];2CY^+Byb I ddddbDnVDnyef>%e{=ٔuQ-u ?DDAT read: Rx Time:00:34:47.7571 TRx dataTimestamp_ set to:1761525286.580961PDAT read: Bearing 357.4, -3.2 (Local) ~Local bearing/azimuth received: Bearing 357.4, -3.2 (Local)  DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 9aYa=mDym2D g>CG1]}9YY]0hAEm>qQ 5}4uӔ?Q 9}4u_%)uLBYyy}.0Q I?u=DIu8:iu:u^4DAT read: 00:34:47.7571 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501, 0.46,-0.111,-1.802, 0.093,-0.162, PHS= 0.154,-1.595, 0.212, RAW= 151.6, 13.7, CAL= 151.8, 15.3, ROT= 358.2, -15.3 Ygot valid direction response: 00:34:47.7571 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501, 0.46,-0.111,-1.802, 0.093,-0.162, PHS= 0.154,-1.595, 0.212, RAW= 151.6, 13.7, CAL= 151.8, 15.3, ROT= 358.2, -15.3 T#Rx 22: Read range and direction messages.yɮAB*** querying acoustic contact ***E EE*E"EV;*E:VE(N4ZEBE}i(̿Y>V)@Gt>)@ ܸ>)@IܸfLx?`hL?E,(`? E ?i i} addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503298 s, deltaX: -0.400000 m, approachRate: -0.794757 m/s, rangeRepo size: 4 jhy}DNOT Ignoring new targets: 21.51 m.bh)|XuIѭiܸchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.449514RhZh ProNav: ac range: 21.512674 m, nav range: 20.260046 m, bearing: 199.371128 deg, approach rate: -0.572281 m/s, LOS rate: -0.082019 deg/s, cmd heading: 196.120549 deg, new cmd heading: 196.023496 deg. Bh'aHeadingCmd: 3.421255 target range: 21.512674 and range: 21.20 m.hZ@h*h"h hgf f fdddjd@335@Zd?ABɢ|\Z) i ) S  i J ʻi)7U<j@=IZ@II-gA)-hA}@@ @@@ԉM checking for new query: numPingsReceived=22, elapsed TxPingTime=12.599533Ii Iy O >ԙ 6n,?A2uO@2]@2ռٱ2 UD :AHRS rotation from veh to nav: [[-0.948696,0.304748,0.084293],[-0.315119,-0.933189,-0.172797],[0.026002,-0.190494,0.981344]]2H@[?6?*Կ3ƿ@3?@bȿ+g?i2uO@I2J<];0Yv2Byv# IiMb@Mb@Mb@ 9S?T㥛 ?QY?y=uA@  A) AY AbDVDy =%?=ٔ%Q-%>9!Y!=-Dy-2D-AE->qQ 54?Q 94')LBY?Q E:yO.Q I?=DI;i:&4yBɮDAEiiw.?AJiARiAji^@iB֞[4@syxpF5I@rid?w OC&K?ZiѭbiܸiM=p 3B?*i,BioBiibiBi^Ai^@jhquDNOT Ignoring new targets: 21.51 m.bhqRh}$Zh}$ ProNav: ac range: 21.512674 m, nav range: 20.030277 m, bearing: 199.318513 deg, approach rate: -0.619046 m/s, LOS rate: -0.143380 deg/s, cmd heading: 196.023492 deg, new cmd heading: 195.863839 deg. BhĻHeadingCmd: 3.418469 target range: 21.512674 and range: 21.20 m.h2Z@h*h"h hgfffBdddjdZd?DDAT read: Rx Time:00:34:48.2570 TRx dataTimestamp_ set to:1761525287.085755PDAT read: Bearing 358.5, -3.6 (Local) ~Local bearing/azimuth received: Bearing 358.5, -3.6 (Local) ԡDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 BɢW) aiDAT read: 00:34:48.2570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.41, 2.132, 0.432, 2.337, 2.112, PHS= 0.122,-1.635, 0.180, RAW= 151.6, 14.8, CAL= 151.9, 16.6, ROT= 358.1, -16.6  Ygot valid direction response: 00:34:48.2570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.41, 2.132, 0.432, 2.337, 2.112, PHS= 0.122,-1.635, 0.180, RAW= 151.6, 14.8, CAL= 151.9, 16.6, ROT= 358.1, -16.6  T#Rx 23: Read range and direction messages.^direction in FSK: [0.957796,-0.031773,0.285688])_!!i%3ǻi=W7EU+W A>)@ V>)3@IV,Y?kd&7?fYR? 8= ?)s IiVchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.920826E E(E-E"E&U;*E;VEt4ZEa@a@a@a@Bp>BBBBBBB;BZ:E?@ @@0@IQIiOu> = checking for new query: numPingsReceived=23, elapsed TxPingTime=13.101285u,KuՉ?A2wO@2km]@2aټٱ2 E :AHRS rotation from veh to nav: [[-0.949461,0.302260,0.084638],[-0.312757,-0.933857,-0.173475],[0.026606,-0.191179,0.981195]]2Ha :X?۪?5Կ(@p4ƿ`y>? xȿ e?i2wO@I2Nc];0YN1ByN! I VR=Vp=bDZVDZ02yf%fc=ٔfۺQ-f>9hYh=jDyj2DnEn>Q 5 4r?Q 9 4*)LBY y y.Q I ?=DII:i:,4y9ɮ=OA9ii}ʼn?AJiRARiRAji_@i{I4@C2gG@ri3&2C?vRDWԷH?ZibiViT2LO䓹, d@zixXNcqԿb󹔹?2i:i"iI?*iBiiοxi>Us)@|o>  >)I JEw?,,a?$˷[?  ?){oIi checking for new query: numPingsReceived=24, elapsed TxPingTime=13.391700^A) I9 II OU >E  E E )E "E N;*E x:VE FA4ZE BE pAHRS rotation from veh to nav: [[-0.949976,0.300568,0.084875],[-0.311149,-0.934321,-0.173871],[0.027041,-0.191582,0.981104]]2H4f@9tYt=zDyz2DzчEz>9Q 5U4=t_?Q 94=,)=LBYy.Q I?==DI=,(/,E) ?ALEb# EbE`E`"Eb[;*Eb]:VE`ZE`af@af@aj@aj@j^direction in FSK: [0.958176,-0.035135,0.284015]jFpublishing direction and range infoyOB`?@=-HN-?r8O@r.]@rٱr&F zAHRS rotation from veh to nav: [[-0.950629,0.298404,0.085208],[-0.309102,-0.934882,-0.174504],[0.027587,-0.192226,0.980963]]rHk ?+е?Tӿ#Vƿ??@ݚȿ@ d?ir8O@Ir];Bes>BaBaBaBe =BaBeDBe;BeJ:EYfA )Im=iNbпp=>G\>)@ r>)@Ir"T?gcG?7Vu5? ?)IQ irr~Cchecking for new query: numPingsReceived=25, elapsed TxPingTime=13.972898Y7By) IiMb@Mb@Mb@ 9rh|?9Y=Dy2DE>Q 54H?Q 94/)LBY?Q E:y-Q I?=DI&;i;;4yBɮAii?AJiARiAjỉ^@i U_3@6I[^@riOB`?@=-HN-?ZiQ biri}#2LM2)7@ziP{Hφ`Կbis?2in:i"iFP?*i PBiӎBiI?iHiӎBiVAi^@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502591 s, deltaX: -0.300001 m, approachRate: -0.596909 m/s, rangeRepo size: 4  Added new target pos. range: 20.217993 m, bearing: 199.226615 deg, lat: 36.779402 deg, lon: -121.859628 deg, deltaT: 0.502591 s, deltaX: -0.298702 m, approachRate: -0.594325 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.22 m.bhRhZh ProNav: ac range: 20.217993 m, nav range: 19.292191 m, bearing: 199.219392 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 195.517471 deg, new cmd heading: 195.329486 deg. BhHeadingCmd: 3.409143 target range: 20.217993 and range: 20.30 m.he/Z@h*h"h hgfffBd d d jd L4@Zd?]Bɢ]8yS)Y i)L<顁iQiO7Z<%P=Ie/Z@Ichecking for new query: numPingsReceived=25, elapsed TxPingTime=14.110856]A@Y @Y@]4@Y@ep=@e=! ^A} L=Y  DDAT read: Rx Time:00:34:49.7562  TRx dataTimestamp_ set to:1761525288.597726PDAT read: Bearing 357.9, -3.4 (Local) ~Local bearing/azimuth received: Bearing 357.9, -3.4 (Local) =DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.6 AM.AIQIaOm>lf,Dm'?ADAT read: 00:34:49.7562 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.34,-0.423,-2.118,-0.225,-0.451, PHS= 0.131,-1.622, 0.182, RAW= 151.4, 14.6, CAL= 151.7, 16.3, ROT= 358.3, -16.3 >Ygot valid direction response: 00:34:49.7562 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.34,-0.423,-2.118,-0.225,-0.451, PHS= 0.131,-1.622, 0.182, RAW= 151.4, 14.6, CAL= 151.7, 16.3, ROT= 358.3, -16.3 BT#Rx 26: Read range and direction messages.F^direction in FSK: [0.959383,-0.028474,0.280667]FFpublishing direction and range infoyĩC? GX(rwkq?YfA )CI$>iϿ5^:>)@w>Us)@ >)@I"om?*M%?@m? e ?)MIichecking for new query: numPingsReceived=26, elapsed TxPingTime=14.418475E O@E]@E*ٱEG uAHRS rotation from veh to nav: [[-0.951476,0.295535,0.085747],[-0.306429,-0.935475,-0.176034],[0.028190,-0.193768,0.980642]]EH}r@ ??ӿh@Jƿݜ?bȿka?iE O@IE~d];ECY:By- IE E E*E"EO;*E:VE(N4ZEBE89e ?Ye ?=eDym 3D+ѻE>Q 544?Q 942)LBYy.Q I? >DIz;it;bC4yBɮAEii%A&?AJiARiAji{^@iUF2@PΎ+#@riĩC? GX(rwkq?Zibii*H>1VIb6kG@zi]9ց EԿpV6?2i:i"i"a?*iBi^BiiioBi4Aix^@  addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504857 s, deltaX: -0.500000 m, approachRate: -0.990379 m/s, rangeRepo size: 4  Added new target pos. range: 19.720013 m, bearing: 199.445825 deg, lat: 36.779402 deg, lon: -121.859628 deg, deltaT: 0.504857 s, deltaX: -0.497980 m, approachRate: -0.986379 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.72 m.bhRhZh ProNav: ac range: 19.720013 m, nav range: 19.025394 m, bearing: 199.166747 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 195.329490 deg, new cmd heading: 195.133365 deg. BhHeadingCmd: 3.405720 target range: 19.720013 and range: 19.80 m.hPY@h*h"h hgfffdddjd3@Zdr?AMBɢU-O)y }޾iy)}顁iXEid(82\<R=IPY@Ichecking for new query: numPingsReceived=26, elapsed TxPingTime=14.617072U@@Y @Y@]4@aiԑ ^A Q=A؟AI1IYO>n"DDAT read: Rx Time:00:34:50.2561 *TRx dataTimestamp_ set to:1761525289.102411:PDAT read: Bearing 357.7, -3.5 (Local) >~Local bearing/azimuth received: Bearing 357.7, -3.5 (Local) TZDAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.6 nDAT read: 00:34:50.2561 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.33, 0.504,-1.195, 0.707, 0.476, PHS= 0.129,-1.626, 0.187, RAW= 151.6, 14.6, CAL= 151.9, 16.3, ROT= 358.1, -16.3 rYgot valid direction response: 00:34:50.2561 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.33, 0.504,-1.195, 0.707, 0.476, PHS= 0.129,-1.626, 0.187, RAW= 151.6, 14.6, CAL= 151.9, 16.3, ROT= 358.1, -16.3 rT#Rx 27: Read range and direction messages.,7E?A鰉ɰ^direction in FSK: [0.959278,-0.031822,0.280667]Fpublishing direction and range infoy$&$f?W*Krwkq?Y&A$$$$ $)$I&>i& п&|?>&V)@$&)@ $)&3@I$$$&N!`?0-^B>CBZ IB^BB =BBB;BM:EI];}CYEGByE= I IIiMb@Mb@Mb@ 9`"?ˡE?MbY?y=A  A) AY AbD VD:2y27=%=ٔ Q->9"?Y"?=Dy"3DE>Q 54z?Q 946)LBY%N?Q E%:y%(-Q I%?!>DI:i:&M4yMBɮMAUEi$i&F?AJi&ARi&Aji&B^@i&w8|oW2@qT2AO@ri&$f?W*Krwkq?Zi&bi$i&./(Q1S}}D26K@zi&ʮB쿥ɌoOӿF,_?2i&&:i&$"i&ȁK?*i&cBi&mBi&ȁK?i&Hi&mBi&VAi&]^@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504685 s, deltaX: -0.099998 m, approachRate: -0.198140 m/s, rangeRepo size: 4  Added new target pos. range: 19.620646 m, bearing: 198.977385 deg, lat: 36.779402 deg, lon: -121.859628 deg, deltaT: 0.504685 s, deltaX: -0.099367 m, approachRate: -0.196889 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.62 m.bhRhZh ProNav: ac range: 19.620646 m, nav range: 18.667400 m, bearing: 199.070176 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 195.133368 deg, new cmd heading: 194.903594 deg. Bh  HeadingCmd: 3.401710 target range: 19.620646 and range: 19.70 m.hY@h*h"h hgfffBddd!jd%@33@Zd%J?颕BɢB) Ͼi)顙i¹ij8_]<+8O=IY@Ichecking for new query: numPingsReceived=27, elapsed TxPingTime=15.118082Y@Y @Y@] 3@Y1 ^A 8R=A >A >Y AII1O]?4 ,Ff?ADDAT read: Rx Time:00:34:50.7558 &TRx dataTimestamp_ set to:1761525289.605421.PDAT read: Bearing 358.5, -3.7 (Local) .~Local bearing/azimuth received: Bearing 358.5, -3.7 (Local) 6DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 !5DAT read: 00:34:50.7558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.37,-0.550,-2.234,-0.349,-0.553, PHS= 0.105,-1.636, 0.160, RAW= 151.5, 15.3, CAL= 151.9, 17.2, ROT= 358.1, -17.2 =Ygot valid direction response: 00:34:50.7558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.37,-0.550,-2.234,-0.349,-0.553, PHS= 0.105,-1.636, 0.160, RAW= 151.5, 15.3, CAL= 151.9, 17.2, ROT= 358.1, -17.2 =T#Rx 28: Read range and direction messages.^direction in FSK: [0.954753,-0.031672,0.295708]Fpublishing direction and range infoyXfV?HU7-?YA )BI= =ishѿ #>%:)@ܸ> `>)I`MRwM?`p1%?Xgp? = ?)눾Ii`echecking for new query: numPingsReceived=28, elapsed TxPingTime=15.445231E0 EE/E"EJg;*E:VEJ4ZEBE9Y=Dy53D ZE >Q 54?Q 949)LBYyQ-Q I%?4>DI:i:cU4y-Bɮ-A)Qii8f?AJiARiAjiM^@iMA2@r!aN0p@riXfV?HU7-?Zibi`ign1]Tdߒ @zi xYlfӿ˥?2i:ï"ic?*iBiBiFP?i PiiAi>^@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503010 s, deltaX: -0.500000 m, approachRate: -0.994016 m/s, rangeRepo size: 4  Added new target pos. range: 19.122660 m, bearing: 199.016346 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 0.503010 s, deltaX: -0.497986 m, approachRate: -0.990012 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.12 m.bhRhZh ProNav: ac range: 19.122660 m, nav range: 18.327772 m, bearing: 198.963332 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 194.903601 deg, new cmd heading: 194.699248 deg. Bh-HeadingCmd: 3.398143 target range: 19.122660 and range: 19.20 m.h-,{Y@h)*h)"h) h1g1f1f1f1d9d9d9jd=@333@ZdEK?颭BɢG) >˾i)顱ili8]<_<S=I,{Y@I@ @@n1@ԩiIchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.624501@hA@hA ^A% QO=AQII DDAT read: Rx Time:00:34:51.2557 TRx dataTimestamp_ set to:1761525290.108537PDAT read: Bearing 356.9, -3.5 (Local) ~Local bearing/azimuth received: Bearing 356.9, -3.5 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.5 DAT read: 00:34:51.2557 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.47,-0.149,-1.848, 0.061,-0.188, PHS= 0.141,-1.615, 0.205, RAW= 151.8, 14.1, CAL= 152.0, 15.8, ROT= 358.0, -15.8 Ygot valid direction response: 00:34:51.2557 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.47,-0.149,-1.848, 0.061,-0.188, PHS= 0.141,-1.615, 0.205, RAW= 151.8, 14.1, CAL= 152.0, 15.8, ROT= 358.0, -15.8 Om?T#Rx 29: Read range and direction messages.^direction in FSK: [0.961632,-0.033581,0.272280]Fpublishing direction and range infoy"?Eky/1 ^ m?Y̘A )INb>iRοQ>)@d{>)@ 0>)@I05tGb?j@X?V#? s ?){IQi0checking for new query: numPingsReceived=29, elapsed TxPingTime=15.893588,T?A2p_N@2U\@2ٱ2H :AHRS rotation from veh to nav: [[-0.954567,0.285228,0.086293],[-0.296435,-0.938486,-0.177119],[0.030465,-0.194652,0.980399]]2H`Ћ-A?@F?ҿ ׫ƿ`82?]ȿn_?i2p_N@I2];2CYBOByBF IbEUT4jEU [4rEQE EE+E"EN;*E]:VE [4ZEa@a@a@a@B5y>B1B5l IB5nBB5 =B1B1B5';B5p:EBB>CBBBC5iMb@Mb@Mb@ 91Zd?MbX9?QY"?yʡ=uA G A)AY\ A 4=a=bDVDyT<%$=ٔQ->9YYa=eDyeI3DeﹻEm>iQ 5u4m%?Q 9u4m<)mLBY}~?Q E}:y}-Q I?mG>DIm;imS;m9^4yBɮAEi i E򆊯?AJi /ARi /Aji n]@i q`K2@w1qF^@ri "?Eky/1 ^ m?Zi Qbi 0i X21FUm`+ @zi 6:PӿJݮ`?2i :i "i C?*i psBi ԍBi i ci i $Ai V^@9m addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503116 s, deltaX: -0.100000 m, approachRate: -0.198762 m/s, rangeRepo size: 4 } Added new target pos. range: 19.023163 m, bearing: 198.459479 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 0.503116 s, deltaX: -0.099497 m, approachRate: -0.197761 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.02 m.bhRhZh ProNav: ac range: 19.023163 m, nav range: 18.017633 m, bearing: 198.850824 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 194.699241 deg, new cmd heading: 194.476993 deg. BhHeadingCmd: 3.394264 target range: 19.023163 and range: 19.10 m.h;Y@h*h"h hgfff Bdddjd3@Zd `?eBɢeNA)a ežia)maiiimM#i8`<IW=I;Y@I=checking for new query: numPingsReceived=29, elapsed TxPingTime=16.129848=?@9 @A@E 0@Aqԙ ^Am T=Aq zAu hAA I IIOu>`(,i?A&DDAT read: Rx Time:00:34:51.7555 *TRx dataTimestamp_ set to:1761525290.609782.PDAT read: Bearing 356.9, -3.1 (Local) .~Local bearing/azimuth received: Bearing 356.9, -3.1 (Local) 6DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 JDAT read: 00:34:51.7555 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.37,-2.868, 1.707,-2.672,-2.912, PHS= 0.146,-1.619, 0.196, RAW= 151.4, 14.1, CAL= 151.6, 15.8, ROT= 358.4, -15.8 NYgot valid direction response: 00:34:51.7555 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.37,-2.868, 1.707,-2.672,-2.912, PHS= 0.146,-1.619, 0.196, RAW= 151.4, 14.1, CAL= 151.6, 15.8, ROT= 358.4, -15.8 NT#Rx 30: Read range and direction messages.R^direction in FSK: [0.961843,-0.026867,0.272280]VFpublishing direction and range infoy$&Fj? ^ m?Y&fA$$$$ $)$I&>i&d;Ͽ&9H>&)@$&V)@ $dd 1N@ &\@ )&+@I$$$&H9}?eQ5(?z7K? &; ?)&|I&i$$$checking for new query: numPingsReceived=30, elapsed TxPingTime=16.429937ٱ K  AHRS rotation from veh to nav: [[-0.955388,0.282285,0.086889],[-0.293728,-0.938912,-0.179352],[0.030952,-0.196873,0.979940]] H ?@T>?@rҿ ƿ?3ɿ[?i 1N@I ]; YcBy_ II%=)%%=bD5VD52yE=%E6=ٔMQ-M>9qYq=uDyu\3D}XлE}>ԉE  EE(E"EE;*E:VEc44ZEBEEEDII"i&.G?*i&6Bi&Bi&ȁK?i$i&^Bi&aAi&{]@U addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.501245 s, deltaX: -0.300001 m, approachRate: -0.598512 m/s, rangeRepo size: 4  Added new target pos. range: 18.724369 m, bearing: 198.730073 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 0.501245 s, deltaX: -0.298794 m, approachRate: -0.596103 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.72 m.bhRhZh ProNav: ac range: 18.724369 m, nav range: 17.797478 m, bearing: 198.714940 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 194.476987 deg, new cmd heading: 194.273884 deg. BhHeadingCmd: 3.390719 target range: 18.724369 and range: 18.80 m.hY@h*h"h hgf9f9f9dAdAdAjdE2@ZdMv?颕Bɢ݇;Թ) Ti)7ļi5Di,9qb<2Y=IY@Iy@y @y@0@checking for new query: numPingsReceived=30, elapsed TxPingTime=16.633200^A V= I I)OU>7,NĊ?ApEDDAT read: Rx Time:00:34:52.2553 ETRx dataTimestamp_ set to:1761525291.112827UPDAT read: Bearing 356.6, -3.5 (Local) U~Local bearing/azimuth received: Bearing 356.6, -3.5 (Local) eDAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 DAT read: 00:34:52.2553 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.20,-2.512, 2.070,-2.301,-2.550, PHS= 0.140,-1.618, 0.205, RAW= 151.8, 14.1, CAL= 152.0, 15.8, ROT= 358.0, -15.8 Ygot valid direction response: 00:34:52.2553 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.20,-2.512, 2.070,-2.301,-2.550, PHS= 0.140,-1.618, 0.205, RAW= 151.8, 14.1, CAL= 152.0, 15.8, ROT= 358.0, -15.8 T#Rx 31: Read range and direction messages.^direction in FSK: [0.961632,-0.033581,0.272280]Fpublishing direction and range infoyAE"?Eky/1 ^ m?YE̔AAAAA A)AIE)\>iEϿEQ>E)@AE)@ A)E@IAAAE$2h`?9vZ? a0? EH?)E\|IEQiAAAchecking for new query: numPingsReceived=31, elapsed TxPingTime=16.906189$M@[@#ٱ[N 5AHRS rotation from veh to nav: [[-0.956722,0.277495,0.087629],[-0.289292,-0.939555,-0.183159],[0.031506,-0.200583,0.979170]]H@x{?n?ҿqǿ`!? ɿ@\U?i$M@IN-^;YUkByUi IE E EE"EL;*E:VEZEa@a@a@a@BB?CB IB}BB =BBB8;B:Ei]Mb@Mb@Mb@YYYY Y9]M?ʡE?Mb`Y]n?y]=]]hA]@ ] A)]AYY] A@AbDVD1yk<%=ٔ Q->9Y=Dyr3D/ E>!Q 5-4%~?Q 9-4%gC)!Y-?Q E5:y5-Q I5?%m>DI%:i%:%o4y]Bɮ]A]EiAiE8NJ?AJiE3ARiE3AjiEP]@iEl&}1@ʻA3J|-@riE"?Eky/1 ^ m?ZiEQbiAiEͅk)0K/;怌@ziEn& ҿnvn?2iEƯ:iE1"iE.9?*iEBiEBiE.G?iEiEԍBiE AiE]@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503045 s, deltaX: -0.199999 m, approachRate: -0.397576 m/s, rangeRepo size: 4  Added new target pos. range: 18.525187 m, bearing: 198.131846 deg, lat: 36.779402 deg, lon: -121.859627 deg, deltaT: 0.503045 s, deltaX: -0.199183 m, approachRate: -0.395954 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.53 m.bh!Rh!Zh!5 ProNav: ac range: 18.525187 m, nav range: 17.506210 m, bearing: 198.390096 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 194.273885 deg, new cmd heading: 194.048486 deg. Bh9EHeadingCmd: 3.386785 target range: 18.525187 and range: 18.60 m.hEX@hA*hA"hI hIgIfIfIfU(BdQdQdjd2@Zd@,b?BɢA5) ٥i)Ƽiڋ1i^95d<=+W=I=X@I9E>iE>A@ @@/@@=@=checking for new query: numPingsReceived=31, elapsed TxPingTime=17.135323a ^A 5[=ԉ IIAO}?9ݸ,-劯?A=DDAT read: Rx Time:00:34:52.7550 ETRx dataTimestamp_ set to:1761525291.621130MPDAT read: Bearing 356.6, -3.3 (Local) M~Local bearing/azimuth received: Bearing 356.6, -3.3 (Local) ]DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 DAT read: 00:34:52.7550 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496,-0.02, 2.952, 1.253,-3.129, 2.913, PHS= 0.141,-1.615, 0.197, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 ԩYgot valid direction response: 00:34:52.7550 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496,-0.02, 2.952, 1.253,-3.129, 2.913, PHS= 0.141,-1.615, 0.197, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 T#Rx 32: Read range and direction messages.^direction in FSK: [0.961267,-0.030209,0.273959]Fpublishing direction and range infoy9=2р?Jψ.?Y=A9999 9)=AI=Nb>i=Rο=^I>=%:)@=}>=)@ =q>)=@I=qE\G99=H)5Zo?^%V9QY=Dy3DJE>Q 54p?Q 94F)|LBYy.Q I?>DI;i;ox4yBɮ\AEi9i=犯?AJi=ARi=Aji= y]@i=jFl1@ۅῪ/@ri=2р?Jψ.?Zi=ѭbi=qi= md0nxbF@zi=ssgkӿp?2i=5:i=$"i= D?*i=ZBi=Bi= D?i9i=Bi=Ai=Br]@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.508303 s, deltaX: -0.400000 m, approachRate: -0.786931 m/s, rangeRepo size: 4  Added new target pos. range: 18.126797 m, bearing: 198.272800 deg, lat: 36.779401 deg, lon: -121.859627 deg, deltaT: 0.508303 s, deltaX: -0.398390 m, approachRate: -0.783764 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.13 m.bhRhZh ProNav: ac range: 18.126797 m, nav range: 17.261169 m, bearing: 198.249061 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 194.048488 deg, new cmd heading: 193.834656 deg. BhHeadingCmd: 3.383053 target range: 18.126797 and range: 18.20 m.hX@h*h"h hgf f f didqdqjdu@332@Zdu?颽Bɢ1) i)Mɼiiě96e<3`=IX@I @@ @@/@checking for new query: numPingsReceived=32, elapsed TxPingTime=17.6433811 ^A &V=I) I9 OE >>, ?ABťM@Bn[@BkٱB!zL NAHRS rotation from veh to nav: [[-0.957802,0.273862,0.087267],[-0.285579,-0.941113,-0.180970],[0.032568,-0.198255,0.979609]]BH`O`?`(W?Fҿ*ǿ?k`ɿX?iBťM@IB{^;BCYVByV IiMb@Mb@Mb@ 9ʡE?T㥛 ?Y-?y= G A)bAYf AbDVD y%=%%N=ٔ%Q-->UDDAT read: Rx Time:00:34:53.2549 UTRx dataTimestamp_ set to:1761525292.124758ePDAT read: Bearing 357.1, -2.9 (Local) e~Local bearing/azimuth received: Bearing 357.1, -2.9 (Local) uDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 DAT read: 00:34:53.2549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.15,-0.529,-2.213,-0.346,-0.562, PHS= 0.135,-1.606, 0.172, RAW= 151.0, 14.6, CAL= 151.3, 16.4, ROT= 358.7, -16.4 Ygot valid direction response: 00:34:53.2549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.15,-0.529,-2.213,-0.346,-0.562, PHS= 0.135,-1.606, 0.172, RAW= 151.0, 14.6, CAL= 151.3, 16.4, ROT= 358.7, -16.4 T#Rx 33: Read range and direction messages.^direction in FSK: [0.959067,-0.021764,0.282341]Fpublishing direction and range infoyQUiFg?/XIIx?YUAQQQQ Q)QIUq= >iUhͿU 0>U+(@Uw>U)@ UC>)UU@IUCQQU4B?2.?S,G)? U ?)UIU޹iUCQQchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.9093639Y=Dy3D㺻E>Q 54P?Q 94H)~LBY?Q E:y/Q I?>DIC:i*:4yɮAAiQiU ?AJiUkARiUkAjiU]@iUqA11@4ޜؿm/?@riUiFg?/XIIx?ZiU޹biUCiUq#"0_D#b@ziUcrs- 1|ӿ?2iU:iU"iU^dG?*iUuBiUBiQiUZiQiU?AiUsg]@u addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503628 s, deltaX: -0.200001 m, approachRate: -0.397120 m/s, rangeRepo size: 4  Added new target pos. range: 17.927601 m, bearing: 198.694140 deg, lat: 36.779401 deg, lon: -121.859627 deg, deltaT: 0.503628 s, deltaX: -0.199196 m, approachRate: -0.395522 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.93 m.bhRhZh ProNav: ac range: 17.927601 m, nav range: 17.031002 m, bearing: 198.211256 deg, approach rate: 0.000000 m/s, LOS rate: -0.143380 deg/s, cmd heading: 193.834662 deg, new cmd heading: 193.663014 deg. BhHeadingCmd: 3.380057 target range: 17.927601 and range: 18.00 m.hRX@h*h"h hgfff6Bdddjd2@Zd=@+ۯ?颅BɢL4) ȋi)˼顉ixخE EE*E"E&U;*EO:VE(N4ZEa@a@a@a@A@AAAABv>B>CB IBBB =BBB7;B~:Ei595g<=aHb=I=RX@I9q@ @@/@ԙ % checking for new query: numPingsReceived=33, elapsed TxPingTime=18.149460^A Jc=I I) O= >S[,~?A:XM@:|[@:ٱ:U,L FAHRS rotation from veh to nav: [[-0.958338,0.272027,0.087113],[-0.283739,-0.941707,-0.180777],[0.032859,-0.197962,0.979659]]:H@@h?M?(ҿv"#ǿ`Ҡ?Vɿ ]Y?i:XM@I:n^;:|CYNByN IbDVVDVy^<%^~=ٔ^lQ-b ?9`Y`=bDyb3DfkѻEf?hQ 5n4j艤?Q 9n4jJ)jLBYlyn/Q Ir?j>DIjg:ij:jƄ4yvBɮvAvEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 17.93 m.bhRhe4Zhe4- ProNav: ac range: 17.927601 m, nav range: 16.859106 m, bearing: 198.165763 deg, approach rate: -0.589907 m/s, LOS rate: -0.157713 deg/s, cmd heading: 193.663020 deg, new cmd heading: 193.525149 deg. Bh5yػ5HeadingCmd: 3.377651 target range: 17.927601 and range: 18.00 m.h5o+X@h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@Z?uBɢ}(B)y }hiy)}^8̼顁iӭiF9g<=d=ԉIo+X@IA@A @A@Ed4@A@I@I}DDAT read: Rx Time:00:34:53.7546 }TRx dataTimestamp_ set to:1761525292.628683PDAT read: Bearing 355.3, -2.9 (Local) ~Local bearing/azimuth received: Bearing 355.3, -2.9 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 DAT read: 00:34:53.7546 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.35, 1.816, 0.089, 2.019, 1.742, PHS= 0.176,-1.608, 0.233, RAW= 151.6, 13.2, CAL= 151.7, 14.6, ROT= 358.3, -14.6 Ygot valid direction response: 00:34:53.7546 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.35, 1.816, 0.089, 2.019, 1.742, PHS= 0.176,-1.608, 0.233, RAW= 151.6, 13.2, CAL= 151.7, 14.6, ROT= 358.3, -14.6 T#Rx 34: Read range and direction messages.^direction in FSK: [0.967283,-0.028709,0.252069]Fpublishing direction and range infoyy}?0Nle!?Y}̌Ayyyy y)yI}X94>i}Ϳ}n>}V)@}k>}Us)@ }w>)}@I}wyy} ?j3 O?a#? } ?)}.kI}i}wyy%checking for new query: numPingsReceived=34, elapsed TxPingTime=18.419392^ABa=II!O=>E EE,E"EL;*Ex:VEg4ZEBEߡ9 Y=Dy3D끻E>Q 5%4zw?Q 9%4M)LBY)y-/Q I-?>DI:iV:4y1ɮ5hA1iiX<(?AJi;ARi;Aji\@il?P0@c}u^O0@ri?0Nle!?ZibiwiS>0I9muטL@zi[w[7v<ҿy >?2i:i"i`2?*iGBiBiiiBiAiH]@iI-checking for new query: numPingsReceived=34, elapsed TxPingTime=18.6588025 addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503925 s, deltaX: -0.400000 m, approachRate: -0.793768 m/s, rangeRepo size: 4 u Added new target pos. range: 17.529100 m, bearing: 197.723460 deg, lat: 36.779401 deg, lon: -121.859627 deg, deltaT: 0.503925 s, deltaX: -0.398500 m, approachRate: -0.790793 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 17.53 m.bhyRhZh ProNav: ac range: 17.529100 m, nav range: 16.623009 m, bearing: 198.103104 deg, approach rate: 0.000000 m/s, LOS rate: -0.157713 deg/s, cmd heading: 193.525146 deg, new cmd heading: 193.307864 deg. BhHeadingCmd: 3.373859 target range: 17.529100 and range: 17.60 m.hMW@h*h"h hgfffdddjd 1@Zd P?1ɢ=F%)9 =wi9)=0,μ9AiE*ieg2:mݶii D̿ u> )@  j> )@ ) @I =%\x?Hu?e? *e?) ׽iI Qi  checking for new query: numPingsReceived=35, elapsed TxPingTime=18.918917^A Jc=ԙ B y>B B IB BB =B B B 2;B {:EE  E E *E "E X;*E :VE (N4ZE BE <2E <JE A<:E A<Au .AI I O >Ӎ,N?ARyeM@R"[[@R ٱRN nAHRS rotation from veh to nav: [[-0.958870,0.269705,0.088470],[-0.281805,-0.941851,-0.183038],[0.033959,-0.200441,0.979117]]RH  B??` ҿ@#mǿ c? ɿ@T?iRyeM@IR^;PYrByv IiMb@Mb@Mb@ 9?L7A`?9} ?Y} ?=}Dy}3DSE>Q 54W`?Q 94O)LBY= ?Q E:y3Q I?>DI:i:4yBɮMAiyi}~H?AJi}ARi}Aji}ۅ\@i}c`Ĝ0@b*3⿍Z5y@ri}%?įJ!?Zi}Qbiyi}%R;/vȚ`G@zi}sY¾@hW\ҿQɩT?2i}:i}y}"i}zX)?*i}qHBi}Bi}.9?i}i}Bi}yAi}\@u addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504041 s, deltaX: -0.200001 m, approachRate: -0.396795 m/s, rangeRepo size: 4  Added new target pos. range: 17.330021 m, bearing: 197.422343 deg, lat: 36.779400 deg, lon: -121.859626 deg, deltaT: 0.504041 s, deltaX: -0.199080 m, approachRate: -0.394967 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.33 m.bhRhZh ProNav: ac range: 17.330021 m, nav range: 16.434299 m, bearing: 197.830473 deg, approach rate: 0.000000 m/s, LOS rate: -0.157713 deg/s, cmd heading: 193.307864 deg, new cmd heading: 193.102831 deg. BhHeadingCmd: 3.370280 target range: 17.330021 and range: 17.40 m.hW@h*h"h hgfffABdddjd`ff1@Zd]K?checking for new query: numPingsReceived=35, elapsed TxPingTime=19.153292 Bɢ)) ti)Eϼiim:Vk<w=IW@IQA@ @@4@ԁ^A np=ԩ ] DDAT read: Rx Time:00:34:54.7542 e TRx dataTimestamp_ set to:1761525293.637565u PDAT read: Bearing 355.2, -2.4 (Local) } ~Local bearing/azimuth received: Bearing 355.2, -2.4 (Local)  DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4  DAT read: 00:34:54.7542 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.31, 2.744, 1.026, 2.934, 2.666, PHS= 0.179,-1.595, 0.223, RAW= 151.2, 13.2, CAL= 151.3, 14.7, ROT= 358.7, -14.7  Ygot valid direction response: 00:34:54.7542 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.31, 2.744, 1.026, 2.934, 2.666, PHS= 0.179,-1.595, 0.223, RAW= 151.2, 13.2, CAL= 151.3, 14.7, ROT= 358.7, -14.7  T#Rx 36: Read range and direction messages. ^direction in FSK: [0.967019,-0.021945,0.253758] Fpublishing direction and range infoyY ] d?,VxN=?Y] AY Y Y Y Y )] AI] K7>i] (̿] Zd>] [(@] k>] )@ ] G\>)] U@I] G\Y Y ] L?,*%?+fB? ] x ?)] b'lI] ޹i] G\Y Y  checking for new query: numPingsReceived=36, elapsed TxPingTime=19.425312A ؟AI I O- >#,Hj?AE EEE"EP;*EVEZEa@a@a@a@ԩhRM@H[@ ٱN AHRS rotation from veh to nav: [[-0.959184,0.268516,0.088689],[-0.280685,-0.942166,-0.183137],[0.034384,-0.200555,0.979079]]H@`\/?M? ѿ`9& qǿԚ?@̫ɿT?ihRM@I>_;CYUByU IaeAAbDmVDm1y}@e%}==ٔ}Q-}>9"?Y"?=Dy3DS0E>Q 54J?Q 94Q)LBYy3Q I?>DI:i:4y Bɮ A Eiih?AJisARisAjiC?]@iCG\_0@ٛ׿M/@rid?,VxN=?Zi޹biG\i=.F!7h`@zib&4ӿG8GxO?2i :iv"iz-G7?*i2Bi@Biz-G7?iZiBiAi]@ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504841 s, deltaX: -0.400000 m, approachRate: -0.792328 m/s, rangeRepo size: 4  Added new target pos. range: 16.931631 m, bearing: 198.070721 deg, lat: 36.779400 deg, lon: -121.859627 deg, deltaT: 0.504841 s, deltaX: -0.398390 m, approachRate: -0.789139 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.93 m.bhRhZh ProNav: ac range: 16.931631 m, nav range: 16.208290 m, bearing: 197.901052 deg, approach rate: 0.000000 m/s, LOS rate: -0.157713 deg/s, cmd heading: 193.102835 deg, new cmd heading: 192.896355 deg. Bh HeadingCmd: 3.366677 target range: 16.931631 and range: 17.00 m.h wW@h *h "h  h gfffdddjd=1@ZdE`5?颍 Bɢ.,) yi)/Ѽ顑iT;i:4l<=IwW@II)gA!@! @)@-/@1@M=@M=checking for new query: numPingsReceived=36, elapsed TxPingTime=19.659946 ^A] | u=1 A I I O >m,a?An CM@n8[@nrٱnC:O zAHRS rotation from veh to nav: [[-0.959434,0.267529,0.088967],[-0.279782,-0.942380,-0.183420],[0.034770,-0.200871,0.979001]]nH``2?ƶ?ѿ 'Nzǿg͡?@!ɿS?in CM@In_;n}CYBy I  AIuDDAT read: Rx Time:00:34:55.2542 uTRx dataTimestamp_ set to:1761525294.140737PDAT read: Bearing 357.4, -3.0 (Local) ~Local bearing/azimuth received: Bearing 357.4, -3.0 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 DAT read: 00:34:55.2542 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.25,-3.100, 1.502,-2.914,-3.115, PHS= 0.118,-1.620, 0.157, RAW= 151.1, 15.1, CAL= 151.4, 17.0, ROT= 358.6, -17.0 Ygot valid direction response: 00:34:55.2542 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.25,-3.100, 1.502,-2.914,-3.115, PHS= 0.118,-1.620, 0.157, RAW= 151.1, 15.1, CAL= 151.4, 17.0, ROT= 358.6, -17.0 T#Rx 37: Read range and direction messages.^direction in FSK: [0.956019,-0.023364,0.292372]Fpublishing direction and range infoyqu7?ȵ?`V엿兗7?Yqqqqq q)u@Iu=iu)\Ͽu >u(@uV>u)@ u>)uG@Iu闾qqiMb@Mb@Mb@ 9 rh?S㥛?{Gz?YC ?y/<#<Aurb]s?ܽv? o? u ?)uDIu*ȼiu闾qqchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.957432@  A)AY AbDVDy=%6=ٔ]@]Q-]>9YYa=eDye3DeVEe>iQ 5u4m17?Q 9u4Bz>B?CB IBBB =BBDB;Bh:EE EEE"EL;*Eg:VEZEBEߡDIm^,E?AYBy IbDVD뱝DDAT read: Rx Time:00:34:55.7540 TRx dataTimestamp_ set to:1761525294.644886PDAT read: Bearing 353.9, -2.4 (Local) ~Local bearing/azimuth received: Bearing 353.9, -2.4 (Local)  DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 5DAT read: 00:34:55.7540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.08, 2.416, 0.687, 2.621, 2.315, PHS= 0.203,-1.583, 0.262, RAW= 151.6, 12.3, CAL= 151.6, 13.6, ROT= 358.4, -13.6 9=Ygot valid direction response: 00:34:55.7540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.08, 2.416, 0.687, 2.621, 2.315, PHS= 0.203,-1.583, 0.262, RAW= 151.6, 12.3, CAL= 151.6, 13.6, ROT= 358.4, -13.6 ET#Rx 38: Read range and direction messages.M^direction in FSK: [0.971582,-0.027139,0.235142]MFpublishing direction and range infoyP:3?*ycnEʛ#?YA )AI;O>iʿ$>V)@[>V)@ s>)+@Is=Yݠ?h4c? W8? > ?)o[Iismchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.430731y}<=%}.=ٔQ->9Y=Dy3DE>Q 54>#?Q 94*V)LBYyQ I?>DI;i;4yBɮ\AiiE?AJixARixAji\@iᕹ/@RYܿ8Ny@riP:3?*ycnEʛ#?ZibisiJ^0.4p³n@ziB]md(a4Lҿ)w>?2i.:iq"i+C+?*i6@Bi}Bi`2?iGiBi{Ai\@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504149 s, deltaX: -0.500000 m, approachRate: -0.991770 m/s, rangeRepo size: 4  Added new target pos. range: 16.433666 m, bearing: 197.487574 deg, lat: 36.779399 deg, lon: -121.859626 deg, deltaT: 0.504149 s, deltaX: -0.497992 m, approachRate: -0.987786 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.43 m.bhRh!Zh!= ProNav: ac range: 16.433666 m, nav range: 15.743581 m, bearing: 197.624599 deg, approach rate: 0.000000 m/s, LOS rate: -0.157713 deg/s, cmd heading: 192.672274 deg, new cmd heading: 192.471620 deg. Bh9MHeadingCmd: 3.359263 target range: 16.433666 and range: 16.50 m.hM,V@hI*hI"hI hIgQfffdd!d!jd%0@Zd%?EQ EU EU-EQ"EQ*EU:VEUt4ZEQae@ae@ae@ae@颡ɢjs") ~Si)Լii!;_p<*=I,V@Ii@ @@/@ԑ checking for new query: numPingsReceived=38, elapsed TxPingTime=20.668129^A = AQ Ia Iq O >`,?A2M@2n[@2sٱ2GO :AHRS rotation from veh to nav: [[-0.960026,0.264947,0.090294],[-0.277523,-0.942995,-0.183688],[0.036479,-0.201404,0.978829]]2H??ѿ -ǿ`n?`ɿR?i2M@I2 a;2{CYBByB IԱiMb@Mb@Mb@ 9㥛 ?~jtx?Mb`?Y?y;;hAd@  A)Y= A C=bDVD1yɼ%2=ٔtQ->9Y=Dy%4D%E%>)Q 554-z ?Q 954-5X)-LBY=?Q E=:y=\6Q I=?->DI- :i-:-4yeBɮevAeEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 16.43 m.bhRh:Zh:DDAT read: Rx Time:00:34:56.2538 TRx dataTimestamp_ set to:1761525295.148852PDAT read: Bearing 356.6, -2.2 (Local) ~Local bearing/azimuth received: Bearing 356.6, -2.2 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.8 DAT read: 00:34:56.2538 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.31,-3.026, 1.561,-2.856,-3.066, PHS= 0.142,-1.612, 0.165, RAW= 150.7, 14.6, CAL= 150.9, 16.4, ROT= 359.1, -16.4 Ygot valid direction response: 00:34:56.2538 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.31,-3.026, 1.561,-2.856,-3.066, PHS= 0.142,-1.612, 0.165, RAW= 150.7, 14.6, CAL= 150.9, 16.4, ROT= 359.1, -16.4 T#Rx 39: Read range and direction messages.]^direction in FSK: [0.959196,-0.015068,0.282341]]Fpublishing direction and range infoyԪ?v܎Ix?YA )Ish>iVο(>aU(@w>(@ C>)-@IC Pآ?ox7?$W.? ?)[ނIiC ProNav: ac range: 16.433666 m, nav range: 15.473867 m, bearing: 197.640019 deg, approach rate: -0.577941 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.471616 deg, new cmd heading: 192.518682 deg. Bh:HeadingCmd: 3.360085 target range: 16.433666 and range: 16.50 m.h W@h*h"h hgfchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.939955ffJBdddjd@330@Zd?U Bɢ]L%)Y ]^iY)]}ּaaiezim;mrBB IB΂BB =BBB;BU:EB?CB?CBBŢ =BŢ =C@5bE(N4jEżP4rE./E= E=E=,E9"E=US;*E=O:VE=g4ZE9BE=[,c|݋?AYzByz I bDVDky%<%%Y=ٔ%Q-%>9)Y)=-Dy- 4D5E5>9Q 5=4=?Q 9E4=Y)=LBYAyAQ IE?= ?DI=p:i=:=24yQɮUhAQiiˆɋ?AJiARiAji]@iRQ.@uoϿP-8@riԪ?v܎Ix?ZibiCi-`;3XЉ̰qJ@zi`w|o:Qrӿ!Φ?2i:i-h"i $5?*ik<BiÌBi $5?i2ii0tAi7]@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503966 s, deltaX: -0.299999 m, approachRate: -0.595277 m/s, rangeRepo size: 4 % Added new target pos. range: 16.135073 m, bearing: 198.667912 deg, lat: 36.779400 deg, lon: -121.859627 deg, deltaT: 0.503966 s, deltaX: -0.298594 m, approachRate: -0.592487 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 16.14 m.bh)Rh-Zh)= ProNav: ac range: 16.135073 m, nav range: 15.261763 m, bearing: 198.044906 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.518676 deg, new cmd heading: 192.557184 deg. Bh9EHeadingCmd: 3.360757 target range: 16.135073 and range: 16.20 m.hEW@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]?颉ɢt|-) Zi)ɵ׼顑ii ;1t<M=IW@IAe@@i @i@m/@qDDAT read: Rx Time:00:34:56.7536 TRx dataTimestamp_ set to:1761525295.652806PDAT read: Bearing 354.9, -1.5 (Local) ~Local bearing/azimuth received: Bearing 354.9, -1.5 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 %DAT read: 00:34:56.7536 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.24,-0.305,-2.026,-0.137,-0.391, PHS= 0.188,-1.590, 0.210, RAW= 150.6, 13.3, CAL= 150.7, 14.7, ROT= 359.3, -14.7 -Ygot valid direction response: 00:34:56.7536 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.24,-0.305,-2.026,-0.137,-0.391, PHS= 0.188,-1.590, 0.210, RAW= 150.6, 13.3, CAL= 150.7, 14.7, ROT= 359.3, -14.7 -T#Rx 40: Read range and direction messages.5^direction in FSK: [0.967196,-0.011817,0.253758]=Fpublishing direction and range infoyٕD?]}>3N=?Yf~A )I@>i˿= W>8(@,m>aU(@ G\>)ū@IG\l~?c?5O:+Y? ~?)]lID+HiG\]checking for new query: numPingsReceived=40, elapsed TxPingTime=21.437595i^Ab$=E  E E.E"EF;*E:VEـ4ZEa@a@a@a@ԑ A I I O >+,>?A2L@2eZ@2ٱ2Q JAHRS rotation from veh to nav: [[-0.960495,0.262693,0.091880],[-0.275688,-0.943240,-0.185187],[0.038017,-0.203202,0.978399]]2H `?n?ѿ/ 9ǿw?@ʿ` O?i2L@I2zb;0Y^By^ IbDjVDj2iIIMAechecking for new query: numPingsReceived=40, elapsed TxPingTime=21.677019ԁyK%D=ٔnQ->9Y=Dy14DE=>IQ 54MQ磊?Q 94M[)MLBYy{6Q I?M?DIM*3N=?ZiD+HbiG\i a, z^K)5WZ5@zim/3\ӿ9e?2iJ:iDf"i[c*?*icBiBii/i@BipAie]@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503954 s, deltaX: -0.300001 m, approachRate: -0.595295 m/s, rangeRepo size: 4  Added new target pos. range: 15.836274 m, bearing: 198.410294 deg, lat: 36.779400 deg, lon: -121.859629 deg, deltaT: 0.503954 s, deltaX: -0.298799 m, approachRate: -0.592908 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.84 m.bhRhZh ProNav: ac range: 15.836274 m, nav range: 15.041821 m, bearing: 198.480344 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.557185 deg, new cmd heading: 192.603136 deg. BhHeadingCmd: 3.361559 target range: 15.836274 and range: 15.90 m.h#W@h*h"h! h)g)f)f)f1d1d1d1jd5/@Zd=I?颁ɢ')  ci)=hټ顑iԡi:v<a=I#W@Ii@i @q@q@yDDAT read: Rx Time:00:34:57.2535 TRx dataTimestamp_ set to:1761525296.156705 PDAT read: Bearing 356.8, -1.7 (Local)  ~Local bearing/azimuth received: Bearing 356.8, -1.7 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.8 = DAT read: 00:34:57.2535 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.04, 1.592,-0.092, 1.747, 1.557, PHS= 0.137,-1.604, 0.145, RAW= 150.2, 15.0, CAL= 150.5, 16.7, ROT= 359.5, -16.7 E Ygot valid direction response: 00:34:57.2535 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.04, 1.592,-0.092, 1.747, 1.557, PHS= 0.137,-1.604, 0.145, RAW= 150.2, 15.0, CAL= 150.5, 16.7, ROT= 359.5, -16.7 M T#Rx 41: Read range and direction messages.U ^direction in FSK: [0.957786,-0.008358,0.287361]U Fpublishing direction and range infoyx6.?I"gd?Y|A )?II >iOͿz>g'@ >0(@ ;>)^@I;ж5'?:`Pk?S^? ?)"IDi;u checking for new query: numPingsReceived=41, elapsed TxPingTime=21.941479^A =B >B  B IB ӂBB B B B ;B b:EE  E E *E "E [I;*E Z:VE (N4ZE BE >g,w?AfL@f1Z@fB!ٱf O ~AHRS rotation from veh to nav: [[-0.960868,0.261133,0.092423],[-0.274196,-0.944026,-0.183391],[0.039360,-0.201556,0.978686]]fH@n i??mѿ@u5@Xyǿ'? ɿdQ?ifL@If)b;f|CY By  I1iMb@Mb@Mb@ 9 +?:v?{GztY?yT<ףQAz@ )AY AbDVD1yRؼ%,=ٔ;Q->9Y=DyD4D [E%>IQ 5M4Mѣ?Q 9U4M])MLBYU?Q EU:yU5Q IU?M-?DIM :iMz:Mɭ4yɮAchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.177315iit ?AJi{ARi{Aji7^@i^io%.@@ڡ@rix6.?I"gd?ZiDbi;i%2,=Z_ .@ziD u$ӿTX?2iК:ia"ik-?*i-bBiBik-?iciBimAi]@  addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503899 s, deltaX: -0.099999 m, approachRate: -0.198451 m/s, rangeRepo size: 4 = Added new target pos. range: 15.736748 m, bearing: 198.939180 deg, lat: 36.779399 deg, lon: -121.859629 deg, deltaT: 0.503899 s, deltaX: -0.099526 m, approachRate: -0.197513 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 15.74 m.bhARhIZhIY} ProNav: ac range: 15.736748 m, nav range: 14.865346 m, bearing: 198.477372 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.603138 deg, new cmd heading: 192.647274 deg. BhyHeadingCmd: 3.362329 target range: 15.736748 and range: 15.80 m.hg0W@h*h"h hgfff2Bdddjd/@Zd`?ɢ{-)  oi ) ۼ  i +?iO:5w<=nx=I=g0W@I9A@ @@@ԉPExceeded connect timeout, disconnecting. ) ) ^A S%}=A >A ? G  = 9A YE zpA] DDAT read: Rx Time:00:34:57.7532 e TRx dataTimestamp_ set to:1761525296.660825m PDAT read: Bearing 353.6, -0.2 (Local) m ~Local bearing/azimuth received: Bearing 353.6, -0.2 (Local) } DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.8  DAT read: 00:34:57.7532 LVL= 31968, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.12, 1.988, 0.254, 2.130, 1.856, PHS= 0.235,-1.557, 0.230, RAW= 149.9, 12.2, CAL= 149.8, 13.4, ROT= 0.2, -13.4  Ygot valid direction response: 00:34:57.7532 LVL= 31968, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.12, 1.988, 0.254, 2.130, 1.856, PHS= 0.235,-1.557, 0.230, RAW= 149.9, 12.2, CAL= 149.8, 13.4, ROT= 0.2, -13.4  T#Rx 42: Read range and direction messages. \direction in FSK: [0.972770,0.003396,0.231748] Fpublishing direction and range infoya e #t ?#f"k?] A?Ye tAa e |a a a )e @Ie ףp>ie Kǿe k>e p'@e ^ Z>e T'@ e |o>)e d;Ie |oa a e Z ?'o&*&?I? e k?)e YIe d;ie |oa a  checking for new query: numPingsReceived=42, elapsed TxPingTime=22.446276A I I) O5 > ,W#.?A4<ɰ;BL@B8Z@B$ٱBs:PXE^ E^E^(E\"E^P;*E^g:VE^c44ZE\ab@ab@ab@ab@ zAHRS rotation from veh to nav: [[-0.961267,0.259440,0.093040],[-0.272663,-0.944443,-0.183526],[0.040257,-0.201786,0.978602]]BH@ચ?sѷ?Nsѿ`8}ǿ`?ɿ P?iBL@IBxb;B~CYBy IbDVD02y%%-]=ٔU-Q-]>9Y=DyS4DE>Q 54&?Q 94_)LBYy6Q I?i (̿ = '@ c> #>) I # d,$?Ȥ=Gm?_`"? ?) NJI i # %checking for new query: numPingsReceived=43, elapsed TxPingTime=22.952660A!I1IO>,IL?ABj>Bj@CBj IBj΂BBhBhBhBj?;Bj:E=L@=Z@=$,ٱ=}QE EE,E"EB;*EVEg4ZEBEw9Y=Dyi4DɑE>Q 54ߥ?Q 94Qb)Y7?Q E:y3Q I?P?DI;i:٭4yBɮAii!J?AJi:rARi:rAji^@iѐNҎ,@,y:թ?3@riCRZ?RˍAMk?+0?Zibi#i`|*K$dYfQ@zi;|sus;Կ<$?2i':ikW"iN7?*iI4BiBik-?ikCiBieAi&^@} addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.507640 s, deltaX: -0.100000 m, approachRate: -0.196991 m/s, rangeRepo size: 4  Added new target pos. range: 15.139188 m, bearing: 199.569288 deg, lat: 36.779399 deg, lon: -121.859630 deg, deltaT: 0.507640 s, deltaX: -0.099562 m, approachRate: -0.196127 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.14 m.bhRhZh ProNav: ac range: 15.139188 m, nav range: 14.349508 m, bearing: 198.850166 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.688598 deg, new cmd heading: 192.740380 deg. BhHeadingCmd: 3.363954 target range: 15.139188 and range: 15.20 m.hKW@h*h"h hgfffBdd!d!jd%`ff.@Zd%9?1频ɢ&/) ~i)]޼顙iħi:z<f=IKW@IiߩI߭Achecking for new query: numPingsReceived=43, elapsed TxPingTime=23.186331E?@A @I@M/@IY nManaging dock network, ignoring radio surface power off^A ( n=ԡ I I O >,${i?ARDDAT read: Rx Time:00:34:58.7528 RTRx dataTimestamp_ set to:1761525297.668768ZPDAT read: Bearing 355.0, 0.3 (Local) Z~Local bearing/azimuth received: Bearing 355.0, 0.3 (Local) bDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5 vDAT read: 00:34:58.7528 LVL= 30912, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.30, 2.671, 0.952, 2.786, 2.569, PHS= 0.204,-1.572, 0.173, RAW= 149.1, 13.5, CAL= 149.1, 14.9, ROT= 0.9, -14.9 zYgot valid direction response: 00:34:58.7528 LVL= 30912, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.30, 2.671, 0.952, 2.786, 2.569, PHS= 0.204,-1.572, 0.173, RAW= 149.1, 13.5, CAL= 149.1, 14.9, ROT= 0.9, -14.9 xT#Rx 44: Read range and direction messages.%\direction in FSK: [0.966257,0.015179,0.257133]%Fpublishing direction and range infoyPR?\XB?Fht?YR3kAPRxPP P)PIR`P>iRL7ɿR&1>Rۋ&@R:Fq>Rۋ&@ R%>)R9Y=Dy{4DE>Q 54?Q 94~d)LBY y Q I ?a?DI;i;\4yɮGADAzDE@AEM EMEM*EI"EM,K;*EMu:VEM(N4ZEIaU@aU@aU@aU@iPiRj?AJiRBjARiRBjA!jiR_@iRWK,@er?mv*@riR?\XB?Fht?ZiR<biR%iRycc*?;Yb@ziRZBwjW؛53iԿv?2iRW:iRS"iR9?*iR_BiRBiPiR-biRBiRaAiR>A^@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.500303 s, deltaX: -0.500000 m, approachRate: -0.999394 m/s, rangeRepo size: 4  Added new target pos. range: 14.641188 m, bearing: 199.720254 deg, lat: 36.779399 deg, lon: -121.859630 deg, deltaT: 0.500303 s, deltaX: -0.498000 m, approachRate: -0.995397 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.64 m.bhRhZh ProNav: ac range: 14.641188 m, nav range: 14.104320 m, bearing: 198.972891 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.740384 deg, new cmd heading: 192.785463 deg. BhHeadingCmd: 3.364741 target range: 14.641188 and range: 14.70 m.hWW@h*h"h hgfffdddjd `ff-@Zd `r?Qɢ}M=)y }iy)顁i[Fi:d|<ye=IWW@II)hAQUA@Q @Q@U/@YUchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.689468y ^Au 0f=Iq I ԩ O >y!,{?A$$N:qL@NfZ@N?5ٱNP ZAHRS rotation from veh to nav: [[-0.962577,0.253455,0.095946],[-0.267372,-0.945948,-0.183558],[0.044236,-0.202342,0.978315]]NHo@8?㏸?ѿ5E@~ǿ?Xɿ[N?iN:qL@INcb;N|CYbByb IiMMb@Mb@Mb@IIII I9MS?&1?QYM/?yMP=MMAI MG A)MAIYM(AbDe VDe2yu<%u?=ٔ}Q-}>9yYy=Dy4D"E>Q 54R}?Q 94f)LBY?Q E:y*3Q I?q?DIi%^ɿ%ˡE>!%f>%Bo&@ %}>)%5BACB IBĂBB =BBDBI;B:E  ProNav: ac range: 14.541589 m, nav range: 13.888893 m, bearing: 199.420762 deg, approach rate: 0.000000 m/s, LOS rate: 0.033617 deg/s, cmd heading: 192.785463 deg, new cmd heading: 192.828093 deg. Bh HeadingCmd: 3.365485 target range: 14.541589 and range: 14.60 m.hdW@h*h"h hgff!f%BdAdAdIjdM@33-@ZdMi3?频ɢ<) Ri)E EE,E"EL;*E>:VEg4ZEBE',s?A2zTL@2"JZ@29ٱ2MO >AHRS rotation from veh to nav: [[-0.962999,0.251676,0.096392],[-0.265670,-0.946618,-0.182575],[0.045297,-0.201428,0.978455]]2H w?$?`ѿJ`^ǿ`1?@eɿO?i2zTL@I2a;2{CYRuByRu IXZ@AbD^ VD^:2yf?z%fV=ٔfb6Q-f>9hYh=jDyj4DnEn>!Q 5-4%1j?Q 9-4%h)%LBYyyF3Q I?%?DI%Yi=/Ϳ=z>=Bo&@=r>9 =q>)9I=q99=<' ?G4?-lA? =e?)=I9i=q99checking for new query: numPingsReceived=46, elapsed TxPingTime=24.469917@ @@/0@y^AlT=IAIQO]v>D%=DE EE*E"E,K;*EA:VE(N4ZEa@a@a@a@ԩ 7-,nP?A2E5L@2*Z@2ڏ=ٱ2;FM :AHRS rotation from veh to nav: [[-0.963461,0.249933,0.096317],[-0.263824,-0.947612,-0.180079],[0.046263,-0.198910,0.978925]]2H?7?|п`R` ǿѯ?uɿZS?i2E5L@I2ۛa;2zCBchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.697220DYrzByr| IbDVD0y-<%?=ٔGQ->9Y=Dy4DōE>Q 54T?Q 942k)LBYyb3Q I??DIȗF쿲^iԿ1_?2imT:imNI"im10?*imBim+Bim10?im_iiimUAim*^@ԩ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504986 s, deltaX: -0.500000 m, approachRate: -0.990126 m/s, rangeRepo size: 4  Added new target pos. range: 14.043843 m, bearing: 199.595677 deg, lat: 36.779399 deg, lon: -121.859632 deg, deltaT: 0.504986 s, deltaX: -0.497746 m, approachRate: -0.985662 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 14.04 m.bh Rh Zh ProNav: ac range: 14.043843 m, nav range: 13.353543 m, bearing: 199.577604 deg, approach rate: 0.000000 m/s, LOS rate: -0.003789 deg/s, cmd heading: 192.823549 deg, new cmd heading: 192.818753 deg. Bh!%HeadingCmd: 3.365322 target range: 14.043843 and range: 14.10 m.hMpaW@hQ*hQ"hQ hYgafffddidyjd@33,@Zd?频ɢL<) Wi)iæiE:G$< M=I paW@I EDDAT read: Rx Time:00:35:00.2522 MTRx dataTimestamp_ set to:1761525299.181773UPDAT read: Bearing 355.4, 0.4 (Local) ]~Local bearing/azimuth received: Bearing 355.4, 0.4 (Local) uDAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5 DAT read: 00:35:00.2522 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.31,-3.079, 1.484,-2.969, 3.115, PHS= 0.191,-1.586, 0.156, RAW= 149.0, 14.0, CAL= 149.1, 15.5, ROT= 0.9, -15.5 Ygot valid direction response: 00:35:00.2522 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.31,-3.079, 1.484,-2.969, 3.115, PHS= 0.191,-1.586, 0.156, RAW= 149.0, 14.0, CAL= 149.1, 15.5, ROT= 0.9, -15.5 T#Rx 47: Read range and direction messages.\direction in FSK: [0.963512,0.015136,0.267238]Fpublishing direction and range infoyAE:so:??֚n?YE\AAAAA AB@ @@0@@=@=)AIEC>iE ˿Ew>AE5z>Eۋ&@ Ec>)EB @CB IB BB =B B B G;B :E E  E E -E "E L;*E :VE t4ZE BE ߡA A IY Ii O} >Pa5,ސ֌?A;ɰ4<2KL@2Z@2JBٱ2CK ^AHRS rotation from veh to nav: [[-0.963973,0.247848,0.096582],[-0.261753,-0.948474,-0.178559],[0.047350,-0.197406,0.979178]]2H`@{??п`Yƿ7>? Dɿ@lU?i2KL@I2l`;2yCYf|Byf~ IiMb@Mb@Mb@ 91Zd?kt?QY"?y =7A/@ Z A)AYzAbDVD03y1<%6=ٔ!Q->9Y=Dy4DE>Q 546@?Q 94m)LBY?Q E:y/Q I??DIz:i:4yBɮAEiQiU+ˌ?AJiU[ARiU[AjiU^@iUx7|*@KnJ'?kb @riU:so:??֚n?ZiU<biUciUϘwD(_`vZGPv0@ziU:쿙Կha}y?2iU::iUE"iU;.?*iU0}BiUڊBiQiQiQiUkQAiU^@= addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504051 s, deltaX: -0.300000 m, approachRate: -0.595178 m/s, rangeRepo size: 4 M Added new target pos. range: 13.744870 m, bearing: 199.264094 deg, lat: 36.779399 deg, lon: -121.859632 deg, deltaT: 0.504051 s, deltaX: -0.298973 m, approachRate: -0.593141 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 13.74 m.bhQRhYZhYuchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.201326u ProNav: ac range: 13.744870 m, nav range: 13.088786 m, bearing: 199.517573 deg, approach rate: 0.000000 m/s, LOS rate: -0.003789 deg/s, cmd heading: 192.818754 deg, new cmd heading: 192.814327 deg. Bhq}HeadingCmd: 3.365245 target range: 13.744870 and range: 13.80 m.h},`W@hy*h"h hgfffBdddjd+@Zd@]O? BɢM)  i)(^ii: <HG=I,`W@I!?@ @@4@^ALM=QIqIO>ԁ  = 4=- DDAT read: Rx Time:00:35:00.7519 5 TRx dataTimestamp_ set to:1761525299.685942E PDAT read: Bearing 352.4, 1.0 (Local) E ~Local bearing/azimuth received: Bearing 352.4, 1.0 (Local) ] DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5  DAT read: 00:35:00.7519 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.26, 2.708, 0.937, 2.829, 2.538, PHS= 0.272,-1.555, 0.247, RAW= 149.3, 11.4, CAL= 149.1, 12.5, ROT= 0.9, -12.5  Ygot valid direction response: 00:35:00.7519 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.26, 2.708, 0.937, 2.829, 2.538, PHS= 0.272,-1.555, 0.247, RAW= 149.3, 11.4, CAL= 149.1, 12.5, ROT= 0.9, -12.5  T#Rx 48: Read range and direction messages. \direction in FSK: [0.976176,0.015335,0.216440] Fpublishing direction and range infoy1 5 V%i5 = ǿ5 |>5 &@5 %K>1 5 f_>)1 I5 f_1 1 5 +KY?{?'9Y=Dy4DE>Q 54f-?Q 94Op)LBYyQ I??DI:i:s4yBɮaAEiiimy댯?AJimUARimUAjim]@imP*@}_%2?rI@rimV%ӿT?2im؃:imC"imx&?*im BimQBim;.?iiimڊBimMAim^@] addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504169 s, deltaX: -0.400001 m, approachRate: -0.793386 m/s, rangeRepo size: 4 m Added new target pos. range: 13.346467 m, bearing: 198.619051 deg, lat: 36.779399 deg, lon: -121.859632 deg, deltaT: 0.504169 s, deltaX: -0.398403 m, approachRate: -0.790218 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 13.35 m.bhRhZh ProNav: ac range: 13.346467 m, nav range: 12.869303 m, bearing: 199.426269 deg, approach rate: 0.000000 m/s, LOS rate: -0.003789 deg/s, cmd heading: 192.814328 deg, new cmd heading: 192.809755 deg. BhHeadingCmd: 3.365165 target range: 13.346467 and range: 13.40 m.h^W@h*h"h hgfffdddjd*@Zd ?IɢU?)Q U=iQ)UY/YYi]i]:e cmB,I. ?A\vDDAT read: Rx Time:00:35:01.2518 vTRx dataTimestamp_ set to:1761525300.188653zPDAT read: Bearing 346.0, -0.7 (Local) ~~Local bearing/azimuth received: Bearing 346.0, -0.7 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5 -DAT read: 00:35:01.2518 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.13,-0.122,-2.055, 0.144,-0.424, PHS= 0.404,-1.586, 0.524, RAW= 152.9, 6.5, CAL= 152.2, 6.7, ROT= 357.8, -6.7 5Ygot valid direction response: 00:35:01.2518 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.13,-0.122,-2.055, 0.144,-0.424, PHS= 0.404,-1.586, 0.524, RAW= 152.9, 6.5, CAL= 152.2, 6.7, ROT= 357.8, -6.7 =T#Rx 49: Read range and direction messages.E^direction in FSK: [0.992439,-0.038126,0.116671]EFpublishing direction and range infoytvP̐?W@mu"޽?Yv3SAtttt t)v>Iv>iv ˿v$?v{*@vV=vP*@ v|=)vM@Iv|ゥttvϔH@?OzE?.^Լ? v?)vy IvFiv|ゥttchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.993036Y5~By5 IAQAQB]y>B]?CBYBYB] =BYB]DB]);B]r:EB@CB@CB”CB¡ =B  =C¸5bE [4jE [4rE¼ 0Eu& EuEu,Eq"Eu8^;*Eu :VEug4ZEqBEu°9Y=Dy4DE>Q 54?Q 9E4s)LBYE^?Q EE:yM,Q IM??DI(BJ,B+?A>ӆK@>||Y@>Nٱ>*`GVDDAT read: Rx Time:00:35:01.7515 VTRx dataTimestamp_ set to:1761525300.693996^PDAT read: Bearing 352.6, 0.3 (Local) b~Local bearing/azimuth received: Bearing 352.6, 0.3 (Local) nDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5 xDAT read: 00:35:01.7515 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.04,-1.326,-3.083,-1.182,-1.473, PHS= 0.248,-1.566, 0.247, RAW= 150.0, 11.8, CAL= 149.8, 13.0, ROT= 0.2, -13.0 %Ygot valid direction response: 00:35:01.7515 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.04,-1.326,-3.083,-1.182,-1.473, PHS= 0.248,-1.566, 0.247, RAW= 150.0, 11.8, CAL= 149.8, 13.0, ROT= 0.2, -13.0 %T#Rx 50: Read range and direction messages. 5AHRS rotation from veh to nav: [[-0.966017,0.239577,0.097026],[-0.253499,-0.951454,-0.174564],[0.050494,-0.193228,0.979854]]>H@`x?ָ?`S9пPr Xƿ``ک?ȿZ?i>ӆK@I>~._;>|C\direction in FSK: [0.974364,0.003401,0.224951]Fpublishing direction and range infoyTV Ů-?(nk?:/2?YVLATTTT T)V<IV}>iVrȿV|>V6'@VBR>VT'@ VVh>)Vd;IVVhTTV0,"?l%mL?c R w)? VF?)VRIVd;iVVhTTYBy II)<bDVD밝 checking for new query: numPingsReceived=50, elapsed TxPingTime=26.500019y5)=%5;=ٔ5Q-=>99Y9==Dy=4DE EE>iQ 5u4m?Q 9u4mv)mLBYqy}G-Q I}?m?DIm:im:m4yBɮAEiTiVnj,?AJiVKARiVKAjiV\@iVJ(@07 L3?O( ?@riV Ů-?(nk?:/2?ZiVd;biVVhiV%l'T !Qn @ziV),3iCea.>ҿ16?2iV5l:iV`;"iV%?*iVLBiVcBiVx&?iV iVcBiV%EAE- E-E-*E)"E-L;*E-Z:VE-(N4ZE)a5@a5@a=@a=@iV]@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.505343 s, deltaX: -0.400000 m, approachRate: -0.791541 m/s, rangeRepo size: 4  Added new target pos. range: 12.748533 m, bearing: 197.492495 deg, lat: 36.779398 deg, lon: -121.859630 deg, deltaT: 0.505343 s, deltaX: -0.398392 m, approachRate: -0.788359 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.75 m.bhRhZh ProNav: ac range: 12.748533 m, nav range: 12.321639 m, bearing: 198.309716 deg, approach rate: 0.000000 m/s, LOS rate: -0.003789 deg/s, cmd heading: 192.803714 deg, new cmd heading: 192.798835 deg. Bh!=HeadingCmd: 3.364974 target range: 12.748533 and range: 12.80 m.hE[W@hA*hA"hA hAgAfAfIfIdIdIdQjdU)@ZdU7?Bɢ=) Ài)3Ui_i:S< *=I=[W@I9@ @@4@QMchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.713404y ^A] \J=A ԩ I I O >Q,G?A>vOK@>EY@>$Qٱ>D FAHRS rotation from veh to nav: [[-0.966831,0.236453,0.096578],[-0.250223,-0.952711,-0.172424],[0.051241,-0.190871,0.980277]]>HHD?Q? п|ƿ@3vOK@I>~^;>xCYNByN Ii%Mb@Mb@Mb@!!!! !9%333333?rh|?~jtY%?y%=%ļ%A% @ %G A)%A!Y%A5@A5AAbD= VD=2ym[h=%u@=ٔu Q-u>9yYy=}Dy}5D}wE>Q 54좊?Q 94y)LBY?Q E:y,Q I??DIy;iQ;X4yBɮAEB*** querying acoustic contact ***i i5DDAT read: Rx Time:00:35:02.2514 5TRx dataTimestamp_ set to:1761525301.196782EPDAT read: Bearing 352.3, -0.3 (Local) E~Local bearing/azimuth received: Bearing 352.3, -0.3 (Local) UDAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 }DAT read: 00:35:02.2514 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.00,-0.326,-2.075,-0.154,-0.461, PHS= 0.237,-1.569, 0.263, RAW= 150.7, 11.7, CAL= 150.6, 12.9, ROT= 359.4, -12.9 Ygot valid direction response: 00:35:02.2514 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.00,-0.326,-2.075,-0.154,-0.461, PHS= 0.237,-1.569, 0.263, RAW= 150.7, 11.7, CAL= 150.6, 12.9, ROT= 359.4, -12.9 T#Rx 51: Read range and direction messages.^direction in FSK: [0.974708,-0.010208,0.223250]Fpublishing direction and range infoy15dL0?9焿Nu?Y5IA1111 1)5:I5!r>i5ȿ5>5aU(@5Q>58(@ 5f>)5@I5f1156r$??f ? 55 ?)5QI5D+i5f11checking for new query: numPingsReceived=51, elapsed TxPingTime=26.981976 addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502786 s, deltaX: -0.200000 m, approachRate: -0.397783 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 12.75 m.bhRhλZhλ- ProNav: ac range: 12.748533 m, nav range: 12.064296 m, bearing: 198.156869 deg, approach rate: -0.595603 m/s, LOS rate: -0.361299 deg/s, cmd heading: 192.798837 deg, new cmd heading: 192.330526 deg. Bh-w5HeadingCmd: 3.356801 target range: 12.748533 and range: 12.60 m.h5V@h1*h1"h1 h1g1f9f9f=тBBs>B>CB IBBB =BBDB ;BR:Edddjd@33)@ZdZa?ɢ6) gi9)=!99i=%iEI;AM@=IMV@IIE EE.E"EUS;*E]:VEـ4ZEBE[A>A.AIIO>Y  checking for new query: numPingsReceived=51, elapsed TxPingTime=27.217382 X,a?A 2sK@2 Y@2iTٱ2քB JAHRS rotation from veh to nav: [[-0.967651,0.233310,0.096007],[-0.246909,-0.953944,-0.170372],[0.051835,-0.188566,0.980692]]2H ?䓸?Ͽ ſ,? "ȿ`a?i2sK@I2F^;2{CY5By= IbDVDy<%A=ٔ%Q-->9u ?Yu ?=uDyu5D}E}>Q 54آ?Q 94|)LBYy,Q I??DI;i;$4yɮAiqiuL?AJiuHARiuHAjiu'0[@iu *tv(@W~ei@riudL0?9焿Nu?ZiuD+biufiu1'Qх A|> @ziu om(z6ѿ$9n^?2iuX:iu9"iu<T?*iuj~BiuhBiu%?iuLiqiu"?Bɢ/04) h\i)%%u))i-| i5;1= Q=I=IV@I9UDDAT read: Rx Time:00:35:02.7511 ]TRx dataTimestamp_ set to:1761525301.701678mPDAT read: Bearing 352.3, -0.7 (Local) m~Local bearing/azimuth received: Bearing 352.3, -0.7 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.6 DAT read: 00:35:02.7511 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.03,-1.643, 2.899,-1.455,-1.763, PHS= 0.223,-1.576, 0.264, RAW= 151.1, 11.9, CAL= 151.1, 13.2, ROT= 358.9, -13.2 Ygot valid direction response: 00:35:02.7511 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.03,-1.643, 2.899,-1.455,-1.763, PHS= 0.223,-1.576, 0.264, RAW= 151.1, 11.9, CAL= 151.1, 13.2, ROT= 358.9, -13.2 T#Rx 52: Read range and direction messages.^direction in FSK: [0.973399,-0.018690,0.228351]Fpublishing direction and range infoyY]Gs&?D(# :?Y]DAYYYY Y)]9I]Zd>i]^ɿ]+>](@I ) ԡ]ȭT>](@ ]k>)]r@I]kYY]U?-?L<~? ]S ?)]UI]Fi]kYYchecking for new query: numPingsReceived=52, elapsed TxPingTime=27.519165@ @@D3@@@=E E E-E"E*E:VEt4ZEa@a@a@a@ ^A )=i I  checking for new query: numPingsReceived=52, elapsed TxPingTime=27.721483 Am؟AIIO%>b`,o?Ax?J@X@rUٱfA UAHRS rotation from veh to nav: [[-0.969100,0.227641,0.095001],[-0.241101,-0.955524,-0.169833],[0.052115,-0.187490,0.980883]]H@@Y#?R?gοſծ?ǿdc?i?J@I#^;YuByu I yyiMb@Mb@Mb@ 9bX9?Cl?~jtYE?y;=VA @  A)@YbDVD1y%=%%=ٔ- Q-->9-"?Y-"?=-Dy5-5D5:<E5>9Q 5E4=?Q 9E4=)=|LBYM?Q EM:yMO.Q IM?= @DI=q ;i= := .4yUBɮUAQiiKl?AJiDARiDAjiMZ@iZ'@vZzNͿ~? a@riGs&?D(# :?ZiFbikiqs Q& "6%+D @ziѽӠ [пZGU?2igH:iz5"i/?*iSxBi|Bi<T?ij~iiOi}Hʿ}^>}Us)@}@X>}Us)@ }|o>)}@I}|oyy}?n?Q? }E ?)}XI}i}|oyychecking for new query: numPingsReceived=53, elapsed TxPingTime=27.989527UBɢU&)Q UN5iQ)]YYi]7ieB=CB IB΂BB =BBB;BS:EIE  E 7E ,E "E M;*E  ;VE g4ZE BE f,2W?A21J@2كX@2+Uٱ2MB :AHRS rotation from veh to nav: [[-0.969676,0.225297,0.094705],[-0.238792,-0.955909,-0.170925],[0.052020,-0.188357,0.980722]]2H`?`>?οϖ@ſe?`ȿb?i21J@I2^;2zCYBByF IbDNVDNNyf?=%f|=ٔfF9Q-j ?9hYh=jDyj:5Drchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.225300nNE~ ?Q 5 4k?Q 9 42)yLBY y w.Q I?@DI:ik:34y9ɮ=5A9Yii7?AJiiBARiiBAjinY@iX$'@-)ײ.qֿ'I@rifx?K7] A?Zibi|oi$&&B-'9lj @zi;4,fD@bcBϿ!?2i=:iL4"iUV?*if?BiBi/?iSxihBi'9Ai$Z@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503108 s, deltaX: -0.100000 m, approachRate: -0.198765 m/s, rangeRepo size: 4  Added new target pos. range: 12.150730 m, bearing: 194.752601 deg, lat: 36.779394 deg, lon: -121.859626 deg, deltaT: 0.503108 s, deltaX: -0.099658 m, approachRate: -0.198085 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.15 m.bhRh Zh = ProNav: ac range: 12.150730 m, nav range: 11.572104 m, bearing: 195.291464 deg, approach rate: 0.000000 m/s, LOS rate: -0.403161 deg/s, cmd heading: 191.194726 deg, new cmd heading: 190.800243 deg. Bh9EHeadingCmd: 3.330092 target range: 12.150730 and range: 12.20 m.hE< U@hA*hA"hA hAgAfIfIfIdIdqdqjdu`ff(@Zdu`|_?ɢ$) | i)i iy<r=I< U@I=@@9 @A@E/@YԉԱDDAT read: Rx Time:00:35:03.7507 TRx dataTimestamp_ set to:1761525302.709700PDAT read: Bearing 352.4, -2.8 (Local) ~Local bearing/azimuth received: Bearing 352.4, -2.8 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 ^AVoQ=AzAfA% DAT read: 00:35:03.7507 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.01,-1.479, 3.077,-1.228,-1.552, PHS= 0.175,-1.609, 0.280, RAW= 152.8, 12.5, CAL= 152.9, 13.9, ROT= 357.1, -13.9 - Ygot valid direction response: 00:35:03.7507 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.01,-1.479, 3.077,-1.228,-1.552, PHS= 0.175,-1.609, 0.280, RAW= 152.8, 12.5, CAL= 152.9, 13.9, ROT= 357.1, -13.9 5 T#Rx 54: Read range and direction messages.= ^direction in FSK: [0.969473,-0.049112,0.240228]E Fpublishing direction and range infoy?Xk$%ؼʿ?Y3;A )9I333>iͿ)\>*@f_>{*@ Ulx>)8q@IUlxSM??N:]?Ѵ'A? ?)ϗ_IQQOiUlxu checking for new query: numPingsReceived=54, elapsed TxPingTime=28.505127 A I) I9 OE >EU  EU EU *EQ "EU N;*EU :VEU (N4ZEQ a] @a] @a] @a] @l,2?A2_J@2TX@2+Vٱ2NB >AHRS rotation from veh to nav: [[-0.970348,0.222498,0.094445],[-0.235995,-0.956565,-0.171145],[0.052263,-0.188359,0.980709]]2H z?-?5ο@-ſCª?$ȿ a?i2_J@I2GC^;2xCY^͂By^ IbDfVDf1yT=%G=ٔKQ->9 Y = Dy K5D E>Q 5=4?Q 9E4„)uLBYAyE.Q IE?)@DI;i::4yMBɮUAUEiik?AJiq:ARiq:Aji"X@iϻM&@Ͼ&P⿸PVe@ri?Xk$%ؼʿ?ZiQQObiUlxi9f%0LծY @ziK;7Tyو̿9*?2i@&:i3-"i|x?*i?BiBi<T?ii|Bi4AiY@Թ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504914 s, deltaX: -0.500000 m, approachRate: -0.990268 m/s, rangeRepo size: 4   Added new target pos. range: 11.652749 m, bearing: 193.494256 deg, lat: 36.779395 deg, lon: -121.859626 deg, deltaT: 0.504914 s, deltaX: -0.497981 m, approachRate: -0.986269 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 11.65 m.bh1Rh9Zh9M ProNav: ac range: 11.652749 m, nav range: 11.302737 m, bearing: 195.152941 deg, approach rate: 0.000000 m/s, LOS rate: -0.403161 deg/s, cmd heading: 190.800242 deg, new cmd heading: 190.313835 deg. BhIMHeadingCmd: 3.321603 target range: 11.652749 and range: 11.70 m.hU%T@hq*hq"hq hqgqfyfyfydyddjd`ff'@Zdf?Bɢ-) ڽi)Xi&i==I%T@I checking for new query: numPingsReceived=54, elapsed TxPingTime=28.730042A@ @@@@@^A#*l=A.AIIO>9  DDAT read: Rx Time:00:35:04.2505  TRx dataTimestamp_ set to:1761525303.212706 PDAT read: Bearing 351.2, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 351.2, -3.4 (Local)  DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4  DAT read: 00:35:04.2505 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.06,-0.788,-2.512,-0.503,-0.871, PHS= 0.185,-1.596, 0.324, RAW= 153.7, 11.7, CAL= 153.7, 13.0, ROT= 356.3, -13.0  Ygot valid direction response: 00:35:04.2505 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.06,-0.788,-2.512,-0.503,-0.871, PHS= 0.185,-1.596, 0.324, RAW= 153.7, 11.7, CAL= 153.7, 13.0, ROT= 356.3, -13.0  T#Rx 55: Read range and direction messages. ^direction in FSK: [0.972339,-0.062879,0.224951] Fpublishing direction and range infoy  |Wf?hF:/2?Y f6A ) I p=>i I̿ T> >+@ Q> >+@ Vh>) @I Vh !?8hDe?SR? ǫ?) AQI )Ai Vh  checking for new query: numPingsReceived=55, elapsed TxPingTime=28.997248s, ύ?AB2q>B0B2!IB2BB0B0B0B2,;B2n:EB*8J@B-X@B"UٱBKD JAHRS rotation from veh to nav: [[-0.970917,0.220054,0.094318],[-0.233697,-0.956671,-0.173684],[0.052011,-0.190675,0.980274]]BH`*?;%?Ϳ J;ƿ?? hȿ`h^?iB*8J@IBU^;BzCY%߂By% II-a=)-<E EE-E"E>T;*E:VEt4ZEBE#9 ?Y% ?=%Dy%^5D%xE%>IQ 5U4M爢?Q 9]4M)MwLBY]?Q E]:y]S0Q I]?M;@DIM:iM:M=C4yeBɮmAmEii͍?AJi5ARi5Aji$V@ik&@Vin濯hn@ri|Wf?hF:/2?Zi)AbiVhi!E%鏹UջT @zi貲IFo^cʿ\?2i:i)*"i7?*iBiLBiif?ii0AiPY@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503006 s, deltaX: -0.300000 m, approachRate: -0.596415 m/s, rangeRepo size: 4 % Added new target pos. range: 11.353946 m, bearing: 192.412053 deg, lat: 36.779395 deg, lon: -121.859625 deg, deltaT: 0.503006 s, deltaX: -0.298803 m, approachRate: -0.594035 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 11.35 m.bhIRhQZhQ] ProNav: ac range: 11.353946 m, nav range: 11.004428 m, bearing: 194.551399 deg, approach rate: 0.000000 m/s, LOS rate: -0.403161 deg/s, cmd heading: 190.313837 deg, new cmd heading: 189.732528 deg. BhaHeadingCmd: 3.311457 target range: 11.353946 and range: 11.40 m.hS@h*h"h hgfffBdddjd&@Zd*? Bɢ O ) i)Pi\i0>i%9=IuS@IqiI checking for new query: numPingsReceived=55, elapsed TxPingTime=29.234388=@@9 @9@=/@9ԑ^A] np=Թ A I I O >xz,y덯?AzDDAT read: Rx Time:00:35:04.7502 ~TRx dataTimestamp_ set to:1761525303.717649PDAT read: Bearing 351.6, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 351.6, -3.7 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 !eDAT read: 00:35:04.7502 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.15,-2.110, 2.451,-1.820,-2.176, PHS= 0.168,-1.611, 0.312, RAW= 153.9, 12.2, CAL= 153.9, 13.5, ROT= 356.1, -13.5 mYgot valid direction response: 00:35:04.7502 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.15,-2.110, 2.451,-1.820,-2.176, PHS= 0.168,-1.611, 0.312, RAW= 153.9, 12.2, CAL= 153.9, 13.5, ROT= 356.1, -13.5 mT#Rx 56: Read range and direction messages.u^direction in FSK: [0.970118,-0.066136,0.233445]}Fpublishing direction and range infoy|~MH5 ?J%E?Y~0A|||| |)~8I~1,>i~?5ο~w>~o+@~^ Z>~o+@ ~:Fq>)~>@I~:Fq||~A_?(-.m?-A? ~FC?)~ cYI~)gi~:Fq||checking for new query: numPingsReceived=56, elapsed TxPingTime=29.506870YBy !IbDVD1y'=%I=ٔQ->9Y=Dyn5DE>Q 54v?Q 94܉)yLBYyQ I?J@DI;i;GJ4yɮAi|i~퍯?AJi~I/ARi~I/Aji~AV@i~"A%@ߛ?/DOu@ri~MH5 ?J%E?Zi~)gbi~:Fqi~ey$܎$6 D @zi~_[[ Qʿu$?2i~:i~#"i~d?*i~Bi~SBi~7?i~?i|i~ +Ai~W@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504943 s, deltaX: -0.400000 m, approachRate: -0.792168 m/s, rangeRepo size: 4  Added new target pos. range: 10.955563 m, bearing: 192.314532 deg, lat: 36.779395 deg, lon: -121.859622 deg, deltaT: 0.504943 s, deltaX: -0.398383 m, approachRate: -0.788967 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.96 m.bhRhZhE ProNav: ac range: 10.955563 m, nav range: 10.690483 m, bearing: 192.994050 deg, approach rate: 0.000000 m/s, LOS rate: -0.403161 deg/s, cmd heading: 189.732533 deg, new cmd heading: 189.260394 deg. BhIMHeadingCmd: 3.303217 target range: 10.955563 and range: 11.00 m.hMgS@hQ*hQ"hQ hqgqfyfyfydydydjd&@ZdW?DzDE EE+E"EO;*E4:VE [4ZEa@a@a@a@-Bɢ54?)1 5xi1)5=%99i=ui=η>AEŜ=IEgS@IAQ@ @@ /@ ^Az=ychecking for new query: numPingsReceived=56, elapsed TxPingTime=29.737440A5 ؟AI9 II O] >ԩ XY,z?AZI@Z1W@Z$.SٱZ{QF bAHRS rotation from veh to nav: [[-0.971743,0.216689,0.093599],[-0.230346,-0.957133,-0.175608],[0.051535,-0.192206,0.980000]]ZH``u?"? {ͿԠQzƿ b?4ȿ*\?iZI@IZv^;ZvCYjByj !IԉiMb@Mb@Mb@ 9M?kt?~jth?Yn?y 0=D;A@  A)@Y=AbD VD:2y%;<%%E=ٔ%:Q-%>9U"?Y]"?=]Dy]5D]E]>aQ 54e%c?Q 94eNj)eLBY?Q E:yb5Q I?eZ@DIek2i )\Ͽ -> Z,@ f_> iw,@ 5z>) @I 5z   XIf?q>?? Q3?) _I iFi 5z  checking for new query: numPingsReceived=57, elapsed TxPingTime=30.005518iC?KO<[=Ir S@IԹBo>BB.!IB BBBBDBD;B:EE E E,E"E>T;*E:VEg4ZEBEa2EaJElC9Y=Dy5D E >Q 54L?Q 94)LBYy%u5Q I%?l@DI:i4:aZ4y-Bɮ-A)ii!?AJi,ARi,AjidV@i7G\$@b0]zL@ri5e,@,m>3,@ %>)o@I% .?2|?I#wod? |?)sAmIi%Mchecking for new query: numPingsReceived=58, elapsed TxPingTime=30.509344ie?efY  checking for new query: numPingsReceived=58, elapsed TxPingTime=30.745623(,xCB?A%I@A%W@%+Qٱ%q4F -AHRS rotation from veh to nav: [[-0.972500,0.213727,0.092545],[-0.227241,-0.957819,-0.175910],[0.051045,-0.192102,0.980046]]%H h[?@?8Ϳ@t5ƿ"?Ζȿ`\?i%I@I%_;%zCYM ByM/!IiMb@Mb@Mb@ 9 rh?~jtx?{Gzt?Y ?y;ף;VA@ 1 A)YpAbDVDyMk<%M+=ٔU?:Q-U>9QYQ=]Dy]5D]E]>aQ 5m4e6?Q 9m4e)eLBYu ?Q Eu:yu9Q Iu?e}@DIe ;ie ;eb4yyɮ}xAyi i Zb.?AJi R'ARi R'Aji U@i <$$@X2GO@ri g?ײ?_EFht?Zi bi %i jv,:r#Tw @zi n8xÔȿ??2i :i "i YE?*i }Bi Bi i bi i Ai :V@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503945 s, deltaX: -0.300000 m, approachRate: -0.595303 m/s, rangeRepo size: 4  Added new target pos. range: 10.457559 m, bearing: 191.445951 deg, lat: 36.779395 deg, lon: -121.859620 deg, deltaT: 0.503945 s, deltaX: -0.298788 m, approachRate: -0.592898 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.46 m.bhRhZh ProNav: ac range: 10.457559 m, nav range: 9.866671 m, bearing: 191.788800 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 188.560158 deg, new cmd heading: 188.196798 deg. BhHeadingCmd: 3.284654 target range: 10.457559 and range: 10.50 m.h7R@h*h"h hgf f f  Bd ddjd%@Zd`j?amBɢmd)q uiSӿ>iw,@k>  A>)I ABn>BBZ!IB/BBBBB3;Bs:EB=CB=CBƓCBƤ =BƤ =Cƻ4}j?$qQ?"X'? ?)5MkIi Achecking for new query: numPingsReceived=59, elapsed TxPingTime=31.031546ԑbEg4jE7i4rE/E EE+E"EL;*EL:VE [4ZEBEߡ9pYp=rDyr5DvEv>xQ 5z4z ?Q 9~4z_)zLBY|y~9Q I~?z@DIz:izY;z@k4y Bɮ A Ei!i%ۧN?AJi%%ARi%%Aji%U@i%J#@AWB?G*@ri% ?!G)Gl39Y?Zi!bi% Ai%#H#e8U0 @zi%#ږ:ǿ?2i%:i%G"i%6?*i%ABi%Bi%YE?i%i!i%Ai%V@U addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504242 s, deltaX: -0.100000 m, approachRate: -0.198318 m/s, rangeRepo size: 4 m Added new target pos. range: 10.357939 m, bearing: 191.309825 deg, lat: 36.779394 deg, lon: -121.859620 deg, deltaT: 0.504242 s, deltaX: -0.099620 m, approachRate: -0.197564 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 10.36 m.bhqRhqZhq ProNav: ac range: 10.357939 m, nav range: 9.662527 m, bearing: 191.638088 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 188.196792 deg, new cmd heading: 187.827213 deg. BhHeadingCmd: 3.278203 target range: 10.357939 and range: 10.40 m.hQ@h*h"h hgfffdddjd$@Zd"M?Bɢ!ؼ) Y=i)i8iQ@-f<_+=IQ@I@@ @@/@4=DDAT read: Rx Time:00:35:06.7496  TRx dataTimestamp_ set to:1761525305.734082PDAT read: Bearing 351.9, -3.5 (Local) ~Local bearing/azimuth received: Bearing 351.9, -3.5 (Local) 5DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 eDAT read: 00:35:06.7496 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.20,-3.037, 1.534,-2.768,-3.090, PHS= 0.155,-1.614, 0.278, RAW= 153.3, 12.8, CAL= 153.5, 14.3, ROT= 356.5, -14.3 mYgot valid direction response: 00:35:06.7496 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.20,-3.037, 1.534,-2.768,-3.090, PHS= 0.155,-1.614, 0.278, RAW= 153.3, 12.8, CAL= 153.5, 14.3, ROT= 356.5, -14.3 mT#Rx 60: Read range and direction messages.u^direction in FSK: [0.967208,-0.059157,0.246999]}Fpublishing direction and range infoy  oP^?@I⩝?Y fA     ) 9I R>i ο V> <+@ d> v+@ r>) o@I r   H?B{Q$?k? ?) FeI 5zi r  checking for new query: numPingsReceived=60, elapsed TxPingTime=31.521381^A=)E3 E E,E"Ej;*E:VEg4ZEa@a@a@a@AIIOm>Q  checking for new query: numPingsReceived=60, elapsed TxPingTime=31.753300 ,1?A 2vI@28lW@2H3Lٱ2M :AHRS rotation from veh to nav: [[-0.973719,0.208353,0.091977],[-0.222233,-0.957563,-0.183537],[0.049833,-0.199154,0.978700]]2H`( Q?@ɋ?@ r̿Z %~ǿ ?}ɿ`Q?i2vI@I2L_;2xCYnByrD!IvAAtbDz VDz:2y<%==ٔn:Q- >9!Y!=-Dy55DeEm>Q 54j ?Q 94)LBY)y59Q I=?@DI^i-m˿->-+@-ȭT>-+@ - j>)-T@I- j))-c+EBB!IBMBBBBB;BL:E E  E E +E "E CJ;*E 4:VE [4ZE BE %,?A2QI@2gGW@2Jٱ2HS :AHRS rotation from veh to nav: [[-0.974236,0.205767,0.092331],[-0.220049,-0.956970,-0.189175],[0.049433,-0.204618,0.977593]]2H ,@V?@ ?*̿6ȿ@9Y=Dy5D E>Q 54?Q 94.)LBY ?Q E:y;Q I?@DI ;i ;z4yɮAiyi}:?AJiyRiyji}V@i} Op5-#@Zd @ri}P:"?^)ͽ+#?Zi}Q]bi} ji}rF|"byI:@zi}Ϳ=7'4mʿ?2i}K:i}"i}힊?*i}pBi}Bi}յ?i}biyi}Ai}5U@- addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 9.859913 m, bearing: 192.422064 deg, lat: 36.779394 deg, lon: -121.859620 deg, deltaT: 0.503882 s, deltaX: -0.000049 m, approachRate: -0.000097 m/s, posRepo size: 4 jh9bh9UzIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.RhYZha ProNav: ac range: 9.859962 m, nav range: 9.176227 m, bearing: 191.582629 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 187.457451 deg, new cmd heading: 187.148871 deg. Bh=|HeadingCmd: 3.266364 target range: 9.859962 and range: 9.90 m.h= Q@ha*ha"hi hqgyfyff7BdddjdZd ?mBɢm+Ƽ)i m\=iq)uՈqqiu9U»iAa<=I Q@ g>CIUGiy 9YvAy ?ۋA@@ @@@]DDAT read: Rx Time:00:35:07.7493 ]TRx dataTimestamp_ set to:1761525306.741929mPDAT read: Bearing 354.5, -4.0 (Local) u~Local bearing/azimuth received: Bearing 354.5, -4.0 (Local) DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.6 DAT read: 00:35:07.7493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.16, 1.458,-0.254, 1.705, 1.475, PHS= 0.085,-1.684, 0.186, RAW= 152.8, 15.3, CAL= 153.2, 17.3, ROT= 356.8, -17.3 Ygot valid direction response: 00:35:07.7493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.16, 1.458,-0.254, 1.705, 1.475, PHS= 0.085,-1.684, 0.186, RAW= 152.8, 15.3, CAL= 153.2, 17.3, ROT= 356.8, -17.3 T#Rx 62: Read range and direction messages.^direction in FSK: [0.953272,-0.053296,0.297375]Fpublishing direction and range infoyY]}cw4? ?I+0?Y]AYYYY Y)YI]{=i]P׿]v>>]*@]ܸ>]D +@ ]#>)]SF@I]#YY]H?iޤi?G? ]V?)] I]di]#YYchecking for new query: numPingsReceived=62, elapsed TxPingTime=32.528606E  E E ,E "E >T;*E :VE g4ZE a @a @a @a @^A := AI IO%>x9,m?A2[/I@2%W@2 Hٱ22Y >AHRS rotation from veh to nav: [[-0.974717,0.203314,0.092687],[-0.218008,-0.956269,-0.194991],[0.048990,-0.210268,0.976416]]2H0/?]?`˿ ™@yȿ`/?@ʿ>?i2[/I@I2y_;0YF!ByFI!I hhbDrVDrܲyv%z9=xٔ~v:Q-~>9|Y=Dy5D֛E> Q 54 塊?Q 94 s) LBYy DDAT read: Rx Time:00:35:08.2491  TRx dataTimestamp_ set to:1761525307.244700 PDAT read: Bearing 356.8, -5.1 (Local)  ~Local bearing/azimuth received: Bearing 356.8, -5.1 (Local)  DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4  DAT read: 00:35:08.2491 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.45, 0.753,-0.917, 1.007, 0.846, PHS= 0.009,-1.718, 0.117, RAW= 153.0, 17.5, CAL= 153.8, 20.0, ROT= 356.2, -20.0  Ygot valid direction response: 00:35:08.2491 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.45, 0.753,-0.917, 1.007, 0.846, PHS= 0.009,-1.718, 0.117, RAW= 153.0, 17.5, CAL= 153.8, 20.0, ROT= 356.2, -20.0  T#Rx 63: Read range and direction messages. ^direction in FSK: [0.937627,-0.062277,0.342020] Fpublishing direction and range infoy  ^ ?ta>⯿Kj?Y 3A ) ;I t +@ ¸>) @I ¸ ݟb?>O?C? y?) ~I Ӈi ¸  checking for new query: numPingsReceived=63, elapsed TxPingTime=33.029114B% j>B% 9Y=Dy%6D%E%>)Q 5U4-ѡ?Q 9U4-)-LBYUt?Q E]:y]⯿Kj?ZiӇbi¸i>8x`g &J + @zira쿬ʿXb'"?2iR:i;"iJ?*i"wBiUBiꭉ?i"wiiH AibW@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502771 s, deltaX: -0.300000 m, approachRate: -0.596694 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.162721 m, bearing: 193.256000 deg, lat: 36.779395 deg, lon: -121.859622 deg, deltaT: 1.510618 s, deltaX: -0.697241 m, approachRate: -0.461560 m/s, posRepo size: 4 jh1bh1=zIgnoring new targets. Set target to previous: 9.16 m. 9.86 m.Rh9Zh9M ProNav: ac range: 9.859962 m, nav range: 8.704382 m, bearing: 191.590170 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 186.814212 deg, new cmd heading: 186.473941 deg. BhIU|HeadingCmd: 3.254584 target range: 9.859962 and range: 9.20 m.hUKP@hQ*hQ"hY hYgYfYfYfe"Bdadadajde`ff"@ZdmQ?ɢ˼) ԕ=i)iUǻiA/?< =I KP@I ԁchecking for new query: numPingsReceived=63, elapsed TxPingTime=33.266239@ @@0@^A .=A A > A I I O >F,L?A&DDAT read: Rx Time:00:35:08.7489 *TRx dataTimestamp_ set to:1761525307.748793.PDAT read: Bearing 355.8, -4.1 (Local) .~Local bearing/azimuth received: Bearing 355.8, -4.1 (Local) 6DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 NDAT read: 00:35:08.7489 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.09,-0.340,-2.047,-0.114,-0.283, PHS= 0.045,-1.719, 0.125, RAW= 152.2, 16.9, CAL= 152.8, 19.1, ROT= 357.2, -19.1 vYgot valid direction response: 00:35:08.7489 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.09,-0.340,-2.047,-0.114,-0.283, PHS= 0.045,-1.719, 0.125, RAW= 152.2, 16.9, CAL= 152.8, 19.1, ROT= 357.2, -19.1 vT#Rx 64: Read range and direction messages.z^direction in FSK: [0.943821,-0.046160,0.327218]zFpublishing direction and range infoy(*sE3?SR#e#?Y*fA(((( ()(I*Q8=i*1ܿ*>*P*@*>**@ *㭪>)*@I*㭪((*'?*DQ?.$f!? *9?)*̖I**Hi*㭪((checking for new query: numPingsReceived=64, elapsed TxPingTime=33.5430565H@5_V@5%Gٱ5%o\ AHRS rotation from veh to nav: [[-0.975853,0.198065,0.092096],[-0.212912,-0.956687,-0.198541],[0.048783,-0.213355,0.975756]]5H/:1Z??`@˿.iɿ?4O˿d9?i5H@I5n_;5yCԹY%ByN!IbDVDk1y=ca<%=H=ٔ= 7Q-E>9AYA=EDyE6DMEM>QQ 5}4U󿡊?Q 9}4U)ULBYyyA .,& ?AYnByrE!IIv%=)v=iMb@Mb@Mb@ 99Y=Dy$6DE>Q 54?Q 94)LBY?Q E:y])@ ]iw>)]@I]iwYYBh>BB!IBbBB =BBB;B9Eɢ(ʼ) p=i)ViA̻]TfP?ٙ?W{? ]Ld ?)]I]Qi]iwYYchecking for new query: numPingsReceived=65, elapsed TxPingTime=34.045357i-.B5<5(=I5O@I1IA@ @@4@E E E+E"EsH;*E:VE [4ZEBE\,#?AeH@[V@HٱdZ AHRS rotation from veh to nav: [[-0.977332,0.191465,0.090355],[-0.206006,-0.958461,-0.197267],[0.048832,-0.211409,0.976177]]HLF@?`!?`e^ʿ @ɿ?v˿9Y=Dy56D'E>!Q 5-4%ę?Q 9-4%%)%LBY)y5 OI @ziažA. -Ϳ( ?2i:i"ifM ?*i˒BiBii.@ii@iPX@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504102 s, deltaX: -0.200000 m, approachRate: -0.396745 m/s, rangeRepo size: 4 5 Added new target pos. range: 8.664723 m, bearing: 194.238238 deg, lat: 36.779395 deg, lon: -121.859623 deg, deltaT: 2.518813 s, deltaX: -1.195238 m, approachRate: -0.474524 m/s, posRepo size: 4 jh9bh9=zIgnoring new targets. Set target to previous: 8.66 m. 9.86 m.RhEZhEːu ProNav: ac range: 9.859962 m, nav range: 8.026076 m, bearing: 191.613070 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 186.154716 deg, new cmd heading: 185.823685 deg. Bhu-}|HeadingCmd: 3.243235 target range: 9.859962 and range: 8.70 m.h}*O@hy*hy"hy hygyfffdddjd`ff!@Zd?颁ɢb˼) =i)U顑i~ϻiBœ<=I*O@IԙeDDAT read: Rx Time:00:35:09.7485 eTRx dataTimestamp_ set to:1761525308.756949uPDAT read: Bearing 355.8, -2.2 (Local) u~Local bearing/azimuth received: Bearing 355.8, -2.2 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 ?@ @@4@DAT read: 00:35:09.7485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.48, 1.457,-0.310, 1.616, 1.484, PHS= 0.075,-1.749, 0.088, RAW= 150.3, 17.0, CAL= 150.8, 19.1, ROT= 359.2, -19.1 MYgot valid direction response: 00:35:09.7485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.48, 1.457,-0.310, 1.616, 1.484, PHS= 0.075,-1.749, 0.088, RAW= 150.3, 17.0, CAL= 150.8, 19.1, ROT= 359.2, -19.1 T#Rx 66: Read range and direction messages.^direction in FSK: [0.944857,-0.013193,0.327218]Fpublishing direction and range infoyaeY]KSDeq(@ e㭪>)ey@Ie㭪aae L%g?Z ?? e?)e0IeDdie㭪aachecking for new query: numPingsReceived=66, elapsed TxPingTime=34.573788D =D E  E E )E "E CJ;*E :VE FA4ZE a @a @a @a @^A rA=A hAzA hA A I I O >i,>?A2&H@2V@20 Iٱ2N[ >AHRS rotation from veh to nav: [[-0.978114,0.187627,0.089936],[-0.202200,-0.959075,-0.198217],[0.049064,-0.212064,0.976023]]2HL%??ɿ@0_ɿ?$˿@;?i2&H@I2{_;0YBByBD!IbDNVDN1yVR%VU=ٔVQ-V>9XYX=ZDyZD6D^$&E^>`Q 5b4b~?Q 9f4bB)bLBYdyfB B B B B B B ;B 9E% Ygot valid direction response: 00:35:10.2485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.19, 1.585,-0.180, 1.708, 1.611, PHS= 0.076,-1.747, 0.052, RAW= 149.3, 17.5, CAL= 149.8, 19.6, ROT= 0.2, -19.6 % T#Rx 67: Read range and direction messages.- \direction in FSK: [0.942052,0.003288,0.335452]- Fpublishing direction and range infoy!I%?5V,Cj?g* x?Y )I㥛=i߿T= &@a>T'@ %>)d;I%J i8 ?wj,\?Aɰ;(6G@68U@6?Jٱ6LC[ >AHRS rotation from veh to nav: [[-0.979044,0.182995,0.089368],[-0.197564,-0.959933,-0.198741],[0.049419,-0.212232,0.975969]]6H ST@al?`? IɿķVpɿ dM?`i*˿`#;?i6G@I6I_;6uCYF"ByFK!I HHi%Mb@Mb@Mb@!!!! !9%zG?~jt? rhY% ?y%D<%C%VA%V@ %A)!!Y%AbD=VD=yM<%M$=ٔU(;Q-U>9QYQ=UDyUX6D]!E]>aiIAchecking for new query: numPingsReceived=67, elapsed TxPingTime=35.281528Q 5m4eWo?Q 94e)eMBY"?Q E:yp;Q I?eADIeY x&@ @>) ޹) R眾I ޹9,?{?AY y J!I 4=4=bDVD1y-2%5,=ٔ5Q-5>9= ?Y= ?==Dy=k6D=EE>AQ 5M4E3X?Q 9U4Er)E MBYYyaQ Ie?E)ADIE;iE;E4yɮAԑiiimop?AJim@Rim@jim"\@im>}H@ 0]C?]9@rim!(?F7?{{]?Zim޹<bim@im X[-U|@zimOq//yѿ,V?2im:im"imPrN?*im1=BimوBimPrN?im%imNBim@im(Z@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503456 s, deltaX: -0.500000 m, approachRate: -0.993135 m/s, rangeRepo size: 4  Added new target pos. range: 7.768344 m, bearing: 197.075956 deg, lat: 36.779396 deg, lon: -121.859625 deg, deltaT: 4.030715 s, deltaX: -2.091617 m, approachRate: -0.518920 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.77 m. 9.86 m.RhZh ProNav: ac range: 9.859962 m, nav range: 7.231034 m, bearing: 191.584994 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 185.089794 deg, new cmd heading: 184.801499 deg. Bh |HeadingCmd: 3.225395 target range: 9.859962 and range: 7.80 m.h lN@h *h "h hgfffdddjd@33@Zd%`HN?MBɢMVļ)Q U=iQ)U[QQiU ׻i]زC]+RA ?A9 M DDAT read: Rx Time:00:35:11.2481 M TRx dataTimestamp_ set to:1761525310.269167] PDAT read: Bearing 355.1, 0.9 (Local) ] ~Local bearing/azimuth received: Bearing 355.1, 0.9 (Local) m DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 B} <Ay B d>B B !IB \BB =B B DB ;B -:EBEiI M #=M S$@M >M $@ M >)M +=IM I I M %?l‚)R?Ǹѝ? M =/>)M IM +=iM I I e checking for new query: numPingsReceived=69, elapsed TxPingTime=36.073849Oe >^,s?AbE- [4jE-b4rE-/ER EREPEP"ERQ;*ER :VEPZEPBERʥ?ir!G@Ir._;ryCYBy9!IiMb@Mb@Mb@ 9$C?J +?Zd;OY?yH=jA?@ KA)E@Y=AbDVDβy0h%0=ٔQ->9Y=Dy~6D%iżE%>)Q 5=4-SA?Q 9=4-W)-MBY=?Q E=:y=x8Q IE?-;ADI-D;i-C;-84yUBɮUAUEii:?AJif@Rif@jiz]\@i~@tԭw?w 1 d@riwH?dTON?C.j?Zi+=bii1h5 /Ѡs@zi%k-ѿWp?2io:iG"i-?*i/jBi|BifM ?ii5Bi@if[@= addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504370 s, deltaX: -0.100000 m, approachRate: -0.198268 m/s, rangeRepo size: 4 M Added new target pos. range: 7.668706 m, bearing: 197.281131 deg, lat: 36.779395 deg, lon: -121.859627 deg, deltaT: 4.535085 s, deltaX: -2.191256 m, approachRate: -0.483178 m/s, posRepo size: 4 jhQbhQUzIgnoring new targets. Set target to previous: 7.67 m. 9.86 m.RhYZhY ProNav: ac range: 9.859962 m, nav range: 6.950637 m, bearing: 191.452987 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 184.801505 deg, new cmd heading: 184.435953 deg. Bh|HeadingCmd: 3.219015 target range: 9.859962 and range: 7.70 m.hVN@h*h"h hgfff‚Bdddjd@Zd?ɢ@ؼ) 3=i)Difۻ!iE_DE] S$@ ] ¸>)] ¸2=I] ¸Y Y ] 9?*`?Z՟? ] }>)] 5%I] ¸2=i] ¸Y Y  checking for new query: numPingsReceived=70, elapsed TxPingTime=36.562435A-؟AI1IAOU>E,}y?A(E EEE"E&U;*E:VEZEa@a@a@a@QF@5GT@NTٱ[ 5AHRS rotation from veh to nav: [[-0.983355,0.159476,0.087069],[-0.174123,-0.964029,-0.200824],[0.051910,-0.212641,0.975750]]H`wi?!J?@IƿRɿ? 7˿Y9?iQF@I_;uCYEByEE!IIm=)m=u=u=bD}VD}1y[(=%5=ٔLQ->9"?Y"?=Dy6DE>Q 54+?Q 94)MBYyJ9Q I?MADI!;i;Ǯ4yBɮAEiit?AJiv@Riv@ji\@ip@(?N˞@ri ?14k|?Kj?Zi¸2=bi¸iI p_\3+sp@ziжXa쿻9qbѿ I[j?2iY:i"iq?*i_UBizBiPrN?i_UiوBi @i&\@ԁ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503579 s, deltaX: -0.500000 m, approachRate: -0.992893 m/s, rangeRepo size: 4  Added new target pos. range: 7.170738 m, bearing: 197.031141 deg, lat: 36.779396 deg, lon: -121.859627 deg, deltaT: 5.038664 s, deltaX: -2.689223 m, approachRate: -0.533718 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.17 m. 9.86 m.RhZh ProNav: ac range: 9.859962 m, nav range: 6.677777 m, bearing: 191.343973 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 184.435953 deg, new cmd heading: 184.100413 deg. Bh|HeadingCmd: 3.213158 target range: 9.859962 and range: 7.20 m.hcM@h*h"h hgf f f d ddjd@Zd?颁ɢ00ͼ) }=i)顡iA޻iR{D`<=IcM@I5?@1 @9@9@9checking for new query: numPingsReceived=70, elapsed TxPingTime=36.794121 ^A% t=A I I O >G],vΏ?A4Y&ByP!IiMb@Mb@Mb@ 9K? rh?{GzY^?yC=ף(A(@ 5ADDAT read: Rx Time:00:35:12.2475 TRx dataTimestamp_ set to:1761525311.276832PDAT read: Bearing 355.0, 2.3 (Local) Bc>BBBB =BBB ;BE:E~Local bearing/azimuth received: Bearing 355.0, 2.3 (Local) =DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 ]DAT read: 00:35:12.2475 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.45, 0.327,-1.532, 0.332, 0.283, PHS= 0.146,-1.770, 0.005, RAW= 146.2, 17.2, CAL= 146.1, 18.9, ROT= 3.9, -18.9 eYgot valid direction response: 00:35:12.2475 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.45, 0.327,-1.532, 0.332, 0.283, PHS= 0.146,-1.770, 0.005, RAW= 146.2, 17.2, CAL= 146.1, 18.9, ROT= 3.9, -18.9 )@YpA-@A)bD5VD5:y=C=%=:=ET#Rx 71: Read range and direction messages.M\direction in FSK: [0.943894,0.064348,0.323917]MFpublishing direction and range infoyh9b4?@ y??Y@ )9I>i\⿉ ף;N#@`>1#@ [>)'g=I[䨾ԁٔQ->9Y=Dy6DE>~l??Q? )\I'g=i[䨾checking for new query: numPingsReceived=71, elapsed TxPingTime=37.109470Q 54?Q 94)MBYn?Q E:yG7Q I?^ADI;i;ή4yɮpAiiя?AJi@Ri@ji(R]@i= ̑@V~?{v@rih9b4?@ y??Zi'g=bi[䨾i#=U6Uo @zi0xFoҿL9|?2i:i"ib6?*ieBiBii1=i|Bi@ip\@Em Em Em-Ei"Em[I;*Em:VEmt4ZEiBEm@J>^AeGg=AmgAzAie checking for new query: numPingsReceived=71, elapsed TxPingTime=37.297348 A I I9 O >r,珯?AZG\ht 9YHsAYU0ByU\!IbDuVDuy4M=%W=ٔQ->9Y=Dy6DE>Q 54r?Q 94)MBYyQ I?mADI;i:ծ4yBɮ A EEB*** querying acoustic contact ***iA iAjhibhquzIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.Rh} Zh}  ProNav: ac range: 9.859962 m, nav range: 6.179068 m, bearing: 190.973785 deg, approach rate: -0.610566 m/s, LOS rate: -0.489866 deg/s, cmd heading: 183.760106 deg, new cmd heading: 183.212055 deg. Bh|HeadingCmd: 3.197654 target range: 9.859962 and range: 6.80 m.h[L@h*h"h hgfffdddjdZdh?9ɢ= i)A E=iA%=<DDAT read: Rx Time:00:35:12.7472 TRx dataTimestamp_ set to:1761525311.781222PDAT read: Bearing 354.6, 2.9 (Local) ~Local bearing/azimuth received: Bearing 354.6, 2.9 (Local) DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.5 DAT read: 00:35:12.7472 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.46, 1.145,-0.731, 1.131, 1.090, PHS= 0.157,-1.776,-0.003, RAW= 145.7, 17.1, CAL= 145.5, 18.8, ROT= 4.5, -18.8 %Ygot valid direction response: 00:35:12.7472 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.46, 1.145,-0.731, 1.131, 1.090, PHS= 0.157,-1.776,-0.003, RAW= 145.7, 17.1, CAL= 145.5, 18.8, ROT= 4.5, -18.8 %T#Rx 72: Read range and direction messages.-\direction in FSK: [0.943731,0.074273,0.322266]-Fpublishing direction and range infoyסx 3?EAN?ɜL?Y@ )7I >iS㿉D"@Θ>j"@ >)|٠=)EAAiEpiMZyEIM+=IU[L@IQI=!?8?&cŅ? >)CI|٠=ichecking for new query: numPingsReceived=72, elapsed TxPingTime=37.577873=@@9 @9@=/@9E} E}E})Ey"E}Q;*E}u:VE}FA4ZEya@a@a@a@A ^A] = checking for new query: numPingsReceived=72, elapsed TxPingTime=37.805122y A I I O5>],?A/ E@R@}vYٱ` AHRS rotation from veh to nav: [[-0.986587,0.139452,0.084851],[-0.154371,-0.966031,-0.207254],[0.053067,-0.217572,0.974601]]H``?ɸ?pÿ Kʿ+?`j˿/?i/ E@I6_;wCY-:By-h!I 1115AbD=VD=ye'>=%?=ٔF*Q->9Y = Dy6Dy8E->iQQ 54U젊?Q 94U)UMBYy8Q I?U~ADIU]xL@hI*hI"hI hQgqfqfyfydydydyjd@33@Zdo(?IɢmJ)q u\=iq)uqqiu@i}UE}<}=I`>L@IԉDDAT read: Rx Time:00:35:13.2471 TRx dataTimestamp_ set to:1761525312.284854PDAT read: Bearing 353.3, 3.0 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 3.0 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 UDAT read: 00:35:13.2471 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497, 0.44,-3.118, 1.274,-3.132, 3.081, PHS= 0.186,-1.761, 0.026, RAW= 145.8, 16.3, CAL= 145.5, 17.9, ROT= 4.5, -17.9 eYgot valid direction response: 00:35:13.2471 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497, 0.44,-3.118, 1.274,-3.132, 3.081, PHS= 0.186,-1.761, 0.026, RAW= 145.8, 16.3, CAL= 145.5, 17.9, ROT= 4.5, -17.9 eT#Rx 73: Read range and direction messages.u\direction in FSK: [0.948661,0.074661,0.307357]uFpublishing direction and range infoyHY9n[?Q.?uY?Yf@ )5Iv>>AA@ABa>BB!IBbBB =BBB;BP:EishΈ<4"@> >)Ied{:i?#e?'? '>)Iichecking for new query: numPingsReceived=73, elapsed TxPingTime=38.086288@ @@/@^A=E EE*E"ECJ;*E:VE(N4ZEBE ~,vp?A2D@2R@2/{[ٱ2` :AHRS rotation from veh to nav: [[-0.987612,0.132616,0.083878],[-0.147493,-0.966998,-0.207752],[0.053559,-0.217550,0.974579]]2H`? y? ¿@ʿ l?˿/?i2D@I2_;2xCY^GBy^x!Iechecking for new query: numPingsReceived=73, elapsed TxPingTime=38.305283iMb@Mb@Mb@ 9333333?kt? rhY?y =CA@ bA)YA ]R=YbD} VD}:2yb=%8=ٔQ->9Y=Dy6D<E >Q 54d֠?Q 94)MBY;?Q E:y7Q I?ADI;:iC:$4yɮ<Ai9i= ;?AJi=@Ri=@ji=b\@i=۶Yn@PJrI?T]?ri=HY9n[?Q.?uY?Zi9bi=i= mBۈLChrF @zi=: ;P ɰѿ=_ b?2i=ڿ:i="i={s?*i=QBi=gBi9i9i=Bi=@i=\@] addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503632 s, deltaX: -0.100000 m, approachRate: -0.198558 m/s, rangeRepo size: 4  Added new target pos. range: 6.174771 m, bearing: 197.025523 deg, lat: 36.779396 deg, lon: -121.859628 deg, deltaT: 6.550772 s, deltaX: -3.685191 m, approachRate: -0.562558 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.17 m. 9.86 m.RhZh ProNav: ac range: 9.859962 m, nav range: 5.638531 m, bearing: 190.546641 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 182.848426 deg, new cmd heading: 182.530574 deg. Bh|HeadingCmd: 3.185760 target range: 9.859962 and range: 6.20 m.h|K@h*h"h hgfffBdddjd@Zdn?ɢb)Y ]R>ia)e}aaieiiu:Z?IK?Y ̼@     ) 3I E6>i ˡ忉 D< "@ ;> i"@  >) l=I    [ ,?9Z]̉?@ }Z?  >1>) )딾I l=i    checking for new query: numPingsReceived=74, elapsed TxPingTime=38.582542E  E E .E "E *E :VE ـ4ZE a @a @a @a @a ^A =A >A >IIO>8,~>?A2D@22R@2Y=\ٱ2` :AHRS rotation from veh to nav: [[-0.988660,0.125451,0.082538],[-0.140221,-0.967934,-0.208428],[0.053744,-0.217639,0.974549]]2H@?2!?P`ȭʿE? ˿/?i2D@I2Z_;2tCYBTByB!IHbDNVDNyVvz=%VA=ٔZQ-Z>9XYX=ZDy^6D^AE^>`Q 5f4b ?Q 9f4b5)bMBYhyj7Q Ij?bADIb+;ib,;b4ynBɮrArEii|2?AJi@Ri@ji[@i_nA@29?K]?riM?D>Z?IK?Zil=biijRZ,{*a?ziPϣ9;bѿ-?2iK̿:ib"i?*i~b0BiOBiiQiBi#@i\@- addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504010 s, deltaX: -0.300000 m, approachRate: -0.595226 m/s, rangeRepo size: 4 = Added new target pos. range: 5.875992 m, bearing: 196.779114 deg, lat: 36.779396 deg, lon: -121.859627 deg, deltaT: 7.054782 s, deltaX: -3.983970 m, approachRate: -0.564719 m/s, posRepo size: 4 jhAbhAEzIgnoring new targets. Set target to previous: 5.88 m. 9.86 m.RhIZhI] ProNav: ac range: 9.859962 m, nav range: 5.398752 m, bearing: 190.318199 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 182.530576 deg, new cmd heading: 182.237819 deg. BhYe|HeadingCmd: 3.180650 target range: 9.859962 and range: 5.90 m.heŏK@ha*ha"ha hachecking for new query: numPingsReceived=74, elapsed TxPingTime=38.809269gaf ff!dIdQdYjd@Zd&?Bɢ) x->i)ąi@{iF< >=IŏK@I!@ @@/@^A$=IIO>y y  DDAT read: Rx Time:00:35:14.2467  TRx dataTimestamp_ set to:1761525313.292959 PDAT read: Bearing 352.2, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 352.2, 3.5 (Local)  DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.6  DAT read: 00:35:14.2467 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.40, 2.949, 1.006, 2.916, 2.842, PHS= 0.209,-1.791, 0.030, RAW= 145.4, 16.0, CAL= 145.1, 17.5, ROT= 4.9, -17.5  Ygot valid direction response: 00:35:14.2467 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.40, 2.949, 1.006, 2.916, 2.842, PHS= 0.209,-1.791, 0.030, RAW= 145.4, 16.0, CAL= 145.1, 17.5, ROT= 4.9, -17.5  T#Rx 75: Read range and direction messages. \direction in FSK: [0.950231,0.081464,0.300706] Fpublishing direction and range infoy  loKh? Bڴ?->?Y f@ ) I V>i }?忉 <B _>B ;CB !IB vBB =B B B &;B [:E i"@1 5> "@ a>) %=I a L]?Y0Z?^p ? *>) I %=i a  checking for new query: numPingsReceived=75, elapsed TxPingTime=39.104080E5  E5 E5 ,E1 "E5 [I;*E5 :VE5 g4ZE1 BE5 AHRS rotation from veh to nav: [[-0.989605,0.118342,0.081712],[-0.133265,-0.968199,-0.211734],[0.054057,-0.220422,0.973905]]2H`تK??|˿[?6̿;*?i2YC@I2Q9`;2vCYNbByN!IIR4=)R|iMb@Mb@Mb@ 9bX9?{Gz?:vYE?yף=TA@ 5A)YAbDVDky{=%8=ٔ7Q->9Y=Dy6D%E%>!Q 5-4%>?Q 954%)%MBY5?Q E=:y=[8Q I=?%ADI% ;i% ;%4yUBɮ]2A]Eii׿R?AJi@Ri@jiˊ[@ih[z@DS˘? P?riloKh? Bڴ?->?Zi%=biairl%rdgkq?ziĻX[V):ѿ?2iÿ:i"ipb?*i 3BiBi?iigBiԨ@ig\@ addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504095 s, deltaX: -0.200000 m, approachRate: -0.396751 m/s, rangeRepo size: 4  Added new target pos. range: 5.676780 m, bearing: 196.544368 deg, lat: 36.779394 deg, lon: -121.859627 deg, deltaT: 7.558877 s, deltaX: -4.183181 m, approachRate: -0.553413 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.68 m. 9.86 m.Rh!Zh)= ProNav: ac range: 9.859962 m, nav range: 5.134178 m, bearing: 190.078630 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 182.237821 deg, new cmd heading: 181.892536 deg. Bh9E|HeadingCmd: 3.174624 target range: 9.859962 and range: 5.70 m.hE -K@hA*hA"hA hAgIfIfQfUBdQdQdQjd]@Zd]͍?颡ɢPn) J>i)@iIiF<h=I -K@I) checking for new query: numPingsReceived=75, elapsed TxPingTime=39.316517@@ @@0@Q^A% ^=ԁ I I O >,_r?A&DDAT read: Rx Time:00:35:14.7464 *TRx dataTimestamp_ set to:1761525313.796785.PDAT read: Bearing 351.4, 4.1 (Local) .~Local bearing/azimuth received: Bearing 351.4, 4.1 (Local) 6DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.5 JDAT read: 00:35:14.7464 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506, 0.41, 1.654,-0.327, 1.601, 1.518, PHS= 0.238,-1.801, 0.038, RAW= 144.9, 15.5, CAL= 144.6, 16.9, ROT= 5.4, -16.9 NYgot valid direction response: 00:35:14.7464 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506, 0.41, 1.654,-0.327, 1.601, 1.518, PHS= 0.238,-1.801, 0.038, RAW= 144.9, 15.5, CAL= 144.6, 16.9, ROT= 5.4, -16.9 NT#Rx 76: Read range and direction messages.R\direction in FSK: [0.952567,0.090044,0.290702]VFpublishing direction and range infoy$&O:n{?^Š! ?Tcݚ?Y&@$$$$ $)&4I&Fs>i&+濉&=&!@&c>&!@ &>)&=I&$$&+o0?By?L ? &w>)&WVI&=i&$$vchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.586548YYesBye!IimAAbDuVDuβyז=%<=ٔQ->9Y=Dy 7DE>DzD?AE  EEE"EE;*Eu:VEZEa@a@a@a@Q 54J?Q 94®)Y!y!Q I%?ADI_:i4:4y)ɮMAQi$i&r?AJi&@Ri&@ji&[@i&.C@%k?{x?ri&O:n{?^Š! ?Tcݚ?Zi&=bi&i&F̂54-8w5H C?zi&Ʒmn&ꫤѿP%?2i&A:i&i"i&fL?*i&IBi&ņBi&fL?i& 3i&OBi&b@i&S\@ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503826 s, deltaX: -0.400000 m, approachRate: -0.793924 m/s, rangeRepo size: 4 - Added new target pos. range: 5.278410 m, bearing: 196.884212 deg, lat: 36.779394 deg, lon: -121.859627 deg, deltaT: 8.062703 s, deltaX: -4.581552 m, approachRate: -0.568240 m/s, posRepo size: 4 jh1bh15zIgnoring new targets. Set target to previous: 5.28 m. 9.86 m.Rh9Zh9ԁ ProNav: ac range: 9.859962 m, nav range: 4.877825 m, bearing: 189.821621 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 181.892541 deg, new cmd heading: 181.555437 deg. Bh|HeadingCmd: 3.168740 target range: 9.859962 and range: 5.30 m.hJ@h*h"h hgfffdddjd@33@Zd?aɢeW)e$ mk>ii)miiimyuiuSGu+",iU?Aԩ\B@P@^ٱ#f AHRS rotation from veh to nav: [[-0.991542,0.102961,0.079010],[-0.117846,-0.969306,-0.215776],[0.054369,-0.223262,0.973241]]H [?:?@$+`˿ <֫?ד̿`$?i\B@I`;uCY~By!IiMb@Mb@Mb@ 9x?Q?~jtYK?y\=D(A )YGAbD VD2yK]=%L=ٔLQ->9Y=Dy7DhE>Q 54􄠊?Q 94))MBYb?Q E:ym:Q I?ADIa:i:i4yBɮAEB*** querying acoustic contact ***i ijh bh zIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.RhZh% ProNav: ac range: 9.859962 m, nav range: 4.642649 m, bearing: 189.655363 deg, approach rate: -0.626188 m/s, LOS rate: -0.465107 deg/s, cmd heading: 181.555444 deg, new cmd heading: 181.031422 deg. Bh--|HeadingCmd: 3.159594 target range: 9.859962 and range: 5.30 m.h-6J@h1*h1"h1 h1g1f1f9f= Bd9d9UDAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.5 }DAT read: 00:35:15.2463 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505, 0.44, 2.886, 0.883, 2.820, 2.742, PHS= 0.246,-1.813, 0.034, RAW= 144.6, 15.4, CAL= 144.2, 16.8, ROT= 5.8, -16.8 BAB\>BB!IBBBBBB5;Bh:EYgot valid direction response: 00:35:15.2463 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505, 0.44, 2.886, 0.883, 2.820, 2.742, PHS= 0.246,-1.813, 0.034, RAW= 144.6, 15.4, CAL= 144.2, 16.8, ROT= 5.8, -16.8 T#Rx 77: Read range and direction messages. \direction in FSK: [0.952419,0.096743,0.289032]Fpublishing direction and range infoyAEn z6z?̅)ĸ?\.?YE3@AAAA A)AIEm{>iEb迉EC =E!@E>E!@ EQ >)E4Q=IEQ AAE/ ?ō7k?6n.op ? Er>)EIE4Q=iEQ AA-checking for new query: numPingsReceived=77, elapsed TxPingTime=40.098370d1jd5`ff@Zd5T?Bɢ&) ]>i)iUi%G!%?_=I%6J@I)E EEE"EM;*EZ:VEZEBE DDAT read: Rx Time:00:35:15.7459 - TRx dataTimestamp_ set to:1761525314.5568491 U PDAT read: Bearing 351.9, 4.2 (Local) ] ~Local bearing/azimuth received: Bearing 351.9, 4.2 (Local) u checking for new query: numPingsReceived=77, elapsed TxPingTime=40.335884),9(?A,ɰ.49AYA=EDyE)7DMEM>QQ 5]4Us?Q 9]4Ua)UMBYYy]:Q I]?UADIUV:iU:U4yiɮm9Ai iyi}4+?AJi}@Ri}@ji}Z@i}~eY@r? }?ri}n z6z?̅)ĸ?\.?Zi}4Q=bi}Q i}=cX:T>K?zi}ucB=싟dѷп7Z7i)'iLiOi]Nb]t]K!@]Q >]| @ ]Ƈ>)]Pw=I]ƇYY]yP*W?.K? u|= z? ]>)]I]Pw=i]ƇYYchecking for new query: numPingsReceived=78, elapsed TxPingTime=40.588081iE  E E )E "E F;*E :VE FA4ZE a @a @a @a @^A l=A >A ?ԙ A I I O >?/,x򿐯?AY%By%!IbD5VD5fyE<%EJ=ٔMQ-M>9IYI=MDyM97DUEU>YQ 5m4]_?Q 9u4]ò)]MBYyQ I?]ADI];i];]4yBDDAT read: Rx Time:00:35:16.2461 TRx dataTimestamp_ set to:1761525315.061098 PDAT read: Bearing 351.9, 4.8 (Local) ~Local bearing/azimuth received: Bearing 351.9, 4.8 (Local) ɮ5A=EeDAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.5 yZ#Rx 79: Read range message, but no direction.yY@checking for new query: numPingsReceived=79, elapsed TxPingTime=40.866413iiÐ?AJi@Ri@jis[@i M@F\?ͫ)?riʃ%7? Jg?v9s?ZiPw=biƇiPslF'?ziU{)ѿ/βh?2i:i3"i{?*i!{BiȆBipb?iIiȆBix@i4\@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.761586 s, deltaX: -0.300000 m, approachRate: -0.393914 m/s, rangeRepo size: 4   Added new target pos. range: 4.780420 m, bearing: 196.532663 deg, lat: 36.779393 deg, lon: -121.859627 deg, deltaT: 9.327016 s, deltaX: -5.079542 m, approachRate: -0.544605 m/s, posRepo size: 4 jh bhzIgnoring new targets. Set target to previous: 4.78 m. 9.86 m.RhZh- ProNav: ac range: 9.859962 m, nav range: 4.191107 m, bearing: 189.334311 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 180.739796 deg, new cmd heading: 180.402513 deg. Bh)5|HeadingCmd: 3.148618 target range: 9.859962 and range: 4.80 m.h5I@h1*h1"h1 h1g1f9f9f9d9dAdAjdE@33@Zdg ?IɢU`-)Q UǙ>iQ)UQQi]i]HpX<=II@ԩI DAT read: 00:35:16.2461 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.46, 1.314,-0.736, 1.204, 1.207, PHS= 0.210,-1.897,-0.047, RAW= 143.6, 17.1, CAL= 143.1, 18.6, ROT= 6.9, -18.6  Ygot valid direction response: 00:35:16.2461 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.46, 1.314,-0.736, 1.204, 1.207, PHS= 0.210,-1.897,-0.047, RAW= 143.6, 17.1, CAL= 143.1, 18.6, ROT= 6.9, -18.6  Z#Rx 80: Read direction message, but no range. \direction in FSK: [0.940904,0.113862,0.318959]yi B B B !IB BB B B B 1;B d:EBu;CBu;CBqBuɦ =Buɦ =Cuɒ4m %q?( &?ˬQi?i i i i i )m 4Im = W>im m @m g @m Θ>m @ m 6>)m Ϣ=Im 6i m R n?*>x?Ǽ? m >)m Im Ϣ=im 6 checking for new query: numPingsReceived=80, elapsed TxPingTime=41.091667 㻩  bE|a4jET\4rE5/E%  E% E! E! "E% L;*E% :VE! ZE! BE% ޡi%M%D% @%q>%@ %#>)%=I%#!!%r:-?(σ?ESt? %>)%qI%=i%#!!checking for new query: numPingsReceived=81, elapsed TxPingTime=41.432774S@@N@\ٱ4p AHRS rotation from veh to nav: [[-0.994639,0.073472,0.072766],[-0.088265,-0.969826,-0.227257],[0.053873,-0.232462,0.971112]]H`ϲ?`ˠ?Ϳ`J?`NͿ@Z?iS@@I`;Y=By=!IIM=)M4=i%Mb@Mb@Mb@!!!! !9%kt?v/?{GztY% ?y%xi=%ף%A%@ %A)%@!Y%AbD]VD]:ymM=%<ٔo:Q-x>9Y=DyW7DEx>Q 54>?Q 94)MBY?Q E:y?=Q I?BDI%;i;>4yBɮIAEi!i%$䐯?AJi%9@Ri%9@ji%Z@i%@>O?_] ?ri%TځaV?<ҭ?+0?Zi%=bi%#i%rOxJBh?zi%؝p7 8<}п.?2i%V:i%"i%ot잊?*i%vBi%gBi%{?i%!{i%ņBi%:@i%0\@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503638 s, deltaX: -0.400000 m, approachRate: -0.794221 m/s, rangeRepo size: 4  Added new target pos. range: 4.382055 m, bearing: 195.947364 deg, lat: 36.779393 deg, lon: -121.859627 deg, deltaT: 9.830654 s, deltaX: -5.477907 m, approachRate: -0.557227 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.38 m. 9.86 m.RhZh ProNav: ac range: 9.859962 m, nav range: 3.784703 m, bearing: 189.200996 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 180.402508 deg, new cmd heading: 179.892591 deg. Bh |HeadingCmd: 3.139718 target range: 9.859962 and range: 4.40 m.h $H@h *h "h  hgfff(Bdddjd@-checking for new query: numPingsReceived=81, elapsed TxPingTime=41.581406Zd%tw?颉ɢe) D>i)"U޼顑iYi$H@F<6=I$H@IDzD@AE E E*E"EsH;*E:VE(N4ZEa@a@a@a@1  ma @  @ @ /@ DDAT read: Rx Time:00:35:17.2458 TRx dataTimestamp_ set to:1761525316.0700065PDAT read: Bearing 349.2, 5.2 (Local) E~Local bearing/azimuth received: Bearing 349.2, 5.2 (Local) uDAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 Z#Rx 82: Read range message, but no direction.y Y f@ checking for new query: numPingsReceived=82, elapsed TxPingTime=41.859165ԉ^AVo=ԹAIIIO}#?hC,&?AVH@@Vc>N@Ve\ٱV r ^AHRS rotation from veh to nav: [[-0.995282,0.066074,0.071055],[-0.080760,-0.970026,-0.229187],[0.053782,-0.233844,0.970786]]VHX=?0?u UͿT?Ϳ?iVH@@IV(:`;VvCYfByj "IiUMb@Mb@Mb@QQQQ Q9U/$?Mb?{GzYU ?yU@=U#UVAU@ UA)U@QYQbDmVDmk2y}=%}=ٔ19Q->9Y=Dym7D%eE>Q 54v%?Q 94)MBY ?Q E:y>Q I?BDI;i;%4yjBɮ[ AA!A%AAB-e>B-p?)j?gd?Y )1I^>i쿉C<K @>Q @ ;>)|=I;i)͉I|=i;uchecking for new query: numPingsReceived=83, elapsed TxPingTime=42.099148i i z?AJi څ@Ri څ@ji !Z@i UcJ@Jp?)j?gd?Zi |=bi ;i qTձ, qX?zi ^t^hhiпHg t?2i o:i v"i $ׇដ?*i Bi JBi ot잊?i Fi Bi x@i W\@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.505270 s, deltaX: -0.200000 m, approachRate: -0.395829 m/s, rangeRepo size: 4  Added new target pos. range: 4.182934 m, bearing: 195.281282 deg, lat: 36.779392 deg, lon: -121.859627 deg, deltaT: 10.335924 s, deltaX: -5.677027 m, approachRate: -0.549252 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.18 m. 9.86 m.RhZh ProNav: ac range: 9.859962 m, nav range: 3.488579 m, bearing: 189.203823 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 179.892593 deg, new cmd heading: 179.471931 deg. Bh|HeadingCmd: 3.132376 target range: 9.859962 and range: 4.20 m.hxH@h*h"h hgff)f5?BdYdYdYjde@Zde@֨?颉ED EFEE"Eny;*Ev;VEZEBEDi)(ڼi ixH@3<ٽ=I%xH@I!))IIԉԹ DDAT read: Rx Time:00:35:17.7456  TRx dataTimestamp_ set to:1761525316.574414 PDAT read: Bearing 351.3, 2.4 (Local) % ~Local bearing/azimuth received: Bearing 351.3, 2.4 (Local) @  @ @ /@ @ =@ > DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 ^Am л= g> C  DAT read: 00:35:17.7456 LVL= 32752, 30705, 32754, 32755, AGC= 47, IDX= 495,-0.41, 2.264, 0.341, 2.236, 2.239, PHS= 0.127,-1.853,-0.047, RAW= 145.4, 18.3, CAL= 145.2, 20.0, ROT= 4.8, -20.0 U Gi 腿9 Y tA Ygot valid direction response: 00:35:17.7456 LVL= 32752, 30705, 32754, 32755, AGC= 47, IDX= 495,-0.41, 2.264, 0.341, 2.236, 2.239, PHS= 0.127,-1.853,-0.047, RAW= 145.4, 18.3, CAL= 145.2, 20.0, ROT= 4.8, -20.0  T#Rx 84: Read range and direction messages. \direction in FSK: [0.936397,0.078631,0.342020] Fpublishing direction and range infoy  h?:0!?Kj?Y y@ w ) /I J >i / @ i"@ Ƈ> 0"@ ¸>) =I ¸ De2Sp?.2m?u? `i>) V>I =i ¸ I I O >J,X,?A6checking for new query: numPingsReceived=84, elapsed TxPingTime=42.459972f|?@f$M@f%Zٱfu rAHRS rotation from veh to nav: [[-0.995868,0.058999,0.069039],[-0.073577,-0.969797,-0.232553],[0.053233,-0.236672,0.970130]]fH@& ,5??ղ`LͿfA?BKοN ?if|?@Ifu#`;fuCY By "IbD%VD%3yUO<%U9=ٔUŢ:Q-U>9YYY=]Dy]7DeaE>Q 54 ?Q 94)MBYyJ?Q I?)BDI:i8:x-4y9ɮ=@ A9ii3$?AJix@Rix@jiX@ir @Ai)׼ii%&H@%U<%ļ=I-&H@I)Eu  EuEu-Eq"EuD;*EuZ:VEut4ZEqa@a@a@a@?@ @@@^A = iy Iy  DDAT read: Rx Time:00:35:18.2455  TRx dataTimestamp_ set to:1761525317.078926 PDAT read: Bearing 350.5, -1.9 (Local)  ~Local bearing/azimuth received: Bearing 350.5, -1.9 (Local)  DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 % Z#Rx 85: Read range message, but no direction.y Y 3s@ 5 checking for new query: numPingsReceived=85, elapsed TxPingTime=42.866894Ia Iq O >R,]jI?ALYуBy!"I bDVD:y#=%-=ٔQ->9 Y = Dy 7D E>Q 54?Q 9%4)MBY!y!Q I%?:BDI:i:54y-dBɮ5 A5EeB*** querying acoustic contact ***ia iaU addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504512 s, deltaX: -0.100000 m, approachRate: -0.198212 m/s, rangeRepo size: 4 jhQbhYzIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.Rh:Zh:M ProNav: ac range: 9.859962 m, nav range: 2.986664 m, bearing: 189.280465 deg, approach rate: -0.612067 m/s, LOS rate: 0.109169 deg/s, cmd heading: 179.105783 deg, new cmd heading: 179.243128 deg. BhMו;]|HeadingCmd: 3.128383 target range: 9.859962 and range: 3.80 m.h]l7H@hY*hY"hY hYgafafafidididijdu`ff@ZduP?ɢ ":) >i)Լiil7H@<6Ѹ=Il7H@IDAT read: 00:35:18.2455 LVL= 32752, 28017, 27986, 32755, AGC= 45, IDX= 510, 0.22, 1.339,-0.257, 1.452, 1.389, PHS= 0.052,-1.601, 0.019, RAW= 149.0, 18.3, CAL= 149.7, 20.9, ROT= 0.3, -20.9 Ygot valid direction response: 00:35:18.2455 LVL= 32752, 28017, 27986, 32755, AGC= 45, IDX= 510, 0.22, 1.339,-0.257, 1.452, 1.389, PHS= 0.052,-1.601, 0.019, RAW= 149.0, 18.3, CAL= 149.7, 20.9, ROT= 0.3, -20.9 Z#Rx 86: Read direction message, but no range.\direction in FSK: [0.934192,0.004891,0.356738]yae? t?O?aaeqmeRm a)e-IeT=ie̿e㥛)e;IeúaeiqUd?U$u?p0 P? e4?)eRmIe;ieúchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.107101Bo>B=CBT"IBBB =BBDB;B$:Ey@y @y@/@E  EE.E"EE;*E:VEـ4ZEBEmX,Yc?AbDDAT read: Rx Time:00:35:18.7453 fTRx dataTimestamp_ set to:1761525317.577168jDAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 jZ#Rx 87: Read range message, but no direction.y`Yb`@`nchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.349560|m>@mL@mIPٱmy,x }AHRS rotation from veh to nav: [[-0.997252,0.040064,0.062324],[-0.053780,-0.970025,-0.236979],[0.050962,-0.239680,0.969514]]mH |@@?@?q VUο ? ӭο@A?im>@Im`;iYBy6"IiMb@Mb@Mb@ 9/$?9iYi=mDym7Dm4Eu>qQ 5}4u柊?Q 9}4u)u MBYa ?Q E:yAQ I?uIBDIu;iu;u=4y_Bɮ AE!i`ibRd?AJib_@Rib_@jibR@ibMC @qcu?$0?rib? t?O?Zib;bibúib6Z tB'F ߿I?zibC$Tqh?2ib:ibJ"ibo۞?*ibd}BibBib.鞊?ibi`ib%J@ib\@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.498242 s, deltaX: -0.300000 m, approachRate: -0.602117 m/s, rangeRepo size: 4  Added new target pos. range: 3.485877 m, bearing: 188.724572 deg, lat: 36.779391 deg, lon: -121.859625 deg, deltaT: 11.843086 s, deltaX: -6.374084 m, approachRate: -0.538211 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.49 m. 9.86 m.RhZhː% ProNav: ac range: 9.859962 m, nav range: 2.740254 m, bearing: 189.540689 deg, approach rate: 0.000000 m/s, LOS rate: -0.253176 deg/s, cmd heading: 179.243124 deg, new cmd heading: 178.903158 deg. Bh%--|HeadingCmd: 3.122449 target range: 9.859962 and range: 3.50 m.h-5G@h)*h)"h) h)g)f1f1f5RBdddjd @Zd[?颁ɢ8m;) >i)lmѼiIGi5G@/<m=I5G@IIuchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.597965@@ @@/@@@y E  E E +E "E [I;*E :VE [4ZE a% @a% @a% @a% @^A G=Ii I O >d3_,?A 2|#>@2$L@26aLٱ2u >AHRS rotation from veh to nav: [[-0.997632,0.034224,0.059665],[-0.047365,-0.970813,-0.235115],[0.049877,-0.237385,0.970134]]2H ą?]?;@ Cο p?bο`W ?i2|#>@I2[O`;0YBByF:"IbDNVDNJyV<%Vc=ٔV F;Q-V>9XY\=^Dy^7D^.E^>`Q 5f4b֟?Q 9f4b<)b"MBYhyjTBQ Ij?bVBDIb;ib;bC4ylɮn Apjhbh zIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.Rh w<Zh w< ProNav: ac range: 9.859962 m, nav range: 2.545608 m, bearing: 189.809797 deg, approach rate: -0.581587 m/s, LOS rate: 0.865550 deg/s, cmd heading: 178.903159 deg, new cmd heading: 179.772141 deg. Bh=|HeadingCmd: 3.137616 target range: 9.859962 and range: 3.50 m.hH@h*h"h  h1g1f9f9f9dAdAdIjdQZdU@?DDAT read: Rx Time:00:35:19.2452 TRx dataTimestamp_ set to:1761525318.080451DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 Z#Rx 88: Read range message, but no direction.yY3S@checking for new query: numPingsReceived=88, elapsed TxPingTime=43.852848Bɢ%<) />i)ϼiilH@b=IH@I)I@ @@0@^A=IIOL>yԙ E checking for new query: numPingsReceived=88, elapsed TxPingTime=44.101215B j>B B s"IB BB B B DB ܃;B :Ef,P?A6=@6RK@6VGٱ6*s@ BAHRS rotation from veh to nav: [[-0.997950,0.029040,0.057037],[-0.041593,-0.971570,-0.233070],[0.048647,-0.234964,0.970786]]6H4?3?K@<Ϳ@O?`Pο`?i6=@I6=`;6vCER ERER,EP"ER;;*ER1:VERg4ZEPBER9yYy=}Dy}7D]E>Q 54ß?Q 94)$MBY&?Q E:y~CQ I?dBDI ;iT ;3K4yZBɮ AE addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503283 s, deltaX: -0.200000 m, approachRate: -0.397391 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.86 m. 9.86 m.Rh<Zh< ProNav: ac range: 9.859962 m, nav range: 2.320530 m, bearing: 190.279172 deg, approach rate: -0.525703 m/s, LOS rate: 1.202616 deg/s, cmd heading: 179.772136 deg, new cmd heading: 181.316452 deg. BhVN=|HeadingCmd: 3.164569 target range: 9.859962 and range: 3.30 m.hMJ@h*h"h hgfff;Bdddjd`ff @Zd@?ɢ#;) Z>i)˼ii%hG!%y?=I%MJ@I)ԩ A@  @@5@DDAT read: Rx Time:00:35:19.7449 TRx dataTimestamp_ set to:1761525318.585474DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 Z#Rx 89: Read range message, but no direction.yY9@checking for new query: numPingsReceived=89, elapsed TxPingTime=44.359112^A- = I! I1 OE >Al,e?A: f=@:[K@:Aٱ:ęo FAHRS rotation from veh to nav: [[-0.998239,0.023938,0.054281],[-0.035831,-0.972517,-0.230057],[0.047282,-0.231596,0.971662]]:H@@B?ʫ?xX@rͿ@g5?Ϳ`?i: f=@I:>`;:tCYJByJK"IRAAPbDVVDVβy^9=%^W=ٔbk;Q-b>9`Y`=fDyf7DfxEf>hQ 5n4ljͲ?Q 9r4j.)j&MBYpyrCQ Ir?jqBDIj +;ij,;jQ4yxɮz; Axchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.6053625 addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.505023 s, deltaX: -0.400000 m, approachRate: -0.792043 m/s, rangeRepo size: 4 jh1bh15BIntercept lockout. Range: 2.90 m.5bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h5@h9h9*h9"h9 h9gAfAfAfAdAdIdIjdM@33@ZdM?}Bɢ}83<)y >i)*ɼ顁iFi-F\IDDAT read: Rx Time:00:35:20.2448 TRx dataTimestamp_ set to:1761525319.088236DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 Z#Rx 90: Read range message, but no direction.yY,@checking for new query: numPingsReceived=90, elapsed TxPingTime=44.860638i (s,@͑?A2=@2LJ@2 <ٱ2yj :AHRS rotation from veh to nav: [[-0.998493,0.018934,0.051517],[-0.030081,-0.973872,-0.225096],[0.045909,-0.226306,0.972974]]2H}c?r`?͞ ) ̿c?̿"?i2=@I2\Z`;2rCY~ByQ"IbD%VD%02y5G<%5C=ٔ59W;Q-5>999YA=EDyE7DEaEE>IQ 5U4M0?Q 9U4MQ =]tI)M(MBYYye6DQ Ie?MBDIMNi;iMEs;M.Y4yTBɮ AB*** querying acoustic contact ***i iM addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502762 s, deltaX: -0.200000 m, approachRate: -0.397803 m/s, rangeRepo size: 4 jhQbhhh*h"h hg f1f9fAdIdidqjdu@Zdu ?颹ɢ;) |>i)WYżiW ihGAB1B5"IB5(BB5 =B1B1B5;B5%:Ei=A@9 @9@=3@AE EE)E"ECJ;*E>:VEFA4ZEBEA>IԑIO>  DDAT read: Rx Time:00:35:20.7446  TRx dataTimestamp_ set to:1761525319.592491 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4  Z#Rx 91: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=91, elapsed TxPingTime=45.364883_Sy,\瑯?AJi<@JJ@Jd4ٱJze %AHRS rotation from veh to nav: [[-0.998665,0.016368,0.048995],[-0.026839,-0.974816,-0.221391],[0.044137,-0.222410,0.973954]]JH? ?@{1V̿@+?w̿*?iJi<@IJ<`;HY5By5e"IԙiMb@Mb@Mb@ 9Dl?Mb?9Y=Dy7DE>)Q 554-?Q 9=4-)-*MBY=r ?Q E=:y=EQ IE?-BDI-$P;i-JO;-`4yMOBɮU9 AUE addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504255 s, deltaX: -0.300000 m, approachRate: -0.594937 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffEBdddjd@33@Zd?颕Bɢ M<) Y?i)顙i#igGĬ</ :,?A6$<@6̤J@6?1.ٱ6Va BAHRS rotation from veh to nav: [[-0.998791,0.014840,0.046871],[-0.024691,-0.975816,-0.217194],[0.042515,-0.218088,0.975003]]6HXd??H9˿yĥ?R˿83?i6$<@I6W`;6tCYFByF`"IbDRVDRyb]%fb=ٔjF;Q-n>9tYx=zDyz8D E >)Q 5E4-z?Q 9M4-+))YYye FQ Ie?-BDI-:i?"iI:k?*iصBiˆBii7iir?ib@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.506721 s, deltaX: -0.100000 m, approachRate: -0.197348 m/s, rangeRepo size: 4  Added new target pos. range: 2.290696 m, bearing: 6.378403 deg, lat: 36.779391 deg, lon: -121.859624 deg, deltaT: 14.365130 s, deltaX: -7.569265 m, approachRate: -0.526919 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd )?%Bɢ%G:<)I M ?iI)MtIIiM&iUhGUGʬ<]b˵Y- checking for new query: numPingsReceived=92, elapsed TxPingTime=46.117428B= i>B9 B= "IB= 7BB= =B9 B9 B= ;B= 2:EB=CB=CBBɣ =Bɤ =C5ԁ ge,?A2<@2LJ@2`%ٱ2AY :AHRS rotation from veh to nav: [[-0.998928,0.013649,0.044227],[-0.022651,-0.977450,-0.209947],[0.040364,-0.210724,0.976712]]2H8?`द?1 FGʿ`?ʿ9A?i2<@I2*`;2vCbE [4jE ^4rE /EB EBEB-E@"EBI@;*EB:VEBt4ZE@BEB9Y=Dy8DǚE>Q 54g?Q 94)+MBY ?Q E:y#EQ I?BDI. ;iT ;n4y JBɮ  A Ejh)bh)h1h1*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdE@~6?QBɢ(<) ?i)Vwi^)iiG Zɬ< ٨ ',T4?A2{<@2qJ@2}ٱ2S :AHRS rotation from veh to nav: [[-0.999034,0.013293,0.041889],[-0.021570,-0.978770,-0.203823],[0.038291,-0.204530,0.978111]]2H`k9?r?@cRʿ՚? .ʿL?i2{<@I2`;2rCYBByBn"IbDJ VDJ2yR4|<%V`=ٔV_;Q-V>9XYX=ZDyZ&8DZBEZ>\Q 5b4^[V?Q 9f4^ݻ)\Ydyf1EQ If?^BDI^:i^:^u4yhɮj Alrchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.621281 addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.501018 s, deltaX: -0.300000 m, approachRate: -0.598781 m/s, rangeRepo size: 4 jhbhhh*h"h hgff!f!d!d!d)jd-@Zd-@%?BɢLx<)Q ]?iY)]P*YYi] ,iehGeĬP@:F>k@ Ӈ?)[2@IӇ LTmF lHxS ? )>I[2@iӇ- checking for new query: numPingsReceived=94, elapsed TxPingTime=46.892616ԩ A I I O >x,N?A2l<@2vJ@2rٱ2zXM >AHRS rotation from veh to nav: [[-0.999113,0.014257,0.039615],[-0.021848,-0.979883,-0.198373],[0.035990,-0.199062,0.979326]]2H2?`{H?n_3[Gdɿ@Rm?zɿV?i2l<@9xYx=zDyz78D=,:EE>QQ 5]4UB?Q 9e4U<)QYaye)EQ Ie?UBDIUk:iU:U|4ymDBɮm AuEiivF?AJiw?Riw?jiЄ@i?DJ(Oԓ?P?riY~鿐fƆ~?w]z?Zi[2@biӇi$1?֔A+Uq?zi՟R?&U׿$D?2i*:iļ?"i/?*ixBiBiixii͠?i0l@} addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.505633 s, deltaX: -0.200000 m, approachRate: -0.395544 m/s, rangeRepo size: 4  Added new target pos. range: 1.792715 m, bearing: 335.751118 deg, lat: 36.779391 deg, lon: -121.859624 deg, deltaT: 1.006651 s, deltaX: -0.497980 m, approachRate: -0.494690 m/s, posRepo size: 4 jhbhh h)*h1"h1 h1g9fAfqfqdydԱdjd?Zd L?Bd>Biu>@ @@F0@@ =@ =E EE)E"E1A;*E:VEFA4ZEBE(,xh?AVG`lp9Y0mA]<@]-J@]. ٱ]D mAHRS rotation from veh to nav: [[-0.999178,0.015836,0.037307],[-0.022649,-0.981533,-0.189947],[0.033610,-0.190636,0.981085]]]HDp7??L1h@1Pȿ`Q5?@fȿ e?i]<@I]c_;]tCY$By"IiUMb@Mb@Mb@QQQQ Q9Um?~jt?:vYU?yU9Y=DyK8D:E>Q 54+?Q 94),MBY?Q E:yEQ I?BDI:i:4y ?Bɮ A %B*** querying acoustic contact ***i! i!= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503461 s, deltaX: -0.300000 m, approachRate: -0.595875 m/s, rangeRepo size: 4 jh9bhAhAhA*hA"hA hAgAfAfIfMBdIdIdQjdU?ZdU?颅Bɢ<) ?i)(顉i1ihGu<*\,y?AHxɰz;m.=@mK@m_ٱm) AHRS rotation from veh to nav: [[-0.999028,0.026033,0.035573],[-0.031534,-0.985947,-0.164055],[0.030803,-0.165018,0.985810]]mH` m?6?7%@Ŀഊ?Lſ`?im.=@Im@`;iY.By"IDDAT read: Rx Time:00:35:23.2439 TRx dataTimestamp_ set to:1761525322.112791PDAT read: Bearing 34.6, -44.3 (Local) ~Local bearing/azimuth received: Bearing 34.6, -44.3 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 5DAT read: 00:35:23.2439 LVL= 23024, 20689, 30930, 32755, AGC= 45, IDX= 514,-0.45,-0.940,-0.682, 0.778, 1.001, PHS=-1.839,-1.638,-0.267, RAW= 216.7, 41.8, CAL= 215.5, 51.6, ROT= 294.5, -51.6 bDM VDM:2yUW=%]Y=ٔ]D;Q-}>9 ?Y ?=DyZ8D5<E>Q 54?Q 94Ygot valid direction response: 00:35:23.2439 LVL= 23024, 20689, 30930, 32755, AGC= 45, IDX= 514,-0.45,-0.940,-0.682, 0.778, 1.001, PHS=-1.839,-1.638,-0.267, RAW= 216.7, 41.8, CAL= 215.5, 51.6, ROT= 294.5, -51.6 T#Rx 96: Read range and direction messages.^direction in FSK: [0.257586,-0.565220,0.783693]Fpublishing direction and range info)Yy#EQ I?BDI}giy@Թ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503467 s, deltaX: -0.100000 m, approachRate: -0.198623 m/s, rangeRepo size: 4  Added new target pos. range: 1.394318 m, bearing: 120.137335 deg, lat: 36.779394 deg, lon: -121.859620 deg, deltaT: 1.006928 s, deltaX: -0.398397 m, approachRate: -0.395656 m/s, posRepo size: 4 jhbhhh*h"h hgff1f1d9d9d9jd=`ff?ZdE p?mBɢm<)i ?i)W#顑iې4iiG+ެ<;B ;CB "IB KBB =B B DB ;B <:E] checking for new query: numPingsReceived=96, elapsed TxPingTime=48.133461 ^Am oE<E  E E *E "E =;*E g:VE (N4ZE BE 9Y=Dyj8D=E>Q 5=4?Q 9E4)+MBYEK?Q EE:yE*AQ IM?BDI;i;ْ4y]9Bɮ]VA]Ejhbhhh*h"h hgfffBdddjdZdyU?uBɢu#<)q uq?iy)}lyyi}*6ԁihG`u<s=II-DDAT read: Rx Time:00:35:23.7442 5TRx dataTimestamp_ set to:1761525322.617024EDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 MZ#Rx 97: Read range message, but no direction.y)Y-f?)Uchecking for new query: numPingsReceived=97, elapsed TxPingTime=48.390766%@! @!@%/@!@)@)^A<ԱA!I)IAOM>  checking for new query: numPingsReceived=97, elapsed TxPingTime=48.637180y,?AFoB@FdP@F䝼ٱFNWb NAHRS rotation from veh to nav: [[-0.993262,0.113069,0.025430],[-0.114279,-0.992051,-0.052669],[0.019273,-0.055221,0.998288]]FH`? o ? jA{O?E?iFoB@IF Q`;DYV?ByV"I`bDb VDb2yjO=%j[=ٔju9lYl=rDyry8Dr=Er>tQ 5z4vQ?Q 9z4v)v*MBYxy~8>Q I~?vCDIv$:iv;v24yɮA5 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504233 s, deltaX: 0.400000 m, approachRate: 0.793284 m/s, rangeRepo size: 4 jh5=TStarting intercept timer at range: 1.80 m.bh9h9hA*hA"hA hAgAfAfIfIdIdIdIjdU?ZdU ?yɢ<) ?i)顉i8iiGy<1=IID5%=D5%=EE EEEE-EA"EE,K;*EE:VEEt4ZEAaU@aU@aU@aU@5@5 @1@5 @1EDDAT read: Rx Time:00:35:24.2444 MTRx dataTimestamp_ set to:1761525323.121171UDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ]Z#Rx 98: Read range message, but no direction.yIYMf@Iechecking for new query: numPingsReceived=98, elapsed TxPingTime=48.893917^Ae]<AizAmgAAi I I O >A `,\Ғ?AJUE@JOKS@JٱJ¼ RAHRS rotation from veh to nav: [[-0.987126,0.158789,0.019172],[-0.159179,-0.987028,-0.020903],[0.015604,-0.023686,0.999598]]JH2S?`ܡ?@_Ŀg'?@A@?iJUE@IJ_;HYZDByZ"IbDrVDr:2yA<%F=!ٔ59IYI=UDyU8DmV=Eu>Q 54ߞ?Q 94)'MBYyD;Q I?CDI;i;4y4BɮAEB]S>B]:CB]"IB]PBB] =BYB]DB];B]C:Echecking for new query: numPingsReceived=98, elapsed TxPingTime=49.144409U addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504147 s, deltaX: 0.300000 m, approachRate: 0.595064 m/s, rangeRepo size: 4 jhQ]XStarting latch delay timer at range: 2.10 m.]"Cable is present.bhYhYhY*hY"hY h]?gafafafadididijd@Zd` ?Bɢ<) A?i)b(iB6;i hG ;< >IIS{AIEU EUEU,EQ"EUI@;*EU:VEUg4ZEQBEUM DDAT read: Rx Time:00:35:24.7443 U TRx dataTimestamp_ set to:1761525323.624215] DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ] Z#Rx 99: Read range message, but no direction.yI YM @I e checking for new query: numPingsReceived=99, elapsed TxPingTime=49.396610ԡ ,?쒯?ABG@BNU@B8[ٱBk RAHRS rotation from veh to nav: [[-0.980417,0.196491,0.013172],[-0.196477,-0.980506,0.002366],[0.013380,-0.000268,0.999910]]BH_&??(&ɿ@M`@bc?f?` 1 D?iBG@IBJ_;BqCYZIBy^"IyiMb@Mb@Mb@ 9+? rh?:vY>yC >T@(@ @) @Y@bD VD2y2<%A=ٔ;Q->9Y=Dy8D9=E>Q 54ў?Q 94q)$MBYl>Q E:y)Q I?CDI" ;i ;Χ4yɮTA  addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503044 s, deltaX: -0.100000 m, approachRate: -0.198790 m/s, rangeRepo size: 4 jh 2h bhhh*h"h h2hgfffBd!d!d!jd%@Zd%Տ?UBɢU~<)Y ] ?iY)]傜YYi]=ieiGeܩIiIi }&Changing to mode: 1Iy)}hAԩ!@! @!@%~ @!@-=@-=ߥ=ߥ=checking for new query: numPingsReceived=99, elapsed TxPingTime=49.646088^A-ʞ=DIzDIEU EUEU*EQ"EUO6;*EU:VEU(N4ZEQae@ae@ae@ae@AmAIqIO> is,?A6F5I@6*W@6cQٱ6< BAHRS rotation from veh to nav: [[-0.975730,0.218840,0.007752],[-0.218605,-0.975524,0.023749],[0.012759,0.021478,0.999688]]6H@.9 ? f?`=˿ 7Q?!?r?`q?i6F5I@I6 a;6sCYFAByJ"IbDRVDRyZ9%Z\=ٔZ:Q-Z>9^c?Y^c?=^Dy^8DbEy=Eb>dQ 5j4fqŞ?Q 9j4f)f#MBYhyj'Q Ij?f)CDIf:ifg:fL4yr.BɮrmArEDDAT read: Rx Time:00:35:25.2441  TRx dataTimestamp_ set to:1761525324.128412DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 100: Read range message, but no direction.y Y ? %checking for new query: numPingsReceived=100, elapsed TxPingTime=49.900795%B*** querying acoustic contact ***i! i!= addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504197 s, deltaX: -0.300000 m, approachRate: -0.595005 m/s, rangeRepo size: 4 jh=2hAbhAhAhA*hA"hA hA2hAgIfIfIfIdIdQdQjdU@33?ZdU@b?颁ɢ<) W?i)顉im?ihG<(|;>II9U/@Q @Q@U| @Q^A-A=aAYIaIqOZ>A9A=@AԑBUO>checking for new query: numPingsReceived=100, elapsed TxPingTime=50.149273BU9CBU"IBUKBBQBQBQBU;BU0:EEe  Ee Ee ,Ea "Ee 0;*Ee :VEe g4ZEa BEe ye-=eDe@e@ eM@)e7@aYef@bDVD3y%lE=%%)=ٔ%Q-%>9)Y)=-Dy-8D5E5>9Q 5E4=j?Q 9E4=<)9YE|D>Q EE;yEQ IM?=/CDI=:i=:=¶4yQɮU AQjhy2hybhyhyhy*hy"hy h2hgfffBdddjdZd3?颹ɢ<) "?i)ɓi5AiiG1<{8>IIDDAT read: Rx Time:00:35:25.7440 TRx dataTimestamp_ set to:1761525324.649688PDAT read: Bearing 128.0, 9.8 (Local) ~Local bearing/azimuth received: Bearing 128.0, 9.8 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 EDAT read: 00:35:25.7440 LVL= 13696, 11985, 19906, 15859, AGC= 40, IDX= 497,-0.27, 1.605,-3.117, 1.334, 2.927, PHS=-1.220, 0.285,-1.637, RAW= 341.9, 27.5, CAL= 341.3, 32.4, ROT= 168.7, -32.4 MYgot valid direction response: 00:35:25.7440 LVL= 13696, 11985, 19906, 15859, AGC= 40, IDX= 497,-0.27, 1.605,-3.117, 1.334, 2.927, PHS=-1.220, 0.285,-1.637, RAW= 341.9, 27.5, CAL= 341.3, 32.4, ROT= 168.7, -32.4 MV#Rx 101: Read range and direction messages.U^direction in FSK: [-0.827960,0.165443,0.535827]UFpublishing direction and range infoyץ~1\kX:-?ZHpS~%?Y?5.MeA@a @a@e @a =)(I(i>7ѿ@ >-@ ?)p<@I_x0#Qh ~? A)9Ip<@ichecking for new query: numPingsReceived=101, elapsed TxPingTime=50.453613 ^A A .AI I O >! = checking for new query: numPingsReceived=101, elapsed TxPingTime=50.669304,y9?A2L@2Z@2VeFٱ2I^< :AHRS rotation from veh to nav: [[-0.964797,0.262905,0.006891],[-0.262717,-0.964649,0.020773],[0.012109,0.018231,0.999760]]2Hp?9|?Yп`h`uE?̈?+? ?i2L@I29f;2qCYBIByB"IbDNVDNyV&ż%V}=ٔV;Q-V ?9Z ?YZ ?=ZDyZ8D^6>E^ ?`Q 5f4b?Q 9f4bT)`YdyfQ If?b3CDIb:ib:bg4ylɮn-Alii})?AJi6?Ri6?ji̦=i7f- ~Zb}?kIQIq>i? @  @@ @@)@-fA^Ac=A1I9IQO]v>DDAT read: Rx Time:00:35:26.2440 TRx dataTimestamp_ set to:1761525325.154793PDAT read: Bearing 91.8, 13.0 (Local) ~Local bearing/azimuth received: Bearing 91.8, 13.0 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 00:35:26.2440 LVL= 12928, 9841, 5474, 12707, AGC= 43, IDX= 2,-0.22,-2.215,-1.851,-2.495,-0.890, PHS=-1.223,-0.916,-1.649, RAW= 5.3, 64.5, CAL= 4.5, 67.2, ROT= 145.5, -67.2 Ygot valid direction response: 00:35:26.2440 LVL= 12928, 9841, 5474, 12707, AGC= 43, IDX= 2,-0.22,-2.215,-1.851,-2.495,-0.890, PHS=-1.223,-0.916,-1.649, RAW= 5.3, 64.5, CAL= 4.5, 67.2, ROT= 145.5, -67.2 V#Rx 102: Read range and direction messages. ^direction in FSK: [-0.319362,0.219491,0.921863] Fpublishing direction and range infoyYJlpԿeJ??Y2q&b 1)+IDi~joӿq=)?|٠= Q ?)j"@IQ Vzƿ]|ٿv? \)e0Ij"@iQ -checking for new query: numPingsReceived=102, elapsed TxPingTime=50.939671I ׯ,~S?A:0QN@:F\@:jwٱ:/lϻ BAHRS rotation from veh to nav: [[-0.955159,0.295644,0.016302],[-0.295707,-0.955277,-0.001579],[0.015106,-0.006329,0.999866]]:H੐?? ҿ~Y ?y?i:0QN@I: Me;:tCYRFByV"IbDfVDf:2yn,%nG=ٔrJQ-r>9pYp=rDyv8Dv~=Ev>xQ 5~4zɶ?Q 9~4z)xY|yQ I?z8CDIze;iz;zï4y ,Bɮ (Aii!I?AJiRiji@iL^/r޿m?β?riYJlpԿeJ??Zij"@biQ i ,"g?wP0Pƿ#?zi:Jj3?Tvt߽+axK?2i2:i8?B=J>B9B="IB=FBB= =B=>DB=DB= ;B=/:EB:CB:CBC"i37?瞊?*ib[BiBiiii3?i_= checking for new query: numPingsReceived=102, elapsed TxPingTime=51.175388B =B =CJ5= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.505105 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Iu Added new target pos. range: 1.493848 m, bearing: 343.136352 deg, lat: 36.779398 deg, lon: -121.859620 deg, deltaT: 0.505105 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhu2hqbhqhqhq*hq"hy hy2hygyfyffdddjdZd#?ɢ#B<) ?i)ziopEiiG-1<-XP>I)I)bEg4jEd4rE+/E5 E5E5-E1"E5<;*E5:VE5t4ZE1BE5ēAzAAIIO>ԡ  DDAT read: Rx Time:00:35:26.7440  TRx dataTimestamp_ set to:1761525325.656304 DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  \#Rx 103: Read range message, but no direction.y Y  checking for new query: numPingsReceived=103, elapsed TxPingTime=51.429424,m?A9aYa=eDye8De=Em>iQ 54m)?Q 94m)mMBY=Q EIAI checking for new query: numPingsReceived=103, elapsed TxPingTime=51.677841}X%@y @y@} @y^AUr5>E5 E5E5,E1"E5a?;*E5:VE5g4ZE1a=@a=@aE@aE@A AI I O > ,]?A2R@2J`@2ϐٱ2\k :AHRS rotation from veh to nav: [[-0.933183,0.356874,0.042550],[-0.358633,-0.932379,-0.045305],[0.023504,-0.057537,0.998067]]2H@ ?ɥ?ֿ 02?@u)?i2R@I2~a;0YBCDIb:ib[:bѯ4yhɮnAll~B*** querying acoustic contact ***i| i|jh2h bh h h *h "h  h 2h gfffdddjdZd% ?IɢM<)I U4?iQ)U4QQiU:2JiYIYeDDAT read: Rx Time:00:35:27.2444 mTRx dataTimestamp_ set to:1761525326.160617uDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 }\#Rx 104: Read range message, but no direction.yaYef@a}checking for new query: numPingsReceived=104, elapsed TxPingTime=51.932999iiGIIE'@ @@ @A^ABABH>BBBBBBB);BN:E checking for new query: numPingsReceived=104, elapsed TxPingTime=52.181980a A I I O% >EE " EE EE -EA "EE Z;*EE :VEE t4ZEA BEE 9!Y!=%Dy% 9D%qX=E->)Q 54-I?Q 94-)-MBY=Q E;yQ I?-ACDI-:FA?A?ԱAII)O5>   % checking for new query: numPingsReceived=105, elapsed TxPingTime=52.685497,#?AF=U@F2c@FkR׼ٱF׍ RAHRS rotation from veh to nav: [[-0.917451,0.394496,0.051544],[-0.396981,-0.916290,-0.053101],[0.026281,-0.069180,0.997258]]FH[ n?? d?@!hٿ>R0@?ȵ?iF=U@IFa;FrCYn0Byr"I ttbDzVDz1y%<ٔ wQ- >9 Y = Dy 9DC=E>Q 5%4AyIIO^>}DDAT read: Rx Time:00:35:28.2444 TRx dataTimestamp_ set to:1761525327.168346DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 106: Read range message, but no direction.yyY}f@ychecking for new query: numPingsReceived=106, elapsed TxPingTime=52.9407429 ,ԓ?A2 NV@2Cd@2ﻼٱ2Sf :AHRS rotation from veh to nav: [[-0.910783,0.410191,0.047094],[-0.412248,-0.909778,-0.048527],[0.022939,-0.063612,0.997711]]2H!%@@??@Fbڿ`ب@q}?H??i2 NV@I2`;2sCY\yb"I fC=f<bDjVDjNyz:%~L=ٔ9 Y=Dy)9D(=E>Q 5%4X?Q 9%4)LBY)y-Q I-?GCDI-:i:4y1ɮ5A9BBB"IBKBBBBBD;Bi:E} addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503411 s, deltaX: 0.100000 m, approachRate: 0.198645 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hchecking for new query: numPingsReceived=106, elapsed TxPingTime=53.192036gff!f)didqdqjdu@Zdua?颡ɢ<) ?i)Uo顩iRihGIIAE  EE/E"ED;*E:VEJ4ZEBEњIYqIqO}> PExceeded connect timeout, disconnecting. DDAT read: Rx Time:00:35:28.7443  TRx dataTimestamp_ set to:1761525327.673199 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  \#Rx 107: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=107, elapsed TxPingTime=53.445595ԙ #(,?AVwCW@V9e@VwٱVZZ jAHRS rotation from veh to nav: [[-0.904605,0.424503,0.038565],[-0.425891,-0.903851,-0.040858],[0.017512,-0.053385,0.998420]]VH`+? ?AۿY@`뤿`? DU?iVwCW@IV`;VrCYr/Byr"IimMb@Mb@Mb@iiii i9m~jtl?MbYmym=mm/@m@ mM@)m@iYm@bD VD2y%@=ٔnR9Y=Dy:9D[=E>Q 54?Q 94)LBY&=Q EE1 EE,E"E2h;*E:VEg4ZEa@a@a@a@AfAzAfAI I O > ,?A2W@2e@2j 2ٱ2E" :AHRS rotation from veh to nav: [[-0.899781,0.435500,0.027105],[-0.436207,-0.899312,-0.031019],[0.010867,-0.039734,0.999151]]2H :? u?ۿ)oßA?W ?i2W@I2^`;2sCY@yB"IIF<)F<bDNVDNk1yV6c;%VZ=ٔV9XYX=ZDyZI9DZ<E^>\Q 5b4^¹?Q 9f4^')^LBYdyf$Q If?^KCDI^:i^6:^4yhɮjAlzB*** querying acoustic contact ***ix ixjh2hbhhh*h"h  h 2h g f ffdddjdEDDAT read: Rx Time:00:35:29.2444 MTRx dataTimestamp_ set to:1761525328.176392UDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 U\#Rx 108: Read range message, but no direction.yAYEf@A]checking for new query: numPingsReceived=108, elapsed TxPingTime=53.948776Zd` ?EBɢE<)A E?iA)MjXaIIiMViUhGqyIyIy 3@  @ @ Y @BBB"IBFBBBBB^;B:E^Au;> checking for new query: numPingsReceived=108, elapsed TxPingTime=54.199516I IQ Ia O >E  E E E "E a?;*E :VE ZE BE 9Y=Dy[9Dl<E>Q 54ν?Q 94F)LBY q=Q E ;y Q I ?NCDIm ;i ;4yɮ,AE addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503193 s, deltaX: 0.100000 m, approachRate: 0.198731 m/s, rangeRepo size: 4 jhE2hIbhIhIhI*hI"hI hI2hIgQfQfQfUYBdYdYdYjd]@Zde?颉ɢ<) ?i)%Y顑i:XiiGIInManaging dock network, ignoring radio surface power off%DDAT read: Rx Time:00:35:29.7437 -TRx dataTimestamp_ set to:1761525328.681643=DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 E\#Rx 109: Read range message, but no direction.y)Y-̌?)Mchecking for new query: numPingsReceived=109, elapsed TxPingTime=54.455467UP6@Y @Y@]Z @YI^AII O >q  checking for new query: numPingsReceived=109, elapsed TxPingTime=54.701206s,9AHRS rotation from veh to nav: [[-0.895632,0.444719,-0.008272],[-0.444795,-0.895517,0.014375],[-0.001015,0.016554,0.999862]]2H@Hv?wܿ `p?`P??i2UX@I2C`;2qCYF ByF"IbDNVDN1y~%\=ٔa9 Y = Dy i9D <E >Q 54#?Q 9%4])LBY!y%Q I%?QCDI ;i ;@4y)ɮ-\A1] addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505251 s, deltaX: -1.000000 m, approachRate: -1.979214 m/s, rangeRepo size: 4 jhe2habhahaha*ha"ha ha2higifififidqdqdqjdu?Zd} ?颥Bɢ<) N ?i)&R顩i}YihGII=:8@A @A@Mc @IE}  E} E}+Ey"E}D;*E}:VE} [4ZEya@a@a@a@ԉi9I=AEDDAT read: Rx Time:00:35:30.2441 MTRx dataTimestamp_ set to:1761525329.184847UDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ]\#Rx 110: Read range message, but no direction.yAYE?Aechecking for new query: numPingsReceived=110, elapsed TxPingTime=54.958477^Am6>II)O=> [,tyV?A2X@2f@2Y.;ٱ2,= :AHRS rotation from veh to nav: [[-0.895993,0.443566,-0.021095],[-0.444059,-0.895251,0.036556],[-0.002670,0.042121,0.999109]]2H`bc?ϙwkܿ@{?`)eꐥ?@?i2X@I2(`;2pCYR'ByR"I TTTTbDZ\VDZ2yf=%fN=ٔju;Q-j>9hYh=jDyjy9Dn/En>pQ 5v4rĞ?Q 9v4rw)rLBYtyzhQ Iz?rSCDIr:ir:r4 4y|ɮ~"A|BEI>BABE"IBE7BBE =BABABABE:Em addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503204 s, deltaX: 0.600000 m, approachRate: 1.192359 m/s, rangeRepo size: 4 jhu2hqbhqhqhq*hq"hq h2hgf f1f9dAdIdIjde@33?Zdm=]?checking for new query: numPingsReceived=110, elapsed TxPingTime=55.207870ɢ <) Q?i);JiQZiiGII:@ @@ @Ee EeEe*Ea"EeC;*Ee:VEe(N4ZEaBEe@U DDAT read: Rx Time:00:35:30.7440 ] TRx dataTimestamp_ set to:1761525329.689295m PDAT read: Bearing 107.5, -12.1 (Local) m ~Local bearing/azimuth received: Bearing 107.5, -12.1 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 - DAT read: 00:35:30.7440 LVL= 17232, 20897, 17250, 20051, AGC= 41, IDX= 502,-0.45,-1.217,-0.345,-0.626, 0.449, PHS=-1.564,-0.749,-1.119, RAW= 296.9, 59.8, CAL= 298.6, 62.9, ROT= 211.4, -62.9 = Ygot valid direction response: 00:35:30.7440 LVL= 17232, 20897, 17250, 20051, AGC= 41, IDX= 502,-0.45,-1.217,-0.345,-0.626, 0.449, PHS=-1.564,-0.749,-1.119, RAW= 296.9, 59.8, CAL= 298.6, 62.9, ROT= 211.4, -62.9 = V#Rx 111: Read range and direction messages.E `direction in FSK: [-0.388831,-0.237343,0.890213]E Fpublishing direction and range infoyQ U VؿpGCaο|?YU ?Q U PCU QU bC U SN)U )IU '1ȿiU w?U d;U ѥ@U 0?U Ŧ@ U ?)U "l@IU Q Q U _࿶׍W}X?p3[K? U /E@)U 9a IU %iU Q Q m checking for new query: numPingsReceived=111, elapsed TxPingTime=55.494167A AI I O >,ȳq?ARdX@RZf@RfٱR= =AHRS rotation from veh to nav: [[-0.897074,0.441703,-0.012538],[-0.441874,-0.896546,0.030851],[0.002386,0.033216,0.999445]]RH@ԴD?OGܿp?Ԍc??t?iRdX@IRN`;RqCԉYmBy{"Ii}Mb@Mb@Mb@yyyy y9}MbX9L7A`?Mb?Y}ʡy}+=}<}d@}@ }7@)} @yY}(@ p=bD VDf2y[%&=ٔw(Q->9 ?Y ?=Dy9DlE> Q 54 BȞ?Q 94 c) MBY`=Q E"i垊?*i2BiBib?iiiv@?i|? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504448 s, deltaX: -0.200000 m, approachRate: -0.396473 m/s, rangeRepo size: 4  Added new target pos. range: 1.493828 m, bearing: 60.534036 deg, lat: 36.779394 deg, lon: -121.859620 deg, deltaT: 4.534502 s, deltaX: -0.000021 m, approachRate: -0.000005 m/s, posRepo size: 4 jh=Docking sequence complete at range 1.50 m. Lat: 36.779394 Lon: -121.859620 Cable present.DZTransitioning guidance mode to: UNINITIALIZED:hDg f f f CBdddjd?ZdD?颅Bf)  ?i)[B顉diIchecking for new query: numPingsReceived=111, elapsed TxPingTime=55.7094655:@1 @1@5 @1@=gA@=gAE EE'E"EL;*E:VE'4ZEa@a@a@a@^A  A- 4AI1 IA OU >",?A2DDAT read: Rx Time:00:35:31.2441 2TRx dataTimestamp_ set to:1761525330.192653:PDAT read: Bearing 107.1, -22.6 (Local) :~Local bearing/azimuth received: Bearing 107.1, -22.6 (Local) BDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 RDAT read: 00:35:31.2441 LVL= 18480, 19857, 13490, 20547, AGC= 39, IDX= 503, 0.04, 2.876,-2.358,-2.465,-1.586, PHS=-1.720,-0.727,-0.923, RAW= 280.8, 52.6, CAL= 283.1, 57.5, ROT= 226.9, -57.5 VYgot valid direction response: 00:35:31.2441 LVL= 18480, 19857, 13490, 20547, AGC= 39, IDX= 503, 0.04, 2.876,-2.358,-2.465,-1.586, PHS=-1.720,-0.727,-0.923, RAW= 280.8, 52.6, CAL= 283.1, 57.5, ROT= 226.9, -57.5 ZV#Rx 112: Read range and direction messages.^`direction in FSK: [-0.367123,-0.392316,0.843391]^Fpublishing direction and range infoy02~׿Kҳٿs?Y2?020H2M24 2CP)2'I2(ܿi2:2Il2 Ԝ@2k?2@ 2t?)2!s}@I2t002tY szlS?]k? 2 3@)2kI2i2t00nchecking for new query: numPingsReceived=112, elapsed TxPingTime=55.976841vX@v;e@v[c ٱvt< ~AHRS rotation from veh to nav: [[-0.899547,0.436821,-0.001752],[-0.436739,-0.899285,0.023363],[0.008630,0.021781,0.999725]]vH@?޵\`ۿ@q?]? M?@?ivX@Ivm)`;tY  By i"IbD%VD%:y-Ҧ%Mj=ٔM_Q-U>9U?YU?=UDyU9D]qE]>aQ 54e˞?Q 94eV)e MBYyx=Q I?eXCDIe;ie;e4yɮ Ai0i2mT?AJi2?Ri2?ji2JL?i2Y&A̤+?ri2~׿Kҳٿs?Zi2bi2ti2S ?zN?SďŴ?zi2r%? ?a^"6?2i2f?:i2n>"i23wដ?*i2|!Bi2܆Bi237?瞊?i22i2Bi22?i2?EBDocked. Homing sequence complete.DE1EMgIfIfIfIdQdQdQjdU@33?Zd]Xȸ?B[c ) ?i)g<iII)iByByB}"IB}BB} =B}=DByB}K;B}r:EBm9CBm9CBmƓCBmƧ =BmƧ =CmR4-checking for new query: numPingsReceived=112, elapsed TxPingTime=56.215839I^A~>AzAAAԁ bEAjEE2`4rEEL0E  E E )E "E US;*E >:VE FA4ZE BE [J),?A6BW@6e8e@6nٱ6b>< BAHRS rotation from veh to nav: [[-0.904666,0.426041,0.008239],[-0.425871,-0.904629,0.016721],[0.014577,0.011619,0.999826]]6H@D?_߀?xAۿ@i? uڍ?ˇ??i6BW@I6_;6pCYF ByJk"IIL)N49Y=Dy{E>Q 54*Ϟ?Q 94) MBYm=Q E;y3>Q I?[CDI:i': 4yɮAB*** querying acoustic contact ***i izh 1E gfffJBCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCUninitialize.1DqDCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanced!d!d!jd)Zd-@0?Zmm=Zmm=Zm8@Zmj3>颁n) $?i)b5顉MiIDDAT read: Rx Time:00:35:31.7440 TRx dataTimestamp_ set to:1761525330.697556PDAT read: Bearing 98.5, -18.3 (Local) ~Local bearing/azimuth received: Bearing 98.5, -18.3 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 5DAT read: 00:35:31.7440 LVL= 14640, 23025, 13906, 19651, AGC= 41, IDX= 502,-0.08,-1.490,-0.795,-0.801, 0.092, PHS=-1.481,-0.842,-0.937, RAW= 277.9, 62.6, CAL= 279.5, 66.4, ROT= 230.5, -66.4 EYgot valid direction response: 00:35:31.7440 LVL= 14640, 23025, 13906, 19651, AGC= 41, IDX= 502,-0.08,-1.490,-0.795,-0.801, 0.092, PHS=-1.481,-0.842,-0.937, RAW= 277.9, 62.6, CAL= 279.5, 66.4, ROT= 230.5, -66.4 EV#Rx 113: Read range and direction messages.U`direction in FSK: [-0.254653,-0.308919,0.916363]UFpublishing direction and range infoyPL=Lп UӿgR?Y?09YR6 L))IhiPW;oi5@ً?-@ V?)I@IV :Hۿ|o#?lg؟i? e0@)ߋI#iVchecking for new query: numPingsReceived=113, elapsed TxPingTime=56.503075^A}<|^>IIO>Թ] checking for new query: numPingsReceived=113, elapsed TxPingTime=56.717293 +0,̴?A2V@2Qd@2ٱ2x; >AHRS rotation from veh to nav: [[-0.912145,0.409555,0.015968],[-0.409356,-0.912262,0.014357],[0.020447,0.006559,0.999769]]2HK0(6?@Y?2ڿ`?1f? ?@2z??i2V@I2D_;0YbByb~"IllD=D<bDvVDv1E}* E}E},Ey"E}a;*E}&:VE}g4ZEya@a@a@a@yޓ=%I=ٔalQ->9Y=Dy6E>Q 54MӞ?Q 94) MBYy >Q I?_CDI*(;i);'4y 1Bɮ A E1I% %Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalG%%Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal1H-G--No longer in Terminal. Resuming normal ranging with 1.000000 count pings.1H-qH-ii¤?AJi5?Ri5?ji?iptXؿ6@Ĉݿ;?riPL=Lп UӿgR?Zi#biVic1C?Vtj_?l?zi;$Ҿ?ż?L+?2i?:i*8>"it➊?*i%7BiӆBi垊?i%7iӆBip"?ip?: uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockA Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqE4Initialize Wait Component.dddjd?Zd@G?ZZZZ >i))---imqIq!DDAT read: Rx Time:00:35:32.2440 TRx dataTimestamp_ set to:1761525331.203541DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 \#Rx 114: Read range message, but no direction.yYchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.975784+w@R>@=Y^Au9 >IyIO>y B H>B B s"IB BB =B >DB B =;B c:E8V6,ڔ?ABT@Bb@B'ҼٱB; fAHRS rotation from veh to nav: [[-0.920872,0.389314,0.020722],[-0.389020,-0.921075,0.016860],[0.025651,0.007465,0.999643]]BHw?`F8?ؿryC? 9D?@<~??iBT@IB _;BoC-%=-%=Echecking for new query: numPingsReceived=114, elapsed TxPingTime=57.224949YByw"IbDVD0Yymټ%A=ٔbGQ->9Y=DySE>Q 54מ?Q 94)MBYy >Q I?bCDI;i;G/4yɮAi?qHHd!d!d!jd!Zd-$?ZZZZ: >iI)IQQiQYIYE4 E#E.E"Ej;*E;VEـ4ZEBEjAMA-xݿ9-jAY5 AԩDDAT read: Rx Time:00:35:32.7440 TRx dataTimestamp_ set to:1761525331.704986DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 \#Rx 115: Read range message, but no direction.yYchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.478519 <,7l?A2$S@2a@2,?ٱ2l/< :AHRS rotation from veh to nav: [[-0.930373,0.365860,0.023500],[-0.365429,-0.930609,0.020707],[0.029445,0.010678,0.999509]]2H`>j?M? 1c׿ ,4?&?$ޅ? ?i2$S@I2C_;2mCYNByRx"I TTTVAi-Mb@Mb@Mb@)))) )9-K7/$Mb`Y-I y-)-@-@ -d@)- @)Y-@bDEVDEyML;%U_=ٔUq+Q-U>9YYY=]DyYeEe>aQ 5m4eS۞?Q 9u4e)eMBYu >Q Eu;yu?Q Iu?eeCDIeZ >ZR@Z??Աi)iI5checking for new query: numPingsReceived=115, elapsed TxPingTime=57.7252129D1zD1EM EMEM,EI"EMV;*EMO:VEMg4ZEIam@am@am@am@^Au(z=IIO>  DDAT read: Rx Time:00:35:33.2441  TRx dataTimestamp_ set to:1761525332.208674 PDAT read: Bearing 85.7, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 85.7, 10.0 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 - DAT read: 00:35:33.2441 LVL= 10464, 24433, 13538, 15603, AGC= 41, IDX= 502, 0.06,-2.907,-2.829,-3.060,-1.739, PHS=-1.066,-1.045,-1.366, RAW= 26.7, 75.8, CAL= 26.1, 77.4, ROT= 123.9, -77.4 5 Ygot valid direction response: 00:35:33.2441 LVL= 10464, 24433, 13538, 15603, AGC= 41, IDX= 502, 0.06,-2.907,-2.829,-3.060,-1.739, PHS=-1.066,-1.045,-1.366, RAW= 26.7, 75.8, CAL= 26.1, 77.4, ROT= 123.9, -77.4 5 V#Rx 116: Read range and direction messages.= ^direction in FSK: [-0.121668,0.181062,0.975917]E Fpublishing direction and range infoy  |"%Ӧ -?bҵ:?Y ? ( q_ 4 <) I ri … ٮ > V? Z;> ?) e @I 鬿 |r_&>dWϿ2[? п:gC,0F?A()}WIe @i鬿Zchecking for new query: numPingsReceived=116, elapsed TxPingTime=58.015213~LQ@~2B_@~9 ٱ~M< MAHRS rotation from veh to nav: [[-0.939919,0.340284,0.027549],[-0.339717,-0.940239,0.023307],[0.033834,0.012548,0.999349]]~H 6?5?`տ p`ݗ?`R?`?@?i~LQ@I~zE_;~pCY}By}y"I 4=a=bD VD2yK;%C=ٔ+Q->9Y=DyME>Q 54ߞ?Q 94S)MBYyp>Q I?iCDI`:i:<4yɮAiiZ ?AJi?Ri?ji!@i)']ʿO?8ў`o?ri|"%Ӧ -?bҵ:?Zie @bi鬿iL?=KJǿv:ZkU^?ziAUi4? }-rvd&?2i 8:i֯>"i ?*i BidBiii܆Bi~ ?iO?dddjd@33?Zd`:X?ZZZZp>i!))))i)1I19999qAqAuAABBBy"IBBBBBB;BB:Eԡ@hA@iAUchecking for new query: numPingsReceived=116, elapsed TxPingTime=58.231483^A<I!IIO> E=  E= E= *E9 "E= V;*E= :VE= (N4ZE9 BE= }9Y=Dy9E>Q 54➊?Q 94)LBY%}>Q E%;y%]?Q I%?mCDIz;i>; D4y1ɮ5A9DDAT read: Rx Time:00:35:33.7440 TRx dataTimestamp_ set to:1761525332.713317PDAT read: Bearing 51.1, 26.9 (Local) ~Local bearing/azimuth received: Bearing 51.1, 26.9 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 00:35:33.7440 LVL= 10656, 23361, 15506, 17827, AGC= 40, IDX= 496,-0.43, 2.689, 1.356, 1.788,-2.973, PHS=-0.519,-1.910,-1.566, RAW= 103.7, 48.4, CAL= 101.9, 53.9, ROT= 48.1, -53.9 Ygot valid direction response: 00:35:33.7440 LVL= 10656, 23361, 15506, 17827, AGC= 40, IDX= 496,-0.43, 2.689, 1.356, 1.788,-2.973, PHS=-0.519,-1.910,-1.566, RAW= 103.7, 48.4, CAL= 101.9, 53.9, ROT= 48.1, -53.9 V#Rx 117: Read range and direction messages.\direction in FSK: [0.393485,0.438546,0.807990] Fpublishing direction and range infoyҩ.?'!?p ?ii-?AJi5?Ri5?jix@iW=:?t?c]UO?riҩ.?'!?p ?ZiV?bipiWUԿ4U+C?zixʿ/-࿵w?2iDF:i "i\zȞ?*izBiBit➊?iiӆBi>iZ}>Zl@Z]?i ) iI^A%9I1IYO9>! M checking for new query: numPingsReceived=117, elapsed TxPingTime=58.733246zP,B?AEv Ev,Ev+Et"EvM;*Ev;VEv [4ZEta@a @a @a @=ǛM@=o[@=0-ٱ=DŽ< mAHRS rotation from veh to nav: [[-0.957627,0.285765,0.035889],[-0.284891,-0.958163,0.027587],[0.042270,0.016193,0.998975]]=H@I?`_?;ҿE??@v??`?i=ǛM@I=_;=mCY!By"II<)p<bDVDy1;%@=ٔ/Q- >9Y=DyE>Q 54枊?Q 94)LBYyCV?Q I?qCDIK:i :yK4yɮAiiJiRiji@iW=:?t?c]UO?riҩ.?'!?p ?ZibiiEwEտ.a迮%?zi쁯z̿xQM!?2i C:i+"iDʞ?*iҝBiBi3wដ?i iiW>ieޏ@dddjdZd~?ZZZZCV?i!)!!!i!)I)@=@=@=@=!DDAT read: Rx Time:00:35:34.2441 TRx dataTimestamp_ set to:1761525333.216689PDAT read: Bearing 53.2, 18.5 (Local) ~Local bearing/azimuth received: Bearing 53.2, 18.5 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 00:35:34.2441 LVL= 11504, 19889, 16194, 18627, AGC= 41, IDX= 497, 0.11, 0.294,-0.784,-0.283, 1.298, PHS=-0.902,-2.037,-1.625, RAW= 111.0, 58.3, CAL= 109.3, 62.6, ROT= 40.7, -62.6 Ygot valid direction response: 00:35:34.2441 LVL= 11504, 19889, 16194, 18627, AGC= 41, IDX= 497, 0.11, 0.294,-0.784,-0.283, 1.298, PHS=-0.902,-2.037,-1.625, RAW= 111.0, 58.3, CAL= 109.3, 62.6, ROT= 40.7, -62.6 V#Rx 118: Read range and direction messages.\direction in FSK: [0.348893,0.300096,0.887815]Fpublishing direction and range infoy,&0DT?]-4?`닺h?Y?,MB? H))Iyfi5^п?S>?-? ً?)o5?Iً8`?D)lrԁ Ba Ba Be "IBe BBe =Be =DBa Be ;Be -:EУV,[?A>!K@>ɩY@>De:ٱ>E =< FAHRS rotation from veh to nav: [[-0.965545,0.256986,0.041007],[-0.256231,-0.966346,0.022820],[0.045491,0.011526,0.998898]]>Hvr??fпO ^?J??`?i>!K@I>_;>pCYr$Byr"Ichecking for new query: numPingsReceived=118, elapsed TxPingTime=59.238945abDVD1y]\<%eD=ٔm`Q->9Y=DyE>Q 5 4-꞊?Q 9-4)LBY1y5N?Q I=?uCDI;i<R4yqɮ}hAE3 EE*E"Ej;*E:VE(N4ZEBEԱDDAT read: Rx Time:00:35:34.7440 TRx dataTimestamp_ set to:1761525333.720760PDAT read: Bearing 50.3, 7.7 (Local) ~Local bearing/azimuth received: Bearing 50.3, 7.7 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 00:35:34.7440 LVL= 12400, 20817, 17394, 18995, AGC= 39, IDX= 497,-0.41, 0.567,-0.434, 0.354, 1.847, PHS=-1.177,-2.235,-1.536, RAW= 130.5, 62.0, CAL= 132.4, 67.3, ROT= 17.6, -67.3  Ygot valid direction response: 00:35:34.7440 LVL= 12400, 20817, 17394, 18995, AGC= 39, IDX= 497,-0.41, 0.567,-0.434, 0.354, 1.847, PHS=-1.177,-2.235,-1.536, RAW= 130.5, 62.0, CAL= 132.4, 67.3, ROT= 17.6, -67.3  V#Rx 119: Read range and direction messages. \direction in FSK: [0.367842,0.116686,0.922538] Fpublishing direction and range infoyIYi?t?d$>? ;>)&iInF>iY5 checking for new query: numPingsReceived=119, elapsed TxPingTime=59.505245 \,̴u?A6I@63W@6M:ٱ6' < >AHRS rotation from veh to nav: [[-0.972659,0.228346,0.042340],[-0.227743,-0.973543,0.018606],[0.045469,0.008455,0.998930]]6H m:?@? &ͿD' ?@G?`P?9qYq=uDyq}LE}>Q 54w잊?Q 94)LBYI>Q E;y2?Q I?xCDI:iH:X4yɮAԹii n?AJi5?Ri5?ji!ql@ip?1#-O? ?ribiYiۿ):ѿBs?zi 1nҿ ǿr q?2iԉ:id߾"iǞ?*ifXBiBi\Pʞ?iiBiD?i@dddjd?Zd?ZI>ZI>ZS{@Z2?i)iIII)O==checking for new query: numPingsReceived=119, elapsed TxPingTime=59.741261E  E E E "E P;*E :VE ZE a%@a%@a%@a-@9  DDAT read: Rx Time:00:35:35.2442  TRx dataTimestamp_ set to:1761525334.224663 PDAT read: Bearing 48.9, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 48.9, 6.3 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 00:35:35.2442 LVL= 11808, 21217, 17730, 19443, AGC= 39, IDX= 498,-0.20, 1.398, 0.450, 1.235, 2.729, PHS=-1.229,-2.234,-1.538, RAW= 132.5, 63.2, CAL= 134.7, 68.4, ROT= 15.3, -68.4  Ygot valid direction response: 00:35:35.2442 LVL= 11808, 21217, 17730, 19443, AGC= 39, IDX= 498,-0.20, 1.398, 0.450, 1.235, 2.729, PHS=-1.229,-2.234,-1.538, RAW= 132.5, 63.2, CAL= 134.7, 68.4, ROT= 15.3, -68.4  V#Rx 120: Read range and direction messages. \direction in FSK: [0.355077,0.097138,0.929776]% Fpublishing direction and range infoy  >? ޸?Bɟ?Y f? . R BE K) I Oi  /Ŀ @ 0? v@ Θ?) ܸ>I Θ  0:!?d?Ob? `>) ^GI ܸ>i Θ = T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ٵc,󏏕?A2UG@2U@2)ٱ2K; :AHRS rotation from veh to nav: [[-0.979049,0.199688,0.039846],[-0.199355,-0.979851,0.012203],[0.041480,0.004003,0.999131]]2H^T`?f?@wɿ@Z?9XYX=ZDyXZvE^>|Q 54~?Q 9 4~H)~LBY y |?Q I ?~|CDI~t:i~I:~_4yɮA9ii`?AJis?Ris?jitMh@iYF^?I?_ת?ri>? ޸?Bɟ?Ziܸ>biΘi:#࿥+6ѿ7?ziի UҿnOÿ)`k5?2i鍾:i"iXÞ?*i BiBi\zȞ?iiiU?i;@dddjd?Zd-?Z!Z!Z!Z%|?iQ)YYYiYaIaIIO=BAB G>B 8CB "IB -BB  =B >DB B ;B 4:EA%=%4==2Acoustic response timeoutqE $ E E ,E "E g\;*E :VE g4ZE BE 1ByR"Ii5Mb@Mb@Mb@1111 195V-v/MbY5hy5x齙55@1 5@)5@1Y5@ C=4=bD VD2y=%9=ٔ9Y=DyxE>Q 54?Q 94)LBY >Q E;yN?Q I?CDIWH;iG;Rg4y 6Bɮ A E-B*** querying acoustic contact ***i) i-5Done Waiting.qE558Uninitialize Wait Component.E5d1d9d9jd9Zd=ವ?Z] >Z] >Z]@Z]N?iiDDAT read: Rx Time:00:35:35.7441 TRx dataTimestamp_ set to:1761525334.728863PDAT read: Bearing 47.4, 5.5 (Local) ~Local bearing/azimuth received: Bearing 47.4, 5.5 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 00:35:35.7441 LVL= 11840, 20673, 17730, 18931, AGC= 41, IDX= 497,-0.07, 0.589,-0.324, 0.444, 1.946, PHS=-1.255,-2.225,-1.546, RAW= 133.0, 64.1, CAL= 135.2, 69.1, ROT= 14.8, -69.1 Ygot valid direction response: 00:35:35.7441 LVL= 11840, 20673, 17730, 18931, AGC= 41, IDX= 497,-0.07, 0.589,-0.324, 0.444, 1.946, PHS=-1.255,-2.225,-1.546, RAW= 133.0, 64.1, CAL= 135.2, 69.1, ROT= 14.8, -69.1 R#Rx 1: Read range and direction messages.\direction in FSK: [0.344903,0.091127,0.934204]Fpublishing direction and range infoyw?T?H?Y?@.P I))IףiffTſ@f3?@ ^?) A>I^2v8?|<%?GM? |hh>)=I A>i^52Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.)qqqiqqIyIIO>I - 2Acoustic response timeoutp,UÕ?AD^%=D^<Ej EjEj+Eh"EjmR;*Ej:VEj [4ZEhav@av@av@av@]HD@]R@]ٱ] AHRS rotation from veh to nav: [[-0.988522,0.149157,0.024000],[-0.149245,-0.988798,-0.001903],[0.023447,-0.005463,0.999710]]]H`?`j? xÿ<._? `v ?i]HD@I]^;]oCYOBy"IbDVDN2yH=%K=ٔ@9Y=DyGwE>Q 54?Q 94)LBYy?Q I?CDIp:i$:Zn4yɮ;Aii?AJi?Ri?ji10e@ikx? +d?5CN?riw?T?H?Zi A>bi^ig࿖/W Ͽ[?zi*PӿY¿*6t ?2ix:i("iG1Ǟ?*irBiBiǞ?ifXi5Bi')?iu@8GuidanceMode 0.000000 count Edddjd@33?Zd.V?lNCompleted lineCaptureHoming:LineCaptureq6ljAggregate::uninitialize lineCaptureHoming:LineCapture17 nAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesq7nNUninitialize AltitudeEnvelopeComponent.7 oUninitialize.7oNUninitialize OffshoreEnvelopeComponent.819q9r|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass99s Uninitialize.1:  t Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq: t @Uninitialize Buoyancy Component.Z!Z!Z!Z%?ai)顑iIIIODDAT read: Rx Time:00:35:36.2441 TRx dataTimestamp_ set to:1761525335.232802PDAT read: Bearing 43.8, 9.3 (Local) ~Local bearing/azimuth received: Bearing 43.8, 9.3 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 00:35:36.2441 LVL= 10912, 20401, 16850, 18563, AGC= 41, IDX= 497,-0.01, 1.768, 0.735, 1.457, 2.967, PHS=-1.098,-2.187,-1.555, RAW= 125.3, 61.0, CAL= 126.0, 66.2, ROT= 24.0, -66.2 Ygot valid direction response: 00:35:36.2441 LVL= 10912, 20401, 16850, 18563, AGC= 41, IDX= 497,-0.01, 1.768, 0.735, 1.457, 2.967, PHS=-1.098,-2.187,-1.555, RAW= 125.3, 61.0, CAL= 126.0, 66.2, ROT= 24.0, -66.2 R#Rx 1: Read range and direction messages.\direction in FSK: [0.368657,0.164137,0.914960]Fpublishing direction and range infoy ?,Pn?|rYG?Y*OA H)IDi = ǿ! @{F?L @ h?)Pw>Ih䓿wtW?ig?U?  x=)ZIPw>ih䓿2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԑ B B 9CB "IB ABB B B B ;B D:EBBBBBCR4v,6!ݕ?A2HUC@2JQ@2Sٱ2? :AHRS rotation from veh to nav: [[-0.991659,0.128094,0.014272],[-0.128241,-0.991693,-0.009942],[0.012880,-0.011689,0.999849]]2H@ae?:?6j@s\`??i2HUC@I2#_;0PYRWByV"IIbR=)b=r2Acoustic response timeoutbDjVDj2yz$=%zX=ٔzY99YA=EDyIU`E]>qQ 54u?Q 94uM)uLBYyW?Q I?uCDIuzbih䓿i}1׿6BMz?zi%'H7տ}> ̿u5e]?2i:i"i;Ş?*i^BirBiG1Ǟ?i irBi0?it@ZZZZW?ip:)iII1IiOu6>1DDAT read: Rx Time:00:35:36.7440 TRx dataTimestamp_ set to:1761525335.736671PDAT read: Bearing 36.2, 20.3 (Local) ~Local bearing/azimuth received: Bearing 36.2, 20.3 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 00:35:36.7440 LVL= 11344, 20593, 16082, 19331, AGC= 41, IDX= 496, 0.03, 2.662, 1.223, 1.901,-2.860, PHS=-0.659,-2.155,-1.566, RAW= 113.0, 49.9, CAL= 110.9, 55.4, ROT= 39.1, -55.4 Ygot valid direction response: 00:35:36.7440 LVL= 11344, 20593, 16082, 19331, AGC= 41, IDX= 496, 0.03, 2.662, 1.223, 1.901,-2.860, PHS=-0.659,-2.155,-1.566, RAW= 113.0, 49.9, CAL= 110.9, 55.4, ROT= 39.1, -55.4 R#Rx 1: Read range and direction messages.\direction in FSK: [0.440673,0.358125,0.823136]Fpublishing direction and range infoyO3?/I?!"W?Y?P,qP> K)I9(i rȿq?^?? w?)R.?Iw'`x?Lw? _)^IR.?iw] 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode.a },?A2&JB@2?P@2=ٱ2 :AHRS rotation from veh to nav: [[-0.993697,0.111990,0.005024],[-0.112065,-0.993525,-0.018682],[0.002899,-0.019127,0.999813]]2H\d?t?P`L!og?`w?i2&JB@I2a_;2mCYNfByN"Ii%Mb@Mb@Mb@!!!! !9%X9vMbPY%y%%%d@%@ %z@)%@!Y%@999bDEVDE0yMg=%UD=ٔU]9YYY=]DyYe}$Ee>aQ 5m4e?Q 9u4e)aYu>Q Eu;yuP?Q Iu?eCDIe? ;ie ;e9|4yɮAkR1Sii%?AJi5?Ri5?ji4q}@ir"?j)X?r ?riO3?/I?!"W?ZiR.?biwig(L?=8L=NQ}?zi9V1ٿ 9ڿ 9(?2i :i"ivÞ?*iyxBi׆Bi;Ş?iiia>?iu@Z>Z>Zt@ZP?i)顡iII!I1O==2Acoustic response timeoutiDzDE EE-E"EL;*E:VEt4ZEa@a@a@a@ԑԹ  DDAT read: Rx Time:00:35:37.2441  TRx dataTimestamp_ set to:1761525336.240304 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  X#Rx 1: Read range message, but no direction.y Y ?  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.,?A2EA@2O@2ܜ;ٱ27 :AHRS rotation from veh to nav: [[-0.994862,0.101092,-0.005390],[-0.100965,-0.994685,-0.020204],[-0.007404,-0.019556,0.999781]]2H,?vع@u[`S~|`5?i2EA@I2m_;0YfiByf"IbDe VDe:2ԙyl<%D=ٔ9Y=DyۼE>Q 54?Q 94)LBYy?Q I?CDIB:iN:4y ɮ nA E(Mode 0.000000 count 1SMqSMMZAggregate::initialize lineCaptureHoming:Lap:EZZZZ?i)项iIII O=AA@ABI>BB"IBPBBBBB1;BV:E2Acoustic response timeoutE  E E ,E "E 2;*E :VE g4ZE BE %% ېC0,*?A2#A@2O@2pe<ٱ2vT ^AHRS rotation from veh to nav: [[-0.995407,0.094462,-0.015559],[-0.094188,-0.995401,-0.017468],[-0.017137,-0.015923,0.999726]]2H_.?Nݏ`S;㑿u N?i2#A@I2_;0htY}|By}"I9Y@@ iMb@Mb@Mb@ 9{Gzt?RQ{Gzt?Yף;y½ף;@@ M@)M@Y@bD5VD52yE=%EB=ٔEiQIQ]*DAT read: user:192> ]*DAT read: user:192> eBDAT read: Tx time:00:35:38.1456 e$Ping request sent.eyQ 54}I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249983y ,[D?A2A@2N@2i<ٱ2$ :AHRS rotation from veh to nav: [[-0.995364,0.092768,-0.025373],[-0.092477,-0.995637,-0.012416],[-0.026414,-0.010012,0.999601]]2H?g CmR * ?i2A@I2_;0YBmByB"I J4=JC=DN=DN<ER ERER+EP"ERN;*ERd:VER [4ZEPaV@aV@aV@aV@bDZVDZNyb%bf=ٔbW9dYd=fDydj>Ej>lQ 5r4n?Q 9r4n)nLBYpyr?Q Ir?nCDIn:in :n4ytɮzHAx `Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shN  NCompleted lineCaptureHoming:restartDHCPqN  jAggregate::uninitialize lineCaptureHoming:restartDHCPZ)Z)Z)Z-?i9)999i9AIA=]Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.sh=\9echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455IiIO9>B H>B B "IB `BB =B B B E;B j:E-A,m^?A2-A@2X#O@2$ =ٱ29 >AHRS rotation from veh to nav: [[-0.994909,0.094876,-0.033966],[-0.094741,-0.995486,-0.005568],[-0.034341,-0.002321,0.999407]]2H`LI? c@@0v![c`%?i2-A@I2p_;0^ >^:?bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754185YfiByf"IbDrVDr:y-M%-D=ٔ-֛91Y1=}Dy";E>9Q 54=@?Q 94=o)=LBYy.?Q I?=CDI=?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006231 5j,Dx?A2A@2ČO@2:=ٱ2Fx :AHRS rotation from veh to nav: [[-0.994120,0.101396,-0.038017],[-0.101125,-0.994833,-0.009004],[-0.038734,-0.005107,0.999237]]2H?vL㹿 pԣ@t?i2A@I26q_;2pCY^nBy^"If=f=iMb@Mb@Mb@ 9 rh?ˡE{Gzt?YC =y'd@@ @)z@Y@bDMVDM1yf<%5=ٔ9Y=DyJo<E>Q 54?Q 94)LBY [=Q ExE EE-E"Ea?;*Eu:VEt4ZEa@a@a@a@1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509952Q,?A>!SB@>HP@>S"=ٱ>һ RAHRS rotation from veh to nav: [[-0.992859,0.112861,-0.038646],[-0.112522,-0.993590,-0.010832],[-0.039620,-0.006406,0.999194]]>H` n?Zɣ ?μ}/ IL=z@f?i>!SB@I>a_;>kCYZoByZ"IbDfVDfyn2;%nl=ٔn';Q-r?9pYp=rDypv=Ev?xQ 5~4z?Q 9~4z)zLBY|yA@Q I?zCDIzy;izd;zO4y ɮ <A k%^@1U-qU-ZAZAZAZE~A@iQ)YYYiYaIaIm=)mV>1u9IIO=BIAIBUJ>BQBQBQBU =BQBQBUL;BUs:Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764559ԡE  E E E "E [I;*E :VE ZE BE &C@>VQ@> B=ٱ>5:D JAHRS rotation from veh to nav: [[-0.991426,0.125540,-0.036253],[-0.125345,-0.992084,-0.007601],[-0.036920,-0.002992,0.999314]]>Hù? O '@"'碿`h`?i>&C@I>m_;9Y=Dy<E>Q 54?Q 94)LBY"=Q EԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265909 Gc,$Ŗ?A;ɰ;2D@2; R@23<ٱ2L :AHRS rotation from veh to nav: [[-0.989723,0.139778,-0.030164],[-0.139697,-0.990183,-0.004791],[-0.030537,-0.000528,0.999534]]2H`Ы`;*EF:VEFc44ZEDaJ@aJ@aJ@aJ@YN]ByR"I TTVAVAbDZVDZ0yb1ɽ%b[=ٔfQ-f>9dYh=jDyhj~=Ej>lQ 5r4n?Q 9r4nF)nLBYtyvQ Iv?nCDIn:in;na4yz1Bɮ~A~EblzlrljlZ9Z9Z9Z=Aw@iK9)iIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517949%)9)IQIaOmW>I BI BI BM "IBM PBBM =BM =DBI BM /;BM V:E0,ߖ?A2/E@2E%S@2AHRS rotation from veh to nav: [[-0.987379,0.156900,-0.021559],[-0.156869,-0.987614,-0.003119],[-0.021782,0.000303,0.999763]]2H@I?GĿiM`3?`?i2/E@I2h>_;2lCVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770721Y^KBy^"IbDVD1y%;=ٔ[Q->9Y=Dy < =E >!Q 5=4%?Q 9E4%)%LBYIyMfQ IU?%CDI%yUBDAT read: Rx Time:00:35:40.5511 ]TRx dataTimestamp_ set to:1761525339.768118]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039ԩ ,?A2gRF@2HT@2/S<ٱ2D-; :AHRS rotation from veh to nav: [[-0.984591,0.174375,-0.013153],[-0.174394,-0.984676,0.000355],[-0.012889,0.002644,0.999913]]2HƁQ?Rƿv0I7? ee?`J?i2gRF@I2^;2nC@Y^BByb"IiMb@Mb@Mb@ 9S㥫?ʡE?Mb`Y/]=y=@ @ @)z@Y@bDVDN2y01%M=ٔ!Q->9Y=Dyy8=E>Q 54r힊?Q 94w)LBY=Q E E  E!EE"EF;*E:VEZEa@a@a@a@ m DAT read: Range 11 to 50 : 1.1 m (Round-trip 1.5 ms) speed 0.0 m/s u *DAT read: user:193> u BDAT read: Tx time:00:35:41.6455 } $Ping request sent.} ~;ٱ%b: ]AHRS rotation from veh to nav: [[-0.981380,0.192031,-0.004067],[-0.192034,-0.981388,0.000561],[-0.003883,0.001332,0.999992]]%Hxgv?tpȿg aB?BoU?@?i%.xG@I%^;%lCYe#Bym"IIu>)u=bDVDk1yK%H=ٔuQ->9Y=Dy1=E>Q 5 4잊?Q 94f)LBY1y5Q I5?CDI;i;;ʰ4yAɮElAAblyzlrljlZZZZ]i@i)iII!IIO]=BI>BB"IBABB =B>DBB;B;:EB BBBBCé4XRequesting device enable set for address 50.9bE5^n4jE5b4rE5ɳ0E  E E )E "E L;*E :VE FA4ZE BE ޡ9Y=DyE>Q 54J랊?Q 94)LBY>Q E;yQ I?CDI;i-;:Ѱ4yɮ7 A XRequesting device enable set for address 50.blzlrljlZ>Z>Za?ZCڐ@iI)QQQiQYIYIIO=iԑ ,G?AD2=D2=E6 E6E4E4"E6&U;*E6:VE4ZE4a:@a:@a:@a:@>[I@>W@>Pٱ> FAHRS rotation from veh to nav: [[-0.973840,0.226870,0.012909],[-0.226880,-0.973923,0.000705],[0.012732,-0.002242,0.999916]]>H)@ ?`o?e Ϳ_*G?B?`^bP?i>[I@I>1_;>oCYNByRl"IbDZVDZN2yb<%b^=ٔb8Q-f>9dYd=fDydj=Ej>lQ 5]4n꞊?Q 9]4n )nLBYYyeVܿQ Ie?nCDIn!B J>B B "IB -BB B B B ;B .:E $,a?AY= ByEf"I IIMAMAbD]VD]k1y%<=ٔQ->9Y=DyE>Q 54鞊?Q 94)LBYyQ I?CDI;iQ;G߰4yɮ@ Abl!zl)rl1jl1ZZZZE  EE.E"EC;*E&:VEـ4ZEBEIq ,z?A:DK@:_:Y@:ټٱ:i1< BAHRS rotation from veh to nav: [[-0.967924,0.250182,0.023045],[-0.249829,-0.968138,0.017155],[0.026602,0.010847,0.999587]]:H<??fϿ ?=? -7?`?i:DK@I:w^_;:mCYHyJg"IiMb@Mb@Mb@ 9ˡE?~jt?y&1|Y'=y>`M@ M@)@Y 15%=bD5VD5yEʏ:%MR=ٔMQ-M>9QYQ=UDyQULy=E]>aQ 5m4e鞊?Q 9m4e()eLBYm^!>Q Em;ymʿQ Im?eCDIe;ie;e4yyɮ}> AyblzlrljlZ^!>Z^!>ZV?ZRm@i9)9AAiAIIIQIiIO =ԁDyzD}AAE EE+E"EmR;*Eg:VE [4ZEa@a@a@a@ԩ T,?A2sK@2Y@2 ٱ2*< :AHRS rotation from veh to nav: [[-0.966202,0.256213,0.028425],[-0.255542,-0.966469,0.025216],[0.033933,0.017100,0.999278]]2H !e?@?ZпP%ҙ?`_??`?i2sK@I2d$`;2lCYfByfW"IbDrVDr1yv%zP=ٔzQ-z>9xY|=~Dy|x<E>Q 5 4鞊?Q 94)LBYyɿQ I?CDIt:iI:4y!ɮ% A!bl9zlArlAjlAZYZYZYZ]@ii)qqqiqyIyIIOb=ԹBI>BB"IBBBBBB;B9:E E  E E .E "E C;*E :VE ـ4ZE BE @AHRS rotation from veh to nav: [[-0.965391,0.258628,0.033652],[-0.257558,-0.965697,0.033064],[0.041049,0.023253,0.998887]]2Hz\?:?{п?@e? ϗ??i2K@I2_;2nCYRByRX"IIVN>)V=ieMb@Mb@Mb@aaaa a9eZd;O?(\?~jtxYej<=yez>eĻed@e@ ez@)e@aYe@bD}VD}kyɦ;%A=ٔQ->9Y=Dy;E>Q 54鞊?Q 94{)LBY>Q E;y ϿQ I?CDI ;i* ;^4yɮ AblzlrljliIZ >Z >Z ?Z 9M@i)!i!!I)I!I9OE=9 BDAT read: Rx Time:00:35:44.0513  TRx dataTimestamp_ set to:1761525343.044293Թ S,dȗ?AD"%=D"4=E& E&E&,E$"E&9;*E&:VE&g4ZE$a*@a*@a*@a*@@BK@BY@B>ٱBG< JAHRS rotation from veh to nav: [[-0.965571,0.257436,0.037419],[-0.255974,-0.965866,0.039755],[0.046376,0.028808,0.998509]]BHy?(?aп_ Z?@? ?@?iBK@IB>_;BkCYnByn`"Itv@AbDzVDz0y%H=%-Q=ٔ-k_Q-->91Y1=5Dy15nE5>9Q 5E4=\鞊?Q 9M4= )9YIyM6ϿQ IM?=CDI=:i=:=24yQɮUi Ablzlrl1jl1ZQZQZQZU?B@ii)qyyiIIIO=ԩB H>B B m"IB BB =B =DB B ;B @:E g.,P◯?ApeCK@e=9Y@eJٱe= AHRS rotation from veh to nav: [[-0.967106,0.251266,0.039631],[-0.249547,-0.967377,0.043685],[0.049315,0.032358,0.998259]]eH?J?$Ͽ]???G??ieCK@Iḙ_;eiCYByW"IbD5VD5yE %E9=ٔUٻQ-e>9qYq=}DyyqE>Q 54 鞊?Q 94)LBYy пQ I?CDI;i;4yɮ A E EEE"E1;*E#:VEZEBE\)=DAT read: 00:35:44.0513 LVL= 11856, 20209, 16882, 18931, AGC= 41, IDX= 429,-0.49,-0.370,-1.669,-0.930, 0.606, PHS=-0.874,-2.230,-1.580, RAW= 118.6, 54.7, CAL= 117.6, 60.3, ROT= 32.4, -60.3 EYgot valid direction response: 00:35:44.0513 LVL= 11856, 20209, 16882, 18931, AGC= 41, IDX= 429,-0.49,-0.370,-1.669,-0.930, 0.606, PHS=-0.874,-2.230,-1.580, RAW= 118.6, 54.7, CAL= 117.6, 60.3, ROT= 32.4, -60.3 MPDAT read: Bearing 46.4, 17.4 (Local) U~Local bearing/azimuth received: Bearing 46.4, 17.4 (Local) ]DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s e*DAT read: user:194> BDAT read: Tx time:00:35:45.1445 $Ping request sent.#?}D?Y ?  P. N A I) I w_i R q=ʿ ;z@ ft? G\@ $?) ?I $   zd(?ʭP>l? Iü) /tI ?i $  :publishing transmit ping timeFpublishing direction and range infoy  `f?>#?}D?Y      ) I i      ) I    zd(?ʭP>l? ) I i   Y T,?A4<ɰ2ƈJ@2n~X@2b Hٱ2f = :AHRS rotation from veh to nav: [[-0.969912,0.240288,0.039138],[-0.238510,-0.970089,0.045167],[0.048821,0.034474,0.998212]]2H` ?@ ?`{ο . ???@[?i2ƈJ@I28_;2kCYNByRa"I TT9iuMb@Mb@Mb@qqqq q9u9Y=Dy;E>Q 54^鞊?Q 94)Y=Q E;y޽Q I?CDI ;i" ; 4yɮ` AblzlrljliAiE(?AJiE?RiE?jiE\|@iE?FON?`?riE`f?>#?}D?ZiE?biE$iEMFṍ׿rSؿS1Ъ%?ziEgӿNqp[Կؽc?2iE¾:iEm"iE)Zʞ?*iE]iBiE*BiAiAiAiE>iEQ@Z]=Z]=Z]e[?Z]M@iq)yyyiI:@ @@@IIO >iD]?AzD]?AEe EeEe-Ea"EeL;*Ee>:VEet4ZEaam@am@am@am@ԑ <,?A2}I@2rW@28ٱ2= :AHRS rotation from veh to nav: [[-0.973850,0.224331,0.035945],[-0.222673,-0.973856,0.044965],[0.045092,0.035785,0.998342]]2H )?cg?@̿`)?@W?lR?@j?i2}I@I2_;2jCYNByR^"I VC=Vp=bDZVDZ:2yvaL%vV=ٔv} 9xYx=zDyxz/E~>Q 54鞊?Q 9 4*)Y y Q I ?CDI6:iN:;4yɮs Abl9zl9rl9jl9ZYZYZYZ]@ii)iiiiiqԹIA1A1B=I>B9B=s"IB=BB9B9B9B= ;B=2:Ei@q @q@u @qIIO=E  E E *E "E *E :VE (N4ZE BE 9Y=Dy,VE>Q 54<꞊?Q 94)Yr=Q E_Aqߍ >ߍ p=ԙ $N,;I?AE  E EE"EC;*E:VEZEa@a@a@a@>gF@>_]T@> ٱ>< FAHRS rotation from veh to nav: [[-0.983913,0.176585,0.027084],[-0.175595,-0.983826,0.035402],[0.032898,0.030077,0.999006]]>H6| T??`yƿ@{5 ?@נ?f̞??i>gF@I>^;>mCY^)Byb"IIfa=)fp9tYt=zDyxz㊽Ez>|Q 54~꞊?Q 94~`)|Y y Q I ?~CDI~:i~:~W4yɮAAbl1zl1rl1jl1ZZZZu%@i)   i  Iy@ @@ @IIO >ԡB9 B9 B= y"IB= BB9 B9 B9 B= ;B= <:EBBBBȦ =BȦ =C4 L{,c?A6~D@6VtR@6ؼٱ6X2< >AHRS rotation from veh to nav: [[-0.988904,0.146750,0.023112],[-0.146180,-0.988950,0.024663],[0.026476,0.021011,0.999429]]6H ?? ¿{\A???Q?i6~D@I6^;6lCYF5ByF"ILLbDRVDR2yZP}=%ZM=ٔ^)9\Y\=^Dy\bgEb>dQ 5j4f/랊?Q 9j4f)dYhynQ In?fCDIf;if;fM%4ypɮrApblzlrljlZ!Z!Z!Z%]/@i1)111i99I9:@ @@@I bE g4jE 7i4rE í<0EE EEEE0EA"EECJ;*EE:VEE4ZEABEEiI! ԡ,$_}?A 2cB@2XP@2Zfٱ2< >AHRS rotation from veh to nav: [[-0.993341,0.113883,0.017450],[-0.113557,-0.993357,0.018643],[0.019457,0.016537,0.999674]]2Hr`q'?Kޑ?`0?x?@3? T?i2cB@I2Z^;2jCYRKByR"Ii]Mb@Mb@Mb@YYYY Y9]{GztI +MbpYYy]94]Y] @ ]@)YYYYbD}VD}y=%==ٔq9Y=DyęE>Q 54Q랊?Q 94)LBYPD=@AzD9EE EE EE+EA"EEV;*EE:VEE [4ZEAaU@aU@aU@aU@ԙ ?%,? ?@Լ??i2@@I2^;2iCYBPByF"IHJAPbDNVDNyV<%Z[=ٔZ˪9\Y\=^Dy\^ͽEb>`Q 5f4br랊?Q 9j4b)bLBYhyj}?Q Ij?`IbB:ib9:bf34ypɮr ApblzlrljlZ!Z!Z!Z%}?i1)111i19IABAp<BBB"IB-BBBBB=;Bc:E:@ @@@IIO%=eDAT read: OK e:unknown deviceResponse_: OK m*DAT read: user:195>  m g>m C G jA% MA1 } |9} jAY gAE  E E .E "E X;*E ]:VE ـ4ZE BE 9Y=Dy괽E>Q 54랊?Q 94)LBQ A+:YQ ER=yX?Q I?CDBDAT read: Tx time:00:35:48.1445 $Ping request sent.94yɮAblzlrljli)iI)@ @@ @IIO>Yԁ E]  E] E] *EY "E] E;*E] :VE] (N4ZEY ae @ae @ae @ae @:2, ˘?A2Q;@2 I@2cU;ٱ2I< :AHRS rotation from veh to nav: [[-0.999995,-0.000277,-0.003255],[0.000237,-0.999924,0.012313],[-0.003258,0.012313,0.999919]]2H 1'2fj@ /?a 7?@ jM7?U?i2Q;@I2M^;2jCYFmByF"IbDNVDNy-|=%-M=ٔ-91Y1=5Dy1I=ɽE]>iQ 5u4m랊?Q 9u4m)mLBQ Au :YqQ E}*=y}?Q I}?iIm;imvU?m>4yɮAblzlrljli)iIu:@y @y@} @yIIO=qԙBBB"IBFBB =B>DBBO;Bt:E n8,6䘯?A68@6bF@6c,<ٱ6u< BAHRS rotation from veh to nav: [[-0.999166,-0.039601,-0.009920],[0.039445,-0.999103,0.015410],[-0.010522,0.015006,0.999832]]6H+`FQ@$2?+?\G??i68@I6!<_;4YFByF"IbDRVDR0yZ=%ZT=ٔZN9\Y\=^Dy\bwнEb>dQ 5f4f랊?Q 9j4fd)fLBQ Aj9YhQ Ej =yj?Q Ij?dIdifl?fA4ypɮr\Apblzlrljli)))1Թ1iID!D!E= E=E=+E9"E=[I;*E=4:VE= [4ZE9BE=9 >,p?A2$6@2D@2<ٱ2@< :AHRS rotation from veh to nav: [[-0.996863,-0.077662,-0.015239],[0.077385,-0.996839,0.017987],[-0.016588,0.016751,0.999722]]2HM᳿@5ϳ?1k?cB'? ?i2$6@I2%W_;2iCY^By^#Iaa aa aa aa iMb@Mb@Mb@ 9QHzG:v?Yy= T<z@@ M@)M@Yp@AAbD  VD :2yٔ<%%5=ٔ%[9)Y)=-Dy)5DE5>9Q 5=4=|힊?Q 9E4=)=LBQ AET:YE<>Q EE;yE\?Q IE?=CDI={;i=;=I4yQɮU:AQblqzlqrlqjlqZ<>Z<>Z̏@Z-\?i)顡iIIgA)dAm>m=A@A @A@E @AIQIiOu>9E  EE(E"EG;*E:VEc44ZEa%@a%@a-@a-@iԑ hE,b?AY%By%#IbD=VD=k1yM=%MY=ٔMQ-M>9QYQ=UDyQ]E]>aQ 5m4e?Q 9m4e)eLBYiyiQ Im?eCDIe:ieB:eP4yyɮ}AyblzlrljlZZZZi)iIAqAqBJ>BB"IB`BB =BBB\;B:Eԙi@q @q@u @qIIO=EU  EU EU ,EQ "EU D;*EU O:VEU g4ZEQ BEU њ<ٱ2ĝ5< :AHRS rotation from veh to nav: [[-0.989157,-0.145483,-0.020076],[0.145217,-0.989299,0.014151],[-0.021920,0.011082,0.999698]]2H,@1¿@Վv?U'?1r4?@?i21@I2m_;0YBy'#IiMb@Mb@Mb@ 9y&1|?ףp= ÿ~jth?Y`;yD;d@ @  @)d@Y@bDVD0y 5=%B=ٔO9Y=DyiI%E>Q 54O?Q 94)Y>Q E;y3?Q I?CDId;i;uW4yɮYAbl!zl!rl!jl!ZE>ZE>ZE=@ZE3?i)iIm:@i @i@m @iIyIO>I  BDAT read: Rx Time:00:35:50.0451  TRx dataTimestamp_ set to:1761525349.100166E=  E= EE= +E9 "E= CJ;*E= ;VE= [4ZE9 aM @aM @aM @aM @R,AHRS rotation from veh to nav: [[-0.984662,-0.173442,-0.018936],[0.173249,-0.984812,0.011383],[-0.020623,0.007927,0.999756]]2H ZU3ƿ@d -? `O?979XY\=^Dy\^Eb>pQ 5z4r?Q 9z4rL)rLBYxy~?Q I~?rCDIrC;ir);r]4yɮA blzlrljlZZZZܒ?i)iI%>i%!>q:@ @@ @IIO>ԙBqBqBu"IBuyBBqBu=DBqBuh;Bu:E Y,f?A"DAT read: OK &:unknown deviceResponse_: OK &*DAT read: user:196> *BDAT read: Tx time:00:35:51.1445 *$Ping request sent.*9xY|=~Dy|~rE>Q 5 4?Q 9 4)LBYyr?Q I?CDI:ii:e4y%6Bɮ%uA%Ebl9zlArlAjlAZYZYZYZ]r?iq)qqqiqQIYE EE,E"E1A;*Eu:VEg4ZEBE! >_,,?Aj{?,@j#5:@j <ٱj zAHRS rotation from veh to nav: [[-0.973151,-0.229956,-0.009855],[0.230013,-0.973174,-0.005125],[-0.008412,-0.007254,0.999938]]|jH $0oͿ`. q?>$ tg: }~?ij{?,@Ij̗_;jjCYBy-#II%>)%=iMb@Mb@Mb@ 9/$?9Y=DyE>Q 546?Q 94)Y>Q E;y?Q I?CDI:i;l4yɮ\Ablzlrljl!Z=>Z=>Z=2n@Z=?iI)IQiI)e:@i @i@m @iIyIO>E  EEE"EG;*EV:VEZEa @a @a @a@Qԁ 1'f,Ι?AY~By~,#I  bDVD1y=_%=T=ٔEQ-E>9AYI=MDyIMEM>YQQ 5e4U?Q 9e4U)ULBYayaQ Im?UCDIU/;iUF1;U]s4yqɮudAqblzlrljlZZZZi)iIBA<B%H>B!B% #IB%BB% =B%>DB!B%;B%:EBBBBBC55:@9 @9@= @9IYIqO=ԁԱD zD @AbE|a4jEd4rE(90E- 7 E- E- 0E) "E- m;*E- :VE- 4ZE) BE- 9Y=Dy ټE >Q 54?Q 94R)LBY =Q E;y%?Q I%?CDI[;i;z4y)ɮ-A)blIzlIrlIjlIZm =Zm =Zm@Zm֋?iy)顁iI-:@) @)@- @)I9IIO]>9 E  E E E "E a?;*E u:VE ZE a- @a- @a- @a- @8s,Â͙?AV+@VG|9@Vji:ٱV{ jAHRS rotation from veh to nav: [[-0.970528,-0.240950,-0.004206],[0.240987,-0.970416,-0.014781],[-0.000520,-0.015359,0.999882]]VH` wο:q? E@- A t`?iV+@IVa!_;VkCYrByr#I ttbD~VD~N2y Ľ% [=ٔ 1Q- >9Y=Dy9E>!Q 5-4%r?Q 9-4%D)!Y)y-?Q I-?%CDI%:i%V:%^4y9ɮ=A9blYzlYrlYjlYZyZyZyZ}?i)顉iI:@ @@ @I IO%=ABF>B8CB#IBBB =BBBƄ;B:Eiԙ by,l]癯?AJ+@J49@JF8ٱJ~ ^AHRS rotation from veh to nav: [[-0.971750,-0.235983,-0.003715],[0.236012,-0.971633,-0.015093],[-0.000047,-0.015544,0.999879]]JH4οmn5?I鎿`^Տ?iJ+@IJ^;JhCYfByd nR=np=bDrVDryzR;%zL=ٔzQ-z>9|Y|=~Dy|4Q<E> Q 54 ?Q 94 #) Yy7?Q I? CDI :i  ; _4y!ɮ%A!blAzlArlAjlAZaZaZaZe7?iq)qqqiyyI-GqDDC=E EE,E"E&U;*E4:VEg4ZEBE9Y=Dyi<E>Q 54u?Q 94)Yh=Q EiE EEE"ECJ;*E:VEZEa@a@a@a@ 3y,&?A,6;-@61;@6O:ٱ6Y03 >AHRS rotation from veh to nav: [[-0.976613,-0.214964,-0.004091],[0.214996,-0.976561,-0.010298],[-0.001782,-0.010937,0.999939]]6Hj@˿ p ? ?(1]e@?i6;-@I6^;6iCYFByF"IbDRVDRyZ%Z[=ٔZAd;Q-^>9\Y\=^Dy\bk =Eb>dQ 5j4f?Q 9j4f)fLBYhyj?Q In?fCDIf7;if ;f^4ypɮrApblzlrljlZ!Z!Z!Z%?i1)119i99IAAABH>B9CBBB =BBBӄ;B:E@ @@ @IIO=ԁ=DAT read: OK =:unknown deviceResponse_: OK ԱE E E.E"E;;*E:VEـ4ZEBE=ٔ4w;Q->9Y=Dy=E>Q 54?Q 94 )YPA E  E E -E "E L;*E u:VE t4ZE a- @a- @a- @a- @ц,N?A2f/@2\=@2;ٱ2 :AHRS rotation from veh to nav: [[-0.983322,-0.181761,-0.006370],[0.181799,-0.983318,-0.005931],[-0.005186,-0.006990,0.999962]]2H_wCǿ5z@0E?WwJxs=uW|?i2f/@I2D^;0YBRByB"IbDJVDJNyR[%VY=ٔV;Q-V>9TYX=ZDyXZ$F=EZ>\Q 5b4^c?Q 9b4^)\Ydyf~"Q If?\I^*:i^C:^q4yhɮj$Alblxzlxrlxjl|ZqZqZqZuo@i)顡iIm:@i @q@u @qIIO=IqBE>B8CB#IBBBBBB„;B:Eԡ 鴙,xh?Aɰ2_0@2>@2;ٱ2&| :AHRS rotation from veh to nav: [[-0.986609,-0.162928,-0.007599],[0.162952,-0.986630,-0.002642],[-0.007067,-0.003845,0.999968]]2HLĿ? z8e| o ?i2_0@I2^;2fCYbJByb"IdfAbDnVDnyv%vF=ٔv;Q-v>9xYx=zDyx~d==E~>Q 5 4?Q 9 41)Y y E!Q I ?CDI9:i:4yɮbAbl9zl9rl9jl9qZZZZ[p@i1)111i19IAE  EE,E"EF;*E#:VEg4ZEBEb /,N~?A6B1@6?@6@<ٱ6ʺ BAHRS rotation from veh to nav: [[-0.989627,-0.143408,-0.008489],[0.143416,-0.989662,-0.000335],[-0.008353,-0.001549,0.999964]]6H`1[¿b t[?Pa5_Y`?i6B1@I6D^;6hCYF2ByJ"IiMb@Mb@Mb@ 99IYI=MDyIUC=EU>QQ 5e4U?Q 9e4U)QYe=Q Ee4E E=E*E"Ea?;*E;VE(N4ZEa@a@a@a@1Y ¦,[?A2|3@2$A@2E<ٱ2̢: :AHRS rotation from veh to nav: [[-0.992160,-0.124674,-0.008679],[0.124652,-0.992196,0.003025],[-0.008989,0.001920,0.999958]]2Hſ 꿿 cƁ@7?h?ht_?`?i2|3@I2r^;2eCYn(Byn"IbDzVDzyM%N=ٔZ:Q->9 Y = Dy  C=E>Q 54?Q 9%4)Y!y%\ɿQ I%?CDI;iP;ѹ4y)ɮ5vA1blIzlIrlQjlQBYAYBaBaBe"IBeeBBe =BaBaBe;Be:EZZZZ¸@i)顩iI95:@1 @1@1@1IAIYOe=aԉDzD?AE EE+E"EB;*E:VE [4ZEBEwEE@@  @)YbDVD2yJ%?=ٔ뀺Q->9Y=Dy`#=E>Q 54]?Q 94V)Y>Q E;y Q I?CDIu ;i ;L4yɮAbl zl rl jl Z->Z->Z-?Z-M@i9)9AAiAAIIԑ@ @@@II!O5 >E  E E *E "E y>;*E :VE (N4ZE a @a @a @a @ Գ,К?A2 #5@2C@2';ٱ2< :AHRS rotation from veh to nav: [[-0.995635,-0.093129,-0.006124],[0.093073,-0.995619,0.008971],[-0.006932,0.008361,0.999941]]2H`>T׷ yӷ? `#_?d| ?@?i2 #5@I2 ^;0YBByBo"IJ@AJBAbDNVDNNyV%V^=ٔVDQ-Z>9XYX=ZDyX^2#=E^>`Q 5f4b?Q 9f4b)bLBYdyf)Q If?bCDIb:ib:bDZ4ylɮn5 Alblxzl|rl|jl|ZZZZiř@i)))))i)1I1IhA)hAM:@I @Q@U @QIaIqO}=B]H>B]9CB]"IB];ٱ2C< >AHRS rotation from veh to nav: [[-0.996636,-0.081887,-0.003275],[0.081841,-0.996571,0.012216],[-0.004264,0.011907,0.999920]]2Hq`j??@wq{b?@X?i25@I2^;2iCYFByFW"IbDNVDNkyV%VJ=ٔV׻Q-Z>9XY\=^Dy\^<Eb>dQ 5j4fE?Q 9n4f/)dYlynQ In?fCDIf<;if>;fα4ytɮv AtblzlrljlZAZAZAZE!@iY)aaaiaiIqbEg4jE£f4rE+0E EE)E"EU,;*E#:VEFA4ZEBE]ףY]@ ] @)YYYYbDuVDu1y%>=ٔQ->9Y=Dyl<E>Q 54!?Q 94 )LBY+>Q E;y̶Q I?DDI:i:Zֱ4yɮ AblzlrljlZ+>Z+>Z?Z\@i) i  Im:@q @q@u @qIIO=E* EE.E"Ea;*E:VEـ4ZEa@a@a@a@A ,?A2u6@2:kD@2O朻ٱ2< :AHRS rotation from veh to nav: [[-0.997358,-0.072360,0.006391],[0.072484,-0.997129,0.021895],[0.004788,0.022300,0.999740]]2H[.C-z?@I?{k?Ŝs? 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O?Ku@W?? p??i6n''@I6C^;6KCYFByJ"IbDRVDRβyZ;<%Zp=ٔZãQ-^?9\Y\=^Dy`bEb?dQ 5j4f?Q 9j4f)fMMBYhyjO?Q In@f>FDIf:if:f4ypɮrApblzlrljlZ!Z!Z!Z%O?i9)9AAiAIIIԙ:@ @@~ @IIO=BA<BS>B:CBs"IBBB =BBBك;B:E ϸ,%ó?A2N&@2D4@2J*ٱ2: :AHRS rotation from veh to nav: [[-0.947629,-0.319202,0.010457],[0.319203,-0.947685,-0.001576],[0.010413,0.001845,0.999944]]2H RmԿ@gj?m?`oS YPS?@8^??i2N&@I2c^;2JCYN#ByN"IEb EbEb*E`"EbB;*Eb:VEb(N4ZE`BE`af2E`ajJEb)P9IYI=MDyIU3EU>YQ 5]4]Z?Q 9e4])]LMBYayeML?Q Ie@YI]:i]):]痸4yiɮuAqblzlrljlZZZZML?i)iI5:@1 @1@5 @1IAIQOe=!Qy &,ܳ?A2q%@2f3@2Mٱ2>'8 :AHRS rotation from veh to nav: [[-0.943197,-0.332022,0.011865],[0.331996,-0.943272,-0.004134],[0.012564,0.000040,0.999921]]2H.?տsL?m??H/p+?@?Z?i2q%@I2O^;2LCY^1By^"I ``dfAiMb@Mb@Mb@ 9V-~jtYyD@ z@)@YbDVDy<=%D=ٔШQ->9Y=DyE>Q 54?Q 94e)Ye=Q Elԁԩ / ,?A6$@62@6nٱ6 BAHRS rotation from veh to nav: [[-0.938689,-0.344501,0.013512],[0.344457,-0.938786,-0.005489],[0.014576,-0.000498,0.999894]]6H M ֿ0? ? {vٍ?T@!?i6$@I60\^;4Yb,Byb"IbDvVDvky¼%V=ٔQ- >9 Y =Dy E>!Q 554%J?Q 954% )!Y9y=,?Q I=@%AFDI%L;i%M;%祸4yIɮMTAQBmV>BiBm"IBm#BBm =BiBiBm̃;Bm9EB-9CB-9CB)B- =B- =C-w5blzlrljlZQZQZQZU,?ia)aaiiiiIqԹ)@) @)@-u @)I9IIO]>E& EE-E"E8^;*E:VEt4ZEBE°9Y=Dy׼E>Q 54?Q 9 4r)MMBY =Q E E<y 0O?Q I@CFDI9;i8;4yɮ6Abl9zlArlAjlAZe=Ze=Ze@Ze0O?iq)qqqiqyIyI):@ @@ @II O*>9i D %=D <bEuəT4jEu2`4rEu x0E - E E .E "E d;*E g:VE ـ4ZE a @a @a @a @- ,o*?A02#@2 1@2Vٱ21d >AHRS rotation from veh to nav: [[-0.930217,-0.366688,0.015379],[0.366573,-0.930338,-0.009803],[0.017903,-0.003481,0.999834]]2H@V w׿ "?u?@S  U? l ?i2#@I2Q^;2LCY^;Byb"If=f=hhbDpVDpyz=%zp=ٔ~yQ-m?9iYi=uDyqu3E}>Q 54?Q 94)YyeCԉ:@ @@x @IIO=Y9Y@ԹAaAaBuN>Bu9CBu"IBu7BBu =BqBqBu;Bu9E , KD?A2s"@2Ui0@2_!ٱ2* :AHRS rotation from veh to nav: [[-0.926571,-0.375807,0.015356],[0.375643,-0.926680,-0.012521],[0.018936,-0.005833,0.999804]]2Hw 8 ؿs? ?@\nc?!w`d?i2s"@I2^^;2KCER ERER-EP"ERN;*ER:VERt4ZEPBERp9tYt=vDytzμEz>|Q 54~?Q 94~)~NMBYy I?Q I @~FFDI~ :i~:~4yɮAbl1zl1rl1jl1=B*** querying acoustic contact ***i9 i9ZQZQZQZUӵI?i)iI:@ @@ @IIO=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I 20,W&^?A67!@6/@6`ٱ6j >AHRS rotation from veh to nav: [[-0.923524,-0.383266,0.014488],[0.383065,-0.923601,-0.014891],[0.019088,-0.008202,0.999784]]6Hoؿ@? 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EBDAT read: Tx time:00:37:38.9447 E$Ping request sent.Eqi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251260ԡ \, x?AJ!@J6/@J@ٱJ' ZAHRS rotation from veh to nav: [[-0.921211,-0.388844,0.013079],[0.388623,-0.921247,-0.016615],[0.018509,-0.010223,0.999776]]JH z`ؿ@Ɋ?4?z@r !? +?iJ!@IJ:)^;JJCYfHByf"I llprABV>B:CB"IBABB =BBB;B9EbDzVDzqy}0=%}I=ٔ:Q->9Y=DysE>Q 54?Q 94)Yyj?Q I@JFDI:i:vɸ4yɮrAblzlrljlZZZZj?i)iI @ @@ @IIO>ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503154E EE/E"EN;*E:VEJ4ZEBEa2EaJEG=ٔu[;Q-u>9qYq=}Dyy}AE}>Q 54?Q 94X)LMBYy?Q I@LFDI;i ;Ѹ4yɮAbl)zl)rl1jl1ZZZZ?i)iI:@ @@@IIOB>)M?M#@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007428E  E E 2E "E mR;*E :VE 4ZE a @a @a @a @Y l*,?AJR!@J{H/@J6rٱJ92e ZAHRS rotation from veh to nav: [[-0.919868,-0.392142,0.008153],[0.391947,-0.919798,-0.018679],[0.014824,-0.013987,0.999792]]JHoٿ??`n =\?;@L?iJR!@IJm0^;JLCYbLByf"IieMb@Mb@Mb@aaaa a9eQ?T㥛 Mb`Ye9Y=Dy}E>Q 54k?Q 94)Y=Q E>aB<A<B_>B;CB"IBPBB =BBDB;B9Eԉe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929Թ "T1,Ŵ?A2s!@2Pi/@2_>ٱ2>o :AHRS rotation from veh to nav: [[-0.920691,-0.390261,0.005009],[0.390119,-0.920588,-0.018009],[0.011640,-0.014627,0.999825]]2H`Lv@ؿ@t??`uuqև??i2s!@I2M^;0EF EFEF+ED"EFL;*EFd:VEF [4ZEDBEF9IYI=MDyIU0;EU>YQ 5e4]R?Q 9e4])YYaye?Q Ie@]OFDI]:i]6:]~޸4yqɮuAqblzlrljlZZZZj?i)iIԑI@Q @Q@U @QIYIqO}=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765042 P~7,mߴ?A2!@2y/@2`{ٱ2Q~ :AHRS rotation from veh to nav: [[-0.922670,-0.385589,0.001256],[0.385512,-0.922540,-0.017332],[0.007842,-0.015507,0.999849]]2H``ؿT?9?ru@a?V@?i2!@I28^;0YBKByB"IiEMb@Mb@Mb@AAAA A9E~jt?lMb`?YE9qYq=uDyquH<E}>yQ 54}5?Q 94}})}MMBY*=Q EH"@>N>0@>Lٱ>'h FAHRS rotation from veh to nav: [[-0.925743,-0.378146,-0.002463],[0.378141,-0.925637,-0.014300],[0.003127,-0.014169,0.999895]]>H3ؿ-d`x3?@Ҟ I@i?@#?i>H"@I>_^;>KCBRf>BR9pYt=vDytv<Ev>xQ 5~4z?Q 9~4z)zNMBYy+?Q I@zRFDIz;iz;ze4y ɮ A bl)zl)rl)jl)ZIZIZIZM+?i)iIIgA):@ @@ @ԑIIO=%>%<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519252E EE0E"Ea?;*E:VE4ZEBE9QYY=eDya}<E}>Q 54?Q 94)OMBYyu?Q I@SFDI~(;iX);s4yɮAblAzlArlAjlAZZZZ?u?i)顱iIE:@A @A@E~ @AIQIiOu6>!=BDAT read: Rx Time:00:37:41.3505 =TRx dataTimestamp_ set to:1761525460.568134Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024047D =D E  E E .E "E g5;*E O:VE ـ4ZE a @a @a @a @I J,-?AF#@F1@Fۤ;ٱFtĻ NAHRS rotation from veh to nav: [[-0.933641,-0.358105,-0.008719],[0.358142,-0.933662,-0.003077],[-0.007039,-0.005995,0.999957]]FHb/ֿ.ہ?@y4i|gx@?iF#@IFcp^;FLCYV>ByV"Ii=Mb@Mb@Mb@9999 99=:v?Mb`?Y=9iYi=mDyiu/=Eu>yQ 54}0?Q 94}z)}PMBYB=CB"IBFBB =BBDBσ;B :EBe;CBe;CBeƔCBeƥ =BeƤ =Cey6qԡ m DAT read: 00:37:41.3505 LVL= 16608, 20785, 14322, 18643, AGC= 40, IDX= 498, 0.24,-2.110,-1.012,-0.979,-0.111, PHS=-1.897,-0.856,-0.912, RAW= 272.7, 52.0, CAL= 274.6, 57.6, ROT= 235.4, -57.6 u Ygot valid direction response: 00:37:41.3505 LVL= 16608, 20785, 14322, 18643, AGC= 40, IDX= 498, 0.24,-2.110,-1.012,-0.979,-0.111, PHS=-1.897,-0.856,-0.912, RAW= 272.7, 52.0, CAL= 274.6, 57.6, ROT= 235.4, -57.6 } DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.304266,-0.441058,0.844328] Fpublishing direction and range infoy9 =  RyӿVZM:ܿ0?Y9 9 = @= 1Q= 7 = H)= (I= i= "[= xi= M@= Vh?= ]@ = ?)= x@I= 9 9 = kPZ9?8$ 3? = *@)= ^hI= - i= 9 9 Q,F?AE2 E2E2,E0"E2;;*E2:VE2g4ZE0BE2)$@>у2@>k=<ٱ>~˺ JAHRS rotation from veh to nav: [[-0.938520,-0.345038,-0.011387],[0.345032,-0.938588,0.002532],[-0.011561,-0.001552,0.999932]]>HZֿQ ?d?@eoY`q?i>)$@I>~^;>KCYR.ByR"IbDZVDZy]N%]K=ٔe79aYa=eDyim-=Em>qyQ 54u\?Q 94ub)qYy2@Q I@uTFDIu6;iu;u4yɮAAblzlrljliqiuD?AJiu?Riu?jiu ?iuw:E׿b<HO]J%?riu RyӿVZM:ܿ0?Ziu- biuiu򁂭_?r2%X?ʔ9?ziu+Zpf??4b&?2iub>:iu?"iuhsz0?*iuOCBiu6BiuG1Ǟ?iu^iu׆Biug?iu[p@ZaZaZaZeƅ2@i)顙iIii@i @i@m @iIyIO>ԡ kW,`?A2z%@2jp3@2*z<ٱ2=J; :AHRS rotation from veh to nav: [[-0.943357,-0.331508,-0.013382],[0.331427,-0.943447,0.007972],[-0.015268,0.003086,0.999879]]2H/n7տ-h6?@0S? EFi??i2z%@I2h^;0YB-ByB"IIF=)F=i Mb@Mb@Mb@     9 Mb?/$?Mb`?Y 99YA=EDyAE6=EE>IQ 5U4M?Q 9U4Mſ)MQMBYQ/=Q E1ys9Y^Aa ],z?AB&p>B&>CB&"IB&-BB$B$B$B&;B&9ER-z&@Ro4@Rjm<ٱRE; ZAHRS rotation from veh to nav: [[-0.948377,-0.316814,-0.014522],[0.316670,-0.948467,0.011401],[-0.017385,0.006213,0.999830]]RHY@FԿ@QD?@Y@/Y?r͑Asy??iR-z&@IRv^;RJCYb"Byb"IbDn VDnf2yv[%vO=ٔvȯ;Q-v>9xYx=zDyx~"=E~>Q 5 4?Q 9 4()RMBY y CQ I @VFDIy:ip:4yɮAbl9zl9rl9jl9ZYZYZYZ]Sn@ii)iiiiiqIq9:@ @@ @IIO=aE EE,E"EN;*E:VEg4ZEBEp9YYa=eDyiu=E}>Q 547?Q 94)SMBYy@Q I@WFDIԹE  E E (E "E *E :VE c44ZE a @a @a @a @ k,,G?A2u(@2k6@2b<ٱ2}8< :AHRS rotation from veh to nav: [[-0.957758,-0.287327,-0.011916],[0.287139,-0.957766,0.015328],[-0.015817,0.011259,0.999811]]2Hcҿ gz`?7d?`2 ?t?i2u(@I2M^;2HCYBByBw"Ii Mb@Mb@Mb@     9 ~jth?ˡE?Mb`Y D;y =   @ 7@) d@ Y @bDyVDyy%E=ٔ‚Q->9Y=DyJ=E>Q 54P?Q 94g)Y=Q E!BABEs"IBEBBE =BABABE;BE9EI q, ȵ?AE&; E&E&0E$"E&Dq;*E&:VE&4ZE$BE&7R)@>G7@>O<ٱ>Y< JAHRS rotation from veh to nav: [[-0.961572,-0.274419,-0.008567],[0.274259,-0.961519,0.016223],[-0.012689,0.013250,0.999832]]>H2 ѿ@@v?`?@ "??i>R)@I>_^;>GCYR ByRk"IbD^VD^yfoM%fX=ٔf2Q-f>9hYh=jDyhnB=En>pQ 5v4r?Q 9v4r/)rRMBYtyvIQ Iv@r[FDIr:irW:r$4y|ɮ~N A|blzlrljlZ1Z1Z1Z5|@iI)IIIiIQIQ@ @@ @IIO=ԩ ~x, ᵯ?A6V*@67@6D<ٱ6TI< >AHRS rotation from veh to nav: [[-0.964578,-0.263758,-0.004552],[0.263673,-0.964511,0.013962],[-0.008073,0.012267,0.999892]]6H gпr@? F9???i6V*@I6G^;6ICYF ByFg"IliMb@Mb@Mb@ 9Zd;OzG?Yjy =7@ )7@Yz@bD5VD5N2yEq[%EC=ٔEk4Q-E>9IYI=MDyIM<EU>QQ 5]4UO?Q 9e4U])USMBYe#=Q Ee;yeϿQ Ie@U^FDIUi ;iU:U$,4yiɮue AqblzlrljlZ#=Z#=Z?Z'@i)iIIhA)E]$ E]E],EY"E]g\;*E]1:VE]g4ZEYae@am@am@am@@ @@{ @I IQOe>1i I a BE m>BE =CBE `"IBE BBE =BA BA BE ;BE 9EXE~,9QYQ=UDyQ]`<E]>aQ 5e4e'?Q 9m4e)aYiym~οQ Im@eaFDIe:ie[:e:34yyɮ} AyblzlrljlZZZZTp@i)iIi@i @i@m @qIIO=aEe Ee Ee.Ea"EeV;*Ee:VEeـ4ZEaBEe}9XYX=ZDyX^.<E^>dQ 5v4f?Q 9z4f)fTMBY|y}ͿQ I@fdFDIfu=u%=Eu C Eu Eu /Eq "Eu x;*Eu :VEu J4ZEq a} @a} @a} @a} @! W,T/?A2+@2L 9@2[!ٱ2Y< :AHRS rotation from veh to nav: [[-0.968826,-0.247406,0.012863],[0.247543,-0.968821,0.010435],[0.009881,0.013294,0.999863]]2H`@Ͽ@#X?~?@ ^?U9QYQ=Dy>y;E>Q 54?Q 94)QMBY=Q E;yaƿQ I@gFDI7:ia:A4yɮ9 AblzlrljlZ5=Z5=Z5?Z5yw@iA)AAIiIIIQYi]>@ @@ @IIO>!B j>B B Z"IB BB  =B B DB փ;B :EIԁ >,iI?AE E;E*E"EV;*E ;VE(N4ZEBE9Y=DyλE>!Q 5%4%,?Q 9-4%)%NMBY)y-ƿQ I-@%iFDI%:i%>:%BH4y1ɮ=_ A9blQzlQrlYjlYZqZqZqZu`@i)顉iIQ)@1 @1@5 @1IAIQOe=ԁiIԱ h,Ec?A2*@278@2+ٱ2< :AHRS rotation from veh to nav: [[-0.966585,-0.255024,0.026023],[0.255415,-0.966745,0.012946],[0.021857,0.019160,0.999578]]2HBORп奚? X? Z?a???i2*@I25^;2ICYBByBt"IiEMb@Mb@Mb@AAAA A9EX9v rh?~jtxYEyEC=EĻEz@A Ez@)E@AYE@bD]VD]0ymR?=%mD=ٔmkiQ-m>9qYq=uDyq}cE}>Q 54?Q 94)LMBY=Q E1B B m"IB BB B B B ;B :EB=CB=CB˓CBˡ =Bˡ =C3]59 1,%}?A2)@2J7@2hq޼ٱ2< :AHRS rotation from veh to nav: [[-0.963904,-0.264349,0.031757],[0.264862,-0.964197,0.013126],[0.027150,0.021064,0.999409]]2H`M@п{B??? M͛??`)?i2)@I2iT^;2JCYB"ByB"IbDJVDJ2yRӋ=%VW=ٔVdQ-V>9XYX=ZDyXZӼEZ>\Q 5b4^?Q 9f4^x)^JMBYdyfQ If@^mFDI^:i^:^*V4yhɮjAlblxzlxrlxjlqZZZZԛ@i)iI :@ @@~ @IIO=EE EEEE-EA"EEmR;*EE:VEEt4ZEABEE9IYI=UDyQUEU>Q 54a?Q 9 4R)GMBY9y=Q IU@oFDIԙDI DM R=bEjE^n4rENU0EU  EU EQ EQ "EU E;*EU o;VEQ ZEQ ae @ae @ae @ae @ Ф,oְ?A6(@6~6@6xٱ6E< DD JAHRS rotation from veh to nav: [[-0.955601,-0.292173,0.038234],[0.292803,-0.956098,0.011937],[0.033068,0.022602,0.999197]]X6H`Hҿ@n?G?[`\r? 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X%?|և@?yO?@?i2@@I2"^;2/CYBMByB"Ii Mb@Mb@Mb@     9 L7A`?MbX9Ŀ~jtx?Y +=y ! ; z@  )  Y p@bD%VD%1y5;%5B=ٔ5s&;Q-5>99Y9==Dy9EEE>IQ 5U4M6?Q 9U4M)MNBYr/>Q E;y?Q I @MuIDIMZr/>Zau@Z?i)iI>i>:@ @@ @IIO!>BBB"IBABBBBB;BT:E1E 0 E 3E E "E Jg;*E t ;VE ZE BE 9dYd=fDydfEj>hQ 5n4j6?Q 9r4j;)j NBYpyr?Q Ir @jyIDIj;ij;jo4ytɮzbAxbl zl rljlZ)Z)Z)Z-է?i9)AAAiAIII1@ @@ @I I!O5=aԉ T@/,Я?AEj6 Ej0Ej*Eh"Ejl;*Ej;VEj(N4ZEhaz@az@az@a~@@@x&@ٱm AHRS rotation from veh to nav: [[-0.857272,-0.514767,0.010010],[0.514461,-0.857207,-0.022947],[0.020393,-0.014522,0.999687]]Hnx (?uv?`=n| ?׽n?i@Ik^;0CYWBy"IiMb@Mb@Mb@ ԑ9)\(?x&1ȿ{Gz?YGa=yA#<@@ )@Yf@bDVD:yU&<%.=ٔ;9Y=DyE>Q 548?Q 94)NBYI>Q E;y?Q I @IDI ;i ;x4yɮOAblzlrljlZ%I>Z%I>Z%۟@Z%N?i1)111i19I9@ @@ @II O*>ԹiIB <A p<B e>B B "IB [BB B B B ;B +:EBBBBBC,4 &6,SЯ?AY][By]"IbDuVDuNy}4<%`=ٔQ->9Y=DyE>Q 54!:?Q 94)NBYyQ I @IDI/;i:q~4yɮ0AblzlrljlZZZZi)iI @ @@ @ID%=DR=E E E,E"E[I;*E:VEg4ZEBEI P<,Я?Aɰ 6=@6%@6mٱ6d BAHRS rotation from veh to nav: [[-0.850749,-0.525551,0.004712],[0.525304,-0.850567,-0.024341],[0.016801,-0.018233,0.999693]]6HU9P@6Ms?I?`7옿84?`@{?i6=@I65^;4YRVByR"I TTbDZVDZk2yb%bW=ٔf9dYd=jDyhjeEj>lQ 5r4n;?Q 9r4n,)nNBYtyve?Q Iv @nIDIn:in$:n4yxɮz]AxblzlrljlZZZZe?i)iI G=99YEx@q@q @q@u @yIԉIO=M=MR=E* EEE"Ea;*E :VEZEa@a @a @a @ 8C,0 ѯ?A6D@6H:%@6uMٱ6ư BAHRS rotation from veh to nav: [[-0.847236,-0.531216,-0.000837],[0.531069,-0.846962,-0.024941],[0.012540,-0.021576,0.999689]]6HpK?`O/`? r?i6D@I6*^;61CYJUByJ"I`iMb@Mb@Mb@ 9ˡE?S㥛Ŀ~jtx?Y'=y$;@@ d@)@Yp@bDVDJ2y%=%%6=ٔ%9)Y)=-Dy)-vE5>9Q 5E4==?Q 9E4=O)=NBYE<*>Q EE;yE@?Q IE @=IDI=a:i=:=4yQɮUbAQblizlqrlqjlqZ<*>Z<*>Zƞ@Zw@?i)顡iI @ @@ @I!I1O=>BiBiBm"IBm`BBm =BiBiBm;Bm):ED @AzD bEqjEug4rEuɼ 0E  E E +E "E CJ;*E :VE [4ZE BE 91Y9==Dy9=EE>AQ 5M4EU??Q 9M4E¶)E#NBYQyQQ IU @EIDIE6:iE:Er4yYɮ]AablyzlyrlyjlZZZZi)顱iII)I@I @Q@U @QIaIqO=Iqԡ OP,OAѯ?AEZ EZEZ.EX"EZV;*EZ:VEZـ4ZEXa@a@a@a@qs@pi&@_;ٱP AHRS rotation from veh to nav: [[-0.856970,-0.515189,-0.013480],[0.515334,-0.856915,-0.011310],[-0.005725,-0.016639,0.999845]]HLln|}?k)rw @?is@I^;YyI<);iMb@Mb@Mb@ 9y&1?:vY`9Y=Dy%=E>Q 54y@?Q 94)Y=Q E;yp?Q I @IDI ;i ;r4yɮAblzlrljlZ==Z==Z=X6@Z=p?iI)IIQiQQIYԙ@ @@ @IIO (> AY A] AABa Ba Be "IBe [BBa Ba Ba Be ;Be :EtV,[ѯ?AY+By"IbDVD:y%%%k=ٔ-Q--?9)Y)=-Dy)5E5?iQ 5u4m[A?Q 9u4m)m$NBYqyyQ I} @mIDIm/;imL;m4yɮAblzlrljlZZZZi)iI@ @@ @IDD<E EE-E"E,K;*EVEt4ZEBEM1Y \,vtѯ?A2A@2'@2C<ٱ2:N :AHRS rotation from veh to nav: [[-0.866076,-0.499635,-0.016650],[0.499769,-0.866145,-0.004924],[-0.011961,-0.012586,0.999849]]2H ߿ 6?u+t Ɖ?i2A@I2P*^;2/CYFByJ"IbD^VD^02yf%fP=ٔf9hYh=jDyln;=En>pQ 5v4rCB?Q 9v4r|)pYtyv?Q Iz @rIDIrd:ir:rj4y|ɮ~ A|blzlrl!jl!Z9Z9Z9Z=p?iI)QQQiQYIYe>ia1@ @@ @IIO=aE! EE+E"EY;*EVE [4ZEa@a@a@a@ԉԱ ܇c,ώѯ?An"@n*@n ^<ٱnp ~AHRS rotation from veh to nav: [[-0.890751,-0.453984,-0.021477],[0.454085,-0.890958,0.000163],[-0.019209,-0.009607,0.999769]]nH ݿ`?T%?t@?in"@In)^;n.CY By u"I iMb@Mb@Mb@ 99Y=Dy=E>Q 54C?Q 94e)(NBY:=Q EQ I @IDI r@Z0>i)   i)I1@ @@ @IIO&>B B B "IB 9 Y = Dy =E>Q 5%4IE?Q 9%4N)+NBY)y-DS>Q I- @IDIs;i<;4y1ɮ5W A1blQzlQrlQjlQZZZZ:DS>i)顩iIi@q @q@u @qIIO=I p,kѯ?A EJ EJ EJ,EH"EJN;*EJ:VEJg4ZEHaZ@aZ@a^@a^@W!@FM/@q<ٱ" AHRS rotation from veh to nav: [[-0.919949,-0.391653,-0.017395],[0.391663,-0.920104,0.002962],[-0.017165,-0.004088,0.999844]]H7pٿϑ?}q1Ch?߾p?iW!@Ip)^;-CYByI"IiMb@Mb@Mb@ 9T㥛 v/?~jtx?Yyxi=;M@ @ @)7@Y(@bDVDky%.=ٔbQ->9Y=Dy  =E >Q 54F?Q 94B).NBYm=Q EԉԹ B A <B B B s"IB BB B B B ;B 9Ev,[\ѯ?AL^e#@^ 1@^X<ٱ^ fAHRS rotation from veh to nav: [[-0.934246,-0.356389,-0.013120],[0.356385,-0.934335,0.002735],[-0.013233,-0.002121,0.999910]]^H Wֿފ@?@ ;gf?@%_aC?i^e#@I^F^;\YnڃByn-"IIp)rQ- ?9 Y = Dy=E?Q 5%4G?Q 9%4)1NBY!y-ጿQ I- @IDI:i-:4y1ɮ5: A1blQzlQrlQjlQZqZqZqZuoץ@i)顁iI)@1 @1@1@1IAIQO]=E$ EE-E"Eg\;*E:VEt4ZEBE1x9tYx=~Dy|~k=E~>Q 5 40I?Q 9 4)3NBY yQ I @IDI;iz;4yɮ Abl9zl9rl9jl9ZYZYZYZ]@ii)iqqiqqIy:@ @@ @II O=iIAE' E+E+E"E _;*E=;VE [4ZEa@a@a@a@Qq ڃ,N*ү?A:h(@:z6@:ZI:ٱ:/y FAHRS rotation from veh to nav: [[-0.958131,-0.286328,-0.000873],[0.286328,-0.958132,-0.000238],[-0.000768,-0.000478,1.000000]]:H2SҿL3S?+/S+I %O? ?i:h(@I:ף;@@  @)M@Yp@bDVD02y%==ٔlQ->9Y=Dy=E>Q 54J?Q 94)5NBY->Q E;yQ I @IDI ;i ;U4yɮ AblzlrljlZ5->Z5->Z5) @Z5Q@iA)AAAiIIIQIY)Y:@ @@ @IIO >yBd>BB;"IBBB =BBB;B9EBaBaBaBeĤ =BeĤ =Ce4ԩE 3 E AE /E "E j;*E ;VE J4ZE BE 9Y=Dy =E >Q 5-4L?Q 9-4&)7NBY)y5Q I5 @IDI~;i;4yAɮEs AAԹblzl rl jl ZyZyZyZ}Qe@i)顱iIi@i @i@m @iIIO> EGYq`9Y@9 Q,Cү?AE6! E6(E6,E4"E6Y;*E6;VE6g4ZE4aJ@aJ@aJ@aN@2,@x:@ٱM < 5AHRS rotation from veh to nav: [[-0.973996,-0.225854,0.017964],[0.225966,-0.974125,0.004458],[0.016492,0.008401,0.999829]]H*̿*e?v?,Br?`f?4??i2,@I&^;.CY=ByE!IiMb@Mb@Mb@ 9 rhZd;O?t@ d@)7@Y@bDVDk2y%.=ٔQ->9Y=DyV}=E>Q 5 4M?Q 94)3NBYI>Q E;yQ I @IDI ;i:4yɮ% A!bl9zl9rl9jlAEB*** querying acoustic contact ***iA iAZeI>ZeI>Ze_?Ze)Κ@iq)qqqiqyIyA@ @@ @IIOE>u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.qA A @AB e>B B "IB ƒBB =B B B g;B 9Eԑ ,w]ү?A2.@2;@2мٱ2< :AHRS rotation from veh to nav: [[-0.978812,-0.202747,0.028641],[0.203172,-0.979060,0.012766],[0.025453,0.018315,0.999508]]2HmRɿT?`?@uTG%?\?*??i2.@I2'2^;2-CYBByB!IbDJVDJ02yR(%Ry=ٔV߼Q-V?9TYT=VDyTZ=EZ?\Q 54^N?Q 94^8)^1NBYyQ I @^IDI^RqiIA*DAT read: user:198> BDAT read: Tx time:00:39:38.9440 $Ping request sent.9xYx=zDyxzO4=E~>Q 54O?Q 9 4R).NBY y dzQ I  @IDI:i:4yɮ AblzlrljlZZZZ@i)iI@ @@ @IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503942 E EE0E"EV;*E1:VE4ZEa@a@a@a@) ",Xү?A06/@6=@6ίٱ6< BAHRS rotation from veh to nav: [[-0.984106,-0.172228,0.043272],[0.173251,-0.984652,0.021089],[0.038976,0.028251,0.998841]]6H@}` ƿ@'?-?Df?`?`??i6/@I6b@^;60CY^Byb!I=>=>@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754110iUMb@Mb@Mb@QQQQ Q9UI +/$?~jtYU9yU,>UDUd@U@ U@)U@QYU@bDmVDmy}]<%}A=ٔ>Q->9Y=Dy<E>Q 54_O?Q 944)*NBY->Q E;yοQ I @IDI ;iP ;r4yɮ AblIzlIrlIjlIZ->Z->Z?ZR@i)项iIԉBUd>BQBU!IBUBBU =BQBQBUB;BUz9Ei@i @i@m @iIyIO>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005807D zD AAE / E E +E "E af;*E :VE [4ZE BE Ϸ@: ٱ:H= VAHRS rotation from veh to nav: [[-0.985151,-0.166028,0.043734],[0.167188,-0.985625,0.024339],[0.039064,0.031290,0.998747]]:H [c@ſ@Cd?`if?<n?2?5??i:W0@I:&^;:-C`YjByj!IbDvVDvk1y=%S=ٔUmQ- >9 Y =Dy<E>!Q 5-4%&O?Q 9-4%)%'NBY1y5&οQ I5 @%IDI%;i% >;%B4yAɮEe AIblizlirlijliZZZZ9@i)项iI1@1 @1@5 @9IAIYOe=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257744A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5097915,{ү?Aɰp;E&) E&/E&1E$"E&`;*E&Y;VE&-4ZE$a2@a2@a6@a6@!R0@G>@g ٱ= 5AHRS rotation from veh to nav: [[-0.985271,-0.166510,0.038923],[0.167569,-0.985525,0.025727],[0.034075,0.031871,0.998911]]HW/Pſ ?r?kHX?Or?ZQ? ?iR0@I^;1CYeBye "Ii-Mb@Mb@Mb@)))) )9-~jtx?V-?y&1|Y-;y-=-`-M@) -@)-@)Y)bDEVDE02yU;=%U*=ٔ][*9YYY=eDyae\BEe>iQ 5u4mN?Q 9u4m_)m&NBY}Q=Q E};y}YQ I} @mIDIm@:im:m4yɮ AblzlrljlZQ=ZQ=Zwr?Zr@i)iII@ @@ @IIOA>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761842qBE <AE <BM c>BI BM "IBM BBM =BI BI BM );BM `9Eԡ _,ү?A2A0@2=@2׼ٱ2< :AHRS rotation from veh to nav: [[-0.984673,-0.171648,0.030915],[0.172410,-0.984735,0.023931],[0.026336,0.028894,0.999235]]2H@qſ@J? ?H?`?e??i2A0@I2.^;2-CYBۃByB-"IbDNVDNyRQ)>%V=ٔV9TYT=VDyTZEZ>\Q 5b4^L?Q 9b4^)^#NBY`yb(Q If @^IDI^B:i^:^74yhɮj AhblxzlxrlxjlxZ Z Z Z E@i!)!!!i!)I)@ @@@IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520119E  EE.E"EG;*E]:VEـ4ZEa@a@a@a@)Y r,eӯ?A:.@:<@:ٱ:>XV< FAHRS rotation from veh to nav: [[-0.980894,-0.194195,0.011625],[0.194322,-0.980876,0.011034],[0.009260,0.013082,0.999872]]:H{c@dȿ·??@Uc@??`ʊ??i:.@I:49^;:+CYNByN_"I%BDAT read: Rx Time:00:39:41.3498 %TRx dataTimestamp_ set to:1761525580.328219-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937iUMb@Mb@Mb@QQQQ Q9U? ףp= ?YU%}>=ٔ}9Y=DyE>Q 54KK?Q 94)YR=Q EaԉiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022047E  E E +E "E L;*E :VE [4ZE BE 9QYQ=]DyY]3%Ee>iQ 5}4m'J?Q 9}4m_)iYyQ I @mIDIm\;im*^;m 4yɮ AblzlrljlZZZZa@i)i I ԑi@i @i@u @qIIO==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275758 DAT read: 00:39:41.3498 LVL= 10352, 25905, 12018, 12787, AGC= 42, IDX= 449,-0.26, 2.561, 2.924, 2.473,-2.372, PHS=-1.249,-0.942,-1.482, RAW= 355.5, 70.1, CAL= 354.9, 72.1, ROT= 155.1, -72.1  Ygot valid direction response: 00:39:41.3498 LVL= 10352, 25905, 12018, 12787, AGC= 42, IDX= 449,-0.26, 2.561, 2.924, 2.473,-2.372, PHS=-1.249,-0.942,-1.482, RAW= 355.5, 70.1, CAL= 354.9, 72.1, ROT= 155.1, -72.1  PDAT read: Bearing 70.9, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 70.9, 7.9 (Local) % DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [-0.278786,0.129408,0.951594],YFӯ?AE*$ E*E*.E("E*g\;*E*:VE*ـ4ZE(a.@a.@a.@a.@PFpublishing direction and range infoy  o[qѿ,Cr?/vs?Y p( 1e . 1) *I ;ߟi &q - u@ ۚ? 6@ ?) ?-@I  Hȿ0AѿLz?? & ) E,@;:@x2 <ٱf\9AYA=EDyAMoEM>IQ 5U4MH?Q 9]4M)IY]=Q E]P"i P_?*i (NBi hBi )Zʞ?i i hBi P?i 6S@ZE=ZE=ZER@ZE@iQ)QyyiyIi)@1 @1@5 @1IAIQOe>I A A B B B G"IB BB B B B R;B 9EBBBBBC(4,M2`ӯ?A :*@:L8@:<ٱ:xk< BAHRS rotation from veh to nav: [[-0.967950,-0.250833,-0.012442],[0.250595,-0.967924,0.018039],[-0.016567,0.014343,0.999760]]:Hs п{ ?;x?_?`?i:*@I:C^;:/CYJ1ByJ"IbDVVDV0yZ >%Z=ٔ^cs9^A\Yn;Byn"IbDz VDz2y1@=%E=ٔ̎9 Y = Dy  ZE>Q 54kE?Q 9%4)Y!y%@Q I% @IDI:i:54y)ɮ51A1blIzlIrlIjlQZiZiZiZm@iy)顁iI@ @@ @IIO=Ee) Ee+Ee*Ea"Ee`;*Ee=;VEe(N4ZEaam@am@am@am@9Y ,ӯ?A2'@25@2<ٱ2< :AHRS rotation from veh to nav: [[-0.955378,-0.294568,-0.021966],[0.293941,-0.955419,0.027820],[-0.029182,0.020122,0.999372]]2H u2ҿ@~?@ʒ|?`᝿`ߚ??i2'@I2]^;0Y^LByb"I9iMb@Mb@Mb@ 9~jt?bX9ȶ9Y=Dy]E>Q 54D?Q 94)$NBY=Q EBBm"IBBBBBB;B9E@ @@ @IIO>iԑbEjEȨo4rE҄0Eu = Eu (Eq Eq "Eu s;*Eu ;VEq ZEq BEu 99Y9==Dy9=dEE>AQ 5M4E!D?ԉQ 94E)E'NBYy?Q I @EIDIEՃ91Y1==Dy9EB.EE>QQ 5]4UC?Q 9e4U)U*NBYaye?Q Ie @UIDIU>/;iU2QB <A <B c>B B "IB (BB =B B B ;B >:Ey >,yӯ?A2V+$@2 2@2<ٱ2bC< :AHRS rotation from veh to nav: [[-0.936186,-0.350968,-0.019449],[0.350598,-0.936311,0.020057],[-0.025250,0.011959,0.999610]]2H;@vֿ^꓿2p?C剔? ۙ }?`?i2V+$@I2xa^;0YBgByB"Ironly read 0 of 1 data item for BIT error. Device response is::TS,00050304280163,35.0, +11.3, 0.0,149:WE,-32768,-32768,-32768,V ar@ar ar@ar ar@av av@av bDzVDz:y%N=%t=ٔdQ-?9 Y = Dy `E?Q 5%4C?Q 9%4),NBQ A%+:Y!Q E%;y%?Q I- @IDI9;ij>P4y1ɮ5A1blQzlQrlQjlQiy)yyyiyII)gAYiqIq:@ @@ @IIO%=E58 E5E5-E1"E5n;*E5O:VE5t4ZE1BE5ݾ9tYt=vDytzEz>xQ 54zB?Q 94z)z/NBQ A :YQ E;y ?Q I  @zIDIz_;iz;?znU4yɮAblzlrljli)iI@ @@ @IIO=EE- EE,EE,EA"EEd;*EE;VEEg4ZEAam@am@am@am@ 9 \ ,0ԯ?A2wh"@2^0@2<ٱ2; :AHRS rotation from veh to nav: [[-0.926438,-0.376393,-0.006393],[0.376328,-0.926439,0.009408],[-0.009464,0.006310,0.999935]]2Haؿ/z@?b@wD? a`~y?`x?i2wh"@I2z^;2-CY^ZBy^"Ir4=ra=aUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9Ukt?q= ףpYU 0=yU뽙UUz@U @ U @)Ud@QYU@bDmVDmy@%9=ٔ4Q->9 Y = Dy  E>Q 54B?Q 9%4J).NBQ A%T:Y%r=Q E%;y%w?Q I% @IDI+;ib;"]4y1ɮ5=A1blQzlQrlQjlQZmr=Zmr=Zm!?@Zm]w?i)顁iIB=Z>B=;CB="IB=yEU ( EU *EU +EQ "EU `;*EU ;VEU [4ZEQ BEU S9tYt=vDytzϼEz>|Q 54~B?Q 94~)|YyH?Q I @~IDI~y:i~:~c4yɮ2Abl)zl1rl1jl1ZIZIZIZM;H?ia)aaaiaiIi :@  @ @ @I!I1O==ԩ ,Hԯ?AE& E"E-E"E8^;*E;VEt4ZEa@a@a@a@ >7!@>x/@>Ƹٱ>w\ FAHRS rotation from veh to nav: [[-0.921096,-0.389331,0.001833],[0.389260,-0.920999,-0.015395],[0.007682,-0.013467,0.999880]]>H`y`ؿ^??xw?”?i>7!@I>^;9Y=Dy1E>Q 54*C?Q 9 4)/NBYy?Q I @IDI[;i6;%k4yɮpAblqzlqrlqjlqZZZZ?i)iI a@a @a@e @aIqIO=>9A) A) B5 ^>B1 B5 "IB5 KBB5 =B1 B1 B5 ;B5 0:Ea fI,bԯ?A2C`!@2U/@2%oٱ2遼 :AHRS rotation from veh to nav: [[-0.920193,-0.391399,0.007227],[0.391194,-0.920084,-0.020303],[0.014596,-0.015856,0.999768]]2H7r@ ٿ}?Q ?Tq`oʔv?<?i2C`!@I2]S^;0Yb^Byb"IIi}Mb@Mb@Mb@yyyy y9}V-?ʡEMbpY}9Y=DyiE>Q 54iC?Q 94).NBY=Q Eiԑ s,k|ԯ?A2e!@2Z/@2e$ٱ2v5n :AHRS rotation from veh to nav: [[-0.920208,-0.391204,0.013316],[0.390886,-0.920189,-0.021452],[0.020646,-0.014536,0.999681]]2H Wr`} ٿ E?`F?`0r *$? č`c?i2e!@I22^;2-CYR[ByR"I V%=V=bDZVDZyb]%bZ=ٔfQ-f>9dYd=fDyhjI:Ej>lQ 5r4nC?Q 9r4n׺)lYpyv?Q Iv @nIDIn :inp:nx4yxɮz2AxblzlrljlZ1Z1Z1Z5?iA)AAAiAIIIYԙ@ @@ @II)O5=EM EMEM-EI"EMM;*EMO:VEMt4ZEIaU@aU@aU@aU@9 [[%,wԯ?A4<ɰ4<:y!@:!/@: ]Լٱ:Z FAHRS rotation from veh to nav: [[-0.921365,-0.388247,0.018711],[0.387833,-0.921459,-0.022354],[0.025920,-0.013339,0.999575]]:H{ ؿ )?A?|㖿 ኚ?Q?i:y!@I:B^;:.CYbVByb"IjAjAiUMb@Mb@Mb@QQQQ Q9U:v?X9v~jthYU9Y=Dy);E>Q 54C?Q 94)-NBYӉ=Q EEB-ԉDI zDM @AEU  EU EU .EQ "EU I@;*EU :VEU ـ4ZEQ BEU 9dYd=fDydj<Ej>lQ 554nC?Q 954ni)n,NBY9y=?Q I= @nIDInQS"@>0@>d ٱ>Ż FAHRS rotation from veh to nav: [[-0.927519,-0.372622,0.029345],[0.372233,-0.927966,-0.017951],[0.033920,-0.005727,0.999408]]>H< ׿ ? ?@a ]?6uw&?i>S"@I>L^;9dYd=fDydf<Ej>hQ 5n4jC?Q 9r4j)hYpyr(?Q Ir @jIDIj;ij;jԍ4ytɮvAxblzlrl!jl!ZIZIZIZM"(?i)  1i1AIq%:@! @!@!@)I9IIOU2>BAB`>BB"IB`BB =BBB;B9Ei 8,,ԯ?A 6x#@65n1@6ٱ6A >AHRS rotation from veh to nav: [[-0.931979,-0.361007,0.033004],[0.360667,-0.932558,-0.015942],[0.036533,-0.002954,0.999328]]6H׿?*?S ? 3h~?i6x#@I60^;6.CY^OBy^"IIb=)b;iEMb@Mb@Mb@AAAA A9EI +?V-MbPYE949qYq=}Dyy}!<E}>Q 54C?Q 94Y)+NBY7ԙ 9>,ԯ?A2y$@2no2@2r,ٱ2`l :AHRS rotation from veh to nav: [[-0.937471,-0.346349,0.034513],[0.345971,-0.938099,-0.016581],[0.038119,-0.003604,0.999267]]2H@*ֿ`?b$?@X?~m ?i2y$@I2"^;2-CPY^JBy^"IbDvVDvy~%~R=ٔiQ->9Y = Dy  %=E >Q 54C?Q 94)Y!y%O?Q I% @IDI;i;4y)ɮ-A)blIzlIrlIjlIZiZiZiZmaO?iy)y顁iI@ @@ @I!I1OE=iAIAEE EE-EE+EA"EECJ;*EEK;VEE [4ZEAaM@aM@aM@aM@A E,կ?A2 %@23@2ٱ25 :AHRS rotation from veh to nav: [[-0.943532,-0.329472,0.034566],[0.329143,-0.944161,-0.014996],[0.037577,-0.002772,0.999290]]2Hj1@տ ??6^@G=?f.?i2 %@I2=^;2+CYV=ByV"IimMb@Mb@Mb@iiii i9mI +?Mbp?Mb`Yiym;mm@m@ m@)m@iYm@bDVD0ywj%A=ٔG:Q->9Y=DyW-=E>Q 54+C?Q 94)*NBYBZkI@i)iI!->i)B^>B;CBBB =BBDB;B9E@ @@ @IIO=IqEU B EU EU -EQ "EU w;*EU :VEU t4ZEQ BEU EE9xYx=zDyxzO=E~>Q 5 4B?Q 9 4 )Y y !GQ I  @IDIU:i:*4yɮAbl1yzl1rljlZZZZJ@i)i I @ @@ @IIO>ԡ E]  E] E] ,EY "E] [I;*E] ]:VE] g4ZEY ae @ae @ae @am @'R,Kկ?AF4(@F*6@F!ٱFg`i NAHRS rotation from veh to nav: [[-0.956256,-0.291077,0.029121],[0.290827,-0.956693,-0.012579],[0.031521,-0.003559,0.999497]]FHҿѝ??: ‰#?R(m?iF4(@IFe^;F,CYV5ByV"IbD^ VD^2yf%fJ=ٔj9hYh=nDylnT=En>pQ 5~4rcB?Q 94r )r)NBYyEQ I  @pIr{;ir;r<4yɮcA!blizlirlijliZAZAZAZEWL@i)iI:@ @@ @II)O5.>AAB`>B9iYi=mDyiuR=Eu>yQ 54}tB?Q 94}v)yY|=Q E?ZSX@i)iIi!I!ԱE  EE*E"EX;*E:VE(N4ZEBE9XYX=ZDyX^q=E^>`Q 5f4bB?Q 9f4b׸)b*NBYdyjQ Ij @bIDIb :ib:b44ylɮnAlbl|zl|rl|jl|ZZZZ@i)顩iIm:@q @q@u @qIIO=E%I E% E%+E!"E%};*E%:VE% [4ZE!a-@a-@a-@a5@9q e,կ?A 6|,@6q:@67ٱ6w B%=B4= FAHRS rotation from veh to nav: [[-0.973892,-0.226551,0.014473],[0.226387,-0.973962,-0.012124],[0.016843,-0.008531,0.999822]]6H *̿0?A?@*PԈ`Q??~x ?i6|,@I6uj^;6-CYHyN"IiMb@Mb@Mb@ 9MbMb?Yy=@@ )@Yp@bD5VD5yE;%EA=ٔMS9IYI=UDyQU-]=EU>YQ 5e4]B?Q 9e4])])NBYm=Q EmIB;CB"IBKBBBBBx;B9EIiE:@A @A@E @IIYIiOu>ԑE5  E5 E1 E1 "E5 ,K;*E5 ]:VE1 ZE1 BE5 M9`Y`=bDy`fj=Ef>dQ 5j4fB?Q 9n4f>)dYlynĿQ In @fIDIf;if;fZ4ytɮvAtblzl rl jl Z!Z!Z!Z%?@i1)999i9AIA:@ @@ @IIO=! 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7~d??`8?@?i2;z6@I2^;2$CYBByBN"IbDJVDJ0yR<%V_=ٔVQ-V>9TYX=ZDyXZy=EZ>\Q 5b4^h`?Q 9b4^U)\Ydyf8Q If@^sKDI^):i^:^*4yhɮj AlblxzlxrlxjlxZZZZA@i)顡iIE5< E5E5-E1"E5,r;*E5]:VE5t4ZE1aE@aE@aE@aE@Q@Y @Y@] @YIaIyO=B]U>BYB]f"IB] BBYBYBYBYB]9EBBBBBC8?4I M,i6?A2n7@2E@2FTٱ2Sm< :AHRS rotation from veh to nav: [[-0.998438,-0.054148,0.013746],[0.054337,-0.998428,0.013758],[0.012980,0.014484,0.999811]]2H4H'?ҫ?@-???`s?i2n7@I2g^;2#CdYjByjK"I pr%=bDrVDryzk<%zE=ٔ~}Q-~>9|Y=Dy0=E> Q 54 `?Q 94 ) Yy켿Q I@ wKDI ;i ; f4y!ɮ% A!blAzlArlAjlIZaZaZaZeԙ@iq)yyyiyI )):@ @@ @G9Y@I1IAOm>EE EE0EE+EA"EE[I;*EE;VEE [4ZEABEEE`Ez@E@ A)E @AYEp@bD]VD]3ym4<%mC=ٔm}Q-m>9qYq=uDyq߽=߽%==E>Q 5 4Da?Q 9 4)NBY :>Q E ;y ޿Q I @{KDI<:i:4y9ɮ={ A9blyzlyrlyjlyZ:>Z:>Z?ZU@i)iI)m:@i @i@m @iIyIO>QEU ( EU EU *EQ "EU `;*EU :VEU (N4ZEQ a] @a] @a] @a] @ԁ AA AE AA.Z,j?ABuV>BqBuT"IBuBBqBqBqBu;Bu9EZ9@ZG@ZesٱZm< zAHRS rotation from veh to nav: [[-0.999385,-0.031474,0.015429],[0.031744,-0.999342,0.017552],[0.014867,0.018031,0.999727]]ZH@eY?@@?`5? cr?@v?@?iZ9@IZk^;Z$CY-By-L"IYbD}VD}y5%H=ٔ8Q->9Y=Dyv<E>Q 54a?Q 94)NBYyQ I@~KDI/;i;4yɮ Abl!zl!rl!jl!ZAZAZAZEa@iq)qqqiqyIy%:@) @)@- @)I9IIO]>ԁԱ a,U?AbEt4jE7i4rE0E EE.E"Eg5;*E:VEـ4ZEBE9ԹY=Dy<E>Q 54a?Q 94)NBY=Q E;y Q I@KDI ;iG ;4yɮT AblzlrljlZ%=Z%=Z%!?Z%@i1)顱iII):@ @@ @IIO>9 ?g,g?A2@39@2(G@2}ٱ2< :AHRS rotation from veh to nav: [[-0.999438,-0.029419,0.016045],[0.029713,-0.999389,0.018397],[0.015494,0.018864,0.999702]]2H@f 3n? m?֒?@?Q??i2@39@I22^;0YB ByBh"IJ=J=bDNVDNyV=%V\=ٔV8Q-Z>9XYX=ZDyX^ᖻE^>`Q 5f4b5b?Q 9f4b )bNBYdyf@Q If@bKDIb:ib:by4ylɮn Albl|zlyrlyjlyZZZZ@i)顩iIE= E=E=*E9"E=O6;*E=:VE=(N4ZE9aE@aE@aE@aE@Q@Q @Q@U @QIaIqO}=ABT>BBN"IBBB =BBB;B9Ei  <ԙ Ljm,|D?A28@22F@2Vuٱ2B< :AHRS rotation from veh to nav: [[-0.999209,-0.036545,0.015661],[0.036832,-0.999151,0.018442],[0.014974,0.019004,0.999707]]2H@`q ?ۢ? i??u??i28@I2];2#CYNByRa"IbDZVDZJyvּ%vF=ٔv:Q-v>9xYx=zDyx~E~>Q 5 4}b?Q 9 4+)~NBY y )Q I @KDI:id:4yɮ A=JTimed out from 2025-10-27T00:35:38.8ZU=U==Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion1VEZZZZE@ip:)iI!y:@ @@ @II9O}>ԡEM  EMEM/EI"EMC;*EMu:VEMJ4ZEIBEM9IYI=MDyIMEU>QQ 5e4Ub?Q 9e4U)UNBYeX=Q Eez) EU  EU EU +EQ "EU US;*EU :VEU [4ZEQ a] @a] @a] @a] @B A <B P>B 9CB Z"IB BB =B B B ق;B 9E8}z,?AɰF(6@FD@FmnCٱFP։< zAHRS rotation from veh to nav: [[-0.997805,-0.064932,0.012997],[0.065137,-0.997748,0.016012],[0.011928,0.016824,0.999787]]FHi?`֬?e?m?`D:?A?iF(6@IF];DYBy"IbDVD2y%0=%-L=ٔ-Ϗ;Q-->91Y1=5Dy15'E=>9Q 5E4=b?Q 9M4=K)9YIyMQ IM@=KDI=:i=U:=#4yYɮ]M AYqWuuvAggregate::uninitialize lineCaptureHoming:Lap:Docked:DetachWuqX}}nAggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1X}}Initialize.1Y} }Initialize.X}ZZZZ˚@i)顩iIIIO=)Yԉ c,9?AE* E*E**E("E*=;*E*:VE*(N4ZE(BE*9Y=Dy6>E>Q 54"c?Q 94)Yj9xYx=zDyxzkEz>|Q 54~Ic?Q 9 4~)|Y y ?Q I @|I~:i~:~14yɮAY5 5tAggregate::uninitialize lineCaptureHoming:Lap:Docked:DriftY51Z5 5@Uninitialize Buoyancy Component.qZ5Z5Z5=Uninitialize.=LCompleted lineCaptureHoming:Lap:DockedS= =hAggregate::uninitialize lineCaptureHoming:Lap:Docked=>Completed lineCaptureHoming:Lap1RE EZAggregate::uninitialize lineCaptureHoming:LapZZZZ=?36Completed lineCaptureHoming'>lineCaptureHoming is completed.'PUninitializing Mission lineCaptureHoming3RAggregate::uninitialize lineCaptureHoming1 4bAggregate::uninitialize lineCaptureHoming:Scienceq1 8|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrentq/_vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes10 `NUninitialize AltitudeEnvelopeComponent.q0`Uninitialize.0 aNUninitialize OffshoreEnvelopeComponent.15 jrAggregate::uninitialize lineCaptureHoming:MicromodemCommsq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn5G HUninitializing TrackAcousticContact.Z-T)T1T-!T#!T#!T#!T#$UPowering downDUzDUDUDUD#D#D#D#D#D}#Dy#Du#DD>E>Ea>Ma>yU!>U=bgot command load ./Missions/Engineering/OnDock.tl!7q#!7m#!7i#!7e#a6a#a6]#a6Y#a6U#a6Q#a6M#a6I#a6E#a6A#%a6=#%a69#%a65#%a61#%a6-#%a6)#%a6%#%a6!#%a6#%a6#%a6#%a6#%a6 #%a6 #%a6#-a6#-a6"-a6"-a6"-a6"-a6"-a6"-a6"-!5"=!5"=1"U1"1"1"1"1"1"1"0/"/"/"/"a" a" a" a" a" a"  *DAT read: user:199>  BDAT read: Tx time:00:40:42.2427  $Ping request sent. 9Y=DyE>Q 5%4c?Q 9%4)NBY-=Q E-<P,^?A6-1@6Q#?@6 Q'ٱ6; >AHRS rotation from veh to nav: [[-0.987999,-0.154418,0.003675],[0.154441,-0.987977,0.006982],[0.002553,0.007466,0.999969]]6Hÿ@n??|? d?ה~??i6-1@I6Yb^;6!CYN2ByN"IbDZVDZk2yvh%v=ٔvj;Q-v?9xYx=zDyxzE~?1Q 5]45c?Q 9e45)5NBYaye?Q Ie@5KDI5;i5|:59C4yiɮmAqi)顡iIj9IIO=a@a@a%@a%@a%@a%@a%@a%@A%A%B-A-1z,'x?A2z/@2"=@2ٱ2G; :AHRS rotation from veh to nav: [[-0.983837,-0.179061,0.001382],[0.179066,-0.983824,0.005061],[0.000454,0.005227,0.999986]]2H{wƿV??|{t?v=?@hu? ?i2z/@I2fV^;0YNMByR"I V%=V%=bDZVDZ2y->%-F=ٔ5;Q-5>91Y1=5DyY]YuE]>aQ 5m4eb?Q 9m4e[)eNBYiyu?Q Iu@eKDIe:ie:ecJ4yɮAGliAAE9EliAYE#AiI)IQiII =) =|9IIO >b,kb?A;ɰ4<2-@2;@2ݺ:ٱ2U; :AHRS rotation from veh to nav: [[-0.979053,-0.203602,-0.000734],[0.203598,-0.979048,0.003473],[-0.001426,0.003250,0.999994]]2HgT ʿn H`? ]Trl?[W j??i2-@I2NH^;2#CYbLByb"I ddjAjAi5Mb@Mb@Mb@1111 195Zd;O?MbXy&1|?Y5j9Y=DyNgE>Q 54b?Q 94*)NBY=Q E,,W=?A64p,@6e:@67;ٱ6P: >AHRS rotation from veh to nav: [[-0.973862,-0.227129,-0.002500],[0.227125,-0.973864,0.001620],[-0.002802,0.001009,0.999996]]6H)Ϳzd`p? )#Z?fP??i64p,@I6R]^;6"CYN[ByR"IbDjVDj:3yv}=%vh=ٔz;Q-z>9xYx=zDy|E>!Q 5-4%b?Q 9-4%8)%NBY)y5?Q I5@%KDI%:i%:%]X4y9ɮ=]A9iI)QQQiQyIyu\9IIO=t,?A2+@28@2k;ٱ2Rf :AHRS rotation from veh to nav: [[-0.968553,-0.248778,-0.003812],[0.248781,-0.968560,-0.000371],[-0.003600,-0.001308,0.999993]]2H cϿ9o ? qQ8|mlU?i2+@I26v^;2$CfBDAT read: Rx Time:00:40:44.1034 fTRx dataTimestamp_ set to:1761525643.120667Y=eBy="IiEMb@Mb@Mb@AAAA A9EMb?v/Mbp?YE=yEx齙E;Ez@E@ E @)E @AYEz@U@AU@AbD]VD]J2ym7=%m4=ٔm:Q-m>9Y=DyGE>Q 54b?Q 94)NBY=Q E;y?Q I @KDIC&*,?A2~)@2&7@2Q܃;ٱ2W :AHRS rotation from veh to nav: [[-0.963518,-0.267601,-0.004759],[0.267613,-0.963524,-0.002098],[-0.004024,-0.003295,0.999986]]2H#_ ѿG~s` ?0` 0a@{p@qj?i2~)@I2jw^;0YbfByb"IIf=)f<bDnVDn02y%ɛ;%-a=ٔ-c:Q-->9)Y1=5Dy15HaE5>Q 54b?Q 94)NBYyo?Q I@KDIB:i:f4yɮAi)iIj9IAIQO]=DAT read: OK :unknown deviceResponse_: OK *DAT read: user:200>  BDAT read: Tx time:00:40:45.1927  $Ping request sent. 9Y=DyE>Q 54b?Q 94U)NBYy?Q I@KDI:iR:,n4yɮAi)i I% 9I1IIOU=,հ?A2%'@205@2;ٱ2a >AHRS rotation from veh to nav: [[-0.951778,-0.306754,-0.004568],[0.306779,-0.951758,-0.006524],[-0.002347,-0.007610,0.999968]]2Htܡӿ@rE?tiz@A9c,?i2%'@I2)P^;2 CYN[ByN"IiMb@Mb@Mb@ 9Mb?zGế~jth?Y@=y ׽D;@ M@)Yp@ <bDVD0y%ɽ%-B=ٔ-Q-->91YQ=UDyQ]¼E]>YQ 5e4]ub?Q 9m4])]NBYm=Q Em;ym ?Q Im@]KDI]Q:i]Z:]u4yɮ[Ai)顩iII+?)?9IIO>,3.?Aɰ;:K&@:4@:$ǩ:ٱ: FAHRS rotation from veh to nav: [[-0.949694,-0.313154,-0.004001],[0.313177,-0.949661,-0.007997],[-0.001295,-0.008847,0.999960]]:Hc Կ7cp  ?c` 8U ?i:K&@I:H1^;:#CYNrByN"I PPbDZVDZyq=%%]=ٔ%:Q-%>9)Y)=-Dy)-E5>1Q 5]45b?Q 9]45)5NBYaye.?Q Ie@5KDI5;i5M:5{4yiɮmAqi)顁iI9IIO=3??,$bH?A:~&@:s4@:9ٱ:k  BAHRS rotation from veh to nav: [[-0.948596,-0.316475,-0.003161],[0.316491,-0.948557,-0.008536],[-0.000297,-0.009097,0.999959]]:H Z AԿ ZiaA?Z 4{q3` ?i:~&@I:Z^;:!CY~cBy~"IiMb@Mb@Mb@ 9kt?DlY 0=yO d@) @YbDVDk2y-`%-;=ٔ-tQ-5>91Y=DyZE>Q 54_a?Q 94)Y=Q E#*,@b?A2~&@2t4@2͹ٱ2ZT >AHRS rotation from veh to nav: [[-0.948611,-0.316433,-0.002627],[0.316444,-0.948567,-0.009118],[0.000393,-0.009480,0.999955]]2H[p@Կe@@? Z99? xj?i2~&@I2%^;2 CYNpByR"IVAAVAAbDZVDZkyfg=%fd=ٔfQ-f>9hYh=jDyhn9En?Q 54`?Q 9 4J)NBY y /?Q I @KDI:i|:4yɮAi)iI gAfA9IIO =')OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . *n code=016D name="OnDock" *e code=08E9 elementURI="OnDock.DockedTime" type=00 *a code=0DE8 owner=016D element=08E9 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0DE9 owner=016D element=08E9 universal=3FFF unitName="hour" type=1F size=0008 fl=05 Jo @'PDefineArg OnDock.DockedTime = 8.000000 h*a code=0DEA owner=016D element=0322 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=08EA elementURI="OnDock.DetachedTimeout" type=00 *a code=0DEB owner=016D element=08EA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DEC owner=016D element=08EA universal=3FFF unitName="second" type=0B size=0003 fl=05 boA'\DefineArg OnDock.DetachedTimeout = 30.000000 s*a code=0DED owner=016D element=0325 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=08EB elementURI="OnDock.RangeTimeout" type=00 *a code=0DEE owner=016D element=08EB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DEF owner=016D element=08EB universal=3FFF unitName="second" type=0B size=0003 fl=05 zoD'XDefineArg OnDock.RangeTimeout = 600.000000 s*e code=08EC elementURI="OnDock.TrackingUpdatePeriod" type=00 *a code=0DF0 owner=016D element=08EC universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0DF1 owner=016D element=08EC universal=3FFF unitName="minute" type=1F size=0008 fl=05 o^@'%hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 min*e code=08ED elementURI="OnDock.NumberOfPings" type=00 *a code=0DF2 owner=016D element=08ED universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0DF3 owner=016D element=08ED universal=3FFF unitName="count" type=1F size=0008 fl=05 o=?'E^DefineArg OnDock.NumberOfPings = 1.000000 count*a code=0DF4 owner=016D element=031E universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=08EE elementURI="OnDock.TransponderCode" type=00 *a code=0DF5 owner=016D element=08EE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0DF6 owner=016D element=08EE universal=3FFF unitName="count" type=0D size=0004 fl=05 o]2'eVDefineArg OnDock.TransponderCode = 50 count*a code=0DF7 owner=016D element=0462 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=08EF elementURI="OnDock.MaxDepth" type=00 *a code=0DF8 owner=016D element=08EF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DF9 owner=016D element=08EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 oC'PDefineArg OnDock.MaxDepth = 275.000000 m*e code=08F0 elementURI="OnDock.MinAltitude" type=00 *a code=0DFA owner=016D element=08F0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0DFB owner=016D element=08F0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 o@'RDefineArg OnDock.MinAltitude = 5.000000 m*e code=08F1 elementURI="OnDock.MinOffshore" type=00 *a code=0DFC owner=016D element=08F1 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=0DFD owner=016D element=08F1 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 o@@'TDefineArg OnDock.MinOffshore = 2.000000 km*e code=08F2 elementURI="OnDock.StayOnDock" type=00 *a code=0DFE owner=016D element=08F2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DFF owner=016D element=08F2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 o}'}HDefineArg OnDock.StayOnDock = 0 bool*e code=08F3 elementURI="OnDock.IfconfigInterval" type=00 *a code=0E00 owner=016D element=08F3 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0E01 owner=016D element=08F3 universal=3FFF unitName="hour" type=1F size=0008 fl=05  p @'\DefineArg OnDock.IfconfigInterval = 2.000000 h*e code=08F4 elementURI="OnDock.RunScience" type=00 *a code=0E02 owner=016D element=08F4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E03 owner=016D element=08F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 p'HDefineArg OnDock.RunScience = 0 bool*e code=08F5 elementURI="OnDock.MissionTimeout" type=00 *a code=0E04 owner=016D element=08F5 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0E05 owner=016D element=08F5 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *p  @'5XDefineArg OnDock.MissionTimeout = 8.000000 h'=~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl'=rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'ETethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl' TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 *n code=016E name="OnDock:StandardEnvelopes" *e code=08F6 elementURI="OnDock:StandardEnvelopes.MinAltitude" type=00 *a code=0E06 owner=016E element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E07 owner=016E element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 :p% @'- vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m*e code=08F7 elementURI="OnDock:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0E08 owner=016E element=08F7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E09 owner=016E element=08F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 JpM ?'U |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m/U,|?A@6Է&@6|4@6:ٱ6|" >AHRS rotation from veh to nav: [[-0.949704,-0.313144,-0.001764],[0.313146,-0.949654,-0.009861],[0.001413,-0.009917,0.999950]]6Hc Կ\ ?`c2 T'W? O?i6Է&@I6/];6!CYNqByN"IIR>)R>V=TbDZVDZ1*e code=08F8 elementURI="OnDock:StandardEnvelopes.MaxDepth" type=00 *a code=0E0A owner=016E element=08F8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E0B owner=016E element=08F8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Zp-i@'5tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 my];%eA=ٔeQ-e>9iYi=mDyims<Eu>*e code=08F9 elementURI="OnDock:StandardEnvelopes.MinOffshore" type=00 *a code=0E0C owner=016E element=08F9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E0D owner=016E element=08F9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 jp@@'|DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 mQ 54`?Q 94e)Yy?Q I@KDI:i$:4yɮAi)i I *n code=016F name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" 6Construct AltitudeEnvelope.*a code=0E0E owner=016F element=00BE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0E0F owner=016F element=00B4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E10 owner=016F element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E11 owner=016F element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E12 owner=016F element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E13 owner=016F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E14 owner=016F element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E15 owner=016F element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E16 owner=016F element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E17 owner=016F element=051F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E18 owner=016F element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E19 owner=016F element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E1A owner=016F element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0170 name="OnDock:StandardEnvelopes:B.DepthEnvelope" 0Construct DepthEnvelope.*a code=0E1B owner=0170 element=00BE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0E1C owner=0170 element=00B8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E1D owner=0170 element=00B4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E1E owner=0170 element=0098 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E1F owner=0170 element=00B2 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E20 owner=0170 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E21 owner=0170 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E22 owner=0170 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=04 9I!I1OE=*a code=0E23 owner=0170 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E24 owner=0170 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E25 owner=0170 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E26 owner=0170 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E27 owner=0170 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E28 owner=0170 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E29 owner=0170 element=051F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E2A owner=0170 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0171 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" 6Construct OffshoreEnvelope.*a code=0E2B owner=0171 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E2C owner=0171 element=0532 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0E2D owner=0171 element=0533 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0E2E owner=0171 element=0537 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E2F owner=0171 element=0534 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E30 owner=0171 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E31 owner=0171 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E32 owner=0171 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E33 owner=0171 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E34 owner=0171 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E35 owner=0171 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E36 owner=0171 element=0534 universal=3FFF unitName="radian" type=2F size=0004 fl=05 a\*a code=0E37 owner=0171 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0172 name="OnDock:B" *a code=0E38 owner=0172 element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0173 name="OnDock:C" *a code=0E39 owner=0173 element=08F8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0174 name="OnDock:D" eBDAT read: Rx Time:00:40:47.0535 eTRx dataTimestamp_ set to:1761525646.148145*a code=0E3A owner=0174 element=08F9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0175 name="OnDock:E" *a code=0E3B owner=0175 element=08F5 universal=3FFF unitName="hour" type=1F size=0008 fl=05 'xInserting Stack from file: Missions/Insert/BackseatDriver.tl'lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl'TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: *n code=0176 name="OnDock:BackseatDriver" *e code=08FA elementURI="OnDock:BackseatDriver.EnableBackseat" type=00 *a code=0E3C owner=0176 element=08FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E3D owner=0176 element=08FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 qU'UnDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool*n code=0177 name="OnDock:BackseatDriver:A.BackseatDriver" 2Construct BackseatDriver.*a code=0E3E owner=0177 element=057D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E3F owner=0177 element=057B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E40 owner=0177 element=00E0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E41 owner=0177 element=057B universal=3FFF unitName="bool" type=02 size=0001 fl=05 'nInserting Stack from file: Missions/Insert/PowerOnly.tl'bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl<,Q?A2'@25@2/ٱ2C >AHRS rotation from veh to nav: [[-0.951616,-0.307290,-0.000753],[0.307282,-0.951567,-0.009938],[0.002337,-0.009688,0.999950]]2Hs@ӿH?;s _Z%c?`׃?i2'@I2^;2CYNlByN"IiMb@Mb@Mb@ 9v/?V-߽%=bDVD:3y ϼ% @=ٔ GQ- >9QYQ=UDyQ]h<E]>aQ 5m4e^?Q 9m4e)eNBYmD=Q EmM'%qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 *n code=0178 name="OnDock:PowerOnly" *e code=08FB elementURI="OnDock:PowerOnly.SampleAll" type=00 *a code=0E42 owner=0178 element=08FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E43 owner=0178 element=08FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 rm'uZDefineArg OnDock:PowerOnly.SampleAll = 0 bool*e code=08FC elementURI="OnDock:PowerOnly.SampleLoad1" type=00 *a code=0E44 owner=0178 element=08FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E45 owner=0178 element=08FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *r'^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool*e code=08FD elementURI="OnDock:PowerOnly.SampleLoad2" type=00 *a code=0E46 owner=0178 element=08FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E47 owner=0178 element=08FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 :r'%^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool*e code=08FE elementURI="OnDock:PowerOnly.SampleLoad3" type=00 *a code=0E48 owner=0178 element=08FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E49 owner=0178 element=08FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 Jr'^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool*a code=0E4A owner=0178 element=0181 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=08FF elementURI="OnDock:PowerOnly.EnabledPowerOnly" type=00 *a code=0E4B owner=0178 element=08FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E4C owner=0178 element=08FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 brU']hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool*n code=0179 name="OnDock:PowerOnly:A" *n code=017A name="OnDock:PowerOnly:B" *n code=017B name="OnDock:PowerOnly:C" *n code=017C name="OnDock:PowerOnly:D" *n code=017D name="OnDock:PowerOnly:E.Wait" Construct Wait.*n code=017E name="OnDock:dataRead" *n code=017F name="OnDock:dataRead:A" *n code=0180 name="OnDock:dataRead:B.Wait" Construct Wait.*n code=0181 name="OnDock:science" 'EjInserting Stack from file: Missions/Insert/Science.tl'E^TethyslAPI: loading: Missions/Insert/Science.tl'vTethyslAPI: mission file loaded: Missions/Insert/Science.tl DAT read: 00:40:47.0535 LVL= 14784, 20289, 11250, 16195, AGC= 40, IDX= 442, 0.29, 0.752, 1.817, 2.091, 3.017, PHS=-2.163,-1.156,-0.970, RAW= 261.7, 53.7, CAL= 263.2, 59.5, ROT= 246.8, -59.5  Ygot valid direction response: 00:40:47.0535 LVL= 14784, 20289, 11250, 16195, AGC= 40, IDX= 442, 0.29, 0.752, 1.817, 2.091, 3.017, PHS=-2.163,-1.156,-0.970, RAW= 261.7, 53.7, CAL= 263.2, 59.5, ROT= 246.8, -59.5  DAT read: OK  :unknown deviceResponse_: OK  *DAT read: user:201>  BDAT read: Tx time:00:40:48.1435  $Ping request sent. @)m +pIm 'im 섿 :publishing transmit ping time yi m Cɿ$M"ݿ%!Fw?i i i i i )i Ii ii i i i i i )i Ii i m }ݿإsx?9IE? i )i Ii ii f,ү?A2f'@25@2wiYٱ2Z >AHRS rotation from veh to nav: [[-0.954159,-0.299301,0.000327],[0.299283,-0.954112,-0.010040],[0.003317,-0.009482,0.999950]]2Hw@'ӿSu5?s'? +-k?Bk@?i2f'@I2];2!CYNiByR"I V4=V<bDZVDZ1yl%R=ٔ$Q->9Y=DyL<E>Q 54 ]?Q 94q)NBYym@Q I@KDIv$ ېC-GEjA]MAeĿ9jAYAN,?AiI:O(@:D6@:-ۊٱ: BAHRS rotation from veh to nav: [[-0.957186,-0.289468,0.001534],[0.289441,-0.957148,-0.009567],[0.004238,-0.008714,0.999953]]:H Eҿ&!Y?5?@b[q?؁?i:O(@I:^;:"CYn^Byn"I ppvAvAiMb@Mb@Mb@ 9y&1?y&1?Y`e9Y=Dy<E>!Q 5-4%k\?Q 9-4%)!Y-1x,?A20)@2 7@2hٱ2 >AHRS rotation from veh to nav: [[-0.960595,-0.277938,0.002806],[0.277906,-0.960570,-0.008591],[0.005083,-0.007473,0.999959]]2H1ѿ@f?`4?@M 't?~`?i20)@I2)];0YN]ByR"IbDZVDZyf%f_=ٔfQ-f>9hYh=jDyhn=En>QQ 5}4U[?Q 9}4U)QYy(Q I@UKDIUm;iU;Uv4yɮJAi)顡iI,9IIO = s? @@,kd?A2)@27@2]nٱ2ջ >AHRS rotation from veh to nav: [[-0.964183,-0.265209,0.003931],[0.265173,-0.964169,-0.007851],[0.005872,-0.006527,0.999961]]2H@-пDp??y@ x?@ z@?i2)@I2 ];0YNQByR"ITV@AbDZ VDZ2yfDu%fJ=ٔfQ-f>9hYh=jDyhn =En>Q 5 4L[?Q 9 4)Yy'Q I@I:iV:X4y9ɮ=AAiI)QQQiQI eAM9II!O5=,h??A6*@6z8@63ٻٱ6x! BAHRS rotation from veh to nav: [[-0.967850,-0.251476,0.005087],[0.251440,-0.967849,-0.006780],[0.006628,-0.005283,0.999964]]6H .пt??{V&{? u?i6*@I6];4YNSByR"IV=V=iMb@Mb@Mb@ 9Mbp ףp= ?MbPYyQ8=@@ d@) @Y@bD9VD9yM;%M4=ٔMںQ-M>9qYq=uDyq}<E}>Q 54[?Q 94F)NBY9=Q EiI II ,&1?A2++@2ӯ9@2[Cٱ2s >AHRS rotation from veh to nav: [[-0.971255,-0.237957,0.006296],[0.237926,-0.971269,-0.005372],[0.007393,-0.003720,0.999966]]2H`uοy?Xt?v@YH~?@_xn ?i2++@I2];0Y^OBy^"IbDj VDj2yv%vd=ٔv Q-v>9xYx=zDyxz =E~>!Q 5%4%Z?Q 9-4%)!Y)y-|ܿQ I-@%KDI%:i%B:%4y1ɮ]AYii)iiiiiqIq9IIO=u BDAT read: Rx Time:00:40:50.0036 } TRx dataTimestamp_ set to:1761525649.175382,PK?A2k,@2:@2(ٱ2̾ :AHRS rotation from veh to nav: [[-0.974455,-0.224454,0.007600],[0.224430,-0.974483,-0.003860],[0.008272,-0.002056,0.999964]]2H.̿ ?`? .Zo`?`?i2k,@I2];2!CY-LBy5"Ii5Mb@Mb@Mb@1111 195~jtQ?Mb`Y5ļy5\=55z@1 5M@)5@1Y5(@ %=bDVDy^%0=ٔQ->9Y=Dy<E>Q 54[?Q 94)NBY=Q E3,e?A4<ɰ2>x-@2m;@26ٱ2B >AHRS rotation from veh to nav: [[-0.977356,-0.211404,0.009153],[0.211393,-0.977399,-0.002093],[0.009388,-0.000111,0.999956]]2H FG˿`? ?F$a@:??i2>x-@I2P];0YN>ByR"IbDZVDZ2yf%fn=ٔfWUQ-f?9hYh=jDyhn!=E~?Q 5 4[[?Q 9 4B)NBY y Q I @KDI:i :4yɮIAi)iI9IDAT read: OK :unknown deviceResponse_: OK IO=,~?A2M<.@21<@2,ٱ2 ; >AHRS rotation from veh to nav: [[-0.979804,-0.199670,0.010758],[0.199681,-0.979861,-0.000045],[0.010550,0.002104,0.999942]]2H`Z ǎɿ E? $?[p}^?9 Y = Dy  <E>Q 54[?Q 9%4 )NBY!y%Q I%@KDI:iy:4y)ɮ59A1iA)AAAiAIII9I)I9OE=%,!Ș?A:q.@:<@:7yCٱ:>{; BAHRS rotation from veh to nav: [[-0.981856,-0.189220,0.012441],[0.189253,-0.981927,0.001512],[0.011930,0.003839,0.999921]]:H ]k@[8ȿ z?@o9?k@X?o? Pro?@[?i:q.@I:>];:CYN9ByR"IiMb@Mb@Mb@ 9Q+?~jthYy=D@@ d@) @Yp@AAbDVDk1yc%>=ٔ?RQ->9aYa=eDyam*<Em>Q 54>\?Q 94)NBYC=Q E,,{?A@2r/@2g=@2Xٱ2; >AHRS rotation from veh to nav: [[-0.983373,-0.181046,0.014110],[0.181113,-0.983456,0.003606],[0.013224,0.006101,0.999894]]2Hw@,ǿ?@.? xxKm?@? dx?!?i2r/@I2W];2!CYN4ByR"IIV=)V=bDZVDZ02y%Լ%-V=ٔ-]Q-->91Y1=5Dy15<E5>YQ 5e4]\?Q 9e4]Ͻ)]NBYiympQ Im@]KDI]:i]:]4yqɮAi)顩iI9IIO=m4=mR='TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates *a code=0E67 owner=0182 element=090D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E68 owner=0182 element=090D universal=3FFF unitName="bool" type=02 size=0001 fl=05 BsU'U|DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool*e code=090E elementURI="OnDock:science:Science.PeakDetectSalinityActive" type=00 9iYi=mDyiu _<Eu>yQ 54}m]?Q 94})}NBY=Q E,'eDefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool*e code=0913 elementURI="OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive" type=00 *a code=0E73 owner=0182 element=0913 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E74 owner=0182 element=0913 universal=3FFF unitName="bool" type=02 size=0001 fl=05 su'DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool*e code=0914 elementURI="OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive" type=00 *a code=0E75 owner=0182 element=0914 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E76 owner=0182 element=0914 universal=3FFF unitName="bool" type=02 size=0001 fl=05 s'DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool*e code=0915 elementURI="OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive" type=00 *a code=0E77 owner=0182 element=0915 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E78 owner=0182 element=0915 universal=3FFF unitName="bool" type=02 size=0001 fl=05 s-'5DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool*e code=0916 elementURI="OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive" type=00 *a code=0E79 owner=0182 element=0916 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7A owner=0182 element=0916 universal=3FFF unitName="bool" type=02 size=0001 fl=05 sm'uDefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool*e code=0917 elementURI="OnDock:science:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0E7B owner=0182 element=0917 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7C owner=0182 element=0917 universal=3FFF unitName="bool" type=02 size=0001 fl=05 s'DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=0E7D owner=0182 element=03F3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0918 elementURI="OnDock:science:Science.EnabledAanderaaO2" type=00 *a code=0E7E owner=0182 element=0918 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7F owner=0182 element=0918 universal=3FFF unitName="bool" type=02 size=0001 fl=05 s'vDefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool*a code=0E80 owner=0182 element=03FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0919 elementURI="OnDock:science:Science.EnabledNeilBrown" type=00 *a code=0E81 owner=0182 element=0919 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E82 owner=0182 element=0919 universal=3FFF unitName="bool" type=02 size=0001 fl=05 tU'UtDefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool*a code=0E83 owner=0182 element=0435 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=091A elementURI="OnDock:science:Science.EnabledRBRTridente" type=00 *a code=0E84 owner=0182 element=091A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E85 owner=0182 element=091A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *t}'}xDefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool*a code=0E86 owner=0182 element=0403 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=091B elementURI="OnDock:science:Science.EnabledSeabird" type=00 *a code=0E87 owner=0182 element=091B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E88 owner=0182 element=091B universal=3FFF unitName="bool" type=02 size=0001 fl=05 Bt'pDefineArg OnDock:science:Science.EnabledSeabird = 1 bool*a code=0E89 owner=0182 element=043A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=091C elementURI="OnDock:science:Science.EnabledWetLabsBB2FL" type=00 *a code=0E8A owner=0182 element=091C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E8B owner=0182 element=091C universal=3FFF unitName="bool" type=02 size=0001 fl=05 Zt'zDefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool*a code=0E8C owner=0182 element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=091D elementURI="OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=0E8D owner=0182 element=091D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E8E owner=0182 element=091D universal=3FFF unitName="bool" type=02 size=0001 fl=05 rt'DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool*a code=0E8F owner=0182 element=0459 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=091E elementURI="OnDock:science:Science.EnabledWetLabsUBAT" type=00 *a code=0E90 owner=0182 element=091E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E91 owner=0182 element=091E universal=3FFF unitName="bool" type=02 size=0001 fl=05 t'xDefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool*e code=091F elementURI="OnDock:science:Science.LowPassWindowLength" type=00 *a code=0E92 owner=0182 element=091F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E93 owner=0182 element=091F universal=3FFF unitName="count" type=1F size=0008 fl=05 t=4@'=DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count*e code=0920 elementURI="OnDock:science:Science.MedianFilterLen" type=00 *a code=0E94 owner=0182 element=0920 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E95 owner=0182 element=0920 universal=3FFF unitName="count" type=1F size=0008 fl=05 tu@'}DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count*e code=0921 elementURI="OnDock:science:Science.ShallowBound" type=00 *a code=0E96 owner=0182 element=0921 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E97 owner=0182 element=0921 universal=3FFF unitName="meter" type=1F size=0008 fl=05 t'jDefineArg OnDock:science:Science.ShallowBound = nan m*e code=0922 elementURI="OnDock:science:Science.DeepBound" type=00 *a code=0E98 owner=0182 element=0922 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E99 owner=0182 element=0922 universal=3FFF unitName="meter" type=1F size=0008 fl=05 t'dDefineArg OnDock:science:Science.DeepBound = nan m*e code=0923 elementURI="OnDock:science:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=0E9A owner=0182 element=0923 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E9B owner=0182 element=0923 universal=3FFF unitName="meter" type=1F size=0008 fl=05 t5 @'= DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=0924 elementURI="OnDock:science:Science.OffPeakFractionVerticalAscent" type=00 *a code=0E9C owner=0182 element=0924 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0E9D owner=0182 element=0924 universal=3FFF unitName="percent" type=1F size=0008 fl=05 tu 'u DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %*e code=0925 elementURI="OnDock:science:Science.OffPeakFractionVerticalDescent" type=00 *a code=0E9E owner=0182 element=0925 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0E9F owner=0182 element=0925 universal=3FFF unitName="percent" type=1F size=0008 fl=05 t ' DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %*e code=0926 elementURI="OnDock:science:Science.ChlPeakThresh" type=00 *a code=0EA0 owner=0182 element=0926 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EA1 owner=0182 element=0926 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05  ue 'm |DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l*e code=0927 elementURI="OnDock:science:Science.NumberOfLayers" type=00 *a code=0EA2 owner=0182 element=0927 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0EA3 owner=0182 element=0927 universal=3FFF unitName="count" type=1F size=0008 fl=05 u ?' DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count*e code=0928 elementURI="OnDock:science:Science.ChlThreshTriggerActive" type=00 *a code=0EA4 owner=0182 element=0928 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA5 owner=0182 element=0928 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *u ' DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool*e code=0929 elementURI="OnDock:science:Science.ChlLowerThresh" type=00 *a code=0EA6 owner=0182 element=0929 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EA7 owner=0182 element=0929 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 :uu '} tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l*e code=092A elementURI="OnDock:science:Science.ChlUpperThresh" type=00 *a code=0EA8 owner=0182 element=092A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EA9 owner=0182 element=092A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 Ju ' tDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l*e code=092B elementURI="OnDock:science:Science.NumProfilesThresh" type=00 *a code=0EAA owner=0182 element=092B universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0EAB owner=0182 element=092B universal=3FFF unitName="count" type=1F size=0008 fl=05 Zu @' DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count*e code=092C elementURI="OnDock:science:Science.PlanktivoreLMavgROIPeakThresh" type=00 *a code=0EAC owner=0182 element=092C universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0EAD owner=0182 element=092C universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 ju% '- DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s$9,\Z?A2 0@25>@2%Uٱ2'< >AHRS rotation from veh to nav: [[-0.985002,-0.171693,0.017096],[0.171830,-0.985103,0.006851],[0.015665,0.009686,0.999830]]2H@# ſ`??|?y ?Pփ?@?i2 0@I2,];2!CY^(By^"I f%=f<bDj VDjf2y%<%-Z=ٔ-FQ-->91Y1=5Dy15<*e code=092D elementURI="OnDock:science:Science.PlanktivoreHMavgROIPeakThresh" type=00 *a code=0EAE owner=0182 element=092D universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0EAF owner=0182 element=092D universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 zuUE5>Q 54 ^?Q 94g)NBYy]Q I@KDI:iR::4'UDefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s*e code=092E elementURI="OnDock:science:Science.PlanktivoreDiatomsPeakThresh" type=00 *a code=0EB0 owner=0182 element=092E universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0EB1 owner=0182 element=092E universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 u'DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/mlyɮAi)i*e code=092F elementURI="OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh" type=00 *a code=0EB2 owner=0182 element=092F universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0EB3 owner=0182 element=092F universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 u 1I1I=?)=@6Jٱ6*< >AHRS rotation from veh to nav: [[-0.985146,-0.170773,0.018016],[0.170928,-0.985255,0.007461],[0.016476,0.010429,0.999810]]6H`Pſ@r?@?5~?@ߐ?[?@q?i60@I6^;6CYN#ByN"I PPTVAbDZ VDZ2*e code=094E elementURI="OnDock:science:Science.PeakSaltLongitude" type=00 *a code=0EF0 owner=0182 element=094E universal=3FFF unitName="degree" type=1F size=0008 fl=05 w *a code=0EF1 owner=0182 element=094E universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdegy}%E=ٔQ->9Y=Dy;E>*e code=094F elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROI" type=00 *a code=0EF2 owner=0182 element=094F universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 w*a code=0EF3 owner=0182 element=094F universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/sQ 54^?Q 943)NBYy@Q I@KDI:iU4yɮ A*e code=0950 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROIDepth" type=00 *a code=0EF4 owner=0182 element=0950 universal=3FFF unitName="meter" type=1F size=0008 fl=05 w*a code=0EF5 owner=0182 element=0950 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan mi9)AAAiAIII*e code=0951 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROITemperature" type=00 *a code=0EF6 owner=0182 element=0951 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 we*a code=0EF7 owner=0182 element=0951 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 'mDefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC*e code=0952 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROILatitude" type=00 *a code=0EF8 owner=0182 element=0952 universal=3FFF unitName="degree" type=1F size=0008 fl=05 w*a code=0EF9 owner=0182 element=0952 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg*e code=0953 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROILongitude" type=00 *a code=0EFA owner=0182 element=0953 universal=3FFF unitName="degree" type=1F size=0008 fl=05 w%*a code=0EFB owner=0182 element=0953 universal=3FFF unitName="degree" type=1F size=0008 fl=04 M9IaIqO='DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg*e code=0954 elementURI="OnDock:science:Science.EdgePlanktivoreLMavgROI" type=00 *a code=0EFC owner=0182 element=0954 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 w*a code=0EFD owner=0182 element=0954 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s*e code=0955 elementURI="OnDock:science:Science.EdgePlanktivoreLMavgROIDepth" type=00 *a code=0EFE owner=0182 element=0955 universal=3FFF unitName="meter" type=1F size=0008 fl=05 w*a code=0EFF owner=0182 element=0955 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m*e code=0956 elementURI="OnDock:science:Science.EdgePlanktivoreLMavgROITemperature" type=00 *a code=0F00 owner=0182 element=0956 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 x*a code=0F01 owner=0182 element=0956 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 'EDefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC*e code=0957 elementURI="OnDock:science:Science.EdgePlanktivoreLMavgROILatitude" type=00 *a code=0F02 owner=0182 element=0957 universal=3FFF unitName="degree" type=1F size=0008 fl=05 xe*a code=0F03 owner=0182 element=0957 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'uDefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg*e code=0958 elementURI="OnDock:science:Science.EdgePlanktivoreLMavgROILongitude" type=00 *a code=0F04 owner=0182 element=0958 universal=3FFF unitName="degree" type=1F size=0008 fl=05 "x*a code=0F05 owner=0182 element=0958 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg*e code=0959 elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROI" type=00 *a code=0F06 owner=0182 element=0959 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 2x5*a code=0F07 owner=0182 element=0959 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s*e code=095A elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROIDepth" type=00 *a code=0F08 owner=0182 element=095A universal=3FFF unitName="meter" type=1F size=0008 fl=05 Bx=*a code=0F09 owner=0182 element=095A universal=3FFF unitName="meter" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m*e code=095B elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROITemperature" type=00 *a code=0F0A owner=0182 element=095B universal=3FFF unitName="celsius" type=1F size=0008 fl=05 Rx*a code=0F0B owner=0182 element=095B universal=3FFF unitName="celsius" type=1F size=0008 fl=04 '%DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC*e code=095C elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROILatitude" type=00 *a code=0F0C owner=0182 element=095C universal=3FFF unitName="degree" type=1F size=0008 fl=05 bx=*a code=0F0D owner=0182 element=095C universal=3FFF unitName="degree" type=1F size=0008 fl=04 'EDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg*e code=095D elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROILongitude" type=00 *a code=0F0E owner=0182 element=095D universal=3FFF unitName="degree" type=1F size=0008 fl=05 rx*a code=0F0F owner=0182 element=095D universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg*e code=095E elementURI="OnDock:science:Science.EdgePlanktivoreHMavgROI" type=00 *a code=0F10 owner=0182 element=095E universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 x*a code=0F11 owner=0182 element=095E universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s*e code=095F elementURI="OnDock:science:Science.EdgePlanktivoreHMavgROIDepth" type=00 *a code=0F12 owner=0182 element=095F universal=3FFF unitName="meter" type=1F size=0008 fl=05 x5*a code=0F13 owner=0182 element=095F universal=3FFF unitName="meter" type=1F size=0008 fl=04 'EDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m*e code=0960 elementURI="OnDock:science:Science.EdgePlanktivoreHMavgROITemperature" type=00 *a code=0F14 owner=0182 element=0960 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 x]*a code=0F15 owner=0182 element=0960 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 'eDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC*e code=0961 elementURI="OnDock:science:Science.EdgePlanktivoreHMavgROILatitude" type=00 *a code=0F16 owner=0182 element=0961 universal=3FFF unitName="degree" type=1F size=0008 fl=05 x*a code=0F17 owner=0182 element=0961 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg*e code=0962 elementURI="OnDock:science:Science.EdgePlanktivoreHMavgROILongitude" type=00 *a code=0F18 owner=0182 element=0962 universal=3FFF unitName="degree" type=1F size=0008 fl=05 x*a code=0F19 owner=0182 element=0962 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg*e code=0963 elementURI="OnDock:science:Science.PeakPlanktivoreDiatoms" type=00 *a code=0F1A owner=0182 element=0963 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 x5 *a code=0F1B owner=0182 element=0963 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 '= DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml*e code=0964 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsDepth" type=00 *a code=0F1C owner=0182 element=0964 universal=3FFF unitName="meter" type=1F size=0008 fl=05 x] *a code=0F1D owner=0182 element=0964 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'e DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m*e code=0965 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsTemperature" type=00 *a code=0F1E owner=0182 element=0965 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 x *a code=0F1F owner=0182 element=0965 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC*e code=0966 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsLatitude" type=00 *a code=0F20 owner=0182 element=0966 universal=3FFF unitName="degree" type=1F size=0008 fl=05 y *a code=0F21 owner=0182 element=0966 universal=3FFF unitName="degree" type=1F size=0008 fl=04 ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg*e code=0967 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsLongitude" type=00 *a code=0F22 owner=0182 element=0967 universal=3FFF unitName="degree" type=1F size=0008 fl=05 y5 *a code=0F23 owner=0182 element=0967 universal=3FFF unitName="degree" type=1F size=0008 fl=04 '= DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg*e code=0968 elementURI="OnDock:science:Science.EdgePlanktivoreDiatoms" type=00 *a code=0F24 owner=0182 element=0968 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 "yu *a code=0F25 owner=0182 element=0968 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 '} DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml*e code=0969 elementURI="OnDock:science:Science.EdgePlanktivoreDiatomsDepth" type=00 *a code=0F26 owner=0182 element=0969 universal=3FFF unitName="meter" type=1F size=0008 fl=05 2y *a code=0F27 owner=0182 element=0969 universal=3FFF unitName="meter" type=1F size=0008 fl=04 ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m*e code=096A elementURI="OnDock:science:Science.EdgePlanktivoreDiatomsTemperature" type=00 *a code=0F28 owner=0182 element=096A universal=3FFF unitName="celsius" type=1F size=0008 fl=05 By *a code=0F29 owner=0182 element=096A universal=3FFF unitName="celsius" type=1F size=0008 fl=04 ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC*e code=096B elementURI="OnDock:science:Science.EdgePlanktivoreDiatomsLatitude" type=00 *a code=0F2A owner=0182 element=096B universal=3FFF unitName="degree" type=1F size=0008 fl=05 Ry- *a code=0F2B owner=0182 element=096B universal=3FFF unitName="degree" type=1F size=0008 fl=04 '5 DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg*e code=096C elementURI="OnDock:science:Science.EdgePlanktivoreDiatomsLongitude" type=00 *a code=0F2C owner=0182 element=096C universal=3FFF unitName="degree" type=1F size=0008 fl=05 bym *a code=0F2D owner=0182 element=096C universal=3FFF unitName="degree" type=1F size=0008 fl=04 'u DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg*e code=096D elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellates" type=00 *a code=0F2E owner=0182 element=096D universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 ry *a code=0F2F owner=0182 element=096D universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml*e code=096E elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth" type=00 *a code=0F30 owner=0182 element=096E universal=3FFF unitName="meter" type=1F size=0008 fl=05 y *a code=0F31 owner=0182 element=096E universal=3FFF unitName="meter" type=1F size=0008 fl=04 '= DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m*e code=096F elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature" type=00 *a code=0F32 owner=0182 element=096F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 yM *a code=0F33 owner=0182 element=096F universal=3FFF unitName="celsius" type=1F size=0008 fl=04 7F,{?A2y0@2!=@2>ٱ2./< >AHRS rotation from veh to nav: [[-0.984940,-0.171908,0.018462],[0.172071,-0.985055,0.007629],[0.016875,0.010691,0.999800]]2Hƿ?n? =??@G??]?i2y0@I2 ^;0YN!ByN"I===%='EDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC*e code=0970 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude" type=00 *a code=0F34 owner=0182 element=0970 universal=3FFF unitName="degree" type=1F size=0008 fl=05 y}*a code=0F35 owner=0182 element=0970 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg*e code=0971 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude" type=00 iMb@Mb@Mb@ 9X9vMb?~jthYy@=\@@ r@)@Y@*a code=0F36 owner=0182 element=0971 universal=3FFF unitName="degree" type=1F size=0008 fl=05 y*a code=0F37 owner=0182 element=0971 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdegbDVDky Z% B=ٔ wQ- >*e code=0972 elementURI="OnDock:science:Science.EdgePlanktivoreDinoflagellates" type=00 *a code=0F38 owner=0182 element=0972 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 ye*a code=0F39 owner=0182 element=0972 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 'mDefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml9qYq=uDyq}Y/E}>Q 54*e code=0973 elementURI="OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth" type=00 *a code=0F3A owner=0182 element=0973 universal=3FFF unitName="meter" type=1F size=0008 fl=05 y*a code=0F3B owner=0182 element=0973 universal=3FFF unitName="meter" type=1F size=0008 fl=04 _?Q 94)NBYf=Q Ek*e code=0976 elementURI="OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude" type=00 *a code=0F40 owner=0182 element=0976 universal=3FFF unitName="degree" type=1F size=0008 fl=05 z]*a code=0F41 owner=0182 element=0976 universal=3FFF unitName="degree" type=1F size=0008 fl=04 '}DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg*e code=0977 elementURI="OnDock:science:Science.PatchChl" type=00 *a code=0F42 owner=0182 element=0977 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 z*a code=0F43 owner=0182 element=0977 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 'nDefineOutput OnDock:science:Science.PatchChl = nan ug/l*e code=0978 elementURI="OnDock:science:Science.PatchChlDepth" type=00 *a code=0F44 owner=0182 element=0978 universal=3FFF unitName="meter" type=1F size=0008 fl=05 "z5*a code=0F45 owner=0182 element=0978 universal=3FFF unitName="meter" type=1F size=0008 fl=04 '=rDefineOutput OnDock:science:Science.PatchChlDepth = nan m*e code=0979 elementURI="OnDock:science:Science.PatchChlLatitude" type=00 *a code=0F46 owner=0182 element=0979 universal=3FFF unitName="degree" type=1F size=0008 fl=05 2z*a code=0F47 owner=0182 element=0979 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg*e code=097A elementURI="OnDock:science:Science.PatchChlLongitude" type=00 *a code=0F48 owner=0182 element=097A universal=3FFF unitName="degree" type=1F size=0008 fl=05 Bz*a code=0F49 owner=0182 element=097A universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg*e code=097B elementURI="OnDock:science:Science.PatchChlDistance" type=00 *a code=0F4A owner=0182 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=05 Rz*a code=0F4B owner=0182 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=04 '=xDefineOutput OnDock:science:Science.PatchChlDistance = nan m*e code=097C elementURI="OnDock:science:Science.PatchSalt" type=00 *a code=0F4C owner=0182 element=097C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 bzU*a code=0F4D owner=0182 element=097C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 '}nDefineOutput OnDock:science:Science.PatchSalt = nan psu*e code=097D elementURI="OnDock:science:Science.PatchSaltDepth" type=00 *a code=0F4E owner=0182 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=05 rz*a code=0F4F owner=0182 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=04 'tDefineOutput OnDock:science:Science.PatchSaltDepth = nan m*e code=097E elementURI="OnDock:science:Science.PatchSaltLatitude" type=00 *a code=0F50 owner=0182 element=097E universal=3FFF unitName="degree" type=1F size=0008 fl=05 z *a code=0F51 owner=0182 element=097E universal=3FFF unitName="degree" type=1F size=0008 fl=04 '5DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg*e code=097F elementURI="OnDock:science:Science.PatchSaltLongitude" type=00 *a code=0F52 owner=0182 element=097F universal=3FFF unitName="degree" type=1F size=0008 fl=05 zM*a code=0F53 owner=0182 element=097F universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg*e code=0980 elementURI="OnDock:science:Science.PatchSaltDistance" type=00 *a code=0F54 owner=0182 element=0980 universal=3FFF unitName="meter" type=1F size=0008 fl=05 z*a code=0F55 owner=0182 element=0980 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'zDefineOutput OnDock:science:Science.PatchSaltDistance = nan m*e code=0981 elementURI="OnDock:science:Science.PatchOil" type=00 *a code=0F56 owner=0182 element=0981 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 z*a code=0F57 owner=0182 element=0981 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 'lDefineOutput OnDock:science:Science.PatchOil = nan psu*e code=0982 elementURI="OnDock:science:Science.PatchOilDepth" type=00 *a code=0F58 owner=0182 element=0982 universal=3FFF unitName="meter" type=1F size=0008 fl=05 z*a code=0F59 owner=0182 element=0982 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'rDefineOutput OnDock:science:Science.PatchOilDepth = nan m*e code=0983 elementURI="OnDock:science:Science.PatchOilLatitude" type=00 *a code=0F5A owner=0182 element=0983 universal=3FFF unitName="degree" type=1F size=0008 fl=05 z]*a code=0F5B owner=0182 element=0983 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'eDefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg*e code=0984 elementURI="OnDock:science:Science.PatchOilLongitude" type=00 *a code=0F5C owner=0182 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=05 z*a code=0F5D owner=0182 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=04 'DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg*e code=0985 elementURI="OnDock:science:Science.PatchOilDistance" type=00 *a code=0F5E owner=0182 element=0985 universal=3FFF unitName="meter" type=1F size=0008 fl=05 z*a code=0F5F owner=0182 element=0985 universal=3FFF unitName="meter" type=1F size=0008 fl=04 'xDefineOutput OnDock:science:Science.PatchOilDistance = nan m*e code=0986 elementURI="OnDock:science:Science.TriggeredOnChl" type=00 *a code=0F60 owner=0182 element=0986 universal=3FFF unitName="bool" type=02 size=0001 fl=05 { *a code=0F61 owner=0182 element=0986 universal=3FFF unitName="bool" type=02 size=0001 fl=04 '% vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool*e code=0987 elementURI="OnDock:science:Science.ChlTriggering" type=00 *a code=0F62 owner=0182 element=0987 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 { *a code=0F63 owner=0182 element=0987 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 ' xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l*n code=0183 name="OnDock:science:Science:A" *n code=0184 name="OnDock:science:Science:B" *n code=0185 name="OnDock:science:Science:C" *n code=0186 name="OnDock:science:Science:D" *n code=0187 name="OnDock:science:Science:E" *n code=0188 name="OnDock:science:Science:F" *n code=0189 name="OnDock:science:Science:Read_Oil" *n code=018A name="OnDock:science:Science:OceanCurrent" *n code=018B name="OnDock:science:Science:OceanCurrent:A." *a code=0F64 owner=018B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F65 owner=018B element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F66 owner=018B element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F67 owner=018B element=050D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0F68 owner=018B element=08A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 b" *a code=0F69 owner=018B element=08A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 b" *a code=0F6A owner=018B element=08A7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 b" *a code=0F6B owner=018B element=08A8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 b" *a code=0F6C owner=018B element=08A9 universal=3FFF unitName="none" type=00 size=0000 fl=05 b" *a code=0F6D owner=018B element=08AA universal=3FFF unitName="none" type=00 size=0000 fl=05 b" *n code=018C name="OnDock:science:Science:PeakDetectChl" *n code=018D name="OnDock:science:Science:PeakDetectChl:A" *n code=018E name="OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth" = 8Construct PeakDetectVsDepth.*a code=0F6E owner=018E element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6F owner=018E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F70 owner=018E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=018F name="OnDock:science:Science:PeakDetectChl:C" *n code=0190 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0191 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0192 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0193 name="OnDock:science:Science:EdgeDetectChl" !aL,J3?A2/@25=@2挼ٱ2C2< >AHRS rotation from veh to nav: [[-0.984191,-0.176103,0.018854],[0.176272,-0.984311,0.007715],[0.017199,0.010917,0.999792]]2H~~`ƿUN?`?@z??r[?L?i2/@I2^;2 CYNByN"ITV@AbDZVDZ1*n code=0194 name="OnDock:science:Science:EdgeDetectChl:A" *n code=0195 name="OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth" E8Construct EdgeDetectVsDepth.*a code=0F71 owner=0195 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F72 owner=0195 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F73 owner=0195 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 y%R=ٔ#ZQ->9Y=DyK9E>Q 54:`?Q 94M)NBYy=Q I@KDI~&Construct PeakDetectHorizontal.*a code=0F74 owner=0199 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F75 owner=0199 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F76 owner=0199 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F77 owner=0199 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F78 owner=0199 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F79 owner=0199 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=019A name="OnDock:science:Science:PeakDepthAvgProfilesChl" *n code=019B name="OnDock:science:Science:PeakDepthAvgProfilesChl:A" *n code=019C name="OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" >Construct PeakDetectHorizontal.*a code=0F7A owner=019C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7B owner=019C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7C owner=019C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7D owner=019C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7E owner=019C element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7F owner=019C element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=019D name="OnDock:science:Science:PeakDetectNO3" *n code=019E name="OnDock:science:Science:PeakDetectNO3:A" *n code=019F name="OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth" 8Construct PeakDetectVsDepth.*a code=0F80 owner=019F element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F81 owner=019F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F82 owner=019F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01A0 name="OnDock:science:Science:PeakDetectNO3:C" *n code=01A1 name="OnDock:science:Science:PeakDetectOil" *n code=01A2 name="OnDock:science:Science:PeakDetectOil:A" *n code=01A3 name="OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth" ѭ8Construct PeakDetectVsDepth.*a code=0F83 owner=01A3 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F84 owner=01A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F85 owner=01A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01A4 name="OnDock:science:Science:PeakDetectOil:C" *n code=01A5 name="OnDock:science:Science:HighestOilPeakReport" *n code=01A6 name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" m>Construct PeakDetectHorizontal.*a code=0F86 owner=01A6 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F87 owner=01A6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F88 owner=01A6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F89 owner=01A6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F8A owner=01A6 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F8B owner=01A6 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01A7 name="OnDock:science:Science:PeakDetectFDOM" *n code=01A8 name="OnDock:science:Science:PeakDetectFDOM:A" *n code=01A9 name="OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth" ]8Construct PeakDetectVsDepth.*a code=0F8C owner=01A9 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F8D owner=01A9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F8E owner=01A9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01AA name="OnDock:science:Science:PeakDetectFDOM:C" *n code=01AB name="OnDock:science:Science:PeakDetectSalinity" *n code=01AC name="OnDock:science:Science:PeakDetectSalinity:A" *n code=01AD name="OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth"  8Construct PeakDetectVsDepth.*a code=0F8F owner=01AD element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F90 owner=01AD element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F91 owner=01AD element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01AE name="OnDock:science:Science:PeakDetectSalinity:C" *n code=01AF name="OnDock:science:Science:HighestSaltPeakReport" *n code=01B0 name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" >Construct PeakDetectHorizontal.*a code=0F92 owner=01B0 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F93 owner=01B0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F94 owner=01B0 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F95 owner=01B0 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F96 owner=01B0 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F97 owner=01B0 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01B1 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=01B2 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A" i I A*n code=01B3 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" M 8Construct PeakDetectVsDepth.MS,AM?AfQ/@f=G=@f;,ٱf1,< rAHRS rotation from veh to nav: [[-0.982954,-0.182894,0.018743],[0.183054,-0.983076,0.007195],[0.017110,0.010503,0.999798]]fH[tiǿ`k1?Rn?\u@ex}?`O?ག?@Y?ifQ/@IfZ^;f"CYByz"II=)=%=%=*a code=0F98 owner=01B3 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F99 owner=01B3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F9A owner=01B3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01B4 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=01B5 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI" *n code=01B6 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=01B7 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" ۍ8Construct EdgeDetectVsDepth.*a code=0F9B owner=01B7 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F9C owner=01B7 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F9D owner=01B7 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 iMb@Mb@Mb@ 9Zd;O:v?~jthYjyT<r@@ @)@Y@bD=VD=yzμ%*=ٔPB9Q->9Y=DyRkE>*n code=01B8 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=01B9 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:D" Q 5E4 a?Q 9E4)~NBYE*n code=01BD name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=01BE name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI" *n code=01BF name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=01C0 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" 8Construct EdgeDetectVsDepth.*a code=0FA1 owner=01C0 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA2 owner=01C0 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA3 owner=01C0 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01C1 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=01C2 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=01C3 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=01C4 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A" *n code=01C5 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" 8Construct PeakDetectVsDepth.*a code=0FA4 owner=01C5 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA5 owner=01C5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA6 owner=01C5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01C6 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:C" *n code=01C7 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms" *n code=01C8 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=01C9 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth"  8Construct EdgeDetectVsDepth.*a code=0FA7 owner=01C9 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA8 owner=01C9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA9 owner=01C9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01CA name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=01CB name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=01CC name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=01CD name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=01CE name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth"  8Construct PeakDetectVsDepth.*a code=0FAA owner=01CE element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FAB owner=01CE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FAC owner=01CE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=01CF name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=01D0 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=01D1 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=01D2 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" 8Construct EdgeDetectVsDepth.*a code=0FAD owner=01D2 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FAE owner=01D2 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FAF owner=01D2 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 sY,g?A2.@2.<@2qٱ2< >AHRS rotation from veh to nav: [[-0.981293,-0.191674,0.018060],[0.191812,-0.981412,0.006215],[0.016533,0.009563,0.999818]]2Hf Ĉȿ Y~?G?`g`:uy? ?ە??i2.@I2#j^;2!CYN ByN"IbDZVDZyrE=%r=ٔrz:Q-v?9tYt=vDytzEz?|Q 5]4~a?Q 9e4~)~}NBYaye5Q Ie@~KDI~1:i~:~84yiɮu2 Aqi)顁iI*n code=01D3 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=01D4 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=01D5 name="OnDock:science:Science:ChlThreshTrigger" *n code=01D6 name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" },Construct ValueDetect.IIO=*n code=01D7 name="OnDock:science:Science:ChlThreshTrigger:B" *a code=0FB0 owner=01D7 element=0986 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=01D8 name="OnDock:science:Science:ChlThreshTrigger:C" *n code=01D9 name="OnDock:J." *a code=0FB1 owner=01D9 element=07D6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0FB2 owner=01D9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB3 owner=01D9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB4 owner=01D9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB5 owner=01D9 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB6 owner=01D9 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB7 owner=01D9 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB8 owner=01D9 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FB9 owner=01D9 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FBA owner=01D9 element=06C3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0FBB owner=01D9 element=06C4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0FBC owner=01D9 element=07D7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FBD owner=01D9 element=07D8 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0FBE owner=01D9 element=07D9 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FBF owner=01D9 element=07DA universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FC0 owner=01D9 element=07DB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FC1 owner=01D9 element=07DC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FC2 owner=01D9 element=07DD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FC3 owner=01D9 element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FC4 owner=01D9 element=07DF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FC5 owner=01D9 element=07E0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FC6 owner=01D9 element=07E1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FC7 owner=01D9 element=07E2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FC8 owner=01D9 element=07E3 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0FC9 owner=01D9 element=07E4 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0FCA owner=01D9 element=07E5 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=0FCB owner=01D9 element=07E6 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=0FCC owner=01D9 element=07E7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FCD owner=01D9 element=07E8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FCE owner=01D9 element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FCF owner=01D9 element=07EA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FD0 owner=01D9 element=07EB universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FD1 owner=01D9 element=07EC universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FD2 owner=01D9 element=07ED universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=01DA name="OnDock:K" *n code=01DB name="OnDock:L.Execute" %$Construct Execute.*n code=01DC name="OnDock:PeriodicCheck" *n code=01DD name="OnDock:PeriodicCheck:CheckIP" *n code=01DE name="OnDock:PeriodicCheck:CheckIP:A.Execute" E$Construct Execute.*n code=01DF name="OnDock:PeriodicCheck:CheckIP:B.Wait" UConstruct Wait.*n code=01E0 name="OnDock:N.Docked" Construct. dInitializing internal variables to default values.*a code=0FD3 owner=01E0 element=0320 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FD4 owner=01E0 element=0322 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD5 owner=01E0 element=0323 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD6 owner=01E0 element=0324 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD7 owner=01E0 element=0325 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD8 owner=01E0 element=031D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FD9 owner=01E0 element=0326 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FDA owner=01E0 element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FDB owner=01E0 element=0462 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FDC owner=01E0 element=008D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FDD owner=01E0 element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FDE owner=01E0 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FDF owner=01E0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE0 owner=01E0 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE1 owner=01E0 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE2 owner=01E0 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE3 owner=01E0 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0FE4 owner=01E0 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE5 owner=01E0 element=0586 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE6 owner=01E0 element=06DC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE7 owner=01E0 element=06E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE8 owner=01E0 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FE9 owner=01E0 element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0FEA owner=01E0 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FEB owner=01E0 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FEC owner=01E0 element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 !xyu*a code=0FED owner=01E0 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FEE owner=01E0 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FEF owner=01E0 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FF0 owner=01E0 element=0536 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FF1 owner=01E0 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=01E1 name="OnDock:Detach" *n code=01E2 name="OnDock:Detach:A" *a code=0FF2 owner=01E2 element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=01E3 name="OnDock:Detach:B.Undock" Construct.dInitializing internal variables to default values.*a code=0FF3 owner=01E3 element=0344 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF4 owner=01E3 element=0343 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FF5 owner=01E3 element=0345 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF6 owner=01E3 element=0346 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FF7 owner=01E3 element=0330 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF8 owner=01E3 element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FF9 owner=01E3 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FFA owner=01E3 element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FFB owner=01E3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFC owner=01E3 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFD owner=01E3 element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FFE owner=01E3 element=07EF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FFF owner=01E3 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1000 owner=01E3 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1001 owner=01E3 element=06DC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1002 owner=01E3 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1003 owner=01E3 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1004 owner=01E3 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1005 owner=01E3 element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1006 owner=01E3 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1007 owner=01E3 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 ' a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } = bLoaded ./Missions/Engineering/OnDock.tl id=OnDockZ`,}?A2E.@2<@2aٱ2@< >AHRS rotation from veh to nav: [[-0.979235,-0.202013,0.016994],[0.202120,-0.979349,0.004813],[0.015671,0.008148,0.999844]]2H`Uɿf??`Vs? ???i2E.@I2N^;0YLyR"I TVR=bDZVDZܲycP%H=ٔ ;Q->9 Y = Dy #ӼE>Q 5]4=b?Q 9e4){NBYaye=8Q Ie@KDI;$AHRS rotation from veh to nav: [[-0.976776,-0.213694,0.015582],[0.213756,-0.976884,0.002421],[0.014705,0.005696,0.999876]]6H`A`UZ˿?_\? B c?`? 2Tw?@?i6dP-@I6p^;4YRByRo"I TTTVAi Mb@Mb@Mb@     9  rh{GzY Cy ף   @ ) @ Y @bDM VDM:2y`%=ٔ:Q->9Y=DyE>Q 546c?Q 94)Yl,2?A2,@2(v:@2 _ٱ2 ; >AHRS rotation from veh to nav: [[-0.974000,-0.226128,0.013779],[0.226136,-0.974095,-0.000993],[0.013647,0.002148,0.999905]]2H@+̿`$8?`?+FP?@Ea?7?i2,@I2r^;2CY^By^t"IbDjVDj1y]K<%e=ٔe;Q-e&?9aYi=mDyimAEm&?qQ 54uc?Q 94u)qYyc#?Q I@uKDIu&#9Y=DyּE>Q 5E4sd?Q 9E4)|NBYM+=Q EM11!y,?A6f*@68@6Z5ٱ6D˺ >AHRS rotation from veh to nav: [[-0.967852,-0.251310,0.010340],[0.251278,-0.967906,-0.004287],[0.011086,-0.001551,0.999937]]6Htп@W-?@? q,?@2hY|?i6f*@I6^;6CYNByN{"IIR4=)R=V=V=bDZVDZ1yr #=%r=ٔrq;Q-r?9tYt=vDytz;0Ez?xQ 5=4zd?Q 9E4z)xYAyEڌ?Q IE@zKDIzv$AHRS rotation from veh to nav: [[-0.964530,-0.263831,0.008665],[0.263789,-0.964564,-0.005674],[0.009855,-0.003187,0.999946]]2H@n`п龁? ?@ >w`.?`j?i2N*@I2s^;2!CYNByR|"IbDZVDZ0yf;%fL=ٔf;I;Q-f>9hYh=jDyhnBEn>Q 54e?Q 9 4R)Y y 2?Q I @KDI):i:A4yɮ^ A9iI)IIIiIQI9IIO=҆,Þ?A:6)@:,7@:sٱ:1 BAHRS rotation from veh to nav: [[-0.961158,-0.275903,0.007280],[0.275861,-0.961177,-0.006223],[0.008715,-0.003973,0.999954]]:Hcѿ}?`? Y}y؁?Ep?i:6)@I:^;8YNByRq"IiMb@Mb@Mb@ 9Mb?I +MbP?Y9aYa=eDyamEm>iQ 54me?Q 94m˿)m}NBY97=Q E:,{6?A2mt(@2j6@2 ٱ2 :AHRS rotation from veh to nav: [[-0.957821,-0.287292,0.006464],[0.287254,-0.957834,-0.006306],[0.008003,-0.004184,0.999959]]2Hx`bҿzz?\b? `y@d?"q?i2mt(@I2_;2CYNByNt"I PPTVAbDXVDXy=\<%ET=ٔEo:Q-E>9AYI=MDyIM/EM>QQ 5}4Ue?Q 9}4U])QYyú?Q I@UKDIU;iU";UO4yɮ Ai)iI9 =GQi9Y|AIIO>),,gP?AMɿ'@Mq5@M@ٱM }AHRS rotation from veh to nav: [[-0.954599,-0.297835,0.005899],[0.297797,-0.954607,-0.006529],[0.007576,-0.004476,0.999961]]MH``ӿ)x?`?#yz?Ur?iMɿ'@IM^;IYByv"IiMb@Mb@Mb@ 9y&1?9aYa=eDyamwEm>qQ 5}4ue?Q 9}4u)uNBY}=Q E},40j?A2!'@2s5@2ٱ2 >AHRS rotation from veh to nav: [[-0.951682,-0.307030,0.005811],[0.306988,-0.951687,-0.007039],[0.007691,-0.004915,0.999958]]2H@.t_ӿw? ?8t|@?!t?i2!'@I2^;2"CYNByR|"ITTbDZVDZ02yf<%ft=ٔfQ-f?9hYh=jDyhnEn ?Q 54e?Q 9 4)NBY y ?Q I @IB:i|:]4yɮ=` A9iI)IIIiQQIY egAehAU79IiiqIuAIO=, ?A:&@:b4@:e ٱ: FAHRS rotation from veh to nav: [[-0.949056,-0.315042,0.006402],[0.314995,-0.949064,-0.007421],[0.008414,-0.005026,0.999952]]:H^)Կ8z?(?^@e~@?;?t@?i:&@I:^;:!CYNByR"IV=Va=bDZ VDZ2yr<%%E=ٔ%AQ-%>9)Y)=-Dy)-UE5>1Q 5]45e?Q 9]45#)5NBYayes?Q Ie@5KDI5";i5;5e4yiɮmD Aqi)顡iI39IIO==MRgot command set OnDock.DockedTime 24 hourJoM@=Ugot command run=uRunning qqԉԹ ,h?A2B#&@24@2u ٱ2Ǯ >AHRS rotation from veh to nav: [[-0.946781,-0.321790,0.007556],[0.321730,-0.946796,-0.008201],[0.009794,-0.005334,0.999938]]2HL5Կ~?8?@'Lˀ?u}?i2B#&@I2^;2Cr%=rC=Y~By~"IiMb@Mb@Mb@ 9y&1?/$Y`9Y=DyE>Q 54d?Q 94ѽ)NBY\=Q E ~>}G?}h!~/Bq`==LAggregate::uninitialize OnDock:science`= =\Aggregate::uninitialize OnDock:science:Science`=1a=qa=a=a=1b=qb=b= =vAggregate::uninitialize OnDock:science:Science:OceanCurrentbE1cE ExAggregate::uninitialize OnDock:science:Science:PeakDetectChlqcEdEExAggregate::uninitialize OnDock:science:Science:EdgeDetectChl1eE1fE EAggregate::uninitialize OnDock:science:Science:HighestChlPeakReportqfEEUninitialize.fE MAggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChlfMqgMMxAggregate::uninitialize OnDock:science:Science:PeakDetectNO3gMqhMmxAggregate::uninitialize OnDock:science:Science:PeakDetectOilhmqimmAggregate::uninitialize OnDock:science:Science:HighestOilPeakReportim uUninitialize.iuuzAggregate::uninitialize OnDock:science:Science:PeakDetectFDOM1jujuuAggregate::uninitialize OnDock:science:Science:PeakDetectSalinity1kukuuAggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport1lu uUninitialize.qlu}Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROIl}qm}}Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROIm}n} }Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROIn}o} }Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROIo}p}}Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms1q}qAggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms1r1s Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellatesqs1t Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellatesqtqu~Aggregate::uninitialize OnDock:science:Science:ChlThreshTriggeru Uninitialize._*a code=1008 owner=017F element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 zInitialize ReadDataComponent to sense platform_communications1^1_^^q^]q\\[q\1\[i)iIe9II=,got command ! ifconfig= 9 eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:834 errors:0 dropped:0 overruns:0 frame:0 TX packets:1157 errors:0 dropped:0 overruns:0 carrier:0 collisions:7 txqueuelen:1000 RX bytes:349007 (340.8 Kb) TX bytes:164835 (160.9 Kb) Interrupt:29 lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1 RX packets:427 errors:0 dropped:0 overruns:0 frame:0 TX packets:427 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:33974 (33.1 Kb) TX bytes:33974 (33.1 Kb) !QOm"?, ?A$ɰ&p9yYy=}DyyE>Q 54c?Q 94W)Yy @Q I@KDII;i;_w4yɮ- Aq0q@\1]i9)9AAiAIIIIUu?)U`?-t9IAIYOe=Aiԑ Q,>v?A2h%@2^3@2Bcٱ2 :AHRS rotation from veh to nav: [[-0.943014,-0.332559,0.011351],[0.332464,-0.943068,-0.009520],[0.013870,-0.005203,0.999890]]2H+-Hտ??G?- h?*Pu?i2h%@I2_;2!CYR*ByV"IimMb@Mb@Mb@iiii i9m~jt?y&1|Ym=ym`廙im@m@ md@)iiYm@bDVDy,=%G=ٔQ->9Y=DyUSE>Q 54b?Q 94!)YD=Q Eԡ ,7O?A2&%@23@2\ٱ2攻 :AHRS rotation from veh to nav: [[-0.941613,-0.336405,0.014032],[0.336292,-0.941707,-0.009837],[0.016523,-0.004543,0.999853]]2H!েտ¼?@ͅ?u"6%i? *r ?i2&%@I2Lj^;0YB4ByB"IbDJVDJ2ybvX=%fY=ٔfQ-j>9hYh=jDyhn;1E->1Q 5=45a?Q 9=45)1YAyEr'@Q IE@5KDI5;i5 ;5J4yIɮMAIqe*@q]eveiy)yyyiyI9IIO=) a ,lv?ADDM.$@M2@MٱM;R ]AHRS rotation from veh to nav: [[-0.939774,-0.341166,0.020765],[0.341006,-0.939997,-0.010947],[0.023254,-0.003207,0.999724]]MHտ`pC?` ?uk ϗ?@Ej ?iM.$@IMZF^;MCYm2Bym"I}=}=iMb@Mb@Mb@ 9?~jth?Mb`?Y9Y=Dy0E>Q 54`?Q 94ݼ)NBY9a ,.?A0Y~;By~"IbDVDyEH=%E]=ٔMQ-M>9IYI=MDyIUEU>iYIYaQ 5m4e`?Q 9m4eм)eNBYqyqQ Iu@aIe:ie:e4yɮ\A