*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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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 *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 *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 *a code=0FF2 owner=01E2 element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *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 code=1008 owner=017F element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1009 owner=01E0 element=0988 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=100A owner=011E element=07E3 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=100B owner=011E element=07E4 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=100C owner=011E element=07E5 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=100D owner=011E element=07E6 universal=3FFF unitName="meter" type=00 size=0018 fl=05 Oη巫Oη巫η巫fAggregate::initialize lineCaptureHoming:InitialDive1Pη巫 η巫Initialize.qPϷ巫Ϸ巫Initialize.PϷ巫 Ϸ巫Initialize.=巫0got command restart logsE巫 E巫xE巫tE?巫"E巫:*E巫:VE巫Q6ZE?巫BE巫Z;a巫2E巫[;a巫JE巫co;a巫:E巫co;a巫Z?!巫Z?!巫Z?!巫Z!巫@i?6巫)?7巫?7巫?7巫i?7巫?8巫I?8巫I?;巫I?E巫OG巫>^P,yNDyK7? rh/$ÿI>C 9J +ٿʡEӿʡEYȾy8BB B)gBYaBbDVD1y,%>=ٔu9I=5FygE>Q 5%;4U?Q 9-;4F)Y- @?Q E-:y-g4@Q Im?>I'E EwE{E"EƱ:*E:VE"6ZEa@a@a@a@P,UB?A2@2Z@24ٱ2` >AHRS rotation from veh to nav: [[0.420868,0.906913,0.019480],[-0.904275,0.417750,0.088161],[0.071816,-0.054719,0.995916]]2H ? n? ?i?`?b?+?i2@I2&t`;2oCYNB>yRDr$r(r" r)r"Ir*ir%v'v"v,v% vbD~VD~k2y <% X=ٔ G=Q- >9I=5Fy#E]>YQ 5e;4]FG?Q 9m;4]9E)]BFYiymh1@Q Im?]!?I],:i]:];4ysBɮBťEjjjjjZZZZ !@ɢ) =Gi)Ci-PU:;1I1BR>BBBB=BBB;BEBBBBBCi4.:IaIyO{>E ErE\E"E:*E?:VE6ZEBE;a2E;aJEY;a:EY;anP,"3B?A2@2@2<&ٱ2ս :AHRS rotation from veh to nav: [[0.419318,0.906550,0.048357],[-0.901185,0.409217,0.142853],[0.109715,-0.103479,0.988562]]2H? v?9¨?`0?I?F?}L?i2@I2=`;2qCYNM>yN7DPPbDVD02y{<%@=ٔQ->9I=5FyyE>Q 5;46?Q 9;4C)lYy5@Q I?V?I$s#@ɢ))1 52Gi1)15ȷ1i5.;9I9IIYIiO}>bE%˃6jE%҈6rE%;3E  E ~E }E "E :*E (:VE 6ZE a @a @a @a @(P, B?A2@2g{@2ӽٱ2t :AHRS rotation from veh to nav: [[0.440619,0.895069,0.068602],[-0.891743,0.427634,0.148067],[0.103194,-0.126416,0.986595]]2H3?g??(Y^??j?@g.0?i2@I20`;2oCYNX>yRiEbDZVDZkyr<%rY=ٔr9tIt=v5Fytz~=Ez>xQ 5=;4z<'?Q 9E;4zEB)z*YAyE7@Q IE?z?Iz#u BDAT read: Response Not Received u *response not receivedu B ׏CB DB JK>B =B B B ^;B EP¾P,dB?A4<ɰ;Ynh>yn5EbDzVDz1y5e=%57=ٔ=Q-=>99IA=E5FyAEEE>IE] E]E]{EY"E]:*E]i:VE]"6ZEYBE];ae2E];aeJE];am:E];amQ 5;4M?Q 9;4M@)MYyQ I?M?IM"$P,ƿC?A6@6]@6ٱ608 >AHRS rotation from veh to nav: [[0.363629,0.923618,0.121261],[-0.931299,0.357454,0.070066],[0.021368,-0.138409,0.990145]]6HE?`F? ?2?`?@?^C?i6@I60`;6sCYRd>yR EiV yGz?#~jԿx?p>㥾K> 9|?5^?)\(Zd;Y>yGay|BAB B)BYBbD5VD51y %2=ٔ6>Q->9I=5Fy@E>Q 5M;4?Q 9M;45D)YMט>Q EU1;yUQ IU??I% }Giy)gi<I:==]=IIO>P,1C?A2@2͓@2r ٱ2G' :AHRS rotation from veh to nav: [[0.388723,0.910757,0.139341],[-0.920949,0.379594,0.088101],[0.027345,-0.162573,0.986318]]2H? $?`?ixDK?č?i?/Ŀ?i2@I2`;2qCY^;O>y^DbDjVDj0y]D%e=ٔmwQ-m ?9qI=5Fy˧=E?Q 5;4$?Q 9;4F)Yy%Q I%?p?I: E0GiA)IM斸iF '<IBuR>BqBu EBu_>BqBqBqBu;BuhE0:E/=I!I9OER> ]m>]CDqzDqE} E}uE}ZEy"E}:*E}:VE}ـ6ZEyBE};a2E};aJE}wd;a:E}xd;aEG liA) H9 liAY E7A{P,uKC?A2@2䩤@2 bٱ2 ½ :AHRS rotation from veh to nav: [[0.419873,0.904020,0.080337],[-0.907478,0.416831,0.052304],[0.013797,-0.094865,0.995395]]2H3???@ \?Ǫ?eA? IE?i2@I2kA`;2sCYRH>yRDbDZVDZ1ym%mJ=ٔm; =Q-u>9qI=5Fy=E>Q 5<4j?Q 9<4I)@ÿYy#Q I??It:i:y<4yɮ B1jIjIjIjIjIZZZZF<>ɢ) 7Gi)!%쯸!i%A<)I)I5l>)5> :m =IIO >E ~ E rE ME "E :*E ?:VE :w6ZE a @a @a @a @5P,~SeC?AY~D>y~DI =) =bDVDk1y`%I=ٔQ->9I=5FyE>Q 5<4?Q 9<4L)ſYyQ I??I:i::<4yɮBjjQjQjQjYZZZZɢ) ;Gi)ȸi[<I:hAhA=I IO%,>Bm P>Bi Bi Bi Bm =Bi Bi Bm ;Bm REP,+C?A2B@2^=@2vսٱ2'' :AHRS rotation from veh to nav: [[0.377063,0.926186,-0.001526],[-0.920309,0.374855,0.111871],[0.104185,-0.040778,0.993722]]2H!?`Q?X,s?@?嫺?ि@?i2B@I2`;0Y%,)>y% DbD]VD]1ym%mL=ٔmgQ-m>9qIq=u5FyqE>Q 5<4?Q 9<4O)TǿYy1Q I?$?I:i$:v<4yɮBD9D==EE EEwEEhEA"EE:*EE:VEE|6ZEABEE;aM2EE;aMJEEk;aM:EEk;aUjqjqjyjyjyZZZZѤ<ɢ)1= VGi)-⸉1i5dr<1I9 i:u>I) IY O} >P,!C?A;ɰYz2>yzDyCl׿"~ʿ'1ZԿdSТ 9 rhS㥻Zd;O?Y y/ݽj?IBB tB)BYBbDVD:y7<%@=ٔQ-%>9)I)=-5Fy)5E5>9Q 5E<4=?Q 9E<4=J)=rYET?Q EE:ye@Q Im?=@I=h;i=;=..<4yqɮuBqjjjjjZs?Zs?ZS)@ZF?ɢ)= MGi)!%s!i%h<)I) 5gA1:=I9IIOU2>Ee EerEeXEa"Ee:*Ee?:VEe 6ZEaam@am@am@am@R"P,C?A2z@2I@27ٱ2xb :AHRS rotation from veh to nav: [[0.371902,0.907403,0.195728],[-0.928017,0.358500,0.101302],[0.021753,-0.219313,0.975412]]2HyRBDbD\VD\yz?u%~^=ٔc>Q-%>9!I)=-5Fy)5wE5>aQ 5m<4e ?Q 9m<4eD)eBYqyT?Q I?e0@Ie;ie;eK;<4yqBɮ#BåEjjjjjZ Z Z Z ?y?ɢ9)E> EcGiA)AE AiEڐw=B%Q>B!B%DB%">B%=B!B!B%;B%UEA=4AIAIQOeU>E} E}oE}\Ey"E}1:*E}:VE}6ZEyBE};a2E};aJE}N;a:E}N;ai I < P,'C?A2@2@2˩<ٱ2bX :AHRS rotation from veh to nav: [[0.399895,0.894398,0.200339],[-0.916327,0.395068,0.065320],[-0.020726,-0.209697,0.977547]]2Hߗ?`?ฤ?RH?ϸ?9]ʿH?i2@I2`;2sCYN9>yRDbDZVDZyf[=%fM=ٔf=Q-f>9j>Ij>=j5FyjUDnb=E>9Q 5E<4=Z?Q 9E<4=?)= XYAyMY?Q IM?=!@I=:i=:=E  E sE TE "E s:*E Z:VE |6ZE a @a @a @a @4P,4C?A2@2@2q<ٱ2q :AHRS rotation from veh to nav: [[0.459063,0.886353,0.060334],[-0.888236,0.459237,0.011764],[-0.017280,-0.058991,0.998109]]2HHa?]? ?ml#d??`Ա4 ?i2@I2g`;2rCYNR>yNEbDZVDZfyr{=%vH=ٔvm Q-v>9zТ>IzТ>=z5FyzUDz}$>E~>Q 5%<4?Q 9-<4:)Y)y- @Q I-?/@I:iA::W<4y1ɮ]BYjijijijqjqZZZZF?ɢ) -Gi)"i<II?),?p}:=A|:AIIO%M>A A @AB B B DB =B B B B ;B iEB׏CB׏CBBɮ=Bɮ=C*4#Q,vD?A2H@2B@29fּٱ20a= :AHRS rotation from veh to nav: [[0.436641,0.897565,-0.061001],[-0.899255,0.437424,-0.000573],[0.026169,0.055105,0.998138]]2H?ڸ?w;@ ?B˚?6? ?i2H@I2b;2wCYN̊>yR*EbDZVDZN2y#$>%I=ٔڽQ->9 >I >= 5Fy UDb{E>Q 5=<4+?Q 9E<46)5YAyE-@Q IE?>@I;i:Oe<4yIɮUBQjjjjjZZZZ?ɢ))> Fi)iH<I E= E=|E=hE9"E=:*E=P$:VE=|6ZE9BE=;aE2E=;aMJE=};aM:E=};aM5|:&>AxJAI!I1OEQ>|FQ,RD?A2y@2H@2c^ٱ2 = :AHRS rotation from veh to nav: [[0.358280,0.932024,-0.054466],[-0.932036,0.360456,0.037161],[0.054267,0.037451,0.997824]]2H?$?@㫿< ?? ȫ?,?`,?i2y@I2Ob;2rCY^A>y^GEa@a a@a a@a a@a y+ÿktֿ+ǿ v> )Mb@Mb@Mb@Ii‰AB )YBBbDVDy5=%5:=ٔ=쁽Q-=>9=;>I=;>==5Fy=UDEmDEE>IQ 5u<4M㏊?Q 9u<4MP0)MνQ Au+:YqQ EuO:y}1 @Q I}?MO@IM;iM>Mq<4ypBɮΑBjjjjjɢ) Fi )  )i-<1I1 z:bEـ6jE6rE2EM EIEMZEI"EMҝ:*EIVEMـ6ZEIaU@a]@a]@a]@m4#>A}=A}>A UAI I O >wq Q,04D?A$ɰ&4y4:EbD= VD=2yMe%MX=ٔMR=Q-U>9U>IU>=u5FyuUD}E}>Q 5<4ۏ?Q 9<4E+) >Q A :YQ E(:y=@Q I?]@IU:iQ?z<4yiBɮёBEjjjjjɢ)%+> %Fi!)!%A!i%<)I) 99 vy:BS>B؏CBDB">BBBB;B:E!8>AtZAI!I1O=Q>EU EUzEUhEQ"EU:*EU :VEU|6ZEQBEUm;a]2EUn;aeJEUv;ae:EUv;aeDXQ,pND?ARnManaging dock network, ignoring radio surface power offYn>yn!EbDzVDzN2y ɽ% O=ٔ Q- >9>I>=5FyUDE>AQ 5E<4Eя?Q 9M<4E&)E>Q AM9YIQ EM:yIQ IM?E7l@IE:iE?E<4yyɮ}Byjjjjjɢ) Fi)aķib< I w:===5> >Ae pjAIq I O >Ee  Ee Ee YEa "Ee ~:*Ee *:VEe r6ZEa am @am @am @am @tQ,gD?AYn>yn EbDz VDzf2y8% J=ٔ Q- >9>I>=5FyUDE>9Q 5E<4=ȏ?Q 9E<4= )=?Q AM9YIQ EM9yIQ IM?={@I=*:i=6?=<4y}hBɮ}B}Ejjjjjɢ) Fi)  i 0x<1I9v:$z>A=oAIIIaOuW>B <A <B B B @EB tU>B =B B B ;B hEXj Q, D?A2동@2@2|/ٱ2g< :AHRS rotation from veh to nav: [[0.299583,0.940298,0.161522],[-0.953103,0.287339,0.095027],[0.042942,-0.182416,0.982283]]2H],? ?@Ĭ?c?@S?@t?gYǿ@n?i2동@I2)`;2vCYNb>yR"EbDZVDZy <-TG%-I=AٔM.Q-M>Y9YA99>I9>=5FyUD E>Q 5<4?Q 9<4)Y?Q A9YQ E9y?Q I?:@I;i@ <4yɮBE E~EOE"E1:*E(:VEx6ZEBE;a-2E;a-JE;a-:E;a-jQjQjQjYjYɢ) Fi)顥aHi}<It:S>A]>A>AE uAII IY Oe >&Q,D?AYnT>ynEaa aa aa aa yHzG?ˡEkt?= >' > 9X9v?ףp= ӿlڿYB)xBYBbDVDk2y %;=ٔQ->9>I>=5FyUDE%>!Q 5-<4%_?Q 95<4%W)%h3?Q AUT:Y]?Q E]:y]-Q I]?%f@I%;i%;%<4yaɮeBajjjjjZKQ?ZKQ?Z@ZQ@ɢ ) +Gi)i=I s:  E- E-zE-XE)"E-C:*E- :VE- 6ZE)a5@a5@a5@a5@I I O >,Q,|D?A> @>@>}Zٱ> JAHRS rotation from veh to nav: [[0.311540,0.944555,0.103719],[-0.948002,0.301478,0.101992],[0.065068,-0.130100,0.989363]]>H`G?`9?R?@ V@jK?`#?K? ݨ?i> @I>`;>sCY^A>y^oDbDjVDjyR%]=ٔtuQ->9 I = 5Fy UD =E>9Q 5=<4=?Q 9E<4=)=?YAyE+Q IE?=Ȏ@I=:i=:=̨<4yIɮUBQjjjjjZZZZ[S@ɢ) >Gi)@i = I %=<r:BUR>BQBUEBUs>BQBQBQBU;BUEIIO>D)zD)E5 E1E5oE1"E5:*E1VE5N6ZE1BE57;aE2E59;aEJE5v;aE:E5v;aEq3Q,UOD?A4<ɰE@Ew@EilٱE[ UAHRS rotation from veh to nav: [[0.302593,0.950562,0.069784],[-0.945408,0.290043,0.148590],[0.121003,-0.110936,0.986434]]EH]?k?Yݱ?@ ?? ?Qf@ݐ?iE@IE`;EtCYHC>y'DbDVD0ym;%u)=ٔu7Q-u>9qIy=}5Fy}VD}cE}>Q 5<4`?Q 9<4B )>Yy'Q I?Z@I% EE  EE EE \EA "EE 1:*EE e:VEE 6ZEA aM @aM @aM @aM @9Q,=*D?A2_@2Z@2Bٱ2| :AHRS rotation from veh to nav: [[0.262590,0.961902,0.076097],[-0.958390,0.250853,0.136241],[0.111961,-0.108706,0.987749]]2HG??{?@! ?Vp?}?$Ի?i2_@I2_;0YR2>yRDbDbVDby5 %5>=ٔ=99IA=E5FyEVDMɽEM>QQ 5]<4U?Q 9]<4U ")U^>YYy]*Q I]?UU@IU:iU:U<4yiɮmBijIjYjajajiZ Z Z Z CV@ɢ ) G>  MGi )  "! i% =AI AI BU S>BQ BU @EBU ~>BQ BQ BQ BU ;BU ؟Eq Iy  n:I I O >@Q,E?A2p*@2?%@2ٱ2) NAHRS rotation from veh to nav: [[0.225737,0.965247,0.131686],[-0.965585,0.203764,0.161638],[0.129188,-0.163641,0.978025]]2H ?M????7?3Ŀ@K?i2p*@I2%`;2uCYVE,>yVDD=D<E EvEPE"Es:*E:VEy6ZEBE(;a2E*;aJEh;a:Eh;abD VD2yu%}c=ٔ}]EQ-}>9I=5FyVDEcɽEE>QQ 5U<4Ur?Q 9]<4U#)U]=YYy]H-Q I]?U @IU=:iU:U<4ygBɮBEjAjIjIjIjIZZZZU@ɢy)y }SGiy)y}LiY$=Ium:II)O=>VGQ,E?AYn0%>yn%DaM@aM aM@aM aM@aM aM@aM bDVDy-%-@=ٔ5Q-5>91I1==5Fy=,VD=E=>AE ElE^E"E*E:VEu6ZEa@a@a@a@Q 5-<4E|?Q 9-<4Eu%)EWQ A-+:Y)Q E-:y)Q I-?E@IES=iE>E]<4y9ɮ=B9jjjjjɢ )  ZGi)顕iu =Ik: &>A >A >BV>BBBBBBDB;B1EB؏CB؏CBBέ=Bέ=C+4A 2AII)O5>NQ,=E?A2 :@24@2_ٱ2] >AHRS rotation from veh to nav: [[0.288000,0.941733,0.173763],[-0.950956,0.259861,0.167793],[0.112862,-0.213566,0.970387]]2H`n?@"? =?yfDbDrVDr:y~ھ<%~?=ٔ=Q->9?I?=5FyE >Q 5<4n?Q 9<4')_Q A :YQ E%:y%+Q I?ը@Ii)I)AYIaIyO>ȊUQ,>WE?A. @.ـ@.pٱ.5 :AHRS rotation from veh to nav: [[0.207490,0.965568,0.156925],[-0.975443,0.192103,0.107733],[0.073878,-0.175425,0.981717]].H???@6 Ԗ?f??Stƿ9j?i. @I.`;.uCYN{.>yRDZbSBD MO Status=0, MOMSN=3005, MT Status=0, MTMSN=0Z.No messages in MT queuebDbVDby]%eE=ٔex=Q-e>9aIi=m5FymKVDmbEm>qQ 5<4u]c?Q 9<4u()uQ A9YQ EW:y2Q I?u@Iu% QGi)Oi+=Ii: M>bE}>6jE}r6rE}n2E% E%rE%AE!"E%:*E%?:VE%m6ZE!a5@a=@a=@a=@A% ܏AI1 IQ Oe >[Q,qE?A;ɰp;2·@2@2-ٱ2C\ :AHRS rotation from veh to nav: [[0.208177,0.956856,0.202703],[-0.977637,0.197248,0.072932],[0.029803,-0.213353,0.976521]]2H@??.?H@i????'O˿??i2·@I2`;0YR#>yRDbDZVDZyrڼ%vR=ٔv=Q-v>9z?Iz?=z5FyzYVDzR:Ez>|Q 5<4~W?Q 9 <4~>*)~ Q A 9Y Q E .:y 4Q I ?~n@I~:i~?~<4yɮ]BYjjjjjɢ)0> \Gi)額{˸iAS2=Iuuh:M4>AUfAzAQBAB\>BُCB@EBtU>B=BBB;BlEAAIIOf>E  E E NE "E 1:*E 0:VE x6ZE BE ;a 2E ;a JE ;a :E ;a bQ,E?A2@2@2\A ٱ2E :AHRS rotation from veh to nav: [[0.279856,0.944000,0.174768],[-0.959431,0.268513,0.085978],[0.034235,-0.191740,0.980849]]2H *? @5?^?@R/??K?ȿc?i2@I21B`;2wCYbO >ybۨD ddbDnVDn:2y}z%}A=ٔ+Q->9??I??=5FyiVD3>E>Q 5<4OJ?Q 9<4+)9#Q A59Y1Q E5 :y5/Q I5?@IA 0AI I O >ahQ,裥E?A28@2@2Jlٱ28b :AHRS rotation from veh to nav: [[0.253260,0.961599,0.105769],[-0.965672,0.244765,0.086988],[0.057759,-0.124168,0.990579]]2H i5?k?`?tT?D??ɿѲ?i28@I2wZ`;2vCYn>ynDEY E]uE]kEY"EY*E]:VE]6ZEYae@ae@ae@ae@aeae aeae aeae aeae yel?X9v׿oʡտe=eea e9e`"?'1ZԿJ +?Ye=yeТeH>eeցB eB)e/BaYeBbDVDk1yu )=%}*=ٔ}HQ->9?I?=5Fy{VDdE>Q 5%=4??Q 9-=42.)Q A-T:Y- >Q E-;y- "Q I-?@I4 EbGiA)IMdIiMv@=QIQU7e:^,>Ae ڗAIi Iy O >Be W>Be ؏CBe DBe 6>Ba Ba Ba Be ;Be fEoQ,3pE?A2%֖@2Н@2#rٱ2@Q5 :AHRS rotation from veh to nav: [[0.217233,0.963039,0.159267],[-0.974330,0.204053,0.095095],[0.059082,-0.175836,0.982645]]2H`G? 7?b?-g?(X???`́ƿq?i2%֖@I2{`;2wCYR8>yRDbDZVDZ0yw=%%{=ٔ%-Q-% ?9-?I-?=-5Fy-VD-E5 ?1Q 5}=45$9?Q 9}=45/)5wYy#Q I?5@I5#A AI I O >vQ,KE?A2Pg@2b@2hٱ2l :AHRS rotation from veh to nav: [[0.234864,0.946618,0.220802],[-0.971986,0.226593,0.062443],[0.009077,-0.229282,0.973318]]2H`?`J??C? ?`?@?@YͿk%?i2Pg@I2[`;0Y->y|DI%<)%4<bD5VD5N2y쾼%0=ٔ =Q->9??I??=5FyVD=E>Q 5M=4.0?Q 9U=41)YQyUQ IU?@I$ mRGii)imqiudM=qIyE]b:]&>E} E}wE}IEy"E}:*E}:VE}t6ZEya@a@a@a@AM0AIYIiOu>2|Q,'E?ABE@B@B~ٱB7 RAHRS rotation from veh to nav: [[0.223580,0.959105,0.173580],[-0.974683,0.219608,0.042014],[0.002176,-0.178579,0.983923]]BHG??7?0?Ղ?a?ƿL|?iBE@IB`;BtCYbN>ybNDbDvVDv1yUI=%Ui=ٔU69?I?=5FyVDaE>Q 5=4(?Q 9=4l3)\gYyt Q I?Z@Ip0BُCBDB=B=BBB;BGE5'$>Ae ڗAIi Iy E  E sE YE "E :*E Z:VE r6ZE BE ;a 2E ;a JE 0];a :E 0];a O >Q,` F?Aɰ;2Y@2(@2[ٱ2 :AHRS rotation from veh to nav: [[0.210298,0.971175,0.112225],[-0.976163,0.202292,0.078633],[0.053664,-0.126086,0.990567]]2H??@ú?<?H!?`y?#?i2Y@I2]&`;2wCY^Xi>y^zEbDjVDjN2y-1=%-M=ٔ-LQ-->95?I5?=55Fy5VD5 E}>Q 5=4?Q 9=4/5)Y9yE$Q IM?U@I=i7<D=4yɮBjjjjjZaZaZaZe@ɢy)}?(> }Giy)y顅j2iBZ=I fAfAe_:%y 1>A-gAzA-fAAmAIqIO>MDQ,'&F?A2@2@2%ٱ2~ً :AHRS rotation from veh to nav: [[0.252875,0.966297,0.048218],[-0.964940,0.248270,0.085167],[0.070325,-0.068064,0.995199]]2H/??@?@P?z͵?@?`l@?i2@I2`;2vCYna>yn EEE EEEExEA"EE1:*EE,:VEE6ZEAaM@aM@aM@aM@y-X9v? 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AIB:i:\>4yɮ#B9jQjQjQjQjZZZZ)?ɢA)E m> EZGiI)IMLIiM{F=qIqE= E=sE=FE9"E=s:*E=Z:VE=q6ZE9BE=(;aE2E=*;aEJE=0];aE:E=0];aMM*A:ԩu^>II O> R,c|aH?A6F@6@6x<ٱ6"( >AHRS rotation from veh to nav: [[0.429024,0.889722,0.155988],[-0.903078,0.426246,0.052578],[-0.019710,-0.163427,0.986359]]6H"u?x? m?G? ?@. ,Ŀ??i6F@I6`;6zCYN.>yRDbDZVDZyjT<%jJ=ٔj;Q-j>l9lI|=~5Fy~*XDܼE> Q 5>4 Ǝ?Q 9>4 i) /Yy5Q I? ; AI -:i ; "k>4yAɮEBIjyjyjjjZIZIZIZMq?ɢy)y }QGi)顅<˷i=I@: M(nh>IIO&>EE EE|EEHEA"EE1:*EEP$:VEE3s6ZEAaM@aM@aM@aM@1a %R,?W{H?A;ɰ;2j@29@2HDٱ2 :AHRS rotation from veh to nav: [[0.425403,0.898206,0.110714],[-0.902225,0.411331,0.129604],[0.070872,-0.155023,0.985366]]2H9??W?`>S? ?`$?`ÿ@?i2j@I2_;2{CY^ I>y^;DbDjVDj1yvK=%vI=ٔvdQ-v>9xIx=z5Fyz:XDzE~>!Q 5->4%IÎ?Q 9->4%j)%@`Y)y-Q I-?% AI%:i%_:%\y>49yYɮ]BYjqjqjqjqjqZZZZ?BQAU<B]m>BYB]DB]JK>BYBYBYB]";B]Eɢ)o^C> 6Gi)iEƵ=IP>:iԙMn>IIO>Ee  Ee wEe PEa "Ee :*Ee :VEe y6ZEa BEe ;au 2Ee ;au JEe k;au :Ee k;au %R,3H?A2@2||@2`ٱ2u' :AHRS rotation from veh to nav: [[0.465204,0.882303,0.071604],[-0.871525,0.442350,0.211594],[0.155016,-0.160839,0.974731]]2H?;?T?tO?`??]Ŀ0?i2@I2v``;0YNN>yNND PPV=V=ԙyS㥫p= ף?`"޿/]> 9-?Zd;O?RQ?Y?5>yj<b?B ŌB)BYuBbDVD0yO<%9=ٔCQ->9!I!=%5Fy%LXD%=E%>)Q 5U>4-kɎ?Q 9U>4-ij)->Y]g?Q E]k:y]F>Q I]?- AI-2;i-;->4yaɮeBijjjjjZ]G?Z]G?Z]ڄ@Z]m@ɢ)p0> 1Gi)顝}Li=I'=:Qc>A֧AIIO> E]  E] yE] FEY "E] :*E] :VE] q6ZEY ae @ae @ae @am @B+R,:H?A2D@2g?@2.ٱ2L :AHRS rotation from veh to nav: [[0.459255,0.885979,0.064235],[-0.876040,0.439754,0.197915],[0.147101,-0.147166,0.978112]]2Hmd?Y? q?$?EU? 2?T¿L?i2D@I2`;2|CYF^/>yFDbDNVDNkyv%v^=ٔv9z*?Iz*?=z5Fyz\XD~ץE~>Q 5>4WΎ?Q 9>4j)6)?Yy@>Q I?AIL4yɮBjijqjqjqjyZ!Z!Z!Z%T@ɢ1)]R>> ]PGiY)Y]~aie=aIi};:ME>A}؟AIIO>BEl>BEڏCBEEBEs>BABABEDBE ;BEEYa 2R,H?A@6䱞@6@6ʧٱ69j BAHRS rotation from veh to nav: [[0.446867,0.878886,0.166939],[-0.890849,0.420106,0.172912],[0.081838,-0.225986,0.970687]]6H`y??C^?ց ?!?T?̿?i6䱞@I6u`;6}CYN>yRDbDZVDZ0yf:;%fN=ٔfq)>Q-j>9j"?Ij"?=j5FyjlXDn8E~>Q 5 >4֎?Q 9 >4j)6?Y y :i:>4y=wBɮ=(B=ƥEjQjQjQjQjQZZZZӸ@ɢA)E^X> McGiI)IMqIiMD=QIE EwEPE"E:*E:VEy6ZEBE;a-2E;a-JEa5:Ea5_::ԁB>AgAzAgAԱA AI I O > I8R,H?A2MÞ@2@29<ٱ2z :AHRS rotation from veh to nav: [[0.450134,0.847559,0.281111],[-0.892622,0.435762,0.115488],[-0.024615,-0.302911,0.952701]]2H?3??[@??@4bӿ|?i2MÞ@I2Ca;2|CYRF>yVDIZ<)Z;XZAbD~VD~k1yEJۼ%EC=ٔM>Q-M>9Mc?IUc?=U5FyU|XDU;EU>Q 5>4㎊?Q 9>4j)?YyQ I?AI:i:D>4yɮ.BjjjjjZZZZ@ɢA)Ey> EnGiA)IMIiMI=ԱQI8:LM>E- E-uE-GE)"E-s:*E-:VE-er6ZE)a=@a=@a=@a=@AڗAIIOj> 9 0t>R,H?A2:"@2 @2ڝ:ٱ2R :AHRS rotation from veh to nav: [[0.460585,0.855687,0.235925],[-0.887614,0.444494,0.120693],[-0.001592,-0.265000,0.964247]]2H`;z?a?`2?`Ugr??Zп?i2:"@I2`;0YN6>yRDbDZVDZ02yf=%fS=ٔf sQ-f>9j?Ij?=j5FyjXDn<En>Q 5>4$펊?Q 9 >4j)?Y y Q I ?AI:ip:Ͽ>4yɮBjjjjjAAAABm>BBDB">BBBB];BEBڏCBBBB=CQ4ZQZQZQZUXԶ@ɢa)me> mIGii)imʸiiu=I7:9^W>A>A?EU  EU vEU HEQ "EU :i *EU :VEU 3s6ZEQ BEQ a 2EQ a JEU h;a :EU h;a A ؟AI I1 O] >[ER,-yI?Aɰ 6@6 @6V*ٱ6w= >AHRS rotation from veh to nav: [[0.486044,0.862515,0.140815],[-0.872941,0.471467,0.125272],[0.041659,-0.183811,0.982078]]6HY? ?;?! ,?@? 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Ӡ?i2@I2]`;2{CYvLZ>yv:E|bD%VD%0y5%5L=ٔ5Q-5>9YIY=]5Fy]XDe!mEe>iQ 5u>4m?Q 9u>4m9l)m0@Q Au9YqQ E9y?4yɮ Bjjjjjɢ))) -%Gi))15 1i !=IDzDE E|ESE"E:*EP$:VE|6ZEBE<;a2E=;aJE};a:E};a3:1^>IIOf>Qԁ ,XR,1 dI?A@2@2@2qٱ2R9 :AHRS rotation from veh to nav: [[0.479997,0.871818,0.097656],[-0.868116,0.455997,0.196065],[0.126402,-0.178887,0.975716]]2HD???@` /?@?-? ƿ9?i2@I2N`;2}CY^j>>y^+DbDfVDf:2yn%rP=ٔr#Q-r>9tIt=v5FyvXDv=Ev>xQ 5~>4z]?Q 9~>4zk)zF@Q A9YQ E9y >Q I?zAIz ;iz?z>4y ɮBYjjjjjɢ)F> AGi)i޵=I1:ԉE E{EBE"Eҝ:*E5":VE^n6ZEa @a @a @a @Z>ԱI1 IA OU > ^R,}I?A2@2즨@2|ٱ2} :AHRS rotation from veh to nav: [[0.528472,0.830426,0.176381],[-0.846708,0.500482,0.180563],[0.061669,-0.244766,0.967619]]2H>?ْ??@;?? ?zTϿ`?i2@I2&`;2CYB$>yBDIF=)F<bDJVDJ0yRh%VN=ٔV'>Q-V>9XIX=Z5FyZXDZ>EZ>\Q 5b>4^Z?Q 9f>4^k)^\@Q Af9YdQ Ef9yf=Q If?^AI^:i^@^U>4yjxBɮn%BnȥEjtjxjxjxjxɢ)jh> %[Gi!)!%@#!i%=)I)B<A<Bi>BBDB,>BBBB;BVE0:fAfA|fS>I9IQO]=TGliA ſ9 liAY +AD =D E-  E- uE- >E) "E- :*E- :VE- &k6ZE) BE- ;aU 2E- ;aU JE- wd;a] :E- xd;ae A eR,YI?AY~ >y~Duonly read 2 of 4 data items for bottom velocity. Device response is::BS, -3, -530,A bD}VD}kyh%==ٔQ->9I=5FyXDE>Q 5>4*?Q 9>4rk)t@Q Ao9YQ E9yQ I?nAIi@>4yɮ2Bjjjjjɢ) tGi)額0iQ=I/:AmF>II O>iԙ E  E wE E "E C:*E :VE ZE a- @a- @a- @a- @kR,I?Aɰp;2%@2ߧ@2lCٱ2l< :AHRS rotation from veh to nav: [[0.508719,0.846621,0.156325],[-0.860927,0.499631,0.095777],[0.002982,-0.183307,0.983051]]2H`mG?`?q?`?@Є?mh? vǿ'u?i2%@I2)`;2}CYF9>yJDbDZVDZ02yf=%jW=ٔn >Q-n>9pIp=r5FyrXDvEv>yQ 5>4}~#?Q 9>4} l)}]@Q AB9YQ EW9y dQ I?} AI}!;i}&6@}>4yɮBjjjjjɢI)M|[z> MFGiI)IMQiUX=qyIy-:OO>II)O=.>ԡBk>BBDBM>BBBB;B?E rR,dvI?A2lm@2;h@2/,ٱ2 :AHRS rotation from veh to nav: [[0.522508,0.849445,0.073678],[-0.851594,0.515651,0.094301],[0.042112,-0.112017,0.992814]]2Hc?.? ܲ? A@6?$?࣏?`#!?i2lm@I2`;0YB>yB+!E DDbDJVDJ1yR>>%VM=ٔV3ɽQ-V>9TIX=Z5FyZ YDZ+=EZ>\Q 5b>4^*)?Q 9b>4^l)^@Q Af9YdQ Ef.9yf)Q If?^. 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"E% :*E% :VE% q6ZE! a- @a- @a- @a- @dnS,)\M?A2@2d@2ٱ2^j :AHRS rotation from veh to nav: [[0.426997,0.904236,0.005494],[-0.798324,0.374115,0.471928],[0.424679,-0.205898,0.881620]]2HS?`?@v?ߋ?4?@-?`Zʿ@;6?i2@I2a;2CYb?yb7EIf=)fC=ddbDjVDjJyvR=%v]=ٔv9xIx=z5Fyz[D~Y=E~>Q 5@4R?Q 9@4Ѓ)zAYyQ I?AI:i[:@4y|BɮOBӥEjjjԹjjZZZZiڎ?ɢ!)) -Ei)))-^ȷ)i-F>QIY592>IiIO>Ba>BB FBy?BBBB;BןE9 yLuS,u9M?A2uٟ@2DԦ@2*ٱ2J :AHRS rotation from veh to nav: [[0.427590,0.903703,0.022094],[-0.780799,0.356900,0.512811],[0.455543,-0.236524,0.858217]]2H]?`"?䟖?N@r?h?`'? jFοv?i2uٟ@I2{a;2CYN$?yR\EbDZVDZyfk >%fL=ٔfQ-f>9hIh=j6Fyj[Dj1<En>Q 5@4EY?Q 9 @4)AY y LQ I ?uAI:ig:@4yɮ=3B9jIjIjQjQjQD@AzDE EEE"E:*E:VEZEBE;a2E;aJE ;a:E ;aZIZIZIZMy?ɢY)a emEia)aeaier>iIi9Ar,>qA ؟AI I O >ԙ xv{S,M?Aɰ;:}@:L@:>ٱ:lh FAHRS rotation from veh to nav: [[0.396075,0.918032,-0.018520],[-0.774063,0.344675,0.531060],[0.493913,-0.196004,0.847132]]:H JY?`? `&?`r? G?ɿ?i:}@I:a;:CYN>?yREbDdVDdyGx>% F=ٔ ؽQ- >9"?I"?=6Fy=[D=ɉEE>IQ 5}@4MR_?Q 9}@4M)MAYy`Q I?M AIM;iM Ei)i x>I9E ExEQE"Ea:*E:VEsz6ZEa @a @a @a @ԡA AI I O >B c>B B 6FB ?B =B B B ;B EB)B)B)B)B)C-\5 F^S, N?A2ƞ@2@2\ٱ2Ӂ{ :AHRS rotation from veh to nav: [[0.389924,0.920845,-0.001930],[-0.772574,0.328279,0.543473],[0.501088,-0.210421,0.839425]]2H ?@w?_? d??`ʿ?i2ƞ@I2a;2CYNL?yRE PPbDZVDZ1y= >%EG=ٔEϤQ-E>9Mc?IMc?=M6FyM[DM_EM>QQ 5}@4Uge?Q 9}@4UQ =tI)U AYy+Q I?UǏAIU;iU:U)@4yɮBjjjjjZZZZ?ɢ9)9 =Di9)99AiEw>II1|9AqIyIO~>) Q S,t#N?A2[@2*@2ٱ2& :AHRS rotation from veh to nav: [[0.386713,0.922048,0.016723],[-0.772937,0.314177,0.551235],[0.503012,-0.226096,0.834182]]2H ?k?? `z?? ?̿?i2[@I2x`;0YNZ?yNrFa=@a= a=@a= a=@a= a=@a= bDEVDE0y>%C=ٔQ->9I=6Fy[DE>Q 5@4k?Q 9@4)oAQ A+:YQ E:yQ I?yAI;i> @4yɮǐB j9j9j9jAjAɢ) Di)顱it>I))9I!I1OMR>Qԁ E  E E 4E "E 1:*E VE c6ZE S,&=N?A22@2@2s ٱ2, :AHRS rotation from veh to nav: [[0.378771,0.925451,0.008527],[-0.764550,0.307699,0.566378],[0.521532,-0.221047,0.824101]]2H=?`K?Zv? 2w X??b?BK̿ _?i22@I2`;2ChYj#k?ynFbDrVDr1y%;+>%%T=ٔ-beQ-->9)I)=56Fy5[D5 'E5>9Q 5E@4=q?Q 9E@4=)=AQ AM :YIQ EMc:yM*޾Q IM?=AI=:i=M?=@4yU}BɮeBajqjyjyjyjyɢ) SDi)顩ia>I 9B5k>B5ڏCB5TFB5ˬ?B5=B1B5DB5N;B5EI IO%,>A S,~WN?A2]B@2,=@2 ٱ2܃ :AHRS rotation from veh to nav: [[0.361463,0.932361,-0.006845],[-0.745755,0.293509,0.598082],[0.559637,-0.211080,0.801406]]2H@6"?@?$ |@9?|#??˿?i2]B@I2׈`;2CYB;?yBc!FIF%=)F<bDNVDNβyV>%VS=ٔVJQ-V>9XIX=Z6FyZ[DZE^>fNew estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 22.43 mm (2 active estimators).dQ 5j@4fw?Q 9j@4f)fAQ An9YlQ En8:ynQ In?fAIf\ ;if?f@4ytɮvpBtjYjYjajajaɢ)~'> Ci)顱i`%>bEeq6jEer6rEep2E EqEBE"E:*E$ :VE^n6ZEBE;a2E;aJEU;a:EU;aI9I->IaIqyO{>ԡ ƛS,,dqN?AR@Rż@Rq'ٱRÍ bAHRS rotation from veh to nav: [[0.356947,0.933917,-0.019680],[-0.708120,0.284267,0.646342],[0.609224,-0.216775,0.762794]]RH:?@?& l1?ծ?~?E˿h?iR@IR`;RCYj?yn1FbD~VD~y ~>% D=ٔ Q- >9I=6Fy\D=E>!Q 5-@4%|?Q 9-@4%Љ)%AQ A-9Y)Q E-:y5Q I5?%&AI%#:i%?%]@4y9ɮ=;B9qjQjjjjɢ)= {Ci)!!!i%б>)I) F9Vw$>IqIO>ԡE EyE7E"Ea:*E:VEe6ZEa@a@a@a@B! A% 4=B- i>B) B- {FB- ?B) B) B) B- ;B- cE +G  S9 Y A뫢S,4N?Aɰ4<>H@>@>&0ٱ>Y FAHRS rotation from veh to nav: [[0.376545,0.926291,-0.014092],[-0.674664,0.284617,0.681045],[0.634856,-0.246936,0.732106]]>HO?-?T܌ؖ@+7??P?Ͽ`jm?i>H@I>`;>CYNg?yNW@FbDVVDVk1y^q>%bO=ٔb=Q-b>9dId=f6Fyf\DfX=Ej>hQ 5n@4j?Q 9r@4j)jPAQ Ar9YpQ Er9yra=Q Ir?jAIjv;ij@j)@4ytɮz Bxjj j j j ɢ1)1 5Ci1)999i=1>AIA9gAfA>IYIiOu>E EESE"E:*E0:VE|6ZEBE;a2E;aJE;a:E;a1a V֨S,N?A2̠@2cǧ@2w/ٱ2 :AHRS rotation from veh to nav: [[0.391831,0.919099,-0.041545],[-0.667676,0.315132,0.674463],[0.632990,-0.236537,0.737139]]2H?Ai?hE]+?3? uA?`Fοࣖ?i2̠@I2`;2CYN?yRzJF TTV=V=aeae aeae aeae aeam ymjt?~jt? ףp= ׿m>m%>=ٔ;Q->9I=6Fy/\DM=E>Q 5@4 u?Q 9@4)AQ AT:Y>Q E:y"@Q I?/AIB;i;7@4yɮBjjjjjZ|}?Z|}?Z xX@Z| @ɢ )  Bi)i>I9-9aUG>ԑA .AI I O >E  E sE >E "E 1:*E Z:VE &k6ZE a @a @a @a @Թ 'S,N?A2Tt@2#o@2>,ٱ2pq :AHRS rotation from veh to nav: [[0.388741,0.916119,-0.098011],[-0.679065,0.356786,0.641540],[0.622696,-0.182837,0.760802]]2H#?P?B?? ? 6gǿ}X?i2Tt@I2a;0YB߰?yBYFbDJVDJ:2yR>%RZ=ٔV=Q-V>9V ?IZ ?=Z6FyZ>\DZ EZ>\Q 5b@4^i?Q 9b@4^|)^jAYdyf"@Q If?^}AI^F:i^=:^I@4yj|BɮjBljtjtjtjxjxZ Z Z Z j@ɢy) yBi)顁i*>IԑU9=Bv>BۏCBFB?B=BBDB;BpEIIO=>  "S,XN?A6S@6"@6)ٱ6b( >AHRS rotation from veh to nav: [[0.374866,0.915683,-0.144912],[-0.693162,0.380635,0.612082],[0.615631,-0.129001,0.777404]]6H@?GM?{¿a.R\?,?@?}?i6S@I6a;6CYF5?yFhFbDNVDNyVs>%VJ=ٔV19XIX=Z6FyZN\D^tE^>`Q 5fA4b]?Q 9fA4bف)bAYdyf!@Q Ij?bAIb:ib:bmA4ylɮnBljxjxjxjxjx~B*** querying acoustic contact ***i| i|ZZZZXq@ɢ))) -Bi)))11i5>1I9E EtECE"Ea:*Ev:VE-o6ZEBE|;a2E~;aJE`;a:E`;a9==M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.O=!II O>I  4= < *DAT read: user:301>  BDAT read: Tx time:03:21:33.1624  $Ping request sent. ¿@~^`.'?o?଍??ibQr@Ib`a;bCYD?ywFI R=) C=bDVDN2yE~c>%MA=ٔM_`9IIQ=U6FyU_\DU{EU>yQ 5A4}P?Q 9A4})}KAYyr!@Q I?}^AI}:i}:}dA4yɮWBjjjjjZZZZ@ɢA)A EAiI)IIIiM7>qIyIU9]]]]E EvESE"Es:*E:VE|6ZEa@a@a@a@yI9II]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248871Oew>ԡ B y>B ܏CB FB @B =B B B ;B iES, O?A29@23@2)ٱ25Y :AHRS rotation from veh to nav: [[0.386529,0.915458,-0.111944],[-0.686684,0.366691,0.627697],[0.615679,-0.165753,0.770367]]2H?oK?_Ow???d7ſ@ئ?i29@I2%rQ=ٔruQ-v>9tIt=v6Fyvo\Dz}=Ez>|Q 5A4~ME?Q 9A4~|)~AYyL"@Q I ?~AI~G);i~5;~ A4y-{Bɮ5&B5ҥEjIjIjIjIjQZiZiZiZm42@ɢ) VAi)顙i>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503618`9IԱIO>E EuE2E"E*E:VE|a6ZEBE(;a2E*;aJEwd;a:Exd;a m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752749%$S,GW&O?A4<ɰ2^@2Y@2m.ٱ2n{ :AHRS rotation from veh to nav: [[0.405011,0.907565,-0.110867],[-0.662761,0.374947,0.648200],[0.629852,-0.189050,0.753356]]2H? ?a V5#? ?`'?2ȿ?i2^@I2W2a;2CY^5?ybRFly/$? ףp= ǿ:v?,?Q8T< 9zG?nʿ|?5^ڿY >yVҾBxB VC)zBYfBbDVD:2y>%>=ٔ,Q->9I=6Fy\D=E>Q 5A4?F?Q 9A4)AY?Q E:yÿQ I?ܛAI:i:/A4yɮBjjjjjZi>Zi>ZeP@Z@ɢ))) -@i))))1i5@<>1I99IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0063591ԁ E  E wE BE "E :*E :VE ^n6ZE a @a @a @a @ S,1@O?A:} @:L@:#1ٱ:!a BAHRS rotation from veh to nav: [[0.415360,0.896882,-0.151914],[-0.648374,0.409033,0.642109],[0.638034,-0.168209,0.751411]]:HB?B? qÿz-?@'?j?߇ſ@ ?i:} @I:ta;8YJ?yJؕF LL Rp%^[=ٔ^FQ-b>9`I`=b6Fyb\Dfh=Ef>hQ 5nA4jG?Q 9nA4j)jAYlyn⾿Q Ir?jAIj;ij;jQIQ59IIO=B{>BBFB@BBBDB;B>EB=ۏCB=ۏCB=ÔCB=ì=B=ì=C={4iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509322 T6S,RZO?A6A@6@6|.ٱ6' >AHRS rotation from veh to nav: [[0.418258,0.886445,-0.198182],[-0.653641,0.445232,0.611982],[0.630725,-0.126427,0.765638]]6H?]?^ɿ`~? [?`.?`. ?i6A@I6|a;6CYFC@yFFbDRVDR2yV4>%ZK=ٔZB9XI\=^6Fy^\D^/Eb>`Q 5fA4b@J?Q 9jA4b7)bAYhyj?Q Ij?bAIb:ib:b KA4ynBɮrxBrۥEjxjxj|j|j|ZZZZ三@ɢ))) -?i))111i5a2>9I9DyzD}AAE EvEIE"E:*E:VEt6ZEBEZ;a2E[;aJEh;a:Eh;aԙ9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761590AIIO=.>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012955_S,sO?A6@6@6(ٱ6_ >AHRS rotation from veh to nav: [[0.424320,0.878119,-0.221041],[-0.666396,0.468097,0.580345],[0.613081,-0.098951,0.783799]]6H(??K̿SN?@0?@\?T?i6@I6a;6CYF@yF]FbDNVDN02yv>%vF=ٔz(`=Q-z>9xIx=z6Fy~\DME>!Q 5-A4%BM?Q 9-A4%)%XAY1y5aQ I5?%ΡAI%p:i%:%YA4yYɮ]ABYjqjqjqjqjZZZZ)@ɢ) ~?i)i>I5.9E EpE6E"Es:*E :VEd6ZEa@a@a@a@!A؟AIIOA>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264752QBu >Bu ݏCBu FBu q&@Bu =Bq Bq Bu <;Bu Ey HS,ÍO?A2ϡ@2ʨ@2Q&ٱ2x BAHRS rotation from veh to nav: [[0.423922,0.877329,-0.224907],[-0.672667,0.471270,0.570459],[0.606472,-0.090543,0.789932]]2H@!? ?̿}G)?3A?`8h?`- G?i2ϡ@I2VPa;2CYRB@yR,FIVV>)V]>XZAbD^VD^yfY>%fL=ٔfܪ9j"?Ij"?=j6Fyj\Dn>En>pQ 5vA4r+P?Q 9zA4r`)rAYYyeQ Ie?rƣAIrTIm߹9AufAzAqԁAIIOf>bE)m6jE n6rE"2E EoE?E"E:*E:VEk6ZEBE;a2E;aJEN;a:EN;aԩM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768736 HrS,O?A:.@:@:(ٱ: BAHRS rotation from veh to nav: [[0.418043,0.880290,-0.224343],[-0.670680,0.465646,0.577375],[0.612722,-0.090905,0.785053]]:H8? U+?G̿5v`%?@y?k?`E@'?i:.@I:1 a;:CYJ?@yJ;FyS?V-~jt?Z?h= 9Zd;O?MbXɿe;OοYj%EC=ٔE(Q-E>9III=M6FyM\DMAEM>QQ 5]A4UV?Q 9eA4UX)UAYe{L?Q Ee:yeQ Ie?UGAIU ;iU? ;U vA4yiɮuBqjjjjjZ >Z >Zi}@Z@ɢ9)A E|>iA)AAAiM>IIyԱm9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020768AIIOF> E  E uE IE "E :*E :VE t6ZE a @a @a @a @9 =ZS,}zO?A;ɰ2@2h@2؁+ٱ2. :AHRS rotation from veh to nav: [[0.412961,0.883919,-0.219430],[-0.666249,0.457467,0.588928],[0.620947,-0.097009,0.777827]]2Hm?I?K̿`Q "G?@??ո?i2@I2[`;2CY^L@y^FbDfVDfynK>%nQ=ٔrڼQ-r>9pIp=r6Fyr\DvcһEv>xQ 5~A4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272924z\?Q 9 A4zƬ)zAY y Q I ?zAIzg;izh;zA4yɮBj)j1j1j1j1ZQZQZQZUj@ɢa)a e >ia)iiiimYb>qIqUH9 UCB|>B܏CBFB;8@BBBB/;B E1UcGmhA9hAYAA.AIIO$>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524747ԉ KS,TUO?A0Y (@y F ==bD%VD%ky-'>%5E=ٔ5Q-5>95 ?I= ?==6Fy=\DEEE>IQ 5MA4Mc?Q 9UA4M)MAYQyQQ IU?MAIMB:Ee Ee{EeAEa"Ee:*Ee5":VEem6ZEaBEe;au2Ee;auJEeNz;au:EeOz;auiM$:M6A4y}BɮIBEjjjjjZZZZɢ) ~=i)iH>I9ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776776AaIiIyO9>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028814S,2O?A29@24@2Ӥ*ٱ24X :AHRS rotation from veh to nav: [[0.427624,0.881027,-0.202312],[-0.659426,0.457116,0.596826],[0.618300,-0.121807,0.776446]]2H1^?^1?`Zɿ`dA?`3??.@?i29@I2m`;2CYBd0@yBFbDJVDJk1yR#>%RS=ٔV9TIX=Z6FyZ]DZX=EZ>``Q 5fA4b@i?Q 9jA4b)bwAYhyj2Q Ij?baAIb:ib:bA4ylɮrBpjxjxjxj|j|ZZZZ#T@ɢ))) -1I959IQIaEm EmuEm?Ei"Em:*Em:VEmk6ZEia}@a}@a}@a}@O>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280691!A A AAB >B ݏCB XFB 1M@B =B B DB ;B EA T,^P?Abj@bd@b6*ٱbF) =AHRS rotation from veh to nav: [[0.431673,0.878188,-0.206019],[-0.657185,0.462634,0.595044],[0.617873,-0.121472,0.776839]]bH@?`?^ʿ@ʛ? ???ibj@IbHi`;bCYu7@yu6FbDVDܲu%=u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533027y>%.=ٔ:Q->9I=6Fy]DJ<E>Q 5 A4p?Q 9A4)AYyjQ I?2AI.;i;PA4yBɮ%ˌB%EjQjYjYjYjYZZZZ*@ɢ) IIH9IIOe>qE} E}vE}<Ey"E}:*E}:VE}i6ZEyBE};a2E};aJE}h;a:E}h;a- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784792ԡ T, (P?Ay y}AAYMC@yMFIU<)U4%]2=ٔeQ-m>9qIq=u6Fyu&]DuEu>Q 5A4r?Q 9A4)`#AY>?Q E:yQ I?7AԡIk4;iӅ;PA4yɮnBjjjjjZh>Zh>Zz@Zo@ɢ) ;i)!i%UW>!I)checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036808ը9IIOa>E  E zE 9E "E a:*E  :VE g6ZE a @a @a @a @ BT,BP?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=5.288715YvM@yvFbD5 VD52yeo?%m=ٔiQ-m?9iIq=u6Fyu2]DqEu?yQ 5A4}s?Q 9A4})}%AYyQ I?}AI}B:i}:}A4yɮBjjjjjZZZZɢ) $;i)i >IB>BBt GBb@B=BBB#;BE9IIO=1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540794Y nT,\P?A4<ɰ;2 ,@2&@2 1ٱ2U :AHRS rotation from veh to nav: [[0.417982,0.876972,-0.237089],[-0.646967,0.470567,0.600001],[0.637750,-0.097401,0.764060]]2H 6?(?@Xο `?53?sh?@C︿-s?i2 ,@I2a;0Y^oT@ybGbDjVDj2yrU>%rS=ٔrQ-v>9tIt=v6FyvB]DzCEz>|Q 5A4~zt?Q 9A4~s)~(AYy4¿Q I ?~=AI~+;i~1:~tA4yBɮBEj)j)j)j)j)EE EEtEEFEA"EE:*EEv:VEEq6ZEABEE8;aU2EE9;aUJEE`;aU:EE`;aUZZZZ9@ɢ)= :i)   i ~n> IAMS9IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.792950O>aԉߙ ߝ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045022Թ T,xvP?AJ&@J @J2ٱJG RAHRS rotation from veh to nav: [[0.416099,0.878094,-0.236248],[-0.645075,0.468159,0.603908],[0.640889,-0.098888,0.761237]]JH^?W?`=οu Q?7S?*?`P \?iJ&@IJZ`;JCYZE`@yZ G \\b=b=bDfVDfkyn>%nK=ٔr%Q-r>9pIp=r6FyvR]DvEv>xQ 5~A4zju?Q 9~A4z1)zG,AYy¿Q I?zAIz;iz+;zA4y ɮ B j!j!j!j!j)ZIZIZIZM@ɢa)a e9ia)iiiimG>qIqE9ԑII O=EQ EQEU;EQ"EQ*EQVEUh6ZEQa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296811B>BBGBy@B=BBBK;BEB}ݏCB}ݏCB}ȓCB}ȫ=B}ȫ=C}X5 ,#T,^P?A-@(@2ٱ; AHRS rotation from veh to nav: [[0.415481,0.878015,-0.237626],[-0.642788,0.468251,0.606271],[0.643583,-0.099151,0.758927]]Hʡ=+= 9-?gfffffƿˡE?Y?>y33'>B֟B C)mBYBbDVD 3y>%-=ٔQ->9I=6Fye]D;E>Q 5 A4u?Q 9 A4)/AY" ?Q E:y>ƿQ I?AIq ;i? ; A4yɮLBj1j1j1j9j9ZUl>ZUl>ZUb@ZUNg@ɢi)i mt9ii)qqqiu6>qIyE9A؟AIIOa>EU EQEU/EQ"EU7:*EQVEU_6ZEQBEU;ae2EU;aeJEU`;ae:EQaeA  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800719w*T,.P?A 6[<@6*7@6a5ٱ6[ >AHRS rotation from veh to nav: [[0.413330,0.876810,-0.245688],[-0.636979,0.471223,0.610087],[0.650704,-0.095669,0.753281]]6Hs? ?@rϿ`"b(?Յ??`}?i6[<@I6Za;4YFt@yFGbDNVDNܲyV ?%Vx=ٔV_Q-Z?9Z"?IZ"?=Z6FyZr]D^;E^?`Q 5fB4bu?Q 9fB4bK)b2AYdyf+ǿQ Ij?bظAIb:ib :bB4yYɮ]BajjjjjZZZZg@ɢ)1 =8i9)999i=>AIA5b9qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.052691ԡ5=A I I O > Em  Em uEm CEi "Em ҝ:*Em :VEm -o6ZEi au @au @au @au @V0T,5 P?A2M@2H@2,89ٱ2 :AHRS rotation from veh to nav: [[0.409302,0.875491,-0.256879],[-0.627852,0.474544,0.616935],[0.662022,-0.091231,0.743911]]2H`2?`?pп^^?`?H/?Z?i2M@I2Ta;0YBO~@yB_GIF<)F%=HJAPbDNVDNyVg>%ZJ=ٔZQ-Z>9\I\=^6Fy^]Dbchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.304872f;Ef>hQ 5nB4ju?Q 9nB4jP)j5AYpyrȿQ Ir?jùAIj;ij7;jB4ytɮvBtjjjjj Z!Z!Z!Z%g@ɢ1)== =8i9)AAAiE >AIIB]{>B]܏CB]'GB]@B]=BYBYB]m;B]'E}9M~E=AIIOA>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.556742! 7T,P?A6k@6hf@6A<ٱ6f >AHRS rotation from veh to nav: [[0.406777,0.873761,-0.266599],[-0.619033,0.478261,0.622949],[0.671812,-0.088367,0.735432]]6H??ѿ`ӛ? 2?|? ??i6k@I6za;6CYFB@yF"GbDPVDPyV>%ZJ=ٔZ6Q-Z>9XI\=^6Fy^]D^i<Eb>`Q 5fB4bu?Q 9jB4bA)b7AYhyjɿQ Ij?bAIbK:ib :bB4ylɮrNBpjxjxj|j||jDzD@AbEl6jEl6rE92E% E%zE%ME!"E%:*E% :VE%:w6ZE!BE%Z;a52E%[;a5JE%v;a=:E%v;a=ZAZAZAZEyf@ɢQ)Q Uw7iQ)YYYi]W>aIa9checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808816)(S=YAI IY Ii O >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060763J=T,P?Aɰ4<2@2y@28(>ٱ2x :AHRS rotation from veh to nav: [[0.405962,0.873258,-0.269471],[-0.614606,0.479100,0.626676],[0.676354,-0.088788,0.731206]]2HH?`??ѿ٪? ?త?׺ f?i2@I2a;0YBz@yB'GbDJVDJβy%>%%C=ٔ-MpQ-->9)I)=56Fy5]D5۹;E5>9Q 5EB4=u?Q 9EB4=K)= ;AYIyM@ʿQ IM?=AI=:i=:=z-B4yQɮU BYYjqjqjqjqjqZZZZÓf@ɢ) 6i)i~>Im9u =E5 E5sE58E1"E5a:*E5Z:VE5Qf6ZE1a=@a=@a=@a=@ԉAIIOI>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312761GԹ9YAB]>BYB]7GB]J@B]=BYBYB];B]AE 08DT,Q?A-`@-/@-=ٱ- EAHRS rotation from veh to nav: [[0.406888,0.873734,-0.266516],[-0.614813,0.477724,0.627522],[0.675609,-0.091474,0.731564]]-Hr ??ѿ ?@?@?j@h?i-`@I-a;)YM͍@yUb.G YY]=]=ԩym?I +?1Zd.?94="۽ 9|?5^? ףp= MbY>yQWBB )pBYBbDVD:5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564816y=W>%=9=ٔ=c;Q-=>9AIA=E6FyE]DM;EM>QQ 5]B4Uw?Q 9]B4UM)U%Q E],;y]>Q I]?UAIU:iU:UZ>Z^]@Z{!@ɢ) F6i)i>I09E5 E5uE5JE1"E5:*E5:VE5t6ZE1BE5;a=2E5;a=JE5wd;aE:E5xd;aE t= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8167681 Am .AIy I O >\JT,lv+Q?A:@:T~@:|<ٱ: FAHRS rotation from veh to nav: [[0.408722,0.874995,-0.259481],[-0.618053,0.474561,0.626739],[0.671533,-0.095789,0.734757]]:H`(?@?@Tп 6_?`>?1}?@"?i:@I:a;8YR'@yR4GbD`VD`yj>%je=ٔn|9r ?Ir ?=v6Fyv]Dv5Ez>|Q 5B4~`y?Q 9 B4~)~=AY y RQ I?~GAI~3;i~`+;~hIB4y!ɮ%_B!jAjAjAjIjIZ Z Z Z L!@ɢ9)I M5iI)IQQiU>$>YIYmˍ9qqqqMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068716IqAe ؟AIq I O >EM  EM wEM LEI "EM s:*EM :VEM lv6ZEI aU @aU @aU @aU @ԙ DQT,LQEQ?A6nt@6=o@6:ٱ6ܘ BAHRS rotation from veh to nav: [[0.410238,0.876193,-0.252963],[-0.622837,0.471794,0.624087],[0.666167,-0.098470,0.739273]]6HXA? ?0п`G1??=Q?U5@ ?i6nt@I6a;6CYF@yJ9GRchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.320913bDV VDV2y^>%bL=ٔbp9f"?If"?=f6Fyf]Df▻Ef>hQ 5nB4j:{?Q 9rB4j)j>AYpyruQ Ir?j"AIj;ij;j]WB4yvBɮv*BzEjjj j j Z!Z!Z!Z% !@ɢQ)a e"5ia)aaiim>iIqB>BݏCB FGB @B=BBDB;BdEq}x9AIIO(>ԡUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.572720 nWT,E,_Q?AE EvE9E"E1:*E:VEg6ZEBE;a 2E;a JEh;a:Eh;aY7@y>GIE<)E%e@=ٔmQ-m>9iIi=u6Fyu]DuEu>yQ 5B4}4}?Q 9B4}l)} ?AYyQ I?} AI}_:i}:}I)9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825131A!I)I9O}7>) e %=M=ٔE.=Q-E>9AIA=M6FyM]DMi:EM>QQ 5]B4U?Q 9]B4U/)U@AYayeQ Ie?UAIUz:iU:U2tB4yiɮmBqjjjjjZZZZ׌ @ɢ) 3i)i- >I|9)E E{EHE"E*E5":VE3s6ZEa%@a%@a%@a%@A)I1IIOU2>QBA4<B}>B܏CBTGBˬ@B=BBBg;BEԁ ҄dT,Q?A8>;ɰ>;Z@Z@Z4ٱZ`2+ fAHRS rotation from veh to nav: [[0.419627,0.881995,-0.214470],[-0.634294,0.453946,0.625783],[0.649295,-0.126558,0.749932]]ZH +?`N9?s˿"Lt ?i??3`r?iZ@IZ4x;XYj@ynKGyq= ףp?%C̿+?+?Zd= 9bX9?n%@=ٔM9I=6Fy^Dy;E>Q 5B4 ?Q 9B4)ZBAY?Q E:y Q I ?AI:iK;B4yɮ?Bj1j1j1j9j9ZU|C>ZU|C>ZUi@ZU@ɢi)i mK3iq)qqqiu >yIyԁ9A.AIIO@>ԱE EwEAE"E:*E:VEm6ZEBE8;a%2E9;a%JEk;a%:Ek;a% ZjT,PĬQ?A\Y=@y=ERG AAE=E=bDMVDMܲy]>%eS=ٔeQ-e>9m ?Im ?=m6Fym^DmEm>qQ 5}B4u?Q 9B4ur)u|DAYyQ I?u&AIu:iu:uB4yɮBjQjQjQjYjYZZZZɢ) 2i)项i >I49A؟AI!I1OEQ>E-  E- |E- @E) "E- s:*E- P$:VE- l6ZE) a5 @a5 @a5 @a5 @A qT,ԘQ?A6@6_@6_5ٱ6= >AHRS rotation from veh to nav: [[0.420350,0.884590,-0.202007],[-0.631099,0.444989,0.635374],[0.651936,-0.139593,0.745314]]6H`? N?`]ɿ1z?T?@? /?i6@I6f;6CYJ<@yJXGbDV VDV2yn0>%rS=ٔr$Q-r>9r"?Iv"?=v6Fyv'^Dv <Ev>xQ 5~B4z?Q 9B4zP)zFAYyQ I?zAIz;iz;zB4y ɮ Bj)j)j)j)j1ZIZIZIZM@ɢY)a e1ia)aaaim`^ >iIqB~>BBdGBѹ@B=BBB{;BEBm܏CBm܏CBiBiBm=CmY5uy9IA.AIIQOe4>qԡ wT,sQ?A2@2紩@27ٱ2? :AHRS rotation from veh to nav: [[0.419712,0.884072,-0.205569],[-0.625574,0.445856,0.640210],[0.657646,-0.140105,0.740184]]2H?PJ?`Pʿ`?|?o ?@@?i2@I2e;2CEz EzzEzIEx"Ez:*Ez :VEzt6ZExBEz;a~2Ez;aJEzv;a:Ezv;aY @y _GbDVD:y->%-F=ٔ-Q-5>95 ?I5 ?=56Fy58^D=<E=>AQ 5MB4E둏?Q 9MB4E} )EHAYIyUѤQ IU?ETAIE:iE(:EB4y]Bɮ]GB]EjqjqjqjqyjyZZZZ @ɢ) @1i)顱iٵ >IIu9ԩAE؟AIIIYOm5> E =E <}T,%jP=ٔnȼQ-n>9r"?Ir"?=r6FyrH^Dr"<Ev>tQ 5zB4v?Q 9zB4v`)v5KAY|y~DQ I~?vAIv<;iv;vOB4yBɮ B EjjjjjZZZZ@ɢ) 0i)i > I! Mn9E EuE?E"Eҝ:*E:VEk6ZEa@a@a@a@ AIIOG>BDAT read: Response Not Received *response not receivedBݏCBtGB(@B=BBDB;B^E1a 8τT,,R?AFT@FlO@F=ٱFc? RAHRS rotation from veh to nav: [[0.423539,0.861493,-0.280080],[-0.606242,0.499296,0.619011],[0.673116,-0.092379,0.733745]]FH D?@Y?ѿ Vf@v?@? *?& z?iFT@IFbpb;FCYn@ynamGyeʡE?:vQe>eԼe\a a9eZd;O?7A`¿J +Ye~>yeeHeBeB e)elBaYeBbDVDNy/>%:=ٔμQ->9I=6FyY^D5 =E>Q 5 B4?Q 9B4)LAY >Q E;yPQ I?AIm ;i ;B4y!ɮ%B!1j9j9j9jAjAZe9>Ze9>Ze@Zeþ4@ɢq)},= }/iy)yyyi}G >Ij9aAAI!I1OUS>bE)m6jE5n6rEƇ 2E EsE:E"E:*EZ:VEg6ZEBEZ;a 2E[;a JE0];a:E0];aԉԹ (T,u.R?Aɰ49z%?Iz%?=z6Fyzi^Dzk<Ez>|Q 5 B4~?Q 9 B4~)~MAYyQ I?~AI~Bh;i~p;~B4y)ɮ-=B1jQjQjYjYjaZZZZ35@ɢ) /i)项ik>IԑmBc9A؟AIIOA>E  E tE <E "E *E v:VE i6ZE a @a @a @a @  _C T,jGR?A؀G6liA@V9VliAYVABABABE܂GBE@BE=BABABEr;BE(EY@yNzG =>bDVDy>%==ٔQ->9"?I"?=6Fyz^DE>Q 5B4?Q 9B4])6OAYyQ I?AI:i:B4yɮBj j j j j Z)Z)Z)Z)ɢ9)9 =.iA)AAAiE>IIII>)>^9AIIOB>I T,aR?ABȈ@B@BO~9ٱB: JAHRS rotation from veh to nav: [[0.432730,0.864482,-0.255766],[-0.611072,0.489849,0.621803],[0.662824,-0.112781,0.740233]]BH@ڱ?@թ?x^п`Y??5?@<߼?iBȈ@IB5e`;BCYR@yRtGDXzDZ?AE^ E^sE^4E\"E^:*E^Z:VE^c6ZE\BE^;af2E^;afJE\af:E\afbDj VDj:2yr>%rY=ٔr =Q-v>9tIt=v6Fyv^Dz,8;Ez>|Q 5B4~?Q 9B4~e)~lPAYyQ I ?~AI~:i~1:~B4yɮBj)j)j)j)jZZZZ4@ɢ) -i)i]9>I "X9qԑ$ӿ=A9 II IY Oe >Թ Q>T,½{R?A2@2鈪@26ٱ2p. >AHRS rotation from veh to nav: [[0.436968,0.868259,-0.234917],[-0.616207,0.479221,0.625009],[0.655247,-0.128351,0.744431]]2H G?`?`ο@?@??@ma?i2@I2<&`;2CYB@yBGDbDNVDNNyV>%VM=ٔZ29XIX=^6Fy^^D^:E^>`Q 5fC4b?Q 9fC4b!)bQAYhyjѼQ Ij?bAIbU;ib;bC4ylɮnPBljxjxjxj|j|ZZZZ813@ɢ))) -D-i)))11i5ء>1I9S9]9=ԹE EoE@E"E*E:VEl6ZEa@a@a@a@AIIYIiOu6>iiIiB!A%<B->B)B-GB-@B)B)B)B-;B--E T,rR?A|Y@y}GI =) p<  AyʡE?Mb{Gz-R?@# 9K?@5^I ¿X9vϿY^?yb}B2B )cBY\BbDVD2y>%<=ٔQ->9I=6Fy^DE>Q 5C4ߢ?Q 9C4j()KSAY*?Q E:yQ I?AI R;iP;C4yɮBjjjjjZ>Z>Zc@ZMf@ɢ) ,i)i>I-L9)E EyEEE"EC:*E:VEp6ZEBEK;a2EL;aJEs;a:Es;aQm͢=ԁ A I I O > GT,'MR?A6@6Λ@63ٱ6,G JAHRS rotation from veh to nav: [[0.443010,0.871481,-0.210388],[-0.621684,0.467707,0.628299],[0.645950,-0.147548,0.748984]]6HEZ?,?ʿ`? 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G?@ſ$?i2d@I2W#_;2CYB.AyBHaHbDHVDHyR>%VN=ٔVsQ-V>9XIX=Z6FyZdDZ4;EZ>\Q 5bH4^o?Q 9fH4^w)^AYdyfOQ If?^BM >BM 6CBM cHBM UABM =BI BM sDBM ;BM #E E T E DE ?E "E 9*E a99VE ^4ZE BE :a 2E :a JE kH:a :E nH:a &&W,̙\?A2Mv@2q@2 /ٱ2$g :AHRS rotation from veh to nav: [[0.538098,0.798474,-0.269981],[-0.554742,0.576645,0.599785],[0.634596,-0.172973,0.753239]]2H@8?`?^Gѿ@r@s?o1?N?#ƿ?i2Mv@I2:_;2CYBAyBcHy Mb?V-v/ `?  xi  9 ʡE?~jtbX9ƿY -?y D E6 B :bB B) }*B Y =BbD%VD%1y5>%5B=ٔ=8Q-=>9AIA=E6FyEeDED;EM>IQ 5UH4M?Q 9H4Mz)M~AY?Q E:yWuQ I?M=BIMeZm >Zm/;@Zm@ɢ) _i)顙iK=IAzAIIO>!Qy P,W,"\?A6@6@6h)0ٱ6 i BAHRS rotation from veh to nav: [[0.538805,0.798018,-0.269919],[-0.553483,0.576885,0.600717],[0.635095,-0.174274,0.752518]]6H=?@]?ZFѿ!u?9?@R?`Nƿ?i6@I6+_;6CY^AybdHbDjVDj:2yr>%vO=ٔv4׺Q-v>9xIx=z6FyzeDz,;Ez>Q 5H4@?Q 9 H4%")=AY y  uQ I ?=BI:i:H4yɮIBj)j1j1j1j1ZQZQZQZU@ɢa)i mii)iiiimM=qIqQDD<EU EAE;E"E:*E 9VE4ZEa@a@a@a@IIO=ԁԩ 83W,{\?AYrsAyrfHbDzVDzJy%>%-F=ٔ-Q-->91I1=56Fy5(eD5E5>9Q 5EH4=G?Q 9MH4=')=AYIyIQ IM?=>BI=:i=:=H4yU BɮU`HB]EjijijqjqjqZZZZɢ) i)顩i>1=II9IIԱO=B>B(CBShHBAB=B'DBhDBb;BrEE E@E9E"E*E9VE4ZEBE:a2E:aJE-:a:E/:a 9 b9W,]\?A2Ü@2@20ٱ2m :AHRS rotation from veh to nav: [[0.540487,0.797602,-0.267779],[-0.551996,0.576361,0.602585],[0.634960,-0.177877,0.751788]]2HK??H#ѿ@q?`H?`Q?ƿ?i2Ü@I2&-_;2CY^$Ay^hHdfAbDjVDjkyv?%vN=ٔv 9Q-v>9xIx=z6Fyz8eDz>;E~>Q 5 H4㿒?Q 9 H4+)AY y tQ I ??BI:i:H4y BɮGBjjjjjZ!Z!Z!Z%I@ɢA)A MiI)QQQiU =YIa9]p,=AD@AzD@AEQ EBEE"E29*E(9VEZEa@a@a@a@IIO>i J@W,8]?A 6V@6'@60ٱ6EFn >AHRS rotation from veh to nav: [[0.541094,0.797189,-0.267784],[-0.551729,0.576832,0.602379],[0.634676,-0.178199,0.751952]]6H`P??^#ѿ§hu?@F?CO?=ƿ@?i6V@I6W/_;6CYFcAyF%jHbDNVDN:yV>%VN=ٔZ4s:Q-Z>9XIX=Z6FyZHeD^;E^>`Q 5fH4bʒ?Q 9fH4bh0)bAYhyj{tQ Ij?b@BIb:ib:bH4yr BɮrFBrEj|j|j|j|j|ZZZZ^@ɢ))1 5i1)111i==9IA5|=qAaIyIO!>ԡ A A @AB d>B CB lHB zAB =B (DB XDB #;B ~EB6CB1CBɥCB=B=C7E P E CE <E "E 9*E 09VE 4ZE BE \:a 2E a:a JE 9:a :E 9:a NuFW,v]?Aɰ;LRન@R@R#/ٱRl ZAHRS rotation from veh to nav: [[0.541884,0.796124,-0.269347],[-0.551518,0.578662,0.600815],[0.634184,-0.177022,0.752644]]RHW?`y?<ѿ f?9?`?yMtMJMBM^B MB)M,BIYM#BbDeVDek2yu>%}>=ٔ}:Q-}>9I=6FyZeD: ;E>Q 5H4֒?Q 9H4U7)AYDH?Q E:yQ I?ABI ;i ;H4yBɮ7FBEjjjjjZe}u>Ze}u>Ze<@Ze)-@ɢ) %i)顙i=Inp=AzAhAA) I1 II OU >! ޞLW,=4]?A2 @2ܭ@2/ٱ2j :AHRS rotation from veh to nav: [[0.543039,0.794727,-0.271143],[-0.551593,0.581071,0.598417],[0.633131,-0.175403,0.753909]]2H`?fn?fZѿ!?:&?@B?sƿ` ?i2 @I2^;0YB9AyBmHbDJVDJyr>%rU=ٔrg;Q-v>9tIt=v6FyvieDz);Ez>||Q 5H4~ᒊ?Q 9 H4~=)~AY y Q I ?~BBI~:i~9:~H4yɮEBj)j)j1j1j1ZQZQZQZUL+@ɢa)a eii)iiiim=qIqyyE}Y E}?E};Ey"E}:*E}?9VE}4ZEya@a@a@a@)AQYIaIqO{>ԁ SW,2N]?A2@2@2.ٱ2f :AHRS rotation from veh to nav: [[0.544623,0.792936,-0.273200],[-0.552033,0.584161,0.594992],[0.631383,-0.173231,0.755874]]2H`m?_?|ѿAr?, ? 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L?@ѿ@Q}??$?`ſD?i2%@I2p^;2CYB$AyB:qHbDJ VDJf2yR>%VK=ٔV;Q-V>9TIX=Z6FyZeDZg:EZ>`Q 5jH4bT?Q 9jH4blJ)bArPowering down rrIv)vvYlyzQ Iz?bEBIb;ib;bH4y Bɮ DB Ej)j)j1j1j1ԹZZZZJ&@ɢ9)A EiA)AAIiM=QIA>A>IIO>bE4jEȰ4rE0E E>E8E"E*E9VEF4ZEa@a@a@a@iA IA I `W,Z]?AYAy*sH!%AbD5 VD52yE >%EA=ٔEQ-E>9III=M6FyMeDUEU>YQ 5eI4]?Q 9eI4]B CB uHB AB =B B MDB ;B |Eԙ E Q E CE =E "E 29*E 09VE |4ZE BE ޝ:a 2E :a JE 9:a :E 9:a fW,[]?A2Ũ@2俯@2,ٱ2T :AHRS rotation from veh to nav: [[0.548647,0.786414,-0.283796],[-0.554841,0.596410,0.580040],[0.625410,-0.160776,0.763553]]2H?M*?)ҿA?ఏ?\?NĿo?i2Ũ@I2C^;2CY~@Ay~ uHyCl?V-y&1?;_?`e= 9v/?QοJ +Yxi?yuHnBVB |B)G"BY\BbDVD:2y>%D=ٔL9I=6FyeDc:E>Q 5I4&?Q 9I4X) AYq?Q E`:yQ I?GBI:i3:pI4yBɮBB¦EjjjjjqZY+>ZY+>Z$Ƞ@Zʸ@ɢ) i)i=IIQIiOu=ԡ lW,6]?Aɰ2 è@2۽@2s,ٱ2K :AHRS rotation from veh to nav: [[0.549399,0.783818,-0.289466],[-0.555878,0.601515,0.573742],[0.623827,-0.154306,0.766179]]2H୔?? ҿ??@\? d?Jÿ?i2 è@I2A^;2CYBAyBvHbDJVDJyRx?%V\=ٔV+;Q-V>9TIX=Z6FyZeDZ/EZ>\Q 5bI4^^?Q 9fI4^N_)^AYdyfQ If?^HBI^:i^:^e"I4yhɮjABljijijijijqZZZZ@ɢ) 6i)i=IAzAI9IIE]S E]=E]8EY"E]9*E]8VE]F4ZEYae@ae@ae@ae@Ou=) 5sW,I]?A 6@6r@6F,ٱ6 Z@ BAHRS rotation from veh to nav: [[0.549977,0.780564,-0.297060],[-0.556654,0.607755,0.566366],[0.622625,-0.146128,0.768755]]6H i?b? ӿ@r??@?`V¿?i6@I6T^;6CYJDAyJxH LLN=N=bDVVDV0yZV>%^I=ٔ^6x;Q-^>9`I`=b7FybeDf2޹Ef>dQ 5jI4f&?Q 9nI4ff)fAYlyrQ Ir?fIBIf";if#;f0I4ytɮvABtjjjjj Z!Z!Z!Z%&"@ɢ9) i)项iƽ=IIyIO=BE>BECBEzHBEGABE =BABEJDBE;BE{EqEmQ EiEm9Ei"Em29*EiVEm4ZEiBEmܝ:au2Em:auJEm9a}:Em9a}ԙ zW,]?ALNO@N @Nv+ٱN6 ^AHRS rotation from veh to nav: [[0.550016,0.777788,-0.304184],[-0.557281,0.613082,0.559973],[0.622030,-0.138478,0.770651]]NH ??wӿ>`]?K??@+?iNO@IN+^;NCYnAynzHbD~ VD~:2y >%D=ٔ:Q->9I!=%7Fy%eD-E->1Q 5EI45=2?Q 9EI45n)5uAYAyEuQ IM?5'KBI5*$;i5;53?I4y]!Bɮ]U@B]æEjyjyjyjyjB*** querying acoustic contact ***i iZ!Z!Z!Z%cW@ɢY)Y ]&iY)Yaaie|=aIm2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.AIIO%+>EmM EmBEm?Ei"Em,9*Em(9VEm^4ZEiau@au@au@au@ % *DAT read: user:302> % BDAT read: Tx time:03:22:33.4125 - $Ping request sent.- %==ٔc):Q->9 I =7FyeDLE>Q 5%I4K>?Q 9-I4u)fAY)y-mQ I-?xLBI:i:RNI4y5"Bɮ=?B=̦EjIjIjIjQjYZyZyZyZ}8~@ɢ) {i)顑i=IA>A>)A.AI I!OU2>ߍ%=ߍ<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253210YB5 >B5 CB5 ~HB5 AB5  =B1 B1 B5 ;B5 !zEԁ E T E GE :E "E 9*E R9VE (4ZE BE z:a 2E ~:a JE t:a :E t:a W,'^?A2൨@2@2Y+ٱ2) :AHRS rotation from veh to nav: [[0.549457,0.774717,-0.312907],[-0.557726,0.618935,0.553048],[0.622124,-0.129360,0.772158]]2H'?z?ԿO?? q?ߎ?i2൨@I2_;0YBAyB{~HIF<)Fp;DDYy}~jt? ףp= ˡE?};?}Q}=y y9}/$?q= ףpͿ@5^I ?Y}\?y}k}b>}B}tSB }B)}#ByY}BbDVDky>%O=ٔjQ->9 ?I ?=7FyeD{E>Q 5I4F?Q 9I4}{)AY:g?Q Ek:yđQ I?hMBI:i:\I4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502258yɮ>BjjjjjZL>ZL>Z@Zf@ɢ1)1 5i1)999i=ú=AIAԁA؟AIIO (>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754648 ;W,~7^?A2@2@2%,ٱ2^' :AHRS rotation from veh to nav: [[0.548873,0.774090,-0.315472],[-0.557428,0.620187,0.551944],[0.622906,-0.127094,0.771904]]2H _?X?0Կs?@? ?D`o?i2@I2m=_;2CYNAyRvHbDZVDZ:yb)?%bZ=ٔbp.Q-f>9f"?If"?=f7Fyf fDj8Ej>lQ 5rI4nN?Q 9vI4nހ)nAYtyv쑿Q Iv?nONBIn!;in=:niI4yxɮz=B|j j j jjZZZZd@Թɢ) i)i0й=ID9D=<EES EE;EE=EA"EE9*EE8VEE|4ZEAaU@aU@aU@aU@Ae.AIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0062029 #W,\Q^?Aɰ4<&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258266:@:ұ@:C^,ٱ:# BAHRS rotation from veh to nav: [[0.548721,0.772811,-0.318855],[-0.556825,0.622341,0.550125],[0.623580,-0.124319,0.771812]]:H?`޺?hԿ6??@]?Xӿ?i:@I:*_;:CYJKAyJPHbDRVDRkyZz>%ZK=ٔ^S Q-^>9b ?Ib ?=b7FybfDbւ:Eb>dQ 5jI4fV?Q 9jI4f)fAYlyrQ Ir?fFOBIf!;if#;f.wI4yv'Bɮv)=BvͦEjjjjjZ!Z!Z!Z%i@ɢ1)9 =i9)99AiE޸=AIIA]fAzA]bAB>BCBHBABBBIDB;BdxEBCBCB—CB =B =Cª6A؟AIIO>EMT EMAEM<EI"EM9*EM 9VEM 4ZEIBEIaU2EM:aUJEM:aU:EM:a]Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510107iԙ NW,;k^?AF@Fѷ@F),ٱF RAHRS rotation from veh to nav: [[0.548875,0.771188,-0.322499],[-0.556167,0.624938,0.547843],[0.624032,-0.121334,0.771921]]FHa?? ңԿ}?? ??iF@IFH_;FCYZ AyZqH ``bDjVDjyz1?%zF=ٔ~Q-~>9"?I"?=7Fy.fD -:E >Q 5%I4_?Q 9%I4)BY)y- Q I-?EPBID;i;I4y9ɮ=?ԙDIzDMAAEUX EUCEU:EQ"EU~ :*EU09VEU(4ZEQa]@a]@a]@a]@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014167 4W,k^?A2ɨ@2į@2,ٱ2 :AHRS rotation from veh to nav: [[0.549758,0.769364,-0.325339],[-0.555323,0.627567,0.545689],[0.624006,-0.119328,0.772255]]2H ?@?@\Կ@4`?Iv? ?OO?i2ɨ@I21_;2CYfAyf`HbDrVDr0yz>%zK=ٔ~8Q-~>9|I|=7Fy?fDf~;E> Q 5I4 :h?Q 9I4 \) BYy瑿Q I? uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268330BA4=BBCB-HBAB=BBJDB=;BvE1 Ee S Ee AEe 7Ea "Ee 9*Ee  9VEe Ժ4ZEa BEe :au 2Ee :au JEe :au :Ee :au Q aW,^?A2Tݨ@2&د@2R,ٱ2 :AHRS rotation from veh to nav: [[0.551398,0.767330,-0.327360],[-0.554330,0.630250,0.543602],[0.623441,-0.118275,0.772873]]2H ??`wԿ+?/e?9?IG@`?i2Tݨ@I2!_;2CYNIAyNbHy]jt?~jtI +?] ?]]9]'yB]QB ]B)]qBYY]wBbDuVDuyP>%A=ٔ:Q->9I=7FyPfD;E>Q 5I4?o?Q 9I4)BY6!?Q E:yلQ I?QBIL:i:{I4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518203yɮ:BjjjjjZ?>Z?>Z@ZA@ɢ) i)iѵ=I!A1A5>YAIIO>qm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770154ԡ +W,Ÿ^?A2@2@2,ٱ2 :AHRS rotation from veh to nav: [[0.553039,0.765757,-0.328273],[-0.553591,0.632199,0.542089],[0.622643,-0.118068,0.773548]]2H?? lտ:?X?@?`9`?i2@I2_;2C@YRAyRnHIV>)V;bDZVDZ1yf~?%fW=ٔfB0;Q-f>9hIh=j7Fyj_fDj;En>pQ 5vI4ru?Q 9vI4rh)rBYxyzQ Iz?r{RBIr:ir=:rI4y~.Bɮ~9B~צEjjjjjZ1Z1Z1Z5B@ɢI)I MiI)QQQiU=QIbE(4jE4rEX0E%R E%BE%6E!"E%s9*E%(9VE%c4ZE!a5@a5@a5@a=@ԩAIIO>BDAT read: Rx Time:03:22:35.8908 TRx dataTimestamp_ set to:1761535355.044150checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023214 Em>EyC>G5 99 Y= A qW,^?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274977J@J@J+ٱJP RAHRS rotation from veh to nav: [[0.555447,0.764481,-0.327183],[-0.552790,0.633395,0.541511],[0.621210,-0.119917,0.774414]]JH@8?v?@Կ@tD?T??岾?iJ@IJ^;HYbAybnHbDjpVDjβyv>%zH=ٔz;Q-z>9xI|=~7Fy~pfD~;E>Q 5 I4r|?Q 9I4)vBYyQ I?SBIy:i:I4yɮ%9B!j1j1j9j9j9ZYZYZYZ]ZB@ɢi)q ubiq)qqqiu=yIyB}k>B}CB}HB}AB}=B}+DB}CDB};B}uEAI I!OM>E-S E-CE-9E)"E-9*E-09VE-4ZE)BE-:a52E-:a5JE-9:a=:E-9:a=1DAT read: 03:22:35.8908 LVL= 25584, 22897, 32754, 32755, AGC= 67, IDX= 500,-0.18, 1.756,-0.389, 0.227, 1.418, PHS= 0.439,-1.763,-1.236, RAW= 103.2, 24.4, CAL= 102.6, 29.9, ROT= 47.4, -29.9  Ygot valid direction response: 03:22:35.8908 LVL= 25584, 22897, 32754, 32755, AGC= 67, IDX= 500,-0.18, 1.756,-0.389, 0.227, 1.418, PHS= 0.439,-1.763,-1.236, RAW= 103.2, 24.4, CAL= 102.6, 29.9, ROT= 47.4, -29.9 PDAT read: Bearing 206.4, 53.4 (Local) ~Local bearing/azimuth received: Bearing 206.4, 53.4 (Local) %DAT read: Range 11 to 50 : 55.6 m (Round-trip 74.2 ms) speed 0.0 m/s %R#Rx 1: Read range and direction messages.-\direction in FSK: [0.586782,0.638120,0.498488]5Fpublishing direction and range infoy"(?.zk?9?Yf^BcqY )CI>iΈ?5?^ >5? 0?)S?I0Z/j?9@пFz? 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NAHRS rotation from veh to nav: [[0.558211,0.763761,-0.324145],[-0.552262,0.633587,0.541825],[0.619199,-0.123440,0.775471]]BH@?p?ɾԿ@!XF?V?`y?@ƙ@?iB@IB/^;BCY.AyeHbD-VD-9y=>%EE=ٔE;Q-E>9III=M7FyMfDM#;EU>QQ 5]I4U}?Q 9eI4U)UHBYayeWQ Ie?USBIU:iU:UI4yiɮuF8Bqjjjjjii^?AJi^BRi^Bji0>bۺJ@@I{A@0 O;@R"(?.zk?9?ZiS?bi0jK#B@jpbyNt3@F>B@Z ;#?ek?'0y?2iA:iB"iEt?*iBcBiBZZZZB@ɢ) ѳi)i=IAgAzAjAAaiIqIO>ԑE5R E5EE5;E1"E5s9*E5A9VE54ZE1a=@aE@aE@aE@ i I AW,6W_?A26@21@2F)ٱ2& :AHRS rotation from veh to nav: [[0.561456,0.763113,-0.320041],[-0.552229,0.633561,0.541890],[0.616288,-0.127511,0.777129]]2Hq? lk?@{Կ@۫@!F?(W?`?@JR=?i26@I2^;2CYBAyBLH DDF=F=bDNVDNNyV>%VU=ٔV9XIX=Z7FyZfD^p;E^>`Q 5fI4b?Q 9fI4b)b BYdyfQ If?b\TBIb:ib:bI4ylɮn7Bpjxjxjxj|j|ZZZZF B@ɢ1)1 5Zi1)111ԡi= =IAAIQIaO>Bu>>BuCBuHBuABu =Bu,DBu>DBu;Bu~sE EE  EE BEE CEA "EE :*EE (9VEE 5ZEA BEE ;aU 2EE ;aU JEE B+:aU :EE D+:aU W,s _?A>M@>H@>(ٱ>ݴ* FAHRS rotation from veh to nav: [[0.565064,0.762208,-0.315818],[-0.552691,0.633906,0.541014],[0.612564,-0.131158,0.779463]]>H ?d?[6Կ९@H?O?`? @]?i>M@I>z^;>CYN2AyN?Hy-7A`?~jtbX9ȶ-6?--E) )9-+?Q롿{GzY->y-\-#-=tB-LB -lB)-]B)Y-QuBbDE VDE2yU>%U>=ٔ]39YIa=e7FyefDe;Ee>iQ 5uI4m?Q 9uI4m6)mtBYd>Q E:ybQ I?mTBImהZ}>Z}]H@Z}@ɢ) Ͱi)项i =IAI IO%,>)Qy W, :_?A:f@:a@:W\'ٱ:/ FAHRS rotation from veh to nav: [[0.569183,0.761052,-0.311176],[-0.553318,0.634487,0.539690],[0.608170,-0.135003,0.782243]]:H 6? Z? Nӿ`ǴM?%E? v?`G"?i:f@I:<^;:CYJAyJ"HbDVVDVܲyZs>%^W=ٔ^o9`I`=b7FybfDf+<Ef>hQ 5jI4j?Q 9nI4j)jBYlyrbQ Ir?jUBIj);ij*;j@I4ytɮv6Bxjjjj j Z)Z)Z)Z-@ɢ9)A E]iA)AAAiMH=IIQAe>Ae>qES E?E8E"E9*E?9VEF4ZEa@a@a@a@AIIO>ԡ W,S_?A2ă@2~@2%ٱ242 :AHRS rotation from veh to nav: [[0.573912,0.759150,-0.307110],[-0.553985,0.636093,0.537109],[0.603097,-0.138119,0.785619]]2H|]?J?ӿ> Z? /?L? ߭#?i2ă@I2^;2CYfAyfHIn<)nR=llbDvVDvyz>%~F=ٔ~|9I=7FyfD <E > Q 5J4 J?Q 9J4 ,) 6BYy*aQ I? +VBI ;i ; J4y!ɮ-f5B)j9jAjAjAjAZaZaZaZe@ɢy)y }iy)yyilr=IB],>B]CB]gHB]ABYBYB]E E@E>E"E*E9VE4ZEBE:a2E:aJE#:a:E&:a! W,m_?A>@>@>#ٱ>5 FAHRS rotation from veh to nav: [[0.579474,0.756777,-0.302487],[-0.554600,0.638128,0.534052],[0.597184,-0.141710,0.789487]]>H ?7?[ӿHk?? ?#¿{C?i>@I>^;>CYNAyNHbDZVDZNy^>%bO=ٔb 9dId=f7FyffDf0<Ef>hQ 5J4jA?Q 9J4j&)jBY!y%`Q I%?jVBIj#yER EEE=E"Es9*EA9VE|4ZEa@a@a@a@ԩ W,_?Aɰ2Tȩ@2&ð@2~!ٱ247@ FAHRS rotation from veh to nav: [[0.585181,0.753822,-0.298858],[-0.555478,0.641139,0.529514],[0.590769,-0.143853,0.793914]]2H͹?N?`} ӿ y@6???i¿`g?i2Tȩ@I2^;2CYRAyRHbDbVDbyn$>%rH=ٔv9xIx=~7Fy~fD~$<E> Q 5J4 ?Q 9%J4 ?) BY!y-^Q I-? `WBI b;i d;  J4y5;Bɮ=4BEjjjjjZZZZ{@ɢ!)) -4i)))))i5=QIYAizAmgAԩAI I)OU2>B]>B]CB]HB]ZAB] =BYB]:DB];B]qEBCBCBǛCB =B =C7 E X E AE ?E "E ~ :*E  9VE ^4ZE BE :a 2E :a JE :a :E :a aW,ۡ_?A2@2]@2Sٱ2[M8 >AHRS rotation from veh to nav: [[0.591112,0.750466,-0.295614],[-0.556433,0.644734,0.524118],[0.583925,-0.145324,0.798694]]2H`d??UҿL??? ¿ ?i2@I2^;0YBAyBH HHJ=J=Xy%C?ktMbZD? @ 9-?yt<Q8uBRFB B)&BYzBbD5VD51yE>%EA=ٔEd9QIQ=U7FyUfD]"<E]>aQ 5J4eȾ?Q 9J4e-)e0BY?Q E:yrMQ I?e5XBIeئZE>ZE4@ZE>?ɢY)Y ]iY)Yaaie<=iIiAIIO(> 1 Y%W,U_?A6C@6@64eٱ68 BAHRS rotation from veh to nav: [[0.596761,0.747420,-0.291959],[-0.557817,0.647966,0.518632],[0.576816,-0.146640,0.803604]]6H??uҿ@$? ?Fu?¿ ?i6C@I6y^;6CYFAyFnHbDRVDR02yZ>%ZW=ٔZS9\I\=^7Fy^gDb<Eb>dQ 5jJ4fɓ?Q 9jJ4f)fcBYhyjLQ In?fXBIf:if:fiԑ W,2_?A@2@2@2)ٱ28 :AHRS rotation from veh to nav: [[0.602019,0.744605,-0.288335],[-0.559506,0.651006,0.512976],[0.569672,-0.147496,0.808529]]2H`C??tҿ`y ?Lj?:? %¿@w?i2@I2o^;2CYRAyR"HbDZVDZy >%E=ٔ 59 I = 7FygD;E>Q 5%J4Փ?Q 9%J4)BY)y-KQ I-?YBI:i:QKJ4y5@Bɮ52B5EjIjIjIjIjQZiZiZiZmv?ɢ) A>B>BCBHBAB =BB6DBO;BpEIIO>EP EAE8E"E9*E 9VEF4ZEBEP:a2EU:aJE:a:E:a p7W, _?A22@2k-@2 ٱ25 :AHRS rotation from veh to nav: [[0.606992,0.741261,-0.286518],[-0.561394,0.655135,0.505604],[0.562493,-0.146048,0.813801]]2Hzl?`i?OVҿ?-??റ¿@ ?i22@I2s _;0YBAyBHIF=)F4=bDNVDNN2yV#>%VP=ٔV9XIX=Z7FyZ%gD^d;E^>`Q 5fJ4buᓊ?Q 9fJ4b:)bBYdyfJQ Ij?bZBIbW:ib:bYJ4ylɮrs1Bpjxjxj|j|j|ZZZZFK?ɢ) i)顑iM=I = %=II!O- >!QDzD?AbEa4jEw4rE0EN E=E9E"Em9*E8VE4ZEa@a@a@a@y !X,`?AJ/5@J0@J^ٱJP2 rG)A MAHRS rotation from veh to nav: [[0.610494,0.739210,-0.284368],[-0.564275,0.657892,0.498770],[0.555779,-0.144035,0.818757]]JH*??@3ҿs ???o¿`B3?iJ/5@IJ^;Hu,9qYu*AYKAyHbDVDy>%8=ٔ|9I=7Fy7gDz::E>Q 5J4?Q 9J4\)BYyxJQ I?q[BI :i:hJ4y ɮ 0B j!j!j!j!j)ZAZAZAZE?Qɢa)eXj= eia)aaiim/=iIqIIO>yAAB>BCBHBAB =B-DB2DB;BoEԩE S E DE 8E "E 9*E a99VE F4ZE BE :a 2E :a JE `H:a :E bH:a IX,"`?Aɰ2-@2(@2ٱ2z+ :AHRS rotation from veh to nav: [[0.613065,0.737172,-0.284127],[-0.567671,0.661162,0.490524],[0.549455,-0.139433,0.823807]]2H@;??#/ҿ[*@>(?d?"?\?i2-@I2^;2CYrAyrHy/$?-ƿV-\??5 9Dl?)\((\ſYO-?yGὙ.lB69B B)BYkBbDVD y'>%L=ٔT9I=7FyGgDE>Q 5J4r?Q 9J4 )d BY4?Q E:ytQ I?\BI:i:vJ4yDBɮ30Bj j j j j Z-w>Z-w>Z-2@Z-??ɢ) Ri)顉i˪=ԱIAEhAzAAIIO= 1 sX,<`?A2#@2@2}*ٱ2:" :AHRS rotation from veh to nav: [[0.615121,0.734616,-0.286296],[-0.570956,0.665462,0.480801],[0.543723,-0.132288,0.828773]]2H??RҿFEvK?q?@.f? 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Cܽ?iEX@IEd;AYuY8ByuHI}<)}p;AԑiMb@Mb@Mb@ 9Gz?Mbp? rh?Y0?y;C==B(A /"B)MAYAbDVDܲyf>%+=ٔ9 ?Y ?=7FynDu$;E>Q 5P4bW?Q 9P4)LBY1?Q E :y Q I ?BvCBHB68BBBBBr;BPEBMxCBMwCBMĔCBMg =BMg =CMXD5ԹAIIOg>  [,@6l?A2b@2f]@2ٱ2}~ :AHRS rotation from veh to nav: [[0.796249,0.516439,-0.315084],[-0.425256,0.848245,0.315653],[0.430284,-0.117347,0.895034]]2Hz?@?T*Կf7ۿ$?3?ĉ?`r ?i2b@I2_d;2CYB8ByBuHbDJVDJk1yR>%Rx=ٔVtAI [,Pl?Aɰ;:Pr@:%m@:ٱ: BAHRS rotation from veh to nav: [[0.798534,0.514819,-0.311937],[-0.424506,0.849035,0.314538],[0.426776,-0.118750,0.896527]]:H?dy?ӿ+ۿ K+?e!?`KP?nfY?i:Pr@I:=Fd;:CYJo9ByJHbDRVDR:yZ>%ZI=ٔZ9^"?Y^"?=b7FybnDb(;Eb>dQ 5jQ4fMx?Q 9jQ4fN)fMBYhynQ In?fBIf:if;fQ4yrBɮrArEj|j|j|j|jɢ-.)) - ii-9)111i56Z=1I u8M2_.=QA]fAzA]fAE} E}tE},Ey"E}:*E}v:VE}g4ZEya@a@a@a@A.AIIOE>ԁԩ B #>B uCB EHB 9BB f =B B DB ϗ;B OE2/[,_jl?A2ჲ@2~@2߾ٱ2 :AHRS rotation from veh to nav: [[0.800859,0.512912,-0.309105],[-0.423542,0.850032,0.313142],[0.423363,-0.119864,0.897996]]2H ?i?`ӿ Qۿu3? ? c? a@a?i2ჲ@I2fc;2C%%5=ٔ%9% ?Y- ?=-7Fy-oD-;E->1Q 5=Q45?Q 9EQ45)5lNBYEA'?Q EE:yE0ǾQ IE?5BI5a:i5:5e$Q4yIɮUAQjajijijijiɢl)< v`i9)顙iԛ=IQQ<8ԩE} E}pE}2Ey"E}~:*E} :VE}4ZEyBE};a2E};aJE};R;a:E}![,ml?A6ᗲ@6@6(ݾٱ6 >AHRS rotation from veh to nav: [[0.803560,0.510676,-0.305780],[-0.422463,0.851210,0.311394],[0.419305,-0.121043,0.899740]]6H¶?uW?ӿ` ۿ=?@???i6ᗲ@I6c;6CYF:ByFpHbDRVDR:2yV>%Ze=ٔZM9Z"?Y^"?=^7Fy^oD^9;Eb>`Q 5fQ4b?Q 9jQ4b)bNBYhyjƾQ Ij?b BIb :ib:b0Q4lyrBɮrApj|j|j|jjɢ- )) -3Wi-9)111i5=9I9 ]Gi9YAe-8=T<1AIIO>a bE ʃ4jE 94rE ʐ'0E  E qE -E "E :*E $ :VE t4ZE a @a @a @a @B'[,ul?A889@@ھٱ3 AHRS rotation from veh to nav: [[0.806336,0.508951,-0.301315],[-0.421688,0.851916,0.310512],[0.414731,-0.123316,0.901550]]H@?TI? Hӿڿ B? m??~?i@I Wc;CY;ByHiMb@Mb@Mb@ 9y&1?V-?{Gz?Y`%?yh=#<rA"A B)1AYAbDVD1y>%,=ٔ-9Y=7Fy1oD9;E>Q 5Q4ϲ?Q 9Q4)]OBYd&?Q E:yQ I?BIC ;i ;mAQ4yBɮAEjjjjjɢET)I MNiMϬ9)IIIiM =QIQI] ?)]%?B%<A!B->B-oCB-HB-:BB-l =B-7DB-ܺDB-s;B-dOEaԑ8Թ A >A >E  E gE 0E "E ~:*E &9VE 4ZE BE a 2E ;a JE y1;a :E y1;a A I IO>L.[,+l?A2~@2S@2{׾ٱ2'R :AHRS rotation from veh to nav: [[0.809072,0.507498,-0.296393],[-0.421760,0.852591,0.308557],[0.409294,-0.124638,0.903849]]2H?l=?ҿ ڿlH?d?1??迿U?i2~@I2>c;2CYB;ByBHID)Fp<bDNVDNβyR@>%VQ=ٔV\z9XYX=Z7FyZAoD^E];E^>`Q 5bQ4bŚ?Q 9fQ4b)bOBYdyf Q If?bBIb;ib;bOQ4ynܖBɮnZAljijijqjqjqɢD]) 7Gi9)顡i:=I 8)AyIIO>Y ,5[,l?A02 @2ᵹ@2OsԾٱ2 >AHRS rotation from veh to nav: [[0.811837,0.506863,-0.289846],[-0.422376,0.852547,0.307834],[0.403137,-0.127487,0.906216]]2H@?88?֌ҿ4ۿ`H?@?`?|Q?i2 @I2Bc;2CYB %rG=ٔr9tYt=v7FyvRoDz;Ez>|Q 5Q4~Wؚ?Q 9Q4~)~4PBYy ӷQ I ?~BI~>;i~:~d]Q4yBɮAEj)j)j)j)j)ɢ]*X)Y ]k?i]9)aaaie]=aIiD=DE| EiE/E"E :*E9VEJ4ZEa@a@a@a@ԉ8AIIO>Bu>BujCBuHBuB%MD=ٔM9IYQ=U7FyUcoDU:EU>YQ 5eQ4]H욊?Q 9mQ4]e)]PBYm+&?Q Em:ymQ Im?]BI]U:i]:]kQ4yqɮyAjjjjjB*** querying acoustic contact ***i iɢ4H) 6i 9)i"=I gAAzAA!I1IAOU1>Ex EdE(E"Eˀ:*E9VEc44ZEBE;a2E;aJE&;a:E&;a5 2Acoustic response timeout5 Querying Benthos address 50 with one ping in standard two-way mode.A >B[, j m?A2 IJ@2@2$̾ٱ23 :AHRS rotation from veh to nav: [[0.817441,0.504284,-0.278367],[-0.424141,0.853943,0.301472],[0.389737,-0.128369,0.911936]]2Hy(?#?ѿ %ۿ`S?RK? s? fn`.?i2 IJ@I23c;2CYB%VU=ٔV9XYX=Z7FyZroDZ:E^>Q 5%Q42?Q 9%Q4)PBY)y-Q I-?BI*;i+;yQ4y5Bɮ5A5EjIjIjIjIjQɢ}YH) 1i9)顁i=II*DAT read: user:303> BDAT read: Tx time:03:23:33.6625 $Ping request sent.ԩ U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252750NkH[,P#m?AJR@J'@Jy ɾٱJ RAHRS rotation from veh to nav: [[0.819871,0.504165,-0.271349],[-0.425885,0.853769,0.299501],[0.382667,-0.129988,0.914696]]JHa%:=ٔ9 ?Y ?=7FyoDLE>Q 5Q4?Q 9Q4)BQBY&?Q E:yԾQ I?BI:i:ˆQ4yBɮoAjjjj j B>BhCBHBi=BBv =BB׺DBɖ;BNEɢU_,9)Q ]+i]9)YYYi]=aIaԡ 8checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502747A% ؟AI1 IA Oe > E w E aE )E "E }:*E 9VE FA4ZE BE ;a 2E ;a JE ;a :E ;a hN[,u=m?A >t@>I@>{ľٱ>& FAHRS rotation from veh to nav: [[0.821979,0.505238,-0.262839],[-0.428366,0.852606,0.299275],[0.375303,-0.133406,0.917252]]>HM?`*?@Yп Zjۿ@H?@Q'?`?v Z?i>t@I>b;>CYN=ByNFHbDZVDZyb>%b\=ٔb9f"?Yf"?=f7FyfoDfcjEj>hQ 5rQ4j%?Q 9rQ4j )jQBYpyrվQ Ir?jBIj3;ija;jQ4yxɮzAxj j j j j ɢ5,TA)9 MP%iUͱ9)i=!I)IU?)U?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7551848A->A->1AiIyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006692a zU[,+Vm?AY>ByHI a=) =bDVDNy%O>%-D=ٔ-Q-->91Y1=57Fy5oD5E5>9Q 5EQ4=9?Q 9MQ4= )=QBYIyIQ IM?=BI=:i=:=MQ4yUBɮUA]Ejijijqjqjqɢe]/) if9)顡it=I9E} E}zE}/Ey"E}U:*E} :VE}J4ZEya@a@a@a@iiI-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263700B>BgCBGHB{>BBt =B8DBֺDBc;BNEBjCBlCBǙCBt =Bp =Cǿ6AaIqIԑO>Թ 0[[,pm?A2v@2K@2yٱ2 :AHRS rotation from veh to nav: [[0.825438,0.508070,-0.246003],[-0.434920,0.850213,0.296618],[0.359857,-0.137848,0.922768]]2Hi?B?}Ͽۿ4? ?`? P?i2v@I2b;0YBe>ByB,Hi=Mb@Mb@Mb@9999 99=kt?{Gz?i|?5Y= 0?y=#<=q=A=1A =B)=rA9Y=fAbDUVDU:echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891ymr>%uF=ٔu$=Q-u>9yYy=}7Fy}oD2E>Q 5Q4N?Q 9Q4#),RBY0?Q E:yaQ I?BI ;iL ;Q4yBɮAEjjjjjɢ8)) i9)i=IԑB8AAIQIaO}7>E EE,E"E:*EVL:VEg4ZEBEc BybHbDjVDjP)yro>%rT=ٔr9tYt=v7FyvoDv[ Ez>xQ 5]Q4z)a?Q 9]Q4zJ)zvRBYaye!Q Ie?z BIzcdE EE+E"E:*ER:VE [4ZEa@a@a@a@I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268995ҹh[,Rm?A zV@z\Q@zgٱzX AHRS rotation from veh to nav: [[0.827508,0.512491,-0.229312],[-0.443515,0.847115,0.292729],[0.344275,-0.140532,0.928292]]zHz?Rf?ZͿbܿ@????izV@Izejb;zCY?ByH B>BeCBsHBo?BBs =BBպDBە;BMEiMb@Mb@Mb@ 9rh|?ktZd;OY;?y 0j<jAA 9 B)CAYAbDVD2y:>%8=ٔw9!Y!=%7Fy%oD% E%>1Q 55Q45w?Q 9=Q45)5RBY=ԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752 E  E E *E "E :*E ju;VE (N4ZE BE %T=ٔ9Y=8FyoDE>Q 5Q4?Q 9Q4)+SBYyQ I?LBI;iD;MQ4yɮAjjjjjɢ^)! %xi%9)!!!i%i&=)I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770764 m8 g>PCy9YAAiIqIO>)  BDAT read: Rx Time:03:23:36.1376  TRx dataTimestamp_ set to:1761535415.320187 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023869u[,Cm?A6@6@6jٱ6K >AHRS rotation from veh to nav: [[0.829126,0.516566,-0.213799],[-0.452310,0.844581,0.286527],[0.328581,-0.140863,0.933912]]6H`3?`?]˿`ܿ`? uV?`w?¿ ?i6@I6#b;6CY^?BybHbDjVDjyrZ>%rV=ٔr9tYt=v8FyvoDv%Ez>x9Q 5eQ4z ?Q 9mQ4zY )z{SBYiymQ Im?zְBIzeziA9)i=IbE|a4jEj4rEַ0EY E]EYEY"EY*E]T:VEYZEYau@au@au@au@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276452}8AA>ԑBi>B]CByHBD@BB =BBϺDBR;BLEAQ Iy I O > {[,m?A2@2@2`ٱ2 :AHRS rotation from veh to nav: [[0.829777,0.518433,-0.206634],[-0.456458,0.843466,0.283215],[0.321117,-0.140685,0.936532]]2H? ?rʿ6ݿ?@1 ?@-?¿`?i2@I2ha;0YB@ByB?HIF8>)F4%5E=ٔ5AE%=mDAT read: 03:23:36.1376 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.27, 0.510, 0.144,-1.019, 0.808, PHS=-0.197,-0.619,-1.872, RAW= 44.0, 32.2, CAL= 41.1, 38.6, ROT= 108.9, -38.6 ԙYgot valid direction response: 03:23:36.1376 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.27, 0.510, 0.144,-1.019, 0.808, PHS=-0.197,-0.619,-1.872, RAW= 44.0, 32.2, CAL= 41.1, 38.6, ROT= 108.9, -38.6 PDAT read: Bearing 265.6, 30.5 (Local) ~Local bearing/azimuth received: Bearing 265.6, 30.5 (Local)  DAT read: Range 11 to 50 : 53.1 m (Round-trip 70.9 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [-0.253148,0.739385,0.623880]Fpublishing direction and range infoyAEF3п^h ?ЋH?YEfTBAEwEA A)EDIE^IiEvE←E D?E?E7? Eiw,?)EH?IEiw,AAE };?Iz\E꿯ݿ ? E)EIEH?iEiw,AA91Y1=58Fy=pD=E=>AQ 5MQ4E?Q 9MQ4EY%)ESBYME?Q EU:yUQ IU?E~BIEC ;iE ;E.Q4y]ABɮ]AajjjjjiAiEVm?AJiESBRiESBjiE_?bE͒x*tGjC@ǀ@@REF3п^h ?ЋH?ZiEH?biEiw,jE2xD@46:H@^)҂5@ZEh> ?AN? È?2iEAB:iE*@"iEbMz?*iE( *BiEBBiEbMz?iE( *iEBBiE BBiEG?ɢC) @i9)iOo=I8Em EmEm+Ei"Em:*Em1]:VEm [4ZEiBEm} ڂ[, n?A2@2rܸ@2sٱ2 :AHRS rotation from veh to nav: [[0.830369,0.520479,-0.198972],[-0.460422,0.842017,0.281104],[0.313846,-0.141809,0.938824]]2H@a?§? wɿwݿ???&¿ ?i2@I2ca;2CYVr@ByVHbDbVDbyfk>%jQ=ٔjm9hYl=n8FynpDr Er>pQ 5vR4rƛ?Q 9zR4re))r>TBYxyzQ Iz?rBIrl:ir:rR4yɮ#AjjjjjɢE')I MiM+9)IIIiMU~=QIQ)78QE} EyEyEy"E}:*EyVEyZEya@a@a@a@AIIO>ԁ [,Y%n?A8ɰ:4< BDZ@ ¸@ ϟٱ R{ AHRS rotation from veh to nav: [[0.830908,0.522440,-0.191439],[-0.464222,0.840592,0.279110],[0.306740,-0.143045,0.940983]] H`̖? ӷ?ȿѵݿ!? ?@?@HO¿ ?i BDZ@I a; Y-@By-HAYAYB]P>B]YCB]gHB]ABB] =B]9DB]̺DB];B]LEiMb@Mb@Mb@ 9kt?!rhI +?Y P?yl罙94<~A/A B)AYAbDVDk1y-Q7>%-6=ٔ-f91Y1=58Fy5)pD=E=>AQ 5MR4Eݛ?Q 9MR4E.Q)ETBYU%R?Q EU:yU&Q IU?EBIE94;iE_3;EnR4y]LBɮeAeŧEjjjjjɢ}q)y ui9)顡i=I y8ԩAgAzAfAA I I O% >E}  E} E} /Ey "E} :*E} e:VE} J4ZEy BE} u%%T=ٔQ->9Y=8Fy8pDE>Q 5R4?Q 9R43)*UBYyQ I?PBI:id:#R4yhBɮpAϧEjjjjjɢ') ܿi9)!!!i%[=!I)8AII O >a e =9 ,[,Yn?A:F@:@:Зٱ: BAHRS rotation from veh to nav: [[0.832725,0.524432,-0.177597],[-0.470317,0.839229,0.272941],[0.292184,-0.143757,0.945496]]:H?$?ƿ`޿?w?"? f¿A?i:F@I:ia;8YJAByJHbDVVDVyZ>%Z[=ٔ^.'=Q-^>9`Y`=b8FybHpDbKEf>dQ 5jR4f[?Q 9nR4f^8)fUBYlyn'Q In?fBIf;ifY;f0R4ytɮvAtjjj j j ɢ5y)1 =пi=}9)999i=Ȃ=AIAD5%=D5R=E= E=E=+E9"E= ;*E=]t:VE= [4ZE9aE@aE@aE@aE@IBu=>BuWCBuTHBuABBu =BqBuʺDBu!;BujKEA)I9IIOU>i @[,gesn?A 6Ɠ@6@6nٱ6kX BAHRS rotation from veh to nav: [[0.833831,0.524848,-0.171059],[-0.472756,0.838939,0.269598],[0.285006,-0.143930,0.947658]]6H??@ſ@A޿ ?A?=?Ml¿ 7S?i6Ɠ@I6a;6CYFAByFpHiUMb@Mb@Mb@QQQQ Q9Ux??YUKW?yUUL=UVAU(A UCA)UAQYU\AbDmVDmky}i[>%}>=ٔ9Y=8FyYpD{E>Q 5R4 ?Q 9R4=)VBY Z?Q Ey:y)Q I?BI2 ;i:?R4yrBɮ AЧEjjjjjɢgԽ) HĿi9)i{=I8A>A>iA%.AI)I9EM EMEM,EI"EM:*EMx:VEMg4ZEIBEM<ԡ *[,Gn?A2@2ꂸ@2<ٱ2\J :AHRS rotation from veh to nav: [[0.834941,0.524799,-0.165709],[-0.474961,0.839242,0.264735],[0.278003,-0.142333,0.949977]]2H ַ?'?5ſ`e޿`?j?@? 7¿5f?i2@I2%Ra;2CLYRNBByRHIV4=)V<bDZVDZ:2yr>%vT=ٔvB9v ?Yz ?=z8FyzipDzrE~>|Q 5R4~q0?Q 9 R4~B)~VBY y )Q I ?~1BI~y:i~-:~uMR4y|BɮUAѧEj)j)j1j1j1ɢ]Ͻ)a e.ie9)aaaieX=iIi58A؟AIIO>DIzDIEU EQEU0EQ"EU:*EQVEU4ZEQa]@a]@a]@a]@! V[,(n?AB0>BUCBBHBBBB =BBɺDBѓ;B KEBYCB[CBB =B =CO7AmZ@m/@mﰌٱm; }AHRS rotation from veh to nav: [[0.836378,0.523844,-0.161429],[-0.476283,0.840268,0.259044],[0.271342,-0.139772,0.952280]]mH?T?൩Ŀj{޿z?+? ]?y?imZ@ImOa;iYBByXHiuMb@Mb@Mb@qqqq q9ue;O?B`"۹sh|??YuT?yuνu=uvAuKA uA)uԮAqYu AbDVD1yH#>%/=ٔ(q9"?Y"?=8Fy|pDL}E>)Q 5=R4-I?Q 9=R4-H)-'WBY=ZW?Q EE|:yEz!Q IE?-BI-#;i-p;-^R4yiɮuAqjjjjjɢ֮)Vz< i9)i!}=!I)a8AYIaIqO{>ԉԹ E]  E] E] /EY "E] :*E] :VE] J4ZEY BE] >Ŀ@=޿?H#?`?@]`@?iBe@IB[a;@YRCByRHbDZ VDZ:2yf>%fr=ٔf` e[,cn?A2X@2-@2ⅾٱ2n :AHRS rotation from veh to nav: [[0.839496,0.520813,-0.154923],[-0.477924,0.843394,0.245511],[0.258526,-0.132064,0.956934]]2H@&? ?ÿM޿`?l??x4?i2X@I2(8a;2CYBnCByB]H DDbDNVDNk2yVY>%VL=ٔZ9XYX=^8Fy^pD^k:E^>`Q 5fR4bgp?Q 9fR4btQ)bXBYhyj!Q Ij?bBIb:ibB:bwR4yrBɮrArܧEj|j|j|j|jɢ-)) -;i- 9)))1i5y=1I9E EE,E"E:*E:VEg4ZEa%@a%@a%@a-@!iߡIߡ8Bm)>BmTCBmQy [,n?A6@6@6耂ٱ6t BAHRS rotation from veh to nav: [[0.841332,0.518724,-0.151939],[-0.478107,0.845306,0.238477],[0.252139,-0.127996,0.959189]]6H 1?d?@rÿ O޿ ?l?` #? )b଱?i6@I6Ua;6CYFCByFHi%Mb@Mb@Mb@!!!! !9%m?ktMbX?Y%N?y% %=%A%tA %A)%įA!Y%AbD=VD=fyMh>%MA=ٔM;9QYQ=U8FyUpD]&:E]>aQ 5mR4e?Q 9mR4eNV)eXBYmMQ?Q Eu:yuQ Iu?eBIe:ie:e]R4yyɮ}AyjjjjjɢX) 慿i9)iZv=IY8E= E=E=0E9"E= ;*E=:VE=4ZE9BE=yT - +G9 v[,/o?A*ٕ9,Y.AJԗ@J@J~ٱJA RAHRS rotation from veh to nav: [[0.843414,0.516289,-0.148656],[-0.477637,0.847225,0.232532],[0.246000,-0.125117,0.961161]]JH>?q?-ÿ޿x?? |??iJԗ@IJY=a;JCYZ?DByZ_HbD VD yl>%M=ٔ%b9!Y)=-8Fy-pD-t;E->1Q 5ER45a?Q 9ER45Z)5YBYAyEhQ IE?5QBI5 ;i5";5ER4yUBɮU9AUݧEjijijijijiɢ) pi 9)顡it=IԱ9m<A>A>II1O= > bE^n4jEcw4rE).0Em  Em Em -Ei "Em ;*Em ҆:VEm t4ZEi au @au @au @au @9 \[, q(o?ABZ">BZSCBZNHBZ3DBBZ =BXBZǺDBZ;BZIE%@@xxٱ| AHRS rotation from veh to nav: [[0.845405,0.514141,-0.144740],[-0.477224,0.848786,0.227638],[0.239892,-0.123373,0.962928]]H ?s?`ن¿@֊޿B)?`=#? 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BE >BA BE CHBE jGBBE =BA BA BE r;BE EE= \,*p?AZ@T@4ٱ  AHRS rotation from veh to nav: [[0.867871,0.487745,-0.094364],[-0.464666,0.864170,0.193123],[0.175741,-0.123758,0.976626]]H ? 57?:(ݿG?A?@~? @?iZ@I`;YUkGByUEHiMb@Mb@Mb@ 9w/?Q?~jtYy\=AA A)AYAbDVD1y%h=%%-=ٔ%qZ9)Y)=-8Fy-rqD5N;E5>9Q 5ES4=y?Q 9ES4= )=r\BYEo'?Q EE:yEQ IM?=HBI=:i=@:=1S4yU BɮUUAUEjijijijijqɢN) i9)顥"ipCZ=I)Y5 9A ԉ I I O >E  E E )E "E V:*E :VE FA4ZE BE 9%R}=ٔV^A%> =gg>=KCAe.A:GIIO'>9Y'A9 _O\,^p?ARs@Rn@R)ٱRK bAHRS rotation from veh to nav: [[0.871064,0.484017,-0.083517],[-0.462878,0.865811,0.190040],[0.164293,-0.126878,0.978218]]RH ?@$? ea`ʟݿ?9S??= M?iRs@IR]`;PYjGByjHIv<)vp=bDVDβyH`=%C=ٔa9% ?Y% ?=%8Fy%qD-zT;E->1Q 5=S45?Q 9=S45})5\BY9yEQ IE?5?BI5;i5;5KS4yMBɮMAMEjajajajajiɢ@y) TdiI9)顝=kiOV=IbEg4jEk4rEA0E EE.E"E=;*E:VEـ4ZEa@a@a@a@ 9A؟AI IO5.>iAIEAaB>BBHBGBB =BBƺDB;BDEqԙ y\,Qxp?A2nz@2Cu@2=#ٱ2) :AHRS rotation from veh to nav: [[0.872248,0.482825,-0.077870],[-0.462585,0.866178,0.189080],[0.158742,-0.128903,0.978869]]2H`t?`?Hﳿݿ?@3?Q?R?i2nz@I2`;2CYRGByVHieMb@Mb@Mb@aaaa a9eS?Mb?y&1Ye/?ye9"?Y"?=8FyqD3;E>Q 5S4?Q 9S4)\BY/?Q E:y2Q I?ҿBI:iQ:mZS4y'BɮAEjjjjjɢ ٺ) HƼi 9)   i s%T=Iq9E EE+E"E:*E:VE [4ZEBE> ka$\,_p?A4<ɰ4<2偲@2|@2ٱ2 :AHRS rotation from veh to nav: [[0.873414,0.481603,-0.072161],[-0.462184,0.866472,0.188711],[0.153410,-0.131471,0.979378]]2H??,ykݿ $?'??@ W?i2偲@I2]_;2CY^HBybHbDjVDjkyrؑ=%rV=ٔr^g9tYt=v8FyvqDvR;Ez>xQ 5~S4z~ǝ?Q 9S4z:)z\BYyQ I?zWBIz;iz7;zgS4y ɮAjjPjjNCompleted lineCaptureHoming:InitialDiveOjAggregate::uninitialize lineCaptureHoming:InitialDive1P Uninitialize.qPUninitialize.Q dAggregate::initialize lineCaptureHoming:RepeatHackQɢ)! %i% 9)!%!i%xR=)I1 YY1AAzAEhAA.AIIO>>E EE.E"E:*EVEـ4ZEa@a@a@a@1 B >B QCB cHB SHBB =B B B ";B .DE*\,Ep?A U'@U~@U_[ٱUC AHRS rotation from veh to nav: [[0.874239,0.480817,-0.067241],[-0.462312,0.866755,0.187090],[0.148238,-0.132475,0.980039]]UH`?`? 6ݿv??t?`z\?iU'@IU_;QY$HBy)H bDEVDEym=%m4=ٔu%<9u ?Y} ?=}8Fy}qD}:E}>Q 5S4ޝ?Q 9S4)\BYyQ I?BI;i;wS4y1Bɮ}AQ hAggregate::uninitialize lineCaptureHoming:RepeatHackQ1R VAggregate::initialize lineCaptureHoming:LapqRip:)iIIA؟AIIOE>qԡ E  E E ,E "E :*E M:VE g4ZE BE C8AHRS rotation from veh to nav: [[0.874546,0.480954,-0.062068],[-0.463182,0.866344,0.186842],[0.143634,-0.134654,0.980427]]@6HH??UǯȤݿ@?@r?b?S<_?i6~@I6?_;4YJ=HByJGHiMb@Mb@Mb@ 9S?l)\(Y:?yGa+AA +A)AYAbD5VD5:y=(=%E`=ٔEQ9M"?YM"?=M8FyMqDMLEU>QQ 5eS4U?Q 9eS4U)U\BYed;?Q Ee:ye. Q Ie?UBIU[;iU:UqS4yuOBɮuAuE kXqRR ZAggregate::initialize lineCaptureHoming:Lap:Bi)项iIAzAAAԩAeIiIyO9> Þ7\,p?A@Bv@Beq@B.ٱB JAHRS rotation from veh to nav: [[0.874609,0.481383,-0.057711],[-0.464366,0.865955,0.185706],[0.139371,-0.135621,0.980909]]BH ?@?R+ݿ ?@3?`?\c?iBv@IB_;BCYj[HByjlHlbDv VDv2y~=%~O=ٔ~e29Y=8Fy *E >Q 5S4?Q 9S4)]BYy%t Q I%?BI;i;DS4y)ɮ-A)q6ElMfAggregate::initialize lineCaptureHoming:LineCapture17M nMAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesq7MnMJInitialize AltitudeEnvelopeComponent.7M oMDInitialize DepthEnvelopeComponent.7MoMJInitialize OffshoreEnvelopeComponent.8M19Uq9UrUxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass9U9UsUInitialize.1:U tUAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:Ut]BBHBHBB =BBB;BCE9a =\,yp?A2wa@2M\@2, ٱ2  :AHRS rotation from veh to nav: [[0.873767,0.483011,-0.056842],[-0.466807,0.865713,0.180644],[0.136462,-0.131306,0.981905]]2H??m@+ݿ? T?w? `k?i2wa@I2_;2CYRmHByVHIV4=)V=9imMb@Mb@Mb@iiii i9mS㥛?ʡEQ롿YmD?ym-m\mAAmԭA mdA)iiYmAbDVDky|+=%A=ٔE;Q->9Y=8Fy@ǻE>Q 5S44?Q 9S4)2]BYRF?Q E:yQ I?BI ;i ;S4yZBɮA1M Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMEntering Terminal tracking update period 2.000000 s sec at 53.099998 m (mode 0.000000 count ).qMMdddjdZd`I(@b Q@618Z%RF?Z%RF?Z%t@Z%@i1)111i19I9IaIyO=iE EE,E"E*EVEg4ZEBE;C9dYd=f8FydjbEj>lQ 5rS4nE1?Q 9rS4n)nP]BYpyv<Q Iv?nOBIn7;in:n>S4yzeBɮz]AzEjj @M M B*** querying acoustic contact ***i idddjdZd )@Bd%@18%q8%ZAZAZAZEC@iQ)QQQiQԙI I)IaIyO=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DzDE EE.E"E*E:VEـ4ZEa@a@a@a@ e *DAT read: user:304> m BDAT read: Tx time:03:23:50.0626 m $Ping request sent.m B PCB HB HBB B B źDB s;B tCEBEQCBEQCBE˔CBE˓ =BE˓ =CEˎ4J\,-q?Aɰ;enM@eDH@eٱeF AHRS rotation from veh to nav: [[0.873594,0.483349,-0.056624],[-0.469465,0.867664,0.163589],[0.128201,-0.116327,0.984902]]eH@|?1?`@ ޿? z? h?ǽQ?ienM@Ie3`;eCYHByHiMb@Mb@Mb@ 9NbX9?)\(Mb`YE?yGὙdA߬A A)AYAbDMVDM2y]=%]=ٔ]- 9iYq=u8FyywE>Q 5S4M?Q 9S4V)]BYG?Q E:y"Q I?!BIj:i]:S4yɮ Arj@M1Nd d d jd Zd *@JdQ@q88!ZuG?ZuG?Zuh@Zu@i)顡iIIIO%N>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250914QE  E E -E "E ;*E :VE t4ZE BE Oe |eInitialize.q>e|eInitialize.1=eAe eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1Cm mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCmmInitialize.Cu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCuuInitialize.1DuqDu1BuZZZZ@i)顩iIIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854Qԁԩ > `;0YRHByRHbDZVDZyv>>%vK=ٔvP]9xYx=z8Fyxz:E~>QQ 5]S4Uq?Q 9]S4Uî)U]BYaye"Q Ie?U5BIU;iU;U%S4ymzBɮmAmEE EE.E"E(;*E:VEـ4ZEa@a@a@a@A Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1B1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCUninitialize.C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC1DqD< yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1=1> |Uninitialize.q>:vInitialize.vdInitializing internal variables to default values.vPDetached from dock at depth 50.225540 m.zebejeZedddjdZdǁ+@ZZZZ+@i))iI I!I9OE=Ա-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007182B]>B]OCB]HB]=IBBYBYB]ĺDB];B]BE 9 :^\,{q?A2Q@2VL@2ٱ2qý :AHRS rotation from veh to nav: [[0.875523,0.480211,-0.053446],[-0.469941,0.872028,0.136833],[0.112315,-0.094684,0.989151]]2H I? ǻ?C]޿? ?@?`;= ?i2Q@I2<`;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929YRIByRQHi%Mb@Mb@Mb@!!!! !9%ףp= ?V-S㥛?Y%>?y%%/<%A%\A %A)%аA!Y%GAbD=VD=:2yM=%MD=ٔUQ^9QYQ=U8FyY]v:E]>aQ 5mS4e?Q 9mS4e)e^BYu$A?Q Eu:yu%Q Iu?eBIe<:ie:eWS4yBɮAEReezeabeajeiZeididdjdZd]^,@Z$A?Z$A?Z{@Zzm@i))i!I!II OM>E EE-E"E;*E?:VEt4ZEBED9)Y)=-8Fy)-E5>1Q 5=S45?Q 9ES45:)59^BYAyAQ IE?5gBI5;i5;5AS4yMBɮUAUEmB*** querying acoustic contact ***ii iiReqzeqbeqjeyZeydydydyjdZd-@ZZZZi))项iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889ԙԹ9 4Initializing EZServoServo.bE%A{4jE%y4rE%ǟ/E EE1E"E;*E҆:VE-4ZEa@a@a@a@ m 8Initializing DockingStepper.Iy I O >B% <A% <M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015297'k\,ʮq?AB>BBHBIBBBBB;BBE:`@:Z@:Pͽٱ: ' RAHRS rotation from veh to nav: [[0.877507,0.476924,-0.050243],[-0.469003,0.875327,0.117639],[0.100084,-0.079665,0.991785]]:H`?@?t`&޿`??@?d ?i:`@I:_;:CY^]IBy^H`bDjVDjyrc=%rN=ٔrj9tYt=v8Fytz;Ez>|Q 5T4~ܭ?Q 9T4~)~f^BYy$Q I?~BI~ #A E  E E /E "E ;*E :VE J4ZE BE OQh@>'c@>ٱ> FAHRS rotation from veh to nav: [[0.878556,0.475375,-0.046455],[-0.468421,0.876531,0.110793],[0.093387,-0.075577,0.992757]]>H!?l? ȧݿ ?\?@5? Y?i>Qh@I>˪_;>CYNIByNHi-Mb@Mb@Mb@)))) )9-㥛 ?q= ףpMb?Y-5?y-뽙-@=-A-A -A)))Y-A =<=4<bDEVDE0yU~>%UC=ٔU9YYY=]8FyYe;Ee>iQ 5uT4m?Q 9uT4m)m^BYuD8?Q Eu:yu%Q Iu?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518916mBImtq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770880ԩ 9x\,q?A6r@6m@6&ٱ6! >AHRS rotation from veh to nav: [[0.879698,0.473607,-0.042759],[-0.467570,0.877850,0.103724],[0.086661,-0.071253,0.993687]]6H@|&? O?䥿ݿW?্?b/?`=G?i6r@I6_;6CY^IByb!H ddbDjVDjyr=%rQ=ٔvэ9tYt=v8FytztY;Ez>|Q 5T4~rԞ?Q 9T4~)~^BYy [%Q I ?~$BI~:i~:~VT4yBɮ=AERe1ze1be1je9Ze9d9d9dAjdAZdE/@Ee EeEe*Ea"Ee:*Ee:VEe(N4ZEaam@am@am@am@yZyZyZyZ}[d@i))顑iIu9}gA}hAԡi I BDAT read: Rx Time:03:23:52.5443 TRx dataTimestamp_ set to:1761535431.705285checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025427B>BB1HBIBBBBBX;BNBE}"I I O > c~\,%[q?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274817YIBy%[Hi%Mb@Mb@Mb@!!!! !9%Zd;O?+X9v?Y%~*?y%%}=%A%A %+A)%A!Y%AbD=VD=yM\=%M6=ٔMQ-U>9QYQ=]8FyY]E]>aQ 5mT4e,鞊?Q 9mT4eh)e_BYmd,?Q Eu:yuQ Iu?eBIe ;ie" ;e/T4y}Bɮ}ARezebejeZedddjdZd40@Zd,?Zd,?ZT@Zߵ@i))iIm9%%!!E EE0E"E%;*Eą:VE4ZEBEKEDAT read: 03:23:52.5443 LVL= 24192, 29169, 32754, 32755, AGC= 64, IDX= 486, 0.27,-2.329,-2.086, 2.365,-2.225, PHS=-0.002, 0.184,-1.737, RAW= 25.0, 16.7, CAL= 23.0, 19.7, ROT= 127.0, -19.7 MYgot valid direction response: 03:23:52.5443 LVL= 24192, 29169, 32754, 32755, AGC= 64, IDX= 486, 0.27,-2.329,-2.086, 2.365,-2.225, PHS=-0.002, 0.184,-1.737, RAW= 25.0, 16.7, CAL= 23.0, 19.7, ROT= 127.0, -19.7 UPDAT read: Bearing 292.7, 43.0 (Local) U~Local bearing/azimuth received: Bearing 292.7, 43.0 (Local) ]DAT read: Range 11 to 50 : 58.1 m (Round-trip 77.5 ms) speed -0.3 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [-0.566591,0.751892,0.337095]quFpublishing direction and range infoyM2҃!⿷/O?M?YfhB^q )@Ioij<>V޿f>;>> x >)A @Ix nç%9=S^? OԿ)IA @ix T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ L\,P:r?A2熲@2@2euٱ2= :AHRS rotation from veh to nav: [[0.881933,0.470405,-0.030210],[-0.466002,0.879738,0.094361],[0.070965,-0.069142,0.995080]]2H@8??jݿ&?@ (?*?@N?i2熲@I2_;2CYN)JByNHVAAVAAbDZVDZyr$>%vd=ٔv3=Q-v>9xYx=z8Fyxz;Ez>YQ 5eT4]Q?Q 9eT4] )]-_BYiymQ Im?];BI]9:i]1:] BDAT read: Tx time:03:23:53.8626 $Ping request sent.B B HB 'JBB =B B B ;B BE u\,s0r?A2U@2+@2#~ٱ2: :AHRS rotation from veh to nav: [[0.883338,0.468177,-0.022900],[-0.464618,0.880992,0.089349],[0.062006,-0.068286,0.995737]]2HMD??sKݿ`1?߶?A? 0{?i2U@I2n~_;2CY^GJBybHIf=)fC=bDnVDn2y m=% H=ٔ9Y=8FyMՔ;EU>Q 5T4S ?Q 9T4)[_BYy[Q I?BIm;i.;ZJT4y˘BɮAEEB*** querying acoustic contact ***iA iAReazeibeijeiZeqdyddjdZd@J?ZZZZs@i))iI9IIO&>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498054) E  E E -E "E ;*E :VE t4ZE BE ;C@?i:g@I:A_;:CYJlJByJHiMb@Mb@Mb@ 9~jt?J +L7A`?Y?yH+=ZA̰A A)AYAbD5VD5yE=%EG=ٔEG9IYI=M8FyIU;EU>QQ 5eT4U?Q 9eT4Ue)U_BYe?Q Ee:yeMQ Im?UABIU\ ;iUX:U:XT4yu՘Bɮu~AuERezebejeZedddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750195Z]?Z]?Z]}@Z](F@ii)q)q顑iIau9IYIiO}>ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002113 p\,2cr?A4<ɰ2@2@2.>.ٱ2 :AHRS rotation from veh to nav: [[0.886242,0.463172,-0.006835],[-0.461266,0.883758,0.078776],[0.042527,-0.066662,0.996869]]2H@\?`?{bݿG?*?@ƥ?Y?i2@I2;_;0TYZxJBy^H bp9pYp=r8Fytv;Ev>xQ 5~T4z/?Q 9~T4z)z_BYy Q I?zBIz8;izf;zeT4y ɮ fA Re)ze)be1je1Ze1d1d1d1EE EEEE.EA"EE;*EE:VEEـ4ZEAaM@aM@aM@aM@jdIZdUO?ZqZqZqZuZ@i))顉iIIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254396B%>B!B%HB%nJBB!B!B!B%ߊ;B%AEBeOCBeOCBeœCBaBaCe4! \,n}r?A6>6z?:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511793R̲@Rǹ@Rn>ٱR׈ bAHRS rotation from veh to nav: [[0.887645,0.460525,0.001866],[-0.459379,0.885135,0.074212],[0.032525,-0.066732,0.997241]]RHg??y?^?wfݿS??@ ?Q`e?iR̲@IR<_;RCYjJBynCH YYiMb@Mb@Mb@ 9?{Gzty&1?Y ?yף`e=+AA pA)AYAbDVDkyN=%8=ٔ9Y=%8Fy!%q;E%>)Q 55T4-A?Q 95T4-)-_BY= ?Q E=:y=Q I=?-7BI-; ;i-;-kuT4yEBɮE-AMEReizeibeijeiZeidididjdZd1?Z% ?Z% ?Z%b@Z%괹@iY)Y)YYYiaaIi)EU EUEU-EQ"EU%;*EU:VEUt4ZEQBEUKchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762098ԁ ꙥ\,F~r?A2@2j۹@2?ܴٱ2y^ :AHRS rotation from veh to nav: [[0.889007,0.457760,0.011076],[-0.457362,0.886547,0.069676],[0.022076,-0.067008,0.997508]]2H`r?K?Ю?`iEݿ^?`Kֱ??`q'@?i2@I29@_;2CYbJBybmHbDjVDjk1yr=%v`=ٔvz9tYx=z8Fyxz;Ez>|Q 5T4~P?Q 9 T4~ )~_BY y nQ I ?~BI~y:i~:~1T4yBɮAERe9YzebejeZedddjdZd@O@ZZZZȹ@i))))))i)1I9T9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014585PExceeded connect timeout, disconnecting.ԉ@8@ @@ 5@IIO (>E] E]EYEY"E];*E]:VEYZEYae@ae@ae@ae@ԱBm <Am < B >B NCB DHB JBB B B B ϊ;B AE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268713ӫ\,r?AJn@JD@Jդ;ٱJ· RAHRS rotation from veh to nav: [[0.890771,0.454016,0.019926],[-0.454309,0.888526,0.064222],[0.011453,-0.066259,0.997737]]JH1??g?dݿn?p?yt?@_u?iJn@IJ{a;JCYZJByZHbDbVDbyj=%jI=ٔn9lYp=r8Fypr%<Er>tQ 5zT4vma?Q 9zT4v)v_BY|y~Q I~?vBIv;iv<;v^T4yɮA!ReIzeIbeIjeIZeIdIdIdQjdQZdU@@ZqZqԡZqZu4@i ))199iAqI fAfAL9%6@! @!@%0@!I9IIOU2>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523208EM  EM EM ,EI "EM ;*EM :VEM g4ZEI BEM 4NAHRS rotation from veh to nav: [[0.892938,0.449234,0.029156],[-0.450178,0.890959,0.059432],[0.000722,-0.066194,0.997807]]6H?>?۝?@ܿໂ?m?@NG??i6#@I6Hb;6CY^ KBy^HIb=)byE\=E=EAA EA)E(AAYEA e'g>eCbDuVDu:G(hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774266QϿ9(hAYDAy\=%/=ٔ9Y=8Fy$<E>Q 5T4s?Q 9T4) `BYQ?Q E:y%ɾQ I?BIf;i8;T4y%Bɮ%A!EB*** querying acoustic contact ***iA iAReizeibeijeiZeidqdqdqjdqZd}@ZQ?ZQ?Zi=Z~}@i))iI9IfA)eAA]?3@Y @Y@]^0@YIiIyOZ>i߭ >߭ %= BDAT read: Rx Time:03:23:56.3458  TRx dataTimestamp_ set to:1761535435.493442 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028933 nManaging dock network, ignoring radio surface power offԙ ָ\,r?AY~KBy~HbDVDbEt4jE9AYA=E8FyAMEM>QQ 5]T4U??Q 9]T4U)U`BYYyYQ Ie?UBIU0;iU;UT4yiɮmAiRezebejeZedddjdZd`c @ZZZZi))iIq11@ @@_0@IB>BBjHBJBBBBúDBÊ;BAEIO$> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278134ԡ !\,r?ANDAT read: 03:23:56.3458 LVL= 20208, 25009, 30514, 32755, AGC= 62, IDX= 437, 0.15, 1.996, 2.563, 0.654, 2.299, PHS=-0.202, 0.309,-1.689, RAW= 15.8, 17.3, CAL= 14.9, 21.0, ROT= 135.1, -21.0 RYgot valid direction response: 03:23:56.3458 LVL= 20208, 25009, 30514, 32755, AGC= 62, IDX= 437, 0.15, 1.996, 2.563, 0.654, 2.299, PHS=-0.202, 0.309,-1.689, RAW= 15.8, 17.3, CAL= 14.9, 21.0, ROT= 135.1, -21.0 VPDAT read: Bearing 293.8, 40.0 (Local) V~Local bearing/azimuth received: Bearing 293.8, 40.0 (Local) \ɰ^4<nDAT read: Range 11 to 50 : 59.2 m (Round-trip 79.0 ms) speed -0.4 m/s rR#Rx 1: Read range and direction messages.v^direction in FSK: [-0.661292,0.658988,0.358368]vFpublishing direction and range infoy02U^vN)nm?.*?Y2lB02N2a22w 0)2>I2Ni2?5>2'1ؿ20>2#>2%> 2f>)2}@I2f002~&QοqJ)ܢ$? 2)2mI2}@i2f00T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@~@<ٱ  AHRS rotation from veh to nav: [[0.897696,0.436962,0.056621],[-0.439517,0.897102,0.045098],[-0.031089,-0.065371,0.997377]]H`?`.?o? !ܿ@?#?՟` `?i9@I_`;CY.KBy%HE- E-E--E)"E-;*E-$:VE-t4ZE)BE-Ay]Q8=]:]+AY ]A)]AYY]̸AbDVDJy=%=ٔtx=Q->9Y=8Fy:<E>Q 5%T4?Q 9%T4)`BY->Q E-:y-ӷQ I-?_BI;i\:@T4y5Bɮ5A=Ei0i2r?AJi2kBRi2kBji2As?b2r _CLmC@H!5@R2U^vN)nm?.*?Zi2}@bi2fj2n^!I0`+yJ@0-3@Z2bfCҿǢ.U?@"o?2i2SB:i2"i2 r ?*i2QvBi2BRezebejeZedddjdM@Zd l?Z>Z>Z4(=Z@i))99i99IAIM1?)M7?%9-.?i-?*DAT read: user:306> %BDAT read: Tx time:03:23:57.6626 %$Ping request sent.%) '\,ms?A4Yr1KByrH ttbDzVDzk1y-X0<%-=ٔ-Q--?91Y1=58Fy15E=?AQ 5ET4E?Q 9MT4ET)E `BYIyIQ IM?EBIEN:iE:ET4yQɮ]AYReyzeybeyjeyZeydddjdZd?4?ZZZZi))项iI!9i}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251280/,@ @@4@IIO>ԙE= E9E=/E9"E=T;*E9VE=J4ZE9aE@aE@aE@aM@ B >B MCB B B =B B B ;B AE% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501927-\,#2s?APY KByHbDVDy%2ý%%K=ٔ)Q-->9)Y)=-8Fy)1E5>9Q 5ET4=㭟?Q 9ET4=)=`BYIyIQ IM?=BI=g:i=:=.T4yQɮUAQRezebejeZedddjdZd@$?ZZZZi))iI"9m)@i @i@m5@iIyIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893! EU  EU EU 0EQ "EU l;*EU :VEU 4ZEQ BEU ^Fy 0=ZA A)AY\AbDVD1y<%B=ٔM=Q->9Y=8FydD<E>Q 5T4?Q 9T4)_Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006101Y>Q E:y9Q I?cBIn;im;T4y BɮAERe ze bejeZeddd!jd)Zd=cT?Ze>Ze>Ze4=ZeB@iq)y)yyyiyI eAMP$9U)'@ @@5@IIO)>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061y 7$\,Wfs?A2@2i@2=ٱ2~ :AHRS rotation from veh to nav: [[0.899411,0.429074,0.083395],[-0.432577,0.901133,0.028913],[-0.062744,-0.062079,0.996097]]2H?u?@`Y?Vۿ?Z?`ȯ?i2@I2l_;2CY^KBybHIb>)bK?bDjVDjN2yr%rX=ٔv9tYt=v8FytzM;Ez>E EE,E"E*EM:VEg4ZEa @a @a @a @Q 5T4ʟ?Q 9T4[)_BYy%)Q I%?BIP;i; ;9T4y)ɮ-A)EB*** querying acoustic contact ***iA iAReQzeQbeQjeQZeQdQYdQdajdaZde`?Z1Z1Z1Z5E@iA)A)IIIiIQIQ1B->B)B-DHB-JBB)B)B)B-;B-AEԁ$@ @@i2@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510043IO'>Ա  \,2s?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761925JXɳ@J.ĺ@J=ٱJeA~ VAHRS rotation from veh to nav: [[0.899445,0.427101,0.092651],[-0.430868,0.902085,0.024401],[-0.073157,-0.061868,0.995400]]JH`@?U?? Wۿ`?? j)@P?iJXɳ@IJ4O_;JCYZKBy^HiEMb@Mb@Mb@AAAA A9E'1Z?Q?S㥫YE>yEu9iYq=u8Fyqur;Eu>Q 5U44؟?Q 9U4R)_BY>Q E:y$׾Q I?BIj:i:U4yBɮ/AEԹRezebejeZedddjdZd @Z}>Z}>Z}) =Z}@i))顱iIl&9E EEE"E;*E:VEZEBE4Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0139259 6\,(s?A;ɰp;2ҳ@2eͺ@2&|=ٱ2z)y :AHRS rotation from veh to nav: [[0.899222,0.425652,0.101092],[-0.429518,0.902856,0.019085],[-0.083148,-0.060583,0.994694]]2H@m?=? 2?`:}ۿ 3?@?@8I`?i2ҳ@I2_;2CYvJByvHbDVDy 8|%P=ٔ9Y=8Fy%q;;E%>)Q 5-U4-j埊?Q 95U4-()-_BY1y5u־Q I5?-pBI-l:i-;-U4yE+BɮEAEEReazeabeajeaZeadididijdiZdm@ZZZZ@i))顱iII*?)n?(9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265909N@ @@_0@IIO>AE EE.E"E ;*Eh:VEـ4ZEa%@a%@a%@a%@iB <A 4=B >B B HB xJBB =B B B ;B AEB%MCB%MCB!B!B!C%o[5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518152ԙ [`\, s?A2d۳@2:ֺ@2A=ٱ2t :AHRS rotation from veh to nav: [[0.898892,0.424251,0.109569],[-0.428171,0.903590,0.013971],[-0.093078,-0.059473,0.993881]]2H?&? ?'gۿ5??ӷ@3s?i2d۳@I2\^;2CY^JBybH ``bDjVDj2yr;%rM=ٔv9tYt=z8Fyxzu1;Ez>|Q 5U4~?Q 9U4~)~d_BY y վQ I ?~BI~ :i~|:~~U4y6BɮA ERe1ze1be9jeZedddjdZd`P @ZYZYZYZ]겻@yi))顱iIIԡn@ @@ 1@IIO%M>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769931E-  E- E) E) "E- %;*E- M:VE) ZE) BE- Ky t 7 A  $A) lA Y bD%VD%y-޼%5E=ٔ5u99Y9==8Fy9Exb:EE>AQ 5MU4EN?Q 9UU4EH)E4_BYU>Q EU:yUQ I]?E&BIE ;iE ;E+U4yaɮeAaRezebejeZeBDAT read: Rx Time:03:24:00.1475 TRx dataTimestamp_ set to:1761535439.272902checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023800dddjdZd7M @ZU>ZU>ZU@ZU+@@ia)i)iiiiiIm*9@ @@a4@II O)>! m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274017 r\,s?A06U޳@6+ٺ@6-=ٱ6Nu >AHRS rotation from veh to nav: [[0.897226,0.422859,0.127181],[-0.426982,0.904242,0.005761],[-0.112566,-0.059473,0.991863]]6H? !?sG? Sۿ?=w?`Ѽ@Bs W?i6U޳@I6N^;6CEz EzEz0Ex"Ez ;*Ez:VEz4ZExa @a@a@a@Y%JBy%HQUBAbDmVDmy">%C=ٔ9Y=8Fy6E> Q 5U4 6?Q 9U4 ) _BYyQ I? BI ʠBYB]HB];JBB] =BYBYB];B]hAEd)ԉddjdZd @ZZZZ7>@i) )   iI eAfADAT read: 03:24:00.1475 LVL= 25680, 23537, 31282, 32755, AGC= 61, IDX= 455,-0.50,-1.416,-0.783,-2.709,-1.082, PHS=-0.232, 0.344,-1.671, RAW= 13.9, 17.0, CAL= 13.2, 20.8, ROT= 136.8, -20.8 S-9 Ygot valid direction response: 03:24:00.1475 LVL= 25680, 23537, 31282, 32755, AGC= 61, IDX= 455,-0.50,-1.416,-0.783,-2.709,-1.082, PHS=-0.232, 0.344,-1.671, RAW= 13.9, 17.0, CAL= 13.2, 20.8, ROT= 136.8, -20.8 PDAT read: Bearing 292.4, 43.3 (Local) ~Local bearing/azimuth received: Bearing 292.4, 43.3 (Local) DAT read: Range 11 to 50 : 60.5 m (Round-trip 80.7 ms) speed -0.3 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [-0.681459,0.639932,0.355107]-Fpublishing direction and range infoyݥG忷x\Sz?_S{?YrBPd[2z )=Ihmi >TտUlx>>k> ޹>)@I޹\пmΥf}d\=6 ?  )UI@i޹eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.Թ@@ @@?5@IIOh> nZ],J{t?A*DAT read: user:307> BDAT read: Tx time:03:24:01.4626 $Ping request sent.yuAA OA)AYAbDVD02y-V%7=ٔQ->9Y=8FyE> Q 5U4 ?Q 9U4 p) ^BY>Q E:yQ I? BI  ;i  ; 2JU4y%@Bɮ%vA%!Eiis?AJi qBRi qBjiH?bC:tDS#HC@^FBf5@RݥG忷x\Sz?_S{?Zi@bi޹j&$1 CJ@3V7@Z<Ĝҿ՗? j?2iRB:i"isQ>?*ip͔BiBv]ZDetected possible detachment. Starting timer.zeYbeYjeaZeadadadajdm@N@Zdm@?Z>Z>Z^@ZO5@i))顡iIE EE2E"ET;*EZ:VE4ZEBEGrGjAQ 9=jAY=Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958A ],2Vt?A2ó@2@2&e>ٱ2Gv :AHRS rotation from veh to nav: [[0.893812,0.424770,0.143771],[-0.428921,0.903339,-0.002341],[-0.130869,-0.059574,0.989608]]2H?`p/?g?`rsۿ&?T.cN@tު?i2ó@I2Aa;2CYNJByRGHbDZVDZ1yb3%bv=ٔbac=Q-f?9dYd=f8Fydj Ej?lQ 5rU4n%?Q 9rU4n)n^BYpyvQ Iv?n3BIn!;in9;nUU4y|ɮAzeibeijeiZeididqdqjdqZd!?Z9Z9Z9Z=@iI)I)IQQiqqIy=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503275Mp/9I>@ @@51@II O*>bEـ4jEȂ4rE0E EE-E"E;*E:VEt4ZEa @a @a @a @qAI AM AABU >BQ BU WHBU IBBQ BQ BQ BU P;BU ;AEԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911g ],f05t?Aɰ;:@:@:9>ٱ:p BAHRS rotation from veh to nav: [[0.891890,0.426372,0.150799],[-0.430230,0.902686,-0.007708],[-0.139411,-0.058004,0.988534]]:H[? I?`M?ۿ?`4`?i:@I:ka;:CYJJByJ%HbDRVDRyZi%ZK=ٔ^9\Y`=b8Fy`bhEb>dQ 5jU4f32?Q 9jU4f/)fv^BYlynfQ In?fBIf ;if ;fcU4yrKBɮv Atze be je Ze d d djdZdq?ZaZaZaZe@iq)q)qqyqiyIIA?)0?/9-?@1 @1@=0@9IԩIO >Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932E  E E ,E "E ;*E :VE g4ZE BE @ٱ2X:k :AHRS rotation from veh to nav: [[0.890558,0.426512,0.158096],[-0.430088,0.902699,-0.012611],[-0.148092,-0.056764,0.987343]]2H`s?K?@}ymƽmTmAm A mA)mAiYm׻AbDVD y %==ٔLchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589889Y=8FyE>Q 5U4>?Q 9U4[)D^BY>Q E:y&-Q I?BI ;i:sU4yɮAzebejeZedddjdZdd?Z%>Z%>Z%1@Z%j@i1))顱iI19E<@A @A@EO0@AIQIiO9>1U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887Y a],ht?A2@2@2 >ٱ28g :AHRS rotation from veh to nav: [[0.888938,0.427184,0.165237],[-0.430471,0.902440,-0.017228],[-0.156476,-0.055815,0.986103]]2H`-r?V? &?Ռۿ?)iĿ@֓(?i2@I2y_;0Eb EbEb-E`"Ebl;*Eb:VEbt4ZE`af@af@af@af@YjJByjHbDvVDv3ymT%mL=ٔu9yYy=}8Fyf.E>Q 5U4J?Q 9U4H)^BYy-Q I?KBI%-;i%;U4yɮAzebejeZedddjdZd?Z!Z!Z!Z%^@1iA)A)IIIiQQIYB>BNCB HBIBB =BBB;BAEm39checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763417>@ @@@0@IIO)>YԉԱ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833 ],sقt?A2 @2♺@2D)>ٱ2b :AHRS rotation from veh to nav: [[0.887356,0.427811,0.171980],[-0.430724,0.902217,-0.021940],[-0.164550,-0.054607,0.984856]]2H8e?Ba?@s?ۿ@?@xwſ}?i2 @I2_;2CYBJByB$Hi-Mb@Mb@Mb@)))) )9-Cl?!rhQY-;>y-l罙--A-A -3A)-A)Y-fAbDEVDE1y<%A=ٔ[9Y=8Fy  ;E >Q 5U4^V?Q 9U4~)]BY%>Q E%:y%6Q I%?BI;i;U4y-VBɮ57A5"EMB*** querying acoustic contact ***iI iIzeQbeQjeQZeYdYdYdYjdYZde @Z>Z>Zh@Z3@ԉi))顙iI gAeA49I)E EE*E"E:*E:VE(N4ZEBE<Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851 g&],t?AN@N@N1>ٱNjI` jAHRS rotation from veh to nav: [[0.885849,0.428114,0.178859],[-0.430704,0.902115,-0.026106],[-0.172528,-0.053909,0.983528]]NH@X? 8f??@ۿ!?fƿ @y?iN@IN^;NCYzJByz!HIC>)=bD VDf2y5%5Y=ٔ=9AYA=E8FyAE EM>IQ 5UU4M`?Q 9UU4M[ )M]BYYy]'7Q I]?MBIM;iMn;MU4yaɮm;AizebejeZedddjdZd@ZZZZ*@i))iIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5191435269@ @@25@IIO&>E EE2E"E;*E:VE4ZEa@a@a@a@B>BBHBzIBBBBB;B@EI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887,],%xt?A2@2Ǐ@2x9>ٱ2\ >AHRS rotation from veh to nav: [[0.884356,0.428429,0.185372],[-0.430617,0.902023,-0.030396],[-0.180232,-0.052944,0.982198]]2HL?ak?G?8ۿ _? ǿ`q*n?i2@I2ƚ^;0YBJByF HbDzVDzy%M=ٔ =9 Y=8Fy;E>Q 5%U4 l?Q 9-U4a)]BY)y-i7Q I-?YBIp:i:ԪU4y1ɮ5=A9zeYbeYjeYZeYdYdadajdaZde@ZZZZ"@i))项iIV69YU=@Q @Q@],3@YIIO#>%BDAT read: Rx Time:03:24:03.9488 -TRx dataTimestamp_ set to:1761535443.052289-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024141yԩ E  E E -E "E T;*E $:VE t4ZE BE Gٱ2>X :AHRS rotation from veh to nav: [[0.882864,0.428717,0.191710],[-0.430437,0.901951,-0.034760],[-0.187815,-0.051831,0.980836]]2Hl@?p??`Hۿ@? ̡Q ȿ`c?i2א@I2o^;2CLYn{JByn Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275021iMb@Mb@Mb@ 9l?y&1~jtxY>y`彙ĻbAA )AY=AbDVD1y,%>=ٔ9Y=8FyE>Q 5U4w?Q 9U4)y]BY>Q E:y7Q I?BI ;i ;ڹU4ywBɮA,Eze!be!je)Ze)d)d)d)jd)Zd5g @ZU>ZU>ZUؽ@ZU@ia)a)aiiiiiIqIy)}*?Us89ԩ?@ @@s0@IIO&>] DAT read: 03:24:03.9488 LVL= 25424, 21233, 30930, 32755, AGC= 61, IDX= 436,-0.38, 0.052, 0.794,-1.086, 0.465, PHS=-0.311, 0.374,-1.594, RAW= 10.0, 17.4, CAL= 9.7, 21.4, ROT= 140.3, -21.4 e Ygot valid direction response: 03:24:03.9488 LVL= 25424, 21233, 30930, 32755, AGC= 61, IDX= 436,-0.38, 0.052, 0.794,-1.086, 0.465, PHS=-0.311, 0.374,-1.594, RAW= 10.0, 17.4, CAL= 9.7, 21.4, ROT= 140.3, -21.4 m PDAT read: Bearing 291.7, 44.5 (Local) m ~Local bearing/azimuth received: Bearing 291.7, 44.5 (Local) u DAT read: Range 11 to 50 : 61.5 m (Round-trip 82.0 ms) speed -0.2 m/s } R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.716354,0.594728,0.364877] Fpublishing direction and range infoy) - B_F?>8^.$Z?Y- vB) - Pc- R- x ) )) I- d;i- |>- 1̿- ¸2>- |>- -\-> - t;>)- t@I- t;) ) - vԿbwCzNux? - h)- 9I- t@i- t;) )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. :],/t?AER EREPEP"ER;*ERą:VEPZEPaZ@aZ@aZ@aZ@prJ@r @r6P>ٱrX %AHRS rotation from veh to nav: [[0.880052,0.428636,0.204403],[-0.429804,0.901992,-0.040980],[-0.201935,-0.051789,0.978029]]rHa)?n?)? ۿ?F`ɿ@L?irJ@IrgW^;r‘CY5JBy5$H aabDuVDuky]=%M=ٔ=Q->9Y=8FyۺE>Q 5U4?Q 9U4Q =tI)V]BYyL8Q I?BI;i5;U4y)ɮ-A)iYi]t?AJi] uBRi] uBB>BBHB\IBB =BBB;B@EBeNCBeNCBaBe =Be‘ =Ce5ji]?b]z 0 E:Z7B@<)Z6@R]B_F?>8^.$Z?Zi]t@bi]t;j]2>1o2y XJgI@(C[<@Z]YBӿsnF?t%|7 ?2i]:KB:i]y"i]Dq?*i]v6Bi]Bi]Dq?i]Qvi]Bi]fBi]?zebejeZedddjdN@Zd~?Z9Z9Z9Z=S@ii)i)qqqiqyIy e:9iߑIߑ*DAT read: user:308> BDAT read: Tx time:03:24:05.1642 $Ping request sent.1i = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249206@], u?AVЊ@V@V-W>ٱVY bAHRS rotation from veh to nav: [[0.878772,0.428307,0.210506],[-0.429243,0.902135,-0.043629],[-0.208592,-0.052018,0.976618]]VH?ai??xۿI?V` ʿ`u@?iVЊ@IVd?^;VCYjJByjH9i]Mb@Mb@Mb@YYYY Y9]Pn?ˡE~jt?Y]>y]什]D<]A]KA ]A)]AYY]AbDuVDu:yd %M=ٔ9Y=8FyE>Q 5U4ƌ?Q 9U4 )<]BY>Q E;y*Q I?^BI:iQ:U4yɮAB*** querying acoustic contact ***i izeYbeYjeYZeYdYdadajdaZde ?Z>Z>Z P@Z6@i))iIE EEE"E;*E:VEZEBEDchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501104ԙ G],u?A00Z@Z舺@ZG"^>ٱZ)[ fAHRS rotation from veh to nav: [[0.877649,0.427542,0.216657],[-0.428262,0.902479,-0.046081],[-0.215230,-0.052343,0.975160]]ZH? \?n? hۿ?`旧˿̪4?iZ@IZ[^;ZCYjzJByj HprAAbDvVDv1y~U%~T=ٔ9Y=8Fy ݆:E >Q 5U4?Q 9U4w)"]BYy%y*Q I%?BI;iD;@U4y-Bɮ-A--EzeIbeIjeIZeQdQdQdQjdQZd]ߔ?ZyZyZyZ}@i))顉iԙI hAhA<9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753234-?@) @)@-?0@)I9IIO]>E EE+E"E%;*E?:VE [4ZEa@a@a@a@AAAA@AB>BBHBQIBBBBB;B@E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005195 JM],7u?AB@B挺@B[d>ٱBǶ^ NAHRS rotation from veh to nav: [[0.876571,0.426627,0.222740],[-0.427207,0.902874,-0.048098],[-0.221626,-0.052995,0.973691]]BH ? M??@[Wۿ`W?@=@=^̿0"@y(?iB@IBoJ^;@YRJByV,HIZ=)Z\?bD^VD^yf=%fM=ٔj9hYh=j8Fyln:En>pQ 5vU4r֠?Q 9vU4r)r]BYxyzf*Q Iz?rBIr:ir:r*U4yyɮ}AyzebejeZedddjdZd?ZZZZ³@i))iI==9@ @@5@)I1IAOU1>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257141QE  E E 0E "E ;*E h:VE 4ZE BE ٱ6sLd BAHRS rotation from veh to nav: [[0.875635,0.425312,0.228852],[-0.425906,0.903420,-0.049364],[-0.227745,-0.054244,0.972209]]6H3? O8?K? Bۿ?KF &ͿūU?i6t@I6 d^;6CYZJByZ1Hi=Mb@Mb@Mb@9999 99=x?J +y&1?Y=K>y=H=`e<=A=?A 9)=A9Y=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.517233bDVDfy"<%9=ٔh9Y=8FyF:E>Q 5 V4ګ?Q 9 V4A)\BY$>Q E;yQ I?IBI;i;V4yɮAzeAbeAjeAZeAdAdAdIIjdQZdU6?Zu$>Zu$>Zu@Zu:@i))顁iI5?9=>@9 @9@=/5@9IYIqyO:>ԡM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769149 \Z],)wku?AɰbE t4jE v4rE W0EF EFEF,ED"EF ;*EF:VEFg4ZEDaN@aN@aN@aN@Zؠ@Z@Zkq>ٱZZb fAHRS rotation from veh to nav: [[0.874825,0.424205,0.233947],[-0.424404,0.903972,-0.052104],[-0.233584,-0.053706,0.970852]]ZH?+&??`q)ۿW?^ Ϳ@`8?iZؠ@IZ,G^;ZđCYrJByr>H xz4<bDVD02yQ<%Z=ٔ9!Y!=%8Fy!-j2;E->1Q 5EV45B9B9B9B9B9B9B=;B=@EI4?)@?Ա5A9?@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022323IIO$> 9 Da],7Ou?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2773766֫@6@6>#w>ٱ6 \ BAHRS rotation from veh to nav: [[0.874206,0.423089,0.238242],[-0.422656,0.904587,-0.055540],[-0.239009,-0.052141,0.969616]]6H@??~? ۿ_?oڗο8?i6֫@I6?^;6CYJJByJAH LLiuMb@Mb@Mb@qqqq q9u?:v?Yuf>yuuT9Y=8FyqQ;E>Q 5V4d?Q 9V4!)\BY>Q E#;ysQ I?BI;i?;mV4yɮAB*** querying acoustic contact ***i izebejeZedddjdZd@Z>Z>Z/3Z@i))))111iIE EE1E"E:*E:VE-4ZEBE>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529203i Oog],/u?A 2츳@2³@2_|>ٱ2_S >AHRS rotation from veh to nav: [[0.873720,0.421907,0.242091],[-0.420700,0.905258,-0.059318],[-0.244181,-0.050021,0.968439]]2H? ?? ڿ ? ^`RAϿO s?i2츳@I2QT^;0YBJByFXHbDNVDNyVF=%V[=ٔVi9XYX=Z8FyX^;E^>`Q 5fV4boȠ?Q 9fV4b#)b\BYdyfQ Ij?bBIbW:ibN:b~)V4ylɮnAlzeybeyjeyZeydddjdZd`@ZZZZź@i))iIC95checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781402i =@  @ @ Q0@I!I1OM>E EE-E"ET;*E҆:VEt4ZEa@a@a@a@ԹB1A5<B=>B9B=HB=GIBB= =B9B9B=׉;B=@E  BDAT read: Rx Time:03:24:07.6512  TRx dataTimestamp_ set to:1761535446.844130 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034239sm],B u?A2!dz@2@2>ٱ2_wR :AHRS rotation from veh to nav: [[0.873303,0.420159,0.246592],[-0.418636,0.906086,-0.061252],[-0.249169,-0.049741,0.967182]]2H ??Q?@ڿ?`\Ͽw@'?i2!dz@I2B^;2CTYJByPHbD-VD-:2y=i{%=A=ٔEG9AYA=E8FyAMv;EM>QQ 5]V4UҠ?Q 9]V4U$)U{\BYYyeQ Ie?UTBIU;iU;UA8V4ymBɮmAm/EzebejeZedd d jdZd59 @ZZZZ*Ӻ@i))iI %gA%gAE9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286833}?@y @y@}4@yIIO>E  E E 0E "E ;*E 1:VE 4ZE BE Oٱ26U :AHRS rotation from veh to nav: [[0.872813,0.418519,0.251075],[-0.416910,0.906812,-0.062267],[-0.253738,-0.050328,0.965963]]2H?@??৮ڿ`?@᯿>=пĩ*?i2ҳ@I2%^^;2CYBJByB\HIF,>)F=|i Mb@Mb@Mb@     9 5^I ?~jt?~jthY >y < D jA  A )  A Y AbD-VD-y5*<%5K=DAT read: 03:24:07.6512 LVL= 23744, 21729, 32754, 32755, AGC= 63, IDX= 429, 0.02,-2.309,-1.546, 2.913,-1.885, PHS=-0.322, 0.385,-1.529, RAW= 8.6, 17.2, CAL= 8.4, 21.2, ROT= 141.6, -21.2 Ygot valid direction response: 03:24:07.6512 LVL= 23744, 21729, 32754, 32755, AGC= 63, IDX= 429, 0.02,-2.309,-1.546, 2.913,-1.885, PHS=-0.322, 0.385,-1.529, RAW= 8.6, 17.2, CAL= 8.4, 21.2, ROT= 141.6, -21.2 PDAT read: Bearing 289.5, 46.3 (Local) ~Local bearing/azimuth received: Bearing 289.5, 46.3 (Local) DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.9 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.730656,0.579111,0.361625]Fpublishing direction and range infoyPa}7C+?t>i$?YfxB\T )?I/ݤi>Fÿ`>`>Q > q>)2+@IqUa ?Uֿ\cu쿶F? )I2+@iqT****** received valid address query ******R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.ٔ=E19AYA=E8FyAMP;EM>QQ 5]V4Uܠ?Q 9]V4U%)UX\BY]>Q Ee2;yeQ Ie?UBIU ;iU:UGV4yiɮmAiii!i$?Zi2+@biqj2wH@?6E?@Z}ӿ?AM-?2iGB:i"i,?*ijdBiBiip͔iBiPfBiVI?zebejeZedddjd O@Zd5 ?Z]>Z]>Z]"=Z]Vu@i))顱iI)F9y@y @y@}5@IIO_>QM =M <U *DAT read: user:309> ] BDAT read: Tx time:03:24:09.0126 ] $Ping request sent.] ٱbU jAHRS rotation from veh to nav: [[0.872318,0.417058,0.255193],[-0.415221,0.907484,-0.063749],[-0.258170,-0.050352,0.964786]]bH`??U?ڿ ?Qۅпǩ?ibݳ@Ib>^;`Y5JBy5]HbDMVDMYy]SP;%]H=ٔeG9aYa=e8Fyimxl;Em>qQ 5}V4u堊?Q 9}V4u&)u9\BYy踾Q I?uBIu<;iu:uTV4yɮAzebejeZedddjdZd@ ?B>BBBB =BBĺDB݉;B@EZZZZO@i ) )   iI9H9e>@a @a@m4@iIyԁIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250715Ա ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502550],ȱv?Aɰ;2o@2E@2>ٱ2YAR :AHRS rotation from veh to nav: [[0.871873,0.415999,0.258422],[-0.413730,0.908016,-0.065836],[-0.262039,-0.049516,0.963786]]2H c???zڿw?ڰ>п7ZV?i2o@I2p^;2đCYBJByB/Hi]Mb@Mb@Mb@YYYY Y9]K7?ˡE?I +Y]I>y]'=]9]tA]A Y)]AYY]AbDuVDu:yc%G=ٔ 9Y=8Fy2?;E>Q 5V4?Q 9V4')\BYK>Q E?;ԩy|Q I?BI3;i2;bV4yɮ(AB*** querying acoustic contact ***i izebejeZedddjdZd;?Z K>Z K>Z  >Z ȿ@i)!)!!!i!)I)I5,?)57?]H9Em EmEiEi"Em;*Em:VEiZEiBEm4Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7545941 ּ],:t v?A2@2@2>ٱ2@Q :AHRS rotation from veh to nav: [[0.871216,0.415403,0.261579],[-0.412837,0.908304,-0.067445],[-0.265610,-0.049230,0.962823]]2H??@?@kڿ ?Dп@4q?i2@I2lJ^;2CYNJByRPH TTbDZVDZyb`=%bX=ٔfg 9dYd=j8Fyhj:Ej>lQ 5rV4n?Q 9rV4nQ()n[BYtyvQ Iv?n5BIn:in:n3pV4yzBɮzAxzebejeZeddd!jd!Zd%@%?ZAZAZAZEhο@iQ)Q)iIyJ9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007323?@ @@05@IIO">AE EE+E"E%;*E?:VE [4ZEa@a@a@a@B>BBvHB3IBB =BBúDB;B@EBBBBǏ =Bǎ =C&5i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258578ԙ ],LO:v?A6@6@6c>ٱ6N BAHRS rotation from veh to nav: [[0.870807,0.414508,0.264345],[-0.411572,0.908749,-0.069168],[-0.268894,-0.048565,0.961945]]6H`?N??@2Wڿ x?@5ѿ zݨ`@?i6@I64^;6‘CYFJByF.HbDRVDR0yZ%ZL=ٔZ 9\Y\=^8Fy\b$;Eb>dQ 5jV4f?Q 9jV4f))f[BYhyjsQ Ij?fjBIfB:if[:f;~V4ypɮrUApzebejeZe!d!d!d)jd)Zd5?ZaZaZaZeؿ@i))顉iIqL9M=@Q @Q@]1@YIIO$>ԡ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510616E  E E E "E f;*E :VE ZE BE Wٱ2uP :AHRS rotation from veh to nav: [[0.870462,0.413382,0.267229],[-0.410356,0.909246,-0.069853],[-0.271853,-0.048855,0.961098]]2H?`t? F? GCڿ?@᱿ fѿxP?i29@I2H^;2CYzJByz2Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732iuMb@Mb@Mb@qqqq q9uPn?ˡE?+Yu>yquuQAuA uA)uAqYu AbDVDy<%;=ٔ;Q->9Y=8Fy;E>Q 5V4?Q 9V4))[BY<>Q EH;y(Q I?BI:i@;yV4yɮNAzebejeZeddd jd Zd F@Z-<>Z-<>Z-a!>Z-S-@i9)A)AAAiAIII fA M9I)dA>@ @@O0@IIOB>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0145281 Q ],nv?AE" E"E"-E "E";*E":VE"t4ZE a&@a&@a&@a&@BP@B'@BM>ٱBR JAHRS rotation from veh to nav: [[0.870120,0.412405,0.269841],[-0.409405,0.909656,-0.070100],[-0.274372,-0.049479,0.960350]]BH?@d?E?`3ڿ? @Nѿ@JU/?iBP@IBN0^;B‘CYRJByR*HIV8>)V>bD^VD^0ybЖ%bZ=ٔf;Q-f>9dYh=j8Fyhj;En>lQ 5rV4n ?Q 9rV4n*)nh[BYtyvQ Iv?nBIn:in:nV4yxɮ~\A|ByByB}PHB}IBByByByB};B}@EzebejeZedddjdZdo@ZZZZ4@i1)1)199i99IA)N9i߁I߁checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267539<@ @@@0@!I1IAOM1>Qԁ q],v?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.529940,F6@F @Fm>ٱFIQ RAHRS rotation from veh to nav: [[0.869816,0.411866,0.271636],[-0.408627,0.909922,-0.071182],[-0.276485,-0.049083,0.959764]]FH`?`\?~b?&ڿ?@8ѿW!b?iF6@IFM^;FÑCYV|JByZ Hi5Mb@Mb@Mb@1111 195Zd;?Mb?:vY5y>y5=5T5AA5A 5A)5A1Y5(AbDMVDM1y]in%]A=ٔeI;Q-e>9aYa=m8FyimQ:Em>Q 5V4?Q 9V4H+)2[BY%ǀ>Q E%S;y%Q I%?BI@:i:V4y-Bɮ5A50EMB*** querying acoustic contact ***iI iIzeQbeQjeQZeYdYdYdYjdYZdes@Zǀ>Zǀ>Zj>ZZ@@i))顙iIEUB EUEU,EQ"EUw;*EU :VEUg4ZEQBEUԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770586 ],v?A4<ɰ4<: @:c@:P>ٱ:N BAHRS rotation from veh to nav: [[0.869547,0.411592,0.272908],[-0.408068,0.910079,-0.072358],[-0.278150,-0.048447,0.959315]]:H U?W?Tw?ڿ_? 6ѿΨ?i: @I:;^;:CYJzJByJH R49`Y`=f8Fydfc:Ef>hQ 5nV4j<?Q 9nV4j+)j[BYpyrQ Ir?j)BIjU;ij;jV4ytɮvAtze bejeZedddjdZd{ @Z9Z9Z9Z=E@iI)I)QQQiQYIYIe&?)e'?@  @ @@0@I!I1O=>bEjEy4rEJ0Ee EeEe-Ea"EeO;*Ee:VEet4ZEaau@au@au@au@B}<AyB}>ByB}HB}HBByByByB};ByA  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2746555],v?A>z@>Q @>Ӑ>ٱ> M JAHRS rotation from veh to nav: [[0.869690,0.410777,0.273681],[-0.407108,0.910469,-0.072865],[-0.279110,-0.048048,0.959056]]>H?,J?`?ڿ`"?G ѿ™?i>z@I>O^;>‘CYvRJByvH ||bD VD !y-%5C=ٔ5;Q-=>9AYA=E8FyAM;EM>QQ 5]V4U#?Q 9eV4U,)UZBYaye Q Ie?UYBIU;iU;UpV4yiɮmAqzebejeZedddjdZd@ @ZZZZ6O@i))iIS9Qm@@q @q@u3@yIIO*>EDAT read: 03:24:11.5008 LVL= 32304, 26449, 32754, 32755, AGC= 63, IDX= 441, 0.17,-0.040, 0.681,-1.168, 0.359, PHS=-0.297, 0.368,-1.570, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 MYgot valid direction response: 03:24:11.5008 LVL= 32304, 26449, 32754, 32755, AGC= 63, IDX= 441, 0.17,-0.040, 0.681,-1.168, 0.359, PHS=-0.297, 0.368,-1.570, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 UPDAT read: Bearing 286.4, 48.7 (Local) U~Local bearing/azimuth received: Bearing 286.4, 48.7 (Local) ]DAT read: Range 11 to 50 : 63.0 m (Round-trip 84.0 ms) speed -0.1 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [-0.713717,0.598880,0.363251]mFpublishing direction and range infoy  W*?+=??Y |B  0~ Qg  ) I bi j> ȿ X8> #> ¸2> V>) a@I V   dtϢԿ쿙g}? %) }>I a@i V  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qEu  Eu Eq Eq "Eu ~ ;*Eu ՚:VEq ZEq BEu Vٱ2 K :AHRS rotation from veh to nav: [[0.869859,0.409858,0.274519],[-0.406085,0.910897,-0.073225],[-0.280071,-0.047783,0.958789]]2H?;?`?Lٿ &?ᾲѿ v@g?i2@I2 ^;0YN8JByRHi%Mb@Mb@Mb@!!!! !9%!rh?Mb?QY%lg>y%<%u!! %A)%A!Y%Ae*DAT read: user:310> eBDAT read: Tx time:03:24:12.7626 m$Ping request sent.m9Y=8Fy3!;E>Q 5V4@*?Q 9V4-)ZBYo>Q Eb;yҾQ I5?BI"'Zo>Z)=Z@i1)1)111i19I9ԡ1T95=@1 @9@=2@9IIIYOew> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250774 MJ],Zv?AE EE+E"E ;*EM:VE [4ZEa@a@a@a@ >#@>@>̑>ٱ>aI FAHRS rotation from veh to nav: [[0.870030,0.409061,0.275168],[-0.405128,0.911280,-0.073760],[-0.280927,-0.047304,0.958562]]>H@H?.?Y? ٿ4)?@ᲿѿB8@?i>#@I>5];9dYd=f8Fydfn-;Ef>hQ 5nV4j/?Q 9rV4jR.)jpZBYpyr=ҾQ Ir?jBIj:ij:j'V4ytɮvzAxzebeB>BBHBHBB =BBB;B@Eje1Ze1d1d1d9jd9Zd=@0?ZYZYZYZ]@ii)i)qqqiqyIy hAmU9q>@ @@"5@II O>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502716)Y - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7568234],@ w?Ar*@r%@r+>ٱr HG ~AHRS rotation from veh to nav: [[0.870223,0.408356,0.275602],[-0.404225,0.911629,-0.074395],[-0.281627,-0.046665,0.958389]]rH`?`"? x?`ٿ,? ,ҿz䧿?ir*@Ir];pYIBy gHI=);iMb@Mb@Mb@ 9!rh?y&1~jtYy`e5AA )AYAbDVDfy%;=ٔ:Q->9Y=8Fy ;E>Q 5V4:6?Q 9V4t/)3ZBYt>Q E^;ydQ I?BIs:i:mV4yBɮA1E)B*** querying acoustic contact ***i izebejeZedddjdZd?Zt>Zt>Z@ZZC@E- E-E--E)"E- ;*E-':VE-t4ZE)BE-WQuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778ԁԱ Y],G#w?A2 1@2+@2cb>ٱ2ID :AHRS rotation from veh to nav: [[0.870433,0.407826,0.275726],[-0.403494,0.911902,-0.075014],[-0.282028,-0.045959,0.958305]]2H??`}?ٿM.? 4 ҿ釧n?i2 1@I2];2ÑCY^IBybMHbDjVDjܲy%Y%%V=ٔ% :Q-%>9)Y)=-8Fy)54;E5>1Q 5EV45;?Q 9EV45q0)5YBYAyE Q IE?5BI5^;i5y:5V4yUΙBɮUtAU:EzeqbeqjeqZeqdqdydyjdyZdw?ZZZZK@i))顱iIԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258602W9m?@i @i@m0@iIIO>EE EEEAEA"EE ;*EEP:VEAZEAaM@aM@aM@aM@AAAAB%>B%OCB%|HB%hHBB% =B!B%ĺDB%׉;B%@E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5107559 -],ٱJ=@ RAHRS rotation from veh to nav: [[0.870716,0.407398,0.275464],[-0.402818,0.912141,-0.075743],[-0.282119,-0.045011,0.958323]]JH ??3?ٿB0?c>ҿ ?iJ`7@IJ];JđCYZIByZ8HbDfVDf:2yn2%nN=ٔn}9Q-n>9pYp=r8Fypv:Ev>xQ 5~W4zaA?Q 9~W4zv1)zYBY|y~Q I~?z$BIzo;iz;z W4y ɮ A ze)be)je)Ze)d1d1d1jdZd@m ?ZZZZU@i))iII8?)>cZ9IgA):@ @@`0@IIO=/>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765287!A EU  EU EU +EQ "EU ;*EU h:VEU [4ZEQ BEU 4Nٱ6^> >AHRS rotation from veh to nav: [[0.870951,0.407208,0.275002],[-0.402544,0.912247,-0.075920],[-0.281785,-0.044577,0.958441]]6H? ?@?Fٿ 1?oҿ Ҧ`?i6W:@I6];4Y^IBy^H ``f=f=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870iUMb@Mb@Mb@QQQQ Q9UuV?/$bX9ȶYUrh>yU,UEUAAQ UA)UAQYU(AbDmVDmN2y}ý%@=ٔVQ->9Y=8Fy6_:E>Q 5W4/G?Q 9W42)YBY%Z}>Q E%V;y%*Q I%?QBI*:i3:W4y)ɮ-A)zebejeZedddjdZd ŀ@Z%Z}>Z%Z}>Z%5@Z%@i9)9)AAAiAQqIq\9=>@9 @9@=?0@9IIIYOmV>y?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004ԡ E]  E] E] )EY "E] ;*E] :VE] FA4ZEY ae @ae @ae @ae @],pw?A.y4@.P/@.L>ٱ.CF4 >AHRS rotation from veh to nav: [[0.871013,0.407388,0.274539],[-0.403330,0.912073,-0.073806],[-0.280468,-0.046444,0.958739]].H@V??` ?&ٿ/?@䲿.ѿ xǧ?i.y4@I.];,BZ>BXBZ0HBZ+HBBZ =BXBXBZ̉;BZ@EBqBqBqBu =BqCu5Y-IBy-HbD=VD=!yM %ML=ٔU`Q-U>9QYQ=]8FyY]E]>aQ 5mW4e>L?Q 9uW4e"4)eKYBYqyu+Q Iu?eyBIe-:ieF:eu(W4yyɮAzebejeZedddjdZd @ZZZZN@i))iI\9ԙ56@1 @1@1@9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519951IQIaOu>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772928],w?A<ٱ-TK ]AHRS rotation from veh to nav: [[0.871075,0.407837,0.273675],[-0.404219,0.911807,-0.072216],[-0.278991,-0.047719,0.959107]]-H???ٿ-?| ѿn?i--@I-];)YeIBymHiMb@Mb@Mb@ 9q= ףp?L7A`尿EԸYk>y+ƽSAA A)AYAbDVD1yW%?=ٔkQ->9Y!=%8Fy!%/E%>)Q 55W4-Q?Q 9=W4-5)-YBY=2>Q E=M;y=jHQ I=?-BI-]:i-f:-h7W4yEٙBɮE`AM;EeB*** querying acoustic contact ***ia iazeibeijeqZeqdqdqdqjdyZd}@E  E E E "E s!;*E :VE ZE BE xZU2>ZU@ZU@ia))顩iI^95?@1 @1@=i4@9IIIYOeV>1UBDAT read: Rx Time:03:24:15.2517 ]TRx dataTimestamp_ set to:1761535454.404108]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023797Y 3],8Kw?A2@)@2$@2>ٱ20,H :AHRS rotation from veh to nav: [[0.871277,0.408647,0.271816],[-0.404902,0.911485,-0.072451],[-0.277363,-0.046934,0.959618]]2H?@E'? oe?ٿ*?`$ Qѿ 1?i2@)@I2ڱ];2ÑCY`ydIj;>)j<bDnVDn!ٔvGQ-z>9xYx=z8Fyx~ȺE~>Q 5 W4V?Q 9 W4.7)XBY y]HQ I?BI=:iV:'DW4yɮ9zeAbeAjeAZeAdIdIdIjdIZdM2 @ZiZiZiZm0@i))i I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275171M^9i@ @@4@II O*>E5 E5E5+E1"E5;*E5 :VE5 [4ZE1aU@aU@aU@aU@B<AB>BMCBHBGBB =BBºDB҉;B@Eԑ DAT read: 03:24:15.2517 LVL= 26336, 21969, 32754, 32755, AGC= 62, IDX= 434,-0.46,-2.329,-1.561, 2.891,-1.921, PHS=-0.306, 0.405,-1.515, RAW= 8.5, 16.6, CAL= 8.4, 20.6, ROT= 141.6, -20.6  Ygot valid direction response: 03:24:15.2517 LVL= 26336, 21969, 32754, 32755, AGC= 62, IDX= 434,-0.46,-2.329,-1.561, 2.891,-1.921, PHS=-0.306, 0.405,-1.515, RAW= 8.5, 16.6, CAL= 8.4, 20.6, ROT= 141.6, -20.6  PDAT read: Bearing 287.5, 47.6 (Local)  ~Local bearing/azimuth received: Bearing 287.5, 47.6 (Local)  DAT read: Range 11 to 50 : 63.6 m (Round-trip 84.9 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.  ^direction in FSK: [-0.733584,0.581431,0.351842] Fpublishing direction and range infoya e {B؄y翃|?\]㒄?Ye f~Ba e fe Ua a )e >Ie ie )\>e e >e V>e Q > e X>)e 2+@Ie Xa a e vֿ'ۉ,C? e Q)e ,Ie 2+@ie Xa a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E],R*w?AFC!@F@FՎ>ٱF@ NAHRS rotation from veh to nav: [[0.871403,0.410106,0.269204],[-0.405995,0.910915,-0.073500],[-0.275365,-0.045247,0.960275]]FH ?+??:?ٿ 7&?@вѿ*?iFC!@IF];F‘CY}ZIBy}HbDVDJԙyE%<ٔ睻Q->9Y=8FyE>Q 5W4u[?Q 9W48)XBYyLHQ I?BI6:iN:`SW4y ɮA1iiw?AJie}BRie}Bji?bkCp.?o?2i KB:i"i ~?*ir-BiBi,?iiBiN\Bi ~?zebejeZedddjdO@Zd"?ZZZZ=@iI)Q)QQQiQYIYMa9*DAT read: user:311> BDAT read: Tx time:03:24:16.5626 $Ping request sent.@ @!@%/5@)IaIO^> Eg>EC9 Y =AE5  E5 E5 0E1 "E5 I;*E5 :VE5 4ZE1 BE5 jjٱ2ܙB :AHRS rotation from veh to nav: [[0.871542,0.410923,0.267500],[-0.407046,0.910525,-0.072517],[-0.273364,-0.045683,0.960825]]2H?`L?? ڿ#?@t~ѿc?i2@I2];2đCY^iIBybH%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246450iUMb@Mb@Mb@QQQQ Q9U r?Zd;OB`"۹YU>yUjUνUGAQ UA)UAQYUpA p<<bDVDJ2y =%E=ٔCQ-%>9!Y!=%8Fy!-E->9Q 5EW4=`?Q 9MW4=:)=DXBYM>Q EU6;yUYQ IU?=.BI=T;i=ET;=aW4yaɮeAizebejeZedddjdZd?Z>Z>Z@Z߭@i))iiqiqqIyJa9!=?@9 @9@=5@AIQIaOmW>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498305y bE|a4jEYe4rE).0E=  E= E= ,E9 "E= +$;*E= S:VE= g4ZE9 aM @aM @aM @aM @],w?AB2>B0B2HB2GBB2 =B0B0B2Ӊ;B2@Ej @j@jؘ>ٱjaJ vAHRS rotation from veh to nav: [[0.871466,0.411940,0.266180],[-0.408676,0.909970,-0.070275],[-0.271165,-0.047539,0.961358]]jH ?`;]? ?@'ڿ y? Zѿ Wr?ij @Ij];j‘CYzKIByzH bD VD k1y%[=ٔ%?ɻQ-%>9!Y!=-8Fy)-^E->1Q 5=W45e?Q 9=W45<)5XBYAyEYQ IE?5\BI5^;i5j;5nW4yIɮMAIzeibeqjeqZeqdqdqdyjdyZd}q?ZZZZҭ@i))顱iIYBc9 @  @ @ #5@ Ii)I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750707I9OM>ԁԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004601 ^, x?A]o@]F@]Y>ٱ]M mAHRS rotation from veh to nav: [[0.871393,0.413327,0.264263],[-0.410378,0.909300,-0.069016],[-0.268820,-0.048307,0.961978]]]H`s?s??`Cڿ? Z4ѿ`?i]o@I]];YY}HIBy}HiMb@Mb@Mb@ 9Cl?B`"۹I +Yߏ>yν9 )AYAbDVDfy-%-:=ٔεQ->9Y=8FyulE>Q 5W4l?Q 9W4>)WBYb>Q E*;yOWQ I?BI/;i;~W4yɮAB*** querying acoustic contact ***i iE EE*E"Ex;*E:VE(N4ZEBEGgZ5b>Z51@Z5%@iA)I)IIIiIQIQe9@ @@p0@I)I9OER>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254403! ^,O%x?A6_@66@6>ٱ6@M BAHRS rotation from veh to nav: [[0.871214,0.415216,0.261881],[-0.412383,0.908436,-0.068442],[-0.266321,-0.048367,0.962670]]6H`?`?? zdڿ?ne ѿ@è1?i6_@I6];6ƑCYFQIByFHLNAAbDRVDR!yZ<%Zf=ٔZ}Q-Z>9\Y\=^8Fy\b軻Eb?dQ 5jW4fq?Q 9jW4f@)fWBYhyjWQ Ij?fBIf:ifl:f|W4yrBɮrAr>E EE,E"EI;*En:VEg4ZEa @a@a@a@A]@AAYBaBaBeHBeGBBaBaBaBe݉;Be@Eyԩ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758381y^,"n?x?A2@2ݺ@2;>ٱ2qK :AHRS rotation from veh to nav: [[0.871195,0.416838,0.259356],[-0.414015,0.907713,-0.068176],[-0.263839,-0.047983,0.963373]]2H ?`z?I?9ڿ ?sп`4?i2@I2N];2ÑC@YFVIByFHIJ=)J>bDNVDNyV@<%VJ=ٔZлQ-Z>9XYX=^8Fy\^yE^>`Q 5fW4bx?Q 9fW4bB)bIWBYhyjWQ Ij?bBIb:ibB:bW4ylɮnApzebejeZeddd jd Zd `@Z)Z)Z)Z-@i9)A)AAAiAIIIg9@ @@0@IԩIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012255E-  E- E- -E) "E- ;*E- k:VE- t4ZE) BE- sٱ2J :AHRS rotation from veh to nav: [[0.871306,0.418133,0.256887],[-0.415370,0.907131,-0.067686],[-0.261332,-0.047728,0.964068]]2H??@p?kڿ`7?Sਹпo?i2س@I2];2őClYrnIByrHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262391iMb@Mb@Mb@ 9> ףp=?I +QY>y9uA )AYAbDVDyMZ=%7=ٔQ->9 Y = 8Fy  e2E >Q 5W4?Q 9W4NE) WBYƛ>Q E.;yGQ I?CBIX:i:ƨW4yɮAzebejeZedddjdZdU@Zƛ>Zƛ>Zyz@Z&@i ))iI j9?@ @@>0@IIOB>1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514373a E  E E 1E "E 0;*E E:VE -4ZE a% @a% @a% @a- @0^,:"sx?AB>BBHBGBBBBB;B@E&4<ɰ&;Bγ@Bɺ@BR>ٱBwJ JAHRS rotation from veh to nav: [[0.871421,0.419373,0.254463],[-0.416741,0.906559,-0.066922],[-0.258751,-0.047728,0.964764]]BH?@? I?ڿ ?!_п o`Y?iBγ@IBO];BƑCYRIByRH Z9dYh=j8Fyhj]Ej>Q 5%W4?Q 9%W4!G)VBY)y-GQ I-?uBI:i:8W4y1ɮ5A99zeybeyjeZedddjdZd @ZZZZu@i))iII7?)?Mj9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767076U<@Q @Q@]=0@YiIyIO%>ԑ  BDAT read: Rx Time:03:24:19.0523  TRx dataTimestamp_ set to:1761535458.187762 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024111#^,J x?Aԑó@h@>ٱG AHRS rotation from veh to nav: [[0.871522,0.420899,0.251583],[-0.418247,0.905883,-0.066673],[-0.255967,-0.047117,0.965536]]H? ??ڿ`?@u@aп?ió@I];ÑCYIByH  iMb@Mb@Mb@ 9|?5^?y&1:vY>y`eԼCAA A)AYbDVDy<%/=ٔɻQ->9Y=8Fy>E>E EE/E"E;*EP:VEJ4ZEBEbu?Q 9W40I)VBYN>Q E4;y'Q I?BI%;i$;hW4yBɮyAB*** querying acoustic contact ***i izebejeZedddjdZd]V @ZN>ZN>Z@@ZM@i!)!))))i))I1Fl9?@ @@4@IIOi>%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271161! jF)^,x?A>"@>@>)>ٱ>"SC FAHRS rotation from veh to nav: [[0.871857,0.421881,0.248760],[-0.419120,0.905478,-0.066693],[-0.253383,-0.046113,0.966266]]>HA?@? \?ڿ ?`n7п @?i>"@I>k];>őCY^IBy^HbDfVDfyn݅=%nn=ٔrQ-r?9pYp=r8FytvEv?xQ 5~W4z?Q 9~W4zJ)zVBYy'Q I?zBIz;iz:zKW4y Bɮ wA ze)be)je1Ze1d1d1d9jd9Zd=` @ZYZYZYZ] @ii)q)qqqiqyIyDAT read: 03:24:19.0523 LVL= 25840, 25265, 29570, 32755, AGC= 63, IDX= 440, 0.29, 0.276, 1.005,-0.839, 0.673, PHS=-0.295, 0.377,-1.556, RAW= 10.0, 17.0, CAL= 9.8, 21.0, ROT= 140.2, -21.0 Ygot valid direction response: 03:24:19.0523 LVL= 25840, 25265, 29570, 32755, AGC= 63, IDX= 440, 0.29, 0.276, 1.005,-0.839, 0.673, PHS=-0.295, 0.377,-1.556, RAW= 10.0, 17.0, CAL= 9.8, 21.0, ROT= 140.2, -21.0 PDAT read: Bearing 287.4, 48.0 (Local) ~Local bearing/azimuth received: Bearing 287.4, 48.0 (Local) DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.717254,0.597594,0.358368]Fpublishing direction and range infoyqu!6!/}?.*?Yu3Bqudubus q)u?Iu= iu%>u+ǿu¸2>u>u%/> uf>)uۚ@IufqquCDԿas? u)uQIuۚ@iufqq T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!m9>@! @!@%T3@!I1IAOM1>E EE)E"E ;*E*:VEFA4ZEa@a@a@a@BA<B%>B!B%HB%GBB% =B!B!B%͉;B%@E9BMCBMCBBŏ =BC4a - *DAT read: user:312> 5 BDAT read: Tx time:03:24:20.3126 = $Ping request sent.= @2@2>ٱ2> :AHRS rotation from veh to nav: [[0.872229,0.422704,0.246042],[-0.419809,0.905149,-0.066822],[-0.250951,-0.045007,0.966953]]2HM? ?`Q~? &ڿ? @@п @G?i2>@I2];0LYRIByR!HbDZVDZyr=%vJ=ٔv_˻Q-v>9xYx=z8FyxzE~>!Q 5-W4%&?Q 9-W4%L)%hVBY)y-'Q I-?%"BI%:i%:%W4yYɮ]AAYiix?AJicBRicBji?bF[*C@Ur~6@R!6!/}?.*?Ziۚ@bifj80ȉ/2d'J@H0S?@ZRx :ҿQ<Ҫ-?{W#j?2iPB:i|"iX?*iEBiBi ~?iiBi^Bit?zebejeZedddjd`fP@Zd?Z!Z!Z!Z%K@iQ)Y)YYYiYaIa iin9E@@I @I@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251579IIO5P>E EE*E"E[";*E:VE(N4ZEBEzٱ:< JAHRS rotation from veh to nav: [[0.872867,0.422753,0.243688],[-0.419938,0.905144,-0.066079],[-0.248508,-0.044656,0.967600]]:H?a?,1?Bڿ?갿Ͽ@"ݦ ?i:@I:];:đCYVIByV"HI^=)^=vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502366iMb@Mb@Mb@ 9/$?Mb~jth?Y1>yD;ZA۾A ݩA)AYAbDVDky`;%:=ܻٔQ- >9 Y = 8Fy !9E>Q 5%W4t?Q 9%W4M)LVBY%r>Q E-G;y-vQ I-?[BI:iQ:W4y1ɮ5@A9zeYbeYjeYZeYdYdYdajdaZde z?Zr>Zr>Z#@Z@i))顙iIp9)%>@! @!@%5@!I1IIOU2>aߕ=ߕ:?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754157ԁ E  E E -E "E ;*E k:VE t4ZE a @a @a @a @B! B! B% =HB% 5HBB! B! B! B% ‰;B% @E<^,alx?A:ѽ@:@:~>ٱ:3? bAHRS rotation from veh to nav: [[0.873520,0.422429,0.241900],[-0.419961,0.905259,-0.064338],[-0.246160,-0.045388,0.968166]]:H? ?@?ڿ`?mx.Ͽ (=6?i:ѽ@I:^;:őCYfIByfYHbDrVDr:yzY=%z^=ٔzH׻Q-z>9|Y|=~8Fy|`@:E> Q 5W4 }?Q 9W4 3O) 4VBYyaQ I? BI W:i : W4y!ɮ%A!zeAbeAjeAZeIdIdIdIjdIZdU?YZqZqZqZuø@i))顉iIq9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006150-?@) @1@55@1IIIYOe>ԁԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259473jC^,?Ry?A:;M+GmhAɰ8ȿ9hAYzAMaƳ@M8@M_e|>ٱM@ ]AHRS rotation from veh to nav: [[0.874453,0.421518,0.240114],[-0.419285,0.905671,-0.062935],[-0.243992,-0.045642,0.968703]]MH?&?@ ?@ڿ@A?#;Ͽ _^?iMaƳ@IM];IYmIBymjHE EE,E"E;*E:VEg4ZEBEoy #= j<   ) A Y 3A %4<%p<bD%VD%Ny5<%5*=ٔ=Q-=>99Y9=E8FyAE;EE>IQ 5UX4M?Q 9UX4MO)M$VBY],b>Q E]p;y].Q I]?MBIM]:iM:Mw X4yeBɮmAm=EB*** querying acoustic contact ***i ivDetached at range: 64.10 m. Transitioning docking module to standby.zebejeZedddjdZdx?Z],b>Z],b>Z]j;>Z]@i))顑iI}s9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471E<@A @A@Ep0@AIqIO}> 9 I^,(y?A6ӳ@6κ@6z>ٱ6y< >AHRS rotation from veh to nav: [[0.875634,0.420385,0.237786],[-0.418098,0.906246,-0.062542],[-0.241784,-0.044654,0.969302]]6H0??`o?ڿ@?οܦ?i6ӳ@I6y^;6đCYBJByFHbDNVDNyVO=%V=ٔV(Q-Z ?9XYX=Z8FyX^Ǧ;E^ ?`Q 5fX4b?Q 9fX4b_P)bVBYdyjoQ Ij?bBIb :ib[:bX4ynBɮn(ArGERezebejeZeddd jd Zd  ?ZZZZ@i))iIechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762152MIu9 ]&Changing to mode: 1IbEM^n4jEMp4rEM0E EE0E"E1;*Ek:VE4ZEa@a@a@a@?@ @@D1@A A @AB>BBHBrHBBBBB͉;B@EI1IAOUS>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014135ԙ yP^,Ay?A2@2޺@2~w>ٱ2"> :AHRS rotation from veh to nav: [[0.876932,0.418605,0.236134],[-0.416608,0.907050,-0.060808],[-0.239640,-0.045051,0.969816]]2H?@m?9?ڿ@?4"`ο?i2@I2];2őCYNJByRHbDZVDZN2yb<%bI=ٔfQ-f>9dYd=f8Fydjҝ;Ej>lQ 5rX4n?Q 9rX4nP)n VBYpyvpQ Iv?nBIn:in:n%X4yxɮzAxRezebejeZedddjd!Zd% @ZAZAZAZE@iQ)Q)QYYiYYIaUmu9y:@ @@1@IIO>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265527ԡE EE-E"E;*E:VEt4ZEBEbuٱVBbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517706 fAHRS rotation from veh to nav: [[0.878953,0.414942,0.235084],[-0.413449,0.908675,-0.058043],[-0.237700,-0.046178,0.970240]]VHb ?g? ;?uڿ`?`ٷlο 5 ?iV+@IVԸ_;VđCYjJJBynHi]Mb@Mb@Mb@YYYY Y9]{Gz?/$?{Gz?Y]#>y]=]ף<]OA]οA ]ЪA)]AYY]Aqu@AbDuVDuNy =%>=ٔQ->9Y=8FyQ<E>Q 5X4~ǡ?Q 9X4P)VBY-:>Q E;yL=Q I?;BIE:i:4X4yɮAReQzeYbeYjeYZeYdYdYdajdaZde<@Z-:>Z-:>Z]>ZiL=i))iI-w95>i5>0@ @@I0@IIOF>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769846) E  E E .E "E U,;*E y:VE ـ4ZE a @a @a @a @B >B B HB HBB B B B ҉;B @E6\^,uy?A2P"@2'@2}s>ٱ2xE >AHRS rotation from veh to nav: [[0.880994,0.411424,0.233624],[-0.410325,0.910240,-0.055648],[-0.235549,-0.046836,0.970733]]2H`1? T?`g?Bڿ ? }`z&ο ??i2P"@I24_;2ƑCYB>JByFHbDNVDN 8yE%EO=ٔEQ-E>9IYI=M8FyIM<EU>QQ 5eX4U|͡?Q 9eX4UP)UUBYaye+\=Q Ie?U_BIUY;iUf;UBX4yiɮuAqRezebejeZedddjdZd @ZZZZ+\=i))iI:y9QiIBDAT read: Rx Time:03:24:22.8032 TRx dataTimestamp_ set to:1761535461.966233checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025652my@i @i@m`0@iIyIO>yԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273725;c^,#y?AP]?@]:@]'q>ٱ]H AHRS rotation from veh to nav: [[0.882949,0.408052,0.232153],[-0.407379,0.911713,-0.053119],[-0.233332,-0.047673,0.971228]]]H`A??2?ڿ,? ]2Ϳ`h@L?i]?@I]"_;]ȑCYDJByHE EE*E"EI;*E:VE(N4ZEBEjj9Ya=e8Fyam;Em>qQ 5uX4uӡ?Q 9}X4uP)uUBY}#>Q E;ye>Q I?uBIuu*;iuC*;u^TX4yBɮAB*** querying acoustic contact ***i iRezebejeZedddjdZd @Z%#>Z%#>Z% D?Z%}e>i1)1)111i9Iy9DAT read: 03:24:22.8032 LVL= 26992, 31601, 32754, 32755, AGC= 62, IDX= 433,-0.06,-3.140,-2.414, 2.132,-2.665, PHS=-0.373, 0.296,-1.531, RAW= 8.8, 19.6, CAL= 8.4, 23.8, ROT= 141.6, -23.8 %Ygot valid direction response: 03:24:22.8032 LVL= 26992, 31601, 32754, 32755, AGC= 62, IDX= 433,-0.06,-3.140,-2.414, 2.132,-2.665, PHS=-0.373, 0.296,-1.531, RAW= 8.8, 19.6, CAL= 8.4, 23.8, ROT= 141.6, -23.8 -PDAT read: Bearing 285.3, 44.6 (Local) 5~Local bearing/azimuth received: Bearing 285.3, 44.6 (Local) =DAT read: Range 11 to 50 : 64.8 m (Round-trip 86.4 ms) speed 0.0 m/s ER#Rx 1: Read range and direction messages.u^direction in FSK: [-0.717048,0.568325,0.403545]}Fpublishing direction and range infoy-Q7/?Q?YBpiq{ )>IiP>ÿnF>%>-!#@) @)@-00@)I9IQO]>Q > ȭ>)2+@IȭԾ01cg8տv j? Fu)鲮I2+@iȭԾT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. i^,+ky?Aɰ2\@2`W@2ٱ2MZE :AHRS rotation from veh to nav: [[0.884887,0.405152,0.229843],[-0.404510,0.913048,-0.052112],[-0.230971,-0.046861,0.971832]]2HP?`?@}k?@ٿ7?a`qͿ`&>?i2\@I2d^;2ÑCYLyPbDZVDZٔv3Q-v?9tYt=z8FyxzeF<Ez?|Q 5 X45ס?Q 9 X4O)UBY y >Q I?BI:i:^X4yBɮA>Ei i y?AJi BRi Bji C@?b DY$G+gSXWB@ :@R -Q7/?Q?Zi 2+@bi ȭԾj & 4b3rmI@R$A@Z  ӿg6?iwL/I?2i mKB:i נ"i 8?*i Bi Bi 8?i r-i Bi ]Bi ?RezebejeZedddjd@33P@Zd@?=*DAT read: user:313> EBDAT read: Tx time:03:24:24.1626 M$Ping request sent.Mi))项iI |9)%$@! @!@!@!I1IIOU2>B<A<B>BBHBHBBBBBĉ;B@EE EE/E"E;*E:VEJ4ZEBEbu<2Ecu<JE1<:E2ٱ6: >AHRS rotation from veh to nav: [[0.886757,0.402801,0.226745],[-0.401798,0.914211,-0.052694],[-0.228518,-0.044379,0.972528]]6HP`?}??@ ٿ7A?@Ϳϸ`?i6w@I69\Y\=^8Fy\bv <Eb>dQ 5jX4f ܡ?Q 9jX4fO)fUBYhyjV>Q Ij?fBIf:if:fblX4ypɮrwApRezebejeZed d d jd Zd?Z1Z1Z1Z5V>iA)A)AAIiIIIQY/|9 O'@  @ @ =0@ II1O= >ԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501840ԹE EE,E"E*Eخ:VEg4ZEa@a@a@a@ v^,!y?A2@2@2i>ٱ2~J2 :AHRS rotation from veh to nav: [[0.888369,0.400883,0.223814],[-0.399623,0.915148,-0.052966],[-0.226056,-0.042388,0.973192]]2H@m??@?mٿ`H?Z`g̿߳b$?i2@I2Bm^;2ƑCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753815Yn+JBynHiMb@Mb@Mb@ 9(\µ?Cl?A`"Y=y;=Y )AYAAAbDVD:y4%;=ٔϽQ->Թ9Y=8Fy;E>Q 5X4ߡ?Q 9X4Q E;y?Q I?BI ;i ;{X4yɮARezebe je Ze d d d jdZd@~?Z5>Z5>Z5kh?Z5?i))iIL~9m*@i @i@m/0@iIyIO;>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059739 B >B LCB B B =B B B ;B @EBaBaBaBeˎ =BaCe8#5E  E E 0E "E ;*E :VE 4ZE BE oٱ2 -3 :AHRS rotation from veh to nav: [[0.889784,0.398925,0.221684],[-0.397911,0.915992,-0.051233],[-0.223499,-0.042624,0.973772]]2Hy??!`?^wٿ`O?5; ̿@ҥ`#)?i2@I2G^;2ǑCY^IBybqHbDjVDj:yr2%rX=ٔrQ-r>9tYt=v8Fytv;Ez>xQ 5}X4zh㡊?Q 9}X4zM)zUBYy?Q I?zBIzNie >e ?e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510110ԙ ^,*z?An1@n@n!c>ٱn4@ AHRS rotation from veh to nav: [[0.891078,0.396603,0.220650],[-0.396520,0.916840,-0.046642],[-0.220799,-0.045930,0.974237]]nH ?a?A>?`ٿ`V?᧿@&C̿`&`,?in1@In8^;nƑCYMIByM_HI=)p;AAbDEVDEkye%e4=ٔeǻQ-e>i9iYq=u8Fyq};E}>Q 5X4硊?Q 9X4L)gUBYy?Q I?BI;i/;X4yɮ4AE EE-E"EI;*EP:VEt4ZEa@a@a@a@RezebejeZedddjdZd |=?Z9Z9Z9Z=?ii)q)qqqiqyIyj9ԡU0/@Y @Y@Y@YIiIyOZ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761904 -^,O*z?A6v@6M@6a>ٱ6 T BAHRS rotation from veh to nav: [[0.892055,0.394779,0.219971],[-0.395877,0.917387,-0.041009],[-0.217988,-0.050500,0.974644]]6H? D?(? Vٿ<[?˿ ۩H0?i6v@I6CL^;4YFIByJ=HiEMb@Mb@Mb@AAAA A9EʡE?~jt?A`"YE-=yE=EٽEVAEA EA)E$AAYE A ];]4<bDeVDeβy}%}[=ٔQ->9Y=8Fy1;E>Q 5X4-ꡊ?Q 9X4WL)6UBY >Q E;y>Q I?#BI ;i ;ϥX4yɮkAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013786]B*** querying acoustic contact ***iY iYReazeabeijeiZeidididijdqZdD@Z >Z >Z7?Z>i))IiQQIYg9BM>BIBMHBMHBBM =BIBIBM;BM@EDzD@AE EE/E"E77;*Ea:VEJ4ZEBE)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265860h^,Dz?Aɰ4< 6@6ϰ@6]>ٱ6v\ >AHRS rotation from veh to nav: [[0.892585,0.394633,0.218076],[-0.396307,0.917334,-0.037935],[-0.215019,-0.052565,0.975194]]6H@?A?`?]ٿ Z?7l@˿骿4?i6@I67:^;6őCYFIByF4HbDNVDN1yV%VX=ٔZQ-Z>9XYX=Z8FyX^E^>Q 5%X4졊?Q 9%X4K)UBY!y->Q I-?5BI:i:WX4y1ɮ5yA1ReQzeQbeQjeQZeYdYdYdYjdaZde`0@ZZZZ>i))顙iIq-3@) @)@-/0@)I9IIO]>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517919 uh>uېCcG !u9yY}AԩE EE-E"E;*E:VEt4ZEa@a@a@a@ e@^,Hj^z?A2`@27@2Z>ٱ2T :AHRS rotation from veh to nav: [[0.892996,0.395596,0.214622],[-0.396958,0.917024,-0.038620],[-0.212092,-0.050708,0.975933]]2Hk?pQ?x?@gٿ`BX? ƣ%˿m`:?i2`@I2_a^;2ȑCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769797LYRIByRH TTZ=Z=bD^VD^yf%fH=ٔfQ-f>9hYh=j8FyhnEn>pQ 5vX4r?Q 9vX4rK)rTBYtyv|>Q Iv?rHBIr:ir:r7X4y|ɮ~A|RezebejeZe!d!d!d!jd!Zd-\@ZIZIZIZMU|>i))iI9eB6@i @i@i@iIyIO>ePExceeded connect timeout, disconnecting.5BDAT read: Rx Time:03:24:26.6536 =TRx dataTimestamp_ set to:1761535465.744126=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022928! BE >BA BE |HBE hHBBE =BA BA BE ;BA D D =bEeA{4jEeA{4rEe/E  E E .E "E ;*E y:VE ـ4ZE BE ]ٱB PE JAHRS rotation from veh to nav: [[0.892911,0.398093,0.210312],[-0.398748,0.916136,-0.041182],[-0.209069,-0.047089,0.976767]]BHຒ?[z??ٿP?ʿA?iBd@IB\O^;BǑC|YIByHbD%VD%0y}%}?=ٔOQ->9Y=8FyE>Q 5X4?Q 9X4K)TBYyD>Q I?]BIP;i;]X4y Bɮ (A?EReQzeYbeYjeYZeYdYdYdajdaZde @ZZZZD>i))iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2742529)E8@A @A@E4@AIYIiOu6>Qԁ m DAT read: 03:24:26.6536 LVL= 26496, 27473, 32754, 32755, AGC= 59, IDX= 453, 0.20, 1.059, 1.733,-0.019, 1.496, PHS=-0.335, 0.282,-1.559, RAW= 10.8, 19.4, CAL= 10.3, 23.6, ROT= 139.7, -23.6 u Ygot valid direction response: 03:24:26.6536 LVL= 26496, 27473, 32754, 32755, AGC= 59, IDX= 453, 0.20, 1.059, 1.733,-0.019, 1.496, PHS=-0.335, 0.282,-1.559, RAW= 10.8, 19.4, CAL= 10.3, 23.6, ROT= 139.7, -23.6  PDAT read: Bearing 285.3, 44.5 (Local)  ~Local bearing/azimuth received: Bearing 285.3, 44.5 (Local)  DAT read: Range 11 to 50 : 65.1 m (Round-trip 86.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.698881,0.592694,0.400349] Fpublishing direction and range infoyA E LEh;]߸gY?^Q?YE 3BA E gE QkA A )E ;IE iE Nb>E PǿE A>E -\>E X8> E B>)E @IE BҾA A E ftӿrc_NPr4? E 1)E &謾IE @iE BҾA A  T****** received valid address query ****** R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.R^,W!z?A "@v9@v@vqT>ٱvj6a AHRS rotation from veh to nav: [[0.892574,0.401100,0.205989],[-0.401104,0.914993,-0.043635],[-0.205980,-0.043676,0.977581]]vH?? ]?`ٿ`G?JW`]ʿ\ XH?iv9@Iv=Q^;vőCE EE,E"E);*E*:VEg4ZEa@a@a@a@YlIByHԉi=Mb@Mb@Mb@9999 99=S㥻?Q?㥛 ¿Y=/=y=u<==IA=A 9)=A9Y9bDqVDqy)m%=ٔ Q->9Y=8Fy$E>Q 5X46?Q 9X4jK)>TBY :>Q E ;y  Q I ?rBI:i#:MX4yɮhA*DAT read: user:314> BDAT read: Tx time:03:24:27.9126 $Ping request sent.ZM:>ZMzQ >ZM@iy)y)yyyiIԱ9E 9@A  @A @E U0@E IQ Ii Ou > ] nManaging dock network, ignoring radio surface power off\}^,7z?ABp@B[k@BPQ>ٱBdm0 NAHRS rotation from veh to nav: [[0.891534,0.405191,0.202455],[-0.404923,0.913259,-0.044659],[-0.202989,-0.042163,0.978273]]BH r???Bٿk9? ݦ ɿ`mN?iBp@IBa;BǑCYV6IByVyHI^=)^p=bAbAbDfVDf0yr]%r=ٔvLQ-v6?9xYx=z8Fyx]}E]-?aQ 5mX4e?Q 9mX4eK)eTBYqyuQ Iu?e|BIe;ie;e,X4yyɮAv4Docking module at standby.zebejeZedddjdZd ?ԱZZZZ@i))ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250047I Ȅ9@ @@4@IIO>B>BMCB0HB+HBB =BBB;B@EE EE*E"E%;*EB:VE(N4ZEBE-ٱ22 :AHRS rotation from veh to nav: [[0.889550,0.410966,0.199518],[-0.410837,0.910645,-0.044030],[-0.199785,-0.042803,0.978905]]2H1w?FM?̉?@&Kڿ@$? ɿ <꥿/S?i2<@I2NVb;0YN IByREH Vp9dYd=f8FyhjiEj>lQ 5rX4n%?Q 9rX4nK)nSBYtyv1Q Iv?nBIn:inW:nX4yxɮz(Ax B*** querying acoustic contact ***i  i v8Undocking sequence complete.q;1<dd!d!jd!Zd%0?ZAZAZAZE̾@iQ)iI9)@) @)@-5@)I9IIO]> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753855AqE EE+E"E;*E:VE [4ZEa@a@a@a@ԙ O^,z?Aɰ2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059736@6\@6TJ>ٱ608 bAHRS rotation from veh to nav: [[0.887412,0.416858,0.196798],[-0.416985,0.907904,-0.042833],[-0.196529,-0.044051,0.979508]]6H e?̭?`0?ڿ ?`=@'ɿ@Ӎ@!X?i6@I6a;6ƑCY~IBy~YHiMb@Mb@Mb@ 9uV?rh|#~jĿYrh>y%xAA )AYpAbDVDy=%==ٔ=Q->9Y=8FyyE>Q 5Y4w?Q 9Y4N)zSBY>Q E.;yQ I?BI@:i3:Y4yɮ AxHTransitioning to midcourse guidance.1<q<dddjdZd`?qZ>Z>Z+@Z>@i)iI!aIm)mmimԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257893IAIQO]>B >B B HB GBB B B B ;B @EE  E E ,E "E I;*E P:VE g4ZE BE jjٱ6? FAHRS rotation from veh to nav: [[0.885215,0.422543,0.194555],[-0.423033,0.905180,-0.041132],[-0.193488,-0.045892,0.980029]]6H@S?` ?.?@ۿ`9aYi=m8FyimEm>qQ 5}Y4u_?Q 9Y4u-P)u*SBYyJQ I?uBIu:iu:uY4y'BɮAHEe@q<vCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1; vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideuCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockdddjdZd@x?Z9Z9Z9Z=W@iI)QQYiYqIqM9Iauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510015IyO=) % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761958^,Nd{?A6 @6㕺@6?D>ٱ6K NAHRS rotation from veh to nav: [[0.882969,0.428063,0.192685],[-0.429127,0.902429,-0.038358],[-0.190304,-0.048818,0.980511]]6H`HA?be??vۿ?[ȿ W`?i6 @I6_;6ɑCYVIByV\H\^@AbDbVDb2yj \=%jT=ٔj Q-j>9lYl=n8Fylr݋Er>tQ 5Y4v*?Q 9 Y4v:R)vRBYyQ I?vBIv;iv;v$Y4y9ɮEaAAE EEE"Ea;*E:VEZEa@a@a@a@< yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Initialize.q>|Initialize.1=<q>ee1>eq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange={%pTransitioning to terminal guidance at range 65.099998 m =%=%z-Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1=->- }-:Initialize WaypointComponent.Q=}eZNavigating to waypoint: 36.779130,-121.859630dadadijdZd`@ZZZZ@HBɢ%<)%]|2= %>i!)MMIiM&(:QIUAe9IIOE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014027ԉԩ ^,G-{?A@HN0c@N^@Nd@>ٱNbY VAHRS rotation from veh to nav: [[0.880544,0.433682,0.191213],[-0.435396,0.899550,-0.035215],[-0.187278,-0.052245,0.980917]]NHj-?`p?y? ۿ?  ǿ꿪 c?iN0c@IN8^;NˑCYn-IBynoHieMb@Mb@Mb@aaaa a9e@5^I ?/$ſZd;Yeb>ye,eeAe$A eȪA)eAaYeAbD}VD}2y =%?=ٔQ->9Y=8FyE>Q 5Y4 ?Q 9Y4BU)RBYK>Q E;yNQ I?`BIn:i@:3Y4yɮCAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266029}ZNavigating to waypoint: 36.779130,-121.859630"ff @*f2feeee@=zCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangedddjdZd`4@ZK>ZK>Zk޷@ZB<@ɢ<) >i)[9iv:ɧ59!m7i H ) > (kpHeading = 0.400000I: (kiHeading = 0.001000 >I @  @Iԩ ;9IQIiOu>AAB>BBHBGBB =BBB;B@EBQBQBQBUĐ =BUĐ =CU_5E EE)E"E);*En:VEFA4ZEBEO)=bD%VD% y5=%5P=ٔ5Q-5>99Y9==8Fy9EEE>IQ 5UY4M?Q 9UY4M X)MSRBYQyQQ IU?MBIM[:iM;M@Y4ye2BɮePAeIE1I} }~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1I}B*** querying acoustic contact ***i iA Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCInitialize.C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCInitialize.1DqD1BAqDgh71Dfh7C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC1CqCfffB$Terminal guidance.1BD Initialize. dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED:hDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?< yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Uninitialize.q>> }>Uninitialize WaypointComponent.dddjdZd_@ZZZZ=IBd@>) i)[9ٱ:1X FAHRS rotation from veh to nav: [[0.875422,0.446232,0.185778],[-0.447811,0.893412,-0.035773],[-0.181940,-0.051877,0.981940]]:Ht???ܿՖ?PIǿ l?i:@I:Dt^;:ɑCYNTIByRHi%Mb@Mb@Mb@!!!! !9%S?(\ſp= ףY%/>y%.%%tA%/A !)!!Y%=A =4<=4<bD=VD=!3yMe=%MH=ٔU0ZQ-U>q9QY=8FykE>Q 5 Y42?Q 9 Y4F[)#RBY>Q E;yQ I?BI;i;OY4y9ɮ=!AA addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 64.842606 m, bearing: 110.660081 deg, lat: 36.779297 deg, lon: -121.859641 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhDNOT Ignoring new targets: 64.84 m.RhZh ProNav pure pursuit: ac range: 64.842606 m, nav range: 56.210060 m, bearing: 110.962899 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 333.689356 deg, new cmd heading: 110.962899 deg. HeadingCmd: 1.936668 target range: 64.842606 and range: 65.10 m.h?h*h"h hgff f d)d1d1jd1Zd5` @Z>Z>Z @Zɨ@颡ɢ:)/>= 8I?IAIU+?)U)?ԉ%[9Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273958e ] ;Iy I O >B >B LCB HB GBB =B B B ;B @E E  E E +E "E ;*E ˭:VE [4ZE BE @rٱu+E AHRS rotation from veh to nav: [[0.873023,0.452654,0.181482],[-0.453394,0.890420,-0.039831],[-0.179625,-0.047509,0.982587]]uH?G?:?gݿQ~?d@ƿSZq?iu@IuO^;uʑCYnIByHԱbDVDkyXq=%@=ٔ8Q->9Y=8FywE>Q 5%Y4[?Q 9%Y4]^)QBY!y%ʁQ I%?/BI:io:]Y4y1ɮ5A1jhY]DNOT Ignoring new targets: 64.84 m.Rhem:Zhau ProNav pure pursuit: ac range: 64.842606 m, nav range: 56.345879 m, bearing: 110.989593 deg, approach rate: 0.339833 m/s, LOS rate: nan deg/s, cmd heading: 110.962898 deg, new cmd heading: 110.989593 deg. uHeadingCmd: 1.937134 target range: 64.842606 and range: 65.10 m.h}?hy*hy"hy hygyfyffddd jd Zd @e.@uDAT read: 03:24:30.4044 LVL= 26800, 21073, 32050, 31459, AGC= 62, IDX= 446, 0.01, 2.618,-2.828, 1.628, 3.119, PHS=-0.399, 0.381,-1.535, RAW= 6.1, 18.2, CAL= 6.0, 22.4, ROT= 144.0, -22.4 Ygot valid direction response: 03:24:30.4044 LVL= 26800, 21073, 32050, 31459, AGC= 62, IDX= 446, 0.01, 2.618,-2.828, 1.628, 3.119, PHS=-0.399, 0.381,-1.535, RAW= 6.1, 18.2, CAL= 6.0, 22.4, ROT= 144.0, -22.4 PDAT read: Bearing 288.6, 40.8 (Local) ~Local bearing/azimuth received: Bearing 288.6, 40.8 (Local) DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.6 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.747973,0.543434,0.381070]Fpublishing direction and range infoyIMf翿Ζc?tc?YMfBIMhMQRM2} Mz)M>IMI̾iMo>MzĿM^ =M>MPw= M+>)M| @IM+ȾIIM;eؿWk뿨ڌ? Mag)MlIM| @iM+ȾIIT****** received valid address query ******ZZZZT@R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!ɢ-"g;)) -A=i))-W9)1i5^;i5VA@99I=?I9|9 ><  rG^A qI I liA = 4= *DAT read: user:315>  BDAT read: Tx time:03:24:31.6626  $Ping request sent. 1 = Ͽ9= liAY= ZA^,{?Azˎ@z@zA6>ٱz,P7 %AHRS rotation from veh to nav: [[0.870559,0.458834,0.177761],[-0.458919,0.887431,-0.043132],[-0.177541,-0.044029,0.983128]]zH@?]?`?^ݿe?`nƿ`犦u?izˎ@IzFn^;zȑCYIByH =)Eu EuEu-Eq"Eu;*Eu :VEut4ZEqa@a@a@a@=bDVD{Uye2=%e5=ٔmQ->9Y=8Fy]E>Q 5Y4%$?Q 9Y4a)QBYy|Q I?~BI;i6;mY4yɮAiiā{?AJiBRiBji/?bi= JyHAzA@I8@Rf翿Ζc?tc?Zi| @bi+Ⱦj$Q|5k J*yJ@]0?@ZU~AeaտT?QF?2iSB:i"i?*i,BiBi8?i,iBicBin? addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.780310 s, deltaX: 0.599998 m, approachRate: 0.158717 m/s, rangeRepo size: 2  Added new target pos. range: 65.440247 m, bearing: 112.435677 deg, lat: 36.779291 deg, lon: -121.859639 deg, deltaT: 3.780310 s, deltaX: 0.597641 m, approachRate: 0.158093 m/s, posRepo size: 2 jhDNOT Ignoring new targets: 65.44 m.RhZh-ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 112.435677 deg.HeadingCmd: 1.962373 target range: 65.440247 and range: 65.70 m.h/?h*h"h hgfffdddjd%lP@Zd%W?AZZZZp@>IBɢ;echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250442) r=i)L9iD F;i!l;@I/?I59q9= 4Initializing EZServoServo.ԡ 8Initializing DockingStepper.^A <checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502064II1O=> ^,8{?A2d@2^@2p4>ٱ2u1X ^AHRS rotation from veh to nav: [[0.868425,0.463780,0.175346],[-0.463604,0.884924,-0.044510],[-0.175810,-0.042637,0.983500]]2H"?@?@q?ݿ@KQ? ʦƿ ԥx?i2d@I2nJ^;2ʑCYfIByf$HiUMb@Mb@Mb@QQQQ Q9U333333?L7A`Mbp?YU>yU+U;U~AU$A UԩA)UAQYU¿AaabDmVDmfy}=%}J=ٔ}Q->9Y=8FyVE>Q 5Y4*?Q 9Y4~d)QBYҧ>Q E!;y_hQ I?BI ;i ;{Y4yɮHAjhDNOT Ignoring new targets: 65.44 m.Rh8:Zh8: ProNav: ac range: 65.440247 m, nav range: 57.090336 m, bearing: 111.688186 deg, approach rate: 0.324927 m/s, LOS rate: 0.095392 deg/s, cmd heading: 112.435678 deg, new cmd heading: 112.545192 deg. Bh;HeadingCmd: 1.964284 target range: 65.440247 and range: 65.70 m.hm?h*h"h hgfBM>BIBMJHBM?HBBM =BIBIBM‰;BM@EfyfdddjdZd ?Zҧ>Zҧ>Z7̻@Z@?IBɢw<) >i)e9ie;i 6@  Im?IDzDbEg4jEg4rE÷80E EE1E"Em+;*E:VE-4ZEBET^,T:{?A2`>@279@2j3>ٱ28 :AHRS rotation from veh to nav: [[0.866519,0.467592,0.174650],[-0.467716,0.882830,-0.043051],[-0.174316,-0.044382,0.983689]]2H@??Z?ݿ#@? OƿLaz?i2`>@I2v^;2ȑCYBIByBcHbDNVDNNyV>%VZ=ٔV˄Q-V>9XYX=Z8FyXZ+IE^>Q 5%Y4S1?Q 9%Y4g)QBY!y-iQ I-?BI-;id.;3Y4y5=Bɮ5A5JEUB*** querying acoustic contact ***iQ iQjhYeDNOT Ignoring new targets: 65.44 m.Rhe:Zhe:u ProNav: ac range: 65.440247 m, nav range: 57.210693 m, bearing: 111.722862 deg, approach rate: 0.311450 m/s, LOS rate: 0.089544 deg/s, cmd heading: 112.545193 deg, new cmd heading: 112.649004 deg. Bhuu;}HeadingCmd: 1.966096 target range: 65.440247 and range: 65.70 m.h} ?h*h"h hgfffdddjdZdn?ZZZZ߫@@IBɢ[<) 3>i)k:ib;i1@I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006343599999I@gA@cAyE EE,E"EC#;*EVEg4ZEa@a@a@a@^AA!=IqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258064ԩ ^,f{?A2@2@2)2>ٱ2+F :AHRS rotation from veh to nav: [[0.864889,0.470483,0.174965],[-0.471169,0.881123,-0.040267],[-0.173111,-0.047611,0.983751]]2H+?f?Ce?@'޿)2?𝤿`(ƿ`z?i2@I2PX^;2ʑCY^JBy^HIb0>)bg?yiEMb@Mb@Mb@AAAA A9EZd;?)\(Q?YE~>yEGaEu=EAE A EA)EAAYEAbDVDyԤ=%/=ٔ+Q->9Y=8FyE>Q 5Y49?Q 9Y4i)QBY >Q EJ;y3Q I?=BI:i':*Y4yɮAԡjhDNOT Ignoring new targets: 65.44 m.Rh:Zh: ProNav: ac range: 65.440247 m, nav range: 57.315926 m, bearing: 111.779278 deg, approach rate: 0.192755 m/s, LOS rate: 0.103146 deg/s, cmd heading: 112.649005 deg, new cmd heading: 112.817940 deg. Bh;HeadingCmd: 1.969044 target range: 65.440247 and range: 65.70 m.h ?h*h"h hgfffdddjdZd`L,?%C?%c?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514490Z% >Z% >Z%@Z%:@]AIBɢ]~V<)Y ]X>iY)eU:aaie-;imm*@iiIm ?IiB]>BYB]HB]HBB] =BYB]DB];B]@Emݍ9E  E E E "E x;*E 8:VE ZE BE GgI I O >+_,|?A2@2@2i1>ٱ26N :AHRS rotation from veh to nav: [[0.863675,0.472745,0.174863],[-0.473774,0.879804,-0.038525],[-0.172058,-0.049573,0.983839]]2H9?@vA?@a?`OR޿Y'?@@ƿ a{?i2@I2=^;2ˑCYBHJByBH Jp%Vh=ٔVFQ-V>9TYX=Z8FyXZREZ>\Q 5bY4^>?Q 9fY4^j)^QBYdyf3Q If?^lBI^B:i^|:^zY4yjBɮjAljh|DNOT Ignoring new targets: 65.44 m.Rh/<;Zh/<; ProNav: ac range: 65.440247 m, nav range: 57.397213 m, bearing: 111.822438 deg, approach rate: 0.310301 m/s, LOS rate: 0.164523 deg/s, cmd heading: 112.817936 deg, new cmd heading: 112.947233 deg. Bh;%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766328-HeadingCmd: 1.971301 target range: 65.440247 and range: 65.70 m.h-S?h)*h)"h) h)g1f1f1yf1dddjdZd yR@ZZZZ.@BIBɢ<) 5>i)u:i:;i&@ IS?I^A;>I1IAOM>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018107 X_,|?APɰR;Eb EbE`E`"Ebs!;*Eb:VE`ZE`ar@ar@ar@ar@@@80>ٱ~K AHRS rotation from veh to nav: [[0.862946,0.474478,0.173765],[-0.475395,0.878906,-0.039028],[-0.171241,-0.048927,0.984014]]H@A?]?=?l޿ ?8ſ }?i@I,<^;ȑCYyJByHiUMb@Mb@Mb@QQQQ Q9UʡE?ˡE?bX9ȶ?YU-2>yU'=UE=UtAUA Q)UAQYUpAbDmVDm:2y}=%}0=ٔ}Q-}>9Y=8Fy}E>Q 5Y4`F?Q 9Y4Pk)QBY|L>Q E;yQ I?BI:i:Y4yɮ )A jhimDNOT Ignoring new targets: 65.44 m.Rhu+;Zhu+; ProNav: ac range: 65.440247 m, nav range: 57.452190 m, bearing: 111.895173 deg, approach rate: 0.113586 m/s, LOS rate: 0.150130 deg/s, cmd heading: 112.947232 deg, new cmd heading: 113.165227 deg. Bh;HeadingCmd: 1.975106 target range: 65.440247 and range: 65.70 m.hD?h*h"h hgfffdddjdZd@@Z|L>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270424Z|L>Zl>ZǗ@UDIBɢU˧<)Q U>iY)]G:YYi];i] @ID?I9^A}IIOj>)Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522179 _,l4|?A2w@2N@2}/>ٱ2F :AHRS rotation from veh to nav: [[0.862378,0.475946,0.172570],[-0.476677,0.878172,-0.039907],[-0.170540,-0.047845,0.984188]]2H ?u? ?`߁޿?@n@Aſx~?i2w@I2'^;2ˑCYvJByv2HbDVD:y P=% e=ٔQ->9Y=8Fy E%>!Q 5-Y4%K?Q 9-Y4%k)%QBY1y5uQ I5?%BI%:i%-:%-Y4y9ɮEAAjhamDNOT Ignoring new targets: 65.44 m.Rhm 2;Zhm 2;} ProNav: ac range: 65.440247 m, nav range: 57.492165 m, bearing: 111.947689 deg, approach rate: 0.118566 m/s, LOS rate: 0.155658 deg/s, cmd heading: 113.165224 deg, new cmd heading: 113.322663 deg. Bh;HeadingCmd: 1.977854 target range: 65.440247 and range: 65.70 m.hN*?h*h"h hgfffdAAB>BBiHB)IBB =BBºDB;B@EddjdZd@ZZZZ}@EIBɢg6<) >i).:ij;i@IN*?I  fAfAԱE EE*E"E+$;*ES:VE(N4ZEBE8}A%=A<A=lzAIAIQOeU>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774223 9 j_,?TN|?A2@2@2GA/>ٱ2O :AHRS rotation from veh to nav: [[0.862263,0.475888,0.173300],[-0.476966,0.878095,-0.038117],[-0.170313,-0.049791,0.984131]]2H?t?.?`޿[?@ſE~~?i2@I24^;2͑CYBJByBNHbDNVDNk1yRb=%RQ=ٔV'Q-V>9V>YZ>=Z8FyZqDZQE^>\Q 5bY4^Q?Q 9bY4^Jl)^QBYdyf(Q If?^BI^:i^:^Y4ynBɮllzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 65.44 m.Rh -;Zh -; ProNav: ac range: 65.440247 m, nav range: 57.537552 m, bearing: 112.007228 deg, approach rate: 0.115768 m/s, LOS rate: 0.151747 deg/s, cmd heading: 113.322660 deg, new cmd heading: 113.501138 deg. BhH;%HeadingCmd: 1.980969 target range: 65.440247 and range: 65.70 m.h%a?h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=@: @eGIBɢeyK<)i m>ii)m*:iiim;iu@yyI}a?Iy} 9ߕG>ߕR=BDAT read: Rx Time:03:24:34.1548 TRx dataTimestamp_ set to:1761535473.308886checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027975 9^AE EEE"E;*E:VEZEa5@a5@a5@a5@A ܏AI I O- >a E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278215_,!h|?A 6R@6)@6f/>ٱ6a >AHRS rotation from veh to nav: [[0.862445,0.473227,0.179570],[-0.476459,0.878767,-0.027491],[-0.170810,-0.061848,0.983361]]6H%?@YI?%?@M~޿?& ſ`w?i6R@I6f(^;6ɑCYFJByF{HiMb@Mb@Mb@ 9 ףp= ?X9v?~jt?YQ=y==A A)Y(AbDVDy g=%)=ٔ:Q->9?Y?=8FyqD:E>!Q 5-Y4%W?Q 95Y4%k)% RBY5v+>Q E5;y5>Q I5?% BI%;i%r;%Y4y9ɮEAAjhamDNOT Ignoring new targets: 65.44 m.iRhuy5;Zhuy5; ProNav: ac range: 65.440247 m, nav range: 57.537624 m, bearing: 112.083608 deg, approach rate: 0.000151 m/s, LOS rate: 0.158657 deg/s, cmd heading: 113.501140 deg, new cmd heading: 113.730276 deg. Bh;HeadingCmd: 1.984968 target range: 65.440247 and range: 65.70 m.hm?h*h"h hgfffdddjdZdi @IIBɢb<) 0>i)r ;i;ii@Im?I5,9DAT read: 03:24:34.1548 LVL= 26912, 23425, 32754, 32755, AGC= 65, IDX= 434,-0.16,-1.125,-0.221,-2.005,-0.589, PHS=-0.435, 0.412,-1.460, RAW= 3.2, 17.9, CAL= 3.3, 22.1, ROT= 146.7, -22.1 Ygot valid direction response: 03:24:34.1548 LVL= 26912, 23425, 32754, 32755, AGC= 65, IDX= 434,-0.16,-1.125,-0.221,-2.005,-0.589, PHS=-0.435, 0.412,-1.460, RAW= 3.2, 17.9, CAL= 3.3, 22.1, ROT= 146.7, -22.1 PDAT read: Bearing 288.5, 38.5 (Local) ~Local bearing/azimuth received: Bearing 288.5, 38.5 (Local) DAT read: Range 11 to 50 : 66.0 m (Round-trip 88.0 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [-0.774399,0.508685,0.376224]Fpublishing direction and range infoyf&/]&G?*?YB i[ )AIR޾i>Hếd=>k= |>)#@I|ž ᅢۿ%*gت? )D퟾I#@i|ž5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ԙ^Ay>B>BBHBIBB =BBDB;BB]LCB]LCBYBYBYC]K5A AI! I9 OU >Eu  Eu Eq Eq "Eu C#;*Eu :VEq ZEq BEu {  BDAT read: Tx time:03:24:35.4626  $Ping request sent. @Zo׿~?>cy:!?2iSB:i"ik'?*ixBiXBiiiBi&fBiI? addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.783848 s, deltaX: 0.300003 m, approachRate: 0.079285 m/s, rangeRepo size: 3  Added new target pos. range: 65.738579 m, bearing: 114.053358 deg, lat: 36.779291 deg, lon: -121.859639 deg, deltaT: 3.783848 s, deltaX: 0.298332 m, approachRate: 0.078844 m/s, posRepo size: 3 jhDNOT Ignoring new targets: 65.74 m.RhZh ProNav: ac range: 65.738579 m, nav range: 57.537739 m, bearing: 112.138871 deg, approach rate: 0.000000 m/s, LOS rate: 0.158657 deg/s, cmd heading: 113.730279 deg, new cmd heading: 113.898093 deg. BhHeadingCmd: 1.987897 target range: 65.738579 and range: 66.00 m.hfs?h*h"h hgfffdddjdP@Zd S?颍KIBɢ3<) >i);顑i7;i @Ifs?II,?)^ABR>A܏AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251039! &_,|?AE EE/E"E;*E8:VEJ4ZEa*@a*@a.@a.@||@S@c/>ٱ# AHRS rotation from veh to nav: [[0.862800,0.467003,0.193607],[-0.475946,0.879475,-0.000366],[-0.170443,-0.091831,0.981079]]H?_?? u޿$?7@ſ;d?i|@IBR^;ˑCYJByHiMb@Mb@Mb@ 9/$?kt?Zd;O?Y,=y 0>j<5AA A)AYA <<bDVDys=%1=ٔSQ->9?Y?=8Fy rD%M:E%>aQ 5mY4e`?Q 9uY4e^i)aYu6>Q Eu;yuvS?Q Iu?eRBIe;ie+;eAY4yyɮ[AjhDNOT Ignoring new targets: 65.74 m.Rh9;Zh9; ProNav: ac range: 65.738579 m, nav range: 57.502197 m, bearing: 112.214280 deg, approach rate: -0.076479 m/s, LOS rate: 0.162366 deg/s, cmd heading: 113.898090 deg, new cmd heading: 114.124455 deg. Bh;HeadingCmd: 1.991848 target range: 65.738579 and range: 66.00 m.h?h*h"h hgfffdddjdZd`? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503058MIBɢ5<) =>i!)KB5;!)i-A 0AI I O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755005,_,|?Aɰ:@:@:l.>ٱ:ý FAHRS rotation from veh to nav: [[0.862685,0.467103,0.193882],[-0.476487,0.879179,0.002018],[-0.169514,-0.094123,0.981023]]:H???@~޿ <"?܇`?ॲſsd?i:@I:D^;8YJJByJHbDVVDV1y^ދ%^x=ٔ^;Q-^?9b?Yb?=b8FybrDfֺEf?hQ 5nZ4j>d?Q 9nZ4jBh)hYlynlS?Q In?joBIj:ij:jZ4ytɮvgAtjhDNOT Ignoring new targets: 65.74 m.Rh8;Zh8;B!A%<B)B)B-JHB-IBB)B)B)B-;B-@EAM ProNav: ac range: 65.738579 m, nav range: 57.477844 m, bearing: 112.266137 deg, approach rate: -0.075730 m/s, LOS rate: 0.161325 deg/s, cmd heading: 114.124456 deg, new cmd heading: 114.280092 deg. BhUn;UHeadingCmd: 1.994564 target range: 65.738579 and range: 66.00 m.hUM?hY*hY"hY hYgYfafafadadidijdiZdm;?UOIBɢ]ע =)y }R>i)G;顉iE ۶3_,-|?A 6i>4fGr(hA|%9-(hAY-aAi@@@I,>ٱnм EAHRS rotation from veh to nav: [[0.862567,0.468493,0.191029],[-0.477202,0.878794,-0.000470],[-0.168095,-0.090754,0.981584]]H '??s?x޿?>"ſ;#i?ii@IrF^;YMJByMHbDeVDeymOL%uA=ٔu\^Q-u>9yYy=}8Fy}*rD}պE>Q 5Z4h?Q 9Z4f)YyS?Q I?BIr;i;TZ4yɮAԱB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.74 m.RhM8;ZhM8;] ProNav: ac range: 65.738579 m, nav range: 57.445885 m, bearing: 112.334643 deg, approach rate: -0.075129 m/s, LOS rate: 0.161129 deg/s, cmd heading: 114.280089 deg, new cmd heading: 114.485720 deg. Bh]);eHeadingCmd: 1.998153 target range: 65.738579 and range: 66.00 m.hex?ha*ha"hi higifi}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259126ffdddjdZdD?RIBɢ3<)  >i) ];iLi! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511277y 9_,Mj|?A:~@:U߸@:]+>ٱ:¹ BAHRS rotation from veh to nav: [[0.862507,0.469426,0.189000],[-0.477845,0.878443,-0.001160],[-0.166570,-0.089312,0.981976]]:H?` ?$1?޿`5?PR)Rſ.ݶYl?i:~@I:V*^;:ɑCYRJByRsHi%Mb@Mb@Mb@!!!! !9%&1?jt?)\(Y%P=y% >%Ga%A%+A %A)%lA!Y%AbDMVDMN2ym%mK=ٔuv{Q-u>9qYy=}8Fy}9rDºE>Q 5Z4Q E;yaP?Q I?BIM;itM;w%Z4yɮAQjhDNOT Ignoring new targets: 65.74 m.Rh$;Zh$; ProNav: ac range: 65.738579 m, nav range: 57.419903 m, bearing: 112.392120 deg, approach rate: -0.060495 m/s, LOS rate: 0.133887 deg/s, cmd heading: 114.485718 deg, new cmd heading: 114.658226 deg. Bhŷ;HeadingCmd: 2.001163 target range: 65.738579 and range: 66.00 m.h@h*h"h hgfffdddjdZd?}UIBɢ<)  >i)q;顁i#BABEpHBEIBBE =BABEºDBE;BE@EԩII O >DM %=DM <bEjEYe4rE/EU  EU EU -EQ "EU ;*EU E:VEU t4ZEQ BEU buٱ6o BAHRS rotation from veh to nav: [[0.862411,0.470233,0.187422],[-0.478635,0.878014,-0.000488],[-0.164789,-0.089286,0.982279]]6Hߘ? N?@t?޿??ſ q۶n?i6^ޱ@I66M^;6̑CYJJByJQHbDRVDR1yZM%ZW=ٔ^eQ-^>9\Y`=b8FybHrDbEb>dQ 5jZ4fo?Q 9jZ4ftd)fQBYlynO?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015101Q Iv?fBIfj;ifk;f2Z4yxɮzAxjhDNOT Ignoring new targets: 65.74 m.Rh%4.;Zh%4.;5 ProNav: ac range: 65.738579 m, nav range: 57.395657 m, bearing: 112.446152 deg, approach rate: -0.068314 m/s, LOS rate: 0.152303 deg/s, cmd heading: 114.658222 deg, new cmd heading: 114.820388 deg. Bh5 ;=HeadingCmd: 2.003994 target range: 65.738579 and range: 66.00 m.h=oA@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMA@}WIBɢ}#<) >i)kS;顁i1&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266943 9 Em  Ei Em (Ei "Em ;*Ei VEm c44ZEi a @a @a @a @G_,#}?A.ʱ@Ÿ@%>ٱ :Ľ AHRS rotation from veh to nav: [[0.861847,0.471780,0.186127],[-0.481103,0.876646,0.005663],[-0.160496,-0.094427,0.982509]]H`@?1??@f޿{ ?2w?#Ŀ `,`p?i.ʱ@I;4^;ɑCYJBy2HiMb@Mb@Mb@ 9y&1?S㥻?PnY`=y/=5ACA A)AYpAbDVD0yL%)=ٔ^Q->9Y=8FyZrDE>Q 5Z4t?Q 9Z4c)QBYN>Q E;y>Q I?BIL ;i ;CZ4y Bɮ :A KEjh15DNOT Ignoring new targets: 65.74 m.Rh=);Zh=);M ProNav: ac range: 65.738579 m, nav range: 57.400581 m, bearing: 112.508636 deg, approach rate: 0.010210 m/s, LOS rate: 0.129534 deg/s, cmd heading: 114.820384 deg, new cmd heading: 115.007818 deg. BhM˱;UHeadingCmd: 2.007265 target range: 65.738579 and range: 66.00 m.hUw@hQ*hQ"hY hYgYfYfafadadadijdiZdm8@额[IBɢ7Y<) >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519164i)q@;顩i%) ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984:M_,[|7}?AAPARAABV>BTBV>HBVIBBV =BTBTBV;BVv@EYjJBy%HbDmVDmβy %d=ٔQ->9Y=8FyhrDE>Q 5%Z4vx?Q 9%Z4c)\QBY!y!Q I%? BIwi)B;ig, "T_,`YQ}?A`Y~9JBy~HbDVDyE%EN=ٔAQ-M>9IYI=M8FyMwrDQEU>YQ 5eZ4]|?Q 9eZ4]&c)]QBYayiQ Im?]'BI]:i]:]]Z4yqɮuAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.74 m.Rh;Zh; ProNav: ac range: 65.738579 m, nav range: 57.408401 m, bearing: 112.606057 deg, approach rate: 0.010776 m/s, LOS rate: 0.133540 deg/s, cmd heading: 115.147741 deg, new cmd heading: 115.300053 deg. BhK;HeadingCmd: 2.012366 target range: 65.738579 and range: 66.00 m.h@h*h"h hgfffdddjdZd& @aIBɢDD<) W>i) ;  i 35 DAT read: 03:24:37.9553 LVL= 27744, 27185, 32754, 32755, AGC= 66, IDX= 439,-0.12, 1.261, 2.200, 0.345, 1.803, PHS=-0.440, 0.442,-1.502, RAW= 3.1, 17.5, CAL= 3.2, 21.7, ROT= 146.8, -21.7 = Ygot valid direction response: 03:24:37.9553 LVL= 27744, 27185, 32754, 32755, AGC= 66, IDX= 439,-0.12, 1.261, 2.200, 0.345, 1.803, PHS=-0.440, 0.442,-1.502, RAW= 3.1, 17.5, CAL= 3.2, 21.7, ROT= 146.8, -21.7 A e PDAT read: Bearing 284.5, 35.3 (Local) m ~Local bearing/azimuth received: Bearing 284.5, 35.3 (Local) u DAT read: Range 11 to 50 : 66.3 m (Round-trip 88.5 ms) speed -0.3 m/s } R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.777465,0.508759,0.369747] Fpublishing direction and range infoy  }4gG?3`?Y B `l 1j ) BI Gi M> A k]= a> d= >) (#@I ^ yFըۿ }6<@u84? ) = I (#@i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.rMZ_,?6k}?AYrJByrH!i%Mb@Mb@Mb@!!!! !9%uV?/$?/$ƿY%rh>y%<%&1%A%OA !)%A!Y%3AbD=VD=yM~%M;=ٔIQ-U>9Uc?YUc?=U8Fy]rDYE]>aQ 5mZ4e󂢊?Q 9mZ4e4d)ePBYm>Q Em9;yuPQ Iu?eSBIe ;ieG ;eLmZ4yyɮ}9Ayi9i=[f}?AJi=BRi=Bji= ?b=]ūIl{ERr@@,s1j8@R=}4gG?3`?Zi=(#@bi=j=!%ˌ7 wGC^%K@=@Z=w ׿TjN?eE)?2i=*YB:i=Ծ"i=٨?*i=!/Bi=,Bi=?i9i=Bi=8gBi=h? addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.787889 s, deltaX: 0.300003 m, approachRate: 0.079201 m/s, rangeRepo size: 4  Added new target pos. range: 66.037651 m, bearing: 113.718770 deg, lat: 36.779283 deg, lon: -121.859639 deg, deltaT: 3.787889 s, deltaX: 0.299072 m, approachRate: 0.078955 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 66.04 m.Rh-Zh)] ProNav: ac range: 66.037651 m, nav range: 57.804790 m, bearing: 113.431749 deg, approach rate: 0.000000 m/s, LOS rate: 0.133540 deg/s, cmd heading: 115.300055 deg, new cmd heading: 115.476908 deg. BhYeHeadingCmd: 2.015452 target range: 66.037651 and range: 66.30 m.he+@ha*ha"ha hagafiffdddjd@3P@Zd?fIBɢ <) z7>i)a;ix< uBDAT read: Tx time:03:24:39.2626 u$Ping request sent.}BBHBIBB =BBDB;Bg@E9@ @@!0@y^A$lA?A?E  E E (E "E 1;*E خ:VE c44ZE BE kԡ 4a_,}?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250121YvIByz=HbDVDyUA%U[=ٔYQ-]>9aYa=e8FyerDaEe>iQ 5uZ4md?Q 9uZ4mey)mpPBYyyQ I?myBIm*;im:,;mPzZ4yɮAjhDNOT Ignoring new targets: 66.04 m.Rh ;Zh ; ProNav: ac range: 66.037651 m, nav range: 57.861847 m, bearing: 113.476950 deg, approach rate: 0.154667 m/s, LOS rate: 0.122407 deg/s, cmd heading: 115.476902 deg, new cmd heading: 115.612368 deg. Bh;HeadingCmd: 2.017817 target range: 66.037651 and range: 66.30 m.h#@h*h"h hgfffdddjdZd`4V?iIBɢbQ<) R=i)Ý;i%,Cuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502020 E  E E +E "E ;*E 5:VE [4ZE a @a @a @a @|ag_,}?AXX%@%ꟸ@%*r>ٱ%= =AHRS rotation from veh to nav: [[0.861691,0.479241,0.166786],[-0.486148,0.873876,0.000677],[-0.145426,-0.081666,0.985993]]%H?`?=Y?߿?.F?O¿贿A?i%@I%M^;%ʑCYEIByEHiMb@Mb@Mb@ 9v?Zd;/$ƿYԸ>yy/AVA A)AYAbDVDJyh%2=ٔQ->9Y=8FyrD2"E>Q 5Z4)?Q 9Z4g) PBYS>Q E;yJB B ]HB IBB B B B ;B a@EBYBYBYB]̏ =B]̏ =C]/5AI Ia Iy O >U(n_,a}?AR@R@RҒ>ٱR哽 ZAHRS rotation from veh to nav: [[0.863647,0.478514,0.158550],[-0.483777,0.875170,-0.006113],[-0.141683,-0.071424,0.987332]]RH?@?^K?3޿`d? y"¿@H@9?iR@IR0>^;ȒCYrIByrH|bD~VD~1y u% V=ٔ w"Q- >9Y=8FyrD;<E>!Q 5-Z4%Z?Q 9-Z4%#j)%OBY)y5:Q I5?% BI%:i%a;%Z4y9ɮ=A9jhaeDNOT Ignoring new targets: 66.04 m.RhmS!;ZhmS!;E} E}E}-Ey"E}*;*E}:VE}t4ZEyBE} u_,.}?A2 @2@2I+ >ٱ2V{ :AHRS rotation from veh to nav: [[0.866519,0.476149,0.149755],[-0.479853,0.877257,-0.012707],[-0.137424,-0.060850,0.988642]]2H?7y?-+?޿`}? `'?i2 @I2w(^;2ʑCYBOIByBHbDNVDNkyV%VQ=ٔVN4Q-Z>9Z ?YZ ?=Z9FyZrD^L<E^>`Q 5fZ4bע?Q 9fZ4brl)b^OBYdyfh7Q Ij?bPBIbW:ibN:bMZ4ylɮnAlzB*** querying acoustic contact ***ix ix?? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510514jhDNOT Ignoring new targets: 66.04 m.YRh#;Zh#; ProNav: ac range: 66.037651 m, nav range: 58.243179 m, bearing: 113.650794 deg, approach rate: 0.307331 m/s, LOS rate: 0.142945 deg/s, cmd heading: 115.964263 deg, new cmd heading: 116.132752 deg. Bh4;HeadingCmd: 2.026899 target range: 66.037651 and range: 66.30 m.h@h*h"h hgfffdddjdZd ?颥vIBɢj;) 0i)r;顱iYN7{_, }?A ɰ"4<>@>@>O>ٱ>RY JAHRS rotation from veh to nav: [[0.869869,0.472474,0.141762],[-0.475092,0.879773,-0.016945],[-0.132724,-0.052610,0.989756]]>H?=?`?%?@g޿`'?@Y@謹@?i>@I>~=^;>͑CYN+IByNmHi%Mb@Mb@Mb@!!!! !9%/$?MbHzGY%&>y%%= %QA%IA %A)%A!Y%QAbD=VD=1yM%M@=ٔU6Q-U>9QYQ=U9FyUrD]a<E]>aQ 5mZ4e?Q 9mZ4e.p)e OBYu?Q Eu:yuJQ Iu?eBIe:ie:e%Z4y}Bɮ}AUEjhDNOT Ignoring new targets: 66.04 m.Rh%=;Zh%=;] ProNav: ac range: 66.037651 m, nav range: 58.429485 m, bearing: 113.720922 deg, approach rate: 0.440723 m/s, LOS rate: 0.165364 deg/s, cmd heading: 116.132750 deg, new cmd heading: 116.342461 deg. Bh];eHeadingCmd: 2.030559 target range: 66.037651 and range: 66.30 m.he@ha*ha"ha hagifififidqdqdqjdyZd}C@zIBɢ`ǹ) i)9;i+aB)B-HB-HBB- =B)B)B-p;B-R@EI}9@y @y@} 5@E EE.E"Ex;*E':VEـ4ZEBEGgmd_, ~?AYIByAHbD%VD%y5#%5C=ٔ5Q-=>99Y9==9Fy=rDEEE>IQ 5UZ4MK?Q 9UZ4Ms)MNBYQyQQ I]?MBIM;iM:MZ4ye̚Bɮe!AeVEjhDNOT Ignoring new targets: 66.04 m.Rh:;Zh:; ProNav: ac range: 66.037651 m, nav range: 58.613007 m, bearing: 113.789532 deg, approach rate: 0.438208 m/s, LOS rate: 0.163314 deg/s, cmd heading: 116.342464 deg, new cmd heading: 116.547650 deg. Bh);HeadingCmd: 2.034140 target range: 66.037651 and range: 66.30 m.h[/@h*h"h hgfffdddjdZd@IBɢv) ,i)m;i"*hy __,N#~?Anߋ@n@n=ٱn vAHRS rotation from veh to nav: [[0.877755,0.462330,0.125687],[-0.463112,0.885955,-0.024703],[-0.122774,-0.036524,0.991762]]nH ?Җ??`ݿY?K`n@G@?inߋ@In!^;lY~HBy~2HiMb@Mb@Mb@ 9V-?'1ZĿDlYh?y"OA?A )YAbDVDy%C=ٔļQ->9Y=9FyrD =E>Q 5Z4ɢ?Q 9Z4Jx)NBY?Q E:yDQ I?BI2 ;i ;jZ4yɮ9Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770138IjhDNOT Ignoring new targets: 66.04 m.Rh,i;Zh,i; ProNav: ac range: 66.037651 m, nav range: 58.837757 m, bearing: 113.878828 deg, approach rate: 0.515058 m/s, LOS rate: 0.203856 deg/s, cmd heading: 116.547657 deg, new cmd heading: 116.814519 deg. Bh <HeadingCmd: 2.038798 target range: 66.037651 and range: 66.30 m.h{@h*h"h hgfffdddjdZdp@颕IBɢv) fi)p;顙ioB B VHB IHBB B B B f;B H@E^A # A) bE [4jET\4rĘh0E9  E= E= +E9 "E9 *E= :VE= [4ZE9 BE= %di_,N@~?A2ղ@2й@2=ٱ2 >AHRS rotation from veh to nav: [[0.882487,0.455494,0.117224],[-0.455460,0.889795,-0.028653],[-0.117357,-0.028105,0.992692]]2HU=?&?e?`B&ݿ 3y?VW @qǜ"?i2ղ@I2q^;0YFHByFHbDVDfy%߽%%A=ٔ-XSQ-->9)Y1=59Fy5 sD5<E5>9Q 5EZ4=آ?Q 9EZ4=|)=INBYIyMBQ IM?=BI=;i=n;=5Z4yUךBɮUA]WEjhyDNOT Ignoring new targets: 66.04 m.Rh;Zh;ԉ ProNav: ac range: 66.037651 m, nav range: 59.064053 m, bearing: 113.970613 deg, approach rate: 0.558101 m/s, LOS rate: 0.225498 deg/s, cmd heading: 116.814526 deg, new cmd heading: 117.088824 deg. Bh<HeadingCmd: 2.043586 target range: 66.037651 and range: 66.30 m.h@h*h"h hgfffdddjdZdɨ @IBɢ ) !_,VY~?APDAT read: Bearing 289.8, 34.2 (Local) ~Local bearing/azimuth received: Bearing 289.8, 34.2 (Local) DAT read: Range 11 to 50 : 67.7 m (Round-trip 90.3 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages."^direction in FSK: [-0.792510,0.483750,0.371368]Fpublishing direction and range infoyg=\鿍9?% ~}?YfB0`R )?I-ir>CnF<+< >)%@I¾^R-ݿ' >꿦Y`B? )I%@i¾%T****** received valid address query ******%R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AE EE*E"E~ ;*E:VE(N4ZEa@a@a@a@U(@U#@U=ٱU/ =AHRS rotation from veh to nav: [[0.887639,0.447489,0.108863],[-0.446823,0.894057,-0.031816],[-0.111567,-0.020401,0.993547]]UH g??j޻?ܿ?4J `䔿 $?qiU(@IU^;QYHByH *DAT read: user:318>  BDAT read: Tx time:03:24:43.0626 $Ping request sent.9Y=9Fy$sDF<E>Q 5=Z4?Q 9=Z4)!NBY=!?Q EE:yE:Q IE?BIe&cO@@P 9@Rg=\鿍9?% ~}?Zi%@bi¾jɃ>UG~J@*5\->@ZvuܿD̤ ?<+?2iPB:i"im?*iK\%BiĠBi٨?iiXBioBinS@  addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.779983 s, deltaX: 1.399994 m, approachRate: 0.370370 m/s, rangeRepo size: 4   Added new target pos. range: 67.432007 m, bearing: 119.957427 deg, lat: 36.779275 deg, lon: -121.859639 deg, deltaT: 3.779983 s, deltaX: 1.394356 m, approachRate: 0.368879 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 67.43 m.Rh Zh   ProNav: ac range: 67.432007 m, nav range: 59.779907 m, bearing: 114.883322 deg, approach rate: 0.000000 m/s, LOS rate: 0.225498 deg/s, cmd heading: 117.088826 deg, new cmd heading: 117.530352 deg. Bh  HeadingCmd: 2.051292 target range: 67.432007 and range: 67.70 m.h- ]H@h) *h) "h1  h1 g1 f1 f9 f9 d9 d9 d9 jdE P@ZdE ?颭 IBɢ ') ?i ) gc;顱 i ^9lYl=n9Fyn4sDn3<Er>pQ 5v[4r?Q 9v[4r)rNBYxyz7Q Iz?rbBIr;ir];rm[4y|ɮAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 67.43 m.Rh5;Zh5;E ProNav: ac range: 67.432007 m, nav range: 60.018776 m, bearing: 114.984521 deg, approach rate: 0.621886 m/s, LOS rate: 0.262419 deg/s, cmd heading: 117.530357 deg, new cmd heading: 117.832743 deg. BhE4<MHeadingCmd: 2.056569 target range: 67.432007 and range: 67.70 m.hM՞@hI*hI"hI hIgQfQfQfYdYdYdYjdYZde`\?颍IBԑɢt#) N@i)`;顙i'_,ߜ~?A2'@2@2I=ٱ2̻ :AHRS rotation from veh to nav: [[0.899579,0.426961,0.091988],[-0.425435,0.904249,-0.036593],[-0.098804,-0.006217,0.995088]]2H@Z?SS??T:ۿ?P 4Kvy?i2'@I2;^;2ΑCYBHByBHbDJVDJ1yR}%RN=ٔVBQ-V>9TYT=V9FyVDsDZW=EZ>\Q 5b[4^?Q 9b[4^[)^MBY`yf4Q If?^BI^ ;i^:^N[4yjBɮj;Ahjh|~DNOT Ignoring new targets: 67.43 m.Rh;Zh; ProNav: ac range: 67.432007 m, nav range: 60.246029 m, bearing: 115.083404 deg, approach rate: 0.572869 m/s, LOS rate: 0.248329 deg/s, cmd heading: 117.832743 deg, new cmd heading: 118.128272 deg. Bhm*<HeadingCmd: 2.061727 target range: 67.432007 and range: 67.70 m.hW@h*h"h h!g!f!f!f)d)d)d)jd)Zd5_?]IBɢ]*;)a e^ia)e|;aaimy  _,V~?A2g@2b@2%=ٱ2 :AHRS rotation from veh to nav: [[0.906188,0.414508,0.083701],[-0.412754,0.910046,-0.038092],[-0.091961,-0.000029,0.995763]]2H`~?N? fm?@jڿ?̀ I?i2g@I2 J^;0YBHByBH-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259701B<A<B>BMCBBBBBBT;B9@Ei Mb@Mb@Mb@     9 Q?X9vV-?Y y  m= ~A  A A) A Y AbDEVDEQy]=%]1=ٔetQ-e>9aYa=m9FymWsDmO<Em>Q 5[4%?Q 9[4Ȑ)Y?Q E:yQ I?vBI:i:"[4yBɮAbEjhDNOT Ignoring new targets: 67.43 m.Rh;Zh;- ProNav: ac range: 67.432007 m, nav range: 60.498814 m, bearing: 115.218417 deg, approach rate: 0.534581 m/s, LOS rate: 0.284328 deg/s, cmd heading: 118.128272 deg, new cmd heading: 118.531612 deg. Bh-!C<UHeadingCmd: 2.068767 target range: 67.432007 and range: 67.70 m.hUf@hQ*hQ"hQ hYgYfYfYfadadadajdaZdmd?IBɢs) Ti)^o;!!i%^.iM!>ԁ9@ @@1@ԩiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511029^A A I I) O= >f_,Ks~?A2@2@2?V=ٱ2}; :AHRS rotation from veh to nav: [[0.913116,0.400486,0.076355],[-0.398632,0.916289,-0.038818],[-0.085509,0.005008,0.996325]]2H>8???`0ٿ`=R?ߣ㵿\t??i2@I20^;2͑CYBHByB#HbDNVDN1yRZ=%RY=ٔVQ-V>9TYX=Z9FyZfsDZS+=E^>dQ 5v[4fA5?Q 9v[4fH)fMBYtyzQ Iz?fBIf3{;if_;f/[4y~Bɮ~jA~cEjh!-DNOT Ignoring new targets: 67.43 m.Rh-6;Zh-6; ProNav: ac range: 67.432007 m, nav range: 60.701340 m, bearing: 115.329523 deg, approach rate: 0.547526 m/s, LOS rate: 0.299369 deg/s, cmd heading: 118.531608 deg, new cmd heading: 118.863808 deg. BhtM<HeadingCmd: 2.074565 target range: 67.432007 and range: 67.70 m.h@h*h"h hgfffdddjdZd಑?EIBɢEM) 8i )of;i<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763772i]@YYIe@I959@1 @1@50@1E EE,E"E ;*EZ:VEg4ZEa@a@a@a@)^A= # checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014689Y Ai Iy I O >Jĺ_,(~?AZ @Zz@ZZ=ٱZ(^< bAHRS rotation from veh to nav: [[0.927536,0.368448,0.062640],[-0.366591,0.929550,-0.039337],[-0.072721,0.013523,0.997261]]ZH`_?? 0 ?;v׿߾?#`՝ ?@?iZ @IZ,^;XYjHByj!Hi]Mb@Mb@Mb@YYYY Y9]M?Zd;O ףp= ?Y]n?y]j<]Q=]ۼA]ۼA ]jA)]AAYY]AbDVDysx%3=ٔQ->9Y=9FyxsDO=E>Q 5[4I?Q 9[4V) NBY?Q E:yQ I?uBI:i<:?[4yɮnAjh)-DNOT Ignoring new targets: 67.43 m.Rh5;Zh5;E ProNav: ac range: 67.432007 m, nav range: 60.907356 m, bearing: 115.483109 deg, approach rate: 0.456847 m/s, LOS rate: 0.339429 deg/s, cmd heading: 118.863801 deg, new cmd heading: 119.322991 deg. BhEh<MHeadingCmd: 2.082579 target range: 67.432007 and range: 67.70 m.hMH@hI*hI"hQ hQgQfQfYfYdYdYdajdaZde`y;@颍IBɢ)!L= @i){\;顙iJύByB}=HB}5HBB} =ByByB};;B}#@EB9B9B9B=ƍ =B=ƍ =C=O5^AAzAdAE  E E E "E ;*E :VE ZE BE 4N7_,?AF@F@F=ٱF< RAHRS rotation from veh to nav: [[0.934850,0.350548,0.056324],[-0.348777,0.936394,-0.039004],[-0.066414,0.016818,0.997650]]FHI? `o? ֬?`\Rֿ ?H@8??iF@IF!^;F̑CYVHByV0HIZ=)Z=bD~VD~:y W<% Z=ٔ ՉQ->9"?Y"?=9FysDR=E>!Q 5-[4%Y?Q 9-[4%ę)%NBY)y-Q I5?%BI%-:i%:%L[4y=Bɮ=A9UB*** querying acoustic contact ***echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910ia iajhquDNOT Ignoring new targets: 67.43 m.Rh}M;Zh}M; ProNav: ac range: 67.432007 m, nav range: 61.075649 m, bearing: 115.612427 deg, approach rate: 0.445637 m/s, LOS rate: 0.341489 deg/s, cmd heading: 119.322995 deg, new cmd heading: 119.709875 deg. Bh\j<HeadingCmd: 2.089331 target range: 67.432007 and range: 67.70 m.h@h*h"h hgfffdddjdZd @@IBɢqt") :i)GR;i Թ K_, ?AE& E&E&.E$"E&=;*E&:VE&ـ4ZE$a*@a*@a*@a*@jRJ@j)E@jv=ٱj6< vAHRS rotation from veh to nav: [[0.941958,0.331933,0.050361],[-0.330286,0.943101,-0.038355],[-0.060227,0.019495,0.997994]]jH $?e>?ȩ?g#տ-?A ֮ ??ijRJ@Ij.8^;j͑CY~IBy~MHbD VD 0yk=%I=ٔ%yQ-%>9% ?Y% ?=-9Fy-sD-H=E->1Q 5E[45k?Q 9M[45I)54NBYQyU־Q I]?5\BI5;i5p;5Z[4yiɮmRAqjhDNOT Ignoring new targets: 67.43 m.Rh=;Zh=;ԙ ProNav: ac range: 67.432007 m, nav range: 61.254902 m, bearing: 115.754616 deg, approach rate: 0.435322 m/s, LOS rate: 0.344300 deg/s, cmd heading: 119.709871 deg, new cmd heading: 120.135180 deg. BhJl<HeadingCmd: 2.096755 target range: 67.432007 and range: 67.70 m.h:1@h*h"h hgf!fQfQdYdadjdZdk @MIBɢU)Q Up*iQ)UyH;YYi]ՑB NCB oHB ^HBB =B B úDB *;B @EA ؟AI I O >_,t=?AN`@N7@N30^=ٱN]< VAHRS rotation from veh to nav: [[0.948786,0.312776,0.044463],[-0.311233,0.949559,-0.038362],[-0.054219,0.022559,0.998274]]NHs\??æ?`=ӿb?@;«??iN`@IN*^;NΑCY^IBy^VHi=Mb@Mb@Mb@9999 99=NbX9? rh?K?Y=?y=C<=^==A=A 9)=MA9Y=\AbDUVDUkye&<%e1=ٔm9UQ-m>9m"?Yu"?=u9FyusDun3=Eu>yQ 5[4}q?Q 9[4})}RNBY?Q E:yQ I?ԑ}BI}g1;i}$1;}k[4y(BɮoAdEjhDNOT Ignoring new targets: 67.43 m.E EE-E"E ;*E?:VEt4ZEBEOI㥛i>jԿ|o>-\>z0a> ~>).z@I~Ѿ8h:ѿ=|LF? )I.z@i~ѾmT****** received valid address query ******mR****** received valid ping request ******uS9Querying Benthos address 50 with one ping in standard two-way mode. 5 j>5 ѐC cG  q9 Y A] e?=Ia )a  9@  @ @ 5@  *DAT read: user:319>  BDAT read: Tx time:03:24:46.8126  $Ping request sent. y5t=5+=15A 5EA)5fA1Y5AbDMVDMβy](%]<ٔ]Q-]>9aYa=e9FyesDm<Em>qQ 5}[4u-?Q 9}[4ut)upNBY}>Q E:yQ I?uBIu:;iuH<;u}[4y3BɮAeEii4J?AJiBRiBji @bBX!G7~ʼnDE@Q}J@ >@ZINܿ$%a?~?2imTB:ie"i tI?*iw*BiBik'?ixiBiuBi}'@ addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.780112 s, deltaX: 1.100006 m, approachRate: 0.290998 m/s, rangeRepo size: 4 5 Added new target pos. range: 68.529526 m, bearing: 120.010846 deg, lat: 36.779273 deg, lon: -121.859643 deg, deltaT: 3.780112 s, deltaX: 1.097519 m, approachRate: 0.290340 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 68.53 m.RhZh- ProNav: ac range: 68.529526 m, nav range: 61.419373 m, bearing: 116.520142 deg, approach rate: 0.000000 m/s, LOS rate: 0.367756 deg/s, cmd heading: 120.638107 deg, new cmd heading: 121.391009 deg. Bh)5HeadingCmd: 2.118673 target range: 68.529526 and range: 68.80 m.h5V@h1*h1Y"h9 hYgafafafadididijdm@33Q@Zdm?IBɢ) B B HB HBB B B B 4;B @E gE=Ա 9@  @ @ 0@ bEg4jE7i4rE/EM EMEM.EI"EMf;*EM:VEMـ4ZEIBEMW9xYx=z9FyzsD~=E~>Q 5[4籣?Q 9 [4?)NBY y Q I ?BI:i ;[4y>BɮAfE=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 68.53 m.RhM(;ZhM(;] ProNav: ac range: 68.529526 m, nav range: 61.567177 m, bearing: 116.732214 deg, approach rate: 0.275051 m/s, LOS rate: 0.393698 deg/s, cmd heading: 121.391012 deg, new cmd heading: 122.025672 deg. Bh]<eHeadingCmd: 2.129750 target range: 68.529526 and range: 68.80 m.heM@ha*ha"hi higififqfqdqdqdyjdyZd}y%;=%<%A! %A)%pA!Y%AbD=VD=βyE;%M=ٔM/Q-M>9IYQ=U9FyUsD]!=E]>aQ 5e[4ewȣ?Q 9m[4eN)eNBYmR>Q Em:ymQ Im?eBIe:ie:eʨ[4yyɮ}AyԑjhDNOT Ignoring new targets: 68.53 m.RhZ;ZhZ; ProNav: ac range: 68.529526 m, nav range: 61.690063 m, bearing: 116.953355 deg, approach rate: 0.224268 m/s, LOS rate: 0.402777 deg/s, cmd heading: 122.025674 deg, new cmd heading: 122.687744 deg. Bh6<HeadingCmd: 2.141305 target range: 68.529526 and range: 68.80 m.h$ @h*h"h hgfffdddjdZd 1?颍IBɢP) 7Ki)*;顱iQ i>@! @!@%5@!9??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514084B>BBHBHBBBBB2;B^A! E  E E )E "E =;*E 1:VE FA4ZE BE I_,?A^_@^Z@^}<ٱ^' = vAHRS rotation from veh to nav: [[0.977809,0.208799,0.017107],[-0.208034,0.977369,-0.038366],[-0.024731,0.033956,0.999117]]^H6J?`??٠ʿ F? `Sb??i^_@I^g0^;^͑CY~ IBy~HHbD-VD-󡲝Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764832yM+%ML=ٔMyiQ-M>9QYQ=U9FyUtD]L_=E]>aQ 5m[4e٣?Q 9m[4e<)eNBYiym\=_,C?AE. E.E.*E,"E. ;*E.:VE.(N4ZE,a6@a6@a6@a6@>@>u@>=<ٱ>X= FAHRS rotation from veh to nav: [[0.982308,0.186881,0.012069],[-0.186297,0.981733,-0.038647],[-0.019071,0.035715,0.999180]]>Ho??@?@ǿ`[j?ɣeEI?`H?i>@I>@^;9`Y`=b9FybtDfm=Ef>hQ 5n[4j裊?Q 9n[4j)jNBYlyn=Q In?j\BIj;ij/;j@[4ytɮv'Atjh DNOT Ignoring new targets: 68.53 m.Rh;Zh; ProNav: ac range: 68.529526 m, nav range: 61.856689 m, bearing: 117.274146 deg, approach rate: 0.207660 m/s, LOS rate: 0.409355 deg/s, cmd heading: 123.179197 deg, new cmd heading: 123.648783 deg. Bhw<HeadingCmd: 2.158078 target range: 68.529526 and range: 68.80 m.h @h*h"h hgfffdddjdZd@@q]IBɢ]Mm) &ri)WX:顙i0B B HB HBB B B B 4;B @E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520858Y Aa I I O >z)_,?A2ȼ@2|@2υZ<ٱ23Y= :AHRS rotation from veh to nav: [[0.986236,0.165197,0.006896],[-0.164802,0.985532,-0.039596],[-0.013337,0.037914,0.999192]]2H?? /%?>|? >ſy?`EP i?a?i2ȼ@I2j4^;2ϑCYBHByB Hi Mb@Mb@Mb@     9 Gz?V-?QY >y = u A A A) A Y GAbD%VD%y%)=ٔBQ->9ԡY=9Fy&tDa9=E>Q 5[4q?Q 9[4)NBY>Q E:y=Q I?BI1;i; [4yTBɮwAgEE EE-E"E%;*EǙ:VEt4ZEBEKo `,^?AJ{@Ju@J;ٱJbz$= RAHRS rotation from veh to nav: [[0.989649,0.143495,0.001931],[-0.143298,0.988836,-0.040843],[-0.007770,0.040144,0.999164]]JH4?`^?_?`W¿`?h餿`?&?iJ{@IJjN^;JёCYrHByrHbDzVDzy%U=ٔ mQ- >9 Y = 9Fy6tDh=E>Q 5%[4 ?Q 9%[4)NBY)y-?=Q I-?3BI:i:[4y1ɮ5A1U>U%=]BDAT read: Rx Time:03:24:49.3099 ]TRx dataTimestamp_ set to:1761535488.440498echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026158mB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 68.53 m.Rh};Zh}; ProNav: ac range: 68.529526 m, nav range: 62.016880 m, bearing: 117.632557 deg, approach rate: 0.180644 m/s, LOS rate: 0.415618 deg/s, cmd heading: 124.245608 deg, new cmd heading: 124.722567 deg. Bh<HeadingCmd: 2.176820 target range: 68.529526 and range: 68.80 m.hQ @h*h"h hgfffdddjdZdcU @JBɢW) 0i)U:izB|B~HB~HBB|B|B|B~>;B~*@EBNCBNCBB =B =C4eDAT read: 03:24:49.3099 LVL= 18112, 19489, 26210, 32755, AGC= 58, IDX= 437, 0.47, 2.234, 2.613, 0.902, 2.510, PHS=-0.174, 0.148,-1.652, RAW= 20.4, 19.6, CAL= 18.9, 23.5, ROT= 131.1, -23.5 mYgot valid direction response: 03:24:49.3099 LVL= 18112, 19489, 26210, 32755, AGC= 58, IDX= 437, 0.47, 2.234, 2.613, 0.902, 2.510, PHS=-0.174, 0.148,-1.652, RAW= 20.4, 19.6, CAL= 18.9, 23.5, ROT= 131.1, -23.5 uPDAT read: Bearing 304.1, 45.1 (Local) u~Local bearing/azimuth received: Bearing 304.1, 45.1 (Local) DAT read: Range 11 to 50 : 69.8 m (Round-trip 93.1 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.602853,0.691063,0.398749]Fpublishing direction and range infoy15J١/? ?Y5B15F5!L5bf 5)5:I5-2i5P>5tӿ5K>5%>5[> 1)5p@I1115B{8Ŀ7309K]? 5#޿)5k}I5p@i111T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.iiMb@Mb@Mb@ 9K7A?bX9ȶ?Zd;OY ?yE=j<A ۼA)AY̾AbDVD:ym}%u =ٔuGQ-u>9qYy=}9Fy}NtD}n=E}>Q 5[4%?Q 9[4~){NBY?Q E:y4=Q I?BI:i]:0[4y_BɮAhEi1i5a BDAT read: Tx time:03:24:50.5626 $Ping request sent.ƒ@>~@>ٱ>5= JAHRS rotation from veh to nav: [[0.996744,0.079672,-0.012437],[-0.080142,0.995831,-0.043553],[0.008916,0.044408,0.998974]]>HR?`]e?x4?LbB???i>ƒ@I>=^;<ER ERER*EP"ER%;*ERZ:VER(N4ZEPaV@aV@aV@aV@YZHByZHbDfVDfynM̽%n=ٔn"Q-n>9r ?Yr ?=r9FyrdtDv=Ev>xQ 5~\4z=?Q 9~\4zÝ)zfNBY|y~G=Q I~?zbBIz;iz;z \4y jBɮ A iEjh)5DNOT Ignoring new targets: 69.53 m.Rh=o<Zh=o<M ProNav: ac range: 69.525879 m, nav range: 62.431229 m, bearing: 121.481182 deg, approach rate: 0.240674 m/s, LOS rate: 0.456140 deg/s, cmd heading: 125.501051 deg, new cmd heading: 126.209849 deg. BhM<UHeadingCmd: 2.202777 target range: 69.525879 and range: 69.80 m.hUN @hQ*hQ"hQ hQgYfYfYfYdadadajdaZde #?颕JBɢ) 5ƾi)#:顙i[B! B% HB% rHBB! B! B! B% R;B% <@E^A ԁA%؟AI)IAOM? `,-%?A2_/@26*@2_tgٱ2_:= :AHRS rotation from veh to nav: [[0.998144,0.058545,-0.016782],[-0.059242,0.997248,-0.044569],[0.014126,0.045481,0.998865]]2H?`? E/T u?ѦL? 9U"?Y]"?=]9Fy]ytD]:&=E]>aQ 5\4e{U?Q 9\4e)eNNBY ?Q E:yOw'`,ݘ?A2@2@2ٱ2FA= :AHRS rotation from veh to nav: [[0.999076,0.037490,-0.021027],[-0.038433,0.998184,-0.046395],[0.019249,0.047161,0.998702]]2Hm?1? @}?` ?m%?`]?i2@I2K^;2ΑCYBDHByBPHJ=HbDNVDNyVk%VP=ٔVUQ-Z>9XYX=Z9FyZtD^Y=E^>`Q 5f\4bg?Q 9f\4bI)b>NBYdyfE=Q Ij?b`BIb:ib:bQ*\4ylɮnNAlzB*** querying acoustic contact ***ix ixjh DNOT Ignoring new targets: 69.53 m.Rh <Zh < ProNav: ac range: 69.525879 m, nav range: 62.677048 m, bearing: 121.877656 deg, approach rate: 0.285908 m/s, LOS rate: 0.470691 deg/s, cmd heading: 126.881515 deg, new cmd heading: 127.396844 deg. Bh<%HeadingCmd: 2.223494 target range: 69.525879 and range: 69.80 m.h%M@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= ?-JBɢ) \i)zQi%VA >I I O > ,-`,1??AV~@Vpy@V1ļٱVz>C= fAHRS rotation from veh to nav: [[0.999543,0.017195,-0.024876],[-0.018355,0.998717,-0.047200],[0.024033,0.047635,0.998576]]VH@?s?)y ˒|?* ?c?T?iV~@IVJ^;VБCYr,HByr2HiMb@Mb@Mb@ 9x?Mb` ףp= YK?yQ8AA A)ʽAYAbDVDkyC_%;=ٔ 3Q-M>9IYI=U9FyUtDUi5=EU>YQ 5e\4]2~?Q 9e\4]j)]/NBYm?Q Em:ymcQ Im?]BI]{:i]M:]*:\4BqAu<B}>ByB}JHB}?HBByByByB}];B}I@EyBɮAjEjhDNOT Ignoring new targets: 69.53 m.Rh><Zh>< ProNav: ac range: 69.525879 m, nav range: 62.823292 m, bearing: 122.083133 deg, approach rate: 0.319940 m/s, LOS rate: 0.448479 deg/s, cmd heading: 127.396839 deg, new cmd heading: 128.011811 deg. Bh<HeadingCmd: 2.234228 target range: 69.525879 and range: 69.80 m.h@h*h"h hgfffdchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762932ddjdZd[%@57JBɢ5o )9 =i9)=/99i=3 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723e4`,Pр?A2$@2:2 ٱ2ByD= >AHRS rotation from veh to nav: [[0.999583,-0.003277,-0.028684],[0.001897,0.998845,-0.048003],[0.028808,0.047929,0.998435]]2H? Fjf__?? 哨 ?`#?.?i2$@I2c^;0YB HByB HbDJVDJyR%V^=ٔVUQ-V>9XYX=Z9FyZtDZl=EZ>\Q 5b\4^?Q 9f\4^g)^%NBYdyf;Q If?^TBI^:i^:^mF\4yhɮjAljhy}DNOT Ignoring new targets: 69.53 m.Rh;Zh; ProNav: ac range: 69.525879 m, nav range: 62.933510 m, bearing: 122.243615 deg, approach rate: 0.303807 m/s, LOS rate: 0.441578 deg/s, cmd heading: 128.011815 deg, new cmd heading: 128.492404 deg. Bh<HeadingCmd: 2.242615 target range: 69.525879 and range: 69.80 m.h@h*h"h hgfffdddjdZd@ ?JBɢ ))  T i )iE  E E ,E "E ;*E :VE g4ZE a @a @a @a @Թ A:`,u뀹?A@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521324r@~.=jٱaR= AHRS rotation from veh to nav: [[0.998368,-0.044486,-0.035801],[0.042557,0.997690,-0.052945],[0.038073,0.051335,0.997956]]H ?ƦwTʥ??`X~?@H?`@?ir@Izn^;YHByHIC>)<AiMb@Mb@Mb@ 9X9v?:v:vY?yTԼA A)AYAbDVDky%%-(=ٔ-Q-->91Y1=59Fy5tD5-=E=>9Q 5e\4=?Q 9m\4=)=#NBYm?Q Em:ymJ Q Im?=BI=;i=;=pW\4yuBɮ}*A}kEԡjhDNOT Ignoring new targets: 69.53 m.Rh<Zh< ProNav: ac range: 69.525879 m, nav range: 63.104794 m, bearing: 122.469365 deg, approach rate: 0.354111 m/s, LOS rate: 0.465448 deg/s, cmd heading: 128.492401 deg, new cmd heading: 129.167782 deg. Bh<HeadingCmd: 2.254403 target range: 69.525879 and range: 69.80 m.h $H@h *h "h  h g f ffdddjdZd@MKJBɢMQ)MO< M7iQ)U|hԺQQiU;/A`,?AE* E*E(E("E*;*E*҆:VE(ZE(BE*DcG`,*?AJ@J|=J(/ٱJX\= RAHRS rotation from veh to nav: [[0.997090,-0.065385,-0.039206],[0.063125,0.996413,-0.056359],[0.042750,0.053720,0.997640]]JH(?@`(?? ۬Z?(??iJ@IJR^;JёCYZGByZHbDbVDbkynk߼%nN=ٔnAQ-n>9pYp=r9FyrtDrUU=Ev>tQ 5z\4vϤ?Q 9~\4v )v NBY|y~Q I~?vBIv';ivD;v-q\4yɮ A =B*** querying acoustic contact ***i9 i9jhYeDNOT Ignoring new targets: 69.53 m.Rhe <Zhe <} ProNav: ac range: 69.525879 m, nav range: 63.361599 m, bearing: 122.811201 deg, approach rate: 0.359617 m/s, LOS rate: 0.485738 deg/s, cmd heading: 129.638425 deg, new cmd heading: 130.191173 deg. Bh}<}HeadingCmd: 2.272265 target range: 69.525879 and range: 69.80 m.hl@h*h"h hgfffdddjdZd  @\JBɢkYD) !i)%IiMKi]J]5^ʿ]AQ:?]@>]q(? ]b>)]p?I]bʾYY]EB b?X;ۭt%U? ]J)]I]p?i]bʾYY T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A <-ԙ A I I O- >ċM`,8?AJ@@J@O=JvAٱĴg= VAHRS rotation from veh to nav: [[0.995392,-0.086074,-0.042255],[0.083457,0.994689,-0.060232],[0.047215,0.056428,0.997290]]JH@?ih]?~?֮,?%??iJ@@IJ͂^;JБCYZGBy^Hb=b=qiMb@Mb@Mb@ 9 r?{Gz~jthY#?yףD A)YzAbDVD:y%;=ٔ'Q->9Y=9FytD?=E>AA@AB>BBHBGBBBBBZ;BG@EQ 5\4j礊?Q 9\4Z)*NBY$?Q E:y%Q I?jBI:i:\4y-Bɮ-A)iim.?AJiBRiBjio@bc#*8Ϯf9N@QȅT;@RLmgֿ0O5P?J?Zip?bibʾjH1 ?=4L@% =@Z֊ ܿ`]+U}?_k׈ݧ?2iaB:iH"i:!?*i BiBiiiBi~Bi>j @} addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.781989 s, deltaX: 1.299995 m, approachRate: 0.343733 m/s, rangeRepo size: 4  Added new target pos. range: 70.820778 m, bearing: 118.817523 deg, lat: 36.779244 deg, lon: -121.859661 deg, deltaT: 3.781989 s, deltaX: 1.294899 m, approachRate: 0.342386 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 70.82 m.RhZh ProNav: ac range: 70.820778 m, nav range: 63.525162 m, bearing: 123.020313 deg, approach rate: 0.000000 m/s, LOS rate: 0.485738 deg/s, cmd heading: 130.191178 deg, new cmd heading: 130.830144 deg. Bh*DAT read: user:321> BDAT read: Tx time:03:24:54.4127 $Ping request sent.Am?IaIqO ?tV`,\s[?A6@6@8=6Z,dٱ6<n= >AHRS rotation from veh to nav: [[0.990706,-0.127296,-0.047932],[0.124104,0.990168,-0.064548],[0.055678,0.057999,0.996763]]6Hܳ?@9\Y\=^9Fy^uDb=Eb>dhQ 5j\4f{?Q 9j\4fY)f9NBYlynN9Q In?fBIfu*;if+;f\4yrBɮr"AvmEjh DNOT Ignoring new targets: 70.82 m.Rhp <Zhp <% ProNav: ac range: 70.820778 m, nav range: 63.700630 m, bearing: 123.262598 deg, approach rate: 0.354125 m/s, LOS rate: 0.487625 deg/s, cmd heading: 130.830143 deg, new cmd heading: 131.554955 deg. Bh%S<-HeadingCmd: 2.296067 target range: 70.820778 and range: 71.10 m.h-@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEm?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502618 sJBɢ w?) *i)viM\`,/u?AY~GBy~HAiMb@Mb@Mb@ 9sh|??Zd;O:v?Y)?yjT<A A)AY½AbDVDNy-(%-5=ٔ5Q-5>9Y=9FyuDE>Q 5\4m?Q 9\4v)NNBY+?Q E:yeiQ I?BI;i;\4yBɮtAnEjhDNOT Ignoring new targets: 70.82 m.Rh <Zh < ProNav: ac range: 70.820778 m, nav range: 63.873669 m, bearing: 123.491366 deg, approach rate: 0.376389 m/s, LOS rate: 0.496260 deg/s, cmd heading: 131.554949 deg, new cmd heading: 132.239357 deg. BhJ<HeadingCmd: 2.308012 target range: 70.820778 and range: 71.10 m.hy@h*h"h hgfffdddjdZdSC?5JBɢ5\L)1 52i9)=99i=ȞBBHBGBBBBBW;BE@EBBBBÊ =BC5ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750 9ԑEY E]E],EY"EY*E]خ:VE]g4ZEYBE]@'d`,?A>nn@>`-+>>=#ٱ>H}?`lſ@@\A?@xz?`7!?S?N?i>nn@I>s^;>БCYNGByNHIR=)Ri?bDZVDZybS%b<=ٔbQ-b>9dYd=f9Fyf&uDf=Ej>lQ 5n\4n]4?Q 9r\4n@)ncNBYpyr&:n\4yv›BɮzAzoEjhDNOT Ignoring new targets: 70.82 m.Rh<Zh%<- ProNav: ac range: 70.820778 m, nav range: 64.024200 m, bearing: 123.707351 deg, approach rate: 0.354212 m/s, LOS rate: 0.507034 deg/s, cmd heading: 132.239361 deg, new cmd heading: 132.885765 deg. Bh5<=HeadingCmd: 2.319294 target range: 70.820778 and range: 71.10 m.h=Qo@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM=?}JBɢ}Y) 5i)ã顁i恞E  E E /E "E 1;*E :VE J4ZE a @a @a @a @ j`,ۭ?Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764970#@A>ٱw= eAHRS rotation from veh to nav: [[0.979998,-0.191758,-0.053221],[0.187778,0.979584,-0.071800],[0.065902,0.060370,0.995998]]H %\?@ȿ ? ?X?}aް?@?7?i#@ICg^;ӑCY-GBy5HiMb@Mb@Mb@ 9E?~jtX9v?Y&?yĽ<ArA ~A)AYQUBAbD]VD]ym<%m&=ٔuQ-u>9qYq=u9Fyu:uD}m8=E}>Q 5\4O?Q 9\4)NBY(?Q E:ym"=Q I?BI<:if:%\4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 70.82 m.Rh%<Zh%< ProNav: ac range: 70.820778 m, nav range: 64.192909 m, bearing: 123.952836 deg, approach rate: 0.342532 m/s, LOS rate: 0.497101 deg/s, cmd heading: 132.885770 deg, new cmd heading: 133.620247 deg. Bh<HeadingCmd: 2.332113 target range: 70.820778 and range: 71.10 m.hXA@h*h"h hgfffdddjdZd @-JBɢ-N)) 55i1)511i5BBHBGBB =B9DBBX;BF@Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014629! ^A5 #I I O >E  E E E "E ;*E :VE ZE BE 4N2匽ٱ2|= >AHRS rotation from veh to nav: [[0.975319,-0.214071,-0.054095],[0.209826,0.974875,-0.074775],[0.068743,0.061579,0.995732]]2H5?@f˿`\?-2?y$`(? P? ?i2@I2x^;2ёCYBGByFHbDNVDN1yV(=%V=ٔVzQ-Z?9XYX=Z9FyZFuD^9=E^?`Q 5f\4b`?Q 9f\4b)bNBYdyf~=Q Ij?bKBIb:ib:b\4yn͛Bɮn{AljhDNOT Ignoring new targets: 70.82 m.Rh <Zh < ProNav: ac range: 70.820778 m, nav range: 64.296585 m, bearing: 124.110003 deg, approach rate: 0.332727 m/s, LOS rate: 0.503580 deg/s, cmd heading: 133.620247 deg, new cmd heading: 134.090975 deg. Bhͬ<%HeadingCmd: 2.340329 target range: 70.820778 and range: 71.10 m.h%@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5nv@%JBɢ%1q)! %0i!)-xɻ))i-ɝېC@ @@@0@UcGuliAi9liAYAy^A) A1 A5 >ԩ AY Ii Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518564O >cw`,zၹ?A25<2p>2ٱ2 = :AHRS rotation from veh to nav: [[0.970184,-0.236199,-0.054343],[0.231650,0.969609,-0.078711],[0.071283,0.063776,0.995415]]2H ?;ο@ҫ? ?m& ??S?p?i259XYX=Z9FyZWuD^c=E^>`Q 5f\4bv?Q 9f\4b)bNBYdyf=Q Ij?bBIbB:ib9:b-\4yn؛BɮnA]pEjhDNOT Ignoring new targets: 70.82 m.RhF <ZhF < ProNav: ac range: 70.820778 m, nav range: 64.426399 m, bearing: 124.315333 deg, approach rate: 0.308546 m/s, LOS rate: 0.487051 deg/s, cmd heading: 134.090970 deg, new cmd heading: 134.705697 deg. Bh!<HeadingCmd: 2.351058 target range: 70.820778 and range: 71.10 m.hw@h*h"h hgfffdddjdZd@JBɢ{7e) b3i)ܻitc`%~`,&U?A2=2؅>2ٱ2= :AHRS rotation from veh to nav: [[0.964539,-0.258223,-0.054649],[0.253369,0.963852,-0.082423],[0.073957,0.065654,0.995098]]2H? п@27? ?@?ΰ??i2=I2et^;2ґCYBGByBH|i Mb@Mb@Mb@     9 }?5^I?MbX9Q?Y M"?y ʡ \=  hA hA)  Y zA %p<%bD)VD)B>BBHBGBB =B:DBB^;BL@Ey=<%B=ٔƻQ->9Y=9FyiuDKP=E>Q 5\4g?Q 9\4 )NBY#?Q E:y>Q I?bBI;ii;\4y!ɮ%A)=>==EBDAT read: Rx Time:03:24:56.9125 ETRx dataTimestamp_ set to:1761535496.000487Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023932jhiuDNOT Ignoring new targets: 70.82 m.Rh;<Zh;<% ProNav: ac range: 70.820778 m, nav range: 64.554131 m, bearing: 124.537616 deg, approach rate: 0.294443 m/s, LOS rate: 0.511385 deg/s, cmd heading: 134.705701 deg, new cmd heading: 135.371196 deg. Bh%z<-HeadingCmd: 2.362673 target range: 70.820778 and range: 71.10 m.h- 6@h)*h)"h) higqfqfqfqdydydyjdyZd}z @)mJBɢmW)i m\4ii)u@#qqiu綜g`,?AZ/ٱZH= nAHRS rotation from veh to nav: [[0.958274,-0.280617,-0.054447],[0.275452,0.957417,-0.086484],[0.076397,0.067877,0.994764]]ZH.?ѿx૿?(?#Î? k`? ?iZr }=IZ`^;ZБCY~GByHbD%VD%ܲy5T<%5==ٔ5»Q-5>99Y9==9Fy=zuDEd=EE>IQ 5\4M4?Q 9\4M)MNBYyV>Q I ?MBIMp=iMr=M\4yeBɮeAmqEԡjhDNOT Ignoring new targets: 70.82 m.Rh;Zh; ProNav: ac range: 70.820778 m, nav range: 64.668655 m, bearing: 124.746295 deg, approach rate: 0.241228 m/s, LOS rate: 0.438769 deg/s, cmd heading: 135.371194 deg, new cmd heading: 135.996096 deg. Bh<HeadingCmd: 2.373580 target range: 70.820778 and range: 71.10 m.h@h*h"h hgff!f!d!d!d)jd)Zd-+@DAT read: 03:24:56.9125 LVL= 14784, 18033, 28002, 28195, AGC= 60, IDX= 431,-0.13,-1.625,-2.408, 2.722,-2.152, PHS= 0.629,-0.211,-1.454, RAW= 53.6, 11.4, CAL= 50.6, 13.2, ROT= 99.4, -13.2 Ygot valid direction response: 03:24:56.9125 LVL= 14784, 18033, 28002, 28195, AGC= 60, IDX= 431,-0.13,-1.625,-2.408, 2.722,-2.152, PHS= 0.629,-0.211,-1.454, RAW= 53.6, 11.4, CAL= 50.6, 13.2, ROT= 99.4, -13.2 PDAT read: Bearing 323.6, 74.1 (Local) ~Local bearing/azimuth received: Bearing 323.6, 74.1 (Local) DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.6 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.159011,0.960506,0.228351]Fpublishing direction and range infoyaevZĿJ*v? :?YefBae9eqFebm e#n)e<Ie%!?iebXee|o?e%K>e=b? ek>)e?Iekaae$?@-oQ? eG)ehKIe?iekaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.}JBɢ}^)y .6i)顁i E BDAT read: Tx time:03:24:58.1627 M $Ping request sent.M `,S6?A;ɰ4r*]ٱr!!= AHRS rotation from veh to nav: [[0.951458,-0.303012,-0.053948],[0.297543,0.950405,-0.090547],[0.078709,0.070099,0.994430]]rHXr?dӿ ?i?.N&? ?^?irk=Ir^;rϑCY=HBy=HQiMb@Mb@Mb@ 9+?MbX9v?Y?y<$A\A )AY=AbDVDy=%=ٔJQ->9Y=9FyuDS/=E>Q 5]4!?Q 9]4D)&OBY ?Q E:yI>Q I?BI#:i8: ]4yBɮArEii29 ?AJi֎BRi֎Bjiv @bђj&3A&Q@`N0@RvZĿJ*v? :?Zi?bikj2dC<@)܃+N@3# !4@Zݿ$C ?f ?2i\qB:i"i.Y?*i/*fBiOBiiiiBi, @ addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.778038 s, deltaX: 0.599998 m, approachRate: 0.158812 m/s, rangeRepo size: 4  Added new target pos. range: 71.418327 m, bearing: 118.286066 deg, lat: 36.779244 deg, lon: -121.859661 deg, deltaT: 3.778038 s, deltaX: 0.597549 m, approachRate: 0.158164 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 71.42 m.AAAABBB HB HBBBBB~;Bk@ERhZh  ProNav: ac range: 71.418327 m, nav range: 64.803925 m, bearing: 125.020378 deg, approach rate: 0.000000 m/s, LOS rate: 0.438769 deg/s, cmd heading: 135.996101 deg, new cmd heading: 136.640526 deg. BhHeadingCmd: 2.384827 target range: 71.418327 and range: 71.70 m.h@h*h"h h9g9f9fAfAdAdAdIjdMQ@ZdM`T?ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245824JBɢ U) /i1)=>99i=R3ה`,DOT?AJ>J>JٱJ= RAHRS rotation from veh to nav: [[0.936158,-0.347526,-0.053234],[0.341543,0.934869,-0.096792],[0.083405,0.072431,0.993880]]JH?=ֿA?q?ZǸZ? ъ??iJ>IJp^;JБCYZHByZHbDbVDbyjd<%jJ=ٔn7?Q-n>9n ?Yr ?=r9FyruDr)=Er>tQ 5z]4vԥ?Q 9z]4v)vGOBY|y~my>Q I~?vBIv6:ivp:v]4yBɮA %B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 71.42 m.Rh=w<Zh=w< ProNav: ac range: 71.418327 m, nav range: 64.894745 m, bearing: 125.227599 deg, approach rate: 0.235544 m/s, LOS rate: 0.536676 deg/s, cmd heading: 136.640530 deg, new cmd heading: 137.261295 deg. Bh(<HeadingCmd: 2.395662 target range: 71.418327 and range: 71.70 m.hR@h*h"h hg!f)f)f1d1d9d9jdaZdeڊ?颵JBɢl) r0i)d项i؈P`,n?AfE>fSٱf= nAHRS rotation from veh to nav: [[0.927632,-0.369783,-0.052529],[0.363618,0.926255,-0.099166],[0.085325,0.072889,0.993683]]fH)? ׿媿@E? ?@b׵?@ڨ?@A?ifP0>If3{^;fӑCYvFHByvSHbDVD 8y%d=%%G=ٔ-Q-5>9AYA=M9FyMuD}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004148i=E>Q 5]46ꥊ?Q 9]4ԕ)iOBYnManaging dock network, ignoring radio surface power offyو>Q I]?BIi=ԙ@ @@5@@%=@!B>BBJHB?HBBBBB;B|@E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253589 ^A= (E  E E *E "E *E VE (N4ZE BE OR`,۾?A2S6>2d>2fٱ2= :AHRS rotation from veh to nav: [[0.919007,-0.390782,-0.052114],[0.384412,0.917563,-0.101510],[0.087487,0.073255,0.993469]]2Hh?`ٿ6?\?e?`?~?i2S6>I2^;2ґCYj^HBynoHi]Mb@Mb@Mb@YYYY Y9]rh|?X9vS㥛?Y]?y]]/<]1AY ]\A)YYYYbDuVDu0y]R=%7=ٔޟQ->9Y=9FyuDQ=E>Q 5]4?Q 9]4)OBYB?Q E:y>Q I?#BI{:i; 8]4yBɮUAsEjhDNOT Ignoring new targets: 71.42 m.Rh:"<Zh:"< ProNav: ac range: 71.418327 m, nav range: 65.057404 m, bearing: 125.668743 deg, approach rate: 0.184508 m/s, LOS rate: 0.567327 deg/s, cmd heading: 137.918622 deg, new cmd heading: 138.583020 deg. Bh<HeadingCmd: 2.418730 target range: 71.418327 and range: 71.70 m.hy@h*h"h hgfffdddjdZd@?颽JBɢ[f) G&i)ܛ)ixΘ= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757702i `,ӣ?A2+(N>2>2}lٱ2= :AHRS rotation from veh to nav: [[0.909614,-0.412189,-0.051977],[0.405604,0.908153,-0.103655],[0.089929,0.073204,0.993254]]2H?PaڿȜ`j??&?`? ?i2+(N>I2W^;2БCYB~HByBHbDNVDNkyRL=%VW=ٔVӻQ-V>9XYX=Z9FyZuDZz{=E^>`Q 5b]4b?Q 9f]4b^)bOBYdyf>Q If?bBIb:ib:bJE]4ynBɮnAAntEjh|DNOT Ignoring new targets: 71.42 m.Rh:<Zh :< ProNav: ac range: 71.418327 m, nav range: 65.116234 m, bearing: 125.864072 deg, approach rate: 0.155210 m/s, LOS rate: 0.514863 deg/s, cmd heading: 138.583022 deg, new cmd heading: 139.168457 deg. Bh<%HeadingCmd: 2.428948 target range: 71.418327 and range: 71.70 m.h%s@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@eKBɢe}i)a m ii)mc1iiim5ԁ Z`,Va?A2F"f>2>2:ٱ2'u= :AHRS rotation from veh to nav: [[0.899675,-0.433464,-0.051898],[0.426698,0.898242,-0.105312],[0.092266,0.072602,0.993084]]2H $?޽ۿ dO?e??`?@X?i2F"f>I2؂^;2ґC@YfHByfHBpAr%=Bv>BvMCBvHBv|HBBv =BtBtBv;Bv@EBBBBB =C.5i}Mb@Mb@Mb@yyyy y9}$C?~jt~jt?Y}?y}D}9Y=9FyuDg^=E>Q 5]4$?Q 9]4)OBY8?Q E:yO>Q I?BI.:i:]T]4yBɮAjEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261765jh DNOT Ignoring new targets: 71.42 m.Rh y<Zhy<% ProNav: ac range: 71.418327 m, nav range: 65.169334 m, bearing: 126.086048 deg, approach rate: 0.122633 m/s, LOS rate: 0.512225 deg/s, cmd heading: 139.168451 deg, new cmd heading: 139.833806 deg. Bh%į<-HeadingCmd: 2.440560 target range: 71.418327 and range: 71.70 m.h-$2@h)*h)"h) h)g)f1ffdddjdZdg[@KBɢ 5X) < !i )5Wv:11i5ٖ`,Cׂ?AZ~>Z>Z4.½ٱZ=p jAHRS rotation from veh to nav: [[0.889232,-0.454503,-0.051893],[0.447552,0.887842,-0.106930],[0.094673,0.071861,0.992911]]ZHt?ݿ`? 3i?`_ xIZ^;ZёCYzHByzHI~>)~=AbD VD y<%S=̻ٔQ-%>9!Y!=%9Fy%uD-w=E->1Q 5=]45~6?Q 9=]45)5OBY9y=O>Q IE?5BI5~ ;i5 ;5a]4yMBɮMAMkEmB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 71.42 m.Rh}<Zh}< ProNav: ac range: 71.418327 m, nav range: 65.212448 m, bearing: 126.285690 deg, approach rate: 0.111796 m/s, LOS rate: 0.517337 deg/s, cmd heading: 139.833807 deg, new cmd heading: 140.432314 deg. Bh<HeadingCmd: 2.451006 target range: 71.418327 and range: 71.70 m.hI@h*h"h hgfffdddjdZd4P@UKBɢuǒm)q uf!iq)u+Byyi}Da `,&?A2BDAT read: Rx Time:03:25:00.6626 2TRx dataTimestamp_ set to:1761535499.7802216checking for new query: numPingsReceived=0, elapsed TxPingTime=3.01881795$_>5 >5Bƽٱ5= AHRS rotation from veh to nav: [[0.878023,-0.475878,-0.051149],[0.468700,0.876547,-0.109480],[0.096934,0.072153,0.992672]]5H?t޿@=0.? ?`и?x?@?i5$_>I5`^;5ґCYHByHi Mb@Mb@Mb@     9 v?~jt?Y ?y  D< $A OA OA) 1A Y zAbD%VD%fy5J=%5!=ٔ=Q-=>99aY9=9FyvD>=E>Q 5]4AM?Q 9]45)PBY?Q E:yL>Q I?0BI ;i;s]4yɮAjhDNOT Ignoring new targets: 71.42 m.RhQ<ZhQ< ProNav: ac range: 71.418327 m, nav range: 65.257187 m, bearing: 126.551511 deg, approach rate: 0.086766 m/s, LOS rate: 0.515178 deg/s, cmd heading: 140.432309 deg, new cmd heading: 141.229173 deg. BhȰ<HeadingCmd: 2.464914 target range: 71.418327 and range: 71.70 m.h'@h*h"h hgfffd d d jd Zd^p @=+KBɢ= P)A EiA)EvLAAiMf`,%?A2z>2%?2ZN˽ٱ2͋= :AHRS rotation from veh to nav: [[0.866508,-0.496608,-0.050447],[0.489226,0.864974,-0.111703],[0.099108,0.072112,0.992460]]2Hn?l߿ԩyO?ޭ? _?u? I2D^;0YBHByBHbDJVDJyR62=%R^=ٔV»Q-V>9V"?YV"?=V9FyVvDZa=E^>-DAT read: 03:25:00.6626 LVL= 14000, 20593, 22466, 25139, AGC= 57, IDX= 433, 0.01, 2.409, 1.025, 0.155, 1.494, PHS= 1.016,-0.424,-1.384, RAW= 66.6, 7.6, CAL= 65.2, 8.3, ROT= 84.8, -8.3 UYgot valid direction response: 03:25:00.6626 LVL= 14000, 20593, 22466, 25139, AGC= 57, IDX= 433, 0.01, 2.409, 1.025, 0.155, 1.494, PHS= 1.016,-0.424,-1.384, RAW= 66.6, 7.6, CAL= 65.2, 8.3, ROT= 84.8, -8.3 ]PDAT read: Bearing 281.2, 85.7 (Local) ]~Local bearing/azimuth received: Bearing 281.2, 85.7 (Local) eDAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.0 m/s mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.089683,0.985453,0.144356]uFpublishing direction and range infoy|~8"{?W'Q[Ո?'ЌCz?Y~B|~6~qP~W ~3b)~9I~J ?i~پ~&~,ɔ?~>~? ~V>)~q?I~V||~?]?Vwt? ~n)~1<I~q?i~V||T****** received valid address query ******+GR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-9)Y-ApQ 5=]4r]?Q 9=]4rn)r(PBY9y=4?Q I=?rBIr0=ir|:r]4IyU BɮUAUlEi|i~ 0?AJi~BRi~Bji~@b~9է@!ǯQ@Lݥ$@R~8"{?W'Q[Ո?'ЌCz?Zi~q?bi~Vj~|f=uyO@Xjꑒ/@Z~'ڿLq*?'p?2i~{B:i~"i~`0?*i~) Bi~MBi~:!?i~ i~Bi~Bi~@ addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 3.780691 s, deltaX: 0.100006 m, approachRate: 0.026452 m/s, rangeRepo size: 4 } Added new target pos. range: 71.517250 m, bearing: 115.454828 deg, lat: 36.779276 deg, lon: -121.859626 deg, deltaT: 3.780691 s, deltaX: 0.098923 m, approachRate: 0.026165 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 71.52 m.RhZhM ProNav: ac range: 71.517250 m, nav range: 65.836411 m, bearing: 122.598483 deg, approach rate: 0.000000 m/s, LOS rate: 0.515178 deg/s, cmd heading: 141.229174 deg, new cmd heading: 141.882524 deg. BhIUHeadingCmd: 2.476317 target range: 71.517250 and range: 71.80 m.hU{@hQ*hQ"hQ hQgQfYfyfydddjd@3Q@Zd@?:KBɢ~eY) i)lVi BDAT read: Tx time:03:25:01.9127 $Ping request sent.j- ?jZϽٱjA= AHRS rotation from veh to nav: [[0.854658,-0.516795,-0.049831],[0.509258,0.853120,-0.113320],[0.101075,0.071473,0.992308]]jH@[Y?`gK?@L?  ? L??ijt>IjP^;jӑCY HBy H =iMb@Mb@Mb@ 9 ףp= ?{Gzt?{Gz?YQ?yף;#<-AnA ?A)CAYGAbDVD:y<%<ٔAQ->9Y=9Fy1vDC=E>Q 5]4Ry?Q 9 ]4)XPBY X?Q E :y j ?Q I ?gBI:i:ɗ]4yBɮAmEQjhDNOT Ignoring new targets: 71.52 m.RhM<ZhM< ProNav: ac range: 71.517250 m, nav range: 65.847122 m, bearing: 122.939477 deg, approach rate: 0.017173 m/s, LOS rate: 0.546605 deg/s, cmd heading: 141.882522 deg, new cmd heading: 142.905223 deg. Bh<5HeadingCmd: 2.494167 target range: 71.517250 and range: 71.80 m.h5m@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE@w?B>BBHBHBBBBB};Bd@EMNKBɢUI)Q UiQ)UvbYYi]p6?6׽ٱ6= >AHRS rotation from veh to nav: [[0.829511,-0.556403,-0.048241],[0.548561,0.827934,-0.116649],[0.104844,0.070299,0.992001]]6H[?@ `ύ?n~?ܽ ׺??x?i6y>I6G^;4YFHByFHbDRVDRNyVI;%Z=Xٔ^Q-^>9\Y`=b9FybFvDb=Eb>dQ 5=]4f?Q 9=]4fn{)fPBY9y=n?Q I=?f BIf|nFx`,ٰ|?A6=>6[?6 ٽٱ6>= JAHRS rotation from veh to nav: [[0.816122,-0.575978,-0.046840],[0.568115,0.814530,-0.117414],[0.105781,0.069214,0.991978]]6H?hnq-? ?s?? H?i6=>I6k&^;6БCYR IByRCHi%Mb@Mb@Mb@!!!! !9%-?y&1|?Y%5?y%%`;% A! !)!!Y%AbD= VD=2yMt=%M=ٔUhQ-U>9QYY=]9Fy][vD]>=E]>aQ 5m]4eB?Q 9u]4ev)ePBYu7?Q Eu:y}y?Q I}?eBIe(;ie(;es]4yBɮjAnEB>BB]HBIBB =BBB;Bc@EԩjhIMDNOT Ignoring new targets: 71.52 m.RhU1<ZhU1<e ProNav: ac range: 71.517250 m, nav range: 65.834694 m, bearing: 123.488890 deg, approach rate: -0.015718 m/s, LOS rate: 0.542721 deg/s, cmd heading: 143.733982 deg, new cmd heading: 144.553486 deg. Bhe;<HeadingCmd: 2.522934 target range: 71.517250 and range: 71.80 m.hw!@h*h"h hgfffdddjdZd? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509468qKBɢS) i)%uVw!!i%xai=>Թ9@ @@@@@fAE EE,E"E%;*EVEg4ZEBEKV[`,w?AV= >V!?VeڽٱVt=  AHRS rotation from veh to nav: [[0.802094,-0.595572,-0.044038],[0.587619,0.800234,-0.119705],[0.106533,0.070138,0.991832]]VH@? ??``E?? ?iV= >IVJ^;VӑCYIByNHI%=)%>)-AbD5 VD52yM<%MK=ٔMQ-M>9QYQ=U9FyUlvD]v=E]>aQ 5m]4e?Q 9m]4er)ePBYiym!?Q Iu?e)BIey:ie:e]4y}*Bɮ}AyjhDNOT Ignoring new targets: 71.52 m.Rh`<Zh`< ProNav: ac range: 71.517250 m, nav range: 65.823555 m, bearing: 123.703628 deg, approach rate: -0.027999 m/s, LOS rate: 0.539869 deg/s, cmd heading: 144.553482 deg, new cmd heading: 145.197778 deg. Bh@<HeadingCmd: 2.534179 target range: 71.517250 and range: 71.80 m.h/"@h*h"h hgfffdddjdZd&@ ~KBɢ r) i)~i7y `,v?A2A>2'?2ڽٱ2J= :AHRS rotation from veh to nav: [[0.787840,-0.614500,-0.041216],[0.606565,0.785780,-0.120950],[0.106711,0.070289,0.991803]]2H5?`Gh? %?@cQ?w?ؼ?i2A>I21.^;0YB(IByBiHbDNVDNyRe=%VT=ٔVQ-V>9XYX=Z9FyZ{vDZO}=E^>\Q 5b]4^Ŧ?Q 9f]4^o)^PBYdyf'?Q If?^BI^;i^&;^]4ynBɮnAneEjh|DNOT Ignoring new targets: 71.52 m.Rh<Zh < ProNav: ac range: 71.517250 m, nav range: 65.808128 m, bearing: 123.909048 deg, approach rate: -0.040080 m/s, LOS rate: 0.533831 deg/s, cmd heading: 145.197773 deg, new cmd heading: 145.814153 deg. Bh.<%HeadingCmd: 2.544937 target range: 71.517250 and range: 71.80 m.h%@"@h!*h!"h! h!g!f!f)f)d1d1d1jd1Zd5;@eKBɢe8ouchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265516)a uiq)u!yyi}%BLCBHBQIBBBBBx;BZ@Eԙ% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517747^A # A% .AI1 IA OM >)r`,NBʃ?A2>2-?22(۽ٱ2(= :AHRS rotation from veh to nav: [[0.773571,-0.632527,-0.038706],[0.624644,0.771375,-0.121653],[0.106806,0.069930,0.991818]]2H?=Sѣ@? ? $W???i2>I2G0^;2ґCYB>IByBHEN ENEN*EL"EN=;*EN:VEN(N4ZELBENI9 ?Y ?=9FyvDX=E>Q 5]4צ?Q 9]4j)QBY?Q E:y)?Q I?CI3:i':M]4yBɮfEjhDNOT Ignoring new targets: 71.52 m.Rh<Zh<- ProNav: ac range: 71.517250 m, nav range: 65.790176 m, bearing: 124.143577 deg, approach rate: -0.040938 m/s, LOS rate: 0.534970 deg/s, cmd heading: 145.814157 deg, new cmd heading: 146.517897 deg. Bh5<5HeadingCmd: 2.557220 target range: 71.517250 and range: 71.80 m.h5}#@h9*h9"h9 h9g9f9fAfAdAdAԩdjdZd@Ǽ@KBɢa) 1i)"!!i%p1 = BDAT read: Rx Time:03:25:04.4127 = TRx dataTimestamp_ set to:1761535503.560412E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022765Ae ؟AIy ԉ I O >[`,^.價?AJ)>J3?J۽ٱJ= RAHRS rotation from veh to nav: [[0.758633,-0.650524,-0.035975],[0.642645,0.756241,-0.122907],[0.107160,0.070122,0.991766]]JH F?Yk? 3?@vn???iJ)>IJ.M^;JԑCYZMIByZH \\bDf VDf:2ynJ=%nP=ٔrmQ-r>9r"?Yr"?=r9FyvvDvu=Ev>xQ 5~]4z禊?Q 9~]4zf)z QBYy/?Q I?zTCIzB:iz[:z]4yIɮMAIB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 71.52 m.Rh<Zh< ProNav: ac range: 71.517250 m, nav range: 65.769386 m, bearing: 124.353082 deg, approach rate: -0.050925 m/s, LOS rate: 0.513341 deg/s, cmd heading: 146.517899 deg, new cmd heading: 147.146586 deg. BhM&<eHeadingCmd: 2.568192 target range: 71.517250 and range: 71.80 m.heD]$@ha*hi"hi higififqfydddjdZd @E- E-E)E)"E-O;*E-:VE)ZE)a5@a5@a5@a5@颭KBɢg) Si)ӋiB B HB IBB =B B DB y;B X@EBMCBMCBB̌ =B̌ =C-/5A) I1 IA OU >Ca,T?A2?29?2P۽ٱ2=Տ= bAHRS rotation from veh to nav: [[0.743360,-0.668065,-0.033242],[0.660269,0.740825,-0.123384],[0.107055,0.069770,0.991802]]2H?@`@ ?մ?g?`qܱ?׼?i2?I2E^;0YjiIByjHieMb@Mb@Mb@aaDAT read: 03:25:04.4127 LVL= 17536, 25745, 21426, 26611, AGC= 63, IDX= 450,-0.39,-1.632, 3.039, 2.671,-2.393, PHS= 0.864,-0.806,-1.263, RAW= 78.2, 12.4, CAL= 77.8, 16.0, ROT= 72.2, -16.0 Ygot valid direction response: 03:25:04.4127 LVL= 17536, 25745, 21426, 26611, AGC= 63, IDX= 450,-0.39,-1.632, 3.039, 2.671,-2.393, PHS= 0.864,-0.806,-1.263, RAW= 78.2, 12.4, CAL= 77.8, 16.0, ROT= 72.2, -16.0 PDAT read: Bearing 252.7, 73.0 (Local) ~Local bearing/azimuth received: Bearing 252.7, 73.0 (Local) DAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.293853,0.915245,0.275637]Fpublishing direction and range infoyimk}?tI? ?YiimDmdmS mg)m?Im/]?imVNmmR?mk]>mέ? m5>)mK?Im5iim /.N?&#ͅv? m:)mo]ImK?im5iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aa a9eRQ?9Y=9FyvD2=E> Q 5^4 ?Q 9^4 a) IQBY="?Q E=:y=/?Q IE? CI  % BDAT read: Tx time:03:25:05.7127 - $Ping request sent.- 9~ ?Y~ ?=9FyvDi=E> Q 5^4 ?Q 9^4 \) hQBYyv5?Q I? CI f;i ; ^4y!ɮ%tA!jhIUDNOT Ignoring new targets: 71.52 m.RhUq<ZhUq<e ProNav: ac range: 71.515564 m, nav range: 68.525513 m, bearing: 122.118665 deg, approach rate: -0.100206 m/s, LOS rate: 0.554088 deg/s, cmd heading: 147.985324 deg, new cmd heading: 148.619365 deg. Bhe"<mHeadingCmd: 2.593897 target range: 71.515564 and range: 71.80 m.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250973hmj&@hy*hy"hy hygfffdddjdZd>?颽KBɢWt) Pi)ia,;?AYuIByuHiMb@Mb@Mb@ 9S㥛?~jt:v?Y$?yT<rA(A A)Y AbDVDy%_%%9=ٔ%Q-->9-"?Y-"?=59Fy5vD5E5>9Q 5E^4=| ?Q 9E^4=W)=QBYE/%?Q EM:yMO0?Q IM?=4CI=3:i=:=e%^4yU.BɮUAUgEjhy}DNOT Ignoring new targets: 71.52 m.Rh<Zh< ProNav: ac range: 71.515564 m, nav range: 68.489891 m, bearing: 122.353691 deg, approach rate: -0.080515 m/s, LOS rate: 0.531503 deg/s, cmd heading: 148.619370 deg, new cmd heading: 149.324778 deg. Bhb<HeadingCmd: 2.606209 target range: 71.515564 and range: 71.80 m.h!&@h*h"h hgffB5>B5KCB5 HB5IBB5 =B1B1B5;B5h@EIfdddjdZd@??]KBɢ]Ab)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755034  i)顡i\)a,X?A2q?2.[Q?2Bڽٱ2C= >AHRS rotation from veh to nav: [[0.679930,-0.733024,-0.019241],[0.725481,0.676286,-0.127729],[0.106641,0.072888,0.991622]]2H@?@t@`#7?"?oYL? ɨ?^?i2q?I2ak^;2ёCYFIByFH J49XYX=Z9FyZvD^!)>E^>`Q 5f^4b0?Q 9f^4b+S)bQBYhyjA?Q Ij?bxCIb:ib:b3^4yn9BɮnAnhEjhDNOT Ignoring new targets: 71.52 m.Rh <Zh < ProNav: ac range: 71.515564 m, nav range: 68.439629 m, bearing: 122.571811 deg, approach rate: -0.121281 m/s, LOS rate: 0.526698 deg/s, cmd heading: 149.324779 deg, new cmd heading: 149.979587 deg. Bh<%HeadingCmd: 2.617638 target range: 71.515564 and range: 71.80 m.h%`'@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=?KBɢ4{) i)&iDq a,__r?A2 b?28W?2%ڽٱ2c= :AHRS rotation from veh to nav: [[0.663137,-0.748330,-0.015838],[0.740875,0.659249,-0.128431],[0.106550,0.073433,0.991592]]2H`k8?R7 @?`? mpF?̲? ?i2 b?I2Q^;2֑CYBIByB#H DDbDN VDN2yVŻ=%VL=ٔV7p9Q-Z>9XYX=Z9FyZvD^Gj=E^>!Q 5-^4%@?Q 9-^4%FN)%QBY1y5G?Q I5?%CI%:i%1:%RB^4i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511150yMBɮMAM^EmB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 71.52 m.Rh}_<Zh_< ProNav: ac range: 71.515564 m, nav range: 68.384560 m, bearing: 122.788572 deg, approach rate: -0.132601 m/s, LOS rate: 0.522360 deg/s, cmd heading: 149.979589 deg, new cmd heading: 150.630368 deg. Bh><HeadingCmd: 2.628996 target range: 71.515564 and range: 71.80 m.hxA(@h*h"h hgfffdddjdZdr?KBɢ\l) Mi)hiB}MCB}JHB}IBB} =ByB}ºDB};B}@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763200) ^Am FӅA I I O >Q "a, D?AbEijEirEm/E2 E2E2-E0"E2 ;*E2:VE2t4ZE0BE2L9Y=9FywDTM=E>Q 5 ^4Q?Q 95^4!I)QBY5$?Q E5:y5&)a,b?A:+?:Fb?:+ٽٱ:xٟ= BAHRS rotation from veh to nav: [[0.628679,-0.777638,-0.006495],[0.770387,0.623914,-0.131284],[0.106144,0.077532,0.991323]]:H#?hܚz??`D,?ٳ??i:+?I:.^;:ԑCYJIByJeHRAARAAbDVVDV y^.=%^[=ٔ^]Q-b>9`Y`=b9FybwDfI=Ef>hQ 5n^4j^?Q 9n^4jD)jRBYlyn.O?Q Ir?j?CIjI;ij;jX^^4ytɮvAtjhDNOT Ignoring new targets: 71.52 m.Rh<Zh<- ProNav: ac range: 71.515564 m, nav range: 68.272514 m, bearing: 123.207104 deg, approach rate: -0.148072 m/s, LOS rate: 0.527579 deg/s, cmd heading: 151.310560 deg, new cmd heading: 151.886940 deg. Bh- <5HeadingCmd: 2.650927 target range: 71.515564 and range: 71.80 m.h5˨)@h1*h9"h9 h9gIE] E]E])EY"E];*E]Z:VE]FA4ZEYam@am@am@am@ifffdddjdZdR@eLBɢe#a)a e ii)miiim{Bi Bm HBm JBBm =Bi Bi Bm ;Bm @EAAIIIaOm>1a,0Ą?A4<ɰ2'0?2h?2Nڽٱ2=>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898 vAHRS rotation from veh to nav: [[0.610677,-0.791875,-0.002785],[0.784719,0.605624,-0.132043],[0.106249,0.078450,0.991240]]2H@?` Wdfk? Ea?3?@P?=?i2'0?I2<^;2ӑCY~JBy~xHIR>);AiMb@Mb@Mb@ 9MbX9?J +:v?Y!?yHT<AA ?A)Y AbDVD02yG<%"=ٔ[Q->9Y=9Fy,wDM<=E>Q 5^4p?Q 9^4>)8RBYO"?Q E:yT?Q I?CI7;i6;o^4y2BɮA`EjhDNOT Ignoring new targets: 71.52 m.Rhq<Zhq< ProNav: ac range: 71.515564 m, nav range: 68.194633 m, bearing: 123.464996 deg, approach rate: -0.154478 m/s, LOS rate: 0.512117 deg/s, cmd heading: 151.886946 deg, new cmd heading: 152.661457 deg. Bh<HeadingCmd: 2.664445 target range: 71.515564 and range: 71.80 m.hE*@h*h"h hgfffdddjdZd`@m-LBɢmTl)i m ii)uԫqqiu1yc7a,ބ?A2G7?2n?2ڽٱ2\= :AHRS rotation from veh to nav: [[0.592058,-0.805895,0.000733],[0.798812,0.586733,-0.132829],[0.106616,0.079228,0.991139]]2H@#?H? ޏ??2K?JH?h?i2G7?I2r^;2בCYB JByB~HbDNVDN:yVbM<%VX=ٔVQ-V>9Z ?YZ ?=Z9FyZ;wD^}=E^>`Q 5f^4b}?Q 9f^4b9)bVRBYdyfZ?Q If?bCIb):ib:b0}^4ylɮnAljhyDNOT Ignoring new targets: 71.52 m.Rh` <Zh` < ProNav: ac range: 71.515564 m, nav range: 68.131462 m, bearing: 123.658469 deg, approach rate: -0.160139 m/s, LOS rate: 0.490906 deg/s, cmd heading: 152.661463 deg, new cmd heading: 153.242398 deg. Bhs<HeadingCmd: 2.674584 target range: 71.515564 and range: 71.80 m.hd,+@h*h"h hgfffdddjdZd @ EA>M DAT read: 03:25:08.2119 LVL= 17520, 27745, 27298, 29763, AGC= 65, IDX= 425,-0.04, 1.394,-0.344,-0.247, 0.835, PHS= 0.661,-1.134,-1.126, RAW= 90.2, 17.5, CAL= 90.2, 21.9, ROT= 59.8, -21.9 AU ؟AIa } Ygot valid direction response: 03:25:08.2119 LVL= 17520, 27745, 27298, 29763, AGC= 65, IDX= 425,-0.04, 1.394,-0.344,-0.247, 0.835, PHS= 0.661,-1.134,-1.126, RAW= 90.2, 17.5, CAL= 90.2, 21.9, ROT= 59.8, -21.9  PDAT read: Bearing 256.2, 60.7 (Local) ԑ  ~Local bearing/azimuth received: Bearing 256.2, 60.7 (Local)  DAT read: Range 11 to 50 : 71.2 m (Round-trip 95.0 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.466720,0.801905,0.372988]I O5 >=a,?AFpublishing direction and range infoy)-c&(+?θ5?0?Y-fB)-pD-al-j -Ct)-AI-L7)?i-&- --)-0?I-Eþ))-m`C|?;O޿&C? - )-nI-0?i-Eþ))*T****** received valid address query *******R****** received valid ping request ******>Querying Benthos address 50 with one ping in standard two-way mode.qBBHBEJBB =BBB;Bs@EQ->9"?Y"?=9FyQwD 1=E>Q 5^4?Q 9^42)RBY]%?Q E:y6a?Q I?&CIW;i5;^4y%=Bɮ%A-aEi)i-*?AJi-֍BRi-֍Bji-r@b-@@4m;koL@+;ȴs:@R-c&(+?θ5?0?ԙZi-0?bi-Eþj-P;SZK@ uɌ(A@Z-G,>=ؿ)/?x?2i-^B:i-"i-n7?*i-@y{Bi-Bi-`0?i)i)i-bBi-@ addTargetRange:: Added new target pos. range: 71.199997 m, deltaT: 3.780448 s, deltaX: -0.600006 m, approachRate: -0.158713 m/s, rangeRepo size: 4  Added new target pos. range: 70.919151 m, bearing: 116.313666 deg, lat: 36.779326 deg, lon: -121.859580 deg, deltaT: 3.780448 s, deltaX: -0.596413 m, approachRate: -0.157762 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 70.92 m.RhZh% ProNav: ac range: 70.919151 m, nav range: 65.692459 m, bearing: 120.773659 deg, approach rate: 0.000000 m/s, LOS rate: 0.490906 deg/s, cmd heading: 153.242397 deg, new cmd heading: 154.040000 deg. Bh!-HeadingCmd: 2.688505 target range: 70.919151 and range: 71.20 m.h-x,@h)*h)]*DAT read: user:325> ]BDAT read: Tx time:03:25:09.5127 e$Ping request sent.eF=bDNVDNkyVV=%VK=ٔV(Q-V>9Z ?YZ ?=Z9FyZawD^q=E^>`Q 5f^4b?Q 9f^4b-)bRBYdyfg?Q If?bfCIb:ib;b^4yn!BɮnAnWEuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 70.92 m.Rh<Zh< ProNav: ac range: 70.919151 m, nav range: 65.603142 m, bearing: 120.978330 deg, approach rate: -0.228542 m/s, LOS rate: 0.524417 deg/s, cmd heading: 154.040000 deg, new cmd heading: 154.654823 deg. Bh<HeadingCmd: 2.699236 target range: 70.919151 and range: 71.20 m.hH,@h*h"h hgfffdddjdZd]?)颍aLBɢFy) _i)n顑iipԱ wLa,k4?A2H?2]?2ݽٱ2 = :AHRS rotation from veh to nav: [[0.534749,-0.844938,0.011144],[0.838085,0.528634,-0.134759],[0.107972,0.081402,0.990816]]2H? ҆??? ??ִ? ô?i2H?I2^;0YBTJByBHbDJVDJ1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755321yED=%EA=ٔM̺Q-M>9U"?YU"?=U9FyUrwD]=E>Q 5^4櫧?Q 9^4')RBYym?Q I?CI$:i:^4yɮAjhDNOT Ignoring new targets: 70.92 m.Rh%<Zh%<5 ProNav: ac range: 70.919151 m, nav range: 65.497948 m, bearing: 121.206164 deg, approach rate: -0.249191 m/s, LOS rate: 0.540572 deg/s, cmd heading: 154.654826 deg, new cmd heading: 155.339390 deg. Bh5~<}HeadingCmd: 2.711184 target range: 70.919151 and range: 71.20 m.h} -@hy*hy"hy hygyfffdddjdZd?ԙ=sLBɢ=po)9 =iA)Ew2AAiEmBBHBnJBB =BBúDBb;BG@EBBBBBC5 9@  @ @ 3@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929^A ƂA fAzA  E  E E *E "E ;*E :VE (N4ZE BE D0Sa,IgP?A2N?2@N?24޽ٱ2== :AHRS rotation from veh to nav: [[0.515329,-0.856885,0.013542],[0.850088,0.509112,-0.134744],[0.108566,0.080949,0.990788]]2H`}?k?3?J?I?`ʻ? ??i2N?I2,^;2בCYB[JByBHiMMb@Mb@Mb@IIII I9M}?5^I?I +~jt?YMM"?yM94MD9} ?Y} ?=}9Fy}wD`Y=E>Q 5^4?Q 9^4!)RBY"?Q E:ygt?Q I?CIW1;i/;^4y+BɮAXEjhDNOT Ignoring new targets: 70.92 m.Rh<Zh< ProNav: ac range: 70.919151 m, nav range: 65.390991 m, bearing: 121.422702 deg, approach rate: -0.249942 m/s, LOS rate: 0.506846 deg/s, cmd heading: 155.339388 deg, new cmd heading: 155.990038 deg. Bh<HeadingCmd: 2.722540 target range: 70.919151 and range: 71.20 m.h>.@h*h"h hgfffdd d jd Zd K?=LBɢ=Uy)9 =8 iA)EmƾAAiEz[k.@IIIU>.@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259930M99@ @@0@I^A% #߽ $?߽ }? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511856AQ IY Ii q O} >Za,4/j?A2fT?2D?2Uٱ277= :AHRS rotation from veh to nav: [[0.495492,-0.868466,0.015966],[0.861706,0.489156,-0.134870],[0.109320,0.080585,0.990735]]2H$?xkY??SN?jCd?8?@?i2fT?I2w^;2ԑCYBxJByBHIF >)F=HJAbDNVDNJyVE=%VY=ٔVQ-V>9XYX=Z9FyZwD^L{=E^>`Q 5f^4b:ħ?Q 9f^4b)bSBYdyfSz?Q Ij?b0CIb:ib:b2^4ylɮrApjh%DNOT Ignoring new targets: 70.92 m.Rh-<Zh-< ProNav: ac range: 70.919151 m, nav range: 65.292274 m, bearing: 121.612572 deg, approach rate: -0.259762 m/s, LOS rate: 0.500374 deg/s, cmd heading: 155.990032 deg, new cmd heading: 156.560482 deg. Bh<HeadingCmd: 2.732496 target range: 70.919151 and range: 71.20 m.h6.@h*h"h hgfffddd jd Zd @?E= E=E=-E9"E=;*E=M:VE=t4ZE9aE@aE@aE@aM@Q颭LBɢBq) ii)ǚ¼顱imhB B 8HB JBB =B B ºDB >;B "@E A ؟AI I) O= >iaa,셅?A2Z?2Z6?2ٱ26= :AHRS rotation from veh to nav: [[0.475489,-0.879542,0.017798],[0.872812,0.469127,-0.134604],[0.110040,0.079537,0.990740]]2H@in?`4%@9? ?.?:@+?\?#?i2Z?I2#:^;2בCYBJByB%HNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913i}Mb@Mb@Mb@yyyy y9}K7A?{Gz{Gzt?Y} "?y}#}ף;yy }?A)}AyY}AbD VD:2yV=%.=Iٔ/ʺQ->9"?Y"?=9FywDM:=E>Q 5^4ҧ?Q 9^4)+SBY%`"?Q E%:y%?Q I%?CI:;i;^4y56Bɮ5A5YEjhq}DNOT Ignoring new targets: 70.92 m.RhW <ZhW < ProNav: ac range: 70.919151 m, nav range: 65.152420 m, bearing: 121.864265 deg, approach rate: -0.274062 m/s, LOS rate: 0.494279 deg/s, cmd heading: 156.560476 deg, new cmd heading: 157.317128 deg. Bh<HeadingCmd: 2.745702 target range: 70.919151 and range: 71.20 m.h/@h*h"h hgfffdddjdZd`@LBɢʨp) i) tƼiJeeA > A I I! O1 1ha, ?A2ޑ`?2N4?2ٱ2ģ= :AHRS rotation from veh to nav: [[0.454909,-0.890305,0.020360],[0.883590,0.448391,-0.134964],[0.111030,0.079386,0.990641]]2H8?a}Hٔ?]F?n?}F@pl?R?`U?i2ޑ`?I2^^;2֑CYNJByNHHbD^VD^N2yf|=%fL=ٔj"Q-j>9hYh=n9FynwDnt=En>pQ 5v^4r~ܧ?Q 9^4ri)rFSBYy?Q I?rCIrj%na,PU?AY]JByeWH ==bDVD09ye9<%m4=ٔuQ-}>9Y=9FywDE>Q 5^4%駊?Q 9^4 )hSBYyQ I?CI;i;^4yBɮ%A%OEjhIDNOT Ignoring new targets: 70.92 m.Rh<Zh< ProNav: ac range: 70.919151 m, nav range: 64.915314 m, bearing: 122.273793 deg, approach rate: -0.301182 m/s, LOS rate: 0.523686 deg/s, cmd heading: 157.857160 deg, new cmd heading: 158.547929 deg. Bh<HeadingCmd: 2.767183 target range: 70.919151 and range: 71.20 m.h1@h*h"h hB>BLCBvHBJBB =BBB;;B@EgfffdddjdZd @%LBɢ%άt)) -i))-ڏͼ))i56_Iua,.օ?Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275086vJr?v?v`ٱv*= AHRS rotation from veh to nav: [[0.392582,-0.919301,0.027660],[0.912661,0.385676,-0.135294],[0.113708,0.078358,0.990419]]vH  ?jR? 4? ?MQ??? ?ivJr?Iv1 ^;vՑCYJBypHiMb@Mb@Mb@ 9Q?9)Y)=-9Fy-wD5^/>E5>9Q 5E_4=_?Q 9E_4=)=SBYEn?Q EE:yEv?Q IM?=FCI=v:i=:=_4yU$BɮQUPEjhy}DNOT Ignoring new targets: 70.92 m.Rh<Zh< ProNav: ac range: 70.919151 m, nav range: 64.789879 m, bearing: 122.458556 deg, approach rate: -0.319299 m/s, LOS rate: 0.471232 deg/s, cmd heading: 158.547924 deg, new cmd heading: 159.103269 deg. Bh<HeadingCmd: 2.776876 target range: 70.919151 and range: 71.20 m.hV1@h*h"h hgfffdddjdZdȸ @LBɢl) i)мip1]u5? uϢv>)uplN?IuϢvqqu'?)Aҿdߘ? u[)uVVIuplN?iuϢvqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A- #A- gAzA) I I O >) h{a,U?AE" E"E"/E "E";*E":VE"J4ZE a&@a&@a&@a&@:Nx?:?:;ٱ:r= FAHRS rotation from veh to nav: [[0.370988,-0.928110,0.031293],[0.921539,0.363784,-0.135749],[0.114606,0.079199,0.990249]]:HD?` ?>}?9!Y!=%9Fy%wD-=E->1Q 5]_45j?Q 9]_45)5SBYYyex?Q Ie?5CI5;i5:5_4yiɮmAiii煹?AJiBRiBjiŅ@b|!]wG@ (kxH@Ӫ0@Rlh]?Sʫm?iC?ZiplN?biϢvj#g};SpeM@y_9@Zꢑ2ٿ+4??2i,kB:i"i+5힊?*ig]BiBiz?iB8iBiBis@ addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.779393 s, deltaX: -1.099998 m, approachRate: -0.291052 m/s, rangeRepo size: 4 - Added new target pos. range: 69.823036 m, bearing: 115.059363 deg, lat: 36.779354 deg, lon: -121.859560 deg, deltaT: 3.779393 s, deltaX: -1.096115 m, approachRate: -0.290024 m/s, posRepo size: 4 jh)UDNOT Ignoring new targets: 69.82 m.RhUZhQe ProNav: ac range: 69.823036 m, nav range: 64.550385 m, bearing: 119.473302 deg, approach rate: 0.000000 m/s, LOS rate: 0.471232 deg/s, cmd heading: 159.103273 deg, new cmd heading: 159.651610 deg. BhamHeadingCmd: 2.786446 target range: 69.823036 and range: 70.10 m.h#U2@h*h"h hgfffdddjd`fQ@Zd?*DAT read: user:326> BDAT read: Tx time:03:25:13.2627 $Ping request sent.Bu MCBu HBu KBBq Bq Bq Bu 4;Bu @E^A I! I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772dNa,G ?A Y=JBy=HIE=)E49)Y)=59Fy5wD5E5>9Q 5E_4=?Q 9E_4=q)=SBYM?Q EM:yMR?Q IM?=CI=:i=:=!_4yQɮUAYjhyDNOT Ignoring new targets: 69.82 m.RhR<ZhR< ProNav: ac range: 69.823036 m, nav range: 64.397285 m, bearing: 119.667378 deg, approach rate: -0.366923 m/s, LOS rate: 0.466236 deg/s, cmd heading: 159.651615 deg, new cmd heading: 160.235207 deg. Bh<HeadingCmd: 2.796632 target range: 69.823036 and range: 70.10 m.h2@h*h"h hgfffdddjdZd?MBɢ) yi)b׼i?WTxa,#?A2 #?2?2ZVٱ2j= :AHRS rotation from veh to nav: [[0.327463,-0.944136,0.037092],[0.937702,0.319907,-0.135552],[0.116113,0.079169,0.990076]]2H`)?[6 ??`Zy? Y ?@pD?`?i2 #?I2>/^;2֑CYBKByBHbDJVDJk2yv[i=%va=ٔzQ-z>9xYx=~9Fy~ xD|J>E> Q 5_4 I ?Q 9_4  ) SBYyM?Q I? CI :i ; ._4y!ɮ%hA!EB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 69.82 m.RhUv;ZhUv;e ProNav: ac range: 69.823036 m, nav range: 64.261940 m, bearing: 119.824288 deg, approach rate: -0.370942 m/s, LOS rate: 0.430949 deg/s, cmd heading: 160.235213 deg, new cmd heading: 160.706923 deg. Bhm<mHeadingCmd: 2.804865 target range: 69.823036 and range: 70.10 m.hm3@hq*hq"hq hqgqfqfyfydyddjdZde?颵MBɢ0) wi)M[ڼ项iTII O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771ԁ fa,a=?A2/?2e?2Sٱ22M= :AHRS rotation from veh to nav: [[0.305020,-0.951488,0.040424],[0.945122,0.297216,-0.135673],[0.117077,0.079588,0.989929]]2Hs?re?p>??] ?_?~?i2/?I2v^;2בCYB"KByBHbDfVDfkyj=%nL=ٔnQ-n>9pYp=r9FyrxDr\s=Ev>tQ 5z_4v?Q 9~_4v)vSBY|y~Y?Q I~?v:CIv ;iv ;v<_4yBɮAHEԁjhDNOT Ignoring new targets: 69.82 m.Rh$;Zh$;B>BLCBHBCKBB =BBBB@E] ProNav: ac range: 69.823036 m, nav range: 64.109253 m, bearing: 119.994216 deg, approach rate: -0.338780 m/s, LOS rate: 0.377931 deg/s, cmd heading: 160.706920 deg, new cmd heading: 161.217904 deg. Bh]<]HeadingCmd: 2.813783 target range: 69.823036 and range: 70.10 m.he4@ha*ha"ha hagafafifdddjdZdy>?&MBɢs) )i) I޼))i-_Q9Y=9Fy1xD =E>Q 5_4s?Q 9_4D)TBY?Q E:yš?Q I?CI:i:bQ_4yɮAjhDNOT Ignoring new targets: 69.82 m.Rh<Zh< ProNav: ac range: 69.823036 m, nav range: 63.883190 m, bearing: 120.242767 deg, approach rate: -0.418054 m/s, LOS rate: 0.461266 deg/s, cmd heading: 161.217900 deg, new cmd heading: 161.966146 deg. BhH<HeadingCmd: 2.826843 target range: 69.823036 and range: 70.10 m.h4@h*h"h hgfffd d d jd Zd @?颽?MBɢ`l) ki)ۙi=,ME5a,З{?A0B?Bv?BٱBi= NAHRS rotation from veh to nav: [[0.260973,-0.964298,0.044975],[0.958072,0.253017,-0.134463],[0.118283,0.078180,0.989897]]BHɳ?@??n1?`6 G? ?=?iB?IBV#^;BבCYVlKByV2HbD^VD^:2yf=%fW=ٔjWĺQ-j>9hYh=j9FyjAxDnx=En>pQ 5v_4r#?Q 9v_4r)r8TBYxyz?Q Iz?rCIr:ir:r^_4y|ɮ~pAjh!%DNOT Ignoring new targets: 69.82 m.Rh-;Zh-;= ProNav: ac range: 69.823036 m, nav range: 63.734638 m, bearing: 120.400212 deg, approach rate: -0.391582 m/s, LOS rate: 0.415992 deg/s, cmd heading: 161.966147 deg, new cmd heading: 162.439573 deg. Bh=<EHeadingCmd: 2.835105 target range: 69.823036 and range: 70.10 m.hE^r5@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]@@颭QMBɢ&{) i) i9JBB>HBvKBB =BBB3;B@EBLCBLCBBBË =Cmc59checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713ԹQ 9@  @ @ 0@ E  E E +E "E ;*E :VE [4ZE BE L( ?>?>mٱ>e>= FAHRS rotation from veh to nav: [[0.238849,-0.969967,0.045996],[0.963782,0.231006,-0.133272],[0.118644,0.076162,0.990012]]>H@? ͌?`L?? q_?Z?,?i>( ?I>^;)R;i%Mb@Mb@Mb@!!!! !9%S?y&1:v?Y%?y%`e%T<%A%A %A)%A!Y%AbD=VD=:yM;B=%M=ٔU1Q-U>9YYY=]9Fy]WxD]5/=Ee>aQ 5m_4e,?Q 9u_4e)edTBYuR?Q Eu:yuڝ?Q I}?e$CIe;ie;epq_4yɮn a,Ǻ?AB8?B߬?BٱBk= NAHRS rotation from veh to nav: [[0.216910,-0.975018,0.047849],[0.968981,0.209103,-0.131723],[0.118427,0.074937,0.990131]]BH?`Y3 ?@?? O@AQ?@ /?`'?iB8?IBi.^;\B֑CYzKByzwHbD%VD%:y-=%5M=ٔ5S:Q-5>99YA=E9FyEgxDEh=EE>IQ 5U_4M/3?Q 9U_4eBDAT read: Rx Time:03:25:15.7587 eTRx dataTimestamp_ set to:1761535514.900383mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024055M)MTBYqyuà?Q Iu?MaCIM;iM;Mh_4y}Bɮ}*AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 69.82 m.RhL;ZhL; ProNav: ac range: 69.823036 m, nav range: 63.367607 m, bearing: 120.786003 deg, approach rate: -0.393561 m/s, LOS rate: 0.406183 deg/s, cmd heading: 163.109453 deg, new cmd heading: 163.600311 deg. Bha<HeadingCmd: 2.855364 target range: 69.823036 and range: 70.10 m.hI6@h*h"h hgfff1d1d9d9jd9Zd=`-p @颍|MBɢz) i)Ƽ顱iBBKCBHBKBB =BBDB);B@E! checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876^Am #I I O >A Na,І?A ~j>|En EnEn-El"En ;*En:VEnt4ZElBEnR= eAHRS rotation from veh to nav: [[0.173331,-0.983400,0.053671],[0.977852,0.165350,-0.128315],[0.117311,0.074724,0.990280]]MH/?xz?@J?`.*? l ?!?_?iMٯ?IM ^;IYKByHADAT read: 03:25:15.7587 LVL= 20912, 30529, 32690, 32755, AGC= 66, IDX= 425, 0.38, 1.578,-0.546, 0.461, 0.907, PHS= 0.774,-1.408,-0.489, RAW= 114.8, 11.8, CAL= 116.0, 13.2, ROT= 34.0, -13.2 Ygot valid direction response: 03:25:15.7587 LVL= 20912, 30529, 32690, 32755, AGC= 66, IDX= 425, 0.38, 1.578,-0.546, 0.461, 0.907, PHS= 0.774,-1.408,-0.489, RAW= 114.8, 11.8, CAL= 116.0, 13.2, ROT= 34.0, -13.2 PDAT read: Bearing 256.8, 40.3 (Local) ~Local bearing/azimuth received: Bearing 256.8, 40.3 (Local) DAT read: Range 11 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.807134,0.544418,0.228351]Fpublishing direction and range infoyaeh ?+t k? :?YeBaeQeAwe e)eBIe$F?ieX9e5^e;@eBR>e@ ek>)e?Iekaae0U1?K᮶*;7? e>湽)e8SIe?iekaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 91Zd?&1y&1?Y"?yP`<=A )ΪAYQAbD VD Jy@T=%=ٔ% ;Q-%>9!Y!=-9Fy-}xD-0=E->1Q 55_458:?Q 9=_45e)5TBY=?Q E=:y=Q?Q I=?5CI5 =i5 =5_4yEBɮMiAM?Eiaie(ن?AJieBRieBjie~G?beNMBŧK@ϴ]B@#=(K/@Reh ?+t k? :?Zie?biekje_ϜB:lM@А}8@Zesؿ|6 3?Z)"?2iehB:ie"ieX^;?*ie ZBielBien7?ie) iaie_|Bie@U addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.780299 s, deltaX: -1.299995 m, approachRate: -0.343887 m/s, rangeRepo size: 4 e Added new target pos. range: 68.527344 m, bearing: 114.268939 deg, lat: 36.779380 deg, lon: -121.859542 deg, deltaT: 3.780299 s, deltaX: -1.295692 m, approachRate: -0.342749 m/s, posRepo size: 4 jhaimDNOT Ignoring new targets: 68.53 m.RhZh ProNav: ac range: 68.527344 m, nav range: 63.092979 m, bearing: 117.901688 deg, approach rate: 0.000000 m/s, LOS rate: 0.406183 deg/s, cmd heading: 163.600311 deg, new cmd heading: 164.314100 deg. BhHeadingCmd: 2.867822 target range: 68.527344 and range: 68.80 m.hf7@h*h"h hgfff)d)d)d)jd-@33Q@Zd5?}MBɢ}d) i)D顡ix> % BDAT read: Tx time:03:25:17.0627 % $Ping request sent.% '?>~?>nٱ>4= FAHRS rotation from veh to nav: [[0.151241,-0.986926,0.055697],[0.981610,0.143310,-0.126113],[0.116483,0.073746,0.990451]]>H[?@G?Yi?@W?{$@ѽ?`?`Ʊ?i>'?I>^;>בCYnKBynH ppbDvVDvfy~=%W=ٔ;Q->9 Y = 9Fy xD r=E >9QQ 5e_4UO??Q 9e_4U)UTBYaym6?Q Im?UCIUB) B- HB- KBB- =B) B) B- ';B- ?E^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503391A .AI I O >a, ?A2u?2a?29ٱ2Œ= :AHRS rotation from veh to nav: [[0.129096,-0.989943,0.057853],[0.984874,0.121199,-0.123831],[0.115574,0.072964,0.990615]]2H:?ݞ???^9U ?YU ?=U9FyUxD]E=E]>Q 5_4/D?Q 9_4&) UBYz?Q E:yѬ?Q I?8CIi:i:ׯ_4yɮAD=D=bEM [4jEM2`4rEM7/E EE*E"E~ ;*Ey:VE(N4ZEBE V_a,B*?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006594R!p?R[?R+hٱRJ= ZAHRS rotation from veh to nav: [[0.106157,-0.992514,0.060389],[0.987713,0.098249,-0.121535],[0.114692,0.072549,0.990748]]RH-?R?W? &?q\? ? 6?iR!p?IRe&^;RّCYbLBybHllbDrVDr:y~>%~E=ٔ ;Q->9 "?Y "?= 9Fy xDd=E>!Q 5-_4%\H?Q 9-_4%)%6UBY1y5̯?Q I5?%xCI%I;i%J;%J_4yAɮEAIjhDNOT Ignoring new targets: 68.53 m.Rh;Zh; ProNav: ac range: 68.527344 m, nav range: 62.509369 m, bearing: 118.359972 deg, approach rate: -0.501589 m/s, LOS rate: 0.380854 deg/s, cmd heading: 165.249474 deg, new cmd heading: 165.693182 deg. Bh<HeadingCmd: 2.891891 target range: 68.527344 and range: 68.80 m.h9@h*h"h hgfffdddjdZd1t?}MBɢ}}v) ھi)TJ顩i/5B B 8HB ALBB B B B .;B @EA .AIA Ia O >a,PG?A:;ɰ:;VLf?VQ?VٱV= ^AHRS rotation from veh to nav: [[0.083289,-0.994487,0.063707],[0.990044,0.075299,-0.118927],[0.113474,0.072978,0.990857]]VHpR?O?p?`F?q ?? ?iVLf?IV^;TYf9 ?Y ?=9FyxDE=E>Q 5_4L?Q 9_4ά)gUBY#?Q E:y?Q I?CIL:i@:_4yBɮ A5EB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 68.53 m.Rh- ;Zh- ;= ProNav: ac range: 68.527344 m, nav range: 62.274075 m, bearing: 118.534355 deg, approach rate: -0.496235 m/s, LOS rate: 0.369162 deg/s, cmd heading: 165.693177 deg, new cmd heading: 166.218286 deg. Bh=Z}<EHeadingCmd: 2.901056 target range: 68.527344 and range: 68.80 m.hE9@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]?颍MBɢHs) ־i)2顑i-2a, `?A2 C?2k.?2Aٱ2F= >AHRS rotation from veh to nav: [[0.061138,-0.995862,0.067244],[0.991775,0.053021,-0.116494],[0.112446,0.073813,0.990912]]2HM?`6?@?%?ҽIɼ?e??i2 C?I2xP^;2֑CYFLLByFEHbDNVDN1yV3=%V`=ٔV :;Q-Z>9Z"?YZ"?=Z9FyZxD^i{=E^>`Q 5f_4bP?Q 9f_4bԦ)bUBYdyj?Q Ij?b CIb:ib:b_4ynBɮnAn6EjhDNOT Ignoring new targets: 68.53 m.Rh ;Zh ; ProNav: ac range: 68.527344 m, nav range: 62.092102 m, bearing: 118.664304 deg, approach rate: -0.500241 m/s, LOS rate: 0.358276 deg/s, cmd heading: 166.218282 deg, new cmd heading: 166.609265 deg. Bhu<%HeadingCmd: 2.907880 target range: 68.527344 and range: 68.80 m.h%:@h!*h!"h) h)g)f)f1f1d1d1d1jd1ZdV@MBɢ{) 1ؾi )   i V/<9i:@I:@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015300a9@ @@0@ԉE EE,E"E ;*EZ:VEg4ZEa@a@a@a@^A FӅԹ I I O >` a,|z?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687:^6?:!?:*ٱ:= BAHRS rotation from veh to nav: [[0.038267,-0.996723,0.071263],[0.993013,0.029963,-0.114141],[0.111631,0.075133,0.990905]]:H?`(J>???P8ݓ?;?@?i:^6?I:$^;:בCYJmLByJnH PRbDRVDR0yZߢ=%^I=ٔ^;Q-^>9`Y`=b9FybxDbg=Ef>hQ 5j_4j S?Q 9n_4j)jUBYlyn?Q In?jC CIj:ij:j_4ypɮvAtjhDNOT Ignoring new targets: 68.53 m.Rh;Zh;% ProNav: ac range: 68.527344 m, nav range: 61.885323 m, bearing: 118.806215 deg, approach rate: -0.507436 m/s, LOS rate: 0.349412 deg/s, cmd heading: 166.609269 deg, new cmd heading: 167.036416 deg. Bh-o<5HeadingCmd: 2.915335 target range: 68.527344 and range: 68.80 m.h5۔:@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEx@uNBɢuVx)y }KѾiy)}8yyi}-BBHB~LBBBBB,;B@EԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518503^A#I I O >E  E E E "E O;*E :VE ZE BE -Y9)Y)=-9Fy5xD5dV=E5>9Q 5E_4={U?Q 9E_4=)=UBYM$?Q EM:yM?Q IM?= CI=:i=:=_4yQɮUAYjhyDNOT Ignoring new targets: 68.53 m.Rh;Zh; ProNav: ac range: 68.527344 m, nav range: 61.650574 m, bearing: 118.956932 deg, approach rate: -0.522861 m/s, LOS rate: 0.336973 deg/s, cmd heading: 167.036415 deg, new cmd heading: 167.490278 deg. BhBg<HeadingCmd: 2.923257 target range: 68.527344 and range: 68.80 m.h;@h*h"h hgfffdd5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770341d9jd9Zd=3@(NBɢ-n) оi)Jiѳ)ԁ 8a,?AB??BL+?BYRٱB)F= JAHRS rotation from veh to nav: [[-0.008597,-0.996827,0.079127],[0.993863,-0.017245,-0.109266],[0.110284,0.077702,0.990858]]BH]A??;?H? ?iB??IB ^;BۑCYbLBybHbD~VD~:y =% Y=ٔ R:Q- >9Y=9FyyD==E=>AQ 5M`4EW?Q 9M`4EO)EVBYIyM?Q IM?E CIEW:iEN:E`4yyɮ}jAyjhDNOT Ignoring new targets: 68.53 m.Rh;Zh; ProNav: ac range: 68.527344 m, nav range: 61.448898 m, bearing: 119.081061 deg, approach rate: -0.519674 m/s, LOS rate: 0.320904 deg/s, cmd heading: 167.490281 deg, new cmd heading: 167.863886 deg. Bh;\<HeadingCmd: 2.929778 target range: 68.527344 and range: 68.80 m.hz;@h*h "h  h g f f1f1d1d1d9jd9Zd=< @E] E]E]+EY"E];*E]:VE] [4ZEYae@ae@ae@ae@颥;NBɢadz) ;i)i?'B JCB HB LBB =B IQ B B ;B ?EBKCBKCBBʎ =Bʎ =Cʊ5I OU >&a,}ɇ?AbbA?b,?bbٱbO= jAHRS rotation from veh to nav: [[-0.031933,-0.996108,0.082151],[0.993469,-0.040641,-0.106615],[0.109539,0.078210,0.990901]]bH@Y ?`?`ΤK ? ?u?ibbA?Ib^;bבCYrLByrH}DAT read: 03:25:19.5565 LVL= 30352, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.04,-1.859, 2.238,-2.938,-2.539, PHS= 0.782,-1.461,-0.443, RAW= 116.9, 11.5, CAL= 118.0, 12.8, ROT= 32.0, -12.8 Ygot valid direction response: 03:25:19.5565 LVL= 30352, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.04,-1.859, 2.238,-2.938,-2.539, PHS= 0.782,-1.461,-0.443, RAW= 116.9, 11.5, CAL= 118.0, 12.8, ROT= 32.0, -12.8 PDAT read: Bearing 269.1, 38.0 (Local) ~Local bearing/azimuth received: Bearing 269.1, 38.0 (Local) DAT read: Range 11 to 50 : 67.2 m (Round-trip 89.6 ms) speed 0.9 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.826974,0.516750,0.221548]Fpublishing direction and range infoyIM)|.?v?/8?@|[?YMfBIMvMM I)MFIM'1H?iM M⾩M@MM>M@ Md>)M5?IMdIIMnO?##i?;A+}? Mo Z)MMIM5?iMdIIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i-Mb@Mb@Mb@)))) )9- r?)\(~jt?Y-#?y-Ga-D<-߮A-A -A)-ʪA)Y-AbDEVDEܲyUo=%U6=ٔ]9:Q-]>9YYY=e9FyeyDeV=Ee>iQ 5u`4mbX?Q 9u`4m)m'VBY}7$?Q E}:y}?Q I}?m CIm;im;mz`4yBɮA-EaiIiMsˇ?AJiM݅BRiM݅BjiMJo_?)f$o?2iMPB:iM "iMcHҜ?*iM3BiMKBiIiM3iIiMoBiM@ addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.779864 s, deltaX: -1.600006 m, approachRate: -0.423297 m/s, rangeRepo size: 4  Added new target pos. range: 66.932625 m, bearing: 123.943515 deg, lat: 36.779380 deg, lon: -121.859558 deg, deltaT: 3.779864 s, deltaX: -1.594719 m, approachRate: -0.421898 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 66.93 m.RhZh ProNav: ac range: 66.932625 m, nav range: 59.977901 m, bearing: 119.882911 deg, approach rate: 0.000000 m/s, LOS rate: 0.320904 deg/s, cmd heading: 167.863893 deg, new cmd heading: 168.323079 deg. BhHeadingCmd: 2.937792 target range: 66.932625 and range: 67.20 m.h<@h*h"h hgfffdddjdP@Zd?MTNBɢM1l)I M˾iIE] E]E].EY"E] ;*E]:VE]ـ4ZEYBE]R  BDAT read: Tx time:03:25:20.8127  $Ping request sent. Ja,⇹?APYLByHI%=)%bD5VD5yEG=%E_=ٔEQ-E>9IYI=M9FyM%yDMEU>YQ 5]`4]zY?Q 9e`4])]DVBYayaQ Ie?]N CI] :i]:]K#`4yiɮuAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 66.93 m.Rh;Zh; ProNav: ac range: 66.932625 m, nav range: 59.782330 m, bearing: 120.005032 deg, approach rate: -0.599759 m/s, LOS rate: 0.375733 deg/s, cmd heading: 168.323073 deg, new cmd heading: 168.690629 deg. Bh<HeadingCmd: 2.944207 target range: 66.932625 and range: 67.20 m.hm<@h*h"h hgfffdddjdZd ?cNBɢ) þi)<i q!"!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502574sa,o?AYrLByrH|bD VD :y5 ;%5K=ٔAQ-M>9QYQ=U9FyU6yDQE]>aQ 5e`4eZ?Q 9m`4e})edVBYiyiQ Im?e CIe:ie:er1`4yɮAjhDNOT Ignoring new targets: 66.93 m.Rhd;Zhd; ProNav: ac range: 66.932625 m, nav range: 59.566669 m, bearing: 120.140825 deg, approach rate: -0.518505 m/s, LOS rate: 0.327664 deg/s, cmd heading: 168.690632 deg, new cmd heading: 169.099478 deg. Bh`<HeadingCmd: 2.951343 target range: 66.932625 and range: 67.20 m.h<@h*h"h hg!f!f!f!d)d)d)jd)Zd-`k?]yNBɢ]`x)a e̾ia)e3aaiesBaBeHBeLBBe =BaBeDBe;Be?EQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754649^Am#ԁ A .AI I  +G (hA1 OM >e 9e (hAYe A ^b,0?AEb EbEb-E`"Eb ;*Eb$:VEbt4ZE`BEbyT9 ?Y ?=9FyFyDE>Q 5`4[?Q 9`4v)VBY#?Q E:y?Q I? CI ;iG ;0@`4yɮ@Ajh)-DNOT Ignoring new targets: 66.93 m.Rh5;Zh5;E ProNav: ac range: 66.932625 m, nav range: 59.342621 m, bearing: 120.281374 deg, approach rate: -0.545646 m/s, LOS rate: 0.343585 deg/s, cmd heading: 169.099474 deg, new cmd heading: 169.522707 deg. BhEk<MHeadingCmd: 2.958730 target range: 66.932625 and range: 67.20 m.hM[=@hI*hIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006562"hI hgfffdddjdZdm5?UNBɢUt)Y ]RȾiY)]wW YYi]i>ԉ%9@! @!@%2@!@)@)ԩ^Aa  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262467 A ؟AI I O >] b,R0?A:^4?:?:ܽٱ:= FAHRS rotation from veh to nav: [[-0.124429,-0.988117,0.090235],[0.986375,-0.133046,-0.096768],[0.107623,0.076965,0.991208]]:H ڿ?`a? @Ÿ`0??@?i:^4?I:Z^;:ؑCYN MByN1H PPbDVVDVy^=%b^=ٔbw;Q-b>9f"?Yf"?=f9FyfUyDfǁ>Ej>hQ 5r`4jZ?Q 9r`4jpQ =rtI)jVBYtyv?Q Iv?j CIj&;ij';jM`4yxɮz(AxjhDNOT Ignoring new targets: 66.93 m.Rh%;Zh%;5 ProNav: ac range: 66.932625 m, nav range: 59.136181 m, bearing: 120.386807 deg, approach rate: -0.559930 m/s, LOS rate: 0.286964 deg/s, cmd heading: 169.522713 deg, new cmd heading: 169.840111 deg. Bh5D<=HeadingCmd: 2.964269 target range: 66.932625 and range: 67.20 m.h==@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU@?}NBɢ}‚) m˾i)u 顁iBM >BI BM XHBM +MBBI BI BI BM ݈;BM ?EA qb,=J?Af!?fz ?fKkܽٱfx$= nAHRS rotation from veh to nav: [[-0.146936,-0.984936,0.091161],[0.983296,-0.155454,-0.094674],[0.107419,0.075727,0.991326]]fH¿@MV?@)w?@ÿ<`? b??if!?If#^;dYv.MByv[H=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738iMb@Mb@Mb@ 9+?ˡE{GztYv?y'ףAA |A)YAbDVDy՚=%7=ٔ9Q->9Y = 9Fy hyDQ=E>Q 5%`4Y?Q 9%`4i)VBY%?Q E-:y-?Q I-?W CIj:i ;\`4y5uBɮ5xA5#EjhY]DNOT Ignoring new targets: 66.93 m.Rhe;Zhe;u ProNav: ac range: 66.932625 m, nav range: 58.887642 m, bearing: 120.502974 deg, approach rate: -0.556910 m/s, LOS rate: 0.261399 deg/s, cmd heading: 169.840112 deg, new cmd heading: 170.190082 deg. Bh}e3<}HeadingCmd: 2.970377 target range: 66.932625 and range: 67.20 m.h}>@hy*h"h hgfffdddjdZdA|@NBɢ"t) ƾi)c i/@I>@I I)9@ @@5@9DazDeAAbEg4jEg4rEIJ/E5 E5E5,E1"E5 ;*E5:VE5g4ZE1BE5Oԑ xb,> d?A6?6o?6'ܽٱ6ǚ= BAHRS rotation from veh to nav: [[-0.169517,-0.981159,0.092683],[0.979642,-0.178020,-0.092789],[0.107540,0.075066,0.991363]]6Hྲſe ?:Y?^ƿ` ?`7?>?i6?I6[^;6בCYJKMByJHPPbDRVDRkyZi=%Zc=ٔ^Q-^>9\Y`=b9FybvyDbɂ=Eb>dQ 5j`4f W?Q 9j`4fc)fVBYlyn?Q In?f CIfQ;if;fBi`4ypɮr?AtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 66.93 m.Rh;Zh;- ProNav: ac range: 66.932625 m, nav range: 58.685162 m, bearing: 120.592874 deg, approach rate: -0.561570 m/s, LOS rate: 0.250192 deg/s, cmd heading: 170.190078 deg, new cmd heading: 170.460704 deg. Bh-+<5HeadingCmd: 2.975101 target range: 66.932625 and range: 67.20 m.h5 h>@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM`1_@uNBɢ} )y }liy)5 顁i@I h>@Iy-9@1 @1@54@1@EfA@EhAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268342ԡ^AAzAhAI1 IA EM  EM EM *EI "EM l;*EM 1:VEM (N4ZEI aU @aU @aU @aU @O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518596 Fb,:}?AF?F?FciܽٱF= RAHRS rotation from veh to nav: [[-0.191464,-0.976968,0.094201],[0.975604,-0.199939,-0.090669],[0.107415,0.074543,0.991416]]FHȿ`SC?&8?ɿ 6?D??iF?IFX^;FّCYV\MByZHI^!>)^p<bDbVDbyj)=%jH=ٔn9Q-n>9lYp=r9FyryDr-a=Er>tQ 5z`4vUT?Q 9z`4v1])vVBY|y~w?Q I~?v CIvn;iv;vw`4yɮA jh)5DNOT Ignoring new targets: 66.93 m.Rh5\;Zh5\;M ProNav: ac range: 66.932625 m, nav range: 58.453556 m, bearing: 120.690448 deg, approach rate: -0.567855 m/s, LOS rate: 0.240182 deg/s, cmd heading: 170.460703 deg, new cmd heading: 170.754582 deg. BhM$<UHeadingCmd: 2.980230 target range: 66.932625 and range: 67.20 m.hU>@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdmt@颕NBɢz) þi)D顙i.@I>@IM9@Q @Q@U4@QB>BBHBhMBB =BBB؈;B?Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771201^AuIIO>) E  E E -E "E ;*E Z:VE t4ZE BE q_AHRS rotation from veh to nav: [[-0.213774,-0.972213,0.095405],[0.970966,-0.222196,-0.088619],[0.107355,0.073690,0.991486]]6H\˿_ol?(?p̿๯@{?\ݲ?A?i6?I6Hj^;6ۑCYFpMByFHiMb@Mb@Mb@ 9\(\?ˡEMbpY?yA A)&AY3AbDVDJy<=%==ٔO9Q->9Y=9FyyDY=E>Q 5`4Q?Q 9`4jV)VBY=?Q E:y/?Q I? CI ;ie ;`4yɮAjh DNOT Ignoring new targets: 66.93 m.Rh ~;Zh~;% ProNav: ac range: 66.932625 m, nav range: 58.212318 m, bearing: 120.787041 deg, approach rate: -0.558809 m/s, LOS rate: 0.224677 deg/s, cmd heading: 170.754579 deg, new cmd heading: 171.045556 deg. Bh%1<-HeadingCmd: 2.985308 target range: 66.932625 and range: 67.20 m.h-J?@h)*h)"h) h)g)f1f1f1d9d9d9jd9ZdE @mNBɢmj"z)i uužiq)uPqqi}ݍԩ u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275440L+b,?A6?6W?6(ܽٱ6w=@ BAHRS rotation from veh to nav: [[-0.236011,-0.966868,0.097285],[0.965809,-0.244443,-0.086372],[0.107291,0.073574,0.991502]]6H`5ο??`IϿ sw?@ղ?a?i6?I63^;6ّCYJMByJH PR<bDRVDRyZ=%Z\=ٔ^49Q-^>9\Y`=b9FybyDb|=Eb>dQ 5v`4fM?Q 9~`4fP)fWBY y  ?Q I?fL CIf, @ Ulx>)>IUlx0*?끎+?"Y? w=)VbI>iUlxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A A >A B A 4= B >B B HB MBB B B B ψ;B ?EA I! IA Ou >2b,ˈ?A\~*DAT read: user:329> BDAT read: Tx time:03:25:24.6127 $Ping request sent.9Y=9FyyD /R=E >Q 5`44I?Q 9`4I)2WBY?Q E%:y%p?Q I%? CI:ia:``4yQBɮAEii$?AJiBRiBji@bR6L@!B;@KF/'/@RR?Jrj?ؼʿ?Zi>biUlxjō6CΆF@ $7@ZxZh[[k?i>?2i5B:iK"iTM-?*iԞBiBiiilBifBi@% addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 3.780804 s, deltaX: -2.099998 m, approachRate: -0.555437 m/s, rangeRepo size: 4 u Added new target pos. range: 64.840630 m, bearing: 131.239430 deg, lat: 36.779380 deg, lon: -121.859558 deg, deltaT: 3.780804 s, deltaX: -2.091995 m, approachRate: -0.553320 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 64.84 m.Rh}Zhy ProNav: ac range: 64.840630 m, nav range: 57.749538 m, bearing: 120.952991 deg, approach rate: 0.000000 m/s, LOS rate: 0.185391 deg/s, cmd heading: 171.284287 deg, new cmd heading: 171.517398 deg. BhHeadingCmd: 2.993543 target range: 64.840630 and range: 65.10 m.h7?@h*h"h hgfffdddjd`fFP@ZdP?},OBɢW{) !ľi)hf顩i8 19b,c船?A20?2?2Bܽٱ2ꅚ= >AHRS rotation from veh to nav: [[-0.280608,-0.954335,0.102491],[0.953814,-0.289186,-0.081299],[0.107225,0.074945,0.991406]]2H@|ѿ 9XYX=Z9FyZyD^l=E^>`Q 5f`4bD?Q 9f`4bC)bOWBYdyfl?Q Ij?b CIb:ib:b|`4ylɮnAl~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 64.84 m.Rh \];Zh \];% ProNav: ac range: 64.840630 m, nav range: 57.521374 m, bearing: 121.026017 deg, approach rate: -0.602270 m/s, LOS rate: 0.193528 deg/s, cmd heading: 171.517402 deg, new cmd heading: 171.737350 deg. Bh%<%HeadingCmd: 2.997382 target range: 64.840630 and range: 65.10 m.h-?@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@f?m?OBɢm)i mʾiq)uqqiuR m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824 @b,>?A:B?:?:۽ٱ:*= FAHRS rotation from veh to nav: [[-0.303032,-0.946988,0.106700],[0.946933,-0.311809,-0.078061],[0.107193,0.077383,0.991222]]:H@dӿMP?EM?ӿp?Wϳ??i:B?I:(;^;:ڑCYJMByNHPPbDVVDVy^=%^I=ٔb8Q-b>9`Y`=f9FyfyDfm=Ef>hQ 5n`4j??Q 9n`4jk=)jmWBYpyrp?Q Ir?j CIj. ;ij\ ;j`4ytɮvAxjhDNOT Ignoring new targets: 64.84 m.Rhi>B%>B!B%,HB%MBB!B!B!B%;B%?EBJCBJCBB =B =C54@ @@5@@hA@gAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916y^AAa Iy I O >ԩ E  E E E "E ;*E :VE ZE BE yT9Y=9FyyDS=E>Q 5`49?Q 9`46)WBY?Q E:y?Q I?O CIn:i:`4yɮ}AjhDNOT Ignoring new targets: 64.84 m.RhM9;Zh M9; ProNav: ac range: 64.840630 m, nav range: 57.038223 m, bearing: 121.164655 deg, approach rate: -0.580602 m/s, LOS rate: 0.162004 deg/s, cmd heading: 171.944043 deg, new cmd heading: 172.155012 deg. Bh];%HeadingCmd: 3.004672 target range: 64.840630 and range: 65.10 m.h%L@@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd=@?eoOBɢe:)i mžii)m2iiimtLb,?5?A:?:w?:Ǫٽٱ:oL=ER ERER,EP"ER ;*ERZ:VERg4ZEPaV@aV@aV@aV@ ^AHRS rotation from veh to nav: [[-0.345362,-0.931832,0.111420],[0.932455,-0.354142,-0.071498],[0.106083,0.079202,0.991198]]:Hhֿ` ? ?@Bֿ`M=(?`F??i:?I:)^;8YfMByfUHlbDrVDryz&c=%zV=ٔ~i;Q-~>9~ ?Y~ ?=9FyyD2r=E> Q 5`4 3?Q 9`4 1) WBYy?Q I?  CI ;i 7; 0`4y!ɮ%RA!jhIMDNOT Ignoring new targets: 64.84 m.RhU+;ZhU+;e ProNav: ac range: 64.840630 m, nav range: 56.815292 m, bearing: 121.221686 deg, approach rate: -0.584217 m/s, LOS rate: 0.150043 deg/s, cmd heading: 172.155014 deg, new cmd heading: 172.326777 deg. Bhe;mHeadingCmd: 3.007670 target range: 64.840630 and range: 65.10 m.hm}@@hi*hq"hq hqgqfqfyfydydydjdZdu?颭OBɢj) ži)"g项i_BBkHB NBB =BBB;B}?EIA a Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016864Sb,O?A26y?2d?2׽ٱ2= :AHRS rotation from veh to nav: [[-0.366633,-0.923690,0.111249],[0.924404,-0.375185,-0.068659],[0.105159,0.077666,0.991418]]2Hv׿`ߎz?ඔ?ؿઓ??@?i26y?I2 (^;2ۑCYB NByBjHi Mb@Mb@Mb@     9 Gz?Q롿l?Y p?y \ = lA OA )  Y  !!bD-VD-y5;#=%5F=9ٔE;Q-E>9AYA=M9FyM zDMc=EM>Q i>ѐCcGjA]ÿ9]jAYeAQ 5u`4U]-?Q 9`4U*)UWBY?Q E:yr?Q I?U CIU+0=iU)0=U`4y-BɮAEjh)MDNOT Ignoring new targets: 64.84 m.RhU;ZhU; ProNav: ac range: 64.840630 m, nav range: 56.570507 m, bearing: 121.279587 deg, approach rate: -0.526686 m/s, LOS rate: 0.125120 deg/s, cmd heading: 172.326779 deg, new cmd heading: 172.501233 deg. Bh;HeadingCmd: 3.010715 target range: 64.840630 and range: 65.10 m.h@@h*h"h hgfE EE.E"E*Ev:VEـ4ZEBEO(Yb,Ūi?A:ry?:d?:1ֽٱ:µ= BAHRS rotation from veh to nav: [[-0.388234,-0.914850,0.111013],[0.915629,-0.396572,-0.065991],[0.104397,0.076026,0.991626]]:H`ؿsFQk?L?oaٿ 䰿໹?sv?e?i:ry?I:u^;8YJ"NByJHbDVVDVy^yv=%^S=ٔ^;Q-b>9`Y`=b9FybzDfx=Ef>hQ 5n`4j&?Q 9n`4j$)jXBYpyrv?Q Ir?jCIj";ij#;j$`4ytɮvqAx B*** querying acoustic contact ***i  i jh%DNOT Ignoring new targets: 64.84 m.Rh-B(;Zh-B(;E ProNav: ac range: 64.840630 m, nav range: 56.339661 m, bearing: 121.328863 deg, approach rate: -0.686342 m/s, LOS rate: 0.147104 deg/s, cmd heading: 172.501236 deg, new cmd heading: 172.649668 deg. BhE;MHeadingCmd: 3.013305 target range: 64.840630 and range: 65.10 m.hU@@hQ*hQ"hQ hQgYfYfafadadidijdiZdu@ԙ=OBɢEJ])A EȾiA)E'AIiM8;iM@@QQIu@@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521182 9@  @ @ 5@E EE+E"E ;*EM:VE [4ZEa@a@a@a@^AM?΅IIO>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770756 `b,?A2?2t?2rԽٱ2[ = :AHRS rotation from veh to nav: [[-0.410066,-0.905376,0.110185],[0.906159,-0.418146,-0.063482],[0.103548,0.073813,0.991882]]2H>ڿ`5?@?`ڿX@@%?l?~?i2?I2G^;0YB;NByBHbDNVDN0yR v=%VK=ٔV ;Q-V>9XYX=Z9FyZ,zDZfs=E^>\Q 5ba4^h?Q 9fa4^)^,XBYdyf?Q If?^ECI^:i^:^7a4ylɮn@AljhDNOT Ignoring new targets: 64.84 m.Rh ;Zh ; ProNav: ac range: 64.840630 m, nav range: 56.098434 m, bearing: 121.374633 deg, approach rate: -0.600207 m/s, LOS rate: 0.114374 deg/s, cmd heading: 172.649670 deg, new cmd heading: 172.787572 deg. Bh;%HeadingCmd: 3.015712 target range: 64.840630 and range: 65.10 m.h%mA@h!*h!"h! h)g)f)f)f1d1d1d1jd9Zd=R @eOBɢm)i mǾii)m;HB>BBHB>NBB =BBB;B?EiiB;imA@ImA@I9@ @@ 5@!BDAT read: Rx Time:03:25:27.1011 TRx dataTimestamp_ set to:1761535526.240634checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024377^A #qIIO>bEMəT4jEMT\4rEMW0E  E E *E "E ;*E Z:VE (N4ZE BE ]=ٔw:Q->9Y=9Fy=zD)d=E>Q 5a4?Q 9a4W)ZXBY ?Q E:yu?Q I?CI ;i ;?a4yɮ*AjhDNOT Ignoring new targets: 64.84 m.Rhv:Zhv: ProNav: ac range: 64.840630 m, nav range: 55.835289 m, bearing: 121.418682 deg, approach rate: -0.612006 m/s, LOS rate: 0.102928 deg/s, cmd heading: 172.787571 deg, new cmd heading: 172.920340 deg. BhG;HeadingCmd: 3.018029 target range: 64.840630 and range: 65.10 m.hd'A@h*h"h hgfffddd jd Zd } @q颵OBɢF) Ͼi)մi ;id'A@Id'A@II)gA9@ @@5@@gA@hAԩDAT read: 03:25:27.1011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.36, 2.137, 0.234, 1.806, 1.868, PHS= 0.371,-1.589,-0.106, RAW= 136.5, 14.8, CAL= 135.6, 15.9, ROT= 14.4, -15.9 Ygot valid direction response: 03:25:27.1011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.36, 2.137, 0.234, 1.806, 1.868, PHS= 0.371,-1.589,-0.106, RAW= 136.5, 14.8, CAL= 135.6, 15.9, ROT= 14.4, -15.9 8DAT read: $Error in header *Received a bad header^A m X#Rx 1: Read direction message, but no range.u \direction in FSK: [0.931526,0.239175,0.273959]y8?U|L?ψ.? )GI>iZd˿ٽx@ A>ww@ q>)>Iq p?R,6b?,\? >)uYI I O >I>iq T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,mb,1??Aɰ4<EB EBEB+E@"EB ;*EB:VEB [4ZE@aF@aJ@aJ@aJ@Y-ZNBy-H15AbDEVDEfyU%L=%UM=ٔ]Q-]>9YYY=e9FyeMzDeEe>iQ 5ua4m?Q 9ua4mO)mXBYyyyQ I}?mCImL;im;m2#a4y#BɮAEjhDNOT Ignoring new targets: 64.84 m.Rh:Zh: ProNav: ac range: 64.840630 m, nav range: 55.591156 m, bearing: 121.459926 deg, approach rate: -0.612088 m/s, LOS rate: 0.103861 deg/s, cmd heading: 172.920336 deg, new cmd heading: 173.044612 deg. Bh;HeadingCmd: 3.020198 target range: 64.840630 and range: 65.10 m.hJA@h*h"h hgfffdddjdZd@@ OBɢʈ) оi) ihM;i%JA@!!I%JA@I)@ @@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBAB>BICBHBpNBBBBB;Bu?E^A#IQIaOu>)  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsehtb, щ?A n?np@nнٱnED= vAHRS rotation from veh to nav: [[-0.475732,-0.871945,0.115723],[0.873726,-0.483620,-0.052110],[0.101402,0.076320,0.991914]]nH`dr޿`??޿`??½?in?InSM^;nّCY~zNBy~HiMb@Mb@Mb@ 9p= ף?+Q?Y%?y<lA~A fA)YAbDeVDe0ym=%u9=ٔuM;Q-u>9yYy=}9Fy}_zD}=E>Q 5a4?Q 9a4 )XBY%?Q E:yR@Q I?CI ;i ;2a4y Bɮ3AEjhDNOT Ignoring new targets: 64.84 m.Rh:Zh: ProNav: ac range: 64.840630 m, nav range: 55.310951 m, bearing: 121.493412 deg, approach rate: -0.635882 m/s, LOS rate: 0.076377 deg/s, cmd heading: 173.044605 deg, new cmd heading: 173.145572 deg. BhQ; HeadingCmd: 3.021960 target range: 64.840630 and range: 65.10 m.h gA@h*h"h hgfffddd!jd!Zd% @IUPBɢ]^)Y ];iY)]ZYYieJ;iegA@E EEE"E ;*EVEZEBELQzb,H뉹?A,:?:@:Phνٱ:[X= ZAHRS rotation from veh to nav: [[-0.497011,-0.859587,0.118702],[0.861891,-0.504879,-0.047330],[0.100614,0.078785,0.991801]]:H ߿Hc?`?';?`E+?ռ?i:?I:aC^;:ݑCYfqNByfHbDrVDrk1y~ͼ%b=ٔ;Q->9 "?Y "?= 9FynzD&=E>!Q 55a4%m?Q 95a4%)%XBY9y=@Q I=?%MCI%>;i%I;%I?a4yIɮMFAI}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 64.84 m.Rh[:Zh[: ProNav: ac range: 64.840630 m, nav range: 55.079334 m, bearing: 121.515414 deg, approach rate: -0.629442 m/s, LOS rate: 0.060043 deg/s, cmd heading: 173.145569 deg, new cmd heading: 173.211851 deg. Bh$;HeadingCmd: 3.023117 target range: 64.840630 and range: 65.10 m.hzA@h*h"h hgfffdddjdZdz@,PBɢ.s) dݾi) iD;izA@IzA@IUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse0>i>ԉe9@a @a@e5@a@y@yE} E}E},Ey"E} ;*E}:VE}g4ZEya@a@a@a@Ա^A_ⅾPExceeded connect timeout, disconnecting.  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA .AI I O >4b,?A6G?6=@6!_ͽٱ6N*= >AHRS rotation from veh to nav: [[-0.518306,-0.846450,0.121987],[0.849316,-0.526177,-0.042441],[0.100111,0.081608,0.991624]]6H@:?-?`pລᠹ?@=? b?i6G?I6j^;6ܑCYF{NByFH HHN=N=bDRVDRyZ<%ZP=ٔ^:Q-^>`9b ?Yb ?=b9Fyb}zDf=Ef>hQ 5na4j?Q 9na4j>)jXBYlyrw@Q Ir?jCIj ;ijY;jLa4ytɮv2AtjhDNOT Ignoring new targets: 64.84 m.RhO:ZhO:- ProNav: ac range: 64.840630 m, nav range: 54.828648 m, bearing: 121.532913 deg, approach rate: -0.646960 m/s, LOS rate: 0.045368 deg/s, cmd heading: 173.211849 deg, new cmd heading: 173.264587 deg. Bh-:5HeadingCmd: 3.024038 target range: 64.840630 and range: 65.10 m.h5ՉA@h1*h1"h1 h1g9BE>BEJCBEHBENBBABABABE;BEo?EfYfYfYdadadajdaZde @颕CPBɢ) ^i)9"顡ikG;iՉA@IՉA@I59@1 @1@54@1uT****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse^AUI I! O5 >D =D <E  E E E "E ;*E :VE ZE BE O\9YYY=]9Fy]zDeFq=Ee>iQ 5ua4mn秊?Q 9ua4m )mYBYu$?Q E}:y}C@Q I}?mCIm>;im;m[a4yBɮAEjhDNOT Ignoring new targets: 64.84 m.Rh9Zh9 ProNav: ac range: 64.840630 m, nav range: 54.558357 m, bearing: 121.543962 deg, approach rate: -0.637201 m/s, LOS rate: 0.026176 deg/s, cmd heading: 173.264592 deg, new cmd heading: 173.297902 deg. Bh:HeadingCmd: 3.024619 target range: 64.840630 and range: 65.10 m.h[A@h*h"h hgfffdddjdZd@R@_PBɢb,X8?AE& E&E&-E$"E&;*E&:VE&t4ZE$a*@a*@a*@a*@>˛?> @>R˽ٱ>x= FAHRS rotation from veh to nav: [[-0.559708,-0.819118,0.125587],[0.822722,-0.567414,-0.034196],[0.099271,0.084184,0.991493]]>H!66>?`S?A(`*i?` ?O?i>˛?I>"Q^;>ۑCYNNByN$HbDVVDV0y^%%T=ٔ%:Q-%>9)Y)=-9Fy-zD-|=E5>1Q 5Ea45ܧ?Q 9Ea45L)54YBYAyE@Q IE?5CI52 ;i5 ;5ia4yQɮUAQjhqyDNOT Ignoring new targets: 64.84 m.Rh#59Zh#59 ProNav: ac range: 64.840630 m, nav range: 54.304543 m, bearing: 121.547871 deg, approach rate: -0.639725 m/s, LOS rate: 0.009898 deg/s, cmd heading: 173.297896 deg, new cmd heading: 173.309676 deg. Bh]9HeadingCmd: 3.024824 target range: 64.840630 and range: 65.10 m.hA@h*h"h hgfffdddjdZd@uPBɢÖ) i)1%i(;iA@IA@I =nManaging dock network, ignoring radio surface power off9@ @@4@@hA@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩA9A=AABE>BEICBELHBENBBE =BABABE;BEk?EB B B B B C 4^A?΅AgAzAIQIiOu> ߍ =߉  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsesb,qR?A]?]!S @]Kʽٱ]¬= AHRS rotation from veh to nav: [[-0.579628,-0.805103,0.125859],[0.808864,-0.587179,-0.030984],[0.098847,0.083844,0.991564]]]H`Pf`'?5?`,VN?v??i]?I]_^;]ݑCYNBy;HIR=)=i]Mb@Mb@Mb@YYYY Y9]"~j?QI +Y]S#?y]]94]A]A ]ļA)]AYY]AbDuVDuNy =%0=ٔw:Q->9Y=9FyzD]=E>Q 5a4Vϧ?Q 9a4)KYBY#?Q E:yi @Q I?]CI':i ;lya4yݚBɮAEjhDNOT Ignoring new targets: 64.84 m.RhjZhjEM EMEM+EI"EM ;*EM:VEM [4ZEIBEMRY 囚b,Jl?AV;?V @V:ʽٱVݫ= fAHRS rotation from veh to nav: [[-0.599231,-0.790558,0.126257],[0.794445,-0.606681,-0.028194],[0.098887,0.083410,0.991597]]VH,`?L3)?l?iޜ`P?TZ? )?iV;?IVK^;VܑCYrNByrFHbDzVDz:yW<% f=ٔ Q- >9 Y=9FyzD4=E>Q 5%a4ħ?Q 9-a4)]YBY)y- @Q I-?CI-:iF:Ӆa4y1ɮ=A9UB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 64.84 m.RhmaZhma} ProNav: ac range: 64.840630 m, nav range: 53.792076 m, bearing: 121.527975 deg, approach rate: -0.635505 m/s, LOS rate: -0.034180 deg/s, cmd heading: 173.286134 deg, new cmd heading: 173.249708 deg. Bh}HeadingCmd: 3.023778 target range: 64.840630 and range: 65.10 m.hA@h*h"h hgfffdddjdZd!@PBɢ) i)N(i;=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse9iuA@qqI}A@Iy @  @@4@aEe EeEaEa"Ee ;*Eev:VEaZEaam@am@am@am@^A5FӅԩIIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse db,X?A2@2x@2¢˽ٱ2٦= :AHRS rotation from veh to nav: [[-0.618658,-0.775612,0.125253],[0.779364,-0.625994,-0.026895],[0.099268,0.080978,0.991760]]2H G?@?#vi???i2@I2Ud^;2ؑCY^NBy^JH dfp<bDjVDj02Br>BpBrqHBrNBBpBpBrDBr;BrO?Ey;%K=ٔxQ->9 Y = 9Fy zD -{=E>Q 5a4뷧?Q 9%a4)rYBY!y% @Q I%?CIj;i;a4y)ɮ5A1jh!%DNOT Ignoring new targets: 64.84 m.Rh-]Zh-]= ProNav: ac range: 64.840630 m, nav range: 53.536301 m, bearing: 121.507374 deg, approach rate: -0.597142 m/s, LOS rate: -0.048325 deg/s, cmd heading: 173.249702 deg, new cmd heading: 173.187605 deg. Bh=EHeadingCmd: 3.022694 target range: 64.840630 and range: 65.10 m.hEsA@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]o@颅PBɢ) wi)f*顉i;isA@IsA@IIgA)ԹQ@Q @Q@]4@Y@y@}=eT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapserG)I}{9yY} E  E E *E "E ;*E :VE (N4ZE BE 4N9yYy=}9Fy}zD} W=E>Q 5a4y?Q 9a4)YBY?Q E:y@Q I?CI ;i ;a4yԚBɮAEjhDNOT Ignoring new targets: 64.84 m.Rh;ȺZh;Ⱥ ProNav: ac range: 64.840630 m, nav range: 53.264553 m, bearing: 121.470338 deg, approach rate: -0.638964 m/s, LOS rate: -0.087528 deg/s, cmd heading: 173.187602 deg, new cmd heading: 173.075927 deg. BhGpHeadingCmd: 3.020745 target range: 64.840630 and range: 65.10 m.hSA@h*h"h hgfffdddjdZd@5PBɢ5~W)1 5gi1)=+99i=U;iESA@AAIESA@II9@ @@4@9aeR=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A- #i Ay I I O >A׭b,| ?AE EEE"E ;*E:VEZEa@a@a@a@ >e@>~@>;̽ٱ>4= JAHRS rotation from veh to nav: [[-0.654711,-0.745238,0.126392],[0.749270,-0.661913,-0.021576],[0.099739,0.080576,0.991746]]>Hc`-??c.??a?i>e@I>Qp^;>ۑCYRNByRnHbDZVDZ:2yb;=%bj=ٔbTwQ-f>9dYd=f9FyfzDj=Ej?lQ 5ra4n?Q 9ra4n)nYBYpyvL@Q Iv?nUCIn;in:nݯa4yxɮzAxjhDNOT Ignoring new targets: 64.84 m.RhtZht ProNav: ac range: 64.840630 m, nav range: 53.055061 m, bearing: 121.436096 deg, approach rate: -0.600580 m/s, LOS rate: -0.098553 deg/s, cmd heading: 173.075928 deg, new cmd heading: 172.972797 deg. BhEHeadingCmd: 3.018945 target range: 64.840630 and range: 65.10 m.hd6A@h*h"h hgfffdddjd!Zd%2 @颍PBɢ\) i)-i;id6A@Id6A@IiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@4@ԙBA<B>BBHBNBB =BBDBu;B:?E^A A ؟AIA m T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseI O >̴b,Ԋ?AD5I@5@5N̽ٱ5Ȩ= MAHRS rotation from veh to nav: [[-0.671766,-0.729639,0.127896],[0.734006,-0.678909,-0.017813],[0.099827,0.081910,0.991628]]5H@@4Y^?|?@=?? ?i?i5I@I5j`^;5ݑCYUNBy]HiMb@Mb@Mb@ 9d;O?{GzV-Y?y#A;A )AYzAbDVDy-/=%-4=ٔ-WKQ-->95"?Y5"?=59Fy5{D=O=E=>AQ 5Ma4E4?Q 9Ma4E)EYBYM?Q EM:yM!@Q IU?ECIE:iEj:Ea4y˚BɮHAEbE [4jE|a4rE/E EE.E"E ;*E:VEـ4ZEBERiQ@ @@5@@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A # A I) IA Oe >ub,%?A6o@6Pe@6̽ٱ6= >AHRS rotation from veh to nav: [[-0.688017,-0.714013,0.129687],[0.718811,-0.695076,-0.013409],[0.099716,0.083995,0.991464]]6H;1??>u ??`?i6o@I6H^;6ޑCYFNByFHIJ<)J9\Y\=^9Fy^{Dbh=Eb>dhQ 5ja4fb,z?AB6>B4B6HB6OBB6 =B4B6DB6p;B63?EF@F@F̽ٱFu۱= NAHRS rotation from veh to nav: [[-0.703729,-0.698161,0.131670],[0.703417,-0.710720,-0.008977],[0.099848,0.086302,0.991253]]FH@UW@?e?8b ??X?iF@IFvS^;FۑCYV OByVHbD^VD^N2yf̍=%fI=ٔj竹Q-j>9hYh=n9Fyn {Dn"_=En>pQ 5va4r\u?Q 9va4r)rYBYxyz@Q Iz?r CIr :ir:rka4y~BɮAEjh!-DNOT Ignoring new targets: 64.84 m.Rh-$Zh-$Am ProNav: ac range: 64.840630 m, nav range: 52.362049 m, bearing: 121.281585 deg, approach rate: -0.568124 m/s, LOS rate: -0.143465 deg/s, cmd heading: 172.681321 deg, new cmd heading: 172.507207 deg. BhmĻuHeadingCmd: 3.010819 target range: 64.840630 and range: 65.10 m.huA@@hq*hq"hq hqgyfyfyfdddjdZd@j"@颵AQBɢ)  i)e2项i;iA@@IA@@I9@ @@0@yT****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseԡ^A5FӅD5 %=D5 <E=  E= E= .E9 "E= ;*E= :VE= ـ4ZE9 BE= L b,!?A2T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse6XC @69@6B'ͽٱ6y= BAHRS rotation from veh to nav: [[-0.719066,-0.682579,0.130501],[0.687709,-0.725945,-0.007719],[0.100005,0.084196,0.991418]]6H`@>??:?`ލ??i6XC @I6bW^;6ܑCY^OBybHԙiMb@Mb@Mb@ 9m?{Gz?{GzY?y#<ףVAhA OA)?AY A 4<4<bDVD:2y-L-%-6=ٔ5Q-5>99Y9==9Fy=2{D==I=EE>AQ 5Ma4Ee?Q 9Ma4E)EYBYU?Q EU:yU@Q IU?EJCIE ;iE\ ;Ea4yeBɮeAeEjhDNOT Ignoring new targets: 64.84 m.RhCZhC ProNav: ac range: 64.840630 m, nav range: 52.122219 m, bearing: 121.204998 deg, approach rate: -0.534028 m/s, LOS rate: -0.171319 deg/s, cmd heading: 172.507206 deg, new cmd heading: 172.276391 deg. Bh&HeadingCmd: 3.006790 target range: 64.840630 and range: 65.10 m.h@o@@h*h"h hgfffdddjdZdM#@^QBɢ!)i miq)u4qqiu;i}@o@@yyI}@o@@IE9@I @I@M4@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A #A >A >) I I O >E=  E= E= 0E9 "E= ;*E= ':VE= 4ZE9 aM @aM @aM @aM @Q5b,;?A2 @2b@2ͽٱ2?= :AHRS rotation from veh to nav: [[-0.734323,-0.666700,0.127597],[0.671350,-0.741090,-0.008602],[0.100296,0.079346,0.991789]]2HUU?`{? ?@O??i2 @I2j^;2ڑCYj"OByjHbDvVDvy~1=%~`=ٔ~SRQ->9 Y=9FyA{D-y=E5>9Q 5Ea4=X?Q 9Ea4=)=YBYIyM@Q IM?=~CI=:i=:= a4yQɮU_AQjhDNOT Ignoring new targets: 64.84 m.RhTZhT ProNav: ac range: 64.840630 m, nav range: 51.925964 m, bearing: 121.136495 deg, approach rate: -0.529254 m/s, LOS rate: -0.185436 deg/s, cmd heading: 172.276386 deg, new cmd heading: 172.070100 deg. BhHeadingCmd: 3.003190 target range: 64.840630 and range: 65.10 m.hC4@@h*h"h hgfffdddjdZd $@wQBɢ:)  i)x6i;iC4@@IC4@@IuT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse9@ @@0@!AYAYBe>BeGCBeHBe5 91Y1=59Fy5S{D5<=E=>9Q 5Eb4=JI?Q 9Mb4I=4)=YBYU ?Q EU:yU@Q IU?=CI=b6;i=5;=[b4y]Bɮ]A]EjhDNOT Ignoring new targets: 64.84 m.Rh(lZh(l ProNav: ac range: 64.840630 m, nav range: 51.704556 m, bearing: 121.046452 deg, approach rate: -0.505516 m/s, LOS rate: -0.206465 deg/s, cmd heading: 172.070101 deg, new cmd heading: 171.798817 deg. Bh HeadingCmd: 2.998455 target range: 64.840630 and range: 65.10 m.h?@DzD?AE EE/E"E ;*E:VEJ4ZEBER Fb,Lo?AYYOByHAAbDVDyM<%MZ=ٔMQ-M>9QYQ=U9FyUc{DUE]>aQ 5eb4e  2Acoustic response timeout9 B] >B] HCB] HB] dOBBY BY BY B] l;B] *?EB%ICB%HCB!B%̑ =B%̑ =C%5Nb,?Aɰ;VL@VB@VR<ϽٱV_= nAHRS rotation from veh to nav: [[-0.790111,-0.599678,0.126931],[0.604583,-0.796542,0.000149],[0.101017,0.076859,0.991911]]VH H0I??X?E}#?:ܹ?@? ?iVL@IVk^;VޑCYvnOByv HbD~VD~βy Q=% J=ٔkQ->9Y=9Fys{D=E>!Q 5-b4%<-?Q 9-b4%)%ZBY1y5 @Q I5?%&CI%:i%:%!b4y=Bɮ=}A9jhaeDNOT Ignoring new targets: 64.84 m.RhmۅZhmۅ ProNav: ac range: 64.840630 m, nav range: 51.314728 m, bearing: 120.874687 deg, approach rate: -0.496758 m/s, LOS rate: -0.234052 deg/s, cmd heading: 171.565295 deg, new cmd heading: 171.281571 deg. Bh HeadingCmd: 2.989427 target range: 64.840630 and range: 65.10 m.hR?@h*h"h hgfffdddjdZd&@EQBɢEO)I MqiI)MƐ) iY IY ] 2Acoustic response timeoutX}b,?A F+@Fأ @FνٱFG= RAHRS rotation from veh to nav: [[-0.802989,-0.582255,0.127231],[0.587432,-0.809264,0.003949],[0.100664,0.077911,0.991865]]FH@@֡@I?`=?~,p?@!Ź?? \?iF+@IFk^;FܑCYVOByVAHi}Mb@Mb@Mb@yyyy y9}sh|??I +?~jt?Y} ?yy}<}"A}A y)yyY}zAbDVDyBz=%A=ٔZ:Q->9Y=9Fy{DP=E>Q 5b4?Q 9b4):ZBY& ?Q E:y!@Q I?`CI ;i ;h0b4yɮHAjhDNOT Ignoring new targets: 64.84 m.RhBZhB ProNav: ac range: 64.840630 m, nav range: 51.107700 m, bearing: 120.771732 deg, approach rate: -0.487662 m/s, LOS rate: -0.243497 deg/s, cmd heading: 171.281569 deg, new cmd heading: 170.971456 deg. Bh'HeadingCmd: 2.984015 target range: 64.840630 and range: 65.10 m.h>@h*h"h! h!g!f!f)f)d)d)d1jd1Zd5S'@QBɢZ) i)>i<;i>@I>@IA=9@9 @9@=S1@9q2Acoustic response timeout^AY ԙ A I I O >E  E E *E "E *E :VE (N4ZE a @a @a @a @lb,a?A@F#@F/"@FtνٱFջ= RAHRS rotation from veh to nav: [[-0.816167,-0.563779,0.126589],[0.568985,-0.822325,0.006137],[0.100638,0.077036,0.991936]]FH y 4?@5? }P"y?fù???iF#@IF_^;FݑCYZOByZhH b9pYp=v9Fyv{Dv{w=Ev>xQ 5~b4z?Q 9~b4z)zXZBYy0#@Q I?zCIz;iz;z=b4y Bɮ A EjhDNOT Ignoring new targets: 64.84 m.RhyZhy ProNav: ac range: 64.840630 m, nav range: 50.925797 m, bearing: 120.674850 deg, approach rate: -0.462807 m/s, LOS rate: -0.247373 deg/s, cmd heading: 170.971451 deg, new cmd heading: 170.679768 deg. Bh)HeadingCmd: 2.978924 target range: 64.840630 and range: 65.10 m.h>@h*h"h hgfffdd d jd Zd  (@2Acoustic response timeout5RBɢ=)9 =i9)=+@9AiE;iE>@IIIM>@IIԩ9@ @@0@B<A<B>BB_HBOBB =BBB_;B ?E^AA>A> i> ېC 2Acoustic response timeoutAA Ii G  m 9i Yu [kAI O > b,Bv؋?A$YeOByeH iia@a a@a a@a a@a bDVD:yO=%2=E EE+E"E%;*E:VE [4ZEBEK9Y!=%9Fy%{D%E%>)Q 55b4-B?Q 9Eb4-{)-}ZBQ AM+:YQQ EU:yYQ Ie?-CI- ;i->-Jb4yuuBɮu?AuEjhDNOT Ignoring new targets: 64.84 m.Rh@Zh@ ProNav: ac range: 64.840630 m, nav range: 50.702541 m, bearing: 120.554883 deg, approach rate: -0.493255 m/s, LOS rate: -0.266218 deg/s, cmd heading: 170.679775 deg, new cmd heading: 170.318295 deg. Bh6HeadingCmd: 2.972615 target range: 64.840630 and range: 65.10 m.hS?>@h*h"h hgfffdddjdZd@)@RBɢ̱) i)Bi?;i S?>@  I S?>@Iq@ @@@BDAT read: Response Not Received *response not receivedTDAT read: user:331>Tx time:03:25:37.0643 b,?A2 @2%@2^0νٱ2uH= JAHRS rotation from veh to nav: [[-0.841184,-0.525505,0.127495],[0.531327,-0.847047,0.014245],[0.100508,0.079725,0.991737]]2H@`Q?@?,?纹?@h?O?i2 @I2D^^;2ۑCYZOByZH`bDrVDryz!=%~^=DAT read:  2Acoustic response timeoutٔ9Q->9% ?Y% ?=%9Fy-{D5 =E5>Q 5b4.力?Q 9b4)ZBQ A :YQ E:y&@Q I? CI;i[?Sb4ylBɮA%B*** querying acoustic contact ***i! i!jh)5DNOT Ignoring new targets: 64.84 m.Rh5Zh=E ProNav: ac range: 64.840630 m, nav range: 50.517982 m, bearing: 120.442884 deg, approach rate: -0.476350 m/s, LOS rate: -0.290128 deg/s, cmd heading: 170.318294 deg, new cmd heading: 169.981073 deg. BhMGMHeadingCmd: 2.966729 target range: 64.840630 and range: 65.10 m.hM=@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde`%)@颕7RBɢ) i)[D顙iH;i=@I=@I-9@) @)@50@1E- E-E-,E)"E- ;*E-:VE-g4ZE)a5@a5@a5@a5@^Am.ą2Acoustic response timeoutI A I I O >BA BA BE HBE OBBA BA BA BE C;BE ?Ec,8 ?AB@BO&@B]νٱBG= JAHRS rotation from veh to nav: [[-0.853664,-0.505557,0.125176],[0.511017,-0.859460,0.013826],[0.100594,0.075770,0.992038]]BH7Q-??Z?`P??e?ƾ?iB@IB^;BݑCYROByRHXXbD^VD^yfݱ;%fM=ٔf)fQ-f>9hYh=j9Fyj{Dny=En>pQ 5vb4rঊ?Q 9vb4r)rZBQ Av9YtQ EvQ:yv'@Q Iz?r;CIr:ir%?rZb4y|ɮ~A|jh!-DNOT Ignoring new targets: 64.84 m.Rh-OZh5OE ProNav: ac range: 64.840630 m, nav range: 50.346252 m, bearing: 120.331652 deg, approach rate: -0.463583 m/s, LOS rate: -0.301293 deg/s, cmd heading: 169.981074 deg, new cmd heading: 169.646244 deg. BhENMHeadingCmd: 2.960886 target range: 64.840630 and range: 65.10 m.hM&=@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@܈*@颍QRBɢD) i)!F顑i;i&=@׺<oGI&=@IU9@Y @Y@Y@Y@q@q2Acoustic response timeoutQq^AbEt4jEv4rEǭ<0E= E=E9E9"E=O;*E=:VE9ZE9BE=,Yԡ  2Acoustic response timeout c,k%?A2(@2w(@2νٱ2 = :AHRS rotation from veh to nav: [[-0.866020,-0.484363,0.124104],[0.489812,-0.871683,0.015926],[0.100466,0.074580,0.992141]]2Hp ޿@Jſ?Y?@N???@?i2(@I2^;2ܑCY^PBybHIf<)fp;ԁaa aa aa aau iuMb@Mb@Mb@qqqq q9u\(\? rhT㥛 ?Yu?yuC u=uQAu A q)qqYuAbDVDyt=%#=ٔ 9Q->9"?Y"?=9Fy{DE=E>!Q 5-b4%B˦?Q 9-b4%)%ZBQ A-T:Y-?Q E5:y5#@Q I5?%CI%l;i%;%hlb4y=cBɮ=UA=EԡjhDNOT Ignoring new targets: 64.84 m.RhZh ProNav: ac range: 64.840630 m, nav range: 50.073662 m, bearing: 120.176261 deg, approach rate: -0.522008 m/s, LOS rate: -0.299193 deg/s, cmd heading: 169.646244 deg, new cmd heading: 169.177543 deg. BhUMHeadingCmd: 2.952705 target range: 64.840630 and range: 65.10 m.h<@h*h"h hgfffdddjdZd7+@-uRBɢ-)) -ki))5tH11i5;i=<@=C<=pI=<@IA9@ @@n4@%2Acoustic response timeout EM  EM EM /EI "EM l;*EM 1:VEM J4ZEI aU @aU @aU @aU @^A] E2A I I O >c,B?A,>S@>)@>lͽٱ>%= FAHRS rotation from veh to nav: [[-0.877857,-0.462490,0.124378],[0.468286,-0.883338,0.020533],[0.100372,0.076270,0.992022]]>Hh@nݿ?׿?g?@ND? ? i??i>S@I>}^;>ߑCYNSPByRIbDZVDZfyb>%bg=ٔb^9Q-b>9dYd=f9Fyf{DjF=Ej?lQ 5rb4nw?Q 9rb4nƢ)n%[BYpyr%@Q Ir?nCIn:in:n~xb4~2Acoustic response timeouty|ɮ~A|jh!%DNOT Ignoring new targets: 64.84 m.Rh-FZh-F= ProNav: ac range: 64.840630 m, nav range: 49.891422 m, bearing: 120.064794 deg, approach rate: -0.544805 m/s, LOS rate: -0.334447 deg/s, cmd heading: 169.177543 deg, new cmd heading: 168.841925 deg. Bh=eEHeadingCmd: 2.946847 target range: 64.840630 and range: 65.10 m.hE&<@hA*hA"hI hIgIfIfQfQdQdQdYjdYZd]`x?,@颅RBɢFR) ji)y+J顑iYɻ;i&<@VI&<@I-9@) @)@-0@)AiAm@ABqBqBuIBu/PBBu =BqBqBu&;Bu>Eԁ^AA1I9IIO]T>Ա2Acoustic response timeout bc,ܜ\?A2GT@2I+@2ͽٱ2~r= :AHRS rotation from veh to nav: [[-0.889234,-0.440039,0.125014],[0.446348,-0.894468,0.026453],[0.100181,0.079322,0.991802]]2Ht)ܿ@s?@?{@v?`n?zN? ؼ?i2GT@I2^;2ܑCD@zD@EF EFEF)ED"EF%;*EFM:VEFFA4ZEDBEFK9Y=9Fy{DAh=E>Q 5b4?Q 95b4ƞ)][BY5&?Q E=:y=@$@Q I=?CIa%oA >A >A I I O > 2Acoustic response timeoutc,xv?A>@>B,@>yͽٱ>z= NAHRS rotation from veh to nav: [[-0.899891,-0.417626,0.125632],[0.424432,-0.904889,0.032137],[0.100262,0.082242,0.991556]]>H@`dڿ?)? Lt? ? ? Ժ?i>@I>Nj^;>ߑCYR|PByV6IbD^VD^1yfC=%f]=ٔf3gQ-j>9hYh=j9Fyj |Dn=En>pQ 5vb4r?Q 9vb4r)r[BYtyz%@Q Iz?rBCIr:ir:rb4y|ɮ~pA|B*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 64.84 m.Rh5λZh5λE ProNav: ac range: 64.840630 m, nav range: 49.434891 m, bearing: 119.787609 deg, approach rate: -0.571690 m/s, LOS rate: -0.361740 deg/s, cmd heading: 168.400568 deg, new cmd heading: 168.006538 deg. BhEBxMHeadingCmd: 2.932267 target range: 64.840630 and range: 65.10 m.hMD;@hI*hI"hI hQgQfQfQfYdYdYdajdaZde@-@颍RBɢx) Qi)M顙im};iD;@"ID;@IE EE,E"E ;*E:VEg4ZEa@a@a@a@9@ @@0@I^AjIaIqOY>2Acoustic response timeoutqBq Bq Bu 9IBu PBBu =Bq Bq Bu ;Bu >Eԡ _#c,S?A2mm @2c.@2ͽٱ2ȩ= :AHRS rotation from veh to nav: [[-0.909779,-0.395845,0.124932],[0.402789,-0.914614,0.035248],[0.100312,0.082389,0.991539]]2HUٿ@?K?`D ??k? ?i2mm @I2^{^;2ڑCYBPByBEIbDNVDNyRz=%VM=ٔVQ-V>9XYX=Z9FyZ|DZ4u=EZ>`Q 5bb4b%?Q 9fb4b%)b[BYdyfU'@Q If?bCIbR:ibI:bb4yjQBɮnAnߧEjh|DNOT Ignoring new targets: 64.84 m.Rh:ֻZh :ֻ ProNav: ac range: 64.840630 m, nav range: 49.214176 m, bearing: 119.639045 deg, approach rate: -0.554022 m/s, LOS rate: -0.374587 deg/s, cmd heading: 168.006534 deg, new cmd heading: 167.558853 deg. BhԁHeadingCmd: 2.924454 target range: 64.840630 and range: 65.10 m.h@*;@h*h"h hgfffddd jd Zd .@} ?}C=}2Acoustic response timeout%RBɢ-) i)jOinE;ie@*;@Թ<T I@*;@I)D=DE EE-E"E ;*EM:VEt4ZEBEL- BDAT read: Rx Time:03:25:39.5430 5 TRx dataTimestamp_ set to:1761535538.5881715 2Acoustic response timeout *c,.?A27!@2/@2ͽٱ2= :AHRS rotation from veh to nav: [[-0.918760,-0.375361,0.122411],[0.381876,-0.923584,0.034104],[0.100255,0.078079,0.991893]]2HzfؿPV?p?@@v?T??@?i27!@I2xb^;2ߑCYfPByfHIiMb@Mb@Mb@ 9 rh?KZd;O?YC+?y^j<=A )Y׭AbDVDky0<%:=ٔ9Q->9Y=9Fy+|DS=E>Q 5b4o?Q 9b4,)[BY=-?Q E:y&@Q I?CI9;i9;+b4y HBɮAjhDNOT Ignoring new targets: 64.84 m.RhdֻZhdֻ ProNav: ac range: 64.840630 m, nav range: 48.957169 m, bearing: 119.467484 deg, approach rate: -0.558648 m/s, LOS rate: -0.374872 deg/s, cmd heading: 167.558856 deg, new cmd heading: 167.041488 deg. BhHeadingCmd: 2.915424 target range: 64.840630 and range: 65.10 m.hN:@h*h"h hgfffddd jd Zd /@]SBɢ]r)Y ]iY)e{RaaieC;imN:@i߽IN:@I %9@! @!@-0@)2Acoustic response timeout1^AM <E  E E ,E "E *E :VE g4ZE a @a @a @a @I I O >i 0c,Č?A`ɰbp;MDAT read: 03:25:39.5430 LVL= 32720, 30705, 25810, 32755, AGC= 68, IDX= 345,-0.43, 1.287, 0.210, 2.705, 1.870, PHS=-0.481,-1.615, 0.791, RAW= 181.9, 12.5, CAL= 181.8, 15.6, ROT= 328.2, -15.6 uYgot valid direction response: 03:25:39.5430 LVL= 32720, 30705, 25810, 32755, AGC= 68, IDX= 345,-0.43, 1.287, 0.210, 2.705, 1.870, PHS=-0.481,-1.615, 0.791, RAW= 181.9, 12.5, CAL= 181.8, 15.6, ROT= 328.2, -15.6 }PDAT read: Bearing 342.1, -23.6 (Local) }~Local bearing/azimuth received: Bearing 342.1, -23.6 (Local) DAT read: Range 11 to 50 : 55.9 m (Round-trip 74.6 ms) speed 0.4 m/s oJ#@@1@nͽٱ=TDAT read: user:332>Tx time:03:25:40.6127 R#Rx 1: Read range and direction messages.^direction in FSK: [0.818585,-0.507544,0.268920]Fpublishing direction and range infoytvt1?pN=]^|5?Yv_Btvvwvd t)vDIvEivRοv~J?v+/K@vf_> AHRS rotation from veh to nav: [[-0.926895,-0.356364,0.117768],[0.361701,-0.931908,0.026836],[0.100186,0.067471,0.992678]]vK@ v'g>)v-M@Iv'gttvDMyo? q?&>쐨? vHG?)v_Ivmiv'gtt2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.H` ֿ&?`&?0z? ť?E??ioJ#@I`^;ݑCYPBy RI)B <A B>BB^IBPBBBBB;B>EBHCBBB =B =C¹p4bDVDܲyM<%M'=ٔMf9Q-M>9QYQ=U9FyU?|DU{8=E]>aQ 5mb4eW?Q 9mb4e)e$\BYiym:(@Q Im?e"CIe:ie:eb4y}0Bɮ}nA}էEitivbŌ?AJiv^BRiv^Bjiv @bv1ٴF@o!B<-@Rvt1?pN=]^|5?Zivmbiv'gjv(i>o,>E@(y1@Zv|zῴ?Q?Q$?2iv,B:ivH"ivECU?*iv*>+Biv`BivcHҜ?iv*>+ivBivPBivE @- addTargetRange:: Added new target pos. range: 55.900002 m, deltaT: 16.129043 s, deltaX: -9.199997 m, approachRate: -0.570399 m/s, rangeRepo size: 4 Ye Added new target pos. range: 55.676361 m, bearing: 125.130627 deg, lat: 36.779334 deg, lon: -121.859549 deg, deltaT: 16.129043 s, deltaX: -9.164268 m, approachRate: -0.568184 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 55.68 m.bhimPowering the camera and arming the capture device at range: 55.90 m.2hmRhuZhq ProNav: ac range: 55.676361 m, nav range: 52.004116 m, bearing: 123.787706 deg, approach rate: 0.000000 m/s, LOS rate: -0.374872 deg/s, cmd heading: 167.041483 deg, new cmd heading: 166.496329 deg. BhHeadingCmd: 2.905909 target range: 55.676361 and range: 55.90 m.hj9@h*h"h h2hgfffdddjd@3K@Zd?颭(SBɢK-) ti)@Tiz;i j9@ MrIMj9@IQ &Changing to mode: 2DAT read: 2Acoustic response timeoutԙ 9@  @ @ 5@ @ =@ =Թ ^A $I9 II OU >u%7c,M݌?AE. E.E.-E,"E. ;*E.v:VE.t4ZE,BE.yT9Y=9FyM|D7x=E>AQ 5Mb4E~E?Q 9Ub4EČ)E@\BYU/?Q EU:yU[(@Q IU?EbCIEA;iE:Eb4ye'Bɮe"AԧEjhDNOT Ignoring new targets: 55.68 m.bhPowering the camera and arming the capture device at range: 55.90 m.2hRhYȻZhYȻ2Acoustic response timeout ProNav: ac range: 55.676361 m, nav range: 51.781063 m, bearing: 123.662247 deg, approach rate: -0.620158 m/s, LOS rate: -0.350318 deg/s, cmd heading: 166.496325 deg, new cmd heading: 166.118333 deg. Bh kp HeadingCmd: 2.899312 target range: 55.676361 and range: 55.90 m.h S9@h*h"h h2hgfffd9dAdAjdAZdE3w?颕@SBɢZͽ)  i)tV项i:;iS9@\{IS9@IԹY8@ @@0@^AOA I I O > 2Acoustic response timeout J=c,ۿ?A>%@>>3@>νٱ>t5= FAHRS rotation from veh to nav: [[-0.940331,-0.322235,0.109280],[0.325097,-0.945638,0.008977],[0.100446,0.043968,0.993971]]>H@1Կ@?b?Bb? ֶ? ?@?i>%@I>g`;>ܑCYNPByNjI Vp2Acoustic response timeoutB B ICB }IB PBB =B B DB ;B >EQ 3Dc,?A@:}&@:*4@:}νٱ:4 = RAHRS rotation from veh to nav: [[-0.945482,-0.308154,0.105383],[0.309792,-0.950804,-0.000870],[0.100467,0.031824,0.994431]]:HbA@̸ӿ_?@?lL /? 9K?a?i:}&@I:`;:ߑCY^PBy\bDrVDr:yzD %G=ٔ%PQ-M>9} ? GY ?(hA-95(hAY5A=%9Fy5l|D=g=E=>AQ 5Mb4EG?Q 9Mb4EV)E|\BYI]2Acoustic response timeoutyM*@Q I]?ECIEU;iEU;Eb4yeBɮeAajhDNOT Ignoring new targets: 55.68 m.bhPowering the camera and arming the capture device at range: 55.90 m.2hRhӻZhӻ ProNav: ac range: 55.676361 m, nav range: 51.320309 m, bearing: 123.381046 deg, approach rate: -0.591876 m/s, LOS rate: -0.370559 deg/s, cmd heading: 165.773185 deg, new cmd heading: 165.270848 deg. BhO~HeadingCmd: 2.884521 target range: 55.676361 and range: 55.90 m.h8@h*h"h h2hgfffdddjdZd{]?wSBɢ~1ƽ) )i)5}Z!i%X;i%8@)-QI8@II-fA)-bA3@ @@0@@gA@cAE EE.E"E;*EǙ:VEـ4ZEBE]qJc,y+?A9"?Y"?=9Fy}|D=E>Q 5b4W ?Q 9b4B)\BY0?Q E:y,@Q I?/CI:i:b4y Bɮ A ӧEjh15DNOT Ignoring new targets: 55.68 m.bh9=Powering the camera and arming the capture device at range: 55.90 m.2h9RhEZhEU ProNav: ac range: 55.676361 m, nav range: 51.086090 m, bearing: 123.220565 deg, approach rate: -0.588983 m/s, LOS rate: -0.405408 deg/s, cmd heading: 165.270852 deg, new cmd heading: 164.787213 deg. BhU]HeadingCmd: 2.876079 target range: 55.676361 and range: 55.90 m.h]8@hY*hY"hY hY2hYgafafafadddjdZd?uSBɢuOϽ)y }q1iyԩ)A\iʵ;i8@ZI8@IE2Acoustic response timeoutP1@ @@@^A;ϽAII O >Ee  Ee Ee ,Ea "Ee ;*Ee :VEe g4ZEa au @au @au @au @ TQc,}E?A2N(@26@2ͽٱ2 < :AHRS rotation from veh to nav: [[-0.953983,-0.283215,0.098513],[0.282622,-0.959018,-0.020217],[0.100201,0.008555,0.994930]]2H` 2 ҿ 8?{? G@ɦ?`d?`x?i2N(@I2_;2CYBPByBvIHHbDJVDJ1R2Acoustic response timeoutyZh=%Z`=ٔZT9Q-Z>9\Y\=^9Fy^|Db=Eb>dQ 5jc4f?Q 9jc4f)f\BYhyj-@Q Ij?foCIf:if:lfc4ypɮvAtjh DNOT Ignoring new targets: 55.68 m.bhPowering the camera and arming the capture device at range: 55.90 m.2hRhZh- ProNav: ac range: 55.676361 m, nav range: 50.874096 m, bearing: 123.069157 deg, approach rate: -0.580512 m/s, LOS rate: -0.416333 deg/s, cmd heading: 164.787207 deg, new cmd heading: 164.331101 deg. Bh-܎5HeadingCmd: 2.868119 target range: 55.676361 and range: 55.90 m.h5B7@h1*h1"h1 h92hgfffdddjdZdi@5SBɢ5֌ؽ)9 =2i9)=|^99iEM;iEB7@AMPBHCBIBQBBBBDB;B>E //@ @@0@^AffA5.A9IAIYOew>U2Acoustic response timeouti H~Wc,m_?AbE5^n4jE5j4rE50E EE-E"E7;*E՚:VEt4ZEBEZ9 ?Y ?=9Fy|DV<E>Q 5c4ߥ?Q 9c4})\BY*?Q E:y1@Q I?CI:i:c4y BɮAҧEjh%DNOT Ignoring new targets: 55.68 m.bh!%Powering the camera and arming the capture device at range: 55.90 m.2h!Rh-Zh-= ProNav: ac range: 55.676361 m, nav range: 50.635918 m, bearing: 122.876829 deg, approach rate: -0.542875 m/s, LOS rate: -0.440429 deg/s, cmd heading: 164.331100 deg, new cmd heading: 163.751425 deg. Bh=!EHeadingCmd: 2.858001 target range: 55.676361 and range: 55.90 m.hE6@hA*hA"hA hA2hIgIfIfQfQdQdQdYjdYZd]@颅SBɢؽ) ^>i)za顑 i;i6@H: e 2Acoustic response timeout]c,ly?A2 )@27@2bͽٱ2ܻ :AHRS rotation from veh to nav: [[-0.959486,-0.265286,0.094919],[0.263306,-0.964147,-0.033033],[0.100279,-0.006702,0.994937]]2Hqп@L?@?I`頿۫?,s{?i2 )@I2^;0YFPByJ|IbDRVDRyjσ=%nY=ٔnQ-n>9pYp=r9Fyr|Dr<Ev>xQ 5~c4z^˥?Q 9~c4zZ{)z\BY|y~1@Q I~?zCIz:iz:z3"c4y Bɮ 1A ѧE%B*** querying acoustic contact ***i! i!jh1=DNOT Ignoring new targets: 55.68 m.bh9=Powering the camera and arming the capture device at range: 55.90 m.2h9RhE4ZhE4U ProNav: ac range: 55.676361 m, nav range: 50.433666 m, bearing: 122.708728 deg, approach rate: -0.537273 m/s, LOS rate: -0.448344 deg/s, cmd heading: 163.751422 deg, new cmd heading: 163.245110 deg. BhUؙ]HeadingCmd: 2.849165 target range: 55.676361 and range: 55.90 m.h]X6@hY*hY"hY hY2hYgafafifidididijdqZdul@SBɢ9޽) ~?i!)%c!!i%;i-X6@)-V1=I5X6@I1E- E-E-(E)"E- ;*E-:VE-c44ZE)a=@a=@a=@a=@N*@ @@00@BDAT read: Rx Time:03:25:43.0890 TRx dataTimestamp_ set to:1761535542.1162372Acoustic response timeout!^AE¼B>BBIB#QBB =BBB;B>EI9 II Oe >I Fdc,|,?ANS*@NI8@NͽٱN`V ZAHRS rotation from veh to nav: [[-0.960967,-0.260778,0.092401],[0.257800,-0.965240,-0.043030],[0.100411,-0.017529,0.994792]]NH@= п@??>?`7@U?iNS*@IN^;LYbPBybmI f;f4<bDjVDjyrHu%rJ=ٔv Q-v>9tYt=z9Fyz|Dzch<Ez>|Q 5c4~#?Q 9c4~x)~\BY y 1@Q I ?~@CI~R:i~:~P0c4yɮbAjhDNOT Ignoring new targets: 55.68 m.bhPowering the camera and arming the capture device at range: 55.90 m.2hRhZh ProNav: ac range: 55.676361 m, nav range: 50.217815 m, bearing: 122.525473 deg, approach rate: -0.514607 m/s, LOS rate: -0.438774 deg/s, cmd heading: 163.245114 deg, new cmd heading: 162.693003 deg. Bh HeadingCmd: 2.839529 target range: 55.676361 and range: 55.90 m.h ֺ5@h *h "h  h 2h 2Acoustic response timeout1gqfqfqfqdydydyjdyZd}`L @ TBɢ%)! %Mi))wf顑iJ;iֺ5@/Aa=Iֺ5@IaD9D=a=EE EEEE,EA"EE ;*EE:VEEg4ZEABEEyT DAT read: 03:25:43.0890 LVL= 32752, 32753, 29106, 32755, AGC= 66, IDX= 415, 0.01, 1.898, 1.128,-2.857, 2.696, PHS=-0.695,-1.523, 0.687, RAW= 188.2, 15.6, CAL= 188.1, 20.8, ROT= 321.9, -20.8  Ygot valid direction response: 03:25:43.0890 LVL= 32752, 32753, 29106, 32755, AGC= 66, IDX= 415, 0.01, 1.898, 1.128,-2.857, 2.696, PHS=-0.695,-1.523, 0.687, RAW= 188.2, 15.6, CAL= 188.1, 20.8, ROT= 321.9, -20.8  PDAT read: Bearing 354.7, -30.5 (Local)  ~Local bearing/azimuth received: Bearing 354.7, -30.5 (Local)  DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.4 m/s  TDAT read: user:333>Tx time:03:25:44.1627  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.735647,-0.576821,0.355107] Fpublishing direction and range infoy  HEik?ĭQu_S{?Y XB   q ) BI 1i ¿ ;/? 8R@ 'g> R@ ޹>) jȳ@I ޹ J?Zep?wVF.@? \p?) ޻I ;*i ޹  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Թ yjc,?A@F*@F28@FhνٱFD@ AHRS rotation from veh to nav: [[-0.961894,-0.258344,0.089549],[0.254239,-0.965590,-0.054756],[0.100614,-0.029903,0.994476]]FH п?tE?@` ?ݞ?iF*@IF^;DY PByoIԑiMb@Mb@Mb@ 9Zd;?Mb)\(Y?yGa9AA A)YfAbD=VD=0y];%])=ٔeܹQ-e>9Y=9Fy|D;E>Q 5c4e?Q 9c4v)\BY?Q E:y7@Q I?CI) EM  EM EM /EI "EM ;*EM :VEM J4ZEI a] @a] @a] @a] @1 qc,ƍ?A2*@28@2fϽٱ2!: :AHRS rotation from veh to nav: [[-0.962055,-0.258933,0.086047],[0.253436,-0.964830,-0.069806],[0.101096,-0.045350,0.993843]]2H'Yп@/?K8?@ޱl?8?>2Acoustic response timeouti2*@I2^;2ޑCYNPByNkIbDVVDVyr %r}=ٔrĺQ-v ?9tYt=v:Fyv|Dz );Ez ?|Q 5c4~C?Q 9c4~Du)~\BYy 7@Q I ?~CI~R:i~:~Lc4yBɮ!AЧEjh9=DNOT Ignoring new targets: 53.78 m.bhAEPowering the camera and arming the capture device at range: 54.00 m.2hARhM ZhM ] ProNav: ac range: 53.783924 m, nav range: 50.023335 m, bearing: 124.045792 deg, approach rate: -0.509391 m/s, LOS rate: -0.493047 deg/s, cmd heading: 162.043001 deg, new cmd heading: 161.601672 deg. Bh]/eHeadingCmd: 2.820481 target range: 53.783924 and range: 54.00 m.heĂ4@ha*ha"ha ha2higifififqdqdqdyjdyZd}?%HTBɢ%)%M< -p]i)B5<A1B9B9B9B9B9B9B9B=;B=>E)B$l顉i';iĂ4@Iz=IĂ4@I E"@A @A@E-1@A9^A .=E2Acoustic response timeoutIqIO>a wc,?ADzDAAE EE*E"E;*E:VE(N4ZEBE4N9Y=:Fy|DWE>Q 5c4w?Q 9c4s)\BY?Q E:y<@Q I?CI;ii:[c4yɮ;AjhDNOT Ignoring new targets: 53.78 m.bh%Powering the camera and arming the capture device at range: 54.00 m.2h!Rh%& Zh-& = ProNav: ac range: 53.783924 m, nav range: 49.838940 m, bearing: 123.835149 deg, approach rate: -0.427461 m/s, LOS rate: -0.490116 deg/s, cmd heading: 161.601675 deg, new cmd heading: 160.967433 deg. Bh=.EHeadingCmd: 2.809412 target range: 53.783924 and range: 54.00 m.hEg3@hA*hA"hA hA2hAgAfIfIfIdQdQdQjdQZd]%?颅hTBɢn) hi);o顉i4;ig3@=Ig3@Iy2Acoustic response timeout@ @@1@^A X=I)IAOMS>ԙ E 2Acoustic response timeout}c,?A4<ɰ;2!H*@2=8@2Lҽٱ2` :AHRS rotation from veh to nav: [[-0.960546,-0.267306,0.076809],[0.258429,-0.959891,-0.108732],[0.102793,-0.084593,0.991099]]2H`ʼѿ@?@?`nջP?ۧ?i2!H*@I2^;0\Y~PBy~{IbD VD 1yR=%%U=ٔ%'Q-%>9)Y)=-:Fy-|D-a#E->1Q 5=c45d?Q 9Ec45r)5\BYAyE9<@Q IE?5>CI5;i5;5ic4yMBɮUAUϧEmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 53.78 m.bhyPowering the camera and arming the capture device at range: 54.00 m.2hRh- Zh-  ProNav: ac range: 53.783924 m, nav range: 49.674744 m, bearing: 123.647607 deg, approach rate: -0.427775 m/s, LOS rate: -0.490210 deg/s, cmd heading: 160.967437 deg, new cmd heading: 160.402973 deg. Bh6HeadingCmd: 2.799560 target range: 53.783924 and range: 54.00 m.h+3@h*h"h h2hgfffdddjdZd?TBɢ-) fi)ri@;i+3@m=I+3@IEE EEEE(EA"EE%;*EE:VEEc44ZEAaU@aU@a]@a]@@ @@4@^A=A>A>I IO%,>2Acoustic response timeoutB=>B9B=IB=.QBB= =B9B9B=;B=>EBBBBȏ =Bȏ =Cg4! tބc,l?A2)@2E7@2Խٱ2j޽ :AHRS rotation from veh to nav: [[-0.959097,-0.274075,0.070820],[0.263353,-0.955647,-0.131847],[0.103815,-0.107803,0.988737]]2H@qѿ@A!? ?`X ?`?i2)@I2^;2CY^PByb}IbDjVDj:yr;%rN=ٔr*Q-v>9tYt=v:Fyv}DzgUEz>||Q 5c4~P?Q 9 c4~nq)~\BY y ;@Q I ?~|CI~-;i~(:~vc4yɮAjh9EDNOT Ignoring new targets: 53.78 m.bhAEPowering the camera and arming the capture device at range: 54.00 m.2hARhML ZhML ] ProNav: ac range: 53.783924 m, nav range: 49.504482 m, bearing: 123.453841 deg, approach rate: -0.429635 m/s, LOS rate: -0.490629 deg/s, cmd heading: 160.402977 deg, new cmd heading: 159.819698 deg. Bh][eHeadingCmd: 2.789380 target range: 53.783924 and range: 54.00 m.he32@ha*hi"hi hi2higififqfqdqdqB??2Acoustic response timeoutdjdZd:7?uTBɢ9) mi)0Du顙i^;i32@=I32@I1EM EMEM.EI"EMT;*EM1:VEMـ4ZEIBEMG c,~2?Af)@f={7@fw׽ٱf rAHRS rotation from veh to nav: [[-0.957186,-0.282131,0.064787],[0.269754,-0.950545,-0.153937],[0.105014,-0.129869,0.985954]]fH@Dnҿ数?C?j`2ÿ*? ?if)@Ifˁ^;fCYvPByxiuMb@Mb@Mb@qqqq q9ubX9?{Gz? rhYuE?yuף=uCuAu"A uA)uQAqYuA <p;bDVD1y:%%=ٔQ->9Y=:Fy!}D^E>Q 5c48?Q 9c4Tp)\BY?Q E:y?@Q I?CI:i;#c4yߙBɮAΧEjhDNOT Ignoring new targets: 53.78 m.bhPowering the camera and arming the capture device at range: 54.00 m.2hԉRhZh ProNav: ac range: 53.783924 m, nav range: 49.310455 m, bearing: 123.200226 deg, approach rate: -0.393118 m/s, LOS rate: -0.515869 deg/s, cmd heading: 159.819692 deg, new cmd heading: 159.055902 deg. BhHeadingCmd: 2.776049 target range: 53.783924 and range: 54.00 m.hʪ1@h*h"h h2hgfffdddjdZd@ 2Acoustic response timeoutUTBɢU)Q ] wiY)]6yYi]l{;i]ʪ1@aep=Ieʪ1@IaԱEM EMEM-EI"EM ;*EMZ:VEMt4ZEIaU@a]@a]@a]@NJN<U ?@Q  @Q @U 0@]  2Acoustic response timeout^A5 = A9 A= AABM >BI BM IBM BQBBM =BI BI BM ;BM >EI I O >/=c,ٕM?A>6)@> 7@>1ڽٱ> JAHRS rotation from veh to nav: [[-0.955178,-0.289954,0.059678],[0.276273,-0.945539,-0.172135],[0.106339,-0.147932,0.983264]]>HҐҿ?@t?A@ƿ9?n¿`v?i>6)@I>H"`;9dYd=f:Fyf1}Dj2Ej>lQ 5rc4n%?Q 9rc4nfo)n]BYpyvY?@Q Iv?nCIn:in:nc4yzBɮzAzħEjh%DNOT Ignoring new targets: 53.78 m.bh!%Powering the camera and arming the capture device at range: 54.00 m.%lFinal approach. Armed for intercept at range: 54.00 m.%\Transitioning guidance mode to: FINAL_APPROACH:h%@Rh-SZh-S= ProNav: ac range: 53.783924 m, nav range: 49.154568 m, bearing: 122.997281 deg, approach rate: -0.394493 m/s, LOS rate: -0.515207 deg/s, cmd heading: 159.055899 deg, new cmd heading: 158.445157 deg. BhEʰEHeadingCmd: 2.765390 target range: 53.783924 and range: 54.00 m.hE%0@hA*hI"hI hIgIfIffdddjdZd@!-@Q TBɢ]Fp)Y ]`uia)e64|aaied;i%0@E=I%0@I i>CcGjAE9MjAYM B2Acoustic response timeoutԁ@ @@0@ԩE  E E ,E "E f;*E :VE g4ZE BE Wuc,2h?A2@(@26@2ܽٱ2& :AHRS rotation from veh to nav: [[-0.953130,-0.297378,0.055756],[0.282753,-0.941059,-0.185631],[0.107672,-0.161166,0.981036]]BBDAT read: Rx Time:03:25:46.6368 BTRx dataTimestamp_ set to:1761535545.644248B2Acoustic response timeout2H` >ӿ? ?'ǿe?Ŀ`d?i2@(@I2ida;2CY%7QBy%IiMb@Mb@Mb@ 9@5^I ?zG?Mb?Yb?y =<AA 5A)&AY«AbD VD2y=%3=ٔ &@Q->9Y=:FyD}D-tE%>Q)Q 5c4-#?Q 9c4-n)-"]BY?Q E:yB@Q I?-ECI-@;i-g1;-c4yBɮWAçEjhimDNOT Ignoring new targets: 53.78 m.bhiRhuf Zhuf  ProNav: ac range: 53.783924 m, nav range: 48.990955 m, bearing: 122.758658 deg, approach rate: -0.333139 m/s, LOS rate: -0.487494 deg/s, cmd heading: 158.445157 deg, new cmd heading: 157.726937 deg. BhHHeadingCmd: 2.752854 target range: 53.783924 and range: 54.00 m.h.0@h*h"h hgfffdddjdZdJ @-UBɢ-8)1 5fvi1)5j11i5H;i=.0@ae=Ie.0@Iaԁ@ @@^0@^A(=I1IAOew>-2Acoustic response timeoutԡ yc,?AE EE-E"E=;*E5:VEt4ZEa@a@a@a@:~!(@:*6@:OFٱ:83 FAHRS rotation from veh to nav: [[-0.950657,-0.305845,0.052063],[0.290357,-0.936216,-0.197971],[0.109290,-0.173086,0.978824]]:Hkӿ? 5? {Wɿs? 'ƿ R?i:~!(@I:`;8YNSQByNITV@AbDVVDVJy^=%bb=ٔbƓQ-b>9dYd=f:FyfR}DfEf>hQ 5nc4j?Q 9rc4jn)j8]BYpyrB@Q Ir?jzCIj@;ij;jc4ytɮv Ax B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 53.78 m.bhRh%#Zh%#5 ProNav: ac range: 53.783924 m, nav range: 48.862019 m, bearing: 122.571729 deg, approach rate: -0.394012 m/s, LOS rate: -0.572732 deg/s, cmd heading: 157.726936 deg, new cmd heading: 157.164690 deg. Bh5ļ=HeadingCmd: 2.743041 target range: 53.783924 and range: 54.00 m.h=/@h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU` @+UBɢf ) %vi!)% R!!i%^B;i-/@)-=I-/@IqyԱ2Acoustic response timeout@ @@5@B >B GCB IB uQBB  =B B DB ;B >E^A = Iq I O >u DAT read: 03:25:46.6368 LVL= 32752, 32753, 25394, 32755, AGC= 62, IDX= 424, 0.48, 1.308, 0.413, 2.843, 1.934, PHS=-0.524,-1.476, 0.866, RAW= 186.2, 11.1, CAL= 186.1, 13.3, ROT= 323.9, -13.3 } Ygot valid direction response: 03:25:46.6368 LVL= 32752, 32753, 25394, 32755, AGC= 62, IDX= 424, 0.48, 1.308, 0.413, 2.843, 1.934, PHS=-0.524,-1.476, 0.866, RAW= 186.2, 11.1, CAL= 186.1, 13.3, ROT= 323.9, -13.3  PDAT read: Bearing 338.6, -31.0 (Local)  ~Local bearing/azimuth received: Bearing 338.6, -31.0 (Local)  DAT read: Range 11 to 50 : 52.4 m (Round-trip 69.9 ms) speed 0.4 m/s  TDAT read: user:334>Tx time:03:25:47.7127  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.786319,-0.573393,0.230050] Fpublishing direction and range infoyA E  Ӆ)?Z+=Ygz}"Er?YE QBA A A E 2c A )E >IE $iE E -]?E O@E aF>E .O@ E ,m>)E _@IE ,mA A E 1B%)a?:r?`nY? E ϓ?)E \FIE K!iE ,mA A  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.9 7c,8ۛ?ABŚ'@Bq5@B^ٱBB> JAHRS rotation from veh to nav: [[-0.948043,-0.314382,0.048773],[0.298103,-0.931375,-0.208985],[0.111127,-0.183588,0.976702]]BH^V`Կ??`ʿr?ǿ$A?iBŚ'@IB`;BCYjfQByjII8>)=bD VD kyMB4=%UB=ٔˌQ->9Y=:Fyd}D=EE>Q 5c4礊?Q 9c4JmbEg4jEb4rE©]0E= E=E=+E9"E=f;*E=h:VE= [4ZE9BE9a]2E9a]JE=;ae:E=;ae)T]BYiymA@Q Im?CIB@5@ZuVy2῵*8H ?H?2iuaB:iuK"iumMc?*iulBiuBBiuI?iu~uiuKBiu:Biu @- addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 3.778169 s, deltaX: -1.599998 m, approachRate: -0.423485 m/s, rangeRepo size: 4 = Added new target pos. range: 52.189262 m, bearing: 127.560963 deg, lat: 36.779320 deg, lon: -121.859586 deg, deltaT: 3.778169 s, deltaX: -1.594662 m, approachRate: -0.422073 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 52.19 m.bhARhmZhq ProNav: ac range: 52.189262 m, nav range: 46.648964 m, bearing: 124.134017 deg, approach rate: 0.000000 m/s, LOS rate: -0.572732 deg/s, cmd heading: 157.164688 deg, new cmd heading: 156.306270 deg. BhHeadingCmd: 2.728059 target range: 52.189262 and range: 52.40 m.h.@h*h"h hgfffdd d jd @33J@Zd ?mTUBɢmS)i u{iq)ufqqiu>;i}.@y*=I.@IIDAT read: 2Acoustic response timeout@ @@?0@i ^AE 6[=ԙ A ؟AI I O >l~c,嘸?A>'@>5@>rٱ>F JAHRS rotation from veh to nav: [[-0.945235,-0.323099,0.046240],[0.306111,-0.926722,-0.217903],[0.113256,-0.191815,0.974874]]N2Acoustic response timeout>H ]? Կͬ?S?@B˿`\? gȿ+2?i>'@I>_;>ߑCYVQByVIi5Mb@Mb@Mb@1111 195ʡE?MbX9?/$?Y5-?y5ʡ=5,=5vA5nA 5ٷA)5VA1Y5 AbDMVDMky]=%]5=ٔ]Q-e>9e"?Ye"?=e:Fyeu}DmEm>qQ 5}c4uZԤ?Q 9}c4uMl)uz]BY}?Q E}:y>@Q I?uCIun:iu:uc4yɮAjhDNOT Ignoring new targets: 52.19 m.bhRhZh ProNav: ac range: 52.189262 m, nav range: 46.489773 m, bearing: 123.926529 deg, approach rate: -0.422203 m/s, LOS rate: -0.552177 deg/s, cmd heading: 156.306270 deg, new cmd heading: 155.681701 deg. BhzHeadingCmd: 2.717158 target range: 52.189262 and range: 52.40 m.h-@h*h"h hgfffdddjdZd@|D?%rUBɢ% )A EyiA)M&䄽IIiM4;iU-@QU=IU-@IYE EE-E"E;*EǙ:VEt4ZEa@a@a@a@@ @@1@9^AO)=IIO>U2Acoustic response timeoutaB A <B B B IB QBB B B B ;B >Eԑ bc,fҎ?AV~&@Vgt4@VٱVN nAHRS rotation from veh to nav: [[-0.942259,-0.332008,0.043810],[0.314335,-0.921957,-0.226251],[0.115508,-0.199416,0.973083]]VH&?տBn?? ̿?@xɿ#?iV~&@IV _;TYvQByvIbD~VD~y n=% P=ٔ Q->9Y=:Fy}DHE>!Q 5-c4%?Q 9-c4%Lk)%]BY)y5>@Q I5?%3CI%:i%:%c4y=Bɮ=4A=§EjhaeDNOT Ignoring new targets: 52.19 m.bhaRhmZhm} ProNav: ac range: 52.189262 m, nav range: 46.334988 m, bearing: 123.726059 deg, approach rate: -0.397649 m/s, LOS rate: -0.516733 deg/s, cmd heading: 155.681704 deg, new cmd heading: 155.078310 deg. Bh}PHeadingCmd: 2.706627 target range: 52.189262 and range: 52.40 m.ha9-@h*h"h hgfffdddjdZd`J?UBɢ& ) zzi)cXiE;ia9-@S=Ia9-@II ) fAqi@i @i@u5@q@y@}dA2Acoustic response timeoutԙ^AuSk=E EE/E"E ;*E:VEJ4ZEBEL] 2Acoustic response timeout Ӌc,;쎹?AZ%@Z+3@Z6ٱZ.T jAHRS rotation from veh to nav: [[-0.939090,-0.341105,0.041911],[0.322877,-0.917462,-0.232408],[0.117727,-0.204720,0.971715]]ZH տMu? ? [ͿW#?`B4ʿ@J?iZ%@IZ&^;XYvQByvI xx=iMb@Mb@Mb@ 9Q?~jt?X9v?Y?yD=}=+AA GA)AYAbDVDJyu=%A=ٔȬQ->9Y=:Fy}DLE>Q 5]c4?Q 9]c4i)]BY]?Q Ee:ye~:@Q Ie?rCIQ uc,?A6V%@6ML3@6Lٱ6#X >AHRS rotation from veh to nav: [[-0.935945,-0.349834,0.040290],[0.331142,-0.913264,-0.237264],[0.119799,-0.208725,0.970609]]6HCcֿ@?n1?t9^ο"?}ʿ;?i6V%@I6;^;6CYFQByFIbDNVDNyV=%V[=ٔZQ-Z>9XYX=~:Fy~}D~E~>Q 5 c4?Q 9 c4~h)^BYy9@Q I?CI:i:c4y9ɮ=nA9}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 52.19 m.bhRhZh ProNav: ac range: 52.189262 m, nav range: 45.996189 m, bearing: 123.331185 deg, approach rate: -0.455042 m/s, LOS rate: -0.530378 deg/s, cmd heading: 154.447571 deg, new cmd heading: 153.889361 deg. BhHeadingCmd: 2.685876 target range: 52.189262 and range: 52.40 m.he+@h*h"h hgf2Acoustic response timeoutf1f1d1d1d9jd9Zd=PM?UBɢ~ ) *wi)die;B5>B5FCB5,IB5 RBB5 =B1B5DB5';B5>EIi e+@e=Ie+@I%@@! @!@%5@!Y^A =Ii Iy ԁ O > 2Acoustic response timeoutc,?A0U\$@U2@UBٱUC^ AHRS rotation from veh to nav: [[-0.932877,-0.358170,0.038129],[0.338942,-0.908727,-0.243587],[0.121894,-0.214313,0.969129]]UH!Cֿ?@9?I-Ͽ`q4?`n˿?iU\$@IU^;UCE EEE"E;*E':VEZEBE4N9qYy=}:Fy}}D}hE}>ԉQ 5d4ꄤ?Q 9d4Hf)J^BYl?Q E:y5@Q I?CI2;i2; d4yBɮ"AEjhDNOT Ignoring new targets: 52.19 m.bhRhZh ProNav: ac range: 52.189262 m, nav range: 45.778431 m, bearing: 123.107378 deg, approach rate: -0.455719 m/s, LOS rate: -0.470604 deg/s, cmd heading: 153.889367 deg, new cmd heading: 153.214786 deg. Bh|-HeadingCmd: 2.674103 target range: 52.189262 and range: 52.40 m.h-$+@h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdEK@颭UBɢ) u{i)&顱i;i$+@PN=I$+@I>i>-2Acoustic response timeoute=@a @a@e1@aԹ ^A p{=I I O >c,9?A:zF$@:&<2@:^ٱ:dB2Acoustic response timeout JAHRS rotation from veh to nav: [[-0.929820,-0.366237,0.036123],[0.346458,-0.904231,-0.249666],[0.124100,-0.219629,0.967658]]:H@kp׿~?^,?u Ͽ ſ?`̿?i:zF$@I:^;:ߑCYR9RByRGITVAbDZVDZk`yf`>%f=ٔfQ-f ?9hYh=j:Fyj}DnҼEn ?pQ 5vd4rv?Q 9vd4rd)rz^BYtyv<5@Q Iv?r!CIr:ir:rd4y|ɮ~A|jh!%DNOT Ignoring new targets: 52.19 m.bh!Rh-GZh-G= ProNav: ac range: 52.189262 m, nav range: 45.635536 m, bearing: 122.961192 deg, approach rate: -0.450761 m/s, LOS rate: -0.462587 deg/s, cmd heading: 153.214790 deg, new cmd heading: 152.774867 deg. Bh=EHeadingCmd: 2.666425 target range: 52.189262 and range: 52.40 m.hE*@hA*hA"hA hIgIfIfIfQdQdQdQjdQZd]`@颅VBɢK) vi)o顉iW;i*@=I*@I?@ @@%4@^Ay=IQIaOm>E EE)E"E ;*Eh:VEFA4ZEa@a@a@a@=BDAT read: Rx Time:03:25:50.1845 =TRx dataTimestamp_ set to:1761535549.172190=2Acoustic response timeoutA) A) B5 >B5 ECB5 kIB5 sRBB5 =B5 ;DB1 B5 -;B5 >EBGCBGCBȔCBȑ =BȒ =Cg5A c,S?A2/#@21@2|ٱ2!g >AHRS rotation from veh to nav: [[-0.927161,-0.373004,0.035234],[0.352722,-0.900704,-0.253613],[0.126334,-0.222712,0.966664]]2HL@L׿7 ? ?@1;п+?ҁ̿@?i2/#@I2_;2CYNgRByRdIbDZVDZyr=%vH=ٔvִQ-v>9xYx=z:Fyz}DzE~>Q 5d4$c?Q 9 d4b)^BY y 4@Q I ?^CI:i9%d4yBɮDA!jhDNOT Ignoring new targets: 52.19 m.bhRhZh ProNav: ac range: 52.189262 m, nav range: 45.451511 m, bearing: 122.773601 deg, approach rate: -0.431631 m/s, LOS rate: -0.441775 deg/s, cmd heading: 152.774871 deg, new cmd heading: 152.209840 deg. BhHeadingCmd: 2.656563 target range: 52.189262 and range: 52.40 m.h% *@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5x@颍5VBɢe) Wsi).q顑iI;i *@*=I *@I2Acoustic response timeout A@  @ @ 4@ IԁE  E E .E "E *E :VE ـ4ZE BE RiA IA E 2Acoustic response timeoutc,gm?A58]#@5R1@5 ٱ5i EAHRS rotation from veh to nav: [[-0.924263,-0.380179,0.034670],[0.359454,-0.897257,-0.256364],[0.128572,-0.224485,0.965958]]5H@TؿR?J?T Dhп@u?̿!?i58]#@I5._;5CQY]RBy]vIiMb@Mb@Mb@ 9+?X9v9Y=:Fy}D\E>Q 5d4L?Q 9d4_)_BY ?Q E:y/@Q I?CI ;i:5d4y|BɮAEjhDNOT Ignoring new targets: 52.19 m.bhRhZh ProNav: ac range: 52.189262 m, nav range: 45.215912 m, bearing: 122.566873 deg, approach rate: -0.502753 m/s, LOS rate: -0.443440 deg/s, cmd heading: 152.209837 deg, new cmd heading: 151.586448 deg. Bh*HeadingCmd: 2.645683 target range: 52.189262 and range: 52.40 m.hR)@h*h"h hgfffdddjdZdy @[VBɢ=) Oui)q>i;i%R)@!%#=I%R)@I)1ԁ@@ @@5@@hA@hADAT read: 03:25:50.1845 LVL= 32752, 32753, 23346, 32755, AGC= 62, IDX= 417, 0.04,-1.729,-2.680,-0.278,-1.232, PHS=-0.395,-1.403, 0.910, RAW= 184.2, 8.9, CAL= 184.2, 9.7, ROT= 325.8, -9.7 Ygot valid direction response: 03:25:50.1845 LVL= 32752, 32753, 23346, 32755, AGC= 62, IDX= 417, 0.04,-1.729,-2.680,-0.278,-1.232, PHS=-0.395,-1.403, 0.910, RAW= 184.2, 8.9, CAL= 184.2, 9.7, ROT= 325.8, -9.7 PDAT read: Bearing 328.0, -27.7 (Local) ~Local bearing/azimuth received: Bearing 328.0, -27.7 (Local) DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.6 ms) speed 0.4 m/s TDAT read: user:335>Tx time:03:25:51.2627 R#Rx 1: Read range and direction messages.^direction in FSK: [0.815256,-0.554048,0.168489]Fpublishing direction and range infoyy}?E ºRV?Y}JByyy}2[ y)yI}q=ʾi}}h?}M@}>}M@ }-\->)}@I}-\-yy}S)&{?lay?CX? }_?)}kI}i}-\-yyE2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.ԩ^A =E  E E E "E f;*E Ǚ:VE ZE a @a @a @a @ AI IY Ii O} >kc,a?A>"@>A0@>Ugٱ>-k JAHRS rotation from veh to nav: [[-0.921490,-0.386866,0.034515],[0.365688,-0.894111,-0.258531],[0.130877,-0.225612,0.965386]]>H |iؿ?og? ċп?̿q?i>"@I>^;%bo=ٔf޻Q-f?9hYh=j:Fyj}DjEj?lQ 5rd4nBBIBRBB =BBBB>E) zqi)顱id;i;(@=I;(@Iy@ @@t4@E+GUhAi3ѿ9hAY=A^A=] =] 4=e 2Acoustic response timeoutA I I  O >d c,?A%|"@%1r0@%ٱ%"l mAHRS rotation from veh to nav: [[-0.918682,-0.393513,0.034237],[0.371867,-0.890852,-0.260955],[0.133189,-0.227003,0.964744]]%He O/ٿ?@?܁`|пY ?`mͿ .?i%|"@I%^;E EEE"ET;*E:VEZEBEG9QYQ=U:FyU ~D]:gE]>aQ 5md4e%?Q 9md4eYZ)e_BYu2%?Q Eu:yu,@Q Iu?e*CIe;iet;eRd4y}sBɮ}eA}EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 50.49 m.bhRhz׻Zhz׻ ProNav: ac range: 50.494675 m, nav range: 46.137398 m, bearing: 125.124402 deg, approach rate: -0.550453 m/s, LOS rate: -0.376769 deg/s, cmd heading: 151.147100 deg, new cmd heading: 150.602674 deg. BhIHeadingCmd: 2.628513 target range: 50.494675 and range: 50.70 m.h9(@h*h"h hgfffdddjdZdV9?颍VBɢm ) zi)r顑iW;i9(@|=I9(@2Acoustic response timeoutI!}?@y @y@5@Q^A y } 2Acoustic response timeoutA I I O >c, ?A2 "@20@2 ٱ2vl :AHRS rotation from veh to nav: [[-0.915883,-0.399992,0.034132],[0.378017,-0.887929,-0.262079],[0.135137,-0.227131,0.964443]]2H@Nyٿy? o1?iп`'L?Ϳ?i2 "@I2^;2CYBRByBIbDJVDJyR/B>%Vo=ٔV{Q-V?9XYX=Z:FyZ~DZnEZ?dQ 5jd4f?Q 9jd4fW)f_BYlyn+@Q Ir?faCIfY;ify;f^d4y ɮ Ajh1=DNOT Ignoring new targets: 50.49 m.bh9RhEһZhEһM ProNav: ac range: 50.494675 m, nav range: 45.949085 m, bearing: 124.996874 deg, approach rate: -0.541793 m/s, LOS rate: -0.368414 deg/s, cmd heading: 150.602680 deg, new cmd heading: 150.218533 deg. BhU|UHeadingCmd: 2.621808 target range: 50.494675 and range: 50.70 m.ԙhU'@h*h"h hgfffdddjdZd[m?UVBɢ]#)Y ] riY)]jޔaaiel;ie'@imC=Im'@IiE EEE"E;*EZ:VEZEa@a@a@a @@ @@F4@2Acoustic response timeoutBAB>BBIBRSBB =BBB!;B>E^A=A I I O > zc,֏?A;ɰ4<2!@2/@2 ٱ23m :AHRS rotation from veh to nav: [[-0.913047,-0.406418,0.034209],[0.384035,-0.884937,-0.263447],[0.137343,-0.227402,0.964067]]2H7`ڿს? ?fQPп`q?@Ϳ@?i2!@I2ug^;2ߑCYZSByZIbDVDkyE%=%D=ٔQ->9Y=:Fy+~D%E%>)Q 55d4- ?Q 95d4-T)- `BY1y5)+@Q I5?-CI- ;i- ;-md4yEjBɮEAEEjhimDNOT Ignoring new targets: 50.49 m.bhiRhu׻Zhu׻ ProNav: ac range: 50.494675 m, nav range: 45.720825 m, bearing: 124.843158 deg, approach rate: -0.555612 m/s, LOS rate: -0.376031 deg/s, cmd heading: 150.218536 deg, new cmd heading: 149.755096 deg. BhHeadingCmd: 2.613719 target range: 50.494675 and range: 50.70 m.h.G'@h*h"h hgfffdddjdZd"?VBɢ) ui)-hi;i.G'@F>I.G'@I}2Acoustic response timeout@@ @@0@!bE}A{4jE}p4rE}0E EE*E"E~ ;*E$:VE(N4ZEBE Vy c,?AJn2!@J(/@J'ٱJl vAHRS rotation from veh to nav: [[-0.910225,-0.412674,0.034501],[0.389965,-0.882201,-0.263910],[0.139346,-0.226763,0.963930]]JH @iڿ@"?@1?:п?Ϳ?iJn2!@IJuq^;JCY 3SBy IiMb@Mb@Mb@ 9/$?+S㥫?Y1(?y/]=A$A /A)QAYbDVDy=%<=ٔmQ->9 Y = :Fy =~DyE>Q 5%d4c?Q 9%d48Q)U`BY%)?Q E%:y-(@Q I-?CI;iA;P|d4y5aBɮ5A1QjhaeDNOT Ignoring new targets: 50.49 m.bhaRhmhλZhmhλ} ProNav: ac range: 50.494675 m, nav range: 45.470032 m, bearing: 124.686863 deg, approach rate: -0.575954 m/s, LOS rate: -0.360914 deg/s, cmd heading: 149.755094 deg, new cmd heading: 149.283636 deg. Bh}wHeadingCmd: 2.605491 target range: 50.494675 and range: 50.70 m.h]&@h*h"h hgfffdddjdZd`ض?WBɢD ) ti)~i;i]&@ >I]&@Im?@i @i@m0@i2Acoustic response timeoutԉ^A3=ԱE  E E (E "E ;*E h:VE c44ZE a% @a% @a% @a% @A I I O > d,O ?A2 @2H.@2^ٱ2`k :AHRS rotation from veh to nav: [[-0.907145,-0.419356,0.035038],[0.396259,-0.879266,-0.264328],[0.141655,-0.225900,0.963796]]2HU@ڿu?N\?`"п`!?K̿k?i2 @I2oL^;2CYBGSByBIr2Acoustic response timeout p<<bD VD yMsQ=%MW=ٔMɻQ-M>9QYQ=U:FyUL~DUKE]>aQ 5md4eeۣ?Q 9md4eN)e`BYiym](@Q Im?e*CIe:ie4:ed4B>BB&IBSBB =BBB;B>EyMBɮAEjhDNOT Ignoring new targets: 50.49 m.bhRh˻Zh˻ ProNav: ac range: 50.494675 m, nav range: 45.250275 m, bearing: 124.550810 deg, approach rate: -0.573228 m/s, LOS rate: -0.356613 deg/s, cmd heading: 149.283633 deg, new cmd heading: 148.873498 deg. BhtHeadingCmd: 2.598333 target range: 50.494675 and range: 50.70 m.hK&@h*h"h hgfffdddjdZdql@%$WBɢ%)! -3wi))-))i-g;iK&@Ck>IK&@ԱIR>i>M=@I @I@M0@I@UgA@Q2Acoustic response timeout^A A I I O >9 wd,$?AEj EjEj-Eh"Ej;*Ej:VEjt4ZEhBEj4N= i=Mb@Mb@Mb@9999 99=Zd;O?sh|?9Y=:Fy`~D2Acoustic response timeoutE>Q 5d4ã?Q 9d4I)`BY,?Q E:y'@Q I?|CID;iAQ;ɚd4y=DBɮEzAEEuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 50.49 m.bhRh!ͻZh!ͻ ProNav: ac range: 50.494675 m, nav range: 44.959515 m, bearing: 124.373976 deg, approach rate: -0.585974 m/s, LOS rate: -0.358680 deg/s, cmd heading: 148.873494 deg, new cmd heading: 148.339579 deg. Bh(vHeadingCmd: 2.589014 target range: 50.494675 and range: 50.70 m.hh%@h*h"h hgfffdddjdZdg@NWBɢG) `i)顡if;ih%@ >Ih%@IAU@@Q @Q@U4@Qa ^Au = BDAT read: Rx Time:03:25:53.7325  TRx dataTimestamp_ set to:1761535552.953709 2Acoustic response timeoutԉ A I I O >nd, A?A2E4@2)-@2Vٱ2Co :AHRS rotation from veh to nav: [[-0.896448,-0.441910,0.033118],[0.417557,-0.867345,-0.270847],[0.148415,-0.228972,0.962052]]2H?Hܿ? B?JUѿ@B?@NͿ "?i2E4@I2@^;2CYBjSByBIbDNVDNyR[=%R_=ٔVQ-V>9TYT=Z:FyZn~DZ팽E^>\Q 5bd4^l?Q 9bd4^F)^aBYdyf&@Q If?^CI^[:i^t:^d4ylɮn=AljhDNOT Ignoring new targets: 50.49 m.bhRh ʻZh ʻ ProNav: ac range: 50.494675 m, nav range: 44.751530 m, bearing: 124.253691 deg, approach rate: -0.609923 m/s, LOS rate: -0.354378 deg/s, cmd heading: 148.339578 deg, new cmd heading: 147.977052 deg. Bh4s%HeadingCmd: 2.582687 target range: 50.494675 and range: 50.70 m.h%J%@h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd= @mWBɢo) ci)y!i;iJ%@=IJ%@IE= E=E=*E9"E= ;*E=:VE=(N4ZE9aE@aE@aE@aE@@ @@0@^Ae>]2Acoustic response timeoutAABBBXIBSBB =BBB ;B>EAII O}z>)Y td,[?AR@Rd,@RٱR'nq ZAHRS rotation from veh to nav: [[-0.892474,-0.449978,0.031784],[0.425195,-0.862666,-0.273892],[0.150664,-0.230927,0.961235]]RH%oܿE?c6?qѿH?Ϳ p?iR@IR`d^;PzDAT read: 03:25:53.7325 LVL= 32064, 28257, 22834, 32531, AGC= 64, IDX= 429,-0.24,-2.313, 2.996,-0.829,-1.891, PHS=-0.320,-1.351, 1.018, RAW= 184.3, 6.4, CAL= 184.2, 5.7, ROT= 325.8, -5.7 ~Ygot valid direction response: 03:25:53.7325 LVL= 32064, 28257, 22834, 32531, AGC= 64, IDX= 429,-0.24,-2.313, 2.996,-0.829,-1.891, PHS=-0.320,-1.351, 1.018, RAW= 184.3, 6.4, CAL= 184.2, 5.7, ROT= 325.8, -5.7 PDAT read: Bearing 319.0, -25.9 (Local)  ~Local bearing/azimuth received: Bearing 319.0, -25.9 (Local) DAT read: Range 11 to 50 : 49.2 m (Round-trip 65.6 ms) speed 0.4 m/s TDAT read: user:336>Tx time:03:25:54.8127 %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.822991,-0.559304,0.099320]-Fpublishing direction and range infoy`b{OkU?GChܸm?YbDB`b@}banb2Y b)b@Ib ףibbM?bvM@b=` b%=)`Ib%˽``b0{+?sgF?R`]h? b?)b$I`ib%˽``E2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.YSByI1bDVDy2=%,=ٔQ->9Y=:Fy~DQE>Q 5d4ț?Q 9d4#B)eaBYy%@EY E]E],EY"EY*E]h:VE]g4ZEYBE]L@M N> )^A>%2Acoustic response timeoutA.AIIO?F d,,)?A2 @42,@2+ٱ2Ơr >AHRS rotation from veh to nav: [[-0.888141,-0.458550,0.030618],[0.433396,-0.857858,-0.276128],[0.152885,-0.231971,0.960633]]2H@kXݿ`Z? ü?@sѿ?:Ϳ@?i2 @I2T^;2CYFmSByFIIJ=)J%=HJAiMb@Mb@Mb@ 9x&?V- rh?Y7)?yhC<AA \A)AYAbD-VD-ky=%==ٔ=7Q-=>9M ?YM ?=M:FyM~DM EU>QQ 5]d4U9?Q 9ed4U=)UaBYe>*?Q Ee:ye%@Q Ie?U_CIUq ;iU ;U?d4yu2BɮquEjhDNOT Ignoring new targets: 49.00 m.bhRh=Zh=M ProNav: ac range: 49.000683 m, nav range: 43.514824 m, bearing: 122.256531 deg, approach rate: -0.740468 m/s, LOS rate: -0.475201 deg/s, cmd heading: 147.312140 deg, new cmd heading: 146.742826 deg. BhMUHeadingCmd: 2.561146 target range: 49.000683 and range: 49.20 m.hU#@hQ*hY"hY hygyfyffdddjdZd ??E EE)E"E ;*E:VEFA4ZEa@a@a@a@WBɢ ԑ) i)Ȓi7;i#@M=I#@I@ @@O0@2Acoustic response timeout^AeY>Bu>BqBu~IBu2TBBqBqBqBu;Bu>EB ECB ECB ƓCB ƕ =B ƕ =C E5AIIO> e&d,Ԛ?A2 j@2_+@2{ٱ2.r :AHRS rotation from veh to nav: [[-0.883500,-0.467487,0.029718],[0.442003,-0.852983,-0.277585],[0.155116,-0.232111,0.960241]]2H@ENݿkn?I?Kѿ@? εͿ L?i2 j@I2o^;0YBSByB IbDJVDJyRa=%VV=ٔV~Q-V>9XYX=Z:FyZ~DZYԼEZ>`Q 5bd4br?Q 9fd4b:)baBYdyf$@Q If?bCIb=:ib:bd4yhɮnAlle2Acoustic response timeoutjhDNOT Ignoring new targets: 49.00 m.bhRhDһZhDһ ProNav: ac range: 49.000683 m, nav range: 43.290478 m, bearing: 122.115239 deg, approach rate: -0.580768 m/s, LOS rate: -0.367660 deg/s, cmd heading: 146.742830 deg, new cmd heading: 146.316766 deg. BhR|HeadingCmd: 2.553709 target range: 49.000683 and range: 49.20 m.ho#@h*h"h hgfffdddjdZda ,d,?A2@2r*@2!ٱ2r :AHRS rotation from veh to nav: [[-0.878755,-0.476387,0.029083],[0.450564,-0.848135,-0.278674],[0.157423,-0.231782,0.959945]]2H` }޿ǝ? ?#ѿ`n&? Ϳ@߷?i2@I2X^;2CYBSByB%Ii Mb@Mb@Mb@     9 (\?y&1Mbp?Y '?y `e ; nA A )  A Y A ;;bD%VD%Fy5Q<%5B=ٔ5Q-5>99E"?YE"?=E:FyE~DE EM>IQ 5Ud4M^?Q 9d4MM6)MbBYK(?Q E:yo%@Q I?MCIMB} DCB} IB} ZTBBy By By B} ʇ;B} o>E ^A-= 11cGjA eƿ9 jAY eAIIO ?׭5d,א?A,6@6 *@6$ٱ6t VAHRS rotation from veh to nav: [[-0.873540,-0.485991,0.027198],[0.459865,-0.842312,-0.281131],[0.159537,-0.233072,0.959284]]6H {߿ٛ?@ln?8 ѿ`k?KͿ@t?i6@I6O^;6CY^SBy^4IbDjVDjP)yrP;=%r=ٔr=Q-r>9tYt=v:Fyv~DvoEz>|Q 5d4~KF?Q 9d4~c1)~UbBYy$@Q I?~> CI~$:i~:~%d4y  Bɮ AEjh9=DNOT Ignoring new targets: 49.00 m.bh9RhE߻ZhE߻ ProNav: ac range: 49.000683 m, nav range: 42.731972 m, bearing: 121.755177 deg, approach rate: -0.605685 m/s, LOS rate: -0.391095 deg/s, cmd heading: 145.836492 deg, new cmd heading: 145.229479 deg. Bh3HeadingCmd: 2.534733 target range: 49.000683 and range: 49.20 m.h9"@h*h"h  h g f)f1f1d1d1d9jd9Zd=@X? 2Acoustic response timeoutm>XBɢm)i mii)u̾qqiup;i}9"@y}=I}9"@Iԁ!;>@ @@0@ԱE EE-E"E*E?:VEt4ZEBE,Y^;d,s?Ahr1@rܟ(@r(ٱrz ~AHRS rotation from veh to nav: [[-0.862537,-0.505557,0.021020],[0.478891,-0.829045,-0.288700],[0.163381,-0.238948,0.957189]]rH`-0? %?zҿ? ܕοJ?ir1@IrE^;rCY SBy @IiMb@Mb@Mb@ 9Mb?V-{GztY#?yףAA );AY׭AbDVDy-=%?=ٔQ->9Y=:Fy~DUE>YQ 5ee4]42?Q 9ee4]-)]bBYm>#?Q Em:ym%@Q Im?] CI]h;i]~ ;]e4yu BɮuAuEjhDNOT Ignoring new targets: 49.00 m.bhRhٻZhٻ ProNav: ac range: 49.000683 m, nav range: 42.481396 m, bearing: 121.586331 deg, approach rate: -0.561961 m/s, LOS rate: -0.380901 deg/s, cmd heading: 145.229479 deg, new cmd heading: 144.719966 deg. BhHeadingCmd: 2.525840 target range: 49.000683 and range: 49.20 m.h\!@h*h"h hgfffdddjdZd `F@aXBɢ;') i) g  i 9i;i\!@=I\!@I!!!!52Acoustic response timeout)E?@A @A@A@AQ E  E E E "E T;*E v:VE ZE a @a @a @a @^A I I O >iCd,@ ?A2@2/'@2O)ٱ2"w}8 >AHRS rotation from veh to nav: [[-0.857252,-0.514590,0.017793],[0.487777,-0.822680,-0.292014],[0.164905,-0.241651,0.956249]]2Hn w@8?7? dS[ҿ@?hο?i2@I2o^;2CYFSByFFILNAAbDNVDNyV{<%VO=ٔZsQ-Z>9XYX=^:Fy^~D^ټE^>`j2Acoustic response timeoutQ 5fe4bZ!?Q 9ne4b/*)bbBYlyn$@Q In?b CIbS;ibT;be4yrBɮrdAvEBBBIBTBB =BBB;BW>Ejh)5DNOT Ignoring new targets: 49.00 m.bh1Rh5vԻZh=vԻE ProNav: ac range: 49.000683 m, nav range: 42.269028 m, bearing: 121.445235 deg, approach rate: -0.556360 m/s, LOS rate: -0.371498 deg/s, cmd heading: 144.719961 deg, new cmd heading: 144.294555 deg. BhM~HeadingCmd: 2.518415 target range: 49.000683 and range: 49.20 m.h-!@h*h"h h!gAfIfQfQdYdYdYjdYZdeg@ XBɢ 6')  啿i )i%;i-!@;<`=I-!@IAԙ@ @@@^A=A>A>IQIaOZ>BDAT read: Rx Time:03:25:57.2799 TRx dataTimestamp_ set to:1761535556.4801242Acoustic response timeout 3Id,&?AFX@F@N'@F-*ٱF} VAHRS rotation from veh to nav: [[-0.852108,-0.523135,0.015513],[0.496341,-0.817156,-0.293091],[0.166003,-0.242046,0.955959]]FHxDŏ? ?#&ҿ@??Zο`6?iFX@IFN^;FCbEe|a4jEewX4rEe?0Ej EjEj,Eh"EjC#;*Ej:VEjg4ZEhBEj{9Y=:FyD$E>Q 5e46 ?Q 9e4%)bBY3?Q E:y&@Q I?!CI ;i ;T(e4yBɮAEjhDNOT Ignoring new targets: 49.00 m. bhRhݻZhݻ= ProNav: ac range: 49.000683 m, nav range: 41.985619 m, bearing: 121.242662 deg, approach rate: -0.538761 m/s, LOS rate: -0.387689 deg/s, cmd heading: 144.294549 deg, new cmd heading: 143.682754 deg. Bh=HeadingCmd: 2.507737 target range: 49.000683 and range: 49.20 m.h~ @h*h"h hgffIfIdYddjdZd @}XBɢ} )y }i)O顁i;i~ @B=I~ @I1 @@  @ @ 0@ a  DAT read: 03:25:57.2799 LVL= 32752, 32673, 19154, 32755, AGC= 60, IDX= 419,-0.14,-1.729,-2.724,-0.293,-1.371, PHS=-0.256,-1.308, 1.034, RAW= 183.4, 5.3, CAL= 183.2, 3.8, ROT= 326.8, -3.8  Ygot valid direction response: 03:25:57.2799 LVL= 32752, 32673, 19154, 32755, AGC= 60, IDX= 419,-0.14,-1.729,-2.724,-0.293,-1.371, PHS=-0.256,-1.308, 1.034, RAW= 183.4, 5.3, CAL= 183.2, 3.8, ROT= 326.8, -3.8  PDAT read: Bearing 311.0, -23.5 (Local)  ~Local bearing/azimuth received: Bearing 311.0, -23.5 (Local)  DAT read: Range 11 to 50 : 47.2 m (Round-trip 63.0 ms) speed 0.5 m/s % TDAT read: user:337>Tx time:03:25:58.3627 % R#Rx 1: Read range and direction messages.- ^direction in FSK: [0.834925,-0.546360,0.066274]- Fpublishing direction and range infoy  A뺳?uG{{S?Y Pd,C?AHR@RZ&@Rey+ٱR} nAHRS rotation from veh to nav: [[-0.846911,-0.531570,0.013235],[0.504937,-0.811783,-0.293338],[0.166674,-0.241749,0.955917]]RH@?q(?`ҿU?ο`ߖ?iR@IR^;RCYvTByvdIbDVDy-ۧ=%Uk=ٔUQ-U>9YYY=]:Fy]D]Ee>aQ 5e4e?Q 9e4e")ecBYy%@Q I?eK!CIe.;ie;e4e4yɮ߻Ai)i-l>?AJi-BBIBTBB =BBDB;B<>E^A O)=A A .AI I O >qWd,']?Ab2Acoustic response timeoutr @r&@r:,ٱrȷ{ zAHRS rotation from veh to nav: [[-0.841690,-0.539830,0.011907],[0.513356,-0.806861,-0.292303],[0.167402,-0.239916,0.956252]]rHHFb?im?`ҿjm?ο?ir @IrPa^;rCY% TBy%fIbD=VD=k1yM;%MI=ٔMQ-M>9U ?YU ?=U:FyU#DU̼E]>yQ 5e4}N颊?Q 9e4}{)}/cBYy7%@Q I?}!CI}:i}k:}Be4yBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 47.01 m.bhRhkѻZhkѻ ProNav: ac range: 47.008274 m, nav range: 41.576454 m, bearing: 120.955813 deg, approach rate: -0.522895 m/s, LOS rate: -0.366177 deg/s, cmd heading: 143.258355 deg, new cmd heading: 142.797342 deg. BhM{HeadingCmd: 2.492284 target range: 47.008274 and range: 47.20 m.h@h*h"h hgfffdddjdZd%@2?mXBɢ 0) i)pi0;i@%==I%@I!IE] E]EYEY"E]I;*E]h:VEYZEYBE]ijp]d,y?A,6 d@6Y%@6+H,ٱ6z >AHRS rotation from veh to nav: [[-0.836342,-0.548128,0.009390],[0.522008,-0.801486,-0.291766],[0.167451,-0.239114,0.956444]]6HOC:;?J? ƥ@Lҿ o?@Mο/?i6 d@I6F^;6CYF8TByFIi]Mb@Mb@Mb@YYYY Y9]Cl?Mbp?{GztY]d?y];]ף]jA] A ]A)]AYY]\AbDuVDuy%=%6=ٔ:Q->9Y=:Fy5D?E>Q 5e42֢?Q 9e4)[cBYf?Q E:y%@Q I?!CI":i:]Re4yɮ]AjhDNOT Ignoring new targets: 47.01 m.bhRh=Zh= ProNav: ac range: 47.008274 m, nav range: 41.339771 m, bearing: 120.786166 deg, approach rate: -0.570595 m/s, LOS rate: -0.411328 deg/s, cmd heading: 142.797344 deg, new cmd heading: 142.285502 deg. Bh%HeadingCmd: 2.483351 target range: 47.008274 and range: 47.20 m.h7@h*h"h hgff f d d djdZd?EYBɢE1)A E朿iA)MIIiM ;iU7@QU`*=IU7@IY2Acoustic response timeoutԉ@ @@0@ԱE= E=E=2E9"E=;*E=:VE=4ZE9aE@aE@aE@aE@^A = A] ؟ABe >Ba Be IBe TBBa Ba Ba Be };Be >EI I O > 2Acoustic response timeoutdd,T?A2@2N$@2\,ٱ2P\y :AHRS rotation from veh to nav: [[-0.831277,-0.555808,0.007464],[0.530012,-0.796600,-0.290715],[0.167528,-0.237709,0.956780]]2Hә@-~??@}ҿq? ?mο ?i2@I2[V^;2C\YzPTByzIbDVDyu=%R=ٔHQQ->9"?Y"?=:Fy%ED%ʼE%>)Q 55e4-Ţ?Q 95e4-)-cBY1y5%@Q I=?- "CI-<;i-;-_e4yEBɮE AEEjhimDNOT Ignoring new targets: 47.01 m.bhiRhuٻZhuٻ ProNav: ac range: 47.008274 m, nav range: 41.132324 m, bearing: 120.639160 deg, approach rate: -0.534144 m/s, LOS rate: -0.380427 deg/s, cmd heading: 142.285504 deg, new cmd heading: 141.842270 deg. BhHeadingCmd: 2.475615 target range: 47.008274 and range: 47.20 m.hxp@h*h"h hgfffdddjdZd` ?BYBɢ05) Yi)iݖ;ixp@=Ixp@Iu@@q @q@u/0@q%2Acoustic response timeout!^A2=A I I9 EM  EM EM *EI "EM ;*EM ?:VEM (N4ZEI BEM O\ԑ jd,ݔ?AJ,@JN"$@JL,ٱJ:w VAHRS rotation from veh to nav: [[-0.826267,-0.563248,0.005856],[0.537807,-0.791952,-0.289094],[0.167469,-0.235720,0.957283]]JH@p  w? 5?Wҿo?,ο`?iJ,@IJ3;^;JCY^TBy^Iu2Acoustic response timeoutiMb@Mb@Mb@ 9(\?Mbp?~jtx?Yz?y;SA;A )ĘAYAbDVDy=%==ٔ9Q->9Y=:FyVDrE >Q 5%e4ﳢ?Q 9-e4)cBY5}?Q E5:y5$@Q I5?I"CIz;i;(oe4yIɮMAIjhDNOT Ignoring new targets: 47.01 m.bhRh$ͻZh$ͻ ProNav: ac range: 47.008274 m, nav range: 40.910603 m, bearing: 120.481957 deg, approach rate: -0.503184 m/s, LOS rate: -0.358696 deg/s, cmd heading: 141.842265 deg, new cmd heading: 141.368113 deg. Bh+vHeadingCmd: 2.467339 target range: 47.008274 and range: 47.20 m.h@h*h"h hgfffdddjdZd?颅mYBɢ7*.) i)AD顉i;i@=I@IA=?@9 @9@=0@9i% 2Acoustic response timeout^A} (S=ԡ = PExceeded connect timeout, disconnecting.A I I O >dqd,\Ǒ?Aɰ2@2#@2,ٱ2u :AHRS rotation from veh to nav: [[-0.821352,-0.570406,0.004252],[0.545345,-0.787407,-0.287382],[0.167273,-0.233723,0.957806]]2H@H@kq?`ws?p2xdҿ4i?ͿY?i2@I2R^;2CYrTByrIbDzVDzE EE,E"E ;*E:VEg4ZEa @a @a@a@yx=%Y=ٔ% :Q-%>9!Y!=%:Fy-fD-fǼE->1Q 5=e45ߤ?Q 9=e45)5cBYAyE%$@Q IE?5"CI5;i5;55|e4yMBɮMMAMEjhquDNOT Ignoring new targets: 47.01 m.bhqyRhлZhл ProNav: ac range: 47.008274 m, nav range: 40.719807 m, bearing: 120.348215 deg, approach rate: -0.518131 m/s, LOS rate: -0.364893 deg/s, cmd heading: 141.368114 deg, new cmd heading: 140.965016 deg. BhlzHeadingCmd: 2.460304 target range: 47.008274 and range: 47.20 m.hu@h*h"h hgfffdddjdZd}@YBɢ;) 4i) i6;iu@c^=Iu@I@ @@i0@B<AB>BCCBIB&UBB =BBB_;B=EBDCBDCBBBÖ =C~52Acoustic response timeoutԱ^A=A I I! O- > = >= <E 2Acoustic response timeout wd,C:ᑹ?A2@2"@2d,ٱ2r :AHRS rotation from veh to nav: [[-0.816402,-0.577476,0.003053],[0.552748,-0.782953,-0.285403],[0.167204,-0.231316,0.958403]]2H`zi?? Dҿ`f?Ϳ 9`Y`=b:FybuDfEf>dQ 5je4f-?Q 9ne4f)fcBYlyn#@Q In?f"CIf;if;fe4yvϘBɮv¹AvEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 47.01 m.bhRh˻Zh˻ ProNav: ac range: 47.008274 m, nav range: 40.519138 m, bearing: 120.209230 deg, approach rate: -0.511982 m/s, LOS rate: -0.356362 deg/s, cmd heading: 140.965023 deg, new cmd heading: 140.546009 deg. BhtHeadingCmd: 2.452991 target range: 47.008274 and range: 47.20 m.h@h*h"h hgfffdddjdZd@=YBɢE)5)A EǞiA)Er'IIiM0;iM@qu7i=Iu@IyE EE*E"EO;*E:VE(N4ZEBE,YY ~d,?A2y@2Do"@2,ٱ2Fp :AHRS rotation from veh to nav: [[-0.811736,-0.584022,0.001735],[0.559581,-0.778608,-0.283970],[0.167195,-0.229538,0.958832]]2H@`O0k\? ?`[@,ҿf?`~aͿ?i2y@I2T\^;2CYBTByBIiEMb@Mb@Mb@AAAA A9Egfffff?:v?/$?YE3?yET9qYq=u:FyuD}?E}>Q 5e4?Q 9e4E )0dBYU?Q E:yl$@Q I?"CIL:i:͘e4yƘBɮmAEjhDNOT Ignoring new targets: 47.01 m.bhRhzѻZhzѻ ProNav: ac range: 47.008274 m, nav range: 40.304760 m, bearing: 120.053909 deg, approach rate: -0.502879 m/s, LOS rate: -0.366282 deg/s, cmd heading: 140.546005 deg, new cmd heading: 140.077575 deg. Bh`{HeadingCmd: 2.444815 target range: 47.008274 and range: 47.20 m.hw@h*h"h hgfffdddjdZd@-YBɢ-B8)) -Ji))55111i=;i=w@AE=IEw@IABDAT read: Rx Time:03:26:00.8273 TRx dataTimestamp_ set to:1761535560.0202362Acoustic response timeoutI@I @I@M0@I@Q@QnManaging dock network, ignoring radio surface power offaE EEE"E;*E:VEZEa-@a-@a-@a-@^Am+W=ԙB >B B @IB mUBB B B B @;B =E 2Acoustic response timeoutA I Iq O} >Թ d,?A6rGD`  9Y-A-@-C!@-,ٱ-1n =AHRS rotation from veh to nav: [[-0.807020,-0.590524,0.000803],[0.566343,-0.774357,-0.282182],[0.167257,-0.227272,0.959360]]-H`NJ?`{?`Fҿ`h? @Ϳ?i-@I-T@^;-CYMUByM IbD]VD]yu&>%u:=ٔuQ-u>9yYy=}:Fy}D}E>ԉQ 5e4r?Q 9e4)cdBYy#@Q I?6#CI:i:*e4yɮAjhIMDNOT Ignoring new targets: 47.01 m.bhIRhUȻZhUȻ ProNav: ac range: 47.008274 m, nav range: 40.083248 m, bearing: 119.894810 deg, approach rate: -0.486247 m/s, LOS rate: -0.351174 deg/s, cmd heading: 140.077577 deg, new cmd heading: 139.597652 deg. BhqHeadingCmd: 2.436439 target range: 47.008274 and range: 47.20 m.h@h*h"h hgfffdddjdZd @ZBɢfS2) di)i<;i@_=I@IY@Y @Y@]?0@aԱ5DAT read: 03:26:00.8273 LVL= 32752, 32753, 20706, 327 63, IDX= 40-2.793, 2.395,-1.508,-2.513, PHS=-0.178,-1.331, 0.961, RAW= 179.8, 5.6, CAL= 179.5, 4.4, ROT= 330.5, -4.4 =unknown deviceResponse_: 03:26:00.8273 LVL= 32752, 32753, 20706, 327 63, IDX= 40-2.793, 2.395,-1.508,-2.513, PHS=-0.178,-1.331, 0.961, RAW= 179.8, 5.6, CAL= 179.5, 4.4, ROT= 330.5, -4.4 EPDAT read: Bearing 308.1, -19.8 (Local) E~Local bearing/azimuth received: Bearing 308.1, -19.8 (Local) UDAT read: Range 11 to 50 : 45.3 m (Round-trip 60.4 ms) speed 0.4 m/s ]TDAT read: user:338>Tx time:03:26:01.9127 ]X#Rx 1: Read range message, but no direction.yY35Be2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.^A% 2=E%  E! E% -E! "E% ;*E! VE% t4ZE! BE% 4NdId,V/?A%DAT read: -2Acoustic response timeoute h@e]!@e",ٱe:5k }AHRS rotation from veh to nav: [[-0.802264,-0.596969,0.000234],[0.573044,-0.770221,-0.279965],[0.167311,-0.224471,0.960010]]eH`%_.?`V?ѿqj?z̿@g?ie h@Ie',^;eCY@UBy$Ii}Mb@Mb@Mb@yyyy y9}ʡE?{Gzt9 ?Y ?=:FyDԩWE>Q 5e4b?Q 9e4*)dBYx?Q E:y!@Q I?r#CI ;i? ;e4yBɮvAE addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.540522 s, deltaX: -1.900002 m, approachRate: -0.536644 m/s, rangeRepo size: 4 jh DNOT Ignoring new targets: 47.01 m.bh RhzɻZhzɻ% ProNav: ac range: 47.008274 m, nav range: 39.872631 m, bearing: 119.754180 deg, approach rate: -0.524841 m/s, LOS rate: -0.352289 deg/s, cmd heading: 139.597647 deg, new cmd heading: 139.173536 deg. Bh%q-HeadingCmd: 2.429036 target range: 47.008274 and range: 45.30 m.h-Uu@h)*h)"h) h)g1f1f1f1d9d9d9jd=`fF@Zd=Ж?m)ZBɢm9)q u iq)u4½qqiu;i}Uu@y}=IUu@I%>@! @!@%0@!2Acoustic response timeout ^Aa A I I O >1 .d,x(I?A2@2 @2[A,ٱ2i :AHRS rotation from veh to nav: [[-0.797461,-0.603370,-0.000747],[0.579676,-0.765801,-0.278432],[0.167426,-0.222472,0.960456]]2Ḧ́ N@xH?@q@ѿ5n?y̿@ ?i2@I2>^;0YBYUByB4IHJBAbDJVDJER ERER*EP"ER ;*ER1:VER(N4ZEPaZ@aZ@aZ@aZ@y^=%bo=ٔbQ-b?9`Yd=f:FyfDflǼEf?hQ 5ne4jU?Q 9re4j@)jdBYpyr5!@Q Ir?j#CIj;ij;je4ytɮvCAxjhDNOT Ignoring new targets: 47.01 m.bhRhiZhi ProNav: ac range: 47.008274 m, nav range: 39.699944 m, bearing: 119.640197 deg, approach rate: -0.483767 m/s, LOS rate: -0.320699 deg/s, cmd heading: 139.173533 deg, new cmd heading: 138.830103 deg. Bh\HeadingCmd: 2.423042 target range: 47.008274 and range: 45.30 m.h @h*h"h hgfffdddjdZd B?ULZBɢ]?)]:< ]CiY)]^ĽYaiey];ie @m우BBxIBUBB =BBB);B=E?@ @@5@52Acoustic response timeout@%=@%=9^Am+W=Au?Au>i A ؟AI I O > 2Acoustic response timeout Yd,mc?A 2n^@2T @2HO,ٱ2@Lf >AHRS rotation from veh to nav: [[-0.792846,-0.609421,-0.001251],[0.585957,-0.761753,-0.276379],[0.167478,-0.219859,0.961048]]2H^_T)?H`2ѿo?Y$̿?i2n^@I2)^;2CYFUByFPIIJa=)Jx>bDNVDNkyV9=%VK=ٔZ Q-Z>9Z"?YZ"?=^:Fy^D^5E^>`Q 5fe4bhF?Q 9fe4b)bdBYhyj @Q Ij?b#CIb:ib:be4ynBɮr÷Ap}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 47.01 m.bhRhJZhJ ProNav: ac range: 47.008274 m, nav range: 39.495853 m, bearing: 119.506958 deg, approach rate: -0.507041 m/s, LOS rate: -0.332730 deg/s, cmd heading: 138.830097 deg, new cmd heading: 138.428320 deg. BhYdHeadingCmd: 2.416030 target range: 47.008274 and range: 45.30 m.h<@h*h"h hgfffdddjdZd h?MrZBɢM:)I MFiI)UjƽQQi]F;i<@sֱ<!=I<@IybE5(N4jE5 [4rE5 0E EE'E"E7;*E՚:VE'4ZEBEZd,|?A6e@6@6k,ٱ6@f BAHRS rotation from veh to nav: [[-0.788337,-0.615235,-0.003250],[0.591980,-0.757078,-0.276391],[0.167585,-0.219813,0.961040]]6H :@`j@?@9dѿos?"̿?i6e@I6H^;6CYJUByJoIPiMb@Mb@Mb@ 9d;O?Mb ףp= ?Y?yQ8= CA)YAbD5VD50yE-=%EA=ٔMQ-M>9IYI=M:FyMDUEU>YQ 5ee4]k6?Q 9ee4])]=eBYm<?Q Em:ym5@Q Im?]$CI]z:i]*:]e4yqɮu`AqjhDNOT Ignoring new targets: 47.01 m.bhRhZh ProNav: ac range: 47.008274 m, nav range: 39.275948 m, bearing: 119.370556 deg, approach rate: -0.540446 m/s, LOS rate: -0.337101 deg/s, cmd heading: 138.428318 deg, new cmd heading: 138.016829 deg. BhYgHeadingCmd: 2.408848 target range: 47.008274 and range: 45.30 m.h*@h*h"h hgfffdddjdZd?2Acoustic response timeout颭ZBɢ9) i)~ȽiBI;i*@=I*@I@ @@@E EE.E"E ;*E:VEـ4ZEa@a@a@a@^A =By By B} IB} .VBBy By By B} 1;B} =E) u 2Acoustic response timeoutA I) I9 OE >jd,o?A2h@2^@26,ٱ2r g :AHRS rotation from veh to nav: [[-0.783946,-0.620803,-0.005686],[0.597755,-0.752303,-0.277000],[0.167685,-0.220552,0.960853]]2H@Jw@ ?`_ѿv?;̿N?i2h@I2-^;0Y^UBybI f;dbDjVDj1yr=%rQ=ٔr,Q-v>9tYt=v:FyvDzEz>||Q 5e4~'?Q 9 e4~b)~weBY y @Q I ?~Q$CI~-;i~:~/e4yBɮAEjhDNOT Ignoring new targets: 47.01 m.bhRhZh ProNav: ac range: 47.008274 m, nav range: 39.072197 m, bearing: 119.245249 deg, approach rate: -0.496677 m/s, LOS rate: -0.307049 deg/s, cmd heading: 138.016827 deg, new cmd heading: 137.638952 deg. BhRHeadingCmd: 2.402253 target range: 47.008274 and range: 45.30 m.h@h*h"h hgfffdddjdZd@)Z?5ZBɢ5._=)1 =3i9)=lʽ99i=;iE@E0@Q@]hA@]gAE  E E *E "E ;*E :VE (N4ZE BE RXd,H?A:q@:@:,ٱ:f FAHRS rotation from veh to nav: [[-0.779342,-0.626552,-0.007686],[0.603732,-0.747560,-0.276878],[0.167732,-0.220423,0.960874]]:H ^ d{Q?\ѿAx?`6̿{?i:q@I:S^;:CYNVByNI PPi%Mb@Mb@Mb@!!!! !9%1Zd?Q롿&1?Y%"?y%\%P=!%ƏA !)%~A!Y%AbD=VD=yEZ=%M =ٔMƸQ-M>9QYQ=U:FyUD]uE]>YQ 5ee4]U?Q 9me4]O)]eBYm?Q Em:ymh@Q Iu?]$CI]* ;i] ;]e4yyɮ}AyjhDNOT Ignoring new targets: 47.01 m.bhRhYZhYԱ ProNav: ac range: 47.008274 m, nav range: 38.791668 m, bearing: 119.087954 deg, approach rate: -0.570759 m/s, LOS rate: -0.322343 deg/s, cmd heading: 137.638953 deg, new cmd heading: 137.163667 deg. Bh8]HeadingCmd: 2.393958 target range: 47.008274 and range: 45.30 m.h6@h*h"h hgfffdddjdZd?@ZBɢk^3) bi) ̽i;i6@q<DE=I6@I2Acoustic response timeout+WB< @@ @@0@E  E E E "E ;*E v:VE ZE a @a @a @a @1 B <A <B >B B IB VBB B B B B ^A = 2Acoustic response timeoutaA9IIIiOu?yd,<֒?A2r@2g@2,ٱ2Mg :AHRS rotation from veh to nav: [[-0.774816,-0.632111,-0.009809],[0.609467,-0.742759,-0.277235],[0.167957,-0.220784,0.960752]]2HK @:?7ѿ@?B̿ {?i2r@I2c5^;2CYBPVByBIbDJVDJyR=%V(=ٔVQ-V>9TYX=Z:FyZDZyEZ>\Q 5bf4^?Q 9ff4^p)^fBYdyf@Q If?^$CI^F:i^:^f4yjBɮjAnEjhDNOT Ignoring new targets: 47.01 m.bhRh Zh  ProNav: ac range: 47.008274 m, nav range: 38.524216 m, bearing: 118.939060 deg, approach rate: -0.550831 m/s, LOS rate: -0.308784 deg/s, cmd heading: 137.163668 deg, new cmd heading: 136.713893 deg. BhS%HeadingCmd: 2.386108 target range: 47.008274 and range: 45.30 m.h%@h!*h)"h) h1g9fffdddjdZd l@[Bɢ6) ϙi)%GZϽ!!i%;i-@-ڵ<-T=I-@I1yyyyABDAT read: Rx Time:03:26:04.3748 TRx dataTimestamp_ set to:1761535563.5481802Acoustic response timeout@ @@0@qE  E E ,E "E *E VE g4ZE BE yTüd,φ?AYxVByII,>)9u ?Yu ?=}:Fy}D}E}>Q 5f4롊?Q 9f4p)xfBY!?Q E:y5@Q I?@%CI7:i:#f4yBɮ5AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 47.01 m.bhRhZh ProNav: ac range: 47.008274 m, nav range: 38.197899 m, bearing: 118.760694 deg, approach rate: -0.573096 m/s, LOS rate: -0.315932 deg/s, cmd heading: 136.713900 deg, new cmd heading: 136.174247 deg. BhXHeadingCmd: 2.376689 target range: 47.008274 and range: 45.30 m.h@h*h"h hgfffdddjdZdN @-T[Bɢ5F3)1 5i1)5ҽ99i=;iE@E~iU>?@ @@0@ߝ%=ߝ4=DAT read: 03:26:04.3748 LVL= 32752, 32753, 25634, 32755, AGC= 61, IDX= 413, 0.37, 1.373, 0.203, 2.511, 1.639, PHS=-0.164,-1.390, 0.829, RAW= 176.5, 7.6, CAL= 176.2, 7.6, ROT= 333.8, -7.6 Ygot valid direction response: 03:26:04.3748 LVL= 32752, 32753, 25634, 32755, AGC= 61, IDX= 413, 0.37, 1.373, 0.203, 2.511, 1.639, PHS=-0.164,-1.390, 0.829, RAW= 176.5, 7.6, CAL= 176.2, 7.6, ROT= 333.8, -7.6 PDAT read: Bearing 308.8, -17.2 (Local) ~Local bearing/azimuth received: Bearing 308.8, -17.2 (Local) DAT read: Range 11 to 50 : 43.4 m (Round-trip 57.9 ms) speed 0.4 m/s TDAT read: user:339>Tx time:03:26:05.4627 R#Rx 1: Read range and direction messages. ^direction in FSK: [0.889376,-0.437628,0.132256] Fpublishing direction and range infoyF:u?R ܿ) ?Y-B"d )=I'i뱿X9T?'E@>:D@ >)m@I`. G~?ڭ1u?? |?)ɉI* i-2Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.9 ^A} cZ=E  E E -E "E ~ ;*E :VE t4ZE a @a @a @a @A I I O >d,v?A4<ɰ;B2>B0B2:IB2WBB2 =B0B0B25;B2=EB%CCB%CCB!B% =HB!C%4-@-Y@--ٱ-k =AHRS rotation from veh to nav: [[-0.761351,-0.648087,-0.018101],[0.625995,-0.727559,-0.280693],[0.168744,-0.225037,0.959627]]-H \ &?@)Hѿ@g?̿C?i-@I-7&^;-CYMVByUImDAT read: u2Acoustic response timeoutbDeVDe:y!G>%d=ٔ8Q->9Y=:FyDpwE>Q 5f4Kޡ?Q 9f4)fBYy@Q I?x%CI;i;`0f4yɮAiIiM\?AJiM,BRiM,BjiM@bMxӋ8C@L a2m~@RMF:u?R ܿ) ?ZiM* biMjM씪1AaB@>Pp:0@ZMxKoVٿ=??2iMB:iM"iM{M 2Acoustic response timeout d,Q.*?A2@2A@2KD.ٱ2k :AHRS rotation from veh to nav: [[-0.756815,-0.653334,-0.019627],[0.631306,-0.722858,-0.280943],[0.169362,-0.225012,0.959524]]2H 7 3?!ѿ`?5̿@k?i2@I2;C^;2CYBVByB(IbDJVDJ0yV=%VZ=ٔVۺQ-Z>9XYX=Z:FyZ"D^ E^>D~=D~4=E  E E ,E "E O;*E :VE g4ZE BE ,Yf4yBɮ4AEjhAEDNOT Ignoring new targets: 43.22 m.bhIRhMgZhMg} ProNav: ac range: 43.222900 m, nav range: 39.963192 m, bearing: 116.834431 deg, approach rate: -0.549692 m/s, LOS rate: -0.294463 deg/s, cmd heading: 135.831671 deg, new cmd heading: 135.468325 deg. Bh}JHeadingCmd: 2.364368 target range: 43.222900 and range: 43.40 m.hQ@h*h"h hgfffd dAdIjdqZd}# ?Q2Acoustic response timeout颵[Bɢ ;) 闿i)t+ֽ项i]8;i Q@ d< J=I Q@Iy@y @y@0@qԡ ^A 6[== 2Acoustic response timeoutI I O >g)d,eD?AU!@U@U2.ٱUpk eAHRS rotation from veh to nav: [[-0.752041,-0.658780,-0.021061],[0.636851,-0.718031,-0.280805],[0.169866,-0.224590,0.959534]]UH$`a?ѿ '?@Z̿@?iU!@IU)^;UCYuWByu9Ii Mb@Mb@Mb@     9 #~j?&1Zd;O?Y %?y P j<=  A pA) ݓA Y AbD%VD%y5Yc=%5/=ٔ5XQ-5>99Y9==:Fy=,DE6EE>AQ 5Uf4E@?Q 9Uf4E')ECgBYU&?Q EU:yU@Q I]?E%CIE ;iE ;EMf4yaɮeAajhDNOT Ignoring new targets: 43.22 m.bhRhZh ProNav: ac range: 43.222900 m, nav range: 39.698044 m, bearing: 116.700043 deg, approach rate: -0.622791 m/s, LOS rate: -0.317765 deg/s, cmd heading: 135.468319 deg, new cmd heading: 135.062468 deg. BhZHeadingCmd: 2.357285 target range: 43.222900 and range: 43.40 m.h@h*h"h hgfffdddjdZd@?E EEE"E~ ;*Eh:VEZEa@a@a@a@[Bɢ?D) ?i)ؽiyL;AiM@IMl{=IM@IQYAAB B B ~IB sWBB B B B 8;B =EU>@Q @Q@U 0@Y@]gA@]cA^A-]w==2Acoustic response timeouti Wi>ېC9UhAi9hAY AIi Iy O >ԙ dOd,.^?A2u @2@2A/ٱ22j >AHRS rotation from veh to nav: [[-0.746965,-0.664496,-0.022126],[0.642679,-0.713116,-0.280052],[0.170315,-0.223408,0.959730]]2H`"@C Ԑ?@^ѿ?̿?i2u @I2nO^;0YZ%WByZNIbDbVDbyj'=%jd=ٔn릺Q-n>9lYl=r:Fyr3Dr9Er>tQ 5zf4v?Q 9zf4v)vgBY|y~@Q I~?v8&CIvf;iv;vMZf4yɮAjh)-DNOT Ignoring new targets: 43.22 m.bh1Rh5iZh5iE ProNav: ac range: 43.222900 m, nav range: 39.484535 m, bearing: 116.593200 deg, approach rate: -0.595716 m/s, LOS rate: -0.299716 deg/s, cmd heading: 135.062469 deg, new cmd heading: 134.740212 deg. BhEMMHeadingCmd: 2.351660 target range: 43.222900 and range: 43.40 m.hM@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde?y颕[BɢI) i)ٽ顡i;i@4=I@Iߝp?ߝ_?2Acoustic response timeout?@ @@%/0@!ԩDzD?AE EE-E"E;*E:VEt4ZEBE4N] 2Acoustic response timeout! yd,Ex?A2, @2"@20ٱ20'i >AHRS rotation from veh to nav: [[-0.742268,-0.669714,-0.022826],[0.647880,-0.708536,-0.279693],[0.171141,-0.222396,0.959818]]2H`Ln_o?S}ѿ`?yw̿`Զ?i2, @I22.^;2CY^TWByblIiuMb@Mb@Mb@qqqq q9ux&?X9vˡE?Yu7)?yu}u'=uAu$A uA)u AqYuAbDVD:y==%>=ٔ{Q->9Y=:Fy;DE>Q 5f4S?Q 9f4)gBYH*?Q E:y @Q I?&CI;i;Rif4yhBɮAEjh  DNOT Ignoring new targets: 43.22 m.bhRh飻Zh飻% ProNav: ac range: 43.222900 m, nav range: 39.221001 m, bearing: 116.470026 deg, approach rate: -0.609105 m/s, LOS rate: -0.286603 deg/s, cmd heading: 134.740207 deg, new cmd heading: 134.368208 deg. Bh%D-HeadingCmd: 2.345168 target range: 43.222900 and range: 43.40 m.h-:@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdEw?u\Bɢu @)q uriy)}۽yyi}`;i:@<W=I:@I>@ @@,0@!2Acoustic response timeout^Ad=A>A?QIqIO>E  E E *E "E ~ ;*E :VE (N4ZE a @a @a @a @ԁ B >B B IB WBB B B B +;B =E}ad,_?A2 @2@20ٱ2]h :AHRS rotation from veh to nav: [[-0.737295,-0.675148,-0.023904],[0.653353,-0.703602,-0.279417],[0.171829,-0.221631,0.959872]]2HϚFz@E?ѿ?e^̿E?i2 @I2<^;0YrkWByrzI2Acoustic response timeoutbDzVDzyn=%T=ٔJQ->9Y=:FyCD%1E%>)Q 55f4-ˑ?Q 95f4-)- hBY1y5@Q I=?-&CI-];i-;-vf4yAɮEȲAAeB*** querying acoustic contact ***ia iajhiuDNOT Ignoring new targets: 43.22 m.bhqRh} Zh}  ProNav: ac range: 43.222900 m, nav range: 38.983768 m, bearing: 116.360561 deg, approach rate: -0.617881 m/s, LOS rate: -0.286840 deg/s, cmd heading: 134.368208 deg, new cmd heading: 134.037819 deg. BhDHeadingCmd: 2.339401 target range: 43.222900 and range: 43.40 m.h@h*h"h hgfffdddjdZd`2N@>\BɢF) `i)ݽi;i@L<Ԭ=I@II)gAQY@Y @Y@]~0@Y@a@e=ԁ^Aux=IIO>2Acoustic response timeoutԱ d,K9)Y)=-:Fy-KD50E5>9Q 5Ef4=?Q 9Ef4=)=PhBYAyM@Q IM?='CI=:i=I:=f4yU_BɮUVAUEjh 5DNOT Ignoring new targets: 43.22 m.bh1Rh=ӚZh=ӚԹ ProNav: ac range: 43.222900 m, nav range: 38.733845 m, bearing: 116.246710 deg, approach rate: -0.590461 m/s, LOS rate: -0.270718 deg/s, cmd heading: 134.037818 deg, new cmd heading: 133.694063 deg. Bh9HeadingCmd: 2.333402 target range: 43.222900 and range: 43.40 m.htV@h*h"h hg f1fAfAdyddjdZd@2Acoustic response timeout额p\BɢR>) i)(i.;itV@;<ު=ItV@I?@ @@0@ ^A ʞ= BDAT read: Rx Time:03:26:07.9222  TRx dataTimestamp_ set to:1761535567.076142 2Acoustic response timeout9 A ؟AI I OE >#d,^ȓ?A2 @2b@2l2ٱ2i :AHRS rotation from veh to nav: [[-0.727598,-0.685439,-0.027826],[0.663737,-0.693151,-0.281061],[0.173362,-0.222969,0.959287]]2H`|H~T=?K.ѿ 0?@<̿y?i2 @I2%"^;0YBWByBIiMMb@Mb@Mb@IIII I9MJ +?S㥫L7A`?YM(?yM/]M+=II I)IIYIbDeVDefyu=%u7=ٔ}Q-}>9}"?Y"?=:FyTDE>Q 5f4q?Q 9f4)hBYz)?Q E:y<@Q I?K'CIj;i ;f4yɮAjhDNOT Ignoring new targets: 43.22 m.bhRhGZhG ProNav: ac range: 43.222900 m, nav range: 38.460556 m, bearing: 116.119422 deg, approach rate: -0.638467 m/s, LOS rate: -0.299487 deg/s, cmd heading: 133.694068 deg, new cmd heading: 133.309498 deg. BhMHeadingCmd: 2.326690 target range: 43.222900 and range: 43.40 m.h|@h*h"h hgfffdddjdZd @5\Bɢ=L)A EMiA)EAAiEC;iM|@IM%=IU|@IQE EE-E"E*E:VEt4ZEa@a@a@a@@ @@l0@BAB>BBCBIB>XBBBBDB ;B=EI-2Acoustic response timeout^A벫=ԉA I I9 Oe >ԡ d,sᓹ?A2O @2`E@22ٱ2l :AHRS rotation from veh to nav: [[-0.722765,-0.690391,-0.031146],[0.668929,-0.687552,-0.282500],[0.173621,-0.225016,0.958761]]2H 䟿g?l@|ҿ 79?T̿,?i2O @I2@^;2CYBWByBIbDJVDJ:yRC=%RZ=ٔV,8Q-V>9TYX=Z:FyZ\DZEZ>!Q 5-f4%c?Q 9-f4%ܻ)%hBY)y-@Q I5?%'CI%w:i%,:%f4y=VBɮ=A=~EjhaeDNOT Ignoring new targets: 43.22 m.bhaRhmޢZhmޢ} ProNav: ac range: 43.222900 m, nav range: 38.222729 m, bearing: 116.009859 deg, approach rate: -0.614353 m/s, LOS rate: -0.284784 deg/s, cmd heading: 133.309501 deg, new cmd heading: 132.978770 deg. Bh}qCHeadingCmd: 2.320917 target range: 43.222900 and range: 43.40 m.h@h*h"h hgfffddDAT read: 03:26:07.9223 LVL= 32752, 32753, 19522, 32755, AGC= 62, IDX= 419, 0.25,-1.527,-2.768,-0.531,-1.366, PHS=-0.059,-1.357, 0.791, RAW= 173.1, 6.7, CAL= 172.7, 6.3, ROT= 337.3, -6.3 Ygot valid direction response: 03:26:07.9223 LVL= 32752, 32753, 19522, 32755, AGC= 62, IDX= 419, 0.25,-1.527,-2.768,-0.531,-1.366, PHS=-0.059,-1.357, 0.791, RAW= 173.1, 6.7, CAL= 172.7, 6.3, ROT= 337.3, -6.3 PDAT read: Bearing 304.5, -13.4 (Local) ~Local bearing/azimuth received: Bearing 304.5, -13.4 (Local) DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.5 m/s TDAT read: user:340>Tx time:03:26:09.0128 R#Rx 1: Read range and direction messages.^direction in FSK: [0.916967,-0.383576,0.109734]Fpublishing direction and range infoyUW?0aؿ,=?Y%BBL )>Iqi-~J?ZA@|=b@@ z0=)Db@Iz0d?Kl?? dgm?)kIjʾiz0Ὡ%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.jd@3D@Zd-?ԑe\BɢemE)a eٜia)miiim%;i@M<=I@I>i!>E@@I @I@M/0@I@UhA@UhAE  E E *E "E  ;*E :VE (N4ZE BE yT 15d,}?A2 @2@23ٱ2l :AHRS rotation from veh to nav: [[-0.717897,-0.695355,-0.033246],[0.674059,-0.682389,-0.282823],[0.173976,-0.225447,0.958596]]2H`X@?!ҿD?@u̿Ѭ?i2 @I2W(^;2CYBWByBIiMb@Mb@Mb@ 9ˡE?/$y&1?Y'?y,`<XAA ηA);AY3AbD5VD5:2yEK=%EA=ٔE^Q-M>9M ?YM ?=M:FyMdDUEU>YQ 5ef4]IT?Q 9ef4]۶)]iBYen(?Q Ee:ym]@Q Im?]'CI]L:i]:]}f4yqɮu\Aqii哹?AJi$BRi$Bjiwk@b=ڼWB@h)^/)@RUW?0aؿ,=?Zijʾbiz0j]B)K0䏣HA@,OP,@Z>2Kٿ d)?jHzz?2i B:i\"i#?*i{XBiBi#?i')iՋBiBi@} addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.526912 s, deltaX: -2.000000 m, approachRate: -0.567068 m/s, rangeRepo size: 4  Added new target pos. range: 41.230900 m, bearing: 114.967363 deg, lat: 36.779311 deg, lon: -121.859554 deg, deltaT: 3.526912 s, deltaX: -1.992001 m, approachRate: -0.564800 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 41.23 m.bhRhZh ProNav: ac range: 41.230900 m, nav range: 38.208580 m, bearing: 115.244035 deg, approach rate: 0.000000 m/s, LOS rate: -0.284784 deg/s, cmd heading: 132.978770 deg, new cmd heading: 132.603415 deg. BhHeadingCmd: 2.314366 target range: 41.230900 and range: 41.40 m.h@h*h"h hgfffddd jd Zd v?颵\BɢI) wi)e6i ;i@1J<է=I@I2Acoustic response timeout?@ @@?0@E-  E- E- ,E) "E- ;*E- :VE- g4ZE) a5 @a5 @a= @a= @I ^A =B B B -IB XBB =B B B ;B =EA ؟AI! I1 O= >e,1D?A2Acoustic response timeoutY%WBy!bD5VD5yE:%EL=ٔMQ-M>9M"?YM"?=U:FyUmDUEU>YQ 5ef4]PE?Q 9ef4])]TiBYayiQ Im?](CI]:i]F:]f4yuMBɮu8AqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.23 m.bhRhwZhw ProNav: ac range: 41.230900 m, nav range: 37.964806 m, bearing: 115.121078 deg, approach rate: -0.652625 m/s, LOS rate: -0.331291 deg/s, cmd heading: 132.603410 deg, new cmd heading: 132.232175 deg. Bh\cHeadingCmd: 2.307887 target range: 41.230900 and range: 41.40 m.hk@h*h"h hgfffdddjdZd ? ]Bɢ uU)  Ρi )iz+;ik@4x=Ik@IiA@A @A@E4@Aԑ2Acoustic response timeout^Ai A .AI I O >E5  E1 E5 )E1 "E5 f;*E1 VE5 FA4ZE1 BE5 W9 ?Y ?=:FyvD-~E->1Q 5=f453?Q 9=f45٫)5iBY9y=l@Q IE?5a(CI5[:i5t:5f4y>BɮAtEjhDNOT Ignoring new targets: 41.23 m.bhRhZh] ProNav: ac range: 41.230900 m, nav range: 37.662548 m, bearing: 114.973781 deg, approach rate: -0.590820 m/s, LOS rate: -0.290230 deg/s, cmd heading: 132.232175 deg, new cmd heading: 131.786748 deg. Bh].G-HeadingCmd: 2.300113 target range: 41.230900 and range: 41.40 m.h- 5@h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE`~?uE]BɢuB)q uiy)}yyi}'ae,E/N?A2As @2h@23ٱ2^gE: E:E:.E8"E:;*E:՚:VE:ـ4ZE8a>@a>@a>@a>@ JAHRS rotation from veh to nav: [[-0.702854,-0.710446,-0.035523],[0.689509,-0.668164,-0.279523],[0.174851,-0.220958,0.959482]]2H} 0v?aѿa?XH̿?i2As @I2 ^;2CYZRXByZIiMb@Mb@Mb@AAAAB >B B _IB XBB  =B B B ;B =E!BBCBBCBB =B =C4 9(\?~jtV-?Y'?yD<A A)YAbDEVDEk2yU~=%U0=ٔUQ-U>9]"?Y]"?=]:Fy]DeEe>iQ 5uf4m#?Q 9uf4m~)miBYuK(?Q Eu:yu`@Q I}?m(CIm:im3:mf4y5Bɮ1AsEjhDNOT Ignoring new targets: 41.23 m.bhRhZh ProNav: ac range: 41.230900 m, nav range: 37.400829 m, bearing: 114.851437 deg, approach rate: -0.635163 m/s, LOS rate: -0.298993 deg/s, cmd heading: 131.786752 deg, new cmd heading: 131.417157 deg. Bh2MHeadingCmd: 2.293662 target range: 41.230900 and range: 41.40 m.h\@h*h"h hgfffdddjdZd"?颍m]Bɢ︽)b `i)顡i;i\@8<mv=I\@I2Acoustic response timeoutIQ@Q @Q@U/0@Q^A-_=AYIayIyO>m 2Acoustic response timeoutԩ e,~g?A2p@2@244ٱ2g :AHRS rotation from veh to nav: [[-0.697934,-0.715183,-0.037429],[0.694432,-0.663057,-0.279498],[0.175075,-0.221064,0.959416]]2HzU@)`8?7 Mѿh?K̿?i2p@I2u9^;0YBXByB)IbDJVDJyRb>%Rl=ٔV+Q-V?9TYX=Z:FyZDZ"EZ?\Q 5bf4^O?Q 9ff4^ )^jBYdyf@Q If?^(CI^b:i^:^f4yhɮjƯAljhDNOT Ignoring new targets: 41.23 m.bhRhZh ProNav: ac range: 41.230900 m, nav range: 37.188564 m, bearing: 114.753411 deg, approach rate: -0.583917 m/s, LOS rate: -0.271198 deg/s, cmd heading: 131.417156 deg, new cmd heading: 131.121402 deg. Bh:HeadingCmd: 2.288500 target range: 41.230900 and range: 41.40 m.hv@h*h"h hgfffdddjdZd@]Bɢ) *i)i;iv@ CT<  =I v@Iԑ>@ @@X3@E EE-E"E;*E:VEt4ZEBEq_ i e,?A2@2F~@2~4ٱ2bg :AHRS rotation from veh to nav: [[-0.692845,-0.720013,-0.039332],[0.699441,-0.657782,-0.279474],[0.175353,-0.221143,0.959347]]2H+@Y P#`a?` ѿ`q?hN̿?i2@I22"^;2CYBXByB?IF=F=i Mb@Mb@Mb@     9 On?J +Q?Y ?y H u< A A %A) ƏA Y =AbD%VD%:y5ک=%5B=ٔ5/Q->9 ?Y ?=:FyDŇE>Q 5f4^ ?Q 9f4)TjBY#?Q E:y@Q I?!)CI3:iH:5f4y-Bɮ\Ajh DNOT Ignoring new targets: 41.23 m.bh Rh Zh % ProNav: ac range: 41.230900 m, nav range: 36.942642 m, bearing: 114.646772 deg, approach rate: -0.584695 m/s, LOS rate: -0.255228 deg/s, cmd heading: 131.121395 deg, new cmd heading: 130.799353 deg. Bh%)/-HeadingCmd: 2.282879 target range: 41.230900 and range: 41.40 m.h-@h)*h)"h) h)g1f1=2Acoustic response timeoutfAfAdAdAdIjdIZdM-@}]Bɢ}=°)y }%iy)顁i (;i@CF<ؠ=I@I@@ @@4@E EE*E"E ;*Ev:VE(N4ZEa@a@a@a@B>BBIB2YBB =BBB;Bt=E^AM&=AU>AU?I  2Acoustic response timeout ؀G- liAA u 9u liAYu oAA ؟AI I O >&e,g?A>@>9 @>x4ٱ>f FAHRS rotation from veh to nav: [[-0.687784,-0.724805,-0.040133],[0.704325,-0.652924,-0.278596],[0.175724,-0.219881,0.959569]]>HS1L Չ?ѿ@!~?@ %̿˴?i>@I>C^;9r"?Yr"?=r:FyrDvEv>xQ 5~g4zq?Q 9~g4z)zjBYy)@Q I?zZ)CIz];izH;zeg4y ɮ 6A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 41.23 m.bh9Rh==ZhE=M ProNav: ac range: 41.230900 m, nav range: 36.730148 m, bearing: 114.556007 deg, approach rate: -0.562637 m/s, LOS rate: -0.241715 deg/s, cmd heading: 130.799352 deg, new cmd heading: 130.525485 deg. BhU%UHeadingCmd: 2.278100 target range: 41.230900 and range: 41.40 m.h]b@hY*hY"hY hYgYfafafadadidijdiZdm /@额]Bɢ@I) i)顡ic;ib@<ޜ=Ib@IIUBDAT read: Rx Time:03:26:11.4695 eTRx dataTimestamp_ set to:1761535570.606027u2Acoustic response timeout= &-e,P?A:2@:ۜ@:v5ٱ:e VAHRS rotation from veh to nav: [[-0.683086,-0.729181,-0.041100],[0.708833,-0.648366,-0.277807],[0.175923,-0.218899,0.959757]]:HrU `î?`jѿ?̿U?i:2@I:(^;8Y^XBy^[Ii=Mb@Mb@Mb@9999 99=$C?Q롿Zd;O?Y=?y=\=j<=7A=A =E.A)=A9Y=\AbD]VD]N2ye_=%e)=ٔm۹Q-m>9iYq=u:FyuDu`E}>yQ 5g4}?Q 9g4})}jBY|?Q E:yt@Q I?})CI}H:i}]:}@g4y$BɮݮArEjhDNOT Ignoring new targets: 41.23 m.bhRhҗZhҗ ProNav: ac range: 41.230900 m, nav range: 36.458412 m, bearing: 114.429013 deg, approach rate: -0.563830 m/s, LOS rate: -0.265465 deg/s, cmd heading: 130.525489 deg, new cmd heading: 130.141674 deg. Bh/6HeadingCmd: 2.271401 target range: 41.230900 and range: 41.40 m.h^@h*h"h hgfffdddjdZd` @颥^Bɢ) i)!!i%;i-^@-F<-ʝ=I5^@I1軝DAT read: 03:26:11.4695 LVL= 32752, 32753, 22002, 32755, AGC= 62, IDX= 406,-0.03,-0.524,-1.826, 0.475,-0.388, PHS=-0.033,-1.393, 0.819, RAW= 172.5, 6.3, CAL= 172.0, 5.7, ROT= 338.0, -5.7 @ @@ 0@Ygot valid direction response: 03:26:11.4695 LVL= 32752, 32753, 22002, 32755, AGC= 62, IDX= 406,-0.03,-0.524,-1.826, 0.475,-0.388, PHS=-0.033,-1.393, 0.819, RAW= 172.5, 6.3, CAL= 172.0, 5.7, ROT= 338.0, -5.7 PDAT read: Bearing 300.4, -12.4 (Local) ~Local bearing/azimuth received: Bearing 300.4, -12.4 (Local) DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.5 ms) speed 0.5 m/s TDAT read: user:341>Tx time:03:26:12.5628 R#Rx 1: Read range and direction messages. ^direction in FSK: [0.922599,-0.372754,0.099320] Fpublishing direction and range infoyy}x-F?tFO5׿hܸm?Y}3Byyy}U y)yI}+i}M}Q?}2@@}z0=}7 @@ }%=)}ZƼ@I}%˽yy}$wb?6?A? }Uj?)}I} ľi}%˽yy]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.)^A D=i E  E E *E "E ~ ;*E :VE (N4ZE a @a @a @a @B9 A= <BM >BI BM IBM yYBBI BI BI BM ݆;BM l=EI I O >4e,zԔ?AYYBytII =) =DAT read: 2Acoustic response timeoutbD%VD%y5o=%5A=ٔ=Q-=>99Y9=E:FyEDEEE>IQ 5Ug4Mߠ?Q 9]g4M)MkBYYyYQ I]?M)CIM:iM:M'g4yeBɮeSAmhEiiiTƔ?AJiBRiBji?b/}B@H--Rԋ/@Rx-F?tFO5׿hܸm?Zi ľbi%˽jm`,Bp[@@A/Ӎ*@Zߥ$3׿E#?ѓ_ݵ?2iB:ic"il~f4?*i4cBiBil~f4?i{XiyBiQBitj? addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528040 s, deltaX: -2.100002 m, approachRate: -0.595232 m/s, rangeRepo size: 4  Added new target pos. range: 39.139214 m, bearing: 112.664853 deg, lat: 36.779318 deg, lon: -121.859549 deg, deltaT: 3.528040 s, deltaX: -2.091686 m, approachRate: -0.592875 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 39.14 m.bhRhZh ProNav: ac range: 39.139214 m, nav range: 36.329418 m, bearing: 112.987200 deg, approach rate: 0.000000 m/s, LOS rate: -0.265465 deg/s, cmd heading: 130.141673 deg, new cmd heading: 129.801304 deg. BhHeadingCmd: 2.265460 target range: 39.139214 and range: 39.30 m.hL@h*h"h hgfffdddjd`fC@Zd?5C^Bɢ5߾)9 =+i9)999i=2;iEL@M%iu>@ @@0@=<2Acoustic response timeout ^AM ȝ=D! zD! bE^n4jEͣf4rEI"0E  E E -E "E ;*E :VE t4ZE BE a 2E a JE ?;a :E @;a !IAIYOe> &9lYp=r:FyrDr,Er>tQ 55g4vSѠ?Q 95g4v)vDkBY9y=3@Q I=?v'*CIva#@  @ @ 0@  2Acoustic response timeoutq ^A \=IAIaOiDe,;8?AE EE)E"E;*E:VEFA4ZEa@a@a@a@:@:@:h1ٱ:u^ BAHRS rotation from veh to nav: [[-0.665100,-0.745384,-0.045220],[0.726485,-0.631847,-0.270166],[0.172805,-0.212540,0.961751]]:H@H.!']??@8@hJѿ{?@4˿@?i:@I:t4^;:CYJ5YByNIBxBxBzIBzYBBxBxBxBz;Bzq=E)iMb@Mb@Mb@ 9Mb?Q롿Q?Y ?y\=+A A)AYסAbDVDy=%!=ٔ];Q->9Y=:FyD&HE>Q 5g4?Q 9g4V)kBY!?Q E:y/@Q I?v*CI ;i ;Hg4y Bɮ˭Ai-^@I-1J-jh9=DNOT Ignoring new targets: 39.14 m.bh9RhEZhMU ProNav: ac range: 39.139214 m, nav range: 35.775219 m, bearing: 112.715715 deg, approach rate: -0.606759 m/s, LOS rate: -0.301822 deg/s, cmd heading: 129.422031 deg, new cmd heading: 128.980533 deg. Bh]#O]HeadingCmd: 2.251135 target range: 39.139214 and range: 39.30 m.h]@ha*ha"h hgfffdddjdZd`:?iIA 2Acoustic response timeoute^Bɢe\)a eƮia)iiiim6;iu@qu==Iu@IyY@ @@0@^A=IQIaOuW>ԁ 2Acoustic response timeoutԹ c>Je,*?A2@2f@2mM/ٱ2 0] :AHRS rotation from veh to nav: [[-0.660616,-0.749221,-0.047471],[0.731139,-0.627745,-0.267155],[0.170359,-0.211195,0.962484]]2H #@N}e?}ѿ@Q?n˿`?i2@I2^;2CYN[YByRI TTZ=XbDbVDb:y =% Z=ٔ;Q->9Y=:FyŀDԙE>Q 5g4?Q 9g4y})kBYy@Q I?*CIW;i;Vg4yɮAi1JqJB*** querying acoustic contact ***i ixjh DNOT Ignoring new targets: 39.14 m.bh RhZh= ProNav: ac range: 39.139214 m, nav range: 35.545746 m, bearing: 112.603433 deg, approach rate: -0.580925 m/s, LOS rate: -0.286082 deg/s, cmd heading: 128.980527 deg, new cmd heading: 128.641513 deg. Bh=UDEHeadingCmd: 2.245218 target range: 39.139214 and range: 39.30 m.hM@hI*hI"hI hIgIfQfYfYdadidijdiZdm@ I?D=D<EM EMEM.EI"EM ;*EM:VEMـ4ZEIBEMR X%Qe,_D?A23@2])@2/&,ٱ2=] :AHRS rotation from veh to nav: [[-0.656441,-0.752642,-0.051130],[0.735586,-0.623585,-0.264677],[0.167324,-0.211356,0.962981]]2H@@@-?hyп`j? ˿?i23@I2sA^;2CYBYByBIi=Mb@Mb@Mb@9999 99=p= ף?+L7A`?Y=%?y==+==A=A =tA)=SA9Y=QAbDUVDU:ye=%eE=ٔm<;Q-m>9iYi=m:Fym̀Du}Eu>yQ 5g4}g?Q 9g4}Xx)} lBY%?Q E:y@Q I?}*CI}:i}j:}hdg4yBɮA2Acoustic response timeoutgEjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhDNOT Ignoring new targets: 39.14 m.bhRhѥZhѥ ProNav: ac range: 39.139214 m, nav range: 35.305225 m, bearing: 112.489114 deg, approach rate: -0.605877 m/s, LOS rate: -0.289936 deg/s, cmd heading: 128.641518 deg, new cmd heading: 128.296226 deg. BhFHeadingCmd: 2.239192 target range: 39.139214 and range: 39.30 m.hN@h*h"h hgfffd d d jd Zd F@^Bɢͽ) i)iߢ;iN@ <۔=IN@I?@ @@ 0@!E EE-E"EO;*E:VEt4ZEa@a@a@a@A@AAB>BBIBZBB =BBB;Bn=Eq^A=II O >M 2Acoustic response timeoutԁ yOWe,^?A2@2h@2(ٱ2] :AHRS rotation from veh to nav: [[-0.652258,-0.755974,-0.055333],[0.740028,-0.619297,-0.262354],[0.164065,-0.212070,0.963384]]2HL@0TO?G gп? %˿ ?i2@I2$^;2CYBYByBIbDJVDJN2yRj=%RW=ٔV9TYX=Z:FyZՀDZ센EZ>Q 5g4u?Q 9%g4Gs)ClBY!y%@Q I%?3+CI;i;rg4y)ɮ-A1jhQ]DNOT Ignoring new targets: 39.14 m.bhYRheZhem ProNav: ac range: 39.139214 m, nav range: 35.068573 m, bearing: 112.377590 deg, approach rate: -0.608528 m/s, LOS rate: -0.288706 deg/s, cmd heading: 128.296224 deg, new cmd heading: 127.959401 deg. Bhu"FuHeadingCmd: 2.233313 target range: 39.139214 and range: 39.30 m.h}@hy*hy"hy hygyfffdddjdZd `@颽&_BɢȽ) i)i;i@z<N=I@IԙU>@Q @Q@U1@Q2Acoustic response timeout^A=DzD@AE EE*E"E*E:VE(N4ZEBE,YA ] 2Acoustic response timeout~]e,x?Ab?l@ba@b%ٱb[^ AHRS rotation from veh to nav: [[-0.648177,-0.759161,-0.059518],[0.744371,-0.615188,-0.259721],[0.160556,-0.212649,0.963848]]bHܽ Ky ? Fп ?@8˿ ?ib?l@Ib3^;bCYYByII)>)4=AiMb@Mb@Mb@ 9x&1?ˡEV-?Y!?y'<(A;A A)OAYAbDVDky=%)=ٔn;Q->9 ?Y ?=:FyހD%8KE%>)Q 55g4-N?Q 95g4-4m)-lBY= "?Q E=:y=@Q I=?-~+CI- ;i-L ;-g4yEBɮE%AM]EjhiuDNOT Ignoring new targets: 39.14 m.bhqRhuZh} ProNav: ac range: 39.139214 m, nav range: 34.786747 m, bearing: 112.248512 deg, approach rate: -0.594570 m/s, LOS rate: -0.274524 deg/s, cmd heading: 127.959400 deg, new cmd heading: 127.569033 deg. Bhg<HeadingCmd: 2.226500 target range: 39.139214 and range: 39.30 m.h~@h*h"h hgfffdddjdZd@+@Z_Bɢ) ;i)i;i~@4n<OJ=I~@I @@ @@/0@1BDAT read: Rx Time:03:26:15.0165 TRx dataTimestamp_ set to:1761535574.1363752Acoustic response timeouta ^A =A fAzA hAE  E E E "E *E ?:VE ZE a @a @a @a @Am ؟AIq I ԉ O >de,?A;ɰ4<B.>B,B.GIB.YZBB. =B,B,B.;B.v=EBBBB =B =C4bG@b@b!ٱb\ jAHRS rotation from veh to nav: [[-0.644336,-0.762220,-0.062064],[0.748402,-0.611802,-0.256110],[0.157241,-0.211470,0.964653]]bHfdƯ?dпz ?o˿`p?ibG@Ib.^;bCYrYByrIbDVDy%=%-j=ٔM`9U"?YU"?=U:FyUD]ށE]>aQ 5eg4e?Q 9g4eh)elBYy@Q I?e+CIe;ie:;eg4yɮAjhDNOT Ignoring new targets: 39.14 m.bhRh Zh  ProNav: ac range: 39.139214 m, nav range: 34.575844 m, bearing: 112.152616 deg, approach rate: -0.583195 m/s, LOS rate: -0.266792 deg/s, cmd heading: 127.569028 deg, new cmd heading: 127.279587 deg. Bh7%HeadingCmd: 2.221448 target range: 39.139214 and range: 39.30 m.h%4,@h!*h!"hA hAgIfIfIfIdQdQdQjdQZdU @2Acoustic response timeout!e_Bɢe ˽)i mسii)iiiim ;iu4,@u95<}W=I}4,@I1@1 @1@5h0@1Y^A P=ԙ  DAT read: 03:26:15.0165 LVL= 32752, 32753, 27986, 32755, AGC= 65, IDX= 408,-0.34,-1.393,-2.689,-0.424,-1.243, PHS=-0.048,-1.401, 0.775, RAW= 172.0, 7.1, CAL= 171.6, 6.9, ROT= 338.4, -6.9  Ygot valid direction response: 03:26:15.0165 LVL= 32752, 32753, 27986, 32755, AGC= 65, IDX= 408,-0.34,-1.393,-2.689,-0.424,-1.243, PHS=-0.048,-1.401, 0.775, RAW= 172.0, 7.1, CAL= 171.6, 6.9, ROT= 338.4, -6.9  PDAT read: Bearing 298.0, -13.0 (Local)  ~Local bearing/azimuth received: Bearing 298.0, -13.0 (Local)  DAT read: Range 11 to 50 : 37.1 m (Round-trip 49.5 ms) speed 0.5 m/s  TDAT read: user:342>Tx time:03:26:16.1128  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.923042,-0.365458,0.120137] Fpublishing direction and range infoyy } L?#Xc׿rjƹI?Y} fBy y y } Rm y )} AI} DAQ IY Iq O} >i} S} ffF?} 7 @@} =} ֭?@ } Ϣ=)} @I} Ϣy y } ;?F?%#Vο? } NQh?)} TI} i} Ϣy y  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.je,HŬ?A0r@r@r^1ٱrD[ AHRS rotation from veh to nav: [[-0.640410,-0.765331,-0.064373],[0.752462,-0.608426,-0.252228],[0.153871,-0.209967,0.965524]]rH<~ }`z*?@:x $п@?3ʿ`?ir@Ir^;rCY ZByIbDVD:Du=Du%=E} E}E}+Ey"E};*E}:VE} [4ZEyBE}]9Y=:FyDQE>Q 5g4q?Q 9g4b)lBYy&@Q I?+CI;i!;g4yɮAiiU?AJiBRiBjiJ?bVl A@nN# +jb@RL?#Xc׿rjƹI?ZibiϢjIĕ'#a@@ `Ѽ(@Zԧ(mԿBH_?5l?2iB:i<"iL?*iX|@BiBi{M-$re,7ȕ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246951Y4ZBy0IiMb@Mb@Mb@ 9K7A?+V-?Y "?yA$A A)AYAbDVD02y=%@=ٔQ->9 ?Y ?=:FyD%E%>)Q 55g4-c?Q 95g4-c])-.mBY5"?Q E5:y=\@Q I=?-@,CI-":i-:-[g4yEBɮE+AE\EeB*** querying acoustic contact ***ia iajhiuDNOT Ignoring new targets: 36.95 m.bhqRhu}Zh}} ProNav: ac range: 36.948311 m, nav range: 34.514915 m, bearing: 111.441854 deg, approach rate: -0.633455 m/s, LOS rate: -0.301601 deg/s, cmd heading: 126.910037 deg, new cmd heading: 126.548217 deg. BhNHeadingCmd: 2.208683 target range: 36.948311 and range: 37.10 m.h[ @h*h"h hgfffdddjdZd@v?ԁ_Bɢ%̑ʽ)! %i!)!!)i-l;i-[ @5<5B=I5[ @I1Em EmEm)Ei"Em ;*Em:VEmFA4ZEiau@au@au@a}@BAAE<BM>BMACBMrIBMZBBM =BIBIBM;BM=E?@ @@@0@@@ GԱ(hA9(hAY|AyU?U8Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499132 ^A =A A >Am ؟AIq I O >mxe,6Y㕹?A2@2K@2lٱ2 HX :AHRS rotation from veh to nav: [[-0.632073,-0.771813,-0.069189],[0.760773,-0.601088,-0.244782],[0.147337,-0.207357,0.967106]]82H 9 f@X?@<UϿ`?ʿ ?i2@I2X#^;2CYBWZByFEIbDnVDnk1yv=%v[=ٔvِ9z"?Yz"?=z:FyzD~E~>Q 5 g4W?Q 9 g4|X)`mBY y  @Q I ?{,CIG;i;og4yɮAjhAEDNOT Ignoring new targets: 36.95 m.bhIRhM6ZhM6] ProNav: ac range: 36.948311 m, nav range: 34.290619 m, bearing: 111.339144 deg, approach rate: -0.600200 m/s, LOS rate: -0.276643 deg/s, cmd heading: 126.548215 deg, new cmd heading: 126.238071 deg. Bh]=eHeadingCmd: 2.203270 target range: 36.948311 and range: 37.10 m.he` @ha*hi"hi higififqfqdydydyjdyZd?颭`Bɢ'ݽ) i)项iQx;i` @q<o=I` @Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751809)@) @)@-5@)ԩ^A=A5.AIAIaOmW>D)zD-?AE5 E5E5+E1"E57;*E5:VE5 [4ZE1BE5Z9 ?Y ?=:FyDE>Q 5g4kI?Q 9g4kR)mBY"?Q E:yJ @Q I?,CI ;i ;g4yܗBɮA[EjhDNOT Ignoring new targets: 36.95 m.bh Rh  Zh   ProNav: ac range: 36.948311 m, nav range: 34.013763 m, bearing: 111.212816 deg, approach rate: -0.600712 m/s, LOS rate: -0.276333 deg/s, cmd heading: 126.238070 deg, new cmd heading: 125.856007 deg. Bh=%HeadingCmd: 2.196602 target range: 36.948311 and range: 37.10 m.h% @h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=v?m9`Bɢm½)i m湿ii)qqqiuk;i} @}<}f=I} @I>@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2550201^A Т=A gAzA dAEa  Ee Ee )Ea "Ea *Ee :VEe FA4ZEa am @am @am @au @y B >B BCB IB ZBB B B B B =EA I! I1 O= >ze,?AF!@F@F#ٱFkDV NAHRS rotation from veh to nav: [[-0.623016,-0.778633,-0.074709],[0.769417,-0.592822,-0.237823],[0.140888,-0.205650,0.968431]]FH@" ?fpο@?@Rʿ c?iF!@IFr(^;FCYVZByVwIbDbVDb1yj76>%jo=ٔj?Q 9zg4vM)vmBYxyz{ @Q Iz?v,CIv|:iv:vg4yϗBɮA REjh)5DNOT Ignoring new targets: 36.95 m.bh19Rh=jZhEjM ProNav: ac range: 36.948311 m, nav range: 33.807152 m, bearing: 111.121884 deg, approach rate: -0.601866 m/s, LOS rate: -0.266505 deg/s, cmd heading: 125.856003 deg, new cmd heading: 125.581544 deg. BhU6UHeadingCmd: 2.191811 target range: 36.948311 and range: 37.10 m.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507059hUF @h*h"h hgfff!d!d!d!jd!Zd-@?c`Bɢ7ѽ) gi)ihc;iF @t<=IF @Ii%@@! @!@%5@!@-=@-=ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758861^A = AY Iq I O >e,0?AB@BT@Be ٱBS JAHRS rotation from veh to nav: [[-0.618156,-0.782322,-0.076516],[0.773910,-0.588669,-0.233521],[0.137646,-0.203569,0.969337]]BH@ ?`Ϳb?ʿ ?iB@IB^;BCYRZByRmIbDZVDZNyb"%fK=ٔf'9hYh=j:FyjDjEj>pQ 5rg4r2?Q 9vg4rzH)rmBYtyv @Q Iv?r<-CIr:ir:rg4yxɮ~ A|D~%=D~4=bET4jE2`4rE0E  E E 2E "E *E :VE 4ZE BE a2E aJE ;a:E ;ajhAMDNOT Ignoring new targets: 36.95 m.bhIRhMZhMe ProNav: ac range: 36.948311 m, nav range: 33.563797 m, bearing: 111.016289 deg, approach rate: -0.598114 m/s, LOS rate: -0.261413 deg/s, cmd heading: 125.581538 deg, new cmd heading: 125.262459 deg. Bheg3mHeadingCmd: 2.186242 target range: 36.948311 and range: 37.10 m.hme @hi*hi"hi higifqfqfqdqdydjdZd`@ԙ颵`Bɢ߽)/#e ~i)项ii];ie @5(<(̓=Ie @Iu?@q @q@ug4@q^AM~=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015385A؟AIIOg>! = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926e,J?AF>A@F6@F% ٱFS RAHRS rotation from veh to nav: [[-0.612974,-0.786091,-0.079524],[0.778608,-0.583881,-0.229896],[0.134287,-0.202838,0.969961]]FHz'[[?';mͿ@O0?ɿ ?iF>A@IF3^;FCYZZByZIi=Mb@Mb@Mb@9999 99=?Mb?Y= ?y=@=<=A=xA =ԨA)99Y=›AbDUVDU02ye>%eA=ٔm9m"?Ym"?=m:Fyu Du Eu>Q 5g40&?Q 9g4B)*nBY ?Q E:y @Q I?-CI:i:qg4yǗBɮqAQEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 36.95 m.bhRhᎻZhᎻ9} ProNav: ac range: 36.948311 m, nav range: 33.309246 m, bearing: 110.912031 deg, approach rate: -0.605340 m/s, LOS rate: -0.249829 deg/s, cmd heading: 125.262459 deg, new cmd heading: 124.947297 deg. Bh}t+HeadingCmd: 2.180742 target range: 36.948311 and range: 37.10 m.hF @h*h"h hgfffdddjdZd{@M`BɢU-ǽ)Q U iQ)QQYi]1U;i]F @e]Am >A I I Թ O >e,d?A2@2^@2ٱ2;R :AHRS rotation from veh to nav: [[-0.607733,-0.789819,-0.082745],[0.783253,-0.578942,-0.226586],[0.131057,-0.202514,0.970470]]2Hr`2F.g? Ϳ}?@ɿ@?i2@I2`^;2CYBZByBIbDJVDJkyR>=%RW=ٔV 9TYT=Z:FyZ'DZ=EZ>Q 5%h40?Q 9%h4=)VnBY)y- @Q I-?-CI:i:h4y1ɮ5#A1jhYeDNOT Ignoring new targets: 36.95 m.bhaRheZheu ProNav: ac range: 36.948311 m, nav range: 33.081944 m, bearing: 110.820461 deg, approach rate: -0.582100 m/s, LOS rate: -0.236111 deg/s, cmd heading: 124.947301 deg, new cmd heading: 124.670708 deg. Bhu "HeadingCmd: 2.175914 target range: 36.948311 and range: 37.10 m.h.B @h*h"h hgfffdddjdZd@`BɢP) ;i)iP;i.B @դ<؟=I.B @Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772203=@ @@0@@gA@gAE- E-E--E)"E-f;*E-:VE-t4ZE)BE-W checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0229639 e,x~?AfR@H@Mٱ*S AHRS rotation from veh to nav: [[-0.602073,-0.793716,-0.086731],[0.788135,-0.573388,-0.223764],[0.127874,-0.203078,0.970777]]H.D f4 f8?@1YJ̿@0^?uɿ@?ifR@I@^;CY[ByIi5Mb@Mb@Mb@1111 195x&1?/$:v?Y5!?y5,5<5MA5A 5tA)59A1Y5AbDEVDE:yUL<=%]1=ٔ]g;Q-]>9YYa=e:Fye1DeⅼEe>iQ 5uh4m ?Q 9}h4mu7)mnBY}"?Q E}:y} @Q I}?m.CIm:im:mh4yBɮ֨APEjhDNOT Ignoring new targets: 36.95 m.bhRhZh ProNav: ac range: 36.948311 m, nav range: 32.802841 m, bearing: 110.705547 deg, approach rate: -0.619491 m/s, LOS rate: -0.257232 deg/s, cmd heading: 124.670705 deg, new cmd heading: 124.323034 deg. Bh0HeadingCmd: 2.169846 target range: 36.948311 and range: 37.10 m.h @h*h)"h hgfffdddjdZd` @aBɢ ƽ)  $i )   i 4I;i @z<=I @Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274868q% *:ԁ E-  E- E- *E) "E- ~ ;*E- :VE- (N4ZE) a= @a= @a= @a= @B >B B IB u[BB B B B ʆ;B U=E ?@  @ @ /0@ Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526905^A=tn=AEfAzAEfAAu.AIyIO?pe,g?A27?2 @24ٱ2gT :AHRS rotation from veh to nav: [[-0.596887,-0.797148,-0.090994],[0.792548,-0.568158,-0.221506],[0.124875,-0.204331,0.970904]]2H`=_K\?X.RZ̿@?`'ʿ?i27?I2%^;2CYB4[ByBIIFV>)F9Z ?YZ ?=^:Fy^;D^VE^>`Q 5fh4bo?Q 9fh4bV0)bnBYhyj* @Q Ij?bW.CIbw;ib;b#h4ylɮnAljhDNOT Ignoring new targets: 36.95 m.bh Rh 1Zh 1 ProNav: ac range: 36.948311 m, nav range: 32.485909 m, bearing: 110.576582 deg, approach rate: -0.609353 m/s, LOS rate: -0.250375 deg/s, cmd heading: 124.323035 deg, new cmd heading: 123.932371 deg. Bh+%HeadingCmd: 2.163028 target range: 36.948311 and range: 37.10 m.h% o @h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=h@ԩRaBɢCŽ) ÿi)!i%A;i- o @-`<-L!=I- o @I1%yb]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779868>@ @@0@D=D<E EE/E"EO;*E:VEJ4ZEBE,Yu checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030870e,-?Ae?ec @eGٱeU AHRS rotation from veh to nav: [[-0.591489,-0.800667,-0.095256],[0.797045,-0.562735,-0.219201],[0.121903,-0.205579,0.971018]]eHz b d? ̿ 5?gPʿ`?ie?IeL^;eCYm[ByIiMb@Mb@Mb@ 9Mb?/$L7A`?Y ?y+=A jA)YיAbDVD0y=%,=ٔW;Q->9Y=:FyEDtE>Q 5h4?Q 9h4))oBY!?Q E:y @Q I?.CI:i:3h4yBɮA GEjh)5DNOT Ignoring new targets: 36.95 m.bh1Rh5Zh5M ProNav: ac range: 36.948311 m, nav range: 32.200520 m, bearing: 110.460938 deg, approach rate: -0.602548 m/s, LOS rate: -0.246325 deg/s, cmd heading: 123.932375 deg, new cmd heading: 123.582374 deg. BhM )MHeadingCmd: 2.156919 target range: 36.948311 and range: 37.10 m.hU @hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde`z@颕aBɢ<ɽ) Oÿi)顙i;;i @g&<Y=I @I9checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282900i=@ @@0@E  E E ,E "E ;*E v:VE g4ZE a @a @a @a @B] <A] 4=Be >Ba Be !IBe [BBa Ba Ba Be ;Be 6=EB)B)B)B)B)C-ˬ4ԑ ^A- =A5 >A5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535922A؟AIIO?4e,C:ޖ?AY[By IbDVDy]cW=%].=ٔeQ-e>9e"?Ye"?=e:FymNDmEm>qQ 5}h4ul㟊?Q 9}h4u#)u:oBYyQ I?u.CIu:iu9:uCh4yBɮAFEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 36.95 m.bhRhXZhX ProNav: ac range: 36.948311 m, nav range: 31.918427 m, bearing: 110.344543 deg, approach rate: -0.602134 m/s, LOS rate: -0.250644 deg/s, cmd heading: 123.582369 deg, new cmd heading: 123.230102 deg. Bh,HeadingCmd: 2.150771 target range: 36.948311 and range: 37.10 m.h; @h*h"h hgfffdddjdZdt@aBɢ<ͽ) %ƿi!)!!!i%Y6;)i5; @5 <5_=I5; @I9>@ @@90@Y}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786821^A0=ԉA I I O >E  E E -E "E f;*E :VE t4ZE BE W%^V=ٔb9`Y`=b:FybVDfaEf>hQ 5nh4j؟?Q 9nh4jJ)jfoBYpyr@Q Ir?j)/CIj;ij;jKQh4ytɮvAtjhDNOT Ignoring new targets: 36.95 m.bhRhZh- ProNav: ac range: 36.948311 m, nav range: 31.687008 m, bearing: 110.256598 deg, approach rate: -0.606306 m/s, LOS rate: -0.232095 deg/s, cmd heading: 123.230095 deg, new cmd heading: 122.964335 deg. Bh-H5HeadingCmd: 2.146132 target range: 36.948311 and range: 37.10 m.h5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302916 Be,?A2_?2 @2ٱ2tW :AHRS rotation from veh to nav: [[-0.570193,-0.814361,-0.108153],[0.813767,-0.541867,-0.210150],[0.112533,-0.207837,0.971669]]2H`?@>鯻a ?`V0ʿ`μ?`hʿ?i2_?I2&^;2CYN[ByR3Ii-Mb@Mb@Mb@)))) )9-K7A?A`"{Gz?Y- "?y-Y-#=-CA-jA - A)))Y-AEe EeEaEa"Ee;*EeM:VEaZEaam@am@am@am@B>BBSIB\BB =BBB;B=EbDVDNy(=%:=ٔ';Q->9Y=:Fy_D%^dE->EcG]jAq9jAYAQ 5h4(̟?Q 9h4)oBY"?Q E:y1@Q I?s/CI:i:ah4yBɮЦAEEjh1=DNOT Ignoring new targets: 36.95 m.bh9RhE|qZhE|qu ProNav: ac range: 36.948311 m, nav range: 31.401241 m, bearing: 110.157369 deg, approach rate: -0.602525 m/s, LOS rate: -0.211122 deg/s, cmd heading: 122.964333 deg, new cmd heading: 122.663941 deg. Bhu}HeadingCmd: 2.140890 target range: 36.948311 and range: 37.10 m.h}V @hy*hy"hy hgfffdddjdZd @bBɢ˽) ȿi) i n1;i-V @- <<-q=I5V @I1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.555956!@! @!@%0@!@-hA@-hAI ^AI Ae hAzAa Ia y I O >׌e,%@,?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807497V?V> @VٱVWkW fAHRS rotation from veh to nav: [[-0.565165,-0.817572,-0.110295],[0.817538,-0.537124,-0.207677],[0.110548,-0.207542,0.971959]]VH@)Q<D)?0@'ʿ L?ʿJ?iV?IVoC^;VCYr[ByrIIbD%VD%ky=O=%=P=ٔE,;Q-E>9IYI=M:FyMgDUE>Q 5h4?Q 9h4<)oBYy @Q I ?/CI:i:'oh4y1ɮ5A1jhy}DNOT Ignoring new targets: 36.95 m.bhyRhqZhq ProNav: ac range: 36.948311 m, nav range: 31.162310 m, bearing: 110.075858 deg, approach rate: -0.615438 m/s, LOS rate: -0.211566 deg/s, cmd heading: 122.663941 deg, new cmd heading: 122.417534 deg. Bh2HeadingCmd: 2.136589 target range: 36.948311 and range: 37.10 m.h@h*h"h hgfffdddjdZdז@ =LbBɢEPv)A EɿiA)AIIih;2;i@<dEj=I@IE- E-E-+E)"E-;*E-:VE- [4ZE)BE-mi re,nF?A Y(\BydII%=)%49Y=-:Fy-oD-E->9Q 5Eh4=?Q 9Eh4=6 )=pBYEb)?Q EM:yM,@Q IM?=/CI=:i=:=}h4yUBɮUAUBaBeIBeU\BBe =BaBeDBe;Be =E@@ @@0@! E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566873^A @p=IA IQ Y Oe >%e,+b?A2^A?2W @2ܽٱ2Y :AHRS rotation from veh to nav: [[-0.556970,-0.822361,-0.116221],[0.823577,-0.528800,-0.205161],[0.107259,-0.209985,0.971803]]2H` P@Z?Bʿ Su?ʿ@?i2^A?I2OR^;0YB2\ByBjIbDJVDJβyR<%VL=ٔV9XYX=Z:FyZxDZ`ּEZ>\Q 5bh4^K?Q 9fh4^w)^8pBYdyf@Q If?^70CI^;i^/;^,h4yjBɮnϥAn;EzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 36.95 m.bhRh }Zh } ProNav: ac range: 36.948311 m, nav range: 30.650833 m, bearing: 109.895867 deg, approach rate: -0.638101 m/s, LOS rate: -0.222006 deg/s, cmd heading: 122.133167 deg, new cmd heading: 121.873078 deg. Bh\%HeadingCmd: 2.127086 target range: 36.948311 and range: 37.10 m.h%/"@h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd=@bBɢ) hοi)in3;i/"@<Iuf=I/"@IBDAT read: Response Not Received *response not receivedDe,{?A4<ɰ;06?6J @6(ؽٱ6ڞX BAHRS rotation from veh to nav: [[-0.553262,-0.824741,-0.117061],[0.826294,-0.525553,-0.202562],[0.105539,-0.208797,0.972248]]6HR@Gd@q?@Uɿ`?عʿ ?i6?I6*3^;4YFT\ByFIbDRVDRyV(=%ZK=ٔZ;Q-Z>9\Y\=^:Fy^Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.070818M3EU>QQ 5eh4U?Q 9eh4U?)UmpBYaye;@Q Ie?U}0CIUf;iU8:Uh4yqɮuAqjhDNOT Ignoring new targets: 36.95 m.bhRhz|Zhz| ProNav: ac range: 36.948311 m, nav range: 30.381945 m, bearing: 109.803929 deg, approach rate: -0.639909 m/s, LOS rate: -0.220732 deg/s, cmd heading: 121.873073 deg, new cmd heading: 121.594822 deg. Bh|HeadingCmd: 2.122230 target range: 36.948311 and range: 37.10 m.h@h*h"h hgfffdddjdZdi@bBɢ%X)! %Wпi!)!!)i-]4;i-@5P<5j=I5@I199AAԙԹ]>@Y @Y@]0@Y^A5Xh=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.325648I O5 > Be >Ba Be IBe \BBa Ba Ba Be _;Be 9Y=:FyD E>Q 5h4̓?Q 9h4)pBY/?Q E:yp@Q I?0CI ;i ;ɨh4yɮ`AjhDNOT Ignoring new targets: 36.95 m.bhRhkxZhkx- ProNav: ac range: 36.948311 m, nav range: 30.098475 m, bearing: 109.712098 deg, approach rate: -0.664159 m/s, LOS rate: -0.217184 deg/s, cmd heading: 121.594825 deg, new cmd heading: 121.316737 deg. Bh- 5HeadingCmd: 2.117377 target range: 36.948311 and range: 37.10 m.h5@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM@ucBɢup)y }ӿiy)y顁i6;i@< om=I@Ia>i>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.575702?@ @@5@^A A .AI I) O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828137ge,֯?ANB?N @NTҽٱNtQ VAHRS rotation from veh to nav: [[-0.546920,-0.829306,-0.114587],[0.830884,-0.520934,-0.195600],[0.102521,-0.202186,0.973966]]NH]`U?@} o ɿ >?:ɿ`*?iNB?IN9^;NCY^\By^IbDj VDj:2yr׳=%r[=ٔrĄ;Q-r>9v ?Yv ?=v:FyvDz"Ez>||Q 5h4~g?Q 9h4~)~pBY y 0@Q I ?~1CI~p:i~:~ߵh4yBɮA:Ejh9EDNOT Ignoring new targets: 36.95 m.bhARhMwZhMw] ProNav: ac range: 36.948311 m, nav range: 29.849438 m, bearing: 109.631885 deg, approach rate: -0.665132 m/s, LOS rate: -0.216021 deg/s, cmd heading: 121.316741 deg, new cmd heading: 121.074097 deg. Bh]@eHeadingCmd: 2.113142 target range: 36.948311 and range: 37.10 m.he=@ha*ha"ha hagafififididqdqjdqZduԁ $Ne,;ɗ?A27?2u @2нٱ2|O :AHRS rotation from veh to nav: [[-0.544123,-0.831204,-0.114151],[0.832856,-0.518670,-0.193216],[0.101395,-0.200204,0.974493]]2H`ti89¦?``Iȿ?Lɿ /?i27?I2 $^;2CYF\ByFIiMb@Mb@Mb@ 9n?A`"~jt?YV.?yY=A A)YAbD-VD-0yy=%>=ٔ,;Q->9"?Y"?=:FyDE>Q 5h4o}?Q 9h4<) qBY"/?Q E:y\@Q I?Q1CI ;i ;h4yyBɮA1Ejh-DNOT Ignoring new targets: 36.95 m.bh)Rh5~Zh=~echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.332015m ProNav: ac range: 36.948311 m, nav range: 29.564297 m, bearing: 109.536817 deg, approach rate: -0.659755 m/s, LOS rate: -0.222088 deg/s, cmd heading: 121.074092 deg, new cmd heading: 120.786140 deg. Bhmj}HeadingCmd: 2.108116 target range: 36.948311 and range: 37.10 m.h}_@h*h"h hgfffdddjdZd1!@颥jcBɢku޽)  ׿i)iiim;;iu_@ugBBIB\BBBBB?;Be,f䗹?A2?2 ` @2ͽٱ2'O >AHRS rotation from veh to nav: [[-0.541670,-0.832589,-0.115709],[0.834589,-0.516264,-0.192177],[0.100268,-0.200667,0.974515]]2H@]U!?;Dȿ -?rɿ9/?i2?I2D^;0YB\ByFIIJ=)J=bDNVDNk1yV<=%VU=ٔZ@;Q-Z>9XY\=^:Fy^D^wE^>`Q 5fh4br?Q 9jh4bH)b7qBYhyj,@Q Ij?b1CIb];ib;bQh4ylɮn^Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 36.95 m.bh RhZh% ProNav: ac range: 36.948311 m, nav range: 29.308674 m, bearing: 109.451525 deg, approach rate: -0.668874 m/s, LOS rate: -0.225127 deg/s, cmd heading: 120.786144 deg, new cmd heading: 120.528037 deg. Bh%-HeadingCmd: 2.103611 target range: 36.948311 and range: 37.10 m.h-@h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdE@'!@ԩ cBɢ NG) b$< ٿi)i3@;i@<z=I%@I!Q>@ @@4@%= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.836027^Aw= D?AzDE EEE"E ;*EǙ:VEZEa@a@a@a@Aq Iy I O >1 Be,&?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086844:k?:h+ @:u˽ٱ:cO BAHRS rotation from veh to nav: [[-0.539046,-0.834189,-0.116445],[0.836417,-0.513876,-0.190627],[0.099181,-0.200153,0.974732]]:H? PϽ?q@yfȿc?ɿ1?i:k?I:)^;:CYJ\ByJIbDVVDVk2yZ3=%ZJ=ٔ^1;Q-^>9`Y`=b:FybDbpEf>dQ 5jh4fg?Q 9jh4f)ffqBYly=@Q I]?f1CIf7+f,7?A;ɰ49Y=:FyDWݻE>Q 5h4Z?Q 9h4)qBY/?Q E:y@Q I?*2CI ;i ;h4yɮAjhDNOT Ignoring new targets: 36.95 m.bhRhZh ProNav: ac range: 36.948311 m, nav range: 28.729633 m, bearing: 109.257143 deg, approach rate: -0.693885 m/s, LOS rate: -0.236965 deg/s, cmd heading: 120.257392 deg, new cmd heading: 119.939008 deg. Bh"HeadingCmd: 2.093331 target range: 36.948311 and range: 37.10 m.h!@h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5 #@ecBɢe1)a e ii)iiiimiWI;iu!@u@ @@3@@@Թ^A|=A .AI I O% >M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843759 P f,3?A2$?2@2ǽٱ2K :AHRS rotation from veh to nav: [[-0.533889,-0.837594,-0.115751],[0.839929,-0.509581,-0.186671],[0.097370,-0.196884,0.975580]]2Hܡ? |N@ǿ@?@3ɿ7?i2$?I2o.^;2CYf]ByfI hhn=n=bDrVDrܲyz5=%zW=ٔzZ;Q-~>9~ ?Y~ ?=:FyDE> Q 5h4 GP?Q 9h4 ) qBYy@Q I? l2CI ;i O; h4y!ɮ%£A)jhIUDNOT Ignoring new targets: 36.95 m.bhQRhUZhUm ProNav: ac range: 36.948311 m, nav range: 28.474798 m, bearing: 109.171011 deg, approach rate: -0.670347 m/s, LOS rate: -0.228601 deg/s, cmd heading: 119.939010 deg, new cmd heading: 119.678301 deg. BhmmHeadingCmd: 2.088780 target range: 36.948311 and range: 37.10 m.hm@hq*hq"hq hqgqfqfyfydyddjdZdn$@E EE(E"E*E :VEc44ZEa@a@a@a@&dBɢ) i)i_hO;i@\<>z=I@I!2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.eIgA)hA?@ @@5@Qԁ ^A }U=u *DAT read: user:343> } BDAT read: Tx time:03:26:26.6127  $Ping request sent. f,+Q?A2V%?2S@2\Žٱ2J :AHRS rotation from veh to nav: [[-0.530835,-0.839583,-0.115385],[0.841966,-0.506974,-0.184584],[0.096477,-0.195134,0.976020]]2H`@㉽a?@!9@vǿ?)ȿ;?i2V%?I2V^;0YB]ByBIHiMb@Mb@Mb@ 9S? ףp= rh?Y/?yQ8C<A`A A)݊AYA ]i>]ѐCbDMAA@ABBB"IB]]BBBBB;B9"?Y"?=:FyŁDݻE>Q 5i4DA?Q 9i4I)qBY/?Q E:yQ I?2CI;ic;i4y_BɮUA&Ejh15DNOT Ignoring new targets: 36.95 m.bh1Rh=⃻Zh=⃻m ProNav: ac range: 36.948311 m, nav range: 28.110142 m, bearing: 109.045038 deg, approach rate: -0.658981 m/s, LOS rate: -0.230602 deg/s, cmd heading: 119.678301 deg, new cmd heading: 119.295487 deg. BhuBuHeadingCmd: 2.082099 target range: 36.948311 and range: 37.10 m.huA@hy*hy"hy hygfffdddjdZd@Z%@EkdBɢE|۽)A EiI)IIIiM@  @! @% 0@! @- =@- =I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499020^A_=yAqIyIO?ef, v?A6?6~@6½ٱ6J BAHRS rotation from veh to nav: [[-0.524119,-0.843375,-0.118393],[0.846332,-0.500290,-0.182844],[0.094975,-0.196032,0.975987]]6H@ O'?@_mgǿKP?`ɿI;?i6?I6#^;6CYJ!]ByJIIL)N<bDRVDREZ EZEZ*EX"EZO;*EZǙ:VEZ(N4ZEXa^@a^@ab@ab@yf<%f&=ٔjH;Q-j>9hYh=j:FyjρDnEn>pQ 5vi4r3?Q 9vi4r)rrBYtyz-@Q Iz?r 3CIr;irD;r"i4y|ɮ~9A|B*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 36.95 m.bh)Rh5CZh5CE ProNav: ac range: 36.948311 m, nav range: 27.782587 m, bearing: 108.934581 deg, approach rate: -0.682949 m/s, LOS rate: -0.233018 deg/s, cmd heading: 119.295483 deg, new cmd heading: 118.960208 deg. BhEEHeadingCmd: 2.076247 target range: 36.948311 and range: 37.10 m.hM<@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]&@-dBɢ- )) -Mi)))11i5=Y;i5<@=E<=l=I=<@I9iiiii߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7511991@ @@0@iԑ ^A p,=u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003711A].AIaIyO>$f,j?A2&?2;@2տٱ2N*L >AHRS rotation from veh to nav: [[-0.520148,-0.845533,-0.120499],[0.848836,-0.496181,-0.182432],[0.094463,-0.197176,0.975806]]2H  پ@)?n߿`Yǿ .? =ɿ9?i2&?I2F^;2CYFC]ByFIB>BBAIB]BB =BBBBi5Mb@Mb@Mb@1111 195(\?I +I +?Y5.?y594594<5~A1 5A)11Y5 AbDMVDM0y]=%]%=ٔ]:Q-]>9e ?Ye ?=e:FyeفDeEm>E EE-E"E;*E:VEt4ZEBEO\Թ A I! I9 OM > +f,I?AP^*?^i@^N.ٱ^sGM jAHRS rotation from veh to nav: [[-0.516141,-0.847709,-0.122423],[0.851309,-0.492025,-0.182164],[0.094187,-0.198243,0.975617]]^H@:n @%W=?W}߿'Qǿ?`ɿ`A8?i^*?I^R*^;\YrP]ByrIbDzVDzܲchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507039y =%P=ٔ9:Q->9Y=:FyD%DE%>)Q 55i4-S?Q 95i4-)-irBY1y5@Q I5?-3CI- :i-;-Ai4yAɮEAAjhimDNOT Ignoring new targets: 36.95 m.bhiRhuZhu ProNav: ac range: 36.948311 m, nav range: 27.190111 m, bearing: 108.737260 deg, approach rate: -0.683060 m/s, LOS rate: -0.228500 deg/s, cmd heading: 118.614663 deg, new cmd heading: 118.361686 deg. BhHeadingCmd: 2.065801 target range: 36.948311 and range: 37.10 m.h6@h*h"h hgfffdddjdZd`E(@ eBɢܽ) i)i0_h;i6@M<=I6@I?@ @@O0@@@fAbE5(N4jE5(N4rE50E EE0E"E*EP:VE4ZEa@a@a@a@^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760219A% ؟A) Iy I O >1f,40Ș?AJ;\?J#@JٱJN RAHRS rotation from veh to nav: [[-0.512488,-0.849661,-0.124230],[0.853484,-0.488105,-0.182536],[0.094456,-0.199576,0.975319]]JHLfk0Ϳ O?=߿@T]ǿ@E.?`ɿ5?iJ;\?IJ0^;HYZV]By^I ``b=b=xiMb@Mb@Mb@ 9q= ףp?ˡEQ?Y+?y'u<"AA )/AY=A p<p<bDVD0yX<%@=ٔ&Q->9"?Y"?=:FyD$E>Q 5i45?Q 9i4)rBY+?Q E:y@Q I?4CI ;i ;Oi4yLBɮAEjh DNOT Ignoring new targets: 36.95 m.bhRhZh% ProNav: ac range: 36.948311 m, nav range: 26.910711 m, bearing: 108.642531 deg, approach rate: -0.656315 m/s, LOS rate: -0.224830 deg/s, cmd heading: 118.361687 deg, new cmd heading: 118.074552 deg. Bh-L5HeadingCmd: 2.060790 target range: 36.948311 and range: 37.10 m.h5@h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM)@u@eBɢuz^ )y }Biy)顁i6q;i@:< h=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011467!@ @@?0@BBBTIB]BB =BBB;B checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2629528f,Hᘹ?A2?2@2r½ٱ2%P :AHRS rotation from veh to nav: [[-0.508471,-0.851792,-0.126128],[0.855844,-0.483802,-0.182936],[0.094803,-0.200964,0.975001]]2HeE@A`$c?޿ujǿD?-ɿ`43?i2?I2-^;2CYBi]ByB)IbDNVDNyVR=%V]=ٔV wQ-V>9XYX=Z:FyZD^OE^>`Q 5fi4b?Q 9fi4bT)brBYdyfE@Q If?bA4CIb[:ib:b\i4ynBɮnAY]EjhDNOT Ignoring new targets: 36.95 m.bhRhDtZhDt ProNav: ac range: 36.948311 m, nav range: 26.667492 m, bearing: 108.560914 deg, approach rate: -0.630641 m/s, LOS rate: -0.213553 deg/s, cmd heading: 118.074546 deg, new cmd heading: 117.827464 deg. BhHeadingCmd: 2.056477 target range: 36.948311 and range: 37.10 m.hS@h*h"h h gfyffdddjdZd Q)@ԉ颭xeBɢIE) i)顱iy;iS@<w=IS@I>@ @@0@-DDAT read: Rx Time:03:26:28.7804 5TRx dataTimestamp_ set to:1761535587.766100EPDAT read: Bearing 287.9, -18.8 (Local) E~Local bearing/azimuth received: Bearing 287.9, -18.8 (Local) ]DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.6 DAT read: 03:26:28.7804 LVL= 32752, 32753, 19106, 32755, AGC= 68, IDX= 37,-0.12, 0.532,-0.788, 1.592, 0.745, PHS=-0.111,-1.488, 0.803, RAW= 173.4, 8.0, CAL= 173.1, 8.3, ROT= 336.9, -8.3 Ygot valid direction response: 03:26:28.7804 LVL= 32752, 32753, 19106, 32755, AGC= 68, IDX= 37,-0.12, 0.532,-0.788, 1.592, 0.745, PHS=-0.111,-1.488, 0.803, RAW= 173.4, 8.0, CAL= 173.1, 8.3, ROT= 336.9, -8.3 R#Rx 1: Read range and direction messages.^direction in FSK: [0.910187,-0.388228,0.144356]Fpublishing direction and range infoy152n@ ?%ؿ'ЌCz?Y5A1115J 1)5DI5Si5v5hM?5A@55>5ZA@ 5V>)5)@I5V115Y?!}k?!V}? 5Xn?)5SI5zlξi5V1Ա1checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538280 E  E E ,E "E ;*E :VE g4ZE a @a @a @a @^A O=A% fAzA% gAAI IY Ii Ou >,>f,:?A2W?2҃@2֩½ٱ2p"Q :AHRS rotation from veh to nav: [[-0.504110,-0.854128,-0.127827],[0.858409,-0.479273,-0.182843],[0.094907,-0.201901,0.974797]]2H@!`U\@x? g޿ggǿK?ɿ1?i2W?I2^;2CYB]ByB8IHbDNVDNk1yVd=%V9=ٔV&zQ-V>9XY=:FyD v8E > Q 5i4  ?Q 9i4 M) rBYy@Q I? 4CI :i : li4y)ɮ-ҜA)]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.767042i9i=?AJi= ARi= Aji=F?b=+I:@e_l& wP@R=2n@ ?%ؿ'ЌCz?Zi=zlξbi=Vj=#ƿ{_-;@8U!@Z=asX¿7?ʊ?2i=jA:i="i=Vu?*i=5xBi=fBi9i9i=Bi=Ai=N? addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 13.125821 s, deltaX: -8.099998 m, approachRate: -0.617104 m/s, rangeRepo size: 4  Added new target pos. range: 28.881689 m, bearing: 98.801074 deg, lat: 36.779318 deg, lon: -121.859543 deg, deltaT: 13.125821 s, deltaX: -8.066622 m, approachRate: -0.614561 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.88 m.bhRhZh ProNav: ac range: 28.881689 m, nav range: 26.370516 m, bearing: 108.462531 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.827470 deg, new cmd heading: 117.545419 deg. BhHeadingCmd: 2.051555 target range: 28.881689 and range: 29.00 m.hL@h*h"h hgfffdddjd=@Zd?eBɢR) "i)iY&;i L@ <=IL@I@ @@1@@=@= DDAT read: Rx Time:03:26:29.2801  TRx dataTimestamp_ set to:1761535588.268790 PDAT read: Bearing 289.6, -19.8 (Local)  ~Local bearing/azimuth received: Bearing 289.6, -19.8 (Local) - DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.7 U DAT read: 03:26:29.2801 LVL= 32752, 32753, 21170, 32755, AGC= 66, IDX= 498,-0.17,-0.480,-1.812, 0.619,-0.204, PHS=-0.174,-1.563, 0.779, RAW= 173.9, 9.4, CAL= 173.7, 10.4, ROT= 336.3, -10.4 ] Ygot valid direction response: 03:26:29.2801 LVL= 32752, 32753, 21170, 32755, AGC= 66, IDX= 498,-0.17,-0.480,-1.812, 0.619,-0.204, PHS=-0.174,-1.563, 0.779, RAW= 173.9, 9.4, CAL= 173.7, 10.4, ROT= 336.3, -10.4 ] R#Rx 2: Read range and direction messages.e ^direction in FSK: [0.900620,-0.395345,0.180519]m Fpublishing direction and range infoy  h?SMٿlE@?Y A    R  ) B^Au m=I -2i bȿ lG? ?B@ '> WB@  9>) Jӻ@I 9    w?B@~?̟D?  p?) |(I Ӿi 9   checking for new query: numPingsReceived=2, elapsed TxPingTime=3.041554 A I I O >B B B mIB ]BB =B B B ;B )f4<|i-Mb@Mb@Mb@)))) )9-(\?&1?Y-'?y-P-<)-VA -=A)-A)Y-AbDVD:y<=%.=ٔ/Q->9Y=:FyDo.E>Q 5i4?Q 9i4D)sBYO(?Q E:y@Q I?4CI;i;|i4yɮAiIiM3?AJiMARiMAjiMz?bMͪ9@}`Wq&|HG~@RMh?SMٿlE@?ZiM ӾbiM9jMDzu'Mf:@jWe#@ZM()@(`W?xNv?2iM2A:iMt"iM?*iMBiM2BiML?iMX|@iMBiMAiM? addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.502690 s, deltaX: -0.500000 m, approachRate: -0.994649 m/s, rangeRepo size: 4  Added new target pos. range: 28.383776 m, bearing: 98.244499 deg, lat: 36.779327 deg, lon: -121.859538 deg, deltaT: 0.502690 s, deltaX: -0.497913 m, approachRate: -0.990498 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.38 m.bhRhZh ProNav: ac range: 28.383776 m, nav range: 26.188372 m, bearing: 106.036891 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.545425 deg, new cmd heading: 117.244940 deg. BhHeadingCmd: 2.046310 target range: 28.383776 and range: 28.50 m.h@h*h"h hgf)f)f)d1d1d1jd5<@Zd5%>?mchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.271086eBɢQ) i)iL;i%@-Oj<-*=I-@I)@@ @@0@Yԑ ^A] =% DDAT read: Rx Time:03:26:29.7798 % TRx dataTimestamp_ set to:1761535588.7726565 PDAT read: Bearing 289.5, -19.8 (Local) 5 ~Local bearing/azimuth received: Bearing 289.5, -19.8 (Local) E DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5 e DAT read: 03:26:29.7798 LVL= 32752, 32753, 23826, 32755, AGC= 66, IDX= 495,-0.21,-1.502,-2.820,-0.416,-1.219, PHS=-0.181,-1.555, 0.760, RAW= 173.8, 9.7, CAL= 173.7, 10.9, ROT= 336.3, -10.9 m Ygot valid direction response: 03:26:29.7798 LVL= 32752, 32753, 23826, 32755, AGC= 66, IDX= 495,-0.21,-1.502,-2.820,-0.416,-1.219, PHS=-0.181,-1.555, 0.760, RAW= 173.8, 9.7, CAL= 173.7, 10.9, ROT= 336.3, -10.9 u R#Rx 3: Read range and direction messages.} ^direction in FSK: [0.899143,-0.394696,0.189095]} Fpublishing direction and range infoy! % - ?oݧBٿoG4?Y% A! ! ! % ] ! )! I% X9i% = ǿ% \B?% "B@% -\->! % B>)! I% B! ! % ?v?'? % Xp?)% A-I! i% B! !  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.538784Ա A)I1IAOU>Lf, 6?AY]ByLIbD%VD%y}<%}>=ٔ}Q-}>9Y=:Fy DE>D=D<E EE,E"E;*E5:VEg4ZEa@a@a@a@Q 5i4s枊?Q 9i4)0sBYyQ I?"5CI;ie;i4yBɮwAEiQiU2s1?AJiUARiUAjiU?bUN!Y)9@Ii?m addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.503866 s, deltaX: -0.400000 m, approachRate: -0.793861 m/s, rangeRepo size: 4 } Added new target pos. range: 27.985407 m, bearing: 98.327657 deg, lat: 36.779356 deg, lon: -121.859527 deg, deltaT: 0.503866 s, deltaX: -0.398369 m, approachRate: -0.790625 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 27.99 m.bhԉRhZh ProNav: ac range: 27.985407 m, nav range: 26.240318 m, bearing: 98.661137 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.244937 deg, new cmd heading: 116.970521 deg. BhHeadingCmd: 2.041521 target range: 27.985407 and range: 28.10 m.hG@h*h"h hgfffdddjd<@Zd?MfBɢM)Q U'iQ)QQQiU;i]G@]-<]=IG@I>@ @@/0@checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778592Թ^Aa Au >Au >A I I O > -Sf,O?A2R?2@2ƽٱ2$R :AHRS rotation from veh to nav: [[-0.491979,-0.860699,-0.130974],[0.865203,-0.466625,-0.183531],[0.096849,-0.203612,0.974250]]2H|߿؊ ?1ݿ}ǿ˸? ʿ` -?i2R?I2A^;2CYB]ByBUInDDAT read: Rx Time:03:26:30.2798 nTRx dataTimestamp_ set to:1761535589.276810rPDAT read: Bearing 288.7, -20.1 (Local) v~Local bearing/azimuth received: Bearing 288.7, -20.1 (Local) ~DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.7 DAT read: 03:26:30.2798 LVL= 32752, 32753, 22770, 32755, AGC= 66, IDX= 510,-0.25,-0.170,-1.495, 0.946, 0.120, PHS=-0.188,-1.570, 0.782, RAW= 174.2, 9.6, CAL= 174.1, 10.7, ROT= 335.9, -10.7 %Ygot valid direction response: 03:26:30.2798 LVL= 32752, 32753, 22770, 32755, AGC= 66, IDX= 510,-0.25,-0.170,-1.495, 0.946, 0.120, PHS=-0.188,-1.570, 0.782, RAW= 174.2, 9.6, CAL= 174.1, 10.7, ROT= 335.9, -10.7 -R#Rx 4: Read range and direction messages.5^direction in FSK: [0.896962,-0.401231,0.185667]5Fpublishing direction and range infoyln#?[Rvĭٿ &K{?YllllnX l)lIn@inȿn'1H?nQB@n+>nxB@ nt;?>)n@Int;?llnur?y,? 5F? nGr?)n*In\׾int;?lluchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.047064i=Mb@Mb@Mb@9999 99=NbX9?J + rh?Y=%?y=H=C ==tA=A =A)99Y=AbDuVDuy=%:=ٔSQ->9Y=:FyDyE>Q 5Ei4*ܞ?Q 9Mi4)_sBYMU&?Q EM:yM@Q IM?j5CI BBIB^BB =BBB ;Biy?@ @@ 0@ @@hAchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.2797009 ^Ae M=i A.AIIO>!K[f,F^o?A2?2*Z@2Ƚٱ2R :AHRS rotation from veh to nav: [[-0.488294,-0.862777,-0.131089],[0.867180,-0.462873,-0.183707],[0.097821,-0.203381,0.974201]]2H4@߿ߛ`?@ݿǿ` ?aʿ@,?i2?I2$^;2CYB]ByB[I DDLbDLVDLyVt<%V>=ٔZQ-Z>9Z ?YZ ?=^:Fy^D^E^>`Q 5fi4bҞ?Q 9fi4bw)bsBYhyj@@Q Ij?b5CIb;ib?;bi4ylɮn Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 27.99 m.bh =DDAT read: Rx Time:03:26:30.7795 ETRx dataTimestamp_ set to:1761535589.780719MPDAT read: Bearing 286.5, -20.5 (Local) M~Local bearing/azimuth received: Bearing 286.5, -20.5 (Local) eDAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 DAT read: 03:26:30.7795 LVL= 32752, 32753, 21330, 32755, AGC= 65, IDX= 507,-0.28,-1.877, 3.095,-0.717,-1.598, PHS=-0.176,-1.545, 0.837, RAW= 175.1, 8.6, CAL= 174.9, 9.1, ROT= 335.1, -9.1 Ygot valid direction response: 03:26:30.7795 LVL= 32752, 32753, 21330, 32755, AGC= 65, IDX= 507,-0.28,-1.877, 3.095,-0.717,-1.598, PHS=-0.176,-1.545, 0.837, RAW= 175.1, 8.6, CAL= 174.9, 9.1, ROT= 335.1, -9.1 R#Rx 5: Read range and direction messages.^direction in FSK: [0.895628,-0.415736,0.158158]Fpublishing direction and range infoyAE3m?]lڿ@\~>?YEAAAAERS A)EAIEX94iEſEEV?EC@E`>E|]C@ E">)E'@IE"AAE_n 1?"f?-Xu? E- v?)ESiIE*޾iE"AAchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.547155Rh Zh  ProNav: ac range: 27.985273 m, nav range: 25.892113 m, bearing: 97.892580 deg, approach rate: -0.723005 m/s, LOS rate: -0.514068 deg/s, cmd heading: 116.655246 deg, new cmd heading: 116.094764 deg. Bhf%HeadingCmd: 2.026236 target range: 27.985273 and range: 28.10 m.h%٭@h!*h!"h) h)gIfIfQfQdQdQdYjd];@Zd] ׆?fBɢ!)b< _ i)i;i٭@ڪ=I٭@I=@ @@0@E EE+E"E;*E^:VE [4ZEa@a@a@a@^Am=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784104! A- ؟AIY I O >1bf,3?A>?@ʽٱYSPExceeded connect timeout, disconnecting. ]AHRS rotation from veh to nav: [[-0.484577,-0.864679,-0.132347],[0.869147,-0.458836,-0.184534],[0.098837,-0.204450,0.973874]]HO߿r ?]ݿҞǿ@gM?j+ʿ)?i>?I^;Yu]ByumIi=Mb@Mb@Mb@9999 99=!rh?S㥫~jt?Y=l'?y=/]==9=A =3A)=$A9Y=AbDUVDUk2y]'f=%e&=ٔeQ-e>9m"?Ym"?=m:Fym(Du Eu>yQ 5}i4}ƞ?Q 9i4})}sBYF(?Q E:y@Q I?}6CI}U@C@ U'>)U6@IU'QQJiuARiuAjiu?buFO8@I`&u(?Ziu*޾biu"juYH`~sŎ9@#J"@Zu΋og~?HLO~?2iuA:iu'"iu ;靊?*iuDBiuBiu?iueiu2BiuvAiuΫ?U[!?|? n8? Ucu?)UIUjݾiU'QQchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.055125 addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 1.007997 s, deltaX: -0.600000 m, approachRate: -0.595240 m/s, rangeRepo size: 4  Added new target pos. range: 27.487314 m, bearing: 95.798323 deg, lat: 36.779358 deg, lon: -121.859523 deg, deltaT: 0.503909 s, deltaX: -0.497959 m, approachRate: -0.988193 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 27.49 m.bh Rh Zh  ProNav: ac range: 27.487314 m, nav range: 25.682888 m, bearing: 97.434654 deg, approach rate: 0.000000 m/s, LOS rate: -0.514068 deg/s, cmd heading: 116.094761 deg, new cmd heading: 115.279158 deg. BhHeadingCmd: 2.012001 target range: 27.487314 and range: 27.50 m.h@h*h"h hgfffdddjd;@Zd?ɀGB>BBIB3^BBBBB!;B!?>w@>Ͻٱ>TL RAHRS rotation from veh to nav: [[-0.476884,-0.868746,-0.133646],[0.873116,-0.450689,-0.185870],[0.101241,-0.205327,0.973443]]>HE޿ O?ܿǿ? &Hʿq&?i>!?I>^;>CY^]By^yIbDn VDn2y},=%}.=ٔQ->9Y=:Fy2DfE>Q 5i4˻?Q 9i4|x)sBYy@Q I?Q6CI:iw:i4yɮAiiG:?AJiARiAji9?b68@pΪ&5~@R_h/?3|ڿ$vz?Zijݾbi'jK.6S׺D9@ ST"@Z7㶿qL?j?2iA:i"i9vn흊?*i6BiJBinj?iiiAi$?jhDNOT Ignoring new targets: 27.49 m.bhRhZh ProNav: ac range: 27.487314 m, nav range: 25.387735 m, bearing: 97.228062 deg, approach rate: -0.645995 m/s, LOS rate: -0.457421 deg/s, cmd heading: 115.279154 deg, new cmd heading: 114.652198 deg. BhHeadingCmd: 2.001058 target range: 27.487314 and range: 27.50 m.hW@h*h"h hgfffdddjdZd?MfBɢM6#)Q UiQ)QQQi]١;i]W@auDDAT read: Rx Time:03:26:31.7791 uTRx dataTimestamp_ set to:1761535590.788864}PDAT read: Bearing 285.4, -20.6 (Local) ~Local bearing/azimuth received: Bearing 285.4, -20.6 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 DAT read: 03:26:31.7791 LVL= 32752, 32753, 21746, 32755, AGC= 65, IDX= 503,-0.31,-2.371, 2.601,-1.199,-2.086, PHS=-0.183,-1.551, 0.843, RAW= 175.3, 8.6, CAL= 175.1, 9.2, ROT= 334.9, -9.2 Ygot valid direction response: 03:26:31.7791 LVL= 32752, 32753, 21746, 32755, AGC= 65, IDX= 503,-0.31,-2.371, 2.601,-1.199,-2.086, PHS=-0.183,-1.551, 0.843, RAW= 175.3, 8.6, CAL= 175.1, 9.2, ROT= 334.9, -9.2 R#Rx 7: Read range and direction messages.^direction in FSK: [0.893920,-0.418743,0.159881]Fpublishing direction and range infoyquP?`PڿČsv?YuAqqquT q)qIqiu+ƿuW?uC@u`>uC@ ul$>)u @Iul$qqu#'?  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790932H5qf,8ř?An\?nU<@n`ҽٱn&V MAHRS rotation from veh to nav: [[-0.472865,-0.870736,-0.134967],[0.875148,-0.446285,-0.186940],[0.102542,-0.206514,0.973056]]nHmC޿`F5?ܿ@ǿ.@? oʿE#?in\?In"5^;nCY}^By}II=)p<AbDVDky|=% B=ٔKQ->9)Y)=-:Fy5:D=1E=>AQ 5Mi4E`?Q 9Mi4Er)E0tBYIyM?Q IM?E6CIE:iE$:E}i4yYɮ]ZAYii|?AJiARiAjiy?bj܏ 8@+Bk&/3[2@RP?`PڿČsv?ZiKbil$nManaging dock network, ignoring radio surface power offj^ghX#wA9@o!@Ze1?|[?2iA:i "iL?1*iŪBiBi ;靊?iŪiJBiAiT? addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504057 s, deltaX: -0.500000 m, approachRate: -0.991951 m/s, rangeRepo size: 4  Added new target pos. range: 26.889832 m, bearing: 94.848004 deg, lat: 36.779364 deg, lon: -121.859520 deg, deltaT: 1.008145 s, deltaX: -0.597483 m, approachRate: -0.592655 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.89 m.bhRhZh- ProNav: ac range: 26.889832 m, nav range: 25.369846 m, bearing: 95.389794 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 114.652197 deg, new cmd heading: 114.003312 deg. Bh)5HeadingCmd: 1.989733 target range: 26.889832 and range: 27.00 m.h5?h1*h1"h9 h9g9f9fafadadadijdm;@Zdm`1?颵4gBɢ0) DDAT read: Rx Time:03:26:32.2790 TRx dataTimestamp_ set to:1761535591.292856PDAT read: Bearing 284.1, -20.4 (Local) ~Local bearing/azimuth received: Bearing 284.1, -20.4 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.6 DAT read: 03:26:32.2790 LVL= 32752, 32753, 21282, 32755, AGC= 64, IDX= 501,-0.29,-2.322, 2.656,-1.150,-2.052, PHS=-0.168,-1.530, 0.859, RAW= 175.4, 8.1, CAL= 175.1, 8.5, ROT= 334.9, -8.5 Ygot valid direction response: 03:26:32.2790 LVL= 32752, 32753, 21282, 32755, AGC= 64, IDX= 501,-0.29,-2.322, 2.656,-1.150,-2.052, PHS=-0.168,-1.530, 0.859, RAW= 175.4, 8.1, CAL= 175.1, 8.5, ROT= 334.9, -8.5 R#Rx 8: Read range and direction messages.%^direction in FSK: [0.895622,-0.419540,0.147809]%Fpublishing direction and range infoy.?҉ڿ%)k?YA"S )@I1,i ÿm[?vC@> >)InpAQ?@)?{ը? fw?)ZIi=checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067108iA)AAAiMR;iM?IUU=IU?QIyB <A <B >B ACB IB [^BB B B DB :;B AHRS rotation from veh to nav: [[-0.468422,-0.872912,-0.136405],[0.877380,-0.441449,-0.187954],[0.103852,-0.207721,0.972660]]2Hݿu? @ܿȿ?@ʿ@ ?i2?I2 ^;2CYF^ByFIiUMb@Mb@Mb@QQQQ Q9U/$?S㥫L7A`?YU1(?yQU+=UAQ Q)QQYUQA}DDAT read: Rx Time:03:26:32.7787 }TRx dataTimestamp_ set to:1761535591.796784PDAT read: Bearing 284.6, -20.0 (Local) ~Local bearing/azimuth received: Bearing 284.6, -20.0 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 DAT read: 03:26:32.7787 LVL= 32752, 32753, 19986, 32755, AGC= 66, IDX= 498,-0.25, 3.120, 1.818,-2.030,-2.889, PHS=-0.172,-1.531, 0.815, RAW= 174.8, 8.8, CAL= 174.6, 9.4, ROT= 335.4, -9.4 Ygot valid direction response: 03:26:32.7787 LVL= 32752, 32753, 19986, 32755, AGC= 66, IDX= 498,-0.25, 3.120, 1.818,-2.030,-2.889, PHS=-0.172,-1.531, 0.815, RAW= 174.8, 8.8, CAL= 174.6, 9.4, ROT= 335.4, -9.4 R#Rx 9: Read range and direction messages.^direction in FSK: [0.897027,-0.410691,0.163326]Fpublishing direction and range infoyy}b;yq? Hڿ$vz?Y}fAyyy}N y)}BI} 0i}ÿ}ףP?}@C@}nF>}C@ }'>)}R@I}'yy}1gb>?'st?aȤw? } t?)}ZI}۾i}'yychecking for new query: numPingsReceived=9, elapsed TxPingTime=6.564748bDmVDmJy<%<ٔQ->9Y=:FyHD%E%>)Q 55i4-}?Q 95i4-g)-|tBY5(?Q E=:y=?Q I=?-7CI-n:i-a:-i4yEŕBɮEAEEiyi}?AJi}ARi}Aji}~?b}4~7@Ĝ%yu@R}b;yq? Hڿ$vz?Zi}۾bi}'j}96@b8@ˁWë!@Z}^~O8?_tƖ?2i}xA:i} "i}'Ꝋ?*i}FΠBi}Bi}'Ꝋ?iyi}Bi}Ai}[? addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 1.007920 s, deltaX: -0.700001 m, approachRate: -0.694500 m/s, rangeRepo size: 4  Added new target pos. range: 26.192564 m, bearing: 95.117365 deg, lat: 36.779364 deg, lon: -121.859520 deg, deltaT: 1.007920 s, deltaX: -0.697268 m, approachRate: -0.691789 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 26.19 m.bhARhAZhAU ProNav: ac range: 26.192564 m, nav range: 24.958832 m, bearing: 95.055306 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 114.003316 deg, new cmd heading: 113.120707 deg. BhQHeadingCmd: 1.974329 target range: 26.192564 and range: 26.30 m.hζ?h*h"h hgfffdddjdL:@Zd@?D=@AzD9bE|a4jEb4rE/EE EEEAEA"EE ;*EEP:VEAZEAaM@aU@aU@aU@}gBɢ() i)顁i;iζ?=Iζ?Ii! I% A- checking for new query: numPingsReceived=9, elapsed TxPingTime=6.7992879 }< @  @ @ /@ I y^Aܶ=DDAT read: Rx Time:03:26:33.2786 TRx dataTimestamp_ set to:1761535592.301945PDAT read: Bearing 283.7, -20.4 (Local) ~Local bearing/azimuth received: Bearing 283.7, -20.4 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 AIIO?wf,p ?A"DAT read: 03:26:33.2786 LVL= 32752, 32753, 22898, 32755, AGC= 66, IDX= 497,-0.20,-2.122, 2.864,-0.958,-1.840, PHS=-0.181,-1.535, 0.837, RAW= 175.3, 8.6, CAL= 175.1, 9.1, ROT= 334.9, -9.1 ZYgot valid direction response: 03:26:33.2786 LVL= 32752, 32753, 22898, 32755, AGC= 66, IDX= 497,-0.20,-2.122, 2.864,-0.958,-1.840, PHS=-0.181,-1.535, 0.837, RAW= 175.3, 8.6, CAL= 175.1, 9.1, ROT= 334.9, -9.1 ZT#Rx 10: Read range and direction messages.^^direction in FSK: [0.894171,-0.418860,0.158158]^Fpublishing direction and range infoy ?-5ڿ@\~>?YArY )IX9izĿEV?C@`>C@ ">) @xI"dEL?oy?ۤ? L1w?)4?IKi"}checking for new query: numPingsReceived=10, elapsed TxPingTime=7.127587u??@-ܽB>BBIB^BB =BBDBU;B^ByI = E EE,E"Ef;*E5:VEg4ZEBEW9!Y!=%:Fy%UD%僼E->)Q 55j4-?Q 9=j4-s])-tBYEz(?Q EE:yE?Q IE?-p7CI-M7;i-6;-_j4yYɮ]AaiiS?AJiARiAjio?bNx>7@ v%v\q@R ?-5ڿ@\~>?ZiKbi"j:)EDj8@;ہ!@Zs &e9y%a?h^y⅍?2iWA:iֿ"ieS?*i>3BiBi9vn흊?iiBiuAiy? addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.505161 s, deltaX: -0.199999 m, approachRate: -0.395911 m/s, rangeRepo size: 4 % Added new target pos. range: 25.993441 m, bearing: 93.928206 deg, lat: 36.779365 deg, lon: -121.859520 deg, deltaT: 0.505161 s, deltaX: -0.199123 m, approachRate: -0.394178 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 25.99 m.bh)Rh)Zh)] ProNav: ac range: 25.993441 m, nav range: 24.557255 m, bearing: 94.661695 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 113.120705 deg, new cmd heading: 112.283720 deg. BhYeHeadingCmd: 1.959721 target range: 25.993441 and range: 26.10 m.he ?ha*hi"hi higififfdddjd:@Zd u?gBɢ ) Ei)i6;i ?y =I ?I!!!))checking for new query: numPingsReceived=10, elapsed TxPingTime=7.303177Iy Q @Q  @Y @] 4@Y ԡ DDAT read: Rx Time:03:26:33.7783 TRx dataTimestamp_ set to:1761535592.804685PDAT read: Bearing 283.4, -20.5 (Local) ~Local bearing/azimuth received: Bearing 283.4, -20.5 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 DAT read: 03:26:33.7783 LVL= 32752, 32753, 23058, 32755, AGC= 66, IDX= 494,-0.14, 3.103, 1.805,-2.007,-2.885, PHS=-0.193,-1.548, 0.834, RAW= 175.5, 8.8, CAL= 175.3, 9.5, ROT= 334.7, -9.5 Ygot valid direction response: 03:26:33.7783 LVL= 32752, 32753, 23058, 32755, AGC= 66, IDX= 494,-0.14, 3.103, 1.805,-2.007,-2.885, PHS=-0.193,-1.548, 0.834, RAW= 175.5, 8.8, CAL= 175.3, 9.5, ROT= 334.7, -9.5 T#Rx 11: Read range and direction messages.^direction in FSK: [0.891684,-0.421497,0.165048] Fpublishing direction and range infoy_##?zڿG ?YAZ )IˡEi$ƿU? D@nF>C@ )>)@I)`? ?\ ݙ? w?)~mI:i)=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578250^AK=AIIO ?B f,i:?AE EE*E"E7;*E:VE(N4ZEa&@a&@a&@a&@:?:@:ٱ:sZ FAHRS rotation from veh to nav: [[-0.454141,-0.879957,-0.139395],[0.884165,-0.425898,-0.191997],[0.109581,-0.210442,0.971445]]:Hݿ`(@K?Aۿ_ȿ ?@ʿ`?i:?I:^;8Yn`^BynIbDzVDz:yUj=%]!=ٔ]Q-]>9aYa=e:Fye_De3Em>iQ 5j4m?Q 9j4mU)mtBYy?Q I?m7CIm:im:mj4yBɮ9AEii3?AJiARiAjik?b-6@Bx%@R_##?zڿG ?Zi:bi)j>r]p7@!@Z-d6N9?_1?2iA:i"it?*i JBiBiL?i>3iBihAi?- addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.502740 s, deltaX: -0.400000 m, approachRate: -0.795639 m/s, rangeRepo size: 4 } Added new target pos. range: 25.595074 m, bearing: 93.487553 deg, lat: 36.779366 deg, lon: -121.859520 deg, deltaT: 0.502740 s, deltaX: -0.398367 m, approachRate: -0.792392 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 25.60 m.bhyRhZh ProNav: ac range: 25.595074 m, nav range: 24.176142 m, bearing: 93.972743 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 112.283720 deg, new cmd heading: 111.592275 deg. BhHeadingCmd: 1.947653 target range: 25.595074 and range: 25.70 m.hL?h*h"h hgfffdddjd@39@Zd ?颭hBɢ)  i)顱i:;iL?+E=IL?I5checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808612!@ @@ 2@Q^A +=q  DDAT read: Rx Time:03:26:34.2782  TRx dataTimestamp_ set to:1761535593.312810 PDAT read: Bearing 282.1, -20.7 (Local)  ~Local bearing/azimuth received: Bearing 282.1, -20.7 (Local) - xDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) s e DAT read: 03:26:34.2782 LVL= 32752, 32753, 23154, 32755, AGC= 64, IDX= 509,-0.06,-2.330, 2.665,-1.134,-2.034, PHS=-0.194,-1.539, 0.856, RAW= 175.9, 8.5, CAL= 175.7, 9.0, ROT= 334.3, -9.0 m Ygot valid direction response: 03:26:34.2782 LVL= 32752, 32753, 23154, 32755, AGC= 64, IDX= 509,-0.06,-2.330, 2.665,-1.134,-2.034, PHS=-0.194,-1.539, 0.856, RAW= 175.9, 8.5, CAL= 175.7, 9.0, ROT= 334.3, -9.0 u T#Rx 12: Read range and direction messages.} ^direction in FSK: [0.889983,-0.428320,0.156434]} Fpublishing direction and range infoy  JFͽz?1iۿp ?Y A rZ ) @I Fi Ŀ "[? p{D@ > ?BD@ | >) U@I | ⾺?U F7?&:\? py?) ֓I Zi |  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.083247A .AI I O >f,W?AA,A,B2>B2BCB2IB2^BB2 =B0B0B2Y;B29 ?Y ?=%:Fy%jD%E%>)Q 55j4-*?Q 95j4-+M)-9uBY=&?Q E=:y=?Q I=?-8CI- ;i-S;-,j4yeBɮeAeEiiT?AJi*ARi*Aji?bZq 6@T%DpGK@RJFͽz?1iۿp ?ZiZbi| jl4ei󿜈7@$37 @!@ZL !08?d ?2iԾA:i"i!?*i BixBieS?iiBiAiR? addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.508125 s, deltaX: -0.200001 m, approachRate: -0.393605 m/s, rangeRepo size: 4 % Added new target pos. range: 25.395943 m, bearing: 92.991164 deg, lat: 36.779367 deg, lon: -121.859520 deg, deltaT: 0.508125 s, deltaX: -0.199131 m, approachRate: -0.391894 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 25.40 m.bh)Rh)Zh)] ProNav: ac range: 25.395943 m, nav range: 23.840406 m, bearing: 93.391215 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 111.592273 deg, new cmd heading: 110.845940 deg. BhaeHeadingCmd: 1.934627 target range: 25.395943 and range: 25.50 m.heء?hi*hi"hi higififqfqdddjd9@Zd ?i߹I߽Achecking for new query: numPingsReceived=12, elapsed TxPingTime=8.311472WhBɢ) di)项ih=;1iEء?qu=I}ء?I)Q @  @ @ o0@ a u DDAT read: Rx Time:03:26:34.7780 u TRx dataTimestamp_ set to:1761535593.812669} PDAT read: Bearing 282.4, -19.8 (Local)  ~Local bearing/azimuth received: Bearing 282.4, -19.8 (Local)  DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 ԡ  DAT read: 03:26:34.7780 LVL= 32752, 30513, 23602, 32755, AGC= 65, IDX= 506, 0.03,-2.220, 2.773,-1.081,-1.932, PHS=-0.186,-1.533, 0.807, RAW= 175.0, 9.0, CAL= 174.8, 9.8, ROT= 335.2, -9.8  Ygot valid direction response: 03:26:34.7780 LVL= 32752, 30513, 23602, 32755, AGC= 65, IDX= 506, 0.03,-2.220, 2.773,-1.081,-1.932, PHS=-0.186,-1.533, 0.807, RAW= 175.0, 9.0, CAL= 174.8, 9.8, ROT= 335.2, -9.8  T#Rx 13: Read range and direction messages. ^direction in FSK: [0.894531,-0.413331,0.170209] Fpublishing direction and range infoyq u ǹ?wTtڿrl?Yu Aq q u 1wu 2\ q )u AIu v>iu X9Ŀu N?u zC@u | >u @C@ u %/>)u 6@Iu %/q q u ?2k?p ? u u?)u B Iu jݾiu %/q q -checking for new query: numPingsReceived=13, elapsed TxPingTime=8.587803^Ah=A-؟AI9IIOU?Yf,/|?Aɰ;E EEE"E*E:VEZEa"@a"@a&@a&@B~?Bf@BٱBcb jAHRS rotation from veh to nav: [[-0.437531,-0.887237,-0.146211],[0.891452,-0.406684,-0.199804],[0.117811,-0.217760,0.968866]]BH`ܿ>d ¿Ɔ?ڿ@)ɿ(?˿?iB~?IB0^;@Yr^ByrIbDzVDzk1y=%-=ٔ ΏQ- >9 "?Y5"?=5:Fy5sD5BE5>9Q 5Ej4=Lu?Q 9Ej4=E)=nuBYIyM?Q IM?=k8CI=:i=;=R=j4yqɮuAyiit?AJiARiAji4?bC/@s6@N`4$ތL@Rǹ?wTtڿrl?Zijݾbi%/jzXI+`7@q u = DDAT read: Rx Time:03:26:35.2779  TRx dataTimestamp_ set to:1761535594.316954 PDAT read: Bearing 282.1, -19.9 (Local)  ~Local bearing/azimuth received: Bearing 282.1, -19.9 (Local)  DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.5  DAT read: 03:26:35.2779 LVL= 32752, 32433, 21042, 32755, AGC= 66, IDX= 505, 0.13,-1.107,-2.383, 0.032,-0.809, PHS=-0.196,-1.528, 0.797, RAW= 175.2, 9.2, CAL= 175.0, 10.1, ROT= 335.0, -10.1  Ygot valid direction response: 03:26:35.2779 LVL= 32752, 32433, 21042, 32755, AGC= 66, IDX= 505, 0.13,-1.107,-2.383, 0.032,-0.809, PHS=-0.196,-1.528, 0.797, RAW= 175.2, 9.2, CAL= 175.0, 10.1, ROT= 335.0, -10.1  T#Rx 14: Read range and direction messages. ^direction in FSK: [0.892263,-0.416069,0.175367] Fpublishing direction and range infoy   Aj?cPڿ:ujr?Y A ~ 2R ) BI 9Hi ÿ 1L? EC@ l$> zC@ J4>) k@I J4 .Y?=?&%.^~? 4v?) \$I f߾i J4  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.083367) FBeACBe IBe^BBe =BaBeDBeU;Be9 Y = :Fy~DiE>Q 5-j4\k?Q 9-j4+>)uBY5#?Q E5:y5j?Q I5?8CIR;i,R;Nj4y=Bɮ=WAEEiiH?AJiARiAjiD?b;\M6@7}$ 467@"J>p"@Z,)bC›ӣ]???2iA:iɀ"i;Y?*iPBiāBit?iPiBiAi* ? addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504285 s, deltaX: -0.100000 m, approachRate: -0.198301 m/s, rangeRepo size: 4  Added new target pos. range: 24.997320 m, bearing: 92.481884 deg, lat: 36.779368 deg, lon: -121.859520 deg, deltaT: 0.504285 s, deltaX: -0.099848 m, approachRate: -0.197999 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.00 m.bhRhZh ProNav: ac range: 24.997320 m, nav range: 23.238691 m, bearing: 92.675791 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 110.198368 deg, new cmd heading: 109.520727 deg. BhHeadingCmd: 1.911497 target range: 24.997320 and range: 25.10 m.h?h*h"h h g f f fdddjd9@Zd?颅hBɢ5C*) "i)顉iG;i?=I?IAchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.320260@ @@/0@i ^A} =ԑ Iy I O >f,mq?A2.?2>@2!ٱ2c?g :AHRS rotation from veh to nav: [[-0.424327,-0.892859,-0.150827],[0.897010,-0.391705,-0.204791],[0.123769,-0.222191,0.967115]]2H,(ۿM LNÿ O?ٿ6ʿZ?`p̿?i2.?I2_;^;2CYV^ByZI^!>^=bDbVDbNyn=%nm=ٔnQ-n?9pYp=r:FyrDrEv?DDAT read: Rx Time:03:26:35.7776 TRx dataTimestamp_ set to:1761535594.820765 PDAT read: Bearing 281.2, -19.9 (Local) ~Local bearing/azimuth received: Bearing 281.2, -19.9 (Local) %DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 EDAT read: 03:26:35.7776 LVL= 32752, 32753, 23842, 32755, AGC= 63, IDX= 502, 0.26,-2.230, 2.776,-1.074,-1.930, PHS=-0.198,-1.532, 0.813, RAW= 175.4, 9.0, CAL= 175.3, 9.9, ROT= 334.7, -9.9 MYgot valid direction response: 03:26:35.7776 LVL= 32752, 32753, 23842, 32755, AGC= 63, IDX= 502, 0.26,-2.230, 2.776,-1.074,-1.930, PHS=-0.198,-1.532, 0.813, RAW= 175.4, 9.0, CAL= 175.3, 9.9, ROT= 334.7, -9.9 UT#Rx 15: Read range and direction messages.]^direction in FSK: [0.890620,-0.420994,0.171929]]Fpublishing direction and range infoy? Zڿ!?YfA"] )?IJiĿ P?vC@| >C@ ;0>)@I;0tQ 5uj4vd?Q 9uj4v8)vuBYyy}}?Q I}?v8CIvp@A @A@M0@Ia^A/=IIO >ԉchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.823180Ա f,h<̚?AZR?ZT@ZP_ٱZIj nAHRS rotation from veh to nav: [[-0.417442,-0.895575,-0.153906],[0.899789,-0.383709,-0.207719],[0.126973,-0.225193,0.966005]]ZH^ڿ /ÿ ?ؿʿ@?"̿?iZR?IZ^;XY%^By% IbDmVDmky=-=%E6=ٔMTQ-u>9Y=:FyDԙ鄼E>Q 5j4[?Q 9j41)uBYy?Q I?>9CI;if:jj4y!ɮ%A!EB*** querying acoustic contact ***iA iAjhquDNOT Ignoring new targets: 24.70 m.bhqRh}Zh} ProNav: ac range: 24.698547 m, nav range: 22.674911 m, bearing: 92.084937 deg, approach rate: -0.612909 m/s, LOS rate: -0.538020 deg/s, cmd heading: 109.041047 deg, new cmd heading: 108.306666 deg. BhHeadingCmd: 1.890308 target range: 24.698547 and range: 24.80 m.h?h*h"h hgfffdddjdZd?DDAT read: Rx Time:03:26:36.2774 TRx dataTimestamp_ set to:1761535595.324874%PDAT read: Bearing 280.7, -19.9 (Local) %~Local bearing/azimuth received: Bearing 280.7, -19.9 (Local) 5DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 ]DAT read: 03:26:36.2774 LVL= 32752, 32753, 22930, 32755, AGC= 63, IDX= 500, 0.44,-2.831, 2.179,-1.666,-2.525, PHS=-0.204,-1.534, 0.815, RAW= 175.6, 9.1, CAL= 175.4, 9.9, ROT= 334.6, -9.9 eYgot valid direction response: 03:26:36.2774 LVL= 32752, 32753, 22930, 32755, AGC= 63, IDX= 500, 0.44,-2.831, 2.179,-1.666,-2.525, PHS=-0.204,-1.534, 0.815, RAW= 175.6, 9.1, CAL= 175.4, 9.9, ROT= 334.6, -9.9 mT#Rx 16: Read range and direction messages.u^direction in FSK: [0.889884,-0.422548,0.171929]uFpublishing direction and range infoyf=y?vi ۿ!?YAY )I`PiZĿףP?%D@">vC@ );@I1?%Y?z#a7? Vx?)'i"Iichecking for new query: numPingsReceived=16, elapsed TxPingTime=10.095217 ]Gqׇ9YhxAAiBɢf*) &i)B%<A%<B-~>B)B-A IB-1_BB- =B)B)B-A;B-I I O >ݹf,`隹?AB?BΩ?BٱB l NAHRS rotation from veh to nav: [[-0.410232,-0.898484,-0.156324],[0.902640,-0.375549,-0.210248],[0.130197,-0.227355,0.965069]]BH`9Y=:FyDꓼE>Q 5j4&S?Q 9j4+))vBY%X$?Q E%:y%?Q I-?9CI:;i?;yj4y5Bɮ=AEEiiԚ?AJi2ARi2Aji?b 5@~$ז3:@Rf=y?vi ۿ!?ZibijT%a[.ӿ6@b&_p"@ZOX?'?c4.?2iA:ir"i 9?*ieBiBi;Y?iPiBiAi&?E addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504109 s, deltaX: -0.299999 m, approachRate: -0.595108 m/s, rangeRepo size: 4 u Added new target pos. range: 24.399685 m, bearing: 90.760145 deg, lat: 36.779369 deg, lon: -121.859520 deg, deltaT: 0.504109 s, deltaX: -0.298862 m, approachRate: -0.592853 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 24.40 m.bhyRh}Zh ProNav: ac range: 24.399685 m, nav range: 22.499359 m, bearing: 91.830782 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 108.306665 deg, new cmd heading: 107.582759 deg. BhHeadingCmd: 1.877673 target range: 24.399685 and range: 24.50 m.hW?h*h"h hgfffdddjd8@Zd!?ԉxiBɢȻ6) 'i)iB;iW?#x=IW?Iߍ%=ߍ4=DDAT read: Rx Time:03:26:36.7771 TRx dataTimestamp_ set to:1761535595.830551PDAT read: Bearing 283.3, -20.1 (Local) ~Local bearing/azimuth received: Bearing 283.3, -20.1 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.5 e>@a @a@e?0@aDAT read: 03:26:36.7771 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 498,-0.40, 1.713, 0.437, 2.864, 2.081, PHS=-0.267,-1.600, 0.739, RAW= 175.4, 11.1, CAL= 175.3, 13.1, ROT= 334.7, -13.1 Ygot valid direction response: 03:26:36.7771 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 498,-0.40, 1.713, 0.437, 2.864, 2.081, PHS=-0.267,-1.600, 0.739, RAW= 175.4, 11.1, CAL= 175.3, 13.1, ROT= 334.7, -13.1 T#Rx 17: Read range and direction messages.^A==E^direction in FSK: [0.880555,-0.416236,0.226651]MFpublishing direction and range infoyAJ-?&ڿ+#?YAq )AI9i̿/=?vC@aF>C@IIԹO>  j>)@I j`f?F ?:? vw?)DnFI:i jchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.662584E  E E +E "E 7;*E :VE [4ZE a @a @a @a @ 5f,?A6w?6î?6 ٱ6l >AHRS rotation from veh to nav: [[-0.403125,-0.901636,-0.156659],[0.905354,-0.367952,-0.212003],[0.133507,-0.227296,0.964631]]6H@ٿ 4k Ŀ ?׿@"˿? Ϳ@A?i6w?I6^;6CY^_By^, IIb=)b;dfAbDjVDjyr}=%r]=ٔvQ-v>9tYt=z:FyzDzEz>checking for new query: numPingsReceived=17, elapsed TxPingTime=10.831108 Q 5j4 K?Q 9j4 b%) RvBYy?Q I? 9CI =:i &; j4y%Bɮ-IE#?IA ?@ @!@%z1@!1DDAT read: Rx Time:03:26:37.2770 TRx dataTimestamp_ set to:1761535596.332817PDAT read: Bearing 279.3, -19.9 (Local) ~Local bearing/azimuth received: Bearing 279.3, -19.9 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 DAT read: 03:26:37.2770 LVL= 32752, 32593, 24242, 32755, AGC= 65, IDX= 497,-0.21, 2.169, 0.915,-2.928, 2.487, PHS=-0.216,-1.526, 0.825, RAW= 176.2, 9.0, CAL= 176.0, 9.9, ROT= 334.0, -9.9  Ygot valid direction response: 03:26:37.2770 LVL= 32752, 32593, 24242, 32755, AGC= 65, IDX= 497,-0.21, 2.169, 0.915,-2.928, 2.487, PHS=-0.216,-1.526, 0.825, RAW= 176.2, 9.0, CAL= 176.0, 9.9, ROT= 334.0, -9.9  T#Rx 18: Read range and direction messages. ^direction in FSK: [0.885410,-0.431844,0.171929] Fpublishing direction and range infoy3HU?aQ_Sۿ!?Y3AQ^ )I/]iSÿ33S?:D@| > D@ ;0>)q@I;05ϋoN?ZD?? 2{?)Z!IVi;0= checking for new query: numPingsReceived=18, elapsed TxPingTime=11.100408^Ae =B }>B B m IB x_BB =B B B <;B Y f,??Aɰp;2?2?2 ٱ2l :AHRS rotation from veh to nav: [[-0.395861,-0.904755,-0.157203],[0.908123,-0.360261,-0.213365],[0.136409,-0.227222,0.964242]]2H`Uٿ8ĿW? ׿O˿u?`Ϳ ?i2?I2^;2CEB EBE@E@"EB;*EBx:VE@ZE@BEBa199Y9==:Fy=D=EE>AQ 5Mj4EC?Q 9uj4E)EvBYu!?Q Eu:yu{?Q Iu?E:CIEu;iE);EBj4yɮAiiL?AJijARijAji;?bl5@=$M^@R3HU?aQ_Sۿ!?ZiVbi;0jvjJ/?aP5@$-BP"@Z:<?ɿw׈?tX?2iA:i>"i^]?*i5BiBi]-?i5iBi¯AiG?5 addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.502266 s, deltaX: -0.100000 m, approachRate: -0.199098 m/s, rangeRepo size: 4 = Added new target pos. range: 23.802166 m, bearing: 89.181489 deg, lat: 36.779371 deg, lon: -121.859521 deg, deltaT: 0.502266 s, deltaX: -0.099566 m, approachRate: -0.198233 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 23.80 m.bhARhIZhI} ProNav: ac range: 23.802166 m, nav range: 21.969889 m, bearing: 90.686165 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 106.938489 deg, new cmd heading: 106.294950 deg. BhyHeadingCmd: 1.855197 target range: 23.802166 and range: 23.90 m.hw?h*h"h hgfffdddjd`f7@Zd ?iBɢx>checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335054)) 5*i9)Aaiiu;iw?>Iw?Ia@ @@1@^A=ԉA I I O > DDAT read: Rx Time:03:26:37.7768  TRx dataTimestamp_ set to:1761535596.836662 PDAT read: Bearing 281.8, -19.8 (Local)  ~Local bearing/azimuth received: Bearing 281.8, -19.8 (Local)  DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5  DAT read: 03:26:37.7768 LVL= 32752, 32753, 30530, 32755, AGC= 63, IDX= 494,-0.17, 1.696, 0.438, 2.850, 2.061, PHS=-0.263,-1.578, 0.745, RAW= 175.6, 10.9, CAL= 175.6, 12.7, ROT= 334.4, -12.7  Ygot valid direction response: 03:26:37.7768 LVL= 32752, 32753, 30530, 32755, AGC= 63, IDX= 494,-0.17, 1.696, 0.438, 2.850, 2.061, PHS=-0.263,-1.578, 0.745, RAW= 175.6, 10.9, CAL= 175.6, 12.7, ROT= 334.4, -12.7  T#Rx 19: Read range and direction messages. ^direction in FSK: [0.879769,-0.421515,0.219846] Fpublishing direction and range infoy  S*'?.J|ڿF#?Y ̼A  Bw ) ?I 𧆾i ɿ R>? %D@ B> %D@ b>) ú@I b ??۷M$? ^x?) \LBI i b = checking for new query: numPingsReceived=19, elapsed TxPingTime=11.602759A f,6?AYI_ByP IbDVDy e=%K=ٔQ->9Y=:FyDE > Q 55j4 t4@e#;fչ$@RS*'?.J|ڿF#?ZibibjЕӟ-y>5@Bb$@Z\W/u~?l.`?2iA:im "i#9?*ikBiBi#9?iwiBiAiC?  addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503845 s, deltaX: -0.299999 m, approachRate: -0.595420 m/s, rangeRepo size: 4 M Added new target pos. range: 23.503395 m, bearing: 90.092462 deg, lat: 36.779373 deg, lon: -121.859521 deg, deltaT: 0.503845 s, deltaX: -0.298771 m, approachRate: -0.592982 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 23.50 m.bhQRhQZhQe ProNav: ac range: 23.503395 m, nav range: 21.705986 m, bearing: 90.090423 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 106.294949 deg, new cmd heading: 105.640097 deg. BhabEÙT4jE-W4rEd/E EE.E"EO;*EǙ:VEـ4ZEa@a@a@a@HeadingCmd: 1.843768 target range: 23.503395 and range: 23.60 m.h?h*h"h hgfffdddjd7@Zd?MjBɢM.?)I M,iI)QQQiU>;i]?Y]>I]?Ia@@ @@5@95checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841577i ^A A I9 IY ԙ O >f,HQ?Aͮ??ٱ{k AHRS rotation from veh to nav: [[-0.380771,-0.911175,-0.157393],[0.913716,-0.344647,-0.215272],[0.141905,-0.225782,0.963787]]H^ؿ@Y(v%Ŀ`(=?`ֿ@ ˿@)?@m̿W?iͮ?I^;CYx_Bym I==-DDAT read: Rx Time:03:26:38.2767 -TRx dataTimestamp_ set to:1761535597.340778=PDAT read: Bearing 279.4, -19.8 (Local) =~Local bearing/azimuth received: Bearing 279.4, -19.8 (Local) MDAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 uDAT read: 03:26:38.2767 LVL= 32752, 32753, 28690, 32755, AGC= 64, IDX= 509,-0.05, 2.625, 1.386,-2.477, 2.967, PHS=-0.239,-1.536, 0.796, RAW= 176.3, 9.7, CAL= 176.2, 10.9, ROT= 333.8, -10.9 }Ygot valid direction response: 03:26:38.2767 LVL= 32752, 32753, 28690, 32755, AGC= 64, IDX= 509,-0.05, 2.625, 1.386,-2.477, 2.967, PHS=-0.239,-1.536, 0.796, RAW= 176.3, 9.7, CAL= 176.2, 10.9, ROT= 333.8, -10.9 }T#Rx 20: Read range and direction messages.^direction in FSK: [0.881071,-0.433541,0.189095]Fpublishing direction and range infoy)-V>[Ⱥ1?6hZ&"ۿoG4?Y-3A)))-p ))-@I-jti-Ŀ-K?-D@--\->-:D@ -B>)-m@I-B))- pV ?Jx19Y!=%:Fy%D%VE%>)Q 55j4-.3?Q 9=j4-{)-vBY='?Q E=:y=?Q I=?-:CI-;i- ;-j4yAɮM[AIi)i-OU?AJi-oARi-oAAAAAB{>B@CB IB_BBBBB@;B[Ⱥ1?6hZ&"ۿoG4?Zi-* bi-Bj-wջ5?ɔaK5@K"@Z-PJp?-Є=?YF-?2i-[A:i-1?"i-Cm?*i-bBi-Bi- 9?i-bi-Bi-[Ai-8? addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504116 s, deltaX: -0.200001 m, approachRate: -0.396736 m/s, rangeRepo size: 4  Added new target pos. range: 23.304213 m, bearing: 88.133166 deg, lat: 36.779373 deg, lon: -121.859523 deg, deltaT: 0.504116 s, deltaX: -0.199183 m, approachRate: -0.395112 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.30 m.bhRh!Zh!U ProNav: ac range: 23.304213 m, nav range: 21.294598 m, bearing: 89.785569 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 105.640098 deg, new cmd heading: 104.906307 deg. BhY]HeadingCmd: 1.830961 target range: 23.304213 and range: 23.40 m.h]\?hY*ha"ha hagafaffdddjd`ff7@Zdǽ?EM EMEM+EI"EM~ ;*EM:VEM [4ZEIBEM VI\?I?@ @@o0@Թ ^A > DDAT read: Rx Time:03:26:38.7764 % TRx dataTimestamp_ set to:1761535597.601466E PDAT read: Bearing 280.5, -19.9 (Local) M ~Local bearing/azimuth received: Bearing 280.5, -19.9 (Local) ] checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359690I I O >J=f,|j?APZ{?ZǠ?ZٱZ*l AHRS rotation from veh to nav: [[-0.373643,-0.913951,-0.158384],[0.916180,-0.336953,-0.216972],[0.144934,-0.226178,0.963243]]ZH`׿?@EĿ@XQ?ऐտ˿2?@j̿`?iZ{?IZJb^;ZCYU_By| IbDVDfy=%]=ٔQ-%>9!Y!=%:Fy%D-E->1Q 5j45,?Q 9j45 )5'wBYy?Q I?5:CI5:i5o:5j4yBɮݖAEB*** querying acoustic contact ***i ijh1=DNOT Ignoring new targets: 23.30 m.bh9Rh=6Zh=6m ProNav: ac range: 23.304213 m, nav range: 21.073895 m, bearing: 89.554704 deg, approach rate: -0.604095 m/s, LOS rate: -0.638526 deg/s, cmd heading: 104.906310 deg, new cmd heading: 104.206498 deg. BhuۼuHeadingCmd: 1.818746 target range: 23.304213 and range: 23.40 m.hu?hy*hy"hy hygyfyffdddjdZd,?}jBɢS) .i)!!i%;im?imÑ>Im?IqDAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 DAT read: 03:26:38.7764 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 506, 0.02, 2.618, 1.405,-2.508, 2.987, PHS=-0.267,-1.537, 0.745, RAW= 176.2, 10.7, CAL= 176.2, 12.5, ROT= 333.8, -12.5 Ygot valid direction response: 03:26:38.7764 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 506, 0.02, 2.618, 1.405,-2.508, 2.987, PHS=-0.267,-1.537, 0.745, RAW= 176.2, 10.7, CAL= 176.2, 12.5, ROT= 333.8, -12.5 T#Rx 21: Read range and direction messages.^direction in FSK: [0.875990,-0.431041,0.216440]Fpublishing direction and range infoyimV? +ۿK?YmA@ @@4@iiimq i)mAIm9imjĿmR>?m:D@mt;?>i mf_>)iImf_iim WF9v?} &? ^2 ? m_e{?)mT?Iiimf_iiuchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.632992Eq  Eu Eq Eq "Eq *Eu ՚:VEq ZEq a} @a} @a} @a} @! ^AE >I! I1 O= >f,j?A~DDAT read: Rx Time:03:26:39.2763  TRx dataTimestamp_ set to:1761535598.105321=PDAT read: Bearing 279.2, -19.1 (Local) E~Local bearing/azimuth received: Bearing 279.2, -19.1 (Local) m?m ?myDAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 ٱm8n5Z#Rx 22: Read range message, but no direction.yYfAEchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.897275 mAHRS rotation from veh to nav: [[-0.366314,-0.916490,-0.160810],[0.918648,-0.328724,-0.219148],[0.147985,-0.228005,0.962348]]mH`q׿SkĿe? տ ̿.?B/Ϳ?im?Im`^;mCY}_By} IbDVD:y=%A=ٔ;Q->9Y=:FyɂDŕE>Q 5j4$?Q 9j4Q ==tI)bwBY9y=?Q I=?;CII% ?IADAT read: 03:26:39.2763 LVL= 32752, 32753, 26834, 32755, AGC= 62, IDX= 505, 0.05,-1.602,-2.815,-0.470,-1.259, PHS=-0.241,-1.512, 0.745, RAW= 175.8, 10.3, CAL= 175.7, 11.9, ROT= 334.3, -11.9 Ygot valid direction response: 03:26:39.2763 LVL= 32752, 32753, 26834, 32755, AGC= 62, IDX= 505, 0.05,-1.602,-2.815,-0.470,-1.259, PHS=-0.241,-1.512, 0.745, RAW= 175.8, 10.3, CAL= 175.7, 11.9, ROT= 334.3, -11.9 Z#Rx 23: Read direction message, but no range.^direction in FSK: [0.881712,-0.424340,0.206204]y8m6?_@a(ۿFa5d?h )>Ivi7^D@X8>?BD@ ȭT>)U@IȭT+Ů?4. ?w? sy?)k28IZiȭTchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.114371 =@  @ @ ]1@ B% z>B! B% IB% `BB% =B! B! B% ;;B% IiIyO>]f,?A2?2?2Yٱ2o :AHRS rotation from veh to nav: [[-0.358164,-0.919364,-0.162754],[0.921346,-0.319813,-0.221001],[0.151129,-0.229108,0.961597]]2H(ֿ`mk"Ŀ{?wԿI̿`3X? fSͿh?i2?I2#+^;2CYz_Byz II~=)|ADDAT read: Rx Time:03:26:39.7760 TRx dataTimestamp_ set to:1761535598.609190 PDAT read: Bearing 280.1, -19.2 (Local) ~Local bearing/azimuth received: Bearing 280.1, -19.2 (Local) eDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 q Z#Rx 24: Read range message, but no direction.yY3Achecking for new query: numPingsReceived=24, elapsed TxPingTime=13.398956iMb@Mb@Mb@ 9K7?Mb?Y)?y̼@=AyA ;A)AYzAAAbDVDy=%=ٔ ʻQ->9qYq=u:FyuӂDE>Q 5j4?Q 9 j4g)wBY F*?Q E :y?Q I?i;CIHI]?IY ?@  @ @ 0@  DAT read: 03:26:39.7760 LVL= 32752, 32753, 29890, 32755, AGC= 64, IDX= 502, 0.09,-2.879, 2.220,-1.773,-2.511, PHS=-0.266,-1.507, 0.695, RAW= 175.8, 11.3, CAL= 175.8, 13.4, ROT= 334.2, -13.4  Ygot valid direction response: 03:26:39.7760 LVL= 32752, 32753, 29890, 32755, AGC= 64, IDX= 502, 0.09,-2.879, 2.220,-1.773,-2.511, PHS=-0.266,-1.507, 0.695, RAW= 175.8, 11.3, CAL= 175.8, 13.4, ROT= 334.2, -13.4  Z#Rx 25: Read direction message, but no range. ^direction in FSK: [0.875808,-0.423382,0.231748]ya e ap?Mqpۿ] A?a a a e t a )e @Ie '1ie `e 1?a e I>e ^D@ e |o>)e @Ie |oa e ޙ?`?n? e {Ry?)e wIIe ie |o checking for new query: numPingsReceived=25, elapsed TxPingTime=13.620988 ^A >I9 II OU >f,1 ?AE EE,E "E1;*Ev:VEg4ZE a@a@a@a@ ɰ"4<>~?>j?>ٱ>ar FAHRS rotation from veh to nav: [[-0.350013,-0.921861,-0.166325],[0.923916,-0.310449,-0.223608],[0.154500,-0.231936,0.960383]]>H fֿ@'Jſ?eӿ.̿? Ϳu?i>~?I>9^;>CYN`ByN IbDZVDZfy^A>%^w=ٔb(Q-b?9`Yd=f:FyfڂDf Ej?hQ 5nj4jn?Q 9rj4jk)jwBYpyr?Q Ir?j;CIj :ijF:j)j4ytɮzAxjhDNOT Ignoring new targets: 22.31 m.bhRhkgZh%kg5 ProNav: ac range: 22.308182 m, nav range: 20.007349 m, bearing: 87.201691 deg, approach rate: -0.687121 m/s, LOS rate: -0.809285 deg/s, cmd heading: 102.341232 deg, new cmd heading: 101.683788 deg. Bh5 =HeadingCmd: 1.774717 target range: 22.308182 and range: 22.40 m.h=)?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM\?#kBɢcr) .2i)!!i%4-;iM)?IM>IM)?IQDDAT read: Rx Time:03:26:40.2758 TRx dataTimestamp_ set to:1761535599.113284%PDAT read: Bearing 279.5, -18.4 (Local) -~Local bearing/azimuth received: Bearing 279.5, -18.4 (Local) eDAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 @ @@/@Z#Rx 26: Read range message, but no direction.yY̰Achecking for new query: numPingsReceived=26, elapsed TxPingTime=13.900335^Au#>IIOG>!I  DAT read: 03:26:40.2758 LVL= 32752, 32753, 31794, 32755, AGC= 62, IDX= 500, 0.10,-2.506, 2.577,-1.424,-2.151, PHS=-0.253,-1.510, 0.683, RAW= 175.2, 11.3, CAL= 175.2, 13.4, ROT= 334.8, -13.4  Ygot valid direction response: 03:26:40.2758 LVL= 32752, 32753, 31794, 32755, AGC= 62, IDX= 500, 0.10,-2.506, 2.577,-1.424,-2.151, PHS=-0.253,-1.510, 0.683, RAW= 175.2, 11.3, CAL= 175.2, 13.4, ROT= 334.8, -13.4  Z#Rx 27: Read direction message, but no range. ^direction in FSK: [0.880194,-0.414188,0.231748]yq u !v*?e ڿ] A?q q q u 2| q )u >Iu 7iu Gu .?u EC@q u EC@ q )u @Iq q u 4?LX?I$? u v?)u ZwJIu z0iq  checking for new query: numPingsReceived=27, elapsed TxPingTime=14.120578f,؛?A26j?2U?2d"ٱ2P#u >AHRS rotation from veh to nav: [[-0.342014,-0.924319,-0.169297],[0.926330,-0.301355,-0.226050],[0.157924,-0.234137,0.959291]]2H`տ ſ`~?eIӿ2̿6? 4Ϳ?i26j?I2^;2CBLAN<BRx>BPBR IBRv`BBPBPBPBPBR9IYI=M:FyMDM-Eu>yQ 5j4}a ?Q 9j4})}4xBY0?Q E:y?Q I?};CI};:i}e:}j4ymBɮfAݦEi)i- @Ǜ?AJi-ARi-Aji-?b-t[\_3@"she;"v g@R-!v*?e ڿ] A?Zi-z0bi-|oj-t5?f3@j,$@Z-iPv՘˥?+_Dh?lvT?2i-PA:i-o?"i-IU[?*i-N Bi-@Bi)i- i-BE5 E5E1E1"E5;*E5':VE1ZE1BE5bIԏ?Ia>i>ae@@a @i@m4@q@{>@> DDAT read: Rx Time:03:26:40.7752 TRx dataTimestamp_ set to:1761535599.617955=PDAT read: Bearing 279.4, -18.4 (Local) E~Local bearing/azimuth received: Bearing 279.4, -18.4 (Local) 5DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 uDAT read: 03:26:40.7752 LVL= 32752, 32753, 30962, 32755, AGC= 63, IDX= 497, 0.14, 2.098, 0.917,-3.116, 2.464, PHS=-0.263,-1.502, 0.659, RAW= 175.2, 11.8, CAL= 175.2, 14.1, ROT= 334.8, -14.1 Ygot valid direction response: 03:26:40.7752 LVL= 32752, 32753, 30962, 32755, AGC= 63, IDX= 497, 0.14, 2.098, 0.917,-3.116, 2.464, PHS=-0.263,-1.502, 0.659, RAW= 175.2, 11.8, CAL= 175.2, 14.1, ROT= 334.8, -14.1 T#Rx 28: Read range and direction messages.ԉ^direction in FSK: [0.877566,-0.412951,0.243615]Fpublishing direction and range infoy   =4?kmڿ .?Y A    x ) ?I 𧆾i A 9(?  BR>  d{>) I d{   @`N?gZ]?Hִ? sv?) 0RI i d{  - checking for new query: numPingsReceived=28, elapsed TxPingTime=14.429790^A 9g>Թ A I I O > tf,;?Az$?zp?za(ٱzy AHRS rotation from veh to nav: [[-0.324286,-0.929509,-0.175646],[0.931688,-0.281708,-0.229342],[0.163695,-0.238020,0.957366]]zHԿ@{ƿ@c?`ҿ[Ϳ`?pwοྡྷ?iz$?Iz ^;zCY5C`By5 I 99E=Ea=bDM}checking for new query: numPingsReceived=28, elapsed TxPingTime=14.615089VDMky=%J=ٔ}lQ->9Y=:FyDh;E>Q 5k4?Q 9k4){xBYyu?Q I?0I7a?IE EEE"E ;*EVEZEa@a@a@a@?@ @@r4@^AP">)AIIO>= DDAT read: Rx Time:03:26:41.2751 = TRx dataTimestamp_ set to:1761535600.118222M DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 M Z#Rx 29: Read range message, but no direction.y9 Y= A9 U checking for new query: numPingsReceived=29, elapsed TxPingTime=14.872335Y ^g,?AYnO`Byn IbDvVDvy~=%~S=ٔQ->9Y=:Fy D E >Q 5k4D?Q 9k4)xBY!y!Q I%?qI%!?I!%@@! @!@%5@)E EE.E"EO;*EVEـ4ZEBE,YA hAzA gAY] ̤AY % checking for new query: numPingsReceived=30, elapsed TxPingTime=15.400701I)IAIO]? g,].?AV?V-?Vfa.ٱVVR bAHRS rotation from veh to nav: [[-0.306519,-0.934020,-0.183445],[0.936657,-0.261655,-0.232833],[0.169472,-0.243193,0.955059]]VHӿ~ {ǿ`?пxͿ@>? Ͽ֏?iV?IV^;VCY5`By5 IiMb@Mb@Mb@ 9-?{Gz)\(?Y?5?y#Ga=̨A EA)~AYAbDVDy=%%=ٔ%x1Q-%>9!Y)=-:Fy-D-l E5>1Q 5=k45?Q 9Ek45*)5"yBYE6?Q EE:yE?Q IE?5I}?Iy DAT read: 03:26:41.7749 LVL= 32752, 32753, 29490, 32755, AGC= 65, IDX= 509, 0.13, 1.611, 0.433, 2.625, 1.980, PHS=-0.267,-1.502, 0.601, RAW= 174.2, 12.7, CAL= 174.4, 15.5, ROT= 335.6, -15.5 Ygot valid direction response: 03:26:41.7749 LVL= 32752, 32753, 29490, 32755, AGC= 65, IDX= 509, 0.13, 1.611, 0.433, 2.625, 1.980, PHS=-0.267,-1.502, 0.601, RAW= 174.2, 12.7, CAL= 174.4, 15.5, ROT= 335.6, -15.5 Z#Rx 31: Read direction message, but no range.^direction in FSK: [0.877563,-0.398080,0.267238]yƀ?//$zٿ֚n?2s )AI9i#?QB@b>B@ c>)5o@Ic<9=?_A%U?RJ(+? F`r?)^5cIZ ھicchecking for new query: numPingsReceived=31, elapsed TxPingTime=15.637450e?@a @a@e4@a@i@i1^A=d/>I)IAOM>E EE)E"E;*E:VEFA4ZEa@a@a@a@a i9 I= Ag,+H?A*DDAT read: Rx Time:03:26:42.2748 LRTRx dataTimestamp_ set to:1761535601.147575VPDAT read: Bearing 280.7, -14.1 (Local) V~Local bearing/azimuth received: Bearing 280.7, -14.1 (Local) ^DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 ff?Q?DAT read: 03:26:42.2748 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.07, 2.984, 1.710,-2.438,-2.984, PHS=-0.213,-1.544, 0.502, RAW= 170.1, 13.9, CAL= 170.5, 17.0, ROT= 339.5, -17.0 Ygot valid direction response: 03:26:42.2748 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.07, 2.984, 1.710,-2.438,-2.984, PHS=-0.213,-1.544, 0.502, RAW= 170.1, 13.9, CAL= 170.5, 17.0, ROT= 339.5, -17.0 T#Rx 32: Read range and direction messages.Ҭ1ٱSҀ^direction in FSK: [0.895744,-0.334905,0.292372]Fpublishing direction and range infoyLNEX?oտ兗7?YN3ALLLN L)N<INZiNˡſN?N>@NUlx> ]AHRS rotation from veh to nav: [[-0.297378,-0.936296,-0.186860],[0.939021,-0.251430,-0.234567],[0.172642,-0.245220,0.953972]]H=ӿ"ǿv ?oпGο?``cϿ?iff?IN^;CNIs>@ N>)Nќ@IN闾LLNVc?^?."?>z? N`?)NwIN0iN闾LLY`By, Ichecking for new query: numPingsReceived=32, elapsed TxPingTime=15.961196bDVDy5=%=:=ٔ=Q-=>99YA=E:FyEDEEE>iQ 5uk4m?Q 9}k4mr)mvyBYyy}?Q I}?m=CIm9:im:m;k4yfBɮ=AܦEiLiNqI?AJiNARiNAjiNG,?bNe22@{HX71B{@RNEX?oտ兗7?ZiN0biN闾jNdVÿeg1@$@ZNx]_u~AIyj?Wtx?2iN?A:iN"iN.r 㝊?*iNgVBiNKBiNiPf?iNN iN2BiNAiN@? addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.522744 s, deltaX: -0.200001 m, approachRate: -0.382598 m/s, rangeRepo size: 4   Added new target pos. range: 20.316349 m, bearing: 90.497325 deg, lat: 36.779378 deg, lon: -121.859528 deg, deltaT: 1.529620 s, deltaX: -0.796700 m, approachRate: -0.520848 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.32 m.bhRhZhU ProNav: ac range: 20.316349 m, nav range: 18.439732 m, bearing: 85.609002 deg, approach rate: 0.000000 m/s, LOS rate: -0.723852 deg/s, cmd heading: 97.546405 deg, new cmd heading: 96.502858 deg. BhQ}HeadingCmd: 1.684293 target range: 20.316349 and range: 20.40 m.h?h*h"h hgfffdddjd`ff4@Zd?EXlBɢM8)uɨ< u:iy)顁checking for new query: numPingsReceived=32, elapsed TxPingTime=16.129396i/JI?IAABw>BB IB7aBBBBBA;Ba @a  @i @m p0@i ! E  E E *E "E ;*E Ǚ:VE (N4ZE BE aY I I O ><g,e?A4<ɰDDAT read: Rx Time:03:26:42.7745 TRx dataTimestamp_ set to:1761535601.633433PDAT read: Bearing 280.4, -13.5 (Local) ~Local bearing/azimuth received: Bearing 280.4, -13.5 (Local) E ?E)?E4ٱEЁUDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.6 ԩDAT read: 03:26:42.7745 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.05, 1.624, 0.353, 2.456, 1.934, PHS=-0.208,-1.536, 0.478, RAW= 169.6, 14.2, CAL= 170.0, 17.4, ROT= 340.0, -17.4 Ygot valid direction response: 03:26:42.7745 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.05, 1.624, 0.353, 2.456, 1.934, PHS=-0.208,-1.536, 0.478, RAW= 169.6, 14.2, CAL= 170.0, 17.4, ROT= 340.0, -17.4 T#Rx 33: Read range and direction messages.^direction in FSK: [0.896693,-0.326370,0.299041] AHRS rotation from veh to nav: [[-0.287310,-0.938738,-0.190327],[0.941615,-0.240396,-0.235737],[0.175541,-0.246944,0.952997]]EHJcҿ# \ȿ !?Hο,ο"x?ۛϿ`~?iE ?IE^^;ECY`By%< I-Fpublishing direction and range infoyȻ?(k=Կ-{#?YA );ITiĿj>q=@}>N=@ |>)N@I|8?woQ?^=R? K}]?)(}Iʸi|checking for new query: numPingsReceived=33, elapsed TxPingTime=16.448177i5Mb@Mb@Mb@1111 195333333?{Gz?Y59?y15L=5¦A1 5A)11Y5zAbDVDyH=%=ٔ^Q->9Y=:FyDСE>Q 5k4睊?Q 9k4)yBYR:?Q E:y5?Q I?~=CI/]`j$@Zz}ʺ$>.kF?naN?2iχA:i&"i~ڝ?*i`t Bi:BiIU[?i8^i@BiAiI? addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.485858 s, deltaX: -0.400000 m, approachRate: -0.823285 m/s, rangeRepo size: 4  Added new target pos. range: 19.917963 m, bearing: 90.549127 deg, lat: 36.779376 deg, lon: -121.859537 deg, deltaT: 0.485858 s, deltaX: -0.398386 m, approachRate: -0.819964 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.92 m.bhRhZh  ProNav: ac range: 19.917963 m, nav range: 17.337822 m, bearing: 85.461571 deg, approach rate: 0.000000 m/s, LOS rate: -0.723852 deg/s, cmd heading: 96.502855 deg, new cmd heading: 95.387552 deg. Bh 5HeadingCmd: 1.664827 target range: 19.917963 and range: 20.00 m.h5 ?h1*h1"h1 h1g1f9f9f9d9dAdAjdE4@ZdEk?颵lBɢA) I ?I) 5 checking for new query: numPingsReceived=33, elapsed TxPingTime=16.631794 >@  @ @ 0@ 1 bE [4jE̞]4rEϚ/E5  E5 E1 E1 "E5 ;*E5 ':VE1 ZE1 aE @aE @aE @aE @^A%_7>IIO>; g,ڃ?A2?2ߖ?27ٱ2~ :AHRS rotation from veh to nav: [[-0.277004,-0.941115,-0.193835],[0.944187,-0.229173,-0.236622],[0.178267,-0.248562,0.952070]]2Hmѿ`ȿ6?UͿIο q?@Ͽ@\w?i2?I2^;2CYB`ByBG IbDNVDNyRyR=%R=ٔVQ-V ?9TYX=Z:FyZDX^ E^ ?`Q 5jk4b"㝊?Q 9nk4bP)bzBYpyv?Q Iv?b=CIb;ibN;bXk4y ɮ AUDDAT read: Rx Time:03:26:43.2743 eTRx dataTimestamp_ set to:1761535602.136591PDAT read: Bearing 280.6, -11.7 (Local) ~Local bearing/azimuth received: Bearing 280.6, -11.7 (Local) jhDNOT Ignoring new targets: 19.92 m.bhRhEZhEDAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.5   ProNav: ac range: 19.917963 m, nav range: 17.127861 m, bearing: 85.222781 deg, approach rate: -0.601211 m/s, LOS rate: -0.692140 deg/s, cmd heading: 95.387553 deg, new cmd heading: 94.662444 deg. Bh HeadingCmd: 1.652171 target range: 19.917963 and range: 20.00 m.hZz?h*h"h hgff!f!=DAT read: 03:26:43.2743 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01, 0.579,-0.742, 1.338, 0.867, PHS=-0.186,-1.564, 0.427, RAW= 167.5, 14.8, CAL= 168.1, 18.1, ROT= 341.9, -18.1 EYgot valid direction response: 03:26:43.2743 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01, 0.579,-0.742, 1.338, 0.867, PHS=-0.186,-1.564, 0.427, RAW= 167.5, 14.8, CAL= 168.1, 18.1, ROT= 341.9, -18.1 ET#Rx 34: Read range and direction messages.M^direction in FSK: [0.903480,-0.295303,0.310676]MFpublishing direction and range infoyY]sO? ?ҿ\?Y]AYYYY Y)]=I]v>i]'1ȿ]>]k;@] A>];@ ]?>)]@I]?YY]>ԼL?UQ?Ђb? ]2T?)]捄I]Ji]?YY}checking for new query: numPingsReceived=34, elapsed TxPingTime=16.925333d!ddjd@33@Zd*Ǥ?lBɢM3|_)I M?iQ)QQYi]^IZz?II)gA<@ @@%1@@J>@;>^Am@>>IIO> checking for new query: numPingsReceived=34, elapsed TxPingTime=17.1351459 B v>B B IB aBB =B B B @;B 'g,?A2*.?2u?2-:ٱ2 :AHRS rotation from veh to nav: [[-0.265869,-0.943426,-0.198142],[0.946900,-0.217022,-0.237239],[0.180816,-0.250695,0.951030]]2H@ѿ`0\ɿM? b˿]ο`$?d пn?i2*.?I2!^;2CYbaBybj IiMMb@Mb@Mb@IIII I9MA`"? ףp= /$?YM9?yMQ8M,=MzAMuA I)MzzAIYIbDe VDe2yu>%u>=ٔ}ŻQ-}>9yY=:Fy!D_޼E>Q 5k4E EE-E"EO;*EVEt4ZEBE,YCIv;i";gk4yɮBAii轈?AJiARiAji&?bCa1@,Sr~a@RsO? ?ҿ\?ZiJbi?j5kݿ*y0@$@Z`]?H* ?2iÄA:i"ij?*i[@BirBi.r 㝊?i[@i:BiĄAi%? addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503158 s, deltaX: -0.299999 m, approachRate: -0.596233 m/s, rangeRepo size: 4  Added new target pos. range: 19.619156 m, bearing: 91.568942 deg, lat: 36.779363 deg, lon: -121.859539 deg, deltaT: 0.503158 s, deltaX: -0.298807 m, approachRate: -0.593863 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.62 m.bhRhZh ProNav: ac range: 19.619156 m, nav range: 16.595739 m, bearing: 89.769702 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 94.662447 deg, new cmd heading: 93.870773 deg. BhHeadingCmd: 1.638354 target range: 19.619156 and range: 19.70 m.h?h*h"h h g f f1f1d1d1d1jd9Zd=`Y?颅lBɢZ) >i)顱iI?IQDDAT read: Rx Time:03:26:43.7740 TRx dataTimestamp_ set to:1761535602.644709PDAT read: Bearing 280.1, -10.2 (Local) ~Local bearing/azimuth received: Bearing 280.1, -10.2 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 DAT read: 03:26:43.7740 LVL= 32752, 32753, 30690, 32755, AGC= 58, IDX= 500,-0.07,-1.085,-2.422,-0.392,-0.823, PHS=-0.160,-1.554, 0.387, RAW= 165.9, 15.1, CAL= 166.5, 18.4, ROT= 343.5, -18.4 Ygot valid direction response: 03:26:43.7740 LVL= 32752, 32753, 30690, 32755, AGC= 58, IDX= 500,-0.07,-1.085,-2.422,-0.392,-0.823, PHS=-0.160,-1.554, 0.387, RAW= 165.9, 15.1, CAL= 166.5, 18.4, ROT= 343.5, -18.4 T#Rx 35: Read range and direction messages.^direction in FSK: [0.909801,-0.269495,0.315649]Fpublishing direction and range infoya}?Ji?ѿ \ 3?YAw ):I #iyƿ$>O9@V>w9@ l>)ؿ@Il?{*?׃P? L?)TI riluchecking for new query: numPingsReceived=35, elapsed TxPingTime=17.425152yM B<ԡ ?@  @ @ 0@  checking for new query: numPingsReceived=35, elapsed TxPingTime=17.639196 ^A@>E EE)E"E;*E:VEFA4ZEa @a @a @a @ A.AI!I1O=?n0g,x?AJ?Je?J?ٱJl RAHRS rotation from veh to nav: [[-0.242135,-0.947222,-0.210096],[0.952213,-0.190447,-0.238789],[0.186174,-0.257875,0.948071]]JHJο`Okʿ`x?`ȿο`?@пV?iJ?IJc];HYZ"aByZs I``bDfVDfyn<%n=ٔn#Q-n>9r ?Yr ?=r:Fyr,Dv9Ev>tQ 5}k4v֝?Q 9}k4v)vzBYyy}?Q I?vf>CIv:iv_:vzk4yɮ$AiiB?AJiARiAji?b-e1@JiKq$@Ra}?Ji?ѿ \ 3?Zi rbilj" -#^0@C/Ka$@Zθ {?jnh8?2i׀A:ih"io?*iR" Bi%Bi~ڝ?igViiMAi?DDAT read: Rx Time:03:26:44.2739 TRx dataTimestamp_ set to:1761535603.144954PDAT read: Bearing 277.6, -9.2 (Local) ~Local bearing/azimuth received: Bearing 277.6, -9.2 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.8 DAT read: 03:26:44.2739 LVL= 32752, 32753, 26738, 32755, AGC= 61, IDX= 499,-0.12,-1.225,-2.570,-0.550,-1.005, PHS=-0.118,-1.520, 0.411, RAW= 165.4, 14.1, CAL= 165.9, 16.8, ROT= 344.1, -16.8 Ygot valid direction response: 03:26:44.2739 LVL= 32752, 32753, 26738, 32755, AGC= 61, IDX= 499,-0.12,-1.225,-2.570,-0.550,-1.005, PHS=-0.118,-1.520, 0.411, RAW= 165.4, 14.1, CAL= 165.9, 16.8, ROT= 344.1, -16.8 T#Rx 36: Read range and direction messages.^direction in FSK: [0.920694,-0.262266,0.289032]Fpublishing direction and range infoyRv?)\п\.?Y̘Arh )=Ii\¿n>8@d{>O9@ Q >).@IQ V}?wD܍?IKRT)? ^J?)v{IjiQ checking for new query: numPingsReceived=36, elapsed TxPingTime=17.912941 addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.508118 s, deltaX: -0.500000 m, approachRate: -0.984023 m/s, rangeRepo size: 4  Added new target pos. range: 19.121206 m, bearing: 92.130882 deg, lat: 36.779363 deg, lon: -121.859539 deg, deltaT: 0.508118 s, deltaX: -0.497950 m, approachRate: -0.979988 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.12 m.bhRhZhe ProNav: ac range: 19.121206 m, nav range: 16.162687 m, bearing: 89.870184 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 93.870773 deg, new cmd heading: 92.628395 deg. BhamHeadingCmd: 1.616670 target range: 19.121206 and range: 19.20 m.hm?hq*hq"hq hqgfffdddjd3@Zdv?uYmBɢ}E+)y }jCiy)yyyiI?IA < >i >e checking for new query: numPingsReceived=36, elapsed TxPingTime=18.152121B A <B! B! B% IB% aBB! B% A؟AIDDAT read: Rx Time:03:26:44.7736 TRx dataTimestamp_ set to:1761535603.648835PDAT read: Bearing 276.0, -10.0 (Local) ~Local bearing/azimuth received: Bearing 276.0, -10.0 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 5DAT read: 03:26:44.7736 LVL= 32752, 32753, 24002, 32755, AGC= 62, IDX= 496,-0.22,-2.146, 2.794,-1.422,-1.909, PHS=-0.135,-1.535, 0.444, RAW= 166.5, 13.8, CAL= 167.0, 16.5, ROT= 343.0, -16.5 EYgot valid direction response: 03:26:44.7736 LVL= 32752, 32753, 24002, 32755, AGC= 62, IDX= 496,-0.22,-2.146, 2.794,-1.422,-1.909, PHS=-0.135,-1.535, 0.444, RAW= 166.5, 13.8, CAL= 167.0, 16.5, ROT= 343.0, -16.5 ET#Rx 37: Read range and direction messages.M^direction in FSK: [0.916924,-0.280332,0.284015]MFpublishing direction and range infoyǵpW?;/ѿHN-?YfA] )>Iq= izĿS>w9@Ϣv>q:@ r>)=@IrIaOm"?%:g,ꜹ?A W'`?(3?6? bO?) vI 闾i r checking for new query: numPingsReceived=37, elapsed TxPingTime=18.422155:2S?:}>?:msBٱ:;1 BAHRS rotation from veh to nav: [[-0.229420,-0.949305,-0.214909],[0.954850,-0.176691,-0.238834],[0.188754,-0.260000,0.946981]]:H]Ϳ`&˿!?Νƿ` ο`)? գп M?i:2S?I:; ^;8YSaBy IԁiMb@Mb@Mb@ 9 +?MbMb?Y6?y@=MrA A){AY(AbDVD:yZ}=%<ٔbQ-j>9"?Y"?=:FyQ 5k4Ν?Q 9k4)Y{BY\7?Q E:yq?Q I?>CI:ij:Vk4yHBɮ{AȦEԱi i 霹?AJi ȕARi ȕAji ?b w*1@gb֓A2E@R ǵpW?;/ѿHN-?Zi 闾bi rj 76K\۷ 0@S H#@Z ZםuoSan?[2z?2i eA:i \ʽ"i xƝ?*i -WBi Bi xƝ?i i i ?zAi ?- addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.004126 s, deltaX: -0.400002 m, approachRate: -0.398358 m/s, rangeRepo size: 4 = Added new target pos. range: 18.722851 m, bearing: 90.352736 deg, lat: 36.779360 deg, lon: -121.859539 deg, deltaT: 1.004126 s, deltaX: -0.398355 m, approachRate: -0.396719 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 18.72 m.bhARhAZhA] ProNav: ac range: 18.722851 m, nav range: 15.640397 m, bearing: 90.361921 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 92.628396 deg, new cmd heading: 91.113970 deg. BhY]HeadingCmd: 1.590239 target range: 18.722851 and range: 18.80 m.he?ha*ha"ha hagafaffdddjd2@Zd2?mBɢ,)  Fi )   i"I?I-checking for new query: numPingsReceived=37, elapsed TxPingTime=18.651001!!AAD! zD! E-  E- E- +E) "E- ~ ;*E- Ǚ:VE- [4ZE) a5 @a5 @a5 @a5 @ i @i  @i @m 0@i DDAT read: Rx Time:03:26:45.2736 TRx dataTimestamp_ set to:1761535604.152765PDAT read: Bearing 270.6, -12.6 (Local) ~Local bearing/azimuth received: Bearing 270.6, -12.6 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 -DAT read: 03:26:45.2736 LVL= 32752, 32753, 22258, 32755, AGC= 63, IDX= 511,-0.34,-0.525,-1.857, 0.393,-0.272, PHS=-0.151,-1.539, 0.621, RAW= 170.6, 11.3, CAL= 170.7, 13.1, ROT= 339.3, -13.1 5Ygot valid direction response: 03:26:45.2736 LVL= 32752, 32753, 22258, 32755, AGC= 63, IDX= 511,-0.34,-0.525,-1.857, 0.393,-0.272, PHS=-0.151,-1.539, 0.621, RAW= 170.6, 11.3, CAL= 170.7, 13.1, ROT= 339.3, -13.1 1=T#Rx 38: Read range and direction messages.E^direction in FSK: [0.911100,-0.344276,0.226651]EFpublishing direction and range infoyJ޺'?ֿ+#?YV )?IiĿ?>@I>y>@  j>)8@I j{?+D?n? zNb?)II*i jechecking for new query: numPingsReceived=38, elapsed TxPingTime=18.919867^AuA>aAIIO?]WDg,e5?A;ɰ;^?^?^Fٱ^׌ fAHRS rotation from veh to nav: [[-0.202277,-0.952543,-0.227477],[0.960105,-0.147086,-0.237833],[0.193087,-0.266510,0.944293]]^H 8ɿ ;{Ϳ-?¿@Oqο?ѿ@7?i^?I^U^;^CY~paBy~ IbD VD f?yuc=%u=ٔu Q-}>9yYy=}:Fy}FD bE>Q 5k43ʝ?Q 9k4Й){BYy?Q I?H?CI;i`;)k4yɮAAԩchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.158083ii ?AJiRiji;?bMw1@nF`g@RJ޺'?ֿ+#?Zi*bi jjF7?4xQ0@V "@ZZ撷? 883?@-?2iA:i?"i}[?*i>BiBii[@i%BiuAiTn?Bex>BaBe IBe+bBBe =Be;DBaBe2;BeI?Ii@i @i@m0@qE EE)E"E;*E:VEFA4ZEBEN\ A} .AI I O >] DDAT read: Rx Time:03:26:45.7733 e TRx dataTimestamp_ set to:1761535604.656660m PDAT read: Bearing 262.9, -15.2 (Local) m ~Local bearing/azimuth received: Bearing 262.9, -15.2 (Local) } DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.6  DAT read: 03:26:45.7733 LVL= 32752, 32753, 22898, 32755, AGC= 64, IDX= 508,-0.47,-1.038,-2.347, 0.134,-0.788, PHS=-0.148,-1.514, 0.879, RAW= 175.3, 7.6, CAL= 175.0, 7.6, ROT= 335.0, -7.6  Ygot valid direction response: 03:26:45.7733 LVL= 32752, 32753, 22898, 32755, AGC= 64, IDX= 508,-0.47,-1.038,-2.347, 0.134,-0.788, PHS=-0.148,-1.514, 0.879, RAW= 175.3, 7.6, CAL= 175.0, 7.6, ROT= 335.0, -7.6  T#Rx 39: Read range and direction messages. ^direction in FSK: [0.898346,-0.418906,0.132256] Fpublishing direction and range infoyY ] gp@?8[ڿ) ?Y] fAY Y Y ] rY Y )] @I] Pi] ] %a?] C@] >] zC@ ] >)] k@I] Y Y ] j ? ?jaq? ] 0w?)] ƈI] f߾i] Y Y  checking for new query: numPingsReceived=39, elapsed TxPingTime=19.4229051 W~Jg,S,?A 5? ? Iٱ | ]AHRS rotation from veh to nav: [[-0.188189,-0.954397,-0.231756],[0.962560,-0.132355,-0.236560],[0.195098,-0.267597,0.943572]] Hȿl,ͿJ?Gο?N ѿ1?i 5?I l^; CYmaBym I iMb@Mb@Mb@ 9|?5^?Mb/$?Y-?y<AoA )yAYAbDVD y >%(=ٔ,Q->9 ?Y ?= :Fy PD%E%>)Q 55k4-Ɲ?Q 95k4-`)- |BY=R.?Q E=:y=?Q I=?-?CI-:i-Q:-Gk4yIɮMAIii*?AJȋARȋAjip?b9S_0@^ʉk[qH@Rgp@?8[ڿ) ?Zif߾bij+g, @30@ @Z9?Aq?-v#`?2iA:ici@"ia?*iHBiBii-WiBivAi? addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503895 s, deltaX: -0.500000 m, approachRate: -0.992270 m/s, rangeRepo size: 4   Added new target pos. range: 18.225002 m, bearing: 77.313699 deg, lat: 36.779360 deg, lon: -121.859535 deg, deltaT: 0.503895 s, deltaX: -0.497849 m, approachRate: -0.988001 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 18.23 m.bhRhZhE ProNav: ac range: 18.225002 m, nav range: 15.379625 m, bearing: 90.004655 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 89.942506 deg, new cmd heading: 89.063641 deg. BhAMHeadingCmd: 1.554454 target range: 18.225002 and range: 18.30 m.hMW?hI*hQ"hQ hQgQfQfYfYdadadajdeL2@Zdm?9nBɢ\) PHi)iT;I W?IA߽=߽%=checking for new query: numPingsReceived=39, elapsed TxPingTime=19.660290>@ @@0@@0>@=a D =D <E  E E (E "E ;*E :VE c44ZE a @a @a @a @^A J>ԙ A I IO >eCRg,(~I?A2DDAT read: Rx Time:03:26:46.2733 2TRx dataTimestamp_ set to:1761535605.160624:PDAT read: Bearing 257.5, -14.3 (Local) :~Local bearing/azimuth received: Bearing 257.5, -14.3 (Local) BDAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 RDAT read: 03:26:46.2733 LVL= 28464, 32753, 24050, 32755, AGC= 66, IDX= 507, 0.42, 2.908, 1.586,-2.165, 3.076, PHS=-0.066,-1.444, 0.998, RAW= 175.7, 4.9, CAL= 175.2, 3.4, ROT= 334.8, -3.4 VYgot valid direction response: 03:26:46.2733 LVL= 28464, 32753, 24050, 32755, AGC= 66, IDX= 507, 0.42, 2.908, 1.586,-2.165, 3.076, PHS=-0.066,-1.444, 0.998, RAW= 175.7, 4.9, CAL= 175.2, 3.4, ROT= 334.8, -3.4 ZT#Rx 40: Read range and direction messages.^^direction in FSK: [0.903234,-0.425030,0.059306]^Fpublishing direction and range infoy02qҭK?g3ۿCg]?Y0020o02] 0)2BI2+i2Ը2|?2?BD@2%=2EC@ 2s=)2@I2s002>oI?\ڨ[;[?T&ŵ? 2y?)2eI2z0i2s00nchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.926664Ա%B?%?%wJٱ%댾 }AHRS rotation from veh to nav: [[-0.173834,-0.956599,-0.233881],[0.964907,-0.117987,-0.234594],[0.196817,-0.266454,0.943539]]%H.@ƿ@uͿ? d4*ο`M1?@ ѿ x1?i%B?I%'^;!YaBy IbDVD:ymZ<%4=ٔ,}Q->9Y=:FyYDE>Q 5k4Ý?Q 9k4)W|BY y 6?Q I ??CI;i;k4y=BɮAEi0i2GJ?AJi0Ri0ji2?b2-!v0@:152K?R2qҭK?g3ۿCg]?Zi2z0bi2sj2AW/.@D},M0@ ~K@Z2aj+?8w ?bL4?2i2ZA:i2u@"i2њ-?*i2uBi2{Bi2}[?i2>i2Bi2|Ai2n? addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.225002 m, bearing: 75.444749 deg, lat: 36.779376 deg, lon: -121.859528 deg, deltaT: 0.503964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.23 m.bhRhZh  ProNav: ac range: 18.225002 m, nav range: 15.803867 m, bearing: 83.451962 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 89.063638 deg, new cmd heading: 88.122343 deg. Bh HeadingCmd: 1.538025 target range: 18.225002 and range: 18.30 m.h?h*h"h9 h9g9f9fAfAdAdAdAjdIZdMڋ?颵wnBɢkV) Ki)项i7I?I Wi> +GA?@ @@0@rchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.16440019Y]AAABw>BBH IB|bBBBԑA؟AIIO%>MYg,!:i?AB|?B?BVLٱBȌiLINARDDAT read: Rx Time:03:26:46.7730 RTRx dataTimestamp_ set to:1761535605.664873ZPDAT read: Bearing 252.7, -13.4 (Local) Z~Local bearing/azimuth received: Bearing 252.7, -13.4 (Local) bDAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 vDAT read: 03:26:46.7730 LVL= 24784, 32753, 27698, 32755, AGC= 65, IDX= 504, 0.34, 2.411, 1.031,-2.592, 2.501, PHS= 0.012,-1.424, 1.146, RAW= 176.1, 2.4, CAL= 175.5, -0.3, ROT= 334.5, 0.3 zYgot valid direction response: 03:26:46.7730 LVL= 24784, 32753, 27698, 32755, AGC= 65, IDX= 504, 0.34, 2.411, 1.031,-2.592, 2.501, PHS= 0.012,-1.424, 1.146, RAW= 176.1, 2.4, CAL= 175.5, -0.3, ROT= 334.5, 0.3 zT#Rx 41: Read range and direction messages.~`direction in FSK: [0.902573,-0.430505,-0.005236]~Fpublishing direction and range infoyPR&'p?"GJfۿsNruYR3APR`PR2l P)RAIRDԉ9"?Y"?=:FybDE>aQ 5mk4e?Q 9uk4eN)e|BQ Au+:YqQ Eu|:yu=?Q Iu?e8@CIe":ieF>ek4yɮ(AiPiRGj?AJiRARiRAjiR+j?bR&/z0@)巿RR&'p?"GJfۿsNruZiRbiR;jRU#G@e[_0@ިB@ZR-*6N?$Gd?OJҊw?2iRA:iR?@"iR?W?*iRmRBiRzvBiRa?iRHiRBiR3AiR?m addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504249 s, deltaX: -0.400000 m, approachRate: -0.793258 m/s, rangeRepo size: 4 } Added new target pos. range: 17.826633 m, bearing: 73.595857 deg, lat: 36.779393 deg, lon: -121.859525 deg, deltaT: 0.504249 s, deltaX: -0.398369 m, approachRate: -0.790024 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 17.83 m.bhRhZh ProNav: ac range: 17.826633 m, nav range: 16.025080 m, bearing: 76.597622 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 88.122343 deg, new cmd heading: 87.107705 deg. BhHeadingCmd: 1.520316 target range: 17.826633 and range: 17.90 m.h?h*h"h hgfffdddjd`f1@Zdx?EnBɢE P)I MMiI)IIIiM*Ie?IaԹ@ @@0@Uchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.667171^A  D9 zD9 EU  EU EU *EQ "EU ;*EU :VEU (N4ZEQ ae @ae @ae @ae @AM .AIq I O>ag,?A)m?m[?mMٱmkጾ }AHRS rotation from veh to nav: [[-0.143864,-0.959920,-0.240534],[0.969235,-0.087624,-0.230011],[0.199716,-0.266225,0.942994]]mHj¿ ο?nqͿJ? ѿ@-?im?Imj];mCYbBy IbDVDy߉=%3=ٔ~ZQ->9 ?Y ?=:FykDE>Q 5k4㾝?Q 9k4@z)|BQ A :YQ EL:y@?Q I?}@CI:id?k4yɮADDAT read: Rx Time:03:26:47.2728 TRx dataTimestamp_ set to:1761535606.168783PDAT read: Bearing 252.1, -10.4 (Local) ~Local bearing/azimuth received: Bearing 252.1, -10.4 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 =DAT read: 03:26:47.2728 LVL= 24656, 27425, 29778, 32755, AGC= 65, IDX= 502, 0.33, 2.883, 1.412,-2.237, 2.886, PHS= 0.099,-1.429, 1.116, RAW= 173.4, 2.0, CAL= 172.6, -0.6, ROT= 337.4, 0.6 MYgot valid direction response: 03:26:47.2728 LVL= 24656, 27425, 29778, 32755, AGC= 65, IDX= 502, 0.33, 2.883, 1.412,-2.237, 2.886, PHS= 0.099,-1.429, 1.116, RAW= 173.4, 2.0, CAL= 172.6, -0.6, ROT= 337.4, 0.6 UT#Rx 42: Read range and direction messages.`direction in FSK: [0.923160,-0.384274,-0.010472]Fpublishing direction and range infoy@?ؿ/;rY̌AP`!kRt )I=iy鶿َ?A@5=@@ +)p@I+<h?*ͫ?ðdkr? n?)_ Iɾi+<iiW͊?AJi9ARi9Aji?b"W.0@,<(Asas~ǿR@?ؿ/;r=checking for new query: numPingsReceived=42, elapsed TxPingTime=20.957655Ziɾbi+<j.3@OP0@~h@Z % E܉?Eo?IR?2iA:iх@"ijH?*i:BinuBijH?iui{BiAiB? addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503910 s, deltaX: -0.299999 m, approachRate: -0.595343 m/s, rangeRepo size: 4  Added new target pos. range: 17.527864 m, bearing: 75.624065 deg, lat: 36.779397 deg, lon: -121.859518 deg, deltaT: 0.503910 s, deltaX: -0.298769 m, approachRate: -0.592902 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.53 m.bhRhZh ProNav: ac range: 17.527864 m, nav range: 16.498865 m, bearing: 75.317474 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 87.107704 deg, new cmd heading: 86.220650 deg. BhHeadingCmd: 1.504834 target range: 17.527864 and range: 17.60 m.hh?h*h"h hgff!f!d!d!d)Yjd51@ZduV?nBɢ#[) Ni)iIh?I@ @@@@@ԁ checking for new query: numPingsReceived=42, elapsed TxPingTime=21.173367B) B) B- t IB- bBB- =B) B) B- ;B- A A A ؟AI I O% >/hg,U?AE. E.E,E,"E.;*E.Ǚ:VE,ZE,BE.4Ni-'1-$?-/;@-޹<-;:@ -5)-Yf@I-5<))-4L?ơ,_?JԪޖ? -W?)-I-i-5<))checking for new query: numPingsReceived=43, elapsed TxPingTime=21.467873ٔuQ->9"?Y"?=:FyvDE>Q 5k4?Q 9k4-q)L}BQ AT:Y"?Q E:y?Q I?@CI(I??I9 Y @Y  @Y @] /@Y  checking for new query: numPingsReceived=43, elapsed TxPingTime=21.675072i ^AyD=D<bEEϷG4jEEL4rEE/E EE(E"E;*EP:VEc44ZEa@a@a@a@ԙAIIIO?պqg,_Aǝ?AE?E?EJQٱE񨎾 UAHRS rotation from veh to nav: [[-0.096146,-0.962284,-0.254491],[0.974326,-0.038694,-0.221790],[0.203578,-0.269282,0.941299]]EH Iп-?ϣ`c̿?;ѿ?iE?IE^;ECYesbBymB I iibD}VD}!y>%3=ٔQ->9Y=;FyDIE>Q 5l4?Q 9l4 j)}BYy?Q I?ACIH;i; l4y2BɮAEDDAT read: Rx Time:03:26:48.2724 TRx dataTimestamp_ set to:1761535607.178358PDAT read: Bearing 253.0, 2.4 (Local) ~Local bearing/azimuth received: Bearing 253.0, 2.4 (Local) !EDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 B*** querying acoustic contact ***i i%DAT read: 03:26:48.2724 LVL= 20432, 20657, 23170, 29859, AGC= 61, IDX= 499,-0.39, 2.357, 0.462, 2.998, 2.004, PHS= 0.455,-1.496, 0.950, RAW= 161.0, 0.8, CAL= 159.7, -1.0, ROT= 350.3, 1.0 -Ygot valid direction response: 03:26:48.2724 LVL= 20432, 20657, 23170, 29859, AGC= 61, IDX= 499,-0.39, 2.357, 0.462, 2.998, 2.004, PHS= 0.455,-1.496, 0.950, RAW= 161.0, 0.8, CAL= 159.7, -1.0, ROT= 350.3, 1.0 -T#Rx 44: Read range and direction messages.5`direction in FSK: [0.985553,-0.168464,-0.017452]5Fpublishing direction and range infoyK?܀8ſW7) ߑYAjh9EDNOT Ignoring new targets: 17.03 m.bhARhE4ZhE4U ProNav: ac range: 17.029909 m, nav range: 16.052738 m, bearing: 74.772528 deg, approach rate: -0.584423 m/s, LOS rate: -0.631541 deg/s, cmd heading: 85.092566 deg, new cmd heading: 84.249982 deg. BhUؼOPZ t)=I>i|33s?3@d<b2@ )@I &"??Qi? V7?)QkI4\-ichecking for new query: numPingsReceived=44, elapsed TxPingTime=21.980844HeadingCmd: 1.470440 target range: 17.029909 and range: 17.10 m.h]7?h*h"h hgfffdddjd1@ZdP?]xoBɢ]P[)Y eUPia)aaaie5Im]7?IqQi@i @i@mr3@i^AE9T>ԉAq  checking for new query: numPingsReceived=44, elapsed TxPingTime=22.181099I I B A B! B! B% IB% cBB% =B! B! B% ;B% oԩ nwg,S᝹?A2?2]?2Rٱ2C >AHRS rotation from veh to nav: [[-0.080043,-0.963011,-0.257298],[0.975580,-0.022719,-0.218465],[0.204539,-0.268501,0.941313]]2H} @wп 7?C˿U.? /ѿ =?i2?I29K^;0Y^bBy^_ IE= E=E=,E9"E= ;*E=5:VE=g4ZE9BE=R9Y=;FyD=EE>qQ 5}l4u?Q 9}l4uec)u}BY}?Q E}:y?Q I?u\ACIu*:iu:u l4ԉyɮAi9i=8j˝?AJi=qARi=qAji= ~?b=d0@ Ӡ4MKҿR=K?܀8ſW7) ߑZi=4\-bi9j=!?鿍[h0@=6>Y4@Z=7'j|?c"S?wv`}?2i=BA:i=Y?"i=ſO9?*i=UճBi=Ius?Iy@@ @@1@@>@>^AU KY>A] gAzA] fA!  checking for new query: numPingsReceived=45, elapsed TxPingTime=22.683441A I I O >B~g,M?AVn?Vz?VSٱVVM ^AHRS rotation from veh to nav: [[-0.064311,-0.963252,-0.260788],[0.976536,-0.006923,-0.215244],[0.205528,-0.268512,0.941095]]VHv °п??[|`˿N?@L/ѿr?iVn?IV^;TYfbByfv IbDnVDn02yv=%v<=ٔzFQ-z>9xYx=~;Fy~D~KE~>Q 5 l4T?Q 9 l4])$~BYy?Q I?ACI :i$:Gl4yɮ:AM addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503712 s, deltaX: -0.500000 m, approachRate: -0.992631 m/s, rangeRepo size: 4 jhQUDNOT Ignoring new targets: 16.93 m.bhQRh]Zh]ԁ ProNav: ac range: 16.930347 m, nav range: 15.779575 m, bearing: 74.517684 deg, approach rate: -0.593484 m/s, LOS rate: -0.558443 deg/s, cmd heading: 83.459161 deg, new cmd heading: 82.803824 deg. Bh  HeadingCmd: 1.445199 target range: 16.930347 and range: 16.50 m.h K?h*h"h hgfffdydydjd0@Zdͪ?E EE)E"EO;*E':VEFA4ZEa@a@a@a@oBɢIK?I9Ա?@ @@/@^AgW>DDAT read: Rx Time:03:26:49.2721 TRx dataTimestamp_ set to:1761535608.185650DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 Z#Rx 46: Read range message, but no direction.yYchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.942024A.AIIO5> sg,n?AFqg?FR?FTٱF걍 ZAHRS rotation from veh to nav: [[-0.047844,-0.963555,-0.263196],[0.977305,0.009280,-0.211632],[0.206361,-0.267348,0.941244]]FH r2п F??`˿` j? :ѿ?iFqg?IFT^;FCYbbByb IIf=)fp9~ ?Y ?=;Fy D*E>1Q 5Ml45?Q 9Ul45V)5i~BYYye?Q Ie?5ACI5;i5;5|-l4yɮAchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.189554)BUx>BQBU IBUzcBBU =BQBQBU;BUXI=O?I9IE EEE"Ex;*E:VEZEBEGgԉAM ؟AIa Iy O > DDAT read: Rx Time:03:26:49.7718  TRx dataTimestamp_ set to:1761535608.690045 DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4  Z#Rx 47: Read range message, but no direction.y Y ̀A  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.446970ԙ Ӌg,1?A: J?:X5?:Uٱ:Z BAHRS rotation from veh to nav: [[-0.031686,-0.963454,-0.265992],[0.977804,0.025265,-0.207995],[0.207114,-0.266678,0.941268]]:H*9 ѿ*J?2ߙ?ʿ`?`Bѿ?i: J?I:T6^;:CY^1cByb Ii}Mb@Mb@Mb@yyyy y9}Cl?Q롿X9v?Y}d?y}\}<}A}hA }EA)}pAyY}=AbDVDFy%>%?=ٔQ->9"?Y"?=;FyD}E>Q 5l4:?Q 9l4OP)~BY?Q E:y?Q I?BCI:iv:5Zh T> ProNav: ac range: 16.930347 m, nav range: 15.308853 m, bearing: 74.070511 deg, approach rate: -0.649587 m/s, LOS rate: -0.665596 deg/s, cmd heading: 82.174382 deg, new cmd heading: 81.441876 deg. Bhe%HeadingCmd: 1.421429 target range: 16.930347 and range: 16.10 m.h%b?h!*h!"h! h)g)f)f)f1d1d1d9jd=0@Zd=-?eLpBɢmDy)i mQii)iiqi} Ib?Ichecking for new query: numPingsReceived=47, elapsed TxPingTime=23.691572=@ @@@@@E  E E &E "E ;*E :VE 4ZE a5 @a5 @a5 @a5 @9 ^A =>A >A >A I I O% >Y Òg,ĕK?A.DDAT read: Rx Time:03:26:50.2717 2TRx dataTimestamp_ set to:1761535609.193100FDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 NZ#Rx 48: Read range message, but no direction.y0Y2f~A0Rchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.952690U!?U& ?UVٱU eAHRS rotation from veh to nav: [[-0.015204,-0.962807,-0.269761],[0.978120,0.041663,-0.203827],[0.207485,-0.266958,0.941108]]UH# QCѿ@L?@T?ʿ`?ѿ?iU!?IU%C^;UCYZcBy I =4<=<bDEVDEܲyU=%U?=ٔUhQ-U>9YYY=];Fy]De!Ee>iQ 5ul4mϽ?Q 9ul4mI)m~BYqyu?Q Iu?mVBCIm:im-:m1Kl4y'BɮAEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503055 s, deltaX: -0.200001 m, approachRate: -0.397572 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 16.93 m.bhRhr Zhr  ProNav: ac range: 16.930347 m, nav range: 15.065516 m, bearing: 73.833551 deg, approach rate: -0.567034 m/s, LOS rate: -0.561090 deg/s, cmd heading: 81.441878 deg, new cmd heading: 80.719556 deg. BhHeadingCmd: 1.408822 target range: 16.930347 and range: 15.90 m.hHT?h*h"h hgfffdddjd/@Zd h?pBɢc!)) -Ri))))1i5' I=HT?I9?@ @@@^Auu4>IAIIBMy>BIBM# IBMcBBM =BIBIBMڅ;BMQԁ E  E E *E "E ;*E ':VE (N4ZE BE $d%%N=ٔ%Q-%>9)Y)=-;Fy-D5E5>9Q 5El4=.?Q 9El4={C)=>BYE?Q EE:yE?Q IE?=BCI=:i=]:= Yl4yQɮUlAQjhy}DNOT Ignoring new targets: 16.93 m.bhyRh_.Zh_. ProNav: ac range: 16.930347 m, nav range: 14.837332 m, bearing: 73.595739 deg, approach rate: -0.576249 m/s, LOS rate: -0.609798 deg/s, cmd heading: 80.719558 deg, new cmd heading: 79.995191 deg. Bh?ѼHeadingCmd: 1.396179 target range: 16.930347 and range: 15.90 m.h?h*h"h hgfffdddjdZd?}DDAT read: Rx Time:03:26:50.7715 TRx dataTimestamp_ set to:1761535609.697788ԉDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 Z#Rx 49: Read range message, but no direction.yyY}yAychecking for new query: numPingsReceived=49, elapsed TxPingTime=24.455976pBɢc) ERi)   i tG I-?I1@ @@0@Ա ^A i1>A% fAzA! % checking for new query: numPingsReceived=49, elapsed TxPingTime=24.698948A I I O >6g,?A(:&?:p?:niVٱ:2 FAHRS rotation from veh to nav: [[0.016221,-0.961142,-0.275576],[0.978024,0.072548,-0.195463],[0.207860,-0.266349,0.941197]]:H/?@ѿ K?@?ɿ '? ѿI?i:&?I:A6^;:CYNcByN IbDVVDVNy^~>%^\=ٔ^Q-b>9`Y`=b;FybDfEf>hQ 5nl4j!?Q 9nl4j=)jBYlyr?Q Ir?jBCIj:ij:j fl4ytɮv At addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504688 s, deltaX: -0.299999 m, approachRate: -0.594425 m/s, rangeRepo size: 4 jh%DNOT Ignoring new targets: 16.93 m.bh!Rh%:Zh%:5 ProNav: ac range: 16.930347 m, nav range: 14.621772 m, bearing: 73.393025 deg, approach rate: -0.579855 m/s, LOS rate: -0.553338 deg/s, cmd heading: 79.995189 deg, new cmd heading: 79.378106 deg. Bh=ོ=HeadingCmd: 1.385409 target range: 16.930347 and range: 15.60 m.h=U?hA*hA"hA hAgAfAffdddjd@33/@Zd`6?EI EMEM(EI"EI*EM:VEMc44ZEIaU@aU@aU@aU@pBɢ'o) sRi)i=}IEU?IIIQ)UfAy>@ @@0@@@=^A8>%DDAT read: Rx Time:03:26:51.2714 -TRx dataTimestamp_ set to:1761535610.202110=DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 EZ#Rx 50: Read range message, but no direction.y!Y%xA!Echecking for new query: numPingsReceived=50, elapsed TxPingTime=24.957571ԩAI IO%> } G ƃ9 Y pA.'g,Ι?AV$?Vn?VAVٱV:\ bAHRS rotation from veh to nav: [[0.031561,-0.959872,-0.278655],[0.977681,0.087585,-0.190966],[0.207709,-0.266409,0.941214]]VH(?`F@}ѿ*I?k?`qȿ`6? ѿ l?iV$?IV^;VCYjdByj< IbD VD N2y=S>%EC=ٔM9Q-U>9aYa=m;FymƒDuchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.205404Bw>BBt IBddBB =BBBЅ;BFiQ 5l4m?Q 9l4m6)mBYy ?Q I ?mCCImE} E}EyEy"E}I;*E}B:VEyZEyBE}ijq A I IO>0g,zP?A2 ?2?2hVٱ2 :AHRS rotation from veh to nav: [[0.046520,-0.958787,-0.280292],[0.977053,0.102061,-0.186955],[0.207856,-0.265163,0.941533]]2Hvѧ?aNѿD?@ ?!ǿ ?nп !?i2 ?I2)^;2CYBTdByBj IDFAiUMb@Mb@Mb@QQQQ Q9UCl?V-Mb?YU;?yUU@=UAQ Q)UlAQYU(AbDuVDuy!>%.=ٔQ->9Y=;Fy˃DE>Q 5l4>?Q 9l4/)BY?Q E:y?Q I?SCCI]:i:l4yBɮȋAE addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.502634 s, deltaX: -0.500000 m, approachRate: -0.994760 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 16.93 m.bhRh#Zh# ProNav: ac range: 16.930347 m, nav range: 14.104751 m, bearing: 72.922592 deg, approach rate: -0.615452 m/s, LOS rate: -0.572163 deg/s, cmd heading: 78.646562 deg, new cmd heading: 77.941251 deg. BhUļHeadingCmd: 1.360331 target range: 16.930347 and range: 15.00 m.hW?h *h "h  h g fffdddjd.@Zd`8?M\qBɢM!i)I MyPiQ)QQQiUI]W?Iaԉchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.707024@ @@0@^A] S3>E EE1E"E;*E:VE-4ZEa@a@a@a@AiIIO-> DDAT read: Rx Time:03:26:52.2711  TRx dataTimestamp_ set to:1761535611.208775 PDAT read: Bearing 44.7, -24.5 (Local)  ~Local bearing/azimuth received: Bearing 44.7, -24.5 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4  DAT read: 03:26:52.2711 LVL= 23728, 15633, 18882, 28211, AGC= 58, IDX= 503,-0.31,-2.914,-0.748,-2.481,-1.369, PHS=-1.443, 0.666,-1.156, RAW= 322.8, 19.0, CAL= 322.3, 23.8, ROT= 187.7, -23.8  Ygot valid direction response: 03:26:52.2711 LVL= 23728, 15633, 18882, 28211, AGC= 58, IDX= 503,-0.31,-2.914,-0.748,-2.481,-1.369, PHS=-1.443, 0.666,-1.156, RAW= 322.8, 19.0, CAL= 322.3, 23.8, ROT= 187.7, -23.8  T#Rx 52: Read range and direction messages. `direction in FSK: [-0.906710,-0.122592,0.403545] Fpublishing direction and range infoy  $?w-bQ?Y \ = I 3n) :I 9i ~*? I@ ɩ> @ ȭ>) Q@I ȭԾ arW3p׿o? !/) 8I v@i ȭԾ  checking for new query: numPingsReceived=52, elapsed TxPingTime=25.976789 g,ў?A2 ?2S ?2Vٱ2DŽ :AHRS rotation from veh to nav: [[0.061256,-0.957702,-0.281165],[0.976174,0.116231,-0.183233],[0.208163,-0.263242,0.942004]]2H\?ѿ%I=ٔIQ->9Y=;FyԃDE>Q 5l4ĝ?Q 9l4?))7BYyĽ?Q I?CCI(:i:l4y ɮZAii\͞?AJioARioAji@bXHv+47MT@R$?w-bQ?Ziv@biȭԾj"[8W- @ZURjLtB%￶4?2ih:iRE"iJ!?*i᭧BiqBixo*?iirsBiWAi?- addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 14.938615 m, bearing: 266.965415 deg, lat: 36.779383 deg, lon: -121.859514 deg, deltaT: 4.030417 s, deltaX: -1.991733 m, approachRate: -0.494175 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 14.94 m.bhARhEZhI} ProNav: ac range: 14.938615 m, nav range: 13.470800 m, bearing: 79.283521 deg, approach rate: 0.000000 m/s, LOS rate: -0.572163 deg/s, cmd heading: 77.941249 deg, new cmd heading: 77.184049 deg. BhyHeadingCmd: 1.347116 target range: 14.938615 and range: 15.00 m.hJn?h*h"h hgfffdddjdZd ?qBɢ"Z) -Pi)))))i->HI5Jn?I9ei>ie>checking for new query: numPingsReceived=52, elapsed TxPingTime=26.211418!5>@9 @9@= 0@A@Y@YB u>B B  IB dBB  =B B B ͅ;B Ay A1 IA IY Om >x̺g,Kힹ?AiIDDAT read: Rx Time:03:26:52.7708 TRx dataTimestamp_ set to:1761535611.713610"DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 &Z#Rx 53: Read range message, but no direction.yYiA*checking for new query: numPingsReceived=53, elapsed TxPingTime=26.468971Z`2?Z?Z0WٱZ." fAHRS rotation from veh to nav: [[0.075919,-0.957151,-0.279459],[0.975066,0.129876,-0.179938],[0.208523,-0.258830,0.943146]]ZHmo? ѿ`3?ʟ? 6ǿ?@п@A.?iZ`2?IZ];ZCYUdByU I1ieMb@Mb@Mb@aaaa a9ep= ף?%,=ٔFHQ->9Y=;Fy݃D;E>Q 5l4ŝ?Q 9 l4!)cBY%?Q E:y?Q I?CCI9;if9;)l4y)ɮ-ۊA1mB*** querying acoustic contact ***ii ii addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504835 s, deltaX: -0.400000 m, approachRate: -0.792337 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 14.94 m.bhRhֽZhֽ ProNav: ac range: 14.938615 m, nav range: 13.178440 m, bearing: 79.135624 deg, approach rate: -0.641922 m/s, LOS rate: -0.331934 deg/s, cmd heading: 77.184047 deg, new cmd heading: 76.730524 deg. BhcHeadingCmd: 1.339200 target range: 14.938615 and range: 14.60 m.hj?h*h"h hgfffddd jd @33-@Zd b)?额qBɢY) uPi)iNpIj?IY?@ @@0@checking for new query: numPingsReceived=53, elapsed TxPingTime=26.714949ԉ^A I >D zD bEAjEE(N4rEE0E  E E +E "E 7;*E Ǚ:VE [4ZE a @a @a @a @1 Ai Iq I O >Rg,r ?A2 K?2j6?2eyWٱ2 :AHRS rotation from veh to nav: [[0.090402,-0.956273,-0.278152],[0.973755,0.143452,-0.176700],[0.208875,-0.254878,0.944144]]2H$?ʙ@?ѿ`)?\?ƿg?Oп n6?i2 K?I2^;2CYN%eByN IZ=Z=bDfVDfy%yd>%-O=ٔ-sQ-E>9QYY=];Fy]De Ee>Q 5l4ǝ?Q 9l4 )BYy?Q I?DCI:i:l4yɮ'AԱDDAT read: Rx Time:03:26:53.2708 TRx dataTimestamp_ set to:1761535612.216789PDAT read: Bearing 287.0, -19.6 (Local)  ~Local bearing/azimuth received: Bearing 287.0, -19.6 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 EDAT read: 03:26:53.2708 LVL= 20368, 13665, 18418, 26355, AGC= 56, IDX= 498, 0.07, 2.148, 1.037,-3.134,-2.961, PHS=-1.072,-2.239,-0.217, RAW= 174.9, 35.4, CAL= 175.3, 47.0, ROT= 334.7, -47.0 MYgot valid direction response: 03:26:53.2708 LVL= 20368, 13665, 18418, 26355, AGC= 56, IDX= 498, 0.07, 2.148, 1.037,-3.134,-2.961, PHS=-1.072,-2.239,-0.217, RAW= 174.9, 35.4, CAL= 175.3, 47.0, ROT= 334.7, -47.0 MT#Rx 54: Read range and direction messages.U^direction in FSK: [0.616583,-0.291457,0.731354]UFpublishing direction and range infoyg ? <ҿ?g?YffAOa5G f)8IL7iK?5^|]C@2+?C@ ~Q?)@I~QzoL?E~Z?FLS?  Vu?)I:i~Quchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.983307 addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503179 s, deltaX: -0.200001 m, approachRate: -0.397474 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 14.94 m.bhRhjZhj ProNav: ac range: 14.938615 m, nav range: 12.932909 m, bearing: 79.022953 deg, approach rate: -0.592378 m/s, LOS rate: -0.276993 deg/s, cmd heading: 76.730523 deg, new cmd heading: 76.386099 deg. Bh>HeadingCmd: 1.333189 target range: 14.938615 and range: 14.40 m.h索?h*h"h hgfff dddjd%,@Zd% ??rBɢ`) 3Ni)ixIE索?IA>@ @@@^AD> AII O% > checking for new query: numPingsReceived=54, elapsed TxPingTime=27.221327B s>B ?CB  IB veBB B B B ;B 29Y=;FyDEE>Q 5l4ɝ?Q 9l4)BY|+?Q E:y?Q I?kDCIhc;ib;l4yɮΉAi1i5 ?AJi5teARi5teAji5ؠ?b5i3L!@M\$@R5g ? <ҿ?g?Zi5:bi5~Qj5`?NVd@="#)@Z5?<$#W? ?2i5 @:i5?"i5YHGq?*i5qBi5HBi5YHGq?i1i1i5HAi5&?jhquDNOT Ignoring new targets: 14.94 m.bhqRh}λZh}λ ProNav: ac range: 14.938615 m, nav range: 12.630338 m, bearing: 78.859028 deg, approach rate: -0.650898 m/s, LOS rate: -0.361088 deg/s, cmd heading: 76.386097 deg, new cmd heading: 75.882552 deg. BhwHeadingCmd: 1.324400 target range: 14.938615 and range: 14.40 m.h?h*h"h hgfffddDDAT read: Rx Time:03:26:53.7705 TRx dataTimestamp_ set to:1761535612.721385-PDAT read: Bearing 287.7, -28.4 (Local) -~Local bearing/azimuth received: Bearing 287.7, -28.4 (Local) =DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 9eDAT read: 03:26:53.7705 LVL= 17840, 19441, 20018, 29091, AGC= 58, IDX= 496,-0.45, 0.886, 0.352, 2.167, 2.238, PHS=-1.251,-1.841,-0.116, RAW= 190.3, 36.7, CAL= 188.6, 48.0, ROT= 321.4, -48.0 mYgot valid direction response: 03:26:53.7705 LVL= 17840, 19441, 20018, 29091, AGC= 58, IDX= 496,-0.45, 0.886, 0.352, 2.167, 2.238, PHS=-1.251,-1.841,-0.116, RAW= 190.3, 36.7, CAL= 188.6, 48.0, ROT= 321.4, -48.0 mT#Rx 55: Read range and direction messages.u^direction in FSK: [0.522939,-0.417457,0.743145]}Fpublishing direction and range infoyT/?HKڿ:?Y`AEK2N q):I i뿉h0T@(#?R@ PwV?)퀳@IPwV9O@?E$?*p*&? "?)>:$Imw,iPwVchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.489134djd,@Zd뤞?MErBɢMS)I MEOiI)QQQiUI]?Iai?@ @@/@@=@=Ա ^AU >AY A] > checking for new query: numPingsReceived=55, elapsed TxPingTime=27.723751AIIO>čg,RB?A@V ?Vj?V"WٱVi bAHRS rotation from veh to nav: [[0.132581,-0.949460,-0.284515],[0.968845,0.184724,-0.164972],[0.209191,-0.253779,0.944370]]VH`k? a ~5ҿ@??ſ?=п`H8?iV ?IV^;TYfeByf/ IbDrVDrk2yz)>%zM=ٔz,Q-~>9|Y|=~;Fy~D1E> Q 5l4 ˝?Q 9l4 m ) ڀBYy?Q I? DCI <;i ; Xl4y%Bɮ%A%Eii,+.?AJi_ARi_Ajia?bEE"*@sHr$@RT/?HKڿ:?Zimw,biPwVjͼ\ @Wv-@ ])@Zd,\E?k7Ӥ?D5Y?2i@:ib@"iLf?*iۗݛBi]Biiqii7@i?E  E E E "E ;*E :VE ZE a5@a5@a5@a=@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504596 s, deltaX: -0.400000 m, approachRate: -0.792713 m/s, rangeRepo size: 4  Added new target pos. range: 13.942591 m, bearing: 50.362800 deg, lat: 36.779379 deg, lon: -121.859585 deg, deltaT: 1.512610 s, deltaX: -0.996024 m, approachRate: -0.658480 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.94 m.bhRhZh ProNav: ac range: 13.942591 m, nav range: 6.194218 m, bearing: 71.502045 deg, approach rate: 0.000000 m/s, LOS rate: -0.361088 deg/s, cmd heading: 75.882555 deg, new cmd heading: 75.457807 deg. ԡBhHeadingCmd: 1.316987 target range: 13.942591 and range: 14.00 m.h ?h*h"h hgfffdddjdZdq7?颕{rBɢi`) qNi)顩i,@q @q@u0@q%^direction in FSK: [0.198629,-0.653766,0.730162]-Fpublishing direction and range infoycǍl?v俻0Y}]?Y:MV t)8IZix@Ƈ#?4y@ Q?)5<@IQnbƿ5?Ȝ? -?^AM M>)ʟ#INiQchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.071899 A} .AI I O >2g,?\?Ab-?bv?bWٱbņ jAHRS rotation from veh to nav: [[0.145866,-0.946625,-0.287443],[0.966897,0.197900,-0.161074],[0.209362,-0.254432,0.944157]]bH?J`ueҿ?T?Ŀ ^?Hп 6?Brr>BpBrz IBrfBBpBpBpBr;Br/%A=ٔعQ->9 ?Y ?=;FyD[E>Q 5l4]Ν?Q 9l4%)BYyY?Q I?DCI@i w?5 addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 13.942574 m, bearing: 352.850369 deg, lat: 36.779379 deg, lon: -121.859603 deg, deltaT: 0.504989 s, deltaX: -0.000017 m, approachRate: -0.000034 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 13.94 m.bhqRhZh ProNav: ac range: 13.942574 m, nav range: 4.445118 m, bearing: 64.219561 deg, approach rate: 0.000000 m/s, LOS rate: -0.361088 deg/s, cmd heading: 75.457806 deg, new cmd heading: 74.934737 deg. BhHeadingCmd: 1.307858 target range: 13.942574 and range: 14.00 m.hg?h*h"h hgfE  E E )E "E ;*E :VE FA4ZE BE aA gAzA gAԑ AE؟AIQIaOm>g,cz?A2F?21?2 Xٱ2~ :AHRS rotation from veh to nav: [[0.158701,-0.943721,-0.290182],[0.964845,0.210600,-0.157233],[0.209496,-0.255027,0.943966]]2HQP?`2Vҿ?@?@3 Ŀ?^Rп4?i2F?I2 ^;2CYBfByB Ii Mb@Mb@Mb@     9 /$?Mb?)\(?Y &1?y < Ga= ݛA ScA vA) hA Y AbD%VD%Fy5Z>%51=ٔ5Q-=>9="?Y="?==;Fy= DEEE>IQ 5l4M\ѝ?Q 9l4MF)M/BY1?Q E:y?Q I?MAECIMl4yBɮAEB*** querying acoustic contact ***i ichecking for new query: numPingsReceived=57, elapsed TxPingTime=28.731052= addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.502841 s, deltaX: -0.500000 m, approachRate: -0.994350 m/s, rangeRepo size: 4 jh9=DNOT Ignoring new targets: 13.94 m.bh9RhEZhEIu ProNav: ac range: 13.942574 m, nav range: 4.161365 m, bearing: 62.868752 deg, approach rate: -0.703585 m/s, LOS rate: -3.577481 deg/s, cmd heading: 74.934736 deg, new cmd heading: 70.614591 deg. Bhus}HeadingCmd: 1.232457 target range: 13.942574 and range: 13.50 m.h}(?hy*hy"hy hygfffdddjd+@ZdV?rBɢS]h) NLi)!))i-z=I5(?I1@ @@0@@@gAԁ^A>E EE*E"Ea;*E:VE(N4ZEa@a@a@a@IIO>ԡ DDAT read: Rx Time:03:26:55.2700  TRx dataTimestamp_ set to:1761535614.232293 DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4  Z#Rx 58: Read range message, but no direction.y Y 3SA  checking for new query: numPingsReceived=58, elapsed TxPingTime=28.986391 g,V*?A6?6b?6SXٱ6 >AHRS rotation from veh to nav: [[0.170710,-0.941219,-0.291486],[0.962750,0.222290,-0.153945],[0.209690,-0.254349,0.944106]]6H?@x ҿ?@s?uÿ`??Gп6?i6?I6];6CY^JfByb IbDjVDjyr=%rP=ٔrQ-r>9tYt=v;FyvDv*Ez>xQ 5l4z=ԝ?Q 9l4zs)zVBYyO?Q I?zECIz;iz;zl4yɮȇAE addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503078 s, deltaX: -0.300000 m, approachRate: -0.596329 m/s, rangeRepo size: 4 jhAEDNOT Ignoring new targets: 13.94 m.bhARhMZhM] ProNav: ac range: 13.942574 m, nav range: 3.915895 m, bearing: 61.582226 deg, approach rate: -0.653381 m/s, LOS rate: -3.638772 deg/s, cmd heading: 70.614594 deg, new cmd heading: 66.520404 deg. Bh]eHeadingCmd: 1.161000 target range: 13.942574 and range: 13.20 m.he?ha*ha"hi higifififqdqdqdqjd}`ff*@Zd}?颥sBɢ(q) kLi)顩igI?IԱ1@1 @1@5/0@1Bs>BB IBfBB =BBB;B+9 g,?A4<ɰ4<:5?:I!?:Xٱ:CBDDAT read: Rx Time:03:26:55.7697 FTRx dataTimestamp_ set to:1761535614.736188JDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 NZ#Rx 59: Read range message, but no direction.y@YBLA@Rchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.490299 VAHRS rotation from veh to nav: [[0.181733,-0.939428,-0.290600],[0.960647,0.232740,-0.151623],[0.210073,-0.251610,0.944755]]:HC?2ҿ?n?^hÿ@? _пn;?i:5?I:^;8YZfBy^ I ``b=`iMb@Mb@Mb@ 97A`?y&1?A`"?Y6?y`<Y=/AaA ȗA)lgAYAbDEVDENyU=%U5=ٔ]/cQ-]>9YYY=e;FyeDeмEe>iQ 5m4mם?Q 9m4mT)mBY,7?Q E:y?Q I?mECIm;im[;m m4y Bɮ*AE  addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503895 s, deltaX: -0.400000 m, approachRate: -0.793815 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 13.94 m.bh!Rh%uZh%u] ProNav: ac range: 13.942574 m, nav range: 3.627095 m, bearing: 59.811842 deg, approach rate: -0.627664 m/s, LOS rate: -4.153367 deg/s, cmd heading: 66.520401 deg, new cmd heading: 60.806291 deg. Bh]&2eHeadingCmd: 1.061270 target range: 13.942574 and range: 12.80 m.heׇ?ha*ha"ha hagafaffdddjd)@Zd?eOsBɢebeN) Li)顉iIׇ?I9A@A @A@E0@A^A >IyIO~>5checking for new query: numPingsReceived=59, elapsed TxPingTime=29.738995i E5  E5 E5 +E1 "E5 ;$g,pǟ?A*Ee:VEe [4ZEaa@a@a@a@ e̓?? Yٱ AHRS rotation from veh to nav: [[0.192312,-0.937497,-0.290027],[0.958528,0.242796,-0.149243],[0.210332,-0.249298,0.945310]]H@?ˏҿC?@?aÿ &?Ͽ??ie̓?I ^;CY%fBy% IbDEVDEye)=%m[=ٔu99Q-}>9yYy=};Fy"DE>Q 5m4ڝ?Q 9m4)BYyC?Q I?FCIq;iws;m4yɮΆAjhq}DNOT Ignoring new targets: 13.94 m.bhyRh}lZh}l ProNav: ac range: 13.942574 m, nav range: 3.387966 m, bearing: 58.149706 deg, approach rate: -0.614496 m/s, LOS rate: -4.572072 deg/s, cmd heading: 60.806292 deg, new cmd heading: 55.484042 deg. BhDHeadingCmd: 0.968379 target range: 13.942574 and range: 12.80 m.hw?h*h"h hgfffdddjdZd '?i}~sBɢ}l) LiDDAT read: Rx Time:03:26:56.2696 TRx dataTimestamp_ set to:1761535615.240801PDAT read: Bearing 284.4, 35.9 (Local) ~Local bearing/azimuth received: Bearing 284.4, 35.9 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 DAT read: 03:26:56.2696 LVL= 27040, 26465, 32610, 32243, AGC= 64, IDX= 504, 0.07, 0.709,-1.448,-0.621, 0.311, PHS= 0.500,-1.714,-0.976, RAW= 109.1, 21.6, CAL= 109.5, 25.8, ROT= 40.5, -25.8 Ygot valid direction response: 03:26:56.2696 LVL= 27040, 26465, 32610, 32243, AGC= 64, IDX= 504, 0.07, 0.709,-1.448,-0.621, 0.311, PHS= 0.500,-1.714,-0.976, RAW= 109.1, 21.6, CAL= 109.5, 25.8, ROT= 40.5, -25.8 T#Rx 60: Read range and direction messages.\direction in FSK: [0.684608,0.584710,0.435231]Fpublishing direction and range infoy<"N?qL?2T?YIAiagb })@I?iZdۿ#yS?>? >)4?I澩k5?||ƿ}? IB)KI4?i澩-checking for new query: numPingsReceived=60, elapsed TxPingTime=30.011269)11i5xI=w?I9@9 @9@=0@9ԙ^AK >IyIO i>CcG)Au9qYuoA B t>B B 0IB 5gBB =B B B ;B "9yYy=};Fy},DE>Q 5m4ޝ?Q 9m4Z)فBY:?Q E:y?Q I?pFCIP;iJO;+m4yɮAiiIiϟ?AJiHARiHAjiO @bzmu.!@6\}FY@@R<"N?qL?2T?Zi4?bijŮ==f{f"@i#7@Z[&Y^cuv?O7?2i6A:i"i?*ieYBib{BiiiinD@iw?U addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504613 s, deltaX: -0.200000 m, approachRate: -0.396343 m/s, rangeRepo size: 4  Added new target pos. range: 12.548411 m, bearing: 126.508880 deg, lat: 36.779379 deg, lon: -121.859603 deg, deltaT: 2.014427 s, deltaX: -1.394162 m, approachRate: -0.692089 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.55 m.bhRhZh% ProNav: ac range: 12.548411 m, nav range: 3.069259 m, bearing: 55.447192 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 55.484041 deg, new cmd heading: 48.702765 deg. Bh!-HeadingCmd: 0.850024 target range: 12.548411 and range: 12.60 m.h-%Y?h)*hQ"hQ hQgQfQfYfYdYdYdajde@33)@Zde2?DDAT read: Rx Time:03:26:56.7694 TRx dataTimestamp_ set to:1761535615.744816PDAT read: Bearing 294.9, 31.9 (Local) ~Local bearing/azimuth received: Bearing 294.9, 31.9 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 DAT read: 03:26:56.7694 LVL= 26096, 22321, 30514, 30275, AGC= 62, IDX= 501, 0.26, 2.144, 0.247, 0.894, 2.024, PHS= 0.222,-1.733,-1.174, RAW= 106.1, 28.6, CAL= 104.4, 35.2, ROT= 45.6, -35.2 Ygot valid direction response: 03:26:56.7694 LVL= 26096, 22321, 30514, 30275, AGC= 62, IDX= 501, 0.26, 2.144, 0.247, 0.894, 2.024, PHS= 0.222,-1.733,-1.174, RAW= 106.1, 28.6, CAL= 104.4, 35.2, ROT= 45.6, -35.2 T#Rx 61: Read range and direction messages.\direction in FSK: [0.571726,0.583828,0.576432]Fpublishing direction and range infoy=K?f?N^F:"r?YHAe1W2w Cv)>ISc>iݿE?r>Z;? nF?)%K?InF AoxH?P?ʿ ɫeȘ? "$x)d6I%K?inF5checking for new query: numPingsReceived=61, elapsed TxPingTime=30.515146UsBɢUJ)Q UNiY)YYYi]"I)I9Mchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.746996Ou>Uh,?A$$B?B?BYٱBH JAHRS rotation from veh to nav: [[0.213202,-0.933488,-0.288350],[0.953984,0.262599,-0.144761],[0.210853,-0.244218,0.946519]]BH5J?!Qtҿ ?@m? ¿ 8?BϿI?iB?IB^;BCYRgByR"IIV<)V;bD^VD^yfX>%ff=ٔjźQ-j>9hYh=j;Fyj3Dn}En>pQ 5vm4rᝊ?Q 9vm4r)rBYxyz?Q Iz?rFCIr;ir;r7m4y|ɮ~A|ii?AJi.GARi.GAjij@bRJ>"x@te@_>@R=K?f?N^F:"r?Zi%K?binFjB^Xi@L@Z0(Ef(l??2i@:i"i w?*iWvBiBiiqii@i ?M addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504015 s, deltaX: -0.100000 m, approachRate: -0.198408 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.448820 m, bearing: 133.764987 deg, lat: 36.779379 deg, lon: -121.859585 deg, deltaT: 0.504015 s, deltaX: -0.099591 m, approachRate: -0.197596 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 12.45 m.!bhaRhAZhAU ProNav: ac range: 12.448820 m, nav range: 4.235525 m, bearing: 66.300766 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 48.702763 deg, new cmd heading: 44.019831 deg. BhQ]HeadingCmd: 0.768291 target range: 12.448820 and range: 12.50 m.h]D?hY*hy"h hgfffddd jd)@ZdE`6:?E EE*E"E;*E:VE(N4ZEa@a@a@a@sBɢ8g)1 5Mi9)99AiEaA) I1 IA OU >ԩ $'h,?A6蔏?62?6Yٱ6 >AHRS rotation from veh to nav: [[0.223742,-0.930935,-0.288616],[0.951520,0.272763,-0.142159],[0.211065,-0.242817,0.946832]]6H? 8xҿr?t?G2¿@.?Ͽ@sL?i6蔏?I68'^;6CYF%gByF&IbD^VD^1yfv<%fK=ٔj Q-j>9hYl=n;Fy~Q 5 m4坊?Q 9 m4)%BYy?Q I?FCI:i=:Fm4y9ɮ=AAii?AJiCARiCAji@b0@i~Ɂ@T*R^T @RS?$ ?S,;T?Zi5e?bi:jxX~Dpx2@`J5@ZMw&'eBYB]IB]gBBYBYBYB];B]E EEE"E*E:VEZEBEe DDAT read: Rx Time:03:26:57.7690  TRx dataTimestamp_ set to:1761535616.752801 PDAT read: Bearing 308.6, 28.0 (Local)  ~Local bearing/azimuth received: Bearing 308.6, 28.0 (Local)  DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4  DAT read: 03:26:57.7690 LVL= 31472, 16465, 25842, 31699, AGC= 63, IDX= 498,-0.06,-2.401, 2.547, 2.713,-2.209, PHS=-0.090,-1.482,-1.406, RAW= 92.8, 37.8, CAL= 91.4, 45.2, ROT= 58.6, -45.2  Ygot valid direction response: 03:26:57.7690 LVL= 31472, 16465, 25842, 31699, AGC= 63, IDX= 498,-0.06,-2.401, 2.547, 2.713,-2.209, PHS=-0.090,-1.482,-1.406, RAW= 92.8, 37.8, CAL= 91.4, 45.2, ROT= 58.6, -45.2  T#Rx 63: Read range and direction messages. \direction in FSK: [0.367121,0.601441,0.709571] Fpublishing direction and range infoy  PF~?W]??Xʹ?Y f>A z Q@ d {) ?I Qi - 4Q? [(? 0? I?) ?I I LGry?Q1׿ er? 6) )I ?i I E checking for new query: numPingsReceived=63, elapsed TxPingTime=31.523037 Q h,3?A2E?2?2OZٱ2cL >AHRS rotation from veh to nav: [[0.234648,-0.927285,-0.291691],[0.948819,0.283730,-0.138709],[0.211384,-0.244214,0.946402]]2H?Pҿ@\?`(?8?hBϿ@H?i2E?I2,^;2CYNagByNJIi=Mb@Mb@Mb@9999 99=/$?{Gz?Mb?Y=9IYI=M;FyMFDU}EU>YQ 5em4]띊?Q 9m4])]WBYU=?Q E:y?Q I?]WGCI]\ A ?A ?I bEəT4jEU4rE/E  E E +E "E ;*E 8:VE [4ZE a @a @a @a @I I O >8h,M?Aɰ;6,?6u?6?Zٱ6P >AHRS rotation from veh to nav: [[0.245900,-0.923225,-0.295276],[0.945855,0.295137,-0.135102],[0.211876,-0.246067,0.945812]]6Hy? ҿqD?@?`K?@!ϿD?i6,?I6S];6CYRgByRbIbDZVDZ0yfq=%f=ٔjPQ-j?9hYh=j;FyjLDn(En?pQ 5vm4rI?Q 9vm4r)rsBYtyz?Q Iz?rGCIr:ir:rbm4y|ɮ~A|B*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 11.85 m.bh)Rh5=Zh5=E ProNav: ac range: 11.851306 m, nav range: 9.377892 m, bearing: 142.946456 deg, approach rate: -0.342812 m/s, LOS rate: 4.113383 deg/s, cmd heading: 31.315126 deg, new cmd heading: 34.712996 deg. BhEo0>MHeadingCmd: 0.605856 target range: 11.851306 and range: 11.90 m.hMb?hI*hI"hI hIgIfQfQfQeDDAT read: Rx Time:03:26:58.2690 mTRx dataTimestamp_ set to:1761535617.256438uDAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 uZ#Rx 64: Read range message, but no direction.yaYaa}checking for new query: numPingsReceived=64, elapsed TxPingTime=32.010544dQddjdZdϗ?e|tBɢuފ)u< uTOiy)yyyi}7AUAAAQB]s>BYB]IB])hBBYBYBYB];B] checking for new query: numPingsReceived=64, elapsed TxPingTime=32.258957ԩ gh,.pg?A<EN ENEN)EL"EN;*EN^:VENFA4ZELBEN]9QYQ=U;FyUVD]E]>aQ 5mm4e ?Q 9mm4e)eBYm=?Q Em:yuү?Q Iu?eGCIe;ie:esm4y}Bɮ}A}Eԡ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.85 m.bhRhΑ=ZhΑ= ProNav: ac range: 11.851306 m, nav range: 9.231471 m, bearing: 144.899463 deg, approach rate: -0.301108 m/s, LOS rate: 4.079163 deg/s, cmd heading: 34.712995 deg, new cmd heading: 40.642532 deg. Bh.>HeadingCmd: 0.709346 target range: 11.851306 and range: 11.90 m.h5?h*h"h hgfffdddjdZd 7?tBɢ~|\)< 6SmDDAT read: Rx Time:03:26:58.7688 mTRx dataTimestamp_ set to:1761535617.760583uPDAT read: Bearing 331.4, 28.4 (Local) }~Local bearing/azimuth received: Bearing 331.4, 28.4 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 DAT read: 03:26:58.7688 LVL= 30128, 27681, 32754, 32755, AGC= 64, IDX= 511,-0.16,-0.021,-0.778,-1.325, 0.310, PHS=-0.229,-1.043,-1.678, RAW= 64.1, 39.7, CAL= 59.9, 45.8, ROT= 90.1, -45.8 Ygot valid direction response: 03:26:58.7688 LVL= 30128, 27681, 32754, 32755, AGC= 64, IDX= 511,-0.16,-0.021,-0.778,-1.325, 0.310, PHS=-0.229,-1.043,-1.678, RAW= 64.1, 39.7, CAL= 59.9, 45.8, ROT= 90.1, -45.8 T#Rx 65: Read range and direction messages.^direction in FSK: [-0.001217,0.697164,0.716911]Fpublishing direction and range infoyimB_S *O?[?Ym9Aimum!lm m)m@Im~jimmֿmf3?ma1?maх? mL?)m I?ImLiim?djyg3\Efl? my)m41Im I?imLiichecking for new query: numPingsReceived=65, elapsed TxPingTime=32.526482i)iSIy I O > checking for new query: numPingsReceived=65, elapsed TxPingTime=32.762962J h,8?AN؈?NHĤ?N\ٱN% VAHRS rotation from veh to nav: [[0.273289,-0.911192,-0.308290],[0.937822,0.323690,-0.125360],[0.214017,-0.254862,0.942996]]NH}?@{(@ӿ?W? d?Oп-?iN؈?IN0x^;NCYbgByb|Idf@AbDhVDhlyv>%v{=ٔvܻQ-v ?9xYx=z;Fyz\D~"E~ ?Q 5 m4u?Q 9 m4)BY y !?Q I ?!HCI:i:s~m4yɮAiidp?AJi8ARi8AjiK?@b Ɍzڥ @A+]r @RB_S *O?[?Zi I?biLj& #1?DEs@Z-Bi뿐Hi>@ @@5@aDDAT read: Rx Time:03:26:59.2690 TRx dataTimestamp_ set to:1761535618.264752PDAT read: Bearing 326.6, -53.9 (Local) ~Local bearing/azimuth received: Bearing 326.6, -53.9 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.3 DAT read: 03:26:59.2690 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.25,-2.789,-1.490,-1.010,-0.402, PHS=-2.285,-1.043,-0.652, RAW= 256.7, 43.6, CAL= 258.8, 51.0, ROT= 251.2, -51.0 Ygot valid direction response: 03:26:59.2690 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.25,-2.789,-1.490,-1.010,-0.402, PHS=-2.285,-1.043,-0.652, RAW= 256.7, 43.6, CAL= 258.8, 51.0, ROT= 251.2, -51.0 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.202809,-0.595746,0.777146]Fpublishing direction and range infoy)udɿ/XY t=a?Yf>A )CIq=iy&K^@B?@ c?)K@Ic&~B8?"n? @)DBIicchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.031078^A Ii Iy ԁ O >u&h,/?A2ʆ?2;?2a]ٱ2 :AHRS rotation from veh to nav: [[0.288240,-0.904028,-0.315675],[0.933090,0.339221,-0.119463],[0.215082,-0.260119,0.941317]]2Hr?@4Կ@?̵?$ˇ?`ɥп@E?i2ʆ?I25^;2CYNgByRIbDZVDZJyvl=%vJ=ٔv0Q-v>9xYx=z;FyzeDz"E~>QYQ 5em4Uu?Q 9em4U)UBYaye?Q Ie?UmHCIU%-;iU-;Um4yuBɮuaAu~Eii񐠹?AJi=ARi=Aji>@b5$Mt:|PG=k"@R)udɿ/XY t=a?Zibicj?sB@XGֺE#@Z A ?޿;=?2i:i2@"i`螊?*iBBi߇BiiCiBiAi2+@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504169 s, deltaX: 0.299999 m, approachRate: 0.595037 m/s, rangeRepo size: 4  Added new target pos. range: 11.851289 m, bearing: 295.870166 deg, lat: 36.779294 deg, lon: -121.859565 deg, deltaT: 0.504169 s, deltaX: 0.298771 m, approachRate: 0.592601 m/s, posRepo size: 4 jhVStarting intercept timer at range: 11.90 m.DNOT Ignoring new targets: 11.85 m.bhRhZh ProNav: ac range: 11.851289 m, nav range: 8.914888 m, bearing: 153.902661 deg, approach rate: 0.000000 m/s, LOS rate: 4.079163 deg/s, cmd heading: 44.663604 deg, new cmd heading: 49.732652 deg. BhBp>BBIBhBB =BBB;B-h,~?AFq?F?F^ٱF  ^AHRS rotation from veh to nav: [[0.304188,-0.896070,-0.323309],[0.927828,0.355601,-0.112614],[0.215879,-0.265719,0.939569]]FHw?Կ`Ű?`+?JԼ`?ѿ?iFq?IF+'^;DYfgByfIiMb@Mb@Mb@ 9Cl?:v?:v?Yd;?yT<T<&[A A);_AYQA) %;%4<bD5VD5yE=%M=ٔMƺQ-M>9QYQ=U;FyUpDUEU>YQ 5em4]?Q 9mm4])]BYms;?Q Em:ymd?Q Im?]HCI] ;i]T ;]`m4yuBɮ}IAy addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503551 s, deltaX: -0.299999 m, approachRate: -0.595767 m/s, rangeRepo size: 4 jhTStopped intercept timer at range: 11.60 m.DNOT Ignoring new targets: 11.85 m.bhRh=Zh= ProNav: ac range: 11.851289 m, nav range: 8.862285 m, bearing: 156.304584 deg, approach rate: -0.100590 m/s, LOS rate: 4.618900 deg/s, cmd heading: 49.732653 deg, new cmd heading: 56.940799 deg. BhF>HeadingCmd: 0.993804 target range: 11.851289 and range: 11.60 m.hi~?h*h"h hgfffddd-checking for new query: numPingsReceived=67, elapsed TxPingTime=33.770805jde@33'@Zdeِ?颭QuBɢ,Q) MWi)顱iA >A >AIIO?6h,4.ܠ?AYzgByzIbDVDy&m=%(=ٔQ->9!Y!=%;Fy%zD%E->)Q 55m4-?Q 9=m4-)-=BY9y9Q I=?-&ICI-:i-=:-Rm4yEBɮM%AMEiiimuѠ?AJim4ARim4Ajimz@bm]Y7q#r@[]lK@RmSZ濧k|"?[ Q?Zim3@bim<jm0)+[kIyu@Zmdb_횼* ]ejʮ?2im:im]"imܙ?*im(UBimzBiiimj‰iiimAimD@B<ABq>BB0IBhBBBBB;B $ܺM?YM 0AI M {M a^M [ I )M AIM &iM yֿM !M 'E@M ?M 'E@ M 㭪?)M B@IM 㭪ԑ I I M %?8_Z>?0? M K|?)M [~IM jiM 㭪I I  checking for new query: numPingsReceived=69, elapsed TxPingTime=34.575542A) I9 II OU >9Y=;FyDE>Q 5m4?Q 9m4)aBY/?Q E:y,?Q I?tICI;i;9m4yɮAiyi}A?AJi}G/ARi}G/Aji}3@b}$XHq@Z)cʤK%@R}kV?>$ܺM?Zi}jbi}㭪j}^crnM.?+Қ%@Z}v.x[ Ŀܚ?9?2i}?:i}ۿ"i}aH?*i}dBi}Bi}ܙ?iyiyi}?@i}F@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504060 s, deltaX: -0.300000 m, approachRate: -0.595168 m/s, rangeRepo size: 4  Added new target pos. range: 10.954906 m, bearing: 160.346150 deg, lat: 36.779303 deg, lon: -121.859595 deg, deltaT: 0.504060 s, deltaX: -0.298742 m, approachRate: -0.592672 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.95 m.bhRhZh ProNav: ac range: 10.954906 m, nav range: 7.414055 m, bearing: 177.722314 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 63.753689 deg, new cmd heading: 70.130876 deg. BhHeadingCmd: 1.224015 target range: 10.954906 and range: 11.00 m.h?h*h"h hgf!f!f!d)d)d)jd-&@Zd- !?uBɢ&e)! %?[i!)!!!i%?))I5?I1checking for new query: numPingsReceived=69, elapsed TxPingTime=34.779026ԡ?@ @@/0@D zD AA^A 3>E  E E *E "E ;*E *:VE (N4ZE a @a @a @a @ A I I O >KDh,,?A2DDAT read: Rx Time:03:27:01.2684 2TRx dataTimestamp_ set to:1761535620.2806356PDAT read: Bearing 301.8, -34.8 (Local) :~Local bearing/azimuth received: Bearing 301.8, -34.8 (Local) BDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.2 RDAT read: 03:27:01.2684 LVL= 19008, 18065, 18594, 27251, AGC= 63, IDX= 507, 0.07, 0.667, 0.924, 1.636, 2.469, PHS=-1.700,-1.500,-0.877, RAW= 223.5, 62.7, CAL= 223.9, 68.0, ROT= 286.1, -68.0 VYgot valid direction response: 03:27:01.2684 LVL= 19008, 18065, 18594, 27251, AGC= 63, IDX= 507, 0.07, 0.667, 0.924, 1.636, 2.469, PHS=-1.700,-1.500,-0.877, RAW= 223.5, 62.7, CAL= 223.9, 68.0, ROT= 286.1, -68.0 ZT#Rx 70: Read range and direction messages.^^direction in FSK: [0.103884,-0.359914,0.927184]^Fpublishing direction and range infoy021$?׿x@p}?Y002@J2F2H 2sj)2?I2ٿi22`2y@2?2Dz@ 2?)2ɟ@I2闿002VVUF?Vp? 2(?)2!I2i2闿00nchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.046741vZw?v?v"Jaٱv AHRS rotation from veh to nav: [[0.367815,-0.868495,-0.332309],[0.903927,0.417801,-0.091422],[0.218239,-0.266756,0.938729]]vHG?Dտ@?A?`sg`??ѿ@ ?ivZw?Iv^;vCYhByI@A)bDVDy<%<=ٔ?Q->9Y=;FyD_&E>Q 5m4#?Q 9m4~)BYy?Q I?ICI:iq:jm4y-Bɮ-A-vErG 9 Y Ai0i2?AJi0Ri0ji20@b22Hh5?¹~P$@R21$?׿x@p}?Zi2bi2闿j28?]x^P%@Z2U{ڥ?x¿h9W?2i2 ƿ:i2g>"i2aJ?*i20Bi2Bi2aH?i20i2߇Bi2e@i2u@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.954906 m, bearing: 286.815368 deg, lat: 36.779354 deg, lon: -121.859612 deg, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.95 m.bhRhZh ProNav: ac range: 10.954906 m, nav range: 2.396822 m, bearing: 220.205080 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 70.130873 deg, new cmd heading: 76.500477 deg. Bh=HeadingCmd: 1.335185 target range: 10.954906 and range: 11.00 m.h=Y?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU}?Y颽uBɢsg) ]i)iBBOIB iBBBBB;BA-Kh,.?A6r?6RQ?6taٱ6F >AHRS rotation from veh to nav: [[0.383836,-0.861864,-0.331452],[0.897202,0.432988,-0.086885],[0.218398,-0.264030,0.939463]]6HŐ?c6տ?`?>u?п?i6r?I6];4YF=hByFIXiMb@Mb@Mb@ 9y&1?+y&1Y`%?y`erAVA tA)YAỲAbD-VD-0y=Ȝ=%=F=ٔEdϹQ-E>9E ?YE ?=M;FyMDM1DDAT read: Rx Time:03:27:01.7681 TRx dataTimestamp_ set to:1761535620.784638PDAT read: Bearing 290.9, -26.1 (Local) ~Local bearing/azimuth received: Bearing 290.9, -26.1 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.2 DAT read: 03:27:01.7681 LVL= 13792, 16609, 21586, 24483, AGC= 58, IDX= 505,-0.20,-2.905,-3.136,-2.029,-1.134, PHS=-1.669,-1.957,-0.938, RAW= 194.1, 60.6, CAL= 192.8, 66.8, ROT= 317.2, -66.8 Ygot valid direction response: 03:27:01.7681 LVL= 13792, 16609, 21586, 24483, AGC= 58, IDX= 505,-0.20,-2.905,-3.136,-2.029,-1.134, PHS=-1.669,-1.957,-0.938, RAW= 194.1, 60.6, CAL= 192.8, 66.8, ROT= 317.2, -66.8 T#Rx 71: Read range and direction messages.^direction in FSK: [0.289047,-0.267660,0.919135]Fpublishing direction and range infoy7("?˸X!ѿi?Y(A5@RT _):Iˡտi~ pX@a?\W@ ;?)m(@I;nT;?F:?d? DŽ?)XIm;?i;checking for new query: numPingsReceived=71, elapsed TxPingTime=35.550606EM>QQ 5Um4U#.?Q 9]m4U)UBY]%?Q E]:y]?Q I]?UJCIU:iU7:Um4yɮrAii72?AJiO'ARiO'Aji?b-ȭZ..@yy*d~g9#@R7("?˸X!ѿi?Zim;?bi;jpR?i?4F?b#t$@ZHu3c?$}}F?42?2i4*?:i>"iN?*i3}rBiBiaJ?iiBi?inќ@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504003 s, deltaX: -0.500000 m, approachRate: -0.992058 m/s, rangeRepo size: 4 M Added new target pos. range: 10.456946 m, bearing: 59.813826 deg, lat: 36.779375 deg, lon: -121.859612 deg, deltaT: 0.504003 s, deltaX: -0.497960 m, approachRate: -0.988010 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 10.46 m.bhQRhQZhQ ProNav: ac range: 10.456946 m, nav range: 1.827256 m, bearing: 280.781703 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 76.500475 deg, new cmd heading: 82.199462 deg. BhHeadingCmd: 1.434651 target range: 10.456946 and range: 10.50 m.h?h*h"h hgfffd9dAdAjdE%@ZdE`b?颵/vBɢo) _i)iI?I @@ @@0@ M checking for new query: numPingsReceived=71, elapsed TxPingTime=35.787132A ^A A- ؟AIQ i Ii O >sRh,-?K?AE> E>E>*E<"E>a;*E>B:VE>(N4ZE=ٔrQ-r>9r"?Yr"?=r;FyvDv2Ev>xQ 5~m4z8?Q 9~m4z~)zBYy?Q I?zFJCIz;iz;zm4y Bɮ aA -B*** querying acoustic contact ***i) i)jhDNOT Ignoring new targets: 10.46 m.bhRh3Zh3 ProNav: ac range: 10.456946 m, nav range: 2.029922 m, bearing: 276.322523 deg, approach rate: 0.508319 m/s, LOS rate: -10.057560 deg/s, cmd heading: 82.199462 deg, new cmd heading: 70.341911 deg. Bh׾HeadingCmd: 1.227698 target range: 10.456946 and range: 10.50 m.h5%?h*h"h hgfffdddjd Zd QG?}ZvBɢ} )}.< }`iy)y顁iI5%?I }DDAT read: Rx Time:03:27:02.2681 TRx dataTimestamp_ set to:1761535621.289872PDAT read: Bearing 299.8, -26.9 (Local) ~Local bearing/azimuth received: Bearing 299.8, -26.9 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.1 DAT read: 03:27:02.2681 LVL= 16048, 15793, 17330, 26851, AGC= 60, IDX= 505,-0.17, 0.251, 0.314, 0.919, 1.866, PHS=-1.513,-1.507,-0.991, RAW= 210.5, 69.9, CAL= 209.5, 74.1, ROT= 300.5, -74.1 Ygot valid direction response: 03:27:02.2681 LVL= 16048, 15793, 17330, 26851, AGC= 60, IDX= 505,-0.17, 0.251, 0.314, 0.919, 1.866, PHS=-1.513,-1.507,-0.991, RAW= 210.5, 69.9, CAL= 209.5, 74.1, ROT= 300.5, -74.1 T#Rx 72: Read range and direction messages. >@ @@]1@^direction in FSK: [0.139045,-0.236051,0.961741]Fpublishing direction and range infoyy}iF8?AA6οٝ?YyyPExceeded connect timeout, disconnecting.^A;>}>}=}C }h)}<I}i}`}-}}y!k@}y(?}j@ }~?)}ԧ@I}~yy}qO5(0l“? ) ? }W?)}&I}섿i}~yychecking for new query: numPingsReceived=72, elapsed TxPingTime=36.1073049A1I9IIOUu>a A @AA @AB n>B B nIB 9IYI=U;FyUDUQEU>YQ 5em4]E?Q 9em4]w)]BYm^?Q Em:ymf?Q Im?]JCI]*:i]:]m4yqɮ} AyiiCR?AJiRiji=z@b1<<ӀC?Fh8R$@RiF8?AA6οٝ?Zi섿bi~jZӤX`%W6I$@ZX6 DwHlM?2iI:i$"iJ?*iDsBiBiJ?iDsiBi/e?i=z@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.505234 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.456920 m, bearing: 224.028077 deg, lat: 36.779368 deg, lon: -121.859594 deg, deltaT: 0.505234 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.46 m.bhRhZh ProNav: ac range: 10.456920 m, nav range: 0.895253 m, bearing: 224.028080 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 70.341912 deg, new cmd heading: 54.545565 deg. BhHeadingCmd: 0.952000 target range: 10.456920 and range: 10.50 m.hAs?h*h"h hgff f d d djdZd N?EvBɢE[)Mz< MbiI)IIIiM&<DDAT read: Rx Time:03:27:02.7680 TRx dataTimestamp_ set to:1761535621.792802PDAT read: Bearing 325.3, -22.5 (Local) ԑ~Local bearing/azimuth received: Bearing 325.3, -22.5 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.1 DAT read: 03:27:02.7680 LVL= 18656, 17137, 20338, 31187, AGC= 62, IDX= 503, 0.12, 1.186, 1.783, 1.487, 3.002, PHS=-1.714,-1.174,-1.559, RAW= 313.8, 73.0, CAL= 314.1, 74.6, ROT= 195.9, -74.6 Ygot valid direction response: 03:27:02.7680 LVL= 18656, 17137, 20338, 31187, AGC= 62, IDX= 503, 0.12, 1.186, 1.783, 1.487, 3.002, PHS=-1.714,-1.174,-1.559, RAW= 313.8, 73.0, CAL= 314.1, 74.6, ROT= 195.9, -74.6 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.255396,-0.072752,0.964095]Fpublishing direction and range infoy\ jXп/lן?Yf&AHBrO y)>IZdۿiEPǿLB@e?2m@ r?)Z@Ir|3f3ҿ W籿5!˘? G9)=I-M7irchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.559734iM>/?QUÖq=IUAs?IQ ?@  @ @ /@ @ C>@ J> ^A 6V>A >A >A .AI I) O= > ^h,U~?ABd?B'?B`ٱBvX ^AHRS rotation from veh to nav: [[0.434878,-0.838124,-0.329287],[0.873825,0.481102,-0.070503],[0.217510,-0.257079,0.941594]]BH` ? տ``?^? u a?sп!?iBd?IBD];BCYfhByf IbD]VD]ܲym>%=ٔ3:Q- ?9 ?Y ?=;FyDE ?Q 5n4@M?Q 9n4s)BYy?Q I?JCI;i:; n4yɮ҂Achecking for new query: numPingsReceived=73, elapsed TxPingTime=36.795025iiEr?AJi%ARi%Ajiw@b(:vk)djh#@R\ jXп/lן?Zi-M7birjtZgQ "B+ "@Z#v׿JԿꍹ?2i0X:is"is ?*iiBiVBiiii?iv|@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.502930 s, deltaX: -0.100000 m, approachRate: -0.198836 m/s, rangeRepo size: 4  Added new target pos. range: 10.357329 m, bearing: 221.583683 deg, lat: 36.779368 deg, lon: -121.859594 deg, deltaT: 0.502930 s, deltaX: -0.099590 m, approachRate: -0.198020 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.36 m.bhRhZh ProNav: ac range: 10.357329 m, nav range: 1.050952 m, bearing: 226.014792 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 54.545566 deg, new cmd heading: 45.861015 deg. Bh-HeadingCmd: 0.800426 target range: 10.357329 and range: 10.40 m.h5L?h1*h1"h9 h9gafifqfydddjd$@ZdU?vBɢ)ܧ< bi)i.A% ؟AI1 IA OU >[fh,2?Av_?vn?v~_ٱv AHRS rotation from veh to nav: [[0.452102,-0.829751,-0.327288],[0.865286,0.497061,-0.064895],[0.216529,-0.253859,0.942694]]vH`9"?Y"?=;FyD6E>Q 5n4:Y?Q 9n4m)BYyz?Q I?KCI:iI:0n4yBɮvAnEii?AJi"ARi"Aji#/s@b BBIByiBBBBB;B+ DDAT read: Rx Time:03:27:03.7678  TRx dataTimestamp_ set to:1761535622.802149 PDAT read: Bearing 325.7, -1.5 (Local)  ~Local bearing/azimuth received: Bearing 325.7, -1.5 (Local)  DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0  DAT read: 03:27:03.7678 LVL= 19232, 11505, 21330, 25235, AGC= 60, IDX= 501, 0.49,-0.702,-0.480,-1.279, 0.895, PHS=-1.495,-1.330,-2.218, RAW= 19.9, 65.3, CAL= 19.1, 68.1, ROT= 130.9, -68.1 % Ygot valid direction response: 03:27:03.7678 LVL= 19232, 11505, 21330, 25235, AGC= 60, IDX= 501, 0.49,-0.702,-0.480,-1.279, 0.895, PHS=-1.495,-1.330,-2.218, RAW= 19.9, 65.3, CAL= 19.1, 68.1, ROT= 130.9, -68.1 % T#Rx 75: Read range and direction messages.- ^direction in FSK: [-0.244210,0.281924,0.927836]- Fpublishing direction and range infoy  +0 ZHBϿ ?,Oհ?Y !A K , RS b) <I )\i q= ӱ> ? 㭪> #?) y7@I # ٟM&̥p~=Gڿy֩? ߿) I y7@i # u checking for new query: numPingsReceived=75, elapsed TxPingTime=37.569862 A I I O >0mh,S?ABnZ?B?B\^ٱBA ZAHRS rotation from veh to nav: [[0.469025,-0.820295,-0.327309],[0.856503,0.512873,-0.058004],[0.215449,-0.253136,0.943135]]BH ??@Կxh? ti?@ғ? a3п).?iBnZ?IB}];BCYbhByb8IIf=)f9!Y)=-;Fy-D-!E->1Q 5=n45f?Q 9=n45h)5;BYE/?Q Ee:yer?Q Ie?5GKCI5A;i5;5M*n4yqɮu)AqiiiV?AJi ARi AjiT@b辦Hmjw@wu^"@R+0 ZHBϿ ?,Oհ?Ziy7@bi #jH-x!(c / L8@Z0 俴u'mODt?2in:i"iiN@?*iL1oBiBis ?iDsiVBi@i[@% addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504913 s, deltaX: -0.099999 m, approachRate: -0.198053 m/s, rangeRepo size: 4 5 Added new target pos. range: 10.058621 m, bearing: 190.330864 deg, lat: 36.779341 deg, lon: -121.859594 deg, deltaT: 0.504913 s, deltaX: -0.099529 m, approachRate: -0.197122 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 10.06 m.bh1Rh9ZhYm ProNav: ac range: 10.058621 m, nav range: 4.279634 m, bearing: 196.166154 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 32.435742 deg, new cmd heading: 18.187203 deg. BhiuHeadingCmd: 0.317427 target range: 10.058621 and range: 10.10 m.hu>hq*hq"hq hqgyfffdddjd@33$@ZdGt?+wBɢ_i) di)i%hI)checking for new query: numPingsReceived=75, elapsed TxPingTime=37.8035135`<>@ @@0@^Ar> E%  E% E% +E! "E% x;*E% y:VE% [4ZE! aE @aE @aE @aE @A1 I9 II OU >) qth,ѡ?A>U?>l?>60]ٱ>↾ FAHRS rotation from veh to nav: [[0.485861,-0.809815,-0.328844],[0.847350,0.528677,-0.049982],[0.214328,-0.254362,0.943061]]>H Y?` տ ~?@?7 o?wGп-?i>U?I>^;>CY^(iBy^bIbDjVDjyrN>%ru=ٔrFa;Q-r?9tYt=v;FyvDŽDztEz?|Q 5n4~8p?Q 9n4~5d)~TBYym?Q I?~vKCI~;i~;~5n4yBɮA-DDAT read: Rx Time:03:27:04.2679 -TRx dataTimestamp_ set to:1761535623.3048385PDAT read: Bearing 326.3, 3.8 (Local) =~Local bearing/azimuth received: Bearing 326.3, 3.8 (Local) MDAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 mDAT read: 03:27:04.2679 LVL= 12480, 13441, 20194, 20163, AGC= 58, IDX= 502, 0.26, 1.726, 1.850, 0.908,-3.133, PHS=-1.322,-1.256,-2.286, RAW= 26.7, 59.9, CAL= 25.6, 63.2, ROT= 124.4, -63.2 uYgot valid direction response: 03:27:04.2679 LVL= 12480, 13441, 20194, 20163, AGC= 58, IDX= 502, 0.26, 1.726, 1.850, 0.908,-3.133, PHS=-1.322,-1.256,-2.286, RAW= 26.7, 59.9, CAL= 25.6, 63.2, ROT= 124.4, -63.2 }T#Rx 76: Read range and direction messages.^direction in FSK: [-0.254731,0.372025,0.892586]Fpublishing direction and range infoy)-j*MпK?B?6 "?Y-3#A)-0-4-N -N)-:I-L7i-Ġ-M->-aх?-> -0?)- @I-0))-l!nj f'? -adп)-!I- @i-0))checking for new query: numPingsReceived=76, elapsed TxPingTime=38.075096i)i-wӡ?AJi-"ARi-"Aji-FN@b-mU;@韯W""@R-j*MпK?B?6 "?Zi- @bi-0j-x*o2oڵA^俆{#@Z-rki)SM!9D)?2i-%:i-"i-Q ?*i-l@uBi-Bi-n=?i)i-݃Bi-:@i-8oX@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502689 s, deltaX: 0.099999 m, approachRate: 0.198929 m/s, rangeRepo size: 4  Added new target pos. range: 10.158211 m, bearing: 185.072205 deg, lat: 36.779329 deg, lon: -121.859594 deg, deltaT: 0.502689 s, deltaX: 0.099589 m, approachRate: 0.198113 m/s, posRepo size: 4 jhVStarting intercept timer at range: 10.20 m.DNOT Ignoring new targets: 10.16 m.bhRhZh5 ProNav: ac range: 10.158211 m, nav range: 5.632090 m, bearing: 193.762195 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 18.187202 deg, new cmd heading: 7.605187 deg. Bh9=HeadingCmd: 0.132736 target range: 10.158211 and range: 10.20 m.h=>hA*hA"hA hAgAfAfIfIdidqdqjdu`ff$@ZduB;? VwBɢ @\)  bi)iv I!9B]<AYBaBaBeIBeiBBe =BaBaBe;Be J{h,l]?AJ8P?JS?J[ٱJ~ bAHRS rotation from veh to nav: [[0.501783,-0.799589,-0.329955],[0.838388,0.543455,-0.041982],[0.212884,-0.255565,0.943063]]JH`?<տ?c?~`??+[п-?iJ8P?IJd^;JCYRiBy|IQiMb@Mb@Mb@ 9K7?9Y=;FyфDE>Q 5 n4DDAT read: Rx Time:03:27:04.7678 TRx dataTimestamp_ set to:1761535623.808812-PDAT read: Bearing 325.4, 6.4 (Local) -~Local bearing/azimuth received: Bearing 325.4, 6.4 (Local) =DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0 eDAT read: 03:27:04.7678 LVL= 12960, 19537, 18418, 19523, AGC= 60, IDX= 501, 0.08,-2.658,-2.608, 2.727,-1.373, PHS=-1.183,-1.190,-2.227, RAW= 30.4, 57.4, CAL= 29.1, 61.0, ROT= 120.9, -61.0 mYgot valid direction response: 03:27:04.7678 LVL= 12960, 19537, 18418, 19523, AGC= 60, IDX= 501, 0.08,-2.658,-2.608, 2.727,-1.373, PHS=-1.183,-1.190,-2.227, RAW= 30.4, 57.4, CAL= 29.1, 61.0, ROT= 120.9, -61.0 mT#Rx 77: Read range and direction messages.u^direction in FSK: [-0.248970,0.415998,0.874620]uFpublishing direction and range infoy:=Ͽ7I%\?&?Y!A2QLG CL)<IliQ+?;?"? {F?) @I{FpƯi?fr>3? Pȿ)5I @i{Fchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.582970}?Q 9n4^)BY ?Q E:yj?Q I?KCIII?6=I@Iԩ checking for new query: numPingsReceived=77, elapsed TxPingTime=38.812283 = ?@A  @A @I @I @m >@m >^AM <E  E E +E "E a;*E ':VE [4ZE a @a @a @a @A.AIIO>vh,3?A2K?2?2Yٱ2\ :AHRS rotation from veh to nav: [[0.515942,-0.790690,-0.329564],[0.830172,0.556393,-0.035239],[0.211230,-0.255414,0.943475]]2H?UMտĐ?? @ ?`Xп 0?i2K?I2g^;0YBiByBI DDJ=HbDNVDNNyV">%V7=ٔZcx;Q-Z>9Z ?YZ ?=Z;FyZڄD^E^>`Q 5fn4bL?Q 9fn4bY)bBYhyjTf?Q Ij?bKCIb-:ib:b Wn4ylɮnπAl~B*** querying acoustic contact ***i| i|jh VStarting intercept timer at range: 10.10 m.-DNOT Ignoring new targets: 10.06 m.bh)Rh=fR=Zh=fR=M ProNav: ac range: 10.058653 m, nav range: 7.167388 m, bearing: 194.018158 deg, approach rate: 0.475469 m/s, LOS rate: 2.943141 deg/s, cmd heading: 352.241735 deg, new cmd heading: 355.680088 deg. BhM{=UHeadingCmd: 6.207788 target range: 10.058653 and range: 10.10 m.hU4@hQ*hQ"hQ hQgfffdddjd Zd h?Q}wBɢ}낾)}< }Sbiy)顁i"Bp>BBIB%jBBBBB;B ףp=?MbZd;?YE?yE@Ey=EAA EKA)EVTAAYEGuAbD]VD]ܲym.>%m%=ٔuQ-u>9qYy=};Fy}D}E}>Q 5n4L?Q 9n4S)քBY>?Q E:yu?Q I?:i"i'?*i􋈪KBioBi'?il@uioBi@iS@m addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503955 s, deltaX: 0.299999 m, approachRate: 0.595290 m/s, rangeRepo size: 4  Added new target pos. range: 10.357404 m, bearing: 177.560455 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.503955 s, deltaX: 0.298751 m, approachRate: 0.592813 m/s, posRepo size: 4 jhTStopped intercept timer at range: 10.40 m.DNOT Ignoring new targets: 10.36 m.bhRhZh ProNav: ac range: 10.357404 m, nav range: 7.515653 m, bearing: 189.693124 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 355.680079 deg, new cmd heading: 0.221697 deg. BhHeadingCmd: 0.003869 target range: 10.357404 and range: 10.40 m.h};h*h"h hgfffdddjd$@Zd?DDAT read: Rx Time:03:27:05.7679 TRx dataTimestamp_ set to:1761535624.816895PDAT read: Bearing 329.3, -4.2 (Local) ~Local bearing/azimuth received: Bearing 329.3, -4.2 (Local) DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.1 DAT read: 03:27:05.7679 LVL= 17984, 14545, 20322, 25667, AGC= 57, IDX= 502,-0.36, 2.508, 2.982, 2.132,-2.392, PHS=-1.282,-0.865,-1.804, RAW= 3.7, 59.7, CAL= 2.7, 62.8, ROT= 147.3, -62.8 Ygot valid direction response: 03:27:05.7679 LVL= 17984, 14545, 20322, 25667, AGC= 57, IDX= 502,-0.36, 2.508, 2.982, 2.132,-2.392, PHS=-1.282,-0.865,-1.804, RAW= 3.7, 59.7, CAL= 2.7, 62.8, ROT= 147.3, -62.8 T#Rx 79: Read range and direction messages.^direction in FSK: [-0.384653,0.246943,0.889416] Fpublishing direction and range infoyw'ؿ4қ?,Ev?Y3#A@F8bO Cd)9Iip]y濩 A=^?A= K?)"$@IKQ̿ܿ|? I)I]};IY =@  @ @ 0@ @@! ^A ^h,G?A8nzC?n {?nTٱnP&v ~AHRS rotation from veh to nav: [[0.542778,-0.780933,-0.309089],[0.814212,0.579544,-0.034452],[0.206036,-0.232964,0.950409]]nH@p^?`f ӿ`?ࠋ?`a_?Ϳi?inzC?In^;nCYUjByIbD5VD5P)yMl>%UB=ٔ]M9]"?Y]"?=e;FyeDmEu>yQ 5n4}?Q 9n4}O)}BYyl?Q I?}wLCI}q;i}bt;}Nwn4yBɮ~AfEi!i%H4?AJi%"ARi%"Aji%/[@b%gOgUBX}Yh@p"@R%w'ؿ4қ?,Ev?Zi%"$@bi%Kj%TV}NO|@Z%Ly.忹ɿɸC?2i%}:i%"i%_?*i%Bi%Bi!i!i!i%@i%6U@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504128 s, deltaX: -0.200000 m, approachRate: -0.396724 m/s, rangeRepo size: 4 EU EUEU)EQ"EU;*EU:VEUFA4ZEQa]@a]@a]@a]@ Added new target pos. range: 10.158223 m, bearing: 196.524750 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.504128 s, deltaX: -0.199181 m, approachRate: -0.395099 m/s, posRepo size: 4 jhVStarting intercept timer at range: 10.20 m.DNOT Ignoring new targets: 10.16 m.bhRhZh ProNav: ac range: 10.158223 m, nav range: 7.685484 m, bearing: 190.876422 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 0.221697 deg, new cmd heading: 3.856258 deg. BhHeadingCmd: 0.067304 target range: 10.158223 and range: 10.20 m.h։=h*h"h hgfffdddjd`ff$@Zd?U+xBɢUIm։=Iiԡ};@y @y@y@yiIA DDAT read: Rx Time:03:27:06.2680 TRx dataTimestamp_ set to:1761535625.322190%PDAT read: Bearing 344.1, -32.6 (Local) %~Local bearing/azimuth received: Bearing 344.1, -32.6 (Local) =DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1 eDAT read: 03:27:06.2680 LVL= 12416, 13649, 17266, 20851, AGC= 58, IDX= 503,-0.04,-1.681,-0.493,-1.096,-0.151, PHS=-1.428,-0.297,-0.989, RAW= 307.3, 44.2, CAL= 308.6, 48.6, ROT= 201.4, -48.6 mYgot valid direction response: 03:27:06.2680 LVL= 12416, 13649, 17266, 20851, AGC= 58, IDX= 503,-0.04,-1.681,-0.493,-1.096,-0.151, PHS=-1.428,-0.297,-0.989, RAW= 307.3, 44.2, CAL= 308.6, 48.6, ROT= 201.4, -48.6 uT#Rx 80: Read range and direction messages.}`direction in FSK: [-0.615718,-0.241297,0.750111]}Fpublishing direction and range infoy  շG Mο?Y f&A  0 Q5 rC sQ) :I ȶi b /} @ |E? Z@ %Y?) I`@I %Y   )y>֚dCL? @) L_EI l(1i %Y  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.091560^A< i>ѐCm+G鉿9Y/|AIIO > B B B OIB jBB =B B B ;B AHRS rotation from veh to nav: [[0.545935,-0.783583,-0.296567],[0.812361,0.581679,-0.041467],[0.205000,-0.218281,0.954111]]6H@Lx?@ҿ@??.;p=?˿@?i6B?I6^^;6CYRjByRDIIV<)V4=TVAbD^ VD^2yf+>%fT=ٔf04;Q-f>9hYh=j;FyjDn2En>lpQ 5vn4r?Q 9vn4rJ)r#BYxyz~k?Q Iz?rLCIr$:ir:rn4y|ɮ}AiAiEÞT?AJiE%ARiE%AjiE@bEH^a F@REշG Mο?ZiEl(1biE%YjEz0vP x^>}@ZE0H׿}h#~-d?2iE:iEt"iED+k?*iEBiEBiAiAiEBiE@iE6YV@M addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505295 s, deltaX: 0.200000 m, approachRate: 0.395808 m/s, rangeRepo size: 4 echecking for new query: numPingsReceived=80, elapsed TxPingTime=40.323120m Added new target pos. range: 10.357384 m, bearing: 241.181503 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.505295 s, deltaX: 0.199161 m, approachRate: 0.394147 m/s, posRepo size: 4 jhiDNOT Ignoring new targets: 10.36 m.bhRhZh ProNav: ac range: 10.357384 m, nav range: 7.842445 m, bearing: 191.894743 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 3.856258 deg, new cmd heading: 7.212839 deg. BhHeadingCmd: 0.125888 target range: 10.357384 and range: 10.40 m.h>h*h"h hgyfffdddjd$@ZdD?颵YxBɢs) \i)i8&<i-#)?)5 >I5>I1E EE/E"E;?@ @@/0@*EB:VEJ4ZEBE]i 6h, {?A2fB?2D=z?2 Rٱ2nW :AHRS rotation from veh to nav: [[0.547280,-0.786939,-0.284976],[0.811574,0.582185,-0.049076],[0.204529,-0.204421,0.957277]]2HQ?.` =ҿj? B? .? w*ʿ@?i2fB?I2oT^;0Y^jBy^}I9iMb@Mb@Mb@ 9Zd;?Mb`~jt?Y?y=KAMA A)QAYqAbDVDy N>% 8=ٔ ȍ:Q- >9Y=;FyD5hE5>9Q 5En4=¹?Q 9En4=D)=PBYM) ?Q EM:yM?Q IM?=LCI=X:i=:=_n4yuBɮu<|A}gEiIiM~t?AJiM"ARiM"AjiM@bM1NJ2B!@RMYש5߿Gyǖy#?ZiML39biM0jMƏT5`(@ZM?qڿF7mRZM<?2iMɥ:iM@"iMFWU?*iMBiMńBiM_?iMiMoBiMh@iMY ^@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502608 s, deltaX: -0.200000 m, approachRate: -0.397924 m/s, rangeRepo size: 4 % Added new target pos. range: 10.158204 m, bearing: 230.792260 deg, lat: 36.779322 deg, lon: -121.859593 deg, deltaT: 0.502608 s, deltaX: -0.199180 m, approachRate: -0.396292 m/s, posRepo size: 4 jh%-TStopped intercept timer at range: 10.20 m.-DNOT Ignoring new targets: 10.16 m.bhiRhiZhq} ProNav: ac range: 10.158204 m, nav range: 7.543954 m, bearing: 198.780928 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 7.212839 deg, new cmd heading: 11.270648 deg. BhyHeadingCmd: 0.196710 target range: 10.158204 and range: 10.20 m.hSnI>h*h"h hgfffdddjd`ff$@Zd@?MxBɢM{m)I M^YiI)QQQiUZ'checking for new query: numPingsReceived=81, elapsed TxPingTime=40.829308ԑIԱEu EuEu(Eq"Eu;*Eu :VEuc44ZEqa}@a}@a}@a}@d< >@  @ @ 0@ @ >@ = ^A] >I I O >% DDAT read: Rx Time:03:27:07.2681 % TRx dataTimestamp_ set to:1761535626.3287725 PDAT read: Bearing 323.9, -20.7 (Local) 5 ~Local bearing/azimuth received: Bearing 323.9, -20.7 (Local) E DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.1 h,p?ADAT read: 03:27:07.2681 LVL= 11760, 16033, 26866, 16099, AGC= 59, IDX= 503, 0.29, 1.691, 2.573, 2.063,-2.553, PHS=-1.937,-1.112,-1.711, RAW= 314.6, 66.3, CAL= 315.0, 68.6, ROT= 195.0, -68.6 Ygot valid direction response: 03:27:07.2681 LVL= 11760, 16033, 26866, 16099, AGC= 59, IDX= 503, 0.29, 1.691, 2.573, 2.063,-2.553, PHS=-1.937,-1.112,-1.711, RAW= 314.6, 66.3, CAL= 315.0, 68.6, ROT= 195.0, -68.6 "T#Rx 82: Read range and direction messages.&`direction in FSK: [-0.352444,-0.094437,0.931056]&Fpublishing direction and range infoyQUƯ1qֿY-5?YU(AQU-U>Uh U>)QIUiUVU ۿU@U?U@ U@?)U-Y@IU@QQVe+B?Vz?VCSٱVh7L ^AHRS rotation from veh to nav: [[0.547977,-0.789451,-0.276565],[0.811023,0.582380,-0.055461],[0.204850,-0.193909,0.959393]]U(Otؿ7M? Us8)U#IUN8iU@QQfchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.111122VH?.C?ѿ?ڢ?ee8?ȿY?iVe+B?IV&^;VCYn@kBynIbDvVDvNy~lO>%~]=ٔ~hQ->9Y=;FyD C"E >Q 5n4Þ?Q 9n4@)vBYy?Q I?(MCIx{ oЙ~Q~x#@RUƯ1qֿY-5?ZiUN8biU@jU>Unu`0naj/!@ZU؀ؿMP^RٿR.?2iUT:iU{"iU?x?*iUyBiU.BiUFWU?iUyiUBiU;@iU y@U addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503974 s, deltaX: 0.300000 m, approachRate: 0.595269 m/s, rangeRepo size: 4 e Added new target pos. range: 10.456975 m, bearing: 226.222453 deg, lat: 36.779348 deg, lon: -121.859609 deg, deltaT: 0.503974 s, deltaX: 0.298771 m, approachRate: 0.592830 m/s, posRepo size: 4 jhemVStarting intercept timer at range: 10.50 m.mDNOT Ignoring new targets: 10.46 m.bhiRhqZhq ProNav: ac range: 10.456975 m, nav range: 5.975991 m, bearing: 223.374690 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 11.270648 deg, new cmd heading: 14.609894 deg. BhHeadingCmd: 0.254991 target range: 10.456975 and range: 10.50 m.h&>h*h"h hgf ffdddjd%@Zd,?mxBɢqNv) NWi)顑i^)I&>IBBBIBVkBBBBB;B;EDDAT read: Rx Time:03:27:07.7680 TRx dataTimestamp_ set to:1761535626.589690PDAT read: Bearing 321.3, -22.5 (Local) ~Local bearing/azimuth received: Bearing 321.3, -22.5 (Local) checking for new query: numPingsReceived=82, elapsed TxPingTime=41.346783 FΞ< ?@  @ @ 0@ ^A d/>I Iq E  E E ,E "E ;*E ^:VE g4ZE BE e=Gh,M?AEA?Ey?E.TٱEdF UAHRS rotation from veh to nav: [[0.549431,-0.789807,-0.272635],[0.809831,0.583698,-0.058915],[0.205668,-0.188419,0.960312]]EH?Frѿ "??*@US?@ȿ ?iEA?IEA7^;ECYkByI ==iMb@Mb@Mb@ 9oʡ?Q?MbX9?Y-?y\=ʡ=AOA A)NAYnAbDVD:yl >%0=ٔQ->DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1  DAT read: 03:27:07.7680 LVL= 10512, 14353, 22306, 14419, AGC= 57, IDX= 503,-0.07,-0.326, 0.615, 0.194, 1.940, PHS=-2.164,-1.281,-1.790, RAW= 305.1, 67.5, CAL= 305.9, 69.7, ROT= 204.1, -69.7 5Ygot valid direction response: 03:27:07.7680 LVL= 10512, 14353, 22306, 14419, AGC= 57, IDX= 503,-0.07,-0.326, 0.615, 0.194, 1.940, PHS=-2.164,-1.281,-1.790, RAW= 305.1, 67.5, CAL= 305.9, 69.7, ROT= 204.1, -69.7 5T#Rx 83: Read range and direction messages.=`direction in FSK: [-0.316695,-0.141664,0.937889]=Fpublishing direction and range infoyvDԿ"H5"¿kϞ/?Yf&A)8"W S8)9I~ i忩ff@˖?ت@ ?)]c@IQ Nlؿ)l? ɉ? amC)eIX$.i]checking for new query: numPingsReceived=83, elapsed TxPingTime=41.5997549aYa=e;FyeDm&Em>qQ 5}n4uО?Q 9}n4u8)uBY}v.?Q E:y?Q I?uxMCIua:iu:un4yBɮ zAii6?AJi%ARi%Aji@b̋fw= ivy+Zm#@RvDԿ"H5"¿kϞ/?ZiX$.bij<U x_'W') _!@Z)WԿ3>ٿV W?2i:iR"iVW?*i^Z_BiBiD+k?iińBi @iO|@% addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.502701 s, deltaX: -0.100000 m, approachRate: -0.198926 m/s, rangeRepo size: 4 U Added new target pos. range: 10.357414 m, bearing: 231.138398 deg, lat: 36.779351 deg, lon: -121.859609 deg, deltaT: 0.502701 s, deltaX: -0.099561 m, approachRate: -0.198052 m/s, posRepo size: 4 jhU]TStopped intercept timer at range: 10.40 m.]DNOT Ignoring new targets: 10.36 m.bhYRhaZha ProNav: ac range: 10.357414 m, nav range: 6.095117 m, bearing: 225.880670 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 14.609894 deg, new cmd heading: 18.713209 deg. BhHeadingCmd: 0.326607 target range: 10.357414 and range: 10.40 m.h 9>h*h"h hgfffdddjd$@Zd`t$?=xBɢ=A^A)9 eUia)aaaieQ)iqIu 9>Iqyyyyq DDAT read: Rx Time:03:27:08.2682  TRx dataTimestamp_ set to:1761535627.088552 PDAT read: Bearing 320.5, -23.6 (Local)  ~Local bearing/azimuth received: Bearing 320.5, -23.6 (Local) @  @ @ 0 checking for new query: numPingsReceived=83, elapsed TxPingTime=41.845581@ ԡ bEg4jEb4rE(0E EEE"EI;*EVEZEa@a@a@a@^A8>II)O5? h,rOѢ?A4<ɰ4<6@?6Hrx?6WUٱ6h2H >AHRS rotation from veh to nav: [[0.552676,-0.786747,-0.274913],[0.807321,0.587286,-0.057687],[0.206838,-0.190061,0.959737]]6H?-`-ѿ`? ?'y? Sȿ@*?i6@?I6I^;6CYFkByF IbDNVDN:yV$>%V1=ٔZk)Q-Z>9XYX=^;Fy^D^E^>`Q 5fn4bܞ?Q 9fn4b^2)bمBYhyj ?Q Ij?bMCIb:ib:bn4ylɮnxAl~B*** querying acoustic contact ***i| i|jh  VStarting intercept timer at range: 10.40 m. DNOT Ignoring new targets: 10.36 m.bhRh'<Zh'<% ProNav: ac range: 10.357414 m, nav range: 6.374595 m, bearing: 226.511572 deg, approach rate: 0.648575 m/s, LOS rate: 1.399891 deg/s, cmd heading: 18.713209 deg, new cmd heading: 20.522297 deg. Bh-.p=-HeadingCmd: 0.358182 target range: 10.357414 and range: 10.40 m.h-c>h)*h1"h1 h1g1f1f9f9d9ԹddjdZd?DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.1 5DAT read: 03:27:08.2682 LVL= 10368, 12081, 21666, 14723, AGC= 56, IDX= 505,-0.38, 0.445, 1.449, 1.055, 2.841, PHS=-2.294,-1.347,-1.830, RAW= 300.7, 67.0, CAL= 301.7, 69.3, ROT= 208.3, -69.3 =Ygot valid direction response: 03:27:08.2682 LVL= 10368, 12081, 21666, 14723, AGC= 56, IDX= 505,-0.38, 0.445, 1.449, 1.055, 2.841, PHS=-2.294,-1.347,-1.830, RAW= 300.7, 67.0, CAL= 301.7, 69.3, ROT= 208.3, -69.3 ET#Rx 84: Read range and direction messages.M`direction in FSK: [-0.311227,-0.167578,0.935444]MFpublishing direction and range infoyB"ӿD4sſ`RT(?Y3+A(1/T 9)8Iijq=꿩L@?F@ Tњ?)`h@ITњHhؿZ*Prҭ&v? RH)IUs)iTњmchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.099823颭yBɢ$`) TTi)顱i*Ic>Im@@i @q@u0@q@y@y^AM;>AIIBA<Bs>BB$IBlBB =BBB;B;EO> DDAT read: Rx Time:03:27:08.7681  TRx dataTimestamp_ set to:1761535627.591695 DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.2  Z#Rx 85: Read range message, but no direction.y Y (A  checking for new query: numPingsReceived=85, elapsed TxPingTime=42.345692A s>h,Yꢹ?A:??:v?:aVٱ:=|N RAHRS rotation from veh to nav: [[0.557381,-0.781342,-0.280770],[0.803752,0.592562,-0.053416],[0.208110,-0.195897,0.958287]]:H@?$ѿU?D?GYV?'ɿ`J?i:??I:^;:CE EE*E"E ;*EB:VE(N4ZEBEv%+=ٔ2Q->9 Y = ;Fy-"D5IME5>9Q 5En4=꞊?Q 9En4=H+)= BYAyEZ?Q IE?=NCI=:i=:=On4yuBɮuGwAu^EiiU墹?AJiP'ARiP'Aji@bV_E kS s8Kf#@RB"ӿD4sſ`RT(?ZiUs)biTњjaOˇ +9x"@Zԡӿu ٿF@aة?2i:i>L"i2ݝ?*i$Bi'Bi?x?ii.Bi_@i~@} addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.760222 s, deltaX: 0.100000 m, approachRate: 0.131541 m/s, rangeRepo size: 4  Added new target pos. range: 10.457099 m, bearing: 232.617767 deg, lat: 36.779352 deg, lon: -121.859609 deg, deltaT: 0.760222 s, deltaX: 0.099685 m, approachRate: 0.131126 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.46 m.bhRhZh-checking for new query: numPingsReceived=85, elapsed TxPingTime=42.5909925 ProNav: ac range: 10.457099 m, nav range: 6.574115 m, bearing: 228.113027 deg, approach rate: 0.000000 m/s, LOS rate: 1.399891 deg/s, cmd heading: 20.522297 deg, new cmd heading: 22.675203 deg. Bh1=HeadingCmd: 0.395757 target range: 10.457099 and range: 10.50 m.h=>h9a*h9"hy hgfffdddjd%@Zdn?5WyBɢ=!N)=E< =Si9)99AiE*IIIM>IIԑM ?@I  @I @M 0@I ^A% (q>Թ AQ I I  DDAT read: Rx Time:03:27:09.2683  TRx dataTimestamp_ set to:1761535628.092907 DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2  Z#Rx 86: Read range message, but no direction.y Y ,A  checking for new query: numPingsReceived=86, elapsed TxPingTime=42.847023O >|h,<?A24$=?2t?2Xٱ2W :AHRS rotation from veh to nav: [[0.563245,-0.774086,-0.289042],[0.799318,0.599083,-0.046809],[0.209394,-0.204672,0.956171]]2H? P`ҿ?+?Mm?2ʿ?i24$=?I2^;0YB`lByB]II =) <iMb@Mb@Mb@ 9x?sh|??V-?YK7?y=h=7ANA MA)LAYjAbDVD:yy >%C=ٔMQ->9Y=;Fy*DE>Q 5n4=?Q 9n4$)7BYj9?Q E:y5?Q I?\NCIT:i:n4yBɮvA_E addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.501212 s, deltaX: 0.300000 m, approachRate: 0.598549 m/s, rangeRepo size: 4 jhTStopped intercept timer at range: 10.80 m.DNOT Ignoring new targets: 10.46 m.bhRh<Zh<DzD@AE% E%E!E!"E%a;*E%˭:VE!ZE!a-@a-@a-@a-@= ProNav: ac range: 10.457099 m, nav range: 6.853357 m, bearing: 228.722364 deg, approach rate: 0.701029 m/s, LOS rate: 1.467369 deg/s, cmd heading: 22.675204 deg, new cmd heading: 24.428152 deg. BhE{=EHeadingCmd: 0.426352 target range: 10.457099 and range: 10.80 m.hEJ>hI*hI"hI hIgIfIfQfqdqdqdyjd}%@Zd}!V?yBɢ:Ot)< Qi)ifk+QQIUJ>IYa@a @a@e0@ichecking for new query: numPingsReceived=86, elapsed TxPingTime=43.097008^A=̓>QAi Iy I O >i h, ?A::?:r?:|Yٱ:Hd FAHRS rotation from veh to nav: [[0.570104,-0.764982,-0.299639],[0.794002,0.606711,-0.038243],[0.211049,-0.216111,0.953286]]:HK>? z H-ӿ@wh?,j?? ˿Q?i::?I:^;:CYNlByNIbDVVDVN2y^%N>%^t=ٔbQ-b?9`Y`=f;Fyf1DfؼEf?hQ 5nn4Brr>BpBrIBrlBBr =BpBpBr;Br;Ej_?Q 9~n4j)jZBY|y0?Q I?jNCIj;ijv;j~n4y ɮ suA jh15DNOT Ignoring new targets: 10.46 m.bh1Rh=<Zh=<M ProNav: ac range: 10.457099 m, nav range: 7.080222 m, bearing: 229.165486 deg, approach rate: 0.703207 m/s, LOS rate: 1.329506 deg/s, cmd heading: 24.428151 deg, new cmd heading: 25.714691 deg. BhMd=UHeadingCmd: 0.448806 target range: 10.457099 and range: 10.80 m.hU>hQ*hQ"hQ hQgYfafafadadidijdiZdmD?额yBɢ膾) Oi)顡if-I>IYDDAT read: Rx Time:03:27:09.7682 TRx dataTimestamp_ set to:1761535628.620496@ @@4@@R>@>MPDAT read: Bearing 315.0, -1.6 (Local) U~Local bearing/azimuth received: Bearing 315.0, -1.6 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.2 ԁDAT read: 03:27:09.7682 LVL= 14304, 20017, 27106, 22771, AGC= 60, IDX= 508, 0.23, 0.175, 0.358,-0.308, 1.944, PHS=-1.666,-1.540,-2.296, RAW= 21.0, 70.2, CAL= 20.4, 72.4, ROT= 129.6, -72.4 Ygot valid direction response: 03:27:09.7682 LVL= 14304, 20017, 27106, 22771, AGC= 60, IDX= 508, 0.23, 0.175, 0.358,-0.308, 1.944, PHS=-1.666,-1.540,-2.296, RAW= 21.0, 70.2, CAL= 20.4, 72.4, ROT= 129.6, -72.4 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.192738,0.232980,0.953191]Fpublishing direction and range infoyMȿQEI?ヲ?E] E]EYEY"E] ;*E]5:VEYZEYBEYa2EYaJE]f> Ԝ?K> ??)@I?L1wG߮rտhk9,? u ݿ)œI@i?mchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.524921ԱA! I) IA OM > checking for new query: numPingsReceived=87, elapsed TxPingTime=43.603062 h,I9?A297?2o?2[ٱ2'p :AHRS rotation from veh to nav: [[0.578845,-0.754246,-0.309922],[0.787138,0.616085,-0.029196],[0.212960,-0.227052,0.950314]]2H?"ӿ<0?@?坿BB? Ϳh?i297?I2)^;2CYNlByNIiUMb@Mb@Mb@QQQQ Q9UE?v/?:v?YUF?yUx=UT=UMAQ UdA)QQYUkAbDmVDmk1y}n=%>=ٔ'Q->9Y=;Fy:DؼE>Q 5n4 ?Q 9n4o)BY:I?Q E:y?Q I?NCIv:i':n4yɮ uAii5'?AJi*ARi*AjiM@b.Sno~e@̠P$@RMȿQEI?ヲ?Zi@bi?jD??ؿ%PʪM!@Z$DY⿐{Fo(Hm?2iqľ:i"i ?*i!BiBii^Z_iBi@i~@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.527589 s, deltaX: -0.100000 m, approachRate: -0.189542 m/s, rangeRepo size: 4  Added new target pos. range: 10.656291 m, bearing: 183.535800 deg, lat: 36.779352 deg, lon: -121.859606 deg, deltaT: 1.028801 s, deltaX: 0.199192 m, approachRate: 0.193616 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.66 m.bhRhZh- ProNav: ac range: 10.656291 m, nav range: 7.179692 m, bearing: 228.272581 deg, approach rate: 0.000000 m/s, LOS rate: 1.329506 deg/s, cmd heading: 25.714691 deg, new cmd heading: 27.428832 deg. Bh)5HeadingCmd: 0.478723 target range: 10.656291 and range: 10.70 m.h5=>h9*h9"h9 h9g9f9fAfAdAdAdIjdM`ff%@ZdM?}yBɢ}a)y }"Qiy)顁iw-I=>IQ=%=%DDAT read: Rx Time:03:27:10.2683 -TRx dataTimestamp_ set to:1761535629.1049855DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2 =Z#Rx 88: Read range message, but no direction.y)Y-,A)Echecking for new query: numPingsReceived=88, elapsed TxPingTime=43.859627yoE<1@1 @1@50@1ԡ EE  EE EE -EA "EE 1;*EE P:VEE t4ZEA aU @aU @aU @aU @^AQ  checking for new query: numPingsReceived=88, elapsed TxPingTime=44.107479A.AIIO>h,X?AN34?NŠl?N_]ٱN6z VAHRS rotation from veh to nav: [[0.588544,-0.742962,-0.318785],[0.779350,0.626248,-0.020691],[0.215011,-0.236267,0.947601]]NH[?`WfԿn?@8 ?0y?=οR?iN34?IN^;LYzmByzI ||=bD VD Ny >%-=ٔ㑻Q->9% ?Y% ?=%;Fy%CD-ݼE->11Q 5=o45?Q 9Eo45 )5BYAyE?Q IE?5GOCI5:i5:5 o4yMBɮUsAUVEmB*** querying acoustic contact ***ii ii addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.484489 s, deltaX: 0.100000 m, approachRate: 0.206404 m/s, rangeRepo size: 4 jhVStarting intercept timer at range: 10.80 m.DNOT Ignoring new targets: 10.66 m.bhRho<Zho< ProNav: ac range: 10.656291 m, nav range: 7.529850 m, bearing: 228.934012 deg, approach rate: 0.747283 m/s, LOS rate: 1.345911 deg/s, cmd heading: 27.428832 deg, new cmd heading: 29.320123 deg. Bhf=HeadingCmd: 0.511733 target range: 10.656291 and range: 10.80 m.h?h*h"h hg)f)f1f1d1d1d9jd=%@Zd= m?zBɢR)%; mPi)ih,I?IaBmq>BiBmIBmgmBBm =BiBiBm;Bm;EB)B)B)B-Ĝ =B)C- :5DDAT read: Rx Time:03:27:10.7683 TRx dataTimestamp_ set to:1761535629.608260DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.3 Z#Rx 89: Read range message, but no direction.yYchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.362431ԉ ?kпr?iFQ3-?IF^;FCYVmByVI1i=Mb@Mb@Mb@9999 99=y&1?K7A?~jt?Y=`E?y= >=<=A=KA =A)99Y=lAbDUVDUyeB=%e=ٔeQ-e>9m"?Ym"?=m;FymNDubEu>yQ 5o4})?Q 9o4})}܆BY!H?Q E:y+?Q I?}OCI}:i}:}|o4yɮssA addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503275 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhTStopped intercept timer at range: 10.80 m.DNOT Ignoring new targets: 10.66 m.bhRhM<ZhM<] ProNav: ac range: 10.656291 m, nav range: 7.925983 m, bearing: 229.542968 deg, approach rate: 0.750004 m/s, LOS rate: 1.095299 deg/s, cmd heading: 29.320124 deg, new cmd heading: 31.055123 deg. Bh];=eHeadingCmd: 0.542014 target range: 10.656291 and range: 10.80 m.hep ?ha*ha"ha hgfffdddjdZd๢?eBzBɢmM)i mnRii)iiqiu+yyI}p ?Iya==ar;=>@9 @9@E0@ADDAT read: Rx Time:03:27:11.2685 TRx dataTimestamp_ set to:1761535630.130127PDAT read: Bearing 308.1, -1.8 (Local) ~Local bearing/azimuth received: Bearing 308.1, -1.8 (Local) eDAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 ԑ-DAT read: 03:27:11.2685 LVL= 30192, 15329, 27442, 32755, AGC= 66, IDX= 508, 0.49,-2.469,-2.456,-2.981,-0.898, PHS=-1.469,-1.513,-2.127, RAW= 33.5, 70.6, CAL= 32.6, 72.8, ROT= 117.4, -72.8 5Ygot valid direction response: 03:27:11.2685 LVL= 30192, 15329, 27442, 32755, AGC= 66, IDX= 508, 0.49,-2.469,-2.456,-2.981,-0.898, PHS=-1.469,-1.513,-2.127, RAW= 33.5, 70.6, CAL= 32.6, 72.8, ROT= 117.4, -72.8 5T#Rx 90: Read range and direction messages.=^direction in FSK: [-0.136085,0.262534,0.955278]=Fpublishing direction and range infoyj9kP\?P?Y1Au;2k )BI1i ?ϸ?? ?)#@IZy*_?I@տ&|-? f)I#@ichecking for new query: numPingsReceived=90, elapsed TxPingTime=44.940948Ee  Ee Ee (Ea "Ee 1;*Ee ˭:VEe c44ZEa au @au @a} @a} @^Ay Թ A I I O >lh,?A2)?2`?2.{dٱ2/" NAHRS rotation from veh to nav: [[0.622561,-0.702883,-0.344053],[0.750635,0.660662,0.008570],[0.221279,-0.263593,0.938911]]2H?~ֿ3?#$?茁?R? п@ ?i2)?I2gR^;2CYRImByRIbD^VD^k1yf=%fL=ٔfƩQ-f>9hYh=j;FyjVDn&En>pQ 5vo4r6?Q 9vo4r)rBYtyv?Q Iv?rOCIr:ir;r{,o4y~Bɮ~rA~WEiyi}T?AJi}0ARi}0Aji}@@b}fԚ[7@%@R}j9kP\?P?Zi}#@bi}j}RI iph7?Ohho!@Z}& &" X?$R?2i}`?:i}"i}/ ?*i}Bi}GBiyi}$i}Bi}@i}.~@]checking for new query: numPingsReceived=90, elapsed TxPingTime=45.123062e addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.521867 s, deltaX: 0.300000 m, approachRate: 0.574859 m/s, rangeRepo size: 4 u Added new target pos. range: 11.054646 m, bearing: 172.427949 deg, lat: 36.779352 deg, lon: -121.859601 deg, deltaT: 1.509631 s, deltaX: 0.398355 m, approachRate: 0.263875 m/s, posRepo size: 4 jhu}VStarting intercept timer at range: 11.10 m.}DNOT Ignoring new targets: 11.05 m.bhyRhZh ProNav: ac range: 11.054646 m, nav range: 7.905650 m, bearing: 227.938796 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 31.055122 deg, new cmd heading: 32.388637 deg. BhHeadingCmd: 0.565288 target range: 11.054646 and range: 11.10 m.h?h*h"h hgfffdddjd@33&@Zd6?cG9YA5qzBɢ5,|c)1 5~Ri9)999i=+BYB]VIB]mBBYBYBYB]m;B];Ei=@ @@/@5 DDAT read: Rx Time:03:27:11.7685 E TRx dataTimestamp_ set to:1761535630.629789m PDAT read: Bearing 338.7, -14.0 (Local) m ~Local bearing/azimuth received: Bearing 338.7, -14.0 (Local)  DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.2  DAT read: 03:27:11.7685 LVL= 20192, 7249, 18402, 27123, AGC= 58, IDX= 508, 0.40, 2.031,-3.093, 1.908,-2.729, PHS=-1.421,-0.319,-1.690, RAW= 340.7, 43.9, CAL= 339.6, 48.3, ROT= 170.4, -48.3  Ygot valid direction response: 03:27:11.7685 LVL= 20192, 7249, 18402, 27123, AGC= 58, IDX= 508, 0.40, 2.031,-3.093, 1.908,-2.729, PHS=-1.421,-0.319,-1.690, RAW= 340.7, 43.9, CAL= 339.6, 48.3, ROT= 170.4, -48.3 ԙ  T#Rx 91: Read range and direction messages. ^direction in FSK: [-0.655914,0.110940,0.746638] Fpublishing direction and range infoy1 5 CR|^@俋aԊf?Equ?Y1 1 5 N5 Q5 G 5 i)5 :I5 T㵿i5 S5 Qؿ5 dH@5 %D?5 @ 5 uW?)5 V>@I5 uW1 1 5 yῳv޿jh4? 5 -)5 wWDI5 V>@i5 uW1 1 M checking for new query: numPingsReceived=91, elapsed TxPingTime=45.448811E  E E -E "E x;*E :VE t4ZE ^A) A9 zA= hABE Gg`bAGGA zA)KAYmAbD1VD1yEHU=%E=ٔE 9Q-E>9IYI=M;FyMbDU!EU>YQ 5eo4]SI?Q 9eo4]-)]!BYeD?Q Ee:ym΂?Q Im?]kPCI] ;i]P ;]3@o4yqɮuirAqiiwN?AJiRiji*h@b:Ty9>Q?P2 @RCR|^@俋aԊf?Equ?ZiV>@biuWj !/)@Zj,VFwٿq2 ?2i:i8"ia??*ihBiHBi/ ?ihiiAim@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.499662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.054620 m, bearing: 207.846100 deg, lat: 36.779340 deg, lon: -121.859581 deg, deltaT: 0.499662 s, deltaX: -0.000026 m, approachRate: -0.000052 m/s, posRepo size: 4 jhTStopped intercept timer at range: 11.10 m.DNOT Ignoring new targets: 11.05 m.bhRhZh ProNav: ac range: 11.054620 m, nav range: 8.126024 m, bearing: 212.771382 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 32.388638 deg, new cmd heading: 34.238245 deg. BhHeadingCmd: 0.597570 target range: 11.054620 and range: 11.10 m.h[?h*h"h hgff f d d djdZd)?EzBɢEP)A E$TiI)IIIiM'*IU[?IYIa)aa>@ @@0@ԑDDAT read: Rx Time:03:27:12.2686 ^ATRx dataTimestamp_ set to:1761535631.1340185 PDAT read: Bearing 303.6, -32.9 (Local) 5 ~Local bearing/azimuth received: Bearing 303.6, -32.9 (Local) } DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.2  DAT read: 03:27:12.2686 LVL= 18032, 11569, 20770, 21907, AGC= 56, IDX= 511,-0.38,-0.986,-0.117,-0.143, 1.393, PHS=-2.277,-1.465,-1.581, RAW= 277.6, 68.0, CAL= 278.8, 71.1, ROT= 231.2, -71.1  Ygot valid direction response: 03:27:12.2686 LVL= 18032, 11569, 20770, 21907, AGC= 56, IDX= 511,-0.38,-0.986,-0.117,-0.143, 1.393, PHS=-2.277,-1.465,-1.581, RAW= 277.6, 68.0, CAL= 278.8, 71.1, ROT= 231.2, -71.1 ] T#Rx 92: Read range and direction messages.m `direction in FSK: [-0.202968,-0.252441,0.946085]m Fpublishing direction and range infoye?ɿ#'пkidTF?Y4ApFԱ 1-"Q U)8I^i5^ʿ @?@ ֞?)^ @I֞b+ֿtqgmI?KE? Y0@)\嗿Ii֞ checking for new query: numPingsReceived=92, elapsed TxPingTime=45.958488A5 .AI9 II OU >h,ϣ?AD"=D E& E&E&)E$"E&;*E&a:VE&FA4ZE$a*@a*@a*@a*@>?>UW?>gٱ>. VAHRS rotation from veh to nav: [[0.648303,-0.675234,-0.351799],[0.727637,0.685501,0.025173],[0.224161,-0.272301,0.935737]]>H?ֿH?`?ƙ?@P?@cmѿ?i>?I>+(^;>CYn{mByr IbDzVDzy[=%b=ٔ ivQ- >9  ?Y  ?= ;Fy iDpNE>9Q 5Eo4=U?Q 9Eo4=)=:BYIyMq?Q IM?=PCI=_:i=w:=Mo4yUBɮUqAUNEԙiiȣ?AJi4ARi4Aji{@bE>dC5+ KK%@Re?ɿ#'пkidTF?Zibi֞j" w \=X IW/r$@Z4=ҿunӿ_hɬ?2iU:iS"iё??*izFBi0BiizFi'Bi@ixe@E addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504229 s, deltaX: 0.200000 m, approachRate: 0.396645 m/s, rangeRepo size: 4 u Added new target pos. range: 11.253801 m, bearing: 225.287008 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.504229 s, deltaX: 0.199182 m, approachRate: 0.395022 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 11.25 m.bhyRhZh ProNav: ac range: 11.253801 m, nav range: 7.740106 m, bearing: 205.576126 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 34.238246 deg, new cmd heading: 35.508530 deg. BhHeadingCmd: 0.619741 target range: 11.253801 and range: 11.30 m.hU?h*h"h hgfffdddjd&@Zd]0?=zBɢ=n)I MUiQ)QQQiUu*I]U?Iachecking for new query: numPingsReceived=92, elapsed TxPingTime=46.131397?@ @@@^A/E>A ؟AII)O5>Bm>B>CBIBenBB =BBBc;B;E  DDAT read: Rx Time:03:27:12.7686  TRx dataTimestamp_ set to:1761535631.632335 DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3  Z#Rx 93: Read range message, but no direction.y Y  checking for new query: numPingsReceived=93, elapsed TxPingTime=46.388130h,꣹?AB"?BR?BehٱB d JAHRS rotation from veh to nav: [[0.661797,-0.661041,-0.353624],[0.715120,0.698216,0.033128],[0.225007,-0.274808,0.934801]]BHp-?@?'šֿC?`W?'?`?@rѿ?iB"?IB/6^;BCYfmByfIbDnVDnβy<=%==ٔQ->9"?Y"?=;FyrD2E>Q 5o41e?Q 9o4)VBY!y%|?Q I%?QCI@;i;)\o4y1ɮ5qA1mB*** querying acoustic contact ***ii ii addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.498317 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.25 m.bhRh F=Zh F= ProNav: ac range: 11.253801 m, nav range: 8.023771 m, bearing: 206.777490 deg, approach rate: 0.678166 m/s, LOS rate: 2.770392 deg/s, cmd heading: 35.508531 deg, new cmd heading: 38.980698 deg. Bh=HeadingCmd: 0.680342 target range: 11.253801 and range: 11.30 m.h*.?h*h"h hgfE- E-E-.E)"E- ;*E-:VE-ـ4ZE)BE-vI*.?Ichecking for new query: numPingsReceived=93, elapsed TxPingTime=46.635429!@! @!@-/@)@1@1^AM S>I AU ?AU ?A I I O >i,/?A>p?>GN?>%'iٱ>ޒ FAHRS rotation from veh to nav: [[0.674680,-0.647659,-0.354041],[0.702748,0.710326,0.039771],[0.225726,-0.275634,0.934384]]>H? @ֿ |??\?`? ѿ y?i>p?I>l^;>CHYNmByR!IfDDAT read: Rx Time:03:27:13.2690 jTRx dataTimestamp_ set to:1761535632.137909rDAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 vZ#Rx 94: Read range message, but no direction.ydYff>Adchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.895592iMb@Mb@Mb@ 99v?(\µ?9Y=;Fy|DvE>!Q 5Mo4%w?Q 9Mo4%)%tBYUZ6?Q EU:yU2j?Q IU?%_QCI%:i%:%imo4y]Bɮ]qA]OE addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.505574 s, deltaX: 0.599999 m, approachRate: 1.186769 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.25 m.bhRh=Zh=  ProNav: ac range: 11.253801 m, nav range: 8.337661 m, bearing: 207.808348 deg, approach rate: 0.630963 m/s, LOS rate: 1.994052 deg/s, cmd heading: 38.980699 deg, new cmd heading: 41.954012 deg. Bh =HeadingCmd: 0.732236 target range: 11.253801 and range: 11.90 m.hs;?h*h"h hgfbE-(N4jE-Y4rE-}0E EE,E"E;*E:VEg4ZEa@a@a@a@ffdddjd'@Zd@е?M9{BɢMe)I MYiI)QQQiU])i >@ @@0@^A4x>uchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.139694A  I) I9 OE >i, ?A2IW?2-I?2Oiٱ2 :AHRS rotation from veh to nav: [[0.688450,-0.632526,-0.354892],[0.689080,0.723097,0.047956],[0.226288,-0.277564,0.933677]]2H`?@=ֿ ?@#???ѿ?i2IW?I2]^;2CYBmByB2IbDNVDNyVϫ=%V|=ٔVQ-V ?9XYX=Z;FyZDZv{E^ ?`Q 5fo4b?Q 9fo4b)bBYdyfe?Q If?bQCIb:ibI:bxo4ylɮnqABrl>BpBrIBrnBBr =BpBpBrL;Br;El|jh!-DNOT Ignoring new targets: 11.25 m.bh)Rh-)=Zh-)== ProNav: ac range: 11.253801 m, nav range: 8.547284 m, bearing: 208.416773 deg, approach rate: 0.662853 m/s, LOS rate: 1.876690 deg/s, cmd heading: 41.954014 deg, new cmd heading: 43.733917 deg. BhE=EHeadingCmd: 0.763301 target range: 11.253801 and range: 11.90 m.hEgC?hI*hI"hI hIgIfIfQfQdQdQdjdZd@?颥[{Bɢ|S)8< Zi)顩i*+?hY=IgC?IDDAT read: Rx Time:03:27:13.7691 TRx dataTimestamp_ set to:1761535632.643023DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4  Z#Rx 95: Read range message, but no direction.yY@Achecking for new query: numPingsReceived=95, elapsed TxPingTime=47.4000741?@ @@0@^AU>YE EE+E"E;*E^:VE [4AZEBE?rԁ  checking for new query: numPingsReceived=95, elapsed TxPingTime=47.642933i,:?A2[ ?21D?2iٱ2 :AHRS rotation from veh to nav: [[0.701752,-0.619010,-0.352661],[0.675558,0.735361,0.053532],[0.226196,-0.275809,0.934219]]2H@t?@ֿ`,??h??ܦѿ`?i2[ ?I2FJ^;2CY^mBy^6IiEMb@Mb@Mb@AAAA A9EV-?l?YE-?yE=E̼E3AA EMA)EGGAAYEiAԙbDVDβy<%8=ٔ^9Q->9Y=;FyD4E>Q 5o4A?Q 9o4K)BY-?Q E:yO?Q I?QCI.+;i*;;o4y Bɮ qA PEE addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505114 s, deltaX: 0.100000 m, approachRate: 0.197976 m/s, rangeRepo size: 4 jhAEDNOT Ignoring new targets: 11.25 m.bhIRhME<ZhME<] ProNav: ac range: 11.253801 m, nav range: 8.829520 m, bearing: 209.008332 deg, approach rate: 0.642110 m/s, LOS rate: 1.302802 deg/s, cmd heading: 43.733916 deg, new cmd heading: 45.451322 deg. Bh]_=eHeadingCmd: 0.793275 target range: 11.253801 and range: 12.00 m.heK?ha*ha"hi higififqfqdqdqdyjd}(@Zd}?颭{Bɢqu) ]\i)顱i+@U=^AM.~'>DDAT read: Rx Time:03:27:14.2692 TRx dataTimestamp_ set to:1761535633.147351 DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 Z#Rx 96: Read range message, but no direction.yY3CA%checking for new query: numPingsReceived=96, elapsed TxPingTime=47.903316A.AIIO>E  E E (E "E %;*E :VE c44ZE a @a @a @a @ i,T?A2H?2??2hٱ2Y :AHRS rotation from veh to nav: [[0.715123,-0.605575,-0.349110],[0.661627,0.747540,0.058587],[0.225495,-0.272877,0.935249]]2H J?`Wֿ ,???? vѿ?i2H?I2.^;0Y^mBybNIddbDjVDjfy-.=%-V=ٔ-z:Q-->95 ?Y5 ?=5;Fy5D=TE=>AQ 5Mo4Ej?Q 9Mo4E)EBYIyM J?Q IU?E&RCIE:iE :Eo4yYɮ]pAY addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504328 s, deltaX: 0.200000 m, approachRate: 0.396567 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.25 m.bhRh<Zh< ProNav: ac range: 11.253801 m, nav range: 9.075043 m, bearing: 209.458463 deg, approach rate: 0.630909 m/s, LOS rate: 1.125378 deg/s, cmd heading: 45.451323 deg, new cmd heading: 46.764939 deg. BhA==checking for new query: numPingsReceived=96, elapsed TxPingTime=48.147182]HeadingCmd: 0.816202 target range: 11.253801 and range: 12.20 m.h]P?hY*hY"hY hYgYfafafadadidijdm`ff(@Zdm`nL?{Bɢt) \i)i?],AABn>BBIBnBB =BBBE;B;EA؟AI9QIYOe> DDAT read: Rx Time:03:27:14.7693  TRx dataTimestamp_ set to:1761535633.649321 DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4  Z#Rx 97: Read range message, but no direction.y Y DA % checking for new query: numPingsReceived=97, elapsed TxPingTime=48.405739ԁ i,Ίn?A2?2t:?2Õgٱ2' :AHRS rotation from veh to nav: [[0.727280,-0.595057,-0.342010],[0.648677,0.758752,0.059266],[0.224234,-0.264957,0.937826]]2H@E? |տ@? G? X?? п?i2?I2l^;0Y^mBy^RIbDjVDjkyrY<%rO=ٔrV;Q-v>9v"?Yv"?=v;FyvDz<Ez>|Q 5Uo4~^?Q 9Uo4~)~ӇBYYy]{E?Q I]?~jRCI~;i~;~_o4yeBɮe5pAeGEE EEE"E;*E˭:VEZEBEsAQAU? AyIIE EE+E"E;*E:VE [4ZEa@a@a@a@O-?cl$i,?ARr>RGD2?RcٱRw ZAHRS rotation from veh to nav: [[0.748296,-0.578698,-0.324288],[0.625632,0.778179,0.054972],[0.220542,-0.244020,0.944360]]RH ?"Կ`,???%?@:?@ <Ͽ28?iRr>IR^;RCYbnBybfIiMMb@Mb@Mb@IIII I9MMb?y&1|{GztYM#?yM`廙MףMAM>A M A)MEAIYMeAbDeVDek1yu3a=%u =ٔ}d;Q-}>9yYy=;FyD)aE>Q 5o4˟?Q 9o4)BY#?Q E:y.?Q I?RCI:i:o4yɮoAU addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504333 s, deltaX: 0.300000 m, approachRate: 0.594845 m/s, rangeRepo size: 4 jhQ]DNOT Ignoring new targets: 11.25 m.bhYRheI$<ZheI$<u ProNav: ac range: 11.253801 m, nav range: 9.687985 m, bearing: 210.216460 deg, approach rate: 0.617073 m/s, LOS rate: 0.574517 deg/s, cmd heading: 47.968538 deg, new cmd heading: 48.966507 deg. Bhu$<HeadingCmd: 0.854627 target range: 11.253801 and range: 12.60 m.hZ?h*h"h hgfffdddjd@33)@Zd3?checking for new query: numPingsReceived=98, elapsed TxPingTime=49.155079颍|BɢOZ)Y < `i)顑iE ,@a @a@m 0@i^AE=iBm>BBIBoBB =BBBN;B;EB>CB>CBBǞ =BǞ =Cǃl5A I I O >ԑ = DDAT read: Rx Time:03:27:15.7695 E TRx dataTimestamp_ set to:1761535634.657922U DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 e Z#Rx 99: Read range message, but no direction.y9 Y= HA9 m checking for new query: numPingsReceived=99, elapsed TxPingTime=49.414490*i,:?AU>UX.?UۯaٱU{ mAHRS rotation from veh to nav: [[0.758131,-0.569265,-0.318081],[0.614365,0.787051,0.055736],[0.218617,-0.237673,0.946424]]UHB?`j7o[Կ ?/?i??lοI?iU>IUgR^;UCyY}9nBy}IbDVD yn=%I=ٔ;Q->9Y=;FyD\E>Q 5o4۟?Q 9o4)BYy +?Q I?SCI :i:o4yBɮ.oAHE addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504268 s, deltaX: -0.100000 m, approachRate: -0.198308 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.25 m.bh Rh '<Zh '< ProNav: ac range: 11.253801 m, nav range: 9.938733 m, bearing: 210.421279 deg, approach rate: 0.641917 m/s, LOS rate: 0.511108 deg/s, cmd heading: 48.966507 deg, new cmd heading: 49.565437 deg. Bhb<%HeadingCmd: 0.865080 target range: 11.253801 and range: 12.50 m.h%u]?h!*h)"h) h)g)f)f1f1d1d1d9jd=)@Zd=?mA|BɢmEW)mV˚< m`ii)qqqiu-s1i,QƤ?A6u>6{*?6{_ٱ6x >AHRS rotation from veh to nav: [[0.767477,-0.558948,-0.313936],[0.603406,0.795228,0.059277],[0.216518,-0.234925,0.947592]]6H+? ԿO? r?Y?ڶ?@οR?i6u>I6`^;4YFenByFIi%Mb@Mb@Mb@!!!! !9%}?5^I?&1 rh?Y%M"?y%P%C<%7A%x=A %A)%BA!Y%bAbDUVDU02yuw=%uM=%== DDAT read: Rx Time:03:27:16.2697 TRx dataTimestamp_ set to:1761535635.162343DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 %\#Rx 100: Read range message, but no direction.yYLA-checking for new query: numPingsReceived=100, elapsed TxPingTime=49.916466ٔU^;Q-U>9YYY=];Fy]D] Ee>aQ 5mo4e?Q 9uo4e)e@ =^Au zl<BBB$IBDoBBBBBS;B;EԉAIIO >8i,夹?A "@> >>I'?>]ٱ>Tw FAHRS rotation from veh to nav: [[0.775552,-0.549604,-0.310571],[0.593822,0.802090,0.063455],[0.214231,-0.233637,0.948430]]>H@R?[eӿ?@?>?k?Ϳ`Y?i> >I> 7^;>CYNnByNITT Z;Zp;bDZVDZyb=%b-=ٔf1;Q-f>9dYh=j;FyjDjEj>lQ 5ro4nI?Q 9ro4nǺ)naBYtyvW?Q Iv?nSCIn`:inW:nNo4yzBɮznA|jhDNOT Ignoring new targets: 11.25 m.bhRh+;Zh+; ProNav: ac range: 11.253801 m, nav range: 10.472319 m, bearing: 210.581421 deg, approach rate: 0.600229 m/s, LOS rate: 0.150235 deg/s, cmd heading: 49.829088 deg, new cmd heading: 50.033473 deg. Bh%5;UDDAT read: Rx Time:03:27:16.7698 UTRx dataTimestamp_ set to:1761535635.664403]DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.6 e\#Rx 101: Read range message, but no direction.yQYUfNAQmchecking for new query: numPingsReceived=101, elapsed TxPingTime=50.418541uHeadingCmd: 0.873249 target range: 11.253801 and range: 12.80 m.hu<_?hq*hq"hq hqgyfyfyfydԡddjd)@Zd`:?M|BɢM=m)Q UaiQ)QYYi]q%/S@i,?A2>2z$?2wZٱ2q :AHRS rotation from veh to nav: [[0.781531,-0.544122,-0.305190],[0.586838,0.807201,0.063619],[0.211733,-0.228818,0.950164]]2HM?qi@=ӿ_?? ]I??IͿg?i2>I2"^;0YBnByBIi Mb@Mb@Mb@     9 -?:vL7A`?Y 5?y T += A  rzA) >A Y ]AbD%VD%ܲy5=%5@=ٔ5;Q-=>9= ?Y= ?==;Fy=ʅDE촼EE>IQ 5o4M??Q 9o4M*)MBY?Q E:yy?Q I?MSCIM i !>-DDAT read: Rx Time:03:27:17.2701 5TRx dataTimestamp_ set to:1761535636.169544EDAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.5 M\#Rx 102: Read range message, but no direction.y)Y-fVA)Uchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.925167@@ @@60@^AXMA؟AIIO>D zD ! E  E E E "E ;*E n:VE ZE a- @a- @a- @a- @&Fi,%?A:z>:#?:uWٱ:I:+2^;8YRnByRIbDZVDZβyb=%bR=ٔb;Q-f>9f"?Yf"?=f;FyfхDjVEj>lQ 5rp4n#?Q 9rp4n)nBYpyr?Q Iv?n TCIn];in;np4yxɮzlAx% addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.505141 s, deltaX: 0.500000 m, approachRate: 0.989823 m/s, rangeRepo size: 4 jh!-DNOT Ignoring new targets: 11.25 m.bh)Rh-:Zh-:= ProNav: ac range: 11.253801 m, nav range: 10.957312 m, bearing: 210.671794 deg, approach rate: 0.627094 m/s, LOS rate: 0.101640 deg/s, cmd heading: 50.185843 deg, new cmd heading: 50.298472 deg. BhE;EHeadingCmd: 0.877874 target range: 11.253801 and range: 13.40 m.hEY`?hI*hI"hI hIgIfIfQfQdQdQdYjd]*@Zd] ?颍|Bɢه) `i)顑i3BBJIBoBBBBBR;B;Ey^AU`TAe>Ae>=DDAT read: Rx Time:03:27:17.7702 ETRx dataTimestamp_ set to:1761535636.672545eDAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.5 u\#Rx 103: Read range message, but no direction.y9Y=XA9}checking for new query: numPingsReceived=103, elapsed TxPingTime=51.431686A I I O >E%  E% E% )E! "E% ';*E% ˭:VE% FA4ZE! BE% Fk#?F UٱFRU EAHRS rotation from veh to nav: [[0.785672,-0.548474,-0.286174],[0.582967,0.811206,0.045759],[0.207049,-0.202782,0.957084]]FH9$?Pҿ? g?m?`?ɿo?iF)>IF^;FCY3oByI bDuVDuky1+>%1=ٔ;Q->9Y=;FyۅDE>Q 5p47?Q 9p4)҈BYy?Q I?TTCI;;i; p4yBɮOkA@EE addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503001 s, deltaX: 0.100000 m, approachRate: 0.198808 m/s, rangeRepo size: 4 jhaeDNOT Ignoring new targets: 11.25 m.bhiRhm`:Zhm`:} ProNav: ac range: 11.253801 m, nav range: 11.236012 m, bearing: 210.713383 deg, approach rate: 0.586887 m/s, LOS rate: 0.085406 deg/s, cmd heading: 50.298473 deg, new cmd heading: 50.420144 deg. Bh}sj;checking for new query: numPingsReceived=103, elapsed TxPingTime=51.675140HeadingCmd: 0.879998 target range: 11.253801 and range: 13.50 m.hGa?h*h"h hgfffdddjd+@Zd Wx?颅#}Bɢ`) ^i)顉i:3! = DDAT read: Rx Time:03:27:18.2704 E TRx dataTimestamp_ set to:1761535637.176260M DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.5 M \#Rx 104: Read range message, but no direction.y9 Y= \A9 U checking for new query: numPingsReceived=104, elapsed TxPingTime=51.930389 9Si,ӄM?AR>R$?Ri>SٱRD ^AHRS rotation from veh to nav: [[0.784508,-0.555695,-0.275228],[0.585312,0.810150,0.032650],[0.204833,-0.186708,0.960824]]|RH ??`Uѿ??@w? 7?ǿ?iR>IR0^;RCYEuoByMCIiMb@Mb@Mb@ 9V-?/$~jt?Y|?y,D=rzAb%=P=ٔ=;Q-=>9E ?YE ?=E;FyEDM;EM>IQ 5]p4MG?Q 9]p4M)MBY]R ?Q E]:y]c?Q Ie?MTCIMq ;iM3:Mp4yiɮmHjAi addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503715 s, deltaX: 0.300000 m, approachRate: 0.595575 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 11.25 m.bhRh/;Zh/; ProNav: ac range: 11.253801 m, nav range: 11.469117 m, bearing: 210.773298 deg, approach rate: 0.610605 m/s, LOS rate: 0.153753 deg/s, cmd heading: 50.420146 deg, new cmd heading: 50.596236 deg. Bh ;HeadingCmd: 0.883071 target range: 11.253801 and range: 13.80 m.hb?h*h"h hgfffdD=DbE] [4jE] [4rE]~m0E EE-E"E%;*E:VEt4ZEa@a@a@a@ddjd+@Zd ?H}Bɢ%@)! %1]i!)!))i-I 6ԁ B k>B B IB oBB B B B Q;B ;EbYi,]g?A>>>Y%?>-)Qٱ>)W4 fAHRS rotation from veh to nav: [[0.781957,-0.564228,-0.264934],[0.589406,0.807597,0.019706],[0.202841,-0.171563,0.964065]]>H?(@пi? ?-??ſ@?i>>I>^;%%^=ٔ%;Q-->95"?Y5"?=5;Fy5D=Y<EE>IQ 5Up4YMW?Q 9]p4MN)MBYayeI?Q Ie?MTCIM3;iM4;M+p4ymBɮmiAuAEjhDNOT Ignoring new targets: 11.25 m.bhRhv1;Zhv1; ProNav: ac range: 11.253801 m, nav range: 11.691360 m, bearing: 210.832022 deg, approach rate: 0.598547 m/s, LOS rate: 0.155150 deg/s, cmd heading: 50.596235 deg, new cmd heading: 50.769058 deg. Bh;HeadingCmd: 0.886087 target range: 11.253801 and range: 13.80 m.hb?h*h"h hgfffdddjdZd?DDAT read: Rx Time:03:27:18.7704 TRx dataTimestamp_ set to:1761535637.680412 DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 \#Rx 105: Read range message, but no direction.yYchecking for new query: numPingsReceived=105, elapsed TxPingTime=52.435081%n}Bɢ%5)) -D\i))-1%11i5Nt8@ @@q4@@>@!>^A]AzAgAE EE(E"E[";*E:VEc44ZEBEz checking for new query: numPingsReceived=105, elapsed TxPingTime=52.682953 J`i,8?AY~oBy~IIR=)iMb@Mb@Mb@ 9%C? rhV-?YZ$?yCm=znAx=A pA)K;AYUAbDVDy>%A=ٔQ->9ԹY=;FyDE>Q 5p4!i?Q 9p4A)ABY%?Q E:y"?Q I? UCI:i:X:p4yɮhAB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504152 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh%DNOT Ignoring new targets: 11.25 m.bh!Rh-;Zh-; ProNav: ac range: 11.253801 m, nav range: 11.949759 m, bearing: 210.952712 deg, approach rate: 0.570113 m/s, LOS rate: 0.260524 deg/s, cmd heading: 50.769059 deg, new cmd heading: 51.123295 deg. Bh2<HeadingCmd: 0.892270 target range: 11.253801 and range: 13.80 m.hkd?h*h"h hgfffd)d1d1jd9Zd=@I?颭}Bɢc) [i):顱i9fi,[?A>jI>>C{*?>CMٱ> VAHRS rotation from veh to nav: [[0.770589,-0.590926,-0.238744],[0.605431,0.795748,-0.015456],[0.199113,-0.132633,0.970960]]>H?)ο_?v?B|?`?i>jI>I> ^;>CY^%pBybIbDjVDj02yr>%rM=ٔr9tYt=v;FyvDzN=Ez>|Q 5p4~y?Q 9p4~[)~gBYy&?Q I ?~IUCI~:i~:~.Hp4y BɮgABEE addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504078 s, deltaX: 0.500000 m, approachRate: 0.991910 m/s, rangeRepo size: 4 jhAMDNOT Ignoring new targets: 11.25 m.bhIRhM;ZhM;] ProNav: ac range: 11.253801 m, nav range: 12.192704 m, bearing: 211.080114 deg, approach rate: 0.669187 m/s, LOS rate: 0.343931 deg/s, cmd heading: 51.123293 deg, new cmd heading: 51.497876 deg. Bhe l<eHeadingCmd: 0.898807 target range: 11.253801 and range: 14.30 m.he?f?hi*hi"hi higififqfqdqdqydyjd,@Zd?颭}Bɢ)+< Yi)项is<#I?f?IBj>BBIBVpBB =BBB=;B;E@ @@0@Ա^A.A5.AIQIaOmx>DDAT read: Rx Time:03:27:19.7708 TRx dataTimestamp_ set to:1761535638.689207PDAT read: Bearing 306.6, 71.2 (Local) ~Local bearing/azimuth received: Bearing 306.6, 71.2 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 DAT read: 03:27:19.7708 LVL= 30752, 23121, 32754, 32755, AGC= 63, IDX= 500,-0.16, 1.547, 0.243,-0.570, 0.729, PHS= 0.920,-0.441,-1.344, RAW= 66.7, 8.8, CAL= 65.1, 10.6, ROT= 84.9, -10.6 Ygot valid direction response: 03:27:19.7708 LVL= 30752, 23121, 32754, 32755, AGC= 63, IDX= 500,-0.16, 1.547, 0.243,-0.570, 0.729, PHS= 0.920,-0.441,-1.344, RAW= 66.7, 8.8, CAL= 65.1, 10.6, ROT= 84.9, -10.6 V#Rx 107: Read range and direction messages.\direction in FSK: [0.087377,0.979044,0.183951]Fpublishing direction and range infoyq[^?m'TT? =η?YffA xQZ )?Ik?iᾉ1\?nF>Oo? q=>)?Iq=?I]E? PQn)_dI?iq=Echecking for new query: numPingsReceived=107, elapsed TxPingTime=53.464073 Ee  Ee Ee +Ea "Ee ;*Ee :VEe [4ZEa BEe p-g.?-NVKٱ-e_ AHRS rotation from veh to nav: [[0.761515,-0.609026,-0.221769],[0.617397,0.785743,-0.037791],[0.197269,-0.108141,0.974367]]-H`U^?$}b̿?$?YY@? .?i-!>I-^;)Y%]pBy-IiMb@Mb@Mb@ 9HzG?Mbp?S㥫?Y=*?y;/]=cA 3kA)5:AYQAbDVDchecking for new query: numPingsReceived=107, elapsed TxPingTime=53.691051yj=%.=ٔ8;Q->9 ?Y ?=;FyDs=E>Q 5p4?Q 9 p4D)BY *?Q E :y ]2?Q I ?UCIi'@֔w?Z|14HAVH?濦q1?2iL;A:i"i:۝?*i]hBiuBii!iBi =Aile@e addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504717 s, deltaX: 0.099999 m, approachRate: 0.198130 m/s, rangeRepo size: 4  Added new target pos. range: 14.340998 m, bearing: 124.950957 deg, lat: 36.779340 deg, lon: -121.859550 deg, deltaT: 7.555189 s, deltaX: 3.087196 m, approachRate: 0.408619 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.34 m.bhRhZh ProNav: ac range: 14.340998 m, nav range: 11.815064 m, bearing: 205.391584 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 51.497874 deg, new cmd heading: 52.020385 deg. BhHeadingCmd: 0.907927 target range: 14.340998 and range: 14.40 m.hmh?h*h"h hgf%DReached init depth of 60.091053 m.f!f!d)d)d)jd-,@Zd54?颽}Bɢ^)"< Yi)8@i=ie>@ @@4@@@9 DDAT read: Rx Time:03:27:20.2710  TRx dataTimestamp_ set to:1761535639.192853 PDAT read: Bearing 332.8, 22.5 (Local)  ~Local bearing/azimuth received: Bearing 332.8, 22.5 (Local)  DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.5  DAT read: 03:27:20.2710 LVL= 20816, 22913, 32754, 32755, AGC= 62, IDX= 503,-0.29, 1.874, 2.227, 1.030, 2.440, PHS=-0.463,-0.167,-1.453, RAW= 17.3, 32.3, CAL= 15.6, 38.2, ROT= 134.4, -38.2  Ygot valid direction response: 03:27:20.2710 LVL= 20816, 22913, 32754, 32755, AGC= 62, IDX= 503,-0.29, 1.874, 2.227, 1.030, 2.440, PHS=-0.463,-0.167,-1.453, RAW= 17.3, 32.3, CAL= 15.6, 38.2, ROT= 134.4, -38.2  V#Rx 108: Read range and direction messages. ^direction in FSK: [-0.549835,0.561473,0.618408] Fpublishing direction and range infoy  +f_?[? ybr?Y fnA PQ Y ) >I Vi + #> ZQ? 'g> *?) Q @I * [ǿj* Yex8? k) )I Q @i *  checking for new query: numPingsReceived=108, elapsed TxPingTime=53.959377Y ^A= t0Am؟AIqIԉO>ti,*ԥ?AE EE)E"E*;*E:VEFA4ZEa"@a"@a"@a"@J>J`3?J5nIٱJ> RAHRS rotation from veh to nav: [[0.750303,-0.628580,-0.204776],[0.631544,0.773086,-0.059076],[0.195443,-0.085001,0.977024]]JHz?S 6ʿ5? ?@&?`I?`µC?iJ>IJe*^;HYZpByZ I \\^=^p=bDfVDfynse>%nG=ٔn;Q-n>9r"?Yr"?=r;Fyr Dv7=Ev>xQ 5~p4z͝?Q 9~p4z)zBY|y~6?Q I~?zUCIzy:iz:zfp4y Bɮ eA CEiiW̥?AJilmARilmAji?uE@b1 geQ ,k.ѩ @)KbZ"@R+f_?[? ybr?ZiQ @bi*j0y*4Xa2?[%ʦ@Z(쿐)t?vԠ?2i ??:iS"iDB?*i&BiBiiiBi4AisZ@] addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503646 s, deltaX: 0.500000 m, approachRate: 0.992761 m/s, rangeRepo size: 4 m Added new target pos. range: 14.838949 m, bearing: 176.773582 deg, lat: 36.779340 deg, lon: -121.859526 deg, deltaT: 0.503646 s, deltaX: 0.497952 m, approachRate: 0.988693 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 14.84 m.bhqRhqZhq ProNav: ac range: 14.838949 m, nav range: 11.289604 m, bearing: 195.612943 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.020384 deg, new cmd heading: 52.410883 deg. BhHeadingCmd: 0.914742 target range: 14.838949 and range: 14.90 m.h,j?h*h"h hgfffdddjd-@Zd@?颍~BɢM)< Vi)Gi顩i@B=CBIBpBBBBB;Bx;EBQBQBQBQBUǟ =CUD5IO>ԁ e DDAT read: Rx Time:03:27:20.7711 m TRx dataTimestamp_ set to:1761535639.697647} PDAT read: Bearing 340.9, 6.5 (Local) } ~Local bearing/azimuth received: Bearing 340.9, 6.5 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.5  DAT read: 03:27:20.7711 LVL= 18992, 20401, 32530, 26867, AGC= 61, IDX= 504,-0.41, 0.848, 1.863, 0.335, 1.899, PHS=-0.948, 0.009,-1.607, RAW= 353.9, 32.6, CAL= 352.5, 37.8, ROT= 157.5, -37.8  Ygot valid direction response: 03:27:20.7711 LVL= 18992, 20401, 32530, 26867, AGC= 61, IDX= 504,-0.41, 0.848, 1.863, 0.335, 1.899, PHS=-0.948, 0.009,-1.607, RAW= 353.9, 32.6, CAL= 352.5, 37.8, ROT= 157.5, -37.8  V#Rx 109: Read range and direction messages. ^direction in FSK: [-0.730008,0.302379,0.612907] Fpublishing direction and range infoya e a19\`.Z?o m4?Ye pAa e 0Je Oe  e h)e =Ie !rie t%==ٔ݃;Q->9Y=;FyD#<=E>Q 5p4Y?Q 9p4ђ)BYy<;?Q I?"VCI:i:1vp4y ɮ udAii@쥹?AJioARioAji ^@bH@|%aڂ@uޱO"@Ra19\`.Z?o m4?Zi/@bi[(jsuk)C>b)K,4ȅT3@ZHW:u4Mҿpm?2iY:i_K"i4]=?*iȈBiBia??iȈiBiTAirA^@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504794 s, deltaX: 0.100000 m, approachRate: 0.198101 m/s, rangeRepo size: 4  Added new target pos. range: 14.938525 m, bearing: 198.785063 deg, lat: 36.779327 deg, lon: -121.859538 deg, deltaT: 0.504794 s, deltaX: 0.099576 m, approachRate: 0.197261 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.94 m.bhRhZh ProNav: ac range: 14.938525 m, nav range: 13.297371 m, bearing: 198.973601 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.410883 deg, new cmd heading: 52.868976 deg. BhHeadingCmd: 0.922738 target range: 14.938525 and range: 15.00 m.h8l?h*h"h hgfffd!d!d!jd%.@Zd-@?EU EUEQEQ"EU%;*EUn:VEQZEQBEU-uCu=u~>uPw= u'>)u| @Iu'qquC7!P׿|[r։? uZ)u(ҾIu| @iu'qqchecking for new query: numPingsReceived=110, elapsed TxPingTime=54.967766AI)I9AOM?i,?Ar0 ?rBC?rCٱr- AHRS rotation from veh to nav: [[0.710406,-0.685941,-0.157508],[0.677684,0.727093,-0.109908],[0.189913,-0.028661,0.981382]]rH@?:8)Ŀ`?XD?"O?aY |g?ir0 ?Ir^;pY%GqBy%aIEm EmEm.Ei"Em ;*Emخ:VEmـ4ZEiau@au@au@au@iMb@Mb@Mb@ 9/$?I +?S㥫?Y&1?y9<~VABA gA)4AYpMAbDVDJy4=%=ٔ;Q->9Y=;Fy!Dn=E>!Q 5-p4%Š?Q 9-p4%)%BY51?Q E5:y5 L?Q I5?%VCI%:i%/:%9p4yeBɮe cAe:Eii ?AJivARivAjiS@b@1%ä@~IE@R\U濧?W?AvW?Zi| @bi'j89T,ɕ#u@ZcMː'KĿEhbh+?2i:ig"i?*i1Bi^Bi4]=?i1iiRSAibT@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502981 s, deltaX: 0.500000 m, approachRate: 0.994073 m/s, rangeRepo size: 4 eG9Y|A Added new target pos. range: 15.436477 m, bearing: 189.616604 deg, lat: 36.779326 deg, lon: -121.859514 deg, deltaT: 0.502981 s, deltaX: 0.497952 m, approachRate: 0.990001 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.44 m.bhRhZh  ProNav: ac range: 15.436477 m, nav range: 13.207701 m, bearing: 190.678369 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.868977 deg, new cmd heading: 53.464830 deg. Bh)5HeadingCmd: 0.933137 target range: 15.436477 and range: 15.50 m.h5n?h1*h9"h9 h9g9f9fAfEBdAdAdAjdM/@ZdM?颕GqBɢ7)! i)& 顡i5B >CB |IB sqBB B B B ;B _;E %u4=ٔuQ-}>9yYy=};Fy}*DE>Q 5p4נ?Q 9p4)BBYyQ I?VCI/;i;p4y BɮbA;EB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504812 s, deltaX: 0.100000 m, approachRate: 0.198094 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 15.44 m.bhRh<Zh< ProNav: ac range: 15.436477 m, nav range: 13.455793 m, bearing: 191.414446 deg, approach rate: 0.571537 m/s, LOS rate: 1.664406 deg/s, cmd heading: 53.464829 deg, new cmd heading: 55.631252 deg. BhȎ=HeadingCmd: 0.970949 target range: 15.436477 and range: 15.60 m.hx?h*h"h hgfffdEm EmEm,Ei"Em+$;*Em:VEmg4ZEiBEm8}@ @@0@ ^A= A I I O >ϒi,yK?A,>7?>ƿM?>8@ٱ>1 JAHRS rotation from veh to nav: [[0.681790,-0.719209,-0.133790],[0.707225,0.694772,-0.130858],[0.187067,-0.005402,0.982332]]>H@:?@` ?`;?@`?`b vCo?i>7?I>^;>CYNqByRIbDDAT read: Rx Time:03:27:22.2717 bTRx dataTimestamp_ set to:1761535641.208801fPDAT read: Bearing 23.0, 43.9 (Local) j~Local bearing/azimuth received: Bearing 23.0, 43.9 (Local) rDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.5 DAT read: 03:27:22.2717 LVL= 16224, 16801, 27970, 22771, AGC= 63, IDX= 509, 0.11, 0.539, 0.845,-1.350, 0.146, PHS= 0.495, 0.745,-1.540, RAW= 24.3, 2.8, CAL= 24.5, 1.1, ROT= 125.5, -1.1 Ygot valid direction response: 03:27:22.2717 LVL= 16224, 16801, 27970, 22771, AGC= 63, IDX= 509, 0.11, 0.539, 0.845,-1.350, 0.146, PHS= 0.495, 0.745,-1.540, RAW= 24.3, 2.8, CAL= 24.5, 1.1, ROT= 125.5, -1.1 V#Rx 112: Read range and direction messages.^direction in FSK: [-0.580596,0.813965,0.019197]Fpublishing direction and range infoy`bXi=⿇[ ?]~?Ybf~A`b`?bAbBm bX)b?Ibp>ibR>?bſb%>b+H=b!> bnF<)bR/ @IbnF``b7l s~nqᅴ? bgտ)bGIbR/ @ibnF``]checking for new query: numPingsReceived=112, elapsed TxPingTime=55.979092iMb@Mb@Mb@ 9`"?l?Zd;O?Y7?y=j<=NA(FA dA)5AYKAbDVDyu,>%u4=ٔ};Q-}>9yYy=;Fy4Da=E> Q 5p4 頊?Q 9p4 j) mBYm8?Q E:yl[?Q I? %WCI :i : Zp4ԁyɮ`Ai`ib\M?AJib[}ARib[}Ajib9?@bb"@g+c"[5)@qmt?RbXi=⿇[ ?]~?ZibR/ @bibnFjbYFV(/aH5N@ۯ߂Zbi~{л?'2+2ibq@:ibBy"ibDț?*ib?BibkBibDB?ib&ib^Bib?bAibwI@u addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503361 s, deltaX: 0.299999 m, approachRate: 0.595992 m/s, rangeRepo size: 4  Added new target pos. range: 15.834921 m, bearing: 171.194742 deg, lat: 36.779319 deg, lon: -121.859483 deg, deltaT: 1.008173 s, deltaX: 0.398444 m, approachRate: 0.395214 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.83 m.bhRhZh ProNav: ac range: 15.834921 m, nav range: 14.140546 m, bearing: 180.722526 deg, approach rate: 0.000000 m/s, LOS rate: 1.664406 deg/s, cmd heading: 55.631252 deg, new cmd heading: 58.151232 deg. BhHeadingCmd: 1.014930 target range: 15.834921 and range: 15.90 m.h>?h*h"h hgfffсBdddjd/@E EE+E"E;*E8:VE [4ZEa @a @a @a @Zd 6?aɢmؐ)i m>ii)mjZqqiu.U ?1I>?Icռ ?@  @ @ 0@ @@uchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.211277 A A B5 j>B1 B5 IB5 rBB1 B1 B1 B5 ;B5 R;E^A} A >A ? AIIO>2i,j?A2v?2R?2p?ٱ2ߺ@ :AHRS rotation from veh to nav: [[0.667912,-0.733344,-0.126884],[0.720657,0.679857,-0.135822],[0.185867,-0.000722,0.982575]]2H_?w=? d?b ~?@G@@q?i2v?I2^;2CYBrByBIbDVVDV0y^̯=%b?=ٔb;;Q-b>9dYd=f;FyjpeDDAT read: Rx Time:03:27:22.7718 mTRx dataTimestamp_ set to:1761535641.713820qPDAT read: Bearing 22.9, 45.0 (Local) ~Local bearing/azimuth received: Bearing 22.9, 45.0 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.5 DAT read: 03:27:22.7718 LVL= 13872, 16353, 28418, 26563, AGC= 63, IDX= 510, 0.07,-0.358,-0.120,-2.132,-0.708, PHS= 0.451, 0.633,-1.469, RAW= 25.5, 3.9, CAL= 25.6, 2.5, ROT= 124.4, -2.5 Ygot valid direction response: 03:27:22.7718 LVL= 13872, 16353, 28418, 26563, AGC= 63, IDX= 510, 0.07,-0.358,-0.120,-2.132,-0.708, PHS= 0.451, 0.633,-1.469, RAW= 25.5, 3.9, CAL= 25.6, 2.5, ROT= 124.4, -2.5 V#Rx 113: Read range and direction messages.^direction in FSK: [-0.564429,0.824328,0.043619]Fpublishing direction and range infoyae[`?GU?YèAae06e?eo eg)aQ 5 p4rU?Q 9 p4ry)rBYy_`?Q I?roWCIry=ir!=rϸp4yBɮ^`AieJ "?e1e>e'g=e> e¸2=)e @Ie¸2aaeґ*45l pRԡiY)i@  @ @ 0@  )^A8'DDAT read: Rx Time:03:27:23.2721 TRx dataTimestamp_ set to:1761535642.216803PDAT read: Bearing 12.4, 69.3 (Local) ~Local bearing/azimuth received: Bearing 12.4, 69.3 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.8 DAT read: 03:27:23.2721 LVL= 11648, 14545, 26754, 25459, AGC= 62, IDX= 513, 0.13,-1.599,-2.081,-2.908,-2.029, PHS= 0.531,-0.007,-0.923, RAW= 51.5, 6.3, CAL= 50.3, 5.7, ROT= 99.7, -5.7  Ygot valid direction response: 03:27:23.2721 LVL= 11648, 14545, 26754, 25459, AGC= 62, IDX= 513, 0.13,-1.599,-2.081,-2.908,-2.029, PHS= 0.531,-0.007,-0.923, RAW= 51.5, 6.3, CAL= 50.3, 5.7, ROT= 99.7, -5.7 V#Rx 114: Read range and direction messages.^direction in FSK: [-0.167656,0.980830,0.099320]Fpublishing direction and range infoyʫuſ5? b?hܸm?YA-8h sc)>I?iB`廉Ilf?z0=`? %=)`?I%˽nF?|WR14e}0? r);I`?i%˽=checking for new query: numPingsReceived=114, elapsed TxPingTime=56.983467QA.AIIO?|i,?Ae.$?e}\?eM7ٱe/9 AHRS rotation from veh to nav: [[0.641018,-0.758722,-0.115920],[0.746529,0.651415,-0.135474],[0.178299,0.000303,0.983976]]eH7?rG󬽿?c?4W@?3?|?ie.$?Ie^;eCYHrByIiDzDbEqjEqrEu '0E EE.E"E;*Ea:VEـ4ZEa@a@a@a@iMb@Mb@Mb@ 9l?J +?ˡE?Y7?yH='=^HA^HA haA)3AYpIAIbDVDyE!=%E<ٔEY29M ?YM ?=M;FyMJDU \=EU}>YQ 5p4]'?Q 9p4])o)]ЊBYG8?Q E:yln?Q I?]WCI]G;i]L:]tp4yBɮ _A3Ei1i5?AJi5uARi5uAji5Bq'@b5:$A )_0@dV~?R5ʫuſ5? b?hܸm?Zi5`?bi5%˽j5`p#^,hUq @:?Z5H뿒.?z &q?2i5A:i5b"i5If?*i5+Bi5vBi1i5?i5vBi5?wAi5A@u addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502983 s, deltaX: 0.400000 m, approachRate: 0.795255 m/s, rangeRepo size: 4  Added new target pos. range: 16.432474 m, bearing: 149.902249 deg, lat: 36.779312 deg, lon: -121.859454 deg, deltaT: 0.502983 s, deltaX: 0.398363 m, approachRate: 0.792001 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.43 m.bhRhZhԑ ProNav: ac range: 16.432474 m, nav range: 15.452933 m, bearing: 173.328535 deg, approach rate: 0.000000 m/s, LOS rate: 1.664406 deg/s, cmd heading: 60.298283 deg, new cmd heading: 63.646305 deg. BhHeadingCmd: 1.110838 target range: 16.432474 and range: 16.50 m.h/?h*h"h hgfffBdddjd0@Zd_!?EKqBɢMqE)I MF}>iI]checking for new query: numPingsReceived=114, elapsed TxPingTime=57.219051)ucXqqiuouim > - ?@)  @) @5 5@1 @= =@= =DDAT read: Rx Time:03:27:23.7722 TRx dataTimestamp_ set to:1761535642.721478-PDAT read: Bearing 13.9, 27.4 (Local) -~Local bearing/azimuth received: Bearing 13.9, 27.4 (Local) =DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.5 eDAT read: 03:27:23.7722 LVL= 13920, 17697, 23970, 25187, AGC= 64, IDX= 498, 0.15,-0.393, 0.407,-1.488,-0.121, PHS=-0.171, 0.572,-1.412, RAW= 8.2, 11.6, CAL= 8.2, 13.5, ROT= 141.8, -13.5 mYgot valid direction response: 03:27:23.7722 LVL= 13920, 17697, 23970, 25187, AGC= 64, IDX= 498, 0.15,-0.393, 0.407,-1.488,-0.121, PHS=-0.171, 0.572,-1.412, RAW= 8.2, 11.6, CAL= 8.2, 13.5, ROT= 141.8, -13.5 mV#Rx 115: Read range and direction messages.u^direction in FSK: [-0.764144,0.601322,0.233445]uFpublishing direction and range infoyiIs迾!V >?%E?YA`6!E] cb)@I/in?jC>4QO>C> :Fq>)bd@I:Fq:;׿yIr!? ?)DOIbd@i:Fqchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.489002^AqIAIIO?C^i,?AE EEE"E;*E:VEZEBEm%=ٔ+9)YQ=U;Fy]UDe[ =E>Ա checking for new query: numPingsReceived=115, elapsed TxPingTime=57.725697Q 5Ep4c%?Q 9Mp4f)BYIyM&s?Q IM?RXCI;i;p4yQɮ]]AYii,?AJi ARi Aji%W@b6Oj)c~$@#.+@RiIs迾!V >?%E?Zibd@bi:Fqj+0"0CN;?Z6c'Ϳy?2irr:i"i=כ?*ihBiyBi=כ?iiipAi6C@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504675 s, deltaX: 0.200001 m, approachRate: 0.396296 m/s, rangeRepo size: 4  Added new target pos. range: 16.631643 m, bearing: 193.230383 deg, lat: 36.779308 deg, lon: -121.859454 deg, deltaT: 0.504675 s, deltaX: 0.199169 m, approachRate: 0.394648 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 16.63 m.bh - ZTarget missed at range: 16.70 m. Rolling out.2h NTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgfffdAdAdAjdE@30@ZdM`M?颕MqB1) >i)yS顙ii"II &Changing to mode: 1@@ @@5@^A !  DDAT read: Rx Time:03:27:24.2725  TRx dataTimestamp_ set to:1761535643.224662 PDAT read: Bearing 11.9, 22.7 (Local)  ~Local bearing/azimuth received: Bearing 11.9, 22.7 (Local)  DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.8  DAT read: 03:27:24.2725 LVL= 13984, 15345, 25122, 28003, AGC= 62, IDX= 501, 0.18, 1.284, 2.242, 0.348, 1.726, PHS=-0.340, 0.561,-1.423, RAW= 3.0, 13.9, CAL= 3.3, 16.9, ROT= 146.7, -16.9 A ؟AI I O >% Ygot valid direction response: 03:27:24.2725 LVL= 13984, 15345, 25122, 28003, AGC= 62, IDX= 501, 0.18, 1.284, 2.242, 0.348, 1.726, PHS=-0.340, 0.561,-1.423, RAW= 3.0, 13.9, CAL= 3.3, 16.9, ROT= 146.7, -16.9 % V#Rx 116: Read range and direction messages.- ^direction in FSK: [-0.799712,0.525313,0.290702]5 Fpublishing direction and range infoy  p=pc\?Tcݚ?Y ̈A 6 ; "b cm) >I {i ? $ PwV= Ulx> k= >) #@I  aV-ܿ<-u7?? ) vwI #@i  M checking for new query: numPingsReceived=116, elapsed TxPingTime=57.9971851 Bi,DѦ?A=.?=re?= +ٱ=f UAHRS rotation from veh to nav: [[0.614629,-0.781887,-0.104324],[0.771094,0.623419,-0.129470],[0.166269,-0.000868,0.986080]]=H ? 8ͬ?` ?@y KH?`ZoL?i=.?I=^;=CYrByZIiMb@Mb@Mb@ 9bX9?v/?%-8=D5<D5%=E= E=E=-E9"E=';*E=˭:VE=t4ZE9aE@aE@aE@aE@ٔUup9U"?YU"?=];Fy]^D])=E]>aQ 5mp4eh3?Q 9p4e@`)e!BY7?Q E:yz?Q I?eXCIe;ieE;ep4y Bɮ\A4EKAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1LEntering Midcourse tracking update period 60.000000 s sec at 16.700001 m (mode 5.000000 count ).1LqLJ  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ Resuming normal ranging with 1.000000 count pings 16.700001 m (mode 5.000000 count ).J1Kii`Φ?AJi=ARi=Aji^@bD<+ZTn)d!@d'[y@Rp=pc\?Tcݚ?Zi#@bijL/8mB03^@Z_8?JԿ}!?2i:i~"i?*iSBiM}BiiiiAi=D@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503184 s, deltaX: 0.400000 m, approachRate: 0.794937 m/s, rangeRepo size: 4  Added new target pos. range: 17.030006 m, bearing: 199.311603 deg, lat: 36.779308 deg, lon: -121.859454 deg, deltaT: 0.503184 s, deltaX: 0.398363 m, approachRate: 0.791685 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.03 m.hh*h"h h2hgfffB1: tAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t@Uninitialize Buoyancy Component.ddjd1@Zd?U +)Q U=iU9)UQYiYiYFIIchecking for new query: numPingsReceived=116, elapsed TxPingTime=58.227131I=@9 @9@=4@9^A6AzAAABy A} <B k>B B vIB sBB B B B Ä;B ;E A I I O >0li,1릹?AB2?B'j?B#ٱB " NAHRS rotation from veh to nav: [[0.600714,-0.793320,-0.098919],[0.783427,0.608799,-0.124922],[0.159325,-0.002453,0.987223]]PBH 9?`bR`?H{? d?d U?iB2?IB[`;@Y^sBy^IbDnVDnyvI>%zw=ٔzgmc9@ m#>)m%:)@Im#iime3 jSmYŁmw? m1)mzIm%:)@im#iichecking for new query: numPingsReceived=117, elapsed TxPingTime=58.495029Q 5p4=?Q 9p4+[):BYy?Q I%?XCIA =iP =np4y)ɮ-[A)BjeN@qLeLeje?1KeqKeiiim?AJimՉARimՉAjimd@bm/,g>"e@( ~@Rm=`꿪Q(?+0?Zim%:)@bim#jmռ.wF{a˞t@Zm<ľ}ćfڿAR?2im:imv"im"*?*imgJ5Bim~Bim?imhimyBimrAimY@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504073 s, deltaX: 0.199999 m, approachRate: 0.396766 m/s, rangeRepo size: 4  Added new target pos. range: 17.229265 m, bearing: 204.992409 deg, lat: 36.779311 deg, lon: -121.859513 deg, deltaT: 0.504073 s, deltaX: 0.199259 m, approachRate: 0.395298 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.23 m.hqhq*hq"hq hq2hqgqfyfyfydydjdL1@Zd`1?Z57?Z57?Z54=Z5?#) &i9)顉iiIIEE EAEE*EA"EEs!;*EAVEE(N4ZEABEExWi,?A|V7?o?9'ٱQ5 AHRS rotation from veh to nav: [[0.586308,-0.804932,-0.091252],[0.795534,0.593367,-0.122646],[0.152868,-0.000686,0.988246]]H ?Q\ u??e`/?xF?iV7?IZa;CYKsByI i]Mb@Mb@Mb@YYYY Y9]v?J +?X9v?Y]8?y]H=]<]nFA]nFA ]ZA)]3AYY]FAbD VD2yF=%/=ٔe9Y=;Fy&=E>Q 5q4L?Q 9q4S)[BYm9?Q E:y?Q I?.YCIv:i:q4y ɮ  Jj!L%L%"j)qK-K-=DNOT Ignoring new targets: 17.23 m.h9h9*h9"h9 h92hAgAfAfIfMBdIdIjdIZdU ?Zum9?Zum9?ZutNJ=Zu?9') (i 9)額iinII!mDDAT read: Rx Time:03:27:25.2729 mTRx dataTimestamp_ set to:1761535644.232603}PDAT read: Bearing 11.3, 21.4 (Local) }~Local bearing/azimuth received: Bearing 11.3, 21.4 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.7 DAT read: 03:27:25.2729 LVL= 15696, 21745, 32082, 32755, AGC= 57, IDX= 505, 0.28, 0.959, 2.016, 0.051, 1.517, PHS=-0.456, 0.544,-1.510, RAW= 0.9, 15.8, CAL= 1.3, 19.9, ROT= 148.7, -19.9 Ygot valid direction response: 03:27:25.2729 LVL= 15696, 21745, 32082, 32755, AGC= 57, IDX= 505, 0.28, 0.959, 2.016, 0.051, 1.517, PHS=-0.456, 0.544,-1.510, RAW= 0.9, 15.8, CAL= 1.3, 19.9, ROT= 148.7, -19.9 V#Rx 118: Read range and direction messages.^direction in FSK: [-0.803437,0.488498,0.340380]Fpublishing direction and range infoyim;nµ鿭+C?"T?YmAimP=mTmR} i)m9ImximC ?mGmm޹< mӱ>)mx&@Imӱiim9D\ݿSZ"/#g? m)mImx&@imӱiichecking for new query: numPingsReceived=118, elapsed TxPingTime=58.998619QMEU  EU EU -EQ "EU %;*EU *:VEU t4ZEQ ae @ae @ae @ae @ ? @  @ @ 4@ y ^A f$I I O > checking for new query: numPingsReceived=118, elapsed TxPingTime=59.234997i~i,en?A2=?2Dt?2xٱ2jo< :AHRS rotation from veh to nav: [[0.570230,-0.817891,-0.076762],[0.808326,0.575299,-0.125059],[0.146446,0.009264,0.989175]]2H`S?? ),?h???S?i2=?I2 `;2CYBgsByBIbDNVDNyV۪=%Vw=ٔVB1B5IB5osBB5 =B1B5DB5;B5:EBBBBŸ =BCºm5 ԑ"@ @@/@^AO IIOa>DDAT read: Rx Time:03:27:25.7730 TRx dataTimestamp_ set to:1761535644.736937PDAT read: Bearing 15.3, 20.0 (Local) ~Local bearing/azimuth received: Bearing 15.3, 20.0 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.5 ԱDAT read: 03:27:25.7730 LVL= 17648, 22113, 30946, 30547, AGC= 57, IDX= 506, 0.34,-1.083, 0.088,-1.946,-0.498, PHS=-0.483, 0.631,-1.492, RAW= 358.4, 14.5, CAL= 358.9, 18.0, ROT= 151.1, -18.0 Ygot valid direction response: 03:27:25.7730 LVL= 17648, 22113, 30946, 30547, AGC= 57, IDX= 506, 0.34,-1.083, 0.088,-1.946,-0.498, PHS=-0.483, 0.631,-1.492, RAW= 358.4, 14.5, CAL= 358.9, 18.0, ROT= 151.1, -18.0 V#Rx 119: Read range and direction messages.^direction in FSK: [-0.832616,0.459629,0.309017]Fpublishing direction and range infoy钕ʤ꿉3j?;[@?Y3ADaVx Sw)IKi7!?+@>r@ |٠>)(@I|٠R>@/[`Ɂ$? I)qI(@i|٠-checking for new query: numPingsReceived=119, elapsed TxPingTime=59.509026 E]  E] E] )EY "E] );*E] :VE] FA4ZEY BE] O9dYd=f;Fydj`E=En>qԡQ 5q4u"d?Q 9q4uG)uBYy?Q I?uYCIuXe@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504334 s, deltaX: 0.199999 m, approachRate: 0.396560 m/s, rangeRepo size: 4  Added new target pos. range: 17.826975 m, bearing: 208.334440 deg, lat: 36.779316 deg, lon: -121.859542 deg, deltaT: 0.504334 s, deltaX: 0.199343 m, approachRate: 0.395259 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.83 m.hh*h"h h2h!g!f!f!f!dIdIjdM`f1@ZdU^?ZZZZ=?پ) -2i-9))-H)i)i11=c3I9I9EgAEhA- 9I5 fA)5 fA} DDAT read: Rx Time:03:27:26.2732  TRx dataTimestamp_ set to:1761535645.241739 PDAT read: Bearing 14.2, 22.4 (Local)  ~Local bearing/azimuth received: Bearing 14.2, 22.4 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.6 %@  @ @ 4@ ! M DAT read: 03:27:26.2732 LVL= 20512, 21713, 32754, 32755, AGC= 56, IDX= 508, 0.33,-1.725,-0.673,-2.601,-1.159, PHS=-0.465, 0.531,-1.486, RAW= 0.4, 16.0, CAL= 0.9, 20.2, ROT= 149.1, -20.2 U Ygot valid direction response: 03:27:26.2732 LVL= 20512, 21713, 32754, 32755, AGC= 56, IDX= 508, 0.33,-1.725,-0.673,-2.601,-1.159, PHS=-0.465, 0.531,-1.486, RAW= 0.4, 16.0, CAL= 0.9, 20.2, ROT= 149.1, -20.2 ] V#Rx 120: Read range and direction messages. ^direction in FSK: [-0.805288,0.481955,0.345298] Fpublishing direction and range infoyy } <] X?P]?Y} Ay } P} T}  } )} 8I} {i} ?} ?5} ;} 5>} < } J>)} ۋ&@I} Jy y } }_޿s꿠.? } T)} 1JI} ۋ&@i} Jy y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y^A !I 19I9E] E]E],EY"E];*E]B:VE]g4ZEYam@am@am@am@TGO?liAhi,Z?A"t9"liAY"AnF?n~?n:ٱnw< vAHRS rotation from veh to nav: [[0.539612,-0.840421,-0.050116],[0.831608,0.541347,-0.123981],[0.131327,0.025225,0.991018]]nHD?@ը?R?`;O?ԙ?k?inF?In]^;nCY~sBy~II%=)C=AԑiMb@Mb@Mb@ 9ʡE?I +?/$?Y-2?y94=<AADA "UA)YCA 4<bDVDy^o<% =ٔ9_9!Y!=%;Fy!- =E->52Acoustic response timeout9Q 5Eq4=s?Q 9Eq4=>)=BYM2?Q EM:yMx?Q IM?=ZCI=:i= ;=r=q4yUBɮUYA],EiixO?AJiARiAjimh@bDDb1-Bںx!@A8 @R<] X?P]?Ziۋ&@biJjL/Mc^ `&>,@Z9&kXLSܿx)?2i:ix"i!V?*ix8BîBikQ6?ix8i׀Bi1Aiug@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504802 s, deltaX: 0.300001 m, approachRate: 0.594295 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.125751 m, bearing: 207.789607 deg, lat: 36.779318 deg, lon: -121.859545 deg, deltaT: 0.504802 s, deltaX: 0.298777 m, approachRate: 0.591869 m/s, posRepo size: 4 =DNOT Ignoring new targets: 18.13 m.h9h9*h9"h9 h92h9gAfAfAfEBdidijdm@332@Zdm O?Z2?Z2?ZL=Zx?:) (|i29),iiIIBj>BBIBsBB =BBDB;B:E (@  @ @ 4@  DDAT read: Rx Time:03:27:26.7733  TRx dataTimestamp_ set to:1761535645.749601% PDAT read: Bearing 15.8, 21.1 (Local) % ~Local bearing/azimuth received: Bearing 15.8, 21.1 (Local) 5 DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.5 u DAT read: 03:27:26.7733 LVL= 17968, 24641, 32754, 32755, AGC= 54, IDX= 509, 0.30, 2.911,-2.258, 2.110,-2.759, PHS=-0.511, 0.546,-1.458, RAW= 358.2, 16.2, CAL= 358.7, 20.4, ROT= 151.3, -20.4  Ygot valid direction response: 03:27:26.7733 LVL= 17968, 24641, 32754, 32755, AGC= 54, IDX= 509, 0.30, 2.911,-2.258, 2.110,-2.759, PHS=-0.511, 0.546,-1.458, RAW= 358.2, 16.2, CAL= 358.7, 20.4, ROT= 151.3, -20.4  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.822133,0.450105,0.348572] Fpublishing direction and range infoy  lN<w?<O?Y fA  0F A`  ) 6I i ?  @ Ð> U@  K>) )@I K   S1 4I-꿡v?  ) eI )@i K   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A ;I  I) O5 >i,t?ABӂK?B?B<ٱB t= JAHRS rotation from veh to nav: [[0.525150,-0.850139,-0.038471],[0.841898,0.525594,-0.122303],[0.124194,0.031839,0.991747]]BH?W4 i??`?O5˿?9M? d?iBӂK?IB\_;BCYrsByrIbD=VD=N2yMl<%MW=ٔMK9QYQ=U;FyQ}E@=E}>Q 5q4*~?Q 9q48)ċBYy?Q I?\ZCI:i:Jq4yɮYAiIiMvo?AJiM͑ARiM͑AjiMPk@bM xU-P?h @c@i@E} E}EyEy"E}[";*E}:VEyZEyBE}zQy )wi,?A2O?2<̓?2ٱ2 = :AHRS rotation from veh to nav: [[0.511484,-0.858708,-0.031680],[0.851169,0.511362,-0.118408],[0.117878,0.033598,0.992460]]2H`^?zd8A) -RA)-v4A)Y-BAbDEVDEyU=%U-=ٔ]]]9YYY=e;Fyae=Ee>iQ 5uq4m?Q 9}q4m1)mۋBY}-?Q E}:y}t?Q I}?mZCIm;im;m[q4yɮ YAidif*?AJifȕARifȕAjif_?bfcGI!@$)t"@[Hb+@Rf0mQ?y??g?ZifS?bif~Qjfy|`IVk%@f-@ZfSpB˿ h?y/Z?2if(A:if"ifA2?*ifS\BifBif!V?ifx8if̂BifPAif];i@u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503016 s, deltaX: 0.500000 m, approachRate: 0.994004 m/s, rangeRepo size: 4  Added new target pos. range: 18.723129 m, bearing: 111.178055 deg, lat: 36.779321 deg, lon: -121.859545 deg, deltaT: 0.503016 s, deltaX: 0.497955 m, approachRate: 0.989939 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.72 m.hh*h"h h2hgfffBddjd2@Zd?E EE/E"E%.;*E:VEJ4ZEa@a@a@a@ԑZ-?Z-?Z=Z)t?)  wi9)ȶii%\I!I!u2Acoustic response timeout?i?ԩ -@  @ @ @ @ gA@ Ba Ba Be IBe sBBa Ba Ba Be ;Be :E ^A-ܪI9IQOe>i,ʬ?ALJIV?JkX?J?ܽٱJ`h< ZAHRS rotation from veh to nav: [[0.488296,-0.872145,-0.030490],[0.866011,0.488580,-0.106364],[0.107661,0.025532,0.993860]]JH>@?8]?D? : ?-%??iJIV?IJ-j^;JCYfsByjI lln=n=bDrVDrܲy~=%~O=ٔ~9Y=;Fyp=E > Q 5q4 B?Q 9q4 k+) BYy?Q I? ZCI E} E}E},Ey"E}C#;*E}:VE}g4ZEyBE}{9QYQ=U;FyQ]<E]>aQ 5mq4e?Q 9mq4e$)eBYm"?Q Em:yum?Q Iu?e9[CIe ;ie. ;ewxq4yyɮ}-VAyDNOT Ignoring new targets: 18.72 m.hh*h"h h2hgffflBddjdZd(?Z"?Z"?Z=Zm?Խ) \oi9)piiI!DDAT read: Rx Time:03:27:28.2740 TRx dataTimestamp_ set to:1761535647.260671PDAT read: Bearing 16.5, 19.2 (Local) ~Local bearing/azimuth received: Bearing 16.5, 19.2 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.5  DAT read: 03:27:28.2740 LVL= 16016, 23185, 27026, 27635, AGC= 58, IDX= 4,-0.07, 1.995, 3.125, 1.313, 2.697, PHS=-0.600, 0.473,-1.429, RAW= 355.8, 18.4, CAL= 356.0, 22.8, ROT= 154.0, -22.8 Ygot valid direction response: 03:27:28.2740 LVL= 16016, 23185, 27026, 27635, AGC= 58, IDX= 4,-0.07, 1.995, 3.125, 1.313, 2.697, PHS=-0.600, 0.473,-1.429, RAW= 355.8, 18.4, CAL= 356.0, 22.8, ROT= 154.0, -22.8 R#Rx 1: Read range and direction messages.%^direction in FSK: [-0.828565,0.404118,0.387516]%Fpublishing direction and range infoynsJ~?h%?YA>Zi k):Ii->y鶿Y@l>@ %>),@I%˾A⠫_Sgl)d9?  )kI,@i%˾E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Iq52@1 @1@5/@1@==@=>Y^A u2II)O5>bE^n4jEk4rE+/E  E E -E "E s!;*E :VE t4ZE a @a @a @a @y #i,}u৹?A2Acoustic response timeout6,\?6?6V̽ٱ6 w< BAHRS rotation from veh to nav: [[0.470590,-0.881451,-0.039868],[0.876727,0.472206,-0.091499],[0.099478,0.008106,0.995007]]6H$?4i$? 8?`{l]w???i6,\?I6>^;6CYbsBybIbDjVDj:yrh#=%re=ٔv39tYt=v;Fytz<Ez>|Q 5q4~\?Q 9q4~o)~ BYy?Q I ?~s[CI~:i~:~q4yɮUAiiծЧ?AJiARiAjiA=r@bЯ/ Y@洣@RnsJ~?h%?Zi,@bi%˾jۜ"-9l%͒&p@ZA A^@F&F?2i.:ih"i+7ݜ?*i>BiBiTTӆ?i2{!i5Bi`Ai[ m@ԙ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504245 s, deltaX: 0.400002 m, approachRate: 0.793268 m/s, rangeRepo size: 4  Added new target pos. range: 19.121475 m, bearing: 216.863876 deg, lat: 36.779326 deg, lon: -121.859550 deg, deltaT: 1.008054 s, deltaX: 0.398346 m, approachRate: 0.395163 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.12 m.hh*h"h h2hgff!f!d!d!jd-@333@Zd-@H?ZiZiZiZmq?V̽) rni˙9)顥Pii7IIB B =CB IB tBB B B B ;B :E4@ @@`0@*DAT read: user:344> DAT read: 0 8unknown deviceResponse_: 0 DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:345> BDAT read: Tx time:03:27:29.2128 $Ping request sent. Gi,P?AE& E$E&+E$"E&C#;*E$VE& [4ZE$BE$a*2E$a*JE&19IYI=M;FyIUh<EU>YQ 5eq4]?Q 9eq4]1)]BYaye?Q Ie?][CI]:i]g:]q4yuBɮuUAu$EDNOT Ignoring new targets: 19.12 m.hh*h"h h2hgfffddjdZdH?ZZZZ?Ľ) ,mi9)iiN&;IIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513577@ @@2@!^AGIIO=>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501153ԁ j,c*?A6_?6ʹ?6"ٱ6# BAHRS rotation from veh to nav: [[0.459075,-0.886898,-0.051594],[0.883550,0.461858,-0.077625],[0.092675,-0.009950,0.995647]]6H~a?waj@ F?? >߳?`V?i6_?I6I^;6CYRsByR Ii-Mb@Mb@Mb@)))) )9-`"?{Gzt?I +?Y-?y-ף;-94<-x=A-^BA --LA)-~4A)Y-(@AbDEVDE:yU9%UI=ٔ]9YYa=e;Fyae~o<Ee>iQ 5uq4m$?Q 9uq4m)m'BY}?Q E}:y}Ռ?Q I}?m[CIm ;im ;mq4yɮUADNOT Ignoring new targets: 19.12 m.hh*h"h h2hgfffiBddjdZdx?Z?Z?Z$ <ZՌ?Y") pmiK9)顝.ii&ԁEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753141ԩBy B} >CB} %IB} &tBBy By By B} ;B} :E j j,.?AY~ tBy~IbD VD y=%N=ٔ%Q-%>9!Y)=-;Fy)-E->1Q 5=q45ġ?Q 9=q45)55BYAyAQ IE?5/\CI5;i5";5q4yMBɮMUAME}DNOT Ignoring new targets: 19.12 m.hyhy*hy"hy hy2hygfffddjdZd@$?ߝ>ߝ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005548ZZZZ) lij9)=iiZj,OH?A>ba?>?>ٱ>wڼ JAHRS rotation from veh to nav: [[0.453227,-0.889182,-0.062781],[0.887252,0.456783,-0.064286],[0.085839,-0.026567,0.995955]]>H?,t@q@_d? ;?u?\4`?i>ba?I>a`;>CYRsByR IZ=Z=iuMb@Mb@Mb@qqqq q9uS?MbpI +?Yu?yuqu?Aux=A uJA)u3AqYu>AbDVDy<%?=ٔ9Y=;Fy<E>Q 5q4M͡?Q 9q4)BBY"?Q E:y‹?Q I?l\CI;i;q4yɮOUADNOT Ignoring new targets: 19.12 m.hh*h"h hgff f :Bd d jd Zd/?Z5"?Z5"?Z5<@Z5?‹?E)A MgiM~9)IMLIiIiQQU 1 E=  E= E= +E9 "E= ';*E= :VE= [4ZE9 aM @aM @aM @aM @- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7611620j,a?A2αa?2-Č?25ٱ2 >AHRS rotation from veh to nav: [[0.452283,-0.888930,-0.072416],[0.888048,0.456368,-0.055663],[0.082528,-0.039134,0.995820]]2H`2? r׉j?#5? ?O ?i2αa?I2UL`;2CYFtByFIbDNVDN!yV̷=%Z\=ٔZ9\Y\=^;Fy\bnU;Eb>`Q 5fq4bIա?Q 9jq4b)bMBYhyj?Q Ij?b\CIb:ib:btq4yrBɮrTArE DNOT Ignoring new targets: 19.12 m.h h*h"h hgfffdd!jd!Zd%t@ZAZAZAZE#?U5)Y ei9)Zii%BB2IB:tBB =BBB;B:EBQBQBQBQBQCUv4Y-9@) @)@-0@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013263^Ah%<II1Oe>ԩ E]  E] E] 0EY "E] ;*E] S:VE] 4ZEY BE] auAHRS rotation from veh to nav: [[0.451645,-0.888505,-0.081093],[0.888646,0.456087,-0.047879],[0.079526,-0.050439,0.995556]]6H?`n@´o?0?[?ө?i6a?I6z`;6CYv"tByv#IbD~VD~Ny <% C=ٔ r;Q->9Y=;Fy;E>)Q 55q4-Rޡ?Q 95q4-D)-YBYAyE?Q IE?-\CI-X_;i-e`;-#q4yYɮeTAaDNOT Ignoring new targets: 19.12 m.hh*h"h hgfffddjdZd@ZZZZC? ) eiS9)iii"( Ը d= r> s= X>) #@I X MiιۿKlHY_i+t5g,? ) {jI #@i X 5 checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538343^A u<I) I9 O >Q%j,N?AH>a??$ٱw %AHRS rotation from veh to nav: [[0.451499,-0.887864,-0.088576],[0.888973,0.456137,-0.040831],[0.076655,-0.060307,0.995232]]H ^?aiזּvr?W1?`礿? ி ?i>a?Ih`;CY]4tBy].IIe;>)e;aeArGjA)U߿9UjAY]qAE EE,E"E&;*E:VEg4ZEa@a@a@a@iMb@Mb@Mb@ 9/$? rh9Y=;Fy ':E >Q 5q4p顊?Q 9q4)fBY= ?Q E=:y= ?Q IE?#]CI;i;q4yIɮMnTAIiiBd!d!jd%4@Zd%?Z ?Z ?ZW@Z ?checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769307$) zdi9)&ziiRXIBOtBB =BBB;B:E } y9) @)  @) @- 0@1 I u DDAT read: Rx Time:03:27:31.8686 u TRx dataTimestamp_ set to:1761535650.788807} PDAT read: Bearing 17.7, 28.0 (Local)  ~Local bearing/azimuth received: Bearing 17.7, 28.0 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4  DAT read: 03:27:31.8686 LVL= 24096, 20497, 32754, 32755, AGC= 60, IDX= 509, 0.23, 2.991,-2.423, 2.008,-2.854, PHS=-0.336, 0.476,-1.465, RAW= 5.4, 15.5, CAL= 5.5, 19.3, ROT= 144.5, -19.3  Ygot valid direction response: 03:27:31.8686 LVL= 24096, 20497, 32754, 32755, AGC= 60, IDX= 509, 0.23, 2.991,-2.423, 2.008,-2.854, PHS=-0.336, 0.476,-1.465, RAW= 5.4, 15.5, CAL= 5.5, 19.3, ROT= 144.5, -19.3  R#Rx 2: Read range and direction messages. ^direction in FSK: [-0.768363,0.548068,0.330514] Fpublishing direction and range infoyq u  nIʼn? 3%'?Yq q u ^u Pq q )u <Iu 1iu F>u u =u c>u = u iw>)u vh!@Iu iwq q u >9lnٿ+ X? u @)u EIu vh!@iu iwq q  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037571^A<I!I1O=?p-j,B`?A6a?6?6>ٱ6 ^AHRS rotation from veh to nav: [[0.451689,-0.887413,-0.092066],[0.889119,0.456272,-0.035807],[0.073783,-0.065684,0.995109]]6Hx? e৑s? 3? BU k?а?i6a?I6ǔ_;6CY-3tBy--IbDEVDEk1yu%u4=ٔu;Q-}>9yYy=};Fyy&oE>Q 5q4W?Q 9q4B)rBYy ?Q I?b]CIg:i:q4yBɮ~TAEE EE-E"E;*E:VEt4ZEBEsyܿVqi)  di ؜9)ii9bQ4j,Ҩ?A&DDAT read: Rx Time:03:27:32.3689 *TRx dataTimestamp_ set to:1761535651.292821.PDAT read: Bearing 11.7, 24.7 (Local) .~Local bearing/azimuth received: Bearing 11.7, 24.7 (Local) 6DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.4 JDAT read: 03:27:32.3689 LVL= 24816, 20353, 32754, 32755, AGC= 61, IDX= 512,-0.02,-0.374, 0.555,-1.343, 0.262, PHS=-0.535, 0.338,-1.649, RAW= 4.0, 20.7, CAL= 3.8, 25.2, ROT= 146.2, -25.2 PRYgot valid direction response: 03:27:32.3689 LVL= 24816, 20353, 32754, 32755, AGC= 61, IDX= 512,-0.02,-0.374, 0.555,-1.343, 0.262, PHS=-0.535, 0.338,-1.649, RAW= 4.0, 20.7, CAL= 3.8, 25.2, ROT= 146.2, -25.2 RR#Rx 3: Read range and direction messages.V^direction in FSK: [-0.751897,0.503351,0.425779]VFpublishing direction and range infoy(*x㛛ct?t??Y*3A(*`*O( ()*=I*i*V>*oӿ*5=*>*ԇ= *z0>)*N#@I*z0ᾩ((*ݰI.<ڿ<vsiХ? *#)*1I*N#@i*z0ᾩ(( checking for new query: numPingsReceived=3, elapsed TxPingTime=3.550294Ea?E?ETٱENt UAHRS rotation from veh to nav: [[0.451893,-0.887135,-0.093718],[0.889224,0.456346,-0.032080],[0.071227,-0.068839,0.995082]]EH?ic`t?@4?l;?s?iEa?IE.^;ECY}OtBy}>IiMb@Mb@Mb@ 9Q? rhy&1?Y?y`e<DA6A nFA)Y=AbDVDky|c=%)=ٔ ;Q- >9 Y =;FyE>Q 5%r4?Q 9%r4G)BYm ?Q Em:ym ?Q Im?]CIm'B B KIB ctBB B B B ;B :E @!  @! @- 0@) Q DDAT read: Rx Time:03:27:32.8690 TRx dataTimestamp_ set to:1761535651.796118DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.4 X#Rx 4: Read range message, but no direction.yY̤Achecking for new query: numPingsReceived=4, elapsed TxPingTime=4.032460ԁ^Av<IIO ?O9Y=;Fy~E%>!Q 5-r4%?Q 95r4%)%BY1y5?Q I5?%]CI%:i%:%Ur4yɮpSA= addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503297 s, deltaX: 0.200001 m, approachRate: 0.397381 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 20.32 m.hAhA*hA"hA hAgAfIfIfIdIdQjdU4@ZdU?ZqZqZqZu!?o댽) ci.9)页,iiLODj,?AJDDAT read: Rx Time:03:27:33.3691 JTRx dataTimestamp_ set to:1761535652.300804NPDAT read: Bearing 18.6, 29.5 (Local) R~Local bearing/azimuth received: Bearing 18.6, 29.5 (Local) ZDAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.4 jDAT read: 03:27:33.3691 LVL= 19520, 18481, 30370, 26419, AGC= 66, IDX= 2, 0.22,-2.888,-2.029, 2.344,-2.491, PHS=-0.295, 0.507,-1.492, RAW= 6.5, 14.6, CAL= 6.6, 17.8, ROT= 143.4, -17.8 nYgot valid direction response: 03:27:33.3691 LVL= 19520, 18481, 30370, 26419, AGC= 66, IDX= 2, 0.22,-2.888,-2.029, 2.344,-2.491, PHS=-0.295, 0.507,-1.492, RAW= 6.5, 14.6, CAL= 6.6, 17.8, ROT= 143.4, -17.8 rR#Rx 5: Read range and direction messages.v^direction in FSK: [-0.764386,0.567683,0.305695]vFpublishing direction and range infoyHJfu迬 v*?ќ?YJAHJ@LJ1HJv J3g)JBIJ= iJ?JJV=Jw>J= J>)J- @IJHHa??4ٱ0J+,.ؿ1g쿿j®? J)JIJ- @iJHH-checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553293 5AHRS rotation from veh to nav: [[0.453417,-0.886435,-0.092981],[0.888996,0.457272,-0.024259],[0.064022,-0.071660,0.995372]]H`?@]ͷr?`C?@kטc?MX ?ia?IC^;CYEftByELIiMb@Mb@Mb@ 9 r?Zd;O9yYy=};Fyy~E>Q 5r4?Q 9r4)BY?Q E:yG?Q I?'^CI;iO;.r4yBɮ)SAiHiJ_@?AJiJARiJAjiJ f@bJg */J@g'@?QH5@RJfu迬 v*?ќ?ZiJ- @biJjJTG2+ !2$\@ZJIGfis>eYۿ7z?2iJ :iJ֐"iJ/a?*iJ@BiJ BiJe?iHiJmBiJAiJȭi@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504686 s, deltaX: 0.100000 m, approachRate: 0.198144 m/s, rangeRepo size: 4  Added new target pos. range: 20.615410 m, bearing: 205.948754 deg, lat: 36.779323 deg, lon: -121.859522 deg, deltaT: 1.007983 s, deltaX: 0.298729 m, approachRate: 0.296363 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.62 m.hh*h"h hgfff3Bddjd@34@Zd@u? MPExceeded connect timeout, disconnecting.DIzDM?AbEt4jEt4rEļ 0EU EQEU-EQ"EU[";*EQVEUt4ZEQae@ae@ae@ae@Z}?Z}?Z}@Z}G?4) `ig9)页biiB|i )>B k>B B ]IB tBB B B B ;B :Ea 9@  @ @ /@ ԉ^Au<IDDAT read: Rx Time:03:27:33.8692 TRx dataTimestamp_ set to:1761535652.804838PDAT read: Bearing 17.4, 28.2 (Local) ~Local bearing/azimuth received: Bearing 17.4, 28.2 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.4 =DAT read: 03:27:33.8692 LVL= 25712, 22977, 32754, 32755, AGC= 62, IDX= 499,-0.06, 1.106, 1.997, 0.102, 1.553, PHS=-0.345, 0.489,-1.495, RAW= 5.3, 15.5, CAL= 5.4, 19.2, ROT= 144.6, -19.2 EYgot valid direction response: 03:27:33.8692 LVL= 25712, 22977, 32754, 32755, AGC= 62, IDX= 499,-0.06, 1.106, 1.997, 0.102, 1.553, PHS=-0.345, 0.489,-1.495, RAW= 5.3, 15.5, CAL= 5.4, 19.2, ROT= 144.6, -19.2 ER#Rx 6: Read range and direction messages.M^direction in FSK: [-0.769788,0.547059,0.328867]MFpublishing direction and range infoy!Gh迓Z?f& ?Y3ApdY )>Iףi5^>)\q=c>= >)!@IIiOu ?Lj,4?A&ٿ(?쿫< %? ,,)EI!@ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.058015:c}a?:?:Ć|ٱ: BAHRS rotation from veh to nav: [[0.453680,-0.886621,-0.089876],[0.889032,0.457259,-0.023140],[0.061613,-0.069404,0.995684]]:H  ?3_  r?C?@?}ı?i:c}a?I:B ^;:CYJutByJVIPRAbDVVDVy^ =%^5=ٔ^;Q-b>9`Y`=b;Fydf'Ef>hQ 5nr4jU?Q 9nr4j<)jBYlyn=?Q Ir?jb^CIj :ij:j>r4AyAɮERAAiiw3?AJiARiAjiQg@bÖ0ߨ&@ma@R!Gh迓Z?f& ?Zi!@bijҌ1˽ҙd" '@Zи{ߕFܿs?2i$:i׏"i,1?*im BiNBicI?in\iNBiAiCi@5 addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504034 s, deltaX: 0.199999 m, approachRate: 0.396796 m/s, rangeRepo size: 4 e Added new target pos. range: 20.814623 m, bearing: 207.088686 deg, lat: 36.779320 deg, lon: -121.859520 deg, deltaT: 0.504034 s, deltaX: 0.199213 m, approachRate: 0.395237 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.81 m.hihi*hi"hi higifqfqfqddjd`f4@Zd` A?ZZZZ=?Ć|) _i 9)ii!%7z3Tj,Q?A2a?2?2rٱ2s >AHRS rotation from veh to nav: [[0.453582,-0.887084,-0.085703],[0.889248,0.456869,-0.022567],[0.059174,-0.065975,0.996065]]2H`~? bt?W=? L?@㰿?i2a?I2^;2CYFtByFdI DDAT read: Rx Time:03:27:34.3695  TRx dataTimestamp_ set to:1761535653.308760PDAT read: Bearing 17.6, 28.1 (Local) ~Local bearing/azimuth received: Bearing 17.6, 28.1 (Local) -DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.4 MDAT read: 03:27:34.3695 LVL= 24928, 22113, 32754, 32755, AGC= 62, IDX= 502,-0.42, 1.862, 2.769, 0.867, 2.319, PHS=-0.355, 0.495,-1.496, RAW= 4.8, 15.5, CAL= 5.0, 19.3, ROT= 145.0, -19.3 UYgot valid direction response: 03:27:34.3695 LVL= 24928, 22113, 32754, 32755, AGC= 62, IDX= 502,-0.42, 1.862, 2.769, 0.867, 2.319, PHS=-0.355, 0.495,-1.496, RAW= 4.8, 15.5, CAL= 5.0, 19.3, ROT= 145.0, -19.3 R#Rx 7: Read range and direction messages.^direction in FSK: [-0.773116,0.541342,0.330514]Fpublishing direction and range infoy  a^ {R? 3%'?Y fA  `a aV  ) I µi p> | =  ¸= iw>) p!@I iw   Gl2<ڿ5G뿇 ? I)  bI p!@i iw  =checking for new query: numPingsReceived=7, elapsed TxPingTime=5.581533i}Mb@Mb@Mb@yyyy y9}T㥛 ?/${Gz?Y}?y}}ף91Y1=5;Fy1=9E=>AQ 5Mr4E]'?Q 9Mr4IE)EBYU<?Q EU:yU?Q IU?E^CIE6;iE5;E#Qr4yYɮeRAai i S?AJi ARi Aji g@b ^mf0K&@)fVw @R a^ {R? 3%'?Zi p!@bi iwj D92p;"j@Z K8%~E#ܿeٜH?2i :i ϑ"i `it'?*i ܲBi ɄBi ,1?i ܲi i Ai g@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503922 s, deltaX: 0.400000 m, approachRate: 0.793773 m/s, rangeRepo size: 4 - Added new target pos. range: 21.212988 m, bearing: 207.518365 deg, lat: 36.779317 deg, lon: -121.859515 deg, deltaT: 0.503922 s, deltaX: 0.398365 m, approachRate: 0.790529 m/s, posRepo size: 4 5DNOT Ignoring new targets: 21.21 m.h1h1*h1"h1 h1g1f9f9f=1Bd9dAjdEL5@ZdE?Z<?Z<?Z@ZϮ?r) p]i9)ii  a}BQ BU pIBU tBBU =BQ BU DBU ;BU :E^A} u<I I O >\Zj,vk?A`oa?~?lhٱ} -AHRS rotation from veh to nav: [[0.453474,-0.887612,-0.080663],[0.889469,0.456450,-0.022304],[0.056616,-0.061633,0.996492]]H?PgMv?z6?֖ ?SB?ioa?I^;CY=tBy=uIbDMVDMy]ڑ=%]V=ٔ]Q;Q-e>9aYa=e;Fyam" :Em>qQ 5}r4u+/?Q 9}r4u)uBYyy}?Q I?u^CIu:iu:uR^r4yɮ!RADNOT Ignoring new targets: 21.21 m.hh*h"h hgfffddjdZd ?ZZZZ?lh) [i9)/ii   Mԇ= >)N#@I jۿV we FN?  ) IN#@ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.0608589@! @!@%0@!@->@-=E EE.E"EI;*E8:VEـ4ZEBEiji AI A checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299354Eaj,HS?AfKa?fl?fxN\ٱfs! AHRS rotation from veh to nav: [[0.453629,-0.887828,-0.077341],[0.889567,0.456330,-0.020800],[0.053760,-0.059364,0.996788]]fHC?i`̳@Vw?`4?Li? d`?ifKa?If3l^;fCY%tBy%I AAiMb@Mb@Mb@ 9+?I +I +?Yv>y994<ZBAG5A )v4AY;AbDe VDe2yS=%8=ٔ;Q->9Y=;FyYE>Q 5r48?Q 9r4)ŌBiY>Q E:y3?Q I?_CIZ>Zw@Z3?5xN\)1 5(\i59)159iYiaam~E9= E>)E$@IEAAE>ܿ`\B J? E})EV2IE$@iEAAchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.582075  9E  E E ,E "E (;*E :VE g4ZE a @a @a @a @ 9@  @ @ 0@ checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805103^Av<IIO ?ij,è?AB,B,B.}IB.tBB,B,B,B.;B.:EB!B!B!B!B!C%74YtByIBAbDVD:y5P:%==ٔ=Q-=>9AYA=E;FyAMEM>QQ 5Ur4UvC?Q 9]r4U)UЌBYYayYQ Ie?UT_CIU+;iU-;Uˀr4yiɮm7QAqiir?AJiARiAji.j@bd/S1ESr(&@v8@R?ZA ;T?C.j?Zi$@bij;3<2t;=%h.ѻe@Z2j޿Wp?2i(:i"iB?*iiBiBiiii.Aii@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508304 s, deltaX: 0.500000 m, approachRate: 0.983663 m/s, rangeRepo size: 4  Added new target pos. range: 21.711020 m, bearing: 209.935944 deg, lat: 36.779317 deg, lon: -121.859515 deg, deltaT: 0.508304 s, deltaX: 0.497988 m, approachRate: 0.979705 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.71 m.hh*h"h hgfffddjd5@Zd8b?Z Z Z Z ) !\i%9)!%!i!i)))I)I1DDAT read: Rx Time:03:27:35.8698 TRx dataTimestamp_ set to:1761535654.824676PDAT read: Bearing 20.0, 25.8 (Local) ~Local bearing/azimuth received: Bearing 20.0, 25.8 (Local) DAT read: Range 11 to 50 : 21.8 m (trip ti CAL= 1.3, 18.0, ROT= 148.7, -18.0 Z#Rx 10: Read range message, but no direction.yYchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.062694ԉ%`9 9@  @ @ /@ Ee  Ee Ee -Ea "Ee C#;*Ee :VEe t4ZEa BEe { Qqj,ũ?AYYtByIiMb@Mb@Mb@ 9bX9?~jty&1|?YE>yD`;AA AA)6AYbDVDyF(=%"=ٔQ->9Y=;FyE>Q 5r4*M?Q 9r4)ٌBY _>Q E :y ?Q I ?_CI4;i;jr4yɮPAԁ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 21.71 m.hh*h"h hgfffKBddjdZd@g'?Z_>Z_>ZC@Z ?!)! %(\i%9))-}ɷ)i)i111I1I9mDDAT read: Rx Time:03:27:36.3701 mTRx dataTimestamp_ set to:1761535655.328832uPDAT read: Bearing 20.4, 24.4 (Local) }~Local bearing/azimuth received: Bearing 20.4, 24.4 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.4 DAT read: 03:27:36.3701 LVL= 21392, 19393, 32354, 32755, AGC= 60, IDX= 508, 0.06, 2.592,-2.614, 1.772, 3.133, PHS=-0.439, 0.582,-1.404, RAW= 359.1, 14.5, CAL= 359.6, 18.0, ROT= 150.4, -18.0 Ygot valid direction response: 03:27:36.3701 LVL= 21392, 19393, 32354, 32755, AGC= 60, IDX= 508, 0.06, 2.592,-2.614, 1.772, 3.133, PHS=-0.439, 0.582,-1.404, RAW= 359.1, 14.5, CAL= 359.6, 18.0, ROT= 150.4, -18.0 T#Rx 11: Read range and direction messages.^direction in FSK: [-0.826939,0.469767,0.309017]Fpublishing direction and range infoyimfHv C?;[@?YmAimSmKmb~ i)m<Imim?mFm-@m>m@ m|٠>)m'@Im|٠iim%t߿G!྘? mF)mׁIm'@im|٠iichecking for new query: numPingsReceived=11, elapsed TxPingTime=7.577425Ա  +G9 Q ;9 Y +A% 9I- hA)- hA E  E E .E "E &;*E E:VE ـ4ZE a @a @a @a% @ 9@  @ @ 5@ checking for new query: numPingsReceived=11, elapsed TxPingTime=7.8131271^AI IO-?yj,߇驹?AB <A <@6^a?6?6'ٱ6qw BAHRS rotation from veh to nav: [[0.454579,-0.887753,-0.072472],[0.889765,0.456333,-0.008863],[0.040939,-0.060454,0.997331]]6H`?yh@x?4?&?`#?i6^a?I6e ^;6CYJtByJIbDRVDRyZ=%Z@=ٔ^)9\Y\=^;Fy\bEb>dQ 5jr4f\U?Q 9jr4f7)fߌBYlyn?Q In?f_CIf;if;fEr4yrBɮrPApY"uFailed to parse device response: 61.66,11 61.69,11.3383,3.79741,2990.36 ii թ?AJiARiAjim@bzH2$@G6&T@RfHv C?;[@?Zi'@bi|٠j)R2a-'ޛ@Z$FP"$z?2ik9:i6"i>If?*iBiQBiB?iciɄBiAiPSj@% addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504156 s, deltaX: 0.400002 m, approachRate: 0.793408 m/s, rangeRepo size: 4 5 Added new target pos. range: 22.109388 m, bearing: 212.735323 deg, lat: 36.779319 deg, lon: -121.859516 deg, deltaT: 1.007943 s, deltaX: 0.398369 m, approachRate: 0.395230 m/s, posRepo size: 4 5DNOT Ignoring new targets: 22.11 m.h1h9*h9"h9 h9g9fYfafadadijdm@336@Zdm`Q?ZZZZm?') M[i9)ѷii    js?Y3ApPK z)IB`i5^?@d{>c9@ a>)%:)@Ia0aq࿫峑P꿹Z5F?  G)Ͽ|I%:)@iachecking for new query: numPingsReceived=12, elapsed TxPingTime=8.081776Ա%9 @  @ @ 5@ EE  EE EE +EA "EE +$;*EE 8:VEE [4ZEA M checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317194^Au<I1IIOe>ցj,?AXOa?? ٱy AHRS rotation from veh to nav: [[0.454851,-0.887710,-0.071280],[0.889784,0.456350,-0.005438],[0.037356,-0.060951,0.997442]]HG?h@k?y?@4?FvR ?4 ?iXOa?IU^;CYtByIi Mb@Mb@Mb@     9 Q?y&1|y&1|?Y >y `廙   3A @A) G5A Y :A %4<%4<bD%VD%1y5 =%5 =ٔ=a;Q-=>99YA=E;FyAEйEE>IQ 5Ur4M_?Q 9Ur4M)MBY]>Q E]:y]?Q I]?M `CIM ;iM ;MƵr4yaɮedPAiiiN?AJiwARiwAjiWn@bwq2cM$@ RP@R{6?->?Zi%:)@biaj{1w(pl~@Z>鿍LsEῼRy?2i@:i"i7ys?*iBi;BiWD?iiiBiAik@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504084 s, deltaX: 0.199999 m, approachRate: 0.396757 m/s, rangeRepo size: 4  Added new target pos. range: 22.308571 m, bearing: 213.786761 deg, lat: 36.779319 deg, lon: -121.859520 deg, deltaT: 0.504084 s, deltaX: 0.199183 m, approachRate: 0.395138 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.31 m.hh*h"h hgfff9Bddjd`ff6@Zd 0?Z>Z>ZՑ@Z? ) WiG9)طii!!%wq" @ C>)+@ICIǣQhc) \B/? ' )jqpI+@iCchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.586150! E 9 9@  @ @ ?0@ @ =@ =E=  E= E= /E9 "E= %;*E= :VE= J4ZE9 I Echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.821143^Av<I1IIO]?=j,'?A 68a?6?6O( ٱ6 S{ uAHRS rotation from veh to nav: [[0.455216,-0.887631,-0.069921],[0.889742,0.456459,-0.002036],[0.033723,-0.061285,0.997550]]6H@D"?`yg ]汿x?@6?ǭ`@3D?@`?i68a?I6M];6CY uByIbDVD Iy~+=%0=ٔ;Q->9Y=;Fy 8E>Q 5r4/i?Q 9r4)BYy?Q I?G`CI:i:r4yuBɮOAEii?AJiCARiCAjiq@bN;/A3csͬ#@YpN@R!2+L?Ix?Zi+@biCjo 1t7Q6) ||M@ZVC>@V?2iL:i"i}c]?*iBiBi>If?iiiAiEYn@  addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504053 s, deltaX: 0.100000 m, approachRate: 0.198393 m/s, rangeRepo size: 4 % Added new target pos. range: 22.408163 m, bearing: 215.847239 deg, lat: 36.779323 deg, lon: -121.859527 deg, deltaT: 0.504053 s, deltaX: 0.099592 m, approachRate: 0.197583 m/s, posRepo size: 4 %DNOT Ignoring new targets: 22.41 m.h!h!*h!"h! h)g)f)f)f1d9d9jd=6@Zd=v?ZYZYZYZ]箊?q}O( )y }oVi}9)y}෉yiil@ 5>)Z,@I5IH䓏/ϚY!? W ) kIZ,@i5checking for new query: numPingsReceived=14, elapsed TxPingTime=9.117095ԙ  o9E=  E= E= +E9 "E= +$;*E= :VE= [4ZE9 m 9@i  @q @u /@q iEAIEAUchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.326229^Auo=Z<IIO ?>j,ΉK?A)Ym%uBymIu=u=i Mb@Mb@Mb@     9 Zd;O?{Gzt?Y ~>y  ף; ZBA  E>A) v4A Y =:A@AbD%VD%y59=%5=ٔ5Q-5>99Y9==;Fy9EEE>IQ 5Ur4Mr?Q 9Ur4M)MBYU>Q EU:yU?Q I]?M`CIM:iM:Mr4yevBɮe!OAeEi)i-5?AJi-۴ARi-۴Aji-kq@b-}Vx39#"@G\@R-3׫뿈 )խ? ?Zi-Z,@bi-5j-9*+1j&yD*ā,@Z-^"鿏$⿷/?2i-#R:i-"i-$L?*i-"Bi-Bi-7ys?i-i)i-Ai-mto@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503785 s, deltaX: 0.200001 m, approachRate: 0.396996 m/s, rangeRepo size: 4  Added new target pos. range: 22.607347 m, bearing: 216.553210 deg, lat: 36.779324 deg, lon: -121.859530 deg, deltaT: 0.503785 s, deltaX: 0.199184 m, approachRate: 0.395376 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.61 m.hh*h"h hgfff@Bddjd@36@Zd?Z>Z>DDAT read: Rx Time:03:27:38.3706  TRx dataTimestamp_ set to:1761535657.344801PDAT read: Bearing 37.2, 23.1 (Local) ~Local bearing/azimuth received: Bearing 37.2, 23.1 (Local) -DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.4 MDAT read: 03:27:38.3706 LVL= 21792, 17329, 32626, 32179, AGC= 58, IDX= 513, 0.11,-1.660,-0.219,-2.544,-1.272, PHS=-0.286, 1.098,-1.317, RAW= 355.2, 4.9, CAL= 354.9, 3.0, ROT= 155.1, -3.0 UYgot valid direction response: 03:27:38.3706 LVL= 21792, 17329, 32626, 32179, AGC= 58, IDX= 513, 0.11,-1.660,-0.219,-2.544,-1.272, PHS=-0.286, 1.098,-1.317, RAW= 355.2, 4.9, CAL= 354.9, 3.0, ROT= 155.1, -3.0 ]T#Rx 15: Read range and direction messages.e^direction in FSK: [-0.905801,0.420459,0.052336]eFpublishing direction and range infoy  4pQRǠ?yoU˪?Y A   U C r }) I ni D? u a@ %= 6@ PwV=) ?-@I PwV  y ^,z?5kV,ER,ز? m ) "̭I ?-@i PwV  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.593892Z/3Z?) Ui9)s跉ii>maGj,f?Af`?fU?foŹٱf%p rAHRS rotation from veh to nav: [[0.456718,-0.887404,-0.062626],[0.889322,0.457232,0.006716],[0.022675,-0.058762,0.998014]]fH :?eISu?HC?{?+8? ?if`?If];dYz8uByzIbDVDyO=%d=ٔE9Y!=%;Fy!%E%>)Q 55r4-ex?Q 9=r4-@)-BY9y=j?Q I=?-`CI-Y;i-D;-.r4yAɮENAIAA@ABn>BBIBuBB =BBB;B:Eiyi}8V?AJi}@ARi}@Aji}'Js@b}4 $C#@w&_.?R}4pQRǠ?yoU˪?Zi}?-@bi}PwVj}tE2 ,h f{?Z}LkHJ<|?2i}`:i}Ȑ"i}P?*i}qBi}uBi}P?i}i}Bi}Ai}=q@= addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504047 s, deltaX: 0.299999 m, approachRate: 0.595181 m/s, rangeRepo size: 4  Added new target pos. range: 22.906263 m, bearing: 217.804227 deg, lat: 36.779326 deg, lon: -121.859536 deg, deltaT: 0.504047 s, deltaX: 0.298916 m, approachRate: 0.593032 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.91 m.hh*h"h hg)f1fAfddjd7@Zd ?Z9Z9Z9Z=j?moŹ)i mTiu9)qu﷉qiqiyybUI]Zdi]3?]]@]^ Z>]'@ ]>)]^/@I]YY]R8;⿿N8E? ]9)]YI]^/@i]YY5checking for new query: numPingsReceived=16, elapsed TxPingTime=10.109555I^A1 IA IQ Oe >ԁ E  E E +E "E ;*E :VE [4ZE BE m9TYT=Z;FyXZYhEZ>\Q 5Er4^<?Q 9Er4^)^BYYy]h?Q I]?^`CI^9;i^;^r4yaɮeNAiiiQv?AJi ARi Ajit@b&4Di!@@R1PNއR8?l?Zi^/@bij0jr1K&g,&$7@ZA_EoYd-GYh^$?2i=c:i"i?*iͧBi6Bi}c]?i"iBigAiU/r@ addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503937 s, deltaX: 0.100000 m, approachRate: 0.198438 m/s, rangeRepo size: 4  Added new target pos. range: 23.005856 m, bearing: 219.143323 deg, lat: 36.779328 deg, lon: -121.859538 deg, deltaT: 0.503937 s, deltaX: 0.099592 m, approachRate: 0.197628 m/s, posRepo size: 4 =DNOT Ignoring new targets: 23.01 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdM7@ZdM T?Qchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.333898ZZZZh?) Ti I9) Oii99=X?u ҝu %m@u %K>u @ u k>)u |0@Iu kq q u .v]LVJ? u \)u KIu |0@iu kq q  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.603584I I O- >PUj,G?A Z;`?ZdN?Z{ٱZY{ vAHRS rotation from veh to nav: [[0.456977,-0.887338,-0.061666],[0.889346,0.457004,0.014491],[0.015323,-0.061464,0.997992]]ZH??`eu??? ?@a?Cx ?iZ;`?IZ];ZCY~VuByII%=)%y%t<%`;%?A! %9qYq=u;Fyq}ʖE}>Q 5s4ꆢ?Q 9s4,)BYy>Q E:y?E EE,E"E%;*E:VEg4ZEa@a@a@a@Q I?aCIZ5y>Z5Qѣ<Z5?E{)A MSiM9)QUYQiQiiimx V} @ } f>)} )2@I} fy y I I O>{aj,?AR9XZ#Jd? )GI)2@ifNchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.129921Y\uByI bDMVDMJye8<%e$=ٔmQ-m>9iYi=u;FyquEu>yQ 5s4}?Q 9s4})}BYyQ I?}HaCI} ;i}":}*s4yɮCNAE EE.E"E;*E:VEـ4ZEBEbuLj, Ҫ?AYuBy IiMb@Mb@Mb@ 9w/?S㥛?:v?Y>y/<T<AA )7AYf:AbD VD βy=%a=ٔ!Q-%>9!Y)=-;Fy))E->1Q 5=s45?Q 9=s45)5BYEk>Q EE:yE,?Q IE?5raCI5 ;i5i ;5!s4yMwBɮMMAUEe=e<mDDAT read: Rx Time:03:27:40.3711 uTRx dataTimestamp_ set to:1761535659.361083}PDAT read: Bearing 28.2, 18.0 (Local) }~Local bearing/azimuth received: Bearing 28.2, 18.0 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.4 DAT read: 03:27:40.3711 LVL= 19040, 16865, 27730, 28659, AGC= 60, IDX= 502, 0.44, 1.947,-2.985, 1.419, 2.565, PHS=-0.516, 0.778,-1.190, RAW= 349.7, 10.7, CAL= 349.9, 12.2, ROT= 160.1, -12.2 Ygot valid direction response: 03:27:40.3711 LVL= 19040, 16865, 27730, 28659, AGC= 60, IDX= 502, 0.44, 1.947,-2.985, 1.419, 2.565, PHS=-0.516, 0.778,-1.190, RAW= 349.7, 10.7, CAL= 349.9, 12.2, ROT= 160.1, -12.2 T#Rx 19: Read range and direction messages.^direction in FSK: [-0.919053,0.332692,0.211325]Fpublishing direction and range infoyimAo6h-J?\ ?Ym3Aim`JmAmRl mo)m<Imim+G?mQm0O@mt;?>mk@ m^ Z>)m[2@Im^ ZiimV,=_翘zB? mi)m̬?Im[2@im^ Ziichecking for new query: numPingsReceived=19, elapsed TxPingTime=11.610628iiimת?AJimkARimkAjimKx@bmp\365U$8@w`@RmAo6h-J?\ ?Zim[2@bim^ Zjm,ZnU1ҀІ/.@Zm84 M[+1忶hE7D?2im6|:im"imߜ?*im2Bim%BimŜ?im6w!imoBimɹAimZv@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504342 s, deltaX: 0.500000 m, approachRate: 0.991391 m/s, rangeRepo size: 4  Added new target pos. range: 23.802586 m, bearing: 222.283442 deg, lat: 36.779333 deg, lon: -121.859550 deg, deltaT: 0.504342 s, deltaX: 0.497963 m, approachRate: 0.987352 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.80 m.hh*h"h hgfffsBd!d!jd%`f7@Zd%@E?Zek>Zek>Ze)t=Ze,?) fVi9)顥"iirV1  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.845629B <A B m>B B IB 8uBB =B B B ;B ;Eqj,y몹?A5`?5\?5Mٱ5Oe EAHRS rotation from veh to nav: [[0.456641,-0.888146,-0.051732],[0.889641,0.456143,0.021748],[0.004282,-0.055954,0.998424]]5H@9?k| w? q1?*E?q? ?i5`?I5) ^;5CYuuByuI yybDVDNyc<%C=ٔV9Y=;Fy:E>Q 5s4?Q 9s4k)BYy5?Q I?aCI:i:y0s4yeBɮMAEDNOT Ignoring new targets: 23.80 m.hh*h"h hgfffddjdZd y?Z)Z)Z)Z-5?=M)9 =Ui=Ƒ9)AAEUIiIiIQU\0O@  D>)3@I Dkz#o&N/? )c2I3@i Dchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.113657q9! @!  @! @% R0@! I1 IA OU >ԙ E%  E% E% -E! "E% s!;*E% S:VE% t4ZE! BE% x0?oҪ`kz?%?@|?F?@R@$?iV a?IV];VCrchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.350106YuBy IbDVDy%d=%%f=ٔ-I%9)Y)=-;Fy15G:EE>IQ 5Us4M?Q 9Us4M))MBYYy]H?Q Ie?MaCIM/;iM@;M">s4yɮLAԩii5^?AJiRijix@bAf5$U@sWH*@RuzӒ57~-?P@ml?Zi3@bi Dj@1B=q/֤b@Z1 &YjA?2i~:i"i]?*i>,BiBiߜ?if (iiAi?w@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 23.802534 m, bearing: 222.632832 deg, lat: 36.779336 deg, lon: -121.859553 deg, deltaT: 0.504042 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 mDNOT Ignoring new targets: 23.80 m.hihq*hq"hq hqgqfqfyfddjdZd@J?ZaZaZaZeH?mw5) Ti9) ii!!%e@ X8>)I4@IX80^X&!K7? ;)*II4@iX8 checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617938 U cGi y %9 Y A 9D) zD- @AE=  E= E= *E9 "E= U,;*E= :VE= (N4ZE9 aE @aE @aE @aE @I @I  @I @U /@Q a Echecking for new query: numPingsReceived=21, elapsed TxPingTime=12.853386y^AqIyIO?$j,*?ABk>BBIBWuBB =BBB؄;B/;EE_?i?:ٱiV\ AHRS rotation from veh to nav: [[0.459769,-0.886801,-0.046876],[0.888037,0.459014,0.026405],[-0.001899,-0.053767,0.998552]]Hl?`j?{`? ?`_c"?iE_?Iҩf;CYuByIi%Mb@Mb@Mb@!!!! !9%q= ףp? ףp= ?{Gz?Y%>y%Q8=%#<%?A! %;A)%8A!Y%9AbD=VD=:yMZ<%M<ٔU;Q-U>9QYQ=U;FyQ]һE]>aQ 5ms4e۩?Q 9ms4e>)eBYm>Q Eu:yu?Q Iu?ebCIev:ie:eSs4yyɮ}LAii#?AJi7ARi7Ajiy@b΄7I6t_‹@iZM@Rn[e!??ZiI4@biX8jw 1{ȵ<0k@@@Z_8ሐ͠?2i:ï"i?*i,S/BiBiSq휊?i>,i%BiAix@U addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504024 s, deltaX: 0.100000 m, approachRate: 0.198404 m/s, rangeRepo size: 4 m Added new target pos. range: 23.902020 m, bearing: 223.517843 deg, lat: 36.779337 deg, lon: -121.859555 deg, deltaT: 0.504024 s, deltaX: 0.099485 m, approachRate: 0.197382 m/s, posRepo size: 4 mDNOT Ignoring new targets: 23.90 m.hihi*hi"hi hqgqfqfqf}vBdydyjd}8@ZdU?Z>Z>ZT=Z?:) zTiޛ9)ii(]@ ]l$>)]5@I]l$YY]75^VNrΙʡ? ]K)]I]5@i]l$YYchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.121948a= i9 @  @ @ 0@ E  E E -E "E ;*E :VE t4ZE BE sPj,I?A2ވ`?2/?2;ٱ2] JAHRS rotation from veh to nav: [[0.457851,-0.887911,-0.044572],[0.888998,0.456843,0.031247],[-0.007382,-0.053930,0.998517]]2HmM?`i Ҧr?9hYh=j;Fyhn;En>pQ 5~s4r?Q 9 s4r)r BYy̘?Q I%?rHbCIr?YA`LCrv r)=I'1i\b?ף@|>@ ">)K6@I"忳ps,/wd? )IK6@i"]checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625903m$9i 9@  @ @ /@ E}  E} E} *Ey "E} &;*E} S:VE} (N4ZEy a @a @a @a @ԑ ^A% &<I9IQO]>~j,Fg?Achecking for new query: numPingsReceived=23, elapsed TxPingTime=13.861036^Pa?^?^C<ٱ^*` fAHRS rotation from veh to nav: [[0.455115,-0.889376,-0.043372],[0.890352,0.453881,0.035561],[-0.011941,-0.054801,0.998426]]^H ?u`4`}?c ?5?t@?i^Pa?I^e;^CYnuBynIaimMb@Mb@Mb@iiii i9muV?Zd;O?{Gz?Ymr>ymj<=im@Am2A m1:A)m1:AiYibDVDNyN=%%=ٔ9Y=;FyAAAABl>BBIBkuBBBBB;B;;EBiBiBiBm =Bm =Cm"T5p;E>Q 5s4?Q 9s4z) BY}>Q E:y?Q I?bCIZ@R ;{Vԧ?JC?@\~>?Zi K6@bi "j 0 <1--m @Z  h#[濣ԧ?2i :i ܆"i *?*i t?Bi ZBi ?i 2i Bi ZAi az@ԉ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503820 s, deltaX: 0.299999 m, approachRate: 0.595449 m/s, rangeRepo size: 4  Added new target pos. range: 24.400013 m, bearing: 225.638608 deg, lat: 36.779340 deg, lon: -121.859558 deg, deltaT: 0.503820 s, deltaX: 0.298809 m, approachRate: 0.593087 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.40 m.hh*h"h hg)f)f)f-Bd1d1jd58@Zd5?Z>Z>Z=ZU?C<) zTi9)YiihwZ@ Q >)c6@IQ 6` qj}"7J k? i)iIc6@iQ echecking for new query: numPingsReceived=24, elapsed TxPingTime=14.130266M 9 9@  @ @ @ @ hA@ iAE  E E ,E "E g5;*E :VE g4ZE BE $<ٱZG.a bAHRS rotation from veh to nav: [[0.452008,-0.891032,-0.041842],[0.891872,0.450604,0.038989],[-0.015886,-0.054941,0.998363]]ZH@? UZl7? ?@O?ZD ?!`?iZ3b?IZ~0c;XYjuByjI llr=ptt1bDuVDuy#%-=ٔ=;Q-E>9qYy=;Fy;E>Q 55s4o?Q 9=s4s)YIyU?Q IU?bCIB$<)i mUim 9)qu.ѻiiQ5@ 5 A>)57@I5 A115*HBl濆0? 5b)5 I57@i5 A11checking for new query: numPingsReceived=25, elapsed TxPingTime=14.634786 E9Թ m 9@q  @q @u 4@q bE]^n4jE]m4rE]7/E  E E /E "E &;*E a:VE J4ZE a @a @a @a @ checking for new query: numPingsReceived=25, elapsed TxPingTime=14.870003^Au@p<IIO?j,P?A2b?2,k?2̇<ٱ23c :AHRS rotation from veh to nav: [[0.449196,-0.892503,-0.040757],[0.893216,0.447612,0.042532],[-0.019717,-0.055510,0.998263]]2H`?b$ޤ8?஥?ƥ?0k ?i2b?I2Ba;0YBuByBIBNm>BLBNIBNuuBBLBLBLBNۄ;BN3;EqiMb@Mb@Mb@ 9Zd;O?y&1?MbpY~>y`e=AA3A `9A);AYf:AbD-VD-ky=;%==ٔE;Q-E>9AYA=M;FyIM ;EM>QQ 5]s4URŢ?Q 9]s4Um)UBYe@>Q Ee:ye?Q Ie?UcCIU%;iUl;U=s4ymPBɮmKAuEii8?AJicARicAji 8~@b?d7%u@A:* @R$ڼכJTjI?OZ_|?Zi7@bi Aj$Y0r(%2&] @ZMG d>. j翩 n?2i,:i"iZ @>Z t,=Z +?}̇<)y }fVi}9)顅6;iiM@ |=)R8@I|ゥu濡`Y? )0IR8@i|ゥchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.143096 ^Am e<Iy E  E E +E "E C#;*E :VE [4ZE BE {j,ī?A^Vc?^ݍ?^:<ٱ^a rAHRS rotation from veh to nav: [[0.446031,-0.894171,-0.038930],[0.894714,0.444325,0.045406],[-0.023303,-0.055083,0.998210]]^HË? ?`o?w??ܗ3U?i^Vc?I^_;^CY~uBy~IbDVDy=%Et=ٔU- ^direction in FSK: [-0.968531,0.184757,0.166769] Fpublishing direction and range infoy  DRm5?8_X?Y A  pF D x  z) :I i Q? r V@ | > V@  +>) <@I +   Rd&  ?  zq) ~ !I <@i +   checking for new query: numPingsReceived=27, elapsed TxPingTime=15.654584 -!j,Xݫ?A6dd?6H?6^<ٱ6_ FAHRS rotation from veh to nav: [[0.443065,-0.895724,-0.037035],[0.896084,0.441243,0.048359],[-0.026975,-0.054613,0.998143]]6H,[?ƩB? T=?@¨? P3?i6dd?I6m^;4Y}nuBy}II=)p;E] E]E]-EY"E]I;*E]S:VE]t4ZEYae@ae@ae@ae@imMb@Mb@Mb@iiii i9mS㥛?l?/$Ym>ym=mmZBAi m8A)m;AiYm:AbDVDyT%6=ٔ9Y=;Fy;E>ԱQ 5s4Ϣ?Q 9s4e)BY>Q E:y?Q I?^cCI:i:s4yɮLAiAiE,٫?AJiEARiEAjiE@bER[N8)-@#f~@REDRm5?8_X?ZiE<@biE+jEgo(.g/cx3^! R@ZE&9v迈[?2iEC:iE@q"iE)Yٝ?*iEfBiEBiEZ>Z"=Z$?5^<)9 = Wi=9)AE%eRj,??AiZd{?&Q@¸2=nʿ@ ):@I;Kn ^'Wɢ? S)k%5I:@i;2checking for new query: numPingsReceived=28, elapsed TxPingTime=16.2023778f(f?fH?f =ٱfEW AHRS rotation from veh to nav: [[0.437970,-0.898412,-0.032232],[0.898324,0.435985,0.054137],[-0.034584,-0.052665,0.998013]]fH?ɿ@`?@-?ѷ? `?if(f?If^;fCYm\uBymIbD}VD}k1y%2=ٔ9Y=;FyF<E>Q 5s4H֢?Q 9s4_)BYyC?Q I?cCI:i:s4yQBɮMAEiih?AJiRijiр@b i8`ԫC@IZJmƿRql9 칩?a|Zi:@bi;jF$/'pg3U=?Z{HI<~P[?2i=:i~"iЌk?*i[^BivBiVi?iMijBiAib@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503616 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EE,E"EC#;*E':VEg4ZEBEa2EaJE{k,Z.?A23f?2I?2=ٱ2w*\ >AHRS rotation from veh to nav: [[0.435860,-0.899461,-0.031553],[0.899188,0.433691,0.058076],[-0.038553,-0.053686,0.997813]]2H"?b '@&? ?0?:@|@?i23f?I2^;2CYBQuByFI iMb@Mb@Mb@ 9S?~jth?~jtY/>yD;@A 6A)9)Y)=-;Fy)-;E5>1Q 5=s45bޢ?Q 9es45Z)5BYe >Q Ee:ye?Q Ie?5cCI5;i5y;5s4yqɮuGMAqii?AJi+ARi+Aji@E EE/E"E;*E:VEJ4ZEa@a@a@a@bQi8Y@6Z@Ro)*B?b$ݵ?Ziq:@bi%jgI/53}y@Z"&YD63迷Q?2i:i~"iK?*iƓ]BiGBiЌk?iƓ]iBiKAiO܀@5 addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503817 s, deltaX: 0.299999 m, approachRate: 0.595453 m/s, rangeRepo size: 4 m Added new target pos. range: 25.396004 m, bearing: 230.853717 deg, lat: 36.779356 deg, lon: -121.859576 deg, deltaT: 0.503817 s, deltaX: 0.298777 m, approachRate: 0.593026 m/s, posRepo size: 4 mDNOT Ignoring new targets: 25.40 m.hihi*hi"hi hqgqfqfqfLBddjd9@Zdi?9ZE >ZE >ZED;ZE?m=)i uzTiИ9)顝*-ii=IIiIAchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.885612yB! B! B% IB% uBB! B! B! B% ;B% ;;E 9Q @Q  @Q @U @1@Q @Y @Y ԑ DDAT read: Rx Time:03:27:45.8723 TRx dataTimestamp_ set to:1761535664.908448PDAT read: Bearing 38.0, 14.2 (Local) ~Local bearing/azimuth received: Bearing 38.0, 14.2 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 DAT read: 03:27:45.8723 LVL= 19568, 17985, 31778, 32195, AGC= 59, IDX= 499,-0.08, 0.755, 2.424, 0.438, 1.410, PHS=-0.553, 1.059,-1.016, RAW= 342.3, 5.4, CAL= 342.0, 4.0, ROT= 168.0, -4.0 -Ygot valid direction response: 03:27:45.8723 LVL= 19568, 17985, 31778, 32195, AGC= 59, IDX= 499,-0.08, 0.755, 2.424, 0.438, 1.410, PHS=-0.553, 1.059,-1.016, RAW= 342.3, 5.4, CAL= 342.0, 4.0, ROT= 168.0, -4.0 -T#Rx 30: Read range and direction messages.=^direction in FSK: [-0.975765,0.207405,0.069756]=Fpublishing direction and range infoylbOw9¦}@?&k۱?YpLAF"| });Ih iP?J '-@=C@ 5=)f;@I5-Z$@m9Z2[? E)#%ýIf;@i5^Am)<IIO?Kk,4;?Aɰ*checking for new query: numPingsReceived=30, elapsed TxPingTime=17.180813Y55uBy5I 9=AbDEVDEyuYs%}2=ٔ}Q-}>9Y=;FyE>)Q 55s4-墊?Q 95s4-U)-ՌBY1y9Q I=?-dCI-R:i-:-ss4yAԁɮMAii$:?AJi*ARi*Ajiυ@b?8]5@y3X?RlbOw9¦}@?&k۱?Zif;@bi5jX0/wH$3Aꠅ@ZNçJ)١8?2i):iy"iÝ?*i!aBi~BiK?i[^iGBiAi@@5 addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.507657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 25.395977 m, bearing: 231.909479 deg, lat: 36.779356 deg, lon: -121.859576 deg, deltaT: 0.507657 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 mDNOT Ignoring new targets: 25.40 m.hihi*hi"hi higifqfqfqdqdyjdyZd},?E EE*E"E;*En:VE(N4ZEBEp ,k,U?AY~0uBy~IiMb@Mb@Mb@ 9V-?yt 0AA 6A)t=AY=:AbDVDy<,%G=ٔQ->9Y=;FyE>Q 5s4c좊?Q 9s4R)ʌBY>Q E ;y,?Q I?%dCIA;i|;s4yɮMA=4=%DDAT read: Rx Time:03:27:46.3726 -TRx dataTimestamp_ set to:1761535665.4090745PDAT read: Bearing 38.1, 15.0 (Local) =~Local bearing/azimuth received: Bearing 38.1, 15.0 (Local) AArG'9YIADAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 uDNOT Ignoring new targets: 25.40 m.hqhq*hq"hq hqgyfyfyf}FBddjdZd@8t?DAT read: 03:27:46.3726 LVL= 19760, 17825, 32594, 32755, AGC= 59, IDX= 501, 0.35,-2.876,-1.224, 3.075,-2.234, PHS=-0.540, 1.055,-1.018, RAW= 342.7, 5.4, CAL= 342.4, 3.9, ROT= 167.6, -3.9 Ygot valid direction response: 03:27:46.3726 LVL= 19760, 17825, 32594, 32755, AGC= 59, IDX= 501, 0.35,-2.876,-1.224, 3.075,-2.234, PHS=-0.540, 1.055,-1.018, RAW= 342.7, 5.4, CAL= 342.4, 3.9, ROT= 167.6, -3.9 T#Rx 31: Read range and direction messages.Z>Z>Z@^direction in FSK: [-0.974411,0.214238,0.068015]Fpublishing direction and range infoy!%q_.b&l?,::si?Y%A!%0M%E%R %)!I%q= i%= ?%M%Yf@!%t;@ %'g=)%6;@I%'g!!%i g翥nќ忝dU? %X)%#I%6;@Z,?1)9 =Ui=w9)9=449iAi%'g!!Mchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.712908iAII%9@! @!@%#0@!E EE.E"E;*E^:VEـ4ZEa@a@a@a@I  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.893265^AE <IQ Ia Om >B B B IB tBB B B B s[k,o?A 2g?2?2S=ٱ2 Q[B%<;E >AHRS rotation from veh to nav: [[0.432895,-0.901071,-0.025939],[0.899972,0.430366,0.069540],[-0.051497,-0.053447,0.997242]]2H`?@??Zͱ?@] x]g?i2g?I2];2CYF"uByFIbDRVDRβyV%Z]=ٔZ=Q-Z>9\Y\=^;Fy\b <Eb>`Q 5ft4b?Q 9jt4bwO)bBYhyj?Q Ij?bIdCIb;ib;bt4yr@BɮrwMArEiIiME.Z?AJiM&ARiM&AjiMc@bM@7;9L$0@81-?RMq_.b&l?,::si?ZiM6;@biM'gjMF/+Ó24r @ZM9,ep+ JG?2iM:iMx"iMQ#?*iM1bBiMBiMQ#?iM!aiMBiMAiM X@5 addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500626 s, deltaX: 0.500000 m, approachRate: 0.998750 m/s, rangeRepo size: 4 E Added new target pos. range: 25.893923 m, bearing: 231.672444 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.500626 s, deltaX: 0.497946 m, approachRate: 0.994646 m/s, posRepo size: 4 EDNOT Ignoring new targets: 25.89 m.hAhI*hI"hI hIgIfIffddjd:@Zd L?ZZZZ?=S=)9 =ViE9)AEQ7AiAiIIM =IIIQI@ @@/@%DDAT read: Rx Time:03:27:46.8726 -TRx dataTimestamp_ set to:1761535665.9128905PDAT read: Bearing 38.9, 14.5 (Local) =~Local bearing/azimuth received: Bearing 38.9, 14.5 (Local) MDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 mDAT read: 03:27:46.8726 LVL= 20592, 20433, 32194, 32755, AGC= 60, IDX= 502,-0.10, 0.825, 2.512, 0.519, 1.475, PHS=-0.548, 1.082,-1.000, RAW= 341.9, 5.0, CAL= 341.6, 3.3, ROT= 168.4, -3.3 }Ygot valid direction response: 03:27:46.8726 LVL= 20592, 20433, 32194, 32755, AGC= 60, IDX= 502,-0.10, 0.825, 2.512, 0.519, 1.475, PHS=-0.548, 1.082,-1.000, RAW= 341.9, 5.0, CAL= 341.6, 3.3, ROT= 168.4, -3.3 }T#Rx 32: Read range and direction messages.^direction in FSK: [-0.977951,0.200745,0.057564]Fpublishing direction and range infoy)-_KV ?`8.y?Y))-pP-O-} ))-<I-I i-~?--@-¸=-ɾ@ -k=)-<@I-k))-qힹ1W_K忿VX'? -?)-pI-<@i-k))checking for new query: numPingsReceived=32, elapsed TxPingTime=18.162107q^A 2g=II)O5>ԙ E  E E ,E "E +$;*E *:VE g4ZE BE 8}"k,/k?A2Ig?2?2#2g=ٱ2Z :AHRS rotation from veh to nav: [[0.433564,-0.900813,-0.023641],[0.899355,0.430922,0.073935],[-0.056414,-0.053317,0.996983]]2H?@uZ5? 9?j?V⬿gL`H?i2Ig?I2];2CBchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.397167DYRuByRIbDZVDZyvֽ%vG=ٔvD9xYx=z;Fyxz@ E~>Q 5t4B?Q 9 t4 L)BY y j?Q I ?pdCI:i|:gt4yɮMA!iaielz?AJiaRiajieӁ@be%#R9J@S?Re_KV ?`8.y?Zie<@biekjebe-)d/tl4xs4@ZeMeWI3=HrW?2ied:ie&{"ie}̈́Ν?*ie?eBieBiaiaieBieAie]@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.893923 m, bearing: 232.456219 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.89 m.hh*h"h hԩgfffddjdZd?ZZZZj?#2g=) GWi9);iiw=II9@ @@0@EDDAT read: Rx Time:03:27:47.3729 MTRx dataTimestamp_ set to:1761535666.417804UPDAT read: Bearing 39.5, 15.4 (Local) ]~Local bearing/azimuth received: Bearing 39.5, 15.4 (Local) mDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.4 DAT read: 03:27:47.3729 LVL= 25824, 20081, 28882, 28019, AGC= 63, IDX= 504, 0.11,-0.527, 1.159,-0.856, 0.104, PHS=-0.529, 1.100,-1.003, RAW= 342.4, 4.6, CAL= 342.0, 2.6, ROT= 168.0, -2.6 Ygot valid direction response: 03:27:47.3729 LVL= 25824, 20081, 28882, 28019, AGC= 63, IDX= 504, 0.11,-0.527, 1.159,-0.856, 0.104, PHS=-0.529, 1.100,-1.003, RAW= 342.4, 4.6, CAL= 342.0, 2.6, ROT= 168.0, -2.6 T#Rx 33: Read range and direction messages.^direction in FSK: [-0.977141,0.207698,0.045363]Fpublishing direction and range infoyAE+ĮDՕ?99?YE3AAEdEqNEp Esm)E?IEliĚ?ENbEt;@El=EC@ E9=)Ef;@IE9AAEn&˵ÖKf? Et)E^IEf;@iE9AAchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.667250 ^A =I I O >h(k,E?A2f?2]?2sD|=ٱ22X :AHRS rotation from veh to nav: [[0.434831,-0.900272,-0.020812],[0.898406,0.432118,0.078357],[-0.061550,-0.052770,0.996708]]2HC?O?ӧ?<? t@@?i2f?I2];2CD@zD@EF EFEF+ED"EF*;*EF:VEF [4ZEDaJ@aJ@aJ@aJ@Y^uBybIpi%Mb@Mb@Mb@!!!! !9%K7A`?Q뱿lY%>y%\%%@A%2A %r4A)%p=A!Y%G9AbD=VD=ܲyMH%M6=ٔU;9QYY=];FyY]bE]>aQ 5mt4e-?Q 9mt4eH)eBYu>Q Eu;yu h?Q Iu?edCIe ;ie ;e t4yyɮ}MAiqiuM?AJiuVARiuVAjiu@bu$9"@/6I?Ru+ĮDՕ?99?Ziuf;@biu9ju;0-JŠ4f0c@Zu 6W(PnZ*?2iu:iu"iuTj?*iusgBiu~BiuTj?iu1biqiuCAiup@ addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504914 s, deltaX: 0.400000 m, approachRate: 0.792213 m/s, rangeRepo size: 4  Added new target pos. range: 26.292290 m, bearing: 232.006819 deg, lat: 36.779358 deg, lon: -121.859578 deg, deltaT: 0.504914 s, deltaX: 0.398367 m, approachRate: 0.788980 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.29 m.hh*h"h hgfIfQfUBdQdQjd]`ff:@Zd] ?checking for new query: numPingsReceived=33, elapsed TxPingTime=18.901232Z>Z>Zvs@Z; h?sD|=) Qi9);>ii %O=I!IQ I)Buk>BqBu}IButBBu =BqBuDBu;Bu:;EBIBIBIBIBICMŚ4@ @@/@9i ^A @o=I I) O5 >M DDAT read: Rx Time:03:27:47.8729 M TRx dataTimestamp_ set to:1761535666.920762] PDAT read: Bearing 39.8, 16.4 (Local) ] ~Local bearing/azimuth received: Bearing 39.8, 16.4 (Local) m DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.4  DAT read: 03:27:47.8729 LVL= 22944, 17905, 31602, 32051, AGC= 64, IDX= 504, 0.40,-0.786, 0.898,-1.143,-0.170, PHS=-0.513, 1.113,-1.017, RAW= 343.1, 4.4, CAL= 342.7, 2.3, ROT= 167.3, -2.3  Ygot valid direction response: 03:27:47.8729 LVL= 22944, 17905, 31602, 32051, AGC= 64, IDX= 504, 0.40,-0.786, 0.898,-1.143,-0.170, PHS=-0.513, 1.113,-1.017, RAW= 343.1, 4.4, CAL= 342.7, 2.3, ROT= 167.3, -2.3  T#Rx 34: Read range and direction messages. ^direction in FSK: [-0.974749,0.219669,0.040132] Fpublishing direction and range infoyI M  $1 ?.='?YI I M YM EM r{ M 3})M @IM SiM v?M -M @M nF=M Yf@ M l$=)M ;:@IM l$I I M ٜ(M?of? M )M LIM ;:@iM l$I I  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.169277.k,?Afdf?f?f =ٱfXU nAHRS rotation from veh to nav: [[0.436417,-0.899570,-0.017709],[0.897257,0.433663,0.082866],[-0.066864,-0.052054,0.996403]]fH@?GU"T? "?6?¦`?ifdf?If];fC9YuByI%@A!bD-VD-:y]Q<%]I=ٔeV9aYa=e;FyimEm>qQ 5}t4uW?Q 9}t4u F)uBYyg?Q I?udCIu:iu:uM.t4yɮMAiyi}?AJiyRiyji}!@b}jՠ9$"T/@ܩ?R} $1 ?.='?Zi};:@bi}l$j}ff0Mka-g4D@Z}FyI迧~?2i}9:i}0"i},Fr?*i}?^Bi}~Biyiyi}~Bi}]Ai}p@= addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 26.292164 m, bearing: 231.209633 deg, lat: 36.779358 deg, lon: -121.859578 deg, deltaT: 0.502958 s, deltaX: -0.000126 m, approachRate: -0.000250 m/s, posRepo size: 4 uDNOT Ignoring new targets: 26.29 m.hqhq*hq"hq hygyfyfyfddjdZd`!?E EE0E"E);*E:VE4ZEBEOi>y@y @y@0@checking for new query: numPingsReceived=34, elapsed TxPingTime=19.406672ԙ^A I I O) z5k,֬?A2+e?2۲?2֔=ٱ2U :AHRS rotation from veh to nav: [[0.439165,-0.898283,-0.014864],[0.895467,0.436331,0.088053],[-0.072611,-0.051980,0.996005]]2HG?༾p?@?`? E?i2+e?I20^;2CY@y@F=F=iMb@Mb@Mb@ 95^I ?~jtY>y̽ļ?A 3A)?AYbD-VD-:ٔ=ǀ9AYA=E;FyAEEE>IQ 5Ut4M&?Q 9Ut4ԙMC)MBY>DDAT read: Rx Time:03:27:48.3731 TRx dataTimestamp_ set to:1761535667.424758PDAT read: Bearing 40.1, 16.3 (Local) ~Local bearing/azimuth received: Bearing 40.1, 16.3 (Local) %DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.4 MDAT read: 03:27:48.3731 LVL= 24048, 21297, 32194, 32755, AGC= 61, IDX= 507,-0.18,-1.479, 0.216,-1.818,-0.859, PHS=-0.518, 1.120,-1.003, RAW= 342.6, 4.2, CAL= 342.2, 2.1, ROT= 167.8, -2.1 UYgot valid direction response: 03:27:48.3731 LVL= 24048, 21297, 32194, 32755, AGC= 61, IDX= 507,-0.18,-1.479, 0.216,-1.818,-0.859, PHS=-0.518, 1.120,-1.003, RAW= 342.6, 4.2, CAL= 342.2, 2.1, ROT= 167.8, -2.1 UT#Rx 35: Read range and direction messages.]^direction in FSK: [-0.976759,0.211183,0.036644]]Fpublishing direction and range infoySAT5 ?(א¢?YA]1S} )=Ii)\?Nb X@Q =@ Q =)5o;@IQ Q Eu(;yuH?Q Iu?MdCIM=iM =M;t4yyɮy ~ 忟yɲ? |)@kI5o;@iQ checking for new query: numPingsReceived=35, elapsed TxPingTime=19.677317iiZ>ZF@ZH?]֔=)Y ]Qi]9)YeDaiai0KBA BE dIBE tBBA BA BE DBE ;O >BE O;Ej;k,'?A2d?2-?2=ٱ2/^U :AHRS rotation from veh to nav: [[0.442606,-0.896637,-0.011924],[0.893288,0.439714,0.093214],[-0.078336,-0.051908,0.995575]]2HS?`?ck@Е?E$?ܷ? ?i2d?I2q^;2CYvuByvIbD~VD~y <% <ٔk9Y=;Fy&E>!Q 5-t4%?Q 9-t4%A)%BY1y5G?Q I5?%dCI%:i%:% It4y9ɮ=MA9mDNOT Ignoring new targets: 26.59 m.hihi*hi"hi higififqfqdqdyjdyZd}?ZZZZ˸G?=) %Qi(9)Gii DDAT read: Rx Time:03:27:48.8731 TRx dataTimestamp_ set to:1761535667.928737PDAT read: Bearing 40.5, 17.6 (Local) !%~Local bearing/azimuth received: Bearing 40.5, 17.6 (Local) 5DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.3 ]DAT read: 03:27:48.8731 LVL= 27632, 20401, 32754, 32755, AGC= 62, IDX= 507,-0.01,-1.487, 0.191,-1.866,-0.895, PHS=-0.490, 1.131,-1.015, RAW= 343.6, 3.9, CAL= 343.2, 1.6, ROT= 166.8, -1.6 eYgot valid direction response: 03:27:48.8731 LVL= 27632, 20401, 32754, 32755, AGC= 62, IDX= 507,-0.01,-1.487, 0.191,-1.866,-0.895, PHS=-0.490, 1.131,-1.015, RAW= 343.6, 3.9, CAL= 343.2, 1.6, ROT= 166.8, -1.6 eT#Rx 36: Read range and direction messages.m^direction in FSK: [-0.973199,0.228262,0.027922]mFpublishing direction and range infoy  G?r$I٭7?|p}?Y   k O  ) >I Hi Đ? 끿 @ 'g= ֭@ <) AQ:@I 伩   K|!+6IF n? yd) I AQ:@i 伩  checking for new query: numPingsReceived=36, elapsed TxPingTime=20.186502IE  E E .E "E +$;*E ˭:VE ـ4ZE BE 8} ?@~`@g?i6c?I6G^;6CYr$uByrIbD-VD-Yy}W=%}5=ٔ}M9Y=;FyN E>Q 5t4?Q 9t4 ?)BYyF?Q I?eCIb:i:Xt4yɮtMAiAiEmp?AJiARiAjiE@bE)anp9`G@zQC?REG?r$I٭7?|p}?ZiEAQ:@biEjE>]0s@M4oJt@ZE)V>mT}tn迋# ?2iEj:iĖ"iE?*iEjUBiEBiE?iAiAiEAiEE@u addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.590988 m, bearing: 230.100034 deg, lat: 36.779357 deg, lon: -121.859579 deg, deltaT: 0.503979 s, deltaX: 0.000050 m, approachRate: 0.000098 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.59 m.hh*h"h hgfffddjdZdP?ZԉZZZF?-q$=)) 5Pi59)15K1i1i+ SHk,i$?AjDb?jh4?j~0=ٱjN ~AHRS rotation from veh to nav: [[0.448954,-0.893543,-0.004632],[0.889029,0.446154,0.102828],[-0.089815,-0.050283,0.994688]]jH`?rr?Ǎ?`R? |?ijDb?Ij47^;hYOuByII%4=)%=E- E-E-,E)"E-=-;*E-8:VE-g4ZE)a=@a=@a=@a=@iMb@Mb@Mb@ 97A`?&1y&1|Y>yн`?A3A 31A)AAY9AbD5VD5:y==%EO=ٔEit9IYI=M;FyIMWEU>QQ 5]t4Up&?Q 9et4U<)UzBYe^>Q Ee*;ye`D?Q Ie?U:eCIU ;iUP ;Uft4yqɮuLAqii?AJiRARiRAjiP@bb`90m遼@s?R4(½?NGY;?Zi9@bi޹j2Ėl1|!F.4s@ZXtRI迵Ӵ?2ir:id"i\!j?*im0OBiBi,Fr?i?^iidAi@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.509177 s, deltaX: 0.199999 m, approachRate: 0.392788 m/s, rangeRepo size: 4  Added new target pos. range: 26.790171 m, bearing: 229.192302 deg, lat: 36.779357 deg, lon: -121.859576 deg, deltaT: 0.509177 s, deltaX: 0.199183 m, approachRate: 0.391185 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.79 m.hh*h"h hgfffABddjd`f:@Zdo ?Z^>Z^>Z-`@Z`D?%~0=)) -3Si-@9))-)i)i11=VBBjIBtBBBBDB;BR;EP9!  9@  @ @ /@ ] PDAT read: Bearing 38.9, 18.5 (Local) ] ~Local bearing/azimuth received: Bearing 38.9, 18.5 (Local) m DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.3  DAT read: 03:27:49.8732 LVL= 27232, 25009, 32754, 32755, AGC= 63, IDX= 508,-0.02,-1.043, 0.601,-1.420,-0.436, PHS=-0.505, 1.082,-1.028, RAW= 343.8, 4.8, CAL= 343.4, 2.9, ROT= 166.6, -2.9  Ygot valid direction response: 03:27:49.8732 LVL= 27232, 25009, 32754, 32755, AGC= 63, IDX= 508,-0.02,-1.043, 0.601,-1.420,-0.436, PHS=-0.505, 1.082,-1.028, RAW= 343.8, 4.8, CAL= 343.4, 2.9, ROT= 166.6, -2.9  T#Rx 38: Read range and direction messages. ^direction in FSK: [-0.971530,0.231451,0.050593] Fpublishing direction and range infoyQ U ZK q/?|rQ?YQ Q U `jU aQ Q )U ?IU GiU ~?U U @U =U nʿ@ U 4QO=)U :@IU 4QOQ Q U U`2濓IP_? U D,)U /IU :@iU 4QOQ Q  checking for new query: numPingsReceived=38, elapsed TxPingTime=21.187176I ^A ፨<I IO->Pk,B?AYZuByIbD%VD%0y59<%5>=ٔ=Q-=>9AYI=M;FQyYeEe>qQ 5t4u.?Q 9t4uW:)utBYyQ I?u]eCIuAU;iu(S;uut4yɮLAii\ : +Z?2iݡ:iډ"iteVk,[?A*DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.2 >DAT read: 03:27:50.3735 LVL= 25968, 21601, 31538, 32755, AGC= 63, IDX= 511,-0.04, 0.866, 2.510, 0.429, 1.416, PHS=-0.448, 1.139,-1.031, RAW= 345.0, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 BYgot valid direction response: 03:27:50.3735 LVL= 25968, 21601, 31538, 32755, AGC= 63, IDX= 511,-0.04, 0.866, 2.510, 0.429, 1.416, PHS=-0.448, 1.139,-1.031, RAW= 345.0, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 BT#Rx 39: Read range and direction messages.F^direction in FSK: [-0.967590,0.252038,0.015707]JFpublishing direction and range infoy "b~yBe!?y&?Y"fA "pe"aT"2{ ) I"B`i"ʑ?""2@"5z="v@ "<)"8@I" "W#y" 濵(Ǜ? "G)"|I"8@i" Vchecking for new query: numPingsReceived=39, elapsed TxPingTime=21.690075U>`?p ?=ٱ[S AHRS rotation from veh to nav: [[0.456510,-0.889718,0.000634],[0.883923,0.453617,0.113629],[-0.101386,-0.051313,0.993523]]Ht7?@xD?I?? ?i`E?iU>`?Is^;ԹYquByIiMb@Mb@Mb@ 9"~?+I +?Y>y94<E>Av4A )CAY9A=AA9bD=VD=kym==%u,=ٔ9Y=;FyМE>Q 5t46?Q 9t47)pBY]>Q E1;y(U?Q I?eCI!;i ;Qt4yABɮELAEi i"a\?AJi"ARi"Aji"~@b"j>:N::7h@T|T?R"b~yBe!?y&?Zi"8@bi"j"l&2-C4{4@Z"6'{pO念}/5翨U;̹?2i"Š:i"ِ"i"@?*i"-HBi"3Bi"tZu]>ZuR@Zuc(U?E EE-E"E<;*E:VEt4ZEa@a@a@a@=) zTi9)p絉ii[q+e]k,v?A>j$_?>{}?>9=ٱ>T FAHRS rotation from veh to nav: [[0.460044,-0.887890,0.003289],[0.881445,0.457144,0.118636],[-0.106840,-0.051679,0.992932]]>H@[q?ij?4?A?^?Y@u ?i>j$_?I>^;>CYNuByNI PRAbDZVDZ:y^#>%bx=ٔbIףiw?v@5=<@ <)L39@Iucl[qn濷ձ? 1)ʎIL39@iEchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.191940I@I @I@Mt2@I^Ae<I)I9OE>QE% E%E%.E!"E%O6;*E% :VE%ـ4ZE!BE%H9IYI=U;FyQUEU>yQ 5t4}wC?Q 9t4}?3)}jBYyS?Q I?}eCI}:i}[:}t4yɮKAiiٌ?AJiARiAji|~@bS(:@a?R͊l3b? `?ZiL39@bijjk,m?A0mDDAT read: Rx Time:03:27:51.8736 }TRx dataTimestamp_ set to:1761535670.709304PDAT read: Bearing 44.3, 21.2 (Local) ~Local bearing/azimuth received: Bearing 44.3, 21.2 (Local) B]m>B]>CB]IB]tBB] =BYB]DB];B]9;EDAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.3 EDAT read: 03:27:51.8736 LVL= 32752, 26737, 32754, 32755, AGC= 64, IDX= 512,-0.26, 2.874,-1.668, 2.408,-2.941, PHS=-0.366, 1.318,-0.978, RAW= 344.9, 0.3, CAL= 344.5, -2.7, ROT= 165.5, 2.7 MYgot valid direction response: 03:27:51.8736 LVL= 32752, 26737, 32754, 32755, AGC= 64, IDX= 512,-0.26, 2.874,-1.668, 2.408,-2.941, PHS=-0.366, 1.318,-0.978, RAW= 344.9, 0.3, CAL= 344.5, -2.7, ROT= 165.5, 2.7 MT#Rx 43: Read range and direction messages.}\?}J?}?=ٱ}Rԑ`direction in FSK: [-0.967073,0.250102,-0.047106]Fpublishing direction and range infoyimθB޹?P7VYiimmqhi i)m@ImZdim9?m5^zm@m;mg@ mA)m8@ImA=iimG濅mVԗ` xHr? m)mCIm8@imA=iiEchecking for new query: numPingsReceived=43, elapsed TxPingTime=23.034992 EAHRS rotation from veh to nav: [[0.467469,-0.883929,0.011924],[0.875578,0.464827,0.131525],[-0.121802,-0.051043,0.991241]]}H`?`%Ik?`???i.V" ??i}\?I}];yYuBy5IiMb@Mb@Mb@ 9Q?~jty&1?Y>y`e<@Ar4A /1A)EAY ;A ]p9Y=;Fy<E>Q 5 t4L?Q 9 t4/)bBY:>Q E;yw?Q I?eCI:i:t4y=/Bɮ=IAEEiiim=e?AJimARimAjim.~@bmtb@uh|: n f@vjRmθB޹?P7VZim8@bimA=jm2s2Ţ -4*N?Zm ~翔@Uݭ?2imi:im"imw9?*imִABimD|BimB?im-HiiimAimQ~@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.508503 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.387770 m, bearing: 227.556733 deg, lat: 36.779346 deg, lon: -121.859567 deg, deltaT: 0.508503 s, deltaX: 0.000223 m, approachRate: 0.000439 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.39 m.hh*h"h hgfffBddjd!Zd%?ZE:>ZE:>ZEd@ZE+w?u?=)y }Xi}9)y}2󵉢yiyiP밷II I)checking for new query: numPingsReceived=43, elapsed TxPingTime=23.189390 9@  @ @ @0@  E}  E} E} )Ey "E} %.;*E} :VE} FA4ZEy BE} :JErk,ɭ?A>2:\?>^?>k>ٱ>Q JAHRS rotation from veh to nav: [[0.468985,-0.883089,0.014397],[0.874165,0.466449,0.135135],[-0.126052,-0.050791,0.990723]]>H ?CB[|?(?M?`L?y"A?i>2:\?I>P];>CYRvByRKIbDZVDZyb=%b=ٔbs) Viz9)額iiAĺI`direction in FSK: [-0.964094,0.265556,-0.001745]Fpublishing direction and range infoIy9=%e] ?n p\Y=fA9=a=A==Ri =s)=BI=`оi= ד?=!=/@=4QO==b@ =)='7@I=:99=ݱB,_濋rv}? = )=KLI='7@i=:99checking for new query: numPingsReceived=44, elapsed TxPingTime=23.515543ԙY@Y @Y@]4@Y^A=q:IYIyO]> checking for new query: numPingsReceived=44, elapsed TxPingTime=23.693153 hxk,NF㭹?A2[?2ى?2>ٱ2@R :AHRS rotation from veh to nav: [[0.469974,-0.882529,0.016321],[0.873026,0.467481,0.138878],[-0.130194,-0.051021,0.990175]]2H ?`=[??6?@?@/d`?i2[?I2];0YR$vByR_IE EE.E"Eg5;*EI:VEـ4ZEa@a@a@a@iMb@Mb@Mb@ 9Gz?y&1?Mb`?Yp>y`e<;AA6A /A) HAY;AbDVDfyՍ=%8=ٔs9 Y = Q 5%t4VW?Q 9%t4#))TBY%>Q E%;y%Ž?Q I%?.fCI:iH:t4y1ɮ5HA1iqiux(έ?AJiu~ARiu~Ajiu|@buXMC:h h@:񬽨Ru%e] ?n p\Ziu'7@biu:juHp3^ -q3֦$'j@Zu-.ڴӿ +`8?2iu:iuE"iu]?*iuhD3Biu,Biu@?iujEiu,Biu Aiu~@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.511916 s, deltaX: 0.299999 m, approachRate: 0.586032 m/s, rangeRepo size: 4  Added new target pos. range: 27.686544 m, bearing: 226.234833 deg, lat: 36.779346 deg, lon: -121.859565 deg, deltaT: 0.511916 s, deltaX: 0.298775 m, approachRate: 0.583640 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.69 m.hh*h"h hgfffBddjd;@Zd?Z>Z>Z=ZŽ?>) (\i9)ZiiiquI IqIqB <A 1MDDAT read: Rx Time:03:27:52.8738 UTRx dataTimestamp_ set to:1761535671.724664uPDAT read: Bearing 36.3, 22.0 (Local) BBBIB.uBBBBB؄;B0;EBIBIBIBMş =BMş =CM4~Local bearing/azimuth received: Bearing 36.3, 22.0 (Local) DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.3 9@ @!@%!0@!@)@-gAeDAT read: 03:27:52.8738 LVL= 32752, 28401, 32754, 32755, AGC= 66, IDX= 498,-0.05,-2.386,-0.788,-2.812,-1.782, PHS=-0.502, 1.039,-1.074, RAW= 345.2, 5.7, CAL= 344.9, 4.4, ROT= 165.1, -4.4 mYgot valid direction response: 03:27:52.8738 LVL= 32752, 28401, 32754, 32755, AGC= 66, IDX= 498,-0.05,-2.386,-0.788,-2.812,-1.782, PHS=-0.502, 1.039,-1.074, RAW= 345.2, 5.7, CAL= 344.9, 4.4, ROT= 165.1, -4.4 uT#Rx 45: Read range and direction messages.E^direction in FSK: [-0.963528,0.256375,0.076719]EFpublishing direction and range infoyIM8ww`rh?.0ۣ?YIIMMnM M)IIMiM?MxM@M%=M@ MnF=)M!k8@IMnFIIM䗝rn͔G=hZ;? M5)M̽IM!k8@iMnFIIechecking for new query: numPingsReceived=45, elapsed TxPingTime=24.026455Q^Ae "Iq I O >y ~k,K!?A&checking for new query: numPingsReceived=45, elapsed TxPingTime=24.197218Y%9vBy-lI5=5p==@A9bDEVDE:yM^=%MV=ٔUQ-U>9QYY=]aQ 5mt4e\?Q 9ut4e%)eKBYqyqQ Iu?eRfCIe:ie:et4yɮHAiyi}`?AJiyRiyji}@|@b} {C:{d@G"@R}8ww`rh?.0ۣ?Zi}!k8@bi}nFj}Wԍ^2(!p"3,T[@Z}ܰ5bJtʡ2?2i}i:i}""i}/?*i}(4^+Bi}Bi}w9?i}ִAiyi}Ai}h~@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.686602 m, bearing: 226.354872 deg, lat: 36.779345 deg, lon: -121.859564 deg, deltaT: 0.503444 s, deltaX: 0.000057 m, approachRate: 0.000114 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.69 m.hh*h"h hgfffddjdZd3?ZZZZ))) 5Zi5&9)15ص1i1i99=HIAIAQ9@ @@/@E EE,E"Em+;*E*:VEg4ZEBE DAT read: 03:27:53.3740 LVL= 30688, 23153, 32754, 32755, AGC= 64, IDX= 500, 0.15,-0.417, 1.173,-0.920, 0.067, PHS=-0.381, 1.151,-1.030, RAW= 346.8, 2.7, CAL= 346.4, -0.3, ROT= 163.6, 0.3 % Ygot valid direction response: 03:27:53.3740 LVL= 30688, 23153, 32754, 32755, AGC= 64, IDX= 500, 0.15,-0.417, 1.173,-0.920, 0.067, PHS=-0.381, 1.151,-1.030, RAW= 346.8, 2.7, CAL= 346.4, -0.3, ROT= 163.6, 0.3 % T#Rx 46: Read range and direction messages.- `direction in FSK: [-0.959301,0.282337,-0.005236]5 Fpublishing direction and range infoyQW< ?sNruYAwqZ )@IoþiS? ׃@A=\w@ )36@I;Yu'EQҘA͗ٱE"9aYa=mqQ 5}t4ub?Q 9}t4u")u@BYy?Q I?u{fCIu:iu:u*t4yɮGAԱiIiM*?AJiMARiMAjiM{@bM,:`R@¿RMQW< ?sNruZiM36@biM;jM(Q3%No3t @ZM|لf濆k0Ƅ6궼?2iM:iM"iMD?*iML*)BiMwBiM/?iMhD3iMwBiMAiM8x}@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.495805 s, deltaX: 0.300001 m, approachRate: 0.605079 m/s, rangeRepo size: 4  Added new target pos. range: 27.985380 m, bearing: 225.213958 deg, lat: 36.779344 deg, lon: -121.859558 deg, deltaT: 0.495805 s, deltaX: 0.298779 m, approachRate: 0.602613 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.99 m.hh*h"h hgfffdd jd <@Zd x?Z)Z)Z)Z-9?Eb >)A EfXiE̦9)AE|%IiIUchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.701292iYY]G-IaIa9@ @@@DzDAAbEA{4jE- DDAT read: Rx Time:03:27:53.8741 = TRx dataTimestamp_ set to:1761535672.725615U PDAT read: Bearing 37.2, 23.4 (Local) ] ~Local bearing/azimuth received: Bearing 37.2, 23.4 (Local)  DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.3  Z#Rx 47: Read range message, but no direction.y1 Y5 A1 B n>B B IB kuBB =B B B Є;B );E checking for new query: numPingsReceived=47, elapsed TxPingTime=24.9755769 uk,#0?A2\?2?2>ٱ2jK :AHRS rotation from veh to nav: [[0.468874,-0.882978,0.022499],[0.872125,0.466843,0.146477],[-0.139840,-0.049058,0.988958]]2H?[A@ ?r??@ƿ?@F`?i2\?I2C];2CYRlvByRIi Mb@Mb@Mb@     9 K7?+?Zd;OY >y = j VBA  ^0A) OKA Y 9Y=Q 5t4g?Q 9t4))/BY>Q E;yf?Q I?fCIy;i ;~t4yɮGA- addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.505146 s, deltaX: 0.100000 m, approachRate: 0.197963 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 27.99 m.h1h1*h1"h1 h1g9f9f9f=;BdAdAjdE@33<@ZdE0~?Z>Z>Z=Z"f?>) `i9)k_iilIIIgA)gA9@ @@0@@=@=9}DAT read: 03:27:53.8741 LVL= 32752, 30961, 32754, 32755, AGC= 67, IDX= 500, 0.42,-1.522, 0.031,-1.971,-0.965, PHS=-0.455, 1.041,-1.050, RAW= 346.0, 5.0, CAL= 345.7, 3.3, ROT= 164.3, -3.3 Ygot valid direction response: 03:27:53.8741 LVL= 32752, 30961, 32754, 32755, AGC= 67, IDX= 500, 0.42,-1.522, 0.031,-1.971,-0.965, PHS=-0.455, 1.041,-1.050, RAW= 346.0, 5.0, CAL= 345.7, 3.3, ROT= 164.3, -3.3 Z#Rx 48: Read direction message, but no range.^direction in FSK: [-0.961095,0.270152,0.057564]yY]IK )J?`8.y?Y]]xY Y)]CI]i]}??]ff],>@]¸=]H@ ]k=)]^7@I]kY]o0!!濘REk? ]o)]I]^7@i]kchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.214699q ^A% "5I9 II O] >E  E E )E "E 0;*E :VE FA4ZE BE J?A 27U\?2?25L>ٱ2I >AHRS rotation from veh to nav: [[0.467580,-0.883632,0.023735],[0.872408,0.465633,0.148627],[-0.142383,-0.048788,0.988608]]2H@?F N?? ?3?9¿@?i27U\?I23];2CYFsvByFIIR<)R<bDVDk1DDAT read: Rx Time:03:27:54.3743 TRx dataTimestamp_ set to:1761535673.228857 PDAT read: Bearing 41.1, 24.3 (Local) ~Local bearing/azimuth received: Bearing 41.1, 24.3 (Local) MDAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 ]Z#Rx 49: Read range message, but no direction.yYAmchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.479542yȋ<%uW=ٔ}2;Q-}>9yYy=Q 5u4l?Q 9u4b)BYy?Q I?fCI;iC;u4yɮGAiiN?AJiARiAji |@b45G;(@li$?RIK )J?`8.y?Zi^7@bikj,z~3&woT3@2W@ZSeÚ'濰!?2i:i"i#?*iT(BiyBi]?i(4^+iiAiI|@i addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503242 s, deltaX: 0.299999 m, approachRate: 0.596133 m/s, rangeRepo size: 4  Added new target pos. range: 28.383865 m, bearing: 225.716060 deg, lat: 36.779341 deg, lon: -121.859555 deg, deltaT: 1.008388 s, deltaX: 0.398485 m, approachRate: 0.395170 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.38 m.hh*h"h hgfffddjd<@Zd?ZaZaZaZe?}5L>)y }9`i}9)y顅㌶ii.IIԡ!@! @!@-/@)  DAT read: 03:27:54.3743 LVL= 30256, 22769, 32754, 32755, AGC= 62, IDX= 503,-0.02, 1.986,-2.715, 1.500, 2.462, PHS=-0.374, 1.151,-1.006, RAW= 346.6, 2.4, CAL= 346.1, -0.6, ROT= 163.9, 0.6  Ygot valid direction response: 03:27:54.3743 LVL= 30256, 22769, 32754, 32755, AGC= 62, IDX= 503,-0.02, 1.986,-2.715, 1.500, 2.462, PHS=-0.374, 1.151,-1.006, RAW= 346.6, 2.4, CAL= 346.1, -0.6, ROT= 163.9, 0.6  Z#Rx 50: Read direction message, but no range. `direction in FSK: [-0.960726,0.277300,-0.010472]yi m 4}^E;F?/;ri m 0vm Xi i )m >Im |im S?m Ām @m +=m xL@ m +)m 7@Im +"k,pd?APR!\?R??R>ٱR*~I bAHRS rotation from veh to nav: [[0.466312,-0.884276,0.024685],[0.872725,0.464423,0.150542],[-0.144585,-0.048656,0.988295]]RH@?K%G? \??@D?@Ɓ¿@r騿`?iR!\?IRC];PYnivBynIDD<E EE*E"E);*E:VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9x&?ˡE?ktY7>y= 0&CA6A )NAY=>AbDVDy%F=ٔ;Q->9Y=Q 5u4Dp?Q 9u4) BY>Q E;y?Q I?fCI:i:u4y 0Bɮ GA E5DNOT Ignoring new targets: 28.38 m.h1h9*h9"h9 h9g9f9fAfEbBdAdAjdIZdM?Zm>Zm>ZmR>Zm?}>) ei59)顅ii   b9I I9@ @@0@-DDAT read: Rx Time:03:27:54.8743 =TRx dataTimestamp_ set to:1761535673.741400UPDAT read: Bearing 38.5, 24.3 (Local) ]~Local bearing/azimuth received: Bearing 38.5, 24.3 (Local) uDAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 Bo>BBIBuBBBBBԄ;B,;EDAT read: 03:27:54.8743 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.18, 2.557,-2.196, 2.100, 3.073, PHS=-0.414, 1.059,-1.017, RAW= 346.4, 4.1, CAL= 346.0, 1.7, ROT= 164.0, -1.7 Ygot valid direction response: 03:27:54.8743 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.18, 2.557,-2.196, 2.100, 3.073, PHS=-0.414, 1.059,-1.017, RAW= 346.4, 4.1, CAL= 346.0, 1.7, ROT= 164.0, -1.7 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.960839,0.275516,0.029666]Fpublishing direction and range infoy150Nݺ? `?Y11551 1)5@I5Ӿi5P?5-5\w@5C=5,>@ 5<)507@I5115{=GJ%-ET#8 (? 5;)5_I507@i511checking for new query: numPingsReceived=51, elapsed TxPingTime=26.000492^AΒ{II O >! Lk,m~?A2checking for new query: numPingsReceived=51, elapsed TxPingTime=26.2211326"]?6|?6p>ٱ6F BAHRS rotation from veh to nav: [[0.464569,-0.885161,0.025793],[0.873354,0.462798,0.151894],[-0.146387,-0.048039,0.988060]]6H?=Si?@?@{??q?Ѽ¿0?i6"]?I6];4Y^vBy^IbDfVDfβyne=%n\=ٔr;Q-r>9pYp=vx|Q 5u4zs?Q 9u4z)zBYyۤ?Q I?zgCIzB.;iz-/;z!u4yɮyGAiaieso?AJiaRiajie"|@be ȺE;R=G@?Re0Nݺ? `?Zie07@biejeܷsY3#C4j@Ze0دF^X]ޠS ?2ie:ie"ie?*ie"Bie&Bie?ieL*)ie&BieAie|@e addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.512543 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 28.383936 m, bearing: 225.724073 deg, lat: 36.779340 deg, lon: -121.859554 deg, deltaT: 0.512543 s, deltaX: 0.000071 m, approachRate: 0.000138 m/s, posRepo size: 4 }DNOT Ignoring new targets: 28.38 m.hyhy*hy"hy hygfffddjdZdL1?ZIZIZIZMۤ?}p>)y }6di9)顅_ĶiinN:II)a@i @i@m 0@i@q@uhAE EE.E"E*;*E:VEـ4ZEBE% DAT read: 03:27:55.3745 LVL= 32752, 27633, 32754, 32755, AGC= 62, IDX= 504, 0.50, 2.125,-2.607, 1.625, 2.576, PHS=-0.350, 1.144,-0.996, RAW= 347.1, 2.1, CAL= 346.7, -0.8, ROT= 163.3, 0.8 - Ygot valid direction response: 03:27:55.3745 LVL= 32752, 27633, 32754, 32755, AGC= 62, IDX= 504, 0.50, 2.125,-2.607, 1.625, 2.576, PHS=-0.350, 1.144,-0.996, RAW= 347.1, 2.1, CAL= 346.7, -0.8, ROT= 163.3, 0.8 - T#Rx 52: Read range and direction messages.5 `direction in FSK: [-0.957729,0.287332,-0.013962]= Fpublishing direction and range infoyAEu3撷Χc?4YEfAAAEkA A)E>IE33iEn?E~Er@EQ =EB@ Ed)Eih6@IEdٱnCY AHRS rotation from veh to nav: [[0.462996,-0.885948,0.027027],[0.873894,0.461368,0.153132],[-0.148136,-0.047281,0.987836]]nH?Y?? ? ә?!¿/5Z?inq]?In];nCY svByMI aaiUMb@Mb@Mb@QQQQ Q9UB`"?sh|??V-YU>yU=UhUAAQ U/A)UMAQYUp=Aim=mchecking for new query: numPingsReceived=52, elapsed TxPingTime=26.725515bD}VD}1yH%&=ٔek;Q->9Y=Q 5u4Nx?Q 9u4)ՋBYF>Q E:y?Q I?JgCIP ;i ; 3u4yBɮ$GAڥEiiim?AJimvARimvAjim{@bmkZUF>ZU:}O>ZUϊ?m{@>)i mbim9)qu6㶉qiqiyyyP;IIE EE+E"E;*Eخ:VE [4ZEa@a@a@a@9@ @@0@ = DDAT read: Rx Time:03:27:55.8745 E TRx dataTimestamp_ set to:1761535674.748337M PDAT read: Bearing 40.3, 25.0 (Local) M ~Local bearing/azimuth received: Bearing 40.3, 25.0 (Local) e DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.3 By By By By By By By B} ;B} A;E DAT read: 03:27:55.8745 LVL= 32528, 24481, 32754, 32755, AGC= 63, IDX= 505,-0.25, 0.255, 1.809,-0.227, 0.738, PHS=-0.381, 1.116,-1.009, RAW= 346.7, 2.9, CAL= 346.2, -0.0, ROT= 163.8, 0.0  Ygot valid direction response: 03:27:55.8745 LVL= 32528, 24481, 32754, 32755, AGC= 63, IDX= 505,-0.25, 0.255, 1.809,-0.227, 0.738, PHS=-0.381, 1.116,-1.009, RAW= 346.7, 2.9, CAL= 346.2, -0.0, ROT= 163.8, 0.0  T#Rx 53: Read range and direction messages. `direction in FSK: [-0.960294,0.278991,-0.000000] Fpublishing direction and range infoy9 = ȩι?Y9 9 = = _9 9 )= ?I= oþi= َ?= &= B@= 4QO== Z@ = )= c6@I= 9 9 = Om.>+hC翜tƞ62? = N)= $QI= c6@i= 9 9  checking for new query: numPingsReceived=53, elapsed TxPingTime=27.000984^A5 ] ;I9 II O] >czk,;V?AZ^?Z"?ZK>ٱZFd  AHRS rotation from veh to nav: [[0.461103,-0.886942,0.026777],[0.874649,0.459385,0.154774],[-0.149577,-0.047946,0.987587]]ZH@?a}k?`?f? ?R%ÿdP?iZ^?IZ];ZCYYvByIbDmVDmk1y}%}]=ٔ;Q->9Y=Q 5u4{?Q 9u4A )BYyͤ?Q I?pgCI`;i;:@u4yɮGAiiim䯮?AJiiRiijim/O|@bmG%8;e(# @Rmȩι?Zimc6@bimjmOM3i}/ Bj4` @ZmQ"z{~cKc?2imR:imb"imNPv?*im:#BimBimNPv?im:#imBimAim7O|@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502572 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.682709 m, bearing: 225.879047 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.502572 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.68 m.hh*h"h hgfffddjdZd@?Z)Z)Z)Z-,ͤ?]K>)Y ]0die9)aeaiaiiim̡;IiIq9@ @@B0@checking for new query: numPingsReceived=53, elapsed TxPingTime=27.233925!^A 7;E  E E -E "E &;*E :VE t4ZE BE I jZk,sή?ADDAT read: Rx Time:03:27:56.3747  TRx dataTimestamp_ set to:1761535675.252785PDAT read: Bearing 39.1, 24.8 (Local) ~Local bearing/azimuth received: Bearing 39.1, 24.8 (Local) %DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.3 1MDAT read: 03:27:56.3747 LVL= 32752, 24609, 32754, 32755, AGC= 63, IDX= 507,-0.16, 2.662,-2.089, 2.202,-3.120, PHS=-0.399, 1.075,-1.005, RAW= 346.5, 3.6, CAL= 346.0, 1.0, ROT= 164.0, -1.0 ]Ygot valid direction response: 03:27:56.3747 LVL= 32752, 24609, 32754, 32755, AGC= 63, IDX= 507,-0.16, 2.662,-2.089, 2.202,-3.120, PHS=-0.399, 1.075,-1.005, RAW= 346.5, 3.6, CAL= 346.0, 1.0, ROT= 164.0, -1.0 ]T#Rx 54: Read range and direction messages.e^direction in FSK: [-0.961115,0.275595,0.017452]eFpublishing direction and range infoydtIQ\Z?W7) ߑ?YA!` )II̾i?ף@=,>@}Տ^?}03?}>ٱ}ATJ AHRS rotation from veh to nav: [[0.459382,-0.887849,0.026302],[0.875333,0.457538,0.156372],[-0.150869,-0.048811,0.987348]]}Hf?@Ci?`?LH? ?OÿZ?i}Տ^?I}]; 5<)07@I5̀P &o ? /,)]fI07@i5checking for new query: numPingsReceived=54, elapsed TxPingTime=27.505894yYQvByzIbDVDky p% 4=ٔ =;Q->9Y=!Q 5Mu4%?Q 9Mu4%)%BYIyU?Q IU?%gCI%;i%F;%Ou4yYɮ]GAYii-Ю?AJiARiAji|@b6;WI!@3t|/?RdtIQ\Z?W7) ߑ?Zi07@bi5jg3cV4C+e?@ZT<忑;ЏE ?2i0:i"i9?*i$BiȃBiiiȃBiAi|@M addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504448 s, deltaX: 0.300001 m, approachRate: 0.594712 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.981487 m, bearing: 226.094960 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.504448 s, deltaX: 0.298779 m, approachRate: 0.592288 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 28.98 m.ahYha*hi"hi higififqfqdqdqjdu=@Zd}`?ZZZZ?%>)! %di%L9))-F)i)i115\i;I1I9 99GIm9u^9qYuKAԑ@i @@0@@=@=checking for new query: numPingsReceived=54, elapsed TxPingTime=27.737259 ^Au ϩ;I I O >āk,箹?A:_?:Mm?:?>ٱ:VJEB EBEB/E@"EB77;*EBS:VEBJ4ZE@aJ@aJ@aJ@aJ@ RAHRS rotation from veh to nav: [[0.457749,-0.888687,0.026476],[0.875993,0.455901,0.157451],[-0.151995,-0.048880,0.987172]]:H`K?@ p?@"?z-?@Z'?tÿ ?i:_?I:];:CYZ*vByZbII^%=)^%=^A^Aonly read 0 of 1 data item for water mass range. Device response is::WD, -8.84, +33 -3.57, 20.00,291.29 a@a a@a a@a a%@a% bD-VD-0y5]%5n=ٔ=lY;Q-=?9AYA=EMYu4yiɮmKHAiDNOT Ignoring new targets: 28.98 m.hhԙ*h"h hgfffddjdZdU.?e?>)i m-gir9)額ii;EDAT read: 03:27:56.8747 LVL= 32752, 28193, 32754, 32755, AGC= 66, IDX= 507,-0.11,-3.134,-1.610, 2.676,-2.636, PHS=-0.395, 1.071,-1.015, RAW= 346.8, 3.7, CAL= 346.4, 1.2, ROT= 163.6, -1.2 Ygot valid direction response: 03:27:56.8747 LVL= 32752, 28193, 32754, 32755, AGC= 66, IDX= 507,-0.11,-3.134,-1.610, 2.676,-2.636, PHS=-0.395, 1.071,-1.015, RAW= 346.8, 3.7, CAL= 346.4, 1.2, ROT= 163.6, -1.2 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.959104,0.282279,0.020942]Fpublishing direction and range infoy]JH:r?_2q?Y!n )BIq=ʾi?끿@ A=\w@ <)36@Iu?忁ȔeIxհ? )I36@ichecking for new query: numPingsReceived=55, elapsed TxPingTime=28.018303a@a @a@e5@a^A ;I I O >  checking for new query: numPingsReceived=55, elapsed TxPingTime=28.241169"jk,'?A2[_?29?2N>ٱ2uG :AHRS rotation from veh to nav: [[0.456501,-0.889297,0.027508],[0.876466,0.454802,0.157997],[-0.153017,-0.048016,0.987056]]2H@Q7?u+? ?x?@B9?ÿ?i2[_?I2_];0YN/vByRfIbDZVDZ02yu_<%}F=ٔ3$;Q->9Y=Q 5u4톣?Q 9u4,)gBQ A :YQ E:yw?Q I?gCIo;i3C?%cu4yɮ4HAiIiMo?AJiIRiIjiME|@bMzP,;,<\ @~"l?RM]JH:r?_2q?ZiM36@biMjM3fܾ4 f@ZMpG$G6#a>:>?2iM]:iM"iM;?*iMjVBiMBiM;?iM7#iIiMAiM|@E addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504039 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.981474 m, bearing: 225.846540 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.504039 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 28.98 m.hYhY*hY"hY hagafafafididijdiZdm_?N>) fi9)%u!i!i!)-mmy k,D?A]_?]?]yc>ٱ]jB AHRS rotation from veh to nav: [[0.455576,-0.889732,0.028763],[0.876765,0.454059,0.158475],[-0.154060,-0.046979,0.986944]]]H@'(?xs?t?@M? H??ÿ ?i]_?I]N];]CYvByIIIuchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.745230aa aa aa aa iMb@Mb@Mb@ 9y&1?Q?sh|?Y`>y\=VBA6A I,A)Y9Y=Q 5u4*?Q 9u4)IBQ AT:Y>Q E;y?Q I? hCIY;iM;ru4yɮHAiIiMɰ?AJiM=ARiM=AjiM\|@bMBZU>ZU=ZU?yc>) \_i 9)iieA DAT read: 03:27:57.8749 LVL= 32752, 30417, 32754, 32755, AGC= 67, IDX= 509, 0.09,-0.537, 0.973,-1.018,-0.045, PHS=-0.390, 1.063,-1.017, RAW= 347.1, 3.8, CAL= 346.7, 1.3, ROT= 163.3, -1.3  Ygot valid direction response: 03:27:57.8749 LVL= 32752, 30417, 32754, 32755, AGC= 67, IDX= 509, 0.09,-0.537, 0.973,-1.018,-0.045, PHS=-0.390, 1.063,-1.017, RAW= 347.1, 3.8, CAL= 346.7, 1.3, ROT= 163.3, -1.3  T#Rx 57: Read range and direction messages. ^direction in FSK: [-0.957576,0.287287,0.022687] Fpublishing direction and range infoyi m ftZv-Gb?NGY;?Yi i i m vi i )m CIm Ǿim b?m -m r@m ԇ=m B@ m ޹<)m ih6@Im ޹i i m %2ѽ.eb0Sϰ? m /w)m Im ih6@im ޹i i % checking for new query: numPingsReceived=57, elapsed TxPingTime=29.030289 k,\t5?A2_?2?2>ٱ2*? :AHRS rotation from veh to nav: [[0.455301,-0.889844,0.029641],[0.876792,0.453911,0.158747],[-0.154714,-0.046288,0.986874]]2H`#?@y@NZ?? ?Q?ÿ@y?i2_?I2r];0YuBy7I !!-=-=bD5VD5:y!%W=ٔt:Q->9Y=Q 5=u4ˎ?Q 9=u4)/BY9y=?Q IE?+hCIQ:it:u4yIɮMcIAIԱii1?AJiRiji{@b<μ << @_eA?RftZv-Gb?NGY;?Ziih6@bi޹jX3;4g4ĕj@ZQI4濪>G ?2iG:i١"i圊?*ih fBi'BiiUiɃBiAi|@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.512626 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 29.280222 m, bearing: 225.600540 deg, lat: 36.779338 deg, lon: -121.859549 deg, deltaT: 0.512626 s, deltaX: -0.000029 m, approachRate: -0.000056 m/s, posRepo size: 4 UDNOT Ignoring new targets: 29.28 m.hQhQ*hQ"hQ hQgYfYfYfYdYdajdaZde?ZZZZG?>) 6ai39)顽[ii 2Ӷk,S?Aɰp;MWnNB,?/;rYMAIIM!cI I)MAIMiM-?M(|M@M+=M&@ M+)M6@IM+xٱb{1@ ~AHRS rotation from veh to nav: [[0.455718,-0.889623,0.029879],[0.876497,0.454340,0.159147],[-0.155156,-0.046337,0.986803]]bH{*?w?`D ??^?&ÿ@z@?ib_?Ib];bCYMuByM%IbDeVDeyu%u3=ٔuv:Q-}>9yYy=}Q 5 u4P?Q 9u4p)BYy?Q I?PhCI:i:cu4yɮ%IA%ۥEiIiM@2Q?AJiMARiMAjiM {@bMwH< /fK!@rӿRMWnNB,?/;rZiM6@biM+<jMJ4{}4AĽj2u @ZMuMwGπ%n޿?2iMK:iM"iM3 ̜?*iM%{BiM@BiMP꜊?iMjViIiMAiMc|@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.495276 s, deltaX: 0.300001 m, approachRate: 0.605725 m/s, rangeRepo size: 4 - Added new target pos. range: 29.579000 m, bearing: 225.441405 deg, lat: 36.779337 deg, lon: -121.859547 deg, deltaT: 0.495276 s, deltaX: 0.298779 m, approachRate: 0.603257 m/s, posRepo size: 4 -DNOT Ignoring new targets: 29.58 m.h)h1*h1"h1 h1g1f1f9f9d9dajde@3=@ZdeK?!Z1Z1Z1Z5?1>)  ci9)  b ii!)-!'z]k,;o?A(:Z_?:?:i >ٱ:0+A BAHRS rotation from veh to nav: [[0.456302,-0.889313,0.030179],[0.876042,0.454922,0.159990],[-0.156011,-0.046566,0.986657]]:H4?@@u@[?@?@r?`z? *ÿ@rק౒?i:Z_?I:];:CYJuByJInDDAT read: Rx Time:03:27:58.8751 rTRx dataTimestamp_ set to:1761535677.772809vPDAT read: Bearing 7.6, 27.7 (Local) v~Local bearing/azimuth received: Bearing 7.6, 27.7 (Local) ~DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.3 %DAT read: 03:27:58.8751 LVL= 32752, 28433, 32754, 32755, AGC= 65, IDX= 512,-0.36, 0.290, 1.320,-0.267, 1.073, PHS=-0.681, 0.292,-1.384, RAW= 354.7, 23.3, CAL= 354.4, 28.0, ROT= 155.6, -28.0 -Ygot valid direction response: 03:27:58.8751 LVL= 32752, 28433, 32754, 32755, AGC= 65, IDX= 512,-0.36, 0.290, 1.320,-0.267, 1.073, PHS=-0.681, 0.292,-1.384, RAW= 354.7, 23.3, CAL= 354.4, 28.0, ROT= 155.6, -28.0 5T#Rx 59: Read range and direction messages.=^direction in FSK: [-0.804086,0.364750,0.469472]=Fpublishing direction and range infoylnNv{}yX?jѝw ?Yn3Allnol l)lInV.in>n&n@n5>n.@ n5>)n-@AiAm@ABum>BqBuIButBBu =BqBqBu܄;Bu4;EIn5lln~P@)LȿcH? n )nLϾIn-@in5llchecking for new query: numPingsReceived=59, elapsed TxPingTime=30.029688i]Mb@Mb@Mb@YYYY Y9]|?5^?Q~jtY]>y]u]]AAY Y)]NAYYYbDVDky^%)=ٔ:Q->9Y=!Q 5-u4%?Q 95u4%)%BY53>Q E52;y5݂?Q I5?%qhCI%:i%3:%u4ԁyɮFJAilinuq?AJin9ARin9Ajinfxo@bn47*%@GΘ+@RnNv{}yX?jѝw ?Zin-@bin5jnoH|f)4/F+b1@ZnѸw忳 ֧ݿB.jK?2in\:inN"in|?*in4z\BinBilin%{inBinAinq|@u addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.504117 s, deltaX: 0.199999 m, approachRate: 0.396731 m/s, rangeRepo size: 4  Added new target pos. range: 29.778036 m, bearing: 214.384968 deg, lat: 36.779337 deg, lon: -121.859547 deg, deltaT: 0.504117 s, deltaX: 0.199036 m, approachRate: 0.394820 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.78 m.hh*h"h hgfffЁBddjd`f=@ZdJ?Z=3>Z=3>Z=d@Z=U݂?}i >) \_is9)顅@3ii7 Tk,Llj?AE EE*E"E%.;*E:VE(N4ZEBE:_?>v?>!>ٱ>rBh jAHRS rotation from veh to nav: [[0.457133,-0.888875,0.030524],[0.875419,0.455743,0.161059],[-0.157072,-0.046904,0.986473]]>HA?@q@A?n?*??Ŀ@`/?i>_?I>K];>CYUuByUII<)p<bDVD!y]%eR=ٔu3;Q-}>9Y=Q 5u4?Q 9u4#)ڊBYy?Q I?hCIU;i[;u4y Bɮ9JAѥEDNOT Ignoring new targets: 29.78 m.hh!*h!"h! h)g)f)f)f1d1d1jd1Zd5?ZYZYZYZ]%?m!>)i mYaim9)qugqiqiyy};IyI5DDAT read: Rx Time:03:27:59.3752 5TRx dataTimestamp_ set to:1761535678.290214EPDAT read: Bearing 39.5, 22.4 (Local) E~Local bearing/azimuth received: Bearing 39.5, 22.4 (Local) UDAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed -0.3 }DAT read: 03:27:59.3752 LVL= 32752, 24817, 32754, 32755, AGC= 63, IDX= 513,-0.04,-1.248, 0.666,-1.698,-0.601, PHS=-0.545, 1.312,-1.141, RAW= 343.5, 3.4, CAL= 343.0, 0.8, ROT= 167.0, -0.8 Ygot valid direction response: 03:27:59.3752 LVL= 32752, 24817, 32754, 32755, AGC= 63, IDX= 513,-0.04,-1.248, 0.666,-1.698,-0.601, PHS=-0.545, 1.312,-1.141, RAW= 343.5, 3.4, CAL= 343.0, 0.8, ROT= 167.0, -0.8 T#Rx 60: Read range and direction messages.^direction in FSK: [-0.974275,0.224929,0.013962]Fpublishing direction and range infoy15_B-Gz?4?Y5A9115`1 1)5?I5 i5?5J 5ؿ@5s=5=@ 5d<)5q:@I5d115&࣏.忍^.^? 5)5tI5q:@i5d11checking for new query: numPingsReceived=60, elapsed TxPingTime=30.5475739@ @@3@)^A 8<I) II Y O > checking for new query: numPingsReceived=60, elapsed TxPingTime=30.773199xk,]?AV^?VO?VO">ٱVt}B fAHRS rotation from veh to nav: [[0.458094,-0.888354,0.031238],[0.874723,0.456760,0.161958],[-0.158144,-0.046868,0.986303]]VH kQ?@fm?? ;?@ ?>Ŀ ˏ?iV^?IV+^;TYruByrI9iMb@Mb@Mb@ 9Zd;?T㥛 Y~>yLVBA7A )dOAYp=AbDVD1y$%S=ٔ8;Q->9Y=Q 5 u4?Q 9 u4M)ƊBY >Q E J;y 4^?Q I ?hCIs:i{:u4yɮUJAiqiuޒ?AJiuARiuAjiu@bu|]=Ӣ@d'@ZdWX?Z>Z>Zw@Z?4^?O">) bi9)ʏiiy;IIDQzDU@AE] E]E]-EY"E]8;*E]:VE]t4ZEYam@am@am@am@qm9@q @q@}0@yEDDAT read: Rx Time:03:27:59.8752 ETRx dataTimestamp_ set to:1761535678.792750UPDAT read: Bearing 55.8, 30.6 (Local) B]n>BYB]}IB]tBBYBYBYB]ф;B]*;Eu~Local bearing/azimuth received: Bearing 55.8, 30.6 (Local) DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed -0.4 ԑDAT read: 03:27:59.8752 LVL= 32752, 25025, 32754, 32755, AGC= 63, IDX= 513, 0.16,-1.181, 0.383,-1.930,-1.249, PHS= 0.170, 1.677,-0.725, RAW= 351.6, -10.7, CAL= 351.3, -13.7, ROT= 158.7, 13.7 Ygot valid direction response: 03:27:59.8752 LVL= 32752, 25025, 32754, 32755, AGC= 63, IDX= 513, 0.16,-1.181, 0.383,-1.930,-1.249, PHS= 0.170, 1.677,-0.725, RAW= 351.6, -10.7, CAL= 351.3, -13.7, ROT= 158.7, 13.7 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.905184,0.352917,-0.236838]Fpublishing direction and range infoyAE&dCtE/?4ӋHPοYAAAEaA A)AIE{.>iE?E9E^@Et;?E3@ EGt)EE1@IEGt>AAE**|ǿ Ec)EG>>IEE1@iEGt>AAchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.046543^A r;I I O > k,b?A2Dt^?2h%?2#>ٱ2L? :AHRS rotation from veh to nav: [[0.459125,-0.887772,0.032632],[0.873949,0.457958,0.162750],[-0.159429,-0.046204,0.986128]]2H@Lb?h`? d?.O??,hĿ`[?i2Dt^?I2^;2CY^duBybIbDjVDj y~%~[=ٔd;Q->9Y = Q 5u4?Q 9u4|)BY!y%]?Q I%?hCI3;i/;u4y)ɮ-JA)iqiuj?AJiqRiqjiu 4x@buju"Y=6oxa34M: Zu$ _y[T`t2iu:iu"iuh?*iuZ3sBiuhBiu圊?iuh fiqiuAiurC|@ addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.502536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.877615 m, bearing: 222.203145 deg, lat: 36.779336 deg, lon: -121.859546 deg, deltaT: 0.502536 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 ԙDNOT Ignoring new targets: 29.88 m.hh*h"h hgfffddjdZd P?ZZZZw]?#>) di9)iiY-;IIchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.277365q@y @y@}/@y@@gAEe EeEe,Ea"Eem+;*EeI:VEeg4ZEaBEeM DDAT read: Rx Time:03:28:00.3754 U TRx dataTimestamp_ set to:1761535679.296722] PDAT read: Bearing 40.5, 26.2 (Local) ] ~Local bearing/azimuth received: Bearing 40.5, 26.2 (Local) u DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.3  DAT read: 03:28:00.3754 LVL= 32096, 32753, 32754, 32755, AGC= 66, IDX= 3, 0.14,-2.041,-0.560,-2.511,-1.591, PHS=-0.348, 1.077,-0.964, RAW= 347.1, 2.6, CAL= 346.6, -0.3, ROT= 163.4, 0.3  Ygot valid direction response: 03:28:00.3754 LVL= 32096, 32753, 32754, 32755, AGC= 66, IDX= 3, 0.14,-2.041,-0.560,-2.511,-1.591, PHS=-0.348, 1.077,-0.964, RAW= 347.1, 2.6, CAL= 346.6, -0.3, ROT= 163.4, 0.3  T#Rx 62: Read range and direction messages. `direction in FSK: [-0.958309,0.285685,-0.005236] Fpublishing direction and range infoyQ U 3&&xjŧH?sNruYU fAQ U `}U Q Q )U BIU -iU #ۉ?U vU r@U 9=U @ U )U 6@IU ;Q Q U Mߒ忬Gk5; o?! U p)U ?;IU 6@iU ;Q Q E checking for new query: numPingsReceived=62, elapsed TxPingTime=31.561319׊k, ?ׯ?A2A^?2> ?2z%>ٱ2M> :AHRS rotation from veh to nav: [[0.459718,-0.887431,0.033554],[0.873449,0.458656,0.163469],[-0.160457,-0.045842,0.985978]]2H`l?`e-?K?`Z??ۉĿx@!?i2A^?I2w^;2CYRWuByRI TTZ=Z=bD~VD~fy %I=ٔ';Q->9Y9==AQ 5Mu4E ?Q 9Uu4E)EBYQyU]?Q IU?EhCIE:iE9:EQu4yɮ KAii~ү?AJiiARiiAji:{@b<B=!@_ m9ĿR3&&xjŧH?sNruZi6@bi;j}TQ64lL;T5!L[@Z kNR7m(yC=XX?2i:i"i&Nǜ?*ibBiقBi3 ̜?i%{iقBiAi{@u addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503972 s, deltaX: 0.299999 m, approachRate: 0.595270 m/s, rangeRepo size: 4  Added new target pos. range: 30.176390 m, bearing: 225.515493 deg, lat: 36.779334 deg, lon: -121.859547 deg, deltaT: 0.503972 s, deltaX: 0.298775 m, approachRate: 0.592840 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.18 m.hh*h"h hgfffddjdL>@Zd@l?ZZZZ]?z%>)) 5hei5.9)9Eʶaiiiy3;;II!checking for new query: numPingsReceived=62, elapsed TxPingTime=31.7819549@ @@@QDm <Dm <Eu  Eu Eu .Eq "Eu 3;*Eu -:VEu ـ4ZEq a} @a} @a} @a} @^A ;I1 ԁ I O >Uk,?A6]?63?6=?&>ٱ6]> >AHRS rotation from veh to nav: [[0.460802,-0.886840,0.034311],[0.872660,0.459797,0.164474],[-0.161638,-0.045848,0.985784]]6H }?` @??Pm?@| ?Ŀ]y?i6]?I6%^;6CYFVuByFI DDAT read: Rx Time:03:28:00.8754  TRx dataTimestamp_ set to:1761535679.800773PDAT read: Bearing 40.1, 26.1 (Local) ~Local bearing/azimuth received: Bearing 40.1, 26.1 (Local) -DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.4 MDAT read: 03:28:00.8754 LVL= 32752, 28049, 32754, 32755, AGC= 66, IDX= 499, 0.17,-1.522,-0.030,-1.989,-1.056, PHS=-0.364, 1.071,-0.977, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 UYgot valid direction response: 03:28:00.8754 LVL= 32752, 28049, 32754, 32755, AGC= 66, IDX= 499, 0.17,-1.522,-0.030,-1.989,-1.056, PHS=-0.364, 1.071,-0.977, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 ]T#Rx 63: Read range and direction messages.e^direction in FSK: [-0.958820,0.284015,0.000000]eFpublishing direction and range infoy  w1N-?Y    m  ) I 5^i ? z &@ PwV= @ ) 6@I   Bo>BBWIBwtBB =BBB;BH;E v'h$wZPnΪ? `) VI 6@i   checking for new query: numPingsReceived=63, elapsed TxPingTime=32.053787iEMb@Mb@Mb@AAAA A9ECl?l ףp= YE;_>yEEQ8E?AE6A Ex+A)AAQYE(9Y=qQ 5}u4u?Q 9}u4u)uBY}4p>Q E}b;y}:ZE4p>ZE@ZE:)i up]iuN9)qu趉qiqiyy}Kh;ԉIyI9@9 @9@9@9checking for new query: numPingsReceived=63, elapsed TxPingTime=32.285378Թ^AY Ii Iy O > 7l, ?AE EE,E"E4;*E :VEg4ZEBEٱJ]? nAHRS rotation from veh to nav: [[0.462005,-0.886199,0.034693],[0.871836,0.460995,0.165486],[-0.162646,-0.046209,0.985602]]JH{?`[`:á???.?Ŀ ?iJ]?IJY~^;HYMuByIbD%VD%:ye%eM=ٔm*;Q-m>9iYi=myQ 5u4}̸?Q 9u4}/)}}BYy;?Q I?}iCI}u:i}):}u4Աyɮ4KADNOT Ignoring new targets: 30.18 m.hh*h"h hg f f1f1d1d9jd9Zd=q?ZyZyZyZ}/;?K'>) ]i9)9ii]05;IIDDAT read: Rx Time:03:28:01.3757 TRx dataTimestamp_ set to:1761535680.304759%PDAT read: Bearing 39.4, 26.2 (Local) %~Local bearing/azimuth received: Bearing 39.4, 26.2 (Local) =DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.3 ]DAT read: 03:28:01.3757 LVL= 32752, 26993, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.453, 1.045,-0.927, 0.026, PHS=-0.377, 1.064,-0.996, RAW= 347.0, 3.4, CAL= 346.6, 0.7, ROT= 163.4, -0.7 eYgot valid direction response: 03:28:01.3757 LVL= 32752, 26993, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.453, 1.045,-0.927, 0.026, PHS=-0.377, 1.064,-0.996, RAW= 347.0, 3.4, CAL= 346.6, 0.7, ROT= 163.4, -0.7 mT#Rx 64: Read range and direction messages.u^direction in FSK: [-0.958251,0.285667,0.012217]uFpublishing direction and range infoyj^H?I:?YfAqi )AI%i'1?~s=@ +H<)6@I+H I)X;? d2__? a)"tI6@i+Hchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.559528]9@a @a@a@a@m=@m=%TG=hAQ-9hAYwA ^AE ;Iq I O > checking for new query: numPingsReceived=64, elapsed TxPingTime=32.7902229 l,$?AZ]?Zy?ZlW(>ٱZMA bAHRS rotation from veh to nav: [[0.463372,-0.885472,0.035016],[0.870921,0.462343,0.166541],[-0.163656,-0.046675,0.985413]]ZH? U@?@? ?6Q? Ŀ姿?iZ]?IZ (^;ZCYjQuBynIIr<)r ףp=?#~jlYeQ>ye㥽ee@AeC5A e*A)e5PAaYabD}VD}yd<%Y=ٔ<2;Q->9Y=Q 5v4 ?Q 9v4)qBYd>Q Em;y)/?Q I?iCI<:i;v4yɮ%KAiAiE,?AJiEeARiEeAjiE{@bE[:!d=%}!@'q?REj^H?I:?ZiE6@biE+HjEpd؝]5:‡d|5-|F@ZEq!JjXLb?2iE:iE"iE?*iEBiE3BiE&Nǜ?iEiAiE3AiE7{@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503986 s, deltaX: 0.500000 m, approachRate: 0.992091 m/s, rangeRepo size: 4  Added new target pos. range: 30.674440 m, bearing: 225.159989 deg, lat: 36.779333 deg, lon: -121.859547 deg, deltaT: 0.503986 s, deltaX: 0.497961 m, approachRate: 0.988045 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.67 m.hh*h"h hgfffB ddjd>@Zd ?E5 E5E5+E1"E51;*E5#:VE5 [4ZE1a=@aE@aE@aE@ZUd>ZUd>ZUA@ZU/)/?lW(>) p]iQ9)  'ii19e&s:IiIy99@ @@0@-DDAT read: Rx Time:03:28:01.8757 -TRx dataTimestamp_ set to:1761535680.810071=PDAT read: Bearing 39.8, 26.6 (Local) =~Local bearing/azimuth received: Bearing 39.8, 26.6 (Local) MDAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.3 B}k>ByB}DIB}YtBByByB}DB};B}o;EDAT read: 03:28:01.8757 LVL= 32752, 27985, 32754, 32755, AGC= 65, IDX= 501, 0.40,-2.149,-0.666,-2.635,-1.688, PHS=-0.359, 1.067,-0.991, RAW= 347.5, 3.1, CAL= 347.0, 0.2, ROT= 163.0, -0.2 Ygot valid direction response: 03:28:01.8757 LVL= 32752, 27985, 32754, 32755, AGC= 65, IDX= 501, 0.40,-2.149,-0.666,-2.635,-1.688, PHS=-0.359, 1.067,-0.991, RAW= 347.5, 3.1, CAL= 347.0, 0.2, ROT= 163.0, -0.2 T#Rx 65: Read range and direction messages.^direction in FSK: [-0.956299,0.292370,0.003491]Fpublishing direction and range infoy)-y[%F>/?QC1ml?Y)))-Qm) )))I-ηi-u?--}-@-k]=-&@ -d;)-6@I-d))-M2忱F-翰{? -t)-8`I-6@i-d))checking for new query: numPingsReceived=65, elapsed TxPingTime=33.070778a ^A] "5;Ia Iy O >|l, >?A >\?>b?>O )>ٱ>m> JAHRS rotation from veh to nav: [[0.463931,-0.885134,0.036134],[0.870495,0.463066,0.166760],[-0.164337,-0.045911,0.985335]]>H ?S`? ? ޢ?dX? ſ݇?i>\?I>^;>CYn?uBynIbDzVDzyK7%T=ٔ5:Q->9 Y = Q 5%v4mã?Q 9%v4{)cBY!y%.?Q I%?.iCI;i;v4y)ɮ5lKA1iaie43?AJiedARiedAjie{@beӺKoU=紙B!@=J#i?Rey[%F>/?QC1ml?Zie6@biedje<5--7]5κ@Zeeay IE?2ie:ieX"ieZ ?*ie#iBieBie?ieiaieAiea{@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.505312 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.674225 m, bearing: 224.761108 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.505312 s, deltaX: -0.000216 m, approachRate: -0.000427 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.67 m.hh*h"h hgfffddjdZd-?ZZZZ.?O )>) ^i|9)Nii:Ichecking for new query: numPingsReceived=65, elapsed TxPingTime=33.294460IiI@I @I@M3@IEE EE EE*EA"EEsH;*EE:VEE(N4ZEABEE 5 DDAT read: Rx Time:03:28:02.3759 5 TRx dataTimestamp_ set to:1761535681.312676= PDAT read: Bearing 39.3, 26.2 (Local) E ~Local bearing/azimuth received: Bearing 39.3, 26.2 (Local) U DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.3 u DAT read: 03:28:02.3759 LVL= 32752, 26801, 32754, 32755, AGC= 65, IDX= 503, 0.34,-0.103, 1.399,-0.580, 0.378, PHS=-0.379, 1.066,-1.001, RAW= 347.1, 3.5, CAL= 346.6, 0.8, ROT= 163.4, -0.8 } Ygot valid direction response: 03:28:02.3759 LVL= 32752, 26801, 32754, 32755, AGC= 65, IDX= 503, 0.34,-0.103, 1.399,-0.580, 0.378, PHS=-0.379, 1.066,-1.001, RAW= 347.1, 3.5, CAL= 346.6, 0.8, ROT= 163.4, -0.8  T#Rx 66: Read range and direction messages. ^direction in FSK: [-0.958229,0.285661,0.013962] Fpublishing direction and range infoy1 5 &ЩbeCH?4?Y5 A1 1 5 h1 1 )1 I5 J ¾i5 r?5 5 r@5 5z=5 @ 5 d<)5 6@I5 d1 1 5 A!5ϒa0Fu? 5 )5 CwI5 6@i5 d1 1 E checking for new query: numPingsReceived=66, elapsed TxPingTime=33.581245l,8X?A6\?6O?6 )>ٱ64;L >AHRS rotation from veh to nav: [[0.464404,-0.884838,0.037288],[0.870123,0.463714,0.166898],[-0.164968,-0.045063,0.985269]]6H@ʸ?P d? ?|?\? ſzR?i6\?I6`!^;6CYZduByZIbDrVDryzø=%zK=ٔz|:Q-~>9|Y|=~ Q 5v4  ɣ?Q 9v4 ) VBYy.?Q I? DiCI ;i C; v4yAɮEJAAiaieT?AJieARieAjie,h{@be`N(=e!@aE?Re&ЩbeCH?4?Zie6@biedje`cp5ϼ^K5T<@ZenOxz^ƌeX?2ie2:ieĬ"ie3?*ieBieBiaieieBieAiex{@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.502605 s, deltaX: 0.300001 m, approachRate: 0.596892 m/s, rangeRepo size: 4 % Added new target pos. range: 30.973001 m, bearing: 225.071180 deg, lat: 36.779331 deg, lon: -121.859547 deg, deltaT: 0.502605 s, deltaX: 0.298777 m, approachRate: 0.594456 m/s, posRepo size: 4 -DNOT Ignoring new targets: 30.97 m.h)h)*h)"h) h)g1fQfYfYdYdYjde?@Zde@H?ZZZZ.? )>) 9\i9)*ii!%O:I)IYyi}>M9@I @I@M5@Qchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.798019Em  Em Em +Ei "Em 9;*Em :VEm [4ZEi a @a @a @a @^A I I ) O >l,dr?ArDDAT read: Rx Time:03:28:02.8758 vTRx dataTimestamp_ set to:1761535681.816538zPDAT read: Bearing 39.2, 26.3 (Local) z~Local bearing/azimuth received: Bearing 39.2, 26.3 (Local) | DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 B%g>B%=CB!B!B% =B!B!B%(;B%|;EBBBB =B =CB5UDAT read: 03:28:02.8758 LVL= 32752, 26353, 32754, 32755, AGC= 65, IDX= 503, 0.21,-0.639, 0.863,-1.118,-0.157, PHS=-0.380, 1.065,-1.005, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 ]Ygot valid direction response: 03:28:02.8758 LVL= 32752, 26353, 32754, 32755, AGC= 65, IDX= 503, 0.21,-0.639, 0.863,-1.118,-0.157, PHS=-0.380, 1.065,-1.005, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 eT#Rx 67: Read range and direction messages.m^direction in FSK: [-0.957704,0.287325,0.015707]mFpublishing direction and range infoyprوȐ@c?y&?Yr3Apprfp p)pIr\¾irQ?rףpprB@ r<)rih6@Irppr-2_KE^ge"op? r`n)r{Irih6@irppchecking for new query: numPingsReceived=67, elapsed TxPingTime=34.070396Y^uByIiMb@Mb@Mb@ 9B`"?#~jMbYN>yAA )Yz9Y=1Q 5v4ϣ?Q 9v4M)FBYAa>Q Eq;y.?Q I?_iCI0x=|Z!@?RrوȐ@c?y&?Zirih6@birjr(/~5~v5LEF@ZrdY濠#ᑝQ濳Ӓ?2ir:ir"irؼ?*ir BirBipirir3Bir/AirW{@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503862 s, deltaX: -0.200001 m, approachRate: -0.396936 m/s, rangeRepo size: 4  Added new target pos. range: 30.773422 m, bearing: 224.961042 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.503862 s, deltaX: -0.199579 m, approachRate: -0.396099 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.77 m.hh*h"h hgfffBddjd`f>@Zd'?Z=Aa>Z=Aa>Z=ۼ@Z=.?Q)Q U^iU:9)y}:yiyi@:IIQ59@1 @1@=`0@9checking for new query: numPingsReceived=67, elapsed TxPingTime=34.302414ԁ Eu  Eu Eu *Eq "Eu 2;*Eu :VEu (N4ZEq BEu % #l,1펰?A TɰT~/\?~8?~Ǫ*>ٱ~9 AHRS rotation from veh to nav: [[0.464919,-0.884530,0.038186],[0.869672,0.464341,0.167508],[-0.165897,-0.044668,0.985131]]~H:?N?Y?·?p? <ſަ1?i~/\?I~^;|Y|uBy%IbD5VD5kyE=%Ed=ٔE+;Q-M>9QYQ=UYQ 5ev4]ԣ?Q 9mv4] )];BYiym-?Q Im?]siCI];i];];v4yqɮ}yJA}ӥEDNOT Ignoring new targets: 30.77 m.hh*h"h hgfffddjdZd:?ZZZZ-?Ǫ*>) \i(9)Fii_DIIDDAT read: Rx Time:03:28:03.3759 TRx dataTimestamp_ set to:1761535682.321223PDAT read: Bearing 38.5, 26.4 (Local) ~Local bearing/azimuth received: Bearing 38.5, 26.4 (Local) DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.2 DAT read: 03:28:03.3759 LVL= 32752, 30369, 32754, 32755, AGC= 65, IDX= 504, 0.05,-0.338, 1.150,-0.817, 0.149, PHS=-0.385, 1.046,-1.009, RAW= 347.2, 3.9, CAL= 346.8, 1.4, ROT= 163.2, -1.4 %Ygot valid direction response: 03:28:03.3759 LVL= 32752, 30369, 32754, 32755, AGC= 65, IDX= 504, 0.05,-0.338, 1.150,-0.817, 0.149, PHS=-0.385, 1.046,-1.009, RAW= 347.2, 3.9, CAL= 346.8, 1.4, ROT= 163.2, -1.4 %T#Rx 68: Read range and direction messages.-^direction in FSK: [-0.957034,0.288946,0.024432]5Fpublishing direction and range infoy!!u~?{J?YAv )IžiT?9&@'g=@ +<)K6@I+ȼuƳQ֒oc6Ѽ8? }O)߉IK6@i+ȼUchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.5747189@ @@4@i^A9I) II Ou >ԙ  checking for new query: numPingsReceived=68, elapsed TxPingTime=34.811131ܰ)l,z?A2r\?2$?2*>ٱ2o? :AHRS rotation from veh to nav: [[0.465446,-0.884300,0.037063],[0.869375,0.464641,0.168212],[-0.165971,-0.046072,0.985054]]2H@?/L ???`?>ſ?i2r\?I2];2C@YRuByRIi%Mb@Mb@Mb@!!!! !9%$C?y&1Q롿Y%Z>y%`e%\%?A%6A %)A)%NA!Y%;AbD=VD=yM#A=%MK=ٔUD9Q-U>9QYQ=]aQ 5mv4e٣?Q 9mv4el)e-BYuZd>Q Eun;yuN?Q Iu?eiCIe<:ieE:eIv4bEe|a4jEeb4rEe١/E  E E -E "E 8;*E :VE t4ZE aE@aM@aM@aM@yɮ+JAii뎔?AJiARiAԩji{@b#%N=Z$!@@7?R!!u~?{J?ZiK6@bi+ȼj@5]^{5"N@Z\f2 3m2濼 ُH?2i߫:iu"i?Gж?*iBiIBii#iiBiAi,{@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504685 s, deltaX: 0.200001 m, approachRate: 0.396288 m/s, rangeRepo size: 4  Added new target pos. range: 30.972603 m, bearing: 224.736847 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504685 s, deltaX: 0.199181 m, approachRate: 0.394663 m/s, posRepo size: 4 -DNOT Ignoring new targets: 30.97 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd=?@Zd=?Z}Zd>Z}Zd>Z}@Z}'N?*>) (\i9)页(ViiIIDDAT read: Rx Time:03:28:03.8759 TRx dataTimestamp_ set to:1761535682.826125Bh>BBQIBmtBB =BBB;Bl;EPDAT read: Bearing 38.7, 26.5 (Local) ~Local bearing/azimuth received: Bearing 38.7, 26.5 (Local) 5DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.0 ]DAT read: 03:28:03.8759 LVL= 32752, 29169, 32754, 32755, AGC= 65, IDX= 504,-0.14,-2.840,-1.352, 2.959,-2.359, PHS=-0.379, 1.052,-1.009, RAW= 347.3, 3.7, CAL= 346.9, 1.2, ROT= 163.1, -1.2 eYgot valid direction response: 03:28:03.8759 LVL= 32752, 29169, 32754, 32755, AGC= 65, IDX= 504,-0.14,-2.840,-1.352, 2.959,-2.359, PHS=-0.379, 1.052,-1.009, RAW= 347.3, 3.7, CAL= 346.9, 1.2, ROT= 163.1, -1.2 mT#Rx 69: Read range and direction messages.u^direction in FSK: [-0.956604,0.290638,0.020942]uFpublishing direction and range infoy5p*љ?_2q?Y}9@ @@5@@=@=q )IJ ¾i? @ A=پ@ <)8/6@I/ux:e|Ѷ? *) ЄI8/6@ichecking for new query: numPingsReceived=69, elapsed TxPingTime=35.092022 ^A 8I I O >0l,M°?A6f;\?6?6$&+>ٱ6CNA FAHRS rotation from veh to nav: [[0.466152,-0.883931,0.036986],[0.868922,0.465298,0.168736],[-0.166361,-0.046519,0.984967]]6H`p?)I`?`6?o?%?MKſQѧل?i6f;\?I6ג];6CYbuBybIIf<)f;jAjApbDzVDzܲy ;=% O=ٔ:Q->-checking for new query: numPingsReceived=69, elapsed TxPingTime=35.3104559Y=Q 5v4ߣ?Q 9v4)BYyM?Q I?iCI:i;5Xv4yɮIAi i ;ߴ?AJi Ri ji z@b '=av "@fj?R 5p*љ?_2q?Zi 8/6@bi j ̒5is`ir5ټ@Z d7wE>(qVG?2i :i "i n!?*i 0Bi Bi n!?i i Bi eAi *{@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504902 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.972639 m, bearing: 224.605346 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504902 s, deltaX: 0.000036 m, approachRate: 0.000072 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.97 m.hh*h"h hgfffd djdZd0?ZZZZWM?$&+>) Zi9)hciiII E  EEE"EF;*E:VEZEBEbK6l,;ݰ?AhY5uBy5IbD]VD]Nym<%m>=ٔuQ-u>9qYy=}Q 5v48䣊?Q 9v4)BYyQ I?iCI=;i=;fv4yɮIAiiհ?AJiARiAjiJz@beU=bw+E"@ufZR쩔H0?W7) ߑZi5@bi5<j+559@Z(6ہtQI(_f?2i$:i~"iŦ?*i\Bi΂Bii\iiAi{@checking for new query: numPingsReceived=70, elapsed TxPingTime=35.813824PExceeded connect timeout, disconnecting.  addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503024 s, deltaX: 0.100000 m, approachRate: 0.198798 m/s, rangeRepo size: 4 = Added new target pos. range: 31.072229 m, bearing: 224.613480 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 0.503024 s, deltaX: 0.099590 m, approachRate: 0.197983 m/s, posRepo size: 4 EDNOT Ignoring new targets: 31.07 m.hAhA*hA"hA hAgIfIfIfIdQdQjdU@33?@ZdU::?ZZZZ) $Zi9) riip╺II9@ @@3@1E= E=E=*E9"E=Q;*E=>:VE=(N4ZE9a]@ae@ae@ae@Q ^A qI I O >} DDAT read: Rx Time:03:28:04.8760 } TRx dataTimestamp_ set to:1761535683.832668 PDAT read: Bearing 40.9, 27.3 (Local)  ~Local bearing/azimuth received: Bearing 40.9, 27.3 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0  DAT read: 03:28:04.8760 LVL= 32752, 28225, 32754, 32755, AGC= 66, IDX= 505, 0.14,-2.127,-0.654,-2.641,-1.712, PHS=-0.313, 1.104,-0.973, RAW= 348.1, 2.0, CAL= 347.7, -1.0, ROT= 162.3, 1.0  Ygot valid direction response: 03:28:04.8760 LVL= 32752, 28225, 32754, 32755, AGC= 66, IDX= 505, 0.14,-2.127,-0.654,-2.641,-1.712, PHS=-0.313, 1.104,-0.973, RAW= 348.1, 2.0, CAL= 347.7, -1.0, ROT= 162.3, 1.0  T#Rx 71: Read range and direction messages. `direction in FSK: [-0.952516,0.303987,-0.017452] Fpublishing direction and range infoyy } &:{/at?W7) ߑYy y y } Any y )} BI} Ai} O?} y} mj@y } <1@ y )} uJ5@Iy y y }  2ҽYFF٪d? } P)} 0TI} uJ5@iy y y  checking for new query: numPingsReceived=71, elapsed TxPingTime=36.085384=l,?AB A"<B&j>B$B&jIB&tBB& =B$B$B&;B&M;E9 \?"?+>ٱ8@ AHRS rotation from veh to nav: [[0.466752,-0.883591,0.037532],[0.868523,0.465969,0.168938],[-0.166761,-0.046255,0.984912]]H@E?`aFb7??n?`ß?lXſe?i \?I];YuBy*Ii%Mb@Mb@Mb@!!!! !9%y&1?l~jtY%`e>y%%%@A%6A %*A)!!Y%9Y=Q 5v4飊?Q 9v4)BYk>Q Ef;y4f?Q I?iCI;ih;(wv4yɮ1IAiioJ?AJiARiAji,z@b:Ә=Q$"@lZR&:{/at?W7) ߑZiuJ5@bijҵL.6r}Pd[e5@ZVѐ=*2T?2i*:ir"i}?*i BiՂBiiiikAi{@i addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503519 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.072401 m, bearing: 223.968068 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 0.503519 s, deltaX: 0.000172 m, approachRate: 0.000341 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.07 m.hh*h"h hgfff́BddjdZd{?Zk>Zk>Z@Z4f?+>) \i9)iiAAE21IIIQIegA)ehAchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.317936ԙ9@ @@ 4@@@hA Ee  Ee Ea Ea "Ee [I;*Ee L:VEa ZEa BEe %Cl,?AB!\?B?Bt+>ٱB0< NAHRS rotation from veh to nav: [[0.466470,-0.883706,0.038339],[0.868678,0.465847,0.168478],[-0.166745,-0.045286,0.984959]]BH@? QG+?5?p?? Wſ`/Ʉ?iB!\?IBC];@YRuByV8I XXbD^VD^yf(=%f=ٔjSSQ-j?9hYl=n)!iIIIUDDAT read: Rx Time:03:28:05.3762 ]TRx dataTimestamp_ set to:1761535684.337011ePDAT read: Bearing 39.0, 26.2 (Local) e~Local bearing/azimuth received: Bearing 39.0, 26.2 (Local) uDAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.2 DAT read: 03:28:05.3762 LVL= 32752, 29809, 32754, 32755, AGC= 65, IDX= 507,-0.24,-1.358, 0.129,-1.831,-0.885, PHS=-0.372, 1.059,-0.991, RAW= 347.1, 3.4, CAL= 346.7, 0.6, ROT= 163.3, -0.6 Ygot valid direction response: 03:28:05.3762 LVL= 32752, 29809, 32754, 32755, AGC= 65, IDX= 507,-0.24,-1.358, 0.129,-1.831,-0.885, PHS=-0.372, 1.059,-0.991, RAW= 347.1, 3.4, CAL= 346.7, 0.6, ROT= 163.3, -0.6 T#Rx 72: Read range and direction messages.^direction in FSK: [-0.957770,0.287345,0.010472]Fpublishing direction and range infoyQUJ< 1Z^4c?/;r?YU3AQQUqtQ Q)UAIUviUP?U-}Ur@Us=UB@ U+<)Uih6@IU+QQUҼOۊbhN.)? U n)UsqIUih6@iU+QQchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.585487 %j[iÑ9)iiII@ @@0@^AeI IA Om > nManaging dock network, ignoring radio surface power off checking for new query: numPingsReceived=72, elapsed TxPingTime=36.8235441 Jl,o*?A2(\?2H?2A+>ٱ2d; :AHRS rotation from veh to nav: [[0.466416,-0.883742,0.038163],[0.868797,0.465785,0.168038],[-0.166278,-0.045220,0.985041]]2H?@G`#?.?j?F?@Hſ'u?i2(\?I2];0YrvByvJIADqzDu?AE EE)E"EsH;*E:VEFA4ZEa@a@a@a@iMb@Mb@Mb@ 9ʡE?:vˡEYo>yT' x+A)LAY;AbDVDky]}=%,=ٔ ʂQ- >9Y=Q 5%v4?Q 9%v42)BY-s>Q E-_;y-?Q I-?iCI& ;i& ;v4y5 Bɮ=@HA9ii?AJi,ARi,Aji'{@bnYs=;߰!@A?RJ< 1Z^4c?/;r?Ziih6@bi+jm5I}5ph@ZCvhI6MI濧y ?2i?:i/"i"?*iBīBiiīBi|Ai {@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504343 s, deltaX: 0.199999 m, approachRate: 0.396553 m/s, rangeRepo size: 4  Added new target pos. range: 31.271582 m, bearing: 224.846132 deg, lat: 36.779331 deg, lon: -121.859543 deg, deltaT: 0.504343 s, deltaX: 0.199181 m, approachRate: 0.394931 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.27 m.hh*h"h hgfffBddjd`ff?@Zd`)?ZMs>ZMs>ZM6I@ZM?mDDAT read: Rx Time:03:28:05.8762 uTRx dataTimestamp_ set to:1761535684.840720}PDAT read: Bearing 40.1, 26.4 (Local) }~Local bearing/azimuth received: Bearing 40.1, 26.4 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 DAT read: 03:28:05.8762 LVL= 32752, 30129, 32754, 32755, AGC= 64, IDX= 507,-0.30, 0.918, 2.400, 0.439, 1.360, PHS=-0.340, 1.085,-0.965, RAW= 347.3, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 Ygot valid direction response: 03:28:05.8762 LVL= 32752, 30129, 32754, 32755, AGC= 64, IDX= 507,-0.30, 0.918, 2.400, 0.439, 1.360, PHS=-0.340, 1.085,-0.965, RAW= 347.3, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.957283,0.289021,-0.008727]Fpublishing direction and range infoyim jQ?B7߁Yiiimui i)m@Im{imH?m= wm @m¸2=m@ m5)mK6@Im5) (\i%ɢ9)!%㍷!i!i)))I)I1Beg>BaBeIBetBBe =BaBaBeۄ;Be.;EQ@Q @Q@U/@Q@Y@]= 9 ^A} Β{I I O >MFQl,XE?A"checking for new query: numPingsReceived=73, elapsed TxPingTime=37.32524160\?6^?6*>ٱ6=B BAHRS rotation from veh to nav: [[0.466691,-0.883662,0.036609],[0.868743,0.465785,0.168317],[-0.165787,-0.046749,0.985053]]6H E?@F`a??@k?k?8ſn刺?i60\?I6n];4YJ#vByJ^IbDRVDRyZ=%Zm=ٔ^_Q-^?9\Y`=b) Zi?9)顥 iiy<ԺIAIQE  EE,E"ED;*Ex:VEg4ZEBEњo)*? )YIּ5@i5< checking for new query: numPingsReceived=74, elapsed TxPingTime=37.613201^A ?BɺI I O > i> ېC% +G= jAQ } 腿9 jAY tA oWl,-_?A2\?2 ?2H*>ٱ2WD :AHRS rotation from veh to nav: [[0.466957,-0.883544,0.036079],[0.868650,0.465959,0.168315],[-0.165525,-0.047256,0.985073]]2H?`Ex??D?Z?/ſ`1@?i2\?I2h];0YR:vByRmIIV<)V91YQ=]aQ 5mv4e?Q 9uv4eZ)eBYqyuf?Q Iu?e)jCIe:ie:ezv4yyɮ_GAi1i5wV?AJi5ARi5Aji5 z@b5+l(#>₟"@S-R5CY5Rnr?W7) ߑZi5ּ5@bi55<j58b6X_%5L;47@Z5tt!#2T:?2i5.:i5"i58?*i5/URBi5Bi5Ŧ?i1i5Bi5Ai5.z@e addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504096 s, deltaX: 0.300001 m, approachRate: 0.595127 m/s, rangeRepo size: 4 M Added new target pos. range: 31.570141 m, bearing: 224.367839 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.504096 s, deltaX: 0.298771 m, approachRate: 0.592687 m/s, posRepo size: 4 mchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.831478DNOT Ignoring new targets: 31.57 m.hh*h"h hgfffddjd@3?@Zd[?Z1Z1Z1Z5af?eH*>)i mXim~9)imiiiiiqquIyIy!D%=D4=E EE)E"E*E:VEFA4ZEa @a@a@a@ T9I 9@  @ @ @  DDAT read: Rx Time:03:28:06.8763  TRx dataTimestamp_ set to:1761535685.849023% PDAT read: Bearing 39.4, 26.9 (Local) % ~Local bearing/azimuth received: Bearing 39.4, 26.9 (Local) = DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 m DAT read: 03:28:06.8763 LVL= 32752, 29857, 32754, 32755, AGC= 64, IDX= 508, 0.24, 1.679,-3.133, 1.177, 2.117, PHS=-0.336, 1.078,-0.984, RAW= 347.9, 2.7, CAL= 347.4, -0.3, ROT= 162.6, 0.3 u Ygot valid direction response: 03:28:06.8763 LVL= 32752, 29857, 32754, 32755, AGC= 64, IDX= 508, 0.24, 1.679,-3.133, 1.177, 2.117, PHS=-0.336, 1.078,-0.984, RAW= 347.9, 2.7, CAL= 347.4, -0.3, ROT= 162.6, 0.3 u T#Rx 75: Read range and direction messages. `direction in FSK: [-0.954227,0.299037,-0.005236] Fpublishing direction and range infoy  ֛38j#?sNruY A t ) @I 1i ? m{ M@ A= W@ ) >5@I ; :Rn忧X0Ŧ? ) #?I >5@i ;  checking for new query: numPingsReceived=75, elapsed TxPingTime=38.101013B h>B B IB uBB B B B Ȅ;B ;Eq ^AIIO>d^l,~~?AF0\?FS?F)>ٱFv?X bAHRS rotation from veh to nav: [[0.466417,-0.883802,0.036732],[0.869055,0.465585,0.167252],[-0.164919,-0.046087,0.985230]]FH?H{΢?@M?%?h?ſ?iF0\?IF];FCY5VvBy5}IiMb@Mb@Mb@ 9x&1?/$? ףp= Y>y<Q8C5A )Y;AbDVDk1yU=%=ٔʜQ->9Y=Q 5v4?Q 9v4b)BY>Q EM;y?Q I ?HjCI ;i;5@bi;jq8cB6nѬ5ζ=^@Z9I激濻8?2if:i"ip?*i0QBiڃBip?i/URiBinAiz@5 addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504207 s, deltaX: -0.200001 m, approachRate: -0.396664 m/s, rangeRepo size: 4 e Added new target pos. range: 31.371094 m, bearing: 224.238108 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.504207 s, deltaX: -0.199047 m, approachRate: -0.394773 m/s, posRepo size: 4 mDNOT Ignoring new targets: 31.37 m.hihi*hi"hi higqfqfqfuBdydyjd}?@Zd}%?checking for new query: numPingsReceived=75, elapsed TxPingTime=38.333332Z>Z>Zt=ZA?)>) Ziğ9)򢷉 i i!!%俟I!I)9@ @@0@Em Em Em(Ei"EmN;*Em:VEmc44ZEiBEmp} DDAT read: Rx Time:03:28:07.3764  TRx dataTimestamp_ set to:1761535686.352656 PDAT read: Bearing 39.1, 26.5 (Local)  ~Local bearing/azimuth received: Bearing 39.1, 26.5 (Local)  DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.2  DAT read: 03:28:07.3764 LVL= 32752, 26225, 32754, 32755, AGC= 64, IDX= 509, 0.08, 1.146, 2.633, 0.653, 1.596, PHS=-0.347, 1.083,-0.987, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2  Ygot valid direction response: 03:28:07.3764 LVL= 32752, 26225, 32754, 32755, AGC= 64, IDX= 509, 0.08, 1.146, 2.633, 0.653, 1.596, PHS=-0.347, 1.083,-0.987, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2  T#Rx 76: Read range and direction messages. `direction in FSK: [-0.955787,0.294039,-0.003491] Fpublishing direction and range infoyy } Ε;f"?QC1mlY} Ay y } qfy y )y I} i} ?} |} "@} +H=} r@ } d)} 5@I} d;y y } 50忒ۗ翀˪? } )} EI} 5@i} d;y y  checking for new query: numPingsReceived=76, elapsed TxPingTime=38.601566 el,?ABPY\?B?BG!)>ٱB1; JAHRS rotation from veh to nav: [[0.465910,-0.884045,0.037311],[0.869422,0.465224,0.166347],[-0.164416,-0.045063,0.985361]]BH w?@J@p? O?:?J? ſ ?\iBPY\?IBd];BCYfvByfIbD~VD~y =% S=ٔTQ->9QYQ=]aQ 5mv4e?Q 9mv4e)eBYqyu?Q I?eajCIe;ie>;ev4yɮEAiQiUꑖ?AJiUARiUAjiUz@bUm/,>+RsՐ"@q 6RUΕ;f"?QC1mlZiU5@biUd;jUJsD6/ d5COˮ@ZUげ濷̍;+{8}?2iUx:iU'"iU t?*iUQf BiU BiU t?iQiUڃBiUAiU{@5 addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503633 s, deltaX: 0.200001 m, approachRate: 0.397116 m/s, rangeRepo size: 4 E Added new target pos. range: 31.570276 m, bearing: 224.565654 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.503633 s, deltaX: 0.199183 m, approachRate: 0.395491 m/s, posRepo size: 4 EDNOT Ignoring new targets: 31.57 m.hIhI*hI"hI hIgfffddjd@3?@Zd;p?ZZZZ?G!)>) XiI9)ii!!%4I!II@ @@0@ߍ%=߉checking for new query: numPingsReceived=76, elapsed TxPingTime=38.841053!^A- Β{IY I O >I E%  E% E% )E! "E% mR;*E% :VE% FA4ZE! a- @a- @a- @a- @"ll,㲱?A2Iy\?2'?2i(>ٱ2m7 :AHRS rotation from veh to nav: [[0.465540,-0.884227,0.037618],[0.869751,0.464954,0.165382],[-0.163726,-0.044274,0.985512]]2Hf?K@B??? >+?`Ŀ P?i2Iy\?I2ZH^;2CYnzvBynI ppv=vp=iMb@Mb@Mb@ 9S㥛?ˡE?J +Y$>y'=HAA6A )NAYz9YDDAT read: Rx Time:03:28:07.8764 TRx dataTimestamp_ set to:1761535686.856934PDAT read: Bearing 39.2, 26.5 (Local) ~Local bearing/azimuth received: Bearing 39.2, 26.5 (Local) DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.3 -DAT read: 03:28:07.8764 LVL= 32752, 24657, 32754, 32755, AGC= 64, IDX= 509,-0.01,-0.715, 0.772,-1.210,-0.275, PHS=-0.338, 1.092,-0.979, RAW= 347.6, 2.5, CAL= 347.1, -0.5, ROT= 162.9, 0.5 5Ygot valid direction response: 03:28:07.8764 LVL= 32752, 24657, 32754, 32755, AGC= 64, IDX= 509,-0.01,-0.715, 0.772,-1.210,-0.275, PHS=-0.338, 1.092,-0.979, RAW= 347.6, 2.5, CAL= 347.1, -0.5, ROT= 162.9, 0.5 5T#Rx 77: Read range and direction messages.=`direction in FSK: [-0.955757,0.294029,-0.008727]EFpublishing direction and range infoyr㎕Rd_?B7߁YQ` )IViƋ?z¸2= 5)I5<=UYQ 5ev4]2?Q 9mv4]U)]BYm>Q EmD;ym՝?Q Im?]}jCI]:BBBIBWuBB =BBB;B;EB]=CB]=CBYB]¡ =B]¡ =C]575ss=-4F翶EWq(? )Q1Ii5<checking for new query: numPingsReceived=77, elapsed TxPingTime=39.129555i]]:]Mv4y1ɮ5EA9iiض?AJiARiAjiz@bn,>d"@vɡѿRr㎕Rd_?B7߁Zibi5<jf׹C6)5@Z2SO|E濜:C?2iȯ:i"is򯜊?*iH BiBiiQf iBiAiz@% addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504278 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 I Added new target pos. range: 31.570343 m, bearing: 224.621538 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504278 s, deltaX: 0.000067 m, approachRate: 0.000132 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.57 m.hh*h"h hgfff3BddjdZd@n?Z>Z>Zz>Z"՝?Ei(>)I M^iM9)IM=rIiQiQQ]YஹIYIY9@ @@/@y checking for new query: numPingsReceived=77, elapsed TxPingTime=39.341270ԡ ^A qI) I9 OM >,sl,̱?A|ɰ~4ٱ7 AHRS rotation from veh to nav: [[0.465350,-0.884344,0.037229],[0.870006,0.464737,0.164648],[-0.162907,-0.044229,0.985650]]H@J?L`?`?>?0?$Ŀ ?p?ii\?I];CYvByIE EE-E"EsH;*Eu:VEt4ZEBE91Y1=5AQ 5Mv4E ?Q 9Mv4E)EqBYQyUݝ?Q IU?EjCIE:iER:Ebv4yYɮ]EAYDNOT Ignoring new targets: 31.57 m.hh*h"h hgfffddjdZd _{?ZZZZ~ݝ?O'>) ]iܜ9)ߵiixҸIIu9@q @q@}1@yԙDDAT read: Rx Time:03:28:08.3766 TRx dataTimestamp_ set to:1761535687.360748PDAT read: Bearing 39.2, 26.2 (Local) ~Local bearing/azimuth received: Bearing 39.2, 26.2 (Local)  DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.3 EDAT read: 03:28:08.3766 LVL= 32752, 24849, 32754, 32755, AGC= 63, IDX= 511,-0.05,-0.382, 1.110,-0.866, 0.058, PHS=-0.338, 1.096,-0.968, RAW= 347.3, 2.3, CAL= 346.9, -0.7, ROT= 163.1, 0.7 MYgot valid direction response: 03:28:08.3766 LVL= 32752, 24849, 32754, 32755, AGC= 63, IDX= 511,-0.05,-0.382, 1.110,-0.866, 0.058, PHS=-0.338, 1.096,-0.968, RAW= 347.3, 2.3, CAL= 346.9, -0.7, ROT= 163.1, 0.7 MT#Rx 78: Read range and direction messages.`direction in FSK: [-0.956742,0.290681,-0.012217]Fpublishing direction and range infoyhġf?I:YBa )?IiI?w @l$=پ@ +H)8/6@I+H<'I-Hx+#GPmK? 2)%I8/6@i+H<checking for new query: numPingsReceived=78, elapsed TxPingTime=39.626980^A"IIO> 27yl,/汹?A*checking for new query: numPingsReceived=78, elapsed TxPingTime=39.846603-ȭ\?-)B?-S&>ٱ-ۺ7 mAHRS rotation from veh to nav: [[0.464967,-0.884564,0.036767],[0.870356,0.464315,0.163986],[-0.162128,-0.044248,0.985777]]-H?`YN )Ӣ?`?`V?@?Ŀ`|?i-ȭ\?I-;q];)Y}vBy}IiMb@Mb@Mb@ 9S?X9v?y&1Y>y}=`e )MAY(91Y9==AQ 5Mv4E ?Q 9Mv4E)E[BYUn>Q EU);yUC?Q IU?EjCIEX ;iE~ ;Erv4yYɮ]EAaiiױ?AJiARiAjio4{@b}>k"@ FؿRhġf?I:Zi8/6@bi+H<j|5=b6$zV|L6OxA@Z 8Kz@;JdW ?2if:i"iCx?*i] BiBiCx?iii|AiH!{@  addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.503814 s, deltaX: 0.299999 m, approachRate: 0.595456 m/s, rangeRepo size: 4  Added new target pos. range: 31.869114 m, bearing: 224.890252 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.503814 s, deltaX: 0.298771 m, approachRate: 0.593018 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.87 m.hh*h"h hgfffCBddjd@@Zd 0?bEu(N4jEuU4rEuJ0E EEE"EV;*E:VEZEa@a@a@a@Zn>Zn>ZXO>Z C?MS&>)I Mp]iU99)QU,QiQiyy}9IyI I)q@q @q@u0@qDDAT read: Rx Time:03:28:08.8766 TRx dataTimestamp_ set to:1761535687.865668PDAT read: Bearing 38.1, 25.8 (Local) ~Local bearing/azimuth received: Bearing 38.1, 25.8 (Local) )5DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.3 UDAT read: 03:28:08.8766 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 511,-0.06,-1.934,-0.434,-2.409,-1.466, PHS=-0.366, 1.077,-0.987, RAW= 347.1, 3.0, CAL= 346.6, 0.1, ROT= 163.4, -0.1 ]Ygot valid direction response: 03:28:08.8766 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 511,-0.06,-1.934,-0.434,-2.409,-1.466, PHS=-0.366, 1.077,-0.987, RAW= 347.1, 3.0, CAL= 346.6, 0.1, ROT= 163.4, -0.1 eT#Rx 79: Read range and direction messages.m^direction in FSK: [-0.958321,0.285688,0.001745]uFpublishing direction and range infoyz_H?n p\?Yc )@IZdi#ۉ?|r@PwV=@ :)6@I亩X~Ւ_cta3?BA4=BBBIBuBBBBB;B:E o)YI6@i亩checking for new query: numPingsReceived=79, elapsed TxPingTime=40.121407Y ^A I I O > l,u?A2=\?2dJ?2j%>ٱ2|8 :AHRS rotation from veh to nav: [[0.464805,-0.884675,0.036148],[0.870580,0.464079,0.163467],[-0.161391,-0.044510,0.985886]]2H_? AO?? z?z?rĿʦa?i2=\?I2];0YBvByBIDDbDJVDJkyv=%vb=ٔvrQ-v>9xYx=zQ 5 w4k ?Q 9 w4)GBY y G?Q I ?jCI:i|:w4yɮ|DAi1i5g?AJi1Ri1ji5z{@b5[u>x5"@m>z?R5z_H?n p\?Zi56@bi5j5Ya?6Z60#JzP@Z5uTVa4WrE{c?2i5Բ:i5"i5;?*i5 Bi5Bi5 t?i1i5ڃBi5*Ai5m@{@1E addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504920 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 31.869120 m, bearing: 225.135790 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504920 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 }DNOT Ignoring new targets: 31.87 m.hyhy*hy"hy hygyfffddjdZd`k?ZZZZG?j%>) V[i9)^ii )5:I1I1mchecking for new query: numPingsReceived=79, elapsed TxPingTime=40.351730@ @@4@aE EE,E"EN;*E]:VEg4ZEBEp DDAT read: Rx Time:03:28:09.3768  TRx dataTimestamp_ set to:1761535688.368740 PDAT read: Bearing 41.1, 33.7 (Local)  ~Local bearing/azimuth received: Bearing 41.1, 33.7 (Local) - DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2 U DAT read: 03:28:09.3768 LVL= 32752, 28177, 32754, 32755, AGC= 64, IDX= 513,-0.00,-2.815,-1.509, 2.707,-2.601, PHS=-0.112, 1.137,-1.019, RAW= 354.8, -0.1, CAL= 354.4, -3.0, ROT= 155.6, 3.0 ] Ygot valid direction response: 03:28:09.3768 LVL= 32752, 28177, 32754, 32755, AGC= 64, IDX= 513,-0.00,-2.815,-1.509, 2.707,-2.601, PHS=-0.112, 1.137,-1.019, RAW= 354.8, -0.1, CAL= 354.4, -3.0, ROT= 155.6, 3.0 ] T#Rx 80: Read range and direction messages.e `direction in FSK: [-0.909436,0.412538,-0.052336]e Fpublishing direction and range infoy  럴Vg?yoU˪Y 3B n ) I B`i 7? n _(@ .@ PwV) -@I PwV= SғuX#4:fR ) 4K:I -@i PwV=  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.622601Թ XFl,~Q?A%J\?%jU?%{%>ٱ%M: 5AHRS rotation from veh to nav: [[0.464579,-0.884829,0.035277],[0.870861,0.463741,0.162926],[-0.160521,-0.044971,0.986007]]%H?P??`?`?Ŀg`_?i%J\?I%ƃ];%CYvByIbDVD:y<%?=ٔQ->9Y=9Q 5Ew4=?Q 9Ew4=Ҽ)=/BYAyEN?Q IE?=jCI=N:i=:=w4yQɮu^DAqԑi9i=p?AJi=BRi=Bji= s@b=1>3/A=[1}*@6rvR=럴Vg?yoU˪Zi=-@bi=PwV=j=NԀd9{lИ3L=@Z=VBO~㿫tsi?2i=Ɯ:i=$"i=g5ó?*i=zFBi=MBi9i9i=Bi=Ai=`{@ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503072 s, deltaX: 0.299999 m, approachRate: 0.596335 m/s, rangeRepo size: 4 5 Added new target pos. range: 32.167892 m, bearing: 217.659449 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.503072 s, deltaX: 0.298773 m, approachRate: 0.593897 m/s, posRepo size: 4 5DNOT Ignoring new targets: 32.17 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdE`f&@@ZdM^'?ZZZZN?{%>) Zix9)ዶiiΌI:II@ @@4@checking for new query: numPingsReceived=80, elapsed TxPingTime=40.857601 ^A I IY Oe >E%  E% E% .E! "E% sH;*E% j:VE% ـ4ZE! a- @a- @a- @a- @1 ql,04?A2Y]?2l?2$>ٱ2@; :AHRS rotation from veh to nav: [[0.464025,-0.885150,0.034505],[0.871329,0.463104,0.162235],[-0.159582,-0.045217,0.986149]]2H?@%S ? ??!?-mĿ &?i2Y]?I2%];0YBvByBIDDAT read: Rx Time:03:28:09.8768 TRx dataTimestamp_ set to:1761535688.872765PDAT read: Bearing 40.7, 25.6 (Local) ~Local bearing/azimuth received: Bearing 40.7, 25.6 (Local) DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.3 DAT read: 03:28:09.8768 LVL= 32752, 26849, 32754, 32755, AGC= 64, IDX= 513, 0.02, 2.582,-2.348, 2.182, 2.946, PHS=-0.261, 1.034,-0.807, RAW= 346.8, 0.4, CAL= 346.3, -2.6, ROT= 163.7, 2.6 Ygot valid direction response: 03:28:09.8768 LVL= 32752, 26849, 32754, 32755, AGC= 64, IDX= 513, 0.02, 2.582,-2.348, 2.182, 2.946, PHS=-0.261, 1.034,-0.807, RAW= 346.8, 0.4, CAL= 346.3, -2.6, ROT= 163.7, 2.6 T#Rx 81: Read range and direction messages.`direction in FSK: [-0.958817,0.280378,-0.045363]Fpublishing direction and range infoyr͘eL?99Yh )IˡiZ?N@;i@ 9)6@I9=B=g>B9B=%IB=uBB= =B==DB9B=;B=:E쇚'QW"0~? )I6@i9=echecking for new query: numPingsReceived=81, elapsed TxPingTime=41.126762 iMb@Mb@Mb@ 9{Gz?MbX9?T㥛 Yף>yʡ=@A )LAY;AbD VD2yB%-=ٔQ->9Y=Q 5w4?Q 9w4)BYЫ>Q E;y?Q I%?kCI\:i :$w4yiɮmsDAu˥Eiib7?AJiRiji(|@b>*MZ "@mXRr͘eL?99Zi6@bi9=jvX69_ߩ06\ Y@Z4ơ:Jz>4y?2iy:iò"i1e?*i 4SBiBis򯜊?i iBiAig{@ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.167759 m, bearing: 225.744971 deg, lat: 36.779331 deg, lon: -121.859541 deg, deltaT: 0.504025 s, deltaX: -0.000134 m, approachRate: -0.000265 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.17 m.hh*h"h hgf9fAfEJBdAdIjdIZdMu?ZЫ>ZЫ>Zw>ZI?$>) (\i9)ЪiiK:IIi@i @i@u5@q@}=@}=m checking for new query: numPingsReceived=81, elapsed TxPingTime=41.357357q ԙ ^A rg:I I! OE >ѓl,P?A>)\]?>Z?>i">ٱ>: JAHRS rotation from veh to nav: [[0.462927,-0.885745,0.033970],[0.872113,0.461985,0.161209],[-0.158483,-0.045002,0.986336]]>H@?@X@d?Z?*?@|?/IĿ ?i>)\]?I>];>CYNvByNIV=V=ZAAXbDZVDZk1ybz%fr=ٔfWQ-f?9dYh=jT;*Ev:VEvt4ZEtBEv#EE) >\i9)額}ii[k+;IIyQ@Q @Q@U/@YDDAT read: Rx Time:03:28:10.3769 TRx dataTimestamp_ set to:1761535689.377434PDAT read: Bearing 38.2, 25.9 (Local) ~Local bearing/azimuth received: Bearing 38.2, 25.9 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed -0.3 5DAT read: 03:28:10.3769 LVL= 32752, 28241, 32754, 32755, AGC= 67, IDX= 2, 0.04,-0.593, 0.890,-1.069,-0.150, PHS=-0.342, 1.084,-0.964, RAW= 347.2, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 =Ygot valid direction response: 03:28:10.3769 LVL= 32752, 28241, 32754, 32755, AGC= 67, IDX= 2, 0.04,-0.593, 0.890,-1.069,-0.150, PHS=-0.342, 1.084,-0.964, RAW= 347.2, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 ET#Rx 82: Read range and direction messages.M`direction in FSK: [-0.957283,0.289021,-0.008727]UFpublishing direction and range infoy jQ?B7߁YBQn )CIi?v@¸2=@ 5)K6@I5<ytĹAsw翠F#>? cN)00IK6@i5<mchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.628021ԡ^A}0::IIO> checking for new query: numPingsReceived=82, elapsed TxPingTime=41.8632898l,li?AL|ɰ|}]?}"ϊ?}!>ٱ}>m7 AHRS rotation from veh to nav: [[0.461568,-0.886454,0.033969],[0.873010,0.460700,0.160026],[-0.157505,-0.044208,0.986528]]}HU?]Ud??`|?{?@#)Ŀ@t`?i}]?I}];}CYvByIi}Mb@Mb@Mb@yyyy y9}%C?ʡE?Q뱿Y}Z>y}-=}\}?A}C5A }*A)}MAyY}3;AbDVD1yV<%%=ٔ<Q->9Y=Q 5w4?Q 9w4k)BY>E ' E )E +E "E  _;*E 0;VE  [4ZE a@a@a@a@Q E;y?Q I%?[kCIZgcp"@ICqҿR- jQ?B7߁Zi-K6@bi-5<j-6kZ 6BjP@Z-X濍5ۆ濞@?2i-:i-E"i-"?*i-eBi-ȃBi-"?i)i)i-pBi-{@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504669 s, deltaX: 0.100002 m, approachRate: 0.198154 m/s, rangeRepo size: 4  Added new target pos. range: 32.267349 m, bearing: 225.229235 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504669 s, deltaX: 0.099590 m, approachRate: 0.197338 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.27 m.hh*h"h hgfff;Bdd!jd%@33@@Zd%L?Ze>Ze>Ze͂>Ze[?u!>)y }Yi9)顽ᶉiin};II DDAT read: Rx Time:03:28:10.8769 TRx dataTimestamp_ set to:1761535689.881925%PDAT read: Bearing 38.0, 25.9 (Local) %~Local bearing/azimuth received: Bearing 38.0, 25.9 (Local) 1EDAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed -0.3 AQAUAABel>Be>CBe8IBeuBBe =Bevؠl,狃?A X*^? r? % >ٱ d5 AHRS rotation from veh to nav: [[0.460339,-0.887106,0.033635],[0.873865,0.459490,0.158838],[-0.156362,-0.043727,0.986731]] H`0v?,c8??Hh?`T? ĿScM?i X*^?I ]; Y-vBy-I9bDEVDE:yUm%Uy=ٔ]fQ-]?9YYY=e[U"@!9̿R=H;+% b?a|Zi9bi=;j=*.6;z6/1>@Z=)_P#%-b?2i=:i="i=NJO?*i=Bi=ɃBi=NJO?i=ei=ȃBi=.Bi= {@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504491 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.267838 m, bearing: 225.308146 deg, lat: 36.779331 deg, lon: -121.859539 deg, deltaT: 0.504491 s, deltaX: 0.000488 m, approachRate: 0.000968 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.27 m.hh*h"h hgfffddjdZd؀?]checking for new query: numPingsReceived=83, elapsed TxPingTime=42.365059ZZZZ=F?% >) [i\9)bii;IIqE% E%E%,E!"E%mR;*E%:VE%g4ZE!BE%l,Tǟ?AHYvByII)<bDUVDUkymNS=%u+=ٔuQ-u>9yYy=}Q 5w4-?Q 9w4Ы)BYyQ I?kCI$B= =CB= >IB= uBB= =B9 B= DB= x;B= :Ee DAT read: 03:28:11.8771 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.04, 1.021, 2.488, 0.544, 1.459, PHS=-0.336, 1.073,-0.959, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5  Ygot valid direction response: 03:28:11.8771 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.04, 1.021, 2.488, 0.544, 1.459, PHS=-0.336, 1.073,-0.959, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5  T#Rx 85: Read range and direction messages. `direction in FSK: [-0.956777,0.290691,-0.008727]A ^AM ϩ;IY Ii Oq 'Ol,`?AFpublishing direction and range infoy  z߮?B7߁Y  ) DI 1i X? u ) I n/vBD? v) U/2I i "checking for new query: numPingsReceived=85, elapsed TxPingTime=43.179546$$YevByeIiMb@Mb@Mb@ 9!rh?#~j?sh|?Yl>y=?A ) LAY ;AbDVD:2y%2=ٔQ->9Y=)Q 55w4-?Q 95w4-)-BYe>Q Em;ymP?Q Im?-kCI-hZE>ZEzx>ZEBP?q)q uXiuU9)y}yiyiII5checking for new query: numPingsReceived=85, elapsed TxPingTime=43.3733839e9@a @a@e/@aY E  E E E "E CJ;*E VE ZE BE .l,wղ?A2,_?2L?2 >ٱ2I@ >AHRS rotation from veh to nav: [[0.457167,-0.888914,0.028815],[0.876183,0.455708,0.156953],[-0.152649,-0.046507,0.987186]]2H`;B? q@?@ ?P*? ? ÿ`ϧ ?i2,_?I2c];2CYFvByFIbDNVDNNyV\%Vz=ٔV)Q U'YiU`9DDAT read: Rx Time:03:28:12.3773 TRx dataTimestamp_ set to:1761535691.393130PDAT read: Bearing 38.3, 25.8 (Local) ~Local bearing/azimuth received: Bearing 38.3, 25.8 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.3 DAT read: 03:28:12.3773 LVL= 32752, 25745, 32754, 32755, AGC= 67, IDX= 502, 0.11, 2.619,-2.195, 2.146, 3.038, PHS=-0.317, 1.095,-0.936, RAW= 347.3, 1.8, CAL= 346.8, -1.2, ROT= 163.2, 1.2 Ygot valid direction response: 03:28:12.3773 LVL= 32752, 25745, 32754, 32755, AGC= 67, IDX= 502, 0.11, 2.619,-2.195, 2.146, 3.038, PHS=-0.317, 1.095,-0.936, RAW= 347.3, 1.8, CAL= 346.8, -1.2, ROT= 163.2, 1.2 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.957110,0.288969,-0.020942]Fpublishing direction and range infoy#^$8}u~?_2qYBd )CIMi(?o @=@ )K6@I<U1忸/翫C"ӵ? 7;)IK6@i<checking for new query: numPingsReceived=86, elapsed TxPingTime=43.641312)IU%QiQiYY]"Ne checking for new query: numPingsReceived=86, elapsed TxPingTime=43.879604 Zl,ﲹ?ABƒ_?B?B>ٱBfM?L NAHRS rotation from veh to nav: [[0.455872,-0.889593,0.028391],[0.877049,0.454418,0.155853],[-0.151547,-0.046148,0.987372]]BH -?w?`?@.??eÿ@Š?iBƒ_?IB(];BCYZvBy^I ``E EE*E"EN;*E>:VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9l?p= ף?ktY>y= ?Ar4A x+A)LAYbDVDy%6=ٔ%#Q->9Y = Q 5w4#?Q 9%w45)XBY%J>Q E%(;y%5?Q I%?kCI:i':w4y1ɮ5CA1ii )ٲ?AJiuBRiuBji|@b˝t?^JZu"@XZR#^$8}u~?_2qZiK6@bi󧒫<jW6.m$-4a7c o1 @Zeƌ5U3hl?2i :iv"iJ?*i' BiBiJ?iiicBi{@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504452 s, deltaX: 0.299999 m, approachRate: 0.594703 m/s, rangeRepo size: 4  Added new target pos. range: 32.865135 m, bearing: 225.709557 deg, lat: 36.779329 deg, lon: -121.859539 deg, deltaT: 0.504452 s, deltaX: 0.298775 m, approachRate: 0.592276 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.87 m.hh*h"h hgfffBdd!jd-@@Zd-@?ZmJ>ZmJ>ZmY]>Zm5?}>)y }Xi9)顥4iitBB2IBuBBBBBk;B:EBBBBĠ =BĠ =C{5DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.3 EDAT read: 03:28:12.8773 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.11, 2.343,-2.424, 1.919, 2.895, PHS=-0.450, 1.008,-1.020, RAW= 345.8, 5.1, CAL= 345.5, 3.5, ROT= 164.5, -3.5 MYgot valid direction response: 03:28:12.8773 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.11, 2.343,-2.424, 1.919, 2.895, PHS=-0.450, 1.008,-1.020, RAW= 345.8, 5.1, CAL= 345.5, 3.5, ROT= 164.5, -3.5 UT#Rx 87: Read range and direction messages.]^direction in FSK: [-0.961833,0.266740,0.061049]]Fpublishing direction and range infoy++(VD?.xA?Y )BIffi%?\!@K=@ 5z=)7@I5zJT6 Xt-pYI? ))I7@i5z}9@y @y@y@ychecking for new query: numPingsReceived=87, elapsed TxPingTime=44.166195^A h%<I I O > U checking for new query: numPingsReceived=87, elapsed TxPingTime=44.381176Dl, ?Aɰ;Bp`?B?B>ٱB< NAHRS rotation from veh to nav: [[0.454392,-0.890357,0.028126],[0.878018,0.452978,0.154578],[-0.150370,-0.045544,0.987580]]BH ?}͜? ??`3?P?ÿ QA?iBp`?IBv];BCYZvByZIbDbVDbyj<%n_=ٔnTQ-n>9pYp=rxtQ 5~w4v@&?Q 9~w4v)v?BY|yr?Q I?vlCIvF:iv:vw4y ɮ CA iiqv?AJiRiji<}@b@ K7`?Zt~n!@9< @R++(VD?.xA?Zi7@bi5zjU'Z6띮QGy70jW@ZKa!ˇz)F)3Ŭ?2iʻ:i"iޜ?*i:BiBiiiɃBiBi|@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.865208 m, bearing: 226.710283 deg, lat: 36.779329 deg, lon: -121.859539 deg, deltaT: 0.504724 s, deltaX: 0.000072 m, approachRate: 0.000144 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.87 m.hh*h"h h!g!f!f)f)d)d)jd1Zd5˷?ZqZqZqZu[r?>) hXi9)顭Bii$4y hl,NF#?AJw`?J!'?J5i>ٱJ!9 ^AHRS rotation from veh to nav: [[0.452965,-0.891090,0.027957],[0.878946,0.451602,0.153329],[-0.149256,-0.044881,0.987780]]JH@`?σ?R ? ?M?ÿ?iJw`?IJvt];JCYfgvByfIbDnVDnyv%vJ=ٔvj6Q-v>9xYx=zQ 5 w4(?Q 9 w4)$BY y ?Q I ?5lCIp:i:w4yɮcDAiiv?AJiBRiBjiB}@b$6 v?PU!@Aq?RQN?(א¢?Zi^7@biQ jrh6l. ~7Za6na=@Z;v!濪mGu?2is:iF"i_Ȝ?*iBiRBii:i˃BieBi R|@Yu addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.502992 s, deltaX: 0.299999 m, approachRate: 0.596429 m/s, rangeRepo size: 4  Added new target pos. range: 33.163982 m, bearing: 226.731629 deg, lat: 36.779329 deg, lon: -121.859540 deg, deltaT: 0.502992 s, deltaX: 0.298775 m, approachRate: 0.593995 m/s, posRepo size: 4  DNOT Ignoring new targets: 33.16 m.h h *h "h  h g ff1f1d1d9jd=`f@@Zd=?ZyZyZyZ}w?5i>) [i9)页ii%*J DDAT read: Rx Time:03:28:13.8776  TRx dataTimestamp_ set to:1761535692.904740 PDAT read: Bearing 35.4, 24.2 (Local) B l>B >CB IB uBB =B B DB \;B :E ~Local bearing/azimuth received: Bearing 35.4, 24.2 (Local)   DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed -0.3 5 DAT read: 03:28:13.8776 LVL= 32752, 28737, 32754, 32755, AGC= 65, IDX= 505,-0.49,-1.200, 0.309,-1.629,-0.696, PHS=-0.402, 1.049,-0.977, RAW= 346.0, 3.7, CAL= 345.6, 1.2, ROT= 164.4, -1.2 E Ygot valid direction response: 03:28:13.8776 LVL= 32752, 28737, 32754, 32755, AGC= 65, IDX= 505,-0.49,-1.200, 0.309,-1.629,-0.696, PHS=-0.402, 1.049,-0.977, RAW= 346.0, 3.7, CAL= 345.6, 1.2, ROT= 164.4, -1.2 E T#Rx 89: Read range and direction messages.M ^direction in FSK: [-0.962951,0.268861,0.020942]M Fpublishing direction and range infoy  Z 4<5?_2q?Y B Ap ) AI ;i E? z ,>@ A= @ <) 7@I &0##c{? ) }I 7@i m checking for new query: numPingsReceived=89, elapsed TxPingTime=45.157875l,y#=?Af`?fCM?f]f>ٱf 8 rAHRS rotation from veh to nav: [[0.452009,-0.891582,0.027754],[0.879603,0.450676,0.152281],[-0.148279,-0.044420,0.987947]]fH? ևlk? %? ? }?¿FC?if`?Ifz];fCY~\vBy~II)=  AimMb@Mb@Mb@iiii i9m(\?ymt=m^mA>Ai m*A)m~JAiYm9AbDVDyɼ% -=ٔ?Q->9Y!=%QQ 5ew4U7,?Q 9mw4U)UBYu>Q Eu;;y}?Q I}?UTlCIU;iUa;Uw4yɮDAiiC9?AJitBRitBji}@bFhCH@!@6,[?RZ 4<5?_2q?Zi7@bijvo265X5878@Z~_A7忄֏L 5@0xle?2i:i"iwL1Ĝ?*i/BiJBiwL1Ĝ?i' iJBiBi]|@M addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503894 s, deltaX: 0.200001 m, approachRate: 0.396910 m/s, rangeRepo size: 4 ] Added new target pos. range: 33.363281 m, bearing: 226.978599 deg, lat: 36.779333 deg, lon: -121.859540 deg, deltaT: 0.503894 s, deltaX: 0.199299 m, approachRate: 0.395517 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 33.36 m.haha*ha"ha higififqfuсBdqdqjdu@@Zd}+?Z>Z>ZZC >Z6?]f>) zTiQ9)jii{WY zl,]V?A2`?2_?2>ٱ27 :AHRS rotation from veh to nav: [[0.451564,-0.891819,0.027365],[0.879955,0.450209,0.151629],[-0.147546,-0.044390,0.988059]]2Hk?`ȉ@?(?@9?`h?¿Z-?i2`?I2q];0YB4vByBiIbDNVDNk2yV%Vz=ٔVQ-Z ?9XYX=Z<&NWhnɪ? )dVIc6@i亩Echecking for new query: numPingsReceived=90, elapsed TxPingTime=45.666424fIfIdIdQjdu@@Zdu&?ZZZZw?>) ViП9)ii,^5 checking for new query: numPingsReceived=90, elapsed TxPingTime=45.893387 )l,p?A2`?2:i?2>ٱ249 :AHRS rotation from veh to nav: [[0.451360,-0.891943,0.026690],[0.880186,0.449932,0.151107],[-0.146787,-0.044711,0.988157]]2H ?ˊT?|*? ?uW?¿f䦿?i2`?I2];2CYN&vByR`Ii]Mb@Mb@Mb@YYYY Y9]1Zd?MbPI +Y]"[>y]]9]?A]2A ])A)]IAYY]9AbDuVDuy} %==ٔ Q->9Y=E EE.E"EV;*E4:VEـ4ZEa@a@a@a@Q 5w41?Q 9w4)ԇBYl>Q Ee;y5?Q I?lCI. ;iu ;w4yɮiEA¥EiiA)Z?AJiBRiBji}@bz\+@˵F"@>$?Rn}i?n p\?Zic6@bij=[6/Ώ 8atsm@Z_E]6BHn?2i:i"i*?*iBiʃBiiiiBi\c}@DNOT Ignoring new targets: 33.36 m.hh*h"h hgfffBd!d!jd!Zd%(?ZEl>ZEl>ZE@ZE 5?]>)Y ]GQi]9)aeOaiaiiimYa = == 4=E checking for new query: numPingsReceived=91, elapsed TxPingTime=46.397404zl,?AB`?Bj?B:>ٱB]; NAHRS rotation from veh to nav: [[0.451358,-0.891967,0.025903],[0.880288,0.449828,0.150824],[-0.146182,-0.045274,0.988221]]BH ?I? Q+??7N?¿".?iB`?IBѢ];BCYRvByVTI XXb=`bDvVDvk2y%F%-Q=ٔ5˺Q-=>9IYI=UQ 5w4?5?Q 9w4ɓ)BYy.?Q I?lCI>) Ri9)صii))I)I1E EEE"EL;*E>:VEZEBEkl,ԛ?A 4<ɰ6`?6_?6ַ>ٱ6^? >AHRS rotation from veh to nav: [[0.451690,-0.891827,0.024891],[0.880199,0.450010,0.150800],[-0.145689,-0.046206,0.988251]]6H~?ى }?*??`iM?¿H@?i6`?I6];6CYfvByfJIbDnVDnyvL$%vM=ٔzˤQ-z>9|Y|=~Q 5 w4O8?Q 9 w4 )BYy?Q I?lCI+;iH;w4yɮEA!iiT?AJi BRi Bjiq }@by2@5)%"@PjJ-VeRIk`Z?{JZi6@bi+<jCj7$`8gΈȻ @Z%VwQ5QSI?2i:iϸ"i˝?*iF-BiBiwL1Ĝ?iF-iyBiBi}@m addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503966 s, deltaX: 0.300003 m, approachRate: 0.595284 m/s, rangeRepo size: 4  Added new target pos. range: 33.761631 m, bearing: 226.537386 deg, lat: 36.779333 deg, lon: -121.859544 deg, deltaT: 0.503966 s, deltaX: 0.298779 m, approachRate: 0.592855 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.76 m.hh*h"h hgfffddjd@3@@Zd4?ZZZZC?ַ>) Si9)Tii­\ԡ  DDAT read: Rx Time:03:28:15.8779  TRx dataTimestamp_ set to:1761535694.920685 PDAT read: Bearing 37.4, 24.4 (Local)  ~Local bearing/azimuth received: Bearing 37.4, 24.4 (Local)  DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed -0.3  DAT read: 03:28:15.8779 LVL= 31712, 21233, 32754, 32755, AGC= 64, IDX= 508,-0.06, 1.935,-2.846, 1.498, 2.377, PHS=-0.340, 1.105,-0.923, RAW= 346.2, 1.8, CAL= 345.8, -1.2, ROT= 164.2, 1.2  Ygot valid direction response: 03:28:15.8779 LVL= 31712, 21233, 32754, 32755, AGC= 64, IDX= 508,-0.06, 1.935,-2.846, 1.498, 2.377, PHS=-0.340, 1.105,-0.923, RAW= 346.2, 1.8, CAL= 345.8, -1.2, ROT= 164.2, 1.2 B k>B B IB 8uBB B B DB Z;B :E T#Rx 93: Read range and direction messages. `direction in FSK: [-0.962007,0.272221,-0.020942] Fpublishing direction and range infoy  vaR%l?_2qY { R ) I {i p? Il Z@ = !@ ) i7@I < "濄7翆H׶? Tq) I i7@i < = checking for new query: numPingsReceived=93, elapsed TxPingTime=47.173046l,o?Aym@m㥽mA>Am/1A m5(A)m HAiYm8AbDVDy%.=ٔMQ-M>9QYQ=UYQ 5ew4].=?Q 9w4]z)]BYM>Q E;y9L?Q I?]lCI]$;i][;]Tw4yɮAFAԩii캳?AJiRiji•}@b)=K=@pa"@K*$RvaR%l?_2qZii7@bi<jedh6To~8]觸 @Zٌr忛FFdl\?2ix:i"iT´?*iٿoBi/BiT´?i/iʃBiBiZM>Z@Zw9L?) LiN9)0Wii!!%R:] E  E E +E "E CJ;*E O:VE [4ZE BE ٱ: #7 BAHRS rotation from veh to nav: [[0.453467,-0.890869,0.026842],[0.879336,0.452104,0.149568],[-0.145381,-0.044221,0.988387]]:H ?i|?@#?C? %?כ¿/ݠ?i:e`?I:];:CYJuByJ/IIR<)RPRAbDVVDVfy^%bv=ٔb~Q-b ?9`Yd=f)  uNi L9)ii115i>% checking for new query: numPingsReceived=94, elapsed TxPingTime=47.911266I 7l,G?A2_?2Sދ?2>ٱ2/ :AHRS rotation from veh to nav: [[0.455171,-0.889938,0.028808],[0.878428,0.454102,0.148849],[-0.145548,-0.042446,0.988440]]2H!?@_z?? ?z ?`Q¿xM?i2_?I2];2CYRuByR+IiUMb@Mb@Mb@QQQQ Q9US㥛?ˡEx&YU$>yU什U7U9Y=Q 5x4/E?Q 9x4)hBY},>Q E;y@>Q I?lCI;i;x4yɮQFAiiw/۳?AJi BRi Bji"}@bO[@'6!@NhR?RKq+??P!Κ?Zi18@biPwּjr<6rQ8 ʨH@Z4 sn%8T=0?2i:i"i?*i/BiBiiNiiuBikk}@% addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504087 s, deltaX: 0.500000 m, approachRate: 0.991892 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.259521 m, bearing: 227.270687 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504087 s, deltaX: 0.497959 m, approachRate: 0.987844 m/s, posRepo size: 4 5DNOT Ignoring new targets: 34.26 m.h1h9*h9"h9 h9g9f9fAfE0BdAdAjdM@33A@ZdM`c?Zm},>Zm},>Zm1*@Zm@>}>) Hi79)顅~ii%BBIBuBB =BBDB_;B:E@ @@@II O-->=DAT read: 03:28:16.8781 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509, 0.42, 1.103, 2.574, 0.684, 1.584, PHS=-0.380, 1.035,-0.945, RAW= 346.1, 3.3, CAL= 345.6, 0.6, ROT= 164.4, -0.6 AMYgot valid direction response: 03:28:16.8781 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509, 0.42, 1.103, 2.574, 0.684, 1.584, PHS=-0.380, 1.035,-0.945, RAW= 346.1, 3.3, CAL= 345.6, 0.6, ROT= 164.4, -0.6 UT#Rx 95: Read range and direction messages.]^direction in FSK: [-0.963110,0.268905,0.010472]]Fpublishing direction and range infoyy}r^5?/;r?Y}Byy}y y)}DI}\¾i}z?}q}xL@}k=}@ }+<)}7@I}+yy}aq(濸~K [? }+)}tmI}7@i}+yychecking for new query: numPingsReceived=95, elapsed TxPingTime=48.203785qԙ  checking for new query: numPingsReceived=95, elapsed TxPingTime=48.413086m,T ?Ah]_??>ٱ4- AHRS rotation from veh to nav: [[0.456982,-0.888979,0.029735],[0.877437,0.456026,0.148808],[-0.145847,-0.041912,0.988419]]H0??r@r?@?/?& ? !¿|u ?ih]_?I.h];CYuBy.IbD VD 0yn<%B=ٔ<:Q->9!Y!=%)Q 5=x4-I?Q 9=x4-)-VBY9y=7>Q I=?-lCI- ;i- ;-P$x4yIɮMAFAIqiiI?AJi=BRi=Bji?}@b]nf@*FkQ"@WI?Rr^5?/;r?Zi7@bi+jlpS7g2K8J(\@ZSl6?忟^yw翶 ??2im:i"iCX?*i(BikBiiikBiBiXa}@ addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.505177 s, deltaX: -0.200001 m, approachRate: -0.395902 m/s, rangeRepo size: 4  Added new target pos. range: 34.060417 m, bearing: 226.719440 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.505177 s, deltaX: -0.199104 m, approachRate: -0.394128 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.06 m.hh*h"h hgfffddjdA@Zd`|C?ZZZZ7>}>)y }Hi}T9)y顅޶ii  D m,%?A2^?2c?2_>ٱ2H0 :AHRS rotation from veh to nav: [[0.458423,-0.888244,0.029498],[0.876648,0.457395,0.149256],[-0.146068,-0.042563,0.988358]]2HV?l4? ?E??`\¿ʥ?i2^?I2n];2CY^uByb4I ddbDjVDj02y%,<%%\=ٔ%!:Q-%>9)Y)=-1Q 5Ex45M?Q 9Ex45C)5GBYIyM:>Q IM?5lCI5d.;i5:5R1x4yQɮUFAQii>?AJio BRio Bjia}@b|L@W!@kM?R?#xl?yoU˪?ZiN8@biPwVjS7efo84X2@Zyr;Rf. n??2i:i:"iGZ?*iBijBiiٿoii,Biw}@ addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.502744 s, deltaX: 0.299999 m, approachRate: 0.596724 m/s, rangeRepo size: 4  Added new target pos. range: 34.359192 m, bearing: 227.033758 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.502744 s, deltaX: 0.298775 m, approachRate: 0.594288 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.36 m.hh*h"h hgfffddjd@A@Zd@_>)! %Hi%9)!%ζ!i!i))-c_;I)Ichecking for new query: numPingsReceived=96, elapsed TxPingTime=48.919083M9@Q @Q@]0@Y^Am8<IIO-N>DzD?AE EE.E"EC;*E:VEـ4ZEa@a@a@a@I  DDAT read: Rx Time:03:28:17.8783  TRx dataTimestamp_ set to:1761535696.936696 PDAT read: Bearing 33.1, 23.1 (Local)  ~Local bearing/azimuth received: Bearing 33.1, 23.1 (Local) B j>B B IB tBB B B DB c;B :EBm>CBm>CBiBmʟ =Bmʟ =Cm34 DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.0  DAT read: 03:28:17.8783 LVL= 32752, 31281, 32754, 32755, AGC= 66, IDX= 511,-0.10, 0.387, 1.883, 0.000, 0.920, PHS=-0.430, 1.008,-0.964, RAW= 345.2, 4.4, CAL= 344.8, 2.3, ROT= 165.2, -2.3 - Ygot valid direction response: 03:28:17.8783 LVL= 32752, 31281, 32754, 32755, AGC= 66, IDX= 511,-0.10, 0.387, 1.883, 0.000, 0.920, PHS=-0.430, 1.008,-0.964, RAW= 345.2, 4.4, CAL= 344.8, 2.3, ROT= 165.2, -2.3 5 T#Rx 97: Read range and direction messages.= ^direction in FSK: [-0.966044,0.255240,0.040132]= Fpublishing direction and range infoy  #71OU?.='?Y 1z ) BI (ܾi %? v @ nF= @ l$=) 8@I l$ "r}濜濪:? ) b坽I 8@i l$ U checking for new query: numPingsReceived=97, elapsed TxPingTime=49.195591@0m,??AYruByr6IieMb@Mb@Mb@aaaa a9eq= ףp?&1&1Ye=yeнePe;AeZ0A e`'A)eEAaYe=6AbDVDy <%1=ٔQ-->91Y1=59Q 5Ex4=S?Q 9Mx4=I)=8BY%>Q E;ya>Q I?= mCI=%Z% >Z%w@Z%>5O>)I MBiM9)IMIiIiYY]XIaIaDAT read: 03:28:19.8784 LVL= 32752, 32177, 32754, 32755, AGC= 65, IDX= 512,-0.03, 1.612, 3.111, 1.252, 2.067, PHS=-0.353, 1.089,-0.859, RAW= 344.5, 1.4, CAL= 344.0, -1.5, ROT= 166.0, 1.5 Ygot valid direction response: 03:28:19.8784 LVL= 32752, 32177, 32754, 32755, AGC= 65, IDX= 512,-0.03, 1.612, 3.111, 1.252, 2.067, PHS=-0.353, 1.089,-0.859, RAW= 344.5, 1.4, CAL= 344.0, -1.5, ROT= 166.0, 1.5 Bc>Bsk4-oC~m? 5\)Mq˼I}l9@iPw<Echecking for new query: numPingsReceived=102, elapsed TxPingTime=51.202122M09ԙ9@ @@/@^A`ԻIIO > 2m,ʴ?A2X?2"=?2>ٱ2%mc=ٔm;Q-u>9Y=Q 5x4k?Q 9x4)BYy>Q I?WmCI;i;Ax4yɮ.BAiIiMl]ʹ?AJiM BRiM BjiM}@bMx@M @ PRM&HY �q 2?P!ΚZiM}l9@biMPw<jM")c7wΐV/9EFCC^@ZMϲ=)UAA3?2iMz:iM"iMPĮ?*iMR BiMBiMPĮ?iM?GiM߃BiMN BiMbU}@M addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503200 s, deltaX: 0.099998 m, approachRate: 0.198725 m/s, rangeRepo size: 4 ] Added new target pos. range: 34.657169 m, bearing: 226.981833 deg, lat: 36.779331 deg, lon: -121.859548 deg, deltaT: 0.503200 s, deltaX: 0.099358 m, approachRate: 0.197452 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 34.66 m.hYha*ha"ha hagafffddjd`ffA@Zd`?ZZZZ>>)  !?i 9)   i i*SIIE EE/E"EV;*E:VEJ4ZEBEٶ8m,ڌ䴹?A;ɰ4<|YwByIbDVDyE2>%M_=ٔMQ-M>9IYQ=UYQ 5ex4]n?Q 9ex4]N)]BYiyiQ Im?]cmCI]):i] :]x4yqɮu)AAyDNOT Ignoring new targets: 34.66 m.hh*h"h hgfffddjdZd?ZZZZ)  ;i9)iiJIIqMDDAT read: Rx Time:03:28:20.8784 ]TRx dataTimestamp_ set to:1761535699.712418uPDAT read: Bearing 28.0, 22.2 (Local) }~Local bearing/azimuth received: Bearing 28.0, 22.2 (Local) DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.0 \#Rx 105: Read range message, but no direction.yQYU BQchecking for new query: numPingsReceived=105, elapsed TxPingTime=51.961582U9@Q @Q@] 5@Y^AU[1IyIyO}>E EE.E"EB;*E:VEـ4ZEa@a@a@a@ B A <B i>B =CB %IB uBB =B Q? ) %I O9@i %˽M checking for new query: numPingsReceived=106, elapsed TxPingTime=52.206791l>m,i?AYJwByII=)%=ieMb@Mb@Mb@aaaa a9eʡE?:v{GzYe>yeԼe#eS9AeZ0A e$A)eDAaYe4AbDVDk1yU=%)=ٔQ->9Y=Q 5x4r?Q 9x4ˇ)BYA >Q E;y d?Q I?vmCI9;it;~x4yɮj@AEiiB?AJi; BRi; Bji|@bsM@$+*' @sJa[u @R:$,Ş81O?hܸm?ZiO9@bi%˽j4c77o] tK81 @Z"Zp忭NMpZA >Z@Z d?!))) -?i-9)15oY1i1i99=REKI9IA!I))-fAM%=MR=mDDAT read: Rx Time:03:28:21.3786 }TRx dataTimestamp_ set to:1761535700.218928PDAT read: Bearing 31.6, 23.8 (Local) ~Local bearing/azimuth received: Bearing 31.6, 23.8 (Local) 9@ @@0@DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.0 \#Rx 107: Read range message, but no direction.yqYu Bqchecking for new query: numPingsReceived=107, elapsed TxPingTime=52.473244Qy E  E E *E "E Q;*E :VE (N4ZE BE ʥFm,*?A2yV?2?2g>ٱ2 3 bAHRS rotation from veh to nav: [[0.487863,-0.872124,0.037263],[0.859476,0.487374,0.154165],[-0.152613,-0.043184,0.987342]]2H`%9?q`0?Ԁ?$1??Έÿ@GN?i2yV?I2];2CYjwByj?IbDrVDryzhY>%~x=ٔ~;Q-~?9|Y=)) -;i-}9))-)i)i115EI9II!9Y @  @ @ O0@  DDAT read: Rx Time:03:28:21.8785  TRx dataTimestamp_ set to:1761535700.721114- PDAT read: Bearing 32.7, 23.5 (Local) 5 ~Local bearing/azimuth received: Bearing 32.7, 23.5 (Local) e DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.1  \#Rx 109: Read range message, but no direction.y Y 3 B  checking for new query: numPingsReceived=109, elapsed TxPingTime=52.977596ԉ DzD@AE EE-E"EV;*Eg:VEt4ZEa@a@a@a@Թ^AONIIO>rMm,g8?A23U?2Æ?2 >ٱ2<9 :AHRS rotation from veh to nav: [[0.489282,-0.871374,0.036200],[0.858638,0.488572,0.155041],[-0.152785,-0.044776,0.987245]]2HfP?K@ˈ? y?@D?a?tÿ즿?i23U?I2J];2CYBwByBeIiMb@Mb@Mb@ 9Q?y&1?y&1Y(\>y`<`e8A+1A %A)EAYG5AbDVDP)3y.=% =ٔ9Q->9Y=Q 5x4x?Q 9x4")BY{^>Q Et;yR?Q I?mCI ;i ;x4yɮY>Aii&.?AJi BRi Bjiz@bؒe=@R0"@BZ?Rg~p@d%a?Xޡ?Zi7@bi5j TAZ847BH;@ZNJq/|gd׈?2i:i"i-t?*i( BiBie%?iiii8 Bi|@- addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.502186 s, deltaX: -0.200001 m, approachRate: -0.398260 m/s, rangeRepo size: 4 = Added new target pos. range: 34.657703 m, bearing: 224.521069 deg, lat: 36.779330 deg, lon: -121.859542 deg, deltaT: 1.008696 s, deltaX: 0.099590 m, approachRate: 0.098732 m/s, posRepo size: 4 =DNOT Ignoring new targets: 34.66 m.hAhA*hA"hA hAgAfIfIfMBdIdQjdU`ffA@ZdU`5?Zu{^>Zu{^>Zu>ZuR?DAT read: 03:28:21.8785 LVL= 32752, 31649, 32754, 32755, AGC= 68, IDX= 497,-0.03, 0.551, 2.041, 0.149, 1.049, PHS=-0.395, 1.037,-0.943, RAW= 345.5, 3.4, CAL= 345.1, 0.8, ROT= 164.9, -0.8 Ygot valid direction response: 03:28:21.8785 LVL= 32752, 31649, 32754, 32755, AGC= 68, IDX= 497,-0.03, 0.551, 2.041, 0.149, 1.049, PHS=-0.395, 1.037,-0.943, RAW= 345.5, 3.4, CAL= 345.1, 0.8, ROT= 164.9, -0.8 \#Rx 110: Read direction message, but no range.^direction in FSK: [-0.965379,0.260479,0.013962]y}a`C?4?{ )DIq=ʾij?shq@s=~@ d<)18@IdK~'^zkf#J붮? /)%uI18@idchecking for new query: numPingsReceived=110, elapsed TxPingTime=53.211189BBB}IBUvBB =BBB;B:E >) Ais9)顉iiII)09Y y @  @ @ 0@ } DDAT read: Rx Time:03:28:22.3786  TRx dataTimestamp_ set to:1761535701.225385 PDAT read: Bearing 29.3, 23.1 (Local) ^A `= ~Local bearing/azimuth received: Bearing 29.3, 23.1 (Local) E DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.1 IY Ii O} >tRTm, R?A &DAT read: 03:28:22.3786 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1, 0.36, 2.391,-2.422, 2.013, 2.939, PHS=-0.446, 0.967,-0.970, RAW= 345.2, 5.2, CAL= 344.9, 3.6, ROT= 165.1, -3.6 *Ygot valid direction response: 03:28:22.3786 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1, 0.36, 2.391,-2.422, 2.013, 2.939, PHS=-0.446, 0.967,-0.970, RAW= 345.2, 5.2, CAL= 344.9, 3.6, ROT= 165.1, -3.6 .V#Rx 111: Read range and direction messages.b^direction in FSK: [-0.964469,0.256625,0.062791]bFpublishing direction and range infoy9p͌l?֏ ?Y B )EIZiPw?Qx@޹=@ =)!k8@Idwx濙vhdeR? t)ҺI!k8@irOU?r?r)>ٱrQA -AHRS rotation from veh to nav: [[0.490554,-0.870718,0.034742],[0.857896,0.489557,0.156042],[-0.152877,-0.046742,0.987139]]rH`=e?ɡ?s?T?1?yÿ ?irOU?Ir];rCY]xByeIchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.568848bDuVDuy>%K=ٔr9Q->9Y=Q 5x4s{?Q 9x4)ކBYy?Q I?mCI#)1 5>i5֯9)111i1i99EkIAIA MhAMgAchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.705315ԙmB9?>i  9@  @ @ (0@ @ =@ = ߕ =ߕ %= DDAT read: Rx Time:03:28:22.8785  TRx dataTimestamp_ set to:1761535701.733619 PDAT read: Bearing 33.5, 23.9 (Local)  ~Local bearing/azimuth received: Bearing 33.5, 23.9 (Local) ^A5~MIAIQO>Ȟ[m,#p?ARDAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.2 ԉDAT read: 03:28:22.8785 LVL= 32752, 29089, 32754, 32755, AGC= 64, IDX= 497, 0.38, 2.420,-2.370, 2.002, 2.883, PHS=-0.362, 1.075,-0.925, RAW= 345.9, 2.4, CAL= 345.4, -0.6, ROT= 164.6, 0.6 Ygot valid direction response: 03:28:22.8785 LVL= 32752, 29089, 32754, 32755, AGC= 64, IDX= 497, 0.38, 2.420,-2.370, 2.002, 2.883, PHS=-0.362, 1.075,-0.925, RAW= 345.9, 2.4, CAL= 345.4, -0.6, ROT= 164.6, 0.6 V#Rx 112: Read range and direction messages.`direction in FSK: [-0.964043,0.265541,-0.010472]Fpublishing direction and range infoysoo¬?/;rY3 Bq )@IXi?l/@+=b@ +)'7@I+<qF/'܃!v? )+I'7@i+<Uchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.103344E EE,E"E*E:VEg4ZEa@a@a@a@YBxByIԱiMb@Mb@Mb@ 9S㥛?#~j?Zd;OY$>y=jS9AZ0A &A)DAY U;QbD]VD]ܲym=%m=ٔmQ-m>9qYq=uQ 5x4X~?Q 9x4})ʆBY>Q E@;yn?Q I?mCIZE>ZE>ZE(n?q)q uAiu9)yyyiyi7II  P9 @  @ @ /@ ]DDAT read: Rx Time:03:28:23.3787 mTRx dataTimestamp_ set to:1761535702.232821PDAT read: Bearing 31.0, 22.4 (Local) ~Local bearing/azimuth received: Bearing 31.0, 22.4 (Local) DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.1 \#Rx 113: Read range message, but no direction.yaYef Bachecking for new query: numPingsReceived=113, elapsed TxPingTime=54.486748^AI !I!O5?htem,?A6asU?6?6(>ٱ6d> >AHRS rotation from veh to nav: [[0.490178,-0.870928,0.034778],[0.858327,0.489259,0.154596],[-0.151658,-0.045928,0.987365]]6H`_?wΡ?jw?P??iÿ샧?i6asU?I6@];6CYbxBybIEj' EjEj-Eh"Ej _;*Ej:VEjt4ZEhBEj%5=ٔ 2Q->9Y=!Q 5-x4%?Q 9-x4%z)%BY)y-?Q I5?%mCI%;i%;%x4y9ɮ=;A9]B*** querying acoustic contact ***iY i]m addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.499202 s, deltaX: 0.299999 m, approachRate: 0.600958 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 34.66 m.hqhq*hq"hq hqgyfyfyfyddjďA@ZdO?ZZZZS?(>) =it9)iiXɶIIDAT read: 03:28:23.3787 LVL= 26240, 21377, 28578, 30323, AGC= 66, IDX= 3, 0.16,-2.986,-1.498, 2.945,-2.461, PHS=-0.423, 1.008,-0.921, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 Ygot valid direction response: 03:28:23.3787 LVL= 26240, 21377, 28578, 30323, AGC= 66, IDX= 3, 0.16,-2.986,-1.498, 2.945,-2.461, PHS=-0.423, 1.008,-0.921, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 \#Rx 114: Read direction message, but no range.^direction in FSK: [-0.969917,0.241828,0.027922]yuH RUhc4?|p}?fSo sv)BIuؾi%?khY@'g=7 @ <)}l9@I伩lV$~? x)l I}l9@i伝 checking for new query: numPingsReceived=114, elapsed TxPingTime=54.723064b9I9@ @@0@q  DDAT read: Rx Time:03:28:23.8787  TRx dataTimestamp_ set to:1761535702.737465^A I I1 O= >fkm,3?APDAT read: Bearing 31.7, 22.8 (Local) ~Local bearing/azimuth received: Bearing 31.7, 22.8 (Local) DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.3 2DAT read: 03:28:23.8787 LVL= 32752, 25633, 32754, 32755, AGC= 64, IDX= 499, 0.07, 0.979, 2.476, 0.607, 1.485, PHS=-0.404, 1.036,-0.922, RAW= 344.8, 3.3, CAL= 344.3, 0.7, ROT= 165.7, -0.7 05Ygot valid direction response: 03:28:23.8787 LVL= 32752, 25633, 32754, 32755, AGC= 64, IDX= 499, 0.07, 0.979, 2.476, 0.607, 1.485, PHS=-0.404, 1.036,-0.922, RAW= 344.8, 3.3, CAL= 344.3, 0.7, ROT= 165.7, -0.7 =V#Rx 115: Read range and direction messages.^direction in FSK: [-0.968943,0.246981,0.012217]Fpublishing direction and range infoE9U?Eц?E'>ٱE:y60=?I:?Y!d )@Iξi?1l@k=K@ +H<)9@I+H eAHRS rotation from veh to nav: [[0.489055,-0.871551,0.034981],[0.859094,0.488230,0.153590],[-0.150940,-0.045062,0.987515]]EHL? @ ?@}?'??Ҩ?@Rÿ`T?iE9U?IE?];AԙJݫ嚻濤Nҭ? )nI9@i+HbEt4jEèo4rEJ0E E&E)E"EO;*E;VEFA4ZEa@a@a@a@YxBy Ichecking for new query: numPingsReceived=115, elapsed TxPingTime=55.124477iMb@Mb@Mb@ 9jt?rh|?YĠ>y=L$:A+1A )EAY5AAAbDVDyz=%=ٔ%Q-%>9)Y)=-1Q 5=y45?Q 9y45v)5BY>Q E;yr?Q I?5,nCI5%)|@lDhD!@F-U?R60=?I:?Zi9@bi+Hj4wqF8ML8@ZZ5>Z5u'>Z5Mr?M'>)I MzDiMi9)q}euyiyiΰII  5 p9DDAT read: Rx Time:03:28:24.3789 TRx dataTimestamp_ set to:1761535703.241216PDAT read: Bearing 31.9, 22.8 (Local) @ @@4@-~Local bearing/azimuth received: Bearing 31.9, 22.8 (Local) EDAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.3 ADAT read: 03:28:24.3789 LVL= 32752, 27057, 32754, 32755, AGC= 65, IDX= 501, 0.06, 2.185,-2.618, 1.818, 2.679, PHS=-0.392, 1.031,-0.905, RAW= 344.8, 3.1, CAL= 344.3, 0.3, ROT= 165.7, -0.3 Ygot valid direction response: 03:28:24.3789 LVL= 32752, 27057, 32754, 32755, AGC= 65, IDX= 501, 0.06, 2.185,-2.618, 1.818, 2.679, PHS=-0.392, 1.031,-0.905, RAW= 344.8, 3.1, CAL= 344.3, 0.3, ROT= 165.7, -0.3 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.969002,0.246996,0.005236]Fpublishing direction and range infoy4@\Te x?sNru?Y Bi )AI9Ⱦi?gk]= ;)I}n h{? D)A]Iichecking for new query: numPingsReceived=116, elapsed TxPingTime=55.547348^A5IAE]% E]1E],EY"E]O];*E]f;VE]g4ZEYBE]ٱr 9 AHRS rotation from veh to nav: [[0.487844,-0.872242,0.034656],[0.859947,0.487032,0.152613],[-0.149994,-0.044649,0.987678]]rH8?hj??`+?ψ?2ÿ<ܦ`?ir.V?Ir;];rCYxByI bDVDyW=%#=ٔQ->9Y=Q 5y4?Q 9y4q)BY y ?Q I ?UnCIv;i;y4yɮ:Aiipϵ?AJi BRi Bji'o|@b^]Atj!@kI=Oՠ?R4@\Te x?sNru?Zibij=HA8L9j;@Z UM@RU?2i:i "iU?*iG0>Bi7BiiiBi Bi={@checking for new query: numPingsReceived=116, elapsed TxPingTime=55.721497% addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503751 s, deltaX: 0.300003 m, approachRate: 0.595538 m/s, rangeRepo size: 4 5 Added new target pos. range: 35.255348 m, bearing: 225.990836 deg, lat: 36.779326 deg, lon: -121.859535 deg, deltaT: 0.503751 s, deltaX: 0.298737 m, approachRate: 0.593024 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 35.26 m.hYhY*hY"hY hYgafafafadidijdm@3A@ZdmI)?ZZZZp?,>)! %Bi%O9))- 赉)i)i!rIIIy  9 DDAT read: Rx Time:03:28:24.8789  TRx dataTimestamp_ set to:1761535703.746111 PDAT read: Bearing 30.5, 22.8 (Local)  ~Local bearing/azimuth received: Bearing 30.5, 22.8 (Local)  DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.3 % DAT read: 03:28:24.8789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.01, 1.589, 3.053, 1.229, 2.098, PHS=-0.407, 1.000,-0.913, RAW= 344.8, 3.8, CAL= 344.4, 1.3, ROT= 165.6, -1.3 - Ygot valid direction response: 03:28:24.8789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.01, 1.589, 3.053, 1.229, 2.098, PHS=-0.407, 1.000,-0.913, RAW= 344.8, 3.8, CAL= 344.4, 1.3, ROT= 165.6, -1.3 - V#Rx 117: Read range and direction messages.5 ^direction in FSK: [-0.968334,0.248626,0.022687]= Fpublishing direction and range infoy  3fn3?NGY;?Y  ) BI Nbоi ? ^i ԇ= hY@M 9@I  @I @M 4@I ޹<) 8@I ޹ jv濭t~1\Oհ? ) _ÆI 8@i ޹ } checking for new query: numPingsReceived=117, elapsed TxPingTime=56.006824ԩ D1D5<EE  EE EE+EA"EEX;*EE:VEE [4ZEAaM@aU@aU@aU@^AuIyIO?}m,o-?AZưV?ZC?Z>ٱZs7 bAHRS rotation from veh to nav: [[0.486230,-0.873165,0.034100],[0.861071,0.485409,0.151445],[-0.148789,-0.044275,0.987877]]ZHb?u???b? ÿ6?iZưV?IZ-g];ZCYzxByzIi5Mb@Mb@Mb@1111 195K7A`?/$?+Y5>y51>55Bmk>Bm>CBm^IBmwBBm =BiBmDBm;Bm:Echecking for new query: numPingsReceived=117, elapsed TxPingTime=56.2252549Y=Q 5y4y?Q 9y4m)^BYY>Q E;y?Q I?nCI ;iX ;2y4yBɮ :AEiiHﵹ?AJiRiji\|@be AgX!@m?R3fn3?NGY;?Zi8@bi޹j2g98859Id/@Z]I"忳Ir?2i):i"if?*iBBiYBiU?iBiit BijJ|@a addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.504895 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.255661 m, bearing: 225.924171 deg, lat: 36.779327 deg, lon: -121.859536 deg, deltaT: 0.504895 s, deltaX: 0.000313 m, approachRate: 0.000620 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.26 m.hh*h"h hgfffBddjdZdX?Z}Y>Z}Y>Z}>Z}俸?>) Ei9)顽-ii&IIԉ Թ ] DDAT read: Rx Time:03:28:25.3791 m TRx dataTimestamp_ set to:1761535704.249105} PDAT read: Bearing 28.5, 21.1 (Local)  ~Local bearing/azimuth received: Bearing 28.5, 21.1 (Local)  DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.3  DAT read: 03:28:25.3791 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 503,-0.02,-1.483, 0.018,-1.790,-0.913, PHS=-0.469, 0.975,-0.921, RAW= 343.2, 4.9, CAL= 342.9, 3.1, ROT= 167.1, -3.1  Ygot valid direction response: 03:28:25.3791 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 503,-0.02,-1.483, 0.018,-1.790,-0.913, PHS=-0.469, 0.975,-0.921, RAW= 343.2, 4.9, CAL= 342.9, 3.1, ROT= 167.1, -3.1  V#Rx 118: Read range and direction messages. ^direction in FSK: [-0.973335,0.222923,0.054079] Fpublishing direction and range infoya e aY %2?ʾ7?Ye Ba a e ba a )e CIe ie y?e ke ֭@e %=e @ e k]=)e :@Ie k]a a e $\Ñ>3D Iѵ? e )e îIe :@ie k]a a  checking for new query: numPingsReceived=118, elapsed TxPingTime=56.505348M 9@Q  @Q @U /0@Q E? EE*E"Et;*E:VE(N4ZEBEY>ٱ63 BAHRS rotation from veh to nav: [[0.482218,-0.875434,0.032878],[0.863766,0.481384,0.148921],[-0.146197,-0.043413,0.988302]]6H@?mՠ???@?@¿;:`,?i6W?I6];6CYzxByzIbDVDy%Σ<%%,=ٔ%Q-%>9)Y)=-9Q 5=y4=$?Q 9Ey4=h)=?BYAyEY?Q IE?=nCI=p:i=$:=Cy4yQɮU9AQi)i-V?AJi-7BRi-7Bji-6~@b-#>) &Ei9)  ` i iŠfII gAEchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.731438ԁM9ԩ9@ @@1@ %= < DDAT read: Rx Time:03:28:25.8791  TRx dataTimestamp_ set to:1761535704.752599 PDAT read: Bearing 32.1, 22.7 (Local)  ~Local bearing/azimuth received: Bearing 32.1, 22.7 (Local) % DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.4 M DAT read: 03:28:25.8791 LVL= 32752, 32097, 32754, 32755, AGC= 68, IDX= 503, 0.36, 3.017,-1.786, 2.653,-2.788, PHS=-0.376, 1.047,-0.886, RAW= 344.7, 2.5, CAL= 344.3, -0.4, ROT= 165.7, 0.4 U Ygot valid direction response: 03:28:25.8791 LVL= 32752, 32097, 32754, 32755, AGC= 68, IDX= 503, 0.36, 3.017,-1.786, 2.653,-2.788, PHS=-0.376, 1.047,-0.886, RAW= 344.7, 2.5, CAL= 344.3, -0.4, ROT= 165.7, 0.4 u V#Rx 119: Read range and direction messages.y } `direction in FSK: [-0.968992,0.246993,-0.006981]} Fpublishing direction and range infoy  gᅡh`x?a|Y    a}  ) DI i ? b M@ ¸2= K@  ) 9@I ;   `¶ih?  ]) R3I 9@i ;   checking for new query: numPingsReceived=119, elapsed TxPingTime=57.038086^A I I O >5m,5?Av:X?v0?v>ٱv՝2Y AHRS rotation from veh to nav: [[0.480269,-0.876533,0.032115],[0.865083,0.479405,0.147659],[-0.144825,-0.043134,0.988517]]vH? `_q???? ¿?iv:X?Iv"^;vCEe  EeEe+Ea"EeE;*Eeu:VEe [4ZEaau@a}@a}@a}@YxByIiMb@Mb@Mb@ 9K7A`?y&1?S㥻Yy`=/ݽ;A/A )Y5AbDVDܲyz%%=ٔ.8Q->9Y=Q 5y4?Q 9%y4d)BY%>Q E%;y%G?Q I%?nCI;i;XTy4y)ɮ5^:A1i1i5*0?AyJi1Ri1ji5}@b5R9A#;!@ɕϿR5gᅡh`x?a|Zi59@bi5;j5cj@8te9`E0v@Z5HX28qqon?2i5 :i5"i5Zg󎜊?*i5Bi5Bi5Zg󎜊?i5G0>i1i5 Bi5}@ addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.503494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.554440 m, bearing: 226.583357 deg, lat: 36.779327 deg, lon: -121.859539 deg, deltaT: 0.503494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.55 m.hBm>BBwIBwBBBBBw;B:EhEchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.233311*h"hA hAgAfIfIfM|BdIdQjdQZdU`~?Z>Z>Zͧ>Z[G?>) zDiͯ9)顥iiOILIIYԩ  9 @  @ @ 0@  DDAT read: Rx Time:03:28:26.3792  TRx dataTimestamp_ set to:1761535705.253571 PDAT read: Bearing 28.4, 21.4 (Local)  ~Local bearing/azimuth received: Bearing 28.4, 21.4 (Local)  DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.4 M DAT read: 03:28:26.3792 LVL= 32752, 31905, 32754, 32755, AGC= 69, IDX= 505,-0.32, 2.210,-2.576, 1.891, 2.774, PHS=-0.461, 0.979,-0.927, RAW= 343.5, 4.8, CAL= 343.2, 3.0, ROT= 166.8, -3.0 U Ygot valid direction response: 03:28:26.3792 LVL= 32752, 31905, 32754, 32755, AGC= 69, IDX= 505,-0.32, 2.210,-2.576, 1.891, 2.774, PHS=-0.461, 0.979,-0.927, RAW= 343.5, 4.8, CAL= 343.2, 3.0, ROT= 166.8, -3.0 ] V#Rx 120: Read range and direction messages.e ^direction in FSK: [-0.972245,0.228038,0.052336]m Fpublishing direction and range infoy  ᅭxW0?yoU˪?Y B | ) EI 1i z? Om ؿ@ = ֭@ PwV=) AQ:@I PwV M~P翶flDzNc:o? g) GI AQ:@i PwV MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.^A  cI1I9OE?m,:Y?AE:  E:E8E8"E:F;*E:1:VE8ZE8BE:b2E:cJE:7:E:7ٱ22 JAHRS rotation from veh to nav: [[0.478350,-0.877623,0.030964],[0.866402,0.477400,0.146414],[-0.143279,-0.043210,0.988739]]2HH?`}%??ඍ??V¿  ?i2$Y?I2~w^;0YRxByRIXXbD^VD^N2yfI%f0=ٔfX\Q-f>9hYh=j lQ 5y4n܌?Q 9y4n`1e 9aYeA)nBYyy}?Q I}?nnCIn1Y=inAY=ndy4yɮ:Ai9i=:P?AJi=iBRi=iBji=M1~@b=mA:wZ @خz?R=ᅭxW0?yoU˪?Zi=AQ:@bi=PwVj=KQSf7\W:r`@Z=e.) Ei%9)!%!i!iIIM\e-IIIQI]/?)]?)I@ @@0@y  DDAT read: Rx Time:03:28:26.8792  TRx dataTimestamp_ set to:1761535705.756726% PDAT read: Bearing 29.8, 21.1 (Local) % ~Local bearing/azimuth received: Bearing 29.8, 21.1 (Local) 5 DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.3 U DAT read: 03:28:26.8792 LVL= 32752, 26145, 32754, 32755, AGC= 68, IDX= 505,-0.06, 1.085, 2.588, 0.774, 1.627, PHS=-0.440, 1.007,-0.897, RAW= 343.3, 3.9, CAL= 342.9, 1.5, ROT= 167.1, -1.5 e Ygot valid direction response: 03:28:26.8792 LVL= 32752, 26145, 32754, 32755, AGC= 68, IDX= 505,-0.06, 1.085, 2.588, 0.774, 1.627, PHS=-0.440, 1.007,-0.897, RAW= 343.3, 3.9, CAL= 342.9, 1.5, ROT= 167.1, -1.5 e R#Rx 1: Read range and direction messages.m ^direction in FSK: [-0.974427,0.223174,0.026177]m Fpublishing direction and range infoy  dK.cX?P!Κ?Y    !f  ) DI Gi `? ˡe !@ 'g= @  Pw<) :@I Pwּ   6=翽Y)]忄 .O?  ƴ) I :@i Pwּ  - 2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.^A= ONII Ia Ou >;m,@Os?A2Y?25?2>ٱ2O4 EAHRS rotation from veh to nav: [[0.476740,-0.878545,0.029631],[0.867523,0.475664,0.145422],[-0.141854,-0.043623,0.988926]]2H`? @W?`?`Hq?0? G(¿UH?i2Y?I2_;0Y}oxBy}IbDVD0y-%5(=ٔ=AQ-=>9AYA=EQEe Ee Ee,Ea"EeUS;*Ee:VEeg4ZEaam@am@am@am@qQ 5}y4U:?Q 9}y4U^\)UɅBYyy}?Q I}?U)oCIU;iU;Uuy4yɮe;Ai)i-3np?AJi)Ri)ji-~@b-v{wAG2 @Vq?R-dK.cX?P!Κ?Zi- :@bi-Pwּj-Y'R7']:w[#@Z-k忢0<2kz?2i-:i-B"i-ݨŜ?*i-dBi-IBi-N?i-H i)i- Bi-Y~@] addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.503155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 35.853333 m, bearing: 228.098861 deg, lat: 36.779332 deg, lon: -121.859542 deg, deltaT: 0.503155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 35.85 m.hh*h"h hgfffddjdZd ?ZZZZ?=>)9 =Hi=9)9=aöAiAiAIMLIIIqAAAABBBjIBwBB =Bٱ-8 eAHRS rotation from veh to nav: [[0.473923,-0.880156,0.026886],[0.869533,0.472585,0.143445],[-0.138960,-0.044604,0.989293]]-H T? <*ᇛ? 6?>?h\?nY֦I?i-SZ?I-p_;)YHxByII=)<Eu EuEu+Eq"EuL;*Eu:VEu [4ZEqBEuy57=55S9A5-A 5$A)11Y5(4AbDmVDmy}|%}=ٔQ->9Y=Q 5y4?Q 9y4X)BY(>Q E);y̦?Q I?OoCI ;iz ;݈y4yɮZ(>Zzo>Z̦?>) p=i9)顝޶iiPɻIIe2Acoustic response timeoutA u Þ9 @  @ @ /@ q  DDAT read: Rx Time:03:28:27.8795  TRx dataTimestamp_ set to:1761535706.764776% PDAT read: Bearing 29.2, 20.2 (Local) % ~Local bearing/azimuth received: Bearing 29.2, 20.2 (Local) 5 DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed -0.3 } DAT read: 03:28:27.8795 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 508,-0.45, 1.123, 2.629, 0.844, 1.685, PHS=-0.460, 0.989,-0.885, RAW= 342.5, 4.2, CAL= 342.1, 2.1, ROT= 167.9, -2.1  Ygot valid direction response: 03:28:27.8795 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 508,-0.45, 1.123, 2.629, 0.844, 1.685, PHS=-0.460, 0.989,-0.885, RAW= 342.5, 4.2, CAL= 342.1, 2.1, ROT= 167.9, -2.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.977127,0.209478,0.036644] Fpublishing direction and range infoy   Di6k+?(א¢?Y B   }  ) EI i /}? \b I@ Q = @  Q =) ͋;@I Q    9E`Ų*?  u) P2I ͋;@i Q    2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A=IAIYOe?|Ӭm,˵?AnZ?nW?nR >ٱn'y: %AHRS rotation from veh to nav: [[0.472963,-0.880709,0.025637],[0.870276,0.471507,0.142481],[-0.137572,-0.045077,0.989465]]nHE?.@?L?+-?9Y= Q 5y4 b?Q 9y4 YU) tBYy?Q I? poCI  :i : y4yIɮM) @i 9)ii@֯IIBj>BB?IBwBB =B=DBBk;B:EB>CB>CBBĠ =BĠ =C{5]2Acoustic response timeout9ԑm9@i @i@i@iԹ ^A XһI I9 Oe >m,϶?A2z[?2o?2R >ٱ2S5 :AHRS rotation from veh to nav: [[0.472446,-0.880982,0.025783],[0.870808,0.471103,0.140555],[-0.135973,-0.043953,0.989737]]2Hyt7A-A $A)QBAY2AԱbDVDP)yĄ%*=ٔ]Q->9Y=Q 5y4?Q 9y4TS)PBY}>Q EV;y?Q I?oCI@:i:ѩy4y ɮ `=A iXiZ+4Ѷ?AJiZBEu Eu,Eu,Eq"EuW;*Eu;VEug4ZEqBEuFZ=}>Z="@Z=+?MR >)Q UQ8iU9)QUKGQiQiYY]gIIaIi)ie2Acoustic response timeout@ @@@@ hA@ hA ^A 3I) 9 IA OM >$gm,붹?AZ?Y?I >ٱF2 AHRS rotation from veh to nav: [[0.473087,-0.880629,0.026107],[0.870630,0.471841,0.139176],[-0.134881,-0.043113,0.989923]]HG?`.Ļ?2?2??Cs?iZ?I_;Y wBygI bD%VD%ܲy5%5e=ٔ=nJQ-=>99YA=EIQ 5Uy4M?Q 9Uy4MQ)M5BYYy]?Q I]?MoCIM:iM;M(y4yaɮe=AiDNOT Ignoring new targets: 36.65 m.hh*h"h hgfffddjdZd T?%=DDAT read: Rx Time:03:28:28.8797 TRx dataTimestamp_ set to:1761535707.773083PDAT read: Bearing 31.2, 20.9 (Local) ~Local bearing/azimuth received: Bearing 31.2, 20.9 (Local) DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.3 DAT read: 03:28:28.8797 LVL= 32752, 31521, 32754, 32755, AGC= 65, IDX= 510,-0.00,-0.550, 0.939,-0.859,-0.041, PHS=-0.407, 1.025,-0.861, RAW= 343.3, 2.9, CAL= 342.9, -0.0, ROT= 167.1, 0.0 %Ygot valid direction response: 03:28:28.8797 LVL= 32752, 31521, 32754, 32755, AGC= 65, IDX= 510,-0.00,-0.550, 0.939,-0.859,-0.041, PHS=-0.407, 1.025,-0.861, RAW= 343.3, 2.9, CAL= 342.9, -0.0, ROT= 167.1, 0.0 %R#Rx 1: Read range and direction messages.-`direction in FSK: [-0.974761,0.223250,-0.000000]-Fpublishing direction and range infoyB Rl>1ߐ#u?Y!{ )AINbоi33?!@4QO=@ ) :@Ib&$?녿6Viĩ? )9NI :@iM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.ZZZZ?I >) %:i89)gii   I IIbE [4jE Ǟ]4rE S}.E EE+E"EmR;*E:VE [4ZEa@a@a@a@9u 9@q  @q @q @y ԉ B i>B =CB IB ?wBB =B B B x;B :Eu 2Acoustic response timeoutԡ ^A I I O >t m,T?A2~{Z?2)?2d >ٱ2j4 :AHRS rotation from veh to nav: [[0.474425,-0.879924,0.025583],[0.870016,0.473115,0.138686],[-0.134137,-0.043538,0.990006]]2H\?V(l2?`,?G?`s?b+J!?i2~{Z?I2/^;0YBwByBUIi Mb@Mb@Mb@     9 S㥛?~jt:vY $>y  Խ 6A )A K#A) @A Y 1AbD%VD%y=s%=C=ٔ=Q-=>9AYA=EQQ 5]y4U+?Q 9]y4UQ)UBY]!<>Q E];y]>Q I]?UoCIU:iU:Uy4y ɮO>A!ii1z?AJiRijig#@b?wAu6] @RB Rl>1ߐ#u?Zi :@bij2Ċ1%8^5;[Ni7@ZDp;NT ن?2i:i/"i>?*i[CBiBii[CiIBiBi@% addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.504274 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 36.649746 m, bearing: 228.411679 deg, lat: 36.779333 deg, lon: -121.859548 deg, deltaT: 0.504274 s, deltaX: -0.000126 m, approachRate: -0.000250 m/s, posRepo size: 4 EDNOT Ignoring new targets: 36.65 m.hAhA*hA"hA hIgIfIfIeDDAT read: Rx Time:03:28:29.3798 eTRx dataTimestamp_ set to:1761535708.276804mPDAT read: Bearing 30.9, 20.4 (Local) u~Local bearing/azimuth received: Bearing 30.9, 20.4 (Local) DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.2 DAT read: 03:28:29.3798 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.06,-0.449, 1.007,-0.733, 0.061, PHS=-0.407, 0.992,-0.837, RAW= 343.0, 3.1, CAL= 342.5, 0.3, ROT= 167.5, -0.3 Ygot valid direction response: 03:28:29.3798 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.06,-0.449, 1.007,-0.733, 0.061, PHS=-0.407, 0.992,-0.837, RAW= 343.0, 3.1, CAL= 342.5, 0.3, ROT= 167.5, -0.3 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.976283,0.216437,0.005236]Fpublishing direction and range infoyaeQe=￀g3?sNru?YeBaaea a)eCIaie}?eEVe=@ek]=eI@ e;)ek;@Ieaae=p[_x*,? e )e \Iek;@ieaa2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.fUdBd 1d1jd=@3sB@Zd=`Q?Z!<>Z!<>ZV=@Z]>-d >)) -G1i-9)151i1i99=3߻I9IAYE  E E E "E V;*E &:VE ZE BE i] >ԉ 9@  @ @ @ @ @ = 2Acoustic response timeoutԱ^A-&tI1IIOU?4m,*?AFY?F߈?F1 >ٱFi8 nAHRS rotation from veh to nav: [[0.476387,-0.878885,0.024846],[0.868977,0.474944,0.138948],[-0.133920,-0.044602,0.989988]]FH}? Yq? ?}e?@?L$֦ ?iFY?IF _;DYwBy%QIIE%=)E4<bD}ԑVD}02y@%=ٔ0ιQ->9Y=Q 5y4_?Q 9y4P)BYyS>Q I?oCI;i;"y4yɮi>Aii(?AJiBRiBjik@bd-YA/6b@*x )?RQe=￀g3?sNru?Zik;@bi򧒫j=`8:^_;<+ۏ@Zҡ=Ev)?2i:i"iMqj?*i BiBiMqj?iHiSBiBiK@% addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.503721 s, deltaX: 0.100002 m, approachRate: 0.198527 m/s, rangeRepo size: 4 5 Added new target pos. range: 36.749340 m, bearing: 228.664461 deg, lat: 36.779332 deg, lon: -121.859549 deg, deltaT: 0.503721 s, deltaX: 0.099594 m, approachRate: 0.197717 m/s, posRepo size: 4 =DNOT Ignoring new targets: 36.75 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM?mDDAT read: Rx Time:03:28:29.8798 uTRx dataTimestamp_ set to:1761535708.780850}PDAT read: Bearing 31.1, 20.1 (Local) ~Local bearing/azimuth received: Bearing 31.1, 20.1 (Local) DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.1 DAT read: 03:28:29.8798 LVL= 32752, 30193, 32754, 32755, AGC= 65, IDX= 511,-0.11,-2.704,-1.211,-2.989,-2.185, PHS=-0.416, 1.019,-0.848, RAW= 342.7, 2.9, CAL= 342.2, 0.1, ROT= 167.8, -0.1 Ygot valid direction response: 03:28:29.8798 LVL= 32752, 30193, 32754, 32755, AGC= 65, IDX= 511,-0.11,-2.704,-1.211,-2.989,-2.185, PHS=-0.416, 1.019,-0.848, RAW= 342.7, 2.9, CAL= 342.2, 0.1, ROT= 167.8, -0.1 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.977414,0.211324,0.001745] Fpublishing direction and range infoyimZlF켭 ?n p\?Yiiimui i)mAImԾimn?mYmYf@m4QO=m@ m:)m5o;@ImZ)Z)Z)Z-5S>iimu:ꣲVA@)? m1J)m gQIm5o;@im亩iiE2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.}1 >)y }1i}9)y}Aii. IIԹEM" EMEM*EI"EMZ;*EM:VEM(N4ZEIam@am@am@am@$9B] c>B] 1gm,MJ?A6 X?6?6>ٱ6(4 >AHRS rotation from veh to nav: [[0.482751,-0.875360,0.026393],[0.865576,0.481504,0.137593],[-0.133152,-0.043578,0.990137]]6Hc??@Ͳ?? ? O 4?i6 X?I6^;6CYFwByFEIiMb@Mb@Mb@ 9l?K7A~jtY=y ?5A z"A)h=AY/AbDVDNy'%&=ٔϺQ->9Y=Q 5y4?Q 9y46P)BYq)>Q E;yeUQ I?oCI ;i ;Ty4y ɮ >A i i r1?AJi BRi Bji N@b 8AH@(Ubk?R ZlF켭 ?n p\?Zi 5o;@bi j 0U "8q~W;H2^@Z =e(׸pf?2i :i "i "?*i fcBi фBi i )i Bi Bi G@] addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.504046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 36.748722 m, bearing: 228.563929 deg, lat: 36.779332 deg, lon: -121.859549 deg, deltaT: 0.504046 s, deltaX: -0.000618 m, approachRate: -0.001226 m/s, posRepo size: 4 uDNOT Ignoring new targets: 36.75 m.hqhq*hq"hq hqgyfyԁff)BddjdZd@k?Z-q)>Z-q)>Z-ݭ@Z-e@e>)a e+ieY9)amoiiiiiquvvIqIq hADDAT read: Rx Time:03:28:30.3800 TRx dataTimestamp_ set to:1761535709.284545DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed -0.1 X#Rx 1: Read range message, but no direction.yYB2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԩE& E,E,E"E8^;*E;VEg4ZEBE°*m,!sf?A2YV?2ra?2>ٱ2- :AHRS rotation from veh to nav: [[0.486550,-0.873196,0.028250],[0.863471,0.485551,0.136596],[-0.132991,-0.042068,0.990224]]2H#? 8{??`C?{?@쉥@?i2YV?I2_;2CYBwByBGIbDjVDjkyrM;%rG=ٔr͹Q-r>9tYt=v|Q 5y4~ ?Q 9y4~MP)~ՄBYyZfQ I?~oCI~:i~:~y4yBɮ>AE addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.503695 s, deltaX: 0.299999 m, approachRate: 0.595597 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 36.75 m.hIhI*hI"hI hIgIfQfQfQdQdYjd]B@Zd]?ZyZyZyZ}%C@>) a+i69)顕5iiӕIIԩ9!U9@Q @Q@]/@Y@a@aDDAT read: Rx Time:03:28:30.8799 TRx dataTimestamp_ set to:1761535709.788851PDAT read: Bearing 36.0, 22.6 (Local) ~Local bearing/azimuth received: Bearing 36.0, 22.6 (Local) DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.1 %DAT read: 03:28:30.8799 LVL= 32752, 25777, 32754, 32755, AGC= 65, IDX= 512, 0.01,-2.260,-0.567,-2.722,-1.875, PHS=-0.283, 1.353,-0.891, RAW= 345.2, -1.8, CAL= 344.8, -4.8, ROT= 165.2, 4.8 ^A5:_GI9IQO}Y>Ygot valid direction response: 03:28:30.8799 LVL= 32752, 25777, 32754, 32755, AGC= 65, IDX= 512, 0.01,-2.260,-0.567,-2.722,-1.875, PHS=-0.283, 1.353,-0.891, RAW= 345.2, -1.8, CAL= 344.8, -4.8, ROT= 165.2, 4.8 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.963433,0.254550,-0.083678]Fpublishing direction and range infoyb 4p֋J?U]kYfBd )I`吾i/?d@@ )8@I=;9k4ۄt )=I8@i=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E > E E E "E s;*E :VE ZE a @a @a @a @Q a m,3?AB&_>B$B&IB&vBB& =B$B&DB&;B&:EN7U?NaɆ?Nc>ٱN' bAHRS rotation from veh to nav: [[0.490551,-0.870889,0.030211],[0.861202,0.489804,0.135733],[-0.133006,-0.040566,0.990285]]NH0e?Q??X?@_?@X@Ťi?iN7U?IN^;NCi!I%A-2Acoustic response timeoutY]wBy]XI iii-Mb@Mb@Mb@)))) )9-{Gz?jtĿ/$Y-#=y- -,-2A) - A)))Y-.AbDEVDEyMEx=%U6=ٔU 8Q-U>9YYY=]aQ 5mz4e뷤?Q 9uz4eP)ēBY}c+>Q E};y}#Q I}?eoCIe(;ie';egz4yɮ8>Aii|r?AJiBRiBji6|@bNcXA4mZ"@ -ǻRb 4p֋J?U]kZi8@bi=j˟9x:Z>r?Zf_0eL쬣濌S'?2i:i"i[>?*i Bi|Bi>?iHiфBiRBi~@ addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.504306 s, deltaX: -0.100002 m, approachRate: -0.198297 m/s, rangeRepo size: 4  Added new target pos. range: 36.947514 m, bearing: 225.793087 deg, lat: 36.779331 deg, lon: -121.859549 deg, deltaT: 1.008001 s, deltaX: 0.198792 m, approachRate: 0.197214 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.95 m.hh*h"h hgfffBddjďB@Zd]?Z%c+>Z%c+>Z%Ǟ@Z%m@5c>)9 ='i=9)9=9i9iAAEMIAII-!9A9@ @@@i*DAT read: user:346> BDAT read: Tx time:03:28:31.7644 $Ping request sent.ԙ _6m,?A2ikT?2 ?2>ٱ2f' :AHRS rotation from veh to nav: [[0.494954,-0.868360,0.031161],[0.858642,0.494285,0.135708],[-0.133246,-0.040413,0.990259]]2HU??@y?]?^?`13?i2ikT?I2[^;2CY^wBy^hIbDjVDjfyr=%re=ٔr1:Q-r>9tYt=vxQ 5z4z?Q 9z4zTQ)zńBYyΜQ I?zoCIz;iz;zz4yɮ=AEE! EE'EAEA"EEY;*EE";VEAZEABEE׬) %i9)!i!i!)-ќ׼I)IiIu;?)u#?5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109ԡE9) @)  @) @) @1 @= =@= =^A% I1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823 G`m,賷?A29S?2?2n >ٱ2- :AHRS rotation from veh to nav: [[0.498918,-0.866101,0.030810],[0.856257,0.498113,0.136776],[-0.133809,-0.041859,0.990123]]2H E?`? uf?`?? n?i29S?I2ŗ^;2CYbwBybIbDjVDj1y$=%H=ٔy:Q- >9 Y = Q 5%z4?Q 9%z4Q)BY!y%5Q I%?pCIw;i-:#"z4y1ɮ57=A1]DNOT Ignoring new targets: 36.95 m.hYhY*hY"ha hagafafifididijdiZdu@?ZZZZ@n >) #i9)顭̶iiIIEe Ee*Ee/Ea"EeP;*Ee;VEeJ4ZEaa}@a}@a@a@BE`>BABEIBEvBBABABABE;BA]9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755704@ @@0@) ^A5 IA IQ Y Oe > Qm,!ͷ?A2*R?2?2 >ٱ23 :AHRS rotation from veh to nav: [[0.502417,-0.864097,0.030229],[0.854133,0.501447,0.137864],[-0.134286,-0.043445,0.989990]]2H?୦t?U? ?@?L0 z>?i2*R?I2O_;2CYBxByBIIF<)FHHi]Mb@Mb@Mb@YYYY Y9]J +?QQY]H=y]\]uY])A ]!A)]:AYY].AbDuVDuy1=%A=ٔ:Q->9Y=Q 5z4Ǥ?Q 9z43R)BY>Q E;ySQ I? pCI;i);0z4yɮZ>Z@Zys@- >)) -%i-9))-qᶉ1i1i19=I9I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912%w9@ @@1@^AF˼IIOB>IEM EMEM.EI"EMN;*EM:VEMـ4ZEIBEMpٱ26 >AHRS rotation from veh to nav: [[0.506031,-0.861989,0.030131],[0.851997,0.504995,0.138134],[-0.134286,-0.044228,0.989955]]2Hh1? iڞ? C?@(?\?`E0`?i2DQ?I2V`;0YR?xByRIbDZVDZ0yb=%bX=ٔfQ-f>9dYd=flQ 5rz4nˤ?Q 9rz4nR)nBYpyvWQ Iv?n.pCInB:in:n>z4yxɮz ) "i_9)iivII )-bAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513713}9Թ@ @@0@@gA@gA E} $ E} E} ,Ey "E} g\;*E} :VE} g4ZEy a @a @a @a @^A I I O% >B9 A= <BE ]>BA BE IBE wBBA G\n, ?ABiBiBm;Bm:EB-ٱ 0 %AHRS rotation from veh to nav: [[0.509113,-0.860113,0.031767],[0.850190,0.508304,0.137130],[-0.134095,-0.042807,0.990044]] H@J? C?@4?@D? {?*꥿o?i )P?I L&`; CY-|xBy5IiMb@Mb@Mb@ 9(\µ? ףp= Y=yQ1A  A)$:AYp-AbDVD:y]>%]3=ٔ]lݹQ-e>9aYa=eqQ 5}z4uRФ?Q 9}z4u1R)uBY}=Q E;y}]>Q I?u=pCIu;iu;uNz4yɮ';AEDNOT Ignoring new targets: 36.95 m.hh*h"h hgfffRBddjdZdΪ@ZE=ZE=ZE@ZEZ}]>uI >)q u"i}9)y}yiyi-!IIt9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015202 @  @ @ 0@ A Eu , Eu Eu *Eq "Eu c;*Eu :VEu (N4ZEq BEu vFn,@?A2EcO?2眃?2EM >ٱ2) :AHRS rotation from veh to nav: [[0.511705,-0.858507,0.033521],[0.848697,0.511158,0.135756],[-0.133682,-0.041017,0.990175]]2H _?`x)?(?h[?@u`?`@>?i2EcO?I2HS`;2CYBxByBI DDbDN VDN2yVO!>%VM=ٔVQ- >9Y=!Q 5%z4%}Ԥ?Q 9-z4%Q)%BYIyM?Z>Q IM?%JpCI%2;i%;%c\z4yYɮ]':AY DNOT Ignoring new targets: 36.95 m.h h *h "h hgfffdd!jdIZdM@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028ZZZZ?Z>EM >) i9)ii*I!I!99 @9  @9 @E 0@A A U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521294q ^A I I! O- > n,):?A>N?>c?>ؾ>ٱ>k& FAHRS rotation from veh to nav: [[0.513224,-0.857580,0.034028],[0.847864,0.512763,0.134910],[-0.133144,-0.040388,0.990273]]>HUl?Jql?!?h?@D? ĭR?i>N?I> `;>CYNxByNIbDZVDZ:ybI>%b<=ٔbQ-b>9dYd=flQ 5rz4nؤ?Q 9rz4nQ)nBYpyrlX>Q Ir?nWpCInB:in9:n*kz4yxɮz;9Ax-DNOT Ignoring new targets: 36.95 m.h1h1*h1"h9 h9g9fAfIfIdQdQjdQZdU`N @ZqZqZqZulX>ؾ>) ia9)顑iib/IIDzDAAbEeg4jEeg4rEe/E / E E ,E "E af;*E :VE g4ZE a5@a5@a5@a=@qI>?)>BX>B;CBEIBwBBBBB;B:Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871ԑ ^9@ @@I0@@=@= u BDAT read: Rx Time:03:28:34.2185 } TRx dataTimestamp_ set to:1761535713.316860 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024934^A -|,I I O >n,T?AvN?v=?v >ٱvM* ~AHRS rotation from veh to nav: [[0.514257,-0.856999,0.033052],[0.847343,0.513660,0.134769],[-0.132474,-0.041299,0.990326]]vH t? l2?@o? o?@@?2%`?ivN?IvO`;vCY EyBy LIiMb@Mb@Mb@ 9l?QY>yu+1A !A):AY-AbDVD02y/>%6=ٔźQ->9Y=Q 5z47ܤ?Q 9z45P)BY%T>Q E%;y%nl?Q I%?hpCI*:i.;{z4yIɮM8AQiDNOT Ignoring new targets: 36.95 m.hh*h"h hgfffBddjdZdl @Z T>Z T>Z i@Z nl?E >)A E#iE߷9)AAIiIiIQUߒ3IQIQ9E, E+E-E"Ec;*E=;VEt4ZEBEa2EaJE^ n,ٖn?AmӀN?m+?mV >ٱm,5 AHRS rotation from veh to nav: [[0.514785,-0.856779,0.030435],[0.847173,0.513818,0.135235],[-0.131505,-0.043834,0.990346]]mHy?`j@Q*?@ ? 2q?dO?@& [q ?imӀN?Imb`;mCYryBygII{>)= <bDVDy`=%I=ٔwQ->9Y=Q 5z45ߤ?Q 9z4N)BYyLl?Q I?wpCI:i_: z4yBɮ 6A EDNOT Ignoring new targets: 36.95 m.hh*h"h hgfffddjdZd @DAT read: 03:28:34.2185 LVL= 32752, 24705, 32754, 32755, AGC= 69, IDX= 92, 0.40,-1.455, 0.021,-1.767,-0.969, PHS=-0.384, 1.035,-0.842, RAW= 343.5, 2.3, CAL= 343.1, -0.6, ROT= 166.9, 0.6  Ygot valid direction response: 03:28:34.2185 LVL= 32752, 24705, 32754, 32755, AGC= 69, IDX= 92, 0.40,-1.455, 0.021,-1.767,-0.969, PHS=-0.384, 1.035,-0.842, RAW= 343.5, 2.3, CAL= 343.1, -0.6, ROT= 166.9, 0.6 PDAT read: Bearing 31.2, 20.2 (Local) ~Local bearing/azimuth received: Bearing 31.2, 20.2 (Local) DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.0 ms) speed 0.2 m/s %*DAT read: user:347> -BDAT read: Tx time:03:28:35.3128 -$Ping request sent.5) !i9)ii 5I I u9@q @y@}4@yԙDD<E E#E+E"EV;*E;VE [4ZEa@a@a@a@A1 A5 @AB= ^>B= "n,wg?A2N?2.?2>ٱ2= :AHRS rotation from veh to nav: [[0.514788,-0.856861,0.027971],[0.847361,0.513497,0.135281],[-0.130280,-0.045940,0.990412]]2H%y?`gkz??n?P?d@u?i2N?I2`;2CLYRyByRIiMb@Mb@Mb@ 9A`"?A`"?{GzYY>yY=ף1A)A z"A);AY.AbDVDky>%K=ٔFQ->9Y= Q 55z4 _ᤊ?Q 95z4 L) BY=`>Q E=q;y=?Q I=? pCI ;i u; Cz4yAɮE 6AAiirt?AJibBRibBji#{@bFWd/B6 @kٿRs_*￴H?/;rZim:@bi+<jd19!߆:@V@ZiqDdGԥʺ濼( ])?2i6:i"i;yS?*i%BiBii[CiBi Bi7W~@ addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 4.030648 s, deltaX: 0.400002 m, approachRate: 0.099240 m/s, rangeRepo size: 4  Added new target pos. range: 37.345879 m, bearing: 225.588628 deg, lat: 36.779331 deg, lon: -121.859548 deg, deltaT: 4.030648 s, deltaX: 0.398365 m, approachRate: 0.098834 m/s, posRepo size: 4  DNOT Ignoring new targets: 37.35 m.h h *h)"h) h)g1f1f1f5 Bd9d9jd=B@Zd=8?Z`>Z`>Zz>Z֧?>)  'i9)顙ii^4II  hA9 @  @ @ 5@ @ @ hA! E & E !E )E "E 8^;*E :VE FA4ZE BE °"(n, }?A>N?>V?>1B>ٱ>B< FAHRS rotation from veh to nav: [[0.513859,-0.857440,0.027315],[0.848151,0.512557,0.133886],[-0.128800,-0.045632,0.990620]]>Hq?%p@c?@ $?f?1#?@|@ ] )?i>N?I>]_`;>CYNyByNIbDZVDZy^';%^C=ٔb lQ-b>9dYd=fhQ 5nz4j㤊?Q 9nz4jJ)jBYpyr͢?Q Ir?jpCIj:ij;jz4ytɮv6AxDNOT Ignoring new targets: 37.35 m.hh*h"h hg!f!f!f!d)d)jd)Zd-`-?ZIZIZIZM͢?e1B>)a e&ie9)im@$iiiiqqu/IqIyԙPExceeded connect timeout, disconnecting.y@ @@f4@^A [1I I O >! Y/n,*?AE EqE,E"EW;*E*;VEg4ZEa.@a.@a.@a.@B}]>ByB}IB}xBB} =ByByB};B}:EmLO?m?m>ٱm8 AHRS rotation from veh to nav: [[0.512430,-0.858300,0.027125],[0.849246,0.511200,0.132122],[-0.127267,-0.044668,0.990862]]mH`e? 2wƛ?-?[?`?EJ`ަ$?imLO?Im `;iYyByI ==i-Mb@Mb@Mb@)))) )9-RQ?Cl?MbY->y-;=-@-2A-)A ))-$:A)Y-.A99bDEVDEk1yU>%U(=ٔUPQ-]>9YYY=]iQ 5uz4m 夊?Q 9uz4m)G)mBY}>Q E}<;y}?Q I}?mpCIm;im;mz4yɮ4ADNOT Ignoring new targets: 37.35 m.hh*h"h hgfff BddjdZd?Z>Z>Z>ZT?>) %i39)顝ii)IIը999@ @@/@i ^A9 II IY Om >5n,ٸ?A 6[O?6q?6>ٱ6$E3 >AHRS rotation from veh to nav: [[0.510395,-0.859515,0.027033],[0.850720,0.509263,0.130104],[-0.125593,-0.043407,0.991132]]6H&U?`&?@9?K??? rf9Z?i6[O?I6_;6CYFzByFIbDRVDRyVt=%Z=ٔZȭQ-Z ?9XY\=^?Q Ij?bpCIb:ibt:bz4ylɮr4ApDNOT Ignoring new targets: 37.35 m.hh*h"h hgfffddjdZd -? ېCecG}hAZZZӿ9hAY|AZ>?>) #i9)ii E5 E5#E1E1"E5mR;*E5;VE1ZE1BE5i=%>9@ @@@@=@= nManaging dock network, ignoring radio surface power off ^A K'I I O >gAHRS rotation from veh to nav: [[0.507811,-0.861121,0.024448],[0.852569,0.506432,0.129046],[-0.123506,-0.044687,0.991337]]2H??N?>H?4??`:ᦿ?i2xP?I2o_;2CYFzByFIbDNVDNyV{|=%VB=ٔZꣻQ-Z>9XYX=Z`Q 5fz4b4礊?Q 9fz4bA)b_BYdyj?Q Ij?bpCIb;ib;bz4ylɮn64AlDNOT Ignoring new targets: 37.35 m.hh*h"h hgfffddjdZdc@ZZZZI?J=) >"iU9)ii\-IIAE' EE.E"E _;*E:VEـ4ZEa@a@a@a@qyBZ>B;CB2IByBB =BBB~;B:E!@! @!@!@!iߡIߡԙ ^A- ȿI1 IQ Oe >TCn,f ?A02Q?2@?2;=ٱ2yC >AHRS rotation from veh to nav: [[0.505151,-0.862784,0.020644],[0.854451,0.503350,0.128658],[-0.121395,-0.047353,0.991474]]2H 2*?#?W?q?w?>'?i2Q?I29_;0YF!zByFIIJG>)J;HHiMb@Mb@Mb@ 9p= ף? rh?yC >t+1A )Y-AbD-VD-fy=3H<%=A=ٔ=YQ-E>9AYA=EQQ 5]z4U礊?Q 9]z4U>)UHBYe>Q Ee/;ye_?Q Ie?UqCIU[0;iU>/;U^z4yqɮu!4AqDNOT Ignoring new targets: 37.35 m.hh9*h9"h9 h9g9fAfAfE/BdAdIjdIZdM@ @Z>Z>Z>ZQ_?;=) #i9) 󵉢ii9w IIԑ9@ @@@E EE*E"E[I;*E:VE(N4ZEBEMrIn,'?AlYrzByrIbDzVDzy%%-M=ٔ-Q-->91Y1=59Q 5Ez4=褊?Q 9Mz4=;)=1BYIyIQ IM?=4qCI=y:i=p:=Iz4yQɮU[4AYDNOT Ignoring new targets: 37.35 m.hh*h"h hgfffddjdZda@ZZZZ) $i*9)!ii IIi@q @q@u_0@q@y@y=>9EBDAT read: Rx Time:03:28:37.7676 ETRx dataTimestamp_ set to:1761535716.856341I^A IIO>a E  E E /E "E mR;*E :VE J4ZE a @a @a @a @~^Pn,TA?ABNY>BLBNXIBNYyBBLBLBLBNq;BN:EB];CB];CBYB] =9B] =C]5-)S?-?-=ٱ-)FH ]AHRS rotation from veh to nav: [[0.500181,-0.865759,0.016758],[0.857946,0.498103,0.125787],[-0.117248,-0.048538,0.991916]]-H@|?@K)?`Kt???`ڨƽ?i-)S?I- `;)YzByIi5Mb@Mb@Mb@1111 195p= ף?i|?5?Y1y5=5̽52A51(A 1)58A1Y5p-AbDMVDMNy]<%]+=ٔ]Q-]>9aYa=eqQ 5uz4u 養?Q 9}z4u8)uBY}>Q E}/;y}?Q I}?uUqCIu:iu7:uz4yɮ:4Aa}DNOT Ignoring new targets: 37.35 m.hyhy*h"h hgfff"BddjdZd @Z >Z >Z ">Z ?E=)I M"iM9)IMOIiIiQY]JIYIa59ԑ9@ @@0@m DAT read: 03:28:37.7676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 451,-0.02, 1.189, 2.707, 0.862, 1.666, PHS=-0.375, 1.085,-0.848, RAW= 343.6, 1.6, CAL= 343.1, -1.3, ROT= 166.9, 1.3 u Ygot valid direction response: 03:28:37.7676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 451,-0.02, 1.189, 2.707, 0.862, 1.666, PHS=-0.375, 1.085,-0.848, RAW= 343.6, 1.6, CAL= 343.1, -1.3, ROT= 166.9, 1.3  PDAT read: Bearing 30.0, 19.9 (Local)  ~Local bearing/azimuth received: Bearing 30.0, 19.9 (Local)  DAT read: Range 11 to 50 : 37.9 m (Round-trip 50.6 ms) speed -0.3 m/s  R#Rx 2: Read range and direction messages. `direction in FSK: [-0.973725,0.226593,-0.022687] Fpublishing direction and range infoy9 = _((tq(?NGY;Y= B9 9 Թ = 9 9 )9 I= i= H?= Y= @= <9 = ޹)9 I= ޹<9 9 = D[ ,翤ĝ AK? = c)= I9 i= ޹<9 9 ^A5 #I9 II O] >OVn,r[?ART?R?R =ٱR> jAHRS rotation from veh to nav: [[0.497438,-0.867329,0.017209],[0.859843,0.495580,0.122757],[-0.114999,-0.046267,0.992287]]RH ?`(@0? փ?@?m?pZ?iRT?IRd_;PYrzByrI==bD5VD5ԉye%l=ٔ"ֻQ-?9Y=\n,uuv?A6LT?6P?6=ٱ6l6 >AHRS rotation from veh to nav: [[0.494959,-0.868739,0.017544],[0.861560,0.493290,0.119916],[-0.112830,-0.044238,0.992629]]6Hg?`??? в?j⼿m?i6LT?I6_;6CYFyByFIbDRVDR:2yVƼ%ZP=ٔZQ-Z>9\Y\=^`Q 5f{4bꤊ?Q 9j{4bD3)b݃BYhyj?Q Ij?bqCIb:ib:b{4ypɮr4Ap DNOT Ignoring new targets: 37.74 m.hh*h"h hgfffdd!jd!Zd%@?ZAZAZAZE0?U=Y)a ei$ie9)aeaiaiiimXļIqIqIfA)gA9@ @@4@@=@=ԉ^A޼IIbEjEāj4rE 0E  E $E .E "E *E ;VE ـ4ZE a-@a-@a-@a-@O=>A@AAB [>B B ^IB cyBB B B B ];B :EԱ ?cn,Z?A2FU?2?2r=ٱ2,3 :AHRS rotation from veh to nav: [[0.493433,-0.869617,0.017013],[0.862667,0.491800,0.118063],[-0.111037,-0.043579,0.992860]]2H`i?`k??y?@\9?lP ?i2FU?I2`;2CY^yBy^Ii]Mb@Mb@Mb@YYYY Y9]Q?{Gz?:vY](\>y]ף=]Խ]+1A]&A ]!A)]6AYY],AbDuVDuye%==ٔQ->9Y=Q 5{4뤊?Q 9{40)BY>Q ER;yQ?Q I?qCI:iv:&{4Աyɮ5ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff؁BddjdZd@I?Z>Z>Zmb>ZaQ?-r=)) -ix9)%ii2IIm4=ma=@ @@^4@E' E,E-E"E _;*E;VEt4ZEBEY jn,8.?A2U?2†?2ŗ=ٱ23 :AHRS rotation from veh to nav: [[0.492151,-0.870362,0.016061],[0.863602,0.490483,0.116696],[-0.109445,-0.043562,0.993038]]2Hg?@4r??d?߽?M`?i2U?I2`;2CYByByFIIJ%=)J=HHbDNVDNfyV%VY=ٔZtQ-Z>9XYX=^`Q 5f{4b?Q 9f{4b.)bBYhyjz?Q Ij?bqCIb:ib :b 4{4yrBɮr4AvEDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdV?1ZIZIZIZMz?eŗ=)a eieӳ9)ae8aiiiiiu1IyI-9@) @)@-/@)a^A II1O=>ԉD! zD% @A B Y>B B KIB EyBB B B B ^;B mpn,]Ĺ?AE EEE"E*E:VEZEBE2EJE)P<:E)P<U?Rdž?=ٱ4 AHRS rotation from veh to nav: [[0.492103,-0.870406,0.015076],[0.863800,0.490372,0.115689],[-0.108089,-0.043908,0.993171]]H~?^?@?Ab?@ɝ?@({?iU?I1`;CYyByIԉiMb@Mb@Mb@ 9sh|??Q?~jtY)>y<Ľ.A%A  A)?5AYf*AbDVDyuk%,=ٔ9Y=Q 5{41金?Q 9{4,)BYF>Q E;y?Q I?qCIZF>Z7>ZP?=) fiɸ9)顽˶ii mII Թ@ @@A0@@hA@gA^A} bިI I O > wn,ݹ?A69U?6ෆ?6h=ٱ66 BAHRS rotation from veh to nav: [[0.492569,-0.870157,0.014245],[0.863672,0.490780,0.114915],[-0.106985,-0.044301,0.993273]]6HA?Rl,?3?`h? k?@[c?i69U?I6`;6CYJyByJIbDRVDR1yZ%Zt=ٔ^YQ-^?9`Y`=b J}n,?A"="<6U?6P?61^=ٱ61i6 BAHRS rotation from veh to nav: [[0.492877,-0.869990,0.013792],[0.863626,0.491079,0.113984],[-0.105938,-0.044269,0.993387]]6HK???Ң? m?.?@b`?i6U?I6y`;6CYFyByJI LLPbDVVDVy^ᮼ%^J=ٔbi*Q-b>9`Yd=fhQ 5n{4j?Q 9r{4j*)j`BYpyr?Q Ir?jqCIj&;ij';jt^{4yxɮz5AxDNOT Ignoring new targets: 37.74 m.hh!*h!"h! h!g!f!f)f)d)d)jd)Zd5f@ZZZZȽ?%1^=)! %i%9)!-𶉢)i)i)15IQIY @  @ @ 0@ BX>Eq EE-E"E;*E:VEt4BB2IByBBBBBW;B:EZEBE<2E<JEQ<:EQ<^AIIYIiO}>! 3n,?A2XQU?2?2W=ٱ2=5 :AHRS rotation from veh to nav: [[0.493617,-0.869573,0.013623],[0.863308,0.491834,0.113130],[-0.105075,-0.044082,0.993487]]2H`m?4?8?`4z? ?.溿`?i2XQU?I25Ja;2CYByByBI|iMb@Mb@Mb@ 9?Zd;OMbX9Y>yjʡE,A$A 3A)1AYQ(AbD5VD5yEk%EB=ٔEQ-M>9IYI=MYQ 5e{4]r?Q 9e{4]))]MBYe=>Q Ee;ymS?Q Im?]qCI]E:i]o:]1m{4yqɮu5Aq-DNOT Ignoring new targets: 37.74 m.h)h)*h)"h) hQgQfQfYf]=BdYdYjdYZde@Z=>Z=>Z3=@ZS?W=) i9)HiiQQUdIQIYa)@ @@/@@ @ rG-jAAm9mjAYmAYE& E-E,E"E8^;*EK;VEg4ZEBE°<2E°<JE`<:E`<^A% I1 IA OU >ԁ i I \n,v+?A:T?:Y?:L=ٱ: 7 VAHRS rotation from veh to nav: [[0.495200,-0.868679,0.013195],[0.862478,0.493377,0.112742],[-0.104446,-0.044449,0.993537]]:H`Y?8?k?}?ܼ? ¦ ?i:T?I:Wa;8YbyByb|IbDvVDvNyh%O=ٔyѺQ- >9 Y =!Q 5-{4%&?Q 95{4%+()%:BY1y5ES?Q I5?%qCI%@;i% B;%{{4yAɮM5AIYDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdC @ZZZZ'ES?L=) pix9) iiBȼII9@ @@@0@ԉ^AԹIIO> Ee " Ee Ee 0Ea "Ee Z;*Ee :VEe 4ZEa am @am @am @am @B W>B B IB xBB =B B B S;B :EoHn,aE?AegT?e?e*=ٱe8 AHRS rotation from veh to nav: [[0.496754,-0.867797,0.012815],[0.861650,0.494895,0.112418],[-0.103898,-0.044802,0.993578]]eH`? >?@? ]?jǼ? Pd?iegT?IeF%a;eCYyByIiMb@Mb@Mb@ 9B`"۹?X9v)\(Y=y}GaA,Av"A ^A)&1AY'A ;bDVDky%<%%,=ٔ-0Q-->9)Y1=59Q 5E{4=E?Q 9E{4=')=+BYM>Q EM;yM>Q IM?= rCI=z ;i= ;={4yQɮU5AYDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff#BddjdZd`@Z>Z>Zq@Z̀>*=)  i9)\iiӼII@ @@0@ ^A F˼I I O% >1 nn,E,_?A2"S?2ۅ?2|=ٱ2(9 :AHRS rotation from veh to nav: [[0.498539,-0.866775,0.012640],[0.860658,0.496658,0.112244],[-0.103568,-0.045080,0.993600]]2H@???=? ?@i?i2"S?I2`;0YByByBIbDNVDN:yV|5=%V~=ٔVIQ-V ?9XYX=ZQ Ij?brCIb!;ib:,;bٖ{4yxɮz5AxMDNOT Ignoring new targets: 37.74 m.hIhQ*hQ"hQ hQgQfQffddjdZdS@ZZZZut>E E)E-E"EM;*E0;VEt4ZEBEԝn,z?AYyByIbDVDy%=%%<=ٔ-Q-->9)Y)=-9Q 5E{4=?Q 9E{4=&)=BYAyIQ IM?=#rCI=;i=;= {4yQɮUM5AQDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff!d!d!jd!Zd%w@ZIZIZIZIY)Y ]ie;9)ae[$aiaiiim;߼IiIqE EE,E"EV;*E:VEg4ZEa@a@a@a@BBBIBxBBBBBT;BBBBBBĤ =CĿ4)m9@i @q@u2@yiyIyQ^A 7I I O >ԁ n,L?A6"R?6UJ?6=ٱ60 BAHRS rotation from veh to nav: [[0.502369,-0.864522,0.015054],[0.858459,0.500775,0.110783],[-0.103313,-0.042731,0.993731]]6Hh?@*nԎ?~x? Y?M\?rॿ?i6"R?I6s`;6CYJyByJI PPR=R=i%Mb@Mb@Mb@!!!! !9%J +?333333 rhY%=y%%C !! %A)%1A!Y%\'AbD= VD=:2yM=%MI=ٔUM%Q-U>9QYQ=UaQ 5m{4e?Q 9m{4e&)e BYu>Q Eu;yu>Q Iu?e/rCIe ;ie;e;{4yyɮ}5ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff6BddjdZdj@Zm>Zm>Zm(@qZm>=) = i9)3-iiII9@ @@5@ԩE EE0E"EW;*EA:VE4ZEBEF ۪n,L?ABmER?B ?B=ٱB 0 JAHRS rotation from veh to nav: [[0.503960,-0.863594,0.015135],[0.857550,0.502371,0.110596],[-0.103114,-0.042757,0.993750]]BHq ?8?@ q?l? P?e=䥿 ?iBmER?IB5W`;@YjyBynIbDvVDv02y~&&=%~O=ٔ>Q->9Y=Q 5{4 ?Q 9%{4%)BY!y%>Q I%?;rCI;i;{4y)ɮ-4A1]DNOT Ignoring new targets: 37.74 m.hYhY*hY"hY hYgafafafadadijdiZdm͗@ZZZZ=>=) 7 i9)z5iiVVIII=)0> Z99@ @@t3@@=@^ArIIO>) B V>B B IB xBB =B B B P;B :EbEmt4jEm9Y= Q 5{4 ?Q 9{4 $) BY>Q E;y>Q I? KrCI ;i : g{4y!ɮ-04A)UDNOT Ignoring new targets: 37.74 m.hQhQ*hQ"hY hYgYfYfYfe=BdadajdaiZdm(y@Z>Z>Zd@Z]>ۂ=) iq9)顭>iiII~9@ @@#4@ԙ ^A= II IY Om >n,>Bẹ?ALY5%zBy=IIE=)E=AAbDMVDMkE= E EE"Es;*E:VEZEa@a@a@a@y=%\=ٔQ->9 Y = Q 5{4?Q 9%{4[$)BY!y!Q I%?WrCI:i:j{4y-Bɮ53A5E]DNOT Ignoring new targets: 37.74 m.hYhY*hY"hY hYgafafafadidijdiZdmI@ZZZZ) Ti}9)顽Fii*IIV9i@i @i@m4@i! ^A +I I O >oKn,?A2P?2)O?2=ٱ2m7 >AHRS rotation from veh to nav: [[0.508983,-0.860666,0.013811],[0.854664,0.507212,0.110844],[-0.102405,-0.044614,0.993742]]2H@I?@H?`gY?@;?E`?/7צ?i2P?I2F^;2CYFDzByFIHbDRVDRN2yZ=%ZZ=ٔ^Q-^>9\Y\=^dQ 5j{4fg?Q 9j{4f#)fBYhyn>Q In?fdrCIf;if;f{4ypɮr3Ap5DNOT Ignoring new targets: 37.74 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdIZd"z@Z1Z1Z1Z5>u=)y }ki}S9)顅#OiiII hAgAԹBA<BT>B:CBEIB;yBBBBDBH;B:EEE5 EEEE.EA"EEk;*EEA:VEEـ4ZEABEEאn,6X?AN)P?N0?N=ٱNȡ1 VAHRS rotation from veh to nav: [[0.511069,-0.859407,0.015089],[0.853482,0.509470,0.109586],[-0.101866,-0.043128,0.993863]]NH`Z?C?@O?M? ?`?iN)P?IN^;NCY^bzBy^IiMb@Mb@Mb@ 9V-?+~jtYh>yļ*A!A A)Yf&AbDVDβy=%1=ٔhQ->9Y=Q 5{4?Q 9{4")BY>Q E;yB@?Q I?urCI. ;iu ;{4yɮ2ADNOT Ignoring new targets: 37.74 m.h!h!*h!"h! h!g!f)f)f-dBd1d1jd1Zd5 O@ZU>ZU>ZU|@ZU{B@?m=)i mfimv9)iuWqiqiqy} IyIya9Q@Y @Y@]/@YԉE) E)E/E"E`;*E0;VEJ4ZEa@a@a@a@^A= II Ia Om >Թ Yn,,1?A>P?>?>ſ=ٱ>- FAHRS rotation from veh to nav: [[0.511259,-0.859282,0.015767],[0.853440,0.509774,0.108496],[-0.101266,-0.042013,0.993972]]>H<\?<8%?`O?P?@bƻ?`칿@Ƃ ?i>P?I>h1_;H>CYR|zByR I TTV=V=bD^VD^yf[=%f\=ٔjlԺQ-j>9hYl=npQ 5v|4r?Q 9v|4r!)r߂BYxyzC@?Q Iz?rrCIr3;ira;r |4y|ɮ~52A-DNOT Ignoring new targets: 37.74 m.h)h)*h)"h) h)g1f1f1f1d9d9jd9Zd= @ZZZZoC@?-ſ=)1 5i5ֵ9)151`1i9i99E& IAIA9@ @@@^AE ȿBQ BQ BU wIBU yBBU =BQ BQ BU L;BU :EIq I O >D zD E $ E (E E "E g\;*E ;VE ZE BE 1y%t%%)A%v"A %A)%/A!Y!bD=VD=yMV=%M4=ٔUQ-U>9QYQ=UaQ 5m|4eG!?Q 9m|4e )eՂBYm(>Q Eu;yuw?Q Iu?erCIe ;ieL ;e|4yyɮ}1AyDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff}BddjdZdk@Z(>Z(>Z6I@Zw?r=) fi9)hiiIII ?) 2?!]9@Y @Y@]0@YI  i> Cm ؀G liA^A l" I I O > 9 liAY zAy n,d?AE62 E6*E6-E4"E6i;*E6;VE6t4ZE4a:@a:@a:@a:@:&P?:?:y=ٱ:, FAHRS rotation from veh to nav: [[0.511219,-0.859320,0.014966],[0.853645,0.509710,0.107173],[-0.099725,-0.042013,0.994128]]:H[? ?Q?`O?o?`?i:&P?I:P_;:CY zBy <IbD%VD%ܲy->%5_=ٔ5Q-5>91Y9==AQ 5M|4E$?Q 9U|4E)E͂BYQyU~w?Q IU?ErCIEd:YiE[:EP&|4yaɮe0AaDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd @ZZZZ~w?y=) i59)iiB~II9I@I @I@M/0@IԉԹ^Am IyIO> n,X~?A28P?2K?2a=ٱ2G5 :AHRS rotation from veh to nav: [[0.511045,-0.859460,0.012710],[0.853861,0.509304,0.107387],[-0.098768,-0.044026,0.994136]]2HzZ??R?6L?}? H`?i28P?I2Q_;2CYBzByBBIIF<)F=HHbDNVDN1yV<%VS=ٔZ"Q-Z>9XYX=Z`Q 5f|4b'?Q 9f|4by)bĂBYdyfyw?Q Ij?brCIb:ib:b3|4ylɮn0AlԹDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd`!@ZQZQZQZUSyw?ma=)i mcim9)imqiqiIIBBBIByBBBBBD;B:EE}$ E}E}.Ey"E}g\;*E}:VE}ـ4ZEyBEya2EyaJE}Q9 n,ӄ?A2^P?2?22r=ٱ2X< >AHRS rotation from veh to nav: [[0.510592,-0.859757,0.010625],[0.854252,0.508650,0.107372],[-0.097718,-0.045747,0.994162]]2H V? "p…? V?`F?|? "l@-?i2^P?I2_;2CYFzByFXIiMb@Mb@Mb@ 9bX9?? ףp= YE6>y<Q8!A A)Y%AbD-VD-fy=ϩ=%=B=ٔ=#Q-E>9AYA=EQQ 5U|4Uu)?Q 9]|4U)UBY]=>Q E];y]?Q Ie?UrCIU ;iUL ;UB|4yiɮmC0AiDNOT Ignoring new targets: 37.74 m.hh1*h1"h1 h1g9f9f9f=BdAdAjdAZdE 2"@Z=>Z=>Z>Z?2r=) ziB9)цiimII  gAhAAE( EE-E"E`;*E:VEt4ZEa@a@a@a@9qI @I  @I @M /@I ԙ ^Ai Iy I O >]n,| ?A6BP?6*?6/=ٱ6"< BAHRS rotation from veh to nav: [[0.510229,-0.859981,0.009901],[0.854604,0.508264,0.106399],[-0.096533,-0.045827,0.994274]]6H@S?F?X?C?9Y=Q 5|4+?Q 9|4)BYy ?Q I?rCII:iA:Q|4y)ɮ-70A))]DNOT Ignoring new targets: 37.74 m.hYhY*hY"hY hYgafafafadidijdiZdm,#@ZZZZ ?/=) Ii:9)顭ʵiiIIY9I@I @I@M/0@IԉBBBIB9zBBBBBJ;B:EB}:CB}:CByB}Ǧ =B}ǥ =C}A5EI EMhEIEI"EI*EM^%;VEIZEIBEMS}n,λ?AFcP?FuE?FX=ٱFbt: NAHRS rotation from veh to nav: [[0.509600,-0.860358,0.009615],[0.855124,0.507674,0.105024],[-0.095239,-0.045299,0.994423]]FHN? Ӱ?@-]?@>??a `1P?iFcP?IF_;DYV"{ByVqI \\\^>ronly read 0 of 1 data item for BIT error. Device response is::TS,00050307170575,35.0, +11.6,495.5, 0 ar@ar ar@ar ar@ar ar@ar bDvVDvFy~h=%~J=ٔRQ->9Y = ԑQ 5|4t.?Q 9|4)BQ A+:YQ Eh;y'?Q I?rCIU:i>]|4yɮ/A5DNOT Ignoring new targets: 37.74 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdAZdM#@X=) i9)顽ii"$II9ԹY@Y @Y@]5@Y^A I I O > E]  E] #E] *EY "E] M;*E] ;VE] (N4ZEY ae @ae @ae @ae @Jn,2軹?A>P?>a?>=ٱ>Y7 JAHRS rotation from veh to nav: [[0.508920,-0.860760,0.009592],[0.855656,0.507057,0.103665],[-0.094095,-0.044550,0.994566]]>HI? Y'?a?@9?ω?5Ϧ|?i>P?I>>_;>CYR-{ByRwIbDZVDZk1yfU<%fL=ٔfD9hYh=jpQ 5r|4r0?Q 9v|4rw)rBQ Av :YtQ Ev;;yvH?Q Iv?rrCIr<:irRN?rf|4y~Bɮ~k/A~E%DNOT Ignoring new targets: 37.74 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=`$@e=)a e>im&9)im&iiiiqqu1III-L?)-e?]99@ @@2@@=@=1i ^A [I) IA OU >o,r?AR2Q?R?RT=ٱR33 ^AHRS rotation from veh to nav: [[0.508068,-0.861262,0.009694],[0.856303,0.506292,0.102051],[-0.092800,-0.043548,0.994732]]RHB?uTڃ?@f?`3?? K ?iR2Q?IRͳ_;RCYf0{ByfyIbDn VDn:2yv;%zH=ٔzPQ-z>9xY|=~Q 5 |43?Q 9 |4)BQ A9YQ E;yr?Q I?sCI':i{?2n|4yɮ%_/A!B=<A=<BES>BABEIBEkzBBABABABEQ;BE:EmDNOT Ignoring new targets: 37.74 m.hihi*hi"hi higqfqfqfqdydyjdyZdv%@T=)  iQ9)页Gii&II1bEjEs4rE/Ee! EeEe+Ea"EeY;*Ee:VEe [4ZEaBEe׬o,[?A]ZxQ?]q?]驻=ٱ]/ uAHRS rotation from veh to nav: [[0.507219,-0.861762,0.009787],[0.856946,0.505525,0.100442],[-0.091504,-0.042560,0.994895]]]H#;? ?l?`C-??l^ʥ-?i]ZxQ?I]_;]CY9{ByII=)p<Aԑaa aa aa aa iMb@Mb@Mb@ 9 r?y&1?x&YC>y`e=7)A3A A)-AYz$AbDVD:y-<%-+=ٔ-2Q-5>91Y1=5AQ 5M|4E4?Q 9M|4Ej)ElBQ AMT:YU W>Q EU|;yU?Q IU?E(sCIE;iEK;E~|4yYɮ]:/AYDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd$i&@Z W>Z W>Z>Z8?驻=) pi9)@jiiQII% 9Em6 Em)Em0Ei"Eml;*Em0;VEm4ZEiau@au@au@au@9@ @@/@^A I I O > o,Ox6?AQ??=ٱ1 AHRS rotation from veh to nav: [[0.506680,-0.862093,0.008410],[0.857416,0.504902,0.099557],[-0.090074,-0.043233,0.994996]]H@6?@D9?@o?)(?|? "`?iQ?I_;CYUL{ByUIbDeVDeyu_U=%uk=ٔ} Q-}?9yY=S4o,nQ?AYbP{BybIieMb@Mb@Mb@aaaa a9eI +?y&1? rhYe94>yaeCe-(Ae A eA)eA,AaYabD}VD}y%<%?=ٔQ->9Y=Q 5|47?Q 9|4)JBYI>Q E;y?Q I?LsCI ;iC ;|4yvBɮn.AEDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd L'@ZI>ZI>Z>ZǦ?1)1 5pi5Խ9)9=Y9i9iAAE_f IAIIԩM9@I @I@M/@Q E  E E *E "E M;*E :VE (N4ZE a @a @a @a @1 ^A I I O >o,}l?AFQ?FՄ?F=ٱF8 VAHRS rotation from veh to nav: [[0.506189,-0.862404,0.005654],[0.857958,0.504224,0.098322],[-0.087644,-0.044918,0.995139]]FH2?@И)w?`ct?@"? +?o`-?iFQ?IFp_;FCYb9{BybI ddj=j=iIbD=VD=fyMd%MG=ٔUK»Q-U>9QYQ=]iQ 5m|4m39?Q 9u|4m )m8BYqyu?Q Iu?m_sCIm;imr;m_|4yɮ.ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd(@ZZZZ?=) /i~9)ii II ԑ]999@ @@@^A I B% T>B! B% &IB% zBB% =B! B! B% B;B% :E1 IA OM >~!o,E?A2VQ?2nۄ?2x=ٱ2 >8 >AHRS rotation from veh to nav: [[0.506082,-0.862470,0.005215],[0.858127,0.504122,0.097359],[-0.086598,-0.044797,0.995236]]2H1? Z \u?u?!??P+樂`?i2VQ?I2_;2CYV5{ByV}IbD^VD^1yfL%fT=ٔj 2Q-j>9hYh=jpQ 5v|4r:?Q 9v|4r) )r'BYtyz?Q Iz?rpsCIr;ir:rٵ|4y|ɮ~.A|D%=D%=E-/ E-E-+E)"E-af;*E-x:VE- [4ZE)BE-Ϸ(o, ?A:Q?:?:=ٱ:6 FAHRS rotation from veh to nav: [[0.505792,-0.862641,0.005058],[0.858392,0.503866,0.096343],[-0.085658,-0.044388,0.995335]]:H s/?@ŷt?w??喝??i:Q?I:I_;:CYJ?{ByNIi]Mb@Mb@Mb@YYYY Y9]oʡ?J +? rhY]->y]H=Y]\'A]^A ]A)]*AYY]"AbDuVDuNy_<%3=ٔWQ->9Y=Q 5|4*Q E;y/?Q I?sCI:i:|4yɮ.ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffbBddjdZd x*@Z+A>Z+A>Z|>Z/?%=)) -i-ž9))-Ķ1i1i19=I9I9iEU! EUEU-EQ"EUY;*EU:VEUt4ZEQa]@a]@a]@a]@Y@ @@0@ԙ^A  I I! O- > D.o,8ػ?A2:1R?2?2{=ٱ2sS3 :AHRS rotation from veh to nav: [[0.505109,-0.863040,0.005122],[0.858898,0.503249,0.095047],[-0.084608,-0.043610,0.995460]]2H@)? t?|??`U?֨`T ?i2:1R?I2 _;0YBH{ByBIIF<)Fp;HJAbDNVDNJyV<%VZ=ٔV7Q-Z>9XYX=Z`Q 5f|4b=?Q 9f|4b)bBYdyfP?Q If?bsCIb:ibt:b|4ylɮn.AlDNOT Ignoring new targets: 37.74 m.hh*h "h  h g f ffddjdZd8+@ZZZZP?{=) ip9)ӶiiIIBU>BB,IBzBB =BBDB0;Bm:El9DYzDYEe+ Ee0Ee+Ea"Eeb;*Ee;VEe [4ZEaBEea g65o,ռ?A2IR?28?2=ٱ25 1 :AHRS rotation from veh to nav: [[0.504826,-0.863206,0.005092],[0.859157,0.503012,0.093958],[-0.083667,-0.043058,0.995563]]2H '?bRt? 7~?@? ?@,k @?i2IR?I2_;2CYB;{ByBIi Mb@Mb@Mb@     9 S?l?V-Y >y = m &A  IA)  Y f"AbD%VD%fy5%5A=ٔ5Q-=>99Y9==IQ 5U|4M??Q 9U|4M)MBYU)>Q E];y]Ԣ?Q I]?MsCIMv:iM:M|4yaɮe.Aa DNOT Ignoring new targets: 37.74 m.h h *h"h hgfffQBddjdAZdE,@Z)>Z)>Zv>ZԢ?=) i9)顝>㶉ii IIQ!9@ @@@@@fAEe 2 Ee Ee .Ea "Ee i;*Ee :VEe ـ4ZEa au @au @au @au @Ա ԡ ^A yI1 IA OM >;o, ?AYP{ByIbDVD0yU9=%U:=ٔ]Q-]>9YYY=]iQ 5u|4m@?Q 9u|4mU)mBYqyqQ I}?msCIm:im:m(|4yɮp.ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdA,@ZZZZ) Ai9)B򶉢ii 43I I  Y9@ @@1@@@@@1IIO>Q B T>B B 3IB zBB B B B ;B Y:EBBBBBɦ =Cl4Eu ( Eu 2Eu /Eq "Eu `;*Eu ;VEu J4ZEq BEu SAHRS rotation from veh to nav: [[0.504829,-0.863211,0.003679],[0.859360,0.502970,0.092309],[-0.081532,-0.043439,0.995724]]2H'?ml#n?? U??Mߴ=?i2yPR?I2Z_;0YNH{ByRI TTbDZVDZ yfC%fU=ٔjQ-j>9hYh=npQ 5v|4r&B?Q 9v|4r)rՁBYxyzˢ?Q Iz?rsCIr:ir:r|4y|ɮ.AMDNOT Ignoring new targets: 37.74 m.hIhI*hI"hI hIgIfQfQfQdQdjdZdS-@ZZZZˢ?5)=)9 =$iE9q)I}iiIIz9!@) @)@-2@)I9IIOuW>ԙ Ho,P%?A6@R?6F ?6%=ٱ64 BAHRS rotation from veh to nav: [[0.505085,-0.863065,0.002715],[0.859302,0.503172,0.091749],[-0.080552,-0.044009,0.995778]]6H)?:y<Y%AA )-(AYG!AbD5VD5:yE8h=%EC=ٔMQ-M>9IYI=MYQ 5e}4]D?Q 9e}4]i)]ǁBYe ">Q Em;ymA?Q Im?]sCI]:i]:]= }4yqɮu+.AqDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff?BddjdZd@Ў.@Z ">Z ">Z,>ZA?%=) i9)iE= E=,E=+E9"E=V;*E=;VE= [4ZE9aE@aE@aE@aE@iqq}IyIy9I)1@1 @1@50@1IIIqO}>! Oo,-??A|Yj{ByIbD%VD%y=<%EK=ٔMQ-M>9IYQ=UiQ 5u}4mE?Q 9}}4m)mBYyQ I?msCImc;im e;mm}4yɮ.ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd@i_/@ZZZZ) i9)  i i IIBBB9IBzBBBBDB;BO:E)DAzDAbEg4jEk4rEĿJ0EM EM/EM)EI"EMP;*EMY;VEMFA4ZEIBEMԁ Uo,Y?Aɰ2dR?2C?2=ٱ264 :AHRS rotation from veh to nav: [[0.504694,-0.863297,0.001715],[0.859716,0.502779,0.090011],[-0.078568,-0.043953,0.995939]]2H@s&? \?ʂ?? ?`  ?i2dR?I2MD_;2CYN`{ByNIi%Mb@Mb@Mb@!!!! !9%+?y&1?&1Y%>y%`e<%P!%A %xA)!!Y% AY p<bDVD0yʰ%B=ٔNQ->9Y=Q 5}4%H?Q 9}4z)BY(>Q E;y?Q I?sCI*:iU:*}4yɮ-.ADNOT Ignoring new targets: 37.74 m.hh*h"h hgff!f%0Bd!d)jd)Zd- P0@ZM(>ZM(>ZMM=ZM?e=)a eie#9)aeiiiiqquwIqIqiԁ@ @@/@ԱEU EU,EU+EQ"EU;*EU;VEU [4ZEQa]@a]@a]@a]@^A% IQ Ii O} > <%\o,r?A2R?2,?2@=ٱ2' 2 :AHRS rotation from veh to nav: [[0.504323,-0.863513,0.001773],[0.860014,0.502462,0.088928],[-0.077681,-0.043324,0.996036]]2Hj#? ]?`;?+?ö? ⳿.?i2R?I2"_;0YN^{ByNIbDVVDVyr黻%rY=ٔrQ-r>9tYt=v|Q 5}4~AJ?Q 9}4~ )~BYy?Q I?~tCI~1:i~:~07}4yɮ6.A=DNOT Ignoring new targets: 37.74 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdUz0@ZqZqZqZu?@=) Fi=9)額iԱiiquIqIq yy9 9@ @@p4@@p=@=A A B U>B B ?IB zBB =B B B ;B D:E9 Ee ) Ee #Ee .Ea "Ee `;*Ee ;VEe ـ4ZEa BEe TOco,፽?AR^R?R9?RC*=ٱR40 ZAHRS rotation from veh to nav: [[0.504016,-0.863693,0.001612],[0.860285,0.502191,0.087827],[-0.076665,-0.042879,0.996134]]RH ?@_DjZ?t??@{?YH`U?iR^R?IR_;RCYbe{BybIbDnVDnNyy<%@=ٔQ- >9 Y =Q 5%}4L?Q 9%}4)BY!y%*?Q I-?tCId:iw; F}4y1ɮ5.A1-DNOT Ignoring new targets: 37.74 m.h1h1*h1"h1 h9g9fIfQfQdYdjdZd@0@ZZZZ5*?C*=) r߿i&9)顝$iiVIIԹu9@q @q@u/@y^A I I O > .rio,?A2ܷR?21G?27=ٱ2o/ :AHRS rotation from veh to nav: [[0.503710,-0.863872,0.001123],[0.860561,0.501892,0.086830],[-0.075574,-0.042770,0.996222]]2Hd?פgR??@? |:?X@楿?i2ܷR?I2^;2CY^|{BybI ddf=f=iMb@Mb@Mb@ 9HzG?~jtx?/$Y= >y;,$A )\'AY( AE" EIE-E"EZ;*E ;VEt4ZEa@a@a@a@bDVDyW=%?=ٔ(Q->9Y=Q 5}4N?Q 9}4L)BY>Q E;y\?Q I? tCI:i:T}4yɮ-A-DNOT Ignoring new targets: 37.74 m.h)h1*h1"h1 h1g9f9fAfE)BdAdIjdIZdMU1@Z>Z>Z5=ZG\?=7=)9 =ڿi=9)AE|+AiAiIIM`IIIq9@  @ @ @ )Q^A] I_Ii Iy O >y bpo,0?ABR?B9G?B=ٱB{1 JAHRS rotation from veh to nav: [[0.503747,-0.863851,0.000261],[0.860625,0.501891,0.086196],[-0.074591,-0.043196,0.996278]]BH@?1?=?@~??`h@?iBR?IBq^;BCYR{ByRIbD^VD^1ybPc<%f[=ٔf,Q-f>9hYh=j=Fyhn +6En>lQ 5r}4nP?Q 9v}4n))n|BYtyvW?Q Iv?n-tCInr;in;nb}4y~tBɮ~-A~E%DNOT Ignoring new targets: 37.74 m.h!h!*h!"h! h!gfffddjdZd@1@ZZZZqW?==)AA E7ڿiMu9)IM#2IiIiQQUJIQIYaBBBLIBzBB =BBDB;B;:E9@ @@0@@hA@gADzDAAEK EE/E"E;*E:VEJ4ZEBE Xvo,U۽?A6R?6N?6 =ٱ6(4 BAHRS rotation from veh to nav: [[0.503590,-0.863942,-0.000894],[0.860814,0.501678,0.085548],[-0.073460,-0.043851,0.996334]]6H i? jMMɋ?` ?@?@Jβ@s?i6R?I6G _;6CYF{ByJIiMb@Mb@Mb@ 9S?~jthZd;OY>yDj< )&AY AbD-VD-k1y=,<%=D=ٔE.2Q-E>9AYA=E=FyIMR:EM>QQ 5]}4US? iiQ 9m}4U)UpBY!>Q E;y?Q I?U=tCIUq&Z!>Zm@Z? =) -ٿi-9))-9)i)i115cI9I9@ @@ 0@E2 E3E.E"Ei;*Et ;VEـ4ZEa@a@a@a@1 ^A WgI I! O- >9 |o,0?A2kR?2x^?2G=ٱ2%6 :AHRS rotation from veh to nav: [[0.503220,-0.864156,-0.001920],[0.861126,0.501266,0.084823],[-0.072338,-0.044338,0.996394]]2H@`?@+dv_ W?_ ??v?i2kR?I2o_;2CYB{ByBIIF<)Fa=HJAbDNVDNkyv|<%vP=ٔv;Q-v>9xYx=z=Fyxzv:E~>Q 5}4>V?Q 9 }4)eBY y ?Q I ?KtCI:i:X~}4yɮ]-AEDNOT Ignoring new targets: 37.74 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdU݃2@ZyZyZyZ}5?G=) ؿi9)顕?iiII I)9@ @@ 5@9^AI_IIO>BABW>BBXIBzBBBBB;B#:Ei E p E *E 0E "E ;*E ;VE 4ZE BE AHRS rotation from veh to nav: [[0.502566,-0.864534,-0.002838],[0.861607,0.500588,0.083934],[-0.071143,-0.044628,0.996467]]2H?C?g@H? ?@|?@u6q٦`?i2wS?I25_;2CYF{ByFIbDNVDNyVߎ<%VN=ٔZ FQ-Z>9XYX=Z=Fy\^;E^>`Q 5f}4bX?Q 9f}4b5)bYBYhyj?Q Ij?bZtCIb:ib:b1}4ylɮnA-ApDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd 2@ZZZZS?q3ӑ=) ׿iѿ9)顽FiiAIIe9@a @a@e#3@a@m=@m=ԙ^A I I O > y==Q8=G#A=A 9)=$A9Y=3AbDUVDUN2ye0=%e?=ٔmFQ-m>9iYi=m=Fyiuc;Eu>E4 E0E/E"Ej;*E;VEJ4ZEa@a@a@a@Q 5}4[?Q 9}4)MBY>Q E;y@y?Q I?jtCIH%;i5L;J}4yɮ-ADNOT Ignoring new targets: 37.74 m.h h *h "h  h gfff!BddjdZd]3@Z>Z>ZmO@Z@y?x,=) 3ӿiؾ9)Mii!!-I)I)9@ @@4@^A :WI) I9 OM >! ⧐o,'B?A2S?2Ҿ?2ƌ=ٱ2 7 >AHRS rotation from veh to nav: [[0.500815,-0.865544,-0.004193],[0.862825,0.498846,0.081770],[-0.068684,-0.044570,0.996642]]2H?,qB???KѦ~?i2S?I2^;2CYF{ByFI HHJ=Jp=LN@AbDRVDRkyZ+v=%ZV=ٔZYIQ-Z>9\Y\=^=Fy\b;A;Eb>dQ 5f}4fW^?Q 9j}4f)fCBYhyjy?Q Ij?fxtCIf:if|:fr}4yYɮ],AaDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd z3@ZZZZy?ƌ=) Dпi5ѽ9)1=S9i9i9AE IAIAB}U>ByB}kIB}{BByByByB}փ;B}:EB9B9B9B9B9C=M4-9@) @)@-/@)QDzD?AE' ENE,E"E _;*E;VEg4ZEBEԡ `Җo,Ԝ\?A2S?2?2G=ٱ26 >AHRS rotation from veh to nav: [[0.499937,-0.866049,-0.004776],[0.863430,0.497980,0.080650],[-0.067468,-0.044444,0.996731]]2H?#s7? ?`{?EU8?i2S?I2F^;2CY\y`yiuMb@Mb@Mb@qqqq q9u'1Z?I +:vYu">yu94uTuv"Aq uA)qqYuAbDVDy2%;=ٔ'6Q->9Y==Fy;E>Q 5}4a?Q 9}47)5BY+>Q E;yu?Q I?tCIbY;if;׷}4yɮ,AeDNOT Ignoring new targets: 37.74 m.haha*ha"ha hagififqf}BdydjdZdf+4@Z+>Z+>Z@Zu?G=) \Ͽi9)Zii0ݼIIԩE9@A @A@E/@A@I@MhAE$ E+E+E"Eg\;*E=;VE [4ZEa@a@a@a@^Am 0Iq I O > o,4v?A2%T?2&?2/=ٱ2_5 :AHRS rotation from veh to nav: [[0.499222,-0.866458,-0.005204],[0.863922,0.497283,0.079676],[-0.066448,-0.044272,0.996807]]2HB?Pu @?{?e?Ȫ@?i2%T?I2n"^;2CYB{ByFIbDNVDN0yVXM=%V]=ٔVd5Q-V>9XYX=Z=FyX^x;E^>`Q 5b}4bjd?Q 9f}4b)b)BYdyfv?Q If?btCIb:ib:b}4yngBɮn+AnEDNOT Ignoring new targets: 37.74 m.hh*h"h h g f f fddjdZd@)4@Z9Z9Z9Z=_v?M/=)I M̿iM&9)QU`QiQiYY]׼IYIa#9%==m9@q @q@u3@q)AiAmAABqBqBuIBuA{BBqBqBqBu҃;Bu:EbE%A{4jE%ʭx4rE%+/E 0 E 5E ,E "E Jg;*E ;VE g4ZE BE Mo,R?A>\T?>Q?>=ٱ>f5 FAHRS rotation from veh to nav: [[0.498541,-0.866847,-0.005766],[0.864397,0.496609,0.078726],[-0.065380,-0.044232,0.996880]]>H?5w#?o?g'?@ļp?i>\T?I>f];>CYN{ByNIIVC=)V=TVAbDZVDZyb{s=%fI=ٔfN,Q-f>9dYh=j=Fyhj;Ej>lQ 5r}4nxg?Q 9r}4n)nBYtyvVv?Q Iv?ntCIny:in:n}4yxɮz+A|%DNOT Ignoring new targets: 37.74 m.h!h!*h!"h! h!g)f)f)f)d)d1jd1Zd5@H4@ZQZQZQZUVv?u=)q uɿiuj9)q}gyiyi)nҼII9q@q @y@}0@a^AIIO>ԙԹ }o,0.?A25T?2^5?2!=ٱ2}5 :AHRS rotation from veh to nav: [[0.497832,-0.867251,-0.006284],[0.864877,0.495906,0.077874],[-0.064420,-0.044203,0.996943]]2H{?@ y??? }ǡ?i25T?I2^;2CYB |ByBIEe) Ee1Ee*Ea"Ee`;*Eef;VEe(N4ZEaau@au@au@au@iMb@Mb@Mb@ 9Pn?Mb/$Y>y,xA )v"AYAbDVDܲy=%;=ٔQ->9Y==Fy|:E>Q 5}4j?Q 9}4h)BY) >Q E;yrx?Q I?tCI2;i;A}4yɮ +A=DNOT Ignoring new targets: 37.74 m.hAhA*hA"hA hAgAfAfIfM$BdIdIjdQZdU`5@Zu) >Zu) >Zuy@Zurx?!=) ǿi9)額miԑi!!%[̼I)I)@ @@@@=@=^ATмIIO >! zo, ľ?A2T?2A?2X=ٱ2ݞ6 :AHRS rotation from veh to nav: [[0.497530,-0.867419,-0.006959],[0.865112,0.495587,0.077301],[-0.063603,-0.044480,0.996984]]2H? z|??ɳ?JHƦ J?i2T?I2^;2CYB|ByB IbDJVDJJyRJ$=%R_=ٔVQ-V>9TYT=V=FyXZu:EZ>\Q 5b}4^Nl?Q 9b}4^h)^BYdyfx?Q If?^tCI^;i^p:^}4yhɮj*AhDNOT Ignoring new targets: 37.74 m.hh*h"h hg f f f ddjdZd$5@Z1Z1Z1Z5Cx?MX=)I MſiM9)QUsQiQiʼIIB%T>B!B%IB%j{BB% =B!B%DB%ڃ;B%:Ei@i @q@u0@qEm8 EmLEm.Ei"Emn;*Em;VEmـ4ZEiBEmݾY o,ݾ?A:T?:_?:k=ٱ:6 BAHRS rotation from veh to nav: [[0.496773,-0.867848,-0.007554],[0.865615,0.494829,0.076514],[-0.062665,-0.044549,0.997040]]:H!?`h1~?`H? o? )Ϧ@?i:T?I:p];:CYJ1|ByJI LLR=R=iUMb@Mb@Mb@QQQQ Q9UQ?ˡEYU\>yUU'U!AUA Q)QQYUGAbD}VD}0y\=%<=ٔ Q->9Y==Fy;E>QQ 5]}4Un?Q 9e}4U)UBYea>Q Ee;ye?Q Ie?UtCIU3:iU]:U}4yiɮuq*ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff(BddjdZdP46@Za>Za>Z/3Zc?-k=)) -ÿi-q9)15Cz1i1i99=qļI9IAa!@! @!@%0@!yE? EPE+E"Et;*E;VE [4ZEa@a@a@a@^A F˼I! I1 OE >Ա Jo,?A2U?2n?2}=ٱ2d7 :AHRS rotation from veh to nav: [[0.496394,-0.868059,-0.008143],[0.865884,0.494437,0.076010],[-0.061955,-0.044782,0.997074]]2H?#a`Q?ܤ?`u?@?i2U?I2];2CTYZC|ByZ#IbDfVDf1yj>=%nW=ٔnQ-n>9pYp=r=Fypv5:Ev>tQ 5z~4vq?Q 9~~4v)vBY|y~?Q I~?vtCIv& ;iv ;vt ~4y eBɮ *A 5DNOT Ignoring new targets: 37.74 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM6@ZiZiZiZmg?}=) i9)顅iiSII I)}9@y @@5@@@^AmƼIBA<BR>BBIB{BB =BBB;B:EI1O=>! E # E #E ,E "E [;*E ;VE g4ZE BE h9TYT=V=FyXZ!;EZ>\Q 5b~4^os?Q 9b~4^)^BY`yfڄ?Q If?^tCI^;i^4:^V~4yhɮj)Ah|DNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd 26@Z)Z)Z)Z-ڄ?EkS{=)A EiEq9)IMIiIiaam̹IiI1@ @@5@rGjA<9jAY+AY^AM*IYIiO}>ԁ \o,u+?AYZ|By1II-=)-p;)-AaEu" Eu'Eu+Eq"EuZ;*Eu";VEu [4ZEqa}@a}@a}@a}@iMb@Mb@Mb@ 9HzG?I +?~jtY= >y94<A A)!AYzA 4< bDVDy%=%%4=ٔ%Q-%>9)Y)=-=Fy)-E5>9Q 5=~4=u?Q 9E~4=7)=ހBYE >Q EE;yE?Q IE?=tCI=a:i=:=*)~4yQɮU)AQ}DNOT Ignoring new targets: 37.74 m.hyhy*hy"h hgfff#BddjdZd@5g7@Z >Z >Z=Z?) pim9)+iikûIIԉE9@A @A@E5@AԱ^Am ೼Iq I O > Go,^E?AYzv|By~BIbD VD kyѓ=%\=ٔQ-%>9!Y!=%=Fy!)E->1Q 5=~45pw?Q 9=~45 )5ՀBY9y9Q I=?5 uCI5;i5L;5!6~4yIɮMR)AI}DNOT Ignoring new targets: 37.74 m.hyhy*hy"hy hygfffddjdZd`[7@BS>BBIB{BBBBB;B,:EZZZZ) i9)页iiIIa@a @a@e2@aEu- EuEu,Eq"Eud;*Eu:VEug4ZEqBEu>9 no,0,_?AJU?J?J!u=ٱJ9p4 ZAHRS rotation from veh to nav: [[0.493290,-0.869821,-0.008757],[0.867806,0.491405,0.073709],[-0.059811,-0.043959,0.997241]]JH ??/s?޲?`Ӂf?iJU?IJEO];JCYf|ByjTIiMb@Mb@Mb@ 9ʡE?:v?y<t A 5A) AYAbDVDy=%B=ٔjQ->9Y==Fy};E>Q 5~4Yy?Q 9~4t)ˀBY$>Q E;yT?Q I?uCI;i; ;D~4yɮ(ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff!BddjdZd88@Z]$>Z]$>Z]D+>Z]T?!u=) µi]9)顕iiIIAI@I @I@M/@IE}% E},E}.Ey"E}O];*E};VE}ـ4ZEya@a@a@a@i^A I I O >ԙ o,Wy?A23V?2 ?2:s=ٱ2=5 :AHRS rotation from veh to nav: [[0.492496,-0.870266,-0.009224],[0.868289,0.490600,0.073394],[-0.059347,-0.044156,0.997260]]2H ?@7@E䂿`?e? ɲ?`b?i23V?I2^];2CYB|ByBdI DDJ=J=HJAAbDN VDN2yV<=%V\=ٔZQ-Z>9XYX=^=Fy\%;E%>)Q 55~4-{?Q 95~4-)-€BY1y5p?Q I5?-)uCI-6:i- :-NR~4yAɮEs(AAmDNOT Ignoring new targets: 37.74 m.hihi*hq"hq hqgqfqfyfydydyjdZd8@ZZZZp?:s=) i9)iitꢼIIqԡ9AABR>BBIB|BBBBB;B7:EBBBBǩ =BǨ =CB5M9@Q @Q@U4@QE = E E E "E s;*E :VE ZE BE o,?A2V?2+?29q=ٱ2^5 :AHRS rotation from veh to nav: [[0.491485,-0.870832,-0.009671],[0.868895,0.489581,0.073026],[-0.058859,-0.044295,0.997283]]2H@~t?΃@?IU?ܱ?"ͭ`?i2V?I2؇];2CYB|ByBnIbDnVDn:yv:=%z>=ٔz Q-z>9|Y|=~=Fy|~j9;E~>Q 5 ~4|?Q 9~4l)BYy?Q I?9uCI;i;`~4yɮ3(A!MDNOT Ignoring new targets: 37.74 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde8@ZZZZɕ?9q=) im9)顽ii2#IIԁm9@i @q@u/@qԑ^A7ƙIIO>E=EC= o,ƭ?A:-V?:ZV?:o=ٱ:8@6 FAHRS rotation from veh to nav: [[0.490366,-0.871459,-0.010059],[0.869554,0.488455,0.072715],[-0.058455,-0.044404,0.997302]]:H'b? @ݙ c?@B?z?@"?i:-V?I:];:CYN|ByR~IEb Eb Eb,E`"EbQ;*Eb:VEbg4ZE`af@af@af@af@iMb@Mb@Mb@ 9MbX9?{Gz?X9vY!>y#=A )!AYAbDVDyw=%?=ٔlwQ->9Y==FyF;E>Q 5~4~?Q 9~4)BY)>Q E;yh?Q I?KuCI ;i:o~4yɮ'ADNOT Ignoring new targets: 37.74 m.hh*h"h hgff!f%HBd!d!jd)Zd=m9@Zu)>Zu)>Zu}>Zuh?o=)  i9)額iiQQU|IQIY9@ @@@^A- I9 IQ Y Ou >o,ǿ?A2DW?2O?2 m=ٱ2q5 >AHRS rotation from veh to nav: [[0.488919,-0.872268,-0.010334],[0.870397,0.487014,0.072294],[-0.058027,-0.044341,0.997330]]2H@sJ?*J?`<+?߁?Գ@ ?i2DW?I2];2CYF|ByFIHJA N;N;bDR VDR2yZ=%Z]=ٔZQ-Z>9\Y\=^=Fy\b;Eb>`Q 5f~4b?Q 9j~4b,)bBYhyj?Q Ij?bZuCIb:ib:b|~4BrO>Br9CBrIBr5|BBpBpBpBr;Br9:Ey|ɮ~'A-DNOT Ignoring new targets: 37.74 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd= 9@ZZZZ? m=) }iL9)OiiƆIIQ9@ @@0@DzDbE]g4jE]7i4rE]?/E1 E+E+E"E2h;*E=;VE [4ZEBEaԱ o,|}Ό?A:W?: Ň?:'l=@ٱ:5 FAHRS rotation from veh to nav: [[0.487447,-0.873089,-0.010550],[0.871243,0.485547,0.071963],[-0.057707,-0.044269,0.997352]]:H@U2?W':?4?$l?Ћ|M?i:W?I:^;:CYN|ByRIi%Mb@Mb@Mb@!!!! !9%-? ףp= ?Q롿Y%?5>y%Q8=%\!%A %A)% A!Y%AbD=VD=1yM;%MA=ٔUEQ-U>9QYY=]=FyY]V;E]>aQ 5m~4e?Q 9m~4e<)eBYuj>>Q Eu;yu?Q Iu?emuCIev:ie:e~4yyɮ}'ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffYBddjdZd8:@Zej>>Zej>>Ze~>Ze5?'l=) i9)顝MiiwIIԩa@a @i@m0@iE8 E(E-E"En;*E;VEt4ZEa@a@a@a@^AIIO> ^%o,U?A2)FX?2X?2k=ٱ24 :AHRS rotation from veh to nav: [[0.485506,-0.874168,-0.010692],[0.872349,0.483621,0.071541],[-0.057368,-0.044061,0.997380]]2H@?.兿 H??P?U_1@?i2)FX?I2}K^;2CYB|ByBIbDJVDJ0lyr`p=%rQ=ٔradQ-v>9tYt=v=Fytz;Ez>|Q 5~4~?Q 9~4~t)~BYy@?Q I?~uCI~;i~;~>~4yɮ2'A=DNOT Ignoring new targets: 37.74 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU6:@ZqZqZqZu(@?k=) i^9)額iiIXII I)9@ @@g1@ BABBB9IBh|BBBBB;B<:EA^AIIO>E 3 E $E ,E "E j;*E ;VE g4ZE BE @?i2aX?I2._;2CYF|ByFI HHJ=Jp=bDRVDRkyZ%ZM=ٔZ'Q-Z>9\Y\=^=Fy\b;Eb>dQ 5j~4f?Q 9j~4f)fBYhyj~?Q Ij?fuCIf:ifB:f(~4ypɮr?'Ap9DNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd ;@ZQZQZQZU~?j=) i<9)  1i1iAiu_@IqI{>i>q9@ @@0@ԑ^AM ONIQ Ii Ou > ,7 p, /?A2mmY?2?2Th=ٱ25 :AHRS rotation from veh to nav: [[0.481587,-0.876323,-0.011448],[0.874557,0.479689,0.071056],[-0.056776,-0.044232,0.997407]]2H T? @.r_?7?0?`?i2mmY?I2_;2CYB}ByBIER$ ER2ER+EP"ERg\;*ER;VER [4ZEPaZ@aZ@aZ@aZ@i%Mb@Mb@Mb@!!!! !9%~jt?Zd;O?ktY%D>y%j<=% 0%/A%A !)% A!Y%\AbD=VD=yMv=%MA=ٔMRQ-M>9QYQ=U=FyQU;E]>ԙQ 5~4?Q 9~4z)}BYN>Q E;y?Q I?uCI:i:~4yɮ&AeDNOT Ignoring new targets: 37.74 m.haha*ha"hi higififqfu\BddjdZdu;@ZN>ZN>Zjp>Z?Th=) zi9)ii!I!I!9@ @@5@^ANJNII O > Qp,H?A6EZ?6?6K5g=ٱ6I6BFN>BDBFRIBF|BBDBDBDBF;BF/:E NAHRS rotation from veh to nav: [[0.479356,-0.877539,-0.011966],[0.875805,0.477443,0.070801],[-0.056417,-0.044418,0.997419]]6Hí?@w?n??⬿`?i6EZ?I6u`;6CYV#}ByVIbDbVDb:yf=%jR=ٔjrQ-j>9hYl=n=Fyln;Er>pQ 5v~4r9?Q 9z~4r)rsBYxyz=?Q Iz?ruCIr:ir:r~4y|ɮ&A-DNOT Ignoring new targets: 37.74 m.h)h)*h)"h) h)g1f1f1f1d9d9jd9Zd=`;@ZYZYZYZ]=?uK5g=)q uiuŽ9)y}yiyi4IIE+ E.E.E"Eb;*E;VEـ4ZEBEQ } i>} ېC 9 i y :9 Y *AwIp,b?Aɰ2Z?2W?2e=ٱ2VB6 :AHRS rotation from veh to nav: [[0.476765,-0.878945,-0.012327],[0.877240,0.474852,0.070471],[-0.056086,-0.044412,0.997438]]2H@P?@P ? Y?c?d ?]0`?i2Z?I2Qa;2CYb}BybIIf<)f<5only read 2 of 4 data items for bottom velocity. Device response is::BS, +37, +196, a5@a5 a=@a= a=@a= a=@a= bDAVDAyU0%UB=ٔUsNQ-U>9YYY=]=Fyae;Ee>yQ 5~4}?Q 9~4})}gBQ A+:YQ ET;y?Q I?}uCI}<;i}>}~4yɮ&ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd><@ sp,|?A2[?2?2cd=ٱ2(5 :AHRS rotation from veh to nav: [[0.473949,-0.880462,-0.012627],[0.878787,0.472042,0.070065],[-0.055730,-0.044303,0.997462]]2H-U?`,ۉ ?`5??` 򮦿`6?i2[?I2Ŷa;0YB}ByBIbDJVDJk1yR<%VV=ٔVuQ-V>9XYX=Z=FyXZ <E^>\Q 5b~4^?Q 9f~4^)^\BQ Af :YdQ Ef,;yf?Q If?^uCI^':i^ N?^5~4yhɮn&AlDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd<@cd=) ѳiy9)wii#IIAyAyBO>BB_IB|BB =BBB;B%:Eۺ9) I @I  @I @M 5@I D %=D E  E +E ,E "E X;*E =;VE g4ZE BE %p, ?AZ(]?Z?Z-c=ٱZRs5 bAHRS rotation from veh to nav: [[0.468823,-0.883195,-0.013096],[0.881551,0.466917,0.069690],[-0.055435,-0.044217,0.997483]]ZH1?"CҊ5??0ױ?@a@a?iZ(]?IZ>=b;ZCYj}ByjIbDrVDr:2yzz%z5=ٔ~Y+Q-~>9|Y|=~=FyS<E> Q 5~4 ?Q 9~4 u) OBQ A9YQ E ;yƧ?Q I? uCI L;i ? ~4yEWBɮE]&AEEuDNOT Ignoring new targets: 37.74 m.hqhq*hy"hy hygyfyffddjdZdC=@ -c=)  i9)nii!)5;I1II@ @@/@Q^A_IIOL>aԑ E  E E +E "E &U;*E x:VE [4ZE a @a @a @a @,p,?A>]?>̊?>b=ٱ>7 FAHRS rotation from veh to nav: [[0.466754,-0.884282,-0.013656],[0.882654,0.464818,0.069751],[-0.055332,-0.044611,0.997471]]>H@M?L`>??8۱? |T1צ H?i>]?I>kb;>CYN&}ByNI5nManaging dock network, ignoring radio surface power offaa aa aa aa iMb@Mb@Mb@ 9/$?{Gz?A`"Y,>y#<Y^AdA A)^AYAbDVDky==%?=ٔe|Q->9Y==Fy;E>Q 5~4#?Q 9~4)ABQ AT:Y4>Q E;y?Q I? vCIj;i;~4yVBɮ&AEDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff2Bdd!jd!Zd%=@ZE4>ZE4>ZEs=ZE)?eb=)a eie89ԩ)ii;III)9@ @@@@@^A<II  O > %= =B] M>BY B] eIB] |BBY BY BY B] ;B] :EB9CB9CBBB˩ =C51 2p,?A2D^?2 ?21%c=ٱ2 9 >AHRS rotation from veh to nav: [[0.464999,-0.885198,-0.014179],[0.883574,0.463025,0.070032],[-0.055427,-0.045094,0.997444]]2H?S@$ =F?`2?@?``?i2D^?I2bb;2CYF3}ByFIbDNVDNܲyV=%V]=ٔZ9Q-Z>9XY\=^=Fy\^;E^>`Q 5f~4bR?Q 9f~4bR)b5BYhyj?Q Ij?bvCIbQ;ib];b~4ylɮn%Al DNOT Ignoring new targets: 37.74 m.h h *h "h  h g fffddjdZd@=@ZZZZ?1%c=) !iϿ9)ii;II DizDmAAEu! EqEu,Eq"EuY;*EqVEug4ZEqBEu׬1a b$9p,GX?A46^?6L?63c=ٱ6: BAHRS rotation from veh to nav: [[0.463311,-0.886075,-0.014649],[0.884452,0.461300,0.070332],[-0.055562,-0.045542,0.997416]]6H?ZN oM?`?N?rKQ?i6^?I6s1b;6CYJ(}ByJIi%Mb@Mb@Mb@!!!! !9%{Gz?I +i|?5Y%#>y%94%q%/A%A !)!!Y!bD5VD5:yE%MA=ٔM9Q-M>9QYQ=U=FyQUߓ;EU>YQ 5e4]W?Q 9m4])]'BYm.>Q Em;ym#?Q Im?]+vCI]:i]:]D 4yqɮ} &AyDNOT Ignoring new targets: 37.74 m.hh*h"h hgfff3BddjdZdK>@Z.>Z.>Z@Z7#?3c=) i9)quKqiqiyy});IIԉ 9@  @ @ 0@ E/ E)E+E"Eaf;*E0;VE [4ZEa@a@a@a@^Ar;IIO> g@p,h<?AɰNN_?N?Nmd=ٱN; VAHRS rotation from veh to nav: [[0.461401,-0.887069,-0.014757],[0.885439,0.459381,0.070478],[-0.055740,-0.045585,0.997404]]NH ? b8U?f? ? 쉬V ?iNN_?INa;NC\Yz6}ByzIbD VD yL=%M=ٔ9Q->9!Y!=%=Fy!%;E->)Q 554-,?Q 9=4-w)-BY9y=i?Q I=?-;vCI-;i-;-/4yAɮE%AIuDNOT Ignoring new targets: 37.74 m.hqhq*hq"hq hqgyfyfyfyddjdZd>@ZZZZh?md=) iݿ9)渷iii5>9@ @@?0@@=@=BA<B B B kIB |BB B B B ރ;B :E)^A[R;IIO>D=D<bEjEȣf4rEַ/E EE)E"E[I;*EO:VEFA4ZEBE9tYt=v=FytzL;Ez>|Q 54~?Q 94~)~ BYy?Q I?~KvCI|i~$:~ '4yɮ%AYDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjd Zd U?@ZZZZ ?  g=)  Mi 9)ii))-7 E  E E ,E "E P;*E :VE g4ZE a @a @a @a @V`Lp,3?AF`?F5?Fh=ٱF9 RAHRS rotation from veh to nav: [[0.458871,-0.888389,-0.014226],[0.886687,0.456852,0.071220],[-0.056772,-0.045294,0.997359]]FH`%^?mW"_?@=?w;?`60]?iF`?IF `;FCYVS}ByZIi=Mb@Mb@Mb@9999 99=x&?y=t=T=A=A =A)=A9Y=AbDUVDUyeZ=%eB=ٔeu:Q-m>9iYi=m=FyiuRw;Eu>yQ 54}T?Q 94})}BY>Q E;yN?Q I?}ZvCI}:i}:}54yɮd%AԹDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd?@Zu>Zu>Zuɩ@Zu{N?h=) i;9)額iie3B B B xIB |BB =B B B ;B :E9 &HSp,M?A2O`?2 ?2+k=ٱ2'Q8 :AHRS rotation from veh to nav: [[0.457885,-0.888906,-0.013682],[0.887157,0.455883,0.071571],[-0.057383,-0.044910,0.997342]]2H@M?qc?/-?R?@a@p9?i2O`?I2#`;2CY@y@J=J=HJ@AbDNVDNyVɕ:%VW=ٔV:Q-Z>9XYX=Z=FyX^U<;E^>Q 5%4p?Q 9%4)BY)y-EO?Q I-?gvCI:i:sC4y1ɮ5b%A1eDNOT Ignoring new targets: 37.74 m.haha*ha"ha hagafififididqjdqZdu?@ZZZZ+EO?+k=) i9)顭\ii=Aqԡ qYp,Vg?A2k`?2.?2Vm=ٱ2:6 :AHRS rotation from veh to nav: [[0.457113,-0.889311,-0.013149],[0.887517,0.455128,0.071912],[-0.057967,-0.044541,0.997324]]2HXA?=ٔ@:Q->9Y==Fy;E>Q 54Ƥ?Q 94)BY- >Q E;y??Q I?uvCI ;i;R4yɮ$ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd9)@@Z - >Z - >Z @Z ??%Vm=)) -Qi-9))5·1i1i9AEFiK Z`p,{?A2M`?2;?2p=ٱ2\5 :AHRS rotation from veh to nav: [[0.456741,-0.889512,-0.012492],[0.887656,0.454770,0.072467],[-0.058779,-0.044187,0.997293]]2H ?;?vKg??,?I ?i2M`?I2'_;0Y^}By^IbDfVDf:yrJ=%rU=ٔr ;Q-r>9tYt=v=FytvÆ:Ez>xQ 5~4zէ?Q 94z)zBYy@?Q I?zvCIzf;iza;z_4y ɮ $A=DNOT Ignoring new targets: 37.74 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM_Z@@ZiZiZiZm{@?p=) ╿i9)ŷii  OBBIB|BB =BBB;B:E^Au(A<IIO>E* E$E,E"Ea;*E;VEg4ZEBE?)v@ʈ`qf?`? ? @@e?i:7`?I:^;:CYJ}ByJIIR<)R4<bDVVDVܲy^=%^M=ٔb ;Q-b>9`Y`=b=Fydf#Ef>hQ 5n4j?Q 9n4j0)jBYpyr??Q Ir?jvCIj#;ij@;jwm4ytɮv#AtDNOT Ignoring new targets: 37.74 m.hh*h"h hgf!f!f!d!d)jd)Zd-|@@ZIZIZIZM???]jt=)a e!ie9)aegǷaiaiiiuKԩ E  E E *E "E O;*E 4:VE (N4ZE a @a @a @a @^A 0:D<I I O- >lp,2?A2`?2:;?2gv=ٱ2]5 :AHRS rotation from veh to nav: [[0.456719,-0.889532,-0.011813],[0.887568,0.454731,0.073783],[-0.060261,-0.044183,0.997204]]2H:? w1f?`N?w? ڮ@2?i2`?I23O^;2C@YF}ByFIar@ar ar@ar ar@ar ar@ar bDvVDvky~^=%~F=ٔ:Q->9Y = =Fy  :E >Q 54L?Q 94;)BQ A+:YQ E;y@?Q I?vCI%y4yɮ#ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdE@@ gv=) Ai9)ɷii!%sOB B IB }BB B B B ;B :E^Au /C<I I O >/sp,?A2{`?2??2nHy=ٱ2u5 :AHRS rotation from veh to nav: [[0.456588,-0.889601,-0.011693],[0.887597,0.454582,0.074346],[-0.060823,-0.044324,0.997164]]2H8?wr1g?`?@O?`!$?i2{`?I2^;0YB}ByBIHbDNVDN1yV=%VK=ٔZ:Q-Z>9XYX=^=Fy\^9E^>`Q 5f4b?Q 9f4bL)bBQ Af :YhQ Ej~;yj@?Q Ij?bvCIb ;ibcQ?bd4ynTBɮn]#AlDNOT Ignoring new targets: 37.74 m.h h *h "h  h g fffddjdZd@@nHy=) i}9)˷iiϱPyp,/?A6`?6E?6+{=ٱ67 BAHRS rotation from veh to nav: [[0.456412,-0.889691,-0.011739],[0.887656,0.454379,0.074876],[-0.061283,-0.044594,0.997124]]6H5?Zx^ @g??@+?`p``զp?i6`?I6^;6CYF}ByJ,Itaa aa aa aa iMb@Mb@Mb@ 9K7?~jtyDtAA A)AYAbD=VD=yU=%U@=ٔ]:Q-]>9aYa=e=Fyam9Eu>yQ 54}&?Q 94})}~BQ A T:Y >Q E ;y =?Q I ?}vCI}ڛZ>Z"D@Z =?+{=) i9)Wηiiaim(SE= E= E=+E9"E=M;*E=:VE= [4ZE9aE@aE@aE@aE@I9= 9@9  @9 @9 @9 @A @A y ^Aa Ii I O >\jp,¹?A2`?27X?2|=ٱ2}y7 >AHRS rotation from veh to nav: [[0.455894,-0.889957,-0.011687],[0.887894,0.453849,0.075273],[-0.061685,-0.044693,0.997094]]2H_-?z@z@i?` ?E?0 ⦿2?i2`?I2];2CYF~ByFFIbDNVDNyV&=%VB=ٔzu:Q-z>9xYx=~=Fy|~ :E~>Q 5 4Ͷ?Q 94)sBYyO?Q I?vCI(S;iS;P4y1ɮ5+"A1}DNOT Ignoring new targets: 37.74 m.hyhy*h"h hgfffddjdZdldA@ZZZZO?|=)1 5bi59)15з1i1i99=l[BBIB[}BB =BBB;BBBBBª =Bª =C/5AqD=D<E, EE.E"Ec;*EA:VEـ4ZEBEujp,^H!¹?AYG~By`IbDVD0y==%E+=ٔUQ-U>9aYa=e=FyaeEe>iQ 5u4m?Q 9}4mH)mfBYyyyQ I}?mvCIm6:im:m4yɮ!ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdA@ZZZZ) i-9)ҷi i  WJZT;*Em g:VEi ZEi au @au @au @au @^A hW<I I O >p,;¹?Aɰ Y~`~By~oIAiMb@Mb@Mb@ 9V-?I +?Zd;OY|?>y9<jA )AY 4<bDVD1y=%T=ٔQ->9Y==FyE>Q 54ڻ?Q 94)XBY=B>Q E;yÚ?Q I?vCI9;if9;74yɮ!AEDNOT Ignoring new targets: 37.74 m.hAhI*hI"hI hIgIfQffrBddjdZd`FA@Z%=B>Z%=B>Z%=Z%Ú?Y)a eie9)ae#շaiaiiIIԙBO>BBIB}BB =BBB;B5͹9 9@  @ @ @ @ >@ bEjEg4rET/E}  E} E} *Ey "E} V;*E} :VE} (N4ZEy BE} }rp,X¹?A6qa?6|?6A5~=ٱ6|8 BAHRS rotation from veh to nav: [[0.452107,-0.891882,-0.012075],[0.889805,0.450030,0.075634],[-0.062023,-0.044939,0.997063]]6H R? LGy?J?\?oA?i6qa?I6_;6CYFo~ByJyIbDRVDRyZ=%Z==ٔ^L:Q-^>9\Y\=^=Fy\b <Eb>dQ 554f;?Q 954f)fIBY1y5N?Q I5?fvCIfeZ(p,&r¹?A29b?2/?2}=ٱ2W8 >AHRS rotation from veh to nav: [[0.450034,-0.892927,-0.012265],[0.890862,0.447956,0.075499],[-0.061921,-0.044903,0.997070]]2H@\?ے<?Q? S?% @?i29b?I2_;2CYB~ByFIE5 E5 E5+E1"E5L;*E5:VE5 [4ZE1a=@a=@aE@aE@i Mb@Mb@Mb@     9 -?Mb?S㥛Y ?5>y @= /ݼ A  A OA) A Y AbDVD:y Y=%:=ٔqQ->9Y==Fy;E>Q 54?Q 94)7BY=>Q E;y?Q I?wCI ;i ;4yɮ ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff|Bdd!jd!Zd%@B@)ZM=>ZM=>ZM]>ZM"?]}=)a eie9)aeٷaiiiiiuwA A B P>B B 'IB }BB =B B B ;B -:E p,¹?A>E,c?>f?>-}=ٱ>M8 FAHRS rotation from veh to nav: [[0.447821,-0.894035,-0.012572],[0.891987,0.445735,0.075361],[-0.061772,-0.044962,0.997077]]>H?`@8(?@?J?@C@?i>E,c?I>Dl`;9dYd=f=Fydfa;Ef>hQ 5n4j?Q 9r4jŴQ =rtI)j'BYpyr@?Q Ir?j%wCIjG ;ijC ;j4ytɮzC AxDNOT Ignoring new targets: 37.74 m.hh*h"h h!g!f!f!f!d)d)jd)Zd- _pB@ZQZQZQZU@?m-}=)i m$im9)im۷iiqiqEysEp,¹?Avc?vۍ?vG|=ٱv8 AHRS rotation from veh to nav: [[0.445367,-0.895254,-0.012950],[0.893230,0.443273,0.075167],[-0.061553,-0.045044,0.997087]]vH?[`V?^? >?`݃@"?ivc?Ivua;vCY~ByIiMb@Mb@Mb@ 9Fx?Zd;?/$YK>yy=,IAOA ~A)AYAbDVDy=:<%=3=ٔ=Q-=>9AYA=E=FyAE;EM>U%=UQ Eez;yeU?Q Im?]=wCI];i];]4yyɮ}- AyDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffmBddjdZd`ƫB@ZnY>ZnY>ZI>ZIU?EG|=)A Eib9)  '޷ i iOH+p,,¹?A>Sd?>I?>Ez=ٱ>9 NAHRS rotation from veh to nav: [[0.442373,-0.896730,-0.013453],[0.894750,0.440275,0.074700],[-0.061063,-0.045083,0.997115]]>HO?Gʡ?x-? ? C`@^?i>Sd?I>Ab;9hYh=j=Fyhn9<En>pQ 5v4r+å?Q 9v4rs)r~BYxyz?Q Iz?rPwCIrd:ir:r4y|ɮ~: A-DNOT Ignoring new targets: 37.74 m.h)h)*h)"h) h)g)f1f1f1d1d9jdAZdEB@ZaZaZaZe?uEz=)y }i}^9)y}&෉yiyiBBFIB~BBBBB;B):E=9y@ @@1@ԡ EM  EM EM *EI "EM &U;*EM O:VEM (N4ZEI BEM `Lp,j¹?Aɰp;2Еe?2+?2w=ٱ2: >AHRS rotation from veh to nav: [[0.439431,-0.898164,-0.014174],[0.896240,0.437318,0.074211],[-0.060455,-0.045314,0.997142]]2H ?@ýH??? g3?i2Еe?I2b;0YB~ByBIHbDRVDRkyZ}U%ZM=ٔZqȺQ-Z>9\Y\=^=Fy\b<Eb>`Q 5n4bHĥ?Q 9n4bV)b~BYlyn+?Q In?bdwCIbK;ibL;b 4yvFBɮvAvEDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd$C@ZZZZ+?w=) i9)Yⷉii i5> mi>mCiliA9@ @@/@@=@ >s9liAYO^AyM?UuA^A*<IIO> op,*¹?A2"pf?2T#?2nu=ٱ2d: :AHRS rotation from veh to nav: [[0.436458,-0.899603,-0.014785],[0.897728,0.434336,0.073732],[-0.059908,-0.045453,0.997169]]2H?@YG`0?`)??`9E?i2"pf?I2c;2CYb~By`|E% E% E%.E!"E%mR;*E%:VE%ـ4ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9Zd;O?y&1?Zd;Yj<>y`e=y OA)YAbDVDyJ%9=ٔpQ->9Y==Fy{;E>Q 5 4oť?Q 9 4/)~BYN>Q E;y?Q I?zwCIG ;i7 ;4yɮA!MDNOT Ignoring new targets: 37.74 m.hIhI*hI"hI hIgIfQfQfUrBdYdYjdYZd]3DC@Z}N>Z}N>Z}D>Z}?nu=) =i9)顝䷉iiߐԁ ߝ =ߝ =B A <B R>B :CB LIB '~BB =B B DB ;B 5:EWp,ù?A:vFg?:~?:Hr=ٱ:D; VAHRS rotation from veh to nav: [[0.433536,-0.901002,-0.015528],[0.899186,0.431400,0.073203],[-0.059257,-0.045698,0.997196]]:H?̏ !??l?V@e?i:vFg?I:(b;:CY^}~By^IbDfVDfyrt%r]=ٔrQ-r>9tYt=v=Fytz<Ez>xQ 54z`ƥ?Q 94zb)z~BYyR?Q I?zwCIzj;iz;z;4y ɮ@ A=DNOT Ignoring new targets: 37.74 m.h9h9*h9"h9 hAgAfAfAfIdIdIjdIZdMxsC@YZqZqZqZuR?Hr=) iڿ9)額淉ii =IIU9@Q @Q@Q@Q^A-<E5 E5E5*E1"E5US;*E5:VE5(N4ZE1BE5[ԉԱ ҅p,'ù?A88E-h?E?Etp=ٱE; ]AHRS rotation from veh to nav: [[0.430381,-0.902504,-0.016081],[0.900744,0.428249,0.072546],[-0.058586,-0.045707,0.997235]]EH [?P`w?mh?_?  f@Z?iE-h?IEb;ECYm|~Byiu=u=ԱiMb@Mb@Mb@ 9M?L7A`?x&Yn>y+=7xAA ~A)xAYA!!bD-VD-:yp%.=ٔnQ->9Y==FyC;E>Q 5-4ǥ?Q 9-4)~~BY-3%>Q E-;y-,?Q I5?wCIS;i;y 4y9ɮ=B A9eDNOT Ignoring new targets: 37.74 m.haha*ha"ha hagafififm>BdidqjdqZdu`~C@Z3%>Z3%>Z=h>Z,?-tp=)) -i59)15鷉1i1iYY]K=IYIaE=3 E='E=/E9"E=j;*E=";VE=J4ZE9aM@aM@aM@aM@m9@i @i@q@q@y@}hA i I 9 ^AU <Ii I O >ip,Aù?A2h?2`?2n=ٱ2F< :AHRS rotation from veh to nav: [[0.427786,-0.903727,-0.016655],[0.902012,0.425646,0.072113],[-0.058081,-0.045872,0.997257]]2H``?S@H?=?`u?@Ѽ`|`?i2h?I2)b;2CYBh~ByBtIbDNVDNyVu%Vw=ٔVȺQ-V?9XYX=Z=FyXZ<E^?`Q 5f4bȥ?Q 9f4by)bd~BYdyf?Q If?bwCIb:ib:b;&4yhɮn AlDNOT Ignoring new targets: 37.74 m.hh*h "h  h g f ffddjdZd`C@ZZZZ"?n=) i9)ii!!%k=I!I) ))I-)- 9@  @ @ 0@ ^AG=IIO )>ABBBBBBBB;B1:EB)B)B)B-ũ =B-ũ =C-B5iEM  EM EM ,EI "EM V;*EM j:VEM g4ZEI BEM }9TYT=Z=FyXZH;EZ>\Q 5b4^ɥ?Q 9b4^)^E~BYdyf?Q If?^wCI^:i^|:^G-4yhɮj Ah DNOT Ignoring new targets: 37.74 m.h h *h "h  h g fffddjdZd D@Z9Z9Z9Z=?U- l=)Q UiUi9)QU췉YiYiaaew(=IaIaq@ @@0@ԡ^A=]=IiIO> p,quù?Aɰ:6j?:?:Lij=ٱ:< FAHRS rotation from veh to nav: [[0.423236,-0.905850,-0.017521],[0.904212,0.421091,0.071288],[-0.057198,-0.046014,0.997302]]:HJ?@N?)???I .?i:6j?I:T`;8Y^P~BybfIE4 EE/E"Ej;*E&:VEJ4ZEa @a @a @a @ieMb@Mb@Mb@aaaa a9e`"?~jthV-Ye=yeDeheAeA eA)eAaYe\AbD}VD}1y3%==ٔpQ->9Y==FyX;E>Q 54˥?Q 94Ԥ)"~BY>Q E;y(?Q I?wCI':i;44yɮ ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZdHHD@Z>Z>ZD@Z(?-Lij=)1 5hi59)151i9i99E/=IAIAIq)ugA-9@1 @1@=_0@9@U>@U>) ^Am $=Iq I O >Ay A} AAB B 9CB 9IB ~BB =B B DB ;B &:EQ +p,Vù?A29Y = =Fy  e;E >Q 54{ͥ?Q 94ȣ)~BY!y%_?Q I%?wCI:i[:;4y)ɮ- A)]DNOT Ignoring new targets: 37.74 m.hYhY*hY"hY hYgafafafadadijdiZdmvD@ZZZZ_?i=) hi9)顭𷉢ii;4=II)9@ @@4@D=D<bE^n4jE^n4rE#0E< EE-E"E,r;*E:VEt4ZEBEԁ [p,*6ù?A0Uj?U`?Uh=ٱU< uAHRS rotation from veh to nav: [[0.420776,-0.906988,-0.017894],[0.905382,0.418631,0.070932],[-0.056844,-0.046048,0.997321]]UH?@  R??@(? ?iUj?IU.^;UCYO~ByeIiMMb@Mb@Mb@IIII I9M ףp= ? rhT㥛 YMQ=yMC MIM A M; A)IIYMAbD}VD}βy:%4=ٔ=͹Q->9Y==Fy;E>Q 5 4;Х?Q 9 4)}BY =Q E ;y u;?Q I?wCI;i ;C4yDBɮ AEEDNOT Ignoring new targets: 37.74 m.hQhQ*hY"hY hYgYfYfafeBdadajdiZdm D@ԉZ=Z=Z߀@Zu;?h=) ^ih9)顭h򷉢ii9!8=IIY@Y @Y@]5@YԱE E,E/E"E՘;*E;VEJ4ZEa%@a%@a%@a%@^AE .=IQ Ia Om > p,Sù?A2^j?2f?2Ri=ٱ2F< :AHRS rotation from veh to nav: [[0.420584,-0.907078,-0.017845],[0.905465,0.418440,0.070997],[-0.056933,-0.046018,0.997317]]2H ?F??,?F& ?i2^j?I2S];0YBP~ByBfIJ=Jp=HHbDNVDN0yV%;%Vo=ٔZ܍9Q-Z?9XYX=^=Fy\`bS&:Eb?dQ 5j4f-ҥ?Q 9j4fv)f}BYhyj;?Q Ij?fwCIf>:if:fI4ypɮr Ap DNOT Ignoring new targets: 37.74 m.h h *h"h hgfffddjd!Zd%`D@ZAZAZAZE+;?URi=)Q ^im9)󷉢iil8=IIB)B)B-'IB-}BB- =B)B)B-;B-$:E]=9@ @@2@@@iAE- + E- 3E- *E) "E- b;*E- t ;VE- (N4ZE) BE- `p,Lù?A6mk?6yk?66zi=ٱ6; >AHRS rotation from veh to nav: [[0.420458,-0.907141,-0.017603],[0.905522,0.418331,0.070920],[-0.056970,-0.045758,0.997327]]6H? M`m?? '? ;+m?i6mk?I6];6CYF[~ByFlIbDjVDjy<%C=ٔ^8Q->9!Y!=M=FyIU9EU>aQ 54eԥ?Q 94eá)e}BYy;?Q I?ewCIeԑ . p,ù?A2Oj?2_?2i=ٱ2: :AHRS rotation from veh to nav: [[0.420774,-0.906999,-0.017345],[0.905367,0.418660,0.070958],[-0.057097,-0.045561,0.997329]]2H`?# ‘?R?G*?;S?i2Oj?I2\;2CYBg~ByBtIEv" EvEv.Et"EvZ;*Ev:VEvـ4ZEtaz@az@az@az@iUMb@Mb@Mb@QQQQ Q9Ui|?5?Zd;OˡEYUq=yUj9Y==FyCaE>Q 54ץ?Q 94l)}BY=Q EQ I?wCI:i:$X4yɮ ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfff׀BddjdZd@GE@Z=Z=Z޳@Z>-i=)) -Qi59)15qii2q7=IIm9@i @i@q@qԱ^AIIO> B% <A% <B- T>B- :CB) B) B- =B) B) B- ׃;B- :E q,ٔĹ?A2j?2 J?2j=ٱ2: :AHRS rotation from veh to nav: [[0.421375,-0.906724,-0.017158],[0.905078,0.419265,0.071074],[-0.057251,-0.045478,0.997324]]2H?ԑe?;?1?OH?i2j?I2\;2CYB~ByBIIF<)Fp;HHbDNVDN1yVs=%VY=ٔV9Q-Z>9XYX=Z=FyX^E^>`Q 5f4b!٥?Q 9f4b)b}BYdyfU>Q If?bwCIb:ib>:b^4ylɮnAleDNOT Ignoring new targets: 37.74 m.haha*ha"ha hagifififidqdqjdqZdu:yE@ZZZZU> j=) JIiN9)151i1i99EA 5=IAIAM9@ @@0@E E E,E"EUS;*E:VEg4ZEBE[Y w! q,}*Ĺ?A-`pj?-s#?-k=ٱ-]: AHRS rotation from veh to nav: [[0.422433,-0.906235,-0.017003],[0.904564,0.420314,0.071421],[-0.057577,-0.045551,0.997301]]-H" ?@8i/?j?H?z lR?i-`pj?I-\;)Y~ByI15<9imMb@Mb@Mb@iiii i9mV-?MbYmh=ym@m̼mAmj A mj A)mdAiYmzAbDVDy5=%/=ٔ~7:Q->9Y==Fy%E>Q 54ܥ?Q 94)}BY=Q EԱ q,KDĹ?A6j?6?6l=ٱ6I; BAHRS rotation from veh to nav: [[0.423541,-0.905717,-0.016998],[0.904032,0.421407,0.071718],[-0.057793,-0.045742,0.997280]]6HK? g?`S?` \?k?i6j?I6\;6CYF~ByJIbDRVDR1yZ=%Zo=ٔZ1&:Q-Z?9\Y\=^=Fy\bElEb?dQ 5j4fޥ?Q 9j4f5)fx}BYhyj?Q Ij?fxCIf:if:fl4ypɮrAp DNOT Ignoring new targets: 37.74 m.h h *h "h  hgfffddjdZd%AE@ZAZAZAZE ?Ul=)Q U{0iU9)Y]YiYiaae],=IaIi iiIq)qԑ@ @@0@BS>B9CB9IB~BB =BBB;B:E^A4/=IIO>E & E E -E "E 8^;*E :VE t4ZE BE °9iYi=m=Fyiu#Eu>qQ 54uॊ?Q 94u)ul}BYy?Q I?uxCIu:iu6:uJt4yɮ^ADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdF@ZZZZk?m=)  k&i 9)  - i i)=III-hA))9@ @@o0@@@hA^AIAIqO>I 8Zq, xĹ?AEb Eb%E`E`"EbV;*Eb;VE`ZE`aj@aj@aj@aj@Y~By~IiMb@Mb@Mb@ 9(\µ?Zd;OI +Y=yj94A A  A)AYAbDVD0y=%B=ٔQ->9Y==FyE>Q 54⥊?Q 94)f}BYy "\?Q I ? xCI:i:{4yɮA=DNOT Ignoring new targets: 37.74 m.hAhA*hA"hA hAgAfAfIfMBdIdIjdQZdUKF@ZqZqZu @Zu "\?) Bi9)顕ii&*=IIԑ!@! @i@uw1@yԹ^A)=IIO> A A B Q>B B _IB E~BB B B B ;B :EBBBBʬ =Bʫ =C`5e =e %=Q$q,Ĺ?ABGui?B楐?Bvn=ٱB;< JAHRS rotation from veh to nav: [[0.425880,-0.904624,-0.016753],[0.902907,0.423735,0.072168],[-0.058186,-0.045861,0.997252]]BH A?'`?y?y?ʭ!{|?iBGui?IB\;BCPYV6ByVIbD^VD^:yf=%f\=ٔf9Q-j>9hYh=j=Fyhn.En>pQ 5v4r䥊?Q 9v4rY)r`}BYtyv[?Q Iz?r)xCIr:ipr&4y|ɮ~JA|%DNOT Ignoring new targets: 37.74 m.h!h)*h)"h) h)g)f)f1f1d1d1jd9Zd= U{F@ZYZYZYZ]+[?mvn=)q u|:iu(9)qu qiqi $=II9@ @@4@E9 EE,E"Eso;*E:VEg4ZEBE! `o*q,īĹ?AR4<ɰR4<}]i?}?}An=ٱ}(< AHRS rotation from veh to nav: [[0.426207,-0.904471,-0.016732],[0.902756,0.424064,0.072120],[-0.058135,-0.045843,0.997256]]}HF?m "`?#?zv?íx?i}]i?I}\;}CY-pBy-IiMb@Mb@Mb@ 9ףp= ?y&1|/$Y>y`廙1A| A  A)AYA 4<bDVDkyF=%.=ٔQ->9Y==FyeIE>Q 54l祊?Q 94)R}BYT >Q E;y?Q I?;xCIv:i]:U4y ɮ _A -B*** querying acoustic contact ***i) i)=DNOT Ignoring new targets: 37.74 m.h9h9*h9"h9 h9gAfAfAf%RBd!d!jd)Zd-F@AZUT >ZUT >ZU%@ZUq?An=) Li"9)額iiC#=IIU9@Q @Y@]5@Y@e=@e=E0 E-EE"EJg;*EK;VEZEa@a@a@a@i 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ԙ ^A "=I I O >T1q,uĹ?A2ei?2,?2cm=ٱ2F; :AHRS rotation from veh to nav: [[0.426100,-0.904522,-0.016718],[0.902820,0.423970,0.071874],[-0.057924,-0.045719,0.997274]]2H`7E?`?Q"?@]f?: {h`?i2ei?I2\;2CYB}ByBIbDNVDNyV=%Vw=ٔV'Q-V?9XYX=Z=FyXZ9E^?Q 54饊?Q 94w)H}BYy?Q I%?IxCI;i;L4y)ɮ-,A)UDNOT Ignoring new targets: 37.74 m.hQhQ*hQ"hY hYgYfYfafadadajdiZdm`F@yZZZZ!?cm=) Ii9)顭3ii?$=IIBuR>BqBuIBu~BBqBqBqBu;Bu:EԩM*DAT read: user:348> UBDAT read: Tx time:03:29:24.6128 U$Ping request sent.U~7q,oĹ?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246840YEByECIbDU VDU:2y >%==ٔQ->9Y==FyE>Q 54쥊?Q 94);}BYyQ I?YxCI :i:4yɮDADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZd@.G@ZZZZ1)1 5;i5>9)9=9i9iAAAIAIIy@ @@/@  Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499881a^A l"=I1 IA OU >y |=q,RIĹ?A@6Ti?6mĐ?6 i=ٱ6; >AHRS rotation from veh to nav: [[0.425067,-0.904998,-0.017245],[0.903362,0.422944,0.071097],[-0.057049,-0.045800,0.997320]]6H`K4? @X?`?q3?5s@ ?i6Ti?I6z\;6CYFByFNIER# ERJER+EP"ER[;*ER;VER [4ZEPaZ@aZ@aZ@aZ@i%Mb@Mb@Mb@!!!! !9%gfffff?l?~jtY%33>y%=%%A%j A %; A)%A!Y%AbDEVDEkyM6=%MN=ٔUQ-U>9QYY=]=FyY]@;Ee>aQ 5m4e{?Q 9m4e))e.}BYu18>Q Eu;yu?Q Iu?ekxCIe<:ie:e4yɮAEDNOT Ignoring new targets: 37.74 m.hIhI*hI"hI hIgIfIQfqf}_BdydjdZdOG@Z18>Z18>ZZ\U>ZH?= i=)A Ep=iE&9)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752942顭qFii(=IIIp=)=ԁE9@A @A@I@I@Q@Qԩ^A% "=I1 IA OM >Be <Ae 4=Bi Bi Bm IBm BBm =Bi Bi Bm ؃;Bm :EE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002233 IDq,%$Ź?AF j?FH?Fg=ٱF; RAHRS rotation from veh to nav: [[0.423981,-0.905502,-0.017488],[0.903906,0.421871,0.070558],[-0.056513,-0.045723,0.997354]]FH"? M葿???B﬿ hS?iF j?IF\;FCYVByZlIbDbVDb:yjO=%jS=ٔjuQ-j>9lYl=n=FylrgM;Er>tQ 5z4v?Q 9z4vf)v"}BYxyz*?Q Iz?v}xCIv:iv:vd4yɮ5A-DNOT Ignoring new targets: 37.74 m.h)h)*h1"h1 h1g1f1f9f9d9d9jdAZdE}G@ZaZaZaZe*?ug=)q } 1i}9)y}yiyi,=II9ԹD=D%=E@ E!E/E"Eu;*E:VEJ4ZEBE" 9 λJq,!-Ź?A-?¦{?i-9IYI=M=Fy!;E>Q 54l?Q 94K)}BYyN?Q I?xCI;i ;4yBBɮAEDNOT Ignoring new targets: 37.74 m.hh*h"h hg f  ffddjdZdG@ZAZAZAZEN?Te=) *0i9)顝@iiS0=IIa@ @@@9E2 EEE"Ei;*EVEZEa@a@a@a@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758213^A h*=I I! O- >?Qq,@FŹ?A;ɰp; 6aj?6sB?6b=ٱ6= >AHRS rotation from veh to nav: [[0.421631,-0.906576,-0.018648],[0.905079,0.419502,0.069643],[-0.055313,-0.046242,0.997398]]6H@?`@h??Ա? R@?i6aj?I6];6CYF ByF}IHJAiMb@Mb@Mb@ 95^I ?L7A`?L7A`堿YX>y+=+A A  A)YA up9Y==Fy#;E>Q 54W?Q 944)}BYd>Q Em;y?Q I?xCI<:i#:4yɮADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd@G@Zd>Zd>Z7>Z?5b=)1 =@i=9)9=9i9iAAEcx5=IIIIiBS>BBIBvBB =BBB΃;B:E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010222].9ԙ9@ @@@E  E "E -E "E V;*E ;VE t4ZE BE }Xq,aŹ?A6$k?6}?6_=ٱ6> >AHRS rotation from veh to nav: [[0.420010,-0.907313,-0.019328],[0.905875,0.417873,0.069080],[-0.054601,-0.046524,0.997424]]6Hr?@ʓ`?m? @?`ѧ`?i6$k?I6Y^;6CYFByFIbDRVDRܲyZ2=%ZO=ٔZQ-Z>9\Y\=^=Fy\^;Eb>dQ 5j4fR?Q 9j4f)f|BYhyj˷?Q Ij?fxCIf1:if:fպ4yr4BɮeAexEDNOT Ignoring new targets: 37.74 m.hh*h"h hgfffddjdZdH@ZAZAZAZEF˷?U_=)Q U;i9)額ii;=II1a]=9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516657 9@  @ @ @ ԑ EE 8 EE 2EE *EA "EE n;*EE ;VEE (N4ZEA aM @aM @aM @aM @Թ ^A5 4=IA IQ Oe >n^q, ~Ź?A k?ґ? \=ٱo0? %AHRS rotation from veh to nav: [[0.417677,-0.908377,-0.019947],[0.907008,0.415549,0.068237],[-0.053696,-0.046593,0.997470]]H7?l l4?Z?@w?~ۧE?i k?IH^;CY5By5Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766313iEMb@Mb@Mb@AAAA A9EuV?MbX9?YErh>yEʡ=ELEAE A A)AAYAbD]VD]1ym%m%=ٔuQ-u>9qYq=u=Fyy}٫;E}>ԁQ 54S?Q 94)|BYd{>Q EX;y?Q I?xCIz:i:{À4yɮADNOT Ignoring new targets: 37.74 m.hh*h"h hgfffBddjdZd`ZH@Zd{>Zd{>Zy>Z?5 \=)1 5@i5,9)9=C9i9iAAE8D=IAII=O9@ @@ 0@ԹAaAaBmU>BiBm@IBmBBm =BiBiBm;Bm9E BDAT read: Rx Time:03:29:27.0776  TRx dataTimestamp_ set to:1761535766.280853 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020317^A d6=I I O > eq,俗Ź?A2tl?2%?2X=ٱ23? :AHRS rotation from veh to nav: [[0.415401,-0.909408,-0.020449],[0.908098,0.413286,0.067472],[-0.052908,-0.046598,0.997512]]2H?`$?`Es?E? ۧ?i2tl?I2V^;0Yj ByjI llr=r=bDvVDvy~=%~f=ٔQ->9Y= =Fy  ;E >Q 54?Q 94)|BY!y%W?Q I%?xCI#;i/;ɀ4y)ɮ-A)}DNOT Ignoring new targets: 37.74 m.hyhy*hy"h hgfffddjdZdH@ZZZZW?X=) ]9i9)oiiL=IIE% EE,E"EO];*E:VEg4ZEBE3Nlq,圳Ź?A2DAT read: 03:29:27.0776 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 9,-0.06, 1.857,-2.876, 1.449, 2.356, PHS=-0.397, 1.096,-0.951, RAW= 345.2, 2.8, CAL= 344.7, -0.2, ROT= 165.3, 0.2 6Ygot valid direction response: 03:29:27.0776 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 9,-0.06, 1.857,-2.876, 1.449, 2.356, PHS=-0.397, 1.096,-0.951, RAW= 345.2, 2.8, CAL= 344.7, -0.2, ROT= 165.3, 0.2 :PDAT read: Bearing 29.2, 18.0 (Local) :~Local bearing/azimuth received: Bearing 29.2, 18.0 (Local) BDAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed -0.2 m/s BR#Rx 1: Read range and direction messages.F`direction in FSK: [-0.967262,0.253756,-0.003491]JFpublishing direction and range infoyPwW-+z9=?QC1mlY5B )DIC˾iI?ts@+H=M@ d)R8@Id;uU濻b>=fب? \)3FIR8@id;m??WS=ٱMk> AHRS rotation from veh to nav: [[0.411376,-0.911222,-0.021069],[0.909998,0.409292,0.066210],[-0.051708,-0.046410,0.997583]]HS?@(.? 1? ?yç3?im?IU^;CY%By%IYiMb@Mb@Mb@ 9(\?Q?QYG>y\=uA A  A)YAbDVDN2y % "=ٔ Q->99Y9===FyAE<EE>IQ 5u4M?Q 9u4M)M|BY}\>Q E}v;y}?Q I}?M yCIM;iM>;MҀ4yɮAii.7Ź?AJi4BRi4Bjiy@b#&E%$(.&@o;3ĿRPwW-+z9=?QC1mlZiR8@bid;j5q<bhf9Ap% $?Z/MI!俯y]迋bҘˡ?2iq :i"i,?*ii]#BiCBiiiCBi2BiO@E E*EE"E;*E;VEZEa%@a%@a%@a%@5 addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 49.425284 s, deltaX: 7.500000 m, approachRate: 0.151744 m/s, rangeRepo size: 4 E Added new target pos. range: 45.212696 m, bearing: 230.990917 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 49.425284 s, deltaX: 7.468666 m, approachRate: 0.151110 m/s, posRepo size: 4 MDNOT Ignoring new targets: 45.21 m.hIhi*hi"hi higqfffBddjd@3F@Zd?Z\>Z\>Zu>Z3?WS=) 33i9)iiR[=IIԉԹm 9 9@  @ @ /@ B} W>By B} SIB} BB} =By B} DBy By BABABABABEͭ =CEA5^A-<H=1I9IIO]?Btq,Ź?A2(n?2?2LQ=ٱ23.> >AHRS rotation from veh to nav: [[0.409385,-0.912110,-0.021421],[0.910931,0.407316,0.065564],[-0.051077,-0.046354,0.997618]]2H@]3?0C`X&?w?Ȱ?&}?i2(n?I2^;2CYB ByFIbDNVDNyVW%V@=ٔV úQ-Z>9XYX=Z=FyX^;E^>`Q 5b4be?Q 9f4b)bp|BYdyf(?Q Ij?b yCIb7;ib3;bـ4ylɮn7AlDNOT Ignoring new targets: 45.21 m.hh*h"h h g f ffddjdZd?ZZZZk(? LQ=)  ;i @9)Lii[b=IIE! E E+E"EY;*E:VE [4ZEBE׬zq,Ź?A$0ɰ24 ZAHRS rotation from veh to nav: [[0.407846,-0.912792,-0.021727],[0.911644,0.405781,0.065165],[-0.050666,-0.046384,0.997638]]RH@$?`5`?@0,?R?? `?iROn?IR];RCYbBybuIIf4=)fp<bDnVDn:yv;5%vG=ٔvyQ-z>9xYx=z=Fyx~ׇ;E~>Q 5 4?Q 9 4)Q|BY y ^?Q I ?5yCI:i-:4yɮAEDNOT Ignoring new targets: 45.21 m.hAhA*hA"hI hIgIfIfQfQdYdajdiZdu"?ZZZZ3^?O=) @@i9)页niiIIUg=IQI gAfAqԡE=9 E=.E=.E9"E=so;*E=;VE=ـ4ZE9aM@aM@aM@aM@Q] 9@  @ @ @ @ =@ > ^A5 H\=IA IQ O] >+Eq, ƹ?A2n?2"i?2N`N=ٱ2JV> >AHRS rotation from veh to nav: [[0.406468,-0.913401,-0.021956],[0.912276,0.404408,0.064859],[-0.050363,-0.046393,0.997653]]2H?:`{ ]1? ??>ɩ ?i2n?I2w];2CY@yBtIiMMb@Mb@Mb@IIII I9MS㥛?&1?x&YM$>yMP=M7MAM9 A M A)MAIYM AbDeVDeβyuHz%u3=ٔ}Y.Q-}>9yYy=}=FyyOZ;E>Q 54?Q 94)-|BY :>Q E;y1?Q I?IyCI:i:4yɮADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffLBddjdZd;?Z :>Z :>Z>Z1?N`N=) #ie9)T׵ii!)-Hl=I)I)B%<A%<B-Y>B)B-LIB-BB- =B)B)B-܃;B-:E9߅4=߅4=@ @@1@1 ^A= c=DA DA bEg4jEm4rE/EM  EM %EM +EI "EM P;*EM ;VEM [4ZEI BEM I kq,N#ƹ?A2ENo?2e?2FrM=ٱ2l> :AHRS rotation from veh to nav: [[0.405324,-0.913905,-0.022149],[0.912797,0.403266,0.064633],[-0.050137,-0.046415,0.997663]]2H?> M5?@?`ы? ç`?i2ENo?I2];2CY^By^iIbDfVDf0ynxF%nU=ٔr5Q-r>9pYp=r=FypvxQ 5~4zi?Q 9~4z)z|BY|yY?Q I?zYyCIzD;iz?;z4y ɮ A 5DNOT Ignoring new targets: 45.21 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdIZdMv?ZiZiZiZmY?FrM=) (i9)쵉ii   @p=I I)E9Y@ @@?0@ԁ ^A I! I1 OE >bq,=ƹ?AE, E'E.E "Ec;*E";VEـ4ZE a@a@a@a@ H~ o?~ɫ?~M=ٱ~N> AHRS rotation from veh to nav: [[0.404616,-0.914218,-0.022163],[0.913110,0.402559,0.064627],[-0.050161,-0.046387,0.997663]]~H`9?FA@28??b? ?i~ o?I~R];~CY5By5^IiMb@Mb@Mb@ 9 rh?~jt?y<t A  A)AYAbD=VD=02yM%M6=ٔMHc8Q-M>9QYQ=U=FyQU:E]>YQ 5m4]?Q 9m4]t~)]{BYm{>Q Em;ym}?Q Im?]hyCI] ;i] ;]4yyɮ}AyDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZdC@Z{>Z{>ZJ2>Z}?M=) zi>9)iir=II I9?)A?Թ9IgA)BE X>BE :CBE :IBE BBE =BA BA BE ;BE ?:Ee 9@a  @a @e O0@i  A ^A np=I I O >-q,:Yƹ?A2o?2?2.N=ٱ2У= :AHRS rotation from veh to nav: [[0.404186,-0.914413,-0.021982],[0.913292,0.402135,0.064693],[-0.050316,-0.046224,0.997663]]2H-?Bd9? ?? é@?i2o?I2k\;2CYBByBPIbDNVDNܲyVo%VM=ٔVd9Q-V>9XYX=Z=FyX^:E^>`Q 5b4b?Q 9f4b})b{BYdyf?Q IE?bvyCIbݠq,tƹ?AMo?M9?MO=ٱMJ< ]AHRS rotation from veh to nav: [[0.404259,-0.914388,-0.021665],[0.913241,0.402213,0.064933],[-0.050660,-0.046035,0.997654]]MH`?B A/@D9?@ܽ?x?*㑧?iMo?IM\;MCYmBym>IiMb@Mb@Mb@ 9ʡE?{GzX9vY-=y#}AA " A)KAY AbD VD J2yp%.=ٔL@:Q->9!Y!=%=Fy!-'DE->qQ 54?Q 94/|){BY=Q E;y=?Q I?yCI:i:4yɮADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff݀Bdd jd Zd  # @Z-=Z-=Z-\f@Z-=?EO=)A EiE9)AEIiIiQQU s=IQIQE-2 E-E-1E)"E-i;*E-4:VE--4ZE)a=@a=@a=@a=@ԙ9e 9@a  @a @m 0@i A1 A1 B= V>B= 9CB= IB= vBB9 B9 B9 B= ;B= H:E^A np=I I O >9q,Zƹ?A2̀o?2?2.Q=ٱ2h< :AHRS rotation from veh to nav: [[0.404601,-0.914243,-0.021380],[0.913067,0.402555,0.065250],[-0.051048,-0.045922,0.997640]]2H?@{A䕿 7?t?9XYX=Z=FyXZyE^>\Q 5b4^=?Q 9b4^v{)^{BYdyf2?Q If?^yCI^8;i^;^ 4yhɮnAlDNOT Ignoring new targets: 45.21 m.hh*h"h hgf ffddjdZd : @iZZZZ}2?.Q=) i9)iiOr=II  gAԙE9 EDE0E"Eso;*Eh;VE4ZEBE]Gy9YA9@ @@34@iIA ^A @p=I I O >q,+ƹ?ABAo?B7?BS=ٱBb< RAHRS rotation from veh to nav: [[0.405467,-0.913862,-0.021251],[0.912657,0.403404,0.065745],[-0.051509,-0.046052,0.997610]]BH-?`\> •|4?`^?԰?a_`!@l?iBAo?IBp\;BCYZBy^CIbDjVDjkyr$<%r>=ٔrnj:Q-r>9tYt=v=Fytz\Ez>|Q 54~?Q 94~z)~r{BYy?Q I ?~yCI~:i~:~B4yɮAYDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd 1@ZZZZ-?S=) i!9)%[#!i!i!)-'n=I)I)ԉ9Թ9@ @@4@E 1 E @E .E "E 2h;*E M;VE ـ4ZE a @a @a @a @ ^A I I O >֒q,ƹ?A2n?2\?262U=ٱ2n> :AHRS rotation from veh to nav: [[0.406782,-0.913277,-0.021276],[0.912043,0.404685,0.066394],[-0.052026,-0.046413,0.997567]]2H`?9nɕs/?\?@9?@2 mç?i2n?I2\;2CYBByBAIi Mb@Mb@Mb@     9 p= ף?l:vY =y  T A  A  A) A Y  AbD%VD%0y5;%5E=ٔ5:Q-5>99Y9===Fy9EeEE>IQ 5M4M ?Q 9U4M6z)M[{BYU=Q EUB:CBIBWBB =BBB;B=:E9@ @@/@@@gAߝ=ߝ%=^A I I O >A ͼq,tƹ?AEk EEE"Ef;*EO:VEZEBE bAHRS rotation from veh to nav: [[0.408215,-0.912645,-0.020998],[0.911366,0.406100,0.067035],[-0.052652,-0.046502,0.997530]]VH/ ?@b4@t)??;)?= ϧ ?iVzn?IV\;VCYjByj^In=n=bDpVDpyz{=%zN=ٔ~Q:Q-~>9Y==FyE> Q 54 ?Q 94 y) F{BYy?Q I? yCI I;i ; l#4y!ɮ%A)UDNOT Ignoring new targets: 45.21 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde&@ZZZZ?xW=) *Ͼi9)顥ii}d=II-9@) @)@-0@)A^AMh=IYIiqO}>ԡ q,Oƹ?A2m?2?2RY=ٱ2K? :AHRS rotation from veh to nav: [[0.409983,-0.911855,-0.020842],[0.910543,0.407849,0.067606],[-0.053146,-0.046695,0.997494]]2H@+=? - W+#?0?@N?6c觿`y?i2m?I2[];2CYBByB[IiEMb@Mb@Mb@AAAA A9EQ?S㥫~jtYEu=yE/]EEAEA EA)AAYE3 AbD]VD]ym(%mC=ٔu:Q-u>9qYq=}=Fyy}E}>Q 54?Q 94ty)5{BY=Q EQ I?yCIM:i:*4yɮ(ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBdd jd Zd@qE EE/E"EV;*E4:VEJ4ZEa@a@a@a@Z=Z=Z@Z >RY=) ̾iN9)>ڳii ^=II  99@ @@/@ԩ^A Jc=I I O >B A B V>B B B B B B B ;B @:EB:CB:CBBʭ =BCI5 q,A*ǹ?A6vm?6?6][=ٱ6@ >AHRS rotation from veh to nav: [[0.411805,-0.911040,-0.020584],[0.909691,0.409655,0.068158],[-0.053663,-0.046793,0.997462]]6H`[?<'/?7?r?@y@?5?i6vm?I6P];6CYFByFcIbDRVDR1yVy=%VW=ٔZ}:Q-Z>9XY\=^=Fy\^୻Eb>`Q 5f4b?Q 9f4b(y)b&{BYhyj>Q Ij?byCIb2:ib:ba14ylɮnApeDNOT Ignoring new targets: 45.21 m.hahi*hi"hi higififqfqdqdqjdZd{T@ZZZZ>][=) ži9)Mii?W=I!I!E  EEE"EE;*E:VEZEBEEEY q,.ǹ?A4<ɰ6Xl?6oY?6r{]=ٱ6? BAHRS rotation from veh to nav: [[0.413938,-0.910082,-0.020164],[0.908699,0.411792,0.068510],[-0.054046,-0.046682,0.997447]]6H}?@c`ܥ?Z?`ቱ?@`槿@?i6Xl?I6^^;6CYF ByJ}INANAbDPVDPyZ=%ZI=ٔ^,x:Q-^>9\Y\=b=Fy`b;Eb>dQ 5j4f ?Q 9j4fx)f{BYlyn>Q In?fyCIf;if;fx84ypɮrLAp DNOT Ignoring new targets: 45.21 m.h h *h"h hgfffddjd!Zd%`@ZAZAZAZEm>r{]=) _i9)ViilO=II)Qm9@i @i@i@iE E+E.E"EL;*E=;VEـ4ZEa@a@a@a@ԁ ^A &V=I I O >q,Gǹ?A0>W;l?>?><_=ٱ>? FAHRS rotation from veh to nav: [[0.416160,-0.909074,-0.019881],[0.907658,0.414003,0.068977],[-0.054474,-0.046751,0.997420]]>H]?`"[@ ??`y? 䫿 刺?i>W;l?I>^;>CYN$ByRIi%Mb@Mb@Mb@!!!! !9%X9v?v/I +Y%}=y%xi%9%A%jA %jA)!!Y% AbD=VD=yM=%MA=ٔU:Q-U>9QYQ=U=FyQ]E]>aQ 5m4er ?Q 9m4e~x)e {BYmE=Q EuQ Iu?eyCIeZ:ieb:e?4yyɮ}ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBd1d1jd9Zd=`դ@Z}E=Z}E=Z}E@Z}u><_=) pi9)ii_G=IIԉ9BBB!IBBB =BBBB?:EU9@Y @Y@]0@YԹ^A- LM=I1 II OU > bEـ4jE˶4rE$Z/E & E E E "E 8^;*E :VE ZE BE °9Y==FyٻE>!Q 5-4% ?Q 9-4%+x)%{BY1y5>Q I5?%yCI%G:i%:%F4y=2Bɮ=AEyEmDNOT Ignoring new targets: 45.21 m.hihi*hi"hi higifqfqfqdqdyjdyZd})@ZZZZ>:`=) Ji9)顽ii>=II19 @  @ @ 4@ @@hA^APH=IIO>I S5q, {ǹ?AYrHByvI ttz=za=!i]Mb@Mb@Mb@YYYY Y9]zG?{Gz9)Y)=-=Fy)5E5>9Q 5E4=C?Q 9E4=6w)=zBYE =Q EE;yEC?Q IE?=yCI=:i=V:=O4yQɮUQAQ}DNOT Ignoring new targets: 45.21 m.hyhy*hy"h hgfffBddjdZd`D @Z =Z =Z#j@Z;C?) iv9)3iiD?=IIIR99@ @@5@yB W>B 9CB LIB BB =B B B ;B 8:Eԩ ^A څ<=I I O >q,rǹ?A6ePj?6u?6w_=ٱ6d@ >AHRS rotation from veh to nav: [[0.422944,-0.905948,-0.019414],[0.904507,0.420785,0.069332],[-0.054642,-0.046884,0.997405]]6H?Pᓿ?%?෿?@"`?i6ePj?I6`;6CYFdByFIbDRVDR1yZ.>%Z|=ٔZLrQ-Z ?9\Y\=^=Fy\buEb ?dQ 5f4fy?Q 9j4fv)fzBYhyjiB?Q Ij?fyCIfh:if:fT4ypɮrnAp DNOT Ignoring new targets: 45.21 m.h h *h "h  h gfffddjdZd%X@yZZZZWiB?w_=) Ñi9)iie,=IIM9@I @Q@U/@QԩD<D<E E E,E"EmR;*E:VEg4ZEBE Gq,'Mǹ?A6oi?6zА?6]=ٱ6$e@ BAHRS rotation from veh to nav: [[0.424803,-0.905076,-0.019479],[0.903664,0.422657,0.068933],[-0.054157,-0.046885,0.997431]]6H@/?@b`;? ?? wX?i6oi?I6Ua;6CYJuByJIbDRVDRkyZ=%ZJ=ٔZfQ-Z>9\Y\=^=Fy\bEb>dQ 5j4f<?Q 9j4fu)fzBYhyjA?Q Ij?fyCIfS:ifl:f[4ypɮrAp DNOT Ignoring new targets: 45.21 m.h h *h"h hgfffddjd!Zd%@ZAZAZAZEA?U]=)Q ]Ii]9)Y]G~YiYiaamZ3(=IiIiu`9@ @@%/@!@U=@U=E$ E+E.E"Eg\;*E=;VEـ4ZEa%@a%@a%@a%@1^A)=IIO>i! I% AY .q,(ǹ?A2Ki?2ϐ?2ݳ[=ٱ2@ :AHRS rotation from veh to nav: [[0.426571,-0.904240,-0.019683],[0.902864,0.424430,0.068529],[-0.053613,-0.047003,0.997455]]2HL? 'B?@)?`?s&?i2Ki?I2za;0YZByZII^=)^;^A^Ai=Mb@Mb@Mb@9999 99=M?y&1 rhY=n>y=`e=C= A9 =jA)=| A9Y= AbDUVDUkye=%e?=ٔmaQ-m>9iYi=m=Fyqu=Eu>yQ 54}?Q 94}_t)}zBY(>Q E;yG?Q I?}yCI}:i}Q:}4c4yɮXADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff%BddjdZd @Z(>Z(>Zc@ZiG? ݳ[=)  i 9)   iQi!=IIB5Y>B5:CB5IB5BB5 =B1B1B5;B5,:Eԁ}99@ @@]3@Ա CD! zD% @AE-  E- E- -E) "E- &U;*E- :VE- t4ZE) BE- }q,=ǹ?ABh?BAS?BX=ٱBчA RAHRS rotation from veh to nav: [[0.428282,-0.903424,-0.020003],[0.902095,0.426147,0.067993],[-0.052902,-0.047165,0.997485]]BHh?{?E?g?`& f?iBh?IB!b;@YZByZ+IbDbVDbyjϰ=%nO=ٔnQ-n>9pYp=r=FyprEr>tQ 5z4v^?Q 9~4vs)vzBY|y~ ?Q I~?v zCIv;iv;vj4yɮA 5DNOT Ignoring new targets: 45.21 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE .!@ZaZaZaZe ?}X=)y }?i}9)y}Xii=IIԉԱ19@ @@/@^A ȿ= I! IA OM >&q,hǹ?ANh?N#/?NT=ٱNGQB ^AHRS rotation from veh to nav: [[0.429299,-0.902929,-0.020530],[0.901670,0.427172,0.067198],[-0.051906,-0.047359,0.997528]]NH@y?`z?`V?`3?br??iNh?INa;LYjByj>IE EE.E"EmR;*E:VEـ4ZEa@a@a@a@iMb@Mb@Mb@ 9gfffff?I +?Zd;OY33>y9<jAA A) AY AbD VD Jy/=%%8=ٔ%Q-%>9!Y)=-=Fy)-T"E->1Q 5=45v?Q 9E45*q)5zBYE#6>Q EE;yE?Q IE?5 zCI5:i5:5q4yIɮUOAQ}DNOT Ignoring new targets: 45.21 m.hyhy*hy"hy hygfffLBddjdZd ;"@ZM#6>ZM#6>ZMJ>ZM4?]T=)a eףie9)aeטaiai=IIuk9 @  @ @ /@ @) @- gAI B R>B 9CB IB IBB B B DB ;B .:Ey ^A5 =I9 IQ O] >xr,Ukȹ?A2dh?2?2NfO=ٱ2MrC NAHRS rotation from veh to nav: [[0.429808,-0.902669,-0.021298],[0.901501,0.427690,0.066162],[-0.050613,-0.047637,0.997582]]2H? 5ϕ?G_??驿c 0?i2dh?I2ea;2CYRByVYI XXbD^VD^0yzj=%zM=ٔzTQ-z>9|Y|=~=Fy|~.E>Q 5 4V!?Q 94mo)zBYyp?Q I?2zCI;i;x4y%Bɮ;A%pEMDNOT Ignoring new targets: 45.21 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]:P#@ZyZyZyZ}p?NfO=) )i9)顝ii/ =IIIE EE1E"EC;*Ex:VE-4ZEBE@ U1 r,#3ȹ?A2bQh?2?2lI=ٱ2aGE :AHRS rotation from veh to nav: [[0.430106,-0.902502,-0.022309],[0.901439,0.427992,0.065046],[-0.049156,-0.048087,0.997633]]2H ݆?L/ؖ`? 7d?ڦ?`*`ڞ?i2bQh?I2o/a;0YBЀByBpIbDNVDN1yV=%VP=ٔVfsQ-V>9XYX=Z=Fy\fDEj>9Q 5E4=C#?Q 9E4=m)=zBYAyMc?Q IM?=DzCI=9:i=:=4yQɮUAQ}DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdt!$@ZZZZc?lI=) vi9){ii2=IIԱ9PExceeded connect timeout, disconnecting.@ @@0@E* E E.E"Ea;*E:VEـ4ZEa@a@a@a@^Ar =IIO> 9 r,Mȹ?A2Oh?2?2gC=ٱ2!E :AHRS rotation from veh to nav: [[0.430168,-0.902454,-0.023051],[0.901487,0.428078,0.063802],[-0.047711,-0.048226,0.997696]]2H@?Ú@?e?WU?m  ?i2Oh?I2a;2CYB΀ByBmIi-Mb@Mb@Mb@)))) )9-$C?:v?~jtY-Z>y-T=--| A-jA -jA)-| A)Y)bDEVDE02yU/&%]@=ٔ]<^Q-]>9YYa=e=Fyae3Ee>iQ 5u4m$?Q 94m[k)mzBYc>Q En;y?Q I?m[zCImB8CBIB|BB =BBB;B(:EB]9CB]9CBYBYB]® =C]Qp5Zc>Zc>Z1u>Z? gC=) ףi%9)!%!i!iIIIIIIQ!%=Au9 @  @ @ /@ @ @ =ԁ E  E E 1E "E P;*E Z:VE -4ZE BE 3r,.iȹ?A64zh?6](?6`{5=ٱ61oG >AHRS rotation from veh to nav: [[0.429643,-0.902655,-0.024914],[0.901912,0.427609,0.060871],[-0.044293,-0.048623,0.997835]]6H@D?@v?]?@*?娿C?i64zh?I6 b;6CYF߀ByFIIN<)Np;LNA R49`Y`=b=Fy`b:Eb>dQ 554fp&?Q 954fi)fzBY9y=?Q I=?frzCIf4:if:fu4yAɮE1AAuDNOT Ignoring new targets: 45.21 m.hqhy*hy"hy hygyfffddjdZd %@Z)Z)Z)Z-?iu`{5=)q u@iu9)y}ayiyi=IIԑA@ @@@ nManaging dock network, ignoring radio surface power offE  E E )E "E G;*E 4:VE FA4ZE a @a @a @a @ ^Ae 2=Ii I O >K!r,lȹ?A>{h?>4?>;.=ٱ>>]H FAHRS rotation from veh to nav: [[0.429342,-0.902771,-0.025900],[0.902140,0.427339,0.059365],[-0.042525,-0.048853,0.997900]]>HUz?`U?Y?e?ť M?i>{h?I>c;9Y= =Fy  hV:E >Q 54-(?Q 94f)hzBQ A%+:Y!Q E%A;y%?Q I%?zCI<:i>ߔ4y)ɮ-A1iQIUAeDNOT Ignoring new targets: 45.21 m.haha*ha"ha hagifififqdqdqjdqZdu&@ԉ;.=) i#9)页͕ii=IIE9@ @@.1@AQAU?ABYBYB]4IB]BB] =BYBYB];B]:E^A -=I I! O- > o'r,-ȹ?A:h?:I?:&=ٱ:pH FAHRS rotation from veh to nav: [[0.428794,-0.903004,-0.026835],[0.902488,0.426835,0.057688],[-0.040638,-0.048954,0.997974]]:H@]q?g@z-?`CQ?@:?Τ g?i:h?I:&d;:CYN݀ByNIbDrVDryzF%zL=ٔzHQ-~>9|Y|=~=FyV:E> Q 54 )?Q 94 Dd) TzBQ A :YQ E;y?Q I? zCI G ;i X? x4y!ɮ%<A!MDNOT Ignoring new targets: 45.21 m.hIhQ*hQ"hQ hQgQfQbEjE|4rE x0Ee" Ee'Ee+Ea"EeZ;*Ee";VEe [4ZEaBEey   %=Ԙ-r,ȹ?A2ch?2tZ?2=ٱ2H JAHRS rotation from veh to nav: [[0.428362,-0.903183,-0.027705],[0.902775,0.426450,0.056026],[-0.038787,-0.049011,0.998045]]2HGj?^`?J?@{?ۣ?i2ch?I2Vd;2CYRـByVzI TTZ=Z=bDbVDbk1yj%jL=ٔj˗Q-n>9lYl=n=Fypv`:Ev>Q 54P+?Q 94a)?zBQ A9YQ E:y$?Q I?zCI B] P>BY B] LIB] BB] =B] >DBY B] ݃;B] :Ey4r, ȹ?A2 i?2:p?2*=ٱ28\H :AHRS rotation from veh to nav: [[0.427792,-0.903430,-0.028413],[0.903124,0.425941,0.054238],[-0.036898,-0.048863,0.998124]]2H`?]c? B?ū?E䢿@ ?i2 i?I2_d;2CYBByBIaa aa aa aa iMb@Mb@Mb@ 9NbX9?Mb?)\(YE>y=GaA=A )O AYAbD- VD-2y==%=B=ٔEQ-E>9AYA=M=FyIM:EM>QQ 5=4U4,?Q 9=4U_)U$zBQ A=T:Y=W>Q E=|;y=4?Q IE?UzCIU?ZW>Z>Z4?U*=)Q UiU'9)QU#YiYiYae^=IaIa9=9@9 @A@E4@ADYzDYEe Ee!Ee,Ea"Ee&U;*Ee:VEeg4ZEaBEe &:r,vȹ?AJi?Jw?J͑=ٱJH ZAHRS rotation from veh to nav: [[0.427615,-0.903485,-0.029337],[0.903282,0.425810,0.052614],[-0.035044,-0.048998,0.998184]]JH ^?`Y@l ?@x@?`3?H9`?iJi?IJVPe;JCYf܀Byf~IbDrVDr02yv}%vQ=ٔzQ-z>9xY|=~=Fy|9:E>Q 5 4-?Q 94]) zBYyQ I?zCI:i:64yɮ%HA!MDNOT Ignoring new targets: 45.21 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd])@ZZZZL4?͑=) ii9)顝5iis =II #9I)9u9@q @q@u4@q@y@}=i E / E E 0E "E af;*E :VE 4ZE a @a @a @a @^A} =I I O >Ar,ɹ?A 6i?6z?6}=ٱ6MI >AHRS rotation from veh to nav: [[0.427558,-0.903485,-0.030169],[0.903374,0.425799,0.051094],[-0.033317,-0.049099,0.998238]]6H]?`X䞿`p?K@? (?#?i6i?I6eIe;6CYFրByFvIIJC=)J=HJAieMb@Mb@Mb@aaaa a9eGz?kt?MbYep=>ye 0=eef Ae&A eSA)e9 AaYeAbD} VD}2y%A=ٔQ->9Y==Fy`9E>Q 54.?Q 94[)yBYQ E;y?Q I?zCIQ:i;4yɮzADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff7Bdd jd Zd !*@Z-Z-Z-i>Z-?}=) Bi9)!iio =IIiBS>B9CBSIBBB =B=DBB;B:Eԡ1@ @@y4@ rG ^A C"= I! I1 OE >2Hr,a"ɹ?AQD*=D*<E. E. E.,E,"E.&U;*E.:VE.g4ZE,BE,a62E,a6JE.T9!Y!=%=Fy!% κE%>1Q 55450?Q 9=45Y)5yBY9y=ѫ?Q I=?5 {CI5:i5[:54yM"BɮM}AIuDNOT Ignoring new targets: 45.21 m.hqhq*hq"hq hqgyfyfyfyddjdZd+@ZZZZѫ?A=) 0Iih9)%-!i!iIIMW*=IIII mC99@  @ @ /@ 9 ^A =I I O >VNr,%$<ɹ?A}h?}O?} <ٱ}Y-L AHRS rotation from veh to nav: [[0.428784,-0.902839,-0.032034],[0.902900,0.427084,0.048697],[-0.030284,-0.049804,0.998300]]}H0q?f?YU?@?``?i}h?I}e;}CYЀByoIiMb@Mb@Mb@ 9~jt?{Gz?Zd;Y>yף<yO AA =A)" AYAbD VD y[4%.=ٔ%cSQ-%>9!Y!=%=Fy)-E->1Q 5=452?Q 9=45W)5yBYE(>Q EE;yE?Q IE?5{CI5:i5:5!4IyQɮUAQEu" EuEqEq"EuZ;*Eu:VEqZEqa}@a}@a}@a}@DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjd!Zd%,@ZM(>ZM(>ZM>ZMn?] <)Y ]i]9)顅7ii=IIq! - N>i) ԡ 9@  @ @ Q4@ @ @ hAB% R>B! B! B! B% =B! B! B% ;B% $:E ^A=IIO>RVr,c[ɹ?A2_h?2/?2N<ٱ2lL :AHRS rotation from veh to nav: [[0.429676,-0.902394,-0.032609],[0.902519,0.428016,0.047563],[-0.028964,-0.049867,0.998336]]2H?@jo?`d?7Z?^?i2_h?I2Le;2CYBȀByBfI DDJ=J=bDNVDNyV~%VG=ٔZ SQ-Z>9XYX=Z=Fy\^E^>`Q 5f4b3?Q 9f4bqV)byBYdyj?Q Ij?b,{CIbU;ib@;bJɁ4ylɮrAp EDNOT Ignoring new targets: 45.21 m.hAhA*hA"hA hIgIfQfQfYdYdYjdaZde8a-@Z!Z!Z!Z%?5N<)1 =i=U9)9=@9i9iaae=IiIiE. EE0E"Eye;*E:VE4ZEBE\r,0.uɹ?AYǀByeIbD5VD50yEm%EB=ٔEQ-E>9IYI=M=FyIUEU>QQ 5]4Ut5?Q 9e4UT)UtyBYayaQ Ie?U<{CIUn;iUY;UЁ4yiɮuAqyDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd 4.@ZZZZa)i m~im>9)imJiiii'=IIԱd9E  E E .E "E Q;*E O:VE ـ4ZE a@a@a@a@u9@q @q@q@q ^A [=I I O >Ucr,sɹ?A>޳g?>2ŏ?>{1<ٱ>K FAHRS rotation from veh to nav: [[0.432640,-0.900953,-0.033258],[0.901170,0.431061,0.045607],[-0.026754,-0.049703,0.998406]]>H `?@0a??Y? Yer?i>޳g?I>og;>CYNByN^Ionly read 2 of 4 data items for bottom velocity. Device response is::BS, 115, -48,A a@a a@a a@a a@a bDVDky-%5D=ٔ55Q-5>91Y9===Fy9=XE=>AQ 5M4E37?Q 9M4EMS)EXyBQ AU+:YQQ EU;yU#?Q IU?EL{CIE. ;iE >Eց4yYɮ]AaiDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd@/@A AAA AABP>BBFIBBBBBB ;B9:EBBBB =B =CT5{1<) p!i9)顕:Tii =IIԑv9@ @@@@@=E , E E -E "E c;*E :VE t4ZE BE u$jr,ɹ?AB.g?B?Bi<ٱB0J JAHRS rotation from veh to nav: [[0.434478,-0.900064,-0.033371],[0.900312,0.432940,0.044722],[-0.025805,-0.049475,0.998442]]BH~?R@ \?K??l@T9pYt=v=Fytz֣Ez>|Q 54~8?Q 9 4~Q)~=yBQ A  :Y Q ES;y?Q I?~\{CI~I;i~SS?~-ہ4y!ɮ%A!eDNOT Ignoring new targets: 45.21 m.haha*ha"ha haigifqfyfydydjdZd /@Ei<)I M*iMA9)IM]IiIiQQU7=IYIYԙi9@ @@@  ^A- Nw =I1 EU 7 EQ EU 0EQ "EU m;*EQ VEU 4ZEQ a] @a] @a] @a] @Ia Om >oqr,9ɹ?A2f?2,?2Y<ٱ2:K :AHRS rotation from veh to nav: [[0.436867,-0.898893,-0.033735],[0.899181,0.435353,0.044055],[-0.024914,-0.049580,0.998459]]2H?E`??e? ba?i2f?I29%i;0YjՀByjvIa]a] a]a] a]a] a]a] i]Mb@Mb@Mb@YYYY Y9]MbX?=ٔ$Q->9Y==Fy]ʻE>Q 54;?Q 94P),yBQ AT:Y=Q E;ysk?Q I?g{CI:i:4ԱyɮdADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd@Y0@Z=Z=Z~N@Zsk?Y<) ƣi9)_ii͵:E ^A 9=I I O >߽ %=߹ 9 Bwr,qɹ?AFe?Fӎ?F<ٱFJ NAHRS rotation from veh to nav: [[0.439301,-0.897702,-0.033851],[0.898015,0.437817,0.043413],[-0.024152,-0.049470,0.998484]]FH?T?0?@E:?7)T?iFe?IF} j;FCYVրByVwIbDbVDbܲyf\_;%jW=ٔj]Q-j>9Y==Fy%mE%>!Q 5-4%=?Q 954%P)%yBY1y5j?Q I5?%q{CI%;i%;%r4yAɮE_AAmDNOT Ignoring new targets: 45.21 m.hihi*hi"hi higqfqfqfydydyjdyZd} U0@ZZZZcj?<) Vi9)顽!`iiuԑ i}r,Cɹ?A2 e?2p?2<ٱ2K :AHRS rotation from veh to nav: [[0.442021,-0.896356,-0.034108],[0.896699,0.440559,0.042872],[-0.023402,-0.049535,0.998498]]2HJ?`v±?2?Y?@`\?i2 e?I2j;2CYBByBIJ=J=HJAAbDNVDNNyV=%VM=ٔVHQ-Z>9XYX=Z=FyX^E^>`Q 5f4b??Q 9f4bAO)byBYdyfj?Q Ij?b{{CIb6:ib:bE4ynBɮndAngEDNOT Ignoring new targets: 45.21 m.hh *h "h  h g f ffddjdZd?!1@ZZZZwj?<) 89Y==FyE>Q 5 4'A?Q 94[N)yBYI=Q E iQ9@ @@0@D %=D R=E 5 E E E "E k;*E :VE ZE BE يr,-ʹ?ABc?Bͯ?Bi<ٱB]K JAHRS rotation from veh to nav: [[0.447305,-0.893713,-0.034563],[0.894116,0.445896,0.041647],[-0.021809,-0.049532,0.998534]]BH`?L@-@? ?R? U`7\?iBc?IB|k;BCYRByRIbDZVDZk2ybŨ=%bS=ٔbQ-f>9dYd=f=FydjkxEj>lQ 5r4nB?Q 9r4nM)nxBYpyrq?Q Iv?n{CIn;in;n4yxɮzAxDNOT Ignoring new targets: 45.21 m.hh*h"h! h!g!f!f)f)d)d)jd)Zd51@ZZZZq?i<) ;i9)_iivЫAHRS rotation from veh to nav: [[0.449991,-0.892361,-0.034633],[0.892783,0.448609,0.041088],[-0.021128,-0.049409,0.998555]]2H?9l@??p ?L*?i2b?I29Y==FyٻE>Q 54vD?Q 94L)xBY=Q EBBfIBȀBB =B>DBB;B:E9e9@a @a@e4@aԉ^A] ፨<Ii Iy O > y y Ա G  z:r,4bʹ?A9YTA6AHRS rotation from veh to nav: [[0.452224,-0.891222,-0.034884],[0.891678,0.450883,0.040182],[-0.020082,-0.049276,0.998583]]6H=?Bܡࠈ?C? ?@{@:e?i69XY\=^=Fy\^ڻEb>`Q 5f4bE?Q 9f4bK)bxBYhyj?Q Ij?b{CIb:ib:bI 4ylɮr@Ap DNOT Ignoring new targets: 45.21 m.h h *h "h  h g fffddjdZdo2@Z9Z9Z9Z=غ?U<)Q U gr,al|ʹ?AJa?J?J <ٱJԥH ZAHRS rotation from veh to nav: [[0.454277,-0.890176,-0.034921],[0.890654,0.452979,0.039304],[-0.019169,-0.048958,0.998617]]JH@?@R|,᡿=?@??!``?iJa?IJkk;JCYfByfIbDvVDvy=%D=ٔ Q- >9Y==Fy0E%>1Q 5=45$G?Q 9E45J)5xBYAyMq?Q IM?5{CI5M;i5 ;54yYɮeAaDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdB63@ZZZZq?M <)Q U$=iU9)QUM2QiYiYYe!JyA A @AA B N>B B IB BB =B B B ̃;B 9EKr,6ʹ?A02`?2Ai?2Ě<ٱ2^H >AHRS rotation from veh to nav: [[0.456226,-0.889166,-0.035244],[0.889679,0.454966,0.038434],[-0.018139,-0.048891,0.998639]]2H2?@ t@ ?x?+?? 8?i2`?I2Vj;2CYF)ByFI HHimMb@Mb@Mb@iiii i9mZd;?V-?y&1Ym=ym9Y==FyE>Q 546H?Q 94JI)xBY4>Q E;y?Q I?{CI ;i ;4yɮcADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff.BddjdZd ٠3@Z%4>Z%4>Z%n>Z%?Ě<) i9)iip\ ur,bʹ?A2z`?2(?2<ٱ2H :AHRS rotation from veh to nav: [[0.457989,-0.888240,-0.035730],[0.888794,0.456764,0.037567],[-0.017048,-0.048962,0.998655]]2HO?@ul?Kq?@;?@9tYx=z=FyxzEz>QQ 5e4U:I?Q 9e4U H)UxBYayea?Q Ie?U{CIUw;iU(:U"4yiɮuAqDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd@[4@ZZZZ a?<) I E  E E )E "E L;*E :VE FA4ZE a @a @a @a @]r,ʹ?A2 #`?2?2<ٱ2H :AHRS rotation from veh to nav: [[0.459187,-0.887601,-0.036212],[0.888199,0.458007,0.036512],[-0.015823,-0.048929,0.998677]]2HRc?:gZl?O??3> `)?i2 #`?I2@g;2CYBBByBIi Mb@Mb@Mb@     9 rh|?v/?QY =y xi= u  A A &A) =A Y (AbD%VD%Ny5co=%5E=ٔ=AQ-=>9AYA=E=FyAESEE>IQ 5U4MrI?Q 9U4MF)MxBY >Q E;y?Q I?M{CIMxZ >Z%/>Z?<) #=i9)P2ii3BBIBBB =BBBǃ;B9EBe8CBe8CBaBeŰ =BeŰ =Ce͡5y^A/C<I I! OM >ԡ Jr,aʹ?AY~VByII R=) a=bD VD2y%v=%%K=ٔ-Q-->9)Y)=-=Fy)5E5>9Q 5E4=I?Q 9E4=/E)=xBYAyAQ IM?={CI= :i=:=04yQɮU AQDYzDYEe Ee#Ee+Ea"EeV;*Ee;VEe [4ZEaBEe} *r, ʹ?AJ.y_?J٧?J[<ٱJ`J bAHRS rotation from veh to nav: [[0.461504,-0.886336,-0.037721],[0.887037,0.460392,0.034709],[-0.013398,-0.049478,0.998685]]JH@H?\P@b?w? qš?mp0U;?iJ.y_?IJe;JCYfSByfIbDrVDr02yzx%zM=ٔ~WǻQ-~>9|Y|==FyջE> Q 54 I?Q 94 C) xBYy?Q I? {CI 0;i 1; 74y)ɮ-A)UDNOT Ignoring new targets: 45.21 m.hQhQ*hQ"hY hYgYfYfafadadajdaZdm{95@ZZZZB?[<)  =i9)顥9N3iiL])Y B} <A} <B B B IB #BB =B B B ؃;B :Er,t~˹?A2N_?2?2/G<ٱ2{J :AHRS rotation from veh to nav: [[0.462083,-0.886011,-0.038254],[0.886753,0.461017,0.033662],[-0.012189,-0.049476,0.998701]]2H@Œ? 4ZG`?K?y}}=}/ݼy}@ }=A)yyY}AbDVDyG;%@=ٔ:Q->9Y==FyƺE>Q 54\J?Q 94B)xBY#>Q E;yZ?Q I?|CI:i:??4yɮADNOT Ignoring new targets: 45.21 m.hh*h"h hgff f :Bd djd!Zd-5@9Z]#>Z]#>Z]>Z]Z?u/G<)q uL=iu59)y}݁3yiyi iߡ Iߡ Թ r,qW1˹?A2!_?2/|?2d4<ٱ2)K >AHRS rotation from veh to nav: [[0.462699,-0.885663,-0.038864],[0.886447,0.461674,0.032690],[-0.011010,-0.049577,0.998710]]2Hܜ?@ZW棿 ]??ͼ?v&bm?i2!_?I2|c;0YFVByFI HHJ=J=bDRVDRyVv<%Z[=ٔZPOQ-Z>9\Y\=^=Fy\bEb>`Q 5f4bJ?Q 9j4b}@)bxBYhyj@?Q Ij?b|CIb:ib[:bE4ypɮr Ap DNOT Ignoring new targets: 45.21 m.h h *h "h  h gfffddjdZd6@ZAZAZAZEw@?Ud4<)Q Uc=iUf9)Y]S3YiYiaae1 E  E E -E "E Q;*E j:VE t4ZE a @a @a @a @9 r,5K˹?A:^?:j?:!<ٱ:YK BAHRS rotation from veh to nav: [[0.463181,-0.885387,-0.039418],[0.886209,0.462199,0.031717],[-0.009863,-0.049623,0.998719]]:Hä?@U.`[?`?0=?2:h@?i:^?I:c;:CY^\By^IiEMb@Mb@Mb@AAAA A9E~jt?x&?X9vYE>yE7=EAEnA A)E&AAYAbDeVDe:yu<%u>=ٔ}>/Q-}>9yYy==Fy;E>Q 549K?Q 94>)xBY->Q E;y?Q I?$|CI ;i ;BM4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgffqfuCBdqdyjdyZd}`x6@Z->Z->Z>Z$?!<) L=i39)3iii;II1@ @@@@=@=BUO>BQBUIBU=BBQBQBQBQBQ9^AΒ;  <IY i Iq O} >r,ke˹?A 6u^?6}`?6$<ٱ6޺J >AHRS rotation from veh to nav: [[0.463459,-0.885224,-0.039808],[0.886076,0.462527,0.030639],[-0.008711,-0.049473,0.998738]]6HN? SaZ? ?_?ցvT`?i6u^?I6wb;6CYv^ByvIbD~VD~y <% Q=ٔ/AQ->9Y==Fy6NE>!Q 5-4%K?Q 9-4%<)%xBY1y5w?Q I5?%5|CI%6:i%B:%T4EE< EE+EE.EA"EE,r;*EE=;VEEـ4ZEABEE$r,0K˹?Aɰp;6^?6M?6=};8ٱ6BJ BAHRS rotation from veh to nav: [[0.463971,-0.884941,-0.040126],[0.885817,0.463080,0.029774],[-0.007766,-0.049358,0.998751]]6H ?pQhX?`?|?E?i6^?I6a;6CYJ]ByJIPRAbDVVDV0y^~%^M=ٔ^Q-b>9`Y`=b=Fy`foEf>hQ 5n4j L?Q 9n4j5;)juxBYlync?Q Ir?jE|CIj:ij:j[4ytɮv ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd0D7@Z Z Z Z  c?=};) (R=iF9)!%c3!i!i))-;I)I1ԡEMS EM EM)EI"EM;*EM:VEMFA4ZEIam@am@am@am@-9@ @@/@ A! A! BE L>BA BE IBE LBBE =BA BA BE ;BE :E^A ;I I O >Jr,˹?A2{^?2yxi=A@ &A)AYAbD-VD-y=Η<%=C=ٔEQ-E>9AYA=M=FyIMEM>Q 5-4L?Q 9U4f9)cxBY]%>Q E];y]9?Q I]?W|CI9Ze%>ZeUd>Ze=9?j;)  >i9)顝4iiS;I I=TGUjAi9jAYoAI=)=E= E=1E=.E9"E=mR;*E=f;VE=ـ4ZE9BE=r,r˹?A6^?6C?6ڸ;ٱ6@6J BAHRS rotation from veh to nav: [[0.466285,-0.883683,-0.041028],[0.884617,0.465478,0.027995],[-0.005641,-0.049347,0.998766]]6H? GN?@d?? :w D?i6^?I6}`;6CYFWByFI hhbDnVDnNyvf%v(=ٔz"Q-z>9xYx=~=Fy|~&E~>Q 5 4M?Q 9 47)OxBYy?Q I?j|CI;i;j4yɮ AEDNOT Ignoring new targets: 45.21 m.hAhI*hI"hI hIgIfQfQfQdQdYjdYZd]@%8@ZyZyZyZ}?ԉڸ;) 4=iZ9)顝84ii~;II9}9@y @y@}0@yԹE}0 E}8EyEy"E}Jg;*E} ;VEyZEya@a@a@a@^A#2;IIO> qr,˹?AYVByIiMb@Mb@Mb@ 9x&?+? rhY7 >y=C @ )&AYAbDVDky%?=ٔQ->9Y==FyE>Q 54N?Q 945)?xBY>Q E;y?Q I?y|CI ;iz ;ar4yɮ ABK>BBBBBBBB :E5DNOT Ignoring new targets: 45.21 m.h1h1*h1"h9 h9g9f9f9fEBdAdAjdAZdE@8@Zm>Zm>ZmU>Zm{?y)y }=i}9)顅X4iis;II9!a@a @a@m/@iI^A vт;I I O >D zD ?AE 4 E E E "E j;*E O:VE ZE BE =& E?R??s>?iR]?IRT_;RCYnYBynIbDzVDzy^<%V=ٔn Q->9 Y = =Fy 7ƻE>Q 5%4O?Q 9%44)1xBY!y%r?Q I%?|CI;in; y4y)ɮ5 A1DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd 8@ZIZIZIZMur?Q&;) 0>i9)顅,y4iiA(;II hAhA9%9@! @!@%0@!@-=@-=ԁԱ^AM ;IY Ii O} > s,Y̹?A6(]?6?6ϔ;ٱ6I RAHRS rotation from veh to nav: [[0.469541,-0.881941,-0.041353],[0.882899,0.468779,0.027130],[-0.004541,-0.049249,0.998776]]6H` ?`8?,@?y?Ǜ?r27?i6(]?I67_;6CYZ_ByZ II^<)^<bDbVDbyjA=%jM=ٔn:Q-n>9pYp=r=FyprbEr>xQ 5 4zP?Q 9 4z03)z"xBYyE?Q I%?z|CIz6;iz;z4EU  EUEU/EQ"EUX;*EU:VEUJ4ZEQau@au@au@au@yBɮ AhEԹDNOT Ignoring new targets: 45.21 m.hh*h"h hg f f1f1d1d1jd1Zd=qk9@ZyZyZyZ}E?ϔ;) v >i9)页84ii:IIc9@ @!@%0@!BBBBBBBBӃ;B9EBBBBBDZ =CǼ!5 ^AE ;II Iq O > %= R=9 Rs,'3 ̹?A2ש\?2.@?2;ٱ2I :AHRS rotation from veh to nav: [[0.471250,-0.881031,-0.041321],[0.881988,0.470484,0.027231],[-0.004550,-0.049277,0.998775]]2H(?h1' ?9?`j?@V?Lr :?i2ש\?I2q_;2CYZRByZIi=Mb@Mb@Mb@9999 99=)\(?Zd;O?y&1Y=G=y=j<=`=jA=l@ =A)=A9Y=A QUbDUVDUyeN{%eA=ٔm*7Q-m>9iYi=u=FyquEEu>yQ 54}Q?Q 94}2)}xBY0=Q E;y?Q I?}|CI}]:i}:}b4yɮADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd'9@Z0=Z0=ZzS>Z? ;)  .>i 9) ף4ii#CIIm9DM=DM=E]@ E]%E]+EY"E]u;*E];VE] [4ZEYBE]!O s, :̹?A 27\?2%?2:;ٱ2%nI >AHRS rotation from veh to nav: [[0.472784,-0.880214,-0.041203],[0.881167,0.472024,0.027180],[-0.004476,-0.049157,0.998781]]2H@B?@*2?5?+՛?@CUr +?i27\?I2 _;2CYFXByFIbDNVDN1yV=%VW=ٔZHMQ-Z>9XYX=Z=FyX^ E^>`Q 5f4bR?Q 9f4b0)b xBYdyjޢ?Q Ij?b|CIbW:ibp:b4ylɮ] AaDNOT Ignoring new targets: 45.21 m.hh*h"h hgff!f!d!d)jd)Zd- 1:@ZZZZޢ?:;) :>i9)顥4iiiIII?)x?qԙ89Em, EmEm,Ei"Emc;*Em:VEmg4ZEia@a@a@a@u9@y @y@O0@@@hA ^A I I O >s,UU̹?A2؟[?2/?2 ;ٱ2I :AHRS rotation from veh to nav: [[0.474825,-0.879117,-0.041160],[0.880068,0.474053,0.027458],[-0.004627,-0.049262,0.998775]]2H c?!@)?V?`?r@8@?i2؟[?I2_;0YBTByBI ddBzO>BxBzIBzGBBz =BxBxBz;Bz9EimMb@Mb@Mb@iiii i9mS㥻?Mb?y&1Ym/=ym9Y==FyE>Q 54T?Q 94/)wBY=Q E;y?Q I?|CIj:i:4yBɮ A^EDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd `]:@Z=Z=ZTm=Z? ;) B>i9)e4ii4XII!I @  @ @ c0@ ԁ bE}ـ4jE}cw4rE}]%0E % E E 0E "E O];*E O:VE 4ZE BE s,wq̹?A2i[?2wt?2;ٱ2RI :AHRS rotation from veh to nav: [[0.476723,-0.878102,-0.040897],[0.879040,0.475945,0.027647],[-0.004812,-0.049130,0.998781]]2H@?h@p!?u?O?2s@' ?i2i[?I2_;2CY@yBIHJ@AbDNVDNJyVO%VG=ٔV9Q-Z>9XYX=Z=FyX^1E^>`Q 5f4bV?Q 9f4b.)bwBYdyfK?Q Ij?b|CIb ;ib ;b)4ylɮn AlDNOT Ignoring new targets: 45.21 m.hh*h "h  h g f ffddjdZdA;@Z9Z9Z9Z=uK?M;)I UiU9)QU4QiQiYY]LܤIYIaa49U9@Q @Q@U*0@Y^A-"5I9IQOu5>ԉԹE  E 1E ,E "E X;*E f;VE g4ZE a @a @a @a @ "s,A̹?A0|Z?Z)?;ٱZcI AHRS rotation from veh to nav: [[0.478737,-0.877011,-0.040770],[0.877944,0.477949,0.027892],[-0.004976,-0.049147,0.998779]]H?`zߤ??я?at )?i0|Z?I_;CYyIi}Mb@Mb@Mb@yyyy y9}RQ?~jth?~jtY}=y}D;}}=A}V@ }A)yyY}AbDVDfys:%/=ٔa9Q->9Y==FyE>Q 54W?Q 94-)wBY=Q Ei]s9)ae5aiai  I I  gAF9AA@ABL>BBIBBBB =BBB;B9Eu9@q @q@}L4@y@@=) ^A] yb]Ii Iy O >r(s,0 ̹?A2 Y?2݈?2b;ٱ2H >AHRS rotation from veh to nav: [[0.480758,-0.875919,-0.040470],[0.876837,0.479959,0.028201],[-0.005278,-0.049043,0.998783]]2H@?@w ?৷??u`1 ?i2 Y?I2_;2CYFQByFIIJ=)J=bDNVDNkyV$%Vr=ٔZi:Q-Z?9XY\=^=Fy\^߻E?Q 5%4Y?Q 9%4,)wBY!y-?Q I-?|CIp:i:o4y1ɮ5 A1]DNOT Ignoring new targets: 45.21 m.hYha*ha"ha hagafafifididijdiZduM;@ZZZZ?b;) d>i9)顭:5iiHIIE} E}6E}1Ey"E}V;*E} ;VE}-4ZEyBE}}iߡIߥAyԩ 8/s, ̹?A2bY?2?2;ٱ2;H :AHRS rotation from veh to nav: [[0.482505,-0.874972,-0.040170],[0.875876,0.481702,0.028354],[-0.005460,-0.048865,0.998790]]2HZ?.?3??\v`?i2bY?I2_;2C@YFTByFI LLbDRVDR1yV,u<%ZJ=ٔZ9Q-Z>9\Y\=^=Fy\^sEb>`Q 5f4bZ?Q 9j4b,)bwBYhyjf?Q Ij?b|CIb:ib:bO4ylɮr ApDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdn@<@ZZZZ}f?;) k>i59)9=I#59i9iAAE=(IAIAԩE EE*E"EmR;*E:VE(N4ZEa@a@a@a@y99@ @@/@ B J>B B B B =B B B ;B 9E^A XһI I O ><6s,*̹?AY VByIiMb@Mb@Mb@ 9:v?MbP?91Y1=5=Fy1=E=>AQ 5M4E\?Q 9U4E*)EwBYU+=Q EU;yUˆ?Q IU?E|CIEB2;iE)0;E4yYɮe AaDNOT Ignoring new targets: 45.21 m.hh*h"h hgfff%ۀBd!d!jd!Zd-`+<@ZM+=ZM+=ZM<ZMˆ?Ya)i mu>iu9 y}C)顕45iirG$I]liAIaqȟ9liAYAII?)9?ԉE& ENE/E"E8^;*E;VEJ4ZEBE°0=s,̹?A2MX?24?2;ٱ2G >AHRS rotation from veh to nav: [[0.486196,-0.872941,-0.039847],[0.873831,0.485379,0.028760],[-0.005765,-0.048802,0.998792]]2H?`! fk?s?5s?w@?i2MX?I2_;2CYF^ByFI HHJ=HbDN VDN2y^q =%^5=ٔ^1:Q-b>9`Y`=f=Fydf[Ef>hQ 5n4j{^?Q 9n4j))jwBpYlyr8?Q Ir?j|CIj,;ijh-;jy‚4yxɮzC AxDNOT Ignoring new targets: 45.21 m.hh*h"h! h!g!f!f)f)d1d1jd9Zd=v)=@ZZZZ)8?=;)9 =>i=9)9EE5AiAiIIMcIIII19@ @@/@9E%$ E%E%,E!"E%g\;*E%x:VE%g4ZE!a5@a5@a5@a5@^Aܪ&IIO>i Ds,L͹?A6,W?6Xć?6>!;ٱ6AH >AHRS rotation from veh to nav: [[0.488271,-0.871781,-0.039863],[0.872672,0.487438,0.029119],[-0.005955,-0.049005,0.998781]]6H`?? h?.2?jѝ?@dx 8 ?i6,W?I6~_;6CYfkByf.IiUMb@Mb@Mb@QQQQY Q9Ukt?9Y==FyE>Q 54_?Q 94()wBY=Q E!;) u>i9)U5i i)15mI1I1 ԉ@ @@@^A} cIIO^>Ա EE 1 EE "EE .EA "EE 2h;*EE ;VEE ـ4ZEA BEE `|'W?>?>M_;ٱ>H JAHRS rotation from veh to nav: [[0.490116,-0.870748,-0.039795],[0.871636,0.489278,0.029279],[-0.006023,-0.049037,0.998779]]>H^?+@`r?TP?@7?߫x c?i>|'W?I>(_;9!Y!=%=Fy)-CE->1Q 5=45`?Q 9=45()5wBY9yE?Q IE?5 }CI5j;i5w;5Ђ4yIɮM AIuDNOT Ignoring new targets: 45.21 m.hqhy*hy"hy hygyfyffddjdZd =@ZZZZC?ԹM_;) >i9)e5iiٸII gA9M9@I @I@M 0@I!^AIIO> <9 Qs,]G͹?AYrrByr7IIv<)v91Y1=5=Fy15E5>yQ 54}b?Q 94}?')}wBYyQ I?}}CI}j:i}a:}ׂ4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd c>@E- EE-E"Ed;*Ex:VEt4ZEa @a @a @a @Z)Z)Z)Z)A)A Eg>iEU9)AE|v5IiIiaam"IiIyA9B!B!B%IB%QBB% =B!B!B%;B%9EBBBBBǰ =CNj5u9@q @q@u/@qyԙ ^A mI I O >4Xs,{jb͹?A:V?:@?:;ٱ:gI BAHRS rotation from veh to nav: [[0.493644,-0.868749,-0.039881],[0.869644,0.492801,0.029420],[-0.005905,-0.049205,0.998771]]:H ۗ?Jk ?@?@V ?70xu1?i:V?I:_;:CYJyByJ?Ii]Mb@Mb@Mb@YYYY Y9]Zd;O?I +?I +Y]j=y]94<]94Y](@ Y)]@YY]zA m;m4<bDuVDuyP<%<=ٔMQ->9Y==FyE>Q 54dc?Q 94J&)wBY=Q E@Z=Z=Zt=Zu?-;)) 5>>i59)15(51i1i99EmIAIADqzDuAAE} E}'E}0Ey"E}mR;*E}";VE}4ZEyBE}^s,}͹?A>CU?>d?>*;ٱ>0I FAHRS rotation from veh to nav: [[0.495259,-0.867827,-0.039937],[0.868727,0.494424,0.029300],[-0.005681,-0.049205,0.998773]]>HP?=r?@? ?8Ew`p1?i>CU?I> `;>CYjByjNIbDvVDvy~ic=%~F=ٔ~|Q->9Y==Fy E >Q 54d?Q 94^%)wBYy8?Q I%?)}CI;i;4y)ɮ- A)UDNOT Ignoring new targets: 45.21 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm:?@qZZZZ8?*;) >i%9)顭5iiXE E E/E"EV;*E:VEJ4ZEa@a@a@a@ es,͹?AA0A2AAB6G>B4B6!IB6`BB6 =B4B4B6;B4B26U?B[?Bw;ٱBI JAHRS rotation from veh to nav: [[0.496718,-0.866984,-0.040122],[0.867896,0.495898,0.029020],[-0.005263,-0.049236,0.998773]]BH:?U@?ȼ?[?u`5`?iB26U?IBe<`;BCYbBybSIiMb@Mb@Mb@ 9y&1?/$?~jtY`=y<D=A A)YQAbD-VD-fyU3<%]7=ٔmsQ-u>9qYy=}=FyysE>Q 54f?Q 94$)wBY=Q E%;y%?Q I%?6}CI[Z?w;) ]>i9)5iiII9R>i9 9@  @ @ /@ @ =@ =bEQjEU4rEU).0E  E E .E "E V;*E O:VE ـ4ZE BE %ls,L͹?A2ZT?<2oK?28;ٱ2J RAHRS rotation from veh to nav: [[0.498279,-0.866076,-0.040369],[0.867004,0.497473,0.028728],[-0.004798,-0.049314,0.998772]]2H?@/ ~?@?j?s?@?i2ZT?I2`;2CYVByZ`I\\bDbVDbܲyj E=%jF=ٔnQ-n>9lYl=r=FyprEr>tQ 5z4vig?Q 9z4v")vwBY|y~Y?Q I~?vB}CIvf;iv@;v4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd @@ZZZZY? 8;)  >ik9)B5ii˼II!ԡ 9%9@! @!@%0@! E $ E E 1E "E g\;*E 4:VE -4ZE a% @a% @a% @a% @^Am I I ) Om >+ts,}͹?AfnS?fyڅ?fno;ٱfMI nAHRS rotation from veh to nav: [[0.501267,-0.864330,-0.040797],[0.865285,0.500506,0.027857],[-0.003659,-0.049265,0.998779]]fHa ?Y㤿i?%??`m@A9?ifnS?Ifa;dYzBy~uIi}Mb@Mb@Mb@yyyy y9}T㥛 ?:v?I +Y}>y}<}94}Ay }nA)}nAyY}zAbDVD:yɓ=%/=ٔQ->9Y=>FyE>Q 54i?Q 94r!)wBY9>Q E;yY?Q I?Q}CI ;i ;4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZdEI@@Z9>Z9>Zz`P>ZY?no;)  >>i 9)  5 i iII9 AEhABE>B7CB:IBuBBBBDB;B9E e99@ @@@9 i E 5 E E +E "E k;*E A:VE [4ZE BE zs,͹?AJ0mS?Jڡ?JA<;ٱJ+TJ VAHRS rotation from veh to nav: [[0.502763,-0.863440,-0.041241],[0.864420,0.502029,0.027302],[-0.002870,-0.049376,0.998776]]JH@?L S??@&?gG`?iJ0mS?IJ%fb;JCY^By^kIIb<)b9tYt=v>Fytz↻Ez>xQ 5~4zj?Q 94z )zwBYy ?Q I?z_}CIz;iz;z)4yɮR A=DNOT Ignoring new targets: 45.21 m.h9h9*h9"h9 hgfffddjdZd{~@@ZZZZ1 ?%A<;)) ->i-9))-5)i)i11=:I9Ia) 9Q]9@Y @Y@]0@aԉ ^A= II IY Ou >s,\ι?A2K S?2hp?2(;ٱ2 4J :AHRS rotation from veh to nav: [[0.504068,-0.862660,-0.041628],[0.863662,0.503371,0.026571],[-0.001968,-0.049346,0.998780]]2HS!?7P ?@?|5?``C ?i2K S?I2;b;0YBByBI HJ<bDNVDNkyV=%VL=ٔVIQ-V>9XYX=Z>FyXZuvE^>`Q 5f4bk?Q 9f4b)bwBYdyf?Q If?bl}CIb:ib:b, 4ylɮn AlDNOT Ignoring new targets: 45.21 m.hh*h"h  h g f f fddjdZdP@@Z9Z9Z9Z=D?M(;)I M>iUj9)QU 5QiQiYY]WIaIa9Ee' Ee.Ee/Ea"Ee _;*Ee;VEeJ4ZEaam@am@am@am@u;99@ @@B3@iBAB-C>B)B-SIB-BB)B)B)B-;B)^A=IIIYOm>ԑԹ Q s,!ι?A:+GDLnٝ9lYnAYByIi=Mb@Mb@Mb@9999 99=l?y=t==D=&A=?@ 9)=@9Y=AbDUVDU0ye<%e3=ٔeQ-e>9iYi=m>FyiuEu>yQ 54}m?Q 94})}wBYt>Q E;yw?Q I?}~}CI}@:i}:})4yɮ AԱDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd@@@Zt>Zt>ZUt>Zrw? ) >i79)x5iit:I!I!I-@?)-T? )99@ @@+3@E* E/EE"Ea;*EY;VEZEBE1 $5s,F;ι?ABzER?B ?B ٱBI RAHRS rotation from veh to nav: [[0.506660,-0.861096,-0.042536],[0.862146,0.506051,0.024846],[0.000131,-0.049261,0.998786]]BH6?Kǥ?`1?`Eq?!?8?iBzER?IB%-d;@YZBy^I !!bD=VD=yMp=%U^=ٔUQ-U>9YYY=]>FyYecEe>iQ 5u4mn?Q 9u4m)mwBYqyu?Q I}?m}CIm ;im ;m4yɮ> ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdA@ZZZZ? ) >iC9)g5Di s,rUι?A 6Q?6ڄ?6%ٱ6I >AHRS rotation from veh to nav: [[0.508009,-0.860275,-0.043048],[0.861351,0.507448,0.023912],[0.001274,-0.049227,0.998787]]6H`A? `@c `/?=? X|?@T?@C4?i6Q?I6Be;6CYFɁByFIiMb@Mb@Mb@ 9On?Mb?y@=t@ @)Y\@qu@AbDuVDu:yGJ=%G=ٔD6Q->9Y=>FyyE>Q 547p?Q 94)}wBY@ >Q E;y?Q I?}CI:i:!4yBɮ A_EBB>BBlIBBBBBB;B9EDNOT Ignoring new targets: 45.21 m.h h *h "h  h g f ff%BddjdZd?OA@Z=@ >Z=@ >Z= r>Z=4?U%)Q Uף>iU9)Q]5]Ћs,mpι?A2yQ?2?2 ٱ2H >AHRS rotation from veh to nav: [[0.509169,-0.859570,-0.043426],[0.860663,0.508663,0.022840],[0.002456,-0.049004,0.998796]]2H`K?@;?F?qc? d?@"?i2yQ?I2e;2CYFŁByFIbDNVDNyVѳ%VP=ٔZDQ-Z>9XYX=^>Fy\^~`E^>`Q 5f4bgq?Q 9f4bq)bywBYdyje?Q Ij?b}CIb;ib;b(4ylɮn AlDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdA@ZZZZe? ) k>i%9)!% 5%h9s,#ι?A29Q?2;?24ٱ2H >AHRS rotation from veh to nav: [[0.510172,-0.858939,-0.044148],[0.860064,0.509730,0.021591],[0.003958,-0.048985,0.998792]]2H`SS?@m| ? O??c6p?@?i29Q?I26f;2CYFByFIIj4=)j=bDnVDnNyv9 Y =>Fy,E>Q 5%4r?Q 9%4)twBY)y->?Q I-?}CI:i ;h04y1ɮ5 A9]DNOT Ignoring new targets: 45.21 m.haha*ha"ha hagafafifididqjdqZduùA@ZZZZu>?4) >i9)页'5hs,(ҥι?Aɰ;6RP?6c?6|ٱ6iH >AHRS rotation from veh to nav: [[0.511121,-0.858339,-0.044834],[0.859492,0.510747,0.020296],[0.005477,-0.048908,0.998788]]6H[?@wp`? X?@Ȕ? ov? z ?i6RP?I6f;6CYF́ByFIiMb@Mb@Mb@ 9MbX9?T㥛 ?:vY!>y=TA(@ nA)@Y@ %4<%p<bD-VD-1y>=%?=ٔjQ->9Y=>FyP+E>Q 54s?Q 94)mwBY.>Q E;yo?Q I?}CI':i:74yɮ A DNOT Ignoring new targets: 45.21 m.h h *h "h hgfff-BddjdZd%A@ZE.>ZE.>ZEB>ZEo?U|)Y ]>i]9)Y]p5]'as,}ι?A2xP?2;?2Gٱ2H :AHRS rotation from veh to nav: [[0.512176,-0.857667,-0.045653],[0.858852,0.511868,0.019088],[0.006997,-0.048986,0.998775]]2H@c?@r_{?8a? ݋?|?@?i2xP?I2ig;2CYBByBIbDNVDNyR4T%RL=ٔVxQ-V>9tYx=z>FyxzFEz>|Q 54~t?Q 94~)~gwBY y D?Q I ?~}CI~;i~;~>4y1ɮ5 A9DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd%B@C=C=ZZZZD?-G)) 5>i5u9)1565FB B IB BB =B B B ;B 9EI ^A I I O >ȶs,sι?AJ#jP?JT ?J ٱJbH ZAHRS rotation from veh to nav: [[0.512881,-0.857206,-0.046385],[0.858417,0.512647,0.017711],[0.008597,-0.048901,0.998767]]JHi?@:n&x?g?"?f? ?iJ#jP?IJ#h;HY āBy I==only read 0 of 1 data item for altitude. Device response is::BD, -38.81, , +0.49, 7.96, 0.00 a@a a@a a@a a@a bDVDJy(;<%4=ٔAgQ->9Y=>FyE>Q 54u?Q 94 )`wBQ A+:YQ E|;y(?Q I?}CI ;i>@E4yɮ A DNOT Ignoring new targets: 45.21 m.h h *h "h  h gfffddjdZdF]B@M )I M–>iM9)QUl6UGq|ps,p^ι?AB>P?B ?B 'ٱB=H JAHRS rotation from veh to nav: [[0.513443,-0.856825,-0.047192],[0.858062,0.513287,0.016304],[0.010253,-0.048865,0.998753]]BH n? k)?u?@l??@?`?iB>P?IB9h;BCYRByRIXXbD^VD^f?yf6%fI=ٔj=Q-j>9hYh=j>FylnպEn>pQ 5v4rv?Q 9v4r=)rZwBQ Av :YxQ EzL;yz?Q Iz?r~CIrq ;irZ?rI4y~Bɮ~ A~VE%DNOT Ignoring new targets: 45.21 m.h!h)*h)"h) h)g)f1f1f1d1d9jd9Zd= hB@e ')i mx>img9)im 6u9aE @ E E -E "E u;*E :VE t4ZE a @a @a @a @ԉ Qs,Ϲ?AB!P?BS?BCٱB0H JAHRS rotation from veh to nav: [[0.514068,-0.856396,-0.048172],[0.857666,0.513990,0.014952],[0.011955,-0.049002,0.998727]]BH?s?g r?r??@ |??iB!P?IBةh;BCYjBynIbDVDP)yM%MC=ٔUQ-]>9aYi=m>Fyi}fE>Q 54w?Q 94] )TwBQ A9YQ E%;y?Q I?~CI ;i?M4y ɮ  AyDNOT Ignoring new targets: 45.21 m.hh*h"h) h1g1f1f1f1d9d9jd9Zd=XB@C) >i 9)顕6#;iiI!IIBE>B8CBBBBBDB;B9Ee9@a @a@e1@iԡ^A I I O > :|s,v+Ϲ?AF\O?Fpڃ?F;_ٱFudI VAHRS rotation from veh to nav: [[0.514682,-0.855972,-0.049142],[0.857273,0.514682,0.013631],[0.013625,-0.049144,0.998699]]FHFx?d ")`n?Fx??E?])@W?iF\O?IFh;FCY^BybIE8 E1E1E"En;*Ef;VE-4ZEBEݾy=tV@ )l@Y\@bDVD:y%A=ٔ`Q->9Y=>FyE>Q 54w?Q 94{ )LwBQ AT:Y0>Q E;y ?Q I ?,~CI0;i:(U4yɮ A=DNOT Ignoring new targets: 45.21 m.h9hA*hA"hA hAgAfAfIfMBdIdIjdQZdU 7B@Zu0>Zu0>Zuݶ>Zu?;_) ף>i9)額6~iiG#III)gA]9@Y @Y@]4@Y@a@egA^A5 *!IAIYOu>) Ccs,EϹ?A>O?>:σ?>0|ٱ>bI JAHRS rotation from veh to nav: [[0.514962,-0.855751,-0.050044],[0.857075,0.515049,0.012134],[0.015392,-0.049140,0.998673]]>H z?Obj'm?H{? و?`˅?(!?i>O?I>a;h;>CYRByRyI Vp9dYd=j>Fyhj)tEj>lQ 5r4n7x?Q 9r4n )nDwBYtyv?Q Iv?n<~CInR:in:n[4yxɮz~ AxDNOT Ignoring new targets: 45.21 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5(,C@ZQZQZQZU?e0|)i m>im9)im'6m,3iiiqqu9$IyIy59@1 @1@50@1iE) EE,E"E`;*E:VEg4ZEa@a@a@a@y^A]l"IIO>iIԩ B F>B B IB BB B B B ;B 9Es,_Ϲ?A2O?2Ń?2㋼ٱ2"@I :AHRS rotation from veh to nav: [[0.515196,-0.855561,-0.050880],[0.856902,0.515368,0.010690],[0.017076,-0.049107,0.998648]]2H`||? ` `k?}?@?>|?|$?i2O?I2g;2CPYfByfnI  ecG}jA 9jAYÍAiMb@Mb@Mb@ 9x&?V-?yh=A(@ A)?@Y@bDe VDe2yu%}2=ٔ}pQ-}>9yY=>Fy$E>Q 54x?Q 94);wBY`>Q E;yG?Q I?N~CI ;i ;c4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd gC@Z `>Z `>Z w>Z :G?㋼)! %R>i%9)!%`6%i!i)15n%I1I1 ==I=)=e9@a @a@e/@aDzD?AE  E9EE"EX;*E ;VEZEBEA s,DyϹ?A2O?2N?2ٱ2I :AHRS rotation from veh to nav: [[0.515507,-0.855320,-0.051779],[0.856682,0.515760,0.009371],[0.018690,-0.049189,0.998615]]2H?^`ւi?@?51?#?[/?i2O?I2g;2CYbBybWIddbDjVDj!y5̽%=a=ٔE{Q-E>9IYI=U>FyQ]GE]>aQ 5u4ex?Q 9}4e)e4wBYyy}7?Q I?e]~CIeS;ie4T;ej4yɮ[ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdC@Z)Z)Z)Z-Y7?E)A E>iEl9)IMM iIiQQUG&IQIY 9@  @ @/@Qq^AIIYIiO}>ԡ E  E E *E "E N;*E :VE (N4ZE a @a @a @a @s,eϹ?A2O?2Ь?2!ٱ2#I :AHRS rotation from veh to nav: [[0.515817,-0.855079,-0.052655],[0.856459,0.516151,0.008097],[0.020255,-0.049273,0.998580]]2H`?\@h?O?@딀? ?S:]?i2O?I2vf;2CYBByBQIbDN VDN2y^ڼ%bR=ٔf̃Q-f>9hYh=j>FyhjEn>pQ 5v4r*y?Q 9v4r)r-wBYtyv'?Q Iz?rl~CIr :ir:rp4y|ɮ~ A|ԁDNOT Ignoring new targets: 45.21 m.hh*h"h h gf9fAfAdIdyjdZdGC@ZYZYZYZ]'?AqAu@AB}G>ByB}IB}BB} =B}=DByB}b;B}9Em!) n>i9)页3iiZ(IIԱ9@ @@/@^A &I I! O- > s,HϹ?AJ[O?J͘?J*ٱJJ RAHRS rotation from veh to nav: [[0.516326,-0.854719,-0.053505],[0.856120,0.516729,0.007062],[0.021612,-0.049453,0.998543]]JH`?`YdUe?@ ?|?`T!?Q?iJ[O?IJe;HYZ{ByZAIiEMb@Mb@Mb@AAAA A9EX9v?J +?~jtYE=yEH=EļE&AE@ A)EV@AYE@bDYVDYyeNh%m@=ٔmTQQ-m>9iYq=u>FyqDqDu<E% EFE-E"EO];*Ev;VEt4ZEBEQ 54y?Q 94)"wBY >Q E;y>?Q I?z~CI:i:@x4yɮ A}DNOT Ignoring new targets: 45.21 m.hyh*h"h hgfffBddjdZdD@Z >Z >Z>Z>?*) q>iM9)p24ii*II @ @@/@Ai^AK'IIO>ԙ s,?Ϲ?A6DO?6N?6kٱ6CJ >AHRS rotation from veh to nav: [[0.516610,-0.854499,-0.054273],[0.855911,0.517089,0.005896],[0.023026,-0.049499,0.998509]]6H?X`ɫ@c??5&x?$?`W?i6DO?I6} e;6CYFjByF-IIJ=)J=LNAbDvVDv0y~(%~R=ٔ~mQ->9Y=>Fy nE >Q 54z?Q 94H)wBY!y%/?Q I%?~CI/#;i$;~4y)ɮ-l A)UDNOT Ignoring new targets: 45.21 m.hYhY*hY"hY hYgYfafafadadijdiZdm /D@ZZZZ/?k) >i9)顥Â4iig+IIqQ@Q @Q@U00@Q@Y@]iAE& EE,E"E8^;*Ex:VEg4ZEa@a@a@a@ԡ^A}l,IIO>Bu H>Bq Bu `IBu BBq Bq Bq Bu U;Bu }9EB58CB58CB1B5ɭ =B5ɬ =C5r5 s,QϹ?A2"O?2|?2rƼٱ2kJ :AHRS rotation from veh to nav: [[0.517027,-0.854208,-0.054871],[0.855625,0.517573,0.004860],[0.024248,-0.049461,0.998482]]2H@}?U@Ha?@?s?Ԙ?@R?i2"O?I2'"d;2CY^kByb.Ii}Mb@Mb@Mb@yyyy y9}MbX?:v?S㥛Y}=y}<}/ݼ}A}@ }@)}?@yY}(@bDVDk1y0;%@=ٔ'9Y=>FyE>Q 54{?Q 94/)wBY=Q E;y?Q I?~CI:i:o4yɮe ADNOT Ignoring new targets: 45.21 m.hh*h"h hgf f f Bd djdZd+fD@Z5=Z5=Z5~>Z5?MrƼ)I M >iM9)IM4QiQiYY] ,IYIY@ @@0@DzDE  EE-E"EE;*EA:VEt4ZEBE) Q `s,Ϲ?A2N?2a?2[ϼٱ2mJ FAHRS rotation from veh to nav: [[0.517722,-0.853750,-0.055448],[0.855174,0.518325,0.003998],[0.025327,-0.049488,0.998454]]2H -?@Qc ]? ? `p?U?qVT?i2N?I2ic;2CYV[ByVIbDfVDf2yr%vW=ٔv9Q-v>9xYx=~>Fy|E> Q 54 |?Q 94 3) wBY!y%c?Q I%? ~CI O;i N; 4y9ɮ= A9MDNOT Ignoring new targets: 45.21 m.hIhI*hI"hI hQgQfQfQfYdYdYjdYZd]@)D@ZZZZvc?[ϼ) s>i9)顝e4ii(/II)M9@Q @Q@U4@QEPExceeded connect timeout, disconnecting.Y^A++IIO>ԁ E  E E .E "E g5;*E &:VE ـ4ZE a @a @a @a @t,}й?A0:N?:H?:9ؼٱ:J BAHRS rotation from veh to nav: [[0.518373,-0.853322,-0.055954],[0.854748,0.519034,0.003126],[0.026375,-0.049447,0.998428]]:H`?jN Z??Ӛi?? Q@ ?i:N?I:^b;:CYJQByJIbDRVDRyZ;%ZN=ٔ^ -Q-^>9\Y`=b>Fy`bEb>dQ 5j4f}?Q 9j4f.)fvBYlynH?Q In?f~CIf;if;f4ypɮr4 Ap-DNOT Ignoring new targets: 45.21 m.h)h1*h1"h1 h1g1f1f9f9d9dAjdAZdE(D@ZaZaZaZeDH?u9ؼ)y )>i9)額 5iiM2IIBA<B5G>B1B5:IB5uBB1B1B1B1B1ԑԹU9Ia)a 9@  @ @ /@ @ =@ = D %=D <bE=t4jE=͆s4rE=5/E  E E -E "E <;*E Z:VE t4ZE BE ēc t,92й?A2jN?2 ?2Xݼٱ2I :AHRS rotation from veh to nav: [[0.519392,-0.852693,-0.056089],[0.854109,0.520088,0.002527],[0.027017,-0.049219,0.998423]]2H`۞?CI@÷T??Ƴd?=??3?i2jN?I2b;2CYBSByFIiMb@Mb@Mb@ 9 rh?~jth rhYC=yDC=A A)(@Yp@AAbDVDNyu;%&=֪ٔQ->9Y=>Fy E>Q 54N?Q 94r)vBY=Q E=i9))5iim6II9@ @@5@ԉ^AIԱIO> nManaging dock network, ignoring radio surface power off %t,Kй?AYnGByrIbDzVDzy=w%ET=ٔEQ-E>9IYI=M>FyIMEU>QQ 5]4U?Q 9]4U)UvBYayaQ Ie?U~CIU<;iU8;UY4yiɮm AqDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd9E@ZZZZ) >i|9)?5ii05IIE EE.E"E[I;*E:VEـ4ZEa@a@a@a@@ @@/@9BBB!IB`BB =BBB[;B9E^A d6IIO>I Lt,ɒeй?A2MM?2i?2(ٱ2ۼH >AHRS rotation from veh to nav: [[0.522174,-0.850979,-0.056303],[0.852384,0.522912,0.001873],[0.027848,-0.048970,0.998412]]2H@?7;ӬF?`? ^???i2MM?I2Va;2CYFDByFIHHiMb@Mb@Mb@ 9V-?/$:vYh=yTA@ @)@Y@bD- VD-2yE,%EJ=ٔMQ-M>9IYI=M>FyIUEU>YQ 5e4]w?Q 9e4]Y)]vBYe=Q Em0i 9)158^51i1i9AEPBIAIIQep>ia9@ @@/@@ @ hAE EEE"E8;*E:VEZEBE؏i) I) ԩ kt,mй?A6M?6m?6ٱ6֍H@ BAHRS rotation from veh to nav: [[0.524039,-0.849832,-0.056297],[0.851237,0.524779,0.001913],[0.027918,-0.048925,0.998412]]6H?1ҬT=??W_??@ @?i6M?I6Da;6CYJLByJI R4Q-b>9`Y`=b>Fy`fʹEf>hQ 5j4jH?Q 9n4j)jvBYlyn9?Q In?j~CIj;ij;j+4ytɮv[ AtDNOT Ignoring new targets: 45.21 m.hh*h"h hgf!f!f!d!d)jd)Zd-`DE@ZQZQZQZU9?e)a e%>im"9)imz5iiiiqquHIqIy9@ @@/@ԩ^A5@IAIYOew>E EE0E"E9;*EV:VE4ZEa@a@a@a@ &t,AJй?ApA)A-AABYBYB]IB]QBBYBYBYB]d;B]9E qL?#?ٱafH AHRS rotation from veh to nav: [[0.525955,-0.848649,-0.056266],[0.850053,0.526693,0.002011],[0.027929,-0.048887,0.998414]]H?!(ά@3??-y`? P? ?i qL?Is`;CYOBy IiMb@Mb@Mb@ 9Q?S㥛~jth?Yu=y/ݼD;A@ A)@Y@bD-VD- 83y=#=<%=(=ٔ=帷Q-E>9AYA=E>FyAM엻EM>QQ 5]4U?Q 9]4U`)UvBY]=Q E]Ii%@9)!%=5!i!i))5=SPI1I1 99I9)99@ @@@@%=@%=9a ^A= <HII IY Oe >E  E E .E "E 9;*E :VE ـ4ZE BE FyiuEu?yQ 54}?Q 94} )}vBYyQ I?}~CI}:i}W:}4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd F@ZZZZ))) ->i59)1551i1i99= OIAIA9@ @@@iԑ^A0MIIO> M3t,Xй?A2b2K?2s?2Jٱ2{G :AHRS rotation from veh to nav: [[0.530090,-0.846097,-0.055894],[0.847498,0.530792,0.002651],[0.027425,-0.048776,0.998433]]2H?:`/?@?se?b?  *?i2b2K?I2}`;2CYB^ByBIHHbDNVDNyV =%VW=ٔVk:Q-Z>9XYX=Z>FyX^ZQE^>`Q 5f4bӉ?Q 9f4b)bvBYdyf1?Q If?b~CIb:ib2:bQƃ4ylɮn AlDNOT Ignoring new targets: 45.21 m.hh*h"h  h g f f fddjdZd:F@Z9Z9Z9Z=1?UJ)Q Ug>iU 9)QUb5ԙQiipaIIE5 EE-E"Ek;*EZ:VEt4ZEa@a@a@a@@ @@0@B9B9B9B9B= =B9^A}QOB9B=c;B=9EII!O5> `C9t,Eй?A6YJ?6E?6-#޼ٱ6yF BAHRS rotation from veh to nav: [[0.531710,-0.845111,-0.055421],[0.846492,0.532394,0.002831],[0.027113,-0.048419,0.998459]]6H@?`& `v?@^ ?B1g?Û?Qʨ``?i6YJ?I6:`;6CYJoByJ3IiMb@Mb@Mb@ 9+?~jt~jt?Y=yDD<A@ @)@Y@bD5VD51yE =%EA=ٔM=A:Q-M>9IYI=U>FyQUEU>aQ 5m4e?Q 9m4e)evBYu{=Q Eu&io9)顕ȴ5ii'mfIII)hA!A@A @A@A@A@I@IE  EE0E"EG;*E:VE4ZEBE+y P+@t,ѹ?A2$%J?2?2dܼٱ2F :AHRS rotation from veh to nav: [[0.533575,-0.843937,-0.055397],[0.845325,0.534243,0.003194],[0.026900,-0.048533,0.998459]]2H` ?``] ??)j?? I٨`?i2$%J?I2_;2CYB{ByBAIID)F=bDNVDNyrSo=%vP=ٔvS:Q-v>9xYx=z>FyxzEz>|Q 54~T?Q 9 4~f)~vBY y \?Q I ?~~CI~:i~:~ԃ4yɮ AEDNOT Ignoring new targets: 45.21 m.hAhA*hI"hI hIgIfIfQfQdQdQjdQZd]`F@ZZZZ\?dܼ) >i&9)顽5ii^mIIY59@1 @9@=5@9m%=m<ԁ^AfI IO-o>ԩE EE-E"E77;*E:VEt4ZEa@a@a@a@ tZFt,ץѹ?Aɰp;BnF>BlBn!IBn`BBn =BlBlBnb;Bn9EBBBB =BC;5G9Y=>FyܻE>Q 54?Q 945)wBY-=Q EZ=8?MԼ)Q U)>iU9)Q]5YiYiYaeiyIaIa u 9E  E E ,E "E C;*E n:VE g4ZE BE @9 Y^A5mIIIaO} ?Nt,3=ѹ?A6oH?6z^?6hѼٱ63F >AHRS rotation from veh to nav: [[0.537698,-0.841374,-0.054509],[0.842750,0.538287,0.004494],[0.025560,-0.048354,0.998503]]6H4? 諿?9?hr? `,??i6oH?I6];6CYFByFjIbDRVDRyZ>=%zG=ٔ~]:Q-~>9|Y=>FyDME> Q 54 ?Q 94 D) wBYy ?Q I? ~CI Y;i w; 4y!ɮ% A!UDNOT Ignoring new targets: 45.21 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde@G@ZZZZ ?hѼ) >i<9)顝V5iiWF}II a@a @a@m0@i^A]HuIiIO>9aE B E E -E "E w;*E V:VE t4ZE a @a @a @a @ԑ zUt,&Vѹ?AYBy~I   = bDVDyE=%EB=ٔEQ-M>9IYI=M>FyIUEU>YQ 5e4]?Q 9e4]V)]wBYayaQ Ie?] CI]:i] :]T4yuBɮu? AqDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd@;QG@ZZZZ) >i9)!%35)i)iII]|IYIiyBE>BBGIBBB =BBBh;B9Ea@a @a@e0@aԡ^A yzI I O > [t,(pѹ?A6H?61?6ɼٱ6,F BAHRS rotation from veh to nav: [[0.538881,-0.840653,-0.053950],[0.842024,0.539412,0.005421],[0.024544,-0.048348,0.998529]]6H>?@Q@?@B?j4v? "? ?i6H?I6];6CYJByJIiMb@Mb@Mb@ 9T㥛 ?A`"?~jt?Y>yY=<@ A)?@Yz@)-@AbD5VD5NyEɒ=%EJ=ٔE$;Q-E>9IYI=M>FyIU'aEU>QQ 5e4UT?Q 9e4U)U#wBYe>Q Ee;ymO?Q Im?UCIU;iU8;Ub4yqɮu AqDyzDybE ـ4jE ـ4rE /E+ EE/E"Eb;*Er:VEJ4ZEBEZ>Z>ZO?ɼ) >i9)5iiqII9@ @@5@^AQ|IIO>1 Q ގbt,ѹ?A6H?6.?6jżٱ6^E >AHRS rotation from veh to nav: [[0.538963,-0.840626,-0.053544],[0.841985,0.539472,0.005697],[0.024096,-0.048154,0.998549]]6H 0??gj?ZC?Uw???i6H?I6\;6CYFŁByFIbDjVDjyrgO=%rP=ٔv:Q-v>9tYt=v>FytzsEz>|Q 54~?Q 94~)~-wBYy J?Q I ?~$CI~:i~:~?4yɮw A=DNOT Ignoring new targets: 45.21 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUzG@ZqZqZqZuJ?jż) >i9)額6ii?II)M9@I @I@M/@IE EE,E"E8;*E:VEg4ZEa@a@a@a@Y^AupIyIO~>BG>BBrIBBBBBB;B9Eԉ ht,Pѹ?A02H?2N3?2aٱ2 cE :AHRS rotation from veh to nav: [[0.538835,-0.840726,-0.053259],[0.842082,0.539314,0.006142],[0.023560,-0.048158,0.998562]]2H">?:D V?@B?$(y? ? /7?i2H?I2,];2CYBǁByBIIFa=)FyM =MC9yYy=}>Fyy`9E>Q 54?Q 94)4wBY9>Q E;y:?Q I?8CI2 ;i ;4yɮe ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd{G@Z9>Z9>Zm>Z:?a) >i9) 6ii!!%qI)I) 11I1)1ԑ9@ @@/@ԹE EE1E"E9;*E:VE-4ZEBEj @nt,Ymѹ?A2NH?2iV?2Ḽٱ26F :AHRS rotation from veh to nav: [[0.537944,-0.841312,-0.053011],[0.842678,0.538371,0.007099],[0.022567,-0.048490,0.998569]]2H@6?4$@8?@U:?}??Ө`F?i2NH?I2 *];2CYB́ByBI HJ4<bDNVDNyV<%VX=ٔV+;Q-V>9XYX=Z>FyXZ|9;E^>\`Q 5f4b咦?Q 9f4b)b;wBYhyj\?Q Ij?bJCIb>:ib:b=4ylɮn@ ApDNOT Ignoring new targets: 45.21 m.h h *h "h  h g f ffddjdZd H@Z9Z9Z9Z=\?UḼ)Q U>iUX9)a6iib|II9@ @@@^AuIIO>A E  E E .E "E D;*E :VE ـ4ZE a @a @a @a @ut,Bѹ?A:vBI?:}?:e߰ٱ:hQH FAHRS rotation from veh to nav: [[0.536565,-0.842204,-0.052822],[0.843583,0.536938,0.008042],[0.021589,-0.048875,0.998572]]:H+?V ?.?@Qx?|? `L?i:vBI?I: ];:CY^فBybIbDjVDjyrd=%rG=ٔr;Q-r>9tYt=v>Fytz;Ez>xQ 54zO?Q 94z)zAwBYy?Q I?z\CIz;iz;zg4y BɮAMEEDNOT Ignoring new targets: 45.21 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZd]QH@ZZZZb?e߰)BeI>BaBeIBeBBe =BaBaBe;Be9E >i}}9)顅6iij9wIIQ C9@ @@@IejAR9jAY@Ay`?Aq^A yzI I) O5 > {t,ѹ?A2fI?2׀?2ٱ2H :AHRS rotation from veh to nav: [[0.534630,-0.843456,-0.052459],[0.844832,0.534960,0.008726],[0.020704,-0.048984,0.998585]]2H@?۪?`d?ށ?R3?`j`h?i2fI?I2\;2CYBށByBI DDiEMb@Mb@Mb@AAAA A9ECl?S㥻?Mb?YEd;>yE/=E9Y=>Fy{;E>Q 54?Q 94d)DwBYY>Q Ey;y@?Q I?tCI:i:4Թyɮ]ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff BddjdZd H@ZY>ZY>Z|?Z@?-)1 5q>i529)1= 69i9i9AELoIAIA@ @@@^AC|wI!I1O=>9 ނt, ҹ?A.uJ?.=&?.ٱ.@I :AHRS rotation from veh to nav: [[0.532619,-0.844747,-0.052152],[0.846121,0.532909,0.009345],[0.019898,-0.049104,0.998595]].H`7 ? *૳l? ?#?@%`?3$`~?i.uJ?I.\;,YZہBy^I``bDfVDf02yna]%nU=ٔr ;Q-r>9pYp=v>Fytv/;Ev>xQ 5~4z?Q 9~4z?)zGwBYy?Q I?zCIzy:iz :z4y ɮ rA DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd H@Z Z Z Z ?=)9 =ʺ>i==9)9=&6AiAiAIMQgIiI%9@! @!@!@!E} E}EyEy"E}:;*E}V:VEyZEya@a@a@a@9^AM8kBIAM<BUK>BQBUIBUՁBBU =BQBQBU;BU9EiIIO>ԑ +t,Z%ҹ?A6K?6l?6=ٱ6I BAHRS rotation from veh to nav: [[0.530805,-0.845902,-0.051926],[0.847277,0.531058,0.009945],[0.019164,-0.049274,0.998601]]6H [?@? m?]??@t:?i6K?I6 \;6CYN΁ByRIi%Mb@Mb@Mb@!!!! !9%E?"~j?~jtxY%F>y%S=%Ļ%A%@ %A)%l@!Y%\@bD=VD=:yM_%MD=ٔU:Q-U>9QYQ=]>FyY]ڨ;E]>aQ 5m4e?Q 9m4e)eCwBYud>Q Eum;yu?Q Iu?eCIe<:ie:e$4yyɮADNOT Ignoring new targets: 45.21 m.hh*h"h hgfff*Bd1d9jd9Zd=H@qZd>Zd>Z# ?Z?=) ף>ig9)+6ii`II9@ @@0@ԡE} E}E}0Ey"E}O6;*E}:VE}4ZEyBE}G /t,K?ҹ?A2K?2?2 ٱ2I :AHRS rotation from veh to nav: [[0.528666,-0.847271,-0.051425],[0.848632,0.528879,0.010480],[0.018319,-0.049181,0.998622]]2H?bT '?`?Qv?’?E.?i2K?I2ð\;0YnρBynIIr<)r49 Y = >Fy s;E>Q 5%4Y?Q 9%4{)@wBY!y-?Q I-?CI:i:+4y1ɮ5A1]DNOT Ignoring new targets: 45.21 m.hYhY*ha"ha hagafafifididijdiZdu I@ZZZZ? ) >i9)顭16iiWII99@ @@0@) E  E E 1E "E 9;*E :VE -4ZE a @a @a @a @^A ^I) I9 OE >t,iYҹ?Aɰ4<>!8L?>Q?>ٱ>DI JAHRS rotation from veh to nav: [[0.526819,-0.848447,-0.050985],[0.849798,0.526991,0.011090],[0.017459,-0.049169,0.998638]]>H@?z&`@1??x?`?@,`?i>!8L?I>\;>CYRɁByRI ^;^bDfVDf1yrm%rM=ٔm;Q-u>9yYy=}>Fyy;E>Q 54?Q 94)=wBYyI?Q I?CIf;iR; 34yɮ ABJ>BBIBځBB =BBB;B9EBBBB =B =CL5MDNOT Ignoring new targets: 45.21 m.hIha*hi"hi higqfyffddjdZd@YI@ZZZZI?-)1 =>Ai] 9)amH66iiii QII9@ @@w1@iԙ ^A -tYI I O >j1t,)$sҹ?A2L?2O?2l'ٱ2uH :AHRS rotation from veh to nav: [[0.524950,-0.849646,-0.050287],[0.850973,0.525079,0.011660],[0.016498,-0.048914,0.998667]]2Hc?M0 @,;?s?m?@? J ?i2L?I2ȸ\;2C@YFByFIi Mb@Mb@Mb@     9 /$?Mb?MbY ,>y =  &A @ @)  Y p@bD-VD-y5#%=F=ٔ=#;Q-=>9AYA=E>FyAEQ;EM>IQ 5U4M?D]?AzDYEe EeEe2Ea"Eey>;*Ee:VEe4ZEaBEeUQ E;yA?Q I?MCIMZLE>Z?Z8A?l') >i9)d<6ii!!%[II!I)Ա9@ @@4@^A 8RI I) O5 > t,^ҹ?A6Q)M?6?6-zٱ6tH BAHRS rotation from veh to nav: [[0.523707,-0.850447,-0.049719],[0.851762,0.523776,0.012679],[0.015259,-0.048988,0.998683]]6H4?6 t`A??5? @?5?i6Q)M?I6n\;6CYFByFIN=N=bDRVDR0yZʽ%ZS=ٔ^8Q;Q-^>9\Y\=^>Fy\bx;Eb>dQ 5j4f4?Q 9j4hf)f5wBYlynr?Q In?fCIf},;ify-;f@4ypɮv AtDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffd!d!jd!Zd%pI@ZAZAZAZETr?]-z)Y ]>i]r9)aeA6aiaiiimOEIiIq9@ @@/@Em EmEm0Ei"Em[I;*Em:VEm4ZEiau@au@au@au@^A|(HIIOi>1AAB5H>B1B5IB5ЁBB5 =B1B1B5;B59Ea Bt,ئҹ?A6ÝM?6"?6agٱ6G >AHRS rotation from veh to nav: [[0.522201,-0.851419,-0.048904],[0.852705,0.522220,0.013398],[0.014132,-0.048697,0.998714]]6Hߵ?`> \I??*p? ?@`v?i6ÝM?I6\;6CYFByFtI9iMMb@Mb@Mb@IIII I9MK7A`?Q? rhYM+>yMu=MCIM@ I)MV@IYIaabDmVDmyu8!%u?=ٔ},;Q-}>9Y=>Fy ;E>Q 54?Q 94 )-wBY6>Q E;y3?Q I?CI2 ;i ;%H4yɮ+ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd`+I@Z 6>Z 6>Z E>Z 3?ag) >i%9)!%G6!i!i))-6N?I)I19@ @@@iDyD}4=bEǻ4jEǔ4rE]%0E EEE"EO;*E:VEZEBE8 C+t,tҹ?A24M?2߂?2{Rٱ2!:F >AHRS rotation from veh to nav: [[0.521228,-0.852068,-0.047976],[0.853321,0.521191,0.014262],[0.012853,-0.048372,0.998747]]2H?#DJgN??>5?R?@DĨ?i24M?I2\;2CY^BybqIbDjVDjk1yr?o%rT=ٔrY;Q-r>9tYt=v>FytzD;Ez>xQ 54z?Q 94z^)z&wBYy[?Q I?z CIzr;iz<;zN4y ɮB AԙDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd$J@ZZZZ[?{R) >i 9)  M6 i it;II !!I!)!-9@) @)@-0@)^AM+WBIYIiO}>E  E E .E "E N;*E :VE ـ4ZE a @a @a @a @ Ut,Kҹ?AV"N?V?Vd=ٱV4oE fAHRS rotation from veh to nav: [[0.520487,-0.852566,-0.047163],[0.853791,0.520394,0.015202],[0.011583,-0.048180,0.998771]]VHԧ?`8H%@AR??@"?鸇??iV"N?IV\;VCYrByr`IbDVDyp%G=ٔ%!J;Q-%>9!Y!=%>Fy)- ;E->1Q 5=45?Q 9=45})5wBY9yEz?Q IE?5CI5;i5;5V4yIɮM AIuDNOT Ignoring new targets: 45.21 m.hqBG>BBIBBB =BBB;B9Eh*h"h hgfffdd jd Zd 7YJ@ZIZIZIZMz?d=) >i#9)顥S6ii_ 9IIi>i@ @@/@)Y^A l;I - 4=- %=I9 OM >y t,kҹ?A6uWN?6?6'ٱ6D BAHRS rotation from veh to nav: [[0.519808,-0.853027,-0.046316],[0.854222,0.519656,0.016210],[0.010241,-0.047991,0.998795]]6H`C? KĶ`U??z? ?`=!?i6uWN?I6V\;6CYJByJMIiMb@Mb@Mb@ 9X9v?V-?MbY=y<A@ @)l@Yz@ 54<5<EE EEEAEA"EEL;*EE:VEAZEABEEޡ9iYi=m>Fyiu:Eu>yQ 54}M?Q 94}9)}wBYa=Q E;y=?Q I?}CI}:i}:}H]4yɮ* ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd@J@QZa=Za=Zjt>Z=?') >iz9)顭ZZ6iim6II@ @@0@ԁ^AB4ԱIIO> jt,Uӹ?A2ctN?2r%?2_ٱ2JC :AHRS rotation from veh to nav: [[0.519437,-0.853300,-0.045431],[0.854463,0.519226,0.017271],[0.008852,-0.047790,0.998818]]2H;?;NB`W?~?c?` ?`wQ?i2ctN?I2%];0YBxByB>IbDN VDN2yV%VV=ٔVn;Q-V>9XYX=Z>FyX^:E^>`Q 5f4b?Q 9f4b )bwBYdyjM?Q Ij?b#CIb:ibN:bc4yQɮU AQ}DNOT Ignoring new targets: 45.21 m.hyhy*hy"h hgfffddjdZd J@ZZZZFM?_) >iY9)``6ii5IIԩI@I @I@MP0@IEM EMEM-EI"EMV;*EM:VEMt4ZEIaU@aU@aU@aU@^A53IAIQOew>BA<BH>BBlIBBB =BBB;B9E  I 5 2H91 Y= 7A1 t, (ӹ?A2|N?2)?2Oٱ2 C :AHRS rotation from veh to nav: [[0.519334,-0.853413,-0.044477],[0.854540,0.519057,0.018465],[0.007328,-0.047597,0.998840]]2Hb?@)OŦ@dX??@?@~?^~?i2|N?I2\;2CYByByB?IZonly read 0 of 1 data item for BIT error. Device response is::TS,00050307183913,35.0, +110,1495.1, 0 aZ@aZ aZ@aZ aZ@aZ aZ@aZ bD^VD^0yf;%fI=ٔju;Q-j>9hYh=j>Fyhn9En>pQ 5v4rʜ?Q 9v4r)rwBQ Az+:YxQ Ez;yzR?Q Iz?r)CIr<:ir>ri4yɮ A-DNOT Ignoring new targets: 45.21 m.h)h)*h)"h) h)g1f1f1f1d9djdZdJ@O) >i%9)f6!i!i))-(4I)I1a@ @@Y1@@@AEu EqEu,Eq"EumR;*EqVEug4ZEqBEui yt,\Aӹ?A :ĄN?:-?:-ٱ:`B BAHRS rotation from veh to nav: [[0.519235,-0.853520,-0.043568],[0.854612,0.518896,0.019651],[0.005834,-0.047437,0.998857]]:H? P`N@X?˚?`z?w?I@?i:ĄN?I:\;:CYJlByJ0IR@ARAAbDVVDVyZv%^K=ٔ^s;Q-^>9`Y`=b>Fy`fl9Ef>hQ 5j4j?Q 9n4j)jwBQ An :YlQ En;ynW?Q Ir?j/CIj ;ijO?jQn4ytɮv AtDNOT Ignoring new targets: 45.21 m.hh*h"h hgf!f!f!d!d)jd)Zd-`h$K@]-)Y ]@>i]9)Y]pl6aiaiaims4IiIi9@ @@4@iԙ^AM7I!I9OEs> Em  Em Ei Ei "Em F;*Em :VEi ZEi au @au @au @au @=t,[ӹ?AJ?gr?:?iJ9Y=>Fy  )E >Q 54[?Q 9%4N) wBQ A%9Y!Q E%e;y%P?Q I%?6CIX);i?&r4y)ɮ5 A1BeN>Be:CBe@IBezBBe =BaBeDBe;Be9EDNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZdYK@8) %>i9)dr6ii5II9@ @@E4@^A-B4IAIQOe>! t,uӹ?A23cN?2?2Qٱ2A :AHRS rotation from veh to nav: [[0.519679,-0.853326,-0.042043],[0.854356,0.519230,0.021829],[0.003202,-0.047264,0.998877]]2H5?`sN`V??@pZ?`9Y=>Fy%E%>)Q 5-4-䡦?Q 954-s)-wBQ A5T:Y5=Q E=i9)顝'y6iim6II)Ye 9@a  @a @e 0@a ԙ Ա ^AI6IIO>t,ӹ?A2RN?2?21ٱ2 A :AHRS rotation from veh to nav: [[0.519893,-0.853233,-0.041296],[0.854229,0.519398,0.022763],[0.002027,-0.047111,0.998888]]2H?M$U??LO?`E`?@@?i2RN?I2a];0YBbByB#IbDjVDj!yr]%r8=ٔv-;Q-v>9xYx=z>FyxzE~>|Q 54~t?Q 94~)|Y y /S?Q I ?~ACI~o;i~{;~4yɮ: AEDNOT Ignoring new targets: 45.21 m.hAhA*hA"hA hAgAfIfIfIdQdQjdQZdU)K@ZqZqZqZu/S?1) >i9)顕S6ii,7IIE& EE2E"E8^;*E :VE4ZEa@a@a@a@ԉM9@I @I@M/@IAABO>B;CB'IBfBB =BBDBB9EBB9CBĔCBĪ =Bħ =CJ6Ա^AeB4IIO> t,YLӹ?AN=LY hBy *IiMb@Mb@Mb@ 9 ףp= ?Zd;O=ٔQ->9Y=>FyE>Q 54ئ?Q 94)wBY"=Q Eie9)ae6aiaiiqu7IqIq%9@) @)@-/@)E EE.E"EP;*E:VEـ4ZEBEI Xt,!ӹ?A2eM?2s?2kٱ28B >AHRS rotation from veh to nav: [[0.521047,-0.852566,-0.040497],[0.853528,0.520465,0.024632],[0.000076,-0.047400,0.998876]]2H`k?9HP??59? { ?D?i2eM?I2];0YFpByF5I HHJ=J=bDRVDRNyV:=%Z]=ٔZ;Q-Z>9\Y\=^>Fy\bnEb>dQ 5j4f訦?Q 9j4f7)fwBYhynF?Q In?fKCIf2:if;f4ypɮr Ap DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffdd!jd!Zd% 0L@ZAZAZAZECF?Uk) >i9)d6ii  5 BDAT read: Tx time:03:30:24.6128 $Ping request sent.E EE-E"EN;*EVEt4ZEa@a@a@a@ԩ B U>B :CB IB [BB =B B B ;B 9Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249914t,ӹ?ABM?B:ǂ?B:ٱB C JAHRS rotation from veh to nav: [[0.521912,-0.852045,-0.040332],[0.852999,0.521298,0.025325],[-0.000553,-0.047621,0.998865]]BH`?C@j`K?x??Ba`?iBM?IBN ];@lY~fBy~(IbDEVDEN2yUC%U@=ٔuh:Q-u>9yY=>Fy^E>Q 54S?Q 94y)wBYyF?Q I?PCImi--9))-6-i)i115be?I1I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5045091^A% &t@I1 IA OM >a D @AzD bEـ4jEـ4rE0E  E E .E "E *E :VE ـ4ZE BE pʡM?>&?>ѣ:ٱ>OC JAHRS rotation from veh to nav: [[0.522200,-0.851881,-0.040062],[0.852822,0.521561,0.025850],[-0.001126,-0.047665,0.998863]]>Hݵ?B QJ??@x?ytR`g?i>ʡM?I>8!];>CYRpByR4I9i]Mb@Mb@Mb@YYYY Y9]zG?I +{Gz?Y] =y]94]#<]AY ]@)]l@YY]@bDuVDuk1y==%G=ٔ͸:Q->9Y=>FyD[E>Q 54|?Q 94)wBY/=Q E;yk?Q I?UCI:i:$4yɮ ADNOT Ignoring new targets: 45.21 m.hh*h"h hgfffBddjdZd oL@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753998Z%/=Z%/=Z%ø@Z%sk?5ѣ:)9 =>i=49)9=6=i9iAAEg?IIII QQI)i@ @@@ԑ^A-BIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005907 ,u,Թ?A2eM?2?2:ٱ2C :AHRS rotation from veh to nav: [[0.522413,-0.851758,-0.039903],[0.852691,0.521752,0.026329],[-0.001606,-0.047779,0.998857]]2H@?A@n@>I? 1??`PZ }v ?i2eM?I2d3];2CY^vByb;IIb=)b=bDjVDjJyrj<%rU=ٔr$:Q-v>9tYt=v>Fytz+Ez>|Q 54~?Q 94~)~#wBYyk?Q I ?~ZCI~;i~k:~Ԥ4yɮP AԙE EE/E"EC;*E:VEJ4ZEa@a@a@a@DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffddjdZd L@ZaZaZaZek?:) >i9)页:63iix@II9@ @@0@BABR>B;CBIBVBB =BBB;B9E@=@=-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257916^A.BI IA O >! V u,u/Թ?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509934Y~zBy~AIiMb@Mb@Mb@ 91Zd?Q?Y"=yu< @)@Y p<bDVDNyƤ<%>=ٔQ->9Y)=->Fy)-E5>9Q 5=4=?Q 9E4=)=*wBYEG=Q EE;yE?Q IE?=aCI=:i=:=4yUܒBɮU AQ}DNOT Ignoring new targets: 45.21 m.hyhy*hy"hy hgfffBddjdZdXM@ZG=ZG=Z/3Za?) >i9)k6iii@IIm9@i @i@m.0@iD=D<E E"EE"E0;*E;VEZEBEy >u,DjIԹ?A2{M?2҂?2;ٱ2bC >AHRS rotation from veh to nav: [[0.521618,-0.852257,-0.039651],[0.853176,0.520934,0.026796],[-0.002182,-0.047807,0.998854]]2H?@E$M8M?}?`p?a$z ?i2{M?I2w];0YZByZOIbDfVDfyj/=%jY=ٔnZ:Q-n>9pYp=r>Fypr(;Ev>tQ 5z4vM?Q 9z4v)v/wBY|y~?Q I~?vfCIvf;ivr;v4yɮ  A 5DNOT Ignoring new targets: 45.21 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdE3M@ZaZaZaZe ?};)y }>i}9)顅6TټiiL=IIQ1@1 @1@55@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013993ԁ^AutEIIO>E E2E+E"EM;*E;VE [4ZEa@a@a@a@ԱB B 9CB !IB `BB =B B DB ;B 9EE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265895 ! ! ku,3QcԹ?A6N?6Q?6;ٱ6K=CN+GX` ^AHRS rotation from veh to nav: [[0.520659,-0.852850,-0.039513],[0.853762,0.519977,0.026721],[-0.002243,-0.047648,0.998862]]6H`9Y=>Fy*-;E>Q 54F?Q 94)6wBYy҃?Q I?kCI" ;i:[4yɮ6 ADNOT Ignoring new targets: 45.21 m.h h *h"h hgf!f)f1d9dAjdAZdMkM@ԱZyZyZyZ}҃?;) s>i9)|6Rμii9I!I)9@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518658 ^A 4|EI I O >E & E E E "E 8^;*E :VE ZE BE °AHRS rotation from veh to nav: [[0.519680,-0.853439,-0.039678],[0.854358,0.519005,0.026554],[-0.002069,-0.047698,0.998860]]2H 8?_OPV? ?0?@H`k?i2;cN?I2~];2CY^BybjIi}Mb@Mb@Mb@yyyy y9}Cl?I +?y&1?Y};=y}9<}`e<}A}(@ y)yyY}@AAbD VD2y=%H=ٔ߹Q->9Y=>Fyq7;E>Q 54?Q 94);wBY=Q E;yR?Q I?qCI:i:4yɮ Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770076DNOT Ignoring new targets: 45.21 m.hh*h"h hgfffހBd!d!jd!Zd% M@ZE=ZE=ZEjK>ZER?]H;)Y ]q>i]9)aeM6eƼiaiiimY5IiIqI19@ @@/0@i  BDAT read: Rx Time:03:30:27.0874  TRx dataTimestamp_ set to:1761535826.272537 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023393ԑ ^A I6I I O >%u,oԹ?A2N?2D?2CH:ٱ2pC >AHRS rotation from veh to nav: [[0.518660,-0.854049,-0.039904],[0.854979,0.517992,0.026376],[-0.001856,-0.047797,0.998855]]2Hۘ?^T Xn[?`c?A?@i^x`?i2N?I2Bk];2CYFByFaIbDNVDNyVh%VN=ٔZ} Q-Z>9XYX=^>Fy\bD;Eb>QQ 5]4U޷?Q 9e4U})UAwBYaymz?Q Iu?UwCIUIr;iUs;UȄ4yyɮ< ADNOT Ignoring new targets: 45.21 m.hh*h"h hgE 1 E E /E "E 2h;*E :VE J4ZE a@a@a@a@f)f)f)d)d1jd1Zd5 M@ZqZqZqZurz?ԡCH:) >i 9)页I6xii1IIAABZ>B:CB:IBuBB =BBDB;B9E9i9I9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.27447459@1 @9@=4@9 ^AE B4Ii I O >% DAT read: 03:30:27.0874 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 14,-0.32, 0.896, 2.534, 0.831, 1.413, PHS=-0.415, 1.166,-0.625, RAW= 336.2, -1.5, CAL= 335.6, -4.4, ROT= 174.4, 4.4 ) 5 Ygot valid direction response: 03:30:27.0874 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 14,-0.32, 0.896, 2.534, 0.831, 1.413, PHS=-0.415, 1.166,-0.625, RAW= 336.2, -1.5, CAL= 335.6, -4.4, ROT= 174.4, 4.4 5 PDAT read: Bearing 25.0, 5.9 (Local) = ~Local bearing/azimuth received: Bearing 25.0, 5.9 (Local) E DAT read: Range 11 to 50 : 52.8 m (Round-trip 70.4 ms) speed 0.2 m/s ,u,B`Թ?AR#Rx 1: Read range and direction messages.`direction in FSK: [-0.992294,0.097296,-0.076719]Fpublishing direction and range infoy)-)q͒E[?.0ۣY-3SB)))) )))I-zԾi-}??- -Ļ@-Pwּ-5o@ -nF)-B@I-nF=))-WsT~%䚿 - )-&)<AiMb@Mb@Mb@ 9rh|?I +?Mb?Y=y94=<@ )@YbD5VD50yEe<%E(=ٔE\Q-E>9IYI=m>Fyiu^`;Eu>yQ 54}㸦?Q 94})}CwBY>Q E;y?Q I?}CI}:i}:} ф4yɮ Ai)i-Թ?AJi-URBRi-URBji-d@b-4J686v@w"R-)q͒E[?.0ۣZi-B@bi-nF=j-K33?m&E(ѽZ-@`{ئ,;p2i-y(:i-"i-s?*i-(Bi-hrBi)i)i-Bi-OBi-$@ addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 59.990747 s, deltaX: 7.399998 m, approachRate: 0.123352 m/s, rangeRepo size: 4  Added new target pos. range: 52.583466 m, bearing: 233.470073 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 59.990747 s, deltaX: 7.370770 m, approachRate: 0.122865 m/s, posRepo size: 4 DNOT Ignoring new targets: 52.58 m.hhE EE2E"EP;*E-:VE4ZEBEZu>ZuU>Zu?:) q>i9)顕6 ii7,II99@ @@5@i ^A= .II IY Oe >2u,\Թ?Aɰ6 O?6Ʋ?6OL:ٱ6C >AHRS rotation from veh to nav: [[0.515767,-0.855768,-0.040563],[0.856728,0.515145,0.025331],[-0.000781,-0.047816,0.998856]]6H *?sb ĤQj? |?C?iIQ{?i6 O?I6d];6CYFByJcI N4Fy`b;Eb ?dQ 5j4f?Q 9j4f)fEwBYlyn?Q In?fCIf:if:fք4ypɮr, ApDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd`W!?ZZZZ?OL:) >i9) 6iiAAM%IIIIY=9@9 @9@=/@9ԑE  EE-E"EC;*E:VEt4ZEa @a @a @a @^A]4/IiIyO>B V>B B MIB BB =B B B ;B 9EBE:CBE:CBEɓCBEɧ =BACEɢ6Ա 9u,Թ?APYByhIbDVD1y-H<%-D=ٔ5Q-5>91Y1==>Fy9=EE>AQ 5M4Ex?Q 9M4Ej)EHwBYQyQQ IU?ECIE:iE[:E݄4yɮ A DNOT Ignoring new targets: 52.58 m.h h*h"h h!g)fQfYfadidjdZd`)?ZZZZ) >i<9)Z6ii!!%J'IIII@ @@@^A- C"1 IA IY Ou >E  E E 0E "E O6;*E :VE 4ZE BE G?u,Թ?A6}P?6-?6^Jٱ6ڋD BAHRS rotation from veh to nav: [[0.512555,-0.857647,-0.041582],[0.858654,0.511997,0.023923],[0.000772,-0.047967,0.998849]]6H`f?@q8J@z? Gb?^?@KI?`?i6}P?I6 ^;6CY^Byb}I ``f=f=|iUMb@Mb@Mb@QQQQ Q9UV-?i|?5?Mb`?YUh>yUq=U;UAU(@ U@)QQYU\@bDmVDm:2y}{=%E=ٔuQ->9Y=>Fy<E>Q 54=?Q 94)GwBYy>Q E;y?Q I?CI ;i:"4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd ה?Zy>Zy>Z>Z?^J) ף>i%9)ϫ6ֳiiII Q)@ @@@Q^A- K'I1 II OU >ԁ %'Fu,չ?A RfQ?Rw?RQٱR*D AHRS rotation from veh to nav: [[0.510602,-0.858783,-0.042161],[0.859815,0.510090,0.022940],[0.001806,-0.047964,0.998847]]RHV?`&{`"?@R?}? ]?ฎ?iRfQ?IR*^;PYBy%iI)-@AE= E9E=+E9"E=I@;*E9VE= [4ZE9aE@aE@aE@aE@bD5VD50yU5Y%UM=ٔe)Q-e>9aYa=e>FyamL;Em>qQ 5}4u?Q 9}4u()qYyy?Q I?uCIu;iu;u4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd`_?ZZZZ?Q) x>iu9)6ͺii   >I IB1A5<B=L>B=7CB=YIB=BB= =B=>DB=DB=;B=9E@ @@0@ԁԹ^A [II9Oe> 4= PLu,&3չ?A2YQ?2n?2x4ٱ2%D :AHRS rotation from veh to nav: [[0.508750,-0.859859,-0.042608],[0.860910,0.508282,0.021991],[0.002748,-0.047869,0.998850]]2HG?@Х?@C?? f?H?i2YQ?I2^;2CYRByRqIi-Mb@Mb@Mb@)))) )9-Pn?p= ף?Mb`?Y->y-=)-=A-@ -nA)-@)Y)bDVD:y<%E=ٔ$Q->9ԹY=>Fyة;E>Q 54O?Q 94)Y>Q E;y?Q I?CIP ;i ;^4yɮ A DNOT Ignoring new targets: 52.58 m.h h *h"h hgfffBddjd!Zd%@@Zm>Zm>Zm>Zm?}x4)y ף>i9)顅6ƼiiYX II I)bEm4jEm44rEm_0EM$ EMEM.EI"EMg\;*EM:VEMـ4ZEIBEM0A |8Su,#Mչ?A6;R?6?6y|ٱ6!@D BAHRS rotation from veh to nav: [[0.506794,-0.860982,-0.043238],[0.862058,0.506376,0.020956],[0.003852,-0.047894,0.998845]]6H7?*R#`?:4?@^u?@/o?@?i6;R?I6^;6CYFByJkILNAbDRVDR0yZǼ%Z\=ٔZBQ-^>9\Y`=b>Fy`b;Ef>dQ 5j4f?Q 9j4f,)dYlyn?Q In?fCIf!;ifO;f4ytɮv AtDNOT Ignoring new targets: 52.58 m.hh*h"h hgfff!d!d!jd!Zd%@ZIZIZIZM?]y|)Y ]1>ie 9)ae6eռiaiiimIiIq!9@ @@4@A^A5 IAEU  EUEU/EQ"EUX;*EUg:VEUJ4ZEQa]@ae@ae@ae@IaOuy>qB1 B1 B5 `IB5 BB5 =B1 B5 DB5 ;B5 9EiA IE Aԙ bYu,O]gչ?AɰYrByrhIbDzVDzy%[%-C=ٔ-Q-->91Y9=E>FyAUEU>aQ 5e4eF?Q 9m4e)eFwBYiyiQ Im?eCIeg:ie:e@4yqɮ} AyDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd`4@yZqZqZqZq) Q>iC9)ɵ6iiII9@ @@5@Ա^A I I O >E  E E .E "E V;*E 1:VE ـ4ZE BE 9yYy=}>Fy><E>Q 543?Q 94)Y& >Q E;y?Q I?CI ;i ;h4yɮ, ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd `bz @Z-& >Z-& >Z->Z-?=ƻ)9 Eף>iE^9)AE:6EiAiIIM3IIIQ 9@  @ @ /@ ^A{IIO>) Y xfu,$չ?AFT?F?FvٱFbDEN ENEN,EL"ENC;*ENx:VENg4ZELaV@aV@aV@aV@ ZAHRS rotation from veh to nav: [[0.500768,-0.864399,-0.045238],[0.865551,0.500503,0.017810],[0.007247,-0.048074,0.998817]]FHI?'j)?`?9!Y!=%>Fy!-9;E->1Q 5=45r?Q 9=45)1Y9y= ?Q IE?5CI5:i5:5H4yIɮM AI=DNOT Ignoring new targets: 52.58 m.h9h9*h9"hA hAgAfAfAfIdIdIjdQZdU# @ZqZqZqZu ?v) }>i&9)額6iiټIIAA@ABH>BBBB =BBB;B9E)E9@A @I@M/@I]cG?9YAQ^AIIO >ԉ Ȟlu,չ?A0:,T?:8?:eٱ:D BAHRS rotation from veh to nav: [[0.498759,-0.865529,-0.045817],[0.866700,0.498548,0.016740],[0.008353,-0.048059,0.998810]]:H?iRu`?6?_$???/??i:,T?I:߽_;8YJByJZIiMb@Mb@Mb@ 97A`?T㥛 ?~jtxY>y=ĻA?@ nA)@YbD5VD51yEe%MH=ٔMj1Q-M>9IYQ=U>FyQU;EU>YQ 5e4]?Q 9e4])]CwBYm#>Q Em;ym¹?Q Im?]ȀCI]<:i]:]m4yqɮ}d Ay=DNOT Ignoring new targets: 52.58 m.h9h9*h9"h9 h9g9fAfAfEBdAdIjdIZdM`}@Z#>Z#>ZM>Z¹?e)  ף>i59)1569i9iAAE©ʼIIIqԙD=DR=E  EE-E"EG;*E:VEt4ZEBE+ su,չ?A2/U?24?2ٱ2,D :AHRS rotation from veh to nav: [[0.496786,-0.866634,-0.046365],[0.867822,0.496629,0.015664],[0.009452,-0.048018,0.998802]]2H`X?`v )1??@ ?`f[?ѕ /?i2/U?I2_;0\YbBybaIbDjVDjy%<%%M=ٔ%}4Q-%>9)Y)=->Fy)-[;E5>1Q 5=45?Q 9E45P)5@wBYAyE ?Q IE?5ЀCI5L;i57;5e4yIɮU< AQDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd@ @ZZZZ^ ?) >i9)6ii査IIE  EE,E"EF;*E:VEg4ZEa@a@a@a@9@ @@2@BC>BBBB =BBB;B9EA ^A -¼I I O >zu,W չ?A2U?2ˆ?2D-ٱ2+D8 >AHRS rotation from veh to nav: [[0.494878,-0.867694,-0.046947],[0.868898,0.494776,0.014582],[0.010575,-0.048009,0.998791]]2H?`% x ?g?fݍ?@{?`?i2U?I2_;2CYFByFHII=)p;)-AbDEVDEyi%4=ٔUyQ-]>9iYq=u>Fyqg;E>Q 54w?Q 94S)>i=9)AE6AiAiIIM쭼IIII9D ?AzD E-  E- E- .E) "E- E;*E- :VE- ـ4ZE) BE- Xu,ֹ?A4<ɰ6V?6Oa?6'Pٱ6*D BAHRS rotation from veh to nav: [[0.490875,-0.869910,-0.047937],[0.871137,0.490882,0.012446],[0.012704,-0.047869,0.998773]]6H~j?N;[?`j? k}?? Y`?i6V?I6Y!_;6CYF~ByFFIiUMb@Mb@Mb@QQQQ Q9US㥛?A`"?MbP?YU$>yUY=U:U=AU@ U@)QQYU @ m9Y=>Fy,<E>Q 54 ?Q 94)Y>Q E;y?Q I?CI<:i:;-4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffՀBddjdZd@ Z>Z>Zm>Z]?'P) >im9)页f6ii:II9@ @@/@1i^A ೼I I) OE >E=  E= E= 2E9 "E= 4;*E= :VE= 4ZE9 aE @aE @aM @aM @ԉ B- <A- <B5 B>B1 B5 MIB5 BB1 B1 B1 B5 ;B5 9EB7C( u,!ֹ?AB57CB1B5 =B5 =C5V66W?6?6j`ٱ6hD >AHRS rotation from veh to nav: [[0.488868,-0.871008,-0.048510],[0.872250,0.488925,0.011488],[0.013711,-0.047929,0.998757]]6H I?LD֨`y?J?`???i6W?I6H_;6CYFpByF4IbDRVDR0yVȝ%ZZ=ٔZ/Q-Z>9\Y\=^>Fy\b2;Eb>`Q 5f4b?Q 9j4bZQ =jtI)`Yhyj޸?Q Ij?bCIb:ib:b34ypɮr` Ap DNOT Ignoring new targets: 52.58 m.h h *h "h  h gfffddjdZd%&@ZAZAZAZE޸?Uj`)Q U$>iU 9)6iiIIy9@ @@@@@^Ae2IqIO>ԙ O5u,;ֹ?A>X?>?>pٱ>8UE FAHRS rotation from veh to nav: [[0.486939,-0.872048,-0.049215],[0.873312,0.487045,0.010623],[0.014706,-0.048153,0.998732]]>H@*?@2,?+??`9?@?i>X?I>k0_;>CYNsByN8I PPE  EE+E"EF;*EL:VE [4ZEBEbyE,=AEAE(@ EnA)EV@AYE@bD] VD]:2ymg<%m?=ٔmeQ-m>9qYq=u>Fyq};E}>Q 54?Q 94į)=wBY>Q E;yŭ?Q I?CI:i/:E;4yӒBɮ A;EDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffŀBddQjdQZdU@Z>Z>ZD>Zŭ?p) >i[9)6iincII9@ @@0@^AeIIO>) Ru,~oUֹ?A:X?:@?:-ٱ:E vAHRS rotation from veh to nav: [[0.484907,-0.873150,-0.049743],[0.874426,0.485062,0.009715],[0.015646,-0.048207,0.998715]]:H ?w L?@ ?P?x?x?i:X?I:m _;:CY~nBy~1I  AAbDVD:y%Gμ%%O=ٔ%$Q-%>9)Y)=->Fy)-;E5>1Q 5=45¦?Q 9E45N)1YAyE?Q IE?5CI5;i5;5)B4yIɮU( AQ}DNOT Ignoring new targets: 52.58 m.hyhy*hy"hy hygfffddjdZdp@ZZZZ?-) >i9)66iiDIIQu9@q @q@u?2@qE  EE0E"EE;*E:VE4ZEa%@a%@a%@a%@BB8CB@IBzBB =B=DBB;B9Ey^AumIIO>ԩ BJu,Zoֹ?A@eBLY?ec?eͿٱefmD AHRS rotation from veh to nav: [[0.482744,-0.874338,-0.049912],[0.875607,0.482944,0.008757],[0.016448,-0.047931,0.998715]]eHE? `??F?א?`jy?ieBLY?Ie ^;eCYeBy'IiEMb@Mb@Mb@AAAA A9EL7A`?Q?y&1|?YE+>yE9yYy=}>Fyy}];E}>Q 5 42Ħ?Q 9 4Ŭ)AwBY  >Q E ;y y?Q I?CIZ >Z d>Z7y?Ϳ) ף>i9)顝6iԡi$II I)9@ @@m0@@%=@%=bEـ4jEـ4rE/0E EE/E"E[I;*E:VEJ4ZEBE.u,'ֹ?A2tY?2|?2mٱ2C :AHRS rotation from veh to nav: [[0.480622,-0.875489,-0.050222],[0.876758,0.480868,0.007866],[0.017263,-0.047813,0.998707]]2H? f? ?&??@{h?i2tY?I2~^;0YBdByB&IIF<)Fp<bDNVDN1yVCv%Vm=ٔVQ-Z?9XYX=Z>FyX^+;E^?`Q 5f4bDŦ?Q 9f4b)bDwBYdyfȥ?Q If?bCIb:ibp:bP4ylɮnr Alp DNOT Ignoring new targets: 52.58 m.h h *h "h  h g fffddjdZd@@Z9Z9Z9Z=ȥ?Um)Q U->iU9)Q]Q6iiIIm9@i @q@u4@q ^A5 &9IIIYOew>E)  E- E- 0E) "E) *E- -:VE- 4ZE) a5 @a5 @a5 @a5 @i B @>B B 4IB pBB =B B B ;B 9EYu,ֹ?A:Z?:.?:ULٱ:u8C RAHRS rotation from veh to nav: [[0.478520,-0.876631,-0.050369],[0.877895,0.478800,0.007140],[0.017858,-0.047636,0.998705]]:H? \ ʩ??>}?JI?`cd?i:Z?I:Ff^;:CYVUByZI bp<`bDbVDb0yj%jH=ٔn3Q-n>9lYp=r>Fypr;Er>tQ 5z4vƦ?Q 9z4v/)vGwBY|y~?Q I~?v CIv;iv;v-W4yɮ A-DNOT Ignoring new targets: 52.58 m.h1h1*h1"h1 h1g1f19fAfAdAdAjdAZdM@@ZiZiZiZm?}UL)y [>i9)顅6iiʻIIM9@I @I@U/@Qiԙ^AII!O}> ;u,޼ֹ?A2[?2u?25ٱ2cpC :AHRS rotation from veh to nav: [[0.476612,-0.877650,-0.050717],[0.878920,0.476924,0.006530],[0.018457,-0.047688,0.998692]]2H΀?@ ??]z?`\?@j@H?i2[?I2~T^;0YB^ByBIEr  ErEr+Ep"ErF;*ErI:VEr [4ZEpBErby]<];Y]?@ Y)YYYYbDqVDqy=%@=ٔSQ->9Y=>Fy;E>ԙQ 54ZȦ?Q 94)IwBY>Q E;y?Q I?CI:i:^4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdz @Z>Z>Zz4>Z2?-5)) -ף>i-Y9)15W61iiIIe9@i @i@m/@i@q@uiA^AcջIIO> ju,÷ֹ?A6@[?6b?6Ԛٱ6TC BAHRS rotation from veh to nav: [[0.474714,-0.878666,-0.050917],[0.879937,0.475051,0.006020],[0.018899,-0.047662,0.998685]]6Ha?r(?=g?ax?4Z?g9?i6@[?I6^;6CYFTByFI HHbDRVDR:yZI%ZY=ٔZQ-^>9\Y\=^>Fy\b;Eb>dQ 5j4fɦ?Q 9j4fZ)fLwBYhyj?Q Ij?fCIf:if:f7e4ypɮr ApDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd 9I!@ZaZaZaZe?Ԛ) T>i#9)顝6ii2IIE EE/E"EW;*E:VEJ4ZEa @a@a@a@U9@Q @Q@Q@Y!BBB!IB`BB =BBB;B9E  Cu+GS<9Y0,AQ^AuIIO>y Ju,ֹ?A@@-)\?-6?-dٱ-JC AHRS rotation from veh to nav: [[0.472888,-0.879633,-0.051218],[0.880912,0.473247,0.005628],[0.019288,-0.047780,0.998672]]-H C?%B9m0?I? w?@\?v@?i-)\?I-^;-CYRByIIiMb@Mb@Mb@ 9/$?Q?Mbp?Y1>yu<AV@ @)YbD VD:2y3%-=ٔWXQ->9Y=>Fy;E>Q 54˦?Q 94ϥ)NwBY >Q E;y?Q I?#CIZ] >Z]t=Z]?d) ף>i$9)页6iiIIyE EE-E"EV;*E:VEt4ZEBE} ^A_I)I9OM?u,׹?A>\?>G?>ٱ>C FAHRS rotation from veh to nav: [[0.470961,-0.880656,-0.051380],[0.881938,0.471336,0.005319],[0.019533,-0.047819,0.998665]]>H:$?@V.`qN 8?@_*?u?`?{`?i>\?I>_;>CYNKByNIbDZVDZy^%b<=ٔbQ-b>9`Yd=f>Fydft;Ej>hQ 5n4jͦ?Q 9r4jc)jQwBYpyrԘ?Q Ir?j+CIjW:ij:ju4yxɮz< AxDNOT Ignoring new targets: 52.58 m.hh*h!"h! h!g!f!f)f)d)d)jd1Zd5 [ #@ZQZQZQZUԘ?e)a m4>iml9)im6iiiiqquq*:IyIym99@ @@/@^A?BɺIIO&>E* EEE"Ea;*E:VEZEa@a@a@a@B?>BBIBVBB =BBB};B9E9 Cu,Xp*׹?A2>]?2N?2#eٱ2D >AHRS rotation from veh to nav: [[0.469167,-0.881607,-0.051493],[0.882890,0.469553,0.005080],[0.019700,-0.047846,0.998660]]2H?6@]@?( ?nt?N,?@7?i2>]?I2_;2CYFGByFIIJ<)J;HJAbDRVDRkyV>%VL=ٔZڹQ-Z>9XY\=^>Fy\;E >Q 5=4lϦ?Q 9E4 )TwBYAyE?Q IE?2CI.;i;;|4yQɮUZ AYDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd2#@ZAZAZAZEI?}#e)y }r>i}9)顅6ii;III-9@) @)@1@1y^A NJκԱ I I O >D! D% =E-  E- E- 2E) "E- &U;*E- u:VE- 4ZE) BE- SvH? ?)t?` .?Ir?i2]?I2m_;2C@Y^RBybIiMMb@Mb@Mb@IIII I9MPn?Q?y&1|?YM>yIM`;MAM?@ MA)M@IYMA <bDVDβy;=%9=ٔ{Q->9Y=>Fyf;E>Q 54 Ѧ?Q 94)WwBY->Q E;y?Q I?9CI:i:̃4y ΒBɮ  AZ}->Z}4=Z}P?s) >iI9)顝 6iiT~;IIԱI@I @I@M0@I^Ayb:IIO> )0u,1&^׹?A64^?6N?6%ٱ60C >AHRS rotation from veh to nav: [[0.465851,-0.883371,-0.051361],[0.884647,0.466235,0.004979],[0.019548,-0.047756,0.998668]]6H?DK`O??dt?d?qs ?i64^?I6ez_;6CYFDByFIbDR VDR2yV%Z`=ٔZ9Q-Z>9\Y\=^>Fy\^u;Eb>`Q 5f4bҦ?Q 9j4b)b[wBYhyj*?Q Ij?b?CIbB:ib9:b/4lEv  EvEv/Et"EvE;*Ev:VEvJ4ZEtaz@az@az@az@y|ɮV A-DNOT Ignoring new targets: 52.58 m.h)h)*h)"h) h)g1f1f1f1d1d9jd9Zd=`x%@ZYZYZYZ]_*?u%)q ur>iu9)q}$6yiyiʬ;IIBE@>BABEIBEQBBE =BABEDBE|;BE9EB8CB8CBB¨ =B§ =Ch<6@ @@_0@ ^Avт;I)9IAOUu>i SZu,~x׹?A=<6w^?6~;?6 (ٱ6)'C NAHRS rotation from veh to nav: [[0.464391,-0.884156,-0.051077],[0.885423,0.464758,0.005153],[0.019183,-0.047618,0.998681]]6H?K&aU? ?u?`?`ba2?i6w^?I6_;4YZCByZI ddj=j=9iMb@Mb@Mb@ 9i|?5?/$?:v?Y=y<T<=A@ A)l@Y\@bDVD02y%9=ٔY:Q->9Y=>Fyu;E>Q 54Ӧ?Q 94-)awBY=Q E;ys?Q I?FCI. ;i ;㑅4yɮ] ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdb&@Z=Z=ZZY4>Z)s?U ()Q Uף>iUf9)Y]6YiYiaae*e;IaIaE EE.E"E<;*E:VEـ4ZEBEē Bu,'ܑ׹?A2_?2v?2ٱ2B :AHRS rotation from veh to nav: [[0.462792,-0.885006,-0.050883],[0.886266,0.463146,0.005310],[0.018867,-0.047553,0.998691]]2H`?`QJ @K\?@-?u? Q?XE?i2_?I2@`;0YBAByBIJ@AJ@AbDNVDNyV$%V_=ٔV9XYX=Z>FyX^;E^>`Q 5f4bԦ?Q 9f4b)bgwBYdyf?Q If?bLCIb:ib:bJ4ylɮnj AlDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffԙddjdZd`'@ZZZZ?) K>i9)T6ii;*E:VEg4ZEa@a@a@a%@^A0;IIO>A1A1B=;>B=7CB=IB=LBB= =B9B=DB=;B=9E Clu,׹?A>Ƀ_?>&?>?ٱ>XLC NAHRS rotation from veh to nav: [[0.461323,-0.885777,-0.050794],[0.887040,0.461658,0.005631],[0.018462,-0.047654,0.998693]]>H@R?HX`b?ϋ?Mw? ?`fK?i>Ƀ_?I>`;9xYx=z>Fyx;E> Q 54 2֦?Q 94 Ԝ) mwBY!y%?Q I%? RCI S;i T; 4y1ɮ5< A1DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd]'@Z!Z!Z!Z%m?=?)9 = >i=9)AE6AiAiIIM bEA{4jErE '0E  E E -E "E Q;*E :VE t4ZE BE ɥ9AYA=E>FyAM;EM>IQ 5]4Mצ?Q 9]4M)MrwBY]=Q E];y] ?Q Ie?MXCIM ;iMT ;M4yiɮmc Ai5DNOT Ignoring new targets: 52.58 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAjdAZdE(@YZ=Z=ZM}>Z ?) ף>i9)6ii02 D~u,m׹?A;ɰ;:ׁ`?:.,?:9 Y = >Fy  ;E >Q 54צ?Q 9%4>)wwBY!y%a?Q I%?_CI;i;4y)ɮ-a A1]DNOT Ignoring new targets: 52.58 m.hYhY*hY"hY hYgafafafadadijdiZdm@)@ZZZZa?i69)顭$6ii9LB6CBIBBBB =B>DBDB;B9EԱm9@i @q@u/@q@}gA@}hA^Ah%<IIO> 9 Vu,r׹?ANc a?Np?NvٱNEC vAHRS rotation from veh to nav: [[0.456029,-0.888559,-0.050004],[0.889809,0.456281,0.006918],[0.016669,-0.047649,0.998725]]NH /?@o `Py?3?@U|??fe@?iNc a?INZc;NCY~GBy~IiMb@Mb@Mb@ 9M? ףp= ?{Gzt?Yn>yQ8=ף;SA )@YAbDVDβy<%>=ٔ.:Q->9Y=>Fy|;E>Q 54ئ?Q 94)ywBY>Q E;y?Q I?gCI:i]:%4yɮ7 ADNOT Ignoring new targets: 52.58 m.hh *h "h  h g f ff€BddjdZda*@Z=>Z=>Z=>Z=?v) >i9)\6ii9hQ  nManaging dock network, ignoring radio surface power off@v,#ع?A 2a?2?2pٱ2UC >AHRS rotation from veh to nav: [[0.454172,-0.889530,-0.049638],[0.890774,0.454383,0.007593],[0.015800,-0.047665,0.998738]]2H@'?w2j@8??@?-?g@?i2a?I2e;2CYFCByFI HHJ=Ja=bDRVDRk2yVҼ%V]=ٔZJ;Q-Z>9XY\=^>Fy\^;Eb>`Q 5f4b~٦?Q 9f4b$)b{wBYhyj?Q Ij?bnCIb9:ib:b4ylɮr] Ap DNOT Ignoring new targets: 52.58 m.h h *h"h hgfffddjd!Zd%+@ZZZZ?%p)) -A>i-9))-Q6)i)i11=4CG9Y06A G v,N -ع?A@F6b?F?FwٱF 7CL VAHRS rotation from veh to nav: [[0.451969,-0.890669,-0.049320],[0.891906,0.452149,0.008071],[0.015111,-0.047636,0.998750]]FH`?\@i@}?`? Ň?@h?`c`?iF6b?IFe;FCY^GBy^IfAAfAAbDjVDjJ2yr<%rG=ٔr:Q-r>9tYt=v>Fytv;Ez>|Q 54~Vڦ?Q 94~)~}wBYy 7?Q I ?~vCI~-:i~|:~…4yɮ< A=DNOT Ignoring new targets: 52.58 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdU@+@ZqZqZqZu7?w) u>i9)額\6iiE  E E /E "E >T;*E :VE J4ZE BE #+v,OyGع?AXY CByIiMb@Mb@Mb@ 9Q?)\(?Mb?Y=yGa=<A?@ )YbDVDy%9=ٔQ->9Y=>FyE>Q 54ڦ?Q 94)wBYk>Q E;yZ?Q I?~CI';iA;ʅ4yɮZ ADNOT Ignoring new targets: 52.58 m.hh*h"h hg f f f BddjdZdJ,@Z=k>Z=k>Z= >Z=Z?Q)Q U>iU9)Y]6YiYi%1 v,i8aع?AE2 E2E22E0"E2W;*E2#:VE24ZE0a:@a:@a:@a:@:ic?:ʟ?:$Xٱ:B FAHRS rotation from veh to nav: [[0.447809,-0.892818,-0.048411],[0.894031,0.447904,0.009468],[0.013230,-0.047521,0.998783]]:H? ^ɨ`?w?d?p?@T?i:ic?I:.g;:CYN@ByNII=)<bD VD 2y%c%%V=ٔ-Ƭ;Q-->9)Y)=->Fy)5V<E5>BE;>BABEIBEBBBE =BABABEZ;BEz9EYQ 5e4]ڦ?Q 9e4])]wBYaye?Q Im?]CI]:i]:]>х4yqɮuv AqDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZdݘ-@ZZZZk?$X) >i.9)6iiG0ԩ 7v,{ع?Aɰp;2d?2&?2}Iٱ2B :AHRS rotation from veh to nav: [[0.445675,-0.893903,-0.048066],[0.895110,0.445729,0.010182],[0.012322,-0.047562,0.998792]]2H?`ۚ?ӆ?`]ڄ?yM`e=M;MAI MA)M@IYMzA Y]<bDeVDeJqy}L<%}E=ٔ}&;Q-}>9Y=>Fy;E>Q 54ڦ?Q 94#)wBY>Q E;y?Q I?CI;iF;p؅4yɮa ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdk.@Z >Z >Z %A>Z ?=}I)9 =>>i='9)9=6AiAiAIM$ $v,ع?A2d?28?29ٱ2tAC :AHRS rotation from veh to nav: [[0.443640,-0.894934,-0.047711],[0.896134,0.443647,0.011030],[0.011295,-0.047649,0.998800]]2Hd?L m ?d??`!?je,?i2d?I2h;2CY@yBIbDJVDJ1yR%VY=ٔV2;Q-V>9TYX=Z>FyXZM;EZ>`Q 5f4b(ۦ?Q 9f4b)bwBYdyff?Q Ij?bCIb[:ibt:b߅4ynƒBɮn$ An2EDNOT Ignoring new targets: 52.58 m.hh*h "h  h g f ffddjdZd,/@Z9Z9Z9Z=3f?M9)Q U͉>iUo9)QU7QiQiBABABABE =BE=DBABE?;BEa9EB7CB7CBBƬ =Bƫ =C 51^AmU<IyIO>a '+v,ɮع?A6Ce?6?6s)ٱ6FC BAHRS rotation from veh to nav: [[0.441347,-0.896087,-0.047332],[0.897277,0.441313,0.011746],[0.010363,-0.047654,0.998810]]6H`??;`}?v>?}?8?'f@?i6Ce?I6^i;6CYJCByJI LLN=N=bDRVDRyZ0;%ZI=ٔ^;Q-^>9`Y`=b>Fy`ft;Ef>hQ 5n4jeۦ?Q 9n4j:)jwBYlyr?Q Ir?jCIj;ij;j4ytɮv AtDNOT Ignoring new targets: 52.58 m.hh*h"h hgf!f!f!d!d)jd)Zd-/@ZIZIZIZM?]s))a e>ieJ9)ae7aiiiiiuhԉD 4=D %=E  E E .E "E D;*E :VE ـ4ZE BE њByBIiMMb@Mb@Mb@IIII I9M1Zd?:v?~jt?YM"=yMT=MD9Y=>Fy_;E>Q 54cۦ?Q 94)wBY=Q E;yM?Q I?CIX ;i ;4yɮB ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdk0@Z =Z =Z >Z M?-84)) -{>i-9))5=71i1ԑi 98v,Iع?AE$ E&E$E$"E$*E&A:VE$ZE$a*@a*@a*@a*@>f?>;?>Vw ٱ>B FAHRS rotation from veh to nav: [[0.436577,-0.898466,-0.046478],[0.899627,0.436463,0.013104],[0.008512,-0.047534,0.998833]]>H`?:˧??o֊?n?aV`q?i>f?I>w;j;>CYN9ByNIbDVVDVyb9ּ%bW=ٔbM;Q-f>9dYd=f>Fydj ;Ej>BpBpBrIBr=BBr =BpBpBr,;BrN9ElQ 5}4n^ۦ?Q 9}4n)nwBYy?Q I?nCIniv9)額d7iik)=II@ @@@^A<II O >I = R=e>v,cع?A Y2ByII%4=)%=!%AiMb@Mb@Mb@ 9Mb?/$?{Gzt?Y>y,=ף;AV@ A)@YAbDVDβy%9=ٔQ->9Y=>FyE>Q 54 ܦ?Q 9 4#)wBY  >Q E ;y ?Q I ?CI":iI<4yiɮm AiDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd2A1@Z >Z >Z%U>Z?) >i$9)u7ibE4jE»4rE¼ 0EU EUEU1EQ"EUsH;*EU:VEU-4ZEQBEU KEv,P6ٹ?A6g?6?6ܻٱ6B >AHRS rotation from veh to nav: [[0.431837,-0.900790,-0.045773],[0.901927,0.431648,0.014448],[0.006743,-0.047523,0.998847]]6H`6?Do@? ?@*?D{?@T?i6g?I6-`j;6CYF.ByFIP N9`Yd=f>Fydfll<Ef>hQ 5n4jܦ?Q 9n4jۈ)jwBYpyr?Q Ir?jCIj3;ij;j]4ytɮv AtDNOT Ignoring new targets: 52.58 m.hh*h"h hgf!f!f!d!d)jd)Zd- 1@ZiZiZiZm?ܻ) $>i`9)顝l7ii =II@ @@@Ee  EeEe2Ea"EeF;*Eeg:VEe4ZEaam@am@am@am@BABBBIB8BB =BBB;B>9E^AII O >! uKv,0ٹ?A2h?2:?22ٱ2YB :AHRS rotation from veh to nav: [[0.429555,-0.901893,-0.045509],[0.903021,0.429330,0.015107],[0.005913,-0.047585,0.998850]]2H }?OL@?@#z?`?}8x?]?i2h?I2 i;2CYZ0ByZIbDfVDfyja<%nH=ٔnB;Q-n>9pYp=r>Fypr;Ev>tQ 5z4v%ݦ?Q 9z4vl)vwB|Y|y?Q I?vCIv-;ivB.;v{ 4y ɮ  A 5DNOT Ignoring new targets: 52.58 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM 2@ZiZiZiZm`?2) >i=9)顅v7ii~=II)AY@ @@@Eu  Eu (Eu .Eq "Eu sH;*Eu ;VEu ـ4ZEq BEq a} 2Eq a} JEu []Rv,Iٹ?A2Ji?2?2(&ٱ2B :AHRS rotation from veh to nav: [[0.427183,-0.903036,-0.045179],[0.904151,0.426926,0.015676],[0.005131,-0.047545,0.998856]]2H V? !@?R? ?u?W?i2Ji?I2Mi;2CYB+ByBI DDJ=HYieMb@Mb@Mb@aaaa a9eM?Mb?Yen>ye=eeAe?@ a)e@aYeAbD}VD}βyϼ%?=ٔ:Q->9Y=>Fyp;E>Q 54Nަ?Q 94х)Y >Q E;y?Q I?ÁCI:i:4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdq2@Z >Z >Zna>ZX?5(&)1 k>i9)k7ii$=II!-9ԉ@ @@0@Ա^A r =I I O > ̈Xv,cٹ?A E EE/E"EP;*EO:VEJ4ZEa@a@a@a@BcGBR@>BPBRIBR3BBR =BPBPBR ;BR-9EXh~"U9YBA@ j??]ٱB AHRS rotation from veh to nav: [[0.424533,-0.904296,-0.044956],[0.905401,0.424255,0.016007],[0.004598,-0.047498,0.998861]]H`+?@m ?'?'d?@r?Q?i j?Ih;CԹY&ByI@AbDVDky%A=ٔ:Q-%>9!Y!=%>Fy!-w;E->Q 54zߦ?Q 94*)wBYy?Q I?ˁCI:iF:4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffdd!jd!Zd%2@ZaZaZaZej?]) a>if9)顝\ 7iiP-=II99@ @@O0@@>@>^A =I! II Oe >A B^v,}ٹ?AZj?Z??Zq}ٱZYB fAHRS rotation from veh to nav: [[0.422354,-0.905325,-0.044762],[0.906423,0.422046,0.016587],[0.003875,-0.047579,0.998860]]ZH? l 릿j??2?ho? D\ ?iZj?IZz=h;ZCYn$BynIi]Mb@Mb@Mb@YYYY Y9]Q?/$?y&1|?Y]=y]<]`;Y]V@ ]A)]nAYY]pAbDuVDuJy %%T=ٔ:Q->9Y=>Fyd;E>Q 54tঊ?Q 94)wBY=Q E;y?Q I?сCI<:i:4yɮ AE1 E5E50E1"E1*E5:VE54ZE1BE5ZU?}q})y } W>i}S9)顅= 7ii"5=II99@ @@1@iIi^A= K'=II IY Oa ԑ ޙev,~ٹ?A2Nk?2?20[ٱ2)C >AHRS rotation from veh to nav: [[0.420053,-0.906402,-0.044612],[0.907493,0.419724,0.016968],[0.003345,-0.047612,0.998860]]2H&?`? Rצ`/ ?? `?ek?`?i2Nk?I2)g;2CYzByzII<)p;  AbDVD2y5qa%5P=ٔ=:Q-E>9AYI=M>FyIM;EU>YQ 5m4]}ᦊ?Q 9m4]́)]wBYqyu?Q I}?]ׁCI]f;i]Wg;]%4yɮj ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd3@ZZZZ? 0[)  @>i w9)   7 iyi==IIm9@i @i@m04@iԡEE  EEEE.EA"EEC;*EE:VEEـ4ZEAaM@aM@aM@aM@B?>BBIB#BB =BBB;B(9E^A3=IIO> kv,>Yٹ?Aɰ4<6Ek?6?6d?ٱ6C >AHRS rotation from veh to nav: [[0.417804,-0.907448,-0.044480],[0.908532,0.417459,0.017237],[0.002927,-0.047613,0.998862]]6HN?` Ʀ`???@g?`?i6Ek?I6!f;6CYF ByFI N49\Y\=^>Fy`b;Eb>dQ 5j4f}⦊?Q 9j4f)fwBYlync?Q In?f݁CIfdid9) 7ii&F=IIu9@q @q@u/@q@}hA@}gA^Al;=IIO>) EU  EU EU /EQ "EU D;*EU :VEU J4ZEQ BEU њAHRS rotation from veh to nav: [[0.415576,-0.908476,-0.044372],[0.909555,0.415218,0.017431],[0.002588,-0.047603,0.998863]]2H ˘?`;`緦??ّ?C3e?a_?i2l?I2,e;2CYFByFIi%Mb@Mb@Mb@!!!! !9%K7?I +?Y%I >y%94<%%SA! %A)%@!Y%AbDVDky.t%+=ٔ9:Q->9Y=>Fy<;E> Q 54 `䦊?Q 94 ~) Y >Q E;yr?Q I? CI ;i :  54y!ɮ% A!)DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd` 4@Z  >Z  >Z =Z r?()) u>i9)!% 7!i!i))-M=I)I1 11I9)99@ @@/@!Yԁ ^A} B=I I O >E]  E] E] .EY "E] Q;*E] 1:VE] ـ4ZEY ae @ae @ae @ae @xv,>=ٹ?AB A>BB IB BBBBB ;B 9EBqBqBqBu =BqCu5$j#m?j|?j0ٱjknB  AHRS rotation from veh to nav: [[0.413562,-0.909406,-0.044124],[0.910473,0.413193,0.017595],[0.002231,-0.047451,0.998871]]jHw? t"?q?w?Fb?@sK?ij#m?IjKc;jCYByI !!-=-=bD5VD5Ny=R<%Ei=ٔEn:Q-E>9IYI=M>FyIU;EU>QQ 5]4U妊?Q 9e4U})QYaye?Q Ie?UCIU;iU;U.;4yqɮu AqDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZdt4@ZZZZ.?0) {>i9) 7iihU=IIy9@ @@/@ԡ^A=<H=IAIYOu> &v,Uٹ?A88\Y ByIiMb@Mb@Mb@ 9"~j?Mb?Mb?YS=y<< )AYGAAAbDMVDMy]I%]:=ٔ]Q-e>9aYa=e>FyamEm>Q 545禊?Q 94|)wBY=Q E;y?Q I?CI:i: C4yɮ AE. EEE"Eye;*E:VEZEBEi9)顝7ii/T=II!@! @!@%0@!@)@->^AE Q=IQ Ia Om >9 zv,-ڹ?AR)n?R?RٱRB jAHRS rotation from veh to nav: [[0.409919,-0.911057,-0.044063],[0.912120,0.409532,0.017908],[0.001730,-0.047532,0.998868]]RH b;RCYvByvIbDVD0y)<%b=ٔ:Q->9!Y!=%>Fy!%4<E->)Q 54-S覊?Q 94-{)-wBYy?Q I?-CI-bXi;9)7ii!%{c=I!I!@ @@ 0@ AE E#E/E"E:;*E;VEJ4ZEa-@a-@a-@a-@B5<A1B=?>B9B=IB=BB9B9B9B=;B=9Ey^A)I9IIOU>ԙ v,2ڹ?A2sn?2@?2ںٱ2 C :AHRS rotation from veh to nav: [[0.408103,-0.911868,-0.044137],[0.912934,0.407714,0.017903],[0.001670,-0.047600,0.998865]]2H`\?.  6??4U?\[?_?i2sn?I2a;2CYBByBIIF<)DHHbDNVDNyV%VQ=ٔVL!9Q-V>9XYX=Z>FyXZo;E^>`Q 5f4b馊?Q 9f4bz)bwBYhyj?Q Ij?bCIb:ibN:bO4ylɮn ApDNOT Ignoring new targets: 52.58 m.h h *h "h  h g f ffddjdZd%m 6@ZAZAZAZE?Uں)Q ][>i]9)Y][7YiYiaae9h=IaIiy@ @@ 2@ԡ^AU<|^=IyIO~>D- =D- <bE4jEȶ4rE/E5  E5 E5 +E1 "E5 /;*E5 L:VE5 [4ZE1 BE5 ˈ9Y=>FyE>Q 54릊?Q 94Gy)wBYY=Q E;yw?Q I?CIf;id;W4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd6@ZY=ZY=Zi1{=Zw?q)q uHa>iu9)y}Q7yiyig=III@I @I@M0@I1^A- c=I1 II OU >Y B% >>B! B% IB% BB% =B! B! B% ;B% 9EE=  E= E= .E9 "E= m+;*E= :VE= ـ4ZE9 BE= <2E= <JE= @<:E= @<z$v,Xfڹ?A2To?2뫓?2뒬ٱ2B :AHRS rotation from veh to nav: [[0.405122,-0.913203,-0.044016],[0.914262,0.404721,0.018066],[0.001317,-0.047561,0.998867]]2H?8@A?@??]U?@Y?i2To?I2`;2CYB ByBIbDNVDNyV%V]=ٔVz:Q-V>9XYX=Z>FyXZ<E^>`Q 5f4bD즊?Q 9f4bi9)%7ii!!%Nt=I!I!Aay9@ @@ 0@ԑ߉ ߍ %= ^Ay I I O >]v, ڹ?AZo?Zޓ?Z寺ٱZB fAHRS rotation from veh to nav: [[0.403708,-0.913825,-0.044080],[0.914887,0.403309,0.017986],[0.001342,-0.047589,0.998866]]ZHY?>`F??j? U?@]?iZo?IZ L_;ZCYnBynI ppv=v=ieMb@Mb@Mb@aaaa a9eMb?Q?Mb?Ye>yeu9Y=>Fy^;E>Q 54?Q 94v)wBY9>Q E;y)?Q I?CI:i<:f4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgff f Bd d jdZd@P7@Em EmEm2Ei"Emy>;*Em:VEm4ZEia@a@a@a@Z9>Z9>Z=ZA)?寺)  W>i9) 7ii   Wx=I Ie9@a @a@e5@a^A5np=IIIYOeV>Iy Tv,zUڹ?A2VXp?2l?2|ٱ2پA >AHRS rotation from veh to nav: [[0.402120,-0.914535,-0.043879],[0.915586,0.401734,0.017678],[0.001461,-0.047283,0.998880]]2H`U?CNwzL???@W?5 ?i2VXp?I2^;2CYFByFIHJAAbDNVDNyVb=%VZ=ٔZbQ-Z>9XYX=^>Fy\^;E^>`Q 5f4b?Q 9f4bu)bwBYhyja?Q Ij?bCIb :ib9:bl4ylɮnk ApDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd7@Z!Z!Z!Z%a?5|)9 =Hl>iEA9)IM7YQiiiqqup>~=IqIyU9@Q @Q@U/@QrGu9Y`AA)A)B5=>B1B5IB5BB5 =B1B1B5;B59EEm& EmEm0Ei"Em8^;*Em:VEm4ZEiBEm° xv,0ڹ?A2p?2??2ɺٱ2A >AHRS rotation from veh to nav: [[0.400997,-0.915025,-0.043938],[0.916078,0.400616,0.017553],[0.001540,-0.047289,0.998880]]2H?GP? ?@?9XYX=Z>FyX^ G;E^>`Q 5f4b&?Q 9f4b=t)bwBYdyf?Q If?bCIb:i`bs4yn’Bɮng An3EDNOT Ignoring new targets: 52.58 m.hh*h "h  h g f ffddjdZdM8@Z9Z9Z9Z=Ɖ?Mɺ)I Md>iU/9)QU7QiQiv=IIԹ@ @@/@^A|=IIO>Eu EuEu-Eq"EuN;*Eu&:VEut4ZEqa}@a}@a@a@ 9 [v,ڹ?A:p?:k?:"ۺٱ:aA BAHRS rotation from veh to nav: [[0.399781,-0.915557,-0.043927],[0.916609,0.399409,0.017337],[0.001672,-0.047195,0.998884]]:H? ?L}T???Zd[?@)@?i:p?I:}];:CYJByJIIN<)N4y%j<%`e<%A%l@ !)!!Y%AbD=VD=0yM=%M@=ٔMQ-U>9QYQ=]>FyY]3L;E]>aQ 5m4e9?Q 9m4er)ewBYm>Q Eu;yu?Q Iu?e$CIe;ieN;e{4yyɮ}# A5DNOT Ignoring new targets: 52.58 m.h1h1*h9"h9 h9g9f9fAfEBdAdAjdAZdM8@Z>Z>Zڬ4>Z?"ۺ) B>i@9)7ii.=II e9@a @a@e/@a1^AIIO>a B B B IB BB =B B B ;B ,9EE} " E} E} /Ey "E} Z;*E} Z:VE} J4ZEy BE} 9 Y = >Fy   I;E>Q 545?Q 9%4}q)wBY!y%ū?Q I%?*CI;i;4y)ɮ5 A1]DNOT Ignoring new targets: 52.58 m.hYhY*hY"hY hagafafafadidijdiZdm8@ZZZZū?s) 6E>i9)c7ii$ =II qM9@I @I@I@I@Q@UiAԙ^Amt0=IIO> v,۹?APY'ByIE=% E=E=-E9"E=O];*E=:VE=t4ZE9aE@aE@aE@aE@ieMb@Mb@Mb@aaaa a9e/$?l?ye=et9Y=>FyE>Q 54?Q 94o)wBY>Q E;y?Q I?3CI ;i ;4yBɮ A*EDNOT Ignoring new targets: 52.58 m.h!h!*h!"h! h!g!f)f)f-ʀBd)d1jd1Zd5`_9@ZU>ZU>ZU]>ZUd?i)i mR8>im9)im)7qiqiqy}b؄=IyIy I)}9@y @y@y@yiI^A S=I I O > uv,,۹?A2tq?2?2d7ٱ2ǬA >AHRS rotation from veh to nav: [[0.396311,-0.917037,-0.044507],[0.918112,0.395992,0.016157],[0.002808,-0.047266,0.998878]]2H *]?]X ɦ ,a?W??f?C3?i2tq?I24=];0YF&ByFI HHJ=J=bDRVDR yV+%Zt=ٔZ.'Q-Z?9XY\=^>Fy\^;Eb?`Q 5f4bn?Q 9f4bn)bwBYhyj]?Q Ij?b9CIb:ibN:bߏ4ylɮr Ap| DNOT Ignoring new targets: 52.58 m.h h*h"h hgfffdd!jd!Zd%j9@ZZZZ]? d7) l7>i9)1571i1i99EX҉=IAIA9@ @@D0@)B<>BBIBBB =BBB;B79EBBBBĪ =BĪ =CxU5EM EMEM,EI"EML;*EM:VEMg4ZEIBEMޡԁ v,}6۹?A6Qr?6(?63Vٱ6սA >AHRS rotation from veh to nav: [[0.395045,-0.917572,-0.044728],[0.918656,0.394747,0.015675],[0.003273,-0.047282,0.998876]]6H iH?\榿e? C?8 ?@j?`b5@?i6Qr?I6^*];6CYF+ByFILN@AbDRVDR2yZ<%ZJ=ٔZQ-Z>9\Y\=^>Fy\bG_;Eb>dQ 5j4f ?Q 9n4f'm)fwBYpyr?Q Iv?f@CIf@;if;f4y|ɮ~{ AMDNOT Ignoring new targets: 52.58 m.hIhI*hQ"hQ hQgQYfafifididijdqZdu:@ZAZAZAZE?}3V)y } B>i}|9)y}7ii=IIe9@a @a@m&1@i@u >@u>ԑԱ^A-z=I9EU EUEU3EQ"EUa?;*EU:VEU4ZEQa]@a]@a]@a]@IaOm> v,7TP۹?A:r?:M?:<ٱ:.A FAHRS rotation from veh to nav: [[0.393449,-0.918242,-0.045050],[0.919338,0.393184,0.014962],[0.003974,-0.047303,0.998873]]:HD.?@=b@`7k?)?2?Gp?8?i:r?I:u];8YN%ByNIi%Mb@Mb@Mb@!!!! !9%@5^I ?J +? rh?Y%b>y%H=%C<%jA! %A)%nA!Y%AbD=VD=kyMM%MA=ٔMTٺQ-M>9QYQ=U>FyQU~;E]>aQ 5e4eb?Q 9m4e~k)ewBYm>Q Em;ym?Q Im?eHCIe:ie:eU4yɮ AԹDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd :@Z>Z>Z>>Z?<) L>i9)r7ii=IIm9@i @q@u5@q^AIIO>B =>B B IB BB B B B ;B 89E9 Ee  Ee Ee -Ea "Ee V;*Ee u:VEe t4ZEa BEe AHRS rotation from veh to nav: [[0.391653,-0.918994,-0.045363],[0.920101,0.391427,0.014129],[0.004772,-0.047273,0.998871]]2H?fh`9vq?@% ?`?es?4?i2cCs?I2];2CYz+ByzII<)C=  bDVDy-y<%-L=ٔ5mQ-5>99Y9==>FyAE;EE>QQ 5e4U?Q 9m4Ui)UwBYyy?Q I?UOCIUA;iU;U[4yɮ{ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd:@Z)Z)Z)Z-?EU[)A E2Y>iE9)AMI7IiIiIQiI 0ۑ=II9@ @@4@Aq^Ax=IIO>ԡ v,۹?AB;ɰB; es? ƕ? =ٱ BB =AHRS rotation from veh to nav: [[0.390022,-0.919665,-0.045809],[0.920789,0.389831,0.013404],[0.005531,-0.047409,0.998860]] H ?mWtw??ls?v?E?i es?I ]; YiymIiMb@Mb@Mb@ 9#~j?S㥫?{Gz?Y%>y/]=D@AzD@AbEA{4jE4rEo0E! EE,E"EY;*EZ:VEg4ZEa%@a%@a%@a%@#<A A)AYfA 11bD=VD=fyE@%M9=ٔMQ-M>9QYQ=U>FyQ]ԃ;E]>YQ 5e4]0?Q 9m4]gi)]wBYu)/>Q Eu;yuC?Q Iu?]YCI]3;i]2;] 4yyɮ} ADNOT Ignoring new targets: 52.58 m.hhA*hI"hI hIgIfIfQfUހBdQdQjdQZd]`e;@Z)/>Z)/>Z}>ZC?=) >i9)7ii=II!ԙ9@ @@4@^A =I I O% > v,۹?A2Ot?2 ?2TTѻٱ2A >AHRS rotation from veh to nav: [[0.387879,-0.920557,-0.046085],[0.921688,0.387731,0.012471],[0.006388,-0.047314,0.998860]]2H?5u`x~? ??~*z?9?i2Ot?I2H`^;0YF ByFIbDNVDN0yVqr%Vi=ٔVW Q-Z>9XYX=Z>FyX^;E^>`Q 5f4b?Q 9f4b`f)bwBYdyf?Q Ij?baCIb`:ib:b)4ylɮn AlDNOT Ignoring new targets: 52.58 m.hh *h "h  h g f ffddjdZd);@ZiZiZiZmj?=TTѻ)9 =^>i=9)AEf7AiAiIIM-=IIIQ 9@  @ @ /@ AiAiBqBqBuIBuBBu =BqBqBu;Bu@9EE- E-E-0E)"E-B;*E-:VE-4ZE)BE-w) ?Kv,@·۹?A^t?^^?^ٱ^pnB nAHRS rotation from veh to nav: [[0.385753,-0.921425,-0.046596],[0.922573,0.385649,0.011566],[0.007312,-0.047450,0.998847]]^H`-?O|`cۧ?x?ே?}?@MK?i^t?I^^;\YzByzI ==bD=VD=kyM+%MA=ٔMQ-M>9QYQ=U>FyQ]ٱ;E]>aQ 5e4e?Q 9m4ezd)ewBYiymܿ?Q Im?ejCIe :ie9:e4yyɮ} AyDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd&<@ZZZZܿ?%)) -t=i-91)顭7ii8s=IIA@I @I@M/@QaD1D5=E=  E= E=/E9"E=D;*E=:VE=J4ZE9aE@aE@aE@aE@^AM =IY Ii Ou >ԉ 2v,(۹?A0:ru?:?:ٱ:,C BAHRS rotation from veh to nav: [[0.383776,-0.922222,-0.047138],[0.923389,0.383716,0.010693],[0.008226,-0.047630,0.998831]]:H ˏ?ׂq"g?̎?r? ؀?cl?i:ru?I:_;:CYfByfIi}Mb@Mb@Mb@yyyy y9}{Gz?A`"?y&1|?Y}#>y}Y=}`;}A}@ }A)}AyY}AAAbDVD yQ<%E=ٔQ->9Y=>Fy;E>Q 54m?Q 94b)wBY,>Q E;y˿?Q I?sCI:i/:4yɮ ADNOT Ignoring new targets: 52.58 m.hh*h"h hgff f ؀Bd d jd Zd<@Z,>Z,>ԑZƣ>ZJ˿?)  >i9)k7ii =I I@ @@/@Թ  Ci ^Au = I I O > V9 Y uDABm >>Bi Bi Bi Bm =Bi Bi Bm ;Bm 69EEE  EE EE 0EA "EE ;;*EE :VEE 4ZEA BEE v?>?>Lٱ>C JAHRS rotation from veh to nav: [[0.381689,-0.923059,-0.047702],[0.924245,0.381673,0.009786],[0.009173,-0.047823,0.998814]]>Hm?`bl k?@Vm? ?ɂ?Q| H?i>v?I>^;>CYVByVI`bDjVDjky%U=ٔ !Q- >9Y=>Fy];Ee>iQ 5u4m?Q 9u4m`)mwBYqyu?Q Iu?m{CIm ;im ;mȆ4yɮ5 ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd<@ZAZAZAZE?eL)a m=imt9)im7iiiiqq}e=IyIyU9@Q @Q@Q@QA ߅ %=߁ ^A} =I I O >כw,bܹ?A8~+w?~?~5ٱ~FD  AHRS rotation from veh to nav: [[0.377546,-0.924714,-0.048602],[0.925924,0.377628,0.007838],[0.011105,-0.047961,0.998787]]~H)?B]⨿+?+?` ?\?[?i~+w?I~j^;|YByII%=)%4<)-AEU EU"EU/EQ"EUmR;*EU;VEUJ4ZEQa]@a]@a]@a]@iMb@Mb@Mb@ 9Dl?~jt?~jth?YO >y=D;@ )AYAbDVDyn%2=ٔ Q- >9 Y=>Fy"<E>Q 5%4t?Q 9%47_)wBY->Q E-;y-?Q I-?CI ;i ;І4y1ɮ5W A9DNOT Ignoring new targets: 52.58 m.hh*h"h hgff f ӀBd d jd Zdn=@ZU>ZU>ZUu>ZUX?e5)a m=imD9)imb7iiiiqquey=IqԙIQ@Q @Q@Q@Q^Au L=I I O > w,r ܹ?A>pw?>Ǘ?> Cٱ>D FAHRS rotation from veh to nav: [[0.375538,-0.925520,-0.048832],[0.926730,0.375665,0.006909],[0.011950,-0.047849,0.998783]]>H?`۝ŧ?` ?L|?;y??i>pw?I>];>CYRByRI Zp9dhYh=n>FylnY;En>pQ 5v4r?Q 9v4r])rwBYtyzD?Q Iz?rCIr ;ir ;rֆ4y|ɮ~ A%DNOT Ignoring new targets: 52.58 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd==@ZZZZ]D?M C)I U\=iU9)QU7QiQiYY]J=IYIaBm<Am<BqBqBuIBuBBu =BqBqBu;Bu49E9@ @@0@ Ee EeEe0Ea"EeW;*Ee:VEe4ZEaBEeF)Y 9 w,=a:ܹ?A6/x?64?6Oٱ6iD BAHRS rotation from veh to nav: [[0.373859,-0.926178,-0.049227],[0.927399,0.374023,0.006175],[0.012693,-0.047961,0.998769]]6HM?@<4 @?`?Jy??a?i6/x?I6];6CYFByJIbDRVDRyZ`%ZL=ٔ^Q-^>9\Y\=^>Fy\b;Eb>dQ 5j4f?Q 9j4f\\)fwBYhyn?Q In?fCIf;if7;f݆4ypɮr&Ap DNOT Ignoring new targets: 52.58 m.h h *h "h hgfffddjd!Zd%@g,>@1ZIZIZIZM?]O)Y ]@=i]9)ae7aiaiiimb=IiI-9@) @)@-4@)a^AqE}# E}EyEy"E}[;*E}:VEyZEya@a@a@a@ԑIIO>Թ w,$+Tܹ?A2 x?2A?22\ٱ2#C :AHRS rotation from veh to nav: [[0.372083,-0.926884,-0.049398],[0.928102,0.372289,0.005311],[0.013468,-0.047822,0.998765]]2H6?J? ?}u?/?`.| ?i2 x?I2];2CYBByBI DDJ=J=iMMb@Mb@Mb@IIII I9MOn?~jt?MbYM>yM9Y=>Fyȑ;E>ԙQ 54?Q 94Z)wBY>Q E;y#?Q I?CI:i:j4yɮ`ADNOT Ignoring new targets: 52.58 m.h h *h "h  h gfffBd!d!jd)Zd-G>@Z>Z>ZZ>Zj#? 2\)  5=i5N9)1571i1i99E`=IAIA9@ @@4@^A- 6=I1 II OU >Bu =>Bq Bu IBu BBq Bq Bq Bu ;Bu >9EB1B1B1B5ɩ =B5ɩ =C5ɭ4E - E E +E "E d;*E :VE [4ZE BE >9tYt=v>FytzS;Ez>|Q 5e4~?Q 9e4~AY)~wBYayeK?Q Ie?~CI~:i~:~4yqɮuAqDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd %?@ZZZZK?%d) ,=i9)ii  k=I I  I)-9@) @)@-/@)@1@5 >!^A*=II1O=>Iԁ !w,5ܹ?A(Ny?U?EEkٱD AHRS rotation from veh to nav: [[0.369796,-0.927779,-0.049767],[0.929002,0.370049,0.004373],[0.014359,-0.047851,0.998751]]H`?]{`b??Yq?`fh?  ?i(Ny?IU&];CY-׀By-xIE= E=E=.E9"E=>T;*E=#:VE=ـ4ZE9aE@aE@aE@aM@IieMb@Mb@Mb@aaaa a9e"~j?~jth?Mb`YeS=yeD;eeAa e=A)eAaYeAbD}VD}ky %2=ٔCxQ->9Y=>Fy-;E>Q 54?Q 94W)Yr=Q E;y?Q I?CI ;i; ;"4yɮADNOT Ignoring new targets: 52.58 m.hhi*hi"hi higifqfqfuBdqdyjdyZd}Ov?@Zr=Zr=ZY<ZW? EEk)   >i 9)  3iiOn=IIi!I!y9@ @@/@ԩ^A #=I I O > (w,ܹ?AY~рBy~pIIp<);  AbDVDy% %%e=ٔ%Q-->9)Y)=->Fy)5E5>9Q 5E4=?Q 9E4=W)=wBYAyAQ IM?=CI=:i=:=_4yQɮUQAQ5DNOT Ignoring new targets: 52.58 m.h1h1*h1"h1 h9g9f9f9f9dAdAjdAZdEd?@ZaZaZaZay)y }|=i}9)顅3iim=IIԹBBBIBBBBBB-;BQ9E 9@  @ @ /@ EU% EUEU+EQ"EUO];*EU:VEU [4ZEQBEU 9 !5.w,9ܹ?Aɰ2y?2̴?2ypٱ2HD :AHRS rotation from veh to nav: [[0.368817,-0.928153,-0.050065],[0.929386,0.369085,0.004120],[0.014654,-0.048049,0.998737]]2H? m%??p?(? ?i2y?I2\;0YZBy^^I f49pYt=v>Fytvj.;Ev>xQ 5~4z?Q 9~4zU)xYy ?Q I?zCIzI;iz;zF4y ɮ A 5DNOT Ignoring new targets: 52.58 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdMM@@ZiZiZiZm ?yp) l=i9)3 i i \=IIi@i @i@i@i@q@uhAAbEJ4jErEƻ0Eu Eu<Eu/Eq"EumR;*Eu1;VEuJ4ZEqa@a@a@a@^AIIO>i 5w,qܹ?A 2ϥy?2(?2oٱ2dD >AHRS rotation from veh to nav: [[0.368552,-0.928265,-0.049944],[0.929492,0.368820,0.004074],[0.014639,-0.047924,0.998744]]2HZ?WHe??p??@?i2ϥy?I2\;2CYFÀByF`IimMb@Mb@Mb@iiii i9mbX9ȶ?Mb~jtx?YmE=ymm;mAm@ m&A)mAiYmAbDVDy<%==ٔ^8Q->9Y=>Fyv,:E>Q 54?Q 94 U)wBY=Q Ei9)-3iiiQqug=IqIy@ @@@ ԡB B B xIB ׀BB B B B ;;B `9E^A5 G=I9 IQ O] > E ! E =E 1E "E Y;*E ;VE -4ZE BE ׬9hYh=j>FyhnĸEn>pQ 5v4r??Q 9v4rNT)rwBYtyv^?Q Iv?rCIr:ir9:rZ4y|ɮ~A|%DNOT Ignoring new targets: 52.58 m.h!h!*h!"h) h)g)f)f)f1d1d1jd1Zd5c@@Z9Z9Z9Z=^?eLo)a eb >ie9)ae[4aiiiiiu09=II)@) @1@50@1^AQIYIqO}>) 6Bw,RI ݹ?A8:@xEE  EE?EE-EA"EEE;*EE;VEEt4ZEAaM@aM@aM@aM@Uߢy?U?UBlٱUFC AHRS rotation from veh to nav: [[0.368594,-0.928265,-0.049626],[0.929478,0.368855,0.004140],[0.014462,-0.047652,0.998759]]UH@ ?`X`h`H? Q?1p??@e ?iUߢy?IU*\;QYByWIiMb@Mb@Mb@ 9S㥻?/$~jtx?Y/=yA@ )Y=AbDVDNyJ%,=ٔ9Q->9Y=>FyѰE>Q 54?Q 94%S)wBY =Q E ;y {?Q I ?ÂCI? ;i ;4yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffjBddjdZd@@@Z=Z=Z@Z{?eBl)i m#>im9)im+L4iiiiG=II)@) @)@-0@1@=>@=>A^AU /[=Ia Iq q O >YHw,:#ݹ?A6ly?6?6Sjٱ6L?C >AHRS rotation from veh to nav: [[0.368814,-0.928181,-0.049559],[0.929393,0.369067,0.004298],[0.014302,-0.047645,0.998762]]6H?`_?@ɞ?Xq?/J?`d?i6ly?I6\;6CYTyVVIbDbVDb02)y-%=m=AYYٔe9Q-m>EP9AYM<>A9IYI=M>FyQu0 Eu>yQ 54}?Q 94}5R)}wBYyt?Q I?}ȂCI}d:i}:}c4BA4=B>>BBfIBȀBB =BBB>;Bc9EyɮA=DNOT Ignoring new targets: 52.58 m.h9h9*h9"h9 hAgAfAfAfIdIdIjdiZdm` @@ZZZZOt?Sj) f#>in9)顥t4iEU EU6EU.EQ"EU1A;*EU ;VEUـ4ZEQBEUNw,+<ݹ?A>qy?>ˣ?>eٱ>{C FAHRS rotation from veh to nav: [[0.369303,-0.927990,-0.049503],[0.929203,0.369540,0.004616],[0.014010,-0.047703,0.998763]]>H?lX??@r?D?|l?i>qy?I>\;>CYNByNQIIR=)R9dYd=f>Fydj ĺEj>lQ 5r4nE?Q 9r4nZQ)nwBYpyrc?Q Iv?n͂CIn;in;n$4yxɮzAxDNOT Ignoring new targets: 52.58 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5`fA@ZQZQZQZUec?ee)a e>im|9)imċ4iiiiqqu1ø=IqI19@ @@4@D]4=D]4=E}  E} E}/Ey"E}G;*E}:VE}J4ZEya@a@a@a@^A2=II IOU>Y kUw,Vݹ?Aɰ4<2Gay?2䛘?2aٱ2C ^AHRS rotation from veh to nav: [[0.369528,-0.927904,-0.049437],[0.929117,0.369753,0.004846],[0.013783,-0.047724,0.998765]]2H@Y?bO@T? ?Os?C:?@:o?i2Gay?I2֪\;0YjÀByj_IiMb@Mb@Mb@ 9?:v{Gz?Y=yTף<@ A)YA p< p;1bDmVDmN2y}C=%}1=ٔ':Q->9Y=>Fy6 E>Q 54# ?Q 94IP)xBY=Q Ei%9))-#4)i)i115瓸=I1I99@ @@3@aԑBBBSIBBB =BBB1;BV9E^A G=I I) O5 >Em  Em :Em 1Ei "Em X;*Em $ ;VEm -4ZEi BEm 9!Y!=%>Fy!-WnE->1Q 5545 ?Q 9=45tO)5xBY9y=3?Q IE?5ׂCI5<;i5;524yMBɮMpAM EuDNOT Ignoring new targets: 52.58 m.hqhq*h"h hgfffddjdZd A@ZZZZ3? ^) >iL9)4i!i!!-.=I)I)ԑ@ @@/@^AIIO>ߍ =߉  bw,ݹ?AE-! E-'E)E)"E-Y;*E-";VE)ZE)a@a@a@a@Ly??[ٱC AHRS rotation from veh to nav: [[0.369819,-0.927792,-0.049361],[0.929008,0.370023,0.005279],[0.013367,-0.047809,0.998767]]H`?x En?u?@_u?"`?`lz`?iLy?I_\;CYɀBygI ==iMb@Mb@Mb@ 91Zd?~jth?Zd;O?Y"=yD;j<jA@ A)AY AbDVDy <%3=ٔu9Q->9Y=>Fy8E>Q 54 ?Q 9e4?N)xBYe9=Q Ee;ye{?Q Im?ނCIxhw,Pݹ?A6`y?6?6>Xٱ6ߐC BAHRS rotation from veh to nav: [[0.369540,-0.927910,-0.049226],[0.929121,0.369737,0.005374],[0.013214,-0.047723,0.998773]]6H?p 44[?ũ?@Jv? ?`/o@?i6`y?I6\;6CYJÀByJ_IRAAPbDVVDV:yZ %^q=ٔ^9Q-^?9`Y`=b>Fy`bh:Ef?dQ 5j4f ?Q 9j4fYM)f$xBYlyn?Q In?fCIff;if@;f@4ypɮvAtDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffd!d!jd!Zd% "A@ZIZIZIZMw?]>X)Y ]d=i]9)ae4aiaiiim=IiIqB]?>BYBYBYBYBYBYB]$;B]I9EBBBBBCh4I@ @@/@E5 E52E5.E1"E5=;*E5;VE5ـ4ZE1BE5ԩ 9nw,%ݹ?A6{y?69?65Uٱ6sC@ BAHRS rotation from veh to nav: [[0.369154,-0.928066,-0.049189],[0.929277,0.369343,0.005516],[0.013048,-0.047747,0.998774]]6H6?඲S/?P?cv??Dr?i6{y?I6\;6CYJˀByJiIbDVVDVy^=%^J=ٔ^9Q-^>9`Y`=b?Fy`f.:Ef>hQ 5j4j0?Q 9n4jGL)j.xBYlyn?Q In?jCIj;ij;jG4ytɮvPAtDNOT Ignoring new targets: 52.58 m.hh*h"h hgff!f!d!d!jd!Zd- B@ZIZIZIZM;?]5U)Y e<=ie9)ae4aiaiiim]=IiIq1@1 @1@50@1ԱE] E]E]-EY"E]y>;*E]j:VE]t4ZEYau@au@a}@a}@^AIIO> uw,{ݹ?Ahr y?rƽ?rSٱr,C ~AHRS rotation from veh to nav: [[0.368571,-0.928305,-0.049032],[0.929510,0.368756,0.005568],[0.012912,-0.047628,0.998782]]rHଖ?@?ఙ?v?q?b?ir y?Ir];rCY πBy nII%=)p;AiMb@Mb@Mb@ 9X9v?/$?~jt?Y=y<<A@ A)AY\AbDVDky<%9=ٔ9Q->9Y=?Fy:E>Q 54 ?Q 94J)9xBYO=Q E;yS?Q I?CIa:i:O4y Bɮ  A !E5DNOT Ignoring new targets: 52.58 m.h1h1*h1"h9 h9g9f9f9fEBdAdAjdAZdEhVB@ZO=ZO=ZJ2>ZS?S) T=i9)O4!i!i))-y=I)I)@ @@0@)Bu>>BqBuYIBuBBqBqBqBu*;BuO9E^A% /[=I) IA OM >Eu R Eu LEu .Eq "Eu ;*Eu ;VEu ـ4ZEq BEu <9tYt=z?Fyxzx:Ez>|Q 54~?Q 94~I)~BxBY y _?Q I ?~CI~$:i~:~V4yɮAYDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd5B@ZYZYZYZ]_?mN)i m=iuR9)顕F4ii=IIm9@i @i@m0@iԉԱ^A2=IIO> ΂w,. ޹?AbEـ4jE4rE0E 0 E E ,E "E Jg;*E ]:VE g4ZE a=@a=@a=@a=@Ա cy? r? NMٱ y`<#< A@ SA)AYAbDVDy%.=ٔ9Q->9Y=?Fyy:E>Q 54?Q 94G)GxBY>Q E;y?Q I?CI:i<:3^4yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBd!d!jd!Zd% B@Ze>Ze>Ze 6>>Ze?}NM)y }أ=i}9)顅y4ii=IIiIY@a @a@eS0@a ^A G=I I O >1 qԙ \w,m?޹?A2Tgz?2?2Eٱ2`D :AHRS rotation from veh to nav: [[0.365818,-0.929395,-0.049017],[0.930608,0.365963,0.006304],[0.012080,-0.047922,0.998778]]2Hi?@?k?y?`O?:`?i2Tgz?I2];0YBҀByFqIJ@AHbDnVDnyv3r<%vH=ٔv:Q-v>9xYx=z?Fyx~;E~>Q 5 4?Q 9 4D)OxBY y I?Q I ? CI:iN:2k4yɮAEDNOT Ignoring new targets: 52.58 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZdU+!C@ZyZyZyZ}DI?E) ̫=i9)顕 5iihd=IIqU9@Q @Q@U/@Q@]=@]>ԡE5` E5'E5-E1"E5i;*E5";VE5t4ZE1aU@aU@aU@aU@^A˺=IIO%> w,OY޹?A6)z?6G?6Dٱ6kD BAHRS rotation from veh to nav: [[0.364656,-0.929851,-0.049012],[0.931065,0.364800,0.006304],[0.012018,-0.047932,0.998778]]6H`V?W@# H?`X?y???i6)z?I6];6CY^рBy^pIiuMb@Mb@Mb@qqqq q9uK7A?/$?~jt?Yu >yu,=uD9Y=?Fyg?;E>Q 54?Q 94{C)TxBY >Q E;y?Q I?CIG ;i ;r4yɮADNOT Ignoring new targets: 52.58 m.hh *h "h  h g f ffBddjdZd(XC@Z= >Z= >Z=>Z=?UD)Q U#=iUF9)Q] 5YiYiYaeR=IaIa9@ @@@ C)]%9aYeuA^A}=IB?>B8CBlIB̀BB =BBBT;Bz9EI O>) E- q E- E- .E) "E- ;*E- :VE- ـ4ZE) BE- AHRS rotation from veh to nav: [[0.363706,-0.930226,-0.048967],[0.931439,0.363841,0.006438],[0.011827,-0.047951,0.998780]]2H@F?h 0`X?-I?;_z?8??i2z?I2];2CYFЀByFoIIJ=)J4=JAHbDRVDR0yV%Z[=ٔZ:Q-Z>9XY\=^?Fy\^93;Eb>`Q 5f4b?Q 9f4b-B)bXxBYhyj?Q Ij?bCIbK:ibd:b/y4ylɮrAp DNOT Ignoring new targets: 52.58 m.h h *h "h  h g fffddjdZdC@Z9Z9Z9Z=@?UA)Q U=iUK9)Q5ii&=II1m9@i @q@u/@qY^A5 =IAIQO]v>ԉ Hw,C޹?A$ɰ&;4E~% E~E|E|"E~O];*E~A:VE|ZE|a@a@a@a@U)-{?UՁ?U<ٱUjD AHRS rotation from veh to nav: [[0.363010,-0.930505,-0.048837],[0.931714,0.363130,0.006693],[0.011506,-0.047931,0.998784]]UH;??=?i{??o ?iU)-{?IUF];UCY]ǀBy]dIi Mb@Mb@Mb@     9 q= ףp?99YA=E?FyAE:EE>IQ 5U4Ml?Q 9U4M@)M\xBY]4=Q E];y]?Q I]?M!CIM':iMQ:M4yaɮeKAiԉDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd `C@ZM4=ZM4=ZMT>ZM٨?]<)Y e#=ie;9)ae5aiiU=II9@ @@/@@@Թ ^A% C=I1 IA OM >Gw,޹?A2b{?2?27ٱ2)=D :AHRS rotation from veh to nav: [[0.362251,-0.930808,-0.048694],[0.932013,0.362359,0.006915],[0.011208,-0.047889,0.998790]]2H /? -m ?@0?%S|?5?@ل?i2b{?I2];2CYB€ByB^I`bDfVDf:ynk%ny=ٔr}n:Q-r?9pYp=v?Fytv";Ev?|Q 54~?Q 94~?)~^xBYy?Q I?~&CI~d:i~:~o4yɮuAMDNOT Ignoring new targets: 52.58 m.hIhQ*hQ"hQ hQgQfYfYfYdYdajdaZde ZC@ZZZZU?AABBBBBBBBB7) 9 *w,޹?A2{?2?2t0ٱ2D >AHRS rotation from veh to nav: [[0.361784,-0.930998,-0.048522],[0.932199,0.361872,0.007266],[0.010794,-0.047861,0.998796]]2Hy'?ר?(?1}?`?@3`"?i2{?I2m];2CYBɀByFgI HHJ=J=bDNVDNN2yVB=%VN=ٔZ:Q-Z>9XYX=^?Fy\^7:E^>`Q 5f4b?Q 9f4bX>)baxBYhyj?Q Ij?b,CIb):ib6:bZ4ylɮn;Ap9DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd@$D@ZZZZ?t0) 3=i`9)5iii=II!@ @@40@iD=D<E EE1E"E1A;*EZ:VE-4ZEa5@a=@a=@a=@ԙ^A+W=IAIaO> {Uw,޹?A2K{?2f?2(ٱ2>D >AHRS rotation from veh to nav: [[0.361519,-0.931110,-0.048358],[0.932308,0.361582,0.007759],[0.010261,-0.047890,0.998800]]2H"#?`f¨w?'$?A?? @+?i2K{?I2(];2CYFByFXIiMb@Mb@Mb@ 9y&1??~jth?Y`=y<D;A@ A)&AYA%AA%AAbD-VD-02y=j%=B=ٔ=:Q-E>9AYA=E?FyAM1:EM>QQ 5U4ԙU?Q 94U=)UbxBY=Q E;y?Q I?U3CIUZF?() `=i9)=5ii  =I I9@ @@o0@BB7CBfIBȀBB =BBBG;Bl9EBYBYBYBYBYC]U4^Ap=IIO >E  E E /E "E /;*E :VE J4ZE BE ?pZ`C? ?`'Հ?  ?@ܐ ,?i:{?I:~];:CYJÀByJ_IbDV VDV2y^g=%^S=ٔ^:Q-^>9`Y`=b?Fy`fo-:Ef>hQ 5j4j?Q 9n4j;)jcxBYlyn?Q In?j8CIj@;ij;j4ytɮvkAtDNOT Ignoring new targets: 52.58 m.hh*h"h hgfff!d!d!jd!Zd%_D@ZIZIZIZM?ma )i m=iu69)qu?5ii`3=II9@ @@5@!^A/=II1OE>QE =E =y iw,O߹?AEj EjEj0Eh"EjO6;*Ej:VEj4ZEhaz@az@a~@a~@J{?J̸?J2ٱJyD AHRS rotation from veh to nav: [[0.361455,-0.931151,-0.048042],[0.932345,0.361460,0.008897],[0.009081,-0.048008,0.998806]]JH"??("?8?? @7?iJ{?IJo];JCYYuBy}VII<)=i5Mb@Mb@Mb@1111 195Cl?y&1?Mbp?Y5;=y5`e<5;5 A5A 5SA)5A1Y5(AbDMVDM:y]_%]&=ٔe:Q-e>9aYa=m?FyimùEm>qQ 5}4u%?Q 9}4u:)uexBY6=Q E;yG?Q I?u?CIu:iu#:u4yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgf!f)f-Bd)d)jd)Zd5D@Z6=Z6=Z>ZG?2) #=iA9)  ."5iiYae=IayI9@ @@1@ԩ^A= =IA IY Oe > őw,#(߹?Aɰ2_{?2?2H ٱ2rD :AHRS rotation from veh to nav: [[0.361624,-0.931100,-0.047768],[0.932285,0.361601,0.009421],[0.008501,-0.047941,0.998814]]2H$?@uH?y$?`_K? i?H?i2_{?I2b(];2CYBByBEI J;J4<bDRVDRkyV䪽%Z=ٔZ:Q-Z ?9\Y\=^?Fy\^sEb ?`Q 5f4b?Q 9j4b9)bgxBYhyjA?Q Ij?bDCIb):ibB:b4ylɮrApBABABEYIBEBBABABABEB;BEh9EDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZdD@ZZZZA?H ) % 9 yw,A߹?A6Ո{?6?6jٱ6(D BAHRS rotation from veh to nav: [[0.361718,-0.931074,-0.047551],[0.932252,0.361676,0.009791],[0.008082,-0.047871,0.998821]]6Hd&?[X ?%?@8 ?E? W?i6Ո{?I6$];4YJByJMIbDRVDR:yZ <%ZJ=ٔZՇ:Q-^>9`Y`=b?Fy`b,Ef>dQ 5j4f?Q 9j4f8)fhxBYlyn>?Q In?fICIf;if;f4ypɮvAtDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffd!d!jd!Zd%}%E@ZAZAZAZE>?]j)Y ]i w,I[߹?A2m{?23?2zٱ2cC :AHRS rotation from veh to nav: [[0.362103,-0.930936,-0.047327],[0.932107,0.362037,0.010260],[0.007583,-0.047829,0.998827]]2H,?@:N;?@+?-?@?}c?i2m{?I2\;09Y=?Fy{yE>Q 54Y?Q 94H7)kxBY=Q E;yƗ?Q I?PCI ;i ;94yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd\E@iZ}=Z}=Z}@Z}Ɨ?z) L=iv9)'5ii[=II9@ @@/@ԙB=@>B9B=SIB=BB= =B9B9B=G;B=m9E^A I I O >E  E E -E "E sH;*E :VE t4ZE BE ! yw,a߹?AF* {?FVp?FջٱFDER6 ER ER,EP"ERl;*ER:VERg4ZEPaZ@aZ@aZ@aZ@ ZAHRS rotation from veh to nav: [[0.363523,-0.930394,-0.047098],[0.931562,0.363404,0.011382],[0.006526,-0.048012,0.998825]]FHC? 7[?B?O?z?`?iF* {?IF\;FCYbBybLIbD VD yM<%MB=ٔUȘ:Q-]>9aYi=m?Fyi}*E>Q 54\?Q 944)qxBYy?Q I?\CI;i@;JLJ4yɮA%DNOT Ignoring new targets: 52.58 m.h)h)*h)"h) h)5PExceeded connect timeout, disconnecting.gIfQfQfQdQdYjdYZd] E@ZZZZr?ջ) XP=i9)  -5ii =I)IIiyIy@ @@/@Y^A I I O >ԁ R,9 Y Aw,#j߹?A2z?2c?2E̻ٱ2}D :AHRS rotation from veh to nav: [[0.363888,-0.930259,-0.046943],[0.931422,0.363755,0.011645],[0.006243,-0.047961,0.998830]]2HI? 5?G?(ه?y?fi?i2z?I2?\;2CY@yBMIIF<)FBpBrFIBrBBr =BpBpBrJ;Brp9EYiMb@Mb@Mb@ 9zG?:vQ?Y =yTu<AA SA)&AYAbDVD02yj;%B=ٔ}0:Q->9Y=?FymuE>Q 54?Q 943)xxBY=Q E;y}?Q I?bCI_;iS;·4y ɮADNOT Ignoring new targets: 52.58 m.hh*h"h hg f f fBddjdZdE@Z=Z=Z@Zk}?E̻) ;i9)顥.5iE EEE"EW;*E:VEZEBEF }w,D߹?Aɰ4<2z?2Q?29Ļٱ2lD :AHRS rotation from veh to nav: [[0.364394,-0.930067,-0.046821],[0.931225,0.364249,0.011898],[0.005988,-0.047936,0.998832]]2H9XYX=Z?FyX^$ºE^>`Q 5f4b ?Q 9f4b 3)b~xBYdyjk?Q Ij?bfCIb:ib:bԇ4ylɮnAlDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd>*F@ԹZZZZk?9Ļ) i9)ii=II%=C=9@ @@N2@E% EE-E"EO];*E:VEt4ZEa@a@a@a@^AKk=I1IaO>5 nManaging dock network, ignoring radio surface power off9 w,߹?A2z?2>?2t*ٱ2ޑD :AHRS rotation from veh to nav: [[0.364934,-0.929856,-0.046801],[0.931015,0.364782,0.012053],[0.005864,-0.047971,0.998832]]2H[?bX?X?o?Ex? m?i2z?I2|\;0YBByBEIi Mb@Mb@Mb@     9 Pn? rhy&1?Y >y C `e< " A  )  Y AbD%VD%:2y5D|%5B=ٔ59Q-=>99Y9==?FyAE6EE>IQ 5U4M"?Q 9U4M1)MxBYU>Q EU;yU#?Q I?MnCIM$Z>Zy@Z#?5t*)1 1i1)999i9iAAEP=IIA}9@y @y@}`0@yBB>BB@IBBB =BBBP;Bv9EiE 2 E E 0E "E i;*E ]:VE 4ZE BE )ԙ xw,?߹?AY=ByELIM=Mp=bDUVDU02y<%E=ٔQ->9Y=?FyE>Q 54%?Q 940)xBYyQ I?tCI:i:4yɮA=DNOT Ignoring new targets: 52.58 m.hAhA*hA"hA hAgAfAfIfIdIdYjdaZde@F@qZZZZ) C;ij9)顥%0ii:=IIIhA)E9@A @I@M4@I@U>@U=ԙ^Am=IyIO> x,R?ADB?AzDB?AEF+ EF2EF.ED"EFb;*EF;VEFـ4ZEDaJ@aJ@aJ@aJ@Y~By~KI  bDVD y=%=O=ٔIQ-U>9YYa=e?FyaqE}>Q 54'?Q 94V/)xBYyQ I?{CIK- x,d*?A2.z?2?2ٱ2C >AHRS rotation from veh to nav: [[0.366644,-0.929193,-0.046612],[0.930343,0.366493,0.012053],[0.005884,-0.047785,0.998840]]2Hw?ݧ@^?t?@?x?7w?i2.z?I2I<];BB<AB<BFD>BDBF:IBFBBF =BDBDBFR;BFy9EBIBIBIBM =BM =CM50Y^BybIIiMb@Mb@Mb@ 9rh|?~jt{Gz?Y=yף< jA)YAbDVDܲy%%%<=ٔ-=Q-->9)Y)=5?Fy15cE5>9Q 5E4=W)?Q 9E4=!.)=xBYM>Q EM;yM^?Q IM?=CI=:i=:=4yɮA5DNOT Ignoring new targets: 52.58 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAjdAZdEF@QZ>Z>ZY(@Z]^?E  E>EE"EX;*E?;VEZEBEx,D?A2fy?2s?2 ûٱ2D :AHRS rotation from veh to nav: [[0.367356,-0.928907,-0.046704],[0.930061,0.367208,0.012024],[0.005981,-0.047854,0.998836]]2HĂ? 駿?V?˟?x?Sw?i2fy?I2_];2C@YFByFEIbDNVDNNyVh%Vf=ٔVWQ-V>9XYX=Z?FyX^7 E^>`Q 5f4b2+?Q 9f4b -)bxBYdyfE?Q If?bCIb9:ib:b=4ylɮnAlDNOT Ignoring new targets: 52.58 m.hh*h"h  h g f f fddjdZd^*G@Z9Z9Z9Z=E?M û)I MؼiU9)QUW3QiQi2=II-l>i->ԩ9@ @@/@@@E EE,E"EP;*EA:VEg4ZEa@a@a@a@^A˺=IYIyO> ia Ia ?x,g^?A6y?6&?6sлٱ6ӃC >AHRS rotation from veh to nav: [[0.367591,-0.928814,-0.046712],[0.929966,0.367462,0.011626],[0.006366,-0.047714,0.998841]]6H`?׸@꧿G?`?hχ?z?m?i6y?I6c];6CY^BybGIliMMb@Mb@Mb@IIII I9M?~jt{Gz?YM>yMDIIMnA MA)MAIYI aep;bDeVDe0yu<%u>=ٔ}jQ-}>9yY=?FybE>Q 54;-?Q 94+)xBY5>Q E;y?Q I?CI ;iT ;4yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd`qaG@Z5>Z5>Z@Z?sл) ƣi9)cii =II @ @@@9BC>BBBB =BBB[;B9E^A =IIO>E  E E /E "E L;*E :VE J4ZE BE ޡ9Y=?Fy E >Q 54/?Q 9%4*)xBY!y%?Q I-?CIC;iiD;4y1ɮ5A19eDNOT Ignoring new targets: 52.58 m.haha*ha"ha hagifififidqdqjdqZduXG@ZZZZ?Bػ) ʼi9)页tiiۀ=II59@1 @1@50@1@=@=@=@=aIIOj>ԙ=< Q$x,?AbEuA{4jEu|4rEu١/E29 E2E0E0"E2so;*E2d:VE0ZE0a:@a:@a:@a:@>y?>?>Oٱ>O0D FAHRS rotation from veh to nav: [[0.369048,-0.928218,-0.047052],[0.929384,0.368942,0.011242],[0.006925,-0.047878,0.998829]]>H`|?@`6???;]|?|h?i>y?I>X];>CYNByRLI TTV=V=bDZVDZ1yb =%bN=ٔfVQ-f>9dYd=j?Fyhj9Ej>lQ 5r4n0?Q 9r4n))nxBYtyvf?Q Iv?nCIn:in1:ny 4yBɮA ԡ}DNOT Ignoring new targets: 52.58 m.hyhy*hy"hy hygyfffddjdZdG@Z1Z1Z1Z5f?EO) ˻i-9)顕IJiizZ=II9@ @!@%0@!I1IAOMS> 8|*x,n?AAAAAAAR+Vy?RV?RٱRSD bAHRS rotation from veh to nav: [[0.369711,-0.927947,-0.047196],[0.929119,0.369619,0.010982],[0.007254,-0.047911,0.998825]]RH`X?*V?֧?}?@}?χ`?iR+Vy?IR];RCYjByjDIB=D>B9B=@IB=BB= =B9B9B=X;B=~9EiMb@Mb@Mb@ 9@5^I ?Q?Yb>yu<AA )&AYA@AbDVDβy%<=ٔEQ->9Y=?Fy׺E>Q 542?Q 94 ()xBY2>Q E;y=?Q I?CIT ;i ;4yɮADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZd*H@ZE2>ZE2>ZE/3ZE}=?Eu* EuEu0Eq"Eua;*Eu:VEu4ZEqBEui9I9Qy c1x,=?A2Oy?2?2"ٱ2zC :AHRS rotation from veh to nav: [[0.369802,-0.927904,-0.047344],[0.929077,0.369741,0.010371],[0.007882,-0.047822,0.998825]]2Hժ?b= ? ԩ?n=?P$? |_?i2Oy?I2];2CYBByB9IbDJVDJyR,;%V^=ٔVDߺQ-V>9XYX=Z?FyXZ؍EZ>\Q 5b4^q4?Q 9f4^&)^xBYdyf9?Q If?^CI^B:i^:^4yhɮjAl}DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd .H@ZZZZ9?") i9)ii=IIQ9@ @@4@IIO >ԁE# EE-E"E[;*E :VEt4ZEa@a@a@a@Ա 7x,K?A2/y?2 ?2[ٱ2\C :AHRS rotation from veh to nav: [[0.370253,-0.927719,-0.047445],[0.928894,0.370211,0.009993],[0.008293,-0.047771,0.998824]]2H@8?߯ J??ow??ru]?i2/y?I2M];0Y^Byb6IfAfAiMMb@Mb@Mb@IIII I9MDl?I +?~jt?YMO >yM949Y=?FyIE>Q 545?Q 94;%)xBYJ>Q E;y7?Q I?CI ;iK ;?#4yɮ/A-DNOT Ignoring new targets: 52.58 m.h)h)*h)"h) h)g)f1f1f5Bd9d9jd9Zd=yeH@Z]J>Z]J>Z]=Z]7?u[)q uLiuf9)y}TyiyiA=II) G!-9@) @)@-4@)]MA 9YAy YS? =AAYB=E>B9B=:IB=BB= =B=>DB9B=E;B=l9E^Am=IyIO>ԉ E  E E ,E "E d;*E :VE g4ZE BE k=a 2E k=a JE =9tYx=z?Fyxz кEz>Q 5 487?Q 9 4#)xBYy$?Q I?CId:i|:)4yɮ%7A!MDNOT Ignoring new targets: 52.58 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]H@ZyZyZyZ}$? l) UiK9)顝~Ҳii&2=IIM9@Q @Q@U/@Qԉ^Aõ=IIO> ܟDx,we?AD"@AzD"AAE& E&E$E$"E&.;*E&:VE$ZE$a*@a*@a*@a*@>x?>\?>Lٱ>HC FAHRS rotation from veh to nav: [[0.371356,-0.927261,-0.047771],[0.928445,0.371355,0.009206],[0.009203,-0.047772,0.998816]]>HJ?`ouҵ?I?ڂ?8ق?uL?i>x?I>.];>CYNBpy~0IbD VD yĉ%G=ٔ%iQ-%>9!Y!=-?Fy)-YE->1Q 5=458?Q 9E45")5xBYIyM?Q IU?5CI5Ԗ;i5B;504yiɮmTAiDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZdH@ZZZZ?L) qi5I9)15=,1i1i99=M=I9IA9@ @@/@1^A% =I9 II OU >a B A <Jx,F-?AFx?FK?F\ٱFC NAHRS rotation from veh to nav: [[0.371822,-0.927066,-0.047927],[0.928254,0.371843,0.008797],[0.009666,-0.047759,0.998812]]FH@?`@߉ A?H?_?@˃?sD?iFx?IF^;FCYVByV%IBlBlBn'IBnBBlBlBlBn;;Bnb9E9iMb@Mb@Mb@ 9(\?~jt?Mb`?Yz>y<;" A A)YAbDVDP)y.*%@=ٔQ->9Y=?FyᚺE>Q 549?Q 94 )xBY>Q E;y ?Q I?ǃCI3:i;l84yɮA%DNOT Ignoring new targets: 52.58 m.h!h!*h!"h) h)g)f)f1f5Bd1d1jd9Zd=I@Z]>Z]>Z]Jk>Z] ?m\)q uԣiu9)quyqiqiyy}i=IIE] E]E]1EY"E]&U;*E]2;VE]-4ZEYBE]Թ Qx,.G?A2x?23?2 #ٱ2C :AHRS rotation from veh to nav: [[0.372496,-0.926792,-0.047992],[0.927980,0.372531,0.008553],[0.009952,-0.047721,0.998811]]2H?G`?`? (?a?`nB?i2x?I2E^;2CYBByBIbDJVDJ:yVXԼ%V_=ٔVLQ-V>9XYX=Z?FyXZE^>`Q 5f4b ;?Q 9f4b)bxBYdyf?Q If?b΃CIbW:ib :b>4yhɮnAlDNOT Ignoring new targets: 52.58 m.hh*h"h hg f f f ddjdZdv/I@Z1Z1Z1Z5?M #)I MLiM9)QUQiQԙi%=II1ߑߑ@ @@@@@@@EeA EeEe2Ea"Eev;*Ee1:VEe4ZEaam@am@am@am@IIO> Wx,`?A6&Yx?6?6/U)ٱ6FD BAHRS rotation from veh to nav: [[0.373285,-0.926459,-0.048292],[0.927659,0.373336,0.008305],[0.010335,-0.047898,0.998799]]6H?b?? ? *?"(?i6&Yx?I6^;6CYJByJIiMb@Mb@Mb@ 9v/?/$?{Gzt?Yx=y<ף; AA A)SAYAbD-VD-fy=/'%EA=ٔEmQ-E>9AYI=M?FyIMEM>QQ 5]4U;?Q 9e4UG)UxBYe=Q Ee;ye?Q Ie?UԃCIU~ ;iU ;U8F4yiɮmAqDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBddjdZdeI@Z=Z=ZZ:>Zl?]/U))a euie19)ae_ɳaiiiiiuʱ=II-9@) @)@)@)I9IQO]>ABBBIBBB =B=DBB6;B]9EBBBBƮ =BƮ =C"5qEu  Eu Eu .Eq "Eu X;*Eu :VEu ـ4ZEq BEu iI9Y= ?Fy  EE >Q 54w?>ח?>0ٱ>oD FAHRS rotation from veh to nav: [[0.375118,-0.925705,-0.048544],[0.926915,0.375185,0.008065],[0.010747,-0.048021,0.998788]]>H?`ڨI???@g?D@?i>w?I>9^;>CY^By`bDjVDjkyv`:%vK=ٔzQ-~>9yYy=?FyUE>Q 54r=?Q 94)xBYyf?Q I?CI) A @AA kx,?AB B B"IB"wBB" =B B B"8;B"_9E>Hw?>d?>4ٱ>hD JAHRS rotation from veh to nav: [[0.375785,-0.925434,-0.048563],[0.926641,0.375866,0.007796],[0.011039,-0.047930,0.998790]]>H ? ' Iݨ ?/?@?@|?Q?i>Hw?I>`^;>CYRvByRIi%Mb@Mb@Mb@!!!! !9%Zd;O?Mb?Mbp?Y%j=y%<%;%" A%nA %jA)%A!Y%pAbD= VD=2yM)%MD=ٔU8Q-U>9QYQ=]?Fy*E>Q 54 >?Q 94)xBYk=Q E Z'?4) #io9)  D i E=' E=E=.E9"E= _;*E=Z:VE=ـ4ZE9BE= rx,d?A>DRw?>b?>7ٱ>E FAHRS rotation from veh to nav: [[0.377000,-0.924929,-0.048757],[0.926146,0.377085,0.007798],[0.011173,-0.048096,0.998780]]>H ??("?@? ??i>DRw?I>X^;>CYNiByNI PPV=Va=bDZVDZ1ybik%b;=ٔb'Q-f>9dYd=f?FydjLEj>lQ 5r4n>?Q 9r4n)nxBYpyrݭ?Q Ir?nCIn:in:nc4y|ɮ~A|%DNOT Ignoring new targets: 52.58 m.h!h!*h!"h) h)g)f9f9fAdAdAjdAZdE.9J@ZiZiZiZm]ݭ?}7)y }8i}9)顅.ii#=II)a@a @a@e4@a^A==IIIYOe>bEEـ4jEEމ4rEE.1E@ EEE"Eu;*EA:VEZEa@a@a@a@Yԉԩ xx,Q?A2w?2Jl?2" 9ٱ2:E :AHRS rotation from veh to nav: [[0.378132,-0.924463,-0.048825],[0.925683,0.378221,0.007759],[0.011294,-0.048130,0.998777]]2H@R3?3` 1?4??D!?}?i2w?I2\^;0YBhByBIiUMb@Mb@Mb@QQQQ Q9U/$?~jtx?Mbp?YU=yU;QU AUA UA)UAQYUAiibDm VDm2y}H%}@=ٔQ->9Y=?Fy+<E>Q 54??Q 94)xBY=Q E)i)i1ԑ1=II9@ @@4@BD>BBIBgBB =BBB@;Bg9EE  EE-E"ED;*E:VEt4ZEBEњ x,,?A2޴v?2E?2N;ٱ2l)E :AHRS rotation from veh to nav: [[0.379222,-0.924015,-0.048847],[0.925235,0.379316,0.007696],[0.011417,-0.048113,0.998777]]2H -E? w?@F??a?T`?i2޴v?I2^;2CYBaByBIbDJVDJ0yR%VY=ٔVdQ-V>9TYX=Z?FyXZMEZ>\Q 5b4^@?Q 9b4^%)^xBYdyf?Q If?^CI^:i^:^q4yhɮj,Al}DNOT Ignoring new targets: 52.58 m.hyh*h"h hgfffddjdZdJ@ZZZZ?N;) Pi9)Pii=II-e>i->9@ @@/@^Aا=IIO!>I E  E E +E "E g5;*E :VE [4ZE a @a @a @a @x,?A>URv?>j?>ŕ;ٱ> E JAHRS rotation from veh to nav: [[0.380613,-0.923438,-0.048943],[0.924664,0.380705,0.007780],[0.011449,-0.048217,0.998771]]>H[?Ό ؖ?z]?o?r?@毨 ?i>URv?I>*s^;>CYVYByVIIZ<)Za=XXbDbVDbyf%fH=ٔj.Q-j>9lYl=r?Fytz4oE~> Q 5-4 A?Q 9-4 E) xBYy~?Q I? CI =B C>B B IB XBB B B B P;B v9E!x,2?A;ɰ6#u?6ߖ?6DP;ٱ6gE@ BAHRS rotation from veh to nav: [[0.382096,-0.922829,-0.048883],[0.924052,0.382187,0.007856],[0.011432,-0.048172,0.998774]]6HDt?Ї`0Ց?`u?? i? ?i6#u?I6^;6CYJ[ByJIiMb@Mb@Mb@ 9?:vY=yT9 A jA)SAYA )-<bD5 VD5:2yUn<%UB=ٔU_%8Q-U>9YYY=]?Fyaeu{Ee>iQ 5u4mBC?Q 9u4mQ)mxBYu=Q E} x,{L?A2=tu?2^?2 ;ٱ2SE :AHRS rotation from veh to nav: [[0.383744,-0.922143,-0.048918],[0.923368,0.383833,0.007933],[0.011461,-0.048213,0.998771]]2H`C?1 ;?`???x?l@?i2=tu?I2^;2CYVWByVIbDbVDb1yj%jS=ٔjϛQ-j>9lpYl=v?Fytv:Ez>xQ 5~4zD?Q 94zl)xYy?Q I?zCIz;iz;zb4y ɮ|AMDNOT Ignoring new targets: 52.58 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd];K@ZyZyZyZ}? ;) i9)顝ii=IIM9@Q @U@Q@Q E" EE+E"EZ;*E:VE [4ZEa@a@a@a@9^Au=IIO>a 3x,f?A2,t?2a?2Q<ٱ2xE :AHRS rotation from veh to nav: [[0.385646,-0.921350,-0.048908],[0.922575,0.385734,0.008016],[0.011480,-0.048213,0.998771]]2H@m? { { ?ܯ?rj?@?P?i2,t?I2ܞ_;2CYBXByBI DDJ=Jp=IieMb@Mb@Mb@aaaa a9eRQ?y&1{Gz?Ye=ye`弙e#9Y=?FyӞE>Q 54!G?Q 94)xBY=Q EE( EE-E"E`;*E:VEt4ZEBES9)Y)=-?Fy)5E5>IQ 5M4M/I?Q 9U4M)MxBYQyQQ IU?M CIM:iM;M4yaɮe:AaԙDNOT Ignoring new targets: 52.58 m.hh*h"h hgff f d d jd Zd@CK@Z1Z1Z1Z1A)A EiM9)IMIiIiQQU=IYIY@ @@O0@^A5D=I9IIO]>! E / E E .E "E af;*E >:VE ـ4ZE a @a @a @a @Ex,/O?AFs?Fԕ?F<ٱFD RAHRS rotation from veh to nav: [[0.389636,-0.919680,-0.048713],[0.920897,0.389719,0.008166],[0.011475,-0.048042,0.998779]]FH? n w?`)?`#? ?阨 ?iFs?IF`;FCYbZBybIbDr VDr:2yzk޼%zM=ٔ~l7Q-~>9|Y|=?Fy2E> Q 54 CK?Q 94 ) xBYytc?Q I? CI n;i Y; 4y)ɮ-gA1DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd5 K@ZqZqZqZutc?<) ܛi9)页jiiՓ=IIIgA)gA)9@ @@@QA A @AB B B B B =B B B P;B w9EBBBBBC 25^A <=I I O >y ox,)?A28s?2?2};ٱ2'D :AHRS rotation from veh to nav: [[0.391780,-0.918769,-0.048709],[0.919987,0.391860,0.008287],[0.011473,-0.048058,0.998779]]2H`?f`Sp?@<??-?@ ?i28s?I2`;2CYfnByfIIj<)j9 Y=?Fy˭E>Q 5%4M?Q 9-4$)yBY-=Q E-@ZuN?};) ԣi9)ƮiiK=IIm2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.ԡ9@ @@D2@^A=IIOb> Wx,O?A2wr?2|=?2m<ٱ2*D :AHRS rotation from veh to nav: [[0.393862,-0.917881,-0.048656],[0.919098,0.393941,0.008346],[0.011507,-0.048007,0.998781]]2H5?H_l騿?i?U6?@w?+? O?i2wr?I2W`;2CYBhByBI HJ<bDNVDNܲyV%Vc=ٔV%ȸQ-Z>9XYX=Z?FyX^λE^>b*DAT read: user:350> fBDAT read: Tx time:03:31:24.6128 f$Ping request sent.fQ &x,?A2xr?2?2/=ٱ2D :AHRS rotation from veh to nav: [[0.395866,-0.917020,-0.048619],[0.918235,0.395947,0.008363],[0.011581,-0.047955,0.998782]]2HU?;X`䨿/b?1W? ? ?`?i2xr?I2`;2CY@y@i Mb@Mb@Mb@     9 q= ףp?X9v~jt?Y =y  <  A )  Y bD%VD%0y5*:%5B=ٔe;8Q-e>9iYi=m?Fyiu Eu>Q 54R?Q 94_)yBY =Q E ;y h?Q I ?"CI%L;iJK;T4yBɮ%A%E]DNOT Ignoring new targets: 52.58 m.hYha*ha"ha hagafifqfuBdqdyjdyZd}vL@Z=Z=Z٢@Zh?/=) ԣi9)ĴiiG=IIY>i>B1B1B5IB5]BB1B1B1B5K;B5r9EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504090e9@a @a@m/@iQE E(E.E"E4;*E;VEـ4ZEBEԁ iy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755014ix,?A0YzByI !!bD5VD5yY=%B=ٔQ->9Y=?FyE>Q 54 U?Q 94d)'yBYy!Q I%?(CI7# bE=A{4jE=˭x4rE=(90E%  E% E% 1E! "E% C;*E% 1:VE% -4ZE! a5 @a5 @a5 @a5 @ߓx,?A29tYt=z?Fyxz:Ez>Q 54`W?Q 9%4x)1yBY!y-g?Q I-?.CI;i;ᾈ4y1ɮ5=A1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269005DNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd"L@ZZZZӵg?5|B)1 =Mi=79)9=SѴ9i9iAAE5=IIIY9@ @@/@B) A- 4=B5 E>B1 B5 IB5 mBB5 =B1 B1 B5 H;B5 n9E^A i=I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518691A x,q5?ABPp?Bg-?BHٱBC RAHRS rotation from veh to nav: [[0.401476,-0.914575,-0.048673],[0.915788,0.401583,0.007989],[0.012240,-0.047781,0.998783]]BHȱ?3D먿 "N??H\?@K?v`?iBPp?IB7a;BCY^BybI!Ee EeEe0Ea"EeO;*Ee:VEe4ZEaBEe8y<&A A)SAYAbD)VD)y==%=6=ٔEVQ-E>9AYA=E?FyAM养EM>QQ 5]4UY?Q 9]4U )U?yBY] >Q Ee;ye?Q Ie?U6CIUL:iU':Uƈ4yiɮmAiDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffπBddjdZdM@Z] >Z] >Z]*@Z]?H) i9)顝ᴉiiç~=III@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771888^A]Pڀ=IiIyOZ>qԡ x,MO?A2o?2?28Lٱ25C :AHRS rotation from veh to nav: [[0.403338,-0.913749,-0.048788],[0.914966,0.403455,0.007877],[0.012486,-0.047816,0.998778]]2H`K?`o=@fG? 3?@!?;?`e{`?i2o?I2B5a;0YBByB#IIF;>)Fx>bDNVDN:yVs=%Vh=ٔV6Q-V>9XYX=Z?FyXZNE^>`Q 5b4bo[?Q 9f4b )bJyBYdyf?Q If?b KC rG  = *9A YE Ax,k+i?AB|{o?B?BOٱB?C JAHRS rotation from veh to nav: [[0.405171,-0.912937,-0.048811],[0.914153,0.405295,0.007775],[0.012685,-0.047771,0.998778]]BH S?6@@? [?@)?`?du?iB|{o?IBoa;@YRByR$Ii-Mb@Mb@Mb@)))) )9-{Gz? rh?y&1?Y-#>y-C<-`<- A) -" A)))Y-\A ae4<bDmVDmk2y};%==ٔQ->9Y=?Fy엻E>Q 54/]?Q 94/ )WyBY='>Q E;yH?Q I?ECIeA;iG;nԈ4yɮ`ADNOT Ignoring new targets: 52.58 m.hh*h"h hgfffBBBBIBBB =BBBB;Bi9EddjdZd|M@Z]='>Z]='>Z]T=Z]H?O) #iG9)顕iiSq=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528113!e9@a @a@a@a@mhA@mhAE}% E}E}+Ey"E}O];*E} :VE} [4ZEyBE}y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778757x,?A>#n?>i?>dUٱ>C JAHRS rotation from veh to nav: [[0.406931,-0.912147,-0.048942],[0.913366,0.407069,0.007563],[0.013024,-0.047779,0.998773]]>H`( ?N0`K:?k ?d~?@e?v?i>#n?I>Da;>CYrByr/IbDzVDz:2y_0=%Q=ٔ%:cQ-%>9!Y!=%?Fy)-ԡE->1Q 5m45^?Q 9u45)5cyBYqyu ?Q Iu?5MCI5ԹE & E E /E "E 8^;*E I:VE J4ZE a @a @a @a @ x,ޜ?A2yn?2-?2M@[ٱ23C :AHRS rotation from veh to nav: [[0.408596,-0.911396,-0.049060],[0.912617,0.408750,0.007320],[0.013382,-0.047763,0.998769]]2H`p&?'*`T)4?`(?}?g?tt?i2yn?I2a;2CYNByR,I TTbDZVDZyb"%bP=ٔfnQ-f>9dYd=f?Fydj[Ej>lQ 5r4n_`?Q 9r4n)noyBYpyvΡ?Q Iv?nUCIn;in:n4yxɮz+AxDNOT Ignoring new targets: 52.58 m.hh*h"h hgfffddjdZd`KM@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.285025ԹZqZqZqZuΡ?M@[) i{9)ii  _e=II9BD>B8CB'IBBB =BBBF;Bm9E 5 DAT read: 03:31:27.0970 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 32, 0.01, 1.051, 2.600, 0.790, 1.551, PHS=-0.398, 1.094,-0.805, RAW= 341.8, 1.3, CAL= 341.3, -1.6, ROT= 168.7, 1.6 = Ygot valid direction response: 03:31:27.0970 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 32, 0.01, 1.051, 2.600, 0.790, 1.551, PHS=-0.398, 1.094,-0.805, RAW= 341.8, 1.3, CAL= 341.3, -1.6, ROT= 168.7, 1.6 E PDAT read: Bearing 28.5, 10.6 (Local) M ~Local bearing/azimuth received: Bearing 28.5, 10.6 (Local) U DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.0 ms) speed -0.1 m/s ] R#Rx 1: Read range and direction messages.] `direction in FSK: [-0.980232,0.195870,-0.027922]m 9@i  @i @m 0@i } Fpublishing direction and range infoy  (0.8^d B?|p}Y pB ) GI ˾i 1? {N @ ޹< -@ ) p<@I < YOzL&Ȗ? o) EI p<@i < 9 E 0 E E +E "E Jg;*E :VE [4ZE BE mx,M?A$:m?:?:fٱ:iGD BAHRS rotation from veh to nav: [[0.411694,-0.909980,-0.049442],[0.911213,0.411877,0.006910],[0.014076,-0.047897,0.998753]]:H`1Y?`gP (?`/\?M|?ӌ?慨 ?i:m?I:j`;:CYJByJ7IieMb@Mb@Mb@aaaa a9eRQ?~jt? rh?YeB>yeD=eC9Y=?FyֻE>Q 54a?Q 94c)xyBYmI>Q E;y?Q I?bCI:i<:14yɮAiqiu?AJiuoBRiuoBjiu|@buC#HMq:%h'@:jVFRu(0.8^d B?|p}Ziup<@biu<juWAGHhshZu9ᠽ |Q%2iu>B:iu "iuk?*iu>BiuuBiqiu1iqiu2lBiu@ addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 60.004033 s, deltaX: 7.200001 m, approachRate: 0.119992 m/s, rangeRepo size: 4 % Added new target pos. range: 59.750996 m, bearing: 234.467056 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 60.004033 s, deltaX: 7.167530 m, approachRate: 0.119451 m/s, posRepo size: 4 -DNOT Ignoring new targets: 59.75 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd=N@Zd=`,?ZmI>ZmI>Zd}>Zp?f) Bi9) #iiqY=IIy9@ @@2@ԡ^Ac=IIO > Mx,u??AV1Hm?VX?V)jٱVl"D` jAHRS rotation from veh to nav: [[0.413004,-0.909383,-0.049500],[0.910617,0.413197,0.006744],[0.014320,-0.047861,0.998751]]VH`n? X`#?q?{?`T?B`?iV1Hm?IV_;VCYpypbDzVDzy%U=ٔ &Q- >9 Y =?FyuE>Q 5%4b?Q 9%4p)yBY)y-?Q I-?kCIB:i[:4y1ɮ5A9eDNOT Ignoring new targets: 59.75 m.haha*ha"hi higifififqdqdyjdyZd}?E EE1E"E><*E:VE-4ZEa@a@a@a@ZZZZX?)j) pCiH9).ii:U=IIiM9@I @I@MS4@Q^A%&V=I1IAOM>A B- F>B) B- -IB- BB- =B) B- DB- I;B- q9EBB8CBB˭ =B˭ =C˫5-vx,?A2l?2(a?2-+pٱ2D :AHRS rotation from veh to nav: [[0.414285,-0.908787,-0.049737],[0.910029,0.414493,0.006555],[0.014658,-0.047977,0.998741]]2H?w@? ?z? ?}?i2l?I2ţ_;2CYBByB9IIFC=)F=!%4=iMb@Mb@Mb@ 9NbX9?V-?:v?YE>yh=T<f A=A A)AYbDVDy&<%@=ٔkPQ->9Y=?FyBYE>Q 54{c?Q 94%)yBYS>Q E;yڿ?Q I?wCI3:i ;V4yɮA DNOT Ignoring new targets: 59.75 m.h h *h "h  h g fffBddjdZd 4?Z=S>Z=S>Z=5|>Z=ڿ?U-+p) Bi9)k;iiP=IIIE EEE"E8;*E:VEZEBE_8=a2E_8=aJE5ԡ ]y,[ ?A2l?2;?2tٱ2ŔD :AHRS rotation from veh to nav: [[0.415341,-0.908299,-0.049841],[0.909543,0.415561,0.006350],[0.014944,-0.047970,0.998737]]2H?@?@?z?蚎?z`?i2l?I2_;2CYRByR3I XXbD\VD\yjؼ%jY=ٔj%GQ-n>9lYl=r?FyprJEr>tQ 5z4vc?Q 9z4v)vyBYxyz?Q I~?vCIv:iv;v4yɮAyDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd?ZZZZ3?t) Li 59)  4H i iL=II9@ @@/@ԡDzDE EE+E"EI@;*EV:VE [4ZEa@a@a@a@^AdO=I!I1OE> |y,#?A%Bl?% ?%Y*wٱ%AE eAHRS rotation from veh to nav: [[0.416628,-0.907702,-0.049984],[0.908952,0.416853,0.006336],[0.015085,-0.048073,0.998730]]%H` ?` !??my?`?``?i%Bl?I%}^;%CYBy.Ii5Mb@Mb@Mb@1111 195Cl?ʡE?~jtx?Y5d;>y5=5;5 A5&A 5" A)5jA1Y5AbDMVDMy]%]4=ٔ]뢹Q-]>9aYa=e?FyaeCLEm>qQ 5}4u0d?Q 9}4u)uyBY}eK>Q E};y})?Q I}?uCIu/:iu:u4yɮ!ADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZd?ZeK>ZeK>Z>ZL)?Y*w) R8i9)RTiiWPH=II I)iBA<BG>BB4IBBBBBB<;Be9E@ @@/@)^A \J=I I O >E  E E -E "E 1;*E r:VE t4ZE BE \9)Y)=-?Fy)5E5>9Q 5E4=`d?Q 9E4=)=yBYAyAQ IE?=CI=6:i=-:=44yQɮUkAQ}DNOT Ignoring new targets: 59.75 m.hyhy*hy"h hgfffddjdZd@ZZZZ) Ji 9){`iiBH=II1@ @@/@@=@=a^A<H=IIO>ԑԹ 3y,W?A6k?6?6wٱ6AMD BAHRS rotation from veh to nav: [[0.418778,-0.906720,-0.049831],[0.907963,0.419003,0.006345],[0.015126,-0.047901,0.998738]]6H`B?g? ?@y??`?i6k?I6C2^;6CYFByFINAANAAbDRVDR:yZE%ZR=ٔZݸQ-^>9`Y`=b?Fy`fsƻEf>dQ 5j4fd?Q 9n4f)fyBY9y=?Q I=?fCIfeB F>B B !IB BB B B B 5;B ^9E 2y,Zq?A2Wk?2/?2ܩwٱ2qjD :AHRS rotation from veh to nav: [[0.419884,-0.906208,-0.049844],[0.907452,0.420107,0.006427],[0.015116,-0.047929,0.998736]]2H`?@ ??Sz?@?-?i2Wk?I29 ^;0YJ~ByN Ii%Mb@Mb@Mb@!!!! !9%ˡE?y%t=%%f A%A % A)%A!Y%(AbDVDNyJW%;=ٔ7Q->9Y=?Fyk7E>Q 54d?Q 94)Yh7>Q E;yz?Q I?CI;iL ;4yɮADNOT Ignoring new targets: 59.75 m.hh*h!"h! h!g!f)f1f5Bd9dAjdAZdM&@Zh7>Zh7>Z>Zz?ܩw)  Wi9)顭O|ii<=IIIhA)E EE.E"EO;*E:VEـ4ZEBE8"y,G;?A2>j?2i?21vٱ2D >AHRS rotation from veh to nav: [[0.421139,-0.905623,-0.049888],[0.906872,0.421355,0.006619],[0.015026,-0.048029,0.998733]]2H?``?@z?{?@Ŏ?N?i2>j?I2/];2CYBpByFIIJ<)J;HJAbDNVDNFyV%V\=ٔZz}9Q-Z>9XYX=^?Fy\^sEb>`Q 5f4bd?Q 9f4b)`YhyjM?Q Ij?bCIb:ib[:b!#4ylɮnzAp DNOT Ignoring new targets: 59.75 m.h h *h "h  h g fffddjdZdt @Z9Z9Z9Z=@M?U1v)Q UEV EE-E"E;*E:VEt4ZEa@a@a@a@ԡ (y,?AL_j?o5?.qٱ1EE79IYM'A ]AHRS rotation from veh to nav: [[0.422591,-0.904949,-0.049829],[0.906201,0.422790,0.007014],[0.014720,-0.048119,0.998733]]H ?X8??|?%? ?i_j?Iڿ];CYeiByeIiMb@Mb@Mb@ 9On?)\(?Y>yGa==A " A)AYQA 4<p<bDVD02y^%)=ٔ%:Q->9Y=?Fy!%!YE%>)Q 554-ae?Q 954-)-yBY=">Q E=;y=j?Q I=?-CI-':i-:-+4yAɮMAIDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffـBddjdAZd}Z@Z">Z">Z >Zj?.q) Hai39)ii2=II BeG>BaBeIBewBBaBaBaBe;;Bed9E9@ @@M0@qE $ E E /E "E g\;*E A:VE J4ZE BE 1&/y,?A2K5j?2?2Hlٱ2D!E :AHRS rotation from veh to nav: [[0.423907,-0.904342,-0.049678],[0.905591,0.424089,0.007350],[0.014421,-0.048104,0.998738]]2HL!?^no`?@F$?~?܈?@?i2K5j?I2];2CYBWByBIbDJVDJkyRؽ%V}=ٔV>r:Q-V ?9TYX=Z?FyXZEZ ?\Q 5b4^e?Q 9b4^)\Ydyf;?Q If?^„CI^:i^:^914yhɮj>AhyDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd`L@ZZZZ;?Hl) i9)iiI-=IIM9@I @I@M4@Iԡ^AiIyIO>9 5y,?A2i?2ː?2[eٱ2#E >AHRS rotation from veh to nav: [[0.425519,-0.903595,-0.049488],[0.904841,0.425677,0.007821],[0.013999,-0.048106,0.998744]]2H`;?A@nVu?K>?@???@h@?i2i?I2u];2CY^KBybI ddf=f=bDjVDjyrg%rF=ٔv:Q-v>9tYt=z?Fyxz_Ez>|Q 54~9f?Q 94~)|Y y ?Q I ?~˄CI~:i~_:~k84yBɮAEEe EeEaEa"EeL;*Ee:VEaZEaau@au@au@au@DNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZdȱ@Z)Z)Z)Z-?e[e)a eieN9)aeiiiiiq'=II-9@) @)@-/@)A^Au.=ԁIIO>Be H>Ba Be IBe XBBe =Ba Ba Be K;Be v9Eԙ !9aYa=e?Fyam Em>Q 5 4*g?Q 9 4)yBYT=Q E;y=?Q I=?фCI;i.;@4yAɮEAAQDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZd*l@ZT=ZT=ZL>Z?Uؔ\)Y ] Wi]9)Y]YiYiaae =IiIEm Em Em,Ei"EmB;*Em:VEmg4ZEiBEmwBy,{ ?ABh?BLJ?B3UٱBE JAHRS rotation from veh to nav: [[0.429093,-0.901929,-0.049027],[0.903166,0.429198,0.008910],[0.013007,-0.048103,0.998758]]BHCv?``?w?&?? 5?`꠨?iBh?IB^;BCYn3BynIbDzVDz!yzɽ%Q=ٔA:Q->9 Y = ?Fy  oE>Q 54g?Q 9%4)yBY!y%?Q I%?քCI;i;F4y)ɮ5QA1]DNOT Ignoring new targets: 59.75 m.hYhY*hY"hY hYgafafafadidijdiZdm@ZZZZ7?3U) j~iW9)顭=ii=IIm9@i @q@u/@q^AM =IqIO>E} E}E}0Ey"E}=-;*E}-:VE}4ZEya@a@a@a@) [%Iy,[\&?Ae.h?e?eKٱeD AHRS rotation from veh to nav: [[0.431069,-0.901002,-0.048727],[0.902233,0.431143,0.009523],[0.012428,-0.048068,0.998767]]eH? ?ח?`? s?W?ie.h?Iel^;eCYByIIp<)4<  AiMb@Mb@Mb@ 9|?5^?MbMbPY=yf A A)jAYAbDVDkyvɽ%.=ٔ D:Q- >9Y=?Fy뗻E>!Q 554%j?Q 954%)!Y==Q E=BBIB5BBBBBe;B9EB8CBBBī =Bī =C*5}9@y @y@y@yԁԡ E  E E 3E "E N;*E :VE 4ZE BE p Py,a2@?Aɰ4<2g?2?2J0?ٱ2D :AHRS rotation from veh to nav: [[0.433164,-0.900021,-0.048278],[0.901240,0.433200,0.010272],[0.011669,-0.047960,0.998781]]2H@?淨@??` ??(?i2g?I2^;2C@YFByFI Np iI IM Ae8Vy,Z?AFHf?Fc`?F}3ٱFD RAHRS rotation from veh to nav: [[0.435540,-0.898886,-0.048053],[0.900102,0.435538,0.011062],[0.010985,-0.048071,0.998784]]FH`?@s`?@?`ܧ?r?`Ĝ?iFHf?IFz^;FCYZ ByZ~IbDbVDb:yj=%jH=lٔn:Q-n>9pYp=r?FypvһEv>tQ 5~4v>m?Q 9~4v)vyBYyh?Q I?vCIvW-;iv.;v[4y ɮ A D=%=D=%=EE EEEE,EA"EEV;*EE:VEEg4ZEAaM@aM@aM@aM@MDNOT Ignoring new targets: 59.75 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde @ZZZZ#h?}3) FWi89)i!i!!- =I)I)9@ @@0@9^Am+=IIO>i B B B IB BB =B B B p;B 9E_\y,Ks?A69f?6?6(ٱ6aD >AHRS rotation from veh to nav: [[0.437969,-0.897724,-0.047687],[0.898931,0.437931,0.011791],[0.010298,-0.048031,0.998793]]6H@?(]j@ ?`?&??@ ?i69f?I6H_;6CYFByFpIJ=J=AiuMb@Mb@Mb@qqqq q9u+?9Y=?Fy̻E>Q 54o?Q 94G)yBY=Q Ec4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffvBddjdZd@ZU=ZU=ZU9@ZU/?e()i mkim,9)顕ȴiiu Hcy,Í?A2}e?29?25ٱ29C :AHRS rotation from veh to nav: [[0.440544,-0.896496,-0.047077],[0.897681,0.440467,0.012563],[0.009473,-0.047795,0.998812]]2H`1?͹? 0?غ? f?x E?i2}e?I2[h`;2CYBByBjIbDJ VDJ:2yVȼ%V]=ٔVe;Q-V>9XYX=Z?FyXZE^>\Q 5b4^q?Q 9f4^)^yBYdyf.?Q If?^CI^:i^:^i4yjBɮjAnEDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdԙZd@ZZZZw.?5) tid9)t崉iiRmiy,?AFئd?F>?FٱFD jAHRS rotation from veh to nav: [[0.443491,-0.895059,-0.046745],[0.896237,0.443373,0.013438],[0.008697,-0.047854,0.998816]]FH(b?R@?8`??`ρ?UN?iFئd?IF=a;FCYBy kIbDVDy>; %%7=ٔ-:Q-5>99YY=e?FyaeEm>qQ 54uOt?Q 94u)uyBYy.?Q I?uCIu;iu;uq4yɮAMDNOT Ignoring new targets: 59.75 m.hIhI*hQ"hQ hQgQfffddjdZd @ZZZZO.?) ysi9)`iiEu  Eu Eu -Eq "Eu X;*Eu r:VEu t4ZEq BEu 9AYA=M?FyIMEM>QQ 5]4Uv?Q 9]4U)UyBYe*=Q EeQ Ie?UCIU ;iU ;Ux4yiɮmAqDNOT Ignoring new targets: 59.75 m.hh*h"h hgfff]BddjdZd @ZM*=ZM*=ZM @ZMU>q) Li9)額iiԡ tvy,?A2eb?2]?2Nٱ2C :AHRS rotation from veh to nav: [[0.449633,-0.892036,-0.045840],[0.893185,0.449433,0.015148],[0.007089,-0.047755,0.998834]]2H?Sx`??@?@ }?Hsr?i2eb?I2c;2CYZByZ]IbDfVDf1ynϼ%nQ=ٔr;Q-r>9pYt=v?Fytv|Ev>xQ 5~4z`y?Q 94zV)zyBYy>Q I?zCIz ;iz ;z~4y ɮ 7A=DNOT Ignoring new targets: 59.75 m.D==D=<EE$ EEEE+EA"EEg\;*EE:VEE [4ZEAaM@aM@aM@aM@hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde`!@ZZZZ%>N) Vi9)顥ii^-C+G /9Y{ A^A}<IIO>1 B H>B B YIB BB B B DB e;B 9Ep|y,?ARb?R?R0һٱRuC bAHRS rotation from veh to nav: [[0.452721,-0.890494,-0.045434],[0.891629,0.452488,0.015883],[0.006414,-0.047701,0.998841]]RHa?~C9??C?`Fz?9l?iRb?IR=c;RCYrByr^IiMb@Mb@Mb@ 9ˡE?A`"y&1?Y'=yY`e< )AYAbDVDk1y;%;=ٔ :Q->9Y=?FyrE>Q 54{?Q 941)yBY 1=Q E AQ I ?CI:i:4yɮ4AEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hA hAgAfIfIfMSBdIdQjdQZdU`?"@Zu1=Zu1=Zuݫ@ZuF>0һ) Bi9) X) iiԨԁ y,?A02#a?2x?2ݔٱ2B >AHRS rotation from veh to nav: [[0.455872,-0.888912,-0.044902],[0.890028,0.455600,0.016711],[0.005602,-0.047582,0.998852]]2H-?q[{?(?@?v?@\?i2#a?I2}c;2CYFByFeIJ=J=bDNVDN02yV<%Va=ٔZA;Q-Z>9XYX=Z?Fy\^$E^>`Q 5f4b}?Q 9f4b)byBYhyj9C>Q Ij?bCIb>:ib6:b4ylɮnAp DNOT Ignoring new targets: 59.75 m.h h *h "h  h g fffddjdZd@"@Z9Z9Z9Z=9C>Uݔ)Q U7iU~9)QUZ4Qii2{_ ϰy,D(?A`,`?H?ٱB AHRS rotation from veh to nav: [[0.459117,-0.887259,-0.044527],[0.888362,0.458810,0.017483],[0.004917,-0.047583,0.998855]]H@,b?md<̦vm?&]?,?#t?\ ?i,`?IKc;CYByiIiMb@Mb@Mb@ 9 ףp= ?{Gz9Y=?FyE>Q 54#?Q 94)yBY=Q ESQ I?CIx1;i0;ɕ4yɮA-DNOT Ignoring new targets: 59.75 m.h)h)*h1"h1 h1g1f1f9f=\Bd9d9jd9ZdE@4#@Ze=BiAm<BqBqBuSIBuBBqBqBqBuh;Bu9EZe=Ze3ϱ@Ze6>) Bi9)顝2Bii ~1y,B?A2sF_?2x?2 ٱ2SB :AHRS rotation from veh to nav: [[0.462228,-0.885661,-0.044154],[0.886750,0.461894,0.018098],[0.004365,-0.047519,0.998861]]2H$?VWO@B`??W?zq?`bT?i2sF_?I2Σc;2CYB ByB|IbDNVDNyn?=%n=ٔr:Q-r?9pYt=v?Fytv:Ev?xQ 5~4z?Q 9~4z)zyBYyy>Q I?z CIz;iz;z*4y ɮ mA =DNOT Ignoring new targets: 59.75 m.h9h9*h9"hA hAgAfAfIfIdIdIjdIZdU$@ZqZqZqZuey> ) #i9)額(KiizIqԡ –y,u[\?A6Q^?60?6nzٱ6B >AHRS rotation from veh to nav: [[0.465535,-0.883942,-0.043866],[0.885021,0.465173,0.018757],[0.003825,-0.047554,0.998861]]6HR? @IuR?`c?5?hUo?` Y?i6Q^?I6 d;6CYF ByF}IHJAbDRVDRyVU;%VM=ٔZ :Q-Z>9XY\=^?Fy\^Eb>`Q 5f4bp?Q 9f4b`)byBYhyj>Q Ij?b CIb:ib:b4ylɮnhApD=D<E% E%E%-E!"E%CJ;*E%:VE%t4ZE!a-@a-@a5@a5@yDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZdq%@Z Z Z Z >Unz)Y ]B"i] 9)Y]UYiYiqy}z;IyIy 9@  @ @  5@ ԩ^A50<IaIO>Bi Bi Bm eIBm BBi Bi Bi Bm r;Bm 9EB)B)B)B-ʭ =B-ʭ =C-;4 Oy,?8v?AF`]?FL?Fr`ٱFC NAHRS rotation from veh to nav: [[0.468798,-0.882226,-0.043653],[0.883299,0.468413,0.019295],[0.003425,-0.047604,0.998860]]FH@?2;Y@C?y?$“?<l?_ ?iF`]?IFvd;FCYVByVIiIiEMb@Mb@Mb@AAAA A9EV-?Q?YEm=yEuE9iYq=u?Fyqug E>Q 5 4ꄧ?Q 9 4)yBY=Q EL1Y >ԣy,o?A:@l\?:_!?:YEٱ:C FAHRS rotation from veh to nav: [[0.472082,-0.880486,-0.043390],[0.881550,0.471675,0.019818],[0.003017,-0.047606,0.998862]]:H`6?,575?`/?K?h? _?i:@l\?I: e;:CYJ ByNIbDVVDVy^]<%^V=ٔb :Q-b>9`Y`=b?Fy`fEf>hQ 5n4j ?Q 9n4jm)jyBYlyrjX?Q Ir?jCIj;ij;jC4ytɮvAtDNOT Ignoring new targets: 59.75 m.hh*h"h hgff!f!d!d!jd)Zd-'@ZIZIZIZM3jX?]YE)a eBIie 9)aenaiaiiimi IqIq99@ @@/@a^A=;EE EAEE-EA"EEsH;*EAVEEt4ZEAaM@aM@aM@aM@IYIiO}z>ԑԹ y,_?A2[?2:?2a7ٱ2{B >AHRS rotation from veh to nav: [[0.475177,-0.878830,-0.043189],[0.879886,0.474758,0.020148],[0.002798,-0.047575,0.998864]]2H Ki?_(?`mb??8f?@[?i2[?I2Fe;2CY^3By^I xxbDVD0yUص=%UA=ٔe:Q-m>9qYy=?Fy:E>Q 54?Q 94)yBYyW?Q I?CI;i;з4y ɮ $Aԑ%DNOT Ignoring new targets: 59.75 m.h!h!*h!"h! h!g!f)f)fIdQdQjdQZdU'@ZZZZW?a7) "i$9)$ziimwIIA A BBBIBBB =BBDBv;B9E)9@ @@:3@^A NJκI I O% >E] 6 E] E] ,EY "E] l;*E] :VE] g4ZEY BE] K9Y=?FyE>Q 54?Q 94)yBY=Q E;y?Q I?CIZ:ib:ؾ4yɮrADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffʀBddjdZd@(@Z=Z=Z*B>Z6?-*\1)) -i5m9)151i1i99=ϻIAIA9@ @@/@^AvтIIO!>I y,6?A2Y?2?2׭8ٱ2A >AHRS rotation from veh to nav: [[0.480635,-0.875875,-0.042811],[0.876916,0.480216,0.020255],[0.002818,-0.047277,0.998878]]2H?+L륿?ۻ?@?g?4?i2Y?I2Se;2CYDyFIbDRVDRNyV;%ZY=ٔZTQ-Z>9\Y\=^?Fy\^Eb>`Q 5f4b?Q 9f4b)byBYhyj?Q Ij?bCIb';ib;boʼn4ylɮrnApbEt4jEt4rES/E~$ E~E|E|"E~g\;*E~r:VE|ZE|a @a @a @a @%DNOT Ignoring new targets: 59.75 m.h!h!*h!"h) h)g)f)f1f1d1d1jd9Zd=@r)@ZYZYZYZ]?m׭8)i miu9)pzii III9@ @@@q^AyI)IQOu>ԩ B G>B B IB 0BB =B B B g;B 9E;y,~?A@YXByIiMb@Mb@Mb@ 9L7A`?)\(?:v?Y+>yGa=< A " A)AYbDVD:2yԁ=%;=ٔQ->9Y=?FyE>Q 54 ?Q 94N)yBY>Q EE;yEg?Q IE?'CIZ>Z ">ZIg?) i9)iiIIԩE EEE"E;;*Ed:VEZEBE "y,uY?Aɰ;2aX?2p6?2cvsٱ2dCB :AHRS rotation from veh to nav: [[0.485234,-0.873314,-0.043255],[0.874376,0.484846,0.019760],[0.003715,-0.047409,0.998869]]2H`?@/`%??`9xYx=z?FyxzcE~>Q 54?Q 9 4) zBY y ?Q I ?.CI):i:Ӊ4yɮ}AEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdU+@ZqZqZqZu?cvs) &`i9)顕8iiXIIQ@Q @Q@U<0@QE EOE2E"EB;*E3;VE4ZEa%@a%@a-@a-@9^AIIO>a U cGi "9 Y AMy,4+?A2GX?2b?2uٱ2rB >AHRS rotation from veh to nav: [[0.487235,-0.872183,-0.043587],[0.873260,0.486868,0.019381],[0.004317,-0.047506,0.998862]]2H`.?`P? (?ؓ?q?@R?i2GX?I2Wd;2CYbrBybIbDnVDnAyMC=%MD=ٔUsQ-U>9aYa=m?Fyi}E}>Q 54?Q 94M)zBYyt?Q I?6CIH;i;;ۉ4yɮ,ADNOT Ignoring new targets: 59.75 m.hh*h"h hg1f9fAfAdidijdqZdu-,@B<A<BF>BBIBNBB =BBBi;B9EZZZZ`t?u) Ki 9)  p i iopIIi@ @@0@ԑ^A cI I O >E- " E- !E- ,E) "E- Z;*E- :VE- g4ZE) BE- y 9= < A   A) A Y  AbD%VD%0y5X<%5L=ٔ5hںQ-=>99Y9=E?FyAE7EE>IQ 5U4M5?Q 9U4MT)MzBYUC>Q EU;ԙy?Q I?M@CIMZC>Z >Z?Y) i9)7iiIII 9@ @@2@@=@=^AmII O >9  PExceeded connect timeout, disconnecting._y, ^?AFW?F#v?F,ٱFXjB NAHRS rotation from veh to nav: [[0.490352,-0.870401,-0.044238],[0.871504,0.490052,0.018134],[0.005895,-0.047446,0.998856]]FH a?Sj@]?]??%x?@J?iFW?IFfd;DYV{ByVIbDbVDbyfy4<%jQ=ٔjoQ-j>9lYl=n?FEr$ ErEr-Ep"Erg\;*Er:VErt4ZEpav@av@az@az@yxzEz>|Q 54~]?Q 9 4~\)~$zBY y ?Q I ?~ICI~W:i~:~4yɮAEDNOT Ignoring new targets: 59.75 m.hAhA*hI"hI hIgIfIfQfQdQdQjdQZd]~-@ZyZyZyZ}?,) i9)顕'ɴiiII9@ @@4@A߁߅<^AU lIaIyO|>yB E>B B IB gBB =B B B g;B 9Eԙ (y,x?A2­V?2 B?2Piٱ2C :AHRS rotation from veh to nav: [[0.491732,-0.869591,-0.044847],[0.870719,0.491472,0.017401],[0.006909,-0.047606,0.998842]]2H@x?;? Ht?ё?@M|?_ ?i2­V?I2.d;2CYfyByfIi]Mb@Mb@Mb@YYYY Y9]?y&1?Q?Y]L>y]`=]u<]AY ] A)YYY] AbDuVDufyKƻ%?=ٔQ->9Y=?Fy#uE>Q 54`?Q 94))zBY:k>Q Eg;y?Q I?VCI:i:B4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZdW.@Z:k>Z:k>Z_?Z?-Pi)) -i-9)15q1ii`IIE* EE1E"Ea;*Ej:VE-4ZEBE qy,8?A2SV?2?2ٱ2 C :AHRS rotation from veh to nav: [[0.492933,-0.868888,-0.045279],[0.870032,0.492714,0.016643],[0.007849,-0.047598,0.998836]]2H5?@.M??@ ? ?^`v?i2SV?I2d;0Y@yBIIF<)Fp;HJAbDNVDNyf%fW=ٔf"Q-f>9hYh=j?FyhnnEn>pQ 5v4rd?Q 9v4r)r-zBYtyz?Q Iz?raCIrw;irϟ) y,_~?A ɰ"p;J V?J"?Jd ٱJF9|Y|=~?Fy|3E> Q 54 l?Q 94  ) 2zBYy?Q I? mCI :i ;  4y!ɮ% A!EDNOT Ignoring new targets: 59.75 m.hAhI*hI"hQ hqgyfffddjdZd0@AYA]AABqBqBuIBurBBu =BqBuDBuh;BqBBBBê =Bê =CA5ԹZZZZ?Ed )A EAiE9)顭Q!iipoII F9E  E E -E "E P;*E :VE t4ZE BE zU?>ц?>$ٱ>C FAHRS rotation from veh to nav: [[0.494695,-0.867823,-0.046476],[0.869008,0.494574,0.014887],[0.010067,-0.047753,0.998808]]>H?`4@˧ ??`|?을? s =?i>zU?I>>c;>CYNnByRIi-Mb@Mb@Mb@)))) )9-V-?`"?{Gz?Y-|?>y-=-#<-A-jA -O A)-9 A)Y- AbDEVDE:yUN%U=ٔUQ-]>9YYY=]?FyYeEe>iQ 5u4m܊?Q 9u4m)m5zBYuNd>Q Eun;yu?Q I}?m|CIm2 ;im ;m4yɮOADNOT Ignoring new targets: 59.75 m.hh*h"h hgfff&BddjdZdey0@ZNd>ZNd>Z?Zڂ?$) Qi9)顝9ii II9|9ie9@a @a@e4@iD %=D R=E%  E% E% .E! "E% V;*E% j:VE% ـ4ZE! a- @a- @a- @a- @ԑ ^A .I I O >Yy,7?A2U?2G?2g6ٱ2BD JAHRS rotation from veh to nav: [[0.495531,-0.867314,-0.047066],[0.868519,0.495455,0.014078],[0.011109,-0.047853,0.998793]]2HŶ? `?@?Ԍ?@N???i2U?I2\b;2CYRaByRIV=V=bD^VD^:ybG}%fM=ٔf+Q-f>9hYh=j?FyhnEn>lQ 5r4no?Q 9v4n)n8zBYtyvc?Q Iv?nCIn;in;n 4y~Bɮ~A~E%DNOT Ignoring new targets: 59.75 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=0@ZYZYZYZ]c?ug6)q uľiu9)q}QyiyiyII hAhA9BD>BBIBmBB =BBDBB9E\9i9@ @@4@ԑ ^A I E  E E E "E [I;*E 1:VE ZE BE z,U?AV{RU?V}?VQGٱVD ^AHRS rotation from veh to nav: [[0.496314,-0.866833,-0.047685],[0.868058,0.496286,0.013267],[0.012165,-0.047978,0.998774]]VH?@5j!?$?+? ??iV{RU?IV՘b;VCYfOByfIhi]Mb@Mb@Mb@YYYY Y9]E?i|?5?Mb`Y]F>y]=]]AY Y)]" AYYYbDu VDu2y%7=ٔQ->9Y=?Fy E>Q 546?Q 94)5zBYh>Q Ei;yd?Q I?CI:i:4yɮAA]DNOT Ignoring new targets: 59.75 m.hYhY*hY"hY hYgafafafBddjdZd'W1@Zh>Zh>Z ?Zpd?QG)! %Ri%9))-?k)i)i115I1I9a9] 9@a  @a @e 4@a q ^A I ԩ I O >jz,e?A2U?2*x?2Xٱ2q$E :AHRS rotation from veh to nav: [[0.497057,-0.866371,-0.048322],[0.867617,0.497078,0.012438],[0.013244,-0.048108,0.998754]]2H?@P@@? ? y? ? ?i2U?I2#b;2CYB=ByBIbDNVDNyR%VB=ٔV'Q-V>9XYX=Z?FyXZlEZ>\Q 5%4^?Q 9-4^)^3zBY)y-G?Q I-?^CI^$mʾi9)~iipIIu9@y @y@}/@yA^A} IIO>q B <A B B B IB NBB B B DB o;B 9E' z,8?A02T?2S?2Nfٱ2cE :AHRS rotation from veh to nav: [[0.498015,-0.865797,-0.048765],[0.867055,0.498073,0.011818],[0.014056,-0.048167,0.998740]]2H`x? ?@l? 4?Ɍ?@c?i2T?I2a;0Y^#BybIiMb@Mb@Mb@ 9/$?sh|??:vY&1>y=TSA  A) AY= AbDVDJy%9=ٔNQ->9Y=?Fy$E>Q 54?Q 94J),zBYD>Q E;y?Q I ?CI:i:$4yɮAeDNOT Ignoring new targets: 59.75 m.haha*ha"hi higififqfuрBdqdqjdyZd}402@ZD>ZD>Z>ZB?Nf) iH9)顽iiȼIIԉE EEE"E;;*E:VEZEBE qz,R?A6qT?6.?6pٱ6D >AHRS rotation from veh to nav: [[0.498984,-0.865227,-0.048962],[0.866487,0.499073,0.011255],[0.014697,-0.048041,0.998737]]6HY?`B?? ??`ޘ?i6qT?I6pa;6CYFByFIbDRVDRyVW%Z`=ٔZgQ-Z>9\Y\=^?Fy\`b`IEb>dQ 5j4f?Q 9j4ft)f'zBYlyn?Q Ir?fCIf?;if(O;fD+4yxɮz(A|EDNOT Ignoring new targets: 59.75 m.hAhI*hI"hI hIgQfQfYfYdadajdaZdm 2@ZZZZ?Ep)A E侾iE)9)IMqIiIiQQUS%мIQIq @  @ @ 0@ iߩIߩD=Da=E EEE"E*EI:VEZEa@a@a@a@^A8ƼIIO=>A q q rG % 09! Y- !ANz,,l?AJ7T?J?JޜwٱJ D ZAHRS rotation from veh to nav: [[0.500044,-0.864614,-0.048980],[0.865868,0.500154,0.010855],[0.015113,-0.047838,0.998741]]JH@[? 1? C?:?N?@4~@?iJ7T?IJ`;JCYbByfmIbDrVDryzƽ%zE=ٔz_Q-z>9|Y|=~?Fy|~BE> Q 54?Q 94`)!zBYyɾ?Q I?CI),;i%-;}24y!ɮ%A!MDNOT Ignoring new targets: 59.75 m.hQhQ*hQ"hQ hQgQfQfYfYdYdYjdaZdeX2@ZZZZɾ?ޜw) wӾi9)顝MGii;&ؼIIE9@A @A@E1@ABBBIB%BB =BBBq;B9EIi^AcռIIO>ԑ E  E E -E "E [I;*E :VE t4ZE BE y Q8= t A  O A) " A Y  AbD%VD%0y5%5G=ٔ5ȹQ-5>99Y9==?Fy9EkEE>IQ 5U4M?Q 9U4M)MzBYU>Q EU;yU)?yQ IU?MƅCIMZ>Z}>Z)?</z)! %ףi%9)!%!i!i))5AI1I1 ==I9)9ԩ 9@  @ @ 1@ @=@=^A- &ּI9 II Oe > "'z,]2?A6WS?6 ?6zٱ6^0C BAHRS rotation from veh to nav: [[0.502991,-0.862909,-0.048858],[0.864156,0.503109,0.010754],[0.015301,-0.047630,0.998748]]6H?@ *?w??`cV?b?i6WS?I6_;6CYFByJ'IbDRVDRܲyZ'%ZS=ٔZbQ-Z>9\Y\=^?Fy\bHEb>dQ 5j4f?Q 9j4ft)fzBYhyj?Q Ij?fͅCIf:if:fq@4ypɮrAp DNOT Ignoring new targets: 59.75 m.h h *h "h hgfffddjd!Zd%3@ZAZAZAZEj?Uz)Q U[ľi]9)YYYiYiaaeFIiIiDyzD}?AE EEE"EW;*E:VEZEa@a@a@a@59@1 @1@53@1^A?IIO%n>1A A B C>B B YIB BB =B B B f;B 9Eq ?-z,t ?A2wR?2K?2מuٱ2C :AHRS rotation from veh to nav: [[0.504972,-0.861757,-0.048765],[0.863006,0.505071,0.011185],[0.014991,-0.047732,0.998748]]2H(??)???]p?i2wR?I2%_;0YZxByZIi5Mb@Mb@Mb@1111 195~jt?~jtY5=y555| A1 59 A)5A1Y5p AbDMVDMy]O*%]@=ٔe?:Q-e>9aYi=m?FyimLEm>qQ 54uX?Q 94u)u zBYk=Q E:VEZEBEa2EaJE8Թ 4z,?AJ: R?J?JykٱJD VAHRS rotation from veh to nav: [[0.507401,-0.860337,-0.048636],[0.861590,0.507463,0.011983],[0.014372,-0.047984,0.998745]]JH@9YYY=]?FyYeEe>aQ 5m4e?Q 9u4e)ezBYqyu?Q Iu?eׅCIe:ie:eN4yBɮlADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd@ܗ4@ZZZZ}?yk) |i9)%!i!i!)-#I)I)I=gA)=gAԙ9@ @@/@@@E  EE:E"EX;*EO:VE(4ZEa@a@a@a@^ArIIO> = %== a=:z,?A:i@Q?:t?:^ٱ:E FAHRS rotation from veh to nav: [[0.510044,-0.858783,-0.048440],[0.860041,0.510062,0.012923],[0.013609,-0.048252,0.998742]]:H GR?`'{@ͨ@t?lR?w?ދ?w?i:i@Q?I:sF_;:CYN'ByNI V49dYd=f?Fydf8Ej>hQ 5n4j?Q 9r4jҼ)jyBYpyrS?Q Ir?j܅CIjL;ij7;jU4ytɮzAxDNOT Ignoring new targets: 59.75 m.hh*h"h hg!f!f!f!d)d)jd)Zd-Q4@ZZZZQS?^)! %gi%w9)!%پ!i!i))-I1IQBqBqBuIBuvBBqBqBqBuV;Bu9EB9B9B9B=è =B=è =C=óK4@ @@/@^Am IyIO>I E - E E ,E "E d;*E :VE g4ZE BE >AHRS rotation from veh to nav: [[0.512838,-0.857147,-0.047923],[0.858393,0.512802,0.013988],[0.012585,-0.048310,0.998753]]2H ,i?mO@w?h?㥌?Ɖ? ?i2kP?I2_;2CYFByFIi Mb@Mb@Mb@     9 9AYA=E?FyAUE]>qQ 5}4u^?Q 94u)uyBYN=Q EQ I?uޅCIu:iu:u]4yɮMA]DNOT Ignoring new targets: 59.75 m.hYhY*hY"hY hYgYfafafe(BdadijdiZdm@6k5@ZN=ZN=Zװ@Z%n>1N) i9)2 i iLIII@ @@0@y^AdII O >Ա EGz,z!?A2O?2L?2&;ٱ2PE :AHRS rotation from veh to nav: [[0.515772,-0.855422,-0.047240],[0.856650,0.515677,0.015125],[0.011423,-0.048269,0.998769]]2H4?_`/@i? m? ?@d??i2O?I2{`;0TYZ~ByZI \\b=b=bDfVDfܲyj%nQ=ٔnB;Q-n>9pYp=r?Fypv/Ev>tQ 5z4v?Q 9~4v)vyBY|y~>Q I~?vCIv/;iv<;vc4y ɮ A DYzDYEe EeEe-Ea"EemR;*Eeg:VEet4ZEaau@au@au@au@UDNOT Ignoring new targets: 59.75 m.hqhq*hq"hq hygyfyffddjdZd5@ZZZZ՞>&;) íi9)iil)II@ @@ 0@^AmIyIO>BU <AQ Be B>Ba Be IBe BBe =Ba Ba Be H;Be r9E) n%Nz,aU;?A2N?2=?2[z#ٱ2D :AHRS rotation from veh to nav: [[0.518796,-0.853650,-0.046171],[0.854840,0.518634,0.016363],[0.009978,-0.047958,0.998800]]2H? QೣZ??c? 5o? 卨*?i2N?I2a;0Y^~BybIiMb@Mb@Mb@ 9&%;=ٔY;Q->9Y=?Fy\E>Q 54Z?Q 94)Y*=Q EAԁ Uz,1U?AJFM?J⾂?J ٱJC VAHRS rotation from veh to nav: [[0.522111,-0.851681,-0.045159],[0.852836,0.521877,0.017773],[0.008430,-0.047792,0.998822]]JH@"?@nJ?`6?3?C? ?xY?iJFM?IJȨb;JCYZ~By^IbDfVDfβyn`Q%n\=ٔnW;Q-r>9pYp=r?Fypv*Ev>xQ 54zi?Q 9%4z)zyBY!y%Q I%?zCIz;iz;zq4y)ɮ5!A1yDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZdL6@ZIZIZIZM@} ) ʑi9)顅ZʹiiaAII-9@) @)@-0@)ԩ^AAg3II!O-->Du=Du<bEjEJ4rELJ 1E}  E}EyEy"E}E;*E}:VEyZEya@a@a@a@ :[z,]o?A2L?22?2 ܻٱ2lC :AHRS rotation from veh to nav: [[0.525765,-0.849486,-0.044096],[0.850603,0.525451,0.019370],[0.006715,-0.047692,0.998839]]2H`?.@`$8?~?Փ?N{?k@~?i2L?I2c;2CYB~ByBIDFAbDLVDLyR%VM=ٔV);Q-V>9XYX=Z?FyXZ#0E^>\Q 5b4^?Q 9f4^%Q =ftI)\Ydyf)E  E E +E "E C;*E :VE [4ZE BE @9Y=?Fy:)E>Q 54?Q 94)zBY'=Q E ԉԹ _Ihz,?A2X4J?2k?2Gٱ2}C :AHRS rotation from veh to nav: [[0.533570,-0.844714,-0.041977],[0.845751,0.533088,0.022879],[0.003051,-0.047709,0.998857]]2H?`}c? ?`|m?Wh?Wm ?i2X4J?I2le;0YB~ByBIbDJVDJfyx<% T=ٔ ;Q- >9Y=?FyHE>Q 5%4?Q 9-4,)zBY)y-a#Q I-?CI]:i::4y1ɮ=AD9zD=@AEE  EEEE/EA"EEC;*EE:VEEJ4ZEAaM@aM@aM@aM@Q}DNOT Ignoring new targets: 59.75 m.hyhy*hy"hy hygfffddjdZdi7@ZZZZ@G) )i9)ii*OnIIԙ]+Gu9@q @q@u/@y19Y!A^A}PIIO>AA@ABBBIB~BB =BBBI;Bs9E! 9 snz,g?A2I?2o?2zٱ201C :AHRS rotation from veh to nav: [[0.537430,-0.842320,-0.040817],[0.843308,0.536868,0.024588],[0.001202,-0.047636,0.998864]]2H2?I椿`? .?-?oS?c?i2I?I2f;2CYR ByVIiuMb@Mb@Mb@qqqq q9u~jt?V-Zd;O?YuD9Y=?Fy0E>Q 54i?Q 94z)zBYϚ=Q E/9i w[uz,Wx?A02qG?2?2:ٱ2rB NAHRS rotation from veh to nav: [[0.541266,-0.839916,-0.039648],[0.840851,0.540630,0.026233],[-0.000598,-0.047537,0.998869]]2H@ R?`@L@A? L?ܚ?@qCV?i2qG?I2f;0YVByVIbDbVDb1yj`=%jX=ٔj2;Q-j>9lYl=n?Fylr]EEr>tQ 5z4v}?Q 9z4v)vzBYxyz;Q Iz?vCIvS:ivl:v:4yɮA-DNOT Ignoring new targets: 59.75 m.h)h)*h)"h1 h1g1f1f1f9dAdAjdAZdE8@ZaZaZaZe6@:) i9)iCqii $I I ԑ9@ @@/@iIIIԹD]=DYE E E/E"E77;*E:VEJ4ZEa@a@a@a@^AfmII1O=> {z,YQ?AZ/E?Zm}?Z$;ٱZA` fAHRS rotation from veh to nav: [[0.548723,-0.835167,-0.037410],[0.835995,0.547957,0.029263],[-0.003940,-0.047331,0.998871]]ZH`$?@b'x?܈? ?#p@;@?iZ/E?IZog;ZCYn0BynIbDvVDvy~21=%~H=ٔ9Y= ?Fy  +E >Q 54?Q 94)(zBY!y%ѾQ I%?CI;i;`4y)ɮ-A)UDNOT Ignoring new targets: 59.75 m.hQhY*hY"hY hYgYfYfafadadajdiZdm9@ZZZZ@$;) 酾i!9)顥qTiiIIBBBIB~BBBBBR;B|9E59@1 @1@9@9^AI!I1O= >A Em  Em Ei Ei "Em g5;*Em g:VEi ZEi BEm 9Y=?FyE>Q 54⩧?Q 94)7zBY"=Q E<Q I?CI ;iD;ڣ4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfff_Bd!d!jd!Zd%@s9@Z"=Z"=Z@Z '>5F;)9 =i=f9)9==ʼi9iAAEIAIII!@! @!@)@)@9@9q^AM ȄIQ Ii Ou >ԡ uz,1 $?AFuC?Fr{?F;ٱF@ NAHRS rotation from veh to nav: [[0.555163,-0.830986,-0.035445],[0.831715,0.554302,0.031610],[-0.006620,-0.047029,0.998872]]FH ?p %@i?`׼?&/? v{@+?iFuC?IFMf;DYVvByVIbD^VD^yfK^=%fZ=ٔjd;Q-j>9hYh=j?Fyln&En>pQ 5v4rū?Q 9v4rھ)rEzBYxyzU$>Q Iz?rCIr:ir :rd4E% E%E%0E!"E%1A;*E%:VE%4ZE!a-@a-@a-@a-@yyyɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd.9@Z9Z9Z9Z=U$>U;)q uiuB9)q}4}iyiyB<A<BBBIB%BB =BBBP;Bz9EBYBYBYB]Ȫ =B]Ȫ =C]<75 ǎz, =?A>կB?>Tz?>8;ٱ>Y@ FAHRS rotation from veh to nav: [[0.558158,-0.829009,-0.034700],[0.829699,0.557254,0.032683],[-0.007758,-0.047033,0.998863]]>Hm?=`2ġ??޻?  ?i>կB?I>d;9Y=?FyE>Q 54=?Q 94,)VzBY=Q E$Q ׬z,W?A6A?6y?6 <ٱ6%^\=ٔb: ;Q-b>9`Yd=f?Fydf<Ef>hQ 5n4j~?Q 9r4j)jdzBYpyrx?Q Ir?j CIjw;ij;j}4ytɮzQAxDNOT Ignoring new targets: 59.75 m.hh*h"h hg!f!f!f!d)d)jd)Zd-m:@ZIZIZIZMx?e <)a eRie]9)imm^iiiqquwIqIy19@ @@4@@=@>^AԅIIO>YE5 E5E5,E1"E5mR;*E54:VE5g4ZE1aE@aE@aE@aE@ԉԱ %= %=ӛz,q?A2IA?2x?2<ٱ2˒A :AHRS rotation from veh to nav: [[0.563223,-0.825615,-0.033764],[0.826252,0.562253,0.034342],[-0.009369,-0.047239,0.998840]]2H?ok}Ip??=?`,0/~?i2IA?I2Db;2CYBByBeIHJ@AbDNVDNyO=%F=ٔ:Q-%>9)Y)=-?Fy)5iݻE5>AQ 5U4Eꯧ?Q 9]4E)EtzBYYy]:x?Q Ie?ECIES;iET;E˿4yqɮuAqDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd |;@ZZZZ:x?-<)) -i-A9)1B}C>ByB}IB}vBByByByB}G;B}q9Eԑ5R iiIIm9@i @i@m4@i^AMܪIYIiO}>EM K EM EM /EI "EM ;*EM :VEM J4ZEI BEM 9qYq=u?Fyq}һE}>Q 54?Q 94)zBY=Q E;y?Q I?CI:i/:Ɗ4yBɮ-AEDNOT Ignoring new targets: 59.75 m.hh*h"h hgfff߀BddjdZd@u;@Z=Z=Z P>Z0? #<)   ׾i9)7`iii%1I!I!@ @@/@^AIIO>I 8z,W?A2??2w?2=(<ٱ2A >AHRS rotation from veh to nav: [[0.566902,-0.823120,-0.033102],[0.823721,0.565898,0.035270],[-0.010299,-0.047262,0.998829]]2H$?V@@[???@@2 i?i2??I2Y!`;2CYFByFIIJ%=)J=HJAbDRVDR 3yVݰ=%VW=ٔZO:Q-Z>9XY\=^?Fy\^Eb>`Q 5f4bz?Q 9f4b)bzBYhyjʮ?Q Ij?bCIb:ib :b͊4ylɮrApD|zD|bEJ4jEȂ4rE/E5 EE-E"Ek;*E:VEt4ZEa@a@a@a@%DNOT Ignoring new targets: 59.75 m.h!h)*h)"h) h)g)f)f1f1d1d9jd9Zd=%;@ZYZYZYZ]ʮ?u=(<)q u:ƾiu9)y}}:iyiIII@ @@/@y^AuϰIIO>AiAmAABqBqBuSIBuBBqBqBqBuK;Buu9Eԡ z,9?AyM=Mt=ٔ}:Q-}>9yYy=?Fy&wE>Q 54^?Q 94)zBY;>Q E;yʷ?Q I?&CIu ;i ;#Պ4yɮfADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZdE<@Z;>Z;>Z}>Z+ʷ?,<) Ѿi9)顽vĴ;iiIIԩE EE+E"E<*E:VE [4ZEBE$s=a%2E$s=a%JE- z,?A2)H??2w?2I*<ٱ2A :AHRS rotation from veh to nav: [[0.569130,-0.821588,-0.032920],[0.822182,0.568121,0.035431],[-0.010407,-0.047231,0.998830]]2H@P6?sJڠPO? .? $?OP .i?i2)H??I2 ^;2CYB,ByBIbDJVDJfyR[o=%VY=ٔVQ-V>9TYX=Z?FyXZ<EZ>lQ 5%4.?Q 9%4)zBY!y%?Q I%?/CI:i:ۊ4y1ɮ5 A1]DNOT Ignoring new targets: 59.75 m.hYhY*hY"ha hagafafafididijdiZdm<@ZZZZ?I*<) ƾi9)顭|EcG1]"9YY]Aa !z,?A2>?2v?2yn)<ٱ2":B FAHRS rotation from veh to nav: [[0.570197,-0.820843,-0.033049],[0.821443,0.569184,0.035515],[-0.010341,-0.047398,0.998823]]2H??XD렿@BI?6? /?`-DZ?i2>?I2^;2CYV2ByVI \\b=b=bDjVDj 83yv<%vF=ٔz'Q-z>9|Y|=~?FyME>aQ 54?Q 94Ǵ)zBYy|?Q I?9CIBB~IB BBBBBU;B9EZIZIZIZM|?}yn)<) iZ9)顅h|E-  E- E- <E) "E- X;*E- x:VE- 4ZE) BE- ?:5v?:2'<ٱ:?I:b];:CYJ8ByJIiMb@Mb@Mb@ 9(\?"~j?I +?Y.>yS=94<9AA  A) AY AbD5VD5NyE<%EE=ٔMQ-M>9IYI=M?FyIUEU>YQ 5e4]:?Q 9e4])]zBYm5P>Q Em;ym?Q Im?]CCI]:i]U:]24yqɮuAqDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZdy=@ԹZ]5P>Z]5P>Z]?Z]?m2'<)i m)ܾiu9)顝+/v?2gv?2 <ٱ2B :AHRS rotation from veh to nav: [[0.571434,-0.819966,-0.033445],[0.820589,0.570432,0.035216],[-0.009798,-0.047568,0.998820]]2H0I?)=@DB? @?@?`Z`U?i2>?I2n];2CYB;ByBIbDJVDJ Er. ErEr4Ep"Erye;*Er:VEr4ZEpav@av@av@az@yz$i<%~O=ٔ~JQ-~>9Y=?FyE > Q 54 k?Q 94 v) zBYyo?Q I? NCI  ;i ? ; 4y)ɮ-A)UDNOT Ignoring new targets: 59.75 m.hQhQ*hQ"hQ hQgYfYfYfadadajdaZde=@ZZZZRo? <) Jپi9)顥IJBA<BE>BBIB BB =BBBR;B|9Eqԡ z,f@?A^^>?^j5v?^y<ٱ^:hC fAHRS rotation from veh to nav: [[0.572058,-0.819521,-0.033705],[0.820159,0.571062,0.035037],[-0.009466,-0.047687,0.998818]]^H@LN? 9`A`>?$F?`k? c``j P?i^^>?I^];^CYn5ByrIIr=)ry=DAA  A)YbDVDky%==ٔHQ->9Y=?FypE>Q 54n?Q 94")zBYQ>Q E;y?Q I?YCI\(;i';4yBɮ A E5DNOT Ignoring new targets: 59.75 m.h1h1*h1"h9 h9g9f9f9fEBdAdAjdAZdE`~M>@ZmQ>iZmQ>Zm/?Zm?y<) (ܾiE9)顅f Ez,OZ?Aɰ2,>?2v?2<ٱ2cC :AHRS rotation from veh to nav: [[0.572689,-0.819072,-0.033893],[0.819722,0.571701,0.034844],[-0.009163,-0.047737,0.998818]]2HwS?@5lZ(;?`K?`ס?ÂqQ?i2,>?I2];2CYB1ByBI HJbDNVDNyVQ%V`=ٔVYQ-Z>9XYX=Z?FyX^ E^>`Q 5f4bq?Q 9f4b+)bzBYdyf?Q Ij?bcCIb:ibp:b4ylɮnAlDNOT Ignoring new targets: 59.75 m.hh *h "h  h g f ffddjdZd`Ȫ>@Z9Z9Z9Z=?M<)I Uy߾iUd9)QUQiQi%qAýI!I!9@ @@/@iiIiAE4 EE-E"Ej;*E:VEt4ZEa=@a=@a=@a=@^A½IIO >) oz,(t?A^~>?^u?^<ٱ^B fAHRS rotation from veh to nav: [[0.573180,-0.818727,-0.033933],[0.819382,0.572209,0.034489],[-0.008821,-0.047572,0.998829]]^H}W?`3_`8?O?? f[g?i^~>?I^];^CYn)ByrIbDzVDzy"%E=ٔ XQ->9 Y = ?Fy E>Q 5%4w?Q 9%4)zBY!y%?Q I%?mCIL;i7;G4y1ɮ5A1]DNOT Ignoring new targets: 59.75 m.hYhY*hY"hY hagafafafadidijdiZdm?@ZZZZ?<) i9)顭ii3ĽIBF>BBBBBBB=;Bg9EBBBB =BC15IQI@I @I@M/@Iԁ^AU+W½IYIqO}>ԩ E  E TE .E "E M;*E ;VE ـ4ZE BE yM"=MDMAMA M A)M AIYIbDeVDeyuEO%uC=ٔu Q-u>9yYy=}?FyyE>Q 54x?Q 94)zBY>>Q E;y?Q I?wCIT ;i ; 4yɮRADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZd@7?@Z>>Z>>Z?Z3?# <) (ܾi9)!i!i!)-ŽI)I)I)hAԩa@i @i@m/@i@u=@u=^AM2ĽIYIiOy ߁z,e?A2=?2^fu?2<ٱ2B :AHRS rotation from veh to nav: [[0.574654,-0.817676,-0.034346],[0.818358,0.573711,0.033858],[-0.007981,-0.047564,0.998836]]2Hc?`f*•/?[?`U?3XLZw?i2=?I2t^;2CYB ByBIHJBAbDNVDNyVS%VX=ٔV߆Q-Z>9XYX=Z?FyX^E^>Eb Eb!E`E`"Eb[I;*Eb:VE`ZE`af@aj@aj@aj@hlQ 5r4jz?Q 9r4j )jzBYtyv?Q Iv?jCIj*;ij+;jA4yxɮzAxDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd?@ZYZYZYZ]s?<) iiF9)顥iiRIǽII @ @@@1AA@ABD>BBIBBB =BBB.;BV9E^AŽIIO>a Tmz,?Av6;=?vu?v;ٱv)gC AHRS rotation from veh to nav: [[0.575712,-0.816919,-0.034628],[0.817617,0.574778,0.033652],[-0.007587,-0.047686,0.998834]]vH;l?3$ ź)?`d?:?Wjq?iv6;=?Iv^;vCYByvI9iMb@Mb@Mb@ 9K7?{Gz?yף=tKA A O A)f AYQ AbDVD2y%6=ٔeQ- >9 Y = ?Fyx<E>Q 5%4?Q 9%41)|zBY%#>Q E%;y-?Q I-?CI:is: 4y1ɮ5A1]DNOT Ignoring new targets: 59.75 m.hYha*ha"ha hagafafifmBdidqjdqZdu@ *@@Z#>Z#>ZM?Z[?;) i9)页Sii2oɽIIE EE1E"E>T;*EZ:VE-4ZEBE#Թ z,N?A6AHRS rotation from veh to nav: [[0.576630,-0.816261,-0.034863],[0.816975,0.575713,0.033282],[-0.007096,-0.047673,0.998838]]6H s?١$?9XY\=^?Fy\^DLEb>`Q 5f4bq?Q 9f4b)bszBYhyjq?Q Ij?bCIb:ib :bV"4ylɮrAp DNOT Ignoring new targets: 59.75 m.h h *h "h  h g fffddjdZd X@@Z9Z9Z9Z=q?Uf;)Q UiU9)QU˵YiYiaae =˽IaIaqiu!>ԙ9@ @@|0@@@bEـ4jE(4rE܀1E4 E'E,E"Ej;*E";VEg4ZEa@a@a@a@^A=ȽIIO%o> =z,)y?A2ʏAHRS rotation from veh to nav: [[0.577853,-0.815386,-0.035107],[0.816114,0.576948,0.033001],[-0.006654,-0.047721,0.998839]]2H}?@ ?`[v??A{n@|?i2ʏ9lYl=n?FylroEr>tQ 5v4v򵧊?Q 9z4v)vjzBYxyz??Q Iz?vCIvy:iv;vz)4yɮ^A-DNOT Ignoring new targets: 59.75 m.h)h)*h)"h) h)g1f1f1f9d9d9jd9Zd=Z@@BeE>BaBe_IBeBBe =BaBaBe";BeL9EZZZZN??^ ;)  i^9)顝iiͽIIM9@I @I@M4@I!^A5D%˽IyIO>IE  E JE -E "E N;*E ;VE t4ZE BE p9iYi=m?FyquEu>yQ 54}:?Q 94})}bzBY=Q E;y?Q I?}CI}:i}e:}04yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBddjdZd o@@Z=Z=Z->Z?%;)) -Gi-]9)1=賉9i9iAAEOнIAIIY @  @ @ 5@ ԁ^A5LͽI9IIO]>ԩ : {,5B)?A2+G9Y=?FyHpE>!Q 5U4%?Q 9U4%h)%ZzBYYy]?Q I]?%CI%";i% 3;%R84yɮ-AԡDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjd Zd p@@ZiZiZiZm?} ;) mi9)顥Xuii<ӽIIU9@Q @Y@Y@YBIAIBUD>BU9CBU3IBUBBU =BQBUDBU(;BUU9E ^A VoѽI I O >1 ٹ{, C?APP=;;?=(s?=1[;ٱ=C UAHRS rotation from veh to nav: [[0.582085,-0.812350,-0.035570],[0.813110,0.581225,0.032075],[-0.005382,-0.047593,0.998852]]=H p? H6?e?+l? _ v "^ ?i=;;?I=a;=CYelByeIiMb@Mb@Mb@ 9J +?y&1|?~jtY=y`;D5A )O AY AbD5VD5yED{%EE=ٔEQ-M>9IYI=M?FyQUxEU>YQ 5e4]Q?Q 9e4])]TzBYe=Q Eee{,_?A2é:?2@r?2;ٱ2԰B :AHRS rotation from veh to nav: [[0.583895,-0.811046,-0.035654],[0.811814,0.583049,0.031802],[-0.005005,-0.047513,0.998858]]2HC?BA`a?`W?RH?tS ?i2é:?I2[b;2CYBOByBIbDNVDN1yR%VU=ٔVQ-V>9XYX=Z?FyX^E^>\Q 5b4^?Q 9f4^)^OzBYdyf?Q If?^CI^{;i^;^5F4ylɮn AlDNOT Ignoring new targets: 59.75 m.hh*h"h hg f fifidqdqjdqZdu V`A@ZZZZ?;)  ji9)q鴉ii4ڽII!q9@ @@/@^A]սIIO%+>ԑD=D<E- EE0E"Ed;*E :VE4ZEa@a@a@a@ {,x?ABC>B8CBIBWBB =BBDB/;BX9EBz:?Bq?B i;ٱBYB JAHRS rotation from veh to nav: [[0.585694,-0.809742,-0.035777],[0.810519,0.584866,0.031472],[-0.004560,-0.047431,0.998864]]BH?@hTQ ?8??r@H?iBz:?IBG c;BCYR$ByRITVAbDZVDZ0ybս%fI=ٔfQ-f>9dYh=j?FyhjEj>lQ 5r4nɽ?Q 9r4nƛ)nJzBYtyvY?Q Iv?nCInl:in:nMM4yxɮzA|%DNOT Ignoring new targets: 59.75 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5A@ZQZQZQZUIY?m i;)i mim.9)imiiqiqy ݽII@ @@/@^AIսIIO>EI E1E/E"E};*Ef;VEJ4ZEBE/9p???`BpI?iV9?IV)Tc;VCYr ByrIiMb@Mb@Mb@ 9K?/$9Y=?FyE>Q 54d?Q 94)FzBY&=Q E ԩ D zD AAE ) E E .E "E `;*E &:VE ـ4ZE a @a @a @a @*{,?A9YYY=]?FyYeϻEe>aQ 5m4e§?Q 9m4es)eCzBYqyu5?Q Iu?eCIe#;ie@;e[4yyɮLADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZdA@ZZZZ75?Ͼl;) ;il9)Nii}II ԩ9@ @@0@^AIIO>AAAAB%E>B!B%IB%BB% =B!B!B%J;B%u9EBBBBŪ =BC'6 @1{,Z?AN@@8?Np?NJN;ٱNHB VAHRS rotation from veh to nav: [[0.591522,-0.805470,-0.036322],[0.806282,0.590741,0.030560],[-0.003158,-0.047363,0.998873]]NH?hј?Y?K?`i@??iN@@8?IN+d;NC\Y^~BybIi}Mb@Mb@Mb@yyyy y9}L7A`?ktMb`?Y}+=y} 0};y}A y)} AyY} AbDVDN2yӼ%C=ٔWQ->9Y=?FyiE>Q 54Pŧ?Q 94%)DzBY`=Q E(Q I?ÆCI:i: c4yɮyADNOT Ignoring new targets: 59.75 m.hh*h"h hgff f 7Bd d jd Zd2B@Z5`=Z5`=Z5x@Z5Z>EJN;)I MpiM9)IM+IiIiQQ]IYIY aaIa)aE}9 E}&E}1Ey"E}so;*E};VE}-4ZEyBE}^AIIO>A 7{,0?A6w7?6lo?6.;ٱ6_B >AHRS rotation from veh to nav: [[0.593610,-0.803920,-0.036595],[0.804748,0.592842,0.030300],[-0.002663,-0.047437,0.998871]]6H??`?@?@eI?i6w7?I6\d;6CYF~ByFIbDRVDR1yV5%Z^=ٔZׯQ-Z>9\Y\=^?Fy\b Eb>`Q 5f4bǧ?Q 9j4b)bFzBYhyj>Q Ij?bdžCIb:ib|:b}i4ypɮrAp DNOT Ignoring new targets: 59.75 m.h h *h "h  h gfffddjdZdAaB@9ZAZAZAZE=>U.;)Y ];i]m9)Y]ɴaiaiaimNIiIi9@ @@r3@iIA^AUIIO>iE/ EE,E"Eaf;*E:VEg4ZEa@a@a@a@ԑ B% F>B! B% IB% ~BB! B! B! B% X;B% 9E={, ?A26?2Bn?2( ;ٱ2B :AHRS rotation from veh to nav: [[0.595705,-0.802356,-0.036885],[0.803200,0.594951,0.030028],[-0.002148,-0.047514,0.998868]]2H?`⢿ѳ? ?? a S?i26?I2d;2CYr~ByrIbDzVDz02y$;%E=ٔ Q- >9 Y =?FyͻE>Q 5%4.ʧ?Q 9%4)HzBY)y->Q I-?ˆCI:iy:p4y1ɮ5A1eDNOT Ignoring new targets: 59.75 m.haha*ha"ha hagafififididqjdqZdu@WB@ZZZԙZ}>( ;) %;i9)页uii`CIIQ@Q @Q@U5@Q^A=iIQIaOuy>EB EE+E"Ew;*E:VE [4ZEBE9Y=?Fy;E>Q 54@ͧ?Q 94H)JzBYH=Q EQ I?ІCI;i;3x4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgff!f%-Bd!d!jd!Zd-@B@ZMH=ZMH=ZM@ZMՆ>]x:)Y eǾie9)ae2aiaii  `I I9@ @@4@@@!Q^A`IIO>y bEEt4jEEˋ|4rEE0E % E E -E "E O];*E L:VE t4ZE a @a @a @a @J{,-?A:5?:|m?:1Ƙ:ٱ:A FAHRS rotation from veh to nav: [[0.599606,-0.799432,-0.037170],[0.800295,0.598890,0.029304],[-0.001166,-0.047318,0.998879]]:H@/?`?*?`?S:?i:5?I:d;8YN~ByNIbDVVDVܲy^i%^\=ٔbQ-b>9`Y`=b?FydfλEf>hQ 5n4jϧ?Q 9n4j)jMzBYlyrO>Q Ir?jԆCIj;ij;j~4ytɮv4AtDNOT Ignoring new targets: 59.75 m.hh*h"h hgff!f!d!d!jd)Zd-@B@ZZZZuO>1Ƙ:) 8˾i9)52ii5IIQ9@ @@/@ԁBBBIB~BB =BBB^;B9E^A+IIO>ԩ =Q{,G?An5?nl?nr :ٱn/B vAHRS rotation from veh to nav: [[0.601637,-0.797890,-0.037486],[0.798770,0.600938,0.029002],[-0.000613,-0.047391,0.998876]]nH@?P^1`?`:?`? nDC@?in5?InǮd;lY~~By~IiMb@Mb@Mb@ 9V-?&1~jth?Yh=yPD;AjA 9 A)" AY AbD VDf2yg%8=ٔ Q->9Y=?FyyE>Q 54 ӧ?Q 94)OzBY#=Q EQ I?نCI ;i;t4y Bɮ 9A E5DNOT Ignoring new targets: 59.75 m.h1h1*h9"h9 h9g9fAfAfEBdAdIjdIZdMw5C@Ee  EeEe/Ea"EeF;*Ee:VEeJ4ZEaBEebԙr :) i9)顭qHiicIIM9@Q @Q@U/@Q^AuIIO> iW{,za?A6l4?6jCl?6 8ٱ6!"B BAHRS rotation from veh to nav: [[0.603507,-0.796463,-0.037755],[0.797357,0.602828,0.028623],[-0.000038,-0.047378,0.998877]]6HO? |T?^J?[O? uA?i6l4?I6`ed;6CYJ~ByJI LLbDRVDRyZf=%Za=ٔ^ϺQ-^>9\Y`=b?Fy`bzӻEb>dQ 5j4fէ?Q 9j4fy)fQzBYlyn>Q In?f݆CIf;if#;f͌4ypɮrAt DNOT Ignoring new targets: 59.75 m.hh*h"h hgfffdd!jd!Zd%cC@ZAZAZAZE5>U 8)Y ]i]9)Ye[aiaiaimJIiIiIy)y9@ @@/@@=@=1 =ɀGQmA89Y)AE EE0E"E[I;*EH;VE4ZEa@a@a@a@9^A5uIAIQOew>i ߥ =ߥ 4=B B B IB ~BB B B B R;B 9Et%^{,zU{?A 63?6Pk?6lٱ6B >AHRS rotation from veh to nav: [[0.605490,-0.794941,-0.038090],[0.795853,0.604826,0.028350],[0.000501,-0.047480,0.998872]]6H`,`?(p@w?@Z? ?m@?HO?i63?I64d;4YF~ByFILNAAbDRVDRk1yV%ZK=ٔZ2Q-Z>9\Y\=^?Fy\-ûE->1Q 5=45ا?Q 9=451)5TzBYAyED>Q IE?5CI5;i5;54yIɮMAIuDNOT Ignoring new targets: 59.75 m.hyh*h"h hgfffiddqjdqZdu \C@ZZZZD>%l)1 5Ģi59)9=q=AI1 IQ O] > e{,{1?A223?2 k?2^ٱ2\B :AHRS rotation from veh to nav: [[0.607325,-0.793538,-0.038135],[0.794453,0.606676,0.028085],[0.000849,-0.047354,0.998878]]2H`4o?`d~)l? i?Jœ?@K?>?i223?I2c;2CLYR~ByRIieMb@Mb@Mb@aaaa a9eA`"?{Gz{Gz?YeY=ye#e#9Y=?FyE>Q 54ڧ?Q 94)YzBY=Q EEQ I?CI-;id;h4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfff)BddjdZd@C@Z%=Z%=Z%_@Z%7>=^)9 =Ǿi=9)AEE8i I A! E  E E .E "E &U;*E :VE ـ4ZE a @a @a @a @7k{, ?A682?6rj?6v6ٱ6aA >AHRS rotation from veh to nav: [[0.609146,-0.792134,-0.038279],[0.793057,0.608509,0.027872],[0.001215,-0.047335,0.998878]]6H ~?`)Y`I`?x?x?`S?@Y<?i682?I6Jc;6CY^~By^IIb=)ba=dfAbDjVDjJyrG=%rV=ٔvzQ-v>9tYt=v?FyxzĻEz>|Q 5 4ܧ?Q 9 4З)]zBY y >Q I ?CI :i:4yɮAEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZdUC@ZZZZ>]v6)a eٺie9)aebe4ԁ "r{,?AQY~ByIEU) EUEU0EQ"EU`;*EU:VEU4ZEQBEU9Y=@FyE>Q 54ާ?Q 94S)azBYm=Q EB߁߅<Ա hIx{,?A2Y1?2p0i?21/ٱ2%B :AHRS rotation from veh to nav: [[0.613038,-0.789114,-0.038514],[0.790052,0.612416,0.027655],[0.001764,-0.047381,0.998875]]2H ?l@H??Q? \?]B`?i2Y1?I2b;2CYBByBIbDNVDN:ynى=%nl=ٔrϺQ-r?9pYp=v@FytvchEv?xQ 5~4z৊?Q 9~4z)zdzBYy!?Q I?zCIzo;iz{;z/4y ɮ A 5DNOT Ignoring new targets: 59.75 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM`gD@ZqZqZqZu!?1/) ~i9)額Dz9 Be E>Ba Be IBe ~BBe =Ba Ba Be R;Be 9EB!B!B!B%˩ =B%˨ =C%˱+6s~{,?A20?2h?2w`ٱ2:B :AHRS rotation from veh to nav: [[0.615029,-0.787561,-0.038559],[0.788502,0.614410,0.027637],[0.001925,-0.047402,0.998874]]2HP?3 i;???`L? _?E?i20?I2}b;2CYBByBI DDJ=J=bDNVDN0yV=%VN=ٔVMչQ-Z>9XYX=Z@FyX^лE^>`Q 5f4bZ⧊?Q 9f4b)bgzBYdyf!?Q If?bCIb:ib:b"4ylɮnAlEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdUD@ZZZZ!?w`) 1i9)%VEu Eu Eu-Eq"Eu>T;*Eu:VEut4ZEqBEu#9IYI=M@FyIU³EU>Q 54㧊?Q 94)lzBYz=Q EXDy zD} @AE  E E 0E "E P;*E 4:VE 4ZE a @a @a @a @ {,S0?A>{/?>Qg?>?ٱ>GB VAHRS rotation from veh to nav: [[0.618794,-0.784609,-0.038498],[0.785551,0.618178,0.027682],[0.002079,-0.047371,0.998875]]>H)?` ;#? ?X? a?`A ?i>{/?I>Ja;>CY^,By^IbDjVDjyn<%rP=ٔrx79Q-r>9tYt=v@FytvλEv>xQ 5~4z䧊?Q 94zv)zpzBYy~?Q I?zCIz;iz;z]ŋ4y ɮ vAEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hI hIgIfQfQfYdadajdiZdmE@ZZZZG~?E?)A M׾iM9)IM͵M) _o{,6J?Ae.?e^f?eHٱeA }AHRS rotation from veh to nav: [[0.620545,-0.783233,-0.038345],[0.784168,0.619928,0.027738],[0.002046,-0.047281,0.998880]]eH?>@`?s?;g?@`?>5@?ie.?Iemaa;eCYZBy II<) >AE=F E= E=-E9"E=>{;*E=:VE=t4ZE9BE=9Y=@FynE>Q 54姊?Q 94p)uzBY=Q EE@IZ]=Z]=Z]P>Z]N?uH)q uGiu9)y}ܵ}8ԡ q{, d?A2a:.?2f?2ٱ23B :AHRS rotation from veh to nav: [[0.622631,-0.781579,-0.038276],[0.782514,0.622003,0.028015],[0.001912,-0.047395,0.998874]]2H?`Z ?r?@?[S_?(D`?i2a:.?I22]a;2C@YF{ByFI LNbDRVDRyV0=%Zt=ٔZ9Q-Z?9\Y\=^@Fy\bGEb?`Q 5f4b/槊?Q 9j4b)bxzBYhyjȥ?Q Ij?bCIbF:ib:bbӋ4ypɮr9ApDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd` lE@ZZZZ>ȥ?%)) -оi-9))-\鵉-% B C>B B IB %BB B B B p;B 9E{,}?A2\-?2ډe?2pٱ2CA :AHRS rotation from veh to nav: [[0.624241,-0.780301,-0.038124],[0.781229,0.623615,0.028016],[0.001914,-0.047272,0.998880]]2H@?@9@?`?A?Z_? 4?i2\-?I2h`;2ޑCYB~ByBIbDJVDJkyRD;%VK=ٔV8Q-V>9XYX=Z@FyXZEZ>\Q 5b4^槊?Q 9f4^ђ)^|zBYdyf?Q If?^CI^d:i^:^lڋ4yhɮj-AllDNOT Ignoring new targets: 59.75 m.hh *h "h  h g f ffddjdZdE@Z9Z9Z9Z=T?Mp)Q U#ϾiU9)QUUŭEU EUEU.EQ"EUW;*EUZ:VEUـ4ZEQBEUF9YYY=]@FyYeEe>iQ 5m4m秊?Q 9u4m)mzBYuZ=Q Eu;yu?Q Iu?m CIm ;im ;m4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgffQfUBdYdYjdYZd]E@ZZ=ZZ=Z3| ?Z?G)  ׾i9)+i9@ @@00@@=@=ԑ^Ao GI I! 1 I Oe >u 9q Yu A Ee  Ee Ee /Ea "Ee O;*Ee :VEe J4ZEa am @am @am @am @ӫ{,Ú?A2,?2d?2&Fٱ2_6A :AHRS rotation from veh to nav: [[0.627351,-0.777813,-0.037902],[0.778734,0.626724,0.028114],[0.001887,-0.047153,0.998886]]2HB? gc??ʜ?^? ~$?i2,?I24`;2CYvByvEI  @AbDVD:2yM=%MK=ٔU9Q-U>9yYy=@Fy_E>ԙQ 54 觊?Q 94J)zBYy{?Q I?CI;i:4yɮ9A5DNOT Ignoring new targets: 59.75 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdIZdM`F@ZiZiZiZm{?}&F) Ⱦi9)顅vBBIBlBBBBB;B9E^Au5%IIO> {,s?AE&,?Evc?E;RٱE}A AHRS rotation from veh to nav: [[0.628955,-0.776521,-0.037826],[0.777439,0.628320,0.028324],[0.001772,-0.047221,0.998883]]EH g ?A@]? 2??`F ]?j-@?iE&,?IE__;ECYByMIE9 E EE"Eso;*E:VEZEBE9 Y = @Fy E>Q 54觊?Q 9%4)zBY%>Q E%;y%)?Q I%?CI;i;4y5Bɮ5A5E]DNOT Ignoring new targets: 59.75 m.hYhY*hY"hY hagafafifmЀBdidijdqZduAF@Z>Z>ZCb)?Z))?;R) i/9)LӔy {,Q?A2+?2xc?2͕ߺٱ2A :AHRS rotation from veh to nav: [[0.630319,-0.775417,-0.037776],[0.776335,0.629677,0.028476],[0.001706,-0.047276,0.998880]]2H+?@7`bW? Q&?(?[? 4 ?i2+?I2E_;2CYBByBaIDDbDJVDJkyVb=%Vz=ٔVU9Q-V?9XYX=Z@FyXZ/E^?`Q 5b4b/觊?Q 9f4bW)bzBYdyf?Q If?b"CIbK:ib:b4yhɮnAl DNOT Ignoring new targets: 59.75 m.h h *h "h  h g fffddjdZd`xkF@ZZZZ?Qe͕ߺ)a e۾im9)immJIYIiO}>ԩB B B 3IB BB B B B };B 9E {,I,?A2N+?2L%c?2c޺ٱ2BA :AHRS rotation from veh to nav: [[0.631516,-0.774443,-0.037753],[0.775361,0.630873,0.028559],[0.001700,-0.047308,0.998879]]2Ha5?< \T@?0?>?k[?@8?i2N+?I2^;0YBByBhI Jp9XYX=Z@FyX^IzE^>`Q 5f4bF觊?Q 9f4bЋ)bzBYdyf?Q If?b)CIby:ib-:b4ylɮnaAlDNOT Ignoring new targets: 59.75 m.hh*h"h  h g f f fddjdZdF@ZZZZ$?c޺) վi?9)m 9 {,?AY~By~fIi}Mb@Mb@Mb@yyyy y9}kt?y&1?Mb?Y} 0>y}`=}<}A}A }A)yyY} AbDVDyΆ%8=ٔQ->9Y=@FyE>Q 54駊?Q 94n)zBYVR>Q E;y?Q I?5CI:is:|4yɮ lA 5DNOT Ignoring new targets: 59.75 m.h1h1*h1"h1 h1g9f9f9f=BdAdAjdAZdE@F@ZmVR>ZmVR>Zm?ZmV?y)y }i}9)顅%ra E= ) E= )E= /E9 "E= `;*E= 0;VE= J4ZE9 aE @aE @aE @aE @#{,p2?A Y5By=oI AAbDMVDMP)y]=%]S=ٔaQ-e>9aYa=e@FyiiEm>qQ 5}4u駊?Q 9}4uY)uzBYyyQ I?u?CIu;iu:u? 4yɮ1ADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd} G@ZZZZ) i9)-js > {,aL?ADF@P*?zbb?,ٱ}A AHRS rotation from veh to nav: [[0.633818,-0.772555,-0.037855],[0.773480,0.633181,0.028475],[0.001971,-0.047328,0.998877]]H=H?Ÿ@a X?C?k(?%`?[;?i*?I];CE EEE"E*E:VEZEBEy=`;KA A | A)| AY AaeAAbDVDyk;%+=ٔQ->9Y=@FyɻE> Q 54 W꧊?Q 94 ̈́) zBYK>Q E;yQ?Q I? KCI @:i : 4y!ɮ%*A!DNOT Ignoring new targets: 59.75 m.hh*h"h hgfff BddjdZdqIG@Z%K>Z%K>Z%?Z%y4{,Ûf?A2d*?2z;b?2ٱ2_A >AHRS rotation from veh to nav: [[0.634278,-0.772179,-0.037821],[0.773102,0.633642,0.028470],[0.001981,-0.047297,0.998879]]2HL?F]@?F?,'?:`?X7?i2d*?I2T];BnManaging dock network, ignoring radio surface power off2ߑCYJByJrIbDRVDR0yZ;%Z=ٔ^ Q-^?9\Y\=b@Fy`b)Eb?dQ 5j4f꧊?Q 9j4f?)fzBYlyn=?Q In?fSCIfC ;if` ;f4ypɮr!At|DNOT Ignoring new targets: 59.75 m.hh*h"h hgff!f!d!d!jd!Zd-AnG@ZIZIZIZM=?])a eiei9)ae->eSE  E  E -E "E sH;*E :VE t4ZE a@a@a@a@QBM B>BI BM _IBM BBM =BI BI BM g;BM 9Eԁ {,Ot?A6\*?62b?6 ٱ6_A BAHRS rotation from veh to nav: [[0.634384,-0.772090,-0.037860],[0.773015,0.633754,0.028337],[0.002115,-0.047243,0.998881]]6HL?ib@?@G?@T?|Ta?:0?i6\*?I6q\;6CY^BybkIbDjVDjyrؼ%rH=ٔrҫQ-r>9tYt=v@FytvsEz>xQ 5~4z(맊?Q 94z)zzBYy9?Q I?z]CIz;izH;z$!4y ɮNA=DNOT Ignoring new targets: 59.75 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMG@YZqZqZqZuB9? ) Ti'9)額FAE-' E-#E)E)"E- _;*E-;VE)ZE)BE-y}`=}yy }A)} AyY} A <bDVDky %>=ٔxQ->9Y=@FyԹF9E>Q 54S짊?Q 94~)zBY5_>Q Es;y?Q I?iCI:iQ:(4yɮADNOT Ignoring new targets: 59.75 m.hh *h "h  h g f ffBddjdZdG@Z=5_>Z=5_>Z=_% ?Z=e?M)Q i9)#O-bEJ4jE[4rET/E%  E% E% /E! "E% US;*E% :VE% J4ZE! a5 @a5 @a5 @a5 @9 Uq{,@0?A:\*?:~2b?:6ٱ:FA FAHRS rotation from veh to nav: [[0.634384,-0.772081,-0.038058],[0.773015,0.633761,0.028205],[0.002343,-0.047312,0.998877]]:H@L?a|@?G??2c?S9?i:\*?I:״\;:CYJByJMIbDVVDV1y^%^Z=ٔbDQ-b>9`Y`=f@Fydf{Ef>hQ 5n4jW?Q 9n4j|)jzBYpyr?Q Ir?jtCIjL;ij;j0/4ytɮvAtDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd H@ZZZZ?6) i9)W'BBYIBBB =BBBY;B9EA^A}p!IIO>iԡ )X{,?AVr*?VdIb?VQٱV^A zAHRS rotation from veh to nav: [[0.634114,-0.772301,-0.038094],[0.773236,0.633493,0.028139],[0.002401,-0.047299,0.998878]]VHJ?Y? E?~М?`9c?7?iVr*?IV\;VߑCY%By-DI II]=]=E E*E.E"EO;*E;VEـ4ZEBE89Y=@FyC:E>Q 554?Q 954y)zBY1y5?Q I5?CI:;im;74yAɮEKAADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd GH@ZZZZ?5Q)1 5 i5^9)1='a=){,?A>m|*?>Rb?>-ٱ>YSB FAHRS rotation from veh to nav: [[0.634001,-0.772388,-0.038204],[0.773328,0.633378,0.028203],[0.002414,-0.047425,0.998872]]>HI?f`o?@D?I?`c?`H ?i>m|*?I>!\;>CYNByN%IimMb@Mb@Mb@iiii i9m(\?+η?I +Ym.>ymv=m94m5AmA m A)m AiYm( Ay}@AbDVDkyٽ%2=ٔZQ->9Y=@Fy19E>Q 54?Q 94w)zBYF>Q E;yܰ?Q I?CI ;i& ;g?4yBɮAEDNOT Ignoring new targets: 59.75 m.hh*h"h hgfff Bd D=D<E E E-E"EC;*E:VEt4ZEa%@a%@a%@a%@d!jd!Zd-@H@ZF>ZF>Z+&?Zܰ?%-))A MiMy9)IMMt;iIiQQU[ IYIY9@ @@4@QBI>B9CB@IBBB =BBDBO;B}9E^A! I1 IA OM >ԁ |,ܞ?A06*?6 mb?6(ٱ6OB >AHRS rotation from veh to nav: [[0.633693,-0.772632,-0.038382],[0.773581,0.633074,0.028119],[0.002573,-0.047511,0.998867]]6H5G?g`ئ ,?#B?/˜?e? LS?i6*?I6\;6ߑCYFYByF IbDRVDRkyV%Z[=ٔZ߹Q-Z>9\Y\=^@Fy\b:Eb>`Q 5f4b(?Q 9j4bu)bzBYhyj?Q Ij?bCIb:ib:bE4ylɮrAp DNOT Ignoring new targets: 59.75 m.h h *h "h  h gfffddjdZdH@ZZZZ.?() _i9)z;ii!%DA I!I!ԉ9@ @@/@@@@@EE  EEEE2EA"EEG;*EE:VEE4ZEABEE+ |,!?A2h*?2b?2{!ٱ2yB >AHRS rotation from veh to nav: [[0.633435,-0.772848,-0.038284],[0.773792,0.632813,0.028159],[0.002464,-0.047461,0.998870]]2HE?,?@?՜?^/d?L@?i2h*?I2\;2CYBBByFIIH)Jp;\iMb@Mb@Mb@ 9+?L7A`?~jtY>y+=ļAA ) AYQ AbD-VD-:y=%b%=A=ٔE9Q-E>9AYA=M@FyIMO:EM>QQ 5]4U?Q 9]4Us)UxzBYe//>Q Ee;ye?Q Ie?UCIU ;iU:UQM4yiɮm Ai=DNOT Ignoring new targets: 59.75 m.h9h9*hA"hA hAgAfAfIfMBdIdIjdIZdu@pH@Z//>Z//>ZU>ZϞ?{!) i9);ii III)gA9@ @@/@IIO%>Ee  Ee Ee .Ea "Ee sH;*Ee :VEe ـ4ZEa am @am @am @au @A l%|,XU;?A6*?6b?69ٱ6A?B BAHRS rotation from veh to nav: [[0.633204,-0.773046,-0.038132],[0.773982,0.632577,0.028257],[0.002277,-0.047406,0.998873]]6H4C?ʼ v?>?@v?@=b?E?i6*?I6\;6CYJ"ByJI PR4<bDVVDVkyZ%^T=ٔ^9BbJ>B`BbIBbbBBb =B`B`Bbb;Bb9EQ-n>9pYp=r@FyprH:Ev>tQ 5z4v~?Q 9z4vEr)vmzBY|y~?Q I?vCIvD;ivuE;v%T4y ɮ AEDNOT Ignoring new targets: 59.75 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdUbI@ZqZqZqZuB?9) ,i9)顽zyK;iiXII9@ @@/@IIO=Iqԡ b |,0U?AE2 E2#E0E0"E2P;*E2;VE0ZE0BE2*?>b?>ٱ>2B FAHRS rotation from veh to nav: [[0.633327,-0.772947,-0.038073],[0.773882,0.632685,0.028567],[0.002008,-0.047556,0.998867]]>H@6D?@S~ ?@>?@?r`?HY?i>*?I>.];>ߑCY~ByIyiMb@Mb@Mb@ 9X9v?Zd;O?Y=yj<̼A )Y AbDVDy}߽%:=ٔ :Q->9Y=@FyE > Q 54 ?Q 94  q) azBYr=Q E;yp?Q I%? CI  ;i  ; [4y)ɮ-OA)DNOT Ignoring new targets: 59.75 m.hh*h"h hgfff_BddjdZd &SI@Z%r=Z%r=Z%ZC>Z%p?5)9 =fi=9)9==:i9iAAE IAII QQIQ)QԩE9@A @A@E0@AIQIiOu6> r7|, o?A23*?2b?24úٱ2aB >AHRS rotation from veh to nav: [[0.633379,-0.772925,-0.037652],[0.773840,0.632722,0.028895],[0.001489,-0.047438,0.998873]]2HD?ͻ"GL?A??–?fX?I?i23*?I2E];2ܑCYB~ByFI HHbDNVDNyV%V_=ٔV,:Q-Z>9XYX=Z@FyX^FCE^>`Q 5f4bt?Q 9f4bp)bXzBYdyfo?Q Ij?bCIb:ib:b+b4ylɮnAlDNOT Ignoring new targets: 59.75 m.hh*h "h  h g f ffddjdZd~I@ZZZZo?4ú) i.9)顭Lp:E  EE0E"ED;*E:VE4ZEa@a@a@a@iiII9@ @@0@BK>BBIBBBBBBc;B9EB9CBBBƨ =BC-69^AK IIO>Y R""|,o?A2*?2:bb?2_ٱ2tlB >AHRS rotation from veh to nav: [[0.633822,-0.772582,-0.037241],[0.773478,0.633140,0.029415],[0.000853,-0.047449,0.998873]]2H@EH? <U?@B??K?7K ?i2*?I2];2CYF~ByFILNAAbDNVDN02yVӽ%VJ=ٔZ:Q-Z>9XY\=^@Fy\^ظE^>`Q 5f4bs?Q 9f4bn)bMzBYhyj]?Q Ij?bCIb:ib[:b?i4ynBɮnArE DNOT Ignoring new targets: 59.75 m.h h *h "h  h g f ffddjdZd I@Z9Z9Z9Z=]?U_)Q UiU 9)Y]]]:iYiaaeւ IaIa)9@ @@3@aE E E-E"EO;*E:VEt4ZEBE8ԉԱ fI(|,?A: _*?:5b?:*ٱ:A BAHRS rotation from veh to nav: [[0.634349,-0.772177,-0.036673],[0.773047,0.633643,0.029917],[0.000136,-0.047327,0.998879]]:HL?૵@Ƣ ͼ?F?x?@!?E;?i: _*?I:];:ݑCYJ~ByJIiMb@Mb@Mb@ 9333333?/$Zd;OY=yjA O A)f AYQ AbD5VD5:yE%EA=ٔEu:Q-M>9IYI=M@FyIUfӺEU>YQ 5e4]?Q 9e4]jn)]CzBYeQ=Q Ee# s.|,?AB6J>B4B6IB6~BB6 =B4B4B6_;B69EB*?B a?B>:ٱBA JAHRS rotation from veh to nav: [[0.635297,-0.771423,-0.036097],[0.772267,0.634559,0.030636],[-0.000728,-0.047340,0.998879]]BH`[T? `P{i?@NN?_? G<@?iB*?IB{^;BCYRg~ByRtIIV<)V9YYa=e@FyaeEEe>qQ 54u?Q 94um)u:zBYy?Q I?u‡CIu;iu;uw4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZdwJ@Z Z Z Z ?%>:)! %(i%9)!%-:i)i)15."I1I99@ @@4@^AMR!IIO>I E f E E ,E "E ";*E g:VE g4ZE BE f\N?iNd)?INi^;LY^N~BybeIiMb@Mb@Mb@ 9i|?5?{GzYq=yLףAA  A) AY3 A 4<;bDVDyMp%C=ٔ;Q->9Y=@FyE>Q 54?Q 94m)3zBY=Q E&Q I?ƇCI ;i; ;4yɮA%DNOT Ignoring new targets: 59.75 m.h!h!*h!"h! h!g)f)f)f5Bd1d1jd1Zd=RJ@Z]=Z]=Z]@Z]J,>}1:)y }̾i}9)y顅ѳX;iiZ#IIA4=R=9@ @@/@q^A >!II)O5>ԡ ;|,]S?A2G)?2`?2E;ٱ2wB >AHRS rotation from veh to nav: [[0.638146,-0.769136,-0.034618],[0.769909,0.637320,0.032605],[-0.003015,-0.047459,0.998869]]2Hk?Ĝf?d?? h`L`?i2G)?I2\^;2ߑC@YFT~ByFhIbDRVDR!yVxz<%Z_=ٔZd;Q-Z>9XY\=^@Fy\^Eb>`Q 5f4b?Q 9f4bm)b,zBYhyj~*>Q Ij?bʇCIb:ib`:by4ylɮrApEDNOT Ignoring new targets: 59.75 m.hAhI*hI"hQ hYgafafafididijdqZduJ@D=DR=bEـ4jE4rE0EU+ EU EU1EQ"EUb;*EU:VEU-4ZEQae@ae@ae@ae@ZaZaZaZe~*>E;) ɾi9)顥%OJh;ii]%IIԩ9@ @@/@BeI>BaBeeIBeO~BBaBaBaBej;Be9E^A$IIO> \mB|,,. ?A6J(?6Y`?6Ս;ٱ6ʘB BAHRS rotation from veh to nav: [[0.639939,-0.767685,-0.033726],[0.768414,0.639065,0.033714],[-0.004328,-0.047491,0.998862]]6Haz?D@ؖ?8s?B?qP ?i6J(?I61q_;4YJK~ByJcI LLbDRVDR02yZ֮%ZJ=ٔ^T;Q-^>9`Y`=b@Fy`bEf>dQ 5j4f?Q 9j4fm)f%zBYllyn'>Q Ir?f·CIf/;if0;f4ytɮvAtDNOT Ignoring new targets: 59.75 m.hh!*h!"h) h)g1f9fAfIdIdIjdIZdMJ@ZqZqZqZu'>Ս;) Yξi|9)額E;ii2C'III)hA9@ @@/@@hA@hA EO E"E/E"E;*E;VEJ4ZEBEa H|,x $?A2o'?2_?2E;ٱ2jA >AHRS rotation from veh to nav: [[0.641690,-0.766266,-0.032707],[0.766943,0.640776,0.034689],[-0.005624,-0.047344,0.998863]]2H?@͊?=?¡?w= ?i2o'?I2J_;0YBV~ByFiI9imMb@Mb@Mb@iiii i9my&1?x&MbpYm`9Y=@FyFE>Q 545 ?Q 94m)$zBY=Q E6 BY A] 4=Be H>Ba Be LIBe '~BBe =Ba Ba Be u;Be 9EN|,+>?A2[D'?2_?2ra;ٱ2~eA :AHRS rotation from veh to nav: [[0.643661,-0.764656,-0.031640],[0.765279,0.642708,0.035708],[-0.006970,-0.047197,0.998861]]2H@ߘ?`x3@*}??]H? |<*?i2[D'?I2`;0Y@y@bDNVDN!ٔZh;Q-Z>9XYX=^@Fy\f޻Ef>tQ 5z4vt ?Q 9z4vn)tY|y~Q I~?vևCIv;iv;vК4yɮ  yDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd K@ZAZAZAZElT@ra;) i9)$JE  E E .E "E 1A;*E :VE ـ4ZE BE %?%]?% <ٱ%@ =AHRS rotation from veh to nav: [[0.648063,-0.761010,-0.029636],[0.761526,0.647033,0.037764],[-0.009564,-0.047042,0.998847]]%H?0ZXl^?@~?U?`@?i%>%?I%aa;%CYEe~ByErIiMb@Mb@Mb@ 9~jt?Mb~jt?YD99Y9==@Fy9E?SEE>AQ 5U4E ?Q 9U4Ean)E*zBYU=Q EUHi>9@ @@0@@=@=Ai^Al,IIO>iy Iy ԙ [|,q?AYzx~Byz~I  bDVDy-M=%5]=ٔ=Q-=>9AYA=E@FyAEEM>IQ 5U4MP?Q 9U4Mn)M0zBYYyYQ I]?M܇CIM%;iMd;M4yiɮmKAiDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffddjdZd PK@15 jnAggregate::initialize lineCaptureHoming:MicromodemCommsq5j~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn5E EEE"E<;*E:VEZEa@a@a@a@ZZZZ) ήir9)O) b|, v?A6|%?6\?6,.<ٱ6<@ >AHRS rotation from veh to nav: [[0.650131,-0.759279,-0.028719],[0.759747,0.649072,0.038598],[-0.010666,-0.046913,0.998842]]6H`?LuhO? 2?"ã?`*؅?i6|%?I6Ba;4YJ~ByJIbDfVDf:yn=%nP=ٔn8;Q-n>9pYp=r@FypvEv>xQ 5~4z*?Q 9~4zo)z6zBYYy]Q I]?zCIzRj) = =h|,N?A6W$?6-\?6o@<ٱ6+@ VAHRS rotation from veh to nav: [[0.652334,-0.757417,-0.027908],[0.757841,0.651245,0.039468],[-0.011719,-0.046897,0.998831]]6H?<;@??(5?`l?i6W$?I6`;6ޑCYZ~By^Ib=b=iEMb@Mb@Mb@AAAA A9EX9v?~jt~jt?YE9Y=@FyTۻE>Q 54?Q 94o)AzBY_=Q Esԩ B I>B B kIB Y~BB =B B B ;B 9EBB9CBB˦ =B˥ =C˅4o|,,?A@j"?jHZ?jiZ<ٱjp@ ~AHRS rotation from veh to nav: [[0.656379,-0.753959,-0.026701],[0.754314,0.655241,0.040861],[-0.013312,-0.046961,0.998808]]jH?m WV#?`?@?`C`F @99Y9==@Fy9EeEE>AQ 5M4E?Q 9U4Eo)EKzBYQyU.5Q IU?ECIE:iE>:E=4yYɮe(Aa}B*** querying acoustic contact ***iy iyDNOT Ignoring new targets: 59.75 m.Resuming propulsion at range: 60.00 m and bearing: 237.043716 deg. Not drifting fast enough.rhc@h~?h*h"h hL?gfffddjdZd`!L@Z)Z)Z)Z-C@ɢ] Ƽ)]r< e尾ie9)aaeiei E  E E -E "E B;*E r:VE t4ZE BE w9Y=@FyE>Q 54?Q 94n)YzBY=Q EG  BDAT read: Tx time:03:32:24.8629  $Ping request sent. )  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250282p%||,?AZf!?ZY?Zmi<ٱZ68? bAHRS rotation from veh to nav: [[0.659271,-0.751465,-0.025717],[0.751771,0.658120,0.041454],[-0.014227,-0.046663,0.998809]]ZH`?` U?R?@9?@"@/䧿 ??iZf!?IZx_;XYn.BynIppbDvVDvy~=%~Y=ٔ=b:Q->9Y=@Fy  QE >Q 54?Q 94 n)dzBY!y%h?Q I%?CId:i:B̌4y)ɮ-UA)qDD<E  EE,E"EE;*EL:VEg4ZEa@a@a@a@DNOT Ignoring new targets: 59.75 m.hh*h"h hgfffdddjdZd`L@Z!Z!Z!Z%ףh?]YBɢ]BJ)Y ]`-iY)aaaie) BBIB~BBBBB;B9E5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501351Ա^AMX%IYIiOu>Թ Q|,p ?A>Ȭ!?>DY?>f<ٱ>Q> FAHRS rotation from veh to nav: [[0.660174,-0.750673,-0.025704],[0.750981,0.659029,0.041331],[-0.014086,-0.046589,0.998815]]>H$ ?@&R ?`?M)?8ٌxڧJ?i>Ȭ!?I>^;>ݑCYNFByNIbDZVDZy^Hp=%^M=ٔbRQ-b>9dYd=f@FydfxEEj>hQ 5n4j3?Q 9r4jm)jpzBYpyrRh?Q Ir?jCIj ;ijj!;j6ӌ4yxɮzAxDNOT Ignoring new targets: 59.75 m.hh*h"h! h!g!f!f)f)d)d)d1jd1Zd5`L@ZQZQZQZURh?eBɢm蒻)i m}ii)iiqiu 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005327) 8|,&?A>O!?>B&Y?>Fe<ٱ>U? FAHRS rotation from veh to nav: [[0.661240,-0.749730,-0.025837],[0.750044,0.660090,0.041412],[-0.013994,-0.046762,0.998808]]>H(? t\?t?3?`4@O!?I>`^;>CYjByj#Ii]Mb@Mb@Mb@YYYY Y9]Cl?J +?S㥛?Y];=y]H=]/<]AY ]O A)YYY] AbDuVDu02y>%?=ٔcQ->9Y=@FyYYE>Q 54s?Q 94@l)zzBY=Q E;y?Q I?CI2 ;i ;ڌ4yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgf)ffBdddjdZdL@ZM=ZM=ZMMN>ZM?颍Bɢ,i) 8ai)顙i& bE=4jE=Ƕ4rE=/E EE-E"E,K;*E:VEt4ZEa@a@a@a@ԁB <A <B K>B B IB BB B B B ;B 9EԱ |,w@?A2!?2bX?2^<ٱ2G@ :AHRS rotation from veh to nav: [[0.661860,-0.749170,-0.026183],[0.749504,0.660713,0.041244],[-0.013600,-0.046922,0.998806]]2H -?@4@Ϛ?$??`Kڋ&7?i2!?I2];2ߑCYBByF@IbDNVDNNyV>%VZ=ٔVQ-V>9XYX=Z@FyXZE^>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509490 Q 54 ?Q 94 k) zBYy?Q I=? CI ;i ; g4yAɮM=AIDNOT Ignoring new targets: 59.75 m.hh*h"h hgfffdddjdZd`$M@ZZZZŔ?%Bɢ%ql)) -4Ii)))))i- |,y]?A2"!?2X?2T<ٱ2^@ NAHRS rotation from veh to nav: [[0.662079,-0.748961,-0.026625],[0.749321,0.660946,0.040853],[-0.012999,-0.046999,0.998810]]2H@/? |Co?w&??l@A A?i2"!?I2];2ݑCYVByVOIԉiMb@Mb@Mb@ 9~jt?Mb?~jt?Y>y=<KA A )f AY AbDVDyA=%&=ٔQ->9Y=@Fy:E>Q 54?Q 94h)zBY 8>Q E;y?Q I?CI:i:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0134154yɮADNOT Ignoring new targets: 59.75 m.hh*h"h hgfffBdddjdZdcM@Z= 8>Z= 8>Z=g ?Z=9?颍Bɢ5) ̨i)顑i' *|,:w?AE EE/E"E&U;*Eg:VEJ4ZEa@a@a@a@YByiIbD-VD-βy==%=E=ٔ=Q-E>9AYA=E@FyAMEM>QQ 54U?Q 94Uf)UzBYyQ I?UCIU>BBIBvBB =BBB;B9E1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517751=9@9 @9@=0@9Q^A ýԁ I I O >A|,?A>u%!?>X?>J9<ٱ>A RAHRS rotation from veh to nav: [[0.661746,-0.749210,-0.027854],[0.749643,0.660654,0.039656],[-0.011309,-0.047122,0.998825]]>H`-?`?@$?@M?@8) l `?i>u%!?I>];>ۑCY^ByboIhjAbDrVDrܲ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770512y~h<%a=ٔQ->9Y=@Fy̙:E>Q 5 4?Q 9 4e)zBYyγ?Q I?CI;iE;4y!ɮ% A!MDNOT Ignoring new targets: 59.75 m.hIhI*hI"hI hIgQQfQfYfYdYdadajdaZdeeM@ZZZZγ?额=BɢZ ) i)顡i  <|,?AF!?Y?(<ٱA eAHRS rotation from veh to nav: [[0.661376,-0.749507,-0.028659],[0.749984,0.660306,0.038977],[-0.010290,-0.047272,0.998829]]H)?`X@?`:!?`?`4`h?iF!?I];ݑCYuBԱyqIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274276ieMb@Mb@Mb@aaaa a9eʡE?rh|?Mb?Ye-2>ye=e9Y=@Fyц:E>Q 54?Q 94Xb)zBYZZ>Q Ex;yn?Q I?%CI:i:4yɮAmDNOT Ignoring new targets: 59.75 m.hihi*hi"hi higifqfqfuBdqdydyjdyZd} N@E] E]E]+EY"E]N;*E]:VE] [4ZEYa@a@a@a@Z-ZZ>Z-ZZ>Z-?Z-n?颅]Bɢ-) x8i)顉i/B 8CB LIB BB =B B B ;B 9E DAT read: 03:32:27.3557 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 8, 0.20, 0.810, 2.844, 1.494, 1.777, PHS=-0.865, 1.112,-0.326, RAW= 314.7, 0.9, CAL= 312.8, -2.2, ROT= 197.2, 2.2  Ygot valid direction response: 03:32:27.3557 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 8, 0.20, 0.810, 2.844, 1.494, 1.777, PHS=-0.865, 1.112,-0.326, RAW= 314.7, 0.9, CAL= 312.8, -2.2, ROT= 197.2, 2.2  PDAT read: Bearing 13.1, -16.4 (Local)  ~Local bearing/azimuth received: Bearing 13.1, -16.4 (Local)  DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.954574,-0.295490,-0.038388] Fpublishing direction and range infoy  bF]ߋ" Nҿ.Y ̄B ) HI p]i V? y馾 ¯@ < R@ nF) FF\@I nF= D~>Ǫ?п*'? \8) ?I o5i nF= 9 ^A 4ýA gAzA fAII)O5>|,?Ab}!?bxTY?b_<ٱbA AHRS rotation from veh to nav: [[0.660747,-0.750034,-0.029379],[0.750552,0.659707,0.038201],[-0.009271,-0.047292,0.998838]]bH$?F@?`Q?%?@6`{?ib}!?Ib^^;bޑCY%By%yI1bD]VD]0ye=%mb=ٔm8Q-m>9Y=@Fy;E>Q 54u?Q 94>`)Yy?Q I?0CIW:i-:4y ɮ-A)i i ?AJi @BRi @Bji X@b HO+3xZʢNR bF]ߋ" Nҿ.Zi o5bi nF=j %<:"Lu.NXWkZ <0Jڿ'6bȏ2i sq:i "i ->?*i -Bi {Bi s?i (i {Bi %Bi ܫ@ addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 60.275898 s, deltaX: 6.400002 m, approachRate: 0.106178 m/s, rangeRepo size: 4  Added new target pos. range: 66.125061 m, bearing: 245.919116 deg, lat: 36.779324 deg, lon: -121.859547 deg, deltaT: 60.275898 s, deltaX: 6.374065 m, approachRate: 0.105748 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdP@Zd@?Z9Z9Z9Z=Ê?MpBɢM)Q U.PiQ)QQQi]9|,k?A2!?2BY?2m<ٱ2H :AHRS rotation from veh to nav: [[0.659897,-0.750692,-0.031586],[0.751314,0.658831,0.038339],[-0.007971,-0.049031,0.998765]]2H?` , ?$?@0?@"S?i2!?I2^;2ݑCYBByBrIiMb@Mb@Mb@ 9V-?n?yV>tAA  A)| AY AbD-VD-:2ԙyμ%G=ٔoOQ->9n>Yn>=@FyaDb;;E>Q 54 ?Q 94])zBYn>Q Ec;yg?Q I?;CI:is: 4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgf f f Bd ddjdZd?EBɢEr&)A EkiI)IIIiMzl|,_?AY By jIBAbD%VD%y5%5Q=ٔ5Q-5>9= ?Y= ?==@Fy=hD=EE>AQ 5M4E ?Q 9U4Er[)EzBYQyQQ IU?EGCIE:iE:E4yYɮe,AaBI>BBeIBBB =BBB|;B9EBaBaBaBe =Be =Ce5EDNOT Ignoring new targets: 66.13 m.hAhA*hI"hI hIgIfIfQfQdQdQdQjdYZd]o?颍Bɢ) i)顑i'AM?A 2AI I O >ԁ K|,6?A6L!?6ȲY?6 <ٱ6:ђ BAHRS rotation from veh to nav: [[0.659671,-0.750003,-0.048264],[0.751507,0.657545,0.053592],[-0.008458,-0.071624,0.997396]]6H?`X ? ?@qp?R`U?i6L!?I6];6ܑCY^BybaIbDjVDjyr1%rQ=ٔr:Q-r>9v?Yv?=v@FyvoDvgG:Ez>xQ 54zb!?Q 94zY)zzBYyG?Q I?zSCIz;iz7;z4yɮjAEE EEEE.EA"EEM;*EE:VEEـ4ZEABEE@>ԩ^A  A-܏AI1IAOU>t|,W?4?A6b!?6ޥY?6;ٱ6׳ NAHRS rotation from veh to nav: [[0.659823,-0.748953,-0.060852],[0.751382,0.656794,0.063616],[-0.007678,-0.087699,0.996117]]6H E?@l(Q ?t? &I?(sjs1?i6b!?I6|];6ۑCYVByVTIXI^%=)^p;i=Mb@Mb@Mb@9999 99=MbX?Dl?I +Y=J>y=O >=9=A=" A 9)99Y= AbDUVDU:ye.%e(=ٔeҺQ-e>9m?Ym?=m@FymxDuԹEu>yQ 54}"?Q 94}V)}mzBY)x>Q E[;y?Q I?}bCI}:i}3:}6$4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZd ?̀Bɢj) 9i) EU EU EU-EQ"EU>T;*EU:VEUt4ZEQa]@a]@a]@a]@ i¡B9CBBB =BBBq;B9E ^A$ӿ9 A AI I) O= >W|,BN?A2!?2dY?2F;ٱ2cG½ :AHRS rotation from veh to nav: [[0.659822,-0.748442,-0.066853],[0.751393,0.656402,0.067421],[-0.006578,-0.094718,0.995482]]2HC?<E i ?>?zB?zx??i2!?I2V];2ߑCY^Byb?I f9v??Yv??=v@FyvDzl7Ez>9aQ 5m4e#?Q 9m4eS)e^zBYiym?Q Iu?enCIe:ie:e1+4yyɮ}HAyDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd@%Bɢ-l)) 5i1)999i=<|,~g?A2:!?2Y?2HH;ٱ28Q :AHRS rotation from veh to nav: [[0.659353,-0.749064,-0.064465],[0.751815,0.656306,0.063542],[-0.005288,-0.090362,0.995895]]2H@l?Uǀ`? u?FD?`u!_?i2:!?I2(e];2ݑCYBByB.Ii Mb@Mb@Mb@     9 Q?Zd;?L7A`堿Y (\>y = + A SA f A)  Y G AbD%VD%y5%5E=ٔ5(LQ-=>99Y9=E@FyEDEq:EE>IQ 5U4MM%?Q 9U4MP)MLzBYUa>ԙQ ET;ys?Q I?MzCIM[B B LIB BB B B B j;B 9EA 0AI I O >|,!Z?A2wH"?2Z?2t;ٱ2ͤ :AHRS rotation from veh to nav: [[0.658448,-0.750384,-0.058048],[0.752617,0.656096,0.055730],[-0.003734,-0.080383,0.996757]]2H? %m@o??ఈ?@]no?i2wH"?I2W];2ڑCYBuByBI DDbDNVDNNyR%VG=ٔVwQ-V>9V?YZ?=Z@FyZDZ@;E^>\Q 5b4^'?Q 9f4^eN)^9zBYdyfɭ?Q If?^CI^6:i^:^d94ynBɮnWAnܤEz=z<1}DNOT Ignoring new targets: 66.13 m.hyh*h"h hgfffdddjdZdck@BɢB)) -+i))))1i5"!EE0|,*?Af"?f~Z?f;ٱfɔ AHRS rotation from veh to nav: [[0.657352,-0.751698,-0.053269],[0.753580,0.655501,0.049353],[-0.002181,-0.072585,0.997360]]fH ?@ FT??D?a`픲 _?if"?If\];fݑCYEHByMIԙAAbD=VD=ky}½%}0=ٔ[Q->9Y=@FyDN;E>Q 54 )?Q 94pK)%zBYy?Q I?CI:f;ihg;A4yɮ ADNOT Ignoring new targets: 66.13 m.hh*h"h hg f)f)f)d1d1d1jd1Zd5 @颥+BɢXM) Ci)顱i>$׼|,?AE E EE"E,K;*E:VEZEa&@a&@a&@a&@> #?>Z?>wdg:ٱ>x7 FAHRS rotation from veh to nav: [[0.656342,-0.752556,-0.053609],[0.754463,0.654599,0.047804],[-0.000883,-0.071821,0.997417]]>H?@r$?z?@y?L b@?i> #?I>?];>ߑChYr*ByrIiMb@Mb@Mb@ 9q= ףp?{Gz? rhYk>yף=C AA  A)Y AbDVDyǏ%C=ٔDKQ->9?Y?=@FyD(R;E>Q 54[,?Q 94H)zBY{>Q EW;y?Q I?CI ;i2 ;H4yɮA DNOT Ignoring new targets: 66.13 m.h h *h "h  h gfffBdddjdZd`O@BBɢӄk) Vi)irn'|,j?A6r'#?6Z?6ϱٱ6Ԟ >AHRS rotation from veh to nav: [[0.655888,-0.752572,-0.058706],[0.754858,0.653937,0.050561],[0.000339,-0.077477,0.996994]]6H ?`@'? ??96?ճ `?i6r'#?I6o];6ڑCY^ By^IIb=)`bDjVDjyr %rY=ٔrTQ-v>9tYt=v@FyvDz#:Ez>|Q 54~M/?Q 94~F)~zBYy?Q I ?~CI~:i~:~aO4yɮ A9DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd =@WBɢla) kii)!!i%*|,?ABX#?Bl/[?B-ٱB JAHRS rotation from veh to nav: [[0.655317,-0.752588,-0.064575],[0.755352,0.653124,0.053606],[0.001832,-0.083906,0.996472]]BH[?`4+?`c?`@r?^?`z@?iBX#?IB;i];BݑCYR~ByRIi-Mb@Mb@Mb@)))) )9-Zd;?+?y&1Y-y>y-=-`)-SA - A)-O A)Y-z A =4<=4<bDE VDE2yUn%UA=ٔ]MgQ-]>9YYY=]@Fy]De:Ee>iԱQ 54m4?Q 94muD)myBY~>Q EU;y?Q I?mCIm3},< ?A2#?2mW[?2w1Dٱ2ɲ :AHRS rotation from veh to nav: [[0.654854,-0.752704,-0.067845],[0.755749,0.652561,0.054842],[0.002994,-0.087188,0.996187]]2H? &Q^ /?? 8?,h?Q`?i2#?I2Df];2ۑCYB~ByBIbDNVDN0yR%RG=ٔV9Q-V>9Vc?YVc?=Z@FyZDZ:E^>\Q 5b4^8?Q 9b4^5B)^yBYdyf?Q If?^ɈCI^:i^d:^]4yhɮnAlDNOT Ignoring new targets: 66.13 m.hh*h"h hgf f f d 1ddjdZd`@=BɢEY()Em< E iA)AIiim%2Z},= #?Aj@#?j[?jrٱj rAHRS rotation from veh to nav: [[0.654202,-0.753284,-0.067694],[0.756309,0.652039,0.053311],[0.003981,-0.086074,0.996281]]jH9?hT3?`?K?NNp?@@?ij@#?Ij1];hYz~ByzI ||ԑiMb@Mb@Mb@ 9L7A`?~jth?{GzY+>yD;ףxAA  A)Y AbDVDyaX%6=ٔQ->9Y=@FyD%k:E%>)Q 554-??Q 954-?)-yBY5>Q E5H;y=\?Q I=?-؈CI- ;i-;-e4yAɮEEAAmDNOT Ignoring new targets: 66.13 m.hihq*hq"hq hqgqfqfyf}:BdydydjdZdK@颵Bɢ6) Ői)项i+6},L9tYt=v@FyvdžDzSr;Ez>|Q 54~`D?Q 94~=)~yBYy 1]?Q I ?~CI~];i~:~+l4yɮA=DNOT Ignoring new targets: 66.13 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU@}Bɢl) ݘi)顁i!:BABEIBE~BBABABABE;BE9EB B B B § =B § =C …49I@I @I@M/@I!Q^Am2Au?Au?Iy I O >y k},V?A6#}$?6S\?6lqǻٱ6=ݤ >AHRS rotation from veh to nav: [[0.651932,-0.755493,-0.064930],[0.758253,0.650204,0.047825],[0.006086,-0.080412,0.996743]]6H@?,`>C?@x?@y|?`#x?`ܕQ?i6#}$?I6v];6ݑCYF~ByFIbDj VDjf2yr/%rJ=ٔvPQ-v>9tYt=v@FyvφDz ;Ez>|Q 54~3J?Q 94~;)~yBYy ]?Q I ?~CI~:i~:~;s4yɮAEDNOT Ignoring new targets: 66.13 m.hAhA*hA"hA hAgIfIfIfIdIdQdQjdQZdUC_@颅ƁBɢv) i)顉ii>^A Ӹ I IO->%},rt?A:~r%?:H]?:lQ ٱ:p BAHRS rotation from veh to nav: [[0.649077,-0.758017,-0.064093],[0.760675,0.647665,0.043625],[0.008442,-0.077070,0.996990]]:H >?A`ehtW??V? J?@ܺW?i:~r%?I:͵];8YJq~ByJzIIL)N<|iuMb@Mb@Mb@qqqq q9u"~?:vMbYu>yuԼuubAq uO A)qqYu AbDVDy<%(=ٔPQ->9Y=@FyنD;E>Q 54R?Q 94,9)yBY>Q E6;yE?Q I?CI ;i" ;{4y~Bɮ0ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZd 6R@5Bɢ=H)9 =i9)99AiE@CBaBeIBe~BBe =BaBaBe;Be9EQ^A õI I O% >ԁ mg#},G?A2m%?2]?2!ٱ2\ :AHRS rotation from veh to nav: [[0.647571,-0.759271,-0.064494],[0.761941,0.646290,0.041896],[0.009872,-0.076271,0.997038]]2H@?Ka?@h?Vs? 7??i2m%?I2|];2ۑCYF~ByFI LN<bDNVDNk1yV8=%V[=ٔZzQ-Z>9XYX=^@Fy^D^;E^>`Q 5f4bFY?Q 9f4b-7)byBYhyjZF?Q Ij?bCIb:ib:bH4ylɮrAp DNOT Ignoring new targets: 66.13 m.h h *h "h  h g fffdddjdZd@ԁBɢPĽ)  i)iG)},A?A2&?2k^?2<ٱ2k >AHRS rotation from veh to nav: [[0.645674,-0.760786,-0.065654],[0.763527,0.644503,0.040528],[0.011481,-0.076297,0.997019]]2H@\?[Xΰn?ğ???.?i2&?I2];0YDyFIi Mb@Mb@Mb@     9 sh|??y t  A SA  A)  A Y  AbD%VD%y5b:%5>=ٔ=tQ-=>99YA=E@FyEDE3;EE>ԑIQ 54M b?Q 94M4)MyBY>Q E;yB?Q I?M%CIM^ B K>B B IB ~BB =B B B ;B 9EΘ0},?AF`'?F7_?Fr\ٱF( NAHRS rotation from veh to nav: [[0.643290,-0.762611,-0.067846],[0.765505,0.642217,0.039492],[0.013455,-0.077341,0.996914]]FH@ԕ?Ng T^?@ ?@N8? ?̳?iF`'?IFA];FߑCYV~~ByVIbDbVDb:yf#%fR=ٔjQ-j>9hYh=n@FynDn2<Er>pQ 5v4ri?Q 9v4r32)ryBYxyzC?Q Iz?r5CIr`:ir:r4y|ɮ~A-DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g)f1f1f1d1d1d9jd9Zd=P @m Bɢm޽)i m3ii)qqqiuPQiA IA ԁ 6},[?A2:(?2&`?2V~ٱ2! :AHRS rotation from veh to nav: [[0.640719,-0.764623,-0.069513],[0.767618,0.639790,0.037826],[0.015551,-0.077595,0.996864]]2H Ā?w`˱`T?(y?]?6ُ?@HݳN?i2:(?I2];2ۑCEF EFEF-ED"EFQ;*EF:VEFt4ZEDBEFʥ9)Y)=-@Fy-D5<E5>9Q 5E4=Zr?Q 9E4=/)=yBYAyE}D?Q IM?=GCI=N:i=:=ܗ4yUBɮUAUդE}DNOT Ignoring new targets: 66.13 m.hyhy*hy"h hgfffdddjdZd @颽6Bɢͽ) i)i]U +GliA^AA ?A?ӿ9liAY%AԱAE .AIQ Ii O > <},&7?A2^)?215a?2)ٱ2 :AHRS rotation from veh to nav: [[0.637262,-0.767386,-0.070822],[0.770430,0.636566,0.034942],[0.018269,-0.076830,0.996877]]2Hsd?m@\!]?^???& j?i2^)?I2m];2ݑCYB~ByBIiMb@Mb@Mb@ 9~jt?L7A`堿y&1|?Y>y+`;A O A) AY\ AbD-VD-y=:=%EH=ٔEpڻQ-E>9M ?YM ?=M@FyMDM3<EM>QQ 5]4U{?Q 9e4U,)UyBYe]>Q Ee ;yeK?Q Ie?U[CIU ;iUq:U4yiɮueAq5DNOT Ignoring new targets: 66.13 m.h1h9*h9"h9 h9g9f9fAfE%BdAdAdIjdIZdM@!@颥MBɢ̽) Fi)顩ԱiZBN>B:CBIB~BB =BBB;B9E^A A ؟AII Ia Om >9 C},?A>*?>bgb?>Cٱ>ռ NAHRS rotation from veh to nav: [[0.633620,-0.770310,-0.071754],[0.773356,0.633188,0.031526],[0.021149,-0.075467,0.996924]]>HF?av^ T?C?,$??Q@?i>*?I>U];>ܑCY^~By^IbDrVDrNyz<%~O=ٔVQ->9 "?Y "?= @Fy D@<E>!Q 554%?Q 954%))%yBY9yEL?Q IE?%oCI%tl;i%`;%4yQɮUIAQDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd 3"@]aBɢ]߽)Y ][¿iY)aaaie`^I}, )?A Y}~By}IiMb@Mb@Mb@ 9ףp= ?ytt<bA=A | A) AY A p<bDVD1y-=%-,=ٔ-Q-5>91Y1=5@Fy5D=E=>AQ 5M4E?Q 9M4E%)EyBYM>Q EU:yUX?Q IU?ECIE;iE5;E34y]}Bɮ]A]֤EqDNOT Ignoring new targets: 66.13 m.hh*h"h hgfff?BddIdQjdQZd]@{#@{BɢĽ) Ŀi)iLcB B IB ~BB =B B DB ;B 9EA I I O >*Q},D?A 2-?2Xe?2:aٱ2g镽 ^AHRS rotation from veh to nav: [[0.624596,-0.777418,-0.074166],[0.780467,0.624721,0.024371],[0.027387,-0.073106,0.996948]]2H?@?? ?`A ?@?i2-?I2];2ّCYf~ByfIbDnVDn0yv1=%vk=ٔzQ-z?9|Y|=~@Fy~D~*=E?Q 5 4o?Q 9 4")zBYy[?Q I?CIn;i;H4yɮ%A!MDNOT Ignoring new targets: 66.13 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdYZd]`~!$@颍Bɢf) nĿi)顑i(gE5  E5 E1 E1 "E5 &U;*E5 :VE1 ZE1 BE5 9XYX=Z@FyZ"D^e<E^>`Q 5f4bС?Q 9f4bX)b zBYhyj]?Q Ij?bCIb:ib:b-4yYɮ]AYDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd`$@eBɢeֽ)a eƿii)顑i1Vk |y]},0x?A60?6h?6 ٱ6 BAHRS rotation from veh to nav: [[0.614380,-0.785076,-0.078697],[0.788264,0.615075,0.017968],[0.034299,-0.073073,0.996737]]6H?V`|%u9?మ? !f??괲@D?i60?I6];6ّCYJ/ByJIli%Mb@Mb@Mb@!!!! !9%e;O?Mb?/$?Y%>y%<%<%A%SA %A)%" A!Y% A9=AAbDE VDE:2yMV=%U@=ٔUQ-U>9YYY=]@Fy]*De<Ee>iQ 5u4mҫ?Q 9u4m)mzBYu>Q Eu:yur?Q Iu?m̉CImT ;im ;m4yɮ/ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffsBdddjdZd(%@颍BɢNݽ) ǿi)顱idKoBBIB~BBBBB;B9EB:CBBBĦ =BĦ =CN 5ԑ^AwIi Iy O > cd},9Y= @Fy 2D <E >Q 5%4?Q 9%4),zBY!y%s?Q I%?CI:it:{ɍ4y5zBɮ5A1]DNOT Ignoring new targets: 66.13 m.hYhY*hY"hY hagafafafadididijdiZduю&@ԑ颥ʂBɢp) xɿi)顩iesE EE.E"E,K;*E:VEـ4ZEBEM?ABQ4?B'l?B*ٱB RAHRS rotation from veh to nav: [[0.603325,-0.793043,-0.084147],[0.796414,0.604637,0.011799],[0.041521,-0.074134,0.996384]]BH@qN?`ࠊ@8|?0Y?)?GB?p_?iBQ4?IB[];BܑCYZdBy^IIf<)fR=iMb@Mb@Mb@ 9~jt?:v?y&1?Y?yT=`<bA A) AY AbDVDNy{=%>=ٔGQ->9Y=@Fy;DP<E>Q 54?Q 94)@zBYw?Q E:yd?Q I?CI3:i:Ѝ4yɮ@A-DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g)f1f1f5Bd9d9d9jd9ZdECk'@额Bɢڽ) ˿i)顩ivB G>B 9CB IB MBB =B B DB |;B 9Ey ʂq},PV?AY~By~+I 4< bDVDfy%=%%S=ٔ-Q-->9)Y)=-@Fy-CD5E5>AQ 5E4EǨ?Q 9M4Eq )ERzBYIyIQ IM?ECIE:iE:E׍4yUBɮ]A]ͤEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjd Zd `W8(@1=Bɢ=$W)A E$˿iA)EAAiE)rzԉԹ E  E E *E "E V;*E :VE (N4ZE BE 9pYt=v@FyvKDv=Ev>xQ 5~4z'Ш?Q 94z)zfzBYy:?Q I?z5CIz;iz;zލ4y ~Bɮ OAΤE=DNOT Ignoring new targets: 66.13 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM`(@}Bɢx) ̿i)>!顉i}i>Ա9@9 @9@E/@A@}hA@}hA^At'II1OU> 9 }},?Ai0I2A6Q9?6Ξq?6Tٱ6v BAHRS rotation from veh to nav: [[0.585899,-0.804779,-0.095151],[0.808717,0.588177,0.004981],[0.051957,-0.079868,0.995450]]6Hி?[@?X?zft?(??r?i6Q9?I6];4YFByFKI HHiUMb@Mb@Mb@QQQQ Q9Ul?#~j?/$?YU?yU=U9Y=@FySDT<E>Q 54&ڨ?Q 94)zzBY?Q E:y?Q I?UCI*;iS*;4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffĀBdddjdZd`)@Bɢ%$)! %οi!)%|-{!)i-i },*?A :t;?:Ks?:Hbٱ: BAHRS rotation from veh to nav: [[0.580500,-0.808131,-0.099717],[0.812386,0.583109,0.003624],[0.055217,-0.083113,0.995009]]:Ht?@6 ?Ԩ?ްm?cE? F?i:t;?I:b];:ڑCY^BybMIf@AdbDjVDjkyr;%rU=ٔv( Q-v>9tYt=v@Fyv[DzI<Ez>|Q 54~㨊?Q 94~)~zBYy i?Q I ?~rCI~:i~9:~4yɮA=DNOT Ignoring new targets: 66.13 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdU*@颅1Bɢ) ?ӿi)t顉iZ G  E 9A YE pAي},-?ALYrByv]IiuMb@Mb@Mb@qqqq q9u)\(?A`"??YuG!?yu=u9Y=@FydDE>Q 54??Q 94)zBY#?Q E:yb?Q I?CIqe;ic;L4yɮgADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffȀBdddjdZd +@]HBɢ]v)Y ]տiY)eSٻaaie-@M>^A5%AIIYIiOu>E EE*E"E&U;*Eu:VE(N4ZEa@a@a@a@! B A <B B B eIB BB B B B u;B 9E},[]G?A2>?2v?2}ٱ2iҶ :AHRS rotation from veh to nav: [[0.569442,-0.814855,-0.108384],[0.819699,0.572795,0.000241],[0.061885,-0.088979,0.994109]]2H8?@K@ :?UT?@/?@o?VǶ?i2>?I2];2ۑCY^Byb_IIb<)b<bDjVDjyrY<%rW=ٔvQ-v>9tYt=v@FyzlDzp=Ez>|Q 5 4?Q 9 4c)zBY y ?Q I ?CIB:i:4y{BɮAAϤEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd@>,@ZBɢ% )! %ٿi!)-H))i-ޅԁ E  E E ,E "E O;*E >:VE g4ZE BE 89dYd=f@FyftDfC|<Ej>hQ 5r4j?Q 9r4jR)jzBYpyr?Q Ir?jՊCIj;ij+;j4yzBɮz4AzŤEDNOT Ignoring new targets: 66.13 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd--@YemBɢe $)a e:ܿia)miiimԹ },{?A:A?:my?:ʌٱ:ƽ BAHRS rotation from veh to nav: [[0.559416,-0.820368,-0.118532],[0.826036,0.563613,-0.002299],[0.068692,-0.096625,0.992948]]:H?t@X@n? ?bbӕ?@i:?i:A?I:];8YJByJvIiMb@Mb@Mb@ 9 rh?)\(?{Gz?YC+?yG=ף<AA )AY3 AbD5VD50yE0=%EB=ٔM.Q-M>9IYI=U@FyU|DU^<EU>YQ 5e4]?Q 9e4])]zBYm-?Q Em:ym?Q Im?]CI]:i]:]+ 4yqɮuAyDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffҀBdddjdZd@-@Թ颅Bɢ) d߿i)/顉ih;<E E E*E"EV;*E:VE(N4ZEa@a@a@a@iֈ<b:IIIgA)fAB=F>B9B=IB=BB= =B9B9B=q;B=9E]9@a @a@e4@a@i@mgA^A`ԻI I O >A },?A2i&C?2z?2wٱ2Ͻ :AHRS rotation from veh to nav: [[0.555229,-0.822395,-0.124044],[0.828578,0.559865,-0.003064],[0.071968,-0.101079,0.992272]]2Ho?Q@[?j?^i zl?Q๿ ?i2i&C?I2];2ܑCYBByBoI DDbDNVDNyr1%rQ=ٔr~ Q-r>9tYt=v@FyvDzgM<Ez>|Q 54~?Q 94~.)~zBYy?Q I?~CI~;i~;~4yBɮAƤE=DNOT Ignoring new targets: 66.13 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU`.@}Bɢ}>) Zi)VE顁iiԡ '},\ʮ?AYBydIiMb@Mb@Mb@ 9M?Q?:v?Yn2?y=T<A A)jAY( A AA bDVDP)y%"%%8=ٔ%Q-->9)Y)=-@Fy-D5E5>9Q 5E4=?Q 9E4=)={BYE5?Q EM:yM?Q IM?=CCI=:i=3:=4yQɮUHAQqDNOT Ignoring new targets: 66.13 m.hh*h"h hgffIfUBdQdQdQjdQZd]/@颥Bɢ8) wi)~b顱i֌B5 9CB5 IB5 %BB1 B1 B1 B5 ];B5 9EB8CBBBɨ =Bɨ =Cɶ5IQ Ia Ou >9 },?A24E?2 }?2頽ٱ2ݴ߽ :AHRS rotation from veh to nav: [[0.548294,-0.825487,-0.133957],[0.832594,0.553860,-0.005205],[0.078490,-0.108678,0.990973]]2H?cj%?7?Qu?Vһ ?i24E?I2];2ۑCY^By^]IbDjVDjkyr%ra=ٔrQ-r>9tYt=v@FyvDv%<Ez>xQ 54z9%?Q 94zu)z){BYy?Q I?zdCIz];izz;z4yɮzA=DNOT Ignoring new targets: 66.13 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM H0@Bɢ$) i)?wiIq E  E E +E "E D;*E r:VE [4ZE BE њ9tYt=v@FyvDz<Ez>|Q 54~.?Q 94~)~@{BYy ?Q I ?~CI~:i~k:~/%4yBɮAE=DNOT Ignoring new targets: 66.13 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUdž0@}уBɢOw) i)d顉iuw c},-[?ATY~By~TIiMb@Mb@Mb@ 9zG?Cl?~jtx?Y 7?y;=;AA )AY A <bDVDkyj%>=ٔQ->9Y=@FyDE>Q 549?Q 94%)W{BY)9?Q E:yi?Q I?CI:i7 ;,4yBɮA DNOT Ignoring new targets: 66.13 m.h h *h "h  h g fffBdddjdZd0@E EEE"Ea?;*E:VEZEa@a@a@a@Bɢ)1 5Wi1)5 11i=_|B:CBIB+BB =BBDBI;B}9E@ @@@ ^AQO< A II)O5>) ZL},8?A2ďG?2Af?2\ȵٱ2@e :AHRS rotation from veh to nav: [[0.540140,-0.828286,-0.148968],[0.836894,0.547298,-0.008590],[0.088645,-0.120031,0.988805]]2HH? Q aÿ?w?uh?SI?i2ďG?I2i^;0YBByBHIbDJVDJyRR%V]=ٔVmQ-V>9TYX=Z@FyZDZq<EZ>\Q 5b4^B?Q 9f4^)^l{BYdyf?Q If?^ҋCI^[:i^:^,34yhɮj7Al9EDNOT Ignoring new targets: 66.13 m.hAhA*hA"hI hIgIfIfIfQdQdQdQjdyZd}W1@Bɢ-) i) nimnqu},0?A2nManaging dock network, ignoring radio surface power offN!G?N?Nh ٱNLn ^AHRS rotation from veh to nav: [[0.538812,-0.828103,-0.154681],[0.837368,0.546562,-0.009215],[0.092174,-0.124560,0.987921]]NH@=?ÿ ?@o}?x߂඘?`$㿿 ?iN!G?INm^;NۑCYjBynGI ttz=z=ԙiMb@Mb@Mb@ 97A`?333333?{Gzt?Y6?y=ף;AnA A)SAY\ AbDVDy% 6=ٔ \Q- >9Y=@FyD4I;E>!Q 5%4%N?Q 9-4%3)%{BY-7?Q E-:y-X?Q I-?%CI%L:i%:%;4y9ɮ=:A9eDNOT Ignoring new targets: 66.13 m.haha*ha"ha hagifififmBdqdqdqjdyZd}1@颥 Bɢ<_&) i)=顩ikB ;CB IB %BB =B B DB @;B z9EA I I O >! )^},lI?A6N5H?6?6Ľٱ6H BAHRS rotation from veh to nav: [[0.537678,-0.827869,-0.159798],[0.837716,0.546014,-0.010048],[0.095570,-0.128463,0.987099]]6H@4?`}@EtĿ?`x?Mw?yqO?i6N5H?I6>^;6ؑCYJByJ6IPRBAbDVVDV0yZΜ%^b=ٔ^Q-^>9`Y`=b@FybDf"P;Ef>dQ 5j4fX?Q 9n4f")f{BYlyn~?Q In?fCIfQ;if;fTA4yvBɮvAvEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffd!d!d!jd!Zd-%#2@UBɢU::)]т"= ] iY)]YYie0uy E  E E )E "E N;*E :VE FA4ZE BE p9  ?Y  ?= @Fy ƇD c:E>Q 5%4c?Q 9%43){BY!y%?Q I%?BCI ;i ;H4y1ɮ5A1]DNOT Ignoring new targets: 66.13 m.hYhY*hY"hY hYgafafafadididijdiZdu2@额2Bɢ6) i)M μ顡i> u9qY}oAԉ^A]<ԱA ؟AI I O > iY IY },ط}?A20~H?2V*?2gѽٱ2^% :AHRS rotation from veh to nav: [[0.536393,-0.826611,-0.170285],[0.837761,0.545923,-0.011140],[0.102170,-0.136683,0.985332]]2H!*?s ſ?3x?[І'? ~և?i20~H?I2];2ّCYBxByBIIFC=)Fp<^only read 2 of 4 data items for beam range. Device response is::RA, 93.19, 78.57, 81.97 ab@ab ab@ab ab@ab ab@ab bDfVDf:yn0%nL=ٔnOQ-r>9r"?Yr"?=r@Fyr·DvA:Ev>xQ 5~4zn?Q 9~4zz)z{BQ A~+:Y|Q Eo:y?Q I?zgCIz:iz>z8N4y ɮ A 5DNOT Ignoring new targets: 66.13 m.h1h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdMg2@FBɢs3;) Ni)nݼiXΜBu) },~?AYZBy I )-bD5VD50yE%ED=ٔEQ-E>9IYI=M@FyMׇDUEU>YQ 5e4]y?Q 9e4])]{BQ Ae :YaQ EeB:yaQ Ie?]CIYi]Q?]R4yuBɮuAqDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd`]3@颍ZBɢTA) i)顙iC/AHRS rotation from veh to nav: [[0.535793,-0.824793,-0.180671],[0.837202,0.546735,-0.013152],[0.109627,-0.144211,0.983456]]2H8%?d8 ǿ`\?~?P }?u¿xx?i2H?I2x];0YFOByFIaeae aeae amam amam imMb@Mb@Mb@iiii i9mB`"?~jtxMb`?Ym.?ymĻm;mAm@ mbA)m@iYm= AbDVDy% =ٔ!pQ->9Y=@FyD9E>Q 54Ɖ?Q 94ّ)|BQ AT:Y.?Q E:y@~?Q I?CI;i;[4yɮ%ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffUBdddjdZd3@5qBɢ5j:)1 =Ci9)=v99i=ByB}rIB}BB} =ByB}DB}E;B}9E^A} < A .AI I O >j%},c?AR=H?R ?R]ٱR ZAHRS rotation from veh to nav: [[0.536560,-0.823051,-0.186252],[0.836208,0.548241,-0.013720],[0.113404,-0.148384,0.982406]]RH+?pVǿ6?1?P?@?¿o?iR=H?IR:^;PYbEBybI ddlbDnVDn1yvԼ%vV=ٔz"Q-z>9z ?Y~ ?=~@Fy~DKE> Q 5 4 ?Q 94 !) <|BYy}?Q I? ڌCI Hn},?AppM&G?M?MٱM ]AHRS rotation from veh to nav: [[0.537760,-0.820962,-0.191929],[0.834892,0.550227,-0.014297],[0.117341,-0.152552,0.981305]]MHT5? QE@ȿ`p?v?G ?@φÿ@f?iM&G?IM^;MڑCYmJBymIiMb@Mb@Mb@ 9?)\({Gz?Yf&?yGa#<AV@ A)@Yp A  AAbD VD k1y<%=ٔ%Q-%>!9-"?Y-"?=-@Fy-D5[E5>9Q 5E4=֦?Q 9E4=,)=n|BYE'?Q EM:yMj?Q IU?=CI=v;i= ;=k4yyɮ}Ay=DNOT Ignoring new targets: 66.13 m.hAhA*hA"hA hAgAfAfIfM9BdIdQdQjdQZdU n4@Bɢ?) i)5iPBA BE eIBE BBE =BA BA BE ;;BE }9EB{F~, ?A2_gG?2=?2dٱ2 :AHRS rotation from veh to nav: [[0.538741,-0.819363,-0.195964],[0.833597,0.552117,-0.016797],[0.121958,-0.154306,0.980467]]2H]=?@98\ɿ@Ԭ??+3@8?Oÿ_?i2_gG?I2^;2בCYBCByBIbDNVDNyR%Vh=ٔVAXQ-V>9XYX=Z@FyZD^DE^>`Q 5b4b~?Q 9f4bq)b|BYdyfEj?Q Ij?b"CIb ;ib ;bq4ynBɮnAnEDNOT Ignoring new targets: 66.13 m.hh*h"h hg f ffdddjdZd`!5@EBɢEo)I MO!iI)MQQiU) gi~,H#?AE2 E2E0E0"E2y>;*E2:VE0ZE0BE2U9lYl=n@FynDrEr>tQ 5z4v?Q 9z4vz)v|BYxyzi?Q Iz?vDCIv:iv :vx4yɮmA-DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE`5@mBɢmn])q u$#iq)u.`"yyi} i ~, =?A 2ҡF?2Lx~?2 ٱ2A" >AHRS rotation from veh to nav: [[0.540516,-0.816201,-0.204105],[0.830839,0.556026,-0.023257],[0.132470,-0.157008,0.978673]]2H`K?P ʿ`9Y=@Fy DBE>Q 54Ω?Q 94Eu)|BYL%?Q E:yf?Q I?gCI ;i? ;4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgfff6BdddjdZd5@iDqzDuAAE}  E}E}-Ey"E}E;*E}:VE}t4ZEya@a@a@a@颕ԄBɢT) i$i)>E,顙i]B=CBBB =BBB8;B|9EE9@A @A@E/@Aԙ^Am < A I! I1 OE >r~,{V?AXY{ByIbD%VD%βyUU=%]T=ٔ]Q-]>9YYa=e@FyeDeEe>Q 54۩?Q 94p) }BYyQ I?CI:i:k4yBɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd]6@]Bɢ]h>n)Y ]$iY)e3aaie 4=(~,p?A}E?}l}?}ٱ}# AHRS rotation from veh to nav: [[0.543100,-0.812797,-0.210722],[0.827396,0.560785,-0.030587],[0.143031,-0.157739,0.977067]]}Ha?n ʿz??R N?0Ŀ"D?i}E?I}2^;yYBy-I ==iMb@Mb@Mb@ 9RQ?)\(9Y=@FyDE>Q 54驊?Q 94lj)\}BYm#?Q E:y{i?Q I?CI ;i:4yBɮAE DNOT Ignoring new targets: 66.13 m.h h *h "h  h gfff&BdddjdZd6@MBɢM6a)Q U%iQ)U)7=QQiUB! B% ~IB% BB% =B! B! B% :;B% 9Eԙ Aq Iy I O >}"~,*p?A2;E?2`}?2sٱ2# >AHRS rotation from veh to nav: [[0.543802,-0.811614,-0.213453],[0.825986,0.562610,-0.034899],[0.148415,-0.157331,0.976330]]2H f?@jR˿yn??SޡE?`h#Ŀ>?i2;E?I20^;2ؑCYFByFIIHHbDrVDrfyv>%zm=ٔz Q-z?9xY|=~@Fy~$D~]E?Q 5 4?Q 94e)}BYyi?Q I?ƍCI-:i:"4yBɮ%A%EMDNOT Ignoring new targets: 66.13 m.hIhI*hI"hI hIgIfQfQfQdQdYdYjdYZd]&7@y颕 Bɢ־w) $i)؅D顙i  ?(~,jK?AE6 E6E6/E4"E6I@;*E6:VE6J4ZE4BE6BMD?Bɶ|?B1ٱBJ% JAHRS rotation from veh to nav: [[0.544496,-0.809991,-0.217805],[0.824529,0.564532,-0.038168],[0.153873,-0.158804,0.975246]]BH`l? r ˿b???SĿ`65?iBMD?IBX];BّCYRByRUIbDZVDZybY:=%fM=ٔfbQ-f>9dYh=j@Fyj,DjeEj>lQ 5r4n?Q 9v4n`)n}BYtyvh?Q Iv?nCIn$:in:n4yxɮzA|}DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd "7@ Bɢ i) *&i)5sM11i53A>A I I O >Y F.~,$&?A2vD?2X|?2#ٱ2<% :AHRS rotation from veh to nav: [[0.545200,-0.808623,-0.221100],[0.823030,0.566433,-0.042131],[0.159307,-0.159002,0.974341]]2HGr?@> L̿BV?8 ?;(d? +ZĿ-?i2vD?I2];2ؑCYF ByF}IIJ<)J4%EC=ٔEVQ-E>9IYI=M@FyM4DU_EU>YQ 54]2?Q 94][)] ~BY(?Q E:y>p?Q I?]C1I]=;i]o9<]n4yAɮEAAmDNOT Ignoring new targets: 66.13 m.hihi*hi"hi higqfqfyf}lBdydydjdZd@l7@颵/BɢeJh) ~$i)gV项i'BBIB5BB =BBBA;B9Em9@i @i@m/@ia^Ah%<ԙ%=A I I O Թ !5~,2?A:)D?:{?:4)ٱ:R' FAHRS rotation from veh to nav: [[0.545852,-0.807021,-0.225307],[0.821578,0.568305,-0.045160],[0.164488,-0.160457,0.973241]]:Hw?`̿]J?/?4@ ? ډĿ`$?i:)D?I:'];:ڑCYR'ByRI XZ4<bDZVDZN2yb>%fR=ٔf]Q-f>9hYh=j@FyjlQ 5r4n?Q 9v4nU)nH~BYtyvo?Q Iv?n(CIn:in=:n94yzBɮzA~E%DNOT Ignoring new targets: 66.13 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5[8@e?Bɢew)a m#ii)m8]iiimb1 ;~,?AC?({{?^3ٱ{* AHRS rotation from veh to nav: [[0.546530,-0.804154,-0.233756],[0.819004,0.571500,-0.051179],[0.174747,-0.163476,0.970947]]H@-}? `Ϳ`H5?@I?@!4^?Ŀ`?iC?I^;בCY@ByIiMb@Mb@Mb@ 9S?y&1|y&1?Y/?y`廙`e=A@ A)@Y=AbDVDk2y =%.=ٔQ->9Y=@FyFDZE>Q 54*?Q 94O)~BY/?Q E:yg|?Q I?PCI:i:h4yBɮ(AEDNOT Ignoring new targets: 66.13 m.hh*h"h hgff!f%oBd!d)d)jd)Zd-`8@]TBɢ]La)Y ]j"ia)e7gaaieB B IB rBB B B B S;B 9EAU .AIY Iq O} >1B~, ?AYvbByvI xxbDVDy@>%j=ٔQ->9 ?Y ?=@FyMD%E%>)Q 554-4?Q 954-I)-~BY1y1Q I5?-mCI-:i-w;-4yEBɮEAEEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd}.9@cBɢjz) , i)niH~,%?AE$ E&E&+E$"E$*E&:VE& [4ZE$BE&+9 "?Y "?=@FyVDE>Q 5%4DB?Q 9%4C)(BY)y)Q I-?CI:i7:4y1ɮ=>A9eDNOT Ignoring new targets: 66.13 m.haha*ha"ha hagafififididqdqjdqZd}9@颥wBɢi) ;i)]w顩iA5nO~,m??A6vC?6fM{?6)>ٱ6hM, BAHRS rotation from veh to nav: [[0.546060,-0.802457,-0.240585],[0.817063,0.573564,-0.058589],[0.185006,-0.164580,0.968858]]6H Ry?@}ο`%?Z?@TD?ſ?i6vC?I6a9^;4YJByJ1Ili%Mb@Mb@Mb@!!!! !9%x?{Gz?y&1?Y%K7?y%ף%uR=ٔ}ۼQ-}>9Y=@Fy]DE>Q 54N?Q 94=)qBY7?Q E:y?Q I?CI ;iq ;Ǝ4yɮ7AmDNOT Ignoring new targets: 66.13 m.hihi*hq"hq hgfffǀBdddjdZd w:@Bɢkm) bi)irByB}YIB}BB} =ByByB}o;B}9EB==CB==CB=ÓCB=á =B=á =C=5E  EE-E"EE;*E:VEt4ZEBE<2E<JE 3<:E 3< m9@i @q@u0@q1^A#2;A?A>a A I I O >V~,MLY?A2'C?2\{?2Cٱ2- :AHRS rotation from veh to nav: [[0.545317,-0.801922,-0.244027],[0.816362,0.574150,-0.062482],[0.190214,-0.165142,0.967753]]2H`=s?@YJ<Ͽ ? p_?`X?c#ſ?i2'C?I2^;2ّCYVByVUIIZ4=)Z<\\bDbVDbyj$>%jU=ٔjbQ-n>9lYl=r@FyreDr:Er>tQ 5z4vY?Q 9z4v7)vBY|y~?Q I~?v׎CIv@;ivL;v͎4yBɮGAEAeDNOT Ignoring new targets: 66.13 m.haha*ha"ha hagafififididqdqjdqZduc:@颥Bɢ6)y) i)Ҡ顩i3 ;\~,Ls?A\ɰ^4<ԉY΀BymIi Mb@Mb@Mb@     9 p= ף?J +?y&1?Y E?y H=  A  A) (@ Y GA %<%<bD%VD%1y5=%5)=ٔ=Q-=>9AYA=E@FyEoDEEM>IQ 5U4Mh?Q 9U4MG/)M BY] F?Q E]:y]?Q I]?MCIMK ;iM ;M֎4yeBɮm AmEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfff݀BdddjdZd`:@Bɢvc) i)Pfis3 c~,G?AY-By-IbDEVDEyD>%f=ٔQ->9Y=@FyvDE>Q 54s?Q 94$))0BYy Q I ?'CIm;if;B܎4yɮ% A%E]DNOT Ignoring new targets: 66.13 m.hYhY*hY"hY hagafafifidididijdqZdu :;@额BɢPz) i)顩i:i ^Ci~,<ڦ?A6D?6|?6uSٱ6*EB EBEB)E@"EBC;*EB:VEBFA4ZE@aJ@aJ@aJ@aJ@ JAHRS rotation from veh to nav: [[0.539833,-0.803751,-0.250130],[0.816419,0.572303,-0.077000],[0.205039,-0.162644,0.965146]]6H OF?S`!п ?@OP?@=`>? Ŀy?i6D?I6];6֑CYRByRI TTZ=Z=bDbVDb0yz>>%zY=ٔz$Q-z>9|Y|=~@Fy~~DUM<E> Q 54 ?Q 94 ") WBYy,?Q I? KCI p:i : 4y!ɮ% A!MDNOT Ignoring new targets: 66.13 m.hIhI*hI"hI hQgQfQfQfQdYdYdYjdaZde;@颍ͅBɢTCx)< i)顑iԱ G+p~,?A2gE?2|?2kXٱ2i+ :AHRS rotation from veh to nav: [[0.538024,-0.804084,-0.252941],[0.816409,0.571761,-0.081034],[0.209779,-0.162905,0.964082]]2H }7?@`-0п@ ? K? ?Ŀ ?i2gE?I2^;2ؑCYB+ByBIiuMb@Mb@Mb@qqqq q9uK7A`?l?V-?YuK?yu=um=uAuV@ uA)u@qYu3A@AbDVDy=%@=ٔf:Q->9Y=@FyDl;E>Q 54?Q 94)BYnL?Q E:y;?Q I?uCI.+;i*;:4yɮ ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBd d d jd Zd <@颽߅Bɢm) }i)i Z;*E:VE [4ZEBEUQ Wv~, ?A2vE?2RM}?2']ٱ2* :AHRS rotation from veh to nav: [[0.536383,-0.804589,-0.254812],[0.816315,0.571255,-0.085428],[0.214297,-0.162185,0.963210]]2H *? 2`Nп@? G?޵n? {Ŀ?i2vE?I2^;2ّCYJEByNIbD^VD^ܲyfn>%fX=ٔj_HQ-j>9hYh=n@FynDni;En>pQ 5v4r򖪊?Q 9v4r>)rBYxyzk?Q Iz?rCIr:ir :r4yuBɮuJ A}EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd`vj<@Bɢwt) qi)KdiKA> aaIcG 9 I9 } {9y Y} eAԁ O > = <|~,zm?A4vomF?vC~?v|fٱvַ, -AHRS rotation from veh to nav: [[0.532208,-0.805436,-0.260821],[0.816640,0.569646,-0.092752],[0.223281,-0.163633,0.960921]]vH?"Jп!?:?|?Ŀݿ?ivomF?Iv`#^;vבCYYByII%=)%99Y9==@Fy=DE;EE>IQ 5U4M>?Q 9U4M0 )MBYU>S?Q EU:y]n?Q I]?MˏCIM ;iM\ ;MB4yeBɮe AeEԉDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZd <@Bɢch) Zi) ۛi9!Y!=%@Fy-D-E->1Q 5=45J?Q 9=45L)5BYAyAQ IE?5CI59:i5:54yMBɮM- AMEuDNOT Ignoring new targets: 66.13 m.hqhy*hy"hy hygyfyffdddjdZd`Z=@颽Bɢ Ii) i)Xi¥~,f0?AJ]F?J~?JnٱJv- VAHRS rotation from veh to nav: [[0.529478,-0.805714,-0.265477],[0.816201,0.569142,-0.099466],[0.231236,-0.164018,0.958972]]JH{?h@пP? j6?`v`$?`Ŀ?iJ]F?IJrq^;HY^By^\IbDfVDf1ynl>%nO=ٔrzQ-r>9pYp=v@FyvDv;Ev>xQ 5~4z뾪?Q 9~4z)zDBYy?Q I?z$CIz;iz;zl4y ɮ J A 5DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd%=@U*BɢUBs)Y ]1iY)] JYYi]E3B B IB BB =B B B ;B 9EE  E E (E "E E;*E :VE c44ZE BE Rb~,1N?A2>G?2M?25rٱ2PD. :AHRS rotation from veh to nav: [[0.528110,-0.805788,-0.267965],[0.816040,0.568863,-0.102340],[0.234899,-0.164623,0.957978]]2HG?@U&ѿ?`4?2@,? aſ ?i2>G?I2_^;0YBByBsIi]Mb@Mb@Mb@YYYY Y9]:v?Dl?Zd;O?Y]T?y]O=]j<=]| A]@ ]A)]@YY]AbDVDky Ś=% $=ٔ&Q->9Y=@FyD;E%>!Q 5-4%Ϊ?Q 954%)%BY5 V?Q E5}:y5?Q I5?%WCI%@:i%:%4yAɮEAAmDNOT Ignoring new targets: 66.13 m.hihi*hi"hi higqfqfqfu#BdydydyjdyZdx?>@颭=Bɢ`k)2&< Ci)顱iԁ ၙ~,ng?A6tyG?6O?6C|vٱ6- BAHRS rotation from veh to nav: [[0.526919,-0.806112,-0.269333],[0.815798,0.568585,-0.105757],[0.238391,-0.163997,0.957223]]6H?<ѿ? 1??`Ŀ ?i6tyG?I6^;4YJByJIRAARAAbDVVDVyZg=%Ze=ٔ^$Q-^>9`Y`=b@FybDb#;Ef>dQ 5j4f٪?Q 9n4f)fBEr ErEpEp"Er=;*Er:VEpZEpaz@az@az@az@Ylyz?Q Iz?f|CIf;if;f\4yŒBɮAE-DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE`>@mLBɢm聾)q uBiq)u&qqi}L i~,?A2מG?2Pu?2Dyٱ2- :AHRS rotation from veh to nav: [[0.526035,-0.806216,-0.270744],[0.815451,0.568541,-0.108630],[0.241509,-0.163635,0.956502]]2H@H?Sѿ,?}1?2ϻ?Ŀ ?i2מG?I2p^;2ّCYBÁByBIiEMb@Mb@Mb@AAAA A9E(\?p= ף?Mb?YEzT?yE=E@=Ef AE^@ EKA)E@AYE@bD]VD]ye=%m?=ٔmQ-m>9qYq=u@FyuĈDuS:E>Q 54 窊?Q 94)܁BYxU?Q E~:yC?Q I?CI ;i. ;4yɮ ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfff BdddjdZd@n?@ ^Bɢ Fx) [i)'iFBBB( IB6BBBBB;B9EBBBBBC%:49@ @@5@@@E EE*E"EC;*Er:VE(N4ZEBE@I9IIOU>1 ~,?A2G?2?2ڣ|ٱ2@- :AHRS rotation from veh to nav: [[0.525334,-0.806319,-0.271797],[0.815094,0.568548,-0.111238],[0.244223,-0.163103,0.955904]]2H?] eѿA?1?@zB?ĿÖ?i2G?I2S^;2בCYBہByBIHJAbDNVDN0yV=%VW=ٔVTQ-Z>9XYX=Z@FyZ̈D^:E^>`Q 5f4b?Q 9f4b)b BYdyfR?Q Ij?bΐCIbd:ib|:bu%4ylɮnMAlDNOT Ignoring new targets: 66.13 m.hh *h "h  h g f ffdddjdZdm?@oBɢb^})  ri )   i G~,?Ap5G?5y?5nٱ5f, MAHRS rotation from veh to nav: [[0.524768,-0.806300,-0.272944],[0.814663,0.568687,-0.113664],[0.246867,-0.162711,0.955292]]5H?`6wѿ? 2? W?Ŀ?i5G?I5R^;5ԑCY]By]IiMb@Mb@Mb@ 9m?y&1??YN?y`e=L=" A@ 5A)f@Y@ QU<bD]VD]fymV^=%m=ٔmQ-m>9u ?Yu ?=u@Fyu׈D}9E}>Q 54?Q 94)MBY{O?Q E:yU?Q I?CI ;i ; /4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZd?@ Bɢ \l)  :i )VḽiBIBMf IBMiBBM =BIBIBM;BM9E1E] E]E]+EY"E]a?;*E]#:VE] [4ZEYBE]~,?A6)G?6?6%ٱ6. >AHRS rotation from veh to nav: [[0.524191,-0.805646,-0.275968],[0.814209,0.569101,-0.114842],[0.249575,-0.164496,0.954282]]6H`,?`tѿ` ?`6?Kf@?4ſ`y?i6)G?I6<^;6֑CYFByFIbDRVDR:yVϬ=%Vn=ٔZ|Q-Z?9Z"?Y^"?=^@Fy^ވD^l<:Eb?`Q 5f4bI?Q 9f4b)bwBYhyjb?Q Ij?b'CIb:ib:b 54y%ВBɮ%A%}EMDNOT Ignoring new targets: 66.13 m.hIhI*hI"hQ hQgQfQYfQfydydydyjdZd (@@Bɢ) 5i)Di7ԱE  E E *E "E y>;*E :VE (N4ZE a @a @a @a @ ^A 7ƙ<A% gAzA! A I I O >6׻~,ҩ?A2{G?2?2fٱ21 >AHRS rotation from veh to nav: [[0.524402,-0.804446,-0.279051],[0.813344,0.570227,-0.115381],[0.251940,-0.166459,0.953319]]2H`?@ѿ?K??@?`Nſ?i2{G?I21^;2בCYFByFI HHbDNVDNyVW=%V4=ٔZ԰Q-Z>9XY\=^@Fy^D^E^>`Q 5f4b-?Q 9f4b)bBYhyjR?Q Ij?bTCIb:iby);b<4ypɮrAr~E DNOT Ignoring new targets: 66.13 m.h h *h "h  h gfffdddjd!Zd%@`@@MBɢMU}) i)]!i%٦B B IB BB B B B ƒ;B :EO >bE(N4jErO4rE˅0E  E E 0E "E *E &:VE 4ZE BE U9QYY=]@Fy]DeOEe>qQ 54u8+?Q 94uӻ)uBYK?Q E:y?Q I?uCIuDw;iu9j;uD4yɮADNOT Ignoring new targets: 66.13 m.hh*h"h hgff!f%̀Bd!d!d)jd)ZdM@@额Bɢy)  i)Ľ顡i:<iՆ<~,N%?A6YG?6J0?6rٱ6x0 BAHRS rotation from veh to nav: [[0.524900,-0.803438,-0.281013],[0.811813,0.571787,-0.118409],[0.255813,-0.165977,0.952371]]6H?µ@ѿ@^?@L? P?_?>ſy?i6YG?I6^;4YJ=ByJ1 IbDrVDrNyz1>%zX=ٔ~Q-~>|9Y=@FyD dE >Q 546?Q 94)BYy%؃?Q I%?CIr;i;;K4y)ɮ-A-EUDNOT Ignoring new targets: 66.13 m.hQhQ*hQ"hQ hYgYfYfafadadadajdiZdmg@@颕ņBɢn[) i)4Ƚ顡i.|Au>ԉ A .AI I OE >~,-??A:cHG?:?:/\ٱ:?X1 FAHRS rotation from veh to nav: [[0.524868,-0.802943,-0.282482],[0.811289,0.572325,-0.119389],[0.257534,-0.166511,0.951814]]:H?@.ҿ? }P?@n{??y%94%@=%&A%f@ %9 A)%@!Y%\@bD=VD=N2yM=%ME=ٔMiQ-U>9U ?YU ?=U@FYyUDe'Ee>iQ 5u4m~D?Q 9u4m>)mFBYu??Q Eu:yu!~?Q I}?mȑCIm;im%;m}R4yےBɮfAuEMDNOT Ignoring new targets: 66.13 m.hIhI*hI"hI hQgqfqfyf}BdydydyjdZdA@׆Bɢ(+) %i)s ̽i0BB IBĂBB =BBBƃ;B:E@ @@@E EE+E"Ea?;*E:VE [4ZEBE~,Y?A2F?2r~?2ٱ22 :AHRS rotation from veh to nav: [[0.525731,-0.801646,-0.284551],[0.810280,0.573760,-0.119358],[0.258947,-0.167816,0.951201]]2H?`6ҿ?@>\?8?zſ>p?i2F?I2`Z^;0YZ_ByZZ I b49r"?Yv"?=v@FyvDv]Ev>xQ 5~4z3Q?Q 9~4z.)zvBYy}?Q I?zCIz';izU;zKY4y ɮ A vE=DNOT Ignoring new targets: 66.13 m.h9h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`k0A@额Bɢ) i){Ͻ顡i)T9 O!~,r?A6F?6\~?6ٱ63 FAHRS rotation from veh to nav: [[0.526281,-0.800683,-0.286241],[0.809420,0.574870,-0.119850],[0.260514,-0.168614,0.950632]]6H@L?2Qҿ?Ue? @A?'ſk?i6F?I6i^;4YNtBy t IbDVDky=%?=ٔwQ->9 ?Y ?=@FyDuE>Q 54:`?Q 94)BYy}?Q I?CI=:i:Va4yɮ;ADNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjd Zd ZkA@5Bɢ=o)9 =ti9)=ӽAAiEVB B !IB BB =B B B ;B 9EAY Ia Iy O >ԙ E  E E *E "E D;*E :VE (N4ZE BE њ~?B<ٱBH3 NAHRS rotation from veh to nav: [[0.527128,-0.799921,-0.286815],[0.808688,0.575891,-0.119887],[0.261074,-0.168748,0.950455]]BH:?@,[ҿ?m?尾o?ſ@ j?iBgF?IB X^;BԑCYVByV I XX^=^=iMb@Mb@Mb@ 9"~j? rhQ?YSC?yC\=A@ )@Y3@bDVDfy->%-@=ٔ5Q-5>91Y1==@Fy=D=0E=>AQ 5M4Em?Q 9M4EěQ)EރBYUC?Q EU:y]z?Q I]?E:CIE4;iE2;E XC~,#ڦ?AY%By% I9=@AbDEVDE:yM%>%UZ=ٔUQ-U>9]"?Y]"?=]@Fy] DeEe>iQ 5m4mz?Q 9u4mЕ)m BYqyqQ Iu?m]CIm):im:mn4yܒBɮgAwEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZdA@E EE,E"E*EZ:VEg4ZEa@a@a@a@ԱBɢ.)  i)%0۽!!i%A s/~,?A:oF?:}?:#ٱ:+4 BAHRS rotation from veh to nav: [[0.527796,-0.798892,-0.288451],[0.807470,0.577287,-0.121376],[0.263485,-0.168854,0.949771]]:H?uҿ? #y?`w`?ſ d?i:oF?I:P^;:ӑCYJÂByJ IiMb@Mb@Mb@ 91Zd?X9v/$?Y";?y,=z@n@ |A)@Y@bDVD y*=%D=ٔ,ĻQ->9Y=@Fy)DGE>Q 54?Q 94)>BY;?Q E:y\u?Q I?CIA >ԑ A I I O >~,0?ABE?Bj}?BٱBe1 AHRS rotation from veh to nav: [[0.528737,-0.798564,-0.287631],[0.806155,0.578514,-0.124243],[0.265615,-0.166184,0.949648]]BHj?֍ hҿ`?.?aο@?Eſc?iBE?IB_;BבCY%ނBy% II-=)-=bD]VD]:ym=%m<=ٔm_Q-m>9qYq=u@Fyu2D}rkE}>Q 544?Q 94)tBYyt?Q I?CI1;i2;}4yBɮFAnE)UDNOT Ignoring new targets: 66.13 m.hQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZdeH=B@颕7Bɢo) 2 i)顙iQ:VE}(N4ZEya@a@a@a@ԉ^Au \<A I I O >Թ M~, ?A6jE?6V}?6Pٱ6[ 2 BAHRS rotation from veh to nav: [[0.529173,-0.797901,-0.288668],[0.805598,0.579266,-0.124352],[0.266436,-0.166747,0.949319]]6H?h yҿ u?@X?տ K ?Wſ`?i6jE?I6`;6ّCYJByN$!I PRbDVVDVy^I>%^_=ٔbQ-b>9`Y`=b@Fyf9DfEf>lQ 5r4n?Q 9r4n)nBYpyvt?Q Iv?nɒCInp:in:n4yɮ>@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZdlB@ FBɢ q) \i)fi@Ba Be !IBe qBBa Ba Ba Be ;Be 9Eԁ AQ Ia Iq O >D =D =E  E E E "E 77;*E :VE ZE BE %8=ٔ cߺQ- >9 Y =@FyBD E>Q 5%4?Q 9%4})ׄBY-G ,G)?A:GE?:|?:ٱ:2 BAHRS rotation from veh to nav: [[0.530468,-0.796469,-0.290243],[0.804193,0.581109,-0.124849],[0.268101,-0.167183,0.948774]]:H`? |Vҿ?q?(?@fſ [\?i:GE?I:ّa;:בC`YbOByf!I ddbDn VDn:2yvS>%v^=ٔv,Q-z>9xYx=z@FyzJD~,E~>Q 5 4/?Q 9 4w)BY ys?Q I?CIF:i:I4yiɮm@iDNOT Ignoring new targets: 66.13 m.hh*h"h hE  EE(E"EC;*E:VEc44ZEa@a@a@a@gfffdddjdZd B@]fBɢe')i mi)顑iqa ,C?A6D?66|?6ٱ6]2 >AHRS rotation from veh to nav: [[0.530540,-0.796329,-0.290496],[0.803753,0.581461,-0.126033],[0.269275,-0.166621,0.948540]]6H .?`{zҿW?T?!;?SſpZ?i6D?I6HKb;6ՑCYZmBy^!I)iUMb@Mb@Mb@QQQQ Q9U ףp= ?QI +?YUQ8?yUuU94=Ul@U@ UA)U@QYU@m@AibDuVDu:y5>%A=ٔ9Y=@FyRD!BE>Q 54̫?Q 94>q)7BY8?Q E:yz?Q I?6CIU:i:4yɮ@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZdC@额tBɢ) i) 顡i2BB"IBƒBB =BBB;B9EM9@I @I@M0@IaD zD @AbEQjEUOS4rEU١/E EE*E"E1A;*E :VE(N4ZEBEP,a]?A6^D?6֮|?6Kٱ631 >AHRS rotation from veh to nav: [[0.530598,-0.796137,-0.290915],[0.803271,0.581858,-0.127269],[0.270595,-0.166155,0.948246]]6H`?yZҿe??WJkQ?DſX?i6^D?I6<c;6֑CYFByF!IbDNVDNܲyVO>%VY=ٔZ>nQ-Z>9XYX=Z@FyZZD^bE^>`Q 5f4bث?Q 9f4bk)bfBYhyjy?Q Ij?bWCIb9:ibR:bC4y]Bɮ]@]fEyDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd :C@ Bɢ )  i)~-11i5vQ E  E E)E"ED;*E:VEFA4ZEa%@a%@a-@a-@^A-h%<A5>A5>ir9YV]AA I I O > +,-?w?A2D?21|?2ٱ2/ >AHRS rotation from veh to nav: [[0.530967,-0.796126,-0.290272],[0.802561,0.582394,-0.129278],[0.271974,-0.164319,0.948172]]2H?y@Гҿ ??,h?dſ lW?i2D?I2c;2בCYFƃByF"IIH)Jp;bDNVDNyVt>%VJ=ٔZjhQ-Z>9XYX=Z@FyZbDbEb>dQ 5j4f嫊?Q 9j4fe)fBYlyny?Q In?fzCIf;if;fX4ypɮr@t DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZd@nC@ Bɢ }E) 5i1)5R99i=E%  E% E! E! "E% [I;*E% :VE! ZE! BE% %7=ٔdQ->9Y=@FykDE>Q 54?Q 94_)҅BYԙ M*,4?A>KD?>2"|?>ٱ>, NAHRS rotation from veh to nav: [[0.531671,-0.795914,-0.289565],[0.801152,0.583519,-0.132897],[0.274741,-0.161328,0.947888]]>H`r?x9ҿ?0?@Z?cĿ@U?i>KD?I>d;>ԑCYZ"ByZ"IbDfVDfyrR>%v\=ٔvPgQ-v>9z ?Yz ?=z@Fy~sDE EE*E"EO;*E:VE(N4ZEa@a@a@a@=tE=>AyQ 54Ex?Q 94EX)EBYyu?Q I?EƓCIE@[1,?A> D?>{?>Aٱ>o, FAHRS rotation from veh to nav: [[0.532304,-0.795114,-0.290598],[0.800337,0.584534,-0.133343],[0.275887,-0.161597,0.947509]]>H?`q&ҿ \??@a "?@6ĿQ?i> D?I>Xd;>ՑCYNEByN"Ii%Mb@Mb@Mb@!!!! !9%T㥛 ?Mbpy&1?Y%A?y%%`e=%t@%@ % @)%3@!Y%@bD=VD=J2yU|$>%U?=ٔU6Q-U>9]"?Y]"?=]@Fy]{De,Ee>aQ 5u4e?Q 9u4eRQ =utI)eB1B5"IB5BB1B1B1B5̓;B1ԁ颕Bɢo+) ޿i)r顡iZ f~7,Yn?A2C?2g{?22ٱ2N. :AHRS rotation from veh to nav: [[0.533076,-0.793965,-0.292318],[0.799483,0.585768,-0.133052],[0.276869,-0.162777,0.947020]]2H?@(hWҿ]? ?@9?Ŀ@M?i2C?I24d;2ԑCYBoByB"IJAAHbDNVDNfyV[>%VW=ٔV/Q-V>9XYX=Z@FyZDZGE^>Q 54\?Q 94L)rBYy}?Q I?CI_:i:1ď4yBɮ@_EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZdBD@χBɢ dw)   ؿi )M)QQiUxu~=,ZI?ABVzC?BP{?B8ٱB. JAHRS rotation from veh to nav: [[0.533712,-0.793147,-0.293377],[0.798676,0.586784,-0.133422],[0.277972,-0.163104,0.946641]]BH`*?uaҿ??L? Ŀ`J?iBVzC?IB]e;BӑCYRByR#IbD^VD^N2yEtJ>%EA=ٔM1Q-M>9IYI=M@FyUDU EU>YQ 5e4]u)?Q 9e4]OF)]BYiymS}?Q Im?]2CI][:i]:],ˏ4yqɮu4@qDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZdrD@e݇Bɢey)a eпii)mCqiiim@<*;IIQ-9@1 @1@=/@9@Q@UgAyBEf>BEAu>Ա IY Iq O >Em  Em Ei Ei "Em US;*Em :VEi ZEi BEm [%3=ٔ,Q->9Y=@FyDDE>Q 547?Q 94 ?)BY6C?Q E:y?Q I?\CI:i: ӏ4yBɮ J@ 5DNOT Ignoring new targets: 66.13 m.h1h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdED@}Bɢ}n)UZ)< ȿi))顁i i I AJ,1-?AFB?F(z?F4ٱFk0 VAHRS rotation from veh to nav: [[0.535137,-0.791211,-0.295996],[0.797075,0.588979,-0.133320],[0.279820,-0.164587,0.945839]]FH`? Qҿ??@?`-ſQD?iFB?IF(e;DY^By#I <p;bDVD:yBy>%Z=ٔeQ->9Y=@FyD}UE>Q 5 4C?Q 9 4E EE-E"EL;*E:VEt4ZEa@a@a@a@9)BY!y%?Q I%?~CI;i;ُ4y)ɮ5_@1]DNOT Ignoring new targets: 66.13 m.hYhY*hY"hY hYgafafafadadidijdiZduD@Bɢ r) i)%!!i%\ Q,F?AY=By=#IԙBA<Bd>BB$IBYBB =BBB;B9EiMb@Mb@Mb@ 9}?5^I?+?S㥫?YMB?y=/]=|@3@ @)~@Yp@bDVDy-->%-G=ٔ-Q-5>91Y1==@Fy=D=E=>AQ 5M4E\P?Q 9M4E^2)EPBYM C?Q EU:yU?Q IU?ECIE ;iE ;E4y]Bɮ]?@]`EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffڀBdddjdZd E@ Bɢ!o) ,i)=iΚ?i6kB?I6[De;6ґCYF@ByF#IbDRVDR:yZI>%Zf=ٔZ:Q-Z>9\Y\=^@Fy D E>Q 54t[?Q 9%4i,)BY!y%?Q I%?ŔCIj;i;@4y- Bɮ5@5WE]DNOT Ignoring new targets: 66.13 m.hYhY*hY"hY hYgafafafadididijdiZdm`H@E@额Bɢ q) vi)M顡ip^,{~?A8B[AB?Bz?BٱBT5 JAHRS rotation from veh to nav: [[0.536949,-0.788075,-0.301037],[0.795273,0.591916,-0.131058],[0.281472,-0.169036,0.944564]]BH.?72Dӿ@r?`?~?ſ`9?iB[AB?IBJd;BՑCYRgByR$IXXbD^VD^1yfr#>%f.=ٔfcƺQ-f>9hYh=j@FyjDnEn>pQ 5v4rai?Q 9v4r$)rBYtyv?Q Iv?rCIr:ir|:rB4y|ɮ~@|%DNOT Ignoring new targets: 66.13 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=`zE@e&Bɢmd)q }iy)l顁iBB$IBÅBB =BBB;B9E^AM#2:bEjER4rE5/E - E E ,E "E d;*E :VE g4ZE BE >e,B?A2B?2Dy?2gZٱ2Zk7 >AHRS rotation from veh to nav: [[0.537299,-0.787089,-0.302988],[0.794861,0.592683,-0.130092],[0.281969,-0.170935,0.944073]]2H1?/@&dӿo?A?@ئ ?1ſ5?i2B?I2d;2ԑCYFByFI$IliMMb@Mb@Mb@IIII I9M?kt?v/?YMfF?yM 0=Mxi=M@M©@ Mt@)M@IYM@bDiVDiyuH>%}@=ٔ}Q-}>9Y=@FyD=E>Q 54wv?Q 94)BY=G?Q E:y)?Q I?CI ;iG ;4y Bɮ@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZdcE@5Bɢe) i)ս !i%e۳D0m,Q?A>B?>,y?>Rٱ>ӧ8 JAHRS rotation from veh to nav: [[0.537297,-0.786736,-0.303905],[0.794882,0.592820,-0.129335],[0.281914,-0.172077,0.943882]]>H1?@,@/sӿo?a?` ?ƿH4?i>B?I>c;>ґCYRByRn$IbDZVDZJyb@>%b1=ٔb39Q-b>9dYd=f@FyfȉDj.7Ej>lQ 5r4n?Q 9r4n$)n5BYpyr,?Q Iv?nCCIn:in:n4yxɮz@xDNOT Ignoring new targets: 66.13 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5E@]EBɢe;a)a eia)e$ iiimݱB B $IB $BB B B B ;B 9E^A 9q E}  E} E} ,Ey "E} P;*E} O:VE} g4ZEy BE} Vt, t?A2=8B?2z?2ٱ28 :AHRS rotation from veh to nav: [[0.537080,-0.786974,-0.303674],[0.795228,0.592451,-0.128895],[0.281349,-0.172263,0.944017]]2H@/?@.coӿ`r?[?? ƿ`c5?i2=8B?I2 uc;0YB܅ByB$I1iUMb@Mb@Mb@QQQQ Q9Ux&?y&1?kt?YU7I?yU`e=U 0=U@U;@ U@)U@QYU@ e4%}0=ٔ}:Q->9Y=AFyщD\\:E>Q 54𒬊?Q 940)qBYJ?Q E:yʇ?Q I?oCIU:i<:4yBɮr@OEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZd'F@VBɢ8^) Ji)%# !!i%ͯԹ cz,JB?AFNB?F,%z?FDžٱF8 ZAHRS rotation from veh to nav: [[0.536961,-0.787239,-0.303197],[0.795640,0.592055,-0.128174],[0.280412,-0.172411,0.944269]]FH.?1@gӿ u??@gG?ƿr7?iFNB?IFc;DYnByn$IbD~VD~0yxO>%Q=ٔ#;Q-%>9)Y)=-AFy-ىD5:e:E5>AQ 5U4E?Q 9U4Eq)EBYQԙyUՇ?Q I?ECIEҵ,Z,?AzsB?ztIz?zC␾ٱz7  AHRS rotation from veh to nav: [[0.536715,-0.788237,-0.301031],[0.796226,0.591208,-0.128442],[0.279215,-0.170752,0.944925]]zH ,?@<9Dӿ@z?,? p?4ſBBn%IBBBBBB;B9EY̴@bD5VD5:yEK=%E8=ٔM8;Q-u>9qYq=}AFy}D}V:E}>Q 54?Q 94)܈BYXN?Q E:y,?Q I?CI;i;4yɮB@%DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g)f)f1f5ӀBd1d1d9jd9Zd=ĔF@ sBɢ]) i)n<iÂ<5:I9IQE%' E%E%)E!"E% _;*E%:VE%FA4ZE!BE%,*!?A>KB?>wz?>X+ٱ>A5 FAHRS rotation from veh to nav: [[0.536370,-0.789316,-0.298810],[0.796928,0.590227,-0.128603],[0.277874,-0.169151,0.945608]]>H)? B ӿ n?#?@v?ſjB?i>KB?I>!d;>ԑCYNCByN$%ITTbDZVDZf?ybE>%ba=ٔb'|;Q-b>9dYd=fAFyfDj};Ej>lQ 5r4nA?Q 9r4n?)n BYpyrA?Q Iv?nCIn :in:n4yzBɮz&@zPEDNOT Ignoring new targets: 66.13 m.hh*h"h! h!g!f!f!f)d)d)d)jd1Zd5 F@]~Bɢe.g)a eώia)eiiimԪԱ _%,"U;?A2)B?2z?2!pٱ2g/ :AHRS rotation from veh to nav: [[0.536288,-0.791276,-0.293730],[0.797460,0.589028,-0.130785],[0.276502,-0.164100,0.946899]]2HE)?!RzҿɄ?P?5?9ſ@L?i2)B?I2+te;0YBVByB;%IbDJVDJk1yr̺=%rI=ٔve;Q-v>9tYt=zAFyzDz?t:Ez>|Q 54~ Ŭ?Q 94~ )~A>BABBB%IBцBB =B>DBB~;B9EBE S E E +E "E ;*E VE [4ZE BE %uB=ٔu:;Q-u>9yYy=}AFy}DxW:E>Q 54Ѭ?Q 94)rBYI?Q E:yx?Q I?4CI ;iq ;A*4yBɮ@GEDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffɀBdddjdZd 2+G@Bɢ}\) i)ia9,o?A YeBye%I qubD}VD}1y@>%H=ٔQ->9Y=AFyDE>Q 54Jެ?Q 94)BYyQ I?[CI:i:E7 E,E(E"Em;*E;VEc44ZEa@a@a@a@`14yɮN@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdd d jd Zd _G@=Bɢ=Z)9 =iA)EAAiE|",0?APzB?zpz?z꧍ٱzf# AHRS rotation from veh to nav: [[0.537212,-0.794760,-0.282416],[0.797991,0.587360,-0.134979],[0.273155,-0.152853,0.949748]]zH 0?`nҿ#?`?Fa{? ÿVd?izB?Izge;zՑCYBy%IB}Z>B};CB})&IB}BB} =ByB}DB};B}9EiMb@Mb@Mb@ 9MbX? ףp= ?{Gz?YJ?yQ8=#=@@ @)b@Y\@bDMVDM0y]m >%]==ٔe;Q-e>9aYa=eAFye Dm/Em>qQ 5}4u 쬊?Q 9}4u^)u݉BYVK?Q E:yօ?Q I?uCIu:iuH:u84yɮq@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffBdddjdZdhG@UBɢUV)Y ]iY)elaaie aI,?A2QcB?29z?2Cٱ20 :AHRS rotation from veh to nav: [[0.537996,-0.795044,-0.280116],[0.797714,0.587587,-0.135623],[0.272419,-0.150488,0.950338]]2HC7?qkѿ`??\Oo?/Cÿ@*i?i2QcB?I2\e;2ԑCYBԆByB%I DDbDJVDJܲyr >%rf=ٔvF ;Q-v>9tYt=zAFyzDz3Ez>|Q 5 4j?Q 9 4B) BY y ?Q I?CI:ig:"?4y!Bɮ@HEEDNOT Ignoring new targets: 66.13 m.hAhA*hA"hI hIgIfIfQfQdQdQdQjdQZd]G@颅ˆBɢ]) wi)+G顉iZQE9 E2E,E"Eso;*E;VEg4ZEa@a@a@a@m PExceeded connect timeout, disconnecting.ԁ s,0?A2(B?2xy?2Oٱ2Z :AHRS rotation from veh to nav: [[0.538797,-0.794955,-0.278826],[0.797345,0.588048,-0.135800],[0.271918,-0.149152,0.950692]]2H=?FpIѿ ك?I?@ag?jÿl?i2(B?I20~e;2ґCYFByF%ILLbDRVDR02yZ >%ZN=ٔZ:Q-^>9\Y\=^AFybDbEb>dQ 5j4f?Q 9j4fr)fEUDNOT Ignoring new targets: 66.13 m.hQhQ*hQ"hQ hQgQYfQfyfydyddjdZd@xG@ЈBɢ4V) "pi)iGAA?ABT>B:CB&IB_BB =BBB;B9EԹ bEijEmʼP4rEm/E B E 4E -E "E w;*E ;VE t4ZE BE %5B=ٔ5r:Q-5>9E ?YE ?=EAFyE#DEEM>IQ 5U4ԹM??Q 94M|)MrBY I?Q E:yƀ?Q I?MCIMi9@ @@/@^Ayb];A>A> wj> CA ؟AI I1 Q O > - q9) Y- ]\Aņ,mX?Ay^.?^rAb%A?bx?b3ٱb" jAHRS rotation from veh to nav: [[0.542062,-0.791972,-0.280977],[0.795397,0.591423,-0.132523],[0.271131,-0.151653,0.950521]]bH`X? Wѿs?? 7Z?Ziÿj?ib%A?Ib e;bБCYr)Byr>&IIv<)v<bDzVDzJy=% M=ٔ  I:Q- >9 "?Y"?=AFy,DE>Q 5%4?Q 9-4)BY)y-?Q I-?CI:i(:bT4y1ɮ= @9eDNOT Ignoring new targets: 66.13 m.haha*ha"ha hagafififididqdqjdqZd}_H@E1 E-EE"E2h;*EK;VEZEa@a@a@a@uBɢ}V)y }`iy)}顁iiԙ p,h< ?AB%N>B%9CB%&IB%BB% =B!B%DB%;B%9EM>@?Mwx?M[ٱMI# ]AHRS rotation from veh to nav: [[0.543688,-0.790289,-0.282572],[0.794331,0.593236,-0.130798],[0.271000,-0.153343,0.950287]]MHe? Jҿ)k??@X?ÿh?iM>@?IMd;MёCYmNByml&IiiMb@Mb@Mb@ 9!rh?Zd;O?~jt?YlG?yj<D=ʩ@@ µ@)@Y@ ;p;bDVDky>%-=ٔr9Q->9 ?Y ?=AFy5DZE%>)Q 554-7/?Q 954-%)-BY5G?Q E5:y5~?Q I5?-HCI-:i-:-\4yAɮE@AmDNOT Ignoring new targets: 66.13 m.hihi*hi"hq hqgqfqfqf}cBdydydyjdyZdH@ Bɢ dL)9 xUi)Yi),#$?A2@?2ÿ``g?i2@?I2p`d;2ґCYBjByB&IbDnVDn:yvV >%vo=ٔvQ-z?9z"?Yz"?=~AFy~EuL Eu=Eu)Eq"EuW;*Eu;VEuFA4ZEqa}@a}@a}@a}@ ,k>?A4=Y By &I bD%VD%1y5>%5F=ٔ5Q-5>99Y9==AFy=DDEEE>IQ 5U4M3H?Q 9U4M)MDBYQyQQ I]?MCIM/;iM;Mi4ye1Bɮeκ@e7EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffdddjdZdH@Bɢ%DN) IFi)iiEB8CB<'IBBB =BBBX;Bs9E^A3I E G E EE *E "E &|;*E ;VE (N4ZE BE ,BX?A6>?6v?6omٱ6( >AHRS rotation from veh to nav: [[0.549240,-0.784809,-0.287072],[0.790555,0.599311,-0.125892],[0.270847,-0.157801,0.949600]]6H_?'c_ҿ:L?-?;U?2Ŀ` c?i6>?I6T%d;6ӑCYRByR&Ii-Mb@Mb@Mb@)))) )9-/$?{Gz? ףp= ?Y-1H?y-ף<-Q8=-$@-@ -I@)-~@)Y-@AEAAbDEVDEJ2yU(8>%UH=ٔ]*9Q-]>9YYa=eAFyeMDe@Ee>iQ 5u4mU?Q 9u4m )mxBY}H?Q E}:y}?Q I}?mCIm ;im ;mp4y4Bɮ@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffqBdddjdZd@0I@Bɢ K) 9i)'i@|,ߌv?Af%=?ft?f.ٱfc[) nAHRS rotation from veh to nav: [[0.554550,-0.780651,-0.288199],[0.786998,0.604534,-0.123180],[0.270387,-0.158502,0.949615]]fH@߾?qҿ/?@WX?@N?`IĿ@>c?if%=?IfTd;dYvŇByv&IbDVD:2y ]=%0=ٔ†:Q->9 ?Y ?=AFyVD7jE%>!Q 5-4%e?Q 954%p)%BY1y5W~?Q I5?%CI% ;i% ;% y4yAɮE@AuDNOT Ignoring new targets: 66.13 m.hqhq*hq"hq hqgqfyfyfydyddjdZdVlI@ԑ颵,BɢnG) 3i)^iFגB H>B B 'IB CBB B B B 0;B H9EB9CB9CBʔCBʪ =Bʩ =Cʿ69 ,]Q?AF%C=ٔZ:Q->9"?Y"?=AFy^DϺE>Q 54>t?Q 94Ƙ)BYE?Q E:y?z?Q I? CI;i!;]4y7Bɮv@8EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffFBdddjdZd I@E=i E=iE=.E9"E=~;*E=%;VE=ـ4ZE9BE=BAHRS rotation from veh to nav: [[0.558788,-0.777979,-0.287237],[0.784473,0.608203,-0.121208],[0.268996,-0.157600,0.950160]]2H`?@4`bҿf? fv? ~:7??,Ŀ@g?i2m;?I2?c;2ґCYVByV['I ^p<^4<bD^VD^ܲyf >%j+=ٔj ;Q-j>9lYl=nAFynhDnPEn>pQ 5v4r?Q 9z4r/)r(BYxyzy?Q Iz?r6CIr:ir:r4y|ɮ~c@-DNOT Ignoring new targets: 66.13 m.h)h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= I@HBɢ6NA) i)xiz! {m,.?AJj';?Jr?J-|ٱJ) RAHRS rotation from veh to nav: [[0.561173,-0.776186,-0.287439],[0.783386,0.610178,-0.118276],[0.267193,-0.158802,0.950468]]JH@ ?deҿ ?`? QG`?SĿ`%nK=ٔr';Q-v>9xYx=~AFy~pDa׻E >!Q 5=4%钭?Q 9E4%)%\BYQyUx?Q IU?%\CI%;i%(;%ݏ4AA@AB=>B6CB'IBBB =BBDy>BɮT@0EiIB+;B:9E5DNOT Ignoring new targets: 66.13 m.h1h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdMJ@颵VBɢ?) i)项iyp, ?A Y~\By~'I  = =iMb@Mb@Mb@ 9Mb?{Gz:v?YC?y#T=@s@ ;@)f@YG@bDVDky!>%==ٔQ->9Y=AFyyDE>Q 54?Q 94')BYC?Q E:yr?Q I?CI6;i ;L4yɮ%@ DNOT Ignoring new targets: 66.13 m.h h *h"h hgfffWBdddjdZd`KJ@bBɢ3g@)1 5i1)511i=gEm E[E*E"EO;*E;VE(N4ZEa@a@a@a@ ?,?A29?2Xq?2Lٱ2- :AHRS rotation from veh to nav: [[0.566533,-0.772089,-0.287956],[0.781549,0.614209,-0.109220],[0.261193,-0.163175,0.951395]]2H !?@`mҿ r??a?@Ŀq?i29?I2w~c;2ґCYFByF'ILN@ALbDRVDRyZF>%Z\=ٔZ 9\Y\=bAFybDbwEb>dQ 5j4fG?Q 9j4fs~)fÌBYhyn,q?Q In?fCIfB5CB\(IBBB =BBB;B"9E^AI I ! O- >bEg4jEd4rE/E _ E aE -E "E ;*E !;VE t4ZE BE l9Y=AFyDǘE>Q 54ɿ?Q 94Mw)BYM?Q E:y8r?Q I?ИCI:ij:u4yABɮҪ@DNOT Ignoring new targets: 66.13 m.h!h!*h!"h! h!g!f!f)f-3Bd)d)d1jd1Zd5J@颵zBɢ:) i)ۧ项iGԉ +G ! e ƀ9a Ym jA ,J1?A>48?>p?>Œٱ>- FAHRS rotation from veh to nav: [[0.570089,-0.770856,-0.284218],[0.781282,0.615670,-0.102711],[0.254160,-0.163500,0.953242]]>H+>?٪0ҿB?`?FK(D?Ŀ?i>48?I>Id;>ґCYNByN*(ITVAbDZVDZN2yblC>%b\=ٔf9dYd=fAFyjDjAEj>lQ 5r4nͭ?Q 9r4n@q)n*BYtyvq?Q Iv?nCIn|:inR:n4yxɮz@xDNOT Ignoring new targets: 66.13 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`J@YeBɢe~:)i m;̾ii)mIiiimԱ ,vK?A29?2@p?2kٱ2$& :AHRS rotation from veh to nav: [[0.570180,-0.773718,-0.276144],[0.782398,0.613924,-0.104643],[0.250496,-0.156389,0.955403]]2H>? L@Xѿg ?@D?ɺ@?Ŀ?i29?I2d;2БCYBByB[(IbDJVDJyFB>%F=ٔ 9 Y = AFyD(:E>B<AB%:>B!B%(IB%2BB!B!B!B%;B% 9EiQ 54mݭ?Q 94m[j)m_BYyq?Q I?mCImK9 ,Qe?A29?2q?2ٱ2L :AHRS rotation from veh to nav: [[0.568344,-0.777514,-0.269180],[0.784767,0.610554,-0.106608],[0.247238,-0.150654,0.957171]]2H /?d>:ѿ ? ? J}?Hÿ%?i29?I2``c;0YB ByB(IiEMb@Mb@Mb@AAAA A9EL7A`?{Gz/$?YE+G?yE#E,=EK@E1`@ E@)E|W@AYEp}@bD]VD]1yeH>%mD=ٔm@9qYq=uAFyuDu;E}>Q 54쭊?Q 94c)BYyG?Q E:yp?Q I?ECI:i:n4yɮ@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfff\BdddjdZd`RK@nAltitude envelope ACTIVE. Altitude:3.960000m. At depth:68.521271m."cBc*c2c=`5Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.521271m.]1]9]9]9iɢ ?I$>VEI)I+8)  i Vԙ ,I,?A2h:?2rr?2=|ٱ2.C :AHRS rotation from veh to nav: [[0.566438,-0.780365,-0.264914],[0.787203,0.607471,-0.106252],[0.243843,-0.148356,0.958400]]2HA ?@Zп0?gp?X3A6?T¿6?i2h:?I2b;2ёCYB&ByB(I DDJ=Ja=bDNVDN:2yV>%VW=ٔV9XYX=ZAFyZD^G<E^>`Q 5f4b?Q 9f4b])bBYdyfBq?Q If?biCIbd:ib:b4ynBɮn@n)EDNOT Ignoring new targets: 66.13 m.hh*h"h h g f f f ddƷ<djdZd`{K@"c-Bc)*c)2c-]1]1]1]9iQɢIF>E))in8i>m9@i @i@m/0@iBABE6CBE)IBE~BBE =BABABE܂;BE8E^A.ۼA .AI I O >Ee a Ee uEe )Ea "Ee ݉;*Ee 6,;VEe FA4ZEa BEe 9 ?Y ?=AFyDE> Q 54  ?Q 94 V) BYF?Q E:y#l?Q I? CI e ;i  ; Ȑ4y%Bɮ%)@!MDNOT Ignoring new targets: 66.13 m.hIhI*h"h hgfffBddƷ<djdZd`K@"c-Bc)*c)2c-]1]9]9]9i1ɢ9I=S>9)9)AAAiU,,ǻ?A>lt?>!duٱ>ѷ FAHRS rotation from veh to nav: [[0.561276,-0.787995,-0.253047],[0.792864,0.599635,-0.108652],[0.237353,-0.139648,0.961334]]>H ? B7@1п$_?`50?лa?>?i>'Tc;>ϑCYNiByN)IbDVVDV:y^?T>%^Y=ٔb:9b"?Yf"?=fAFyfDf<Ef>hQ 5n4j?Q 9n4jQ)jBYpyrn?Q Ir?jCIj:ij:juϐ4yvBɮv@tDNOT Ignoring new targets: 66.13 m.hh*h"h h!g!f!f%f!d)d-Ʒ<d)jd)Zd5fK@"c=Bc9*cA2cE]I]I]I]IiiɢiImB>mcC)q)qqqiu=;iy}-Rm<}xIyIEh EpE+E"E ;*E);VE [4ZEa@a@a@a@] ;@ @@.0@A @ @ i A A AAB 8>B 5CB {)IB ˉBB B B B ;B 8EBu5CBu6CBu̓CBu̱ =Bu̱ =Cu5ߑߕ=^AF˼ԙA)I9IIOU?5,/?A2b=?2tu?2(rٱ2g ENf ENELEL"EN";*ENS8;VELZELBEN?ZepϿv?@A ?es ?@t?i2b=?I2c;2ΑCYzByz.)II~C=)~=qiMb@Mb@Mb@ 9E?Q9Y=AFyNJD;E>Q 54]0?Q 94G)[BYG?Q E:yl?Q I?CI';iM;ِ4yBɮk@!EB*** querying acoustic contact ***i iDNOT Ignoring new targets: 66.13 m.hh*h"h  hgfffBddƷ<djdZd4L@"cBc*c2c]]]]i ɢIH?ДB))iw;i!%Kk<%pI!II&ּ!ԙ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@ @@/@@  *DAT read: user:352>  BDAT read: Tx time:03:33:25.1629  $Ping request sent. ,?A(:s??:aw?:"jٱ:) BAHRS rotation from veh to nav: [[0.553539,-0.799920,-0.231780],[0.801415,0.587329,-0.113045],[0.226558,-0.123177,0.966177]]:H?@Ϳ`0?e?`? ?i:s??I:c;:БCYJByJn)IbDRVDRkyZC>%^=ٔ^w9`Y`=bAFybъDbj<Eb>dQ 5j4f D?Q 9n4fj?)fBYlynn?Q In?f#CIfr;if] ;f4ypɮr5@tDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffddƷ<djdZdkxL@"cBc*c2c] ] ] ] i)ɢ)I-?-Z@)1)111i5Di9=j<= I9IAMgAMhA iIIIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251267ԉy@y @@0@@]r<ԱB :>B 6CB )IB BB =B B B b;B j8E^A zl  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506092A I I) O= >E,L?AhY By)IiMb@Mb@Mb@ 9jt?~jtL7A`?Y@?y+=?m@+G@ 7y@)`=@YZ@bDVDy]>%:=ٔQ->9Y=AFyڊDE>Q 54S?Q 948)ÎBYA?Q E:y4r?Q I ?KCI;i1;4yBɮb@"EE-p E-tE-)E)"E-;*E-+;VE-FA4ZE)BE-)C)顩iUij<KII 9@ @@/@@ ²<@=@=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754866^AAA>)A .AI! I1 OE >Q :K,/?ANBc@?N9x?NdSٱN VAHRS rotation from veh to nav: [[0.553631,-0.806428,-0.207764],[0.807220,0.580997,-0.104111],[0.204668,-0.110072,0.972623]]NHY?`B@ʿ?@?@2?-?iNBc@?INec;LY^By^)IbDfVDfkyn>%n]=ٔrCx=Q-r>9r ?Yr ?=rAFyrDv<Ev>xQ 5~4z`?Q 9~4z2)zBY|yr?Q I?znCIz;izo:z44y ɮ 8@ 1=DNOT Ignoring new targets: 66.13 m.h9h9*h9"h9 h9gAfAfEfAdIdMƷ<dIjdIZdML@"c]BcY*cY2c]]a]a]a]iiɢI>+:))顉i$ici<jǻII]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023759m0IufA)ueA9@ @@0@B@ gA:@ eAa@^<EM` EMbEM*EI"EMi;*EM5";VEM(N4ZEIaU@aU@aU@aU@ԉ^AE H- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.279753 Au ؟AIy I O >@R,H?A2Y@?220x?2R>ٱ2b :AHRS rotation from veh to nav: [[0.555981,-0.808219,-0.194080],[0.810393,0.578994,-0.089608],[0.184794,-0.107461,0.976884]]2H?ȿ??W?@ B?i2Y@?I2Xc;0YB;ByB*IbDNVDNynD>%nK=ٔrM=Q-r>9r"?Yr"?=rAFyrDvEv>xQ 5~4zo?Q 9~4z,)z BY|yr?Q I?zCIzj;izT;z?4y Bɮ 1@ E5DNOT Ignoring new targets: 66.13 m.h1h1*h1"h9 h9g9f9fEfAdAdEƷ<dIjdIZdMM@"cUBcQ*cQ2cU]a]a]a]aiɢI >D5)p:)顉iih<YۻIԙIB<AB8>B5CB7*IBcBB =BBB;B$8EA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.528875-89@ @@0@QbE [4jET\4rE?/Een EetEe-Ea"EeÏ;*Ee+;VEet4ZEaBEe-ȸY,h?A2??2w?2D#ٱ2/ :AHRS rotation from veh to nav: [[0.560198,-0.808645,-0.179643],[0.812954,0.578325,-0.068161],[0.159010,-0.107858,0.981368]]2H#?k ƿ ??srZ?`]g?i2??I2X#e;2ёCYBiByB>*Ii Mb@Mb@Mb@     9 /$?V-{Gz?Y 1H?y  #= \@ v>@ g@) 5@ Y N@bD%VD%ky54>%5 =ٔ=zR=Q-=>99Y9==AFyEDE.EE>IQ 5U4M?Q 9U4MF$)M6BYUH?Q E]:y]{o?Q I]?MƚCIMa:iM:M'4yeBɮe@eE ]7j>YԡcG )mϿ9iYmADNOT Ignoring new targets: 66.13 m.hh*h"h hgfff@BddƷ<djdZd 5ZM@"cBc*c2c]]]]iɢIB?.)!)!!!i%1i9=Оg<= I9IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.031033}h;El E^E*E"Eڎ;*E ;VE(N4ZEa@a@a@a@ 9@  @ @ /@ @ O<) M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282809^A`ԻQAAIQIaOm?-c,U?A4ɰ6;BpBpBr*IBrBBpBpBpBr;Br7EU>?Ưv?ٱ}b =AHRS rotation from veh to nav: [[0.565827,-0.807766,-0.165390],[0.814462,0.578803,-0.040466],[0.128415,-0.111807,0.985398]]HA?7+ſ??󷤿o? e`?iU>?I|f;ϑCYEByMz*IIU8>)U>QUAbDeVDeym&>%u =ٔuZ=Q-u>9yYy=}AFy}D}׻E>Q 54k?Q 94)`BYyn?Q I?CI;i;C 4yBɮې@EDNOT Ignoring new targets: 66.13 m.h!h1*h9"h9 h9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537638gfffddƷ<d!jd!Zd- M@"c5Bc1*c92c=A]a]a]a]aiɢI?'))顩i3ci(df<3/BIIE} E}E}+Ey"E}x;*E}4;VE} [4ZEyBE}%=ٔQ->9BDAT read: Rx Time:03:33:27.7988 TRx dataTimestamp_ set to:1761536006.828230checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040065Y=AFy DE>Q 54?Q 94)BYC?Q E:yyr?Q I?6CI:i:I4yɮ،@DNOT Ignoring new targets: 66.13 m.hh*h"h hgfffOBddƷ<djdZd`eM@"c%Bc!*c)2c-]1]1]1]1iqɢqIu?q)q)y顡i8{iIe< =IIE EEE"Ȩ;*E*5;VEZEa@a@a@a@q@q @q@u/@q1@gr,?A2W:?2.r?2ֿٱ2 :AHRS rotation from veh to nav: [[0.584759,-0.802762,-0.116745],[0.810869,0.582585,0.055556],[0.023416,-0.127152,0.991607]]2H@X?:㽿??q?F?F >?i2W:?I2g;2ёCYB ByB+IbDrVDrky l}>%P=ٔ>Q->9!Y!=%AFy%D-7E->9Q 5E4=?Q 9E4=R )=BYQyU:n?Q IU?=\CI=v;i=w;='4yeBɮew@mEAA@AB7>BB*IBBBBBB;B7EDNOT Ignoring new targets: 66.13 m.hh*h"h hgfffddƷ<djdZdN@"c Bc *c 2c ]]]]iɢIX>H )2)i ʖi!%d<%YI!I)1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5467109@ @@/@B@:@gA@p<)Em EmEm-Ei"Emҝ;*Em9@;VEmt4ZEiBEm=a}2Em=a}JEmQDx,?ADAT read: 03:33:27.7988 LVL= 32752, 31937, 32754, 32755, AGC= 72, IDX= 352, 0.38,-1.364,-0.361,-1.224,-1.917, PHS= 0.655, 1.601, 0.650, RAW= 330.3, -47.3, CAL= 329.6, -50.1, ROT= 180.4, 50.1 "Ygot valid direction response: 03:33:27.7988 LVL= 32752, 31937, 32754, 32755, AGC= 72, IDX= 352, 0.38,-1.364,-0.361,-1.224,-1.917, PHS= 0.655, 1.601, 0.650, RAW= 330.3, -47.3, CAL= 329.6, -50.1, ROT= 180.4, 50.1 &PDAT read: Bearing 64.9, 2.1 (Local) &~Local bearing/azimuth received: Bearing 64.9, 2.1 (Local) .DAT read: Range 11 to 50 : 173.7 m (Round-trip 231.7 ms) speed -0.5 m/s 0NR#Rx 1: Read range and direction messages.Rbdirection in FSK: [-0.641434,-0.004478,-0.767165]VFpublishing direction and range infoyim;ıWrԟYm-Ciim|i i)iIm'?im?mff&?mmy@mVSmX@ mT_)m9Y=AFyD-#FE->1Q 5E453Ѯ?Q 9M45))5BYUE?Q EU:yU[n?Q IU?5CI5ɋ;i5;5$4yBɮ@EiiimW?AJim,CRim,Cjim@bmRQ9[ .迕9^`Rm;ıWrԟZimyHbimT_?jmAE|#&J85MY|;#JE`ZmfYӿB$X⿯FGN2imn:im1Q"im)?*imliBimYrim,?imi]#imuBimTBim.@U addTargetRange:: Added new target pos. range: 173.699997 m, deltaT: 60.528172 s, deltaX: 107.299995 m, approachRate: 1.772728 m/s, rangeRepo size: 4  Added new target pos. range: 172.982132 m, bearing: 242.674797 deg, lat: 36.779328 deg, lon: -121.859551 deg, deltaT: 60.528172 s, deltaX: 106.857071 m, approachRate: 1.765411 m/s, posRepo size: 4 FNOT Ignoring new targets: 172.98 m.Completed rollout at range: 173.70 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?hc@h*h"h hgfffjBddƷ<djd`fe@Zd@ ?"cBc*c2c]]]]iɢI=n?=!)9)AAAiEiMʃ?IM|IMc@IQԹ9@ @@/@@ 8<^A cռ I) I9 OM >E  E E )E "E ;*E 2;VE FA4ZE a @a @a @a @,;p?A6S7?6*o?6C=ٱ6А BAHRS rotation from veh to nav: [[0.593753,-0.801501,-0.071094],[0.803225,0.585133,0.111578],[-0.047830,-0.123354,0.991209]]6H?53`?`h?Z?3}?i6S7?I6g;6БC\YbCBybK+I j4%v=ٔvu=Q-v?9xYx=zAFyz$Dz̛Ez?|Q 54~ܮ?Q 9 4~N)~BY y l?Q I ?~CI~:i~ :~*4yɮA@1M- -Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM5=Entering Terminal tracking update period 2.000000 s sec at 173.699997 m (mode 1.000000 count ).qM=M=hIhQ*hQ"hQ hQgQfQf]fYdYdeƷ<dajdaZde@;?"cmBci*ci2cm]y]y]y]yiɢIa>))顡i%i?>II9@ @@]0@@<B->B4CB+IBBB =BBDB;B7EBB5CBBBC*(5^AIIO>I ,J?A2^5?2m?2ɩ=ٱ2 :AHRS rotation from veh to nav: [[0.596556,-0.801214,-0.046654],[0.798288,0.586371,0.137499],[-0.082809,-0.119269,0.989403]]2H?`㧿@??`?2h/?i2^5?I2Qg;2ёCYrWByvc+IEE EEEE-EA"EE;*EE>;VEEt4ZEABEEH=ٔ=Q->9Y=AFy-DFE>Q 54?Q 94U)BYqG?Q E:yOj?Q I?֛CI& ;i] ;14yɮ @jj@MMB*** querying acoustic contact ***i ihh*h"h hgfffBd!d%Ʒ<d!jd!Zd-!8?"c-Bc1*c12c5]9]9]A]AiɢI>)@)!!!i%Ѽi-S??)]`IYIaIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=Q9IY)]fAԁ9@ @@/@R@>J@=@ ܗ<^A Yԡ I I O% >m1,5$3?A2w4?2l?2=ٱ2= :AHRS rotation from veh to nav: [[0.598467,-0.800858,-0.021543],[0.792493,0.587845,0.162461],[-0.117444,-0.114300,0.986480]]2H&?ࠠc`\???B>?i2w4?I2hg;2ϑCYBfByBu+IIF=)FR=HJAbDNVDNJyV=%V]=ٔV=Q-V>9XYX=ZAFyZ4D^^_E^>`Q 5f4b?Q 9f4bd)byBYdyfi?Q If?bCIb$:ib:b84ynBɮnd@nErjtMz1Nzhh*h"h hg f f f ddƷ<djdZd?e*DAT read: user:353> eBDAT read: Tx time:03:33:30.2129 m$Ping request sent.mϾ))iBƼi ?bII!1E] EYE],EY"E][;*EYVE]g4ZEYae@am@am@am@9@ @@4@ԩ@m*<^A]2A.AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250922 G,?L?A^(3?^k?^>ٱ^ nAHRS rotation from veh to nav: [[0.597961,-0.801521,0.002596],[0.787210,0.587888,0.186248],[-0.150807,-0.109326,0.982499]]^H"? Ce?0??@?`Mÿp?i^(3?I^hf;\Y~lBy~}+IbD%VD%0yE<%EA=ٔEɢ=Q-M>9M ?YM ?=MAFyM=DUٻEU>Be/>BaBe1+IBe.BBe =Be?DBaBe{;Bev7EqQ 5}4u ?Q 94u)u`BYyCh?Q I?u%CIu;iuV:u?4yÓBɮk@ Ezj1NrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalhYhY*hY"hY hYgYfYfefadadeƷ<dijdiZdm,?"cBc*c2c]]]]iɢI)>Ғ)D)  i z@Ѽi5ø?AE IAII-O checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5053219@ @@5@@F<DU?AzDU?AEe EeEe-Ea"Ee;*Ee=;VEet4ZEaBEe=au2Ee=a}JEe ,Sh?A23?2Ak?2;>ٱ2l;Ͻ :AHRS rotation from veh to nav: [[0.594701,-0.803410,0.029381],[0.782959,0.587085,0.205687],[-0.182500,-0.099319,0.978177]]2H@?? ?e?S?`*\ǿl9M?i23?I2 g;2ӑCYBByB+Ii Mb@Mb@Mb@     9 v/?~jthI +Y xI?y D 9 L@ X1@ X1@) GI@ Y >@bD%VD%y5.=%5<=ٔ5=Q-5>y9"?Y"?=AFyFDJh8E>Q 54?Q 94O):BY I?Q E :y j?Q I ?RCIU;in<wG4yMȓBɮu@u Ehh*h"h hgffMfMրBdQdUƷ<dQjdQZdU kQ@"c]BcY*ca2ce]]]]iɢI>))iuۼi?IIa==ԡ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709M 9@I  @I @M _0@I B@Q :@Q E}  E} E} (Ey "E} ;*E} 3;VE} c44ZEy a @a @a @a @@% <@- hA@- gA^A XNݽ AM .AIY Ii Ou >9,#?A294?2l?2Z>ٱ26 JAHRS rotation from veh to nav: [[0.588150,-0.806486,0.060496],[0.780656,0.585672,0.218092],[-0.211319,-0.081044,0.974051]]2H?@L?"?@ӽ?`n?} ˿Pn+?i294?I2f;2ϑCYRtByR+I^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920`bDfVDfynM%n>=ٔn=Q-n>9r ?Yr ?=rAFyrNDv<Ev>tQ 5~4v/?Q 9~4v)vBY|y~8k?Q I~?vyCIv;iv:vN4y ɮ C@ h)h1*h1"h1 h9g9f9f=f9dAdEƷ<dAjdAZdMoN@"cUBcQ*cQ2cU]Y]Y]Y]aiyɢyI}C>)н)顁i_i?IIm9@  @ @ /@@<Bm+>BiBm$+IBm$BBm =BiBiBmq;Bmk7E^A-A؟AI)IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513425O>9 bE|a4jE^4rEa0E]  E] E] -EY "E] ;*E] 8;VE] t4ZEY BE] ٱ2S% :AHRS rotation from veh to nav: [[0.578186,-0.810883,0.090381],[0.780603,0.581997,0.227899],[-0.237401,-0.061216,0.969481]]2H ?@<#??@?+?*cοW?i27?I2BQf;2БCY@yF+IiUMb@Mb@Mb@QQQQ Q9U'1Z?I +ˡEYUB?yU9U'UP@U :@ Q)UZ@QYUE@ e;e<bDmVDm0y}H;%}A=ٔ}x=Q->9"?Y"?=AFyWDޝ<E>Q 54@?Q 94n)BY.C?Q E:yPf?Q I?CI ;i;U4y͓Bɮ@ EB*** querying acoustic contact ***i ihh*h"h hgfff BddƷ<djdZd @"cBc*c2c] ] ] ] i)ɢ)I->5\)1)111i=i=3Q?AAIAIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772I]yrG9@  @@ 4@5.99Y=3A@ <^A EOԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015555A1 II IY Oe >򑭀,?A2.9?2q?2N>ٱ2/5 :AHRS rotation from veh to nav: [[0.565740,-0.816247,0.116959],[0.782118,0.576111,0.237462],[-0.261209,-0.042866,0.964330]]2H ?` ??`o?(e?@п?i2.9?I2e;2ϑCYBbByBp+IbDNVDN02yR%VX=ٔV=Q-V>9XYX=ZAFyZ^DZ<E^>\Q 5b4^4N?Q 9f4^)^BYdyffi?Q If?^ĜCI^Y;i^T;^\4ylɮn@lh|h*h"h hgff f d d Ʒ<djdZd`߹ @"cBc*c2c])])]1]1ԉE u E zE +E "E ;*E .;VE  [4ZE a@a@a@a@iɢ1I5K>5&Ƅ)5Yw)199i=PiE6?AAIAII)2ؽ9@ @@/@Թ@<^Archecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267732A.AIIO > B5 0>B1 B5 *IB5 BB5 =B1 B1 B5 Y;B5 V7Eq,+?A>>?>u?>>ٱ>笼 RAHRS rotation from veh to nav: [[0.549871,-0.822624,0.144676],[0.785984,0.568225,0.243617],[-0.282614,-0.020245,0.959020]]>H?R`„?&?.?`.?`Zҿ J?i>>?I>4e;>͑CYZSByZ^+IbDfVDfkyj"%nH=ٔnq_=Q-n>9r ?Yr ?=rAFyrgDvP=Ev>tQ 5z4v]?Q 9~4v)vBY|y~m?Q I~?vCIv;iv;vc4yٓBɮ U@ Eh)h1*h1"h1 h1g1f1f=fAdAdEƷ<dAjdAZdM\ @"cUBcQ*cQ2cU]Y]Y]a]aiyɢyI>0r))顁iiq_?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528729ԙE- E-~E-.E)"E-;*E-0;VE-ـ4ZE)BE-UȻ,m?A6xC?6O{?H65>ٱ6|I5< zAHRS rotation from veh to nav: [[0.529793,-0.829525,0.176657],[0.792765,0.558370,0.244430],[-0.301401,0.010550,0.953439]]6H?w?@U^?*?|I? 'JӿM??i6xC?I6Ud;6ϑCYAByH+IiMb@Mb@Mb@ 9)\(?QT㥛 YGA?yuS@F@ 3@)q@Y\O@bDVD:y% =ٔ=Q->9Y=AFyqDX+=E>IQ 5U4Mn?Q 9U4M)M3BY]A?Q E]:y]v?Q I]?MCIM:iMv:Ml4yaɮe@ihh*h"h hgfff"BddƷ<djdZd`8@"cBc*c2c]]]]iɢI?ާ^))i$iv?II5BDAT read: Rx Time:03:33:32.7631 =TRx dataTimestamp_ set to:1761536011.877158=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0329112=9@9 @9@=/@9E EE*E"E;*E6;VE(N4ZEa@a@a@a@@< ^A]  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283412I1 II OU >C€,F ?A24J?2?2>ٱ2LQF= :AHRS rotation from veh to nav: [[0.505915,-0.836563,0.210268],[0.801931,0.545945,0.242591],[-0.317737,0.045890,0.947068]]2Ht0??`k?bx?@5 ?UԿ ~?`N?i24J?I2c;2ёCYB!ByB +IbDnVDnP)yvK+%vY=ٔv:=Q-v>|9 Y =AFyxD=E%>9Q 5E4=z?Q 9E4=)=BYIyU}?Q IU?=:CI=U;i=U;=`s4y]ޓBɮeӋ@eEhh*h"h hgfffddƷ<djdZd^@"cBc*c2c]]]] i!ɢ!I-">-MB3>B5CB*IBBB =B>DBDB7;B77E) 梽)i%iU?YaIaI! DAT read: 03:33:32.7631 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 68,-0.00,-2.011,-0.379,-1.718,-1.546, PHS=-0.363, 1.212,-0.216, RAW= 325.2, -8.5, CAL= 324.8, -11.8, ROT= 185.2, 11.8 QYgot valid direction response: 03:33:32.7631 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 68,-0.00,-2.011,-0.379,-1.718,-1.546, PHS=-0.363, 1.212,-0.216, RAW= 325.2, -8.5, CAL= 324.8, -11.8, ROT= 185.2, 11.8  PDAT read: Bearing 30.0, 12.3 (Local)  ~Local bearing/azimuth received: Bearing 30.0, 12.3 (Local) DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.0 ms) speed -0.8 m/s %R#Rx 1: Read range and direction messages.=bdirection in FSK: [-0.974839,-0.088717,-0.204496]=Fpublishing direction and range infoyAEu.g1b)Ԟ*rG,ʿYEBAAEA A)EFIE#۹iE"?E/]E>@EE g@ EBR)EN@IEBR>AAEӴsoGoڿ¿ E,)Ez>IE@CiEBR>AAmT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.E EE-E"E;*E*5;VEt4ZEBE  BDAT read: Tx time:03:33:34.0629  $Ping request sent. ʀ,?*?AY By+I ==iMb@Mb@Mb@ 9V-?Q롿V-Y9)Y)=-AFy-D5E5>1Q 5=45?Q 9E45)5BYE>?Q EE:yE v?Q IM?5iCI5;i5 ;5|4yQɮU<@Qiic?AJiBRiBjiR@b\Z;A:Y#WL6Ru.g1b)Ԟ*rG,ʿZi@CbiBR>j^0IkW!m(@Zr&ݐݿn'@$L'쿰?2i:iI"i5?*io]BiwBi)?io]iiBixB@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 109.046265 m, bearing: 242.296784 deg, lat: 36.779356 deg, lon: -121.859598 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 109.05 m.RhZh  ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.348892 m, bearing: 240.390957 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 237.043716 deg, new cmd heading: 240.390957 deg. HeadingCmd: 4.195614 target range: 109.046265 and range: 109.50 m.hxB@h*h"h hgfff\BddƷ<djd`[@Zd?"cBc*c2c]]]]iɢI?))顩ii@IxB@I9U9@Q @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251654@myWЀ,9 D?ARa?R9?RR5>ٱR& > ZAHRS rotation from veh to nav: [[0.425095,-0.861013,0.279197],[0.833097,0.492779,0.251233],[-0.353897,0.125801,0.926785]]RH4?j^? ?౉?@3?`Aֿ <?9?iRa?IR db;RґCY~ӊBy~*IbDVDfy%+%%r=ٔ%=Q-%?9)Y)=-AFy-D-&>E5?1Q 5=45˕?Q 9E45Ư)5lBYAyE҇?Q IE?5CI5;i5z;5݂4yMBɮUo@UEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 109.05 m.Rh48Zh48  ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.572845 m, bearing: 240.391783 deg, approach rate: 0.671649 m/s, LOS rate: 0.002471 deg/s, cmd heading: 240.390967 deg, new cmd heading: 240.391783 deg. HeadingCmd: 4.195628 target range: 109.046265 and range: 109.50 m.hB@h*h"h hgfffddƷ<djdZd?"cBc*c2c]]]]=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502599qiɢI{>%)v)顩iiko@IB@I9@ @@0@@uu<@=@=ԩB%<A!B-5>B)B-0*IB-^BB- =B)B)B-;B- 7EB4CB4CBBŴ =BŴ =C#5^Am <- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755497I I O > s!׀,}]?AE*w E*jE*(E("E*ؓ;*E*k&;VE*c44ZE(BE*;ٱj]> vAHRS rotation from veh to nav: [[0.398125,-0.871355,0.286771],[0.842268,0.471078,0.262049],[-0.363429,0.137210,0.921462]]jHz?@#vZ??#&?g?kB׿?|?ij?i?Ijb;jϑCYUBy]*IiMb@Mb@Mb@ 9K7?Zd;Oi|?5Y)?yj<q\@z|@ B@)^@Yp@bDVDN2yԻ%==ٔ  9 Y = AFy D=E>Q 5%4I?Q 9%4ө))BY-*?Q E-:y-?Q I-?CI*:i:q4y1ɮ=@9jhYeFNOT Ignoring new targets: 109.05 m.Rhe8Zhm8}  ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.830971 m, bearing: 240.393562 deg, approach rate: 0.595795 m/s, LOS rate: 0.004096 deg/s, cmd heading: 240.391786 deg, new cmd heading: 240.393562 deg. }HeadingCmd: 4.195659 target range: 109.046265 and range: 109.50 m.h}B@h*h"h hgfffBddƷ<d jdZdF?"cBc*c2c]!]!])])iɢI> J) )   i ֹ iw @IB@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070169@ @@0@!@5o<) ^A] Y > R= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260015A I I O >c݀, z?A6p?6e?6{>ٱ6> RAHRS rotation from veh to nav: [[0.371256,-0.883086,0.286928],[0.850821,0.447286,0.275749],[-0.371849,0.141751,0.917407]]6H?@>B@]?9?W? ?a׿$? e[?i6p?I6a;6͑CYZByZh*IIn=)nE?prAbDvVDvy~Vx%~E=ٔ~9Y=AFyD =E >1Q 5=45Щ?Q 9=45)5BY9y=?Q IE?5ǝCI5(:i5:5Ñ4yIɮM@IjhFNOT Ignoring new targets: 109.05 m.Rhn9Zhn9E EvE+E"E;*E,;VE [4ZEa@a@a@a@  ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.078873 m, bearing: 240.399155 deg, approach rate: 0.579760 m/s, LOS rate: 0.013052 deg/s, cmd heading: 240.393562 deg, new cmd heading: 240.399155 deg. MHeadingCmd: 4.195757 target range: 109.046265 and range: 109.50 m.hMC@hI*hI"hI hIgQfQfUfQdYd]Ʒ<dYjdYZde`?"ceBc*c2c]]]]iɢI>R))i i U@  I C@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511796-䪿ԁ9@ @@/@@ h<@ fA@ fAB 8>B B )IB BB B B B ;B 7EQ ^A ?΅ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762882AIIO?,[x?ArVx?r?r>ٱr-> zAHRS rotation from veh to nav: [[0.345327,-0.896005,0.279150],[0.858087,0.421908,0.292711],[-0.380047,0.138454,0.914546]]rH??`su?@?Ȼ?Rؿݸ?C?irVx?Ir[ia;rΑCYgBy;*IE5w E5sE5*E1"E5ؓ;*E5)+;VE5(N4ZE1BE1aE2E1aEJE59Y=AFyDmN=Em>qQ 5u4uz?Q 9}4uқ)uBY}2?Q E}:y}?Q I}?uCIuH:iu:u4yBɮ@jhFNOT Ignoring new targets: 109.05 m.Rh9Zh9%  ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.424049 m, bearing: 240.411105 deg, approach rate: 0.607155 m/s, LOS rate: 0.020955 deg/s, cmd heading: 240.399163 deg, new cmd heading: 240.411105 deg. -HeadingCmd: 4.195965 target range: 109.046265 and range: 109.50 m.h-YE@h)*h1"h1 h1g1f1f=f=ׁBd9d=Ʒ<dajdaZdee@ɢJi)=i=iE@AAIEYE@IIUeAUhAԹ5ٱR> jAHRS rotation from veh to nav: [[0.320194,-0.909041,0.266685],[0.864174,0.395615,0.310954],[-0.388174,0.130896,0.912243]]RH ~?]? P?Q??ؿ@7?1?iRr?IRea;PYr0Byr)Iv=va=bDVD:y%D%-=ٔ-y9U"?YU"?=UAFyUDU[R=E]>YQ 5e4]?Q 9e4])]#BYiym?Q I?]CI];i];](4yɮ@jhFNOT Ignoring new targets: 109.05 m.Rh:Zh:  ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.749748 m, bearing: 240.426742 deg, approach rate: 0.600922 m/s, LOS rate: 0.028767 deg/s, cmd heading: 240.411102 deg, new cmd heading: 240.426742 deg. HeadingCmd: 4.196238 target range: 109.046265 and range: 109.50 m.hG@h*h"h hgfffdddjdZd@!ɢ%T<)! ->i))-K9))i-`i5 @11I5G@I9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189681AAB;>B6CB$)IBBB =BBB;B6E] 9@Y  @a @e 4@a a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770801ԉ @ 'a<@ =@ =bE͙T4jE-W4rE\00E}p E}E}(Ey"E};*E}pD;VE}c44ZEyBE}rېCayԉſ9Y+AYBy)Ionly read 1 of 4 data items for bottom velocity. Device response is::BS, -5, :BE, -56, +695, -72,A a@a a@a  a @a  a @a  bDVDy%%%<ٔ%Q--g>9- ?Y- ?=5AFy5D5E5h>9Q 5E4=ѯ?Q 9E4=Ԉ)=BQ AM+:YIQ EMv:yIQ IM?=YCI=N;i=>E?=4yUBɮU@]EuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 109.05 m.RhW:ZhW:  ProNav pure pursuit: ac range: 109.046265 m, nav range: 112.212494 m, bearing: 240.448803 deg, approach rate: 0.609249 m/s, LOS rate: 0.028925 deg/s, cmd heading: 240.426730 deg, new cmd heading: 240.448803 deg. HeadingCmd: 4.196623 target range: 109.046265 and range: 109.50 m.hJ@h*h"h hԩgfffdddjdZd@C @Bɢ9<) S>i)n':idiy*@IJ@I = =⼝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275683]9@Y @Y@]P0@Y@5!g<E1  E5 vE5 ,E1 "E1 *E5 ,;VE5 g4ZE1 a= @aE @aE @aE @ ^A ADAT read: 03:33:36.6167 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 456, 0.23,-2.111,-0.792,-2.265,-2.004, PHS=-0.005, 1.257,-0.305, RAW= 340.4, -13.1, CAL= 340.1, -16.2, ROT= 169.9, 16.2 Ygot valid direction response: 03:33:36.6167 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 456, 0.23,-2.111,-0.792,-2.265,-2.004, PHS=-0.005, 1.257,-0.305, RAW= 340.4, -13.1, CAL= 340.1, -16.2, ROT= 169.9, 16.2 PDAT read: Bearing 55.0, 30.0 (Local) ~Local bearing/azimuth received: Bearing 55.0, 30.0 (Local) IIO>, ?ADAT read: Range 11 to 50 : 112.2 m (Round-trip 149.7 ms) speed -0.7 m/s R#Rx 1: Read range and direction messages."`direction in FSK: [-0.945412,0.168404,-0.278991]"Fpublishing direction and range infoyh @5*??ѿYfB )BI ףi`?BQ?(@ j@ Ð)=@IÐ>W,Jd5~Ϳ )2j>I=@iÐ>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bإ?B>ٱB= AHRS rotation from veh to nav: [[0.247863,-0.944830,0.214148],[0.878061,0.312493,0.362433],[-0.409357,0.098201,0.907074]]BH? <3i???2?@2ڿ@#??iBQ?IB`;BϑCY By U)IbDVDyw%9=ٔeV=Q->9Y=AFyʋD9>E>B<>BB(IBBB =BBBـ;B6EQ 5E4yٯ?Q 9E4P)IBQ AM :YIQ EMG:yM_?Q IM?zCI.:i'?4yUBɮU@QiiH ?AJiyBRiyBjiώ@b[ZhZ?$GC 2@Xq,?Rh @5*??ѿZi=@biÐ>j{QIߨ'X>a0@Zݿzvt%C?2iY:iJ"i>M.?*iʑBiMBi5?i-i{Bi7Bi^@ addTargetRange:: Added new target pos. range: 112.199997 m, deltaT: 3.779597 s, deltaX: 2.699997 m, approachRate: 0.714361 m/s, rangeRepo size: 2  Added new target pos. range: 111.736931 m, bearing: 242.715385 deg, lat: 36.779393 deg, lon: -121.859599 deg, deltaT: 3.779597 s, deltaX: 2.690666 m, approachRate: 0.711892 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 111.74 m.RhZh ProNav: ac range: 111.736931 m, nav range: 110.608727 m, bearing: 242.374849 deg, approach rate: 0.000000 m/s, LOS rate: 0.028925 deg/s, cmd heading: 240.448805 deg, new cmd heading: 240.491302 deg. BhΞ:HeadingCmd: 4.197365 target range: 111.736931 and range: 112.20 m.hP@h*h"h hgff!f!d!d!d)jd- \@Zd-??额Bɢ~;)V= R=i)5:顡iۼi=1@IP@I)=*DAT read: user:355> BDAT read: Tx time:03:33:37.8629 $Ping request sent.A >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246482ԱAIIO%? ,-?AYeBym!)IԱI=)C=Aa=a= a=aE aEaE aEaE iEMb@Mb@Mb@AAAA A9EK7?V-T㥛 YEI,?yEhEEĄ@EK@ Ed@)EI@AYE@QQbD]VD]k2ym%m=ٔuQ-u>9qYq=}AFy}ՋD}E}>Q 54㯊?Q 94Vz)BQ AT:Y-?Q E:y?Q I?CI;i;̾4yɮ@jhFNOT Ignoring new targets: 111.74 m.Rh:Zh: ProNav: ac range: 111.736931 m, nav range: 110.934303 m, bearing: 242.391456 deg, approach rate: 0.642809 m/s, LOS rate: 0.032691 deg/s, cmd heading: 240.491289 deg, new cmd heading: 240.540962 deg. Bh|:HeadingCmd: 4.198232 target range: 111.736931 and range: 112.20 m.hW@h*h"h hgfffBdddjdZd?颩ɢR) i)-:顱iWμi"I8@IW@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498714Eo E]E+E"E7;*E;VE [4ZEa@a@a@a@] | u=ԑ  9@!  @) @- /@) @ uBaBe(IBeBBaBaBaBeԀ;Be6EAII)O=?,S?A2ٱ2x= :AHRS rotation from veh to nav: [[0.176276,-0.966552,0.186289],[0.894487,0.236287,0.379555],[-0.410877,0.099726,0.906220]]2H6? N??>?J?Kڿ ??i29XY\=^AFy^ߋD^">E^>`Q 5f4bK믊?Q 9f4br)bBYhyjD?Q IM?bʞCIb~,m?Ab?b(?b)>ٱbz= jAHRS rotation from veh to nav: [[0.152125,-0.972207,0.177968],[0.902033,0.210166,0.377051],[-0.403974,0.103174,0.908934]]bH`x?Q?t??!?ٿi? ?ib?Iba `;bБCYrByv(IiuMb@Mb@Mb@qqqq q9u +?v/{GzYu6?yuxiuףub@uʝ@ u?m@)u+@qYu@bDVD0yv%<=͎ٔQ->9Y=AFyD=E>Q 54?Q 94k)?BY8?Q E:yש?Q I?CI;i;;ϑ4yBɮį@EjhFNOT Ignoring new targets: 111.74 m.Rh:Zh:  ProNav: ac range: 111.736931 m, nav range: 111.489052 m, bearing: 242.451275 deg, approach rate: 0.625449 m/s, LOS rate: 0.077612 deg/s, cmd heading: 240.622701 deg, new cmd heading: 240.719969 deg. Bh U;HeadingCmd: 4.201356 target range: 111.736931 and range: 112.20 m.hq@h*h"h hgfff BdddjdZd 5B?Bɢ珼) mi)49!i%i%FD@))I-q@Iy1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510569Q&=E X E eE )E "E Ʌ;*E #;VE FA4ZE a- @a- @a- @a- @i @i  @i @m /@i R@u =J@u =@E <ԁ Ա =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763194^AIA؟AIIO ?]$, ?A BN@>BN7CBN'IBN>BBN =BLBNDBN;BN6EB6CB6CBB =B =C5^4?^k?^>ٱ^= jAHRS rotation from veh to nav: [[0.103835,-0.980623,0.166123],[0.919071,0.158445,0.360837],[-0.380166,0.115212,0.917714]]^H픺?`CaC? i? G??Tؿ~?]?i^4?I^_;^ґCYrوByrQ(Iv=v= z49 "?Y"?=AFyD=E>Q 5%4?Q 9-4]c)߉BY)y-,?Q I-?CI:i :ؑ4yɮ@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 111.74 m.Rh:Zh: ProNav: ac range: 111.736931 m, nav range: 111.808395 m, bearing: 242.500856 deg, approach rate: 0.584333 m/s, LOS rate: 0.090463 deg/s, cmd heading: 240.719963 deg, new cmd heading: 240.868280 deg. BhVx;%HeadingCmd: 4.203945 target range: 111.736931 and range: 112.20 m.h%@h!*h!"h! h!g!f)fIfIdIdQdQjdQZdUo@颥Bɢ) i)i i;EI@IA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014553ԁE[ EPE+E"E%;*E;VE [4ZEBEJ ?> ?>7>ٱ>Te> JAHRS rotation from veh to nav: [[0.080043,-0.983630,0.161448],[0.927752,0.132745,0.348791],[-0.364513,0.121865,0.923190]]>H}?@yS?$??@R?-T׿ 2?Ŋ?i> ?I>_;>ΑCYNByR(Ii%Mb@Mb@Mb@!!!! !9%sh|??V-QY%)?y%m%u%@%~@ %Mz@)%@!Y%G@bD=VD=yMp%M=ٔUlQ-U>9QYY=]AFy]D]AQ=E]>aQ 5m4e]?Q 9m4e^[)eBYuR+?Q Eu:yu^?Q Iu?e?CIeu ;ie ;e4yyɮ}@jhFNOT Ignoring new targets: 111.74 m.RhF:ZhF: ProNav: ac range: 111.736931 m, nav range: 112.102074 m, bearing: 242.549012 deg, approach rate: 0.586085 m/s, LOS rate: 0.095852 deg/s, cmd heading: 240.868288 deg, new cmd heading: 241.012377 deg. Bh;HeadingCmd: 4.206460 target range: 111.736931 and range: 112.20 m.hQ@h*h"h hgfffBdddjdZda@颥BɢG) &i)F顩i+8i#?IQ@Iԡ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518652@†<EM EHE0E"Eˀ;*E;VE4ZEa@a@a@a@^A  A I I) O5 >p2,2?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770609:`?:K?:k>ٱ:= BAHRS rotation from veh to nav: [[0.056865,-0.987783,0.145091],[0.936150,0.103260,0.336095],[-0.346971,0.116714,0.930585]]:Hl?S??@o??4ֿ?Z?i:`?I:_;:БCYJ^ByJ'IbDRVDR2yZ%ZV=ٔ^HQ-^>9`Y`=bAFybDf=Ef>ptQ 54v.?Q 9 4vOU)vTBYy?Q I?v]CIvJ;iv);vM4y!ɮ%M@!jhFNOT Ignoring new targets: 111.74 m.Rh :Zh := ProNav: ac range: 111.736931 m, nav range: 112.322006 m, bearing: 242.588077 deg, approach rate: 0.531622 m/s, LOS rate: 0.094243 deg/s, cmd heading: 241.012377 deg, new cmd heading: 241.129343 deg. Bh=[;EHeadingCmd: 4.208501 target range: 111.736931 and range: 112.20 m.hE @hA*hA"hA hAgAfIfIfIdIdQdQjdqZdu@j@Bɢ7l*) i)di{i5999I= @I9AqAuAAB}B>ByB}'IB}އBB} =ByByB};B}6E @ @@/@B@fA:@@`<@gA@hA9BDAT read: Rx Time:03:33:40.4198 TRx dataTimestamp_ set to:1761536019.440234%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023715^A i E T E SE +E "E ;*E N;VE [4ZE BE j8,#e?A2փ?2 o?2a>ٱ2= >AHRS rotation from veh to nav: [[0.034143,-0.991289,0.127199],[0.943882,0.073819,0.321927],[-0.328513,0.109070,0.938181]]2H5{?@@H?H4??t?`Zտ??i2փ?I2ϋ_;2̑CYF5ByF'IIJ >)J%=i]Mb@Mb@Mb@YYYY Y9](\?Mbp= ףY].?y]]]-@]@ ]ۅ@)]n@YY]@bDuVDuy};%<=ٔ8Q->9 ?Y ?=AFyDf=E>Q 54?Q 94KN)BY/?Q E:yl?Q I?CI:i:4y BɮF@EjhFNOT Ignoring new targets: 111.74 m.Rh;Zh; ProNav: ac range: 111.736931 m, nav range: 112.567978 m, bearing: 242.641461 deg, approach rate: 0.608418 m/s, LOS rate: 0.131760 deg/s, cmd heading: 241.129337 deg, new cmd heading: 241.289141 deg. Bhٴ;HeadingCmd: 4.211290 target range: 111.736931 and range: 112.20 m.h†@h*h"h hgfffBd d d jdZd @=BɢEUH)A E*iA)E9ҺAIi&i94I†@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275292AU9@Q @Q@]/@Y@=?,8-?A6W?6?6>ٱ6`= >AHRS rotation from veh to nav: [[0.011443,-0.994520,0.103916],[0.950888,0.042970,0.306539],[-0.309325,0.095305,0.946169]]6H@=o? 9?m?@7?V? ӿ@e?G?i6W?I6}Y_;6͑CYFByFC'IbDjVDjkyrQ%rU=ٔvXQ-v>9tYt=vAFyvDz=Ez>|Q 54~?Q 94~H)~߈BY y W?Q I ?~CI~:i~:~4yɮ@EES EEfEE,EA"EE;*EEP$;VEEg4ZEAaM@aM@aM@aM@jhQUFNOT Ignoring new targets: 111.74 m.Rh];Zh];m ProNav: ac range: 111.736931 m, nav range: 112.786407 m, bearing: 242.691674 deg, approach rate: 0.566587 m/s, LOS rate: 0.129995 deg/s, cmd heading: 241.289137 deg, new cmd heading: 241.439482 deg. Bhmm;uHeadingCmd: 4.213914 target range: 111.736931 and range: 112.20 m.hub؆@hqy*hq"hy hygfffdddjdZd` @颽Bɢj) Fi)CiўriqD/Ib؆@Ii@q @q@u?0@q@MN<ԩDAT read: 03:33:40.4198 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 456, 0.20, 0.829, 2.021, 0.346, 0.899, PHS= 0.032, 1.167,-0.598, RAW= 350.6, -7.8, CAL= 350.2, -10.8, ROT= 159.8, 10.8 Ygot valid direction response: 03:33:40.4198 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 456, 0.20, 0.829, 2.021, 0.346, 0.899, PHS= 0.032, 1.167,-0.598, RAW= 350.6, -7.8, CAL= 350.2, -10.8, ROT= 159.8, 10.8 PDAT read: Bearing 65.5, 37.7 (Local) ~Local bearing/azimuth received: Bearing 65.5, 37.7 (Local) DAT read: Range 11 to 50 : 114.5 m (Round-trip 152.7 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.921870,0.339182,-0.187381]Fpublishing direction and range infoyY]Ţ -'?0iǿY]BYY]kY Y)]@I]o=i]B`?]]@]'g ]@ ]A)]2@I]A>YY]LP迩gؒd ]Մ)] >I]2@i]A>YY5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^AUBU E>BQ BU &IBU }BBU =BQ BQ BU ;BU 7EA I I O > E,?A6ٱ6O= BAHRS rotation from veh to nav: [[-0.011466,-0.996432,0.083616],[0.956989,0.013308,0.289818],[-0.289896,0.083343,0.953422]]6H@{ g? ?*A?_?ҿU?`o?i69pYp=rAFyrDvs=Ev>xQ 5~4z?Q 9~4zMA)zBYyH?Q I?zCIz;iz;z4y ɮ @ ii ?AJiBRiBji@b|~ƕGZVC@]I]5RŢ -'?0iǿZi2@biA>j1VC"Ztcx*@ZtտA7 r!?2i:iz"i ?*ia,BiBi>M.?iʑiBiBi-Ç@] addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 4.034801 s, deltaX: 2.300003 m, approachRate: 0.570041 m/s, rangeRepo size: 3 m Added new target pos. range: 114.028893 m, bearing: 249.791568 deg, lat: 36.779399 deg, lon: -121.859601 deg, deltaT: 4.034801 s, deltaX: 2.291962 m, approachRate: 0.568048 m/s, posRepo size: 3 jhiuFNOT Ignoring new targets: 114.03 m.RhuZhq ProNav: ac range: 114.028893 m, nav range: 112.876511 m, bearing: 243.081645 deg, approach rate: 0.000000 m/s, LOS rate: 0.129995 deg/s, cmd heading: 241.439483 deg, new cmd heading: 241.597263 deg. BhHeadingCmd: 4.216668 target range: 114.028893 and range: 114.50 m.h@h*h"h hgfffdddjd\@Zd`?*DAT read: user:356> BDAT read: Tx time:03:33:41.8629 $Ping request sent.bE [4jE|a4rEÂL0EeM EeL9@ @@0@R@ >J@>Ee+Ea"Eeˀ;*Ee;VEe [4ZEaBEeQV!L,2?A2α?2й?2>ٱ2M5= :AHRS rotation from veh to nav: [[-0.035073,-0.997181,0.066333],[0.962149,-0.015743,0.272068],[-0.270257,0.073364,0.959989]]2H+?@?`i?Kѿ@Dz? ;?i2α?I2_;2̑CYFByF&IiMb@Mb@Mb@ 9M?~jt)\(Yn2?yDGa@@ 5@)A@Yf@bD-VD-fy5a%=E=ٔ=IQ-=>9AYA=EAFyE&DM+q=EM>QQ 5U4UB?Q 9]4U!:)UuBY]h3?Q E]:y]5?Q Ie?UCIU ;iUz ;U4yiɮm@iB*** querying acoustic contact ***i ijh1=FNOT Ignoring new targets: 114.03 m.Rh=;ZhE;M ProNav: ac range: 114.028893 m, nav range: 113.123390 m, bearing: 243.140455 deg, approach rate: 0.577055 m/s, LOS rate: 0.137163 deg/s, cmd heading: 241.597260 deg, new cmd heading: 241.773305 deg. BhUD;HeadingCmd: 4.219740 target range: 114.028893 and range: 114.50 m.h@h*h"h hgfffwBdddjdZdH?=Bɢ=膽)=,K= =miA)ErAAiE9LiM#IiIm@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5035489@ @@ -4@ a@ӓ<E]_ E]PE])EY"E];*E];VE]FA4ZEYae@ae@am@am@ԑ^A Թ A ؟AI! I1 OE >R,L?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756103f?f?f>ٱf& = vAHRS rotation from veh to nav: [[-0.058908,-0.996777,0.054451],[0.966327,-0.043252,0.253655],[-0.250483,0.067560,0.965761]]fH3)?'?@ %@;?пK?@?if?If_;fΑCYwBy &IbD%VD%ky>y%F=ٔJQ->9"?Y"?=AFy.DQr=E>Q 54d?Q 942)DBYyT?Q I?CI9:iR: 4yɮ'@jhFNOT Ignoring new targets: 114.03 m.Rh1;Zh1;  ProNav: ac range: 114.028893 m, nav range: 113.368256 m, bearing: 243.202225 deg, approach rate: 0.616906 m/s, LOS rate: 0.155285 deg/s, cmd heading: 241.773315 deg, new cmd heading: 241.958224 deg. Bh $;HeadingCmd: 4.222968 target range: 114.028893 and range: 114.50 m.h"@h*h"h hgfffdd!d!jd!Zd%!?UBɢU%)Q ]aiY)]|YYi];ieaaIe"@IiԩB <A <BB8CB<&IB'BB =BBB;B7E9@ @@M4@@1<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006737^A E S E =E .E "E ;*E ;VE ـ4ZE BE ) K$Y,Wf?A6q ?6?6zn>ٱ6= BAHRS rotation from veh to nav: [[-0.082769,-0.995459,0.047027],[0.969477,-0.069501,0.235126],[-0.230790,0.065053,0.970827]]6H[0?@?ʱ@?@ͿH??i6q ?I6`^;6̑CY^OBy^m&IiMMb@Mb@Mb@IIII I9M@5^I ?ˡEˡEYMb0?yM'M'M@I M@)M@IYM@bDeVDeymjI%mN=ٔuQQ-u>9yYy=}AFy}6D}y=E>Q 54?Q 94,)BY1?Q E:y?Q I?&CI] ;i ;4yBɮ@ףEjhFNOT Ignoring new targets: 114.03 m.Rh4;Zh4; ProNav: ac range: 114.028893 m, nav range: 113.599739 m, bearing: 243.265256 deg, approach rate: 0.581883 m/s, LOS rate: 0.158119 deg/s, cmd heading: 241.958222 deg, new cmd heading: 242.146929 deg. Bh;HeadingCmd: 4.226261 target range: 114.028893 and range: 114.50 m.h=@h*h"h hgffqfu5BdqdqdyjdyZd`?Bɢ[) i)ifY*i599IE=@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260243Ii9@ @@3@B@gA:@cA9@} <@hA@i ^A FӅ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511502ԙ A I I O >n`,ρ?AE>[ E>NE>+E<"E>%;*E>;VE> [4ZEٱJ= RAHRS rotation from veh to nav: [[-0.106764,-0.993344,0.043223],[0.971574,-0.094989,0.216845],[-0.211296,0.065146,0.975249]]JHT@z[!?!?+Q? ˿e?<5?iJ '?IJs_;JΑCYZ#ByZ7&I`bAbDfVDfynV%nG=ٔnGQ-n>9pYp=rAFyr?Dvr=Ev>xQ 5~4z?Q 9~4z$)zBY|y~?Q I~?zICIzk:iz:z)4y ɮ @ jh)5FNOT Ignoring new targets: 114.03 m.Rh==;Zh==;M ProNav: ac range: 114.028893 m, nav range: 113.836632 m, bearing: 243.333289 deg, approach rate: 0.578265 m/s, LOS rate: 0.165727 deg/s, cmd heading: 242.146926 deg, new cmd heading: 242.350601 deg. BhMy;UHeadingCmd: 4.229816 target range: 114.028893 and range: 114.50 m.hUZ@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdm ?颕Bɢݸ) i)uZϻ顙iiPIZ@Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764851->=9@ @@4@BqBqBu%IBuۆBBu =BqBqBu;Bu07E@M< 1 ^A U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901AIAaIyO?]Fh,?AD=D<E&X E&OE&)E$"E&Ʌ;*E&3;VE&FA4ZE$BE&2E&JE&{ٱ= AHRS rotation from veh to nav: [[-0.130651,-0.990516,0.042524],[0.972673,-0.119759,0.198907],[-0.191928,0.067349,0.979095]]H.Nť? $ ?@u?@ȿ=?T?i;?IH^;̑CYBy &IiMb@Mb@Mb@ 9&1? rh rhY0?yCC $@3@ -@)@Y@bDVDy%=ٔ Q->9Y=AFyJDa+=E>Q 54h?Q 94)BY1?Q E:y?Q I?zCI12;i1;7$4yɮ@jhFNOT Ignoring new targets: 114.03 m.Rh99;Zh99;- ProNav: ac range: 114.028893 m, nav range: 114.176788 m, bearing: 243.426854 deg, approach rate: 0.590479 m/s, LOS rate: 0.161936 deg/s, cmd heading: 242.350603 deg, new cmd heading: 242.630459 deg. Bh-E;5HeadingCmd: 4.234700 target range: 114.028893 and range: 114.50 m.h5@h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdML@}Bɢ}\")o= i)顁i(ib? I@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268333Ď=5 9@1  @1 @5 0@1 9 @ ٱ6Q= >AHRS rotation from veh to nav: [[-0.178502,-0.982262,0.057426],[0.971892,-0.166911,0.166032],[-0.153502,0.085449,0.984447]]6H@+ƿ@n@f?@?Y]ſ`@? ÿ@ߵ??i6d?I6_;6ˑCYFdžByF%IbDrVDrNyze%z&=ٔzxQ-~>9|Y|=~AFy~TD^=E> Q 54 ?Q 94 ) BYy?Q I? CI r;i ; ,4y!ɮ%@!EB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 114.03 m.Rh]K;Zh]K;m ProNav: ac range: 114.028893 m, nav range: 114.461967 m, bearing: 243.514327 deg, approach rate: 0.580087 m/s, LOS rate: 0.177487 deg/s, cmd heading: 242.630449 deg, new cmd heading: 242.892213 deg. Bhm;uHeadingCmd: 4.239269 target range: 114.028893 and range: 114.50 m.hu@hq*hq"hq hqgqfyfyfydyddjdZd`r@颵}Bɢ-) |i)项iDHi=I@I np=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772090 9@  @ @4@@b<9AqAu@AByByB}%IB}BB} =ByByB};;B}S7EBE8CBE7CBABEƬ =BEƬ =CEf[5i^A A1 I9 IQ Oe > BDAT read: Rx Time:03:33:44.4231  TRx dataTimestamp_ set to:1761536023.472077 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023824ԡ w,?A2b?2#N?2 >ٱ2;= :AHRS rotation from veh to nav: [[-0.201726,-0.977274,0.065133],[0.970082,-0.190185,0.150900],[-0.135083,0.093624,0.986401]]2H*ɿE@?` ?WȿP?jJ??i2b?I2U_;2̑CYBByB%I Jp=D@AzD@AEB EBE)E"Ew;*EZ;VEFA4ZEBE9aYa=mAFyym]DN=E>Q 554?Q 9=4 )}BYAyM0?Q Iu?ΠCIA>R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.EUM EU*EU(EQ"EUˀ;*EU;VEUc44ZEQa]@a]@ae@ae@A5.AI9IIO]?y,A-?Aɰ4?`?`N˿y?b^}? J?izQ?Iz#_;zΑCY=By=s%IiMb@Mb@Mb@ 9?MbXy&1Yf&?yʽ`e;@`@ @)A@Y3@bD=VD=yM%M=ٔMQ-U>9U ?YU ?=UAFyUiD]B =E]>aQ 5m4e?Q 9m4e)e_BYm[(?Q Eu:yu ?Q Iu?eCIe ;ie7 ;e!?4yyɮ}6@yii?AJi BRi BjiL@b{ YDoAJxK@/t@RH#|O&@-?{S?Zi)@biԇj੟\= YOor[R"9@ZeGeпN&J?2i:i"i"?*idGBiʸBiia,iwBiABiRň@ addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 3.781231 s, deltaX: 2.500000 m, approachRate: 0.661160 m/s, rangeRepo size: 4  Added new target pos. range: 116.518311 m, bearing: 254.787696 deg, lat: 36.779399 deg, lon: -121.859664 deg, deltaT: 3.781231 s, deltaX: 2.489418 m, approachRate: 0.658362 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 116.52 m.RhZh ProNav: ac range: 116.518311 m, nav range: 120.127640 m, bearing: 244.887149 deg, approach rate: 0.000000 m/s, LOS rate: 0.175264 deg/s, cmd heading: 243.149844 deg, new cmd heading: 243.445549 deg. BhHeadingCmd: 4.248926 target range: 116.518311 and range: 117.00 m.h4@h *h "h  hgff!f%Bd)d)d1jd5@]@Zd=?I额wB *DAT read: user:357> BDAT read: Tx time:03:33:45.6629 $Ping request sent.BB)%IBGBBBBBd;B7E@ =<ԙ ^A ߱ ߵ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250195 A I I! O- >,S!?AB3?B?BX=ٱBv= NAHRS rotation from veh to nav: [[-0.246591,-0.966236,0.074709],[0.963886,-0.236528,0.122388],[-0.100585,0.102190,0.989667]]BHGϿ`g ?'?FοT?`꿹 ')? Y?iB3?IB_;B̑CYfHByj*%IE-< E-7E-*E)"E-,r;*E- ;VE-(N4ZE)BE-9iYq=uAFyurD*S=E>Q 54?Q 94!)KBYy?Q I?#CId:i[:F4yɮ@jh)5FNOT Ignoring new targets: 116.52 m.Rh=Q4;Zh=Q4;m ProNav: ac range: 116.518311 m, nav range: 120.374786 m, bearing: 244.957522 deg, approach rate: 0.554783 m/s, LOS rate: 0.157646 deg/s, cmd heading: 243.445537 deg, new cmd heading: 243.656221 deg. Bhma;uHeadingCmd: 4.252604 target range: 116.518311 and range: 117.00 m.huT@hq*hq"hq hqgqfyfyfydyddjdZd@Ww?uBɢ) 6˿i)t^ii%M!!I-T@I)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858@ @@ 0@@.7,??A2b?2?2ά=ٱ2Қ= >AHRS rotation from veh to nav: [[-0.268489,-0.960333,0.075330],[0.959589,-0.259798,0.108139],[-0.084279,0.101320,0.991278]]2H .ѿ H?? п?`O??i2b?I2)$_;2ʑCYF+ByF%IiMb@Mb@Mb@ 9{Gz?EԸ9AY=AFy{DM=E>Q 54'?Q 94):BY%?Q E:y?Q I?GCIP ;i ;N4yɮ@jhFNOT Ignoring new targets: 116.52 m.Rh<;Zh%<;E-I E-=E-,E)"E-};*E-;VE-g4ZE)a5@a5@a5@a5@M ProNav: ac range: 116.518311 m, nav range: 120.615051 m, bearing: 245.029172 deg, approach rate: 0.554930 m/s, LOS rate: 0.165158 deg/s, cmd heading: 243.656234 deg, new cmd heading: 243.870755 deg. BhM;UHeadingCmd: 4.256348 target range: 116.518311 and range: 117.00 m.hU4@hQ*hQ"hQ hQgQfYfYf]TBdYdadajdaZdeɔ?颕rBɢH) ѿi)u顙ixi`I4@IY59@1 @1@5O0@1@Mڮ<Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005902ԁB <A B K>B B $IB BB B B B ;B 7E^A N؅A zA eAԹ A ؟AI I O >k,Z?A2I?2?2T=ٱ2= :AHRS rotation from veh to nav: [[-0.289384,-0.954328,0.074263],[0.954740,-0.282194,0.094010],[-0.068760,0.098107,0.992798]]2H@Eҿډ?`;?uҿ?;??i2I?I2 _;2̑CYB ByB$IbDNVDNܲyV#%VJ=ٔVQ-V>9Z"?YZ"?=ZAFyZD^b=E^>`Q 5f4b?Q 9f4b7)b.BYdyj?Q Ij?bgCIb;ib3;bVU4ynBɮn@nģEx~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 116.52 m.Rh?;Zh?;% ProNav: ac range: 116.518311 m, nav range: 120.824249 m, bearing: 245.094305 deg, approach rate: 0.537279 m/s, LOS rate: 0.166991 deg/s, cmd heading: 243.870757 deg, new cmd heading: 244.065817 deg. Bh%5;-HeadingCmd: 4.259752 target range: 116.518311 and range: 117.00 m.h-O@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE?pBɢt ) ٿi%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260563) AIiMNiMQQIUO@IQbE=ęT4jE=T\4rE=ă0EH EHE1E"E};*E;VE-4ZEBEf} C checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510281  E ƿ9A YE wAq ^A ԡ AQIaIqO}?~*,j{?AF5F?Fk1?F=ٱF`= NAHRS rotation from veh to nav: [[-0.330376,-0.940193,0.083003],[0.943063,-0.325233,0.069682],[-0.038519,0.101298,0.994110]]FH$տ??-? Կֱ?и ??iF5F?IF_;DYVByV$Ii5Mb@Mb@Mb@1111 195MbX9?RQMb`?Y5!?y5½5;5Q@5ж@ 5Q@)5v@1Y5z@ M49iYq=uAFyuDuY=Eu>yQ 54}诊?Q 94}r)}%BY#?Q E:y!?Q I?}CI} ;i}2 ;}^4yɮ@jhFNOT Ignoring new targets: 116.52 m.RhqI;ZhqI;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761925u ProNav: ac range: 116.518311 m, nav range: 121.100052 m, bearing: 245.187947 deg, approach rate: 0.519891 m/s, LOS rate: 0.176113 deg/s, cmd heading: 244.065827 deg, new cmd heading: 244.346110 deg. Bhu;}HeadingCmd: 4.264644 target range: 116.518311 and range: 117.00 m.h}w@hy*hy"hy hgfPExceeded connect timeout, disconnecting.ff*BdddjdZdX@mBɢ)@ = 6ܿi)%R))i-T i-s11I5w@I1%-B=EW EYE-E"ET;*Ew;VEt4ZEa@a@a@a@ԑ9@ @@0@@<ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013860^A FӅ B M>B 9CB $IB BB =B B DB ;B 7EI I O >_,?AYޅBy$IbD-VD- y=} %EC=ٔEQ-E>9IYI=MAFyMDMEU>YQ 5]4]䯊?Q 9e4]ڿ)]BYayaQ Ie?]CI] :i]F:]e4yiɮu@qjhFNOT Ignoring new targets: 116.52 m.Rh`H;Zh`H; ProNav: ac range: 116.518311 m, nav range: 121.317657 m, bearing: 245.261452 deg, approach rate: 0.519551 m/s, LOS rate: 0.175184 deg/s, cmd heading: 244.346111 deg, new cmd heading: 244.566229 deg. Bht;HeadingCmd: 4.268486 target range: 116.518311 and range: 117.00 m.hp@h*h"h hgfffdddjdZd@jBɢ<) i)Ci%oiMIIIMp@IQAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265896D=DE5 EgEE"Ek;*E$;VEZEBEAHRS rotation from veh to nav: [[-0.369437,-0.925225,0.086460],[0.929199,-0.366787,0.045348],[-0.010245,0.097092,0.995223]]2H ݤ׿p8"??@oy׿7?Pڸ?`?i2۔?I2._;2ˑCYBЅByB$IHiMb@Mb@Mb@ 9Q?X9v~jtx?Y(?y;h@@ @)3@Y̬@bD-VD-y=$P%==ٔ=TXQ-=>9AYA=EAFyEDE=EM>QQ 5]4U]߯?Q 9]4Uѿ)UBY]?Q E]:y]?Q Ie?UCIU*:iUv:UOo4yiɮm@jh FNOT Ignoring new targets: 116.52 m.Rh;;Zh;;% ProNav: ac range: 116.518311 m, nav range: 121.589157 m, bearing: 245.352250 deg, approach rate: 0.492052 m/s, LOS rate: 0.164190 deg/s, cmd heading: 244.566234 deg, new cmd heading: 244.838017 deg. BhM];UHeadingCmd: 4.273230 target range: 116.518311 and range: 117.00 m.hUL@hQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde@@fBɢ) i)XijOiAIIML@II}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771852nManaging dock network, ignoring radio surface power off=#=9@ @@@B@:@R@J@EU E6E,E"El;*E ;VEg4ZEa@a@a@a@  BDAT read: Rx Time:03:33:48.2259  TRx dataTimestamp_ set to:1761536027.252054% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860^A% A) A) B1 B1 B5 $IB5 BB5 =B1 B5 DB5 ;B5 7EI I I O >4,?A2@?2L+?2D ]ٱ2^= >AHRS rotation from veh to nav: [[-0.388748,-0.917244,0.086825],[0.921338,-0.387361,0.032990],[0.003373,0.092820,0.995677]]2H`@ؿZ`-:?{?@ؿ` ? k?÷?`?i2@?I2^;2̑CYBByFv$IbDNVDNyV\%V<=ٔZFQ-Z>9XY\=^AFy^D^cD=E^>`Q 5f4bگ?Q 9f4bʿ)`Yhyj?Q Ij?bCIb;ib;bv4yn Bɮn@rEjh FNOT Ignoring new targets: 116.52 m.Rh (N;Zh (N; ProNav: ac range: 116.518311 m, nav range: 121.806442 m, bearing: 245.427797 deg, approach rate: 0.519317 m/s, LOS rate: 0.180237 deg/s, cmd heading: 244.838021 deg, new cmd heading: 245.064256 deg. Bhc;%HeadingCmd: 4.277178 target range: 116.518311 and range: 117.00 m.h%ވ@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd= < @cBɢ) Zi)FiDijbIވ@I!!))ԡ,>R=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274152e9@a @a@e0@iDzDEd EBE.E"E:;*EZ;VEـ4ZEBEW߻,?AJ?J"?JM,ٱJ = VAHRS rotation from veh to nav: [[-0.408004,-0.908711,0.088182],[0.912833,-0.407764,0.021547],[0.016378,0.089286,0.995871]]JHڿ)?5?ڿM?XŐ?@z۶?-?iJ?IJ ^;JɑCYZBy^x$IimMb@Mb@Mb@iiii i9mS?rh|y&1?Ym?ymm`e9Y=AFyD8=E>Q 54tկ?Q 94ÿ)BY?Q E:y?Q I?'CI:i: 4yɮ@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 116.52 m.RhF;ZhF;  ProNav: ac range: 116.518311 m, nav range: 122.035904 m, bearing: 245.509152 deg, approach rate: 0.491509 m/s, LOS rate: 0.173936 deg/s, cmd heading: 245.064264 deg, new cmd heading: 245.307869 deg. Bh ;HeadingCmd: 4.281430 target range: 116.518311 and range: 117.00 m.hy@h*h"h hgff!f%Bd!d!d!jd)Zd-@U`Bɢ]) *i){˼i[iIy@I9@ @@`0@)-DAT read: 03:33:48.2259 LVL= 29168, 24049, 32754, 32755, AGC= 62, IDX= 454, 0.43, 2.990,-2.646, 1.856,-3.136, PHS=-0.055, 0.536,-1.335, RAW= 12.0, 10.3, CAL= 11.8, 11.6, ROT= 138.2, -11.6 =Ygot valid direction response: 03:33:48.2259 LVL= 29168, 24049, 32754, 32755, AGC= 62, IDX= 454, 0.43, 2.990,-2.646, 1.856,-3.136, PHS=-0.055, 0.536,-1.335, RAW= 12.0, 10.3, CAL= 11.8, 11.6, ROT= 138.2, -11.6 EPDAT read: Bearing 61.7, 42.1 (Local) E~Local bearing/azimuth received: Bearing 61.7, 42.1 (Local) MDAT read: Range 11 to 50 : 119.0 m (Round-trip 158.7 ms) speed -0.4 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [-0.730250,0.652919,0.201078]]Fpublishing direction and range infoyz4^翠е?o?YBq] )>IGaiL7 ?HᪿPwV>X8>BR> 4QO>)^@I4QOEFtӿ[w0u7? D)g8I^@i4QOuT****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y^A II O >E G E >E ,E "E &|;*E ?;VE g4ZE a @a @a @a @ԁ },u ?A2?2h@2ٱ2= VAHRS rotation from veh to nav: [[-0.427174,-0.899797,0.088814],[0.903720,-0.427994,0.010561],[0.028509,0.084774,0.995992]]2HVۿ`" ?E?Bdۿ#?l1? ų?@+?i2?I2_;0Y-By-b$IbDMVDMf?ym %mN=ٔmQ-m>9qYq=uAFyuD}[=E}>Q 54Я?Q 94])"BYy?Q I?FCI:i(:4yɮ@iIiMx?AJiMBRiMBjiM5@bMrڍU"?8XS@7@RMz4^翠е?o?ZiM^@biM4QOjM >#[8~;@ZMz~~п/(q?2iM':iMP"iMå?*iM&BiMMBiM ?iM&iMMBiM'BiMa@ addTargetRange:: Added new target pos. range: 119.000000 m, deltaT: 4.030600 s, deltaX: 2.000000 m, approachRate: 0.496204 m/s, rangeRepo size: 4  Added new target pos. range: 118.511581 m, bearing: 254.626923 deg, lat: 36.779507 deg, lon: -121.859662 deg, deltaT: 4.030600 s, deltaX: 1.993271 m, approachRate: 0.494535 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 118.51 m.RhZh }*DAT read: user:358> BDAT read: Tx time:03:33:49.6630 $Ping request sent.BqBug$IBuBBu =BqBuDBu;Bu7EB=9CB=9CB9B=Ī =B=Ī =C=k5 i)ؼi09i9IL@Iԡ9@ @@N0@@@@@- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250954 Au .AIy I O >BɁDDEP E3E+E"E(;*Et ;VE [4ZEBE9 ?Y ?=AFyƌD1=E> Q 54 Xɯ?Q 94 ) (BY?Q E:y*?Q I? nCI 7 /ρ,q??ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896YByX$IbDVDܲy%mn%%=ٔ-Q--?9)Y)=-AFy-̌D5E5?9Q 5E4=į?Q 9E4=)=-BYIyIQ IM?=CI=:i=:=4yQɮU@QjhFNOT Ignoring new targets: 118.51 m.RhxK;ZhxK; ProNav: ac range: 118.511581 m, nav range: 117.984665 m, bearing: 251.000824 deg, approach rate: 0.519848 m/s, LOS rate: 0.177886 deg/s, cmd heading: 245.775861 deg, new cmd heading: 245.936598 deg. Bh);HeadingCmd: 4.292403 target range: 118.511581 and range: 119.00 m.h^[@h*h"h h!g!f!f!f)d)d)d)jd)Zd5?]WBɢe39)a eZia)eiiimyh:imqqIu^[@IyE=@ E=LE=.E9"E=u;*E=;VE=ـ4ZE9aM@aM@aM@aM@q)@) @)@5/@1A=>A=>A=؟AIIIYOmW>ԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035 B! A! B- O>B) B- [$IB- BB) B) B) B- ;B- 7ECց,Y?A2.?22@2xٱ2q= :AHRS rotation from veh to nav: [[-0.484425,-0.868403,0.105867],[0.872723,-0.488105,-0.010419],[0.060722,0.087346,0.994326]]2H߿?X?@=߿tV`?I\? ?i2.?I2Q^;2ˑCPYRByR\$ITVAbD^VD^:y%lu<%%J=ٔ%RQ-->9-"?Y-"?=-AFy-ԌD5X=E5>9Q 5E4=?Q 9E4=)=5BYAyM?Q IM?=CI=:i=8:= 4yU!BɮU@UEjhy}FNOT Ignoring new targets: 118.51 m.RhZ;ZhZ; ProNav: ac range: 118.511581 m, nav range: 118.182686 m, bearing: 251.074858 deg, approach rate: 0.510650 m/s, LOS rate: 0.190595 deg/s, cmd heading: 245.936589 deg, new cmd heading: 246.158316 deg. Bh<HeadingCmd: 4.296273 target range: 118.511581 and range: 119.00 m.h{@h*h"h hgfffdddjdZd`%?TBɢJ&)< i)e?iۖ:i"SI{@I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262506AIIOK>EET EE1EAEA"EE;*EEf;VEAZEABEE9QYQ=UAFyU܌DUPS=E]>aQ 5m4e-?Q 9m4e()e@BYm ?Q Em:ym%?Q Im?eǢCIe :ie:eS4yyɮ}=@y5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 118.51 m.RhMG;ZhMG;} ProNav: ac range: 118.511581 m, nav range: 118.384384 m, bearing: 251.150437 deg, approach rate: 0.466401 m/s, LOS rate: 0.174468 deg/s, cmd heading: 246.158324 deg, new cmd heading: 246.384672 deg. Bh}x;HeadingCmd: 4.300224 target range: 118.511581 and range: 119.00 m.ho@h*h"h hgfffBdddjdZd`@?ePBɢeKJ)a eia)m iiim:iIo@I!@! @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7670319Au.AIyIO>E= @ E= BE= +E9 "E= u;*E= Z;VE= [4ZE9 aE @aE @aE @aE @i ),C?AJ\?J@JٱJu = VAHRS rotation from veh to nav: [[-0.519835,-0.845701,0.120673],[0.850575,-0.525517,-0.018823],[0.079335,0.092857,0.992514]]JH |`r?`7? wFJO?sŷ?`?iJ\?IJ^;HY^By^]$IbDfVDfyn<%nS=ٔr*Q-r>9r ?Yr ?=rAFyrDvY=Ev>xQ 5~4zG?Q 9~4z>)zLBY|y?Q I?zCIz^;iz;z4y Bɮ @ jh15FNOT Ignoring new targets: 118.51 m.YRh'b;Zh'b; ProNav: ac range: 118.511581 m, nav range: 118.570786 m, bearing: 251.222966 deg, approach rate: 0.508940 m/s, LOS rate: 0.197719 deg/s, cmd heading: 246.384676 deg, new cmd heading: 246.601921 deg. Bh<HeadingCmd: 4.304016 target range: 118.511581 and range: 119.00 m.h@h*h"h hgfffdd!d!jd!Zd%@(@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019014}MBɢ}+) i)` i:ipUI@IBR>BBg$IBBBBBB;B7Eԉ@ @@/@AzAdAAIIOj>Ա P? 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271175 R,?AbE%^n4jE%o4rE%$Z/E: E5E,E"E\p;*E ;VEg4ZEBEn9Y=AFyD=E>Q 54?Q 94)^BYyk?Q I?CI:i:4yۓBɮ@EjhaeFNOT Ignoring new targets: 118.51 m.RhmbW;ZhmbW;} ProNav: ac range: 118.511581 m, nav range: 118.838844 m, bearing: 251.331232 deg, approach rate: 0.467281 m/s, LOS rate: 0.188305 deg/s, cmd heading: 246.601931 deg, new cmd heading: 246.925994 deg. Bh;<HeadingCmd: 4.309671 target range: 118.511581 and range: 119.00 m.h@h*h"h hgfffdddjdZd V@IBɢ9)tv< i)?id;iI@II = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775180} 9@y  @y @} 4@y iEG E;EE"E&|;*E ;VEZEa@a@a@a@A؟AIIO?,yx?AY%By%}$IbD=VD=N2yMX=%M[=ٔUQ-U>9U"?YU"?=]AFy]D]E]>aQ 5m4e?Q 9m4e)ekBYqyqQ Iu?e0CIe;ie];e4yyɮ}@yjhFNOT Ignoring new targets: 118.51 m.Rh^;ԱZh^; ProNav: ac range: 118.511581 m, nav range: 119.016289 m, bearing: 251.402536 deg, approach rate: 0.484943 m/s, LOS rate: 0.194577 deg/s, cmd heading: 246.925982 deg, new cmd heading: 247.139573 deg. Bh<HeadingCmd: 4.313399 target range: 118.511581 and range: 119.00 m.h^@h*h"h hgfffddd jd Zd @颽EBɢ') Ui)*Hi;i!I^@IB=:CB=z$IB=BB= =B9B9B=ف;B=7EAIIO> 1 ),<?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278845N,?N16 @NٱNè= ZAHRS rotation from veh to nav: [[-0.589816,-0.796390,0.133716],[0.799443,-0.599229,-0.042598],[0.114051,0.081773,0.990104]]NH@|?` ?,`jϥq2?? ?iN,?IN^;LYBy$IbD-VD-1y=b <%=L=ٔE!Q-E>9AYA=MAFyMDM(>EM>QQ 5]4UЕ?Q 9]4U)U{BYayeh@Q Ie?UPCIU;iU;U4ymғBɮmK@mEjhFNOT Ignoring new targets: 118.51 m.Rhi;Zhi; ProNav: ac range: 118.511581 m, nav range: 119.195244 m, bearing: 251.484272 deg, approach rate: 0.446684 m/s, LOS rate: 0.203713 deg/s, cmd heading: 247.139576 deg, new cmd heading: 247.384415 deg. Bh <HeadingCmd: 4.317673 target range: 118.511581 and range: 119.00 m.h`*@h*h"h1 h1g9f9f9f9dAdAdAjdAZdE h @E? E4E-E"Et;*E ;VEt4ZEBEYIDl>i=u?Gt>0 ? ԇ>) A@Iԇk"R[_?_j￈~QSG? [)tI A@iԇT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ T,"?Aɰ49 ?Y ?=AFyDE>Q 54݋?Q 94r)BQ A+:YQ E:yQ I?sCI:i>ƒ4yΓBɮG@Ei i ?AJi 6BRi 6Bji #@b `^MKej-}Y@ E>ܢ}?@R e"s`ݿT֡)?;f$?Zi A@bi ԇj I^ F =BDAT read: Tx time:03:33:53.4629 =$Ping request sent.= B= Q>B= 9CB= $IB= ؅BB9 B9 B9 B= ;B= 8E<,?AN=@NB3@N1ٱNL= VAHRS rotation from veh to nav: [[-0.625453,-0.766811,0.144254],[0.769763,-0.636626,-0.046597],[0.127567,0.081897,0.988443]]NH` @v?? >_ ۧ`T?4?@S?iN=@IN_;LYn҅Byn$IbDzVDzy-?=%-c=ٔ-Q-5>91Y1=5AFy5D=>E=>AQ 5M4Ej?Q 9M4Eh~)EBQ AM :YIQ EU`:yU_@Q IU?ECIE:iEN?Eʒ4yYɮ]@Y}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 120.11 m.Rhw;Zhw; ProNav: ac range: 120.107040 m, nav range: 119.548744 m, bearing: 251.651281 deg, approach rate: 0.437093 m/s, LOS rate: 0.216768 deg/s, cmd heading: 247.667577 deg, new cmd heading: 247.891201 deg. Bh<HeadingCmd: 4.326518 target range: 120.107040 and range: 120.60 m.hr@h*h"h hgfffdddjdZdw?m:Bɢm+)i mٿiq)N)i-;itIr@Im9@i @i@mv4@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502777AIIOf>E E/E(E"E>T;*EY;VEc44ZEBE#9Y=AFyDE>Q 5 4w?Q 9 4w)BQ A T:Y )+?Q E :y @Q I ?CI;i:rҒ4yɮ@jhAEFNOT Ignoring new targets: 120.11 m.RhM;ZhM;] ProNav: ac range: 120.107040 m, nav range: 119.736290 m, bearing: 251.752297 deg, approach rate: 0.439038 m/s, LOS rate: 0.236103 deg/s, cmd heading: 247.891197 deg, new cmd heading: 248.193766 deg. Bh] "<eHeadingCmd: 4.331799 target range: 120.107040 and range: 120.60 m.he@ha*ha"ha hagifififmBdqdqdqjdyZd}4?颥6Bɢܻ!) տi).顩i-m4;i5 19I=@I9ԉ9@ @@4@AzAeAԹA5؟AIAIQO]v>U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772 E - E !E +E "E d;*E :VE [4ZE a @a @a @a @5N,I?A2\@2vR@2ٱ2 = :AHRS rotation from veh to nav: [[-0.661285,-0.734550,0.152112],[0.737283,-0.673827,-0.048683],[0.138257,0.079957,0.987163]]2H?)nkx? ӗ?`@쨿j? x?ז?i2\@I2^;2ʑC`YnByn$IbDzVDzNy-#=%-W=ٔ5[Q-5>9E"?YE"?=EAFyE DM>EU>aQ 5m4ek?Q 9m4efr)e·BYqyu7 @Q I}?eӣCIe|S;iewT;e'ْ4yʓBɮ@EjhFNOT Ignoring new targets: 120.11 m.Rh܉;Zh܉; ProNav: ac range: 120.107040 m, nav range: 119.895103 m, bearing: 251.846226 deg, approach rate: 0.408112 m/s, LOS rate: 0.241056 deg/s, cmd heading: 248.193775 deg, new cmd heading: 248.475188 deg. Bho%<HeadingCmd: 4.336710 target range: 120.107040 and range: 120.60 m.hTƊ@h*h "h  h gfffdddjdZd% `?2Bɢ0)h; Eѿi)4in7;i&ITƊ@II)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590609@ @@4@BT>B:CB$IBBB =BBB ;B.8EBBBBũ =BŨ =C05AIIO>A ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510685~,c?A2%@2@2ٱ2= >AHRS rotation from veh to nav: [[-0.678325,-0.717649,0.157657],[0.720792,-0.691572,-0.046776],[0.142600,0.081909,0.986385]]2H@ִ`.??Z!@??@x?i2%@I2^;2ˑCYFByF$IbDNVDNyVw~=%VR=ٔZ8Q-Z>9\Y\=^AFy^(D^7}=Eb>`Q 5f4b_?Q 9M4bl)bBYQyU @Q IU?bCIbichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782ԑ _,ka}?A2n@2td@2ٱ2ב= :AHRS rotation from veh to nav: [[-0.695037,-0.700124,0.163553],[0.703869,-0.708980,-0.043771],[0.146601,0.084697,0.985563]]2H=jgL?`?$i@???i2n@I2^;2ȑCYFByF$IiUMb@Mb@Mb@QQQQ Q9UFx?PnV-?YU+?yUU=ٔ;Q->9 ?Y ?=AFy0D+e=E>Q 54R?Q 94f)BY/?Q E:y @Q I?CI:i:f4yɮ@jhFNOT Ignoring new targets: 120.11 m.Rh;Zh; ProNav: ac range: 120.107040 m, nav range: 120.230721 m, bearing: 252.050066 deg, approach rate: 0.440727 m/s, LOS rate: 0.263219 deg/s, cmd heading: 248.762292 deg, new cmd heading: 249.085823 deg. Bh4<HeadingCmd: 4.347368 target range: 120.107040 and range: 120.60 m.h@h*h"h hgff f  Bd d d jdZd@=*BɢEyX")A EɿiA)Eƴ>IIiM;[=;iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881QI@I!ԩ9@ @@/@A>A>E  EE)E"EX;*EO:VEFA4ZEa@a@a@a@AU؟AIqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266727 B [>B ;CB $IB $BB =B B DB ;B C8Ev%,u=?Aɰ;2 @2m@2ٱ2= :AHRS rotation from veh to nav: [[-0.710966,-0.682652,0.168861],[0.687110,-0.725461,-0.039826],[0.149689,0.087711,0.984835]]2H;H8??`6 d)?;t?ă?i2 @I2^;2ɑCYFByF$IIJp>)J=bDRVDR:2yV)=%ZY=ٔZQ-Z>9^"?Y^"?=^AFy^8Db}=Eb>dQ 5f4fLF?Q 9j4f a)fBYhyj[ @Q Ij?f:CIf[:if1:f4yrBɮr@vEB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 120.11 m.Rh-;Zh-;= ProNav: ac range: 120.107040 m, nav range: 120.384766 m, bearing: 252.146235 deg, approach rate: 0.405367 m/s, LOS rate: 0.252742 deg/s, cmd heading: 249.085825 deg, new cmd heading: 249.373958 deg. Bh=t-<EHeadingCmd: 4.352396 target range: 120.107040 and range: 120.60 m.hEF@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@D@E&BɢE)I MDſiI)MCIIiMC`>;iU$YYI]F@IY %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518878}e<a>i!>@ @@/@QD=D<E/ E#EE"Eaf;*E;VEZEBEϷԁ +,?A2/c @2X@2-|ٱ2= :AHRS rotation from veh to nav: [[-0.726153,-0.665894,0.171134],[0.670469,-0.740954,-0.038176],[0.152223,0.087019,0.984508]]2H@<O?|t? |?`F??i2/c @I2L^;2ǑCYj&Byj%IieMb@Mb@Mb@aaaa a9e/$?X9vX9v?Ye&1?yee9Y=AFyADW=E>Q 547?Q 94Z)2BY3?Q E:y@Q I?`CI;i ;4yɮc@jhFNOT Ignoring new targets: 120.11 m.Rh;Zh;  ProNav: ac range: 120.107040 m, nav range: 120.556984 m, bearing: 252.263125 deg, approach rate: 0.399604 m/s, LOS rate: 0.270837 deg/s, cmd heading: 249.373950 deg, new cmd heading: 249.724114 deg. Bh 9<HeadingCmd: 4.358508 target range: 120.107040 and range: 120.60 m.hx@h*h"h hgff!f%,Bd!d!d!jd)Zd-c]@Q!Bɢ) i)Ii=;i[ I x@I  <9@ @@/@ԙAIIO>ԩ5 BDAT read: Rx Time:03:33:56.0300 5 TRx dataTimestamp_ set to:1761536035.068063= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023737E ( E E .E "E `;*E O:VE ـ4ZE a @a @a @a @ A2,?Af @f{@fөٱf= zAHRS rotation from veh to nav: [[-0.741171,-0.649058,0.171433],[0.653337,-0.756110,-0.038060],[0.154325,0.083795,0.984460]]fH`?#? 2|?s?ಀ?if @IfW^;fɑCY%/By% %IbDEVDEܲye2=%eN=ٔmQ-m>9qYq=uAFyuID}Fm=E}>Q 54(?Q 94U)LBYy@Q I?CI:i:4yBɮ@EjhFNOT Ignoring new targets: 120.11 m.Rhۛ;Zhۛ;= ProNav: ac range: 120.107040 m, nav range: 120.710075 m, bearing: 252.371687 deg, approach rate: 0.384789 m/s, LOS rate: 0.272521 deg/s, cmd heading: 249.724120 deg, new cmd heading: 250.049391 deg. Bh=;<EHeadingCmd: 4.364185 target range: 120.107040 and range: 120.60 m.hEh@hA*hA"hA hAgIfIfIfIdQdqdqjdqZd}`/ @ԱBɢ) ji)uMyyi}X=;i̡Ih@I==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275200AABBB/%IBLBBBBB*;BT8EK; 9@  @ @ /@ A eAzA hAA I I O >8,?A.DAT read: 03:33:56.0300 LVL= 14320, 16849, 26482, 25987, AGC= 60, IDX= 465, 0.13,-2.738, 2.788, 1.778, 3.034, PHS= 0.613,-0.201,-1.300, RAW= 55.1, 10.7, CAL= 52.3, 12.4, ROT= 97.7, -12.4 2Ygot valid direction response: 03:33:56.0300 LVL= 14320, 16849, 26482, 25987, AGC= 60, IDX= 465, 0.13,-2.738, 2.788, 1.778, 3.034, PHS= 0.613,-0.201,-1.300, RAW= 55.1, 10.7, CAL= 52.3, 12.4, ROT= 97.7, -12.4 6PDAT read: Bearing 71.8, 72.1 (Local) 6~Local bearing/azimuth received: Bearing 71.8, 72.1 (Local) >DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.9 ms) speed -0.4 m/s BR#Rx 1: Read range and direction messages.F^direction in FSK: [-0.130861,0.967866,0.214735]FFpublishing direction and range infoyqu t?h`r|?Yu3Bqu7uAurg ue)u<Iu?iuMuffum0v?ut;?>ui? uk]>)uC?Iuk]qqu&shO?h@znVw? u()u)?IuC?iuk]qqVT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.)mQ@bE(N4jEU4rE(0EuD EuEEu)Eq"Euny;*Eu;VEuFA4ZEqBEuD9Y=AFySDA=E>Q 5 4?Q 9 4\N)kBYy@Q I?CI +G-A91Y5Aiqiu?AJiu5BRiu5Bjiu=@buہ/)l]@Fe:@Ru t?h`r|?ZiuC?biuk]ju\i[ Lw!buYIPVC@@Zu_޿/2"5^SU?2iu:iug"iu?*iuBiuBBiqiqiuMBiuBiuq@E addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.780898 s, deltaX: 1.500000 m, approachRate: 0.396731 m/s, rangeRepo size: 4 ] Added new target pos. range: 121.603523 m, bearing: 240.353481 deg, lat: 36.779507 deg, lon: -121.859662 deg, deltaT: 3.780898 s, deltaX: 1.496483 m, approachRate: 0.395801 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 121.60 m.RheZhaqiߑIߑ*DAT read: user:360> BDAT read: Tx time:03:33:57.2129 $Ping request sent.AHRS rotation from veh to nav: [[-0.770382,-0.614780,0.168989],[0.618011,-0.785194,-0.039160],[0.156763,0.074269,0.984840]]2HGk?@?N ` `?H?΃?i25@I2^;2ȑCYFABDyF"%Ifonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 50.33, 54.07, 57.81, af@af af@af af@af af@af bDjVDjyrm=%r7=ٔvQ-v>9z ?Yz ?=zAFyz[DzZ=Ez>|Q 54~?Q 94~LH)~BQ A +:Y Q E t:y @Q I ?~դCI~ ;i~>~7 4yBɮ@Ejh9EFNOT Ignoring new targets: 121.60 m.Eu? EuCEu+Eq"Eut;*Eu;VEu [4ZEqa}@a}@a}@a}@RhEz;Zhz; ProNav: ac range: 121.603523 m, nav range: 121.049019 m, bearing: 252.628451 deg, approach rate: 0.468025 m/s, LOS rate: 0.362783 deg/s, cmd heading: 250.527049 deg, new cmd heading: 250.898142 deg. Bhx<HeadingCmd: 4.378999 target range: 121.603523 and range: 122.10 m.h @h*h"h hgAfAfIfQdQdYdYjdZd@?Bɢ;) 4i9)EXAAiE6;iMb󿉧IIIM @IQԹ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503122A%؟AI)I9OMt>BmY>BiBm[%IBmpBBm =BiBiBm+;BmU8E G,U ?A6e@6 [@6!ٱ6= BAHRS rotation from veh to nav: [[-0.785171,-0.595715,0.169205],[0.598944,-0.799936,-0.036998],[0.157393,0.072295,0.984886]]6H` ? *?`Wt%?끲?0?i6e@I6^;6ˑCYFNByF2%IbDRVDRyZ=%ZO=ٔZdӺQ-^>9^"?Y^"?=bAFybcDb }=Eb>dQ 5j4f?Q 9j4fC)fBQ Aj :YhQ EnF:yn@Q In?fCIf ;if>W?f4ypɮr@t| B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 121.60 m.Rh;Zh;- ProNav: ac range: 121.603523 m, nav range: 121.186028 m, bearing: 252.740225 deg, approach rate: 0.345508 m/s, LOS rate: 0.281550 deg/s, cmd heading: 250.898147 deg, new cmd heading: 251.233084 deg. Bh-9A<5HeadingCmd: 4.384844 target range: 121.603523 and range: 122.10 m.h5P@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@?}Bɢ} )y }iy)\顁i\6;i򿉧IP@II)gA>9?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900M9@Q @Q@U5@Q)E5 E3E,E"Ek;*Et ;VEg4ZEBEY checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006674ԁ nN,[: ?A2@2y @2=>"ٱ2mӐ= :AHRS rotation from veh to nav: [[-0.800015,-0.575708,0.168926],[0.578862,-0.814673,-0.035016],[0.157778,0.069772,0.985007]]2H`2l`_? ? 2?ܱ?`,?i2@I2%^;0YfFByf'%IIj4=)jl>llaUYa] a]a] a]ae aeae ieMb@Mb@Mb@aaaa a9e"~j?HzG?YeS#?ye= e9Y=AFylD$p=E>Q 54|殊?Q 94=)BQ AT:Y'?Q E:yF@Q I?CI;i;J4yBɮ@EjhFNOT Ignoring new targets: 121.60 m.Rh;Zh; ProNav: ac range: 121.603523 m, nav range: 121.328514 m, bearing: 252.852499 deg, approach rate: 0.330858 m/s, LOS rate: 0.260398 deg/s, cmd heading: 251.233072 deg, new cmd heading: 251.569496 deg. Bh2<HeadingCmd: 4.390716 target range: 121.603523 and range: 122.10 m.h@h *h "h  h g f ffBdddjdZd? Bɢ9) i)ai3;ip<򿉧I@Iԉ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259295IIOf>E= E0E+E"Es;*E;VE [4ZEa@a@a@a@Ա T,T ?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5105496c@6"@6"ٱ6㣎= BAHRS rotation from veh to nav: [[-0.814676,-0.554625,0.169395],[0.557968,-0.829258,-0.031668],[0.158036,0.068718,0.985039]]6H|?`?`H6`:?{?@q?i6c@I6F^;4YJJByJ,%IbDRVDRyZ<%ZY=ٔ^[5Q-^>9\Y`=bAFybtDb=Eb>dQ 5j4fخ?Q 9j4f8)fӈBYlyn@Q In?f:CIfr#;if~$;f4ytɮv@tjhFNOT Ignoring new targets: 121.60 m.Rh;B!A!B%U>B%:CB%%IB%BB% =B!B!B%1;B!Zh;M ProNav: ac range: 121.603523 m, nav range: 121.447891 m, bearing: 252.951794 deg, approach rate: 0.316923 m/s, LOS rate: 0.263349 deg/s, cmd heading: 251.569500 deg, new cmd heading: 251.867090 deg. BhM4<UHeadingCmd: 4.395910 target range: 121.603523 and range: 122.10 m.hUK@hQ*hQ"hQ hQgQfYfYfYdadadajdaZdmZ?ԹBɢ)1 5i9)=X-f99i=2;iE?񿉧AAIEK@II=P;E]>iE>9@ @@1@AfAzAgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762705IIO>E 2 E (E /E "E i;*E ;VE J4ZE BE )9Y=AFy}Dw=E>Q 54Ǯ?Q 943)BYy@Q I?^CI;i;%4y=BɮEY@Ajh 5FNOT Ignoring new targets: 121.60 m.Rh5;Zh5;E ProNav: ac range: 121.603523 m, nav range: 121.580360 m, bearing: 253.068354 deg, approach rate: 0.282445 m/s, LOS rate: 0.248254 deg/s, cmd heading: 251.867078 deg, new cmd heading: 252.216374 deg. BhE_*<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759}HeadingCmd: 4.402006 target range: 121.603523 and range: 122.10 m.h}<݌@hy*hy"hy hygyfffdddjdZd1@颕Bɢ2) i)Ոk顙i.;iz𿉧I<݌@II#2?9@ @@4@IyIO~>i% >% R=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923ԙ a,sc ?AF@Fe%@F*"ٱF-ʞ= RAHRS rotation from veh to nav: [[-0.842698,-0.509305,0.174553],[0.514772,-0.857180,-0.015863],[0.157703,0.076487,0.984520]]FHa9LW? y?nm>/?? 0?iF@IFm^;FʑCYZZByZ@%I \\b=b=iEMb@Mb@Mb@AAAA A9ECl?Qy&1|?YEd?yE\E`;E@Eh@ Ev@)Eґ@AYE@EeM Ee`Ee.Ea"Eeˀ;*Ee'!;VEeـ4ZEaam@am@am@am@bDmVDmy}b=%J=ٔ:Q->9Y=AFyD=E>Q 5=4?Q 9=4./)BYE{?Q EE:yEH@Q IE?~CIB!B%%IB%BB!B!B!B%I;B%n8EB;CB:CBBƥ =BƦ =C5M 9@I  @I @M 4@I I I O > *h,> ?A2@21'@2!ٱ2Y= :AHRS rotation from veh to nav: [[-0.855609,-0.486638,0.176399],[0.493152,-0.869908,-0.007846],[0.157269,0.080278,0.984288]]2H&a%߿ :?@Ϗ?`H`!? ?H?i2@I2^;2ɑCYZOByZ3%IbDbVDbk1yjb%jV=ٔn:Q-n>9pYp=rAFyrDr=Er>tQ 5z4v?Q 9z4v*)vBY|y~@Q I~?vCIvw;iv;v34yBɮ @ E%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 121.60 m.Rh=;Zh=;M ProNav: ac range: 121.603523 m, nav range: 121.798546 m, bearing: 253.269821 deg, approach rate: 0.294176 m/s, LOS rate: 0.279642 deg/s, cmd heading: 252.523814 deg, new cmd heading: 252.820234 deg. BhM?<UHeadingCmd: 4.412546 target range: 121.603523 and range: 122.10 m.hU3@hQ*hY"hY hYgYfYfafadadadijdiZdm@额Bɢg#) i)3s顡i%.;i q￉I3@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771781U9@Q @Q@U/@QA]>A]>IIO>Emb Em\Em,Ei"EmQ;*Em ;VEmg4ZEiBEm=̟ٔ:Q->9Y=AFyDj=E>Q 54ә?Q 94&)"BY?Q E:yk@Q I?CI":i::4yɮ@jhFNOT Ignoring new targets: 121.60 m.RhY;ZhY; ProNav: ac range: 121.603523 m, nav range: 121.901550 m, bearing: 253.382330 deg, approach rate: 0.239284 m/s, LOS rate: 0.261145 deg/s, cmd heading: 252.820244 deg, new cmd heading: 253.157485 deg. Bh83<HeadingCmd: 4.418432 target range: 121.603523 and range: 122.10 m.hc@h*h"h h!g!f!f!f-GBd)d)d)jd1Zd5 @]Bɢe:)a e"ia)ewaiim+;im?qqIuc@Iq1%9@! @!@)@) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278588QAIIOa>E[ EaE*E"E%;*E!;VE(N4ZEa@a@a@a@ԡ /Ygot valid direction response: 03:33:59.7816 LVL= 24624, 25073, 31730, 32371, AGC= 62, IDX= 449, 0.35,-1.419,-2.110,-3.132,-2.084, PHS= 0.766, 0.018,-1.092, RAW= 53.6, 3.8, CAL= 53.2, 2.1, ROT= 96.8, -2.1 @BPDAT read: Bearing 118.4, 74.2 (Local) F~Local bearing/azimuth received: Bearing 118.4, 74.2 (Local) JDAT read: Range 11 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.0 m/s NR#Rx 1: Read range and direction messages.Ab@AA`BfS>Bf9CBf%IBfBBdBdBfDBfi;Bf8E]^direction in FSK: [-0.118324,0.992299,0.036644]]Fpublishing direction and range infoy "vJ E ?(א¢?Y"B "0`"a"{ "s~)">I"D?i"t<"Ƌ"|o?"ԇ=",m? "Q =)"@?I"Q  "Ћ?\B|Yn-? "a)"慉I"@?i"Q  uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.@w*@ ٱš= AHRS rotation from veh to nav: [[-0.878880,-0.442473,0.178294],[0.450966,-0.892505,0.008050],[0.155566,0.087480,0.983944]]HxQܿV??f|??e?x|?i@I6_;̑CYaByI%IAbDVDy<%9=ٔ,2;Q->9Y=AFyDW\=E>!Q 5-4%뇮?Q 9-4%")%3BYIyM@Q IU?%CI%;i%;%B4y]Bɮ]$@Yԩi i"z ?AJi"BRi"Bji"@b"AcB-pv^@dL@R"vJ E ?(א¢?Zi"@?bi"Q j".+D}.\ 5)@Z" տ Z -jV?2i":i"_!"i"oE@?*i"9`Bi"Bi"oE@?i"9`i i"?Bi"@} addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.778376 s, deltaX: 1.200005 m, approachRate: 0.317598 m/s, rangeRepo size: 4  Added new target pos. range: 122.796288 m, bearing: 250.710238 deg, lat: 36.779455 deg, lon: -121.859643 deg, deltaT: 3.778376 s, deltaX: 1.192764 m, approachRate: 0.315682 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 122.80 m.RhZh ProNav: ac range: 122.796288 m, nav range: 122.124817 m, bearing: 250.710669 deg, approach rate: 0.000000 m/s, LOS rate: 0.261145 deg/s, cmd heading: 253.157492 deg, new cmd heading: 253.536925 deg. BhHeadingCmd: 4.425054 target range: 122.796288 and range: 123.30 m.h @h*h"h hgf!f!f!d)d)d)jd-@3^@Zd5?}Bɢ}U) i)L|顡i';i>I @IY@Y @Y@]0@YAazAefA*DAT read: user:361> BDAT read: Tx time:03:34:01.0129 $Ping request sent. E n E }E /E "E Ï;*E m0;VE J4ZE BE -a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5027249N, ?A2o@2-@2Bٱ2= :AHRS rotation from veh to nav: [[-0.900013,-0.398872,0.175717],[0.408498,-0.912520,0.020912],[0.152004,0.090601,0.984219]]2H` ٿ}? $?\3i?t?1?~?i2o@I26^;2ȑCYblBybV%IIiMb@Mb@Mb@ 9Zd;O? ףp= rhY~ ?yQC@@ @)b@Y@bDVD0y2<%<=ٔ;Q->El E]E(E"Eڎ;*E;VEc44ZEa@a@a@a@9 Y = AFy D c=E >Q 54h?Q 94B)LBYw ?Q E:yk#@Q I?CIu ;i ;JP4yBɮ;@EjhFNOT Ignoring new targets: 122.80 m.RhE;ZhE; ProNav: ac range: 122.796288 m, nav range: 122.249847 m, bearing: 250.913686 deg, approach rate: 0.153388 m/s, LOS rate: 0.276740 deg/s, cmd heading: 253.812370 deg, new cmd heading: 254.145654 deg. Bh=<HeadingCmd: 4.435678 target range: 122.796288 and range: 123.30 m.h@h*h"h hgfffBdddjdZd9?5Bɢ5BG)9 =i9)=299i=Ϲ';iE{쿉AAIM@IIi9@ @@5@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810BM>BB%IBBB =BBB;B8EIIOj>ԑ >x,D# ?A2L!@22B/@2ٱ2= :AHRS rotation from veh to nav: [[-0.909440,-0.377627,0.174116],[0.387916,-0.921266,0.028095],[0.149798,0.093093,0.984324]]2H"+ؿpI??{Ĝ?,? Է??i2L!@I2^;2ɑCYRyByRf%I TTbDZVDZyb_=%b_=ٔf;Q-f>9dYd=jAFyjDj=Ej>lQ 5r4na[?Q 9r4n)nVBYtyv$@Q Iv?n2CIn:in:nbV4yxɮzc@|B*** querying acoustic contact ***i iԙjhFNOT Ignoring new targets: 122.80 m.Rh;Zh;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006936 ProNav: ac range: 122.796288 m, nav range: 122.293747 m, bearing: 251.000470 deg, approach rate: 0.120051 m/s, LOS rate: 0.237243 deg/s, cmd heading: 254.145656 deg, new cmd heading: 254.405915 deg. Bh"<HeadingCmd: 4.440221 target range: 122.796288 and range: 123.30 m.hJ@h*h"h hgfffdddjdZd`5]?颍ڈBɢV@) Ei)顱i';iC뿉IJ@Ip>i9@ @@4@bE|a4jEãf4rExE0EZ EE+E"E;*EVE [4ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588029 a,ta= ?A2R"@20@2ٱ2= :AHRS rotation from veh to nav: [[-0.918356,-0.357065,0.170663],[0.367259,-0.929590,0.031353],[0.147451,0.091471,0.984830]]2H -c'ֿH?@-?3@ ?@?j?@?i2R"@I2/^;2ǑCYF~ByFl%IiEMb@Mb@Mb@AAAA A9E~jt?&1~jtYE?yEPEDE@Eʝ@ E~@)E5@AYE@bD]VD]02ymH<%m@=ٔm;Q-m>9qYq=uAFyuD}P[=E}>Q 54J?Q 94)cBYH?Q E:y*@Q I?NCIz:i:]4yBɮ@EjhFNOT Ignoring new targets: 122.80 m.Rh;Zh; ProNav: ac range: 122.796288 m, nav range: 122.325691 m, bearing: 251.102320 deg, approach rate: 0.078301 m/s, LOS rate: 0.249586 deg/s, cmd heading: 254.405914 deg, new cmd heading: 254.711379 deg. BhI+<HeadingCmd: 4.445552 target range: 122.796288 and range: 123.30 m.hA@h*h"h hgfff~BdddjdZd ?-ՈBɢ5I)1 5ܕi1)=o99i=Ý';iE7뿉AAIEA@II9@ @@/@IQIyO>>Y?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511186AEa ErEE"E݉;*E*;VEZEa@a@a@a@qԙ ;,}B68CB6%IB6BB6 =B4B6DB6;B68En^E$@n:2@nNAٱn= zAHRS rotation from veh to nav: [[-0.927103,-0.335388,0.167318],[0.345522,-0.937766,0.034777],[0.145241,0.090053,0.985289]]nHӪvտj?@? .@=Ρ?E?` ?}?in^E$@In^;nˑCYBy%IbDVDy%=%%O=ٔ%o;Q-%>9)Y)=-AFy-ƍD-u=E5>1Q 5E45v;?Q 9E45)5oBYAyE,@Q IE?5hCI5;i5<:5d4yQɮU@Qjhq}FNOT Ignoring new targets: 122.80 m.Rh;Zh; ProNav: ac range: 122.796288 m, nav range: 122.350922 m, bearing: 251.197164 deg, approach rate: 0.063970 m/s, LOS rate: 0.240419 deg/s, cmd heading: 254.711387 deg, new cmd heading: 254.995858 deg. Bh$<HeadingCmd: 4.450517 target range: 122.796288 and range: 123.30 m.hj@h*h"h hgfffdddjdZd@ЈBɢ8) i)1i ';i꿉Ij@Iq@ @@/@II!O- >ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014724E  E eE E "E ;*E #;VE ZE BE 9xYx=zAFyz΍DzLt=E~>Q 5 4+?Q 9 4T){BY y -@Q I?CI=3;i<k4yBɮT@EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269133jhi}FNOT Ignoring new targets: 122.80 m.Rh%n;Zh%n; ProNav: ac range: 122.796288 m, nav range: 122.371826 m, bearing: 251.292888 deg, approach rate: 0.045476 m/s, LOS rate: 0.208203 deg/s, cmd heading: 254.995851 deg, new cmd heading: 255.282972 deg. Bh<HeadingCmd: 4.455528 target range: 122.796288 and range: 123.30 m.h@h*h"h hgfffdddjdZdO]@颅ɈBɢ` ) bi)ꉽia%;i鿉I@I@ @@/@AzAIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773d, ?AFR'@F#H5@F%ٱF= ZAHRS rotation from veh to nav: [[-0.943065,-0.289612,0.163566],[0.301117,-0.952274,0.050030],[0.141271,0.096434,0.985263]]FH-ҿ?E?y`?&? 미? F?iFR'@IFѓ^;FǑCYfByj%IEq ElE/E"E;*Ey';VEJ4ZEa@a@a@a@iMb@Mb@Mb@ 9uV?Q롿~jtYr?y\b@p@ @)ۅ@Y3@bD VD:2y% =%%8=ٔ%;Q-%>9)Y)=-AFy-׍D-b]=E5>9Q 5E4=5?Q 9E4=)=BYE?Q EE:yE81@Q IM?=CI=:i=L:=gs4yUBɮU0@UwEjhy}FNOT Ignoring new targets: 122.80 m.Rh6;Zh6; ProNav: ac range: 122.796288 m, nav range: 122.382896 m, bearing: 251.403179 deg, approach rate: 0.028998 m/s, LOS rate: 0.288880 deg/s, cmd heading: 255.282965 deg, new cmd heading: 255.613803 deg. BhAF<HeadingCmd: 4.461302 target range: 122.796288 and range: 123.30 m.hŽ@h*h"h hgfff~BdddjdZdD@ÈBɢR) zi)j^iȺ%;iw3鿉IŽ@I1@ @@/@I IO-,>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770709YBeK>BaBe%IBeˆBBe =BaBaBe;Be8Eԁ nƨ,6Τ ?A02(@2I6@2ٱ2= >AHRS rotation from veh to nav: [[-0.949913,-0.267590,0.161435],[0.279821,-0.958294,0.058079],[0.139161,0.100343,0.985173]]2He0 ѿ?@?W ???@?i2(@I2m^;0YZ҆ByZ%IbDfVDf3yj(=%nb=ٔn$;Q-n>9pYp=rAFyrލDr=Ev>tQ 5z4v ?Q 9~4vW )vBY|y~2@Q I~?vCIv;ivD;vy4y }Bɮ @ vE%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 122.80 m.Rh=;Zh=;M ProNav: ac range: 122.796288 m, nav range: 122.387894 m, bearing: 251.493017 deg, approach rate: 0.013812 m/s, LOS rate: 0.248293 deg/s, cmd heading: 255.613792 deg, new cmd heading: 255.883293 deg. BhMf*<UHeadingCmd: 4.466006 target range: 122.796288 and range: 123.30 m.hU@hQ*hQ"hY hYgYfYfafadadadajdiZdmw( @ߝJ>ߝC=BDAT read: Rx Time:03:34:03.5818 TRx dataTimestamp_ set to:1761536042.628507checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024194颭Bɢ) "vi)qʌ项iA%;iV迉I@IU9@Y @Y@]v0@YԙE5} E5jE5,E1"E5;*E5k&;VE5g4ZE1BE5Թe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277083 , ?A2=*@2838@2ͼ ٱ2}= :AHRS rotation from veh to nav: [[-0.956259,-0.245298,0.159367],[0.257938,-0.964049,0.063857],[0.137974,0.102171,0.985152]]2H@eϿ`&f?@? }X?!?'?`]?i2=*@I2^;2ȑC`YjByj%Ir=r=i]Mb@Mb@Mb@YYYY Y9](\?y&1|MbPY]?y]`廙]]@]-@ ]ʝ@)]Ą@YY]Q@ up9"?Y"?=AFyD\=E>Q 54?Q 94 )BY?Q E:y]7@Q I?֦CI:i~:-4yɮ@jhFNOT Ignoring new targets: 122.80 m.Rh;Zh; ProNav: ac range: 122.796288 m, nav range: 122.377678 m, bearing: 251.597854 deg, approach rate: -0.023952 m/s, LOS rate: 0.245825 deg/s, cmd heading: 255.883284 deg, new cmd heading: 256.197820 deg. Bh(<HeadingCmd: 4.471496 target range: 122.796288 and range: 123.30 m.h~@h*h"h hg f f f ~BdddjdZd @BɢEw) fi)kih#;iq翉I~@IDAT read: 03:34:03.5818 LVL= 16336, 21153, 21442, 24883, AGC= 59, IDX= 447, 0.25,-0.974,-1.950,-2.659,-1.595, PHS= 0.723,-0.310,-1.108, RAW= 64.3, 8.8, CAL= 62.4, 10.6, ROT= 87.6, -10.6 Ygot valid direction response: 03:34:03.5818 LVL= 16336, 21153, 21442, 24883, AGC= 59, IDX= 447, 0.25,-0.974,-1.950,-2.659,-1.595, PHS= 0.723,-0.310,-1.108, RAW= 64.3, 8.8, CAL= 62.4, 10.6, ROT= 87.6, -10.6 PDAT read: Bearing 82.0, 82.8 (Local) ~Local bearing/azimuth received: Bearing 82.0, 82.8 (Local)  DAT read: Range 11 to 50 : 123.5 m (Round-trip 164.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.041161,0.982073,0.183951]Fpublishing direction and range infoyzt4?"5$m? =η?YB%9@! @!@%1@!?RS 3a);I9?iRҍȥ?nF>'g? q=>)E?Iq=q?e$yt? %y)IE?iq=mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.!E=e E=cE=)E9"E=;*E=";VE=FA4ZE9aE@aM@aM@aM@AqIyIO~>A iY IY ] *DAT read: user:362> e BDAT read: Tx time:03:34:04.7629 e $Ping request sent.e By B} %IB} BB} =By By B} y;B} 8EB%8CB%8CB!B%̬ =B%̫ =C%5`,? ?A2+@29@2 ٱ2= ZAHRS rotation from veh to nav: [[-0.961851,-0.223542,0.157705],[0.236638,-0.969102,0.069596],[0.137275,0.104260,0.985031]]2H|̿/?%J?`ѱ? :?Ű? _?i2+@I2Dj^;2ǑChY5By5&IbDEVDEyq >%E=ٔ:Q->9Y=AFyD:[=E>Q 54孊?Q 94E )BYy8@Q I?CI:i :4y zBɮ @uEii7 ?AJiBRiBji#@bhM?@ےc2^@w{6@Rzt4?"5$m? =η?ZiE?biq=jXOgMD zD @AE b E fE E "E Q;*E P$;VE ZE BE >%U=ٔ5xQ->9 Y = AFy D 9u=E>Q 5%4խ?Q 9-4 )BY1Ay=A:@Q IM? CIv;i; 4yQɮU@QjhyFNOT Ignoring new targets: 122.99 m.Rh;Zh; ProNav: ac range: 122.992188 m, nav range: 120.549980 m, bearing: 251.512605 deg, approach rate: -0.049841 m/s, LOS rate: 0.256405 deg/s, cmd heading: 256.519366 deg, new cmd heading: 256.801603 deg. Bh/<HeadingCmd: 4.482034 target range: 122.992188 and range: 123.50 m.hl@h*h"h hgfffdddjdZd@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505176Bɢg) >i)&i;i#濉Il@Ii9@ @@4@ԑA II)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754678 Â,v ?Aɰ4=ٔn9Q->9Y=AFyD*\=E>Q 54O­?Q 94r)ЉBY ?Q E:y'8@Q I?*CI ;i. ;4yvBɮ@tEjh!%FNOT Ignoring new targets: 122.99 m.Rh-Ӗ;Zh-Ӗ;= ProNav: ac range: 122.992188 m, nav range: 120.536385 m, bearing: 251.624868 deg, approach rate: -0.031935 m/s, LOS rate: 0.263724 deg/s, cmd heading: 256.801616 deg, new cmd heading: 257.138439 deg. Bh=4<EHeadingCmd: 4.487912 target range: 122.992188 and range: 123.50 m.hE@hA*hA"hI hIgIfIfQfU BdQdQdYjdYZd]rI?颅BɢD) .i)C/顑itz;i忉I@IJ>i9@ @@/@BE>B7CB<&IB'BB =BBB\;Br8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011156AII On> 3ɂ,& ?A60@6}=@62 ٱ6= BAHRS rotation from veh to nav: [[-0.975801,-0.156704,0.152498],[0.170453,-0.981979,0.081627],[0.136959,0.105645,0.984927]]6H9Ŀ?e?`_lz?߇? ??i60@I6V^;6ȑCYJeByJ&IbDVVDV yZ>%Z^=ٔ^+7:Q-^>9`Y`=bAFybDbMw=Ef>dQ 5j4f?Q 9n4f,)fމBYlyn9@Q In?fDCIf;if;f4ytɮv@tB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 122.99 m.Rhє;Zhє;- ProNav: ac range: 122.992188 m, nav range: 120.520630 m, bearing: 251.720792 deg, approach rate: -0.042732 m/s, LOS rate: 0.260214 deg/s, cmd heading: 257.138427 deg, new cmd heading: 257.426233 deg. Bh-2<5HeadingCmd: 4.492935 target range: 122.992188 and range: 123.50 m.h5 Ə@h1*h1"h1 h9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258791gAfIfIfIdIdQdQjdQZdU5?颅BɢZ) i)w顉iLl;i&忉I Ə@Ia9@! @)@-/@ADD%=Ec EhE(E"EƊ;*E^%;VEc44ZEBEԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513037 Ђ,hu@ ?AY By &IiMb@Mb@Mb@ 9X9v? ףp= :v?Y?yQT<Ą@@ p@)Y(@bDVD:2yT>%;=ٔQ->9Y=AFyDE>Q 54?Q 94)BY?Q E:y3@Q I?dCI ;i2 ;4ysBɮ@jh FNOT Ignoring new targets: 122.99 m.Rh\;Zh\;% ProNav: ac range: 122.992188 m, nav range: 120.523842 m, bearing: 251.840800 deg, approach rate: 0.007364 m/s, LOS rate: 0.275149 deg/s, cmd heading: 257.426223 deg, new cmd heading: 257.786234 deg. Bh-<<-HeadingCmd: 4.499218 target range: 122.992188 and range: 123.50 m.h-@h1*h1"h1 h1g1f9f9f=yBd9dAdAjdAZdE)?uBɢuڽ)q uniy)}yyi}a;iY俉I@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7635139@ @@/@IIOj>E [ E ]E *E "E %;*E ;VE (N4ZE a@a@a@a@) B A B F>B B &IB sBB B B B 9;B O8E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014693Eւ,fNZ ?ARg2@R@@R  ٱRW= ^AHRS rotation from veh to nav: [[-0.982727,-0.112074,0.147265],[0.125182,-0.988659,0.082961],[0.136297,0.099963,0.985612]]RHr۰`? ?`91Y1=5AFy5D==E=>AQ 5M4E?Q 9M4E^)EBYIyU6@Q IU?ECIE:iEF:Ev4y]oBɮ]@]sEjhFNOT Ignoring new targets: 122.99 m.Rh3;Zh3; ProNav: ac range: 122.992188 m, nav range: 120.516800 m, bearing: 251.946974 deg, approach rate: -0.018230 m/s, LOS rate: 0.274873 deg/s, cmd heading: 257.786229 deg, new cmd heading: 258.104766 deg. Bh<<HeadingCmd: 4.504778 target range: 122.992188 and range: 123.50 m.h$'@h*h"h hgfffdddjdZd@Bɢ׽) ,i)iT ;i5ۢ㿉99I=$'@I9IQ9@ @@/@IIOI>y]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266656ԩ D zD ?AbE} [4jE} [4rE}/0E U E E ,E "E l;*E VE g4ZE BE %rO=ٔr:Q-v>9tYt=vAFyv Dzv=Ez>|Q 5U4~x?Q 9U4~)~BYYy]`8@Q I]?~CI~S m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770650W,u ?A2W6@2D@2 ٱ2= :AHRS rotation from veh to nav: [[-0.987781,-0.065568,0.141382],[0.077383,-0.993807,0.079752],[0.135277,0.089718,0.986737]]2Hɰ?fϳ?C@j?P? ?Z?i2W6@I2e^;2őCYRByR,'IEbl Eb[Eb+E`"Ebڎ;*Eb;VEb [4ZE`af@aj@aj@aj@liEMb@Mb@Mb@AAAA A9Ev?㥛 ¿Mb?YE?yEE%;=ٔ:Q->9Y=AFy)Dg=E>Q 54c?Q 9 4)"BY Y?Q E :y 4@Q I ?CIL:i:4ylBɮ@rEjh9EFNOT Ignoring new targets: 122.99 m.RhE;ZhM;] ProNav: ac range: 122.992188 m, nav range: 120.506744 m, bearing: 252.182154 deg, approach rate: 0.005053 m/s, LOS rate: 0.300197 deg/s, cmd heading: 258.429578 deg, new cmd heading: 258.810304 deg. Bh]N<eHeadingCmd: 4.517092 target range: 122.992188 and range: 123.50 m.he@ha*ha"ha hagafififmBdidqdqjdqZd}AT @Bɢq) ui)敽iMH:iY⿉I@I19@ @@0@IIBiBm8CBm'IBmɇBBm =BiBiBm;Bm)8EIyO9>BDAT read: Rx Time:03:34:07.3314 TRx dataTimestamp_ set to:1761536046.408118checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0237291a ߁,e ?Aɰ:97@:ҦE@: ٱ:= JAHRS rotation from veh to nav: [[-0.989513,-0.041162,0.138457],[0.052777,-0.995292,0.081287],[0.134459,0.087742,0.987027]]:H`<?`?o=ϴ?5?Cv?@?i:97@I:O^;:ƑCYZByZP'IIbG>)b<bDfVDfβy >% Z=ٔ ;Q- >9Y=AFy0DӇ=E>%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274823)Q 554-Q?Q 954-)-1B9Y9yE+6@Q IE?-ݧCI-/;i-0;-4yIɮMI@ImB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 122.99 m.Rh}r;Zh}r; ProNav: ac range: 122.992188 m, nav range: 120.503334 m, bearing: 252.291503 deg, approach rate: -0.009022 m/s, LOS rate: 0.289288 deg/s, cmd heading: 258.810293 deg, new cmd heading: 259.138344 deg. BhF<HeadingCmd: 4.522817 target range: 122.992188 and range: 123.50 m.h뺐@h*h"h hgfffdddjdZdd @~Bɢj)/C mi),HiX6:iSΈ!!I%뺐@I!I1)1E] ESEE"E ;*EN;VEZEBEԙ DAT read: 03:34:07.3314 LVL= 30688, 32753, 32754, 32755, AGC= 59, IDX= 431, 0.48,-1.775, 3.120, 2.930,-2.598, PHS= 0.925,-0.520,-0.799, RAW= 81.3, 5.0, CAL= 80.1, 1.7, ROT= 69.9, -1.7  Ygot valid direction response: 03:34:07.3314 LVL= 30688, 32753, 32754, 32755, AGC= 59, IDX= 431, 0.48,-1.775, 3.120, 2.930,-2.598, PHS= 0.925,-0.520,-0.799, RAW= 81.3, 5.0, CAL= 80.1, 1.7, ROT= 69.9, -1.7  PDAT read: Bearing 302.6, 77.1 (Local)  ~Local bearing/azimuth received: Bearing 302.6, 77.1 (Local)  DAT read: Range 11 to 50 : 123.2 m (Round-trip 164.3 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.343508,0.938681,0.029666] Fpublishing direction and range infoyKn ? ? `?YfBw )Il?iDL>?¸=? < )y(?I5?;_r{?P*? ,)kIy(?i T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.j,ƾ ?A2W9@2LMG@2 ٱ2o= :AHRS rotation from veh to nav: [[-0.990679,-0.014858,0.135402],[0.027250,-0.995557,0.090135],[0.133461,0.092984,0.986682]]2H@m T???A?ͷ??i2W9@I2a^;2őCYNByNa'IiuMb@Mb@Mb@qqqq q9u-?GzǿMbp?Yu5?yup=u;u@u5@ uґ@)us@qYu…@bDVD0ԙyU=%A=ٔ;Q->9Y=AFy9Dy=E>Q 54i;?Q 94)@BY%%?Q E:y4@Q I?CIX:i:Ǔ4yhBɮ8@qEi i Qk ?AJi cBRi cBji Y/@b dE@}NJ\@k @R Kn ? ? `?Zi y(?bi j Jb|EBBˠK\G3@Z GjֿrG|?2i ]:i +"i E?*i DBi Bi :e蠊?i Di i mBi @% addTargetRange:: Added new target pos. range: 123.199997 m, deltaT: 3.779486 s, deltaX: -0.300003 m, approachRate: -0.079377 m/s, rangeRepo size: 4 = Added new target pos. range: 122.693451 m, bearing: 249.209703 deg, lat: 36.779446 deg, lon: -121.859602 deg, deltaT: 3.779486 s, deltaX: -0.298737 m, approachRate: -0.079042 m/s, posRepo size: 4 jh9=FNOT Ignoring new targets: 122.69 m.RhEZhA ProNav: ac range: 122.693451 m, nav range: 119.213791 m, bearing: 251.696283 deg, approach rate: 0.000000 m/s, LOS rate: 0.289288 deg/s, cmd heading: 259.138333 deg, new cmd heading: 259.507949 deg. BhHeadingCmd: 4.529268 target range: 122.693451 and range: 123.20 m.h@h*h"h hgfffBdddjd^@Zd  0d?]vBɢ]@)Y ]CiY)eԝaaiei:im[࿉yyI}@IE=E<E*DAT read: user:363> MBDAT read: Tx time:03:34:08.6129 M$Ping request sent.M9 Ae @AAa Bm H>Bi Bm b'IBm BBm =Bi Bi Bm ;Bm 8E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251852H,c ?A2:@20H@2Mٱ24= :AHRS rotation from veh to nav: [[-0.991122,0.010820,0.132517],[0.002339,-0.995110,0.098747],[0.132938,0.098180,0.986250]]2HD (?S?@b)c?@yG??T"?@[?i2:@I2TL^;2ǑCY^ Bybn'IbDjVDjy=ob=%=Q=ٔE':Q-E>9AYA=EAFyMADMŃ=EM>QQ 5]4U5'?Q 9]4U)UMBYaye>6@Q Ie?U CIUH;iUe;UΓ4ymeBɮmQ@mpEjhFNOT Ignoring new targets: 122.69 m.RhP;ZhP; ProNav: ac range: 122.693451 m, nav range: 119.207695 m, bearing: 251.816645 deg, approach rate: -0.015790 m/s, LOS rate: 0.311786 deg/s, cmd heading: 259.507956 deg, new cmd heading: 259.869054 deg. BhU<HeadingCmd: 4.535571 target range: 122.693451 and range: 123.20 m.he#@h*h"h hgfffdddjdZdr?pBɢ?)  i)ؖi0Ҵ:iֱ߿  I e#@I 9@ @@/@AIIOB>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504973iE f E OE +E "E ";*E 3;VE [4ZE BE 9dYd=jAFyjIDjڄ=Ej>lQ 5r4n?Q 9r4n)n[BYtyv7@Q Iv?n@CInt:in:nՓ4yxɮz|@xjh%FNOT Ignoring new targets: 122.69 m.Rh%/;Zh%/;5 ProNav: ac range: 122.693451 m, nav range: 119.195808 m, bearing: 251.936453 deg, approach rate: -0.030561 m/s, LOS rate: 0.308064 deg/s, cmd heading: 259.869054 deg, new cmd heading: 260.228508 deg. Bh5kS<=HeadingCmd: 4.541844 target range: 122.693451 and range: 123.20 m.h=V@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU?%iBɢ%=)) -i))-* )1i]<:yiuA޿IV@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757884Iԡ5+;9@ @@4@A>A>} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009940I I O > ,M ?A2#*>@2L@2ٱ2%= :AHRS rotation from veh to nav: [[-0.989937,0.061950,0.127226],[-0.047399,-0.992306,0.114374],[0.133333,0.107192,0.985257]]2H 鷯?H? D``G? ? p?:?i2#*>@I2My^;2ǑCYB6ByB'IEVa EVUEV/ET"EV݉;*EV\;VEVJ4ZETaZ@aZ@aZ@aZ@i}Mb@Mb@Mb@yyyy y9}v?%C̿~jtY}?y}Zd}D}z|@}@ }@)yyY}׃@bDVD1y'=%==ٔeQ->9Y=AFyRDl=E>Q 54?Q 94)dBY,#?Q E:yx5@Q I?cCI*:i:%ݓ4ybBɮ@jhFNOT Ignoring new targets: 122.69 m.Rḫ;Zḫ; ProNav: ac range: 122.693451 m, nav range: 119.193604 m, bearing: 252.068553 deg, approach rate: -0.005101 m/s, LOS rate: 0.305644 deg/s, cmd heading: 260.228513 deg, new cmd heading: 260.624814 deg. BhQ<HeadingCmd: 4.548761 target range: 122.693451 and range: 123.20 m.hs@h!*h!"h) h)g9fAfIfMBdQddjdZdܵ?bBɢ ע)   i)1顱i:i޿Is@IrB G>B B 'IB SBB B B B ؁;B 7EBBBBĭ =Bĭ =CČC5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260031=9@A @A@E/@AIIOf>) u ,%) ?A2?@2(M@2 ٱ2= >AHRS rotation from veh to nav: [[-0.988396,0.087336,0.124285],[-0.072540,-0.990245,0.118964],[0.133462,0.108568,0.985089]]2H[?#ѿ?`ht?K?˻?م?i2?@I2^;2ƑCYF5ByF'IbDNVDN0yV%V\=ٔVQ-Z>9XYX=ZAFyZYD^ы=E^>`Q 5f4b鬊?Q 9f4b)bmBYdyj7@Q Ij?bCIb1:ib:b4yn^Bɮn@noEB*** querying acoustic contact ***%"?%w?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513397i ijhFNOT Ignoring new targets: 122.69 m.Rh;Zh;= ProNav: ac range: 122.693451 m, nav range: 119.186172 m, bearing: 252.182303 deg, approach rate: -0.018698 m/s, LOS rate: 0.286229 deg/s, cmd heading: 260.624801 deg, new cmd heading: 260.966068 deg. Bh=oD<MHeadingCmd: 4.554717 target range: 122.693451 and range: 123.20 m.hM>@hI*hI"hI hQgQfqfyfydddjdZd?ZBɢ) li)Oi9E^:is>ݿI >@I QE_ ERE*E"E;*E;VE(N4ZEBElط,C ?A6^A@6TO@6Yٱ6= >AHRS rotation from veh to nav: [[-0.986317,0.111791,0.121167],[-0.096914,-0.987736,0.122412],[0.133365,0.108995,0.985055]]@6HR?? Uϸ jV??@??i6^A@I6Y^;6őCYJCByJ'INALiMb@Mb@Mb@ 9n?Mbȿy&1Y?y@` x@@ b@)lo@Y@)-@AbD5VD5yE=%EA=ٔMr9Q-M>9IYI=MAFyMbDUn=EU>YQ 5e4],Ԭ?Q 9e4])]sBYm?Q Em:ym;@Q Im?]CI]:i]:] 4yqɮu@qjhFNOT Ignoring new targets: 122.69 m.Rh۲;Zh۲; ProNav: ac range: 122.693451 m, nav range: 119.158966 m, bearing: 252.306971 deg, approach rate: -0.068233 m/s, LOS rate: 0.312737 deg/s, cmd heading: 260.966065 deg, new cmd heading: 261.340150 deg. Bh=V<EHeadingCmd: 4.561246 target range: 122.693451 and range: 123.20 m.hE@hA*hA"hA hAgIfIfIfMBdQdQdqjdqZd} @SBɢvЛ) i)\iT-:ihܿI@Iԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017015Ea EYEE"E݉;*Ew;VEZEa@a@a@a@59@1 @1@5/@1IIO> B <A <B F>B 7CB 'IB qBB =B B B ā;B 7Ei I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268055[,\ ?A2:B@2P@2-ٱ2a= :AHRS rotation from veh to nav: [[-0.983654,0.136223,0.117760],[-0.121831,-0.985046,0.121828],[0.132595,0.105490,0.985541]]2Hzo?%?U0~@0? ?^??i2:B@I2^;2ǑCYB6ByB'IbDN VDN:2yV%VU=ٔV;Q-V>9XYX=ZAFyZjDZ†=E^>`Q 5f4b?Q 9f4b)byBYdyf=@Q Ij?bCIb:ib:b4yn[BlɮrE@rnEjh  FNOT Ignoring new targets: 122.69 m.Rh;Zh;% ProNav: ac range: 122.693451 m, nav range: 119.128899 m, bearing: 252.419798 deg, approach rate: -0.078112 m/s, LOS rate: 0.293187 deg/s, cmd heading: 261.340140 deg, new cmd heading: 261.678701 deg. Bh%6I<-HeadingCmd: 4.567155 target range: 122.693451 and range: 123.20 m.h-"&@h)*h)"h) h)g)f1f1f1d1ddjdZd ^@5LBɢ=+)9 =.i9)=mAAiE:iMۿIIIM"&@II9@ @@1@ IiIO>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520228IE b E XE 'E "E Q;*E ;VE '4ZE BE 9!Y)=-AFy-rD-E->19Q 5E457?Q 9E45T)5BYAyIQ IM?5CI5/;i51;54yURBɮU@UdEjhy}FNOT Ignoring new targets: 122.69 m.Rh;Zh; ProNav: ac range: 122.693451 m, nav range: 119.096695 m, bearing: 252.542714 deg, approach rate: -0.076921 m/s, LOS rate: 0.293676 deg/s, cmd heading: 261.678699 deg, new cmd heading: 262.047542 deg. BhI<HeadingCmd: 4.573592 target range: 122.693451 and range: 123.20 m.hZ@h*h"h hgfffdddjdZd@EBɢ #) !i)%~))i-ˢ9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774301iڿIZ@I1y9@ @@-2@A>AԙAII O>U BDAT read: Rx Time:03:34:11.1813 ] TRx dataTimestamp_ set to:1761536050.193299] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026304 G#,͕ ?AEB^ EBYEB*E@"EB;*EBw;VEB(N4ZE@aJ@aJ@aJ@aJ@Y--By-~'IԡiMb@Mb@Mb@ 9#~j?V-¿V-Y?yhq@@ @)k@Yp}@bDVD 8y%==ٔ Q- >9 Y = AFy {DE>Q 5%4?Q 9%4)BY- ?Q E-:y-v@@Q I-?CI:i3:4y1ɮ5W@9jhYeFNOT Ignoring new targets: 122.69 m.RheX;ZheX;u ProNav: ac range: 122.693451 m, nav range: 119.057068 m, bearing: 252.654219 deg, approach rate: -0.091529 m/s, LOS rate: 0.257636 deg/s, cmd heading: 262.047529 deg, new cmd heading: 262.382152 deg. Bh}0<}HeadingCmd: 4.579432 target range: 122.693451 and range: 123.20 m.h}@h*h"h hgfff~Bddd jdZdF @"cBc*c2c]!]!]!])iɢ ?I>(I-)-4*)---i- i5ڿ19I=@I9II)MfABE>BB'IB{BB =BBB;B7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2764939@ @@4@A)I9IIOU> (*,o ?AV*G@VU@VٱVAP=-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532018 EAHRS rotation from veh to nav: [[-0.972124,0.208933,0.106409],[-0.195769,-0.973027,0.122034],[0.129036,0.097801,0.986805]]VHN?=?ɿ #=?=?x ??iV*G@IV9Y=AFyD7>E>Q 54V?Q 94$TG)BY)1I} 9yY}ADD<bEjET\4rExE0ES EbE.E"E;*E5";VEـ4ZEBE <EHeadingCmd: 4.585032 target range: 122.693451 and range: 123.20 m.hE@hA*ha"hi higififufqdqduƷ<dqjdyZd}+@"cBc*c2c]]]]i ɢ I H>*'))i|,i]ٿ!!IE@IA9@ @@4@Y} DAT read: 03:34:11.1813 LVL= 15792, 27569, 23074, 24467, AGC= 61, IDX= 446, 0.50, 0.695,-1.164,-0.864,-0.342, PHS= 1.139,-0.778,-0.567, RAW= 95.8, 2.3, CAL= 95.6, -0.2, ROT= 54.4, 0.2 A I 5 Ygot valid direction response: 03:34:11.1813 LVL= 15792, 27569, 23074, 24467, AGC= 61, IDX= 446, 0.50, 0.695,-1.164,-0.864,-0.342, PHS= 1.139,-0.778,-0.567, RAW= 95.8, 2.3, CAL= 95.6, -0.2, ROT= 54.4, 0.2  PDAT read: Bearing 317.8, 60.9 (Local)  ~Local bearing/azimuth received: Bearing 317.8, 60.9 (Local)  DAT read: Range 11 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages.I O > ^direction in FSK: [0.582119,0.813096,-0.003491] Fpublishing direction and range infoyܶภ?ҧ?QC1mlY3B=k"Z _)=Iʑ?i+G&?l$=? d)s?Id;eg'?C4Aڿpi|v? ؾ)'#Is?id;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.y 1,{M ?A2 jI@2_W@2iٱ2PD= :AHRS rotation from veh to nav: [[-0.967203,0.232699,0.101835],[-0.219970,-0.967812,0.122287],[0.127013,0.095876,0.987257]]2HS??'̿O8N?A?`T??i2 jI@I2bM^;2đCYRByRl'Ii=Mb@Mb@Mb@9999 99=Cl?T㥛 S㥛Y=d>y==/ݼ=h@=j@ =@)=f@9Y=u@QbD]VD]ymh%mK=ٔm;Q-m>9qYq=uAFyuD}=E}>Q 54s?Q 94)BY>Q E:yBQ I?7CI ;i ;4yɮ @iiiü ?AJi0BRi0Bjia@bkGfSQ@9QΒX@#CcۿRܶภ?ҧ?QC1mlZis?bid;j`F")?\ou22@Z/׿uXJcO?2iq:i|7"i+CZ?*iTnvBiBiE?iiBiXBiЋ@ addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 4.036627 s, deltaX: -0.099998 m, approachRate: -0.024773 m/s, rangeRepo size: 4  Added new target pos. range: 122.594208 m, bearing: 247.767313 deg, lat: 36.779396 deg, lon: -121.859602 deg, deltaT: 4.036627 s, deltaX: -0.099243 m, approachRate: -0.024586 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 122.59 m.RhZh ProNav: ac range: 122.594208 m, nav range: 120.672035 m, bearing: 250.338256 deg, approach rate: 0.000000 m/s, LOS rate: 0.233496 deg/s, cmd heading: 262.702982 deg, new cmd heading: 262.960149 deg. BhHeadingCmd: 4.589520 target range: 122.594208 and range: 123.10 m.h%Zݒ@h!*h!"h) h)g1f1f=f=f~BdAdEƷ<dIjdU`f^@ZdU?"ceBci*ci2cm]]]]*DAT read: user:364> -BDAT read: Tx time:03:34:12.6629 -$Ping request sent.-u &)q)qqyi}λi}ؿIZݒ@Iԁ]9@Y @Y@e/@aAmgAzAiEa EZE-E"E݉;*E;VEt4ZEa@a@a@a@ԩA.AIIO>A AAA B B B 'IB qBB =B B B ;B 7E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248379 z07,' ?A2?J@2X@2yٱ2= :AHRS rotation from veh to nav: [[-0.961875,0.255900,0.096494],[-0.243481,-0.961949,0.123982],[0.124549,0.095760,0.987582]]2H`?ϳ?f*ϿH`A?n??D?i2?J@I2:^;0Yn!Bynp'IbDzVDz02y={<%E`=ٔM;Q-U>9e ?Ym ?=mAFymDub=Eu>yQ 54}ud?Q 94}G)}BYy@Q I?}NCI}:i}F:}{4yLBɮ@bEjhFNOT Ignoring new targets: 122.59 m.Rhr;Zhr; ProNav: ac range: 122.594208 m, nav range: 120.589188 m, bearing: 250.415978 deg, approach rate: -0.226262 m/s, LOS rate: 0.212409 deg/s, cmd heading: 262.960152 deg, new cmd heading: 263.193477 deg. Bh<HeadingCmd: 4.593593 target range: 122.594208 and range: 123.10 m.h@h*h"h hgfffddƷ<djdZdζ?"cBc*c2c]]] ] i!ɢ!I->-A&))))))i5ԱiuDؿyyI}@Iy5=5<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504723߻i>i - 9@)  @) @- 4@) D zD @AE Q E QE ,E "E ;*E A;VE g4ZE BE t9"?Y"?=AFyD=E>Q 54M?Q 94)BY?Q E:y3Q I?sCI7:i@:F4yMBɮ@kEjh  FNOT Ignoring new targets: 122.59 m.RhLW;ZhLW;% ProNav: ac range: 122.594208 m, nav range: 120.412514 m, bearing: 250.521468 deg, approach rate: -0.314782 m/s, LOS rate: 0.188229 deg/s, cmd heading: 263.193471 deg, new cmd heading: 263.510403 deg. Bh%.<-HeadingCmd: 4.599124 target range: 122.594208 and range: 123.10 m.h-,@h)*h)"h) h)g1f1f5f5 ~Bd9d=Ʒ<d9jdAZdE@W?"cMBcI*cI2cM]Q]Q]Y]YiqɢqI}?}$)y)顁iw4iS׿I,@I]Oμ9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059221 EE N EE LEE *EA "EE @;*EE ;VEE (N4ZEA aM @aM @aM @aM @@i a A I I O >JF,c ?AB"F>B"8CB"'IB"bBB" =B B B";B"7E>pO@>]@>ٱ>= JAHRS rotation from veh to nav: [[-0.942855,0.323462,0.079985],[-0.312088,-0.941377,0.128102],[0.116732,0.095819,0.988530]]>H`+?y??ӿ e? %? ? ?i>pO@I>i^;>đCYR&ByRv'IbDZVDZJyb.=%bc=ٔb;Q-f>9dYd=fAFyfDj=Ej>lQ 5r4nu??Q 9r4n_)nBYpyrU2Q Iv?nCIn:in1:n%4yxɮzr@xjhFNOT Ignoring new targets: 122.59 m.Rh%fT;Zh%fT;5 ProNav: ac range: 122.594208 m, nav range: 120.295860 m, bearing: 250.588139 deg, approach rate: -0.324591 m/s, LOS rate: 0.185693 deg/s, cmd heading: 263.510392 deg, new cmd heading: 263.710598 deg. Bh5;=HeadingCmd: 4.602618 target range: 122.594208 and range: 123.10 m.h=H@h9*h9"h9 hAgAfAfEfIdIdMƷ<dIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256399jdZd`Yi?"cBc*c2c]]]]iAɢAIEA>E2#)I)iiiimUiu׿qqI}H@IyԩE@9@ @@/@@O<A>A>A!I9IQO> 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508960E d E ZE ,E "E :;*E ;VE g4ZE BE W9XYX=ZAFyZD^`Q 5f4b/?Q 9f4bV)bBYdyf0Q If?bCIb:ib=:b,4ynJBɮn@njEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 122.59 m.Rh7F;Zh7F; ProNav: ac range: 122.594208 m, nav range: 120.163094 m, bearing: 250.660825 deg, approach rate: -0.316186 m/s, LOS rate: 0.173295 deg/s, cmd heading: 263.710599 deg, new cmd heading: 263.928898 deg. Bh;HeadingCmd: 4.606428 target range: 122.594208 and range: 123.10 m.hg@h*h"h hgfffddƷ<djdZd?"c%Bc!*c!2c%])])])])iɢI>"))iiwiֿIg@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761404m9@q @q@u/@yI@u<AIIO>i E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012423XS,N ?A 2HR@2x`@22׽ٱ2>= >AHRS rotation from veh to nav: [[-0.928693,0.364810,0.066660],[-0.355710,-0.927105,0.118093],[0.104883,0.085961,0.990763]]2Hٷ` Y??ֿ ٪\;?ٺ?@?S?i2HR@I2A^;2őCYF=ByF'IimMb@Mb@Mb@iiii i9mT㥛 ?~jt?~jthYm?ymD=mDm^b@ms@ mz|@)mY@iYmj@bDVDfyFX=%<=ٔ9Y=AFyDY=E>Q 54'?Q 94)BY?Q E:y+Q I?CI ;i ; 44yɮȰ@jhFNOT Ignoring new targets: 122.59 m.Rh6I;Zh6I; ProNav: ac range: 122.594208 m, nav range: 120.006760 m, bearing: 250.733511 deg, approach rate: -0.377865 m/s, LOS rate: 0.175912 deg/s, cmd heading: 263.928891 deg, new cmd heading: 264.147230 deg. Bht; HeadingCmd: 4.610239 target range: 122.594208 and range: 123.10 m.h @h *h"h hgfff}BddƷ<d!jd!Zd% @"c-Bc)*c)2c-]9]9]9]9E}v E}\EyEy"E}c;*E} ;VEyZEya@a@a@a@iɢI> ))ii#ֿ  I @I)q  #u9@y @y@y@y@E<BM<AM<BQBQBU'IBU]BBQBQBQBU;BU7EB7CB7CBBƬ =BCƔ4ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264473AIIO> Y,g ?A2T@28a@2ٱ2G= :AHRS rotation from veh to nav: [[-0.921265,0.385183,0.053905],[-0.377745,-0.919128,0.111860],[0.092632,0.082690,0.992261]]2Hz֦?s?`,ؿ`iݢ??2+??i2T@I2}^;2ƑCYBaByB'IbDJVDJβPyV0>>%VZ=ٔV=Q-V>9XYX=ZAFyZD^i=E^>`Q 5f4b?Q 9f4b5)bƊBYdyf *Q If?bةCIb9:ib:b:4ylɮn@ljhFNOT Ignoring new targets: 122.59 m.Rh Q<;Zh Q<; ProNav: ac range: 122.594208 m, nav range: 119.868698 m, bearing: 250.795003 deg, approach rate: -0.369218 m/s, LOS rate: 0.164639 deg/s, cmd heading: 264.147239 deg, new cmd heading: 264.331928 deg. Bh;%HeadingCmd: 4.613462 target range: 122.594208 and range: 123.10 m.h%|@h!*h!"h! h!g)f)f-f)d1d5Ʒ<d1jd1Zd5@B@"cEBcA*cA2cE]I]I]I]Ii ɢ IK>= )9)AAAiE_AiU{տyyI}|@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517358Ef EaE+E"E";*E!;VE [4ZEBE=l`,Ł ?Ahɰj;MAhU@M]c@MeٱM`3= ]AHRS rotation from veh to nav: [[-0.914114,0.403871,0.035839],[-0.398401,-0.911107,0.105640],[0.075318,0.082289,0.993758]]MH`k@`?tY?fٿ' @ ? H? ?`?iMAhU@IM^;MőCYmvBym'IiMb@Mb@Mb@ 9K7?i|?5?Mb`?YI ?yq=;1`@?m@ s@)|W@Yff@bD VD y}E=%}0=ٔN=Q->9Y=AFyȎD A=E>Q 54j?Q 94)ҊBY ?Q E:y'Q I?CIX:ia:B4yFBɮ@iEjhFNOT Ignoring new targets: 122.59 m.RhF;ZhF; ProNav: ac range: 122.594208 m, nav range: 119.676773 m, bearing: 250.875251 deg, approach rate: -0.413569 m/s, LOS rate: 0.173200 deg/s, cmd heading: 264.331927 deg, new cmd heading: 264.573056 deg. Bh;HeadingCmd: 4.617671 target range: 122.594208 and range: 123.10 m.hÓ@h*h"h hgfff~BddƷ<djdZd@ej @"c Bc*c2c]]]]i9ɢ9I=~>=KW)9)AAAiE)ciM/տIIIMÓ@IQYYYY!BDAT read: Rx Time:03:34:15.2293 TRx dataTimestamp_ set to:1761536054.224270 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021626I)gAQi@i @i@i@iB@ufA:@ugAEo E_E,E"E7;*E ;VEg4ZEa@a@a@a@@e /<ԉ A I I O >B9 B= 7CB= 'IB= lBB9 B9 B9 B= ;B= 7ECf,N ?A>V@>d@>[ٱ>6= VAHRS rotation from veh to nav: [[-0.906686,0.421520,0.015545],[-0.418382,-0.903400,0.093942],[0.053642,0.078672,0.995456]]>H /?F֏?@ڿ ?w?`#??i>V@I>y^;>ƑCY^By^(IbDdVDdyn[>%ni=ٔr}=Q-r>9pYp=vAFyvώDv4y=Ev>xQ 5~4z~?Q 9~4z )z؊BYy&Q I?zCIz;iz ;zH4y ɮ @ jh15FNOT Ignoring new targets: 122.59 m.Rh=A;Zh=A;M ProNav: ac range: 122.594208 m, nav range: 119.529305 m, bearing: 250.934555 deg, approach rate: -0.421052 m/s, LOS rate: 0.169534 deg/s, cmd heading: 264.573060 deg, new cmd heading: 264.751192 deg. BhM;UHeadingCmd: 4.620780 target range: 122.594208 and range: 123.10 m.hUnݓ@hQ*hQechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272532a"hQ higififufqdqduƷ<dqjdyZd}= @"cBc*c2c]]]]iɢI>))111i=i=ԿAAIEnݓ@IA9@ @@4@ԉ@<A.AIIOn>Ա - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526501 D =D E d E VE -E "E :;*E ;VE t4ZE BE W%=D=ٔE t=Q-E>9E ?YE ?=MAFyM׎DMS=EM>QQ 5]4U"૊?Q 9]4UU)U݊BYaye.%Q Ie?U/CIU ;iU ;U+P4ymCBɮma@iB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 122.59 m.Rh=;Zh=; ProNav: ac range: 122.594208 m, nav range: 119.350777 m, bearing: 251.003523 deg, approach rate: -0.428384 m/s, LOS rate: 0.165738 deg/s, cmd heading: 264.751192 deg, new cmd heading: 264.958403 deg. Bh};ԹHeadingCmd: 4.624396 target range: 122.594208 and range: 123.10 m.h@h*h"h hgfffddƷ<djdZd@"cBc*c2c]]]]iɢ I > n ) ) iyɼi4SԿI@I!9@ @@/@@<DAT read: 03:34:15.2293 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 427,-0.19,-2.272, 2.053, 2.992,-2.948, PHS= 0.779,-1.237,-0.386, RAW= 114.8, 9.7, CAL= 116.1, 10.9, ROT= 33.9, -10.9 UYgot valid direction response: 03:34:15.2293 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 427,-0.19,-2.272, 2.053, 2.992,-2.948, PHS= 0.779,-1.237,-0.386, RAW= 114.8, 9.7, CAL= 116.1, 10.9, ROT= 33.9, -10.9 PDAT read: Bearing 355.4, 37.7 (Local) ~Local bearing/azimuth received: Bearing 355.4, 37.7 (Local) A؟AI IO%o>%DAT read: Range 11 to 50 : 121.7 m (Round-trip 162.3 ms) speed 0.1 m/s -R#Rx 1: Read range and direction messages.U\direction in FSK: [0.815038,0.547683,0.189095]UFpublishing direction and range infoyquC?w؝?oG4?YufBquwuu u)uAIulG?iuVuˡžu;@u-\->uX@ uB>)uww?IuBqqu x_k?_`oz? u뫷)u3,Iuww?iuBqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9  *DAT read: user:365> % BDAT read: Tx time:03:34:16.7129 - $Ping request sent.- %7=ٔz=Q->9"?Y"?=BFyDB=E>Q 54(ϫ?Q 94D)BYD?Q E:y(Q I?LCI":i:W4y@Bɮm@hEii ?AJifBRifBji T@bE/X@iuCP@lW|6@RC?w؝?oG4?Ziww?biBjEb~M;UEYW ;@ZJe޿;cń& I%?2i:ih"i;?*iV BiBiiii\Bil:@  addTargetRange:: Added new target pos. range: 121.699997 m, deltaT: 4.030802 s, deltaX: -1.400002 m, approachRate: -0.347326 m/s, rangeRepo size: 4  Added new target pos. range: 121.199959 m, bearing: 240.513839 deg, lat: 36.779396 deg, lon: -121.859602 deg, deltaT: 4.030802 s, deltaX: -1.394249 m, approachRate: -0.345899 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 121.20 m.Rh%Zh!5 ProNav: ac range: 121.199959 m, nav range: 119.179863 m, bearing: 251.077651 deg, approach rate: 0.000000 m/s, LOS rate: 0.165738 deg/s, cmd heading: 264.958392 deg, new cmd heading: 265.182403 deg. Bh9=HeadingCmd: 4.628306 target range: 121.199959 and range: 121.70 m.h=@hA*hA"hA hAgAfAfMfM~BdIdUƷ<dQjdUl^@ZdU?"c]BcY*cY2c]]i]i]i]iiɢI > 9q) z) i`ټiӿI@IAA@AA?ABE>BB(IBBB =BBB;B7E9@ @@/@R@ =J@ =@<}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250985qII O >ԙ y,t( ?A6Z@6bh@6<ٱ6]= BAHRS rotation from veh to nav: [[-0.878957,0.474291,-0.049824],[-0.476112,-0.878708,0.034501],[-0.027417,0.054046,0.998162]]6H k Z?|x޿_ ?@8`?@?i6Z@I6sz^;4YJByJ(IbDRVDRβyb|>%bl=ٔf$=Q-f?9hYh=nBFynDra{=Ev?xQ 54z?Q 9 4z)zBY yR'Q I?zcCIze\;iztM;z^4y!ɮ%j@)jhimFNOT Ignoring new targets: 121.20 m.Rhu9;Zh}9; ProNav: ac range: 121.199959 m, nav range: 119.043106 m, bearing: 251.134632 deg, approach rate: -0.388895 m/s, LOS rate: 0.162222 deg/s, cmd heading: 265.182395 deg, new cmd heading: 265.353534 deg. Bh;HeadingCmd: 4.631293 target range: 121.199959 and range: 121.70 m.h3@h*h"h hg9f9fEfAdAdMƷ<dIjdIZdUž?y"cBc*c2c]]]]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986iɢI> ))ii6qӿ I 3@I  }7j>CrGgAEÿ9EgAYM1Ay`?ADizDm?AbEg4jEm4rE١/EuV EuTEu.Eq"Eu;*Eu;VEuـ4ZEqBEu_ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754782 ,?Ae=H\@e=j@e~/l=ٱeUN= }AHRS rotation from veh to nav: [[-0.867154,0.492357,-0.075024],[-0.494695,-0.868931,0.015355],[-0.057631,0.050429,0.997064]]eH ǂ?4߿Hpr?ѩ??ie=H\@Ie^;eƑCY+By(Ii=Mb@Mb@Mb@9999 99=K7A`?Mb9iYi=uBFyuDuE=Eu>yQ 54}?Q 94}a )}ߊBY ?Q E:y-Q I?}CI};i} ;}f4y=4)=6)AAAiEԄiMiҿIIIMX@IQ@ @@/@@<AzAeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007063I9IIO]T>EmW EmeEm-Ei"EmT;*Em#;VEmt4ZEia}@a}@a}@a}@! B B B C(IB ͈BB B B B ;B 7Eᆃ,?Aɰ4%e=ٔ=Q->9 Y = BFy D=E>Q 5%4B?Q 9%4 )يBY!y%,Q I%?CI3;i;Fl4y1ɮ5 @1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953jhamFNOT Ignoring new targets: 121.20 m.RhmT;ZhmT;} ProNav: ac range: 121.199959 m, nav range: 118.735703 m, bearing: 251.287926 deg, approach rate: -0.381175 m/s, LOS rate: 0.185992 deg/s, cmd heading: 265.613708 deg, new cmd heading: 265.814007 deg. BhI;HeadingCmd: 4.639329 target range: 121.199959 and range: 121.70 m.hcu@h*h"h hgfffddƷ<djdZd ^?"cBc*c2c]]]]iɢI>y޾))iiiҿIcu@Iԉ=`=(Թ@ @@/@B@gA:@hA@<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510941I1 IA OU > Dy D} =E T E YE )E "E ;*E w;VE FA4ZE BE 9XYX=ZBFyZD^v=E^>``Q 5f4b@?Q 9f4b3)bЊBYhyj*Q Ij?bCIb:ib:b's4yn>Bɮr@rpE=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 121.20 m.RhU>M;ZhU>M;e ProNav: ac range: 121.199959 m, nav range: 118.581985 m, bearing: 251.359678 deg, approach rate: -0.383921 m/s, LOS rate: 0.179439 deg/s, cmd heading: 265.813996 deg, new cmd heading: 266.029530 deg. BheK;mHeadingCmd: 4.643091 target range: 121.199959 and range: 121.70 m.hm4@hi*hi"hi higifqfufqddƷ<djdZd ?"cBc*c2c]]]]iɢI5>5Ͼ)=|)999i=iEѿAAIE4@II5]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764203@ @@@0@@ϙ<IIAOmV> PExceeded connect timeout, disconnecting.I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880, P?A2l`@2n@2l>ٱ2v m= :AHRS rotation from veh to nav: [[-0.822076,0.547699,-0.155615],[-0.549598,-0.834718,-0.034462],[-0.148770,0.057195,0.987216]]2H sN@?3ÿN ÿH?G?i2l`@I2Ə^;2őCYvByv%)IiuMb@Mb@Mb@qqqq q9u!rh?Cl绿~jt?Yul?yu;߽uD9Y=BFy D(h=E>Q 54~?Q 94|)BYM ?Q E:y0Q I?ժCI: ;iP ;z4y;Bɮ]@jhFNOT Ignoring new targets: 121.20 m.Rhe;Zhe;  ProNav: ac range: 121.199959 m, nav range: 118.430847 m, bearing: 251.445063 deg, approach rate: -0.354915 m/s, LOS rate: 0.200764 deg/s, cmd heading: 266.029530 deg, new cmd heading: 266.286010 deg. Bh  <HeadingCmd: 4.647568 target range: 121.199959 and range: 121.70 m.hด@h*h"h hgff%f%Bd!d%Ʒ<d!jd)Zd-\@E}b E}iE}/Ey"E}Q;*E}%;VE}J4ZEya@a@a@a@"c5Bc*c2c]]]]i1ɢ9I=>=)9)9AAiE, iM[ѿIIIMด@IIBA<BG>B8CB(IBBBBBDB;B7Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267260q 9@  @ @ /@ R@= =J@= =@ ><A >A ԡ A I) I9 OE >,Oj?AZmb@Zqcp@Z@\6>ٱZa= jAHRS rotation from veh to nav: [[-0.804153,0.565354,-0.183613],[-0.567413,-0.822129,-0.046330],[-0.177146,0.066928,0.981906]]ZH@`?ǿ@?(`N` ƿ`4"?k?iZmb@IZ^;ZđCYzBy~9)IbDVDy5=%5R=ٔ==Q-=>9AYA=EBFyEDMO=EM>YQ 5e4]m?ԉQ 94])]BY y .Q I ?]CI]D簾) ,)i5 i пIٔ@IeAgAԹ*Ec EYE*E"EƊ;*Ew;VE(N4ZEBE} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 ,?A]d@]q@]pR>ٱ]= AHRS rotation from veh to nav: [[-0.785575,0.581533,-0.211403],[-0.584149,-0.809673,-0.056571],[-0.204065,0.079050,0.975760]]]Hm#?@B˿@X @`ʿ`9 ?Y ?=BFyDb=E>nManaging dock network, ignoring radio surface power offQ 54[?Q 94)BY?Q E:y3Q I? CIS;iR;j4yɮW@jh-FNOT Ignoring new targets: 121.20 m.Rh5;m;Zh5;m;U ProNav: ac range: 121.199959 m, nav range: 118.152473 m, bearing: 251.608676 deg, approach rate: -0.326256 m/s, LOS rate: 0.207403 deg/s, cmd heading: 266.511331 deg, new cmd heading: 266.777437 deg. BhUV<HeadingCmd: 4.656145 target range: 121.199959 and range: 121.70 m.h#@h*h "h  h g f ff}BddƷ<djdZd @"cEBcA*cI2cM]Q]Q]Q]QiɢIt>ܢ))顙imiBпI#@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025408IEr E\E-E"E;*E ;VEt4ZEa@a@a@a@e ci im > 9@  @ @ 0@ q B B B (IB BB =B B B ā;B 7EBYBYBYB]˭ =BYC]-4@ < BDAT read: Rx Time:03:34:19.2781  TRx dataTimestamp_ set to:1761536058.508782 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276565A%؟AI1IAOu>4,k?AVAe@Vڕs@VEl>ٱV= ^AHRS rotation from veh to nav: [[-0.766323,0.598042,-0.234721],[-0.600204,-0.796739,-0.070438],[-0.229137,0.086902,0.969507]]VH@)#?Y ο4~`>ZTͿ8??4?iVAe@IVS^;VđCYdyj4)IbDrVDryzK%zD=ٔzF|=Q-z>9~"?Y~"?=~BFy~"D~u=E> Q 5 4 J?Q 94 ) zBYyr2Q I? (CI :i : 4y3Bɮ%%@%nEjhFNOT Ignoring new targets: 121.20 m.RhZ;ZhZ; ProNav: ac range: 121.199959 m, nav range: 118.020027 m, bearing: 251.689181 deg, approach rate: -0.313947 m/s, LOS rate: 0.191040 deg/s, cmd heading: 266.777435 deg, new cmd heading: 267.019220 deg. Bh<HeadingCmd: 4.660365 target range: 121.199959 and range: 121.70 m.h!@h*h"h hgfffddƷ<djdZd` @"cBc*cy2c}]]]]iɢI>) ڽ)iqYiϿyyI}!@I=9@ @@4@ԉ@<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528450AIIO>E T E WE +E "E ;*E j;VE [4ZE BE 9xYx=zBFy~*D=E=>AQ 5U4Eh:?Q 9]4Eq)E`BYYyqQ Iu?ECCIE;iEm;Eڗ4y}"Bɮ}q@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 121.20 m.Rh];Zh]; ProNav: ac range: 121.199959 m, nav range: 117.890388 m, bearing: 251.768295 deg, approach rate: -0.317247 m/s, LOS rate: 0.193818 deg/s, cmd heading: 267.019224 deg, new cmd heading: 267.256826 deg. Bh<HeadingCmd: 4.664512 target range: 121.199959 and range: 121.70 m.hC@h*h"h hgfffddƷ<djdZd@"cBc*c2c] ]]]i)ɢ)I5\>eDAT read: 03:34:19.2781 LVL= 18304, 30369, 28338, 32755, AGC= 65, IDX= 426,-0.30,-1.118, 2.984,-2.087,-1.790, PHS= 0.774,-1.464,-0.341, RAW= 120.1, 10.7, CAL= 121.0, 11.8, ROT= 29.0, -11.8 mYgot valid direction response: 03:34:19.2781 LVL= 18304, 30369, 28338, 32755, AGC= 65, IDX= 426,-0.30,-1.118, 2.984,-2.087,-1.790, PHS= 0.774,-1.464,-0.341, RAW= 120.1, 10.7, CAL= 121.0, 11.8, ROT= 29.0, -11.8 }PDAT read: Bearing 8.0, 16.8 (Local) }~Local bearing/azimuth received: Bearing 8.0, 16.8 (Local) DAT read: Range 11 to 50 : 120.6 m (Round-trip 160.9 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.856137,0.474564,0.204496]Fpublishing direction and range infoy9=Lmxe?aC_?rG,?Y=3B9=G=v=n 9)9I=$F?i=Zd==*'@=t;?>=(@ =BR>)=?I=BR99=Eyr?Q`??9? =@;)=v\>I=?i=BR99 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1))ii0ϿIC@I m ͳ} *DAT read: user:366>  BDAT read: Tx time:03:34:20.6630  $Ping request sent. z,$?AY tBy)IiMb@Mb@Mb@ 9Cl?ʡEÿy&1Yd>y`e?m@z|@ |W@)@AAAA@ABF>BB(IB BBBBDB;B7EYw@bDVDk1y½%(=ٔQ->9 ?Y ?=BFy4DE>Q 54'?Q 94)=BY ?Q E :y 2Q I ?aCI ;i ;14yBɮ@mEiif?AJi5BRi5Bji @bo Y@}L@ཙ8@RLmxe?aC_?rG,?Zi?biBRj+u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501460) !, ?A2j@2x@2ݗ>ٱ2l= :AHRS rotation from veh to nav: [[-0.705295,0.649259,-0.284642],[-0.645855,-0.754033,-0.119606],[-0.292285,0.099480,0.951143]]2H Ǒ ?7ҿת` !z˴ҿ`w?o?i2j@I2^;2ÑCYj8Byj(IbDrVDrܲyz̠%z\=ٔ~{4>Q-~>9|Y=BFyE> Q 54 ?Q 94 ) BYy-Q I? xCI 7;i ; 4y!ɮ%p@!jhQUFNOT Ignoring new targets: 120.10 m.Rh]{@;Zh]{@;m ProNav: ac range: 120.104996 m, nav range: 118.039482 m, bearing: 249.278173 deg, approach rate: -0.346651 m/s, LOS rate: 0.168280 deg/s, cmd heading: 267.532445 deg, new cmd heading: 267.718064 deg. Bhm;uHeadingCmd: 4.672562 target range: 120.104996 and range: 120.60 m.hu@hq*hq"hq hqgyfyf}fyddƷ<djdZdϪ?"cBc*c2c]]]]DzD@AES EKE*E"E;*E;VE(N4ZEBEbnh)Ჽ)顡im!i(οI@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754076Qڽ9@ @@3@q @ <I I O > Ã, ?A :6l@:+z@:'>ٱ:[= FAHRS rotation from veh to nav: [[-0.684410,0.666615,-0.295309],[-0.660107,-0.738528,-0.137245],[-0.309583,0.101004,0.945493]]:H `T?`Xҿ @<6ӿc۹?yA?i:6l@I:\_;:đCYN&ByN(Ii%Mb@Mb@Mb@!!!! !9%oʡ?Pn{GzY%>y%%ף%Mz@%ۅ@ %[@)%@!Y%@bDEVDEkyM%UE=ٔU2=Q-U>9YYY=]BFy]DDe=Ee>iQ 5m4m ?Q 9u4m )mBYuL>Q Eu:yu8*Q Iu?mCIm* ;imm ;m4yBɮZ@lEjhFNOT Ignoring new targets: 120.10 m.Rh%;Zh%;=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005388 ProNav: ac range: 120.104996 m, nav range: 117.900436 m, bearing: 249.338341 deg, approach rate: -0.334847 m/s, LOS rate: 0.145065 deg/s, cmd heading: 267.718062 deg, new cmd heading: 267.898777 deg. Bh;HeadingCmd: 4.675716 target range: 120.104996 and range: 120.60 m.hw@h*h"h hgfffBddƷ<djdZd@?AɢMei)MiM+iMͿQQIUw@IQegAefAEe EPE,E"E;*E;VEg4ZEa@a@a@a@%G)ԙ9@ @@/@B@fA:@bABE>B7CBI(IB҈BB =BBB;B7E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257407@ <I I O% >3Ƀ,5&?A2m@2"{@24>ٱ2l= :AHRS rotation from veh to nav: [[-0.662952,0.684838,-0.302474],[-0.673995,-0.721840,-0.157094],[-0.325922,0.099720,0.940123]]2H61?@[ӿ@]OĿԿ?? |?i2m@I2a^;2őCYBByB{(IPbDNVDNyru_%rR=ٔr4=Q-v>9tYt=vBFyvLDzZ=Ez>|Q 54~*?Q 9 4~#)~ӉBY y (Q I ?~CI~7%;i~:~´4yɮ@jhAEFNOT Ignoring new targets: 120.10 m.RhM ;ZhM ;] ProNav: ac range: 120.104996 m, nav range: 117.768227 m, bearing: 249.392976 deg, approach rate: -0.338140 m/s, LOS rate: 0.139890 deg/s, cmd heading: 267.898789 deg, new cmd heading: 268.062875 deg. Bh];eHeadingCmd: 4.678580 target range: 120.104996 and range: 120.60 m.he@ha*ha"ha higifififqdqdqdqjdyZd};?颡ɢ;<) >i)d9顩iicͿI@I1M'?M|?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915mhAv9hAYA=%9@ @@/@D=D%=bEǙT4jE [4rEǃA0E%X E%DE%)E!"E%Ʌ;*E%h;VE%FA4ZE!BE%Ѓ,qt@?A2o@2D}@2>ٱ2G= :AHRS rotation from veh to nav: [[-0.641231,0.702717,-0.308241],[-0.687513,-0.704535,-0.175946],[-0.340807,0.099098,0.934896]]2H|?9ӿ@hƿ`տ`x^??i2o@I2v^;2đCYBӈByBK(IbDJVDJNRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761610yZD%ZM=ٔZ"=Q-Z>9\Y\=^BFy^TDb=Eb>dQ 5j4f`?Q 9j4f]%)fBYhyj'Q In?fCIfg:if_:f4ypɮr@p|B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 120.10 m.Rh>;Zh%>;- ProNav: ac range: 120.104996 m, nav range: 117.631432 m, bearing: 249.446903 deg, approach rate: -0.343882 m/s, LOS rate: 0.135723 deg/s, cmd heading: 268.062877 deg, new cmd heading: 268.224847 deg. Bh5J;5HeadingCmd: 4.681406 target range: 120.104996 and range: 120.60 m.h5Ε@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUN@eDBɢe$<)mbB= m>ii)u|9顑idaiͿIΕ@I1EԘ9@ @!@%0@!@5zUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013433ԁ E- ` E- XE) E) "E- i;*E- ;VE) ZE) a5 @a5 @a5 @a5 @Eփ,OZ?AɰYEByE(IYBaAaBmH>Bm8CBm'IBmlBBm =BiBmDBm;Bm7EiMb@Mb@Mb@ 9`"?&1{GzY>yP@x@ d@)@Y@bDmVDm:2y}Z~%}1=ٔQ->9Y=BFy]DE>Q 54媊?Q 94()BYc>Q E:yQ I?׫CIG:i7:Ô4yBɮ@jhFNOT Ignoring new targets: 120.10 m.RhB:ZhB: ProNav: ac range: 120.104996 m, nav range: 117.449150 m, bearing: 249.495529 deg, approach rate: -0.394728 m/s, LOS rate: 0.105463 deg/s, cmd heading: 268.224835 deg, new cmd heading: 268.370939 deg. Bh;HeadingCmd: 4.683957 target range: 120.104996 and range: 120.60 m.h@h*h"h hgfffBddd jd Zd  @9ɢ=9<)9 =p(>i9)E2#:AAiELiM̿IIIM@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265567Mmԉ9@ @@0@@<A>A?IIOn>Թ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517432p܃,*t?A2r@2"l@2>ٱ2H= :AHRS rotation from veh to nav: [[-0.599509,0.734883,-0.317073],[-0.712935,-0.670371,-0.205735],[-0.363748,0.102712,0.925817]]2H ./)?@JԿ ] sUʿG׿[K?K?i2r@I2ښ^;2‘CYBcByB'IbDNVDNyV%Vn=ٔV=Q-V?9XYX=ZBFyZdDZ>E^?`Q 5b4b۪?Q 9f4b+)b\BYdyfGQ If?bCIb :ib:bɔ4yhɮnI@ljh|FNOT Ignoring new targets: 120.10 m.Rh :Zh : ProNav: ac range: 120.104996 m, nav range: 117.311615 m, bearing: 249.528038 deg, approach rate: -0.399992 m/s, LOS rate: 0.094657 deg/s, cmd heading: 268.370946 deg, new cmd heading: 268.468587 deg. Bh;%HeadingCmd: 4.685661 target range: 120.104996 and range: 120.60 m.h%@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@u@ԹDzDEd ESE/E"E:;*EN;VEJ4ZEBEWA gX,?A2t@2<@2:k>ٱ26= :AHRS rotation from veh to nav: [[-0.579454,0.748635,-0.322145],[-0.725838,-0.653802,-0.213783],[-0.370664,0.109948,0.922236]]2H @?Կ:@<]˿`׿%?@?i2t@I2ի^;0YB/ByB'Ii=Mb@Mb@Mb@9999 99=m?Mb`MbY=?y===@=@ =k@)=@9Y=@bDUVDUyer%m?=ٔm!9u"?Yu"?=uBFyumD}hs=E}>Q 54sЪ?Q 94.0))BY?Q E:ykQ I?CI:i:Oє4yBɮn@uEjhFNOT Ignoring new targets: 120.10 m.Rh]:Zh]: ProNav: ac range: 120.104996 m, nav range: 117.105278 m, bearing: 249.560695 deg, approach rate: -0.480734 m/s, LOS rate: 0.076220 deg/s, cmd heading: 268.468590 deg, new cmd heading: 268.566734 deg. Bh<BDAT read: Rx Time:03:34:23.2268 %TRx dataTimestamp_ set to:1761536062.288513%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022914)d)d1jd1Zd5< @CBɢ{) i)H&:iiC̿I@I]=E] E@E*E"E ;*EM;VE(N4ZEa@a@a@a@Ie9@a @a@e34@a@=<B}I>ByB})'IB}BByByByB}Á;B}7EAm.AqIyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273491ԙ ,?A2v@2U@2F>ٱ2GO> :AHRS rotation from veh to nav: [[-0.560793,0.761964,-0.323916],[-0.739229,-0.636988,-0.218599],[-0.372896,0.116860,0.920485]]2Hb? Կħ5b˿@׿?t?i2v@I2.^;2ÑCYBByB<'IJ=J= LLbDNVDNܲyV%VW=ٔZ;Q-Z>9Z ?Y^ ?=^BFy^tD^=E^>`Q 5f4bƪ?Q 9f4b74)bBYhyj Q Ij?bCIb:ib;bה4ynBɮn@rtEjh FNOT Ignoring new targets: 120.10 m.Rh ):Zh):= ProNav: ac range: 120.104996 m, nav range: 116.921188 m, bearing: 249.587440 deg, approach rate: -0.484153 m/s, LOS rate: 0.070450 deg/s, cmd heading: 268.566726 deg, new cmd heading: 268.647088 deg. BhEeA;]HeadingCmd: 4.688776 target range: 120.104996 and range: 120.60 m.h]t @hY*ha"ha hagafifqfqdydydyjdZd $K @qɢr!) i)ۨ:i+hi̿It @I1UDAT read: 03:34:23.2268 LVL= 26160, 29009, 26690, 32755, AGC= 69, IDX= 429,-0.43, 1.386,-1.045, 0.451, 0.605, PHS= 0.883,-1.605,-0.198, RAW= 124.3, 8.6, CAL= 124.9, 9.8, ROT= 25.1, -9.8 ]Ygot valid direction response: 03:34:23.2268 LVL= 26160, 29009, 26690, 32755, AGC= 69, IDX= 429,-0.43, 1.386,-1.045, 0.451, 0.605, PHS= 0.883,-1.605,-0.198, RAW= 124.3, 8.6, CAL= 124.9, 9.8, ROT= 25.1, -9.8 e8DAT read: $Error in header e*Received a bad headerԙX#Rx 1: Read direction message, but no range.\direction in FSK: [0.892355,0.418009,0.170209]y!% 8Q+?ލѪ?rl?!%0f%Qq%Bh !)%EI%J b?i%pͿ%J%- @%`>% @ %%/>)%K>I%%/!%^ ?D,?:P ? %Ƣ=)%qI%K>i%%/T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEh ENE+E"E ;*E;VE [4ZEBEzޅ,{1?A&T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseYŇBy&IbDVDβy-Nh%-@=ٔ-Q-5>95"?Y5"?=5BFy5}D=E=>AQ 5M4Eл?Q 9M4E8)ELjBYIyIQ IU?E;CIE:iE:Ehߔ4yYɮ]մ@YuB*** querying acoustic contact ***iy iyjh1]FNOT Ignoring new targets: 120.10 m.Rh]:Zhe:m ProNav: ac range: 120.104996 m, nav range: 116.714775 m, bearing: 249.617534 deg, approach rate: -0.459860 m/s, LOS rate: 0.067163 deg/s, cmd heading: 268.647077 deg, new cmd heading: 268.737517 deg. Bhu_8;uHeadingCmd: 4.690354 target range: 120.104996 and range: 120.60 m.ԡhub@h*h"h hgfffd!d)d)jdQZd]}@BBɢ"z) xi)29idi˿)I-b@I)JM=}9@y @y@}/@y T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse@}ȑ<A I I E X E GE ,E "E Ʌ;*E ;VE g4ZE a @a @a @a @O > ,Z?AAr@AArAABrH>BpBrt&IBrUBBr =BpBrDBrՁ;Br7EB8CB8CBB =B =C5YBy&IiMb@Mb@Mb@ 9(\? rh?MbY?yC=b@ʝ@ u@)@Y@bDVDy%C=ٔQ->9Y=BFyDE>Q 54?Q 94=)BY`?Q E:yQ I?VCIz;iny;4yɮ<@jh!%FNOT Ignoring new targets: 120.10 m.Rh-j8:Zh-j8: ProNav: ac range: 120.104996 m, nav range: 116.503319 m, bearing: 249.633568 deg, approach rate: -0.530605 m/s, LOS rate: 0.040307 deg/s, cmd heading: 268.737509 deg, new cmd heading: 268.785698 deg. BhL:HeadingCmd: 4.691195 target range: 120.104996 and range: 120.60 m.hF@h*h"h hgfffBdddjdZd  @uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse颅ABɢZ3Ӽ)= >i)A8顉iiS˿IF@I9|=i 9@  @ @ /@ @e ɔ<% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseA I I O >,w?A ɰ;6Zz@6'@6o>ٱ6> >AHRS rotation from veh to nav: [[-0.514444,0.799509,-0.310054],[-0.780903,-0.586177,-0.215841],[-0.354313,0.131084,0.925894]]6H Sv ?`ӿ(@˿ֿY??i6Zz@I6L^;4YFeByF&IbDrVDrβy~V%~P=ٔ~#PQ-~>9Y=BFyDe->E > Q 54 ?Q 94 xB) jBYyQ I? pCI /;i ]; 4y%Bɮ-@-sEE=J E=EE=*E9"E=~;*E=;VE=(N4ZE9BE=J@M >@]<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyA)I9IIOUu>ԩ ,R?A6i{@6Ʉ@6]>ٱ6 >@ BAHRS rotation from veh to nav: [[-0.501405,0.811655,-0.299681],[-0.794815,-0.568948,-0.211111],[-0.341852,0.132339,0.930389]]6H ? -ӿo4˿տ|??i6i{@I6^;4YJ9ByJS&Ii%Mb@Mb@Mb@!!!! !9%ʡE?bX9ȶ?Y%-?y%E=%̼%ґ@%~@ %~@)%@!Y%\@bD5VD5yEQ%MF=ٔMQ-M>9QYQ=UBFyUDUC=EU>YQ 5e4]?Q 9m4]G)]>BYm?Q Em:ymHQ Im?]CI]:i]:]4T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyqɮV@jhFNOT Ignoring new targets: 120.10 m.Rh*59Zh*59 ProNav: ac range: 120.104996 m, nav range: 116.078278 m, bearing: 249.646369 deg, approach rate: -0.540290 m/s, LOS rate: 0.009899 deg/s, cmd heading: 268.811903 deg, new cmd heading: 268.824172 deg. Bhf9}HeadingCmd: 4.691867 target range: 120.104996 and range: 120.60 m.h}#@hy*hy"hy hygyfffBdddjdZduN@?BɢP) i)Ҵ<i}ؼiQ˿I#@IԱEQ EULEU)EQ"EQ*EU;VEUFA4ZEQa]@a]@a]@a]@BI>BB%IBˆBB =BBBځ;B7EP=@ @@@i1 I5 A5 T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse@ < A I I O > ,9*?Alj|@jf@jx>ٱj-# >  AHRS rotation from veh to nav: [[-0.488832,0.825054,-0.283425],[-0.808839,-0.550361,-0.207077],[-0.326836,0.128019,0.936370]]jHI߿f?#ҿ@ʿԿb??ij|@Ijt^;hY%By%!&IbDEVDEy]E%]I=ٔ]S Q-e>9aYi=mBFymDu@=E>Q 54?Q 94`M)BYyQ I?CIa>;i';4yɮڿ@jhFNOT Ignoring new targets: 120.10 m.Rh 8Zh8 ProNav: ac range: 120.104996 m, nav range: 115.854706 m, bearing: 249.648472 deg, approach rate: -0.541512 m/s, LOS rate: 0.005102 deg/s, cmd heading: 268.824170 deg, new cmd heading: 268.830489 deg. Bh`9HeadingCmd: 4.691977 target range: 120.104996 and range: 120.60 m.h$@h*h"h hgfffdddjdZd i@5>Bɢ5m))1 5i1)=z99i=R1μiE˿AAIE$@IIUUUUT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1E]G E]REYEY"E]&|;*E];VEYZEYBE]= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse, D?A2}@2@2%>ٱ2,> :AHRS rotation from veh to nav: [[-0.477223,0.837745,-0.265408],[-0.822451,-0.532167,-0.200930],[-0.309570,0.122397,0.942966]]2H@Њ޿@?`rп Q`ɿӿaU?,?i2}@I2=^;2‘CYBByF%IbDNVDN0yV)%VV=ٔVCQ-V>9XYX=ZBFyZDZw@=E^>`Q 5f4b?Q 9f4bqRQ =ftI)bBYdyfQ If?bĬCIb:ib:b4yn Bɮn@r}EA]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 120.10 m.Rhu97Zhu97 ProNav: ac range: 120.104996 m, nav range: 115.649094 m, bearing: 249.648714 deg, approach rate: -0.534425 m/s, LOS rate: 0.000632 deg/s, cmd heading: 268.830481 deg, new cmd heading: 268.831211 deg. Bh7HeadingCmd: 4.691990 target range: 120.104996 and range: 120.60 m.h$@h*h"h hgfffdddjdZdis@}=Bɢ}YE)ꯃ= +&i)(ߺ顁i"żiK˿I$@I]]>i]>y 9@  @ @ 4@ B@gA:@hA@N<ԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAII)O>Em 6 Em 'Em .Ei "Em l;*Em ";VEm ـ4ZEi au @au @au @au @ ~ ,z]?ABL>B9CBB%IB\BB =BBDB;B8ERE@Ro@R=;>ٱR= ZAHRS rotation from veh to nav: [[-0.465561,0.850486,-0.244798],[-0.835772,-0.513483,-0.194475],[-0.291098,0.114055,0.949870]]RHݿ /7?@UϿ` snȿWҿ2?Ve?iRE@IRf^;PYbކByb%IiUMb@Mb@Mb@QQQQ Q9U|?5^?+η?MbYU ?yUv=UU-@U©@ UĄ@)U+@QYU@bDmVDmy%==ٔp7Q->9Y=BFyDԙ&=E>Q 54?Q 94=X)͇BY?Q E:yQ I?CI:iQ:" 4yɮ@jhFNOT Ignoring new targets: 120.10 m.RhɸZhɸ ProNav: ac range: 120.104996 m, nav range: 115.415710 m, bearing: 249.646291 deg, approach rate: -0.530273 m/s, LOS rate: -0.005517 deg/s, cmd heading: 268.831219 deg, new cmd heading: 268.823934 deg. BhTrHeadingCmd: 4.691863 target range: 120.104996 and range: 120.60 m.h#@h*h"h hgfT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseffrBdddjdZd  7@uy liA 9 liAY zA T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse J,w?A:p@:<@: >ٱ:= bAHRS rotation from veh to nav: [[-0.453364,0.862048,-0.226571],[-0.848829,-0.495121,-0.185323],[-0.271938,0.108301,0.956201]]:H`ݿ?JͿ@)߿@ǿmgѿ?@3?i:p@I:^;8YjByj%IbDvVDvk1y~E7%~T=ٔSQ->9Y=BFy D o;=E >DzD?AbE(N4jEwX4rE?0E%? E%5E%)E!"E%t;*E% ;VE%FA4ZE!BE%YQy 2$,̚?Aɰ:@:j@:>ٱ:= FAHRS rotation from veh to nav: [[-0.440985,0.872750,-0.209380],[-0.861295,-0.477116,-0.174730],[-0.252394,0.103285,0.962096]]:H 9ܿ?ʿ`@޿]ƿ:'пp?@~?i:@I:^;8YJByN%Ii%Mb@Mb@Mb@!!!! !9%K7A`?T㥛 ?Q?Y% ?y%=%u<%@%٪@ %5@)!!Y%@bD=VD=fyMk%ME=ٔMdHQ-U>9QYQ=UBFyUDeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsee+=Ee>iQ 5u4m ?Q 9}4mb)mBY} ?Q E}:y}Q I}?mCIm. ;im ;m!4yɮ@QjhamFNOT Ignoring new targets: 120.10 m.Rhm~7Zhm~7 ProNav: ac range: 120.104996 m, nav range: 114.984901 m, bearing: 249.642748 deg, approach rate: -0.510781 m/s, LOS rate: 0.000869 deg/s, cmd heading: 268.812149 deg, new cmd heading: 268.813283 deg. Bh8HeadingCmd: 4.691677 target range: 120.104996 and range: 120.60 m.h7"@h*h"h hgfffvBdddjdZd@m@-9Bɢ-f)U,_= UEiQ)U.fQYi]i]˿aaIe7"@IaE=8 E=UE=/E9"E=n;*E=\;VE=J4ZE9aE@aM@aM@aM@ԁB%Q>B!B%$IB%BB% =B!B!B%;B%8E=Ա T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsem 9@i  @i @m 4@i R@u >J@u >@E <AM >AM > II Ia O >ls*,ի?A^?@^:@^Yp>ٱ^W= nAHRS rotation from veh to nav: [[-0.427604,0.882854,-0.194228],[-0.873537,-0.458838,-0.162483],[-0.232567,0.100187,0.967406]]^H]ۿV@?@wȿ` ]ݿ :Ŀ Ϳॹ??i^?@I^/_;\YzByz%IbDVDy-%5I=ٔ5 NQ-5>99Y9==BFy=ǏDE5=EE>IQ 5e4M~?Q 9u4MQh)MBYyy}Q I}?M5CIM;iMM;M54yɮ@jhFNOT Ignoring new targets: 120.10 m.RhܑZhܑ ProNav: ac range: 120.104996 m, nav range: 114.767593 m, bearing: 249.641203 deg, approach rate: -0.559149 m/s, LOS rate: -0.003985 deg/s, cmd heading: 268.813269 deg, new cmd heading: 268.808623 deg. Bh/HeadingCmd: 4.691596 target range: 120.104996 and range: 120.60 m.h!@h*h"h hgfffdddjdZd_@ԁ8Bɢfx) Li)i梼i7˿I!@IW^=E%=E%=MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse59@9 @9@=/@9Ա@ <IqIO[>D %=D 4=EM E9E-E"Eˀ;*E ;VEt4ZEBEQٱ:= FAHRS rotation from veh to nav: [[-0.412973,0.892495,-0.181401],[-0.885532,-0.440036,-0.149003],[-0.212807,0.099102,0.972055]]:H@%nڿQ?@$8ǿFV)ܿ`ÿB=˿^? ?i:Vځ@I:{^;8YNByNx%IbDVVDVy^Q%bS=ٔbUQ-b>9dYd=fBFyfϏDfG=Ej>hQ 5n4jWy?Q 9r4jm)jnBYpyrZQ Ir?jOCIjw;ij;j%4ytɮz @x B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 120.10 m.Rh%$Zh%$5 ProNav: ac range: 120.104996 m, nav range: 114.558876 m, bearing: 249.637782 deg, approach rate: -0.547912 m/s, LOS rate: -0.008997 deg/s, cmd heading: 268.808624 deg, new cmd heading: 268.798343 deg. Bh5ŹHeadingCmd: 4.691416 target range: 120.104996 and range: 120.60 m.h @h*h"h hgfffdddjdZd@F @M7Bɢu焽)q u[Wiq)}0yi ߛi˿I @I]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseM<|^=Q @  @ @ /@ E- G E- AE- )E) "E- &|;*E- ;VE- FA4ZE) a5 @a5 @a= @a= @@ K<A gAzA hAI! I1 OE >B R>B :CB $IB BB =B B B ;B 8E^~7,7n?A6@6}@6c\G>ٱ6= >AHRS rotation from veh to nav: [[-0.396269,0.902687,-0.167713],[-0.897521,-0.419345,-0.136405],[-0.193461,0.096473,0.976353]]6Hz\ٿ?wſ}ڿuRȿq?`I>?i6@I6>^;6CYFByFu%IiMb@Mb@Mb@ 9S㥛?Zd;O?:v?Y?yj<<@@ @)@Y@bDVDyd1%:=ٔ8Q->9Y=BFy؏Dd@=E>Q 54Xr?Q 94 s)^BY)?Q E:y:Q I?lCI ;i\ ;-4yBɮ @Ejh!-FNOT Ignoring new targets: 120.10 m.Rh-8Zh-8E ProNav: ac range: 120.104996 m, nav range: 114.333084 m, bearing: 249.640145 deg, approach rate: -0.515195 m/s, LOS rate: 0.005405 deg/s, cmd heading: 268.798352 deg, new cmd heading: 268.805458 deg. BhEam9EHeadingCmd: 4.691540 target range: 120.104996 and range: 120.60 m.hM!@hI*hI"hI hIgIfIfQfUgBdYdYdYjdYZd]`!@颍5Bɢm)p4= Wi)I顑i͔i ˿I!@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQy@ @@/@@z<I! I9 OE >ԩ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseN=,H?A@Z2@Z-@Z3>ٱZ= fAHRS rotation from veh to nav: [[-0.378271,0.912407,-0.156285],[-0.909081,-0.397992,-0.123185],[-0.174594,0.095478,0.980000]]ZH5ؿ p2?"Ŀ0@xٿ@YƿCq?)\?iZ2@IZ^;Z‘CYnkBynU%IDlzDn@AErF ErDEr,Ep"Er>{;*Erh;VErg4ZEpBEr9IYI=MBFyMDUc=EU>YQ 5e4]l?Q 9e4]w)]QBYaye{Q Im?]CI]|:i]1:]e44yuBɮuh@qjhFNOT Ignoring new targets: 120.10 m.RhZh  ProNav: ac range: 120.104996 m, nav range: 114.133705 m, bearing: 249.640094 deg, approach rate: -0.500976 m/s, LOS rate: -0.000129 deg/s, cmd heading: 268.805455 deg, new cmd heading: 268.805302 deg. Bh5HeadingCmd: 4.691537 target range: 120.104996 and range: 120.60 m.h=!@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM!@颽3BɢZ) ci)˻iSi ˿I!@IԱ9@ @@1@@h<%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseI1IAOMR> GD,$?A2@2ފ@2\ >ٱ2= :AHRS rotation from veh to nav: [[-0.359637,0.921188,-0.148576],[-0.919909,-0.376704,-0.108913],[-0.156298,0.097508,0.982885]]2HI׿`^z?ÿo ؿỿĿA?`s?i2@I2q_;2ÑCYBgByBP%IlimMb@Mb@Mb@iiii iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9m/$?ymtm@=m$@m@ mC@)mn@iYm@bDVDfy%A=ٔ3Q->9Y=BFyDQ=E>Q 54&f?Q 94[|)LBY+>Q E:ymQ I?CIu ;i ;;4yɮ@jh)-FNOT Ignoring new targets: 120.10 m.Rh5r9Zh5r9E ProNav: ac range: 120.104996 m, nav range: 113.951027 m, bearing: 249.646478 deg, approach rate: -0.444766 m/s, LOS rate: 0.015567 deg/s, cmd heading: 268.805291 deg, new cmd heading: 268.824473 deg. BhE*:MHeadingCmd: 4.691872 target range: 120.104996 and range: 120.60 m.hM#@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde"@颕1Bɢh) ei)z顙iYi'˿I#@Ie>i>Eh EXE+E"E ;*E;VE [4ZE a@a@a@a@-9@) @)@-4@)R@5>J@5 >@<BO>B9CB$IBBB =BBB;B8EBm9CBm9CBiBmũ =Bmũ =CmŜ5A1I9IQO]v>a5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseԁ ^J,}-?AFߜ@F@FN>ٱF= bAHRS rotation from veh to nav: [[-0.339708,0.929553,-0.143286],[-0.930274,-0.354519,-0.094377],[-0.138526,0.101235,0.985171]]FHĽտ?0W¿pֿ)6??iFߜ@IF_;FCYz^By~D%II<)<bDVD:y%L%%V=ٔ%@Q-%>9)Y)=-BFy-D-+r=E5>9Q 5E4=`?Q 9E4=])=IBYAyEQ IE?=CI=F:i=:=sB4yQɮUC@QYjhyFNOT Ignoring new targets: 120.10 m.Rh<9Zh<9 ProNav: ac range: 120.104996 m, nav range: 113.785667 m, bearing: 249.650417 deg, approach rate: -0.432494 m/s, LOS rate: 0.010316 deg/s, cmd heading: 268.824470 deg, new cmd heading: 268.836304 deg. Bh9HeadingCmd: 4.692079 target range: 120.104996 and range: 120.60 m.h%@h!*h!"h! h!g!f!f)f)d)d)djdZdm#@=/Bɢ=/%)Ex = EhiA)E|AAiERiMb˿USZ = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapsevQ,'F?A2T@2N@2y=ٱ2= :AHRS rotation from veh to nav: [[-0.319559,0.937331,-0.138899],[-0.939789,-0.332254,-0.080018],[-0.121153,0.104966,0.987068]]2H`sԿ`?u@Cտ | ߺ??i2T@I2^;0YBMByB0%IbDNVDNNyR@%VS=ٔV8Q-V>9XYX=ZBFyZDni=E=>aQ 5u4e"[?Q 94e)eHBYyQ I?eɭCIeB B B B =B B B ;B -8E@] Ʒ<Aq zAq ԉAIIO> Y,e?A6yӆ@6F΍@6k=ٱ6W=>DAT read: B2Acoustic response timeout jAHRS rotation from veh to nav: [[-0.276214,0.952505,-0.128222],[-0.957105,-0.284754,-0.053526],[-0.087496,0.107937,0.990300]]6H`}ѿz? i f9ҿgf??i6yӆ@I6^;4Yr=Byr%IimMb@Mb@Mb@iiii i9m rh?+?YmC>ymLm=mQ@mv@ m@)m+@iYm@bD VD2ys%=ٔ|Q->9Y=BFyDq=E>Q 54_T?Q 94z)GBY>Q E;y?Q I?CI(;i:;R4yɮK@jhFNOT Ignoring new targets: 120.10 m.Rhh9Zhh9 ProNav: ac range: 120.104996 m, nav range: 113.409966 m, bearing: 249.658740 deg, approach rate: -0.415876 m/s, LOS rate: 0.012723 deg/s, cmd heading: 268.843103 deg, new cmd heading: 268.861311 deg. Bh :HeadingCmd: 4.692515 target range: 120.104996 and range: 120.60 m.h)@h!*h!"h! hAgIfIfQfU\BdQdYdYjdYZde`a%@ +Bɢ S)l߸< vi)ioi˿}I<ߠDI)@Iu[1=9@ @@4@B@:@R@J@-2Acoustic response timeoutA E o E RE E "E 7;*E ;VE ZE BE `,*6?A2o@2<@2d=ٱ2M= >AHRS rotation from veh to nav: [[-0.254397,0.959272,-0.122797],[-0.964477,-0.260998,-0.040790],[-0.071178,0.108058,0.991593]]2HHп[?@o 2п@a⤿8?!?i2o@I2^;2‘CYF.ByF %I HHJ=J=bDRVDR1yZ.%Z?=ٔZ`Q-Z>9\Y\=^BFy^ D^\\=Eb>dQ 5j4fN?Q 9j4f)fHBYhyjKQ Ij?fCIfB:if:fY4ynBɮr@rEjh  FNOT Ignoring new targets: 120.10 m.Rh9Zh9% ProNav: ac range: 120.104996 m, nav range: 113.237617 m, bearing: 249.662005 deg, approach rate: -0.425479 m/s, LOS rate: 0.008072 deg/s, cmd heading: 268.861299 deg, new cmd heading: 268.871108 deg. Bh%D9-HeadingCmd: 4.692686 target range: 120.104996 and range: 120.60 m.h-|*@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=@(&@m)Bɢmp)q uF}iq)u'qqiuhhi}{˿2Acoustic response timeoutC<,'4I|*@I!MG=@ @@@! 2Acoustic response timeoutA E c E [E E "E Ɗ;*E ;VE ZE a @a @a @a @^A <-B B>B 7CB $IB BB =B B DB );B B8EAqqIyIO> h,D?A>T@>iO@>`e=ٱ>:= FAHRS rotation from veh to nav: [[-0.231454,0.965838,-0.116558],[-0.971234,-0.236299,-0.029434],[-0.055971,0.106393,0.992748]]>HGͿ`%?ֽ@Z` ?ο@$`HT@I>^;y%ף%+=%h@%@ %@)%ж@!Y%(@bD=VD=yM%M#=ٔUyQ-U>9QYQ=UBFy]D]aQ 5m4eG?Q 94e⑿)eJBY>Q E;yQ I?eCIeA>؀GA)I9IIm`9iYmvAOu>9 = 2Acoustic response timeoutDn,kػ?AbEu [4jEuYe4rEu/E2G E2KE2.E0"E2&|;*E2;VE2ـ4ZE0BE2:E2{b@bU@bE+=ٱbF= nAHRS rotation from veh to nav: [[-0.208066,0.971773,-0.111204],[-0.977215,-0.211402,-0.018962],[-0.041935,0.104725,0.993617]]bHʿ?w YE5˿jx9Ϻ?`?ib@Ib^;bÑCYvByv$IbD~VD~ky Q % O=ٔ  Q->9Y=BFyD{=E>!Q 5-4%B?Q 9-4%;)%LBY)y5Q I5?%"CI%:i%:%di4y9ɮ=@AjhamFNOT Ignoring new targets: 120.10 m.Rhm9Zhm9} ProNav: ac range: 120.104996 m, nav range: 112.918777 m, bearing: 249.678685 deg, approach rate: -0.371188 m/s, LOS rate: 0.016895 deg/s, cmd heading: 268.902034 deg, new cmd heading: 268.921209 deg. Bh9:HeadingCmd: 4.693561 target range: 120.104996 and range: 120.60 m.h1@h*h"h hgfffdddjdZd'@$Bɢ) Ќi)9FiXix˿7<y I1@IQ2Acoustic response timeouty9@ @@3@^AVRԩ A! IQ Iy O >y,u,>?A2މ@2ِ@2a<ٱ2= :AHRS rotation from veh to nav: [[-0.184670,0.977124,-0.105480],[-0.982366,-0.186713,-0.009746],[-0.029217,0.101820,0.994374]]2H@Dǿ D?@o4ǿ$띿@??i2މ@I2)}^;2C@Y^ׅByb$IIf=)f=dd2Acoustic response timeoutiMb@Mb@Mb@ 9MbX?X9vMb?Y>y}<Q@@ ~@)v@Y̬@bDVDy%>=ٔQ->9Y=BFy&Dd=E>Q 54>?Q 94~)JBYC>Q E;yQ I?8CI;i;p4yɮ8@%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 120.10 m.Rh=7Zh=7M ProNav: ac range: 120.104996 m, nav range: 112.746765 m, bearing: 249.677609 deg, approach rate: -0.400280 m/s, LOS rate: -0.002507 deg/s, cmd heading: 268.921213 deg, new cmd heading: 268.917981 deg. BhM7ܸMHeadingCmd: 4.693504 target range: 120.104996 and range: 120.60 m.hU01@hQ*hQ"hQ hQgQfYfYf] BdadadajdaZde(@5!Bɢ52Y)1 5i1)=JW99i=QiEz˿EZ2BDAT read: Response Not Received *response not receivedTDAT read: user:368>Tx time:03:34:33.1130 95 ?Y5 ?=5BFy5.D=w=E=>AQ 5M4E9?Q 9M4ES)EIBYIyMQ IM?EKCIE:iE:Ew4yYɮ]}@YjhFNOT Ignoring new targets: 120.10 m.RhZh ProNav: ac range: 120.104996 m, nav range: 112.593468 m, bearing: 249.674842 deg, approach rate: -0.401367 m/s, LOS rate: -0.007255 deg/s, cmd heading: 268.917989 deg, new cmd heading: 268.909677 deg. BhQHeadingCmd: 4.693359 target range: 120.104996 and range: 120.60 m.h0@h*h"h hgfffdddjdZd`H)@BɢGҽ) i)teiU*Lik˿}/<OϽI0@I9@ @@0@DAT read: 2Acoustic response timeout!EO E7EE"E;*E ;VEZEBEa  2Acoustic response timeout>,i ?AfE@f@@f;ٱfY= vAHRS rotation from veh to nav: [[-0.141529,0.986242,-0.085423],[-0.989911,-0.141593,0.005341],[-0.006828,0.085317,0.996330]]fH¿J?M޵X ¿1u?{`[׵?`?ifE@If^;fCY By P$IbD%VD%y5l%5J=9ٔ=ټQ-E>9AYA=EBFyE6DM Q=EM>QQ 5]4U5?Q 9]4Uk)QYYyeBQ Ie?U`CIUY;iUw;U~4yiɮm7@ijhFNOT Ignoring new targets: 120.10 m.RhRZhR ProNav: ac range: 120.104996 m, nav range: 112.430939 m, bearing: 249.670172 deg, approach rate: -0.400315 m/s, LOS rate: -0.011518 deg/s, cmd heading: 268.909684 deg, new cmd heading: 268.895655 deg. BhHeadingCmd: 4.693115 target range: 120.104996 and range: 120.60 m.h-@h*h"h hgfffdddjdZd5c*@Bɢͽ) @Z< Ai)Owi"Fin˿+<OI-@I q9@ @@/@@=@=^A`=(%2Acoustic response timeoutԑA-؟AI9IIOU>E ? E 6E *E "E t;*E  ;VE (N4ZE a @a @a @a @ B G>B 8CB z$IB BB =B B DB g;B 8Eh,D#?A2w@2D@2FWٱ2= :AHRS rotation from veh to nav: [[-0.121842,0.989962,-0.071615],[-0.992544,-0.121286,0.012089],[0.003282,0.072554,0.997359]]2H1ŭ?WU !ˆ?j??]?i2w@I2^;2CYBwByB)$I DDJ=J=iMMb@Mb@Mb@IIII I9M5^I ?J +~jth?YM>yMHMD;M~@M@ M©@)M3@IYM@bDeVDeyu%uF=ٔ}ȼQ-}>9}"?Y}"?=BFy?DE=E>Q 54s2?Q 94⥿ԙ)Y>Q E:yQ I?vCI4;i4;݅4yɮ<@jhFNOT Ignoring new targets: 120.10 m.RhTZhT ProNav: ac range: 120.104996 m, nav range: 112.257355 m, bearing: 249.659769 deg, approach rate: -0.421178 m/s, LOS rate: -0.025280 deg/s, cmd heading: 268.895668 deg, new cmd heading: 268.864411 deg. Bh̊HeadingCmd: 4.692569 target range: 120.104996 and range: 120.60 m.h)@h*h"h hgfff_Bdddjd Zd  G6+@=Bɢ=)9 =i9)E*AAiE@iMQ˿M?j)- 2Acoustic response timeout ,=?AD"=D"<E&A E&ME&,E$"E&v;*E&%;VE&g4ZE$BE&‌@>{@>QRٱ>3= JAHRS rotation from veh to nav: [[-0.103347,0.992758,-0.061243],[-0.994562,-0.102346,0.019275],[0.012868,0.062902,0.997937]]>Ht?8[s@\3@ἓ?ZZ?U? ?i>‌@I>ְ^;>CYRIByR#IXZAAbD^VD^:2yfq%fV=ٔfbͼQ-j>9hYh=jBFyjFDnuG=En>pQ 5v4ry/?Q 9v4r)rJBYtyv#Q Iz?rCIr:ir_:r4y~Bɮ~@|jhFNOT Ignoring new targets: 120.10 m.Rh[Zh[ ProNav: ac range: 120.104996 m, nav range: 112.096436 m, bearing: 249.648542 deg, approach rate: -0.404665 m/s, LOS rate: -0.028273 deg/s, cmd heading: 268.864413 deg, new cmd heading: 268.830685 deg. Bh:HeadingCmd: 4.691980 target range: 120.104996 and range: 120.60 m.h$@h*h"h hgfffdddjdZd,@颅Bɢ) ) i)̭顉i<;i˿('<aZ\I$@I-9@) @)@-5@1^Azҽ92Acoustic response timeoutA1IAIQOYQԉ z,V?A2< @2 @2ٱ2)X= :AHRS rotation from veh to nav: [[-0.086524,0.994959,-0.050690],[-0.996017,-0.085291,0.026003],[0.021548,0.052738,0.998376]]2Hm&?`^յw??n??i2< @I2C_;2‘CYB/ByB#Iz2Acoustic response timeoutiMMb@Mb@Mb@IIII I9Mgfffff?yMtMM©@M`@ M@)M@IYIbDeVDeNyu8%u@=ٔ}Q-}>9yYy=BFyODj"=E>Q 54-?Q 94X)LBY>>Q E:yֿQ I?CIP ;i ;4yɮx@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 120.10 m.Rh玺Zh玺 ProNav: ac range: 120.104996 m, nav range: 111.900528 m, bearing: 249.622966 deg, approach rate: -0.477653 m/s, LOS rate: -0.062468 deg/s, cmd heading: 268.830672 deg, new cmd heading: 268.753809 deg. Bh|+HeadingCmd: 4.690639 target range: 120.104996 and range: 120.60 m.h@h*h"h hgfff~Bdddjd Zd ,@5Bɢ=)9 =Vi9)=AAiE6iE˿M|%BqBu;$IBuBBu =BqBqBui;Bu8EB58CB58CB1B5Ĭ =B5ī =C56=✄, v?A2@2z@2gٱ24#= :AHRS rotation from veh to nav: [[-0.072308,0.996675,-0.037565],[-0.996933,-0.071093,0.032732],[0.029952,0.039817,0.998758]]2H@Â`?; #31 ?ī?b?`?i2@I2^;2CYVByV#IXI^=)^>`bAbDfVDffyn%n/=ٔnQ-n>9pYp=rBFyrXDv<Ev>tQ 5~4v+?Q 9~4v!)vOBY|y~ԿQ I~?vCIv;iv:v4y Bɮ @ Ejh)5FNOT Ignoring new targets: 120.10 m.Rh= Zh= M ProNav: ac range: 120.104996 m, nav range: 111.687279 m, bearing: 249.593356 deg, approach rate: -0.458932 m/s, LOS rate: -0.063845 deg/s, cmd heading: 268.753819 deg, new cmd heading: 268.664820 deg. BhMC/UHeadingCmd: 4.689085 target range: 120.104996 and range: 120.60 m.hU @hQ*hQ"hQ hYgYfYfYfYdadadajdaZdm`-@2Acoustic response timeout颥Bɢ'() %i)8V顩i0iv ̿#<I @Iv<EX EE,E"EɅ;*EVEg4ZEBEU 2Acoustic response timeoutY .ţ,BЏ?A62@6@6Pٱ6ޡ< >AHRS rotation from veh to nav: [[-0.059845,0.997913,-0.024239],[-0.997483,-0.058858,0.039543],[0.038034,0.026544,0.998924]]6H`𣮿 ?Ҙ@a"?? 6y?@`.? /?i62@I6^;4Y^Byb#I f49v ?Yv ?=vBFyvaDz<Ez>|Q 54~*?Q 94~))~SBYy (ӿQ I ?~ڮCI~:i~;~,4y!ɮ- @19jhaeFNOT Ignoring new targets: 120.10 m.RhmZhm} ProNav: ac range: 120.104996 m, nav range: 111.502762 m, bearing: 249.566366 deg, approach rate: -0.450863 m/s, LOS rate: -0.066058 deg/s, cmd heading: 268.664808 deg, new cmd heading: 268.583704 deg. Bh}W5HeadingCmd: 4.687670 target range: 120.104996 and range: 120.60 m.hd@h*h"h hgfffdddjdZd.@颅BɢB) ƿi) 顱i+i9̿"< bId@Iq2Acoustic response timeoutE4 E"E*E"Ej;*E;VE(N4ZEa @a @a @a @ԑBH>BB#IBIBBBBB^;B}8EhW< 9@  @ @ ?0@ @ =@ =^A l; u 2Acoustic response timeoutA ؟AI I O >0E,?AxYMByMu#IiMb@Mb@Mb@ 9> ףp=?~jt?Mbp?Y?y<;٪@@ @)©@Y(@bDEVDEkyU\o%U-=ٔ]Q-]>9]"?Y]"?=eBFyejDeEe>iQ 5u4mK*?Q 9u4mB)mYBY} ?Q E}:y}]˿Q I}?mCIm@:im:ms4yɮ@jhFNOT Ignoring new targets: 120.10 m.RhZh ProNav: ac range: 120.104996 m, nav range: 111.248238 m, bearing: 249.520190 deg, approach rate: -0.543255 m/s, LOS rate: -0.098783 deg/s, cmd heading: 268.583693 deg, new cmd heading: 268.444848 deg. BhHeadingCmd: 4.685246 target range: 120.104996 and range: 120.60 m.h@h*h"h hgfff~BdddjdZd>/@ Bɢ86) Rɿi)e˸i%&i%D̿-"<-YaI-@I)1111BDAT read: Rx Time:03:34:35.6682 TRx dataTimestamp_ set to:1761536074.9041872Acoustic response timeoutI}9@ @@4@Ee @ Ee 9Ee .Ea "Ee u;*Ee ;VEe ـ4ZEa BEe "9 ?Y ?=BFytDhN=E>Q 54|*?Q 94ȿ)cBYyȿQ I?"CId:i:S4yɮ@jh!-FNOT Ignoring new targets: 120.10 m.Rh-Zh-= ProNav: ac range: 120.104996 m, nav range: 110.978180 m, bearing: 249.466853 deg, approach rate: -0.531688 m/s, LOS rate: -0.105266 deg/s, cmd heading: 268.444849 deg, new cmd heading: 268.284448 deg. BhE|EHeadingCmd: 4.682447 target range: 120.104996 and range: 120.60 m.hE֕@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]C0@Bɢz)@;; mϿi)LƼi!]"i̿!<5&Tx time:03:34:36.7630 R#Rx 1: Read range and direction messages.^direction in FSK: [0.949100,-0.270358,0.161604]Fpublishing direction and range infoyaeI_?*SMѿo?YefBaeee a)aIeX9eO9@ e6&>)e.@Ie6&aae?,? ? e`XN?)ewIejie6&aa2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AU؟AIYIqO}>E% E E*E"EO];*E:VE(N4ZEa@a@a@a@A A ?AB G>B B #IB BB =B B B @;B ^8EI E,?A6ݎ@6ؕ@6rއٱ6tH >AHRS rotation from veh to nav: [[-0.029619,0.999460,0.014226],[-0.997360,-0.030495,0.065895],[0.066294,-0.012236,0.997725]]6HT?@Z"?`:ް??``@]?i6ݎ@I6_^;6CY^BybG#IYiuMb@Mb@Mb@qqqq q9uS?A`"?I +?Yu?yuY=u949"?Y"?=BFy|D?<E>DAT read:  2Acoustic response timeoutQ 5u4+?Q 9}4(Ͽ)mBY}>?Q E}:y}Q I}?@CI6972@RI_?*SMѿo?Zijbi6&jS@~O%Z-9@Z0ҿji8BW?2i*:i|"i@|/?*i\BiBiiiiBiL@ addTargetRange:: Added new target pos. range: 113.199997 m, deltaT: 16.396201 s, deltaX: -7.400002 m, approachRate: -0.451324 m/s, rangeRepo size: 4  Added new target pos. range: 112.733459 m, bearing: 252.302385 deg, lat: 36.779349 deg, lon: -121.859587 deg, deltaT: 16.396201 s, deltaX: -7.371536 m, approachRate: -0.449588 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 112.73 m.RhZh5 ProNav: ac range: 112.733459 m, nav range: 110.759056 m, bearing: 249.416666 deg, approach rate: 0.000000 m/s, LOS rate: -0.105266 deg/s, cmd heading: 268.284448 deg, new cmd heading: 268.143212 deg. Bh1=HeadingCmd: 4.679982 target range: 112.733459 and range: 113.20 m.h=i•@h9*h9"hA hAgAfAfifm}BdididijduL\@ZduI?ԉ颽Bɢ~) пi)Ҽiei5Ϳ!<eSA > bEjET\4rE/E 6 E .E E "E l;*E ;VE ZE BE Lz,?A:@:p@:Kޕٱ:3м\ fAHRS rotation from veh to nav: [[-0.027566,0.999244,0.027423],[-0.996943,-0.029488,0.072359],[0.073113,-0.025345,0.997002]]:H`2:??@2??p?i:@I:^;:CYnByn+#IbDvVDv0y~=ֽ%~F=ٔQ->9Y=BFyD ;E >Q 54,?Q 94տ)yBYy%LQ I%?`CIU;i;h•4y-Bɮ-@-EMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 112.73 m.Rhe&Zhe&u ProNav: ac range: 112.733459 m, nav range: 110.533379 m, bearing: 249.364428 deg, approach rate: -0.628495 m/s, LOS rate: -0.145778 deg/s, cmd heading: 268.143200 deg, new cmd heading: 267.986164 deg. BhuȻ}HeadingCmd: 4.677241 target range: 112.733459 and range: 113.20 m.h}@hy*hy"hy hygfffdddjdZd?=Bɢ=E)9 =տiA)E ܼAAiEiMͿM""I  2Acoustic response timeoutУƄ,?A2_@2,@2N}ٱ24 :AHRS rotation from veh to nav: [[-0.026489,0.998849,0.039987],[-0.996463,-0.029575,0.078652],[0.079744,-0.037762,0.996100]]2H ? 8y?  H"?j?@U ?i2_@I2^;2CYBByB8#IIF=)Ft>HJAi Mb@Mb@Mb@     9 %C?p= ף?{Gz?Y Z$?y = ף< I@ ©@ `@) h@ Y (@bD- VD-:2y:=%@=ٔQ->9 ?E4 E5EE"Ej;*E ;VEZEa@a@a@a@Y ?=BFyD";E>Q 54.?Q 94ܿ)BYE%?Q E:yVQ I?CI:i:ɕ4yɮ@jh%FNOT Ignoring new targets: 112.73 m.Rh%!Zh-!= ProNav: ac range: 112.733459 m, nav range: 110.283524 m, bearing: 249.303915 deg, approach rate: -0.581890 m/s, LOS rate: -0.141248 deg/s, cmd heading: 267.986160 deg, new cmd heading: 267.804211 deg. Bh=EHeadingCmd: 4.674065 target range: 112.733459 and range: 113.20 m.hE@hA*hA"hA hAgAfIfIfM}BdIdQdQjdQZdU٨?B}M>B}9CB}s#IB}BB} =ByByB}#;B}F8E颥Bɢ^) <ҿi)顩ixiͿFt"<Y9΄,ɪ;?A2@2_@2lٱ2Q RAHRS rotation from veh to nav: [[-0.026450,0.998219,0.053475],[-0.995898,-0.030943,0.085022],[0.086525,-0.051007,0.994943]]2Hh?a?fõ?&??i2@I2^;2CYZByZ9#IbDfVDfJynؕ;%n.=ٔnlQ-r>9pYp=rBFyrDvGZ8Ev>xQ 5~4z0?Q 9~4z)zBY|y~HQ I?zCIz:iz:zҕ4y Bɮ "@ Ejh15FNOT Ignoring new targets: 112.73 m.Rh=|"Zh=|"M ProNav: ac range: 112.733459 m, nav range: 110.012199 m, bearing: 249.237779 deg, approach rate: -0.581345 m/s, LOS rate: -0.142054 deg/s, cmd heading: 267.804204 deg, new cmd heading: 267.605307 deg. BhM»UHeadingCmd: 4.670594 target range: 112.733459 and range: 113.20 m.hUu@hQ*hY"hY hYgYfYfafadadadajdiZdm ?颕BɢI ) пi)顡iyigiο"<q)Q G Մ,U?A=@=l@=A ٱ=OɊ AHRS rotation from veh to nav: [[-0.027400,0.997153,0.070247],[-0.995275,-0.033761,0.091034],[0.093146,-0.067421,0.993367]]=H??K-IM?kط?xB?i=@I=^;9YńByM#I1iuMb@Mb@Mb@qqqq q9ush|??9"?Y"?=BFyD2Acoustic response timeoutu E>Q 542?Q 94)BY+?Q E:yaQ I?ѯCI ;iu ;(ڕ4yɮ@jhFNOT Ignoring new targets: 112.73 m.Rh6+Zh6+ ProNav: ac range: 112.733459 m, nav range: 109.735321 m, bearing: 249.168671 deg, approach rate: -0.598199 m/s, LOS rate: -0.149686 deg/s, cmd heading: 267.605309 deg, new cmd heading: 267.397462 deg. BhtͻHeadingCmd: 4.666966 target range: 112.733459 and range: 113.20 m.hW@h*h"h hgfff}BdddjdZd`m@颅Bɢ) ˿i)p顉iiFο#<.BBa#IBԄBB =BBDB.;BT8EԑE q;m 2Acoustic response timeout 9@  @ @ 4@ Թ ^AD-<A>A>AIIO?݄,y?A2@2ܕ@2[˽ٱ2 :AHRS rotation from veh to nav: [[-0.029056,0.995780,0.087048],[-0.994635,-0.037452,0.096433],[0.099286,-0.083779,0.991526]]2H n?H? ,`ѯ?`j? r ?i2@I2^;2CYBӄByB_#IbDNVDN0yRQm=%V&=ٔVSMQ-V>9TYX=ZBFyZDZT`E^>\Q 5b4^5?Q 9f4^Q)^BYdyfQ If?^CI^:i^:^4yjBɮn@nE2Acoustic response timeoutjhYeFNOT Ignoring new targets: 112.73 m.Rhe'Zhe' ProNav: ac range: 112.733459 m, nav range: 109.441666 m, bearing: 249.095166 deg, approach rate: -0.583902 m/s, LOS rate: -0.146548 deg/s, cmd heading: 267.397453 deg, new cmd heading: 267.176349 deg. Bh&ɻHeadingCmd: 4.663107 target range: 112.733459 and range: 113.20 m.h,8@h*h"h hgfffdddjdZd>]@mBɢmY)u uƿiq)u#qqiuNi}^Ͽ}%$<}|},G?ABDAT read: Rx Time:03:34:39.3149 TRx dataTimestamp_ set to:1761536078.4322092Acoustic response timeoutYBy#IiMb@Mb@Mb@ 9 r?~jt?~jt?Y#?y=@$@ @)Q@Y̬@bD5VD5yEx=%E=ٔMQ-M>9M ?YU ?=UBFyUDUEU>YQ 5e4]7?Q 9e4])]هBYm$?Q Em:ym.Q Im?])CI]m ;i] ;]4yqɮu@yB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 112.73 m.Rh-Zh- ProNav: ac range: 112.733459 m, nav range: 109.113541 m, bearing: 249.010269 deg, approach rate: -0.584526 m/s, LOS rate: -0.151692 deg/s, cmd heading: 267.176346 deg, new cmd heading: 266.920890 deg. Bh5лHeadingCmd: 4.658648 target range: 112.733459 and range: 113.20 m.h@h*h"h hgfffM~BdddjdZd`@E9 E4E.E"Eso;*E ;VEـ4ZEa@a@a@a@Bɢ%)! %BmP>BiBmz#IBmBBm =BiBiBm@;Bmf8EB59CB59CB1B5Ī =B5ĩ =C55i!)VX i@i Ͽ %< wI,f?AY-By-#IbD=VD=βyM&>%UO=ٔQQ-U>9]"?Y]"?=]BFy]DYE]>aQ 5m4e9?Q 9u4e)eBYqyqQ Iu?eJCIe:ie:e4yyɮ}@jhFNOT Ignoring new targets: 112.73 m.Rh+Zh+ ProNav: ac range: 112.733459 m, nav range: 108.887749 m, bearing: 248.951515 deg, approach rate: -0.573537 m/s, LOS rate: -0.149550 deg/s, cmd heading: 266.920897 deg, new cmd heading: 266.744271 deg. BhEͻHeadingCmd: 4.655566 target range: 112.733459 and range: 113.20 m.he@h*h"h hgfffdddjdZd`| @MBɢMu )I MiQ)UiQQiUk i]Uп}%<}=Ie@Ii>-DAT read: 03:34:39.3149 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.04, 1.154,-0.069, 1.794, 1.259, PHS=-0.003,-1.283, 0.491, RAW= 165.6, 10.0, CAL= 165.6, 11.0, ROT= 344.4, -11.0 =Ygot valid direction response: 03:34:39.3149 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.04, 1.154,-0.069, 1.794, 1.259, PHS=-0.003,-1.283, 0.491, RAW= 165.6, 10.0, CAL= 165.6, 11.0, ROT= 344.4, -11.0 EPDAT read: Bearing 59.0, -10.6 (Local) M~Local bearing/azimuth received: Bearing 59.0, -10.6 (Local) ]DAT read: Range 11 to 50 : 110.7 m (Round-trip 147.7 ms) speed 0.2 m/s mTDAT read: user:370>Tx time:03:34:40.4130 uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.945467,-0.263979,0.190809]Fpublishing direction and range infoyCA?RпP@ml?YfB )?IDiX9Zd>8@¸2>8@  D>)hY@I D>3?d+?V? K?)$3I*gi D2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.u9@q @q@u/@qEU@ EU2EU+EQ"EUu;*EU;VEU [4ZEQBEU"Q(,S>?AZޔ@Z@Z;ٱZZ fAHRS rotation from veh to nav: [[-0.038331,0.990941,0.128714],[-0.992502,-0.052715,0.110276],[0.116062,-0.123522,0.985531]]ZH @ɵ?y?@;?A? x?iZޔ@IZ^;ZCYj.Byn#IprAbDzVDz0y>% c=ٔ @Q- >9 ?Y ?=BFyŐDռE>Q 5%4};?Q 9-4 )BY)y-;Q I-?gCI-:i$:4y1ɮ5r@9iAiE?AJiE~BRiE~BjiEe@bEo}Z@0O=ɐd?9 5@RECA?RпP@ml?ZiE*gbiE DjEdl[} >%NTX>`K6B@ZE ~;}ѿ|K+쿚|h%?2iE2:iE"iE:P?*iErx Eu (Eu )Eq "Eu s;*Eu ;VEu FA4ZEq a @a @a @a @A A @AB O>B B #IB BB =B B B ?;B d8EI I O >Թ S,?A2~@2y@2ٱ2 :AHRS rotation from veh to nav: [[-0.040983,0.989878,0.135875],[-0.992034,-0.056525,0.112575],[0.119116,-0.130179,0.984309]]2H?Zd? @Ѽ?c~? @v?i2~@I2|l^;2CYBLByB#IiEMb@Mb@Mb@AAAA A9E\(\?&1?Zd;O?YE?yEP=Ej%%:=ٔ%Q-%>9)Y)=-BFy-ΐD5ǻE5>9Q 5E4=9!Y)=-BFy-אD=E=>AQ 5U4E=?Q 9]4E$)E$BYYye0ÿQ Ie?ECIE;iE;E 4yqɮ}@yjhFNOT Ignoring new targets: 110.25 m.RhZh ProNav: ac range: 110.246529 m, nav range: 106.665497 m, bearing: 248.465151 deg, approach rate: -0.565203 m/s, LOS rate: -0.136177 deg/s, cmd heading: 266.406064 deg, new cmd heading: 266.213447 deg. Bh꺻HeadingCmd: 4.646301 target range: 110.246529 and range: 110.70 m.h@h*h"h hgfffdddjdZd ?2Acoustic response timeoutԩهBɢa)*% i )   i ޫ ilѿܚ'<upBQ BU $IBU ^BBQ BQ BQ BU 8;BU [8E^A <I I O >N,%?A2g\@24W@2<ٱ2A :AHRS rotation from veh to nav: [[-0.045128,0.987847,0.148736],[-0.991278,-0.062735,0.115898],[0.123821,-0.142208,0.982062]]2Hp? ?`n??3¿ m?i2g\@I2Pe^;2CYBByBI$IiEMb@Mb@Mb@AAAA A9Ex&?Q?Mb?QYE7 ?yE%u-=ٔ}Q-}>9yYy=}BFy}DE>Q 54=?Q 94 )6BY} ?Q E:y-ǿQ I?ΰCIG ;i;L4yɮ%@B*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 110.25 m.RhZh ProNav: ac range: 110.246529 m, nav range: 106.435272 m, bearing: 248.414114 deg, approach rate: -0.486156 m/s, LOS rate: -0.108007 deg/s, cmd heading: 266.213453 deg, new cmd heading: 266.060010 deg. Bh?HeadingCmd: 4.643623 target range: 110.246529 and range: 110.70 m.h@h*h"h hgfffBddd jd Zd-{?u2Acoustic response timeout颵ӇBɢω) i)$项in i+ѿ5Y(<=t, n??AYByu$IbET4jEU4rE0E%( E%&E%,E!"E%`;*E%;VE%g4ZE!BE%S%MN=ٔMQ-M>9QYQ=UBFyUDUE]>aQ 5m4eA>?Q 9m4e@&)eFBYiyiQ Im?eCIe:ie:e?4yyɮ}@yjhFNOT Ignoring new targets: 110.25 m.RhZhԹ ProNav: ac range: 110.246529 m, nav range: 106.239929 m, bearing: 248.370619 deg, approach rate: -0.501264 m/s, LOS rate: -0.111815 deg/s, cmd heading: 266.060020 deg, new cmd heading: 265.929297 deg. BhyHeadingCmd: 4.641342 target range: 110.246529 and range: 110.70 m.h߅@h*h"h hgfffdddjdZd -@ χBɢ 3)  i)*'i i'ҿ%(<%^ ,!XY?AM?@M:@MٱM5" AHRS rotation from veh to nav: [[-0.048558,0.985320,0.163668],[-0.990788,-0.068256,0.116964],[0.126418,-0.156480,0.979557]]MHܨ`??`7yX?x.?Ŀ`X?iM?@IMil^;MC2Acoustic response timeoutY˅By$II]>)<AimMb@Mb@Mb@iiii i9mrh|?Zd;O?{Gz?Ym>ymj9Y=BFyDmE>Q 54E>?Q 94+)VBY;>Q E:yȿQ I?CI:i]:!4yɮ@jhiuFNOT Ignoring new targets: 110.25 m.Rhue׺Zhue׺ ProNav: ac range: 110.246529 m, nav range: 106.036995 m, bearing: 248.327025 deg, approach rate: -0.437474 m/s, LOS rate: -0.094158 deg/s, cmd heading: 265.929290 deg, new cmd heading: 265.798258 deg. Bh=HeadingCmd: 4.639055 target range: 110.246529 and range: 110.70 m.h#s@h*h"h hgfffBdddjdZdIJ@E-0 E-+E)E)"E-Jg;*E-=;VE)ZE)a5@a5@a5@a5@BMN>BIBMm$IBMBBM =BIBIBM:;BM\8E9MʇBɢM Խ)Q U;iQ)UX+QQiU?i}rҿf)</o,u?AYjByj$I prbDvVDv0y!>%N=ٔ%Q-%>9!Y!=-BFy-D-E->qyQ 54}I>?Q 94}11)}dBYyQ I?}CI}6:i}p:}%(4yBɮ~@EjhFNOT Ignoring new targets: 110.25 m.RhFZhF ProNav: ac range: 110.246529 m, nav range: 105.853470 m, bearing: 248.287445 deg, approach rate: -0.472013 m/s, LOS rate: -0.101973 deg/s, cmd heading: 265.798260 deg, new cmd heading: 265.679314 deg. BhHeadingCmd: 4.636979 target range: 110.246529 and range: 110.70 m.h!b@h*h"h hgfffdddjdZd୾@ƇBɢ%)! %Fmi!)%-!)i-i5ҿ5sT*<5|=I5!b@I12Acoustic response timeout9@ @@0@ԡDzD?AE> E<E-E"Es;*E1;VEt4ZEBE ] BDAT read: Rx Time:03:34:42.9624 e TRx dataTimestamp_ set to:1761536082.212385e 2Acoustic response timeoutR#,?AF1@Fn,@FٱFd ) RAHRS rotation from veh to nav: [[-0.050286,0.984083,0.170448],[-0.990673,-0.070789,0.116433],[0.126646,-0.163003,0.978463]]FH }?;? ;ν?5?HĿO?iF1@IFyk^;DYBy$IbD-VD-y] =%]G=ٔe9Q-e>9e"?Ym"?=mBFymDmEm>qQ 5}4uE>?Q 9}4uY6)urBYy*ɿQ I?u7CIu;iu:u,/4yɮ@jhFNOT Ignoring new targets: 110.25 m.RhlߺZhlߺ ProNav: ac range: 110.246529 m, nav range: 105.671219 m, bearing: 248.248183 deg, approach rate: -0.452575 m/s, LOS rate: -0.097666 deg/s, cmd heading: 265.679305 deg, new cmd heading: 265.561316 deg. Bh HeadingCmd: 4.634919 target range: 110.246529 and range: 110.70 m.hBQ@h*h"h hgfffdddjdQZdU@ @颥Bɢ8ҽ) _i)0顩i0icҿ+<O=IBQ@Ia@i @i@m0@i@ugA@uhA2Acoustic response timeout1^A=A>A>B M>B B $IB BB B B B Q;B q8EEE @ EE /EA EA "EE u;*EE Y;VEA ZEA BEE "<2EE "<JEE \b<:EE \b<I I O >Y ),Tr?AY=By=$I AAiMb@Mb@Mb@ 9uV?Mb?~jtx?1eDAT read: 03:34:42.9624 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29,-1.552,-2.794,-0.907,-1.493, PHS= 0.044,-1.256, 0.543, RAW= 165.6, 8.4, CAL= 165.3, 8.7, ROT= 344.7, -8.7 mYgot valid direction response: 03:34:42.9624 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29,-1.552,-2.794,-0.907,-1.493, PHS= 0.044,-1.256, 0.543, RAW= 165.6, 8.4, CAL= 165.3, 8.7, ROT= 344.7, -8.7 uPDAT read: Bearing 53.7, -9.2 (Local) }~Local bearing/azimuth received: Bearing 53.7, -9.2 (Local) DAT read: Range 11 to 50 : 108.9 m (Round-trip 145.2 ms) speed 0.3 m/s TDAT read: user:371>Tx time:03:34:44.0630 %R#Rx 1: Read range and direction messages.Yr>y<;@C@ )@Y(@bD=VD=βU^direction in FSK: [0.953459,-0.260837,0.151261]UFpublishing direction and range infoy?.пni\?YB )AIX94=iĠ  ?Q >R8@ |>)M@I|"*W(?J]@?oDӞ? @K?)j~y·=%/=ٔQ->9Y=BFy DE>Iڸi|2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Q 54=?Q 9 4;)BY >Q E :y ͿQ I ?SCI)h5˟סXdZ@@ZG8ѿ@Yw?2i:i"i`HI?*i[BiBi@|/?iiBiBix9@  addTargetRange:: Added new target pos. range: 108.900002 m, deltaT: 3.780424 s, deltaX: -1.799995 m, approachRate: -0.476136 m/s, rangeRepo size: 4  Added new target pos. range: 108.453384 m, bearing: 252.936865 deg, lat: 36.779399 deg, lon: -121.859568 deg, deltaT: 3.780424 s, deltaX: -1.793144 m, approachRate: -0.474324 m/s, posRepo size: 4 jhEFNOT Ignoring new targets: 108.45 m.RhEZhAU ProNav: ac range: 108.453384 m, nav range: 103.532272 m, bearing: 251.070977 deg, approach rate: 0.000000 m/s, LOS rate: -0.097666 deg/s, cmd heading: 265.561307 deg, new cmd heading: 265.411337 deg. BhQY}HeadingCmd: 4.632302 target range: 108.453384 and range: 108.90 m.h};@hy*hy"h hgfff@Bdddjd9[@Zd?Bɢb½) -Ri)M^4  i /Vi &PӿZ,<@M =I;@I9@ @@0@ԉ DAT read:  2Acoustic response timeoutԹ ^A 2g=E9  E= -E9 E9 "E9 *E= K;VE9 ZE9 aM @aM @aM @aM @I I O >1,?A2G:@25@2bٱ2 , >AHRS rotation from veh to nav: [[-0.049247,0.983648,0.173235],[-0.990873,-0.069907,0.115257],[0.125482,-0.165978,0.978113]]2H@6` z?,?:@o屿`t? ?>ſL?i2G:@I2a^;2CYF$ByF$ILN@AbDNVDNfyV@=%V\=ٔZS;Q-Z>9XY\=^BFy^D^>;E^>`Q 5f4bM=?Q 9f4bD@)bBYhxyj̿Q IU?bhCIbM 2Acoustic response timeout7,t?A2C@2=@2ٱ2w+ :AHRS rotation from veh to nav: [[-0.048194,0.983808,0.172623],[-0.991012,-0.068689,0.114793],[0.124791,-0.165539,0.978276]]2H@묨[{??^ c?@T?`b0ſ N?i2C@I2];2CYB:ByB%Ii Mb@Mb@Mb@     9 S?Mbp?{GztY />y ; ף A@ Z@ @AAAAB-O>B)B-#%IEeC Ee+Ee(Ea"Eex;*Ee=;VEec44ZEaiB-BBB- =B)B)B-m;B-8EBBBB =B =Cc95) ʝ@ Y @bDVDy%O=%%5=ٔ%:Q-%>9)Y)=-BFy-D5=;E5>YQ 5e4]Q Ee:yeZοQ Ie?]CI]U:i]:]E4yqɮ@jhFNOT Ignoring new targets: 108.45 m.RhmZhm ProNav: ac range: 108.453384 m, nav range: 103.189224 m, bearing: 251.013244 deg, approach rate: -0.441676 m/s, LOS rate: -0.073188 deg/s, cmd heading: 265.330829 deg, new cmd heading: 265.237855 deg. BhHUHeadingCmd: 4.629274 target range: 108.453384 and range: 108.90 m.hU#@hQ*hQ"hQ hQgYfYfYf]?BdadadajdaZde ?Bɢ%½ԉ) ;i)X9顙iQ6i`ӿ-<=I#@I2Acoustic response timeout9@ @@4@@=@=Ա^A ]= A gAzA IQ Ia Ou >=,N?A2H@2C@2Aٱ2hx, :AHRS rotation from veh to nav: [[-0.047485,0.983724,0.173298],[-0.991127,-0.067965,0.114224],[0.124143,-0.166336,0.978223]]2H Oz?.?P@#f@=?ǿ?`JſM?i2H@I2X];2CY^9By^%IIb=)`bDfVDf:2ynFj%ra=ٔr:Q-r>9tYt=vBFyv#Dv;Ev>xQ 5~4ziߩ Iߩ  2Acoustic response timeout9 D,9*?A2WO@2$J@2ٱ2, :AHRS rotation from veh to nav: [[-0.046711,0.983708,0.173601],[-0.991241,-0.067139,0.113730],[0.123533,-0.166768,0.978227]]2Hw꧿`z?8?>0l?`ן?XſM?i2WO@I2];0YbAByb!%I hhbDhVDhyr4=%vJ=ٔv):Q-v>9xY|=eBFye,DeI:Em>iQ 5u4m};?Q 9}4m-N)mBYyy}*οQ I}?mCImL;imj;m\S4yɮ'@jhFNOT Ignoring new targets: 108.45 m.RhZh ProNav: ac range: 108.453384 m, nav range: 102.869286 m, bearing: 250.959832 deg, approach rate: -0.416296 m/s, LOS rate: -0.069809 deg/s, cmd heading: 265.164145 deg, new cmd heading: 265.077380 deg. Bh?HeadingCmd: 4.626473 target range: 108.453384 and range: 108.90 m.h @h*h"h hgfffdddjdZdC?BɢJ)! %3i!)%=!!i%i-&Կ-X/<-D,=I- @I1@ @@/@2Acoustic response timeoutIB5K>B1B5a%IB5uBB5 =B1B1B5|;B58EE; E6E+E"EDq;*E ;VE [4ZEBE7<2E7<JEh<:Eh<^Ar =A>A>II)O5>qԙ VJ,g .?A22Acoustic response timeout:U@:P@:"!ٱ:, FAHRS rotation from veh to nav: [[-0.045913,0.983761,0.173509],[-0.991369,-0.066224,0.113146],[0.122799,-0.166817,0.978311]]:H⁧`z?`5?`K@ &?o?@?ZſSN?i:U@I:8p];:CYNJByN,%IiEMb@Mb@Mb@AAAA A9E/$?y&1YE>yEE`eEn@EC@ A)E@AYAbDVDyA'=%<=ٔG:Q->9Y=BFy5D:E>Q 54:?Q 94=S)BY$>Q E:yϿQ I?ıCIR;i;Z4yɮ@ƣEjh)-FNOT Ignoring new targets: 108.45 m.Rh5Zh5E ProNav: ac range: 108.453384 m, nav range: 102.684120 m, bearing: 250.930017 deg, approach rate: -0.440852 m/s, LOS rate: -0.071113 deg/s, cmd heading: 265.077374 deg, new cmd heading: 264.987768 deg. BhE7CMHeadingCmd: 4.624909 target range: 108.453384 and range: 108.90 m.hMA@hI*hI"hI hQgQfQfYf]OBdYdYdYjdaZde@q颕Bɢ+) y,i)@顙ipiiBԿ0< [4=IA@Ie9@a @i@m/@i@q@qԡ2Acoustic response timeout^A)=E 9 E +E 0E "E so;*E =;VE 4ZE a @a @a @a @A I! I9 OE > Q,;G?A:[@:U@:ٱ:f+ RAHRS rotation from veh to nav: [[-0.045299,0.983987,0.172388],[-0.991476,-0.065386,0.112690],[0.122157,-0.165814,0.978562]]:H_1`|??,!Dټ?E?b9ſaP?i:[@I:Iv];:CYfAByf!%I ttbD VD N2y%B%%V=ٔ-:Q-->91Y1=5BFy=QQ 5]4U9?Q 9e4UW)UBYiymϿQ Im?U۱CIU{;iUm};Uia4yyɮ}-@yB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.45 m.RhZh ProNav: ac range: 108.453384 m, nav range: 102.514572 m, bearing: 250.902551 deg, approach rate: -0.438189 m/s, LOS rate: -0.071103 deg/s, cmd heading: 264.987762 deg, new cmd heading: 264.905227 deg. Bh0CHeadingCmd: 4.623468 target range: 108.453384 and range: 108.90 m.ht@h*h"h hgfffdQdQdYjdYZd]@@颥Bɢb½) |.i)EB顩iiqԿC1<L;=It@Iu2Acoustic response timeout9@ @@@^A31=) A! E 2Acoustic response timeoutIa I O >Q @ X,a?A2]@2W@2ٱ2u', :AHRS rotation from veh to nav: [[-0.045066,0.983961,0.172599],[-0.991554,-0.065091,0.112174],[0.121610,-0.166087,0.978584]]2H@|?? кʩ@t?!?RBſ P?i2]@I2l];2CYBKByB.%IBf<AdBjP>BhBj%IBjBBj =BhBhBjv;Bj8EE=- E=%E=*E9"E=d;*E=;VE=(N4ZE9BE=>y94<t+@@ `@)@Y @ @A bDVDβyF=%%;=ٔ%:Q-%>9!Y)=-BFy-ED-:E5>1Q 5=45b9?Q 9E45i])5ňBYU>Q EU:yU̿Q I]?5CI5;i5;5h4yiɮu@qjhFNOT Ignoring new targets: 108.45 m.RhɹZhɹ ProNav: ac range: 108.453384 m, nav range: 102.313759 m, bearing: 250.867259 deg, approach rate: -0.461209 m/s, LOS rate: -0.081213 deg/s, cmd heading: 264.905226 deg, new cmd heading: 264.799144 deg. Bh^HeadingCmd: 4.621617 target range: 108.453384 and range: 108.90 m.hI@h*h"h hgfff"Bd)d d1jd1Zd5T@额Bɢ) 0&i)D顱ixiGԿ83<hB=II@Ia@a @a@a@iY}BDAT read: Rx Time:03:34:46.6106 TRx dataTimestamp_ set to:1761536085.7402092Acoustic response timeout i>%cG9Q9YA^AE l;=AI zAM gAԩ Au .AI I O >4^,B{?A:]@:gX@:ٱ:},@ ZAHRS rotation from veh to nav: [[-0.045000,0.983915,0.172876],[-0.991657,-0.064921,0.111364],[0.120796,-0.166423,0.978628]]:HE @;|? ? V?z? VMſP?i:]@I:4];8Yb=Byb%IbDnVDnyv%va=ٔv;Q-v>9z ?Yz ?=zBFyzMDzL9E~>Q 5 48?Q 9 4 b)͈BY y ̿Q I ? CI :i:Zo4yɮb@jhAEFNOT Ignoring new targets: 108.45 m.RhM#ZhM#] ProNav: ac range: 108.453384 m, nav range: 102.145576 m, bearing: 250.837586 deg, approach rate: -0.467831 m/s, LOS rate: -0.082679 deg/s, cmd heading: 264.799139 deg, new cmd heading: 264.709972 deg. BhebuHeadingCmd: 4.620060 target range: 108.453384 and range: 108.90 m.huד@hq*hq"hq hqgyfffdd2Acoustic response timeoutdjdZdm @%Bɢ%YĽ)! %*i!)-F))i- ԩi=FԿE4@= DAT read: 03:34:46.6106 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.09, 0.882,-0.308, 1.491, 1.017, PHS=-0.033,-1.280, 0.430, RAW= 165.2, 11.5, CAL= 165.3, 13.2, ROT= 344.7, -13.2  Ygot valid direction response: 03:34:46.6106 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.09, 0.882,-0.308, 1.491, 1.017, PHS=-0.033,-1.280, 0.430, RAW= 165.2, 11.5, CAL= 165.3, 13.2, ROT= 344.7, -13.2  PDAT read: Bearing 57.0, -9.8 (Local)  ~Local bearing/azimuth received: Bearing 57.0, -9.8 (Local)  DAT read: Range 11 to 50 : 107.5 m (Round-trip 143.4 ms) speed 0.5 m/s  TDAT read: user:372>Tx time:03:34:47.7130  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.939073,-0.256901,0.228351] Fpublishing direction and range infoy  8W ?=Oҝqп :?Y B ) @I +i ף (> 8@ M> k>)  I k h˹?i!=?|vN? }I?) MI i k  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^Ae ==1 A ؟AI I O >.e,g?A:qX@:>S@:Kٱ:/, BAHRS rotation from veh to nav: [[-0.045633,0.983859,0.173027],[-0.991805,-0.065313,0.109806],[0.119335,-0.166598,0.978777]]:H5]{?`%?ݼ`UD??Sſ#R?i:qX@I:^;:CYJ@ByJ %IIN>)Na=bDVVDVy^M<%^7=ٔ^W;Q-^>9b"?Yb"?=bBFybVDfEf>hQ 5n4jg8?Q 9n4jg)jՈBYlyn̿Q In?j(CIj];ij#:j)w4ytɮv4@ti9i=?AJi=BRi=Bji=~Ӎ@b=e"Y@Ye;%r8@R=8W ?=Oҝqп :?Zi9bi=kj=w"Qj;[W+ } AD@Z=/cпZiEv܊e.7?2i=w:i=W"i=s1?*i=:$0Bi=DBi=`HI?i9i=Bi=Bi=X@ addTargetRange:: Added new target pos. range: 107.500000 m, deltaT: 3.527325 s, deltaX: -1.400002 m, approachRate: -0.396902 m/s, rangeRepo size: 4  Added new target pos. range: 107.060310 m, bearing: 253.938738 deg, lat: 36.779429 deg, lon: -121.859568 deg, deltaT: 3.527325 s, deltaX: -1.393074 m, approachRate: -0.394938 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 107.06 m.RhZh ProNav: ac range: 107.060310 m, nav range: 100.888519 m, bearing: 252.594829 deg, approach rate: 0.000000 m/s, LOS rate: -0.082679 deg/s, cmd heading: 264.709965 deg, new cmd heading: 264.593974 deg. Bh-HeadingCmd: 4.618036 target range: 107.060310 and range: 107.50 m.h-Ɠ@h)*h)"h1 h1g1f1f1f9d9d9d9jd=Z@ZdE`in?ԉ}DAT read: 2Acoustic response timeoutuBBEV>BE:CBE%IBEBBABABEDBEo;BE8EɢK9) %i)DI顙ii#տi6<۔L=IƓ@IԱEN EEE-E"E@;*E;VEt4ZEBEl, ?A23L@2G@2ٱ2, :AHRS rotation from veh to nav: [[-0.047121,0.983729,0.173372],[-0.991855,-0.066641,0.108550],[0.118338,-0.166845,0.978856]]2H6 `z? 1? F``ɻ?`K? +[ſR?i23L@I2#`;2CYB/ByB %Ii Mb@Mb@Mb@     9 K7? rh?{GzY  ?y C = ף @ @ 3@) p@ Y ̤@ ;;bD%VD%1y,%&=ٔ;Q->9Y=BFy`D6GE>Q 548?Q 94n)߈BY ?Q E:yǿQ I?JCI ;i& ;4yɮK@jh FNOT Ignoring new targets: 107.06 m.RhOZhO% ProNav: ac range: 107.060310 m, nav range: 100.636826 m, bearing: 252.548543 deg, approach rate: -0.534228 m/s, LOS rate: -0.098490 deg/s, cmd heading: 264.593961 deg, new cmd heading: 264.454754 deg. Bh%/-HeadingCmd: 4.615606 target range: 107.060310 and range: 107.50 m.h- @h)*h)"h1 h1g1f1f1f=Bd9d9d9jd9ZdE ?uBɢuŽ)q }+iy)}iKyyi} i's,$?A2Acoustic response timeout>7@>P2@>`kٱ>. JAHRS rotation from veh to nav: [[-0.049633,0.983259,0.175322],[-0.991876,-0.069110,0.106794],[0.117123,-0.168597,0.978702]]>Hqi v?@p?s,V??`ſQ?i>7@I>Y`;>CYR;ByR%IbDZVDZ:yf=%f[=ٔfV;Q-f>9hYh=jBFyjgDjݻEn>pQ 5v4r8?Q 9v4rs)rBYtyvKȿQ Iv?rdCIr:ir|:rG4y~Bɮ~@~ϣEB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 107.06 m.Rh-ֺZh-ֺ= ProNav: ac range: 107.060310 m, nav range: 100.445496 m, bearing: 252.513509 deg, approach rate: -0.511899 m/s, LOS rate: -0.093910 deg/s, cmd heading: 264.454761 deg, new cmd heading: 264.349460 deg. Bh=总EHeadingCmd: 4.613769 target range: 107.060310 and range: 107.50 m.hE@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]?颅BɢYŽ) @#i)uM顑i"ԙisտ o8<M=I@II@Q @Q@UX4@Q^A}dO=2Acoustic response timeoutA A B P>B B %IB BB =B B DB l;B 8EA .AI I O >EM b EM MEM /EI "EM Q;*EM %;VEM J4ZEI BEM ףp=?&1?I +Y?yP=9ж@@ @)Z@Y@bDVDyB;%9=ٔn:Q->9 ?Y ?=BFypDE >Q 5%4L9?Q 9%4z)BY-?Q E-:y-vſQ I-?CIJ0;i#=;4y=Bɮ=@AjhamFNOT Ignoring new targets: 107.06 m.Rhm Zhm  ProNav: ac range: 107.060310 m, nav range: 100.206253 m, bearing: 252.466140 deg, approach rate: -0.537527 m/s, LOS rate: -0.106682 deg/s, cmd heading: 264.349467 deg, new cmd heading: 264.207021 deg. BhnHeadingCmd: 4.611282 target range: 107.060310 and range: 107.50 m.h@h*h"h hgfffBdddjdZd ?52Acoustic response timeout{BɢK) i)LOi>o#iֿa9<-I=I@I!9@ @@4@Q^A JM= h? ? 2Acoustic response timeoutԡ A ؟AI I O > ׀,?AEB E=E)E"Ew;*E;VEFA4ZEa @a @a @a @Yy%I%AA%AAbD-VD-y=%=V=ٔ=Q-E>9E"?YE"?=EBFyExDMEM>QQ 5]4U9?Q 9]4UX)UBYYyYQ Ie?UCIU;iUn;U4yiɮm@ijhFNOT Ignoring new targets: 107.06 m.RhZh ProNav: ac range: 107.060310 m, nav range: 100.001541 m, bearing: 252.425417 deg, approach rate: -0.543462 m/s, LOS rate: -0.108331 deg/s, cmd heading: 264.207017 deg, new cmd heading: 264.084598 deg. BhHeadingCmd: 4.609146 target range: 107.060310 and range: 107.50 m.h~@h*h"h hgfffdddjdZd?uBɢ?ý) <i)Qivy$iFֿ  ;< zS=I ~@I 9@ @@/@E2Acoustic response timeoutPExceeded connect timeout, disconnecting.^A5\J=1 Ai Iq I O >Q ,j?A2@2ܔ@2ٱ2, :AHRS rotation from veh to nav: [[-0.060005,0.982814,0.174575],[-0.991659,-0.078679,0.102087],[0.114068,-0.166993,0.979338]]2H  6s? vX? J$Z"?3?`ſV?i2@I2t`;2CYB:By@bDJVDJ yRq%RT=ٔV;Q-V>9TYX=ZBFyZDZ9EZ>\Q 5b4^3:?Q 9b4^$)^BYdyf[ƿQ If?^CI^y:i^p:^c4yhɮj@ljh%FNOT Ignoring new targets: 107.06 m.Rh%Zh-ﺍ2Acoustic response timeout ProNav: ac range: 107.060310 m, nav range: 99.792763 m, bearing: 252.384638 deg, approach rate: -0.535802 m/s, LOS rate: -0.104874 deg/s, cmd heading: 264.084592 deg, new cmd heading: 263.961998 deg. Bh%HeadingCmd: 4.607006 target range: 107.060310 and range: 107.50 m.h%l@h!*h)"h) h)gYfYfifidddjdZd w@BMC>BM7CBM%IBMBBM =BIBMDBMw;BIBBB”CBBC6ԉE > E 1E -E "E s;*E f;VE t4ZE BE iO,7?Aɰ8Yz=Byz%IiMb@Mb@Mb@ 9/$?p= ף?I +Y1(?y=@@ @)@Y@bDVDy<%6=ٔQ->9Y=BFyDE>Q 54:?Q 94)BY)?Q E:yſQ I?CI ;i ;=4yɮ@jh%FNOT Ignoring new targets: 107.06 m.Rh%Zh-= ProNav: ac range: 107.060310 m, nav range: 99.513435 m, bearing: 252.327966 deg, approach rate: -0.626531 m/s, LOS rate: -0.127471 deg/s, cmd heading: 263.962004 deg, new cmd heading: 263.791513 deg. Bh=EHeadingCmd: 4.604031 target range: 107.060310 and range: 107.50 m.hE8T@hA*hI"hI hIgIfIfQfU<BdQdQdYjdYZd]@a@颍iBɢdĽ) *i)U顑i&iֿ=<,N=I8T@Iԩm2Acoustic response timeout9@ @@/@^AD=E[ ELE,E"E%;*E;VEg4ZEa@a@a@a @AII O->  BDAT read: Rx Time:03:34:50.2580  TRx dataTimestamp_ set to:1761536089.268100 2Acoustic response timeout2,EQ?AnManaging dock network, ignoring radio surface power off6@6@6ٱ6+ BAHRS rotation from veh to nav: [[-0.069361,0.982250,0.174284],[-0.991169,-0.087648,0.099512],[0.113021,-0.165842,0.979654]]6Hn?N?@py??S:ſSY?i6@I6_;6CYFNByF2%I N4t9Y=BFyD=ɼE=>AQ 5M4Es;?Q 9M4E)EBYQyUAƿQ IU?ECIEB:iE[:E4y]Bɮe@e٣EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 107.06 m.Rh Zh  ProNav: ac range: 107.060310 m, nav range: 99.274422 m, bearing: 252.280655 deg, approach rate: -0.616556 m/s, LOS rate: -0.122338 deg/s, cmd heading: 263.791523 deg, new cmd heading: 263.649247 deg. Bh맻HeadingCmd: 4.601547 target range: 107.060310 and range: 107.50 m.h?@h*h"h hgfffdddjdZdL@颍cBɢϸ) ) i)/}W顱i|(i?׿><4%2=I?@I) 9@ @@@92Acoustic response timeout^AB=A>A>B<A4<B E>B B %IB BB =B B B };B 8EE F E ;E -E "E >{;*E ;VE t4ZE BE @d,k?A>j@>e@>moٱ>{H. JAHRS rotation from veh to nav: [[-0.074428,0.981352,0.177227],[-0.990830,-0.092869,0.098136],[0.112765,-0.168297,0.979265]]>H ;g? ]?GƷu?-޼?Ŋſ#V?i>j@I> `;9Y=BFyD AE > Q 54 'u 7@u 4QO>u '7@ q )u b@Iq q q ^A= .=u 5?]?SM?V? u ܽF?)u NIu wiq q q  :publishing transmit ping time  Fpublishing direction and range infoyq u yE&?LޔiϿ :?Yq q q q q q )q Iq iq q q q q q )q Iq q q u 5?]?SM?V? q )q Iq iq q q E J E XE ,E "E ~;*E ;VE g4ZE a @a @a @a @A .AI I O >w ,`?A9>@9@ٱG/ AHRS rotation from veh to nav: [[-0.079831,0.980661,0.178692],[-0.990437,-0.098272,0.096833],[0.112521,-0.169253,0.979128]]H`o`a? c? U(ʸ?,μ?@ſ U?i9>@Ix_;CYkByT%I bDVD2y =% 3=ٔn :Q->9 ?Y ?=BFyD5DE>Q 54-,5 ?AB,B.8CB.%IB.BB. =B,B,B.;B.8EEeF Ee?Ee*Ea"Ee>{;*Ee;VEe(N4ZEaBEaam2EaamJEepHo?z?fſ3R?in@I_;YwByc%IiMMb@Mb@Mb@IIII I9MDl? ףp= ?~jthYMO-?yMQ=MDM@MK@ MQ@)M@IYM@YYbDeVDeyuNP=%u,=ٔ}9Q-}>9}"?Y"?=BFyD8E>Q 54=?Q 94)8BY.?Q E:yjÿQ I?yCIv:i':4yɮ@jhFNOT Ignoring new targets: 105.16 m.Rh#Zh# ProNav: ac range: 105.164749 m, nav range: 98.206757 m, bearing: 252.117785 deg, approach rate: -0.660085 m/s, LOS rate: -0.143260 deg/s, cmd heading: 263.326988 deg, new cmd heading: 263.134394 deg. BhĻHeadingCmd: 4.592562 target range: 105.164749 and range: 105.60 m.h D@h *h "h  h gfff,Bdd!d!jdZd #? NBɢ )  ־i ) \i<-i[fؿA<G=ID@I@ @@ 0@E+Ge(hAB9(hAYIAI ^A C"=A zA fAy A .AI I) O= >4,PĿ?AYzByz%IbDVDy:>%e=ٔ%Q-%>9% ?Y% ?=-BFy-D-E->1Q 5=45>?Q 9=45M)5BBYAyAQ IE?5CI5K:i5:5ǖ4yMBɮU@UEjhq}FNOT Ignoring new targets: 105.16 m.Rh}sZh}s ProNav: ac range: 105.164749 m, nav range: 97.979546 m, bearing: 252.068339 deg, approach rate: -0.639088 m/s, LOS rate: -0.139403 deg/s, cmd heading: 263.134404 deg, new cmd heading: 262.985721 deg. BhWHeadingCmd: 4.589967 target range: 105.164749 and range: 105.60 m.h@h*h"h hgfffdddjdZdo?HBɢ)라 ]i)]i .ibؿ׶B<fb*=I@Iie9@a @i@m4@i@u=@u<bE-g4jE-ãf4rE-5/E< E<E,E"E,r;*E1;VEg4ZEa@a@a@a@ԑ^A=A ؟AI I O > J,?A2O@2@2N'ٱ2B/ :AHRS rotation from veh to nav: [[-0.097573,0.978734,0.180441],[-0.988779,-0.115941,0.094196],[0.113114,-0.169225,0.979065]]2HQ??K@??(ſ T?i2O@I2f_;2CYBByB%IIFR=)F=HHbDNVDNfyVp=%VR=ٔVQ-V>9Z"?YZ"?=ZBFyZD^E^>`Q 5f4b??Q 9f4bA)bNBYdyfſQ Ij?bCIbd:ib:bΖ4ylɮn@l~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 105.16 m.Rh [Zh [ ProNav: ac range: 105.164749 m, nav range: 97.730629 m, bearing: 252.015959 deg, approach rate: -0.639655 m/s, LOS rate: -0.134948 deg/s, cmd heading: 262.985724 deg, new cmd heading: 262.828183 deg. Bh%:%HeadingCmd: 4.587217 target range: 105.164749 and range: 105.60 m.h%|ʒ@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=f?mBBɢmBs)i mIii)u\^qqiu0i}}ٿ}eC<}=I}|ʒ@I@ @@S4@5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.B}@>B}7CB}%IB}BB} =ByB}DB};B}8EEG EEEE"E&|;*E;VEZEBE *DAT read: user:373>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750139Q TC,Lo?A2z@2t@2ٱ2 0 :AHRS rotation from veh to nav: [[-0.103513,0.977852,0.181906],[-0.988093,-0.122029,0.093706],[0.113829,-0.170041,0.978841]]2H J?H?u J=?#?ſR?i2z@I2=_;2CYچBy%IaU@aU aU@aU aU@a] a]@a] Y]4<bDeVDe0yu=%u>=ٔuۺQ-}>9yYy=}BFy}đDeE>Q 54,@?Q 94)[BQ A+:YQ E{:yſQ I?߳CI ;i>Ԗ4yɮ@jhFNOT Ignoring new targets: 105.16 m.RhZh ProNav: ac range: 105.164749 m, nav range: 97.455284 m, bearing: 251.958789 deg, approach rate: -0.641892 m/s, LOS rate: -0.133653 deg/s, cmd heading: 262.828193 deg, new cmd heading: 262.656199 deg. BhsHeadingCmd: 4.584216 target range: 105.164749 and range: 105.60 m.h屒@h*h"h hgfffdddjdZd`?颭;Bɢ)) Ai) _顱iӒ3iwٿD<A>YEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002543A)I1IAOU>ԁ E ; E E +E "E Dq;*E VE [4ZE a @a @a @a @*Å,G ?A,2N@2I@2cٱ2N3 >AHRS rotation from veh to nav: [[-0.108703,0.976619,0.185470],[-0.987493,-0.127521,0.092714],[0.114197,-0.173072,0.978266]]2Hӻ`v@?x? R?%P=ٔwQ->9!Y!=%BFy%̑D%[E->)Q 554-@?Q 9=4-)-fBQ A= :Y9Q E=K:y=yƿQ I=?-CI- ;i-R?-Xٖ4yIɮMq@IjhiuFNOT Ignoring new targets: 105.16 m.Rh}AZh}A ProNav: ac range: 105.164749 m, nav range: 97.203293 m, bearing: 251.907056 deg, approach rate: -0.642466 m/s, LOS rate: -0.132238 deg/s, cmd heading: 262.656209 deg, new cmd heading: 262.500608 deg. BhHeadingCmd: 4.581500 target range: 105.164749 and range: 105.60 m.h@h*h"h hgfffdddjdZd`=@4Bɢ|) Pǽi)Y_i.6iٿD< B 8CB %IB BB =B B DB ;^A 9=B 8EE < E ;E E "E ,r;*E ;VE ZE  BE vRʅ,IK+?A6&@6!@6eٱ64 BAHRS rotation from veh to nav: [[-0.113536,0.975736,0.187213],[-0.986949,-0.132422,0.091634],[0.114202,-0.174366,0.978036]]6H:9?? 7 Xu?X9Y=BFy֑D!E>Q 5 4??Q 94)xBQ AT:Y ?Q E:y0ͿQ I?)CI;i;4yBɮ%@%EjhAMFNOT Ignoring new targets: 105.16 m.RhUZhUe ProNav: ac range: 105.164749 m, nav range: 96.907143 m, bearing: 251.856026 deg, approach rate: -0.596569 m/s, LOS rate: -0.103110 deg/s, cmd heading: 262.500617 deg, new cmd heading: 262.347059 deg. BheHeadingCmd: 4.578820 target range: 105.164749 and range: 105.60 m.h@h*h"h hgfffBdddjdZd @M,BɢMTe)Q UżiQ)Us_QQiU$:i](ڿ]BEVх,0E?A2]@2*@2ٱ2+u6 :AHRS rotation from veh to nav: [[-0.117570,0.974861,0.189269],[-0.986502,-0.136527,0.090411],[0.113979,-0.176085,0.977754]]2H`@2?9?l y1%?-?ƿI?i2]@I2oc_;2CYBKByBi&IbDJVDJ yRm>%V]=ٔVx:Q-V>9TYX=ZBFyZޑDZ@5EZ>\Q 5b4^??Q 9f4^)^BYdyfͿQ If?^FCI^B:i^:^z4yhɮn@lD==D9EE; EECEE(EA"EEDq;*EE;VEEc44ZEAa]@a]@a]@a]@jhFNOT Ignoring new targets: 105.16 m.RhںZhں  ProNav: ac range: 105.164749 m, nav range: 96.686470 m, bearing: 251.818371 deg, approach rate: -0.559580 m/s, LOS rate: -0.095703 deg/s, cmd heading: 262.347047 deg, new cmd heading: 262.233825 deg. Bh5\MHeadingCmd: 4.576844 target range: 105.164749 and range: 105.60 m.hMu@hI*hI"hi higqfqfqfqdydydyjdyZd}@c* @%BɢBI) =i)5_iɁ=iiiڿ1E<VGBAAIBEU&IBE;BBE =BABABE;BE8EDAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.4 m/s B8CB8CBϓCBϫ =Bϫ =C5IYOu?څ,Ij?ABDAT read: Tx time:03:34:54.9162 $Ping request sent. E*<E*.E("E*s;*E*1;VE*ـ4ZE(BE*9Y=BFyDK1E> Q 54 {AoiDW?3zD:@Z=\lP~տ@x+d(z_?2i=':i= "i=r➊?*i=~qBi=Bi9i9i9i=Bi=@ addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.529254 s, deltaX: -2.500000 m, approachRate: -0.708365 m/s, rangeRepo size: 4 = Added new target pos. range: 102.676582 m, bearing: 249.670502 deg, lat: 36.779430 deg, lon: -121.859566 deg, deltaT: 3.529254 s, deltaX: -2.488167 m, approachRate: -0.705012 m/s, posRepo size: 4 jh9=FNOT Ignoring new targets: 102.68 m.RhEZhA ProNav: ac range: 102.676582 m, nav range: 96.290558 m, bearing: 251.760335 deg, approach rate: 0.000000 m/s, LOS rate: -0.095703 deg/s, cmd heading: 262.233830 deg, new cmd heading: 262.038957 deg. BhHeadingCmd: 4.573442 target range: 102.676582 and range: 103.10 m.hY@h*h"h hgfff,Bdddjd`fY@Zd&?Bɢ%6;)%X %.!>i!)%~T^))i-WiCiUڿUGF.1,1?AEN; EN/EN'EL"ENDq;*ENY;VEN'4ZELaR@aR@aR@aR@f@fc@fqٱf<-5 rAHRS rotation from veh to nav: [[-0.127835,0.973732,0.188427],[-0.985717,-0.145740,0.084393],[0.109638,-0.174948,0.978454]]fH \ (?c? @¿Ț?5?`dƿO?if@If_;fCYvByz&IbDVDyHc>%P=ٔ;Q->9Y=BFy%D%E%>)Q 554-:?Q 954-)-BY9y=&ӿQ I=?-CI-;i-;-+4yAɮEL@AeB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 102.68 m.RhuRκZh}Rκ ProNav: ac range: 102.676582 m, nav range: 96.064186 m, bearing: 251.727361 deg, approach rate: -0.617721 m/s, LOS rate: -0.090190 deg/s, cmd heading: 262.038951 deg, new cmd heading: 261.939796 deg. BhwHeadingCmd: 4.571712 target range: 102.676582 and range: 103.10 m.hwK@hԑ*h"h hgfffdddjdZd@v?Bɢ~m) >i)]顉i_GiۿF<KI,Y?A2ڤ@2@2W%۽ٱ2n3 :AHRS rotation from veh to nav: [[-0.129287,0.973966,0.186213],[-0.985839,-0.146474,0.081651],[0.106801,-0.173020,0.979111]]2H |`*?? ¿?JW?@%ƿT?i2ڤ@I2_;2CB*DAT read: user:374> Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.896630Y^Byb&IbDjVDjN2yr:>%rP=ٔr;Q-r>9v ?Yv ?=vBFyvDvoEz>xBeG>BaBe&IBeBBe =BaBaBey;Be8EQ 54zX9?Q 94z!)zBYyWӿQ I=?zCIz=ize=z4yɮ@E= EEE+E"Es;*E;VE [4ZEBEii)m/\iiimKiuJۿ}F<} RA AM؟AIQIaOu>0@,9 ?A0F@Fj@FeԽٱF_0 RAHRS rotation from veh to nav: [[-0.130203,0.974328,0.183663],[-0.986062,-0.146601,0.078675],[0.103580,-0.170859,0.979836]]FH|-?A?ҍ@¿@$? :?ſZ?iF@IF_;FCYVڇByZ'I \\^=^=i=Mb@Mb@Mb@9999 99=K7A`?/$?MbY= ?y=<==~@9 =@)99Y=z@bDU VDU:2ye<=%e'=ٔe;Q-e>9m"?Ym"?=mBF}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.400227y}D}E}>Q 5437?Q 94 )ȉBY ?Q E:yMտQ I?شCI ;iz ; 4yBɮ2@EjhFNOT Ignoring new targets: 102.68 m.RhMͺZhUͺ] ProNav: ac range: 102.676582 m, nav range: 95.575844 m, bearing: 251.658652 deg, approach rate: -0.657521 m/s, LOS rate: -0.090008 deg/s, cmd heading: 261.839782 deg, new cmd heading: 261.733157 deg. BheweHeadingCmd: 4.568105 target range: 102.676582 and range: 103.10 m.h-@h*h"h hgfffBdddjdZd@? Bɢ aļ)  >i )ZiOiۿHG< E<EE"Es;*E1;VEZEa@a@a@a@Ա-m9@ @@4@% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.652043 ^A ~M< AIIO>,F?A2@2@2I̽ٱ2p. :AHRS rotation from veh to nav: [[-0.130222,0.974901,0.180583],[-0.986448,-0.145728,0.075388],[0.099812,-0.168319,0.980666]]2Hc2?W?`:¿L? @?@wſ`a?i2@I2c_;2CYBByB6'IbDNVDNyVu=%V0=ٔV9XYX=ZBFyZD^Ɛ8E^>`Q 5f4b/5?Q 9f4b)b҉BYdyfJտQ If?bCIbW:ib;b4ylɮn@ljhFNOT Ignoring new targets: 102.68 m.Rh [Zh [ ProNav: ac range: 102.676582 m, nav range: 95.331444 m, bearing: 251.625094 deg, approach rate: -0.528261 m/s, LOS rate: -0.072720 deg/s, cmd heading: 261.733150 deg, new cmd heading: 261.632218 deg. BhG%HeadingCmd: 4.566344 target range: 102.676582 and range: 103.10 m.h%}@h!*h!"h! h)g)f)qffddchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.904181djdZd Q!@AA@ABF>BB)'IBBB =BBBb;By8EԱEO EaE)E"E;*E!;VEFA4ZEBEi)XiUixۿmG<1,&4?A,J@Jǧ@J;hٱJ,g& VAHRS rotation from veh to nav: [[-0.128513,0.976676,0.172011],[-0.987534,-0.141930,0.068068],[0.090893,-0.161119,0.982741]]JH s@?@t?@*¿l?D?Ŀ`r?iJ@IJ?_;HY^By^G'IiMb@Mb@Mb@ 9Mb?QI +Y?yu94Q@@ Z@)5@Y=@bDVDk1yZ=%(=ٔ)9Y=BFyDx;E>Q 541?Q 94 )ۉBY(?Q E:yݿQ I?CI;i6;04yɮѮ@jh  FNOT Ignoring new targets: 102.68 m.Rh6_Zh6_% ProNav: ac range: 102.676582 m, nav range: 95.086647 m, bearing: 251.601465 deg, approach rate: -0.504119 m/s, LOS rate: -0.048787 deg/s, cmd heading: 261.632227 deg, new cmd heading: 261.561155 deg. Bh%-HeadingCmd: 4.565104 target range: 102.676582 and range: 103.10 m.h-T@h)*h)"h1 h1g1f1f1f=Bd9d9d9jd9ZdE@mBɢuxNd)q u?iq)uWqyi}s5Yi}ۿQ@H<:5,?AYByO'II;>)=!!bD-VD-:1y=<%E+=ٔEQ-E>9AYI=MBFyM"DMEU>QQ 5]4U.?Q 9e4Uc)UBYayaQ Ie?U7CIU:iU:U#4ymBɮu%@uEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.68 m.Rh`Zh` ProNav: ac range: 102.676582 m, nav range: 94.845596 m, bearing: 251.578075 deg, approach rate: -0.504508 m/s, LOS rate: -0.049078 deg/s, cmd heading: 261.561165 deg, new cmd heading: 261.490818 deg. BhHeadingCmd: 4.563876 target range: 102.676582 and range: 103.10 m.hE @h*h"h hgfffdddjdZdQ@UBɢUB)Y ]c?iY)]3TYYi]:^ieVܿe}HBBt'IB%BB =BBDBH;Ba8E9@ @@4@E[ E\E+E"E%;*E ;VE [4ZEBEJ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.163990 ,>x6?AYv ByvU'IimMb@Mb@Mb@iiii i9mʡE?~jt:vYm->ymDmTm$@m@ m-@)m@iYmQ@bDVDy<ԙ%E=ٔQ->9Y=BFy+DE>Q 54+?Q 94x )BYX>Q E:yhݿQ I?QCI ;i ;*4yɮԭ@jhFNOT Ignoring new targets: 102.68 m.RhCTZhCT  ProNav: ac range: 102.676582 m, nav range: 94.652481 m, bearing: 251.558899 deg, approach rate: -0.466256 m/s, LOS rate: -0.046393 deg/s, cmd heading: 261.490814 deg, new cmd heading: 261.433168 deg. Bh HeadingCmd: 4.562870 target range: 102.676582 and range: 103.10 m.h@h*h"h hgff!f%wBd!d!d)jd)Zd- @]Bɢ]̅)Y ]r?iY)eRaaie6bimQ3ܿmwdI |>)I|?^G(%?DaL? gZF?)Ii|:publishing transmit ping timeYFpublishing direction and range infoyŭ?οni\?Y )Ii )I?^G(%?DaL? )Ii^A <E  E _E .E "E *E ;VE ـ4ZE a @a @a @a @A .AI) I9 OA I ;,VP?A2‹@2X@2ɚٱ2 i :AHRS rotation from veh to nav: [[-0.126076,0.979896,0.154627],[-0.989143,-0.136037,0.055589],[0.075507,-0.145940,0.986408]]2H@># N[??`i@8v?@kT?&¿ ?i2‹@I2T_;2CYNByN['IbDZVDZ:yf)<%fX=ٔf'=Q-f>9j ?Yj ?=jBFyj2Dj;En>Q 5 4)?Q 9 4()BY y ݿQ I ?hCI-:i:s14y]Bɮ]@]Ei)i-E?AJi-BRi-Bji-5@b-z(4X@[yQ8190Ɍ.@R-ŭ?οni\?Zi)bi-|j-?2@TrVAL 29@Z-4GWտpn}Alfn?2i-6:i-"i-?*i-W\{Bi-Bi-`HI?i-[i-Bi-xBi-q@ addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.527145 s, deltaX: -1.699997 m, approachRate: -0.481975 m/s, rangeRepo size: 4  Added new target pos. range: 100.984337 m, bearing: 249.817189 deg, lat: 36.779429 deg, lon: -121.859575 deg, deltaT: 3.527145 s, deltaX: -1.692245 m, approachRate: -0.479778 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 100.98 m.Rh%Zh!e ProNav: ac range: 100.984337 m, nav range: 95.235245 m, bearing: 251.637308 deg, approach rate: 0.000000 m/s, LOS rate: -0.046393 deg/s, cmd heading: 261.433168 deg, new cmd heading: 261.377250 deg. BhamHeadingCmd: 4.561893 target range: 100.984337 and range: 101.40 m.hm@hi*hi"hi higifffdddjdYY@Zdݰ?نBɢ|y)  ?i)jPieiLSܿ`J<#=I@I!M]>iI@ @@/@Ai^AU<B A>B 7CB 'IB HBB =B B DB 9;B M8EA ؟AI I! O- >ԡ ,Cj?AE^ ElEE"E;*Ey';VEZEBEy;ļʝ@j@ @)Y@bDVD!yu%-=ٔ(;9"?Y"?=BFyQ 54^'?Q 94)BY>Q E:y%ٿQ I?CIC ;i ;94y ɮʮ@jh1=FNOT Ignoring new targets: 100.98 m.Rh=tZh=tU ProNav: ac range: 100.984337 m, nav range: 95.034340 m, bearing: 251.613405 deg, approach rate: -0.447469 m/s, LOS rate: -0.053351 deg/s, cmd heading: 261.377242 deg, new cmd heading: 261.305381 deg. BhUuUHeadingCmd: 4.560639 target range: 100.984337 and range: 101.40 m.h]@hY*hY"hY hYgYfYfafeFBdadidijdiZdm`(?额ІBɢ,) ?i)N顡i6iic|ܿJ<H =I@Ie9@a @a@e/@aԙ^A 2g=A I I O > , ?A2@2@2tٱ2Q :AHRS rotation from veh to nav: [[-0.126258,0.980396,0.151268],[-0.989890,-0.134451,0.045178],[0.064630,-0.144035,0.987460]]2H 5) h_?\?-5!? ?o¿@E?i2@I2-`;0YBByB<'IbDNVDN:yV0%Vw=ٔVI@pjh  FNOT Ignoring new targets: 100.98 m.RhbjZhbj% ProNav: ac range: 100.984337 m, nav range: 94.892349 m, bearing: 251.596454 deg, approach rate: -0.428491 m/s, LOS rate: -0.051228 deg/s, cmd heading: 261.305388 deg, new cmd heading: 261.254461 deg. Bh% -HeadingCmd: 4.559751 target range: 100.984337 and range: 101.40 m.h-z@h)*h)"h) h1g1f1f1f1d9d9d9jdAZdEb?mʆBɢuc)q u?iq)uMqi$ki ܿ uVK< {=Iz@I9D1zD5@AE=V E=`E=*E9"E=;*E='!;VE=(N4ZE9aM@aM@aM@aM@9@ @@/@^Ay=1 A I I! O- >Q "',?A2@2ⶒ@2˘sٱ2 :AHRS rotation from veh to nav: [[-0.126994,0.980459,0.150244],[-0.990121,-0.134379,0.040029],[0.059437,-0.143676,0.987838]]2HUA_?`2;?X3@~?@n?@c¿_?i2@I2!`;2CYBByB)'IbDJVDJyR~%RJ=ٔVR9TYT=VBFyZKDZEZ>\Q 5b4^#?Q 9b4^)^BYdyf>ٿQ If?^CI^:i^t:^{F4yhɮj:@hjh|FNOT Ignoring new targets: 100.98 m.RhajZhaj ProNav: ac range: 100.984337 m, nav range: 94.719681 m, bearing: 251.575845 deg, approach rate: -0.428424 m/s, LOS rate: -0.051227 deg/s, cmd heading: 261.254463 deg, new cmd heading: 261.192524 deg. Bh HeadingCmd: 4.558670 target range: 100.984337 and range: 101.40 m.h@h!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`B?†Bɢ4/)! %?i!)%AK!!i%ni-ܿ-/ LB-;>B-6CB-'IB-NBB- =B)B-DB)B-G8EBBBBBCÍ5EI EMWEM/EI"EI*EMj;VEMJ4ZEIBEM_J-,߿?A2ѭ@2@2`ٱ2 :AHRS rotation from veh to nav: [[-0.128752,0.980441,0.148857],[-0.990168,-0.135377,0.035216],[0.054679,-0.142860,0.988231]]2Hz_? ?@uT??9I¿?i2ѭ@I2h `;0@YF݇ByF'IHHiMMb@Mb@Mb@IIII I9M/$?Mb`?/$YM ?yM;MM@Mz|@ M@)MĄ@IYM׋@bDeVDeNyuA%u>=ٔu59yYy=BFyTDE>Q 54`!?Q 94&)BY" ?Q E:yٿQ I?ɵCI;il;M4yɮ@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 100.98 m.RhЏZhЏ ProNav: ac range: 100.984337 m, nav range: 94.488640 m, bearing: 251.548843 deg, approach rate: -0.536584 m/s, LOS rate: -0.062866 deg/s, cmd heading: 261.192526 deg, new cmd heading: 261.111321 deg. Bh,HeadingCmd: 4.557252 target range: 100.984337 and range: 101.40 m.hՑ@h*h"h hgfffBdddjd Zd ո?=Bɢ=/)9 =?i9)=+IAAiEopiM`ܿML24,Ț?A2M@2@2sMٱ2$ :AHRS rotation from veh to nav: [[-0.131021,0.980051,0.149445],[-0.990105,-0.136999,0.030388],[0.050256,-0.143985,0.988303]]2HH\?`!?@+'?'?`n¿-?i2M@I2D_;2CY^ˇByb'IbDjVDj:2lyr%vT=ٔv;9xYx=zBFyz[DzEz>|Q 54~?Q 9 4~+)~BY y %ڿQ I ?~CI~p:i~1:~T4yɮ@jh9EFNOT Ignoring new targets: 100.98 m.RhE2ZhM2U ProNav: ac range: 100.984337 m, nav range: 94.281082 m, bearing: 251.524771 deg, approach rate: -0.538549 m/s, LOS rate: -0.062595 deg/s, cmd heading: 261.111329 deg, new cmd heading: 261.038956 deg. Bh]+eHeadingCmd: 4.555989 target range: 100.984337 and range: 101.40 m.heʑ@hi*hi"hi higififqfqdqdq=*DAT read: user:375> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256958dAjdIZdM f(@Bɢ1)  ?i)JGisi ݿ +mM< -#=I ʑ@I19@ @@4@9^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508220BU 8>BQ BU 'IBU 4BBU =BQ BQ BU 3;BU ?8Eq I I O >_:,?AE*[ E*UE*)E("E*%;*E*\;VE*FA4ZE(BE*J9Y=BFyeDE>Q 54?Q 9432)BY ?Q E:y^տQ I?CI:i:\4yBɮ@Ejh FNOT Ignoring new targets: 100.98 m.RhZh% ProNav: ac range: 100.984337 m, nav range: 94.032379 m, bearing: 251.489877 deg, approach rate: -0.536202 m/s, LOS rate: -0.075430 deg/s, cmd heading: 261.038956 deg, new cmd heading: 260.933998 deg. Bh-O-HeadingCmd: 4.554157 target range: 100.984337 and range: 101.40 m.h5@h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdE5@uBɢu(7)q u ?iq)}gWEyyi}uiPݿLN<#ZA >I I! O5 >Թ wDA,P?A2^@2Y@2/ٱ2$H :AHRS rotation from veh to nav: [[-0.138364,0.978704,0.151635],[-0.989459,-0.143213,0.021479],[0.042738,-0.147065,0.988203]]2HQ?`h?T¿ ??¿ \?i2^@I2}_;2CYBByB&I DDbDNVBDAT read: Rx Time:03:35:01.0568 VTRx dataTimestamp_ set to:1761536100.104253Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013337VDNy^\%^q=ٔb- nG,,,?A69@6O4@6C"ٱ6* BAHRS rotation from veh to nav: [[-0.142899,0.977824,0.153100],[-0.988941,-0.147269,0.017533],[0.039691,-0.148902,0.988055]]6HJ¿VJ?ʘ?g`¿8?`jR?6ÿ%?i69@I6_;6CYJByJ&IbDRVDRN2yZ%ZK=ٔ^!;Q-^>9\Y`=bBFybtDb9Eb>dQ 5j4fj?Q 9j4f<)fBYlyn}ֿQ In?f9CIf ;if? ;fi4ypɮr@tjh FNOT Ignoring new targets: 100.98 m.RhcZhc% ProNav: ac range: 100.984337 m, nav range: 93.634087 m, bearing: 251.435292 deg, approach rate: -0.536958 m/s, LOS rate: -0.073170 deg/s, cmd heading: 260.858366 deg, new cmd heading: 260.769876 deg. Bh-H-HeadingCmd: 4.551293 target range: 100.984337 and range: 101.40 m.h-1@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEM @uBɢu4)q u?iq)}%Byyi}y1xiݿN<7@ 0 >)xL@I0 {}?т)? O c? #F?)6 ITlxi0 e:publishing transmit ping timemFpublishing direction and range infoy?dTuοyjȗ?Y )Ii )I{}?т)? O c? )IiԁEuD EuIEu-Eq"Euny;*Eu ;VEut4ZEqBEuD +G % ʶ9! Y% A tM,F 9?A2q@2? @28ٱ2 :AHRS rotation from veh to nav: [[-0.147749,0.976475,0.157057],[-0.988336,-0.151699,0.013401],[0.036911,-0.153246,0.987499]]2Hs¿@H??`u?rjÿq?? ÿ?i2q@I2Q_;2CYNByLiMb@Mb@Mb@ 9Gz?{Gz?:vYp?yף<TC@u@ K@)Y@bDVDk1yq%:=ٔG;Q->9Y=BFy}D4E>Q 5 4?Q 9 4D)BY ?Q E:y\ؿQ I?\CI;iK;q4y9ɮ=@9ii&&?AJiBRiBji@b- W@Biq.75@&Y+@R?dTuοyjȗ?ZiTlxbi0 ԱjAYaP VؽYP4@ZzֿeN1CqG?2i:ig "iޫ?*i6bjBiBi?i~qiBi̾Bi;U@ addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.529485 s, deltaX: -1.500000 m, approachRate: -0.424991 m/s, rangeRepo size: 4  Added new target pos. range: 99.486320 m, bearing: 248.857453 deg, lat: 36.779396 deg, lon: -121.859585 deg, deltaT: 3.529485 s, deltaX: -1.498016 m, approachRate: -0.424429 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 99.49 m.Rh-Zh1= ProNav: ac range: 99.486320 m, nav range: 95.399345 m, bearing: 249.474644 deg, approach rate: 0.000000 m/s, LOS rate: -0.073170 deg/s, cmd heading: 260.769874 deg, new cmd heading: 260.668660 deg. BhAEHeadingCmd: 4.549526 target range: 99.486320 and range: 99.90 m.hE@hI*hI"hI higfff/BdddjdX@Zdȓ?BɢDN) d ?i)@iyiݿuO<Gi@ @@/@ bEg4jE2`4rE30Eu ] Eu [Eu 'Eq "Eu ;*Eu ;VEu '4ZEq a} @a} @a} @a} @^A c<A I I O% >1 T,R?A2@2@2 ٱ2K" :AHRS rotation from veh to nav: [[-0.152390,0.975094,0.161150],[-0.987725,-0.155920,0.009413],[0.034305,-0.157737,0.986885]]2H`ÿ3??q/ÿ@8G?@t?0Ŀ?i2@I2m_;2CYBByB&IFAFA Jp9XYX=ZBFyZD^SE^>`Q 5f4bV?Q 9f4bI)bBYdyfؿQ If?byCIbp:ib$:bw4ylɮnQ@lzB*** querying acoustic contact ***ix ixjh  DNOT Ignoring new targets: 99.49 m.RhκZhκ ProNav: ac range: 99.486320 m, nav range: 95.182213 m, bearing: 249.443497 deg, approach rate: -0.626569 m/s, LOS rate: -0.090085 deg/s, cmd heading: 260.668651 deg, new cmd heading: 260.574996 deg. BhLwHeadingCmd: 4.547892 target range: 99.486320 and range: 99.90 m.hT@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.eBɢmX)i mV?ii)mx>iqiu{i޿O<6  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968025B <A <B 7>B B #'IB BB =B B B ;B (8EA= .AIA IY Oe >GZ,dl?AE^ E\EE"E;*E ;VEZEBE9 ?Y  ?= BFy D _E >Q 54?Q 94R)BY%c'?Q E%:y%IԿQ I%?CI:i;N4y-Bɮ5@5EjhQ]DNOT Ignoring new targets: 99.49 m.Rh]&Zh]&u ProNav: ac range: 99.486320 m, nav range: 94.879135 m, bearing: 249.392625 deg, approach rate: -0.631220 m/s, LOS rate: -0.106289 deg/s, cmd heading: 260.574995 deg, new cmd heading: 260.421893 deg. Bhu䑻uHeadingCmd: 4.545219 target range: 99.486320 and range: 99.90 m.h}pr@hy*hy"hy hygyfyff~BdddjdZdN?ԡ}Bɢ(,)  ?i)}<i@|iu޿P<a,?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471715pYEByM&IbDuVDuky'=%d=ٔQ->9"?Y"?=BFyDE>Q 54H?Q 94;X)YyQ I?CI:iN:4yɮg@jhDNOT Ignoring new targets: 99.49 m.RhZh ProNav: ac range: 99.486320 m, nav range: 94.653091 m, bearing: 249.354462 deg, approach rate: -0.630090 m/s, LOS rate: -0.106631 deg/s, cmd heading: 260.421890 deg, new cmd heading: 260.307129 deg. Bh\HeadingCmd: 4.543216 target range: 99.486320 and range: 99.90 m.hb@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 ?evBɢe2p)a e(?ia)m:iiim4}E=W E=YE=+E9"E=T;*E=w;VE= [4ZE9aE@aE@aE@aE@iP޿vHP<ŶAM >y Ay I I O >Jg,Sz?A2b@20|@2ݼٱ2ޘ& :AHRS rotation from veh to nav: [[-0.165158,0.972509,0.164160],[-0.985896,-0.167358,-0.000437],[0.027048,-0.161916,0.986434]]2H@#ſ?.? vkſ<?Ŀ`ݐ?i2b@I2ҝ_;0YBByB&I DDbDNVDNyR<%V\=ٔVM9XYX=ZBFyZDZ'E^>\Q 5b4^P?Q 9f4^^)\Ydyf`տQ If?^޶CI^:i^:^4yjBɮj@nEjh|DNOT Ignoring new targets: 99.49 m.RhZh ProNav: ac range: 99.486320 m, nav range: 94.418365 m, bearing: 249.315935 deg, approach rate: -0.631508 m/s, LOS rate: -0.103910 deg/s, cmd heading: 260.307115 deg, new cmd heading: 260.191248 deg. BhHeadingCmd: 4.541194 target range: 99.486320 and range: 99.90 m.hvQ@h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@}?9颽lBɢ {) ?i)8i~i޿lP<ByB}&IB}BByByByB};B}8E9@ @@4@ԑEE^ EEOEE*EA"EE;*EE3;VEE(N4ZEABEAaU2EAaUJEE{E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227388m,-?AY By &IԩiMb@Mb@Mb@ 9tV?)\(?{GztY2?yGa=ףp@s@ @)ۅ@Y@bDVDy5=%6=ٔQ->9Y=BFyDE>Q 54 ?Q 94f)BY?3?Q E:yԿQ I?CI:iL:蔗4yɮx@ jh)5DNOT Ignoring new targets: 99.49 m.Rh5Zh=M ProNav: ac range: 99.486320 m, nav range: 94.116035 m, bearing: 249.264700 deg, approach rate: -0.673827 m/s, LOS rate: -0.114559 deg/s, cmd heading: 260.191248 deg, new cmd heading: 260.037049 deg. BhM=UHeadingCmd: 4.538503 target range: 99.486320 and range: 99.90 m.hUj;@hQ*hQ"hQ hQgYfYfYf])BdadadajdaZdm@颕dBɢ) & ?i)6顙iiQ߿P<۞E% W E% RE% )E! "E% T;*E% ;VE% FA4ZE! a- @a- @a- @a- @) t,V*?A2I@2D@2ٱ2(% :AHRS rotation from veh to nav: [[-0.171870,0.971632,0.162458],[-0.984850,-0.173331,-0.005247],[0.023061,-0.160899,0.986701]]2Hſ?n?@`/ƿ}u@U?TĿ?i2I@I2_;2CYBByF&IbDNVDNyVµ=%Vc=ٔZc59XYX=^BFy^D fE >Q 54 ?Q 94m)BYy%dտQ I%?'CI;i<;_4y-Bɮ-@)MB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 99.49 m.Rh]Zh]m ProNav: ac range: 99.486320 m, nav range: 93.866119 m, bearing: 249.223201 deg, approach rate: -0.674985 m/s, LOS rate: -0.112382 deg/s, cmd heading: 260.037050 deg, new cmd heading: 259.912220 deg. BhmAuHeadingCmd: 4.536324 target range: 99.486320 and range: 99.90 m.hu)@hy*hy"hy hygyfyffdddjdZd< @颽[Bɢ;) t,?i)޵4i@€i%߿P<(qB B &IB BB B B B ;B 8E BDAT read: Rx Time:03:35:04.6521  TRx dataTimestamp_ set to:1761536103.632800 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985757A I BU6CBU6CBQBUɮ =BUɮ =CU8)5I O >Թ Eu I Eu FEu 'Eq "Eu };*Eu v;VEu '4ZEq BEu /9Y=BFyDE>Q 54{?Q 94u)Y&?Q E:yԿQ I?OCI;i>;4yBɮ@Ejh!%DNOT Ignoring new targets: 99.49 m.Rh-Zh-= ProNav: ac range: 99.486320 m, nav range: 93.567787 m, bearing: 249.172270 deg, approach rate: -0.627700 m/s, LOS rate: -0.107501 deg/s, cmd heading: 259.912221 deg, new cmd heading: 259.758942 deg. Bh=EHeadingCmd: 4.533649 target range: 99.486320 and range: 99.90 m.hE@hA*hA"hA hAgIfIfQfUEBdQdQdQjdYZd] @颅QBɢ`_;) :?i)l1顑iڇi߿P<ؽo\,d?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.487944@ @aٱ_" }AHRS rotation from veh to nav: [[-0.178445,0.970975,0.159263],[-0.983757,-0.179258,-0.009367],[0.019455,-0.158348,0.987192]]HLƿ@:?b?zƿ.?DĿ ?i@I_;CYчBy'IbDVDβԱyb=%M=ٔD;Q->9 ?Y ?=BFyD|E>DzDEC E8E+E"Ex;*E ;VE [4ZEa@a@a@a@Q 54j?Q 94|)YyտQ I?pCI ;i? ;4yɮڱ@ jh)5DNOT Ignoring new targets: 99.49 m.Rh5Zh5E ProNav: ac range: 99.486320 m, nav range: 93.315796 m, bearing: 249.129512 deg, approach rate: -0.628230 m/s, LOS rate: -0.106887 deg/s, cmd heading: 259.758952 deg, new cmd heading: 259.630330 deg. BhEMHeadingCmd: 4.531404 target range: 99.486320 and range: 99.90 m.hUC@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZdeX @颕GBɢ@3<) D?i)>W/顙iTi_:࿉ P<#c36@  A>)\w@I A2?<>?eP? GD?).Isi A]:publishing transmit ping time1]Fpublishing direction and range infoy?vͿOZ_|?Y )Ii )I2?<>?eP? )Ii! ^A v<A I I O% >9 *,@"?AB@BP@BUٱBm|" JAHRS rotation from veh to nav: [[-0.181285,0.970561,0.158578],[-0.983270,-0.181799,-0.011380],[0.017784,-0.157988,0.987281]]BHT4ǿ@?EL?`v@/EǿN5?@8Ŀ Η?iB@IBH_;BCYbByb 'IbDjVDj3y@=%k=ٔ K;Q- ?9 Y=BFyƒDE?9Q 5E4=?Q 9M4=)9YIyMsտQ IM?=CI=:i=:=˰4yQɮ]@Yii ?AJidBRidBjiO@bǖ&kW@t6{`m )@R?vͿOZ_|?Zisbi Aju>upBwVK 1@Zʳ9\ؿ#:Ў/?2iF:i"i .֝?*i4͐BiBir➊?iW\{iBiMBi-@ addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.778009 s, deltaX: -2.300003 m, approachRate: -0.608787 m/s, rangeRepo size: 4  Added new target pos. range: 97.195992 m, bearing: 247.230082 deg, lat: 36.779391 deg, lon: -121.859589 deg, deltaT: 3.778009 s, deltaX: -2.290329 m, approachRate: -0.606226 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 97.20 m.Rh%Zh! ProNav: ac range: 97.195992 m, nav range: 93.650688 m, bearing: 248.837800 deg, approach rate: 0.000000 m/s, LOS rate: -0.106887 deg/s, cmd heading: 259.630326 deg, new cmd heading: 259.513324 deg. BhB8>BB&IBćBBBBB;B7EHeadingCmd: 4.529362 target range: 97.195992 and range: 97.60 m.h@h!*h!"h! h!g!f!fQfQdQdYdYjd]`ffX@Zde„?颕>Bɢ$d<) 'Q?i)Í,顙i-2iJ}࿉9P<%WA% >ԙ AI IY Ii O} >掆,>?A>@>ې@>rٱ>A FAHRS rotation from veh to nav: [[-0.184505,0.970351,0.156133],[-0.982699,-0.184751,-0.013066],[0.016167,-0.155843,0.987650]]>H۝ǿ ? .?`Drǿ7Š.? ÿ@Ӛ?i>@I>_;9QYQ=UBFyUϒD]E]>aQ 5m4e?Q 9m4eÉ)aYmR?Q Eu:yuؿQ Iu?eCIe ;ie7 ;e4yyɮ}@yjhDNOT Ignoring new targets: 97.20 m.RhxߺZhxߺ ProNav: ac range: 97.195992 m, nav range: 93.381752 m, bearing: 248.795901 deg, approach rate: -0.625224 m/s, LOS rate: -0.097686 deg/s, cmd heading: 259.513311 deg, new cmd heading: 259.387254 deg. BhHeadingCmd: 4.527162 target range: 97.195992 and range: 97.60 m.hސ@h*h"h hgfffBdddjdZd@#?I5Bɢ<) ^?i)>)i ie࿉P<J ȕ,BX?A2ȉ@2lÐ@2dٱ2 >AHRS rotation from veh to nav: [[-0.187401,0.969903,0.155466],[-0.982184,-0.187271,-0.015610],[0.013974,-0.155622,0.987718]]2H@ǿq ?O? n@ǿ_ ??hÿb?i2ȉ@I2T_;2CYFByJL'IbDRVDRyZ=%ZU=ٔZ;Q-^>9\Y\=bBFybגDbvEb>dQ 5j4fD?Q 9j4f)dYhynؿQ In?fзCIf:ifD;fH4ypɮr@pB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 97.20 m.RhպZhպ- ProNav: ac range: 97.195992 m, nav range: 93.150444 m, bearing: 248.760110 deg, approach rate: -0.603024 m/s, LOS rate: -0.093540 deg/s, cmd heading: 259.387253 deg, new cmd heading: 259.279612 deg. Bh-d5HeadingCmd: 4.525283 target range: 97.195992 and range: 97.60 m.h5ϐ@h1*h1"h1 h1g1f9ffdddjdZdP? ,Bɢ<) UFl?iQ)] &YYi]dieΈeP9 F,,r?A <>KCzcG !Mu9QYUtAl@:@R=ٱw" AHRS rotation from veh to nav: [[-0.189707,0.969159,0.157297],[-0.981772,-0.189136,-0.018732],[0.011596,-0.157984,0.987374]]H THȿ Y?R"?j5ȿ.`?8Ŀ?il@I_;CYByi'IUonly read 0 of 1 data item for altitude. Device response is::BD, 9+327.48, 5, 4.25, 0.00 aU@aU aU@aU aU@aU aU@aU bD]VD]kymV=%u1=ٔuè;Q-u>9u"?Y}"?=}BFy}D}eE}>Q 54:?Q 94{)Q A+:YQ E:y1ٿQ I?CI ;i`>ŗ4yBɮN@"EjhDNOT Ignoring new targets: 97.20 m.RhպZhպ ProNav: ac range: 97.195992 m, nav range: 92.871857 m, bearing: 248.717193 deg, approach rate: -0.604101 m/s, LOS rate: -0.093342 deg/s, cmd heading: 259.279609 deg, new cmd heading: 259.150473 deg. BhHeadingCmd: 4.523029 target range: 97.195992 and range: 97.60 m. *DAT read: user:377> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501418h@h*h"h hgfffdddjdZdS?5!Bɢ5><)9 =b}?i9)=Y"9ip6iLΈWP<</m,-_?A2 @2ס@2ECٱ2n%bE [4jEP4rE0E>V E>GE<E<"E>;*E>;VE<ZE)V>bDZVDZܲybכ=%bT=ٔf!;Q-f>9dYd=fBFyjDj Ej>lQ 5r4n?Q 9r4n)lQ Ar :YpQ Ev_:yvlٿQ Iv?nCIn:insY?n=ʗ4yxɮz]@xjhDNOT Ignoring new targets: 97.20 m.Rh%$պZh%$պ ProNav: ac range: 97.195992 m, nav range: 92.638687 m, bearing: 248.681342 deg, approach rate: -0.604445 m/s, LOS rate: -0.093172 deg/s, cmd heading: 259.150464 deg, new cmd heading: 259.042638 deg. BhHeadingCmd: 4.521147 target range: 97.195992 and range: 97.60 m.h<@h*h"h hg!f!f!f!d)d)d)jd)Zd5 ܈?IeBɢe=)a e?ia)miiimYPiuzΈu͹P ,E?AB9>BBU'IB BB =BBB;B7Ejchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256764nΙ@n@nt/ٱnr% zAHRS rotation from veh to nav: [[-0.193026,0.968228,0.158982],[-0.981179,-0.191356,-0.025899],[0.005346,-0.160989,0.986942]]nH@ȿ`?Y?eV~ȿ7u?LĿ?inΙ@In_;nCYDBy'IbDVDNy%2=%%D=ٔ%9- ?Y- ?=5BFy5D5}E5>9Q 5E4=?Q 9E4=)=BQ AM9YIQ EM5:yMٿQ IM?=4CI= ;i=%?=Η4yQɮUª@YjhyDNOT Ignoring new targets: 97.20 m.RhԺZhԺ ProNav: ac range: 97.195992 m, nav range: 92.386742 m, bearing: 248.642663 deg, approach rate: -0.603578 m/s, LOS rate: -0.092914 deg/s, cmd heading: 259.042629 deg, new cmd heading: 258.926277 deg. Bh%MHeadingCmd: 4.519116 target range: 97.195992 and range: 97.60 m.hM@ha*ha"ha higififqfqdqdydyjdyZd@ @ԡ Bɢl=) ?i ) C  i ~iΈײP<ЦD! y,?A2]@2+@2_lٱ2|^& :AHRS rotation from veh to nav: [[-0.194758,0.967871,0.159047],[-0.980849,-0.192514,-0.029548],[0.002021,-0.161756,0.986829]]2Hȿ? [?cMȿA `?hĿ?i2]@I2>`;0YBGByB'Ia=a= a=aE aEaE aEaE iEMb@Mb@Mb@AAAA A9ES?y&1|?MbP?YE?yE`;E:E@Eu@ A)E@AYE@bD]VD]:ym1<%mG=ٔm9u"?Yu"?=uBFyuD}E}>Q 54K?Q 94u)Q AT:Y?Q E:yQ I?RCI;i;J՗4yɮ@jhDNOT Ignoring new targets: 97.20 m.Rh Zh  ProNav: ac range: 97.195992 m, nav range: 92.161255 m, bearing: 248.615788 deg, approach rate: -0.548970 m/s, LOS rate: -0.065590 deg/s, cmd heading: 258.926270 deg, new cmd heading: 258.845448 deg. Bh 4HeadingCmd: 4.517705 target range: 97.195992 and range: 97.60 m.h @h*h"h hgfff=BdddjdZd@-Bɢ-4=)) -Ɛ?i))5i11i5i=@Έ=P<=> BDAT read: Rx Time:03:35:08.2445  TRx dataTimestamp_ set to:1761536107.412115 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013749,?A 6/@6@6L:ٱ6-^' >AHRS rotation from veh to nav: [[-0.195378,0.967708,0.159276],[-0.980727,-0.192521,-0.033329],[-0.001589,-0.162718,0.986671]]6H'ɿ`v?`)c?b`ȿ  ZĿϒ?i6/@I6_;4Y=MBy='IIM@AbDUVDUy<%I=ٔJ9Y=BFyD˺E>Q 54?Q 94h)YyQ I?oCIw:i,:zܗ4yBɮ@+EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 97.20 m.Rh $Zh $E ProNav: ac range: 97.195992 m, nav range: 91.935371 m, bearing: 248.588825 deg, approach rate: -0.548466 m/s, LOS rate: -0.065631 deg/s, cmd heading: 258.845455 deg, new cmd heading: 258.764365 deg. BhE+4MHeadingCmd: 4.516290 target range: 97.195992 and range: 97.60 m.hMs@hI*hI"hI hIgIfQfqfqdydydyjdyZd @iBɢZ/=) ܔ?i)*\iɊi)⿉JP<*JBQBU'IBU/BBQBQBQBUׁ;BU7Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265005E f E ]E -E "E "; *E ;VE t4ZE BE {O,?A6Ԉ@6@6T;ٱ6 ' JAHRS rotation from veh to nav: [[-0.195059,0.967933,0.158296],[-0.980778,-0.191658,-0.036626],[-0.005112,-0.162398,0.986712]]6Hȿ`N?C?b`AȿtsĿ`%?i6Ԉ@I6+_;6CYRYByR'Ii-Mb@Mb@Mb@)))) )9-J +?Mbp?{Gzt?Y-?y-;-ף;-Z@) -Ą@)-@)Y-Q@bDEVDE벝DAT read: 03:35:08.2445 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.23, 1.979, 0.628, 2.553, 1.975, PHS= 0.107,-1.302, 0.534, RAW= 162.9, 8.0, CAL= 162.5, 8.2, ROT= 347.5, -8.2 Ygot valid direction response: 03:35:08.2445 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.23, 1.979, 0.628, 2.553, 1.975, PHS= 0.107,-1.302, 0.534, RAW= 162.9, 8.0, CAL= 162.5, 8.2, ROT= 347.5, -8.2 PDAT read: Bearing 49.0, -13.6 (Local) ~Local bearing/azimuth received: Bearing 49.0, -13.6 (Local) DAT read: Range 11 to 50 : 95.4 m (Round-trip 127.3 ms) speed 0.1 m/s TDAT read: user:378>Tx time:03:35:09.3130 R#Rx 1: Read range and direction messages.^direction in FSK: [0.966315,-0.214227,0.142629]Fpublishing direction and range infoyQUo ?3 k˿x0A?YU̾BQQQQ Q)UDIU"=iU𧦿U9?U5@U5>U5@ UC>)U@IUCQQUһ=ٔ5p;Q-5>91Y1=5BFy= D=L8:E=>AQ 5m4Eꩊ?Q 9m4E)AYu?Q Eu:yu Q Iu?ECIE;iE;Ek4yyɮ}R@yiQiU?AJiUBRiUBjiU]@bUKV@@!NZ4Dk+@RUo ?3 k˿x0A?ZiUf_biUCjUn6ADU-hY40@ZUE>v׿:T.yDƭ?2iUE:iU "iU ߓ>?*iU̇rBiUèBiUޫ?iU4͐iUBiUBiU@ addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.528179 s, deltaX: -2.199997 m, approachRate: -0.623550 m/s, rangeRepo size: 4  Added new target pos. range: 95.005669 m, bearing: 247.739357 deg, lat: 36.779381 deg, lon: -121.859598 deg, deltaT: 3.528179 s, deltaX: -2.190323 m, approachRate: -0.620808 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 95.01 m.RhZh9M ProNav: ac range: 95.005669 m, nav range: 92.837097 m, bearing: 248.130073 deg, approach rate: 0.000000 m/s, LOS rate: -0.065631 deg/s, cmd heading: 258.764367 deg, new cmd heading: 258.667148 deg. BhIUHeadingCmd: 4.514594 target range: 95.005669 and range: 95.40 m.hUw@hQ*hY"hY hYgfffEBdddjdW@Zd?Bɢ+%=) ?i)1Zii6a⿉߱P<gĆ,y?A>@>@> <ٱ>$ FAHRS rotation from veh to nav: [[-0.194589,0.968460,0.155627],[-0.980850,-0.190774,-0.039230],[-0.008303,-0.160281,0.987037]]>H Jȿ??cIkȿ@HĿ͕?i>@I>u^;9dYd=fBFyfDf:Ef>lQ 5n4n穊?Q 9r4n)lYpyrQ Ir?nCIn:in_:n(4ytɮz@xjhDNOT Ignoring new targets: 95.01 m.Rh%WZh%W5 ProNav: ac range: 95.005669 m, nav range: 92.635147 m, bearing: 248.105432 deg, approach rate: -0.583934 m/s, LOS rate: -0.071402 deg/s, cmd heading: 258.667160 deg, new cmd heading: 258.593078 deg. Bh5D=HeadingCmd: 4.513300 target range: 95.005669 and range: 95.40 m.h=l@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMp?颅Bɢp~=) ?i). 顉iPi⿉YP<i)>i 9@  @ @/@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021605ԙ^AMjZX<AUgAzAUhAAy I I O >Be 9>Ba Be 'IBe SBBe =Ba Ba Be ;Be 7EB!B!B!B!B!C%z5= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272721 ʆ,bI-?A4<ɰ9iYi=mBFymDuEu>yQ 54})䩊?Q 94})yYyQ I?}ƸCI}:i}:}4EN EUE*E"E@;*E\;VE(N4ZEBEMц,eG?A n@n@n^<ٱn" AHRS rotation from veh to nav: [[-0.195053,0.968844,0.152627],[-0.980699,-0.190503,-0.044032],[-0.013585,-0.158270,0.987302]]nH}ȿ?G?@adbȿi Jҋ@.BĿ`?in@In(%_;nCY!y!iMb@Mb@Mb@ 9oʡ? rhy&1|Y ?yCchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.778860`@ x@ @)5@Y@bDeVDe2yu%u:=ٔ}GE9yY=BFy$DE>Q 54ߩ?Q 94 )BY" ?Q E:yYQ I?CI;iq;:4yɮĨ@jh 5DNOT Ignoring new targets: 95.01 m.Rh5BoZh=BoE ProNav: ac range: 95.005669 m, nav range: 92.174171 m, bearing: 248.055174 deg, approach rate: -0.541183 m/s, LOS rate: -0.052294 deg/s, cmd heading: 258.511049 deg, new cmd heading: 258.441910 deg. BhMQuHeadingCmd: 4.510662 target range: 95.005669 and range: 95.40 m.huXW@hq*hq"hq hqgqfyfyf}gBdyddjdZd?υBɢY=) ?i)in~i ⿉eQ<׆,`?A2 @2؅@2H<ٱ2! :AHRS rotation from veh to nav: [[-0.194771,0.969145,0.151068],[-0.980713,-0.189854,-0.046456],[-0.016342,-0.157203,0.987431]]2H@Cȿ=?3V?`a&Mȿ`ɧ ػ`7Ŀ@ ?i2 @I2Y_;2C@YF_ByF'IbDNVDNkyV%Vm=ٔVB5CB'IBbBB =BBB;B7E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280757EJ EBE*E"E~;*EZ;VE(N4ZEBE AA Iq I O >ކ,z?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532781>L@>@>q<ٱ>D FAHRS rotation from veh to nav: [[-0.194731,0.969493,0.148871],[-0.980673,-0.189503,-0.048670],[-0.018974,-0.155471,0.987658]]>H@ȿ? 3?aAȿC먿mzÿ`?i>L@I> _;>CY^hByb'I ddliMMb@Mb@Mb@IIII I9Mw/?=ٔ?;Q->9Y=BFy4D18E>Q 54ש?Q 94)BY?Q E:yxQ I?CIa';iJ;4yɮ]@4EjhDNOT Ignoring new targets: 95.01 m.Rh*XZh*X ProNav: ac range: 95.005669 m, nav range: 91.761360 m, bearing: 248.015198 deg, approach rate: -0.487571 m/s, LOS rate: -0.047247 deg/s, cmd heading: 258.385045 deg, new cmd heading: 258.321695 deg. BhHeadingCmd: 4.508564 target range: 95.005669 and range: 95.40 m.h(F@h*h"h hgfffcBddd jd Zd @}Bɢ}qm=)y }m?iy)"顁ȋi&㿉oQ<,?A:@:i@:Y#<ٱ: FAHRS rotation from veh to nav: [[-0.195524,0.969870,0.145337],[-0.980474,-0.190146,-0.050158],[-0.021011,-0.152306,0.988110]]:H`ɿ@, ?`g? ` VȿK``~ÿ?i:@I:_;:CYJYByN'IbDVVDVky^%^W=ٔb;Q-b>9`Y`=bBFyf;Df Ef>hQ 5n4jө?Q 9n4j)jBYpyrQ Ir?j4CIj;ijn;jl4ytɮvU@tjhDNOT Ignoring new targets: 95.01 m.RhyZh%y- ProNav: ac range: 95.005669 m, nav range: 91.563622 m, bearing: 247.996101 deg, approach rate: -0.564432 m/s, LOS rate: -0.054631 deg/s, cmd heading: 258.321689 deg, new cmd heading: 258.264271 deg. Bh55HeadingCmd: 4.507562 target range: 95.005669 and range: 95.40 m.h5=@9h9*hA"hI hIgIfIfQfQdQdQdQjdYZd]͜@额BɢC=) U©?iQ)]YYi]y풼ieG㿉eQB B 'IB gBB =B B B с;B 7EA I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289139y,Ή?A20@2z@2G<ٱ2¥ :AHRS rotation from veh to nav: [[-0.196045,0.969816,0.144991],[-0.980328,-0.190391,-0.052035],[-0.022859,-0.152340,0.988064]]2H@ɿ`? ?^ ^ȿUuhÿ7?i20@I2)_;2CYBOByB'IbDJVDJ1yRA%RL=ٔV;Q-V>9TYT=ZBFyZCDZ2EZ>\Q 5b4^ϩ?Q 9b4^I)^BYdyfQ If?^OCI^:i^:^o4yjBɮjѩ@j3EE? E:E*E"Et;*E$ ;VE(N4ZEBEY,>?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.7925418V@V}@Ve<ٱV ^AHRS rotation from veh to nav: [[-0.195684,0.970079,0.143716],[-0.980336,-0.189697,-0.054379],[-0.025490,-0.151531,0.988124]]VH`/ ɿ ?@Ie?^Gȿ`׫`^eÿ?iV@IVC_;VCYf)jiUMb@Mb@Mb@QQQQ Q9U%C? rhy&1|?YUZ?yUC U`;QUMz@ U@)Ub@QYU@bDmVDmky}% (=ٔ ;Q- >9 ?Y ?=BFyND8:E>!Q 5-4%ɩ?Q 9-4%)!Y-?Q E-:y-SQ I-?%pCI%.:i%:%@4y9ɮ= @9jhaeDNOT Ignoring new targets: 95.01 m.RhmBZhmB} ProNav: ac range: 95.005669 m, nav range: 91.095055 m, bearing: 247.955457 deg, approach rate: -0.539687 m/s, LOS rate: -0.042614 deg/s, cmd heading: 258.203472 deg, new cmd heading: 258.142025 deg. Bh}HeadingCmd: 4.505428 target range: 95.005669 and range: 95.40 m.hx,@h*h"h hgfffPBdddjdZd @Bɢ>=) b?i)|ټi bEijEmT\4rEmb/EI E6E+E"E};*E ;VE [4ZEa@a@a@a@i㿉'R<Tx time:03:35:12.9130 =R#Rx 1: Read range and direction messages.=^direction in FSK: [0.962250,-0.215088,0.166769]EFpublishing direction and range infoy]ӫ?sW˿8_X?YfB )CIʡ=i̬o?o5@| >>5@ +>)W@I+_,?`|?*;h? f??)w!It0ai+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A Ho< AA II Ia Om >,}?Al~ل@~@~<ٱ~ލ }AHRS rotation from veh to nav: [[-0.195465,0.970763,0.139329],[-0.980330,-0.189447,-0.055351],[-0.027337,-0.147407,0.988698]]~Hɿ}??^@?ȿ`V@0=¿ j?i~ل@I~Rf`;~CY0By'IbDVDyri%D=ٔ;Q->9Y=BFyVD I :E >AAB%;>B%6CB%'IB%]BB% =B!B!B%ҁ;B%7EQ 5]4zũ?Q 9]40)BYYy]OQ I]?CI$-^5?2i%*:i%w "i%)P[K?*i%Bi%Bi%)P[K?i%6bji%Bi%̶Bi%E@]DAT read: echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.298150 addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.527896 s, deltaX: -1.700005 m, approachRate: -0.481875 m/s, rangeRepo size: 4  Added new target pos. range: 93.312866 m, bearing: 247.716560 deg, lat: 36.779375 deg, lon: -121.859601 deg, deltaT: 3.527896 s, deltaX: -1.692802 m, approachRate: -0.479833 m/s, posRepo size: 4 jh -DNOT Ignoring new targets: 93.31 m.Rh5Zh1E ProNav: ac range: 93.312866 m, nav range: 91.398521 m, bearing: 247.575097 deg, approach rate: 0.000000 m/s, LOS rate: -0.042614 deg/s, cmd heading: 258.142027 deg, new cmd heading: 258.086160 deg. BhA]HeadingCmd: 4.504453 target range: 93.312866 and range: 93.70 m.he{$@ha*ha"ha hagfffdddjdlW@Zd ?颅BɢBup=) ?i)ϼ顉i} i}㿉R< ;,^?AY By d'IiMb@Mb@Mb@ 9y&1?L7A`堿{Gzt?Y`?y+ף;@ @)Y3@bDVD2yeֽ%9=ٔQ->9"?Y"?=BFy_DE>Q 54?Q 94)BY?Q E:yQ I?CI:i:,4yɮF@ B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 93.31 m.Rh%ZZh%Z ProNav: ac range: 93.312866 m, nav range: 91.169922 m, bearing: 247.555810 deg, approach rate: -0.565133 m/s, LOS rate: -0.047798 deg/s, cmd heading: 258.086156 deg, new cmd heading: 258.028153 deg. Bh6HeadingCmd: 4.503441 target range: 93.312866 and range: 93.70 m.h0@h*h"h hgf f!f%2Bd!d)d)jd)Zd-Q?BɢM=) A?i)Ƽihi㿉R<\ i>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801626q@q @q@u/@y@}hA@y1E ERE)E"E;*E;VEFA4ZEa@a@a@a@Y ^A U<A .AI I O >,?A 6checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052829:s{@:Av@:e<ٱ:6 BAHRS rotation from veh to nav: [[-0.196577,0.970660,0.138481],[-0.980038,-0.190238,-0.057746],[-0.029707,-0.147068,0.988680]]:Hl)ɿ?`?`y\`Yȿאk ¿D?i:s{@I:a;:CY^Byb`'I ddf=fa=bDjVDjkyrg%rZ=ٔvJ;Q-v>9v ?Yv ?=zBFyzfDzHEz>yQ 54}?Q 94}>)}BYy:Q I?}¹CI}:i}:}34yɮx@=EjhDNOT Ignoring new targets: 93.31 m.RhEZhE ProNav: ac range: 93.312866 m, nav range: 90.967621 m, bearing: 247.538811 deg, approach rate: -0.513232 m/s, LOS rate: -0.043223 deg/s, cmd heading: 258.028154 deg, new cmd heading: 257.977042 deg. BhO%HeadingCmd: 4.502549 target range: 93.312866 and range: 93.70 m.h%@h!*h!"h! h!g!f)f)f)d)d1d1jdZd'G?=xBɢE`=)A E?iA)E`IIiMiU㿉USB7CB'IBCBB =BBDBˁ;B7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.305467^AI E B E YE -E "E w;*E w;VE t4ZE BE ? ,5?AB{@Bv@B0=ٱB` JAHRS rotation from veh to nav: [[-0.196535,0.970418,0.140226],[-0.979997,-0.189852,-0.059679],[-0.031291,-0.149150,0.988319]]BH (ɿ` ??@#\Mȿ>kZÿO?iB{@IBwb;BCPYVByVJ'IbDUVDU0y,%?=ٔq;Q->9Y=BFyoD8E%>yQ 54}1?Q 94} )}BYy7Q I?}߹CI} ,O?A2y@2t@2v=ٱ237 :AHRS rotation from veh to nav: [[-0.196764,0.970439,0.139760],[-0.979901,-0.189873,-0.061167],[-0.032822,-0.148987,0.988294]]2H`/ɿ@ ??@Z[MȿEQ Πÿ?i2y@I2YYc;0YBByB5'I|iUMb@Mb@Mb@QQQQ Q9UʡE?~jtMbpYU-?yUUUp@Q Q)Ux@QYU@bDmVDm0EK EHE+E"E;*E;VE [4ZEa@a@a@a@yu%M=ٔ:{;Q->9"?Y"?=BFywD#E>Q 54?Q 94)BYB?Q E:yQ I?CI ;i ;A4yɮ@jhDNOT Ignoring new targets: 93.31 m.RhZh ProNav: ac range: 93.312866 m, nav range: 90.529343 m, bearing: 247.498002 deg, approach rate: -0.588286 m/s, LOS rate: -0.060322 deg/s, cmd heading: 257.919636 deg, new cmd heading: 257.854309 deg. Bh% HeadingCmd: 4.500407 target range: 93.312866 and range: 93.70 m.h U@h *h "h  h g fffBdddjdZd?McBɢMr=)I U?iQ)]YYi]ie2俉emSM,`i?AB6=>B4B6n'IB6 BB6 =B4B6DB6Ӂ;B67EB)B)B)B- =B- =C-5Jwu@JEp@J =ٱJ VAHRS rotation from veh to nav: [[-0.197263,0.970445,0.139009],[-0.979749,-0.190185,-0.062615],[-0.034327,-0.148545,0.988310]]JH?ɿ ?@?`ZWȿ Rÿ;?iJwu@IJd;JCYnByn!'IIrt>)r4=vAtbDzVDz ym%R=ٔ c;Q- >9 Y = BFyDE>Q 5-4?Q 9-41)މBY)y5Q I5?CI8;iT&;H4yEBɮE@E ,?A2{i@2Id@2'=ٱ2l :AHRS rotation from veh to nav: [[-0.198685,0.970474,0.136765],[-0.979405,-0.191495,-0.063999],[-0.035919,-0.146664,0.988534]]2H nɿ??IWȿ`5b@c¿?i2{i@I2Xe;2CYZ͇ByZ'IԹiuMb@Mb@Mb@qqqq q9uS?Mbp:vYu?yuuTu@uz|@ u@)u@qYu(@bDVDNy㲽%2=ٔb;Q->9Y=BFyDfPE>Q 54ݩ?Q 94T )։BY?Q E:yQ I?;CI@:i:P4yɮر@ B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 93.31 m.Rh%HZh%H5 ProNav: ac range: 93.312866 m, nav range: 90.038734 m, bearing: 247.443511 deg, approach rate: -0.599615 m/s, LOS rate: -0.070939 deg/s, cmd heading: 257.787185 deg, new cmd heading: 257.690383 deg. Bh5B=HeadingCmd: 4.497546 target range: 93.312866 and range: 93.70 m.h=@h9*h9"h9 h9gAfAfAfEBdIdIdIjdIZdU @}LBɢ}=) 6?i)顁iԳi׏俉yT<c2',5a?A:_@:Z@:$=ٱ:FBBDAT read: Rx Time:03:35:15.4399 FTRx dataTimestamp_ set to:1761536114.476033FBe6CBe6'IBeBBe =BaBaBe݁;Be7E=2Acoustic response timeout^AqqA}>A}>E = E 5E +E "E s;*E ;VE [4ZE BE ԙ .-,I?A2}R@2KM@2=ٱ2 :AHRS rotation from veh to nav: [[-0.201412,0.970270,0.134199],[-0.978737,-0.193926,-0.066829],[-0.038817,-0.144806,0.988698]]2H`ɿs ?@r-?Qȿ@`ߣ¿j?i2}R@I2]g;2CYFByF&IbD^VD^:yfL%fK=ٔfj;Q-f>9j ?Yj ?=jBFyjDn En>pQ 5v4r桩?Q 9v4r)rɉBYtyvGQ Iv?rtCIrp:irg:r]4y|ɮ~@jhDNOT Ignoring new targets: 93.31 m.RhU^Zh]^y ProNav: ac range: 93.312866 m, nav range: 89.596748 m, bearing: 247.391549 deg, approach rate: -0.573517 m/s, LOS rate: -0.067480 deg/s, cmd heading: 257.618316 deg, new cmd heading: 257.534119 deg. Bh>9eHeadingCmd: 4.494818 target range: 93.312866 and range: 93.70 m.heՏ@h *h "h hgfffd5DAT read: 03:35:15.4399 LVL= 32752, 32753, 29922, 32755, AGC= 68, IDX= 422,-0.31,-0.614,-1.976,-0.035,-0.549, PHS= 0.037,-1.383, 0.470, RAW= 162.9, 10.5, CAL= 162.9, 11.5, ROT= 347.1, -11.5 =Ygot valid direction response: 03:35:15.4399 LVL= 32752, 32753, 29922, 32755, AGC= 68, IDX= 422,-0.31,-0.614,-1.976,-0.035,-0.549, PHS= 0.037,-1.383, 0.470, RAW= 162.9, 10.5, CAL= 162.9, 11.5, ROT= 347.1, -11.5 dadajdaZdeƒ @PDAT read: Bearing 51.0, -15.9 (Local) ~Local bearing/azimuth received: Bearing 51.0, -15.9 (Local) DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.5 m/s *DAT read: user:380> 4Bɢ4u=) ۞?i) 2BDAT read: Tx time:03:35:16.5130 $Ping request sent.5@f;>5@ M>)r@IM!G ?`&l?]N|8? ??):IfiM:publishing transmit ping timeFpublishing direction and range infoy/?7j'̿i?Y )Ii )Iԙ!G ?`&l?]N|8? )Ii9@ @@04@@@@@9 = %= Am ؟AIy I O >O64,?A^?@^:@^%=ٱ^ jAHRS rotation from veh to nav: [[-0.203612,0.970110,0.132014],[-0.978216,-0.196011,-0.068360],[-0.040441,-0.143058,0.988888]]^H`ʿ$ ??Mɿ` O¿?i^?@I^9i;^CD=DEC EBE/E"Ex;*EZ;VEJ4ZEa%@a-@a-@a-@Y=By=&Ii=Mb@Mb@Mb@9999 99="~j?Mb?9m"?Ym"?=mBFymDuEu>yQ 54}T?Q 94})}BYq#?Q E:yQ I?}CI}@:i}1<}e4yAɮE.@Iiiʾ?AJi=BRi=Bji@b}U@ҫ/_ 4D2@R/?7j'̿i?ZifbiMj+Z mA _TL@p(d1@Zw@0uXؿz!LǏ L?2iڥ:ih "i+m$?*inBinBi ߓ>?i̇rinBi'Bi!@ addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.537783 s, deltaX: -1.699997 m, approachRate: -0.480526 m/s, rangeRepo size: 4  Added new target pos. range: 91.619423 m, bearing: 247.204498 deg, lat: 36.779373 deg, lon: -121.859603 deg, deltaT: 3.537783 s, deltaX: -1.693443 m, approachRate: -0.478674 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 91.62 m.RhZh ProNav: ac range: 91.619423 m, nav range: 89.577637 m, bearing: 247.318931 deg, approach rate: 0.000000 m/s, LOS rate: -0.067480 deg/s, cmd heading: 257.534113 deg, new cmd heading: 257.437198 deg. BhHeadingCmd: 4.493127 target range: 91.619423 and range: 92.00 m.hǏ@h*h"h hgfffBdddjdW@Zd ?)BɢJG=) K?i)G顁ii 忉U<6I B 7>B B 'IB ɇBB =B B B ;B 7E\:,v?A:+@:&@:)*=ٱ: jAHRS rotation from veh to nav: [[-0.205996,0.969701,0.131319],[-0.977667,-0.198240,-0.069773],[-0.041626,-0.142759,0.988882]]:H^ʿ?@? I_ɿ@ܱ`P@E¿ ?i:+@I:j;8YvByv&IbD VD :y%Q%%a=ٔ-dV;Q-->95 ?Y5 ?=5BFy5D=ܻE=>AQ 5U4E?Q 9U4E%)EBYYy]Q I]?ECIE;;iE/;EFl4yiɮmƴ@ijhDNOT Ignoring new targets: 91.62 m.RhѺZhѺ ProNav: ac range: 91.619423 m, nav range: 89.350929 m, bearing: 247.288090 deg, approach rate: -0.672529 m/s, LOS rate: -0.091722 deg/s, cmd heading: 257.437206 deg, new cmd heading: 257.344449 deg. Bh{HeadingCmd: 4.491508 target range: 91.619423 and range: 92.00 m.ho@h*h"h hgfffdddjdZd8?Bɢ=) N?i)x i U랼i U忉aV<E5O E5GE5*E1"E5;*E5;VE5(N4ZE1BE5ԩ DA,Q?A;ɰp;2w@2E@2p0=ٱ2 :AHRS rotation from veh to nav: [[-0.208541,0.968610,0.135297],[-0.977065,-0.200244,-0.072429],[-0.043063,-0.147298,0.988154]]2Hyʿ?gQ? Dɿ Y ¿?i2w@I2k;2C@YFByF&IiMb@Mb@Mb@ 9S?Q?Mb`?Y?y<;j@ )ґ@Y@bDVDya%>=ٔM[;Q->9Y=BFyDǻE>Q 5 46?Q 94>,)BY?Q E:yݿQ I?ٺCI ;iK ;s4y!ɮ%L@!=B*** querying acoustic contact ***iA iAjhIMDNOT Ignoring new targets: 91.62 m.RhUкZhUкe ProNav: ac range: 91.619423 m, nav range: 89.099220 m, bearing: 247.249204 deg, approach rate: -0.588317 m/s, LOS rate: -0.091145 deg/s, cmd heading: 257.344452 deg, new cmd heading: 257.227464 deg. Bhe5zmHeadingCmd: 4.489466 target range: 91.619423 and range: 92.00 m.hm@hi*hi"hq hqgqfqfyf}BdydydjdZd`0?ԩ颵BɢT=) }?i)$ nG,k,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.468493J@J@Jq~5=ٱJF2 VAHRS rotation from veh to nav: [[-0.211454,0.967420,0.139235],[-0.976384,-0.202626,-0.074950],[-0.044296,-0.151796,0.987419]]JH`˿ ?@v?> ɿ@/筦 nÿ?iJ@IJJk;JCY^By^&IbDfVDf1lyrҼ%r]=ٔvZ;Q-v>9v"?Yv"?=vBFyvDzEz>|Q 54~%?Q 94~ 2)~BYy ޿Q I ?~CI~:i~k:~8z4yBɮ\@OEjh9=DNOT Ignoring new targets: 91.62 m.RhEκZhEκU ProNav: ac range: 91.619423 m, nav range: 88.882011 m, bearing: 247.215912 deg, approach rate: -0.588870 m/s, LOS rate: -0.090479 deg/s, cmd heading: 257.227465 deg, new cmd heading: 257.127344 deg. BhU`x]HeadingCmd: 4.487719 target range: 91.619423 and range: 92.00 m.h]d@ha*ha"ha hagafafifidididijdqZdu?颥Bɢ9=) ?i)X顩ii忉,V<شBB&IBBBBBB܁;B7E^A9Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.720547A .AI I O >EM a EM ZEM -EI "EM ݉;*EM ;VEM t4ZEI BEM AHRS rotation from veh to nav: [[-0.214543,0.966525,0.140714],[-0.975657,-0.205372,-0.076918],[-0.045445,-0.153791,0.987058]]6H &v˿??`8 Iʿ@갳Dkÿ`?i6@I6k;4YFByF&IbDVVDVJyfde%fL=ٔj;;Q-j>9j ?Yj ?=nBFynDnEn>pQ 5v4r?Q 9v4rS8)rBYxyzk޿Q Iz?rCIrR:ir:r;4y~Bɮ~z@NEAjhDNOT Ignoring new targets: 91.62 m.Rh-Zh- ProNav: ac range: 91.619423 m, nav range: 88.646126 m, bearing: 247.180078 deg, approach rate: -0.553442 m/s, LOS rate: -0.084296 deg/s, cmd heading: 257.127334 deg, new cmd heading: 257.019549 deg. BhhgHeadingCmd: 4.485837 target range: 91.619423 and range: 92.00 m.h@h*h"h hgf!f!f!d!d)d)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972632jd)ZdE @ Bɢ \.=)  y?i)XGDiOi濉W</jT,R?A2ˈ@2Ə@2b?=ٱ2 :AHRS rotation from veh to nav: [[-0.217379,0.966462,0.136741],[-0.974964,-0.208268,-0.077910],[-0.046818,-0.150253,0.987538]]2H ˿@A? ?`2ʿ`;ÿ?i2ˈ@I2'l;2CYBByB&I DDE~T E~]E~,E|"E~;*E~;VE~g4ZE|a@a@a@a@ԑiMb@Mb@Mb@ 9uV?~jt?MbYr(?yD=@@ 5@)@Y\@bDVDy&=%<=ٔN;Q->9"?Y"?=BFyɓDܻE>Q 54+?Q 94?)BY(?Q E:y#ܿQ I?9CI:i:ֈ4yɮ@jhDNOT Ignoring new targets: 91.62 m.Rh Zh - ProNav: ac range: 91.619423 m, nav range: 88.368469 m, bearing: 247.134250 deg, approach rate: -0.676105 m/s, LOS rate: -0.111944 deg/s, cmd heading: 257.019554 deg, new cmd heading: 256.881638 deg. Bh-5HeadingCmd: 4.483430 target range: 91.619423 and range: 92.00 m.h5Cx@h1*h1"h9 h9g9f9fAfEBdAdAdAjdIZd ?@Bɢ˪=) ?i)%3!!i%B 8>B B &IB BB =B B B ׁ;B 7EIZ, l?Aj@j^@jqE=ٱj| rAHRS rotation from veh to nav: [[-0.219913,0.966241,0.134229],[-0.974329,-0.210759,-0.079148],[-0.048186,-0.148189,0.987785]]jH&̿@q?j.?@- 'ʿ@C@ǫ¿`?ij@Ijk;jCYzByz&IbD VD y;%U=ٔIj;Q-%>9!Y!=%BFy%ѓD-߻E->1Q 5=45?Q 9=45SF)5BY9y=wܿQ IE?5YCI5;i5<;54yIɮM۴@IjhquDNOT Ignoring new targets: 91.62 m.Rh}Zh} ProNav: ac range: 91.619423 m, nav range: 88.124313 m, bearing: 247.094138 deg, approach rate: -0.638281 m/s, LOS rate: -0.105154 deg/s, cmd heading: 256.881639 deg, new cmd heading: 256.760968 deg. BhUHeadingCmd: 4.481324 target range: 91.619423 and range: 92.00 m.hg@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728670h*h"h hgfffddd1jdZd5R@颥Bɢ=) ?i)Y"顩i2ib濉W<Թ a,̘?AY=By=&IiMb@Mb@Mb@ 9Pn?kt?Y$?y 0=;@@ )@Y@bDVD yVV<%>=ٔQ->9Y=BFyٓDE>Q 54\?Q 9 4~M)BY v$?Q E :y ܿQ I ?}CI:i: 4yɮ@5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 91.62 m.RhMZhM] ProNav: ac range: 91.619423 m, nav range: 87.856689 m, bearing: 247.050653 deg, approach rate: -0.621575 m/s, LOS rate: -0.101304 deg/s, cmd heading: 256.760963 deg, new cmd heading: 256.630112 deg. Bh] eHeadingCmd: 4.479041 target range: 91.619423 and range: 92.00 m.heMT@ha*ha"hi higifififuBԑdddjdZdf @eׄBɢe8A=)i m?ii)j顑i#8i5濉W<ߵR=BDAT read: Rx Time:03:35:19.0368 TRx dataTimestamp_ set to:1761536118.257784checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235646E9@A @A@E/@AEy EE)E"E;*E3;VEFA4ZEa%@a-@a-@a-@^A ԅ<A fAzA dAA I I O > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484480g,?A2@2ѐ@2Q=ٱ2Y ^AHRS rotation from veh to nav: [[-0.223750,0.965611,0.132406],[-0.973302,-0.214235,-0.082386],[-0.051187,-0.147305,0.987766]]2Hӣ̿@I??`I% l˿D45@¿ƛ?i2@I2l;2CYjByn&II~x>)~4<  bD5VD5Ny]!R=%eS=ٔm;Q-u>9Y=BFyDW%E>Q 54󁩊?Q 94T)BYy}ݿQ I?CIPBiBm&IBm}BBm =BiBmDBmс;Bm7EB!B!B!B%Ů =B!C%Ņ559@ @@/@DAT read: 03:35:19.0368 LVL= 32752, 32753, 29666, 32755, AGC= 70, IDX= 406,-0.46, 2.521, 1.097, 3.109, 2.526, PHS= 0.097,-1.384, 0.539, RAW= 162.7, 8.6, CAL= 162.4, 9.0, ROT= 347.6, -9.0 Ygot valid direction response: 03:35:19.0368 LVL= 32752, 32753, 29666, 32755, AGC= 70, IDX= 406,-0.46, 2.521, 1.097, 3.109, 2.526, PHS= 0.097,-1.384, 0.539, RAW= 162.7, 8.6, CAL= 162.4, 9.0, ROT= 347.6, -9.0 PDAT read: Bearing 48.0, -16.3 (Local) ~Local bearing/azimuth received: Bearing 48.0, -16.3 (Local) DAT read: Range 11 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.5 m/s *DAT read: user:381> BDAT read: Tx time:03:35:20.1130  $Ping request sent.  g5@ | >)"@I| ?)3It]i| 5:publishing transmit ping time 5Fpublishing direction and range infoy%G e?2 %˿p ?Y )Ii )I.n,?Az@z^@zZ=ٱzL AHRS rotation from veh to nav: [[-0.225796,0.965645,0.128634],[-0.972710,-0.216246,-0.084097],[-0.053392,-0.144112,0.988120]]zH@̿?`w?q @˿i)VEr¿?iz@Izm;zCYmByu&IbDVD y4=%%.=ٔ%;Q-->9- ?Y- ?=-CFy-D5CE5>9Q 5e4=}?Q 9e4=[)=vBYayeݿQ Im?=ûCI=);i=;= 4yqɮu@qii(?AJiBRiBjii@b9U@2/+@R%G e?2 %˿p ?Zit]bi| jxq"A}Hd9T:O('@Z_ٿ$쿤R?2iˡ:i"i{Y(?*iyBiBi+m$?inièBifBi݉@% addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.778219 s, deltaX: -2.300003 m, approachRate: -0.608753 m/s, rangeRepo size: 4 - Added new target pos. range: 89.327995 m, bearing: 246.037471 deg, lat: 36.779370 deg, lon: -121.859606 deg, deltaT: 3.778219 s, deltaX: -2.291428 m, approachRate: -0.606484 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 89.33 m.Rh]ZhYm ProNav: ac range: 89.327995 m, nav range: 87.699532 m, bearing: 246.849355 deg, approach rate: 0.000000 m/s, LOS rate: -0.093540 deg/s, cmd heading: 256.510568 deg, new cmd heading: 256.384902 deg. BhiuHeadingCmd: 4.474761 target range: 89.327995 and range: 89.70 m.hu=1@hq*hq"h hgfffdddjdlV@Zd{?Bɢyw=) ?i)ʻimi%wz翉%<\X<%٪E E "E &|;*E ?;VE ZE a @a @a @a @A! I) I9 OM >ou,d?A2x@2s@2!c=ٱ2VQ :AHRS rotation from veh to nav: [[-0.227156,0.965400,0.128073],[-0.972280,-0.217334,-0.086242],[-0.055424,-0.144114,0.988008]]2HsͿ?`d?˿`|`Qr¿?i2x@I2۾n;2CYBByB&IUPExceeded connect timeout, disconnecting.iuMb@Mb@Mb@qqqq q9uףp= ?ˡE?y&1?Yu?yu'=u`e9Y=CFyDrE>Q 54z?Q 94a)qBY?Q E:yݿQ I?CI:i]:Ĭ4yɮ @jhDNOT Ignoring new targets: 89.33 m.RhXZhX  ProNav: ac range: 89.327995 m, nav range: 87.467468 m, bearing: 246.811637 deg, approach rate: -0.628620 m/s, LOS rate: -0.102441 deg/s, cmd heading: 256.384893 deg, new cmd heading: 256.271441 deg. Bh HeadingCmd: 4.472780 target range: 89.327995 and range: 89.70 m.h!@h*h"h hgff!f%?Bd!d!d!jd)Zd-[?UBɢ]'=)Y ]?iY)]aaieiieZ翉uXi9@ @@/@ԑ^A ፨<B% 3>B% 5CB% &IB% BB! B! B! B% ΁;B% 7EA ؟AI I O > +{,є?AY~By~&I = bDVD:y%_=%%S=ٔ%Q-%>9-"?Y-"?=-CFy-D5E5>1Q 5E45xw?Q 9E45:h)5kBYAyAQ IE?5CI5;i51:54yQɮU@Qjhq}DNOT Ignoring new targets: 89.33 m.RhZh ProNav: ac range: 89.327995 m, nav range: 87.234230 m, bearing: 246.773519 deg, approach rate: -0.602888 m/s, LOS rate: -0.098795 deg/s, cmd heading: 256.271430 deg, new cmd heading: 256.156768 deg. BhHeadingCmd: 4.470779 target range: 89.327995 and range: 89.70 m.h@h*h"h hgfffdddjdZd$?Bɢ=) C?i)Pi娼i翉AX<ӽY ,z ?A2b@2]@2r=ٱ2 :AHRS rotation from veh to nav: [[-0.229709,0.965133,0.125504],[-0.971458,-0.219527,-0.089875],[-0.059190,-0.142567,0.988014]]2H gͿ_??.t̿+N?¿ ϝ?i2b@I2ܩq;2CYBʇByB'Ii Mb@Mb@Mb@     9 gfffff?{Gz??Y 3?y #< < Q@ ۅ@ x@) @ Y ̔@bD%VD%y5U=%5I=ٔ=99Y9==CFy=DE׻EE>IQ 5U4M`s?Q 94MBn)MiBY\?Q E:yQ I?MCIMN0,+K$?A6N@6I@6v=ٱ65@ BAHRS rotation from veh to nav: [[-0.232092,0.964930,0.122655],[-0.970828,-0.221991,-0.090626],[-0.060219,-0.140110,0.988303]]6H 0Ϳ?Of?3j̿@A3ծ"`-?i6N@I6q;6CY^ƇByb'IbDjVDj02yr %rP=ٔr,;Q-r>9v ?Yv ?=vCFyv DvλEz>xQ 54zao?Q 94zt)zgBYyQ I?z;CIz;iz;z4yܒBɮU@`EjhaeDNOT Ignoring new targets: 89.33 m.RhuZZhuZ ProNav: ac range: 89.327995 m, nav range: 86.782761 m, bearing: 246.714537 deg, approach rate: -0.580971 m/s, LOS rate: -0.075778 deg/s, cmd heading: 256.066114 deg, new cmd heading: 255.979359 deg. BhPHeadingCmd: 4.467683 target range: 89.327995 and range: 89.70 m.hB@h*h"h hgfffdddjdZdt?颅Bɢf"=) ?i)顑ioicb迉xY<ƑBB&IBBB =BBB;B7Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004226rGliA)]9eliAYeAEB ELE+E"Ew;*E;VE [4ZEBE?AJ,@J&@Ju=ٱJ2x l vAHRS rotation from veh to nav: [[-0.236203,0.964297,0.119747],[-0.969851,-0.226349,-0.090302],[-0.059974,-0.137467,0.988689]]JH;ο?ħ? @̿ٴ@W?iJ,@IJ\r;JCY%ӇBy%'IIE%>)E;QQ mp<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258325mp;bDVDyF[=%2=ٔ7 Q->9"?Y"?=CFyDE>Q 54j?Q 94z)dBYyQ I?^CIQ;i;ɘ4yɮ@jh!%DNOT Ignoring new targets: 89.33 m.RhMUZhMU] ProNav: ac range: 89.327995 m, nav range: 86.520767 m, bearing: 246.681039 deg, approach rate: -0.566949 m/s, LOS rate: -0.072710 deg/s, cmd heading: 255.979371 deg, new cmd heading: 255.878571 deg. Bh]GeHeadingCmd: 4.465923 target range: 89.327995 and range: 89.70 m.h@h*h"h hgfffdddjdZdգ@~Bɢѻ=) B?i!)- c9))i-0iE 迉MܲYIݕ,٘X?A2@2@2^r=ٱ2> >AHRS rotation from veh to nav: [[-0.241094,0.962429,0.124912],[-0.968696,-0.230796,-0.091442],[-0.059177,-0.143048,0.987945]]2H-ο8?@A?`ͿhLgO¿>?i2@I2*r;0YFևByF'IiMb@Mb@Mb@ 9 rh?~jt?y&1?YC ?yD<`e<@@ @)@Y @bDVDβy'<%U=ٔU Q->9Y=CFyDXE>Q 54f?Q 94=)`BYX ?Q E:yQ I?xCI* ;i ;AИ4yɮV@jh DNOT Ignoring new targets: 89.33 m.RhΜZhΜ% ProNav: ac range: 89.327995 m, nav range: 86.317505 m, bearing: 246.655285 deg, approach rate: -0.539730 m/s, LOS rate: -0.068544 deg/s, cmd heading: 255.878557 deg, new cmd heading: 255.801116 deg. Bh%*<-HeadingCmd: 4.464571 target range: 89.327995 and range: 89.70 m.h-ݎ@h)*h1"h1 h1g1f1f9f=Bd9d9d9jdAZdE@@rBɢ>) ?i)T:iiU迉Y<sB 2>B B &IB BB =B B B ;B 7Eԩ 5 BDAT read: Rx Time:03:35:22.6340 = TRx dataTimestamp_ set to:1761536121.784101= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013266,ar?AR Ӈ@R͎@Rm=ٱR< ^AHRS rotation from veh to nav: [[-0.246756,0.960056,0.131927],[-0.967341,-0.235874,-0.092817],[-0.057991,-0.150522,0.986904]]RH@ϿƸ??@u`1ο· MDÿ?iR Ӈ@IRq;RCYчBy 'IbDVD:2y%ܼ%%U=ٔ%JQ-->9)Y)=-CFy-#D5xE5>9Q 5E4=b?Q 9E4=)=\BYAyEQ IM?=CI=:i=:=֘4yQɮU@QyjhyDNOT Ignoring new targets: 89.33 m.Rh+Zh+ ProNav: ac range: 89.327995 m, nav range: 86.111786 m, bearing: 246.629898 deg, approach rate: -0.534205 m/s, LOS rate: -0.066082 deg/s, cmd heading: 255.801103 deg, new cmd heading: 255.724760 deg. Bhg5HeadingCmd: 4.463239 target range: 89.327995 and range: 89.70 m.hҎ@h*h"h hgfffdddjdZd@E]9 E]9E]*EY"E]so;*E] ;VE](N4ZEYBE]A>A I1 IY O} >,G?AF)@F@Feh=ٱFz% RAHRS rotation from veh to nav: [[-0.253014,0.957064,0.141463],[-0.965799,-0.241294,-0.094916],[-0.056707,-0.160640,0.985383]]FHb1п`E?t?ο@rLُĿ`A?iF)@IF]q;FCYVʇByZ'I \\iuMb@Mb@Mb@qqqq q9uZd;O?Zd;O rh?Yu~ ?yujuC9Y=CFy,D{E>Q 54W]?Q 94T)ZBY ?Q E:yQ I?CI":i:Nޘ4yɮ@B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 89.33 m.Rh=Zh= ProNav: ac range: 89.327995 m, nav range: 85.886009 m, bearing: 246.612529 deg, approach rate: -0.536987 m/s, LOS rate: -0.041420 deg/s, cmd heading: 255.724769 deg, new cmd heading: 255.672523 deg. BhiHeadingCmd: 4.462327 target range: 89.327995 and range: 89.70 m.hcˎ@h*h!"h! h!g!f!f)f-ŀBd)d)d1jd1Zd5  @eYBɢe-=)a eE?ia)m/&;iiDAT read: 03:35:22.6340 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.22, 0.246,-1.214, 0.797, 0.220, PHS= 0.128,-1.389, 0.533, RAW= 161.5, 8.4, CAL= 161.2, 8.6, ROT= 348.8, -8.6 %Ygot valid direction response: 03:35:22.6340 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.22, 0.246,-1.214, 0.797, 0.220, PHS= 0.128,-1.389, 0.533, RAW= 161.5, 8.4, CAL= 161.2, 8.6, ROT= 348.8, -8.6 -PDAT read: Bearing 46.2, -15.7 (Local) 5~Local bearing/azimuth received: Bearing 46.2, -15.7 (Local) =DAT read: Range 11 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.0 m/s E*DAT read: user:382> MBDAT read: Tx time:03:35:23.7130 M$Ping request sent.Miʱr?e4@Q >4@ `>)@I`ɳ?k ?i@N? 9?)I4+Hi`u:publishing transmit ping timeIuFpublishing direction and range infoyQ ,?ANi@N]d@Nvc=ٱN1 bAHRS rotation from veh to nav: [[-0.259228,0.953706,0.152462],[-0.964220,-0.246483,-0.097602],[-0.055504,-0.172308,0.983478]]NH2п`Ä?`?ŒϿ sk1ƿx?iNi@INLp;NCY~ŇBy~&IbD-VD-N2y=%=Q=ٔEIQ-E>9AYA=ECFyM4DM_EM>QQ 54UX?Q 94U)UXBYyWQ I?U˼CIUT)  ?i) ;顙ii.鿉PY<Q;I0Ď@IBIBIBIBIBIBIBIBM;BM7Ea&ּEuC Eu9Eu*Eq"Eux;*Eu ;VEu(N4ZEqBEu{Fd,R?AFe8@F43@Fs~`=ٱF= VAHRS rotation from veh to nav: [[-0.265021,0.950308,0.163338],[-0.962685,-0.251145,-0.100812],[-0.054781,-0.183960,0.981406]]FHпh?A?Qп ι5 @ǿg?iFe8@IFZp;FCYfByf&IiMb@Mb@Mb@ 9jt?S㥛~jt?Y?y/ݼD<3@K@ @)$@Y(@bDVDyv%=ٔyQ->9 ?Y ?=CFy>D=E>Q 548Q?Q 9 4.)VBY ?Q E :y Q I ?CI:i<:34yɮ@jhAEDNOT Ignoring new targets: 87.24 m.RhM'ZhM'] ProNav: ac range: 87.236420 m, nav range: 85.497269 m, bearing: 246.604870 deg, approach rate: -0.516631 m/s, LOS rate: -0.031726 deg/s, cmd heading: 255.622179 deg, new cmd heading: 255.574295 deg. Bh]/eHeadingCmd: 4.460613 target range: 87.236420 and range: 87.60 m.heW@ha*ha"ha hagifififmހBdqdqdqjdyZd}(N?颥=Bɢ=) ?i)7\;顩i6i J鿉X</FIW@I>J]>i>e9@a @a@e/@a^A=;Am؟AIqIO>E- EE.E"Ed;*E:VEـ4ZEa@a@a@a@I 卷,W?AYrByr&IbDzVDz02y%>%-W=ٔ-Q-->95"?Y5"?=5CFy5FD5E5>AQ 5E4E3L?Q 9M4E)ESBYIyIQ IM?ECIEB:iE:E4yQɮU@YjhyDNOT Ignoring new targets: 87.24 m.Rh Zh  ProNav: ac range: 87.236420 m, nav range: 85.306961 m, bearing: 246.593157 deg, approach rate: -0.502081 m/s, LOS rate: -0.030971 deg/s, cmd heading: 255.574286 deg, new cmd heading: 255.539068 deg. Bh HeadingCmd: 4.459998 target range: 87.236420 and range: 87.60 m.hN@h*h"h hgfffdddjdZd ) ?i)c<i﷼i4^鿉[X<-&9IN@I  QAeAAAaԁB53>B56CB5&IB5BB1B1B1B5;B1B55CB55CB1B5ǭ =B5Ǯ =C5(5U9@ @@/@ԩ ^A "5;E ! E )E -E "E Y;*E 0;VE t4ZE BE ׬,?A2@2T@2:]c=ٱ2CS :AHRS rotation from veh to nav: [[-0.273681,0.944421,0.182123],[-0.960219,-0.257360,-0.108375],[-0.055480,-0.204538,0.977285]]2Hѿ8?O?xп tg M.ʿ`E?i2@I2o;2CYBByB&IbDNVDNyV%V9=ٔVH:Q-V>9XY\=^CFy^ODbEb>hQ 5v4j/F?Q 9v4j)jQBYxyzQ Iz?j"CIjy;ij;j4yɮ%@)jhDNOT Ignoring new targets: 87.24 m.RhNZhN] ProNav: ac range: 87.236420 m, nav range: 85.084381 m, bearing: 246.580645 deg, approach rate: -0.473727 m/s, LOS rate: -0.026698 deg/s, cmd heading: 255.539070 deg, new cmd heading: 255.501437 deg. Bh]HeadingCmd: 4.459342 target range: 87.236420 and range: 87.60 m.h@h*h"h hgfffdAdIdQjdYZdmlm?"Bɢz=)A E%?iA)E}s,@Ň,?Afن@fnԍ@f4v=ٱfP7U rAHRS rotation from veh to nav: [[-0.276056,0.943675,0.182401],[-0.959262,-0.258648,-0.113652],[-0.060073,-0.206344,0.976634]]fHѿ2?X? GпG`|iʿ @?ifن@Ifn;dYvByv&Ii}Mb@Mb@Mb@yyyy y9}X9v?{GzMb?Y}>y}#}<}@}5@ }C@)};@yY}@bDVDԙy͵%/=ٔJ!9Y=CFyXDVE>Q 54u??Q 94=)PBY>Q E:y&Q I??CI:i:4yQɮU@YuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 87.24 m.Rh豹Zh豹 ProNav: ac range: 87.236420 m, nav range: 84.853310 m, bearing: 246.571818 deg, approach rate: -0.507550 m/s, LOS rate: -0.019442 deg/s, cmd heading: 255.501449 deg, new cmd heading: 255.474895 deg. Bh}UHeadingCmd: 4.458878 target range: 87.236420 and range: 87.60 m.h!@h*h"h hgfff̀BdddjdZd+@EBɢE3>)I M?ii)mdCB 5>B B &IB BB =B B DB ;B 7E ̇,2?A6i݆@68؍@6=ٱ6O>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508212 FAHRS rotation from veh to nav: [[-0.275558,0.944891,0.176775],[-0.959201,-0.258170,-0.115246],[-0.063257,-0.201320,0.977481]]6H༢ѿ9 Y=CFy`Dw:E>Q 5%49?Q 9-4)NBY)y-Q I-?XCI6:iN:l 4y9ɮ=@9jhYeDNOT Ignoring new targets: 87.24 m.RheZhm} ProNav: ac range: 87.236420 m, nav range: 84.662094 m, bearing: 246.564449 deg, approach rate: -0.519672 m/s, LOS rate: -0.020072 deg/s, cmd heading: 255.474893 deg, new cmd heading: 255.452736 deg. Bh}g\HeadingCmd: 4.458491 target range: 87.236420 and range: 87.60 m.h@h*h"h hgfffdddjdZds@ Bɢ?>) ?i)!W<ii鿉#1V<mI@IEJ E;EE"E~;*E ;VEZEBEq B҇,$}L?A>@>@>GZ=ٱ>G JAHRS rotation from veh to nav: [[-0.274502,0.946736,0.168344],[-0.959248,-0.257404,-0.116557],[-0.067016,-0.193478,0.978813]]>Hqѿ@K?G?)Pyп ֽ'ȿoR?i>@I>o;9Y=CFyiD;E>Q 543?Q 94ձ)GBY ?Q E:yQ I?vCI ;i? ;4yВBɮ@rEjh  DNOT Ignoring new targets: 87.24 m.RhZh% ProNav: ac range: 87.236420 m, nav range: 84.428154 m, bearing: 246.550194 deg, approach rate: -0.551115 m/s, LOS rate: -0.033674 deg/s, cmd heading: 255.452736 deg, new cmd heading: 255.409853 deg. Bh%Ḻ-HeadingCmd: 4.457743 target range: 87.236420 and range: 87.60 m.h-ԥ@h)*h)"h) h)g1f1f1f9d9d9d9jd9ZdE@QuBɢu^R>)q }?iy)}nnE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264066 6&ه,_f?Ab@b@b=ٱbgm> rAHRS rotation from veh to nav: [[-0.272783,0.948886,0.158763],[-0.959452,-0.256130,-0.117685],[-0.071006,-0.184428,0.980278]]bHGuѿ E]?UR?Գpdп j- Rǿo^?ib@Ib?p;bCY~_By&IbDVDy%:%%T=ٔ%)9)Y)=-CFy-qD-k;E5>9Q 5E4= .?Q 9E4=,)=@BYAyEQ IE?=CI=:i=g:=4yIɮU@UqEjhy}DNOT Ignoring new targets: 87.24 m.RhZh ProNav: ac range: 87.236420 m, nav range: 84.215340 m, bearing: 246.536920 deg, approach rate: -0.551267 m/s, LOS rate: -0.034472 deg/s, cmd heading: 255.409842 deg, new cmd heading: 255.369919 deg. BhBHeadingCmd: 4.457046 target range: 87.236420 and range: 87.60 m.h@h*h"h hgfffdddjdZdI @BɢJ >) ?i)9<i,$i鿉T<.I@IԱ9@ @@1@B0>B5CBz&IBZBB =BBDB;B7E i>CDAT read: 03:35:26.2317 LVL= 32752, 32753, 32242, 32755, AGC= 70, IDX= 417,-0.26, 1.761, 0.241, 2.246, 1.710, PHS= 0.152,-1.424, 0.492, RAW= 159.6, 8.9, CAL= 159.3, 9.3, ROT= 350.7, -9.3 Ygot valid direction response: 03:35:26.2317 LVL= 32752, 32753, 32242, 32755, AGC= 70, IDX= 417,-0.26, 1.761, 0.241, 2.246, 1.710, PHS= 0.152,-1.424, 0.492, RAW= 159.6, 8.9, CAL= 159.3, 9.3, ROT= 350.7, -9.3 PDAT read: Bearing 43.6, -14.5 (Local) ~Local bearing/azimuth received: Bearing 43.6, -14.5 (Local) DAT read: Range 11 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.1 m/s  *DAT read: user:383> BDAT read: Tx time:03:35:27.3130 ]+GyB9YA$Ping request sent.iEm>aF2@>1@ 6&>)+@I6&&W_?!ߑ$?? 0?)d6I5&i6&:publishing transmit ping timeFpublishing direction and range infoy:Y*?5iĿo?Y )Ii )I&W_?!ߑ$?? )Ii E = E AE ,E "E s;*E ;VE g4ZE BE 1 ,;6?Aɰ2@2@2-=ٱ2* 6 >AHRS rotation from veh to nav: [[-0.271160,0.950747,0.150172],[-0.959629,-0.254919,-0.118860],[-0.074724,-0.176340,0.981489]]2H Zѿ`l?8?`H`Pп@m!! Pƿ`[h?i2@I2tvp;2CYNEByNa&IbDZVDZy  % L=ٔH9Y=CFy=yD=l;E=>AQ 5M4E+(?Q 9U4EǼ)E8BYyyQ I?ECIEA >bEjE2`4rES}/E 1 E )E +E "E 2h;*E 0;VE [4ZE a- @a- @a- @a- @ԑ Iq I O >\,?A2 @2t@2=ٱ2() :AHRS rotation from veh to nav: [[-0.269966,0.952914,0.138107],[-0.959674,-0.254613,-0.119152],[-0.078378,-0.164705,0.983224]]2H GѿD~?~? @Kпǀſv?i2 @I2Aq;2CYB'ByB=&Ii Mb@Mb@Mb@     9  rh?Mb`?{Gzt?Y  ?y ; ף; @ @ Z@) @ Y @bD%VD%βy5%53=ٔ599Y9==CFy=DE(;EE>IQ 5U4M"?Q 9U4M)M/BYU ?Q EU:y]Q I?MνCIM ) ?i)kX<顙i3ļi꿉S<8I֎@IiߑIߕAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-9@1 @1@5/@1)^AU] YB.>BB<&IB'BB =BBB;B7EIi Iy O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969933y ,?A2 @2@2=ٱ2RV :AHRS rotation from veh to nav: [[-0.269641,0.954877,0.124509],[-0.959472,-0.255413,-0.119071],[-0.081897,-0.151570,0.985048]]2HAѿ@[?߿?`Xпt{7 fÿ`?i2 @I2q;2CYjByj*&IprAAbDvVDvkyz%~N=ٔ~9Y=CFyD ,+:E > Q 54 ?Q 94 ) 'BYy}Q I? CI j;i ; /4y)ɮ-|@)jhIUDNOT Ignoring new targets: 85.44 m.Ee5 Ee6Ee)Ea"Eek;*Ee ;VEeFA4ZEaBEe) ?i)<iҙżi(꿉S<'G:Iԅ@IQQ@Q @Q@U/@Qԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.220895^A9IiԱIO> ,?A2 @2@2L=ٱ21 >AHRS rotation from veh to nav: [[-0.269655,0.956082,0.114861],[-0.959169,-0.256108,-0.120013],[-0.085325,-0.142534,0.986105]]2HBѿ@9?@g?`dп%׵>¿,?i2 @I2Pq;2CYBByF &I HHi Mb@Mb@Mb@     9 V-?Q{GzY ?y u #  @ p@) ©@ Y =@bD-VD-k1y5(#%=F=ٔ=9AYA=ECFyEDEsEM>IQ 5U4Mz?Q 9]4M)MBY]?Q E]:y]Q I]?M CIMC ;iM ;M64yiɮm@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.472429jh9=DNOT Ignoring new targets: 85.44 m.RhE`HZhE`Hu ProNav: ac range: 85.443535 m, nav range: 83.293686 m, bearing: 246.462559 deg, approach rate: -0.576038 m/s, LOS rate: -0.043796 deg/s, cmd heading: 255.186031 deg, new cmd heading: 255.129002 deg. Bhut}HeadingCmd: 4.452841 target range: 85.443535 and range: 85.80 m.h}}@hy*hy"hy hygfffBdddjdԱZd v?%Bɢ%0+>)) -?i))Md9 -,?A6 @6@6~Y=ٱ6 BAHRS rotation from veh to nav: [[-0.269697,0.957057,0.106328],[-0.958876,-0.256774,-0.120929],[-0.088434,-0.134569,0.986950]]6HBѿ5?@K8?nп7`9?i6 @I6\q;6CYJByJ &IbDVVDV:ybD%bR=ٔf]9hYh=jCFyjDnEn>tQ 5z4v?Q 9z4v)vBY|y~Q I?v(CIvH;ivI;v=4y ʒBɮ @{EjhIUDNOT Ignoring new targets: 85.44 m.RhU ^Zh] ^u ProNav: ac range: 85.443535 m, nav range: 83.056656 m, bearing: 246.444489 deg, approach rate: -0.634817 m/s, LOS rate: -0.048532 deg/s, cmd heading: 255.129012 deg, new cmd heading: 255.074649 deg. Bhu:HeadingCmd: 4.451892 target range: 85.443535 and range: 85.80 m.hu@h*h"h hgfffdddjdZd`ow?B->BB%IBBB =BBB;B7EeBɢev>)a e?ia)mi , ?A$>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230551@@=ٱ8z EAHRS rotation from veh to nav: [[-0.270133,0.957839,0.097842],[-0.958518,-0.257935,-0.121293],[-0.090942,-0.126548,0.987783]]HIѿ@?@% ?.п `H2?i@Itq;CYUByU&IiMb@Mb@Mb@ 9/$?{GztMb`Y?yף@@ )@Y3@ -<-4<bD5VD5N2yEt%E(=ٔE ;Q-E>9IYI=MCFyMDU^EU>YQ 5e4] ?Q 9e4]S)]BYe?Q Ee:yeQQ Im?]NCI]:i]:i]E4yyɮ} @}zEjhDNOT Ignoring new targets: 85.44 m.RhxZhx ProNav: ac range: 85.443535 m, nav range: 82.764168 m, bearing: 246.418454 deg, approach rate: -0.608918 m/s, LOS rate: -0.054394 deg/s, cmd heading: 255.074644 deg, new cmd heading: 254.996261 deg. BhQHeadingCmd: 4.450524 target range: 85.443535 and range: 85.80 m.hj@h*h"h hgfffBdddjdZd/@Bɢ>)  ?i ) *K< i-{ɼi꿉1dR<2.;Ij@I)9@ @@@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.480420^A ] ; E 6 E #E +E "E l;*E ;VE [4ZE a @a @a @a @A1 IA IQ O] >&E,9~ ?A:@:@:=ٱ:_ FAHRS rotation from veh to nav: [[-0.271582,0.957755,0.094599],[-0.957952,-0.259558,-0.122305],[-0.092585,-0.123838,0.987974]]:Haѿ ?`7? пgO ҳ`{?i:@I:jUq;:CYNByN%IIR=)RPRAXbDZVDZJyb%b|=ٔfΦ;Q-f ?9dYd=fCFyjDjFEj ?lQ 5r4n?Q 9r4nN)nBYtyvQ Iv?ngCIn:in:nK4yxɮz>@|jh%DNOT Ignoring new targets: 85.44 m.Rh%uZh%u5 ProNav: ac range: 85.443535 m, nav range: 82.568359 m, bearing: 246.401135 deg, approach rate: -0.605967 m/s, LOS rate: -0.053724 deg/s, cmd heading: 254.996261 deg, new cmd heading: 254.944181 deg. Bh=z=HeadingCmd: 4.449615 target range: 85.443535 and range: 85.80 m.h=@c@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@颅Bɢ>) {?i)<顉i'ʼil꿉)R<7P:I@c@I 9@  @ @ 4@ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.732468 ^A- ;A5>A1BBB%IBBB =BBDBց;B7EBBBBBȭ =Cc5A I I O >9  BDAT read: Rx Time:03:35:29.8291  TRx dataTimestamp_ set to:1761536128.840090% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985400j ,_E8 ?A>@>x@>,=ٱ>  zAHRS rotation from veh to nav: [[-0.272861,0.956794,0.100459],[-0.957406,-0.259807,-0.125992],[-0.094449,-0.130558,0.986932]]>Hvѿ? ?`п -!?i>@I>Hp;>CYۆBy%IbDVDy-T%-E=ٔ-;Q-->91Y1=5CFy5DEE$ EEEAEA"EEg\;*EE4:VEAZEABEE1YQ 5e4]?Q 9m4])]BYiymQ Im?]CI][:i]t:]R4yyɮ}@yB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.44 m.RhsZhs ProNav: ac range: 85.443535 m, nav range: 82.314903 m, bearing: 246.378844 deg, approach rate: -0.603661 m/s, LOS rate: -0.053254 deg/s, cmd heading: 254.944187 deg, new cmd heading: 254.877109 deg. Bh0HeadingCmd: 4.448445 target range: 85.443535 and range: 85.80 m.hY@h*h"h hgfffddd1jd1Zd=E @颅Bɢ >) ?i)<<顉i(˼i꿉Q<;:IY@IIm9@i @i@m4@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239490y^Aqԡ A I I O >WR,S R ?A2b@21ݍ@2W=ٱ2 :AHRS rotation from veh to nav: [[-0.274244,0.955828,0.105754],[-0.956815,-0.260181,-0.129657],[-0.096414,-0.136745,0.985903]]2H@5ѿ#?@?@:@Цп@ۀ?i2b@I27p;0YBˆByB%Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.491128iMb@Mb@Mb@ 9Gz?{Gz?{GztYp?yף<ף`@-@ )@Y@AE@AEM( EM'EM)EI"EM`;*EM";VEMFA4ZEIa]@a]@a]@a]@bD]VD]yz%=ٔ*{;Q->9Y=CFyD>E>ԡQ 54Z?Q 94)؈BY?Q E:yQ I?CI:i:[4yɮ@jh15DNOT Ignoring new targets: 85.44 m.Rh=靺Zh=靺m ProNav: ac range: 85.443535 m, nav range: 82.006058 m, bearing: 246.343042 deg, approach rate: -0.593246 m/s, LOS rate: -0.069028 deg/s, cmd heading: 254.877115 deg, new cmd heading: 254.769306 deg. Bhm~=uHeadingCmd: 4.446563 target range: 85.443535 and range: 85.80 m.hu?J@hq*hq"hq hqgyfyfyfjBdd!d!jd!Zd% U @颅Bɢ>) ?i)<顉iM ͼin뿉?Q< ;I?J@II)9@ @@0@ DAT read: 03:35:29.8291 LVL= 32752, 32753, 30994, 32755, AGC= 68, IDX= 423,-0.49,-1.656, 3.124,-1.178,-1.662, PHS= 0.108,-1.452, 0.440, RAW= 159.5, 10.4, CAL= 159.5, 11.3, ROT= 350.5, -11.3  Ygot valid direction response: 03:35:29.8291 LVL= 32752, 32753, 30994, 32755, AGC= 68, IDX= 423,-0.49,-1.656, 3.124,-1.178,-1.662, PHS= 0.108,-1.452, 0.440, RAW= 159.5, 10.4, CAL= 159.5, 11.3, ROT= 350.5, -11.3  PDAT read: Bearing 47.7, -16.2 (Local)  ~Local bearing/azimuth received: Bearing 47.7, -16.2 (Local) 5 DAT read: Range 11 to 50 : 83.9 m (Round-trip 111.9 ms) speed 0.5 m/s 5 *DAT read: user:384> E BDAT read: Tx time:03:35:30.9130 M $Ping request sent.M x_?Y ̧B y ) DI /=i #۹ G> )2@ 9> )2@ I>) @I I 2N?>HW?][? ZL0?) 9I )i I  :publishing transmit ping timeI  Fpublishing direction and range infoy  J6j?nĿ>x_?Y ) I i ) I 2N?>HW?][? ) I i  ^A} ] ;B <A <B />B B %IB BB =B B DB ;B 7E)AIIO>h,(q ?A2|ӆ@2K΍@2=ٱ2& nAHRS rotation from veh to nav: [[-0.275930,0.955629,0.103129],[-0.956128,-0.261912,-0.131228],[-0.098395,-0.134814,0.985973]]2H`Ԩѿ?f?@*пk0@A ?i2|ӆ@I2ڂp;2CYrByv%IbD VD2y-?P%-[=ٔ-m;Q-5>9QYQ=]CFy]ƔD]E]>aQ 5m4e?Q 9m4e)eˈBYyQ I?e;CIe;ieq;eb4yÒBɮ@EiQiUpDf ?AJiUBRiUBjiUz@bU 3T@ͳ_ +v(,_0@RUJ6j?nĿ>x_?ZiU)biUIjU҃@ERxX$@ZUU `^ٿ Ɍl?2iU:iU "iUUꝊ?*iU/BiUȚBiUUꝊ?iUyiUϝBiUeBiUY@- addTargetRange:: Added new target pos. range: 83.900002 m, deltaT: 3.780378 s, deltaX: -1.900002 m, approachRate: -0.502596 m/s, rangeRepo size: 4 ] Added new target pos. range: 83.550987 m, bearing: 246.156328 deg, lat: 36.779364 deg, lon: -121.859609 deg, deltaT: 3.780378 s, deltaX: -1.892548 m, approachRate: -0.500624 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 83.55 m.RheZhaԉ ProNav: ac range: 83.550987 m, nav range: 82.198303 m, bearing: 245.925195 deg, approach rate: 0.000000 m/s, LOS rate: -0.069028 deg/s, cmd heading: 254.769307 deg, new cmd heading: 254.689665 deg. BhHeadingCmd: 4.445173 target range: 83.550987 and range: 83.90 m.h>@h*h"h hgfffdddjdT@Zd ?%zBɢE2>)I M?iI)MJ@IYE: E2E,E"E\p;*E;VEg4ZEBEn ӭ",< ?Ab@b]@b=ٱbwO jAHRS rotation from veh to nav: [[-0.277978,0.955097,0.102556],[-0.955372,-0.263778,-0.132988],[-0.099965,-0.134947,0.985797]]bHcѿ(?A?hпIEঋ?ib@Ib:p;bCYrByr%IimMb@Mb@Mb@iiii i9m"~j?Mb`?~jthYmS#?ym;mDm@i m@)mI@iYm@bDVD0yY%?=ٔp;Q->9Y=CFyΔD꨻E>Q 54B?Q 94n)BYT#?Q E:yQ I?CI ;iG ;i4yĒBɮ@jh)-DNOT Ignoring new targets: 83.55 m.Rh54Zh54E ProNav: ac range: 83.550987 m, nav range: 81.931557 m, bearing: 245.898997 deg, approach rate: -0.653040 m/s, LOS rate: -0.064347 deg/s, cmd heading: 254.689667 deg, new cmd heading: 254.610816 deg. BhE0MHeadingCmd: 4.443797 target range: 83.550987 and range: 83.90 m.hM3@hI*hI"hQ hQgQfQfYf]BdYdYdYjdaZde ?颍oBɢ>) ?i):<顙i0~ϼiq뿉lP<[:I3@IM9@I @I@M/@IDzDE8 E&E+E"En;*E;VE [4ZEa@a@a@a@^A;) A .AI I O >|(,Z ?A]@]@]Bu=ٱ] AHRS rotation from veh to nav: [[-0.279658,0.954639,0.102260],[-0.954708,-0.265233,-0.134850],[-0.101610,-0.135340,0.985575]]]Hѿ f?@-?`пB%RՉ?i]@I]pp;]CYBy%I 4<bDVDyC%L=ٔ1;Q->9 ?Y ?=CFy֔DE>Q 54H訊?Q 94)BYy7Q I?CI:i:p4yɮ@jhDNOT Ignoring new targets: 83.55 m.RhHZhH ProNav: ac range: 83.550987 m, nav range: 81.679527 m, bearing: 245.874410 deg, approach rate: -0.604331 m/s, LOS rate: -0.059136 deg/s, cmd heading: 254.610820 deg, new cmd heading: 254.536833 deg. BhV"HeadingCmd: 4.442506 target range: 83.550987 and range: 83.90 m.h)@h*h"h hgfffdddjdZd&?dBɢ>) ?i)=ilмi c뿉  P< (:I)@IQB*>BBt%IBBB =BBDB;B7E@ @@/@ycG(hA9(hAY:A^Aq:ԩ A ؟AE < E E ,E "E ,r;*E :VE g4ZE BE .,} ?Aɰ49"?Y"?=CFyߔDE>Q 5 45⨊?Q 9 4c )BY y Q I ?2CI6g;ih;x4yɮw@5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 83.55 m.RhMZhM] ProNav: ac range: 83.550987 m, nav range: 81.423485 m, bearing: 245.849276 deg, approach rate: -0.650483 m/s, LOS rate: -0.064056 deg/s, cmd heading: 254.536835 deg, new cmd heading: 254.461194 deg. Bh]/eHeadingCmd: 4.441185 target range: 83.550987 and range: 83.90 m.he1@ha*ha"hi higififqfqdddjdZd`a?ԱT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.uWBɢ}d >)y }Z?iy)}# =yiAѼi뿉O<':I1@I9@ @@@ ^A "5: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7398381 AQ IY Ii O} >iy6,' ?AbET4jER4rE x/E>& E>E>)E<"E>8^;*E>:VE>FA4ZE9Y=CFyDE>Q 54 ݨ?Q 94)BY?Q E:y}Q I?RCI" ;i ;4yɮ@jh)-DNOT Ignoring new targets: 83.55 m.Rh5LZh5LE ProNav: ac range: 83.550987 m, nav range: 81.175224 m, bearing: 245.818114 deg, approach rate: -0.566946 m/s, LOS rate: -0.071382 deg/s, cmd heading: 254.461184 deg, new cmd heading: 254.367411 deg. BhECMHeadingCmd: 4.439549 target range: 83.550987 and range: 83.90 m.hM@hI*hI"hI hIgQfQfQfUBdYdYdYjdYZde_u?颍LBɢp>) ?i)oX=顑iMӼiI뿉kO<NP;I@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992125A^A ;a B )>B 4CB [%IB pBB =B B B ;B 7EI I O >Ξ<, ?A :w@:F~@:=ٱ:/ FAHRS rotation from veh to nav: [[-0.285008,0.952748,0.105075],[-0.952559,-0.269315,-0.141778],[-0.106781,-0.140498,0.984306]]:H=ҿ`|? 8?\{@t<ѿ@%¿`U o?i:w@I:q;:CYNByN%ITVAAbDVVDV1y^z%^^=ٔb|g9`Yd=fCFyfDf~Ef>hQ 5n4jب?Q 9n4j2)jBYpyr9Q Ir?jmCIj#;ijQ;j/4yvBɮvk@zEjhDNOT Ignoring new targets: 83.55 m.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243879Rh-iZh-i= ProNav: ac range: 83.550987 m, nav range: 80.967285 m, bearing: 245.792732 deg, approach rate: -0.565850 m/s, LOS rate: -0.069247 deg/s, cmd heading: 254.367419 deg, new cmd heading: 254.291078 deg. Bh=>EHeadingCmd: 4.438217 target range: 83.550987 and range: 83.90 m.hE@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUT.@颅BBɢd#>) ?i)v=顉i#Լi'쿉#O<ęI@IU9@Q @Q@U0@QyE E(E*E"EV;*E;VE(N4ZEBE} C, !?A2s@2n@20y=ٱ2zC :AHRS rotation from veh to nav: [[-0.286780,0.951875,0.108130],[-0.951842,-0.270343,-0.144608],[-0.108416,-0.144393,0.983563]]2HZҿu?k?`}u MMѿ¿'{{¿`Yy?i2s@I2Ȃr;2CYBByF%I DDPiMb@Mb@Mb@ 9|?5^?MbQ?Y?yu<X@@ @)@Y̬@bD-VD-0y=%=B=ٔEJ;Q-E>9AYA=ECFyMDMTEM>QQ 54UPҨ?Q 94U6)UBY ?Q E:yQ I?UCIU"Zh=>M ProNav: ac range: 83.550987 m, nav range: 80.728073 m, bearing: 245.774663 deg, approach rate: -0.548372 m/s, LOS rate: -0.041543 deg/s, cmd heading: 254.291085 deg, new cmd heading: 254.236718 deg. BhMUHeadingCmd: 4.437268 target range: 83.550987 and range: 83.90 m.hU@hq*hq"hq hqgqfyfyf}րBdddjdZd`@56Bɢ5Ү>)1 5`?i9)==99i=6ռiEG쿉E8~NT;*E:VEg4ZEa@a@a@a@^A NJκIq I O >! i I  BDAT read: Rx Time:03:35:33.4260  TRx dataTimestamp_ set to:1761536132.621367 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003079-I,Φ(!?A|YEByE%IbDUVDUܲyeϻ%eH=ٔmQ-m>9iYi=mCFyuDuEu>yQ 54}*̨?Q 94}!)}uBYyQ I?}CI}:i}:}4yBɮ@EjhDNOT Ignoring new targets: 83.55 m.RhHMZhHM ProNav: ac range: 83.550987 m, nav range: 80.494919 m, bearing: 245.756948 deg, approach rate: -0.588823 m/s, LOS rate: -0.044868 deg/s, cmd heading: 254.236716 deg, new cmd heading: 254.183418 deg. BhWHeadingCmd: 4.436337 target range: 83.550987 and range: 83.90 m.hz@h *h "h  h g fffdd!d!jd!Zd%V@m+Bɢm'>)y }?iy)}D!=顁i3׼ie쿉aN<UIz@IB=/>B=5CB=H%IB=aBB9B9B=DB=;B=7E)59@1 @1@593@1=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251720Q^AMybݺIIO% >E  E E )E "E sH;*E :VE FA4ZE BE AHRS rotation from veh to nav: [[-0.289831,0.950446,0.112474],[-0.950600,-0.272225,-0.149174],[-0.111164,-0.150153,0.982393]]6Hҿ j?˼?@Qk`!lѿ ÿ6u28ÿ`o?i6X@I6r;4YDyD Np9\Y\=^CFy^Db Eb>dQ 5j4fdƨ?Q 9j4f&)flBYhyjQ Ij?fƿCIdif:fV4ypɮr@p~B*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 83.55 m.RhBZhB% ProNav: ac range: 83.550987 m, nav range: 80.277992 m, bearing: 245.740863 deg, approach rate: -0.572745 m/s, LOS rate: -0.042585 deg/s, cmd heading: 254.183414 deg, new cmd heading: 254.135027 deg. Bh%-HeadingCmd: 4.435493 target range: 83.550987 and range: 83.90 m.h-@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdEI @Yu!Bɢuc+>)y } ?iy)}&=yyiؼi-쿉M<DI@IDAT read: 03:35:33.4260 LVL= 32752, 32753, 31394, 32755, AGC= 71, IDX= 407,-0.04,-1.848, 2.904,-1.342,-1.811, PHS= 0.064,-1.523, 0.425, RAW= 160.0, 11.5, CAL= 160.2, 12.8, ROT= 349.8, -12.8 Ygot valid direction response: 03:35:33.4260 LVL= 32752, 32753, 31394, 32755, AGC= 71, IDX= 407,-0.04,-1.848, 2.904,-1.342,-1.811, PHS= 0.064,-1.523, 0.425, RAW= 160.0, 11.5, CAL= 160.2, 12.8, ROT= 349.8, -12.8 PDAT read: Bearing 47.5, -18.4 (Local) ~Local bearing/azimuth received: Bearing 47.5, -18.4 (Local)  DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.5 m/s *DAT read: user:385> BDAT read: Tx time:03:35:34.5130 $Ping request sent.¸2@M>2@ d>)|]@Id3%m?mL+? ? 2?)fMIK6idE:publishing transmit ping timeEFpublishing direction and range infoyNHy+?0mƿ@|[?YU9@Q @Q@]w4@Y@a@egA )Ii )I3%m?mL+? ? )Iiԑ^A=[RSA=>A=>IIԱO> (V,\\!?AE2 E2E0E0"E2Q;*E2:VE0ZE0a:@a:@a:@a:@:I@:D@:=C=ٱ:ӈ FAHRS rotation from veh to nav: [[-0.291525,0.950096,0.111040],[-0.949903,-0.273864,-0.150607],[-0.112681,-0.149383,0.982338]]:HYҿ0g?m?@eѿGÿؼÿOo?i:I@I:Kr;:CY^By^%IIb=)bp9Y=CFyDoE>Q 54?Q 94-)`BY?Q E:yiQ I?CI ;i* ;4yɮ@iiG!?AJiBRiBjiЈ@bs-AS@g,!R%2@RNHy+?0mƿ@|[?ZiK6bidjIUAm{Q) H?i)9.=顑iټi쿉L<\IT@IU9@Y @Y@]5@YԑB5 4>B5 6CB5 5%IB5 RBB5 =B1 B1 B5 ց;B5 7EBBBBBȬ =C5^A} _ A .AI I O >ټ],y!?A:;@:S6@:l=ٱ: FAHRS rotation from veh to nav: [[-0.293119,0.949758,0.109735],[-0.949229,-0.275385,-0.152075],[-0.114215,-0.148739,0.982258]]:H@vҿ@jd?`?``ѿ3wÿ`7=` ÿn?i:;@I:@yr;:CYNByNn%IbDVVDVky^i%^c=ٔbF;Q-b>9b ?Yb ?=bCFybDfqEf>hQ 5n4j¹?Q 9n4j2)jWBYlyrQ Ir?jCIj:ij:jh4yvBɮvP@vExjhDNOT Ignoring new targets: 81.26 m.Rh%UZh%U5 ProNav: ac range: 81.260101 m, nav range: 80.152870 m, bearing: 245.195656 deg, approach rate: -0.560618 m/s, LOS rate: -0.046676 deg/s, cmd heading: 254.070470 deg, new cmd heading: 254.020411 deg. Bh5"=HeadingCmd: 4.433493 target range: 81.260101 and range: 81.60 m.h=,ߍ@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdUq5?} Bɢ}.5>) C?i){2=顁in)ۼi쿉{L<ΆI,ߍ@IE EEE"E*EZ:VEZEBEɥy ݟd,|e!?A2V.@2%)@2S=ٱ26 :AHRS rotation from veh to nav: [[-0.294597,0.949458,0.108356],[-0.948601,-0.276828,-0.153371],[-0.115623,-0.147970,0.982210]]2H`ҿa?@? Zѿડÿ¿`Cn?i2V.@I2Eq;2CYBuByBa%Ii Mb@Mb@Mb@     9 @5^I ?Q롿~jt?Y b?y \ D< @ @ ;@) X@ YY @bDVDyI%>=ٔX;Q->9Y=CFy"DuE>Q 54?Q 948)MBY?Q E:yQ I?"CIK ;i ;챙4yɮ@jhDNOT Ignoring new targets: 81.26 m.RhDZhD ProNav: ac range: 81.260101 m, nav range: 79.911301 m, bearing: 245.182903 deg, approach rate: -0.562484 m/s, LOS rate: -0.029783 deg/s, cmd heading: 254.020418 deg, new cmd heading: 253.982045 deg. Bh HeadingCmd: 4.432823 target range: 81.260101 and range: 81.60 m.h ٍ@h *h "h  h gfffBdddjd!Zd%?MBɢM%>)Q U^?iQ)U<8=YYi]uܼi]쿉e4K j,C!?AF8)@F$@FZ=ٱF^ ZAHRS rotation from veh to nav: [[-0.295146,0.949627,0.105344],[-0.948275,-0.277654,-0.153895],[-0.116894,-0.145316,0.982456]]FH@ҿXc?? DXѿ@Ӳÿ`콿¿Fp?iF8)@IFq;DYbBybm%I dfAbDjVDjܲyvT=%vV=ٔv[;Q-v>9z"?Yz"?=zCFyz*DzֺE~>Q 5 4.?Q 9 4=)CBY y )Q I ?>CIp:i:4yBɮu@EBE1>BABE#%IBEBBBABABABE΁;BE7EjhYeDNOT Ignoring new targets: 81.26 m.Rhe"Zhm"} ProNav: ac range: 81.260101 m, nav range: 79.696404 m, bearing: 245.171605 deg, approach rate: -0.556113 m/s, LOS rate: -0.029318 deg/s, cmd heading: 253.982032 deg, new cmd heading: 253.948045 deg. Bh}HeadingCmd: 4.432230 target range: 81.260101 and range: 81.60 m.hԍ@h*h"h hgfffdddjdZd'?ԹBɢБ0>) n?i)–>=i|ݼi!쿉!TK<D@Iԍ@IQ@Q @Q@U/@Q߅^?߅j?^A3E EE+E"EV;*E:VE [4ZEBE9 q,3!?AB6#@B@Bi=ٱBf JAHRS rotation from veh to nav: [[-0.295793,0.950028,0.099771],[-0.947903,-0.278981,-0.153782],[-0.118263,-0.140061,0.983055]]BH@Eҿ@f?@?9Uѿ$ÿ~F@@/u?iB6#@IBp;BCYRnByRY%IbD^VD^Nyf%fL=ٔfMa;Q-f>9n ?Yn ?=nCFyn2DrEr>tQ 5z4vp?Q 9z4vkC)v9BY|y~FQ I~?v[CIva;iv;v4yɮ@%B*** querying acoustic contact ***i! i!jh)5DNOT Ignoring new targets: 81.26 m.Rh5Zh=E ProNav: ac range: 81.260101 m, nav range: 79.470451 m, bearing: 245.159806 deg, approach rate: -0.566425 m/s, LOS rate: -0.029661 deg/s, cmd heading: 253.948045 deg, new cmd heading: 253.912549 deg. BhM٢UHeadingCmd: 4.431610 target range: 81.260101 and range: 81.60 m.hUύ@hQ*hQ"hQ hQgQfYfYfYdYdYdajdaZdeE@ %Bɢm)i m?ii)mQD=iqiu;߼iul}5J<}⣻I}ύ@IyM9@Q @Q@Q@Y9aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AE  E E )E "E L;*E :VE FA4ZE a @a @a @a @A ؟AI I) O= >ԑ w,!?AY~iBy~R%IiMb@Mb@Mb@ 9?9"?Y"?=CFy:DE>Q 54Y?Q 94)q ux?iq)}pJ=yyi}ߢiJ<Iʍ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503215E9@A @I@M0@I@Q@UfAԡA=@AA9BE,>BE5CBE %IBE.BBE =BABEDBÉ;BE7E Y Y ^Am Am >Am > rG liA M S9M liAYM UAA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755554I I O > A~,!?A2n @2=@2Q=ٱ2O :AHRS rotation from veh to nav: [[-0.295997,0.950955,0.089834],[-0.947426,-0.280325,-0.154277],[-0.121528,-0.130777,0.983935]]2Hҿ@9n?a? QQѿWÿmLe|?i2n @I2[p;0YB]ByBC%IIF4>)FbDNVDN:yVD%V\=ٔVK9XYX=ZCFyZBD^7pE^>`Q 5f4bN)b&BYdyfQ If?bCIb:ib:b͙4ylɮn@ljhDNOT Ignoring new targets: 81.26 m.Rh Zh  ProNav: ac range: 81.260101 m, nav range: 79.031258 m, bearing: 245.137574 deg, approach rate: -0.547905 m/s, LOS rate: -0.027740 deg/s, cmd heading: 253.876520 deg, new cmd heading: 253.845660 deg. BhM%HeadingCmd: 4.430442 target range: 81.260101 and range: 81.60 m.h%/ƍ@h!*h!"h! h)g)f)f)f)d1d1d1jd1E  EE.E"ED;*E:VEـ4ZEBEњ) ?i)7oP=ii& I<I /ƍ@I 9@ @@0@!BDAT read: Rx Time:03:35:37.0233 TRx dataTimestamp_ set to:1761536136.148181 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008187^AQ A9 IA IY Oe >,C"?A2 @2@2&=ٱ2U >AHRS rotation from veh to nav: [[-0.295902,0.951188,0.087654],[-0.947302,-0.280421,-0.154867],[-0.122727,-0.128860,0.984039]]2H ҿ`"p?}p?`KPkѿÿk@|~?}?i2 @I26q;2CYFXByF>%IiMb@Mb@Mb@ 9#~j?Zd;OI +?Y?yj<9<Q@ h@)@Y@bD-VD-y5%=B=ٔ=;;Q-=>9AYA=ECFyEKDM9EM>IQ 5U4M=?Q 94MS)MBY?Q E:yDQ I?MCIMl) X?i)܀V=Qi-5li5a45H<5)䂻I5@I9bE]FA4jE]rO4rE]ĝ/E  EE)E"EF;*E>:VEFA4ZEa@a@a@a@9@ @@g0@ԁԩ = DAT read: 03:35:37.0233 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.35,-0.955,-2.430,-0.537,-0.947, PHS= 0.094,-1.438, 0.366, RAW= 158.0, 11.6, CAL= 158.2, 12.9, ROT= 351.8, -12.9 E Ygot valid direction response: 03:35:37.0233 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.35,-0.955,-2.430,-0.537,-0.947, PHS= 0.094,-1.438, 0.366, RAW= 158.0, 11.6, CAL= 158.2, 12.9, ROT= 351.8, -12.9 M PDAT read: Bearing 48.2, -16.9 (Local) M ~Local bearing/azimuth received: Bearing 48.2, -16.9 (Local) U DAT read: Range 11 to 50 : 79.5 m (Round-trip 106.1 ms) speed 0.4 m/s ] *DAT read: user:386> e BDAT read: Tx time:03:35:38.1130 e $Ping request sent.m |0@ 4QO> 0@ f>) p{@I f /0=?Z]P?? )?) 2OOI Ti f  :publishing transmit ping timea  Fpublishing direction and range infoy  SG?0Nu?Y ) I i ) I /0=?Z]P?? ) I i Iy I O >u<, /"?A2c#@22@2e=ٱ2PBN1>BN6CBN$IBNBBN =BLBNDBN;BN7E ~AHRS rotation from veh to nav: [[-0.295564,0.951065,0.090093],[-0.947241,-0.279516,-0.156864],[-0.124006,-0.131703,0.983502]]2H`ҿ o? X?OѿĿ`Ӿx?i2c#@I2j3q;2CYHBy*%I15BAbD= VD=2yM%MD=ٔuH;Q-u>9qYy=}CFy}SD}O?:E}>Q 54J?Q 94Y)BYy5Q I?CI;i;\ܙ4yBɮ}@Eii)"?AJiVBRiVBji @b[NyS@Q1%&ݲ1@RSG?0Nu?ZiTbifjR06ߧs?2R]Qr"@Z lٿě|?&J D?2i:i"i/?*iBiBiUꝊ?iiȚBiBi;R@ addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.527414 s, deltaX: -2.099998 m, approachRate: -0.595337 m/s, rangeRepo size: 4 M Added new target pos. range: 79.169518 m, bearing: 246.416962 deg, lat: 36.779364 deg, lon: -121.859618 deg, deltaT: 3.527414 s, deltaX: -2.090584 m, approachRate: -0.592668 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 79.17 m.RhUZhQa ProNav: ac range: 79.169518 m, nav range: 78.945404 m, bearing: 245.872693 deg, approach rate: 0.000000 m/s, LOS rate: -0.018047 deg/s, cmd heading: 253.821687 deg, new cmd heading: 253.797751 deg. BhHeadingCmd: 4.429606 target range: 79.169518 and range: 79.50 m.hV@h*h"h hgfffdddjdS@Zd@*?5Bɢ5->)1 5 ?i1)=w]=99i]ieBeuHd,%H"?A2 @2@2R>ٱ2  :AHRS rotation from veh to nav: [[-0.295898,0.951068,0.088961],[-0.946964,-0.279848,-0.157940],[-0.125316,-0.130977,0.983433]]2Hҿ%o?-ƶ?Mѿ]7Ŀ@W Ix?i2 @I2p;2CYF;ByF%IPbDRVDRβyZ%ZU=ٔZgd;Q-^>9\Y`=bCFyb[DbEb>dQ 5j4f?Q 9j4f])fBYlynDQ In?fCIf;if;f4ypɮrQ@tB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 79.17 m.RhgZhg- ProNav: ac range: 79.169518 m, nav range: 78.746788 m, bearing: 245.867386 deg, approach rate: -0.589192 m/s, LOS rate: -0.015781 deg/s, cmd heading: 253.797754 deg, new cmd heading: 253.781795 deg. Bh-I-5HeadingCmd: 4.429328 target range: 79.169518 and range: 79.50 m.h5@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM`?uBɢuF>) ?i):a=99i=.iU3Ku1H! E  E E E "E B;*E :VE ZE a @a @a @a @iI,b"?A2@2@2>ٱ2 :AHRS rotation from veh to nav: [[-0.296446,0.951361,0.083860],[-0.946604,-0.281039,-0.157980],[-0.126728,-0.126215,0.983875]]2H ҿq?w?Jѿ8Ŀ`8' {?i2@I2Fp;2CYB%ByB$I|iEMb@Mb@Mb@AAAA A9E{Gz? ףp= ?YE?yEQ8E9Y=CFydDE>Q 54|?Q 94Xc)BY?Q E:y2Q I?CI) X?i ) Fh=  i _tiUjG<Ik@I)9@ @@@B<AB6>BB$IBBB =BBBB7EQ^A _IQ Ia Om >ԁ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248279s,|"?A6@6@6e>ٱ61 >AHRS rotation from veh to nav: [[-0.297185,0.951328,0.081592],[-0.946148,-0.281918,-0.159140],[-0.128392,-0.124492,0.983879]]6HӿFq?1?F ҿ^Ŀ`'o޿ {?i6@I6o;6CYFByF$I N49\Y\=bCFybkDbEb>dQ 5j4fv?Q 9j4fh)fBYhynQQ In?fCIfN:ifj;f4ypɮr@pjh  DNOT Ignoring new targets: 79.17 m.RhCZhC% ProNav: ac range: 79.169518 m, nav range: 78.329971 m, bearing: 245.856129 deg, approach rate: -0.531751 m/s, LOS rate: -0.014236 deg/s, cmd heading: 253.763357 deg, new cmd heading: 253.747944 deg. Bh%Q-HeadingCmd: 4.428737 target range: 79.169518 and range: 79.50 m.h-7@h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE@c?YEe EeEe.Ea"EeL;*Ee4:VEeـ4ZEaBEeޡ)! %?i!)%Um=))i-i5^5`FA%>IIO> Z,u"?A2 @2@2l>ٱ27 :AHRS rotation from veh to nav: [[-0.298179,0.951087,0.080762],[-0.945589,-0.282792,-0.160906],[-0.130197,-0.124346,0.983660]]2H^ӿ No?ˬ?@CBDҿĿ H%տ$z?i2 @I2n;0YBByB$IiEMb@Mb@Mb@AAAA A9EˡE?v/:v?YE?yExiET9qYq=uCFyutD},E}>Q 547o?Q 94m)BY?Q E:yfQ I?8CIbp;i;4yBɮv@jhDNOT Ignoring new targets: 79.17 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752409Rh۰Zh۰ ProNav: ac range: 79.169518 m, nav range: 78.102692 m, bearing: 245.854045 deg, approach rate: -0.525309 m/s, LOS rate: -0.004832 deg/s, cmd heading: 253.747948 deg, new cmd heading: 253.741676 deg. Bh:THeadingCmd: 4.428627 target range: 79.169518 and range: 79.50 m.hQ@h*h!"h! h!g!f!f)f-Bd)d)d)jd1Zd5>V?eBɢe4>)a e"?ia)es=iiim2iu(buY]F< )I Q@I E} E} E}*Ey"E};;*E}:VE}(N4ZEya@a@a@a@9@ @@/@^AI I! OE >iߩ I߭ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004504A ,`"?AB"2>B B"$IB"BB" =B B B"΁;B"7EB6CB6CBB =B =Cp5B@B@B>ٱBE NAHRS rotation from veh to nav: [[-0.299005,0.950893,0.079994],[-0.945081,-0.283495,-0.162639],[-0.131974,-0.124231,0.983438]]BH"ӿm?`yz?`>$ҿ[Ŀ @Ϳ Rx?iB@IBF m;BCYVByV$IbD^VD^fyf%fT=ٔj;Q-j>9lYl=nCFyn|Dnf!En>pQ 5v4rWh?Q 9v4rsr)rBYxyzQ Iz?rRCIr;ir;rK4y~BɮQ@Ejh!-DNOT Ignoring new targets: 79.17 m.Rh-pZh-pE ProNav: ac range: 79.169518 m, nav range: 77.898026 m, bearing: 245.852303 deg, approach rate: -0.539393 m/s, LOS rate: -0.004602 deg/s, cmd heading: 253.741664 deg, new cmd heading: 253.736426 deg. BhE JEHeadingCmd: 4.428536 target range: 79.169518 and range: 79.50 m.hM@hI*hI"hI hIgIfIfQfQdQdYdYjdYZd]0@-Bɢ- 5>)) M ?iI)Utx=QQiU[*i]'e]"E<]ǻI]@Ia 9@  @ @  0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2563769E} E}E},Ey"E}B;*E}:VE}g4ZEyBE}wԑ bm,E."?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5082506@6@6, >ٱ6B BAHRS rotation from veh to nav: [[-0.300303,0.950575,0.078898],[-0.944447,-0.284744,-0.164137],[-0.133559,-0.123806,0.983277]]6H@+8ӿk?2?8@>9ҿrſv໱w?i6@I6l;6CYFЅByJ$ILNAAbDRVDR02yZ˽%ZL=ٔ^;Q-^>9\Y`=bCFybDbPlEb>dQ 5j4f-a?Q 9j4fw)fBYlynQ In?fmCIf;if~ ;fH4ypɮv@tB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 79.17 m.RhZh ProNav: ac range: 79.169518 m, nav range: 77.685310 m, bearing: 245.850715 deg, approach rate: -0.531092 m/s, LOS rate: -0.003977 deg/s, cmd heading: 253.736419 deg, new cmd heading: 253.731640 deg. Bh.HeadingCmd: 4.428452 target range: 79.169518 and range: 79.50 m.hⵍ@h*h"h hgfffdddjdZd@5Bqɢ54>)y Z?i)}=顑1i5OJiMg\E<E~Iⵍ@IQԡ@ @@@>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760584^A #2A zA hAE  E E 'E "E =;*E r:VE '4ZE a @a @a @a @I I  O% >x,> "?A2@2@20 >ٱ2% :AHRS rotation from veh to nav: [[-0.301635,0.950303,0.077074],[-0.943796,-0.286152,-0.165429],[-0.135153,-0.122641,0.983205]]2H@Mӿ h? ?3PPҿ,ſLie@kv?i2@I2`l;2CYBByBs$I DFAJ=J=iMb@Mb@Mb@ 9/$?)\(Q?Y1?yGau<@@ @)@Y½@bDVDNy % 6=ٔ 9Y=CFyDXE>!Q 5-4%0Y?Q 9-4%V})%ՇBY5?Q E5:y5XQ I5?%CI%2 ;i% ;%4y9ɮ=_@AjhDNOT Ignoring new targets: 79.17 m.RhZh ProNav: ac range: 79.169518 m, nav range: 77.446785 m, bearing: 245.848417 deg, approach rate: -0.519113 m/s, LOS rate: -0.005015 deg/s, cmd heading: 253.731638 deg, new cmd heading: 253.724724 deg. BhI\ HeadingCmd: 4.428332 target range: 79.169518 and range: 79.50 m.h 崍@h *h "h  h g1f1f1f5Bd9d9d9jd9Zd=#@uBDAT read: Rx Time:03:35:40.6210 }TRx dataTimestamp_ set to:1761536139.676401}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013659U|BɢU+>)Y ]?iY)] =aaieEi k ZSD<  I 崍@I!AAAE@ABM/>BIBM;$IBMBBM =BIBIBM;BM7E9@ @@/0@I ^A r绝% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264340Ii Iy O >,K"?AY~By~H$IbDVDy%9%%[=ٔ5EU EUEU(EQ"EUsH;*EU:VEUc44ZEQBEU9iYi=mCFymDuEu>yQ 54}`R?Q 94}@)}ˇBYyQ I?}CI}:i}:}4yɮ@jhDNOT Ignoring new targets: 79.17 m.RhøZhø ProNav: ac range: 79.169518 m, nav range: 77.243187 m, bearing: 245.846445 deg, approach rate: -0.550266 m/s, LOS rate: -0.005344 deg/s, cmd heading: 253.724725 deg, new cmd heading: 253.718793 deg. BhjHeadingCmd: 4.428228 target range: 79.169518 and range: 79.50 m.h @h*h"h hgfffdddjdZdj @额tBɢ;>) @?i)'/=顡iSi  BDAT read: Tx time:03:35:41.7130  $Ping request sent. $+3@J4>3@ B>)0O@IBD`ܕ?,;ghf?ik^e? .L4?)4IT8iB}:publishing transmit ping time }Fpublishing direction and range infoyL,? $IyƿoG4?Y )Ii )ID`ܕ?,;ghf?ik^e? )Ii^AzI I1 O] >Y ň,3#?A2߅@2ڌ@27>ٱ2 :AHRS rotation from veh to nav: [[-0.302745,0.949691,0.080206],[-0.942821,-0.286117,-0.170954],[-0.139405,-0.127375,0.982009]]2H+`ӿc?@c?`+Oҿ ſM@l?i2߅@I27m;2CYnyByn+$I)i%Mb@Mb@Mb@!!!! !9%Zd;O?Zd;Oy&1?Y%~ ?y%j<%`e<%@%3@ %I@)%@!Y%@bD]VD]ymҽ%m7=ٔm9Y=CFyDJE>Q 54J?Q 94)BY ?Q E:y9Q I?CI;iS;4yBɮ&@Eii #?AJi&BRi&Bji}@bR@wJ=+aʨV-@RL,? $IyƿoG4?ZiT8biBjz9A~=QQ@ZПkܿ>ݷQ2OwHȲ?2i:i "iZ?*i:'BiܐBiiiBiBiM@ addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.530909 s, deltaX: -1.599998 m, approachRate: -0.453141 m/s, rangeRepo size: 4  Added new target pos. range: 77.575943 m, bearing: 243.559445 deg, lat: 36.779364 deg, lon: -121.859618 deg, deltaT: 3.530909 s, deltaX: -1.593575 m, approachRate: -0.451321 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 77.58 m.RhZh ProNav: ac range: 77.575943 m, nav range: 77.004364 m, bearing: 245.841172 deg, approach rate: 0.000000 m/s, LOS rate: -0.005344 deg/s, cmd heading: 253.718797 deg, new cmd heading: 253.711443 deg. BhHeadingCmd: 4.428100 target range: 77.575943 and range: 77.90 m.h@h*h"h  h g fffBdddjdyS@Zd@?IEU  EUEU*EQ"EUE;*EU#:VEU(N4ZEQa]@a]@a]@a]@hBɢ&>) :?i)E=iiosB<5I@III)I9@ @@4@y^A ԩ I1 IA OM >B= '>B= 5CB= #IB= ?BB= =B9 B= DB= ;B= 8Eˈ,N1#?Aɰ;J؅@JҌ@Jo+>ٱJ VAHRS rotation from veh to nav: [[-0.303551,0.949500,0.079410],[-0.942281,-0.286792,-0.172793],[-0.141293,-0.127278,0.981752]]JH cmӿNb?@;T?)' Zҿƿ`¿`Jj?iJ؅@IJ]im;HYZWBy^$I`bAbDfVDf1yniC%rg=ٔr;Q-r>9pYt=zCFyzD K/E>!Q 5%4%D?Q 9-4%)%BY)y-YQ I-?%CI%|:i%1:%"4y1ɮ=N@9jhaeDNOT Ignoring new targets: 77.58 m.Rhm^Zhm^y ProNav: ac range: 77.575943 m, nav range: 76.813057 m, bearing: 245.837061 deg, approach rate: -0.565627 m/s, LOS rate: -0.012184 deg/s, cmd heading: 253.711448 deg, new cmd heading: 253.699084 deg. BhHeadingCmd: 4.427884 target range: 77.575943 and range: 77.90 m.h:@h*h5gAI}9}gAY}jA"hy hygfffdddjdZd?`Bɢ46>) ?i)]=ii z5YB<5#I5:@I9ԩ9@ @@/@E] E]E]+EY"E]P;*E]:VE] [4ZEYBE] w҈,uK#?A:Ӆ@:͌@:B>ٱ:~ FAHRS rotation from veh to nav: [[-0.304037,0.949368,0.079131],[-0.941819,-0.287042,-0.174883],[-0.143314,-0.127698,0.981404]]:HVuӿ`9a?A? a# ^ҿbƿ X¿dXg?i:Ӆ@I:-m;:CY^>Byb#IbDvVDvyB% H=ٔ ;Q- >9Y=CFyD$źE>!Q 5%4%v=?Q 9-4%)%BY)y-mQ I-?%CI%:i%:%)4y5Bɮ=[@=EUB*** querying acoustic contact ***iQ iQjhamDNOT Ignoring new targets: 77.58 m.RhmFQZhmFQ} ProNav: ac range: 77.575943 m, nav range: 76.595016 m, bearing: 245.832450 deg, approach rate: -0.539226 m/s, LOS rate: -0.011435 deg/s, cmd heading: 253.699071 deg, new cmd heading: 253.685200 deg. Bh!HeadingCmd: 4.427642 target range: 77.575943 and range: 77.90 m.h>@h*h"h hgfffdddjdZd2?XBɢ\2>) t?i)g=iġiuhA<'I>@I9@ @@/@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ^A ܪ&bE(N4jEL4rEɭ<0Eu  Eu Eq Eq "Eu V;*Eu :VEq ZEq a @a @a @a @A] .AIa Iq O >Թ =؈,\e#?AV΅@VȌ@V(j>ٱV AHRS rotation from veh to nav: [[-0.304516,0.949261,0.078567],[-0.941345,-0.287331,-0.176948],[-0.145396,-0.127842,0.981079]]VH@0}ӿY`??`cҿ@>ƿ`R¿@!]e?iV΅@IVn;VCY&By#IiMb@Mb@Mb@ 9㥛 ?+Mb`Y?yG@v@ `@)^@Y@bDVDyN޽%>=ٔQ;Q->9 ?Y ?=CFyDE>Q 545?Q 94)BY?Q E:yQ I?CI:i:L14y ɮ @ jh15DNOT Ignoring new targets: 77.58 m.Rh=Zh=M ProNav: ac range: 77.575943 m, nav range: 76.345375 m, bearing: 245.824629 deg, approach rate: -0.579481 m/s, LOS rate: -0.018213 deg/s, cmd heading: 253.685192 deg, new cmd heading: 253.661654 deg. BhMGUHeadingCmd: 4.427231 target range: 77.575943 and range: 77.90 m.hU્@hQ*hQ"hQ hQgYfYfYf]ʀBdadadajdaZde`?ԉ]NBɢ]&>)a e ?iauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499255)e.=顉i:"i@<f*I્@I=9@A @A@E/@AԹBAB$>B4CB#IBBB =BBDB;B8E^Ae &% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750831Au ؟AI I O > ߈,,#?A2ȅ@2Ì@2xn>ٱ2S :AHRS rotation from veh to nav: [[-0.305020,0.949109,0.078452],[-0.940879,-0.287578,-0.179015],[-0.147344,-0.128417,0.980713]]2H rӿ_?@t?gҿ@ƿ`*¿ ob?i2ȅ@I2.n;2CYBByF#IbDZVDZfyf'%f\=ٔj;Q-j>9j"?Yj"?=nCFynDnߺEn>pQ 5v4r.?Q 9v4rV)rBYxyzQ Iz?r4CIrp:irF:r74y~Bɮ@EE% E%E%)E!"E%y>;*E%1:VE%FA4ZE!BE%U) e?i)N=顉i;iW,@<3N/I@IM9@I @I@M0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002403^Am+Q A I I O5 >,n#?A 6ȅ@6Ì@6hi>ٱ67 NAHRS rotation from veh to nav: [[-0.304933,0.949040,0.079619],[-0.940605,-0.287009,-0.181349],[-0.149256,-0.130190,0.980190]]6Hӿ^?a?pY^ҿ t6ǿÿ@ @]?i6ȅ@I6gUn;6CYZByZt#IimMb@Mb@Mb@iiii i9mK?MbMbYm^?ymmm@m@ m@)m@iYm@bD VD2yE"%>=ٔ;Q->9Y=CFyƕD^E>Q 54'?Q 94)qBYe?Q E:yQ I?UCI:iU:G?4yɮ @?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254791jhDNOT Ignoring new targets: 77.58 m.RhHZh H ProNav: ac range: 77.575943 m, nav range: 75.876381 m, bearing: 245.799930 deg, approach rate: -0.618198 m/s, LOS rate: -0.043910 deg/s, cmd heading: 253.641670 deg, new cmd heading: 253.587298 deg. Bh%HeadingCmd: 4.425933 target range: 77.575943 and range: 77.90 m.h%?@h!*h!"h! h!g!f)f)f-Bd1d1d1jd1Zd=A@e=BɢeH(>)i mߩ?ii)mc|=iqiuiun}w?<}. !I}?@IyI 9@  @ @ 0@ E5 E5E5+E1"E5B;*E5:VE5 [4ZE1a=@a=@a=@a=@y^A-6. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251 A I) IA OM >B +>B 5CB (#IB BB =B B DB #;B 08E!,#?ADJɶ@J@J֟>ٱJ nAHRS rotation from veh to nav: [[-0.306913,0.948351,0.080218],[-0.939620,-0.288519,-0.184043],[-0.151393,-0.131860,0.979639]]JH`uӿ X?@.?]wҿǿ`ÿ4Y?iJɶ@IJ9l;JCYv΄ByvY#I zp9Y=CFyΕDE>!Q 5-4%!?Q 9-4%mQ =5tI)%^BY1y5hQ I5?%rCI%j:i%@:%F4y9ɮE@AjhamDNOT Ignoring new targets: 77.58 m.Rhm>Zhu> ProNav: ac range: 77.575943 m, nav range: 75.647865 m, bearing: 245.784040 deg, approach rate: -0.595690 m/s, LOS rate: -0.041548 deg/s, cmd heading: 253.587302 deg, new cmd heading: 253.539486 deg. BhHeadingCmd: 4.425099 target range: 77.575943 and range: 77.90 m.hi@h*h"h hgfffdddjdZdR@4Bɢl)>) q?i)=iei"><R8Ii@Iu9@q @q@u4@q@y@}hAԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758424EE  EEEE,EA"EEG;*EEI:VEEg4ZEABEE+ ,o#?Aɰ:BDAT read: Rx Time:03:35:44.2183 :TRx dataTimestamp_ set to:1761536143.213171>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016556V@Vi@V>ٱVs ^AHRS rotation from veh to nav: [[-0.307945,0.948165,0.078438],[-0.939211,-0.289807,-0.184104],[-0.151829,-0.130363,0.979772]]VH _ӿ^W?}? 2ҿ`ǿ oÿKZ?iV@IVcl;TYfByfC#IIjV>)j=lbDrVDryz%zL=ٔ~F:Q-~>9Y=CFy֕D17E> Q 54 %?Q 94 \) JBYyQ I? CI ;i ; M4y!ɮ-@)EB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 77.58 m.Rh;Zh;% ProNav: ac range: 77.575943 m, nav range: 75.410233 m, bearing: 245.767614 deg, approach rate: -0.592073 m/s, LOS rate: -0.041054 deg/s, cmd heading: 253.539491 deg, new cmd heading: 253.490059 deg. Bh%f-HeadingCmd: 4.424236 target range: 77.575943 and range: 77.90 m.h-X@h)*h1"h1 h1gQfQfYfYdYdYdajdaZde`@颭+Bɢ#>) ]?i)Ζ=ii =<:IX@I9@ @@4@1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265336^A9EM  EM EI EI "EM 8;*EM :VEI ZEI aU @aU @aU @aU @ԉ A .AI I O >5,j#?AYEByE#IYiMb@Mb@Mb@ 9Gz?{GzYp?y#@ж@ @)@Y@bDVDβy%;=ٔQ->9 ?Y ?=CFyߕDE> Q 54 ?Q 94 ) 5BYu?Q E:yQ I? CI e ;i  ; T4y%Bɮ%@-EjhIUDNOT Ignoring new targets: 77.58 m.RhU$?ZhU$?e ProNav: ac range: 77.575943 m, nav range: 75.145523 m, bearing: 245.749438 deg, approach rate: -0.606295 m/s, LOS rate: -0.041777 deg/s, cmd heading: 253.490067 deg, new cmd heading: 253.435347 deg. Bhe_mHeadingCmd: 4.423281 target range: 77.575943 and range: 77.90 m.hm@hq*hq"hq hqgqfqfyf}BdydydjdZdz @"Bɢ$>)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514649 ??iY)]R=aaieiW&=<_,I@IԉAAAAB1>B6CB"IBeBB =BBDB-;B@8EBM5CBM5CBIBMū =BMū =CMx59@ @@4@Ա^A (A - DAT read: 03:35:44.2183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.04, 2.343, 0.812, 2.796, 2.412, PHS= 0.033,-1.554, 0.341, RAW= 158.7, 13.3, CAL= 159.2, 15.2, ROT= 350.8, -15.2 E Ygot valid direction response: 03:35:44.2183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.04, 2.343, 0.812, 2.796, 2.412, PHS= 0.033,-1.554, 0.341, RAW= 158.7, 13.3, CAL= 159.2, 15.2, ROT= 350.8, -15.2 e PDAT read: Bearing 50.1, -19.5 (Local) e ~Local bearing/azimuth received: Bearing 50.1, -19.5 (Local) u DAT read: Range 11 to 50 : 75.8 m (Round-trip 101.1 ms) speed 0.7 m/s AU ؟AIy I O >8D,!$?A*DAT read: user:388> BDAT read: Tx time:03:35:45.3130 $Ping request sent.E1@,m>1@ ԇ>)v@Iԇ&=L?~6_7y?9Μ? ,?)(nIl$iԇ%:publishing transmit ping time%Fpublishing direction and range infoyOĸ{?ÿ;f$?Ya )Ii )I&=L?~6_7y?9Μ? )Ii@搌@${>ٱ6 EAHRS rotation from veh to nav: [[-0.310621,0.947702,0.073314],[-0.938267,-0.293347,-0.183313],[-0.152219,-0.125729,0.980317]]H4ӿ S?IJ?G1ҿvǿ@{ÿ^?i@Il;CYBy#IbDVD0yq%7=ٔ"h:Q->9="?Y="?==CFy=DEλEE>IQ 5U4M# ?Q 9U4Mռ)MBYQy]Q Ie?MCIMD;iM.F;M\4yBɮ@ii#?AJiBRiBjiy@ba:aQ@.J'e3@ROĸ{?ÿ;f$?Zil$biԇj&ŵ?-@wP̣5#@ZMۿ} BT1r?2i[:i`"i~1$?*iRBiiBi~1$?iRiBiBi@M addTargetRange:: Added new target pos. range: 75.800003 m, deltaT: 3.781162 s, deltaX: -2.099998 m, approachRate: -0.555384 m/s, rangeRepo size: 4 } Added new target pos. range: 75.484390 m, bearing: 244.748325 deg, lat: 36.779354 deg, lon: -121.859612 deg, deltaT: 3.781162 s, deltaX: -2.091553 m, approachRate: -0.553151 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 75.48 m.RhZhԑ ProNav: ac range: 75.484390 m, nav range: 74.829788 m, bearing: 244.748594 deg, approach rate: 0.000000 m/s, LOS rate: -0.041777 deg/s, cmd heading: 253.435344 deg, new cmd heading: 253.375370 deg. BhHeadingCmd: 4.422235 target range: 75.484390 and range: 75.80 m.h@h*h"h hgfffdddjd@3R@Zd@)?EBɢEg>)A E?iI)Mie=IIimiu3uY;<,$?A2ۈ@2@2>ٱ2z >AHRS rotation from veh to nav: [[-0.312125,0.947367,0.071231],[-0.937732,-0.295184,-0.183099],[-0.152436,-0.123945,0.980511]]2Hӿ@P?+9IYI=MCFyUDUvEU>YQ 5e4]?Q 9e4]d)]BYe?Q Em:ymWQ Im?]CI]:i]:]c4yɮ@jhY]DNOT Ignoring new targets: 75.48 m.RheZhe ProNav: ac range: 75.484390 m, nav range: 74.611595 m, bearing: 244.723358 deg, approach rate: -0.586611 m/s, LOS rate: -0.068045 deg/s, cmd heading: 253.375375 deg, new cmd heading: 253.299445 deg. Bh:HeadingCmd: 4.420909 target range: 75.484390 and range: 75.80 m.E EE+E"Ey>;*E:VE [4ZEa@a@a@a@hx@h*h"h hgfffBdddjdZd d?MBɢUm$>)Q U?iQ)]KW=Yiimji _p;<LIx@I59@1 @1@5/@1)i)I)^A= 2DBE 0>BA BE "IBE -BBA BA BA Y BE :;BE N8EIQ Ia Ou > ,Z 7$?A2{@2u@2~>ٱ239 :AHRS rotation from veh to nav: [[-0.313703,0.947050,0.068465],[-0.937201,-0.297249,-0.182475],[-0.152462,-0.121409,0.980824]]2HԿ@;N??`ӿ`Z[ǿ`ÿb?i2{@I2pl;2CYVjByV"IbD^VD^yf%fP=ٔj8Q-j>9lYl=nCFynDnEn>pQ 5v4r ?Q 9v4rD)rBYxyzQ Iz?rCIr ;ir ;ri4y|ɮn@jh)-DNOT Ignoring new targets: 75.48 m.Rh5뤺Zh5뤺E ProNav: ac range: 75.484390 m, nav range: 74.380959 m, bearing: 244.696823 deg, approach rate: -0.624681 m/s, LOS rate: -0.072091 deg/s, cmd heading: 253.299451 deg, new cmd heading: 253.219601 deg. BhEEMHeadingCmd: 4.419516 target range: 75.484390 and range: 75.80 m.hMl@hI*hI"hQ hQgQfQfYfYdYdYdajdaZde3"?颕 Bɢi.>) }?i)i=顙i"oi:<eOIl@I-9@) @)@-/@)AE EEE"E=;*E:VEZEBEԙ ,bP$?A2wj@2Fe@2Ȑ>ٱ2 :AHRS rotation from veh to nav: [[-0.315561,0.946532,0.067077],[-0.936446,-0.299221,-0.183129],[-0.153266,-0.120602,0.980798]]2H&2ԿI? +?@]o&ӿ@pǿ9ÿ߾`b?i2wj@I2r9TYX=ZCFyZDZEZ>\Q 5b4^V?Q 9f4^6)^BYdyfQ If?^/CI^:i^$:^p4yhɮj@lzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 75.48 m.Rh  Zh   ProNav: ac range: 75.484390 m, nav range: 74.147217 m, bearing: 244.670135 deg, approach rate: -0.587911 m/s, LOS rate: -0.067339 deg/s, cmd heading: 253.219592 deg, new cmd heading: 253.139274 deg. Bh8%HeadingCmd: 4.418114 target range: 75.484390 and range: 75.80 m.h%0a@h!*h!"h! h)g)f)f)f1d1d1d1jd1Zd=m?ԙBɢ$>) ۗ?i)=iXiUe9 -,[j$?A2w\@2FW@2>ٱ2R :AHRS rotation from veh to nav: [[-0.317142,0.945997,0.067162],[-0.935851,-0.300695,-0.183755],[-0.153636,-0.121130,0.980675]]2HLԿE? 1?@}>ӿHǿ`Zÿf`a?i2w\@I2qh;2CYbSByb"IIf>)f>hjAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.703325iMb@Mb@Mb@ 9Zd;?I +?Yy94<@X@ A@)@YG@bD VD :yW%5=ٔwY:Q->9!Y!=%CFy% D- xE->1Q 5=45?Q 9=45)5ՆBY=?Q E=:yEQ IE?5QCI5 ;i5 ;5x4yMBɮMq@MEjhquDNOT Ignoring new targets: 75.48 m.Rh}yZh}y ProNav: ac range: 75.484390 m, nav range: 73.880310 m, bearing: 244.645674 deg, approach rate: -0.591865 m/s, LOS rate: -0.054439 deg/s, cmd heading: 253.139269 deg, new cmd heading: 253.065620 deg. BhqHeadingCmd: 4.416828 target range: 75.484390 and range: 75.80 m.hV@h*h"h hgfff΀BdddjdZd  2?uBɢu9!>)y }?iy)}=yyi}i#9<X`IV@IB1>BBf"IB BB =BBB<;BQ8E KC)=9@9 @9@=0@9iliA쳿9liAYAQ^Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955169I I O >y E  E E *E "E L;*E :VE (N4ZE BE ޡٱn j AHRS rotation from veh to nav: [[-0.318353,0.945594,0.067109],[-0.935364,-0.301824,-0.184381],[-0.154094,-0.121469,0.980561]]nH_ԿNB?.?Qӿʙǿ]ÿ`?inQ@Inf;nCYLBy"IbD-VD-N2y=#%=W=ٔ=:Q-=>9AYA=ECFyEDEcEM>IQ 5]4M?Q 9]4M)MņBYYy]Q I]?MnCIM;iM;Mo4ymBɮm@mEjhDNOT Ignoring new targets: 75.48 m.RhpZhp% ProNav: ac range: 75.484390 m, nav range: 73.655685 m, bearing: 244.625181 deg, approach rate: -0.573439 m/s, LOS rate: -0.052474 deg/s, cmd heading: 253.065612 deg, new cmd heading: 253.003947 deg. Bh% -HeadingCmd: 4.415752 target range: 75.484390 and range: 75.80 m.1h-M@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE`}@uBɢuM)>)y }?iy)}=yyi}Gi ￉ I8<)dIM@I 9@  @ @ 1@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207877Y^A-jbԹII I O > ?',g$?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459271NQQ@N L@N>ٱN&y VAHRS rotation from veh to nav: [[-0.318370,0.945662,0.066057],[-0.935283,-0.301985,-0.184531],[-0.154556,-0.120531,0.980604]]NH*`ԿB?`?@Sӿǿzÿ۾`a?iNQQ@INKje;NCYnEByn"IimMb@Mb@Mb@iiii i9mʡE?~jtxZd;O?Ym-?ymĻmj9Y=CFyDwظE>Q 54秊?Q 94Y)BYM?Q E:yQ I?CIC ;i ;4yɮ@jhDNOT Ignoring new targets: 75.48 m.RhNdZhuNd ProNav: ac range: 75.484390 m, nav range: 73.423637 m, bearing: 244.605321 deg, approach rate: -0.581197 m/s, LOS rate: -0.049900 deg/s, cmd heading: 253.003949 deg, new cmd heading: 252.944180 deg. BhHeadingCmd: 4.414709 target range: 75.484390 and range: 75.80 m.hKE@h*h"h hDzD?AbE [4jE¼P4rE0E3 E$E'E"Ej;*E;VE'4ZEa@a@a@a@gfffBdddjdZd@颵Bɢ $>) ?i)=ir"i@*￉Ec7<vUIKE@I=9@9 @9@=E1@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.711106) B )>B 5CB A"IB BB B B DB 6;B F8E^Am mAu fAzAu fAY A I I O >'-,\$?A>;X@> S@>>ٱ>o FAHRS rotation from veh to nav: [[-0.317537,0.945870,0.067089],[-0.935425,-0.300864,-0.185636],[-0.155402,-0.121703,0.980326]]>H@RԿ D?,?`\Aӿǿ`:ÿ`' ^?i>;X@I>d;>CYN;ByN"IbDVVDVy^E%bO=ٔb;Q-b>9dYd=fCFyf!Dfq ;Ef>hQ 5n4jj᧊?Q 9r4j)jBYpyrQ Ir?jCIjN:ijg:j4ytɮv$@xjhDNOT Ignoring new targets: 75.48 m.Rh`Zh%`5 ProNav: ac range: 75.484390 m, nav range: 73.201263 m, bearing: 244.586012 deg, approach rate: -0.564306 m/s, LOS rate: -0.049147 deg/s, cmd heading: 252.944171 deg, new cmd heading: 252.886069 deg. Bh5=HeadingCmd: 4.413694 target range: 75.484390 and range: 75.80 m.h=<@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@@}߁Bɢ}=.>)y }?i)sĨ=顁iKvi{K￉:6<W;I<@IԩBDAT read: Rx Time:03:35:47.8152 TRx dataTimestamp_ set to:1761536146.989273checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965617 9@  @ @ /@ E%& E%.E%+E!"E%8^;*E%;VE% [4ZE!BE%° checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215192) z4,$$?A2]@2X@2 >ٱ21Q :AHRS rotation from veh to nav: [[-0.316884,0.946140,0.066360],[-0.935595,-0.300332,-0.185641],[-0.155713,-0.120913,0.980374]]2HGԿF?@?@e 8ӿǿdÿ!9_?i2]@I2d;2CYJ91Y=CFy*D6:E>1Q 5}45nڧ?Q 9}45<)5BYyQ I?5CI5{)I M?iI)U-W=QQiU}i]q￉]5<]0'%I]l3@IDAT read: 03:35:47.8152 LVL= 32752, 32753, 30498, 32755, AGC= 66, IDX= 408, 0.23, 0.161,-1.332, 0.728, 0.171, PHS= 0.092,-1.458, 0.513, RAW= 161.7, 9.5, CAL= 161.6, 10.2, ROT= 348.4, -10.2 Ygot valid direction response: 03:35:47.8152 LVL= 32752, 32753, 30498, 32755, AGC= 66, IDX= 408, 0.23, 0.161,-1.332, 0.728, 0.171, PHS= 0.092,-1.458, 0.513, RAW= 161.7, 9.5, CAL= 161.6, 10.2, ROT= 348.4, -10.2 -PDAT read: Bearing 44.2, -21.6 (Local) -~Local bearing/azimuth received: Bearing 44.2, -21.6 (Local) 9EDAT read: Range 11 to 50 : 73.5 m (Round-trip 98.0 ms) speed 0.4 m/s M*DAT read: user:389> UBDAT read: Tx time:03:35:48.9130 e$Ping request sent.eJ4@ K6>)Q@IK6_#? 䉆?hv,? Q:?)/*I4QOiK6:publishing transmit ping timeaFpublishing direction and range infoy?JTɿki?Y )Ii )I_#? 䉆?hv,? )IU9@Y @Y@]4@YiD5=D5<E=0 E=5E9E9"E=Jg;*E= ;VE9ZE9aE@aE@aE@aM@i ^A} [1ԡ A .AI I O >&{;,'$?A2k@2hf@2 >ٱ2" JAHRS rotation from veh to nav: [[-0.315287,0.946635,0.066909],[-0.936060,-0.298613,-0.186069],[-0.156159,-0.121296,0.980256]]2H-ԿJ?` ? 4{ӿǿÿ@ A^?i2k@I20d;2CYR9ByR"IimMb@Mb@Mb@B} >B}3CB}."IB}܃BB} =ByB}DB}7;B}?8Eiiii i9mDl?Zd;OL7A`?YmO ?ymjm+=m @m@ m@)m@iYmG@ 4<p;bDVDyA%,=ٔz:Q->9 ?Y ?=CFy3D t;E>Q 54Dӧ?Q 942)BY ?Q E:yQ I?CI ;iL:4yBɮ@ȤEiiu$?AJiaBRiaBjiƆ@b8Q@ ,P#)@R?JTɿki?Zi4QObiK6jKVA/PX @ZEj޿lC ?2iF:i^ "i)'F?*iv.BiBi+?il7PiiBiBiɉ@ addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.528157 s, deltaX: -2.300003 m, approachRate: -0.651899 m/s, rangeRepo size: 4   Added new target pos. range: 73.190819 m, bearing: 241.315387 deg, lat: 36.779354 deg, lon: -121.859610 deg, deltaT: 3.528157 s, deltaX: -2.293571 m, approachRate: -0.650076 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 73.19 m.RhZhE ProNav: ac range: 73.190819 m, nav range: 72.557426 m, bearing: 244.470755 deg, approach rate: 0.000000 m/s, LOS rate: -0.044262 deg/s, cmd heading: 252.819179 deg, new cmd heading: 252.764957 deg. BhAMHeadingCmd: 4.411581 target range: 73.190819 and range: 73.50 m.hM+@hI*hI"hI hQgQfQfQf]4BdYdYdYjd]`R@Zde@+?-́Bɢ-L+>)1 5?i1)5m=11i5!i]￉]n,5B,B %?A4<ɰ4<2y@2t@2_a >ٱ2 >AHRS rotation from veh to nav: [[-0.313683,0.947043,0.068647],[-0.936628,-0.296736,-0.186213],[-0.155982,-0.122709,0.980108]]2H`bԿ -N?ؒ?ҿ@ǿ7ÿi ]?i2y@I2Od;2CYB)ByF"IbDNVDNkyV%VT=ٔV!Q-V>9"?Y"?=CFy ;D F;E >Q 54̧?Q 94)BY!y%Q I%?CI:iF:4y-Bɮ-@-ǤEjhQ]DNOT Ignoring new targets: 73.19 m.Rh]<Zh]<m ProNav: ac range: 73.190819 m, nav range: 72.339523 m, bearing: 244.455452 deg, approach rate: -0.585938 m/s, LOS rate: -0.041273 deg/s, cmd heading: 252.764947 deg, new cmd heading: 252.718900 deg. BhuuHeadingCmd: 4.410777 target range: 73.190819 and range: 73.50 m.hu%@hy*hy"hy hygyfyffdddjdZdb?颽ǁBɢd94>) ~?i)=i5i￉4<I%@IE9@I @I@M/@I^AU1A I I O > > a=Q %H,g$%?AYEByEx"IEQ EUEU(EQ"EQ*EU]:VEUc44ZEQae@ae@ae@ae@iMb@Mb@Mb@ 9Zd;O?Zd;OQ?Y~ ?yj<\=z@"@ 9@)@Y@bDVDy|%7=ٔQ->9Y = CFy DD E >Q 54ŧ?Q 9%4Q){BY%H ?Q E%:y%/Q I%?"CI :i:41y)ɮ55@9jhYeDNOT Ignoring new targets: 73.19 m.RhedZhedu ProNav: ac range: 73.190819 m, nav range: 72.103233 m, bearing: 244.446724 deg, approach rate: -0.540819 m/s, LOS rate: -0.020042 deg/s, cmd heading: 252.718912 deg, new cmd heading: 252.692643 deg. Bh}\}HeadingCmd: 4.410318 target range: 73.190819 and range: 73.50 m.h}T!@h*h"h hgfffOBdddjdZd`C?BɢZ )>) 0?i)/=isi￉4<kIT!@Ia!@! @!@-/@)B>BB"IBǃBB =BBDB<;BB8EBBBƔCBƩ =BCn6ԉ^A &tA gAzA dAԹ A1 I9 IQ Om >N,L>%?A2@2ϊ@2s>ٱ2G :AHRS rotation from veh to nav: [[-0.311202,0.947792,0.069590],[-0.937687,-0.294322,-0.184709],[-0.154584,-0.122735,0.980326]]2H ӿPT?б?@`-ҿǿiÿk`^?i2@I2Of;2CYB ByBj"IHJAAbDNVDNܲyVs%Va=ٔVtQ-V>9XYX=ZCFyZKD^;E^>\Q 5j4^?Q 9j4^)^sBYhyjQ Ij?^;CI^C;i^C;^汚4ypɮr@pjh  DNOT Ignoring new targets: 73.19 m.Rh@ùZh@ù% ProNav: ac range: 73.190819 m, nav range: 71.906754 m, bearing: 244.438995 deg, approach rate: -0.540918 m/s, LOS rate: -0.021338 deg/s, cmd heading: 252.692629 deg, new cmd heading: 252.669377 deg. Bh%Mj-HeadingCmd: 4.409913 target range: 73.190819 and range: 73.50 m.h-@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE ~?mBɢm\1>)q u ?iq)u>=qqiui}f￉Ȧ3<BI@Iy9@ @@/@E EE-E"EO;*E :VEt4ZEBE8 U,X%?AFF@F@F?>ٱF\ NAHRS rotation from veh to nav: [[-0.310058,0.948114,0.070316],[-0.938174,-0.293155,-0.184091],[-0.153926,-0.123047,0.980391]]FHӿV?5? ҿ Oǿڳÿ `\_?iFF@IF]Jf;DYVByVe"I \\bDeVDe1y>%<=ٔźQ->9Y=CFyTD8;E=>QQ 5m4U?Q 94U )UiBYyQ I?U[CIUN0)  i?i)$==i'i￉"3<2I%@I!9@ @@0@!E EE,E"EUS;*E]:VEg4ZEa=@a=@a=@a=@Q ^A *: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256632A1 I9 IQ O] >K\,~sr%?A6*@6@6!P>ٱ6 >AHRS rotation from veh to nav: [[-0.309084,0.948272,0.072437],[-0.938643,-0.291915,-0.183669],[-0.153022,-0.124761,0.980316]]6Hӿ?X?`4?] ཮ҿsǿ=ÿ X^?i6*@I65e;4YFByFS"IBLALBR >BPBR!IBRBBPBPBPBRE;BRL8EiMb@Mb@Mb@ 9S㥛? rhV-?Y$?yC<@@ O@)@Y@bDVDkyؒ%G=ٔQ->9Y=CFy]D1;E>Q 54H?Q 94 )`BYx?Q E:yQ I?uCI:i3:4yBɮ G@ ƤEjh15DNOT Ignoring new targets: 73.19 m.Rh=,bZh=,b ProNav: ac range: 73.190819 m, nav range: 71.454666 m, bearing: 244.427885 deg, approach rate: -0.553120 m/s, LOS rate: -0.003090 deg/s, cmd heading: 252.639408 deg, new cmd heading: 252.635942 deg. BhHeadingCmd: 4.409329 target range: 73.190819 and range: 73.50 m.h9@h*h"h hgfffoBdddjdZd @A]Bɢ]n0>)Y ]l?ia)e=aaieIim￉m2A >ԩ E  E E 'E "E W;*E :VE '4ZE BE Fb,=%?A2@2N@2!}>ٱ2Y :AHRS rotation from veh to nav: [[-0.307823,0.948372,0.076388],[-0.939187,-0.290032,-0.183875],[-0.152227,-0.128344,0.979977]]2H aӿY?*?@ ҿ7ǿ ,|ÿm[?i2@I24e;2C9XYX=ZCFyZdD^x;E^>`Q 5f4bi?Q 9f4b)bXBYdyjQ Ij?bCIb:ib:b ǚ4ynBɮn@nϤEjhDNOT Ignoring new targets: 73.19 m.Rh >Zh > ProNav: ac range: 73.190819 m, nav range: 71.262360 m, bearing: 244.426551 deg, approach rate: -0.527646 m/s, LOS rate: -0.003668 deg/s, cmd heading: 252.635939 deg, new cmd heading: 252.631928 deg. Bh!%HeadingCmd: 4.409259 target range: 73.190819 and range: 73.50 m.h%@h!*h!"h) h)g)f)f1f1d1d1d1jd9Zd=@eBɢm k3>)i m6?ii)m衸=qqiui￉t2<we9I@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7602549@ @@4@Ա^A BDAT read: Rx Time:03:35:51.4126  TRx dataTimestamp_ set to:1761536150.520055 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013067 A! I1 E PExceeded connect timeout, disconnecting.II OU >-i,5%?AE*# E*E(E("E*[;*E*A:VE(ZE(a.@a.@a.@a.@dYz؃Byz*"II~C>)~py}Q}+=}\@}@ }@)}\@yY}@bDVDy[ڼ%;=ٔQ->9Y=CFymDE>Q 54?Q 94)QBY?Q E:yQ I?CIm ;i ;Κ4yɮ@jhDNOT Ignoring new targets: 73.19 m.Rh9Zh 9 ProNav: ac range: 73.190819 m, nav range: 71.041473 m, bearing: 244.433565 deg, approach rate: -0.504642 m/s, LOS rate: 0.016072 deg/s, cmd heading: 252.631922 deg, new cmd heading: 252.653027 deg. Bh|0:HeadingCmd: 4.409627 target range: 73.190819 and range: 73.50 m.h@h!*h!"h! h!gfffBdddjdZd`ˋ @UBɢU'>)Y Ϗ?i){ɺ=iti￉2<ಹI@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264150q@q @q@q@qB$>B4CB!IBBB =BBDBQ;B\8E!춿9Y˦A^A 9Y A I I O >>o,%?A:`ƅ@:/@:>ٱ:> FAHRS rotation from veh to nav: [[-0.305122,0.948605,0.083964],[-0.940195,-0.286045,-0.184966],[-0.151442,-0.135380,0.979151]]:H ӿ@Z?@~?@Nҿǿ@tbÿT5U?i:`ƅ@I:Ìd;:CYNByN "IbDVVDVkzDAT read: 03:35:51.4126 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.01, 0.951,-0.598, 1.530, 0.972, PHS= 0.081,-1.525, 0.514, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 ~Ygot valid direction response: 03:35:51.4126 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.01, 0.951,-0.598, 1.530, 0.972, PHS= 0.081,-1.525, 0.514, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 PDAT read: Bearing 45.9, -21.5 (Local) ~Local bearing/azimuth received: Bearing 45.9, -21.5 (Local) DAT read: Range 11 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.4 m/s *DAT read: user:390> BDAT read: Tx time:03:35:52.5130 %$Ping request sent.%9IYI=MCFyMuDUi;EU>YQ 5e4]?Q 9e4]H)]KBYayebQ Ie?]CI]-:i]:]|՚4yqɮu@qib33ÿb?bJ4@b¸2>` bB>)`IbB``b\5R?uP?wS()F? bZ9?)b3I`ibB``:publishing transmit ping time!Fpublishing direction and range infoy`b[?Na FɿoG4?Y````` `)`I`i````i`ib9%?AJibBRibBjib6I@bbgAN%Q@ԗ!',9_*@Rb[?Na FɿoG4?Zi`bibBjb?/ @\yOMk@Zbc IݿA@}@, 9?2ib{:ib"ibt?*ib+Bib/BibZ?ib:'ibܐBibӎBibcÇ@` `)`I```b\5R?uP?wS()F? `)`I`i``` addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.531876 s, deltaX: -1.900002 m, approachRate: -0.537958 m/s, rangeRepo size: 4  Added new target pos. range: 71.299271 m, bearing: 242.228617 deg, lat: 36.779338 deg, lon: -121.859607 deg, deltaT: 3.531876 s, deltaX: -1.891548 m, approachRate: -0.535565 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 71.30 m.RhZhU ProNav: ac range: 71.299271 m, nav range: 71.413635 m, bearing: 243.083140 deg, approach rate: 0.000000 m/s, LOS rate: 0.016072 deg/s, cmd heading: 252.653014 deg, new cmd heading: 252.673166 deg. BhQ]HeadingCmd: 4.409979 target range: 71.299271 and range: 71.60 m.h]@hY*hY"hY hYgYfafafadadidiE EE(E"E8;*E;:VEc44ZEBE؏) (?i)9=iMCiM=￉U1;v, $%?A6х@6V̌@6>ٱ6t VAHRS rotation from veh to nav: [[-0.303823,0.949191,0.082023],[-0.940551,-0.285105,-0.184605],[-0.151840,-0.133234,0.979384]]6Hqӿ@_?@t?'?ҿ@"ǿ@oÿ `W?i6х@I6d;6CY^By^!IbDfVDfyr%%vE=ٔzj:Q-~>9 ?Y  ?=CFy}Dc];E%>9Q 5]4= ?Q 9e4= y)=EBYyOQ I?=CI=k)  `?i)j=i*i￉]1o1<]S<;I]W@IaԙbEUƙT4jEUL4rEUxE0E EE*E"E2;*EVE(N4ZEa @a @a @a @ 9@ @@/@^A= ] ; Am ؟ABu &>Bq Bu !IBu \BBu =Bq Bq Bu _;Bu l8EI I O >w|,j%?AY%By%!I ))-=-p=qiMb@Mb@Mb@ 9x?MbX9v?YK>y<@@ @)@Y@bDVDy%7=ٔQ->9"?Y"?=CFyDE>Q 54h?Q 94%)>BYo>Q E:y)Q I?CI:i:>4y Bɮ ?@ %B*** querying acoustic contact ***i! i!jh1=DNOT Ignoring new targets: 71.30 m.Rh=J9Zh=J9M ProNav: ac range: 71.299271 m, nav range: 70.992813 m, bearing: 243.089243 deg, approach rate: -0.559450 m/s, LOS rate: 0.011083 deg/s, cmd heading: 252.678723 deg, new cmd heading: 252.691545 deg. BhUe9UHeadingCmd: 4.410299 target range: 71.299271 and range: 71.60 m.hU,!@hY*hY"hY hYgYfYfafeiBdadadijdiZdma'?Bɢ)>) ?i)=!i%iM￉M+1*w, &?A2w@2F@2[>ٱ2 :AHRS rotation from veh to nav: [[-0.301062,0.950226,0.080198],[-0.941004,-0.282404,-0.186440],[-0.154512,-0.131596,0.979188]]2HDӿ Ah?և?ҿ@Eǿ ÿ`&@U?i2w@I2d;2CYB^ByF!IbDNVDN 8yrb%v\=ٔv9;Q-v>9v ?Yz ?=zCFyzDz;Ez>|Q 54~!?Q 9 4~N))~8BY y Q I ?~CI~:i~:~4yɮ@jh9EDNOT Ignoring new targets: 71.30 m.RhEV 9ZhMV 9U ProNav: ac range: 71.299271 m, nav range: 70.809860 m, bearing: 243.092488 deg, approach rate: -0.492601 m/s, LOS rate: 0.008761 deg/s, cmd heading: 252.691536 deg, new cmd heading: 252.701298 deg. Bh]g9eHeadingCmd: 4.410470 target range: 71.299271 and range: 71.60 m.he"@ha*ha"ha hagafififididqdqjdqZdu`?颥~Bɢ(>) !p?i)^=顩ii&￉(0<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248340;I"@IU9@Q @Q@U/@Q@Y@Y ^A] ;A->A->9I1 IA OM >u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500403a E  E E E "E I@;*E :VE ZE a @a @a @a @2,c(&?A2@2@2Bf >ٱ2j :AHRS rotation from veh to nav: [[-0.300813,0.950318,0.080051],[-0.940838,-0.281983,-0.187909],[-0.156000,-0.131841,0.978919]]2H@ӿ@i??~?W ҿ@i ȿÿ)`MS?i2@I2&rd;2CYBJByB|!Ii Mb@Mb@Mb@     9 !rh?kt~jt?Y l?y  < fA 1@ 1@) |A Y 3@bD%VD%y5i%5F=ٔ5n;Q-5>9Y=CFyDt9E>Q 54w?Q 94.),BYI ?Q E:yJQ I?.CI;i;.4yɮ@9jhamDNOT Ignoring new targets: 71.30 m.Rh Zh  ProNav: ac range: 71.299271 m, nav range: 70.582695 m, bearing: 243.091640 deg, approach rate: -0.514336 m/s, LOS rate: -0.001928 deg/s, cmd heading: 252.701290 deg, new cmd heading: 252.698736 deg. BhTHeadingCmd: 4.410425 target range: 71.299271 and range: 71.60 m.h4"@h*h"h hgfffdBdd djdZdT?颅vBɢ\>) 3j?i)0=顉i|i￉0<-;I4"@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752648a9@ @@@B1>B6CBA!IBBB =BBDBI;B_8Eԉ^A ϩ;Թ I I O >舐,:>B&?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004332Rz@RI@R,">ٱR ZAHRS rotation from veh to nav: [[-0.299992,0.950712,0.078438],[-0.940829,-0.281280,-0.189006],[-0.157628,-0.130497,0.978838]]RH3ӿ:l? {?D{ҿ [1ȿ#-Ŀ`R?iRz@IRd;RCYb&BybO!IIfR>)f>hjAbDnVDn:yv9%vO=ٔz;Q-z>9xYx=~CFy~D;E>Q 5%4o?Q 9-4y3)"BY1y5?Q I5?HCIY;i;4yMBɮM\@MפEjhDNOT Ignoring new targets: 71.30 m.Rh-Zh-= ProNav: ac range: 71.299271 m, nav range: 70.377388 m, bearing: 243.090754 deg, approach rate: -0.546164 m/s, LOS rate: -0.002364 deg/s, cmd heading: 252.698749 deg, new cmd heading: 252.696083 deg. Bh=ϸEHeadingCmd: 4.410378 target range: 71.299271 and range: 71.60 m.hE!@hA*hA"hA hAgAfIfIfIdIdQE} E}E}*Ey"E}<;*E}r:VE}(N4ZEyBE}ē) [?i)x=  i Мi5$￉5:0<5B;I5!@I99@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256278^A I! I1 OE > 0,\&?A>@>@>#>ٱ>8; JAHRS rotation from veh to nav: [[-0.299627,0.950974,0.076626],[-0.940671,-0.281062,-0.190110],[-0.159253,-0.129042,0.978768]]>H-ӿan?Ý?`@ѿUȿibĿsR?i>@I>jRd;>CYR ByR.!IbD^VD^1yf%fM=ٔf;Q-f>9hYl=rCFyrDv4F:Ez> Q 5%4 g?Q 9-4 8) BY9yE<Q IE? dCI ;i ; 4yɮ @jhDNOT Ignoring new targets: 71.30 m.RhYZhY5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508323E ProNav: ac range: 71.299271 m, nav range: 70.162338 m, bearing: 243.089786 deg, approach rate: -0.476457 m/s, LOS rate: -0.002149 deg/s, cmd heading: 252.696072 deg, new cmd heading: 252.693161 deg. BhEѼEHeadingCmd: 4.410327 target range: 71.299271 and range: 71.60 m.hMg!@hI*hI"hI higifqfqfqdqdydyjdyZd} W<@-hBɢ56>)5 5B A B 0>B B IB ΂BB =B B B 0;B H8EB4CBBB˭ =Bˬ =Ck6q ,>v&?AV@V@VoU%>ٱVd ^AHRS rotation from veh to nav: [[-0.299340,0.951254,0.074240],[-0.940506,-0.281057,-0.190931],[-0.160758,-0.126976,0.978792]]VHc(ӿp?^?@ѿlpȿณĿ @CR?iV@IVtd;VCYfނByf IiUMb@Mb@Mb@QQQQ Q9U?V-y&1?YU ?yUhU`e9Y=CFyDk:E> Q 54 _?Q 94 V>) BY?Q E:y>Q I? CI u ;i  ; 4y!ɮ%@!EB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 71.30 m.Rh]Zh]m ProNav: ac range: 71.299271 m, nav range: 69.919487 m, bearing: 243.082487 deg, approach rate: -0.628671 m/s, LOS rate: -0.018962 deg/s, cmd heading: 252.693148 deg, new cmd heading: 252.671174 deg. Bhm6PuHeadingCmd: 4.409944 target range: 71.299271 and range: 71.60 m.huC@hq*hq"hq hqgyfyfyf}*BdddjdZd7@@颵bBɢT>) =?i)O =项i_ i^￉F0<M;IC@I)9@ @@4@%BDAT read: Rx Time:03:35:55.0103 %TRx dataTimestamp_ set to:1761536154.048274-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013457YE} E}E}*Ey"E}3;*E}:VE}(N4ZEyBE}ԁ ԣ,&?A06@6@6!&>ٱ66  >AHRS rotation from veh to nav: [[-0.299507,0.951313,0.072797],[-0.940221,-0.281327,-0.191937],[-0.162112,-0.125932,0.978704]]6H+ӿ'q?Т?IDҿ cȿ Ŀ``Q?i6@I6 e;6CYFÂByF I HHN=Na=bDRVDR yZ%Zb=ٔZ8x;Q-Z>9\Y\=~CFy~D0E> Q 54 W?Q 94 5C) BYyCQ I? CI  :i ; "4yAɮE@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325jhDNOT Ignoring new targets: 71.30 m.RhZh ProNav: ac range: 71.299271 m, nav range: 69.715454 m, bearing: 243.076368 deg, approach rate: -0.537260 m/s, LOS rate: -0.016160 deg/s, cmd heading: 252.671182 deg, new cmd heading: 252.652771 deg. Bhs1HeadingCmd: 4.409623 target range: 71.299271 and range: 71.60 m.h@h*h"h hgfffddd jd Zd ) N3?i)*=顡iDi￉I!0<,%;I@I ԉ9@ @@/@^AX;I  DAT read: 03:35:55.0103 LVL= 32752, 32753, 26930, 32755, AGC= 69, IDX= 422, 0.11, 3.133, 1.608,-2.517, 3.107, PHS= 0.128,-1.454, 0.615, RAW= 163.0, 7.6, CAL= 162.6, 7.7, ROT= 347.4, -7.7  Ygot valid direction response: 03:35:55.0103 LVL= 32752, 32753, 26930, 32755, AGC= 69, IDX= 422, 0.11, 3.133, 1.608,-2.517, 3.107, PHS= 0.128,-1.454, 0.615, RAW= 163.0, 7.6, CAL= 162.6, 7.7, ROT= 347.4, -7.7 I! O= > PDAT read: Bearing 42.1, -22.3 (Local)  ~Local bearing/azimuth received: Bearing 42.1, -22.3 (Local)  DAT read: Range 11 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.1 m/s  *DAT read: user:391>  BDAT read: Tx time:03:35:56.1130 ] $Ping request sent.] i= = p?= 6@= >= >5@E  E E E "E :;*E :VE ZE a @a @a @a @ = >)= W@I= 9 9 = owJ?*1? 1A?Jd? = *@?)= I= t0ai= 9 9  :publishing transmit ping time  Fpublishing direction and range infoy9 = ݇?p˿L`u&?Y9 9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 9 9 = owJ?*1? 1A?Jd? 9 )9 I9 i9 9 9 ,V&?A`Y]By] IiMb@Mb@Mb@ 99Y=CFyDE%>!Q 5U4%PO?Q 9U4%I)%BYU?Q EU:yU\Q IU?%CI%;i%;%h4yeBɮe$Ae֤Eiiimn&?AJimBRimBjim@bmJP@Rf .Z`"@Rm݇?p˿L`u&?Zimt0abim jm$/@ aNخ?Zm~X߿z뿀$QdY?2ims:im"im]w;3?*imBim҂Bim'F?im+imBimcBim=@5 addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.530198 s, deltaX: -1.799995 m, approachRate: -0.509885 m/s, rangeRepo size: 4 E Added new target pos. range: 69.508919 m, bearing: 240.951061 deg, lat: 36.779330 deg, lon: -121.859599 deg, deltaT: 3.530198 s, deltaX: -1.790352 m, approachRate: -0.507153 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 69.51 m.RhmZhi} ProNav: ac range: 69.508919 m, nav range: 69.195007 m, bearing: 242.149387 deg, approach rate: 0.000000 m/s, LOS rate: -0.016160 deg/s, cmd heading: 252.652768 deg, new cmd heading: 252.629064 deg. BhyHeadingCmd: 4.409209 target range: 69.508919 and range: 69.80 m.h=@h*h"h hgfffBdddjd@3sQ@Zdl?=TBɢ=R >)9 =#?BM(>BM5CBMs IBMsBBM =BIBMDBM;BM'8Ei9)e4w=aaieimx￉m/A>ԙA؟AIQIiOu?y,К&?Aff@f5@f(>ٱf" rAHRS rotation from veh to nav: [[-0.300822,0.950962,0.071961],[-0.939437,-0.282491,-0.194055],[-0.164211,-0.125979,0.978348]]fH@ӿFn?l?@Vҿ`ȿſ N?iff@IfS`b;fCYvjByzh II~a=)~=bDVD1y2%=ٔ5;Q->9"?Y%"?=%CFy%ʖD%7E%>)Q 554-E?Q 9=4-KQ)-ͅBY9y=Q I=?-CI-;i-3;-4yEBɮEAMEYjhqiyI}ADNOT Ignoring new targets: 69.51 m.RhbZhb ProNav: ac range: 69.508919 m, nav range: 68.888702 m, bearing: 242.123975 deg, approach rate: -0.594726 m/s, LOS rate: -0.049559 deg/s, cmd heading: 252.629054 deg, new cmd heading: 252.552480 deg. Bh HeadingCmd: 4.407872 target range: 69.508919 and range: 69.80 m.hJ @h*h"h hgfffdddjdZd5?额LBɢSx>) ?i)&=顩iiC 𿉧/<*;IJ @IԁԹ9@ @@0@ D} %=Dy E $ E E E "E g\;*E :VE ZE a @a @a @a @^A T; AAIIIYOm?,}&?AY =By 0 IiMb@Mb@Mb@ 9ʡE?{GzMbY?yףA@ @)AYp@bDVDfy-%=ٔQ->9Y=CFyՖDE>Q 54fBB IBBB =BBB;B8E 9=C9U(hAi9(hAYAjhDNOT Ignoring new targets: 69.51 m.RhZh ProNav: ac range: 69.508919 m, nav range: 68.572418 m, bearing: 242.086593 deg, approach rate: -0.550816 m/s, LOS rate: -0.065403 deg/s, cmd heading: 252.552474 deg, new cmd heading: 252.439809 deg. Bh3HeadingCmd: 4.405906 target range: 69.508919 and range: 69.80 m.h.@h*h"h hgfffBdddjdZdE`?DBɢ:>)  >i ) =  i iJ𿉧/<w'?A>I݅@>،@>\*(>ٱ>b FAHRS rotation from veh to nav: [[-0.301903,0.950530,0.073126],[-0.939216,-0.283400,-0.193798],[-0.163487,-0.127189,0.978312]]>H`Rӿj?`[?:#ҿ^ȿ#Ŀ`GUN?i>I݅@I>c`;>CYNByRI TTbDZVDZyb~%b!=ٔbQ-f>9dYd=fCFyfߖDjEj>lQ 5r4n3?Q 9r4n`)nBYpyvQ Iv?n7CIn :in:n14yxɮz<AxB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 69.51 m.Rh%߳Zh%߳1= ProNav: ac range: 69.508919 m, nav range: 68.268219 m, bearing: 242.050604 deg, approach rate: -0.661662 m/s, LOS rate: -0.078628 deg/s, cmd heading: 252.439803 deg, new cmd heading: 252.331356 deg. Bh=WEHeadingCmd: 4.404013 target range: 69.508919 and range: 69.80 m.hE@hA*hI"hI hIgIfIfQfQdQdYdYjdYZd]`?颍=Bɢ%q>) q>i)E=顑imi𿉧ϓ/<DY zD] @AbE(N4jErO4rEɧ/Ee  Ee Ee ,Ea "Ee <;*Ee :VEe g4ZEa au @au @au @au @Թ `ʉ,>B-'?AFօ@FWь@Fn5'>ٱF U NAHRS rotation from veh to nav: [[-0.302724,0.950334,0.072268],[-0.939112,-0.284496,-0.192695],[-0.162565,-0.126201,0.978594]]FH_ӿ#i?)?3 @.5ҿ@>ȿĿ@^'P?iFօ@IFFD`;FCYVByVIi5Mb@Mb@Mb@1111 195NbX9?~jt?S㥛Y5%?y5D<5/ݼ5xA5(@ 5@)5 A1Y5@bDMVDM1ԙy%:=ٔ# Q->9Y=CFyDE>Q 54,?Q 94g)rBY %?Q E :y EQ I ?[CI.:iC:94yBɮ[AߤEjh9EDNOT Ignoring new targets: 69.51 m.RhEZhE] ProNav: ac range: 69.508919 m, nav range: 67.994293 m, bearing: 242.006374 deg, approach rate: -0.622837 m/s, LOS rate: -0.100975 deg/s, cmd heading: 252.331367 deg, new cmd heading: 252.198140 deg. Bh]]HeadingCmd: 4.401688 target range: 69.508919 and range: 69.80 m.heڌ@ha*ha"ha hagafafifmրBdididqjdqZdu@颥6Bɢ1=) ׽>i)5=顩iLSi𿉧v/<}#BBIBƁBBBBB;B8E-9@) @)@-3@)^Am<IIO>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4572491 щ,qG'?A2υ@2ʌ@2DO&>ٱ2 :AHRS rotation from veh to nav: [[-0.303535,0.950176,0.070935],[-0.938999,-0.285668,-0.191504],[-0.161699,-0.124737,0.978925]]2Hmӿg?@(?H `bHҿ5ȿĿZS?i2υ@I2s*`;2CYBׁByBIbDJVDJyR"%Ra=ٔV~Q-V>9TYT=ZCFyZDZsEZ> Q 54 &?Q 94E% E%E%+E!"E%a?;*E%:VE% [4ZE!BE%i)!=i_i񿉧/<`2y l׉,} a'?ANc@N2@N"%>ٱN] rAHRS rotation from veh to nav: [[-0.305250,0.949835,0.068083],[-0.938644,-0.288059,-0.189657],[-0.160531,-0.121798,0.979487]]NH8ӿ e?m?^ `oҿ Fȿ@HĿ).`W?iNc@IN]`;LYByI mp9yYy=}CFy}D}ZyE}>Q 54?Q 94t):BYyQ I?CI;iK; H4yBɮAEjh!-DNOT Ignoring new targets: 69.51 m.Rh-Zh-= ProNav: ac range: 69.508919 m, nav range: 67.479584 m, bearing: 241.923020 deg, approach rate: -0.617209 m/s, LOS rate: -0.100320 deg/s, cmd heading: 252.084742 deg, new cmd heading: 251.947139 deg. BhHeadingCmd: 4.397307 target range: 69.508919 and range: 69.80 m.h@h*h"h hgfffdddjdZd@_@ *Bɢ C=)/ />i)/K=iCivdD!D%<E- E-E-*E)"E-1A;*E-r:VE-(N4ZE)a5@a5@a5@a5@E/B 6CB GIB BB =B =DB DB ;B 8EI I O > މ,z'?A2*@2@2#>ٱ2 :AHRS rotation from veh to nav: [[-0.307507,0.949450,0.063112],[-0.938093,-0.291379,-0.187295],[-0.159438,-0.116800,0.980274]]2H`2ӿa?(?ҿ IǿvhĿ潿g^?i2*@I2k`;0YBByBIiEMb@Mb@Mb@AAAA A9ES㥛?~jt? rhYE$?yE9qYq=uCFyuDuAлE}>Q 54"?Q 94z)#BY %?Q E:y1Q I?CI:i:~N4yɮAAjhDNOT Ignoring new targets: 69.51 m.RhZh ProNav: ac range: 69.508919 m, nav range: 67.250748 m, bearing: 241.881920 deg, approach rate: -0.633148 m/s, LOS rate: -0.114103 deg/s, cmd heading: 251.947128 deg, new cmd heading: 251.823408 deg. BhHeadingCmd: 4.395148 target range: 69.508919 and range: 69.80 m.h @h*h"h hgfffπBdddjdZdo @%%Bɢ%o=)) -+>i))-=))i-:i59񿉧=/<=5 9 ",ŭ'?A:DAT read: 03:35:58.6077 LVL= 32752, 32753, 28002, 32755, AGC= 68, IDX= 411, 0.11, 3.094, 1.605,-2.558,-3.129, PHS= 0.042,-1.505, 0.527, RAW= 163.2, 10.2, CAL= 163.2, 11.2, ROT= 346.8, -11.2 >Ygot valid direction response: 03:35:58.6077 LVL= 32752, 32753, 28002, 32755, AGC= 68, IDX= 411, 0.11, 3.094, 1.605,-2.558,-3.129, PHS= 0.042,-1.505, 0.527, RAW= 163.2, 10.2, CAL= 163.2, 11.2, ROT= 346.8, -11.2 BPDAT read: Bearing 46.1, -23.4 (Local) F~Local bearing/azimuth received: Bearing 46.1, -23.4 (Local) JDAT read: Range 11 to 50 : 67.8 m (Round-trip 90.5 ms) speed 0.6 m/s N*DAT read: user:392> RBDAT read: Tx time:03:35:59.7130 R$Ping request sent.Rٱrb zAHRS rotation from veh to nav: [[-0.309647,0.948861,0.061493],[-0.937444,-0.293819,-0.186733],[-0.159116,-0.115468,0.980484]]rH`Aӿ]?`|?ҿ@ǿ]ĿO` `?ir@Ir`;rCi"ף"y?"K6@"K6>"K6@ "+H>)"@I"+H "jY?U6?/j? "[A?)"f6I"ki"+H  :publishing transmit ping timeP Fpublishing direction and range infoy "'?0̿mVѫ?Y ) I i ) YBy{IbDVDk2I "jY?U6?/j? ) I i yS%8=ٔ@Q->9Y=CFy DE>Q 54?Q 94)BYyzQ I?CI:ik::V4yɮ A i i"a6'?AJi"BRi"Bji"#@b" {_P@ۂi?.=b:*@R"'?0̿mVѫ?Zi"kbi"+Hj"|=Q@;99Mi`@Z"0D߿eJ;4^ ~ y?2i"i:i" "i"ʩ ?*i"XiBi"ZBi")'F?i"v.i"Bi"sBi"@z@ addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.777795 s, deltaX: -2.000000 m, approachRate: -0.529409 m/s, rangeRepo size: 4 - Added new target pos. range: 67.516541 m, bearing: 240.174645 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 3.777795 s, deltaX: -1.992378 m, approachRate: -0.527392 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 67.52 m.Rh=Zh9m ProNav: ac range: 67.516541 m, nav range: 67.225578 m, bearing: 240.781104 deg, approach rate: 0.000000 m/s, LOS rate: -0.114103 deg/s, cmd heading: 251.823419 deg, new cmd heading: 251.660525 deg. BhiuHeadingCmd: 4.392305 target range: 67.516541 and range: 67.80 m.huÍ@hq*hq"hq hqgyfyfyfydddjd@3P@Zd?ABɢ =) ]>ia)mN=iqii5`򿉧= /<=yB=BBIBLBB =BBB%;BA8EB5CBBϓCBϩ =Bϩ =CϪ5AYIaIyO ?<0,P'?A6#e@6_@66!>ٱ6¥ BAHRS rotation from veh to nav: [[-0.315993,0.946812,0.060791],[-0.935717,-0.300420,-0.184882],[-0.156786,-0.115305,0.980879]]6H;9Կ`HL?`?e:ӿ`7ǿ Ŀ[c?i6#e@I6R~_;6CYJByJkI LLR=R=iMb@Mb@Mb@ 9uV?~jt?{GzYr(?y=# A@ l@)^ AY @bDVD ybN%=ٔ[Q->9Y=CFyDSE>Q 54 ?Q 94l)BY(?Q E:yQ I? CI&;iT&;8_4yBɮ(AEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 67.52 m.Rh-h"Zh5h"= ProNav: ac range: 67.516541 m, nav range: 66.901482 m, bearing: 240.712962 deg, approach rate: -0.672065 m/s, LOS rate: -0.141989 deg/s, cmd heading: 251.660533 deg, new cmd heading: 251.455115 deg. BhE»EHeadingCmd: 4.388720 target range: 67.516541 and range: 67.80 m.hEdp@hI*hI"hI hIgIfQfQfUBdQdYdYjdYZd] ?ԉ Bɢ g =)  >i )=i0i}򿉧/<I=ٱ2| >AHRS rotation from veh to nav: [[-0.319219,0.945658,0.061885],[-0.934747,-0.303439,-0.184859],[-0.156035,-0.116858,0.980815]]2H`nԿB?n?r`kӿ@yǿ ÿ@d꽿@b?i26I@I24_;2CYFByF`IbDNVDNJyV%V)=ٔZͺQ-Z>9Z ?Y^ ?=^CFy^D^E^>`Q 5f4b?Q 9f4b`)b̄BYhyjQ Ij?b3CIb;ib;bg4ylɮnjArEjh DNOT Ignoring new targets: 67.52 m.Rh Zh  ProNav: ac range: 67.516541 m, nav range: 66.596420 m, bearing: 240.649157 deg, approach rate: -0.631543 m/s, LOS rate: -0.132695 deg/s, cmd heading: 251.455108 deg, new cmd heading: 251.262818 deg. Bh"%HeadingCmd: 4.385364 target range: 67.516541 and range: 67.80 m.h%T@h!*h)"h) h)g)f)ffdddjdZd ?%Bɢ%@=ԉ) ܁>i)DC=顑iai򿉧/<}.D=D%=E EE)E"E:;*Ed:VEFA4ZEa@a@a@a@ ,_'?A2s2@2C-@2. >ٱ2 :AHRS rotation from veh to nav: [[-0.321833,0.944483,0.066150],[-0.933908,-0.305188,-0.186213],[-0.155687,-0.121708,0.980280]]2HԿ39?1?`2ӿǿÿ 9(t^?i2s2@I2#_;2CYnBynUIieMb@Mb@Mb@aaaa a9eMb?I +?y&1?Ye ?ye94=ٔ]VQ->9Y=CFy&D=ӻE>Q 54?Q 94)BY ?Q E:yQ I?UCI3:i':5o4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500370yɮAAA@AB+>BBIB3BB =BBDBO;Bg8Ejh DNOT Ignoring new targets: 67.52 m.RhZh ProNav: ac range: 67.516541 m, nav range: 66.333954 m, bearing: 240.603019 deg, approach rate: -0.600849 m/s, LOS rate: -0.106038 deg/s, cmd heading: 251.262825 deg, new cmd heading: 251.123865 deg. BhHeadingCmd: 4.382938 target range: 67.516541 and range: 67.80 m.hA@h*h"h hgfffBdddjdZd?U BɢU=)Q U~>iQ)]@=YYi]_MieM;󿉧eOn/i=>9@ @@5@u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752624 E  E E E "E g5;*E &:VE ZE BE A9 A؟AIIO?,7(?A2@2@2D>ٱ2%C :AHRS rotation from veh to nav: [[-0.324548,0.943269,0.070083],[-0.933007,-0.307077,-0.187623],[-0.155458,-0.126281,0.979738]]2H eԿB/?@?0&ӿ@ȿ ÿ )Z?i2@I2C^;2CYBByBWIbDNVDN!yRpj;%V)=ٔVQ-V>9V"?YZ"?=ZCFXyZ0D^ûE^>`Q 5f4b!?Q 9f4b)bBYdyjKQ Ij?b{CIb;ib;bw4ylɮnAljhDNOT Ignoring new targets: 67.52 m.Rh Zh  ProNav: ac range: 67.516541 m, nav range: 66.038673 m, bearing: 240.551414 deg, approach rate: -0.616546 m/s, LOS rate: -0.108233 deg/s, cmd heading: 251.123871 deg, new cmd heading: 250.968365 deg. Bh%HeadingCmd: 4.380224 target range: 67.516541 and range: 67.80 m.h%*@h!*h!"h) h)g)f)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004215ffdddjdZd:@%Bɢ%=)! %>i))$9=i(#i<󿉧X/< Ey  E} E} +Ey "Ey *E} :VE} [4ZEy a @a @a @a @ ,-(?Af9@f @fd>ٱf?$ nAHRS rotation from veh to nav: [[-0.326791,0.942174,0.074267],[-0.932295,-0.308477,-0.188861],[-0.155031,-0.130957,0.979191]]fH`#ԿJ&?@(?[ ӿ@,ȿ ÿ1@U?if9@If^;fCYvByvKIi}Mb@Mb@Mb@yyyy y9}Zd;?9Y=CFy9DOE>Q 54r?Q 94D)BY!?Q E:yYQ I?CI':i:H4yUBɮU AUEjhy}DNOT Ignoring new targets: 67.52 m.Rh;ǺZh;Ǻ ProNav: ac range: 67.516541 m, nav range: 65.773689 m, bearing: 240.512268 deg, approach rate: -0.587161 m/s, LOS rate: -0.087091 deg/s, cmd heading: 250.968362 deg, new cmd heading: 250.850450 deg. BhoHeadingCmd: 4.378166 target range: 67.516541 and range: 67.80 m.h@h*h"h hgfff@Bdd d jdZd@]Bɢe8y=)a eׂ>ia)e=ai i 󿉧 C/<WBBIB#BBBBDBq;B8E liA)]19]liAY]A9@ @@/@q^A 8<ԡ I I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760243,F(?A2B@2@23>ٱ2; :AHRS rotation from veh to nav: [[-0.328275,0.941373,0.077791],[-0.931804,-0.309234,-0.190043],[-0.154846,-0.134873,0.978689]]2Hvտ?!?U`|ӿ`XSȿ ÿCkQ?i2B@I2^;2CYj|BynDIbDvVDv1y~%~V=ٔ~Q->9Y=CFyAD ׇE >Q 54禊?Q 94)BYy%Q I%?CI/;i<;4y)ɮ-@ A)MB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 67.52 m.RheA׺ZhmA׺ԁ ProNav: ac range: 67.516541 m, nav range: 65.541229 m, bearing: 240.477958 deg, approach rate: -0.635267 m/s, LOS rate: -0.094096 deg/s, cmd heading: 250.850445 deg, new cmd heading: 250.747149 deg. Bh'HeadingCmd: 4.376363 target range: 67.516541 and range: 67.80 m.h+ @h*h"h hgfffdddjdZd@@Bɢm=) >i) =iIi3/<[ _,c`(?A2@2o@2>ٱ2U :AHRS rotation from veh to nav: [[-0.329505,0.940761,0.079971],[-0.931433,-0.310041,-0.190542],[-0.154461,-0.137272,0.978416]]2Hտ?x?M`ӿ cȿ]ÿ /O?i2@I2 |^;2CYRyByR@I TTbDZVDZ1ybg%bN=ٔfـQ-f>9dYd=jCFyjIDj[VEj>lQ 5r4nঊ?Q 9r4n*)nxBYtyvQ Iv?nCIn:in:n䌛4yzBɮzY AzEjhDNOT Ignoring new targets: 67.52 m.RhĺZhĺ- ProNav: ac range: 67.516541 m, nav range: 65.299301 m, bearing: 240.442246 deg, approach rate: -0.579999 m/s, LOS rate: -0.085934 deg/s, cmd heading: 250.747145 deg, new cmd heading: 250.639612 deg. Bh-keHeadingCmd: 4.374486 target range: 67.516541 and range: 67.80 m.he@hi*hi"hi hgfffddd checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266657jdIZd`Q_ @}Bɢ} =) 6>i)Q=))i-"i5AP5!/<5B B IB BB B B B ;B 8E DAT read: 03:36:02.2043 LVL= 32752, 32753, 29042, 32755, AGC= 67, IDX= 409, 0.27, 1.733, 0.197, 2.395, 1.759, PHS= 0.076,-1.517, 0.591, RAW= 163.6, 9.0, CAL= 163.3, 9.5, ROT= 346.7, -9.5  Ygot valid direction response: 03:36:02.2043 LVL= 32752, 32753, 29042, 32755, AGC= 67, IDX= 409, 0.27, 1.733, 0.197, 2.395, 1.759, PHS= 0.076,-1.517, 0.591, RAW= 163.6, 9.0, CAL= 163.3, 9.5, ROT= 346.7, -9.5  PDAT read: Bearing 42.9, -23.7 (Local)  ~Local bearing/azimuth received: Bearing 42.9, -23.7 (Local)  DAT read: Range 11 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.6 m/s  *DAT read: user:393>  BDAT read: Tx time:03:36:03.3130  $Ping request sent. G ͿG ?Y ̂B rq ) CI 㥛=i -¿ K? 36@ | > ih6@ )>) B@I ) 6?u7?Cl? JB?) &X I mi ) - :publishing transmit ping time - Fpublishing direction and range infoy  Ưi?>G ͿG ?Y ) I i ) I 6?u7?Cl? ) I i Y ^A Iy I O >,)!{(?AYoBy3IiUMb@Mb@Mb@QQQQ Q9Un?J +~jt?YUV?yUHUD=UAU@ U@)UAQYUAbDVD0yE$%!=ٔQ->9Y=CFySDE>Q 5-4֦?Q 9-4)pBY5j?Q E5:y5,Q I5?CIG ͿG ?Zimbi)j@@\nK❨@Z}n]࿥(]1dW?2i^:i"i$ě?*irBi7Bi]w;3?iiZBi-Bi*@e addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527979 s, deltaX: -2.400002 m, approachRate: -0.680277 m/s, rangeRepo size: 4 u Added new target pos. range: 65.126236 m, bearing: 238.866533 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.527979 s, deltaX: -2.390305 m, approachRate: -0.677528 m/s, posRepo size: 4 jhqDNOT Ignoring new targets: 65.13 m.RhZh ProNav: ac range: 65.126236 m, nav range: 65.087914 m, bearing: 240.226581 deg, approach rate: 0.000000 m/s, LOS rate: -0.085934 deg/s, cmd heading: 250.639611 deg, new cmd heading: 250.502540 deg. BhHeadingCmd: 4.372094 target range: 65.126236 and range: 65.40 m.h2@h*h"h hgfffBdddjdYP@ZdG?}Bɢ}W=)y >i)=顁idi#/<37)@%,(?A2@2@2>ٱ20 :AHRS rotation from veh to nav: [[-0.330137,0.940472,0.080763],[-0.931229,-0.310509,-0.190779],[-0.154345,-0.138192,0.978305]]2H@ տ X?଴?aӿ ukȿ`ÿF FN?i2@I2P^;2CYBWByBIbDJVDJ:yV%V}=ٔZQ-Z ?9XY\=^CFy^ZD^k E^ ?`Q 5f4bЦ?Q 9f4bV)bkBYhyj?Q Ij?bCIb6i)UJ=ifi%/<51E  E E E "E =-;*E S:VE ZE a @a @a @a @Q Jf+,1Я(?A2Q@2!@2y>ٱ2| :AHRS rotation from veh to nav: [[-0.329897,0.940403,0.082523],[-0.931347,-0.309950,-0.191111],[-0.154144,-0.139905,0.978093]]2H տ?= ?@8ӿ`Uvȿÿf@L?i2Q@I2q^;2CYB[ByBIIF%=)Fi Mb@Mb@Mb@     9 ˡE?I +)\(?Y ?y 9 Ga= A @ @) (A Y AbD%VD%1y5 <%5B=ٔ5_Q-=>9Y=CFycD!:E>Q 54Ǧ?Q 94)gBY ?Q E:yQ I?5CI@:iv:4yBɮi AEjhDNOT Ignoring new targets: 65.13 m.RhZh ProNav: ac range: 65.126236 m, nav range: 64.677132 m, bearing: 240.203645 deg, approach rate: -0.561496 m/s, LOS rate: -0.016131 deg/s, cmd heading: 250.453802 deg, new cmd heading: 250.433539 deg. Bh 1HeadingCmd: 4.370890 target range: 65.126236 and range: 65.40 m.hTދ@h!*h!"h! h!g!f!f)f-Bd)d)d1jd11Zd=q?eBɢeo=)a mg>ii)m=iiimjiuuu-/B}5CB}IB}BByByB}DB};B}8Ei߱IߵA 9@ @@d1@a^A59<ԑAa Ii Iy O >Թ "N2,2(?A6@6@6+>ٱ6[r BAHRS rotation from veh to nav: [[-0.329285,0.940601,0.082714],[-0.931612,-0.309363,-0.190771],[-0.153851,-0.139875,0.978144]]6Hտf?`,? ӿ.kȿ`aÿnL?i6@I6^;6CYJMByJ IE% E%E!E!"E%3;*E%:VE!ZE!BE%9Y=CFylD:E>Q 54D?Q 94G)dBYyQ I?SCI:i9:4yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.13 m.RhZh ProNav: ac range: 65.126236 m, nav range: 64.441689 m, bearing: 240.196716 deg, approach rate: -0.540053 m/s, LOS rate: -0.015951 deg/s, cmd heading: 250.433530 deg, new cmd heading: 250.412668 deg. Bh(/HeadingCmd: 4.370525 target range: 65.126236 and range: 65.40 m.hXۋ@h*h"h hg!f!f!f!d!d)d)jd)Zd5@WT?]Bɢ]K=)Y eDT>ia)e^ =aaie&\im mE|8,)(?A ~@~@~v>ٱ~ AHRS rotation from veh to nav: [[-0.327915,0.940922,0.084484],[-0.932170,-0.307746,-0.190660],[-0.153397,-0.141274,0.978014]]~HԿ?Š?Vӿgȿ ÿF¿K?i~@I~Q_;~CY%6By%IbD5VD5NyE%Ec=ٔEQ-E>9IYI=MCFyMsDU;EU>YQ 5m4]?Q 94])]aBYyQ I?]lCI]{i)X_=i0i|\/< fi !>9@ @@1@@=@=A Bm )>Bi Bm IBm BBi Bi Bi Bm ;Bm 8EB-6CB-6CB)B-ɨ =B-ɨ =C-4 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004210^A [RS<A zA gAi A I IO >@@, )?AR@R@R >ٱR ^AHRS rotation from veh to nav: [[-0.324845,0.941803,0.086498],[-0.933493,-0.304598,-0.189239],[-0.151879,-0.142219,0.978114]]RHDԿ@#?$?+~ӿ8ȿ@pÿ84¿`L?iR@IR; `;RCYf"ByfI hhԑiMb@Mb@Mb@ 9X9v?y&1v/?Y>y`彙xi=A@ /@)?AY AbDVD:y]F%e$=ٔeJQ-e>9iYi=mCFym}Dmc;Eu>qQ 5}4u뫦?Q 94uQ)qY>Q E:ygQ I?uCIu ;iui ;u4yBɮ_ AEjhDNOT Ignoring new targets: 65.13 m.Rha9Zha9 ProNav: ac range: 65.126236 m, nav range: 64.002289 m, bearing: 240.196041 deg, approach rate: -0.557094 m/s, LOS rate: 0.012327 deg/s, cmd heading: 250.394407 deg, new cmd heading: 250.410638 deg. BhZ:HeadingCmd: 4.370490 target range: 65.126236 and range: 65.40 m.hۋ@h*h"h hgfffBdddjdZd @ـBɢ~ =)! %>i!)% =))i-G-i535Ԉ/<5 9i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532385eF,)?AF&@F!@F>ٱF  RAHRS rotation from veh to nav: [[-0.323394,0.942314,0.086373],[-0.934154,-0.303366,-0.187951],[-0.150906,-0.141467,0.978373]]FH|Կ@p'?@?Xjӿ@ȿPÿ¿N?iF&@IF/l`;FCYVByZIbDbVDbyjgJ%jh=ٔj87Q-j>9lY9==CFy=DE;EE>IQ 5U4M?Q 9U4MZ)IYQyUOQ IU?MCIMz;iM;M4yɮ| AjhDNOT Ignoring new targets: 65.13 m.RhO89ZhO89% ProNav: ac range: 65.126236 m, nav range: 63.823116 m, bearing: 240.199777 deg, approach rate: -0.481609 m/s, LOS rate: 0.010071 deg/s, cmd heading: 250.410636 deg, new cmd heading: 250.421876 deg. Bh%,9-HeadingCmd: 4.370686 target range: 65.126236 and range: 65.40 m.h-܋@h)*h)"h) h)g)f1f1f1d9d9d9jd9Zd=`@mՀBɢm=)i uԥ=iq)UL=QQiU"߼i]]/<]HAL,4)?AF4@F.@F >ٱF9H NAHRS rotation from veh to nav: [[-0.321959,0.942805,0.086376],[-0.934852,-0.302165,-0.186409],[-0.149647,-0.140765,0.978668]]FHԿu+??NVӿ >ǿ@'ÿ`¿@?Q?iF4@IF`;FCYVۀByV}Ii5Mb@Mb@Mb@1111 1B+>BB_IBÀBB =BBB;B8E95MbX9?y&1L7A`?Y5?y15+=5A5E@ 5E@)5A1Y5 AbDVD1y%;=ٔ>Q->9Y=CFyD(w;E>Q 54?Q 94W)[BY0?Q E:yQ I?CI2 ;i ;`Ǜ4yɮA jh)5DNOT Ignoring new targets: 65.13 m.Rh59Zh=9E ProNav: ac range: 65.126236 m, nav range: 63.602406 m, bearing: 240.203226 deg, approach rate: -0.529393 m/s, LOS rate: 0.008302 deg/s, cmd heading: 250.421864 deg, new cmd heading: 250.432248 deg. BhMP9MHeadingCmd: 4.370867 target range: 65.126236 and range: 65.40 m.hM%ދ@hQ*hQQ"hY hYgYfYfafeBdadadajdiZdmV@BDAT read: Rx Time:03:36:05.8019 TRx dataTimestamp_ set to:1761536164.908209checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037262颭ЀBɢ=) A>M =M <U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288784A! I) I9 OU >E  E E *E "E g5;*E :VE (N4ZE BE ٱb nAHRS rotation from veh to nav: [[-0.319947,0.943526,0.085985],[-0.935727,-0.300465,-0.184758],[-0.148489,-0.139571,0.979015]]bHzԿ]1??z:ӿ@*ǿÿ@vT?ib"F@Ib/`;bCYvByvZIIz4>)z9Y=CFyD%@;E%>)Q 554-?Q 954-)-UBY1y5Q I5?-CI-:i-;-͛4yAɮExAA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 65.13 m.Rhu9Zhu9 ProNav: ac range: 65.126236 m, nav range: 63.405510 m, bearing: 240.205949 deg, approach rate: -0.519079 m/s, LOS rate: 0.007201 deg/s, cmd heading: 250.432246 deg, new cmd heading: 250.440441 deg. Bh#9HeadingCmd: 4.371010 target range: 65.126236 and range: 65.40 m.hQߋ@h*h"h hgfffdddjdZd] @̀Bɢ+=) ܼiQ)]=aiimܼi(ԹQ0< BDAT read: Tx time:03:36:06.9146 $Ping request sent.1 CY,yh)?AYuByu+IbDVDk1y%/%-9=ٔ=Q-=>9QYQ=]CFy]DmEu>yE EE)E"E /;*E:VEFA4ZEa@a@a@a@Q 54}?Q 94})}OBYyQ I?}CI};i};}՛4yBɮAEiiZbZ)?AJi|BRi|Bji3[@b*£zN@[*!$@R-?ʻʿG ?Zit Zbij+ ?(6LKhS33 @Zj߿>c뿸XU?2i\:iT"ihOP?*isBiBiii7Bi|Bi{(@ addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 3.552830 s, deltaX: -1.900002 m, approachRate: -0.534785 m/s, rangeRepo size: 4 5 Added new target pos. range: 63.233837 m, bearing: 240.563934 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.552830 s, deltaX: -1.892399 m, approachRate: -0.532645 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 63.23 m.Rh=Zh9M ProNav: ac range: 63.233837 m, nav range: 63.172283 m, bearing: 240.209196 deg, approach rate: 0.000000 m/s, LOS rate: 0.007201 deg/s, cmd heading: 250.440443 deg, new cmd heading: 250.450376 deg. BhIUHeadingCmd: 4.371184 target range: 63.233837 and range: 63.50 m.hU@hQ*hQ"hY hYgYfYfYfadddjdO@Zd`??5ȀBɢ5n=)1 =8i9)==YYi]o$ۼieweC0Bu6CBuIBu|BBu =BqBuDBu;Bu8Ei ^A= R5<Am .AIy I ԑ O >`,h)?AVg@Vb@Vx>ٱVl jAHRS rotation from veh to nav: [[-0.316230,0.944909,0.084527],[-0.937466,-0.297588,-0.180552],[-0.145451,-0.136337,0.979927]]VH@=Կ`9 ?Y ?=CFyDH)<E>Q 5 4?Q 9 4)EBY ?Q E :y Q I ?CI ;ia:ܛ4yɮRAjhAEDNOT Ignoring new targets: 63.23 m.RhMZoZhMZo] ProNav: ac range: 63.233837 m, nav range: 62.969357 m, bearing: 240.204169 deg, approach rate: -0.526205 m/s, LOS rate: -0.013079 deg/s, cmd heading: 250.450387 deg, new cmd heading: 250.435256 deg. Bh]eHeadingCmd: 4.370920 target range: 63.233837 and range: 63.50 m.heދ@ha*ha"ha hagifififmrBdqdqdqjdqZdu`?颥ĀBɢ=) 89i)E=顩iټi+1<Mf,^)?A0:ct@:3o@:#>ٱ: BAHRS rotation from veh to nav: [[-0.314884,0.945404,0.084016],[-0.938192,-0.296634,-0.178337],[-0.143678,-0.134979,0.980376]]:H'Կ`@?? ҿ@ƿ d¿F=_?i:ct@I:_;:CYJHByJI LLbDVVDV:3y^*%^a=ٔbQ-b>9`Yd=fCFyfDf];Ef>hQ 5n4jx?Q 9r4j)j=BYpyrQ Ir?j'CIj;ij;j 4ytɮvJAxjhDNOT Ignoring new targets: 63.23 m.RhvZhv- ProNav: ac range: 63.233837 m, nav range: 62.783493 m, bearing: 240.199285 deg, approach rate: -0.511553 m/s, LOS rate: -0.013481 deg/s, cmd heading: 250.435252 deg, new cmd heading: 250.420558 deg. Bh-5HeadingCmd: 4.370663 target range: 63.233837 and range: 63.50 m.h5y܋@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM:?}Bɢ}.=)y } piy)=顁iqؼiH{1<G!R=I I1bE!jE%ȔK4rE%/E} E}E}'Ey"E}0;*E} :VE}'4ZEya@a@a@a@O> l,w)?A2}@2x@2s>ٱ27 :AHRS rotation from veh to nav: [[-0.313899,0.945893,0.082183],[-0.938826,-0.296304,-0.175526],[-0.141678,-0.132253,0.981039]]2HԿ@D? ?` @ҿ@wƿ"¿d?i2}@I2G_;2CYB(ByBI\Bv1>BtBvIBv BBtBtBtBv;Bv8Ei5Mb@Mb@Mb@1111 195|?5^?~jty&1|Y5 ?y5D5`5$A1 5fA)5A1Y5AbDMVDMky%9=ٔQ->9"?Y"?=CFyD*;E>Q 54vp?Q 94)+BY]?Q E:yQ I?FCIP ;i ;4yBɮ aA  Ejh)5DNOT Ignoring new targets: 63.23 m.RhEk|ZhEk|U ProNav: ac range: 63.233837 m, nav range: 62.542789 m, bearing: 240.175102 deg, approach rate: -0.547023 m/s, LOS rate: -0.055170 deg/s, cmd heading: 250.420553 deg, new cmd heading: 250.347724 deg. BhUs]HeadingCmd: 4.369392 target range: 63.233837 and range: 63.50 m.h]ҋ@hY*hY"hY hYgafafafeQBdididijdiZdmI?额Bɢܫ=) Ti)f=顡igּi02<A A I I O >E  E E )E "E 2;*E E:VE FA4ZE BE %@>{@>>ٱ>RG ZAHRS rotation from veh to nav: [[-0.313612,0.946246,0.079158],[-0.939183,-0.296823,-0.172718],[-0.139938,-0.128511,0.981785]]>H8ԿG?@C? #ҿ@ƿ{` sj?i>@I>b%_;>CYbBybnIbDjVDjβyr[%r[=ٔrQ-v>9tYt=vCFyvDz҈:Ez>|Q 54~i?Q 9 4~)~BY y Q I ?~aCI~:i~:~S4yBɮA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 63.23 m.RhM~ZhU~e ProNav: ac range: 63.233837 m, nav range: 62.338802 m, bearing: 240.154382 deg, approach rate: -0.544810 m/s, LOS rate: -0.055519 deg/s, cmd heading: 250.347716 deg, new cmd heading: 250.285354 deg. BhehmHeadingCmd: 4.368303 target range: 63.233837 and range: 63.50 m.hm$ɋ@hi*hi"hi higifqfqfqdqdydyjdyZd} B?颭Bɢc=)-) i)=顱ih3ռi==/2<=qԡ |z,,.)?AB{@B\v@BM >ٱB bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256608 zAHRS rotation from veh to nav: [[-0.314325,0.946166,0.077258],[-0.939247,-0.298139,-0.170082],[-0.137893,-0.126025,0.982397]]BHԿF?'dz? P@ӿ@Bſ x!@o?iB{@IBhb_;BCyYByIII>)p;E] E]EYEY"E]U,;*E]:VEYZEYa@a@a@a@Ai}Mb@Mb@Mb@yyyy y9}?MbMbY} ?y}}}A}|A }A)}AyY}AbDVDy%%=ٔQ->9Y=CFyȗDE>Q 54`?Q 94j)BY ?Q E:yQ I?CI ;i ;4yɮAjhDNOT Ignoring new targets: 63.23 m.Rh#ݺZh#ݺ ProNav: ac range: 63.233837 m, nav range: 62.037880 m, bearing: 240.106969 deg, approach rate: -0.610557 m/s, LOS rate: -0.096667 deg/s, cmd heading: 250.285343 deg, new cmd heading: 250.142412 deg. BhHeadingCmd: 4.365808 target range: 63.233837 and range: 63.50 m.h@h!*h!"h! h!g!f!f)f-Bd)d1d1jd1Zd5 @eBɢe=ԡ) XӾi)S=i&4Ӽilc3<D$B8CB'IBBB =BBDB;BUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505366^A < A I I) O= >h,*?A2bl@22g@2 >ٱ2 >AHRS rotation from veh to nav: [[-0.316155,0.945770,0.074602],[-0.938935,-0.300671,-0.167325],[-0.135821,-0.122947,0.983075]]2H@;Կ`C?? 2>ӿjſb@py Zu?i2bl@I2Y_;2CYBtByFIbDNVDN!yV~j%Vs=ٔV̻Q-Z?9XYX=ZCFyZϗD^E^?`Q 5f4bZ?Q 9f4b)bBYdyfVQ Ij?bCIb;ib;b4ylɮnAl1jhDNOT Ignoring new targets: 63.23 m.RhѺZhѺ ProNav: ac range: 63.233837 m, nav range: 61.833469 m, bearing: 240.074840 deg, approach rate: -0.581320 m/s, LOS rate: -0.091674 deg/s, cmd heading: 250.142400 deg, new cmd heading: 250.045694 deg. Bh{HeadingCmd: 4.364120 target range: 63.233837 and range: 63.50 m.hঋ@h*h"h hgfffdddjdZd@@%Bɢ%6<=)) i)L=顱i9Ѽi3<;},*?A6>U@6P@6T >ٱ6M BAHRS rotation from veh to nav: [[-0.318898,0.945030,0.072264],[-0.938310,-0.304034,-0.164734],[-0.133708,-0.120340,0.983687]]6H@hԿ=?`?@@Iuӿſ@Zξ]z?i6>U@I62_;6CYJAByJIbDV VDV2yZ|%^J=ٔ^ƬQ-^>9`Y`=bCFybחDbEf>dQ 5j4fKS?Q 9n4f )fރBYlynQ In?fCIfL;ifz;f4ytɮvAtjh DNOT Ignoring new targets: 63.23 m.RhZh- ProNav: ac range: 63.233837 m, nav range: 61.587128 m, bearing: 240.036482 deg, approach rate: -0.634453 m/s, LOS rate: -0.099186 deg/s, cmd heading: 250.045685 deg, new cmd heading: 249.930151 deg. Bh-$-HeadingCmd: 4.362104 target range: 63.233837 and range: 63.50 m.h5[@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@uBɢu*=)q uiy)P{=顁icϼi|4<4>B B IB ~BB =B B B ;B 8EBB7CB˔CBB˧ =C5iߙ Iߙ I EDAT read: 03:36:09.4011 LVL= 32752, 32753, 28610, 32755, AGC= 68, IDX= 424,-0.19,-2.141, 2.643,-1.541,-2.118, PHS= 0.080,-1.477, 0.533, RAW= 162.4, 9.5, CAL= 162.3, 10.2, ROT= 347.7, -10.2 iIqO>֎,)<>*?AYgot valid direction response: 03:36:09.4011 LVL= 32752, 32753, 28610, 32755, AGC= 68, IDX= 424,-0.19,-2.141, 2.643,-1.541,-2.118, PHS= 0.080,-1.477, 0.533, RAW= 162.4, 9.5, CAL= 162.3, 10.2, ROT= 347.7, -10.2 PDAT read: Bearing 43.5, -21.1 (Local) ~Local bearing/azimuth received: Bearing 43.5, -21.1 (Local) zDAT read: Range 11 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.5 m/s ~*DAT read: user:395> ~BDAT read: Tx time:03:36:10.5146 $Ping request sent.uJ5@ K6>)<1@IK6غ /M?12H?Q$n}4? Jx=?)K)I[iK6:publishing transmit ping timeFpublishing direction and range infoy u?"?ʿki?;@6@.4>ٱEY )Ii AHRS rotation from veh to nav: [[-0.321908,0.943940,0.073158],[-0.937573,-0.307083,-0.163270],[-0.131652,-0.121149,0.983865]]H%Կ4?|?@ӿ Ŀ``{?i;@I y_;C )Iغ /M?12H?Q$n}4? )IiYEByMI QQU=Up=iMb@Mb@Mb@ 9}?5^I?I +?~jtYM"?y94<DAA )Y AbD-VD-y4%=ٔIVQ->9Y=CFyD栻E>Q 54H?Q 94)BY["?Q E:ywQ I?CI:i:4yBɮAE1iiH<*?AJi,vBRi,vBji1@b) M@<)P=%@R u?"?ʿki?Zi[biK6j ln>=LJp@Z )l߿Q\뿄ڷ,?2i5U:iw"i>FD?*iHBiBiiiitBi@ addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.529675 s, deltaX: -1.700001 m, approachRate: -0.481631 m/s, rangeRepo size: 4  Added new target pos. range: 61.543118 m, bearing: 240.275708 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.529675 s, deltaX: -1.690720 m, approachRate: -0.479001 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 61.54 m.RhZh ProNav: ac range: 61.543118 m, nav range: 61.195419 m, bearing: 239.959330 deg, approach rate: 0.000000 m/s, LOS rate: -0.099186 deg/s, cmd heading: 249.930146 deg, new cmd heading: 249.735083 deg. BhHeadingCmd: 4.358699 target range: 61.543118 and range: 61.80 m.hwz@h*h"h h g f)f1f5ЀBd1d1d1jd=`fN@Zd=?颅BɢS =) i)=顱iͼiU5<'Bٱ2B ^AHRS rotation from veh to nav: [[-0.325615,0.942386,0.076703],[-0.936581,-0.310362,-0.162761],[-0.129578,-0.124836,0.983680]]2H@Կ (?@Ȣ?@yӿ\Ŀ;Mz?i2@I2l_;0Yf~ByfIbDrVDr:yz '%z$=ٔzQ-~>9|Y|=~CFy~DE> Q 54 @?Q 94 n) BYyQ I? CI U;i ; 4y!ɮ%A!EB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 61.54 m.RhUZhUe ProNav: ac range: 61.543118 m, nav range: 60.892227 m, bearing: 239.900090 deg, approach rate: -0.635021 m/s, LOS rate: -0.124692 deg/s, cmd heading: 249.735075 deg, new cmd heading: 249.556472 deg. Bhe&mHeadingCmd: 4.355582 target range: 61.543118 and range: 61.80 m.hm`@hq*hq"hq hqgqfqfyfydydydjdZd`F?颵Bɢp=) "i) =项iʼi*6<S;*E:VE(N4ZEa%@a-@a-@a-@9@ @@0@BIBIBMxIBMn~BBIBIBIBM;BM8E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942911^A5 )<I I O >Y,w*?AN~ք@NNы@NI>ٱNCv bAHRS rotation from veh to nav: [[-0.333761,0.938791,0.085298],[-0.934339,-0.317464,-0.161946],[-0.124955,-0.133749,0.983106]]NH@X\տ ?@ֵ?@VQԿ@Ŀ @u?iN~ք@IN07_;LYr~ByvIiMb@Mb@Mb@ 9p= ף?{Gz?Mb`Y%?y#=$AA A)AY(AbD VD :y%9=ٔx-Q->9!Y!=%CFy%D% E->)Q 5=4-:?Q 9=4-%)-BY=p%?Q E=:y=Q I=?-ACI- ;i-* ;-b"4yIɮM'AIjhiuDNOT Ignoring new targets: 61.54 m.Rh}'Zh}' ProNav: ac range: 61.543118 m, nav range: 60.618736 m, bearing: 239.835785 deg, approach rate: -0.621673 m/s, LOS rate: -0.146833 deg/s, cmd heading: 249.556480 deg, new cmd heading: 249.362693 deg. BhɻHeadingCmd: 4.352200 target range: 61.543118 and range: 61.80 m.h9E@h*h"h hgfffƀBdddjdZdh?Q颕Bɢm=) A#i)=顙iȼi*6<7|u,V*?A@i`I`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.447365Y=~By=IIE=)EX?bDIVDIye%eW=ٔeQ-e>9iYi=mCFymDmEu>qQ 5}4uP4?Q 94u+)uBYyQ I?u`CIu:iut:u)4yɮAjhDNOT Ignoring new targets: 61.54 m.Rh9)Zh9) ProNav: ac range: 61.543118 m, nav range: 60.382351 m, bearing: 239.779719 deg, approach rate: -0.621347 m/s, LOS rate: -0.147947 deg/s, cmd heading: 249.362693 deg, new cmd heading: 249.193839 deg. Bh˻HeadingCmd: 4.349253 target range: 61.543118 and range: 61.80 m.h-@h*h"h hgfffdddjdZd%?uBɢu5dQ=)y }.i)Gs=顁ԱiqǼi87<3}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699760D =D <E5  E5 E5 ,E1 "E5 /;*E5 :VE5 g4ZE1 aM @aU @aU @aU @a e,^0*?AtliA!EB9EliAYMA=U@=%@=B=ٱ=(2 uAHRS rotation from veh to nav: [[-0.341602,0.934906,0.096226],[-0.932096,-0.323885,-0.162161],[-0.120439,-0.145086,0.982061]]=Hտ@?E?ԿĿվ1¿ m?i=U@I=5)_;=CY~ByIB?>BB@IB~BB =BBB;B8Ei-Mb@Mb@Mb@)))) )9-NbX9?Mb?~jt?Y-%?y-=-D<-!A-A -A)-A)Y-AbDEVDE02y=%7=ٔ&Q->9Y=CFyDE>Q 54&-?Q 942)qBY%?Q E:ybQ I?CI ;i;04yǒBɮA EjhIUDNOT Ignoring new targets: 61.54 m.Rh]Zh]m ProNav: ac range: 61.543118 m, nav range: 60.101505 m, bearing: 239.717570 deg, approach rate: -0.615975 m/s, LOS rate: -0.136948 deg/s, cmd heading: 249.193851 deg, new cmd heading: 249.006533 deg. BhHeadingCmd: 4.345984 target range: 61.543118 and range: 61.80 m.hM@h*h"h hgfff Bdddjdchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.951063Zd`@IBɢb!e=) (i)3=i/żi77<k8,,*?A8Rw@Rq@R.=ٱRyp ^AHRS rotation from veh to nav: [[-0.344910,0.933261,0.100311],[-0.931167,-0.326750,-0.161751],[-0.118179,-0.149196,0.981720]]RHֿ E??xԿ CĿ@Aÿ@@j?iRw@IR8_;RCYbp~BybyIbDnVDn1yvs%vX=ٔv6ŻQ-v>9xYx=zCFyzD~XE~>Q 5 4'?Q 9 49)cBY y Q I ?CI:i;x74yɮzAjhAEDNOT Ignoring new targets: 61.54 m.RhM!ZhM!] ProNav: ac range: 61.543118 m, nav range: 59.863949 m, bearing: 239.665351 deg, approach rate: -0.641524 m/s, LOS rate: -0.141577 deg/s, cmd heading: 249.006540 deg, new cmd heading: 248.849262 deg. Bh]S»eHeadingCmd: 4.343239 target range: 61.543118 and range: 61.80 m.he@ha*ha"ha hagafififidqdqdqjdqZd}@颥Bɢ:=) /i)4B=))i-}üi5*P5b7<5iE>ԩ9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454932^A]< A .AI! I1 OE >p=,*?A2_@2|Z@2;=ٱ2! :AHRS rotation from veh to nav: [[-0.347661,0.931956,0.102911],[-0.930426,-0.329338,-0.160763],[-0.115931,-0.151642,0.981613]]2H@ֿ?hX? տ@ߓĿiÿ@`i?i2_@I2_;2CpYvc~ByvqI ||bD VD ܲy%\%%G=ٔ-Q-->95 ?Y5 ?=5CFy5DEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.707412MSEU>aQ 5m4e= ?Q 9m4e?)eUBYqyu/Q Iu?eCIeN;ieP;e>4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 61.54 m.RhZh ProNav: ac range: 61.543118 m, nav range: 59.603146 m, bearing: 239.608279 deg, approach rate: -0.619067 m/s, LOS rate: -0.136064 deg/s, cmd heading: 248.849254 deg, new cmd heading: 248.677291 deg. BhºHeadingCmd: 4.340238 target range: 61.543118 and range: 61.80 m.h:@h*h"h hgff fdd!d)jd)Zdȉ@bEu|a4jEu2`4rEuJ0E EE*E"E4;*E:VE(N4ZEa%@a%@a%@a-@ BɢZ=) %1i!)%=!!i%Ԁir8<]>BB IB}BB =BBB;B8E9BDAT read: Rx Time:03:36:12.9981 TRx dataTimestamp_ set to:1761536171.964086checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959986^Ae  ]9,W"+?A6[L@6+G@6=ٱ6M FAHRS rotation from veh to nav: [[-0.349937,0.930894,0.104785],[-0.929824,-0.331562,-0.159666],[-0.113889,-0.153304,0.981594]]6H^eֿ?.Ӻ? `Q8տ@oĿ'zÿ 8i?i6[L@I6^;6CYN`~ByNoIi-Mb@Mb@Mb@)))) )9-X9v?~jt?X9v?Y-?y-D<-<-%A-A -tA)-A)Y-QAbDEVDEkyU%UE=ٔUhQ-]>9YYY=]CFy] DeEe>iQ 5u4mG?Q 9u4mF)mLBYu.?Q E}:y}Q I}?mCIm ;im ;mE4yɮAjhDNOT Ignoring new targets: 61.54 m.RhZh ProNav: ac range: 61.543118 m, nav range: 59.355278 m, bearing: 239.560400 deg, approach rate: -0.613418 m/s, LOS rate: -0.118987 deg/s, cmd heading: 248.677298 deg, new cmd heading: 248.533059 deg. BhQHeadingCmd: 4.337720 target range: 61.543118 and range: 61.80 m.hΊ@hi*hi"hi higifqfqfu BdqdydyjdyZd}@4 @Bɢ2==) 1i)$=if俼i8<i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462924^NJ,+?AVL3@V.@V6l=ٱV5 AHRS rotation from veh to nav: [[-0.352884,0.929636,0.106068],[-0.929023,-0.334635,-0.157909],[-0.111303,-0.154263,0.981741]]VHֿ?@G'?`jտ@Y6Ŀa~ÿ kj?iVL3@IV_;VCY=A~By=\IbDEVDE:yA%9=ٔQ->9Y=CFy)DE>Q 54?Q 94L)CBYyQ I? CI:i:M4yɮ7AjhDNOT Ignoring new targets: 61.54 m.Rh[Zh[  ProNav: ac range: 61.543118 m, nav range: 59.086136 m, bearing: 239.508767 deg, approach rate: -0.604970 m/s, LOS rate: -0.116588 deg/s, cmd heading: 248.533071 deg, new cmd heading: 248.377467 deg. Bh UHeadingCmd: 4.335005 target range: 61.543118 and range: 61.80 m.hU\@hQ*hY"hY hYgYfYfafadadadajdiZdm`P8 @Bɢ{O=) 97i)u=ii];9 E EE,E"EO6;*E :VEg4ZEa @a @a @a @% BDAT read: Tx time:03:36:14.1130 M $Ping request sent.U E4@EA>E4@ EPwV>)E \@IEPwVAAEuhb?n?)r? EjS;?)E@AIETwViEPwVAA :publishing transmit ping timeI 5 Fpublishing direction and range infoyAEVI? ʿhٜ?YAAAAA A)AIAiAAAAA A)AIAAAEuhb?n?)r? A)AIAiAAA^A ]<Ia Iy y O >҉͊,8+?A2&!@2@2y=ٱ2 :AHRS rotation from veh to nav: [[-0.355032,0.928639,0.107621],[-0.928477,-0.336842,-0.156422],[-0.109008,-0.155459,0.981809]]2H׸ֿh?@?`ҎտĿ绿ÿj?i2&!@I2^;2CBB?>B@BBIBB}BB@B@B@BB;BB8EYR*~ByRNIIV=)V9iYi=mCFym1Du;Eu>yQ 54} ?Q 94}zR)}?BY?Q E:y~Q I?}'CI}L:i}:}T4yВBɮA#Eiqiuh!.+?AJiulBRiulBjiu@bu=NLL@uQM(F(@RuVI? ʿhٜ?ZiuTwVbiuPwVjum`3=5I5r=@ZuC2DF뿶-Q?2iuI:iu"iuq/?*iu4GBiuBiuq/?iuXiiuBiujBiu|@M addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.778861 s, deltaX: -2.399998 m, approachRate: -0.635111 m/s, rangeRepo size: 4 ] Added new target pos. range: 59.153168 m, bearing: 239.296505 deg, lat: 36.779317 deg, lon: -121.859592 deg, deltaT: 3.778861 s, deltaX: -2.389950 m, approachRate: -0.632452 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 59.15 m.bhemPowering the camera and arming the capture device at range: 59.40 m.2hmRhZh ProNav: ac range: 59.153168 m, nav range: 58.730152 m, bearing: 239.348952 deg, approach rate: 0.000000 m/s, LOS rate: -0.116588 deg/s, cmd heading: 248.377480 deg, new cmd heading: 248.233839 deg. BhHeadingCmd: 4.332498 target range: 59.153168 and range: 59.40 m.hң@h*h"h h2hgfff>Bdddjd@3M@Zd8?UBɢU-0=)Q U;iQ)]rR=YYi]Wie"ev9<NfԊ,vR+?AB:@B @B=ٱB." NAHRS rotation from veh to nav: [[-0.357035,0.927682,0.109229],[-0.927966,-0.338892,-0.155018],[-0.106790,-0.156707,0.981855]]BH`ֿ?l?iտ ÿVĿZk?iB:@IBf_;BCYV~ByVFIbD^VD^yf2"%fj=ٔjiѻQ-j>9hYh=nCFyn8DnEn>pQ 5v4r=?Q 9v4rcW)r;BYxyzQ Iz?rACIr;ir;rZ4y|ɮ~A|jh!%DNOT Ignoring new targets: 59.15 m.bh)-Powering the camera and arming the capture device at range: 59.40 m.2h)Rh5bϺZh5bϺE ProNav: ac range: 59.153168 m, nav range: 58.531425 m, bearing: 239.318629 deg, approach rate: -0.592109 m/s, LOS rate: -0.090654 deg/s, cmd heading: 248.233827 deg, new cmd heading: 248.142550 deg. BhExMHeadingCmd: 4.330904 target range: 59.153168 and range: 59.40 m.hMŖ@hI*hI"h h2hgfffdddjdZd!?Bɢ y =)  >i ) F=ibѺiU9<d`ڋڊ,9Y=CFy@D%E%>)Q 554-?Q 954-.])-7BY9y=Q I=?-`CI-;i-j;-a4yEޒBɮESAIeB*** querying acoustic contact ***ia iajhiuDNOT Ignoring new targets: 59.15 m.bhq}Powering the camera and arming the capture device at range: 59.40 m.2hyRh}źZh}ź ProNav: ac range: 59.153168 m, nav range: 58.296829 m, bearing: 239.283090 deg, approach rate: -0.568950 m/s, LOS rate: -0.086537 deg/s, cmd heading: 248.142548 deg, new cmd heading: 248.035502 deg. BhmHeadingCmd: 4.329036 target range: 59.153168 and range: 59.40 m.hw@h*h"h h2hgfffdddjdZde?E EE-E"E4;*E:VEt4ZEa@a@a@a@5Bɢ=5=)A E9QiI)uP=qyi}4i!O:<܍h,W+?AHYz ~Byz<I ||iMb@Mb@Mb@ 9tV?ktQ?Y?y 0<*AIA ^ A);#AYAbDVD1y%@=ٔQ->9"?Y"?=CFyIDE>Q 54?Q 94b)2BYM?Q E:ybQ I?CI ;iT ;Oi4yɮAjh%DNOT Ignoring new targets: 59.15 m.bh!%Powering the camera and arming the capture device at range: 59.40 m.2h!Rh-gZh-g= ProNav: ac range: 59.153168 m, nav range: 58.054363 m, bearing: 239.258862 deg, approach rate: -0.572460 m/s, LOS rate: -0.057442 deg/s, cmd heading: 248.035506 deg, new cmd heading: 247.962517 deg. Bh=EHeadingCmd: 4.327762 target range: 59.153168 and range: 59.40 m.hE}@hA*hI"hI hI2hIgIfQfQfUBdQdYdYjdYZd] ,?颍BɢO+=) ?i)=顑i􍷼iOK3:<| checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696370,⯟+?A2j@2:@2=ٱ2_) :AHRS rotation from veh to nav: [[-0.361786,0.924839,0.117404],[-0.926849,-0.343272,-0.152038],[-0.100309,-0.163821,0.981377]]2H`'׿G?)?,տuÿ߭`Ŀpg?i2j@I2c`;2CYB~ByB7IbDNVDNJ2yV2%V_=ٔV8=Q-V>9XYX=ZCFyZPD^%E^>`Q 5f4b쥊?Q 9f4bh)b.BYdyfQ If?bCIb:ib:bo4ynBɮnAlAjhDNOT Ignoring new targets: 59.15 m.bhPowering the camera and arming the capture device at range: 59.40 m.2hRhwZhw ProNav: ac range: 59.153168 m, nav range: 57.844757 m, bearing: 239.238204 deg, approach rate: -0.547696 m/s, LOS rate: -0.054174 deg/s, cmd heading: 247.962505 deg, new cmd heading: 247.900307 deg. BhHeadingCmd: 4.326676 target range: 59.153168 and range: 59.40 m.h"t@h*h"h h2hgfff!d!d)d)jd1ZdU }?颥Bɢ')=) k@i)\=顩i?ino ;< ,+?AB6=>B4B6IB6}BB4B4B4B6ނ;B6 9EB߃@Bڊ@Bc=ٱB) JAHRS rotation from veh to nav: [[-0.362815,0.924310,0.118394],[-0.926647,-0.344439,-0.150622],[-0.098441,-0.164357,0.981476]]BHZ8׿?O?@J ֿGÿ u3@ ſ Ah?iB߃@IB_;BCYR}ByRIi%Mb@Mb@Mb@!!!! !9%K7?MbS㥛?Y%I ?y%%/<%5,A% A %A)%j"A!Y%pAbDEVDEyM޽%M@=ٔUQ-U>9QԹYY=CFyYD E>Q 54㥊?Q 94m)*BYi ?Q E:y:Q I?CI:i:ww4yɮAjh9=DNOT Ignoring new targets: 59.15 m.bh9EPowering the camera and arming the capture device at range: 59.40 m.2hARhEZhE] ProNav: ac range: 59.153168 m, nav range: 57.600174 m, bearing: 239.224257 deg, approach rate: -0.572322 m/s, LOS rate: -0.032775 deg/s, cmd heading: 247.900295 deg, new cmd heading: 247.858276 deg. Bh]eHeadingCmd: 4.325943 target range: 59.153168 and range: 59.40 m.he n@ha*ha"ha ha2hagifififmBdqdqdqjdyZd}?@颥Bɢcb=) 'Ki)uE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200443项i]ic;<^E  E E *E "E :;*E d:VE (N4ZE BE 2)Fa=HJAbDNVDN1yVϽ%VU=ٔV%Q-Z>9XYX=ZCFyZ`D^iE^>`Q 5f4b;ۥ?Q 9f4bmr)b'BYdyjEQ Ij?bCIb:ib:b}4ynBɮn An,EjhDNOT Ignoring new targets: 59.15 m.bhPowering the camera and arming the capture device at range: 59.40 m.2hRh Zh  ProNav: ac range: 59.153168 m, nav range: 57.399200 m, bearing: 239.212839 deg, approach rate: -0.528167 m/s, LOS rate: -0.030111 deg/s, cmd heading: 247.858276 deg, new cmd heading: 247.823903 deg. BhRHeadingCmd: 4.325343 target range: 59.153168 and range: 59.40 m.h6i@h*h"h h2hgfffdddjdZd$@-Bɢ-=)1 UTiQ)U=YYi]Kiee;ԙ h,_B+?AF׃@FtҊ@F67=ٱF) RAHRS rotation from veh to nav: [[-0.363868,0.923791,0.119208],[-0.926575,-0.345909,-0.147664],[-0.095176,-0.164186,0.981827]]FHI׿? l?@a#ֿ@¿ r]ſ k?iF׃@IF~_;FCYZ}ByZIbDb VDb2yjV%jH=ٔjnQ-n>9lYp=rCFyriDr7Er>tQ 5z4vlҥ?Q 9z4vw)v$BY|y~JQ I~?vCIv;iv;v4yɮ!A %BDAT read: Rx Time:03:36:16.5938 %TRx dataTimestamp_ set to:1761536175.744242-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9575055B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 59.15 m.bhIMPowering the camera and arming the capture device at range: 59.40 m.2hIRhUZhUe ProNav: ac range: 59.153168 m, nav range: 57.173565 m, bearing: 239.200006 deg, approach rate: -0.569078 m/s, LOS rate: -0.032493 deg/s, cmd heading: 247.823906 deg, new cmd heading: 247.785256 deg. BhefmHeadingCmd: 4.324668 target range: 59.153168 and range: 59.40 m.hmc@hi*hi"hi hi2hqgqfqffdddjdZdNi@qDzDE EE(E"E9;*E :VEc44ZEa@a@a@a@}Bɢ=)1 =Zi9)E~=AAiM* i<<Oa, ,?A2 փ@2Њ@2/=ٱ2U) :AHRS rotation from veh to nav: [[-0.364100,0.923673,0.119410],[-0.926634,-0.346364,-0.146222],[-0.093702,-0.163889,0.982018]]2HkM׿??*ֿ h¿QĿl?i2 փ@I2!_;2CYBm}ByBIbDNVDNfyRu%R3=ٔVTQ-V>9XYX=ZCFyZrD^\E^>`Q 5b4bȥ?Q 9f4b})b!BYdyfNQ If?bCIb;ib;b4ynBɮn!An+EjhDNOT Ignoring new targets: 59.15 m.bhPowering the camera and arming the capture device at range: 59.40 m.2h RhZh% ProNav: ac range: 59.153168 m, nav range: 56.922195 m, bearing: 239.185644 deg, approach rate: -0.555250 m/s, LOS rate: -0.031864 deg/s, cmd heading: 247.785248 deg, new cmd heading: 247.741972 deg. Bh%-HeadingCmd: 4.323913 target range: 59.153168 and range: 59.40 m.h-]@h)*h)"h1 h12h1g1f1f9f9d9d9d9jdAZdE @{BɢN<) Hbi)2=iJinZ<< %BDAT read: Tx time:03:36:17.7130 %$Ping request sent.-uJ4@ u| >)uQ@Iu| E EE*E"E1;*E:VE(N4ZEBE\ԑ ж,$,?A2Ѓ@2ˊ@2=ٱ23U' :AHRS rotation from veh to nav: [[-0.364748,0.923583,0.118128],[-0.926551,-0.347495,-0.144053],[-0.091996,-0.161995,0.982494]]2H`X׿@?@=?`M[=ֿTp¿ >Ŀ@p?i2Ѓ@I2Z_;2CYB5}ByBI DDbDNVDNyr%rG=ٔvQ-v>9v ?Yv ?=vCFyvzDzR˺Ez>|Q 54~ƿ?Q 94~؂)~BY y ZQ I ?~-CI~F:i~_:~4yɮ"Aii,?AJidBRidBjiJI@bFK@Bd&\'I!@R#?-Pkɿp ?Zi4QObi| jO^=CJH$;%@ZU0࿿2<%˸?2iWB:i"id?*i|ŀBiBii|ŀiipbBiی@e addTargetRange:: Added new target pos. range: 57.400002 m, deltaT: 3.528091 s, deltaX: -2.000000 m, approachRate: -0.566879 m/s, rangeRepo size: 4 u Added new target pos. range: 57.161125 m, bearing: 238.648186 deg, lat: 36.779317 deg, lon: -121.859591 deg, deltaT: 3.528091 s, deltaX: -1.992043 m, approachRate: -0.564623 m/s, posRepo size: 4 jhqy}DNOT Ignoring new targets: 57.16 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRhZh ProNav: ac range: 57.161125 m, nav range: 56.610016 m, bearing: 239.120738 deg, approach rate: 0.000000 m/s, LOS rate: -0.031864 deg/s, cmd heading: 247.741971 deg, new cmd heading: 247.702400 deg. BhHeadingCmd: 4.323223 target range: 57.161125 and range: 57.40 m.hW@h*h"h h2hgfffdddjd@3L@Zd3?yBɢ<) &oi):\=i{i<<IW@Io$@ @@/@ԩD!D%%=bEƙT4jER4rEm0EE EEEE&EA"EE4;*EE:VEE4ZEAau@a@a@a@^A]<AA II IY Om >B <>B B IB }BB B B B ;B -9E ,3l>,?AYr|ByrIaE@aE aE@aE aE@aE aE@aM bD]VD]f?3yu%}3=ٔ}Q-}>9Y=CFyDE>Q 54͵?Q 94͈)BQ A+:YQ E:yQ I?NCI/;i>>4yɮ#Ajh }DNOT Ignoring new targets: 57.16 m.bhyPowering the camera and arming the capture device at range: 57.40 m.2hRhZh ProNav: ac range: 57.161125 m, nav range: 56.354916 m, bearing: 239.105855 deg, approach rate: -0.555456 m/s, LOS rate: -0.032553 deg/s, cmd heading: 247.702411 deg, new cmd heading: 247.657559 deg. BhHeadingCmd: 4.322440 target range: 57.161125 and range: 57.40 m.hmQ@h*h"h h2hgfffdddjdZd#?wBɢ4<) ~i)q=ihi1T=<!@i @i@i@i@q@ugA9^A <E-  E- E- ,E) "E- 1;*E- n:VE- g4ZE) BE) a5 2E) a5 JE- ,SBX,?A>̓@>Ȋ@>6=ٱ>[)! FAHRS rotation from veh to nav: [[-0.365207,0.923951,0.113747],[-0.926703,-0.349201,-0.138852],[-0.088572,-0.156119,0.983759]]>H_׿?`? NYֿ ਬ`ÿ z?i>̓@I>p_;Թ ,r,?AEz EzEz+Ex"Ez%.;*Ez:VEz [4ZExa@a@a@a@Y |By bII=)= %4<%4<bD-VD-k1y%>=ٔQ->9Y=CFyDE>Q 54?Q 94Ӓ)BQ A 9YQ EL:yQ I?CI;i?4y=BɮE%AM4EԹmB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 57.16 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRhZh ProNav: ac range: 57.161125 m, nav range: 55.925392 m, bearing: 239.080829 deg, approach rate: -0.497753 m/s, LOS rate: -0.029224 deg/s, cmd heading: 247.624793 deg, new cmd heading: 247.582187 deg. BhsHeadingCmd: 4.321125 target range: 57.161125 and range: 57.40 m.hF@h*h"h h2hgfffd d d jdZdp?BQBQBURIBU|BBU =BQBQBU;BU>9E额sBɢ|!<) i)=izi$_.><]<#,h,?AYz|ByzMIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992268aa aa aa aa iMb@Mb@Mb@ 9Cl?&1I +Yd?yP94-A A CA)$AYAbD VD2y%9=ٔQ->9 ?Y ?=CFyDE>Q 54)?Q 94) BQ AT:Y?Q E:yQ I ?CI;ib;/4yɮ%Ajh9EDNOT Ignoring new targets: 57.16 m.bhAEPowering the camera and arming the capture device at range: 57.40 m.2hAIRhU{ZhU{e ProNav: ac range: 57.161125 m, nav range: 55.664368 m, bearing: 239.059759 deg, approach rate: -0.678037 m/s, LOS rate: -0.054987 deg/s, cmd heading: 247.582200 deg, new cmd heading: 247.518694 deg. BhemHeadingCmd: 4.320016 target range: 57.161125 and range: 57.40 m.hm=@hi*hi"hi hi2hqgqfqfqf}%BdydydyjdyZdh[@颭rBɢv;) i)P@=顱ii!IS>< b),],?A2'Ã@2@2ks=ٱ2 :AHRS rotation from veh to nav: [[-0.366581,0.923886,0.109791],[-0.926665,-0.352019,-0.131813],[-0.083132,-0.150060,0.985176]]2H v׿`x?@I? =zֿ`C!H*5ÿ ?i2'Ã@I2=_;2CYBQ|ByB+IbDJVDJyR@%Ra=ٔVvQ-V>9TYT=ZCFyZDZnjEZ>Q 5%4?Q 9%4X)BY!y-#Q I-?CI:i:4y1ɮ5u&A1jhaeDNOT Ignoring new targets: 57.16 m.bhamPowering the camera and arming the capture device at range: 57.40 m.2hiRhm^Zhm^ ProNav: ac range: 57.161125 m, nav range: 55.437698 m, bearing: 239.041590 deg, approach rate: -0.604944 m/s, LOS rate: -0.048689 deg/s, cmd heading: 247.518706 deg, new cmd heading: 247.463976 deg. BhHeadingCmd: 4.319061 target range: 57.161125 and range: 57.40 m.h5@h*h"h h2hgfffdddjdZdY@qBɢ G;) $i)y=iWilh'>< +*1,,?A:ƒ@:Ἂ@:-=ٱ: FAHRS rotation from veh to nav: [[-0.366756,0.923927,0.108850],[-0.926748,-0.352600,-0.129657],[-0.081413,-0.148429,0.985566]]:H`x׿`А?ݻ?ֿ@|״¿ ‰?i:ƒ@I:a;:CYN!|ByNI PPQimMb@Mb@Mb@iiii i9mZd;?:v~jtxYm?ymԼmĻim^ A mA)iiYmzAbDVD1ya%&=ٔeQ->9Y=CFyD:E>Q 54?Q 94A)BY?Q E:yQ I?CI:i:4yBɮP'A3EjhDNOT Ignoring new targets: 57.16 m.bhPowering the camera and arming the capture device at range: 57.40 m.lFinal approach. Armed for intercept at range: 57.40 m.\Transitioning guidance mode to: FINAL_APPROACH:h@Rh6Zh6 ProNav: ac range: 57.161125 m, nav range: 55.151848 m, bearing: 239.006051 deg, approach rate: -0.595385 m/s, LOS rate: -0.074405 deg/s, cmd heading: 247.463983 deg, new cmd heading: 247.356815 deg. BhALHeadingCmd: 4.317191 target range: 57.161125 and range: 57.40 m.hm&@h*h!"h! h!g!f!f)f-Bd)d)d1jd1Zd5@1@eoBɢehu<)a eia)m+=iiiuBi?<WdO7,.,?A:Pƒ@: @:W=ٱ: BAHRS rotation from veh to nav: [[-0.366779,0.924083,0.107444],[-0.926890,-0.353096,-0.127273],[-0.079673,-0.146270,0.986031]]:HPy׿?v?@ֿ~J`te¿?i:Pƒ@I:b;8YJ|ByJIbDVVDVy^O%^Z=ٔ^Q-b>9b"?Yb"?=bCFybDf%8Ef>hQ 5n4j?Q 9n4j)jBYlyrQ Ir?jCIjD;ij;j4ytɮv'AtjhDNOT Ignoring new targets: 57.16 m.bhRhܫZhܫ- ProNav: ac range: 57.161125 m, nav range: 54.929081 m, bearing: 238.978087 deg, approach rate: -0.596043 m/s, LOS rate: -0.075126 deg/s, cmd heading: 247.356803 deg, new cmd heading: 247.272570 deg. Bh-;N5HeadingCmd: 4.315721 target range: 57.161125 and range: 57.40 m.h5b@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM, @echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.252275ԹunBɢu. )y }əiy)}3=yia(i@< m BDAT read: Tx time:03:36:21.3130 m $Ping request sent.m $+3@ ;0>) @@I ;0 5?RW*?KR폽? .5?) &I 9i ;0  :publishing transmit ping timei  Fpublishing direction and range infoy  go?Ө*ƿ!?Y ) I i ) I 5?RW*?KR폽? ) I i E  E E )E "E 9;*E :VE FA4ZE a @a @a @a @A ^A <B =>B B IB {BB B B B ;B H9EqAaIiIyO??,G=,?A2@2z@2ٞ=ٱ2 :AHRS rotation from veh to nav: [[-0.367143,0.923939,0.107440],[-0.926932,-0.353795,-0.125006],[-0.077486,-0.145485,0.986321]]2HC׿?@6?lֿ3@!ֳ@@¿?i2@I2 a;0YR{ByRIIV=)V;iEMb@Mb@Mb@AAAA A9EZd;?~jtxYE?yEĻEEx/AEA EA)AAYEpAbD] VD]:2ye5R%m=ٔm~Q-u>9qYq=uCFyuD}5E}>Q 54u?Q 94&)ۂBY?Q E:yQ I?2CI ;im ;ɜ4yBɮO(A=Ei i ß,?AJi \BRi \Bji ؅@b  9J@󘍝 #5 k"@R go?Ө*ƿ!?Zi 9bi ;0j  .ɫ;G`UD$@Z j6I ࿰j뿂9)о?2i =:i ^"i CZ?*i -PBi @Bi >FD?i si Bi j[Bi @- addTargetRange:: Added new target pos. range: 55.400002 m, deltaT: 3.526496 s, deltaX: -2.000000 m, approachRate: -0.567135 m/s, rangeRepo size: 4 = Added new target pos. range: 55.169228 m, bearing: 239.652704 deg, lat: 36.779319 deg, lon: -121.859596 deg, deltaT: 3.526496 s, deltaX: -1.991898 m, approachRate: -0.564838 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 55.17 m.bh9RhEZhau ProNav: ac range: 55.169228 m, nav range: 54.854362 m, bearing: 239.392144 deg, approach rate: 0.000000 m/s, LOS rate: -0.075126 deg/s, cmd heading: 247.272574 deg, new cmd heading: 247.144484 deg. Bhq}HeadingCmd: 4.313485 target range: 55.169228 and range: 55.40 m.h}@hy*hy"hy hgfff Bdddjd@3K@Zd*?%lBɢ%`"<)! %i!)-\=))i- i5%5@<5;*E n:VE (N4ZE BE UE,-?A2ໃ@2@2=ٱ2%6 >AHRS rotation from veh to nav: [[-0.367643,0.923822,0.106729],[-0.926942,-0.354776,-0.122117],[-0.074949,-0.143827,0.986760]]2Hu׿? R?@ֿ`C/h¿?i2ໃ@I2Ca;2CYF{ByFIbDNVDNyV%Vn=ٔZQ-Z?9 ?Y ?=CFyǘD E >Q 54n?Q 94z)ӂBYyQ I?NCI:i(:Ϝ4y-Bɮ-#)A- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996454 7L,M2-?AB@B\@B}=ٱB NAHRS rotation from veh to nav: [[-0.368101,0.923562,0.107399],[-0.926998,-0.355601,-0.119262],[-0.071955,-0.143459,0.987037]]BH`׿ҍ?|~?+ֿ@􇾿`k\¿Ε?iB@IBc`;BCYV{ByVIbD^VD^:yfD %fI=ٔfQ-f>9j"?Yj"?=jCFyjϘDnDEn>pQ 5v4rg?Q 9v4rv)rʂBYtyvQ Iv?rmCIr:irg:r֜4y|ɮ~[)A|jh!%DNOT Ignoring new targets: 55.17 m.bh!Rh-IܺZh-Iܺ= ProNav: ac range: 55.169228 m, nav range: 54.394936 m, bearing: 239.320570 deg, approach rate: -0.613703 m/s, LOS rate: -0.096294 deg/s, cmd heading: 247.043270 deg, new cmd heading: 246.928855 deg. Bh=,EHeadingCmd: 4.309721 target range: 55.169228 and range: 55.40 m.hE=@hA*hA"hA hAgIfIfIfIdQdQdQjdQEe EeEe-Ea"EeO6;*Ee:VEet4ZEaam@am@am@am@ZdU o?GU9QY]A额jBɢп) 'i),=i:i w z(B< =I=@IBu<>BqBuIBu{BBqBqBuDBu#;BuP9E@ @@4@iyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249559Q ^A <A1 IA IQ Om >S,L-?A2p@2@@22=ٱ2ġ >AHRS rotation from veh to nav: [[-0.367967,0.923605,0.107495],[-0.927283,-0.355930,-0.116014],[-0.068890,-0.142367,0.987414]]2HÌ׿ +?DŽ?`N ֿ`ʢ9¿`?i2p@I2_;2CYB{ByFI HHJ=J=an@an an@an an@an an@an bDrVDryzL %zF=ٔ~?Q-~>9|Y|=~CFy~ؘD:E> Q 54 ^?Q 94 ) BQ A+:YQ E:yQ I? CI <:i > uܜ4y!ɮ%_)A)jhIUDNOT Ignoring new targets: 55.17 m.bhQRhUB޺ZhUB޺m ProNav: ac range: 55.169228 m, nav range: 54.142380 m, bearing: 239.280689 deg, approach rate: -0.612427 m/s, LOS rate: -0.097157 deg/s, cmd heading: 246.928851 deg, new cmd heading: 246.808652 deg. Bhm[uHeadingCmd: 4.307623 target range: 55.169228 and range: 55.40 m.hu ؉@hq*hq"hq hqgqfqfyfydydydjdZd?MiBɢU)Q UiQ)UP=QYi]egi}6B< =I ؉@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500693A@ @@/@E] E]E]*EY"E]8;*E]I:VE](N4ZEYBE]ُ-$Y,iWf-?A2@2e@2Z=ٱ2 :AHRS rotation from veh to nav: [[-0.368144,0.923482,0.107938],[-0.927449,-0.356547,-0.112749],[-0.065637,-0.141614,0.987743]]2H ׿`*?ʡ?`ֿݼͰk ¿ ?i2@I26_;0@Y^{BybIbDjVDjNyrP%rM=ٔrQ-r>9tYt=vCFyvDz5Ez>|Q 54~W?Q 94~)~BQ A :YQ E`:y Q I ?~CI~y;i~'P?~4yɮ)AjhDNOT Ignoring new targets: 55.17 m.bhRhպZhպ  ProNav: ac range: 55.169228 m, nav range: 53.897976 m, bearing: 239.241765 deg, approach rate: -0.583709 m/s, LOS rate: -0.093385 deg/s, cmd heading: 246.808640 deg, new cmd heading: 246.691336 deg. Bh -HeadingCmd: 4.305576 target range: 55.169228 and range: 55.40 m.hGlj@h*h"h hgff!f!d!d!d!jd)Zd-|N?=PExceeded connect timeout, disconnecting.Yɢep>)a e錄ia)e/=aiimX\imQ"uCA> Aa I I B A <B B B IB j{BB =B B B -;B Y9EO > `,2-?A6@6Ͷ@6e=ٱ6  BAHRS rotation from veh to nav: [[-0.367950,0.923328,0.109897],[-0.927755,-0.356630,-0.109934],[-0.062312,-0.142407,0.987845]]6H ׿?@2"?+ֿ$e篿 h:¿l?i6@I6?_;6CYJ{ByJIpMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257924aa aa aa aa iMb@Mb@Mb@ 9Cl?~jtx?y&1?Y;?y;`e<I0AA A)%AYAbD-VD-0y=%E6=ٔEBQ-E>9IYI=MCFyMDM+:EM>YQ 5]4]N?Q 9e4])]BQ AeT:YeG?Q Ee:yeQ Ie?]CI];i];]4yuBɮu*AuDEjhDNOT Ignoring new targets: 55.17 m.bhRhZh ProNav: ac range: 55.169228 m, nav range: 53.623005 m, bearing: 239.190713 deg, approach rate: -0.640910 m/s, LOS rate: -0.119604 deg/s, cmd heading: 246.691324 deg, new cmd heading: 246.537383 deg. Bh*HeadingCmd: 4.302889 target range: 55.169228 and range: 55.40 m.hD@h*h"h hgfffBdddjdZdཎ@hBɢ3) 西i)= i ARi\zoD<L'=ID@IQ@ @@/@9^AO =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508930a E  E E .E "E O6;*E :VE ـ4ZE BE Gc6f,-?A2@2@2]gr=ٱ2c :AHRS rotation from veh to nav: [[-0.367915,0.923334,0.109965],[-0.927976,-0.357072,-0.106583],[-0.059146,-0.141258,0.988204]]2H׿ ?&?BֿIdH¿^?i2@I2%_;2CYB{ByBIIF>)DHJAbDNVDNfyr<%rc=ٔvpQ-v>9tYt=zCFyzDz9Ez>|Q 54~G?Q 94~)~BY y Q I ?~CI~N:i~g:~)4yɮ)A5B*** querying acoustic contact ***i1 i19jhiuDNOT Ignoring new targets: 55.17 m.bhqRh}5Zh}5 ProNav: ac range: 55.169228 m, nav range: 53.402653 m, bearing: 239.149395 deg, approach rate: -0.604614 m/s, LOS rate: -0.113837 deg/s, cmd heading: 246.537372 deg, new cmd heading: 246.412908 deg. Bh@HeadingCmd: 4.300716 target range: 55.169228 and range: 55.40 m.hx@h*h"h hgfffdddjdZd@|@gBɢ@) `i)`=iyi AE<ѳ"=Ix@IP@ @@*0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761668iԑ^Al=5nManaging dock network, ignoring radio surface power offA I I O- >  BDAT read: Rx Time:03:36:23.7882  TRx dataTimestamp_ set to:1761536182.800163 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013663`l,-?AV@VO@Vf=ٱV nAHRS rotation from veh to nav: [[-0.367798,0.923202,0.111457],[-0.928199,-0.357217,-0.104129],[-0.056318,-0.141753,0.988299]]VH ׿ ߊ?r?@γ@ֿ7լ$¿$?iV@IV^;TEU EUEQEQ"EU1;*EU:VEQZEQae@ae@ae@ae@Ye{BymIԙbDVDy%>=ٔ\ػQ->9Y=CFyD`9E>Q 5%4??Q 9%4)BY!y%Q I%?CI=:iV:4y1ɮ5)AYjhyDNOT Ignoring new targets: 55.17 m.bhRhZhBABABEIBE_{BBE =BABABE0;BE]9E ProNav: ac range: 55.169228 m, nav range: 53.133060 m, bearing: 239.098310 deg, approach rate: -0.570532 m/s, LOS rate: -0.108658 deg/s, cmd heading: 246.412899 deg, new cmd heading: 246.258867 deg. Bh$HeadingCmd: 4.298028 target range: 55.169228 and range: 55.40 m.hr@h*h"h hgfffdddjdZdl @QɢU)Q UAiY)]_D=YYi]giF<P,=Ir@IY@Y @Y@e/@amchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267085 ^A 3=A zA hAA I I O >xt,.:-?A(B@B@Bh>Q=ٱBuq JAHRS rotation from veh to nav: [[-0.367524,0.923010,0.113923],[-0.928611,-0.357480,-0.099444],[-0.051063,-0.142338,0.988500]]BH׿L? *? /ֿ)u$!8¿ʡ?iB@IB^;BCYV{ByZI%=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520383E EE)E"EO6;*E:VEFA4ZEBEa2EaJE49Y=DFyDN:E>Q 546?Q 94)BY?Q E:yQ I?6CI;i;4yɮ)Ajh)5DNOT Ignoring new targets: 55.17 m.bh1Rh]EZh]Em ProNav: ac range: 55.169228 m, nav range: 52.846806 m, bearing: 239.046390 deg, approach rate: -0.595123 m/s, LOS rate: -0.108528 deg/s, cmd heading: 246.258864 deg, new cmd heading: 246.102259 deg. BhmuHeadingCmd: 4.295295 target range: 55.169228 and range: 55.40 m.hus@hq*hq"hq hgfff,BdddjdZd)* @5fBɢ5k))1 5ꢿi9)=G=99i=iE5sEG  BDAT read: Tx time:03:36:24.9130  $Ping request sent. / 2@M>aF2@ d>)E@Id)5*7?e`?ۙs? OF0?)LI+idM :publishing transmit ping time M Fpublishing direction and range infoy(?aXĿ@|[?Y )Ii )I)5*7?e`?ۙs? )Ii ^A $= AE .AIQ Ia Ou >z,6r-?A^@^㺊@^E=ٱ^ zAHRS rotation from veh to nav: [[-0.367775,0.922772,0.115039],[-0.928663,-0.358041,-0.096911],[-0.048238,-0.142474,0.988622]]^H`׿X? /s?`$ֿ@!ϸ<¿ˢ?i^@I^%^;^CY~{ByI = a=bDVDyE"%E]=ٔMQ-M>9M ?YU ?=UDFyU DUEU>YQ 54]i0?Q 94])]BYyQ I?]QCI];i];]$4yɮ)Aiiv-?AJiSBRiSBji@bOxI@'=,;!4yy'@R(?aXĿ@|[?Zi+bidjgqU9"鸭F$@Z Lа޿;)e:~?2im5:i"iٜ?*iBiBii-Pi@BiRBi @E addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.780072 s, deltaX: -2.200001 m, approachRate: -0.582000 m/s, rangeRepo size: 4 U Added new target pos. range: 52.978268 m, bearing: 240.814945 deg, lat: 36.779319 deg, lon: -121.859597 deg, deltaT: 3.780072 s, deltaX: -2.190960 m, approachRate: -0.579608 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 52.98 m.bhYRh}Zhy ProNav: ac range: 52.978268 m, nav range: 52.686665 m, bearing: 239.038163 deg, approach rate: 0.000000 m/s, LOS rate: -0.108528 deg/s, cmd heading: 246.102262 deg, new cmd heading: 245.980886 deg. BhHeadingCmd: 4.293176 target range: 52.978268 and range: 53.20 m.ha@h*h"h hgfffdddjdJ@Zd@?ԹAɢE`ş)A EiI)MJ=IIiM押iUuoH<J==Ia@IDzDAAE EE,E"E*;*E;:VEg4ZEa@a@a@a@)@) @)@-0@1AiAm?AB;>BBIBj{BB =BBB;;Bg9EBiBiBiBiBiCmǞ4 ^AU 3=A ؟AI I O >C,;.?A2@2@2z;=ٱ2X >AHRS rotation from veh to nav: [[-0.367815,0.922477,0.117252],[-0.928778,-0.358250,-0.095015],[-0.045644,-0.143850,0.988546]]2H H׿?B?ֿR^i¿,?i2@I2^;2CYb{BybIiMMb@Mb@Mb@IIII I9MK7?/$V-?YMI ?yMM9}"?Y}"?=}DFy}DD7E>Q 54(?Q 94_)BY ?Q E:y2Q I?mCI ;i2 ;? 4yBɮ)AjhDNOT Ignoring new targets: 52.98 m.bhRh>Zh> ProNav: ac range: 52.978268 m, nav range: 52.465389 m, bearing: 239.005813 deg, approach rate: -0.566442 m/s, LOS rate: -0.083162 deg/s, cmd heading: 245.980875 deg, new cmd heading: 245.883416 deg. BhJdHeadingCmd: 4.291475 target range: 52.978268 and range: 53.20 m.hS@h*h"h hgfffKBdddjdZd?颭eBɢL) âi)N=i0Fi[^I<0C=IS@IQ@ @@4@yE EE+E"E%.;*E:VE [4ZEBE:A>ԩ I I O >܇, .?A@Zƒ@Z@Z0=ٱZ jAHRS rotation from veh to nav: [[-0.367545,0.922014,0.121658],[-0.929006,-0.357930,-0.093989],[-0.043114,-0.147566,0.988112]]ZHم׿$?$?jSֿ s¿ ?iZƒ@IZ\^;ZCYv{ByvIbDVD1y%`%-O=ٔ->һQ-->9)Y1=5DFy5D5/_:E5>9Q 5E4=!?Q 9M4=)=BYIyM Q IM?=CI= :i=:=$4yUBɮ].*AMEB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 52.98 m.bh!Rh-Zh-] ProNav: ac range: 52.978268 m, nav range: 52.250660 m, bearing: 238.974023 deg, approach rate: -0.517401 m/s, LOS rate: -0.076913 deg/s, cmd heading: 245.883422 deg, new cmd heading: 245.787662 deg. Bh]#SeHeadingCmd: 4.289804 target range: 52.978268 and range: 53.20 m.heF@ha*ha"ha hagifififidqddjdZd-?ɢ0t) £i)Đ=ԩi򢇼i'+K<I=IF@IA@A @A@E4@I5 ?5 a?5 T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.^AM B= E  E E E "E *E :VE ZE a @a @a @a @IA IQ Oe > ,:.?AlB==>B9B=IB=t{BB9B9B9B=J;B=w9EAă@@&=ٱV AHRS rotation from veh to nav: [[-0.367425,0.921513,0.125752],[-0.929164,-0.357793,-0.092939],[-0.040652,-0.150992,0.987699]]H׿}??ֿ@ʷ@KФ@Sÿ`:?iAă@I^;Y{ByII=)4<AiMb@Mb@Mb@ 9Q?9IYI=MDFyM%DU9E]>aQ 5u4e?Q 9}4e)eBY}t ?Q E}:y}_Q I}?eCIeIr;ieR;ep4yɮU*AjheDNOT Ignoring new targets: 52.98 m.bhaRheZheu ProNav: ac range: 52.978268 m, nav range: 51.997257 m, bearing: 238.944171 deg, approach rate: -0.548665 m/s, LOS rate: -0.064951 deg/s, cmd heading: 245.787663 deg, new cmd heading: 245.697670 deg. BhuM2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500604HeadingCmd: 4.288233 target range: 52.978268 and range: 53.20 m.h59@h*h"h hgfffuBdddjdZdWJ?AɢEV)I MiI)M>=IIiMiUZUەL5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752247R,T.?AJ&ȃ@JŠ@Jc$=ٱJ VAHRS rotation from veh to nav: [[-0.367023,0.921228,0.128971],[-0.929441,-0.357533,-0.091160],[-0.037867,-0.153329,0.987449]]JHO}׿z??``ֿ=V\cEÿ/?iJ&ȃ@IJ.^;JCY^{By^IbDfVDfJyn.;%n{=ٔrL Q-r ?9pYp=vDFyv,DvB:Ev ?xQ 5~4z?Q 9~4z)zBYyTQ I?zCIz;iz;z"4y ɮ Q*A jh15DNOT Ignoring new targets: 52.98 m.bh19RhEᕺZhEᕺU ProNav: ac range: 52.978268 m, nav range: 51.824589 m, bearing: 238.923543 deg, approach rate: -0.546596 m/s, LOS rate: -0.065518 deg/s, cmd heading: 245.697669 deg, new cmd heading: 245.635578 deg. BhU3]HeadingCmd: 4.287149 target range: 52.978268 and range: 53.20 m.h]T0@hY*hY"hY hagafafafadididijdiZdu`?E EEE"E /;*E:VEZEBE j,n.?A2ǃ@2XŠ@2=ٱ2^ :AHRS rotation from veh to nav: [[-0.367130,0.920966,0.130529],[-0.929507,-0.357942,-0.088850],[-0.035106,-0.153947,0.987455]]2H׿x?*? `ֿ`۾@bÿ;?i2ǃ@I2^;2CYB{ByBIbDJVDJk1yR>%RN=ٔV,Q-V>9TYT=ZDFyZ4DZGEZ>\Q 5b4^ ?Q 9b4^)^BYdyfUQ If?^CI^:i^:^)4yjBɮj*AjLEjhy}DNOT Ignoring new targets: 52.98 m.bhyRhZh ProNav: ac range: 52.978268 m, nav range: 51.612717 m, bearing: 238.898051 deg, approach rate: -0.533938 m/s, LOS rate: -0.064506 deg/s, cmd heading: 245.635568 deg, new cmd heading: 245.558779 deg. Bh1HeadingCmd: 4.285809 target range: 52.978268 and range: 53.20 m.hY%@h*h"h hgfffdddjdZde@Թɢ%÷)! % i!)%v=))i-i-5AN<Y=IY%@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256453 5O@1 @1@5/@1E EE)E"E:;*En:VEFA4ZEa@a@a@a@cGliA!eB9eliAYeAB5>>B1B5IB5~{BB5 =B1B5DB5Z;B59E^AQ=I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5083999 ,c.?A6ȃ@6vÊ@6^=ٱ6t BAHRS rotation from veh to nav: [[-0.367036,0.920595,0.133378],[-0.929640,-0.358019,-0.087130],[-0.032460,-0.155973,0.987228]]6H }׿ u??ֿ`'N`ÿ^?i6ȃ@I6^;6CYF{ByJI LLN=Np=iMb@Mb@Mb@ 9y&1?A`"Zd;O?Y`?yYj</5AA A)~&AYf"AbD5VD50yE|;%EA=ٔE̻Q-E>9IYI=MDFyMYQ 5e4]?Q 9e4] )]BYe1?Q Em:ymQ Im?]CI]n:i]:]o04yqɮu*AqjhDNOT Ignoring new targets: 52.98 m.bhRhEZhE ProNav: ac range: 52.978268 m, nav range: 51.391266 m, bearing: 238.879842 deg, approach rate: -0.521682 m/s, LOS rate: -0.043081 deg/s, cmd heading: 245.558770 deg, new cmd heading: 245.503907 deg. BhHeadingCmd: 4.284852 target range: 52.978268 and range: 53.20 m.h@h*h"h hgfffyBdddjdZd ?@颙ɢhx) i)5=顡i mifBNP<vd]=I@ImQ@i @i@m/@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760244E EE'E"E1A;*Ea:VE'4ZEBEԙ +,5E.?AY={By=IbDMVDMkeBDAT read: Rx Time:03:36:27.3856 eTRx dataTimestamp_ set to:1761536186.580260mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013476ym %uG=ٔuQ->9 Y = DFy ED E>Q 5%4?Q 9%4f)BY!y!Q I%?CIK:i:74y1ɮ5*A1MB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 52.98 m.bhaRhe:GZhe:Gq} ProNav: ac range: 52.978268 m, nav range: 51.166996 m, bearing: 238.861240 deg, approach rate: -0.522707 m/s, LOS rate: -0.043545 deg/s, cmd heading: 245.503910 deg, new cmd heading: 245.447860 deg. Bh}HeadingCmd: 4.283873 target range: 52.978268 and range: 53.20 m.h}@h*h"h hgfffdddjdZd@ɢEϼ) 觿i) =iiy8Q<W`=I}@I@ @@O0@@gA@ԡ^AgW=A>A> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264915bE- [4jE-wX4rE-?0E  E E *E "E 4;*E :VE (N4ZE a @a @A I1 a @a} @I O > W,'.?ABnA>BlBlBlBn =BlBlBna;Bn9E]Ƀ@]Ċ@]<ٱ]% AHRS rotation from veh to nav: [[-0.366972,0.919734,0.139355],[-0.929827,-0.358255,-0.084110],[-0.027434,-0.160442,0.986664]]]Hy|׿vn?d?%ֿ;_Ŀ ?i]Ƀ@I]x^;]CY{ByIiuMb@Mb@Mb@qqqq q9uMbX?&19Y=DFyND9E>Q 54?Q 94@)BYb ?Q E:yWQ I?4CI ;iP ;?4y(Bɮ+AVEDAT read: 03:36:27.3856 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.23, 2.244, 0.689, 2.652, 2.301, PHS= 0.045,-1.567, 0.307, RAW= 157.4, 13.7, CAL= 157.9, 15.7, ROT= 352.1, -15.7 Ygot valid direction response: 03:36:27.3856 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.23, 2.244, 0.689, 2.652, 2.301, PHS= 0.045,-1.567, 0.307, RAW= 157.4, 13.7, CAL= 157.9, 15.7, ROT= 352.1, -15.7 PDAT read: Bearing 45.7, -12.2 (Local) ~Local bearing/azimuth received: Bearing 45.7, -12.2 (Local) DAT read: Range 11 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.4 m/s *DAT read: user:400> BDAT read: Tx time:03:36:28.5130 $Ping request sent.eF/@eGt>eA`0@ eK>)eU@IeKaaeE]?j1c[H@EIY ]20+@ReAZ?e:RlyQ?Zie0 bieKje* *6rF.ݐ*@Ze1b>Dۿŧ%~뿧ǹ~?2ie%0:ieV"ieN?*ie*BieBieCZ?iaieBie$KBie[@m addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527810 s, deltaX: -1.900002 m, approachRate: -0.538578 m/s, rangeRepo size: 4  Added new target pos. range: 51.086670 m, bearing: 243.280107 deg, lat: 36.779322 deg, lon: -121.859597 deg, deltaT: 3.527810 s, deltaX: -1.891598 m, approachRate: -0.536196 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 51.09 m.bhRhZh ProNav: ac range: 51.086670 m, nav range: 50.785252 m, bearing: 239.089258 deg, approach rate: 0.000000 m/s, LOS rate: -0.043545 deg/s, cmd heading: 245.447848 deg, new cmd heading: 245.382070 deg. Bh=HeadingCmd: 4.282725 target range: 51.086670 and range: 51.30 m.h= @h9*h9"h9 h9gAfAfAfEwBdIdIdIjdM`fI@ZdU!?=fBɢ=n)9 =vi9)E =AAiE|iMMaS<e=I @I! E P@A  @A @E /@I Q ^Am u \=E  E E +E "E 2;*E n:VE [4ZE BE %9z ?Yz ?=zDFyWDAE>!Q 5%4%礊?Q 9-4%)!Y)y-`Q I-?%RCI%:i%:%vG4y]*Bɮ]+A]UEjhDNOT Ignoring new targets: 51.09 m.bhRhTcZhTc  ProNav: ac range: 51.086670 m, nav range: 50.551151 m, bearing: 239.069805 deg, approach rate: -0.595178 m/s, LOS rate: -0.049686 deg/s, cmd heading: 245.382059 deg, new cmd heading: 245.323430 deg. BheHeadingCmd: 4.281702 target range: 51.086670 and range: 51.30 m.h%@h!*h!"h! h!g!f)fqfqdqdydyjdyZd?9ɢ=t)A EiA);=顉iyiOtU<Ng=I@I@ @@0@^AE Ba=A I9 II O] >,.?A2ƒ@2Ἂ@2<ٱ2'' >AHRS rotation from veh to nav: [[-0.367885,0.918738,0.143463],[-0.929601,-0.359653,-0.080572],[-0.022428,-0.163005,0.986370]]2Hk׿Lf?]?J`׿^C@WĿX?i2ƒ@I2a^;2CYFK{ByFIbDNVDN:yV%VO=ٔZ-ɻQ-Z>9XYX=ZDFyZ_D^UE^>`Q 5f4bߤ?Q 9f4b)bBYhyjeQ Ij?bmCIb:ib:bLN4ylɮn),AlE EE&E"Em+;*E:VE4ZEa @a @a @a @jhDNOT Ignoring new targets: 51.09 m.bhRhASZhAS ProNav: ac range: 51.086670 m, nav range: 50.338707 m, bearing: 239.052082 deg, approach rate: -0.551172 m/s, LOS rate: -0.046174 deg/s, cmd heading: 245.323429 deg, new cmd heading: 245.270037 deg. BhHeadingCmd: 4.280770 target range: 51.086670 and range: 51.30 m.h@h*h"h hgfffdddjdZd??}gBɢ}2)y ii)D}=顁iyvi'aV<mni=I@II)AYA]@ABeB>Be9CBeIBej{BBaBaBaBaBe9Eԁ@ @@%4@!@ >@>ԙ^APa= I I O >ċ,/?A6ݼ@6@6<ٱ6߾& >AHRS rotation from veh to nav: [[-0.368492,0.918511,0.143355],[-0.929411,-0.360646,-0.078291],[-0.020211,-0.162086,0.986570]]6H`׿qd?vY?@׿ 7`9Ŀ?i6ݼ@I6^;6CYFY{ByFIPiMb@Mb@Mb@ 9K7?J +9IYI=MDFyMgDUĺEU>YQ 5e4]֤?Q 9e4]&$)]BYeQ ?Q Em:ym@Q Im?]CI]:i]':]U4yqɮu+AqjhDNOT Ignoring new targets: 51.09 m.bhRhHXZhHX ProNav: ac range: 51.086670 m, nav range: 50.110645 m, bearing: 239.032285 deg, approach rate: -0.542095 m/s, LOS rate: -0.047272 deg/s, cmd heading: 245.270044 deg, new cmd heading: 245.210381 deg. BhHeadingCmd: 4.279728 target range: 51.086670 and range: 51.30 m.h@h*h"h hgffftBdddjdZd?颉ɢ ) ɮi).y=顑isi8W<k=I@IE EE*E"E<;*E:VE(N4ZEBEē) -ʋ,O*/?A:M@:@:+<ٱ:P& BAHRS rotation from veh to nav: [[-0.369138,0.918207,0.143645],[-0.929196,-0.361604,-0.076400],[-0.018208,-0.161677,0.986676]]:H ׿a?`b? @$׿ӱĿ ْ?i:M@I:H^;8YJ4{ByJ|I PPbDZVDZkyf%jR=ٔjQ-j>9lYp=rDFyroDvEv>xQ 54zΤ?Q 94z))zBYyKQ I?zCIzж;iz;z\4y--Bɮ-,A5TE]B*** querying acoustic contact ***iY iYjhquDNOT Ignoring new targets: 51.09 m.bhqRh}RZhR ProNav: ac range: 51.086670 m, nav range: 49.900215 m, bearing: 239.014025 deg, approach rate: -0.528493 m/s, LOS rate: -0.046052 deg/s, cmd heading: 245.210376 deg, new cmd heading: 245.155366 deg. BhHeadingCmd: 4.278769 target range: 51.086670 and range: 51.30 m.h@h*h"h hgfffdddjdZdoC?hBɢ%) i)˛t=iqi\HYY<ԑ ы,zD/?A6㴃@6@6hV<ٱ6 & BAHRS rotation from veh to nav: [[-0.369422,0.918035,0.144012],[-0.929115,-0.362146,-0.074805],[-0.016520,-0.161439,0.986745]]6H׿``?`n? O@g-׿i&ꐿ`Ŀ@i?i6㴃@I6#^;4YF%{ByJsIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004477i%Mb@Mb@Mb@!!!! !9%sh|??Mb9QYQ=UDFyUwDYe48Ee>iQ 5m4mlƤ?Q 9u4ms.)mBYu ?Q Eu:yuQ Iu?mCIm ;im ;mc4yɮ,AjhDNOT Ignoring new targets: 51.09 m.bhRh/gZh/g ProNav: ac range: 51.086670 m, nav range: 49.674217 m, bearing: 238.993327 deg, approach rate: -0.549214 m/s, LOS rate: -0.050529 deg/s, cmd heading: 245.155379 deg, new cmd heading: 245.093002 deg. Bh HeadingCmd: 4.277680 target range: 51.086670 and range: 51.30 m.h@h*h"h hgffqfudBdydydyjdyZd}s@颭iBɢ) i)'o=imi3ZPZ<~o=I@IԉQ@ @@/@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257026^AXh=A?A>I1 IA OM >E-  E) E- -E) "E- /;*E) VE- t4ZE) BE- ˈ9Y=DFy%D-E->9Q 5U4=S?Q 9U4=3)=BYYyYQ I]?=CI=H;i=s;=j4ym6Bɮu-Au^EԹjhDNOT Ignoring new targets: 51.09 m.bhRhUaZhUa ProNav: ac range: 51.086670 m, nav range: 49.459148 m, bearing: 238.973454 deg, approach rate: -0.530680 m/s, LOS rate: -0.049250 deg/s, cmd heading: 245.093006 deg, new cmd heading: 245.033126 deg. Bh3HeadingCmd: 4.276635 target range: 51.086670 and range: 51.30 m.h1ڈ@h*h"h  h g fffddd!jd!Zd% ˰@IɢU ;)Q UriQ)]Rj=YYi]jieTke3L\Cj݋,VDx/?A2S@2#@2L<ٱ2g' :AHRS rotation from veh to nav: [[-0.371661,0.916735,0.146510],[-0.928284,-0.364846,-0.071943],[-0.012499,-0.162742,0.986589]]2H@M׿U??`Y׿j/Ŀ $?i2S@I2^;0YBzByBHIIF0>)F<bDNVDN1yVT%VQ=ٔV(Q-V>9Z"?YZ"?=ZDFyZD^ȻE^>`Q 5f4bh?Q 9f4bx8)bBYdyf8Q Ij?bCIb:ib:bq4ylDlzDn?AEr ErEr,Ep"ErU,;*Er:VErg4ZEpav@az@az@az@ɮz7.AxjhDNOT Ignoring new targets: 51.09 m.bh!Rh%ObZh%Ob5 ProNav: ac range: 51.086670 m, nav range: 49.249821 m, bearing: 238.954520 deg, approach rate: -0.544554 m/s, LOS rate: -0.049464 deg/s, cmd heading: 245.033118 deg, new cmd heading: 244.976076 deg. Bh5=HeadingCmd: 4.275639 target range: 51.086670 and range: 51.30 m.h= ҈@hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU@jBɢH) оi)a'f=i Wgi { E]< m=I ҈@IQBC>BBqIB"{BBBBBY;B9E5P@1 @9@=/@AIBDAT read: Rx Time:03:36:30.9831 TRx dataTimestamp_ set to:1761536190.108102checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013478i^Anp=A I) I9 OE >ԙ Q,/?AY~zBy~FIiMb@Mb@Mb@ 9V-?Q~jth?Y ?yD;n8AA A)%AY$AbDVDy%;=ٔQ->9Y=DFyDE>Q 54٭?Q 94>>)Y ?Q E:yEQ I?CIL:i':9y4y8BɮT.A]EjhDNOT Ignoring new targets: 51.09 m.bh Rh Zh  ProNav: ac range: 51.086670 m, nav range: 49.009399 m, bearing: 238.923922 deg, approach rate: -0.554017 m/s, LOS rate: -0.070854 deg/s, cmd heading: 244.976073 deg, new cmd heading: 244.883829 deg. Bh%B%HeadingCmd: 4.274029 target range: 51.086670 and range: 51.30 m.h%Ĉ@h)*h)"h) h)g)f)f1f5TBd1d9d9jd9Zd=T. @ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280542EkBɢEQ5)I MyiI)Y`=i+HdiE EE0E"E1;*E:VE4ZEBE\  BDAT read: Tx time:03:36:32.1130  $Ping request sent. 1@ %K> / 2@ b>) @I b ri{gQ?;}5?/_ME? /?) KI 'i b - :publishing transmit ping time - Fpublishing direction and range infoy  4D?udĿF#?Y ) I i ) I ri{gQ?;}5?/_ME? ) I i A I I O >j,}/?A%@%犊@%\<ٱ%f& 5AHRS rotation from veh to nav: [[-0.373626,0.915901,0.146727],[-0.927531,-0.367297,-0.069127],[-0.009421,-0.161922,0.986759]]%H}׿O??V`Ɂ׿@R@KٹĿ?i%@I%^^;%CYzBy5IbDVD02y%{%%<=ٔ%Q-%>9)Y)=-DFy-D-_EU>YQ 5e4]1?Q 9e4] D)]‚BYayegQ Ie?]7CI]R:i](:]瀝4qyɮ.Ai9i=1/?AJi=DBRi=DBji=x@b=nm.bG@o0QZ&k%@R=4D?udĿF#?Zi='bi=bj="b:8H73hcD[L߆&@Z=vPSI޿ Xg-K ?2i=#':i=A"i=IDB?*i=aLBi=]Bi=ٜ?i=aLi=Bi=@Bi=K@E addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.544790 s, deltaX: -1.899998 m, approachRate: -0.535997 m/s, rangeRepo size: 4 u Added new target pos. range: 49.194736 m, bearing: 240.873547 deg, lat: 36.779335 deg, lon: -121.859597 deg, deltaT: 3.544790 s, deltaX: -1.891933 m, approachRate: -0.533722 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 49.19 m.bhyRh}Zhy ProNav: ac range: 49.194736 m, nav range: 48.028660 m, bearing: 240.457346 deg, approach rate: 0.000000 m/s, LOS rate: -0.070854 deg/s, cmd heading: 244.883838 deg, new cmd heading: 244.786044 deg. BhHeadingCmd: 4.272323 target range: 49.194736 and range: 49.40 m.h޶@h*h"h hgfffdd!d)jd-@3H@ZdE?umBɢu0=)y }6ÿiy)}Z=yyi}j`i#a<Ks=I޶@IUrGqԩ 9YAE EE)E"Em+;*E:VEFA4ZEa@a@a@a@Q@ @@@BuA>BqBuLIBuzBBqBqBqBuZ;Bq^Ae @p= A I I O >,/?A6.@6@6CS<ٱ6 % >AHRS rotation from veh to nav: [[-0.374526,0.915671,0.145865],[-0.927182,-0.368500,-0.067388],[-0.007954,-0.160482,0.987007]]6H=׿@-M??y`׿@^@ ]J@Ŀ?i6.@I6ا^;6CYFzByF&I LLN=N=ieMb@Mb@Mb@aaaa a9eʡE?MbMbPYe?yeee6Aa e A)e$AaYe#AbD}VD}yqr%L=ٔyoQ->9Y=DFyDE>Q 54?Q 94lI)BY?Q E:yQ I?TCI ;i ;ه4yɮ#/AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 49.19 m.bhRh觺Zh觺 ProNav: ac range: 49.194736 m, nav range: 47.806808 m, bearing: 240.429783 deg, approach rate: -0.588052 m/s, LOS rate: -0.073399 deg/s, cmd heading: 244.786057 deg, new cmd heading: 244.702985 deg. Bh}IHeadingCmd: 4.270873 target range: 49.194736 and range: 49.40 m.h @h *h "h  h g fff0BdddjdZd@[?IUnBɢU@)Y ]ƿiY)]V=YYi]ץ]ieePwb ,@/?AF}@Fw@F;ٱFA$ RAHRS rotation from veh to nav: [[-0.375787,0.915142,0.145941],[-0.926685,-0.370027,-0.065838],[-0.006249,-0.159982,0.987100]]FH ؿH? 2?g@׿ڰ yMzĿR?iF}@IF^;FCYZzByZIbD~VD~y -% S=ٔ pQ- >9Y=DFyD}eE>!Q 5-4%N?Q 9-4%N)!Y)y-Q I-?%pCI%:i%b:%4y9ɮ=f/A9jhaeDNOT Ignoring new targets: 49.19 m.bhaRhmZhm} ProNav: ac range: 49.194736 m, nav range: 47.590813 m, bearing: 240.403056 deg, approach rate: -0.559055 m/s, LOS rate: -0.069491 deg/s, cmd heading: 244.702974 deg, new cmd heading: 244.622429 deg. Bh}>HeadingCmd: 4.269467 target range: 49.194736 and range: 49.40 m.hy@h*h"h hgfffdddjdZdr?oBɢ+x) ȿi)Q=iBZic<u=Iy@IԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994496@ @@4@^Ahp=A>A>! A I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246368bE˙T4jEY4rE˃0E  E E -E "E /;*E :VE t4ZE a- @a- @a- @a- @4, /?AJn@J|i@J(;ٱJP& VAHRS rotation from veh to nav: [[-0.377420,0.914122,0.148104],[-0.926032,-0.371798,-0.065050],[-0.004399,-0.161700,0.986830]]JH'ؿ@}@?@?` ׿%`rĿ?iJn@IJ^;HY^zBy^IbDfVDfkynռ%nN=ٔraQ-r>9pYp=rDFyvDvEv>xQ 5~4z?Q 9~4zT)xYy,q0?A 2rd@2B_@21;ٱ2' >AHRS rotation from veh to nav: [[-0.378578,0.913439,0.149359],[-0.925565,-0.373142,-0.063983],[-0.002713,-0.162464,0.986711]]2H:ؿ@:?@0?;׿`5a79fĿ`"?i2rd@I2^;2CYF_zByFIIJ >)J>HJAiUMb@Mb@Mb@QQQQ Q9UI +?I +~jtxYU9?yU94UĻU^4AUA UA)U$AQYU"AbDmVDmy}zԽ%}@=ٔ+Q->9Y=DFyD@E>Q 54|?Q 94Y)BYB?Q E:y_Q I?CI ;i~ ;4yɮ0Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750876jhDNOT Ignoring new targets: 49.19 m.bhRh&Zh& ProNav: ac range: 49.194736 m, nav range: 47.124474 m, bearing: 240.343488 deg, approach rate: -0.572586 m/s, LOS rate: -0.076126 deg/s, cmd heading: 244.540307 deg, new cmd heading: 244.442830 deg. BhPHeadingCmd: 4.266332 target range: 49.194736 and range: 49.40 m.h ˅@h *h "h  h g f ffBdddjdZdi?MrBɢM!)I MпiI)U7F=QQiU9Si]]Lg<]fw=I]˅@IaE EE+E"EO6;*E*:VE [4ZEBEGG ,/M/0?A2DZ@2U@2S:ٱ2L( :AHRS rotation from veh to nav: [[-0.379729,0.912626,0.151393],[-0.925097,-0.374401,-0.063396],[-0.001175,-0.164126,0.986439]]2HzMؿ`;4?`? e@1׿@: ?S ſ?i2DZ@I2<^;2CYBczByBIPbDNVDNyV<%VX=ٔZ}Q-Z>9XYX=^DFy^™D^WE^>`Q 5f4b#?Q 9f4b<_)bBYhyjQ Ij?bCIb|:ibt:b4ylɮr0Apjh DNOT Ignoring new targets: 49.19 m.bh Rh ǯZhǯ% ProNav: ac range: 49.194736 m, nav range: 46.906952 m, bearing: 240.314769 deg, approach rate: -0.579305 m/s, LOS rate: -0.076839 deg/s, cmd heading: 244.442826 deg, new cmd heading: 244.356270 deg. Bh%R-HeadingCmd: 4.264822 target range: 49.194736 and range: 49.40 m.h-ky@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=5@sBɢlM) |пi)xA=iOi,h<x=Iky@I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254642E EE,E"E /;*E:VEg4ZEa@a@a@a@BBBIBzBBBBBi;B9E^AAzAfA) I1 IY O >.,(I0?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5064046K@6WF@6Ilٱ64;* BAHRS rotation from veh to nav: [[-0.381393,0.911646,0.153106],[-0.924413,-0.376191,-0.062779],[0.000365,-0.165477,0.986214]]6Hhؿ3,?`?ʔ`ؿE 7?X.ſ?i6K@I6?^;6CYJTzByJI|imMb@Mb@Mb@iiii i9m +?~jth{GztYm?ymDmףm6Ai m!A)m;#AiYm3#AbDVDy%<=ٔhQ->9Y=DFyʙD釻E>Q 54v?Q 94me)BY?Q E:yQ I?CI!;ih;&4yɮ0AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 49.19 m.bhRhǺZhǺ  ProNav: ac range: 49.194736 m, nav range: 46.653488 m, bearing: 240.277114 deg, approach rate: -0.583940 m/s, LOS rate: -0.087223 deg/s, cmd heading: 244.356274 deg, new cmd heading: 244.242695 deg. Bh poHeadingCmd: 4.262839 target range: 49.194736 and range: 49.40 m.h.i@h*h"h hgfff%Bd!d!d!jd!Zd-@uBɢX) ҿi)Љ;=  i KiYM%3j<}y=I.i@I)@ @@@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758455^AE EEE"E&;*E:VEZEBE Y,hc0?A@B(=@B7@B~t ٱB* JAHRS rotation from veh to nav: [[-0.383013,0.910818,0.153984],[-0.923740,-0.378037,-0.061575],[0.002128,-0.165825,0.986153]]BHIؿ`l%?࿵? H1ؿdžna?@9ſ?iB(=@IB4^;BCYE>zByEI IIM=M=YbD]VD]1ym5b%mM=ٔuݐQ-u>9qYq=}DFy}ҙD}E}>Q 54o?Q 94k)BYy2Q I?CIN:iF:4yEBɮ61AeEjhDNOT Ignoring new targets: 49.19 m.bhRh0ǺZh0Ǻ ProNav: ac range: 49.194736 m, nav range: 46.420128 m, bearing: 240.242592 deg, approach rate: -0.585644 m/s, LOS rate: -0.087072 deg/s, cmd heading: 244.242702 deg, new cmd heading: 244.138615 deg. BhoHeadingCmd: 4.261023 target range: 49.194736 and range: 49.40 m.hLZ@h*h"h hgfffdddjdZd@-vBɢ-)) -տi))5/a6=11i5YHi=k=k<=z=I=LZ@IA=BDAT read: Rx Time:03:36:34.5804 ETRx dataTimestamp_ set to:1761536193.652950Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012563O@ @@0@ԉԱ^AI9IIOU> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262272 E  E E +E "E /;*E E:VE [4ZE a @a @a @a @4,|0?A2/@2*@2^uٱ2* :AHRS rotation from veh to nav: [[-0.384521,0.910090,0.154533],[-0.923109,-0.379772,-0.060364],[0.003751,-0.165862,0.986142]]2Hؿ t?? /Nؿ@访n?:ſ@y?i2/@I2Q^;2CYn7zByrIbD~VD~B=<A=<BE@>BABEIBEazBBABABABEm;BE9EBBBBB =C4ymu%uJ=ٔ}6Q-}>9yY=DFyۙDIE>Q 54@g?Q 94p)YygQ I?%CIe;i;34ԹyOBɮ1AnEjhDNOT Ignoring new targets: 49.19 m.bhRhZh ProNav: ac range: 49.194736 m, nav range: 46.183254 m, bearing: 240.207679 deg, approach rate: -0.544864 m/s, LOS rate: -0.080720 deg/s, cmd heading: 244.138610 deg, new cmd heading: 244.033333 deg. Bh]HeadingCmd: 4.259185 target range: 49.194736 and range: 49.40 m.h?K@h*h"h hgff f1d1d1d1jd9Zd= @m @9mxBɢuɇ) G׿i)G/=项iDi7im<{=I?K@IuDAT read: 03:36:34.5804 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 421,-0.12,-0.596,-2.127,-0.171,-0.625, PHS= 0.131,-1.457, 0.410, RAW= 157.9, 10.5, CAL= 157.9, 11.5, ROT= 352.1, -11.5 }Ygot valid direction response: 03:36:34.5804 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 421,-0.12,-0.596,-2.127,-0.171,-0.625, PHS= 0.131,-1.457, 0.410, RAW= 157.9, 10.5, CAL= 157.9, 11.5, ROT= 352.1, -11.5 PDAT read: Bearing 39.8, -9.8 (Local) ~Local bearing/azimuth received: Bearing 39.8, -9.8 (Local) DAT read: Range 11 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.6 m/s *DAT read: user:402> BDAT read: Tx time:03:36:35.6630 $Ping request sent.^=i?YE=BAAAE{ A)EDIE$>iE~E>EA`0@Ef;>EA`0@ EM>)EU@IEMAAE J1?>3Z?,]? E؝)?)E;IE0 iEMAAE:publishing transmit ping timeEFpublishing direction and range infoyAEd}[?n>^=i?YAAAAA A)AIAiAAAAA A)AIAAAE J1?>3Z?,]? A)AIAiAAP@ @@/@@@hAAQy ^A A >A >IY Iq O} >~%,$ 0?A2S @2#@2bٱ2k* :AHRS rotation from veh to nav: [[-0.386257,0.909306,0.154817],[-0.922376,-0.381734,-0.059175],[0.005291,-0.165656,0.986169]]2Hpؿ`? ?`Unؿ@L@Yu? 94ſ?i2S @I2t^;2CYBFzByBIiUMb@Mb@Mb@QQQQ Q9UOn?~jth?~jtxYU?yUD;UĻU7AUCA Q)QQYU\#AbDmVDmܲy =%G=ٔvQ->9Y=DFyDsE>Q 54Y_?Q 94v)BY?Q E:yfQ I?DCI:i:_4yɮf1AiIiM0?AJiM^=i?ZiM0 biMMjMQ|R6޸1Djy&%@ZM:cݿaOK?2iM!:iM*"iM?*iM2BiMJBiMIDB?iMiIiM}7BiMm@ addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.527515 s, deltaX: -2.000000 m, approachRate: -0.566971 m/s, rangeRepo size: 4  Added new target pos. range: 47.202709 m, bearing: 241.400400 deg, lat: 36.779339 deg, lon: -121.859599 deg, deltaT: 3.527515 s, deltaX: -1.992027 m, approachRate: -0.564711 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 47.20 m.bhRhZh)5 ProNav: ac range: 47.202709 m, nav range: 45.872601 m, bearing: 240.694358 deg, approach rate: 0.000000 m/s, LOS rate: -0.080720 deg/s, cmd heading: 244.033343 deg, new cmd heading: 243.940137 deg. Bh1=HeadingCmd: 4.257558 target range: 47.202709 and range: 47.40 m.h==@h9*h9"h9 hAgAfAfAfMBdYdYdYjd]@3G@Zde` ?E EE*E"E(;*EVE(N4ZEBEԱ ̤+,^ְ0?AY3zByII%=)%;)-AbD5VD5yE7%EO=ٔEQ-M>9IYI=MDFyMDUEU>YQ 5e4]W?Q 9e4]|)]BYayaQ Im?]cCI]:i]R:]Fǝ4yqɮu1AqjhDNOT Ignoring new targets: 47.20 m.bhRhͺZhͺ ProNav: ac range: 47.202709 m, nav range: 45.638783 m, bearing: 240.659497 deg, approach rate: -0.598205 m/s, LOS rate: -0.089647 deg/s, cmd heading: 243.940124 deg, new cmd heading: 243.835005 deg. BhvHeadingCmd: 4.255723 target range: 47.202709 and range: 47.40 m.h.@h*h"h hgfffdddjdZd T?ԑ额|BɢX) ؿi)%=顩i(=iuu}pBBIBMzBBBBBy;B9E^A @p=I I O > ˌ2,0?A2@2@2ٱ2' :AHRS rotation from veh to nav: [[-0.390126,0.907843,0.153695],[-0.920720,-0.386226,-0.055722],[0.008774,-0.163249,0.986546]]2H ؿ@ ?I?v`ؿ `D?VĿȑ?i2@I2^;0YB/zByBIiEMb@Mb@Mb@AAAA A9EbX9?{GzMbp?YEE?yE#E;AEA Ej"A)AAYE#AbD]VD]k1ye`>%mH=ٔm Q-m>9qYq=uDFyuDu(E}>Q 54O?Q 94U)BYL?Q E:y_Q I?CI:i/:kΝ4yQBɮ1AmEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 47.20 m.bhRhhZhh ProNav: ac range: 47.202709 m, nav range: 45.399925 m, bearing: 240.630586 deg, approach rate: -0.583478 m/s, LOS rate: -0.070995 deg/s, cmd heading: 243.834994 deg, new cmd heading: 243.747805 deg. BhBHeadingCmd: 4.254202 target range: 47.202709 and range: 47.40 m.hl"@h*h"h hgfffBdddjdZd#8?-~Bɢ-()) -ٿi))5Y=11i5Wi9i==q<=PNw=I=l"@IA@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A|=AzAgAE5  E5 E5 (E1 "E5 8;*E5 :VE5 c44ZE1 BE5 ُ?8,U0?A:@:@:^"ٱ:J' FAHRS rotation from veh to nav: [[-0.392043,0.907097,0.153225],[-0.919893,-0.388343,-0.054641],[0.009939,-0.162372,0.986680]]:H:ٿ?ޜ?oؿZ?Ŀ?i:@I:d^;:CYJAzByJIbDVVDVy^9>=%^V=ٔ^,HQ-b>9`Y`=bDFybDf2Ef>hQ 5n4jG?Q 9n4j)jBYlynQ Ir?jCIj;ij7;j՝4ytɮv1AtjhDNOT Ignoring new targets: 47.20 m.bhRh⠺Zh⠺- ProNav: ac range: 47.202709 m, nav range: 45.177044 m, bearing: 240.603930 deg, approach rate: -0.585159 m/s, LOS rate: -0.070329 deg/s, cmd heading: 243.747813 deg, new cmd heading: 243.667451 deg. Bh-A5HeadingCmd: 4.252800 target range: 47.202709 and range: 47.40 m.h5@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdMP?uBɢu~)y }׿iy)}U=顁i5iGs<UNv=I@I@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502959Q^AIiIyO9>y   } G hAԱ 9 hAY A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753272EE  EE EE +EA "EE =-;*EE :VEE [4ZEA aM @aM @aM @aM @>,Yj0?ABdBdBdBdBdBdBf;Bf9EY=GzBy=I IIU=U=bDVDy't<%<=ٔ"Q->9Y=DFyDE>Q 54??Q 94ލ)‚BYyQ I?CI;i;;ܝ4yɮj1A jhIMDNOT Ignoring new targets: 47.20 m.bhQRhuZhu ProNav: ac range: 47.202709 m, nav range: 44.921879 m, bearing: 240.573765 deg, approach rate: -0.573922 m/s, LOS rate: -0.068233 deg/s, cmd heading: 243.667463 deg, new cmd heading: 243.576455 deg. BhO;HeadingCmd: 4.251211 target range: 47.202709 and range: 47.40 m.h @h*h"h hgfffdddjdZd ƫ?Ա%Bɢm攽)q }׿iy)@A=i1i5 =+uI I O >E,C1?A6'Ђ@6ʉ@6Dٱ6ĺ) >AHRS rotation from veh to nav: [[-0.395243,0.905195,0.156223],[-0.918499,-0.391668,-0.054374],[0.011969,-0.164982,0.986224]]6HKٿZ?@ ?`Wdٿ֫?ſ%?i6'Ђ@I6^;6CYFHzByFIliMb@Mb@Mb@ 9|?5^?y&1:v?Y?y`eT<A ;#A)j"AY$AbD-VD-y=P;%EQ=ٔE- Q-E>9IYI=MDFyM DMWnEM>QQ 5]4UM7?Q 9e4U5)UǂBYe?Q Ee:yeQ Ie?UCIU ;iU:U4ym[Bɮu1AuwEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257433jheDNOT Ignoring new targets: 47.20 m.bhaRhm͏Zhm͏} ProNav: ac range: 47.202709 m, nav range: 44.699722 m, bearing: 240.548956 deg, approach rate: -0.560122 m/s, LOS rate: -0.062861 deg/s, cmd heading: 243.576458 deg, new cmd heading: 243.501661 deg. Bh},HeadingCmd: 4.249906 target range: 47.202709 and range: 47.40 m.h:@h*h"h hgfff BdddjdZd@@E EE)E"E%.;*E:VEFA4ZEBE:K,21?A2J@2@2$lXٱ2) :AHRS rotation from veh to nav: [[-0.397126,0.904338,0.156410],[-0.917669,-0.393729,-0.053491],[0.013209,-0.164775,0.986243]]2HjٿU?>?@] 2ٿ3cQ ?[ſL?i2J@I2O^;2CYVizByZI ^4<\bDbVDbyj=%jQ=ٔnYPQ-n>9lYl=rDFyrDrEr>tQ 5z4vs/?Q 9z4v)v˂BY|y~Q I~?vCIvf;iv ;vS4y\Bɮ>1AvEjh)-DNOT Ignoring new targets: 47.20 m.bh1Rh5Zh59M ProNav: ac range: 47.202709 m, nav range: 44.476479 m, bearing: 240.524373 deg, approach rate: -0.596310 m/s, LOS rate: -0.065993 deg/s, cmd heading: 243.501653 deg, new cmd heading: 243.427535 deg. BhM)5UHeadingCmd: 4.248612 target range: 47.202709 and range: 47.40 m.hU@hQ*hQ"hQ hQgYfYfafadadadajdiZdmb@颕Bɢ滽)k< Կi) =顡i+*ir6 w<s=I@I1@1 @1@500@1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761389bE [4jErEַ/E EE,E"E(;*E:VEg4ZEa@a@a@a@B>>BBIBazBB =BBDB;B^A}Hu=ԑIIO> E BDAT read: Rx Time:03:36:38.1277 E TRx dataTimestamp_ set to:1761536197.184168M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014443%R,K1?A2@2W@2Sdٱ2( :AHRS rotation from veh to nav: [[-0.398664,0.903848,0.155326],[-0.916991,-0.395432,-0.052537],[0.013936,-0.163377,0.986465]]2HٿR??@WNٿ"檿=?Ŀ?i2@I2=8^;0YBdzByBIIF8>)F=iMb@Mb@Mb@ 9kt?9Y=DFyD'~E>Q 541&?Q 94M)ӂBY?Q E:ygQ I?CI;i;4y ɮ T1A EB*** querying acoustic contact ***iA iAjhDNOT Ignoring new targets: 47.20 m.bhRhZh ProNav: ac range: 47.202709 m, nav range: 44.232605 m, bearing: 240.509304 deg, approach rate: -0.541780 m/s, LOS rate: -0.033662 deg/s, cmd heading: 243.427532 deg, new cmd heading: 243.382074 deg. BhѸHeadingCmd: 4.247818 target range: 47.202709 and range: 47.40 m.h!@h*h"h hgfff-BdddjdZd  @]Bɢ])Y eտia)e+=aaief&isC2cy<Ocp=I!@IER@A @A@E0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265364E  E E +E "E *;*E :VE [4ZE BE Y,e1?A2@2f@2Xoٱ2,) :AHRS rotation from veh to nav: [[-0.400332,0.902913,0.156472],[-0.916254,-0.397124,-0.052642],[0.014608,-0.164443,0.986278]]2Hٿ?H?Q{jٿ@ ?@t ſ?i2@I2K^;2CYBrzByBIbDNVDN:yr=%vY=ٔvQ-v>9tYx=zDFyz$DzEz>|Q 54~?Q 9 4~J)~ڂBY y Q I ?~2CI~N:i~$:~|4y!ɮ%1A)jhDNOT Ignoring new targets: 47.20 m.bhRhFZhF  ProNav: ac range: 47.202709 m, nav range: 44.020336 m, bearing: 240.496542 deg, approach rate: -0.569035 m/s, LOS rate: -0.034375 deg/s, cmd heading: 243.382070 deg, new cmd heading: 243.343601 deg. Bh %HeadingCmd: 4.247147 target range: 47.202709 and range: 47.40 m.h-@h)*h)MDAT read: 03:36:38.1277 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.12,-0.778,-2.333,-0.383,-0.779, PHS= 0.103,-1.509, 0.352, RAW= 157.1, 12.0, CAL= 157.3, 13.4, ROT= 352.7, -13.4 ]Ygot valid direction response: 03:36:38.1277 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.12,-0.778,-2.333,-0.383,-0.779, PHS= 0.103,-1.509, 0.352, RAW= 157.1, 12.0, CAL= 157.3, 13.4, ROT= 352.7, -13.4 ePDAT read: Bearing 41.4, -8.9 (Local) e~Local bearing/azimuth received: Bearing 41.4, -8.9 (Local) DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.7 m/s *DAT read: user:403> BDAT read: Tx time:03:36:39.2146 $Ping request sent.~{/@PwV>/@ |o>)@I|of?gJ? Sj?7? r%?)uVItwi|oE:publishing transmit ping timeEFpublishing direction and range infoy c?ְ] A?Y )Ii )If?gJ? Sj?7? )Ii颵Bɢh) Կi)E(<项i#itNz<2l=I@I 9Q@ @@O0@Q^A o=ԁ E%  E% E% *E! "E% %.;*E% :VE% (N4ZE! a- @a- @a- @a5 @B ?>B B IB zBB B B DB ;B 9EI I O% >W`,jm1?AYEzByEI9bD}VD}:2yOH=%"=ٔQ-%>9!Y!=%DFy%/D5E]>qQ 54u$?Q 94u )uBYyQ I?uWCIu;iub;ul4yɮ0AiYi]l1?AJi]q4BiRi]q4Bji]Ԇ@b]*dE@oM}ì$@R] c?ְ] A?Zi]twbi]|oj].4GCqn_|?'@Z]AI*ݿu?뿛"}?2i]:i]"i]xdT8?*i]IJBi]Bi]?i]IJi]]Bi].Bi]Ĥ@ addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.533569 s, deltaX: -2.100002 m, approachRate: -0.594301 m/s, rangeRepo size: 4  Added new target pos. range: 45.111275 m, bearing: 241.415042 deg, lat: 36.779343 deg, lon: -121.859601 deg, deltaT: 3.533569 s, deltaX: -2.091434 m, approachRate: -0.591876 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 45.11 m.bhRhZh ProNav: ac range: 45.111275 m, nav range: 43.663933 m, bearing: 241.078463 deg, approach rate: 0.000000 m/s, LOS rate: -0.034375 deg/s, cmd heading: 243.343603 deg, new cmd heading: 243.285541 deg. Bh%HeadingCmd: 4.246134 target range: 45.111275 and range: 45.30 m.h%T@h!*h!"h! h)g)f)f)f1d1d1d1jd5`fF@Zd=``+?颅Bɢ)̖) ҿi)<顉i-i _|<q=IT@Iԑ eu P@q  @y @} /@y E] E]E]+EY"E]1;*E]:VE] [4ZEYBE]\9Y=DFy:DAE>Q 54K?Q 94Ӱ)BYI?Q E:yQ I?}CIH:i: 4yhBɮ0AEjhDNOT Ignoring new targets: 45.11 m.bhRhwZhw ProNav: ac range: 45.111275 m, nav range: 43.370499 m, bearing: 241.076517 deg, approach rate: -0.636103 m/s, LOS rate: -0.004247 deg/s, cmd heading: 243.285546 deg, new cmd heading: 243.279668 deg. Bh:HeadingCmd: 4.246031 target range: 45.111275 and range: 45.30 m.h}߇@h*h"h hgff f ]Bd d djdZd’?BɢU) Ͽi)<  i yi`2~< Z=I}߇@I!q%P;Q@ @@0@ԑ ^A np=IA IQ Oe >D D R=*p,ݳ1?AB(B(B*&IB*zBB(B(B(B*;B*9EBiBiBiBm =Bm =Cm5PEn EnEn/El"EnO6;*En:VEnJ4ZElBEnG<2EnH<JEn<:En<%`b@%1]@%6ٱ%&+ =AHRS rotation from veh to nav: [[-0.407484,0.899291,0.158847],[-0.913050,-0.404483,-0.052279],[0.017237,-0.166338,0.985918]]%H 6ڿ@?`U? 7ٿ YĪ ?Jſ?i%`b@I%O^;%CYMzByM)IbD]VD]3ym\T<%mL=ٔunhQ-u>9qYq=uDFyuBD}"|E}>Q 54@?Q 94)BYyQ I?CI:i:4yɮ0Ajh!%DNOT Ignoring new targets: 45.11 m.bh!Rh-'9Zh-'9] ProNav: ac range: 45.111275 m, nav range: 43.147224 m, bearing: 241.075480 deg, approach rate: -0.542049 m/s, LOS rate: -0.002529 deg/s, cmd heading: 243.279672 deg, new cmd heading: 243.276547 deg. Bh]/޸}HeadingCmd: 4.245977 target range: 45.111275 and range: 45.30 m.h} ߇@hy*hy"hy hygfffdddjdZd{?颽Bɢ]) Ͽi)x<i(iag<W=I ߇@I!<P@ @@/@@=@=! ^A &V=I9 II Q O] >v,1?ABV@BQ@BnٱB+ JAHRS rotation from veh to nav: [[-0.408776,0.898524,0.159864],[-0.912455,-0.405854,-0.052045],[0.018118,-0.167143,0.985766]]BH`)ڿ ?`nv?2 ٿ ?dſ`e?iBV@IB5Y^;BCYRzByR+Ii-Mb@Mb@Mb@)))) )9-S㥛?T㥛 V-?Y-?y--<-:A-A -;#A)-;#A)Y-$AbDEVDE:yU"<%U<=ٔUQ-U>9YYY=]DFy]KDeVEe>yQ 54}?Q 94}")}BY ?Q E:yQ I?}CI};i};}94yɮ0A}B*** querying acoustic contact ***iy iyE EE*E"E /;*EV:VE(N4ZEBE<2E<JE)<:E)<jhDNOT Ignoring new targets: 45.11 m.bh!Rh%9Zh%95 ProNav: ac range: 45.111275 m, nav range: 42.919739 m, bearing: 241.083503 deg, approach rate: -0.496451 m/s, LOS rate: 0.017602 deg/s, cmd heading: 243.276558 deg, new cmd heading: 243.300755 deg. Bh5HA:=HeadingCmd: 4.246399 target range: 45.111275 and range: 45.30 m.h=@hA*hA"hA hAgAfIfIfMXBdIdQdQjdQZdU?Bɢ|E) пi ) kB<  i iZg<*R=I@IaaaaQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ]>i >] O@a  @a @e /@a ԁ ԩ ^A }A?}%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240801AIIO?s~,=D1?ANiG@N:B@N"QٱN9\+ fAHRS rotation from veh to nav: [[-0.410470,0.897771,0.159752],[-0.911667,-0.407766,-0.050898],[0.019447,-0.166533,0.985844]]NH$Eڿ ?r?_,ڿ@M? Pſ ?iNiG@INN9^;NCYvzByv2IbDVDy5<%==ٔ=*'Q-=>9AYA=UDFyUUDUHjE]>aQ 5}4e裊?Q 9}4eK)eBYyQ I?eCB>>BB9IBzBBBBB;B9EE EE(E"E2;*EI:VEc44ZEBE%<2E%<JE(<:E( ,2?A 2u=@2F8@2>Ȫٱ2, >AHRS rotation from veh to nav: [[-0.411566,0.897078,0.160824],[-0.911142,-0.409038,-0.050093],[0.020846,-0.167150,0.985711]]2HWڿݴ??@(-ڿƥ`X?`-eſ?i2u=@I2N^;2CYJzByJ8IiUMb@Mb@Mb@QQQQ Q9UK?ly&1?YU^>yUU`9 ?Y ?=DFy]DBE>Q 54ߣ?Q 94)BY>Q E:yQ I?CI;i;x)4yɮ20AjhDNOT Ignoring new targets: 45.11 m.bhRhA:ZhA: ProNav: ac range: 45.111275 m, nav range: 42.447136 m, bearing: 241.109847 deg, approach rate: -0.530939 m/s, LOS rate: 0.042354 deg/s, cmd heading: 243.332183 deg, new cmd heading: 243.380224 deg. Bh:HeadingCmd: 4.247786 target range: 45.111275 and range: 45.30 m.h@h*h"h hgfffmBd d d jd Zd @=Bɢ=ƽ)A E%ϿiA)E$(㋌,12?A: 1@:+@:۸ٱ:NQ- FAHRS rotation from veh to nav: [[-0.412922,0.896135,0.162595],[-0.910487,-0.410586,-0.049318],[0.022564,-0.168406,0.985460]]:HOmڿ#??" Gڿ`<@?Pſ`?i: 1@I::^;8YJzByJ<IPTV@AbDZVDZ0ybN<%bW=ٔfQ-f>9f"?Yf"?=fDFyjeDjŁEj>lQ 5r4ndף?Q 9r4n)n#BYtyvQ Iv?n CIn:in:n04yxɮz0Axjh%DNOT Ignoring new targets: 45.11 m.bh!Rh%9:Zh%9:5 ProNav: ac range: 45.111275 m, nav range: 42.260189 m, bearing: 241.125190 deg, approach rate: -0.491850 m/s, LOS rate: 0.040544 deg/s, cmd heading: 243.380213 deg, new cmd heading: 243.426444 deg. Bh5:=HeadingCmd: 4.248593 target range: 45.111275 and range: 45.30 m.hEy@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUA @颅Bɢý) Ͽi)<顉ii6<^<=Iy@IO@ @@/@] GuliA B9 liAY {Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248214B=>BBLIBzBBBBDB;B9E^A+WB=E EE,E"E77;*EVEg4ZEBE<2E<JE:EA .AI I! ! O5 >ϒ,K2?AtqDAT read: 03:36:41.6764 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.50, 0.357,-1.179, 0.774, 0.394, PHS= 0.065,-1.528, 0.336, RAW= 157.7, 12.9, CAL= 158.1, 14.5, ROT= 351.9, -14.5 Ygot valid direction response: 03:36:41.6764 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.50, 0.357,-1.179, 0.774, 0.394, PHS= 0.065,-1.528, 0.336, RAW= 157.7, 12.9, CAL= 158.1, 14.5, ROT= 351.9, -14.5 PDAT read: Bearing 41.4, -9.3 (Local) ~Local bearing/azimuth received: Bearing 41.4, -9.3 (Local) tDAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.4 m/s *DAT read: user:404> BDAT read: Tx time:03:36:42.7630 $Ping request sent. '0@ f> r0@ >) @I    #2?UK d?Xu? ۖ(?) eI i  ٱ%k. uAHRS rotation from veh to nav: [[-0.414166,0.895255,0.164274],[-0.909872,-0.412071,-0.048271],[0.024477,-0.169460,0.985233]] :publishing transmit ping timeFpublishing direction and range infoy  , M?u=9?Y      ) I i      ) I    #2?UK d?Xu? ) I i   %H@ڿ`? ?]_ڿ`?ſ`?i%%@I%p^;!YEzByE-Iԙi-Mb@Mb@Mb@)))) )9-Zd;? rh rh?Y->y-C-C<-:A-A -~&A)-j"A)Y-G%AbDMVDM0y.)%=ٔ^Q->9 ?Y ?=DFypD E>Q 54ʣ?Q 94N)/BY?Q E:yQ I?0CIX:i@::4y5tBɮ50A5Ei i gM2?AJi ,BRi ,Bji  @b  OOD@"Tys%@R , M?u=9?Zi bi j 4ǓWzMAj;)@Z ; ޿. ~ۥ?2i z:i "i f?*i @1yBi Bi i i Bi 'Bi P@ addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.528727 s, deltaX: -2.099998 m, approachRate: -0.595115 m/s, rangeRepo size: 4  Added new target pos. range: 43.019970 m, bearing: 240.003428 deg, lat: 36.779343 deg, lon: -121.859601 deg, deltaT: 3.528727 s, deltaX: -2.091305 m, approachRate: -0.592651 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 43.02 m.bhRhZh= ProNav: ac range: 43.019970 m, nav range: 41.975231 m, bearing: 241.145236 deg, approach rate: 0.000000 m/s, LOS rate: 0.040544 deg/s, cmd heading: 243.426439 deg, new cmd heading: 243.497633 deg. Bh9EHeadingCmd: 4.249835 target range: 43.019970 and range: 43.20 m.hE@hA*hA"hA hAgAfIfifmiBdqdqdqjduE@Zd}?BɢV) Vӿi)<i3ih"Ă<o4=I@I P@  @ @ 0@ E  E E +E "E 1A;*E :VE [4ZE BE <2E <JE P0<:E P0< ^Al;=)IIO ?<,"o2?A8^ @^@^exٱ^/ fAHRS rotation from veh to nav: [[-0.417209,0.893328,0.167036],[-0.908352,-0.415732,-0.045426],[0.028862,-0.170680,0.984904]]^H@ڿ`%?pa?8Yڿ B?`ſU?i^ @I^ G^;^CY~zBy~3IbD5VD5y=w<%=H=ٔE 0Q-E>9AYI=MDFyMyDmEm>qQ 5}4u?Q 9}4u)u8BYyKQ I?uJCIu:iu:u0A4yɮ0AMB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 43.02 m.bhYRhe,:Zhe,: ProNav: ac range: 43.019970 m, nav range: 41.771046 m, bearing: 241.160717 deg, approach rate: -0.494939 m/s, LOS rate: 0.037709 deg/s, cmd heading: 243.497637 deg, new cmd heading: 243.544307 deg. Bh:HeadingCmd: 4.250650 target range: 43.019970 and range: 43.20 m.hS@h*h"h hgfffdddjdZd? Bɢ ɽ)  ӿi )`Ǎ<i&i,<n%=IS@I!ԡR@ @@4@5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.^A04=B <>B B RIB zBB =B B B ;B 9EbEjEwX4rE 0E-  E- E) E) "E- 1;*E- -:VE) ZE) BE- \<2E- ]<JE- M&<:E- M&< Iy I O >,!2?A2s@2D@2%ٱ20 :AHRS rotation from veh to nav: [[-0.418670,0.892271,0.169017],[-0.907602,-0.417507,-0.044114],[0.031204,-0.171869,0.984625]]2H ~ڿ|?Z? pڿ?`ſ ?i2s@I2b^;2CYBzByB(I HJbDJVDJβlyrb0%rQ=ٔv7ĻQ-v>9tYt=zDFyzDE>Q 5%4ʸ?Q 9%4<)ABY)y-fQ I-?cCIw:iM:H4y1ɮ50A9jhYeDNOT Ignoring new targets: 43.02 m.bhaRhm9?:Zhm9?: ProNav: ac range: 43.019970 m, nav range: 41.575241 m, bearing: 241.176139 deg, approach rate: -0.528171 m/s, LOS rate: 0.041795 deg/s, cmd heading: 243.544301 deg, new cmd heading: 243.590784 deg. Bhw:HeadingCmd: 4.251461 target range: 43.019970 and range: 43.20 m.h @h*h"h hgfffdddjd Zd%?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976518颭Bɢ{ɽ) ֿi)tE<顱i?i<=I @II)gA eP@a @a@e4@a^A=C"=IIOa>1M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226427ԁ E  E E ,E "E 8;*E :VE g4ZE BE ُ<2E ُ<JE +<:E +<I,3¢2?A4<ɰY~zBy~'IqiMb@Mb@Mb@ 9Cl?~jt:v?Yd>yT<;AA )!AY%AbDVDyB%;=ٔQ->9Y=DFyDE>Q 54讣?Q 94)JBY y>Q E :y  Q I ?~CI:i:O4yuBɮ0AEjh9EDNOT Ignoring new targets: 43.02 m.bhARhEp:ZhMp:] ProNav: ac range: 43.019970 m, nav range: 41.361622 m, bearing: 241.198761 deg, approach rate: -0.493953 m/s, LOS rate: 0.052581 deg/s, cmd heading: 243.590774 deg, new cmd heading: 243.658992 deg. Bh]W;eHeadingCmd: 4.252652 target range: 43.019970 and range: 43.20 m.he@ha*ha"ha hagafififmnBdidqdqjdqZdu}?颥Bɢ ۽) ׿i)o<顩ixiC<=I@I)@) @1@5/@1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.478445Թ^AU$=IIO> s,2?A~d?~8?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730440Y zBy IbD%VD%1y5 %5W=ٔ1Q-5>99Y9==DFy=DAEM>YQ 5m4])?Q 9u4])]RBYqyyQ I}?]CI];i];]FV4yɮ:1AԹjhDNOT Ignoring new targets: 43.02 m.bhRh/m:Zh/m:  ProNav: ac range: 43.019970 m, nav range: 41.172615 m, bearing: 241.218974 deg, approach rate: -0.482541 m/s, LOS rate: 0.051841 deg/s, cmd heading: 243.658994 deg, new cmd heading: 243.719910 deg. BhO;HeadingCmd: 4.253715 target range: 43.019970 and range: 43.20 m.h%o@h!*h!"h! h)g)f)f1f1d9dAdAjdAZdM@?E} E}E}+Ey"E}2;*E};:VE} [4ZEya@a@a@a@B;>BBBBBBB|;B9E5Bɢ5qӽ)1 5ٿi9)=AX<99i=aiEEE9 \,z2?AF@F@FaٱFye- ^AHRS rotation from veh to nav: [[-0.420980,0.891335,0.168219],[-0.906314,-0.420904,-0.037887],[0.037034,-0.168409,0.985021]]FHUڿ`х?0?ڿe?jſK?iF@IFF^;FCYfzByfIieMb@Mb@Mb@aaaa a9erh|? rhMbp?Ye>yeCe;e:AeA e%A)ej"AaYeG%AquAAbD}VD}y%D=ٔeQ->9Y=DFyDлE>Q 54؜?Q 94)YBYN>Q E:yQ I?CIT;i ;]4yɮx1AjhaeDNOT Ignoring new targets: 43.02 m.bhaRhm.Q:Zhm.Q: ProNav: ac range: 43.019970 m, nav range: 40.967934 m, bearing: 241.238130 deg, approach rate: -0.486096 m/s, LOS rate: 0.045720 deg/s, cmd heading: 243.719919 deg, new cmd heading: 243.777673 deg. Bh:HeadingCmd: 4.254723 target range: 43.019970 and range: 43.20 m.h&@h*h"h hgfffUBdddjdZd@%Bɢ-ܽ) ܿi)A<顑iiSS<F =I&@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.234532-O@) @)@)@)IE EEE"Ey>;*E:VEZEBEUڟ,2?A2߁@2ڈ@2sO ٱ2O* :AHRS rotation from veh to nav: [[-0.421728,0.891272,0.166674],[-0.905878,-0.422088,-0.035032],[0.039128,-0.165760,0.985390]]2HڿL?U?~ۿ ?7ſO?i2߁@I2X)^;2CYB}zByB IbDNVDNfyVo%VV=ٔV Q-V>9Z"?YZ"?=ZDFyZD^[E^>\Q 5f4^A?Q 9f4^)^`BYdyf Q If?^CI^;i^;^+d4ylɮn1Aljh|DNOT Ignoring new targets: 43.02 m.bhRh lc:Zh lc: ProNav: ac range: 43.019970 m, nav range: 40.779472 m, bearing: 241.256194 deg, approach rate: -0.516208 m/s, LOS rate: 0.049707 deg/s, cmd heading: 243.777675 deg, new cmd heading: 243.832117 deg. Bht;%HeadingCmd: 4.255673 target range: 43.019970 and range: 43.20 m.h%z.@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@Bɢ) [߿i)u-<i”ܻi%Ԅ<>=Iz.@Iԡ}R@y @y@}0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740460^AG=Ee EeEe/Ea"Ee9;*Ee#:VEeJ4ZEaau@au@au@au@AyAyB:>B7CBEIBzBBBBBj;B9EBIBIBIBMȦ =BMȦ =CM 5A- .AI1 II OU >! &}Œ,ep 3?A2ځ@2Ո@2(ٱ2' :AHRS rotation from veh to nav: [[-0.422238,0.891302,0.165212],[-0.905547,-0.423025,-0.032161],[0.041224,-0.163187,0.985734]]2H ۿ?%?=ۿYwR? NĿ !?i2ځ@I2W6^;2CYBnzByBIbDJVDJ0yRo%VL=ٔVeQ-V>9V ?YZ ?=ZDFyZDZĺEZ>\Q 5b4^4?Q 9f4^@)^gBYdyf Q If?^CI^F:i^:^.k4yhɮj1AnEzB*** querying acoustic contact ***ix ixjhyDNOT Ignoring new targets: 43.02 m.bhRh[U:Zh[U: ProNav: ac range: 43.019970 m, nav range: 40.581169 m, bearing: 241.275579 deg, approach rate: -0.474709 m/s, LOS rate: 0.046633 deg/s, cmd heading: 243.832125 deg, new cmd heading: 243.890566 deg. Bh;HeadingCmd: 4.256693 target range: 43.019970 and range: 43.20 m.h6@h*h"h hgf!f)uBDAT read: Rx Time:03:36:45.2226 }TRx dataTimestamp_ set to:1761536204.243356checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995848f1dddjdZdDN@Bɢ_ӽ) ui)VB<i9Իi- 5O!<5eW=I56@I1P@ @@0@9q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243515^A% @o=E  E E )E "E 77;*E >:VE FA4ZE BE Ȍ,ˠ$3?A 2ځ@2Ԉ@21ٱ2v' >AHRS rotation from veh to nav: [[-0.422287,0.891196,0.165660],[-0.905421,-0.423453,-0.029991],[0.043421,-0.162657,0.985727]]2H`ۿ`?X4?6ۿ@Q;?Ŀ?i2ځ@I22^;2CYFzByF IiMMb@Mb@Mb@IIII I9Mx&1?i|?5Mb`?YMA?yMqM;Mn8AMA Mz&A)M AIYMz$A aep;bDeVDeyuO=%};=ٔ}ZQ-}>9}"?Y"?=DFyD0kE>Q 54?Q 94*)nBY$?Q E:yQ I?CIL:iU:r4yBɮ2AEjhDNOT Ignoring new targets: 43.02 m.bhRh+:Zh+: ProNav: ac range: 43.019970 m, nav range: 40.362099 m, bearing: 241.291242 deg, approach rate: -0.522321 m/s, LOS rate: 0.037546 deg/s, cmd heading: 243.890564 deg, new cmd heading: 243.937807 deg. Bh$:HeadingCmd: 4.257518 target range: 43.019970 and range: 43.20 m.h=@h*h"h hgfff5BdddjdZd@\ @5ĀBɢ5)9 =6i9)=;99i=@ͻiEEVΌ,ak>3?A@F'ׁ@Fш@F\:ٱF^0%DAT read: 03:36:45.2226 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.06,-2.547, 2.193,-2.184,-2.537, PHS= 0.092,-1.508, 0.308, RAW= 156.3, 12.8, CAL= 156.6, 14.5, ROT= 353.4, -14.5 -Ygot valid direction response: 03:36:45.2226 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.06,-2.547, 2.193,-2.184,-2.537, PHS= 0.092,-1.508, 0.308, RAW= 156.3, 12.8, CAL= 156.6, 14.5, ROT= 353.4, -14.5 MAHRS rotation from veh to nav: [[-0.422564,0.891265,0.164580],[-0.905185,-0.424149,-0.027159],[0.045601,-0.160451,0.985990]]FHK ۿ=??F`B%ۿ@ϛX?Ŀ:?iF'ׁ@IF|I^;D}PDAT read: Bearing 40.8, -6.8 (Local) }~Local bearing/azimuth received: Bearing 40.8, -6.8 (Local) DAT read: Range 11 to 50 : 41.5 m (Round-trip 55.4 ms) speed 0.4 m/s *DAT read: user:405> BDAT read: Tx time:03:36:46.3130 $Ping request sent.R.@Rd>R.@YPzByII=)=bD P)R4`@IPPPRd)?B~,r?AOcs? R!?)ReIRiPPP:publishing transmit ping timeFpublishing direction and range infoyPR큄!?0|=9?YPPPPP P)PIPiPPPPP P)PIPPVDܲyݽ%B=ٔQ->9Y = DFy D -[E >D%=D<B-9>B)B-3IB-zBB- =B)B)B-s;B-9EE EE+E"EU,;*E:VE [4ZEBE<2E<JE4<:E4i֌,Z3?AYv'zByvIiuMb@Mb@Mb@qqqq q9uS㥛? ףp= Mb`Yu?yuQ8uu7Aq q)uMAqYu#AbDVDyT%==ٔQ->9Y=DFyÚDE>Q 54n?Q 94)|BY]?Q E:yQ I?6CI:i:4yɮe3AjhDNOT Ignoring new targets: 41.33 m.bhRh 9Zh95 ProNav: ac range: 41.326569 m, nav range: 39.652805 m, bearing: 241.097613 deg, approach rate: -0.581721 m/s, LOS rate: 0.015491 deg/s, cmd heading: 243.991132 deg, new cmd heading: 244.008760 deg. Bh=*:EHeadingCmd: 4.258756 target range: 41.326569 and range: 41.50 m.hEG@hA*hA"hA hAgQfYfYf]Bdadad jd Zd `?ÙBɢ]z)Y ][iY)]l;aaiei>1օ<܌,t3?A2Ё@2ˈ@2sLٱ2" >AHRS rotation from veh to nav: [[-0.423189,0.891020,0.164301],[-0.904662,-0.425542,-0.022376],[0.049980,-0.158106,0.986156]]2H ۿ9XYX=ZDFyZ˚D^ E^>`Q 5f4bf?Q 9f4bn)bBYhyj Q Ij?bOCIb|:ibR:b24ylɮn2Apjh DNOT Ignoring new targets: 41.33 m.bh Rh 9Zh 9% ProNav: ac range: 41.326569 m, nav range: 39.459373 m, bearing: 241.103023 deg, approach rate: -0.520007 m/s, LOS rate: 0.014615 deg/s, cmd heading: 244.008754 deg, new cmd heading: 244.025064 deg. Bh%| :%HeadingCmd: 4.259041 target range: 41.326569 and range: 41.50 m.h-J@h)*h)"h) h)g)f)f1f1d1d1d9 KCjdZd@q?cGhA1]d9]hAY]ŦA颽ЀBɢ) i)$C;iܴi_<Zi;~,3?A8N{ʁ@NLň@N6VٱN~! AHRS rotation from veh to nav: [[-0.423823,0.890745,0.164157],[-0.904230,-0.426584,-0.019836],[0.052358,-0.156842,0.986235]]NHۿ??t&Mۿ@O Ϊ?@jĿ`9Y=DFyԚDԺE>Q 54L\?Q 94)BYyQ I?nCIk:i:[4yɮU3AB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 41.33 m.bh)Rh-Q9Zh-Q9= ProNav: ac range: 41.326569 m, nav range: 39.216618 m, bearing: 241.110166 deg, approach rate: -0.510559 m/s, LOS rate: 0.015116 deg/s, cmd heading: 244.025064 deg, new cmd heading: 244.046626 deg. Bh]%:eHeadingCmd: 4.259417 target range: 41.326569 and range: 41.50 m.he%M@ha*hi"hi higififqfqdqdqdqjdyZd}?ԙMՀBɢM)I MiQ)U3+:QQiUi]j]@<]^,0c3?A|]ǁ@]ˆ@]E`ٱ]Th }AHRS rotation from veh to nav: [[-0.424061,0.890612,0.164264],[-0.903969,-0.427253,-0.017175],[0.054886,-0.155773,0.986267]]]H@#ۿ`??PXۿP ? ^ÿ?i]ǁ@I]3^;]CY!zByIi5Mb@Mb@Mb@1111 195 rh?+Y5C ?y5556A5A 5~&A)5A1Y5#AbDMVDMJy]d%];=ٔeqQ-e>9aYa=mDFymݚDmGEm>qQ 5}4uR?Q 9}4uS )uBY ?Q E:y#Q I?uCIu:iu:uܗ4yɮ}3AjhDNOT Ignoring new targets: 41.33 m.bhRhƝ8ZhƝ8iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.733115) ProNav: ac range: 41.326569 m, nav range: 38.982944 m, bearing: 241.111969 deg, approach rate: -0.555265 m/s, LOS rate: 0.004311 deg/s, cmd heading: 244.046621 deg, new cmd heading: 244.052063 deg. BhU=9HeadingCmd: 4.259512 target range: 41.326569 and range: 41.50 m.hM@h*h"h hgfffBdddjdZd?ـBɢ[) i)%9AAiEViM݃MRtB B IB zBB =B B B n;B D =D 4=bEjEY4rE̝/E  E E E "E 9;*E :VE ZE BE kL,Cr3?ABqÁ@BB@B=kٱB ZAHRS rotation from veh to nav: [[-0.424479,0.890186,0.165487],[-0.903608,-0.428100,-0.014942],[0.057544,-0.155878,0.986099]]BH*ۿ`h|?.?Z`eۿ!\v? ÿ?iBqÁ@IBcC^;BCY^zBybI fp9v ?Yv ?=zDFyzDz纺Ez>|Q 54~YJ?Q 94~)~BYy ,Q I ?~CI~;i~<;~`4yBɮ3AEjhDNOT Ignoring new targets: 41.33 m.bhRh8Zh8 ProNav: ac range: 41.326569 m, nav range: 38.780029 m, bearing: 241.113716 deg, approach rate: -0.527206 m/s, LOS rate: 0.004561 deg/s, cmd heading: 244.052057 deg, new cmd heading: 244.057324 deg. BhVH9HeadingCmd: 4.259604 target range: 41.326569 and range: 41.50 m.hN@h*h"h hgfff d d d jdZd`BA@%܀Bɢ% )! %wi))-))i-Ci5Z5_<5D5_o,Q/3?A 8ɰ8rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488947n@n@ndvٱnҘ zAHRS rotation from veh to nav: [[-0.424579,0.889920,0.166659],[-0.903386,-0.428644,-0.012600],[0.060225,-0.155907,0.985934]]nHN,ۿ8z? U?nۿ͉ծ?`ÿŌ?in@In%^;nCYzBy iMb@Mb@Mb@ 9K7?y&1~jth?YI ?y`弙D;/5A )AYf"AbDVDy5}%=7=ٔ=zŻQ-=>9E"?YE"?=EDFyEDEڹEE>EY E]E]+EY"EY*E]:VE] [4ZEYae@ae@ae@ae@IQ 54M@?Q 94M)MBYy ?Q E:yQ I?MCIM%,P3?A2@2˽@2@ٱ2MH NAHRS rotation from veh to nav: [[-0.424401,0.889984,0.166770],[-0.903309,-0.428872,-0.010047],[0.062581,-0.154909,0.985945]]2H b)ۿz?X?rۿT? ÿی?i2@I2<^;2CYTyTbD^VD^yf%fd=ٔf׻Q-j>9hYh=nDFynDn9En>pQ 5v4r8?Q 9v4r2)rBYtyzQ Iz?rCIr;ir3;rm4y|ɮ~3A|jh!%DNOT Ignoring new targets: 41.33 m.bh)Rh-kZh-k= ProNav: ac range: 41.326569 m, nav range: 38.340099 m, bearing: 241.103748 deg, approach rate: -0.559674 m/s, LOS rate: -0.012876 deg/s, cmd heading: 244.040801 deg, new cmd heading: 244.027259 deg. Bh=c EHeadingCmd: 4.259079 target range: 41.326569 and range: 41.50 m.hE`J@hA*hI"hI hIgIfIfQfQdQdQdYjdYZd]@颅Bɢ_c) Gi)顑i\iX<yB8CBBB =BBBe;B9EDYzD]@AEe EeEe*Ea"Ee77;*Eer:VEe(N4ZEaBEe  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248277,744?A9@Ž@ٱIL AHRS rotation from veh to nav: [[-0.424332,0.890020,0.166750],[-0.903157,-0.429251,-0.007173],[0.065194,-0.153645,0.985973]]HB(ۿ {?X?xۿa}?ÿ`?i@I!^;CY#zByIi]Mb@Mb@Mb@YYYY Y9]/$? rhMbp?Y]&?y]C];]Z4A]?A ]%A)]AYY]!AimAAbDuVDuyt<%0=ٔ฻Q->9Y=DFyDζE>Q 54.?Q 94\")BY8?Q E:yxQ I?CI ;i ;4yɮ3AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.33 m.bhRhZh ProNav: ac range: 41.326569 m, nav range: 38.077843 m, bearing: 241.089337 deg, approach rate: -0.563804 m/s, LOS rate: -0.031194 deg/s, cmd heading: 244.027250 deg, new cmd heading: 243.983720 deg. BhCHeadingCmd: 4.258319 target range: 41.326569 and range: 41.50 m.h'D@h*h"h hgfffBdddjdZdw` @%Bɢ-)) -gi))- ׻)1i5Ri5g=5<=P! 5BDAT read: Tx time:03:36:49.8630 5$Ping request sent.5i{$>LB/@A>LB/@ ȭT>)P5@IȭT(N#?.#?=ؐ? $?))AIiȭT]:publishing transmit ping time1eFpublishing direction and range infoy㸞?^~JFa5d?Y )Ii )I(N#?.#?=ؐ? )IiԉEU EUEU+EQ"EU3;*EU:VEU [4ZEQa]@a]@a]@a]@^A M< Iy I O > ,M-4?AY,zByIbD%VD%k1y=<%=Z=ٔEQ-E>9AYA=EDFyEDMEM>QQ 5]4U&?Q 9e4UV')UBYayaQ Ie?UCIU|:iU:U4yiɮ3Aii!4?AJi#BRi#Bji@b) +3C@*"u{ M @R㸞?^~JFa5d?ZibiȭTjRC3[~R_@'P.ۂ&@Z?j޿FTϿ8?2i:i"i#=ߜ?*i'-BiBii'-iiBi{@5 addTargetRange:: Added new target pos. range: 39.700001 m, deltaT: 3.527997 s, deltaX: -1.799999 m, approachRate: -0.510204 m/s, rangeRepo size: 4 E Added new target pos. range: 39.534264 m, bearing: 239.783086 deg, lat: 36.779343 deg, lon: -121.859593 deg, deltaT: 3.527997 s, deltaX: -1.792305 m, approachRate: -0.508023 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 39.53 m.bhARhMZhI] ProNav: ac range: 39.534264 m, nav range: 37.521362 m, bearing: 240.786343 deg, approach rate: 0.000000 m/s, LOS rate: -0.031194 deg/s, cmd heading: 243.983728 deg, new cmd heading: 243.947039 deg. BhYeHeadingCmd: 4.257679 target range: 39.534264 and range: 39.70 m.he>@ha*ha"ha higififqfqdqdqdqjd}C@Zd}?颥Bɢ) i)^顱ixiqe<X@IEO@A @A@E4@Aiԉ^Ae<IIO >߅ %=߅ =B :>B 7CB IB zBB =B B B `;B 9EBE7CBE7CBABEʧ =BEʧ =CEʩ5Թ E  E E )E "E 4;*E -:VE FA4ZE BE 9TYX=ZDFyZDZyиEZ>\Q 5b4^?Q 9f4^l,)^ŃBYdyfzQ If?^7CI^:i^[:^4yhɮjI3AlqIzzAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIzEntering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 39.53 m.bhԙRh'Zh' ProNav: ac range: 39.534264 m, nav range: 37.304832 m, bearing: 240.772378 deg, approach rate: -0.564706 m/s, LOS rate: -0.036632 deg/s, cmd heading: 243.947036 deg, new cmd heading: 243.904898 deg. BhɺHeadingCmd: 4.256944 target range: 39.534264 and range: 39.70 m.h8@h*h"h hgfffdddjdZd +?颕Bɢ ) i),顙iWiiʛ<a! M,:za4?A6}Á@6N@6$vٱ6 >AHRS rotation from veh to nav: [[-0.424076,0.890300,0.165906],[-0.902765,-0.430134,0.000650],[0.071940,-0.149499,0.986141]]6H`$ۿW}?`i9AYA=EDFyMDM29EM>QE EE*E"E<;*EVE(N4ZEa@a@a@a@Q 54U?Q 94U02)UЃBY??Q E:yQ I?UVCIU[y T%,T{4?Aɰ;2@@2@2Ǘٱ2 :AHRS rotation from veh to nav: [[-0.424257,0.890244,0.165746],[-0.902510,-0.430660,0.002991],[0.074042,-0.148318,0.986164]]2H'ۿ|?'7?[ ۿh?`n?`¿?i2@@I2I^;2CYZizBy^IbDfVDf:2ynO=%nQ=ٔr@Q-r>9pYp=vDFyvDv6Ev>xQ 5~4z= ?Q 9~4z7)zكBYyQ I?zsCIz3;iza;zО4y ɮ  3A Ei!1J-qJ-jh1=DNOT Ignoring new targets: 39.53 m.bh9RhE]rZhE]rU ProNav: ac range: 39.534264 m, nav range: 36.835327 m, bearing: 240.732366 deg, approach rate: -0.615410 m/s, LOS rate: -0.052973 deg/s, cmd heading: 243.842398 deg, new cmd heading: 243.784099 deg. BhUk]HeadingCmd: 4.254835 target range: 39.534264 and range: 39.70 m.h]'@hY*hY"hY hYgafafafadididijdiZdm 2?BɢY) i)%M顙iLi}<ZB9B= IB=zBB= =B9B9B=Q;B={9EUQ@Q @Q@Q@QE EE+E"E8;*E;:VE [4ZEBEُ !%,@4?AMP@M!@MٱM ]AHRS rotation from veh to nav: [[-0.424625,0.889915,0.166570],[-0.902165,-0.431364,0.004776],[0.076103,-0.148246,0.986018]]MH-ۿ .z?-R?@yۿds?~{? ¿u?iMP@IMi7^;MCYmzBymIi-Mb@Mb@Mb@)))) )9-M?MbP?y&1|?Y-n?y-:-`;-2A-?A ))-A)Y-!AbDEVDE1yUO=%U4=ٔUQ-U>9YYY=]DFy]'De2Ee>aQ 5u4e?Q 9u4e=)eBYuq?Q Eu:yuuQ I}?eCIe;ie<;eמ4yɮ2AjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLB*** querying acoustic contact ***i ixԩjhDNOT Ignoring new targets: 39.53 m.bhRhhZhh ProNav: ac range: 39.534264 m, nav range: 36.578148 m, bearing: 240.702310 deg, approach rate: -0.566078 m/s, LOS rate: -0.066622 deg/s, cmd heading: 243.784095 deg, new cmd heading: 243.693293 deg. Bh6HeadingCmd: 4.253250 target range: 39.534264 and range: 39.70 m.h@h*h"h hgfffڀBdddjdZd4x?Bɢ )! %~i!)%g!)i-q=i-v5'X<5]=I5@I1@ @@@]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E  EEE"ED;*E:VEZEa@a@a@a@^AV< A I I O- >1 7+, 4?A2@2s@2lKٱ2V :AHRS rotation from veh to nav: [[-0.424537,0.889907,0.166832],[-0.902070,-0.431542,0.006413],[0.077702,-0.147771,0.985965]]2H`+ۿ@z?Z? aۿDz? J?*¿?i2@I2'Y^;2CYBzByB IJ@AJ@AbDNVDNk1yV=%Vj=ٔVQ-V?9XYX=ZDFyZ/DZ+8E^?Q 5%4?Q 9%4B)BY!y%tQ I-?CI:ik:8ޞ4y1ɮ5:2A1jhY]DNOT Ignoring new targets: 39.53 m.bhYRheZheu ProNav: ac range: 39.534264 m, nav range: 36.373543 m, bearing: 240.678083 deg, approach rate: -0.571408 m/s, LOS rate: -0.068040 deg/s, cmd heading: 243.693281 deg, new cmd heading: 243.620191 deg. Bhu:}HeadingCmd: 4.251975 target range: 39.534264 and range: 39.70 m.h}-@hy*hy"hy hgfffdddjdZd/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256426BɢZ1) i)o}i 0i[H<kY=I-@Ie>i%>P@ @@0@@=@=+GliAE9MliAYMA9^A=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508198q A I I O >BY BY B] ?IB] zBBY BY BY B] F;B] p9EE  E E ,E "E =;*E :VE g4ZE BE 2,4?A Y zBy 6I bD% VD%2y-G=%5B=ٔ5Q-5>91Y9==DFy=7D=EE>AQ 5M4Em?Q 9U4E#H)EBYQyQQ IU?ECIEy:iE:Eb4yYɮe1AajhDNOT Ignoring new targets: 39.53 m.bhRhƜZhƜ ProNav: ac range: 39.534264 m, nav range: 36.140633 m, bearing: 240.650169 deg, approach rate: -0.568165 m/s, LOS rate: -0.068532 deg/s, cmd heading: 243.620198 deg, new cmd heading: 243.535918 deg. Bh!<HeadingCmd: 4.250504 target range: 39.534264 and range: 39.70 m.h @h*h"h hgfffdddjdZd@3a@BɢW) i)vʊi}X"it<N =I @IqS@ @@U0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760811ԡ^A*= A! I) I9 OU >vI8, 4?ABDAT read: Rx Time:03:36:52.3175 TRx dataTimestamp_ set to:1761536211.548244checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013451:@:@:)ٱ: FAHRS rotation from veh to nav: [[-0.425186,0.889289,0.168472],[-0.901470,-0.432744,0.009154],[0.081045,-0.147980,0.985664]]:H@>6ۿ u?`y?`ۿ1?c?`¿`?i:@I:#^;:CYNzByNLIPi%Mb@Mb@Mb@!!!! !9%(\?~jtx?~jt?Y%?y%;%<%3A! %K'A)%9A!Y!bD=VD=:yM=%MH=ٔUQ-U>9QYQ=UDFyU?D]E]>aQ 5m4e좊?Q 9m4eM)eBYu+?Q Eu:yuqQ Iu?eCIea:ieU:e4E EE-E"E:;*E:VEt4ZEa@a@a@a@y=Bɮ=1A=EjhamDNOT Ignoring new targets: 39.53 m.bhiRhm¦Zhm¦ ProNav: ac range: 39.534264 m, nav range: 35.916481 m, bearing: 240.618835 deg, approach rate: -0.518237 m/s, LOS rate: -0.072895 deg/s, cmd heading: 243.535914 deg, new cmd heading: 243.441326 deg. BhHHeadingCmd: 4.248853 target range: 39.534264 and range: 39.70 m.h@h*h"h hgfff BdddjdZd@UBɢUS )Q UiY)]YYi] ie2e7~s>,˜4?A2]@2.@2Sٱ2 :AHRS rotation from veh to nav: [[-0.425187,0.889485,0.167430],[-0.901374,-0.432906,0.010811],[0.082098,-0.146320,0.985825]]2HD6ۿv?Zn?`ۿP$?b?¿ ?i2]@I2"^;2CYB {ByBdI HJ4<bDJVDJyR=%RV=ٔV4Q-V>9V ?YZ ?=ZDFyZGDZEZ>\Q 5b4^G墊?Q 9f4^R)^BYdyftQ If?^CI^1:i^:^24ynBɮn0ArE9jhDNOT Ignoring new targets: 39.53 m.bhRh_Zh_ ProNav: ac range: 39.534264 m, nav range: 35.706146 m, bearing: 240.589105 deg, approach rate: -0.557641 m/s, LOS rate: -0.079284 deg/s, cmd heading: 243.441329 deg, new cmd heading: 243.351615 deg. BhYHeadingCmd: 4.247287 target range: 39.534264 and range: 39.70 m.h@h*h "h  h g f ffdd1d9jd9Zd=`: @颽Bɢ) ޿i)iS i*L{<[U=I@IeDAT read: 03:36:52.3175 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.12,-2.352, 2.370,-1.975,-2.392, PHS= 0.142,-1.476, 0.374, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 uYgot valid direction response: 03:36:52.3175 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.12,-2.352, 2.370,-1.975,-2.392, PHS= 0.142,-1.476, 0.374, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 uPDAT read: Bearing 37.5, -4.1 (Local) }~Local bearing/azimuth received: Bearing 37.5, -4.1 (Local) DAT read: Range 11 to 50 : 37.7 m (Round-trip 50.3 ms) speed 0.4 m/s *DAT read: user:407> BDAT read: Tx time:03:36:53.4130 $Ping request sent.i55|>5.@5 D>5.@ 5@X>)54`@I5@X115푬6?g*?p7n? 5}#?)5DI5i5@X11:publishing transmit ping timeFpublishing direction and range infoy15ӄ?5<,ż9h?Y11111 1)1I1i11111 1)1I1115푬6?g*?p7n? 1)1I1i111checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009168AAB8>BBqIB"{BB =BBB7;B`9E1bE1jE1rE5?/E EE+E"EC;*E:VE [4ZEBE@8E,M5?A@r@r@r6ٱrd AHRS rotation from veh to nav: [[-0.425425,0.889239,0.168131],[-0.901133,-0.433377,0.011964],[0.083503,-0.146419,0.985692]]rH':ۿ t?T?rۿk?q`?@ݽ¿Ɋ?ir@Ir^;rCY-{By-oIiMb@Mb@Mb@ 9m?~jth9Y=DFyPD0E>Q 54ۢ?Q 94X)"BY?Q E:yQ I?%CI;i8;r4y ɮ 0AiirM5?AJi+BRi+Bji@bQ;B@VkhQwrz@Rӄ?5<,ż9h?Zibi@XjF1W܎f>,&@Z'޿|;x^ w?2i:i"i'?*iBifBif?iiibBiP@] addTargetRange:: Added new target pos. range: 37.700001 m, deltaT: 3.528105 s, deltaX: -2.000000 m, approachRate: -0.566877 m/s, rangeRepo size: 4 m Added new target pos. range: 37.542370 m, bearing: 239.888710 deg, lat: 36.779340 deg, lon: -121.859593 deg, deltaT: 3.528105 s, deltaX: -1.991894 m, approachRate: -0.564579 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 37.54 m.bhqRh}Zhy ProNav: ac range: 37.542370 m, nav range: 35.596401 m, bearing: 240.131084 deg, approach rate: 0.000000 m/s, LOS rate: -0.079284 deg/s, cmd heading: 243.351608 deg, new cmd heading: 243.242819 deg. Bh%HeadingCmd: 4.245388 target range: 37.542370 and range: 37.70 m.hM8ڇ@hI*hI"hI hIgQfQfYfeBdadadjdB@Zdv?ԩBɢ8) Eݿi)GSi%iEEkMaL,s25?APExceeded connect timeout, disconnecting.iLILNchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.744120XJ찁@J@J"VٱJ( zAHRS rotation from veh to nav: [[-0.425681,0.889023,0.168621],[-0.900870,-0.433884,0.013341],[0.085022,-0.146226,0.985591]]JH\>ۿ@r?^?@ۿR?ĵ?¿?iJ찁@IJt!^;JCYV{ByIbDVD0y%>%%T=ٔ%ʁQ-->9-"?Y-"?=-DFy5XD56kE5>9Q 5E4=.Ԣ?Q 9E4=])=/BYIyMQ IM?=ACI=:i=:=-4yQɮU/AQuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 37.54 m.bhRhZh ProNav: ac range: 37.542370 m, nav range: 35.383968 m, bearing: 240.103749 deg, approach rate: -0.557167 m/s, LOS rate: -0.072126 deg/s, cmd heading: 243.242817 deg, new cmd heading: 243.160317 deg. BhEHeadingCmd: 4.243948 target range: 37.542370 and range: 37.70 m.hl·@h*h"h hgfffdddjdZd`?eBɢeS)i mֿii)m iqiuciuނ}=<}O=I}l·@IyQ@ @@/@ ^A%3=]checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996981B9>BBIBt{BBBBB>;Bg9ED %=D E  E E )E "E *E :VE FA4ZE BE wR,?L5?A2@2a@27ٱ2 :AHRS rotation from veh to nav: [[-0.426549,0.888637,0.168463],[-0.900326,-0.434964,0.014795],[0.086423,-0.145361,0.985597]]2HLۿo?1?y`sۿL? ?.¿?i2@I2.];2CY^m{By^IfAAdbDjVDjyrQi=%rO=ٔriQ-r>9tYt=vDFyv`Dv)Ez>xQ 54zM̢?Q 94zc)z=BYyQ I?z]CIz;iz:z 4y BɮR/AEjh9EDNOT Ignoring new targets: 37.54 m.bhARhE ZhE U ProNav: ac range: 37.542370 m, nav range: 35.166550 m, bearing: 240.075801 deg, approach rate: -0.551067 m/s, LOS rate: -0.071273 deg/s, cmd heading: 243.160308 deg, new cmd heading: 243.075948 deg. Bh]C]HeadingCmd: 4.242476 target range: 37.542370 and range: 37.70 m.he\‡@ha*ha"ha hagafafifidididqjdqZdu]?] Bɢ]^)a eԿia)eaļaaie˺im}<=I\‡@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=1.248336IP@ @@@q^A=ԡ A9 IA IQ e checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499842O >mY,Yf5?A2Ш@2@2`زٱ2 :AHRS rotation from veh to nav: [[-0.426491,0.888447,0.169605],[-0.900277,-0.435055,0.015114],[0.087216,-0.146246,0.985396]]2HKۿ`)n??@ۿ?S?@/¿]?i2Ш@I2];2CEF  EFEF-ED"EFG;*EF:VEFt4ZEDaJ@aJ@aJ@aJ@YN{ByzIyi}Mb@Mb@Mb@yyyy y9}K7A`?%>=ٔ:Q->9Y=DFyiD08E>Q 54yâ?Q 94{h)LBY0 ?Q E:yQ I?zCI:i:4yɮq.AjhDNOT Ignoring new targets: 37.54 m.bhRh VZh V ProNav: ac range: 37.542370 m, nav range: 34.935463 m, bearing: 240.055866 deg, approach rate: -0.538703 m/s, LOS rate: -0.046780 deg/s, cmd heading: 243.075941 deg, new cmd heading: 243.015739 deg. Bhk%HeadingCmd: 4.241425 target range: 37.542370 and range: 37.70 m.h%@h!*h)"h) h)g)f)f1f5HBdddjdZd;?} Bɢ}z) =οi)}tм顩iܶi6M<O#=I@IԩQ@ @@@=nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.751936^A A I) IA OU >`,5?AF!@F@F~ٱFdR NAHRS rotation from veh to nav: [[-0.427177,0.887770,0.171420],[-0.899826,-0.435973,0.015511],[0.088505,-0.147622,0.985076]]FHVۿh?@?_ ۿVď?C? I¿ཅ?iF!@IF];DYV{ByVIbD^VD^yfޯ=%fY=ٔj`Q-j>9lYl=nDFynqDn En>pQ 5v4r?Q 9v4r@m)rZBYxyzQ Iz?rCIr+;ir;r(4y|ɮ~-Ajh!-DNOT Ignoring new targets: 37.54 m.bh)Rh-UZh5UE ProNav: ac range: 37.542370 m, nav range: 34.732334 m, bearing: 240.038378 deg, approach rate: -0.539023 m/s, LOS rate: -0.046677 deg/s, cmd heading: 243.015726 deg, new cmd heading: 242.962957 deg. BhE"EHeadingCmd: 4.240504 target range: 37.542370 and range: 37.70 m.hM5@hI*hI"hI hIgIfIfQfQdQdYdYjdYZd]`?颍 Bɢ) ʿi)uټ顑i(iKV<Ǯ#=I5@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.003967B<AB6>BBIB{BBBBBC;Bj9EBQBQBQBU¨ =BU¨ =CU;5MS@I @I@M/@IDzD?AE  EE,E"EE;*E:VEg4ZEBE checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255836Y .f,5?A@h@ٱ AHRS rotation from veh to nav: [[-0.427318,0.887522,0.172349],[-0.899687,-0.436248,0.015823],[0.089231,-0.148299,0.984909]]H@/Yۿf? ?<~ۿ4?`׶?@s¿_?i@I];Y{ByI)i Mb@Mb@Mb@     9 jt? rhS㥛?Y ?y C /< 1A A O'A) A Y ( AbD%VD%Ny5W=%5)=ٔ=yźQ-=>99YA=EDFyE{DE˹EE>IQ 5U4M籢?Q 9U4Mr)MmBY]??Q E]:y]Q I]?MCIMX ;iMi ;M4yeBɮe-AmEjh  DNOT Ignoring new targets: 37.54 m.bh Rh Zh ] ProNav: ac range: 37.542370 m, nav range: 34.491070 m, bearing: 240.030296 deg, approach rate: -0.482827 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.962970 deg, new cmd heading: 242.938554 deg. Bh]2eHeadingCmd: 4.240077 target range: 37.542370 and range: 37.70 m.he@ha*ha"ha hagafififmdBdidqdqjdqZd} @颥BɢG)  ƿi)pL顩iꐏiHЋ<$=I@Ix>i>MDDAT read: Rx Time:03:36:55.5898 MTRx dataTimestamp_ set to:1761536214.578048QmPDAT read: Bearing 38.0, -4.4 (Local) m~Local bearing/azimuth received: Bearing 38.0, -4.4 (Local) DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.4 Q@ @@@!@!@!E EE-E"EN;*E>:VEt4ZEa@a@a@a@DAT read: 03:36:55.5898 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 164, 0.26,-0.787,-2.314,-0.398,-0.797, PHS= 0.111,-1.473, 0.355, RAW= 157.0, 11.7, CAL= 157.2, 13.0, ROT= 352.8, -13.0 Ygot valid direction response: 03:36:55.5898 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 164, 0.26,-0.787,-2.314,-0.398,-0.797, PHS= 0.111,-1.473, 0.355, RAW= 157.0, 11.7, CAL= 157.2, 13.0, ROT= 352.8, -13.0 R#Rx 2: Read range and direction messages.^direction in FSK: [0.966687,-0.122121,0.224951]Fpublishing direction and range infoyIM54?OMWC:/2?YMBIIII I)MCIMS=iMDMµ>M^/@MQ>M/@ MVh>)Mj @IMVhIIMݭ=U?ݝ]{k?8.? M%?)MQIMiMVhIIMchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.580003ԁ^Aq Ա Ii I O >+tl,%<5?A;ɰ4<.checking for new query: numPingsReceived=2, elapsed TxPingTime=2.7636946᠁@6@6\fٱ6:U BAHRS rotation from veh to nav: [[-0.427260,0.887274,0.173765],[-0.899646,-0.436330,0.015890],[0.089917,-0.149538,0.984659]]6H;Xۿd? =? ۿnE?@?@ $ÿS?i6᠁@I6];4YJ|ByJI|~AbDVDky=%p=ٔfQ-?9Y=DFyD%8E%?)Q 554-?Q 954-v)-zBY1y5Q I=?-CI-/;i-L;-%4yEBɮE-AEEiAiE5?AJiE3BRiE3BjiE⨅@bEr!.A@:]H0J@RE54?OMWC:/2?ZiEbiEVhjE]U%1:j<}ӾF:'@ZEo8l|޿Wz Ab?2iE+:iE*"iEm'?*iEnBiEEBiAiE\iEEBiEBiE@ addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 2.526446 s, deltaX: -2.000000 m, approachRate: -0.791626 m/s, rangeRepo size: 4  Added new target pos. range: 35.550640 m, bearing: 239.316782 deg, lat: 36.779340 deg, lon: -121.859590 deg, deltaT: 2.526446 s, deltaX: -1.991730 m, approachRate: -0.788352 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.55 m.bhRhZh ProNav: ac range: 35.550640 m, nav range: 34.144814 m, bearing: 239.853883 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.938545 deg, new cmd heading: 242.922469 deg. BhHeadingCmd: 4.239797 target range: 35.550640 and range: 35.70 m.hk@h*h"h hgfffdddjdA@Zd ?IBɢ9)  ¿i)EqcIQiUmxi*<%=Ik@IԁP@ @@0@@@@@ ,> R=DDAT read: Rx Time:03:36:56.0896 TRx dataTimestamp_ set to:1761536215.081145%PDAT read: Bearing 38.6, -4.5 (Local) -~Local bearing/azimuth received: Bearing 38.6, -4.5 (Local) =DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.4 BU8>BQBU IBU?|BBU =BQBQBU?;BUf9E}DAT read: 03:36:56.0896 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.21, 2.214, 0.703, 2.601, 2.222, PHS= 0.094,-1.473, 0.336, RAW= 157.1, 12.2, CAL= 157.3, 13.7, ROT= 352.7, -13.7 Ygot valid direction response: 03:36:56.0896 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.21, 2.214, 0.703, 2.601, 2.222, PHS= 0.094,-1.473, 0.336, RAW= 157.1, 12.2, CAL= 157.3, 13.7, ROT= 352.7, -13.7 R#Rx 3: Read range and direction messages.^direction in FSK: [0.963674,-0.123449,0.236838]Fpublishing direction and range infoyHk?43I`_4ӋHP?Y B )?I=i1>~{/@^ Z>/@ԡ Gt>)@IGte^?6P?~L? %?)ZItwiGtchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.037173Em  Em Ei Ei "Em ,K;*Em :VEi ZEi BEm M "Xs,5?AY~;|By~IbD VD y=%%J=ٔ%Q-%>9)Y)=-DFy-D-E->1Q 5=45̢?Q 9E45c{)5BYAyAQ IE?5CI5;i5;5,4yIɮMs,AQiQiU{15?AJiU BRiU BjiU@bULoX@@hrGh݇ @RUHk?43I`_4ӋHP?ZiUtwbiUGtjU8(90E+K - DDAT read: Rx Time:03:36:56.5895 - TRx dataTimestamp_ set to:1761536215.5846555 PDAT read: Bearing 37.1, -3.6 (Local) = ~Local bearing/azimuth received: Bearing 37.1, -3.6 (Local) M DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4 m DAT read: 03:36:56.5895 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.36, 2.614, 1.081, 2.990, 2.581, PHS= 0.136,-1.455, 0.366, RAW= 156.7, 11.1, CAL= 156.7, 12.3, ROT= 353.3, -12.3 u Ygot valid direction response: 03:36:56.5895 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.36, 2.614, 1.081, 2.990, 2.581, PHS= 0.136,-1.455, 0.366, RAW= 156.7, 11.1, CAL= 156.7, 12.3, ROT= 353.3, -12.3 } R#Rx 4: Read range and direction messages. ^direction in FSK: [0.970373,-0.113993,0.213030] Fpublishing direction and range infoy) - K ?Z |.AzUmD?Y- 3 B) ) ) ) ) )- >I- C >i- q=- Zd>-  /@- aF>-  /@ - [>)- Q@I- [) ) - P0?<?ٹ]ѣ? - #?)- [FI- |i- [) )  checking for new query: numPingsReceived=4, elapsed TxPingTime=3.535639y,5?AE, EE+E"Ec;*E:VE [4ZEa@a@a@a@|ByE IiMb@Mb@Mb@ 9i|?5?v/S㥛?Y>yxi1A ~&A)YbDVD:y;%0=ٔQ->9Y=DFy DiEm>qQ 5}4u֘?Q 9}4uh)uBY>Q E:y Q I?uCIu7:iu:u44ԉyɮd,AiYi]j5?AJi] BRi] Bji]e@b]B3A@iAMDHHB@R]K ?Z |.AzUmD?Zi]|bi][j]G 20-<&@Z]x޿]<:!?2i]:i]"i]K$?*i]uvBi]3BiYi]uvi]fBi]Bi]̅@] addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.503510 s, deltaX: -0.100002 m, approachRate: -0.198610 m/s, rangeRepo size: 4  Added new target pos. range: 35.152420 m, bearing: 239.719025 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.503510 s, deltaX: -0.099586 m, approachRate: -0.197785 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.15 m.bhRhZh ProNav: ac range: 35.152420 m, nav range: 33.425304 m, bearing: 239.568341 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.902700 deg, new cmd heading: 242.878566 deg. BhHeadingCmd: 4.239031 target range: 35.152420 and range: 35.30 m.h$@h*h"h hgfffBdddjd`fA@Zd ?UBɢU)Q ]iY)]VYYi].iemeA> 7j>I)]cGy09YAIA Om > j,6?A2F@2@2輽ٱ2/ :AHRS rotation from veh to nav: [[-0.427680,0.886223,0.178041],[-0.899225,-0.437190,0.016105],[0.092110,-0.153211,0.983891]]2H_ۿ[??sۿ}?? hÿ |?i2F@I2b^;0\YnM|Byn)I ppbDzVDzyE'=%Ek=ٔEϻQ-E?9IYI=MDFyMDUQԺEU?YQ 5e4]ّ?Q 9e4])]BYayeQ Ie?]CI]p:i]$:]:4yqɮu*,AqDDAT read: Rx Time:03:36:57.0893 TRx dataTimestamp_ set to:1761536216.090138AAB7>BBRIB|BBBBB.;BU9EPDAT read: Bearing 36.5, -3.7 (Local) ~Local bearing/azimuth received: Bearing 36.5, -3.7 (Local) -DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4 UDAT read: 03:36:57.0893 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.07,-1.467,-3.018,-1.079,-1.505, PHS= 0.140,-1.468, 0.382, RAW= 156.9, 10.9, CAL= 156.9, 11.9, ROT= 353.1, -11.9 ]Ygot valid direction response: 03:36:57.0893 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.07,-1.467,-3.018,-1.079,-1.505, PHS= 0.140,-1.468, 0.382, RAW= 156.9, 10.9, CAL= 156.9, 11.9, ROT= 353.1, -11.9 ]R#Rx 5: Read range and direction messages.e^direction in FSK: [0.971422,-0.117555,0.206204]mFpublishing direction and range infoy㸞?^~JFa5d?Y B ii6?AJij BRij Bji@b@@c%/s@R㸞?^~JFa5d?ZibiȭTj,0N/<ݗ%@Z+Y<޿ό3꿍$?2iO:i"iz?*i rBiɓBiz?i riiBi@ addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.505483 s, deltaX: -0.299999 m, approachRate: -0.593490 m/s, rangeRepo size: 4 )=I)\>im绿>LB/@B>LB/@ ȭT>)P5@IȭT%n| ? checking for new query: numPingsReceived=5, elapsed TxPingTime=4.275967A #,6?A-䝁@-@-~ٱ- UAHRS rotation from veh to nav: [[-0.427472,0.885809,0.180585],[-0.899245,-0.437163,0.015733],[0.092881,-0.155665,0.983434]]-H[ۿX?f? `yۿ8? Ƿ?ÿIx?i-䝁@I-^;-CYui|Byu:IiMb@Mb@Mb@ 9V-?yt9<A O'A)AYAbDVD:y+v=%4=ٔߺQ->9Y=DFyD9E>Q 54?Q 94)BY>Q E:yM Q I?/CI:i:B4yBɮ+AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 34.85 m.bhRhDj:ZhDj:- ProNav: ac range: 34.853638 m, nav range: 32.922646 m, bearing: 239.489522 deg, approach rate: -0.509845 m/s, LOS rate: 0.051203 deg/s, cmd heading: 242.861146 deg, new cmd heading: 242.924351 deg. Bh- ;5HeadingCmd: 4.239830 target range: 34.853638 and range: 35.00 m.h5@h1*h1"h1 h1g9f9f9f=BdAdAdAjdIZdM@?uBɢuqQ)y }iy)}4Y 顁i}ɹiW།<$=I@IADDAT read: Rx Time:03:36:57.5892 TRx dataTimestamp_ set to:1761536216.593924PDAT read: Bearing 35.9, -3.4 (Local) ~Local bearing/azimuth received: Bearing 35.9, -3.4 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 5DAT read: 03:36:57.5892 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.29,-1.863, 2.879,-1.479,-1.911, PHS= 0.150,-1.448, 0.388, RAW= 156.8, 10.5, CAL= 156.8, 11.5, ROT= 353.2, -11.5 =Ygot valid direction response: 03:36:57.5892 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.29,-1.863, 2.879,-1.479,-1.911, PHS= 0.150,-1.448, 0.388, RAW= 156.8, 10.5, CAL= 156.8, 11.5, ROT= 353.2, -11.5 ER#Rx 6: Read range and direction messages.M^direction in FSK: [0.973031,-0.116027,0.199368]MFpublishing direction and range infoy#?i?Y3 B )I>iX>%/@f;>%/@ M>)C@IM-?mBC?8i? @$?)m[!,\r56?A&checking for new query: numPingsReceived=6, elapsed TxPingTime=4.7799716b@63@6ٱ6! BAHRS rotation from veh to nav: [[-0.426849,0.886011,0.181067],[-0.899490,-0.436643,0.016150],[0.093371,-0.155974,0.983338]]6H~Qۿ2Z? 3-?@ۿ?`%?@ÿw?i6b@I6_;6CYFs|ByJ@I N4iP>LB/@'> /@ J4>)Q@IJ4#yL;?*.?"Е? )$?)(I|iJ4}checking for new query: numPingsReceived=7, elapsed TxPingTime=5.048188yB5>BB~IB|BB =BBB$;BI9EbE|a4jE2`4rE١/EU  EU EU +EQ "EU V;*EU :VEU [4ZEQ BEU }i,3OO6?ABs@BD@BٱB! JAHRS rotation from veh to nav: [[-0.426272,0.886111,0.181934],[-0.899710,-0.436179,0.016389],[0.093878,-0.156701,0.983174]]BH Hۿ[?@I?m\ۿUȐ?i?@Ŀ)v?iBs@IB_;BCYRj|ByR;IIV<)V;bDVD0y-T%-C=ٔ-fQ-->91Y1=5DFy5D=`:E=>AQ 5M4Ew?Q 9M4E/)EڄBYIyM7 Q IU?E[CIE:iE:EO4yBɮ,AEi)i-0F6?AJi-l BRi-l Bji-bŅ@b-nP @@@-ϑY6Do@R-IyI?!* g:ujr?Zi-|bi-J4j-JW0=Hf?gI K7>i 9 > .@ %/> R.@ q=>) |@I q= >S?,u? p? (c#?) x /I ii q= AU .AIa Iq O} >䙍,i6?AE EE*E"EN;*EVE(N4ZEa@a@a@a@*checking for new query: numPingsReceived=8, elapsed TxPingTime=5.574669R~@RO@RSٱR" zAHRS rotation from veh to nav: [[-0.425483,0.886427,0.182242],[-0.900044,-0.435474,0.016803],[0.094256,-0.156876,0.983110]]RH;ۿ@]?S?)`ۿ4?1!?Ŀu?iR~@IRD_;RCYp|By>IiMMb@Mb@Mb@IIII I9Me;O?yIM`;M3AI I)M(AIYM AbD]VD]y&E<%"=ٔ EQ- >9  ?Y  ?=DFyD2:E>Q 5-4Pl?Q 9-4t)BY->Q E-:y-, Q I-?zCI:i:X4yEBɮE+AAii"rf6?AJi BRi Bjiz@b3ȷ@@{$䆯4@Rv1%KB?cd<  =η?Ziibiq=j4M߀j0P(j`< '#@Z˹v޿%. ?2i:iT"i?*i6BiBi?i2xi]Bi.Bi@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503977 s, deltaX: -0.099998 m, approachRate: -0.198419 m/s, rangeRepo size: 4  Added new target pos. range: 34.256073 m, bearing: 239.950384 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.503977 s, deltaX: -0.099579 m, approachRate: -0.197586 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.26 m.bh Rh Zh = ProNav: ac range: 34.256073 m, nav range: 32.544933 m, bearing: 239.707819 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 243.043238 deg, new cmd heading: 243.119727 deg. Bh9EHeadingCmd: 4.243240 target range: 34.256073 and range: 34.40 m.hEȇ@hA*hA"hI hIgIfIfQfUBdQdqdyjd}@33A@Zd} p?)BɢZE) Vi)N=checking for new query: numPingsReceived=8, elapsed TxPingTime=5.788050i=d>08iExEi>1@9 @9@E/@A! ^AM $=Q  DDAT read: Rx Time:03:36:59.0886  TRx dataTimestamp_ set to:1761536218.104933 PDAT read: Bearing 34.6, -2.9 (Local) ~Local bearing/azimuth received: Bearing 34.6, -2.9 (Local) DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 5DAT read: 03:36:59.0886 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.45,-2.848, 1.874,-2.459,-2.920, PHS= 0.174,-1.444, 0.417, RAW= 156.9, 9.8, CAL= 156.7, 10.5, ROT= 353.3, -10.5 BE<AABM2>BM6CBMIBM|BBM =BIBMDBM;BM99E]Ygot valid direction response: 03:36:59.0886 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.45,-2.848, 1.874,-2.459,-2.920, PHS= 0.174,-1.444, 0.417, RAW= 156.9, 9.8, CAL= 156.7, 10.5, ROT= 353.3, -10.5 eR#Rx 9: Read range and direction messages.m^direction in FSK: [0.976540,-0.114717,0.182236]mFpublishing direction and range infoy  7??iƼ^m~S?Y B ) =I -2>i Ը > LB/@  /@ f;>) Q@I f; 3?8? x'?5? $?) .I |i f; checking for new query: numPingsReceived=9, elapsed TxPingTime=6.059955IIO>%,6?AE> E>E>+E<"E>W;*E>u:VE> [4ZE<BE>FF$<$<9Y=DFyśDt;E>iQ 5u4mb?Q 9u4m )mBYqyu Q Iu?mCImt:im:m``4yyɮ,Aiqiu96?AJiuBRiuBjiu݅@bu}ң{@@R< MuԈ@Ru7??iƼ^m~S?Ziu|biuf;ju{+N0<;2<`#@Zuࢌ޿b^W$q^n?2iu(:iuv"iuMgO?*iu wBiuBiuMgO?iqiuBiu\Biu)@5 addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504217 s, deltaX: -0.500000 m, approachRate: -0.991637 m/s, rangeRepo size: 4  Added new target pos. range: 33.757900 m, bearing: 239.688144 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.504217 s, deltaX: -0.498173 m, approachRate: -0.988013 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.76 m.bhRhZh ProNav: ac range: 33.757900 m, nav range: 32.339981 m, bearing: 239.717369 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 243.119737 deg, new cmd heading: 243.187189 deg. ԡBhHeadingCmd: 4.244417 target range: 33.757900 and range: 33.90 m.hD҇@h*h"h hgffQfQdydydyjd}@3@@Zdg?-Bɢs ) ?i)mu iK9i-{!Z<j#=I%D҇@I!checking for new query: numPingsReceived=9, elapsed TxPingTime=6.292185O@ @@@ ^A =I I O >㍨, 6?A(Yp|By>I}DDAT read: Rx Time:03:36:59.5886 }TRx dataTimestamp_ set to:1761536218.608719PDAT read: Bearing 35.0, -2.7 (Local) ~Local bearing/azimuth received: Bearing 35.0, -2.7 (Local) DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 DAT read: 03:36:59.5886 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.04,-1.163,-2.715,-0.786,-1.229, PHS= 0.167,-1.441, 0.399, RAW= 156.6, 10.1, CAL= 156.5, 11.0, ROT= 353.5, -11.0 Ygot valid direction response: 03:36:59.5886 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.04,-1.163,-2.715,-0.786,-1.229, PHS= 0.167,-1.441, 0.399, RAW= 156.6, 10.1, CAL= 156.5, 11.0, ROT= 353.5, -11.0 T#Rx 10: Read range and direction messages.^direction in FSK: [0.975317,-0.111123,0.190809]Fpublishing direction and range infoyy}yyC5?LorP@ml?Yyyyyy y)}>I} +>i}r}I>}.@}J4>}.@ } D>)}n@I} Dyy}YaF?6?~9u? }#?)} 4I}Vi} Dyychecking for new query: numPingsReceived=10, elapsed TxPingTime=6.563773i%Mb@Mb@Mb@!!!! !9%Cl?T㥛 Mb`Y%d>y%%%1A%+ A %z&A)%SA!Y%AbDVD2E  E E (E "E V;*E :VE c44ZE a@a@a@a@yEr<%E/=ٔEQ-M>9IYI=MDFyMϛDUEU>YQ 54]X?Q 94])]BY t>Q E :y Q I ?]CI]Y,6?A0vȁ@vÈ@vq½ٱvܨ ~AHRS rotation from veh to nav: [[-0.422671,0.888506,0.178622],[-0.901311,-0.432723,0.019704],[0.094801,-0.152666,0.983720]]vH ۿn?`?ۿ7-?D?ÿ@z?ivȁ@Iv"_;vCY c|By 6IbDVD0y- %-d=ٔ58Q-5>91Y9==DFy=֛D=;E=>AQ 5M4EP?Q 9M4Eբ)EBYQyUQ IU?ECIEf;iE;Etn4yYɮ]#,Aa}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 33.76 m.bhRh=E:Zh=E: ProNav: ac range: 33.757900 m, nav range: 32.031643 m, bearing: 239.836157 deg, approach rate: -0.609397 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.264509 deg, new cmd heading: 243.301537 deg. Bh:HeadingCmd: 4.246413 target range: 33.757900 and range: 33.90 m.h@h*h"h hgfffdddjdZd +?3Bɢg-)m< ni))iK:i{ZL<m"=I@IԉP@ @@1@DDAT read: Rx Time:03:37:00.0883 TRx dataTimestamp_ set to:1761536219.112853PDAT read: Bearing 36.3, -3.3 (Local)  ~Local bearing/azimuth received: Bearing 36.3, -3.3 (Local) DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 B51>B1B1B1B1B1B1B5;B59EBB6CBBĩ =Bĩ =CL5}DAT read: 03:37:00.0883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.31, 2.049, 0.509, 2.433, 2.024, PHS= 0.127,-1.470, 0.364, RAW= 156.8, 11.3, CAL= 156.9, 12.5, ROT= 353.1, -12.5 Ygot valid direction response: 03:37:00.0883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.31, 2.049, 0.509, 2.433, 2.024, PHS= 0.127,-1.470, 0.364, RAW= 156.8, 11.3, CAL= 156.9, 12.5, ROT= 353.1, -12.5 T#Rx 11: Read range and direction messages.^direction in FSK: [0.969225,-0.117289,0.216440]Fpublishing direction and range infoy'B G?74K?YB )=IJ >i(5^>%/@I>LB/@ f_>)P5@If_"o-?m[W"?J$? j$?)vJE EE'E"E*E:VE'4ZEBE  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.299801,6?ATȁ@ˆ@J½ٱC9 mAHRS rotation from veh to nav: [[-0.422757,0.888696,0.177470],[-0.901248,-0.432819,0.020486],[0.095018,-0.151283,0.983913]]H uۿ2p?T? Pۿ\? S?A]ÿ@7|?iȁ@I _;CY[|By2IIp<)p<iMb@Mb@Mb@ 9#~j? ףp= :vY?yQ8Tt/A %A)AYA bDVD:y%#=ٔ'Q->9 Y = DFy D^E>Q 5%4E?Q 9%4Ǩ)BY%l?Q E%:y%JQ I-?CI:i ;/w4y5Bɮ59,A5Ei i 86?AJi pBRi pBji 6@b ﵊`*@@cR4MD@R 'B G?74K?Zi bi f_j 9?(ú/ykL;~!_%@Z J o޿2G/S?2i c:i }"i t5 ?*i UvBi Bi ?i i i !Ai @ addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504134 s, deltaX: -0.400002 m, approachRate: -0.793443 m/s, rangeRepo size: 4  Added new target pos. range: 33.359505 m, bearing: 239.836616 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.504134 s, deltaX: -0.398396 m, approachRate: -0.790257 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.36 m.bhRhZh ProNav: ac range: 33.359505 m, nav range: 31.766226 m, bearing: 239.848822 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.301529 deg, new cmd heading: 243.366648 deg. BhHeadingCmd: 4.247550 target range: 33.359505 and range: 33.50 m.h@h*h"h hgfffLBddAdIjdM@@ZdM?颕7Bɢ ) s¿i)m-0顡i 2:iG3v<.=I@IDDAT read: Rx Time:03:37:00.5883 TRx dataTimestamp_ set to:1761536219.617899 PDAT read: Bearing 37.0, -3.3 (Local) ~Local bearing/azimuth received: Bearing 37.0, -3.3 (Local) -DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 DAT read: 03:37:00.5883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.09,-0.489,-2.013,-0.113,-0.498, PHS= 0.112,-1.469, 0.341, RAW= 156.7, 11.9, CAL= 156.9, 13.2, ROT= 353.1, -13.2 @ @@0@Ygot valid direction response: 03:37:00.5883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.09,-0.489,-2.013,-0.113,-0.498, PHS= 0.112,-1.469, 0.341, RAW= 156.7, 11.9, CAL= 156.9, 13.2, ROT= 353.1, -13.2 =T#Rx 12: Read range and direction messages.E^direction in FSK: [0.966528,-0.116962,0.228351]EFpublishing direction and range infoy^?\?񽿻 :?Y )IB`=i1> /@ȭT> k>)Ik ·?Tlk?emt{[? #?)`TIikechecking for new query: numPingsReceived=12, elapsed TxPingTime=7.600878E$ EE*E"Eg\;*Ex:VE(N4ZEa@a@a@a@) ^A= "=I I O >T,6?A4<ɰ2Ɓ@2@2týٱ2> :AHRS rotation from veh to nav: [[-0.422882,0.888782,0.176738],[-0.901160,-0.432972,0.021119],[0.095293,-0.150339,0.984031]]L2Hۿp?\?N εۿ9? e?`L>ÿ@/}?i2Ɓ@I2}^;2CYVP|ByV+IbD^VD^yf %f=ٔjNgQ-j?9xY|=~DFy~D~iE~ ?Q 5 4~>?Q 9 4)!BYyULQ IU?CI%B B IB |BB =B B B ;B 9E DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4  DAT read: 03:37:01.0880 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.48,-0.596,-2.142,-0.225,-0.660, PHS= 0.166,-1.437, 0.391, RAW= 156.5, 10.2, CAL= 156.4, 11.1, ROT= 353.6, -11.1  Ygot valid direction response: 03:37:01.0880 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.48,-0.596,-2.142,-0.225,-0.660, PHS= 0.166,-1.437, 0.391, RAW= 156.5, 10.2, CAL= 156.4, 11.1, ROT= 353.6, -11.1  = T#Rx 13: Read range and direction messages.u ^direction in FSK: [0.975177,-0.109383,0.192522] Fpublishing direction and range infoy  Xͦ4?=lV2M?Y B ) >I )>i ﷿ '1> .@ K6> R.@ aF>) |@^A ȿ=I aF LAwR?[νÍ,S7?AB뺁@B@BýٱBW ZAHRS rotation from veh to nav: [[-0.424180,0.888644,0.174306],[-0.900536,-0.434213,0.022211],[0.095423,-0.147547,0.984441]]BH%ۿ`o?O?1%ۿq? m?`¿?iB뺁@IBK^;BCYb>|Byb IbDzVDzyH%8=ٔ Q- >9"?Y"?=DFyD:WE>Q 5%44?Q 9%4Ʊ)+BYIyMcQ IM?CI2;i;i4yUBɮ]-A]Eii7?AJirBRirBjiS @b @@ *? dN@RXͦ4?=lV2M?ZiibiaFjcՉ^/G|5(;b)#@Z5޿3i  > .@ D> .@ @X>) 4`@I @X k9?;?,LT\? x#?) DI i @X  checking for new query: numPingsReceived=14, elapsed TxPingTime=8.575828ԡ E-  E- E- )E) "E- P;*E- :VE- FA4ZE) a5 @a5 @a5 @a5 @^A =AII O?ˍ,bi17?ABP@B!@B\ĽٱBm  JAHRS rotation from veh to nav: [[-0.425763,0.887716,0.175173],[-0.899733,-0.435882,0.022073],[0.095949,-0.148211,0.984290]]BH?ۿ+h?`l?~ۿ/?@?¿@N?iBP@IBp];BCYbB|Byb"I ddj=hiMb@Mb@Mb@ 9V-?9Y=DFyDSE>Q 54(?Q 94Q =tI)7BY ?Q E:yQ I?CCIz;i;4y Bɮ ,A i i '7?AJi Ri ji 6@b ~@?@as C$@R ӄ?5<,ż9h?Zi bi @Xj <1OLR/:VBY B] xIB] |BBY BY BY B] ;BY u P@q  @q @} /@y ) @I 0>i L7 > ¸2> .@ A>) n@I A MWPL?/?Z~9? +#?) ݴ2I Vi A  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.091499q E} ' E} E} *Ey "E} _;*E} :VE} (N4ZEy BE} 9pYp=rDFyrDr/Ev>tQ 5~4v?Q 9~4v )vCBY|yQ I?vjCIv+ ;iv'!;vɗ4y ɮ ,A iiSH7?AJiBRiBji@b7.ޮ?@: T@RB+;?TT|w0i?ZiVbiAj d4:/C:=IC9#@Z߿gŗRt1@?2i:i)|"i윊?*i~j~BidBiiiiAia@ addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.505398 s, deltaX: -0.400002 m, approachRate: -0.791458 m/s, rangeRepo size: 4  Added new target pos. range: 32.463070 m, bearing: 239.451246 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.505398 s, deltaX: -0.398392 m, approachRate: -0.788273 m/s, posRepo size: 4 jh)=DNOT Ignoring new targets: 32.46 m.bh9RhiZhq  ProNav: ac range: 32.463070 m, nav range: 30.749678 m, bearing: 239.942723 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.536214 deg, new cmd heading: 243.609879 deg. Bh!HeadingCmd: 4.251794 target range: 32.463070 and range: 32.60 m.h@h*h"h hgfffdddjdL@@Zdd9?MEBɢUU )Q UƿiQ)}Iyyi}:iP4<SiUm绿U7>UR.@Ut;?>U.@ UBR>)U@IUBRQQUbR?I~I?}t{Y? Um"?)U?IUi0iUBRQQchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.589823M a>iM %>E " E E )E "E Z;*E :VE FA4ZE a @a @a @a @a @  @ @ @ ԁ ^A =AzAchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.8236301AqIIOU?ލ,|}7?A^\@^^W@^ʽٱ^ rAHRS rotation from veh to nav: [[-0.434395,0.882480,0.180361],[-0.895322,-0.444940,0.020669],[0.098490,-0.152503,0.983383]]^H` ۿF=??yyܿ:*?6? 8ÿ w?i^\@I^];\Y~^|By~3IIa=)=iMb@Mb@Mb@ 9"~?Q?~jtxY?yu<Ļ A !A)?AYfAԩbDVDy|3<%=ٔQ->99YA=EDFyEDEEM>IQ 5U4M?Q 9]4M)MSBY]?Q E]:y]Q I]?MCIM:iM:M4ymBɮm|,AmEiip}h7?AJiBRiBjibх@bEhbK?@=" rBVO@Rt"?85rG,?Zii0biBRjn.6$nX:f&'$@Zϱl޿z5꿉e2 ?2i:iNw"iS?*iY}BiVBi?iY}iVBiAi@ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.502559 s, deltaX: -0.299999 m, approachRate: -0.596943 m/s, rangeRepo size: 4  Added new target pos. range: 32.164330 m, bearing: 239.600033 deg, lat: 36.779339 deg, lon: -121.859590 deg, deltaT: 0.502559 s, deltaX: -0.298740 m, approachRate: -0.594438 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.16 m.bhRhZh ProNav: ac range: 32.164330 m, nav range: 30.498470 m, bearing: 239.749316 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.609871 deg, new cmd heading: 243.691471 deg. BhHeadingCmd: 4.253219 target range: 32.164330 and range: 32.30 m.h^@h*h"h hgfffBdddjd`f&@@ZdK?5IBɢ5_p)1 5{ƿi1)=PO99i=:iEEԑiee+>ae+>e!z.@ eX8>)ee@IeX8aae|f? }?aITW? e"?)eɊ+IeiݽieX8aabE(N4jEI4rEE& EE*E"E8^;*E]:VE(N4ZEBE°1 ,2>7?A29@2P4@2!νٱ2(k :AHRS rotation from veh to nav: [[-0.438136,0.880103,0.182907],[-0.893279,-0.449020,0.020809],[0.100443,-0.154270,0.982910]]2H l ܿ@)?i?ܿN?? ÿs?i29@I2m];2CYNm|ByR=Ibchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.323687bDZVDZNyrI%=%vZ=ٔvQ-v>9xYx=zDFyzDzCEz>Q 54*?Q 94#)]BYy ,Q I ?CI,AiiȈ7?AJiTARiTAjiD@b[Q>@"E2 p/@R.L?&&3?ZiiݽbiX8jy/D>.'& :Jd"@Zi!Q߿k]P q?2iQ:iw"i>M?*iG {BiBiS?iiBiAi˅@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504594 s, deltaX: -0.500000 m, approachRate: -0.990896 m/s, rangeRepo size: 4 } Added new target pos. range: 31.666441 m, bearing: 239.242511 deg, lat: 36.779339 deg, lon: -121.859590 deg, deltaT: 0.504594 s, deltaX: -0.497889 m, approachRate: -0.986711 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.67 m.bhRhZh= ProNav: ac range: 31.666441 m, nav range: 30.328640 m, bearing: 239.559682 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.691478 deg, new cmd heading: 243.747840 deg. IBha}HeadingCmd: 4.254202 target range: 31.666441 and range: 31.80 m.hm"@h*h"h hgfffdddjd?@Zd?5LBɢ5A)9 }Sſiy)} 1Vyi3+:ioݑ<I}X94>i}u}>}.@}¸2>y }B>)yI}Byy}#_Ce?w?Xl M? }\'"?)}R3Iyi}Byychecking for new query: numPingsReceived=18, elapsed TxPingTime=10.592524 Q@  @ @ @ @ gA@ hAE 6 E "E +E "E l;*E ;VE [4ZE a% @a% @a% @a% @ ^A5 <A5 >A1 AAe.AIiIyO?sO,ӷ7?A^checking for new query: numPingsReceived=18, elapsed TxPingTime=10.831765Yf|ByfOI ppiMb@Mb@Mb@ 9Cl?{Gz?Mb?Yd?y#<<d+A A !A)CAYAbDMVDMyeE=%m =ٔuQ-u>9} ?Y} ?=}DFy}&DE>Q 5 4?Q 94j)qBYm?Q E:yQ I?CIe@ vh@R}v '=?&&oG4?Ziybi}Bj}gX.xlb9tD7+"@Z}<9"߿]A 7?2i}3:i}u"i}+휊?*i}9_Bi}:Bi}>M?i}5}i}dBi}gAi}/@u addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503900 s, deltaX: -0.099998 m, approachRate: -0.198449 m/s, rangeRepo size: 4  Added new target pos. range: 31.566862 m, bearing: 239.336195 deg, lat: 36.779337 deg, lon: -121.859590 deg, deltaT: 0.503900 s, deltaX: -0.099579 m, approachRate: -0.197616 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.57 m.bhRhZh ProNav: ac range: 31.566862 m, nav range: 30.050415 m, bearing: 239.283911 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.747841 deg, new cmd heading: 243.816658 deg. BhHeadingCmd: 4.255404 target range: 31.566862 and range: 31.70 m.hD,@h*h"h hgfffBdddjd@3?@Zd@ݲ?OBɢ) `¿i)[i0;i-5<=BBIB|BB =BBBɂ;B8EDAT read: 03:37:04.0869 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.03, 2.792, 1.215,-3.122, 2.714, PHS= 0.180,-1.454, 0.403, RAW= 156.3, 9.9, CAL= 156.2, 10.8, ROT= 353.8, -10.8 Ygot valid direction response: 03:37:04.0869 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.03, 2.792, 1.215,-3.122, 2.714, PHS= 0.180,-1.454, 0.403, RAW= 156.3, 9.9, CAL= 156.2, 10.8, ROT= 353.8, -10.8 T#Rx 19: Read range and direction messages.^direction in FSK: [0.976542,-0.106086,0.187381]Fpublishing direction and range infoyQUg2??p1y(0i?YUAQQQQ Q)QIUQ8>I iUUV>QU;0>Q UA>)QIUAQQUXe?{m?񍫖? U)@"?)U1IQiUAQQu checking for new query: numPingsReceived=19, elapsed TxPingTime=11.117608A ؟AI I E & E !E $E "E 8^;*E :VE 4ZE BE a 2E a JE U`3,s7?A27@2@2$׽ٱ2 BAHRS rotation from veh to nav: [[-0.444277,0.876349,0.186095],[-0.889732,-0.455911,0.022839],[0.104858,-0.155428,0.982266]]2H@oܿ@ ??@x-ݿc?׺? ÿn?i27@I2qR^;2CYZ|ByZgIbDrVDrk1yz=%z}=ٔaQ- ?9"?Y%"?=%DFy%-D%겼E% ?)Q 554-?Q 954-)-|BYYy]Q I]?-CI-;i-;-d4yaɮe+AiiiD7?AJiARiAjibp@bWyڃW>@,06^ ~CYzI@Rg2??p1y(0i?ZibiAjui.1k[9N "@Z'|߿Kn꿼3sc?2i:it"i߂윊?*i_vBi,Bi+휊?iY}i:BiAi@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503674 s, deltaX: -0.500000 m, approachRate: -0.992706 m/s, rangeRepo size: 4 % Added new target pos. range: 31.069040 m, bearing: 238.921604 deg, lat: 36.779337 deg, lon: -121.859590 deg, deltaT: 0.503674 s, deltaX: -0.497822 m, approachRate: -0.988381 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 31.07 m.bh)Rh1ZhQe ProNav: ac range: 31.069040 m, nav range: 29.858053 m, bearing: 239.237121 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.816662 deg, new cmd heading: 243.858251 deg. BhamHeadingCmd: 4.256129 target range: 31.069040 and range: 31.20 m.hm62@hi*hi"hi higfffdddjd@33?@Zd`?PBɢe+)  i)`iJ;iJ͑<46 Ygot valid direction response: 03:37:04.5868 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.08,-2.846, 1.872,-2.492,-2.913, PHS= 0.169,-1.453, 0.377, RAW= 156.0, 10.5, CAL= 155.9, 11.4, ROT= 354.1, -11.4  T#Rx 20: Read range and direction messages. ^direction in FSK: [0.975079,-0.100764,0.197657] Fpublishing direction and range infoyi m i3?±˹g4L?Yi i i i i i )i Im V->im m %>m @.@m f;>m X$.@ m %K>)m J@Im %Ki i m Әx?G4z?'fCB? m ?)m :;Im )ҽim %Ki i @],x7?A"checking for new query: numPingsReceived=20, elapsed TxPingTime=11.610686DEf( EfEf+Ed"Ef`;*Efx:VEf [4ZEdan@an@an@an@=р@=ˇ@=mٱ= }AHRS rotation from veh to nav: [[-0.449042,0.873383,0.188582],[-0.886732,-0.461545,0.026118],[0.109850,-0.155493,0.981710]]=Hܿ`?r#?``ݿ;?'? 4ÿ`+j?i=р@I=R^;9Y|BywIiMb@Mb@Mb@ 9Gz?Mb?{Gz?Yp?y<ף<5,A )Y=AbD VD2y5Z=%5+=ٔ=1,Q-=>99Y9=EDFyE6DECEE>ԩQ 54ꡊ?Q 94)BY?Q E:yQ I?!CI:i:4yɓBɮ+AƥEii7?AJiRijiz@b,8uK>@uC 18h@Ri3?±˹g4L?Zi)ҽbi%KjA1 \.F B9peѯ#@Z7D߿yywڜF?2i:ir"i꜊?*iyzBiBiiG {iiAi셅@} addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.069040 m, bearing: 238.994584 deg, lat: 36.779337 deg, lon: -121.859589 deg, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.07 m.bhRhZh ProNav: ac range: 31.069040 m, nav range: 29.470053 m, bearing: 239.072261 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.858244 deg, new cmd heading: 243.921133 deg. Bh%HeadingCmd: 4.257227 target range: 31.069040 and range: 31.20 m.h%4;@h!*h)"h) h)g)f)f1f5Bd1d1d1jd9Zd= ?颥SBɢY) ]i):e顱i%9;iM<;I4;@Ichecking for new query: numPingsReceived=20, elapsed TxPingTime=11.841473}P@ @@@@=@= ^A x/<A zA gA1 Ai}DDAT read: Rx Time:03:37:05.0865 }TRx dataTimestamp_ set to:1761536224.153111AAB&>B5CBIB}BB =BBDB;B8EBU6CBU5CBQBUΫ =BUΫ =CUΛ15PDAT read: Bearing 34.6, -2.0 (Local) ~Local bearing/azimuth received: Bearing 34.6, -2.0 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 DAT read: 03:37:05.0865 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.16, 1.507,-0.060, 1.881, 1.447, PHS= 0.161,-1.462, 0.390, RAW= 156.5, 10.4, CAL= 156.4, 11.4, ROT= 353.6, -11.4 Ygot valid direction response: 03:37:05.0865 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.16, 1.507,-0.060, 1.881, 1.447, PHS= 0.161,-1.462, 0.390, RAW= 156.5, 10.4, CAL= 156.4, 11.4, ROT= 353.6, -11.4 T#Rx 21: Read range and direction messages.^direction in FSK: [0.974162,-0.109270,0.197657]Fpublishing direction and range infoyy}U,?g4L?Y}fAyyyyI IO->3,F 8?A )?I/$>i">.@9>R.@ )|@IU>/LK?F?bHQ/? "#?):Iiichecking for new query: numPingsReceived=21, elapsed TxPingTime=12.119617n€@n@nSٱnh" zAHRS rotation from veh to nav: [[-0.450526,0.872069,0.191106],[-0.885656,-0.463537,0.027345],[0.112431,-0.156934,0.981188]]E~% E~E|E|"E~O];*E~:VE|ZE|BE~9Y=DFy?D@E>QQ 5]4U5ࡊ?Q 9]4U)UBYYy]Q I]?UDCIU:iU:Uɟ4yiɮmC*Aiii 8?AJi\ARi\Aji%@bb=@5%z [3%?@RU,?g4L?ZiibijUw s.8ȥ#@Zz O4 ߿ׁd?2i:is"iAݜ?*i^usBi,Bi߂윊?iyziixAix@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504391 s, deltaX: -0.400002 m, approachRate: -0.793039 m/s, rangeRepo size: 4 ] Added new target pos. range: 30.670092 m, bearing: 238.394505 deg, lat: 36.779337 deg, lon: -121.859588 deg, deltaT: 0.504391 s, deltaX: -0.398949 m, approachRate: -0.790951 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 30.67 m.bhaRhiZhi} ProNav: ac range: 30.670092 m, nav range: 29.183796 m, bearing: 238.975067 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.921136 deg, new cmd heading: 243.978706 deg. Bhy}HeadingCmd: 4.258232 target range: 30.670092 and range: 30.80 m.hoC@h*h"h hgfffdddjd>@Zd ?a=VBɢe)a e,ii)m>kiiimK5";iu֘uW_9 ,O&8?AbĀ@bп@bfٱbW#h AHRS rotation from veh to nav: [[-0.450097,0.871895,0.192904],[-0.885584,-0.463574,0.028974],[0.114688,-0.157792,0.980790]]bHbܿ?@? V1ݿq?`/\?`2Ŀ b?ibĀ@Ibg^;bCY%,}By%IDAT read: 03:37:05.5863 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.27, 2.805, 1.250,-3.107, 2.744, PHS= 0.163,-1.449, 0.388, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 Ygot valid direction response: 03:37:05.5863 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.27, 2.805, 1.250,-3.107, 2.744, PHS= 0.163,-1.449, 0.388, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 Z#Rx 23: Read direction message, but no range.^direction in FSK: [0.974503,-0.109308,0.195946]yO!/?~j<>x_? )=Iy&>ix>R.@ I>)II-Ԅ&R?~4?Y&? `"?)H9IiIchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.601577iMb@Mb@Mb@EU* EU6EU*EQ"EUa;*EU ;VEU(N4ZEQa]@a]@a]@a]@ 9d;O?9 ?Y ?=DFyIDx9:E>Q 54'֡?Q 94<)BY?Q E:yQ I?hCI;i;1ҟ4y)ɮ-)A)ii58?AJiARiAji&@bCwԘ=@ J|&_@RO!/?~j<>x_?ZibiIjt". F8Gr#@Zl߿T0UH)oo?2i:iq"if?*isBiBi꜊?i_viBi5AiR@ addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.256419 s, deltaX: -0.299999 m, approachRate: -1.169957 m/s, rangeRepo size: 4  Added new target pos. range: 30.371357 m, bearing: 238.406744 deg, lat: 36.779337 deg, lon: -121.859586 deg, deltaT: 0.256419 s, deltaX: -0.298735 m, approachRate: -1.165025 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.37 m.bhRhZh ProNav: ac range: 30.371357 m, nav range: 28.776218 m, bearing: 238.715199 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.978701 deg, new cmd heading: 244.041936 deg. BhHeadingCmd: 4.259336 target range: 30.371357 and range: 30.50 m.hzL@h*h"h hgf!f!f%0Bd)d)d)jd->@Zd-@O?额XBɢii) i)Ԋp顡iBN*;i<"~;IzL@I1mQ@i @i@i@iu DDAT read: Rx Time:03:37:06.0860 } TRx dataTimestamp_ set to:1761536224.914085 PDAT read: Bearing 36.6, -2.7 (Local)  ~Local bearing/azimuth received: Bearing 36.6, -2.7 (Local)  DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.5  Z#Rx 24: Read range message, but no direction.yq Yu Aq Y U checking for new query: numPingsReceived=24, elapsed TxPingTime=12.877708^A vт;ԉ A ؟AI I O >,D8?A2PҀ@2!͇@2ٱ2kL" :AHRS rotation from veh to nav: [[-0.448549,0.872698,0.192880],[-0.886102,-0.462414,0.031565],[0.116738,-0.156753,0.980714]]2H@ܿ#?K?@Z2ݿX)??yĿ`b?i2PҀ@I2_;2CYB`}ByBIbDJVDJyR>%Rc=ٔV'Q-V>9V"?YV"?=VDFyVQDZ;EZ>\Q 5b4^Ρ?Q 9b4^)^΅BYdyfQ If?^CI^ :i^G:^f؟4ynՓBɮn()AnϥEuB*** querying acoustic contact ***iq iq addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504555 s, deltaX: -0.500000 m, approachRate: -0.990972 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 30.37 m.bhRhZh ProNav: ac range: 30.371357 m, nav range: 28.573399 m, bearing: 238.673913 deg, approach rate: -0.571068 m/s, LOS rate: -0.117072 deg/s, cmd heading: 244.041949 deg, new cmd heading: 243.917211 deg. BhHeadingCmd: 4.257158 target range: 30.371357 and range: 30.00 m.h:@h*h"h hgfffdddjd>@Zd?uZBɢu ")q uiq)}0btyyi}42;in<;I:@IԹ DAT read: 03:37:06.0860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.48,-1.826, 2.937,-1.446,-1.829, PHS= 0.105,-1.472, 0.339, RAW= 156.8, 12.0, CAL= 157.0, 13.4, ROT= 353.0, -13.4 Ygot valid direction response: 03:37:06.0860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.48,-1.826, 2.937,-1.446,-1.829, PHS= 0.105,-1.472, 0.339, RAW= 156.8, 12.0, CAL= 157.0, 13.4, ROT= 353.0, -13.4 %Z#Rx 25: Read direction message, but no range.5^direction in FSK: [0.965525,-0.118552,0.231748]y,?qhfY] A? )>I= =ijh>%/@PwV>^/@ |o>)'@I|o`k ?s?2G~? o$?)VI5i|o]checking for new query: numPingsReceived=25, elapsed TxPingTime=13.110196Bu">Bu4CBuIBu}BBu =Bu>DBuDBu;Bu8E@ @@0@ E% E"E'E"EO];*E;VE'4ZEBEa2E9 %,]8?A!!%@%߇@%ٱ%} ]AHRS rotation from veh to nav: [[-0.446427,0.874222,0.190890],[-0.886906,-0.460603,0.035257],[0.118747,-0.153562,0.980978]]%H`Dܿ?o?azݿ@ ?9f?ÿ,d?i%@I%^;%CY}By%IiMb@Mb@Mb@ 9|?5^?L7A`堿~jt?Y ?y+=*AIA !A)AYA@A@AbDVD02y֌=%=ٔxuQ->9Y=DFy\Dʼn;E>Q 54¡?Q 94)BYh?Q E:yQ I?CI7:i:4yɮ(AiiZ8?AJiARiAji @bS]d<@x [Ij@R,?qhfY] A?Zi5bi|oj-1PC-՚ x7uqs%N%@ZYc߿]>dz| ?2i:ih"i~B?*ioYdBiBiisiBiAiC<@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502722 s, deltaX: -0.299999 m, approachRate: -0.596750 m/s, rangeRepo size: 4 DAT read: 03:37:06.5858 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.34, 1.624, 0.077, 2.013, 1.551, PHS= 0.175,-1.430, 0.418, RAW= 157.0, 9.7, CAL= 156.8, 10.4, ROT= 353.2, -10.4 %Ygot valid direction response: 03:37:06.5858 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.34, 1.624, 0.077, 2.013, 1.551, PHS= 0.175,-1.430, 0.418, RAW= 157.0, 9.7, CAL= 156.8, 10.4, ROT= 353.2, -10.4 %Z#Rx 27: Read direction message, but no range.-^direction in FSK: [0.976653,-0.116459,0.180519]y1@?":нlE@? )?I333>i= >^/@-\->%/@ 9>)C@I91 6?_?9x? %?),Ii9Mchecking for new query: numPingsReceived=27, elapsed TxPingTime=13.610206] Added new target pos. range: 29.574368 m, bearing: 238.282742 deg, lat: 36.779337 deg, lon: -121.859585 deg, deltaT: 1.007277 s, deltaX: -0.796989 m, approachRate: -0.791232 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 29.57 m.bhYRheZhau ProNav: ac range: 29.574368 m, nav range: 28.199516 m, bearing: 238.557067 deg, approach rate: 0.000000 m/s, LOS rate: -0.117072 deg/s, cmd heading: 243.917202 deg, new cmd heading: 243.724963 deg. Bhq}HeadingCmd: 4.253803 target range: 29.574368 and range: 29.70 m.h}(@hy*hy"hy hgfffCBdddjdm@3=@Zdm?E EE+E"EV;*E :VE [4ZEa@a@a@a@ ]Bɢ M ); vi)ziY7;ie%lŐ<%1D  DDAT read: Rx Time:03:37:07.0856  TRx dataTimestamp_ set to:1761536225.921078^A Β;DAT read: Bearing 36.5, -1.7 (Locae 11 to 50 : 29.4 m (tri9.6 ms) speed 0.5  unknown deviceResponse_: Bearing 36.5, -1.7 (Locae 11 to 50 : 29.4 m (tri9.6 ms) speed 0.5 !AƂ9Y|nA%DAT read: 03:37:07.0856 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.20, 0.082,-1.415, 0.443, 0.056, PHS= 0.128,-1.426, 0.342, RAW= 156.4, 11.4, CAL= 156.5, 12.7, ROT= 353.5, -12.7 -Ygot valid direction response: 03:37:07.0856 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.20, 0.082,-1.415, 0.443, 0.056, PHS= 0.128,-1.426, 0.342, RAW= 156.4, 11.4, CAL= 156.5, 12.7, ROT= 353.5, -12.7 -Z#Rx 28: Read direction message, but no range.A5.AI9IQO] ? ,J8?AR@R@Ru[ٱRZ^direction in FSK: [0.969264,-0.110434,0.219846]yu45?E,Io>i+>R.@%K>.@ b>)n@Ibw}ɡA?^~ ? SX_? |"?)5ULIVibfchecking for new query: numPingsReceived=28, elapsed TxPingTime=13.966144 5AHRS rotation from veh to nav: [[-0.444398,0.876038,0.187265],[-0.887690,-0.458747,0.039472],[0.120486,-0.148692,0.981516]]RHqܿ@?@N?g\ݿ5?3ؾ? Wÿ@h?iR@IRr^;RCYE}ByEIbD]VD]βye9>%e@=ٔm)Q->9 ?Y ?=DFydD;E>Q 54ո?Q 94.)BYyeQ I?CI%Bm3CBm-IBm}BBiBiBiBm;Bm8EԹUO@Q @Q@U/@QE( EE.E"E`;*E:VEـ4ZEBES &,ќ8?Aԡ0@+@@'ٱ AHRS rotation from veh to nav: [[-0.437958,0.880225,0.182746],[-0.890567,-0.452564,0.045564],[0.122811,-0.142793,0.982104]]Hܿ@*?9d? ܿ@-T? p?G¿dm?i0@I];CY}By'IbDVDܲyH=%=ٔ-RQ-->9YYa=eDFymoDU<E>Q 54}?Q 94)#BYyQ I?CI:i:4y%֓Bɮ% 'A%ΥE addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 1.007826 s, deltaX: -0.400002 m, approachRate: -0.396895 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 29.57 m.bhRhZnZhZn ProNav: ac range: 29.574368 m, nav range: 27.664347 m, bearing: 238.513853 deg, approach rate: -0.589957 m/s, LOS rate: -0.052096 deg/s, cmd heading: 243.673883 deg, new cmd heading: 243.594042 deg. BhHeadingCmd: 4.251518 target range: 29.574368 and range: 29.30 m.hp @h*h"h hgfffdadadajdmL=@Zdm?DAT read: 03:37:07.5855 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.18,-0.003,-1.519, 0.389,-0.061, PHS= 0.160,-1.413, 0.406, RAW= 157.1, 9.9, CAL= 157.0, 10.8, ROT= 353.0, -10.8 Ygot valid direction response: 03:37:07.5855 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.18,-0.003,-1.519, 0.389,-0.061, PHS= 0.160,-1.413, 0.406, RAW= 157.1, 9.9, CAL= 157.0, 10.8, ROT= 353.0, -10.8 Z#Rx 30: Read direction message, but no range.^direction in FSK: [0.974965,-0.119711,0.187381]y~ 2?A]0i? );I #>i/ݴ;>~{/@;0>^/@ A>)'@IAq?h` ?t ? &?)1I5iAchecking for new query: numPingsReceived=30, elapsed TxPingTime=14.617832aBɢE ) i)<ie@;iƐ<7¸2>LB/@ )P5@I3%?!v/? Mg.? %?)Y2IiUchecking for new query: numPingsReceived=31, elapsed TxPingTime=14.973784Y=~By=FIi=Mb@Mb@Mb@9999 99=X9v?A`"~jt?Y=>y=Y99= A = $A)=A9Y=pAbD}VD}k2y_=%=ٔQ->9"?Y"?=DFyzDE>Q 54?Q 94 )>BY?Q E:yQ I? CI;i;4yɮ>&A ii8?AJiARiAji!@bN)<@>C XsI@R)Gӝ4?s50i?ZibiAj,0Hj2J7Imε"@Z(d1߿ 鿾#_?2iQ:ie"i=I蜊?*is>qBiBi=I蜊?i^usiidAi.@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.506160 s, deltaX: -0.299999 m, approachRate: -0.592696 m/s, rangeRepo size: 4  Added new target pos. range: 28.877199 m, bearing: 238.371877 deg, lat: 36.779337 deg, lon: -121.859585 deg, deltaT: 1.513986 s, deltaX: -0.697168 m, approachRate: -0.460485 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.88 m.bhRhZh ProNav: ac range: 28.877199 m, nav range: 27.424259 m, bearing: 238.464231 deg, approach rate: 0.000000 m/s, LOS rate: -0.052096 deg/s, cmd heading: 243.594052 deg, new cmd heading: 243.514242 deg. BhHeadingCmd: 4.250125 target range: 28.877199 and range: 29.00 m.h@h*h"h hgfAfIfMBdIdIdIjdU=@ZdU`r?checking for new query: numPingsReceived=31, elapsed TxPingTime=15.111990BBBrIBd~BBBBB;B8EcBɢ]\ )Y eia)eaaieޞD;immܐyʡ/<ԑ (AIA ;#A)/ AY(AbDVD:yUI=%=ٔ菻Q->9Y=DFyD<E>Q 54)?Q 94@)YBYs>Q E:y2 Q I?-CI" ;i7 ;N4yBɮ;&AإEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502024 s, deltaX: -0.200001 m, approachRate: -0.398389 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 28.88 m.bhRh%Ԁ:Zh%Ԁ:5 ProNav: ac range: 28.877199 m, nav range: 27.166412 m, bearing: 238.493509 deg, approach rate: -0.491306 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.514248 deg, new cmd heading: 243.602916 deg. Bh5;=HeadingCmd: 4.251673 target range: 28.877199 and range: 28.80 m.h= @h9*h9"h9 h9gAfAfAfEBdIdIdIjdM<@ZdU@ ?DAT read: 03:37:08.5852 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.09,-2.524, 2.230,-2.088,-2.560, PHS= 0.138,-1.448, 0.428, RAW= 158.3, 10.1, CAL= 158.2, 11.0, ROT= 351.8, -11.0 Ygot valid direction response: 03:37:08.5852 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.09,-2.524, 2.230,-2.088,-2.560, PHS= 0.138,-1.448, 0.428, RAW= 158.3, 10.1, CAL= 158.2, 11.0, ROT= 351.8, -11.0 Z#Rx 33: Read direction message, but no range.^direction in FSK: [0.971591,-0.140009,0.190809]yqu[wF?P@ml?qqqq q)u9IuO >iuXu">u0@uJ4>u 0@ u D>)up{@Iu Dqu^!?W{?PB3w? u+*?)u(4IuTiu Dchecking for new query: numPingsReceived=33, elapsed TxPingTime=15.627300颅eBɢ k ) Ki)顙i߃G;iM<iM B`M >M 0@M l$>M |0@ M %/>)M @IM %/I I M [`V?xS?9w? M *?)M q$IM 4iM %/I I } checking for new query: numPingsReceived=34, elapsed TxPingTime=15.944958I I O >u@@,Z9?ABԱ@B@B.ٱBm NAHRS rotation from veh to nav: [[-0.423681,0.889322,0.172048],[-0.896894,-0.438459,0.057744],[0.126789,-0.129844,0.983395]]BHۿSu?@? [`ܿ? :?w?iBԱ@IBMp^;BCYRU~ByViIbDeVDeܲԉy=%D=ٔ:~Q->9Y=DFyDh<E>Q 554?Q 954)nBY1y5 Q I5?FCIfqiiAi@M addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504339 s, deltaX: -0.299999 m, approachRate: -0.594836 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.379311 m, bearing: 237.849714 deg, lat: 36.779336 deg, lon: -121.859584 deg, deltaT: 1.006363 s, deltaX: -0.497889 m, approachRate: -0.494741 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 28.38 m.bhRhZh ProNav: ac range: 28.379311 m, nav range: 26.948391 m, bearing: 238.239752 deg, approach rate: 0.000000 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.602904 deg, new cmd heading: 243.677890 deg. BhHeadingCmd: 4.252982 target range: 28.379311 and range: 28.50 m.hm@h*h"h hgfffdddjd<@Zd ?=gBɢE8<)A EHiA)E=IIiMJ;iMU9YBABEIBE~BBE =BABABE;BE8EEF EAE+E"E>{;*E;VE [4ZEBEi r /> E1@ -\-> m(1@  f;>) ?B@I f;   Ne/U?w2F?Jۭ;,?  ,?) \@.I ti f; IIIO>*G,6 9?Achecking for new query: numPingsReceived=35, elapsed TxPingTime=16.472263M@@vٱKO AHRS rotation from veh to nav: [[-0.414111,0.895586,0.162596],[-0.900855,-0.428823,0.067615],[0.130280,-0.118476,0.984373]]H̀ڿ?@?`qۿ5O?`?@iT`?iM@I^;Y p~By yIIe<)e=ԑbDVDβy%M=%%=ٔ5׻Q-5>9AYI=mDFyuD}O<E>Q 54i?Q 94Q)BY)y5< Q I5?hCIIN,;9?A&DDAT read: Rx Time:03:37:10.0847 JTRx dataTimestamp_ set to:1761536228.945843RPDAT read: Bearing 34.7, -1.6 (Local) R~Local bearing/azimuth received: Bearing 34.7, -1.6 (Local) bDAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 DAT read: 03:37:10.0847 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.21, 1.212,-0.318, 1.661, 1.141, PHS= 0.173,-1.414, 0.476, RAW= 158.6, 8.8, CAL= 158.3, 9.2, ROT= 351.7, -9.2 Ygot valid direction response: 03:37:10.0847 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.21, 1.212,-0.318, 1.661, 1.141, PHS= 0.173,-1.414, 0.476, RAW= 158.6, 8.8, CAL= 158.3, 9.2, ROT= 351.7, -9.2 T#Rx 36: Read range and direction messages. ^direction in FSK: [0.976797,-0.142499,0.159881]Fpublishing direction and range infoy$&7qA?3mg=¿Čsv?Y&A$$$$ $)&>I&&1>i&&F>&m(1@&nF>&0@ &l$>)&%m@I&l$$$&c@?^GH ?Li3v?U>$@U@UٱU@ eAHRS rotation from veh to nav: [[-0.410809,0.897015,0.163093],[-0.902055,-0.425877,0.070181],[0.132411,-0.118288,0.984112]]UHJڿY?8?AۿZ??H}? &Ud,?)&LI&Vi&l$$$uchecking for new query: numPingsReceived=36, elapsed TxPingTime=16.951937iU>$@IUZ;^;UCY~ByIiMb@Mb@Mb@ 9kt?333333Mb?Y >y<%AEA A) AYAbDVD:y%_=%%/=ٔ%sQ-->9)Y)=-DFy-D5;E5>9Q 5e4=u?Q 9e4= )=BYe6>Q Em:ym Q Im?=CI=>;i=;=4yqɮu$Aqi$i&<9?AJi&ARi&Aji&@b&T;@.4vtK@R&7qA?3mg=¿Čsv?Zi&Vbi&l$j&M s&,E6@rS @Z&&oe鿮m?2i&$:i&3a"i&!Ӝ?*i&}tBi&ABi&!Ӝ?i$i&Bi& Ai&@9E addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502949 s, deltaX: -0.299999 m, approachRate: -0.596480 m/s, rangeRepo size: 4 u Added new target pos. range: 27.980888 m, bearing: 238.134092 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.502949 s, deltaX: -0.298727 m, approachRate: -0.593951 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 27.98 m.bhyRhZh ProNav: ac range: 27.980888 m, nav range: 26.506449 m, bearing: 237.926592 deg, approach rate: 0.000000 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.771528 deg, new cmd heading: 243.846369 deg. BhHeadingCmd: 4.255922 target range: 27.980888 and range: 28.10 m.h0@h*h"h hgfffnBdddjd<@Zd?-lBɢ-@)1 U։iQ)UiQQi]M;iuu@D D <E 0 E -E +E "E Jg;*E K;VE [4ZE BE @2 ٱ2 :AHRS rotation from veh to nav: [[-0.407235,0.898092,0.166102],[-0.903391,-0.422837,0.071367],[0.134328,-0.120992,0.983523]]2H@#ڿ@,?@B?ۿ@E?1?My?i2C@I2=#^;0YNv~ByR}IbDZVDZܲyˈ%%=ٔ%лQ-%?9)Y)=-DFy-D- O<E-?1Q 5=45 o?Q 9E45$)5BYAyE Q IE?5CI53;i5;5^#4yMߓBɮM'%AU֥Ejhq}DNOT Ignoring new targets: 27.98 m.bhyRh9Zh9 ProNav: ac range: 27.980888 m, nav range: 26.364151 m, bearing: 237.933166 deg, approach rate: -0.510379 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.846359 deg, new cmd heading: 243.866187 deg. Bh&:HeadingCmd: 4.256268 target range: 27.980888 and range: 28.10 m.hY3@h*h"h hgfffdddjdZd g?ԹeDDAT read: Rx Time:03:37:10.5845 uTRx dataTimestamp_ set to:1761536229.450622PDAT read: Bearing 37.1, -2.7 (Local) ~Local bearing/azimuth received: Bearing 37.1, -2.7 (Local) DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 -nBɢ58|)1 5ӌi1)5䎽19i=Q;UDAT read: 03:37:10.5845 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.29, 3.064, 1.569,-2.753, 3.063, PHS= 0.103,-1.449, 0.423, RAW= 159.2, 10.7, CAL= 159.3, 11.7, ROT= 350.7, -11.7 i`<e6=IY3@IYgot valid direction response: 03:37:10.5845 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.29, 3.064, 1.569,-2.753, 3.063, PHS= 0.103,-1.449, 0.423, RAW= 159.2, 10.7, CAL= 159.3, 11.7, ROT= 350.7, -11.7 T#Rx 37: Read range and direction messages.^direction in FSK: [0.966352,-0.158246,0.202787]Fpublishing direction and range infoyimdZ?}reAĿ ?YmfAiiii i)m8Im=imxmu>m1@mt;?>m1@ mQ>)m+@ImQiimFwO_?w?yk? m/?)ms>Im5&imQiichecking for new query: numPingsReceived=37, elapsed TxPingTime=17.441536@! @!@%/@! ^AA  checking for new query: numPingsReceived=37, elapsed TxPingTime=17.6328879 A I I O >Ê[,+ip9?AE: E*E,E "E\p;*E;VEg4ZE a@a@a@a@ ɰ";^+[@^U@^ ٱ^ fAHRS rotation from veh to nav: [[-0.404499,0.898060,0.172829],[-0.904223,-0.421034,0.071495],[0.136973,-0.127356,0.982354]]^H Nٿ`?B?e7ڿ {M?X?6Mpo?i^+[@I^M^;^CY~w~By~~IiMb@Mb@Mb@ 9Gz?A`"yYtb"AtA ) AYGAbDVDy|@;%9=ٔ!ƻQ->9Y=DFyDb;E>Q 54e?Q 94))BY>Q E:ynQ I?CI:ij:+4y ɮ!%Ai1i5\9?AJi5tARi5tAji5 ل@b5 *>(:@%^I!Lt@R5dZ?}reAĿ ?Zi55&bi5Qj5Y:=+\5)y#@Z5|߿5~]Z۹x?2i5:i5\"i5M,ܜ?*i5W*jBi5Bi1i1i1i5+Ai5@] addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.504779 s, deltaX: -0.300001 m, approachRate: -0.594322 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 27.682068 m, bearing: 237.863081 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.504779 s, deltaX: -0.298820 m, approachRate: -0.591983 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.68 m.bhRhZh- ProNav: ac range: 27.682068 m, nav range: 26.146185 m, bearing: 237.918843 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.866194 deg, new cmd heading: 243.897913 deg. Bh)5HeadingCmd: 4.256822 target range: 27.682068 and range: 27.80 m.h57@h1*h1"h1 h1g1f9f9f=KBd9dAdajde;@Zde)?颵pBɢU)  i)i%S;i T< ==I 7@I DDAT read: Rx Time:03:37:11.0843 TRx dataTimestamp_ set to:1761536229.952964PDAT read: Bearing 37.3, -2.8 (Local) ~Local bearing/azimuth received: Bearing 37.3, -2.8 (Local) =DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 qDAT read: 03:37:11.0843 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 0.725,-0.756, 1.196, 0.733, PHS= 0.094,-1.445, 0.419, RAW= 159.4, 10.8, CAL= 159.5, 11.9, ROT= 350.5, -11.9 Ygot valid direction response: 03:37:11.0843 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 0.725,-0.756, 1.196, 0.733, PHS= 0.094,-1.445, 0.419, RAW= 159.4, 10.8, CAL= 159.5, 11.9, ROT= 350.5, -11.9 T#Rx 38: Read range and direction messages.^direction in FSK: [0.965089,-0.161500,0.206204]@ @@@Fpublishing direction and range infoy?QH ĿFa5d?YA )I=i+>/ 2@A>)2@ ȭT>)@IȭTriJ?3?b? 0?)QAI)iȭTchecking for new query: numPingsReceived=38, elapsed TxPingTime=17.938568ԙ ^A ;6= AI IQ Bi Am p<Bu >Bq Bu IBu %BBq Bq Bq Bu O;Bu \8Eߍ =ߍ %= checking for new query: numPingsReceived=38, elapsed TxPingTime=18.136194I O >c,9?Ab e@b_@bҍٱbi jAHRS rotation from veh to nav: [[-0.403251,0.898440,0.173765],[-0.904358,-0.420267,0.074243],[0.139731,-0.127208,0.981984]]bH`ٿ?`=?ڿ??@VHjl?ib e@IbD^;bCYr~ByrIbDzVDz yn<% C=ٔ ٻQ- >9 Y=DFyD<;E>Q 5%4\?Q 9-4-)ƆBY)y-[Q I-?CI:iF:f24y1ɮ5$A9ii]|9?AJiARiAjiDŽ@bm.em:@fkTv g@R?QH ĿFa5d?Zi)biȭTj8ꙸBL+J5395o~#@Z#s߿eoD鿪 ?2i:ibZ"i~ޜ?*iifBiڒBiiGoiiAiބ@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.502342 s, deltaX: -0.299999 m, approachRate: -0.597201 m/s, rangeRepo size: 4  Added new target pos. range: 27.383299 m, bearing: 237.737679 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.502342 s, deltaX: -0.298769 m, approachRate: -0.594752 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.38 m.bhRhZh ProNav: ac range: 27.383299 m, nav range: 25.937939 m, bearing: 237.901861 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.897914 deg, new cmd heading: 243.927699 deg. BhHeadingCmd: 4.257341 target range: 27.383299 and range: 27.50 m.h$<@h*h"h hgfffdddjd;@Zd`z?DzD@AE%9 E%/E%(E!"E%so;*E%Y;VE%c44ZE!BE%=I$<@I@ @@/@ԁDDAT read: Rx Time:03:37:11.5842 TRx dataTimestamp_ set to:1761536230.454610PDAT read: Bearing 37.7, -2.6 (Local) ~Local bearing/azimuth received: Bearing 37.7, -2.6 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 DAT read: 03:37:11.5842 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.43,-2.989, 1.829,-2.523,-2.973, PHS= 0.086,-1.437, 0.406, RAW= 159.4, 11.1, CAL= 159.5, 12.2, ROT= 350.5, -12.2 ^Al;=Ygot valid direction response: 03:37:11.5842 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.43,-2.989, 1.829,-2.523,-2.973, PHS= 0.086,-1.437, 0.406, RAW= 159.4, 11.1, CAL= 159.5, 12.2, ROT= 350.5, -12.2 T#Rx 39: Read range and direction messages. ^direction in FSK: [0.964011,-0.161320,0.211325] Fpublishing direction and range infoyz .?>;"Ŀ\ ?YfA )I =i﷿;>aF> ^ Z>)I^ Zn2ђH?lYoa?q+? /?) FIi^ Z checking for new query: numPingsReceived=39, elapsed TxPingTime=18.464769I I O > 4i,=9?Ayb@J]@ ~ٱ  =AHRS rotation from veh to nav: [[-0.403370,0.898507,0.173140],[-0.903862,-0.420728,0.077603],[0.142571,-0.125192,0.981835]]Hٿ?r)?`o`4ڿݳ? ?? I1k?iyb@Iw;^;CYM~ByMIiMb@Mb@Mb@ 9K7? rh9Y=DFyÜDG&E>Q 5 4R?Q 9 44)ֆBY n ?Q E:yQ I?CI;i;;4yBɮZ%AEiiU9?AJiyARiyAjiOĄ@bKa4:@VfOG@Rz .?>;"Ŀ\ ?Zibi^ Zj,U+ Fe5#@Z-SQ߿*ȁ/3k+^?2i*:iBX"iv?*iUfBiBiM,ܜ?iW*jiBiAḯ@m addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.501646 s, deltaX: -0.200001 m, approachRate: -0.398689 m/s, rangeRepo size: 4 } Added new target pos. range: 27.184147 m, bearing: 237.718100 deg, lat: 36.779335 deg, lon: -121.859581 deg, deltaT: 0.501646 s, deltaX: -0.199152 m, approachRate: -0.396997 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.18 m.bhRhZh ProNav: ac range: 27.184147 m, nav range: 25.438517 m, bearing: 237.783784 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.927693 deg, new cmd heading: 243.962925 deg. BhHeadingCmd: 4.257957 target range: 27.184147 and range: 27.30 m.h.A@h*h"h hgfffBdddjdL;@Zd@`?EME EMCEM*EI"EMVz;*EM;VEM(N4ZEIaU@aU@aU@aU@esBɢeE)i mvii)mȔiiim>T;iuZur~p,9?AFpublishing direction and range infoyIMa3?;7CCĿo?YMAIIII I)IIM=iMPMb>M1@Mq=>M1@ M4QO>)M+@IM4QOIIM߮l^?+ō?Kb~? M:/?)M=IM5&iM4QOIIJchecking for new query: numPingsReceived=40, elapsed TxPingTime=18.986326Y~ByIbD%VD%y}!<%}j=ٔ}Q->9Y=DFyʜDE>Q 54K?Q 948)BYyQ I?CI:i :B%2CB%IB%/BB% =B!B!B%(;B%38Eechecking for new query: numPingsReceived=40, elapsed TxPingTime=19.144047a@a @a@e 0@i@m@m@u@uԙE= E0E+E"Es;*E;VE [4ZEBE v,J9?AfDDAT read: Rx Time:03:37:12.5839 jTRx dataTimestamp_ set to:1761536231.462185rPDAT read: Bearing 33.8, -0.8 (Local) r~Local bearing/azimuth received: Bearing 33.8, -0.8 (Local) ~DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 5DAT read: 03:37:12.5839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.38, 2.755, 1.241,-3.067, 2.674, PHS= 0.183,-1.389, 0.498, RAW= 158.9, 8.1, CAL= 158.6, 8.4, ROT= 351.4, -8.4 EYgot valid direction response: 03:37:12.5839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.38, 2.755, 1.241,-3.067, 2.674, PHS= 0.183,-1.389, 0.498, RAW= 158.9, 8.1, CAL= 158.6, 8.4, ROT= 351.4, -8.4 ET#Rx 41: Read range and direction messages.U^direction in FSK: [0.978149,-0.147931,0.146083]UFpublishing direction and range infoydf1L?5k¿/8ٲ?Yf3Adddd d)f:IfZd;>ifʱf>f5~1@f>fm(1@ fQ >)f?B@IfQ ddf g?Crp}?F? f>.?)fMiIftifQ ddchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.421762}I@ND@ٱF AHRS rotation from veh to nav: [[-0.405797,0.895644,0.182074],[-0.901899,-0.424676,0.078923],[0.148010,-0.132186,0.980112]]Hٿ?6N?@[-ۿS4?@? v`]?i}I@I3^;CY~ByIbDVDk1y8%B=ٔUQ->9 YQ=UDFyUӜDUQE]>YQ 5e4]5C?Q 94]>)]BYyQ I?]$CI].;i];]H4yɮO%Aidifp9?AJifIARifIAjif@bfnQ3:@ Ia,M@Rf1L?5k¿/8ٲ?ZiftbifQ jfu.*z5 ܼAy @Zfͣ&^ cKτ5?2if:ifW"if5{=Ԝ?*ifaAwBifBidididifAifໄ@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502996 s, deltaX: -0.100000 m, approachRate: -0.198809 m/s, rangeRepo size: 4  Added new target pos. range: 26.785749 m, bearing: 238.100494 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 0.502996 s, deltaX: -0.099672 m, approachRate: -0.198157 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 26.79 m.bh!Rh)Zh)= ProNav: ac range: 26.785749 m, nav range: 24.942307 m, bearing: 237.659120 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.989493 deg, new cmd heading: 244.020367 deg. Bh9HeadingCmd: 4.258959 target range: 26.785749 and range: 26.90 m.hdI@h*h"h hgfffdddjd`f:@Zd?wBɢ7) gi!)%r))i-V;i<5-=IdI@Iuchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.648380Q@ @@/@! Ia Iy O E : E HE )E "E \p;*E ;VE FA4ZE a @a @a @a @I 0|,9?A28@23@2ٱ2! :AHRS rotation from veh to nav: [[-0.407473,0.893513,0.188680],[-0.900750,-0.427262,0.078086],[0.150386,-0.138135,0.978929]]2H ڿ?&?BXۿ n???jcS?i28@I2QO^;0YN~ByNIi]Mb@Mb@Mb@YYYY Y9]tV?y&1|?MbY]?y]`;]]"A]A Y)]AYY]=AbDqVDqyB{=%S=ٔX˻Q->9Y=DFyۜDIE>Q 54;?Q 94IC)BY?Q E:ybQ I?@CI(ÿ'ЌCz?Y3A )<IK7>i?5Zd>g1@E1@ V>)3@IVkI?b??Zd ԁ A A @AB% >B% 3CB% IB% CBB% =B! B! B% ;B% 8E checking for new query: numPingsReceived=42, elapsed TxPingTime=20.151970B,:?A,2a&@22!@2ٱ2 :AHRS rotation from veh to nav: [[-0.409384,0.891634,0.193374],[-0.899548,-0.429862,0.077670],[0.152377,-0.142153,0.978046]]2HX3ڿD?`|?܂ۿ,?? 2¿&L?i2a&@I2+8^;0Y ~By I bD%VD%ky5=%5P=ٔ5ڧQ-=>99Y9=EDFyEDEhEE>IQ 5U4M24?Q 9U4MHbEjEU4rEA/EeG EeDEe,Ea"Ee&|;*Eeh;VEeg4ZEaBEe(ÿ'ЌCz?Zi|biVjok)*Sd$55U` @ZE0࿒6鿗o?2i':iT"iWӜ?*itBiBiii[BiAin@ addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503825 s, deltaX: -0.500000 m, approachRate: -0.992408 m/s, rangeRepo size: 4  Added new target pos. range: 26.287951 m, bearing: 237.827418 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 0.503825 s, deltaX: -0.497799 m, approachRate: -0.988039 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.29 m.bhRhZh ProNav: ac range: 26.287951 m, nav range: 24.508055 m, bearing: 237.509111 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.797838 deg, new cmd heading: 243.573378 deg. Bh HeadingCmd: 4.251157 target range: 26.287951 and range: 26.40 m.h { @h *h "h  hgfqfqfqdydydyjd}`ff:@Zd@?yBɢ") ㆿi)iV;i hŕ<<=I{ @Iԉ@  @@/@IQIԹDDAT read: Rx Time:03:37:13.5834 TRx dataTimestamp_ set to:1761536232.470293PDAT read: Bearing 31.2, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 31.2, -0.1 (Local) %DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 O]v>DAT read: 03:37:13.5834 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.23,-2.159, 2.613,-1.694,-2.288, PHS= 0.231,-1.337, 0.550, RAW= 159.1, 6.4, CAL= 158.4, 6.2, ROT= 351.6, -6.2 UYgot valid direction response: 03:37:13.5834 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.23,-2.159, 2.613,-1.694,-2.288, PHS= 0.231,-1.337, 0.550, RAW= 159.1, 6.4, CAL= 158.4, 6.2, ROT= 351.6, -6.2 UT#Rx 43: Read range and direction messages.]^direction in FSK: [0.983486,-0.145229,0.107999]eFpublishing direction and range infoyx x?]dږ¿Niإ?YA )IDl>i" ?=;0@ k=)^@IkݽI?Z[ ?ٕ? .?)()IT ikݽchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.461237 G剎,V):?A\e @e @eM+ٱeXT AHRS rotation from veh to nav: [[-0.411841,0.889454,0.198140],[-0.898175,-0.432927,0.076528],[0.153849,-0.146447,0.977182]]eH [ڿgv?\?ٽ ۿ_?`O?þ¿E?ie @IeL^;eCY~ByI5checking for new query: numPingsReceived=43, elapsed TxPingTime=20.656601iMb@Mb@Mb@ 9\(\?y&1?~jtxY?y`<Ļ A`A |A)AYAbDVDy]F=%0=ٔ_RQ->9Y= DFy D ȻE >Q 54c+?Q 94pO)BY% ?Q E%:y%_Q I%?CI;i ;C^4y-,Bɮ-&A5ޥEiiH:?AJiARiAjiTƄ@bm8^9@owg1]t@Rx x?]dږ¿Niإ?ZiT bikݽj]j§*5\@ZW{h࿌g*/?2iި:i>U"iNKȜ?*izBiލBi5{=Ԝ?itiBiAiƄ@} addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504283 s, deltaX: -0.299999 m, approachRate: -0.594903 m/s, rangeRepo size: 4  Added new target pos. range: 25.989223 m, bearing: 237.732232 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504283 s, deltaX: -0.298727 m, approachRate: -0.592380 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.99 m.bhRhZh ProNav: ac range: 25.989223 m, nav range: 24.700417 m, bearing: 237.735273 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.573370 deg, new cmd heading: 243.298855 deg. BhHeadingCmd: 4.246366 target range: 25.989223 and range: 26.10 m.h;@h*h"h hgfffBdddjd:@Zd7R?zBɢ$) Yi)iT;i ?[ J< gB=I;@IEe? Ee<Ee-Ea"Eet;*Ee1;VEet4ZEaam@am@am@am@>i5O@1 @1@5/@9 DDAT read: Rx Time:03:37:14.0833  TRx dataTimestamp_ set to:1761536232.973654 PDAT read: Bearing 34.2, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 34.2, -0.9 (Local) 5 DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 9 m DAT read: 03:37:14.0833 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.16,-1.858, 2.969,-1.407,-1.910, PHS= 0.154,-1.359, 0.460, RAW= 159.0, 8.9, CAL= 158.8, 9.3, ROT= 351.2, -9.3 ^A} d6=A} >A} > Ygot valid direction response: 03:37:14.0833 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.16,-1.858, 2.969,-1.407,-1.910, PHS= 0.154,-1.359, 0.460, RAW= 159.0, 8.9, CAL= 158.8, 9.3, ROT= 351.2, -9.3  T#Rx 44: Read range and direction messages. ^direction in FSK: [0.975239,-0.150975,0.161604] Fpublishing direction and range infoy  -(5?k"Sÿo?Y fA ) :I ->i 󭿉 > Κ1@ > a1@ 6&>) %@I 6& KÆǎ?g??#? l.?) I TFi 6& E checking for new query: numPingsReceived=44, elapsed TxPingTime=20.952612A .AI I O > ,[D:?ALY5By5IbDEVDEyU>%]_=ٔ]Q-]>9] ?Ye ?=eDFyeDeEe>iQ 54mq$?Q 94mT)m.BYyQ I?mCIm;im2;md4y=Bɮ%AEiiYP>:?AJiARiAjiƄ@bD? 9@UewR@R-(5?k"Sÿo?ZiTFbi6&j}e)+)<84'܅ @Z#tG ښh|?2i :i!O"iҊᜊ?*i'pBiwBiiiiAiȹ@} addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503361 s, deltaX: -0.300001 m, approachRate: -0.595996 m/s, rangeRepo size: 4  Added new target pos. range: 25.690496 m, bearing: 237.735787 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.503361 s, deltaX: -0.298727 m, approachRate: -0.593465 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.69 m.bhRhZh ProNav: ac range: 25.690496 m, nav range: 24.484632 m, bearing: 237.644474 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.298851 deg, new cmd heading: 243.067761 deg. BhHeadingCmd: 4.242333 target range: 25.690496 and range: 25.80 m.h1@h*h"h hgfffdddjd9@ZdW?u|BɢuGO)q u}iq)};yyi}(S;iT%і<%zP=I%1@I)BYBYB]IB]lBBYBYBYB]ԁ;B]7Echecking for new query: numPingsReceived=44, elapsed TxPingTime=21.160868P@ @@/@E< E-E+E"E,r;*EK;VE [4ZEBEd(,^:?A"DDAT read: Rx Time:03:37:14.5832 &TRx dataTimestamp_ set to:1761536233.477844.PDAT read: Bearing 23.3, -3.2 (Local) 2~Local bearing/azimuth received: Bearing 23.3, -3.2 (Local) >DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 RDAT read: 03:37:14.5832 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.181,-1.716, 0.492,-0.401, PHS= 0.322,-1.270, 0.849, RAW= 163.8, 1.0, CAL= 162.6, -0.9, ROT= 347.4, 0.9 ZYgot valid direction response: 03:37:14.5832 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.181,-1.716, 0.492,-0.401, PHS= 0.322,-1.270, 0.849, RAW= 163.8, 1.0, CAL= 162.6, -0.9, ROT= 347.4, 0.9 ZT#Rx 45: Read range and direction messages.^`direction in FSK: [0.975796,-0.218116,-0.015707]^Fpublishing direction and range infoy$&"V9?r~;˿y&Y&A$$$$ $)$I&/ݤ>i&\&XY?&c6@&5<&>5@ &)&W@I&<$$&`z=?'?{? &C?)& I&t0ai&<$$ =checking for new query: numPingsReceived=45, elapsed TxPingTime=21.445023@@qٱ`% AHRS rotation from veh to nav: [[-0.415406,0.886863,0.202268],[-0.896319,-0.436986,0.075198],[0.155079,-0.150058,0.976439]]Hڿ-a??ۿ1@?@?5ÿ>?i@I2^;CYByII<)p<AbD]VD]:ym<%m.=ٔu-Q-u>9u"?Y}"?=}DFy}D E>Q 54Z?Q 94[)CBYyQ I?CI:i$:l4yɮ%Ai$i&^:?AJi&ARi&Aji&Ł@b&K}8@hqS6CV̹ٿR&"V9?r~;˿y&Zi&t0abi&<j&S.; ?:3Ҩ;HE@Z&zttRCQ=Z迩?2i&ɟ:i&zv"i&5 ?*i&iBi&+Bi&WӜ?i$i&Bi&Ai&@5 addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504190 s, deltaX: -0.099998 m, approachRate: -0.198335 m/s, rangeRepo size: 4 9 Added new target pos. range: 25.590952 m, bearing: 232.358181 deg, lat: 36.779334 deg, lon: -121.859586 deg, deltaT: 0.504190 s, deltaX: -0.099545 m, approachRate: -0.197435 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.59 m.bhRhZhe ProNav: ac range: 25.590952 m, nav range: 24.210518 m, bearing: 237.505804 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.067772 deg, new cmd heading: 242.794569 deg. BhiHeadingCmd: 4.237565 target range: 25.590952 and range: 25.70 m.h!@h*h"h hg ff!f!dQdqdqjd}@39@Zd@.?a颍}Bɢۓ ) \zi)T[顑imON;is<\Q=I!@Ichecking for new query: numPingsReceived=45, elapsed TxPingTime=21.667114= Q@9  @9 @A @A E ^ E BE .E "E ;*E Z;VE ـ4ZE a% @a% @a- @a- @ԑ ^A% JM= AqIDDAT read: Rx Time:03:37:15.0829 TRx dataTimestamp_ set to:1761536233.982285PDAT read: Bearing 31.8, -0.8 (Local) ~Local bearing/azimuth received: Bearing 31.8, -0.8 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 DAT read: 03:37:15.0829 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-1.865, 2.930,-1.395,-1.966, PHS= 0.203,-1.342, 0.527, RAW= 159.3, 7.1, CAL= 158.8, 7.1, ROT= 351.2, -7.1 Ygot valid direction response: 03:37:15.0829 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-1.865, 2.930,-1.395,-1.966, PHS= 0.203,-1.342, 0.527, RAW= 159.3, 7.1, CAL= 158.8, 7.1, ROT= 351.2, -7.1  T#Rx 46: Read range and direction messages.^direction in FSK: [0.980651,-0.151812,0.123601]Fpublishing direction and range infoyt}a?LcnÿA7X?YA )9I;O>iƫy?1@=a1@ =)%@IU+?+zW ?cſ? /?)yITFiIQO] ?,)Z:?ADJchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.959835=ށ@=و@=Tٱ=f AHRS rotation from veh to nav: [[-0.417042,0.885825,0.203445],[-0.895578,-0.438674,0.074196],[0.154970,-0.151258,0.976271]]=HҰڿX?} ?=ܿ{?`?m\ÿ=?i=ށ@I=hV^;9YEJByEIԹiMb@Mb@Mb@ 9d;O?+?~jt?Y?y=<A MA)AYAbD VD 0y=%=ٔM9Q->9!Y!=%DFy%D-WE->1Q 5}45?Q 9}45c)5`BY}&?Q E}:y}Q I}?5CI5&BQBU@IBUBBU =BQBQBU;BU7EBBBBƱ =BƱ =C4checking for new query: numPingsReceived=46, elapsed TxPingTime=22.168053@! @!@%3@!D zD E% D E% QE% -E! "E% ny;*E% A;VE% t4ZE! BE% D휧,c:?A64<ɰ4VDAT read: 03:37:15.5828 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.08,-0.345,-1.839, 0.141,-0.444, PHS= 0.201,-1.350, 0.542, RAW= 159.7, 7.0, CAL= 159.2, 6.9, ROT= 350.8, -6.9 ZYgot valid direction response: 03:37:15.5828 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.08,-0.345,-1.839, 0.141,-0.444, PHS= 0.201,-1.350, 0.542, RAW= 159.7, 7.0, CAL= 159.2, 6.9, ROT= 350.8, -6.9 ZT#Rx 47: Read range and direction messages.^^direction in FSK: [0.979987,-0.158723,0.120137]bFpublishing direction and range infoy!%ů, \?_, QĿrjƹI?Y%A!!!! !)%:I%M>i%̬% ?%b2@%5=%1@ %Ϣ=)%v@I%Ϣ!!%A5l?_rM?OU,8? %1?)%`I%l$i%Ϣ!! _ǁ@ 0ˆ@ ٱ ҏYnchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.462524 mAHRS rotation from veh to nav: [[-0.419660,0.884369,0.204394],[-0.894464,-0.441216,0.072544],[0.154337,-0.152380,0.976197]] HڿL?)?r <ܿ8?S? ,ÿ`=?i _ǁ@I BX^; CY}By}&IbDVD:y>%D=ٔ:Q->9Y=DFyD]E>Q 5%4z ?Q 9%4i)vBY!y%Q I%? CI:ik: ~4y->Bɮ5#A5Ei!i%:?AJi%ARi%Aji%4@b%*L~8@/'M] k@R%ů, \?_, QĿrjƹI?Zi%l$bi%Ϣj%IPX*ȃ3~C@Z%h˨࿔!-nʻ?2i%:i%R"i%`?*i%uBi%fBi%NKȜ?i%K)ui%fBi%Ai%][@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503738 s, deltaX: -0.100000 m, approachRate: -0.198517 m/s, rangeRepo size: 4  Added new target pos. range: 24.993559 m, bearing: 236.549343 deg, lat: 36.779333 deg, lon: -121.859586 deg, deltaT: 0.503738 s, deltaX: -0.099514 m, approachRate: -0.197551 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.99 m.bhRhZh5 ProNav: ac range: 24.993559 m, nav range: 23.743378 m, bearing: 236.984094 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 242.456580 deg, new cmd heading: 242.204761 deg. Bh1=HeadingCmd: 4.227271 target range: 24.993559 and range: 25.10 m.h=E@h9*h9"h9 h9g9fAfAfAdAdIdIjdM9@Zd'?Bɢ) I]i)*iBTF;i  < CWe=I E@IԉP@ @@/@Echecking for new query: numPingsReceived=47, elapsed TxPingTime=22.671974ԹEu L Eu BEu *Eq "Eu W;*Eu Z;VEu (N4ZEq a} @a} @a} @a @^A 5[= A Iy I O >,:?AIYBy TI-DDAT read: Rx Time:03:37:16.0825 5TRx dataTimestamp_ set to:1761536234.988856=PDAT read: Bearing 34.0, -2.3 (Local) =~Local bearing/azimuth received: Bearing 34.0, -2.3 (Local) MDAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.5 uDAT read: 03:37:16.0825 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.17,-1.372,-2.819,-0.877,-1.407, PHS= 0.137,-1.366, 0.486, RAW= 160.2, 8.8, CAL= 160.0, 9.2, ROT= 350.0, -9.2 }Ygot valid direction response: 03:37:16.0825 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.17,-1.372,-2.819,-0.877,-1.407, PHS= 0.137,-1.366, 0.486, RAW= 160.2, 8.8, CAL= 160.0, 9.2, ROT= 350.0, -9.2 }T#Rx 48: Read range and direction messages.^direction in FSK: [0.972139,-0.171414,0.159881]Fpublishing direction and range infoy15wB?ſČsv?Y5fA1111 1)5;I5I >i5ٮ5>52@5nF>5¸2@ 5l$>)5z@I5l$115['0&?"I]k?az ? 5&3?)5I52i5l$11checking for new query: numPingsReceived=48, elapsed TxPingTime=22.984058qiMb@Mb@Mb@ 9B`"?S㥛?V-?Y?y/<<!AA A)AYQAbDVD1y%X >%%=ٔ%Q-->9)Y=DFyDE>Q 54H?Q 94p)BY5?Q E:yQ I?.CI;i;]4yPBɮ5#AEi1i5kI:?AJi5ARi5Aji5cԃ@b5ݾ8@LA!',@R5wB?ſČsv?Zi52bi5l$j5d\t*& PQ39qh @Z55C81¸鿸;ZNC?2i5:i5.P"i5ٸ?*i5lBi5RBi5ٸ?i5'pi5zBi5/Ai5p@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502833 s, deltaX: -0.300001 m, approachRate: -0.596622 m/s, rangeRepo size: 4  Added new target pos. range: 24.694830 m, bearing: 236.040068 deg, lat: 36.779332 deg, lon: -121.859584 deg, deltaT: 0.502833 s, deltaX: -0.298729 m, approachRate: -0.594092 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.69 m.bhRhZh ProNav: ac range: 24.694830 m, nav range: 23.398407 m, bearing: 236.215275 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 242.204764 deg, new cmd heading: 241.885652 deg. BhHeadingCmd: 4.221701 target range: 24.694830 and range: 24.80 m.h-@h*h"h hgff f ZBd d d jd8@Zd`x?]Bɢy) 1Ki)ts顁i +?;i\ϙ<Kny=I-@IԡB% ">B! B% IB% BB% =B! B% DB% ;B% 7E checking for new query: numPingsReceived=48, elapsed TxPingTime=23.175974 ir$?[2@^Ac=>aF2@ >)E@IQJK?7s:0qn?ҨA'? 3?)͖I+ichecking for new query: numPingsReceived=49, elapsed TxPingTime=23.472879QAqIyIO,? ,:?AbK@b@bٱb ~AHRS rotation from veh to nav: [[-0.422323,0.885919,0.191811],[-0.893304,-0.442677,0.077749],[0.153790,-0.138510,0.978347]]bHXۿ rY???Tܿ`?a?``N?ibK@IbF^;bCY  By }IbD!VD!ym)=%u=ٔu5:Q-u>9yYy=}DFy}'D}E>Q 54?Q 94w)BYyeQ I?TCI;i`;ѐ4yɮ-"Aii:?AJiARiAji޾@b9gWi7@/<6.%@R k%fM?z--ſcK ?Zi+bij *W<{_3A0D@ZF($ΐ NH>H?2i:iQ"i&?*ihouBiBi`?iK)uii]Ai@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504829 s, deltaX: -0.199999 m, approachRate: -0.396171 m/s, rangeRepo size: 4 e Added new target pos. range: 24.496040 m, bearing: 235.889542 deg, lat: 36.779331 deg, lon: -121.859586 deg, deltaT: 0.504829 s, deltaX: -0.198790 m, approachRate: -0.393776 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 24.50 m.bhaRhiZhichecking for new query: numPingsReceived=49, elapsed TxPingTime=23.679972 ProNav: ac range: 24.496040 m, nav range: 23.295654 m, bearing: 236.219093 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.885658 deg, new cmd heading: 241.539747 deg. BhHeadingCmd: 4.215664 target range: 24.496040 and range: 24.60 m.h@h*h"h hgfffdddjd8@Zd?5Bɢ5Ǘ)1 u,;iq)}"Byyi}8~5;iER<Ow=I@IEI EAE,E"E};*E;VEg4ZEa@a@a@a@I y "E +Gq = x99 Y= bAQ @Q  @Q @U /@Q y ذ? !A] DDAT read: Rx Time:03:37:17.0821 ] TRx dataTimestamp_ set to:1761536235.997163m PDAT read: Bearing 37.0, -3.9 (Local) m ~Local bearing/azimuth received: Bearing 37.0, -3.9 (Local) } DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 ԉ  DAT read: 03:37:17.0821 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-3.035, 1.842,-2.517,-2.991, PHS= 0.058,-1.406, 0.430, RAW= 161.1, 10.9, CAL= 161.2, 12.1, ROT= 348.8, -12.1  Ygot valid direction response: 03:37:17.0821 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-3.035, 1.842,-2.517,-2.991, PHS= 0.058,-1.406, 0.430, RAW= 161.1, 10.9, CAL= 161.2, 12.1, ROT= 348.8, -12.1  T#Rx 50: Read range and direction messages. ^direction in FSK: [0.959161,-0.189920,0.209619] Fpublishing direction and range infoyY ] Ls?PHOȿ9h?Y] AY Y Y Y Y )Y I] hm=i] ] (>] P3@] B>] 4@ ] @X>)] @I] @XY Y ] ,?%(?DsC? ] sg7?)] JCI] 4+Hi] @XY Y  checking for new query: numPingsReceived=50, elapsed TxPingTime=23.949045^A]np=IQIaOu?Ž, ;?A>@>t@>ٱ>% JAHRS rotation from veh to nav: [[-0.424674,0.885293,0.189492],[-0.892446,-0.444558,0.076862],[0.152285,-0.136471,0.978869]]>H-ۿRT?HA?sܿ@4?~?wR?i>@I>G^;%M=ٔU/;Q-U>9QYY=]DFy]2D]E]>aQ 5m4qe?Q 9u4e~)eԇBY}?Q E}:y}Q I}?eyCIe5;ie4;e4yOBɮ AEiiAAAABB4CBIBNBB =BBB;B7Eim:?AJimARimAjim@bm7@wN`4@RmLs?PHOȿ9h?Zim4+Hbim@Xjm2 ),p42þ-"@Zm%$k ,j̕#?2im:imN"im?*im]BimhBiiiiimBim Aimb@߉ߍ<checking for new query: numPingsReceived=50, elapsed TxPingTime=24.184357 addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503478 s, deltaX: -0.400000 m, approachRate: -0.794473 m/s, rangeRepo size: 4  Added new target pos. range: 24.097733 m, bearing: 234.657065 deg, lat: 36.779331 deg, lon: -121.859586 deg, deltaT: 0.503478 s, deltaX: -0.398308 m, approachRate: -0.791113 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.10 m.bhRhZh  ProNav: ac range: 24.097733 m, nav range: 23.006773 m, bearing: 236.123970 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.539750 deg, new cmd heading: 241.218439 deg. Bh HeadingCmd: 4.210056 target range: 24.097733 and range: 24.20 m.hǸ@h*h"h hgfffBd!d!dAjdE@338@ZdM z?颕Bɢ) #i)ʝ顙i%-;i&<=IǸ@IԙER EE+E"E;*EVE [4ZEBE<M 3@M I>I M z0a>)I IM z0aI I M {in?{*?"Yn=? M B7?)M )III iM z0aI I  checking for new query: numPingsReceived=51, elapsed TxPingTime=24.456951 ^A |=1IIO>Rʎ,X);?A29@2 @2ٱ28 :AHRS rotation from veh to nav: [[-0.425148,0.884196,0.193509],[-0.892483,-0.445123,0.073066],[0.150740,-0.141640,0.978374]]2H 5ۿ@VK? ?@9@|ܿl?oK?@@!¿N?i29@I2bP^;2CYBTByBIbDNVDNkyRr=%V.=ٔVY;Q-V>9TYX=ZDFyZlQ 5r4n㠊?Q 9v4n)nBYtyvQ Iv?nCIng:in:n4y|ɮ~A|ii ;?AJidARidAji@b{ 6@KP ߙ4@R_s?x(gCȿ'$?Zibiz0ajA]W)FR1.N"@Z)Sewl iQz!b_?2i:iJ"i|#4?Q*iz\BiBiiliRBiAi@ checking for new query: numPingsReceived=51, elapsed TxPingTime=24.690495M addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503562 s, deltaX: -0.300001 m, approachRate: -0.595758 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.799078 m, bearing: 234.777134 deg, lat: 36.779331 deg, lon: -121.859582 deg, deltaT: 0.503562 s, deltaX: -0.298655 m, approachRate: -0.593084 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 23.80 m.bhYRhZh ProNav: ac range: 23.799078 m, nav range: 22.501677 m, bearing: 235.589684 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.218430 deg, new cmd heading: 240.917192 deg. BhHeadingCmd: 4.204798 target range: 23.799078 and range: 23.90 m.h@h*h"h hgfffdddjd`f7@Zd?Bɢ= )A EiA)EڪAAiM$;iMKUV +H> f_>) I f_ τ?DG ?Ѥ~? Q7?) Y^HI i f_  checking for new query: numPingsReceived=52, elapsed TxPingTime=24.955393^A _=A! zA! I I O >bЎ,}C;?A;ɰbҖ@b@b ٱb jAHRS rotation from veh to nav: [[-0.425312,0.883187,0.197713],[-0.892714,-0.445325,0.068906],[0.148904,-0.147195,0.977835]]bHN8ۿ`C?N? `4ܿѣ? E?H¿lJ?ibҖ@Ib4^;bCY%sBy%Ii-Mb@Mb@Mb@)))) )9-?~jtV-?Y-?y--<-A-@ -lA)-A)Y-AbDeVDe0y>%/=ٔ};Q->9Y=DFyFDݸE>ԱQ 54ڠ?Q 94) BY?Q E:yTQ I?CI(B 3CB 'IB BB  =B B DB ;B 7E checking for new query: numPingsReceived=52, elapsed TxPingTime=25.1927819@9 @9@=0@AbE|a4jEd4rEͰ/E=N E=DE=-E9"E=@;*E=h;VE=t4ZE9BE=9 ׎,>];?AZ@ZZ@ZٱZv bAHRS rotation from veh to nav: [[-0.425875,0.882078,0.201418],[-0.892692,-0.445911,0.065304],[0.147417,-0.151993,0.977326]]ZHAۿ9?`?͉ܿ??@tÿ`AF?iZ@IZ_^;ZCYjByjI llbDvVDv!y~>%~h=ٔ~;Q-~>9Y=DFyMD ºE > Q 54 oӠ?Q 94 ) BYyWQ I? CI ;i a; @4y)ɮ-A)EB*** querying acoustic contact ***iA iAeDDAT read: Rx Time:03:37:18.5816 eTRx dataTimestamp_ set to:1761536237.508784mPDAT read: Bearing 38.9, -6.7 (Local) u~Local bearing/azimuth received: Bearing 38.9, -6.7 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 DAT read: 03:37:18.5816 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.05, 0.709,-0.986, 1.401, 0.844, PHS=-0.032,-1.784, 0.514, RAW= 163.1, 12.5, CAL= 163.5, 14.4, ROT= 346.5, -14.4 Ygot valid direction response: 03:37:18.5816 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.05, 0.709,-0.986, 1.401, 0.844, PHS=-0.032,-1.784, 0.514, RAW= 163.1, 12.5, CAL= 163.5, 14.4, ROT= 346.5, -14.4 T#Rx 53: Read range and direction messages.^direction in FSK: [0.941821,-0.226111,0.248690]Fpublishing direction and range infoyaetf#?/I6̿l?Yaaaaa a)e7IeoieZ俉e?e8/6@ef_>e6@ e>)e@Ieaae:6Y?#]?$ K?jhDNOT Ignoring new targets: 23.30 m.bhRh<"Zh<" ProNav: ac range: 23.301189 m, nav range: 21.603935 m, bearing: 234.729681 deg, approach rate: -0.517706 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.661005 deg, new cmd heading: 240.519932 deg. Bh» e@@?)e_Ie4Fqieaachecking for new query: numPingsReceived=53, elapsed TxPingTime=25.484268HeadingCmd: 4.197865 target range: 23.301189 and range: 23.40 m.hT@h*h"h hgfffdddjdZd ? eBɢG) i) }顑i;iu׳<=IT@I@ @@0@9- checking for new query: numPingsReceived=53, elapsed TxPingTime=25.699259i ^A =I I O% >EE P EE NEE ,EA "EE (;*EE ;VEE g4ZEA aM @aM @aM @aM @!;ݎ,~w;?A 2Ї@2@2ٱ2R# >AHRS rotation from veh to nav: [[-0.427138,0.880425,0.205927],[-0.892333,-0.447217,0.061149],[0.145931,-0.157636,0.976655]]2H9Vۿ p,?[?5ܿN?`߭? k-Ŀ@?i2Ї@I2N^;0YBy.Ii Mb@Mb@Mb@     9 K7A`?Mb/$?Y >y @ <  r@ VA) A Y p AbD5VD5kyUk=%U*=ٔ]L;Q-e>9aYa=mDFymWDq}M1E>Q 54ɠ?Q 94)4BY{>Q E:y5Q I?CI;i%;4y_Bɮ"AEii`;?AJiRijiJ@b2+5@yԹ 2-@Rtf#?/I6̿l?Zi4Fqbij<pBP)[C70j`b#@ZҚM]+!:?2i:iM"i+?*ie\NBiBi?iz\ihBipAi@u addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DDAT read: Rx Time:03:37:19.0813 TRx dataTimestamp_ set to:1761536238.016864PDAT read: Bearing 36.7, -4.1 (Local) ~Local bearing/azimuth received: Bearing 36.7, -4.1 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 DAT read: 03:37:19.0813 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42,-0.101,-1.538, 0.418,-0.066, PHS= 0.066,-1.427, 0.440, RAW= 160.9, 10.8, CAL= 161.0, 11.9, ROT= 349.0, -11.9 Ygot valid direction response: 03:37:19.0813 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42,-0.101,-1.538, 0.418,-0.066, PHS= 0.066,-1.427, 0.440, RAW= 160.9, 10.8, CAL= 161.0, 11.9, ROT= 349.0, -11.9 T#Rx 54: Read range and direction messages.^direction in FSK: [0.960531,-0.186708,0.206204]Fpublishing direction and range infoy4|?2<ǿFa5d?YA )I+=i𧶿G>3@A>3@ ȭT>)@IȭT Added new target pos. range: 23.300894 m, bearing: 232.773132 deg, lat: 36.779330 deg, lon: -121.859576 deg, deltaT: 0.504154 s, deltaX: -0.000296 m, approachRate: -0.000586 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 23.30 m.bh Rh Zh ProNav: ac range: 23.300894 m, nav range: 21.429928 m, bearing: 234.338000 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.519921 deg, new cmd heading: 240.304962 deg. s?0_?z7]b? [6?)1@IDiȭT-checking for new query: numPingsReceived=54, elapsed TxPingTime=25.972223Bh1=HeadingCmd: 4.194113 target range: 23.300894 and range: 23.40 m.h=,6@h9*h9"h9 h9g9f9ffBdddjd7@ZdP7?=Bɢ=9) Fi) l顉i5m;i^ԙ><'=I,6@I@ @@?0@ B A B !>B B xIB ׀BB B B DB i;B v7EE checking for new query: numPingsReceived=54, elapsed TxPingTime=26.204651^A =A >A ? EU[ EU<EU(EQ"EU%;*EU1;VEUc44ZEQBEUJM,;?A44V@Vh@VZ)ٱV* bAHRS rotation from veh to nav: [[-0.427491,0.879058,0.210973],[-0.892448,-0.447586,0.056601],[0.144185,-0.164086,0.975852]]VH \ۿ@=!?+? Aܿ?t?ſ`-:?iV@IV9^;VCYnBynBIbDv VDv2y=%D=ٔ;Q- >9!Y)=5DFy5_D=n)EE>YQ 54]?Q 94])]IBYy2Q I?]CI]{U(2s1p @Z ࿁fQ+b?2i :i B"i ßW?*i aBi Bi |#4?i i i MAi ~@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.508080 s, deltaX: -0.400000 m, approachRate: -0.787277 m/s, rangeRepo size: 4  Added new target pos. range: 22.902859 m, bearing: 235.116466 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 0.508080 s, deltaX: -0.398035 m, approachRate: -0.783410 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.90 m.bhRhZh- ProNav: ac range: 22.902859 m, nav range: 21.162968 m, bearing: 234.586017 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.304961 deg, new cmd heading: 240.105334 deg. Bh)-HeadingCmd: 4.190629 target range: 22.902859 and range: 23.00 m.h5@h1*h1"h1 h1g1f1f9f9AdYdadajdaZde`)?DDAT read: Rx Time:03:37:19.5813 TRx dataTimestamp_ set to:1761536238.520821PDAT read: Bearing 35.8, -3.9 (Local) ~Local bearing/azimuth received: Bearing 35.8, -3.9 (Local)  DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 -DAT read: 03:37:19.5813 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.00,-0.032,-1.483, 0.486,-0.016, PHS= 0.086,-1.422, 0.458, RAW= 160.8, 10.2, CAL= 160.7, 11.1, ROT= 349.3, -11.1 5Ygot valid direction response: 03:37:19.5813 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.00,-0.032,-1.483, 0.486,-0.016, PHS= 0.086,-1.422, 0.458, RAW= 160.8, 10.2, CAL= 160.7, 11.1, ROT= 349.3, -11.1 =T#Rx 55: Read range and direction messages.E^direction in FSK: [0.964231,-0.182193,0.192522]EFpublishing direction and range infoyf?5 RǿM?Y )6I =i~>3@K6>3@ aF>)@IaF6(?VǏ?n]"?]Bɢ]վ)Y ]nܾia)e4aaie0 ;imsm Y,\ʳ;?AEzQ EzNEz,Ex"Ez;*Ez;VEzg4ZExa~@a~@a~@a~@YByJII ) %=AiMb@Mb@Mb@ 9m?T㥛 yt<A@ A)AY AbDVDܲy<%*=ٔQ- >9 Y = DFy iDE>Q 5%4?Q 9%4)^BY%>Q E%:y- Q I-?CI ;i? ;Zɠ4y1ɮ5jA1ii"U;?AJiRijiSk@bGii6@K$!:!h @Rf?5 RǿM?Zit;?biaFj$"oU[(}C\1[W @ZoݲvῂP&?2i:iB"i O?*iٝfjBi BiiiBBiAi@AU addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.902859 m, bearing: 235.305227 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh =DNOT Ignoring new targets: 22.90 m.bhYRhiZhi ProNav: ac range: 22.902859 m, nav range: 20.944561 m, bearing: 234.562195 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.105328 deg, new cmd heading: 239.929822 deg. BhHeadingCmd: 4.187565 target range: 22.902859 and range: 23.00 m.h@h*h"h hgfffBdddjdZd?颅BɢV) ׾i)顉i".;iQ.<2=I@IqDDAT read: Rx Time:03:37:20.0810 TRx dataTimestamp_ set to:1761536239.026171PDAT read: Bearing 35.5, -3.7 (Local) ~Local bearing/azimuth received: Bearing 35.5, -3.7 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 DAT read: 03:37:20.0810 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.43,-1.806, 3.022,-1.298,-1.798, PHS= 0.094,-1.418, 0.457, RAW= 160.5, 10.1, CAL= 160.5, 10.9, ROT= 349.5, -10.9 Ygot valid direction response: 03:37:20.0810 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.43,-1.806, 3.022,-1.298,-1.798, PHS= 0.094,-1.418, 0.457, RAW= 160.5, 10.1, CAL= 160.5, 10.9, ROT= 349.5, -10.9 T#Rx 56: Read range and direction messages.%^direction in FSK: [0.965516,-0.178948,0.189095]-Fpublishing direction and range infoy"Z'?RJ$eƿoG4?YA )I=i>G3@J4>G3@ B>)2@IBg?5Jw?!!Qm? 55?)X4It;iBMchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.983582UQ@Q @Y@]0@Yԙ ^A ͢= B >B B IB BB =B B B Z;B e7EBBBB̰ =B̰ =C];5A I I O>,+;?A"checking for new query: numPingsReceived=56, elapsed TxPingTime=27.211937YEÀByM_IbDmVDmy}=%}9=ٔQ->9Y=DFyrDE>Q 54$?Q 945)qBYyQ I?6CI:iF:Ѡ4y]BɮAEi!i%ɬ;?AJi%=ARi%=Aji%@b%^ۡ5@ V@R%"Z'?RJ$eƿoG4?Zi%t;bi%Bj%f'"@MvE1L!@Z%j ࿒ӠnEC?2i%+:i% >"i%x1Ŝ?*i%j}fBi%Bi%ßW?i%ai%Bi%ϦADM=DM<EUV EU>EU*EQ"EU;*EU?;VEU(N4ZEQBEU_¸2@X8>¸2@ +H>)z@I+HzoOH?Zئ:?%?? 2?)68I2i+He checking for new query: numPingsReceived=57, elapsed TxPingTime=27.502745A .AI I1 O= >q >,;?Aɰ4<2U@2O@2ٱ2¬0 :AHRS rotation from veh to nav: [[-0.432921,0.875300,0.215475],[-0.890213,-0.452734,0.050524],[0.141777,-0.169945,0.975202]]2Hۿ`u?@?|ܿUީ?%?ſ4?i2U@I2sb^;2CYRByR[IbDjVDj:yvݥ%vU=ٔz=;Q-z>9~ ?Y~ ?=DFyzD{E >Q 5%4إ?Q 954 )BYQyU Q I?MCI( b2@ f;> b2@  %K>) @I %K   09:?HA?;?  .1?) (:I 4\-i %K   checking for new query: numPingsReceived=58, elapsed TxPingTime=27.990751 A I I O >,y]D]`]A]/@ ]?A)]fAYY]( AbDuVDu:y<%#=ٔQ->9Y=DFyDE>Q 54e?Q 94`)BY>Q E:yQ I?kCI ;iG ;4yɮAii'ͣ@Z4;d+&fl{?2i!:i8"iqz-Ҝ?*iBBIBBB =BBBD;BO7EBɢ?) 5Ǿi!)%!!i%5J:i-ۿ-ׁ<-=I-@I1ychecking for new query: numPingsReceived=58, elapsed TxPingTime=28.221020P@ @@+4@ET EAE)E"E;*E;VEFA4ZEBEe,"^direction in FSK: [0.973248,-0.152407,0.171929]>Fpublishing direction and range infoy$?\/ÿ!?Y3A )I>ih>g1@6&>5~1@ ;0>)[@I;0!Q?kl?_0!? .?)&Ii;0Nchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.487938v@vm@vٱvCD ~AHRS rotation from veh to nav: [[-0.442925,0.865623,0.233484],[-0.884969,-0.463852,0.040885],[0.143693,-0.188517,0.971501]]vH`Xܿ`.??Qݿ?d?R!ȿ?iv@Iv=a^;vCY ŀBy bIqbDVD1yMf%MJ=ٔUQ-U>9U"?YU"?=]DFy]D]KE]>aQ 54eΒ?Q 94e)eBYyQ I?eCIeO,P@Lπ@>ʇ@>Tٱ>]H JAHRS rotation from veh to nav: [[-0.447168,0.862164,0.238147],[-0.882568,-0.468556,0.039119],[0.145312,-0.192688,0.970441]]>H`eܿ ٖ?{?@=ݿk??ȿ ?i>Lπ@I>oK^;>CYRˀByRiIDDAT read: Rx Time:03:37:22.0804 TRx dataTimestamp_ set to:1761536241.040766%PDAT read: Bearing 34.6, -1.6 (Local) -~Local bearing/azimuth received: Bearing 34.6, -1.6 (Local) =DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 ]DAT read: 03:37:22.0804 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500,-0.00,-2.366, 2.431,-1.923,-2.399, PHS= 0.136,0.432, RAW= 158.6, 9.9, CAL= 158.5, 10.6, ROT= 351.5, -10.6 e!unknown deviceResponse_: 03:37:22.0804 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500,-0.00,-2.366, 2.431,-1.923,-2.399, PHS= 0.136,0.432, RAW= 158.6, 9.9, CAL= 158.5, 10.6, ROT= 351.5, -10.6 mZ#Rx 60: Read range message, but no direction.yY̬Amchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.987427iMb@Mb@Mb@ 9}?5^I?Q롿9 ?Y ?=DFy]DeKEe>iQ 5u4m?Q 9u4mZ)mBYu?Q E}:y}TQ I}?mCIm:im.:mz4ynBɮAEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504026 s, deltaX: -0.299999 m, approachRate: -0.595206 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 21.81 m.bhRh%9Zh%95 ProNav: ac range: 21.807407 m, nav range: 20.262468 m, bearing: 235.713393 deg, approach rate: -0.539967 m/s, LOS rate: -0.083590 deg/s, cmd heading: 239.178526 deg, new cmd heading: 239.059614 deg. Bh5we]HeadingCmd: 4.172378 target range: 21.807407 and range: 21.60 m.h]@hY*hY"hY hYgafafafeBdididijdm5@Zdu ?=Bɢ=)A EžiA)E쁲AAiEԮ:iMyMbB9B=IB=.BB= =B9B=DB=-;B=67E^A =checking for new query: numPingsReceived=60, elapsed TxPingTime=29.227844ԉ A ؟AI I OM >E P E YE *E "E (;*E w;VE (N4ZE BE 9-"?Y-"?=5DFy5D5E5>9Q 5E4=?Q 9E4=~)=BYIyMQ IM?=CI=;i=;=4yQɮU_AQjhyDNOT Ignoring new targets: 21.81 m.bhRhZh ProNav: ac range: 21.807407 m, nav range: 20.077980 m, bearing: 235.687772 deg, approach rate: -0.518122 m/s, LOS rate: -0.072615 deg/s, cmd heading: 239.059626 deg, new cmd heading: 238.982058 deg. BhWGHeadingCmd: 4.171024 target range: 21.807407 and range: 21.60 m.hy@h*h"h hgf!f)f)d)d)d)jd1Zd53?ԁB-DDAT read: Rx Time:03:37:22.5803 5TRx dataTimestamp_ set to:1761536241.544861=PDAT read: Bearing 34.7, -1.1 (Local) =~Local bearing/azimuth received: Bearing 34.7, -1.1 (Local) MDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 uDAT read: 03:37:22.5803 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.46,-1.520,-3.015,-1.096,-1.555, PHS= 0.138,-1.415, 0.415, RAW= 158.1, 10.1, CAL= 158.0, 11.0, ROT= 352.0, -11.0 }Ygot valid direction response: 03:37:22.5803 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.46,-1.520,-3.015,-1.096,-1.555, PHS= 0.138,-1.415, 0.415, RAW= 158.1, 10.1, CAL= 158.0, 11.0, ROT= 352.0, -11.0 }T#Rx 61: Read range and direction messages.^direction in FSK: [0.972074,-0.136616,0.190809]Fpublishing direction and range infoy)-` ;?͢|P@ml?Y-A)))) ))-5I-O >i--z>-r0@-J4>-|0@ - D>)- @I- D))ɢ3mi-._s?=hm?R^z? -U*?)-4I-4i- D))checking for new query: numPingsReceived=61, elapsed TxPingTime=29.496367) gоi)!顩i:i-j<%ۚ=I%y@I)Ա@ @@/@ ^A ͢=- checking for new query: numPingsReceived=61, elapsed TxPingTime=29.741516A I I O >@,u9Y=DFyDLE>Q 54s?Q 94)ЈBY?Q E:yQ I?CI:iv:4yɮ/Aiibiu/ݴun>uF/@u;0>u/@ ut;?>)u@Iut;?qquwlu ?tz#?0?Bɢ8) ur '?)u;0Iutwiut;?qq checking for new query: numPingsReceived=62, elapsed TxPingTime=30.004181 5̾iA)E'AAiM4:iMNMגBm 1CBi Bi Bm =Bi Bm DBm $;Bm %7Eԡ ^A =A zA fA-checking for new query: numPingsReceived=62, elapsed TxPingTime=30.236725A II)bE(N4jE(N4rEϼ 0E5^ E5YE5)E1"E5;*E5w;VE5FA4ZE1BE59Y=DFyDjE%>1Q 5=45h?Q 9=45E)5BYayeQ Ie?5CI5;i52;5A4ymlBɮmAuEiiOi˿v>].@>.@ | >)@I| Sw~h?ca(m?7h? "w!?)I)QϽi| checking for new query: numPingsReceived=63, elapsed TxPingTime=30.504519}Bɢ}$) ƾi);Ӵ顁it:iMlM9} ?Y} ?=}DFy}D;޼E>Q 54w]?Q 94)BY?Q E:yQ I?+CI:i:e4yɮAiaieeiMM>M.@M;0>M.@ Mt;?>)Mn@IMt;?IIMZN?F?X? M<#?)M!1IMViMt;?IIImchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.031181^A2=A ؟AI! I1 O= >y B >B B IB 3BB =B B B .;B ,7Ea4,`i]]>]].@]f;>]].@ ]M>)]@I]MYY] xi?\l?db? ]i!?)]%:,9Y=DFy˝DE>Q 54L?Q 94) BYyxQ I?dCI:it:4y}BɮAEi1i5  DDAT read: Rx Time:03:37:25.0794  TRx dataTimestamp_ set to:1761536244.064680 PDAT read: Bearing 34.0, 0.8 (Local) % ~Local bearing/azimuth received: Bearing 34.0, 0.8 (Local) 5 DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5 U DAT read: 03:37:25.0794 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.15, 2.470, 0.931, 2.819, 2.406, PHS= 0.166,-1.430, 0.369, RAW= 155.9, 10.5, CAL= 155.8, 11.5, ROT= 354.2, -11.5 ] Ygot valid direction response: 03:37:25.0794 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.15, 2.470, 0.931, 2.819, 2.406, PHS= 0.166,-1.430, 0.369, RAW= 155.9, 10.5, CAL= 155.8, 11.5, ROT= 354.2, -11.5 e T#Rx 66: Read range and direction messages.m ^direction in FSK: [0.974908,-0.099027,0.199368]m Fpublishing direction and range infoy  :r2? {Yi?Y ̠A     ) I )>i =  > X$.@  .@  ) @I    @={?ڠt?8.U?  u ?) _;I )QϽi    checking for new query: numPingsReceived=66, elapsed TxPingTime=32.015770cA,=?AB ~@B@BٱBD NAHRS rotation from veh to nav: [[-0.495734,0.835460,0.237179],[-0.856014,-0.516143,0.028930],[0.146588,-0.188687,0.971035]]BH`߿?[?wd`=՟?d?@&ȿ?iB ~@IB`R^;BClY]By]IiMb@Mb@Mb@ 9Cl?&1?~jthYd?yP=DA @ ZA)@YA p<bDVD:y=%7=ٔs:Q->9Y=DFy՝DE>Q 54}B?Q 94)BY?Q E:yQ I?CI;i;&4yɮA iYi]#=?AJi]ARi]Aji]@b]73@ui5o@R]:r2? {Yi?Zi])QϽbiYj]]b#$A1b7 /jRpo@Z]>栬܌Kxg?2i]y:i]&"i]ۙל?*i]/vBi]:BiYiYi]:Bi]Ai]@AAAAB >BBIBGBBBBB1;B/7EBU1CBU2CBUĔCBUij =BUij =CUĮ6 addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504009 s, deltaX: -0.299999 m, approachRate: -0.595226 m/s, rangeRepo size: 4  Added new target pos. range: 20.014256 m, bearing: 236.294328 deg, lat: 36.779335 deg, lon: -121.859587 deg, deltaT: 0.504009 s, deltaX: -0.298721 m, approachRate: -0.592690 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.01 m.bhRh Zh  ProNav: ac range: 20.014256 m, nav range: 18.742393 m, bearing: 236.384965 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.483186 deg, new cmd heading: 238.378720 deg. Bh%HeadingCmd: 4.160493 target range: 20.014256 and range: 20.10 m.hE"@hA*hA"hA hAgIfIfIfM^BdQdQdQjdU4@ZdU<V,=I"@Ichecking for new query: numPingsReceived=66, elapsed TxPingTime=32.2527249q@y @y@y@yDzD?AEW EXE,E"ET;*E;VEg4ZEBE'>H,"=?A:}@:Ņ@:Jٱ:YzF BAHRS rotation from veh to nav: [[-0.501801,0.831370,0.238788],[-0.852531,-0.522032,0.025967],[0.146243,-0.190544,0.970725]]:H ??G{??cȿ,?i:}@I:%^;:CYNByNIbDVVDVy^u=%^b=ٔb%:Q-b?9`Y`=bDFyfܝDfEf?rDDAT read: Rx Time:03:37:25.5792 rTRx dataTimestamp_ set to:1761536244.568770vPDAT read: Bearing 34.7, 0.5 (Local) z~Local bearing/azimuth received: Bearing 34.7, 0.5 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.5 EDAT read: 03:37:25.5792 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.03, 2.560, 1.011, 2.903, 2.514, PHS= 0.147,-1.458, 0.344, RAW= 155.7, 11.3, CAL= 155.8, 12.5, ROT= 354.2, -12.5 MYgot valid direction response: 03:37:25.5792 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.03, 2.560, 1.011, 2.903, 2.514, PHS= 0.147,-1.458, 0.344, RAW= 155.7, 11.3, CAL= 155.8, 12.5, ROT= 354.2, -12.5 UT#Rx 67: Read range and direction messages.]^direction in FSK: [0.971298,-0.098661,0.216440]]Fpublishing direction and range infoypr]?O-irr >r'-@rI>p rf_>)pIrf_pprծ06z?v껹Q?0? r>?)rIIpirf_pp}checking for new query: numPingsReceived=67, elapsed TxPingTime=32.523937yQ 54}v:?Q 94})},BYyUQ I?}CI}:i}=:}%-4yɮHAipirf$=?AJirARirAjir9߃@brBO&3@S9١@Rr]?O-i>Q@ @@/@@%=@%=ԙ^A:_G=IQIiOuy>checking for new query: numPingsReceived=67, elapsed TxPingTime=32.758339 E Y E eE E "E =;*E #;VE ZE a @a @a @a @ nManaging dock network, ignoring radio surface power offjN,w<=?ALYm.BymIi5Mb@Mb@Mb@1111 195bX9?Zd;O?y&1?Y5E?y5j<=5`e<5A5@ 5A)5@1Y5AbDMVDMܲy]=%]2=ٔeQ-e>9iYi=mDFymDmEm>qQ 5}4u(1?Q 9}4u)u@BY?Q E:yOQ I?uCIu ;iu ;u44yɮsAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 19.72 m.bhRh̛Zh̛ ProNav: ac range: 19.715517 m, nav range: 18.237370 m, bearing: 236.105723 deg, approach rate: -0.607217 m/s, LOS rate: -0.272422 deg/s, cmd heading: 238.300164 deg, new cmd heading: 237.961709 deg. Bh:HeadingCmd: 4.153215 target range: 19.715517 and range: 19.80 m.h$@h*h"h hgfffMBdddjdZd8?!ɢ%g[׽)! %NZi!)-:﷽))i-L9i5nQ52<52=I5$@I9ԹDDAT read: Rx Time:03:37:26.0790 TRx dataTimestamp_ set to:1761536245.072829PDAT read: Bearing 32.9, 1.0 (Local) ~Local bearing/azimuth received: Bearing 32.9, 1.0 (Local) DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.5 MDAT read: 03:37:26.0790 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.04, 2.069, 0.488, 2.414, 1.983, PHS= 0.188,-1.451, 0.387, RAW= 155.7, 10.1, CAL= 155.5, 10.9, ROT= 354.5, -10.9 eYgot valid direction response: 03:37:26.0790 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.04, 2.069, 0.488, 2.414, 1.983, PHS= 0.188,-1.451, 0.387, RAW= 155.7, 10.1, CAL= 155.5, 10.9, ROT= 354.5, -10.9 eT#Rx 68: Read range and direction messages.u^direction in FSK: [0.977438,-0.094117,0.189095]uFpublishing direction and range infoyP+G?x oG4?Y3A )8I@>i^$>J4>-@ B>)z@IB=蠙?8',a^? 1W? V?)$3I)ĽiBchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.041351P@ @@*0@^A= '=B B B 'IB fBB B B B ;B 7EI I O >  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.259846KU,6V=?Aj|@jc@jswٱj}ZE rAHRS rotation from veh to nav: [[-0.512024,0.825407,0.237770],[-0.846568,-0.531783,0.023023],[0.145446,-0.189500,0.971048]]jHb@i?Bo?@^\? ?Aȿ@?ij|@Ijs_;jCYzMByz I| AA AAbDVDJy%@+>%%b=ٔ%;Q-%>9)Y)=-DFy-D-E5>1Q 5U4E] ERE(E"E ;*E;VEc44ZEBEf_>X$.@ 5z>)J@I5zQcb?b5?[|? M?)Y_I)ҽi5zchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.528862- 2;ԉ O@  @ @ /@ ԩ checking for new query: numPingsReceived=69, elapsed TxPingTime=33.766323^A3=A>A>IIO?8],tw=?AE~Q E~XE~-E|"E~;*E~;VE~t4ZE|)a-@a5@a5@a5@ aa rGQy}9YngA5|@5-;@5bٱ5vA eAHRS rotation from veh to nav: [[-0.516220,0.823753,0.234409],[-0.844029,-0.535759,0.024013],[0.145368,-0.185452,0.971842]]5H߄/\??I$?h?@ǿ`S?i5|@I5L_;1YrBy7IIieMb@Mb@Mb@aaaa a9en?V-?I +?Ye?ye9Y=DFyDE>Q 54?Q 94l)rBYN?Q E:y Q I?CI ;i ;F4yBɮAEiipd=?AJiARiAjie@bzGs2@;'RbpF@R?Rߥ?`Jg~79K?Zi)ҽbi5zj$`M>,a!@Zkޮ࿯N,Xh5?2ig:i0 "i$ Ϝ?*i6DqBiBiۙל?iuikBi>Ai@  addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504102 s, deltaX: -0.199999 m, approachRate: -0.396743 m/s, rangeRepo size: 4  Added new target pos. range: 19.118076 m, bearing: 235.267288 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504102 s, deltaX: -0.199144 m, approachRate: -0.395048 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 19.12 m.bh!Rh!Zh)5 ProNav: ac range: 19.118076 m, nav range: 17.655510 m, bearing: 235.853506 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 237.606790 deg, new cmd heading: 237.147394 deg. Bh9=HeadingCmd: 4.139003 target range: 19.118076 and range: 19.20 m.h=r@hA*hA"hA hAgAfIfIfMBdIdQdQjdU@333@ZdU ?颅Bɢ½) i)rh顉iŸiH: <<t(=Ir@IDDAT read: Rx Time:03:37:27.0786 TRx dataTimestamp_ set to:1761536246.081851PDAT read: Bearing 34.4, 0.2 (Local) ~Local bearing/azimuth received: Bearing 34.4, 0.2 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 DAT read: 03:37:27.0786 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.01, 2.091, 0.560, 2.428, 2.058, PHS= 0.135,-1.453, 0.326, RAW= 155.6, 11.7, CAL= 155.7, 13.0, ROT= 354.3, -13.0 Ygot valid direction response: 03:37:27.0786 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.01, 2.091, 0.560, 2.428, 2.058, PHS= 0.135,-1.453, 0.326, RAW= 155.6, 11.7, CAL= 155.7, 13.0, ROT= 354.3, -13.0 T#Rx 70: Read range and direction messages.^direction in FSK: [0.969552,-0.096774,0.224951] Fpublishing direction and range infoy?x9E1Ƹ:/2?YfA )8Iq= >iy>-@Q>'-@ Vh>)@IVhEy?F#>?t`d? '?)WQI)˽iVh5checking for new query: numPingsReceived=70, elapsed TxPingTime=34.038162yM ԡ @  @ @ @ B A <B >B 0CB fIB BB B B B ;B 6E i1I5A=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.268356^Ar =E E=E+E"E*E;VE [4ZEBEt%V)=ٔVtFQ-V>9XYX=ZDFyZDZ(EZ>\Q 5M4^t?Q 9U4^)^BYQyU`Q IU?^2CI^yiM̿MM>M?-@M)>Mc-@ MK6>)MDS@IMK6IIM H?+?B_ ? M9 ?)M)IM%iMK6IIchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.536392ԱP@ @@@ checking for new query: numPingsReceived=71, elapsed TxPingTime=34.771782 ^A )=E% K E% GE% *E! "E% ;*E% ;VE% (N4ZE! aM @aM @aM @aU @QAIIO>Ro,=?AYByIiMb@Mb@Mb@ 9 rh?{Gz?YC ?y#<$A (A)@YA 4<bDVDJy)>%=ٔQ->9Y=EFyDE>Q 54]?Q 94\)BYo ?Q E:yQ I?WCI6;i$5;X4y ɮ [A iYi]Hp=?AJiYRiYji]b_@b]2CLF[2@}P-^L @R])wa?X hki?Zi]%bi]K6j]ڇ($K-\>,N@Z]T:7 述(%?2i]2h:i]@!"i]S?*i]oBi]Bi]DȜ?iYiYi]Ai]7@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 18.719728 m, bearing: 235.221720 deg, lat: 36.779333 deg, lon: -121.859585 deg, deltaT: 0.503127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 18.72 m.bhqRhqZhq ProNav: ac range: 18.719728 m, nav range: 17.065516 m, bearing: 234.939319 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 236.736515 deg, new cmd heading: 236.306297 deg. BhHeadingCmd: 4.124323 target range: 18.719728 and range: 18.80 m.ht@h*h"h hgfffBdddjdZd?Bɢ) Ĉ=i)KOii* <oJ=It@IDDAT read: Rx Time:03:37:28.0782 TRx dataTimestamp_ set to:1761536247.109766PDAT read: Bearing 33.1, 0.1 (Local) ~Local bearing/azimuth received: Bearing 33.1, 0.1 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 =DAT read: 03:37:28.0782 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.03, 1.879, 0.338, 2.232, 1.832, PHS= 0.149,-1.449, 0.356, RAW= 156.0, 11.0, CAL= 156.0, 12.2, ROT= 354.0, -12.2 I@I @I@I@I@U=@U=Ygot valid direction response: 03:37:28.0782 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.03, 1.879, 0.338, 2.232, 1.832, PHS= 0.149,-1.449, 0.356, RAW= 156.0, 11.0, CAL= 156.0, 12.2, ROT= 354.0, -12.2 T#Rx 72: Read range and direction messages.^direction in FSK: [0.972061,-0.102168,0.211325]Fpublishing direction and range infoy ?!'\ ?YfA )8Iu>ixE>@.@ D>@.@ ^ Z>)@I^ Zjg?pw?~Ӥ?  ?)GEIiwֽi^ Zchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.078197!Q^AmP/=AqzAugAB>BBIB߁BBBBDB;B6EA I I O > checking for new query: numPingsReceived=72, elapsed TxPingTime=35.295872ԙ u,=?AbEE|a4jEE]4rEE/EZI EZ<EZ,EX"EZ};*EZ1;VEZg4ZEXBEZ/%9=ٔ;Q->9Y=EFyD CE >Q 54?Q 94)BYy%7 Q I%?uCI:i:_4y-Bɮ-(A)i i h=?AJi őARi őAji `@b >pHj1@dG/4@R  ?!'\ ?Zi iwֽbi ^ Zj ,h#i[n+ rY@Z GtZ6Fh ?I?2i u[:i "i ) &?*i mYpBi )Bi IPŜ?i 6Dqi )Bi Ai -@} addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.524788 s, deltaX: -0.500000 m, approachRate: -0.952766 m/s, rangeRepo size: 4  Added new target pos. range: 18.221645 m, bearing: 233.913761 deg, lat: 36.779333 deg, lon: -121.859584 deg, deltaT: 0.524788 s, deltaX: -0.498083 m, approachRate: -0.949113 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.22 m.bhRhZh ProNav: ac range: 18.221645 m, nav range: 16.833784 m, bearing: 234.772657 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 236.306295 deg, new cmd heading: 235.946041 deg. BhHeadingCmd: 4.118035 target range: 18.221645 and range: 18.30 m.hƃ@h*h"h hgfffdddjdL2@Zd@?Bɢg) >i)iOiё n<;=Iƃ@I eQ@a @i@m/@iԡ^A=\J=DDAT read: Rx Time:03:37:28.5781 TRx dataTimestamp_ set to:1761536247.612800PDAT read: Bearing 31.8, 0.4 (Local) ~Local bearing/azimuth received: Bearing 31.8, 0.4 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 %DAT read: 03:37:28.5781 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.20, 1.183,-0.375, 1.540, 1.108, PHS= 0.177,-1.438, 0.388, RAW= 156.1, 10.1, CAL= 155.9, 11.0, ROT= 354.1, -11.0 5Ygot valid direction response: 03:37:28.5781 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.20, 1.183,-0.375, 1.540, 1.108, PHS= 0.177,-1.438, 0.388, RAW= 156.1, 10.1, CAL= 155.9, 11.0, ROT= 354.1, -11.0 5T#Rx 73: Read range and direction messages.=^direction in FSK: [0.976427,-0.100904,0.190809]=Fpublishing direction and range infoyL ]>?lܬJԹP@ml?YA )7I}?5>ib>].@J4>X$.@  D>)J@I D&`Hw?R6k?[tz?  !!?)4I)ҽi D]checking for new query: numPingsReceived=73, elapsed TxPingTime=35.564484AIIO> |,#=?A2s{@2@2gٱ2cM= :AHRS rotation from veh to nav: [[-0.530259,0.816031,0.230041],[-0.835842,-0.548624,0.019479],[0.142101,-0.181949,0.972986]]2H ?q?8@S/?@\0? Jǿ"?i2s{@I2L_^;2CYn BynIbDzVDzyK>%q=ٔd;Q-?9 Y = EFy D qE?Q 5]4E?Q 9e4 )҉BYayeV Q Ie?CI$?lܬJԹP@ml?Zi)ҽbi Dj ($Ɠlp+,@Z_)q`Ab9> ?2i[:iF!"iS❜?*i>otBiuBiS?iiiWAi@u addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503034 s, deltaX: -0.099998 m, approachRate: -0.198791 m/s, rangeRepo size: 4  Added new target pos. range: 18.122074 m, bearing: 233.695718 deg, lat: 36.779331 deg, lon: -121.859584 deg, deltaT: 0.503034 s, deltaX: -0.099571 m, approachRate: -0.197941 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.12 m.bhRhZh% ProNav: ac range: 18.122074 m, nav range: 16.792595 m, bearing: 234.079500 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 235.946044 deg, new cmd heading: 235.564137 deg. Bh!-HeadingCmd: 4.111370 target range: 18.122074 and range: 18.20 m.h-W@h)*h)"h) h1g1f1f1f1d9dYdYjde@332@Zde;?颭Bɢ) ^R>i)y顱ii <N=IW@Iq@q @q@u/@qQ  DDAT read: Rx Time:03:37:29.0778  TRx dataTimestamp_ set to:1761536248.120888- PDAT read: Bearing 31.5, 0.4 (Local) - ~Local bearing/azimuth received: Bearing 31.5, 0.4 (Local) = DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 e DAT read: 03:37:29.0778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506,-0.47,-2.919, 1.793,-2.563,-3.002, PHS= 0.185,-1.443, 0.395, RAW= 156.0, 9.9, CAL= 155.8, 10.7, ROT= 354.2, -10.7 m Ygot valid direction response: 03:37:29.0778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506,-0.47,-2.919, 1.793,-2.563,-3.002, PHS= 0.185,-1.443, 0.395, RAW= 156.0, 9.9, CAL= 155.8, 10.7, ROT= 354.2, -10.7 u T#Rx 74: Read range and direction messages.} ^direction in FSK: [0.977583,-0.099299,0.185667]} Fpublishing direction and range infoy  B$[H?k &K{?Y A     ) 6I p=>i 9 q=> @.@ ;0> .@  t;?>) @I t;?   j3Z?D8?T#?  ?) 1I )QϽi t;?   checking for new query: numPingsReceived=74, elapsed TxPingTime=36.077629^Ay ԉ AAB>B/CB IB,BB =BBB;B6EAIIO>8,>?ABY{@B@B)ٱB= ZAHRS rotation from veh to nav: [[-0.531737,0.815296,0.229236],[-0.835235,-0.549620,0.017352],[0.140140,-0.182239,0.973216]]BH`?W?@> |đ??Sǿ $?iBY{@IBc^;@Yb"Byb IIf<)f;hhhiMb@Mb@Mb@ 9p= ף? ףp= Q?Y?yQ8\=A@  A)E@Y A@AbDVDy=% =ٔ1~;Q->9Y=EFy)DKE>Q 54!⟊?Q 94)BY?Q E:y Q I?CI;i ;n4yBɮAEii>?AJiARiAji@b/^:1@:;\<G/z- @RB$[H?k &K{?checking for new query: numPingsReceived=74, elapsed TxPingTime=36.303837Zi)QϽbit;?jX#<\90E*Ԝ@Z}G_G迼UY}?2iU:ih"i?*ipBiBi) &?i6qiuBilAiǨ@5 addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.508088 s, deltaX: -0.500000 m, approachRate: -0.984082 m/s, rangeRepo size: 4 e Added new target pos. range: 17.624098 m, bearing: 233.656698 deg, lat: 36.779330 deg, lon: -121.859584 deg, deltaT: 0.508088 s, deltaX: -0.497976 m, approachRate: -0.980099 m/s, posRepo size: 4 jhi}DNOT Ignoring new targets: 17.62 m.bhyE]X E][E]+EY"E]Ʌ;*E];VE] [4ZEYBE]i)#ii > X8> X$.@ +H>) J@I +H u?[oď?Q? /!?) 7I )ҽi +H  checking for new query: numPingsReceived=75, elapsed TxPingTime=36.596348^A dO=ԉ AI!I1OE>ڋ,ٵ1>?A>M{@>@>^ ٱ>K= FAHRS rotation from veh to nav: [[-0.532501,0.815071,0.228259],[-0.835080,-0.549910,0.015488],[0.138146,-0.182367,0.973477]]>H ? ?7?ݘH?Ů? Wǿ&?i>M{@I>Z^;%^/=ٔbu;Q-b>9`Y`=fEFyf2DfκEf>hQ 5n4j֟?Q 9n4j)j BYpyr Q Ir?jCIj:ij:jv4ytɮvAxii'>?AJiRijix@b%f21@?~oUXb @RYej9?JUMйmVѫ?Zi)ҽbi+Hj7#3J5*`7? @ZwEܔ$otiTBĩAix@= addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.500082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 17.624098 m, bearing: 233.610118 deg, lat: 36.779330 deg, lon: -121.859586 deg, deltaT: 0.500082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 17.62 m.bhQRhYZhYm ProNav: ac range: 17.624098 m, nav range: 16.474905 m, bearing: 233.949376 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 235.227016 deg, new cmd heading: 234.870662 deg. iBhquHeadingCmd: 4.099267 target range: 17.624098 and range: 17.70 m.h}1-@hy*hy"hy hygyfyffdddjdZdf?颹ɢX0) >i)iJƺiMR IM~p=IM1-@IQchecking for new query: numPingsReceived=75, elapsed TxPingTime=36.808109=P@A @A@M/@IEa ExE,ԡE"E݉;*E-;VEg4ZEa@a@a@a@^Au \= DDAT read: Rx Time:03:37:30.0775  TRx dataTimestamp_ set to:1761536249.125335 PDAT read: Bearing 30.5, 0.6 (Local)  ~Local bearing/azimuth received: Bearing 30.5, 0.6 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4  DAT read: 03:37:30.0775 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.13,-2.444, 2.248,-2.089,-2.551, PHS= 0.209,-1.439, 0.418, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9  Ygot valid direction response: 03:37:30.0775 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.13,-2.444, 2.248,-2.089,-2.551, PHS= 0.209,-1.439, 0.418, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9  T#Rx 76: Read range and direction messages. ^direction in FSK: [0.980408,-0.096130,0.171929] Fpublishing direction and range infoy  6v#_?!?Y fA ) 5I V>i '1 > X$.@ 6&> -@ ;0>) .@I ;0 T" •?S?S:=? Ac ?) g%I )+Ƚi ;0 % checking for new query: numPingsReceived=76, elapsed TxPingTime=37.077358AM .AIY Ii Ou >.,xK>?AYVByO IB>BBs IBsBB =BBBр;B6EB0CB0CB“CBµ =Bµ =C[r5iMb@Mb@Mb@ 9gfffff?#~j?Y3>y㥽<AM@ p A)YAbD%VD%yU=%U(=ٔUQ-]>9] ?Y] ?=]EFy]Q 54'ɟ?Q 94)%BY >Q E:yQ I?CI ;i:b4yBɮ$AEii}H>?AJiΉARiΉAji@b:n0@8~DVl@R6v#_?!?Zi)+Ƚbi;0j/aU#_=K*@Z Z'l_N}q?2iXR:i"iZʎ?*i6ltBi_BiS❜?i6ltii[Ai@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504365 s, deltaX: -0.400002 m, approachRate: -0.793079 m/s, rangeRepo size: 4  Added new target pos. range: 17.225895 m, bearing: 233.672939 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504365 s, deltaX: -0.398203 m, approachRate: -0.789513 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.23 m.bhRhZh% ProNav: ac range: 17.225895 m, nav range: 16.294792 m, bearing: 233.784818 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.870671 deg, new cmd heading: 234.456748 deg. Bh)-HeadingCmd: 4.092042 target range: 17.225895 and range: 17.30 m.h5@h1*h1"h1 h1g1f1f9f=Bd9ddjdL1@Zd?Bɢˊ) >i)Nchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.311970i=niE; Eיi ^> -@ ;0> -@ t;?>) z@I t;? v?о]?c? 4?) ^0I )Ľi t;? =checking for new query: numPingsReceived=77, elapsed TxPingTime=37.580578ԉA؟AIIO?F,J m>?A5KE{@5w@5%Iٱ58 eAHRS rotation from veh to nav: [[-0.533329,0.816375,0.221566],[-0.835434,-0.549426,0.013431],[0.132699,-0.177941,0.975053]]5H?H\? ?G?`ƿ3?i5KE{@I5z^;1ԱYpByo I ==bDVDyU=%]&=ٔ]69e"?Ye"?=eEFyeFDewEm>Q 54!?Q 941)?BYy$Q I?CI1:iI:4yɮSAiAiEVHh>?AJiE6ARiE6AjiEӚ@bE>W0@191aWJ @RE:WL? % &K{?ZiE)ĽbiEt;?jE,"5)vOΐO@ZE;c+')LSi Cc+%?2iEO:iE"iE`?*iEtBiEBiE`?iE>otiEBiEAiE@u addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504080 s, deltaX: -0.199999 m, approachRate: -0.396760 m/s, rangeRepo size: 4  Added new target pos. range: 17.026752 m, bearing: 233.846972 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504080 s, deltaX: -0.199142 m, approachRate: -0.395061 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.03 m.bhRhZh ProNav: ac range: 17.026752 m, nav range: 16.074512 m, bearing: 233.813842 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.456762 deg, new cmd heading: 234.053989 deg. BhHeadingCmd: 4.085013 target range: 17.026752 and range: 17.10 m.hm@h*h"h hgfffdddjd1@ZdE?颵Bɢ=) >i)R#项iiܮ <=Im@I}checking for new query: numPingsReceived=77, elapsed TxPingTime=37.818344E}I E}UE}*Ey"E}};*E}\;VE}(N4ZEya@a@a@a@iԙ r绝% DDAT read: Rx Time:03:37:31.0771 - TRx dataTimestamp_ set to:1761536250.1340395 PDAT read: Bearing 31.1, 0.7 (Local) = ~Local bearing/azimuth received: Bearing 31.1, 0.7 (Local) M DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 m DAT read: 03:37:31.0771 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.12, 2.794, 1.199, 3.135, 2.697, PHS= 0.199,-1.453, 0.394, RAW= 155.5, 9.8, CAL= 155.3, 10.6, ROT= 354.7, -10.6 } Ygot valid direction response: 03:37:31.0771 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.12, 2.794, 1.199, 3.135, 2.697, PHS= 0.199,-1.453, 0.394, RAW= 155.5, 9.8, CAL= 155.3, 10.6, ROT= 354.7, -10.6 } T#Rx 78: Read range and direction messages. ^direction in FSK: [0.978733,-0.090794,0.183951] Fpublishing direction and range infoy! % ̀Q?TK> =η? Q@  @ @ 3@ Y% A! ! ! ! ! )! I% K>i! ! % -@% %/>% x-@ % q=>)% @I% q=! ! % W ?y Q?}|S? % ?)% Zh/I% qi% q=! !  checking for new query: numPingsReceived=78, elapsed TxPingTime=38.091190^Au{=ByA}<B>B0CB IBBB =BBB;B6EIIO$?P,H>?A2C{@2@2ٱ29!7 :AHRS rotation from veh to nav: [[-0.533553,0.816898,0.219087],[-0.835624,-0.549158,0.012580],[0.130590,-0.176363,0.975624]]2H $? ?nÉ?.?` ƿP8?i2C{@I2~^;2CYB}ByB Ichecking for new query: numPingsReceived=78, elapsed TxPingTime=38.319954yiMb@Mb@Mb@ 9v/?"~jMb?Yx>yS㽙<?A @  A)@Y(AbDVD02yMW"=%U<ٔ]eX;Q-e>DzD@A9iYi=mEFymTDm/Eu>Q 54R?Q 94$)`BYm>Q E:yQ I?/CI;i;ʓ4yBɮAEEP EZE/E"E(;*E;VEJ4ZEBE?AJiARiAjiF@bk4`F0@P (3؂x@R̀Q?TK> =η?Ziqbiq=jY:O~"2+v)(HW@Z>N[$ p հ?2iK:i"i?*i_sBi=Bii6ltiBiJ|AiG@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504624 s, deltaX: -0.400000 m, approachRate: -0.792669 m/s, rangeRepo size: 4  Added new target pos. range: 16.628544 m, bearing: 234.010979 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504624 s, deltaX: -0.398209 m, approachRate: -0.789119 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.63 m.bhԙRhZh ProNav: ac range: 16.628544 m, nav range: 15.768107 m, bearing: 234.004006 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.053999 deg, new cmd heading: 233.502585 deg. BhHeadingCmd: 4.075389 target range: 16.628544 and range: 16.70 m.hi@h*h"h hgfffBdddjd @30@Zd i)g顡i& iL q <H=Ii@ImeO@i @i@m1@iDDAT read: Rx Time:03:37:31.5771 TRx dataTimestamp_ set to:1761536250.636742PDAT read: Bearing 31.3, 0.6 (Local) ~Local bearing/azimuth received: Bearing 31.3, 0.6 (Local)  DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 5 DAT read: 03:37:31.5771 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.23, 1.321,-0.278, 1.661, 1.228, PHS= 0.195,-1.462, 0.388, RAW= 155.4, 10.0, CAL= 155.3, 10.9, ROT= 354.7, -10.9 = Ygot valid direction response: 03:37:31.5771 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.23, 1.321,-0.278, 1.661, 1.228, PHS= 0.195,-1.462, 0.388, RAW= 155.4, 10.0, CAL= 155.3, 10.9, ROT= 354.7, -10.9  T#Rx 79: Read range and direction messages. ^direction in FSK: [0.977761,-0.090704,0.189095] Fpublishing direction and range infoy*=}I?ʐa8oG4?Y )5IG>i">^-@¸2> B>)IBbyMfK?ysF?At'Y=? ^?)2IiB checking for new query: numPingsReceived=79, elapsed TxPingTime=38.612446 ^AU x=I)I9AOM>w,J>?A28F{@2흄@2ٱ2ռ6 :AHRS rotation from veh to nav: [[-0.533577,0.817256,0.217690],[-0.835926,-0.548730,0.011126],[0.128546,-0.176036,0.975954]]2H@&?G?@2>Ɇ?2t?[ƿ;?i28F{@I2O[^;2CYBByB IbDJVDJyR=%RE=ٔVn;Q-V>9TYX=ZEFyZ[DZ9EZ>\Q 5b4^ɞ?Q 9b4^()^rBYdyfQ If?^FCI^;i^;^f4yhɮj4Aliib>?AJiRiji@b4si)MHi.if <uߧ=I(?@IEZ ESE'E"E;*EN;VE'4ZEa@a@a@a@QQQQII fA) gAy  DDAT read: Rx Time:03:37:32.0768  TRx dataTimestamp_ set to:1761536251.142569 PDAT read: Bearing 31.2, 1.3 (Local)  ~Local bearing/azimuth received: Bearing 31.2, 1.3 (Local)  DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 E eDAT read: 03:37:32.0768 LVL= 32752, 32753, 32754, 32755, AGC= 59, 2.759, 1.14, 2.648.213,-1.459, 0.38154.8, 9.9, CAL= 154.5, 10.7, ROT= 355.5, -10.7 M unknown deviceResponse_: 03:37:32.0768 LVL= 32752, 32753, 32754, 32755, AGC= 59, 2.759, 1.14, 2.648.213,-1.459, 0.38154.8, 9.9, CAL= 154.5, 10.7, ROT= 355.5, -10.7 Y @Y  @Y @] 0@Y @e gA@e gAm Z#Rx 80: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=80, elapsed TxPingTime=39.097416ԩ B->B-/CB- IB-݂BB- =B)B)B-;B-6E^Aȝ=A>A>IIO>4ô,>?AXY5By5 II=%=)==}only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- a}@a} a}@a} a}@a} a@a bDVD1y0<%=ٔQ->9Y=EFyfDE>Q 54"?Q 94},)BQ A+:YQ E:yQ I?eCI:i+?ء4yɮAB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.505827 s, deltaX: -0.500000 m, approachRate: -0.988480 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 16.63 m.bhRh;Zh ; ProNav: ac range: 16.628544 m, nav range: 15.379972 m, bearing: 234.230134 deg, approach rate: -0.456000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 233.205826 deg, new cmd heading: 233.682588 deg. BhP<%HeadingCmd: 4.078531 target range: 16.628544 and range: 16.20 m.h%S@h!*h!"h! h!g!f)f)f)d1d1d1jd5@330@Zd= ?DDAT read: Rx Time:03:37:32.5768 TRx dataTimestamp_ set to:1761536251.405499PDAT read: Bearing 32.5, 0.7 (Local) E~Local bearing/azimuth received: Bearing 32.5, 0.7 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 EZ#Rx 81: Read range message, but no direction.yYUchecking for new query: numPingsReceived=81, elapsed TxPingTime=39.388844颭Bɢr) Y>i)3i:Ci .<=IS@IEX E@E)E"EɅ;*EM;VEFA4ZEBE9 ] %=] 4= DAT read: 03:37:32.5768 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 511,-0.19, 1.633, 0.036, 1.950, 1.561, PHS= 0.175,-1.480, 0.345, RAW= 154.9, 11.0, CAL= 154.8, 12.1, ROT= 355.2, -12.1  Ygot valid direction response: 03:37:32.5768 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 511,-0.19, 1.633, 0.036, 1.950, 1.561, PHS= 0.175,-1.480, 0.345, RAW= 154.9, 11.0, CAL= 154.8, 12.1, ROT= 355.2, -12.1  Z#Rx 82: Read direction message, but no range. ^direction in FSK: [0.974354,-0.081819,0.209619]ya e aev-?"i򴿶9h?a a a a a )e 4Ie 333>ie pe ף>e c-@e D>e ,@ e @X>)e a@Ie @Xa e v̿\?5"Zt?>`zl? e ?)e IDIe ie @X checking for new query: numPingsReceived=82, elapsed TxPingTime=39.597687s,Z>?AFC{@F@FٱF4 NAHRS rotation from veh to nav: [[-0.536606,0.816409,0.213377],[-0.834823,-0.550477,0.006763],[0.122981,-0.174503,0.976946]]FH+  ?`O?޶{?{?Vƿ@%C?iFC{@IFt^;FCYzByz IbD VD 0y=]+=%EP=ٔEj9IYI=MEFyMnDMPEM>qQ 5}4u?Q 94u/)uBQ A :YQ E:yQ I?u|CIu:iul?ue4yBɮAEi i >?AJi ARi Aji p@b vbo/@}8,E# @R aev-?"i򴿶9h?Zi bi @Xj r.fa!N@2(N<1@Z )o῵3 Da?2i E:i "i U?*i 9uBi Bi `?i ti i sAi ^@E addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.262930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 16.130619 m, bearing: 234.606603 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.768757 s, deltaX: -0.497925 m, approachRate: -0.647701 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 16.13 m.bhyRh}Zhy ProNav: ac range: 16.130619 m, nav range: 15.191804 m, bearing: 234.431261 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 233.682601 deg, new cmd heading: 234.059085 deg. BhHeadingCmd: 4.085102 target range: 16.130619 and range: 16.20 m.h'@h*h"h hgfffdddjdZd?uBɢuWQ)y }d>iy)}S{yyi}]Pih 욆=I'@IA=O@9 @9@=1@9DDAT read: Rx Time:03:37:33.0765 TRx dataTimestamp_ set to:1761536251.910486%PDAT read: Bearing 31.1, 1.5 (Local) -~Local bearing/azimuth received: Bearing 31.1, 1.5 (Local) ԡDAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 EO EEE*E"E;*E;VE(N4ZEa@a@a@a@DAT read: 03:37:33.0765 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.24, 3.038, 1.407,-2.946, 2.918, PHS= 0.222,-1.466, 0.375, RAW= 154.3, 9.8, CAL= 154.1, 10.7, ROT= 355.9, -10.7 %Ygot valid direction response: 03:37:33.0765 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.24, 3.038, 1.407,-2.946, 2.918, PHS= 0.222,-1.466, 0.375, RAW= 154.3, 9.8, CAL= 154.1, 10.7, ROT= 355.9, -10.7 MT#Rx 83: Read range and direction messages.U^direction in FSK: [0.980098,-0.070255,0.185667]UFpublishing direction and range infoy g\?P34 &K{?Y|A )5ISc>i㥻>Z,@%/>!,@ t;?>)@It;?U ?7 ?? :?) 0Iiit;?checking for new query: numPingsReceived=83, elapsed TxPingTime=39.932068^A =I I O >ԙ ,??AJz@Jn@JٱJ4 RAHRS rotation from veh to nav: [[-0.538922,0.815376,0.211483],[-0.833652,-0.552268,0.004885],[0.120779,-0.173670,0.977369]]JH>?`?`G .t?@Y?:ƿ`F?iJz@IJk^;JCYnByn I%checking for new query: numPingsReceived=83, elapsed TxPingTime=40.091877amam auau auau auau iuMb@Mb@Mb@qyqqq q9uQ?+ηMbP?Yu>yuvu:uAu @ uA)u@qYu@bDVDk2y#<%E=ٔ;Q->9Y=EFywD ͻE>Q 54ry?Q 943)BQ AT:YT>Q E:ypQ I?CI;i;4yBɮ)A Ei)i-gE>?AJi-{ARi-{Aji-:2@b-7c.@YX-0n$^@R- g\?P34 &K{?Zi-ibi-t;?j-һ/!Cu(iZ@Z-zῑߵ7:z?2i-C:i-} "i-"P?*i-P^DuBi-vBi-?i-9ui)i-oAi- @ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504987 s, deltaX: -0.400001 m, approachRate: -0.792101 m/s, rangeRepo size: 4  Added new target pos. range: 15.732332 m, bearing: 234.905884 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504987 s, deltaX: -0.398287 m, approachRate: -0.788707 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.73 m.bhRhZh  ProNav: ac range: 15.732332 m, nav range: 14.994739 m, bearing: 234.635613 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 234.059081 deg, new cmd heading: 234.441643 deg. Bh)5HeadingCmd: 4.091779 target range: 15.732332 and range: 15.80 m.h5@h1*h9"h9 h9g9f9fAfE܁BdAdAdAjdM/@ZdM`9?颽BɢX) >i)Kiʸ_im@ m=жBB!IBBB =BBDB;B6EQ@ @@/@@ =@ =^A~4=AfAzAI9IIO]v>DDAT read: Rx Time:03:37:33.5765  TRx dataTimestamp_ set to:1761536252.412894E PDAT read: Bearing 31.7, 1.3 (Local) U ~Local bearing/azimuth received: Bearing 31.7, 1.3 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 bE(N4jEʼP4rE60E N E JE E "E @;*E ;VE ZE BE ih33>!,@f;>,@ M>)@IM+Fh ?K ?"f? k?)%C9tYt=vEFyv~D5E=>9Q 5E4=in?Q 9M4=)7)=BYIyMQ IM?=CI=:i=P:=f4y}Bɮ}$A}Eiil??AJi{ARi{AjiZ4@bRF.@|24k+ @R3zG?Pci?Zi)biMju!W4_(}N@ZQØh῟soI迌m?2iB:i"iF?*iuwBiʌBiiP^Dui=BilAi@% addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.502408 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.732160 m, bearing: 234.920742 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.502408 s, deltaX: -0.000173 m, approachRate: -0.000344 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 15.73 m.bh9RhAZhA ProNav: ac range: 15.732160 m, nav range: 14.809687 m, bearing: 234.748696 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 234.441653 deg, new cmd heading: 234.782485 deg. BhHeadingCmd: 4.097727 target range: 15.732160 and range: 15.80 m.h @h*h"h hgfffdddjdZd|?Bɢ.9T) >i!)%b鯽!!i%Emi- -G<-O=I- @I1-checking for new query: numPingsReceived=84, elapsed TxPingTime=40.596699@ @@@!^A= =Y Aq I  DDAT read: Rx Time:03:37:34.0762  TRx dataTimestamp_ set to:1761536252.917280- PDAT read: Bearing 30.7, 1.9 (Local) = ~Local bearing/azimuth received: Bearing 30.7, 1.9 (Local) u DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 I  Z#Rx 85: Read range message, but no direction.y Y tA O >Ώ,=??A.checking for new query: numPingsReceived=85, elapsed TxPingTime=40.899361ENZ ENHELEL"EN;*EN;VELZELab@ab@ab@ab@yYMByM IiMb@Mb@Mb@ 9E?Q뱿MbY?y\ A@ A)@YG@bDVDy<% =ٔ Q- >9Y=EFyDE>!Q 5%4%C_?Q 9-4%<)%ΊBY-?Q E-:y-Q I-?%CI%:i%:%4y9ɮ=A9m addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504386 s, deltaX: -0.500000 m, approachRate: -0.991304 m/s, rangeRepo size: 4 jhimDNOT Ignoring new targets: 15.73 m.bhiRhu|l;Zhu|l; ProNav: ac range: 15.732160 m, nav range: 14.535738 m, bearing: 234.853135 deg, approach rate: -0.532291 m/s, LOS rate: 0.206751 deg/s, cmd heading: 234.782480 deg, new cmd heading: 235.101696 deg. Bh <HeadingCmd: 4.103299 target range: 15.732160 and range: 15.30 m.h9N@h*h"h hԑgfffBdddjd.@Zd@?Bɢ-a) [>i)i?}iC Ƿ</p@=I9N@Iyu=u=DAT read: 03:37:34.0762 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-2.746, 1.885,-2.471,-2.882, PHS= 0.238,-1.471, 0.367, RAW= 153.6, 9.8, CAL= 153.4, 10.6, ROT= 356.6, -10.6 Ygot valid direction response: 03:37:34.0762 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-2.746, 1.885,-2.471,-2.882, PHS= 0.238,-1.471, 0.367, RAW= 153.6, 9.8, CAL= 153.4, 10.6, ROT= 356.6, -10.6 Z#Rx 86: Read direction message, but no range.^direction in FSK: [0.981205,-0.058294,0.183951]yquñwf?0Ac.ح =η?qqqq q)qIuFs>iuIum>u+@u%/>uuY+@ uq=>)u)@Iuq=quY0C?- t?A? ug%?)u.Iusiuq=checking for new query: numPingsReceived=86, elapsed TxPingTime=41.114906 P@  @ @ @ ^A`T=A I I) B= >B= .CB= "!IB= BB9 B9 B9 B= ;B= 6EOU > jՏ,|V??A2\ z@2@2-pٱ21 :AHRS rotation from veh to nav: [[-0.550563,0.808918,0.206233],[-0.826943,-0.562282,-0.002150],[0.114222,-0.171727,0.978500]]2H5 ?@e? Pv7|a=?&ſ@O?i2\ z@I2"P^;2CYNByR IbDZ VDZ2yb(=%b=ٔbwi)%i(iE,? EBi | ף> f;> v+@ M>) o@I M vR+2?/xK)l?Kf? q??) {EA > I I O >ۏ,|q??A2{y@2Ӄ@2H`ٱ22 :AHRS rotation from veh to nav: [[-0.555196,0.805919,0.205552],[-0.824175,-0.566305,-0.005756],[0.111766,-0.172606,0.978629]]2H`+?O?@_@,w?ƿP?i2{y@I2nq^;2CYBByB IIF=)F=bDNVDN:2yR<=%VB=ٔV ;Q-V>9XYX=ZEFyZD^RE^>\Q 5b4^/J?Q 9f4^D)^BYdyf Q If?^CI^:i^:^ ʡ4ynBɮn}AnEzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 14.94 m.bhRh Ե;Zh Ե; ProNav: ac range: 14.935531 m, nav range: 14.145670 m, bearing: 235.109558 deg, approach rate: -0.663786 m/s, LOS rate: 0.317936 deg/s, cmd heading: 235.339823 deg, new cmd heading: 235.657197 deg. Bh2Z<%HeadingCmd: 4.112994 target range: 14.935531 and range: 15.00 m.h%@h!*h!"h) h)g)f)f)f1d1d1d9jd9Zd=͌?BɢW;) j?i ))5xw11i5:i=i =<=&iNb>+@^AM$=q=>*@ 4QO>)b@I4QOU4X?Մ./?؍? 3?)@=IQwVi4QOchecking for new query: numPingsReceived=89, elapsed TxPingTime=41.967438ԑI) I9 OE >Ա  checking for new query: numPingsReceived=89, elapsed TxPingTime=42.107883,??A2BQy@2r@2߽ٱ22 :AHRS rotation from veh to nav: [[-0.560200,0.802883,0.203851],[-0.821153,-0.570635,-0.009112],[0.109009,-0.172497,0.978960]]2H(@7??FBM@?dƿS?i2BQy@I2>U^;0YnByn Ii}Mb@Mb@Mb@yyyy y9}sh|??y&1Y} ?y}`e}}C A}@ }A)}@yY}@bDVDy%<=ٔ;Q->9Y=EFyD2]E>Q 54i=?Q 94H)BY ?Q E:ylQ I?CI ;i ;ѡ4yɮAiiOt{??AJi0jARi0jAji@bb],@P%)迚PǍ@RIѮM?}?o?ZiQwVbi4QOj#"& |O&N|-I@Zԛ.tt返b\'?2i5:i`"iH?*ih~sBiًBii9uivBi^Ai[@ԑ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.508183 s, deltaX: -0.300000 m, approachRate: -0.590339 m/s, rangeRepo size: 4  Added new target pos. range: 14.636820 m, bearing: 234.757082 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.508183 s, deltaX: -0.298711 m, approachRate: -0.587802 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.64 m.bhRhZh ProNav: ac range: 14.636820 m, nav range: 13.910485 m, bearing: 235.195197 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 235.657208 deg, new cmd heading: 236.077676 deg. Bh%HeadingCmd: 4.120333 target range: 14.636820 and range: 14.70 m.h%ك@h!*h!"h! h!g)f)BQAU<B]>BYB](!IB]BB] =BYBYB];B]q6EB%/CB%/CB!B%÷ =B%÷ =C%Ö5fqf}Bdydydyjd}`ff-@Zd̕?-Bɢ- T)1 5?i1)5-11i5F>i=.l =iZ>*@B>{*@ PwV>)8q@IPwV$3Z?|l?<."3K? g?)@CIQQOiPwVe checking for new query: numPingsReceived=90, elapsed TxPingTime=42.426212^AE Nw =I I O > ',_??A2x@2t@2ؽٱ22 :AHRS rotation from veh to nav: [[-0.565061,0.799879,0.202237],[-0.818244,-0.574722,-0.013099],[0.105752,-0.172881,0.979249]]2H??@ /@ dӊ@? ƿ V?i2x@I2J^;0YNByN IbDZVDZyZ<% U=ٔ  9Y=EFyDrE>9Q 5E4=2?Q 9M4=L)=BYIyMQ IM?=:CI=t:i=:=pء4yyɮ}cAyii??AJihARihAji1@b?g,@b)>-@Rg+B?\kVhٜ?ZiQQObiPwVj -~&ٌ,W@ZzLؕ3~;eߒ0?2i3:i"iՐ?*iHtBiBiF?iHtiBi[[AiP@= addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.500903 s, deltaX: -0.099999 m, approachRate: -0.199638 m/s, rangeRepo size: 4 M Added new target pos. range: 14.537163 m, bearing: 234.611878 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.500903 s, deltaX: -0.099657 m, approachRate: -0.198955 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 14.54 m.bhIRhqZhq ProNav: ac range: 14.537163 m, nav range: 13.709905 m, bearing: 235.114939 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.077675 deg, new cmd heading: 236.459645 deg. BhHeadingCmd: 4.126999 target range: 14.537163 and range: 14.60 m.checking for new query: numPingsReceived=90, elapsed TxPingTime=42.611927ha@h*h"h hgfffdddjd@33-@ZdS??Bɢ0C) ?i)iDi ݼ<H;Ia@IQ@ @@3@@=@=^Aa5<IIOm>Q  DDAT read: Rx Time:03:37:36.0755  TRx dataTimestamp_ set to:1761536254.934181 PDAT read: Bearing 31.2, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 31.2, 1.0 (Local)  DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 E5 X E5 ^E5 +E1 "E5 Ʌ;*E5  ;VE5 [4ZE1 aU @!,w??Aa&@a&@a&@5DAT read: 03:37:36.0755 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.20, 0.675,-0.997, 0.935, 0.574, PHS= 0.203,-1.526, 0.317, RAW= 153.2, 11.3, CAL= 153.1, 12.4, ROT= 356.9, -12.4 Ygot valid direction response: 03:37:36.0755 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.20, 0.675,-0.997, 0.935, 0.574, PHS= 0.203,-1.526, 0.317, RAW= 153.2, 11.3, CAL= 153.1, 12.4, ROT= 356.9, -12.4 T#Rx 91: Read range and direction messages.^direction in FSK: [0.975243,-0.052817,0.214735]Fpublishing direction and range infoy6215?D{ h`r|?YdA x@K@ѽٱVM4)5I;O>iSÿM>D +@I>+@ k]>)T@Ik]"6yE?Q*G+?͉? -?)6HIQ]ik]checking for new query: numPingsReceived=91, elapsed TxPingTime=42.993359 %AHRS rotation from veh to nav: [[-0.569366,0.797071,0.201244],[-0.815703,-0.578199,-0.017730],[0.102227,-0.174250,0.979381]]H?8?Z?='@+?Mƿ@W?ix@I9Y=EFyDF$E> Q 54 3$?Q 94 R) BY)?Q E:yX Q I? ]CI  :i : 4yEBɮEAE'Eiiɻ??AJicARicAjioς@bg+@q~u@R6215?D{ h`r|?ZiQ]bik]jG6PLt%`.@ZU ;.s6ә7QOm?2i#/:i}"iL?*i0rBi֋BiH?ih~siًBiVAik,@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504304 s, deltaX: -0.300000 m, approachRate: -0.594880 m/s, rangeRepo size: 4  Added new target pos. range: 14.238454 m, bearing: 234.214924 deg, lat: 36.779328 deg, lon: -121.859585 deg, deltaT: 0.504304 s, deltaX: -0.298709 m, approachRate: -0.592319 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 14.24 m.bh Rh Zh = ProNav: ac range: 14.238454 m, nav range: 13.422020 m, bearing: 234.865264 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.459646 deg, new cmd heading: 236.930740 deg. BhAEHeadingCmd: 4.135221 target range: 14.238454 and range: 14.30 m.hMS@hI*hI"hI hIgIfIfQfUcBdQdQdYjd},@Zd}CS?checking for new query: numPingsReceived=91, elapsed TxPingTime=43.115963BɢO) V?i))iivA,=??AnDDAT read: Rx Time:03:37:36.5754 vTRx dataTimestamp_ set to:1761536255.438135PDAT read: Bearing 30.9, 1.8 (Local)  ~Local bearing/azimuth received: Bearing 30.9, 1.8 (Local) ]DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 DAT read: 03:37:36.5754 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.01,-2.936, 1.659,-2.710,-3.058, PHS= 0.224,-1.521, 0.305, RAW= 152.2, 11.1, CAL= 152.1, 12.2, ROT= 357.9, -12.2 Ygot valid direction response: 03:37:36.5754 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.01,-2.936, 1.659,-2.710,-3.058, PHS= 0.224,-1.521, 0.305, RAW= 152.2, 11.1, CAL= 152.1, 12.2, ROT= 357.9, -12.2 T#Rx 92: Read range and direction messages.Een EeLEaEa"EeÏ;*Ee;VEaZEaBEe-ir!¿r(>rP*@raF>r)@ r^ Z>)r@Ir^ Zppr}~?.Ɓ?͍l8? r?)rAwFIrQ ir^ ZppbDVD0y"=%Q=ٔ%d9!Y!=-EFy-D-E->=checking for new query: numPingsReceived=92, elapsed TxPingTime=43.4512101YQ 5u45>?Q 9}45]W)5BYyy} Q I}?5yCI5@br\m+@ϲ͚7@RryZ A?O~V\ ?ZirQ bir^ Zjr6!V#%Ce@Zr?!tS`d:|?2ir.:ir"irqU擜?*ir/vBirzBirqU擜?ipir֋BirSAir@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503954 s, deltaX: -0.200000 m, approachRate: -0.396861 m/s, rangeRepo size: 4  Added new target pos. range: 14.039316 m, bearing: 234.990916 deg, lat: 36.779328 deg, lon: -121.859585 deg, deltaT: 0.503954 s, deltaX: -0.199138 m, approachRate: -0.395151 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 14.04 m.bh RhZh% ProNav: ac range: 14.039316 m, nav range: 13.241579 m, bearing: 234.665694 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.930738 deg, new cmd heading: 237.314740 deg. Bh!-HeadingCmd: 4.141923 target range: 14.039316 and range: 14.10 m.h-@hI*hI"hI hIgIfQfQfQdQdYdYjd]@33,@Zd]?Bɢ~?) ?i)ĩi$io < eTI @I!ԁQ@ @@4@mchecking for new query: numPingsReceived=92, elapsed TxPingTime=43.620903^AX;Թ A .AI I O >``,!??A22x@2@2^ýٱ23 :AHRS rotation from veh to nav: [[-0.575326,0.793942,0.196615],[-0.812359,-0.582650,-0.024317],[0.095251,-0.173712,0.980179]]2H i g? *? 昿@`b?0<ƿ]?i22x@I2s~^;2CYBЂByB IbDJVDJLyVo,K@?AFax@F@F#ٱFJ/ RAHRS rotation from veh to nav: [[-0.576750,0.794127,0.191626],[-0.811780,-0.583404,-0.025558],[0.091499,-0.170299,0.981135]]FH@t~i?3? `>+@~l?Xſue?iFax@IFd^;FCYZۂByZ II^<)^4<\^Ahvonly read 0 of 1 data item for BIT error. Device response is::TS,00050307255455,35.0, +0.0,1494.6, 0 av@av av@av av@av av@av bDB>BB4!IBBBBBBL;B56EVDky3=%-=ٔ9"?Y"?=EFy˞DPE>Q 54?Q 94`)3BQ A+:YQ E:y Q I?CI:i>84yBɮA&E addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504825 s, deltaX: -0.400001 m, approachRate: -0.792355 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 14.04 m.bhRh%:Zh%:5 ProNav: ac range: 14.039316 m, nav range: 12.800549 m, bearing: 234.722434 deg, approach rate: -0.556775 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.381012 deg, new cmd heading: 237.487992 deg. Bh5O;=HeadingCmd: 4.144948 target range: 14.039316 and range: 13.70 m.h=i@h9*h9"h9 h9gAfAfAfAdIdIdIjdU`ff+@ZdUa?颅Bɢ;) ?i)  i s;i v<Ii@IO@ @@@^A$?DDAT read: Rx Time:03:37:37.5750 TRx dataTimestamp_ set to:1761536256.443586 PDAT read: Bearing 30.0, 2.1 (Local) ~Local bearing/azimuth received: Bearing 30.0, 2.1 (Local) -DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 mDAT read: 03:37:37.5750 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.16, 2.114, 0.406, 2.318, 1.961, PHS= 0.255,-1.510, 0.313, RAW= 151.6, 10.5, CAL= 151.4, 11.5, ROT= 358.6, -11.5 }Ygot valid direction response: 03:37:37.5750 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.16, 2.114, 0.406, 2.318, 1.961, PHS= 0.255,-1.510, 0.313, RAW= 151.6, 10.5, CAL= 151.4, 11.5, ROT= 358.6, -11.5 }T#Rx 94: Read range and direction messages.^direction in FSK: [0.979632,-0.023941,0.199368]Fpublishing direction and range infoyN2%Y?Ai?YXA )8I\>iGA>V)@f;>)@ M>)G@IM?"|?:Z? 5 ?);I*ȼiMchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.403023)E@ E=E*E"Eu;*E;VE(N4ZEBE!Y ,)@?A-*x@-@-5ٱ-t(Echecking for new query: numPingsReceived=94, elapsed TxPingTime=44.628422Q AHRS rotation from veh to nav: [[-0.577322,0.795604,0.183615],[-0.811826,-0.583372,-0.024789],[0.087394,-0.163375,0.982686]]-H`kyu?@?@{cbn_?{Ŀ(r?i-*x@I-^;)YuByu IbDVD yrA=%:=ٔ9Y=EFyԞDE>Q 54x?Q 94e)?BQ A :YQ Ey:y Q I?CI ;ii?@4yɮuAi1i5c@?AJi5WARi5WAji5Q@b5AhV*@r|UԿo"]p@R5N2%Y?Ai?Zi5*ȼbi5Mj51vsSՃ?#%F۱@Z5hN?Ft)CD?2i5):i5"i5h?*i5{Bi5Bi5Ր?i5Hti1i5IAi5@U addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.500626 s, deltaX: -0.200000 m, approachRate: -0.399499 m/s, rangeRepo size: 4 e Added new target pos. range: 13.441807 m, bearing: 235.124681 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 1.005451 s, deltaX: -0.597509 m, approachRate: -0.594270 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 13.44 m.bhiRhZh ProNav: ac range: 13.441807 m, nav range: 12.616635 m, bearing: 234.748163 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.488000 deg, new cmd heading: 237.588491 deg. BhHeadingCmd: 4.146701 target range: 13.441807 and range: 13.50 m.hDZ@h*h"h h g f ffdddjd+@Zd@?i颅Bɢ2) ^?i)w顑ii(z<6IDZ@I=P@9 @9@A@AԙiI DDAT read: Rx Time:03:37:38.0748  TRx dataTimestamp_ set to:1761536256.946450 PDAT read: Bearing 31.4, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 31.4, 0.8 (Local) = DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 } DAT read: 03:37:38.0748 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-1.080,-2.760,-0.850,-1.179, PHS= 0.201,-1.536, 0.285, RAW= 152.3, 11.8, CAL= 152.3, 13.0, ROT= 357.7, -13.0  Ygot valid direction response: 03:37:38.0748 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-1.080,-2.760,-0.850,-1.179, PHS= 0.201,-1.536, 0.285, RAW= 152.3, 11.8, CAL= 152.3, 13.0, ROT= 357.7, -13.0  T#Rx 95: Read range and direction messages. ^direction in FSK: [0.973585,-0.039103,0.224951]E Fpublishing direction and range infoy  4s'?VO:/2?Y QA     ) 7I M>i Ŀ^Ae  > *@ BR> *@E b E GE +E "E Q;*E ;VE [4 ZE a @a @a @a @  Vh>) @I Vh   g|w?c.?qG!J ?  ?) |RI Ql$i Vh  - checking for new query: numPingsReceived=95, elapsed TxPingTime=44.973900A .AI I O= >]I,seE@?Ahe!x@e @eeUٱe" AHRS rotation from veh to nav: [[-0.576735,0.797569,0.176805],[-0.812647,-0.582250,-0.024303],[0.083561,-0.157697,0.983946]]eHt??`3ʡ☿Hd?i/Ŀ{|?ie!x@Ief^;eCYuByu!IaUaU a]a] a]a] a]a] i]Mb@Mb@Mb@YYYY Ymchecking for new query: numPingsReceived=95, elapsed TxPingTime=45.1320089]l?MbPMbpY]?y]]]^A]@ ]&@)]M@YY]@bDVD0yj=%2=ٔ 9 ?Y ?=EFyݞD];E>Q 54-鞊?Q 9 4k)IBQ A T:Y ?Q E :y 5 Q I ?CI1BBG!IB BB =BBB7;B 6E1@ @@@@@=a ] DDAT read: Rx Time:03:37:38.5747 ] TRx dataTimestamp_ set to:1761536257.455838u PDAT read: Bearing 32.6, -0.2 (Local) u ~Local bearing/azimuth received: Bearing 32.6, -0.2 (Local)  DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4  DAT read: 03:37:38.5747 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.18,-1.950, 2.671,-1.707,-2.014, PHS= 0.166,-1.553, 0.264, RAW= 152.7, 12.6, CAL= 152.8, 14.1, ROT= 357.2, -14.1 ^A bި Ygot valid direction response: 03:37:38.5747 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.18,-1.950, 2.671,-1.707,-2.014, PHS= 0.166,-1.553, 0.264, RAW= 152.7, 12.6, CAL= 152.8, 14.1, ROT= 357.2, -14.1 % T#Rx 96: Read range and direction messages.bEQjEUL4rEUַ/E ] E aE E "E ;*E !;VE ZE BE i] ƿ] +>] J*@] z0a>] *@ ] d{>)] @I] d{Y Y ] /RB?|?) ? ] R?)] aI] *Hi] d{Y Y  checking for new query: numPingsReceived=96, elapsed TxPingTime=45.462257ԁ A؟AI IO%>\,c@?ARtGx@R@RB?ٱRF zAHRS rotation from veh to nav: [[-0.575054,0.800678,0.168011],[-0.814232,-0.580113,-0.022280],[0.079626,-0.149612,0.985533]]RH f'?c?@/HЖ`b?}&ÿ }?iRtGx@IRGZ^;RCYBy&!I==bD}VD}yd=%I=ٔd9"?Y"?=EFyD m;E>Q 54\ݞ?Q 9%4p)SBY!y% Q I%?CI:i:t4y5ŔBɮ5A5/Eiis,]@?AJiMARiMAjił@bU(@t'y'I` @RJȴ?9A .?Zi*Hbid{jɮvw #󋘩@ZAῈ(WЈ@?2i:i"i ?*i*sBiYBih?iԉiYBiBAiJ@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.509388 s, deltaX: -0.200001 m, approachRate: -0.392630 m/s, rangeRepo size: 4  Added new target pos. range: 12.844409 m, bearing: 234.145721 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 0.509388 s, deltaX: -0.199122 m, approachRate: -0.390905 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.84 m.bhRhZh- ProNav: ac range: 12.844409 m, nav range: 12.161571 m, bearing: 234.465700 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.696703 deg, new cmd heading: 237.787697 deg. Bh)5HeadingCmd: 4.150178 target range: 12.844409 and range: 12.90 m.h5C΄@h1*h1"h1 h1g9f9f9f9dAdAdajdm)@Zdmb?颵Bɢg) :$?i)ä项i gi.=*<KIC΄@Ichecking for new query: numPingsReceived=96, elapsed TxPingTime=45.640991A@I @I@I@IԹ^Aa A I I O > ,|@?ADDAT read: Rx Time:03:37:39.0744 "TRx dataTimestamp_ set to:1761536257.958427*PDAT read: Bearing 33.2, -0.6 (Local) .~Local bearing/azimuth received: Bearing 33.2, -0.6 (Local) 6DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 FDAT read: 03:37:39.0744 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.00,-2.139, 2.489,-1.885,-2.190, PHS= 0.152,-1.559, 0.261, RAW= 153.0, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 JYgot valid direction response: 03:37:39.0744 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.00,-2.139, 2.489,-1.885,-2.190, PHS= 0.152,-1.559, 0.261, RAW= 153.0, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 NT#Rx 97: Read range and direction messages.R^direction in FSK: [0.967073,-0.054068,0.248690]RFpublishing direction and range infoy\B?U!ήl?YHA )I>iPǿˡ>*@f>D +@ >)SF@Iy0$?b7?8U? G?)fIdi%checking for new query: numPingsReceived=97, elapsed TxPingTime=45.924366vx@B6@UٱEu^ EuEEu1Eq"Eu;*Eu;VEu-4ZEqa}@a}@a@a@ AHRS rotation from veh to nav: [[-0.572845,0.803957,0.159692],[-0.816108,-0.577558,-0.019864],[0.076262,-0.141705,0.986967]]HT?p?Z{*Wᅳ?`#¿;?ivx@IIo^;CYByB!IbDVD0y=%"=ٔ;Q->9Y=EFyD;E>!Q 5-4%Ξ?Q 9-4%)w)%]BY1y5 Q I5?%9CI%:i%:%A4yÔBɮ: A.EiiV}@?AJi#GARi#GAji@b#Q(@s+忡@R\B?U!ήl?ZidbijnG^"~ԉlE@Z% #Dj)1J?2i:i""ii򅜊?*ipBi>Bi,q?ii>Bi=Ai+@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502589 s, deltaX: -0.400000 m, approachRate: -0.795878 m/s, rangeRepo size: 4  Added new target pos. range: 12.446134 m, bearing: 233.832095 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 0.502589 s, deltaX: -0.398275 m, approachRate: -0.792447 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.45 m.bhRh9Zh9M ProNav: ac range: 12.446134 m, nav range: 11.866197 m, bearing: 234.443862 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.787708 deg, new cmd heading: 237.903420 deg. BhIUHeadingCmd: 4.152198 target range: 12.446134 and range: 12.50 m.hUބ@hQ*h"h hgfffdddjd)@Zd`?Bɢ) d/?i)Ui»i%b%L<%I-ބ@I)checking for new query: numPingsReceived=97, elapsed TxPingTime=46.144676@ @@@@@gAI B A <B B B Z!IB /BB =B B B ;B 6Eq ^A XA!I1IIO]?t&,'@?ADDAT read: Rx Time:03:37:39.5743 TRx dataTimestamp_ set to:1761536258.462265"PDAT read: Bearing 34.5, -1.0 (Local) &~Local bearing/azimuth received: Bearing 34.5, -1.0 (Local) *DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 >DAT read: 03:37:39.5743 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501, 0.11, 0.430,-1.231, 0.682, 0.403, PHS= 0.128,-1.589, 0.235, RAW= 153.0, 13.7, CAL= 153.2, 15.4, ROT= 356.8, -15.4 BYgot valid direction response: 03:37:39.5743 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501, 0.11, 0.430,-1.231, 0.682, 0.403, PHS= 0.128,-1.589, 0.235, RAW= 153.0, 13.7, CAL= 153.2, 15.4, ROT= 356.8, -15.4 FT#Rx 98: Read range and direction messages.J^direction in FSK: [0.962592,-0.053818,0.265556]JFpublishing direction and range infoyA?.?<?Y` )5Io>iZd˿ףp>Gt> >)I? HT?r`#f? zm?)uIiuchecking for new query: numPingsReceived=98, elapsed TxPingTime=46.430759x@)R@.ٱ: E` E]E*E"Ei;*E;VE(N4ZEBE59Y=EFyD<E>Q 54ž?Q 94|)fBYy  Q I ?YCI%-,̹@?ADDAT read: Rx Time:03:37:40.0740 TRx dataTimestamp_ set to:1761536258.964726PDAT read: Bearing 33.7, -1.1 (Local) ~Local bearing/azimuth received: Bearing 33.7, -1.1 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 EDAT read: 03:37:40.0740 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.29,-1.045,-2.707,-0.781,-1.098, PHS= 0.155,-1.564, 0.273, RAW= 153.3, 12.7, CAL= 153.4, 14.2, ROT= 356.6, -14.2 UYgot valid direction response: 03:37:40.0740 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.29,-1.045,-2.707,-0.781,-1.098, PHS= 0.155,-1.564, 0.273, RAW= 153.3, 12.7, CAL= 153.4, 14.2, ROT= 356.6, -14.2 T#Rx 99: Read range and direction messages.^direction in FSK: [0.967739,-0.057494,0.245307]YHByz!II<)p<A  AAEuX EuTEu(Eq"EuɅ;*Eu;VEuc44ZEqa}@a}@a}@a@Fpublishing direction and range infoyB?6+o/;f?Y@AbDVD:y>%$=ٔQ->9Y=EFyD )6IR>i'1ȿƋ><+@E>9b>uY+@ }>))@I}C-.?}WV=."?7(?Q 54 !?) "cIsi}=?Q 94=)=pBYyQ I?=~C-checking for new query: numPingsReceived=99, elapsed TxPingTime=46.998459I=tB} -CB} !IB} MBB} =By B} DB} ;B} 5EBM.CBM-CBIBM̸ =BM̸ =CMG5Ա ^A AI)IYO ?:6,i@?AN^y@ND@NᨃٱN%ݽ VAHRS rotation from veh to nav: [[-0.561708,0.817834,0.125028],[-0.824838,-0.565315,-0.007872],[0.064243,-0.107550,0.992122]]NH+??e `5r?@bv?iN^y@IN\a^;LbDDAT read: Rx Time:03:37:40.5739 fTRx dataTimestamp_ set to:1761536259.468798jPDAT read: Bearing 35.2, -2.4 (Local) j~Local bearing/azimuth received: Bearing 35.2, -2.4 (Local) rDAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 MDAT read: 03:37:40.5739 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.48,-0.332,-1.964,-0.036,-0.337, PHS= 0.107,-1.582, 0.257, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 UYgot valid direction response: 03:37:40.5739 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.48,-0.332,-1.964,-0.036,-0.337, PHS= 0.107,-1.582, 0.257, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 UV#Rx 100: Read range and direction messages.]^direction in FSK: [0.961123,-0.075642,0.265556]]Fpublishing direction and range infoy`bC?JoD]<?Ybf>A```` `)b4Ib"=ib~ʿb>b9>,@bGt>b,@ b>)bu@Ib`YZBy!IE]f E]VE]-EY"E]";*E];VE]t4ZEYBE]9Y=EFy D(<E> Q 54 w?Q 94 R) yBQ A+:YQ E:y Q I? CI :i ? u(4y%Bɮ%6 A%-Ei`ib@?AJib=ARib=Ajib[@bbU&@.(z쿣[+ @RbC?JoD]<?Zibi٠bibjbv~k!!{ۘ@Zbg1⿿Y[>,7@?AVEy@VŃ@V{ٱV|eн ^AHRS rotation from veh to nav: [[-0.559016,0.820663,0.118375],[-0.826879,-0.562345,-0.006274],[0.061419,-0.101389,0.992949]]VH vB?@M?u`y@Kr?``=?iVEy@IV+i^;VCYfmByf!IbDnVDnixIx~DDAT read: Rx Time:03:37:41.0737 TRx dataTimestamp_ set to:1761536259.973171 PDAT read: Bearing 36.1, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 36.1, -3.4 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 EDAT read: 03:37:41.0737 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511,-0.31,-2.747, 1.925,-2.423,-2.724, PHS= 0.079,-1.590, 0.257, RAW= 155.0, 14.1, CAL= 155.5, 16.0, ROT= 354.5, -16.0 MYgot valid direction response: 03:37:41.0737 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511,-0.31,-2.747, 1.925,-2.423,-2.724, PHS= 0.079,-1.590, 0.257, RAW= 155.0, 14.1, CAL= 155.5, 16.0, ROT= 354.5, -16.0 MV#Rx 101: Read range and direction messages.U^direction in FSK: [0.956836,-0.092133,0.275637]]Fpublishing direction and range infoyKf?~Dʂ ?Y9A )5Iʡ=i˿"-@d{>-@ 5>)z@I5yvf=%:=ٔ;Q->9Y=EFyD;E>4Bu +CBu !IBu qBBu =Bu ?DBu DBu ;Bu 5E^A *: AII OU?F,`A?AL\ɰ^;DDAT read: Rx Time:03:37:41.5736  TRx dataTimestamp_ set to:1761536260.476728PDAT read: Bearing 35.5, -3.5 (Local) ~Local bearing/azimuth received: Bearing 35.5, -3.5 (Local) %DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 MDAT read: 03:37:41.5736 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.14,-2.041, 2.626,-1.710,-2.039, PHS= 0.100,-1.573, 0.285, RAW= 155.2, 13.3, CAL= 155.5, 15.0, ROT= 354.5, -15.0 UYgot valid direction response: 03:37:41.5736 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.14,-2.041, 2.626,-1.710,-2.039, PHS= 0.100,-1.573, 0.285, RAW= 155.2, 13.3, CAL= 155.5, 15.0, ROT= 354.5, -15.0 UV#Rx 102: Read range and direction messages.]^direction in FSK: [0.961479,-0.092580,0.258819]eFpublishing direction and range infoy  EVo?TV!}?Y f6A     ) 6I =i Xɿ > -\-@ ,m>   >) I    =0r?>?SG#? 5?y@) 9nI i   checking for new query: numPingsReceived=102, elapsed TxPingTime=48.435867$܃@qٱCý AHRS rotation from veh to nav: [[-0.556857,0.823055,0.111760],[-0.828512,-0.559954,-0.004379],[0.058976,-0.095033,0.993726]]H`xV?G?+$q"2?@T?iy@IW^;CYBy!I = =EW EHE*E"ET;*E;VE(N4ZEBE'9yYy=}EFy}"D;E>Q 54?Q 94j)BQ AT:Y?Q E:y Q I?CIY;i;84yєBɮ5 A6Ei i A?AJi 5ARi 5Aji A@b  ɶ%@D124s@R EVo?TV!}?Zi bi  j @8jt| e[M @Z _XN⿥ S#?2i u:i "i 06\?*i ]uBi ފBi Ln?i si i )Ai @ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503557 s, deltaX: -0.200001 m, approachRate: -0.397176 m/s, rangeRepo size: 4  Added new target pos. range: 11.350477 m, bearing: 232.003513 deg, lat: 36.779324 deg, lon: -121.859585 deg, deltaT: 0.503557 s, deltaX: -0.199338 m, approachRate: -0.395860 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.35 m.bhRhZh ProNav: ac range: 11.350477 m, nav range: 10.566724 m, bearing: 232.770900 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 238.348467 deg, new cmd heading: 238.465671 deg. Bh HeadingCmd: 4.162011 target range: 11.350477 and range: 11.40 m.h 2/@h *h "h  h g fffgBdd9d9jd=&@ZdE`?颉ɢ?) Vf?i)!顱i'.ܻiR=<@I2/@IUO@Q @Q@U4@Yߵ%=ߵR=checking for new query: numPingsReceived=102, elapsed TxPingTime=48.664417! ^Au 2DI AQIqI|9YVfAO?ŻN,=A?A>DDAT read: Rx Time:03:37:42.0733 >TRx dataTimestamp_ set to:1761536260.980799BPDAT read: Bearing 36.9, -4.3 (Local) F~Local bearing/azimuth received: Bearing 36.9, -4.3 (Local) NDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 ^DAT read: 03:37:42.0733 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.06,-2.854, 1.836,-2.510,-2.814, PHS= 0.062,-1.589, 0.260, RAW= 155.6, AL= 156.1, 16.3, ROT= 353.9, -16.3 b!unknown deviceResponse_: 03:37:42.0733 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.06,-2.854, 1.836,-2.510,-2.814, PHS= 0.062,-1.589, 0.260, RAW= 155.6, AL= 156.1, 16.3, ROT= 353.9, -16.3 b\#Rx 103: Read range message, but no direction.y0A<fchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.927513hDzDE U E cE 'E "E l;*E ";VE '4ZE a@a@a@a@YBy!IbD=VD=y#>%&=ٔQ->9Y =EFy,DE> Q 54 {?Q 94 ) BYyQ I? CI :i 1: lA4y%ǔBɮ%A)MB*** querying acoustic contact ***iI iI] addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504071 s, deltaX: -0.400000 m, approachRate: -0.793538 m/s, rangeRepo size: 4 jhaeDNOT Ignoring new targets: 11.35 m.bhaRhmZhm ProNav: ac range: 11.350477 m, nav range: 10.266973 m, bearing: 232.703513 deg, approach rate: -0.581754 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.465673 deg, new cmd heading: 238.257610 deg. BhHeadingCmd: 4.158380 target range: 11.350477 and range: 11.00 m.hr@h*h"h hgfffdddjd&@Zd@?AɢE=q)i mx?ii)miiim!iuuB B !IB BB =B B B ;B 5E^A9 ԉ AIIO>LV,1\A?AFW(z@F@FaRٱF RAHRS rotation from veh to nav: [[-0.551937,0.827043,0.106611],[-0.832304,-0.554240,-0.009368],[0.051340,-0.093904,0.994257]]FH@w"w?J? <V/@EI?  `?iFW(z@IF&o^;FCYVăByZ"I%DDAT read: Rx Time:03:37:42.5731 %TRx dataTimestamp_ set to:1761536261.488723-PDAT read: Bearing 35.6, -4.0 (Local) 5~Local bearing/azimuth received: Bearing 35.6, -4.0 (Local) EDAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 eDAT read: 03:37:42.5731 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.07,-1.547, 3.124,-1.209,-1.549, PHS= 0.104,-1.565, 0.295, RAW= 155.4, 13.1, CAL= 155.7, 14.7, ROT= 354.3, -14.7 mYgot valid direction response: 03:37:42.5731 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.07,-1.547, 3.124,-1.209,-1.549, PHS= 0.104,-1.565, 0.295, RAW= 155.4, 13.1, CAL= 155.7, 14.7, ROT= 354.3, -14.7 uV#Rx 104: Read range and direction messages.}^direction in FSK: [0.962485,-0.096069,0.253758]}Fpublishing direction and range infoy!%Wʸ?fBN=?Y%3+A!!!! !)!I%=i%Qȿ%= >%^-@% j>%'-@ %G\>)%@I%G\!!%NWzk?O% ?? %B?)%fjI%)˽i%G\!!checking for new query: numPingsReceived=104, elapsed TxPingTime=49.443756iMb@Mb@Mb@ 9#~j?:v~jt?Y?yԼD</@1@  @IEi ESE*E"E~;*EN;VE(N4ZEBEB=%'=ٔہ9Y=EFy6Da<E>Q 54Vo?Q 94ߡ)BYE?Q EE:yE Q IE?6CI(_& U{ @Z%⿶qi4?2i%:i%"i%cc?*i%gtBi%cBi%g?i!i%Bi%g!Ai%@E addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.507924 s, deltaX: -0.300000 m, approachRate: -0.590640 m/s, rangeRepo size: 4 U Added new target pos. range: 10.653431 m, bearing: 232.118738 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 1.011995 s, deltaX: -0.697046 m, approachRate: -0.688784 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 10.65 m.bhQyRhZh ProNav: ac range: 10.653431 m, nav range: 10.087726 m, bearing: 232.264801 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.257598 deg, new cmd heading: 238.064522 deg. BhHeadingCmd: 4.155010 target range: 10.653431 and range: 10.70 m.h@h*h"h hgfffBdddjd`ff%@Zd?ɢ%)! %?i!)%))i-ti545<54wIU@IYP@ @@5@Աchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.676086^A }U A!I I9Ou? ^,vS}A?AbKz@b @bmHٱbƽ zAHRS rotation from veh to nav: [[-0.550202,0.828046,0.107785],[-0.833598,-0.552223,-0.012811],[0.048913,-0.096899,0.994092]]bH A@Z?җ?`լЫ<`" ?Wθ@?ibKz@IbiL^;bCDDAT read: Rx Time:03:37:43.0728 TRx dataTimestamp_ set to:1761536261.992778PDAT read: Bearing 36.5, -4.6 (Local) %~Local bearing/azimuth received: Bearing 36.5, -4.6 (Local) 5DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 DAT read: 03:37:43.0728 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.18,-1.112,-2.711,-0.771,-1.091, PHS= 0.081,-1.576, 0.276, RAW= 155.5, 13.7, CAL= 155.9, 15.6, ROT= 354.1, -15.6 %Ygot valid direction response: 03:37:43.0728 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.18,-1.112,-2.711,-0.771,-1.091, PHS= 0.081,-1.576, 0.276, RAW= 155.5, 13.7, CAL= 155.9, 15.6, ROT= 354.1, -15.6 %V#Rx 105: Read range and direction messages.-^direction in FSK: [0.958061,-0.099006,0.268920]-Fpublishing direction and range infoy[n?spX]^|5?Y3#A )7IT=i^ɿO>-@YуBy]""IaeAbDmVDm:2D}%=D}=Eb EsE-E"EQ;*E)+;VEt4ZEa@a@a@a@ԹGt>X$.@ 'g>)J@I'gPeHN?.z ??f? 3?)LuI)ҽi'gchecking for new query: numPingsReceived=105, elapsed TxPingTime=49.985374yS=% =ٔÛ;Q->9Y!=%EFy%@D5;E=>IQ 5]4Ma?Q 94M)MBYy Q I?MYCIM8"=iM^!=MUR4yɮAiiA?AJi}"ARi}"Aji̬@bL2}xu#@ǐ`𿬼-@R[n?spX]^|5?Zi)ҽbi'gj\ެPQG\FRSN @Z$\TԪ)xu?2i:i"iBrsq?*iBoBieBiiiފBiAiT@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504055 s, deltaX: -0.500000 m, approachRate: -0.991955 m/s, rangeRepo size: 4  Added new target pos. range: 10.155607 m, bearing: 232.182177 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504055 s, deltaX: -0.497824 m, approachRate: -0.987638 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.16 m.bhRhZh  ProNav: ac range: 10.155607 m, nav range: 9.817706 m, bearing: 232.220870 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.064522 deg, new cmd heading: 237.840311 deg. Bh HeadingCmd: 4.151096 target range: 10.155607 and range: 10.20 m.hՄ@h*h"h hgff9f9dAdAdAjdE`ff$@ZdEN?颭Bɢ+3)  ?i)顱ii%t<x_;IՄ@Ichecking for new query: numPingsReceived=105, elapsed TxPingTime=50.180603 Q@  @ @ 0@ B- <A- <B5 >B5 *CB5 "IB5 ̃BB5 =B1 B5 DB5 ;B5 5EA ^A 9A ?A qA%.AI)IAOM?g,ǁA?ADDAT read: Rx Time:03:37:43.5727 TRx dataTimestamp_ set to:1761536262.496808PDAT read: Bearing 36.3, -5.0 (Local) ~Local bearing/azimuth received: Bearing 36.3, -5.0 (Local) "DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 6DAT read: 03:37:43.5727 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502,-0.38,-2.956, 1.722,-2.607,-2.940, PHS= 0.086,-1.576, 0.289, RAW= 155.7, 13.5, CAL= 156.1, 15.2, ROT= 353.9, -15.2 :Ygot valid direction response: 03:37:43.5727 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502,-0.38,-2.956, 1.722,-2.607,-2.940, PHS= 0.086,-1.576, 0.289, RAW= 155.7, 13.5, CAL= 156.1, 15.2, ROT= 353.9, -15.2 :V#Rx 106: Read range and direction messages.>^direction in FSK: [0.959553,-0.102547,0.262189]BFpublishing direction and range infoy}u?׺5q@;f$?Y!A )5I =i>'-@:Fq>].@ ԇ>)@Iԇ؃9 ?Y ?=EFyKDE>Q 5%4sR?Q 9-4e)BY-??Q E-:y- Q I-?}CI\:in:"\4yQɮ]AYyii˟A?AJi ARi Aji@bqhL#@ XXW߰@R}u?׺5q@;f$?Zii ڽbiԇjՖ0҃yQ{>ZW @ZK rUxY=HK%R?2i@:i"ic?*irBiPBicc?irieBiAi@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504030 s, deltaX: -0.099999 m, approachRate: -0.198400 m/s, rangeRepo size: 4  Added new target pos. range: 10.055975 m, bearing: 231.938855 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504030 s, deltaX: -0.099632 m, approachRate: -0.197671 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 10.06 m.bh!Rh)Zh)e ProNav: ac range: 10.055975 m, nav range: 9.533233 m, bearing: 231.957256 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.840301 deg, new cmd heading: 237.634081 deg. BhaHeadingCmd: 4.147497 target range: 10.055975 and range: 10.10 m.hL@h*h"h hgfffBdddjd@33$@Zd?checking for new query: numPingsReceived=106, elapsed TxPingTime=50.684067ԡ颹ɢ) *?i),i$=i`<wO;IL@I P@  @ @ /@ ^Am;DDAT read: Rx Time:03:37:44.0725 TRx dataTimestamp_ set to:1761536263.000735PDAT read: Bearing 38.0, -5.7 (Local) ~Local bearing/azimuth received: Bearing 38.0, -5.7 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 DAT read: 03:37:44.0725 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.02, 1.047,-0.525, 1.402, 1.107, PHS= 0.042,-1.587, 0.251, RAW= 156.0, 14.7, CAL= 156.6, 16.8, ROT= 353.4, -16.8 Ygot valid direction response: 03:37:44.0725 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.02, 1.047,-0.525, 1.402, 1.107, PHS= 0.042,-1.587, 0.251, RAW= 156.0, 14.7, CAL= 156.6, 16.8, ROT= 353.4, -16.8 =V#Rx 107: Read range and direction messages.E^direction in FSK: [0.950975,-0.110032,0.289032]EFpublishing direction and range infoy(]cn?t+\.?YA )I1,=i"˿>@.@G\>.@ Q >)4`@IQ "֪Z~ ?ٯ,?Ϻ??  ?)mIiQ checking for new query: numPingsReceived=107, elapsed TxPingTime=50.969452DzDEZ EWE+E"E;*Ej;VE [4ZEa@a@a@a@Au؟AIyIO?* q,hA?ALYEByEa"IԹiMMb@Mb@Mb@IIII I9Mv?+η rh?YM>yMvIM&@M@ M@)M @IYM@bDVDyV=%=ٔQ->9"?Y"?=EFyWDE>Q 54B?Q 94)ċBY>Q E:yQ I?CI;i';f4y=ƔBɮ= A=>Eiqiu A?AJiuARiuAjiuX@bu[CЎ"@wdn-Tp؈@Ru(]cn?t+\.?ZiubiuQ juAmnB" @Zuvjl;SN ?2iu:iu"iub?*iuUxoBiuBiuc?iqiqiu"Aiụ@checking for new query: numPingsReceived=107, elapsed TxPingTime=51.188019 addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503927 s, deltaX: -0.300000 m, approachRate: -0.595325 m/s, rangeRepo size: 4  Added new target pos. range: 9.757282 m, bearing: 231.595218 deg, lat: 36.779322 deg, lon: -121.859585 deg, deltaT: 0.503927 s, deltaX: -0.298693 m, approachRate: -0.592730 m/s, posRepo size: 4 jhBNOT Ignoring new targets: 9.76 m.bh6Short final. Range: 9.80 m.VTransitioning guidance mode to: SHORT_FINAL:h@@RhZh ProNav: ac range: 9.757282 m, nav range: 9.258432 m, bearing: 232.119213 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.634084 deg, new cmd heading: 237.404487 deg. Bh|HeadingCmd: 4.143490 target range: 9.757282 and range: 9.80 m.hx@h*h"h hgfffBdddjd#@Zdp?mBɢu;2)q uB?iq)uyyi}i}m<#"!B+CBT"IBBBBBB;B5EIAI @  @ @  @ @E =@E =M DDAT read: Rx Time:03:37:44.5724 U TRx dataTimestamp_ set to:1761536263.504599] PDAT read: Bearing 37.8, -5.8 (Local) ] ~Local bearing/azimuth received: Bearing 37.8, -5.8 (Local) m DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4  DAT read: 03:37:44.5724 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.40, 1.628, 0.052, 1.986, 1.681, PHS= 0.048,-1.584, 0.261, RAW= 156.0, 14.5, CAL= 156.6, 16.5, ROT= 353.4, -16.5  Ygot valid direction response: 03:37:44.5724 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.40, 1.628, 0.052, 1.986, 1.681, PHS= 0.048,-1.584, 0.261, RAW= 156.0, 14.5, CAL= 156.6, 16.5, ROT= 353.4, -16.5  V#Rx 108: Read range and direction messages. ^direction in FSK: [0.952465,-0.110204,0.284015] Fpublishing direction and range infoyI M *3z?8T6HN-?YM AI I I I I )M 4IM D=iM ʿM ˡ>I M >I M r>)I IM rI I M  ?z95 ?Y5 ?=5EFy5`D=<E=>AQ 5E4E5?Q 9M4E)EϋBYIyMQ Iu?ECIEh;iE;Em4yyɮdAiaieZKA?AJieARieAjieb@be3E)5"@HHUפ@Re*3z?8T6HN-?Ziabierje']=3r0 @ZexPix3QLX?2ie:ie"iem$d?*ieUrBiezBiecc?ieUriaieCAie@E addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503864 s, deltaX: -0.200000 m, approachRate: -0.396932 m/s, rangeRepo size: 4 } Added new target pos. range: 9.558180 m, bearing: 232.242224 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503864 s, deltaX: -0.199102 m, approachRate: -0.395151 m/s, posRepo size: 4 jhbhԩzIgnoring new targets. Set target to previous: 9.56 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 9.035009 m, bearing: 232.257735 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.404480 deg, new cmd heading: 237.218598 deg. Bh|HeadingCmd: 4.140245 target range: 9.757282 and range: 9.60 m.h|@h*h!"h! h!g)f)f)f)d1d1d1jd5@33#@Zd5 ?߅4=߅%=checking for new query: numPingsReceived=108, elapsed TxPingTime=51.692242颥Bɢ@9<) ?i)A顩ii% {<M .@M r>M %/@ M Ð>)M C@IM ÐI I M +To?V?ŧ? M !?)M ~IM iM ÐA ؟AI I O >娀,eB?AD2=D0E6Y E6OE6)E4"E6=;*E63;VE6FA4ZE4a:@a:@a:@a:@Bchecking for new query: numPingsReceived=109, elapsed TxPingTime=51.995487V@{@V@V'ٱVNԽ zAHRS rotation from veh to nav: [[-0.539949,0.834598,0.109089],[-0.840700,-0.541069,-0.021633],[0.040970,-0.103392,0.993797]]VHCG?`C?`@pP ' ?w.?iV@{@IVsS^;VCY"By"IAAbD}VD} y=%%-=ٔ5B ;Q-5>9E"?YE"?Q=mEFymjDu_;Eu>yQ 54}'?Q 94}p)}ڋBYyQ I?}CI}:i};}Kv4yBɮA=EiiƦB?AJi&ARi&Aji@b !@ `V㠪@RJ7c????ZibiÐj%FtˆҢ="kM@Z@nLZщXV6翦J#M?2i:i"i5c?*i)qBi5Bi5c?i)qii Ai@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.505580 s, deltaX: -0.300000 m, approachRate: -0.593378 m/s, rangeRepo size: 4  Added new target pos. range: 9.259487 m, bearing: 232.173793 deg, lat: 36.779323 deg, lon: -121.859584 deg, deltaT: 1.009444 s, deltaX: -0.497795 m, approachRate: -0.493138 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.26 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 8.801697 m, bearing: 232.406047 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.218590 deg, new cmd heading: 237.029333 deg. Bh|HeadingCmd: 4.136942 target range: 9.757282 and range: 9.30 m.ha@h*h "h  h g f ffdddjd"@Zd?颅BɢpU%<) ?i)|<顉ii \ <BB*CB"IB#BBBBB;B5EB+CB+CBBȽ =Bȼ =C@l5ԩ A I I OM >Ն,ҪB?A yyt<@ @)@Y@bDVDym=%d=ٔ-;Q->9Y=EFyqD<E>Q 54V?Q 94z)BY>Q E:yIQ I?CI ;iT ;f|4yɮADDAT read: Rx Time:03:37:45.5721 TRx dataTimestamp_ set to:1761536264.512766 PDAT read: Bearing 37.1, -5.7 (Local)  ~Local bearing/azimuth received: Bearing 37.1, -5.7 (Local) DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 EDAT read: 03:37:45.5721 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 511, 0.30, 0.473,-1.134, 0.831, 0.501, PHS= 0.074,-1.589, 0.286, RAW= 155.9, 13.7, CAL= 156.3, 15.6, ROT= 353.7, -15.6 MYgot valid direction response: 03:37:45.5721 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 511, 0.30, 0.473,-1.134, 0.831, 0.501, PHS= 0.074,-1.589, 0.286, RAW= 155.9, 13.7, CAL= 156.3, 15.6, ROT= 353.7, -15.6 MV#Rx 110: Read range and direction messages.U^direction in FSK: [0.957346,-0.105692,0.268920]]Fpublishing direction and range infoy2K?28]^|5?Y3A )IP=iZd˿n>X$.@Gt>.@ 'g>)@I'gx3,?Ja(=?Wa?i  ?)_uIi0i'gchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.479816i( B?AJiARiAjiW@bRՉ!@3bʹ@R2K?28]^|5?Zii0bi'gj~nȥV7@ZQi2&V1G?2i:iϧ"i)mc?*i'tBiBi)mc?iUriPBi AiY܁@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502587 s, deltaX: -0.100000 m, approachRate: -0.198971 m/s, rangeRepo size: 4 M Added new target pos. range: 9.159915 m, bearing: 232.871387 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 1.512031 s, deltaX: -0.597367 m, approachRate: -0.395076 m/s, posRepo size: 4 jhIbhQUzIgnoring new targets. Set target to previous: 9.16 m. 9.76 m.RhYZhYEmJ EmEEm+Ei"Em~;*Em;VEm [4ZEiBEmAm > checking for new query: numPingsReceived=110, elapsed TxPingTime=52.700638 A .AI I O >,w6B?A2{@2ƺ@2ٱ25 :AHRS rotation from veh to nav: [[-0.534673,0.837337,0.113983],[-0.844183,-0.535377,-0.026950],[0.038458,-0.110632,0.993117]]2H v? -?!ð?\R?i2{@I2U^;2CYB*ByB"IbDNVDN!yV@%V^=ٔV;Q-V>9Z ?YZ ?=ZEFyZxDZ <E^>`Q 5b4b?Q 9f4b)bBYdyfQ If?bCIb$:ib:bڂ4yhɮnAllB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh<Zh=< ProNav: ac range: 9.757282 m, nav range: 8.461365 m, bearing: 232.756499 deg, approach rate: -0.486753 m/s, LOS rate: 0.516028 deg/s, cmd heading: 236.881260 deg, new cmd heading: 237.437320 deg. Bh<|HeadingCmd: 4.144063 target range: 9.757282 and range: 9.20 m.h*@h*h"h hgff fIdQdQdQjdQZd]`?颅Bɢt<) B?i) 顩i iah].@:Fq>.@ ܸ>)n@Iܸ)+#?VX?fz? d!?)pIViܸchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.969631@ @@=0@D?AzDEO E3E,E"E;*Et ;VEg4ZEa@a@a@a@^A<9A؟AII Iq O >a c䓐,&SPB?A2checking for new query: numPingsReceived=111, elapsed TxPingTime=53.203739Y2By"I9iMb@Mb@Mb@ 9S㥛?Q{Gz?Y>y#<@@ ) @Y3@ bDVD0y =%9=ٔQ->9"?Y"?=EFyDE>Q 54?Q 9]4Y)BYe>Q Ee:ye?Q Ie?"CIX{B+CB"IB\k`>1vP?2iM:iM"iMY?*iMXmuBiMBiIiIiM5BiMAiM@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.505015 s, deltaX: -0.300000 m, approachRate: -0.594042 m/s, rangeRepo size: 4  Added new target pos. range: 8.861284 m, bearing: 232.864896 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 2.017046 s, deltaX: -0.895998 m, approachRate: -0.444213 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.86 m. 9.76 m.RhZh- ProNav: ac range: 9.757282 m, nav range: 8.260506 m, bearing: 233.000999 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.437320 deg, new cmd heading: 237.257870 deg. Bh-5|HeadingCmd: 4.140931 target range: 9.757282 and range: 8.90 m.h5@h1*h9"h9 h9g9f9fAfÉBdAdAdAjdM!@ZdMR ?qɢ}脭<)y }^?iy)}u顁i}8 i bì< @.@f>.@ w>)@Iw~@?RM?y7?  ?) ",jB?AɰB[{@B@B Z ٱB ^AHRS rotation from veh to nav: [[-0.529569,0.839912,0.118761],[-0.847575,-0.529579,-0.034092],[0.034259,-0.118713,0.992337]]BH: ?g?UP t``?@c:?iB[{@IBU^;BCYj)Byj"IbDVDyM4%MQ=ٔM09] ?Y] ?=eEFyeDe<Em>qyQ 54}?Q 94})}BYyQ I?}9CI}P|;i}};}y4yɮAi)i-TaB?AJi- ARi- Aji-d@b-Xyx @F`"? UD@R-fh?AfeQ/!?Zi-i0bi-wj-t#ycyJe@TcA@Z-J,JB?AE&N E&JE$E$"E&@;*E&;VE$ZE$a*@a*@a*@a*@I1|@@eٱN AHRS rotation from veh to nav: [[-0.525651,0.842486,0.117935],[-0.850211,-0.524978,-0.039241],[0.028853,-0.120896,0.992246]]H "?0?4 b?`z?i1|@Im^;CY"By"IiMb@Mb@Mb@ 9/$?Cl绿~jtx?Y>y;߽; @)Y@bD VD kyaݼ%=ٔ'9"?Y%"?=%EFy%D%<E->)Q 554-읊?Q 9=4->)-BY=>Q E=:y=Q I=?-YCI-:i-:-4yMBɮMAIa} addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504727 s, deltaX: -0.300000 m, approachRate: -0.594381 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh<Zh< ProNav: ac range: 9.757282 m, nav range: 7.835957 m, bearing: 233.476034 deg, approach rate: -0.475337 m/s, LOS rate: 0.509749 deg/s, cmd heading: 237.105427 deg, new cmd heading: 237.894509 deg. Bh<|HeadingCmd: 4.152042 target range: 9.757282 and range: 8.30 m.h݄@h*h"h hgfffBdddjd @ZdE?ɢC<) ?i)Vi1idechecking for new query: numPingsReceived=113, elapsed TxPingTime=54.211990<B]-CB]"IB]FBB] =B]>DB]DB]:;B]5Eԑ ^A Nw =DDAT read: Rx Time:03:37:47.5714 TRx dataTimestamp_ set to:1761536266.528694%PDAT read: Bearing 36.8, -5.8 (Local) -~Local bearing/azimuth received: Bearing 36.8, -5.8 (Local) =DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 AIIDAT read: 03:37:47.5714 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 504, 0.07,-0.469,-2.127,-0.120,-0.465, PHS= 0.098,-1.617, 0.301, RAW= 155.5, 13.3, CAL= 155.9, 15.0, ROT= 354.1, -15.0 Ygot valid direction response: 03:37:47.5714 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 504, 0.07,-0.469,-2.127,-0.120,-0.465, PHS= 0.098,-1.617, 0.301, RAW= 155.5, 13.3, CAL= 155.9, 15.0, ROT= 354.1, -15.0 V#Rx 114: Read range and direction messages.^direction in FSK: [0.960809,-0.099290,0.258819]Fpublishing direction and range infoyp?8u5kV!}?YA )3I9=iο>-@,m>X$.@O}? ĨEU EDE&E"El;*Eh;VE4ZEBE)%J@I% !!% mX? <"?7Ye? %?)%HmI%)ҽi% !!,/ĤB?ARchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.531204``~9Y=EFyDI;E]>aQ 5m4el?Q 9m4e)e BYiymqQ Im?erCIe:ie=:e塢4ԙyBɮAEEi!i%֡B?AJi% ARi% Aji% @b%%@ wĶ@R%p?8u5kV!}?Zi%)ҽbi% j% ɷVy.@Z%ȥ)?2i%:i%^"i%bf?*i%uBi%ÈBi!i%^ui%Bi% @i%=Ƃ@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503178 s, deltaX: -0.200000 m, approachRate: -0.397473 m/s, rangeRepo size: 4  Added new target pos. range: 8.065086 m, bearing: 234.470962 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 3.527959 s, deltaX: -1.692196 m, approachRate: -0.479653 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.07 m. 9.76 m.RhZh5 ProNav: ac range: 9.757282 m, nav range: 7.641635 m, bearing: 233.684986 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.894505 deg, new cmd heading: 237.715624 deg. Bh5=|HeadingCmd: 4.148921 target range: 9.757282 and range: 8.10 m.hEÄ@hA*hA"hA hAgIfIfqfqdqdydyjd}@33 @Zd d?Bɢ3N<) ?i)}i,i˗*<%x=IEÄ@IMchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.716084}O@y @y@}4@y^AUu<A]>A]>A I I O= >) ⮐,jlB?AY~By~U"II=)<bD VD y|%%\=ٔ%Q-%>9)Y)=-EFy-D-E->1Q 5=45C֝?Q 9E45)5BYAyAQ IE?5CI5;i5:5;4yIɮM&AQmB*** querying acoustic contact ***ii iiDDAT read: Rx Time:03:37:48.0712 TRx dataTimestamp_ set to:1761536267.032638PDAT read: Bearing 37.6, -6.2 (Local) ~Local bearing/azimuth received: Bearing 37.6, -6.2 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4  DAT read: 03:37:48.0712 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 502,-0.34,-3.000, 1.626,-2.649,-2.976, PHS= 0.078,-1.636, 0.283, RAW= 155.6, 13.9, CAL= 156.0, 15.7, ROT= 354.0, -15.7 Ygot valid direction response: 03:37:48.0712 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 502,-0.34,-3.000, 1.626,-2.649,-2.976, PHS= 0.078,-1.636, 0.283, RAW= 155.6, 13.9, CAL= 156.0, 15.7, ROT= 354.0, -15.7 V#Rx 115: Read range and direction messages.^direction in FSK: [0.957418,-0.100629,0.270600]%Fpublishing direction and range infoy+?<¹RlyQ?Y@ )2Iw=ishѿ`>-@Ulx>@.@ K>)@IKD?5iÜ?eH? p?)wIiwֽiK=checking for new query: numPingsReceived=115, elapsed TxPingTime=54.984093} addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503944 s, deltaX: -0.300000 m, approachRate: -0.595305 m/s, rangeRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh<Zh< ProNav: ac range: 9.757282 m, nav range: 7.472057 m, bearing: 233.876310 deg, approach rate: -0.462214 m/s, LOS rate: 0.533322 deg/s, cmd heading: 237.715636 deg, new cmd heading: 238.302613 deg. Bh<|HeadingCmd: 4.159165 target range: 9.757282 and range: 7.80 m.h@h*h"h hgfffdddjd@33@Zd!? AɢE<)A E ?iIEUx EUEU+EQ"EUL;*EU2;VEU [4ZEQa]@a]@a]@a]@)m"XziiimBniuquBE ,CBE "IBE 7BBE =BA BE DBE ;BE a5EA I I O >Zȵ, AB?A$YUByU;"IiMb@Mb@Mb@ 9)\(?ˡEMbYG?y什@@ @)@Y@ p<bDVDy"%/=ٔ Q- >9YYY=eEFyeDaEe>qiQ 5}4mȝ?Q 9}4m)mBY}?Q E}:yQ I?mCIm;imY;m4yBɮADEiiB?AJi@Ri@ji@bPI@`Z鿅 xJ@R+?<¹RlyQ?ZiiwֽbiKjz11dJ^@Zչzu}i?2i:i"iC/^?*iYBwBiBi2`?iXmui:Bi@i@jhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh;Zh; ProNav: ac range: 9.757282 m, nav range: 7.229418 m, bearing: 234.034191 deg, approach rate: -0.541047 m/s, LOS rate: 0.363863 deg/s, cmd heading: 238.302623 deg, new cmd heading: 238.792149 deg. Bhy<|HeadingCmd: 4.167709 target range: 9.757282 and range: 7.80 m.h]@h*h"h hgffffBdddjd Zd `?9ɢ=V<)9 =?i9)EsvAAiEϡiMcIM{x-@:Fq>-@ ܸ>).@Iܸ8~\e?ȸ?5A&E? ?)qI)+Ƚiܸchecking for new query: numPingsReceived=116, elapsed TxPingTime=55.504196Q@ @@@bE [4jE-W4rE0Emn EmwEm*Ei"EmÏ;*EmD-;VEm(N4ZEiBEm--,B?A4<ɰ4<6|@6^Q@6rvٱ6 >AHRS rotation from veh to nav: [[-0.519390,0.846165,0.119326],[-0.854404,-0.516683,-0.055065],[0.015059,-0.130553,0.991327]]6H؞ ? '?GW@1a׎?@?i6|@I6t;^;4YFуByF!"IbDNVDNyVg%Zo=ٔZmq=>m^-@m}>mX$.@ mÐ>)mJ@ImÐiim-sJ?- ?({y? m8?)mi~Im)ҽimÐiiEV E]E,E"E;*E;VEg4ZEa @a @a @a @= checking for new query: numPingsReceived=117, elapsed TxPingTime=56.022663Ա Ð, C?APVg|@VX@V8?ٱV ^AHRS rotation from veh to nav: [[-0.518668,0.846493,0.120140],[-0.854896,-0.515395,-0.059333],[0.011695,-0.133482,0.990982]]VHx??N[~`@c?` ?iVg|@IV9]^;TYzƃByz"Ii}Mb@Mb@Mb@yyyy y9}HzG?S㥛/$Y}= ?y}/ݼ}}@y }(@)yyY}Q@bDVD0y <%==ٔ;Q->9 ?Y ?=EFyD ;E>Q 54a?Q 94u)BY ?Q E:y Q I?CI:i:4yɮAiiКC?AJi@Ri@jiO@b&@HeFHq@R:bY ?\.E?Zi)ҽbiÐj~%H@Z!at Tηq鿊KΫ@?2iq:i"ia?*i!yBi5Bi2`?iYBwiBiS@i@% addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503565 s, deltaX: -0.300000 m, approachRate: -0.595752 m/s, rangeRepo size: 4  Added new target pos. range: 7.367964 m, bearing: 235.112410 deg, lat: 36.779322 deg, lon: -121.859587 deg, deltaT: 5.039964 s, deltaX: -2.389318 m, approachRate: -0.474074 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.37 m. 9.76 m.RhZhchecking for new query: numPingsReceived=117, elapsed TxPingTime=56.227982 ProNav: ac range: 9.757282 m, nav range: 6.825622 m, bearing: 234.094022 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.658230 deg, new cmd heading: 238.483349 deg. Bh|HeadingCmd: 4.162320 target range: 9.757282 and range: 7.40 m.h1@h*h"h hgfff2Bdd!d)jd-@Zd-0?qɢ}-<)y }6?iy)}o顁i{iC><B+CBs"IBBB =B?DBDB~;BL5E!@! @!@%/@!@-=@-=^A% +w<  DDAT read: Rx Time:03:37:49.5708  TRx dataTimestamp_ set to:1761536268.545819 PDAT read: Bearing 37.4, -6.4 (Local)  ~Local bearing/azimuth received: Bearing 37.4, -6.4 (Local)  DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4  DAT read: 03:37:49.5708 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-2.307, 2.296,-1.970,-2.299, PHS= 0.094,-1.643, 0.285, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4  Ygot valid direction response: 03:37:49.5708 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-2.307, 2.296,-1.970,-2.299, PHS= 0.094,-1.643, 0.285, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4  V#Rx 118: Read range and direction messages. ^direction in FSK: [0.959657,-0.092405,0.265556] Fpublishing direction and range infoy  pW?Иk1է<?Y 3@ ) I =i Mҿ > -\-@ Gt> -@ >) z@I wyNl?\?SuF5? 2?) sI )Ľi  checking for new query: numPingsReceived=118, elapsed TxPingTime=56.499969AQ IY Ii O} >E b E YE *E "E Q;*E w;VE (N4ZE BE AHRS rotation from veh to nav: [[-0.518309,0.846579,0.121081],[-0.855143,-0.514595,-0.062632],[0.009285,-0.136005,0.990665]]|6H+?/? U]w@?h?i6|@I6L^;6CYMByM "Iy}@AbDVDy%L=ٔ;Q->9Y=EFyşD:E>Q 5 4é?Q 94N)BYy5 Q I5?CI;i;$Ţ4yEBɮEAECEii"C?AJi6@Ri6@ji-@b"@V+i$3 ?RpW?Иk1է<?Zi)ĽbijhU&K*Tf@Zs d΅SnE鿷wU%6?2i:iu"iRDf?*i$yBićBia?i!yiԉ А,2t@C?A2ϵ|@2U@2tٱ2 :AHRS rotation from veh to nav: [[-0.518981,0.846316,0.120036],[-0.854754,-0.515030,-0.064336],[0.007373,-0.135991,0.990683]]2H}?? %Z {Zx3~? 'h?i2ϵ|@I2r^;0Y^Byb!IbDjVDj:y(%R=ٔ%ՠ;Q-%>9%"?Y%"?=-EFy-͟D-E->1MDDAT read: Rx Time:03:37:50.0706 MTRx dataTimestamp_ set to:1761536269.048802UPDAT read: Bearing 38.2, -7.1 (Local) Y]~Local bearing/azimuth received: Bearing 38.2, -7.1 (Local) mDAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 DAT read: 03:37:50.0706 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.27, 2.104, 0.426, 2.450, 2.136, PHS= 0.069,-1.666, 0.270, RAW= 155.4, 14.3, CAL= 155.9, 16.2, ROT= 354.1, -16.2 Ygot valid direction response: 03:37:50.0706 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.27, 2.104, 0.426, 2.450, 2.136, PHS= 0.069,-1.666, 0.270, RAW= 155.4, 14.3, CAL= 155.9, 16.2, ROT= 354.1, -16.2 V#Rx 119: Read range and direction messages.^direction in FSK: [0.955207,-0.098711,0.278991]Fpublishing direction and range infoyIM:bY ?\.E?YM@IIII I)M1IMO=iM}?տMq=>M^-@Mr>MX$.@ MÐ>)MJ@IMÐIIMŁE?? Ɛ? M2??)M (IM)ҽiMÐIIchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.000462Q 545 ?Q 945)5BYy Q I?5CI5B )CB A"IB BB =B B DB ~;B <5EBIBIBMʔCBMʹ =BMʺ =CMn6 Ia I O >j~֐,<[C?Ae|@M@ Dٱw -AHRS rotation from veh to nav: [[-0.519896,0.846174,0.117041],[-0.854213,-0.515826,-0.065135],[0.005257,-0.133841,0.990989]]H?`?`Uzu? !@.?ie|@I^^;Y5By5!II9)=49)Y)=-EFy-֟D-@E5>1Q 5=45ޔ?Q 9E45)5 BYE?Q EE:yEQ IE?53CI5C ;i5 ;5Ӣ4yUBɮUAUMEmB*** querying acoustic contact ***ii iijhybhyzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.RhF%ZhF% ProNav: ac range: 9.757282 m, nav range: 6.137858 m, bearing: 233.754312 deg, approach rate: -0.607902 m/s, LOS rate: -0.577971 deg/s, cmd heading: 238.156675 deg, new cmd heading: 237.413140 deg. BhTƼ|HeadingCmd: 4.143641 target range: 9.757282 and range: 6.80 m.h@h*h"h hgfff BdddjdZdD?BɢQ<) u?i) eiiJp%=I@IDDAT read: Rx Time:03:37:50.5705 TRx dataTimestamp_ set to:1761536269.553233PDAT read: Bearing 37.4, -7.0 (Local) ~Local bearing/azimuth received: Bearing 37.4, -7.0 (Local) DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 MDAT read: 03:37:50.5705 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.05,-0.556,-2.238,-0.210,-0.547, PHS= 0.093,-1.646, 0.293, RAW= 155.4, 13.6, CAL= 155.8, 15.3, ROT= 354.2, -15.3 ]Ygot valid direction response: 03:37:50.5705 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.05,-0.556,-2.238,-0.210,-0.547, PHS= 0.093,-1.646, 0.293, RAW= 155.4, 13.6, CAL= 155.8, 15.3, ROT= 354.2, -15.3 ]V#Rx 120: Read range and direction messages.e^direction in FSK: [0.959620,-0.097475,0.263873]eFpublishing direction and range infoypho4?S}$&K?Y3@ )3Iv=i!ҿq>s>.@ ܸ>)@IܸSލ\?E+?*kr? ?)UrI)QϽiܸT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.P@ @@5@@@gAE}r E}jE}+Ey"E};*E}k&;VE} [4ZEyBE}Oԡ ߍ =߉  2Acoustic response timeout*ܐ,|tC?A2|@2@@2-8rٱ2 :AHRS rotation from veh to nav: [[-0.521194,0.845707,0.114616],[-0.853430,-0.517049,-0.065704],[0.003696,-0.132061,0.991235]]2H?sW?MOѰ Gn? ^1?i2|@I2I^;2CYNByR!I V49xYx=zEFyzݟDz\E~>QQ 5]4U?Q 9e4U)UBYayeQ Ie?UOCIU;iUw:U#ڢ4ymBɮuAuLEԹi)i-+hcC?AJi-F@Ri-F@ji-m1@b-d9@ʀ俣?]s0?R-pho4?S}$&K?Zi-)QϽbi-ܸj-հ% !@4O9?Z-E¬]%&tj?2i-A:i-Ih"i-AY?*i-th}Bi-DBi)i-$yi-ćBi-@i-@] addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504431 s, deltaX: -0.200000 m, approachRate: -0.396487 m/s, rangeRepo size: 4  Added new target pos. range: 6.571088 m, bearing: 234.900280 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 6.552498 s, deltaX: -3.186194 m, approachRate: -0.486256 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.57 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 5.922696 m, bearing: 233.545267 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.413141 deg, new cmd heading: 237.242214 deg. Bh|HeadingCmd: 4.140658 target range: 9.757282 and range: 6.60 m.hE@h*h"h  h g f ffdddjd`ff@Zd ?Bɢ<) u?i)RbiCii­<=IE@I DDAT read: Rx Time:03:37:51.0702 TRx dataTimestamp_ set to:1761536270.057861%PDAT read: Bearing 36.9, -7.0 (Local) %~Local bearing/azimuth received: Bearing 36.9, -7.0 (Local) 5DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 ]DAT read: 03:37:51.0702 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.14, 1.367,-0.330, 1.712, 1.360, PHS= 0.110,-1.645, 0.308, RAW= 155.3, 13.1, CAL= 155.6, 14.8, ROT= 354.4, -14.8 mYgot valid direction response: 03:37:51.0702 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.14, 1.367,-0.330, 1.712, 1.360, PHS= 0.110,-1.645, 0.308, RAW= 155.3, 13.1, CAL= 155.6, 14.8, ROT= 354.4, -14.8 mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.962209,-0.094346,0.255446]uFpublishing direction and range infoy  VRj?wP'l39Y?Y f@     ) 5I G=i \ҿ -> x-@  j> -@  A>) .@I  A   'p?ԏ?9F ? ?) fjI )+Ƚi  A  2Acoustic response timeout@ @@2@Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E[ EXE,E"E%;*E;VEg4ZEa@a@a@a@A ^Ae +O<I I! OM >,@C?AB;ɰB;e|@-@lٱ 5AHRS rotation from veh to nav: [[-0.523160,0.844902,0.111558],[-0.852232,-0.519004,-0.065847],[0.002265,-0.129522,0.991574]]H๽n ?@?{E [۰`b? ,`?ie|@Il^;CYEByE!IiMb@Mb@Mb@ 9{Gz?Mb?/$Y#?y@= (@)?@Y@bDVDy-H%-8=ٔ-S;Q-->91Y1=5EFy5D=E=>AQ 5M4E?Q 9M4E)EBYM^$?Q EM:yMbQ IU?EsCIE :iE:E4]2Acoustic response timeoutyaɮe# AaiAiEC?AJiE@RiE@jiEN+@bEъ@uhۢ⿗:?REVRj?wP'l39Y?ZiE)+ȽbiE AjEs^Mc kb[-t.DRp?ZEV0SRh~!O6鿂_4!?2iE:iE["iEKB`?*iE{BiEBiAiAiEBiE1@iE@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504628 s, deltaX: -0.400000 m, approachRate: -0.792663 m/s, rangeRepo size: 4  Added new target pos. range: 6.172840 m, bearing: 234.857482 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 7.057126 s, deltaX: -3.584442 m, approachRate: -0.507918 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.17 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 5.647981 m, bearing: 233.111967 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.242222 deg, new cmd heading: 237.085498 deg. Bh|HeadingCmd: 4.137923 target range: 9.757282 and range: 6.20 m.hi@h*h"h hgfffBdddjd@ZdQ?-Bɢ-r<)1 5q?i1)5_19i= i=K AEO)=IEi@IAB<A<B>BB"IBƒBB =BBB~;BC5EO@ @@/@i^A-=IIOd>ԑ DDAT read: Rx Time:03:37:51.5701  TRx dataTimestamp_ set to:1761536270.560679% PDAT read: Bearing 38.4, -6.8 (Local) % ~Local bearing/azimuth received: Bearing 38.4, -6.8 (Local) 5 DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 ] DAT read: 03:37:51.5701 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.49, 2.424, 0.730, 2.740, 2.440, PHS= 0.086,-1.665, 0.256, RAW= 154.6, 14.2, CAL= 155.0, 16.1, ROT= 355.0, -16.1 e Ygot valid direction response: 03:37:51.5701 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.49, 2.424, 0.730, 2.740, 2.440, PHS= 0.086,-1.665, 0.256, RAW= 154.6, 14.2, CAL= 155.0, 16.1, ROT= 355.0, -16.1 e R#Rx 1: Read range and direction messages.m ^direction in FSK: [0.957123,-0.083737,0.277315]m Fpublishing direction and range infoy  >+?o/?Y      ) 2I =i տ o> ,@ }> "-@  ޏ>) D@I ޏ   ?#4?zZv?  ?) ~I i ޏ   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E S E LE +E "E ;*E ;VE [4ZE BE 9Y=EFyD"E>Q 54;w?Q 94)BYyQ I?CI;i;R4yɮ AԱiYi]*C?AJiYRiYji]Ɇ@b]2@f~fzc?R]>+?o/?Zi]bi]ޏj]V0p ;pu}2[?Z]^\Ῑz'MBg7`?2i]:i][V"i]\?*i]1߁Bi]$Bi]KB`?i]{i]DBi]@i]z@  addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502818 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.172816 m, bearing: 235.497294 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 7.559944 s, deltaX: -3.584466 m, approachRate: -0.474139 m/s, posRepo size: 4 jhbh%zIgnoring new targets. Set target to previous: 6.17 m. 9.76 m.Rh!Zh)] ProNav: ac range: 9.757282 m, nav range: 5.408629 m, bearing: 232.703627 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.085510 deg, new cmd heading: 236.920827 deg. BhY]|HeadingCmd: 4.135048 target range: 9.757282 and range: 6.20 m.h]QR@ha*ha"ha hagafaffdddjdZd`?Bɢ6<) 6t?i) 3\  i  i{ <'=IQR@I!2Acoustic response timeout@ @@/@@@=  +G 9 ^Am O =m ,9q Yu iAI I O >1 {,@C?A2|@2,@2qГٱ2I :AHRS rotation from veh to nav: [[-0.527271,0.842450,0.110741],[-0.849697,-0.522946,-0.067403],[0.001128,-0.129636,0.991561]]2HfY?Y? 0WA zR?@޺?i2|@I2v^;2CYNByR!ITVAArDDAT read: Rx Time:03:37:52.0699 vTRx dataTimestamp_ set to:1761536271.064494zPDAT read: Bearing 40.7, -8.3 (Local) z~Local bearing/azimuth received: Bearing 40.7, -8.3 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5 5DAT read: 03:37:52.0699 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504,-0.29,-0.087,-1.742, 0.258, 0.008, PHS= 0.007,-1.705, 0.206, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 =Ygot valid direction response: 03:37:52.0699 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504,-0.29,-0.087,-1.742, 0.258, 0.008, PHS= 0.007,-1.705, 0.206, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.942225,-0.102358,0.318959]EFpublishing direction and range infoytvfFʴ&?67(4ˬQi?Yv̼@tttt t)v1IvB`;ivq=ڿvR>v^-@vÐ>v!z.@ v6>)ve@Iv6ttvmr ?-?~ٴ? vR?)vfvIviݽiv6tte2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.bDZVDZ1y%<%%@=ٔ%&:Q-%>9)Y)=-EFy-D5̻E}L E}CE}*Ey"E}W;*E};VE}(N4ZEya@a@a@a@E>Q 54%l?Q 94=)BYyQ I?CIg:i:4yBɮAKEitiv C?AJiv@Riv@jiv@bvPY#@/=㿩M?RvfFʴ&?67(4ˬQi?Ziviݽbiv6jvX+) _?Zv>1pd(- (?2ivx:ivM"iv]?*iv~BivBiv]?ivth}itivׯ@ivǂ@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503815 s, deltaX: -0.300000 m, approachRate: -0.595456 m/s, rangeRepo size: 4 U Added new target pos. range: 5.874132 m, bearing: 234.524856 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 8.063759 s, deltaX: -3.883151 m, approachRate: -0.481556 m/s, posRepo size: 4 jhQbhQ]zIgnoring new targets. Set target to previous: 5.87 m. 9.76 m.RhYZhY ProNav: ac range: 9.757282 m, nav range: 5.131456 m, bearing: 232.191049 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 236.920821 deg, new cmd heading: 236.744774 deg. Bh|HeadingCmd: 4.131976 target range: 9.757282 and range: 5.90 m.h%9@h*h"h hgfffdddjd@Zd@?Bɢ<<) w?i)Xi{!il w<Ef)=I%9@IAUP@Q @Q@U/@Q2Acoustic response timeouty B >B B !IB BB =B B B ;B O5E^A% l"=ԡ I1IAOM>,AC?A2{@2@2qeٱ2 :AHRS rotation from veh to nav: [[-0.530019,0.840640,0.111377],[-0.847985,-0.525627,-0.068104],[0.001292,-0.130542,0.991442]]2H@?9?@" `;o,U?`@?i2{@I2?^;2CYRByR!IqiMb@Mb@Mb@ 9X9v?x&?Y?y7=@t@  @)@YQ@bDVD0y>=%4=ٔQ->9Y=EFyD3E>Q 54b?Q 94)BY?Q E:ykQ I?CI ;i7:4yɮTADDAT read: Rx Time:03:37:52.5698 TRx dataTimestamp_ set to:1761536271.568799 PDAT read: Bearing 41.2, -9.2 (Local)  ~Local bearing/azimuth received: Bearing 41.2, -9.2 (Local) DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.5 EDAT read: 03:37:52.5698 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503,-0.25, 1.403,-0.239, 1.772, 1.524, PHS=-0.019,-1.718, 0.203, RAW= 156.1, 16.6, CAL= 157.0, 19.2, ROT= 353.0, -19.2 MYgot valid direction response: 03:37:52.5698 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503,-0.25, 1.403,-0.239, 1.772, 1.524, PHS=-0.019,-1.718, 0.203, RAW= 156.1, 16.6, CAL= 157.0, 19.2, ROT= 353.0, -19.2 MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.937337,-0.115091,0.328867]UFpublishing direction and range infoyyf?e\|vf& ?Yf@ )2I㥛imۿ;O>].@V>^/@ >)'@I#yi? ?#\F? !!?)EI5i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ii4gC?AJi@Ri@ji~@b\|!G@ŗ~j~h?Ryf?e\|vf& ?Zi5bijߏlH -Ρ3a?Z̰ Z=K7M  ?2il:iFJ"i OW?*ivkBiBi\?i~iiè@i@5 addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504305 s, deltaX: -0.200000 m, approachRate: -0.396586 m/s, rangeRepo size: 4 m Added new target pos. range: 5.674977 m, bearing: 233.648909 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 8.568064 s, deltaX: -4.082305 m, approachRate: -0.476456 m/s, posRepo size: 4 jhibhimzIgnoring new targets. Set target to previous: 5.67 m. 9.76 m.RhqZhq ProNav: ac range: 9.757282 m, nav range: 4.863436 m, bearing: 231.522110 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 236.744766 deg, new cmd heading: 236.564578 deg. ER E5E,E"E;*E ;VEg4ZEBE<b ,SC?Ar{@rτ@rbٱr8 ~AHRS rotation from veh to nav: [[-0.532891,0.838296,0.115265],[-0.846181,-0.528236,-0.070314],[0.001943,-0.135005,0.990843]]rH r S?? @N!+_? G`?ir{@Ir1^;rCYBy  "IIC=)<bDVDkiy-"=%}M=ٔ=кQ->9Y=EFyDE>Q 54X?Q 94)BYyQ I?CI[:i:4yBɮAUEB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh Zh  ProNav: ac range: 9.757282 m, nav range: 4.615532 m, bearing: 230.843597 deg, approach rate: -0.664989 m/s, LOS rate: -1.917792 deg/s, cmd heading: 236.564585 deg, new cmd heading: 234.420768 deg. Bh|HeadingCmd: 4.091414 target range: 9.757282 and range: 5.70 m.h@h*h"h hgfffd d d jd Zd?=Bɢ=>`<)A E$?iA)M!RIIiM#iU QU"~c=IU@IQIegA)efAO@ @@/@ԙi߹I߽ADDAT read: Rx Time:03:37:53.0695 TRx dataTimestamp_ set to:1761536272.077086PDAT read: Bearing 41.0, -9.9 (Local) ~Local bearing/azimuth received: Bearing 41.0, -9.9 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.5  DAT read: 03:37:53.0695 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.24, 0.179,-1.453, 0.569, 0.307, PHS=-0.026,-1.715, 0.217, RAW= 156.6, 16.5, CAL= 157.6, 19.1, ROT= 352.4, -19.1 Ygot valid direction response: 03:37:53.0695 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.24, 0.179,-1.453, 0.569, 0.307, PHS=-0.026,-1.715, 0.217, RAW= 156.6, 16.5, CAL= 157.6, 19.1, ROT= 352.4, -19.1 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.936648,-0.124975,0.327218]%Fpublishing direction and range infoyv-U?3kd#e#?Y@ )1IԼiۿ?5^>.@r>x 0@ 㭪>):@I㭪k?&Y5O?v$? $#?))Ii㭪=2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E=B E=3E9E9"E=w;*E=t ;VE9ZE9aE@aE@aE@aE@^AI)IIOe> ,ؼD?A2Acoustic response timeout6m{@6^@6.ٱ6l >AHRS rotation from veh to nav: [[-0.536037,0.835958,0.117639],[-0.844190,-0.531245,-0.071565],[0.002670,-0.137671,0.990474]]6H6'*? ? R]e?5`?i6m{@I6 /^;6CYNByLi%Mb@Mb@Mb@!!!! !9%Cl??y&1?Y%d?y%L=%`e<%@%^@ % @)% @!Y%@B9B9B9B9B9B9B9B=;B=]5E U9iYq=uEFyuDu6E}>yQ 54}#O?Q 94}m)}BY?Q E:ySQ I?}CI}j:i}j<}4yUBɮ]AeTEiiD?AJiڨ@Riڨ@ji@bT?@VOÊQ?Rv-U?3kd#e#?Zibi㭪jA%o_Aɑ?/>?ZnՈ-/o翸. s?2i|:i?"iR?*is4Bi^Biivki^Bi@iFG@% addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508287 s, deltaX: -0.400000 m, approachRate: -0.786956 m/s, rangeRepo size: 4 5 Added new target pos. range: 5.276731 m, bearing: 232.775825 deg, lat: 36.779322 deg, lon: -121.859591 deg, deltaT: 9.076351 s, deltaX: -4.480552 m, approachRate: -0.493651 m/s, posRepo size: 4 jh1bh9=zIgnoring new targets. Set target to previous: 5.28 m. 9.76 m.RheZheu ProNav: ac range: 9.757282 m, nav range: 4.376734 m, bearing: 230.201877 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.420780 deg, new cmd heading: 234.229671 deg. Bhuu|HeadingCmd: 4.088079 target range: 9.757282 and range: 5.30 m.h}т@hy*hy"hy hygfff$Bdddjd@33@Zd?Bɢ w<) ?i!)%M!!i%$i-| )-R=I-т@I1Q@ @@@^A&V=DDAT read: Rx Time:03:37:53.5692 TRx dataTimestamp_ set to:1761536272.580766PDAT read: Bearing 41.6, -10.4 (Local) ~Local bearing/azimuth received: Bearing 41.6, -10.4 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.6 DAT read: 03:37:53.5692 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 498,-0.39, 1.286,-0.322, 1.682, 1.439, PHS=-0.050,-1.715, 0.199, RAW= 156.9, 17.1, CAL= 157.9, 19.9, ROT= 352.1, -19.9 %Ygot valid direction response: 03:37:53.5692 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 498,-0.39, 1.286,-0.322, 1.682, 1.439, PHS=-0.050,-1.715, 0.199, RAW= 156.9, 17.1, CAL= 157.9, 19.9, ROT= 352.1, -19.9 )-R#Rx 1: Read range and direction messages.5^direction in FSK: [0.931364,-0.129238,0.340380]5Fpublishing direction and range infoy0s?=ۊ"T?Y@ )ILiK>LB/@Θ>A`0@ ӱ>)U@IӱIIIa#kx?$Z?uf)? $?)ʖI0 iӱu2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.O>bE|a4jEȞ]4rEȳ/EM R EM IEM *EI "EM ;*EM ;VEM (N4ZEI BEI a] 2EI a] JEM z%fU=ٔfQ-j>9hYh=jEFyjDn3(En>pQ 5v4rE?Q 9v4r)rBYtyzQ Iz?r6CIr-:ir:r 4y|ɮ~A|i i E+%D?AJi @Ri @ji ρ@b .@7u㿆+X?R 0s?=ۊ"T?Zi 0 bi ӱj dav~J ^oha?Z ee283n#K?2i Tb:i #."i u`?*i 1{|Bi DBi i i i X@i 4@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503680 s, deltaX: -0.500000 m, approachRate: -0.992694 m/s, rangeRepo size: 4  Added new target pos. range: 4.778925 m, bearing: 232.425159 deg, lat: 36.779322 deg, lon: -121.859591 deg, deltaT: 9.580031 s, deltaX: -4.978357 m, approachRate: -0.519660 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.78 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 4.148483 m, bearing: 229.530674 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.229672 deg, new cmd heading: 234.097750 deg. Bh|HeadingCmd: 4.085776 target range: 9.757282 and range: 4.80 m.h%@h!*h!"h! h!g!f!f)f)d)1d)dQjdU@33@ZdU?颥BɢC=) ?i)K顩iNt&i% -Xo<U2Acoustic response timeout-lք=I@Ii}O@y @@?0@ԉ^A <|^=Ii Iy O > DDAT read: Rx Time:03:37:54.0689  TRx dataTimestamp_ set to:1761536273.088663 PDAT read: Bearing 39.9, -10.7 (Local)  ~Local bearing/azimuth received: Bearing 39.9, -10.7 (Local) - DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.6 U DAT read: 03:37:54.0689 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.46, 0.793,-0.821, 1.207, 0.919, PHS=-0.024,-1.695, 0.244, RAW= 157.3, 16.0, CAL= 158.2, 18.6, ROT= 351.8, -18.6 ] Ygot valid direction response: 03:37:54.0689 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.46, 0.793,-0.821, 1.207, 0.919, PHS=-0.024,-1.695, 0.244, RAW= 157.3, 16.0, CAL= 158.2, 18.6, ROT= 351.8, -18.6 ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.938079,-0.135179,0.318959]e Fpublishing direction and range infoy  >|~n?LMˬQi?Y ̌@ ) 2I ļi ؿ #y> /@ 5> 0@ 6>) p{@I 6 E"v?/ (?NG? }&?) 8㎾I Ti 6  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Թ E] D E] RE] +EY "E] ny;*E] ;VE] [4ZEY ae @ae @ae @ae @+ ,SHD?A2Fz@2n@2Amfٱ2 ^AHRS rotation from veh to nav: [[-0.542861,0.830712,0.123369],[-0.839815,-0.537582,-0.075604],[0.003516,-0.144650,0.989477]]2H_0?@?3Z@l? ¿˩?i2Fz@I2)^;2CYvByvG"I xxbD~VD~ky-=%5C=ٔ5-KQ-5>99Y9==EFy=!D="EE>IQ 5U4M;?Q 9U4M%)MBYQyUQ IU?MWCIM$:iM=:M4yaɮ=Ai!i%ED?AJi%.@Ri%.@ji% s@b%= p@)\@sͭ|,[?R%>|~n?LMˬQi?Zi%Tbi%6j%,]6g4X Y?Z%ОQ2<{;>?2i%BO:i%9#"i%Kd?*i%FzBi%Bi%]?i%~i!i%@i%@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.507897 s, deltaX: -0.400000 m, approachRate: -0.787561 m/s, rangeRepo size: 4 E Added new target pos. range: 4.380682 m, bearing: 231.778270 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 10.087928 s, deltaX: -5.376601 m, approachRate: -0.532974 m/s, posRepo size: 4 jhIbhIMzIgnoring new targets. Set target to previous: 4.38 m. 9.76 m.RhQZhQy ProNav: ac range: 9.757282 m, nav range: 3.899346 m, bearing: 228.721827 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.097740 deg, new cmd heading: 233.928129 deg. Bh|HeadingCmd: 4.082816 target range: 9.757282 and range: 4.40 m.hn@h*h"h hgfffdddjd@Zd?}Bɢ}:<) ?i)IGiB(i 1:< =I=n@II}t>i}>ԩQ@ @@:1@M2Acoustic response timeout^A|=B)B)B- "IB-BB- =B)B)B-';B-b5EIAIQOmx> }*,%@bD?A2 z@2M@2؆ٱ2} :AHRS rotation from veh to nav: [[-0.546251,0.827766,0.128115],[-0.837612,-0.540568,-0.078693],[0.004115,-0.150297,0.988632]]2Hz}?f?UL >%p?<ÿ?i2 z@I2M ^;0YNByR`"Ii%Mb@Mb@Mb@!!!! !9%n?Mbp?S㥛?Y%?y%;%/<%@%|@ %(@)%l@!Y%@11bDEVDEyM=%UJ=ٔUQ-U>DDAT read: Rx Time:03:37:54.5688 TRx dataTimestamp_ set to:1761536273.592771PDAT read: Bearing 38.4, -10.7 (Local) ~Local bearing/azimuth received: Bearing 38.4, -10.7 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.5  DAT read: 03:37:54.5688 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509, 0.27, 2.336, 0.731, 2.751, 2.434, PHS= 0.004,-1.658, 0.274, RAW= 157.4, 15.1, CAL= 158.2, 17.4, ROT= 351.8, -17.4 Ygot valid direction response: 03:37:54.5688 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509, 0.27, 2.336, 0.731, 2.751, 2.434, PHS= 0.004,-1.658, 0.274, RAW= 157.4, 15.1, CAL= 158.2, 17.4, ROT= 351.8, -17.4 R#Rx 1: Read range and direction messages.^direction in FSK: [0.944484,-0.136103,0.299041]Fpublishing direction and range infoyF79?5-k-{#?Yf@ )Io;iX9ԿI>F/@V> |>)I|?&/?X7B?9QYQ=UEFyU)D *'?)kIi|]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.uAE}>yQ 54}20?Q 94}+)}BY-?Q E:yQ I?}xCI}:i}:}4yɮAEH EBE*E"E};*EZ;VE(N4ZEBEfK<) ?i)B顉iL*i  <=I@IuP@q @y@}3@yI u 2Acoustic response timeout^A S=q I I O >#,ED?A2ifz@2.@2ٱ2t; :AHRS rotation from veh to nav: [[-0.549499,0.825041,0.131748],[-0.835483,-0.543435,-0.081528],[0.004333,-0.154873,0.987925]]2H@f? ?G cߴ@Uq?ÿ?i2ifz@I2t.^;2CYBByB"IbDNVDN0yR=%V<=ٔV Q-V>9XYX=ZEFyZ2D^E^>\Q 5b4^%?Q 9f4^0)^BYdyfQ If?^CI^B:i^[:^"4ynBɮnAn]EzB*** querying acoustic contact ***ix ixjhbh zIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh Zh Ա ProNav: ac range: 9.757282 m, nav range: 3.413498 m, bearing: 227.449627 deg, approach rate: -0.628464 m/s, LOS rate: -1.860619 deg/s, cmd heading: 233.743663 deg, new cmd heading: 231.693641 deg. Bh|HeadingCmd: 4.043817 target range: 9.757282 and range: 4.20 m.hf@h*h"h hgff fQdQdQdYjdYZd]y?颵Bɢ q0=) ?i)>项i),iQ=If@I5DDAT read: Rx Time:03:37:55.0685 5TRx dataTimestamp_ set to:1761536274.096794EPDAT read: Bearing 39.4, -10.5 (Local) M~Local bearing/azimuth received: Bearing 39.4, -10.5 (Local) ]DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.5 DAT read: 03:37:55.0685 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 506, 0.21, 0.481,-1.102, 0.870, 0.601, PHS=-0.018,-1.658, 0.225, RAW= 156.8, 16.1, CAL= 157.7, 18.7, ROT= 352.3, -18.7 Ygot valid direction response: 03:37:55.0685 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 506, 0.21, 0.481,-1.102, 0.870, 0.601, PHS=-0.018,-1.658, 0.225, RAW= 156.8, 16.1, CAL= 157.7, 18.7, ROT= 352.3, -18.7 R#Rx 1: Read range and direction messages.^direction in FSK: [0.938669,-0.126913,0.320613]Fpublishing direction and range infoy15T~w ?J>C.j?Y53s@111EQ@A @A@E3@AEX ELEE"EɅ;*E;VEZEa@a@a@a@1 1)50I5ti15fff>5%/@5ޏ>5'0@ 5>)5@I5115X.[?6uk?tN a? 5#{$?)5i I5 i511%2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A[=I I O% > %= 4= 2Acoustic response timeout1 B A p<B >B B A"IB BB =B B B ~;B N5EB])CB])CB]˓CB]˾ =B]˾ =C]5|&, ND?A>9z@>@>ٱ>$ RAHRS rotation from veh to nav: [[-0.551784,0.822876,0.135683],[-0.833977,-0.545218,-0.084970],[0.004057,-0.160042,0.987102]]>H 7@T?^? lr p?B|ĿV?i>9z@I>)^;9Y=EFy;DE>Q 54?Q 94<6)BY?Q E:y. Q I?CI ;i ;*4yɮAiiim1D?AJim"r@Rim"r@jim{@bmMi @ ޿Ol|jh?RmT~w ?J>C.j?Zim bimjm?L茠lW׽?Zm}$^MAɽ}X?2imd3:im* "imGE`?*imϊBimBiiiiimBim^@im@- addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504023 s, deltaX: -0.400000 m, approachRate: -0.793614 m/s, rangeRepo size: 4 = Added new target pos. range: 3.783353 m, bearing: 231.998122 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 11.096059 s, deltaX: -5.973929 m, approachRate: -0.538383 m/s, posRepo size: 4 jh9bh9EzIgnoring new targets. Set target to previous: 3.78 m. 9.76 m.RhEZhEU ProNav: ac range: 9.757282 m, nav range: 3.155127 m, bearing: 226.943055 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 231.693650 deg, new cmd heading: 231.502896 deg. BhU]|HeadingCmd: 4.040488 target range: 9.757282 and range: 3.80 m.h]K@hY*hY"ha hagafafifmāBdididqjdu`ff@Zdu~Q?颥BɢV=) ?i)mA:顩i/i[V=IK@IAEO@I @I@M/@I^A*=E*DAT read: user:408> MBDAT read: Tx time:03:37:55.9630 M$Ping request sent.MEN EGE)E"E@;*E;VEFA4ZEBE%rk=ٔr9Q-r?9tYt=vEFyvCDzEz?|Q 54~?Q 94~P:)~BYyM Q I ?~CI~:i~:~04yBɮA\Ejh9bh9EzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.RhEOZhEOchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2504385 ProNav: ac range: 9.757282 m, nav range: 2.963541 m, bearing: 226.517052 deg, approach rate: -0.559313 m/s, LOS rate: -1.324049 deg/s, cmd heading: 231.502896 deg, new cmd heading: 230.142536 deg. Bh5+c=|HeadingCmd: 4.016745 target range: 9.757282 and range: 3.80 m.h=-@h9*h9"hA hAgAfAfIfIidddjdZd.?BɢlH=) R?i)E$6IIiMC1iM\ QU=IU-@IQ@ @@/@ԙiA IE AM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502910^AU ͢=] PExceeded connect timeout, disconnecting.I I O >E = E :E *E "E s;*E $ ;VE (N4ZE a @a @a @a @ 3,D?Aɰ;2y@2@2;Qٱ2M4 :AHRS rotation from veh to nav: [[-0.555535,0.818263,0.147740],[-0.831487,-0.547374,-0.094922],[0.003197,-0.175576,0.984461]]2H5/?`!? @L1j?Gyƿ?i2y@I2^;2CYB;ByB"IbDNVDN2yV %VN=ٔV:Q-V>9XYX=ZEFyZKDZFE^>`Q 5f4b?Q 9f4b>)bBYdyfe Q If?bCIb:ibC:b74ylɮ=A9jhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh:ͼZh:ͼ ProNav: ac range: 9.757282 m, nav range: 2.745332 m, bearing: 225.965806 deg, approach rate: -0.526371 m/s, LOS rate: -1.435404 deg/s, cmd heading: 230.142541 deg, new cmd heading: 228.357961 deg. BhFv|HeadingCmd: 3.985598 target range: 9.757282 and range: 3.80 m.h @h*h"h hg fffdddjdZdC?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754662颵Bɢ23=) ?i)R{1项im4i /F >I @IBM>BIBM"IBMBBIBIBIBM~;BM05E}P@ @@/@^A]=IIO >) ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485fH9,VD?A JHy@J@J)ٱJ)3: RAHRS rotation from veh to nav: [[-0.556932,0.816620,0.151519],[-0.830554,-0.548115,-0.098737],[0.002420,-0.180835,0.983510]]JHc@!?`d? )@Fc?%ǿx?iJHy@IJ2^;JCYZ[By^"Ib=`i=Mb@Mb@Mb@9999 99=v?K/$?Y=>y=^=,==A=@ =d@)=@ET EEE(E"E;*E;VEc44ZEBE%u0=ٔ}:Q-}>9Y=EFyTDlE>Q 54?Q 94XC).BY>Q E:yQ I? CIxP;iO;?4yɮAjhbh zIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh Zh- ProNav: ac range: 9.757282 m, nav range: 2.515865 m, bearing: 225.909126 deg, approach rate: -0.508199 m/s, LOS rate: -0.136977 deg/s, cmd heading: 228.357963 deg, new cmd heading: 228.172416 deg. Bh-5|HeadingCmd: 3.982360 target range: 9.757282 and range: 3.80 m.h5~@h9*h9"h9 h9g9IfIfQfU(BdYdYdYjdaZd5?=Bɢ]U=)a eԮ?ia)e,aaie~]7im|iuU >Iu~@IqUQ@Q @Q@U/@Q@]>@]!>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258567ԡ   KC G^A ~E= (hAA A ?  9 (hAY A A I I O >@,?SE?A>ֵy@>Ճ@>wƺٱ>@= FAHRS rotation from veh to nav: [[-0.558476,0.815238,0.153270],[-0.829520,-0.549197,-0.101392],[0.001517,-0.183766,0.982969]]>H`@n?\?l@.X?ࣅǿ {t?i>ֵy@I>5(^;>CYbBy"I!%@AbD-VD-:y==%=S=ٔE;Q-E>9AYA=EEFyE\DMvEM>QQ 5]4U뜊?Q 9]4UF)U9BYayeQ Ie?U"CIU:iU:UF4ymBɮmsAu[EB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.RhZh ProNav: ac range: 9.757282 m, nav range: 2.325572 m, bearing: 225.860650 deg, approach rate: -0.497253 m/s, LOS rate: -0.137038 deg/s, cmd heading: 228.172414 deg, new cmd heading: 228.015086 deg. Bh|HeadingCmd: 3.979614 target range: 9.757282 and range: 3.80 m.h~@h*h"h hgfff-nManaging dock network, ignoring radio surface power offUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848dyddjdZd`x@Bɢ8JZ=) ?i):!(E H E 9E +E "E };*E  ;VE  [4ZE a@a@a@a@i%1c:i%m-<->I-~@I)O@ @@/@^A=AI I O% >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764687B >B (CB "IB PBB =B B B ~;B 5EF,$E?A@:y@:&ƒ@:D)ٱ:> FAHRS rotation from veh to nav: [[-0.560458,0.813772,0.153822],[-0.828182,-0.550851,-0.103330],[0.000646,-0.185304,0.982681]]:H F`l ?l?x s(E? ǿ`r?i:y@I:^;:CYJ`ByE"Ii-Mb@Mb@Mb@)))) )9-}?5^I?rh|~jt?Y-M>y--D=-GA) ))-@)Y-Q@bDeVDeN2y_%5=ٔ:Q->9Y=EFyeDE>Q 54yޜ?Q 94J)IBY/>Q E:y|Q I?=CI:i:N4yɮAjhAbhA]zIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.iRhu)<Zhu)< ProNav: ac range: 9.757282 m, nav range: 2.118546 m, bearing: 226.268545 deg, approach rate: -0.453259 m/s, LOS rate: 0.980300 deg/s, cmd heading: 228.015087 deg, new cmd heading: 229.358094 deg. Bh1(=|HeadingCmd: 4.003054 target range: 9.757282 and range: 3.80 m.h@h*h"h hgfffLBdddjdZd@ɢh=) ?i)<#i>d=i =I@IeP@a @a@e?0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020228ԑE* E1E*E"Ea;*Ef;VE(N4ZEBE A .AI I O >4L,5E?A2^y@2#@2t(9ٱ2ITB :AHRS rotation from veh to nav: [[-0.562883,0.811714,0.155827],[-0.826536,-0.552753,-0.106311],[-0.000161,-0.188638,0.982047]]2H $`?#?@r&97.%F%ȿ`l?i2^y@I2>];0YBWByB"IbDJVDJ󡲝rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270556yuPC%ub=ٔ}};Q->9 ?Y ?=EFylD3E>Q 54%Ԝ?Q 94wM)VBYyQ I?RCI;i;T4yɮAjhbhzIgnoring new targets. Set target to previous: 9.76 m. 9.76 m.Rh n<Zhn<U ProNav: ac range: 9.757282 m, nav range: 1.955389 m, bearing: 226.662607 deg, approach rate: -0.455530 m/s, LOS rate: 1.192005 deg/s, cmd heading: 229.358107 deg, new cmd heading: 230.638712 deg. Bh]L=u|HeadingCmd: 4.025405 target range: 9.757282 and range: 3.80 m.h}Ѐ@h*h"h hgff!f)daddjdZd '@Bɢ8b=) ?i)%!!i%^@IiMyQUҷ=IUЀ@IQQ@ @@1@@ gA@ hA^A>>AfAzAfAqDDAT read: Rx Time:03:37:58.0953 TRx dataTimestamp_ set to:1761536277.124740PDAT read: Bearing 33.2, -18.3 (Local) ~Local bearing/azimuth received: Bearing 33.2, -18.3 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4 DAT read: 03:37:58.0953 LVL= 32752, 32753, 32498, 32755, AGC= 46, IDX= 236, 0.07,-2.827, 1.977,-2.097,-2.617, PHS=-0.108,-1.644, 0.476, RAW= 165.5, 13.4, CAL= 165.9, 15.8, ROT= 344.1, -15.8 Ygot valid direction response: 03:37:58.0953 LVL= 32752, 32753, 32498, 32755, AGC= 46, IDX= 236, 0.07,-2.827, 1.977,-2.097,-2.617, PHS=-0.108,-1.644, 0.476, RAW= 165.5, 13.4, CAL= 165.9, 15.8, ROT= 344.1, -15.8 = R#Rx 1: Read range and direction messages.E ^direction in FSK: [0.925405,-0.263608,0.272280]E Fpublishing direction and range infoyU?::Iп ^ m?Y3@~ ).I/ݽinҿF>8@|o>O9@ 0>).@I0T+zq?t0??-f?  $K?)oIji0e checking for new query: numPingsReceived=1, elapsed TxPingTime=2.548828Am ؟AIq I O >E- - E- %E- 0E) "E- d;*E- ;VE- 4ZE) a5 @a5 @a5 @a5 @ԡ S,OE?A2y@2ۄ@2>E:ٱ2hlF :AHRS rotation from veh to nav: [[-0.566639,0.808628,0.158246],[-0.823966,-0.555915,-0.109723],[-0.000754,-0.192562,0.981284]]2H!G?dA?]` H@ȿf?i2y@I2^;2CYzUByz"IbD%VD%ye/%eK=ٔm:Q-m>9m"?Ym"?=uEFyuuDԉ2E>AQ 5}4Eǜ?Q 94EP)EfBYyQ I?EjCIEM<checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774952 addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 3.027946 s, deltaX: -1.500000 m, approachRate: -0.495385 m/s, rangeRepo size: 4 % Added new target pos. range: 2.289898 m, bearing: 222.922855 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 14.124005 s, deltaX: -7.467384 m, approachRate: -0.528702 m/s, posRepo size: 4 jh!bh!B5>B1B5"IB5eBB1B1B5DB5W~;B54EMBIntercept lockout. Range: 2.30 m.MbTransitioning guidance mode to: INTERCEPT_LOCKOUT:hM@hIhI*hI"hI hIgQfQfQfQdYdYdYjd]`ff@Zde?ԡBɢa=) Ee?iI)U^IQQi]aCiLzp5<=IIP@ @@1@  DDAT read: Rx Time:03:37:58.5952  TRx dataTimestamp_ set to:1761536277.628885 PDAT read: Bearing 29.9, -24.6 (Local)  ~Local bearing/azimuth received: Bearing 29.9, -24.6 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4  DAT read: 03:37:58.5952 LVL= 32752, 30865, 19490, 32755, AGC= 44, IDX= 507,-0.16, 0.850,-0.456, 1.857, 1.166, PHS=-0.214,-1.577, 0.647, RAW= 172.6, 11.8, CAL= 172.6, 14.0, ROT= 337.4, -14.0  Ygot valid direction response: 03:37:58.5952 LVL= 32752, 30865, 19490, 32755, AGC= 44, IDX= 507,-0.16, 0.850,-0.456, 1.857, 1.166, PHS=-0.214,-1.577, 0.647, RAW= 172.6, 11.8, CAL= 172.6, 14.0, ROT= 337.4, -14.0  R#Rx 2: Read range and direction messages. ^direction in FSK: [0.895787,-0.372880,0.241922] Fpublishing direction and range info^A= m=y  EpI?jbD׿79K?Y f@ x "L ) ,I "[i #ɿ ˡ%? @@ BR> @@ 5z>) p@I 5z bE(N4jErO4rE̅0E=  E= E= &E9 "E= >T;*E= ]:VE= 4ZE9 BE= #L[,weoE?Aɰb/_x@bi*@bQ;ٱb_P =AHRS rotation from veh to nav: [[-0.575700,0.800975,0.164342],[-0.817658,-0.563454,-0.118129],[-0.002019,-0.202382,0.979305]]bH #l@?& ?A* =3` ɿvV?ib/_x@Ib&^;bCYMTByM"IIiMb@Mb@Mb@ 9K?nI +?Y^>yV9<A @)Y@bDVD:y%=ٔ&;Q->9Y=EFyD AE >Q 54ƶ?Q 94GU)sBY%C?Q E%:yEQ IE?CI;i1;he4yMBɮMAQii?hE?AJi@Ri@jiàp@b66A?CDxι /?REpI?jbD׿79K?Ziɾbi5zj283Rf_m-wF?ZNmQ,῰ӑd?2io:iLϿ"iŏM.?*isBiBiGE`?iFziBi?i݂@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504145 s, deltaX: -0.200000 m, approachRate: -0.396711 m/s, rangeRepo size: 4   Added new target pos. range: 2.090749 m, bearing: 215.421363 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 0.504145 s, deltaX: -0.199149 m, approachRate: -0.395024 m/s, posRepo size: 4 jh bh hh*h"h hgfEchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.278624ffEJBdIdIdIjdM@ZdU*?yBɢX3=) I?i)%iFimym 4jb, E?AYgot valid direction response: 03:37:59.0950 LVL= 31632, 31729, 19858, 32755, AGC= 40, IDX= 505,-0.46,-0.660,-1.915, 0.107,-0.262, PHS=-0.297,-1.608, 0.325, RAW= 168.4, 18.1, CAL= 169.2, 24.1, ROT= 340.8, -24.1 R#Rx 3: Read range and direction messages.^direction in FSK: [0.862059,-0.300201,0.408330]Fpublishing direction and range infoyuj?De}6ӿb7"?Yf?{{M )(IbiͿff><@?><@ \>)V@I\׾#ۨ4?ikx??JP?  X?)Ii\׾*checking for new query: numPingsReceived=3, elapsed TxPingTime=3.566937Ef EfEf)Ed"EfQ;*Ef1:VEfFA4ZEdaj@aj@aj@aj@!w@b@_;ٱrW AHRS rotation from veh to nav: [[-0.580484,0.796472,0.169322],[-0.814269,-0.567282,-0.123116],[-0.002005,-0.209341,0.977841]]HS`|?[?}+'@k`ʿxJ?i!w@I ^;9YU7ByU"IbDVDܲy %H=ٔQ->9Y=EFyDgmE>Q 54s?Q 94X)}BYyQ I?CI`<=iw<=zl4yBɮAcEqii'E?AJib?Rib?jiv@by7ɷ?#7Tlj?Ruj?De}6ӿb7"?Zibi\׾jA8h }-f?Zds忭~z⿭(l*w?2i{:iƙ"i97D?*i"tBiޅBi97D?iwiޅBi?iPz@e addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504303 s, deltaX: -0.300000 m, approachRate: -0.594880 m/s, rangeRepo size: 4 u Added new target pos. range: 1.792070 m, bearing: 220.959782 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.504303 s, deltaX: -0.298678 m, approachRate: -0.592260 m/s, posRepo size: 4 jhybhyhyhy*hy"hy hygfffdddjd?Zd@/?checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782693B>BBBB =BBDB?~;B4EEBɢM[=)I M/?iI)M^IQiUJaIiUx]v<]=IyIԡq @q  @q @u N0@q ^A ǚ=A >A >DDAT read: Rx Time:03:37:59.5950 TRx dataTimestamp_ set to:1761536278.636687PDAT read: Bearing 65.8, 3.0 (Local) ~Local bearing/azimuth received: Bearing 65.8, 3.0 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.4 DAT read: 03:37:59.5950 LVL= 23504, 24673, 14450, 32755, AGC= 39, IDX= 504, 0.44,-1.062,-2.504,-1.457,-0.785, PHS=-0.175,-1.674,-0.716, RAW= 129.1, 34.6, CAL= 133.1, 45.2, ROT= 16.9, -45.2 Ygot valid direction response: 03:37:59.5950 LVL= 23504, 24673, 14450, 32755, AGC= 39, IDX= 504, 0.44,-1.062,-2.504,-1.457,-0.785, PHS=-0.175,-1.674,-0.716, RAW= 129.1, 34.6, CAL= 133.1, 45.2, ROT= 16.9, -45.2 R#Rx 4: Read range and direction messages.\direction in FSK: [0.674204,0.204839,0.709571]Fpublishing direction and range infoyh?ϯ'8?Xʹ?Y[a`r8 )'I333iEֿK74@#?@ I?)>IIq 0??'6+? #>)I>iIMchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.056988E5 E5E5(E1"E5V;*E5:VE5c44ZE1BE5}yu<A^@ )@YG@bDVDyn%=ٔ-ܺQ-->9)Y)=-EFy5D54E5>9Q 5e4=?Q 9e4=i])=BYmr>Q Em:ymQ Im?=CI=h;i=.;=Ev4yqɮuDAqii{E?AJic?Ric?ji}.@bxuT?G:_Rh~?ɋX?Rh?ϯ'8?Xʹ?Zi>biIj>SɿhVŖ?Z󚰁68oپ?2i׬:iH"i+?*iBiyBiiiiC?i{@% addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503499 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.792094 m, bearing: 261.737147 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.503499 s, deltaX: 0.000024 m, approachRate: 0.000048 m/s, posRepo size: 4 jh1bh1h9h9*h9"h9 h9gYfYfafe!BdadidijdiZdm?颹ԹɢJ=) )?i) iJLiy8e<=t=IIchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.287091@ @@0@^A`=A I! I1 OE > q,E?AY~By~^"IbDVD-DDAT read: Rx Time:03:38:00.0949 -TRx dataTimestamp_ set to:1761536279.1408165PDAT read: Bearing 34.9, -4.5 (Local) =~Local bearing/azimuth received: Bearing 34.9, -4.5 (Local) MDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.4 mDAT read: 03:38:00.0949 LVL= 18416, 28657, 17186, 22419, AGC= 36, IDX= 502,-0.32,-2.215, 2.106,-2.049,-2.237, PHS= 0.124,-1.896, 0.144, RAW= 150.5, 15.8, CAL= 150.8, 17.7, ROT= 359.2, -17.7 uYgot valid direction response: 03:38:00.0949 LVL= 18416, 28657, 17186, 22419, AGC= 36, IDX= 502,-0.32,-2.215, 2.106,-2.049,-2.237, PHS= 0.124,-1.896, 0.144, RAW= 150.5, 15.8, CAL= 150.8, 17.7, ROT= 359.2, -17.7 }R#Rx 5: Read range and direction messages.^direction in FSK: [0.952569,-0.013301,0.304033]Fpublishing direction and range infoy)- +q{?/=z0Gu?Y-?)-G-o-"C -W)-$I-=i-!-t>-0(@-0>-q(@ -2+>)-y@I-2+))-쁑?=?Ue!-u? -9?)-UtI-Ddi-2+))checking for new query: numPingsReceived=5, elapsed TxPingTime=4.554745yH%d=ٔQ->9Yq=}EFy}D}E}>Q 54?Q 94`)BYyQ I?CI;im ;|4yBɮ7AbED@AzDE EE'E"EN;*E:VE'4ZEa@a@a@a@i)i-!E?AJi-?Ri-?ji- @b-SH?/ W *Q}w?R- +q{?/=z0Gu?Zi-Ddbi-2+j-gF,I1 .?Z-!࿓{08?2i-:i-]_"i-s%B?*i-pTZBi-Bi-s%B?i)i-ɅBi-?i-&{@m addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504129 s, deltaX: -0.100000 m, approachRate: -0.198362 m/s, rangeRepo size: 4 } Added new target pos. range: 1.692534 m, bearing: 237.303624 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.504129 s, deltaX: -0.099561 m, approachRate: -0.197491 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@33?Zd}?ɢu]=)  B% *CB% "IB% KBB% =B! B% DB% -~;B% 4EB(C^A =BBȔCBBȽ =CȪ5y I I O >w,sE?AY~By~["IiMb@Mb@Mb@ 9#~j?ʡE~jthY?y-DAO@ @)@YbDVDys%I=ٔQ->9Y=EFyDE>Q 54?Q 94[d)BY?Q E:yQ I?CI:i:4yɮPA B*** querying acoustic contact ***i  i jhbhhh!*h!"h! h!g!f!f)f-Bd)d)d1jd1Zd5 ?QeBɢe/i=)mB}ۼ m?ii)mbiiiuQiuy}۸<}=IyIy@ @@/@5DDAT read: Rx Time:03:38:00.5948 5TRx dataTimestamp_ set to:1761536279.644365=DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.3 EX#Rx 6: Read range message, but no direction.y1Y5?1Mchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.046091^A=AgAzAhAԁE- E%EE"Ed;*E;VEZEBE>ԩ checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294549 },cE?A~v@~-N@~.qٱ~;Q]  AHRS rotation from veh to nav: [[-0.597469,0.782761,0.174114],[-0.801884,-0.584205,-0.125247],[0.003680,-0.214450,0.976728]]~Hwa ?`]I?ϱ %n?s˿ [A?i~v@I~^;|YBy6"I !!%=%a=bD5VD5yEo%ER=ٔEGQ-E>9IYI=MEFyMDUFEU>YQ 5e4]s?Q 9e4]h)]BYayeQ Ie?]CI]/:i]:]^4yqɮu=Aq addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503549 s, deltaX: -0.200000 m, approachRate: -0.397181 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd?Zd ?ɢG)L=) *?i)|顑i=Tiz|<m=IIԩQ@ @@@5DDAT read: Rx Time:03:38:01.0945 =TRx dataTimestamp_ set to:1761536280.148233]DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.1 mX#Rx 7: Read range message, but no direction.y1Y5̌?1uchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.554561^AD=D4<E\ EFE(E"E;*Ev;VEc44ZEa@a@a@a@ IQ Ia Om >1 -τ,+F?ARdv@R.-@RȟٱRX MAHRS rotation from veh to nav: [[-0.600690,0.780995,0.170931],[-0.799466,-0.588140,-0.122251],[0.005054,-0.210089,0.977669]]RH8??9 `K@t? .ʿ@I?iRdv@IR^;RCY߃By3"IbDVDk1yF%?=ٔ PRQ->9!Y!=-EFy-D=~EE>AAAAB>B+CB"IB#BB =B>DBDB~;B4Echecking for new query: numPingsReceived=7, elapsed TxPingTime=5.804454IQ 5]4Md?Q 9]4Ml)MBYaye*Q Im?M6CIM=R;iMR;M4yBɮ$A- addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503868 s, deltaX: -0.400000 m, approachRate: -0.793859 m/s, rangeRepo size: 4 jh)bh)h)h)*h)"h) h1g1f1f1f1d9d9d9jd=?ZdE@?颩ɢ+=) ?i)_顱i?WiyE%<af=IIA}@y @y@y@y^AmC|w=IIO>i m DDAT read: Rx Time:03:38:01.5945 m TRx dataTimestamp_ set to:1761536280.656296} DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.1 } X#Rx 8: Read range message, but no direction.yi Yi i  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.058031E M E ME )E "E ˀ;*E %;VE FA4ZE BE Q9Y=EFyDW<E>Q 54X?Q 94p)YL?Q E:y]Q I?OCI;iX;4yBɮAkE addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.508063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgff!f%ÁBd!d!d)jd)Zd-@?Yɢ]e=)Y ]V?iY)e3Saaie\Yimzmy+,]JF?AYBy"II%<)%-A-AE=| E=|E=+E9"E=;*E=/;VE= [4ZE9aE@aE@aE@aE@bDMVDMy}н%}9=ٔ}Q-}>9Y=EFyĠDE>Q 54K?Q 94u)YyQ I?oCIR:iI:4yBɮ_AjE addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503330 s, deltaX: -0.500000 m, approachRate: -0.993384 m/s, rangeRepo size: 4 jhbhhh!*h!"h! h!g!f!f)f)dIdIdQjdU@33?ZdUᘵ?i颙ɢ$)=) ?i)%P!)i-P\i-y5Uf<5z=I1I1VoѼ@ @@/@^Aw=DDAT read: Rx Time:03:38:02.5944 TRx dataTimestamp_ set to:1761536281.417761checking for new query: numPingsReceived=9, elapsed TxPingTime=6.819411BU>BU)CBUT"IBUBBU =BU?DBUDBU1~;BU4EA] .AIi Iy O > ,CdF?A2t|@2 @2Gd<ٱ2r :AHRS rotation from veh to nav: [[-0.526818,0.843994,0.100685],[-0.849864,-0.521092,-0.078711],[-0.013965,-0.127034,0.991800]]2H? {ƹ?@2@Ȭ`&̙B@Ӽ?i2t|@I2h~^;2CYBByB!IiEMb@Mb@Mb@AAAA A9EMbX?~jt? rhYE ?yE=EC Et@Et@ Ez@)E@AYEQ@bD]VD]ym~9%mL=ٔmS;=Q-m>9u ?Yu ?=uEFyu̠D}W>E}>Q 54!D?Q 94z)BY. ?Q E:yQ I?CI:i]:q4yɮAB*** querying acoustic contact ***i ijhbhhh*h"h hgfffBdddjdZd@;5? ɢ 9B=)  A?i )Hi%O^i%z-F<->I)I)DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 Z#Rx 10: Read range message, but no direction.yYff?checking for new query: numPingsReceived=10, elapsed TxPingTime=7.066514E]y E]mE],EY"E];*E](;VE]g4ZEYBE],F?A2+@2gĆ@2k<ٱ2 ? >AHRS rotation from veh to nav: [[-0.480108,0.876688,0.030230],[-0.876927,-0.478794,-0.041908],[-0.022266,-0.046630,0.998664]]2H޿ ??@ ޿`t`̖ߧ`?i2+@I2)_;2CYZByZ!IbDbVDb0yjz;%j5=ٔn9lYl=nEFynՠDrp=Er>tQ 5z4vi=?Q 9z4v)vBY|y~Q I~?vCIv;iv;vP4yɮA5 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.760897 s, deltaX: 0.600000 m, approachRate: 0.788543 m/s, rangeRepo size: 4 jh1bh1h9h9*h9"h9 h9g9f9fAfAdAdAdIjdM@33?QZdUL?ɢƹ)=)Pt ?i)tټi|_iy<I6>IIchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.566607yE] E]E])EY"E];*E]3;VE]FA4ZEYae@ae@ae@ae@ԩe@a @a@e/@a^AE X= Be > DDAT read: Rx Time:03:38:03.5947  TRx dataTimestamp_ set to:1761536282.422565 DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  Z#Rx 12: Read range message, but no direction.y Y 3?  checking for new query: numPingsReceived=12, elapsed TxPingTime=7.827654Be 'CBe ("IBe փBBe =Ba Be DBe ,~;Be 4EA) I1 IA OU >Ǧ,pF?ANC@N=@N L<ٱN< ZAHRS rotation from veh to nav: [[-0.439147,0.897695,-0.035973],[-0.898002,-0.439807,-0.012736],[-0.027255,0.026711,0.999272]]NHܿ@? k@n %ܿu蛿#Z?`?iNC@IN_;LYBy!I !!-=-=Աi]Mb@Mb@Mb@YYYY Y9]ʡE?kt?~jtY]-=y] 0>]]@]@ ]@)YYY] @bDVD:y+%1=ٔ]19Y=EFyߠD=E>Q 54B?Q 94)sBY*T>Q E;yhQ I?CIC:i:_4yɮA addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.502042 s, deltaX: 0.200000 m, approachRate: 0.398373 m/s, rangeRepo size: 4 jhTStarting intercept timer at range: 1.40 m.bhhh*h"h hgff f Bd d d jd`ff?Zd?4?AɢE2=)I M?iQ)] ҼYip`izU<I[>II@ @@0@^AuSk=checking for new query: numPingsReceived=12, elapsed TxPingTime=8.071021 bEFA4jEmF4rEL0Eu| EuEu.Eq"Eu;*Eu:;VEuـ4ZEqBEu%1 쬑,i6F?A2AF@2A@2<ٱ2g= :AHRS rotation from veh to nav: [[-0.410537,0.909113,-0.070520],[-0.911474,-0.411345,0.003333],[-0.025978,0.065645,0.997505]]2H?Fڿs? * zSڿyNk? ڙΰ?@?i2AF@I2 _;0YfByf!IbDrVDryz=%zj=ٔzoQ-z>9~c?Y~c?=~EFy~Du=E> Q 54 E?Q 94 D) gBYy_Q I? CI  :i : x4y!ɮ%A!jhIbhIhIhI*hI"hI hIgQfQfQfQdYdYdYjdaZde ?颍Bɢw1_=) 0?i) ̼顑iaiy+<u>II!DDAT read: Rx Time:03:38:04.0946 TRx dataTimestamp_ set to:1761536282.935057PDAT read: Bearing 146.1, -18.4 (Local) ~Local bearing/azimuth received: Bearing 146.1, -18.4 (Local) ]DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 @ @@3@@=@=Z#Rx 13: Read range message, but no direction.yY?checking for new query: numPingsReceived=13, elapsed TxPingTime=8.369245^Am>Am ?Am?AA.AIIOb>q- DAT read: 03:38:04.0946 LVL= 22144, 29553, 32754, 32755, AGC= 38, IDX= 500,-0.21,-1.212, 0.044,-0.152, 0.877, PHS=-1.986,-0.787,-1.073, RAW= 283.2, 51.4, CAL= 285.7, 56.3, ROT= 224.3, -56.3 5 Ygot valid direction response: 03:38:04.0946 LVL= 22144, 29553, 32754, 32755, AGC= 38, IDX= 500,-0.21,-1.212, 0.044,-0.152, 0.877, PHS=-1.986,-0.787,-1.073, RAW= 283.2, 51.4, CAL= 285.7, 56.3, ROT= 224.3, -56.3 5 Z#Rx 14: Read direction message, but no range.= `direction in FSK: [-0.397098,-0.387512,0.831954]y  -[jٿI\ؿ0=^? V qs  ) &I ?5i xI X 2+@ Le? @ {?) z@I { QlhO?U? K6@) eI i {] checking for new query: numPingsReceived=14, elapsed TxPingTime=8.584192E  E E ,E "E ;*E <;VE g4ZE a @a @a @a @ԙ "ճ,+F?A2v@2Hۉ@27̠<ٱ2E= :AHRS rotation from veh to nav: [[-0.393365,0.914502,-0.094605],[-0.919173,-0.393385,0.019233],[-0.019627,0.094524,0.995329]]2H,ٿC? 8 i@6-ٿѱ?@22?`?i2v@I2mQ`;2CYRByR"IbDXVDXyN;%I=ٔQ->9  ?Y  ?= EFy D ==E>Q 5%42J?Q 9%4ۅ)[BY!y%JZQ I%?CI ;i:ģ4y1ɮ5A1ii׻F?AJi?Ri?ji,@b% \޿^ݿ#L?R-[jٿI\ؿ0=^?Zibi{j6+տI *d?"?ZOqѿ،k?OQ?2i&#?:i]"i+R.?*iFuBiBiiFuiBi$?iU?5 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.512492 s, deltaX: -0.200000 m, approachRate: -0.390250 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.194697 m, bearing: 117.431434 deg, lat: 36.779319 deg, lon: -121.859586 deg, deltaT: 3.794241 s, deltaX: -0.497837 m, approachRate: -0.131208 m/s, posRepo size: 4 jhYbhYhaha*ha"ha hagafafifididiԁdqjd@33?Zdn?颉ɢL:=) ?i)#ļ顑iIciz=m<BM>BIBM!IBMBBM =BIBMDBM~;BM4Eߍ%=ߍ4=DDAT read: Rx Time:03:38:04.5947 TRx dataTimestamp_ set to:1761536283.466987PDAT read: Bearing 141.7, 3.3 (Local) ~Local bearing/azimuth received: Bearing 141.7, 3.3 (Local) ԹDAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 03:38:04.5947 LVL= 19984, 23521, 30546, 32755, AGC= 36, IDX= 501,-0.26, 3.018,-2.600,-3.039,-1.566, PHS=-1.598,-0.989,-1.518, RAW= 323.0, 68.5, CAL= 323.0, 70.6, ROT= 187.0, -70.6 Ygot valid direction response: 03:38:04.5947 LVL= 19984, 23521, 30546, 32755, AGC= 36, IDX= 501,-0.26, 3.018,-2.600,-3.039,-1.566, PHS=-1.598,-0.989,-1.518, RAW= 323.0, 68.5, CAL= 323.0, 70.6, ROT= 187.0, -70.6 T#Rx 15: Read range and direction messages.`direction in FSK: [-0.329685,-0.040480,0.943223]Fpublishing direction and range infoyQտ%{չk>A.?Y3?N[Rw )$ID̿i/}M¿e@?e@ ϸ?)P@Iϸ#ߠտ/Zj¿$^~Aiϸchecking for new query: numPingsReceived=15, elapsed TxPingTime=8.881832EJ>I1I9 @ @@&1@ ^A  > ]checking for new query: numPingsReceived=15, elapsed TxPingTime=9.119433Ee EsE-E"E;*E)+;VEt4ZEBEyuQ=uu@u@ u^@)u@qYu@bDVD!y<%=ٔQ->9Y=EFyD҈=E>Q 543K?Q 94)]BYD>Q E;y%Q I?CI:i:ͣ4yɮNAiqiuF?AJiuh?Riuh?jiuw?bu?/hݿ:}c㬿#?RuQտ%{չk>A.?Ziu+>Abiuϸju@t?m6Z??Zun?E~?rc5?2iu>:iu;"iu&$K?*iu{BiuZBiu97D?iu{iuޅBiug>iu܄? addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.531930 s, deltaX: 0.200000 m, approachRate: 0.375989 m/s, rangeRepo size: 4 - Added new target pos. range: 1.393822 m, bearing: 89.401321 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.531930 s, deltaX: 0.199125 m, approachRate: 0.374344 m/s, posRepo size: 4 jh-5RStopped intercept timer at range: 1.40 m.bh1h1h1*h1"h1 h1g1f9f9f=BdAdAdAjdE`ff?ZdM?uBɢu8=)}ܼ }?iy)}{yyi&fiy >II]DDAT read: Rx Time:03:38:05.0946 eTRx dataTimestamp_ set to:1761536283.972929mPDAT read: Bearing 141.8, 3.5 (Local) m~Local bearing/azimuth received: Bearing 141.8, 3.5 (Local) DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 8ƼDAT read: 03:38:05.0946 LVL= 20240, 26241, 32754, 32755, AGC= 37, IDX= 500,-0.13, 1.757, 2.359, 1.949,-2.874, PHS=-1.550,-1.005,-1.504, RAW= 325.7, 70.0, CAL= 325.5, 72.0, ROT= 184.5, -72.0 Ygot valid direction response: 03:38:05.0946 LVL= 20240, 26241, 32754, 32755, AGC= 37, IDX= 500,-0.13, 1.757, 2.359, 1.949,-2.874, PHS=-1.550,-1.005,-1.504, RAW= 325.7, 70.0, CAL= 325.5, 72.0, ROT= 184.5, -72.0 T#Rx 16: Read range and direction messages.E`direction in FSK: [-0.308064,-0.024245,0.951057]MFpublishing direction and range infoyY] A1 I9 II O] >Œ‘,ݱ G?A2@2@2t0Uٱ2cke= :AHRS rotation from veh to nav: [[-0.344263,0.937641,-0.048086],[-0.938783,-0.343068,0.031471],[0.013012,0.055977,0.998347]]2H fֿ(? `տ@?@ݥ??v?i2@I2_;2CYBȃByB"IbDNVDN0yV[=%V\=ٔV@Q-V>9XYX=ZEFyZDZv>=E^>|Q 5%4 L?Q 9%4t)^BY)y-ɷQ I-?CI|:i1:ԣ4y1ɮ5A1iixDF?AJi?Ri?jin?bRC׿y6i7T.?R??g`D96?2iL>:i7="irO?*i2*Bi Bi&$K?i2*i BiP>iɡ? addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.505942 s, deltaX: -0.200000 m, approachRate: -0.395302 m/s, rangeRepo size: 4  Added new target pos. range: 1.194705 m, bearing: 83.451534 deg, lat: 36.779320 deg, lon: -121.859591 deg, deltaT: 0.505942 s, deltaX: -0.199117 m, approachRate: -0.393558 m/s, posRepo size: 4 jhTStarting intercept timer at range: 1.20 m.bhhh*h"h hgfffdddjd@33?Zd?checking for new query: numPingsReceived=16, elapsed TxPingTime=9.622689ɢf=) 9?i)Ec ESE+E"EƊ;*EN;VE [4ZEa @a @a @a @ i liizII.ۼ1@ @@/@^A;>iAII9O>AA@AB>B(CB!IBBB =BBB2~;B4EBB(CBǕCBǿ =BCd6u DDAT read: Rx Time:03:38:05.5946 } TRx dataTimestamp_ set to:1761536284.476732 PDAT read: Bearing 149.3, -7.7 (Local)  ~Local bearing/azimuth received: Bearing 149.3, -7.7 (Local)  DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0  DAT read: 03:38:05.5946 LVL= 28960, 26257, 32754, 32755, AGC= 41, IDX= 500,-0.03, 0.725, 1.680, 1.244, 2.569, PHS=-1.742,-0.844,-1.370, RAW= 305.6, 60.8, CAL= 306.6, 63.7, ROT= 203.4, -63.7  Ygot valid direction response: 03:38:05.5946 LVL= 28960, 26257, 32754, 32755, AGC= 41, IDX= 500,-0.03, 0.725, 1.680, 1.244, 2.569, PHS=-1.742,-0.844,-1.370, RAW= 305.6, 60.8, CAL= 306.6, 63.7, ROT= 203.4, -63.7  T#Rx 17: Read range and direction messages. `direction in FSK: [-0.406631,-0.175965,0.896486] Fpublishing direction and range infoyq u m<ڿ Uƿ~_?Yq q u qu fq q )u )Iu ޿iu bXu )\u 㭪@u ԇ?u <@ u N?)u 13c@Iu Nq q u u#Œ߿C`c? u B)u |ׇIu .iu Nq q 5 checking for new query: numPingsReceived=17, elapsed TxPingTime=9.899403ԁ ʷȑ,͐$G?A2V"@2(@2 ٱ2=M< :AHRS rotation from veh to nav: [[-0.327532,0.944836,-0.002556],[-0.944415,-0.327303,0.030861],[0.028322,0.012521,0.999520]]2HJԿ9Y=EFy D5=E5>9Q 5E4=K?Q 9E4=)=[BYM=Q EM;yMʿQ IM?=CI=:i=]:=Jܣ4yQɮUAYiiǂG?AJiRiji}?bG)k߿%ʿ8"?Rm<ڿ Uƿ~_?Zi.biNjev?2#?Z?>f"?H IA IQ Oe >Α,>G?ADDAT read: Rx Time:03:38:06.0945 TRx dataTimestamp_ set to:1761536284.980355DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 Z#Rx 18: Read range message, but no direction.y Y̌? checking for new query: numPingsReceived=18, elapsed TxPingTime=10.382065Fr@FD@F4ٱF uAHRS rotation from veh to nav: [[-0.311154,0.949344,0.043929],[-0.949333,-0.312633,0.032046],[0.044157,-0.031732,0.998521]]FHӿa?}?`/Կ^h??6?`?iFr@IFɷ^;FCYBy;"Iԩ bDVDyW=%I=ٔQ->9Y=EFyD/=E>Q 5 4K?Q 9 4Ō)XBYyUɿQ I?CI:i:B4yɮ A!]B*** querying acoustic contact ***iY iY addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503623 s, deltaX: -0.100000 m, approachRate: -0.198561 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd?Zd`u?Bɢ}=) +?i)}yi) I I O >Ց,CXG?ABL@BG@BIkٱBU JAHRS rotation from veh to nav: [[-0.292536,0.952298,0.086898],[-0.954529,-0.296256,0.033254],[0.057412,-0.073219,0.995662]]BH`ҿ9y?>?` ҿ?e?@{v?iBL@IBֹ^;BCYZBy^G"IbDVD02y]5;=%eD=ٔmLQ-u>B>B'CB!IBBB =BBDBU~;B4E9Y!=%EFy%D-3=E->=DDAT read: Rx Time:03:38:06.5945 =TRx dataTimestamp_ set to:1761536285.484304EDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 MZ#Rx 19: Read range message, but no direction.y9Y99Uchecking for new query: numPingsReceived=19, elapsed TxPingTime=10.886029YQ 5e4]L?Q 9e4])]UBYayeǿQ Im?]CI]B:i]:] 4yɮA addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh!bh!h!h!*h!"h! hagafffdddjdZds?Bɢ2l=)L; ז?i) ӛ  i ziyIIA@ @@@^A1>I9IIOU>i checking for new query: numPingsReceived=19, elapsed TxPingTime=11.134555E% i E% E% *E! "E% ~;*E% ga;VE% (N4ZE! BE% B9Y=EFy!Dh=E>Q 54L?Q 94u)RBY>c=Q Eo]rGq9Y AEDDAT read: Rx Time:03:38:07.0944 MTRx dataTimestamp_ set to:1761536285.988331UDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 UZ#Rx 20: Read range message, but no direction.yAYEff?A]checking for new query: numPingsReceived=20, elapsed TxPingTime=11.390058^AIqIO>I Z,G?A2b@24@2˙ٱ2 :AHRS rotation from veh to nav: [[-0.252209,0.956513,0.146535],[-0.964760,-0.260291,0.038560],[0.075025,-0.131646,0.988454]]2H1$п›?@? P п 3?4?`i?i2b@I2-9^;2C9tYt=vEFyv(Dvg=Ez>|Q 54~)M?Q 94~)~OBYyҚQ I?~CI~:i~:~4yɮ;AE addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504027 s, deltaX: -0.200000 m, approachRate: -0.396804 m/s, rangeRepo size: 4 jhAbhAhAhA*hA"hI hIgIfIfIfQdQdQdQjd]?Zd] i?颅Bɢ5v=) I?i)顉iGEx E|E-E"EL;*E/;VEt4ZEa@a@a@a@checking for new query: numPingsReceived=20, elapsed TxPingTime=11.649179i5y19I9I9i]̼ԡ @ @@/@!ByA}<BBB;"IBBBBBBq~;B4E DDAT read: Rx Time:03:38:07.5944  TRx dataTimestamp_ set to:1761536286.504152 DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  Z#Rx 21: Read range message, but no direction.y Y  checking for new query: numPingsReceived=21, elapsed TxPingTime=11.905897 ^AQ I I O >I,G?A24F@2A@2;ٱ2 >AHRS rotation from veh to nav: [[-0.232793,0.960385,0.153192],[-0.969302,-0.241941,0.043803],[0.079131,-0.138292,0.987225]]2H(Ϳy?`ɛ? ο am?A?`Y?i24F@I2 J^;2CYFByF`"Ii-Mb@Mb@Mb@)))) )9-y&1{Gz?9Y=EFy2D+=E>AQ 54N?Q 94)KBY=Q E;y?Q I?CI;i;04yɮA addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.515821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffoBdddjdZd ?%Bɢ%u=)) -?i))-݃))i-gi5z19I9I9Emc EmVEiEi"EmƊ;*Em;VEiZEiBEm= DDAT read: Rx Time:03:38:08.0944 = TRx dataTimestamp_ set to:1761536287.009104M DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 U Z#Rx 22: Read range message, but no direction.y9 Y9 9 e checking for new query: numPingsReceived=22, elapsed TxPingTime=12.412277A I I O >̓,(G?Ab׈@bzҏ@b\ٱb zAHRS rotation from veh to nav: [[-0.215529,0.966171,0.141636],[-0.973201,-0.224438,0.050074],[0.080168,-0.127048,0.988652]]bHr˿?@#!?v$_̿J?녴?C?ib׈@Ib-6^;bCYBy%z"IbD5VD50ye6=%mO=ٔm-Q-m>9qYq=uEFyu:Du==E}>yQ 54}O?Q 94})}GBYy?Q I?}CI} ;i};}4yɮsAB*** querying acoustic contact ***i i- addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh)bh)h)h)*h)"h1 h1g1f1f1f9d9d9dYjdaZde2?Bɢ\=)xf &?i)wiǓi=y9AIAIA)Et E}E+E"E{;*Em0;VE [4ZEa@a@a@a@checking for new query: numPingsReceived=22, elapsed TxPingTime=12.660529l;U !@Q  @Q @] 0@Y Y ԁ Be >Ba Be "IBe BBa Ba Ba Be U~;Be 4E^A 1>DDAT read: Rx Time:03:38:08.5945 TRx dataTimestamp_ set to:1761536287.513353PDAT read: Bearing 166.0, 3.0 (Local) ~Local bearing/azimuth received: Bearing 166.0, 3.0 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 03:38:08.5945 LVL= 32752, 29553, 32754, 32755, AGC= 44, IDX= 507, 0.01, 0.323, 0.959, 0.142, 1.429, PHS=-1.005,-0.425,-1.332, RAW= 350.9, 50.9, CAL= 349.7, 54.6, ROT= 160.3, -54.6 Ygot valid direction response: 03:38:08.5945 LVL= 32752, 29553, 32754, 32755, AGC= 44, IDX= 507, 0.01, 0.323, 0.959, 0.142, 1.429, PHS=-1.005,-0.425,-1.332, RAW= 350.9, 50.9, CAL= 349.7, 54.6, ROT= 160.3, -54.6 T#Rx 23: Read range and direction messages.^direction in FSK: [-0.545376,0.195273,0.815128]Fpublishing direction and range infoyZsų?6?Y̌?qs ),Iףiپ~@clc?0O@ s?)3@IsٿVY߿? B)cI3@ischecking for new query: numPingsReceived=23, elapsed TxPingTime=12.927344ԩIQIaOu ?,ۢG?Aɰ49Y=EFyEDu<E>Q 54P?Q 94 )Y '>Q E ;y \?Q I ?CI<;i;;&4y-Bɮ-A-kEiiG?AJi-?Ri-?jiY=q?b㿑ku_?oXYϐ?RZsų?6?Zi3@bisjr?$G`?;#?ZS?! f>?vN?2i?:i>"imet?*izBiBi&$K?i{ii ?is? addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504249 s, deltaX: 0.200000 m, approachRate: 0.396630 m/s, rangeRepo size: 4 % Added new target pos. range: 1.095137 m, bearing: 53.992238 deg, lat: 36.779320 deg, lon: -121.859589 deg, deltaT: 3.036621 s, deltaX: -0.099569 m, approachRate: -0.032790 m/s, posRepo size: 4 jh)bh)h)h)*h)"h) h1g1f1fYf}Bdddjd?Zd@?%Bɢ%Sbj=)! %?i))-^))i-i5z1QIYIYe=e>ԙchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.162827bE=|a4jE=[4rE=w2E EEKE"Eu;*EVE5ZEBEIQIaOu?-3,!: H?AV`F@V2A@VyٱVV ^AHRS rotation from veh to nav: [[-0.171851,0.984068,0.045579],[-0.982384,-0.174638,0.066508],[0.073408,-0.033346,0.996744]]VH9ſ|}?V?oZƿ?@ʲ?@T?iV`F@IVu^;TYfByfy"IhbDv+VDvE3y~D<%~=ٔ~/@9Y=EFyPD h=E > Q 5%4 TQ?Q 9-4 ڇ) Y)y-?Q I-? CI };i p:  4y9ɮ=A9m addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503161 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhibhihihi*hq"hq hqgqfqfyfydydydjdZdj?颵Bɢ=) ?i)ĂK项ikiyIIqquuE EvEE"Ex;*E,;VEc5ZEa@a@a@a@checking for new query: numPingsReceived=24, elapsed TxPingTime=13.66668310@ @@/@A A B% >B! B% "IB% FBB! B! B% Da B% =~;B% 4E DDAT read: Rx Time:03:38:09.5945  TRx dataTimestamp_ set to:1761536288.520999 DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  Z#Rx 25: Read range message, but no direction.y Y  checking for new query: numPingsReceived=25, elapsed TxPingTime=13.922746^A IY Ii Ou >xl,T#H?AM4@M@M>ٱM˻Z uAHRS rotation from veh to nav: [[-0.157744,0.987183,0.024232],[-0.985004,-0.159038,0.066889],[0.069886,-0.013317,0.997466]]MH0Ŀ ?PИ?'Z[Ŀ?? 'F >?iM4@IM*^;MCY"By"Ii5Mb@Mb@Mb@1111 195)\(̿L7A`堿{Gzt?Y5Gay5+5ף;5\@5(@ 5@)5@1Y5@bDMVDM 83y](=%]4=ٔ];Q-]>9aYa=eEFyeYDm=Em>qQ 5}4ujQ?Q 9}4u4)uEBY}c>Q E}n;y}?Q I?u&CIu:iuQ:u!4yɮZA addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffBdddjdZd ɐ?Bɢ;=) B?i ) l8  i ѫizIIA@ @@/@a}@a@a Et EEE"E{;*EH;REZEBEԙ ,=H?A((FG*@F%@FٱFױ NAHRS rotation from veh to nav: [[-0.144522,0.989386,0.015096],[-0.987221,-0.145208,0.065651],[0.067146,-0.005415,0.997728]]FH¿ ?@?O)¿ΰ?0?.v@d?iFG*@IF ^;DYbBybv"IId)f4=yDDAT read: Rx Time:03:38:10.0944 %TRx dataTimestamp_ set to:1761536289.024337-DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 5Z#Rx 26: Read range message, but no direction.y!Y%ff?!=checking for new query: numPingsReceived=26, elapsed TxPingTime=14.426184bD=.VD=P3yMhi%UK=ٔU;Q-]>9YYY=]EFy]aDe=Ee>iQ 54mcQ?Q 94mڂ)mCBYy?Q I?m2CImJ,=imW,=m)4yɮAM addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503338 s, deltaX: -0.200000 m, approachRate: -0.397347 m/s, rangeRepo size: 4 jhQbhQhQhQ*hQ"hQ hQgYfYfYfYdadadajd?Zdb+?ԩBɢ͚=) ?i)*%i螼iy I I @ @@ @a} a a E  E E E "E [;*E ;J;VE 5ZE a @a @a @a @ checking for new query: numPingsReceived=26, elapsed TxPingTime=14.674607^A A> I) I9 OM >, WH?AB@By@BٱBd NAHRS rotation from veh to nav: [[-0.132185,0.991089,0.016404],[-0.989030,-0.132975,0.064315],[0.065923,-0.007723,0.997795]]BHn?S̐?@#@Qv? X? 0@?iB@IB^;@YV ByVi"IbD^VD^3yfn%ff=ٔj b;Q-j>9hYl=nEFynhDn=En>pQ 5v4rHQ?Q 9v4rƀ)rABYxy-?Q I5?rB(CB"IBPBB =BBBF~;B4EBm'CBm'CBmÓCBm =Bmÿ =Cmâ5Bɢ|=)a m ?ii)uxyyijizEDDAT read: Rx Time:03:38:10.5945 MTRx dataTimestamp_ set to:1761536289.532820uDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 Z#Rx 27: Read range message, but no direction.yIYM̌?Ichecking for new query: numPingsReceived=27, elapsed TxPingTime=14.940642IIS{Ai@i @i@u^ @q)Q ^A 1>E } E E 1E "E ;*E z;VE -4ZE BE ,tH?A,6C@6@6>&ٱ6 >AHRS rotation from veh to nav: [[-0.120758,0.992400,0.023680],[-0.990522,-0.122034,0.063045],[0.065456,-0.015842,0.997730]]6H龿?`y??`Z=#??8g?i6C@I6m^;6CYFByF{"IiUMb@Mb@Mb@QQQQ Q9Ugfffffƿ9Y=EFyrD<E>Q 54iQ?Q 94~)=BY@4>Q E;y?Q I?GCI:i/:74yɮA addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.508483 s, deltaX: 0.200000 m, approachRate: 0.393327 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?Zd?!ɢ%Gӡ=)) -?i))-))i5iki5y99I9IA e&Changing to mode: 1Ia)efAԉ@ @@ @]DDAT read: Rx Time:03:38:11.0945 eTRx dataTimestamp_ set to:1761536290.032821mPDAT read: Bearing 131.1, -20.2 (Local) u~Local bearing/azimuth received: Bearing 131.1, -20.2 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 03:38:11.0945 LVL= 12080, 13953, 32738, 29347, AGC= 39, IDX= 499, 0.49, 3.005,-2.926,-2.220,-1.095, PHS=-2.081,-1.786,-1.168, RAW= 228.5, 65.6, CAL= 229.5, 70.1, ROT= 280.5, -70.1 Ygot valid direction response: 03:38:11.0945 LVL= 12080, 13953, 32738, 29347, AGC= 39, IDX= 499, 0.49, 3.005,-2.926,-2.220,-1.095, PHS=-2.081,-1.786,-1.168, RAW= 228.5, 65.6, CAL= 229.5, 70.1, ROT= 280.5, -70.1 ԱT#Rx 28: Read range and direction messages.^direction in FSK: [0.062029,-0.334680,0.940288]Fpublishing direction and range infoyae $vCK¯?[iekտ@!?Yaae0/e6e er)e'Ie/ie俉ee<@eC?eO-@ eۚ?)e'@IeۚaaeUU ]"V|?%? eJ?)e씒IeϚieۚaachecking for new query: numPingsReceived=28, elapsed TxPingTime=15.447576^A 9> A1 I9 II O] >w#,ӈH?A22P@2K@2ٱ2E :AHRS rotation from veh to nav: [[-0.109031,0.993146,0.042118],[-0.991901,-0.111476,0.060865],[0.065143,-0.035141,0.997257]]2Hw黿`? |? )?:??i22P@I2:`;2CYB ByFh"I Jp9XYX=ZEFyZyD^=E^>`dQ 5f4fqQ?Q 9j4f|)f:BYhyj]?Q Ij?fOCIf:if:fI>4ypɮrApiiH?AJi.?Ri.?jiq B@bc?1E2u׿7/*y?R $vCK¯?[iekտ@!?ZiϚbiۚjoBԿU΂?7CB'CB"IBFBB =BB^A1>BR~;B4E DDAT read: Rx Time:03:38:11.5946  TRx dataTimestamp_ set to:1761536290.541351 PDAT read: Bearing 148.3, -20.5 (Local)  ~Local bearing/azimuth received: Bearing 148.3, -20.5 (Local)  DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 A! I IY Ii } DAT read: 03:38:11.5946 LVL= 14032, 13665, 32754, 30323, AGC= 39, IDX= 501,-0.33, 3.079,-2.442,-2.399,-1.264, PHS=-1.838,-1.133,-1.179, RAW= 273.3, 65.0, CAL= 274.6, 68.7, ROT= 235.4, -68.7  Ygot valid direction response: 03:38:11.5946 LVL= 14032, 13665, 32754, 30323, AGC= 39, IDX= 501,-0.33, 3.079,-2.442,-2.399,-1.264, PHS=-1.838,-1.133,-1.179, RAW= 273.3, 65.0, CAL= 274.6, 68.7, ROT= 235.4, -68.7  T#Rx 29: Read range and direction messages. `direction in FSK: [-0.206270,-0.299005,0.931691] Fpublishing direction and range infoy  sϮgʿ>):"ӿnj?Y ? 6 a5  sv) I CO >i % y閿 @ 6? ]@ .z?) x@I .z $ؿ8Id=?Qu? 'I+@) HI - i .z M checking for new query: numPingsReceived=29, elapsed TxPingTime=15.995892),sgH?A2ֵ@2@2Dٱ2w >AHRS rotation from veh to nav: [[-0.096720,0.993090,0.066466],[-0.993217,-0.100631,0.058254],[0.064540,-0.060380,0.996087]]2H¸d??n¹sӭ??/ꮿ`?i2ֵ@I2a;2CYVByV["IiMb@Mb@Mb@ 9~jt~jtx?y&1YĽy;`e@@ z@)@Y@bDM)VDM3y3%0=ٔ{:Q->9Y=EFyDe<E>Q 54R?Q 9 4{)5BY=Q E):"ӿnj?Zi- bi.zj!qпr0"N|?_U8?Zwֈ1˿㟷҂?Kc?2i>:i"iU\*[1,H?AY߃By3"IbDVDyZ%:=ٔQ->9"?Y"?=EFyDE>Q 5-4R?Q 9-4z)0BY1y1Q I5?ZCI;i; N4y9ɮ=mA9 addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.499347 s, deltaX: -0.100000 m, approachRate: -0.200262 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd]?Qɢ].=)Y ]?i)s顡ilizII>i?5) @1 @1@5 @9@EgA@EfAE E{E2E"Eҝ;*E_/;VE4ZEa%@a%@a%@a%@5checking for new query: numPingsReceived=30, elapsed TxPingTime=16.6906229^A= 9>a Iq I O >B B B "IB -BB B B B 6~;B 4E7,H?Avc@v]@vlٱv> -AHRS rotation from veh to nav: [[-0.075702,0.994009,0.078832],[-0.995129,-0.080321,0.057163],[0.063152,-0.074121,0.995248]]vH9AYA=EEFyEDmt'=Em>qQ 5}4uS?Q 9}4uz)u*BY}=Q E}iyH@a addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.511934 s, deltaX: 0.100000 m, approachRate: 0.195338 m/s, rangeRepo size: 4  Added new target pos. range: 1.194704 m, bearing: 107.174007 deg, lat: 36.779319 deg, lon: -121.859588 deg, deltaT: 1.011281 s, deltaX: 0.000001 m, approachRate: 0.000001 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBd!d!d!jd%@33?Zd% ?uBɢuÕ=)q u?iy)n顙iiyIIE e E hE 'E "E ;*E ^%;VE '4ZE BE t@>F@>їٱ>y{ FAHRS rotation from veh to nav: [[-0.068247,0.995516,0.065496],[-0.995693,-0.072094,0.058288],[0.062748,-0.061236,0.996149]]>HxE? Tİ? t@׭?F?IZs?i>t@I>{`;>CYNӃByN$"IbDZ-VDZ3yb%b\=ٔbˎ:Q-b>9dYd=fEFyfDj+<Ej>lQ 5r4nLT?Q 9r4nz)n&BYpyr$=Q Iv?n]CIn%:in:n]4yxɮzAxB*** querying acoustic contact ***%DDAT read: Rx Time:03:38:13.0945 %TRx dataTimestamp_ set to:1761536292.052847-PDAT read: Bearing 121.8, 6.5 (Local) 5~Local bearing/azimuth received: Bearing 121.8, 6.5 (Local) EDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 mDAT read: 03:38:13.0945 LVL= 21152, 17953, 22642, 25523, AGC= 37, IDX= 498, 0.46, 1.562, 0.770, 1.321, 2.804, PHS=-1.140,-1.989,-1.527, RAW= 122.9, 65.9, CAL= 122.9, 70.1, ROT= 27.1, -70.1 uYgot valid direction response: 03:38:13.0945 LVL= 21152, 17953, 22642, 25523, AGC= 37, IDX= 498, 0.46, 1.562, 0.770, 1.321, 2.804, PHS=-1.140,-1.989,-1.527, RAW= 122.9, 65.9, CAL= 122.9, 70.1, ROT= 27.1, -70.1 uT#Rx 32: Read range and direction messages.}\direction in FSK: [0.303010,0.155058,0.940288]Fpublishing direction and range infoy!%-qd?&,?@!?Y%̌?!%R%!F%rX %c)!I%둿i%%tÿ%G @%8?%G @ %ۚ?)%*>I%ۚ!!%TʐN?-(FjK? y.6? %P=)%=;I%*>i%ۚ!!checking for new query: numPingsReceived=32, elapsed TxPingTime=17.467255i i addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.500215 s, deltaX: -0.100000 m, approachRate: -0.199914 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd{?}Bɢ}ܨ=)y ?i) r9顁iti z  I II&@ @@ @qEh E E1E"E ;*E{;VE-4ZEa@a@a@a@checking for new query: numPingsReceived=32, elapsed TxPingTime=17.706434^A1>Ii Iy O >ԡ iF,OI?A<6̍@ǔ@~ٱWD AHRS rotation from veh to nav: [[-0.062929,0.996671,0.051831],[-0.996069,-0.065965,0.059113],[0.062336,-0.047907,0.996905]]H`??㰿`D?`u?C?i6̍@Is`;CYʃBy"IbD"VDJz3y%%;=ٔw:Q->9Y=EFyDG<E>Q 540U?Q 94z)!BYy9=Q I?^CIo;i;;e4yɮAAAAA?AB>BBy"IBBB =BBB:~;B4EiQiUaI?AJiU-?RiU-?jiU󈺪@bUztobiUۚjU8+?&4ѿ#7?ZU@g.? p-iп3\?2iU͏:iUN>"iU70f?*iUBiUޅBiQiQiQiU?>iUH@jhy2hbhhh*h"h h2hgfffdddjdZd/?ԩMDDAT read: Rx Time:03:38:13.5944 eTRx dataTimestamp_ set to:1761536292.562135PDAT read: Bearing 116.5, 19.4 (Local) ~Local bearing/azimuth received: Bearing 116.5, 19.4 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 Bɢ< =) ?i)iiyI DAT read: 03:38:13.5944 LVL= 21328, 18929, 24178, 27219, AGC= 37, IDX= 499, 0.19, 0.885,-0.383, 0.174, 1.734, PHS=-0.747,-2.073,-1.605, RAW= 110.4, 53.3, CAL= 108.4, 58.3, ROT= 41.6, -58.3 Ygot valid direction response: 03:38:13.5944 LVL= 21328, 18929, 24178, 27219, AGC= 37, IDX= 499, 0.19, 0.885,-0.383, 0.174, 1.734, PHS=-0.747,-2.073,-1.605, RAW= 110.4, 53.3, CAL= 108.4, 58.3, ROT= 41.6, -58.3 I9A]T#Rx 33: Read range and direction messages.m\direction in FSK: [0.392947,0.348874,0.850811]uFpublishing direction and range infoyY] &?ET,S?@9?Y]ff?Y]PS]I]r^ ]Sj)YI]d;?i]]pͿ]Ϣ?]%n?]*? ]S>?)]9?I]S>YY],??YYchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.004692)@ @@ @@l>@a> ^A A %?A ?IY Ii O >bEe4jE 5rE$4E s E NE &E "E ;*E ;VE 4ZE BE 9Y=EFyD!;E>Q 54W?Q 94z)BY0=Q E je?7[ԿV?Zvs?#?oC:׿3}{?2i:iۥ>"i",s?*ifBiIBii3{iiiRW@5 addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.509288 s, deltaX: -0.200000 m, approachRate: -0.392705 m/s, rangeRepo size: 4  Added new target pos. range: 0.896028 m, bearing: 314.888893 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 1.009503 s, deltaX: -0.298675 m, approachRate: -0.295864 m/s, posRepo size: 4 jh2hbhhh*h"h h2hg)f1fifuBdqdqdqjd}?Zd}b?Bɢ&i=) ?i)]i^M¼izIIu+@ @@ @EDDAT read: Rx Time:03:38:14.0943 ETRx dataTimestamp_ set to:1761536293.060821UPDAT read: Bearing 121.1, 19.0 (Local) ]~Local bearing/azimuth received: Bearing 121.1, 19.0 (Local) uDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 03:38:14.0943 LVL= 20464, 15857, 23922, 23763, AGC= 36, IDX= 498, 0.24,-0.334,-1.370,-0.984, 0.581, PHS=-0.813,-1.906,-1.609, RAW= 105.2, 57.4, CAL= 103.7, 61.8, ROT= 46.3, -61.8 Ygot valid direction response: 03:38:14.0943 LVL= 20464, 15857, 23922, 23763, AGC= 36, IDX= 498, 0.24,-0.334,-1.370,-0.984, 0.581, PHS=-0.813,-1.906,-1.609, RAW= 105.2, 57.4, CAL= 103.7, 61.8, ROT= 46.3, -61.8 T#Rx 34: Read range and direction messages.\direction in FSK: [0.326477,0.341639,0.881303]Fpublishing direction and range infoyAEA?ƀPh?V3?YEL?AEOE=Er] E\)E$IE PiEEͿE?E;?E? E?)EN?IEAAEɬ?CH? E7)E6IEN?iEAAchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.480270^A  IA IY Oe >wS,jNI?A2@2]@25wٱ2D :AHRS rotation from veh to nav: [[-0.058396,0.996976,0.051277],[-0.996470,-0.061316,0.057346],[0.060317,-0.047747,0.997037]]2H歿9?@?`dt\?@?Gr?i2@I2_;2CYvByv "IbD<VD3y%W=ٔ;Q->9Y=EFyD%ʨ;E%>)Q 554-eZ?Q 954-z)- BY1y5<{?Zu6+Lx?ܩwJҿx9?2iu2q:iu>"ius?*iuBiu&Biu70f?iuiuޅBiuE>iu@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.498686 s, deltaX: -0.100000 m, approachRate: -0.200527 m/s, rangeRepo size: 4  Added new target pos. range: 0.796470 m, bearing: 321.117163 deg, lat: 36.779323 deg, lon: -121.859591 deg, deltaT: 0.498686 s, deltaX: -0.099559 m, approachRate: -0.199642 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?ZdH?Bɢ=) ?i)iUżiy  I I checking for new query: numPingsReceived=34, elapsed TxPingTime=18.710840E EgE1E"E;*E$;VE-4ZEa@a@a@a@uP-@y @y@}+ @y ^AqIIO>B>BBN"IBBB =BBB{~;B5E1u DDAT read: Rx Time:03:38:14.5944 } TRx dataTimestamp_ set to:1761536293.569206 PDAT read: Bearing 122.1, 17.9 (Local)  ~Local bearing/azimuth received: Bearing 122.1, 17.9 (Local) 5 DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 q  DAT read: 03:38:14.5944 LVL= 20864, 16001, 24338, 26339, AGC= 37, IDX= 499, 0.44,-0.677,-1.664,-1.294, 0.260, PHS=-0.835,-1.879,-1.598, RAW= 105.1, 58.5, CAL= 103.6, 62.7, ROT= 46.4, -62.7  Ygot valid direction response: 03:38:14.5944 LVL= 20864, 16001, 24338, 26339, AGC= 37, IDX= 499, 0.44,-0.677,-1.664,-1.294, 0.260, PHS=-0.835,-1.879,-1.598, RAW= 105.1, 58.5, CAL= 103.6, 62.7, ROT= 46.4, -62.7  T#Rx 35: Read range and direction messages. \direction in FSK: [0.316294,0.332141,0.888617] Fpublishing direction and range infoyq u '>?%A?to?Yu ff?q u Qu >u _ u f)u %Iu Uiu u D̿u ?u ?u q? u ?)u 4QO?Iu q q u +),?<Q >hbE? u _)u Iu 4QO?iu q q  checking for new query: numPingsReceived=35, elapsed TxPingTime=19.016535Y,gehI?A2"@2@2jٱ2$ :AHRS rotation from veh to nav: [[-0.056024,0.997486,0.043399],[-0.996794,-0.058366,0.054724],[0.057119,-0.040194,0.997558]]2H!@g?`^8?⭿`? >?I?i2"@I2_;2CYBy!I9iMb@Mb@Mb@ 9ʡE?Zd;O?:vY-2>yj=T@l@ )l@Yz@bD1VD[3y;%%-=ٔ%;Q-%>9)Y)=-EFy-DU;EU>YQ 5e4]]?Q 9e4]|)] BYeI>Q Ee;yeQ Ie?]rCI]:i]:]<{4yɮAiimdI?AJibe?Ribe?ji;@b9b^#?+Q ?Whz?R'>?%A?to?Zi4QO?bij)1?..gп_&d?ZY]?P0mNҿWi?2i9:i>"i Y@x?*i|BiLBis?iiLBiL>im@] addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.508385 s, deltaX: 0.100000 m, approachRate: 0.196701 m/s, rangeRepo size: 4  Added new target pos. range: 0.896031 m, bearing: 320.914562 deg, lat: 36.779324 deg, lon: -121.859591 deg, deltaT: 0.508385 s, deltaX: 0.099561 m, approachRate: 0.195838 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?ZdY? Bɢ=) =?i)z:i|ɼizAAIAIIIQ)Qichecking for new query: numPingsReceived=35, elapsed TxPingTime=19.214790Ez E^E3E"E4;*E ;VE4ZEBEԹ A- އAI9 II U %=U <] DDAT read: Rx Time:03:38:15.0943 e TRx dataTimestamp_ set to:1761536294.069017m PDAT read: Bearing 117.6, 21.8 (Local) m ~Local bearing/azimuth received: Bearing 117.6, 21.8 (Local) } DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 03:38:15.0943 LVL= 17424, 14161, 24274, 22675, AGC= 36, IDX= 498, 0.33, 1.049,-0.124, 0.362, 1.815, PHS=-0.664,-1.894,-1.497, RAW= 108.4, 52.8, CAL= 106.5, 57.8, ROT= 43.5, -57.8  Ygot valid direction response: 03:38:15.0943 LVL= 17424, 14161, 24274, 22675, AGC= 36, IDX= 498, 0.33, 1.049,-0.124, 0.362, 1.815, PHS=-0.664,-1.894,-1.497, RAW= 108.4, 52.8, CAL= 106.5, 57.8, ROT= 43.5, -57.8  T#Rx 36: Read range and direction messages. \direction in FSK: [0.386535,0.366808,0.846193] Fpublishing direction and range infoya e ?y?U?Ye L?a e De Q7e ^ e X)e $Ie )ie ne e *?e k?e \? e ^ ?)e \B?Ie ^ a a e X?mX.? e )N)e <lIe \B?ie ^ a a  checking for new query: numPingsReceived=36, elapsed TxPingTime=19.482889O >6Pa,,I?A2 @2@2Wٱ2ڹ >AHRS rotation from veh to nav: [[-0.053736,0.998519,0.008499],[-0.997164,-0.054108,0.052304],[0.052687,-0.005664,0.998595]]2H@M?@g?@Ǫ??` 3w}?i2 @I2[Y_;2CYFByF!IIH)JR=bDLVDLyVg%VZ=ٔZ B9Zd ?Y^d ?=^EFy^ơD^;E^>Q 54n`?Q 94~)BYy⑿Q I?|CI:i:34yɮFAiijI?AJiK?RiK?ji#@bb ?UՐ?L2'?R?y?U?Zi \B?bi^ j;S?"-gҿ-ͯ?Zd?˙׿i?2i9:iҏ>"iHx?*i/BiBi",s?ifiIBi>i@B@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.499811 s, deltaX: -0.100000 m, approachRate: -0.200076 m/s, rangeRepo size: 4 - Added new target pos. range: 0.796472 m, bearing: 314.330403 deg, lat: 36.779324 deg, lon: -121.859592 deg, deltaT: 0.499811 s, deltaX: -0.099559 m, approachRate: -0.199193 m/s, posRepo size: 4 jh12h1bh1h1h9*h9"h9 h92hAgAfAfAfIdIdIdIjdM?ZdUJ?额Bɢǻ=) ?i)X:顡i̼iyII9x1@ @@7 @-checking for new query: numPingsReceived=36, elapsed TxPingTime=19.718864EEv EEUEE-EA"EEc;*EE\;VEEt4ZEAaU@aU@aU@aU@a^A ԑ I I O >ng,+I?AB A"<B&>B&(CB&("IB&փBB& =B$B$B&~;B&'5EBBBB =BC4R6@R1@Rp:KٱRs< ZAHRS rotation from veh to nav: [[-0.049978,0.998607,-0.016904],[-0.997518,-0.049069,0.050496],[0.049596,0.019386,0.998581]]RH ?hO `ک?d?ٓ?`?iR6@IR}`;RCYnByr!IbDz9VDz3yQ=%F=ٔ%;Q-->9)Y)=-EFy-ΡD5<E5>9Q 5E4='c?Q 9E4=r)=BYAyM.Q IM?=CI=:i=|:=4yQɮUAQuB*** querying acoustic contact ***iq iqԁjh2h1bh9h9h9*hA"hA hI2hIgQfiDDAT read: Rx Time:03:38:15.5944 TRx dataTimestamp_ set to:1761536294.576823PDAT read: Bearing 114.4, 23.8 (Local) ~Local bearing/azimuth received: Bearing 114.4, 23.8 (Local) EDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 fYfYdiddjdZd/E}  E} aE} +Ey "E} x;*E} !;VE} [4ZEy BE}  m,_I?AԑYmBym"IiMb@Mb@Mb@ 9l??I +Y=y=9@@ @)@Y@bD &VD ދ3y%=%*=ٔQ->9!Y!=%EFy%֡D-E->1Q 5=45 g?Q 9=45s)5BY=]>Q E=;y=0Q IE?5CI5:i5M:5R4yIɮMAIiiI?AJibe?Ribe?ji\@bä;?G?2!c?RS`1? q?!"W?Zi4?biwjM?Baml׿аCoc?Zzˢv2?Ѡ.$ڿ"i8 ?*i,Bi@BiHx?i|i@Bi]>i_@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507806 s, deltaX: 0.100000 m, approachRate: 0.196926 m/s, rangeRepo size: 4 - Added new target pos. range: 0.896035 m, bearing: 309.037423 deg, lat: 36.779325 deg, lon: -121.859592 deg, deltaT: 0.507806 s, deltaX: 0.099563 m, approachRate: 0.196066 m/s, posRepo size: 4 jh)2h)bh)h)h1*h1"h1 h12h1g1f1f9f=Bd9dadajde?Zde`i?颵~Bɢa=) ?i)r;项ԹiԼiyIIeDDAT read: Rx Time:03:38:16.0943 mTRx dataTimestamp_ set to:1761536295.076886uPDAT read: Bearing 114.4, 22.9 (Local) }~Local bearing/azimuth received: Bearing 114.4, 22.9 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 03:38:16.0943 LVL= 18736, 15073, 21538, 21475, AGC= 37, IDX= 498, 0.44, 2.527, 1.204, 1.836,-3.060, PHS=-0.594,-1.974,-1.432, RAW= 113.0, 49.6, CAL= 110.8, 55.2, ROT= 39.2, -55.2 Ygot valid direction response: 03:38:16.0943 LVL= 18736, 15073, 21538, 21475, AGC= 37, IDX= 498, 0.44, 2.527, 1.204, 1.836,-3.060, PHS=-0.594,-1.974,-1.432, RAW= 113.0, 49.6, CAL= 110.8, 55.2, ROT= 39.2, -55.2 T#Rx 38: Read range and direction messages.\direction in FSK: [0.442271,0.360708,0.821149]Fpublishing direction and range infoyim}Bg,N?1s?[F?YmL?im0Im:m"T mS)m%ImbimmKmq?mk]?m? mϢv?)m%/?ImϢviim<:ϖ?yeSg ]? mUu1@q @q@}Y @y@@{>)mً]Im%/?imϢviichecking for new query: numPingsReceived=38, elapsed TxPingTime=20.518402^A A >A >I I  O% >؟t,geI?A2+@2z@2aٱ2$E: :AHRS rotation from veh to nav: [[-0.041052,0.999157,0.000336],[-0.997646,-0.041009,0.054967],[0.054934,0.001922,0.998488]]2H`?t5?@$?\ ?r|_?`?i2+@I2gR`;2CYBByF"I HHbDN4VDNf3yVB<%V}=ٔZiQ-Z ?9XYX=ZEFyZۡD^<bchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.726681Er ErEr0Ep"Er;*Er4;VEr4ZEpav@av@av@az@E= ?AQ 5M4Ei?Q 9M4E()EBYIyMZ/Q IU?ECIE|:iE:EA4yyɮ}AyiiI?AJiK?RiK?ji@bPN|f?w" c?;j~?R}Bg,N?1s?[F?Zi%/?biϢvj'gu?3 ԿO⸈?Z(WP?KڿxQe ?2i:i>"iì?*iڸÊBiBi Y@x?i/i&Bigk>i@E addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500063 s, deltaX: -0.100000 m, approachRate: -0.199975 m/s, rangeRepo size: 4 } Added new target pos. range: 0.796476 m, bearing: 309.815270 deg, lat: 36.779325 deg, lon: -121.859593 deg, deltaT: 0.500063 s, deltaX: -0.099559 m, approachRate: -0.199094 m/s, posRepo size: 4 jhy2hybhyhyhy*hy"h h2hgfffdddjd?Zd !?=|BɢE˲=) ?i) );  i u׼!imziiIiIqBBB"IBƒBB =BBB~;B,5E1@ @@% @!Yߝ=ߙDDAT read: Rx Time:03:38:16.5943 TRx dataTimestamp_ set to:1761536295.590979PDAT read: Bearing 113.7, 21.1 (Local) ~Local bearing/azimuth received: Bearing 113.7, 21.1 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 5 DAT read: 03:38:16.5943 LVL= 18800, 14785, 21298, 23987, AGC= 37, IDX= 499,-0.32, 1.014,-0.401, 0.332, 1.741, PHS=-0.625,-2.097,-1.453, RAW= 115.8, 49.1, CAL= 114.2, 55.2, ROT= 35.8, -55.2 E Ygot valid direction response: 03:38:16.5943 LVL= 18800, 14785, 21298, 23987, AGC= 37, IDX= 499,-0.32, 1.014,-0.401, 0.332, 1.741, PHS=-0.625,-2.097,-1.453, RAW= 115.8, 49.1, CAL= 114.2, 55.2, ROT= 35.8, -55.2  T#Rx 39: Read range and direction messages. \direction in FSK: [0.462885,0.333843,0.821149] Fpublishing direction and range infoy[R?J)]?[F?YpI92S ])I i?5Y@a[? ? )?I#Fz?m+7*81? )n[I?i checking for new query: numPingsReceived=39, elapsed TxPingTime=21.062799y ^A] 9>I I O >{,vI?Af@f뗕@fjٱf2&< nAHRS rotation from veh to nav: [[-0.037524,0.999264,-0.008022],[-0.997655,-0.037001,0.057572],[0.057233,0.010163,0.998309]]fH U6?`m z?M?Є?&?if@If`;fCY-By-"IiMb@Mb@Mb@ 9Mb~jt?㥛 Y@y=M@@ @)Yz@bD5;VD5)3yE %E,=ٔMŞQ-M>9IYI=MEFyMDU;EU>YQ 5e4]l?Q 9e4])]BYeO=Q Em;ym/>Q Im?]CI]:i]E:]E4yqɮuAqiiimI?AJiiRiijim@bmib?~v?_gw?Rm[R?J)]?[F?Zim?biijm LSF?^տ)Q?Zmݽ[(?r$QۿL0?2im:im|>"im?*imFMBimBim8 ?imFMimBim>im@]checking for new query: numPingsReceived=39, elapsed TxPingTime=21.234644Em EmEm(Ei"Em;*EmO;VEmc44ZEiBEm=au2Em=a}JEmI I O > DDAT read: Rx Time:03:38:17.0942  TRx dataTimestamp_ set to:1761536296.088693% PDAT read: Bearing 112.5, 20.8 (Local) % ~Local bearing/azimuth received: Bearing 112.5, 20.8 (Local) 5 DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 A ] DAT read: 03:38:17.0942 LVL= 16320, 13713, 23666, 20243, AGC= 36, IDX= 498,-0.21,-0.213,-1.720,-0.895, 0.500, PHS=-0.612,-2.175,-1.439, RAW= 118.1, 47.8, CAL= 116.7, 54.4, ROT= 33.3, -54.4 e Ygot valid direction response: 03:38:17.0942 LVL= 16320, 13713, 23666, 20243, AGC= 36, IDX= 498,-0.21,-0.213,-1.720,-0.895, 0.500, PHS=-0.612,-2.175,-1.439, RAW= 118.1, 47.8, CAL= 116.7, 54.4, ROT= 33.3, -54.4 m T#Rx 40: Read range and direction messages.u \direction in FSK: [0.486543,0.319599,0.813101]u Fpublishing direction and range infoy  [ǃ#?3dsNt?ć%?Y ?  ? 5 r\  O) $I i 33  '1 A@ U? Z@  s?) ,?I s   hz?QkX_-?  ) UI ,?i s   checking for new query: numPingsReceived=40, elapsed TxPingTime=21.503035,p$J?A2+@2@2&|ٱ2@< :AHRS rotation from veh to nav: [[-0.035071,0.999339,-0.009589],[-0.997489,-0.034412,0.061892],[0.061522,0.011736,0.998037]]2H``?eo`l`]?@???i2+@I2`;0YуBy""IbD .VD P31y=5=%=L=ٔE/Q-E>9AYI=MEFyMDMf;EM>qQ 5}4uo?Q 94u@)uߋBYy>Q I?uCIuy:iup:uX4yɮAiYi]%J?AJi]?Ri]?ji]y@b][&ә??/o?'+?R][ǃ#?3dsNt?ć%?Zi],?bi]sj]u?m ѿ '?Z]9޸?g+ܿװޞ ?2i]g:i](4>"i]WU~?*i]zBBi]ԄBiYiYi]Bi]->i]q@= addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.497714 s, deltaX: -0.200000 m, approachRate: -0.401837 m/s, rangeRepo size: 4 m Added new target pos. range: 0.597355 m, bearing: 303.440115 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.497714 s, deltaX: -0.199118 m, approachRate: -0.400066 m/s, posRepo size: 4 jhq2hqbhqhqhq*hq"hq hq2hygyfyfyfydddjd@33?Zd[?yBɢU=)tu ?i)A;iu\߼izII)i1@ @@ @@@hAE EE-E"E;*Et;VEt4ZEa@a@a@a@i߁I߅Achecking for new query: numPingsReceived=40, elapsed TxPingTime=21.745108ԙ^A 9>Ia Iy O >A} @AA} @AB >B B B B =B B B ~;B +5EԹ ,!J?AR@RU@RGٱR͆; bAHRS rotation from veh to nav: [[-0.033432,0.999439,-0.001834],[-0.997128,-0.033230,0.068055],[0.067956,0.004104,0.997680]]RH h? ^ y`v` l?e?p?`?iR@IR`;RCYjByj4"IIn<)nprAbDv/VDv3y~|=%~b=ٔQ->9 Y =EFyD%;E->IQ 5m4Mq?Q 9u4M߀)MыBYy:>Q I?MCIMO;iM A eAI I O >,bj=J?AZo@ZA@Z>yٱZVd2< fAHRS rotation from veh to nav: [[-0.027462,0.999584,-0.008809],[-0.996778,-0.026718,0.075622],[0.075355,0.010857,0.997098]]ZH`?G @ \[?@xJ?29^>Y^>=EFyDX<E>Q 54`s?Q 94)ȋBY&s=Q E_"iuIe?*iu"ẺBiuHB1iuì?iqiuBiu>iuu@M addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.508226 s, deltaX: 0.200000 m, approachRate: 0.393526 m/s, rangeRepo size: 4 ] Added new target pos. range: 0.796479 m, bearing: 302.810584 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.508226 s, deltaX: 0.199123 m, approachRate: 0.391801 m/s, posRepo size: 4 jhY2habhahaha*ha"ha ha2hagifififmBdqdqdqjdu?Zd}@]?EuBɢEB=)A E?iA)m E!3ERZ ECQ)E$IE33iEEE@ES?E@ Evap?)Eϸ?IEvapAAE푧~,?é p ? EZ)EJSIEϸ?iEvapAAMchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.531223Y=1@9 @9@= @9ԉ^A] 9>Թ  checking for new query: numPingsReceived=42, elapsed TxPingTime=22.747007E v E E 1E "E c;*E IK;VE -4ZE a @a @a @a @AU _AIa Iy O >r,WJ?A>g@>9@>R6ٱ>8!; ZAHRS rotation from veh to nav: [[-0.027818,0.999607,-0.003385],[-0.996320,-0.027452,0.081194],[0.081069,0.005631,0.996693]]>HZ|@? kL!ɴ??w??i>g@I>`;9>Y>=EFyD ^fE>AQQ 54Ut?Q 94UQ)UBYy: ?Q I?UCIU}?˞w;+տ7N?Z%/?K$ۿsW ?2i%:i%>"i%?*i%3Bi%LBi%?i%"Ẻi!i%S>i%@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.501597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.796479 m, bearing: 307.465611 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.501597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjdZd?B>B'CB."IB܃BB =BBDB~;B!5EimsBɢ}s=)y },?iy)<顁iSiyII DDAT read: Rx Time:03:38:18.5944 TRx dataTimestamp_ set to:1761536297.605621EPDAT read: Bearing 112.9, 24.1 (Local) M~Local bearing/azimuth received: Bearing 112.9, 24.1 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 ԙ5 DAT read: 03:38:18.5944 LVL= 18416, 13233, 23090, 23539, AGC= 37, IDX= 499, 0.09, 2.436, 0.876, 1.648, 3.041, PHS=-0.503,-2.120,-1.437, RAW= 114.9, 45.6, CAL= 112.9, 52.0, ROT= 37.1, -52.0 = Ygot valid direction response: 03:38:18.5944 LVL= 18416, 13233, 23090, 23539, AGC= 37, IDX= 499, 0.09, 2.436, 0.876, 1.648, 3.041, PHS=-0.503,-2.120,-1.437, RAW= 114.9, 45.6, CAL= 112.9, 52.0, ROT= 37.1, -52.0 E T#Rx 43: Read range and direction messages.M \direction in FSK: [0.491042,0.371372,0.788011]M Fpublishing direction and range infoy~5:m?Yʬ?&+Ob7?Yff?G32Z [)%Ii﷿3X@%K?8? Vh?)%?IVhlKcM?9|2`X? L )KI%?iVh YI eA)  checking for new query: numPingsReceived=43, elapsed TxPingTime=23.090685- 1@)  @) @- @) @5 p>@5 t> bE-ـ4jE-#4rE-0Ep EE.E"E;*E<;VEـ4ZEBEAHRS rotation from veh to nav: [[-0.023300,0.999713,-0.005509],[-0.996295,-0.022763,0.082930],[0.082781,0.007421,0.996540]]2Hۗ?@v;O:?@'1?ke~? ?i2@I2zX`;2CYBByFb"I HHHHiMb@Mb@Mb@ 9S㥫?Mb`{Gz?Y/]=yף< @ @)V@Y@bD-;VD-)3y=t|=%= =ٔ=BQ-E>9E>YE>=EEFyEDM<EM>QQ 5]4Ut?Q 9]4U)UNjBY]l=Q Eef"i]v?*i]GBi]Bi]Ie?iYi]HBi]>i]-@u addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507105 s, deltaX: 0.100000 m, approachRate: 0.197198 m/s, rangeRepo size: 4  Added new target pos. range: 0.896024 m, bearing: 309.428983 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.507105 s, deltaX: 0.099545 m, approachRate: 0.196301 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfff%Bdddjd?Zd#?pBɢ=) v?i)ܗ3<iKWiz  I I) EDDAT read: Rx Time:03:38:19.0943 ETRx dataTimestamp_ set to:1761536298.110548UPDAT read: Bearing 112.0, 25.4 (Local) U~Local bearing/azimuth received: Bearing 112.0, 25.4 (Local) eDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 03:38:19.0943 LVL= 19232, 15089, 22594, 23859, AGC= 37, IDX= 498, 0.13, 2.028, 0.390, 1.182, 2.567, PHS=-0.438,-2.133,-1.429, RAW= 114.4, 43.8, CAL= 112.2, 50.4, ROT= 37.8, -50.4 Ygot valid direction response: 03:38:19.0943 LVL= 19232, 15089, 22594, 23859, AGC= 37, IDX= 498, 0.13, 2.028, 0.390, 1.182, 2.567, PHS=-0.438,-2.133,-1.429, RAW= 114.4, 43.8, CAL= 112.2, 50.4, ROT= 37.8, -50.4 T#Rx 44: Read range and direction messages.\direction in FSK: [0.503664,0.390682,0.770513]Fpublishing direction and range infoyAEcc|?4y?d/c ?YEL?AE KE:EBX E3])AIEAiEEy鶿Er?EEC?E>? Ez0a?)E[(?IEz0aAAEA:?gy%? Eǽ)E:CIE[(?iEz0aAA=checking for new query: numPingsReceived=44, elapsed TxPingTime=23.5407561@ @@ @9i ^A 6>E  E E ,E "E ;*E ];VE g4ZE a @a @a @a @ checking for new query: numPingsReceived=44, elapsed TxPingTime=23.758514A I I O >ɥ,CJ?A=X7@=*2@= ٱ= < AHRS rotation from veh to nav: [[-0.018698,0.999802,-0.006853],[-0.996295,-0.018056,0.084083],[0.083943,0.008399,0.996435]]=H% `?x|@X}`|?H}?3??i=X7@I=_;=CYBy|"IbD%/VD%3yUb=%]8=ٔe+Q-m>9qYy=}EFy D(<E>Q 54t?Q 94Q =tI)͋BYyпQ I?CI"\;iS;ͤ4yɮAiQiU8J?AJiUK?RiUK?jiU~F@bUct??/?0JS?RUcc|?4y?d/c ?ZiU[(?biUz0ajUHkP)?D}kֿ[L=﫺?ZU%h?6=kܿ~4Z?2iU:iUJ>"iU%Ż?*iU5BiUfBiU?iQiULBiU>iUc@I addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504927 s, deltaX: -0.100000 m, approachRate: -0.198048 m/s, rangeRepo size: 4  Added new target pos. range: 0.796466 m, bearing: 310.248352 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.504927 s, deltaX: -0.099558 m, approachRate: -0.197173 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd '?B <A 4=B>B(CBZ"IBBBBBDB~;B5EUnBɢU/p=)U5 U:?iY)]5GAeAzAgAA UAI9&MVHardware Fault in component: DockingStepperIIO?m,*J?A6@6z@6rٱ6]Ƙ; BAHRS rotation from veh to nav: [[-0.009852,0.999944,-0.003823],[-0.996346,-0.009492,0.084882],[0.084841,0.004645,0.996384]]6H?-?Qo@p`ͺ? ?&s? `?i6@I6a;6CYJ$ByJ"IIN<)N4=PiMb@Mb@Mb@ 9+?YyL<M@ @ @)YG@bD5?VD53yE =%E=ٔM}κQ-M>9M>YM>=UEFyUDU<EU>Q 54r?Q 94)ӋBY=Q EB"iE?*iEϋBiEBiE%Ż?iE5iEfBiE"?iE󾰭@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507155 s, deltaX: 0.100000 m, approachRate: 0.197178 m/s, rangeRepo size: 4  Added new target pos. range: 0.896033 m, bearing: 310.860252 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.507155 s, deltaX: 0.099567 m, approachRate: 0.196325 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?Zd5?jBɢL=) ?i)^`<iGlizII :Uninitialize Docking Stepper. Powering downI)iDDAT read: Rx Time:03:38:20.0943 TRx dataTimestamp_ set to:1761536299.116813PDAT read: Bearing 111.1, 25.5 (Local)  ~Local bearing/azimuth received: Bearing 111.1, 25.5 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =DAT read: 03:38:20.0943 LVL= 20272, 17025, 25122, 26819, AGC= 36, IDX= 498, 0.31,-2.615, 1.965, 2.809,-2.127, PHS=-0.386,-2.147,-1.391, RAW= 115.3, 42.2, CAL= 113.2, 49.2, ROT= 36.8, -49.2 EYgot valid direction response: 03:38:20.0943 LVL= 20272, 17025, 25122, 26819, AGC= 36, IDX= 498, 0.31,-2.615, 1.965, 2.809,-2.127, PHS=-0.386,-2.147,-1.391, RAW= 115.3, 42.2, CAL= 113.2, 49.2, ROT= 36.8, -49.2 MT#Rx 46: Read range and direction messages.U\direction in FSK: [0.523214,0.391414,0.756995]UFpublishing direction and range infoys@ ,?Z@ ?M9?YL?0OB"b h)Iˡžish J @)E  E E 'E "E Ϣ;*E ?;VE '4ZE a @a @a @a @iߡ Iߡ  checking for new query: numPingsReceived=46, elapsed TxPingTime=24.766878W,'J?AxY+By"IbD8VD3y*<%5=ٔQ->9Y=EFyDE>Q 54=p?Q 94)؋BYyQ I?CI :i:ߤ4yɮCAiiyJ?AJiK?RiK?ji@bWVl?f?,K?Rs@ ,?Z@ ?M9?Zil$?bi[j? j?%;I|׿̢Af?Zz8?zG#}ݿ"ie?*iؽ@BiqBiiiqBiD?i@= addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.499110 s, deltaX: -0.100000 m, approachRate: -0.200357 m/s, rangeRepo size: 4 M Added new target pos. range: 0.796474 m, bearing: 309.759654 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.499110 s, deltaX: -0.099559 m, approachRate: -0.199473 m/s, posRepo size: 4 jhI2hIbhIhIhI*hQ"hQ hQ2hQgQfQfYfYdYdadajde?Zde?颕hBɢϜ=) İ?i) t<顙imiyIIB>BB"IB(BBBBB~;B5EB(CB(CBB =B =Cña5DDAT read: Rx Time:03:38:20.5943 TRx dataTimestamp_ set to:1761536299.620673PDAT read: Bearing 110.1, 23.3 (Local) ~Local bearing/azimuth received: Bearing 110.1, 23.3 (Local) %DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 IDAT read: 03:38:20.5943 LVL= 18928, 14769, 22194, 24979, AGC= 35, IDX= 498, 0.46, 3.041, 1.211, 2.207,-2.715, PHS=-0.426,-2.312,-1.406, RAW= 118.7, 41.9, CAL= 117.3, 49.5, ROT= 32.7, -49.5 Ygot valid direction response: 03:38:20.5943 LVL= 18928, 14769, 22194, 24979, AGC= 35, IDX= 498, 0.46, 3.041, 1.211, 2.207,-2.715, PHS=-0.426,-2.312,-1.406, RAW= 118.7, 41.9, CAL= 117.3, 49.5, ROT= 32.7, -49.5 T#Rx 47: Read range and direction messages. \direction in FSK: [0.546518,0.350858,0.760406]e Fpublishing direction and range infoy S}?4Jut?y;>U?YI9V a)#IھiԖ@6;?~@  +]?)?I +]fL}9?S!CSV]? )a%;I?i +] checking for new query: numPingsReceived=47, elapsed TxPingTime=25.108698^A y A I I! O5 >U,öJ?AB#@B@Bl ٱBzJF< ZAHRS rotation from veh to nav: [[-0.002547,0.999926,-0.011899],[-0.996829,-0.001593,0.079554],[0.079529,0.012064,0.996759]]BH`dd? ^`bZ]? \?? t?iB#@IBq"b;BCYb7Byb"IqiMb@Mb@Mb@ 95^I ˿MbMbp?YXy;@@ @)^@Yz@bD6VD3y=%Y=ٔg9Y=EFyD<E >Q 54Fm?Q 94~)ՋBYl>Q Ee;y?Q I?CI:i:)4EUl EUEU)EQ"EUڎ;*EU=;VEUFA4ZEQBEUU?ZiM?biM +]jM%Y? ؿh?ZMDA?7߿j-?2iMž:iMϊ>"iMH?*iM׈BiMBiIiIiMBiM?iM@  addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.796477 m, bearing: 305.070998 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.503860 s, deltaX: 0.000003 m, approachRate: 0.000007 m/s, posRepo size: 4 jh2hbhh!h!*h!"h! h!2h!g!f)f)f-eBd)d1d1jd1Zd5?ԡeBɢ+=) ?i)GB<i.izII ^A A t>A a>- DDAT read: Rx Time:03:38:21.0943 - TRx dataTimestamp_ set to:1761536300.1251415 DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 = Z#Rx 48: Read range message, but no direction.y) Y) ) E checking for new query: numPingsReceived=48, elapsed TxPingTime=25.526855 I I O >’,{ K?A2ʏ@2YŖ@2ٱ2< >AHRS rotation from veh to nav: [[-0.000796,0.999955,-0.009499],[-0.997115,-0.000073,0.075900],[0.075896,0.009532,0.997070]]2H@ J?4t^..n?m???i2ʏ@I2}Ea;2CYF3ByF"I HHbDNBVDN3yVFμ%Vc=ٔZ%9XYX=^EFy^#D^ǟ;Eb>dQ 5j4fkj?Q 9j4f|)fӋBYhyj?Q Ij?fCIf:if:fv4ypɮrAp~B*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffdddjdZdп?额cBɢ>) Ƴ?i)i<顡ivCiyIIEmL Em_Em3Ei"EmW;*Em ;VEm4ZEiau@au@au@au@checking for new query: numPingsReceived=48, elapsed TxPingTime=25.7746125X1B B B "IB FBB =B B B ~;B 5EY ^A 1>U DDAT read: Rx Time:03:38:21.5944 e TRx dataTimestamp_ set to:1761536300.632287 DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  Z#Rx 49: Read range message, but no direction.yY Y] ff?Y  checking for new query: numPingsReceived=49, elapsed TxPingTime=26.040791IiԑIOu?ʒ,f,K?AƏ@@䒽ٱƢ; 5AHRS rotation from veh to nav: [[-0.001246,0.999987,-0.004878],[-0.997428,-0.000893,0.071668],[0.071663,0.004955,0.997417]]HhT`?sBMX?@|X?VKt?`?iƏ@IY`;CYE2ByAi5Mb@Mb@Mb@1111 195RQ&1Q?Y5½y5н5<5@1 5V@A)5t@1Y5@bDU.VDUP3yeJ%e=ٔmr;Q-m>9iYi=mEFyu+DuQEu>yQ 54}e?Q 94}{)}ًBY>Q E;yi@Q I?}CI} ;i} ;}F4yɮA addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507146 s, deltaX: 0.100000 m, approachRate: 0.197182 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffkBdddjd?Zd`A? aBɢpN=) n?i) ӗ<iZ izII}*E]W E]E]4EY"E]T;*E]=;VE]4ZEYBE]'ԙD׿9liAYHAIIO > ђ,ȘFK?ArDDAT read: Rx Time:03:38:22.0943 vTRx dataTimestamp_ set to:1761536301.132299zDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 ~Z#Rx 50: Read range message, but no direction.ytYvL?tchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.534021Y=/By="IbDM4VDMf3y]%]^=ٔeQ-e>9aYa=mEFym0DmEm>qQ 5}4umb?Q 9}4u$z)u݋BYyQ I?uCIuQ;iu];u4yɮA addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500012 s, deltaX: -0.100000 m, approachRate: -0.199995 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd ?Ա_Bɢr=) ?i ) %<  i5 i=y99I9IAuஜ@gA@EuP EuaEu.Eq"Eu(;*Eu!;VEuـ4ZEqa@a@a@a@checking for new query: numPingsReceived=50, elapsed TxPingTime=26.7826191 ^AY I I O >Q ג,c}`K?ABB>B@BB"IBBPBBB =B@B@BB~;BB5EN]@N/@NhpٱNe.9 VAHRS rotation from veh to nav: [[-0.004961,0.999988,0.000125],[-0.998270,-0.004959,0.058587],[0.058587,0.000166,0.998282]]NHQt@?@Lf ?`SPt*?&? ۸%??iN]@INI_;LY^)By^"IIbR=)b=ddbDj8VDj3yrbڼ%rR=ٔv =Q-v>9tYt=vEFyv5DzEz>|Q 54~_?Q 94~%y)~BYy 8@Q I ?~CI~:i~R:~4yɮ Ajh92h9bh9h9hA*hA"hA hA2hAgAfAfIfIdIdIdQjdQZdU?]Bɢz=)! %1?i!)%E} M E} >E} 3Ey "E} ˀ;*E} ?;VE} 4ZEy BE} Q9Y=EFy;DE>Q 5 4%\?Q 9 4ww)Y:*>Q E;y@Q I?CI ;i ;+ 4yɮIA addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503964 s, deltaX: 0.100000 m, approachRate: 0.198427 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfff{Bdddjd?Zd`?ԁ额[Bɢ=) s?i)><i~iyIIԱDDAT read: Rx Time:03:38:23.0943 TRx dataTimestamp_ set to:1761536302.140227DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  Z#Rx 52: Read range message, but no direction.yYL?checking for new query: numPingsReceived=52, elapsed TxPingTime=27.541946^AIIIO> ,0*K?A6@6}@6l$ٱ6K BAHRS rotation from veh to nav: [[-0.009520,0.999949,0.003494],[-0.999149,-0.009653,0.040100],[0.040132,-0.003110,0.999190]]6H@l ?@pl?`ă ?1?yi`\?i6@I6._;6CYJByJw"IbDRIVDRX4yZv%Za=ٔ^g`9`Y`=bEFyb@DfBEf>hQ 5n4jY?Q 9n4jv)hYlyr|@Q Ir?jCIj;ij;j4ytɮvAt B*** querying acoustic contact ***i  i  addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503964 s, deltaX: -0.100000 m, approachRate: -0.198427 m/s, rangeRepo size: 4 jh!2h!bh!h!h!*h!"h! h!2h)g)f)f)f)d1d1d1jd5?Zd=?n?%YBɢ-}=)) 5^?iiImA}checking for new query: numPingsReceived=52, elapsed TxPingTime=27.793953i1)<顡iiiUzQQIQIY@ml>@ml>Emw EmXEm,Ei"Emؓ;*Em;VEmg4ZEiau@au@a}@a}@BBBBBBBB~;B5E^AA OAI I  DDAT read: Rx Time:03:38:23.5944  TRx dataTimestamp_ set to:1761536302.645496% DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 - Z#Rx 53: Read range message, but no direction.y Y ff? 5 checking for new query: numPingsReceived=53, elapsed TxPingTime=28.047497O >A ,3K?ARj@Rde@R_ٱRw jAHRS rotation from veh to nav: [[-0.012506,0.999904,0.005943],[-0.999476,-0.012678,0.029781],[0.029853,-0.005568,0.999539]]RH휉7?`Xx?@@~? ⑞?Lv8?iRj@IRv_;RCYr Byri"Iv=v=i5Mb@Mb@Mb@1111 195A`"MbY5Yy555@5@ 5d@)11Y5@ M4%0=ٔ9>Y>=EFyFD<ѻE>Q 54yX?Q 94ju)Y}=Q EV,K?ARHN@RI@R4ٱR/ ZAHRS rotation from veh to nav: [[-0.015962,0.999843,0.007696],[-0.999688,-0.016106,0.019068],[0.019189,-0.007389,0.999789]]RH PX?`?r$~?@F?`sD~D?iRHN@IRai_;Pb=b<fDDAT read: Rx Time:03:38:24.0943 fTRx dataTimestamp_ set to:1761536303.148626jDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 nZ#Rx 54: Read range message, but no direction.ydYfL?drchecking for new query: numPingsReceived=54, elapsed TxPingTime=28.550304YvByvc"IbDEVD3yڼ%f=ٔ]9Y=EFyKD% E%>)Q 554-W?Q 954-t))Y1y5F@Q I=?y-CI-1DYzD]?Achecking for new query: numPingsReceived=54, elapsed TxPingTime=28.801313E  E vE .E "E I;*E ,;VE ـ4ZE a @a @a @a @A xJAI I O >  ,0K?AB>>B<B>"IB>7BB<B<B<B>~;B> 5Ef'@f!@f*ٱf̻ rAHRS rotation from veh to nav: [[-0.020750,0.999764,0.006409],[-0.999745,-0.020806,0.008778],[0.008910,-0.006225,0.999941]]fHg??i@z?@ N b?`5??@y ?if'@If_;fCYzByzW"IbD2VD 3yM%J=ٔu9;>Y;>=EFyPD%BE%>)Q 554-V?Q 954-Yt))Y1y5@Q I5?-CI-;i-;-&4yAɮEAAjhi2hibhihihi*hi"hq hq2hqgqfqffdddjdZd@#-?5TBɢ=ɟ=)9 =?i9)=7 DDAT read: Rx Time:03:38:25.0943  TRx dataTimestamp_ set to:1761536303.908894 checking for new query: numPingsReceived=55, elapsed TxPingTime=29.311787y E=  E= E= 17,YK?AEi"Em;*EmF;VEm-4ZEiBEm;=av2Em;=avJEmǧ9Y=EFyWD 6E >Q 54W?Q 94"u)BY =Q EFq)R 3S)"Iff&iNbd@k]?V? w?)Ƈ#?Iw d?lg71pV`? l)ٳ]IƇ#?iw}checking for new query: numPingsReceived=56, elapsed TxPingTime=29.574324ԉ^A Թ A I I) O= >u, FL?A2ʎ@2ĕ@2|<ٱ2b >AHRS rotation from veh to nav: [[-0.032096,0.999483,0.002082],[-0.999454,-0.032078,-0.007974],[-0.007903,-0.002336,0.999966]]2Hn?j a?@l T /#c?i2ʎ@I2^;2CYFByF@"IbDNAVDN?3yV,%V=ٔZj2k8?REDh%?'s?s=_?ZiEƇ#?biEwjE+>x?ʌ# ؿ_p?ZE""?3;3޿;?2iEn:iEd>"iEG>n?*iEE?{BiE8BiEe?iEؽ@iEqBiE{?iEZ@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.507143 s, deltaX: -0.100000 m, approachRate: -0.197183 m/s, rangeRepo size: 4  Added new target pos. range: 0.796479 m, bearing: 304.527999 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 4.538712 s, deltaX: 0.000002 m, approachRate: 0.000000 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgff f ddd!jdM?ZdU?ԩDDAT read: Rx Time:03:38:25.5944 TRx dataTimestamp_ set to:1761536304.427903PDAT read: Bearing 121.4, 17.0 (Local) ~Local bearing/azimuth received: Bearing 121.4, 17.0 (Local) UDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 E EE&E"E;*EL;VE4ZEa@a@a@a@Z#Rx 57: Read range message, but no direction.yYff?checking for new query: numPingsReceived=57, elapsed TxPingTime=29.860186eQBɢeJ=)a e'?ia)mUByB}m"IB}BB} =ByByB}~;B}&5EBBBBBſ =C4 ^A  DAT read: 03:38:25.5944 LVL= 17872, 11649, 21682, 25427, AGC= 34, IDX= 499,-0.25,-0.360,-1.341,-0.879, 0.588, PHS=-0.846,-1.885,-1.511, RAW= 110.8, 58.7, CAL= 109.1, 63.0, ROT= 40.9, -63.0  Ygot valid direction response: 03:38:25.5944 LVL= 17872, 11649, 21682, 25427, AGC= 34, IDX= 499,-0.25,-0.360,-1.341,-0.879, 0.588, PHS=-0.846,-1.885,-1.511, RAW= 110.8, 58.7, CAL= 109.1, 63.0, ROT= 40.9, -63.0  Z#Rx 58: Read direction message, but no range. \direction in FSK: [0.343150,0.297246,0.891007]yy } 00,?p~?F+ ?y } E} -} T } Sc)y I} uXi} G} sh} ?} #?} S? } L?)} 36?I} Ly } 5zth?_4;9FX? } )$)} H)I} 36?i} L] checking for new query: numPingsReceived=58, elapsed TxPingTime=30.1023779 Ia I O > ,0L?Aj@jȘ@jY<ٱjC rAHRS rotation from veh to nav: [[-0.037477,0.999296,0.001534],[-0.999209,-0.037453,-0.013368],[-0.013301,-0.002033,0.999909]]jH+0@yt=z@ @) @Y @bD52VD5 3Iye%e*=ٔmS69iYq=uEFyuaDu 6Eu>yQ 54},[?Q 94}rw)}ڋBY%>Q E;yQ I?}CI}S;i};}8=4yɮLAiYi]bL?AJi]be?Ri]be?ji]6@b]dz?x ?AQ?R]00,?p~?F+ ?Zi]36?bi]Lj]s_?DPpԿ e?Z]y#VF?/Ek׿ǂŲX?2i]৾:i]>"i]p?*i]pBi]zBi]H?i]׈i]zBi]P?i]m:@e addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.268518 s, deltaX: 0.100000 m, approachRate: 0.372414 m/s, rangeRepo size: 4 u Added new target pos. range: 0.896042 m, bearing: 307.966279 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.268518 s, deltaX: 0.099563 m, approachRate: 0.370787 m/s, posRepo size: 4 jhq2hybhyhyhy*hy"hy h2hgfff;Bdddjd?Zd?颽OBɢ@ep>ԡ^Aq A} ;>A} 4>i I I  DAT read: 03:38:26.0943 LVL= 23152, 14609, 26690, 29139, AGC= 35, IDX= 498,-0.08,-2.025,-2.509,-2.305,-0.888, PHS=-1.036,-1.577,-1.461, RAW= 101.7, 71.1, CAL= 100.9, 73.6, ROT= 49.1, -73.6  Ygot valid direction response: 03:38:26.0943 LVL= 23152, 14609, 26690, 29139, AGC= 35, IDX= 498,-0.08,-2.025,-2.509,-2.305,-0.888, PHS=-1.036,-1.577,-1.461, RAW= 101.7, 71.1, CAL= 100.9, 73.6, ROT= 49.1, -73.6  Z#Rx 60: Read direction message, but no range. \direction in FSK: [0.184860,0.213409,0.959314]y  ͪ?scP?/j;? pZ 9 Bh q) #I i #ɿ  13? ֞? i? l?) a[?I l  Cʱ?]e}F? ) ҞI a[?i l checking for new query: numPingsReceived=60, elapsed TxPingTime=30.588268O% >,DLL?A2pu@2Bp@2V<ٱ2K :AHRS rotation from veh to nav: [[-0.042417,0.999099,0.001423],[-0.998966,-0.042388,-0.016433],[-0.016358,-0.002119,0.999864]]2H`?@RW?賥Ӑ9@[a?i2pu@I2&^;2CYB܃ByF/"I HHbDN:VDN{3yV1%VX=ٔZ9XYX=ZEFy^fD^{XE^>`Q 5f4b?]?Q 9f4bx)b֋BYdyjQ Ij?bCIb`:iby:bC4yɮAiiG;L?AJiK?RiK?ji@bHUI?:?yOs?Rͪ?scP?/j;?Zia[?biljX9?<4>[ſT[?Z9]zv?R>ʿs6 U'?2i*:i(>"ij k?*iwtE}BiaBip?ipiqBiP>iB@E addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506257 s, deltaX: -0.100000 m, approachRate: -0.197528 m/s, rangeRepo size: 4 q} Added new target pos. range: 0.796481 m, bearing: 314.622894 deg, lat: 36.779324 deg, lon: -121.859591 deg, deltaT: 0.506257 s, deltaX: -0.099560 m, approachRate: -0.196659 m/s, posRepo size: 4 jhy2hbhhh*h"h h2hgfffdddjd?Zd %?NBɢ,=) o?i )b<iDi-y)1I1I1ԙ6E5 E5E5*E1"E5 ;*E5K;iaIeADDAT read: Rx Time:03:38:26.5944 TRx dataTimestamp_ set to:1761536305.439666VE5(N4ZE1a@a@a@a@PDAT read: Bearing 138.0, 12.4 (Local) ~Local bearing/azimuth received: Bearing 138.0, 12.4 (Local) EDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:26.5944 LVL= 18592, 11873, 22946, 21235, AGC= 35, IDX= 499,-0.01,-0.366,-0.655,-0.648, 0.780, PHS=-1.043,-1.390,-1.471, RAW= 79.7, 74.1, CAL= 78.8, 76.5, ROT= 71.2, -76.5 Ygot valid direction response: 03:38:26.5944 LVL= 18592, 11873, 22946, 21235, AGC= 35, IDX= 499,-0.01,-0.366,-0.655,-0.648, 0.780, PHS=-1.043,-1.390,-1.471, RAW= 79.7, 74.1, CAL= 78.8, 76.5, ROT= 71.2, -76.5 T#Rx 61: Read range and direction messages.\direction in FSK: [0.075231,0.220991,0.972370] Fpublishing direction and range infoy>^B?%:nI?j?Yff?Ha.Y R)Ii뱿I/ ?~?x ? ?)?I窿45q?' ƿP? D3)|I?i窿E checking for new query: numPingsReceived=61, elapsed TxPingTime=30.889385B >B B 5"IB BB B B B ~;B /5E^AY I I O > ,fL?A2xV@2JQ@2<ٱ2ξº >AHRS rotation from veh to nav: [[-0.046193,0.998932,0.000689],[-0.998784,-0.046174,-0.017259],[-0.017209,-0.001486,0.999851]]2H@?F? pDVX?i2xV@I2x^;0Yb΃Byb"IbDn?VDn3y%%%C=ٔ%I;Q-%>9)Y)=-EFy-kD-E5>1Q 5]45_?Q 9e45|z)5ыBYaye*Q Ie?5CI5m;i5:5K4yiɮuAqii}#\L?AJibe?Ribe?ji( @b A?kJX??R>^B?%:nI?j?Zi?bi窿js'Q?"(mj?Zԗ˅?xj$r+?2ii:iG>"ip?*i|BiBip?iE?{izBiw>i`@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505506 s, deltaX: 0.100000 m, approachRate: 0.197822 m/s, rangeRepo size: 4   Added new target pos. range: 0.896039 m, bearing: 334.893247 deg, lat: 36.779324 deg, lon: -121.859590 deg, deltaT: 0.505506 s, deltaX: 0.099558 m, approachRate: 0.196947 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgf!f!f!d!d!d)jd-?Zd-?checking for new query: numPingsReceived=61, elapsed TxPingTime=31.082697LBɢ=) u?i)kG=i8 izII  ^AI>IQIiOu>) EM  EM EM %EI "EM =; DDAT read: Rx Time:03:38:27.0943  TRx dataTimestamp_ set to:1761536305.940013 PDAT read: Bearing 141.0, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 141.0, 10.1 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 03:38:27.0943 LVL= 23168, 13921, 24690, 26323, AGC= 36, IDX= 498, 0.05,-0.276,-0.441,-0.473, 0.945, PHS=-1.120,-1.341,-1.462, RAW= 69.7, 77.8, CAL= 68.6, 79.4, ROT= 81.4, -79.4  Ygot valid direction response: 03:38:27.0943 LVL= 23168, 13921, 24690, 26323, AGC= 36, IDX= 498, 0.05,-0.276,-0.441,-0.473, 0.945, PHS=-1.120,-1.341,-1.462, RAW= 69.7, 77.8, CAL= 68.6, 79.4, ROT= 81.4, -79.4  T#Rx 62: Read range and direction messages. \direction in FSK: [0.027507,0.181883,0.982935] Fpublishing direction and range info 1 Cy  G?w*?5G?4t?*EM P;- GVEM 4ZEI E jAY L? Z?,'L?A*:9.jAY.*AJG>@J9@JFp}<ٱJ>$BE}=a^2E}=a^JE}l@IJ^;JCY=By=6"IiEMb@Mb@Mb@AAAA A9EʡE?+η?YE-=yEv=ELEd@E@ El@)EM@AYEf@bD}7VD}p3yЮ=%5=ٔT}Q->9Y=EFyqDһE>Q 54b?Q 94{)ŋBY- >Q E5;y5KQ I5?&CI(Ko?(0?ShPj ?RG?w*?5G?4t?Zioٵ?biajw/[? 6!I ?Z<` ?Mٴmgo?2ie(:i>"io?*i|BirBio?iwtE}irBi >i@  addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500347 s, deltaX: -0.100000 m, approachRate: -0.199861 m/s, rangeRepo size: 4  Added new target pos. range: 0.796479 m, bearing: 344.002839 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.500347 s, deltaX: -0.099560 m, approachRate: -0.198982 m/s, posRepo size: 4 jh2h!bh!h!h!*h!"h! h)2h)g)f)f1f5/Bd1d1d1jd=?Zd=`|C?JBɢD=) ?i)H=i!iyII%=checking for new query: numPingsReceived=62, elapsed TxPingTime=31.587273yPExceeded connect timeout, disconnecting.- xr@1 @1 ԩ E  E E 0E "E ;*E -I;VE 4ZE a @a @a @a @!  DDAT read: Rx Time:03:38:27.5944  TRx dataTimestamp_ set to:1761536306.445032 PDAT read: Bearing 142.4, 10.3 (Local)  ~Local bearing/azimuth received: Bearing 142.4, 10.3 (Local) ^A 6>DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 eDAT read: 03:38:27.5944 LVL= 23472, 14497, 24818, 26467, AGC= 36, IDX= 499, 0.12, 1.578, 1.446, 1.383, 2.794, PHS=-1.114,-1.303,-1.454, RAW= 63.6, 77.8, CAL= 62.6, 79.3, ROT= 87.4, -79.3 IqIO>D',{L?A^Ygot valid direction response: 03:38:27.5944 LVL= 23472, 14497, 24818, 26467, AGC= 36, IDX= 499, 0.12, 1.578, 1.446, 1.383, 2.794, PHS=-1.114,-1.303,-1.454, RAW= 63.6, 77.8, CAL= 62.6, 79.3, ROT= 87.4, -79.3 ^T#Rx 63: Read range and direction messages.b\direction in FSK: [0.008422,0.185475,0.982613]bFpublishing direction and range infoy|-??O?Q3nq?Yff?[8` cg)IiȦq?ً? m(?)@?Im(2??W`qƿHPH? {)᭿I@?im(%checking for new query: numPingsReceived=63, elapsed TxPingTime=31.911709ԱYBy5"II<)p;A@AbD9VD3yWt%1=ٔQ->9!Y!=%EFy%wD%E->BU>BQBU"IBUƒBBQBQBQBU~;BU$5EiQ 5u4mmf?Q 9u4m|)mBYyyyQ I}?m-CIm:imp:m*[4yɮeAiig{L?AJibe?Ribe?jir@bZ [~?NE?4[,?R|-??O?Q3nq?Zi@?bim(jU+?' +97*?ZB?"(3A n?2i@:iZ)>"i]t?*iut}BiBip?iizBi<=i@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505019 s, deltaX: 0.100000 m, approachRate: 0.198012 m/s, rangeRepo size: 4  Added new target pos. range: 0.896037 m, bearing: 349.944330 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.505019 s, deltaX: 0.099558 m, approachRate: 0.197137 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd`v?]HBɢeq=)i m1?ii)mA =iiiu)Z#izIIchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.0911521 ^A 9>E  E E 3E "E տ;*E S;VE 4ZE BE =a 2E =aJE '.,:L?AbDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 03:38:28.0943 LVL= 23488, 14321, 24866, 26323, AGC= 35, IDX= 498, 0.23, 0.347, 0.224, 0.158, 1.570, PHS=-1.121,-1.301,-1.457, RAW= 62.4, 78.0, CAL= 61.4, 79.5, ROT= 88.6, -79.5 5Ygot valid direction response: 03:38:28.0943 LVL= 23488, 14321, 24866, 26323, AGC= 35, IDX= 498, 0.23, 0.347, 0.224, 0.158, 1.570, PHS=-1.121,-1.301,-1.457, RAW= 62.4, 78.0, CAL= 61.4, 79.5, ROT= 88.6, -79.5 =T#Rx 64: Read range and direction messages.=\direction in FSK: [0.004452,0.182181,0.983255]EFpublishing direction and range infoyv?ǻ>?@h@ ??iU[1@IUԡ^;UCYBy<"I@?>+? Κ?).?IΚNv?\tȇuƿ _OM? Ā)y%Q=%/ݼ%7@! %@)!!Y%@bD@VD3y<%=ٔQ->9Y=EFy~D9E>!Q 5-4%Hj?Q 9-4%~)%BY5+>Q E5;y5Q I5?%9CI%3:i%<:%d4yYɮe:AaiiH޼L?AJiK?RiK?ji@bo@7 m? ?Ks|?Rv"izv?*i( BiwBiiiwBic=ih2? addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506035 s, deltaX: -0.100000 m, approachRate: -0.197615 m/s, rangeRepo size: 4 % Added new target pos. range: 0.796477 m, bearing: 355.837014 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.506035 s, deltaX: -0.099560 m, approachRate: -0.196745 m/s, posRepo size: 4 jh!2h!bh!h!h!*h!"h) h)2h)g)f)f1f5.Bd1d1dYjd]?Zd] '?颭FBɢ=) +?i)0=顱i{b%iyIIchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.595440nManaging dock network, ignoring radio surface power off ^A= A>I I) 1 O= >5,L?A^>@^e9@^ٱ^a8: uAHRS rotation from veh to nav: [[-0.049112,0.998793,-0.000331],[-0.998765,-0.049108,0.007585],[0.007559,0.000703,0.999971]]^H@+%@?5$?`_~?@ G??i^>@I^^;\E EE4E"E1;*E;VE4ZEa@a@a@a@Y Byb"IuDDAT read: Rx Time:03:38:28.5943 TRx dataTimestamp_ set to:1761536307.453703PDAT read: Bearing 139.7, 12.8 (Local) ~Local bearing/azimuth received: Bearing 139.7, 12.8 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 03:38:28.5943 LVL= 21024, 12753, 21666, 23331, AGC= 35, IDX= 498, 0.33, 0.521, 0.235, 0.235, 1.654, PHS=-1.031,-1.374,-1.464, RAW= 78.7, 73.9, CAL= 77.8, 76.2, ROT= 72.2, -76.2 Ygot valid direction response: 03:38:28.5943 LVL= 21024, 12753, 21666, 23331, AGC= 35, IDX= 498, 0.33, 0.521, 0.235, 0.235, 1.654, PHS=-1.031,-1.374,-1.464, RAW= 78.7, 73.9, CAL= 77.8, 76.2, ROT= 72.2, -76.2 bDKVD 4y)>%[=ٔ囼Q->9Y=EF!%T#Rx 65: Read range and direction messages.-\direction in FSK: [0.072919,0.227115,0.971134]5Fpublishing direction and range infoyy}"˪?$/%?y&?Yyy} R}1}T }#[)yI}i};߯}Zd}Fѯ?}?}έ?y%DeՊ;Ee>iQ 5u4ml?Q 9u4m/)mBYqy}߅Q I}?mACIm:im|:mek4 };?)}K?I};yy}Xon?^tǿG? }8)}I}K?i};yychecking for new query: numPingsReceived=65, elapsed TxPingTime=32.887272yɮ=Aiyi}x L?AJiyRiyji}#x@b}a ? g?ܸ_v'?q46f?R}"˪?$/%?y&?Zi}K?bi};j}_U(s?^Pd>@̹?Z}8o:?{y ?2i}y:i}5>"i}${?*i}ʁBi}Bi}]t?i}ut}i}Bi} >i}N]?u addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.796477 m, bearing: 341.033943 deg, lat: 36.779324 deg, lon: -121.859590 deg, deltaT: 0.502636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjdZd? DBɢ >) ?i1)= [=99i=+'iEzAAIAII@}e>@}e>BBB "IBBBBBB~;B5EQԁ ^A 1>I I O% >1 5 <= checking for new query: numPingsReceived=65, elapsed TxPingTime=33.106113;,L?A,='U@=O@=Mnٱ=8 UAHRS rotation from veh to nav: [[-0.046355,0.998925,0.000641],[-0.998819,-0.046360,0.014551],[0.014565,0.000034,0.999894]]=H޻ 1?E?R s̍?Dԍ?C?!?i='U@I=_;=CY]Byeq"I iim=m=iMb@Mb@Mb@ 9Mb?Zd;?y&1Y=yy=`eM@@ @)7@YbD1VD[3yXx=%]=ٔᚼQ->9Y=EFyD%G;E%>)Q 54-n?Q 94-Ӏ)-BYS=Q E)bEĻ4jE44rEĉ1E EE0E"Eտ;*ENi;VE4ZEBEa-2Ea-JE4-?H&?;+f?Y?Q1Q Y)"Isiףppl?`?K? g?)"?Igy |?Fſb6g? )oI"?igmchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.384785iyIIԱ ^A Iy I O >ͿB, M?AFx@Fs@F*ٱFT{ RAHRS rotation from veh to nav: [[-0.041994,0.999116,0.002163],[-0.998902,-0.042030,0.020676],[0.020749,-0.001293,0.999784]]FH`3 ?a?  儥6,?`A??@?.U:?iFx@IF8^;FCYV%ByZ"I\bDf7VDfp3yn=%n`=ٔrQ-r>9pYp=vEFyvDv0D<Ev>~checking for new query: numPingsReceived=66, elapsed TxPingTime=33.610680Q 54|p?Q 9 4w)BY y ZQ I ?ICIl:i:x4yBɮsAlEiiL?AJi?Ri?ji˷@b O+?S1K?(?R>4-?H&?;+f?Zi"?bigjL>W?d ط(6?ZD7Ҽ?6ÿB`}?2i:iB>"iQ}?*iBBiHBizv?i( iwBis=ii?m addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.509302 s, deltaX: -0.200000 m, approachRate: -0.392694 m/s, rangeRepo size: 4 } Added new target pos. range: 0.597358 m, bearing: 329.084038 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.509302 s, deltaX: -0.199120 m, approachRate: -0.390966 m/s, posRepo size: 4 jhy2hybhyhyhy*h"h h2hgfffdddjd@33?Zd .?@Bɢ#>) ?iI)M=IQiU*iUzYYIYIY^Aa>IAIaO|>E EE1E"E=;*E&p;VE-4ZEa@a@a@a@DDAT read: Rx Time:03:38:29.5943 TRx dataTimestamp_ set to:1761536308.464554PDAT read: Bearing 129.9, 16.6 (Local) ~Local bearing/azimuth received: Bearing 129.9, 16.6 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 03:38:29.5943 LVL= 9792, 7761, 17506, 16227, AGC= 36, IDX= 3,-0.29,-1.330,-2.055,-1.783,-0.342, PHS=-0.886,-1.668,-1.485, RAW= 102.9, 63.6, CAL= 101.8, 67.1, ROT= 48.2, -67.1 Ygot valid direction response: 03:38:29.5943 LVL= 9792, 7761, 17506, 16227, AGC= 36, IDX= 3,-0.29,-1.330,-2.055,-1.783,-0.342, PHS=-0.886,-1.668,-1.485, RAW= 102.9, 63.6, CAL= 101.8, 67.1, ROT= 48.2, -67.1 T#Rx 67: Read range and direction messages. \direction in FSK: [0.259364,0.290083,0.921185] Fpublishing direction and range infoy^j?ޛ?}Yz?YL?@&QbD c?)$Ibiտ{}?q?cl?  ?)\W?I 畿ɨ0?],̢ƃ? ԑ) I\W?i 畿% checking for new query: numPingsReceived=67, elapsed TxPingTime=33.8781629 B B B ("IB փBB B B B Z~;B 4EH,g%M?A27@2 @2NӼٱ2J :AHRS rotation from veh to nav: [[-0.036583,0.999327,0.002699],[-0.998996,-0.036641,0.025781],[0.025863,-0.001754,0.999664]]2H|?`*f?@¢ff?@{?@\@??i27@I2x^;2CYJ+ByJ"IbDR6VDR3yr <%rJ=ٔrOQ-r>9tYt=vEFyvDE U<EM>QQ 5]4Ur?Q 9]4U1)UBYYy]OYQ I]?UNCIU:iU:U]4yiɮmCAiiiAM?AJiK?RiK?ji(@bt=q?ڒ?~z?R^j?ޛ?}Yz?Zi\W?bi 畿jH ?hɿZ?Z 4?ܚѝ]|Ͽ7?2iH:if>"i?*i\XBiBi${?iʁiBii=i > addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.501549 s, deltaX: 0.200000 m, approachRate: 0.398765 m/s, rangeRepo size: 4  Added new target pos. range: 0.796477 m, bearing: 318.991461 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.501549 s, deltaX: 0.199119 m, approachRate: 0.397008 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd0?>Bɢ>) ?i)y"=ix"-i%y!!I!I)checking for new query: numPingsReceived=67, elapsed TxPingTime=34.115498AUff@@iԡ ^A 1>E  E E +E "E 1;*E >;VE [4ZE BE K=a% 2E K=a% JE -P,pBM?A2َ@2}ԕ@2E ٱ2qȺ BAHRS rotation from veh to nav: [[-0.030183,0.999541,0.002414],[-0.999111,-0.030241,0.029361],[0.029421,-0.001526,0.999566]]2HA螿`>? c?@p? ?hXq?i2َ@I2'^;2CYVAByV"II=)<AiMb@Mb@Mb@ 9Mbp~jth?Mb`?YyD;;7@@ @) @Y@bDmFVDm4y=%=ٔuQ->9>Y>=EFyDNN<E>)Q 554-r?Q 954-#)-BY5v;Q E=>y=Dg?Q I=?)I- ;i-;-c4AyaɮeAaiYi] >M?AJiYRiYji]%@b]뒥?u~{j?9?R]UĒ?æV?to?Zi]SFG?bi]j]79?n}˘ϿO?Z]y{e?0ӿ H?2i]|:i]>"i] D?*i]+Bi]Bi]Q}?i]BiYi]>i]ӭ@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504794 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 0.796477 m, bearing: 315.390618 deg, lat: 36.779325 deg, lon: -121.859592 deg, deltaT: 0.504794 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh!2h)bh)h)h)*h)"h) h)2h)g1f1f1f5Bd9d9dYjdYZde`f?颭) ?i)8+)=顱i0izIIchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.6195182qԡ ^A 6>A I I1 DQ zDQ Em  Em Em ,Ei "Em ;*Em GA;VEm g4ZEi a @a @a @a @O >"V,7]M?ABDDAT read: Rx Time:03:38:30.5944 BTRx dataTimestamp_ set to:1761536309.472812FPDAT read: Bearing 122.8, 19.4 (Local) J~Local bearing/azimuth received: Bearing 122.8, 19.4 (Local) RDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 bDAT read: 03:38:30.5944 LVL= 15344, 11057, 19298, 21875, AGC= 32, IDX= 499,-0.07,-0.499,-1.636,-1.104, 0.342, PHS=-0.739,-1.933,-1.491, RAW= 111.5, 54.6, CAL= 109.6, 59.4, ROT= 40.4, -59.4 fYgot valid direction response: 03:38:30.5944 LVL= 15344, 11057, 19298, 21875, AGC= 32, IDX= 499,-0.07,-0.499,-1.636,-1.104, 0.342, PHS=-0.739,-1.933,-1.491, RAW= 111.5, 54.6, CAL= 109.6, 59.4, ROT= 40.4, -59.4 jT#Rx 69: Read range and direction messages.n\direction in FSK: [0.387654,0.329920,0.860742]nFpublishing direction and range infoy@BT?:%h?42?YBff?@B;B1+BbK BsU)B IB/=iBlBپB?Bs?BG? Bm?)BJ4?IBm@@B3S?>Hh`? B\)BFtIBJ4?iBm@@checking for new query: numPingsReceived=69, elapsed TxPingTime=34.890610l@> @rٱ!T AHRS rotation from veh to nav: [[-0.023381,0.999724,0.002109],[-0.999225,-0.023436,0.031637],[0.031678,-0.001367,0.999497]]H?Fa?2?`8?`gV?il@I_;CYXBy"IbD1VD[3y=%S=ٔپQ->9Y=EFyD͏<E>IQ 5U4Mr?Q 9U4M)IYYy]&i?Q I]?MOCIM:iM7:M*4yaɮAi@iBB^M?AJiBbe?RiBbe?jiBxխ@bB3ʾu;?x[Eq?%!?RBT?:%h?42?ZiBJ4?biBmjBJڱ?K XտX?ZBV(?lZ׿lz?2iB¨:iB>"iBH ?*iB ĊBiBBiB?iB\XiBBiB>iB@ABU>BU'CBU`"IBUBBU =BQBQBUE~;BU4EBBBBÿ =B =Cr>5} addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503464 s, deltaX: 0.100000 m, approachRate: 0.198624 m/s, rangeRepo size: 4  Added new target pos. range: 0.896037 m, bearing: 311.248322 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.503464 s, deltaX: 0.099560 m, approachRate: 0.197749 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffddd jd ?Zd {?U;Bɢ]f>)}K }`?iy)qV.=顁il2iyIIq5checking for new query: numPingsReceived=69, elapsed TxPingTime=35.123272ԙ ^AI AU 0>AU 0> I!IIO}>58^,#{M?AEN ENEN-EL"EN;*ENn:;VENt4ZELBEN=a~2EN=a~JENP9Y=EFyDR<E>Q 54p?Q 94)BY=Q E;y@Q I?WCI;i*;ǘ4yɮAiaieI~M?AJieK?RieK?jie?@be9-j^?s%^?4/r?Re-?[ՂL??ZieR.?biejje1"?O8g>ԿL}?Ze/Zy??jٿ,%lU?2ie:ieֈ>"ie0?*ie'݈BieBie0?ie+ieBie>ie@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503951 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4  Added new target pos. range: 0.796472 m, bearing: 310.196054 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.503951 s, deltaX: -0.099564 m, approachRate: -0.197568 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?ZdΆ?=9Bɢ=c>)9 =?iA)E305=AAiEem5iMzIIIIIQ checking for new query: numPingsReceived=70, elapsed TxPingTime=35.626736^AY  IA IQ O] >p$e,M?A2@2肖@2ٱ2RȺ :AHRS rotation from veh to nav: [[-0.008905,0.999959,0.001817],[-0.999445,-0.008958,0.032086],[0.032100,-0.001530,0.999483]]2H<`? ]?t`X@m?xo?Y?i2@I2 _;2CYBlByB"IbDNBVDN3yR=%V=ٔV:Q-V ?9XYX=ZEFyZD^;<E^?\Q 5b4^n?Q 9f4^)^BYdyf?@Q If?^\CI^;i^;^4ynBɮn AnkEzB*** querying acoustic contact ***ix ixjh2hbhhh*h"h  h 2h g f ffdddjdZd@X?e8B ɢe?>))˽ %?i))5r8=99iE67iyIIE EEE"E;*Ez1;VEZEa@a@a@a@eDDAT read: Rx Time:03:38:31.5945 mTRx dataTimestamp_ set to:1761536310.480892uPDAT read: Bearing 119.4, 20.0 (Local) u~Local bearing/azimuth received: Bearing 119.4, 20.0 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 03:38:31.5945 LVL= 16928, 11649, 19186, 21347, AGC= 33, IDX= 500, 0.12, 2.248, 0.826, 1.548, 2.999, PHS=-0.649,-2.129,-1.496, RAW= 115.2, 49.6, CAL= 113.5, 55.5, ROT= 36.5, -55.5 Ygot valid direction response: 03:38:31.5945 LVL= 16928, 11649, 19186, 21347, AGC= 33, IDX= 500, 0.12, 2.248, 0.826, 1.548, 2.999, PHS=-0.649,-2.129,-1.496, RAW= 115.2, 49.6, CAL= 113.5, 55.5, ROT= 36.5, -55.5 T#Rx 71: Read range and direction messages.\direction in FSK: [0.455310,0.336911,0.824126]Fpublishing direction and range infoyimc#?4ğ?s=_?Ym̌?im Bm-mJ mcS)iIm$&imAim@mk]?m? mw?)me#?Imwiim̚(S?5Ke~<^? m7)m]Ime#?imwiichecking for new query: numPingsReceived=71, elapsed TxPingTime=35.898907B<A<B>B(CB"IB7BB =BBB$~;B4E^AI IO->Ai  checking for new query: numPingsReceived=71, elapsed TxPingTime=36.130558rGk,NM?A2'@2@2ٱ2κ :AHRS rotation from veh to nav: [[-0.001942,0.999997,0.001635],[-0.999541,-0.001991,0.030225],[0.030228,-0.001576,0.999542]]2H t_ ? Z?=O`Z?-? 0Y??i2'@I2!_;2CYR|ByV"IbDf>VDf43y=% E=ٔ  ;Q- >9Y=EFyDx<E>9YQ 5u4=Ml?Q 9}4=~~)=BYy@Q I?=cCI=<=4yɮAiiƞM?AJi.?Ri.?ji @bT6??F:h6?S~?Rc#?4ğ?s=_?Zie#?biwjv?'2޿SkqT?ZT?  =ۿCX?2i:i,>"io?*iBiQBi D?i'݈iBi?i@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504129 s, deltaX: 0.300000 m, approachRate: 0.595086 m/s, rangeRepo size: 4  Added new target pos. range: 1.095156 m, bearing: 308.061639 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.504129 s, deltaX: 0.298684 m, approachRate: 0.592475 m/s, posRepo size: 4 jh 2h bh h h *h "h h2hgfffdddjd%?Zd%)?6BɢP>ԁ)1r k?ii)u$n?=qqi}=:izE EE2E"E;*ES8;VE4ZEBE=a2E=aJE~qr,@M?AYBy"IiMb@Mb@Mb@ 9^I +ǿ ףp= I +?YX9yQ9<@@  @)@Y@bDEVD3yL<%6=ٔQ->9Y=FFyDE>Q 540i?Q 94|)BY6P>Q E;y@Q I?mCIU:i:4y ɮcA)iIiM@M?AJiMbe?RiMbe?jiM]ت@bMy? L#?`z*?RM|#0?x[?p ?ZiM%?biMpjMj{](?ftzxڿ:?ZM]Q{a?i+aݿPK?2iMӾ:iMF>"iMEPj?*iML&gUchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.634670BiMBiIiIiMBiM?iM۫@u addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507428 s, deltaX: -0.200000 m, approachRate: -0.394145 m/s, rangeRepo size: 4 } Added new target pos. range: 0.896037 m, bearing: 305.897100 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.507428 s, deltaX: -0.199119 m, approachRate: -0.392409 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?Zd o?m5Bɢm8/>)i u?iq)u+D=qqiux,M?A @ @ Jٱ a EAHRS rotation from veh to nav: [[0.009612,0.999949,0.003226],[-0.999700,0.009537,0.022566],[0.022534,-0.003442,0.999740]] H^?`?@/mj???@)?2l ?i @I ^; CYMsBym"IbD?VD3yu%E=ٔ39Y=FFyD<E>Q 54e?Q 94z)BYy@Q I?xCI/;i0;4y ɮA)iiIM?AJiRiji@bfd???ٱz?R+?:¤?m &c?Zi#?bijj)<>?q$ۿ{?ZvƇI2?a޿.s7?2iܾ:i>"i?*i\,݅BiBi0?iii*?i@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.500550 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.896037 m, bearing: 306.349028 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.500550 s, deltaX: 0.000000 m, approachRate: 0.000001 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffd d d jdZd P?]4Bɢ]X3">)a ?i)I=顉i!?izII checking for new query: numPingsReceived=73, elapsed TxPingTime=37.139400Yԉ^A 1>Iq I O >Ա E  E E E "E ;*E R;VE ZE BE P =a 2E P =a JE >Z#Rx 74: Read range message, but no direction.y4Y44Bchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.393837YnBy"IԙiMb@Mb@Mb@ 9/$ƿMbXQ?Y&1yʽu<@@  @)@Y@bD<VD3yzм%9=ٔQ->9Y=FFyD E >Q 54?b?Q 94x)BYL>Q E%;y%Y@Q I%?CI:ij:4y)ɮ-A1e addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503281 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jha2habhahaha*ha"hi hi2higififqfuԁBdqdqdyjdyZd}?颭3BɢI%>) ?i)hO=顱iAiyII @V>@Y>%checking for new query: numPingsReceived=74, elapsed TxPingTime=37.643780^A ,>) A1 A5 ,>AiIqIO>m, 4N?AE. E.fE.-E,"E.u;*E.P$;VE.t4ZE,a2@a2@a2@a6@>2R@>M@>~ٱ>8ٻ FAHRS rotation from veh to nav: [[0.015761,0.999855,0.006480],[-0.999832,0.015699,0.009510],[0.009407,-0.006629,0.999934]]>H#?`?@z?a?y? C?&{ u?i>2R@I>^;>CYNdByN"IXbDV@VDV3ybD%bJ=ٔf=Q-f>9dYd=fFFyf¢Ds<E>Q 5%4^?Q 9%4v)BY)y-@Q I-?CIy:iN:=DDAT read: Rx Time:03:38:33.5945 ETRx dataTimestamp_ set to:1761536312.496504MDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 MZ#Rx 75: Read range message, but no direction.y9Y=̌?9Uchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.898186¥4yqɮuOAyB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504353 s, deltaX: 0.200000 m, approachRate: 0.396548 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd?2BɢAY">) ?i)|.U=i DizIIAAB>BB"IBoBBBBB};B4E1checking for new query: numPingsReceived=75, elapsed TxPingTime=38.146923Y ^A 6>A I I O- >,<8N?A0S@nN@0lٱR AHRS rotation from veh to nav: [[0.015934,0.999844,0.007563],[-0.999873,0.015927,0.001021],[0.000901,-0.007578,0.999971]]H@Q??!~? 'O?P?%M?. ?iS@I_;CYe^Bym"IbE-A{4jE-~4rE-­<0E EgE.E"E;*E$;VEـ4ZEBE=a2E=aJE9!Y!=%FFy-ɢD-9E->1Q 5=4iuVurȿu@qu ? ui?)u?Iuiqqu&L?TЫ,? u)u"LIu?iuiqqMchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.4277925[?Q 9]45t)5BYe >Q Ee;ye?Q Ie?5CI5;i5;58̥4yiɮm}AiiqiuA@N?AJiqRiqjiuH@bu:oq?rn?(ٯ?RuhѐFB?+BA?)Q?Ziu?biuijuv,N?Vܿu3?Zu?2iu:iut>"iuLx?*iu XBiuȅBiuEPj?iuL&giuBiu]W?iu#@] addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504549 s, deltaX: -0.200000 m, approachRate: -0.396394 m/s, rangeRepo size: 4 m Added new target pos. range: 0.896038 m, bearing: 307.204423 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 1.512183 s, deltaX: 0.000001 m, approachRate: 0.000000 m/s, posRepo size: 4 jhi2hqbhqhqhq*h"h h2hgfffρBdddjd?Zd ?=0Bɢ=-]>)9 =a?iA)ECQ\=AAiEFiMyIIIIԹ ^A % checking for new query: numPingsReceived=76, elapsed TxPingTime=38.651695 A) I1 II OU >\,FTN?A2B@2h=@2<ٱ2T :AHRS rotation from veh to nav: [[0.013856,0.999873,0.007846],[-0.999869,0.013920,-0.008235],[-0.008344,-0.007731,0.999935]]2H}`? ?x?W?݀e7`x?i2B@I2^;0YBGByB"IbDJ6VDJ3yR_%Rk=ٔV;)I M?iI)M_=IIiUXHiUzQYIYIY@@E EEE"Eҝ;*EF;VEZEa@a@a@a@DDAT read: Rx Time:03:38:34.5945 TRx dataTimestamp_ set to:1761536313.505142PDAT read: Bearing 119.0, 20.4 (Local) ~Local bearing/azimuth received: Bearing 119.0, 20.4 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 03:38:34.5945 LVL= 17264, 10689, 19906, 19923, AGC= 31, IDX= 500,-0.03,-0.695,-2.217,-1.482, 0.029, PHS=-0.621,-2.201,-1.555, RAW= 114.0, 48.4, CAL= 112.0, 54.3, ROT= 38.0, -54.3 Ygot valid direction response: 03:38:34.5945 LVL= 17264, 10689, 19906, 19923, AGC= 31, IDX= 500,-0.03,-0.695,-2.217,-1.482, 0.029, PHS=-0.621,-2.201,-1.555, RAW= 114.0, 48.4, CAL= 112.0, 54.3, ROT= 38.0, -54.3 T#Rx 77: Read range and direction messages.\direction in FSK: [0.459837,0.359264,0.812084]Fpublishing direction and range infoy.m?%-?\?Y̌?pC)M M)Ii/ = ǿ?@X?5? _r?))?I_rie G%?[{ͱE&? ֽ)XI)? i_rchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.922855^A-;>A1zA5iAB>BBBB =BBB};B4EAYIiIyO>9 ,inN?A2@2Y@2^<ٱ2IcԻ :AHRS rotation from veh to nav: [[0.008965,0.999938,0.006639],[-0.999805,0.009081,-0.017563],[-0.017622,-0.006481,0.999824]]2H o\?}? 1{? f`?` Nz`?i2@I2^;2CY^9AYA=EFFyEҢDE>EM>IQ 5U4M-X?Q 9]4M/r)MBYYy]?Q I]?MCIM;iM;M9٥4yaɮmAiii?T`N?AJi.?Ri.?jiz@b3Lr?[+M.?K4D u?R.m?%-?\?Zi)?bi_rjG?ӾTDN?Z:U? ޿qk?2i:i>"i&=5z?*i BiBi?i\,݅iBic?i@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504089 s, deltaX: 0.200000 m, approachRate: 0.396755 m/s, rangeRepo size: 4  Added new target pos. range: 1.095159 m, bearing: 308.073065 deg, lat: 36.779326 deg, lon: -121.859593 deg, deltaT: 0.504089 s, deltaX: 0.199122 m, approachRate: 0.395013 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffddd jd ?Zd Jx?颵/Bɢ`">) @?i)Ae=项iYJiyIIQԁ^AU6>E EE)E"E^;*E?;VEFA4ZEBEW=a2EW=aJEݡ DAT read: 03:38:35.0944 LVL= 16256, 9857, 19154, 18643, AGC= 33, IDX= 499, 0.01,-0.679,-1.867,-1.363, 0.120, PHS=-0.697,-1.942,-1.527, RAW= 109.1, 53.3, CAL= 107.2, 58.3, ROT= 42.8, -58.3  Ygot valid direction response: 03:38:35.0944 LVL= 16256, 9857, 19154, 18643, AGC= 33, IDX= 499, 0.01,-0.679,-1.867,-1.363, 0.120, PHS=-0.697,-1.942,-1.527, RAW= 109.1, 53.3, CAL= 107.2, 58.3, ROT= 42.8, -58.3  T#Rx 78: Read range and direction messages. \direction in FSK: [0.385554,0.357027,0.850811] Fpublishing direction and range infoy6C?oFS?@9?Yff??&J H)!In2iutÿS?%n?|? S>?)t;??IS>#? (/꼿X=? IB)*"nIt;??iS>u checking for new query: numPingsReceived=78, elapsed TxPingTime=39.467968,jgN?A2ߏ@2ږ@2ڰ<ٱ2fѻ :AHRS rotation from veh to nav: [[0.001802,0.999982,0.005779],[-0.999652,0.001953,-0.026316],[-0.026326,-0.005730,0.999637]]2H@1]?? w?%`K`?y O xw?i2ߏ@I2^;2CVD43y˃%A=ٔP9Y=FFyעDE>Q 54vW?Q 94q)Yd=Q Ej1L?1LX׿Q\w ?Z]5?ƓT ڿdzg?2iź:i]>"i=r?*i{BiBi&=5z?i XiBi/?iei@U addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504714 s, deltaX: -0.200000 m, approachRate: -0.396264 m/s, rangeRepo size: 4 e Added new target pos. range: 0.896039 m, bearing: 311.692820 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.504714 s, deltaX: -0.199120 m, approachRate: -0.394520 m/s, posRepo size: 4 jha2habhahihi*hi"hi hi2higifqfqfuBdydydyjd}?Zd} ?颭.Bɢ:#>) ?i) fj=顱i-LizIIԩchecking for new query: numPingsReceived=78, elapsed TxPingTime=39.659393^A I I1 O= >E  E sE .E "E +;*E )+;VE ـ4ZE a @a @a @a @ DDAT read: Rx Time:03:38:35.5944  TRx dataTimestamp_ set to:1761536314.512680 PDAT read: Bearing 131.1, 17.1 (Local)  ~Local bearing/azimuth received: Bearing 131.1, 17.1 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 03:38:35.5944 LVL= 18160, 11697, 18706, 22339, AGC= 33, IDX= 499, 0.09,-0.321,-1.096,-0.826, 0.644, PHS=-0.863,-1.694,-1.513, RAW= 101.9, 62.2, CAL= 100.8, 65.9, ROT= 49.2, -65.9  Ygot valid direction response: 03:38:35.5944 LVL= 18160, 11697, 18706, 22339, AGC= 33, IDX= 499, 0.09,-0.321,-1.096,-0.826, 0.644, PHS=-0.863,-1.694,-1.513, RAW= 101.9, 62.2, CAL= 100.8, 65.9, ROT= 49.2, -65.9  T#Rx 79: Read range and direction messages. \direction in FSK: [0.266812,0.309104,0.912834] Fpublishing direction and range infoy  ѡp?|*\?4 5?Y F - I CW) I \i ؿ ? ? z0? 8?) [?I 8 ; Dt T?p7Zv¿{)R? *G) SI [?i 8  checking for new query: numPingsReceived=79, elapsed TxPingTime=39.926399K,ʢN?ALb@b{@b =ٱbTûB=<A=<BE>BABE"IBEKBBE =BABABE~;BE4EBBBB =BC$4 AHRS rotation from veh to nav: [[-0.007370,0.999956,0.005722],[-0.999407,-0.007173,-0.033687],[-0.033645,-0.005967,0.999416]]bH 0~?ow?#@a}q? 9px`7?ib@Ib^;bCYByu"IbDDVDJ3y%%%A=ٔ-Í9QYQ=UFFyUݢDU䯼E]>YQ 5e4]V?Q 9m4]q)]‹BYiymT@Q Im?]CI] ;i];]4yɮAiiϠN?AJiRiji4@bj?f ܹ??Iƃ,?Rѡp?|*\?4 5?Zi[?bi8jxny?M+:.ѿN+?ZD?0r0,ӿ?2iu:iK>"iUn?*i+7xBiBiLx?i iȅBi*?i @% addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502824 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 0.896038 m, bearing: 316.191320 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.502824 s, deltaX: -0.000002 m, approachRate: -0.000003 m/s, posRepo size: 4 jhY2hYbhYhYhY*hY"hY ha2hagafaffdddjdZd)?ɢ>) u⢽ ֹ?i ) `o=  i  MiyII@I@M]>checking for new query: numPingsReceived=79, elapsed TxPingTime=40.162861^Ai9 Ii I O >v,N?A^D@^?@^3"=ٱ^\û fAHRS rotation from veh to nav: [[-0.017123,0.999839,0.005299],[-0.999069,-0.016899,-0.039686],[-0.039590,-0.005973,0.999198]]^H?u? ` NQ@ Exwx`n?i^D@I^7^;\YnByne"I ppxEU EUEU,EQ"EU7;*EUM;VEUg4ZEQBEU=ae2EU=aeJEU&$-? :')~IΘ?iY3checking for new query: numPingsReceived=80, elapsed TxPingTime=40.438553iMb@Mb@Mb@ 9#~j?9!Ya=mFFymDmϵEm>qQ 5}4uX?Q 9}4ur)uBY=Q E"i,i?*i yuBiBi=r?i{iBiR>i@= addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504045 s, deltaX: -0.100000 m, approachRate: -0.198395 m/s, rangeRepo size: 4 m Added new target pos. range: 0.796478 m, bearing: 331.198320 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.504045 s, deltaX: -0.099560 m, approachRate: -0.197521 m/s, posRepo size: 4 jhi2hybhyhyhy*hy"hy h2hgfff~Bdddjd?Zd`D?-Bɢ*>) ?i)7u=iOizII1Q checking for new query: numPingsReceived=80, elapsed TxPingTime=40.666584y ^A IA IQ O] >p[,:xN?Aɰ;>M@>@>22=ٱ> FAHRS rotation from veh to nav: [[-0.027774,0.999605,0.004283],[-0.998668,-0.027561,-0.043626],[-0.043491,-0.005489,0.999039]]>H@p?wq?82V`wD`|v ?i>M@I>*q^;>CYNByNN"IbDfQVDf4yvv%zw=ٔz@) ?i)I y=i QiyIIEU EUEU-EQ"EU;*EU-I;VEUt4ZEQa]@a]@a]@a]@ԉ5DDAT read: Rx Time:03:38:36.5944 5TRx dataTimestamp_ set to:1761536315.521177EPDAT read: Bearing 149.7, 10.1 (Local) E~Local bearing/azimuth received: Bearing 149.7, 10.1 (Local) UDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 }DAT read: 03:38:36.5944 LVL= 21216, 12721, 23954, 24051, AGC= 34, IDX= 499, 0.49,-2.252,-2.277,-2.439,-0.984, PHS=-1.165,-1.248,-1.499, RAW= 43.7, 77.7, CAL= 43.1, 79.2, ROT= 106.9, -79.2 Ygot valid direction response: 03:38:36.5944 LVL= 21216, 12721, 23954, 24051, AGC= 34, IDX= 499, 0.49,-2.252,-2.277,-2.439,-0.984, PHS=-1.165,-1.248,-1.499, RAW= 43.7, 77.7, CAL= 43.1, 79.2, ROT= 106.9, -79.2 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.054472,0.179289,0.982287]Fpublishing direction and range infoy153㫿$H?ޣѨn?Y5ff?15R515] 5])5"I5i5w5;߿5@C?5^?5@? 5;?)5 ?I5;ﰿ115??Igsʿ>dD? 57)5I5 ?i5;ﰿ11checking for new query: numPingsReceived=81, elapsed TxPingTime=40.935131BE>BABEy"IBEBBABABABE~;BE4EԱ^AIyIO> d,RN?A2@2f@29=ٱ2v >AHRS rotation from veh to nav: [[-0.038951,0.999236,0.003187],[-0.998212,-0.038766,-0.045491],[-0.045333,-0.004953,0.998960]]2HT?j?Z٣@J 5sIt@z?i2@I2_^;2CFchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.170639Y^Byb@"IbDj7VDjp3y]S%eC=ٔev;Q-e>9aYi=mFFymDm$ܼEm>qQ 54uZ?Q 94u)t)uBYyXQ I?uCIu;iu;u4yɮAԹiaieZN?AJiebe?Riebe?jiePSs<beQRs)?r/O*?Re3㫿$H?ޣѨn?Zie ?bie;ﰿjeQW&?$/ad?p Bk.?Ze?cof?Gzs?2ie ;:ie2)>"iej<h?*ieRtBieBieUn?ie+7xieBie4>ie)@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504452 s, deltaX: 0.100000 m, approachRate: 0.198235 m/s, rangeRepo size: 4  Added new target pos. range: 0.896036 m, bearing: 0.850923 deg, lat: 36.779324 deg, lon: -121.859588 deg, deltaT: 0.504452 s, deltaX: 0.099558 m, approachRate: 0.197359 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgff f d d d jd?ZdG?9ɢE+V'>)A EF?iA)E }=IIiMtlRiUzQQIQIY cG9E]a E]iEYEY"E]݉;*E]%;VEYZEYBE]#|?gH1?YML?IMSM!1M^ M])M$IMJ iMM-¿M?M?Mϸ? M?)M@IMIIMO5Ud?8Ŀ|? M)M+IM@iMIIchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.442368^A 1>A hAzA hA IA IQ O] >Fq“,> O?AB3@B.@BZ8=ٱBn ZAHRS rotation from veh to nav: [[-0.050376,0.998728,0.002236],[-0.997720,-0.050224,-0.045078],[-0.044908,-0.004501,0.998981]]BHʩ ?9Pb?S`l@0`or?iB3@IBߠ^;BCY By B"II<)9Y=FFyDݼE>Q 5 4\?Q 9 40u)BY =Q E;yzdQ I?CI;i1;!4yɮAiqiuO?AJiuK?RiuK?jiu=bu SU̝?ke8?RuՅ |⮿>#|?gH1?Ziu@biujuHǻ?U}?6??Zu p?Qj?D?aJ?2iu;:iu8="iud,e?*iuUuBiuBiu,i?iu yuiuBiu!>iu@m addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.505310 s, deltaX: -0.100000 m, approachRate: -0.197898 m/s, rangeRepo size: 4 } Added new target pos. range: 0.796477 m, bearing: 3.776245 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.505310 s, deltaX: -0.099560 m, approachRate: -0.197027 m/s, posRepo size: 4 jhy2hbhhh*h"h h2hgfff=Bdddjd?Zdg?ԩ,Bɢ! >) ?i)=iSiyIIchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.674519e^A6> Iy I O >Ee  Ee Ee /Ea "Ee u;*Ee H;VEe J4ZEa am @am @am @am @E DDAT read: Rx Time:03:38:37.5944 E TRx dataTimestamp_ set to:1761536316.528600M PDAT read: Bearing 147.7, 8.6 (Local) U ~Local bearing/azimuth received: Bearing 147.7, 8.6 (Local) e DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 03:38:37.5944 LVL= 19760, 12017, 22642, 21491, AGC= 37, IDX= 500,-0.16, 1.570, 1.545, 1.424, 2.901, PHS=-1.229,-1.311,-1.522, RAW= 45.7, 79.7, CAL= 45.2, 80.9, ROT= 104.8, -80.9  Ygot valid direction response: 03:38:37.5944 LVL= 19760, 12017, 22642, 21491, AGC= 37, IDX= 500,-0.16, 1.570, 1.545, 1.424, 2.901, PHS=-1.229,-1.311,-1.522, RAW= 45.7, 79.7, CAL= 45.2, 80.9, ROT= 104.8, -80.9  T#Rx 83: Read range and direction messages. ^direction in FSK: [-0.040401,0.152911,0.987414] Fpublishing direction and range infoyA E /i}l ?G +?YE ff?A E 0ME .E rX E S)E %IE OiE ΧE ¿E 0L?E / ?E I? E {?)E  ?IE {A A E +?F2ƿV٣+{? E .祿)E IE  ?iE {A A  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.9421121 ߗȓ, $O?ABz>Bz'CBz5"IBzBBz =BxBzDBz ~;Bz4E-vw@-Hr@-O?=ٱ-Bp ]AHRS rotation from veh to nav: [[-0.073319,0.997308,0.000858],[-0.996579,-0.073233,-0.038303],[-0.038137,-0.003663,0.999266]]-HŲ?L?asn@?i-vw@I-^;-CYuByu9"IbDBVD3y. %O=ٔQ->9Y=FFyDnE>Q 5 44_?Q 9 4/v)BY y jQ I?CI;:i:- 4yiɮmJAiyi}!O?AJi}ae?Ri}ae?ji}kE@b}j.ʈ?B1O?R}/i}l ?G +?Zi} ?bi}{j}}V?8I͇Q?Z}2%x?G?2i}:i}j>"i}Edk?*i}8dvBi}Biyiyi}Bi}>i}V#> addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502113 s, deltaX: 0.100000 m, approachRate: 0.199158 m/s, rangeRepo size: 4  Added new target pos. range: 0.896019 m, bearing: 356.793642 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.502113 s, deltaX: 0.099543 m, approachRate: 0.198247 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgAfAfAfAdIdIdIjdM?ZdU?颹ɢ>) ?i)⭃=iUi zII9checking for new query: numPingsReceived=83, elapsed TxPingTime=42.178619q ԙ Eu  Eu Eu -Eq "Eu ;*Eu rN;VEu t4ZEq BEu h=a 2Eu h=a JEu A->A->AIIO?Cғ, IO?A2"@2@28=ٱ2qnj ZAHRS rotation from veh to nav: [[-0.083637,0.996496,0.000823],[-0.995958,-0.083565,-0.032947],[-0.032762,-0.003575,0.999457]]2H@;iK?J?`|d@cޠ=ƠIm?i2"@I2^;0YbByb4"I ddiMb@Mb@Mb@ 9&1?(\µ?&1Y=y=Pz@@ ?@)@YbD>VD43ydW% =ٔQ->9Y=FFyD9E>Q 54b?Q 94w)BY>Q E;ysQ I?CI:i:]4yɮ jA iixBBO?AJiK?RiK?ji8?bdzER?&=?Rؔ6"?J2F?Zi_#@bi0j:? U6?jP?ZGJ?%?;j?2iy=:i="ish?*iq~9vBiuBish?iiBij=io_?] addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506707 s, deltaX: -0.100000 m, approachRate: -0.197353 m/s, rangeRepo size: 4  Added new target pos. range: 0.796462 m, bearing: 41.318582 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.506707 s, deltaX: -0.099558 m, approachRate: -0.196480 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfff2Bdddjd?Zd?iɢm>)q u?iq)u=qqiuWi}yyyII5checking for new query: numPingsReceived=84, elapsed TxPingTime=42.684376Aԙ^AE6>ԑ A I I O >D zD @AE  E E +E "E I;*E M;VE [4ZE a @a @a @a @i I  DDAT read: Rx Time:03:38:38.5945  TRx dataTimestamp_ set to:1761536317.536927 PDAT read: Bearing 151.1, 5.8 (Local)  ~Local bearing/azimuth received: Bearing 151.1, 5.8 (Local)  DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 % DAT read: 03:38:38.5945 LVL= 21936, 12977, 23122, 23795, AGC= 35, IDX= 500, 0.04, 2.909, 3.052, 2.864,-1.986, PHS=-1.286,-1.200,-1.478, RAW= 12.5, 80.0, CAL= 12.1, 81.1, ROT= 137.9, -81.1 - Ygot valid direction response: 03:38:38.5945 LVL= 21936, 12977, 23122, 23795, AGC= 35, IDX= 500, 0.04, 2.909, 3.052, 2.864,-1.986, PHS=-1.286,-1.200,-1.478, RAW= 12.5, 80.0, CAL= 12.1, 81.1, ROT= 137.9, -81.1 - T#Rx 85: Read range and direction messages.5 ^direction in FSK: [-0.114791,0.103722,0.987960]5 Fpublishing direction and range infoy  rXb ,?g^?Y ̌? U 2 RZ \) #I i / f_> ¸? @X> -?) ( @I - &>&̪fyo#ſ9Q"?hؓ,_DcO?A X)]ƲI( @i-&checking for new query: numPingsReceived=85, elapsed TxPingTime=42.958832c׌@5ғ@Ң<ٱX? AHRS rotation from veh to nav: [[-0.092812,0.995683,0.000441],[-0.995329,-0.092767,-0.026720],[-0.026564,-0.002919,0.999643]]H·?}Be&CBe "IBeBBe =BaBaBe~;Be4EybD5:VD5{3yގ<%N=ٔ Q->9Y=FFyD E >)Q 554-e?Q 954-x)-BYqyuvQ I}?-CI-%"ip?*i ZvBiBiiq~9viBi=i#? addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.501620 s, deltaX: 0.300000 m, approachRate: 0.598062 m/s, rangeRepo size: 4  Added new target pos. range: 1.095126 m, bearing: 34.375550 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.501620 s, deltaX: 0.298665 m, approachRate: 0.595400 m/s, posRepo size: 4 jh 2h bh h h *h "h  h2hgfffdddjd%?Zd%?ԩɢ+ >) ۭ?i)=iYi z  IIMchecking for new query: numPingsReceived=85, elapsed TxPingTime=43.187576^A I I OU >יޓ,=}O?AF@F@Fgw<ٱF#: NAHRS rotation from veh to nav: [[-0.100680,0.994919,0.000810],[-0.994716,-0.100643,-0.020260],[-0.020075,-0.002845,0.999794]]FH'ƹ`_?J?@ù``NOgP?iF@IFQ^;FCYVByZ="IimMb@Mb@Mb@iiii i9mʡE?㥛 ? ףp= Ym-=ym=mQ8md@m@ i)m@iYm@bDCVD3yd<%K=ٔԃQ->9Y=FFyDE>bE5t4jE5p4rE5/E EE-E"E;*E/S;VEt4ZEBES=a2ES=aJEDDAT read: Rx Time:03:38:39.0944 TRx dataTimestamp_ set to:1761536318.040655PDAT read: Bearing 150.0, 6.0 (Local) ~Local bearing/azimuth received: Bearing 150.0, 6.0 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:39.0944 LVL= 24352, 14673, 25490, 26451, AGC= 35, IDX= 499, 0.10, 2.469, 2.588, 2.416,-2.450, PHS=-1.263,-1.201,-1.462, RAW= 16.9, 80.3, CAL= 16.6, 81.4, ROT= 133.4, -81.4 Ygot valid direction response: 03:38:39.0944 LVL= 24352, 14673, 25490, 26451, AGC= 35, IDX= 499, 0.10, 2.469, 2.588, 2.416,-2.450, PHS=-1.263,-1.201,-1.462, RAW= 16.9, 80.3, CAL= 16.6, 81.4, ROT= 133.4, -81.4 T#Rx 86: Read range and direction messages.^direction in FSK: [-0.102744,0.108649,0.988756]Fpublishing direction and range infoy~ ?kM?=dл?n?Yff? _Q9c Sg)Ii^">Ud?V> oٵ?)\@IoٵHaJĿMgw? j)}I\@ioٵ checking for new query: numPingsReceived=86, elapsed TxPingTime=43.454357)н ?i)Њ=顁iZJ[iyII^A!)A-gAzA)I I1 = checking for new query: numPingsReceived=86, elapsed TxPingTime=43.690617OE >I z,UO?A>=a@>\@>4_<ٱ> RAHRS rotation from veh to nav: [[-0.107185,0.994235,0.002725],[-0.994145,-0.107137,-0.014027],[-0.013655,-0.004213,0.999898]]>H{p?1Sf? Smf nAq)?i>=a@I>^;9Y=%FFy% D%E->9Q 5E4=i?Q 9M4=z)=}BYQyUQzQ IU?=CI=^;i=^;=*4yɮ%A)9iiO?AJiae?Riae?jii?bG}9^a?ǣjY?R~ ?kM?=dл?n?Zi\@bioٵj=?(?JA&_?Zc3)?(-?YـΪ?2i=:i`="iOpr?*iAyBiBiEdk?i8dvii10>if? addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503728 s, deltaX: -0.200000 m, approachRate: -0.397040 m/s, rangeRepo size: 4 E} EE*E"E;*EO;VE(N4ZEa@a@a@a@ Added new target pos. range: 0.896012 m, bearing: 32.191643 deg, lat: 36.779323 deg, lon: -121.859587 deg, deltaT: 0.503728 s, deltaX: -0.199114 m, approachRate: -0.395280 m/s, posRepo size: 4 jh2hbhhh*h!"h! h)2h)g)f)f)f1d1d1d1jd5?Zd="M?aDDAT read: Rx Time:03:38:39.5944 TRx dataTimestamp_ set to:1761536318.544726PDAT read: Bearing 147.4, 8.7 (Local) ~Local bearing/azimuth received: Bearing 147.4, 8.7 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:39.5944 LVL= 23840, 14769, 25234, 26147, AGC= 35, IDX= 499, 0.13,-3.099,-3.090, 3.041,-1.817, PHS=-1.180,-1.227,-1.468, RAW= 38.9, 78.9, CAL= 38.3, 80.2, ROT= 111.7, -80.2 Ygot valid direction response: 03:38:39.5944 LVL= 23840, 14769, 25234, 26147, AGC= 35, IDX= 499, 0.13,-3.099,-3.090, 3.041,-1.817, PHS=-1.180,-1.227,-1.468, RAW= 38.9, 78.9, CAL= 38.3, 80.2, ROT= 111.7, -80.2 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.062934,0.158147,0.985408]Fpublishing direction and range infoy3x!n*>?b#v?Y ]9b #f)I= iVm绿-?C?D +? $+?)J?I$+{|۝?ȩ@ȿZTD h? )^IJ?i$+%checking for new query: numPingsReceived=87, elapsed TxPingTime=43.958469颅-Bɢ>) ?i)=顉iQ]izIIBe>BaBe!IBeBBe =BaBaBe};Be4Eԑ^Ay Թ I I O >Ĥ,=ְO?A2?7@22@2R<ٱ2  :AHRS rotation from veh to nav: [[-0.112287,0.993666,0.004319],[-0.993644,-0.112247,-0.008526],[-0.007987,-0.005249,0.999954]]2Hξ?Bq?6 v~[Pu@?i2?7@I21^;2CYR ByRh"IbDXVDXybڰ=%bO=ٔfjQ-f>9dYd=fFFyjDj`UEj>lQ 5r4nk?Q 9r4n{)ntBYtyv|Q Iv?nCIn:in9:n04yxɮzAxEchecking for new query: numPingsReceived=87, elapsed TxPingTime=44.202610iiܢO?AJi`e?Ri`e?jiY>b`0+ ߬~E#?A?R3x!n*>?b#v?ZiJ?bi$+jqPR?\.P]?DD>?Z4Oa?eɅ?;h?2i=:i>"ii+|x?*i[{Bi΅Bip?i ZviBiN>iz? addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 0.896010 m, bearing: 12.186091 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.504071 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 jh 2h bh h h *h"h h2hgfffddd!jd!Zd% n?QɢUP?>)Q U^?iQ)]v=YYi]d_ieyaaIaIi!^A5,>IIO>E EE.E"E7;*E/S;VEـ4ZEBE=a2E=aJEa:EaDDAT read: Rx Time:03:38:40.0943 TRx dataTimestamp_ set to:1761536319.056651 PDAT read: Bearing 143.6, 12.5 (Local)  ~Local bearing/azimuth received: Bearing 143.6, 12.5 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 = DAT read: 03:38:40.0943 LVL= 21296, 13297, 22146, 23283, AGC= 35, IDX= 498, 0.19, 2.937, 2.780, 2.668,-2.178, PHS=-1.066,-1.280,-1.481, RAW= 61.1, 75.1, CAL= 59.9, 76.9, ROT= 90.1, -76.9 E Ygot valid direction response: 03:38:40.0943 LVL= 21296, 13297, 22146, 23283, AGC= 35, IDX= 498, 0.19, 2.937, 2.780, 2.668,-2.178, PHS=-1.066,-1.280,-1.481, RAW= 61.1, 75.1, CAL= 59.9, 76.9, ROT= 90.1, -76.9 I M T#Rx 88: Read range and direction messages.U ^direction in FSK: [-0.000396,0.226651,0.973976]U Fpublishing direction and range infoy=U9 ?PA*?YL?0S3V Z)Iri ףh?gƧ?aх? ˫?) I?I˫2 ?L )̿q+=]? ) ӧI I?i˫E checking for new query: numPingsReceived=88, elapsed TxPingTime=44.497307,O?A>@>@>t;ٱ>u FAHRS rotation from veh to nav: [[-0.115754,0.993269,0.004195],[-0.993271,-0.115736,-0.004250],[-0.003736,-0.004659,0.999982]]>H ?.q?@栽hqn`s?i>@I>^;>CY\y`iEMb@Mb@Mb@AAAA A9EA`"?V-?~jtYEY=yE9qYq=uFFy}D}<E}>Q 54l?Q 94|)pBY=Q EQ"?2i-ü:i-:>"i-={?*i- }Bi-Bi-Opr?i-Ayi)i-">i-? addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.511925 s, deltaX: -0.100000 m, approachRate: -0.195341 m/s, rangeRepo size: 4  Added new target pos. range: 0.796453 m, bearing: 352.550206 deg, lat: 36.779324 deg, lon: -121.859588 deg, deltaT: 0.511925 s, deltaX: -0.099557 m, approachRate: -0.194475 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffWBdddjd?Zd '?!ɢ%e+>)! %%?i!)-2=))i-aQi-z11I1I1echecking for new query: numPingsReceived=88, elapsed TxPingTime=44.708637ԁU䢽@@R>ԩ E ~ E E ,E "E ;*E Z;VE g4ZE a @a @a @a @% DDAT read: Rx Time:03:38:40.5944 % TRx dataTimestamp_ set to:1761536319.5646425 PDAT read: Bearing 139.7, 14.6 (Local) 5 ~Local bearing/azimuth received: Bearing 139.7, 14.6 (Local) E DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 ^A 6> DAT read: 03:38:40.5944 LVL= 18768, 11681, 18754, 20595, AGC= 34, IDX= 499, 0.29,-1.270,-1.579,-1.621,-0.179, PHS=-0.989,-1.355,-1.486, RAW= 75.3, 71.8, CAL= 73.9, 74.4, ROT= 76.1, -74.4  Ygot valid direction response: 03:38:40.5944 LVL= 18768, 11681, 18754, 20595, AGC= 34, IDX= 499, 0.29,-1.270,-1.579,-1.621,-0.179, PHS=-0.989,-1.355,-1.486, RAW= 75.3, 71.8, CAL= 73.9, 74.4, ROT= 76.1, -74.4  T#Rx 89: Read range and direction messages. \direction in FSK: [0.064602,0.261045,0.963163] Fpublishing direction and range infoy! % n!‰?X}?kjO:?Y% ff?! % PI% -% BI % sP)% "I% /}i% p% ?5 I I O >,Q1O?AB>B'CB"IBƒBB =BBB};B4EB'CB'CBBBC58?g?? 6?)P?I6t?0̿ ' d? G)9RIP?i6Rchecking for new query: numPingsReceived=89, elapsed TxPingTime=45.015652b6@b@b=:ٱb =AHRS rotation from veh to nav: [[-0.117993,0.993007,0.003824],[-0.993014,-0.117990,-0.001184],[-0.000724,-0.003937,0.999992]]bH4?To?`4dS\G  p@?ib6@Ib|^;`YM!ByM"I  p<;bD6VD3y=%9=ٔ޻Q->9Y=FFyDE>Q 54im?Q 94&})lBYy=Q I?CI:i-:!@4yɮgAii#O?AJiae?Riae?ji@byK?ZdBq?M/@@ĝ?Rn!‰?X}?kjO:?ZiP?bi6j|0G? !~ _ҕ?Z-ɂV?Nftt\?2iT:i9j>"i1=?*i~jBiڅBii+|x?i[{i΅Bi)>i? ? addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507991 s, deltaX: 0.100000 m, approachRate: 0.196854 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 0.896016 m, bearing: 339.372864 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.507991 s, deltaX: 0.099563 m, approachRate: 0.195993 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffd d d jd ?Zd  ?}.Bɢ}+>) ?i)CӔ=顁itHdiyIIuGchecking for new query: numPingsReceived=89, elapsed TxPingTime=45.210766ԩ^A A) I1 &E dClearing failed state for component DockingStepperqE II OU >A,t P?A2`@22@2Z᫺ٱ2p :AHRS rotation from veh to nav: [[-0.119307,0.992847,0.004581],[-0.992857,-0.119312,0.000770],[0.001311,-0.004457,0.999989]]2H㊾f?@r? {3s=I?*|U? Ar`?i2`@I2ߒ^;2CYB(ByB"IXEn EnEn/El"Enɬ;*En?;VEnJ4ZElBEn =ar2En =arJEnݡVDE43y9 =%J=ٔQ->9Y=FFy!DVE>DDAT read: Rx Time:03:38:41.0943 TRx dataTimestamp_ set to:1761536320.064841PDAT read: Bearing 133.1, 15.6 (Local)  ~Local bearing/azimuth received: Bearing 133.1, 15.6 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =DAT read: 03:38:41.0943 LVL= 18896, 12465, 19634, 22435, AGC= 34, IDX= 499,-0.49, 2.003, 1.466, 1.588, 3.037, PHS=-0.932,-1.526,-1.493, RAW= 92.8, 67.5, CAL= 92.2, 70.7, ROT= 57.8, -70.7 EYgot valid direction response: 03:38:41.0943 LVL= 18896, 12465, 19634, 22435, AGC= 34, IDX= 499,-0.49, 2.003, 1.466, 1.588, 3.037, PHS=-0.932,-1.526,-1.493, RAW= 92.8, 67.5, CAL= 92.2, 70.7, ROT= 57.8, -70.7 MT#Rx 90: Read range and direction messages.U\direction in FSK: [0.176123,0.279679,0.943801]UFpublishing direction and range infoytZZ5?mB?u3?YL?I0L W)IniSÿ4Q?˖?? ?)^ ?I򝿩D?!x Zƿ_E8?Z ?D_ʿ6}"7+?2i<):iT>"iZ~?*i BiBi={?i }iBiA5>i@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500199 s, deltaX: -0.100000 m, approachRate: -0.199920 m/s, rangeRepo size: 4 - Added new target pos. range: 0.796458 m, bearing: 321.512540 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.500199 s, deltaX: -0.099557 m, approachRate: -0.199035 m/s, posRepo size: 4 jh)2h)bh)h)h)*h1"h1 h12h1g1f1f9f}Bdydydjd?ZdYK?颕/Bɢ0>) @?iA)M=IIiM@fizII checking for new query: numPingsReceived=90, elapsed TxPingTime=45.7147609 =c 4Initializing EZServoServo.i E8Initializing DockingStepper.@Q@QE= E=E=+E9"E=ް;*E=F;VE= [4ZE9aE@aE@aE@aE@ԑ]DDAT read: Rx Time:03:38:41.5944 ]TRx dataTimestamp_ set to:1761536320.568682ePDAT read: Bearing 128.9, 16.5 (Local) m~Local bearing/azimuth received: Bearing 128.9, 16.5 (Local) }DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:41.5944 LVL= 18256, 12321, 18690, 22291, AGC= 33, IDX= 500,-0.29, 2.739, 2.039, 2.277,-2.554, PHS=-0.888,-1.645,-1.496, RAW= 100.7, 64.0, CAL= 99.7, 67.5, ROT= 50.3, -67.5 Ygot valid direction response: 03:38:41.5944 LVL= 18256, 12321, 18690, 22291, AGC= 33, IDX= 500,-0.29, 2.739, 2.039, 2.277,-2.554, PHS=-0.888,-1.645,-1.496, RAW= 100.7, 64.0, CAL= 99.7, 67.5, ROT= 50.3, -67.5 T#Rx 91: Read range and direction messages.\direction in FSK: [0.244446,0.294436,0.923880]Fpublishing direction and range infoyY]J?k ?Yk?Y]ff?Y]PG]!0]I ]W)]!I]Sci]\ҿ]|]I?]5?]`? ]˖?)]`?I]˖YY]cғy?]8`D¿هC? ]h)]RI]`?i]˖YY5checking for new query: numPingsReceived=91, elapsed TxPingTime=45.995041^AaAA@AB>B&CB;"IBBBBBB};B4EAzAgAAIIO0? ,&,P?A4<ɰW @)@u똺ٱ ƻ =AHRS rotation from veh to nav: [[-0.117372,0.993069,0.006161],[-0.993087,-0.117377,0.000447],[0.001167,-0.006066,0.999981]]H 8?9!Y!=%FFy%*D-7;E->1Q 5545l?Q 9=45/|)5mBY9y=Y?Q I=?5CI5:i5:5aS4yɮAiiIe$P?AJiae?Riae?jiQ}@bj ?Bf? _hNd}?RJ?k ?Yk?Zi`?bi˖jb?A|hϿ5r>r?Zxմ=?~ Vɸѿk%?2i~:i-w>"in耜?*iOBiՅBiZ~?i~ji΅Bi|>i(e@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503841 s, deltaX: 0.100000 m, approachRate: 0.198475 m/s, rangeRepo size: 4  Added new target pos. range: 0.896011 m, bearing: 314.212771 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.503841 s, deltaX: 0.099553 m, approachRate: 0.197588 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd?Zd?-0Bɢ-$>)) -?i))5C=11i5< ji=y99I9IAIIIIchecking for new query: numPingsReceived=91, elapsed TxPingTime=46.218685Ie rG} liA 29 liAY Z"AE  E E E "E ;*E ?;VE ZE BE j$,&HP?AhYm9Y=FFy0DE>Q 5%42l?Q 9%4{)Q A-+:Y)Q E-#Z4y1ɮ5A9iqiuDP?AJiqRiqjiuRS@bua4?HQV7?z?Ru@?yCr?amf-?ZiuT_?biuf3ju|HՃ?J0ҿJ18?ZuHF6?yLԿ??2iu:iu>"iuB?*iu2>Biu؅Biu1=?iu iuՅBiuf>iuc@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.896011 m, bearing: 313.919059 deg, lat: 36.779326 deg, lon: -121.859591 deg, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh2hbh!h!h!*h!"h! h!2h!g!f)f)f)d)d1d1jd1Zd5G?1Bɢ,/>)  ?i ) wu=  iGli5z99I9I9ߝ=ߝa=checking for new query: numPingsReceived=92, elapsed TxPingTime=46.7231061^A! a Ai Iy I O >E5  E5 E5 -E1 "E5 .;*E5 B;VE5 t4ZE1 a= @a= @a= @a= @I,bP?ABB@@B;@Bl;ٱBջ JAHRS rotation from veh to nav: [[-0.111197,0.993779,0.006233],[-0.993796,-0.111180,-0.002893],[-0.002182,-0.006516,0.999976]]BH bw` ?y?@-Qvળga`z?iBB@@IBn];@YbDByb"IbDj?VDj3yr$==%rs=ٔv"BBm"IBBB =BBB};B4EQ 5=4k?Q 9U4r{)nBQ AU :YQQ E]{"i i?*i Ƅ Bi 8Bi n耜?i Oi ؅Bi z>i gH@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504245 s, deltaX: 0.200000 m, approachRate: 0.396633 m/s, rangeRepo size: 4  Added new target pos. range: 1.095128 m, bearing: 312.911286 deg, lat: 36.779326 deg, lon: -121.859592 deg, deltaT: 0.504245 s, deltaX: 0.199117 m, approachRate: 0.394881 m/s, posRepo size: 4 jh2hbh)h)h)*h)"h) h)2h)g)f1f1f1d1d9d9jd=?Zd=kպ?i颭2Bɢ*;>)[ӽ ?i) =顱iuoiyIIԡ@R>@N>checking for new query: numPingsReceived=93, elapsed TxPingTime=47.231319 ^A EMq EMEM)EI"EM;*EML;VEMFA4ZEIBEM9Y=FFy!Q 5}4%h?Q 94%_y)%sBQ AT:Y>Q E;y@Q I?%CI%F"ir-[]?*ir]Bir؅Bipipipirq>irʀ@} addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507872 s, deltaX: -0.200000 m, approachRate: -0.393800 m/s, rangeRepo size: 4  Added new target pos. range: 0.896014 m, bearing: 312.011715 deg, lat: 36.779326 deg, lon: -121.859592 deg, deltaT: 0.507872 s, deltaX: -0.199114 m, approachRate: -0.392056 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?Zd ?53Bɢ5ҽ1>)9 =?i9)=m=99iE[^riEzIIIIIIchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.734863^A A! I1 IA OM >',P?A2@2@2 <ٱ2 :AHRS rotation from veh to nav: [[-0.100336,0.994926,0.007466],[-0.994917,-0.100265,-0.009284],[-0.008489,-0.008359,0.999929]]2H@n?~? ] `b@k?i2@I2];0YBFByB"IbDN9VDN3yR<%Vv=ٔVP()a e?ia)eg=顉i]tiyIIDDAT read: Rx Time:03:38:43.5944 TRx dataTimestamp_ set to:1761536322.588774PDAT read: Bearing 125.5, 19.2 (Local) ~Local bearing/azimuth received: Bearing 125.5, 19.2 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 BA<B>BB"IB(BB =BBB};B4EDAT read: 03:38:43.5944 LVL= 17888, 10865, 19170, 19347, AGC= 32, IDX= 499, 0.09,-2.528, 2.849,-3.113,-1.654, PHS=-0.771,-1.735,-1.503, RAW= 103.4, 58.4, CAL= 102.0, 62.6, ROT= 48.0, -62.6 Ygot valid direction response: 03:38:43.5944 LVL= 17888, 10865, 19170, 19347, AGC= 32, IDX= 499, 0.09,-2.528, 2.849,-3.113,-1.654, PHS=-0.771,-1.735,-1.503, RAW= 103.4, 58.4, CAL= 102.0, 62.6, ROT= 48.0, -62.6 T#Rx 95: Read range and direction messages.%\direction in FSK: [0.307934,0.341995,0.887815]%Fpublishing direction and range infoy/?-_2??`닺h?YEq*J K)IB`Ei{޿Nbw? ً?)IֶًT?q;ÿxB? X)Iiًchecking for new query: numPingsReceived=95, elapsed TxPingTime=48.038162^A)9AY Ii Iy O >Y  checking for new query: numPingsReceived=95, elapsed TxPingTime=48.238419Ũ-,JP?AbΌ@bbɓ@bIL<ٱb> A AHRS rotation from veh to nav: [[-0.093910,0.995544,0.008603],[-0.995502,-0.093791,-0.013373],[-0.012506,-0.009820,0.999874]]bH ~? G?@'Bc``k?ibΌ@Ibٯ];bCY=JByE"IbD(VD:3y<%.=ٔ 9Y=FFyFD<^<E>Q 54Vd?Q 94zv)zBYyb@Q I?CI;i ;v4yɮAi)i-yP?AJi)Ri)ji-0o@b-ċ?==?e;t?R-/?-_2??`닺h?Zi)bi-ًj-""M?cԿ8(>?Z-m?nֿ-?2i-ˠi:i-n>"i-Ao|?*i-(~Bi-ޅBi)i)i)i-Y?i-@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 bEUg4jEU7i4rEUIJ0E EE,E"E;*E~E;VEg4ZEBE=a2E=aJEަ)9 =?i9)=f=99i=wiEzIIIIII DDAT read: Rx Time:03:38:44.0943 TRx dataTimestamp_ set to:1761536323.093505PDAT read: Bearing 125.2, 17.9 (Local) %~Local bearing/azimuth received: Bearing 125.2, 17.9 (Local) 5DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 uDAT read: 03:38:44.0943 LVL= 16096, 11249, 18562, 21747, AGC= 33, IDX= 498, 0.20, 2.584, 1.664, 2.033,-2.796, PHS=-0.802,-1.779,-1.498, RAW= 106.2, 58.9, CAL= 104.7, 63.0, ROT= 45.3, -63.0 Ygot valid direction response: 03:38:44.0943 LVL= 16096, 11249, 18562, 21747, AGC= 33, IDX= 498, 0.20, 2.584, 1.664, 2.033,-2.796, PHS=-0.802,-1.779,-1.498, RAW= 106.2, 58.9, CAL= 104.7, 63.0, ROT= 45.3, -63.0 %T#Rx 96: Read range and direction messages.-\direction in FSK: [0.319335,0.322696,0.891007]-Fpublishing direction and range infoyM)o?ǝ?F+ ?YL?>+H T)!IOMiF㿉w@?x?? L?)gJ?ILpG?1')cc? 2Dv)IgJ?iLechecking for new query: numPingsReceived=96, elapsed TxPingTime=48.535980ԑ @ @  checking for new query: numPingsReceived=96, elapsed TxPingTime=48.742580 ^A-1>A1zA1AIIO ?6,P?A^+D@^>@^s<ٱ^;& fAHRS rotation from veh to nav: [[-0.079596,0.996792,0.008395],[-0.996584,-0.079388,-0.022765],[-0.022026,-0.010178,0.999706]]^Hm` ?@G1?`R`O荖@D؄?i^+D@I^j];^CYnKByr"IIv<)vC=iMb@Mb@Mb@ 9"~jMbX9{Gz?YSyʡ#<@ )Y @bDCVD3y?;%=ٔD9Y=FFyLD<E>Q 54ha?Q 94t)~BY >Q E;y @Q I?CI ;iC ;4yɮ A iiP?AJiK?RiK?ji @baYG?@XYr?rc4l?RM)o?ǝ?F+ ?ZigJ?biLjM0? Ǐҿͷ dp?Zy=82p?M*N׿zs,?2i~:iw>"iu?*iD|BiBi-[]?i]iiv?is@] addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504731 s, deltaX: -0.100000 m, approachRate: -0.198125 m/s, rangeRepo size: 4 m Added new target pos. range: 0.796455 m, bearing: 309.830456 deg, lat: 36.779326 deg, lon: -121.859591 deg, deltaT: 0.504731 s, deltaX: -0.099557 m, approachRate: -0.197247 m/s, posRepo size: 4 jhi2hibhihihi*hi"hq hq2hqgqfqfyf}Bdydydjd?Zd#?E5 E5xE5+E1"E5;*E5-;VE5 [4ZE1a=@a=@a=@aE@IU7Bɢ]ݤ;>)Y ]?iY)]҄=YaieÕyieyiiIiIiqIuA}DDAT read: Rx Time:03:38:44.5944 TRx dataTimestamp_ set to:1761536323.598147PDAT read: Bearing 126.4, 19.1 (Local) ~Local bearing/azimuth received: Bearing 126.4, 19.1 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:44.5944 LVL= 17776, 10737, 20274, 19539, AGC= 32, IDX= 499, 0.32,-2.489, 2.891,-3.081,-1.612, PHS=-0.775,-1.736,-1.513, RAW= 102.8, 58.5, CAL= 101.5, 62.7, ROT= 48.5, -62.7 Ygot valid direction response: 03:38:44.5944 LVL= 17776, 10737, 20274, 19539, AGC= 32, IDX= 499, 0.32,-2.489, 2.891,-3.081,-1.612, PHS=-0.775,-1.736,-1.513, RAW= 102.8, 58.5, CAL= 101.5, 62.7, ROT= 48.5, -62.7 T#Rx 97: Read range and direction messages.\direction in FSK: [0.303910,0.343508,0.888617]Fpublishing direction and range infoyy}v{Ds?)f ?to?Y}ff?y}pE})}2O }SL)} I}ffFi}?5޿}}L?}?}? }?)}8X?I}yy}k ?zÿݞBJ? }y)}I}8X?i}yychecking for new query: numPingsReceived=97, elapsed TxPingTime=49.012016wѽBU>BQBU"IBU7BBU =BQBQBU};BU4Eԁԩ ^A 6>A I I  checking for new query: numPingsReceived=97, elapsed TxPingTime=49.246616OM >Q=,UP?AHZB}@Zx@Z<ٱZe, jAHRS rotation from veh to nav: [[-0.072640,0.997321,0.008551],[-0.996991,-0.072378,-0.027740],[-0.027047,-0.010540,0.999579]]ZH@?.?`Z`e@gE, ?iZB}@IZK];ZCYz8Byz"IbD%6VD%3y=ƽ%=U=ٔEV9IYQ=UFFyUQD]n<E]>aQ 54e_?Q 94es)eBY)y-@Q I5?eCIe&"ifWw?*iv|BiʅBiAo|?i(~ii ?i@@Թ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504642 s, deltaX: 0.100000 m, approachRate: 0.198160 m/s, rangeRepo size: 4  Added new target pos. range: 0.896015 m, bearing: 312.946947 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.504642 s, deltaX: 0.099560 m, approachRate: 0.197289 m/s, posRepo size: 4 jh!2h)bh)hQhQ*hY"hY hY2hagififfdddjd?Zds?59Bɢ5\6>)1 5?i9)==99i=$|iEzEMv EMlEM,EI"EMc;*EMy';VEMg4ZEIBEMr?%?f? N?)M?INGV}P?s;z6? t)(IM?iNechecking for new query: numPingsReceived=98, elapsed TxPingTime=49.5267141 ~ԽY ^AA4>A0>=checking for new query: numPingsReceived=98, elapsed TxPingTime=49.751072ԉA!IAIiO?F,}Q?A=0@=@=h=ٱ=<< UAHRS rotation from veh to nav: [[-0.065700,0.997796,0.009354],[-0.997314,-0.065358,-0.033066],[-0.032382,-0.011501,0.999409]]=HѰ?(?N Oۍ)?i=0@I=W];=CYe5Bye"I iiiMb@Mb@Mb@ 9DlJ +{Gz?YOyH@@ )d@Y@bD=VD3yG%=ٔ9Y=FFyYD!%m=<E->)Q 554-\?Q 9=4-r)-BY==Q E="i}uq?*i}F-zBi}Bi}fWw?i}D|i}ʅBi}>i}~P@U addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502645 s, deltaX: -0.100000 m, approachRate: -0.198947 m/s, rangeRepo size: 4  Added new target pos. range: 0.796458 m, bearing: 310.677979 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.502645 s, deltaX: -0.099557 m, approachRate: -0.198067 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffBdddjd?ZdB?E EeE.E"E*E#;VEـ4ZEa%@a-@a-@a-@m;Bɢm-7>)q ux?iq)uvٲ=qqi}!~iyII]DDAT read: Rx Time:03:38:45.5944 ]TRx dataTimestamp_ set to:1761536324.604824mPDAT read: Bearing 130.1, 17.2 (Local) m~Local bearing/azimuth received: Bearing 130.1, 17.2 (Local) }DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:45.5944 LVL= 17792, 11697, 19378, 22563, AGC= 34, IDX= 500,-0.32, 2.069, 1.289, 1.546, 3.031, PHS=-0.860,-1.697,-1.529, RAW= 100.9, 62.0, CAL= 99.8, 65.8, ROT= 50.2, -65.8 Ygot valid direction response: 03:38:45.5944 LVL= 17792, 11697, 19378, 22563, AGC= 34, IDX= 500,-0.32, 2.069, 1.289, 1.546, 3.031, PHS=-0.860,-1.697,-1.529, RAW= 100.9, 62.0, CAL= 99.8, 65.8, ROT= 50.2, -65.8 T#Rx 99: Read range and direction messages.\direction in FSK: [0.262396,0.314937,0.912120]Fpublishing direction and range infoyY]jR?'?ۈ0?Y]ff?Y]E]-]K ]#X)]"I](\i]L7ٿ]Fÿ]i?]c?]? ]?)]K`?I]YY]5}(]?>ÿC? ]\)]sI]K`?i]YYchecking for new query: numPingsReceived=99, elapsed TxPingTime=50.019180A A BBB"IB2BBBBB};B4EB&CB&CBB =B =Cųz5 &Changing to mode: 1M 2@M  @I @M 4@M )  checking for new query: numPingsReceived=99, elapsed TxPingTime=50.254562^AQyIIO?RP,ZAQ?A8Eu| Eu^Eu,Eq"Eu;*Eu ;VEug4ZEqBEu%9yYy=FFy`DE>Q 54\?Q 94jr)Yu"iEr?*iC}xBi΅Biu?iv|iiV>i@E addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 1.008262 s, deltaX: 0.100000 m, approachRate: 0.099181 m/s, rangeRepo size: 4 u Added new target pos. range: 0.896014 m, bearing: 319.795069 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 1.008262 s, deltaX: 0.099556 m, approachRate: 0.098740 m/s, posRepo size: 4 jhybhyhyhy*hy"hy hygfffBdddjd?Zd $?=Bɢ/->)! %չ?i!)%!=!!i%Ài-z11I1I1A3@ @@0@ ] checking for new query: numPingsReceived=100, elapsed TxPingTime=50.758617^A- '>1 I IO%>ifW, _Q?A2I@2D@2p5D=ٱ2w# :AHRS rotation from veh to nav: [[-0.047691,0.998833,0.007680],[-0.997714,-0.047267,-0.048304],[-0.047884,-0.009966,0.998803]]2H`ko?t?`E@T3`?`Gh 2?i2I@I2ab;2CYBByBx"IbDN;VDN)3yR%VJ=ٔV=Q-V>9XYX=ZFFyZeDZv6=E^>\Q 5b4^\?Q 9f4^Cr)^BYdyf?Q If?^'CI^;i^;^4yhɮnAlzB*** querying acoustic contact ***ix ixjhbhhh*h"h h g f ffdddjdZdV?E?BɢEKQ>)I M@?iI)Uy=QQiUi]yYYIYIY)E EE.E"EI;*E3;VEـ4ZEa@a@a@a@}3@y @@4@DDAT read: Rx Time:03:38:46.5945 TRx dataTimestamp_ set to:1761536325.613029PDAT read: Bearing 139.6, 14.2 (Local) ~Local bearing/azimuth received: Bearing 139.6, 14.2 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 MDAT read: 03:38:46.5945 LVL= 18800, 11697, 18978, 20979, AGC= 34, IDX= 500,-0.10, 1.581, 1.143, 1.194, 2.690, PHS=-1.007,-1.502,-1.541, RAW= 86.3, 70.2, CAL= 85.5, 73.1, ROT= 64.5, -73.1 UYgot valid direction response: 03:38:46.5945 LVL= 18800, 11697, 18978, 20979, AGC= 34, IDX= 500,-0.10, 1.581, 1.143, 1.194, 2.690, PHS=-1.007,-1.502,-1.541, RAW= 86.3, 70.2, CAL= 85.5, 73.1, ROT= 64.5, -73.1 UV#Rx 101: Read range and direction messages.e\direction in FSK: [0.125151,0.262384,0.956814]eFpublishing direction and range infoyw?h?hDZ}7?Y̌?pI-"J Q)"I`倿iA}?ſ? Ԝ?C? N?))?INB>BB"IB#BBBBB$~;B4ED"v?~D^åȿ>T? ) ҜI)?iN=checking for new query: numPingsReceived=101, elapsed TxPingTime=51.054794Q^A6>AzAfAI IO5>ԁߕ =ߕ < checking for new query: numPingsReceived=101, elapsed TxPingTime=51.264400Ա ],)xQ?A%o@%j@%?U=ٱ% AHRS rotation from veh to nav: [[-0.043051,0.999048,0.007000],[-0.997717,-0.042627,-0.052387],[-0.052039,-0.009239,0.998602]]%H @4?|?K(ӥpҪ̤낿?i%o@I%a;%CY Byk"II%=)a=bDu<VDu3y}?%0=ٔ9Y=FFԑykD KC"<E>Q 5%4W\?Q 9%4r=hAQ)BXr9hAYa\AYy?Q I?(CIW"i%at?*i%p2swBi%Bi%at?i%F-zi!i%>i%@E EsE,E"E;*E)+;VEg4ZEBE=a2E=aJE) Բ?i)̻=i߱izIIDDAT read: Rx Time:03:38:47.0944 TRx dataTimestamp_ set to:1761536326.116802 PDAT read: Bearing 147.4, 10.1 (Local) ~Local bearing/azimuth received: Bearing 147.4, 10.1 (Local) %DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 EDAT read: 03:38:47.0944 LVL= 24368, 14545, 24562, 26547, AGC= 35, IDX= 499, 0.03, 0.808, 0.676, 0.597, 2.069, PHS=-1.159,-1.348,-1.516, RAW= 61.9, 77.7, CAL= 60.9, 79.2, ROT= 89.1, -79.2 MYgot valid direction response: 03:38:47.0944 LVL= 24368, 14545, 24562, 26547, AGC= 35, IDX= 499, 0.03, 0.808, 0.676, 0.597, 2.069, PHS=-1.159,-1.348,-1.516, RAW= 61.9, 77.7, CAL= 60.9, 79.2, ROT= 89.1, -79.2 UV#Rx 102: Read range and direction messages.]\direction in FSK: [0.002943,0.187358,0.982287]]Fpublishing direction and range infoy*}h? XZ?ޣѨn?Yff?0_8_ g)#IZiDJ ¿3I?^?J ? ;?)" ?I;ﰿc3bɼ?}WSǿpXD? #)ZI" ?i;ﰿ}checking for new query: numPingsReceived=102, elapsed TxPingTime=51.530937% 3@!  @! @% 0@!  ^AAchecking for new query: numPingsReceived=102, elapsed TxPingTime=51.768372IIAOM?Oe,qQ?Av@v@v(e=ٱvp$ AHRS rotation from veh to nav: [[-0.037570,0.999262,0.007944],[-0.997729,-0.037065,-0.056238],[-0.055902,-0.010039,0.998386]]vHQ<@?E?e(:ˬ2Y?iv@IvP`;v~CYBy\"IiMb@Mb@Mb@ 9S㥫?+?{GzY/]=y=#@@ l@)Y\@bD=VD3y8%=ٔ;Q->9 Y = FFy rD$/<E>!Q 5%4]?Q 9%4r)BY-=Q E-Ei=aϲ@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503773 s, deltaX: -0.200000 m, approachRate: -0.397004 m/s, rangeRepo size: 4  Added new target pos. range: 0.896012 m, bearing: 341.524882 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.503773 s, deltaX: -0.199114 m, approachRate: -0.395245 m/s, posRepo size: 4 jhbhhh*h"h hgfff]Bdddjd?Zd` ?CBɢC@>) ]?i)=iiyII@ @@/@DD<E EE.E"E;*EIK;VEـ4ZEa@a@a@a@Qi I DDAT read: Rx Time:03:38:47.5944 TRx dataTimestamp_ set to:1761536326.621027%PDAT read: Bearing 154.5, 8.1 (Local) -~Local bearing/azimuth received: Bearing 154.5, 8.1 (Local) =DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 ]DAT read: 03:38:47.5944 LVL= 21872, 12913, 29266, 28051, AGC= 36, IDX= 499, 0.16, 0.507, 0.601, 0.384, 1.827, PHS=-1.218,-1.181,-1.487, RAW= 23.6, 78.1, CAL= 23.2, 79.4, ROT= 126.8, -79.4 eYgot valid direction response: 03:38:47.5944 LVL= 21872, 12913, 29266, 28051, AGC= 36, IDX= 499, 0.16, 0.507, 0.601, 0.384, 1.827, PHS=-1.218,-1.181,-1.487, RAW= 23.6, 78.1, CAL= 23.2, 79.4, ROT= 126.8, -79.4 mV#Rx 103: Read range and direction messages.u^direction in FSK: [-0.110191,0.147296,0.982935]uFpublishing direction and range infoy<}5I-?4t?YpUq2Rr m)$Im盿i+VB>!z?4Q> a?) @IaB<A<B>BB`"IBBBBBB(~;B4E|z^N05ʿ)wl,YQ?A02[Ŏ@2-@2o=ٱ2r9 :AHRS rotation from veh to nav: [[-0.032618,0.999424,0.009400],[-0.997753,-0.032010,-0.058861],[-0.058527,-0.011299,0.998222]]2HV`G?n@?@`c# 5@#o?i2[Ŏ@I2A`;2CY^Byb["IbDjFVDj4yϻ%p=ٔ%:;Q-%?9!Y!=-FFy-vD-n<E-?1Q 5=45^?Q 9=45Ls)5BYAyE!yQ IE?5/CI5#;i5@;54yIɮMpAIiQiU辧Q?AJiQRiQjiU W>bUhFYƵ?eR^.?RU<}5I-?4t?ZiU @biUajUT:i[?Xum?42-E?ZU G_Y|?cA??2iU-=:iU>"iU k?*iUf3.rBiUąBiUuq?iUp2swiUąBiUq>iU@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.896013 m, bearing: 16.488207 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.504225 s, deltaX: 0.000001 m, approachRate: 0.000003 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZd9(?EBɢ2J>) ?i)=i9YizI I checking for new query: numPingsReceived=103, elapsed TxPingTime=52.271191ԑ 3@ @@0@Թ^A1>A%%>A%!>Ek EfE/E"Ef;*EP$;VEJ4ZEBEU ?U > U Κ?)U ,@IU ΚI I O >Q Q U "󻳿+'ȿOS? U )U ȮIU ,@iU ΚQ Q  checking for new query: numPingsReceived=104, elapsed TxPingTime=52.548210r,Q?A2@2@2>x=ٱ2# >AHRS rotation from veh to nav: [[-0.027299,0.999593,0.008334],[-0.997785,-0.026741,-0.060914],[-0.060666,-0.009978,0.998108]]2H)?n?@b0o?i2@I2_;0YFByFI"I\i Mb@Mb@Mb@     9 !rh?V-?I +Y l=y m= 94   V@) @ Y @bDAVDAy'%5=ٔX;Q->9Y=FFy|DA<E>Q 54 a?Q 94t)|BY>Q E;yQ I?6CI ;i ;4yɮAiiCQ?AJiK?RiK?ji՟?b?>+nzu? UP?R_¿mfQnf?pv?Zi,@biΚju?β󛘰?y/5?Z'?Ldִ? ^?2iĄ=:i="i1Ni?*iprBiBi^l?ibWtii >ig=u addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.508118 s, deltaX: -0.100000 m, approachRate: -0.196805 m/s, rangeRepo size: 4  Added new target pos. range: 0.796456 m, bearing: 33.487668 deg, lat: 36.779324 deg, lon: -121.859586 deg, deltaT: 0.508118 s, deltaX: -0.099557 m, approachRate: -0.195933 m/s, posRepo size: 4 jhbhhh*h"h hgfffRBdddjd?Zd@?-GBɢ559>)1 5y?i1)5t=99i=lGi=yAAIAIchecking for new query: numPingsReceived=104, elapsed TxPingTime=52.779911mlͽu3?iu?Q 3@  @ @ 4@ D zD E a E hE 0E "E ݉;*E ^%;VE 4ZE a @a @a @a @] DDAT read: Rx Time:03:38:48.5944 e TRx dataTimestamp_ set to:1761536327.632749m PDAT read: Bearing 158.7, -0.2 (Local) m ~Local bearing/azimuth received: Bearing 158.7, -0.2 (Local) } DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 B >B 'CB ."IB ܃BB =B B B ~;B 4Eԩ  DAT read: 03:38:48.5944 LVL= 28016, 16049, 28050, 29747, AGC= 36, IDX= 500,-0.40,-2.726,-2.404,-2.579,-1.163, PHS=-1.462,-1.197,-1.460, RAW= 329.7, 79.7, CAL= 329.6, 80.7, ROT= 180.4, -80.7  Ygot valid direction response: 03:38:48.5944 LVL= 28016, 16049, 28050, 29747, AGC= 36, IDX= 500,-0.40,-2.726,-2.404,-2.579,-1.163, PHS=-1.462,-1.197,-1.460, RAW= 329.7, 79.7, CAL= 329.6, 80.7, ROT= 180.4, -80.7  V#Rx 105: Read range and direction messages. `direction in FSK: [-0.161600,-0.001128,0.986856] Fpublishing direction and range infoyY ] NĿю{RkR?Y] ff?Y ] pm] >] m ] 3t)Y I] "i] L7] Hế] #@] / ?] X@ ] I?)] ԹAqIIO?#{,&Q?ABC@B@BM{=ٱB4 ZAHRS rotation from veh to nav: [[-0.022881,0.999711,0.007394],[-0.997856,-0.022383,-0.061498],[-0.061315,-0.008785,0.998080]]BH n?H~?p떿|dE?iBC@IB%_;BCYzBy~J"IbD-JVD-04y=(T;%==ٔE3:Q-E>9AYI=MFFyMDM<EM>QQ 5]4Uc?Q 9]4U>v)UwBYyQ I?U?CIU6;iU;Uʦ4yɮAi1i5~Q?AJi5ae?Ri5ae?ji5?b5{'¿}PHSK?R5NĿю{RkR?Zi5yHbi5Ij5 ?.]?p ?Z5*Ux4?h|0?: ?2i5=:i5<"i5ZJd?*i5sBi5Bi5 k?i5si5Bi5>i5J?9E addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503604 s, deltaX: 0.100000 m, approachRate: 0.198569 m/s, rangeRepo size: 4 U Added new target pos. range: 0.896018 m, bearing: 84.398133 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503604 s, deltaX: 0.099562 m, approachRate: 0.197699 m/s, posRepo size: 4 jhYbhyhyhy*hy"hy hygfffdddjd?Zd ?=IBɢEh:4>)A E?iI)M=echecking for new query: numPingsReceived=105, elapsed TxPingTime=53.283020Qqi}yNizIIԑ$ӿu 2@y  @y @} 0@ @ fA@ gAbE]t4jE]Ɇs4rE]+0E s E rE )E "E ;*E *;VE FA4ZE BE )A!I1IAOM?C, R?AF*0@F*@F4g=ٱF NAHRS rotation from veh to nav: [[-0.019609,0.999781,0.007307],[-0.998215,-0.019165,-0.056569],[-0.056417,-0.008403,0.998372]]FHz4?}?`` `⬿`5?iF*0@IF_;DYVByV<"I\\i5Mb@Mb@Mb@1111 195B`"۹?{Gz?{GzY5=y5ף=5ף5@5@ 5@)5@1Y5\@IIbDM>VDM43y]c$%]=ٔe`Q-e>9aYa=mFFymDm;Em>qQ 5}4ug?Q 9}4uw)upBY>Q E;yFjQ I?uHCIu:iu<:uLԦ4yɮ7AI}checking for new query: numPingsReceived=106, elapsed TxPingTime=53.788048iIiMR?AJiMK?RiMK?jiMU]?bM8 o7WF+l3=?RM7tJ2F?ZiM X?biM0jMzf| n ?spxbf?ZMn†?h?2iMH=:iM"iMTf?*iMiMf?M addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503883 s, deltaX: -0.100000 m, approachRate: -0.198459 m/s, rangeRepo size: 4  Added new target pos. range: 0.796461 m, bearing: 97.745070 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503883 s, deltaX: -0.099558 m, approachRate: -0.197581 m/s, posRepo size: 4 jhbhhh*h"h hg ffAfECBdIdQdYjd?Zd}r?LBɢ60>)9 =?i9)==99iEMriEyAIIIIIQyQyyԡDD<E EE,E"E;*E3;VEg4ZEa@a@a@a@- DDAT read: Rx Time:03:38:49.5944 5 TRx dataTimestamp_ set to:1761536328.641350BM >BI BM "IBM ƒBBI BI BI BM };BM 4Eu PDAT read: Bearing 155.6, 6.6 (Local) } ~Local bearing/azimuth received: Bearing 155.6, 6.6 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 '3@  @ @ 2@  DAT read: 03:38:49.5944 LVL= 20464, 11937, 20130, 21219, AGC= 36, IDX= 500,-0.30,-1.357,-1.251,-1.443, 0.064, PHS=-1.319,-1.270,-1.551, RAW= 20.5, 79.9, CAL= 20.2, 81.0, ROT= 129.8, -81.0  Ygot valid direction response: 03:38:49.5944 LVL= 20464, 11937, 20130, 21219, AGC= 36, IDX= 500,-0.30,-1.357,-1.251,-1.443, 0.064, PHS=-1.319,-1.270,-1.551, RAW= 20.5, 79.9, CAL= 20.2, 81.0, ROT= 129.8, -81.0  V#Rx 107: Read range and direction messages. ^direction in FSK: [-0.100135,0.120186,0.987688] Fpublishing direction and range infoy) - *dv]ľ?%4|$?Y- ff?) - O- .- N - R)- $I- Ԩi- \- +ƿ- 0>- ?- J> - ?)- @I- ) ) - 6:ڟ#ƿk? - Q ޿)- I- @i- ) ) U checking for new query: numPingsReceived=107, elapsed TxPingTime=54.073349 ^A6>AIIYIO?,B8R?A4=checking for new query: numPingsReceived=107, elapsed TxPingTime=54.291630DF>@F8@FZ=ٱF| ^AHRS rotation from veh to nav: [[-0.017913,0.999821,0.006047],[-0.998422,-0.017566,-0.053343],[-0.053227,-0.006993,0.998558]]FHW ?@+x? O`@|/?iF>@IFJ'_;FCYzByzG"IbD5@VD53y<% =ٔQ->9)Y1==FFy=D4;E>Q 54"k?Q 94Qy)hBYyiQ I?RCIp:i:ߦ4yɮAii )R?AJiae?Riae?jiЭ>bkTk?Q?R*dv]ľ?%4|$?Zi@bijOX?S"?t$nOh?Ze% `?D!?Ø@?2i%=:i="i t?*ihAxBiBiiiBi$U>ijh?Թ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504718 s, deltaX: 0.100000 m, approachRate: 0.198130 m/s, rangeRepo size: 4  Added new target pos. range: 0.896018 m, bearing: 19.451051 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504718 s, deltaX: 0.099558 m, approachRate: 0.197254 m/s, posRepo size: 4 jhbhhh*h"h hgfffddd jd ?Zd  ?颍NBɢ6>) \?i)}=顁i;iz)I)I9E EE+E"E;*E2;VE [4ZEBEHA=,>A=4>checking for new query: numPingsReceived=108, elapsed TxPingTime=54.794689iAIIQO?$,o]R?Av@vk@v)=ٱvO AHRS rotation from veh to nav: [[-0.022010,0.999752,0.003338],[-0.998899,-0.021852,-0.041522],[-0.041438,-0.004248,0.999132]]vH@?@iWk? r`OBg7fq?iv@Iva;v}CY-By-Q"IiMb@Mb@Mb@ 9v/?333333?Zd;OYx=y=j ?@)Y@bDM)VDM3y]<%]=ٔ]NQ-]>9aYa=eFFyeDeEm>qQ 5}4un?Q 9}4u {)u`BY} >Q E};y쀿Q I?u\CIuH:ius:u!4yɮAiiVIR?AJiK?RiK?jiO?bM Nk&X?" D8?Rj 5k?gH1?Ziϩ'@bij[ί?R1l&ʰ?,'qR?Z??"?2iQ=:it~="is?*iSyBiBiiiݏ? addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504565 s, deltaX: -0.100000 m, approachRate: -0.198190 m/s, rangeRepo size: 4  Added new target pos. range: 0.796461 m, bearing: 46.552608 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.504565 s, deltaX: -0.099558 m, approachRate: -0.197314 m/s, posRepo size: 4 jh=Docking sequence complete at range 0.80 m. Lat: 36.779323 Lon: -121.859586 Reached intercept timeout.DZTransitioning guidance mode to: UNINITIALIZED:hDgfff^Bdd d jd ?Zd ?=PB=)=)= =?i9)E˱=AE ?-\> Ud?)@IUdtZ70ǿwl? ߿)I@iUdchecking for new query: numPingsReceived=109, elapsed TxPingTime=55.066326B)B)B-!IB-BB)B)B)B-};B-4EBE'CBE'CBABEž =BEſ =CE۽5)^AE 6>Q Au ?AIy I O >$K,wR?Archecking for new query: numPingsReceived=109, elapsed TxPingTime=55.298702Y} Byj"IbD%;9VD%)3yuB=%I=ٔQ->9`>Y`>=FFyDE>Q 546q?Q 9 4R|)ZBY y Q I-?cCI;i`;}4y5Bɮ=9A=lEiitiR?AJih?Rih?ji-S>b\Uÿ4?Jpj?R FgVͲe_?@?Zi@biUdjp?z?RX^ ?Z0>K?8ϦQذ?Vpn?2iֻ=:i>>"ie瀜?*i7yBiΆBis?ihAxiBi!>i|ӱ?q> I?) @IIT貚=--ǿ[ x? 2ѿ)I @iI checking for new query: numPingsReceived=110, elapsed TxPingTime=55.565979 E e E E -E "E ;*E >;VE t4ZE BE AE zAE AE AE 9 AII!O5>(,R?A checking for new query: numPingsReceived=110, elapsed TxPingTime=55.802574YeBymn"IbDVDy|]<%*=ٔQ->9Y= FFy E>Q 54Ft?Q 9%4})SBY!y!Q I%?lCI:it:C4y)ɮ5A1Qii‰R?AJiae?Riae?ji>b@ȴZ.?6n״K?RS1X ?kR?Zi @biIji?A<# a?\?ZoLu?@M^,ܧ??^`g?2i+=:i4="i~?*i~|BiՅBi t?iSyii/>i{?zh1EgfffCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCUninitialize.1DqDCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancedddjd ?Zd `_?ZM >ZM >ZM?ZMԨ@}SBy) ?i)V=顁iIԁ]2@Y @Y@e/@aEma Em|Em*Ei"Em݉;*Em/;VEm(N4ZEiau@au@au@au@^A5!E>IAIYOe>DDAT read: Rx Time:03:38:51.5944 TRx dataTimestamp_ set to:1761536330.656754PDAT read: Bearing 155.4, 9.3 (Local) ~Local bearing/azimuth received: Bearing 155.4, 9.3 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 03:38:51.5944 LVL= 21232, 13793, 21058, 23155, AGC= 35, IDX= 499, 0.01, 0.400, 0.421, 0.241, 1.686, PHS=-1.184,-1.220,-1.489, RAW= 36.2, 78.1, CAL= 35.7, 79.5, ROT= 114.3, -79.5  Ygot valid direction response: 03:38:51.5944 LVL= 21232, 13793, 21058, 23155, AGC= 35, IDX= 499, 0.01, 0.400, 0.421, 0.241, 1.686, PHS=-1.184,-1.220,-1.489, RAW= 36.2, 78.1, CAL= 35.7, 79.5, ROT= 114.3, -79.5  V#Rx 111: Read range and direction messages. ^direction in FSK: [-0.074993,0.166090,0.983255] Fpublishing direction and range infoygp,2gt9IYI=MFFyIM2EU>Q 54qv?Q 94~)NBYyPQ I?rCIկ;i1;{4yɮA1I Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalGAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal1HG No longer in Terminal. Resuming normal ranging with 1.000000 count pings.1H qH i i BR?AJi Ri ji T>b . 3 ?dH1?R gp,2gt#"i >?*i }Bi Bi ~?i 7yi ՅBi [>i ?:u uuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:uuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockAu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqE}}4Initialize Wait Component.dyddjdZdD-?ZZZZٻ@i9)EEEiEQIYMchecking for new query: numPingsReceived=111, elapsed TxPingTime=56.309677U Q9YA3@ @@@^A  >I ) II D D R=E c E E ,E "E Ɗ;*E 86;VE g4ZE BE  DDAT read: Rx Time:03:38:52.0943  TRx dataTimestamp_ set to:1761536331.160662 PDAT read: Bearing 152.9, 10.9 (Local)  ~Local bearing/azimuth received: Bearing 152.9, 10.9 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 - DAT read: 03:38:52.0943 LVL= 20704, 13809, 20370, 22707, AGC= 34, IDX= 498, 0.09, 0.010,-0.068,-0.198, 1.240, PHS=-1.128,-1.264,-1.483, RAW= 52.2, 77.3, CAL= 51.4, 78.7, ROT= 98.6, -78.7 5 Ygot valid direction response: 03:38:52.0943 LVL= 20704, 13809, 20370, 22707, AGC= 34, IDX= 498, 0.09, 0.010,-0.068,-0.198, 1.240, PHS=-1.128,-1.264,-1.483, RAW= 52.2, 77.3, CAL= 51.4, 78.7, ROT= 98.6, -78.7 5 V#Rx 112: Read range and direction messages.= ^direction in FSK: [-0.029301,0.193743,0.980615]= Fpublishing direction and range infoy  =ˀ  ?_<1a?Y L? P 5 O X) "I Nbi ʡ ҽ Z;i? ? Le? Fѯ?) FF?I Fѯ I(v?ߑ&ʿ{75? 87) 쎬,3R?AIFF?iFѯfchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.599731|Y5By"Ia]@a] a]@a] a]@a] a]@a] bDe<VDe3y =%7=ٔQ->9Y=FFyE>Q 54y?Q 94:)HBQ A+:YQ E;yQ I?zCI[;i>4yɮAi?qH-H5iiIHR?AJiK?RiK?ji@bT[嗿Ff?"?R=ˀ  ?_<1a?ZiFF?biFѯjWȾݐ?Q1L|$?ZkQG_?0+ёQ5Ú`?2i`:i>"iA?*i@BiŅBie瀜?i~|ii%>iH#v?dQdYdYjd]?Zd] O˿?i)顩iI).?i@E3@A @A@A@A^A%:=eDDAT read: Rx Time:03:38:52.5944 mTRx dataTimestamp_ set to:1761536331.417041PDAT read: Bearing 148.5, 13.4 (Local) ԙ~Local bearing/azimuth received: Bearing 148.5, 13.4 (Local) checking for new query: numPingsReceived=112, elapsed TxPingTime=56.826263IIO- > ָ,R?A2@2g@2<ٱ2ZS :AHRS rotation from veh to nav: [[-0.026298,0.999650,0.002764],[-0.999502,-0.026245,-0.017547],[-0.017468,-0.003225,0.999842]]2H횿"?f? `㑿Pjj ?i2@I2A*_;2CYB:ByB"IbDJ?VDJ3ynY<%rk=ٔrμQ-r?9tYt=vFFytvhEv?xQ 5~4z3{?Q 94zI)zCBQ A :YQ E{;yȁQ I?zCIz ;izI?z 4y ɮAG%-Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalH--B*** querying acoustic contact ***i) i-d1d1d1EE EEEE-EA"EEF;*EE6;VEEt4ZEAaM@aM@aM@aM@jdQZdUn?iy)顁iIԙDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:52.5944 LVL= 18240, 12097, 18402, 19907, AGC= 34, IDX= 499, 0.18, 2.061, 1.810, 1.758,-3.093, PHS=-1.027,-1.335,-1.476, RAW= 72.2, 73.7, CAL= 70.9, 75.9, ROT= 79.1, -75.9 Ygot valid direction response: 03:38:52.5944 LVL= 18240, 12097, 18402, 19907, AGC= 34, IDX= 499, 0.18, 2.061, 1.810, 1.758,-3.093, PHS=-1.027,-1.335,-1.476, RAW= 72.2, 73.7, CAL= 70.9, 75.9, ROT= 79.1, -75.9 V#Rx 113: Read range and direction messages.\direction in FSK: [0.046067,0.239220,0.969872]Fpublishing direction and range infoywOV?Oy?Q,1 ?Yff?@GA/G M)ItiHᪿK??bd?BBB("IBփBBBBB};B4E ?) ?IKo=%?~d9ʿQL? U)kI ?ichecking for new query: numPingsReceived=113, elapsed TxPingTime=57.079037%G"3@ @@D0@@,>@)>^A(z=IIO=>e DDAT read: Rx Time:03:38:53.0943 u TRx dataTimestamp_ set to:1761536331.920349 PDAT read: Bearing 142.8, 15.4 (Local)  ~Local bearing/azimuth received: Bearing 142.8, 15.4 (Local)  checking for new query: numPingsReceived=113, elapsed TxPingTime=57.326992! ",R?A2@2@2'u<ٱ2;- :AHRS rotation from veh to nav: [[-0.026406,0.999644,0.003912],[-0.999539,-0.026344,-0.015071],[-0.014962,-0.004308,0.999879]]2H. ?p?9pݎ@"q?i2@I2^;0Y^JBy^"IbDf9VDf3y%=%-F=ٔ-ƻQ-->9)Y1=5FFy15EU>YQ 5e4]}?Q 9m4])]>BQ Am9YiQ EmK;ymفQ Im?]CI]:i]?] 4yɮHAiitR?AJiae?Riae?jii@b*V2"?Pظo?M0 ?RwOV?Oy?Q,1 ?Zi ?bijVۡ۸?oYzWP?ZTk?P$k#?2iu:i]>"i>?*iGj"BiBi >?i}iBi1C>i$;?dddjd?Zd?ia)iiiiiIfAgAm&tE EE*E"Ex;*E3;VE(N4ZEBE\direction in FSK: [0.141527,0.276568,0.950516]Fpublishing direction and range infoyю?J?76j?YL?`FQ.L O)I&qiCV%?`?Q? K?)?IK 3?vȿ2? )I?iKchecking for new query: numPingsReceived=114, elapsed TxPingTime=57.637115Iy Ŕ,S?A>ݎ@>Qؕ@> E<ٱ> FAHRS rotation from veh to nav: [[-0.029727,0.999558,0.000771],[-0.999486,-0.029715,-0.012057],[-0.012028,-0.001129,0.999927]]>Hp`?[EI?`m *Z@FRf?i>ݎ@I>`;>}CYnNByr"I%DDAT read: Rx Time:03:38:53.5944 5TRx dataTimestamp_ set to:1761536332.424908MPDAT read: Bearing 136.2, 17.3 (Local) U~Local bearing/azimuth received: Bearing 136.2, 17.3 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 Qe\#Rx 115: Read range message, but no direction.y!Y%ff?!checking for new query: numPingsReceived=115, elapsed TxPingTime=57.874233aEa aa aa aa iMb@Mb@Mb@ 9Zd;OMbI +?Yjy@94<@ @)d@YbD8VD3yMHQ<%M!=ٔMQ-U>9QYQ=UFFyQ]ֻE]>aQ 54e{?Q 94eR)eABQ AT:Y=Q E;y@Q I?eCIe;ie3;eK4yɮ.Ai!i%1S?AJi!Ri!ji%y@b%{X;?k) B?w@?R%ю?J?76j?Zi%?bi%Kj%)lN?z¿NW1?Z%88"g^x?knĿXXgY?2i%:i%uz>"i%w?*i%Bi%Bi%A?i%@i!i% >i%6>dd!d!jd!Zd%e?Ze=Ze=ZeJg@Ze[@iq)yyyyiIE]~ E]RE]+EY"E];*E];VE] [4ZEYae@ae@ae@ae@DAT read: 03:38:53.5944 LVL= 17824, 11345, 18418, 19427, AGC= 32, IDX= 500,-0.48, 0.168,-0.551,-0.324, 1.133, PHS=-0.863,-1.639,-1.501, RAW= 99.6, 63.1, CAL= 98.5, 66.7, ROT= 51.5, -66.7 Ygot valid direction response: 03:38:53.5944 LVL= 17824, 11345, 18418, 19427, AGC= 32, IDX= 500,-0.48, 0.168,-0.551,-0.324, 1.133, PHS=-0.863,-1.639,-1.501, RAW= 99.6, 63.1, CAL= 98.5, 66.7, ROT= 51.5, -66.7 \#Rx 116: Read direction message, but no range.\direction in FSK: [0.246233,0.309557,0.918446]yU? ? OLc?AAAAB>BBZ"IBBB =BBB};B4EEQ,G K) I\iѿ /?}? ? \?)f?I\p-?tY|i+Ŀ %? -X) If?i\ checking for new query: numPingsReceived=116, elapsed TxPingTime=58.084011! 9 1 = 3@9  @9 @= /@9 @E gA@A i^A9DDAT read: Rx Time:03:38:54.0944 TRx dataTimestamp_ set to:1761536332.928764PDAT read: Bearing 131.8, 18.8 (Local) ~Local bearing/azimuth received: Bearing 131.8, 18.8 (Local) I-DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 E\#Rx 117: Read range message, but no direction.yYIO?Δ,=S?AQchecking for new query: numPingsReceived=117, elapsed TxPingTime=58.370033bώ@bɕ@b#<ٱbzs9l AHRS rotation from veh to nav: [[-0.031488,0.999504,-0.000452],[-0.999454,-0.031491,-0.009992],[-0.010001,0.000137,0.999950]]bH-?Ǚ= v{4!? ?ibώ@Ib`;bCY _By "IAbD;VD)3ym =%m=ٔuQ-u>9qYy=}FFyy}A^E}>Q 54y?Q 94 )DBYy@Q I?CI;i;_4yɮAiQiUp;S?AJiQRiQjiU@bU)=?mQi?(ǏU?RUU? ? OLc?ZiUf?biU\jUa>F?Za.JeοMϫuC?ZU7qG?Sa&п8O?2iU*s:iU1>"iU[ ?*iUkKBiUBiU>?iUGj"iUBiUӛ>iU@d9d9dAjdAZdEལ?ZZZZ@i)项iIbE|a4jEb4rE$Z/ER EOE-E"E;*E3;VEt4ZEBE<֔,2YS?AH%DDAT read: Rx Time:03:38:54.5945 5TRx dataTimestamp_ set to:1761536333.431419EPDAT read: Bearing 127.8, 19.1 (Local) M~Local bearing/azimuth received: Bearing 127.8, 19.1 (Local) mDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 }\#Rx 119: Read range message, but no direction.y)Y-̌?)checking for new query: numPingsReceived=119, elapsed TxPingTime=58.8600542@@_;ٱK*9 AHRS rotation from veh to nav: [[-0.039159,0.999233,-0.000328],[-0.999224,-0.039160,-0.004213],[-0.004223,0.000162,0.999991]]H ?x5` Aq@KqqI%?@?i2@IN_;CY%fBy%"IԱiUMb@Mb@Mb@QQQQ Q9Un+{Gz?YUVyUU#9Y=FFyhE>Q 5-4v?Q 9-4~)GBY-#>Q E-;y-@Q I-?CI};i);(4y9ɮ=mA9i)i-^[S?AJi--?Ri--?ji-^@b-, ?Y/?Sك9?R-=p?y/ܺd?F+ ?Zi-5P?bi-Lj-39?T׿xX.?Z-+VK?#տ$Hx?2i-:i-̱>"i-X䓜?*i-?}Bi-YBi-w?i-i-Bi->i-@dddjd?Zd?Z#>Z#>Z i@Z@i)iIEms EmxEm1Ei"Em;*Em-;VEm-4ZEia}@a}@a}@a}@B>BB"IBBB =BBDB,~;B4EE DAT read: 03:38:54.5945 LVL= 15856, 10033, 18802, 18867, AGC= 31, IDX= 500,-0.17,-0.414,-1.526,-1.034, 0.434, PHS=-0.747,-1.915,-1.513, RAW= 109.8, 55.1, CAL= 108.0, 59.8, ROT= 42.0, -59.8 M Ygot valid direction response: 03:38:54.5945 LVL= 15856, 10033, 18802, 18867, AGC= 31, IDX= 500,-0.17,-0.414,-1.526,-1.034, 0.434, PHS=-0.747,-1.915,-1.513, RAW= 109.8, 55.1, CAL= 108.0, 59.8, ROT= 42.0, -59.8 U \#Rx 120: Read direction message, but no range.] \direction in FSK: [0.373817,0.336586,0.864275]y9Y?٠5?y#?=1'rI I)Id;?iK?m0v? } dTimed out moving from: 13072 to: 14900 response: q}  } Hardware Fault:F? 0?)f;?I0,T!?i繿yB? K6)RkvIf;?i0 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I & VHardware Fault in component: DockingStepperI O > !ܔ,rS?ABܕ@B@Bt;ٱB$: JAHRS rotation from veh to nav: [[-0.038468,0.999260,-0.000798],[-0.999250,-0.038471,-0.004381],[-0.004408,0.000629,0.999990]]BH` ?G%J``qrD?@?iBܕ@IB`;B}CYhyj"IbDr>VDr43yz;%z=ٔzK:Q-~;?|9Y=FFy =;E :?Q 54)u?Q 94#})IBYy@Q I?CID;i;,4y)ɮ-gA)EB*** querying acoustic contact ***iA iAdIdIdIjdQZdU 6?ZqZqZqZu@i)顁iI :Uninitialize Docking Stepper. Powering downI)iIIOs=MDDAT read: Rx Time:03:38:55.0944 UTRx dataTimestamp_ set to:1761536333.935563mPDAT read: Bearing 125.3, 19.7 (Local) u~Local bearing/azimuth received: Bearing 125.3, 19.7 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yIYMff?I2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E T E AE +E "E ;*E ;VE [4ZE BE Ms׷s@(?iF@IF)_;FCYfmByj"I ||=DAT read: 03:38:55.0944 LVL= 16080, 9921, 18210, 18659, AGC= 32, IDX= 499,-0.07,-0.798,-2.034,-1.460, 0.007, PS-073,-1.997,-1.511, RAW= 111.8, 52.7, CAL= 109.8, 57.8, ROT= 40.2, -57.8 =1unknown deviceResponse_: 03:38:55.0944 LVL= 16080, 9921, 18210, 18659, AGC= 32, IDX= 499,-0.07,-0.798,-2.034,-1.460, 0.007, PS-073,-1.997,-1.511, RAW= 111.8, 52.7, CAL= 109.8, 57.8, ROT= 40.2, -57.8 E2Acoustic response timeoutiMMb@Mb@Mb@IIII I9M-ƿbX9ȶI +?YM?5yMEM949Y=FFy:E>Q 54q?Q 94z)KBY.K>Q E;y?Q I?CI:i:!54yɮ 2A)EDone Waiting.qEEE8Uninitialize Wait Component.Emdidqdqjdu?Zdu`?Z.K>Z.K>Z>f@Z?i)   i IIQIO>!]DDAT read: Rx Time:03:38:55.5944 eTRx dataTimestamp_ set to:1761536334.440591}PDAT read: Bearing 123.1, 19.7 (Local) ~Local bearing/azimuth received: Bearing 123.1, 19.7 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 Q DAT read: 03:38:55.5944 LVL= 15088, 9553, 18642, 17891, AGC= 32, IDX= 499, 0.01,-0.112,-1.477,-0.810, 0.659, PHS=-0.669,-2.091,-1.512, RAW= 113.9, 50.6, CAL= 112.0, 56.2, ROT= 38.0, -56.2  Ygot valid direction response: 03:38:55.5944 LVL= 15088, 9553, 18642, 17891, AGC= 32, IDX= 499, 0.01,-0.112,-1.477,-0.810, 0.659, PHS=-0.669,-2.091,-1.512, RAW= 113.9, 50.6, CAL= 112.0, 56.2, ROT= 38.0, -56.2  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.438367,0.342490,0.830984]- Fpublishing direction and range infoyY]C24?j\,Z?=gl?YYY]:]Q%]H ]E)] I]C+i]]7]~t?]=b?]5? ]{?)])?I]{YY]L,?uL?t? ]Qڽ)]KbI])?i]{YYE 2Acoustic response timeoutm Querying Benthos address 50 with one ping in standard two-way mode.y 4,S?AJr@JD@J;ٱJ, RAHRS rotation from veh to nav: [[-0.035469,0.999368,0.002417],[-0.999352,-0.035453,-0.006221],[-0.006131,-0.002636,0.999978]]JH`(`?Xc?&zy`yėe`?iJr@IJN`;J{CYZ_ByZ"IbDfGVDf4yj%jo=ٔnT|;Q-n?9pYp=rFFypr*;Ev?tQ 5z4vo?Q 9~4vUy)vNBY|y~@Q I~?vCIv;iv";v ;4yBɮ vA kEii2S?AJibe?Ribe?jiͪ@b9r#?Կ[?_?RC24?j\,Z?=gl?Zi)?bi{j͆?8skڿߛ%?EE] EE@EE-EA"EE ;*EEM;VEEt4ZEAaM@aM@aM@aM@Z4 Ij ?O.%ݿ~y?2iо:iϖ>"if?*imBiڅBiiii$?iθ@e8GuidanceMode 0.000000 count EedadadajdiZdm?luNCompleted lineCaptureHoming:LineCaptureq6ulujAggregate::uninitialize lineCaptureHoming:LineCapture17u nuAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesq7unuNUninitialize AltitudeEnvelopeComponent.7} o}Uninitialize.7}o}NUninitialize OffshoreEnvelopeComponent.8}19}q9}r}|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass9}9}s}Uninitialize.1:} tAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t@Uninitialize Buoyancy Component.QBA<B>B(CB"IB9AYA=EFFyIM|;EM>QQ 5]4Ul?Q 9]4UUw)UPBYaye;@Q Ie?UCIUg:iU:UjB4yiɮ tA =BCompleted lineCaptureHoming:Lap:BR= =^Aggregate::uninitialize lineCaptureHoming:Lap:BREԉZZZZ;@ip:)  i  II)I9O=EA EEHEE,EA"EA*EE;VEEg4ZEABEE4<=DDAT read: Rx Time:03:38:56.5944 ETRx dataTimestamp_ set to:1761536335.456421ePDAT read: Bearing 121.1, 19.4 (Local) m~Local bearing/azimuth received: Bearing 121.1, 19.4 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 -DAT read: 03:38:56.5944 LVL= 15200, 9633, 19650, 17955, AGC= 31, IDX= 499, 0.20, 0.487,-1.024,-0.255, 1.221, PHS=-0.632,-2.199,-1.519, RAW= 115.6, 48.5, CAL= 113.9, 54.6, ROT= 36.1, -54.6 =Ygot valid direction response: 03:38:56.5944 LVL= 15200, 9633, 19650, 17955, AGC= 31, IDX= 499, 0.20, 0.487,-1.024,-0.255, 1.221, PHS=-0.632,-2.199,-1.519, RAW= 115.6, 48.5, CAL= 113.9, 54.6, ROT= 36.1, -54.6 =R#Rx 2: Read range and direction messages.E\direction in FSK: [0.468053,0.341310,0.815128]EFpublishing direction and range infoy9=?'}[?6?%4َ@%ԕ@%`-<ٱ%޻ AHRS rotation from veh to nav: [[-0.030251,0.999521,0.006475],[-0.999486,-0.030180,-0.010811],[-0.010610,-0.006799,0.999921]]%H@?`wz? @w瞿#@{Y?i%4َ@I%|5`;%{CY=ff?9=`;=%=L =#F)=I=!i=j =n¿=^ @=8X?=~t? =s?)=K!?I=s99=;ǟT5%?kͩ5? =䛽)=AXI=K!?i=s99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.YeSBye"IquAԁiMb@Mb@Mb@ 9~jtÿʡEMb?Yy-<@@ @)Y@bD1VD[3y7%=ٔ ;Q->99Y9==FFy9E;EE>IQ 5U4Mh?Q 9U4M+u)MSBYU3>Q E];y]@Q I]?MCIM;iM@;MK4yyɮ}AykR1Si9i=6S?AJi9Ri9ji=@@b= K?a?*F_?R=?'}[?6?Zi=K!?bi=sj=dMS ?ZYۿ",P)?Z=FC?4y)߿vGN?2i=b߾:i=n>"i=?*i=٤Bi=ŅBi9i9i=Bi=PD?i=Mޫ@Z53>Z53>Z5&Uj@Z5@iA)IIIiIIIqԱIIOh>E5H E58E1E1"E5};*E5 ;VE1ZE1a=@a=@a=@a=@2Acoustic response timeoutB B B "IB FBB B B B ~;B 5E , lS?A26@2@2_3g<ٱ2$ :AHRS rotation from veh to nav: [[-0.027565,0.999596,0.006998],[-0.999520,-0.027462,-0.014309],[-0.014111,-0.007389,0.999873]]2H`9?|?` M-挿C~?i26@I2_;0`YbIByb"IbDn>VDn43yv%v=ٔvW?YML?IMAM,MM MO)M!IM$&iM MMY@M!Z?M ? Mm0v?)M?IMm0vIIMœ8?b!a*? M]┽)M[IM?iMm0vII2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. C}+GIjAMAٙ9jAYAIOF>A EU } EU [EU +EQ "EU ;*EU ;VEU [4ZEQ BEU AHRS rotation from veh to nav: [[-0.024870,0.999659,0.007925],[-0.999523,-0.024720,-0.018507],[-0.018304,-0.008381,0.999797]]6H w5?@:?&Pa_E*W?i6H@I6_;6|CYJ9Y=FFy;E>Q 54e?Q 94r)XBYu>Q E;y@Q I?CI:i]:X4yɮ A qN%%fAggregate::initialize lineCaptureHoming:restartDHCPN%%$Restarting DHCP...N%N%iQiUnS?AJiUK?RiUK?jiUҩ@bUeL?I;c?uͫ>?RU`%n?URrVjk?8%>?ZiU?biUm0vjU?Nؿ0o?ZUf?v׬/߿֖M?2iUƾ:iU`>"iU+{?*iUt|BiUBiUf?iUmiUڅBiUG?iUm@Zeu>Zeu>Ze%f@Ze/@iq)qqqiyyIyIIO=!5DDAT read: Rx Time:03:38:57.5944 =TRx dataTimestamp_ set to:1761536336.464539I]PDAT read: Bearing 123.0, 18.2 (Local) ]~Local bearing/azimuth received: Bearing 123.0, 18.2 (Local) mDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 03:38:57.5944 LVL= 16240, 10737, 19794, 20963, AGC= 32, IDX= 499, 0.49, 0.232,-1.152,-0.443, 1.023, PHS=-0.689,-2.130,-1.510, RAW= 115.4, 50.7, CAL= 113.7, 56.5, ROT= 36.3, -56.5 Ygot valid direction response: 03:38:57.5944 LVL= 16240, 10737, 19794, 20963, AGC= 32, IDX= 499, 0.49, 0.232,-1.152,-0.443, 1.023, PHS=-0.689,-2.130,-1.510, RAW= 115.4, 50.7, CAL= 113.7, 56.5, ROT= 36.3, -56.5 R#Rx 1: Read range and direction messages.\direction in FSK: [0.444822,0.326754,0.833886]Fpublishing direction and range infoy9=@w?Duq?V1?Y=ff?9=p?=)=RM =Q)= I=Nb0i=Q=G=.@=b?=? =q|?)=0"?I=q|99=EI2?7nTB? =S)=bI=0"?i=q|992Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.y ,=e(T?A2@2@2[{<ٱ2L+ :AHRS rotation from veh to nav: [[-0.022229,0.999714,0.008776],[-0.999491,-0.022022,-0.023084],[-0.022884,-0.009285,0.999695]]2H@AÖ?`? ԌI@n@`?i2@I2y^;2CErl ErREpEp"Erڎ;*Er;VEpZEpav@av@av@av@Y~1By"IbD-3ԁVD-3yW%P=ٔ>9Y=FFy;E>Q 548c?Q 94q)[BYy@Q I?CI*$;i%;^4yɮA`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shNNCompleted lineCaptureHoming:restartDHCPqNjAggregate::uninitialize lineCaptureHoming:restartDHCPAA@AiqiuT?AJiube?Riube?jiu@buV:K"iu{?*iu |BiuBiu?iu٤iuŅBiu.?iu!@}2Acoustic response timeoutZZZZ@i)iBBB"IB(BBBBB~;B(5E)I1IIIyO==Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.sh5 *DAT read: user:409> = HDAT read: Command 'tr50' not found = funknown deviceResponse_: Command 'tr50' not found E "DAT read: Error  @unknown deviceResponse_: Error  *DAT read: user:410>  BDAT read: Tx time:03:38:58.5130  $Ping request sent. AHRS rotation from veh to nav: [[-0.019393,0.999776,0.008424],[-0.999426,-0.019151,-0.027942],[-0.027774,-0.008961,0.999574]]2Hۓ +?@?`L@;@p5Z?i2"2@I2^;0YBy"IbDU6VDU3y%I=ٔD9Y=FFy;E>!Q 5-4%@a?Q 9-4%Hp)%^BYqyu9@Q Iu?%CI%, ,6 \T?A2J@2pE@2'=ٱ2Z :AHRS rotation from veh to nav: [[-0.016403,0.999837,0.007504],[-0.999334,-0.016150,-0.032717],[-0.032590,-0.008035,0.999436]]2H̐?~?@7@t@b?i2J@I2^;2}CYNByNc"Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.481725iMb@Mb@Mb@ 9{GztMbp?y&1|Yףy;`@@ @)7@Y@bDEGVDE4yU޽%U@=ٔU)99YYY=]FFyYe;Ee>iQ 54mca?Q 94m9p)m]BYnEv E=EE"Ec;*E;VEZEa @a @a @a @checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734700BBBZ"IBBBBBB~;BD5E) ,0uT?AɰBZg@B,b@BR=ٱBv RAHRS rotation from veh to nav: [[-0.012896,0.999892,0.007050],[-0.999241,-0.012628,-0.036847],[-0.036754,-0.007520,0.999296]]BHCi?@~|?܉ ݢ`tѢ&~;?iBZg@IB^;@`YbByfF"In@AnAAbDv=VDv3y-%5_=ٔ=0:9AYA=EFFyAMN<EM>QQ 54Ua?Q 94U,p)U\BYyi?Q I?QIUb9Y=FFy<E>Q 54c?Q 94gq)YBY >Q E ;y $Q I ?CI;i!;V{4yɮsAk=qU=U= =Initialize. =dInitializing internal variables to default values.bl9QAZe>Ze>Ze?Zeʆ@i)iIMnManaging dock network, ignoring radio surface power off9I IO- >9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489561ԁԙ l),⫩T?A2$@2@2,)=ٱ2 :AHRS rotation from veh to nav: [[-0.004992,0.999965,0.006686],[-0.999135,-0.004712,-0.041323],[-0.041290,-0.006886,0.999123]]2H`rt ?b{?` LsW(@$4|?i2$@I2^;2yCEbK Eb=E`E`"Eb;*Eb;VE`ZE`af@af@af@aj@Yj܃Byj/"IbDvBVDv3yz4w%~[=ٔ~v;Q-~>9Y=FFy o2<E >Q 54e?Q 94xr)WBY!y%Q I%?CI-;iA;ف4y1ɮ5A1blazlmrlijliB<A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741746Bu>Bu'CBu"IBũBBu =BqBqBu$;BuX5EZZZZ@iK9)顩iI 9IIO>!Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993655y "0,UT?A6ɏ@6Ė@6)=ٱ6Q BAHRS rotation from veh to nav: [[-0.000889,0.999987,0.005100],[-0.999148,-0.000678,-0.041258],[-0.041254,-0.005132,0.999135]]6H"M?@t?6F`Ju?i6ɏ@I6"P^;6|CYJǃByJ"IN=L Rp9`Y`=bFFy`f)<Ef>hQ 5n4jg?Q 9n4js)jUBYpyrQ Ir?jCIji ;ij ;jÈ4ytɮv4Atbl zl rl jlZ)Z)Z)Z-ʧ@iA)AAAiAIIIIIOa=QD=D<E_ EME-E"E;*E%;VEt4ZEBEa2EaJE}b<bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497882YfByf "IiMb@Mb@Mb@ 9p= ף?:v?S㥛Y>y=/ݼ@ )z@YԱbD};VD})3y%-=ٔkQ->9Y=FFy;E>Q 54 l?Q 942u)NBY,>Q E;ycQ I?CIM;i;4yɮ|AblzlrljlZ=,>Z=,>Z=ӻ,?Z=@iI)QQQiQYIYIqIO=Ea EnE.E"E݉;*E(;VEـ4ZEa@a@a@a@BM>BM(CBM!IBMBBM =BIBIBM ;BMM5EB5(CB5(CB1B5Ƚ =B5Ƚ =C5I4uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.749727 9 -=,kFT?AFR@F$@F=ٱF{ع RAHRS rotation from veh to nav: [[0.004788,0.999987,0.001591],[-0.999338,0.004842,-0.036048],[-0.036055,-0.001417,0.999349]]FH s?@? Z?`s?tu17W`?iFR@IF^;F{CYnByn"IbDtVDty=%=g=ٔ=}"Q-=>9AYA=EFFyAM;EM>QQ 5]4U(o?Q 9e4Udv)UHBYiym.cQ Iu?UCIU;iU;U-4yɮAblzlrljlZZZZ@i)iII I!O-= BDAT read: Rx Time:03:39:00.9179 TRx dataTimestamp_ set to:1761536339.988088checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0026989a E _ E VE E "E ;*E ;VE ZE BE a 2E a JE y->--@) -V@)-@)Y-@bDE6VDE3yU%U:=ٔ]Q-]>9YYa=eFFyaeEe>iQ 5u4ms?Q 9}4mw)m>BY}<>Q E;ywJQ I?mCIm Z;imR;mޞ4yBɮAlEblzlrljliZ<>Z<>ZE?Z@i)iI!I9IIOU>ԑDAT read: 03:39:00.9179 LVL= 19648, 11697, 19698, 18419, AGC= 38, IDX= 196, 0.29,-0.151,-0.218,-0.361, 1.082, PHS=-1.131,-1.256,-1.487, RAW= 50.2, 77.1, CAL= 49.3, 78.6, ROT= 100.7, -78.6  Ygot valid direction response: 03:39:00.9179 LVL= 19648, 11697, 19698, 18419, AGC= 38, IDX= 196, 0.29,-0.151,-0.218,-0.361, 1.082, PHS=-1.131,-1.256,-1.487, RAW= 50.2, 77.1, CAL= 49.3, 78.6, ROT= 100.7, -78.6 PDAT read: Bearing 155.4, 11.3 (Local) ~Local bearing/azimuth received: Bearing 155.4, 11.3 (Local) %DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [-0.036698,0.194221,0.980271]5Fpublishing direction and range infoy ʢN8?Lȧa^?Y?L-L G)&IĐiĠVK`?9>?FF\? ?)I?I)??Rqʿ!W2? ՛)QII?iUXRequesting device enable set for address 50. =J,0*U?A6@6@6A<ٱ6I: >AHRS rotation from veh to nav: [[0.006704,0.999977,-0.001174],[-0.999665,0.006672,-0.025022],[-0.025014,0.001341,0.999686]]6H3u{?? AAAA9IYI=MFFyIU#;EU>aQ 5m4ew?Q 9m4ey)e6BYqyuWJQ Iu?e"CIeE;ieF;eT4yɮAB>BB!IBBB =BBB~;B:5Eblzlrljli i rU?AJi >Ri >ji W=b 6vFl9?j" ;?=*DAT read: user:411> EBDAT read: Tx time:03:39:02.1121 E$Ping request sent.Ei J@ZZZZį@i) iI I!)!IIO= %= C= XRequesting device enable set for address 50.- cGQ ] hA A Y9 hAY VEA%Q,DU?A2@2q@2X<ٱ2O'B; :AHRS rotation from veh to nav: [[0.006780,0.999973,-0.002839],[-0.999811,0.006727,-0.018249],[-0.018230,0.002962,0.999829]]2H7{?@?@Ag@s{? Ҫ@Ch?@?i2@I2]^;2|CYNByR"IbDZ?VDZ3yv:%vO=ٔvQ-v>9xYx=zFFyxzxI9E~>YQ 5e4]|?Q 9e4]rz)].BYiymJQ Im?]+CI]:i]j:]_4yqɮuAyblzlrljlZZZZ@i)iIII O=E. EE2E"Eye;*E:VE4ZEBEy-=-C -@) ))-@)Y- @bDE>VDE43yU %UD=ԡٔQ->9Y=FFy̵E>Q 54w?Q 94{)'BY+>Q E;ypQ I?4CI;i;4y!ɮ%(A)blazlarlijliZ+>Z+>Z ?Z@i)项iIIIO%=EJ EQE0E"E~;*EA;VE4ZEa@a@a@a@B>B)CBBB =BBDB~;B-5EiQIUA y],xU?A6@6@6<n;ٱ6g; BAHRS rotation from veh to nav: [[0.005217,0.999980,-0.003516],[-0.999980,0.005204,-0.003651],[-0.003633,0.003535,0.999987]]6Hd^u??7lPu?`m@#m`l??i6@I65^^;6}CYJÃByJ"IbDR,VDR3yZz=%ZU=ٔ^Q-^>9`Y`=bFFy`b+Eb>dQ 5j4fv?Q 9n4f1})f BYlynxpQ In?fq??i%)@I%y^;%{CYEۃByE."IiMb@Mb@Mb@ 9ʡE? ףp= ?9Y=FFy"E>Q 54G?Q 94F~)BY=Q EZU7@ia)iiiiiqIqIIO>yԩ }j,>U?AEB< EB3EB/E@"EB,r;*EBt ;VEBJ4ZE@aJ@aJ@aJ@aJ@R@R@R=&ٱRNj; ^AHRS rotation from veh to nav: [[0.002929,0.999986,-0.004295],[-0.999944,0.002972,0.010150],[0.010163,0.004266,0.999939]]RH g?? $qXh?Ʉ? PЄ?@xq??iR@IR9a^;R|CYjByj="IBr<Ar<BYBYB]!IB]BB] =BYBYB]~;B]5EyybDCVD3y=%X=ٔ Q- >9Y = FFyԱEAEE>QQ 5]4U߅?Q 9]4U;)UBYYyeQ Ie?UGCIU/:iU:Uɧ4yiɮ}]AyblzlrljlZZZZ1)@i)iII IO% >  BDAT read: Rx Time:03:39:04.0034  TRx dataTimestamp_ set to:1761536343.0206421 sq,LU?A6ߏ@6ږ@6 ٱ6gW; BAHRS rotation from veh to nav: [[0.001797,0.999993,-0.003316],[-0.999868,0.001851,0.016168],[0.016174,0.003286,0.999864]]6Hr]??)k` R^?=?я? j?`?i6ߏ@I6Q^;6yCY^By^S"IbDjBVDj3yr=%r_=ٔriQ-v>9tYt=vFFytz`bEz?|Q 54~?Q 94~)~BYy ԋQ I ?~KCI~;i~:~rϧ4yɮAbl1zl1rl1jl1ZQZQZQZU@ia)iiiiiiIqIIOb=DDa=bEJ4jEJ4rE0Ez E4E0E"E4;*E ;VE4ZEBEm`S??`?@m??iMQڏ@IMi^;M|CYm Byuh"Ii=Mb@Mb@Mb@9999 99=~jth~jtx{GztY=Dy=Ļ=ף=z@=@ =@)= @9Y=f@bD:VD{3y=%/=ٔ7Q->9Y=FFyBE>Q 54ᆜ?Q 94)BY BDAT read: Tx time:03:39:05.1121 $Ping request sent.??`:yO@BE?ܷ?¸? (y?`(?iMԏ@IMC^;MyCYBy|"Ii-Mb@Mb@Mb@)))) )9-J +L7A`尿9YYY=]FFyaeA׹Ee>iQ 5u4m?Q 9u4m~)mBYu=Q E};y}s @Q I}?mSCIm:im:m4yɮAblzlrljlZ=Z=Zn@Zs @i)iIIIO% >Iy ڊ,σ-V?AE6c E6TE6,E4"E6Ɗ;*E6;VE6g4ZE4a:@a:@a:@a:@A@A@BF>BDBFm"IBFBBF =BDBDBF~;BF05EB)CB)CBB =B =C+5z֏@zWі@z ٱz.; AHRS rotation from veh to nav: [[0.000665,0.999979,-0.006451],[-0.999418,0.000884,0.034109],[0.034114,0.006425,0.999397]]zHbE??`lz:@2L?v? [w? Qz??iz֏@IzA^;z{CY=9By="IbDM;VDM)3Yy}3>%}o=ٔDQ-?9Y=FFy:E?Q 54?Q 94})BYyu @Q I?XCI;i:4yɮAbl zl rl jlZIZIZIZMu @iy)顁iIIIO=ԉԱ ,6[GV?A2tޏ@2Fٖ@2ٱ2T; :AHRS rotation from veh to nav: [[0.001632,0.999969,-0.007640],[-0.999284,0.001920,0.037786],[0.037799,0.007573,0.999257]]2HZ??@?K"@u_?@X?fZ???i2tޏ@I2x|^;0YBFByB"IFADJAAHbDNXVDN!4yV̅=%VY=ٔZK Q-Z>9XYX=ZFFyX^f(;E^>`Q 5f4b?Q 9f4b|)bBYdyj @Q Ij?b^CIbW:ib:b4ylɮ]kAYblzlrljlZZZZ @iԹ)项iIII O=Dm=Dm=E}w E}iE}0Ey"E}ؓ;*E}%;VE}4ZEyBE}:9Y=FFyq;E>Q 5%4{?Q 9%4{z)BY% i>Q E%i;y%@Q I-?kCI;;i;n4y1ɮ5A1blQzlQrlQjlQZu i>Zu i>Zu%j@Zu @i)顉iIIIO=ABBB"IBABB =BBB!;B]5EEY E1E.E"E=;*Ef;VEـ4ZEBE<2E<JE.d<:E.d?`D?i2N@I2^;2wCYBcByB"IbDN:VDN{3yR,=%V^=ٔV'Q-V>9TYX=ZFFyXZ;E^>\Q 5b4^Gx?Q 9f4^x)^BYdyf@Q If?^uCI^a:i^:^4ylɮn~Albl|zl|rl|jl|Z!Z!Z!Z%@iA)AIIiIIIQIiIyOJ= q+GjAMAX9jAYIFABDAT read: Rx Time:03:39:07.0035 TRx dataTimestamp_ set to:1761536346.040124ԙE G E GE ,E "E &|;*E ;VE g4ZE a @a @a @a @i9 I9 :, V?A}@}]@}EHٱ}; AHRS rotation from veh to nav: [[0.008348,0.999937,-0.007456],[-0.998770,0.008703,0.048813],[0.048875,0.007039,0.998780]]}H`?|?~ҁ?@?/?@|??i}@I}^;}yCYbBy"I==iMb@Mb@Mb@ 9GzοM¿Q?Ypynu< @ 7@)@Y@bD=VD3y%-=ٔQ->9Y=FFy|;E>Q 54r?Q 94u)Y>Q E@;y@Q I?CI" ;i ; 4yɮAblzlrljlZ5>Z5>Z5; l@Z5@iI)IIIiIQIQIiIyO=DAT read: OK :unknown deviceResponse_: OK *DAT read: user:413> ! ',ɮV?AB>BB"IBeBBBBB;B5ED zD"AAE&M E&FE&/E$"E&ˀ;*E&v;VE&J4ZE$BE&Q9iYi=mFFyqu<Eu>yQ 54}n?Q 94}}s)}BYy<@Q I?}CI}:i}:}F4yBɮAkEblzlrljlBDAT read: Tx time:03:39:08.1121 $Ping request sent.߭ =߭ = ,aV?A2R@2L@2SYٱ2J: :AHRS rotation from veh to nav: [[0.015722,0.999875,-0.001610],[-0.998465,0.015786,0.053093],[0.053112,0.000773,0.998588]]2H~??_Z`l@*? /?`1?PI?`o?i2R@I2E^;2yCYNkByR"IpbDZ-VDZ3yv,%zR=ٔztQ-z>9|Y|=~FFy|$<E> Q 5 4 Hi?Q 94 q) Yyx@Q I? CI  :i : 4y!ɮ%A!blAzlArlAjlAZ)Z)Z)Z-x@iY)aaaiaaIiIIO=EUO EU*EU.EQ"EU;*EU;VEUـ4ZEQa]@a]@a]@ae@ 9a 9,V?A:*v@:p@:pXٱ:g BAHRS rotation from veh to nav: [[0.020124,0.999797,-0.000183],[-0.998401,0.020105,0.052824],[0.052817,-0.000880,0.998604]]:HA?@W?I'l? ? ?JL?i:*v@I:4z^;:|CYJpByJ"IRAPi%Mb@Mb@Mb@!!!! !9%̿M¿~jt?Y%ffy!%D<%@%@ %M@)!!Y%@9bD=4VD=f3yM<%MD=ٔU(::Q-U>9QYQ=]FFyY]-<E]>aQ 5m4ed?Q 9m4en)aYu>Q EuF;yu @Q Iu?eCIe:ie':eW4y}BɮAbEblzlrljlZ=>Z=>Z=Km@Z= @i)顑iIIIO >iB%>B!B%"IB%yBB% =B!B!B%;B%5ED]=D]4=EeK EeDEe,Ea"Ee;*Eeh;VEeg4ZEaBEe9|Y|=FFya3<E>1Q 5]45"_?Q 9e45Yl)1YayeG @Q Ie?5CI5m;i5;5K$4yiɮmJAqԙblzlrljlZZZZtG @i)iIIIO%=bEـ4jEy4rEȳ0Eu < Eu LEu /Eq "Eu ,r;*Eu ;VEu J4ZEq a} @a} @a} @a} @! Nŕ,DW?Am@mb@m9=ٱmĻ AHRS rotation from veh to nav: [[0.028102,0.999594,0.004682],[-0.998538,0.027856,0.046330],[0.046181,-0.005978,0.998915]]mHƜ??`-s?` 8?࠸? ?|x?im@ImF^;mxC)Y]\By]"Ii Mb@Mb@Mb@     9 QRQY \y ½  @ @ ) l@ Y Q@bD%DVD%J3y=yk;%=*=ٔ=z9AYA=EFFyAM;EM>QQ 5]4U/[?Q 9]4Uj)UBY]?->Q E];ye @Q Ie?UCIU:iU/:U,4yiɮmCAiblzlrljlZ?->Z?->Z7o@Z @i)iIIIO>Yu?u?ԉԱ B! B! B% "IB% tBB% =B! B! B% ;B% 5Ev˕,0W?AE EFE+E"E*Ev;VE [4ZEBENΐ@> ɗ@>+9"ٱ>?~ JAHRS rotation from veh to nav: [[0.030883,0.999501,0.006615],[-0.998738,0.030596,0.039817],[0.039595,-0.007836,0.999185]]>H@؟?? ]{?`T?b?E? S?i>Nΐ@I>o~^;>vCYnQByn"Iv=v=bDz6VDz3yw%w=ٔ\9\Y\=bFFy`b;Eb>dQ 5j4fU?Q 9j4fh)fBYhyn @Q In?fCIf|:if;f<94ypɮr Apblzlrljl Z!Z!Z!Z% @i1)999i9AIAIYIiO}C=E=R E='E=)E9"E=;*E=";VE=FA4ZE9aE@aE@aE@aE@iI!I هؕ,cW?A2DAT read: OK 6:unknown deviceResponse_: OK 4:@:@:#ٱ:1ۻ VAHRS rotation from veh to nav: [[0.034888,0.999373,0.005967],[-0.999179,0.034757,0.020805],[0.020584,-0.006688,0.999766]]:Hܡ?? px?F@ˡ?`M??@d{?i:@I:^;:xCY-9By5"IiMb@Mb@Mb@ 9 rhy&1YC y`e/@@  @)@Y@bDAVD?3yUa*%u3=ٔup9yYy=}FFyyLv;E>Q 54T?Q 94g)Y=Q E)V=bDZBVDZ3`yf%fg=ٔf=Q-j>9hYh=jFFyhn;E5>9Q 5E4=T?Q 9M4=Og)9YIyM?Q IM?=CI=:i= :=G4yQɮ]AYblyzlyrlyjlyZZZZ?i)顩iIII9OE=u=u=EU S EU CEU +EQ "EU ;*EU ;VEU [4ZEQ a] @a] @a] @a] @A ,W?A@@:ٱ! AHRS rotation from veh to nav: [[0.039739,0.999201,0.004191],[-0.999208,0.039746,-0.001671],[-0.001837,-0.004122,0.999990]]H X?u?+q?Y? b[@4^`p?i@I^;yCYu Byug"IiMb@Mb@Mb@ 9Zd;O?y&1?Mb?Yj=y`e=<@@ @)@YbD=8VD=3yE½%M(=ٔM9QYQ=UFFyQ]f;E]>aQ 5m4eqV?Q 9m4emh)eBYm/=Q Em;yu{Q Iu?eCIe ;ieP ;eO4yyɮ}AyblzlrljlZ/=Z/=Z[ ?Z^@i)iIII O>Aqԡ B <A <B >B B "IB BB =B B B 9;B 6E,WW?AD zD"@AE&8 E&E$E$"E&n;*E&:VE$ZE$BE&ܾAHRS rotation from veh to nav: [[0.044458,0.999001,0.004464],[-0.998815,0.044537,-0.019630],[-0.019809,-0.003586,0.999797]]2H-æ??Hr?J@ͦ?H``mW?i2v=@I2p^;2wCYXyX \\bDfAVDf?3ٔnժ9pYp=rFFypr;Ev>tQ 5z4vZ?Q 9~4v$j)vBY|y~zQ I~?vCIv3;iv;v\4y ɮ  bl)zl)rl)jl)ZIZIZIZM@iY)YYYiaaIiIIOW=E=1 E=E=4E9"E=2h;*E=:VE=4ZE9aE@aE@aE@aE@ 1Y ,W?A"%="4=:}I@:OD@:6%<ٱ:wP% BAHRS rotation from veh to nav: [[0.045918,0.998938,0.003709],[-0.998610,0.045998,-0.025750],[-0.025894,-0.002522,0.999662]]:H@?M?bn? ?@U^䃚Gd@:?i:}I@I:^;:{CYJރByJ1"IiUMb@Mb@Mb@QQQQ Q9U rh?v/?{Gz?YUC>yUx=Uף9Y=FFyRb;E>Q 54^?Q 94 m)!BYY>Q E3;ynQ I?CIy;i; d4yɮ2AblzlrljlZ%Y>Z%Y>Z%3>Z%Q@1i1)999i9AIAIYIqO=aBiBm(CBm."IBm܃BBiBiBmDBmR;Bm6ED9D9EE' EE6EE+EA"EE _;*EE ;VEE [4ZEABEE9XYX=ZFFyX^k:E^>`Q 5f4bb?Q 9f4bo)b#BYdyfaQ Ij?b CIb:ib8:bj4ylɮn~Albl|zl|rl|jlZZZZ@i))111i11IIIO =ԑEU 2 EU 'EU -EQ "EU i;*EU ";VEU t4ZEQ a] @a] @a] @a] @ ), X?A*4<ɰ(V8N@V I@Vp<ٱV- zAHRS rotation from veh to nav: [[0.046489,0.998917,0.002077],[-0.998455,0.046530,-0.030381],[-0.030445,-0.000662,0.999536]]VHXͧ? ?2a?`Wҧ?%@, $E`3?iV8N@IV^;TY%ȃBy%"IIM=)M%=bD}DVD}J3yS%/=ٔ%;Q->9Y=FFy38E>Q 54g?Q 94s)&BYyQ I?CIE:i<:r4yBɮ+AkEbl!zl!rl!jlIZZZZr@i)顙iIIIO>A AY A] AABe >Ba Be !IBe BBe =Ba Ba Be _;Be *6E ,,2X?ADzD?AEA E.E+E"Ev;*E;VE [4ZEBE-xi-@-@ -7@)-M@)Y-@bDU5VDU3ym}%mN=ٔmUWQ-m>9qYq=uFFyy}9E}>Q 544l?Q 94t)BY5>Q E;yQ I?#CI;i;y4yɮAblzlrljlZ5>Z5>Z&e?Z0@i)iIII)O==Qyԩ ,~LX?A2Q@2[L@2<ٱ21 ; :AHRS rotation from veh to nav: [[0.046899,0.998899,-0.000877],[-0.998564,0.046860,-0.025949],[-0.025879,0.002093,0.999663]]2H@??L@= ?D@$a?=?i2Q@I2߻^;0@YBByF"IbDN4VDNf3y~l%d=ٔBQ->9 Y = FFy  I:E>Q 5%4Lp?Q 9%4u)BY!y% Q I%?+CI;i<:4y5Bɮ5A5lEblQzlQrlQjlQZqZqZqZud.@i)顁iIIIOk=bE [4jE4rE2E=n E=EE=XE9"E=Ï;*E=;VE=G5ZE9aM@aM@aM@aM@ԩ 8$,WfX?A6S@6RN@6Cժ<ٱ6)%K; >AHRS rotation from veh to nav: [[0.047144,0.998886,-0.002113],[-0.998670,0.047089,-0.020975],[-0.020852,0.003099,0.999778]]6H;#??\Oa?xzCZ8ci?-?i6S@I6^;4YFByF!Ili]Mb@Mb@Mb@YYYY Y9]/$?L7A`?S㥫Y]1>y]+>]/]]@Y ]@)]d@YY]@ u49Y=FFyK:E>Q 545u?Q 94ev)BYG>Q E;yZ G>Z H?Z z@i)!i!!I)IAIQO]= B >B B !IB BB  =B B B h;B 56EEE; EE{EE,EA"EEDq;*EE_/;VEEg4ZEABEE69xYx=zFFyxz5"E~>Q 5 4y?Q 9 4w)BY y =Q I ?>CI:ij:4yɮA!9blAzlArlAjlAZaZaZaZel@iq)iI!IQIiOu=iԑEU Z EU KEU .EQ "EU ;*EU ;VEU ـ4ZEQ a] @a] @a] @a] @ F6&,X?AF4K@FF@F;ٱFPX; NAHRS rotation from veh to nav: [[0.046141,0.998927,-0.004052],[-0.998911,0.046112,-0.007078],[-0.006883,0.004374,0.999967]]FHԟ?5?p?@| 1|q?@?iF4K@IF>^;DYVByV"IbDbEVDb3yj?X=%nL=ٔzQ-~>9Y =FFyE%>IQ 5e4M}~?Q 9m4M y)MBYqy}=Q I}?MHCIM;iMF;MI4ԙyɮAblzlrljlZ!Z!Z!Z%[@i9)9AAiAAIIIa&dClearing failed state for component DockingStepperqIO=]=]=B <A B >B B B B B B B [;B &6EB(CB(CBBʻ =Bʻ =Cʰ5! _,,X?AEF EDEE"E>{;*Eh;VEZEBE9Y=FFy.E>Q 54͂?Q 94z)BY>Q E;yI-Q I?PCIU:i:4yɮAblzlrljlZ>Z>Z?Y?Zf@i )   i I %4Initializing EZServoServo. %8Initializing DockingStepper.I9IIOU=!Qy G3,zX?A20@2+@2# ٱ2b; :AHRS rotation from veh to nav: [[0.042941,0.999061,-0.005686],[-0.999041,0.042987,0.008349],[0.008585,0.005322,0.999949]]2H@N?O?Iw`$j?.?@6? u??i20@I2U^;2yCY^σByb"IbDj2VDj 3yrt=%ri=ٔrQ-v>9tYt=vFFytzEz>|Q 5U4~-?Q 9U4~z)~ۊBYQy]9.Q I]?~WCI~NAHRS rotation from veh to nav: [[0.041653,0.999110,-0.006624],[-0.999015,0.041749,0.015035],[0.015298,0.005991,0.999865]]6H`S??!{`!`?uʎ?nT?*x??i6o&@I6^;4YFۃByF-"IiMb@Mb@Mb@ 9K?p= ף?QY^=y=uM@@ @)M@YbD-EVD-3y=]=%=E=ٔ=tQ-=>9AYA=EFFyAMJEM>QQ 5U4U?Q 94U{)U؊BY=Q E;yhQ I?U]CIUDBB!IBBB =BBBH;B6EEE> EE6EE*EA"EEs;*EE ;VEE(N4ZEABEE9!Y)=-FFy)- E->1Q 5=45芜?Q 9E45|)5֊BYAyE]iQ IE?5cCI5:i5:5}4yIɮMSAQblizlirlqjlqZZZZ@i)顡iIIIO!>9EM N EM oEM /EI "EM @;*EM );VEM J4ZEI aU @a] @a] @a] @a JF,PUY?A 2@2@2;%ڼٱ2|:; >AHRS rotation from veh to nav: [[0.037412,0.999280,-0.006310],[-0.998945,0.037566,0.026408],[0.026626,0.005315,0.999631]]2H'? ?@=y[;?@ ? C?Nu??i2@I2^;2wCYFByFQ"IbDr0VDr3yz=%zM=ٔz]VQ-z>9Y=%FFy!5»E5>IQ 54M@?Q 94M})MӊBYyjQ I?MiCIMItԙ A A @AB >B B ""IB уBB B B B %;B 5EL,25Y?ADzDEZ E`E.E"E;*E'!;VEـ4ZEBE9Y=FFyE>Q 54?Q 94})Y1"! 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(*?@g?~?ޅ??i6W@I6z^;6yCYR@ByR"IbDZDVDZJ3yv`=%vF=ٔv1Q-v>9xYx=zFFyxQ 54B?Q 94y)׊BYy@Q I?~CI:;i(;ܨ4yɮAYblzlrljlZZZZ@i)iI &Changing to mode: 1ԁ53@1 @1@=5@9IIIYOmx>ԱBA AE <BI BI BM "IBM 2BBI BI BI BM ;BM 5E m,ꖶY?AE*N E*7E*1E("E*@;*E* ;VE*-4ZE(BE*?iJ@IJ^;HY^TBy^"Ii=Mb@Mb@Mb@9999 99=NbX9ȿsh|?Q?Y=Ey==u<9=@ = @)=@9Y=@bD]AVD]?3ye=%mB=ٔɺQ->9Y=FFy E>Q 5%4C?Q 9-4w)يBY-W>Q E-|;y-:?Q I-?CI;ih;`4y1ɮ5A9blqzlyrlyjlyԡZW>ZW>Zc@Z:?i)iI3@ @@4@IIO$>) s,SY?A6я@6i̖@65$ٱ6F< BAHRS rotation from veh to nav: [[0.000063,0.999927,-0.012121],[-0.999196,0.000549,0.040076],[0.040080,0.012109,0.999123]]6H ?e? ӈjA?؄? U?̈??i6я@I6a;6xCYJUByJ"IIN=)N=LNAbDV<VDV3yZ;%^W=ٔ^oQ-^>9`Y`=bFFy`f"μEf>hQ 5j4j?Q 9n4ju)jڊBYlyn?Q In?jCIj;ij;j4ytɮvAtbl zl rl jl Z)Z)Z)Z-?i9)AAAiAAII%53@! @!@%4@!1IIIaEmX Em)Em)Ei"EmɅ;*Em0;VEmFA4ZEiau@a}@a}@a}@O}=Yԉ z,Z/Y?Aɰ;06tn@6Fi@6d1.ٱ6^1< >AHRS rotation from veh to nav: [[-0.012027,0.999874,-0.010335],[-0.999023,-0.011576,0.042640],[0.042515,0.010838,0.999037]]6H@?@*9ԥ?`~ĥ?*2??i6tn@I6b;6vCY~dBy~"IiMb@Mb@Mb@ 9> ףp=ʿS㥻YQy/ݽ@ @ 7@)@YQ@bD7VDp3y=%8=ٔQ->9Y=FFy,߼E> Q 54 }?Q 9-4 s) ׊BY5Em>Q E5e;y5@Q I5? CI ;i ; ~4yAɮE{AAblzlrljlZEm>ZEm>Z!h@ZS@i)))11i19I9ԉB>BB"IBPBBBBB;B5EBBBBý =Bý =CQ4%23@! @!@%1@!IAIqO7>E}4 E}EyEy"E}j;*E}A:VEyZEyBE}9xYx=~FFy|~lE>Q 5 4z?Q 94q)֊BYy@Q I?CI:i:4yɮpAblzlrljlZZZZ@@i)iI E/3@I @I@Uq2@QIiIyO8>1E5 + E5 !E5 -E1 "E5 b;*E5 :VE5 t4ZE1 a= @a= @a= @a= @a ,Z?A2yɎ@2Kĕ@2z/ٱ2 ; :AHRS rotation from veh to nav: [[-0.032142,0.999470,-0.005240],[-0.998562,-0.031887,0.043096],[0.042906,0.006617,0.999057]]2Ht?*vu 8S`? ?{?F?i2yɎ@I2a;2vCYB]ByB"I DDJ=HbDN9VDN3yV.%VO=ٔV¢;Q-V>9XYX=ZFFyX^E^>`Q 5f4b-w?Q 9f4b[o)bԊBYdyf@Q If?bCIb:ibg:b4ynBɮnkAnbEbl|zl|rl|jlZZZZ@i))111i119IA3@ @@%1@!IyIO=iԑB B B "IB eBB B B B ;B 5E D9 zD9 EE - EE $EE *EA "EE d;*EE ;VEE (N4ZEA BEE >9Y=FFyRE>Q 54s?Q 94Om)ЊBY T>Q E ;y @Q I ?CIH:i:4y!ɮ%`A!blAzlArlIjlIZeT>ZeT>Ze)o@Ze@iy)yyyiyIu%3@q @q@u0@qIIGhAO">5"Q95hAY5.>A 2,QZ?A2/@2Q*@2>!ٱ2(: :AHRS rotation from veh to nav: [[-0.050912,0.998703,0.000450],[-0.997927,-0.050890,0.039385],[0.039357,0.001556,0.999224]]2H`  `?hx=?D<*?`&?Y??i2/@I2`;2xCYBlByB"IbDJ9VDJ3yR=%Va=ٔV;Q-V>9XYX=ZFFyXZͼEZ>`Q 5b4bo?Q 9f4bk)b͊BYdyf@Q If?bCIb:ib9:b 4yjBɮnAlbl|zl|rl|jl|ZZZZT@i)))))i)1I13@ @@o0@IIO=E< E&E0E"E,r;*E;VE4ZEa@a@a@a@iiIi!Yy \,KvkZ?A>@>U@>ٱ>u׾ NAHRS rotation from veh to nav: [[-0.058835,0.998261,0.003549],[-0.997633,-0.058924,0.035447],[0.035595,-0.001455,0.999365]]>H?m?@+@&&?@{9?`W?i>@I>W`;>vCYn[Byn"IIv<)vp=ttiMb@Mb@Mb@ 9 rh)\(~jthYC yGὙD@@ )@YQ@bD;VD)3yx%:=ٔ 9Y=FFy/E>Q 54k?Q 94i)ˊBY$3>Q E;yT @Q I?CI ;iG ;4yɮJAQblzlrljlZ$3>Z$3>Zt@ZT @i9)999i9AIAB>BB"IBjBBBBB;B5EԁD=DR=E Z E E (E "E ;*E VE c44ZE BE ԩ zD,PZ?Aɰ2͍@2Ȕ@2yٱ2y :AHRS rotation from veh to nav: [[-0.062817,0.998007,0.006050],[-0.997599,-0.062966,0.028836],[0.029160,-0.004224,0.999566]]2H ?@x?TN?ܝ?WMqq?i2͍@I2Rc;0YzMByz"IbD ?VD 3y)%U=ٔH9!Y!=%FFy!-)E->1Q 5=45h?Q 9=45h)5ʊBY9y= @Q IE?5CI5;i5;5]4yIɮMAIblizlirlijliZZZZ @i)顡iIԱm3@q @q@u0@qIIO=E 5 E !E 2E "E k;*E :VE 4ZE a @a @a @a @! 9 o,#.Z?A2@2\@21ٱ2: :AHRS rotation from veh to nav: [[-0.067379,0.997705,0.006766],[-0.997460,-0.067516,0.022688],[0.023093,-0.005220,0.999720]]2H? 2?`{?1 H`;?? au ?i2@I2Rb;0YRWByR"IbDZ:VDZ{3yvH=%vM=ٔvy9xYx=zFFyxz;E~>Q 5 4Ge?Q 9 4 g)ɊBY y  @Q I ?CIp:i:Q"4yɮjAblzlrljlZZZZ @i)  i )I9@ @@0@II1O=>9i B <A <B >B B "IB [BB =B B B ;B 5EE 1 E *E .E "E 2h;*E ;VE ـ4ZE BE `Rx Time:03:39:23.7541 MTRx dataTimestamp_ set to:1761536362.932693 - @)-@)Y-@bD]1VD][3ymܰ%mB=ٔm9qYq=uFFyqucEu>yQ 54}c?Q 94}If)}NJBY=Q E( ,Z?A:ĩ@:@:]ٱ:q BAHRS rotation from veh to nav: [[-0.067245,0.997705,0.007990],[-0.997702,-0.067307,0.007787],[0.008307,-0.007448,0.999938]]:H62?\?, ;??V~}?i:ĩ@I:~`;:uCPYR9hYh=jFFyhj;En>pQ 5v4r>b?Q 9v4re)rƊBYxyz @Q Iz?rCIr#;irg5;r\04yɮ @A blAzlIrlIjlIZyZyZyZ}Ř @i)顙iI?i @bE]g4jE]^n4rE]J1EA EE+E"Ev;*E4:VE [4ZEa@a@a@a@q@q @q@u0@qIIO=uDAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600BDAT read: Tx time:03:39:24.8119 $Ping request sent.uˍ@>GƔ@>1ٱ>K JAHRS rotation from veh to nav: [[-0.063143,0.997973,0.007965],[-0.998004,-0.063147,0.000176],[0.000678,-0.007938,0.999968]]>H@'*`d?%P?@`*d '?5;F?A`?i>uˍ@I>~`;9Y=FFy<E>Q 54b?Q 94f)Y=Q E/Z@i!)!!!i!BU>BQBU"IBUEP EE0E"E(;*E:VE4ZEBE91Y1=5FFy9=E=>AQ 5M4E4YyaɮeIAablzlrljlZZZZi)项iIQ@Q @Q@U0@QIaIqO=ԉԹEJ E)E.E"E~;*E0;VEـ4ZEa @a @a @a @ ˼ǖ, t [?Aɰ4<2^@2Y@2Oa<ٱ2l :AHRS rotation from veh to nav: [[-0.045179,0.998942,0.008620],[-0.998884,-0.045055,-0.014155],[-0.013752,-0.009250,0.999863]]2H!T?? c<)`?i2^@I2._;2vCY^Bybr"IbDj2VDj 3yr3%rO=ٔr=Q-v>9tYt=vFFytz:=Ez>|Q 54~c?Q 94~h)|Yy>Q I ?~CI~r;i~|:~E4yɮAbl1zl1rl1jl1ZQZQZQZUF@Թi )iI!A@A @A@E0@AIaIqOZ>AI AM AABU >BU 'CBU s"IBU BBU =BQ BU DBU ;BU 5EBBBBBC59 E C E 1E -E "E x;*E f;VE t4ZE BE {9yYy=FFyj<E>Q 54df?Q 94i)ÊBY=Q E;y\Q I?CI;iy;L4yɮAblzlrljlZ=Z=ZC=?Zq@Qi)iI3@ @@@IIO>ԁԩ?>? Ԗ,*T[?AB@B @BD<ٱBq NAHRS rotation from veh to nav: [[-0.023179,0.999711,0.006427],[-0.999445,-0.023019,-0.024072],[-0.023917,-0.006981,0.999690]]BH`Z@?`Rz?t`,@j`}&|u?iB@IB^b;BtCYZByZf"I %=%= -;-bD5-VD53yM <%MM=ٔM.E9QYQ=UFFyQ]<E]>aQ 5m4eh?Q 9m4ei)eBYiyuYQ Iu?eCIe:iel:eS4yyɮ}AyblzlrljlZZZZ0׭@i)iIEK E:E+E"E;*E$ ;VE [4ZEa@a@a@a@Q@Q @Q@U0@QIaIyO= 9 ?ږ, n[?A6v@6q@6V<ٱ6Й BAHRS rotation from veh to nav: [[-0.010996,0.999928,0.004806],[-0.999546,-0.010857,-0.028110],[-0.028055,-0.005113,0.999593]]6H#i?Ds?G@<Ȝt ?i6v@I6I a;4YFByJV"IiMb@Mb@Mb@ 9X9v?Zd;?Q롿Y9Y=FFy<E>Q 54m?Q 94@j)BY>Q E;y6Q I?CIm ;i;[4yɮDAblzlrljlZ>Z>Z6?Zl@i)iI I-fA)-eABBBA"IBBB =BBB;B5E )@) @)@-/@1IAIQO]>E EAE$E"E*E;VE4ZEBEAHRS rotation from veh to nav: [[-0.000067,0.999996,0.002938],[-0.999528,0.000023,-0.030733],[-0.030733,-0.002938,0.999523]]2H͠? h?`!1>xxYh`?i2Џ@I27N`;2uCY^By^I"IbDfIVDfX4ynS%rU=ٔr[;Q-r>9pYt=vFFytv<Ev>xQ 5~4zq?Q 94zj)zBYy_vQ I?zCIz ;iz. ;za4y BɮAbl1zl1rl1jl1ZQZQZQZU\@ia)aaaiaiIiԑ!3@ @@0@IIO>ԹEW ElE.E"ET;*Ey';VEـ4ZEa@a@a@a@ ,Z[?A6U@6' @6:=ٱ6 >AHRS rotation from veh to nav: [[0.007962,0.999968,0.000803],[-0.999475,0.007984,-0.031385],[-0.031390,-0.000553,0.999507]]6HN??QJ?Y?@Z`B ?i6U@I6}#a;4\Yb߃Byb3"IddhhbDnDVDnJ3yv%vJ=ٔv:Q-v>9xYx=zFFyx~<E~>Q 5 4:u?Q 9 4j)BY y mQ I ?CI:iB:h4yɮXAbl9zl9rl9jl9ZYZYZYZ]@ii)iiqiqqIy@ @@ @ IQIO>BA4=B>B(CB"IB̃BBBBDB;B5EA E Y E aE *E "E =;*E !;VE (N4ZE BE AHRS rotation from veh to nav: [[0.016898,0.999857,-0.000539],[-0.999355,0.016873,-0.031705],[-0.031691,0.001075,0.999497]]2H M?@?hA`G?@;9@ܚQ?`?i2[@I2Ha;2tCYFByF="IiMb@Mb@Mb@ 9ʡE?/$?I +Y=y1>9@ @)z@YQ@bDAVD?3y=%>=ٔ7:Q->9Y=FFyl<E>Q 54z?Q 94&l)BY6>Q E;y3Q I?$CI" ;iX ;jp4yɮAblzlrljlZ=6>Z=6>Z=slY?Z=מ@iI)IIIiII- 3@) @)@-0@)I9IIQO]>qԡ 8,uw[?AJ@J^@J+<ٱJM; VAHRS rotation from veh to nav: [[0.023970,0.999711,-0.001701],[-0.999243,0.023907,-0.030705],[-0.030656,0.002435,0.999527]]JH`?`?W[ {?4q@9dc? ?iJ@IJPa;JsCY^By^E"IbDfBVDf3yng=%nY=ٔr3Q-r>9pYp=rFFytv͙<Ev>xQ 5~4zm~?Q 9~4zEm)zBYy1Q I?z-CIz;iz;zw4y ɮ A yblzlrljlZZZZز@i)iIEa EE%E"E݉;*EVE 4ZEa@a@a@a@iIAԡ dTimed out moving from: 13088 to: 14900 response: q Hardware FaultI&-VHardware Fault in component: DockingStepperI)O5.> G,/P[?A2@2|@2<ٱ29`Y`=bFFy`f;Ef>hQ 5n4j?Q 9n4jo)jBYlyr?@Q Ir?j>CIj;ij/;j 4ytɮvAtbl zl rl jl Z)Z)Z)Z-@i9)AAAiAAIIIaIqO}G=1aԉbE=^n4jE=b4rE=61Ek EE1E"Ef;*E|;;VE-4ZEa@a@a@a@Թ Y,O#\?A2Ő@2a@2<ٱ2>; :AHRS rotation from veh to nav: [[0.029833,0.999545,-0.004508],[-0.999321,0.029729,-0.021752],[-0.021608,0.005154,0.999753]]2H@?@E? vrp)q? FQ u??i2Ő@I2a;2vCYfByfA"IbDn_VDn.4yv%vG=ٔzQ-z>9xYx=~FFy|~IE>Q 5 4݊?Q 9 4p)BYy@Q I?FCI`:iW:84yBɮ%FA%lEblAzlArlAjlAZaZaZaZe@iq)qqqiqyIyIIOb=ԙAA?ABBB "IBBBBBBl;B~5EE Z E _E )E "E ;*E ;VE FA4ZE BE 9Y=FFyE>Q 54Ս?Q 94r)BY>Q E;y`bQ I?MCI*:i3:4yɮAblYzlarlajlaZ>Z>Zw(?Zì@i)iII1IIOm=I k,V\?Aɰ;Y~By~W"IbD ;VD )3y%6=%%S=ٔ-Q-->9)Y)=-FFy)5E5>9Q 5E4=y?Q 9E4= s)=BYAyIQ IM?=TCI=:i=:=v4yUBɮUAUmEblzlrljlZZZZi ) i!I)IAIQO]=E}h E}gE}%Ey"E} ;*E}$;VE} 4ZEya@a@a@a@Iyԩ ߝ %=ߝ %=4,p\?A:[-@:-(@::<ٱ: <@ FAHRS rotation from veh to nav: [[0.011264,0.999902,-0.008291],[-0.999871,0.011169,-0.011498],[-0.011405,0.008420,0.999900]]:H?2?߆?@rN[F>?@-?i:[-@I:Q`;:uCYN ByNj"Ii%Mb@Mb@Mb@!!!! !9%?Q?{GzY%L=y%\=%#%@%@ !)%z@!Y%@bD=:VD={3yE=%MH=ٔM}Q-M>9QYQ=UFFyQUE]>aQ 5e4e?Q 9m4es)eBYmR}=Q EmVBE'CBE"IBEǃBBE =BABEDBEK;BEj5EB B 'CB B ¾ =B ¾ =C 5Z}R}=Z}R}=Z}X?Z}&Ū@i)iII IAO=ԩE~ EuE/E"E;*E6,;VEJ4ZEBEl9pYp=rFFypvDEv>xQ 5~4zے?Q 9~4zt)zBY|y>uQ I?zZCIz;iz;zi4y ɮ @A bl)zl)rl)jl)ZIZIZIZMh@iY)aaaiaaIiIIOX= 9Ey EkEE"E;*E&;VEZEa@a@a@a@a $(,J\?A2f@2`@2;ٱ2  < >AHRS rotation from veh to nav: [[-0.013057,0.999878,-0.008632],[-0.999895,-0.013110,-0.006202],[-0.006314,0.008550,0.999944]]2H@q ?`#@ي`fy@y??i2f@I2_;2uCY^Bybq"IbDjHVDj4y%K;%-E=ٔ-Q-->91Y1=5FFy15VE=>9AQ 5M4E?Q 9M4Et)EBYQyUxQ IU?E]CIE:iE:E4yYɮ];AablyzlyrljlZZZZ @i)顱iIIIO=qԑB5<A5<BE>BABE5"IBEBBE =BABABEH;BEg5E E  E nE 1E "E I;*E (;VE -4ZE BE 9Y=FFy E>Q 54㓜?Q 94kt)BY! k5,\?A2_@2Z@2>;ٱ2| < :AHRS rotation from veh to nav: [[-0.045053,0.998948,-0.008578],[-0.998980,-0.045076,-0.002527],[-0.002912,0.008455,0.999960]]2H@+@a?f4dg@Q? ?i2_@I2_;2sCYB#ByB"IIF<)F9Y=FFy5)E>aB>BBZ"IBBBBBBQ;Bl5EQ 54?Q 94us)~BY=Q E89 Y = FFy  3BE >Q 54?Q 9%4r)}BY!y%Z?Q I%?gCI;i;˩4y)ɮ-A1blIzlQrlQjlQZiZiZiZmZ?i)顁iIIIOk=ԱEu EuEu.Eq"Eu@;*Eu:;VEuـ4ZEqa}@a@a@a@  BDAT read: Rx Time:03:39:33.4041  TRx dataTimestamp_ set to:1761536372.5080459 bH,%%]?A2@2@2#ٱ2/M; :AHRS rotation from veh to nav: [[-0.099004,0.995070,-0.005886],[-0.995086,-0.098996,0.001652],[0.001062,0.006021,0.999981]]2H@ZX ?cx@W@[?`}dQ?@x??i2@I2.>`;2sCYB:ByB"IF=F=bDJ[VDJy'4yR%RP=ٔV^Q-V>9TYT=ZFFyXZ<EZ>\Q 5b4^?Q 9b4^ r)^|BYdyf?Q If?^jCI^:i^:^ҩ4yhɮjAhblxzlxrlxjl|ZZZZ?i)顩iII!IAOM=9AA@AB>BBs"IBBB =BBDBV;Bp5Ei Dy zD} AAE k E uE *E "E f;*E 6,;VE (N4ZE BE 9Y=FFy[!E>Q 54>?Q 94p)yBYn=Q E;y?Q I?pCI ;iL ;dک4yɮ A bl)zl)rl)jl)ZMn=ZMn=ZM\@ZM?iY)YYYiaaIaIIO=ԑԹDAT read: 03:39:33.4041 LVL= 15024, 8817, 20594, 15859, AGC= 31, IDX= 440,-0.50,-2.257, 2.623,-2.986,-1.536, PHS=-0.619,-2.079,-1.494, RAW= 113.4, 49.3, CAL= 111.4, 55.0, ROT= 38.6, -55.0 Ygot valid direction response: 03:39:33.4041 LVL= 15024, 8817, 20594, 15859, AGC= 31, IDX= 440,-0.50,-2.257, 2.623,-2.986,-1.536, PHS=-0.619,-2.079,-1.494, RAW= 113.4, 49.3, CAL= 111.4, 55.0, ROT= 38.6, -55.0 DAT read:  a pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITX#Rx 3: Read direction message, but no range. \direction in FSK: [0.448262,0.357843,0.819152]yS R?I?U~6?:q"rP =)IviVd;V?FF\??  u?)iw,?I uR!?UYYH-G? e)-|\Iiw,?i u= .got command docking armT = @Switching docking module to ARM. V,KY]?A2B@2@2HGٱ2N; :AHRS rotation from veh to nav: [[-0.133125,0.991093,-0.003628],[-0.991091,-0.133108,0.004468],[0.003945,0.004190,0.999983]]2H: ?m` Lr?@(p?)q?@?i2B@I2gn_;2pC\YbHByb"IbDj;VDj)3y%<%-V=ٔ-Q-->91Y1=5FFy15_5E}>Q 54?Q 94o)vBYy?Q I?uCI;i3;54yBɮ>AcEbl zl rl jl Z)Z)Z)Z-?bEg4jEd4rEs1E=m E=bE=(E9"E=O;*E=5";VE=c44ZE9aM@aM@aM@aM@i)顙iIIIO =8setting remote address to 50I  dchecking for remote address setting acknowledgment1\,%s]?A2V @2(@2ٱ21; :AHRS rotation from veh to nav: [[-0.148462,0.988916,-0.001826],[-0.988901,-0.148449,0.006097],[0.005759,0.002711,0.999980]]2Hÿ4?]` ]ÿWx? Jw?@4f??i2V @I24_;2tCYRPByR"IXXB>BB"IB(BB =BBBw;B5Ei Mb@Mb@Mb@     9 )\(I +y&1Y Gy 94 `e @ @ )  @ Y \@11bD=[VD=y'4yM_=%M9=ٔMQ-U>9qY=FFy E>Q 54?Q 94rn)sBYR=Q E;y?Q I?|CI:i*:4yBɮAbEbl1zl9rl9jl9ZmR=ZmR=Zmja@Zm?iy)y顁iIIIO=IDADE4=EMl EMhEM-EI"EMڎ;*EM^%;VEMt4ZEIBEM9\Y\=^FFy`b"Eb?dQ 5j4f䎜?Q 9j4ffm)fqBYhyj?Q In?fCIf:if :f4ypɮrApblzlrljlZ!Z!Z!Z%?i1)199i9AIAԁIIOZ=]dchecking for remote address setting acknowledgmentԡE]Q E]9E]+EY"E];*E] ;VE] [4ZEYae@ae@ae@ae@ dchecking for remote address setting acknowledgment lCi,wڦ]?A2<@27@2<ٱ2 F9 :AHRS rotation from veh to nav: [[-0.173475,0.984837,0.001425],[-0.984794,-0.173481,0.009184],[0.009292,0.000190,0.999957]]2H@m4ƿɃ?`ZW?o4ƿ΂??Z(??i2<@I2_;2vCYnMByn"IbDvSVDv4y~ZM<%E=ٔQ->9 Y = FFy  QE>Q 54 ?Q 9%4#l)mBY!y%?Q I%?CI;i;%4y)ɮ5A1blqzlyrlyjlyZZZZ?i)顩iIIIO= udchecking for remote address setting acknowledgmentByA}<B>BB"IB7BBBBDB;B5EBM'CBIBIBIBICM!n51D] ?AzDY Ee c Ee 7Ee -Ea "Ee Ɗ;*Ee ;VEe t4ZEa BEe 9Y=GFy~E>Q 54|?Q 94j)lBY=Q E;y?Q I?CI@:i:4yɮAblzlrljlZ=Z=Z[l@Z5?i!)!!)i))I11IIIaOm=audchecking for remote address setting acknowledgmentԑԹ gUv,]?A2O@2!@2Hٱ20B :AHRS rotation from veh to nav: [[-0.188279,0.982102,0.005219],[-0.982039,-0.188328,0.011485],[0.012262,-0.002963,0.999920]]2Hȿ``m?h`u? l #ȿ A??Eh Y?i2O@I2N`;2tCYBMByB"IbDN?VDN3yV<%V[=ٔVjQ-V>9XYX=ZGFyX^PE^>`Q 5f4b#?Q 9f4bi)bjBYdyfC?Q If?bCIb:ib[:b4ylɮnAlbl|zl|rl|jl|ZZZZeC?i)iIEY E9E'E"E=;*E ;VE'4ZEa%@a-@a-@a-@I1IAOU=ԑdchecking for remote address setting acknowledgment߉ ߍ < dchecking for remote address setting acknowledgment y|,]?ARH@R@RoTٱR<{ fAHRS rotation from veh to nav: [[-0.191996,0.981376,0.006252],[-0.981310,-0.192059,0.011988],[0.012966,-0.003833,0.999909]]RHOȿ`ng?{y?fdȿ`L??`fo`@?iRH@IR`;RqCY~JBB>BB"IB9Y=GFyE>!Q 5-4%4?Q 9-4%h)%hBY-=Q E-! {? ]d ȿ?`̊? Wq :?i2;@I2_;2rC@YrIByv"I|~A@A@AbD OVD c4y%]=ٔ.Q->9!Y!=%GFy!-wE->1Q 5545r?Q 9=45 hQ ==tI)5gBY9y=?Q IE?5CI5 ;i5 ;5q4yIɮMAIblizlirlijliZZZZ?i)顡iIIIOz==dchecking for remote address setting acknowledgmentԱE}P E}@E}0Ey"E}(;*E}M;VE}4ZEya@a@a@a@ dchecking for remote address setting acknowledgment! ,K"(^?Aɰ4<6@6@6#Oٱ6 FAHRS rotation from veh to nav: [[-0.192779,0.981221,0.006443],[-0.981160,-0.192843,0.011650],[0.012673,-0.004075,0.999911]]6H@ȿ*f?cz?eȿۇ?v?Xp@F?i6@I6^;6pCYR;Bly"IbD5VD3y5`%="=ٔEU:Q-m>9qYy=}GFy:E> Q 5%4ehDAT read: Forwarding Delay UpTx time:03:39:38.2118 unRe-entering command mode due to unexpected online mode. Z?Q 94  g) dBYy?Q I? CI [=i rZ= 4yɮvA*entering command modeHFailure setting remote address to 50A!A!B->9B)B-"IB-7BB)B)B)B-v;B-}5EblzlrljlZZZZ?i)iII)IYOm>a E Y E /E .E "E =;*E Y;VE ـ4ZE BE 9!Y!=-GFy)-E->1Q 5=459YYa=eGFyaaEe>iQ 5u4m?Q 9}4mOf)mcBY}EEe EEDEE+EA"EE;*EEh;VEE [4ZEABEE9 Y =GFy=E>Q 5%4ˉ?Q 9%4Sf)bBY)y-Q I-?CI:i:54y1ɮ55A9blQzlQrlYjlYZqZqZqZuy@i)顉iIIIOn=%Pchecking for command mode acknowledgment%HFailure setting remote address to 50ԑbE^n4jEǣf4rE!1EUf EU=EU1EQ"EU";*EU;VEU-4ZEQae@ae@ae@ae@ Pchecking for command mode acknowledgment HFailure setting remote address to 50 ੗,Uk^?AB@B@BO۹ٱB JAHRS rotation from veh to nav: [[-0.159272,0.987233,0.001924],[-0.987235,-0.159272,0.000113],[0.000418,-0.001881,0.999998]]BHcĿ`i?_?@m@ cĿ?i;?^ ?iB@IBY];BqCYnBynw"IIr>)r>bDzAVDz?3yM%J=̰ٔ;Q- >9 Y = GFy A<E>Q 5%4?Q 9%4Xf)Y!y%Q I-?CI:i:<4y1ɮ5A1blzlrljlZIZIZIZMͷ@ia)aaaiaiIiIIO%=5l?5L?EPchecking for command mode acknowledgmentMHFailure setting remote address to 50!BA<B>BB"IBBB =BBBg;Bw5EI Ee ~ Ee NEe *Ea "Ee ;*Ee ;VEe (N4ZEa BEe Pchecking for command mode acknowledgmentBHFailure setting remote address to 50@VO@V!@V$:ٱV׵ AHRS rotation from veh to nav: [[-0.152209,0.988348,0.000830],[-0.988347,-0.152207,-0.001765],[-0.001619,-0.001089,0.999998]]VH{ÿ?@x0K?{ÿ\Z Q?iVO@IVR^;TY- By-"IiMb@Mb@Mb@ 9S㥫?&1?Mb`?Y/]=yP=;d@@ )@Yp@bDDVDJ3y+=%==ٔf;Q->9Y=GFy<E>IQ 5U4M'?Q 9]4Mg)IY],=Q E]25Pchecking for command mode acknowledgment5HFailure setting remote address to 50 w,34^?A6-"@6@6nY;ٱ6R|: >AHRS rotation from veh to nav: [[-0.145827,0.989309,-0.001437],[-0.989305,-0.145831,-0.003147],[-0.003323,0.000963,0.999994]]6Hs¿k?`Wb¿kiJ9kQO?`?i6-"@I6D6_;4YFByDbDNEVDN3yV%V_=hٔ~;Q-~>9|Y|=~GFy<E> Q 54 u?Q 94 g) YyuQ I? CI ;i ; J4y!ɮ%UA!blAzlArlAjlAZaZaZaZeVT@iq)yyyiyIIIOg=E[ E>E,E"E%;*E?;VEg4ZEa@a@a@a@i߁I߁Pchecking for command mode acknowledgmentHFailure setting remote address to 50)a M Pchecking for command mode acknowledgmentU HFailure setting remote address to 50",^?AB.>B,B.f"IB. BB. =B,B.DB.b;B.v5EBBBB =BC{5JQ@JsL@J;ٱJ825; RAHRS rotation from veh to nav: [[-0.140093,0.990133,-0.003361],[-0.990128,-0.140106,-0.004022],[-0.004453,0.002765,0.999986]]JH@*?k!`yp=r6f?@?iJQ@IJu_;HYZ"ByZ"I)iMb@Mb@Mb@ 9{Gz?+?Mb`Yף=y=M@@ ) @Y@ <bD7VDp3y/<%8=ٔ&;Q->9Y=GFy=Z<E>Q 54?Q 94h)Y=Q E;yCpQ I ?CI" ;ii ;tR4yɮBAbl1zl1rl1jl1ZU=ZU=ZUSE?ZUv@ia)iiiiiiIqIIO%=YD=D<E\ EjE2E"E;*Ek&;VE4ZEBEVDZ43yb%b_=ٔfDJ:Q-f>9dYd=jGFyhje<Ej>lQ 5r4n표?Q 9r4ni)lYtyvnQ Iv?nCIn :in:nX4yzBɮzAzcEblzlrljlZ1Z1Z1Z51@iI)IIIiIQIQԹDAT read: *DAT read: user:414>  8setting remote address to 50I!IaOu=E=b E=AE=+E9"E=Q;*E=;VE= [4ZE9aE@aE@aE@aE@ *DAT read: user:414>  TDAT read: RemoteAddr | 50  0set remote address to 50 (entering online modeA +.ʗ,*_?A6֞@6@65;ٱ6,d; >AHRS rotation from veh to nav: [[-0.130756,0.991397,-0.005880],[-0.991406,-0.130777,-0.003417],[-0.004157,0.005383,0.999977]]6H?xL+k`qr v??i6֞@I6]^;6pCYRByR`"IbDb?VDb3yj%jI=ٔnQ-r>9pYp=rGFytv,<Ev>|Q 54~9?Q 94~~j)~aBY y mQ I ?~CI~=;i~ $;~_4yɮ\A!blIzlIrlQjlQZyZyZyZ}T@i)顙iIIIO}=*DAT read: user:415> -DAT read: I]DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledgedzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYAiAmAAB>BBZ"IBBB =BBDB/;BZ5EiD= @AzD9 EE U EE dEE ,EA "EE l;*EE B#;VEE g4ZEA BEE AHRS rotation from veh to nav: [[-0.127540,0.991807,-0.007180],[-0.991829,-0.127557,-0.001935],[-0.002835,0.006875,0.999972]]6H :S?h} @S_8g@(|? ?i6h@I63^;6qCYRByR~"ITVAieMb@Mb@Mb@aaaa a9e~jt? rh?Ye=yeC=ee@e@ e@)eM@aYe@}AAybDFVD4yu=%?=ٔJQ->9Y=GFy;E>Q 54M?Q 94pk)Y=Q E9tYt=vGFytz;Ez>|Q 54~)?Q 94~Gl)|YykwQ I ?~CI~;i~$:~n4yɮAbl1zl1rl1jl1ZQZQZQZUf"@E` ESE.E"Ei;*EN;VEـ4ZEa @a @a @a @i)i!I!I9IIO]=) - 1?- O?Bq Bq Bq Bq Bu =Bq Bq Bu ~;Bu A5Eaݗ, y_?AF%Ӌ@F͒@FźٱF< RAHRS rotation from veh to nav: [[-0.124423,0.992200,-0.007569],[-0.992228,-0.124408,0.002470],[0.001509,0.007818,0.999968]]FH`6ڿ?  U4ٿ`;d?@X???iF%Ӌ@IFy^;FoCYZByZ|"Ii=Mb@Mb@Mb@9999 99=|?5^?:v?9iYi=mGFyiuQ:Eu>yQ 54}?Q 94}m)}_BY=Q E;yQ I?}CI}3:i}:}u4yɮAblQzlQrlQjliZ=Z=Z=_>Zǡ@i)顙iIIIO=IE EeEE"E;*E#;VEZEBEHԋ@>ϒ@>Mٱ>; VAHRS rotation from veh to nav: [[-0.124231,0.992227,-0.007228],[-0.992245,-0.124196,0.005073],[0.004136,0.007802,0.999961]]>H ͿR? :}x Q˿`t?p?@M?@?i>ԋ@I>];>mCYb&Byb"Ij=j= lnbDr<VDr3y~g=%~Q=ٔ)ܻQ->9 Y =GFy:E>!Q 554%ޚ?Q 954%n)%^BY1y=Q I=?%CI%_;i%^;%|4yIɮMKAQblzlrljlZZZZȡ@i)项iIIIO=ԩE_ EE,E"E;*E3;VEg4ZEa@a@a@a@ ,¬_?ABs͋@BEȒ@B"ٱB); NAHRS rotation from veh to nav: [[-0.125110,0.992122,-0.006469],[-0.992119,-0.125059,0.007771],[0.006901,0.007390,0.999949]]BH v? ~zo? BD|?D~??iBs͋@IB];BoCYZ+ByZ"IlbD IVD X4yX<%H=ٔ%ݻQ-%>9!Y!=-GFy)-E->1Q 5=451?Q 9=45o)5\BYAyE=Q IE?5CI5Q;i5n;54yIɮM(AIblizlirlijlqZZZZ@i)顡iIIIO{= BA<B>BBf"IB BB =BBDB~;B/5E1a E p E ^E E "E ;*E  ;VE ZE BE 9Y=GFygE>Q 54䜜?Q 94`p)[BYe=Q ElZDZ@i)))))i)1I1IIIYOm=iԙ ,t_?A2@2@269ٱ2k; :AHRS rotation from veh to nav: [[-0.128951,0.991641,-0.004400],[-0.991586,-0.128891,0.012000],[0.011332,0.005911,0.999918]]2Hy@?+r @9?@F5?@5x?T?i2@I2o];2oCY^)b=dfAbDjMVDj 4yr0=%rW=ٔvQ-v>9tYt=zGFyxz.λEz>|Q 54~?Q 94~p)~YBY y +Q I ?~CI~:i~d:~4yɮAbl1zl1rl1jl9ZQZQZQZUE@ii)iqqiqqԹbEg4jEo4rEL0Ei EcE+E"E~;*E";VE [4ZEa@a@a@a@II)IaOiA B B (CB y"IB BB B B B ~;B 5E,^_?A4ɰ4^ט@^@^Oٱ^4ħ; fAHRS rotation from veh to nav: [[-0.131472,0.991314,-0.003408],[-0.991239,-0.131416,0.013246],[0.012683,0.005119,0.999906]]^H@ظ?`k:?@ ?g?t?;?i^ט@I^o"^;^qCYnCByr"IieMb@Mb@Mb@aaaa a9e{Gz?~jtxYe#=ٔ"NQ->9Y=GFy»E>Q 54w?Q 94q)XBY?9Y= GFy  E >Q 54l?Q 94q)WBY!y%ٿQ I%?CI;iL;ǟ4y)ɮ-A)blIzlIrlQjlQa ]ZyZyZyZ}@i)顉iIIIOn=qԡEQ E=EE"E;*E;VEZEa@a@a@a@ & , .`?A6p@6k@6TY\ٱ6U; >AHRS rotation from veh to nav: [[-0.136326,0.990663,-0.001388],[-0.990573,-0.136294,0.013766],[0.013449,0.003251,0.999904]]6Hs?VŲr`}1? ?j?@7?i6p@I6?^;6oCYF1ByF"IJ=Ja=bDR=VDR3yZ%ZO=ٔZHd9Q-Z>9\Y\=^GFy\bEb>dQ 5j4fa?Q 9j4f6q)fVBYhyjQڿQ Ij?dIfB:if;f4ypɮr<ApblAzlArlAjlAZaZaZaZe`{@iq)qyyiyIIIO =AIAIBe>Be'CBe"IBe(BBaBaBaBe~;Be5EB!B!B!B%Ž =B!C%:W5) D zD ?AE a E LE E "E ݉;*E ;VE ZE BE AHRS rotation from veh to nav: [[-0.137784,0.990462,-0.000598],[-0.990385,-0.137765,0.012609],[0.012407,0.002329,0.999920]]6Hݱ?7C ;K҉?h? Ic?X?i6d@I6N%^;6qCY^BByb"IiEMb@Mb@Mb@AAAA A9E~jtX9vMbpYEyEEE@E@ E@)AAYE@bD5VD3y=%:=ٔ;Q->9Y=GFyZE>Q 54V?Q 94p)UBY=Q EAHRS rotation from veh to nav: [[-0.138519,0.990360,0.000435],[-0.990304,-0.138516,0.010584],[0.010542,0.001036,0.999944]]6H?{VDR43yV9<%Z_=ٔZm;Q-Z>9XY\=^GFy\`bEb>dQ 5j4fw?Q 9j4fp)fTBYlyn @Q In?fCIf:if;f˴4ypɮrApbl zl rl jl Z)Z)Z)Z- @i9)AAAiAAIIIaIqOG=E\ E.E*E"E;*E;VE(N4ZEa@a@a@a@I Bu >Bu (CBu "IBu 2BBq Bq Bq Bu ~;Bu 5E8,{`?Ar_@rZ@rٱrQ* ~AHRS rotation from veh to nav: [[-0.138388,0.990377,0.001403],[-0.990347,-0.138394,0.007748],[0.007867,-0.000317,0.999969]]rH`+?@5V?,?? 4?ir_@IrsC^;rmCY 9Y=GFy9E>Q 54u?Q 94cp)RBYa&=Q EAD=D%=Ey EQE)E"E;*EA;VEFA4ZEBEAHRS rotation from veh to nav: [[-0.137230,0.990537,0.002169],[-0.990529,-0.137238,0.004157],[0.004415,-0.001578,0.999989]]6H༐`z?Fa?j q?r?@Y?i6Qi@I65^;6qCYFEByF"IbDLVDLyVI=%V^=ٔZ9XYX=^GFy\^P;E^>`Q 5f4b?Q 9f4bp)bPBYhyj@Q Ij?bCIb):ibB:bª4ylɮnApbl|zlrljlqZZZZ@i)顱iIII!O5=ԡEm EcE.E"EO;*E";VEـ4ZEa@a@a@a@>4= F+,K`?A2nw@2@r@2Fٱ2 :AHRS rotation from veh to nav: [[-0.135524,0.990771,0.002436],[-0.990774,-0.135525,0.000031],[0.000361,-0.002409,0.999997]]2H X`e? c?k XCU?ب7?߼c?i2nw@I2H{^;2lCYB@ByF"IbDN@VDN3yV%VK=ٔV$9XYX=ZGFyXZ>;E^>`Q 5f4b?Q 9f4bo)bOBYdyf@Q If?bCIb:ib=:bɪ4yjBɮnyAncEbl|zl|rl|jl|ZZZZ<@i)))))i)1I1IIIaOm<=B<A<B >B 'CB B B B B B ~;B +5E1E c E SE -E "E Ɗ;*E N;VE t4ZE BE 9Y=GFy';E>Q 54?Q 94Vo)Y1=Q E9xYx=zGFyx~<E~>Q 5 4?Q 9 4n)Y y ?Q I ?CIW:i:5ت4yEi EaE,E"E~;*E!;VEg4ZEa@a@a@a@ɮAblzlrljlZ!Z!Z!Z%?i9)999i9AIAIYIqO}=ԑB >B B "IB (BB =B B B ~;B 55E ,>,`?A%'ɋ@%Ò@%"l<ٱ%Wc 5AHRS rotation from veh to nav: [[-0.125621,0.992077,0.001636],[-0.991974,-0.125583,-0.014734],[-0.014412,-0.003473,0.999890]]%HV`?>Z?? `-Etl?i%'ɋ@I%T^;%oCYE5ByE"IiMb@Mb@Mb@ 9{GzI +~jth?Y#y94D;@ @)7@YbD:VD{3y%7%%8=ٔ%589)Y)=-GFy)53<E5>9Q 5E4=;?Q 9E4=n)=PBYEyx9`Y`=bGFy`f4<Ef>hQ 5n4j𖜊?Q 9n4jn)hYpyr2@Q Ir?jCIj!;ije";j84ytɮvAxbl zl rljlZ1Z1Z1Z52@iI)IIQiQQIYIq&dClearing failed state for component DockingStepperqIOO=ԉԹbEt4jEp4rE0Ee EZE.E"E;*E;VEـ4ZEa@a@a@a@ %K,0a?A;ɰ;2@2@2#<ٱ2[ :AHRS rotation from veh to nav: [[-0.118108,0.993001,-0.000392],[-0.992714,-0.118083,-0.024008],[-0.023886,-0.002446,0.999712]]2H@K<?9 O :u@ d`?i2@I2bZ^;2oCYB(ByB"IbDN6VDN3yV"%VK=ٔV49XYX=ZGFyX^|<E^>|Q 5 4?Q 94n)QBYy{@Q I?CI:i$:f4y!ɮ%:A!blAzlArlAjlAZZZZ^{@i)iI  =4Initializing EZServoServo. E8Initializing DockingStepper.IYIiO=AAB>BBs"IBBBBBB;BG5EA E G E E *E "E &|;*E 2;VE (N4ZE BE 9Y=GFyg<E>Q 547?Q 94n)YAHRS rotation from veh to nav: [[-0.111113,0.993805,-0.002166],[-0.993323,-0.111127,-0.031000],[-0.031049,-0.001293,0.999517]]2HqA?5aLr`p@5˟-U ?i2@@I2~^;2oCYFByF|"IJ=J= LN<bDR<VDR3yVc%Z[=ٔZp9\Y\=^GFy\bz <Eb>`Q 5f4b?Q 9j4bn)bRBYhyjTPQ Ij?bCIb:ib:bb4ypɮrApblzlrljlZ!Z!Z!Z%G@i1)111i9AIAEe[ Ee:Ee,Ea"Ee%;*Ee$ ;VEeg4ZEaam@am@am@am@IqyIOP=ԡB >B (CB T"IB BB =B B B );B [5EBIBIBIBIBMʽ =CMF5 L^,2~a?APPEsP@EEK@Eʳ=ٱEK UAHRS rotation from veh to nav: [[-0.109173,0.994017,-0.003299],[-0.993471,-0.109222,-0.032961],[-0.033124,-0.000321,0.999451]]EH`?k K࠿@5?iEsP@IE-^;AYe Byek"Ii%Mb@Mb@Mb@!!!! !9%Q?I +?Mb`Y%u=y%94=%%@%@ !)%z@!Y%G@bDEBVDE3yUk%U2=ٔU;Q-U>9YYY=]GFyY]\;Ee>aQ 5m4e0?Q 9u4eo)eQBYuo=Q Eu2)Y e,*a?A2T@2N@2 =ٱ2dY: :AHRS rotation from veh to nav: [[-0.108726,0.994061,-0.004529],[-0.993488,-0.108817,-0.033771],[-0.034063,0.000828,0.999419]]2H zջY?r@ sۻ@tJ@p@K?@>?i2T@I2^;2pCYFByFl"IbDNHVDN4yV;%Vj=ٔV^0;Q-V>9XYX=ZGFyX^a:E^>1Q 5=45T?Q 9]45Xp)5PBYYy]ꅿQ Ie?5CI5;i5);5 4ymBɮm[AmmEblzlrljlZZZZ-@i)i I I!1I9OE=aE}E E}KE}0Ey"E}Vz;*E};VE}4ZEya@a@a@a@ԉԹ \k,ܱa?A2-D@2>@2=ٱ2f: :AHRS rotation from veh to nav: [[-0.110660,0.993844,-0.005322],[-0.993298,-0.110776,-0.032994],[-0.033381,0.001635,0.999441]]2H4T@?(u@[ 䠿D Z?l?i2-D@I2!^;2oCYBByBb"IDFAJ@AJ@AbDNBVDN3yZ%%ZJ=ٔb}ܺQ-b>9dYd=fGFyhj6En>tQ 5v4v?Q 9z4vq)vOBY|y*Q I?vCIvV;ivW;v4y ɮAblAzlArlAjlIZZZZ"@i)   i IIIIyO=ԑB5<A5<B=>B='CB=;"IB=BB9B9B9B=9;B=b5EAYqA9YO1AE m E ZE 1E "E O;*E ;VE -4ZE BE d=ٔ~$Q->9Y=GFyE>Q 54?Q 94q)Y=Q E-AHRS rotation from veh to nav: [[-0.118018,0.992989,-0.006628],[-0.992550,-0.118164,-0.029683],[-0.030258,0.003075,0.999537]]2Hn6?@%{?0e0i?5?i2@I24];2nCYF ByFh"IbDN=VDN3yV%VY=ٔV$Q-V>9XYX=ZGFyX^TE^>`Q 5f4bx?Q 9f4bZr)bNBYdyfzQ Ij?b CIb:ibp:b4ylɮnrAlEE EE?EE.EA"EE;*EE;VEEـ4ZEAaM@aM@aM@aM@blyzlyrlyjlyZZZZ̩@ia)aaaiaqqIyIIO )>ԙ B- >B) B) B) B- =B) B) B- $;B- X5Eg#,~a?APEϋ@Eʒ@E<ٱEN; AHRS rotation from veh to nav: [[-0.124780,0.992156,-0.007448],[-0.991808,-0.124936,-0.026609],[-0.027331,0.004067,0.999618]]EH@?@с~t? @9aYi=mGFyimqEu>qQ 5}4un?Q 94ur)uMBYQ=Q E ,YLb?A:׋@:@:մ<ٱ:^; BAHRS rotation from veh to nav: [[-0.133017,0.991085,-0.007605],[-0.990826,-0.133160,-0.023081],[-0.023888,0.004466,0.999705]]:H?&`ش` w vvJr??i:׋@I:J];:pCYJ#ByJ"IbDV6VDV3y^,=%^j=ٔ^{!Q-b>9`Y`=bGFy`f¼Ef>hQ 5n4j%?Q 9n4jLs)jKBYlyr Q Ir?jCIj;ij;j,4ytɮvAt|blzlrljlZ9Z9Z9Z=̦@iI)IIIiIQIQ e&Changing to mode: 1e!/3@ @@0@IIO!>E]C E]?E],EY"E]x;*E];VE]g4ZEYae@ae@ae@ae@i߭=߭=ԁ e3,w,3b?AJ<@J7@J+<ٱJل; fAHRS rotation from veh to nav: [[-0.142589,0.989758,-0.006886],[-0.989577,-0.142698,-0.019363],[-0.020147,0.004053,0.999789]]JH`\@¿?4|@`C¿ӓiRp? E?iJ<@IJ@g_;JmCYr*Byr"IbD~9VD~3y p=% E=ٔQ->9Y=GFyE>!Q 5-4%?Q 9-4%s)%JBY1y5RQ I5?%CI%:i%;%44y9ɮEuAAYblazlarlajliZZZZ'{@i)顙iI)3@ @@4@IIO=A!A%@AB->B-(CB-G"IB-BB- =B)B)B-;B-O5EԁԱEe c Ee JEe 'Ea "Ee Ɗ;*Ee ;VEe '4ZEa BEe 9qYq=}GFyy}E}>Q 54?Q 94s)Y;Q E>yB?Q I?I@:i3:V;4yɮ AԹblzlrljlZ;Z;ZS@Z B?i)iI$3@ @@4@IIOE>9 C,fb?Aɰ2y@2t@2bA<ٱ2د; :AHRS rotation from veh to nav: [[-0.166128,0.986077,-0.007256],[-0.986033,-0.166200,-0.010769],[-0.011825,0.005366,0.999916]]2H`Cſ@?}Fſ5@7u? O?i2y@I2)a;2mCY^LBy^"IbDjDVDjJ3yr=%rT=ٔr4Q-r>9tYt=vGFytzEz>|Q 54~?Q 94~s)|Yy?Q I ?|I~;i~F:~B4yɮdAbEg4jEk4rE0E%T E%9E%/E!"E%;*E% ;VE%J4ZE!a5@a5@a5@a5@blIzlIrlQjlQZiZiZiZmW?i)iI  3@ @@5@II)O5.>AiB >B B m"IB BB =B B B ;B Q5Eԙ f.,€b?A]N @] @]C<;ٱ]ٲ; AHRS rotation from veh to nav: [[-0.179410,0.983752,-0.006663],[-0.983748,-0.179451,-0.006113],[-0.007209,0.005458,0.999959]]]Hƿ z?J{z=ƿ@ yw}[v?@?i]N @I]K`;]nCYJBy"IiiMb@Mb@Mb@ 9y&1Zd;O~jthY`eyjD@ )d@Y@bD>VD43y6(%0=ٔ#Q->9Y=GFyE>Q 54}?Q 94r)IBYEx=Q EZߝ%=ߝa=ԡ rU,֐b?A2@2@2W9;ٱ2c!; :AHRS rotation from veh to nav: [[-0.192319,0.981319,-0.005220],[-0.981328,-0.192331,-0.001859],[-0.002828,0.004765,0.999985]]2Hȿf?3au gJȿt^`*g`"s??i2@I2|_;2oCYB\ByB"I DDJ=J=bDN6VDN3yv=%vm=ٔvOQ-v?9xYx=zGFyxzE~? Q 54 %?Q 94 er) Yy#?Q I? CI d:i : =P4y!ɮ%A!blAzlArlAjlAZaZaZaZeV#?iq)qyyiyI 3@ @@1@I!I9OM=E=M E=WE=+E9"E=ˀ;*E=j;VE= [4ZE9aE@aE@aM@aM@) ,yvb?A,B&4@B.@BٱB; JAHRS rotation from veh to nav: [[-0.205188,0.978713,-0.004364],[-0.978722,-0.205179,0.002318],[0.001373,0.004747,0.999988]]BH CʿQ?q QNCʿ@b?t~V?Zqs?`?iB&4@IB1_;@YRsByR"IbDZ2VDZ 3ybm=%bL=ٔf,Q-f>9dYd=jGFyhjjEj>lQ 5r4nƟ?Q 9r4nq)nHBYtyvw?Q Iv?nCIn:in|:n6W4yxɮu.AyblzlrljlZZZZw?i)iI1BiAm<Bu>BqBu"IBu2BBqBqBqBu;BuK5EB(CB(CBBBC95@ @@^0@IIO=Yԁ EE U EE EE ,EA "EE l;*EE o;VEE g4ZEA BEE AHRS rotation from veh to nav: [[-0.215835,0.976425,-0.002959],[-0.976417,-0.215816,0.005783],[0.005008,0.004137,0.999979]]2H|˿@>? ڟ˿w?Gt?p??i2ڈ@I2,_;0Y^tBy^"IiEMb@Mb@Mb@AAAA A9EMbV-~jtxYEyEmEĻAE@ E@)E7@AYAbD5VD3y;%;=ٔiQ->9Y=GFyF̼E>Q 54p?Q 94p)GBY=Q E;y?Q I?%CI:i:^4yɮ$Ablzlrljl!ZM=ZM=ZMql@ZMW?ii)qqyiyyIԑ/3@ @@0@IIOF>Թ ,2"b?A6a@63@64ٱ6f; >AHRS rotation from veh to nav: [[-0.223158,0.974782,-0.000198],[-0.974751,-0.223149,0.008096],[0.007847,0.002000,0.999967]]6Hp̿j1?)`(1&̿q?;?a`? ?i6a@I6Z`;6mCYFByF"IIJ<)JC=LLbDR?VDR3yZ=%Z^=ٔZQ-^>`9\Y`=bGFy`fæEf>hQ 5j4jU?Q 9n4jo)jEBYlyn ?Q In?j*CIj@;ijL;jIe4yvBɮvkAvcEEk EdE*E"Ef;*EB#;VE(N4ZEa @a @a @a@bl!zl!rl!jl!ZAZAZAZEv ?iQ)QQYiYYIa3@ @@@I IO%=Bu >Bq Bu "IBu UBBq Bq Bq Bu ;Bu P5EA }y,c?A n+GhAA]9ehAYeqAq鰑ɰ;uT@uO@uR9ٱu9 AHRS rotation from veh to nav: [[-0.231774,0.972767,0.002334],[-0.972704,-0.231786,0.011094],[0.011333,0.000301,0.999936]]uHŪͿ ? c?`c &Ϳ`}?5?@G3?@y?iuT@Iut`;qYBy#Ia@a  a @a  a @a  a @a  bD=VD3y%<%%)=ٔ%Q-->9)Y)=5GFy15E=>9Q 5E4=뛜?Q 9E4=9n)=CBQ AM+:YIQ EM;yM?Q IM?=1CI= ;i=>="l4yYɮ]KAYblyzlyrlyjlyi)顡iID <D 4=Es EQE/E"E;*EA;VEJ4ZEBE>qԡ Ƙ,c?A2F&@2!@2`ٱ24;˺ :AHRS rotation from veh to nav: [[-0.237291,0.971427,0.004760],[-0.971342,-0.237334,0.012952],[0.013712,-0.001550,0.999905]]2H_ο?s?;`ο`??`fY`8?i2F&@I2d `;2lCYBByB#IbDJ5VDJ3yRR<%R}=ٔVQ-V ?9TYX=ZGFyXZEZ ?\Q 5b4^?Q 9b4^Vm)^BBQ Af :YdQ Ef;yf8?Q If?^6CI^:i^N?^o4yhɮj(Alblzlrljlyi)iI 3@ @@0@IIO>ԡEj EYEE"E;*Ew;VEZEa-@a5@a5@a5@ ̘,5c?A2@2@2qٱ2_hh :AHRS rotation from veh to nav: [[-0.239474,0.970878,0.006977],[-0.970791,-0.239550,0.013478],[0.014757,-0.003546,0.999885]]2H@οn?E|?@οm?8?8 m?i2@I2!`;2mCYBByB#I DDJ=J=bDN@VDN3yV%VJ=ٔVU)Q-V>9XYX=ZGFyX^nE^>`Q 5f4bי?Q 9f4b7l)bABQ Af9YdQ Ef;yj?Q Ij?b;CIb:ib'?bs4ylɮn4Albl|zl|rl|jli!))))i)1I1AAB>BB"IBoBBBBB;B5Ea@i @i@i@iIyIO>9D) zD) E5 U E5 TE1 E1 "E5 l;*E5 ;VE1 ZE1 BE5 9QYQ=]GFyY]<E]>aQ 5m4e>?Q 9m4ej)e@BQ AuT:Yu/>Q Eu;yu@@Q Iu?eCCIe;ieT:e{4yyɮAblzlrljl9Z/>Z/>Z}{@Z7@@i)iI3@ @@0@IIO&>aԑԹ ٘,iic?A2ST@2%O@28'<ٱ2f :AHRS rotation from veh to nav: [[-0.231834,0.972702,0.010196],[-0.972688,-0.231928,0.009375],[0.011484,-0.007744,0.999904]]2H`Ϳ ` ?w?B ԯͿ-3? 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L f?eſ璿Cxu?i24U@I2;Wb;2dCYBByB~"IbDJ<VDJ3yRc%Re=ٔVa;Q-V>9TYX=ZGFyXZ/=EZ>\Q 5b4^ޜ?Q 9b4^d)^kBYdyf6Q If?^CI^|:i^1:^&4yhɮjAlblxzl|rl||jl|ZZZZOž@i))111i1199IA 3@ @@4@II O=B>BBf"IB BBBBB;B5E)Qԉ g[Ś,xk?A6n@6@@6֓<ٱ6Ę >AHRS rotation from veh to nav: [[-0.157837,0.987464,0.001755],[-0.987300,-0.157778,-0.018555],[-0.018045,-0.004661,0.999826]]6H3ĿM?\?`2Ŀ zs?i6n@I6`a;4YFByF|"I HHN=N=bDRJVDR04yZ%ZI=ٔ^Q-^>9\Y`=bGFy`b=Eb>dQ 5j4f?Q 9j4f+f)fnBYlynQ In?f%CIfQ;if;f=4ypɮrAtbl zl rl jl Z)Z)Z)Z-*@i9)AAAiAAIIYE%e E%?E%0E!"E%;*E%;VE%4ZE!BE%9Y=GFy<E>Q 54j✊?Q 94ag)lBY=Q E;y`Q I?,CI);i;⡭4yɮ3Abl zl rl jlZ-=Z-=Z-O^.?Z-@i)iIbEـ4jEy4rEĮ10EEc EEXEE,EA"EEƊ;*EE;VEEg4ZEAaU@aU@aU@aU@&3@ @@0@IIO J>A A B >B B T"IB BB =B B B ;B 5E9 dmҚ,M.Jk?A2@2⍒@2v<ٱ2sጺ :AHRS rotation from veh to nav: [[-0.132166,0.991227,-0.000919],[-0.991114,-0.132165,-0.015026],[-0.015015,-0.001075,0.999887]]2H!?/ N`4ŎpQ`?i2@I2dd`;2dCYBByBp"IbDJ;VDJ)3yR%V]=ٔVHQ-V>9XYX=ZGFyXZ=EZ>\Q 5b4^f䜊?Q 9f4^dh)^kBYdyf͂Q If?^2CI^':i^:^T4yhɮnMAlbl|zl|rl|jlYZqZqZqZu|\@i)顩iIU#3@Q @Q@U 1@QIyIO=AE5P E5DE1E1"E5(;*E5h;VE1ZE1BE59QYQ=UGFyQ]<E]>aQ 5e4ie朊?Q 9u4eni)aYu2=Q Eu;yunQ Iu?e8CIe$5;ieZ4;eV4yyɮ6AblzlrljlZ2=Z2=ZSB?Z=@i)iI="3@9 @9@=0@9IQIaOu6>ԙE= m E= YE= /E9 "E= O;*E= w;VE= J4ZE9 aE @aE @aE @aM @ ޚ,}k?A ɰ >sV@>EQ@>&b3<ٱ>nb0; VAHRS rotation from veh to nav: [[-0.108498,0.994089,-0.003863],[-0.994036,-0.108533,-0.010592],[-0.010948,0.002691,0.999936]]>Hƻ?Jo`%Ȼ"`'l` f?z?i>sV@I>a;9pYt=vGFytv=Ev>xQ 5~4z蜊?Q 94z;j)xYykQ I?z=CIz;iz;z4y ɮ Abl1zl9rl9jl9ZQZQZQZU֛@ii)iiiiiqIq-#3@1 @1@5T0@1IABu>BqBuG"IBuBBqBqBqBu;Bu5EB'CB'CB“CB¿ =B¿ =C‰5IO=) /,—k?A2@2ª@2B <ٱ2v; >AHRS rotation from veh to nav: [[-0.097635,0.995212,-0.004573],[-0.995186,-0.097670,-0.008055],[-0.008463,0.003764,0.999957]]2H `?r-Un??i2@I2ab;2bCYZByZz"IbDb<VDb3yj5%jK=ٔnʻQ-n>9pYp=rGFypr<Er>tQ 5z4v뜊?Q 9z4v"k)tY|y~hQ I~?vCCIv/;iv;v4yɮ A bl)zl)rl)jl)ZIZIZIZM4@iY)YYYiYaIaEh EfE+E"E ;*EP$;VE [4ZEBEyaԁ I,k?A,J@Je@JQ=;ٱJA; RAHRS rotation from veh to nav: [[-0.087715,0.996132,-0.005157],[-0.996127,-0.087743,-0.005588],[-0.006019,0.004646,0.999971]]JH`xtP?uFVvv`x s?`?iJ@IJb;HYZBy^u"I ``b=b=iMb@Mb@Mb@ 9㥛 ?A`"?Y=yY=z@ @)d@Y@ p<<bDAVD?3y3%==ٔQ->9Y=GFy<E>Q 54윊?Q 94l)Y=Q EE EE-E"EI;*E2;VEt4ZEa @a@a@a@Ա1 M hAY Bq Au <Bq Bq Bu N"IBu BBu =Bq Bq Bu a;Bu s5E 9 hAY A y,uk?A2M@2H@2y;ٱ2ި; :AHRS rotation from veh to nav: [[-0.078434,0.996904,-0.005460],[-0.996911,-0.078455,-0.003687],[-0.004104,0.005153,0.999978]]2HD?@\v4n@2p@u??i2M@I2+a;0\YbByb|"IbDj=VDj3yr=%vX=ٔv˥Q-v>9xYx=zGFyxz<Ez>|Q 54~D?Q 9 4~l)|Y y Q I ?~LCI~6:i~-:~˭4yɮAbl9zlrljlZZZZ a@i)iI3@ @@0@IIODzD@AEd EEE"E:;*EVEZEBEW9Y=GFyF<E > Q 54 Y?Q 94 Mm) YL=Q Eԑ E r E gE +E "E ;*E $;VE [4ZE a% @a% @a% @a% @,=,k?A2_ʍ@21Ŕ@2z:ٱ2#γ; :AHRS rotation from veh to nav: [[-0.063275,0.997981,-0.005566],[-0.997995,-0.063282,-0.001073],[-0.001423,0.005487,0.999984]]2H2u?v`E3 Q@_OWyv?@?i2_ʍ@I2``;2dCYV!ByZ"IIZ=)Z<\^AbDbAVDb?3yj=%jv=ٔnLQ-n?9pYp=rGFypr<Ev?tQ 5z4v?Q 9~4vm)tY|y}Q I?vQCIvH;ivuI;v٭4y BɮAbl1zl1rl1jl1ZQZQZQZU\@ia)aiiiiiIqyB>BBT"IBBBBBB;BE5E--3@1 @1@50@1IAIQOe=ԡ ,bl?A;ɰ;2f@28@2():ٱ2ג; :AHRS rotation from veh to nav: [[-0.058277,0.998284,-0.005783],[-0.998300,-0.058279,-0.000311],[-0.000647,0.005755,0.999983]]2Hl֭?`w``֭Y43ERw??i2f@I2hv`;0YBByB"IbDNVVDNE4yV,C%VM=ٔVQ-Z>9XYX=ZGFyX^M<E^>`Q 5f4b ?Q 9f4bn)`YdyfQ|Q Ij?bTCIb:ib6:b4yɮ AblYzlYrlYjlYZZZZ@i)顩iIEb EfE-E"EQ;*EP$;VEt4ZEBE9Y=GFyu;E>Q 54f?Q 94'n)lBYBEU EbEE"El;*E5";VEZEa@a@a@a@ԁԩA AAA @AB >B (CB `"IB BB =B B DB ;B L5E A ,AHRS rotation from veh to nav: [[-0.055129,0.998464,-0.005544],[-0.998479,-0.055128,0.000309],[0.000003,0.005553,0.999985]]6H@9`j? 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" ! " !" !" !! !! !! !! !! !! !! !!% !!% !!% !!% !!% !!% !!% !!% !!- !!- !!- !!- !!- !!- !!- !!- !!- !!- !!- !!- !!5 !!5 !!5 !!5 !!5 !}!5 !y!5 !u!5 !q!5 !m!5 !i!5 !e!5 !a!= !]!= !Y!= !U!= !Q!} !M!} !I!} !E!} !A!} !=!} !9!} !5!} !1! !-! !)! !%! !!! !! !! !! !! ! ! ! ! !! !! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! !} !y !u q m i e a ] Y U Q M I E A = 9 5 1 - ) % !                       i )   i 9 I9 IQ I I O > DAT read:  *DAT read: user:416> =L,r5m?ABj@Ble@B;ٱBv2); bAHRS rotation from veh to nav: [[-0.106055,0.994354,-0.003379],[-0.994331,-0.106078,-0.007338],[-0.007655,0.002582,0.999967]]BHs&?Sk' "~ Z$&e??iBj@IB2}`;BbCYjByj|"II~=)~<AiMb@Mb@Mb@ 9 rh~jthY̼yCD@ @ )7@Y@bDJVD04y%%%5=ٔ-;Q-->9)Y1=5GFy1]ូE]>aQ 5m4e?Q 9m4e*k)enBYm %BDAT read: Tx time:03:40:38.4133 %$Ping request sent.%<ٱ2; >AHRS rotation from veh to nav: [[-0.115930,0.993252,-0.003198],[-0.993225,-0.115952,-0.007691],[-0.008010,0.002285,0.999965]]2H?W3jgb?@?i23@I2`;2cCPYRByR"IbD^=VD^3yvd<%va=ٔvO:Q-v>9xYx=zGFyx~ E~>Q 5 4?Q 9 4j)Y y F@Q I ?fCIB:i:54yɮAi))111i11I9IQIIO=! Y,(im?AFFŋ@F@F6<ٱFA= ; VAHRS rotation from veh to nav: [[-0.126099,0.992013,-0.003133],[-0.991985,-0.126120,-0.007675],[-0.008009,0.002140,0.999966]]FH$`?©iW$@of`a??iFFŋ@IFQ6_;FaCYn Byrf"IbD-AVD-?3y]ƽ%eC=ٔu|Q-u>9Y=GFyżE>Q 5U4?Q 9]4j)mBYiym@Q Iu?gCIsAHRS rotation from veh to nav: [[-0.136079,0.990694,-0.002907],[-0.990669,-0.136097,-0.007238],[-0.007566,0.001895,0.999970]]2Hk`ó?gk@4}y~ _?@?i2r@I2^;0YBByFs"I HHJ=J=iUMb@Mb@Mb@YQQQQ Q9UMb rhy&1|YUyQU`U@U@ Q)Ud@QYU@ iibDu0VDu3yB=%H=ٔoQ->9Y=GFy̼E>Q 54휊?Q 94jj)lBYAHRS rotation from veh to nav: [[-0.145868,0.989301,-0.002582],[-0.989282,-0.145881,-0.006276],[-0.006585,0.001638,0.999977]]6H@̫¿Y?@%e3>¿`yz;Z??i6!@I6m^;4YF ByFh"IbDN7VDNp3yV=<%VY=ٔZ*Q-Z>9XYX=ZGFyX^N׼E^>`Q 5f4b휊?Q 9f4b9 * m,m?A2؊@2ӑ@2&;ٱ2i]: :AHRS rotation from veh to nav: [[-0.154668,0.987964,-0.002044],[-0.987953,-0.154676,-0.004998],[-0.005254,0.001246,0.999985]]2H(ÿg?y`Npÿ\xt̄u@kT?`?i2؊@I2G8^;2bCY^Bybn"IiEMb@Mb@Mb@AAAA A9EMb{GztYEyE̼EףE@A E@)EM@AYAbD<VD3y<%9=ٔEQ->9Y=GFyBE>Q 54<윊?Q 94j)iBY)N;PPVAATbDV>VDV43y^%b]=ٔbQ-b>9`Yd=fHFydfEf>hQ 5n4j뜊?Q 9r4ji)jhBYpyr*@Q Ir?jlCIjY;ij;jX4ytɮvAxi)i I 5J9IA]BDAT read: Rx Time:03:40:40.3060 ]TRx dataTimestamp_ set to:1761536439.336212IaIiqO}=ԙ z,~rm?Aɰ4<2k@2e@2:ٱ2ř:9 ZAHRS rotation from veh to nav: [[-0.167909,0.985802,-0.000398],[-0.985802,-0.167909,-0.001276],[-0.001325,0.000178,0.999999]]2H@~ſ?:ோ ~ſ@T!U@7S'? ?i2k@I27^;2aCYbByfl"IbDn6VDn3y~ԉ=%G=ٔ #Q->9Y!=-HFy)5`E=>QQ 5m4U꜊?Q 9u4Ui)UgBYym*@Q I?UnCIU;iU;U4`4yɮfAi)iII=)C>)9IIIO>) ,Hn?A2I@2C@2Iٱ2ǁ >AHRS rotation from veh to nav: [[-0.171990,0.985099,0.000437],[-0.985098,-0.171990,0.001064],[0.001124,-0.000248,0.999999]]2H ƿ?rb=vDAT read: 03:40:40.3060 LVL= 15600, 9889, 18722, 19091, AGC= 32, IDX= 475, 0.24, 0.299,-0.806,-0.284, 1.161, PHS=-0.760,-1.922,-1.488, RAW= 111.7, 55.4, CAL= 109.8, 60.1, ROT= 40.2, -60.1 zYgot valid direction response: 03:40:40.3060 LVL= 15600, 9889, 18722, 19091, AGC= 32, IDX= 475, 0.24, 0.299,-0.806,-0.284, 1.161, PHS=-0.760,-1.922,-1.488, RAW= 111.7, 55.4, CAL= 109.8, 60.1, ROT= 40.2, -60.1 zDAT read: OK ~:unknown deviceResponse_: OK =*DAT read: user:417> EBDAT read: Tx time:03:40:41.4120 E$Ping request sent.M9Y=HFy E>Q 54霊?Q 9-4i)fBY-װyԩ C0,&n?A6,5@6/@6}ٱ6 + >AHRS rotation from veh to nav: [[-0.174383,0.984677,0.001319],[-0.984670,-0.174387,0.003698],[0.003871,-0.000654,0.999992]]@6H/Rƿ`y? U?@k`ORƿ&Kn?`жo?`pE?i6,5@I6^;6aCYJ ByJi"IN=N= R49Y=HFyE>Q 54|蜊?Q 94i)dBY 9tYt=vHFytvM;Ez>x9Q 5]4z眊?Q 9e4zi)zcBYaye%+@Q Ie?zrCIzi)Fa>HHJ@AHbDN?VDN3yV<%VN=ٔZQ-Z>9XYX=ZHFy\^<Eb>lQ 5v4n眊?Q 9v4n}i)naBYxyzq+@Q Iz?ntCIn5;in&;n94y|ɮ~Ai)iIԡ|9I)IIIIO= T,6n?A4<ɰ2@2@2(ٱ2κ :AHRS rotation from veh to nav: [[-0.164384,0.986387,0.004190],[-0.986266,-0.164430,0.015532],[0.016010,-0.001579,0.999871]]2H ſ|?&)q?~ ſwϏ? d? Y?i2@I2 ^;0Y^Bybl"IimMb@Mb@Mb@iiii i9mV-~jtMbpYmymļmm7@m@ m@)iiYibD7VDp3y=%<=ٔ)Q->9Y=HFy!a<E>Q 54c朊?Q 94i)`BY =Q E?l5? eY?i2'͊@I2g^;2bCY^ Bybj"IbDj8VDj3yr%rV=ٔrQ-r>9tYt=vHFytv}<Ez>xQ 5U4z圊?Q 9U4zh)xYQy]@Q I]?zxCIzS  BDAT read: Tx time:03:40:44.4120  $Ping request sent. ?uN=O?!"W?a e 9e *e Q e #V)e #Ie y&ie H e Ke 6 @e |Z?e @ e w?)e l?Ie wa e *G'?AUf b+? e Nق)e 8ZIe l?ie w :publishing transmit ping time ya e e>?uN=O?!"W?a a a a a )a Ia ia a a a a a )a Ia a e *G'?AUf b+? a )a Ia ia P,Hn?A-w%@-I @-஼ٱ-juϺ AHRS rotation from veh to nav: [[-0.145397,0.989362,0.004670],[-0.989143,-0.145464,0.020888],[0.021345,-0.001582,0.999771]]-H`¿@ۨ?!s?``¿c? ە?@)Y?i-w%@I-^;-cCYByd"I==ԱiMb@Mb@Mb@ 9y&1 rhMbPY`eyC @@ )Y@ p<bDVDy-S%5,=ٔ5ʰQ-5>99Y9==HFy9= <E=>AQ 5m4E,圊?Q 9u4Eh)E_BYu 9 ,"n?A2@2쌒@2ٱ2$ :AHRS rotation from veh to nav: [[-0.132261,0.991205,0.004388],[-0.990936,-0.132328,0.023121],[0.023498,-0.001290,0.999723]]2H?q? @??#U ?i2@I2g^;2bCYhyjc"IbDr:VDr{3yz%zt=ٔ~FջQ-~?9|Y=HFy$=E? Q 54 䜊?Q 94 sh) Yy@Q I? zCI ;i ]; 4y!ɮ%A)i9)999i9AIA MfAMgA9IIIO=9i ,un?A2@2W @2=мٱ2{S :AHRS rotation from veh to nav: [[-0.116827,0.993144,0.004152],[-0.992826,-0.116895,0.025145],[0.025458,-0.001185,0.999675]]2Hb轿?q?:`콿`??hSV?i2@I2^=^;2_CPYRByR_"IbDZ'VDZ3yb%bM=ٔfIQ-f>9dYd=jHFyhj =Ej>lQ 5r4n>䜊?Q 9r4nIh)lYtyv@Q Iv?n{CIn:in:n4yxɮzAxi)项iI59IIIO=! =,8o?A2Ѣ@2@2uۼٱ25 :AHRS rotation from veh to nav: [[-0.099197,0.995062,0.003343],[-0.994709,-0.099251,0.026532],[0.026732,-0.000693,0.999642]]2H@d?bk?@`h+?_?cF?i2Ѣ@I2 3^;2^CYF ByFj"IIJ>)Jk?NANA|i%Mb@Mb@Mb@!!!! !9%/$QMb`?Y%y%u%;%7@%@ % @)!!Y% @5AA1bD=;VD=)3yM0=%MB=ٔMFQ-U>9QYQ=UHFyQ4&=E>Q 54㜊?Q 94h)Y 9\Y\=^HFy`bT=Eb>dQ 5j4f\㜊?Q 9j4fg)dYhyj@Q In?f~CIf>:if:f4ypɮrCApix)|||i|II ?) Q?YI)I9IAO]=ԁԹ ͛,:o?A2@2ܔ@2?cٱ2: :AHRS rotation from veh to nav: [[-0.060406,0.998173,0.001083],[-0.997795,-0.060413,0.027494],[0.027510,0.000580,0.999621]]2H ?Q?@v '?+?C??i2@I2];0YnBynU"IieMb@Mb@Mb@aaaa a9e{Gzy&1|Mbp?Ye#ye`廙e;ed@a a)aaYe@bD};VD})3y=%==ٔgQ->9Y=HFy;=E>Q 54 㜊?Q 94g)`BYtR9XYX=ZHFyX^^Z=E^>`Q 5f4b✊?Q 9f4bg)baBYdyf@Q Ij?bCIbp:ibF:b®4ylɮnAYii)iiqiqqIBDAT read: Rx Time:03:40:46.3062 TRx dataTimestamp_ set to:1761536445.384141T9IIIO=Aiԙ ۛ,Fno?A2$@2@2\׼ٱ2#; :AHRS rotation from veh to nav: [[-0.021004,0.999777,-0.001947],[-0.999432,-0.020945,0.026409],[0.026362,0.002501,0.999649]]2H`-?_@X r ??\|d? ?i2$@I2^;2]CY^BybS"IbDjEVDj3yrM%rG=ٔr:Q-v>9tYt=vHFytzA=Ez>|Q 54~✊?Q 94~{g)~bBYy @Q I ?~CI~;i~;~ɮ4yɮ Ai!))))i))I1 hAy>9II I1O}= DAT read: OK  :unknown deviceResponse_: OK ԡ CU +Gm liA !̿9 liAY !A g,"o?A28>2R=Fx@FJ@FμٱF`; RAHRS rotation from veh to nav: [[-0.001904,0.999992,-0.003382],[-0.999682,-0.001818,0.025153],[0.025146,0.003429,0.999678]]FH 1_@? k eg]? ￙?6l?\?iFx@IFԱ^;F_CYVByVI"Ii5Mb@Mb@Mb@1111 195~jth9aYa=mHFyimu:=Em>qQ 5}4u㜊?Q 94urg)ucBYQKQ I?qIu;iu;u:Ѯ4yɮJAi)顡iIu)9IIIO=) ,o?A2Q@2L@22üٱ2; :AHRS rotation from veh to nav: [[0.015706,0.999864,-0.005091],[-0.999592,0.015823,0.023787],[0.023864,0.004716,0.999704]]2H%??t3?[?@o?Ps?`?i2Q@I2V^;2bCYBByF7"IJAJAHHbDn/VDn3yv%vR=ٔvW;Q-z>9xYx=zHFyx~ 9=E~>Q 5 4K㜊?Q 9 4ig)eBY y.>Q I?CI:i: خ4yɮAi))111i19IA_9I)IIO=)Yԉ TD,ֻo?A;ɰ066֐@6ї@6ٱ6; >AHRS rotation from veh to nav: [[0.031864,0.999468,-0.006908],[-0.999240,0.032011,0.022251],[0.022460,0.006193,0.999729]]6H{P??9K|`c?ɖ??@D^y??i66֐@I6Z^;6_CY^Byb;"IiMb@Mb@Mb@ 9~jt?S㥛?9Y=HFy=E>Q 54I䜊?Q 94g)gBY* =Q E9tYt=vHFyxz=Ez>|Q 54~,圊?Q 94~g)~iBY y ?Q I ?~CI~:i~d:~#4yɮAi)))))i)1I1j9I II!O-=A V,o?A6@6Ӡ@6Mٱ62 < >AHRS rotation from veh to nav: [[0.057199,0.998315,-0.009745],[-0.998149,0.057386,0.020140],[0.020666,0.008575,0.999750]]6H;I?2?`a? ?\)?@??i6@I61^;6`CYFڃByF,"I HHN>N=bDREVDR3yZcg%ZN=ٔZ:Q-^>9\Y\=bHFy`b/<Eb>dQ 5j4f朊?Q 9j4fg)fkBYhyno Q In?fCIf:if;f4ypɮrApi|)|||i|I)=9IIIO=Iqԡ >,i p?A6c@65@6!5ٱ6#< BAHRS rotation from veh to nav: [[0.065895,0.997762,-0.011332],[-0.997618,0.066109,0.019705],[0.020410,0.010007,0.999742]]6H~ް? ?@t5@|?o-?E? ~? ?i6c@I6;#^;6]CYj܃Byj/"Ii]Mb@Mb@Mb@YYYY Y9]v/?Q?Mb?Y]xi=y]<]<]@Y ] @)YYY]@ybDu2VDu 3y<%==ٔ:Q->9Y=HFyx<E>Q 54U眊?Q 94h)mBY=Q EL9tYt=vHFytz|<Ez>|Q 5U4~l蜊?Q 9U4~#i)~oBYYy]ׁQ I]?~CI~T??i24@I2;^;0YbуByb""IdfAiMMb@Mb@Mb@IIII I9MA`"?I +?~jtx?YMY=yM94=M;M@M@ MM@)IIYMG@bDDVDJ3y9<%<=ٔ#Q->9Y=HFyp;E>Q 54,꜊?Q 94i)qBY=Q E?9dYd=fHFyhjEj>lQ 5r4n뜊?Q 9r4n.j)nrBYtyv{MQ Iv?nCIn6:in:n\ 4yxɮzlAxi )  iII%b?)%f?9IaIyIyO=Ա 9 ,pp?A2"@2@2лϼٱ2Q< :AHRS rotation from veh to nav: [[0.071700,0.997319,-0.014592],[-0.997104,0.072041,0.024369],[0.025355,0.012803,0.999596]]2H@Z? ?⍿`F@Lq?O??J8??i2"@I2];2_CYBσByB"IbDJFVDJ4yr><%rH=ٔr̫Q-r>9tYt=vHFytz޻Ez>|Q 54~K휊?Q 94~j)~tBYy)NQ I?~CI~;i~;~|4yɮYAi!)!))i))I1II)I1Ou=i!I%A9i ",Wp?A 6T@6&@6Vٱ6m[< >AHRS rotation from veh to nav: [[0.066362,0.997679,-0.015243],[-0.997394,0.066761,0.027364],[0.028318,0.013387,0.999509]]6H??7@@D?.?L?j??i6T@I6^;6^CY^уByb""I ``f=fp=iMb@Mb@Mb@ 9sh|??kt?{GztY=y 0=ף@ 7@)@Y@ <<bD<VD3y <%>=ٔQ->9Y=HFySKE>Q 54?Q 94k)sBY=Q E VDN43yZ7<%Z\=ٔZQ-Z>9\Y\=^HFy\bEb>dQ 5j4f?Q 9j4fgl)dYhyjPQ Ij?fCIf:if4:f4yrBɮrXApix)xx|i|I  !9IIIO =) .,@kp?A65j@6e@6Oٱ6n^< BAHRS rotation from veh to nav: [[0.049891,0.998637,-0.015329],[-0.998125,0.050399,0.034743],[0.035468,0.013567,0.999279]]6HX??@e `ͩ?@ɡ?(?(ɋ?`?i65j@I6GV^;4YDyF'"I|iMb@Mb@Mb@ 9v/??~jthYxi=y<D@  @)@Y@bD5@VD53yE^:%EA=ٔE1Q-M>9IYI=MHFyIU)EU>YQ 5e4]?Q 9e4]m)YYe<=Q EmTAHRS rotation from veh to nav: [[0.038752,0.999133,-0.015192],[-0.998468,0.039318,0.038934],[0.039498,0.013660,0.999126]]2H@ף?? sv!?(? 9?`??i2@I2;^;2`CYf߃Byf2"IhjAllbDrBVDr3yzA=%zP=ٔz'Q-z>9|Y|=~HFy|&E> Q 54 r?Q 94 m) Yy*Q I? CI :i : ,4y!ɮ% A!i1)199i9AIAaP9I)IIO=ԉԱ ;,p?A4<ɰ2@2䢗@2 2ٱ2=b< >AHRS rotation from veh to nav: [[0.026217,0.999544,-0.014973],[-0.998710,0.026841,0.043092],[0.043475,0.013824,0.998959]]2Hؚ?D?ao`/|?0?JB?O?x?i2@I2%^;2]CYB؃ByF*"IbDNIVDNX4yV %VO=ٔV%Q-Z>9XYX=ZHFyX^0E^>`Q 5f4bT?Q 9f4b1n)`YdyfŐQ Ij?bCIb:ib:b34ylɮnAAlit)xxxix|IyI~?)ԹYIyIIO=9 B, q?A2%=2=6%9@63@6yAٱ6c\< BAHRS rotation from veh to nav: [[0.012690,0.999820,-0.014076],[-0.998804,0.013339,0.047038],[0.047217,0.013462,0.998794]]6H?@?@ӌ4@Q?U?,? 4??i6%9@I6B>^;6^CYJByJ4"IiMb@Mb@Mb@ 9S㥛?~jtx?{GztY/9IYI=MHFyIMEU>QQ 54U?Q 94U~n)UrBY@9`Y`=bHFy`b)Ef>dQ 5j4f?Q 9j4fn)fqBYlyn/Q Ir?fCIf ;if{!;fA4ytɮvAti|)i I 59IIIYIYOm=qԙi! I! .O,\?q?A@2J@2E@2O]ٱ2S< :AHRS rotation from veh to nav: [[-0.016358,0.999794,-0.012050],[-0.998403,-0.015681,0.054272],[0.054072,0.012918,0.998453]]2H O?@ɫ?T?t?T?i2J@I2]^;2]CYbByb@"IiMMb@Mb@Mb@IIII I9M9yYy=}HFyyE>Q 54B?Q 94n)oBYAHRS rotation from veh to nav: [[-0.031560,0.999442,-0.010948],[-0.997871,-0.030881,0.057448],[0.057078,0.012738,0.998288]]2H(m?lei?S9? ^??i2Ύ@I2C^;2^CYFByFI"IbDN;VDN)3yV?=%VX=ٔV2Q-V>9XYX=ZHFyX^$E^>`Q 5f4b?Q 9f4bn)bnBYdyf#@Q Ij?bCIb':ib:bO4y9ɮ=wAAi)顉iI9IIIO=)Yߍ =ߍ <ԑ A\,esq?A02Q@2{L@2%*uٱ2^E< >AHRS rotation from veh to nav: [[-0.046702,0.998866,-0.009269],[-0.997116,-0.046061,0.060314],[0.059819,0.012059,0.998136]]2HX駿? `C????i2Q@I2]c^;0YFByFL"IIJ%=)JR=HJALNAAbDRAVDR?3yZ.<%ZJ=ٔZH޻Q-Z>9\Y\=^HFy\bEb>dQ 5j4f]?Q 9j4f{nQ =jtI)flBYhyn"@Q In?fCIf#;ifL?;fV4ytɮveAti|)iI 9IIIO =ԑԹ Q*c,Fq?Aɰ4<6؍@6Ӕ@6~ٱ6T?< BAHRS rotation from veh to nav: [[-0.061396,0.998083,-0.007835],[-0.996179,-0.060787,0.062704],[0.062108,0.011655,0.998001]]6HXo K? @zb ? ̯?@އ??i6؍@I6 =^;6`CYFByJT"I\iMb@Mb@Mb@ 9lZd;OI +Yyj94@ z@)@Y@bD5QVD54yEx<%EA=ٔMQ-M>9IYI=MHFyQUEU>YQ 5e4]?Q 9e4]n)]iBYm 8=Q Em9\Y\=^HFy`bEb>dQ 5j4f?Q 9j4fm)fgBYhyn@Q In?fCIfK:iff;fe4ypɮr@Api|)|||i|I!U9IiIyIyO=Iqԡ :p,q?A2@2@2#ٱ2fB7< :AHRS rotation from veh to nav: [[-0.088697,0.996045,-0.005236],[-0.993841,-0.088148,0.067151],[0.066424,0.011160,0.997729]]2Hߴ?@ru``0?`.?:ۆ?e?i2@I2RN^;2\CYvByvY"Iz=xiuMb@Mb@Mb@qqqyq q9u㥛 X9v9Y=HFywE>Q 54?Q 94l)dBYw=Q E&9xYx=zHFyx~kE~>Q 5 4U?Q 9 4l)aBY y ?Q I ?CI:iK:Vs4yBɮAi)顩iI 9IIIO%=1Y J|,q?A2D@2k?@2ٱ2",< :AHRS rotation from veh to nav: [[-0.110397,0.993884,-0.002663],[-0.991399,-0.109930,0.071021],[0.070294,0.010480,0.997471]]2HB?ed$`i.??v?H?i2D@I2|^;2\CYFByFZ"IbDN;VDN)3yVD%VN=ٔZ栻Q-Z>9XYX=ZHFyX^̼E^>`Q 5f4b?Q 9f4bKk)b^BYdyj?Q Ij?bCIb:ib:bCz4ylɮnAlix)xxxix|I|I)1IAIAOM=i !}cGԡ9YRtAԹ w,]r?A:@:@:AGٱ:4|!< FAHRS rotation from veh to nav: [[-0.118191,0.992990,-0.001215],[-0.990353,-0.117788,0.072993],[0.072338,0.009830,0.997332]]:H`A@?SW'? Ä?`!? $?i:@I:^;:]CY^Byb["IIb4=)b=dfAiMMb@Mb@Mb@IIII I9MʡEMbMbYMyM@MM@M@ M@)IIYIY]@AbDeAVDe?3yuΤ;%u>=ٔuwQ-u>9yYy=}HFyyVE>Q 547휊?Q 94`j)[BYz=Q EAHRS rotation from veh to nav: [[-0.124170,0.992261,0.000198],[-0.989460,-0.123834,0.075055],[0.074498,0.009123,0.997179]]6Hɿ?)?`6?@R?F??i6bҋ@I6^;6^CYRByRZ"IbDZDVDZJ3y%R=ٔ Q- >9 Y = HFy~E>Q 5%4뜊?Q 9%4i)XBY)y-?Q I-?CI :i:4y1ɮ5A1iI)IIIiIQIQI]s?)]_?5S9IAIIO=Q !,)?Br?A 6@6角@6͝ٱ6 < >AHRS rotation from veh to nav: [[-0.128649,0.991689,0.001402],[-0.988698,-0.128371,0.077440],[0.076977,0.008577,0.996996]]6Hw?9Y=HFy1E>Q 54꜊?Q 94h)VBY=Q E9\Y\=^HFy\bEb>dQ 5j4f霊?Q 9j4fg)fTBYhyj\?Q Ij?fCIf:if:f4ypɮrApix)x||i|It9I)I9I9OM=! ݜ,Zur?A6엋@6@6)ٱ6{; >AHRS rotation from veh to nav: [[-0.131150,0.991357,0.003414],[-0.987964,-0.130985,0.082283],[0.082019,0.007419,0.996603]]6H 1?@k?f ?0?0c~?`,?i6엋@I6^;6\CYnBynX"IbDz=VDz3|y7%E=ٔ s̻Q- >9 Y =HFy呺E>Q 5%4{蜊?Q 9%4f)RBY)y-Q?Q I-?CI6:iN:4y1ɮ5A1iI)IIIiIQIQ YY9IIIO=)Qԁ ] %=] %= ʣ,r?A2L@2@2eٱ2 ; :AHRS rotation from veh to nav: [[-0.128791,0.991664,0.003973],[-0.988101,-0.128666,0.084269],[0.084078,0.006928,0.996435]]2H7|ൻ?Ep?@@x?@? B`|??i2L@I2^;0Y@y@iMMb@Mb@Mb@IQIII I9Ml񲿺I +MbP?YMyM94M:IM@ I)MV@IYM\@bDm<VDm3y}%}C=ٔ}9Q-}>9Y=HFy;E>Q 54F眊?Q 94e)QBYT=Q E9xYx=zHFyxz2<E~>Q 54)朊?Q 9 4d)PBY y ?Q I ?CIB:i|:ϫ4yɮAi))))1i11ԹI9c:IIIO=A ٰ,Gr?A4<ɰ4<2@2@2(ٱ2O; :AHRS rotation from veh to nav: [[-0.118791,0.992910,0.004377],[-0.989025,-0.118714,0.087959],[0.087855,0.006120,0.996114]]2Hi`?@q?d y?}?`y?`+?i2@I2o^;2[CY^By^X"IiEMb@Mb@Mb@AAAA A9E~jtMbMbp?YEyEE;E@E@ E@)El@AYEG@bD]>VD]43ym<%mB=ٔuQ-u>9qYy=}HFyy}e<E}>Q 541圊?Q 94d)Y$L=Q E9iԑ @,par?A29@23@2Dٱ2; :AHRS rotation from veh to nav: [[-0.111623,0.993743,0.003926],[-0.989751,-0.111527,0.089184],[0.089064,0.006069,0.996007]]2H`Z? p? @Զ?̶?x?J?i29@I2HP^;2^CYZByZR"IbDb:VDb{3yjԼ%jU=ٔn[OQ-n>9lYl=rHFyprb<Er>tQ 5z4vM䜊?Q 9z4vd)tYxy~ @Q I~?vCIvS*;iv+;v⹯4y ɮ A i)!!!i!!I)y}:IIIO=ԡ o+,9XYX=ZHFyX^,<E^>`Q 5f4b]㜊?Q 9f4bc)`Ydyj @Q Ij?bCIb:ib:b4ylɮ=A9iI)IQQiQQIy]z:IiIIO=) Ĝ,7s?A6KЌ@6˓@6~ٱ6); >AHRS rotation from veh to nav: [[-0.093331,0.995631,0.003002],[-0.991606,-0.093224,0.089589],[0.089477,0.005385,0.995974]]6H䷿4?(h? =@ݷM? ?@xv??i6KЌ@I6F^;6[CYFByFF"IiMb@Mb@Mb@ 9X9vy&1|Mbp?Yy`廙@ @)V@Y@bD-?VD-3yn%B=ٔf9Q->9Y=HFy<E>Q 547㜊?Q 94Mc)Y3=Q Eʜ,*s?A2P$@2"@2`ٱ2,; >AHRS rotation from veh to nav: [[-0.083163,0.996533,0.002467],[-0.992588,-0.083053,0.088719],[0.088616,0.004930,0.996054]]2H)J?5d?HBF?@?+1t??9XY\=^HFy\^<Eb>`Q 5f4b㜊?Q 9j4bb)bQBYhyj?Q Ij?bCIb>:ib6:bί4ypɮrGApix)xxxi||I :I1IAIAO}=ԩ Q%ќ,BDs?A2-w@2q@2N\ٱ2~ ; :AHRS rotation from veh to nav: [[-0.073129,0.997321,0.001514],[-0.993522,-0.072983,0.087103],[0.086980,0.004865,0.996198]]2H`?X?`_L?`SD?s??i2-w@I2jU^;2^CYNBvrGxyz<"IE>9AYEvAQQi=Mb@Mb@Mb@9999 99=QQ?9iYi=uHFyqu2<Eu>yQ 54}㜊?Q 94}b)}SBYż9tYt=vHFyxz<Ez>9|Q 5m4~-䜊?Q 9m4~b)~TBYiymA??Q Iu?~CI~:i~:~6ݯ4yyɮ}Ayi)顑iIIv?)Y?u:IIIO=iԑ yݜ,{xs?A2@2@2[Fٱ24l; :AHRS rotation from veh to nav: [[-0.052823,0.998604,-0.000774],[-0.995305,-0.052586,0.081254],[0.081100,0.005062,0.996693]]2H@ ?YI쪿 ʹ?`´?t? ?i2@I2^;0YRڃByR,"IbDZ4VDZf3yb%bL=ٔb9dYd=fHFydj9<Ej>lQ 5r4n䜊?Q 9r4nb)nVBYpyrA?Q Iv?nCIn;in;n24yxɮzAxi )   i Iԙ+:I)I9I9OM=iqIq9 a,`s?A67b@6 ]@6Nٱ6; >AHRS rotation from veh to nav: [[-0.044632,0.999000,-0.002452],[-0.995977,-0.044306,0.077895],[0.077709,0.005919,0.996958]]6H٦?d@ `7@??>x??i67b@I6^;6\CYnуByn!"I ppv=v=imMb@Mb@Mb@iiii i9mQ?9Y=HFy<E>Q 54圊?Q 94b)WBYA=Q E 1 ,;s?A60@6@6_ٱ63; >AHRS rotation from veh to nav: [[-0.036985,0.999307,-0.004303],[-0.996584,-0.036566,0.074053],[0.073845,0.007027,0.997245]]6H`Q?q'? z? |?`n?i60@I6W^;6ZCY^Byb"IbDj:VDj{3y%%%U=ٔ%%9)Y)=-HFy)5<E5>1Q 5E45眊?Q 9E450c)5YBYAyE}9Q IE?5CI5=:i5:54yQɮUAQia)iiqiyI fA:IIIO=9i ks,s?A 65֎@6ѕ@6ٱ6lZ< >AHRS rotation from veh to nav: [[-0.030543,0.999511,-0.006663],[-0.997078,-0.030000,0.070249],[0.070015,0.008789,0.997507]]6H@F?@_J{ p??@?`?i65֎@I6S^;6\CYFƃByF"IiMb@Mb@Mb@ 9A`"?)\(?{Gzt?YY=yGa=@@ @)Y@bD-FVD-4y=<%I=ٔ9Y=HFyz<E>Q 54霊?Q 94c)[BYÜ=Q E-9tYt=zHFyxzUf<Ez>|Q 54~꜊?Q 94~Sd)~\BY y IQ I ?~CI~:i~6:~4yɮTAi)))19i9QIYQIaIqIqO=! :,ts?Aɰ:@:@:yٱ:D< BAHRS rotation from veh to nav: [[-0.022333,0.999694,-0.010587],[-0.997713,-0.021610,0.064043],[0.063795,0.011993,0.997891]]:Hrޖ@?خ D !e?T???i:@I:~^;:\CY^By^!IbDjBVDj3yr=%rK=ٔrh;Q-r>9tYt=vHFytz;Ez>|xQ 54z윊?Q 94zd)z^BY y IQ I ?zCIzS*;iz:z4y!ɮ-A1iI)QQQiQYIYIeo?)e?:IIIO=1Qԁ ,vt?A "<6<(@6#@6}ٱ63X< BAHRS rotation from veh to nav: [[-0.020569,0.999717,-0.011952],[-0.997873,-0.019789,0.062107],[0.061853,0.013204,0.997998]]6H?@ZzqC`}̯?`/? ?`?i6<(@I6^;6ZCYJByJ!IYiuMb@Mb@Mb@qqqq q9u㥛 ?v/?Mb?Yu=yuxi=u9Y=HFy;E>Q 54?Q 94e)aBYc=Q E9Y=HFyE>yQ 54}c?Q 94}}f)}dBYylQ I?} CI}N:i}:}4yBɮ Ai)顩iԹIl:III O=i I A ,fGt?A YvByz!IiMb@Mb@Mb@ 9{Gz?X9v?MbP?Yף=y}=:@ )YG@bDYVD#4y%?=ٔQ->9Y=HFyE>Q 54?Q 94_g)eBYK=Q E9pYp=rHFypvEv>xQ 5z4zc?Q 9~4z-h)zgBY|y~oQ I~?zCIz;iz;z#4y ɮ \ A i)!!i!!I)q:IIIO=ԡi m = ,#{t?A2Jǎ@2•@2h ٱ2X< :AHRS rotation from veh to nav: [[-0.032368,0.999355,-0.015539],[-0.997302,-0.031269,0.066421],[0.065892,0.017647,0.997671]]2H?`ҏ o?Kް?? ?i2Jǎ@I22^;2ZCYBByB!IIR<)Rp=XZA||bDKVD 4yݚ<%G=ٔt޻Q->9Y=HFy%gE%>)Q 554-r?Q 954-i)-hBY1y57qQ I5?-CI-l:i-;-*4yAɮE= AAiQ)QYYiYYIa5:III&dClearing failed state for component DockingStepperqIO= amC -TGaƃ9YOpA) $,t?A4<ɰ4< R:@R5@RgٱRxߛ< ZAHRS rotation from veh to nav: [[-0.049412,0.998661,-0.015291],[-0.995965,-0.048119,0.075753],[0.074916,0.018973,0.997009]]RHL?Q``d?@-?m? ?iR:@IRO,^;R[CYbByb!Ionly read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V a@a a@a a@a a@a bDVDyr%A=ٔRQ->9Y=HFy&E>Q 54?Q 94i)jBQ A+:YQ E;y}uQ I?CI<:i_>04yɮ Ai)iIIr?)l?: 4Initializing EZServoServo. 8Initializing DockingStepper.II!OU=qԙiI @)+,-Юt?AB@Bܔ@BۥٱBޞ< NAHRS rotation from veh to nav: [[-0.060216,0.998080,-0.014470],[-0.994902,-0.058837,0.081905],[0.080897,0.019328,0.996535]]LBH ԮF?@`<? ?@ʓ?`?iB@IB.^;BZCYVByV!IbDbWVDb 4yf=%jY=ٔjAQ-j>9lYl=nHFylr Er>tQ 5v4vS?Q 9z4vj)vlBQ Az :YxQ Ez;yz1xQ Iz?v$CIv ;ivXM?vG54yɮ> Ai)iI!&:I IO%=! 2,ݲt?Ab@bj@bxٱb u< jAHRS rotation from veh to nav: [[-0.071501,0.997352,-0.013281],[-0.993625,-0.070057,0.088325],[0.087161,0.019511,0.996003]]bHMO?2Fﱿ`z? -P?@?B?ib@Ib_T^;b\CYrByr!Iv=va=|amam amau auau auau iuMb@Mb@Mb@qqqq q9u:v?/$?y&1|YuT=yu=ٔoQ->9Y=HFyؼE>Q 54?Q 94ik)kBQ AT:Y|g=Q Ej99Y9==HFy9EbEE>IQ 5M4M?Q 9U4Mk)IYQyU΢Q IU?M*CIM>:YiM:MC4yaɮe Ai,uInitialize.,udInitializing internal variables to default values.,uRDetaching from dock at depth 65.775612 m.RN}:NyBNy2N}rM+:෪?zM+:qL#:L#:*M+:?2M+:?JM+:@bM+:e>?uN=O?!"W?RM+:e>?uN=O?!"W?:M+:l?BM+:wjM+:-?l˿q1?ZM+:-?lۿq1?M+:XM+:~>M+:෪? M+:q"M+:kBM+:6S ?M+:z~M+:DBM+:ABM+:?>iK9))iI ԉ}:ԹI I O > gh>,Hnt?A>@>d@>нٱ>-< FAHRS rotation from veh to nav: [[-0.096815,0.995260,-0.009244],[-0.990098,-0.095356,0.103025],[0.101656,0.019127,0.994636]]>H@ȸ*?:i_?`??`?i>@I>^;>ZCYNByN!IbDVPVDV:4y^<%^Q=ٔb뚼Q-b>9`Y`=fHFydfEf>hQ 5n4j?Q 9n4jl)hYpyryQ Ir?j-CIj:ijd:jnJ4ytɮvl At,~lEngaging thruster for 10.0 seconds (max) to disengage.JN~RN|:N|BN2Ni ))iISԱIAIYOe= 1 WE,{hu?A2I@2D@2@߽ٱ2)< :AHRS rotation from veh to nav: [[-0.109373,0.993976,-0.006962],[-0.988013,-0.107944,0.110352],[0.108936,0.018948,0.993868]]2H?@|@Ν5@?5?@4g??i2I@I2^;0YBByB!IIFa=)F=HHi Mb@Mb@Mb@     9 Mb9AYA=MHFyIMEM>YQ 5e4]?Q 9e4]ol)]iBYeNv9pYt=vHFytvEv>xQ 5~4zz?Q 9~4zZl)zgBYy@Q I?z.CIz;izr;zX4y ɮ b A JNRN:NBN2Ni)))))11i11I9IQIaOm==qԡ G`R,MIu?Avp@vBz@vٱvO< AHRS rotation from veh to nav: [[-0.133523,0.991046,-0.000337],[-0.983303,-0.132438,0.124799],[0.123637,0.016995,0.992182]]vH@J@?h68w?? 8g??ivp@Iv^;v[CY By!IiMb@Mb@Mb@ 9I +Qy&1Y94y`ez@ @ @)?@Y@bD?VD3y_=%<=ٔQ->9Y=HFyE>Q 54?Q 94k)bBYa=Q Ep! X,;cu?A2&@2!@2 ٱ2cȂ< >AHRS rotation from veh to nav: [[-0.144005,0.989572,0.003174],[-0.980920,-0.143167,0.131526],[0.130609,0.015827,0.991308]]2Hn¿?i? cNS¿?̷?5?ʸ?i2&@I2/c^;0YFByF!IJ>J= LNbDRTVDR4yVc<%Z^=ٔZOQ-Z>9XY\=^HFy\^Eb>`Q 5f4b?Q 9f4bdk)b^BYhyj@Q Ij?b3CIb:ib:bf4ylɮrApJNtRNt:NtBNt2Nti|)|)i I I!I1OE=Iyԩ v^,}u?A2ۊ@2֑@2S ٱ22r< :AHRS rotation from veh to nav: [[-0.152866,0.988225,0.006519],[-0.978681,-0.152299,0.137801],[0.137171,0.014685,0.990438]]2H ÿ?ճz?@ZQ ~ÿ u?ӎ?$??i2ۊ@9XY\=^HFy\^Eb>`Q 5f4b?Q 9f4bj)bZBYhyjb@Q Ij?b6CIbK:ib:bm4ylɮnApJNtRNt:NtBNt2Nti|)|)i I I!I1OE&=ԩ"jFailed to parse device response:  *e,Ru?A6@6ɜ@6>ٱ6q`< >AHRS rotation from veh to nav: [[-0.159634,0.987130,0.009573],[-0.976757,-0.159347,0.143372],[0.143052,0.013537,0.989623]]6HnĿ?뚃?AweĿY?O?? ?i6@I6^_;6[CYFByF!IliMb@Mb@Mb@ 9sh|?v/Zd;OYyxijd@ @ E@)@Y@bD5<VD53yE]=%EA=ٔMeQ-M>9IYQ=UHFyQUEU>YQ 5e4]?Q 9m4]i)]RBYm=Q Em1a k,GYu?A2Op@2!k@2vٱ29XYX=ZHFyX^YE^>Q 5%4 ?Q 9%4 i)KBY)y-@Q I-?@CI:i$:{4y1ɮ5\A19*NARNI:NIBNI2NIiY)Y)YYaiaaIi 3@ @@/@iIIOM1>ԑi hA a9 hAY A=r,Fu?A4ɰ4-O@-J@-Ѥٱ-w*,< =AHRS rotation from veh to nav: [[-0.169146,0.985463,0.015893],[-0.973589,-0.169573,0.152869],[0.153342,0.010384,0.988119]]-Hſ?KF?'@ſ4?? D? ?i-O@I-b;-WCYMByM"IԑiMb@Mb@Mb@ 9`"p= ףI +Yy9z@ @ @)@Y=@bDDVDJ3y=%6=ٔ/Q- >9 Y =HFy"E>Q 5%4?Q 9%4g)BBY%q>Q E-;y-.?Q I-?HCI; ;i;4y1ɮ5!A1*N9RNA:NABNA2NAiQ)Q)QQYiYYIaBm<Am4=%3@! @!@%0@!A)zA)A1A1ԹAIIO> "x,u?A2B@2=@2c!ٱ2SL< :AHRS rotation from veh to nav: [[-0.170599,0.985174,0.018136],[-0.972760,-0.171324,0.156163],[0.156955,0.008999,0.987565]]2H/ſ? 7? ſ%??Cn?!?i2B@I29Lb;2YCYBByB "IbDJ3VDJ3yRe<%Vd=ٔVA'Q-V>9TYX=ZHFyXZܑEZ>\Q 5b4^/?Q 9b4^if)^:BYdyf?Q If?^NCI^l:i^:^䉰4yhɮj Ah*NpRNp:NpBNp2Npix)x)xx|i|II l?) Z?%F:->i-?9@ @@4@IIOg>Q = R=y ,`u?A2jN@29 Y =HFyN;E>Q 5%4?Q 9%4d)1BY)y-Q?Q I-?UCI:i-:4QyɮJA*NRN:NBN2Ni))顩iI=:%)3@! @!@%O0@)I9IIԁO:>a}a aa aaaa aa aa Bu>Bu)CBuT"IBuBBu =BqBuDaa BuY;Bu"Eԩ 腝,*v?A6Xz@6*u@6$ٱ6)M; >AHRS rotation from veh to nav: [[-0.163938,0.986244,0.021122],[-0.973490,-0.165206,0.158189],[0.159503,0.005372,0.987183]]6H`ĿP?ࠕ?&t%ſ??`j?v??i6Xz@I6]`;6WCYFByF"IiMMb@Mb@Mb@IIII I9M ףp= ʡEQYMQyMMuMd@M7@ M@)M@IYM@bDe;VDe)3yu<%uR=ٔ}8Q-}>9yY=HFyc<E>Q 54?Q 94c)+BY=Q E;yi@Q I?[CI" ;iz ;y4yBɮA*NRN:NBN2Ni))iIԱm&:03@ @@ 3@ II)O5.>iyIy 9 F,2v?A2@2ʵ@2"ٱ2_; :AHRS rotation from veh to nav: [[-0.156284,0.987506,0.020193],[-0.974944,-0.157508,0.157082],[0.158300,0.004863,0.987379]]2HĿ?g?27)Ŀ@?`)C?s?@?i2@I28_;2YCYBByB"IbDJ:VDJ{3yR<%VX=ٔV~S;Q-V>9XYX=ZHFyXZ%<E^>`Q 5b4b휊?Q 9f4bb)b%BYdyf@Q If?baCIb9:ib:b4yhɮnAl*NpRNp:NpBNp2Npix)x)|||i|I fA fA:m'3@i @q@u4@qIIO=9i C,Lv?A,Ui @U;@UFr ٱUO; mAHRS rotation from veh to nav: [[-0.146995,0.988963,0.018586],[-0.976751,-0.148093,0.155004],[0.156046,0.004631,0.987739]]UH ¿ ?/?@A`¿+?@M?r??iUi @IUys_;QY}By}"IAB>B*CBf"IB BB =BBBU;B Ei]Mb@Mb@Mb@YYYY Y9]Zd;/$I +Y]yy]]94]@]@ ]@)YYY]@im@AbDu+VDuE3yż%/=ٔ;Q->9Y=HFyd<E>Q 54휊?Q 948b) BY=Q EJ 9 3$,Wfv?Aɰ4<2+r@2l@2Qٱ2%Q; :AHRS rotation from veh to nav: [[-0.134577,0.990761,0.016765],[-0.979166,-0.135560,0.151187],[0.152063,0.003931,0.988363]]2H`9P?*?SU ZZ? v?p?`?i2+r@I25_;0YBByF!IbDN>VDN43yr%rj=ٔr<9tYt=vHFytz=Ez>|Q 54~윊?Q 94~a)~BYy?Q I ?~gCI~;i~g:~R4yɮ=A*N!RN!:N!BN!2N!i1)1)9AAiAIII:Im-3@i @i@m?0@iIyIO>qԡ | ,+0v?A6@6@67ٱ6; >AHRS rotation from veh to nav: [[-0.120701,0.992591,0.013973],[-0.981742,-0.121443,0.146406],[0.147018,0.003953,0.989126]]6H`?澿`M? ?mj q?`?-1p?@?i6@I6__;4YFByF!IbDN&VDNދ3yV%VN=ٔVR9XYX=ZHFyX^,=E^>`Q 5f4b<윊?Q 9f4ba)bBYdyfI?Q Ij?bjCIb:ib1:bB4ylɮnyAl*NpRNp:NtBNt2Ntix)|y)y顁iII>); :IfA)eAM3@I @I@M0@IIaIyO>ԩB->B)B)B)B- =B)B)B-W;B-!E /6, v?A2\@2V@2hٱ2; :AHRS rotation from veh to nav: [[-0.106738,0.994237,0.010037],[-0.984164,-0.107083,0.141263],[0.141524,0.005200,0.989921]]2H-S ?h?D~ i`?q?@hLu?@o?i2\@I2Eb_;0Y^Byb!I ``f=f=iMMb@Mb@Mb@IIII I9M~jtkt?~jthYMDyM 0=MDM@M @ M@)M@IYM3@bD0VD3y:%9=ٔTM9Y=HFy,=E>Q 54휊?Q 94`)BYE7=Q EQ I?mCI;i;4y ɮ A *NRN:NBN2Ni!))))))i)1I15:)3@ @@0@I1IAO9>1Y :`,v?A>֌@>ѓ@>\ ٱ>; FAHRS rotation from veh to nav: [[-0.092061,0.995733,0.006390],[-0.986444,-0.092074,0.135832],[0.135841,0.006201,0.990711]]>HI@ ?w,z?`@" b?=c?fy??i>֌@I>y_;>VCY^Byb!IbDj8VDj3yrg<%r[=ٔr|9tYt=vHFytz$=Ez>|Q 54~A?Q 94~`)~BYy,>Q I?~oCI~D;i~a;~°4yɮA*NRN:NBN!2N!i))1)111i19I91U9a03@ @@0@IIOB>ԉԹ J,}v?AmH@mRC@m ٱmw; AHRS rotation from veh to nav: [[-0.078415,0.996918,0.002545],[-0.988375,-0.078076,0.130459],[0.130256,0.007714,0.991450]]mH?d?Ġ ?7?? ?imH@Im"#`;mWCBB)CBT"IBBB =BBB^;B$EB})CB})CB}CB} =B} =C}056YBy!IԑiMb@Mb@Mb@ 9ˡE?~jt?Mb?Y'=y=<@@ @)@Y=@bD,VD3yVJ%-=ٔoC9Y=HFy<E> Q 54 ?Q 94 ca) BY*n=Q Ed Lr,v?A2H@2@2ٱ27a< :AHRS rotation from veh to nav: [[-0.065567,0.997848,-0.000878],[-0.989950,-0.064938,0.125630],[0.125303,0.009106,0.992077]]2H@ɰ`^?Lğ?` ?(??i2H@I2._;2YCYBByB!IIF<)F<bDN/VDN3yV]=%Vy=ٔZxQ \,Zw?Aɰ;6@6@6~ٱ6<+< >AHRS rotation from veh to nav: [[-0.053914,0.998538,-0.003862],[-0.991183,-0.053047,0.121419],[0.121037,0.010374,0.992594]]6H@?o ŷ@(`P?A?9??@T?i6@I6_;4YFByF!IbDR2VDR 3yV#%VJ=ٔZ.9XY\=^HFy\bp<Eb>dQ 5j4f?Q 9j4f-b)f$BYhyjYQ Ij?fwCIfI;ifw;fװ4ypɮr) Ap*NtRNt:NtBNx2Nxi))i I U9 CrG AI9YA 3@ @@0@IIO>y%?-zAyBBBA"IBBBBBBhe;B~(Eԡ „Ɲ,GWw?A2k@2f@2fٱ2=< :AHRS rotation from veh to nav: [[-0.043280,0.999042,-0.006421],[-0.992175,-0.042227,0.117497],[0.117114,0.011456,0.993052]]2H('?-MzȞM?(?av??i2k@I2M_;2UCLYjByj!Ii]Mb@Mb@Mb@YYYY Y9]l?Q?Mb?Y]=y]\=Y]@] @ ]@)]@YY]@bDuFVDu4yؓ<%>=ٔF9Y=HFy<E>Q 54??Q 94c)*BY,=Q E! f̝,b05w?A2Ŭ@2@2Jٱ2R< :AHRS rotation from veh to nav: [[-0.035441,0.999333,-0.008786],[-0.992831,-0.034203,0.114527],[0.114150,0.012782,0.993381]]2H@C%?@3F`@Q?8? 4-??i2Ŭ@I2N_;2[CYBByB!I DD Jp9XYX=ZHFyX^L<E^>`Q 5f4b`?Q 9f4bc)b/BYdyftUQ If?bCIb:ib:b4ylɮn) Al*NpRNp:NpBNp2Ntix)|9)|AAiAYIa59!3@ @@@IIO>AYԁ ӝ,Ow?A88=ӎ@=Ε@=}ٱ=b<Ae@AAe@ABBB."IB܃BB =BBBk;B+E 5AHRS rotation from veh to nav: [[-0.030698,0.999475,-0.010372],[-0.993199,-0.029336,0.112671],[0.112308,0.013761,0.993578]]=HI/ ؼ?@0?.?d?i=ӎ@I=b%_;=WCYEByE!IiMb@Mb@Mb@ 9?RQ?~jth?Y=y=D;@ E@)@Y3@bDEVD3y@k;%*=ٔ|;Q->9Y=HFy'#<E > Q 54 ?Q 94  e) 2BYF >Q E;y*VQ I? CI :i : 4y)ɮ-" A)*N1RN1:N1BN12N1,=B*** querying acoustic contact ***L9L9iI)I)IIQiQQIYE92Acoustic response timeout6setting remote address to 0 3@ @@4@I)I9OER>Iy zٝ,hw?A2[@2-@2ٱ2k< :AHRS rotation from veh to nav: [[-0.027744,0.999551,-0.011294],[-0.993476,-0.026322,0.110963],[0.110616,0.014299,0.993760]]2HiS?@X!%h?VQ?@H??i2[@I2_;2YCYBByB!IbDJ=VDJ3yR=%Vz=ٔVi;Q-V?9TYX=ZHFyXZ<EZ?*DAT read: user:419>  TDAT read: RemoteAddr | 0  .set remote address to 0 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9Q 5E4=?Q 9M4=e)=5BYIyMnUQ IM?=CI=:i= :=4yQɮUAY*NaRNa:NaBNa2Naiq))项iI Yq9I)fA-$3@) @)@-4@1IAIQO]>ԁ*DAT read: user:420> BDAT read: Tx time:03:41:19.3128 $Ping request sent.9tYt=vHFytz;;Ez>|Q 54~?Q 94~g)~8BYy 5UQ I ?~CI~y:i~:~4yɮA*NRN!:N!BN!2N!i1)1)111i19IA5 9Ա3@ @@4@IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250975BqBqBu("IBuփBBu =BqBqBup;Bu5.E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029429 ,힜w?Aɰ2ߎ@2^ڕ@2~ݽٱ2< :AHRS rotation from veh to nav: [[-0.029306,0.999486,-0.013009],[-0.993719,-0.027726,0.108412],[0.107996,0.016104,0.994021]]2Hr?Q:d? ?}??i2ߎ@I2%_;2YCYnByn!IiMb@Mb@Mb@ 9(\µ??~jth?Y=yL=@@ \@)(@Y@bD=VD3yu5<%>=ٔ;Q->9Y=HFy»E>Q 54?Q 94g);BY=Q Eq w,ww?A 6@6غ@6BH۽ٱ6J< >AHRS rotation from veh to nav: [[-0.033134,0.999367,-0.012944],[-0.993721,-0.031556,0.107343],[0.106867,0.016420,0.994138]]6H? l )(z?[?FА??i6@I6o)_;6WCYFByF!IbDNGVDN4yV*ȼ%V\=ٔV9XYX=ZHFyX^)E^>`Q 5f4b?Q 9f4bh)b>BYdyfQ Ij?bCIbK:ib:b4ylɮnAl*NpRNp:NtBNt2Ntix)|)yyyiyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007722i3@ @@4@IIO=ԙ - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922,aTw?APb,@b@bwRؽٱbpe<B>BB""IBуBB =BBBt;B"0E AHRS rotation from veh to nav: [[-0.038337,0.999192,-0.012085],[-0.993688,-0.036845,0.105961],[0.105430,0.016071,0.994297]]bH a?@INݢ< ?q?@t?G?ib,@Ib1_;bXCYBy!I ))i Mb@Mb@Mb@     9 Q?Mb?~jth?Y u=y =  @ @ @)  Y @ !!bD%<VD%3y5<%=(=ٔ=OB;Q-=>99YA=EHFyAE/EE>IQ 5U4M>?Q 9U4Mi)M@BY]f=Q E]B! 8,-w?A62P@6K@6սٱ6m9< >AHRS rotation from veh to nav: [[-0.046709,0.998845,-0.011226],[-0.993452,-0.045277,0.104897],[0.104268,0.016052,0.994420]]6H0꧿? [.ں? G?o?`I?i62P@I6ۡ`;6WCYFByF "IbDPVDPyV=%Z=ٔZn;Q-Z ?9\Y\=^HFy\bּEb ?`Q 5f4b?Q 9j4bj)bBBYhyjԏQ Ij?bCIb:ibl:b4vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763362yxɮz Ax*N RN :N BN 2N i!)!))))i)1I1 E:Uninitialize Docking Stepper. EPowering downIM)MMiMIaIyOM=)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015495ԁ b,h x?A2@2@2Yҽٱ2< :AHRS rotation from veh to nav: [[-0.055614,0.998400,-0.010219],[-0.993174,-0.054267,0.103249],[0.102530,0.015892,0.994603]]2H y?턿ȫ`n?`??`E??i2@I2a;2YCYnÃByn"IbDvVVDvE4y~Y<%E=ٔ.;Q->9 Y = HFy  ,E >Q 54?Q 9%4j)DBY!y%Q I%?CI;iv;V4y)ɮ-A1*N9RN9:N9BN92N9iI)I)QQQiQQYIaIqIOR=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267204ԁB>BB."IB܃BBBBBpw;B1EBBBƓCBƻ =Bƻ =C}4Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519851 ,x?A2@2@2νٱ2^W< :AHRS rotation from veh to nav: [[-0.065698,0.997792,-0.009733],[-0.992774,-0.064380,0.101268],[0.100418,0.016315,0.994812]]2H`Ѱ?6{????i2@I2b;2VCYB̃ByB"IIFY>)Fp;DFAieMb@Mb@Mb@aaaa a9eS㥛?~jt?MbpYe/9Y=HFyļE>Q 54e?Q 94k)CBY@9XYX=ZHFyX^lE^>`Q 5f4b?Q 9f4b[k)`YdyfxQ If?bCIb1:ib:bD,4ylɮnAl*NpRNp:NpBNp2Ntix)|)|||i|III)O="=]BDAT read: Rx Time:03:41:21.7179 eTRx dataTimestamp_ set to:1761536480.948170echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024068A+GjAMA߿9jAYAq checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274996ԙ 5,ۧQx?ABt@BF @B ½APAPB^>B\B^A"IB^BB^ =B\B\B^|y;B^2EٱBr< -AHRS rotation from veh to nav: [[-0.085640,0.996297,-0.007572],[-0.991788,-0.084522,0.095983],[0.094988,0.015729,0.995354]]BHx쵿 ?]๼ CY?Q?Y??iBt@IB`;BXCY]كBye,"IbD@VD3qy.=%/=ٔ.;Q->9Y=HFy~E>Q 54?Q 94k)YyQ I?CI;iG;|44yɮ4A*NRN:N BN 2N i1)1)119i99IAIyIO=mDAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s mX#Rx 1: Read range message, but no direction.yYY]?Yԙ \,ukx?ABČ@B@BuzٱB9q< NAHRS rotation from veh to nav: [[-0.094713,0.995487,-0.005958],[-0.991254,-0.093755,0.092878],[0.091901,0.014703,0.995660]]BH??gxYLƷ?̆??q?iBČ@IB`;BWCYV߃ByV3"I \\df=iuMb@Mb@Mb@qqqq q9uMb?9Y=HFyʼE>Q 54?Q 94k)ABYCAHRS rotation from veh to nav: [[-0.103135,0.994658,-0.004413],[-0.990707,-0.102327,0.089602],[0.088672,0.013613,0.995968]]6Hg 9XYX=ZHFy\E>Q 5%4z?Q 9%4k)?BY!y%Q I%?CI:i:A4y1ɮ5A1*N9RN9:NABNA2NAiI)Q)QQQiQYIYIqIOQ=)YB>B(CBN"IBBBBBDB{;BP3Eԉ n',(,x?A06C@6u>@6뮽ٱ6 Q< >AHRS rotation from veh to nav: [[-0.110383,0.993884,-0.003283],[-0.990221,-0.109692,0.086193],[0.085305,0.012765,0.996273]]6H@B?cj``?ֵ?$? x?i6C@I6F_;6WCYFByFF"IiMb@Mb@Mb@ 9S㥛9Y=HFyE>Q 54?Q 94k);BY=Q E9xYx=zHFyx~iE~>Q 5 4y?Q 9 4Hk)8BY y @Q I?CI-:i:O4yɮbA*N!RN!:N)BN)2N)i1)9)999i9AIAIYIqO=A 4,x?AɰB*<A*p<B.>B.'CB.Z"IB.BB. =B,B,B.#|;B.3EVg@V9@VOGٱVO4< bAHRS rotation from veh to nav: [[-0.119900,0.992785,-0.001480],[-0.989664,-0.119405,0.079418],[0.078668,0.010987,0.996840]]VH@ʱ?>@X@TTT?#?c??iVg@IVs_;VVCYfByfV"IbD~=VD~3!y5=%=F=ٔE&;Q-M>9QYY=eHFyauEu>Q 54?Q 94j)4BYy@Q I?CI;i;W4yYɮe$Ai*NRN:NBN2Ni))iI!IYIiO=Iqԡ :,+x?AB@Bܒ@BКٱB+v"< fAHRS rotation from veh to nav: [[-0.122285,0.992495,-0.000580],[-0.989618,-0.121886,0.076163],[0.075521,0.009887,0.997095]]BH N?B3@q?YU??? 4?iB@IB9_;BWCYjByn^"Ii]Mb@Mb@Mb@YYYY Y9]{Gz~jt9Y=HFyE>Q 54?Q 94j)2BY3=Q E\`a䝲?y?@F?@O?i2݋@I2_;0YbByba"I ddf=f= j;jbDn;VDn)3yv?p<%vU=ٔv9xYx=zHFyxz%ͺE~>aQ 5e4e?Q 9m4eyj)e0BYiym#@Q Im?eCIe:ie:ee4yqɮ}Ay*NRN:NBN2Ni))顙iIIIOy=BE>BABEm"IBEBBE =BABABE};BEE4E9Y  TDAT read: user:421>Rx Time:03:41:25.4573  TRx dataTimestamp_ set to:1761536484.480302yG,v y?AF@F@FeٱF#< NAHRS rotation from veh to nav: [[-0.121278,0.992619,0.000325],[-0.990252,-0.121011,0.068970],[0.068500,0.008043,0.997619]]FH@ ?L5?`%`?5? x?~?iF@IF[_;FVCYVByVb"Ii5Mb@Mb@Mb@1111 195+/${GzY5y5,5#5d@5@ 5@)5l@1Y5@bDM<VDM3y6E;%>=ٔ 9Y=HFy0;E>Q 54D?Q 94i)-BYNn=Q Ed9\Y\=^HFy`b-;Eb>dQ 5j4f?Q 9j4fi)f+BYhyj@Q In?fCIf:if:fr4ypɮr_Ap*NtRNt:NtBNx2Nxi))i  I I)I9OE(=ԑ A9 A9 BE >BA BE y"IBE BBE =BA BE DBE };BE 4EB'CWT,,Ty?AB=(CB9B= =B= =C=560$@6@6Ozٱ6; >AHRS rotation from veh to nav: [[-0.114388,0.993436,-0.000263],[-0.991557,-0.114155,0.061507],[0.061073,0.007297,0.998107]]6HH:?RB1ֺB9@}?D?1}?`}?i60$@I6 5_;6WCYNByRo"IIV<)V9Y=HFy!-<E5>qQ 54u?Q 94ui)u(BYyV@Q I?uCIu.EDAT read: UXDAT read: DATA(0023):failc h dockingstepper UGot DATA 23UDAT read: ]NDAT read: Source:050 Destination:011 ]0Got Src/Dest after DATA ]&DATA Src=50, Dst=11mDAT read: CRC:Pass MPD:03.4 PSNR:17.0 AGC:32 SPD:-0.1 CCERR:013 mGot CRC:PassmGot CRC:Passm@Incoming data is intended for usmRReceived command: failc h dockingstepper m #Outgoing data=1mSending ackuDAT read: u"DAT read: a u}pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT=5 bgot command failComponent hardware DockingStepper=5 XDockingStepper failureMode is Hardware Fault9 ԡ CZ, ny?A4<ɰ6VP@6(K@6iٱ6;R8setting remote address to 50 ZAHRS rotation from veh to nav: [[-0.109069,0.994034,-0.000643],[-0.992398,-0.108852,0.057421],[0.057009,0.006901,0.998350]]6H뻿` ? Eݻ Wf?C0?@9Y=HFyd<E>Q 54?Q 94\h)'BY =Q E19aYa=eHFyim7<Em>qQ 5}4u ?Q 9}4ug)u&BYy?Q I?uCIua;iu ;uo4yɮA*NRN:NBN2Ni))顩iIIIO=i߱I߱*DAT read: user:422> DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledgedzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYBB&CB"IB#BB =BBB ~;B4E) h,y?A2̾@2@2Dٱ2м; :AHRS rotation from veh to nav: [[-0.095723,0.995407,-0.001137],[-0.994251,-0.095557,0.048314],[0.047983,0.005755,0.998832]]2HM`?١R ev`?H?w?m?i2̾@I2^;0LYR)ByR"IV=V=i-Mb@Mb@Mb@)))) )9-X9vy&1Mbp?Y-}y-`弙-;-d@) -d@)-@)Y) p<<bD9VD3y&=%E=ٔ:9Y=HFy<E>Q 54\?Q 94f)Y=Q EBɶ; >AHRS rotation from veh to nav: [[-0.088579,0.996068,-0.001764],[-0.995150,-0.088421,0.043101],[0.042776,0.005573,0.999069]]6H ?@\@E¢b??v?_?i6@I6^;4YF#ByF"IbDR=VDR3yZ%Z\=ٔZe9\Y\=^HFy\b<Eb>dQ 5f4f?Q 9j4fIf)dYhyj?Q Ij?fCIfi:if;f/4ypɮrAp*NtRNt:NtBNt2Nti|))i I I)I9OE)==ԉԱ B A <B B 'CB "IB (BB B B B 9~;B 4Eu,ury?A2.@2)@2 ٱ2y; :AHRS rotation from veh to nav: [[-0.082144,0.996619,-0.001985],[-0.995916,-0.082011,0.037761],[0.037471,0.005079,0.999285]]2H`bL?@C` oU? [/? t? $?i2.@I2^;0\Yb+Byb"IbDj8VDj3yr=%rG=ٔvT9tYt=zHFyxz~<Ez>!Q 5-4%?Q 9-4%e)%'BY1y5?Q I5?%CI%d:i%:%q4y9ɮ=AA*NIRNI:NIBNI2NI,UB*** querying acoustic contact ***LQLQi))i III O5=-T****** received valid address query ******-R****** received valid ping request ******A G{,4My?A2ga@29\@2_ٱ2k; :AHRS rotation from veh to nav: [[-0.076020,0.997105,-0.001810],[-0.996606,-0.075924,0.031810],[0.031580,0.004222,0.999492]]2H vG?K]`2@o XI?`B+? BKq?@?i2ga@I2X^;0i@I@FT****** received valid address query ******FR****** received valid ping request ******YJ'ByJ"IIN=)NNALiMb@Mb@Mb@ 9A`"~jt9Y=HFyei<E>Q 54?Q 94d)(BYa=Q Ep9tYt=vHFytzU<Ez>|Q 54~P?Q 94~rd)~*BYyi?Q I ?~CI~D;i~;~u4yɮdA*NRN:NBN!2N!i))1)111i1yIIIO =2Acoustic response timeoutԡ=*entering command modeB>BB"IB-BBBBB3~;B4E E =E <E DAT read: M *DAT read: user:423> M 2Acoustic response timeoutM 6setting remote address to 0k,Q#z?Aj@j@jٱj{X; AHRS rotation from veh to nav: [[-0.067239,0.997735,-0.002050],[-0.997563,-0.067189,0.018797],[0.018617,0.003309,0.999821]]jH6q?e` G3|??7? xk??ij@Ij]^;jUCY-.By-"IԱiMb@Mb@Mb@ 9:v9Y=HFyj<E>!Q 5-4%?Q 9-4%&d)%+BY5 TDAT read: RemoteAddr | 0 .set remote address to 02Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. 9 i,9xYx=zHFyx~;E~>Q 5 4 ?Q 9 4c),BY yE?Q I?CIy:i:4yɮTA*N!RN):N)BN)2N)i9)9)99AiAAIIIaIqO}F=*DAT read: user:424> BDAT read: Tx time:03:41:30.4128 $Ping request sent.B B "IB (BB B B B '~;B 4EԹ j,oVz?A2ʍ@2Ŕ@2mٱ2*: :AHRS rotation from veh to nav: [[-0.063228,0.997998,-0.001425],[-0.997988,-0.063221,0.004894],[0.004795,0.001731,0.999987]]2H`/?rWW8/`@ t?s?o]\??i2ʍ@I2^;2UCYR!ByR"IbDZXVDZ!4y%%%G=ٔ-9)Y)=5HFy15d;E5>9Q 5E4=i?Q 9M4=c)=-BYQyUa?Q I]?=CI=;i=';=4yqɮuAq*NRN:NBN2Ni))顙iIIIO=ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113 ',pz?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549036ˍ@6_Ɣ@6:ٱ6K: BAHRS rotation from veh to nav: [[-0.063132,0.998005,-0.000714],[-0.998003,-0.063133,-0.001910],[-0.001952,0.000592,0.999998]]6He) ?@iG{) FL_@x_yiC??i6ˍ@I6^;6VCY^Bybr"IiMb@Mb@Mb@ 9{Gz?~jt?~jth?Y#9Y=HFyp9E>Q 54?Q 94c)YMAHRS rotation from veh to nav: [[-0.064327,0.997929,-0.000744],[-0.997894,-0.064331,-0.008287],[-0.008318,0.000209,0.999965]]6Hw?@aH x@hr+??i6@I6^;6SCY^By^}"IIb=)bd?fAdddbDjTVDj4yrX<=%rY=ٔv9tYt=vHFyxz3QEz>|Q 54~,?Q 94~c)~.BYy BQ I ?|I~:i~y:~α4yɮ'A*NRN!:N!BN!2N!i1)1)119i99IAIYIiOuA=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074yB)B)B-"IB-BB- =B)B)B)B-4EBB'CBB =B =C"4ԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511071~,sLz?Aɰ4<:Ϭ@:@:'j<ٱ:U9 BAHRS rotation from veh to nav: [[-0.066870,0.997761,-0.001159],[-0.997659,-0.066879,-0.014246],[-0.014291,0.000204,0.999898]]:H@`?R`,D୷*?)?i:Ϭ@I:^;8\YbByby"IiMMb@Mb@Mb@IIII I9MI +?Q?YM94=yM9yYy=}HFyy'ƻE>Q 54"?Q 94]d)Y Z=Q Ey9!Y!=%HFy!-E->1Q 5=45?Q 9=45d)1YAyEmQ IE?5CI5 ;i5 ;5ݱ4yIɮMAI*NQRNQ:NYBNY2NYii)i)iiiiiqIyIIO^=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982I+G9UMA}4ھ9yY@q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870ԡ B% <A! B- >B- (CB- m"IB- BB- =B) B- DB- ~;B- 4Eɺ,%z?A2po@2Bj@2]<ٱ2S[ :AHRS rotation from veh to nav: [[-0.074327,0.997233,-0.000984],[-0.996934,-0.074329,-0.024451],[-0.024456,-0.000836,0.999701]]2H V?P 9`  VhK?i2po@I2~{^;2TCY^By^{"I ``f=f= fp9tYt=vHFyxz1Ez>|Q 54~?Q 94~Re)~-BYy Q I ?~CI~):i~y:~4yɮ3A*NRN!:N!BN!2N!i1)1)1q1iII!IaO=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518871 廞,qz?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771049:H@:C@:fo<ٱ:7얺 FAHRS rotation from veh to nav: [[-0.079029,0.996872,-0.001105],[-0.996465,-0.079029,-0.028493],[-0.028492,-0.001151,0.999593]]:HD;_?R 9;d-,R@?i:H@I:6^;:SCYJByNw"Ii=Mb@Mb@Mb@9999 99=T㥛 ?ˡE?~jthY==y='==D=@=@ 9)99Y9bDM^VDM,4y]|%eC=ٔep9iYi=mHFyimQ8Eu>qQ 5}4u/?Q 94u f)u,BY=Q E0Q I?uCIuH:iuQ:uJ4yɮNAI*NQRNY:NYBNY2NYii)i)qqqiqIIIO=BDAT read: Rx Time:03:41:32.8177 TRx dataTimestamp_ set to:1761536492.040454checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024328)Y #ž, {?A:@:@:=ٱ: BAHRS rotation from veh to nav: [[-0.084226,0.996446,-0.001552],[-0.995944,-0.084232,-0.031619],[-0.031637,-0.001117,0.999499]]:HΏ?`mYB Y02@NR?i:@I:8w^;8YJ ByJi"IbDVQVDV4yZc%^V=ٔ^ 9`Y`=bHFy`f`Ef>dQ 5j4fT?Q 9n4ff)f+BYlyn承Q In?fCIf@;if;f4ytɮvAt*NxRNx:NxBNx2Nxi) )   i II)I9OM*=1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274946B>B)CBT"IBBB =BBB~;B4Eaԉ- DAT read: 03:41:32.8177 LVL= 13632, 7697, 18546, 17059, AGC= 36, IDX= 37,-0.29, 2.830, 2.247, 2.365,-2.435, PHS=-0.916,-1.557,-1.528, RAW= 92.3, 66.1, CAL= 91.6, 69.5, ROT= 58.4, -69.5 5 Ygot valid direction response: 03:41:32.8177 LVL= 13632, 7697, 18546, 17059, AGC= 36, IDX= 37,-0.29, 2.830, 2.247, 2.365,-2.435, PHS=-0.916,-1.557,-1.528, RAW= 92.3, 66.1, CAL= 91.6, 69.5, ROT= 58.4, -69.5 E DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s M R#Rx 1: Read range and direction messages.U \direction in FSK: [0.183504,0.298281,0.936672]U Fpublishing direction and range infoy  ?M }?AS ?x7?Y ?  @5  rH  B) $I ~ji Kǿ ÿ ?3? 7? ?  C?) w?I C   ?NDAȿ֖"DA?  ) @I w?i C  [Ȟ,9%{?A6@6@6 =ٱ6. BAHRS rotation from veh to nav: [[-0.089673,0.995970,-0.001602],[-0.995395,-0.089676,-0.033868],[-0.033875,-0.001443,0.999425]]6H?`>ZF `/WXeW@J?i6@I6f^;6UCYNByNu"ITVAi%Mb@Mb@Mb@!!!! !9%ʡE?X9v?~jtY%-=y%<%D%@%@ %@)%@!Y!yybDFVD4Աy =%-=ٔ ;Q->9Y=HFy=E>Q 554@?Q 9=4g)(BY==Q E=JM5 C@bM5?M }?AS ?x7?RM5?M }?AS ?x7?:M5w?BM5CjM5 '?`ݾ1[?ZM5 '?`ο1[?M5M5>M5ʹ? M5j"M5BM5,^?M5 M5BM5@BM51>ia)i)iiiiiqIqIIO (> 9 Ϟ,k?{?Aɰ;6Œ@6@68S=ٱ6vG >AHRS rotation from veh to nav: [[-0.095302,0.995447,-0.001466],[-0.994825,-0.095294,-0.035249],[-0.035228,-0.001901,0.999377]]6He`?`X 4e* `r #_?i6Œ@I6z^;6TCYDyDbDRLVDR 4ٔZ;Q-Z?9\Y\=^HFy\b㊼Eb?dQ 5f4f?Q 9j4fh)f%BYhyjGQ Ij@fCIf:if-:f4ypɮpp*NtRNt:NtBNt2Nti|))i I I!I1OE&=Aq A @AA AAB >B *CB A"IB BB =B B DB };B 4E֞,ILY{?A$:@:ґ@:7=ٱ:{%# BAHRS rotation from veh to nav: [[-0.100603,0.994926,-0.001138],[-0.994279,-0.100579,-0.035974],[-0.035906,-0.002488,0.999352]]:Ho?DR@!0kCb@Pad@?i:@I:Pg^;8YJByJw"IbDRBVDR3yZ;%Z<ٔ^u:Q-b>9`Y`=bHFy`fWEf>hQ 5j4j?Q 9n4ji)j"BYlynQ In@jCIj;ij;j%4ytɮvLAt*NxRNx:NxBNx2Nxi) )   i II)I9OM*=yԙ 1ܞ,%s{?A6k@6f@6=ٱ61 >AHRS rotation from veh to nav: [[-0.105824,0.994384,-0.001115],[-0.993736,-0.105796,-0.035990],[-0.035906,-0.002700,0.999352]]6H N?ER@nDm>b`f ?i6k@I6܊^;6SCtYvByz~"I~=~=iuMb@Mb@Mb@qqqq q9ukt?{Gz?~jtYu =yu#=uqu@ q)ud@qYu@ ;p;bDPVD:4y<%<=ٔشQ->9Y=HFyFE>Q 54?Q 94j)BY=Q E AHRS rotation from veh to nav: [[-0.110641,0.993860,-0.000946],[-0.993230,-0.110605,-0.035509],[-0.035395,-0.002989,0.999369]]2HR?&N@P1.T|h?i2ED@I2ă^;0YB&ByF"IbDNLVDN 4yVP=%V[=ٔVQ-Z>9XYX=ZHFyX^TE^>`Q 5f4b?Q 9f4bqk)bBYdyf0Q Ij@b CIb:ib-:b;4ylɮnAl*NpRNp:NpBNt2Ntix)|)iI YIIOh=Bu>BqBu5"IBuBBqBqBqBu~;Bu4EԉԱ - =) C,ڦ{?A2@2@2 =ٱ2awi :AHRS rotation from veh to nav: [[-0.115554,0.993301,-0.000437],[-0.992706,-0.115500,-0.034561],[-0.034380,-0.003560,0.999403]]2H`?<`? o񱡿4}*m?i2@I2J^;2UCYB+ByB"Ii Mb@Mb@Mb@     9 A`"?:v?y&1Y Y=y < `e @ @ @) z@ Y \@bD%>VD%43y5C<%5B=ٔ=Q-=>9AYA=EHFyAE?EE>IQ 5U4Mi?Q 9U4Ml)MBY]x=Q E]Z9`Y`=bHFy`f;Ef>dQ 5j4f ?Q 9n4fl)fBYlynQ In@fCIfD;ifr;f`#4ytɮvAt*NxRNx:NxBNx2Nxi))   i II)IAOM,=AiBe <Ae <Bm >Bi Bm A"IBm BBm =Bi Bi Bm '~;Bm 4EB-*CB-)CB)B-ʺ =B-ʻ =C-º5ԙ U,?{?Aɰ4<2֋@2ђ@2x=ٱ2́ :AHRS rotation from veh to nav: [[-0.123905,0.992294,-0.000032],[-0.991779,-0.123842,-0.032210],[-0.031966,-0.003959,0.999481]]2H=`? `@}@]`z7p?i2֋@I2~}^;2VCYj3Byj"IbDvWVDv 4yz/<%~F=ٔ~89Y=HFy E > Q 54 ?Q 94 8m) BYy>Q I@ CI ;i ; *4y)ɮ-fA)*N1RN1:N1BN12N1iA)I)IIIiIQIQIqIOO=qԡ ,k{?A20@2@2<ٱ2 :AHRS rotation from veh to nav: [[-0.127022,0.991900,0.000292],[-0.991421,-0.126952,-0.031106],[-0.030817,-0.004241,0.999516]]2HCB?#3?`? `ڟ`^q ?i20@I29^;2SCYB8ByB"IiMMb@Mb@Mb@IIII I9My&1?MbP?y&1|YM`e9yYy=}HFyE>Q 54?Q 94_m) BY|9tYt=vHFytzgEz>|Q 54~?Q 94~m)~ BYyпQ I @~CI~6:i~-:~84yɮA*NRN:NBN!2N!i))1)111i19I9IIO=)HBuffer send receipt timeout failure.In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFERBBBT"IBBBBBB$~;B4EYԑ m pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT ,B"(|?A0N@N@N<ٱN3 rAHRS rotation from veh to nav: [[-0.130353,0.991467,0.001307],[-0.991036,-0.130258,-0.029660],[-0.029236,-0.005161,0.999559]]NHl`?hiU?`I_%$uc?iN@IN^;NQCY}LBy}"Iԑi-Mb@Mb@Mb@)))) )9-ktX9vY- 0y---@-@ -V@)-z@)Y-\@bDEBVDE3yU%U=ٔ]Q-]>9YYY=eHFyae+Ee>iQ 5u4m?Q 9u4ml)iY} Y=Q E}zi߹I߹8setting remote address to 50qԡ _y,A|?A2@2@2y<ٱ2# :AHRS rotation from veh to nav: [[-0.130111,0.991498,0.001492],[-0.991068,-0.130010,-0.029695],[-0.029248,-0.005343,0.999558]]2H~Z?sX?Զ@-Ah 7u`?i2@I2mS^;2SCY^UByb"IbDjPVDj:4y=%=ٔ"98Q-(?9!Y!=%HFy!%q:E-(?)Q 554-?Q 954-l)- BY9y=+@Q I=@-CI-w;i-@;-F4yAɮM[AI*NQRNQ:NQBNQ2NQia)a)iiiiiqIqyIIO^=*DAT read: user:425> %TDAT read: RemoteAddr | 50 %0set remote address to 50-(entering online modeԡ *DAT read: user:426>  DAT read:  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 0online mode acknowledged zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYA A @AB >B B m"IB BB B B B 9~;B 4E ݣ,[|?A2@2졒@2<ٱ2x :AHRS rotation from veh to nav: [[-0.129701,0.991552,0.001539],[-0.991120,-0.129598,-0.029744],[-0.029293,-0.005383,0.999556]]2H@˺?L7Y? B`#u ` v]?i2@I2k];0YN_ByR"IVAVATVAAbDZVVDZE4yvsL=%vM=ٔv8Q-v>9xYx=zHFyxz:E~>Q 54?Q 9 4l)Y y 2@Q I @CI:i:M4yɮ A*N!RN!:N!BN!2N!,-B*** querying acoustic contact ***L)L)i1))项iIIIO== -T****** received valid address query ******-R****** received valid ping request ******1Y ,u|?Aɰ;>T****** received valid address query ******BR****** received valid ping request ******YzkBy~"Ii}Mb@Mb@Mb@yyyy y9}V- ףp= y&1|?Y}hy}Q8}`;}@}@ }@)}@yY}Q@bDWVD 41y-b=%57=ٔ=Q-=>99Y9==HFy9EEE>IQ 5U4M?Q 9U4M!k)MBYU=Q EU9tYt=vHFytv T<Ez>xQ 5~4z?Q 94zjj)zBYy@Q I@z%CIz ;iz;z[4y ɮ}A*NRN:NBN2Ni))))111i11I9IQIaOm?=ԑT****** received valid address query ******R****** received valid ping request ******B>BB"IB(BBBBB}~;B5EU T****** received valid address query ******] R****** received valid ping request ****** ),nk|?A2@2@2<ٱ2Ի :AHRS rotation from veh to nav: [[-0.120740,0.992681,0.002681],[-0.992201,-0.120596,-0.031528],[-0.030974,-0.006467,0.999499]]2H辿 ?;e?@c߾j$B}z?i2@I2 ^;2UCYNmByR"IV=V=imMb@Mb@Mb@iiii i9mzGếA`":v?Ym ׽ymYmT=ٔ:Q->9Y=HFyK&<E>Q 549?Q 94*i)BYY=Q E;y?Q I@+CIG;iF;{c4yɮA*NRN:NBN2Ni))!!!i!)I)IIO=T****** received valid address query ******R****** received valid ping request ******I 0,D|?A 6$@6@67=ٱ6ב׻ >AHRS rotation from veh to nav: [[-0.115397,0.993315,0.002850],[-0.992807,-0.115245,-0.032458],[-0.031912,-0.006575,0.999469]]6H@=?\Yg? OVz?i6$@I6^;6PCY^wBy^"IbDjNVDj4yrZ`=%rX=ٔr";Q-r>9tYt=vHFytzi<Ez>xQ 54z?Q 94zh)zBYyB B "IB 9dYd=fHFyhjҀ<Ej>lQ 5r4n?Q 9r4nf)nBYtyv ?Q Iv@n7CIn:inp:nq4yxɮzAx*N|RN:NBN2Ni))i!I!I9IIOU2=DAT read: %*DAT read: user:427> 52Acoustic response timeout56setting remote address to 0! =,U|?A2*DAT read: user:427> 6TDAT read: RemoteAddr | 0 :.set remote address to 0:2Acoustic response timeout:Querying Benthos address 50 with one ping in standard two-way mode.j@jX@j =ٱjo vAHRS rotation from veh to nav: [[-0.102366,0.994740,0.003620],[-0.994161,-0.102180,-0.034689],[-0.034136,-0.007150,0.999392]]jH@4`?m?`*}(@¡ SzI} ?ij@Ij$];jRCYzBy"II=)<AAi=Mb@Mb@Mb@9999 99=ˡEp= ףI +?Y=什y==94<=@9 9)=@9Y=@IM@AbDU=VDU3yed*%e3=ٔmT;Q-m>9iYi=mHFyqus<Eu>yQ 54}b?Q 94}e)}BYz=Q E;y@Q I@}=CI}:i}:} y4yɮ.A*NRN:NBN2Ni))项iIIIO=)Q*DAT read: user:428> BDAT read: Tx time:03:41:41.5128 %$Ping request sent.%9!Y)=-HFy)-<E->1Q 5=45?Q 9=45e)5!BYAyEy @Q IE@5BCI5n;i5Y;5`4yIɮM'AQY*NYRNY:NaBNa2Naii)q)qqqiqyIyI&dClearing failed state for component DockingStepperqIOc=BU>BQBU"IBUFBBQBQBQBU;BUa5EBÝchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254575B*CBBBú =C_c4ԉԱ ) - <E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506193.J,B*}?A2@2@2=ٱ2nܻ :AHRS rotation from veh to nav: [[-0.087131,0.996191,0.003513],[-0.995526,-0.086942,-0.037013],[-0.036566,-0.006723,0.999309]]2H:N ? l?`XA@Rθ{V?i2@I2];2SCYNhByN"IiMb@Mb@Mb@ 9L7A`尿QMb?Y+y<@ @)YQ@ԹbDKVD 4y+%?=ٔm5;Q->9Y=HFy<E>Q 54?Q 94Dd)#BY`=Q E59XYX=ZHFyX^><E^>`Q 5f4b?Q 9f4bc)b%BYdyf?Q Ij@bICIb:ib:bA4ylɮnAl*NpRNp:NpBNt2Nti|)|)|||i|III1O=$=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919M'GehA}At9hAY^@9iAA AE AABM >BI BM "IBM KBBI BI BI BM U;BM }5Ei߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259151ԑ ?W,g^}?AY~cBy"IbDPVD:4y%ۼ%%C=ٔ-Q-->9)Y)=-HFy)5E5>9Q 5E4=%?Q 9E4=b)=(BYAyAQ IM@=MCI=:i=N:=4yQɮUAQ*NYRNY:NYBNa2Naii)q)qqqiqyIyIIOb=qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512684ԩ i],Bx}?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629256Tٍ@6&Ԕ@6 =ٱ6ѧѻ BAHRS rotation from veh to nav: [[-0.061406,0.998105,0.003972],[-0.997339,-0.061201,-0.039607],[-0.039289,-0.006393,0.999207]]6H@py?Dp?4U@\G@/z?i6Tٍ@I6%^;6RCYRaByR"IiMb@Mb@Mb@ 9~jt{Gzt~jth?YDyףD;@ @)@Y=@bDDVDJ3yI%B=ٔk;Q->9Y=HFy&=E>Q 54?Q 94b)YZ?4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015197) eRd, }?A2@2@2"=ٱ2gػ >AHRS rotation from veh to nav: [[-0.052815,0.998594,0.004493],[-0.997812,-0.052594,-0.040064],[-0.039772,-0.006599,0.999187]]2H@ {?fr?M@\@v{W?i2@I2[^;2PCYBVByF"IIJ=)J49\Y\=bHFy`b<<Eb>dQ 5j4f?Q 9j4fb)f)BYhyn$?Q In@dIfQ;if;fq4ypɮrPAp*NtRNx:NxBNx2Nxi)) i  II)IOk=BBB"IBFBB =BBBp;B5E)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267518Yԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521146j,@}?A4<ɰ bc@b]@b#=ٱbϻ nAHRS rotation from veh to nav: [[-0.044626,0.998993,0.004553],[-0.998202,-0.044407,-0.040253],[-0.040010,-0.006341,0.999179]]bH.٦?`:r?E 1|5yF?ibc@Ib^;bTCYvKByv"IiMb@Mb@Mb@ 9Zd;O?9Y=HFy<E>Q 54~?Q 94b)*BY9Y=IFy<E>!Q 5-4%?Q 9-4% c)!Y)y- rQ I-@%QCI%:i%:%4y9ɮ=A9*NARNA:NABNA2NIiQ)Y)YYYiYaIaIyIOV=BDAT read: Rx Time:03:41:43.9178 TRx dataTimestamp_ set to:1761536503.148205checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024095B<AB>BB"IB7BB =BBB;B5Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275079Q Dw,}?A2؎@2ӕ@2? =ٱ2~ :AHRS rotation from veh to nav: [[-0.030281,0.999534,0.003858],[-0.998769,-0.030105,-0.039417],[-0.039282,-0.005047,0.999215]]2H.?@Bo?Ӟv.@t?i2؎@I2 ^;2RCYNAByR"IV=V= Vp9xYx=zIFyx]<E]>aQ 5m4e?Q 9m4ebc)aYiymMpQ Im@eSCIaiea:e4yyɮ}Ay*NRN:NBN2Ni))顙iIIIO=I5DAT read: 03:41:43.9178 LVL= 17968, 11249, 18754, 20851, AGC= 34, IDX= 437,-0.05,-0.194,-0.840,-0.671, 0.819, PHS=-0.911,-1.615,-1.534, RAW= 96.0, 65.1, CAL= 95.2, 68.5, ROT= 54.8, -68.5 EYgot valid direction response: 03:41:43.9178 LVL= 17968, 11249, 18754, 20851, AGC= 34, IDX= 437,-0.05,-0.194,-0.840,-0.671, 0.819, PHS=-0.911,-1.615,-1.534, RAW= 96.0, 65.1, CAL= 95.2, 68.5, ROT= 54.8, -68.5 MPDAT read: Bearing 143.6, 16.3 (Local) M~Local bearing/azimuth received: Bearing 143.6, 16.3 (Local) ]DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.211263,0.299485,0.930418]uFpublishing direction and range infoy ?.`*??Y?0F+BI sQ)"IL7iiRοZĿPw?Oo?ȭ? ?)Gt?I_a?nſL? &־)^IGt?iԡ },v}?A6r @6D@6 =ٱ6+k >AHRS rotation from veh to nav: [[-0.023982,0.999703,0.004340],[-0.998977,-0.023798,-0.038467],[-0.038352,-0.005258,0.999250]]6H`ǎ ?q?`o^㱣ڢOu ?i6r @I6];6QCYR:ByR"Ii%Mb@Mb@Mb@!!!! !9%I +?+?Y%94=y%=%%@! !)%@!Y%Q@bDEXVDE!4yM%MD=ٔUQ-U>9QԙY=IFyn<E>Q 54?Q 94c)Yp=Q EaM ? MdCg"MUBMʹ?MdCgMUBM{>M2@i))顱iIIIO= ,e~?A6;@65@6=ٱ6a BAHRS rotation from veh to nav: [[-0.018297,0.999825,0.003936],[-0.999135,-0.018137,-0.037408],[-0.037330,-0.004617,0.999292]]6H?@p?@'@ r3?i6;@I6/];6RCYJ/ByJ"IbDRCVDR3yZo%ZU=ٔZ.Q-Z>9\Y\=^IFy\ba}<Eb>dQ 5j4f*?Q 9j4fOd)dYhyj ]Q Ij@fYCIf:if):fŲ4ypɮrAp*NtRNt:NtBNx2Nxi))i I  &Changing to mode: 3BBB"IB#BBBBB;B5E- 3@) @-@-?0@)IAIQO]>!Qԁ X͊,N-~?A^a@^[\@^=ٱ^'i fAHRS rotation from veh to nav: [[-0.013606,0.999903,0.003064],[-0.999255,-0.013486,-0.036158],[-0.036113,-0.003554,0.999341]]^H`e݋4?si?T@t}`cm?i^a@I^#];^SCYn(Byn"IprAieMb@Mb@Mb@aaaa a9e{Gz?V-?~jtYeף=yem=eDae@ a)e@aYaqu@AbD};VD})3yb%==ٔO8Q->9Y=IFy1<E>Q 54=?Q 949e)&BY=Q Eyԡ ܱ,G~?A;ɰ;2@2V@2 =ٱ2 M4 :AHRS rotation from veh to nav: [[-0.009217,0.999955,0.002427],[-0.999339,-0.009126,-0.035184],[-0.035160,-0.002749,0.999378]]2Hw?Rc? @|f?i2@I2Ra;2QCYB)ByB"IbDN?VDN3yV;%VZ=ٔV'Q-V>9XYX=ZIFyX^u@<E^>`Q 5f4b ?Q 9f4bf)b#BYdyfBBs"IBBB =BBB;B5EBYBYBYBYBYC]t!5 9 )ܗ,`~?A2ԫ@2@2 =ٱ2B :AHRS rotation from veh to nav: [[-0.004543,0.999986,0.002804],[-0.999392,-0.004444,-0.034588],[-0.034575,-0.002960,0.999398]]2H-r ?f?`3r|ʳ@?h?i2ԫ@I2nb;0YB ByB"IbDJAVDJ?3yR3%RJ=ٔV*Q-V>9TYT=ZIFyXZ=<EZ>`Q 5b4b?Q 9f4bf)b BYdyfrQ If@bhCIby:ib:bڲ4yhɮnAl*NpRNp:NpBNp2Npix)x)|||i|II gA) eA/3@ @@0@IIO=Ai  ,qz~?A$:Ə@:c@:z =ٱ:b5 BAHRS rotation from veh to nav: [[-0.001282,0.999995,0.002725],[-0.999432,-0.001189,-0.033679],[-0.033676,-0.002766,0.999429]]:H!T?Qf?X:{S`k>= fR?i:Ə@I:a;:PCYJByJ~"I LLR=R=i%Mb@Mb@Mb@!!!! !9%T㥛 ? ףp= ?~jtY%=y%Q8=!%@%@ %@)%z@!Y%@ 5<5<bD=HVD=4yM%M@=ٔMd Q-M>9QYQ=UIFyQ] ;E]>aQ 5e4e?Q 9m4eg)eBYms=Q Em)9Y=IFy4n;E > Q 54 ?Q 94 5h) BYyrQ I@ pCI ;i ; .4y!ɮ-A)*N1RN1:N1BN12N1iA)A)IIIiIIIQB>BBZ"IBBBBBB;B5E@ @@4@I)I9OM=A %= =u,S~?Ajޏ@jYٖ@j=ٱj_ɺ rAHRS rotation from veh to nav: [[0.001642,0.999997,0.001588],[-0.999498,0.001691,-0.031645],[-0.031648,-0.001536,0.999498]]jH\Z??Z?[?3@+4`(Y?ijޏ@Ij3j`;hY-By-q"IiMb@Mb@Mb@ 9+?~jt?~jtY=yD=@@ l@)YbDWVD 4yM%:=ٔQ->9Y=IFy  `;E >Q 54?Q 94i)BY%+=Q E%iԙ ,c~?A2c@25ޖ@2=ٱ2 :AHRS rotation from veh to nav: [[0.002235,0.999996,0.001870],[-0.999502,0.002292,-0.031465],[-0.031470,-0.001799,0.999503]]2HNb? ?3^? b?= ]y]?i2c@I2_;2PCYBByBp"IDFAJ@AJAAbDNMVDN 4yV%Vc=ٔV Q-V>9XYX=ZIFyX^:E^>`Q 5f4bV ?Q 9f4bi)bBYdyfၿQ If@byCIb:ib :b!4ylɮnvAl*NpRNp:NpBNt2Ntix)|)|||i|IԹu 3@y @y@}4@yIIO=BAB>BBG"IBBBBBB;B5EM HBuffer send receipt timeout failure.M In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER9 ),=~?Aɰ2,ޏ@2ؖ@2'<ٱ2 :AHRS rotation from veh to nav: [[0.001599,0.999998,0.001415],[-0.999530,0.001641,-0.030602],[-0.030604,-0.001366,0.999531]]2H0Z?@?0W?'1Z? V V`V'?i2,ޏ@I2#b_;2RCYjByj\"IbDvDVDvJ3yzD%zF=ٔ~5 Q-~>9Y=IFyɺE > Q 54  ?Q 94 j) BYyQ I@ ~CI f;i Q; \4y!ɮ-A)*N1RN1:N1BN12N1,=B*** querying acoustic contact ***L9L9iI)I)IIIiIQIQ@ @@T2@IIO=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Iqԙ ] *DAT read: user:429> e BDAT read: Tx time:03:41:49.3128 e $Ping request sent.e 9Y=IFyE>Q 54 ?Q 94uk)BYٚ=Q E/qdchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251129ԡ Kş,6?A2ُ@2Ԗ@29<ٱ2aĺ :AHRS rotation from veh to nav: [[0.001086,0.999998,0.001530],[-0.999566,0.001130,-0.029440],[-0.029442,-0.001498,0.999565]]2H@Q?@?PY?qԄR?% & vXp?i2ُ@I2_^;2PCYBByBG"I DDF=F=bDNSVDN4yV%Vs=ٔVHQ-V?9XYX=ZIFyX^ .9E^?`Q 5f4b ?Q 9f4bl)b BYdydQ If@bCIb:ib :b` 4ylɮnAl*NpRNp:NpBNp2Ntix)|)|||i|IBE>BABE5"IBEBBABABABE;BE5E3@ @@0@Idchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503082IO =1I  dchecking for remote address setting acknowledgment checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755692e˟,~90?A@B@%@%Ԫ@%F<ٱ%/ 5AHRS rotation from veh to nav: [[-0.004034,0.999992,0.000340],[-0.999622,-0.004024,-0.027200],[-0.027199,-0.000449,0.999630]]%Hwp?D6?@6{p@rڛڛ`s=?i%@I%];%OCYEByE_"IiMb@Mb@Mb@ 9?{Gz?MbYL=yף<@@ @)@Y@bDWVD 4y-=%-3=ٔ5AQ-5>91Y1=5IFy9=8E=>AQ 5M4Ej?Q 9M4El)E BYU^=Q EUsdchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007156ԉԱ ]ҟ,I?APYBy a"IbD%RVD%4y5<%5]=ٔ5Q-=>99Y9=EIFyAEEE>IQ 5U4M?Q 9U4Mm)MBYQyQedchecking for remote address setting acknowledgmentechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259286Q I]@MCIMn;iMo;M4yqɮuAq*NyRNy:NyBNy2Ni))顑iIIeA)cA5 3@1 @1@5#0@1IAIQOe=A1A5@AB=>B9B=."IB=܃BB9B9B9B=;B=5E dchecking for remote address setting acknowledgment checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096! Շ؟,c?A2@2튖@2<ٱ2V9 :AHRS rotation from veh to nav: [[-0.007928,0.999968,-0.000405],[-0.999649,-0.007935,-0.025261],[-0.025264,0.000205,0.999681]]2Hg<?: p@@ޙޙe*?b?i2@I2^;2PCYBByFf"IIF>)Fx>HHbDNYVDN#4yVc<%VS=ٔZQ-Z>9XYX=^IFy\|^%E>!Q 5-4%?Q 9-4%m)%BY)y5,Q I5@%CI%:i%9:%!4yYɮ]AY*NaRNa:NiBNi2Nii))项iI%3@ @@0@IIO>)mdchecking for remote address setting acknowledgmentuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763474Qԁ  dchecking for remote address setting acknowledgment% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015102zޟ,}?A4<ɰp;2x@2vs@2ۿ<ٱ2LQ: :AHRS rotation from veh to nav: [[-0.010792,0.999941,-0.001052],[-0.999668,-0.010813,-0.023408],[-0.023418,0.000799,0.999725]]2H`?d9Y=IFyӻE>Q 548?Q 94n)BY2=Q E9lYl=nIFylr1Er>tQ 5z4v?Q 9z4vwn)vBYxyzQ Iz@vCIv:ivU:v/4yɮ2A*N RN :N BN 2N i)!)!!!i!)I)=?i=@ԹB>BBBBBBB;BBBBB =B =C8 43@ @@0@IIO=i I  dchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526361 BDAT read: Rx Time:03:41:51.7177  TRx dataTimestamp_ set to:1761536510.720786 dchecking for remote address setting acknowledgment checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7810909 ,+j?AE(@E#@Ejo<ٱE': UAHRS rotation from veh to nav: [[-0.020537,0.999787,-0.001895],[-0.999682,-0.020563,-0.014576],[-0.014612,0.001596,0.999892]]EHB?L_e\Gڍ퍿+$Z??iE(@IE];EPCYe Bye"Im=m= i%Mb@Mb@Mb@!!!! !9%Mbp?~jtx{GztY%;y%Ļ%ף%@! !)%d@!Y! =4<9bDEVVDEE4yU;;%U4=ٔUzQ-U>9YYY=]IFyYebEe>aQ 5u4ep?Q 9u4en)eBYu9dchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031034a ԡ 69 Y A ,P9?A@Bt @BF@BAL-<ٱB: NAHRS rotation from veh to nav: [[-0.023875,0.999713,-0.001847],[-0.999659,-0.023894,-0.010536],[-0.010577,0.001595,0.999943]]BHr? D^4wߓm`"Z? ?iBt @IB^;@Y~3By~"IbDcVD264y% =%%`=ٔ-`5Q-->99Y9=EIFyAMEU>i߅0>߅=dchecking for remote address setting acknowledgmentchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286660Q 54m??Q 94mn)mBYyP%Q I@mCIm%G4yɮA*N RN :NBN2Nyi))iI@ @@@IIO%+>ԙBA<BBBA"IBBB =BBB;B5E] DAT read: 03:41:51.7177 LVL= 15664, 10417, 18162, 19251, AGC= 33, IDX= 436, 0.14,-1.724,-2.369,-2.179,-0.750, PHS=-0.872,-1.574,-1.473, RAW= 97.6, 64.6, CAL= 96.7, 68.1, ROT= 53.3, -68.1 m Ygot valid direction response: 03:41:51.7177 LVL= 15664, 10417, 18162, 19251, AGC= 33, IDX= 436, 0.14,-1.724,-2.369,-2.179,-0.750, PHS=-0.872,-1.574,-1.473, RAW= 97.6, 64.6, CAL= 96.7, 68.1, ROT= 53.3, -68.1 m PDAT read: Bearing 144.5, 16.6 (Local) u ~Local bearing/azimuth received: Bearing 144.5, 16.6 (Local) } DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s  *DAT read: user:430>  TDAT read: RemoteAddr | 50  0set remote address to 50 (entering online mode ,?AF@F@FC;ٱF_: RAHRS rotation from veh to nav: [[-0.027362,0.999623,-0.002049],[-0.999606,-0.027374,-0.006133],[-0.006186,0.001881,0.999979]]FH`? ` yVy^? ?iF@IFf^;FOCYV6ByZ"IbDbYVDb#4yjՏ<%jP=ٔj6Q-j>9lYl=nIFylrgEr>tQ 5z4v ?Q 9z4vn)vBYxyz]%Q Iz@tIv[:iv # DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledgedzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.793329 ) = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038993',?A(Fˎ@Fŕ@F{9E:ٱFu9; RAHRS rotation from veh to nav: [[-0.031972,0.999485,-0.002853],[-0.999488,-0.031974,-0.000661],[-0.000752,0.002830,0.999996]]FH@^`?`&^g@^E@/H.g??iFˎ@IFwA^;FPCYV=ByV"IIZ=)Zp=\^Ai=Mb@Mb@Mb@9999 99=:v~jt~jth?Y=Ty==D;=@=@ =@)=z@9Y=@MAAM@AbDUKVDU 4y}=%9=ٔIQ->9Y=IFyq+E> Q 54 g?Q 94 m) BYc=Q Eoԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.291031 ,?A2;ɰ0PRp@RB@R斻ٱRm; ZAHRS rotation from veh to nav: [[-0.035958,0.999347,-0.003460],[-0.999343,-0.035941,0.004733],[0.004605,0.003628,0.999983]]RHi@?_Wl@f@xbs?r?|m??iRp@IR/^;RRCY~RBy~"IbD?VD3y%u=%%Y=ٔ%hQ-%>9)Y)=-IFy)-L-E5>1Q 5=45?Q 9E45um)5BYAyEO?Q IE@5CI5;i5a;5;S4yIɮUpAQ*NYRNY:NYBNY2NYii)i)qqqiqB>BB`"IBBBBBB;B5EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5435005&3@1 @1@50@1IAIQOe=) ߥ %=ߥ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795573 ,2?A|e.@e@eN1"ٱe_; AHRS rotation from veh to nav: [[-0.039037,0.999231,-0.003684],[-0.999189,-0.038999,0.010051],[0.009899,0.004074,0.999943]]eH` ?@.nZ`w?F?@p??ie.@Ie*^;ePCYWBy"IiMb@Mb@Mb@ 9~jt&1YyP@@ @) @YQ@bD5[VD5y'4y=<%E9=ٔECDQ-E>9Y=IFyݻE>Q 54 ?Q 94l)BYq=Q Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.047048Iy ,~L?A2r@2m@2Qٱ2Hʟ; :AHRS rotation from veh to nav: [[-0.042751,0.999077,-0.004202],[-0.998963,-0.042679,0.015857],[0.015663,0.004876,0.999865]]2Hl㥿@p?\6q@` ڥ9hYh=jIFyhn2En?pQ 5v4r ?Q 9v4rk)pYtyv@Q Iv@rCIrK:iry:r*a4y|ɮ~"A|*NRN:NBN2N iechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.298927a))顙iIԁ bTimed out moving from: 13104 to: 6111 response: q Hardware FaultI&VHardware Fault in component: DockingStepperIO (>A}AAA}AABBB"IB#BB =BBB;B5EԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550932 #,eVf?A2#W@2Q@2ٱ2; :AHRS rotation from veh to nav: [[-0.046108,0.998928,-0.004131],[-0.998710,-0.046009,0.021462],[0.021248,0.005115,0.999761]]2Ho7? po |?&•? t? ?i2#W@I2m^;2NCYRbByR"IbDZFVDZ4yf"<%fJ=ٔjSbQ-j>9hYh=nIFylnGEr>pQ 5v4r ?Q 9v4rj)pYxyzi@Q Iz@rCIr:ir:r;h4y|ɮ~A*N RN :N BN 2N i))!!!i!!I) 5:Uninitialize Docking Stepper. 5Powering downI5)55i5IIIYOe9=Թuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.8030571Y % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055100$ ,2?AJB@JS=@JmռٱJW9; RAHRS rotation from veh to nav: [[-0.048617,0.998810,-0.003737],[-0.998477,-0.048503,0.026298],[0.026085,0.005010,0.999647]]JH@b䨿`A?Zn[ը?'?[t??iJB@IJ_;HYZvByZ"IiEMb@Mb@Mb@AAAA A9EM¿L7A`尿9iYq=uIFyqu»Eu>yQ 54}?Q 94}\i)}BY!>Q E;y'?Q I@}CI}:i}:}o4yɮOA*NRN:NBN2Ni))项iIII1O=a}4=}<}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307243ԉԹ 6&,0?A25@2w0@2ٱ2"; :AHRS rotation from veh to nav: [[-0.050179,0.998736,-0.002882],[-0.998287,-0.050069,0.030275],[0.030093,0.004397,0.999537]]2H@`?ڜg@?`О?;r?6?i25@I2`;0YvwByv"IIz<)za=xxbD@VD3y;%P=B%>B!B%"IB%FBB!B!B!B% ;B%5Eٔ=3%Q-=>99Y9=EIFyAEHEE>IQ 5U4M?Q 9U4Mg)MBYYy]?Q I]@MCIM;iM;Mv4yaɮeGAa*NiRNq:NqBNq2Nqi))顁iIIIOk=ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.559106Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810973! c,,I?A4ɰ6;uf3@u8.@u ٱuU]; AHRS rotation from veh to nav: [[-0.050448,0.998725,-0.001710],[-0.998183,-0.050364,0.033066],[0.032938,0.003375,0.999452]]uHZԩ?\`Wɩ ?<ݠ?ۦk? ?iuf3@Iu_;qYyBy"IiUMb@Mb@Mb@QQQQ Q9UOnÿMbX9~jth?YUyUʡUD;QQ U7@)QQYUQ@bDuSVDu4y} ;%5=ٔлQ->9Y=IFy E>Q 54C?Q 94f)BY,>Q E;y@Q I@CI:is:d~4yiɮm:Ai*NqRNq:NyBNy2Nyi))顩iIIIO>hDAT read: Forwarding Delay UpTx time:03:41:56.4615 In parseResponses, sent ack so set commsState_ = SENDING_VERIFIEDIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.064221A I3,̀?A66@61@6p ٱ6>: >AHRS rotation from veh to nav: [[-0.050034,0.998747,0.000048],[-0.998156,-0.050006,0.034411],[0.034370,0.001674,0.999408]]6H@?\ ?@gA?꘡?@m[?&?i66@I6Ӝ_;6MCYFwByF"IbDN8VDN3yV%Vn=ٔZQ-Z?9XYX=ZIFyX^?:E^?`Q 5f4b1?Q 9f4bd)`Ydyj@Q Ij@bCIbW:ib:bf4ylɮnEAl*NpRNt:NtBNt2Nti|)|)|||iI I!I1a =Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.315201OM+=IyB<A<BBB"IBeBB =BBB ;B5EBBBBƺ =BC=4checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566939ԡ t9,瀺?A2B@2p=@2 ٱ2-W+ :AHRS rotation from veh to nav: [[-0.048592,0.998816,0.002314],[-0.998234,-0.048642,0.034095],[0.034167,-0.000653,0.999416]]2H`ᨿM? b? 稿t?T~?gE7?i2B@I2Ϋ_;2PC\YbmByb"I ddf=f= j;j<bD~HVD~4y K%D=ٔc9Q->9Y=IFyFc;E%>!Q 5-4%?Q 954%b)%BY1y5@Q I5@%CI%;i% ;%4yAɮEAA*NIRNI:NIBNQ2NQia)a)aaaiaiIiIIO\=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.819497A  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0710025Z@,[z?A2Q@2L@2Tٱ2K :AHRS rotation from veh to nav: [[-0.046724,0.998900,0.003840],[-0.998385,-0.046823,0.032158],[0.032302,-0.002331,0.999475]]2H2짿?to?`>`v?በ?c?i2Q@I2g_;2MCY^lByb"IAiMb@Mb@Mb@ 9Q#~jMbPYy㥽@@ )@Y@bDBVD3y%?=ٔ;Q->9Y=IFy;E>Q 54?Q 94a)BYA>Q E;y@Q I@CI:i:'4yɮA*N RN :N BN 2N i)!)!!!i!)I)IAIYOe= C؀G=jAUMAi9jAY9AeBDAT read: Rx Time:03:41:56.2082 eTRx dataTimestamp_ set to:1761536516.264871mDAT read: uXDAT read: DATA(0023):failc h dockingStepper uGot DATA 23uDAT read: }NDAT read: Source:050 Destination:011 }0Got Src/Dest after DATA &DATA Src=50, Dst=11DAT read: CRC:Pass MPD:03.4 PSNR:18.0 AGC:40 SPD:-0.1 CCERR:013 Got CRC:PassGot CRC:Pass@Incoming data is intended for usRReceived command: failc h dockingStepper Sending ackUDAT read: U"DAT read: ]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.355312F,`X?A2xf@2Ja@2-gٱ2hN :AHRS rotation from veh to nav: [[-0.044230,0.999007,0.005300],[-0.998612,-0.044364,0.028403],[0.028610,-0.004036,0.999582]]2H\ ?@u?`ж?K?@p`?i2xf@I2t6_;2NCYNWByN"IBb>B`Bb"IBboBB`B`B`BbH;Bb6EbDZAVDZ?3y-/ݽ%-U=ٔ591Yq=}IFyy};E}>Q 54w?Q 94P`)Yy@Q I@CI:i:4yɮKA*NRN:NBN2Ni1)9)999i9AIA=bgot command failComponent hardware DockingStepper=XDockingStepper failureMode is Hardware Faultԡԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.574966II O5=Թm checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827189 =L,/5?Ah@:{@シٱc AHRS rotation from veh to nav: [[-0.041074,0.999137,0.006209],[-0.998887,-0.041206,0.022948],[0.023184,-0.005259,0.999717]]H?ny? @@?o?u`?ih@I_;PCYLBy"IAiMb@Mb@Mb@ 9L7A`堿Mb`YLy+@ M@)@Y@bD>VD43y/:%3=ٔC9YA=EIFyIM;EM>QQ 5]4UB?Q 9]4U_)UBYeu=Q Ee]AHRS rotation from veh to nav: [[-0.037060,0.999291,0.006697],[-0.999178,-0.037165,0.016193],[0.016431,-0.006091,0.999846]]6H`0?n{? D9 ?`.Ӑ?x?i6]@I6^;6NCYF;ByF"IbDR;VDR)3yV/Ƚ%Zs=ٔZBBBBBBBo;BC6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.583004 qY,h?A2Ǝ@2@2  ٱ2[Aѻ :AHRS rotation from veh to nav: [[-0.032494,0.999450,0.006662],[-0.999435,-0.032549,0.008395],[0.008608,-0.006386,0.999943]]2H ~? I{?^N1?ՠ?@'z?i2Ǝ@I2`X^;0PYZ1ByZ"IbDf8VDf3yjO%jH=ٔnϜ9pYp=rIFyprM7<Ev>tQ 5z4vV?Q 9z4v^)tY|y~@Q I~@vCIv@;iv];vخ4yɮ {A *NRN:NBN2N,B*** querying acoustic contact ***LLi)))))))i)1I1IIIaOm<=5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834956 !  9Y=IFy0<E>Q 54?Q 94^)Y  E2Acoustic response timeoutE6setting remote address to 0qԁ xf,9?AB4B4B6"IB6PBB4B4B4B6t;B6H6EB@B@BǕ;ٱBSW JAHRS rotation from veh to nav: [[-0.022477,0.999734,0.005218],[-0.999721,-0.022439,-0.007339],[-0.007220,-0.005381,0.999959]]BH<?@K_u?@y~} v?iB@IB];@YnByry"IbDzCVDz3y %Z=ٔ\9 Y = IFy ug<E>Q 5%4?Q 9%4^)Y!y%6Q I%@CI8;iW:4y1ɮ5AA1*N9RN9:N9BN92NAiI)Q)QQQiQԙIIIAOM=*DAT read: user:432> TDAT read: RemoteAddr | 0 .set remote address to 02Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.M ?M R=U *DAT read: user:433> U BDAT read: Tx time:03:42:00.1628 ] $Ping request sent.] 9Y=IFy*L<E>1IQ 5e4M;?Q 9e4M^)IYiymsQ Im@MCIMw;iM;Mij4yɮA*NRN:NBN2Ni))iII9IYOe=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250206ԁԱ ks,HSЁ?A2jl@29Y=IFyH<E>Q 54?Q 94_)BY>Q E;y ]Q I@CI:i:v˳4yɮ~A*NRN:NBN2Ni))iIII O=ԑB]<A]<BaBaBe"IBe#BBe =BaBaBei;Be=6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754103 /z,,ꁺ?Aɰ2@2猖@2<ٱ2` :AHRS rotation from veh to nav: [[-0.007687,0.999970,0.000674],[-0.999687,-0.007669,-0.023791],[-0.023786,-0.000857,0.999717]]2H`/|?F?pi\`@[ L?i2@I2^;2OCYNByR="IbDZ=VDZ3yf0%fW=ٔfT/9hYh=jIFyhnE<En>pQ 5z4r~?Q 9z4r`)rBY|y~[Q I~@rCIrE;irH;rҳ4y ɮ A *NRNy:NyBNy2Ni))项iIIIO-=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006173I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258138, ?A 6@6x@6Z<ٱ6) ; >AHRS rotation from veh to nav: [[-0.003956,0.999990,-0.002211],[-0.999652,-0.004013,-0.026084],[-0.026092,0.002107,0.999657]]6H@4p?@b% op ䷚Ca?`1?i6@I6^;6LCYF݃ByF0"IiMb@Mb@Mb@ 9`"?L7A`?S㥛Y=y+>/ݼ@@ @) @Y@bD-7VD-p3y=\O%EC=ٔEe;Q-E>9IYI=MIFyIM<EU>QQ 5e4U!?Q 9e4U!b)UBYeo9>Q Ee;ye>Q Ie@UCIU;iU:Uoٳ4yqɮuAq*NRN:NBN2Ni ) ) i1I9IqIO=iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510152  ,m?AB>B+CBA"IBBB =BBDBF;B6EBQBQBQBQBU =CUC95Pb9ʏ@b Ŗ@b <ٱbXx; jAHRS rotation from veh to nav: [[-0.000836,0.999992,-0.003821],[-0.999652,-0.000936,-0.026371],[-0.026374,0.003798,0.999645]]bH aK?!Mo%ˬN@ o?`?ib9ʏ@Ib];bNCYrՃByr'"I ttz=z= z9Y=IFy<E>!Q 5-4%?Q 9-4%cc)%BY1y5E=Q I5@% CI%:i%-:%a4y9ɮ=VAA*NIRNI:NIBNI2NIiY)Y)aaaiaaIiIIOX=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762270= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016485A J,Ͽ7?ABُ@BmԖ@B)<ٱBS; JAHRS rotation from veh to nav: [[0.001042,0.999990,-0.004458],[-0.999698,0.000932,-0.024558],[-0.024554,0.004483,0.999688]]BHQ??BrN?%$[\r?r?iBُ@IB@ ^;@YEσByE"IbD4VDf3y %;=ٔ%Q-%>91Yq=}IFyy;E>Q 54 ?Q 94d)BYyym>mmz@m@ m@)mM@iYm @bD8VD3y0%R=ٔQ->9Y=IFyv:E>Q 54A?Q 94`f)܈BYb>Q Eo;yQQ I@!CI;i;4yƔBɮAfE*NRN:NBN2Ni))iII IO%=ԁA%AAA!B%>B!B% "IB%BB!B!B!B%*;B%6EԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770129 ],wk?A6я@6̖@6f,<ٱ6; NAHRS rotation from veh to nav: [[0.000079,0.999973,-0.007291],[-0.999864,-0.000041,-0.016500],[-0.016500,0.007291,0.999837]]6HX?@?}ɚc吿Z吿`"}??i6я@I6];4YVЃByZ "I`bAdfAAbDjXVDj!4yv<%vV=ٔzHQ-z>9xY|=~IFy|`E> Q 54  ?Q 94 g) ԈBYy%ERQ I%@ ,CI <;i =; 4y)ɮ5A1*NARNA:NABNA2NAԹi))iII9IIO]=BDAT read: Rx Time:03:42:02.5677 TRx dataTimestamp_ set to:1761536521.808500checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0236059  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274172H,b?A4ɰ4E@Eٯ@EM1<ٱE; ]AHRS rotation from veh to nav: [[-0.003423,0.999963,-0.007844],[-0.999935,-0.003508,-0.010819],[-0.010846,0.007806,0.999911]]EH l@?`x`ml@( M6?D?iE@IE ^;EMCYmՃBym&"IiMb@Mb@Mb@ 9K7A`?ʡE?I +Y+>y=9 @)d@YIbD QVD 4y<%2=ٔOIQ->9Y=IFyE>Q 54?Q 94j)ψBYR>Q E;y4vQ I@8CI:i ;4yɮA*NRN:NBN2Ni))iIII!O5=yDAT read: 03:42:02.5677 LVL= 18928, 11713, 16754, 20019, AGC= 35, IDX= 244, 0.23, 0.426, 0.288, 0.154, 1.597, PHS=-1.070,-1.264,-1.487, RAW= 57.8, 75.0, CAL= 56.7, 76.8, ROT= 93.3, -76.8 %Ygot valid direction response: 03:42:02.5677 LVL= 18928, 11713, 16754, 20019, AGC= 35, IDX= 244, 0.23, 0.426, 0.288, 0.154, 1.597, PHS=-1.070,-1.264,-1.487, RAW= 57.8, 75.0, CAL= 56.7, 76.8, ROT= 93.3, -76.8 5DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [-0.013145,0.227972,0.973579]EFpublishing direction and range infoyiK늿A0.?;'?Y?I-rA 3N)#IiʡV^ ?6?V}? ?)(o?IDnj?\Ya(0JͿa ? -)ΙI(o?iԱ B >B B !IB BB =B B B ;B 5En,,?A2@2@2Lϕ;ٱ2< :AHRS rotation from veh to nav: [[-0.009285,0.999915,-0.009193],[-0.999946,-0.009326,-0.004486],[-0.004572,0.009151,0.999948]]2HM?`ӂe`r@r`?`?i2@I2];2LCYNByR@"IbDZFVDZ4ybs=%bo=ٔb3Q-b?9dYd=fIFydfEj?hQ 5U4j?Q 9U4jk)jˈBYQyUwQ I]@jACIj퓂?A*M-?2M->JM-<bM-iKzA0.?;'?RM-iK늿A0.?;'?:M-(o?BM-jM-;G ? >)G=k?o@38?ZM-;G ? >)G={?o@38?M-Y;M-b=M-? &? M-llk"M-BM)M-jM-BM-)>M-2qA@i))顩iIIIO~=Ա 9 옭, ?A2D@2X?@2ٱ2d< :AHRS rotation from veh to nav: [[-0.017156,0.999810,-0.009286],[-0.999851,-0.017138,0.002007],[0.001847,0.009319,0.999955]]2HHp?@kp`?C^?@?@?i2D@I2\^;2OCY^By^K"If=d f49tYt=zIFyx:E>Q 554 ?Q 94Xm)LjBYyyQ I@LCI%UD=ٔUlQ-U>9YYY=]IFyYewEe>iQ 5u4m#?Q 9u4mn)mˆBYuD >Q Eu;yuiQ Iu@mSCIm ;im& ;m4yɮA*NRN:NBN2Ni))顡iIIIO{=ԑBA4=B>BB!IBBBB>DBB;B5E ,/삺?Ahzۘ@z@z@Xٱz/< AHRS rotation from veh to nav: [[-0.038100,0.999222,-0.010228],[-0.999186,-0.037959,0.013642],[0.013244,0.010740,0.999855]]zHˁ?`UPo ?t?@? ?izۘ@IzW'^;zNCYByq"IbD%HVD%4y5e<%5L=ٔ=ZQ-=>99YA=EIFyAEYEE>IQ 5U4M9%?Q 9U4Mo)MBYYy]މQ I]@MZCIM;iM;M4yaɮeAa*NiRNq:NqBNq2Nqi))顁iIIIOl=!A ,Ș?A23@2.@2ٱ2q=< :AHRS rotation from veh to nav: [[-0.050405,0.998672,-0.010637],[-0.998566,-0.050201,0.018617],[0.018058,0.011561,0.999770]]2H@Ω`?Ʌ?@G?}???i23@I2^;2JCYb*Byb"IId)f9Y=IFyZE>Q 54%?Q 94o)BYo9dYd=fIFyhjEj>lQ 5r4n%?Q 9r4np)nBYpyv>Q Iv@n[CInd:inB:n&4yzϔBɮzAzpE*N|RN:NBN2Ni))iI!I1IIOU/=ԙ 4= = ͠,O:?A6lV@6>Q@6oԼٱ6}2.< BAHRS rotation from veh to nav: [[-0.077368,0.996966,-0.008593],[-0.996665,-0.077115,0.026673],[0.025929,0.010628,0.999607]]6H`hγ`$?`j`н %P?5?Uą?`?i6lV@I6z^;6LCYJFByJ"IbDRXVDR!4yZ]=%ZK=ٔZQ-^>9\Y\=^IFy`bM Eb>hQ 5v4j/&?Q 9z4jp)jBYxyz^BQ I~@j\CIj;ij{;j-4yɮLA*N RN :NBN2Ni!)!)!!!i))I)IYIO\=!Qy Ԡ,o+T?A2@2@2ٱ2hJD< :AHRS rotation from veh to nav: [[-0.090789,0.995827,-0.009315],[-0.995454,-0.090477,0.029765],[0.028798,0.011975,0.999514]]2H=?@x)z?3}???i2@I2@^;2NCYBYByB"I DDF=DiUMb@Mb@Mb@QQQQ Q9U{Gz/$=ٔfڻQ->9Y=IFyRE>Q 54$?Q 94-o)BY=Q EBm,CBmf"IBm BBiBiBiBm;Bm5EB-+CB-+CB)B-Ÿ =B-Ÿ =C-=h4 ڠ, n?A6o~@6Ay@6Sٱ69< BAHRS rotation from veh to nav: [[-0.103599,0.994587,-0.008007],[-0.994118,-0.103288,0.032571],[0.031568,0.011334,0.999437]]6H}?eq4?@)?>6?d?i6o~@I6J^;4Y^kBy^"IbDjTVDj4yrк=%rU=ٔrQ-r>9tYt=vIFytv Ez>xQ 5~4z#?Q 94zUn)zBYy?Q I@zeCIz;iz;z<4y ɮA*NRN:NBN2Ni))顱iIIIO=I ;,<އ?A6@6@62 ٱ6< BAHRS rotation from veh to nav: [[-0.115545,0.993289,-0.005220],[-0.992704,-0.115291,0.035304],[0.034465,0.009261,0.999363]]6H U ?au;N?@^?? ?i6@I6j^;4YFByJ"I ttE+GYqd9Y٥@iMb@Mb@Mb@ 9bX9ƿi|?5:vYE6yqTz@ @  @) @Y@bDPVD:4y-=%-7=ٔ-ԻQ-5>91Y1=5IFy9=ܼE=>AQ 5M4En"?Q 9M4E/l)EBYM|@>Q EU;yU=?Q IU@EpCIE;iE);EC4yYɮ]7AY*NaRNi:NiBNi2Niiy))顁iIIIO=Qyԩ Be >Ba Be "IBe 9lYl=rIFyprEr>tQ 5z4vV!?Q 9z4vrj)vBYxy~?Q I~@vxCIv:iv;v%J4yɮEA*N RN:NBN2Ni!)!)!!!i))I1IIIYOe9=ԩ 6,E?Aɰ;2v@2q@2k!ٱ2W<; :AHRS rotation from veh to nav: [[-0.135508,0.990776,-0.001206],[-0.989996,-0.135352,0.039852],[0.039321,0.006594,0.999205]]2HPXn?S ;Skg? !?${?|?i2v@I2^;0YNByN"IlbDZYVDZ#4yvS=%vI=ٔvQ-z>9xYx=zIFyxuEu>yQ 54} ?Q 94}gh)}BYy?Q I@}CI}:i}:}Q4yɮA*NRN:NBN2Ni ) )i)I9IIQO=1a ,2rՃ?A2<@26@2R2'ٱ2 ; :AHRS rotation from veh to nav: [[-0.142587,0.989781,0.001634],[-0.988941,-0.142533,0.040994],[0.040808,0.004229,0.999158]]2H`F@¿`I?)Z? g>¿-??@NRq?`?i2<@I2y^;0Y^By^#I9iUMb@Mb@Mb@QQQQ Q9UX9vοl{GzYUsyUUףQU@ Q)U@QYU\@bDTVD4y=%>=ٔbQ->9Y=IFyJE>Q 54?Q 94e)BY>Q ET;yo?Q I@CI;i:X4yɮA*NRN:NBN2Ni ) ) iII1IAOM=iB<A<B B B "IB eBB B B B ;B 5Eԑ G,+M?A6F@6@6g(ٱ6XC,: BAHRS rotation from veh to nav: [[-0.147019,0.989119,0.005405],[-0.988277,-0.147117,0.040796],[0.041147,0.000657,0.999153]]6H¿ܦ?(#v?¿>?G?E?`?i6F@I6[^;4YFByJ"IN=L Rp9`Y`=bIFy`boFEf>dQ 5j4f?Q 9j4fWc)fBYlyn?Q In@fCIf;if;fA_4ypɮrAt*NxRNx:NxBNx2Nx,~B*** querying acoustic contact ***L|L|i) )   i II)I9OM+=ԙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.  *DAT read: user:434>  BDAT read: Tx time:03:42:09.4628  $Ping request sent. ףp=ʿ+ηY%Qy%v%̼!%@ %M@)!!Y%@bDm]VDm'+4y}V%}1=ٔ}&;Q-}>9Y=IFyWE>Q 54$?Q 94`)BYg>Q Ej;y?Q I@CI;i:Rg4yɮ4A*NRN:NBN2Ni))iIIIO =!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251230QB >B B "IB ~BB =B B B ';B 6Ey Y,S#?A2=@2@2ٱ2t :AHRS rotation from veh to nav: [[-0.146445,0.989131,0.013152],[-0.988534,-0.146826,0.035251],[0.036799,-0.007839,0.999292]]2H¿?Q?@.¿`_ ?Bע? 3?i2=@I2^;2MCYNmByR"IbDZ2VDZ 3yb:ӽ%bk=ٔb9XYX=ZIFyX^s\<E^>`Q 5f4b*?Q 9f4b{\)bBYdyj?Q Ij@bCIbp:ib$:bit4ylɮnAl*NpRNt:NtBNt2Nti|)|)||iI I!I1O=$=Թmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 9 wk,sV?Aɰp;2ꊋ@2@2d輼ٱ2,X :AHRS rotation from veh to nav: [[-0.133132,0.990967,0.016147],[-0.990830,-0.133457,0.021094],[0.023058,-0.013190,0.999647]]2H w ?È?@ ?`??i2ꊋ@I2SM_;2NCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042YfQByf"IiMb@Mb@Mb@ 9l¿ktI +Yy 94@ 7@)@Y@bDHVD4yս%:=ٔb9Y=IFyO<E>Q 54?Q 94Z)BY/>Q E;y?Q I@CIT ;i:|4yɮA*NRN:NBN2Ni ) )   iqIyIIO=AA@AB>B+CB"IBBB =BBBM;B'6E9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875i ,p?A 6m@6?ے@63 Vٱ6if >AHRS rotation from veh to nav: [[-0.122804,0.992309,0.015583],[-0.992345,-0.122985,0.011234],[0.013064,-0.014084,0.999815]]6Hp?`? J{?4?@-،}?i6m@I6T>_;6LCYFBByF"IbDN9VDN3yV}%V^=ٔZ9XYX=ZIFyX^<E^>`Q 5f4b?Q 9f4b!Y)bBYhyj?Q Ij@bCIb :ib:b4ylɮ] AY*NaRNa:NiBNi2Niiq)y)yyyiIIIOg=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762858ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015025&}",ep?A2RA@2$<@2mٱ2i :AHRS rotation from veh to nav: [[-0.111068,0.993708,0.014401],[-0.993811,-0.111084,0.000362],[0.001960,-0.014271,0.999896]]2Hnu?~?Lp?7? `?0:`&?i2RA@I2;^;0YB-ByB"I DDJ=HLiMb@Mb@Mb@ 9I +~jth?Y̼y94D;@@ @)Y %4<%4<bD-FVD-4y½%B=ٔU9Y=IFy<E>Q 54X?Q 94X)YB B "IB jBB B B B s;B L6EBm,CBm,CBiBiBiCmʵt5ק(,M?A:@:t@:6<ٱ:] FAHRS rotation from veh to nav: [[-0.098643,0.995044,0.012513],[-0.995080,-0.098514,-0.010575],[-0.009290,-0.013494,0.999866]]:H@@f?`P?48 ?i:@I:y^;8YJ!ByN"IbDV8VDV3y^*m%^S=ٔb9`Y`=bIFydf=Ef>hQ 5n4j?Q 9n4jX)jBYlyrY?Q Ir@jCIjw;ij;j4ytɮv At*NxRNx:Nx|BN|2N|i ) )iII1IAOM.==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925)Y >  BDAT read: Rx Time:03:42:11.8678  TRx dataTimestamp_ set to:1761536530.892383 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772200ԁ L.,>&?A6@6{@6<ٱ6'F BAHRS rotation from veh to nav: [[-0.085135,0.996315,0.010368],[-0.996166,-0.084902,-0.021096],[-0.020138,-0.012124,0.999724]]6Hc˵?@;?`@)@Ԉ?i6@I6f^;4YR ByRj"IbDZ*VDZ3ybս%bJ=ٔfk9dYd=jIFyhj =Ej>lQ 5r4n?Q 9r4nMX)nBYtyv,?Q Iv@nCInd:inp:nė4yxɮzAx*NRN:NBN2Ni))iI!I1IAOM-=YԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822 cG!1]y9YY] @Ա 5,؄?AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277190*@@l<ٱ ,Ա AHRS rotation from veh to nav: [[-0.070578,0.997471,0.008383],[-0.997066,-0.070294,-0.030287],[-0.029621,-0.010496,0.999506]]H`^`H? *?vT~ ?i*@Io^;MCYByL"II4>)AiUMb@Mb@Mb@QQQQ Q9UMbpbX9ȶ? rhYUyUE=UC U@U@ U?@)U@QYU@aabDmCVDm3y}Jӽ%}1=ٔ}9Y=IFy=E>Q 5%4[?Q 9%4QXQ =%tI)}BY%J=Q E- Mؼ_'? Mj_"MلBMMMBM7?MO@i1)9)999i9AIAIIOg=Aqԙ $B, ?A6@6}@6+=ٱ6 BAHRS rotation from veh to nav: [[-0.040740,0.999156,0.005219],[-0.998297,-0.040486,-0.041990],[-0.041743,-0.006921,0.999104]]6H`ۤ@?`u?` `^_2Y|?i6@I6B^;4YF؃ByF*"IiMb@Mb@Mb@ 9S㥫?ףp= ?{GzY/]=y>#@@ @)7@Y@bD1VD1yEe%EC=ٔE,;9IYI=MIFyIU=EU>QQ 5e4U7?Q 9e4UX)UnBYe,>Q Ee;yeQ Ie@UCIU ;iU<:U74yqɮujAq*NyRNy:NyBNy2Ni))顑iIIIOs=qԡ=4=BM >BI BM G"IBM BBM =BI BM DBM ;BM ~6E [H,%?A2u@2G@23=ٱ2i. :AHRS rotation from veh to nav: [[-0.027267,0.999627,0.001461],[-0.998662,-0.027176,-0.043985],[-0.043929,-0.002659,0.999031]]2H`뛿 ?wW? @ԛ:} e ?i2u@I2b^;2KCYvŃByv"I xxz=z= |~<bDIVDX4yb%M=ٔ;Q->9!Y!=%IFy!% =E->)Q 554-_"?Q 954-Y)-eBY9y=RQ I=@-CI-;i-;-/4yAɮMAI*NQRNQ:NQBNQ2NQia)a)iiiiiiIqIIO\=) O,k??A9K@ F@/=ٱr: AHRS rotation from veh to nav: [[-0.016323,0.999866,-0.001204],[-0.998945,-0.016360,-0.042917],[-0.042930,0.000502,0.999078]]H@ ?SZ`'`r@?@r?i9K@IU^;ICYUByU"IbDu<VDu3Yy %'=ٔIQ->9Y=IFy<E>Q 54(?Q 9%4DZ)[BY)y5ŮQ I5@CI;i;ݼ4yɮIA*NRN:NBN2Ni))   i II1IAOU2>yԩ V,yv>>j<@@ @)z@Y@bD-KVD- 4y=M;%E}=ٔET@Q-E ?9AYI=MIFyIM<EM ?QQ 5e4U-?Q 9e4U[)URBYé>Q EmQ;ym;Q Im@UCIU3;iU2;Ud´4yqɮuBAq*NRN:NBN2Ni!))))))i)1I1IIIyO=ԩAA?AB>BB!IBBB =BBDB;Bi6E U1\,#s?A6q@6C@6=ٱ6`F; >AHRS rotation from veh to nav: [[-0.001907,0.999986,-0.004985],[-0.999448,-0.002071,-0.033166],[-0.033176,0.004919,0.999437]]6H =_ ?"kty w`@i`%t?@d?i6q@I6^;6ICYFByF"IHHLN@AbDRAVDR?3yZ咼%ZT=ٔZ}Q-^>9\Y\=bIFy`b@{<Eb>dQ 5j4f3?Q 9j4fQ])fHBYhyj9Q In@fCIf:lif:f$ɴ4yv˔BɮvAvgE*NxRNx:NxBNx2Nxi) )   i II)IAOM+= 1i ;c, ?Aɰ;2ڏ@2pՖ@2\<ٱ2p0; :AHRS rotation from veh to nav: [[0.001165,0.999974,-0.007086],[-0.999671,0.000983,-0.025627],[-0.025619,0.007114,0.999646]]2H6S??}@N`P?@=`;#}??i2ڏ@I2[^;2JCYvByv"I9i}Mb@Mb@Mb@yyyy y9}n?S㥛?J +Y}V>y}$>}H}z@}@ }@)}@yY}\@bDVDyg%<=ٔ@Q->9Y=IFyx;E>Q 549?Q 94^)=BY_>Q Es;y4Q I@CI:i:д4yɮA*NRN:NBN2Ni))iI I!&5dClearing failed state for component DockingStepperq5I1O==iԑB >B B !IB BB =B B DB y;B R6E gCi,bڦ?A2qߏ@2Cږ@2ы<ٱ2\; :AHRS rotation from veh to nav: [[0.001754,0.999969,-0.007641],[-0.999853,0.001623,-0.017080],[-0.017067,0.007670,0.999825]]2H\??!L@@|Z?]}`y\j??i2qߏ@I2}^;2HCYRByR "IbDZNVDZ4yb3=%bZ=ٔb Q-f>9dYd=fIFydj:Ej>lQ 5r4n>?Q 9r4n@`)n3BYpyr4Q Ir@n%CIn;ina;nJ״4yxɮzTAx*N|RN|:NBN2Ni ))iԙI 4Initializing EZServoServo. 8Initializing DockingStepper.IIO = d+p,?A2QЏ@2#˖@2<<ٱ2< :AHRS rotation from veh to nav: [[-0.000092,0.999959,-0.009078],[-0.999966,-0.000167,-0.008253],[-0.008254,0.009077,0.999925]]2H "?@%怿瀿@? b?i2QЏ@I2\^;2JCYBÃByB"IF=F= Jp9XYX=ZIFyXZE^>`Q 5f4bHD?Q 9f4ba)b)BYdyf5Q If@b0CIb:ib :bL޴4ylɮn?Al*NpRNp:NpBNt2Ntix)|)|||i|III1O=$=!Qy Uv,?څ?A8:%=>t@>F@>ٱ>7< JAHRS rotation from veh to nav: [[-0.003860,0.999947,-0.009511],[-0.999993,-0.003859,0.000058],[0.000021,0.009511,0.999955]]>H`o?`_z``Jo .)? >sz? ?i>t@I>*O^;9YYY=]IFyYeEe>iQ 5u4mG?Q 9u4mb)m BYuo>Q Eu;yuGQ I}@m8CIm ;imX ;m4yɮA*NRN:NBN2Ni))顡iIIIO|=QB<A<B>BBBB =BBDBc;B>6EB]+CB]+CBYB]ù =B]ú =C]V5ԁԱ z|,k?A2}@2O}@2ٱ2< :AHRS rotation from veh to nav: [[-0.009592,0.999909,-0.009444],[-0.999927,-0.009522,0.007404],[0.007313,0.009514,0.999928]]2HB?`jW`g }@_S~?^}?J|?i?i2}@I2Kb^;2KCYRByR;"IbDZ;VDZ)3y=%P=ٔǗQ->9 Y = IFy  nE>Q 54_K?Q 9%4c)BY!y%HQ I%@?CI;i;4y)ɮ5)A1*N9RN9:N9BN92N9iI)I)QQQiQYIYԹIqIO> C rG 5 Ae u9i Ym Ҧ@y O? =A9 g,oG?A2]F@2/A@2 [ٱ2~0< :AHRS rotation from veh to nav: [[-0.016930,0.999801,-0.010544],[-0.999767,-0.016786,0.013585],[0.013405,0.010771,0.999852]]2HV^?񗅿`Q0`ҋ?`+t?`<??i2]F@I2B^;2ICY^By^V"IIb<)bC=dfAiMb@Mb@Mb@ 9l?l?{GzY=y=#@@ @) @Y @AAbDUVDn4y=%?=ٔiQ->9Y=IFyΌE>Q 54L?Q 94Ud)BY4Z=Q EyB B !IB BB B B B L;B &6E,!"(?A4<ɰ 6@6@6Gٱ6=C< >AHRS rotation from veh to nav: [[-0.025894,0.999599,-0.011462],[-0.999496,-0.025677,0.018645],[0.018344,0.011939,0.999760]]6H ܃?:y`K`?@Ȓ?Ss? ?i6@I6U^;4Y^Bybc"IbDj\VDjP)4yre=%rY=ٔrVQ-v>9tYt=vIFytz¼Ez>|Q 54~M?Q 94~d)~BYyOQ I @~DCI~ ;i~ ;~4yɮ&A*NRN:NBN!2N!i))1)111i19I9IQIaOu?=iԙ߭ %=߭ < ay,A?A6a@63@6v<ٱ69< BAHRS rotation from veh to nav: [[-0.036444,0.999281,-0.010503],[-0.999085,-0.036198,0.022762],[0.022366,0.011323,0.999686]]6H`Ш ?b O??F0?l?i6a@I611^;4YFByFt"IPbDR^VDR,4yZ=%ZM=ٔ^%Q-^>9\Y`=bIFy`b ټEb>dQ 5j4fO?Q 9j4fe)fBYlynRQ In@fGCIf;if ;f4ypɮrAt*NxRNx:NxBNx2Nxi))  i  II)I9OE)=! ,w[?A6G@6B@6Ѽٱ62< >AHRS rotation from veh to nav: [[-0.047958,0.998802,-0.009676],[-0.998522,-0.047692,0.026069],[0.025576,0.010912,0.999613]]6H0? у kͱ? 0?Y??i6G@I6<^;6KCYF-ByF"I HHJ=J=|iUMb@Mb@Mb@QQQQ Q9U)\({GztYUGayU̼UףU@U@ U @)QQYU@ m4=ٔQ->9Y=IFyۼE>Q 549N?Q 94{d)BYNx=Q EZB9B=("IB=փBB9B9B9B=6;B=6EIQO]=)Qԁ H͜,u?A2@2@2>ٱ2xD< :AHRS rotation from veh to nav: [[-0.059901,0.998151,-0.010320],[-0.997815,-0.059586,0.028526],[0.027858,0.012006,0.999540]]2H_@? "5?醜?֖?:?i2@I2(4^;2JCY^BByb"IbDj<VDj3yrJ=%rU=ٔr»Q-v>9tYt=vIFytzEz>|Q 54~M?Q 94~c)~BYy?Q I @~MCI~a;i~n;~4yɮEAY*NRN:NBN2N,B*** querying acoustic contact ***LLi))顱iIII)O5=uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ԉԱ % *DAT read: user:435> - BDAT read: Tx time:03:42:19.5628 - $Ping request sent.- 9AYA=EIFyAMEM>QQ 5]4UL?Q 9]4Ub)U BY]#>Q Ee;ye~?Q Ie@UWCIU&:iU:U4yiɮmAi*NyRNy:NyBNy2Nyi))顉iI &Changing to mode: 3} 3@ @@0@IIO>>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825B5 >B1 B5 m"IB5 BB5 =B1 B5 DB5 &;B5 5E9 ߩ,i?A62@6@6ٱ6Ú"< >AHRS rotation from veh to nav: [[-0.084679,0.996382,-0.007177],[-0.995894,-0.084401,0.032730],[0.032005,0.009919,0.999438]]6H~]?@e}]R?c? P?`f?i62@I69^;6KCYFYByF"IIJ<)J=LNAR@AR@AbDV[VDVy'4yZ=%^g=ٔ^Q-^>9`Y`=bIFy`fEf>dQ 5j4fJ?Q 9n4f`)f BYlyn?Q In@f^CIf;if;f4ypɮvAt*NxRNx:NxBNx2Nxi))   i I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512512.3@ @@@IIO=Ii checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762751ԙ ǰ,$FÆ?A;ɰ2@2џ@2oDٱ2k < :AHRS rotation from veh to nav: [[-0.098907,0.995077,-0.006289],[-0.994473,-0.098619,0.036012],[0.035214,0.009816,0.999332]]2HQ`?y?"p???`?i2@I2ҥ`;2ICYjkByj"IbDvEVDv3y%==%-C=ٔ-kQ-->91Y1=5IFy15" E5>9Q 5E4=I?Q 9M4=^)=BYIyM?Q IM@=fCI=1:i=:=,%4yQɮUAY*NaRNa:NaBNa2Naiq)q)yyyiyIq#3@ @@@ I!I1O==Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.017675ԡ ,> ݆?A2D<@27@2^ٱ2U< :AHRS rotation from veh to nav: [[-0.111600,0.993740,-0.005024],[-0.993023,-0.111323,0.038885],[0.038082,0.009329,0.999231]]2Hԑ? Ft@?v???i2D<@I2Ia;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266958Y^pByb"IiMb@Mb@Mb@ 9Eȿ)\(~jtYFyGaz@@ 7@)@Y@bDPVD:4y<%A=ٔ޻Q->9Y=IFyfE>Q 54H?Q 94\)BYfO>Q E;y$?Q I@qCIU:i:,4yɮA*NRN:NBN2Ni ) )iI!BABBB"IBABBBBDB#;B5E/3@ @@4@IIO==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519108I ,@?A02E@2@2$ٱ2; >AHRS rotation from veh to nav: [[-0.121887,0.992541,-0.002621],[-0.991728,-0.121679,0.040862],[0.040238,0.007580,0.999161]]2H`3?Xye<\&? ?Y ?@!?i2E@I21`;2GCYFzByF"IJ=J= LN<bDR9VDR3yVGa=%V]=ٔZQ-Z>9XY\=^IFy\^Eb>`Q 5f4bG?Q 9f4bZ)bBYhyj?Q Ij@b{CIb:ibN:b34ylɮrAp*NtRNt:NtBNt2Nti|)|)iI *3@ @@@IIO%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770810ԙԹ U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024798ġ,?A2;@2 @2-ٱ2; :AHRS rotation from veh to nav: [[-0.131076,0.991372,-0.000447],[-0.990472,-0.130938,0.042675],[0.042248,0.006036,0.999089]]2H `R?J=`~٥?@? x?@?i2;@I2`;2IChY~xBy~"IiMb@Mb@Mb@ 9ClɿL7A`尿Zd;OYOy+j@ d@)@Y@bDDVDJ3yT%;=ٔ얻Q->9Y=IFyE>Q 54+F?Q 94dX)BY[>Q Ew;y?Q I@CI ;i7 ;:4yɮA*NRN:NBN2Ni))i I e/3@i @i@m4@iIyIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274941B>BB"IBeBBBBBA;B6EBBBBȺ =BCȅ5A -ʡ,:*?A2b@2]@21ٱ2BO; :AHRS rotation from veh to nav: [[-0.137892,0.990443,0.002861],[-0.989495,-0.137885,0.043441],[0.043420,0.003160,0.999052]]2H`p൱? Dog?9=?5;?i?;?i2b@I2_;2GCYb|Byb"IbDnEVDn3y-v<%-S=ٔ-FQ-5>91Y1==IFy9EEE>IQ 5U4MD?Q 9U4MBV)MBYYy]?Q Ie@MCIM@>;iML?;MpA4yiɮm{Aq*NyRN:NBN2Ni))顡iIIfA)fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526886M-3@Q @Q@U4@QIaIqO=Iq BDAT read: Rx Time:03:42:21.9678  TRx dataTimestamp_ set to:1761536540.984274 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780050ԡ ѡ,LD?A2L@2G@2.ٱ2͹ :AHRS rotation from veh to nav: [[-0.140554,0.990052,0.006391],[-0.989153,-0.140698,0.042189],[0.042669,-0.000392,0.999089]]2H`?-z?$g¿Й?إ?9?i2L@I2u_;2ICY^qByb"IdfAfAAdbDj>VDj43yrX[%rO=ٔv:Q-v>9tYt=zIFyxz8߻Ez>|Q 54~C?Q 94~T)~BY y s?Q I @~CI~:i~:~RH4yɮA*N!RN!:N!BN!2N!i1)1)111i1yIYu3@y @y@}/2@y}hAt9hAY^AII!OE>Թ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033014 Mס,M^?Aɰ*DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s *X#Rx 1: Read range message, but no direction.y Y >K@>F@>r%ٱ> # JAHRS rotation from veh to nav: [[-0.140681,0.990022,0.008024],[-0.989228,-0.140890,0.039721],[0.040456,-0.002350,0.999179]]>H¿C?%o?¿^V??V@c`E?i>K@I>:h_;>KCYbtByb"Ivonly read 0 of 1 data item for BIT error. Device response is::TS,00050307303978,35., 0.0,1494.2, 0 av@az az@az az@az az@az bD~2VD~ 3y Np<% F=ٔ ;Q->9Y=IFyE>!Q 5-4%oB?Q 9-4%Q)%BQ A-+:Y)Q E-H;y1Q I5@%CI%U:i%/>%)N4y9ɮ=A9*NARNI:NIBNI2NIiY)Y)YYaiaaIiԹAYA]AABe>Be*CBe"IBeyBBe =BaBeDBen;BeB6E*3@ @@0@I IO%=A jݡ,Ex?A2`@2Z@23ٱ2Tm :AHRS rotation from veh to nav: [[-0.138259,0.990347,0.009886],[-0.989702,-0.138529,0.036042],[0.037064,-0.004801,0.999301]]2Hx???@O`#t? ?`/sF?i2`@I2j_;2HCYncByn"IbDv<VDv3y~ª%~M=ٔe 9Y = IFy  ;E >Q 5%4,A?Q 9%4O)܇BQ A% :Y!Q E%";y%?Q I%@CI%;iSP?R4y5”Bɮ5A5]E*N9RN9:NABNA2NAiI)Q)QQQiQYIYm`?im?1#3@ @@0@IIO=aԉԹ Q,?A2_@21@2Zٱ2 :AHRS rotation from veh to nav: [[-0.131836,0.991200,0.011865],[-0.990768,-0.132141,0.030274],[0.031575,-0.007764,0.999471]]2H?L?`#?*??i2_@I2_;2FCY^XByb"I ``f=f=aa aa aa aa iMb@Mb@Mb@ 9v/Zd;O~jtxYxiyj<Ļ@@  @)@Y@ p<p;bD:VD{3yF%?=ٔSR9Y=IFydy<E>Q 54??Q 94N)ۇBQ AT:Y=Q E4ԹBu>BqBqBqBqBqBqBus;BuH6E H|,?AByߋ@BKڒ@BEȼٱBZ RAHRS rotation from veh to nav: [[-0.122893,0.992350,0.011755],[-0.992117,-0.123140,0.023228],[0.024498,-0.008808,0.999661]]BHu`U? ? m`#ɗ? ? @9?iByߋ@IB_;BGCYZNByZ"IbDjAVDj?3yve%vY=ٔv9xYx=~IFy|~<E> Q 54 >?Q 94 ON) هBYy8@Q I@ CI ?;i :; `4y)ɮ-A)*N1RN1:NBN2Ni))iI%'3@) @)@-0@)I9IIOU2>I ߍ =ߍ =e,Ň?A2&-@2'@2)ٱ2q< >AHRS rotation from veh to nav: [[-0.113498,0.993484,0.010385],[-0.993391,-0.113655,0.016033],[0.017109,-0.008497,0.999817]]2H8? D?j? ?`f@?i2&-@I2_;2ICYFAByF"IbDN3VDN3yV`u%VN=ٔVԘ9XYX=ZIFyX^c<E^>`Q 5f4b@=?Q 9f4bM)b؇BYdyf@Q If@bCIb:ib:bg4ylɮnAl*NpRNp:NpBNt2Ntix)|)|||i|I 3@ @@ 0@IIO=Iyԡ ,ɯ߇?A::@: @:ٱ:  BAHRS rotation from veh to nav: [[-0.100030,0.994939,0.009522],[-0.994950,-0.100101,0.007381],[0.008297,-0.008735,0.999927]]:H`?@0? ?`;~??みg?i::@I:_;:JCDY^3Byb"IIb=)`dfAiMMb@Mb@Mb@IIII I9MMb:v?y&1YMyM=ٔu@9yYy=}IFyyh=E>Q 546>?Q 94M)ՇBYQ I@CI ;i ;:o4yɮtA*NRN:NBN2Ni))iIB<AB%>B!B%"IB%eBB!B!B!B%`;B%56E*3@ @@0@IԩIO= [,?Aɰ2 @2@2ٱ2& :AHRS rotation from veh to nav: [[-0.086561,0.996213,0.008141],[-0.996246,-0.086562,-0.000191],[0.000515,-0.008127,0.999967]]2H(?.?@@()>@?Ѥ?i2 @I2n_;2FCYN%ByR"IlbDZFVDZ4yvՖ%vS=ٔz9xYx=~IFy|Mo =EU>QQ 5]4U??Q 9e4UM)U҇BYayeY>Q Ie@UCIU:iU9:U-v4yiɮuAq*NyRNy:NyBNy2Nyi))顑iIM(3@I @Q@U0@QIaIyO= 1i ޟ,e?A2͌@2@2N;ٱ2 :AHRS rotation from veh to nav: [[-0.070773,0.997465,0.007342],[-0.997469,-0.070719,-0.007353],[-0.006815,-0.007844,0.999946]]2H+999YA=EIFyAE!=EE>IQ 5U4MA?Q 9U4MN)MчBYV>Q E;ycQ I@MCIMci}=}4=ԑB>B+CB"IBABB =BBBY;B06E Y , B-?AFW@F)@F;[<ٱF RAHRS rotation from veh to nav: [[-0.053282,0.998557,0.006655],[-0.998490,-0.053187,-0.013754],[-0.013381,-0.007378,0.999883]]FH G.? B{?E; :+@Ag7~ ?iFW@IF4[_;DYV ByVi"I XX^=^=bD`VD`yj;%jP=ٔn9lYp=rIFypr&7=Er>tQ 5z4vD?Q 9z4vO)vЇBY|y~_Q I~@vCIv;iv;v4yɮA *NRN:NBN2Ni!)!)!))i))I1ԙ3@ @@@IIO= ,G?A2@2@2<ٱ27 :AHRS rotation from veh to nav: [[-0.036899,0.999306,0.005077],[-0.999158,-0.036801,-0.018158],[-0.017959,-0.005743,0.999822]]2H`䢿P?`t?`ע`cw ?i2@I2[I_;2GCYRByRY"IbDZLVDZ 4y%+x%%F=ٔ%V59)Y)=-IFy)-"=E5>1Q 5=45G?Q 9E45P)5χBYAyEZQ IE@5CI5Q;i5 ;5G4yM˔BɮUdAUgE*NYRNY:NYBNY2NYii)i)qqqiqyIy5'3@1 @1@1@1IAIQOu=)Qy \,r`?A6-'@6!@6<ٱ6Q >AHRS rotation from veh to nav: [[-0.020733,0.999781,0.002759],[-0.999562,-0.020670,-0.021186],[-0.021124,-0.003197,0.999772]]6H;@5?f? i`* ;1j@!?i6-'@I6d_;4YNByRM"Ii%Mb@Mb@Mb@!!!! !9%/$?/$?I +Y%,>y%1>%94%@%@ %(@)% @!Y%p@bDOVDc4yCE%B=ٔ;Q->9Y=IFyAA@ABBBm"IBBBBBDBV;B.6EB*CB*CBB =B =C-52=E>Q 54HL?Q 94R)̇BY[>Q Ew;ykQ I@CIP ;ie ;4yɮA*N RN :N BN 2Ni!)!)!!!i!)I)=?i=?a 3@ @@@IIO >ԁԩ < ,z?A2@2@2M<ٱ2o  :AHRS rotation from veh to nav: [[-0.004680,0.999987,0.001892],[-0.999728,-0.004636,-0.022871],[-0.022862,-0.001999,0.999737]]2H+s@?`_?r@k/i4``?i2@I25_;0YBByB="IID)F;DDbDN8VDN3yVT%V\=ٔV$;Q-V>9XYX=ZIFyX^A3=E^>`Q 5f4b^P?Q 9f4b?T)bɇBYdyfgQ If@bCIb:ibB:b&4ynєBɮnLAnhE*NpRNp:NpBNp2Ntix)|)|||i|I3@ @@@IԩIO=U%=Q C G)]9YY]YA 1 4$,?Aɰ:@:@:<ٱ:3 BAHRS rotation from veh to nav: [[0.009476,0.999954,0.001239],[-0.999697,0.009502,-0.022700],[-0.022711,-0.001024,0.999742]]:H_h? ?@(MT?@u?>`rA@UP?i:@I:x;_;8Y^ރBy^2"IiEMb@Mb@Mb@AAAA A9E@5^I ?K7?:vYEb>yEI >EԼAE@ E@)EM@AYEQ@bD]LVD] 4ym(!%m?=ٔuQ-u>9qYy=}IFyyD=E>Q 54]U?Q 94U)‡BYK>Q E;yIQ I@CI ;i ;4yɮA*NRN:NBN2Ni))iI!m#3@i @i@u0@qIIO=9BBB5"IBBBBBDB<;B6Ei +,?A Ev@EH|@E*֫<ٱE: AHRS rotation from veh to nav: [[0.021526,0.999768,-0.001065],[-0.999548,0.021499,-0.021002],[-0.020975,0.001516,0.999779]]EH ??@?rQL@?^zmX?@0?iEv@IE_;EFCYy1"Ii߹I߽AbD%;VD%)3y= t%=0=ٔEuQ-E>9AYA=MIFyIi<E>Q 54[?Q 94W)BYyFQ I@CI:i:4yДBɮA*NIRNI:NIBNI2NIiY)Y)YYYiaaIiq@! @!@%0@!I1IAOUS>ԙ 2,cȈ?A23ߐ@2ڗ@2<ٱ2Pd; >AHRS rotation from veh to nav: [[0.032963,0.999452,-0.002879],[-0.999290,0.032905,-0.018378],[-0.018273,0.003483,0.999827]]2H@??@g .`ؠ?ђ 3ֈl? ?i23ߐ@I2&^_;2ICYBڃByF-"IJ=J= HJp>! 4*8,>∺?A6.@6(@6@o<ٱ6zy; BAHRS rotation from veh to nav: [[0.042578,0.999088,-0.003182],[-0.998987,0.042527,-0.014742],[-0.014593,0.003806,0.999886]]6H ̥??jƥ?1㍿@t.o?`?i6.@I6_;6HCY^׃By^)"I|iMMb@Mb@Mb@IIII I9MQ?`"?~jtYM\>yM=MļIM@B]<A]<BaBaBe"IBeƒBBaBaBaBe(;Be6E M@)IIYM\@bDKVD 4y l% 6=ٔsQ->9Y=IFy<E>!Q 5-4%sc?Q 9-4%9Z)%BY5?>Q E5;y5WPQ I5@%CI%G ;i%] ;%+4y9ɮEAA*NIRNI:NIBNI2NIiY)Y)aaaiaaIi u:Uninitialize Docking Stepper. uPowering downIu)u}i}IIO=)Qԁ |T>,?A6 d@6^@6{"<ٱ6lx; >AHRS rotation from veh to nav: [[0.049168,0.998783,-0.003946],[-0.998741,0.049126,-0.010123],[-0.009917,0.004439,0.999941]]6H,? ?*p@@'?w\O.r?@?i6 d@I6c`;6GCYJByJ>"IbDRXVDR!4yZ =%Zc=ٔZUQ-Z>9\Y\=^IFy\b@<Eb>dQ 5j4fRg?Q 9j4f|[)fBYhyjNQ Ij@fCIfp:if:ft4ypɮrCAp*NtRNt:NtBNx2Nx,zB*** querying acoustic contact ***LxLxi))  i  II)I9OE)=Y5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ԁԱ *DAT read: user:436>  BDAT read: Tx time:03:42:29.6627  $Ping request sent. x@>s@>J;ٱ>]; FAHRS rotation from veh to nav: [[0.051716,0.998641,-0.006504],[-0.998653,0.051688,-0.004440],[-0.004098,0.006725,0.999969]]>H`z?`?`z@v?-0rVp {??i>x@I>a;>FCY^By^P"IIb4=)b=fAfAi Mb@Mb@Mb@     9 )\(?ˡE?9Y=IFy;E>Q 54j?Q 94\)BY >Q E;y`Q I@$CI? ;i]:ĵ4yɮA*NRN:NBN2Ni))iI I!I1O===checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246285BU>BU*CBU "IBUBBU =BQBQBU$;BU5EAq eK,/?Aɰ2{@2v@2gٱ28< :AHRS rotation from veh to nav: [[0.052087,0.998608,-0.008365],[-0.998641,0.052101,0.001418],[0.001852,0.008280,0.999964]]2H@4??`! ?g;W? W^?`??i2{@I2a;0YBByBJ"IbDNRVDN4yVNҼ%Vs=ٔV䐼Q-V?9XYX=ZIFyX^:E^?`Q 5f4bJm?Q 9f4b])bBYhyj`Q Ij@b*CIb:ib :bʵ4ylɮnAl*NtRNt:NtBNt2Nti|)|)yyyiyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498330IIO=QԁԩM >M 9XYX=ZIFyXZ$ɺEZ>\Q 5b4^Ep?Q 9f4^^)^BYdyf`Q If@^1CI^d:i^:^ѵ4yj֔BɮjAl*NpRNp:NpBNt2Ntix)|)|||i|III1O=#=Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002349 9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254231}X,8c?AFf@Fa@Fe6ٱFp; NAHRS rotation from veh to nav: [[0.049521,0.998740,-0.008188],[-0.998711,0.049608,0.010740],[0.011132,0.007645,0.999909]]FHZ??Āp`*f? ?̆?zP?@?iFf@IFr3`;DYj Byjh"I lln=n=AxAxB|B|B~"IB~ƒBB|B|B|B~#;B~5EiMb@Mb@Mb@ 9/$? rh?Y9Y=IFyrE>Q 54p?Q 94_)YUAHRS rotation from veh to nav: [[0.046304,0.998875,-0.010260],[-0.998829,0.046441,0.013588],[0.014049,0.009619,0.999855]]2H@)? ? M`g,ǧ?ԋ? Ō?!??i2L@I2_;0YB ByF"IbDNaVDN24yV=%V]=ٔZ:Q-Z>9XYX=ZIFyX^E^>Q 5%4q?Q 9%4H_)Y)y-XQ I-@4CIB:iN:ߵ4y1ɮ5A1*NARNA:NABNA2NAiQ)Q)YYYiYaIaIyIOT=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758326ԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011625e,EK?AV$@V@V:\ٱVR$< fAHRS rotation from veh to nav: [[0.041465,0.999083,-0.010713],[-0.999005,0.041634,0.015995],[0.016426,0.010039,0.999815]]VH:?{?@`Q?`?ѐ?]?`{?iV$@IV ~_;VFCYn$Byn"IiMb@Mb@Mb@ 9Q뱿~jty&1|?Y\y`;@@ ) @YbD[VDy'4yV<%9=ٔQ->9Y=IFy3E>Q 54p?Q 94^)BY<=Q E6B+CB5"IBBB =BBB";BB+CB+CBBƺ =Bƺ =C4A rk,?A2@2@2Zٱ2 < :AHRS rotation from veh to nav: [[0.034981,0.999345,-0.009281],[-0.999221,0.035143,0.017956],[0.018271,0.008645,0.999796]]2H? ?`D?c???S?i2@I2*_;2HCYB3ByB"IIF8>)FC=FAFAHJAAbDN`VDN04yV=%V_=ٔV䤻Q-V>9XYX=ZIFyX^E^>`Q 5f4bp?Q 9f4b])bBYdyf?Q If@b;CIb:ib:b4ylɮnAl*NpRNp:NpBNt2Ntix)|)|||i|II!I1OE&=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518285Iq5 BDAT read: Rx Time:03:42:32.0677 5 TRx dataTimestamp_ set to:1761536551.068107= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767347ԡ r,ʉ?Aɰ4<2@2觗@2ٱ2 < :AHRS rotation from veh to nav: [[0.026849,0.999600,-0.008885],[-0.999449,0.027017,0.019305],[0.019537,0.008362,0.999774]]2H`L~? ?2{@7?@ē??/ ?`&?i2@I2^;2GCYj@Byn"I=cGUjAeMAԉ?9jAY_AbD]ZVD]%4y5_=%;=ٔ\>Q->9Y=IFy֘E>Q 54Fo?Q 94])BYyw?Q I@?CI;i;4yДBɮA*N RN :N BN2Ni)!)!!!i!)I)IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018250ԩ iA IE Ax,䉺?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273071BR<APB^>B\B^`"IB^BB\B\B^DB^-;B^6E@@ٱj< AHRS rotation from veh to nav: [[0.006083,0.999935,-0.009673],[-0.999765,0.006282,0.020771],[0.020831,0.009545,0.999737]]Hx? w?`σ@ॻy?E? T? 1?`?i@Ig^;Y-KBy-"IiMb@Mb@Mb@ 9M¿lMb`?Yny;@@ @) @YbDUVDn4y O=%5=ٔ;Q->9Y=IFy<E%>!Q 5-4%m?Q 954%Y[)!Y5D>Q E5;y5C?Q I5@%HCI%n:i%:%Z4y9ɮE(AA*NIRNI:NIBNI2NIiY)Y)aaaiaiIqIIO=DAT read: 03:42:32.0677 LVL= 15856, 10769, 20050, 15971, AGC= 31, IDX= 437,-0.01, 2.300, 0.607, 1.520, 2.995, PHS=-0.592,-2.342,-1.518, RAW= 118.1, 46.1, CAL= 116.6, 52.9, ROT= 33.4, -52.9 Ygot valid direction response: 03:42:32.0677 LVL= 15856, 10769, 20050, 15971, AGC= 31, IDX= 437,-0.01, 2.300, 0.607, 1.520, 2.995, PHS=-0.592,-2.342,-1.518, RAW= 118.1, 46.1, CAL= 116.6, 52.9, ROT= 33.4, -52.9 PDAT read: Bearing 129.5, 19.5 (Local) ~Local bearing/azimuth received: Bearing 129.5, 19.5 (Local) DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.503587,0.332054,0.797584]Fpublishing direction and range infoy@1b?[w`@?(΅?Y=*RN c>)IPiTM¿A@M?S>@ \l?);?I\l|?k0?rX䗿rs9 ?  )MI;?i\l)Q ~,.?AY~MBy~"I== p< bD^VD,4y%&<%%p=ٔ%Q--?9)Y)=-IFy)5E5?9Q 5E4=l?Q 9E4=Z)9YAyAQ IM@=NCI=B:i=[:=M4yQɮUAQ*NYRNY:NaBNa2NarMK?}?zMưaLL?A*M2MJMfͩ@bMMQ}? MMa"MFBM? &?MdCgMBM>}?MHl@1i9)9)999i9AIAIyIO=aԉߵ =ߵ = 2ۅ,?ATT~@~͙@~{ٱ~<  AHRS rotation from veh to nav: [[-0.006113,0.999950,-0.007916],[-0.999752,-0.005942,0.021468],[0.021420,0.008045,0.999738]]~H y ?@M6Vx? ?z??i~@I~~^;|YYBy"IiMb@Mb@Mb@ 9gfffffƿ ףp= 9aYa=eIFyae Ee>iQ 5u4m k?Q 9}4mX)mBY}B9>Q E};y}|?Q I}@mXCIma:im:m 4yɮAԉ*NRN:NBN2Ni))顩iIIIO=ԹB>BB"IB(BB =BBBB6E ,_2?A28@22@2^ٱ2C+; :AHRS rotation from veh to nav: [[-0.018679,0.999801,-0.007013],[-0.999588,-0.018521,0.021906],[0.021772,0.007419,0.999735]]2H ^?@u|>@n? cK?}c~? ?i28@I20^;2ECYB^ByB"IbDJ>VDJ43yRy<%Rk=ٔV҄Q-V?9TYT=ZIFyXZ EZ?\Q 54^i?Q 94^lV)^BYy?Q I%@^`CI^;i^?;^"4y)ɮ-A)*N1RN1:N1BN12N9iI)y)yyyiyIIIOf=i I AI _꒢,:L?AY~`By~"I    bD\VDP)4yu<%u>=ٔ}Q-}>9Y=IFyE>Q 54dh?Q 94oT)BYyQ I@jCI;i;4yɮA*NRN:NBN2Ni))iIIIO=Iԁԩ Z,mf?Aɰ;A A"AAB&>B$B&"IB&ABB$B$B$B&#;B&5EBh@Bc@BMٱB; JAHRS rotation from veh to nav: [[-0.043937,0.999026,-0.004144],[-0.998803,-0.043837,0.021695],[0.021492,0.005092,0.999756]]BH~?@p2qB7??t?`?iBh@IB^;@LYnZByn"IiMb@Mb@Mb@ 9'1ZĿMb~jtY"y@@@  @)@Y@bDVVDE4y%z%%@=ٔ%,:Q-%>9)Y)=-IFy)5rE5>9Q 5E4=f?Q 9E4=R)=BYE*>Q EE;yE@?Q IE@=sCI=:i=:= 4yQɮUAQ*NYRNY:NYBNY2Naii)q)qqqiqyIyIIO=u=u4=! >,?A6@6 @6-ٱ6xO; >AHRS rotation from veh to nav: [[-0.054916,0.998489,-0.002032],[-0.998277,-0.054862,0.020793],[0.020650,0.003170,0.999782]]6H@?`` J?S%? i?@6?i6@I6^;4Y^^Byb"IbDjiVDj=A4yr}<%ra=ٔrD;Q-r>9tYt=vIFytvgEz>!Q 5-4%e?Q 9-4%Q)%BY)y-?Q I5@%{CI%:i%t:%&4y9ɮ=A9*NARNI:NIBNI2NIiY)Y)YYYiaaIiIIOW=)Yԉ "-,癊?A=@=`@=ٱ=+" MAHRS rotation from veh to nav: [[-0.070916,0.997476,0.003663],[-0.997340,-0.070968,0.016624],[0.016842,-0.002474,0.999855]]I=H'Q? n?5* ?@&??@Dd ?i=@I=b_;=ICY]SBy]"Im=m=iMb@Mb@Mb@ 9QMb rhYyC@ 7@)Y@ ;bD]VD'+4yJ%8=ٔM 9Y=IFy%E%>)Q 554-Zd?Q 954-O)-BY5>Q E5;y5?Q I=@-CI-:i-\:-8.4yEǔBɮEAE^E*NRN:NBN2Ni))i I IAIQO=yB1B1B5"IB5PBB1B1B1B5';B56Eԡ XP,㥳?AY-HBy-"IbDMOVDMc4y]d%]X=ٔ]Q-e>9aYa=eIFyamEm>qQ 5}4u c?Q 9}4uoN)uBYyyyQ I@uCIuU;iu;u44yɮA*NRN:NBN2Ni))顩iIԹIIO=9 8,ǂ͊?A2*h@2b@2$_ٱ2BƏ :AHRS rotation from veh to nav: [[-0.075228,0.997152,0.005400],[-0.997073,-0.075294,0.013250],[0.013619,-0.004387,0.999898]]2H!B? v?``rF`"?H?@Wq`)?i2*h@I2 _;2FCYfJByf"IbDnIVDnX4yv,<%vR=ٔzn9xYx=~IFy|5E> Q 54 a?Q 94 ,M) BYy\?Q I@ CI :i r; ;4y!ɮ%A!*N)RN):N)BN12N1iA)A)AAAiAIIIIaIO=Aiԙ B9 A= <BA BE ,CBA BA BA BA BA BE 0;BE 6EBb,l^犺?AB1B1B5 =B5 =C5?W5n9Y=IFyZE>Q 54`?Q 94L)BYW=Q E|9)Y)=-IFy)-E5>1Q 5=45O_?Q 9E45gL)5BYAyAQ IE@5CI5;i5@;5I4yIɮM^AQ*NYRNY:NYBNY2NYii)i)qqqiqqIyIIO`= ui>uېCrGA%b9!Y%6@) vƢ,?A }@}a@};ٱ} AHRS rotation from veh to nav: [[-0.065323,0.997828,0.008535],[-0.997855,-0.065284,-0.004747],[-0.004179,-0.008827,0.999952]]}H  4?z?`n`wHqs5q?i}@I}^;}DCY8By"Ii%Mb@Mb@Mb@!!!! !9%9IYQ=UIFyQU<E]>YQ 5e4]_?Q 9m4]OL)]BYm Q Im@]CI]e ;i];]Q4yyɮ}zAy*NRN:NBN2Ni))iI!IYiIO=B>B+CB"IBFBB =BBBD;B6Eԙ ̢,4?AF@F@Fq<ٱF NAHRS rotation from veh to nav: [[-0.056035,0.998404,0.007039],[-0.998388,-0.055968,-0.009408],[-0.008999,-0.007555,0.999931]]FH૰?I|?ܧD`-n@1~@o?PiF@IF^;FCCYV(ByV"I^=^= bp9lYp=rIFypr<Er>tQ 5z4vi`?Q 9z4v;L)v~BYxy~->Q I~@vCIv<;iv#;vW4yɮA*N RN:NBN2Ni))))))1i11I9IQIO=! Ӣ,N?A,,Jfe@J8`@JV<ٱJۻ VAHRS rotation from veh to nav: [[-0.044375,0.998996,0.006113],[-0.998929,-0.044290,-0.013401],[-0.013117,-0.006701,0.999892]]JH X? % y?94q܊r{?iJfe@IJw^;HY^)By^"IbDfGVDf4ynQ;%rJ=ٔrg&9tYt=vIFytv<Ev>x|Q 54z`?Q 94z$L)z|BYy `>Q I @zCIz(;iz);z^4yɮA*NRN:N!BN!2N!i))1)111i19I9IQIaOu@=1Yԁ i I AA A B >B B "IB -BB =B B B b;B :6Eõ٢, h?A:ӎ@:Ε@:(<ٱ:̻ BAHRS rotation from veh to nav: [[-0.030892,0.999509,0.005232],[-0.999394,-0.030804,-0.016238],[-0.016069,-0.005730,0.999854]]:H@-`? nu?@ Vtxw?i:ӎ@I:Q^;:FCYJ#ByJ"IQiuMb@Mb@Mb@qqqq q9u~jt?L7A`?:vYu=ٔ;Q->9Y=IFy=E>Q 54Vc?Q 94oL)vBY^=Q E1 q?i2%J@I2J^;2GCY\y\`bAddbDf8VDf3ٔr;Q-r>9pYp=vIFytv=Ev>xQ 5~4zje?Q 9~4zL)zqBYyQ I@zCIz';iz:z m4y ɮ  *NRN:NBN2N,B*** querying acoustic contact ***LLi))))111ԱiIII O=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. A E <E *DAT read: user:437> M BDAT read: Tx time:03:42:39.7627 M $Ping request sent.M 9Y=IFy=E>Q 54i?Q 94N)mBY>Q E;y\Q I@CI` ;iC ;u4yɮTA*NRN:NBN2Ni))iIIIO =)Bu>BqBum"IBuBBqBqBqBuZ;Bu56Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848Yԉ ,6?A2:@25@2g<ٱ2 :AHRS rotation from veh to nav: [[0.012925,0.999916,0.000493],[-0.999752,0.012932,-0.018149],[-0.018154,-0.000259,0.999835]]2Hkx?P?'+@? |?ꖒ 0@?i2:@I2(2_;2DCY^ Bybk"IbDjAVDj?3yrw%rj=ٔr: >AHRS rotation from veh to nav: [[0.027022,0.999634,-0.000981],[-0.999489,0.027002,-0.017097],[-0.017064,0.001442,0.999853]]2H ?@?PK?́8yW??i2@I2^;2GCY^By^m"If=f=bDjQVDj4yr};%rJ=ٔr0Q-v>9tYt=vIFytz=Ez>|Q 5]4~[o?Q 9]4~4P)~gBYayeUQ Ie@~CI~Y;i~;~94ymДBɮmAmhE*NyRNy:NyBNy2Nyi))顉iIIIOp=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749) B >B ,CB T"IB BB =B >DB B S;B 16E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260232, 鋺?A06@6y@6 }<ٱ6j; >AHRS rotation from veh to nav: [[0.040095,0.999194,-0.001750],[-0.999077,0.040063,-0.015526],[-0.015444,0.002371,0.999878]]6H E?f?@<\`o?`6̏㠏`lc??i6@I6^;6ECYFByFf"IiMb@Mb@Mb@ 9"~j?V-?MbPYS=y=@ @)d@Y@bD=KVD= 4yU%UC=ٔvQ->9Y=IFyL<E>Q 54s?Q 94iQ)Yh$>Q E;y  9Q I @CI;i;ʼn4y5֔Bɮ=kA9*NARNA:NABNA2NAiq)q)yyyiyyIIIO=ԉԹ4?o?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510967 ,?A6t@6n@6,DZ<ٱ6J; BAHRS rotation from veh to nav: [[0.051121,0.998690,-0.002410],[-0.998604,0.051084,-0.013462],[-0.013322,0.003095,0.999906]]6H z,?C?c'?PHZi?;?i6t@I6N^;6DCYF ByFj"IbDRNVDR4yZ<%ZU=ٔZQ-Z>9\Y\=^IF`y\b<Eb>dQ 5j4fw?Q 9j4fnR)ffBYlynN6Q In@fCIf ;if;f>4ypɮrOAt*NxRNx:NxBNx2Nxi)) i  II)I9OE)=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015172A ,W?A]c@]5@]8<ٱ]; AHRS rotation from veh to nav: [[0.060301,0.998174,-0.003436],[-0.998117,0.060258,-0.011505],[-0.011277,0.004123,0.999928]]]H`߮?@ ?%l ڮ?2 qp?h?i]c@I] ^;]CCYByr"IiMb@Mb@Mb@ 9#~j?/$?~jthY=y=D@ @)YQ@bDYVD#4y<%,=ٔQ->9Y=IFy<E>Q 54{?Q 94`S)eBY=Q E;y4Q I@CI3:i:4yɮA*N RN :NBN2Ni)!)!!!i!)I)IIIYOe=AB!B!B%A"IB%BB% =B%?DB!B%F;B%"6EBBBBĹ =BCīz5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266614iԙ : ,|7?Aɰ;2@2y@2w<ٱ2R; :AHRS rotation from veh to nav: [[0.067034,0.997739,-0.004828],[-0.997705,0.066984,-0.009864],[-0.009518,0.005478,0.999940]]2H ()?`z?@s3`%?@]3~@pv??i2@I2^;2ECYRByRy"IbDZKVDZ 4yb=%bt=ٔfQ-f?9dYd=jIFyhj<Ej?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879lQ 5z4n}?Q 9z4n T)lYxyz*3Q Iz@nCIn(:in:nd4yYɮeAa*NiRNi:NiBNi2Niyi))顡iIIIO%=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770676 MA @!9 Y oA ",XQ?A2@2x@2<ٱ2; >AHRS rotation from veh to nav: [[0.071297,0.997441,-0.005370],[-0.997422,0.071249,-0.008583],[-0.008179,0.005968,0.999949]]2H@??u@a=?qx??i2@I2j^;2CCYDyDbDNFVDN4yV&T%VL=ٔV[Q-Z>9XYX=ZIFyX^.<E^>`Q 5f4b?Q 9f4bT)bdBYdyf2Q If@bCIb`:ib:be4ylɮnAl*NpRNp:NpBNt2Ntix)|)|||i|III)O=#=BDAT read: Rx Time:03:42:42.1677 TRx dataTimestamp_ set to:1761536561.400283checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023939 1B% >B! B! B! B% =B% >DB% DB% *;B% 6Ea  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274818P,Dk?A!@@;ٱ; AHRS rotation from veh to nav: [[0.072290,0.997368,-0.005596],[-0.997356,0.072245,-0.007869],[-0.007444,0.006150,0.999953]]H?@p? vV`~?}~@1y?@?i!@I^;YByz"I =p=)iMb@Mb@Mb@ 9A`"?J +?YY=yH=@ @)z@Y@ 4<p<bDYVD#4yan;%,=ٔ˺Q->9Y=IFy ;E>Q 54?Q 94qU)Yӓ=Q E791Y1=5IFy15>bE=>AQ 5E4EI?Q 9M4EU)AYIyM@Q IM@ECIE:iE:E˳4yQɮ]AY*NaRNa:NaBNa2NarM-?zM-,gYL)L-y?A*M)2M-?JM-I@bM-m]`?A?gK0?RM- M2?(?gR?:M-%n?BM-VjM-ou?;>)/!D)ʙ?ZM-)BT7?K_ܣ̿jaQU?M- M-K>M-@ ? M-kY"M-3BM-ؼ_'?M-MaM-3BM-i?M-xa@i))顙iIIIOx=iYIYԑ S_',잌?AZ@ZV@Z?<ٱZ; ]AHRS rotation from veh to nav: [[0.066653,0.997751,-0.007119],[-0.997745,0.066593,-0.008400],[-0.007907,0.007663,0.999939]]ZH.? ? G)}@: ?641@c??iZ@IZ^;ZCCY%By"IbDVVDE4yJ=%>=ٔܛ:Q->9 Y=IFy%v'E->AQ 5U4E7?Q 9U4ExV)AYYy]BQ I]@ECIE=N;iEhL;Eo4yaɮeAi*NqRNq:NqBNq2Nqi))顉iI)IAIQO]=B>BBG"IBBB =BBB;B5EI #-,Ÿ?A2@2׷@2<ٱ2\; >AHRS rotation from veh to nav: [[0.060014,0.998173,-0.007035],[-0.998156,0.059945,-0.009571],[-0.009132,0.007597,0.999929]]2H??|@%?+`峂?l?i2@I2j^;2DCYF ByF"IIJ=)J9QYQ=UIFyQщE>Q 54?Q 94V)Yκ9`Y`=bIFy`f̼Ef>dQ 5j4f-?Q 9n4fV)dYlyn[Q In@fCIf;if;fȶ4ytɮvkAt*NxRNx:NxBNx2Nxi ) )   i II)IAOM+=ԩ B <A <B B B T"IB BB =B B B ;B 5Eiy Iy :,'쌺?AJ@J @JtE<ٱJ; ZAHRS rotation from veh to nav: [[0.039270,0.999212,-0.005836],[-0.999156,0.039196,-0.012294],[-0.012056,0.006314,0.999907]]JH;?? ~w?-@y?=?iJ@IJ*^;JACYb2Byf"IlieMb@Mb@Mb@aaaa a9e/${GztYeyeףaae@ e@)eM@aYabD}WVD} 4yK(=%==ٔx;Q->9Y=IFyۼE>Q 54?Q 94V)Yװ %-Q=ٔ-w;Q-->91Y1=5IFy15 AE=>AQ 5M4EȆ?Q 9U4E\V)AYQyUV?Q IU@ECIE:iEK:E׶4yaɮeYAa*NiRNi:NiBNi2Niiy))顁iIIIOi=iԑ = 4= G,H1 ?A$$Bt,@BF'@B^|<ٱB; NAHRS rotation from veh to nav: [[0.011154,0.999926,-0.004772],[-0.999819,0.011078,-0.015489],[-0.015435,0.004944,0.999869]]BH׆?e?qsF?鸏?t??iBt,@IB^;BACYf1Byj"IbDcVD264ԡy<%B=ٔl;Q->9Y=IFy% E->aQ 54e?Q 94eV)aYyi?Q I@eCIe BqBu`"IBuBBu =BqBqBu;Bu5E M,:?A2Ϫ@2@2t<ٱ2r; :AHRS rotation from veh to nav: [[-0.004670,0.999982,-0.003784],[-0.999847,-0.004733,-0.016840],[-0.016858,0.003705,0.999851]]2H s ?n bs@{>CYn??i2Ϫ@I2}>^;2@CYB:ByB"IiMb@Mb@Mb@ 9Qy&1MbpYuy`e@ @)7@YQ@bD-VVD-E4y=G=%=Q=ٔ=`r;Q-=>9AYA=EIFyAE,EM>IQ 5]4M)?Q 9]4MU)IY]|=Q E]VByJ"ILNAPR@AbDVWVDV 4yZ<%^S=ٔ^3;Q-^>9`Y`=bIFy`fp/Ef>dQ 5j4f?Q 9n4fT)fcBYlyn?Q In@fCIfa;if;f4ytɮvAt*NxRNx:NxBNx2Nxi))   i II)I9OM*=QԁԹBm >Bi Bm f"IBm BBm =Bi Bi Bm ;Bm 5EB=,CB=,CB9B=ʸ =B=ʷ =C=ʹ4 cZ,m?A;ɰ;:ꛎ@:@:(<ٱ:D; FAHRS rotation from veh to nav: [[-0.037723,0.999284,-0.002729],[-0.999116,-0.037767,-0.018483],[-0.018573,0.002029,0.999825]]:HzP`#?Zf@@BV@A풿``??i:ꛎ@I:J^;:DCYvCByv"IiuMb@Mb@Mb@qqqq q9up= ף~jtMbYuyuļuu@u@ u@)uz@qYu@bDLVD 4y<%<=ٔ<:Q->9Y=IFyE>Q 54?Q 94*T)bBY؎=Q E>VDJ43yR>%R\=ٔV9Q-V>9TYX=ZIFyXZD.EZ>\Q 5b4^Q?Q 9b4^S)^`BYdyf_?Q If@^CI^K:i^:^4yhɮjAh*NpRNp:NpBNp2Npix)x)xx|i||IIIOb= i>C +G1ed9aYe@9i Ug,[z?A :@:@:;<ٱ:\U9 NAHRS rotation from veh to nav: [[-0.068461,0.997653,-0.001516],[-0.997487,-0.068478,-0.018155],[-0.018216,0.000270,0.999834]]:H ?Xj@ + 7`1??i:@I:^;:ACYVCByV"IZ=Z= \^<bDbWVDb 4yjq<%jH=ٔjQ-j>9lYl=nIFypvEz> Q 5%4 ?Q 9%4 R) _BY1y5y?Q I5@ CI ;i z; S4yYɮ]Aa*NRN:NBN2N iy))顉iII I9OE=iBBBs"IBBB =BBB=;B6Eԙ %n,U?A:1@:,@:*S<ٱ:R]: FAHRS rotation from veh to nav: [[-0.081839,0.996645,-0.000693],[-0.996498,-0.081839,-0.017129],[-0.017129,-0.000711,0.999853]]:H`e? %FPb\- JG?i:1@I: ^;8PYRLByR"Ii-Mb@Mb@Mb@)))) )9-:v9YYY=eIFyaeEe>iQ 5u4m?Q 9u4m0R)m\BY}=Q E}L?oa ?<㷿@ 'Z?i2Pӌ@I2x^;2DCYtyt|bD?VD3y-:%O=ٔuQ->9Y=JFy%E%>)Q 5-4-?Q 954-Q)-YBY1y53@Q I5@-CI-:i-:-4yAɮENAA*NIRNI:NIBNI2NIiY)a)aaaiaiIiIIOY=)YB >B B y"IB BB =B B B e;B D6Eԁ 7{, ?A2r@2D@2Uc<ٱ2G- :AHRS rotation from veh to nav: [[-0.102547,0.994727,0.001212],[-0.994631,-0.102520,-0.014073],[-0.013875,-0.002649,0.999900]]2H@?@!S?@>`Ҍ vj`~e.?i2r@I2xf^;2BCYNHByR"ITVAYieMb@Mb@Mb@aaaa a9ev/~jtMbYexiyeeae@ a)e7@aYe@}@A}AAbD}]VD}'+4y尼%C=ٔ8Q->9Y=JFyE>Q 54]?Q 94P)XBY@=Q E@9dYd=fJFydj@Ej>lQ 5r4n\?Q 9r4nWP)nVBYpyr"@Q Iv@nCIn@;in ;nu4yxɮz1Ax*N|RN|:NBN2N,B*** querying acoustic contact ***LLi))i!I!I9&MdClearing failed state for component DockingStepperqMIIO]2=ԹiIAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. *DAT read: user:438>  BDAT read: Tx time:03:42:49.8127  $Ping request sent. 9 Y = JFy*E>Q 5%4E~?Q 9%4O)UBY)y-@Q I-@ CI :ip:$4yE̔BɮMAM_E*NiRNi:NiBNq2Nqi))顱iI 4Initializing EZServoServo. 8Initializing DockingStepper.YIIOE=BBB"IBBBBBB;Bi6E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251252ԁԩ s,AHRS rotation from veh to nav: [[-0.114700,0.993392,0.004128],[-0.993369,-0.114663,-0.008364],[-0.007835,-0.005060,0.999956]]6H]?p?@@Z "t?i6X#@I69^;6CCY^FByb"I ``f=f=iMb@Mb@Mb@ 9&1Mb{GztYPyף@ @)Y@ 4<<bDCVD3y%>=ٔ9Q->9Y=JFy19E>Q 54T}?Q 94O)TBYuw=Q E[9tYt=vJFytz;Ez>xQ 54z|?Q 94zN)zSBYy'@Q I@zCIz ;iz;z24yɮXA*NRN:NBN2N!i))1)111i1IIIO=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006803Ai A AAA @AB B B "IB (BB B B B ;B 6Ei! I% A- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259669蒛,Tp?A>T@>O@>Ey;ٱ>θ JAHRS rotation from veh to nav: [[-0.108704,0.994061,0.005094],[-0.994063,-0.108677,-0.005299],[-0.004714,-0.005640,0.999973]]>H`Ի@Y?@st?@]@=һu$Osw`?i>T@I>G^;>BCYR:ByR"Ii-Mb@Mb@Mb@)))) )9-:vS㥛Y-Լy-/ݼ--d@) -@)- @)Y-@bDECVDE3yM%MB=ٔUZQ-U>9QYY=]JFyY]u'<Ee>aQ 5m4e{?Q 9m4e5N)aYu=Q Eumchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911ԁԩ fm,U.?A6@6e@6?m;ٱ6ji >AHRS rotation from veh to nav: [[-0.101690,0.994802,0.005260],[-0.994810,-0.101669,-0.004186],[-0.003629,-0.005658,0.999977]]6H`c@k?nu?z`$qm -w?i6@I6E5^;6CCYFAByF"IIJ)>)J>LNAPRAAPbDVBVDV3y^=%^V=ٔbF:Q-b>9`Y`=bJFy`fP<Ef>hQ 5n4jz?Q 9n4jM)hYlyr|@Q Ir@jCIj;ij;j@4ytɮv\At*NxRNx:NxBNx2N|i ) )   i II)IAOM+=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014837! w,k ?Aɰ4<2m،@2?ӓ@2/|E;ٱ2 :AHRS rotation from veh to nav: [[-0.092718,0.995679,0.005086],[-0.995688,-0.092701,-0.003500],[-0.003013,-0.005389,0.999981]]2H@d?t?`El`hv?i2m،@I2"^;2@CYN:ByN"IbDZ]VDZ'+4|y  % E=ٔhºQ->9)Y)=-JFy)5<E5>9Q 5E4=z?Q 9E4=M)9YAyE@Q IM@=CI= :i=:= H4yQɮUAQ*NYRNY:NaBNa2Naii)q)qqqiyIII O5=BiBiBm"IBm2BBiBiBiBm;Bm6EBBBBBø =C4)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267199Qԁ {®,轎?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518832: 2@:,@:D;ٱ:C BAHRS rotation from veh to nav: [[-0.081821,0.996638,0.004362],[-0.996643,-0.081806,-0.003372],[-0.003004,-0.004623,0.999985]]:H@2t?q?~Akh`r ?i: 2@I::^;8Y^9Y=JFy<<E>Q 54z?Q 94OM)Y/9Y=JFy=E>Q 5%4(z?Q 9-4 M)Y)y--?Q I-@CI:i:V4y1ɮ5A9*NARNA:NABNA2NAiQ)Q)YYYiYaIaԹIaIqO=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869Be >Ba Ba Ba Ba Ba Ba Be ;Be 6E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276768a |׻,?A27@2 @2a;ٱ2K JAHRS rotation from veh to nav: [[-0.056348,0.998404,0.003854],[-0.998400,-0.056330,-0.004845],[-0.004620,-0.004121,0.999981]]2H`٬`?bo?9׬ s;rzp?i27@I2X^;2CCYj/Byj"Ii]Mb@Mb@Mb@YYYY Y9]~jtx9Y=JFyf<E>Q 54z?Q 94L)UBYQ I@CI#:i;s]4yɮA*NRN:NBN2Ni))iII)IO=YU=U4=DAT read: 03:42:52.2177 LVL= 16176, 10977, 21042, 21715, AGC= 35, IDX= 437,-0.35, 1.661, 0.172, 0.989, 2.429, PHS=-0.665,-2.212,-1.484, RAW= 118.1, 49.0, CAL= 116.8, 55.4, ROT= 33.2, -55.4 Ygot valid direction response: 03:42:52.2177 LVL= 16176, 10977, 21042, 21715, AGC= 35, IDX= 437,-0.35, 1.661, 0.172, 0.989, 2.429, PHS=-0.665,-2.212,-1.484, RAW= 118.1, 49.0, CAL= 116.8, 55.4, ROT= 33.2, -55.4 PDAT read: Bearing 124.6, 17.3 (Local) ~Local bearing/azimuth received: Bearing 124.6, 17.3 (Local) DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.475151,0.310930,0.823136]Fpublishing direction and range infoyY]s9xYx=zJFyxz=E~>QQ 5]4Uj{?Q 9]4UL)UWBYaye>Q Ie@UCIU;iUY;UTd4yiɮmpAi*NyRNy:NyBNy2NyrM*?zMƱTLL?A*M2MJM@bM>?Ψ#?:N.›?RMsMLh:? MXQT"MBMQ}?Mj_MBM8?Mt̗@i))顱iI &Changing to mode: 3 3@ @@ 0@IIO">) Sȣ,S%?A,2ڎ@2ԕ@2k <ٱ2 9 :AHRS rotation from veh to nav: [[-0.030141,0.999542,0.002568],[-0.999510,-0.030118,-0.008557],[-0.008475,-0.002825,0.999960]]2HGݞ@@?@ e?Bמ[ #g@?i2ڎ@I2}_;2ACY^'By^"Idddf@AbDjOVDjc4yr&=%rK=ٔvj;Q-v>9tYt=vJFytz=Ez>|Q 54~|?Q 94~L)~YBYy #>Q I @~CI~:i~:~1k4yɮ,A*N!RN!:N!BN!2N!i1)1)111i99IABB-CB"IB-BB =BBB;B6EQe%3@i @q@u0@yIIO>yԡ ϣ,=,??Aɰ6@@6;@69<ٱ6.@ BAHRS rotation from veh to nav: [[-0.017613,0.999842,0.002456],[-0.999781,-0.017584,-0.011379],[-0.011334,-0.002656,0.999932]]6H `?d?3} N`w6`eq?i6@@I6_b;6BCYJ#ByJ"IiUMb@Mb@Mb@QQQQ Q9U:v?Q?9Y=JFyt<E>Q 54?}?Q 94,M)[BYZ6=Q E9tYt=vJFytzy<Ez>|Q 54~a~?Q 94~qM)~\BYy%Q I @~!CI~:i~:~Py4yɮA*NRN:NBN!2N!i))1)111i19I9M>iM?3@ @@f0@I)-%=I)O==1B B ,CB "IB BB B B B ;B 6Ea !ܣ,ar?A6ݏ@6ؖ@6j<ٱ6p{ >AHRS rotation from veh to nav: [[0.001553,0.999997,0.001816],[-0.999848,0.001585,-0.017381],[-0.017384,-0.001789,0.999847]]6H`rY?? ]?`>Y?b̑͑JN]?i6ݏ@I6b;6BCYFByF`"I HHN=N=iMb@Mb@Mb@ 9Zd;?S㥫?MbP?Yy=y/]=:@ ) @Y@bD-KVD- 49yEX%ED=ٔM]9IYI=UJFyQUG<EU>YQ 5e4]F?Q 9e4]N)YYmۦ=Q Em"Rx Time:03:42:54.8596 MTRx dataTimestamp_ set to:1761536574.000453ԑ ,o?A2@2@2<ٱ2] :AHRS rotation from veh to nav: [[0.008498,0.999963,0.001025],[-0.999742,0.008518,-0.021057],[-0.021065,-0.000845,0.999778]]2H@og? ?P?q?+K-?i2@I2{$a;2@CYBByBQ"IbDN\VDNP)4yV}}%VU=ٔV9XYX=ZJFyX^1<E^>Q 5%4?Q 9%4N)Y!y%vVQ I%@*CI+;i:}4y1ɮ5A1*N9RN9:N9BNA2NAiI)Q)QQQiQYIYiߙIߙԡ3@ @@4@IIO%= 3,̘?A2O5@2!0@2k<ٱ29 :AHRS rotation from veh to nav: [[0.012232,0.999925,-0.000074],[-0.999632,0.012227,-0.024222],[-0.024219,0.000370,0.999707]]2H`/ ? c?V] ?̘͘@@8??i2O5@I2`;2ACYBByB@"IbDJJVDJ04yR'%RK=ٔV9TYT=ZJFyXZ<EZ>\Q 5b4^惝?Q 9b4^\O)\YdyfUQ If@^.CI^:i^:^W4yhɮjAh*NpRNp:NpBNp2Npix)x)x||i||I  3@ @@4@IIQO=BBB5"IBBBBBB;By6E9}DAT read: 03:42:54.8596 LVL= 16080, 9713, 18242, 17907, AGC= 33, IDX= 386, 0.26,-0.193,-1.190,-0.804, 0.663, PHS=-0.754,-1.808,-1.512, RAW= 105.8, 56.8, CAL= 104.3, 61.3, ROT= 45.7, -61.3 Ygot valid direction response: 03:42:54.8596 LVL= 16080, 9713, 18242, 17907, AGC= 33, IDX= 386, 0.26,-0.193,-1.190,-0.804, 0.663, PHS=-0.754,-1.808,-1.512, RAW= 105.8, 56.8, CAL= 104.3, 61.3, ROT= 45.7, -61.3 DAT read: XDAT read: DATA(0023):failc h dockingStepper Got DATA 23DAT read: NDAT read: Source:050 Destination:011 0Got Src/Dest after DATA &DATA Src=50, Dst=11DAT read: CRC:Pass MPD:03.6 PSNR:18.5 AGC:30 SPD:-0.1 CCERR:013 Got CRC:PassGot CRC:Pass@Incoming data is intended for usRReceived command: failc h dockingStepper  #Outgoing data=1Sending ackDAT read: "DAT read: a pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITX#Rx 2: Read direction message, but no range.\direction in FSK: [0.335395,0.343692,0.877146]ydxw??&կ͔?>%BG E)!I%Ail翉7\?}?)?  ?)0L?I 򈿩:UZ?%.? })q}I0L?i 򈿩Y ] <] 8setting remote address to 50',?A:qB@:C=@:5<ٱ:: BAHRS rotation from veh to nav: [[0.013834,0.999903,-0.001308],[-0.999536,0.013793,-0.027142],[-0.027122,0.001682,0.999631]]:HT?5?lU3??:˛ś[??i:qB@I:sK`;:@CYRByV4"IIZ%=)Zp9qYq=uJFyq];E>Q 54l?Q 94uP)[BY&=Q E;yrQ I@5CI:i:4y=֔Bɮ=A=hE*NARNA:NABNI2NI=Ubgot command failComponent hardware DockingStepperqU UHardware Fault=]XDockingStepper failureMode is Hardware FaultYYia)a)iiiiiqIq }:Uninitialize Docking Stepper. Powering downI)iI&VHardware Fault in component: DockingStepperIO>ԁDAT read: TDAT read: RemoteAddr | 50 0set remote address to 50(entering online modeԩ E,UOڏ?Aɰ:I@:D@:J<ٱ:: BAHRS rotation from veh to nav: [[0.014726,0.999890,-0.001496],[-0.999431,0.014674,-0.030358],[-0.030333,0.001943,0.999538]]:H(?@?@XW G ?1@"_?7?i:I@I:`;:ACPYR҃ByR#"IbD^:VD^{3yf%fk=ٔfQ)pYtyv}rQ Iv@r9CIrg:ir:r4y|ɮ~ A|*NRN:NBN2N i))i!I!I9IIO]4=*DAT read: user:440> DAT read: %DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP %commRate: 600%0online mode acknowledgedB<AB B B "IB BB =B B B ;I B t6EBqBqBqBuȷ =Buȷ =CuȌ4i I ?p,+?A2Z&@2,!@2=ٱ2>; :AHRS rotation from veh to nav: [[0.010405,0.999943,-0.002583],[-0.999458,0.010319,-0.031275],[-0.031247,0.002907,0.999507]]2H6O??U)e``5"?`H` g? ?i2Z&@I2`;2@CYN̓ByR"Ii]Mb@Mb@Mb@YYYY Y9]q= ףp?㥛 ?~jtY]=y]=]D]@Y ]@)]M@YY]Q@bDuaVDu24y1%?=ٔ ;Q->9Y=JFyk%E>Q 54銝?Q 94R)WBY >Q E;y.~Q I@ACI:iQ:4yɮIA*NRN:NBN2Ni))iIII O=Iqԡ ! ! $[,?A2cG9Y=JFyhE>Q 54k?Q 94S)TBYyQ I@HCIl:i:4yɮA*NRN:NBN2Ni))iIII Oԡ% %=% %= ^ ,H'?A22@2@2-^=ٱ2A; :AHRS rotation from veh to nav: [[-0.002669,0.999987,-0.004394],[-0.999505,-0.002805,-0.031323],[-0.031335,0.004309,0.999500]]2HUe@?qMf  q??i22@I2_;0YRByR "IbDZ_VDZ.4yb3%bX=ٔfdgQ-f>9dYd=jJFyhj Ej>lQ 5r4n?Q 9r4nT)nQBYtyvQ Iv@nNCIn;ing:n4yxɮzAx*NRN:NBN2Ni))iI!I9IIOU0=1Y nj,fA?A2q@2l@2I<ٱ2Ka; :AHRS rotation from veh to nav: [[-0.011638,0.999919,-0.005060],[-0.999483,-0.011785,-0.029913],[-0.029970,0.004709,0.999540]]2HՇ W?t "|{Is?:?i2q@I2K_;0Yhyj "IiUMb@Mb@Mb@QQQQ Q9UZd;?Zd;?/$YU=yUy=UU@Q Ul@)U@QYU@bDmSVDm4y}R;%?=ٔQQ->9Y=JFyE>Q 54䑝?Q 94AV)LBYQ >Q E;y֎Q I@VCI :i:04y۔BɮAiE*NRN:NBN2Ni))iIIIO =1aiߑIߑԉԹ ,і[?A2@2S@2xo<ٱ2; :AHRS rotation from veh to nav: [[-0.022276,0.999737,-0.005365],[-0.999380,-0.022414,-0.027158],[-0.027271,0.004757,0.999617]]2Hzϖ`?zueϛ 훿{s?@?i2@I2^;2?CYBȃByB"IDDHJAAbDNjVDNC4yV(=%VY=ٔZQ-Z>9XYX=^JFy\^Eb>`Q 5f4b?Q 9f4byW)bGBYhyj:Q Ij@b\CIb-:ib:bȿ4y9ɮ=A9*NARNI:NIBNI2NIiy)y)yyyiIIIOx=ԑBi Bi Bm !IBm BBm =Bi Bi Bm ;Bm 6E ],Xsu?Aɰ;2#@2@2V<ٱ2ث; :AHRS rotation from veh to nav: [[-0.034033,0.999402,-0.006043],[-0.999139,-0.034167,-0.023528],[-0.023721,0.005237,0.999705]]2H`l?@xL~@9Y=JFy~ܼE>Q 54?Q 94^X)CBY#=Q EAHRS rotation from veh to nav: [[-0.047062,0.998872,-0.006359],[-0.998708,-0.047174,-0.018892],[-0.019171,0.005462,0.999801]]2H`w?] zj8' yX` v_v?`_?i2TO@I2^;2BCYFԃByF&"IbDNZVDN%4yV|=%V\=ٔVIQ-Z>9XYX=ZJFyX^E^>`Q 5f4b?Q 9f4b!Y)b@BYdyfɖQ If@beCIb`:ib:bͷ4ylɮn9Ap*NtRNt:NtBNt2Nt,vB*** querying acoustic contact ***LxLxi|))i I I!I9OE'=]2Acoustic response timeout*entering command modeIy DAT read:  *DAT read: user:441>  (entering online mode ),'?A6x@6Jݔ@6?e<ٱ6%; >AHRS rotation from veh to nav: [[-0.060334,0.998160,-0.006058],[-0.998080,-0.060412,-0.013651],[-0.013992,0.005222,0.999888]]@6H 䮿?xEF @.du? ?i6x@I6^;6ACY^؃Byb*"If=f= dfbDj^VDj,4yr<%rG=ٔv[NQ-v>9tYt=zJFyxzXEz>Q 5 4?Q 9 4Y) DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged2Acoustic response timeout  2Acoustic response timeoutG0,Ð?A2~s@2Pn@2i<ٱ2X; :AHRS rotation from veh to nav: [[-0.073853,0.997251,-0.005958],[-0.997235,-0.073899,-0.007828],[-0.008247,0.005363,0.999952]]2H` 貿{?gx`Y 벿 U〿 u??i2~s@I2E^;2>C|YByI"IiMb@Mb@Mb@ 9:v?=ٔZQ->9Y=JFyE>Q 54W?Q 94IZ):BY9tYt=vJFytvPEz>xQ 5~4z?Q 94zZ)z8BYy6Q I@zlCIz;iz;z/4y ɮAY*NRN:NBN2Ni))顩iIIIO%=2Acoustic response timeoutԉԱB>BB"IBƒBB =BBB;B6E 2Acoustic response timeout ? =,?A2@2Ν@2?sٱ2; :AHRS rotation from veh to nav: [[-0.099212,0.995053,-0.005188],[-0.995059,-0.099190,0.004247],[0.003712,0.005583,0.999977]]2H`ex??udeq?gn?v??i2@I2._;2?CY^By^e"IdfAiEMb@Mb@Mb@AAAA A9EX9vV-{GztYE}yEEףAA E@)E@AYE@YYbDefVDe;4ym\=%uA=ٔuiQ-u>Թ9Y=JFyE>Q 5 4?Q 9 4Y)6BY=Q EA=%Q=ٔ {Q- >9 Y = JFy hE>Q 5%4?Q 9%4*Y)5BY!y-?Q I-@tCI$:i:c4y1ɮ5TA1i9I9E2Acoustic response timeout*NIRNI:NIBNI2NIiY)a)aaaiaiIiIIOY=Ai2Acoustic response timeoutԙ J,r*?A2@2@2퀼ٱ2; :AHRS rotation from veh to nav: [[-0.119943,0.992770,-0.004562],[-0.992656,-0.119853,0.016403],[0.015738,0.006496,0.999855]]2H@`?Zr ː??7z??i2@I2_;0YB#ByB"IbDJbVDJ[44yR=%RP=ٔV|Q-V>9TYX=ZJFyXZ˼EZ>\Q 5f4^R?Q 9f4^X)^4BYdyj?Q Ij@^wCI^B.;i^p/;^>4ypɮrAp*NxRNx:NxBNx2Nxi ) )iIIIO%=B1B1B5G"IB5BB5 =B1B1B5;B56Eqm2Acoustic response timeoutԡ*entering command mode DAT read:  *DAT read: user:442>  (entering online mode Q,]ND?AB@B^@B-ٱB; NAHRS rotation from veh to nav: [[-0.128340,0.991723,-0.003904],[-0.991488,-0.128221,0.022620],[0.021932,0.006774,0.999737]]BHqm0?o`Di)?Ou?{??iB@IB^;@Y%6By%"I 99====iMb@Mb@Mb@ 9Mb rhMbpYyCM@ @)7@Y @ p<<bDYVD#4ys=% 6=ٔ aQ- >9 Y=JFyeE>!Q 5-4%c?Q 9-4%V)%2BY-y>Q E-;y-?Q I5@%CI%e ;i% ;%4y9ɮ=)A9*NARNA:NIBNI2NIiY)Y)YYYiaaIaIIO=}rG9Y*@]*DAT read: user:442> ]DAT read: mDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP mcommRate: 600m0online mode acknowledgedm2Acoustic response timeout) 0W,%^?A8:|@:w@:iٱ:"; FAHRS rotation from veh to nav: [[-0.134821,0.990867,-0.002563],[-0.990469,-0.134692,0.028807],[0.028199,0.006422,0.999582]]:HA.?yd@=?@? Nz??i:|@I:^;:ACYNGByN"IbDVcVDV264y^-=%^b=ٔbQ-b>9`Y`=fJFydf피Ef>hQ 5n4jݑ?Q 9n4jU)j1BYpyrM?Q Ir@jCIjf;ijr;jg4ytɮvAt*NxRNx:N|BN|2N|i ) )   iII1IAOM-=2Acoustic response timeoutԙA}@AAyB>BB"IB#BBBBBȀ;B6EB-CB-CBBBC4 iq Iq } 2Acoustic response timeoutZ],x?A2W@2Q@2aF ٱ23; :AHRS rotation from veh to nav: [[-0.139364,0.990241,-0.001245],[-0.989649,-0.139237,0.034753],[0.034240,0.006076,0.999395]]2H ?fT4@ˡ?뇡? x? ?i2W@I2^;2?CYN\ByR"ItieMb@Mb@Mb@aaaa a9ey&1̿!rh~jtx?Ye`eyel罙e;ed@e@ e @)e@aYabD}WVD} 4y^=%>=ٔIfQ->9Y=JFy/E>Q 54?Q 94R)0BY}>Q ES;y?Q I@CI:i: 4y֔BɮAhE*NRN:NBN2Ni))iIII O=2Acoustic response timeout!A Bd,ݑ?A2*D@2>@2ͼ"ٱ2:; :AHRS rotation from veh to nav: [[-0.141610,0.989922,0.001393],[-0.989125,-0.141552,0.039926],[0.039720,0.004276,0.999202]]2HF ¿p?V?@a¿ q?:V?ƒq?u?i2*D@I2u^;2@CY^]By^"IdfAddbDj\VDjP)4yr-<%rU=ٔvzjQ-v>9tYt=zJFyxzĻEz>|Q 54~Z?Q 94~P)|Y y ?Q I @~CI~:i~k:~4yɮA9E2Acoustic response timeout*NRN:NBN2Ni))iII!I9OE=Iq2Acoustic response timeoutԡ lj,?AɰY-aBy-"IbDM_VDM.4yUd<%UC=ٔ]Q-]>9aYa=eJFyaeEm>iQ 5u4m?Q 9u4ByByB}"IB}PBB} =ByByB}ހ;B}6EԹmM)m/BYyQ I@mCIm\@>W@>Aٱ>%2޺ FAHRS rotation from veh to nav: [[-0.138571,0.990318,0.008244],[-0.989221,-0.138806,0.046635],[0.047328,-0.001693,0.998878]]>H಼?}?c?`f;?L[?i>\@I>^;>;CY^_Byb"IiEMb@Mb@Mb@AAAA A9ECl˿OnÿMb`YE;_yEEE@E@ E @)E@AYE@bD]JVD]04ymr?%mI=ٔmsQ-u>9qYq=uJFyq};E}>Q 54?Q 94`K),BY3>Q EI;y @Q I@CI:ij: #4yɮmA*NRN:NBN2Ni))项iIII1O=iiYIY]2Acoustic response timeoutԉ*entering command modeԹ ?~w,mߑ?A2@2e@2:Eٱ2m& :AHRS rotation from veh to nav: [[-0.132812,0.991066,0.012182],[-0.989972,-0.133242,0.046929],[0.048133,-0.005827,0.998824]]2H`ж??@٭?礨?w]?i2@I2 ^;2?CYB`ByB"IF=F=bDN?VDN3yV;%VX=ٔVL Q-V>9XYX=ZJFyX^l{<E^>Q 5%4?Q 9%4H)*BY!y%i@Q I-@CIg:i:)4y1ɮ5fA1*N9RN9:N9BNA2NAiI)Q)QQQiQYIYIqIOP=ԑDAT read: *DAT read: user:443> (entering online modeB%<A%4=B->B)B-"IB-jBB- =B)B)B-݀;B-6E} *DAT read: user:443>  DAT read:  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 0online mode acknowledged 2Acoustic response timeout) },K?A2ҋ@2̒@2>ٱ2Nt :AHRS rotation from veh to nav: [[-0.124414,0.992118,0.014947],[-0.991146,-0.124968,0.044858],[0.046373,-0.009234,0.998882]]2H`ٿn??`x?#?`A邿`?i2ҋ@I2^;2>CYNPByR"IiMb@Mb@Mb@ 9'1ZĿ{GzY"y#@ 7@)@YbD=VD3y % 6=ٔ5_;Q-5>99Y9==JFy9E<EE>IQ 5M4M}?Q 94MF)M&BY\O>Q E;yP@Q I@MCIM'@2"@2Y)+ٱ23E :AHRS rotation from veh to nav: [[-0.114131,0.993324,0.016760],[-0.992587,-0.114724,0.040120],[0.041775,-0.012057,0.999054]]2H 7P?)?E^? c?@9@?i2>'@I2ߗ^;09pYp=vJFytv<Ev>xQ 5~4zyz?Q 9~4zPE)z$BYy@Q I@zCIz;izj;z74y ɮ A 2Acoustic response timeout*N!RN!:N!BN!2N!i1)9)999i9AIAIYIiO}D=ԩ2Acoustic response timeout ,G-?AFO@F!@F{ ٱFc@[ VAHRS rotation from veh to nav: [[-0.102392,0.994602,0.016824],[-0.994153,-0.102899,0.032737],[0.034291,-0.013374,0.999322]]FHX6@?`V:?W` ??cs?iFO@IF ^;F=CBb>Bb,CBb"IBbeBBb =Bb?DB`B`Bb6ElYrHByr"IIv<)v=tvAbDxVDxyi%H=ٔ 9 Y=JFyS<E>Q 5%4v?Q 9%4zC)!BY)y-@Q I-@CI:i9: ?4y1ɮ5!A9*NARNA:NABNA2NAiQ)Q)YYYiYYIaIyIOU= i9I9E2Acoustic response timeout1a  2Acoustic response timeout,F?Aɰ2@2@2ʼٱ2I9_ :AHRS rotation from veh to nav: [[-0.090193,0.995799,0.015794],[-0.995619,-0.090547,0.023334],[0.024666,-0.013620,0.999603]]2H@?6,? .?A?@䋿`?i2@I2^;2?CYN6ByR"I9imMb@Mb@Mb@iiii i9mMbX9X9vMbp?Ymʡym}m;m@m@ i)m@iYm\@bDFVD4y%A=ٔ9Y=JFy;<E>Q 54t?Q 94B)Y=Q E9tYt=vJFytvH =Ez>xQ 5~4zs?Q 94zA)z"BYy @Q I@zCIzn;izz;zM4y ɮA*NRN:NBN2Ni))))111i19ԙIII O=ߑߕ=2Acoustic response timeoutAABB-CB"IBFBB =B>DBBـ;B6EM 2Acoustic response timeout!  *entering command mode,gz?AF1@F@F]ƺٱF: VAHRS rotation from veh to nav: [[-0.064272,0.997866,0.011475],[-0.997931,-0.064285,0.000778],[0.001514,-0.011401,0.999934]]FHt?G? tI? X?Y`u?iF1@IF^;DYZByZu"Ib=b=iEMb@Mb@Mb@AAAA A9EX9v?L7A`?I +?YE9qYq=uJFyqX<E>Q 54't?Q 94B)$BY>=Q E (entering online mode) 1 1 R9 Y @Y _ޤ,k?A2M)@2$@2TV#<ٱ2T" :AHRS rotation from veh to nav: [[-0.051704,0.998618,0.009379],[-0.998613,-0.051605,-0.010468],[-0.009969,-0.009907,0.999901]]2H x?V5?l p`j@EJ0?i2M)@I2^;2=CYf Byjg"Ii|I|*DAT read: user:444>  DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged2Acoustic response timeoutbDrJVDr04y-a%-Q=ٔ-891Y1=5JFy15=E=>AQ 5E4E+u?Q 9M4EiB)E&BYIyMRNQ IM@ECIE:iE2:E][4yQɮ]AY*NaRNa:NaBNa2Naiq)y)顁iIIIOj=Yԁ2Acoustic response timeoutԹ ,L?A6@6ڂ@6<ٱ6 < BAHRS rotation from veh to nav: [[-0.040147,0.999170,0.006874],[-0.998987,-0.039997,-0.020638],[-0.020346,-0.007696,0.999763]]6H@ 3? @(|?`z`3"Ք?i6@I6ԭ^;4B^>B\B^f"IB^ BB\B\B\B\B^6EB!B!B!B!B!C%V5YnBynS"IbDv;VDv)3y]#%]G=ٔe9aYa=mJFyimk<Em>qQ 5}4uEv?Q 94uB)u)BYyKQ I@uCIu:iud:ub4yɮA*NRN:NBN2Ni))顱iIIIO=Ա2Acoustic response timeout  2Acoustic response timeout1 ,>$Ȓ?A2c؎@25ӕ@2|Z<ٱ2_ :AHRS rotation from veh to nav: [[-0.030340,0.999534,0.003399],[-0.999127,-0.030229,-0.028842],[-0.028726,-0.004271,0.999578]]2Ha.?`wk?n@Fj ~q?i2c؎@I2d^;2>CYNByR6"IIV<)V4y-=-ף;-@) ))- @)Y-@99bDEZVDE%4yU%UK=ٔU9Y=JFy<E>Q 54z?Q 94?D)Y8>Q E;yWQ I@CIz ;i~ ;i4yɮSA*N RN :N BN 2Ni!)!)!!)i))I1IIIYOe= 92Acoustic response timeouti v,ᒺ?Aɰ4<(:@:@:o=ٱ:hƸ FAHRS rotation from veh to nav: [[-0.022580,0.999745,-0.000692],[-0.999139,-0.022591,-0.034807],[-0.034814,-0.000095,0.999394]]:HJ? CF`"`?ҡ!ӡ?i:@I:^;8YN΃ByN"IbDVBVDV3y^̽%^T=ٔb9`Y`=fJFydf<Ef>hQ 5n4jB~?Q 9n4jE)hYpyrUQ Ir@j CIj;ija;jLp4ytɮvAt*NxRNx:N|BN|2N|i ) )   iII1IAOM,=}2Acoustic response timeoutqBYA]4<Be>BaBe"IBeǃBBaBaBaBeՀ;Be6Eԙ i) I- A- 2Acoustic response timeout:H,S?ALV[J@V-E@V(=ٱVaU; jAHRS rotation from veh to nav: [[-0.016432,0.999857,-0.003886],[-0.999129,-0.016569,-0.038300],[-0.038359,0.003254,0.999259]]VHӐ ? o@gԣ0j?`?iV[J@IV _;TYȃBy"IiMb@Mb@Mb@ 9Mb?{Gz?V-Y>y#>@@ @)7@Y@bDGVD4y%:=ٔ9Y=JFye<E>Q 54?Q 94 G)!BYS>Q E;y/Q I@CI:i:w4yɮ"A*NRN:NBN2Ni))iI!I9IIO=2Acoustic response timeout t,Ť,)?A2nq@2@l@2 =ٱ2A; :AHRS rotation from veh to nav: [[-0.011666,0.999915,-0.005766],[-0.999164,-0.011882,-0.039118],[-0.039183,0.005305,0.999218]]2H.䇿N?ʝw&UA@;u??i2nq@I2N-_;0YBByB "IF=F= J;J4<bDN4VDNf3yVu%V_=ٔV0;Q-Z>9XYX=ZJFyX^U<E^>`Q 5f4b?Q 9f4bGH)bBYdyfm.Q If@b!CIb):ib:b`~4ylɮn|Ar2Acoustic response timeoutt*NxRNx:NxBNx2Nx|,B*** querying acoustic contact ***LLi ))iIyIIOq=u*entering command mode)Qߑߕ<DAT read: *DAT read: user:445> (entering online modeԁ lVˤ,/?A2劏@2@2/=ٱ24; :AHRS rotation from veh to nav: [[-0.008560,0.999939,-0.006946],[-0.999273,-0.008812,-0.037087],[-0.037146,0.006624,0.999288]]2H@?s| 4 @ !{?*?i2劏@I2^;2ACBTBTBV!IBVBBTBTBTBV;BV6EY^By^!IbDjNVDj4y $L% D=ٔ Q- >9Y=JFy;E>!Q 5%4%?Q 9-4%I)%BY)y--Q I-@%+CI%:i%:%4y1ɮ=A9*NARNA:NABNI2NIiQY)Y)aaaiaiIiIIO==*DAT read: user:445> DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged 2Acoustic response timeoutԉԱ  2Acoustic response timeout>Ҥ,LkI?A2@2p@2=ٱ2M; :AHRS rotation from veh to nav: [[-0.007254,0.999946,-0.007491],[-0.999434,-0.007496,-0.032804],[-0.032858,0.007249,0.999434]]2H޵}?Ю~`\~@ˠ`Ҡ@ݰ}?\?i2@I2^;2>CYnBylieMb@Mb@Mb@aaaa a9eMb?㥛 ?ˡEYe=ye>e什ez@e@ e@)e@aYe@bD}GVD}4yH;%B=ٔ'Q->9Y=JFyK;E>Q 54Ǔ?Q 94J)BY.>Q E;yQQ I@3CI;Թi;4yҔBɮA`E*NRN:NBN2Ni))iII IO=iIA2Acoustic response timeout9 hؤ,WBc?A2@2@2$<ٱ2$e; :AHRS rotation from veh to nav: [[-0.008223,0.999941,-0.007157],[-0.999616,-0.008410,-0.026418],[-0.026477,0.006937,0.999625]]2H@v׀`?P}`29W `j|?@?i2@I2i^;0YBByB!IDDbDJTVDJ4yRO%VZ=ٔVQ-V>9XYX=ZJFyXZ)EZ>\Q 5b4^d?Q 9f4^SJ)^BYdyfVQ If@^;CI^:i^-:^4yhɮj Al*N9RNA:NABNA2NAiQ)Q)QQQiQyIIIOs=]2Acoustic response timeoutAAAB>BB!IBBBBBB;B6Eq 2Acoustic response timeoutԩ ޤ,-}?A<ɰ>;nn@nbi@n˚<ٱnx; zAHRS rotation from veh to nav: [[-0.012023,0.999902,-0.007235],[-0.999752,-0.012156,-0.018663],[-0.018749,0.007009,0.999800]]nH`C1?`>}刿 }3|?[?inn@Iny^;n?CYBy"IiMb@Mb@Mb@ 9HzG?Q? ףp= Y= >y=Q8@@ l@)@YQ@bDaVD24y=%7=ٔ Q->9Y=JFy E>Q 54ڜ?Q 94K)BY >>Q E ;y  ZQ I @ECI?;i;V4yɮA*N!RN!:N!BN!2N!i1)1)999i99IAIYiIqO}=YYe2Acoustic response timeoutԙ },?A29@24@2+<ٱ2*; :AHRS rotation from veh to nav: [[-0.018443,0.999798,-0.007941],[-0.999775,-0.018525,-0.010343],[-0.010488,0.007749,0.999915]]2HⒿ Y?qC'$.@z?M?i29@I2h^;29tYt=vJFyxzڍE~>Q 5 4?Q 9 4AM)߆BYy\Q I@NCI;iT;ס4yɮ%A!*N)RN):N)BN)2N)i9)9)AAAiAAIIIaIqOG=m2Acoustic response timeout! <,԰?AB&>B&,CB&!IB&BB$B$B$B&;B&r6E0Y=ɃBy="IE=AbDUNVDU4ye=%eC=ٔeQ-e>9iYi=mJFyiuEu>yQ 54}?Q 94}N)}ֆBYyQ I@}WCI}:i}:}#4yɮCA*NRN:NBN2Ni))顱iIIIO=q2Acoustic response timeoutm*entering command modeԙ  DAT read:  *DAT read: user:446>  (entering online modeI,ʓ?A2@2^@2מٱ2,7< NAHRS rotation from veh to nav: [[-0.036188,0.999300,-0.009536],[-0.999333,-0.036140,0.005196],[0.004847,0.009717,0.999941]]2HJC?@󀢿Hu?@s??`?i2@I2ʥ^;2@C\Y~уBy~""IiMb@Mb@Mb@ 91Zd?~jt?Zd;OY"=y=j@ @)d@Y@bDTVD4!9Qye =%;=v9Y$@ٔ Q->9Y=JFy!E>Q 54o?Q 94P)цBYq>Q E;y}Q I@_CIj:iQ:4y۔BɮRAiE*NRN:NBN2Ni))!!)i1AIAIYIqO}=*DAT read: user:446> DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged2Acoustic response timeout! ¶,z䓺?A2iP@2;K@2r5ٱ2M;< :AHRS rotation from veh to nav: [[-0.046935,0.998838,-0.010898],[-0.998836,-0.046809,0.011624],[0.011100,0.011431,0.999873]]2H` |?`Q`w@JX·?ϻ?>i??i2iP@I2^;2=CY^BybB"IbDjVVDjE4yr>%rg=ٔrQ-r?9tYt=vJFytvEz?x|Q 54z|?Q 94z Q)z͆BY y Q I @zeCIzl,;izy-;z4yɮ}A*N!RN!:N!BN!2N!i1)1)111i9III O==2Acoustic response timeout)B=<A=<BABABE!IBEBBE =BABABE;BEi6EB B B B B C V4Q 2Acoustic response timeoutԁ ,?A@Z@ ٱ_Q5< %AHRS rotation from veh to nav: [[-0.058253,0.998251,-0.010097],[-0.998168,-0.058076,0.016943],[0.016327,0.011065,0.999806]]H`Iӭ?2@lY??G? h?i@I ^;9)Y)=-JFy)5ϼE5>9Q 5E4=?Q 9E4=EQ)=ˆBYE*@?Aɰ>@>͈@> ٱ> < FAHRS rotation from veh to nav: [[-0.070616,0.997469,-0.008334],[-0.997293,-0.070427,0.021152],[0.020512,0.009805,0.999741]]>HC?@}ਕ? ?@??i>@I>v^;>>CiTITV2Acoustic response timeoutYZByZ]"IbDb_VDb.4yj=%jc=ٔn>Q-n>9lYp=rJFypr= Er>tQ 5z4v㩝?Q 9z4vrQ)vɆBY|y~Q I~@vgCIv:iv;vŸ4yɮA*N RN:NBN2Ni!)!)!!)i))I1IIIYOe:=ԹU2Acoustic response timeout9 BE >BA BE ."IBE ܃BBA BA BA BE ;BE b6E ,!2?A2$@2@2Eٱ2#< :AHRS rotation from veh to nav: [[-0.083414,0.996483,-0.008007],[-0.996243,-0.083201,0.024030],[0.023279,0.009981,0.999679]]2HZ/?@e9LE?{֗? p? _?i2$@I2^;2=CY Byj"IbDPVD:4y% Q=%%E=ٔ-ڻQ-->9)Y1=5JFy15E5>9Q 5E4=?Q 9E4=Q)=džBYIyM5Q IM@=hCI=:i=9:=O̸4yQɮUyAY*NaRNa:NaBNa2Naiq)q)yyyiyyIIIOd=2Acoustic response timeoutIie 2Acoustic response timeoutԙ ,K?A2@2k@2˼ٱ2*< :AHRS rotation from veh to nav: [[-0.096314,0.995319,-0.007980],[-0.995042,-0.096081,0.025676],[0.024789,0.010413,0.999638]]2H@?Wbɘ J?`Tb?S? ?i2@I2C^;2?CYBByB{"I DDF=F=iMb@Mb@Mb@ 9kt:vY yԼ@  @) @Y up9Y=JFyE>Q 54w?Q 94P)Y=Q E9hYl=nJFyln Er>pQ 5v4r𨝊?Q 9v4rO)rƆBYxyz?Q Iz@rqCIr:irp:r:ڸ4y~ҔBɮ~A`E*N RN :N BN 2N i))!!!i!!I)IAIQO]6=DAT read: %*DAT read: user:447> %(entering online modeAA?ABBB`"IBBB =BBBt;BU6E) i I A *DAT read: user:447>  DAT read:  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 0online mode acknowledged 2Acoustic response timeoutU5,?A@@QϼٱmV< AHRS rotation from veh to nav: [[-0.121875,0.992534,-0.004690],[-0.992223,-0.121714,0.026070],[0.025305,0.007831,0.999649]]H43`?x5s J`(`-??@r ? ?i@I` _;>CY)By"IiMb@Mb@Mb@ 9MbX9ĿQ롿y&1|Y!y\`@@  @)YG@bDZVD%4y%=%.=ٔ8Q->9Y=JFy[߼E>Q 54T?Q 94M)ÆBY%>Q E;yQ?Q I@zCI ;i ;m4yɮHA*NRN:NBN2Ni ))iII1IAOU=a2Acoustic response timeoutԉԹ &,׊?A2샋@2~@2VƼٱ2; :AHRS rotation from veh to nav: [[-0.133974,0.990976,-0.004195],[-0.990689,-0.133829,0.024996],[0.024209,0.007505,0.999679]]2H`&@?.q`Q! ?`:ʘ? y~?@^?i2샋@I214_;2=CB2Acoustic response timeoutYJ7ByJ"IIL)NB -CB "IB #BB B B B };B ^6EA,,e?AɰB"@B@B踼ٱB5; JAHRS rotation from veh to nav: [[-0.145721,0.989317,-0.004135],[-0.989068,-0.145587,0.023422],[0.022570,0.007503,0.999717]]BH¿@|?p`r¿ ??R~??iB"@IB^;B9Y!=%JFy!%E%>)Q 554-?Q 954-J)-BY9y=9Y=JFyּE>Q 54q?Q 94H)BY27>Q E;y@?Q I@CI. ;iT ;4yɮA*NRN:NBN2Ni))!!i))I1IIIYOe=ԁ2Acoustic response timeoutԱ S9,町?A. r@.l@.Aٱ.4w; :AHRS rotation from veh to nav: [[-0.167035,0.985949,-0.001754],[-0.985783,-0.166973,0.018775],[0.018219,0.004866,0.999822]].Heaſ?\@`_ſ`9?@?s??i. r@I.^;.9XYX=ZJFyX^[E^>`Q 5f4b?Q 9f4bF)bBYdyf?Q If@bCIb:ib|:bq4ylɮnAl*NpRNp:NpBNp2Ntix)|)|||i|II&-dClearing failed state for component DockingStepperq-I1ԹOh= 2Acoustic response timeoutBA4=B>BB"IB-BBBBB;Bl6E 2Acoustic response timeout= *entering command modeA M@,F?A<<@x@GNٱч: AHRS rotation from veh to nav: [[-0.182600,0.983187,0.001024],[-0.983106,-0.182598,0.012638],[0.012613,0.001301,0.999920]]Hr_ǿCv?BP?`u c_ǿ?ԉ?PU?W?i@I_;>CY3By"Ii}Mb@Mb@Mb@yyyy y9}!rh rhQY}ly}C}u}@} @ } @)yyY}@bDYVD#4ye%-=ٔ B9Y=JFyE>Q 54?Q 94kE)BY>Q E;y?Q I@CI:ir;4yɮA*NRN:NBN2Ni))iI 4Initializing EZServoServo. 8Initializing DockingStepper.IIO>%=R=DAT read: *DAT read: user:448> (entering online mode mi>uېC+GAE9AYE@yH5?%AIq eF,0?A6*DAT read: user:448> 6DAT read: :DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP :commRate: 600>0online mode acknowledged>2Acoustic response timeoutYn2Byn"IbDvJVDv04y}%b=ٔQ->9Y=JFyE>Q 54H?Q 94?D)BYyQ I@CI;i; 4y ɮ A *N1RN1:N1BN92N9iA)I)IIIiIqyIyIIO=ԡ2Acoustic response timeoutB >B B B B B B B ;B w6EBABABABABACE?5 $L,G4?A2‰@2@2bٱ2Z :AHRS rotation from veh to nav: [[-0.188120,0.982144,0.001900],[-0.982101,-0.188129,0.009230],[0.009423,-0.000130,0.999956]]2HMȿm? _?^mȿE?`CL?y ?i2‰@I2|_;2;CYB0ByB"IIF=)F9XYX=ZJFyX^tE^>`Q 5f4b֠?Q 9f4bC)bBYdyf@?Q If@bCIb6:ibB:b4ylɮn Al*NpRNp:NpBNp2Ntix)|)|99i9AIAIIO=u2Acoustic response timeout) % 2Acoustic response timeoutvS,N?A4<ɰ6Ɲ@6@6ɻٱ6 >AHRS rotation from veh to nav: [[-0.192548,0.981283,0.003070],[-0.981268,-0.192563,0.005677],[0.006162,-0.001919,0.999979]]6H jȿ f?!&i?f@ȿ@w?`U=y?@4r_@?i6Ɲ@I6[g_;4YF)ByF"IiMb@Mb@Mb@ 9(\µQ{GztYyuף@@ @)@Y@bD-SVD-4y=%=B=ٔ=;Q-E>9AYA=EJFyAM.EM>QQ 5]4US?Q 94UA)UBYS=Q E;y?Q I@UCIU22Acoustic response timeoutԁԩ Y,fh?A6l}@6>x@6\@ٱ6-`f@ BAHRS rotation from veh to nav: [[-0.196425,0.980511,0.004023],[-0.980515,-0.196434,0.002188],[0.002935,-0.003515,0.999990]]6H q$ɿW`?zp?``$ɿa?@ h?l?i6l}@I6E^;6:CYHyHbDR>VDR43ٔZ9\Y\=^JFy\b>'Eb>dQ 5j4f󝝊?Q 9j4f@)fBYhyju?Q Ij@fCIfK:if:f 4ypɮpp*NtRNt:NtBNt2Nti|))i I I!I1OE'==2Acoustic response timeoutԩA!A%AAB)B)B-"IB-#BB)B)B)B-;B-6E 2Acoustic response timeout `,UN?Al}_Y@}1T@}&X;ٱ}_fy AHRS rotation from veh to nav: [[-0.200737,0.979640,0.003066],[-0.979640,-0.200725,-0.003995],[-0.003298,-0.003806,0.999987]]}Hñɿ6Y?@i?5YYɿ\pk,o?i}_Y@I}Ǡ^;}9Y=JFyE>Q 54ל?Q 94@)BY&=Q E9qYq=uJFyquE}>Q 54?Q 94\@)BYyQ I@CI:i:I/4yɮA*NRN:NBN2N,B*** querying acoustic contact ***LLi))项iI*entering command modeIIO=iԑDAT read: *DAT read: user:449> (entering online mode B% >B! B% s"IB% BB! B! B! B% ;B% 6El,?A2k]@2=X@2ڥ;ٱ2m\k :AHRS rotation from veh to nav: [[-0.200251,0.979742,0.002372],[-0.979728,-0.200233,-0.006330],[-0.005727,-0.003591,0.999977]]2Hաɿ@ Z?@nc?@Y`=ɿ $ytwikm ?i2k]@I2^;2;CYLyPbDZJVDZ04yvf%vS=ٔv.;Q-v>9xYx=zJFyxz:E~> Q 5-4 ?Q 9-4 @) BY1y59@Q I5@ CI  ;i ; 64y9ɮEAA*NIRNI:NIBNI2NIԙi))iIIIO=U*DAT read: user:449> ]DAT read: eDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP ecommRate: 600e0online mode acknowledgede2Acoustic response timeout 2Acoustic response timeout >s,ϕ?A2p@2k@2a<ٱ2qq :AHRS rotation from veh to nav: [[-0.197941,0.980212,0.002064],[-0.980183,-0.197917,-0.008390],[-0.007816,-0.003684,0.999963]]2H Vɿ@]?@`?]XUɿ.-n?i2p@I2!$_;2=CYfByfr"IhjAi}Mb@Mb@Mb@yyyy y9} rh?9Y=JFyP;E>Q 54?Q 94J@)BYNVDz43yUN%UO=ٔ]`z;Q-e>9aYa=eJFyim<Em>yQ 54}?Q 94}@)yYytQ I@}CI}$;i}o;}sD4yɮJA*NRN:NBN2N2Acoustic response timeouti))iI &Changing to mode: 3QBA<B>BB`"IBBBBBBȀ;B6Eԁ/3@ @@2@IIO?>ԩii Im Au 2Acoustic response timeout A׀,׆?AZى@,Ԑ@K/<ٱb# =AHRS rotation from veh to nav: [[-0.185399,0.982663,0.000462],[-0.982605,-0.185383,-0.010975],[-0.010699,-0.002489,0.999940]]H`+ǿq?E>? qǿ@y@E酿`bd?iZى@IEa;9AYA=EJFyAE<EM>IQ 5U4M?Q 9]4MrA)IY]=Q E] 9 ,c?A2Acoustic response timeoutYBy}"I%=%= -4<-<bD5dVD5 84yEZ=%Eq=ٔEQ-E?9IYI=MJFyIUEU?YQ 5e4]?Q 9e4]#B)]BYayaQ Ie@]CI]l:i]:]R4yiɮuAq*NyRNy:NyBNy2Nyi))顑iIm03@i @i@m!0@qIIO=92Acoustic response timeouti B B B Z"IB BB B B B Հ;B 6Er+,<7?A06@6w @6=<ٱ6+3 RAHRS rotation from veh to nav: [[-0.178761,0.983892,0.000621],[-0.983824,-0.178741,-0.011876],[-0.011574,-0.002734,0.999929]]6Hƿ |?JWD?@}{`ƿR`/efk?i6@I6ab;69CYZByZ"IbD~XVD~!4y ?y<% N=ٔo;Q->9Y=JFy<E%>!Q 5-4%?Q 9-4%B)!Y1y5dQ I5@%CI%:i%:%qY4y9ɮ=AA*NIRNI:NIBNI2NIiY)Y)aaaiaaIi3@ @@0@I!52Acoustic response timeoutIAOU=ԉ*entering command modeԹ  DAT read:  *DAT read: user:450>  (entering online mode cG hA - 95 hAY5 $A,Q?A\ x@ r@  96<ٱ  5AHRS rotation from veh to nav: [[-0.166322,0.986071,-0.000030],[-0.986009,-0.166312,-0.011274],[-0.011122,-0.001845,0.999936]] H Jſ?ȸ bIſ@dž ;^z?i x@I c`; 8CYE#ByE"IiMb@Mb@Mb@ 9L7A`?A`"?Mb`Y+=yY=z@ @)M@YbDUVDn4yS<%<=ٔQ->9Y=JFy<E> Q 54 ?Q 94 C) BYg=Q E!E*DAT read: user:450> EDAT read: MDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP UcommRate: 600U0online mode acknowledgedU2Acoustic response timeout1a =,^j?ABj@B<@BE4<ٱB0 RAHRS rotation from veh to nav: [[-0.158698,0.987327,-0.000035],[-0.987266,-0.158689,-0.011138],[-0.011003,-0.001733,0.999938]]BH`:PĿ/?H`OĿφ`e\}?iBj@IB (`;B:CYZByZx"IIb<)b=dfAbDjaVDj24yvs%z]=ٔzlQ-z>9|Y|=JFy}<E> Q 54 ΢?Q 94 D) Y!y%ֆQ I%@ CI _3;i D; g4y1ɮ5A19*NIRNI:NIBNI2NQia)i)iiiiiq2Acoustic response timeoutI 3@ @@4@IIO>iAiAm@ABu>BqBuT"IBuBBu =BqBuDBù;Bu6EB1B1B1B1B1C54ԑM 2Acoustic response timeout F%,΄?A2;ɰ2p;vK@v@vd0<ٱvc -AHRS rotation from veh to nav: [[-0.151478,0.988460,-0.000359],[-0.988402,-0.151473,-0.010873],[-0.010802,-0.001292,0.999941]]vHcÿw?ʅ7@`xcÿ@D@P ",U?ivK@Iv_;v9CY]By]"IԡbDDVDJ3y=<%=7=ٔE}Q-M>9yYy=}JFy<E>Q 54q?Q 94cE)BYy煿Q I@CI':i:o4yɮA*NRN:NBN2Ni )1)111i19I92Acoustic response timeout)3@ @@4@I1IIOU2>! u 2Acoustic response timeoutxg,,?A2@2@2)(<ٱ2H JAHRS rotation from veh to nav: [[-0.146240,0.989248,-0.001312],[-0.989196,-0.146246,-0.010181],[-0.010264,-0.000192,0.999947]]2H¿?@ }U ~@0¿ل)?i2@I2t_;2:CYR(ByR"Ii-Mb@Mb@Mb@)))) )9-L7A`?&1?Y)y-P=--d@-@ -l@)))Y)bDEIVDEX4yUC=%UV=ٔ]⹺Q-]>9YYY=]JFyYeRi<Ee>iQ 5u4m?Q 9u4mF)iYuҪ=Q E}B9 B= Z"IB= BB9 B9 B9 B= ;B= 6EI h,Ƹ?A2[K@2-F@2*<ٱ29 :AHRS rotation from veh to nav: [[-0.140845,0.990030,-0.001884],[-0.989977,-0.140857,-0.010214],[-0.010377,0.000426,0.999946]]2H6¿ S?@^¿ ꄿ@p;??i2[K@I2Ѷ_;29XYX=ZJFyXZk<E^>`Q 5b4b?Q 9f4bF)`YdyfQ If@bCIb:ib:b|4yhɮnfAl*NaRNa:NaBNa2Naiq)q)qyyiyI92Acoustic response timeout-3@1 @1@54@1IAIQO]=aԉ 2Acoustic response timeoutԹ q,^Җ?A2z@2u@2`E8<ٱ2d(9 :AHRS rotation from veh to nav: [[-0.135118,0.990828,-0.001679],[-0.990766,-0.135129,-0.011122],[-0.011247,0.000161,0.999937]]2HK ݴ?`[@Z Kdž @> %?`{?i2z@I2._;2:CY^+Byb"IiMb@Mb@Mb@ 9y&1?I +?MbpY`e=y94=@ @)YbDHVD4y<%;=ٔi;Q->9Y=JFyX<E>Q 54Z?Q 94G)BY=Q E: 2Acoustic response timeout*entering command mode ,얺?A>q@>C@>|D<ٱ>o9 NAHRS rotation from veh to nav: [[-0.131521,0.991311,-0.002044],[-0.991241,-0.131536,-0.011826],[-0.011992,0.000471,0.999928]]>HҸ?`x`>,T8`i`<>?i?i>q@I>w_;9tYt=vJFytz<Ez>|Q 54~?Q 94~"H)~BYyQ I@~CI~:i~:~ڊ4yɮrA*NRN:NBN2N!i1)1)111i19I9mDAT read: u*DAT read: user:451> }(entering online mode3@ @@4@I IO-=BA4=B>B.CB`"IBBBBBB;B6E *DAT read: user:451>  DAT read:  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 0online mode acknowledged 2Acoustic response timeout9 `,X?A0B@Bg@B3Z<ٱB7: JAHRS rotation from veh to nav: [[-0.128476,0.991710,-0.002408],[-0.991623,-0.128497,-0.013138],[-0.013338,0.000700,0.999911]]BHq?Dc`r犿@QF?E?iB@IB_;B;CY=0ByE"IAbDUVDn4ya=%:=ٔ tH;Q->9Y!=%JFy)u;E}>Q 54誝?Q 94H)BYy=Q I@CI;i;ɒ4yɮA*NRN:NBN2Ni))1)111i19I9ԉm2Acoustic response timeoutY@Y @Y@]/0@YIiIyO[>Թ i I A 2Acoustic response timeoutǥ,]1 ?A4<ɰ;2@2@2nu<ٱ2z: :AHRS rotation from veh to nav: [[-0.126518,0.991959,-0.003284],[-0.991851,-0.126553,-0.014682],[-0.014980,0.001400,0.999887]]2H`1 ?j>2@V??i2@I2u`;28CYB+ByB"I`i]Mb@Mb@Mb@YYYY Y9]{Gz?Mb?{GztY]#=y]=]ף]@]@ ]l@)YYY] @bDu[VDuy'4yP%R=ٔ;Q->9Y=JFy{;E>Q 54?Q 94KI)BYR=Q EB B B B =B B B ;B s6EA Iͥ, :?A2׋@2Ғ@2ҩ<ٱ2 : :AHRS rotation from veh to nav: [[-0.123835,0.992298,-0.003187],[-0.992146,-0.123872,-0.017397],[-0.017658,0.001007,0.999844]]2H ?j@ @БӀP??i2׋@I2&`;2:CY^Byb"IbDjJVDj04yrƌ%rU=ٔr;Q-r>9tYt=vJFytz;Ez>|Q 54~?Q 94~I)~BYynQ I@~CI~&;i~;~4yɮA*N!RN!:N!BN!2N!i1)1)199i9AIA2Acoustic response timeout/3@ @@@II!O5=Iy 2Acoustic response timeoutԡ )ԥ,S?A6`@62ޒ@6(<ٱ6a /: >AHRS rotation from veh to nav: [[-0.122431,0.992472,-0.003202],[-0.992260,-0.122471,-0.020498],[-0.020736,0.000668,0.999785]]6H@W`T?@0;j EZ@;wE?9IYQ=UJFyQUO];EU>YQ 5e4]2?Q 9m4]QJ)]BYme=Q Emlԡ2Acoustic response timeout ڥ,em?A:zߋ@:Lڒ@: <ٱ:~.: RAHRS rotation from veh to nav: [[-0.122895,0.992413,-0.003492],[-0.992137,-0.122943,-0.023437],[-0.023688,0.000584,0.999719]]:Hv?@l8yAo$C? ?i:zߋ@I:"_;::CYZ ByZ"IbDb\VDbP)4yjt[%jR=ٔnS;Q-n>9lYp=rJFyprEr>tQ 5z4v?Q 9z4vJ)vBYxy~Q I~@vCIv/;iv<;v4yɮA*NRN:NBN2Ni!)!)!!)i))I1=2Acoustic response timeout(3@ @@/0@IIO=AAAAB>BBZ"IBBBBBB;B6E)iIA2Acoustic response timeout *entering command modea /,?A2I݋@2ؒ@2f<ٱ2å9 :AHRS rotation from veh to nav: [[-0.123149,0.992381,-0.003668],[-0.992013,-0.123204,-0.027048],[-0.027294,0.000308,0.999627]]2H?d nD @ 24??i2I݋@I2l_;29CY^Byb~"IbDjYVDj#4y4%==ٔ9Y=JFyY E>Q 5-4[?9Q 954{K)BYIyMQ IU@CICrG)AUDAT read: ](DAT read: use:452> ]Funknown deviceResponse_: use:452> ](entering online mode9YiA&3@  @ @ 0@ II)O=.>iԑԹ  *DAT read: user:452>  DAT read:  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 0online mode acknowledged 2Acoustic response timeout[,tz?ABً@BmԒ@BҼ<ٱB9 NAHRS rotation from veh to nav: [[-0.123581,0.992326,-0.004142],[-0.991844,-0.123650,-0.030938],[-0.031213,0.000285,0.999513]]BH @"?ep.`?F<2??iBً@IB^_;B:CY#By"II%=)%%=)-Ai-Mb@Mb@Mb@)))) )9-9Y=JFyE>Q 54?Q 94K)BY=Q E]2Acoustic response timeoutB >B B N"IB BB =B B B ;B 6EBU.CBU.CBQBUɶ =BUɵ =CUɒ4 v%,U?A;ɰp;2ċ@2l@2 =ٱ2i8 :AHRS rotation from veh to nav: [[-0.126110,0.992006,-0.004461],[-0.991419,-0.126189,-0.034124],[-0.034414,0.000120,0.999408]]2H`$?@Er@&xW?%?i2ċ@I2h_;29CYBByB|"IbDNMVDN 4yVG%Vm=ٔVAHRS rotation from veh to nav: [[-0.129220,0.991606,-0.004497],[-0.990916,-0.129298,-0.036989],[-0.037260,-0.000323,0.999306]]6H@E9Y=JFy=E>Q 54t?Q 94L)BY>=Q E9xYx=zJFyx~bջE~>Q 5 4䯝?Q 9 4&M)BY y 䡿Q I @ CIy:i :qѹ4y%2Acoustic response timeoutɮ%A!*N)RN1:N1BN12N1iA)A)AAIiIIIQI]fA)]fA53@1 @1@1@1B=<A9BE>BE-CBE;"IBEBBABABABEƀ;BE6EIaIqO=2Acoustic response timeoutA 2,T?A:6{@:v@:-=ٱ:u BAHRS rotation from veh to nav: [[-0.134945,0.990843,-0.004580],[-0.989944,-0.135018,-0.042211],[-0.042443,-0.001163,0.999098]]:HE`?(r`CH S?i:6{@I:_;:7CYJ ByJj"IbDVPVDV:4y^D%^M=ٔ^h;Q-b>9`Y`=bJFy`fEf>lQ 5z4nW?Q 9~4nM)nBY|y~HQ I@n CIn;in;niع4y הBɮ ]A aE*NRN:NBN2Ni))))111i11I93@ @@@I1IYOe=-2Acoustic response timeoutIqԩ  2Acoustic response timeoutyI,"?A2^@2X@2]2=ٱ2 :AHRS rotation from veh to nav: [[-0.138458,0.990357,-0.004729],[-0.989405,-0.138533,-0.043432],[-0.043669,-0.001334,0.999045]]2H  ?%_s4p<[@U-?i2^@I2`;28CYJByJr"I*entering command modeieMb@Mb@Mb@aaaa a9eMb?:v?=ٔ:;Q->9Y=JFy6E>Q 54?Q 94#NQ =tI)BYK=Q E=DAT read: E*DAT read: user:453> E(entering online modeB1 B1 B5 ."IB5 ܃BB5 =B1 B1 B5 ;B5 6E s,9xYx=zJFyxUֻEU>YQ 5e4]Ȱ?Q 9e4]N)]BYaym`Q Im@]CI]=:i]:]4yqɮu8Aq*NyRN:NBN2Ni))顑iI :Uninitialize Docking Stepper. Powering downI)i&BCritical error at 20251027T034328IIIO~=*DAT read: user:453> DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600 0online mode acknowledged 2Acoustic response timeout9 2Acoustic response timeoutY [,zV?Aɰ4<2@2@2_7=ٱ21 :AHRS rotation from veh to nav: [[-0.145955,0.989284,-0.003853],[-0.988278,-0.145980,-0.044670],[-0.044754,-0.002712,0.998994]]2H¿6?`o }¿ߦ`馿 7f?i2@I2a;2;CYRByRn"Ii-Mb@Mb@Mb@)))) )9- rh?~jt?MbY-C =y-D<--@) -V@)-@)Y-Q@bDEfVDE;4yU`%UD=ٔ]Q-]>9YYY=eJFyaeIEe>iQ 5u4m?Q 9u4mO)mBYF=Q E9\Y\=^JFy`bZEb>dQ 5j4f9|Y|=JFytE> Q 54 v?Q 94 O) BYyQ I@ CI ;i 6; 4y1ɮ=AA*NIRNI:NQBNQ2NQia)a)aaaiiiIqIIIOr=m2Acoustic response timeoutI % 2Acoustic response timeout(, ?A2O@2!@2'R!=ٱ2^# :AHRS rotation from veh to nav: [[-0.164135,0.986428,-0.004389],[-0.985652,-0.164180,-0.039186],[-0.039375,-0.002106,0.999222]]2H^ſѐ?@quſ3@(@@a?i2O@I2_a;28CPYR&ByR"IiuMb@Mb@Mb@qqqq q9uy&1?{Gzt?y&1|Yu`e9Y=JFybE>Q 54?Q 94O)BYBB5"IBBB =BBDB;B6E! .,佘?A22Y@2T@2=ٱ2ٺ :AHRS rotation from veh to nav: [[-0.169939,0.985444,-0.004573],[-0.984778,-0.169993,-0.036258],[-0.036507,-0.001658,0.999332]]2H ſ?r@M@Sſ@[ q+[ ?i22Y@I2`;0Y^Byb"IbDhVDhyr},%rW=ٔrQ-r>9tYt=vJFytv}Ez>x|Q 54z?Q 94z P)zBY y WQ I @xIz-;iz-;z 4yBɮAjE*N!RN!:N!BN!2N!i1)1)111i99IAIQIIO=2Acoustic response timeout)m*entering command modeQjA MAU c9U jAY] A߁ ߅ R= DAT read:  (DAT read: user:45>  (entering online modeԙ 55,ט?A63+@6&@6=ٱ6ϵ BAHRS rotation from veh to nav: [[-0.175487,0.984472,-0.004446],[-0.983925,-0.175538,-0.032828],[-0.033099,-0.001386,0.999451]]6H`Zvƿʀ?`5rP|xƿ ΠI V?i63+@I6`;67CYR/ByR"IIV4=)VR=i%Mb@Mb@Mb@!!!! %A9%9QYQ=UJFyQY][E]>aQ 5m4e5?Q 9m4eO)aYu DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged2Acoustic response timeoutԱ ;,I?Aɰ;2!@2@2"<ٱ2I{ >AHRS rotation from veh to nav: [[-0.180560,0.983555,-0.004327],[-0.983131,-0.180609,-0.028881],[-0.029187,-0.000960,0.999573]]2Hǿ`Gy?uqu`0ǿ ے9㝿YxO?i2!@I2_;29 Y = JFy  UE>Q 5%4ΰ?Q 9%4O)BY!y%@Q I%@CIa;i;4y)ɮ5A1E2Acoustic response timeout*NARNA:NABNI2NIiQ)Y)YYYiYaIaIyIIOW=ԹBu<Aup<B}>ByB}G"IB}BByByByB};B}6EB=-CB=-CB9B=· =B=· =C= 412Acoustic response timeoutY B,v ?A2ۉ@2^֐@2Y<ٱ2 :AHRS rotation from veh to nav: [[-0.185089,0.982713,-0.004141],[-0.982407,-0.185135,-0.024530],[-0.024872,-0.000472,0.999691]]2Hǿ`br? po@ǿ Qx>w?i2ۉ@I2M_;28CYBFByB"IbDJ[VDJy'4yRG=%VP=ٔV14Q-V>9XYX=ZJFyXZ?EZ>\Q 5b4^h?Q 9f4^O)\YdyfY@Q If@^CI^-:i^9:^4yhɮjAl*NpRNp:NpBNp2Npix)x)x||i|IIIIOf=9U2Acoustic response timeoutaԑԹ  2Acoustic response timeoutcH,?T%?A2ػ@2@2<ٱ2& :AHRS rotation from veh to nav: [[-0.188910,0.981988,-0.003557],[-0.981788,-0.188943,-0.019840],[-0.020154,-0.000256,0.999797]]2H`4.ȿql?O#mjK/ȿ`P@[@0U?i2ػ@I2_;29CYRRByR"I TTi-Mb@Mb@Mb@)))) -A9-J +Q롿~jth?Y-Hy-\-D;-@) -@)-d@)Y-\@ =;9bDE]VDE'+4yUsd=%U@=ٔ]t5Q-]>9YYY=eJFyaeEe>iQ 5u4m?Q 9u4mO)iYv=Q E\BqBum"IBuBBqBqBqBu;Bu6E O,b,??A:p@:B@:Pv<ٱ:Pǹ FAHRS rotation from veh to nav: [[-0.191971,0.981397,-0.002521],[-0.981285,-0.191987,-0.014868],[-0.015075,-0.000381,0.999886]]:Hȿ`g?`ed`f ȿr`ߎ@8?i:p@I:/_;:7CYJ[ByJ"IbDVhVDVf?4y^<=%^U=ٔbPXQ-b>9`Yd=fJFydf Ef>hQ 5n4j?Q 9n4jN)jBYpyr?Q Ir@j CIj;ij;j-4ytɮvAt*NxRN|:N|BN|2N|i ) )  iII1IAIAOM-=2Acoustic response timeoutQ m 2Acoustic response timeoutU,oY?A06m@6?@6#<ٱ6݉ȹ >AHRS rotation from veh to nav: [[-0.193901,0.981020,-0.001554],[-0.980971,-0.193907,-0.009835],[-0.009949,-0.000382,0.999950]]6H`ȿd?7vYd`ȿ<$\``9 ?i6m@I6B_;68CYFcByF"IiMMb@Mb@Mb@IIII I9M&1&1{Gz?YMнyMPM#9yYy=}JFyy͕E>Q 54?Q 94HM)BYr=Q E;yz?Q I@'CI2 ;iz ;44yɮuA*NRN:NBN2Ni))iIIIIO=ԉ2Acoustic response timeoutԹU*entering command mode "\,r?A2@2@2Ϟ;ٱ2= :AHRS rotation from veh to nav: [[-0.195524,0.980699,-0.000770],[-0.980687,-0.195526,-0.004788],[-0.004846,-0.000181,0.999988]]2H ɿa?z:I`a ɿs@s@ο'`?i2@I2J_;27CYNpByR"IIV%=)V9xYx=~JFy|fE> Q 54 ?Q 94 *L) BYy>?Q I@ ,CI :%DAT read: %*DAT read: user:455> -(entering online modei 6: Y;4yɮ A*NRN:NBN2Ni))iIA%AAA!B=>B=,CB="IB=-BB= =B9B9B=;B=6EIIIO= 9*DAT read: user:455> DAT read: DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 6000online mode acknowledged2Acoustic response timeouta  c,Ì?A4<ɰ4<2ox@2As@2sDxٱ2rJ :AHRS rotation from veh to nav: [[-0.197022,0.980399,0.000236],[-0.980399,-0.197023,0.000194],[0.000237,-0.000194,1.000000]]2H8ɿm_?.?m_8ɿBm)?`/?@^)?i2ox@I2Ge_;26CYNvByN"IbDZ^VDZ,4yr<%rK=ٔv}NQ-v>9tYx=zJFyxzExEz>|Q 54~?Q 94~J)~BY y ?Q I @~2CI~:i~:~dB4yɮA*N!RN!:N!BN!2N)9i9)9)AAAiAAIIIaIqIqOH==2Acoustic response timeoutaԑԹ  2Acoustic response timeout3i,򘦙?A2x@2s@2/ٱ2slf :AHRS rotation from veh to nav: [[-0.196960,0.980410,0.001813],[-0.980400,-0.196967,0.004560],[0.004827,-0.000879,0.999988]]2H@5ɿ`_?]?o_46ɿ+r?s? xL?i2x@I2k_;0Yn~Byn"IimMb@Mb@Mb@iiii i9mrh|Q뱿I +?Ymym\m94ԙ9Y=JFy:9E>Q 54?Q 94~I)BY[>Q E;y?Q I@:CI;i9;I4yɮA*NRN:NBN2Ni))iII IIO==2Acoustic response timeoutB>B-CB"IBPBB =BBB;B6E)9 p,s?A2@2x@2ٱ2, :AHRS rotation from veh to nav: [[-0.195194,0.980760,0.003101],[-0.980725,-0.195213,0.008342],[0.008787,-0.001413,0.999960]]2Hȿ@bb?fi?bȿy??@\%W?i2@I2_;27CYBByB"IF=F= J49XYX=ZJFyX^x;E^>`Q 5f4b?Q 9f4b+H)bBYdyf?Q If@bACIb:ib:b]P4ylɮnAl*NARNA:NABNA2NAiQ)Q)QyyiyIIIIOf=2Acoustic response timeoutAqM BDAT read: Rx Time:03:43:36.3108 M TRx dataTimestamp_ set to:1761536615.344148U 2Acoustic response timeoutԙ Ev,DOڙ?A2@2s@2KCٱ2w >AHRS rotation from veh to nav: [[-0.191837,0.981417,0.004360],[-0.981354,-0.191875,0.011293],[0.011920,-0.002113,0.999927]]2H`ȿ g?6q?AgXȿ@ ?`Yi?Na`f?i2@I2^;28CYBByF"Ii Mb@Mb@Mb@     9 ʡEDlMbp?Y y O ; @ @ ) @ Y @bD%UVD%n4y5<%5B=ٔ=Q->9Y=JFy.<E>Q 54򦝊?Q 94F)BY& >Q E;y?Q I@HCIj:is:W4yɮfA*NRN:NBN2Ni))iIII)I)O==q2Acoustic response timeoutԩ s|,L7?A2yɉ@2KĐ@2dٱ2]V :AHRS rotation from veh to nav: [[-0.187296,0.982286,0.005821],[-0.982205,-0.187358,0.013063],[0.013923,-0.003271,0.999898]]2H@Sǿn?w?8n`Zǿ@?t? 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TF¿`3D}?l?i2<@I2n^;22CYNByR]"IbDZAVDZ?3yv%vL=ٔvQ-v>9xYx=zKFyx~E~>Q 5 4gߝ?Q 9 4dI)BY y IyQ I @~CIy:iN:ƻ4yɮA*N!RN!:N!BN!2N)i1Թ))项iIIIIO=9 2̧,4?A2@2T @2ջ<ٱ2v; :AHRS rotation from veh to nav: [[-0.147681,0.988978,-0.010661],[-0.988769,-0.147882,-0.021588],[-0.022927,0.007353,0.999710]]2H 3¿`?yՅ`¿I@3zV~??i2@I2W^;21CYBByBX"I DDF=F=i Mb@Mb@Mb@     9 MbX?ˡE?99Y9==KFy9ELEE>IQ 5U4Mᝊ?Q 9U4MJ)MBYU>Q EU;yU Q IU@MCIM;iMQ;Mͻ4yaɮeAa*NiRNi:NiBNi2Niiy)y)顁iIIyIIO=B >B B ""IB уBB  =B B B ;B 6EBBBBö =Bö =CA59iԙ vӧ,9)Y)=-KFy)5E5>9Q 5E4=㝊?Q 9E4=K)=BYAyEHQ IE@=CI=:i=:=Ի4yQɮUAQ*NYRNY:NYBNY2Naii)q)qqqiqyIyIIIOa=) ٧,Bvh?A%Ja@%\@%Ӫ<ٱ% < UAHRS rotation from veh to nav: [[-0.169042,0.985537,-0.011884],[-0.985388,-0.169247,-0.019116],[-0.020851,0.008479,0.999747]]%H-ſ@?VL@ſ> Z]??i%Ja@I%^;%2CYeByeb"IiMb@Mb@Mb@ 99IYI=MKFyIUEU>YQ 5m4](坊?Q 9m4]L)] BYu<=Q EuQԁ A A B >B B B B B B B ;B 6Em,D?A,2@2@2<ٱ2< >AHRS rotation from veh to nav: [[-0.183388,0.982969,-0.011867],[-0.982839,-0.183581,-0.018033],[-0.019905,0.008356,0.999767]]2H@Byǿ`{t?@|Mjs ǿZwa?@?i2@I2h^;21CYFByFd"IIJ=)Jp;HJAN@AN@AbDR]VDR'+4yZ <%Zh=ٔZ0Q-Z>9\Y\=^KFy\b)Eb>dQ 5j4f杊?Q 9j4fcM)f BYhyj˘Q Ij@fCIf;ifw;f4ypɮrAp*NtRNt:NtBNt2Nxi|))i I I!I1I9OE'=ԉԱ! >,??Aɰ4<2]@2tX@2l<ٱ2r< >AHRS rotation from veh to nav: [[-0.200192,0.979686,-0.011762],[-0.979571,-0.200374,-0.017084],[-0.019094,0.008101,0.999785]]2Hɿ`Y?q`Xڥɿ u~G \?|9Y=KFy *E > Q 54 睊?Q 94 @N) BYyQ I@ CI /;i <; 4y)ɮ-_A)*N1RN1:N1BN12N1iA)I)IIIiIQIQIiIyIyOL=)Yԁ ,j?A2@2e@2<ٱ2< :AHRS rotation from veh to nav: [[-0.220129,0.975398,-0.011965],[-0.975298,-0.220304,-0.016134],[-0.018373,0.008118,0.999798]]2H,-̿t6?5@2̿xВ?X?i2@I2^^;21CY^Bybn"IYi}Mb@Mb@Mb@yyyy y9}Mb`?Mb?y&1|Y};y}<}`yy y)yyYybDbVD[44yƻ%?=ٔ>ݺQ->9Y=KFy DE>Q 54b睊?Q 94JN)BY81BB."IB܃BBBBDB;B6EԁԱ 0,Jϟ?A2@2U@2y<ٱ2< :AHRS rotation from veh to nav: [[-0.242342,0.970114,-0.012203],[-0.970026,-0.242514,-0.015390],[-0.017890,0.008107,0.999807]]2H@Ͽ, ?s ` Ͽ􄏿 Q@?`k?i2@I2GY^;22CYR#ByR"I TTV=V= XZ<bD^FVD^4yf=%fY=ٔfQ-f>9hYh=jKFyhjxEn>pQ 5v4r睊?Q 9v4rSN)rBYtyvuQ Iv@pIrl:ir:r4yxɮ~A|*NRN:NBN2Ni))i!I! -4Initializing EZServoServo. 58Initializing DockingStepper.IAIQԹOk=9 ,韺?ALLe10@e+@eO<ٱe7; AHRS rotation from veh to nav: [[-0.266343,0.963806,-0.011805],[-0.963723,-0.266500,-0.014670],[-0.017285,0.007470,0.999823]]eH ѿ?1-@Vѿ h~?@?ie10@Ie6^;e4CY(By"IiMb@Mb@Mb@ 9ˡE9Y=KFyWE>Q 54^睊?Q 94M)BY;=Q EAHRS rotation from veh to nav: [[-0.315379,0.948910,-0.010331],[-0.948832,-0.315499,-0.013365],[-0.015942,0.005587,0.999857]]6H*/Կw]?(\ 1ԿA_ S`v??i6F@I6"^;63CYF*ByF"IIJ=)J4=HJANAALbDReVDR94yZe%ZP=ٔZLQ-Z>9\Y\=^KFy\bEb>dQ 5j4f睊?Q 9j4fL)fBYhyj?Q Ij@fCIf:if\:f" 4ypɮrAp*NtRNt:NtBNx2Nxi))i I I1IIOe>) * ,:7?A4<ɰ2@2V@2Ϟs<ٱ2,; >AHRS rotation from veh to nav: [[-0.339573,0.940530,-0.009618],[-0.940462,-0.339675,-0.012335],[-0.014869,0.004857,0.999878]]2H`տ ?ϲC<տAC`ss?`?i2@I2J];0Yb9yY=KFy>lE>Q 5 4杊?Q 9 4K)BY=Q EB].CB]f"IB] BB] =BYB]DB];B]6Eyԩ ,6Q?ADVcG`nAf@fm@f[<ٱfLov; 9 Y @ AHRS rotation from veh to nav: [[-0.362655,0.931886,-0.008369],[-0.931827,-0.362732,-0.011136],[-0.013413,0.003760,0.999903]]fH@5׿ ?#7׿`fΆLx /n?4?if@If1];dY-HBy-"IbD=QVD=4yM{=%ML=ٔU\nQ-U>9YYY=]KFyY]`E]>aQ 5m4e@杊?Q 9m4eJ)eBYqyu?Q Iu@eCIe;ie;e4yyɮ}A*NRN:NBN2Ni))iIIIqO}=ԩ ?, j?Ae5@ea0@eD><ٱeĴ; AHRS rotation from veh to nav: [[-0.383844,0.923376,-0.006342],[-0.923325,-0.383891,-0.009940],[-0.011613,0.002040,0.999931]]eHؿ`L? yؿO[`_ȇM`?@n?ie5@Ie7];e0CYIBy"I ==i]Mb@Mb@Mb@YYYY Y9]ʡEZd;MbY]y]y]]@]@ ]@)]M@YYY p<bDSVD4yrw;%3=ٔ!Q->9Y=KFyLE>Q 54坊?Q 9 4jI)BY >Q E ;y  ?Q I@CI ;i ;#4yɮA*N!RN!:N!BN!2N!i1)9)999i9AIAIYIqO}=AqAM AAAI BM >BI BM "IBM #BBI BI BM DBM ;BM 7EBBBBɵ =Bɵ =Co;5ԡ $!,̄?A2<@2@2(<ٱ238 :AHRS rotation from veh to nav: [[-0.402968,0.915207,-0.003740],[-0.915170,-0.402985,-0.008220],[-0.009030,0.000110,0.999959]]2H`8ٿ`_I?pnI ٿՀ~`/??i2<@I2G];21CYBYByB"IbDJGVDJ4yRL=%Vx=ٔVxQ-V?9XYX=ZKFyXZPEZ?\Q 5b4^坊?Q 9f4^EH)^BYdyfl?Q If@^CI^_:i^:^W)4yhɮjAl*NpRNp:NpBNp2Npix)x)|||i|IԁIIO%=ԩ R',?A2@2@2„;ٱ2fú :AHRS rotation from veh to nav: [[-0.419362,0.907818,-0.001228],[-0.907798,-0.419361,-0.006207],[-0.006150,-0.001488,0.999980]]2Hڿ@ ?T` ڿly0ybX?i2@I2X ^;24CYB\ByB"IbDJ[VDJy'4yRR<%RJ=ٔV9Q-V>9TYT=ZKFyXZ5EZ>\Q 5b4^]坊?Q 9b4^F)^BYdyf)?Q If@^CI^:i^B:^j04yhɮjAl*NpRNp:NpBNp2Npix)x)|||i||III)O=#=1Q y-,E?A2-@2|@2A;ٱ24q :AHRS rotation from veh to nav: [[-0.432378,0.901690,0.002041],[-0.901688,-0.432367,-0.004257],[-0.002956,-0.003680,0.999989]]2H`ۿ ?`?ۿdoq@6h@&n?i2-@I2(];2/CYf]Byf"IIj<)j<||iMb@Mb@Mb@ 9i|?5&1I +Yyн947@@ @)7@Y@@AbDPVD:4y~;%8=ٔQ->9Y=KFyE>Q 54㝊?Q 94E)BY  >Q E ;y ?Q I @CI:i:+841yqɮuAq*NyRNy:NBN2Ni))顱iI &Changing to mode: 3B>BB"IBԉԹ a4,-^Ҡ?A;ɰ;2+,@2&@2ٱ2ػ :AHRS rotation from veh to nav: [[-0.441823,0.897081,0.006178],[-0.897102,-0.441816,-0.002430],[0.000549,-0.006616,0.999978]]2HFܿ`?My?Fܿ@tc`B?`,{?i2+,@I2^;21CY^eByb"IbDjLVDj 4yMY!=%MU=ٔMQ-M>9QYQ=UKFyQ]߼E]>aQ 5m4e❊?Q 9m4eC)eBYiym?Q Im@eCIe:ie|:e>4yyɮ}Ay*NRN:NBN2Ni))顙iIԑm 3@q @q@u4@qIIO= Z:,N젺?Aـ@Ӈ@tݻٱ AHRS rotation from veh to nav: [[-0.450889,0.892504,0.011634],[-0.892554,-0.450936,0.001705],[0.006768,-0.009616,0.999931]]H\ܿ e?Ӈ?`Ώ $ܿT[?`{?do?iـ@IU"b;0CYbBy"IiMb@Mb@Mb@ 9|?5^rh|{GztYҽyף@ ) @Y@bD5BVD53yEC%E.=ٔMXQ-M>9IYI=UKFyQUEU>YQ 5e4] ?Q 9e4]A)]BYm\$>Q Em;ym?Q Im@]CI]& ;i]L ;]G4yqɮuAq*NyRN:NBN2Ni))顑iI]/3@Y @Y@] 0@YIiIyO9>B<A4=BBB"IBPBB =BBDB@;B+7EA tA,?AY~fBy~"I  = =  <bDQVD4y%<%%u=ٔ%Q--?9)Y)=-KFy)5E5?9Q 5E4=Cޝ?Q 9E4=x@)=BYAyAQ IE@=CI=:i=:=L4yQɮUAQ*NYRNY:NYBNY2NYii)i)qqqiqyIyI@I @I@M/0@IIYiIqO}=ԑ VG,?A:@:@: ٱ:!/ BAHRS rotation from veh to nav: [[-0.447962,0.893953,0.013347],[-0.894013,-0.448033,0.002725],[0.008416,-0.010711,0.999907]]:Hhܿ C?U? `ܿBSf?`k9xYx=zKFyx~%<E~>Q 5 4 ܝ?Q 9 4>)BY yz?Q I@CI):i:S4yɮA*N!RN):N)BN)2N)i1)9)999iAAII!3@ @@ 0@IIO=! M,9?A2]6@2/1@2#yٱ2A :AHRS rotation from veh to nav: [[-0.440687,0.897541,0.014681],[-0.897613,-0.440773,0.003091],[0.009245,-0.011815,0.999887]]2H 84ܿ@?? ?`5ܿ Ri??2?i2]6@I2Q`;2/CYvXByv"I|i}Mb@Mb@Mb@yyyy y9} rhEԸMb`?Y}Cy}ƽ};}@y }@)}@yY}@bD8VD3y&%?=ٔ]Q->9Y=KFy<E>Q 54ڝ?Q 94=)BY=Q E;y@Q I@CI:i:Q[4yɮ$A*NRN:NBN2Ni))iIB>B/CB"IB[BB =BBDBE;B17E@ @@0@IIO=)Qԁ T,S?A2@2o@2ٱ2V :AHRS rotation from veh to nav: [[-0.427799,0.903744,0.015348],[-0.903837,-0.427873,0.001766],[0.008163,-0.013116,0.999881]]2Haۿw?n?;@Gbۿ\?`з?܊?i2@I2$`;22CYRWByR"IIZ4<)Z49lYl=nKFylrA=Er>tQ 5v4v6؝?Q 9z4v<)tYxyz@Q Iz@vCIv:iv-:va4yɮ,A*N RN :N BN 2N Yi))顡iI 3@ @@0@IIOԁԱ Z,ςm?Aɰ4<@@扺ٱ=ca MAHRS rotation from veh to nav: [[-0.391056,0.920274,0.013072],[-0.920366,-0.391032,-0.004411],[0.001052,-0.013756,0.999905]]H ٿr?Ŋ?@sٿvryt#=@V@ @)@Y@bD VD yMӼ%M(=ٔMp9QYQ=UKFyQ]!=E]>aQ 5m4e՝?Q 9m4e)>)eBYm >Q Eu;yuQ Iu@eCIe` ;ie ;ebj4yyɮ}`Ay*NRN:NBN2Ni))顙iIe!3@a @a@e5@aIqIO:>A@AABBB"IBPBB =BBBJ;B67E9 ua,)]?AJ@Ji@JГ;ٱJU VAHRS rotation from veh to nav: [[-0.368481,0.929577,0.010455],[-0.929624,-0.368398,-0.008996],[-0.004511,-0.013034,0.999905]]JH@/׿?Ri?{֓׿ul`yr`~8?iJ@IJ _;HYZEBy^"IbDfMVDf 4ynq%n|=ٔn=Ev ?xQ 5z4zӝ?Q 9~4z?)zBY|y~[Q I@zCIzQ;iz<;z p4y ɮ A *NRN:NBN2Ni!))))))i)1I1@ @@4@IIO= %rG=hAIQY9hAYFAqԙ g,8?AZМ@Z@Z|-><ٱZRrQ fAHRS rotation from veh to nav: [[-0.342996,0.939303,0.008026],[-0.939265,-0.342852,-0.015287],[-0.011607,-0.012782,0.999851]]ZHտ@?0p?u`Hտ NŇ-`?iZМ@IZ^;Z/CYn1Byn"I ppr=r= ttbDz7VDzp3yR%H=ٔ9 Y = KFy `=E>Q 5%4ѝ?Q 9%4[@)BY!y%Q I-@CI:i:2w4y1ɮ5]A1*N9RN9:NABNA2NAiI)Q)QQQiQYIYq/3@ @@4@I IO-=ԡDAT read: VDAT read: Teledyne Benthos DAT-900 Series  xn,o?A$$B~@Bmy@BUp<ٱB D JAHRS rotation from veh to nav: [[-0.316944,0.948429,0.005346],[-0.948252,-0.316761,-0.021919],[-0.019095,-0.012016,0.999745]]BHHԿ@Y? eu?XEԿ q` ?iB~@IBN^;@Y^&Byb"IiMb@Mb@Mb@ 9+η?V-? rh?Yv=ym=C<@@ @) @Yf@bD:VD{3yK%@=ٔE9Y=KFy=E>Q 54ҝ?Q 94A)BY'=Q E;yQ I@ CI:i:~4yɮA*NRN:NBN2Ni))iIB=>B9B="IB=2BB= =B9B9B=P;B==7EB/CBBB´ =BC4(3@ @@4@IIO>) u,ԡ?A :X@:S@:<ٱ:$- FAHRS rotation from veh to nav: [[-0.291520,0.956561,0.002501],[-0.956204,-0.291338,-0.028203],[-0.026249,-0.010613,0.999599]]:HEҿ&?}d?9`Gҿ`9᜿ ᚿ~ ?i:X@I:^;:.CYNByNz"IbDV[VDVy'4y^$%^Z=ٔ^9`Y`=bKFy`f=Ef>hQ 5n4jӝ?Q 9n4jB)jBYlynQ Ir@jCIj;ij;j+4ytɮvAt*NxRNx:N|BN|2N|i) )   i I@ @@4@II O=Iqԡ Q'{,?A@J^*@J0%@J2}=ٱJ ^AHRS rotation from veh to nav: [[-0.266924,0.963717,-0.000031],[-0.963158,-0.266771,-0.034056],[-0.032828,-0.009061,0.999420]]JHIѿ?@1ѿ@o@Π q??iJ^*@IJ3a;HYvByv]"II <) p<A!%BAbDM6VDM3y}i߽%?=ٔA{9Y=KFyr=E>IQ 5e4Mԝ?Q 9m4MC)M BYyqQ I@MCIM`*B1A1B9B9B=f"IB= BB= =B9B9B=V;B=D7E k,'?A4<ɰ2@2@2W=ٱ2w >AHRS rotation from veh to nav: [[-0.243718,0.969844,-0.001876],[-0.969086,-0.243603,-0.039127],[-0.038404,-0.007718,0.999232]]2H#2Ͽ@?#^_.Ͽ{`?i2@I2a;21ClYrByrW"IimMb@Mb@Mb@iiii i9mzG?S㥻?{GztYm =ym/=mףm@i i)iiYm@bDRVD4yj%I=ٔa9Y=KFyt=E>Q 54>ם?Q 94$E)BYT>Q E;yQ I@ CI2 ;iX ;4yɮA*NRN:NBN2Ni))iI03@ @@?0@IIO> U:DAT read: MF Frequency Band ]vDAT read: Directional Acoustic Transponder version 8.15.0 ]BDAT read: Oct 27 2025 03:44:05 1a 9,s"?A2D@2@20=ٱ2ϻ >AHRS rotation from veh to nav: [[-0.221544,0.975145,-0.003385],[-0.974195,-0.221479,-0.043485],[-0.043154,-0.006336,0.999048]]2H[̿`b4?k@,kY̿C> y@4?i2D@I29`;2.CY^Byb>"IbDj_VDj.4yӽ%R=ٔ\H9!Y!=%KFy!-"p=E->)Q 554-ٝ?Q 9=49-nF)-BYAyER~Q IE@-(CI-0;i-1;-4yIɮMAI*NYRNY:NYBNY2NYii)i)iqqiqqIy53@1 @1@5/0@1IAIQOe=iԙ c,[A@2<@2:=ٱ2_z :AHRS rotation from veh to nav: [[-0.203411,0.979078,-0.005548],[-0.978030,-0.203451,-0.045451],[-0.045629,-0.003819,0.998951]]2H_ ʿT?vL ʿOE`\`MHo`h?i2>A@I22`;20CYBۃByF."I DDJ=Jp=i%Mb@Mb@Mb@!!!! !9% rh?@5^I ?{GzY%C >y%b>%#!%@ %?@)%@!Y%@ԙ 4<bDVVDE4yl%@=ٔ;Q->9Y=KFyf2=E>B>B.CB("IBփBB =BBDBBB7EQ 54ݝ?Q 94AH)BYH>Q E ;y bxQ I @3CI;i;4yɮ A*N!RN!:N!BN!2N!,%B*** querying acoustic contact ***L!L!i1)9)999i9AIA 3@ @@0@IIO >m LDAT read: Features enabled [Bearing] u DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP u commRate: 6001 3M,9XYX=ZKFyX^6=E^>`Q 5f4bgᝊ?Q 9f4bI)bBYdyf,tQ Ij@b=ٔߺQ->9Y=KFy<E>Q 54坊?Q 94K)BYypQ I@GCIk;i;Q4yɮyA*NRN :N BN2Ni)!)!!!i!)I) 3@ @@0@IIO (>ԁAAB>BB!IBBB =BBBc;BN7Eԩ ],쉢?A2"y@2s@21=ٱ2}w9 :AHRS rotation from veh to nav: [[-0.166053,0.986089,-0.007449],[-0.985161,-0.166220,-0.042775],[-0.043419,0.000236,0.999057]]2H8Aſ ?@4~`o`Fſ楿:F.?`F?i2"y@I2!_;20CYB̃ByB"IIF%=)FyU>UU@U@ U@)QQYU@aabDmBVDm3y}%}J=ٔ}λQ->9Y=KFy<E>Q 54靊?Q 94$M)BYM>Q E;y'ZQ I@QCI;i;4yɮA*NRN:NBN2Ni))iIԱ3@ @@0@IIO= 1 ,ƣ?Aɰ2N@2 @2 "=ٱ2D; :AHRS rotation from veh to nav: [[-0.161125,0.986890,-0.009342],[-0.986141,-0.161368,-0.038550],[-0.039552,0.003001,0.999213]]2H ŸĿ?@"wĿƼ @bh??i2N@I2^;0Y^By^"IbDjSVDj4yra%rU=ٔr$Q-v>9tYt=vKFytz9V<Ez>|Q 54~.?Q 94~N)~BY y XQ I @~ZCI~ ;i~!;~4yɮA*N!RN!:N!BN!2N!i1)1)119i9IQ@Q @Q@U0@QIaIqO=9q u,?A 2@@2@2Q=ٱ2; >AHRS rotation from veh to nav: [[-0.158872,0.987244,-0.010432],[-0.986685,-0.159137,-0.033585],[-0.034817,0.004958,0.999381]]2H`UĿ?]`^Ŀ 2~ӡNt??i2@@I2X#_;0YFЃByF "IiMb@Mb@Mb@ 9T㥛 ?Pn?MbYy>@ (@)Y @bD-WVD- 4y=X=%=D=ٔE:Q-E>9AYA=MKFyIM';EM>QQ 5]4U?Q 9]4U4P)UBYe;>Q Ee;yemQ Ie@UdCIU;iU;Uļ4ymBɮmAukEB>BB!IBBBBBBj;BU7E*NRN:NBN2Ni!))))))i)1I1q@ @@0@IIO>ԙ % 9! Y% IA *entering command mode,V~ע?AJ@Jr@J<ٱJd7;P VAHRS rotation from veh to nav: [[-0.160784,0.986935,-0.010362],[-0.986564,-0.161014,-0.027682],[-0.028988,0.005772,0.999563]]JHĿ ?8@`ĿX`Xw?k?iJ@IJx(_;HY\y` ddf=fa= hjp;bDn[VDny'4ٔvUsQ-v>9xYx=zKFyxz*Ez>|Q 54~?Q 9 4~Q)~܅BY y ?nQ I @~mCI~:i~:~˼4yɮ*N!RN!:N!BN!2N!i1)1)99AiAAII 3@ @@@IIO%=DAT read: &DAT read: user:1> (setting verbose to 3A û,W?A2t@2o@2<ٱ2; :AHRS rotation from veh to nav: [[-0.166684,0.985961,-0.009893],[-0.985756,-0.166861,-0.021053],[-0.022408,0.006243,0.999729]]2H Uſ?BO[ſ펕2`y??i2t@I2&^;2/CYRڃByR-"I&DAT read: user:1>  TDAT read: Verbose | 3   set verbose to 3 6setting DatVerbose to 27440)bDZVVDZE4yF<%<ٔFxQ->9Y=KFy%\E->Q 54?Q 94tS)ԅBY!y-oQ IM@wCIfqByA}<BBBBBBBBm;BX7EBE.CBABABEǶ =BACE‰5&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 274406setting transmit power to 8ԡ ޫ¨,Y4 ?A6+@6&@6|<ٱ6{; >AHRS rotation from veh to nav: [[-0.175478,0.984436,-0.009651],[-0.984353,-0.175606,-0.014582],[-0.016050,0.006941,0.999847]]6Hvƿ ?Ã@zƿ<ݍfo@dn|?`?i6+@I6{*_;6-CY^Byb?"IiEMb@Mb@Mb@AAAA A9EyEQ=E/ݼE@E@ El@)AAYE\@bD]ZVD]%4ym<=%mP=ٔuYQ-u>9qYqy=KFy E>Q 54?Q 94T)΅BY0>Q E;yؗQ I@CI ;i ;Iڼ4yɮA*NRN:NBN2Ni))iI-&DAT read: user:3> 5TDAT read: TxPower | 8 (Max) 5.set transmit power to 8=6setting local address to 11ԡ =bTimed out moving from: 13088 to: 6111 response: q= =Hardware FaultI&VHardware Fault in component: DockingStepperIOD>  &DAT read: user:4>  TDAT read: LocalAddr | 11  .set local address to 11 ^Setting time to: 3:44:12 And date to:10/27/2025Ȩ,%?A2É@2x@2<ٱ2< :AHRS rotation from veh to nav: [[-0.188005,0.982121,-0.009582],[-0.982124,-0.188079,-0.007605],[-0.009272,0.007981,0.999925]]2Hȿm?؟ mȿ&@cX? c?i2É@I2}_;2/CY^BybL"IIb=)b=dfAhjAAbDjKVDj 4yUY=%I=ٔjQ->9Y=KFykE>Q 54?Q 94V)ɅBYyQ I@CI:i:d4yɮA*NRN:NBN2Ni9)A)AAAiAIII }:Uninitialize Docking Stepper. }Powering downIy)yyiyIIO=&DAT read: user:5> %PDAT read: Mon Oct 27, 2025 03:44:12 %hLocal DAT time set to Mon Oct 27, 2025 03:44:12 -8setting remote address to 50-2Acoustic response timeout-6setting remote address to 09Y 'Ϩ,>?A;ɰp;20K@2F@2(;ٱ2 < :AHRS rotation from veh to nav: [[-0.202434,0.979257,-0.008711],[-0.979293,-0.202448,-0.000832],[-0.002578,0.008362,0.999962]]2H@Yɿ@V?ׁ`]VɿCK e# ??i20K@I2}`;21CYN ByRf"IB!B!B%!IB%BB!B!B!B%k;B%U7EiEMb@Mb@Mb@AAAA A9EMb?I +?y&1|YE9 Y = KFy ^E>1AQ 5M4E?Q 9U4EV)EDžBYU TDAT read: RemoteAddr | 50 |failed to set remote address to 0, device returned 50 instead.q (Communications Faulta  a  a  a  a  &DAT read: user:7> TDAT read: RemoteAddr | 0 .set remote address to 08setting remote address to 502Acoustic response timeout6setting remote address to 0i))i1I1II&LCommunications Fault in component: DATIO=aԉԹ Lը,X?A2̈@2Ǐ@2Lhٱ2< >AHRS rotation from veh to nav: [[-0.217508,0.976033,-0.007124],[-0.976052,-0.217474,0.005219],[0.003545,0.008089,0.999961]]2HJ˿;?X.};/˿`u? m?@㐀?@?i2̈@I2Xa;2/CYfByfs"IbDrVVDrE4y%(]=%-Y=ٔ-gQ-->91Y1=5KFy15'E5>9Q 5E4=7?Q 9M4=W)=ƅBYIyMҗQ IM@=CI=N:i=:=K4yQɮUAY*NaRNa:NaBNa2Naiq)q)yyyiyIIIOe=ԑPowering downi߱I߱߱߱Թ &ܨ,r?A2N@2lI@2~=ٱ2< :AHRS rotation from veh to nav: [[-0.232520,0.972573,-0.006012],[-0.972556,-0.232454,0.009987],[0.008315,0.008169,0.999932]]2H 9Ϳ@Q?ڟx- Ϳs??@⺀?q?i2N@I2`;21CYBByB"I DDJ=J= J49tYt=vKFytzEz>|Q 5}4~s?Q 94~7W)~ąBYy陿Q I@~CI~3BBB5"IBBBBBBh;BQ7EI ,z?A2ɇ@2Ď@2aKٱ2Z < >AHRS rotation from veh to nav: [[-0.248243,0.968685,-0.005066],[-0.968618,-0.248152,0.014147],[0.012447,0.008419,0.999887]]2HnϿv?tqϿ?}?@&>? ?i2ɇ@I2"`;2,CY^:Byb"IiEMb@Mb@Mb@AAAA A9EL7A`尿lMbPYE+yEEAE@ E@)E7@AYE\@bDiVD=A4yC>%<=ٔQ->9Y=KFyE>Q 54?Q 94aV)Y=Q E/?`?'??i6A@I6@t_;60CYJOByJ"IbDRdVDR 84yZP=%Z_=ٔ^eQ-^>9\Y\=bKFy`bB9Eb>dQ 5j4f+?Q 9j4fU)fÅBYhyn;?Q In@fCIf:if#;f64ypɮrAp*NtRNx:NxBNx2Nxi)) i  II)&=NClearing failed state for component DATq =I9OM*=ԩ | ,]4?A2M@2@2wٱ2< :AHRS rotation from veh to nav: [[-0.280173,0.959945,-0.002995],[-0.959753,-0.280051,0.021107],[0.019423,0.008788,0.999773]]2H@[ѿ@޷?hK@\ѿ@$??@?`#?i2M@I293_;0B`B`Bbs"IBbBB`B`B`Bb`;BbI7ElYr]Byr"IIv=)vtvAimMb@Mb@Mb@iiii i9m~jtÿ:vMb`?YmymԽm;md@i m@)m @iYm @yybDXVD!4y=%==ٔQ->9Y=KFyE>Q 54?Q 94S)Y<>Q E;y?Q I@CI ;i ; 4yɮtA*NRN:NBN2Ni))iII IO= 1a G6,ڣ?Aɰ4<2?@2:@2ʺٱ2; :AHRS rotation from veh to nav: [[-0.294452,0.955666,-0.000200],[-0.955394,-0.294364,0.023919],[0.022800,0.007234,0.999714]]2H Oҿє?3*ҿ=~?X?k}??i2?@I2^;2.CY^iBy^"IbDjNVDj4y%fl=%%R=ٔ%7Q-%>9)Y)=-KFy)55E5>91Q 5E45J?Q 9E45Q)1YIyM?Q IM@5CI5+;i5B:54yQɮUAQ*NaRNa:NaBNa2Naiq)q)qyyiyyIIIOd=iԑ ?`,?A2w؅@2Iӌ@2 Լٱ2v; :AHRS rotation from veh to nav: [[-0.306476,0.951874,0.002788],[-0.951524,-0.306441,0.026374],[0.025959,0.005430,0.999648]]2H@Nӿu?:f?rӿ??@=v?@?i2w؅@I2 _;2/CY\yb"IbDjGVDj4yr;%rO=ٔrQ-r>9tYt=vKFytvEz>xQ 5~4z?Q 94z P)z…BYy?Q I@zCIzL;iz;z|4y ɮA*NRN:NBN2Ni))))111i11ԙII1IO=BBB"IBABB =BBBn;BW7E G,v ?A.߃@.~@.ٱ.L; >AHRS rotation from veh to nav: [[-0.316261,0.948652,0.006151],[-0.948235,-0.316305,0.028313],[0.028805,0.003122,0.999580]].H=Կ\[?@2y?W@X>Կ&??@Xi??i.߃@I.3^;,Y^rByb"I ``f=f=iEMb@Mb@Mb@AAAA A9E5^I ˿V-¿~jthYEXyEhEDEz@E@ A)E@AYE\@ QU<bD][VD]y'4ym+=%mB=ٔuݻQ-u>9qYq=}KFyy}@ȼE>Q 54 ?Q 94RM)BY:>Q EP;y?Q I@CI:i<; 4yBɮ~AbE*NRN:NBN2Ni))iI +GjAMAI!-R95jAY5@AyA?0AIO>!Qy q ,s'?A2JK@2F@2Aٱ2?7 :AHRS rotation from veh to nav: [[-0.322783,0.946413,0.010625],[-0.945970,-0.322957,0.028971],[0.030850,-0.000700,0.999524]]2HyԿI?…?cESԿ`??? F@?i2JK@I2J^;0YBwByB"IbDN_VDN.4yVg<%VX=ٔVQ-V>9XYX=ZKFyXZE^>Q 54?Q 9 4J)BY y ?Q I @CI:i:'4yɮWA*N)RN):N)BN)2N)iY)Y)YaaiaaIiIIOh=YPowering up"Initializing DAT.ԉԹ -Z,:zA?AB4B4B6"IB6eBB6 =B4B4B6;B6k7EB)B)B)B)B- =C-4F 2@F,@FٱFA NAHRS rotation from veh to nav: [[-0.325687,0.945349,0.015581],[-0.944941,-0.326013,0.028325],[0.031857,-0.005498,0.999477]]FHԿL@??`<`gԿ`0?O?Jv?iF 2@IF8^;DYn{Byn"IiMb@Mb@Mb@ 91Zd˿bX9ƿMbY"[yE6@  @)Y@bDMVD 4y<%7=ٔQ->9Y=KFyE>Q 5 4S?Q 9 4G)BY>Q E>;y?Q I@CI ;i ;D/4yݔBɮ A%aE*N)RN):N)BN)2N)i9)9)9AAiAAIIIaIqO}=Ա 9 ,e[?A2~=@2P8@2ٱ2"$ :AHRS rotation from veh to nav: [[-0.324373,0.945727,0.019564],[-0.945418,-0.324808,0.026151],[0.031087,-0.010013,0.999466]]2H@ԿdC??@@Կuǚ?-՟?` ?i2~=@I2^;2-CYBzByB"IIFp<)Fp;DFAHJ@AbDNBVDN3yV&û%Va=ٔV ;Q-Z>9XYX=^KFy\^{;E^>`Q 5f4bI읊?Q 9f4bXE)bBYdyf?Q Ij@bCIb :ib:b54ylɮnAl*NpRNp:NtBNt2Nti|))i I I!I9OE'= 1i ,.u?Aɰ8:i@:d@:&ٱ::^ FAHRS rotation from veh to nav: [[-0.319292,0.947403,0.021903],[-0.947233,-0.319755,0.022516],[0.028335,-0.013558,0.999507]]:HIoԿ@ Q?m?OvԿZ??0ċ@?i:i@I:^;8Y^vByb"IbDjAVDj?3yrP%rG=ٔr;Q-v>9tYt=vKFytzW<Ez>|Q 54~蝊?Q 94~B)~BYy\?Q I @~CI~&;i~;~<4yɮ5A*NRN:N!BN!2N!i))1)111i19I9IQIaOu@=ԑAaAeAABe>BaBe"IBetBBaBaBaBe;Bem7E .#,R?A2@2Z@2ٱ2_z :AHRS rotation from veh to nav: [[-0.310203,0.950420,0.021820],[-0.950382,-0.310592,0.017493],[0.023403,-0.015311,0.999609]]2H\ӿ@i?X?`iӿ??h[?i2@I2/^;2/CYNfByN"Iti]Mb@Mb@Mb@YYYY Y9]-ƿx&~jtY]?5y]7 ]]@]@ ]@)]@YY]@bDuBVDu3yٕ%@=ٔ&>9Y=KFyj<E>Q 544杊?Q 944@)BY)d>Q En;y?Q I@CI:i/:8D4yɮA*NRN:NBN2Ni))iIII O=A ),稤?A2z!@2L@2sՈٱ2 :AHRS rotation from veh to nav: [[-0.298042,0.954337,0.020300],[-0.954406,-0.298302,0.011157],[0.016703,-0.016049,0.999732]]2H ӿ ?ɔ?`_ӿ@9ن?@z? 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0HH`p`q??i2|@I2_;2-CYpypimMb@Mb@Mb@iiii i9mMb?w/?J +Ym>ym&>mHm@m@ m@)mz@iYm@bDNVD4y%@=ٔQ->9Y=KFy%%<E>Q 54?Q 94dE)BYZ>Q Ey;yKQ I@\CI ;i ;4yɮA*NRN:NBN2Ni))iII QIO=ԁԩ nw,-ߥ?A2@2[@2<ٱ2; :AHRS rotation from veh to nav: [[-0.132452,0.991149,-0.009001],[-0.990923,-0.132622,-0.021958],[-0.022957,0.006011,0.999718]]2H@2 }? o 0|@)x?`?i2@I2[_;2,CYRByRA"I TTZ=X XXbD^CVD^3yU%UN=ٔ]"Q-]>9YYY=eKFyae ;Ee>iQ 5u4m?Q 9u4mF)mBYyy}KQ I}@mfCIm ;im;m៽4yɮA*NRN:NBN2Ni))顩iIIIO}=Ա 1 },p?A2ᒋ@2@2*<ٱ2>; :AHRS rotation from veh to nav: [[-0.132180,0.991178,-0.009695],[-0.991047,-0.132336,-0.017691],[-0.018818,0.007269,0.999797]]2HG?ڃ@`@Ee}?@U?i2ᒋ@I2G^;2.CYNByR;"IbDZVVDZE4yb%bT=ٔb0Q-f>9dYd=fKFydjB:Ej>lQ 5r4n> ?Q 9r4nlH)nuBYpyr2KQ Iv@npCIn;in+;n4yxɮzAx*N|RN|:NBN2Ni ))iII1IAOU/=BE<AE<BIBIBM"IBMBBIBIBIBM;BM6EAi ,m?A$:@:\}@:2u<ٱ:q< BAHRS rotation from veh to nav: [[-0.134165,0.990911,-0.009775],[-0.990846,-0.134292,-0.013767],[-0.014955,0.007839,0.999857]]:H@U,`?@ 02` ??i:@I:X^;:-CYJByJD"IiMb@Mb@Mb@ 9&1?ʡE?ˡEY=y='z@@ @)Y@bD5EVD53yE =%MB=ٔMjQ-M>9IYQ=UKFyQUNEU>YQ 5e4] ?Q 9e4]I)]lBYme$>Q Em;ymXQ Im@]yCI]:i]Z:]4yqɮuAy*NRN:NBN2Ni))顙iIIIOU=qԙ ",e,?AB_@BZ@B6><ٱBc;\ bAHRS rotation from veh to nav: [[-0.138378,0.990343,-0.008479],[-0.990311,-0.138464,-0.010537],[-0.011609,0.006939,0.999909]]BH` ? }]0Ƈ k|? @?iB_@IB^;B0CYjByjM"IIn=)nprAppbDv]VDv'+4y~=%~O=ٔ Q->9Y=KFy >0E >Q 54H?Q 94J)dBY!y%3ZQ I%@CI" ;i ;ܴ4y-Bɮ-A-cE*N1RN9:N9BN92N9iI)I)IIIiIQIYIiIOO=1 BU >BQ BU "IBU ƒBBQ BQ BQ BU Հ;BU 6E,ݘF?Aɰ4<2)@2#@2\;<ٱ2; :AHRS rotation from veh to nav: [[-0.144987,0.989405,-0.007563],[-0.989392,-0.145047,-0.008097],[-0.009108,0.006309,0.999939]]2H`¿ 4?~¿/Z@by?@?i2)@I2^;2,CY^BybT"I1iMb@Mb@Mb@ 9|?5^?T㥛 ?y&1Y=y=`e@ l@)@Y\@bDaVD24y2<%@=ٔjQ->9Y=KFy>E>Q 54?Q 94*L)`BY=Q E;yEQ I@CI:i7:O4yɮiA*NRN:NBN2Ni))iIII1O==Iyԡ ͼ,t`?A2ފ@2ّ@2G;ٱ24; :AHRS rotation from veh to nav: [[-0.153931,0.988050,-0.007946],[-0.988052,-0.153984,-0.006554],[-0.007699,0.006842,0.999947]]2H ÿ@?E`ÿzO|??i2ފ@I2|^;2/CY^ Bybj"IbDj_VDj.4yr׸=%rX=ٔr;tQ-r>9tYt=vKFytv ļEz>xQ 54zx?Q 94zEM)z^BYyoQ I@zCIz;iz;z½4yɮA*NRN:NBN2N!i))1)111i19I9IQyIO =ԡ 杩,YOz?A6@6{@6Z1;ٱ6x^; BAHRS rotation from veh to nav: [[-0.165247,0.986222,-0.007708],[-0.986227,-0.165294,-0.005862],[-0.007055,0.006633,0.999953]]6H&ſ!?+ Y(ſ@x|+{??i6@I6^;6*CYF ByJh"I HHN=Na= R9`Y`=bKFy`fOEf>dQ 5j4f?Q 9n4frN)f[BYlyn藿Q Ir@fCIf`;ifl;fɽ4ytɮvAt*NxRNx:NxBNx2N|i) )   i II)I9OM+=1AA@AB >B B ""IB уBB B B B ;B 6Eiԉ i m ːC 6G - 9) Y- O@Τ,N)?A@2o@2A@2$;ٱ2? ; :AHRS rotation from veh to nav: [[-0.178314,0.983951,-0.006734],[-0.983948,-0.178354,-0.006002],[-0.007106,0.005556,0.999959]]2Hƿ|?{| Pƿxt}zv??i2o@I2ΰ^;2,CYNByR|"Ii}Mb@Mb@Mb@yyyy y9}I +?:v?{GztY}949Y=KFyE>Q 54c?Q 94N)ZBYdAHRS rotation from veh to nav: [[-0.193346,0.981103,-0.007286],[-0.981097,-0.193396,-0.006812],[-0.008092,0.005831,0.999950]]6H ȿ 3e?`}%e 1ȿ{ྒ =w??i6@I6_;6.CYF"ByF"IbDRVVDRE4yVv=%Z[=ٔZ!-;Q-Z>9\Y\=^KFy\b'Eb>dQ 5f4f?Q 9j4fN)fYBYhyjdQ Ij @fCIf>:ifl:f׽4ypɮr+Ap*NtRNt:NxBNx2Nxi))i I I!I9OE)=I B B B ;"IB BB =B B B ;B 6EBBBBBC}5*ᱩ,&Ǧ?A:@:m@:q<ٱ:-; FAHRS rotation from veh to nav: [[-0.208588,0.977964,-0.008808],[-0.977959,-0.208655,-0.007649],[-0.009318,0.007019,0.999932]]:H`ʿ@{K? `qK8ʿNT\`|?`q?i:@I:C_;:,CY^)By^"IIb<)b=ٔ}#;;Q-}>9Y=KFyE>Q 54?Q 94M)Y=Q E>AHRS rotation from veh to nav: [[-0.225318,0.974246,-0.008782],[-0.974227,-0.225395,-0.008938],[-0.010687,0.006541,0.999922]]<6H;̿ -?`@,̿+N6ㅿz?`[?i6+@I64_;6-CYN+ByN"IbDZYVDZ#4yH<%R=ٔf;Q->9 Y = KFy 4E>Q 5%4?Q 9%4PM)Y)y-?Q I- @CIa#;i:I4y1ɮ5A1*NARNA:NABNA2NAiQ)Q)QQQiYYIaIyIOR=ԩ 4,?A25@2@2ֹA<ٱ2; :AHRS rotation from veh to nav: [[-0.242518,0.970116,-0.007771],[-0.970075,-0.242590,-0.010245],[-0.011824,0.005054,0.999917]]2H Ͽ0 ?@ 3 Ͽ@,7۳t?R?i25@I2+^;0Y^4Byb"IbDjZVDj%4lyr`,=%rL=ٔv:;Q-v>9tYt=zKFyxz5Ez>|Q 54~b?Q 94~L)|Y y k?Q I  @~CI~-:i~:~H4yɮA*N!RN!:N!BN!2N!i1)1)111i9AIAIIO=B<A<BBBZ"IBBB =BBBр;B6E1a % DAT read: - VDAT read: Teledyne Benthos DAT-900 Series ũ,r?Abh@bb@bRS<ٱb; jAHRS rotation from veh to nav: [[-0.259788,0.965636,-0.007548],[-0.965580,-0.259861,-0.011307],[-0.012880,0.004351,0.999908]]bH@\п~?~@п7(`q? >?ibh@Ib^;`Y9Y=KFy'E>Q 5]4?Q 9]47K)ZBYe4=Q Ee;ye7?Q Ie @CIq9Y=KFy%<E%>)Q 5-4-?Q 954-I)-[BY1y5?Q I5 @-CI-u:i-:-4yAɮE.AA*NIRNI:NIBNI2NIiY)a)aaaiaiIiIԙIO]=B B B s"IB BB B B B ;B 6E! 0ҩ,n0I?A>P@>|K@>T`<ٱ>J; FAHRS rotation from veh to nav: [[-0.292553,0.956224,-0.006963],[-0.956151,-0.292620,-0.012188],[-0.013692,0.003092,0.999901]]>H1ҿb?`|@ʘHҿa 3Ti?`1?i>P@I>^;>+CY^9Y=KFy!E>Q 54O?Q 94:H)Y@#>Q E;yK?Q I @CIi ;i ;4yɮ\A*NRN:NBN2N,B*** querying acoustic contact ***LLi))iIII!O5=!Iy Yة,Oc?A:˅@:ƌ@:ŰT<ٱ:@: NAHRS rotation from veh to nav: [[-0.308028,0.951363,-0.005278],[-0.951289,-0.308070,-0.011936],[-0.012981,0.001345,0.999915]]:H@ӿ@q?u pkӿ`q畊`V?`M?i:˅@I:s^;:-CYfGByf"IIv<)vp9)Y)=-KFy15*E5>9Q 5E4=$?Q 9E4=F)=\BYAyM7?Q IM @=CI=K:i=:= 4yQɮUAQ*NYRNa:NaBNa2Naiq)q)qqqiqyIIIOb=Qԁ:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Oct 27 2025 03:44:24 Ա Ȃީ,|?A4<ɰ4<2R@2M@2a:@<ٱ2cq :AHRS rotation from veh to nav: [[-0.322046,0.946717,-0.003561],[-0.946651,-0.322066,-0.011181],[-0.011732,-0.000230,0.999931]]2H gԿ K?+mJ`Կ`9憿(`D".o?i2R@I2^;2,CYjNByj"IbDvFVDv4yz=%~M=ٔ~MQ-~>9Y=KFy E > Q 54  ?Q 94 D) ]BYyS?Q I @ CI ;i ; 4y)ɮ-A)*N1RN1:N1BN12N1iA)A)IIIiIQIQIiIyOL=ԱA1A5AABM>BIBM"IBMBBIBIBIBM;BM6E 9 tk,f?A2@2\@2k'<ٱ2t~ :AHRS rotation from veh to nav: [[-0.334534,0.942380,-0.002514],[-0.942328,-0.334542,-0.009986],[-0.010252,-0.000971,0.999947]]2H@iտ'?d'#iտs@@O?i2@I2|^;0YREByR"IieMb@Mb@Mb@aaaa a9eT㥛 p= ףMbYeyeee@a e@)aaYe@bD}SVD}4y#%A=ٔMeQ->9Y=KFyE>Q 54]?Q 94]C)[BYi>Q E;yU?Q I @CI':is:4yɮA*NRN:NBN2Ni))iIIIO%= 9i 0,攰?A 2@2f@2<ٱ2Mm :AHRS rotation from veh to nav: [[-0.345785,0.938314,-0.000739],[-0.938278,-0.345778,-0.008511],[-0.008241,-0.002249,0.999964]]2H@V!ֿ`?6H^:!ֿ mmb?i2@I2.^;2*CY^DBy^"I ``f=f= hj;bDjZVDj%4yr^%rV=ٔv1Q-v>9tYt=zKFyxzEz>|Q 54~?Q 94~A)~ZBYy ?Q I  @~CI~6:i~:~4yɮA*NRN:NBN!2N!i))1)111i19I9IQLDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600IO=iԙ B) B) B- "IB- (BB) B) B- DB- ;B- 6E,0ʧ?A@B@Lbf6@b81@b;ٱbE jAHRS rotation from veh to nav: [[-0.354728,0.934968,0.001414],[-0.934948,-0.354710,-0.007254],[-0.006281,-0.003895,0.999973]]bH ޳ֿB?I)W?@ֿ ö}Iyto?ibf6@Ib^;b+CYrCByr"IimMb@Mb@Mb@iiii i9m!rhT㥛 ~jthYmlymmDmz@m@ m@)mM@iYibDJVD04y2%?=ٔUQ->9Y=KFyE>Q 54 ?Q 94@)YBY>Q E;y?Q I @CI ;i ;)&4yɮA*NRNi:NiBNi2Niiy)y)顁iIIIO=5rGI]AꝾ9Yb@ ,J䧺?A6@6@6X;ٱ6客 >AHRS rotation from veh to nav: [[-0.361872,0.932223,0.003075],[-0.932218,-0.361851,-0.005799],[-0.004293,-0.004965,0.999978]]6H(׿?/i?`(׿wqUt?i6@I6Vu^;4YFDByF"IbDf?VDf3yn;%rW=ٔrdQ-r>9tYt=vKFytvؤEv>x|Q 54z?Q 94z;?)xYy ?Q I  @zCIz`+;iz\,;z,4yɮA*NRN!:N!BN!2N!i1)1)111i19IAIQIiOuA=)Qԁ <,%?A28̓@2 Ȋ@2R-;ٱ2ٽ :AHRS rotation from veh to nav: [[-0.366709,0.930325,0.004420],[-0.930332,-0.366690,-0.004585],[-0.002645,-0.005794,0.999980]]2H'x׿9?`r?Gw׿@r`Re#w`?i28̓@I2^;0Y^8Byb"IIb%=)b=dfAhhbDjYVDj#4yrk%vJ=ٔveQ-v>9xYx=zKFyxzREz>YiQ 5u4m?Q 9}4m=)mXBYyy}?Q I} @mCIm;im;m!44yBɮMAbE*NRN:NBN2Ni))顩iIIIO}=BAB>BB"IB-BBBBB;B6EBBBBBCz4ԉԱ Ҹ,?Aɰ2᷃@2@2e:ٱ2;9ػ :AHRS rotation from veh to nav: [[-0.369132,0.929360,0.005605],[-0.929376,-0.369115,-0.003764],[-0.001430,-0.006599,0.999977]]2H@۟׿Q?v?r׿@nlW{@?i2᷃@I2`q^;2-CY^9Y=KFy>ĻE>Q 54?Q 94<)YBYܺ=Q E9\Y\=^KFy`b-Eb>dQ 5j4fl ?Q 9j4f<)dYhyj@Q In @fCIf:ifW:fA4ypɮrAp*NtRNt:NtBNx2Nxi))i I I!I9OE(=*entering command modeIi DAT read:  &DAT read: user:1>  (setting verbose to 3B B B B B =B B B ;B 6Eԡ p,K?A=uȃ@=GÊ@=3:ٱ=# MAHRS rotation from veh to nav: [[-0.367251,0.930100,0.006421],[-0.930122,-0.367237,-0.003273],[-0.000686,-0.007174,0.999974]]=H׿`?Lz?`΀׿j {F`b}?i=uȃ@I=.^;9Y}5By}"I ==i%Mb@Mb@Mb@!!!! !9%y&1Q롿~jt?Y%`ey%\%D<%@! %V@)%@!Y%@ =p<=<bD=?VD=3yMto%U2=ٔUQ-U>9QYY=]KFyY]j;E]>ԩaQ 54e^ ?Q 94e;)e\BY "=Q E MTDAT read: Verbose | 3 M set verbose to 3M6setting DatVerbose to 27440 ) ,me?A@2]@2/@2K:ٱ2Iۻ :AHRS rotation from veh to nav: [[-0.362829,0.931837,0.005844],[-0.931855,-0.362814,-0.003435],[-0.001081,-0.006692,0.999977]]2H8׿?@w?Y8׿$l IQ`i{?i2]@I2H^;2,CB&DAT read: user:2> FTDAT read: DatVerbose | 27440 F.set DatVerbose to 27440J6setting transmit power to 8Y^.Byb"IbDjKVDj 4yr%rf=ٔvW:Q-v>9tYt=vKFytzzZ<Ez>|Q 54~ ?Q 94~;)~^BYy @Q I  @~CI~<;i~g:~P4yɮA*NRN!:N!BN!2N!i1)1)111i1I 4Initializing EZServoServo. 8Initializing DockingStepper.I)IaOm=95&DAT read: user:3> =TDAT read: TxPower | 8 (Max) E.set transmit power to 8E6setting local address to 11ԑ h,m?A0:l&@:>!@:?e;ٱ:ݱл BAHRS rotation from veh to nav: [[-0.356557,0.934259,0.005235],[-0.934271,-0.356539,-0.004144],[-0.002005,-0.006369,0.999978]]:Hֿr?qu?`ֿDp l`,z@?i:l&@I:"9^;:+CYR#ByR"IbDZLVDZ 4yba%bL=ٔbq;Q-f>9dYd=fKFydj<Ej>lQ 5r4n ?Q 9r4nG;)n`BYpyr]@Q Iv @nCInr;in];nW4yxɮzAx*N|RN|:N|BN2Ni ))iII1IAOU/=AqAqB}>ByB}"IB}#BB} =ByB}DB};B}6E&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11^Setting time to: 3:44:34 And date to:10/27/2025! E &DAT read: user:5> M PDAT read: Mon Oct 27, 2025 03:44:34 M hLocal DAT time set to Mon Oct 27, 2025 03:44:34 U 8setting remote address to 50U 2Acoustic response timeoutU 6setting remote address to 0:&,H?A2l@2g@2J;ٱ2(ػ :AHRS rotation from veh to nav: [[-0.348528,0.937284,0.005105],[-0.937293,-0.348503,-0.005198],[-0.003093,-0.006597,0.999973]]2H HNֿ9Y=KFy#<E>Q 54 ?Q 94;)Y TDAT read: RemoteAddr | 50 |failed to set remote address to 0, device returned 50 instead.q (Communications Faulta  a  a  a  a  &DAT read: user:7> TDAT read: RemoteAddr | 0 .set remote address to 08setting remote address to 502Acoustic response timeout6setting remote address to 0Qԁ 1,,%?A;ɰ;2@2j@2=;ٱ2 :AHRS rotation from veh to nav: [[-0.338795,0.940847,0.005039],[-0.940850,-0.338761,-0.006506],[-0.004414,-0.006945,0.999966]]2HѮտj?@ǣt?`qCտ@z#r]r|?i2@I2X`^;2*CY^Bybq"IbDjXVDj!4y%g=ٔt;Q- >9 Y = KFy <E>Q 5%4z ?Q 9%4;)_BY!y% Q I% @CI:i:[e4y1ɮ5A1*N9RN9:N9BNA2NAiI)Q)QQQiQYYIaIQ&mLCommunications Fault in component: DATIiOu>ԁPowering downi߹I߹߹߹ԱBq Bq Bu s"IBu BBq Bq Bu DBu ;Bu 6E 3, ͨ?A%@%@%_;ٱ%s:Ȼ 5AHRS rotation from veh to nav: [[-0.327936,0.944692,0.003777],[-0.944680,-0.327901,-0.007752],[-0.006084,-0.006110,0.999963]]%H`Կ:?sn?`:RԿ2`x%y?i%@I%dX^;%,CYEByEo"IԱiMb@Mb@Mb@ 9㥛 ?Mb?{Gzt?Y=y=ף;@ @)7@Y\@bD6VD3y%;=ٔz;Q->9Y=KFy )<E >Q 54 ?Q 94<)`BY=Q E9XYX=ZKFyX^\=E^>`Q 5f4b ?Q 9f4b=)baBYdyj+Q Ij @bCIb:ib:bIs4ylɮnAl*NpRNt:NtBNt2Nti|)|)||iI I!I1O=%=Aiԙ *@,F?A:W@:)@:r<ٱ:: BAHRS rotation from veh to nav: [[-0.305070,0.952330,-0.000112],[-0.952285,-0.305057,-0.009694],[-0.009266,-0.002851,0.999953]]:HDӿ|y?0fy ӿ`ڃ<5Zg?i:W@I:u^;:,CY^BybY"IbDjHVDj4yr.9%rG=ٔrzk;Q-v>9tYt=vKFytz,<Ez>|Q 54~M?Q 94~>)~bBYyQ I  @~ CI~;i~;~uz4yɮA*NRN:N!BN!2N!i))1)111i19I9IQ&eNClearing failed state for component DATq mIiOuB=qBA<B>BBZ"IBBB =BBB;B6Eԡ ѐC ) ] 9Y Y] @ UF,?A2*F@2@@2(<ٱ2\W :AHRS rotation from veh to nav: [[-0.293791,0.955869,-0.001081],[-0.955814,-0.293786,-0.010441],[-0.010298,-0.002035,0.999945]]2H@wҿ{?@"Qbҿ`:b``?i2*F@I2^^^;2*CYvByvV"IiuMb@Mb@Mb@qqqq q9u㥛 ?{Gz?~jtxYqyuף=uĻuz@u@ ul@)qqYu@bDAVD?3y]%?=ٔ;Q->9Y=KFyf<E>Q 54I?Q 94?)`BY#=Q E;ȳQ I @CI ;i ;4yBɮXAcE*NRN:NBN2Ni))iII9IQO]=) ~L,{i4?A6㢆@6@63(6<ٱ6g >AHRS rotation from veh to nav: [[-0.282951,0.959132,-0.002298],[-0.959070,-0.282959,-0.010914],[-0.011118,-0.000884,0.999938]]6Hҿ4?b`ҿ YĆL}?i6㢆@I6wv^;6+CYFByFO"IIJ<)JHJANAANAAbDRZVDR%4yZ%ZZ=ٔZ;Q-^>9\Y\=^KFy`b<Eb>dQ 5j4f?Q 9j4f@)f_BYhyjWQ Ij @fCIf`:if:fy4ypɮrAp*NtRNt:NtBNx2Nxi))i I IIOz=QyB B B G"IB BB B B B ؀;B 6EBBBBȵ =BCȪF4ԩ WkS,qWN?ADTɰTe@e@e><ٱe`=G: uAHRS rotation from veh to nav: [[-0.273214,0.961945,-0.003914],[-0.961883,-0.273241,-0.010997],[-0.011648,0.000760,0.999932]]eHU|ѿA? p|ѿ ڇ =H? q?ie@Iei^;e,CYByH"Ii=Mb@Mb@Mb@9999 99=9qYq=uKFyqu<E}>yQ 54}?Q 94}A)}]BYg=Q E;yCQ I @}CI} ;i} ;}4yɮA*NRN:NBN2Ni))项iI &Changing to mode: 3ԡ@ @@00@I IO%N> Y,!h?A2B@2<@2MB<ٱ2: :AHRS rotation from veh to nav: [[-0.264257,0.964441,-0.004746],[-0.964379,-0.264294,-0.011025],[-0.011888,0.001663,0.999928]]2H п? gps10пrXd@[?i?i2B@I2w^;2*CYBByBP"IbDHVDHlyrX=%rg=ٔr1:Q-v>9tYt=vKFytz<Ez>|Q 54~?Q 94~B)~\BYyQ I @~CI~;i~;~4yɮA*NRN:NBN!2N!i))1)111i19I9%3@ @@/0@I IO%=1a y`,~?A2[@2-@21J<ٱ2p>; :AHRS rotation from veh to nav: [[-0.255857,0.966701,-0.005100],[-0.966636,-0.255900,-0.011442],[-0.012366,0.002002,0.999922]]2H_п`7?@t `пn;S{g`?`[?i2[@I2na;0YBByBU"I DDF=F= HJbDNJVDN04yV<%VN=ٔV:Q-Z>9XYX=ZKFyX^<E^>`Q 5f4b~?Q 9f4boC)bZBYdyfQ If @b$CIb:ibl:b4ylɮnaAl*NpRNp:NpBNt2Ntix9)|)AAIiIaIiAA@ABBB5"IBBB =BBB΀;B6E3@ @@0@I!I1OE=aPowering up"Initializing DAT.ԑԹ wf,؛?A2Ň@2@2qN<ٱ2F\7; :AHRS rotation from veh to nav: [[-0.248726,0.968556,-0.005847],[-0.968492,-0.248779,-0.011519],[-0.012611,0.002798,0.999917]]2H@>Ͽi?wϿ @Ӊ`f?Q?i2Ň@I2Qb;2)CYNByRN"Ii%Mb@Mb@Mb@!!!! !9% rh?333333?9QYQ=]KFyY]<E]>aQ 5m4e}?Q 9m4eaD)eXBYu&=Q Euim@ @  @ @ 0@ II1O= >9 l,ᳵ?A6@6t@6P<ٱ6on; BAHRS rotation from veh to nav: [[-0.242702,0.970078,-0.006619],[-0.970017,-0.242765,-0.011465],[-0.012729,0.003638,0.999912]]6HϿ ?{a Ͽ@{Nm?@H?i6@I6ib;6*CYJByJM"IbDR[VDRy'4yZ\%ZU=ٔZ19Q-^>9\Y\=^KFy`b~<Eb>dQ 5j4fP?Q 9j4f:E)fVBYhyj{Q In @f/CIf:if[:fƫ4ypɮrAp*NtRNt:NxBNx2Nxi))i I @ @@0@IIO=AiB>B/CB("IBփBB =BBB;B6Eԡ 0s,ęϩ?AUT$@U&@U9Q<ٱUw; AHRS rotation from veh to nav: [[-0.237525,0.971358,-0.006716],[-0.971297,-0.237589,-0.011549],[-0.012814,0.003781,0.999911]]UH`4gο^?{`Tiο=n?D?iUT$@IUb;U,CYByP"II)Ai=Mb@Mb@Mb@9999 99=l??MbP?Y==y=L==:=@9 =@)=7@9qY= @bDDVDJ3yB$<%,=ٔ:9Q->9Y=KFyp8<E>Q 54?Q 94FF)Y=Q Eԙ Iy,4h驺?A4<ɰ4<2=@2x8@2L<ٱ2\; :AHRS rotation from veh to nav: [[-0.234522,0.972085,-0.007077],[-0.972031,-0.234590,-0.011102],[-0.012452,0.004275,0.999913]]2HοR?^| ο q?@J?i2=@I2Ta;0YRByRK"IbDZHVDZ4yb&ȼ%bs=ٔfQ-f?9dYd=fKFydj<Ej?lQ 5r4no?Q 9r4nG)lYpyvQQ Iv @n8CIn;in;n4yxɮzAx*N|RN|:NBN2Ni))iIU3@Q @Q@Q@QIqIO=) ;Ȁ,G?A2M@2H@2F<ٱ2ԟ; :AHRS rotation from veh to nav: [[-0.232606,0.972542,-0.007555],[-0.972496,-0.232678,-0.010620],[-0.012086,0.004877,0.999915]]2H Ϳ?Y~cͿ꿅0s?M?i2M@I2`;0YBByFM"IbDNfVDN;4yV;%VL=ٔVUoQ-V>9XYX=ZKFyXZ3;E^>`Q 5b4b~?Q 9f4bG)`YdyfQ If @b=CIb:ibI:b4yhɮnAl*NpRNp:NpBNp2Npix)x)|||i|IB]<AYBaBaBe""IBeуBBaBaBaBe;Be6E@ @@@IIO=)aԁ z,G?A4:S@:fN@:=ٔuQ-}>9yYy=}KFy :E>Q 54 ?Q 94H)Y~=Q EGԹ x,6?A2O@2J@29<ٱ2˜; :AHRS rotation from veh to nav: [[-0.232365,0.972601,-0.007279],[-0.972563,-0.232430,-0.009877],[-0.011298,0.004785,0.999925]]2H #Ϳ?}<BͿ,: ^#s? b?i2O@I2.&_;2*CdYjByjK"IbDrXVDr!4y-hE%-O=ٔ-úQ-->91Y1=5KFy15?E=>AQ 5E4E!?Q 9M4E'I)EUBYIyM臿Q IM @EDCIE:iEN:EUϾ4yQɮ]AY*NaRNa:NaBNa2Naiq)q)yyyiyIIgA)fA%2@! @)@5X1@1IIIYOe=BYBYB]"IB]̃BBYBYBYB]ƀ;B]6EA ,2P?A!TGhA E^>@E09@E!E.<ٱE";M 9MhAYUUnA ]AHRS rotation from veh to nav: [[-0.234442,0.972100,-0.007675],[-0.972072,-0.234507,-0.009090],[-0.010636,0.005330,0.999929]]EH1ο q? 0p6Sο@ӝ@ȅu?k?iE^>@IE^;E(CYmBymV"I9Y=KFyƌE> Q 54 #?Q 94 I) TBQ A+:YQ E! \־4Ayɮ\A*NRN:NBN2Ni))i I 0@ @@0@I!&5bCommunications Fault in component: RDI_PathfinderI9OEs>qԙ -,pj?A2@2@2|<ٱ2T; :AHRS rotation from veh to nav: [[-0.238912,0.971015,-0.007188],[-0.970999,-0.238964,-0.007587],[-0.009085,0.005167,0.999945]]2Hο@?q}l`ο\*u??i2@I2_^;2*CYBByBQ"IIF4=)F=aJ@JPowering downJJJJLLbDR]VDR'+4y^Eʼ%^=ٔbªQ-b?9dYd=fKFydj|Ej?lQ 5r4n#?Q 9v4n^J)nSBQ Av :YtQ Ev! ,e?Aɰ:5@:@:<ٱ:ι BAHRS rotation from veh to nav: [[-0.241460,0.970409,-0.001752],[-0.970371,-0.241466,-0.008670],[-0.008837,-0.000394,0.999961]]:H)ο ? {\F \ο@  9?i:5@I:~^;:)CY^BybT"IbDjCVDj3yr<%rH=ٔr'Q-r>9tYt=vKFytvһEz>xQ 5~4z$?Q 94zJ)zRBQ A9YQ E;y%Q I @zNCIz ;iz8?zݾ4yɮjA*NRN:NBN2N!i))1)111i19I91AyAyBBB""IBуBB =BBBԀ;B6EB/CB/CBBB =CK4,@ @@/0@I!I1OE=aԉԹ ?,g?A2 ߇@2َ@2 <ٱ2KDE :AHRS rotation from veh to nav: [[-0.245732,0.969290,0.009585],[-0.969301,-0.245624,-0.011187],[-0.008489,-0.012039,0.999891]]2H )tϿm?`)?pϿ.醿`b (`?i2 ߇@I2^;2*CYvByvX"IbD~WVD~ 4y B<% H=ٔ^Q->9Y=KFy0E>!Q 5-4%&?Q 9-4%K)%QBQ A-9Y1Q E5;y5ƉQ I5 @%QCI%#:i%?%4y9ɮ=NAA*NIRNI:NIBNI2NIiY)Y)YaaiaaIiԑ5*@1 @1@50@1IA&UdClearing failed state for component RDI_PathfinderqUIYOe= i,WA?A.Ǭ@.@.<{;ٱ.)' :AHRS rotation from veh to nav: [[-0.251687,0.967638,0.018192],[-0.967779,-0.251487,-0.012565],[-0.007583,-0.020769,0.999756]].H@п`?? ^п@TXD`?i.Ǭ@I. ^;.'CYBByBa"I DDF:Expecting PD13 message format J4=%fO=ٔf&Q-j>9hYh=jKFyhn~En>pQ 5v4r'?Q 9v4rByB}("IB}փBB} =ByByB};B}6EI Q,\Ҫ?A6_f@61a@6;ٱ6Gk BAHRS rotation from veh to nav: [[-0.259997,0.965429,0.018675],[-0.965589,-0.259816,-0.011589],[-0.006336,-0.021045,0.999758]]6Hˣп??@Ԡп̻y@䌕`?i6_f@I6e^;6(CYJByJe"IbDRPVDR:4yZQ<%ZL=ٔZKQ-^>9\Y\=^KFy`btEb>dQ 5j4f((?Q 9j4fL)fOBQ Ajo9YhQ Ej`;ynQ In @fXCIf:ifQ@f 4ypɮrAp*NtRNx:NxBNx2Nxi))i  I%@ @@0@IIO=Qyԩ {,+몺?A@N@N @N;ٱN+8 ZAHRS rotation from veh to nav: [[-0.270044,0.962747,0.013971],[-0.962833,-0.269930,-0.009499],[-0.005374,-0.016017,0.999857]]NHdHѿ@?@?`@Fѿtvf?iN@INdX^;N,CYfByfd"IbDr?VDr3y~%~F=ٔQ->9 Y = KFy 7μE>Q 5%45)?Q 9-4M)NBQ A-B9Y)Q E-6;y- Q I- @\CI!;i4@4y9ɮ=A9*NARNA:NIBNI2NIiQ)Y)YYaiaaIi"@ @@0@IIO=ԩ c,Z?A2@2@2Cg;ٱ2;?N :AHRS rotation from veh to nav: [[-0.281346,0.959546,0.010805],[-0.959596,-0.281272,-0.007887],[-0.004529,-0.012588,0.999911]]2H`ҿ?@$!?\ҿ-'@r`lj`D?i2@I2'^;2(CYfByfm"IIj4<)jp9|Y|=KFyYE> Q 54 3*?Q 94 #N) MBQ A9YQ E;yQ I @ _CI ;i N@ 4y!ɮ%A!*N)RN1:N1BN12N1iA)A)AIIiIIIQBAB)B)B-;"IB-BB)B)B)B-;B-6E@ @@@IIO%= 1a Ǫ,?A;ɰ;2S@2N@2;ٱ2k :AHRS rotation from veh to nav: [[-0.292206,0.956335,0.006188],[-0.956345,-0.292166,-0.006573],[-0.004478,-0.007838,0.999959]]2HҿL?-Xy?`ٲҿ z{Wrj ?i2S@I2FV^;2+CYR ByRh"IbDZEVDZ3yvă%vK=ٔvQ-v>9xYx=zKFyx~E~>9aQ 5e4e4+?Q 9m4eN)eLBQ Am8YiQ Em:ymQ Im @ecCIe:iei@e4yyɮ}Ay*NRN:NBN2Ni))顙iIIfA)gA@ @@@I)I9OE=iԑ ͪ,9?A2@2@2;ٱ2Ȼ :AHRS rotation from veh to nav: [[-0.303378,0.952859,0.004569],[-0.952862,-0.303351,-0.005775],[-0.004117,-0.006105,0.999973]]2H jӿ }?@r?}jӿ`wpy ?i2@I2 D^;2(CYbBybr"IbDjIVDjX4yr=%rK=ٔrjQ-r>9tYt=vKFytzEz>|Q 54~ ,?Q 94~iO)~KBQ A8YQ E:ypQ I  @~fCI~7 ;i~@~4yɮA*NRN!:N!BN!2N!i1)1)111i19IAԙ@ @@0@I IO%=B>BBG"IBBBBBB ;B 7E Ԫ,eS?A:|@:N@:K;ٱ:80 BAHRS rotation from veh to nav: [[-0.314001,0.949381,0.008920],[-0.949413,-0.313943,-0.007363],[-0.004190,-0.010781,0.999933]]:H ԿSa?D?a@Կ(~r)q`s?i:|@I:A^;:+CYJByH LL R9`Y`=bKFy`fREf>hQ 5j4j -?Q 9n4j P)jJBQ Ar8YpQ Er:yr撿Q Ir @jiCIj(;ij֍@j4yvBɮvAzlE*N|RN|:N|BN|2N|i ) )iI@ @@@IIO=!Qy Kڪ,Am?ABJB@B=@Bn;ٱB] NAHRS rotation from veh to nav: [[-0.323973,0.945899,0.017772],[-0.946056,-0.323827,-0.010647],[-0.004316,-0.020263,0.999785]]BH ԿD?2? FԿ5΅̭q=?iBJB@IBU^;B,CYnByn"IbDzLVDz 4yI=%F=ٔ 9Q- >9 Y = KFy мE>Q 5%4-?Q 9%4P)IBQ A%8Y!Q E-~:y-NQ I- @mCI:i @.4y1ɮ5A1*N9RNA:NABNA2NAiQ)Q)QQQiQI?i@Q@ @@ 0@IIO=ԁԩ ܱ,?A64@6@6@;ٱ6gZ BAHRS rotation from veh to nav: [[-0.333551,0.942408,0.024692],[-0.942722,-0.333311,-0.013404],[-0.004402,-0.027749,0.999605]]6H@Xտ5(? H?`* Tտs`rKj?i64@I6a;6(CYFByJs"IbDRVVDRE4yV O%ZP=ٔZe9Q-Z>9\Y\=^KFy\bӼEb>dQ 5f4f.?Q 9j4fWQ)fHBQ Aj[8YhQ EjM:yjQ Ij @fpCIf:if@f4ypɮrAp,vEither camera/lights unpowered or charge off not requested, but continuing with undockJNv,vThruster off.RNx:NxBNx2Nxi)) i  IA%AAA%AAB)B)B-T"IB-BB)B)B)B-.;B-7E }nFailure count cleared after critical for DockingStepper}@y @y@}0@yIIO=Ա UrGmjAt9jAYkA 1 ,?A.ʠ@.@.@;ٱ.{ :AHRS rotation from veh to nav: [[-0.342559,0.939138,0.025939],[-0.939484,-0.342284,-0.014544],[-0.004781,-0.029351,0.999558]].H`}տ@k ?@?@տlɍ s?`?i.ʠ@I.fa;.*CY^By^q"IIb<)`fAAdbDjXVDj!4y̻%E=ٔ n:Q- >9 Y =KFyE>Q 5%4/?Q 9%4R)GBQ A%18Y!Q E-&:y-㖿Q I- @tCI/:i@4y1ɮ5A1,EZDetected possible detachment. Starting timer.RNA:NABNA2NAiQ)Q)YYYiYYIa@ @@0@IIO= 9a ,Ӻ?A4<ɰ4<2_T@21O@2M֪;ٱ2{˼ :AHRS rotation from veh to nav: [[-0.351307,0.936015,0.021422],[-0.936246,-0.351082,-0.013605],[-0.005214,-0.024836,0.999678]]2H{ֿ??"xֿ@܋@Zun\?i2_T@I2&`;0PYRByR|"IbDZ^VDZ,4yb;=%fN=ٔfK:Q-f>9dYh=jKFyhjEj>lQ 5r4n0?Q 9r4nR)nEBQ Av8YtQ Ev:yv Q Iv @nwCIlin@nK4yzBɮzA~mERNa:NiBNi2Nqi))顩iIi@i @i@u0@qIIO=BBBZ"IBBBBBB;B 7EByByByByByC}4! ,Iԫ?A2T @2&@2;ٱ2_ :AHRS rotation from veh to nav: [[-0.359868,0.932899,0.013922],[-0.932986,-0.359729,-0.011518],[-0.005737,-0.017134,0.999837]]2H@׿O?O?׿Ɩ w ?i2T @I2x_;2'CY@y@bDJKVDJ 4yRb%RL=ٔV_:Q-V>9TYT=ZKFyXZtEZ>\Q 5b4^^1?Q 9b4^NS)^DBQ Ab7YdQ Ef9yf*Q If @^{CI^:i^e@^4yhɮjAlRNp:NpBNp2Npix|)x)|||i|Iu@q @q@u0@qIIO=!Qy n,?A6#@6@6;ٱ6&< >AHRS rotation from veh to nav: [[-0.368552,0.929569,0.008400],[-0.929587,-0.368469,-0.009949],[-0.006153,-0.011476,0.999915]]6H Z׿ ?%4?, ׿S`K4y N?i6#@I65_;4YFByFr"I HH N49\Y\=^KFy\bEb>dQ 5j4f-2?Q 9j4fS)fCBQ Aj7YhQ Ej9yjRQ In @f~CIf:if\@f4ypɮrApRNt:NtBNx2Nxi))i I Y@ @@O0@IIO=ԁԱ ,b?A2u@2p@2;ٱ25 :AHRS rotation from veh to nav: [[-0.376617,0.926336,0.007785],[-0.926345,-0.376534,-0.010330],[-0.006638,-0.011102,0.999916]]2H@}ؿ`?@??` ؿ'30{P?i2u@I2d^;2*CYfByjq"IbDrVVDrE4yz#%zF=ٔz:Q-z>9|Y|=~KFy|ԬE> Q 54 2?Q 94 T) BBQ A-7Y)Q E59y5mQ I= @ CI u;i @ 4yIɮM#AIRNQ:NQBNQ2NQia)i)iiiiiqIqIgA)hAԹB<ABBBBBBBB;B6E@ @@r4@I!I1O==9 C*,1?"?A22@2s-@2;ٱ2_} :AHRS rotation from veh to nav: [[-0.384190,0.923182,0.011501],[-0.923226,-0.384051,-0.012614],[-0.007228,-0.015464,0.999854]]2Hؿ?`?Iؿ2Չ@}p?i22@I2^;2(CY^By^{"IbDfTVDf4yn.=%rK=ٔr:Q-r>9pYt=vKFytv$Ev>xQ 5u4z3?Q 9u4zMU)zABQ Aw7YQ Eh9yQ I @zCIzD;iz@z4yɮARN:NBN2Ni))顩iIm@i @i@u4@qIIO=Aiԙ DT,9XYX=ZKFyXZ֙E^>`Q 5b4b~4?Q 9f4bU)b@BQ AfH7YdQ Ef<9yf}Q If @bCIb:ib Ab 4ylɮrzAtRN :N BN 2N i!)!)!!!i!)I)q@ @@4@IIO=ԡBBBT"IBBBBBB;B6E \<,U?A;ɰ:@:@:<ٱ:Լ BAHRS rotation from veh to nav: [[-0.397773,0.917254,0.020529],[-0.917448,-0.397460,-0.017736],[-0.008109,-0.025889,0.999632]]:Huٿ%Z??`[oٿX) O ?i:@I:67^;:'CYJByJ\"IbDRZVDR%4yZ&%ZJ=ٔ^m:Q-^>9dYd=jKFyhvEv>xQ 5~4z>5?Q 9~4zV)z?BQ A~"7YQ E9ysQ I @zCIz;izAz64y ɮ A RN:NBN2N,B*** querying acoustic contact ***LLi))))111i11I9E>iEG>@ @@4@IIO%=) e,o?A6:@6 z@6 <ٱ62ռ >AHRS rotation from veh to nav: [[-0.404310,0.914394,0.020397],[-0.914582,-0.403985,-0.018330],[-0.008521,-0.026065,0.999624]]6H8ٿ B??ADٿ ŒRsచ@?i6:@I6"^;6(CYnBync"IbDvHVDv4y~<%~F=ٔ:Q->9Y=KFy  "E >Q 545?Q 94NW)>BQ A7Y!Q E%8y%\Q I% @CI? ;i%AH4y)ɮ-~A)RN1:N9BN92N9iI)Q)QQQiQYIY@ @@4@IDAT read: VDAT read: Teledyne Benthos DAT-900 Series I O=Qyԩ VN", ?A.C@.S>@.<ٱ.u :AHRS rotation from veh to nav: [[-0.410966,0.911495,0.016852],[-0.911609,-0.410701,-0.017161],[-0.008721,-0.022416,0.999711]].H`FMڿ*? A?+@Hڿ୒F܁`@?i.C@I.)];,@Y\y^d"I `` fp9)Y)=-KFy)5E5>9Q 5E4=6?Q 9E4=W)==BQ AE6YAQ EE8yEEQ IM @=CI=3:i=A=V4yQɮUxAQA]@AAYBe>BaBaBaBe =BaBaBe;Be7ERNy:NyBNy2Nyi))顑iI5@1 @1@55@1IAIQO]=ԩ z(,"?A2$@2@2<ٱ2B1 ^AHRS rotation from veh to nav: [[-0.417672,0.908516,0.012196],[-0.908555,-0.417484,-0.015316],[-0.008824,-0.017478,0.999808]]2H`#ڿ ?@:?@ڿ/^`呿n?i2$@I2<^;2%ClY~By~\"IbDTVD4y-%-J=ٔ-Ȅ9Q-->91Y1=5KFy1=E=>AQ 5E4Ec7?Q 9M4EX)E 9a v.,a?AR @Rݎ@RM( <ٱRNp ZAHRS rotation from veh to nav: [[-0.430397,0.902589,0.009557],[-0.902599,-0.430253,-0.014033],[-0.008554,-0.014666,0.999856]]RH ۿ??CۿE ?iR @IR];PYbBybd"IbDj9VDj3yrN<%rO=ٔr2Q-r>9tYt=vKFytzEz>xQ 5~4z 8?Q 94zQY)z;BQ A6YQ E8yQ I @zCIzi ;iz|!Azk4yɮxARN:NBN2N!i))1)111i199IA@ @@5@IIO=iB]>BYB]N"IB]BB] =BYBYB];B]7Eԑ +G! = MAe  9a Ye @ :DAT read: MF Frequency Band - vDAT read: Directional Acoustic Transponder version 8.15.0 - BDAT read: Oct 27 2025 03:44:46 S5,<׬?AB a@B[@B<ٱB3 JAHRS rotation from veh to nav: [[-0.436009,0.899852,0.012718],[-0.899904,-0.435817,-0.015391],[-0.008307,-0.018155,0.999801]]BH ۿ@? ?@kۿgV`Y^?iB a@IB3];B(CY!y!I-=)-p<11bD=6VD=3ԙyh:%?=ٔoQ->9Y=KFyQnE>Q 548?Q 94 Z):BQ Ab6YQ ET8yȣQ I @CI?;iU(As4yɮvARN:NBN2Ni))iI@ @@5@IIO> ;,?A$ɰ$B0@B*@B <ٱB JAHRS rotation from veh to nav: [[-0.441382,0.897169,0.016427],[-0.897284,-0.441129,-0.016924],[-0.007938,-0.022210,0.999722]]BH?ܿ@? AҐ? v;ܿTA /?iB0@IB];B'CYRByRb"IbDZ9VDZ3yb(%fY=ٔfQ-f>9hYh=jKFyhjEj>pQ 5v4rQ9?Q 9v4rZ)r9BQ Av76YxQ Ez,8yzQ Iz @rCIr:ir^.Arx4y|ɮ~ARN :N BN 2N i))顙iII)1@1 @1@5 5@1IAIQOe=!Qy B, ?A:$@:@:+S;ٱ:ȼ BAHRS rotation from veh to nav: [[-0.446298,0.894692,0.018566],[-0.894853,-0.446012,-0.017657],[-0.007517,-0.024495,0.999672]]:H#ܿ Q?`?ࢢsܿ`R~`O?i:$@I:r^;:&CYJ ByJi"IbDR6VDR3yZn<%ZK=ٔ^Q-^>9\Y\=bKFy`b^Eb>dQ 5j4f9?Q 9j4fX[)f7BQ An6YlQ En 8ynLQ In @fCIf ;if4Af}4ypɮrZAtBz<Az<B|B|B~G"IB~BB~ =B|B|B~ ;B~6EBBBBBCT{5RN:NBN2Ni))))111i11I9I@ @@5@IIO=qLDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600ԡ &H,$?A2rր@2Dч@2;ٱ2A :AHRS rotation from veh to nav: [[-0.451175,0.892254,0.018005],[-0.892409,-0.450914,-0.016832],[-0.006900,-0.023662,0.999696]]2HܿW?o?ܿk<B| :?i2rր@I2];0YbByba"I dd j4VDj43y%D=ٔ%ºQ-%>9!Y!=-KFy)-]VE->9Q 5E4=:?Q 9E4= \)=6BQ AE5YAQ EE7yEQ IM @=CI=:i=~;A=4yQɮUAQRNY:NYBNY2Naii)q)qqqiqyIyԩ@ @@5@IIO= 9 `N,>?A2@2m@2|;ٱ2\ :AHRS rotation from veh to nav: [[-0.455947,0.889872,0.015526],[-0.889986,-0.455747,-0.014806],[-0.006099,-0.020569,0.999770]]2H;.ݿy? L̏? z`*ݿR`x@?i2@I2];2(CYRByRZ"IbDZ3VDZ3ybE%bQ=ٔbQ-f>9dYd=fKFydj*`Ej>lQ 5r4n&;?Q 9r4n\)n5BQ Ar5YpQ Er7yrQ Iv @nCIn ;inAAn4yxɮzAxRNy:NyBNy2Nyi))顑iIG>i%>M@Q @Q@U5@QIaIqO=9B>B0CBN"IBBB =BBDB;B6Ei kU,oX?A 6}@6O{@66g;ٱ6 >AHRS rotation from veh to nav: [[-0.460519,0.887556,0.012928],[-0.887634,-0.460375,-0.012634],[-0.005261,-0.017293,0.999837]]6H@#yݿf?y?`g`vݿ߉@u K`?i6}@I6];6&CYF ByFg"IbDN,VDN3yVS=%VL=ٔZQ-Z>9XYX=ZKFy\^QE^>`Q 5f4b;?Q 9f4bb])b4BQ Aj5YhQ Ej7yjNQ Ij @bCIbs:ib)HAb4ylɮncApRNt:NtBNt2Nti|)|)iI @ @@5@IIO=iԙ \,_r?A6[@6U@6<;ٱ6 >AHRS rotation from veh to nav: [[-0.464568,0.885458,0.011836],[-0.885526,-0.464454,-0.011241],[-0.004456,-0.015704,0.999867]]6H|ݿ@U?=?:V ݿ@r?i6[@I6];6(CYJByJl"IIL)LPPR@AbDTVDTy^<%^I=ٔbQ-b>9`Y`=fKFydf08Ef>hQ 5n4jR9aYa=eKFyamS#Em>qQ 5}4u9tYt=vKFytv(Ev>xQ 5~4zu=?Q 9~4zq_)z1BQ A(5YQ E7yQ I @zCIz ;iz[Az4y ɮ 'A%DAT read: %&DAT read: user:1> -(setting verbose to 3YRN:NBN2Ni))iI@ @@5@IIO>ԡԱ&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440 >o,񿭺?A6@6@6Wp:ٱ6 >AHRS rotation from veh to nav: [[-0.474708,0.879958,0.018062],[-0.880141,-0.474562,-0.011938],[-0.001934,-0.021565,0.999766]]6H a޿`(?`~?*9_޿*s _ ?i6@I6;^;4Y\y^p"I `` fp9tYt=vLFyxzEz>|Q 54~>?Q 94~!`)~0BQ A5YQ E6y iQ I  @~CI~:i~!bA~4yɮ,ARN:NBN2N!i))1)111i19I9Թ@ @@5@IIO=-&DAT read: user:2> 5TDAT read: DatVerbose | 27440 =.set DatVerbose to 27440=6setting transmit power to 8B>B/CBZ"IBBB =BBDB;B 7E9  &DAT read: user:3>  TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 11t'v,٭?A2@2@2/0:ٱ2l >AHRS rotation from veh to nav: [[-0.477259,0.878552,0.019221],[-0.878762,-0.477118,-0.011665],[-0.001077,-0.022458,0.999747]]2H`i޿ ?೮?޿`ㇿQ-?i2@I2^;0Y= By=g"IbDm7VDmp3y{%==ٔQ->9Y=LFyۻE>Q 54>?Q 94`)/BQ A4YQ E6y˩Q I @CI@:iiA4yɮ5cA1RN9:N9BN92NAiI)q)qqqiqyIyI)gA)@) @)@-4@)I9IIO]>A=&DAT read: user:4> ETDAT read: LocalAddr | 11 E.set local address to 11M^Setting time to: 3:44:55 And date to:10/27/2025iԙ P|,;?A2z@2̆@2`9ٱ2/+ >AHRS rotation from veh to nav: [[-0.479354,0.877419,0.018853],[-0.877622,-0.479237,-0.010596],[-0.000262,-0.021625,0.999766]]2H໭޿?GN?zѫ޿`h,1$?i2z@I2^;2*CY^Bybe"IbDj9VDj3yr %rZ=ٔrQ-r>9tYt=vLFytzлEz>xz??za)z.BQ AU4YQQ EU6y]zCIzT PDAT read: Mon Oct 27, 2025 03:44:55 hLocal DAT time set to Mon Oct 27, 2025 03:44:55 8setting remote address to 502Acoustic response timeout6setting remote address to 01@1 @1@55@1IAIQOe=ԡm &DAT read: user:6> u TDAT read: RemoteAddr | 50 u |failed to set remote address to 0, device returned 50 instead.q u u (Communications Faulta } a } a } a } a } } &DAT read: user:7>  TDAT read: RemoteAddr | 0  .set remote address to 0 8setting remote address to 50 2Acoustic response timeout 6setting remote address to 0 p9,# ?AB$A$B2>B0B0B0B2 =B0B0B2 ;B27Eb{@bø@b(ٱb: jAHRS rotation from veh to nav: [[-0.481473,0.876292,0.017212],[-0.876461,-0.481395,-0.008721],[0.000644,-0.019285,0.999814]]bH`u޿ ?? +޿2܁\E?Vy?ib{@Ib ^;b(CY~Byc"II%%=)%==@A9bDU6VDU3y6%==ٔ5Q-=>9IYI=MLFyqﭻE>Q 54??Q 94Ib)-BQ A4YQ E6yfQ I @CIn;ivA4yɮA  ːC}cGRN:NBN2NAr9Yb Ai))iI@ @@o0@I&LCommunications Fault in component: DATIOK>)  Powering downiߡ Iߡ ߡ ߡ kc,`'?Aɰp;,6IW@6v@6`'Ժٱ67ċ >AHRS rotation from veh to nav: [[-0.483430,0.875242,0.015717],[-0.875382,-0.483384,-0.006831],[0.001619,-0.017060,0.999853]]6H޿?? `޿@{@Z?Mx?i6IW@I6^;6'CYn Bynh"Iaa aa aa aa aa iMb@Mb@Mb@ 9V-p= ף~jth?YmyD;@@ @)Y@bD%VD03y<%F=ٔ WQ- >9 Y=LFyسE>Q 54>?Q 94ka).BQ AT:Y=Q Eiiԑ@ @@C1@II O*>Թ J,8A?A2<@2@@2ٱ2G :AHRS rotation from veh to nav: [[-0.484840,0.874468,0.015386],[-0.874600,-0.484811,-0.005799],[0.002388,-0.016269,0.999865]]2H߿?邏?%߿!w@5c??i2<@I2(^;2&CYBByBE"IbDJ,VDJ3yR%Vd=ٔV Q-V>9TYX=ZLFyXZjEZ?``Q 5f4b=?Q 9f4b`)`Ydyf?Q Ij @bCIb`:ib:b4ylɮn@AQRNa:NaBNa2Naiq)q)qyyiyyI@ @@5@I!I1OE=BABABET"IBEBBABABABE";BE7EB!B%0CB!B%Ƴ =B%Ƴ =C%Ƅ4A t,[?A2!@2`@2]ٱ2 :AHRS rotation from veh to nav: [[-0.486319,0.873623,0.016643],[-0.873775,-0.486301,-0.005391],[0.003384,-0.017163,0.999847]]2H@߿? ?``߿av@k?D ?i2!@I2, ^;2'CYNByRO"I TTi-Mb@Mb@Mb@)))) )9-Zd;OV-~jtxY-j9Y=LFyz}E>Q 54"IbDf:VDf{3ynҕ%rX=ٔr(Q-r>9tYt=vLFytvPEv>xQ 5~4z;?Q 94z6_)z,BYy5?Q I @zCIz? ;iz: ;z4y ɮrARN:NBN2N!i))1)111i19I9Iy@ @@4@IIO=ԩ A9 A9 B9 B9 B= G"IB= BB= =B9 B9 B= 6;B= (7E,Ɏ?AF*~@Fgq@FٱFr⩼ NAHRS rotation from veh to nav: [[-0.489083,0.871993,0.020655],[-0.872221,-0.489080,-0.005561],[0.005253,-0.020736,0.999771]]FH"M߿ ]? &?=M߿vu?`;@ ?iF*~@IF ^;F$CYVByV@"IbDf)VDf3yv.<%vJ=ٔvQ-z>9xYx=zLFyx~]lE~>Q 5 4;?Q 9 4{^)+BY y ?Q I @CI :i:4yɮ`ARN!:N)BN)2N)iA)I)QQiiiyI@ @!@%5@!IIIYOe=1Y ,?A2~@2i@2˻ٱ2± :AHRS rotation from veh to nav: [[-0.489911,0.871496,0.021958],[-0.871750,-0.489923,-0.005215],[0.006213,-0.021697,0.999745]]2HZ߿@K?G|?`Z߿ \u@sy?`7?i2~@I2^;2&CYBByB9"IIF<)Fp;iEMb@Mb@Mb@AAAA A9E ףp= kt9qYq=uLFyq}eE}>Q 54t:?Q 94]))BYˀ=Q ES9hYh=jLFyhjEj>lQ 5r4n9?Q 9r4n5])n(BYtyvD?Q Iv @nCIny:inp:n4yxɮz A|RN:NBN2Ni))iII)hAԑ5@1 @1@54@1IAIQOe=B>BB5"IBBB =BBBM;B=7E ¶,[ܮ?A2~@2L@2;\ ٱ2 :AHRS rotation from veh to nav: [[-0.492976,0.869793,0.020869],[-0.870001,-0.493045,-0.002050],[0.008506,-0.019166,0.999780]]2H߿@W?^? ߿`yk?Y2?i2~@I2-^;2(CYR҃ByR#"Ii%Mb@Mb@Mb@!!!! !9%y&19QYQ=ULFyY]E]>aQ 5m4e9?Q 9m4e\Q =mtI)e&BYu=Q EuI  Powering up "Initializing DAT.켫,6?A:~@:+<@:Fٱ:# BAHRS rotation from veh to nav: [[-0.494724,0.868813,0.020288],[-0.868996,-0.494819,-0.000419],[0.009674,-0.017838,0.999794]]:H ߿@Q?XƔ?߿{;4Ѓ?D P?i:~@I:^;:&CYJȃByJ"I LL PRbDV#VDVӀ3y^N%^T=ٔbFQ-b>9`Y`=fLFydfyEf>hQ 5n4j 9?Q 9n4js\)j$BYpyr&?Q Ir @jCIj;ij;j+4ytɮvq AtRNx:NxBN|2N|i ) )   i Iy@y @y@}p4@yIIO=Iyԩ B A <B B B ""IB уBB B B B B ë,?A2n~@22@2(+ٱ2> :AHRS rotation from veh to nav: [[-0.495788,0.868206,0.020299],[-0.868381,-0.495898,0.000438],[0.010447,-0.017410,0.999794]]2H@߿X?Xɔ?ɼ߿9YYY=]LFyYef>Ee>iQ 5m4m8?Q 9u4m\)m"BYqyu?Q Iu @mCIm:im-:mb34yɮo ARN:NBN2Ni))i IE!>iE>@ @@4@IIO>9a ɫ,y)?A2[~@2(@2:ٱ2 :AHRS rotation from veh to nav: [[-0.496782,0.867605,0.021654],[-0.867800,-0.496913,0.000743],[0.011405,-0.018423,0.999765]]2H@H߿k?,?j߿dUH?P[?lݒ?i2[~@I2b];2$CYBփByB'"Ii Mb@Mb@Mb@     9 Mb`?MbMbYY ;y   d@ V@ ) @ Y p@bD&VDދ3y~=%D=ٔ|Q->9Y=LFy4E>Q 54*8?Q 94[)!BYtԉԱ Ы,zC?A2<~@2#@2Lٱ2  :AHRS rotation from veh to nav: [[-0.498420,0.866615,0.023589],[-0.866846,-0.498576,0.000836],[0.012485,-0.020031,0.999721]]2H@߿`N?'?3 ߿fK?`??i2<~@I2];2%CYBӃByB$"IIFp;)FHHbDN#VDNӀ3yV^R%V]=ٔV?Q-Z>9XYX=ZLFyX^YE^>`Q 5f4b7?Q 9f4b[)bBYdyf/@Q If @`IbN:ib:b"A4ylɮn AlRNp:NpBNt2Ntix)|)|||i|IԹ@ @@1@IIO=B>BB"IBǃBBBBBC;B37E1urGMA- z91 Y5 @9 ׫,f]?Aɰ4<:\~@: @:_]ٱ:S̩ FAHRS rotation from veh to nav: [[-0.499961,0.865695,0.024717],[-0.865942,-0.500143,0.001359],[0.013539,-0.020724,0.999694]]:H@^߿ų?cO?˵+KDV?`?@8@}?i:\~@I:b^;:&CY^҃Byb#"If=donly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, a@a a@a a@a a@a bD%VD03y-!ʻ%-B=ٔ5"$Q-5>91Y1=5LFy9=&E=>AQ 5M4E)7?Q 9M4E[)EBQ AM+:YQQ EU=yU/@Q IU @ECIE:iEH>EG4yYɮ]! 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A% 4=B- >B) B- ;"IB- BB- =B) B) B- 6;B- '7E9 y,g?A2,}@2h@2^ٱ2_g :AHRS rotation from veh to nav: [[-0.508160,0.860889,0.025353],[-0.861080,-0.508439,0.005638],[0.017744,-0.018966,0.999663]]2H Bg?(?`!Ew?+? k9pYp=rLFypv:Ev>xQ 54z5?Q 94z,Z)z'BYy?Q I @zCIz;;iz;;zr4yɮQARN:NBN2Ni))))111i19I9@ @@@IAIaO=)Y - ,,?AB}@Bǽ@B_ٱB RAHRS rotation from veh to nav: [[-0.508016,0.860952,0.026093],[-0.861166,-0.508298,0.005150],[0.017697,-0.019854,0.999646]]BHA?@? C@u? ?T@?iB}@IB ];B$CYZByZx"I xxiuMb@Mb@Mb@qqqq q9uMb+ rh?Yu@yuuC9Y=LFy9E>Q 545?Q 94~Y)*BYՁ=Q EQ?j?`u Ab7r??k?i2}@I2 ^;2'CY@yBw"IbDJVDJyV.%V[=ٔV:Q-V>9XYX=ZLFyXZ~:E^>`Q 5f4bL5?Q 9f4bX)b.BYdyf?Q If @bCIb:ibd:b4yhɮnAlRNp:NpBNp2Npix)x)|||i|I @ @@/@ԙIIO=B>BBZ"IBBBBBB&;B7E  ,t`?A2}@2…@2kOٱ2Sv :AHRS rotation from veh to nav: [[-0.507521,0.861261,0.025530],[-0.861479,-0.507776,0.004267],[0.016639,-0.019828,0.999665]]2H`= s?$?;?@zq? ?M@A?i2}@I2܏];2%CYB$ByB"Ii Mb@Mb@Mb@     9 T㥛 v/{Gz?Y y xi #< @ @ 7@) @ Y @bD%VD%k1y5{=%5B=ٔ=:Q-=>99YA=ELFyAE9EE>IQ 5U4M4?Q 9U4MW)M0BY]2=Q E]I ,Oz?A:D}@:tɅ@:ٱ: BAHRS rotation from veh to nav: [[-0.506806,0.861735,0.023689],[-0.861919,-0.507029,0.004195],[0.015626,-0.018292,0.999711]]:H@7@T? B? ֔9.q?N?:?i:D}@I:~];:$CYJ(ByJ"IINp<)N;PPbDVVDVy^<%^R=ٔb*;Q-b>9`Y`=bLFydf ;Ef>hQ 5n4j$4?Q 9r4j W)j2BYpyr?Q Ir @jCIj7!;ij!;j㎿4ytɮvtAxRN|:N|BN|2N|i ) ) iI@ @@/@IIO=Iyԩ A A AAB >B B y"IB BB B B B +;B 7E$,,*?A J+GHP\vj9tYv@-}@-Ѕ@-sٱ- EAHRS rotation from veh to nav: [[-0.506114,0.862160,0.023016],[-0.862338,-0.506319,0.003749],[0.014886,-0.017950,0.999728]]-H`2ϖ?@?F@3Bn?`t|?@a?i-}@I-K];-%CY/By"I=p=bDVDk2yk=%<=ٔ:Q->9Y=LFy:E>Q 543?Q 94-V)4BYy?Q I @CIy:i :y4yɮ;ARN:NBN2Ni))iI!I-gA))@ @@0@II!)OU>Qԁ *,A?A6}@6MՅ@6shٱ6 >AHRS rotation from veh to nav: [[-0.505570,0.862487,0.022717],[-0.862669,-0.505759,0.003128],[0.014187,-0.018015,0.999737]]6H-}? C? -/Wi?1?@r?i6}@I6*];4YF2ByF"IiMb@Mb@Mb@ 9/$p= ףMb?Yy<@@  @)@Y@bD-VD-y=<%EQ=ٔE:Q-E>9AYI=MLFyIM:EM>QYQ 5e4]3?Q 9e4]U)]6BYe#=Q Em;ymD?Q Im @] CI]:i]:]S4yqɮuAq,Detached at range: nan m. Transitioning docking module to standby.RN:NBN2Ni))iI!@ @@/@IIO>ԁԩ 1,rǰ?A6 }@6@6Xٱ6ʗ >AHRS rotation from veh to nav: [[-0.504361,0.863195,0.022674],[-0.863392,-0.504530,0.002081],[0.013236,-0.018527,0.999741]]6H #K?7?`@%4 a? i?`@?i6 }@I6zE];6&CYF)ByF"I HH LN<bDRVDRk1yZI%ZT=ٔZ!;Q-^>9\Y\=bLFy`b]o;Eb>dQ 5j4f2?Q 9j4fT)f7BYhyjs?Q In @fCIf>:if:f 4ypɮrmAp*NvRNt:NxBNx2Nxi))i I  &Changing to mode: 1Թ-@) @)@-0@)I9BU>BQBU"IBU(BBU =BQBQBU(;BU7EBBBBĴ =BĴ =C5IqO}>9 8,᰺?A25}@2l@2 Fٱ2񊟼 :AHRS rotation from veh to nav: [[-0.502830,0.864081,0.022910],[-0.864301,-0.502975,0.000654],[0.012088,-0.019473,0.999737]]2H/ ?@u?Y_NjE???i25}@I2p^;2#CYN,ByR"ITVAieMb@Mb@Mb@aaaa a9ezGế rh{Gzt?Ye ׽yeCeף;e@a e@)e @aYe@bD} VD}2yu<%==ٔ[.;Q->9Y=LFy4;E>Q 54l2?Q 94R)8BY3>Q E;y ?Q I @CI:i:4yɮRA*NRN:NBN2Ni))iIV>i)>@ @@/@IIO>Aqԙ 5>,?A2}@2@23ٱ2 :AHRS rotation from veh to nav: [[-0.502177,0.864462,0.022880],[-0.864695,-0.502296,-0.000612],[0.010963,-0.020092,0.999738]]2H`?@m?6Ds? ?i2}@I2E`;2&CYN.ByR"IbDZVDZβyb?;<%bX=ٔbB;Q-f>9dYd=fLFydjA;Ej>lQ 5r4n<2?Q 9r4n]Q)n9BYpyr$?Q Ir @nCIn7;inD;n24yxɮzAAx*N|RN|:N|BN2Ni ))iIqo@ @@0@IIO=ԡBE <AE <BM >BI BI BI BM =BI BI BM ,;BM 7E 5E,6s?A6~@6,@6%!ٱ6Y BAHRS rotation from veh to nav: [[-0.501602,0.864802,0.022622],[-0.865042,-0.501697,-0.001709],[0.009872,-0.020426,0.999743]]6H v?`?*?`l ][ 7?@ꔿ ?i6~@I6`;6%CYF ByF"IIJ<)JLLbDRVDRyZ6%ZK=ٔ^1;Q-^>9\Y\=bLFy`b:Eb>dQ 5j4f2?Q 9j4f P)f;BYhyj:?Q In @f$CIf:if;f;4ypɮrAp*NtRNt:NxBNx2Nxi))i  I @ @@0@IIQOu=) FK,L/?A;ɰ;06~@6@6 ٱ6_9 >AHRS rotation from veh to nav: [[-0.500667,0.865378,0.021283],[-0.865598,-0.500732,-0.002509],[0.008486,-0.019679,0.999770]]6H`v .?>˕?Bd+a? &`?i6~@I6)_;6$CYnByn"Iv=v=ieMb@Mb@Mb@aaaa a9ektv/~jthYe yexieDaa e @)aaYabD}VD}1yF%==ٔRR;Q->9Y=LFy5%;E>Q 541?Q 94N):BYd=Q EԹ .R,(I?A2!~@2a @2ٱ2t; :AHRS rotation from veh to nav: [[-0.499902,0.865860,0.019601],[-0.866054,-0.499941,-0.003213],[0.007018,-0.018582,0.999803]]2H e߿@ ?`K?൶`߿7Qj|?@b?i2!~@I2\Z_;0YB ByBi"IbDJVDJ0yR*˽%VZ=ٔVy;Q-V>9XYX=ZLFyXZ;EZ>``Q 5f4b1?Q 9f4bM)`Ydyf?Q Ij @b/CIb:ib:bTǿ4ylɮ] AY*NaRNa:NaBNa2Naiq)q)yyyiyI}$@ @@?0@I!I1OE=B>BB"IBBB =BBB';B7EI YX,\c?A2$~@2* @2ͻٱ2 :AHRS rotation from veh to nav: [[-0.499716,0.865981,0.018998],[-0.866167,-0.499741,-0.003717],[0.006275,-0.018312,0.999813]]2HW߿?t?@@߿@rny?`} w?i2$~@I2^;2&CYR ByRg"I TTi-Mb@Mb@Mb@)))) )9-y&1Mb{GzY-`ey-@-#-@) -@)- @)Y) AE<bDMVDMN2yU%U@=ٔq:Q->9Y=LFyO:E>Q 541?Q 94M)7BY=Q E3Iyԡ ҂^,|?A:.~@:$@:3ⲻٱ:m BAHRS rotation from veh to nav: [[-0.499192,0.866288,0.018770],[-0.866474,-0.499201,-0.004515],[0.005459,-0.018518,0.999814]]:H߿ࡸ?8?@( ߿~r ?\v? T y?i:.~@I:^;:#CYJByJY"ILNAbDVVDVyZf%^U=ٔ^+;Q-^>9`Y`=bLFy`f:Ef>hQ 5j4j0?Q 9n4jRL)j6BYlyn?Q In @j7CIj;ij;jyտ4ytɮvqAt*NxRNx:NxBNx2Nxi) )   i II!)%fAy`)@ @@4@IIO=ԩA AAA @AB B B `"IB BB B B B &;B  ke,Թ?A2?~@2@2lAٱ2~ :AHRS rotation from veh to nav: [[-0.498289,0.866804,0.018920],[-0.867001,-0.498268,-0.006149],[0.004097,-0.019468,0.999802]]2H@߿ܼ?_?`y߿0y`*p?v`?i2?~@I2k^;0YvByvQ"IbD VD2y%D=ٔV;Q->9!Y!=%LFy!-$;E->)Q 554-B0?Q 9=4-K)-4BY9y=?Q I= @-;CI-Q;i-L;-ܿ4yIɮMAI*NQRNQ:NQBNQ2NQia)i)iiiiiqIq+@ @@4@ IAIiO=1Y k,?A2I~@2@2Dٱ2 :AHRS rotation from veh to nav: [[-0.497759,0.867099,0.019392],[-0.867310,-0.497709,-0.007668],[0.003002,-0.020635,0.999783]]2H`H߿E?aۓ?@v߿h8h?@r!8?i2I~@I2_<^;2%CYBByB="IIF<)Di Mb@Mb@Mb@     9 Q롿S㥛9Y=LFy#:E>Q 54 0?Q 94 K)2BY8=Q EaԉԹ V}r,.qʱ?Aɰ4<2 G~@2b@2ٱ2| :AHRS rotation from veh to nav: [[-0.497902,0.867020,0.019239],[-0.867230,-0.497839,-0.008285],[0.002394,-0.020810,0.999781]]2H@߿?_?X@߿ @:c?0O3?i2 G~@I2?^;2&CY^By^9"If=f=bDjVDjyr%rV=ٔr:Q-v>9tYt=vLFytz%Ez>|Q 54~/?Q 94~J)~0BYy?Q I  @~?CI~:i~d:~4yBɮAcE*NRN:N!BN!2N!i))1)111i19IAM?iM?ԑ0@ @@4@II)O==BB0CBA"IBBBBBB;B 7EMcG}hAA钿9hAYADAT read: %VDAT read: Teledyne Benthos DAT-900 Series  1x,0K䱺?A6&H~@6@6zlٱ6@ >AHRS rotation from veh to nav: [[-0.497849,0.867053,0.019121],[-0.867262,-0.497775,-0.008800],[0.001888,-0.020964,0.999778]]6H@߿?Z? ߿^?`~w`/?i6&H~@I6C^;6#CY^Byb:"IiEMb@Mb@Mb@AAAA A9Ey&1QMbpYE`eyEuEE@A E@)AAYE@bD]VD]Nym;%mB=ٔu:Q-u>9qYq=}LFyy}F9E}>Q 54/?Q 94dJ)/BY@I O~,J&?A^F~@^L@^ٱ^  AHRS rotation from veh to nav: [[-0.497913,0.867031,0.018466],[-0.867226,-0.497827,-0.009294],[0.001134,-0.020642,0.999786]]^H߿඾? ?Qf߿  R?`0#??i^F~@I^©^;^$CYڃBy,"I  4<bDVD0yqP%D=ٔ,:Q->9Y=LFy7E>Q 54i/?Q 94,J)Yy?Q I @ACI$yB A <B B B ""IB уBB =B B B ;B 7EBQBQBQBQBQCUɻ5ԩ Ҹ,?A2@~@2@2/ٱ2 ˥ :AHRS rotation from veh to nav: [[-0.498251,0.866849,0.017829],[-0.867033,-0.498159,-0.009590],[0.000568,-0.020237,0.999795]]2HX߿;?A?߿@,eB?@ R?i2@~@I2 _;2%C@Y^׃Byb)"IdfAbDjVDj02yvt%vZ=ٔz:Q-z>9xYx=~LFy|~aE~>Q 5 48/?Q 9 4I).BYy?Q I @BCI:i:4yɮA*NRN:NBN2Ni))iIԱ8@ @@/@II1O> L㋬,1?A2A~@2@2D9ٱ2O :AHRS rotation from veh to nav: [[-0.498176,0.866906,0.017133],[-0.867076,-0.498072,-0.010194],[-0.000304,-0.019934,0.999801]]2H߿? [?i߿3i _?i2A~@I2g_;2$CYBكByB+"IliMb@Mb@Mb@ 9y&1~jtx~jth?YyĻD;@@ )Y @bD)VD)y5<%=F=ٔ= ;Q-=>9AYA=ELFyAMZ9EM>IQ 5U4MH/?Q 9]4MI)IY]Y~1a #˒,K?A6J~@69 @6Pi:ٱ6ug >AHRS rotation from veh to nav: [[-0.497709,0.867188,0.016449],[-0.867343,-0.497591,-0.010920],[-0.001285,-0.019701,0.999805]]6Hu߿?@א?F߿]) U,@g?i6J~@I6a;6"CYFՃByF'"IIJ<)J9\Y\=^LFy\b:Eb>dQ 5j4fW/?Q 9j4fI)f/BYhyj?Q Ij @fDCIfG:if2:f 4ypɮrAp,v4Docking module at standby.RNt:NtBNt2Nxi|))i I 9y@y @y@y@yIIO=B9B=/CB="IB=ƒBB= =B9B9B=;B=7Eiԑ B,e?A4<ɰ:e^~@:*@:x;ٱ:袼 FAHRS rotation from veh to nav: [[-0.496671,0.867790,0.016104],[-0.867936,-0.496534,-0.011895],[-0.002326,-0.019885,0.999800]]:H@s߿? {}?!4߿~\ c\[?i:e^~@I:a;8YfByf4"In=n=iUMb@Mb@Mb@QQQQ Q9U{GzMb{Gz?YUףyUU#=ٔ;Q->9Y=LFy$6;E>ԙQ 54t/?Q 94lI)1BY LDAT read: Features enabled [Bearing]  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 ,3o?A2i~@2/@2K;ٱ2z :AHRS rotation from veh to nav: [[-0.496081,0.868129,0.015995],[-0.868271,-0.495927,-0.012722],[-0.003112,-0.020199,0.999791]]2Hʿ߿`?`?F߿ `}iJ?i2i~@I2zka;2&CYNԃByR%"IbDZVDZ0yvRx%vT=ٔv;Q-v>9xYx=zLFyxz:E~>Q 54/?Q 9 45I)3BY y D?Q I  @FCIl:i :.4yɮAN!N%?N%N!N%ļN%N%i5+:ɢ5 ?Iļ)y ԃB)顽iTϺISAM9@I @Q@Q@QIiIyO=!Iy U ,Y?A2Wv~@25@2騅;ٱ2 :AHRS rotation from veh to nav: [[-0.495399,0.868520,0.015909],[-0.868656,-0.495224,-0.013768],[-0.004079,-0.020640,0.999779]]2H߿`?@J?߿H2 p"/?i2Wv~@I2V`;2$CYBByB6"I DD J9XY\=^LFy\b;Eb>dQ 5j4f/?Q 9j4fH)f5BYhyj\?Q In @fGCIf;if7;f"#4ypɮr)ApNtNtNtNtNtNxNxi|ɢ) B) t7 i ZTIQ9@ @@@IIO=ԁPowering upԡ \1,#?A2 ~~@29@2c;ٱ2㊪ :AHRS rotation from veh to nav: [[-0.494988,0.868759,0.015635],[-0.868886,-0.494797,-0.014609],[-0.004956,-0.020816,0.999771]]2H߿@? ?`߿k덿kLt`P?i2 ~~@I2y_;2#CYjByjA"IlnAi]Mb@Mb@Mb@YYYY Y9]{Gz{Gz rh?Y]#y]ף]C<]@Y ] @)]7@YY]Q@bDuVDuy(=%>=ٔ{;Q->9Y=LFy:E>Q 54/?Q 94|H)9BYC=Q EԹ@ @@0@IIO= 9 `,̲?A2s~@2 ?@2';ٱ2* :AHRS rotation from veh to nav: [[-0.494434,0.869085,0.015049],[-0.869195,-0.494229,-0.015446],[-0.005986,-0.020717,0.999767]]2H̤߿?ю?qp߿ `x6@?i2s~@I2_;2"CYBByBS"IbDJVDJN2yR1=%VY=ٔV~3;Q-V>9XYX=ZLFyXZ:E^>`Q 5b4b/?Q 9f4b H)b=BYdyfl?Q If @bLCIb:ibN:b714yhɮnlAlNpNpNpNpNpNpNtixɢx)| }B)顝pG8i׻Ia@a@a@a@a@a@a@a@AABAA"9@ @@4@q I I O >dC,U沺?A 6~@6D@6J ;ٱ6׾ >AHRS rotation from veh to nav: [[-0.493813,0.869449,0.014353],[-0.869540,-0.493598,-0.016188],[-0.006990,-0.020475,0.999766]]6Hࣚ߿? Oe?D@߿|@Y ?i6~@I6Yv_;6#CYbBybd"IIj=)j=iMb@Mb@Mb@ 9Mb{Gzy&1?Y@y#`e< )M@Y@@AbDVD02yu=%:=ٔ;Q->9Y=LFy:E>Q 54l/?Q 94YG)@BY=Q EQ  *entering command mode+,?A*;ɰ(J~@JK@J<ٱJvP VAHRS rotation from veh to nav: [[-0.493073,0.869880,0.013725],[-0.869952,-0.492848,-0.016885],[-0.007924,-0.020265,0.999763]]JH`߿ ?? Њ߿BJ F:f`?iJ~@IJ(m_;HY^ By^i"If=f=bDjVDj:yr<%rY=ٔr";Q-r>9tYt=vLFytz;Ez>|Q 54~/?Q 94~F)~CBYy?Q I @~RCI~@;i~L;~u?4yɮANNNNN!N!N!i)ɢ1)1 5 B)15æ81i=l"IA5@>9 9@  @ @ @ @H<eDAT read: m&DAT read: user:1> m(setting verbose to 3IIOF> i>  rG- liA1 9 m r9m liAYm Ay +? AVƬ,:?A2\~@2T@2ɣ<ٱ2ۤ :AHRS rotation from veh to nav: [[-0.492197,0.870385,0.013112],[-0.870438,-0.491961,-0.017694],[-0.008950,-0.020122,0.999757]]2H)߿@1?uڊ?I|߿d iT`暔`?i2\~@I2@'_;2&Cb&DAT read: user:1> fTDAT read: Verbose | 3 f set verbose to 3f6setting DatVerbose to 27440YnByrt"I bD%VD%k2y-N/=%-E=ٔ5";Q-5>91Y9==LFy9=q;EE>AQ 5M4E.?Q 9M4EF)EFBYQyU*?Q IU @EUCIEl:iE:EF4yYɮeAaNiNiNiNiNiNiNiiyɢy) B)顅8i>IgAhA18ѽ@ @!@!@!R@%=J@%=@Cu&DAT read: user:2> }TDAT read: DatVerbose | 27440 }.set DatVerbose to 274406setting transmit power to 8ԁ ̬,k4?AY~!By~"I qiMb@Mb@Mb@ 9{GzS㥫{Gz?Yףy/]ף<@ @)d@Y@ <bDVD0y)r=%A=ٔQ->9Y=LFyE>Q 54e.?Q 94E)KBY=Q E TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11ԉ @ @@@@߰<IiIyOZ>Ա  &DAT read: user:4>  TDAT read: LocalAddr | 11  .set local address to 11 ^Setting time to: 3:45:17 And date to:10/27/2025ngӬ, GN?AV~@Vt@Vl7<ٱV %AHRS rotation from veh to nav: [[-0.488713,0.872355,0.012527],[-0.872373,-0.488438,-0.019866],[-0.011211,-0.020637,0.999724]]VHG߿T?ܧ?z B߿W !?iV~@IVE^;V!CYYyYԹbDVDyQ;%J=ٔ;Q->9Y=LFy!<E>Q 54!.?Q 94D)PBY!y%i?Q I% @`CI;i;/U4y)ɮ-,A1N9N9N9N9N9N9N9iIɢI)Q Q)QU?9QiUvwIY]&DAT read: user:5> PDAT read: Mon Oct 27, 2025 03:45:17 hLocal DAT time set to Mon Oct 27, 2025 03:45:17 8setting remote address to 502Acoustic response timeout6setting remote address to 059@1 @1@1@1B@=gA:@=gA@ <A% <A% <I I O >I ߑ٬,#h?A2p@2@2I<ٱ2VW :AHRS rotation from veh to nav: [[-0.486801,0.873427,0.012271],[-0.873426,-0.486506,-0.020942],[-0.012321,-0.020913,0.999705]]2H'߿?!?`@"߿@q;j?i2p@I2,^;2#CYN(ByR"Ii]Mb@Mb@Mb@YYYY Y9]Zd;OT㥛 ~jt?Y]jy]]9Y=LFy;E>Q 54-?Q 94B)TBY=Q E;y?Q I @eCI<:i:\4yɮANNNNNNNiɢ) (B)9ivI===&DAT read: user:6> ETDAT read: RemoteAddr | 50 M|failed to set remote address to 0, device returned 50 instead.q MM(Communications Faulta M a M a M a M a M U&DAT read: user:7> eTDAT read: RemoteAddr | 0 e.set remote address to 0m8setting remote address to 50}2Acoustic response timeout6setting remote address to 0'~9@ @@0@I@eӫ<I&LCommunications Fault in component: DATIOI>iԙ y,~?A2K:@2@24U`<ٱ2\ܫ :AHRS rotation from veh to nav: [[-0.484933,0.874473,0.011707],[-0.874444,-0.484621,-0.022145],[-0.013692,-0.020976,0.999686]]2H@$ ߿?`? r߿" m @zm?i2K:@I2s^;2$CYf'BydIj4=)jp9)Y1=5LFy15;E5>9Q 5E4=u-?Q 9M4=A)=XBYIyM?Q IM @=kCI=:i=W:=b4yQɮUAYNaNaNaNaNaNaNaiqɢq)y }'B)y}'9yi}IqPowering downiIԡ @ @@/@@ ]<A gAzA gAI I O > ,؛?Aɰ2g@2@2+<ٱ2\ :AHRS rotation from veh to nav: [[-0.482503,0.875819,0.011470],[-0.875755,-0.482152,-0.024120],[-0.015595,-0.021683,0.999643]]2H V޿?@y}?/޿ 0`4?i2g@I2^;2%CYB!ByB"IbDNVDNkyV1%VS=ٔV;Q-Z>9XYX=ZLFyX^;E^>`Q 5f4b-?Q 9f4b@)b]BYdyjD?Q Ij @bpCIb:ib6:bi4ylɮn/AlNpNpNtNtNtNtNtixɢ|)| ~!B)y79iI )@) @)@-0@)@H<II O >) H,?A:9@:̆@:T<ٱ:X& BAHRS rotation from veh to nav: [[-0.479227,0.877520,0.017332],[-0.877484,-0.478591,-0.031198],[-0.019082,-0.030160,0.999363]]:H ޿?`z?X;޿@oE@'➿?i:9@I:^;:#CYHyHiMb@Mb@Mb@ 9&1p= ף~jt?YнyD<@@ )Y@bD5 VD5:2ٔE9IYI=MLFyIU^<EU>YQ 5e4],?Q 9e4]@?)]`BYe=Q Ee;ye?Q Im @]wCI]:i]/:]q4yqɮqqNyNyNyNNNNiɢ) )顝H9i'I)=9a@ @@/@@U<I &% NClearing failed state for component DATq % I! O5 >ԁ ,ϳ?A06@6@6<ٱ6AHRS rotation from veh to nav: [[-0.475254,0.879316,0.030603],[-0.879538,-0.473874,-0.043081],[-0.023380,-0.047391,0.998603]]6Hj޿@\#?PV?@-%S޿C?i6@I6^;6!CYFByFw"I J;JbDjVDjfyr̼%v<ٔv39tYx=zLFyxz:<Ez>|Q 54~,?Q 9 4~>)~cBY y ?Q I  @~}CI~y:i~p:~w4yɮAN!N!N!N!N)N)N)i1ɢ9)9 =B)AEQ9AiEpIIqyԉ 9@  @ @ 4@ B@fA:@@<A?A>IIOA>Թ ,i鳺?A2@2@2 <ٱ2Q́ :AHRS rotation from veh to nav: [[-0.471012,0.881092,0.042717],[-0.881684,-0.468688,-0.054452],[-0.027956,-0.063311,0.997602]]2H%޿1?`ߥ?6ݿ᫿~ #5[?i2@I2p^^;0\YbByb~"IddiMb@Mb@Mb@ 9A`"J +Mbp?YYyH;@ )Y@bDVDy<%>=ٔ(.9Y=LFy4<E>Q 54+?Q 94:=)eBY =Q E7A _,P?AYz By~k"IbD VD y֙%%T=ٔ%Q-%>9!Y)=-LFy)-E->1Q 5=45Q+?Q 9=45<)5gBYAyAQ IE @5CI5:i5:544yIɮMAINYNYNYNYNYNaNaiiɢq)q u B)qyyi}׼Im499@ @@4@ A@]<IAIQOm5>qԙ ,?A6T@6O@6]=ٱ6@ BAHRS rotation from veh to nav: [[-0.464917,0.884398,0.041129],[-0.884531,-0.461981,-0.064639],[-0.038166,-0.066432,0.997061]]6H`3ݿL??Nݿ@6 ?i6T@I6]^;6"CYJ ByJi"IIN=)Np;PRBAbDVVDVyZ#%^R=ٔ^9`Y`=bLFy`f<Ef>hQ 5j4j*?Q 9n4j;)jiBYlyn?Q In @jCIj;ijD;j4ytɮvAtNxNxNxNxNxNxN|iɢ )   B)   iWIy|99@ @@4@@uޙ<AfAԱzAA,AIIOj> ^ ,6?AɰY~ By~f"IiMb@Mb@Mb@ 9Q?~jt{Gzt?Yu9>(?Y>(?=LFyDE>Q 549)?Q 94;)jBY(=Q E1Y ,|P?A2j@2e@2nP=ٱ2[ :AHRS rotation from veh to nav: [[-0.462257,0.886419,0.024086],[-0.885292,-0.459773,-0.069765],[-0.050767,-0.053573,0.997273]]2H ݿ`]? ?OTlݿܱ@@m`?i2j@I2^;2 CYBByF_"IbDNVDNk1yV%V]=ٔVx =Q-V>9Z-?YZ-?=ZLFyZD^;E^>`Q 5f4b'?Q 9f4b;)blBYdyfC@Q If @bCIb-:ibF:b4ylɮnAlNpNpNpNpNtNtNtixɢ|) B)iI 9+GhAPowering up"Initializing DAT.9hAY۝A 9@  @ @ 3@ @))>A*AIIO>ԉ /,Mj?AYByA"IiMb@Mb@Mb@ 9?{GzMbP?Y=yף:/@@ @)@Y@ p<4<bDVDN2y޽%9=ٔQ->9b0?Yb0?=%LFy%D%E%>)Q 554-%?Q 9=4-<)-kBY==Q E= !,?A28p@2 k@2=ٱ2~ :AHRS rotation from veh to nav: [[-0.461304,0.886887,0.025087],[-0.884845,-0.457796,-0.086447],[-0.065184,-0.062077,0.995941]]2Hݿaa?`n?P Lݿh!鯰ȯ?i28p@I2^;2#CYBByBL"IbDNVDN1yr<=%vZ=ٔv=Q-v>9z3?Yz3?=zLFyzDz:Ez>Q 54#?Q 9 4o=)jBY y Q I  @CI6:id:^4yɮAN!N!N!N!N!N!N)i1ɢ1)A EB)AE}7AiEO II UfAUfA9)'~m9@q @q@u4@q@M u?',g?A2p@2k@2X=ٱ2 >AHRS rotation from veh to nav: [[-0.460971,0.886958,0.028498],[-0.884379,-0.456502,-0.097361],[-0.073346,-0.070084,0.994841]]2Hݿ@a?.?LU7ݿ@츿Ʋ@?i2p@I2^;2"CYFByF="IbDNVDNyV7q%VN=ٔV-9Z5?YZ5?=ZLFyZʣD^KU9E^>`Q 5f4bo!?Q 9f4bC>)biBYhyjQ Ij @bCIbd:ib[:bK4ylɮrApNtNtNtNtNtNtNti|ɢy)y }B)顅8i(Iu9MQ@ @@/@ @A@A@<ԁA5(AI9IIO]>ԩ i-,B?A2{h@2Mc@2?N=ٱ2[ :AHRS rotation from veh to nav: [[-0.461561,0.886636,0.028944],[-0.883302,-0.456317,-0.107480],[-0.082088,-0.075175,0.993786]]2H8ݿ`R_?@|?D@M4ݿσ@>?i2{h@I2M_;2!C@YB݃ByF0"IiMb@Mb@Mb@ 9^I +?Mb`y&1|?YX9>y`;E@ @)@Y=@!%@AbD-VD-NyEL%EA=ٔE9M8?YM8?=MLFyMӣDUEU>QQ 54Ug?Q 94U @)UgBY~9>Q E;yQ I @UCIU:iU:U4yɮPANNNNNNNi)ɢ))1 5݃B)QU]G8QiU=IY9ԱIqU 9@Q  @Q @U 5@Q @% <A) zA- fAAu ҷAI I O >ow4,Ҵ?A2db@26]@2k=ٱ2 :AHRS rotation from veh to nav: [[-0.461822,0.886601,0.025678],[-0.882202,-0.456146,-0.116834],[-0.091873,-0.076610,0.992819]]2H|ݿ _?@JK?`:1ݿ`轿` -?i2db@I2Κ^;0YB׃ByB)"IHbDNVDN!yV %ZO=ٔZw9^<;?Y^<;?=^LFy^ݣDbbEb>dQ 5j4f?Q 9j4fA)ffBYhynQ In @fCIf#;if/;f4ypɮr~ApNtNtNtNxNxNxNxi|ɢ) ׃B) у8 i II{?)?9Թm9@i @i@mQ3@i@Eӆ:, 촺?A:JR@:M@:=ٱ:@ BAHRS rotation from veh to nav: [[-0.463077,0.886074,0.020797],[-0.880384,-0.457139,-0.126286],[-0.102392,-0.076789,0.991776]]:H@ ݿZ?K?,@Aݿ"*W6r?i:JR@I:@o^;:CYJσByJ "Ixi%Mb@Mb@Mb@!!!! !9%X9v?{Gz?Q?Y%}>y%#<%u<%@%l@ !)%r@!Y%@bD=VD=1yM\%MA=ٔM9QYQ=ULFyUD][E]>aQ 5m4e?Q 9m4e2D)ecBYm~>Q EmU;ymQ Iu @eCIeC ;ie" ;e4yyɮ}AyNNNNNNNiɢ) σB)顥8i"I9!e9@a @a@e/@aI],>)Y@ey A,W?A2@@2;@2sn=ٱ2m :AHRS rotation from veh to nav: [[-0.464334,0.885524,0.015527],[-0.878264,-0.458125,-0.137017],[-0.114219,-0.077259,0.990447]]2Hݿ@6V?̏?`Qݿȉ o==dzཱ?i2@@I2^;2!CYBӃByB$"I J49z=?Yz=?=zLFy~DհE> Q 54 L?Q 94 F) `BYyQ I @ CI  :i : 4y!ɮ%A!N)N)N)N)N)N)N1i9ɢA)E>+ EӃB)AE8IiMW'IQYu9M9@I @I@I@Iԉ@%J<AU?Ae?AԹIIO %G,j2 ?A2+@2w&@2h>ٱ2, :AHRS rotation from veh to nav: [[-0.465890,0.884783,0.010332],[-0.875680,-0.459358,-0.148913],[-0.127009,-0.078425,0.988796]]2H"ݿ#P?)? fݿÿ A 8?i2+@I2^;2"CYB̃ByB"IHJAbDNVDN:yV%VO=ٔVn=Q-Z>9XYX=ZLFyZD^ػE^>`Q 5f4b?Q 9f4bH)b]BYdyfQ Ij @bCIb:ib9:b4ylɮnAlNpNpNpNtNtNtNtixɢ|)| ~̃B)8i-I  eAeAԹ09@ @@@@<A&AIIOn>9 wM,:?A2 @2@2>ٱ2S :AHRS rotation from veh to nav: [[-0.467526,0.883955,0.006499],[-0.872682,-0.460367,-0.162749],[-0.140871,-0.081761,0.986646]]2H@ݿ\I?z?vݿ@Ŀ ¿K?i2 @I2G^;2!CYBŃByB"Ii Mb@Mb@Mb@     9 y&1?{Gz?~jt?Y `>y  <  @ @) @ Y  @bD%VD%Ny=%=A=ٔ=V=Q-E>9E@?YE@?=ELFyEDM ߻EM>QQ 5]4U ?Q 9]4UL)UWBY]>Q Ee#;yeQ Ie @UCIU:iUL:U4ymBɮmAmbENqNqNyNyNyNyNyiɢ) ŃB)9iTc2I ,9@ @@@A YY@}z<AIIO>iԑ T,S?A6@6@6 >ٱ6;趽 BAHRS rotation from veh to nav: [[-0.469370,0.882988,0.004818],[-0.869176,-0.461052,-0.178786],[-0.155645,-0.088104,0.983876]]6H * ޿pA?s?@I@ݿ@vƿ*ÿ{?i6@I6y^;6 CYJЃByJ "IPRBAbDVVDV:yZ[=%ZT=ٔ^s=Q-b>9`Y`=bLFyb Df Ef>hQ 5n4j ?Q 9n4jN)jPBYpyrQ Ir @jCIj<;ij;j4ytɮvAtNxNxNxN|N|N|N|i ɢ )  ЃB)89i. 7I]M9ԁԡ}4@ @@@R@=J@>@qs<AeAzAA= пAIa I O > @Z,m?AN@Nن@NS0>ٱNF½ ZAHRS rotation from veh to nav: [[-0.470879,0.882195,0.001930],[-0.865398,-0.461486,-0.195234],[-0.171344,-0.093602,0.980755]]NH@"޿:?_?`Wݿ`oȿſ`LWb?iN@IN^;LY]ʃBye"IiMb@Mb@Mb@ 9p= ף?S㥛?Y>y/<j@@ V@)AYz@bDVD1y-ļ%-(=ٔ5.=Q-5>95`C?Y5`C?==LFy=D=ֻE=>AQ 5m4E?Q 9m4EQS)EGBYu>Q Eu ;yuQ Iu @ECIE:iE:E[4y}Bɮ} AkENNNNNNNiɢ)t ʃB)'9iٮvb,R?A2O@2@2x7A>ٱ2eͽ >AHRS rotation from veh to nav: [[-0.472380,0.881393,-0.001967],[-0.861205,-0.462033,-0.211780],[-0.187570,-0.098346,0.977315]]2Hy;޿^4?`@ ݿ˿`Oȿ;-*F?i2O@I2{^;2$CYB˃ByF"IbDNVDNyV;%Va=ٔV:=Q-Z>9XYX=ZLFyZ!D^E^>`Q 5f4b?Q 9f4bV)b>BYdyj0Q Ij @b CIb;ib;b4ylɮn AlNpNpNpNpNtNtNtixɢ|)| ~˃B)|D79i@I Em9 I)>)0>9@ @@ 0@ mi>mC@i<G(hA]>9](hAY]AAzAIIO>9i h, ?A6R@6@6R>ٱ6h׽ BAHRS rotation from veh to nav: [[-0.473456,0.880794,-0.006434],[-0.856743,-0.462199,-0.228832],[-0.204528,-0.102830,0.973445]]6H@M޿v/?Zz`ojݿ `JͿ-ʿ` S@u&?i6R@I6K^;6#CYJ̃ByJ"I R9bF?YbF?=bLFyb+Db)Ef>dQ 5j4f?Q 9n4fZ)f3BYlyn]Q In @f4CIf;if;f4ypɮvAtNxNxNxNxNxNxNxiɢ)  ̃B)  G9 i DIQ9ԁ}~9@ @@/@B@:@fAԱ@Yc<Ai?Ap?A9 IA IY Ou > n,併?A2%@2@2 e>ٱ2 :AHRS rotation from veh to nav: [[-0.473964,0.880470,-0.011395],[-0.852146,-0.461900,-0.245957],[-0.221821,-0.106864,0.969214]]2HmU޿@,?yV`D`Əݿ@{Ͽ@d̿t[?i2%@I2:I_;2 CYBÃByB"IimMb@Mb@Mb@iiii i9m㥛 ?~jtQ?Ym>ymm\=mAm @ i)mtAiYm=@bDVDky(%==ٔ'=Q->9Y=LFy6DϻE>Q 54 읊?Q 94#^)'BYy>Q E:yVQ I @KCI ;iz ;K4yBɮ ANNNNNNNiɢ)} ÃB)Q9iII fAԱU9@Q @Q@Q@Q @- ^<AY Ia Iy O >9 u,M׵?A2~@2v@2 w>ٱ2 :AHRS rotation from veh to nav: [[-0.474304,0.880193,-0.017196],[-0.847158,-0.461642,-0.263077],[-0.239497,-0.110211,0.964621]]2HZ޿*? `ݿ@Bп ڧο6-?i2~@I2v[_;0YBByB "IbDJVDJkyV%VZ=ٔVF=Q-Z>9XYX=ZLFyZ?D^OE^>`Q 5f4b@坊?Q 9f4ba)bBYdyjQ Ij @b_CIb:ib:b4ylɮrI ApNtNtNtNtNtNtNtiYɢY)a eB)aaaie8LIyU9@ @@1@ 99@Z<9AI!I1OEr>q {,Ú?A 2~@2;]@2L>ٱ2 >AHRS rotation from veh to nav: [[-0.474681,0.879893,-0.021609],[-0.841673,-0.460969,-0.281237],[-0.257419,-0.115310,0.959395]]2H-a޿`(? ݿ`ѿyп@]?i2~@I2m_;2!CYBByF!Ii5Mb@Mb@Mb@1111 195}?5^I?/$ ףp= ?Y5M>y5,5Q8=5A5z@ 5@)5A1Y5@M@AMAAbDUVDUNy<%9=ٔ+=Q->9Y=LFyJDaE>Q 54 ܝ?Q 94e) BY|>Q E:y Q I @xCI:iv: 4yɮ ANNN N N N N iɢ) B)!!!i%QPI)i9%9@! @!@%0@)R@-=J@-=@T<AzAdAԙAIIYIiOu> ,u ?A6~@6RA@6t>ٱ6b >AHRS rotation from veh to nav: [[-0.475065,0.879554,-0.026411],[-0.835687,-0.460365,-0.299486],[-0.275573,-0.120204,0.953735]]6Hxg޿N%? vݿ *ӿѿž@?i6~@I6_;6CYFByF!IPbDRVDRk2yZ%Z^=ٔ^VQ=Q-^>9\Y`=bLFybSDbwEb>dQ 5j4fXԝ?Q 9n4fai)fBYtyz Q Iz @fCIf;if;f4y ɮ  ANNNNN!N!N!i)ɢ1)5I 5B)119i=PSIAIMx?)M>?u9M9@I @I@M4@I@%1P<AqIyIO~>! 刭,Q%?A2T~@2%@2>ٱ2 :AHRS rotation from veh to nav: [[-0.475242,0.879280,-0.031805],[-0.829338,-0.459735,-0.317557],[-0.293844,-0.124540,0.947706]]2H@]j޿#?H Llݿ@RԿ@Vҿ ῿S?i2T~@I2_;2!CYVByV!IbDrVDryz%zF=ٔ~l==Q-~>|9Y=LFy^D E >Q 54˝?Q 94Nm)BYy% Q I% @CI;i;24y-Bɮ-e A-jEN1N1N1N1N1N9N9iIɢI)Q UB)QQQiU]SVIYu9)I5,>)5)>v Y1@1 @1@50@1@ XI<ԉ A9 IA IY Oe >,o,??A2~@2@2~>ٱ22 :AHRS rotation from veh to nav: [[-0.475429,0.878959,-0.037401],[-0.822543,-0.459190,-0.335510],[-0.312074,-0.128747,0.941294]]2H`mm޿ n ?=& FR_cݿ xտ ӿ z@?i2~@I2_;2CYBByB!IYimMb@Mb@Mb@iiii i9mq= ףp?v/A`"?Ym>ymximY=mp Am@ m@)mAiYm A y}4<bDVDy %A=ٔ8=Q->9Y=LFyhDE>Q 54 ?Q 94mq)ڄBY>Q E:y Q I @CI` ;i ;"4yBɮE AsENNNNNNNiɢ) B)i/YI59ԉ@ @@4@@}=E<ԹA$AIIO> ,Y?A2o}@2 @2E>ٱ2L :AHRS rotation from veh to nav: [[-0.475803,0.878477,-0.043468],[-0.815235,-0.459023,-0.353113],[-0.330155,-0.132576,0.934570]]2Hs޿{?@{Ah`ݿ@iֿ`B!տ =?i2o}@I2_;2!CYRhByV!IbDbVDbyf %jW=ٔjN=Q-j>9nH?YnH?=nLFynrDn6Er>pQ 5v4r^?Q 9z4ru)rDŽBYxyz8 Q Iz @rCIrN:ira;r:)4yɮ AN N N N N N N i!ɢ!)-iȽ -hB))-)i-[ԱI !9a==P M9@I @I@M0@Q@= ><AA I Iq I O >X*,s?AJ^}@J=@Jg>ٱJ+ RAHRS rotation from veh to nav: [[-0.474737,0.878331,-0.056215],[-0.800383,-0.457408,-0.387511],[-0.366077,-0.138972,0.920149]]JH@b޿ I?DȬ༜+Fݿؿm׿@q?iJ^}@IJ`;JCYZLByZ}!Ii=Mb@Mb@Mb@9999 99=RQ?x& ףp= ?Y=?y=7=Q8==A=@ = @)=%A9Y=AbDUVDUyek%eA=ٔe=Q-e>9iYi=mLFym|Du1Eu>yQ 54}?Q 94}y)}B Y/?Q E%:y%uQ I% @}CI}Nԉ ,?AY=8By=e!IIA)E9iYi=mLFymDuEu>yQ 54} 4,?AɰF)|@Ft@F>ٱF# NAHRS rotation from veh to nav: [[-0.473030,0.878535,-0.066471],[-0.785799,-0.454810,-0.419127],[-0.398449,-0.146027,0.905491]]FH@ F޿?@>D%@ݿ@ڿ1ٿ@¿?iF)|@IFj`;DYVByV!IbD~VD~:y q% P=ٔ Ŷ=Q- >9Y=LFyD܇E>!Q 5%4%5?Q 9-4%)%oBY)y-Q I- @%DI%:i%:%>4y1ɮ=BA9NANANANANANINIiQɢQ)Y ]B)Y]aieaIiIu?)u?P9fAeA(׵-9@) @1@5/@1@%0<AiIqIO>) W,v?AF|@F9`@FDM>ٱF* NAHRS rotation from veh to nav: [[-0.471533,0.879128,-0.069214],[-0.778856,-0.451986,-0.434846],[-0.413569,-0.151137,0.897841]]FH-޿@!?@dWܿۿwڿqXÿ?iF|@IFy`;F CYV݂ByV IimMb@Mb@Mb@iiii i9mK7A?V-~jt?Ym ?ymhmD=mAm@ m @)m5AiYmQAbDVDk1y3%B=ٔ =Q->9Y=LFyDĻE>Q 54\?Q 94)MBY?Q E:y{Q I @DI~ ;i ;E4yߔBɮArENNNNNNNiɢ) ݂B)iYbIb91Y5[I=eA)=eA@ @@4@B@:@ԉ @ )< % $ 9! Y- _AA AI I O >I,]ڶ?A,F4|@FlN@F/G>ٱFx0 NAHRS rotation from veh to nav: [[-0.469818,0.879780,-0.072509],[-0.772232,-0.449400,-0.449108],[-0.427702,-0.155005,0.890530]]FH ޿)'?ܿ`1ܿy_ۿ 8ÿ 9?iF4|@IF`;DYVByV I XXbDbVDb:yf%jW=ٔj'=Q-j>9nK?YnK?=nLFynDr[Er>tQ 5v4v?Q 9z4vlj)v-BYxy~Q I~ @v)DIvn;;ivH<;vL4yɮ A NNNNNNNi!ɢ!)) -B))))i-]cI159ԉ@ @@/@@]&<ԱA$AIIO> t,\>?A>5|@>=@>>ٱ>3 FAHRS rotation from veh to nav: [[-0.468139,0.880275,-0.077205],[-0.765993,-0.447814,-0.461213],[-0.440567,-0.156774,0.883924]]>Hݿ7+?óܿ ݿA2ܿ(ĿI?i>5|@I>h`;>"CXY^mBy^l I``iEMb@Mb@Mb@AAAA A9Eoʡ?:vQ?YE ?yETE\=E&AE1A E@)EAYEf AbD]VD]k2ymߏ%mA=ٔu =Q-u>9uH?YuH?=}LFy}D}E}>Q 54z?Q 94i)BY ?Q E:y= Q I @7DI ;i2 ;S4yɮANNNNNNNiɢ) mB)i#MdIiE9)Qmi 9@  @ @ .4@ @ z<A fAzA fAy A) IA IQ O] >`í,*?A2"b|@2+@2>ٱ23 :AHRS rotation from veh to nav: [[-0.466615,0.880425,-0.084395],[-0.759735,-0.447840,-0.471426],[-0.452850,-0.155856,0.877858]]2Hݿp,?蚵Oiܿ+޿`ܿ`ÿj?i2"b|@I2`;2CYB0ByB IbDjVDj0yr%rS=ٔv=Q-v>9tYx=zLFyzDzEz>|Q 54~p?Q 94~)~׃BY y i Q I  @~DDI~ ;i~] ;~Z4yBɮA{ENN!N!N!N!N!N!i1ɢ1)=S =0B)999i=dIAI%9qԡ9@ @@/@@<I I O > ɭ,'?A22|@2@2 4>ٱ23 :AHRS rotation from veh to nav: [[-0.465719,0.880138,-0.091994],[-0.753360,-0.448868,-0.480589],[-0.464278,-0.154515,0.872107]]2HWݿ*?쌷@@ܿ޿ݿ#ÿM?i22|@I21_;2CYBByBIIF<)FbDJVDJyV|%VO=ٔV=Q-V>9XYX=ZLFyZäDZE^>`Q 5b4bf?Q 9f4bؖ)bBYdyf Q If @bQDIb:ib:ba4yjBɮn*AlNpNpNpNpNpNpNtixɢx)| }B)yyyi}QeIԹ9I@I @I@M0@I@-!<I9IQOew>M DAT read: M VDAT read: Teledyne Benthos DAT-900 Series 9 iЭ,A?Aɰ;2{@2@2 >ٱ2m4 :AHRS rotation from veh to nav: [[-0.465331,0.879654,-0.098369],[-0.746743,-0.449811,-0.489945],[-0.475229,-0.154530,0.866186]]2H@ݿ&?.Pܿ@A[߿ 'j޿ ÿ@˷?i2{@I2K_;2CY^BybIf=f=iMMb@Mb@Mb@IIII I9M +?l/$?YM?yMM9Y=LFyΤDE>Q 54[?Q 94)qBY-?Q E:y" Q I @`DI ;iG ;Vi4yɮSA N NNNNNNi!ɢ))) -B))11i5eI959qA@A @A@A@AI@<A={?A=~?IIOa>iԙ ֭,[?A6׵{@6Մ@6q?ٱ66 BAHRS rotation from veh to nav: [[-0.465252,0.879045,-0.104016],[-0.739954,-0.450719,-0.499319],[-0.485806,-0.155343,0.860152]]6H@ݿ#!?Ǡഭܿ ߿r߿Cÿ]?i6׵{@I6 `;4YFpByJ4IbDRVDRNyZ5Ⱦ%Z_=ٔZ=Q-Z>9\Y\=^LFy^פDb4Eb>dQ 5j4fuQ?Q 9j4f )f@BYhynh Q In @flDIf;if(;fo4ypɮrApNtNxNxNxNxNxNxi ɢ ) ~p pB)ifIu9ԉI->)->I@I @I@M?0@I@% <IIԡO=>! 4ܭ,su?AVj{@V8@V?ٱV= fAHRS rotation from veh to nav: [[-0.465514,0.878681,-0.105906],[-0.732899,-0.449801,-0.510429],[-0.496141,-0.159994,0.853373]]VHݿ(?sܿ@oU߿zĿN?iVj{@IV`;V CYn2BynI ppieMb@Mb@Mb@aaaa eGB9e)\(?Q~jtx?YeG!?yeue;e:AeA e@)aaYe(AbD}VD}y%==ٔ9Y=LFyD`-E>Q 54BF?Q 94@)BYU!?Q E:yT Q I @{DI ;ie ;Ow4yޔBɮ`AzENNNNNNNiɢ) 2B)i.fI9@ @@/@A @e <Am eAzAm dAI I O >Z,XW?A Bc{@B@B?ٱB@D JAHRS rotation from veh to nav: [[-0.465969,0.878150,-0.108289],[-0.725624,-0.449301,-0.521152],[-0.506303,-0.164264,0.846566]]BHoݿ?͸@O8WܿF@3@ſ?iBc{@IB`;BCYRByRIbDZVDZkyb'ƾ%bX=ٔf<9dYh=jLFyjDjGWEj>lQ 5r4nu ,x(?A2`z@2\@2z ?ٱ2ԩK :AHRS rotation from veh to nav: [[-0.466651,0.877583,-0.109932],[-0.718266,-0.448561,-0.531871],[-0.516072,-0.169237,0.839660]]2Hݿ)?@$ 7ܿſ}?i2`z@I2*K`;2CPYRByR?IbD^VD^02yfs%fJ=ٔf9jK?YjK?=jLFyjDjWEn>pQ 5r4r1?Q 9v4r)rBYtyv Q Iv @rDIr[:ir:r4yxɮ~!A|NNNNNNN iɢ) B)!i%eI!9fAfAe@p}x>i}>9@ @@ 0@B@:@@);9 A I) I9 OE >Է,÷?A:vz@:5@:C ?ٱ:P FAHRS rotation from veh to nav: [[-0.466912,0.877030,-0.113189],[-0.711399,-0.448558,-0.541025],[-0.525267,-0.172088,0.833355]]:Hݿ?,ܿPƿ`ت?i:vz@I:>n`;:CYN]ByNIIR%=)R=|i-Mb@Mb@Mb@)))) -A9-ʡE?{Gzt?MbPY-/?y-ף;--EFA-hA -A)))Y-z AbDAVDAyM%UB=ٔUn9YYY=]LFy]De4Ee>aQ 5m4e&?Q 9u4e)e1BYu/?Q Eu:yu/ Q Iu @eDIeU:ie ;eV4yBɮ%$AENNNNNNNiɢ)B ]B)顡ioeIu39}}yy)Y9@ @@/0@@.;ԉ A I I O >,Lܷ?A2;z@2@2E?ٱ2W :AHRS rotation from veh to nav: [[-0.466372,0.877263,-0.113609],[-0.705078,-0.446210,-0.551146],[-0.534193,-0.176936,0.826639]]2H ݿ?@{ܿӥƿ s?i2;z@I2~`;2 CYBByBIJ=J=bDNVDN0rLDAT read: Features enabled [Bearing] zDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP zcommRate: 600y~Ǿ%~P=ٔ9Y= LFy  D E >Q 54R?Q 94)BY!y%i Q I% @DI;i;54y)ɮ-&A)N1N1N9N9N9N9N9iIɢI)I UB)QQQiUdYIauW959@1 @1@54@1ԉ@;IIOn>Ա ,?Ajy@j(@ji?ٱjQ^ rAHRS rotation from veh to nav: [[-0.466247,0.877203,-0.114584],[-0.699035,-0.444697,-0.559996],[-0.542185,-0.180998,0.820534]]jHݿ ?[U ~^ uܿ|Y*ǿA?ijy@Ij`;j!CY%By%*IiMb@Mb@Mb@Ա 9gfffff?y&1|Mbp?Y33?y`廙;VA!A A)Y=*AbDVD02y%==ٔf9Y=LFyDtE>Q 54*?Q 94)BY63?Q E:y Q I @DI*:i:ǚ4y ɮ (A NNNNNNNi!ɢ!)) -B)))1i5[8dI9MS9qI%>)!@ @@4@R@=J@=@;AzAeAIqIO~> 1 ,ݔ?AY~~By~I bDVDky%sھ%%W=ٔ%Q-%>9)Y)=-LFy-D5E5>9Q 5E4=?Q 9E4=k)=JBYAyAQ IE @=DI=:i=:=i4yUܔBɮU@+AQNNNNNNNiɢ) ~B)icI ːCt9%Gy5 9YA9@ @@2@A@;IIOI>iԙ  ,nn*?AY]k~By]vIaeAqbDuVDuy%3=ٔQ->9Y=LFy+DE>Q 54?Q 94J)BYyQ I @DIN:i:e4yɮ6-ANNNNNNNi ɢ ) k~B)ibI]9ԩmw! @!  @) @- 0@) B@) :@- eA@ ;A x?A {?Ia Iq O > ,QMD?A2Ry@2-@2?ٱ2e :AHRS rotation from veh to nav: [[-0.464540,0.876295,-0.127708],[-0.681063,-0.445708,-0.580945],[-0.566001,-0.182895,0.803861]]2H ݿ ?`XD`|ܿ iǿ@;?i2Ry@I2<`;2CY^}By^IiEMb@Mb@Mb@AAAA A9EQ?:v?YE(9qYq=uLFyu4DuE}>Q 54G?Q 94)BY0) /,-$^?A6y@6ň@6|?ٱ6+Nf >AHRS rotation from veh to nav: [[-0.463649,0.875972,-0.133055],[-0.674895,-0.446461,-0.587528],[-0.574062,-0.182608,0.798190]]6H kݿ?Ғܿ@`^`_ǿƊ?i6y@I6E`;4YF)}ByFIIH)JC=bDNVDN02yVuɾ%VW=ٔZ9XYX=^LFy^>D^FEf>hQ 5n4jD㜊?Q 9n4j()jWBYAyE Q IE @jDIj }(setting verbose to 3@U w;Ա A I I O >H^,x?A@LɰL:x@u@q?ٱce -AHRS rotation from veh to nav: [[-0.462038,0.875814,-0.139540],[-0.669248,-0.447563,-0.593123],[-0.581918,-0.180658,0.792928]]H`ݿ?r`zj ܿǿ_?i:x@I`;Y=|By=WIE=AiMb@Mb@Mb@ 9MbX9?MbV-?YA?y<&sA"5A A)Y>AbD VD2y-?%-4=ٔ591Y1==LFy=ID=֥E=>AQ 5M4E>՜?Q 9M4EO)EBYUA?Q EU:yU Q IU @EDIE ;iE ;EC4yYɮ]4AaNaNiNiNiNiNiNiiyɢy) |B)顁i.g_ImZ:ԡ&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440e9@ @@/@@ϥ;A! I) I9 OM > } &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8B$,ݑ?Ajbx@jg@jN;!?ٱjq9yYy=LFySDE>Q 54ɜ?Q 94n)LBYy> Q I @$DI];i;4y۔Bɮ7ANNNNNNNiɢ) {B)i(^I-: I->))&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 1159@ @@/@@ ;i A1 IA IQ O] >q*,JΫ?A2x@2A`@2E #?ٱ2e :AHRS rotation from veh to nav: [[-0.458494,0.876324,-0.147781],[-0.660370,-0.447234,-0.603236],[-0.594723,-0.178990,0.783752]]2HWݿ ?`|¿`!{ܿM#ƿ~?i2x@I2`;2CYBD{ByBI DFAbDjVDjyr%rS=ٔv~9tYx=zLFyz]D~E~>Q 5 4?Q 9 4)~BY y M Q I @3DI;i;4yɮ9AN!N!N!N!N)N)N)1i9ɢ9)A ED{B)AAAiE\IIM&DAT read: user:4> UTDAT read: LocalAddr | 11 ].set local address to 11e^Setting time to: 3:45:38 And date to:10/27/2025u:Yԑ9@ @@/@@; &DAT read: user:5>  PDAT read: Mon Oct 27, 2025 03:45:38  hLocal DAT time set to Mon Oct 27, 2025 03:45:38  8setting remote address to 50% 2Acoustic response timeout- 6setting remote address to 0Ա A I I O >sV1,VŸ?A Bx@BA\@B$?ٱBh JAHRS rotation from veh to nav: [[-0.456837,0.877017,-0.148802],[-0.657298,-0.445518,-0.607843],[-0.599382,-0.179878,0.779990]]BH<ݿ? ÿ [ܿ`ss#.@>ǿ?iBx@IBN``;B!CYRzByR+Ii-Mb@Mb@Mb@)))) )9-Cl?T㥛 Q?Y-d;?y--u=-A-`AA - A)))Y-3KAԑbDVDk1y%?=ٔO^9Y=LFygDE>Q 547?Q 94#)}BY mTDAT read: RemoteAddr | 50 u|failed to set remote address to 0, device returned 50 instead.q uu(Communications Faulta } a } a } a } a } &DAT read: user:7> TDAT read: RemoteAddr | 0 .set remote address to 08setting remote address to 502Acoustic response timeout6setting remote address to 0@;A)I1&MLCommunications Fault in component: DATIIOU> O~7,m߸?A65x@6`@6%?ٱ6fi >AHRS rotation from veh to nav: [[-0.454574,0.878090,-0.149403],[-0.654838,-0.443163,-0.612204],[-0.603780,-0.180457,0.776457]]6H ݿO?@ÿ n@\ܿ,*R6ǿ?i65x@I6z`;6CY^yBybIbDjVDj:yr%rX=ٔrn9tYt=vLFyvqDv:Ez>xQ 54z?Q 94z)zh}BYy;Q I @zTDIz;iz;z4yɮ>ANNNNNN!N!i)ɢ1)56 5yB)111i5vnYIAU:Y@ @@70@R@=J@=@|;ԁPowering downiߡIߡߩߩA1IAIQO]v>ԩ =,BZ?AM`x@Mh@M''?ٱMO0j ]AHRS rotation from veh to nav: [[-0.452340,0.879035,-0.150617],[-0.652909,-0.441440,-0.615499],[-0.607534,-0.180075,0.773612]]MH"ܿ!?lGÿ`@ܿ+p` ǿ m?iM`x@IMU`;MCYm=yBymGIIy)}9)Y)=-LFy-|D5;E5>9Q 5E4=˓?Q 9E4=)=|BYE@?Q EE:yEQ IM @=fDԩI=3:i=<=4yߔBɮBAENNNNNNNi)ɢ))1 5=yB)111i5tWI9} :I)@ @@0@@c; A! I) I9 OM >1 iD,$?A4<ɰ2x@2.x@2>f(?ٱ2:i :AHRS rotation from veh to nav: [[-0.449409,0.880232,-0.152394],[-0.651337,-0.439619,-0.618462],[-0.611385,-0.178682,0.770896]]2Hܿ*?ÿ"ܿqxƿ.?i2x@I2^`;2CYBvxByBIJ=Ja=bDNVDN1yV. %Vf=ٔV%`9XYX=ZLFyZD^;E^>`Q 5f4b?Q 9f4b)b|BYdyfQ Ij @btDIb$:ib:b4ynٔBɮnDAlNpNpNpNtNtNtNtixɢ|)| ~vxB)iUI :9@ @@4@@3S;AAI&NClearing failed state for component DATq IO%n>i eJ,7,?A Y~wBy~aIbD VD yϾ%%C=ٔ%Q-%>9)Y)=-LFy-D-E->1Q 5=45Iz?Q 9E45)5q{BYAyAQ IE @5DI5 ;i5Y;54yIɮMGAQNQNYNYNYNYNYNYiiɢi)q uwB)qqqiu#TI -:iԩ]ul>iu!>- 9@)  @) @- 0@) B@1 :@5 fA @ 5;A1 IA IQ O] >Q, F?A:vAy@:@:`*?ٱ:}k FAHRS rotation from veh to nav: [[-0.443483,0.883359,-0.151656],[-0.648723,-0.433116,-0.625754],[-0.618450,-0.179129,0.765135]]:Hbܿ`zD?siÿW,ۿ- Xƿ {?i:vAy@I:;c`;:CHYNvByNI PRAi-Mb@Mb@Mb@)))) )9-/$?+333333?Y-9YYY=]LFy]De+<Ee>iQ 5u4m*l?Q 9u4mc)mzBYu>?Q Eu:yuQ I} @mDIm; ;imr;m@4yԔBɮJAENNNNNNNiɢ) vB)顡i5RI+:eLͼ@ @@5@@`';G6 9YOAA!I1IAOm> hW,`?A2cy@2_@2'+?ٱ2%k :AHRS rotation from veh to nav: [[-0.440714,0.884715,-0.151821],[-0.647523,-0.430467,-0.628819],[-0.621680,-0.178821,0.762586]]2H`4ܿO?nÿ ÌۿH ƿ`g?i2cy@I2d=`;2CYBvByBYIJAHbDNVDN:yVY%VV=ٔV09XYX=ZLFyZD^k;E^>|!Q 5-4%^?Q 9-4%z)%3zBY1y5Q I5 @%DI%F:i%:%#4y9ɮ=2NAANANINININININIiYɢY)a evB)aaaieNPIi:)SY59@1 @1@5O0@1@- I ;A5 fAzA5 gAԁ I! I1 OE >P^,z?AI}y@}%@}x,?ٱ})Oj AHRS rotation from veh to nav: [[-0.438032,0.885782,-0.153358],[-0.646593,-0.428962,-0.630800],[-0.624536,-0.177150,0.760640]]}Hܿ SX?`;ÿtۿ/2`ܬƿ(W?i}y@I}<`;}CYduByIimMb@Mb@Mb@iiii i9mS?T㥛 v/?Ym/=?ymmxi=mėAm3aA m=0A)iiYm kAbDVD:y¾%.=ٔ%;Q->9Y= LFy D .;E >Q 54RO?Q 94)oyBY%n>?Q E%:y%Q I% @DI ;i;[4y-ΔBɮ-PA5EN9N9N9N9N9N9N9iIɢI)ULG UduB)QQQiUMIYqu:yyyyԙ @  @ @ 0@ @ : I I O >oe,A?A2Zy@2΃@2V{-?ٱ2Rh >AHRS rotation from veh to nav: [[-0.435646,0.886646,-0.155149],[-0.645845,-0.427963,-0.632244],[-0.626974,-0.175233,0.759076]]2Hۿ@g_? ÿªcۿW;`, nƿ`ZJ?i2Zy@I2xJ`;2CYBatByBIIIFp<)FbDNVDNyV8%Vh=ٔVx9XYX=ZLFy^D^K;E^?`Q 5f4bLD?Q 9f4b)bxBYdyjQ Ij @bDIb:ib3;bD 4ynؔBɮn:UAnENpNpNtNtNtNtNti|ɢ|)| ~atB)i0FLI QMK:@ @@/@ԁ@:I!I1O=/>ԩ w7k, ?A;ɰ49)Y)=-LFy-ĥD5E5>9Q 5E4=6?Q 9E4=,)=2xBYAyAQ IE @=DI=:i=t:=4yQɮU#XAQNYNYNYNYNaNaNaiiɢq)q usB)qԹqi)JI:i@i @i@m/@i%Powering up-"Initializing DAT.@Eɩ:AMt?AMo?IIOA>9 Zr,ȹ?A6y@6@6y.?ٱ6)Vl FAHRS rotation from veh to nav: [[-0.432226,0.888985,-0.151282],[-0.645206,-0.422073,-0.636839],[-0.629993,-0.177651,0.756009]]6H ۿ r?@2]ÿ@=ۿ` (@ƿ91?i6y@I6`;6CY^rBybDIiEMb@Mb@Mb@AAAA A9EMb?X9v{Gz?YE@?yE}E#=EbAElA E6A)AAYEuAbD] VD]2ym+%mF=ٔu9qYq=}LFy}ΥD};E}>Q 546)?Q 94r){wBYoA?Q E:yQ I @DI:i:4yҔBɮ[AENNNNNNNiɢ) rB)iHI:9@ @@/@A@eQ:IIOE>iԙ Hx,⹺?A2jy@2@2.?ٱ2o :AHRS rotation from veh to nav: [[-0.430892,0.890192,-0.147954],[-0.645067,-0.418500,-0.639333],[-0.631048,-0.180043,0.754562]]2Hۿ t|?(¿b@ڿju 1 ǿ`^%?i2jy@I2`;2CYBqByBI DDbDNVDN0yVW%VX=ٔVk;Q-Z>9XYX=ZLFyZإD^e;E^>Q 5%4?Q 9%4k")vBY!y-Q I- @DI:i: 4y1ɮ5I_A1N9NANANANANANAiQɢQ)Q UqB)YYYi]EIaql:ԡQ@Q @Q@U4@Q@- :A5 eAzA5 eAI I O > Sw~,ެ?A@B@)z@@/?ٱQt AHRS rotation from veh to nav: [[-0.429831,0.891371,-0.143888],[-0.644905,-0.414619,-0.642020],[-0.631936,-0.183166,0.753065]]H@Yۿ?j¿@ڿl 8qǿ ?i)z@IU`;CYpBy1Ii=Mb@Mb@Mb@9999 99=jt?I +?Y=@?y=94=<=A=uA =b>A)99Y=fAbDUVDU:yeJ%e1=ٔm";Q-m>9iYq=uLFyuDu;Eu>yQ 54}?Q 94}&()}uBY3A?Q E:y Q I @} DI}P ;i} ;}~(4y̔Bɮ~bAENNNNNNNiIɢQ)Q UpB)QYYi]؂CIae~:=jZX@ @@/@@x9) A I I O >Z,v?AY~oByIbDVDf?y%@%%b=ٔ%Q-%>9)Y)=-LFy-D5E5>9Q 5E4=z?Q 9M4=,)=YuBYIyIQ IM @=DI=Y@;i=A;=.4yQɮ]fAYNaNaNaNaNaNiNiiqɢy) oB)i AI 5:QyU0:D@ @@/@Ա @ A $AI I O% >q,R0?A:n4z@: @:qA/?ٱ:{@ JAHRS rotation from veh to nav: [[-0.427661,0.893711,-0.135598],[-0.645934,-0.407078,-0.645800],[-0.632357,-0.188595,0.751369]]:H^ۿG?J[} ڿc@E<#ȿ8 ?i:n4z@I:7a;:CYRoByRIIV%=)TZ@AXbDZVDZyb%fP=ٔft:Q-f>9jH?YjH?=jLFyjDj <Ej>pQ 5v4rf?Q 9v4r1)rtBYtyv Q Iv @r&DIr:ir:r54y~ՔBɮ~SjA~ENNNNNN N iɢ) oB)!i%?I)U:YYYYԩ@ @@/@@EŹAo?Ax? A AI I O% >[m,'.J?Aɰ;6Yz@6a'@6/?ٱ6} >AHRS rotation from veh to nav: [[-0.426476,0.894697,-0.132799],[-0.647289,-0.404443,-0.646098],[-0.631771,-0.189586,0.751613]]6H@bKۿ[?fٿ`լx7`ZDȿ6 ?i6Yz@I69a;6CYF;nByFIliUMb@Mb@Mb@QQQQ Q9UDl?~jth?YUOM?yU̼UD;UlAUA UCA)QQYUAbDmVDmܲy}%}?=ٔQ->9K?YK?=LFyD;E>Q 54Gꛊ?Q 94|7)sBYiM?Q E:y6 Q I @7DI` ;i ;!=4yϔBɮmANNNNNNNiɢ) ;nB)if=IIU?)a? 9@ @@0@@u9AIIO>a , d?A2z@2(>@2.?ٱ2| :AHRS rotation from veh to nav: [[-0.424982,0.895687,-0.130903],[-0.648942,-0.402288,-0.645785],[-0.631082,-0.189499,0.752214]]2H2ۿv?m "`ٿE`1Aȿ #?i2z@I29XYX=ZLFyZ D^;E^>`Q 5f4bޛ?Q 9f4b<)bsBYhyj Q Ij @bFDIb9:ib:bC4ylɮnqApNpNtNtNtNtNtNti|9ɢy)y }?mB)顁in;Iu:I>))>M9@I @I@M?0@Ii@%xqAQIaIqO}{>ԑ ZŞ,#}?AEz@ԙEUZ@E*.?ٱE{z AHRS rotation from veh to nav: [[-0.422965,0.896744,-0.130194],[-0.650734,-0.400581,-0.645042],[-0.630591,-0.188109,0.752974]]EHۿ ?2 ٿ`/@-ȿ@]?iEz@IE/a;ECY}lByoI AimMb@Mb@Mb@iiii i9m:v?~jtx?MbYmT?ym;mmAmA mXMA)iiYmA y}<bDVDk2yϾ%/=ٔ*Q->9Y=LFyD;E>Q 54ћ?Q 943C) rBYU?Q E:y Q I @YDI*:iU:K4yɮtANNNNNNNiɢ)a e}lB)iiiim8Iq:u9@q @q@u0@y@MAUfAzAQIi Iy O > C G1 I ,?A$&@.90Y2AVz@Vu@V$~.?ٱVt bAHRS rotation from veh to nav: [[-0.421021,0.897243,-0.133030],[-0.652521,-0.401475,-0.642677],[-0.630046,-0.183776,0.754499]]VH`ڿ`6?`s ñٿ`АU)ǿ$?iVz@IVMa;VCYjkByjIbDrVDr:yz"/%zj=ٔ~Q->9Y=LFy D <E >Q 54ƛ?Q 94-H)KqBYy%Q I% @hDIQ;in;R4y-ɔBɮ-.xA-EN1N1N1N1N9N9N9iAɢI)I MkB)IQQiUB/7IY efAau:M9@I @I@M4@I@˺!IIOn>Qy ӫ,?A2,{@2@2xA.?ٱ2p :AHRS rotation from veh to nav: [[-0.419159,0.897962,-0.134054],[-0.654411,-0.401157,-0.640952],[-0.629327,-0.180934,0.755785]]2H~ڿ?(ٿq#(ǿc/?i2,{@I2QMa;2CYfjByf[IbDrVDryve%zK=ٔz|Q-z>9|Y|=~LFy~*D<E> Q 5 4 T?Q 94 M) ppBYyQ I @ xDI :i t: Y4y!ɮ%\{A!N)N)N1N1N1N1N1iAɢA)A MjB)IIIiMU5IQQ4: AA)@) @)@-4@)@ԁIIO<>ԩ ,u˺?A6YY{@6@6.?ٱ6Kg >AHRS rotation from veh to nav: [[-0.417670,0.897730,-0.140113],[-0.656030,-0.404652,-0.637088],[-0.628630,-0.174175,0.757949]]6Hڿ 5?72ٿc@ZKƿA?i6YY{@I6`>a;4YFiByFIiMMb@Mb@Mb@IIII I9M㥛 ?~jthy&1?YMU?yMDM`e9yYy=LFy5D;E>Q 54Ϯ?Q 94T)oBYU?Q E~:yQ I @DI;i ;i`4y͔Bɮ~AENNNNNNNiɢ) iB)i2IԱ=:9@ @@4@@eAmn?Amq?IIOI> 9 帮,Q庺?A2{@2'@2#-?ٱ2a>` :AHRS rotation from veh to nav: [[-0.416011,0.897830,-0.144348],[-0.657431,-0.406616,-0.634388],[-0.628267,-0.169014,0.759418]]2Hڿ ?z¿` ڿ`L>ſ@&M?i2{@I2-a;2CYBhByBIIbDJVDJ!yVI%VX=ٔVQ-V>9XYX=ZLFyZ?DZ;E^>`Q 5f4b?Q 9f4bY)bnBYdyfQ If @bDIb:ib:bg4yhɮn9AlNpNpNpNpNpNtNtixɢx)| ~hB)||i1I I c?) ?:9@ @@%3@@D#I IO-,>9i _,.?A0]k{@]τ@]/-?ٱ][ AHRS rotation from veh to nav: [[-0.414794,0.898041,-0.146517],[-0.658595,-0.407417,-0.632664],[-0.627852,-0.165930,0.760440]]]Hڿ?¿6@ ڿ>\0=ſU?i]k{@I]a;]CYEhByIiMb@Mb@Mb@ 91Zd?Mb`:v?Y"[?y<AʎA ]A)YAbDVDky%+=ٔQ->9Y=LFyKD+;E>Q 54?Q 94`)mBY<[?Q Ew:y*Q I @DI ;iS;ao4y!ɮ%A!N)N)N)N)N1N1N1i9ɢA)A EEhB)AAIiM.IQI,>),>Mf :@ @@4@!@;AE $AIQ Ia Om >! Ů,?A29{@2ۄ@2¸-?ٱ2SX :AHRS rotation from veh to nav: [[-0.413860,0.898205,-0.148147],[-0.659323,-0.407959,-0.631556],[-0.627704,-0.163699,0.761045]]2H|ڿ?x¿`-@ڿ5'Ŀ{Z?i29{@I24a;2CYBJgByB=I J;J;bDJVDJynh:%ns=ٔrQ-r?9rH?YrH?=vLFyvSDvr;Ev?|xQ 54z܊?Q 94zf)zmBYyQ I  @zDIz%-;izB.;zBu4yǔBɮAEN!N!N!N!N!N!N!i1ɢ1)9 =JgB)999i=,IA] :!e9@a @a@e/@a@=MAEeAzAEgAYAAIIO>y !̮,2?AYfBy IbDVDy-%-F=ٔ-Q-->95K?Y5K?=5LFy5^D5E=>AQ 5M4ER~?Q 9M4EQl)EBlBYIyIQ IM @EDIE:iE:E{|4YyYɮ]AaNiNiNiNiNiNiNiiyɢy)A fB)顁i*I eA :9@ @@@ԙ@bԹAIIOE>  Ӯ,bL?AY~eBy~Y IiMb@Mb@Mb@ 9/$?~jtxS㥫?Y\?yĻ/]=EAA cA)YAbDVDԹy %A=ٔQ->9Y=LFyiDE>Q 54q?Q 94s)jkBY]?Q Eu:yQ I @DI:iv:4yєBɮAENNNNNNNiɢ) eB)iĢ(I!m : @A@ @@@@yyA$AIIO>9 3ٮ,f?A6{@6@6-?ٱ6ېb BAHRS rotation from veh to nav: [[-0.411294,0.901083,-0.137428],[-0.660733,-0.398594,-0.636046],[-0.627908,-0.170799,0.759315]]6HRڿ?<$ٿ }ZſNL?i6{@I6`;6CYFdByF ILLbDRVDRN2yZy%Z]=ٔZ::Q-^>9^H?Y^H?=^LFybrDb&<Eb>dQ 5j4fe?Q 9j4fx)fjBYhyjQ In @fDIf:if|:fV4yr˔BɮrOApNtNtNtNxNxNxNxiɢ) dB)   i &I~ :@ @@@@A l?A h?AA5AI9IQO]v>iԙ A,?Aj|@jU@j-?ٱjh AHRS rotation from veh to nav: [[-0.409948,0.902614,-0.131267],[-0.661020,-0.393167,-0.639119],[-0.628487,-0.175235,0.757823]]jH<ڿ6?X')ٿs@nƿ@?ij|@Ijk`;jCYEdByMH Im=ma=bDVDyv%9=ٔ~:Q->9K?YK?=LFy}D tt;iE>Q 54EW?Q 94>)iBYy|Q I @DIF:i:4yɮANNNNNNNiɢ))) -dB)))1i5Y$I9IEF?)E_?% :ԙ lX 9@  @ @ 44@ @} є A I I O >,^i?A>=|@>@>-.?ٱ>n FAHRS rotation from veh to nav: [[-0.408283,0.904274,-0.124871],[-0.661475,-0.387339,-0.642199],[-0.629092,-0.179600,0.756299]]>H`N!ڿ?@ **ؿ!ƿ`3?i>=|@I>1a;>CYNAcByR Ii-Mb@Mb@Mb@)))) )9- +?y&1ˡE?Y-V?y-`弙-=-dA-A -iA)))Y-ŸAbDEVDE yU%UJ=ٔ]j:Q-]>9YYY=eLFyeDe;Ee>iQ 5u4m6K?Q 9u4m/)m iBY}W?Q E}{:y}Q I} @mDIm;imW;m4yŔBɮAENNNNNNNiɢ) AcB)顩il"II :IE0>)A0:Ļ@ @@/@y@A!I1IAOM>ԡ a,M0?A2g|@2.@2j.?ٱ2Rs :AHRS rotation from veh to nav: [[-0.406280,0.905944,-0.119173],[-0.662019,-0.381735,-0.644988],[-0.629815,-0.183151,0.754844]]2H@ڿ}? C/@Xnؿ`q'qǿ'?i2g|@I2Xa;2CYBSbByB/ I J49TYX=ZLFyZDZ;EZ>\Q 5b4^&??Q 9f4^+)^WhBYdyfxQ If @^+DI^$:i^:^ğ4yhɮjmAlNYNYNaNaNaNaNaiqɢq)u uSbB)顙i_ IԱ := 79@ @@0@ @ ZA fAzA A $AI! I1 9 OE >э, λ?A2|@2+J@2v.?ٱ2sx :AHRS rotation from veh to nav: [[-0.403724,0.907795,-0.113649],[-0.662818,-0.375852,-0.647617],[-0.630618,-0.186129,0.753443]]2H ٿ@ ? @5 ؿF@.ǿ4?i2|@I2o`;2CYBaByB Ii Mb@Mb@Mb@     9 kt? ףp= Zd;O?Y  P?y Q8 j=  A A tA)  Y (AbD%VD%02y5E%5C=ٔ=s!;Q-=>9=H?Y=H?==LFyEDE<EE>Q 541?Q 94)gBYQ?Q E:y Q I @>DIt;i;n4y͔Bɮ#AENNNNNN N iɢ) aB)i,I) 15fAA. :>==GQa9YAiM9@ @@/@ԙ @ A AI I! O5 >,軺?A:|@:5k@:Q.?@ٱ:z JAHRS rotation from veh to nav: [[-0.400869,0.909573,-0.109458],[-0.664145,-0.370823,-0.649154],[-0.631043,-0.187530,0.752740]]:H ֧ٿ8?s@׿ 1ȿr?i:|@I:`;:CYR`ByR$ IbDZVDZyb%bS=ٔb:Q-f>9fK?YfK?=fLFyfDjz*<Ej>lQ 5r4nh%?Q 9r4n)nfBYpyrC Q Iv @nNDInn;in;n4yzƔBɮzؑAxN|N|N|NNNNi ɢ) `B)i?I!57 :99== iiԩU9@Q @Y@]/@Y@E A I I O >`,?Ab-}@b@b.?lٱb5p{ AHRS rotation from veh to nav: [[-0.397655,0.911480,-0.105241],[-0.665881,-0.365596,-0.650340],[-0.631247,-0.188532,0.752318]]bH -sٿ *? Ne׿ -3!ȿ?ib-}@IbN`;bCYE_ByE IyybDVDy %:=ٔ:Q->9Y=LFyD-<E>Q 54S?Q 94g)(fBYyQ I @bDIY @,2Y?A2ׇ}@2@2".?ٱ2{ >AHRS rotation from veh to nav: [[-0.394096,0.913494,-0.101077],[-0.668233,-0.360306,-0.650879],[-0.630993,-0.188966,0.752422]]2H`8ٿW;?5๿*bA׿10ȿ ?i2ׇ}@I2`;0YF^ByFI9iUMb@Mb@Mb@QQQQ Q9U@5^I ?Mb{Gz?YUbP?yU@Uף=UIAUҤA UA)QQYUAbDmVDmy}%}P=ٔ}[Q->9Y=LFyDg<E>Q 54G ?Q 94C)yeBYQ?Q E:y Q I @sDI ;i;g4y”BɮAENNNNNNNiɢ) ^B)i(IIN?)F?O :i@ @@4@@&ϻIyIԑO> ,66?A2r}@2 @2_.?ٱ2~ :AHRS rotation from veh to nav: [[-0.390718,0.915569,-0.095254],[-0.670957,-0.354109,-0.651477],[-0.630203,-0.190633,0.752665]]2H ٿVL?b{xֿ@*fȿ?i2r}@I2`;2CYB]ByBkIbDJVDJ2yR%VY=ٔV1Q-V>9TYX=ZLFyZĦDZOp<EZ>\Q 5b4^?Q 9f4^)^dBYdyfQ If @^DI^:i^:^4yjÔBɮjcAlNpNpNpNpNpNpNpixɢx)| ~]B)|||i~IԙX :Iu,>)u;>9@ @@4@@ػIIOh> ,P?A6E~@6@6A.?ٱ6~ BAHRS rotation from veh to nav: [[-0.386994,0.917658,-0.090224],[-0.673928,-0.348270,-0.651559],[-0.629330,-0.191345,0.753214]]6Hؿs]?Ґ Jֿ `y#@}ȿ@S?i6E~@I6`;4YF\ByFIiMb@Mb@Mb@ 9L7A`? ףp= Mb?Y+G?yQ8=AA /A)YA -;-p;bD-VD-y=!%EA=ٔE-Q-E>9IYI=MLFyMϦDMj<EM>QQ 5]4U#?Q 9e4U))UdBYe,H?Q Ee:yeQ Ie @UDIU ;iUC ;Ud4ym͔BɮuLAuENyNyNyNyNyNyNiɢ) \B)顑iI :m9@i @i@mm4@i!@eAizAmdAIIOE>Qy ,i?A2G~@2vM@2Q-?ٱ2 | :AHRS rotation from veh to nav: [[-0.383583,0.919340,-0.087630],[-0.677094,-0.344493,-0.650284],[-0.628020,-0.190104,0.754620]]2Hؿ:k?n , ֿ PUȿ%?i2G~@I2&`;2CYZ[ByZ5IbDfVDfynb3%nQ=ٔn0Q-r>9pYp=rLFyr٦Dvt<Ev>xQ 5~4z皊?Q 9~4zڶ)zecBYyDQ I @zDIzX;izu;z:4y ǔBɮ dA ENNNNNNNi)ɢ))) -[B)111i5qI9 AA :QI@I @I@M/@I@%ԑIIO@>ԩ > ,΃?AB~@BLz@B?-?ٱBy JAHRS rotation from veh to nav: [[-0.380560,0.920754,-0.085936],[-0.680415,-0.341729,-0.648272],[-0.626266,-0.188235,0.756544]]BH[ؿ v?տ `_ ȿ@5?iB~@IB`;BCYRZByVIbDeVDeyN% 9=ٔ]Q->9!Y!=-LFy-D=H<EE>YԱQ 54]ښ?Q 94]p)]bBYyQ I @]DI])M 1 ',?A2Z@2?@2x,?ٱ2ߓv :AHRS rotation from veh to nav: [[-0.377390,0.922207,-0.084330],[-0.683719,-0.338893,-0.646281],[-0.624584,-0.186241,0.758426]]2H''ؿෂ?mտ UǿE?i2Z@I2`;2CYBYByB IDAT read:  VDAT read: Teledyne Benthos DAT-900 Series iMb@Mb@Mb@ 9B`"?/$Mb?YN?y,<VAA rA)YA11bD5VD5ky57%5G=ٔ=׬Q-=>99Y9==LFyEDEb<EE>IQ 5U4M Ϛ?Q 9U4M:)MaBY]*O?Q E]:y]vQ I] @MDIM. ;iM ;M4yeBɮeAaNiNiNqNqNqNqNqiɢ) YB)顉i Iu:@ @@/@ B@ :@ @Ag?Al?AIIO>i a<-,䃷?A Y~XBy~iIbD VD 0y/%%^=ٔ%Q-%>9!Y)=-LFy-D-E->1Q 5=45TĚ?Q 9=45)5 aBYAyAQ IE @5DI5;i5I:54yIɮM#AQNNQNQNQNQNYNYiaɢi)i mXB)iiiiu1 IyIS?)#?Qԁ9@ @@/@@ԙIIOM> "4,:YѼ?A2@2@2+?ٱ2Hr :AHRS rotation from veh to nav: [[-0.372416,0.924575,-0.080418],[-0.689268,-0.333574,-0.643147],[-0.621463,-0.184088,0.761508]]2H׿?HzHYտ`@5ǿ@F^?i2@I2ǫ`;2CTYZXByZIi=Mb@Mb@Mb@9999 99=oʡ?L7A`堿Mbp?Y=M?y=+=;=A=A =A)99Y=¹AbDUVDUye%eF=ٔesQ-m>9iYi=mLFymDua<Eu>yQ 54}⸚?Q 94}s)}R`BY;M?Q E:y_Q I @}DI}:i}:}4yɮݢANNNNNNNiɢ) XB)项i I:Iu0>)u0>)@) @)@)@)@  IIO=>) L:,H4뼺?A2*@2 @2X.+?ٱ2c?q :AHRS rotation from veh to nav: [[-0.370694,0.925383,-0.079067],[-0.691557,-0.331845,-0.641582],[-0.619948,-0.183151,0.762968]]2H`t׿@?=;!<տׇ`qǿ`9XYX=ZLFyZ DZ<E^>`Q 5f4bc?Q 9f4b)b_BYdyf(Q If @bDIb:ib:bi4yjŔBɮnAnȦENaNiNiNqNqNqNqiɢ) WB)顉iII@I @I@I@IQ@%A)zA-fAIIOA>qM :DAT read: MF Frequency Band U vDAT read: Directional Acoustic Transponder version 8.15.0 ] BDAT read: Oct 27 2025 03:45:50 ԡ 4A,?A@2!*@2$@2*?ٱ2p :AHRS rotation from veh to nav: [[-0.369146,0.926189,-0.076845],[-0.693533,-0.329569,-0.640622],[-0.618663,-0.183189,0.764001]]2H׿ W?@@k1տ  rǿr?i2!*@I2~g`;2CYR6VByVIbD^VD^k1y ?%D=ٔ%Q-%>91Y1=]LFy]Dm;Eu>ԁQ 54q?Q 94&)^BYyQ I% @ DI2} ːC ) e 9a Ye uA _G,-?A2=@2i8@2p*?ٱ2q :AHRS rotation from veh to nav: [[-0.367860,0.926901,-0.074383],[-0.695093,-0.327232,-0.640129],[-0.617677,-0.183775,0.764658]]2H׿-? 3>_Կ{ǿ x?i2=@I2n`;2CYB2UByBIiMb@Mb@Mb@ 9Zd;?y&1|?MbYY?y`;AA ʎA)Y3AbD-VD-ky=6%=G=ٔ=WIQ-E>9AYA=ELFyE!DM;EM>QQ 5]4UW?Q 9]4U-)U]BY]Y?Q Eey:yebQ Ie @UDIU ;iU; ;U4yiɮmAiNqNqNqNNNNi!ɢ!)) -2UB))))i-.I1: m@Ai9@ @@0@@I!I1OMS>1Y M,8?A6L@6G@6-*?ٱ6p BAHRS rotation from veh to nav: [[-0.366866,0.927366,-0.073494],[-0.696332,-0.326137,-0.639340],[-0.616872,-0.183376,0.765404]]6H@z׿?вZHnԿyu`i`xǿ/~?i6L@I6O`;4YJGTByJIPPbDRVDRyZ%ZS=ٔ^-Q-^>9\Y`=bLFyb+Db;Eb>dQ 5j4fe?Q 9j4f#)f ]BYlynCQ In @f,DIf;if+ ;f 4yvBɮvmAtNxNxNxN|N|N|N|iɢ )  GTB)  i]=I119@ @@0@B@:@ LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600@O Am?Am?aAIIOe>ԑԹ qT,YR?A2{Y@2MT@2 *?ٱ2p :AHRS rotation from veh to nav: [[-0.365931,0.927836,-0.072212],[-0.697178,-0.324705,-0.639148],[-0.616472,-0.183539,0.765686]]2Hhk׿հ?@|GO Կs#@3~ǿ?i2{Y@I2Z`;2CYBeSByBIi=Mb@Mb@Mb@9999 99={Gz? rh?y&1|Y=c?y=C ==`=CA=A =A)99Y=AbD]VD]ye%m@=ٔmQ-m>9iYq=uLFyu6Dun;E}>yQ 54}؃?Q 94}+)}\BYd?Q En:yQ I @}>DI}:i}:}4yɮ2ANNNNNNNiɢ) eSB)项iFIII?)B?ԑI:9@ @@d1@@%AIIO> JZ,|l?AY iRBy eIbD VD2y-%-N=ٔ-Q-5>91Y1=5LFy5@D=E=>AQ 5M4E z?Q 9M4E)E5[BYIyQQ IU @EPDIE:iE:E4y]ɔBɮ]SA]ѦENaNaNiNiNiNiNiiqɢy)y }iRB)顁iSI:Im%>)m>9@ @@4@@+IyIO~>I a,2W?A2uv@2Gq@2.*?ٱ2Er >AHRS rotation from veh to nav: [[-0.363314,0.929115,-0.068903],[-0.698183,-0.320488,-0.640178],[-0.616882,-0.184479,0.765130]]2H@׿O?@W߂Կ@V|~@ǿ{?i2uv@I2F`;2CYBQByFI HJ<bDNVDNN2yV2%VS=ٔV:Q-Z>9XYX=ZLFyZJD^<E^>`Q 5n4bp?Q 9r4b)bWZBYtyzUQ Iz @baDIb;ib˵;b4y|ɮ~دA|NN N N N N N iɢ) %QB)!!!i%RGI):Q@ @@4@@/AeAzAdAyIIOj>ԩ +g,2?A@6ɀ@6{@6z[*?ٱ6s@ BAHRS rotation from veh to nav: [[-0.362239,0.929670,-0.067060],[-0.698266,-0.318324,-0.641166],[-0.617420,-0.185430,0.764466]]6H.׿ڿ?*@2X@l_Կ o(ǿ v?i6ɀ@I6A`;6CYJPByJfIi%Mb@Mb@Mb@!!!! !9%/$?{Gz?~jt?Y%1h?y%#=%<%B%KA %A)!!Y%3AbD=VD=:yM%MA=ٔM/:Q-M>9QYQ=ULFyUUD]B;E]>aQ 5m4ef?Q 9m4es)egYBYmwh?Q Emi:yuQ Iu @euDIe7:ie :e1&4y}ÔBɮ}wA}ЦENNNNNNNiɢ) PB)顡i_I fAa:ԩ@ @@4@@eX5IIOE> Mm, ?A2݌@2@2*?ٱ2(9llYl=rLFyr^Dr$x;Er>tQ 5z4v\?Q 9z4v0)vXBY|y~iQ I~ @vDIv;iv;v,4yɮ jA NNNNNNNi!ɢ!)) -OB))))i-I1uj: imAAI@I @I@M/@I@%l:*entering command modeIIO>>1a  DAT read:  &DAT read: user:1>  (setting verbose to 3t,)ӽ?A2@2k@2E*?ٱ2x :AHRS rotation from veh to nav: [[-0.359318,0.931197,-0.061346],[-0.698217,-0.311870,-0.644384],[-0.619180,-0.188706,0.762237]]2Hֿ\?h@Wӿ ˞R`'ȿ?d?i2@I2s.`;2CYBNByBH9iuMb@Mb@Mb@qqqq q9u/$?{Gz?J +?Yqyu#=ٔ2B;Q->9Y=MFyiDS;E>Q 54P?Q 94)WBYh?Q Ei:yQ I @DI ;iT ;}44yɮANNNNNNNiɢ) NB)iIM:i%9@! @!@%/@!B@):@)@?Ai?Ar?IIO]>&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 27440ԑ Jz,?A2@2竇@2r>+?ٱ2-~ :AHRS rotation from veh to nav: [[-0.357141,0.932434,-0.054923],[-0.698482,-0.305646,-0.647073],[-0.620140,-0.192734,0.760447]]2Hdֿ?Yӿ Ӵ0`ȿU?i2@I2`;0YN NByRmHbDZVDZybF%bY=ٔfU;Q-f>9dYd=fMFyfsDjb;Ej>lQ 5r4nF?Q 9r4nW)nVBYpyvQ Iv @nDIn;in:n;4yzǔBɮzAz٦EN|N|NNNNNi ɢ)  NB)i{I!I))-T?ԙ:]&DAT read: user:2> eTDAT read: DatVerbose | 27440 e.set DatVerbose to 27440e6setting transmit power to 89@ @@/@@m{DIIO#> &DAT read: user:3>  TDAT read: TxPower | 8 (Max)  .set transmit power to 8 6setting local address to 119 с,?A6ˀ@6rƇ@6=+?ٱ6Qw >AHRS rotation from veh to nav: [[-0.354590,0.933746,-0.048842],[-0.699071,-0.299437,-0.649336],[-0.620940,-0.196104,0.758932]]6Hֿ`>? ^ )ӿ\`ɿ@+I?i6ˀ@I6_;6CY^;MBy^kHbDjVDjJ2yr%rH=ٔr#;Q-r>9tYt=vMFyv}Dv,<Ez>xQ 54z)u,>I@I @I@I@IAe&DAT read: user:4> mTDAT read: LocalAddr | 11 u.set local address to 11}\Setting time to: 3:46:0 And date to:10/27/2025@IAII O>ԁԙ M,:z!?A2@2@2+?ٱ2I :AHRS rotation from veh to nav: [[-0.351222,0.935299,-0.043120],[-0.699926,-0.292867,-0.651408],[-0.621890,-0.198608,0.757501]]2H@kzֿ?@eUҿU`@kɿ`s=?i2@I2 `;0b&DAT read: user:5> fPDAT read: Mon Oct 27, 2025 03:46:00 fhLocal DAT time set to Mon Oct 27, 2025 03:46:00 j8setting remote address to 50j2Acoustic response timeoutj6setting remote address to 0Y]mLBy]nHqiMb@Mb@Mb@ 9'1Z? rhX9v?Yb?yC}= BA A)YpA %49Y=MFyD[<E>Q 54-?Q 94&)TBYic?Q Eo:y[Q I @DI ;iq ;YK4yBɮ'AئENNNNNNNiɢ)< mLB)iIԡ:u9@q @y@}/@y@UPAYzAY&DAT read: user:6> TDAT read: RemoteAddr | 50 |failed to set remote address to 0, device returned 50 instead.q (Communications Faulta  a  a  a  a  &DAT read: user:7> TDAT read: RemoteAddr | 0 .set remote address to 08setting remote address to 502Acoustic response timeout6setting remote address to 0A $AI & LCommunications Fault in component: DATI O > o%,eU;?A:@:@:+,?ٱ:냾 BAHRS rotation from veh to nav: [[-0.347282,0.936945,-0.039110],[-0.700932,-0.287056,-0.652911],[-0.622969,-0.199331,0.756424]]:H9ֿt?8n!_ҿ \ɿ4?i:@I:`;:CY^=KBybHbDj VDj:2yr%r=ٔr;Q-r?9vH?YvH?=vMFyvDzu<Ez?|Q 54~%?Q 94~u+)~]TBYyQ I  @~DI~;i~";~OP4yɮANNNNN!N!N!i)ɢ1)1 5=KB)119i== Powering downi9 I9 A A Q i ,0U?A2vH@2HC@2,?ٱ2U :AHRS rotation from veh to nav: [[-0.342764,0.938672,-0.037520],[-0.702074,-0.282496,-0.653673],[-0.624184,-0.197714,0.755847]]2Hտ ?5dwiҿONɿ@/?i2vH@I2_;2CYvJByv,HeGy9Y%Ai%Mb@Mb@Mb@!!!! !9%?y&1X9v?Y%`?y%`弙!%B%zA %A)!!Y%AbDEVDE1yM%M5=ٔ\;Q->9K?YK?=MFyDN<E>Q 54?Q 94P3)sSBY`?Q Eq:yQ I @DIU:i]:aX4y˔BɮAENNNNNNNiɢ) JB)iټII y}@AM:@ @@!@!y@RZA) I1 IA OU >ԩ 6,J o?A2=|@2w@2(,?ٱ2c퀾 :AHRS rotation from veh to nav: [[-0.337872,0.940436,-0.037723],[-0.703296,-0.278904,-0.653901],[-0.625473,-0.194405,0.755639]]2H`տ ?fP`gѿ` Aȿ1.?i2=|@I2_;2C@YFIByFHLNAAbDRVDRyV0%Zi=ٔZ5;Q-Z?9XY\=^MFy^D^Y<Eb?`Q 5f4b?Q 9j4b9)bRBYhyj9Q Ij @b DIb:ib9:bQ^4yrĔBɮrϿArENtNtNtNtNtNtNti|ɢ) IB)ifּI ;:ԩrgU9@Y @Y@Y@Y@5_A=p?A=l? A I & NClearing failed state for component DATq I O >H,戾?A2@2@2`-?ٱ2g | :AHRS rotation from veh to nav: [[-0.333466,0.941923,-0.039771],[-0.704342,-0.276953,-0.653605],[-0.626660,-0.189943,0.755791]]2HWտ;$?\ѿT Pȿo/?i2@I2c_;2CY^HBybHf=f=bDjVDjlyv%vG=ٔvJr;Q-v>9xYx=zMFyzDz$b<E~>Q 5 4?Q 9 4"@)QBY y Q I  @DI:i:e4yɮxAN!N!N!N!N!N)N)i1ɢ1)9 =HB)99AiEAҼII2:0; @ @@f0@@d1AIIO>a rI,?AY~GBy~H9iMb@Mb@Mb@ 9$C?/$~jt?YZ?y,D= BjA A)Y\AbDVD3y%>=ٔQ->9Y=MFyDE>Q 54?Q 94"G)QBYZ?Q Ex:y|Q I @2DI~ ;i ;m4yɮ+ANNNNNNNiɢ) GB)i kͼI :Iu?>)uN>i<ԑ@ @@/@@m jAu fAzAu fA A I I O >t,Ӣ?A2@2n @2r.?ٱ2q :AHRS rotation from veh to nav: [[-0.323590,0.945210,-0.043206],[-0.706049,-0.271609,-0.654006],[-0.629908,-0.181124,0.755255]]2HԿ*??#@@ bѿ@5(/ǿ` +?i2@I2_;2CYBFByBH HJbDNVDNyVq4%V\=ٔVv89XYX=ZMFyZŧD^l =E^>`Q 5f4b?Q 9f4b2M)bcPBYdyfQ If @bBDIbB:ib:b~s4yrBɮr(AvEN!N!N!N!N)N)N)iAɢA)I MFB)IIIiM(ɼIY aeeAԙ5[:9999q@q @q@u.0@q@UoA I I O > c,־?A2f=@288@2.?ٱ28m :AHRS rotation from veh to nav: [[-0.319436,0.946631,-0.043023],[-0.707167,-0.268359,-0.654139],[-0.630774,-0.178531,0.755149]]2HqԿJ? ,ѿL/`ƿ@/*?i2f=@I2s_;0YBFByBHJAJAiMb@Mb@Mb@ 9S? rh~jt?YZ?yC <BA A)Y3AbD-VD-ܲy=%=@=ٔE$,;Q-E>9AYA=MMFyMЧDMR<EM>QQ 5]4U㙊?Q 9]4US)UOBYeZ?Q Eex:yecQ Ie @UUDIUj:iUs:Uz4ymȔBɮuAuENyNyNyNyNyNyNyi!ɢ))) -FB)111i5żI9}R:@ @@4@@sIIO >9i ,S?A6[f@6-a@6/.?ٱ6k BAHRS rotation from veh to nav: [[-0.315631,0.947954,-0.041944],[-0.708161,-0.264750,-0.654535],[-0.631574,-0.176889,0.754868]]6HL3ԿU?y@п5Hƿ'?i6[f@I6H_;6CYJEByJeHbDRVDRyZE#%ZU=ٔZ/;Q-^>9\Y`=bMFybڧDbU<Ef>dQ 5j4fڙ?Q 9j4f!Z)fNBYlynQ In @feDIf+;ifY;f4ypɮvAtNxNxNxNxNxNxNxiɢ)  EB)   i IQ]: mAAmAA9@ @@/1@@|xAj?Ap?ԁIIO]>ԩ fm¯,U. ?AYv DByv7HbDVDkyE'%MA=ٔMQ-M>9IYQ=UMFyUDUEU>YQ 5e4]Kϙ?Q 9e4]`)]MBYiyiQ Im @]xDI]N:i]:]4yuBɮuA}ENNNNNNNiɢ)  DB)顡i$5II5?)9?Թ`:@ @@/@@}IIO J> - Powering up- "Initializing DAT.9 ȯ, $?A2@2䧉@2 Z/?ٱ2gj :AHRS rotation from veh to nav: [[-0.309157,0.950269,-0.037566],[-0.710055,-0.256924,-0.655600],[-0.632648,-0.176009,0.754173]]2H8ӿ@h?;@Ƹ@pqп>vƿ0"?i2@I2 _;2CY^-CBy^Hf=f=iMb@Mb@Mb@ 9'1Z?9Y=MFyDZ<E>Q 54ř?Q 94g)LBYb?Q Eo:y|Q I @DI` ;i ;O4yɮANNNNNNNiɢ) -CB)i̸I {:a@a @a@e/@a@=AIIOf>i Eί,h=?A 6"Ȃ@6‰@6/?ٱ6k >AHRS rotation from veh to nav: [[-0.306661,0.951184,-0.034759],[-0.710730,-0.253124,-0.656346],[-0.633104,-0.176572,0.753659]]6H@Wӿ p?ˡM@03пdBƿ?i6"Ȃ@I6_;6CYF3BByFHbDRVDRyV(%Z\=ٔZ:Q-Z>9\Y\=^MFy^Db<Eb>dQ 5f4f?Q 9j4fm)fLBYhyjFQ Ij @fDIf:ifR:fΖ4ypɮrApNtNtNtNtNtNtNti|ɢ)|< 3BB)iBڴI U:ImG>)mJ>q9@ @@/@@AzAgAIAIYOe4>ԙ կ,W?A6܂@6׉@6W/?ٱ6m BAHRS rotation from veh to nav: [[-0.304682,0.951937,-0.031382],[-0.711111,-0.249275,-0.657406],[-0.633632,-0.177984,0.752883]]6H`ӿ`Dv?Cl :Ͽx @F`/ƿ`?i6܂@I6_;6CYF\AByJHPiMb@Mb@Mb@ 9~jt?y&1?{GzYd?y`e<#BA A)YAbD5VD5kyM%MA=ٔM:Q-M>9QYQ=UMFyUD];E]>aQ 5m4e̲?Q 9m4et)eKBYmd?Q Eum:yuQ Iu @eDIev:ie:e34y}̔Bɮ}xA}ENNNNNNNiɢ) \AB)顡iVI fAq-9@) @)@-/@)@UA$AIIO>! ۯ,ؚq?A24@2@2/?ٱ2o :AHRS rotation from veh to nav: [[-0.303155,0.952513,-0.028569],[-0.710956,-0.246035,-0.658793],[-0.634537,-0.179405,0.751782]]2Hfӿ@z?A'~Ͽ`!Nƿ?i24@I2_;0Y^M@BybHdfAbDjVDjܲy%9)%%M=ٔ-,@;Q-->9-H?Y-H?=5MFy5 D5;E5>9Q 5E4=%?Q 9M4={)=,JBYIyMQ IM @=DI=:i=:=.4yUŔBɮUzAYNaNaNaNaNiNiNiiqɢy)y }M@B)顁i I:)9@ @@/@@gYAAIIO>ԁ ,u?A2^@21@2AP0?ٱ2|/t :AHRS rotation from veh to nav: [[-0.302553,0.952813,-0.024696],[-0.710306,-0.242674,-0.660738],[-0.635553,-0.182367,0.750210]]2H]ӿp}?IҺϿ$@sVWǿ?i2^@I2_;2CYBT?ByBRHbDJVDJyR %VS=ٔV$^;Q-V>9VK?YZK?=ZMFyZDZ:EZ>\Q 5b4^á?Q 9f4^)^GIBYdyf}Q If @^DI^:i^:^4yhɮjmAlNpNpNpNpNpNpNpixɢx)| ~T?B)|||i~QۧIa#: u@Aqԉ ѐC%H 9,S?AY~h>By~/HiMb@Mb@Mb@ 9L7A`?X9v?MbPY+g?y<1#BXA A)Y=AbDVDNy%5=ٔQ-%>9!Y!=%MFy%#D-E->1Q 5=45~?Q 9=45)5:HBY=Mg?Q E=k:yEQ IE @5DI5;i5@:5س4yIɮMEAINYNYNYNYNYNYNYiiɢi)q uh>B)qqqiuwIyI-?)+?'9 ,s,?A6@@6@6;o1?ٱ6 BAHRS rotation from veh to nav: [[-0.302247,0.953165,-0.011073],[-0.707402,-0.232072,-0.667626],[-0.638928,-0.193955,0.744415]]6HXӿT?t` Ϳ 1]r@ȿ`>?i6@@I6&_;6CYJs=ByJHN>N=bDVVDVfyZ +%Zd=ٔ^EH9`Y`=bMFyb,DbsKEf>dQ 5j4f$?Q 9n4f)fdGBYlyn9Q In @fDIfd;if;f4ytɮv/AtNxNxNxNxNxNxN|iɢ )  s=B)   iIu:yyyyA@ @@@q@ΑII O >ԙ ,wٿ?A2ނ@2nى@2o52?ٱ2 :AHRS rotation from veh to nav: [[-0.302059,0.953289,-0.000441],[-0.705377,-0.223817,-0.672569],[-0.641251,-0.202844,0.740035]]2H@Tӿ`X?<s̿அ`!ɿ\?i2ނ@I2_;0Yv9Y=MFy7DnE>Q 54ˇ?Q 94[)_FBYk?Q Ef:yQ I @DITE;i3;4yɔBɮAENNNNNNNi ɢ) )mR>@ @@1@ԡ@ғAzAeAI!I1O=Q> !,?A2ӂ@2Ή@23?ٱ2w :AHRS rotation from veh to nav: [[-0.302192,0.953194,0.010062],[-0.703111,-0.215756,-0.677558],[-0.643673,-0.211828,0.735400]]2HWӿ@?? ˿`,˿@f?i2ӂ@I2t_;0YB;ByBH HJ<bDLVDLyV4%V[=ٔV 9XYX=ZMFyZ@DZ.iE^>`Q 5f4b?Q 9f4b̝)bEBYdyfQ Ij @bDIb:ib:b34ylɮnAlNpNpNpNtNtNtNtixɢ|)| ~;B)i˕I  L:@ @@4@@.I)I9OM0>) M ,n ?AY~:By~H  AbDVDy%%%C=ٔ%Q-%>9)Y)=-MFy-KD5E5>AQ 5E4Ev?Q 9M4E)EDBYIyIQ IM @E+DIE1:iE:E4yYɮ]AYNaNaNaNaNaNaNiiɢ) :B)iuI:1@ @@@@I!I1YOeU>ԉ 3 ,&?A0:U@:(@:!5?ٱ:i BAHRS rotation from veh to nav: [[-0.301821,0.953007,0.026115],[-0.697452,-0.202045,-0.687560],[-0.649973,-0.225734,0.725658]]:HQӿ@??Q`ɿ}@@̿8?i:U@I:ۏ_;8Y^9Byb\HaE@aE aE@aM aM@aM aM@aM iEMb@Mb@Mb@AAAA A)EMb@Mb@Mb@IEiE‰EEEA EA)AEYE\AbDVD{Uy{%C=ٔ9Y=MFyVD»E>Q 54m?Q 94W)CBQ A+:YQ E::y0Q I @>DI~ ;i>u4y”BɮANNNNNNqNqiɢ)h#< 9B)顉iGIu:ԙ @AA@A @A@E4@A@A%h?A%b?ԹII)OE> ,q@?A`ʂ@Zʼn@T7?ٱ3 AHRS rotation from veh to nav: [[-0.298060,0.953845,0.036608],[-0.691353,-0.189275,-0.697285],[-0.658172,-0.233142,0.715859]]H@lӿ`?>?@`*:ȿ (PͿP?iʂ@I_;CY8ByHbDVD03yY%F=ٔs9Y=MFy`DNY;E>Q 54He?Q 94f)BBQ A :YQ E:yQ I @PDI ;iT?.4y͔Bɮ A ENNNNNNNi!ɢ!)) -8B))))i-II)?)> m:9@ @@w4@@}ZII)O5>I E,@OZ?AY7ByH==aa aa aa aa a@a a@a a@a a@a iMb@Mb@Mb@ )Mb@Mb@Mb@IiB A)YzAbDVDy -%I=ٔQ->9Y=MFyjDE>Q 54\?Q 9 4])ABQ A 9Y Q E 9y Q I  @bDI:i?4yɮAN!N!N!N!N!N!N)i1ɢ9)9 =7B)999iE}{IA5:I9@ @@/@@ĠIAIQOeU>qԡ o,9*t?A2m܂@2@׉@2A9?ٱ2[ :AHRS rotation from veh to nav: [[-0.295179,0.954495,0.042533],[-0.688805,-0.181742,-0.701796],[-0.662130,-0.236453,0.711108]]2H`7ҿ8?ƥ? `OCǿu`+0 Dοd?i2m܂@I2W_;2CYB{6ByBpHbDJVDJβyR<%Va=ٔVm9XYX=ZMFyZtDZ`;EZ>\Q 5b4^*U?Q 9f4^)^@BQ Af9YdQ Ef9yfQ If @^rDI^:i^?^4yhɮn=AlNpNpNpNpNpNpNtixɢx)| ~{6B)|||iryIy:ԩ%%|<)9@ @@24@@AeAzAI I) O5 > LX#,?AY5ByOH !%AbD-VD-1y= %=A=ٔEQ-E>9AYA=MMFyM~DMEM>QQ 5]4U[L?Q 9]4U)U?BQ Ae9YaQ Ee9yaQ Ie @UDIU;iU@UD4ymƔBɮmAuENyNyNyNyNyNyNyiɢ) 5B)顑iPWnI u:5<9@ @@/ @@=IIOa>1Y ),?A2@2@2N;?ٱ2q :AHRS rotation from veh to nav: [[-0.287526,0.956566,0.048063],[-0.686268,-0.170755,-0.707021],[-0.668105,-0.236271,0.705558]]2Hfҿ0?? Nſ@@a >ο`?i2@I2Z`_;2CYZ4ByZH`bAaeam amam amam amam am@am am@am am@am am@am imMb@Mb@Mb@iiii i)mMb@Mb@Mb@Iiiiiim/B mA)iiYmAbDVDܲy!%E=ٔ˝9Y=MFyD<E>Q 54C?Q 94)>BQ Ao9YQ E9yQ I @DI;i,@P4yɮANNNNNNNiɢ)? = 4B)icI1:a8i0,Ի?A2zU@2MP@2;?ٱ2]T :AHRS rotation from veh to nav: [[-0.282293,0.958120,0.048130],[-0.686583,-0.166740,-0.707673],[-0.670011,-0.232816,0.704898]]2Hҿ?t?| WſB pͿ ?i2zU@I2QW_;2CYB3ByBHbDJVDJfyR&%R[=ٔV:;Q-V>9TYX=^MFybDj <En>AQ 5M4E9 Y q 9 Y A 6,?A2ݐ@2@2O,9Y=MFyD<E>Q 5404?Q 94)6<,?Aɰp;Y 1By qH==bD%VD%02y59!%5J=ٔ=Q-=>99Y9==MFy=DEEE>IQ 5U4M,?Q 9U4MJ)M;BQ AU8YQQ E] 9yYQ I] @MDIM:iMi@MB4yeʔBɮeAe ENiNqNqNqNqNqNqiɢ) 1B)  i AIAAMMIIi9@ @@/@@] ԡ A I I O >ҥC,L?ADN~X@NQS@N*:?ٱN bAHRS rotation from veh to nav: [[-0.261495,0.964437,0.038489],[-0.697961,-0.161399,-0.697711],[-0.666686,-0.209312,0.715345]]NH@Uп`?Դ?U Ŀ S~Uʿ`?iN~X@IN A_;NCYj0ByjHbDrVDrNyz9Y=MFyD |=E >Q 54P%?Q 94):BQ A8YQ E%8y%Q I% @DIC ;i'@4y)ɮ-A)N1N1N1N9N9N9N9iIɢI)I M0B)QQQiU7IY5:Iua>)ui>ԱM9@Q @Q@]4@Y@mӲAIIO> I,(()?AB䗄@B@B9?ٱBy JAHRS rotation from veh to nav: [[-0.256830,0.965762,0.036638],[-0.701997,-0.160362,-0.693890],[-0.664258,-0.203931,0.719148]]BH@oп?.¢?@v`ĿY4@AjʿB?iB䗄@IB>_;BCYR/ByVH TTxamam amam amam amam am@am am@au au@au au@au au@au imMb@Mb@Mb@iiii i)mMb@Mb@Mb@Iiiiiim m)iiImbDVDfy7%@=ٔQ->9Y=MFyDd<E>Q 54?Q 94z)9BQ A8YQ E8yQ I @DI ;i@4yՔBɮ)AENNNNNNNiɢ) /B)i+I: I@I @I@M4@I@%hI!9I1OEs>a P,OC?A F<΄@Fɋ@F8?ٱF]n NAHRS rotation from veh to nav: [[-0.253047,0.966767,0.036449],[-0.706141,-0.158814,-0.690031],[-0.661311,-0.200348,0.722861]]FH1п?k?@TĿ `u)ɿ !?iF<΄@IF[E_;FCYV.ByVHXZAbDbVDb0yf1%jX=ٔj*Q-j>9lYl=nMFynƨDr<Er>pQ 5v4r?Q 9z4r)r8BQ Az8YxQ Ez8yzQ Iz @rDIr/:irӚ@rZ4yɮ@AN N N N N N NYiɢ) .B)顡i!IM9@I @I@M4@Iԉ@%IIOf>Ա V,\?A>@>@>8?ٱ>~ JAHRS rotation from veh to nav: [[-0.249828,0.967615,0.036162],[-0.709884,-0.157630,-0.686453],[-0.658521,-0.197166,0.726275]]>H@^Ͽ ?߃?`_:-Ŀ@k @<ɿ=?i>@I>._;>CYR}-ByR_Ha%a% a%a- a-a- a-a- a-@a- a-@a- a-@a- a-@a- i-Mb@Mb@Mb@)))) ))-Mb@Mb@Mb@I)i)))) ))))I)bDEVDENyU%UA=ٔ]Q-]>9YYY=eMFyeѨDe\<Ee>iQ 5u4m?Q 9u4m)m7BQ A}[8YyQ E}n8y};Q I} @mDIm:im^@m4yΔBԩɮ>A!N)N)N1N1N1N1N1i9ɢA)Y ]}-B)YYYi]IiEU: aa9@ @@4@@II!O5O>1 ],v?A6+@6&@6I7?ٱ6\ NAHRS rotation from veh to nav: [[-0.246386,0.968419,0.038192],[-0.713090,-0.154456,-0.683847],[-0.656351,-0.195725,0.728625]]6H`ϿI?㍣?@ 5ÿ @ ɿP?i6+@I6UY_;4YRp,ByRHXZ@AbD^VD^yfw.%fT=ٔfQ-j>9hYh=jMFynۨDnr<En>pQ 5v4r> ?Q 9v4rN)r6BQ Av18YtQ EzA8yzQ Iz @r&DIr ;ir@r/4y|ɮ~XA|NN N N N N N iɢ) %p,B)!!!i%ge I)I5"?)5?m:q@ @@/@@%AzAfAIYIiO}8>ԑ Ic,Օ?A2 T@2N@26?ٱ2 :AHRS rotation from veh to nav: [[-0.243482,0.969013,0.041586],[-0.716072,-0.150676,-0.681570],[-0.654184,-0.195729,0.730571]]2Hn*Ͽ@(?J?\Iÿ k ɿ`?i2 T@I2=_;0YB+ByBHF=Fa=bDNVDNyV%VM=ٔVQ-V>9XYX=ZMFyZDZKJ<E^>`Q 5b4b?Q 9f4b[ )b5BQ Af8YdQ Ef8yfQ If @b7DIb:ibt@bz4ylɮn5AYNaNaNaNaNaNaNaiqɢq) +B)顙iI:!@) @)@1@1@mѿIIOI>)  j,w?A,:2@:z@:6?ٱ:`ͅ BAHRS rotation from veh to nav: [[-0.240156,0.969679,0.045258],[-0.718687,-0.146267,-0.679776],[-0.652545,-0.195778,0.732022]]:H oο?,? {߸¿Dɿ`l?i:2@I:3_;:CY^~*By^HaEaE aEaE aEaE aEaE aEaE iEMb@Mb@Mb@AAAA A9EK?L7A`?y&1?YE^z?yE+=E`e=ٔu3Q-u>9qYy=}MFy}D}H<E}>Q 54)ml> :@ @@@q@}¼AIIO>ԡ q,UK?A0:婅@:@:~5?ٱ:.L BAHRS rotation from veh to nav: [[-0.236734,0.970281,0.050107],[-0.720926,-0.140854,-0.678547],[-0.651324,-0.196759,0.732846]]:HOMο ??` ¿৶ d/ɿys?i:婅@I:G8_;:CYJr)ByJfH PRp;bDVVDVNy^0%^W=ٔ^Q-^>9`Y`=bMFybDf~`<Ef>hQ 5j4j?Q 9n4j)j3BYlynQ Ir @j^DIj;ij;j4ytɮv@BtNxNxNxNxNxNxN|iɢ )  r)B)   i\߻I !!U :ԑ9@ @@/@@ļAc?Aa?ԹIIOk> "4w,6?A>҅@>͌@>%'5?ٱ>3 FAHRS rotation from veh to nav: [[-0.233467,0.970881,0.053701],[-0.723153,-0.136445,-0.677077],[-0.650034,-0.196909,0.733950]]>H`<Ϳt?~?$ w @R4ɿ|?i>҅@I>#_;>CYNl(ByR$HVAVAtieMb@Mb@Mb@aaaa a9e333333?y&1|+?Yey?ye`廙e=ae B eA)aaYe(ZBbD}VD}y%==ٔQ->9Y=MFyD=<E>Q 54{옊?Q 94B%)2BYgz?Q EY:yQ I @tDI ;i ;.4yҔBɮ8BENNNNNNNiɢ) l(B)i|ʻI!:A@A @A@E0@AB@M:@MR@MJ@M)I I O >a CZ},;?A2@2@2-4?ٱ2d :AHRS rotation from veh to nav: [[-0.230040,0.971421,0.058504],[-0.725570,-0.131136,-0.675538],[-0.648560,-0.197849,0.735000]]2H@qͿ?3?7`@!Sɿ`?i2@I2;_;2CYB['ByBHbDJVDJyR6%R[=ٔVQ-V>9TYX=ZMFyZDZf<EZ>\Q 5b4^Y嘊?Q 9b4^,)^2BYdyf-Q If @^DI^:i^:^4yhɮjIBlNpNpNpNpNpNpNpixɢx)x ~['B)|||i~>I9!: qq9@ @@0@iIiIO>DAT read: VDAT read: Teledyne Benthos DAT-900 Series ԑ HB,º?A2'@2"@224?ٱ2 :AHRS rotation from veh to nav: [[-0.226673,0.971794,0.065085],[-0.727843,-0.124608,-0.674328],[-0.647197,-0.200223,0.735558]]2H`Ϳ?h?|JU濿׵ ɿ?i2'@I2!_;2CYBe&ByBHHHbDJVDJ0yR'%VJ=ٔVQ-V>9XYX=ZMFyZDZ0O<EZ>`Q 5b4bݘ?Q 9f4b4)b1BYdyf}Q If @bDIbF:ib:b4yjޔBɮnVBn&ENpNpNpNpNpNpNpixɢx)| ~e&B)|||iMII ?) ?ԙ5!:9 mG@ @@O0@AfAzAdAhAIa$9hAYAIy}?}AOB>! Fl,+º?A6T@6O@63?ٱ6 BAHRS rotation from veh to nav: [[-0.222989,0.972117,0.072553],[-0.730082,-0.117224,-0.673230],[-0.645954,-0.203093,0.735865]]6H̿?ג?\bɿ4?i6T@I6_;6CYFj%ByFrHN=N=bDRVDRk2yZ[%ZI=ٔ^Q-^>9\Y`=bMFyb"Db1]<Eb>dQ 5j4fJ֘?Q 9j4f<)f*0BYlynQ In @fDIf;if&;f4ypɮrQBtNtNxNxNxNxNxNxiɢ)  j%B)   i 핒I&":)@) @)@-0@)IIO >!Qԁ $T,Eº?A2@2y@2K3?ٱ2 :AHRS rotation from veh to nav: [[-0.219566,0.972106,0.082461],[-0.732398,-0.108403,-0.672192],[-0.644503,-0.207985,0.735770]]2H ̿?@0?oS ş@ʿ n?i2@I2$_;2CYBc$ByB-HbDJVDJyr %rG=ٔrڗQ-r>9tYt=vMFyv-DvN<Ez>xQ 54zΘ?Q 94z5E)z;/BYyQ I  @zDIz;iz;z4y֔BɮJB%ENNNN!N!N!N!i)ɢ1)1 5c$B)119i=/IA8":qIul>)ux>@ @@4@IiIO>ԡ g,z_º?AZr@ZE@Z2?ٱZא bAHRS rotation from veh to nav: [[-0.216475,0.971828,0.093211],[-0.734595,-0.099254,-0.671207],[-0.643046,-0.213772,0.735386]]ZH`u˿7?ܷ? ́hz@֓`\˿`H?iZr@IZ_;ZCYjR#ByjHa@a a@a a@a a@a p<bDVDky%:=ٔQ->9Y=MFy8D.<E>Q 54ǘ?Q 94N);.BQ A+:YQ E/:yRQ I @DI(;in>=$4y!ɮ%[B!N)N1N1N1N1N1N1iAɢA)A MR#B)IIIiMVIQ YY:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Oct 27 2025 03:46:12 m":IufA)ufA@ @@4@A A t?AIIYIiOuz>! 䧝,Fyº?A6ʆ@6jō@6<2?ٱ67R BAHRS rotation from veh to nav: [[-0.213543,0.971045,0.107108],[-0.736952,-0.088142,-0.670174],[-0.641328,-0.222044,0.734435]]6H^U˿?jk?`yr…k̿}?i6ʆ@I6^B_;6CYF."ByJwHNANAbDR VDR2yZI%Za=ٔ^ʻQ-^>9\Y`=bMFybADbL<Eb>dQ 5j4f?Q 9j4foU)fi-BQ An :YlQ En:ynQ In @fDIf ;ifN?fe(4yrBɮvBv.ENxNxNxNxNxNxNxiɢ)  ."B)   i 6I=G#:Y @  @ @ 4@ AYIaIqyO\>ԩ 6,#º?A2@2@2o1?ٱ2 :AHRS rotation from veh to nav: [[-0.210927,0.969845,0.122111],[-0.739093,-0.076478,-0.669248],[-0.639728,-0.231414,0.732936]]2Hʿ?B?{jxͿ7t?i2@I2^ _;2C@YZR!ByZhHbDfVDf02yn%nH=ٔnQ-r>9pYp=rMFyrLDv "<Ev>xQ 5~4zǹ?Q 9~4z])z|,BQ A9YQ E9yQ I  @zDIz6D;izm?z1,4yɮrBNNNN!N!N!N!i)ɢ1)1 5R!B)199i=LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600) c,.º?A2D@2 @2~=1?ٱ2᡾ :AHRS rotation from veh to nav: [[-0.208029,0.968706,0.135399],[-0.741108,-0.065762,-0.668157],[-0.638344,-0.239341,0.731596]]2Hʿ?`T?(հaOmยο ByRHlaeae aeae aeae aeae aeae aeam amam amam ye#~j?x&Dl?ee?e7 eO=e a9e+?{Gzp= ף?Yev^?yeףe=aepB elA)eXBaYeaBy}AAbDVD:y]!%?=ٔQ->9H?IH?=MFyVD3&<E>Q 54ɰ?Q 94je)+BQ AT:Y`?Q Er:yQ I @DIy;i;34yɮ BNNNNNNNiɢ) > B)iI׺II?)5?5#:@ @@@AzAfA1A]AIaIyO{>a `,º?A23@2.@20?ٱ2 :AHRS rotation from veh to nav: [[-0.205023,0.967283,0.149432],[-0.743091,-0.054466,-0.666970],[-0.637009,-0.247786,0.729946]]2H/>ʿ? ?g⫿W ab rϿ [?i23@I2 _;2CYBByBHJ=J=bDNVDNyVA%VZ=ٔVQ-V>9ZK?IZK?=ZMFyZ`D^B<E^>`Q 5f4b ?Q 9f4b(l)b*BYdyf.Q If @b(DIb :ib:b5:4ynBɮn BlNpNpNpNpNtNtNtixɢ|)| ~B)iՕI 9 9@  @ @ /@ iAI)I9OMR>ԑ ͷ,º?A6S@6N@6)0?ٱ6 BAHRS rotation from veh to nav: [[-0.202533,0.965796,0.161920],[-0.745407,-0.044809,-0.665102],[-0.635097,-0.255401,0.728987]]6Hɿ?ɹ? `1HR}XпS?i6S@I6^;6CYFByJgHbDRVDRkyZo%%ZJ=ٔZZȻQ-Z>9\I\=^MFy^jDb<Eb>dQ 5j4f?Q 9j4f{s)f#*BYhyjQ Ij @f;DIf;if;fJA4yrBɮr! Br7ENtNtNtNtNtNxNxi|ɢ) B)  i vIԑmg$:Imi>)mt>)@) @)@-/@)AyIIO^> ,Őº?A2z@2u@2Y/?ٱ2` >AHRS rotation from veh to nav: [[-0.199344,0.964577,0.172783],[-0.747801,-0.035790,-0.662958],[-0.633290,-0.261364,0.728446]]2H ɿ??` S6`C/пmO?i2z@I2^;0YZByZ9H `bbDf VDf2yjJ%nH=ٔnQ-n>9pIp=rMFyruDr?<Ev>tQ 5z4v?Q 9~4vz)vZ)BY|y~Q I~ @vNDIv;iv;vmH4y ɮ B NNNNNNNi!ɢ))) -B))))i-[I1 EeAEbA$:@ @@/@!A-f?A-\?!AyIIOQy ^İ,kú?A2K@2@2.?ٱ2ײ >AHRS rotation from veh to nav: [[-0.195482,0.963746,0.181603],[-0.750351,-0.027745,-0.660457],[-0.631474,-0.265373,0.728572]]2Hɿ?>?&i v" 5п`vP?i2K@I2^;2CY^ By^HdfAbDjVDjy%%%%E=ٔ-gQ-->9)I)=5MFy5D5`<E5>9Q 5E4=N?Q 9E4=q)=(BYIyMQ IM @=aDI= :i=:=O4yQɮU)BYNaNaNaNaNaNaNaiqɢq)y } B)yyyi}9IY%:i@i @i@i@iԁAIIOj>Ա *entering command mode * ˰,I.ú?A2؇@2aӎ@2?.?ٱ2y :AHRS rotation from veh to nav: [[-0.191584,0.963477,0.187105],[-0.753174,-0.022090,-0.657450],[-0.629305,-0.266879,0.729898]]2HЅȿ?`?@ܞ` D#ѿ`R[?i2؇@I2^;0YBByFHa @a  a @a  a @a a@a a@a y K7?X9vMb`? i?  ;  ) Mb@Mb@Mb@I i ‰    )  I bD-VD-y'%I=ٔػQ->9I=MFyD_<E>Q 54?Q 94*)'BQ A+:YQ ED:y-Q I @uDI* ;i5>U4yBɮ%B6ENNNNNNNiɢ) B)   i t:IԱ%: im@A5DAT read: =&DAT read: user:1> =(setting verbose to 39@ @@0@AIIOn>  &DAT read: user:1>  TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 274409 Ѱ,kaHú?AY}BySH@A@AbDVDy9%B=ٔQ->9I=MFyDE>Q 54*?Q 94)&BQ A :YQ E:yQ I @DI:ihT?JZ4yBɮ=B@ENNNNNNNiɢ) B)iR:Im&:A@A @A@E(0@AAUeAzAUdA!&DAT read: user:2> %TDAT read: DatVerbose | 27440 -.set DatVerbose to 27440-6setting transmit power to 8AI 6G!9ey9yY}AIYO>I ذ,Daú?A :h;@:;6@:,?ٱ:p BAHRS rotation from veh to nav: [[-0.183362,0.964813,0.188452],[-0.759074,-0.017148,-0.650779],[-0.624648,-0.262377,0.735509]]:H`dxǿ?1?@UJ4-@пI?i:h;@I:#^;:CYJByJHR=R=bDVVDVky^^8%^\=ٔb Q-b>9`Id=fMFyfDfE=Ef>hQ 5n4j(y?Q 9n4jj)jE&BQ Ar9YpQ Er:yrQ Ir @jDIj ;ij?j]4ytɮvOBxNxN|N|N|N|N|N|i ɢ ) B)i:I!&:&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11y9@ @@4@A9IAIQOeU>ԙ M &DAT read: user:4> U TDAT read: LocalAddr | 11 U .set local address to 11] ^Setting time to: 3:46:21 And date to:10/27/2025EFް,{ú?A2Im@2h@2-+?ٱ2 :AHRS rotation from veh to nav: [[-0.179163,0.966329,0.184689],[-0.761989,-0.017552,-0.647352],[-0.622313,-0.256712,0.739476]]2Hƿ)? ?`6b'@`mпɩ?i2Im@I2^;2CLYRByRHbDZVDZk1yf%fI=ٔfQ-j>9hIh=jMFyjDnu<En>pQ 5v4rq?Q 9v4r)r%BQ Av9YtQ Ez9yzQ Iz @rDIr:ir?r`4y|ɮ~6B|NNN N N N N iɢ) B)!!!i%X;I)&:Ii)me>9@ @@4@&DAT read: user:5> PDAT read: Mon Oct 27, 2025 03:46:21 hLocal DAT time set to Mon Oct 27, 2025 03:46:21 8setting remote address to 502Acoustic response timeout6setting remote address to 0A5$AIAIQO^>! ,,ú?A6̠@6@6!G+?ٱ6 >AHRS rotation from veh to nav: [[-0.174733,0.967848,0.180940],[-0.764700,-0.017634,-0.644146],[-0.620244,-0.250918,0.743194]]6H ]ƿ?)? kx@ל п>?i6̠@I6^;4Y^BybH f;fp;bDjVDj0yr%rI=ٔvԻQ-v>9vH?IzH?=zMFyzDz,}<Ez>&DAT read: user:6>  TDAT read: RemoteAddr | 50 |failed to set remote address to 0, device returned 50 instead.q (Communications Faulta  a  a  a  a  &DAT read: user:7> %TDAT read: RemoteAddr | 0 %.set remote address to 0%8setting remote address to 5052Acoustic response timeout=6setting remote address to 0QiQ 5u4mi?Q 9u4m)m$BQ A}9YyQ E}9y}^Q I} @mDImK;im@mYc4yBɮ#B?ENNNNNNNiɢ) B)顱i>;IA':I@I @I@U4@QA]e?A]i?ԁAAI&LCommunications Fault in component: DATI&LCommunications Fault in component: DATIOl>ԙ V,뎯ú?A2~ш@2Q̏@2*?ٱ2 :AHRS rotation from veh to nav: [[-0.170541,0.969414,0.176498],[-0.767330,-0.018287,-0.640991],[-0.618159,-0.244747,0.746980]]2HKſ`q?x?`SϿA?i2~ш@I2^;0YvByvsH=Powering downi9I9AAaa aa aa aa aa y+?MbbX9ȶ??E= 9I +?#~jMbp?Y9t?y㥽;:B 5A)vBYUBԙbDVDNy%>=ٔtʻQ->9K?IK?=MFyDfb<E>Q 54ra?Q 94Q =tI)#BQ AT:Yu?Q E]:yQ I@DI(;iN;j4yɮBNNNNNNNiɢ)  B)   i ];I9@ @@3@A5$AIAIQIQOew> >,rjú?A2@2k@2I*?ٱ2 :AHRS rotation from veh to nav: [[-0.165761,0.970824,0.173276],[-0.769791,-0.017554,-0.638054],[-0.616397,-0.239151,0.750241]]2H 7ſ?-? ! jο?i2@I2^;0YBByBHbDJVDJfyRP<%V]=ٔVMƻQ-V>9ZH?IZH?=ZMFyZƩDZL<EZ>\Q 5b4^Z?Q 9f4^)^"BYdyfQ If@^DI^ :i^[:^q4yjBɮjGBnIENpNtNtNtNtNtNti|ɢ|)| B)i!y;I ': ii@ @@/@!AAIIIO%M>Qy i,Fú?A24B@2=@2ny)?ٱ2W/ :AHRS rotation from veh to nav: [[-0.160519,0.972118,0.170937],[-0.772253,-0.015837,-0.635118],[-0.614703,-0.233955,0.753263]]2HߋĿ@?D?`K7 R@;Ϳ?i24B@I2s^;2CYBByBHJAAJAAbDJVDJ:2yR %VJ=ٔVTQ-V>9VK?IZK?=ZMFyZѩDZ<EZ>\Q 5b4^6R?Q 9f4^)^"BYdyfQ If@^DI^:i^:^&x4yhɮj1BlNpNpNpNpNpNpNpixɢx)| ~B)|||i~3;II ?) ?':Q@ @@/@AfAzAfAԁAIIIOI>ԩ Ò,ú?AYByߴHbD5VD50yEN%EA=ٔEQ-E>9III=MMFyM۩DMEU>QQ 5e4UI?Q 9e4U)U!BYayaQ Ie@U DIU;iU1:U4ymBɮuBuHENyNyNNNNNiɢ) B)顙i;IY(:Թ@ @@/@AIIIOc> 9 z,ĺ?AYByHbDVD02y%%%L=ٔ)Q-->9)I)=-MFy-D1E5>9Q 5E4=(B?Q 9E4=)=( BYIyIQ IM@=$ DI= :i=$:=4yQɮUBQNYNaNaNaNaNaNaiqɢq)q uB)yyyi}!;I(:Iu>)u>-9@) @)@-/@)9A}$AIIIO^>q ,0ĺ?A02@2 @2'?ٱ2l >AHRS rotation from veh to nav: [[-0.141502,0.976245,0.164082],[-0.779549,-0.007728,-0.626293],[-0.610148,-0.216531,0.762125]]2H¿f=??T @TK˿Sc?i2@I2}A_;0Y^'BybHa}@a} a}@a} a}@a} a}@a} a}@a} y}(\?S㥛|?5^?}g?}/ݼ}=y y)}Mb@Mb@Mb@I}i}‰}y} })}}I} p<<bDVDky %B=ٔ\`Q->9H?IH?=MFyDw=E>Q 54:?Q 94)6BQ A+:YQ E3:yQ I@9 DI:i>4yBɮBQENNNNNNNiɢ) 'B)i·;I  fAfAM(:IQ)Qԉ%9@! @!@!@!A-b?A-J?ԹAuAIyIIO> ,%Jĺ?A2I[@2V@2l'?ٱ2>2 :AHRS rotation from veh to nav: [[-0.134763,0.977343,0.163216],[-0.782130,-0.003788,-0.623104],[-0.608368,-0.211627,0.764920]]2H?eF?@?`5ow w`˿9z?i2I[@I2_;0YF0ByFVHHHbDRVDR0yV%%V\=ٔZŻQ-Z>9ZK?I^K?=^MFy^D`bA<Eb>dQ 5j4f4?Q 9j4fV)f`BQ Aj :YhQ En:ynQ In@fL DIf3;ifK?fƐ4ypɮrBpNtNxNxNxNxNxNxiɢ) 0B)   i y;Iy):9@ @@*0@A9IAIQIYOeV>A Ѷ,dĺ?AY~KBy~9)I)=-MFy5D5E5>9Q 5E4=,?Q 9E4=)=pBQ AM9YIQ EM9yIQ IM@=a DI=:i=c?=4yUBɮUBYNaNaNaNaNaNaNaiqɢq)y }KB)yyyi};I *: qq-9@) @)@-o0@)QAyIIIO^>qԡ ,g~ĺ?A21ي@2ԑ@2(2&?ٱ2ck :AHRS rotation from veh to nav: [[-0.123177,0.979337,0.160394],[-0.786985,0.002062,-0.616969],[-0.604552,-0.202224,0.770469]]2HV?Ƈ?`.@`?@6|Xwɿ@?i21ي@I2`;2CYVWByVH\\bDbVDbyj%jP=ٔjGQ-j>9lIl=nMFynDr=Er>tQ 5z4vG&?Q 9z4v`)vBQ Az9YxQ E~9y~Q I~@vt DIv;iv?v4yɮBN N NNNNNi!ɢ!)! %WB))))i-k;I1I= ?)=>yq 9@  @ @ 3@ AzAgAԡAyIIIO %,Bĺ?A J GT`~ڿ9|Y~AEM@E @E%?ٱEzȀ UAHRS rotation from veh to nav: [[-0.117608,0.980063,0.160139],[-0.789271,0.005616,-0.614020],[-0.602677,-0.198607,0.772875]]EH@\?o?Ahw? @"Ikɿc?iEM@IEY_;ECYe` ByeHm=m=bDuVDuky%?=ٔXQ->9I=MFyDԌ<E>Q 54h?Q 94)BQ A9YQ E9yQ I@ DI:i4@94yBɮBZENNNNNNNiɢ) ` B)i;I*:m9@i @i@m4@iAIIIO-p>1Y +,ĺ?A2N@2H@2 %?ٱ2 :AHRS rotation from veh to nav: [[-0.112325,0.980248,0.162777],[-0.791432,0.010799,-0.611162],[-0.600849,-0.197476,0.774586]]2H@R1^??@hS?` ':`Fɿi?i2N@I2Lx_;2CYBR ByBHa a  a a  a a  a a  a a y $C?S㥻v/? 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YJ?``H?i:6@I:)_;: CYJvM>yJDPRBAbDVVDVJy^4r%^S=ٔ^zsQ-^>9`I`=bNFy`fn;=Ef>hQ 5j4jM?Q 9n4jwd)jEAYlynQ In@jDIjj;ijD;jt4ytɮvBtNxNxNxNxi))i  I5ak:ԉ 9@  @ @ 0@ @I IIO-,>Թ G) A u zp9q Yu E[A ص,1 d׺?Aɰ;2r@2J@2-Fٱ2_0 :AHRS rotation from veh to nav: [[0.729505,0.675312,0.108522],[-0.683869,0.717345,0.133188],[0.012096,-0.171377,0.985131]]2H`X?'? !Ȼ?@ ~?P ?ň?ſ 2?i2r@I2ߝ_;2 CYZN$>yZD\bDjVDjyr+ɽ%rH=ٔr >Q-r>9tIt=vNFytzEz>xQ 54z;Y?Q 94zd)zAYyQ I@zDIz/;iz;z4ycBɮB ENNNNi)))))))i11I9uk:E9@I @I@M/@I@%I1IAIAOm5>A ޵,}׺?A:Q@:vL@:=ٱ:g AHRS rotation from veh to nav: [[0.714728,0.690156,0.113351],[-0.698411,0.712906,0.063149],[-0.037226,-0.124300,0.991546]]:H ?`? ?aY?@*?Q ҿྺ?i:Q@I:_;: CY >ygDbDVD0y'e%0=ٔ=Q->9I=NFy07E>Q 54`f?Q 94e)ՓAYyDQ I@DI ;i ;4yɮBNNI>)>NN9iA)A)IIIiIQIQImk:u>iu>9@ @@0@@&IIIOk>qԡ ,׺?A2|@2T@2=ٱ2  :AHRS rotation from veh to nav: [[0.720573,0.689847,0.069899],[-0.690518,0.723092,-0.017947],[-0.062924,-0.035334,0.997393]]2H ?9??@#?` Q?i2|@I2_;2CYB"L>yB D DD J4%Zr=ٔZ˛=Q-Z?9\I\=^NFy\b<Eb?dQ 5j4fo?Q 9j4fuf)fuAYhyjY|Q Ij@f"DIf`:if:f4ypɮrBpNtNtNtNti|)|)|iI yl:9@ @@4@@ԩIIIO"> ,v׺?A2\@2W@2yBEHJAy?^I +?B`"۹?L=X9>= 9Gz?{GzĿ%C?Y>y#Z>uB B)BYBbD-VD-:y=#<%=A=ٔ=%Q-=>9AIA=ENFyAMIEM>IQ 5]4M]x?Q 9]4Mk)MAY]*?Q E]:y]Q Ie@M0DIMT ;iM:M4ymoBɮmBm ENqNqNqNqi))顁iI m:@ @@@@FIIIOA>)Y ,v׺?A61\@6 W@6<ٱ64 BAHRS rotation from veh to nav: [[0.737344,0.672686,0.061785],[-0.675036,0.737182,0.029818],[-0.025488,-0.063693,0.997644]]6H S?ࣆ?@D???6N?i61\@I6IH_;6CYJY>yJEbDVVDV:yZp<%^T=ٔ^ǟQ-^>9`I`=bNFy`b=Ef>dQ 5j4f ?Q 9n4fo)f?AYlynQ In@f=DIf;ifz;f4ytɮvBtNxNxNxNxi))i  I1Um:Y )@) @)@-4@)@{II!I!OM1>aԑԹ , Q׺?A2i@2d@2t;ٱ2դ :AHRS rotation from veh to nav: [[0.717281,0.691619,0.084682],[-0.696774,0.712606,0.081853],[-0.003734,-0.117716,0.993040]]2H@?`!??K@?R?`n"?i2i@I2%]_;2 CYBU7>yBuDHJAAbDN VDN2yV%VK=ٔVz]Q-Z>9XIX=ZNFyX^E^>Q 5%4A?Q 9%4>t)ĘAY!y-"~Q I-@JDIz:i:4y5Bɮ5BB5EN9N9NANAiI)I)QQQiQQIY5m:ԑ 9@  @ @ /@ @`vIIIO)> ,w,׺?A2{@2v@2vjļٱ2w :AHRS rotation from veh to nav: [[0.696544,0.714204,0.068836],[-0.717113,0.689739,0.100046],[0.023974,-0.119050,0.992599]]2HJ??C? @W???`z^?i2{@I2<_;2CYBV>yF EJ>J=bDRVDR:yVL=%ZJ=ٔZ=Q-Z>9\I\=^NFy\bEb>`Q 5f4bW?Q 9j4bix)bAAYhyjcQ Ij@bUDIb:ib:b4yrBɮr>BrENtNtNtNti|)|)||iI m:Q9@ @@@@XqIIIO>yԩ ,غ?A2OI@2'D@2ٱ2B :AHRS rotation from veh to nav: [[0.735583,0.676340,0.038499],[-0.676547,0.730524,0.092838],[0.034665,-0.094337,0.994937]]2H??4?Et`?>ķ?? w&@?i2OI@I2T_;2 CyFDbDNVDN1yV%VJ=ٔZؼQ-Z>9XI\=^NFy\^>Eb>`Q 5f4b?Q 9f4b|)b˛AYhyjQ Ij@bbDIb:ib:b4ylɮrVBpNtNtNtNti|)|)|||i|I2n:IgA)I>)>ԩ@ @@@ PExceeded connect timeout, disconnecting.@%lIIIO$> ! ,2غ?A6K+@6#&@6=ٱ6?R >AHRS rotation from veh to nav: [[0.711550,0.700090,0.059745],[-0.701843,0.712211,0.013137],[-0.033354,-0.051279,0.998127]]6H?#g?떮? um??@JA`?i6K+@I6_;6 CYF/@>yFXDlyJ +?lҿ+??> 9S?tVֿ㥛 ڿY/]>yվNBB ]B)BYB )-<bD5VD5:2yEr=%EA=ٔM$>Q-M>9III=UNFyQU9EU>YQ 5e4]斜?Q 9e4])]lAYm?Q Em:ymQ Im@]mDI]7:i]:]M4yqɮuIByNNNNi))顑iIn: -9@) @)@-/@)@fI)I9I9OM0>1a ,sLغ?A2Ĩ@2@2,Y =ٱ2z :AHRS rotation from veh to nav: [[0.702680,0.710646,0.034971],[-0.710681,0.703383,-0.013593],[-0.034258,-0.015302,0.999296]]2HZ|????֋DV@;?i2Ĩ@I2e_;2CYBg>yBdEbDNVDNyr1=%rQ=ٔvd;Q-v>9tIt=vNFytzEz>|Q 54~??Q 94~')~AYy 7Q I @~wDI~:i~:~#4yɮ5BNNNN!i))))111i119IAn:9@ @@0@i@aIIIO>ԑ 2Radio surface powered ON. nManaging dock network, ignoring radio surface power off 3,fغ?A2 @2@2&ٱ2Ǖ< :AHRS rotation from veh to nav: [[0.706939,0.704083,-0.067115],[-0.703137,0.709881,0.040830],[0.076391,0.018327,0.996909]]2H>?؇?x.Y??b?^Ē??i2 @I2]_;2CYBQ>yBEbDNVDNyVc%VN=ٔVQ-V>9XIX=ZNFyX^<E^>`Q 5f4b?Q 9f4b)bӗAYdyfܿQ If@bDIb|:ibt:b4ylɮn@BlNpNpNpNpix)x)xxxi|YIaԙ5Ro:=t>i=>  @  @ @ P0@ @q\III O)>  ,sغ?A2@2@2( wٱ2u= :AHRS rotation from veh to nav: [[0.676252,0.733848,-0.064417],[-0.734200,0.678558,0.022572],[0.060275,0.032031,0.997668]]2Hۣ?{?}@~ྶ? ?`Zܮ?Zf??i2@I21(`;2 CY^@K>ybDddbDjVDj1yr_%rG=ٔv =Q-v>9tIt=zNFyxzٽEz>|Q 54~0?Q 94~)~vAY y Q I @~DI~:i~:~C 4yBɮ8BENNN!N!i))))111i19I91 9@  @ @ 3@ @>WI!I)I)O5.>Qy ZF&,Qغ?A6K@6#@6A=ٱ6?< BAHRS rotation from veh to nav: [[0.664311,0.747110,0.022743],[-0.745956,0.664597,-0.043123],[-0.047333,0.011682,0.998811]]6HB?T?@I?aD?C<?@B?i6K@I6=_;6 CYF{.>yJDbDR VDR2yZ%ZM=ٔ^>Q-^>9\I`=bNFy`bz,Eb>dQ 5j4f?Q 9j4fϑ)fAYhynQ In@fDIfU;if;f84yr̝BɮruBrENtNtNxNxi|))i I  5Gn>=CQ]o:i9Y9@ @@4@@RII I O*>ԁԩ o,,(*غ?A2T@2,@2|]=ٱ2 :AHRS rotation from veh to nav: [[0.673333,0.735480,0.075449],[-0.734320,0.677141,-0.047478],[-0.086009,-0.023435,0.996019]]2H? ?P?@ $?O`gb?i2T@I2_;2 CYZ*>yZ"Dy=Cl?T㥛 x&1?=;===?9 99={Gzt?jtԿL7A`?Y=ף;y=Ġ=+==aB=B =B)=KB9Y==BbDUVDUye &%e@=ٔm,=Q-m>9iIi=uNFyqu =Eu>yQ 54}ف?Q 94}A)}9AY>Q E(;yQ I@}DI}:i}j:}4yɮwBNNNNi))顱iIԱsp:I%>)%?9@ @@4@@eLIqIIO:> 9 W3,غ?A2o@2i@2Ix<ٱ2` :AHRS rotation from veh to nav: [[0.695522,0.717775,0.032383],[-0.718298,0.695697,0.007329],[-0.017268,-0.028358,0.999449]]2HA?`??`K 'C? ~?Ϯ {?i2o@I2_;2CYB:>yBD HJ;bDNVDNyV0=%VW=ٔVn9Q-Z>9XIX=ZNFyX^x=E^>`Q 5f4bz?Q 9f4by)bZAYdyfQ Ij@bDIbB:ib:bP4ylɮnoB9NINININIiY)Y)aaaiaaIi qqU|p:@ @@/@R@=J@=@GIIIO%>9i 9, غ?A 2f@2>@2G<ٱ2j; >AHRS rotation from veh to nav: [[0.685717,0.727848,0.005348],[-0.727767,0.685726,-0.011657],[-0.012152,0.004102,0.999918]]2H e?J?~u? I w?߇㈿p?S?i2f@I2_;2 CYNk>yREZbSBD MO Status=0, MOMSN=3006, MT Status=0, MTMSN=0Z.No messages in MT queue\^AbDrVDr0yz=%zF=ٔzJQ-~>9I=%NFy!%E%>)Q 554-r?Q 954-)-uAY1yQ I@-DI-!ԙ k@,Yٺ?ALYns>ynwEbDzVDzy=<%I=ٔ Q- >9 I=NFyE5>9Q 5E4=&k?Q 9E4=:)=AYIyIQ IM@=DI=:i=:=,4yUBɮuGB}ENyNNNi))顑iIq:IfA)fA @ @@@@=IIIOA>! aF,̘ٺ?A6?V@6Q@6Rٱ64 >AHRS rotation from veh to nav: [[0.646836,0.755888,0.101177],[-0.762117,0.635826,0.122080],[0.027948,-0.156075,0.987350]]6H@?;0??CcX?@?v?Bÿ^?i6?V@I6g_;6 CYN I>yR;D|  bD VD y%&ν%-H=ٔ-\ɽQ-->91I1=5NFy15HE5>YQ 5e4]7c?Q 9m4]^)]ӕAYiymsQ Im@]DI]':i]:]34yɮ\BNNNNi))iIq:1I@I @I@I@I@m8IIIOEQ>Qԁ L,s5ٺ?A;ɰ2L@2rG@2Iٱ2k{ :AHRS rotation from veh to nav: [[0.646111,0.742658,0.176067],[-0.763082,0.623820,0.168979],[0.015659,-0.243533,0.969766]]2H??`?+kU?@? ?,ϿR?i2L@I2`;2 CYv .>yvDParsing RMC sentence: $GPRMC,034748.00,A,3646.75320,N,12151.62961,W,0.272,311.38,271025,,,A*74 )  ٺ?A ? 9 1 {cB@:TSw^hGPS fix at 20251027T034748: (36.779220, -121.860494) I> K@Yy333333?~jtMbp?=; 9|?5^ʿV-?MbX9ԿYRyh=ʡpB‘B ZB)ؕBYBbDVDJy g% /=ٔMu9QIQ=UNFyQ]"E]>aQ Qm@٫eDQ M@eoBQ U@e(`AQ Y@eF Q ]<9eλQ E ;y@Q I?eIeH;ie;e>g;4y*BɮӚBĨEMFix residual: 2.3 %DT, over the last 611.1 m. Residual distance 14.0 m at bearing -36.0 degrees. Fix at (36.7792, -121.8605) with 95.7 m made good.qNNNNiI)I)IIQiQQIYԁ%#r:@ @@@@1IԱIIO> jS,7OOٺ?A2u@2p@2<ٱ2C :AHRS rotation from veh to nav: [[0.624486,0.759533,0.182005],[-0.778033,0.584544,0.230157],[0.068422,-0.285336,0.955982]]2H@? N?K??u??Bҿg?i2u@I2u`;2 CYR>yRDbDVDԹy%b=ٔQ->9I=NFy엽E>Q 5;4?Q 9;4)Yy@Q I?f=Ig:i:s;4y ɮBN9N9N9N9iI)I)IIIiIqIyI>)>m5r:ua>iu>@ @@0@@f-I II!9 iԑO}#?#e],.xٺ?A$$Y% >y%}D)) 11 =p<=9yIy=}NFyyE>Q 5;4?Q 9;4)멾YyQ I?:>I:i:;4yBɮ^BNNNNi))!i!!I)r:q-9@1 @1@5/@1@E%IQIaIiOuW>ԙ Ad,^ڑٺ?A2* @2@28_=ٱ2ǘa :AHRS rotation from veh to nav: [[0.664695,0.720282,0.198429],[-0.745130,0.658468,0.105841],[-0.054423,-0.218208,0.974384]]2H`/E?` ?f?*?@m?``ݫ`:˿&.?i2* @I2`;2 CY^ >ybԴDbDjVDjy<%S=ٔ x>Q- >9 I=NFy >E>yQ 5;4}?Q 9;4})}Yy@Q I?}>I}:i}|:};4yɮZBԹNNNNi))iIDs:@ @@@@- IIIOB> QQA lj,^ٺ?A2,@2@25<ٱ2ԯ :AHRS rotation from veh to nav: [[0.653013,0.753506,0.076175],[-0.757150,0.651827,0.042970],[-0.017275,-0.085735,0.996168]]2H{??-?:?%?m ?i2,@I2q7`;0YNJ>yRhDjjj% j)jIj*ijj)n(n,~$a}@a} a}@a} a}@a} a}@a} y}Q:v?Dl}u}T<}O y y)}Mb@Mb@Mb@I}i}‰}}}lB })}}Y}kBbDVDy=%1=ٔQ->9I=NFyE>Q 5;4?Q 9;4)aQ A+:YQ E :y @Q I ?>I:i@>];4yBɮ5BèENNNNi))iIs:AY@Y @Y@]/@a@u8IIIO>qԙ Tq,ٺ?Aɰ:@:@:ٱ: FAHRS rotation from veh to nav: [[0.660956,0.750189,-0.018833],[-0.749805,0.661222,0.024041],[0.030488,-0.001769,0.999534]]:H&??@Hg@(?E?;8?\-?i:@I:cFa;: CYNL>yRDbDeVDeyd;%Z=ٔQ->9I=NFy<E>qyQ 5;4}-?Q 9;4})}W9Q A :YQ E:yo?Q I?}>I}:i}W?}?;4yɮ4BNNNNi))iIs:e9@a @a@e/@aԡ@}qIIIO^> m}G l9 Y WA ~w,Hpٺ?A2p@2G@2'Z7<ٱ2}A< :AHRS rotation from veh to nav: [[0.685550,0.728025,-0.000925],[-0.727939,0.685449,-0.016243],[-0.011191,0.011809,0.999868]]2H ?@K?RN GK@3? 桐%놿0/?`?i2p@I2?a;0YN@>yRDbDZVDZy >% Y=ٔ*=Q->9I=NFy==E=>AQ 5M;4Ep?Q 9M;4E)EVQ AM9YIQ EU:yU?Q IU?E?IE:iEz?E;4yyɮ}:ByNNNNi))项iImt:i@i @i@m/0@i@IIIOA>IM>)M>) },Kٺ?A2)@2@2 <ٱ2 vD :AHRS rotation from veh to nav: [[0.684048,0.727954,0.046477],[-0.729242,0.683947,0.020533],[-0.016841,-0.047939,0.998708]]2H`?gK?˧?U?? >t k?i2)@I2 u`;2 C|Y/>y5Di bDVD0y%==ٔRV9I=NFyE>Q 5;4?Q 9 ;4)yQ A 9Y Q E n:y =@Q I ??Ij:iH?t;4y9ɮ=CB9NANANANAiY)Y)YaaiaaIiI))A@A @A@Eo0@A@# I)I9I9OMR>Qԁ ,)ں?A2@2ۭ@2@ٱ2Ɍ :AHRS rotation from veh to nav: [[0.659602,0.746901,0.084047],[-0.751023,0.650515,0.113114],[0.029811,-0.137731,0.990021]]2H@v??`? b? ?چ?.@@?i2@I27_;2 CYBs6>yB_DDF@AYԁԱ 1y ԑaa aa aa aa yZd;O?{Gzq= ףp?j<=#k> 9333333?S㥛ԿEؿY=yݤƾފB xB)%BY(B p<bDVD 8yM;%M<ٔU'Q-U>9QIY=]NFyY]E]>aQ 5m;4e>p?Q 9m;4eӾ)eQ AuT:Yu?Q Eu:yu Q Iu?e}?Ie;ie;e8;4yyɮ}?BNNNNi))顙iI gAu:Թ@ @@/@R@=J@=@uIIIOo?,.Oں?AR{@RR@R$ٱR84 ZAHRS rotation from veh to nav: [[0.686374,0.726765,0.026523],[-0.727203,0.685465,0.036234],[0.008152,-0.044158,0.998991]]RH?@A?(?@E`T?`3?`8?ӛ?iR{@IR9E`;PYb]J>ybDIԉԡ )Qu2SBD MTMSN=20251027T034753`setting available, lastComms_.elapsed()=0.003480   IԁԩI>)>ԁ"ԩ%(,1/a2ԉ5Թ8;ԉ@yAv?S㥛Կ^I +?A8?AݤAX9>A A9A rhx&1п rhYACyAALAoBAB AVB)ACBAYAGBbDBVDB0y BA<%B<ٔB ieC%>ԹC DDAA1E@1E @1E@1E@1E@ FxIFI)FI)FO=F @,=ں?AB3T@B O@B =ٱBH| NAHRS rotation from veh to nav: [[0.618694,0.774967,0.129013],[-0.777314,0.627666,-0.042641],[-0.114023,-0.073902,0.990726]]BHW?@??@?ե0;벿@?iB3T@IB`;B CYV>TyVEbDbVDbk2yj_>%j=ٔns??Q-n?9lIl=nNFyprEr?tQ 5z<4v1 ܼ,ں?A6春@6@6?F>ٱ6-TT >AHRS rotation from veh to nav: [[0.617457,0.769828,0.161592],[-0.762547,0.636223,-0.117225],[-0.193052,-0.050840,0.979870]]6H4?n?`?f`[?| ȿ@[?i6春@I6`;6CYF>yFA"EIN<)LR=R=bDVVDV2y^1<%^M=ٔ^M>Q-b>9`I`=bNFy`fi<Ef>hQ 5n<4je0?Q 9n<4j.)jaYlyr\FQ Ir?j?Ij;ij&;jC<4ytɮvBtNxNxNxNxi))   i  I=w: 9@  @ @ /@ I@㱻I IIO-,>qԡ ö,ۺ?A2B@2@2>>ٱ2{ :AHRS rotation from veh to nav: [[0.609609,0.775555,0.163983],[-0.778291,0.624846,-0.061894],[-0.150466,-0.089895,0.984519]]2H?Y?f? ?{Bÿc/?i2B@I2_ `;2 CYB>>yB<+EbDNVDNyn=%nH=ٔrؽQ-r>9pIp=vNFytvf"Ev>xQ 5~<4z#?Q 9~<4z)z6uYyv?Q I?z@Iz;iz;zUQ<4y Bɮ B ENNNNi!)!))))i)1I1yUx:-9@) @)@-/@)ԩ@hII!I!O5-> mWo>mC8G-ho9)Y-LZAI% >)% ?ԉ fɶ,ɫ)ۺ?A2ң@2ͪ@2f<ٱ2S :AHRS rotation from veh to nav: [[0.584987,0.801113,0.126526],[-0.810441,0.583403,0.053164],[-0.031226,-0.133642,0.990538]]2H6?ජ?2?";?@8? -|?i2ң@I2_;2 CY^>yb;.Ey}~jtȿ@5^I ?ˡE}D}b>}'y y9}i|?5Mb(\?Y}qy}}n?}B}B }ބB)}yY}BbDVD0y#5<%>=ٔĎQ->9I=NFyE>Q 5<4#?Q 9<4)X[Yp?Q Ea:y@Q I?@I:i:\`<4yɮBNNNNi))iI]x:9@ @@@ @kIIIOI>1Y ж,fCۺ?AYn>yn ,E v49I=NFyE>AQ 5E<4E^"?Q 9M<4EK)ECYIyIQ IM?E@IE:iE:Em<4yQɮBNNNNi))iI !!9=x:@ @@@R@=J@=a@IIIOF>ԉԹ X׶,f]ۺ?A6}&@6T!@6.!=ٱ6ѽ >AHRS rotation from veh to nav: [[0.642132,0.759570,0.103539],[-0.765578,0.642357,0.035615],[-0.039457,-0.102137,0.993988]]6HX?dN?@?/?&yNEbDZVDZN2yf-%fN=ٔfe9hIh=jNFyhj <>En>|Q 5<4~!?Q 9 <4~U)~-,Y y BQ I ?~@I~:i~:~{<4yɮ= B9NANANANAiQ)Q)QQQiqyIUvy:IY)Yԑ@ @@/@@vII!I!O-->Թ   @A ,ݶ,u?wۺ?A2@2@2k6=ٱ2]A :AHRS rotation from veh to nav: [[0.613391,0.787142,0.064489],[-0.788523,0.614974,-0.006177],[-0.044521,-0.047062,0.997899]]2H? D0?Y? ;ݭ?OMy˦`?i2@I2`;0Y^]>y^'EjbSBD MO Status=1, MOMSN=3007, MT Status=0, MTMSN=0UzSent 73 bytes from file Logs/20251027T031724/Courier0012.lzmaU.Packets left to send: 0ImbDVDyu=%u&=ٔ}(9yI=NFyEE>9Q 5E<4=?Q 9E<4=)= YAyE+Q IM?=w @I=;i= ;=<4yQɮUBQNYNYNYNYi))顑iIz:59@9 @9@=/@9@MvIYIIO>I ,?ۺ?A2]@24ު@2=ٱ2 fF >AHRS rotation from veh to nav: [[0.584181,0.805967,0.095651],[-0.805891,0.589995,-0.049456],[-0.096294,-0.048193,0.994186]]2H?{?|?@=?@GR@Ȭ@^?i2]@I21_;2 CYNz>yREXZ@AbDZVDZJyfNj%f=ٔf'>Q-f ?9hIh=jNFyhn~۽En ?9Q 5E<4=?Q 9M<4=p)=YIyM Q IM?=4 @I=N:i=:=G<4yQɮ}ByNNNNi))顑iIz:QM9@I @I@M 1@I@efIiIIO9>yԩ =,ۺ?A2j@2A@2-o=ٱ2 :AHRS rotation from veh to nav: [[0.580771,0.807337,0.104459],[-0.811972,0.583687,0.003235],[-0.058360,-0.086697,0.994524]]2H??ֽ??j? X᭿ 1#?i2j@I2@_;2 CyRREyZd;Orh|?HzGj{>=  9BkB B)RBY3BbDVDN2ya%8=ٔ fQ- >9 I = NFy 5iE5>9Q 5E<4= ?Q 9E<4=)=ݿYE>Q EM:yMY?Q IM?= @I=:i=e:=<4yqɮuBqNyNNNi))iIԱmz:ut>iq@ @@0@@/OI!I1I9OEs> I >) >%,$ۺ?A6:@6@61H<ٱ6Tɽ BAHRS rotation from veh to nav: [[0.592568,0.800886,0.086281],[-0.805427,0.590720,0.048342],[-0.012252,-0.098139,0.995097]]6HR?۠??@.?K?]@?i6:@I6!_;6 CYN]>yRgEbDXVDXyf<%fa=ٔfQ-f>9hIh=jNFyhn=En>lQ 5 <47?Q 9 <4)ȿY y ?Q I ?@IB:iN:<<4yɮ=B9NANANANAiQ)Q)QQQiyyIuz:@ @@4@@=II!I!O-->1a O,Cۺ?A2)@2#@2^=ٱ28 :AHRS rotation from veh to nav: [[0.592902,0.798479,0.104396],[-0.803441,0.595303,0.009818],[-0.054308,-0.089697,0.994487]]2H? #??ɵ ?k?;Ϋ`a ?i2)@I2*_;2 CYnQ>ynE ppbDzVDzfy%%-D=ٔ-8=Q-->9)I1=5NFy15/d;E5>9AQ 5M<4E?Q 9M<4E)EYIyU?Q IU?E@IE:iE:E<4yYɮ]BYNaNaNiNiiq))顙iI&{:-9@) @)@-/@)i@E(IQIaIaO:>ԑ z,rۺ?A2⻤@2@2Jt=ٱ2' :AHRS rotation from veh to nav: [[0.607014,0.788205,0.101326],[-0.792441,0.609943,0.002591],[-0.059761,-0.081868,0.994850]]2Hl?8?? [?:e?M`?i2⻤@I2Ɵ_;2 CYN9>yRYDbDZVDZ:yf%fP=ٔf@d9hIh=jNFyhn2;=En>QQ 5}<4U?Q 9}<4Ui)UEYyy}t?Q I}?U@IU`;iU;U<4yɮ2BNNԙNNi))iI{:i@i @i@i@i@IIIO=>   ! a,aܺ?Aɰ2ܤ@2׫@2ٱ23[ :AHRS rotation from veh to nav: [[0.611278,0.790316,0.041714],[-0.791416,0.610360,0.033499],[0.001014,-0.053491,0.998568]]2H?EJ?[?FS?&?`P? cD?i2ܤ@I2_;2 CYNb+>yRDbDZVDZ02yf6 =%fJ=ٔf!Q-f>9hIh=jNFyhn"<En>Q 5<4?Q 9 <4)hY y /?Q I ?@I:iB:<4yɮ=+B9NANANANAiQ)Q)QQQiII%0>)%>{:9@ @@@!@UIIIOA>Qy  ,<,ܺ?A6-@6@65̽ٱ6& BAHRS rotation from veh to nav: [[0.610302,0.791644,-0.028815],[-0.785889,0.609635,0.103556],[0.099546,-0.040555,0.994206]]6H?&U?́& ? ?{?ä`?i6-@I6W`;4YN">yRlDIV<)V4 ףp=?t<aBcB B)BYBQbD]VD]kym%m3=ٔ\Q->9I=NFyʹ;E>Q 5<4?Q 9<4)>Y?Q E:y?Q I?&@Iu;i;<4yɮ0BNNNNi))i!I! P|:ԁ9@ @@@@кIIIOf>Ա Dt,eFܺ?A2w@2N@2Y ٱ2q :AHRS rotation from veh to nav: [[0.601736,0.798324,-0.024340],[-0.787225,0.597965,0.150714],[0.134873,-0.071529,0.988278]]2HkA?@ߋ?@옿`0"?J?C?O?i2w@I2k`;2 CYf>yfDbDrVDr 8y%%%b=ٔ-ɽQ-->9)I1=5NFy15&E5>YQ 5e<4]Z?Q 9e<4])]Yiym?Q Im?]4@I]t:i]_:]@<4yqɮ6BNNNNi))iIԱ|:M9@I @I@M/@I@eIiIIO=> I% >)% > 'G x9 Y bA1 ,_ܺ?A2@2@2F2ٱ2Ͻ :AHRS rotation from veh to nav: [[0.576531,0.817030,0.008583],[-0.807024,0.567764,0.162350],[0.127771,-0.100527,0.986696]]2H@r? %?9?#+??Z?`?i2@I2`;2 CYN[>yR\DbDZVDZyrV;%vN=ٔv?9xIx=zNFyxz2E~>|Q 5=4~ ?Q 9 =4~)~Y y ?Q I ?~ND@I~p:i~$:~=4yxBɮ,BENNNNi))顱iI -|:@ @@0@R@J@>@II9IyOZ>i ,yܺ?A06ܣ@6ת@6͖ٱ6ϕݽ >AHRS rotation from veh to nav: [[0.584677,0.810039,0.044603],[-0.807923,0.576402,0.122557],[0.073567,-0.107692,0.991459]]6H??4֦? q?_?Gղ?@?i6ܣ@I6"_;6 CYFj>>yF+D HHLNAbDRVDRyZ=%ZN=ٔZ >Q-^>9\I\=^NFy`bt|<Eb>dQ 5j=4f?Q 9j=4f¬)fYhyj?Q In?fS@If:ifg:f=4yrRBɮrBrENtNtNtNxi|)|)i I 5g}:ԑ @  @ @ }2@ @!2III O)>Թ t$,ߦܺ?A6=ѣ@6̪@6Qk<ٱ6ӽ >AHRS rotation from veh to nav: [[0.584998,0.805438,0.095112],[-0.810786,0.583685,0.044009],[-0.020069,-0.102861,0.994493]]6HM?&?EY?`?@L?U?i6=ѣ@I6_;6CYF?f>yF EbDRVDRyVa=%ZJ=ٔZm>Q-Z>9\I\=^NF`y\bfEb>dQ 5j=4f?Q 9j=4fv)fYlyn?Q In?fc@If;ifn;f$=4ypɮrޘBpNtNtNxNxi|))i I p}:)@) @)@-4@)@GI)I9I9OM1>I   *, ܺ?Aɰ4y~[EyK?!rhԿS㥻?^>l/= 9`"?9vҿClٿY?yϾB B)BYBbDVDyh=%9=ٔQ->9I=NFyE>Q 5=4?Q 9=47)TY}F?Q E:yQ I?v@I. ;iG ;Z4=4yɮҘB N NNNi)!)!!!i!)I)I8>)N>}:Im9@i @i@m4@iB@}gA:@}gA@=!IIIYIYOmV>qԡ 1,d]ܺ?A2Z@2oU@2,E=ٱ2,ܽ :AHRS rotation from veh to nav: [[0.572646,0.811628,0.115488],[-0.818389,0.574226,0.022420],[-0.048119,-0.107353,0.993056]]2H`S??? ?0@`?@[?z{?i2Z@I2_;2 CYBD>yB#EIF4<)FbDNVDN:2yVW<%V_=ٔVF=Q-V>9XIX=ZNFyX^Q"E^>`Q 5f=4b?Q 9f=4b)bYdyf'Q If?b7@Ib:ib:b"A=4ynxBɮnBnENpNpNpNpix)x)xx|i|YIaԁ~:1@1 @1@5/@1ԩ@9II!I!O5->1 7,8ܺ?A2~@2yy@2Q=ٱ2 :AHRS rotation from veh to nav: [[0.601358,0.794556,0.083961],[-0.797336,0.603536,-0.000707],[-0.051235,-0.066520,0.996469]]2H R>?`m?}~? ƃ@*P?P)G ; y?i2~@I2_;2 CYB1>yB9EbDJVDJ1yR=%VJ=ٔV;;Q-V>9XIX=ZNFyXZ״=EZ>\Q 5b=4^?Q 9f=4^v)^˿Ydyf&Q If?^@I^:i^(:^>O=4yhɮjBlNpNpNpNpix)x)xxxix|I1 9@  @ @ @ @ : II)I)O5.>1I% >)% > >,ܺ?ANT_@N+Z@N#>ٱN! ZAHRS rotation from veh to nav: [[0.566955,0.817489,0.101358],[-0.809260,0.575726,-0.116779],[-0.153820,-0.015816,0.987972]]NH ~$?(?? uYl?@彿`ÿ2 x?iNT_@IN_;N CYbС>ybFEbDjVDj:yr{N=%rG=ٔr]>Q-r>9tIt=vNFytzEz>xQ 5=4z?Q 9=4z)z:Yy缿Q I?z@Iz;iz;z]=4yɮטBNNNN!i))))111i11IA iiQ:@ @@@R@=J@=@e\p:IqԁIIO:>ԩ D,pݺ?A2T@2N@2l>ٱ2D :AHRS rotation from veh to nav: [[0.541109,0.834550,0.103577],[-0.828624,0.550129,-0.103639],[-0.143473,-0.029747,0.989207]]2HP?? ? ?R]¿`u?i2T@I2_;0YvY>yv,E xx ~<|bDVDyFѽ%G=ٔмQ->9!I)=-NFy1EUEM>QQ 5]=4U ?Q 9]=4U)UYYy]Q Ie?U@IU;iUz;U"l=4yiɮmBiNqNqNqNqi))顉iIԱ!:m9@i @i@m/@i@E4:IQIaIaOu6> 9 'K,}.ݺ?A2h@2b@2*]ٱ2eѽ :AHRS rotation from veh to nav: [[0.574651,0.814443,0.080360],[-0.818378,0.571171,0.063415],[0.005748,-0.102207,0.994747]]2Hc???@'0G?;?w?8*?i2h@I2[_;2 CYB>yBU)Eyep= ף?I +{Gz?e>e94e#=a a9ev/?DlٿCl?Yex=yeO;ed?e;Be B eB)eaYeBbD}VD}N2ynJ%C=ٔQ->9I=NFyͥ=E>Q 5=4?Q 9=4)]ܿYi   R,ƥHݺ?Aɰ 6@6@6NPٱ66c >AHRS rotation from veh to nav: [[0.589214,0.800965,0.106221],[-0.807971,0.583577,0.081365],[0.003182,-0.133765,0.991008]]6H`??K1? `?RԴ?j?3V?i6@I6_;6CYF>yFEbDNVDNk1yV3%%VZ=ٔZ5;Q-Z>9XIX=ZNFyX^C=E^>`Q 5f=4b?Q 9f=4bp)b⼿Yhyj Q Ij?bt@Ib:ib:b=4ylɮnBpNxN|N Ni!)!)!!!i))I1I50>)5)>:q@ @@j0@@I:IIIO$>ԙ 89X,}bݺ?A6WW@6.R@6<ٱ6Gý BAHRS rotation from veh to nav: [[0.598081,0.796019,0.093019],[-0.800954,0.597705,0.034953],[-0.027774,-0.095409,0.995051]]6H {#? x? з?j`e ? d?plt?i6WW@I6c_;6 CYJ_>yJ~ EPbDVVDVN2y^%^I=ٔb9=Q-b>9`I`=bNFydj<En>xQ 5=4z?Q 9=4z)zTYylQ I ?zA@Izz;iz;z=4yBɮ0BʨENNNN!i))))111i11I9 :)@) @)@-1@)@;I)I9I9OM0>! c^,S[|ݺ?A2(@2#@2Fٱ2ѮL >AHRS rotation from veh to nav: [[0.593725,0.803991,0.032995],[-0.804576,0.592540,0.039412],[0.012136,-0.049947,0.998678]]2H?L?? ?-?@ڈ?ऒ+?i2(@I2`;2CYFE>yFDbDN |VDN2y |% E=ٔ ZŽQ->9I=NFy`E>!Q 5-=4%헊?Q 9-=4%)%tY)y-vQ I5?%N@I% :i%p:%f=4y=Bɮ=4B=ɨENANANANAiQ)Q)QYYiYaIauSending 151 bytes from file Logs/20251027T032042/Courier0000.lzma\Received command: restart logs;schedule resumed:e>i